adhoc

completed
2026-09-23T19:58:15.296767+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 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
278.7 s
total steps
436
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits along the near side of the table, the blue bowl behind them, and the large white bowl to the left. I'll bring each gripper above a separate outer fruit while keeping the arms apart.
move_to
left_x0.3400left_y-0.2300left_z0.1500right_x0.3400right_y0.1800right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.7998, 0.6136, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6189, -0.3904, -0.0208, -0.0334, 0.9995] state[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2956 right_y=0.0006 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995 state[joint_eff]: [-0.3624, -1.7299, 9.5795, 1.8291, -0.1001, 0.1685, -0.0855, -0.212, -1.388, 9.1282, 1.9121, -0.022, 0.1734, -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":{"left_x":0.34,"left_y":-0.23,"left_z":0.15,"right_x":0.34,"right_y":0.18,"right_z":0.15},"note":"I see three fruits along the near side of the table, the blue bowl behind them, and the large white bowl to the left. I'll bring each gripper above a separate outer fruit while keeping the arms apart."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteBoth grippers are over the outer fruits, which are hidden by the gripper bodies in the overhead view. I'll lower them to fruit-grasping height before closing.
move_to
left_z0.0170right_z0.0270
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8783, 1.5295, 0.939, -0.2333, -0.6903, -0.5999, 0.9993, 0.7372, 1.3777, 0.7906, -0.1795, 0.5758, 0.4118, 0.9994] state[eef_state]: left_x=0.3359 left_y=-0.2232 left_z=0.138 left_yaw=-0.0034 left_pitch=-0.0328 left_roll=0.0191 left_gripper=0.9993 right_x=0.3316 right_y=0.176 right_z=0.1341 right_yaw=0.0293 right_pitch=-0.0507 right_roll=-0.0418 right_gripper=0.9994 state[joint_eff]: [-0.6496, -6.7624, 8.3487, 1.5458, -0.5201, 0.0122, -0.022, 0.3487, -5.3949, 9.0598, 1.7558, 0.486, 0.1294, -0.022] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.017,"right_z":0.027},"note":"Both grippers are over the outer fruits, which are hidden by the gripper bodies in the overhead view. I'll lower them to fruit-grasping height before closing."})
tool
executing move_to over 8 steps (0.8s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe outer fruits still peek out beside the jaws: the dark fruit is left of the left gripper and the green fruit is right of the right gripper. I'll shift each gripper sideways toward its fruit and keep them just above the tabletop.
move_to
left_y-0.1800left_z0.0400right_y0.1450right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8749, 1.8278, 0.704, 0.3264, -0.7181, -0.577, 0.9993, 0.7349, 1.6363, 0.5831, 0.4225, 0.643, 0.329, 0.9994] state[eef_state]: left_x=0.3414 left_y=-0.2218 left_z=0.0271 left_yaw=0.0068 left_pitch=-0.0007 left_roll=0.0308 left_gripper=0.9993 right_x=0.3517 right_y=0.1799 right_z=0.0677 right_yaw=0.0195 right_pitch=0.0783 right_roll=-0.0561 right_gripper=0.9994 state[joint_eff]: [-0.6085, -6.9675, 4.1778, 1.3162, -0.0708, -0.232, -0.0122, 0.0889, -3.1385, 2.3453, 1.0134, -0.4957, 0.7448, -0.0171] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.18,"left_z":0.04,"right_y":0.145,"right_z":0.045},"note":"The outer fruits still peek out beside the jaws: the dark fruit is left of the left gripper and the green fruit is right of the right gripper. I'll shift each gripper sideways toward its fruit and keep them just above the tabletop."})
tool
executing move_to over 4 steps (0.4s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteBoth outer fruits are now between or immediately under their respective jaws in the overhead view. I'll close both grippers and check their settled openings for a secure grasp.
move_to
left_gripper0.0000right_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]: [-0.7708, 1.6901, 0.5961, 0.387, -0.68, -0.4786, 0.9993, 0.6308, 1.6516, 0.4538, 0.5877, 0.5594, 0.2607, 0.9994] state[eef_state]: left_x=0.3489 left_y=-0.179 left_z=0.0494 left_yaw=0.0316 left_pitch=0.0389 left_roll=0.0299 left_gripper=0.9993 right_x=0.3493 right_y=0.1435 right_z=0.0431 right_yaw=0.0167 right_pitch=0.0624 right_roll=-0.0651 right_gripper=0.9994 state[joint_eff]: [-0.4444, -7.2, 3.8769, 1.3016, 0.0464, -0.105, -0.0122, -0.2393, -5.3812, 4.6154, 1.9121, 0.0806, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"Both outer fruits are now between or immediately under their respective jaws in the overhead view. I'll close both grippers and check their settled openings for a secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe left jaws remain about 1.2 cm open, suggesting they caught the dark fruit; the right jaws closed almost completely, so the green-fruit grasp was empty. I'll lift the dark fruit toward the blue bowl and pull the open right gripper slightly back for another approach.
move_to
left_x0.4300left_y-0.3450left_z0.1700right_gripper1.0000right_x0.3250right_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]: [-0.7635, 1.6657, 0.6151, 0.4316, -0.7738, -0.3916, 0.1252, 0.6308, 1.6535, 0.453, 0.609, 0.5449, 0.2504, 0.0163] state[eef_state]: left_x=0.3616 left_y=-0.1703 left_z=0.0782 left_yaw=0.0681 left_pitch=0.139 left_roll=0.0827 left_gripper=0.1252 right_x=0.3508 right_y=0.1472 right_z=0.0453 right_yaw=0.033 right_pitch=0.0728 right_roll=-0.0568 right_gripper=0.0163 state[joint_eff]: [-0.7316, -4.9162, 3.7675, 1.0867, 0.6178, -0.906, 1.033, -0.335, -5.6274, 4.8068, 1.6972, 0.2076, 0.022, 1.033] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.345,"left_z":0.17,"right_gripper":1,"right_x":0.325,"right_z":0.055},"note":"The left jaws remain about 1.2 cm open, suggesting they caught the dark fruit; the right jaws closed almost completely, so the green-fruit grasp was empty. I'll lift the dark fruit toward the blue bowl and pull the open right gripper slightly back for another approach."})
tool
executing move_to over 16 steps (1.6s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe left gripper has carried the dark fruit over the blue bowl, while the open right gripper is now slightly nearer the green fruit. I'll lower the held fruit into the bowl and bring the right jaws down to grasping height.
move_to
left_z0.0550right_z0.0100
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]: [-0.934, 2.0968, 1.6344, -0.2901, -0.9001, -0.5629, 0.1261, 0.6968, 1.5497, 0.4042, 0.519, 0.58, 0.2802, 0.9986] state[eef_state]: left_x=0.4293 left_y=-0.3417 left_z=0.1619 left_yaw=0.0678 left_pitch=0.1282 left_roll=0.0818 left_gripper=0.1261 right_x=0.3258 right_y=0.151 right_z=0.0499 right_yaw=0.0565 right_pitch=0.0568 right_roll=-0.0675 right_gripper=0.9986 state[joint_eff]: [-0.6632, -11.6991, 9.4154, 1.4139, -0.442, -0.0024, 0.0806, -0.212, -6.9402, 4.6154, 1.5946, 0.3541, 0.105, -0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055,"right_z":0.01},"note":"The left gripper has carried the dark fruit over the blue bowl, while the open right gripper is now slightly nearer the green fruit. I'll lower the held fruit into the bowl and bring the right jaws down to grasping height."})
tool
executing move_to over 7 steps (0.7s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe dark fruit is lowered into the blue bowl, and the right jaws are down around the green fruit. I'll release the first fruit and close on the second, then check whether the right gripper retained it.
move_to
left_gripper1.0000right_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]: [-0.9268, 2.2292, 1.4521, 0.0536, -0.9115, -0.5667, 0.1262, 0.6914, 1.7576, 0.3683, 0.8013, 0.5831, 0.2913, 0.9986] state[eef_state]: left_x=0.4339 left_y=-0.3394 left_z=0.0739 left_yaw=0.0884 left_pitch=0.1503 left_roll=0.0577 left_gripper=0.1262 right_x=0.332 right_y=0.1532 right_z=0.0207 right_yaw=0.0411 right_pitch=0.089 right_roll=-0.0359 right_gripper=0.9986 state[joint_eff]: [-0.3761, -9.8393, 5.2581, 1.4628, -0.1929, 0.0073, -0.0073, 0.1573, -4.5197, 2.947, 1.4969, 0.1148, -0.1294, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_gripper":0},"note":"The dark fruit is lowered into the blue bowl, and the right jaws are down around the green fruit. I'll release the first fruit and close on the second, then check whether the right gripper retained it."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe right jaws stayed roughly 1 cm open after closing, consistent with holding the green fruit. I'll lift it toward the blue bowl while moving the empty left arm out of the shared work area.
move_to
left_x0.2900left_y-0.0100left_z0.1900right_x0.4350right_y0.3100right_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]: [-0.9222, 2.2333, 1.4509, 0.0723, -0.9119, -0.5777, 0.9957, 0.6838, 1.7428, 0.3698, 0.8474, 0.6029, 0.2989, 0.1038] state[eef_state]: left_x=0.4366 left_y=-0.3388 left_z=0.0739 left_yaw=0.101 left_pitch=0.1577 left_roll=0.0361 left_gripper=0.9957 right_x=0.3392 right_y=0.1518 right_z=0.0357 right_yaw=0.0089 right_pitch=0.1448 right_roll=0.0014 right_gripper=0.1038 state[joint_eff]: [-0.3624, -12.7521, 6.4068, 1.243, -0.3834, 0.0904, -0.1197, 0.4855, -4.7248, 4.3145, 1.2283, -0.1148, -0.0952, 0.3199] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.01,"left_z":0.19,"right_x":0.435,"right_y":0.31,"right_z":0.18},"note":"The right jaws stayed roughly 1 cm open after closing, consistent with holding the green fruit. I'll lift it toward the blue bowl while moving the empty left arm out of the shared work area."})
tool
executing move_to over 30 steps (3.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe dark fruit is still visible near the left side of the table, so its earlier placement did not succeed. I'll lower the right gripper into the blue-bowl area and bring the left gripper back above the dark fruit for another attempt.
move_to
right_z0.0550left_x0.3150left_y-0.1650left_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]: [-0.2771, 0.7136, 0.4892, -0.1936, -0.4053, -0.1787, 0.9964, 0.8337, 1.9121, 1.3651, -0.0669, 0.7036, 0.3748, 0.1027] state[eef_state]: left_x=0.2944 left_y=-0.0076 left_z=0.1947 left_yaw=0.1586 left_pitch=0.1863 left_roll=0.0133 left_gripper=0.9964 right_x=0.429 right_y=0.3079 right_z=0.1668 right_yaw=0.0456 right_pitch=0.1157 right_roll=-0.0296 right_gripper=0.1027 state[joint_eff]: [0.1299, -0.6085, 7.0769, 1.9512, 0.0464, 0.1929, 0.0562, 0.1299, -9.5521, 9.1145, 1.7705, 0.4518, 0.1245, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.055,"left_x":0.315,"left_y":-0.165,"left_z":0.15},"note":"The dark fruit is still visible near the left side of the table, so its earlier placement did not succeed. I'll lower the right gripper into the blue-bowl area and bring the left gripper back above the dark fruit for another attempt."})
tool
executing move_to over 14 steps (1.4s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe blue bowl's rim is visible to the right of the right jaws, so that gripper needs a sideways correction before releasing anything. The left jaws are over the dark fruit; I'll lower them while raising and shifting the right gripper above the bowl.
move_to
right_y0.2400right_z0.1400left_x0.3000left_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]: [-0.897, 1.3426, 0.6338, -0.0353, -0.9131, -0.5781, 0.9965, 0.8349, 2.1025, 1.182, 0.2867, 0.6991, 0.3748, 0.1027] state[eef_state]: left_x=0.3095 left_y=-0.1578 left_z=0.1348 left_yaw=0.1229 left_pitch=0.1407 left_roll=0.0654 left_gripper=0.9965 right_x=0.4276 right_y=0.3082 right_z=0.0595 right_yaw=0.0517 right_pitch=0.0998 right_roll=-0.0419 right_gripper=0.1027 state[joint_eff]: [-0.335, -5.2444, 8.3214, 1.6093, -0.7057, -0.0757, -0.0073, -0.1299, -10.2359, 4.7795, 1.7314, 0.2662, -0.022, -0.022] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.24,"right_z":0.14,"left_x":0.3,"left_z":0.018},"note":"The blue bowl's rim is visible to the right of the right jaws, so that gripper needs a sideways correction before releasing anything. The left jaws are over the dark fruit; I'll lower them while raising and shifting the right gripper above the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe left descent stopped around 5 cm above the tabletop, suggesting contact near the dark fruit. The right jaws are now centered over the blue bowl; I'll close the left jaws and lower the right gripper to release height.
move_to
left_gripper0.0000right_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]: [-0.9264, 1.7241, 0.4435, 0.5713, -1.0279, -0.561, 0.9965, 0.7174, 1.8156, 1.0786, 0.1345, 0.6029, 0.292, 0.1026] state[eef_state]: left_x=0.3103 left_y=-0.1552 left_z=0.0504 left_yaw=0.1686 left_pitch=0.2235 left_roll=0.0889 left_gripper=0.9965 right_x=0.4278 right_y=0.2451 right_z=0.1259 right_yaw=0.0517 right_pitch=0.0843 right_roll=-0.0529 right_gripper=0.1026 state[joint_eff]: [-0.5538, -4.7111, 2.0034, 1.1502, 0.0122, -0.3297, -0.0122, -0.3214, -10.9607, 6.2291, 1.8584, 0.1929, -0.0171, -0.022] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_z":0.055},"note":"The left descent stopped around 5 cm above the tabletop, suggesting contact near the dark fruit. The right jaws are now centered over the blue bowl; I'll close the left jaws and lower the right gripper to release height."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe left gripper has caught the white bowl's rim rather than a fruit and nudged that bowl, so I'll release and withdraw it. The right gripper is down over the blue bowl; I'll open it to drop the held fruit.
move_to
left_gripper1.0000right_gripper1.0000left_z0.1600left_x0.2900left_y-0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9253, 1.7092, 0.4599, 0.6025, -1.1011, -0.5022, 0.1358, 0.7124, 1.9736, 0.9733, 0.3634, 0.5934, 0.284, 0.1026] state[eef_state]: left_x=0.3156 left_y=-0.1512 left_z=0.0697 left_yaw=0.2037 left_pitch=0.2895 left_roll=0.1098 left_gripper=0.1358 right_x=0.4259 right_y=0.242 right_z=0.0525 right_yaw=0.06 right_pitch=0.0535 right_roll=-0.0767 right_gripper=0.1026 state[joint_eff]: [-0.1709, -5.012, 2.9197, 1.0818, 0.3541, -0.6471, 0.8571, 0.1983, -9.3197, 5.3128, 1.9805, 0.2906, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_gripper":1,"left_z":0.16,"left_x":0.29,"left_y":-0.05},"note":"The left gripper has caught the white bowl's rim rather than a fruit and nudged that bowl, so I'll release and withdraw it. The right gripper is down over the blue bowl; I'll open it to drop the held fruit."})
tool
executing move_to over 9 steps (0.9s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteWith both grippers open, all three fruits are still visible on the table: dark near the white bowl, yellow in the middle, and green to the right. I'll reposition the left gripper above the dark fruit and the right gripper above the green fruit, farther back from the bowls.
move_to
left_x0.2750left_y-0.1250left_z0.1400right_x0.2750right_y0.1250right_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]: [-0.6819, 0.9264, 0.3252, 0.2024, -0.9192, -0.3042, 0.895, 0.7162, 1.9789, 0.9684, 0.3607, 0.5884, 0.279, 0.9955] state[eef_state]: left_x=0.2933 left_y=-0.0526 left_z=0.1653 left_yaw=0.259 left_pitch=0.3305 left_roll=0.0389 left_gripper=0.895 right_x=0.4231 right_y=0.243 right_z=0.0475 right_yaw=0.0707 right_pitch=0.0412 right_roll=-0.0864 right_gripper=0.9955 state[joint_eff]: [0.0205, -1.0051, 7.1863, 1.5311, 0.0171, 0.2711, -0.0464, -0.4034, -10.1402, 6.0376, 1.5897, 0.1392, 0.0024, -0.1197] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.275,"left_y":-0.125,"left_z":0.14,"right_x":0.275,"right_y":0.125,"right_z":0.14},"note":"With both grippers open, all three fruits are still visible on the table: dark near the white bowl, yellow in the middle, and green to the right. I'll reposition the left gripper above the dark fruit and the right gripper above the green fruit, farther back from the bowls."})
tool
executing move_to over 12 steps (1.2s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteEach outer fruit is now mostly hidden beneath its approaching gripper, while the yellow fruit remains clearly between them. I'll lower both grippers vertically to try to meet the fruit rather than the bowls.
move_to
left_z0.0100right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.008, 1.2469, 0.4255, 0.1047, -1.1698, -0.6323, 0.8962, 0.7574, 1.0161, 0.5098, -0.1062, 0.6086, 0.2958, 0.9965] state[eef_state]: left_x=0.2749 left_y=-0.1242 left_z=0.1326 left_yaw=0.2223 left_pitch=0.3084 left_roll=0.0634 left_gripper=0.8962 right_x=0.2852 right_y=0.1356 right_z=0.1467 right_yaw=0.0857 right_pitch=0.0787 right_roll=-0.0583 right_gripper=0.9965 state[joint_eff]: [-0.5402, -3.5077, 7.8427, 1.1551, -0.7009, -0.0855, 0.1148, 0.4855, -1.7846, 6.3521, 1.8584, 0.2369, 0.0855, 0.0855] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.01,"right_z":0.01},"note":"Each outer fruit is now mostly hidden beneath its approaching gripper, while the yellow fruit remains clearly between them. I'll lower both grippers vertically to try to meet the fruit rather than the bowls."})
tool
executing move_to over 9 steps (0.9s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteBoth descents stopped well above the requested height and the shoulder effort rose, indicating contact rather than a clear grasp. I'll back both grippers off and move a few centimetres toward the bases, where the fruits appear relative to the fingertips.
move_to
left_x0.2450left_z0.1050right_x0.2700right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0248, 1.8996, 0.292, 1.0145, -1.3758, -0.5926, 0.8964, 0.7624, 1.5623, 0.242, 0.9157, 0.7357, 0.1848, 0.9966] state[eef_state]: left_x=0.2773 left_y=-0.1157 left_z=0.0567 left_yaw=0.382 left_pitch=0.46 left_roll=0.0108 left_gripper=0.8964 right_x=0.312 right_y=0.139 right_z=0.0746 right_yaw=0.0246 right_pitch=0.2733 right_roll=-0.0739 right_gripper=0.9966 state[joint_eff]: [0.9231, -1.9897, -0.3214, -1.243, 1.0379, 0.9841, 0.0024, -0.3487, 1.7026, -1.2513, -0.9304, -1.3114, 1.5263, -0.0024] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.245,"left_z":0.105,"right_x":0.27,"right_z":0.115},"note":"Both descents stopped well above the requested height and the shoulder effort rose, indicating contact rather than a clear grasp. I'll back both grippers off and move a few centimetres toward the bases, where the fruits appear relative to the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe clearly visible yellow fruit is still upright in front of the blue bowl; the green patch beside the right gripper appears to move with the arm. I'll park the left arm, level both tools, and bring the right gripper above the yellow fruit.
move_to
left_x0.2900left_y0.0000left_z0.1900left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2900right_y0.3000right_z0.1400right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1492, 1.5387, 0.4576, 0.4767, -1.3975, -1.0752, 0.8964, 0.9142, 1.1709, 0.2459, 0.73, 0.8211, 0.2573, 0.9966] state[eef_state]: left_x=0.2695 left_y=-0.1669 left_z=0.1309 left_yaw=0.5455 left_pitch=0.4071 left_roll=-0.5015 left_gripper=0.8964 right_x=0.2825 right_y=0.1606 right_z=0.1589 right_yaw=0.0019 right_pitch=0.4327 right_roll=0.147 right_gripper=0.9966 state[joint_eff]: [-0.294, -4.9026, 4.3145, 0.7546, -0.4127, -0.0708, -0.0122, 0.1436, -0.8137, 6.8308, 1.1795, 0.1832, 0.1001, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.19,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.29,"right_y":0.3,"right_z":0.14,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The clearly visible yellow fruit is still upright in front of the blue bowl; the green patch beside the right gripper appears to move with the arm. I'll park the left arm, level both tools, and bring the right gripper above the yellow fruit."})
tool
executing move_to over 15 steps (1.5s)
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 noteWith the arms out of the way, I can see the dark fruit at lower left and the yellow fruit just right of the blue bowl; the yellow one was displaced during the last approach. I'll bring each open gripper above its visible fruit, keeping clear of both bowls.
move_to
left_x0.2600left_y-0.1450left_z0.1200right_x0.2650right_y0.1850right_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]: [-0.0593, 0.7692, 0.5919, -0.3798, -0.1448, -0.1558, 0.8964, 1.1149, 1.6871, 1.092, -0.3336, 0.8585, 0.7658, 0.9965] state[eef_state]: left_x=0.2913 left_y=0.0118 left_z=0.1821 left_yaw=0.1404 left_pitch=0.0172 left_roll=-0.0391 left_gripper=0.8964 right_x=0.2922 right_y=0.3003 right_z=0.1381 right_yaw=0.0223 right_pitch=0.0199 right_roll=-0.0047 right_gripper=0.9965 state[joint_eff]: [0.1846, -1.0325, 9.7983, 1.5702, 0.1832, 0.1392, -0.0122, 0.2393, -8.3077, 7.6786, 1.0574, 0.4518, 0.2027, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). 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":0.26,"left_y":-0.145,"left_z":0.12,"right_x":0.265,"right_y":0.185,"right_z":0.12},"note":"With the arms out of the way, I can see the dark fruit at lower left and the yellow fruit just right of the blue bowl; the yellow one was displaced during the last approach. I'll bring each open gripper above its visible fruit, keeping clear of both bowls."})
tool
executing move_to over 14 steps (1.4s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe dark fruit is centered low in the left wrist camera. A yellow fruit sits low and to the right of the right wrist-camera jaws, so I'll lower the left gripper and shift the right gripper toward that fruit as it descends.
move_to
left_z0.0250right_y0.1400right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9699, 1.1545, 0.5468, -0.3546, -0.8074, -0.8028, 0.8964, 0.9966, 1.2671, 0.6159, -0.2058, 0.7853, 0.6456, 0.9966] state[eef_state]: left_x=0.2544 left_y=-0.1391 left_z=0.1053 left_yaw=0.0939 left_pitch=-0.0347 left_roll=0.0176 left_gripper=0.8964 right_x=0.2648 right_y=0.186 right_z=0.1159 right_yaw=0.0138 right_pitch=0.0067 right_roll=-0.0159 right_gripper=0.9966 state[joint_eff]: [-0.3624, -3.8359, 8.7179, 1.3358, -0.6178, -0.0659, -0.0122, -0.3487, -4.588, 6.5709, 1.5604, 0.232, -0.0806, -0.0073] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025,"right_y":0.14,"right_z":0.045},"note":"The dark fruit is centered low in the left wrist camera. A yellow fruit sits low and to the right of the right wrist-camera jaws, so I'll lower the left gripper and shift the right gripper toward that fruit as it descends."})
tool
executing move_to over 6 steps (0.6s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe dark fruit is between the left fingertips at table height. The right fruit is still just outside the right jaw, so I'll grasp the dark fruit now and shift the open right gripper a little farther toward its fruit.
move_to
left_gripper0.0000right_y0.1050right_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]: [-0.973, 1.4151, 0.3523, 0.0208, -0.8078, -0.8108, 0.8964, 0.8684, 1.301, 0.3038, 0.1638, 0.7063, 0.5381, 0.9965] state[eef_state]: left_x=0.2478 left_y=-0.1308 left_z=0.0222 left_yaw=0.0991 left_pitch=-0.0727 left_roll=0.0812 left_gripper=0.8964 right_x=0.2595 right_y=0.1348 right_z=0.042 right_yaw=-0.0033 right_pitch=-0.0282 right_roll=-0.0515 right_gripper=0.9965 state[joint_eff]: [-0.1162, -4.7795, 4.4103, 1.3651, -0.486, 0.0562, -0.0122, -0.2256, -2.988, 5.6, 1.3504, 0.2906, 0.0366, -0.0171] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_y":0.105,"right_z":0.055},"note":"The dark fruit is between the left fingertips at table height. The right fruit is still just outside the right jaw, so I'll grasp the dark fruit now and shift the open right gripper a little farther toward its fruit."})
tool
executing move_to over 9 steps (0.9s)
step 216
top_cam
camera top_cam step 216
left_cam
camera left_cam step 216
right_cam
camera right_cam step 216
assistant
agent noteThe left gripper stopped about halfway closed around the dark fruit, a plausible hold; I'll lift it to confirm. The right fruit is still at the right jaw edge, so I'll make one small final alignment and lower the right jaws.
move_to
left_z0.1200right_y0.0820right_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]: [-0.9749, 1.4284, 0.3405, 0.0376, -0.8074, -0.8116, 0.5203, 0.7536, 1.1191, 0.2611, 0.0944, 0.6277, 0.4423, 0.9965] state[eef_state]: left_x=0.2461 left_y=-0.1291 left_z=0.0176 left_yaw=0.098 left_pitch=-0.0769 left_roll=0.0878 left_gripper=0.5203 right_x=0.2613 right_y=0.1079 right_z=0.0562 right_yaw=-0.0091 right_pitch=-0.0237 right_roll=-0.0413 right_gripper=0.9965 state[joint_eff]: [0.0479, -4.9573, 5.7231, 0.9499, -0.398, -0.0464, 1.0281, -0.4171, -2.8239, 5.2034, 1.5018, 0.2222, -0.1099, -0.0073] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12,"right_y":0.082,"right_z":0.025},"note":"The left gripper stopped about halfway closed around the dark fruit, a plausible hold; I'll lift it to confirm. The right fruit is still at the right jaw edge, so I'll make one small final alignment and lower the right jaws."})
tool
executing move_to over 7 steps (0.7s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteThe dark fruit rose with the left gripper, confirming that grasp. The rightmost yellow fruit was nudged rightward during alignment; I'll carry the dark fruit above the blue bowl and raise the right gripper before approaching the displaced fruit from above.
move_to
left_x0.4200left_y-0.3450left_z0.1900right_y0.0000right_z0.1350
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]: [-0.9749, 1.1412, 0.5816, -0.4644, -0.7948, -0.8127, 0.5212, 0.6308, 1.1866, 0.1234, 0.3134, 0.5426, 0.3569, 0.9965] state[eef_state]: left_x=0.2478 left_y=-0.1343 left_z=0.1074 left_yaw=0.0901 left_pitch=-0.0737 left_roll=0.0585 left_gripper=0.5212 right_x=0.2573 right_y=0.0794 right_z=0.0211 right_yaw=-0.0219 right_pitch=-0.0534 right_roll=-0.0581 right_gripper=0.9965 state[joint_eff]: [-0.0889, -3.6855, 8.6359, 0.9695, -0.5153, 0.0024, 1.0232, -0.2667, -2.1538, 4.9299, 1.619, 0.1538, -0.0171, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.345,"left_z":0.19,"right_y":0,"right_z":0.135},"note":"The dark fruit rose with the left gripper, confirming that grasp. The rightmost yellow fruit was nudged rightward during alignment; I'll carry the dark fruit above the blue bowl and raise the right gripper before approaching the displaced fruit from above."})
tool
executing move_to over 19 steps (1.9s)
step 242
top_cam
camera top_cam step 242
left_cam
camera left_cam step 242
right_cam
camera right_cam step 242
assistant
agent noteThe dark fruit is suspended above the blue bowl, and the right wrist view shows the displaced yellow fruit just right of the jaw center. I'll lower the dark fruit into the bowl while correcting the right gripper by a couple of centimetres and descending around its fruit.
move_to
left_x0.3950left_z0.0750right_y-0.0250right_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]: [-0.9249, 2.1445, 1.9457, -0.7715, -0.762, -0.7803, 0.5241, 0.0544, 0.63, 0.4011, -0.4213, 0.1131, -0.0109, 0.9966] state[eef_state]: left_x=0.4175 left_y=-0.3454 left_z=0.1811 left_yaw=0.1003 left_pitch=-0.0712 left_roll=0.0241 left_gripper=0.5241 right_x=0.255 right_y=-0.0025 right_z=0.1219 right_yaw=-0.048 right_pitch=-0.0758 right_roll=-0.0614 right_gripper=0.9966 state[joint_eff]: [0.4581, -12.588, 8.294, 0.6129, -0.3785, 0.3004, 0.5934, -0.1573, -0.4718, 9.3744, 1.7021, -0.022, -0.0904, -0.0073] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_z":0.075,"right_y":-0.025,"right_z":0.025},"note":"The dark fruit is suspended above the blue bowl, and the right wrist view shows the displaced yellow fruit just right of the jaw center. I'll lower the dark fruit into the bowl while correcting the right gripper by a couple of centimetres and descending around its fruit."})
tool
executing move_to over 7 steps (0.7s)
step 249
top_cam
camera top_cam step 249
left_cam
camera left_cam step 249
right_cam
camera right_cam step 249
assistant
agent noteThe dark fruit is at the blue bowl's opening, and the right wrist camera shows the yellow fruit filling the space between the jaws. I'll release the dark fruit and close on the yellow one.
move_to
left_gripper1.0000right_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]: [-0.9565, 2.1494, 1.5826, -0.4706, -0.7692, -0.8158, 0.527, -0.131, 0.8307, 0.0593, 0.0242, -0.0158, -0.1036, 0.9966] state[eef_state]: left_x=0.3935 left_y=-0.3385 left_z=0.0826 left_yaw=0.0969 left_pitch=-0.0993 left_roll=0.057 left_gripper=0.527 right_x=0.2393 right_y=-0.0251 right_z=0.0117 right_yaw=-0.0737 right_pitch=-0.1771 right_roll=-0.0517 right_gripper=0.9966 state[joint_eff]: [-0.9231, -10.1812, 6.0786, 1.3065, -0.5299, -0.0415, 0.569, -0.253, -0.2803, 6.0923, 1.7851, -0.0611, -0.1294, -0.0171] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_gripper":0},"note":"The dark fruit is at the blue bowl's opening, and the right wrist camera shows the yellow fruit filling the space between the jaws. I'll release the dark fruit and close on the yellow one."})
tool
executing move_to over 10 steps (1.0s)
step 259
top_cam
camera top_cam step 259
left_cam
camera left_cam step 259
right_cam
camera right_cam step 259
assistant
agent noteThe right gripper remains widely open around the large yellow fruit, indicating a hold. The dark fruit appears ahead of the left fingertips after release rather than clearly inside the bowl, so I'll clear the bowl with the left arm and lift the yellow fruit toward it.
move_to
left_x0.3000left_y-0.2700left_z0.1600right_x0.3950right_y0.2300right_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]: [-0.9581, 2.1639, 1.5612, -0.4671, -0.7658, -0.8196, 0.9971, -0.1337, 0.8291, 0.0471, 0.0681, -0.0311, -0.1131, 0.7455] state[eef_state]: left_x=0.3896 left_y=-0.3351 left_z=0.0684 left_yaw=0.0987 left_pitch=-0.1178 left_roll=0.0809 left_gripper=0.9971 right_x=0.2433 right_y=-0.0236 right_z=0.0152 right_yaw=-0.0585 right_pitch=-0.1436 right_roll=-0.0508 right_gripper=0.7455 state[joint_eff]: [0.0342, -13.1624, 7.8427, 1.0281, -0.4078, 0.0317, -0.0659, -0.0889, -0.3487, 7.1863, 1.1795, 0.0952, 0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.3,"left_y":-0.27,"left_z":0.16,"right_x":0.395,"right_y":0.23,"right_z":0.19},"note":"The right gripper remains widely open around the large yellow fruit, indicating a hold. The dark fruit appears ahead of the left fingertips after release rather than clearly inside the bowl, so I'll clear the bowl with the left arm and lift the yellow fruit toward it."})
tool
executing move_to over 22 steps (2.2s)
step 281
top_cam
camera top_cam step 281
left_cam
camera left_cam step 281
right_cam
camera right_cam step 281
assistant
agent noteThe right wrist camera confirms the large yellow fruit is held. From the left wrist camera, the dark fruit is still on the table beyond the blue bowl; I'll move the left arm aside and lower the held yellow fruit into the bowl first.
move_to
right_x0.3500right_y0.2450right_z0.0850left_x0.2800left_y-0.1500left_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0481, 1.7481, 1.319, -0.7818, -0.7963, -0.9447, 0.9977, 0.7132, 1.7142, 1.3922, -0.6102, 0.5522, 0.4988, 0.7525] state[eef_state]: left_x=0.3034 left_y=-0.2665 left_z=0.1434 left_yaw=0.108 left_pitch=-0.1498 left_roll=0.1244 left_gripper=0.9977 right_x=0.3915 right_y=0.2209 right_z=0.1758 right_yaw=-0.0379 right_pitch=-0.1836 right_roll=-0.0718 right_gripper=0.7525 state[joint_eff]: [-1.4564, -10.7556, 6.3932, 0.9548, -0.525, -0.1441, 0.0464, 1.1692, -8.4855, 8.2667, 1.3309, 0.4957, 0.2613, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.245,"right_z":0.085,"left_x":0.28,"left_y":-0.15,"left_z":0.17},"note":"The right wrist camera confirms the large yellow fruit is held. From the left wrist camera, the dark fruit is still on the table beyond the blue bowl; I'll move the left arm aside and lower the held yellow fruit into the bowl first."})
tool
executing move_to over 11 steps (1.1s)
step 292
top_cam
camera top_cam step 292
left_cam
camera left_cam step 292
right_cam
camera right_cam step 292
assistant
agent noteThe held yellow fruit hangs just left of the blue bowl in the overhead view, while the dark fruit is visible farther across the table in the right wrist camera. I'll shift the yellow fruit toward the bowl's center and lower it before release.
move_to
right_x0.3600right_y0.1950right_z0.0470
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]: [-0.8928, 1.3102, 0.9817, -0.7547, -0.7338, -0.7738, 0.9977, 0.841, 1.7641, 1.1019, -0.3882, 0.5949, 0.6044, 0.7526] state[eef_state]: left_x=0.2815 left_y=-0.1553 left_z=0.1672 left_yaw=0.1236 left_pitch=-0.151 left_roll=0.1133 left_gripper=0.9977 right_x=0.3434 right_y=0.2408 right_z=0.0802 right_yaw=-0.0152 right_pitch=-0.2351 right_roll=-0.1074 right_gripper=0.7526 state[joint_eff]: [0.212, -5.2581, 6.4615, 1.1258, -0.2857, 0.1245, -0.0122, 0.2667, -7.8291, 6.5436, 1.5604, 0.5446, 0.2027, 1.0281] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.195,"right_z":0.047},"note":"The held yellow fruit hangs just left of the blue bowl in the overhead view, while the dark fruit is visible farther across the table in the right wrist camera. I'll shift the yellow fruit toward the bowl's center and lower it before release."})
tool
executing move_to over 4 steps (0.4s)
step 296
assistant
agent noteThe yellow fruit remains on the table in both the overhead and right wrist views; the right gripper appears to have been holding the blue bowl by its rim instead. I'll set that bowl down, release it, and bring the left gripper above the remaining yellow fruit.
move_to
right_z0.0000right_gripper1.0000left_x0.2700left_y-0.2900left_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]: [-0.8906, 1.3098, 0.9749, -0.7563, -0.7242, -0.767, 0.9977, 0.7113, 1.7596, 0.9329, -0.2226, 0.5404, 0.5106, 0.7576] state[eef_state]: left_x=0.2802 left_y=-0.1545 left_z=0.1638 left_yaw=0.1181 left_pitch=-0.1628 left_roll=0.1208 left_gripper=0.9977 right_x=0.3524 right_y=0.1885 right_z=0.0397 right_yaw=-0.057 right_pitch=-0.2747 right_roll=-0.1387 right_gripper=0.7576 state[joint_eff]: [-0.5128, -4.7385, 6.9949, 1.0085, -0.4762, -0.1197, -0.0122, 0.5265, -8.9915, 5.3402, 1.4383, 0.1197, -0.0073, 1.033] camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0,"right_gripper":1,"left_x":0.27,"left_y":-0.29,"left_z":0.12},"note":"The yellow fruit remains on the table in both the overhead and right wrist views; the right gripper appears to have been holding the blue bowl by its rim instead. I'll set that bowl down, release it, and bring the left gripper above the remaining yellow fruit."})
tool
executing move_to over 13 steps (1.3s)
step 309
assistant
agent noteThe blue bowl is released on the table. The yellow fruit is low and to the right in the left wrist camera, so I'll move the right arm out of the way and align the left jaws with the fruit at grasping height.
move_to
right_x0.2800right_y0.0150right_z0.1900left_y-0.3200left_z0.0530
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1515, 1.8046, 1.2942, -0.8379, -0.7929, -1.1004, 0.9977, 0.7094, 1.8442, 0.8783, -0.0753, 0.5255, 0.4896, 0.9985] state[eef_state]: left_x=0.2676 left_y=-0.2824 left_z=0.1124 left_yaw=0.1101 left_pitch=-0.1914 left_roll=0.1368 left_gripper=0.9977 right_x=0.3532 right_y=0.1912 right_z=0.0066 right_yaw=-0.0356 right_pitch=-0.2793 right_roll=-0.1378 right_gripper=0.9985 state[joint_eff]: [-0.6222, -8.1026, 8.4855, 0.6569, -0.6716, -0.1245, -0.0122, -0.0068, -6.5573, 4.9846, 1.033, 0.3883, 0.1294, -0.0952] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.015,"right_z":0.19,"left_y":-0.32,"left_z":0.053},"note":"The blue bowl is released on the table. The yellow fruit is low and to the right in the left wrist camera, so I'll move the right arm out of the way and align the left jaws with the fruit at grasping height."})
tool
executing move_to over 15 steps (1.5s)
step 324
assistant
agent noteWith the right arm clear, the overhead view shows the blue bowl near the front-right, two small fruits farther back, and the large yellow fruit under the left gripper. I'll make a final small sideways correction and close on the yellow fruit.
move_to
left_y-0.3250left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1847, 2.0029, 1.309, -0.7219, -0.7921, -1.1439, 0.9977, 0.1928, 0.9997, 0.8787, -0.7525, 0.247, 0.0677, 0.9986] state[eef_state]: left_x=0.2656 left_y=-0.3099 left_z=0.0495 left_yaw=0.1135 left_pitch=-0.2081 left_roll=0.1706 left_gripper=0.9977 right_x=0.2851 right_y=0.0153 right_z=0.1792 right_yaw=-0.0737 right_pitch=-0.2741 right_roll=-0.1365 right_gripper=0.9986 state[joint_eff]: [-0.841, -8.841, 7.8017, 0.652, -0.5104, -0.1343, -0.0122, -0.1983, -2.6735, 8.8137, 1.3944, 0.0855, 0.0611, -0.0024] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.325,"left_gripper":0},"note":"With the right arm clear, the overhead view shows the blue bowl near the front-right, two small fruits farther back, and the large yellow fruit under the left gripper. I'll make a final small sideways correction and close on the yellow fruit."})
tool
executing move_to over 10 steps (1.0s)
step 334
assistant
agent noteThe left jaws closed almost completely and the yellow fruit is still visible beside them, so that grasp missed. I'll reopen and shift toward the fruit's position in the wrist view before trying once more.
move_to
left_gripper1.0000left_y-0.2700left_z0.0370
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.19, 2.038, 1.3628, -0.757, -0.7887, -1.1652, 0.0086, 0.1936, 1.005, 0.8852, -0.7826, 0.2344, 0.0448, 0.9986] state[eef_state]: left_x=0.2662 left_y=-0.3182 left_z=0.0489 left_yaw=0.1224 left_pitch=-0.2138 left_roll=0.1703 left_gripper=0.0086 right_x=0.2808 right_y=0.0169 right_z=0.1754 right_yaw=-0.0516 right_pitch=-0.3063 right_roll=-0.1499 right_gripper=0.9986 state[joint_eff]: [-1.0598, -9.1692, 7.3915, 0.4078, -0.4615, -0.0122, 0.569, -0.1573, -2.3863, 6.1333, 1.6972, 0.1734, 0.1978, -0.0171] 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_gripper":1,"left_y":-0.27,"left_z":0.037},"note":"The left jaws closed almost completely and the yellow fruit is still visible beside them, so that grasp missed. I'll reopen and shift toward the fruit's position in the wrist view before trying once more."})
tool
executing move_to over 10 steps (1.0s)
step 344
assistant
agent noteThe yellow fruit shifted farther left in the wrist image after that correction, so I moved in the wrong lateral direction. I'll raise the open jaws and approach from farther to the right in the overhead view before lowering again.
move_to
left_y-0.3500left_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1408, 1.9373, 1.1191, -0.6056, -0.7765, -1.1046, 0.9955, 0.1936, 1.0054, 0.8848, -0.7902, 0.2306, 0.0406, 0.9986] state[eef_state]: left_x=0.2635 left_y=-0.2691 left_z=0.0268 left_yaw=0.1344 left_pitch=-0.2289 left_roll=0.2026 left_gripper=0.9955 right_x=0.2793 right_y=0.0173 right_z=0.1739 right_yaw=-0.0466 right_pitch=-0.3155 right_roll=-0.1517 right_gripper=0.9986 state[joint_eff]: [0.2667, -11.6855, 4.9709, 0.7253, -0.4225, 0.0269, -0.1392, -0.0615, -2.3863, 6.7214, 1.4579, 0.0904, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.35,"left_z":0.095},"note":"The yellow fruit shifted farther left in the wrist image after that correction, so I moved in the wrong lateral direction. I'll raise the open jaws and approach from farther to the right in the overhead view before lowering again."})
tool
executing move_to over 8 steps (0.8s)
step 352
assistant
agent noteThe overhead view shows the banana-shaped yellow fruit left of the left gripper, while the two smaller fruits stand behind the bowl. I'll move the open left jaws above the yellow fruit using the overhead position rather than the distorted wrist-image edge.
move_to
left_x0.2450left_y-0.2050left_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.211, 2.1082, 1.6394, -0.9962, -0.7689, -1.2102, 0.9963, 0.1936, 1.0054, 0.8848, -0.794, 0.2302, 0.0406, 0.9986] state[eef_state]: left_x=0.2667 left_y=-0.35 left_z=0.0858 left_yaw=0.1298 left_pitch=-0.237 left_roll=0.1657 left_gripper=0.9963 right_x=0.2786 right_y=0.0172 right_z=0.1734 right_yaw=-0.0466 right_pitch=-0.3193 right_roll=-0.1524 right_gripper=0.9986 state[joint_eff]: [-0.8821, -10.5231, 7.4872, -0.0024, -0.6178, -0.0757, 0.0757, -0.0752, -2.2906, 6.612, 1.4383, 0.0317, -0.0269, -0.0073] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.245,"left_y":-0.205,"left_z":0.105},"note":"The overhead view shows the banana-shaped yellow fruit left of the left gripper, while the two smaller fruits stand behind the bowl. I'll move the open left jaws above the yellow fruit using the overhead position rather than the distorted wrist-image edge."})
tool
executing move_to over 13 steps (1.3s)
step 365
assistant
agent noteThe yellow fruit is now centered between the open left jaws in the wrist view. I'll descend nearly to table level while keeping the jaws aligned around it.
move_to
left_z0.0140
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1019, 1.5703, 1.008, -0.8158, -0.7471, -1.0794, 0.9964, 0.1936, 1.008, 0.8852, -0.8032, 0.2302, 0.0406, 0.9986] state[eef_state]: left_x=0.2446 left_y=-0.2093 left_z=0.1003 left_yaw=0.142 left_pitch=-0.2449 left_roll=0.1666 left_gripper=0.9964 right_x=0.2771 right_y=0.0169 right_z=0.1715 right_yaw=-0.0475 right_pitch=-0.3304 right_roll=-0.1552 right_gripper=0.9986 state[joint_eff]: [0.1846, -7.0906, 6.0376, 0.7155, -0.4567, 0.1099, -0.0024, -0.0342, -2.6188, 6.9538, 1.4823, 0.0317, -0.0757, -0.0171] camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.014},"note":"The yellow fruit is now centered between the open left jaws in the wrist view. I'll descend nearly to table level while keeping the jaws aligned around it."})
tool
executing move_to over 6 steps (0.6s)
step 371
assistant
agent noteThe fruit fills the space between the left jaws at table level. I'll close the gripper and use its settled opening, then a lift, to verify the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1, 1.7279, 0.8227, -0.5201, -0.7399, -1.0737, 0.9964, 0.1936, 1.008, 0.8848, -0.8101, 0.2298, 0.0406, 0.9986] state[eef_state]: left_x=0.2403 left_y=-0.2016 left_z=0.0188 left_yaw=0.1507 left_pitch=-0.2673 left_roll=0.2146 left_gripper=0.9964 right_x=0.2757 right_y=0.0167 right_z=0.1703 right_yaw=-0.0478 right_pitch=-0.3375 right_roll=-0.1568 right_gripper=0.9986 state[joint_eff]: [-0.2393, -6.6256, 4.5607, 0.6227, -0.4274, -0.1099, -0.0122, -0.1026, -2.3863, 6.6667, 1.3846, 0.0757, -0.0562, -0.0073] camera 'top_cam' (step 371): [image omitted: streamed camera frame] camera 'left_cam' (step 371): [image omitted: streamed camera frame] camera 'right_cam' (step 371): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fruit fills the space between the left jaws at table level. I'll close the gripper and use its settled opening, then a lift, to verify the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 381
assistant
agent noteThe left jaws settled about 4 cm apart around the large yellow fruit. I'll lift it and carry it toward the blue bowl, which is sitting near the table's front-right.
move_to
left_x0.2650left_y-0.3650left_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]: [-1.0996, 1.7485, 0.8104, -0.5117, -0.7414, -1.0733, 0.4395, 0.1936, 1.008, 0.8848, -0.8131, 0.2302, 0.0402, 0.9986] state[eef_state]: left_x=0.2384 left_y=-0.1972 left_z=0.011 left_yaw=0.1576 left_pitch=-0.2735 left_roll=0.2395 left_gripper=0.4395 right_x=0.2751 right_y=0.0165 right_z=0.1699 right_yaw=-0.0482 right_pitch=-0.3405 right_roll=-0.1581 right_gripper=0.9986 state[joint_eff]: [-0.3487, -8.7179, 5.8462, 0.4078, -0.4274, -0.0513, 1.033, -0.1983, -2.3863, 6.7761, 1.409, 0.0513, -0.0757, -0.0073] camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.365,"left_z":0.18},"note":"The left jaws settled about 4 cm apart around the large yellow fruit. I'll lift it and carry it toward the blue bowl, which is sitting near the table's front-right."})
tool
executing move_to over 15 steps (1.5s)
step 396
assistant
agent noteThe yellow fruit lifted securely. The blue bowl appears below and slightly right of it in the left wrist view, near the left arm's sideways limit; I'll move as far toward the bowl as permitted and lower the fruit over its opening.
move_to
left_x0.2350left_y-0.3970left_z0.0580
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.2118, 2.2353, 2.1952, -1.4429, -0.725, -1.2373, 0.4415, 0.1932, 1.008, 0.8848, -0.8135, 0.2302, 0.0402, 0.9986] state[eef_state]: left_x=0.2703 left_y=-0.3766 left_z=0.1686 left_yaw=0.1418 left_pitch=-0.2813 left_roll=0.1547 left_gripper=0.4415 right_x=0.2751 right_y=0.0164 right_z=0.1698 right_yaw=-0.0486 right_pitch=-0.3408 right_roll=-0.1582 right_gripper=0.9986 state[joint_eff]: [-0.9504, -12.3966, 6.6393, -0.6227, -0.5934, -0.0122, 1.033, -0.0342, -2.3726, 6.6393, 1.3602, 0.0317, -0.0757, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 396): [image omitted: streamed camera frame] camera 'left_cam' (step 396): [image omitted: streamed camera frame] camera 'right_cam' (step 396): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.235,"left_y":-0.397,"left_z":0.058},"note":"The yellow fruit lifted securely. The blue bowl appears below and slightly right of it in the left wrist view, near the left arm's sideways limit; I'll move as far toward the bowl as permitted and lower the fruit over its opening."})
tool
executing move_to over 8 steps (0.8s)
step 404
assistant
agent noteThe yellow fruit is pressed against the blue bowl's near-left edge, but the left arm cannot move farther sideways to center it. I'll release it at the rim and lift the gripper to see whether it settles into the bowl.
move_to
left_gripper1.0000left_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.2922, 2.289, 1.8866, -1.169, -0.7174, -1.3315, 0.4416, 0.1936, 1.0119, 0.8848, -0.8314, 0.2302, 0.0402, 0.9986] state[eef_state]: left_x=0.2367 left_y=-0.3923 left_z=0.067 left_yaw=0.1388 left_pitch=-0.2965 left_roll=0.1797 left_gripper=0.4416 right_x=0.2718 right_y=0.0159 right_z=0.1664 right_yaw=-0.0501 right_pitch=-0.3619 right_roll=-0.1638 right_gripper=0.9986 state[joint_eff]: [-0.8, -11.9726, 5.0393, 0.3297, -0.5397, -0.1197, 0.9597, -0.2256, -2.5368, 6.6393, 1.5018, 0.0757, -0.0806, -0.0171] camera 'top_cam' (step 404): [image omitted: streamed camera frame] camera 'left_cam' (step 404): [image omitted: streamed camera frame] camera 'right_cam' (step 404): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_z":0.11},"note":"The yellow fruit is pressed against the blue bowl's near-left edge, but the left arm cannot move farther sideways to center it. I'll release it at the rim and lift the gripper to see whether it settles into the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 410
assistant
agent noteThe yellow fruit landed just left of the blue bowl instead of inside it. I'll put the closed left jaws low on the fruit's far-left side, then try to nudge the upright fruit into the bowl.
move_to
left_x0.2250left_y-0.2600left_z0.0180left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.2919, 2.3058, 1.9976, -1.2892, -0.709, -1.3434, 0.9953, 0.1936, 1.0115, 0.8848, -0.8364, 0.2302, 0.0402, 0.9986] state[eef_state]: left_x=0.236 left_y=-0.3933 left_z=0.0868 left_yaw=0.1535 left_pitch=-0.3071 left_roll=0.1974 left_gripper=0.9953 right_x=0.2708 right_y=0.0157 right_z=0.1658 right_yaw=-0.0505 right_pitch=-0.3664 right_roll=-0.165 right_gripper=0.9986 state[joint_eff]: [0.0205, -15.2684, 7.6376, 0.1148, -0.4615, 0.0659, -0.1001, -0.0342, -2.3863, 6.6256, 1.326, 0.0611, -0.0708, -0.0073] camera 'top_cam' (step 410): [image omitted: streamed camera frame] camera 'left_cam' (step 410): [image omitted: streamed camera frame] camera 'right_cam' (step 410): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.225,"left_y":-0.26,"left_z":0.018,"left_gripper":0},"note":"The yellow fruit landed just left of the blue bowl instead of inside it. I'll put the closed left jaws low on the fruit's far-left side, then try to nudge the upright fruit into the bowl."})
tool
executing move_to over 12 steps (1.2s)
step 422
assistant
agent noteThe closed left jaws are low beside the yellow fruit, with the blue bowl to its right. I'll sweep toward the bowl while moving slightly forward so the fingertips contact the fruit rather than sliding past it.
move_to
left_x0.2700left_y-0.4000left_z0.0130
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.2152, 1.9312, 1.0912, -0.7521, -0.6979, -1.2499, 0.0076, 0.1936, 1.0119, 0.8848, -0.8505, 0.2302, 0.0402, 0.9986] state[eef_state]: left_x=0.22 left_y=-0.2561 left_z=0.0115 left_yaw=0.1764 left_pitch=-0.3281 left_roll=0.2527 left_gripper=0.0076 right_x=0.2681 right_y=0.0151 right_z=0.1637 right_yaw=-0.0519 right_pitch=-0.3804 right_roll=-0.1687 right_gripper=0.9986 state[joint_eff]: [0.3077, -10.5094, 5.1487, 0.6422, -0.4811, 0.0659, 0.6081, -0.0752, -2.3863, 6.7487, 1.4335, 0.0708, -0.0513, -0.0171] camera 'top_cam' (step 422): [image omitted: streamed camera frame] camera 'left_cam' (step 422): [image omitted: streamed camera frame] camera 'right_cam' (step 422): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.4,"left_z":0.013},"note":"The closed left jaws are low beside the yellow fruit, with the blue bowl to its right. I'll sweep toward the bowl while moving slightly forward so the fingertips contact the fruit rather than sliding past it."})
tool
executing move_to over 13 steps (1.3s)
step 435
assistant
agent noteI could not place the fruits in the blue bowl. The yellow fruit remains beside it, and the dark and green fruits remain on the table; pouring now would not satisfy the goal.
give_up
hindsightThis blue bowl can be grasped by its rim with a settled gripper opening around 0.75; moving the gripper also moves the bowl, so track the bowl's new position before placing fruit. The left arm's y limit of −0.40 prevents centering over the bowl after it is moved to the front-right; reposition the bowl toward the middle with the right arm before trying fruit placement. Verify fruit motion after every lift: a nonzero gripper opening can mean the bowl rim, not a fruit, was grasped.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.214, 2.463, 1.9583, -1.0874, -0.6861, -1.2644, 0.0095, 0.1932, 1.0119, 0.8848, -0.8589, 0.2306, 0.0402, 0.9986] state[eef_state]: left_x=0.2704 left_y=-0.3948 left_z=0.0053 left_yaw=0.1851 left_pitch=-0.3379 left_roll=0.241 left_gripper=0.0095 right_x=0.2664 right_y=0.0146 right_z=0.1626 right_yaw=-0.0534 right_pitch=-0.3885 right_roll=-0.1713 right_gripper=0.9986 state[joint_eff]: [-0.759, -13.2855, 7.5282, -0.1587, -0.4713, 0.0171, 0.1734, -0.1436, -2.3316, 6.5436, 1.3211, 0.1099, -0.0708, -0.0171] camera 'top_cam' (step 435): [image omitted: streamed camera frame] camera 'left_cam' (step 435): [image omitted: streamed camera frame] camera 'right_cam' (step 435): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not place the fruits in the blue bowl. The yellow fruit remains beside it, and the dark and green fruits remain on the table; pouring now would not satisfy the goal.","hindsight":"This blue bowl can be grasped by its rim with a settled gripper opening around 0.75; moving the gripper also moves the bowl, so track the bowl's new position before placing fruit. The left arm's y limit of −0.40 prevents centering over the bowl after it is moved to the front-right; reposition the bowl toward the middle with the right arm before trying fruit placement. Verify fruit motion after every lift: a nonzero gripper opening can mean the bowl rim, not a fruit, was grasped."})
tool
give_up: I could not place the fruits in the blue bowl. The yellow fruit remains beside it, and the dark and green fruits remain on the table; pouring now would not satisfy the goal.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.102 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.7998, 0.6136, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6189, -0.3904, -0.0208, -0.0334, 0.9995]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2956 right_y=0.0006 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.3624, -1.7299, 9.5795, 1.8291, -0.1001, 0.1685, -0.0855, -0.212, -1.388, 9.1282, 1.9121, -0.022, 0.1734, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe9b706cf8530111ead12bef9eb756c86cd628298f908b95564290eec53e5348",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05912822dc21b24f72d8c3ef552d464caa659d5c81391de45fb3dd24345ba238",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a20bfcebb6b7fff2d0a8cbfbb73b452bed9a04a6a44d1981b6143f2fa508f4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.332 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtC9sdXjO9BOqJqBTupkj-PlmfSSIFSrJQH5plUBq7nTyCt_hRr8215FHUwoPy7_wZYo1Xl2m1VsepU8dYTQzXsxQA4S9hGdzZO_NBpn2NXbVg_RSAq1r2p-EuCgqmcBhWeKD5qdLLlBADPvOF6XfDqArthNaem2GfKLwyBFNZVBisqAenK_Ef7ccb_Khri0YkMiFGiQyjxElwLqJ-Vk7I8SMoU9zfGD8ZEcsmhI1PG57v6zWdaefJ42ikmsRVZzYod_PdIlcElD6MSoW79McyUXQqwNXYMht5O9OP_1-j6b3Vx3D5CsWsIgW5rtGKjx-o1uDWajmzf2ZX8wq_8PFv3xxHlwX-_I6OX5yg79o7WyiFSN7PRMN9IwFaGi0Srgd041wx-UjPxfEe9bqhfExniB2YUY3chwKhdMbzOeKkkjStEfrtuA6OsdqV3Q4TCo_Lbwf4aTJA2u0K7q_rI2ZNhNRp2UouZeeM9W2uiXZ5vT6UcmcTEG_bQOASF7yi4PqenXvmI19F3LL0bEukF1BwHDdkxVithjaUj4DqpkF17vxRUjxqHPe7lcoV45WCOa4mXYmCe5oDUDcjVN1WOw68V0o0mFN72RhzxaAZUY3ptJtfcMSs7BO8B4iI8sD4tNdxoyjKl2W229AbJiAy3NaxJk6zll3bOVsHE_-qJYUVb5LK4_J5-E3qOSjydBjwo2F3h8kj_qIOhUp9i5-rnimPZqrJxsCVRJYSD9IbsgldUAiBxQ4yMaD6FJFMhOnfQNHnrwrNOD8b6dg03WYU7dgIFuEvaryxWBXTrmMP0VToGWBDvsQNwmzQ5Jr7GfHU3VaMwr2nsFtNtgDh9ILFGEK8ViUC1ZiwegyS81P77CZSPpsSvm4DDUBwzMNIwCjocLnrL6gbjRZT3H1pAFZZONXKVygHAhOnlI3m7Z92nClkQ8AlX7kLF-foEafQsgyg2jSeUhVktGisIprf2YIu1w5QWFw1LthSxJqxSDZTAKBbgnFhYWDYpfq_A827aqxmwpL4mpgcqkAhGd8Oxk5iNM87vPpAftGpyE0XBu3AYRlaGMf-7urBlE7ASCcNQ35QT678p47uZdy_5cQandyherAz2a3b6spQg8boSZ3kjp3EWuzrvVa780h-mrIjHSK99vjQ9zk2j1w8wIo08RhXlAlG6T6nGzm7kxjDp37BQmQVHFRmjTNbHVht7HL1IHEsSNn_2Rn2ALD2NtM7NqmYjNpfpAub7eTPue68nrb21jFoLRu3EYZpIXKuhtjlDs9ZLs79lBcj3BGapAwegaFCSW9P1_QTkqodVYuoR0jDXWkQQAR3Z-Er9-U9lnjQKh4hIqU4coHX4SafYL0BFRvsRoS79SklSHWioHHcwmxeUVgVGgSfhW9u-_4msE2sLpfJpxunUucrOa7QFBSlAWs_n21OnCTeuDQHmwDpoYMCvnif2ZxOD8uudaPN6-G-7c64jvFJR8_LQko3HRj9o0Cwzl3hkLRQr6RY4yhbFgteVhJAvGihKQHwkiGMdSNTae56YZfxlHA5HPnkkGzpylKQyg7W9tQR9QuCbjeongU8KfNOBvxoqje2skHE1lADV9tR-bGknsF8TQX8LX93cJXZf94zBkDZlQJiRldaPjy3kbYtPKYlo8hLTvi63Qxbb09Y07jDkappDAEOkyu2QIGb0Gm6s-sUXnBkZdAw4SloYGtIJsEJDE64OhoGUm57BlQ6NpIHdtpIh8hhDH7G-IvP3dazEOmBGwtAMF7jTRKu1CXUfy_nf6oyeJKt9-7MZ_9cv67-qMzRFfgQOZ-E_X_MS1TK_eU8RVchNWB0Cn5FRRHwOC1TDJ17xFnIfnh3Y5mIXwjdukBesJcX83cESknWTKoTSzvbo0Qt7uUjup8kIbEhGHX7mrvHVtC0gLDLDnMsGtrZlLT4-gf-wK1pdfWXMSZXF-TpB_P__6PN_1q1MGcu8-7py1_FbEI45SvWdJhIRMCp0CxGavCJS0fgqwAjJzhgNRZB0V7xT54IWgcrRYO78AlCCezonk-FcuDWaMks-eKi1ekldjN7MdMXFbj3l5U0wBjAG3FNqMW0et8w-w3Ow716GqisfoNsQy1DFsiB6BKlJhD04hGkm1djCb5AlzXIF3yO8v7_1p7QSIxxvewGYB6aHdXdvUHRkqnRxi1UPsCSGW6XM_pP_ac1yt6zY-WLfNUmcfZesZiQJXvnBIM6zgFCtDKtX1rf_XHhUbdxOn969WGp0VRjbvJBAo_Pg1N9AhpihkjKdkpYmmHLs-_CB2hIIHQ5gYNQB5nOy10T7eHKkGhMOFuHLMWWh7S_IgSkcTVN9gYW3bb6Vl9TxFNAAA7dGeQ066jI7LN7aG_tblPBsNUkwDlnZMEW9t7NunWM3blpIHpFmtcuHbeSYqVHlxNHSgQs4ZFRtT6GqVfB7-us9O9AUyjmyHVCvl_1x3wBOKp9JIjnReBvh_4vpJeG-aM-Kk_M1d087rcJoKZzNHO9uRXKP9bdGftVTZe8HPzS_HTtHK5nKeSmHZImXRcSeaJ8UZiYE1PC4jn9sxILrg15TMc0Vk2AF0FB4YzAHYUwG2IL9nSx1vR62n_QYRzmt9d4Ndw8dYXBdjwt2bfnS1-LC2fGwAwGGVQcNCyTM_-j2ACnfXD11-Lx0s1i07r9xu4KYxx8cM5MU6-JlRt9-gRTEI-2B40Iaajb5n1WWgnyKgkNMpKp4L2u2M4TtnH2kEKyQK4M_9CgQibJzCBLlHQrBYkfE2dGw24EQ8z_BopqonzB8kiWqLCteWtyOad3pegOejEiBg5vDgK7cCHsCa1q1xvOIH661-900PjDjukexsqBMCQl8joqeu00ndll8e0_y4T5tuoo7xtPfxJ_WNGeUPJwZ0wkVR0FmBv49hod5L3TiS3rhC7EOy6Cq9l97w_3iEJT98gEYHXgtxBAxIlfEuucq3gpJWBCQQp2gysizhuWTMZwESXt3ZUQiRRJiwcU5PBid4XSuIsE0g38LpNNAOgjFIgM2BIpXXp7sQ7-LFfg2gsUCdACCOt6GARRHa02CQTgBy9rpoGGqJOevmkjF-p0LmFGtbdsoJ2O1Ifdbo7hZ-necVA5615NWX3V4u-4yGbgTg-DPmLeC2-ALw2XlAf6Ja1cmVfB0cO5oktiPxSlUwyAGSJLDkYgLybFP9u31WVVRH21bo7mPxRZgZh7FQ8ZwaGI01BusfJ-9zE9rTnpS9rVOR84Imye9A36lJ9MmV51hbS_jGwAl4cDJjKwm3SKEpTV7GVIJgBcmZGIFrXGfTHWfL5mYiPmF1mLbetwicGZEyfowowZLVqTsOFyQdnrJeC5M5Ylfcdxh8zFZuMbl5Lo7ZoQwe-U3mD3ntUmsJjVg87WgWQ7MPaSVMXu0fHYXfy8ZZdEqzvETOQ4qNJ44fipAs0oTPqSoBlE8dR83aPmz5s3Z1D3RGsQ55495v2QPMipEKouEYZNHt1gtJU_g==",
  "id": "rs_0e5c3612b8e83984016ab42f66f48c87d0ad59824a826c8146",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.23,\"left_z\":0.15,\"right_x\":0.34,\"right_y\":0.18,\"right_z\":0.15},\"note\":\"I see three fruits along the near side of the table, the blue bowl behind them, and the large white bowl to the left. I'll bring each gripper above a separate outer fruit while keeping the arms apart.\"}",
  "call_id": "call_UGwM49JlHwIoFgi7pOgIWHYz",
  "id": "fc_0e5c3612b8e83984016ab42f6b58c087d0a1a413013b87dd38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UGwM49JlHwIoFgi7pOgIWHYz",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8783, 1.5295, 0.939, -0.2333, -0.6903, -0.5999, 0.9993, 0.7372, 1.3777, 0.7906, -0.1795, 0.5758, 0.4118, 0.9994]\nstate[eef_state]: left_x=0.3359 left_y=-0.2232 left_z=0.138 left_yaw=-0.0034 left_pitch=-0.0328 left_roll=0.0191 left_gripper=0.9993 right_x=0.3316 right_y=0.176 right_z=0.1341 right_yaw=0.0293 right_pitch=-0.0507 right_roll=-0.0418 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -6.7624, 8.3487, 1.5458, -0.5201, 0.0122, -0.022, 0.3487, -5.3949, 9.0598, 1.7558, 0.486, 0.1294, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c392907086578fa8a268ec9f4a176a97a9a9670e2f7c95567a2354d88984419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9f0521f1efd4674d57dc7cb4e88d544ec3d216b1b4a75aa94bd1af94a3dd30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807a558915babfbda4a08014a5a4fd5ae4ae553ba504026de4487a00dfe5af7e",
      "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 · 6.533 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.7998, 0.6136, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6189, -0.3904, -0.0208, -0.0334, 0.9995]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2956 right_y=0.0006 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.3624, -1.7299, 9.5795, 1.8291, -0.1001, 0.1685, -0.0855, -0.212, -1.388, 9.1282, 1.9121, -0.022, 0.1734, -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]: [-0.8783, 1.5295, 0.939, -0.2333, -0.6903, -0.5999, 0.9993, 0.7372, 1.3777, 0.7906, -0.1795, 0.5758, 0.4118, 0.9994]\nstate[eef_state]: left_x=0.3359 left_y=-0.2232 left_z=0.138 left_yaw=-0.0034 left_pitch=-0.0328 left_roll=0.0191 left_gripper=0.9993 right_x=0.3316 right_y=0.176 right_z=0.1341 right_yaw=0.0293 right_pitch=-0.0507 right_roll=-0.0418 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -6.7624, 8.3487, 1.5458, -0.5201, 0.0122, -0.022, 0.3487, -5.3949, 9.0598, 1.7558, 0.486, 0.1294, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c392907086578fa8a268ec9f4a176a97a9a9670e2f7c95567a2354d88984419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9f0521f1efd4674d57dc7cb4e88d544ec3d216b1b4a75aa94bd1af94a3dd30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807a558915babfbda4a08014a5a4fd5ae4ae553ba504026de4487a00dfe5af7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC95sItS5c8WWdvD4_6H7kYHbmoHCwNEs4VJFc_sVhBRl7pRrT-X2esbptMSGSP12OiYQmOdlWELXJxAM1h6tGc_GS9INd49SmVnfwkwSEHwEvnwTmSAgVrOXP27Fuf6DnA_6C2hwlgVtTxkFsRgsqlnhkL39KOozYbJnTfMrEFzRv2--S-sBHUXJPo92hjVj9q3jW4Gxb5-IWuTAlzc4EUsDcqjv5gOYUmsYJg_ueyXgpZwbFKms9aUVGEx1w3oxXJ2C7_jSj4CbyukgPgsuQ19xVX7fhqpzSvq4mUl_hCXKE-egzAvrSn8tgoiagrqEz2J1qPVfM3IumX5vrMsq5hFmP6bGYt2fVQl5XGhM1nscmV-fcCt8ljP7JmNvUM8rKuy9L2p16Y7P4JG3mFzi6ssN-jA3XjJHNxi0odUhDLIzYz14Sy66EZt2RPQPEDic91C8xMqLXUX5KvjDExwzdyjYG5q_vAY-yp3ZDCuZJzrBWtFbdtwE7gtnrFTe8Z6eGQF_6eCEF24w29PFSvWsKBAVTz3wlLxBAkF2GC_itck3u7PCi4ESCRieAmSc8x4JbJGNCIlhdiiT5uKcYi79spOqprl0WHHFlY_MdBAEfk2X08sVQnBorm3zUK3sXD0SYYK4kQNznJLpOjrVCYUWuDcHwJeZmWgF0o1LxsVmmpd5P_oBTRt8NkXcqM3hrAh5_hs66vEcQfD1HNYetr3hGeTHmyZpUDraV-rLeNCbdxg8vQzv2ufPl72KkOkyDR9KFvl5EFbqrUls1NzTgYSVdL5xZgi6BxOIQ5jkxQg8g0aEPN8i335FOLS4Yth6bZcX2_5L_b6ADH8WS57zbleqSBFp_Txd_7jT356T-XnSA3t20mTzxltL50ldS8unTnJSqLlNT3Wb2ctJ566WhRwJLZwoWPZ3WgC1Mzam08dqivHWIDttMm8YRkIya08S-uCD-ffUZT84HBKJVhNjZiFc5oc7a82D8ak-sFblbMCC5ZQbp877IviMgH7eqOcloZ7FZ-q2P9Aj6N3hhFqJIidPuIfxpUvO21SFY5-3ZHaP5ppsucx9MRzbVvFgHeiJ_rfcFjOZNkquOEq0Ac5AMWNgcFo1epA2FWbRn-QOUvjmsclI2SIYkjoFdPLcKFO54xBL0n4vURUlUO3x8PhSYIeDrqxoXFaDpVHSBnIW4HfUn4DOFG43vIBEyrLuPTwkeKDzZ1aS3Qh8GPPZGmnau0-edqccff-DFyR9SvKHLCNb54MIsMoubVQxr9GfSfUp6cf9OHLNwa8hqWz6KA82o8-ayVpvjTlamPaH1TK8mpcuDD0yMev53fsiR9BaKnovYaOQQCnFoxWh6WEbBmkWETMizNn2KoXA3_JS61hld2C5UpgTyqo4jx2nb6uicI6RxSJvXHfqvMjdHBMDNSqI4_RLWbXqLeU9A2BgeBMhFK2-RpowbtO15qove1xZyGKfiFP-HHVm056RrGdj4PQyoeFPSUARak8fYYLwE1Xp2Spa5HGqMiM70Cc8mkw5-r_Vw8Hcsw0qvuz2Gz-5-ceWMkNzJb86uJixrqGx2npWuuRmiKtzNo9jPPpVlboOanOyiJ_6uJBl-f-fiyS9XUdIcEZq2GlPhE_kK-Cha8h0p7ValBXoJFqS_13Gwh78NDiln8M7DC2wLbz4mLCBS_MMJ6udqeBKQsBN7pTiOn23ctrhYn3OwyAOgi8LsyRfs16CsPGZqUkHXNQPLzAlszVsLI1LPBAmFx90KXMc_labLG94wnyzbsGsFrDe8EzhB8QlBw-F-G2TfLWlzBE3lqyqE0uSHitEE92TabVr8Khzvoib-DHPfy5cEUGSpckF6QEEPOcuxYFGSmR-M4gJp3R88gjXotQu_4rXLa-GVaiVUkJDBw9RkkyWx9d7XUT9XQ8A600ugzVyWvXh7QUQL7wP6fC3dfy3UDrEUeXJmvkO2crjPpbCEl7q3yIaconCahnQD8MANWCY1z5vYwCcCuYNXZg6pSSgqaiYmhuh9jvuKtVv9v-8B9RrKXWBqVkWw9jK76v-4RNJgFZGwZ5RumbVYm8BTJSngI4771A9lBav6Ae3jGqfWzPwPSo1vMoiI_Bo87TbWbZOtiLE0di0tFcoM9NNM7jRiKgVk1dFUM__TC1JaZaqVEvVRZqcuCDrkVq6Bfww88tX_T288jwf3QvGEoHyxNnPq_hpO7MagtWiJD7SBjkIyorXvuStd03VK9je6grVIp5IDLOrNRBHwXqv-IgAPk02VFH-vxb3F_YoKNV4YJMm_-csXI10gr1Z4Xdqjg53gbpTpqfOvSf_vbdhOA1BXxsccdf7araLjjN9IplNwvW9VHueF_MQyoffGhErXSsY96LiDHVPtpXcTBLTmmQL59PkNXFzH5Gz4v_f9UhA6yEZoqwJ01QV3qV1Onq5a7tMBBjJNHKCf3Jc3uUf8LF7r8nqN5NGyydVXNCbSax1w5YbEA=",
  "id": "rs_0e5c3612b8e83984016ab42f7676f487d0bbd353d1e089242f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.017,\"right_z\":0.027},\"note\":\"Both grippers are over the outer fruits, which are hidden by the gripper bodies in the overhead view. I'll lower them to fruit-grasping height before closing.\"}",
  "call_id": "call_lIci90BYLYCHCbBpTT7yjXdy",
  "id": "fc_0e5c3612b8e83984016ab42f79488887d0aabf901cc3cca2e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lIci90BYLYCHCbBpTT7yjXdy",
  "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]: [-0.8749, 1.8278, 0.704, 0.3264, -0.7181, -0.577, 0.9993, 0.7349, 1.6363, 0.5831, 0.4225, 0.643, 0.329, 0.9994]\nstate[eef_state]: left_x=0.3414 left_y=-0.2218 left_z=0.0271 left_yaw=0.0068 left_pitch=-0.0007 left_roll=0.0308 left_gripper=0.9993 right_x=0.3517 right_y=0.1799 right_z=0.0677 right_yaw=0.0195 right_pitch=0.0783 right_roll=-0.0561 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -6.9675, 4.1778, 1.3162, -0.0708, -0.232, -0.0122, 0.0889, -3.1385, 2.3453, 1.0134, -0.4957, 0.7448, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3cdd2ddcf30903f73f7ffc55814c6770e1d92b438b14d5d76f39c1a9704f85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb36442c29639de376037fcf846ddefca1776ed1afc72497b9a35da23429280",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7df6159d2586b13b0d303a691d877a717d593b86235615354a8b9b13e64ad49",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 1.958 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]: [-0.8783, 1.5295, 0.939, -0.2333, -0.6903, -0.5999, 0.9993, 0.7372, 1.3777, 0.7906, -0.1795, 0.5758, 0.4118, 0.9994]\nstate[eef_state]: left_x=0.3359 left_y=-0.2232 left_z=0.138 left_yaw=-0.0034 left_pitch=-0.0328 left_roll=0.0191 left_gripper=0.9993 right_x=0.3316 right_y=0.176 right_z=0.1341 right_yaw=0.0293 right_pitch=-0.0507 right_roll=-0.0418 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -6.7624, 8.3487, 1.5458, -0.5201, 0.0122, -0.022, 0.3487, -5.3949, 9.0598, 1.7558, 0.486, 0.1294, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8749, 1.8278, 0.704, 0.3264, -0.7181, -0.577, 0.9993, 0.7349, 1.6363, 0.5831, 0.4225, 0.643, 0.329, 0.9994]\nstate[eef_state]: left_x=0.3414 left_y=-0.2218 left_z=0.0271 left_yaw=0.0068 left_pitch=-0.0007 left_roll=0.0308 left_gripper=0.9993 right_x=0.3517 right_y=0.1799 right_z=0.0677 right_yaw=0.0195 right_pitch=0.0783 right_roll=-0.0561 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -6.9675, 4.1778, 1.3162, -0.0708, -0.232, -0.0122, 0.0889, -3.1385, 2.3453, 1.0134, -0.4957, 0.7448, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3cdd2ddcf30903f73f7ffc55814c6770e1d92b438b14d5d76f39c1a9704f85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb36442c29639de376037fcf846ddefca1776ed1afc72497b9a35da23429280",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7df6159d2586b13b0d303a691d877a717d593b86235615354a8b9b13e64ad49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-Gl8FQubH7_NdoTSxrHfzG4j4xGJs4j5HPz3hxv2sUrEH4D6MkqlFo5aebqYyXJFRDHHzb9BnCBkIYlruJ2H9WKHBNY92m1bD_WCQaQfdJIWHWlzBAsNSx30MGL5mfV1-RzYbYIIkq8hrD8QbxgU8rLkfpEzv9OZJRIhWQlCaZ39aqYmfZi7kEO6UrhAVJdJHv5inkYrSwJPK7fXJwsAzJcuE0DRcCbkZJYBv6sSslKvqTawgg9m_PY06q-XLwNlNOPiytQlgOXa94NyOcBTK6rUAIi80Y0WvHnWUrRtCMNiPi4o9S8VY3WC0ynj0jJKLkG5GZnGsKpM0bA6tX173ois_4HFpDvtC6V2y-tkk1en-fROnZ8GJbhqlOt89XbuNqpQVwq2ga5hTKeF8eZuceTdt2lvwKYUUnhT7xVqBD-0tATyMogX0ZnXeSBYINelKGYdp4QvQGRl0Qh2xiFhyIqj2WbsZT_LbFDM8wNaj7GvmvSpsDOFgnN8e-LVEMXqgc0ac6Jahu2c8A7hoXXUf2IuKvZ-YFckgcpO_uNUT2R8_hIg-qauysDC9nFDjdv7SdAkt2p1pIh8zGmoK45hd1sTeuXiW-QdoOS_A6gj6iw__p6BYRAV8KzJxBpoaUnJpfZWTx1_1hAk6NPHr2tzi2Nn2zzUx6gvLS8iSyzCaDdbvpCiLJ1iUcta_VmuFqipgWkGjxJDtYI4vnc3Ze9bLsXort04h-jH8nh6a2HE0wg-gPtqh1u5Nmp87-ezMaXuQa7POBUFjzlOb2nZ3cjZM8Wun3pWItfsYboCw8pA2BePfW6xLFBBS17p6KFRmLOJwADneXIJ76yYxTX7U3_ukw7CU45NSfO5my2wmYHXwchRH2I1NZT_wmtRJMjgH-Ul49Jc95z6leYbNV379-nwfyd1xlTrqravEN0mAxRvfa6UZ0_evnJ4L6wak5pTrsm1FTFc_Ouz1kazfsygkgaTUtsRy8VF7k4MwjbXVwyE8XLCjUJRUY1dZWQCPqTm4IV22-v-BKG-qS-1FFCOy3tGWBa4I2J_i_PkXMPmwfghSC8j-yyZ3CEtEKC1I3_Cx8P2zyd0BJ2DQ8hlxBmneoz2gYPNAS2JKh9brkrE7llEMCPQ2iAhOLmErWdpgnqJ2aJ9e71ZPUKWUwAFpvvQWPSzbHYXqOLAYkXCcm7GOiLxiN_S67zqMy5PhLDXOu4zuZ-zwBqqOnpsJJ0dB8a_AsJK58cWfy8PX7dtCFaCkurbOKMqjDkoWBXLCdBi0BBnO4Ia4ifUu3UOAy1QGHr7Tuil2THmsVWSREW248OoYCTzfpQ59d9KhtwRqtCDcIPiwRlTdlaRkaXxkdFhAm04BPcq8Mylma9DpDiyggg0mUz5mfTOqS8gig2S9deNlCBqdcnL0IGNd-WhwCEEGQ2k8KzQJHlhtWCGEL_W9U60ksdjkpLO4XJ4G9AMHTN6ffp32B7PA467nCicLNa-PAVbv_ER-xWakJV8klNrCv71L70dINDn1u_cQ9AY5JYxuBeerA1Q6ZYikE4Cy1vEdOt40-ez7gLpL6qo1U7mgSA5OynYEJh4txNsGD5YU_KZrzdLpQFdUuWFGS5EfuCAK4yNIW2bPTTaJha_uEvVCohzQzc0A8fc94FGPSxctTNJNB_ydJPILY12vRlsPDQnkjY7k2_qe74Ipm-kfzZGY8J8TmepqgbZJLmPwWW2EqLgEVIrglH83GPl6ji6xV7HWEyU8ee2jcybwD4Y-72JsZgT80nEm9v4bgYTtpBCaY4vSsr4kZdf4eqg-IlKvWE_SW3u_C3CC2sS08bdtyZkJaT0xsML2eFe2rfBuoNnigrRUHlx9w_FybNI-MUGKmjzadUyauI-OKU8Oie1KULv_sQ0tUxmTm-sbThEe6Yr8fRHh5KI2tGTMXE8SDbC_OQjsGHLZ1-yDadYIjzHUUemJ6o650N2v1rMWDVIZIRiECkGd_R_kV6BBMPj12TJ3inMiTtCWZ1yJMy9L_GZvcMwAPVdDsck5AgvjQtS51T5CczJKsxiKtopG3YyKgyelYbQ0a8FAz1h-W4q7yO6kn_b39YAiTRi18MFfK5jKznZv4mFt7zHD_K-50PFmxfMTF5Cr6mF6sJNwvU-uewxSEdnD6xsSEPH0casFabOCi9tXKqLmecINBZbmPK2u6U7WlrCUXkTXo4HB8QeMe7zaeNy42wku2w8CMjl7ZBttARaESrk1K9yp_jfRj7aNi5TNteWp_d1Etd62SsGB03ZNZwc9TjfInmJoaXc9mtbtAfNkO8hUNfgymHgLBFjLYJZl8TBbvdvF6SEp5zbEzD0drpGJv2LnFdRCJT7TB4c1av-KVB6KkvDsWnz1UU-mCYbUM_j8h5oqCbEW5Ckeerv7JdxTIlbROelLqExs2bLlqjak_2F7cd2b0rD6t0ybBi_UiYHlQ8_oqmrewnRJsMhfWQuXvQ93x7mQHSnmKFV_vUPVFDmKDfzktqqYznacGUAPKGQKPwymL3816EOLnzXzNDXCP2LBy1xBm_FBLM5ltjMPy1AhUhqLKs79zvaWTwHzh7XyQ1AIM5js-2u_3pv7nkdStT1E1wYtFBPMQk_zNWvWcPXE9T3exND5helzzG3bALrrAXtD4RnGQT_5PnK1g9XLtsCwzPoEqypQ_WKctNKrtja1A5p2YYWkctXI5D4Iha_0j0JRyPQmbxZC9YnhpoXRyvwfGBbOsmYoNX8h961R5k3wt2B3iU0UWSh9Ey9WuCSmET4I5puQI6fq_20BIhfBI5-RAfYGGOo9in78bzWez7V5BxMCYacgRoIVPlPf1dSS7CnOtgsTaCmvned4JF-xcwGKPtsLNJ1jtiQNbrQ2o8bITcoUjISjdLs_VBubJkBARb3VLThIKtARCLpkafIPe1c7aLyTvXleSFeERCYaF3VIOKFiTz8Fffuy2EiE_YuJklO3FUQ52zgDdX2Gr--QUAhLeA0fg9Nyy7Y2YFyeGpiOrPpAyl-o3SPZXEwR7LTuenXZbuV0LkXD583EwI2vEswkz7XYtA1LVeXOG8WpIRW7YzWDkk6En3pyiw1MWmyaV_EaLbnSx6y3D8Vph2KjRvkFITbg-foADTkf6vjrtxqXyL3rByUgyXBgUn-hCZY6zM80-Jo9SWz6qJhA8il37AgQzhkt7qJiVnUgdBaJsjhDmELS4FsyaRJe54lCCNV0SE9d9HEWgZUAZ-IME3-0MKWEhaC6pm2J_EkPgODs1XFmrAaQwsl-fvF2aDd3yuD2DAe0cIfBEWjmK9JeqqBsspATXeWexOlZ_33-LhIFiH5hq_YdqvdGbUe1ALg7efHAv5xTIQRhz9A==",
  "id": "rs_0e5c3612b8e83984016ab42f81278087d0adf2fb48fa299952",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.18,\"left_z\":0.04,\"right_y\":0.145,\"right_z\":0.045},\"note\":\"The outer fruits still peek out beside the jaws: the dark fruit is left of the left gripper and the green fruit is right of the right gripper. I'll shift each gripper sideways toward its fruit and keep them just above the tabletop.\"}",
  "call_id": "call_Yp6rrW8RtkSAlRANOPQa4FSc",
  "id": "fc_0e5c3612b8e83984016ab42f857a9487d0a6ae19eee95a330b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Yp6rrW8RtkSAlRANOPQa4FSc",
  "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]: [-0.7708, 1.6901, 0.5961, 0.387, -0.68, -0.4786, 0.9993, 0.6308, 1.6516, 0.4538, 0.5877, 0.5594, 0.2607, 0.9994]\nstate[eef_state]: left_x=0.3489 left_y=-0.179 left_z=0.0494 left_yaw=0.0316 left_pitch=0.0389 left_roll=0.0299 left_gripper=0.9993 right_x=0.3493 right_y=0.1435 right_z=0.0431 right_yaw=0.0167 right_pitch=0.0624 right_roll=-0.0651 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -7.2, 3.8769, 1.3016, 0.0464, -0.105, -0.0122, -0.2393, -5.3812, 4.6154, 1.9121, 0.0806, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f6ed348db0d4b2dad16960054b4d1dc4d0440e6879565bf8c72348ab132f61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59b57723733fe9c00078a2ea3f18a12aa182825a7d8e50436930761f67937299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96492ff995e25dacba2d9184417a2a40bbaf03eb97d70954b3a175ad3cdacff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 5.213 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.7998, 0.6136, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6189, -0.3904, -0.0208, -0.0334, 0.9995]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2956 right_y=0.0006 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.3624, -1.7299, 9.5795, 1.8291, -0.1001, 0.1685, -0.0855, -0.212, -1.388, 9.1282, 1.9121, -0.022, 0.1734, -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]: [-0.8749, 1.8278, 0.704, 0.3264, -0.7181, -0.577, 0.9993, 0.7349, 1.6363, 0.5831, 0.4225, 0.643, 0.329, 0.9994]\nstate[eef_state]: left_x=0.3414 left_y=-0.2218 left_z=0.0271 left_yaw=0.0068 left_pitch=-0.0007 left_roll=0.0308 left_gripper=0.9993 right_x=0.3517 right_y=0.1799 right_z=0.0677 right_yaw=0.0195 right_pitch=0.0783 right_roll=-0.0561 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -6.9675, 4.1778, 1.3162, -0.0708, -0.232, -0.0122, 0.0889, -3.1385, 2.3453, 1.0134, -0.4957, 0.7448, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7708, 1.6901, 0.5961, 0.387, -0.68, -0.4786, 0.9993, 0.6308, 1.6516, 0.4538, 0.5877, 0.5594, 0.2607, 0.9994]\nstate[eef_state]: left_x=0.3489 left_y=-0.179 left_z=0.0494 left_yaw=0.0316 left_pitch=0.0389 left_roll=0.0299 left_gripper=0.9993 right_x=0.3493 right_y=0.1435 right_z=0.0431 right_yaw=0.0167 right_pitch=0.0624 right_roll=-0.0651 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -7.2, 3.8769, 1.3016, 0.0464, -0.105, -0.0122, -0.2393, -5.3812, 4.6154, 1.9121, 0.0806, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f6ed348db0d4b2dad16960054b4d1dc4d0440e6879565bf8c72348ab132f61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59b57723733fe9c00078a2ea3f18a12aa182825a7d8e50436930761f67937299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96492ff995e25dacba2d9184417a2a40bbaf03eb97d70954b3a175ad3cdacff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-Mh8nDxvK7_llukBCRzGzcUHrsUiozsmMI3MLCyzLTx2LiGQlC8RgQVuunwxiDmW-l5kcPj1IrWe8eQ-Y4WlQYQN0B-sr8tESHEW4XIAPPqlgVTxa-1yD0Cga0qmfXvjM714KwEpky9QfguNuZA-N67mX21xdFdkRNK8kQYXQmLBzQAwvJ6UNGetl-1gvb4Lxa4xi3zOUiiL9RFYO7GOsP5VNVOG174daHPQ-Qqc4ZSoFUXgyYRneE4iQIc0PmNos9sk0bbfkLxo7Alxry2hn6Ff-PUd0kDnrTZUK7Fssb7yasCVlkV7ybJ4brdjKLJ6ank4fE00QgnXKw-rEjP9tQ1hQoIaQvfaBya5PFeoeUUl7XlOXkqrhtoO7i8PXOBsZ7orXFEH52HuRKys9VfUyq_bxPk37vDdK9Lci46FO-sJhbbGpYHd6Q2Im3lbxtkmlbGG-1FQzQWezY57yNvYV5NXsWdPYBPxCqsjegcCzOIJwN272o82rE-uKT-C1siQpDJizdgQmw3BQOZAB8PwfIgnBU5XtU9yAwJI3-T-AwqhlsaVtuYecygoRrORTh_SgMhynHMmWh2ZU4cQRlZNN7Bv_iLJiERb1iwC8B2BShEi5x24rk-xmdkdqghsMBGuDB6TQ0lNeKgCpauqwLOayF9W4h6RYZ0i-_CWzJlD_JgMs0o8nj4lD_aHv3O1Q2wjrIFtcG1xRHyKkhTfybXaxZVW-I2GyuUx5KLz0_wjRqO8soXxwCplMUtxXuhYOXEwbz4pnkyJERgJSCk0jUm5BEyVb5d88DmRuybzdl8YqGoh3Bx1rP7wY0UaM2VaGuG6-8We6VC3fvcVL_Dfjhq2-DHtQbM80vg_Ag4ZWosCjjvoF08cyrGtuCZ_59EmhY2_EW1lSbq7NDtYRycEONuAVX9gUyJuDjrd5kDrpvVVXdUYpsChHVGnqIcM-1zugSldiqTI5rhw0OyqRHl0EEFajajk1c4WuKksy8issUDhvXEXQpNIjswnAQXJB2RJhJWUu74t-8Fooy1RGs9pr1qykLfqOQU0wCb8IIxOw_7AjPaFN5_isGUZkSu3n0A8_GsFFbjQHGOuXj6XVocd77mkgM1O109pPyUK8-UG0p0YcID8NqZIrwuWY08Pp9P1FTof3gHcL19lQxvHfUiL4jx_JWabhhF4uZ7jqx6tKg8OpBjTf2MWmpOBQwNBb-T4jX4GPCRBepyBREl0tIBRClqHgFivZZcWejzLNJ3CuA2s7cm5hkZrV8AmEMSX6IOsoe28zZ4wsG5gLG5820232sZ1j1e-gunNMQVDXxfrKwhUcRMRB8Vn98IFJ92x1TtkKjI0TPTvUz9-YyVlzj8GN8hEkPOA==",
  "id": "rs_0e5c3612b8e83984016ab42f8b223887d0a2b809bbce520162",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both outer fruits are now between or immediately under their respective jaws in the overhead view. I'll close both grippers and check their settled openings for a secure grasp.\"}",
  "call_id": "call_VGQJnT7sPDvaJGTfUPpZkR1f",
  "id": "fc_0e5c3612b8e83984016ab42f8b8ebc87d0aaa047e72a558906",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VGQJnT7sPDvaJGTfUPpZkR1f",
  "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]: [-0.7635, 1.6657, 0.6151, 0.4316, -0.7738, -0.3916, 0.1252, 0.6308, 1.6535, 0.453, 0.609, 0.5449, 0.2504, 0.0163]\nstate[eef_state]: left_x=0.3616 left_y=-0.1703 left_z=0.0782 left_yaw=0.0681 left_pitch=0.139 left_roll=0.0827 left_gripper=0.1252 right_x=0.3508 right_y=0.1472 right_z=0.0453 right_yaw=0.033 right_pitch=0.0728 right_roll=-0.0568 right_gripper=0.0163\nstate[joint_eff]: [-0.7316, -4.9162, 3.7675, 1.0867, 0.6178, -0.906, 1.033, -0.335, -5.6274, 4.8068, 1.6972, 0.2076, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150a0c0eacb94168547fa4139eed9861a2fefe158b3246a604f766fb0d43a9ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:259043e95a31055494c58a3fae9acc608df2318bd86d60cb6d37de6706a41b83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac187dbb6d646e7db9596afcb1e43a84bd47c3bba8b7adf716d88f508551ccc5",
      "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 5 attempt 0 · /responses · status 200 · 4.36 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]: [-0.8783, 1.5295, 0.939, -0.2333, -0.6903, -0.5999, 0.9993, 0.7372, 1.3777, 0.7906, -0.1795, 0.5758, 0.4118, 0.9994]\nstate[eef_state]: left_x=0.3359 left_y=-0.2232 left_z=0.138 left_yaw=-0.0034 left_pitch=-0.0328 left_roll=0.0191 left_gripper=0.9993 right_x=0.3316 right_y=0.176 right_z=0.1341 right_yaw=0.0293 right_pitch=-0.0507 right_roll=-0.0418 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -6.7624, 8.3487, 1.5458, -0.5201, 0.0122, -0.022, 0.3487, -5.3949, 9.0598, 1.7558, 0.486, 0.1294, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7708, 1.6901, 0.5961, 0.387, -0.68, -0.4786, 0.9993, 0.6308, 1.6516, 0.4538, 0.5877, 0.5594, 0.2607, 0.9994]\nstate[eef_state]: left_x=0.3489 left_y=-0.179 left_z=0.0494 left_yaw=0.0316 left_pitch=0.0389 left_roll=0.0299 left_gripper=0.9993 right_x=0.3493 right_y=0.1435 right_z=0.0431 right_yaw=0.0167 right_pitch=0.0624 right_roll=-0.0651 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -7.2, 3.8769, 1.3016, 0.0464, -0.105, -0.0122, -0.2393, -5.3812, 4.6154, 1.9121, 0.0806, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7635, 1.6657, 0.6151, 0.4316, -0.7738, -0.3916, 0.1252, 0.6308, 1.6535, 0.453, 0.609, 0.5449, 0.2504, 0.0163]\nstate[eef_state]: left_x=0.3616 left_y=-0.1703 left_z=0.0782 left_yaw=0.0681 left_pitch=0.139 left_roll=0.0827 left_gripper=0.1252 right_x=0.3508 right_y=0.1472 right_z=0.0453 right_yaw=0.033 right_pitch=0.0728 right_roll=-0.0568 right_gripper=0.0163\nstate[joint_eff]: [-0.7316, -4.9162, 3.7675, 1.0867, 0.6178, -0.906, 1.033, -0.335, -5.6274, 4.8068, 1.6972, 0.2076, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150a0c0eacb94168547fa4139eed9861a2fefe158b3246a604f766fb0d43a9ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:259043e95a31055494c58a3fae9acc608df2318bd86d60cb6d37de6706a41b83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac187dbb6d646e7db9596afcb1e43a84bd47c3bba8b7adf716d88f508551ccc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0e5c3612b8e83984016ab42f90d9d087d08437112aa8676523",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.345,\"left_z\":0.17,\"right_gripper\":1,\"right_x\":0.325,\"right_z\":0.055},\"note\":\"The left jaws remain about 1.2 cm open, suggesting they caught the dark fruit; the right jaws closed almost completely, so the green-fruit grasp was empty. I'll lift the dark fruit toward the blue bowl and pull the open right gripper slightly back for another approach.\"}",
  "call_id": "call_ySsHZOA8FaAWz0NiYAe0jkPy",
  "id": "fc_0e5c3612b8e83984016ab42f94297087d0a2dec01708404c83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ySsHZOA8FaAWz0NiYAe0jkPy",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.934, 2.0968, 1.6344, -0.2901, -0.9001, -0.5629, 0.1261, 0.6968, 1.5497, 0.4042, 0.519, 0.58, 0.2802, 0.9986]\nstate[eef_state]: left_x=0.4293 left_y=-0.3417 left_z=0.1619 left_yaw=0.0678 left_pitch=0.1282 left_roll=0.0818 left_gripper=0.1261 right_x=0.3258 right_y=0.151 right_z=0.0499 right_yaw=0.0565 right_pitch=0.0568 right_roll=-0.0675 right_gripper=0.9986\nstate[joint_eff]: [-0.6632, -11.6991, 9.4154, 1.4139, -0.442, -0.0024, 0.0806, -0.212, -6.9402, 4.6154, 1.5946, 0.3541, 0.105, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd637c8a82427384851797e939b838fd2882569faa56af2641bc7d9372bf98f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6090bc3d6ae9d2ced2686f927fb28959f78a420ad9aa2097d22ea0494fc1120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75bc4a55a1591415aaf65d85417a337d31455a6126d5bbc9478a6c3e0c681dc8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.26 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]: [-0.8749, 1.8278, 0.704, 0.3264, -0.7181, -0.577, 0.9993, 0.7349, 1.6363, 0.5831, 0.4225, 0.643, 0.329, 0.9994]\nstate[eef_state]: left_x=0.3414 left_y=-0.2218 left_z=0.0271 left_yaw=0.0068 left_pitch=-0.0007 left_roll=0.0308 left_gripper=0.9993 right_x=0.3517 right_y=0.1799 right_z=0.0677 right_yaw=0.0195 right_pitch=0.0783 right_roll=-0.0561 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -6.9675, 4.1778, 1.3162, -0.0708, -0.232, -0.0122, 0.0889, -3.1385, 2.3453, 1.0134, -0.4957, 0.7448, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7635, 1.6657, 0.6151, 0.4316, -0.7738, -0.3916, 0.1252, 0.6308, 1.6535, 0.453, 0.609, 0.5449, 0.2504, 0.0163]\nstate[eef_state]: left_x=0.3616 left_y=-0.1703 left_z=0.0782 left_yaw=0.0681 left_pitch=0.139 left_roll=0.0827 left_gripper=0.1252 right_x=0.3508 right_y=0.1472 right_z=0.0453 right_yaw=0.033 right_pitch=0.0728 right_roll=-0.0568 right_gripper=0.0163\nstate[joint_eff]: [-0.7316, -4.9162, 3.7675, 1.0867, 0.6178, -0.906, 1.033, -0.335, -5.6274, 4.8068, 1.6972, 0.2076, 0.022, 1.033]",
      "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]: [-0.934, 2.0968, 1.6344, -0.2901, -0.9001, -0.5629, 0.1261, 0.6968, 1.5497, 0.4042, 0.519, 0.58, 0.2802, 0.9986]\nstate[eef_state]: left_x=0.4293 left_y=-0.3417 left_z=0.1619 left_yaw=0.0678 left_pitch=0.1282 left_roll=0.0818 left_gripper=0.1261 right_x=0.3258 right_y=0.151 right_z=0.0499 right_yaw=0.0565 right_pitch=0.0568 right_roll=-0.0675 right_gripper=0.9986\nstate[joint_eff]: [-0.6632, -11.6991, 9.4154, 1.4139, -0.442, -0.0024, 0.0806, -0.212, -6.9402, 4.6154, 1.5946, 0.3541, 0.105, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd637c8a82427384851797e939b838fd2882569faa56af2641bc7d9372bf98f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6090bc3d6ae9d2ced2686f927fb28959f78a420ad9aa2097d22ea0494fc1120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75bc4a55a1591415aaf65d85417a337d31455a6126d5bbc9478a6c3e0c681dc8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-dCl8OYHDlMPOLpHmvKH_C6S9vKZEYe5__xeCSAOSsde8KVQoUEFyHoF9PNK7DA_O7C5KRBjCsQ8CZqsn4hwBK8wQCj36bxcCLQhf2IQp0iHSAQ5yQufpYpBsyqb2rovh2WHSyXpX-Qrz3QddEB7e-t5OhKzQJWzRlP_b5vrPkF8W5DJ_6Gmc-jsNKyX5XycN9W6GcrqUKQmXHFVhiDkUVFOXWY8kJbB3jQVIxcK-XcPc7kjuHan0QQ4BHrB4h8JWryLUE4b_XymdTZUqf6YNAreaq8gaTtWicxmyBgyph9MzriddJI6n9NHX_dFZhoNaxc8NkYwMT-KOm6oGNRt4OEgk4xO0-kAqZCFQqNYUYQDhxXuZOgZNYUbrwYxelYkCBN-7rUX1rlINIoQLKz_hB9gmIdxYL2wDBOJsCiCYvOLelaePzCs5rp7dc6YoKe9Bu3VhjMCq2AMpfjY_LrvF6-vw_vzYtK9tt8CHXDsPs5tWz8SJL4q9sb6mT0S6_nf89GNhHUx7fBZRcmOUdZmz08pgbiV0D1nGnXJe9SQ9_Fxba8_Lln2AX6_dmMbWrcGMhGZKkGayO0hbgg-k2HH1eW3mtDdUvg8nDBZTWytZ4fdOWKe_E7BhIxnqXgh8s5BFHq6euFmQOv1dQuQooQFqk9rY_kLx76rE4WBrprGxr7Ffj55o3GiJofUdpzDGYurC6vGxLxNXzf8QyG_txNgW5V8TQx7lbvgcDlDBmzPV77m_aFsN4_MbT7KxhH8c9MQa-QhfUP2nTM0Z83p8knFEiI3zu0UL9oKeombFvugjJOJyN6s7t0BrStNTetMQAW8X_ZkojprAM8rdJ_p8uBzJosof1vFq5LNxi868gMnvzyccMZHW8HfLi1bs2TkkT2uF45KOxm0h6QFMZXM5nAzm67s1pNyqz59GEFmQn3r6nWK29mMsvjDvunalN_Yqqt4OCO4SoUb3Hbwux3erbZOPiuM2mqTeTYVyfkOhjdrSdqVZCd53HTQEuGDWTHes7-FEsPSdxpYiSLORavIPRxPIE1kqzXB3wWYSYNxPMg7jxzYDS6lsonl7kUDYrZKVDHZchaEjHMOUVhY6H9GT3XDU4L4YFCPSMDRVeVmQz3QrTSWrTs7w2aZR4btCC6JZLciIVID7G3Lh7FW4P1vX8QorwY98hgos9TeyjxZ6lhPq6Hk2WQFTMPC7ykcNsPU3dc4vYM93ft6-FRTt6eN8uWYeAjgCIP-o8IuqzPXchRQUkBkdQ6h79fhjwXo58vmjVclBlmGwcQRe1t0VtYPR9XIFLMKw16pSZAGELAfLApXd00eEZSGft0RUIqunksSmhYOzs1Px4L5u9I6IjRMPKNpGdZjW9S1tePa95RfFmmR3I3axGHSgnbXn6XV5NEp9PR79O7zeJfnfYQ92erZ8sohQFG1iY8h_2XXPhKr2DG0BV-QbsmIP3CJuHaNDQJfmqugEtgWMTBioMkdixUNh7B6WN32RQ-sYBbWmZxH1g5v7PWGHDtY5JfyGfg5DxpT-tC8SVxaecNMe3eOmYNNlI7JEuVH-RrG-7hciTM5tNHQhdp4DYjvOmGEM_xLJOQR1HLmgNKzYR-eQl8-O6EDuD0dO9aulkyn9GI28rYcniANkuhoyS8ciopMrEhADxK1TkVe0tjNy0A9lRBLK23K3y7i73SPk725w7hnAgBla0qh9dwqYGNvvPjPUQKHOm2NmbmH2V75asRYuKPgYJazPkDtU6hjDrcbpvMZheVeqDz9FLEMLzwih5Ge2V8zJKBEUZjZUfwEwHnYNOXOIFmSC_62b2dRmw5QNJcg_Yz0uZ9VWEfWbA9VLh26_hufUaAz_T3quz-uHz1L9iSHUV7Mw3rBupNe7TuF6fd9EyfapN42xiUFrcbU4_BDd_wxXBUZXc06m3RjuuQwDHGnKVTdy-PCBUBSN4ZUwJaS4ptuvHjm4576l6Ysso4xvgev2rKbWCoDakWXHq4XOR2UpV8HInvk5_yj3SXOjS-TqpJoLYFF8MRaWq5f6bq6IOufaAIVdzpVbHzoIV4_oKQt0I2lcgFmPQri-4cQLT1uGG4BuVxakf-XHScIyGYsra6_8BHb3AIPf2cKy38ANKFYcjF91-wZpniL9joYqQApBGwoabc9pcMi3cLA1QRZUfnm3uO7fWGXrixCep7Fieb-9JItmJh0anPoLShCEiA3Dn4bMZS2kSmP-eyKa5OjBcpYvKVEaKQ2TmebP3Jd0hxRQ6fY8t2R6sLJi5OAPTDZMfhOEqRtFbUSTctVtq5k0XxSw8NEqn-9V0LbZHgmiuWyXzzZSZwYstfNDxB1OHW4aubwrY94nfmPwK8pRNoV_XUPJbXPWTxnDWIIzE32s_p5V9XHK5izOrq7BBOh2cMPsZUUZXwjreZEVkuCFikrvfyQ98RO11mXCUjgQH7KkCSKSvwJfEg-YBBWkVojmVlW1HEr2Z0KdqM9M=",
  "id": "rs_0e5c3612b8e83984016ab42f99fff887d08465760deff40f21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055,\"right_z\":0.01},\"note\":\"The left gripper has carried the dark fruit over the blue bowl, while the open right gripper is now slightly nearer the green fruit. I'll lower the held fruit into the bowl and bring the right jaws down to grasping height.\"}",
  "call_id": "call_JfUxkDhWJ1FtKmtdVWwodIFE",
  "id": "fc_0e5c3612b8e83984016ab42f9c5c2487d0a4e1542d7d9387e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JfUxkDhWJ1FtKmtdVWwodIFE",
  "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]: [-0.9268, 2.2292, 1.4521, 0.0536, -0.9115, -0.5667, 0.1262, 0.6914, 1.7576, 0.3683, 0.8013, 0.5831, 0.2913, 0.9986]\nstate[eef_state]: left_x=0.4339 left_y=-0.3394 left_z=0.0739 left_yaw=0.0884 left_pitch=0.1503 left_roll=0.0577 left_gripper=0.1262 right_x=0.332 right_y=0.1532 right_z=0.0207 right_yaw=0.0411 right_pitch=0.089 right_roll=-0.0359 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -9.8393, 5.2581, 1.4628, -0.1929, 0.0073, -0.0073, 0.1573, -4.5197, 2.947, 1.4969, 0.1148, -0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abbeef4a6a35dd0e537ccae462403afd4280c666b882ab52eb2990f74d235ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f959421e3943fc2c1045a775ca7366558b1cf8ee44a6d8317d1c7ebba0899a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dadb2d46da2d643b350c69516d9b10432a3a3739caaaf14a4ad5e69711c4f89f",
      "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 · 7.39 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]: [-0.7708, 1.6901, 0.5961, 0.387, -0.68, -0.4786, 0.9993, 0.6308, 1.6516, 0.4538, 0.5877, 0.5594, 0.2607, 0.9994]\nstate[eef_state]: left_x=0.3489 left_y=-0.179 left_z=0.0494 left_yaw=0.0316 left_pitch=0.0389 left_roll=0.0299 left_gripper=0.9993 right_x=0.3493 right_y=0.1435 right_z=0.0431 right_yaw=0.0167 right_pitch=0.0624 right_roll=-0.0651 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -7.2, 3.8769, 1.3016, 0.0464, -0.105, -0.0122, -0.2393, -5.3812, 4.6154, 1.9121, 0.0806, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.934, 2.0968, 1.6344, -0.2901, -0.9001, -0.5629, 0.1261, 0.6968, 1.5497, 0.4042, 0.519, 0.58, 0.2802, 0.9986]\nstate[eef_state]: left_x=0.4293 left_y=-0.3417 left_z=0.1619 left_yaw=0.0678 left_pitch=0.1282 left_roll=0.0818 left_gripper=0.1261 right_x=0.3258 right_y=0.151 right_z=0.0499 right_yaw=0.0565 right_pitch=0.0568 right_roll=-0.0675 right_gripper=0.9986\nstate[joint_eff]: [-0.6632, -11.6991, 9.4154, 1.4139, -0.442, -0.0024, 0.0806, -0.212, -6.9402, 4.6154, 1.5946, 0.3541, 0.105, -0.1587]\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 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]: [-0.9268, 2.2292, 1.4521, 0.0536, -0.9115, -0.5667, 0.1262, 0.6914, 1.7576, 0.3683, 0.8013, 0.5831, 0.2913, 0.9986]\nstate[eef_state]: left_x=0.4339 left_y=-0.3394 left_z=0.0739 left_yaw=0.0884 left_pitch=0.1503 left_roll=0.0577 left_gripper=0.1262 right_x=0.332 right_y=0.1532 right_z=0.0207 right_yaw=0.0411 right_pitch=0.089 right_roll=-0.0359 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -9.8393, 5.2581, 1.4628, -0.1929, 0.0073, -0.0073, 0.1573, -4.5197, 2.947, 1.4969, 0.1148, -0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abbeef4a6a35dd0e537ccae462403afd4280c666b882ab52eb2990f74d235ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f959421e3943fc2c1045a775ca7366558b1cf8ee44a6d8317d1c7ebba0899a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dadb2d46da2d643b350c69516d9b10432a3a3739caaaf14a4ad5e69711c4f89f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-gr5qo2Re-tJcVA9ifo24zQ8WsrqPPc4NBdTYIlPY9h16fkfDOqU6n-F0BYC_938eyXvD7mBcV2E4Ja6k7OfXgIeSaext8DDhqlZzMTkp1_7IGsz-Ewp8RKyr1k20ti4I-XWzyUoz0gfFe5bOibslM9-5-ByDz-r_hyJD2BoHbq9o058nwsM0JdAhg9TJ9ZO1BgRT0002rY04wFLIlnI5SZup9lFl72Vr8BqJ4G7fVlLyMCGrHXY9U8dBu_KOmMjyNzv_V867Dcv3-5vtdFyJjqEOBLRGDfq2StMsOx5OPknkpDA_UT8G6OuAwrJf5zsbc5cn82ilj-c3nWqSm6FMi4B1beWyD-vyplybRWFiSR6HJHPkI1g1FIvGc6UXzaSPO5QNKmZXeR1ZK2phL7OOBwuY0qp3TMg09_I3C9TxpvfMAnsnPbZMJh63WfjQPFUvOM0Hnm5Q-W5LU1C6n1en3v9Z1L-dYyyE32vc2EHzBkExaC4tvTKlB9Pj47HIfsBitf3gvlRi8S2XXWTvCyVQbiWDslVOT7eGQGz89WrtXP41b58AAWV-NPFewas8ACwjr2RHFg1VTQNrJt3DEcy7egvwBJ_mSnPwAAQ_xyaee-OdsPa-tarxFFifJ3GmcJCkk-lAjNiGr8WmFPGxoin1m5R-RFB4i5lF2RO2HcZwmhivb55G3YoIo0CGlnS2-bHEOj1M08N2ecQAFchTVI4FxgUFGdg82X3wMauI_Md9FTDyd0UYkrCVFpGAkNcj0Qi1w0oXqp5zyHZ8oeW8NUz6bukCsxQF7o6_HJhrSNzf-BkhJdoVoodjJmFzugBte_hFua1NDernyRE5pjC6FxN6cvXMZNITT04DniN8za2wiaOQ7IT4Gd1O_zFhSzu1FnkYqQiYhT9GEiYpEUWSJ50g-mj0_bVCO-KolhTC2fGCCpDxGAYA-ipaTbbQ_Wp2tQM7Iw-Rbt6owhHdI41hyfIGRFDz3XB3KXYi8YVPx1cky2qHBLcEI78Y1X8QTQx2L5BcCR5J7nzIrJ4GzT3faaeKknf-bJe3MOa1QScq0cBvA2wUfxKSC7cw5v7GLSzpyXqeOtRnA41BVqRh-mTCxK6U_734eDsnQXqElehMKtk7HFYV0sUV60LvWW5dtuOBrt_nvVFIz4n-pbK-zCyvk9iIQzNKak7T4LaUXojZ3rAqaS2y6PM3y3bnCdIDN8QW9ENEV7hadW3FQ7JWR45N8prodtrliWRryMpJgb3nz-w9U225uRyG-BbHIgT_8F-V6bKI46yruUxR1PzR75jgxDSXm2RHxa-JKS83jXz-OtNqk19oeDSYkOgT_gClCl-P6LxZcN4jHFcN71GTQgj2ygAQ5OIrzkTZv_HW9b9u92Z36nu1DInjCKf6Bddf5pmEKpfOCFLkZb5AgqfWdffdVFiriXNAxm6m7l7uFrKkdAU0-THVt9grbLfZTUYja0eeB2SIV9J9HpGnUY5LjJi3AWcUBeg==",
  "id": "rs_0e5c3612b8e83984016ab42f9f7cec87d0a0b6743ecaf85d99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":0},\"note\":\"The dark fruit is lowered into the blue bowl, and the right jaws are down around the green fruit. I'll release the first fruit and close on the second, then check whether the right gripper retained it.\"}",
  "call_id": "call_ol6mw7JOmuM3MADJPBsSQRPg",
  "id": "fc_0e5c3612b8e83984016ab42fa00ab887d0b2c73a7e30405371",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ol6mw7JOmuM3MADJPBsSQRPg",
  "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]: [-0.9222, 2.2333, 1.4509, 0.0723, -0.9119, -0.5777, 0.9957, 0.6838, 1.7428, 0.3698, 0.8474, 0.6029, 0.2989, 0.1038]\nstate[eef_state]: left_x=0.4366 left_y=-0.3388 left_z=0.0739 left_yaw=0.101 left_pitch=0.1577 left_roll=0.0361 left_gripper=0.9957 right_x=0.3392 right_y=0.1518 right_z=0.0357 right_yaw=0.0089 right_pitch=0.1448 right_roll=0.0014 right_gripper=0.1038\nstate[joint_eff]: [-0.3624, -12.7521, 6.4068, 1.243, -0.3834, 0.0904, -0.1197, 0.4855, -4.7248, 4.3145, 1.2283, -0.1148, -0.0952, 0.3199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e75cde63638f86752aa8ced176a304bf7349f375576e06b66b5ba34456c9217e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:787b932fe58f19f723ff72e3f886f624ccd4066c96375f62e93180f58231e96a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:381043e8b3f12a5786ebb2cecda19c4ab833fa098563fc71d9cfeb94bc23d880",
      "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 8 attempt 0 · /responses · status 200 · 9.24 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]: [-0.7635, 1.6657, 0.6151, 0.4316, -0.7738, -0.3916, 0.1252, 0.6308, 1.6535, 0.453, 0.609, 0.5449, 0.2504, 0.0163]\nstate[eef_state]: left_x=0.3616 left_y=-0.1703 left_z=0.0782 left_yaw=0.0681 left_pitch=0.139 left_roll=0.0827 left_gripper=0.1252 right_x=0.3508 right_y=0.1472 right_z=0.0453 right_yaw=0.033 right_pitch=0.0728 right_roll=-0.0568 right_gripper=0.0163\nstate[joint_eff]: [-0.7316, -4.9162, 3.7675, 1.0867, 0.6178, -0.906, 1.033, -0.335, -5.6274, 4.8068, 1.6972, 0.2076, 0.022, 1.033]",
      "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]: [-0.9268, 2.2292, 1.4521, 0.0536, -0.9115, -0.5667, 0.1262, 0.6914, 1.7576, 0.3683, 0.8013, 0.5831, 0.2913, 0.9986]\nstate[eef_state]: left_x=0.4339 left_y=-0.3394 left_z=0.0739 left_yaw=0.0884 left_pitch=0.1503 left_roll=0.0577 left_gripper=0.1262 right_x=0.332 right_y=0.1532 right_z=0.0207 right_yaw=0.0411 right_pitch=0.089 right_roll=-0.0359 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -9.8393, 5.2581, 1.4628, -0.1929, 0.0073, -0.0073, 0.1573, -4.5197, 2.947, 1.4969, 0.1148, -0.1294, -0.0122]",
      "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]: [-0.9222, 2.2333, 1.4509, 0.0723, -0.9119, -0.5777, 0.9957, 0.6838, 1.7428, 0.3698, 0.8474, 0.6029, 0.2989, 0.1038]\nstate[eef_state]: left_x=0.4366 left_y=-0.3388 left_z=0.0739 left_yaw=0.101 left_pitch=0.1577 left_roll=0.0361 left_gripper=0.9957 right_x=0.3392 right_y=0.1518 right_z=0.0357 right_yaw=0.0089 right_pitch=0.1448 right_roll=0.0014 right_gripper=0.1038\nstate[joint_eff]: [-0.3624, -12.7521, 6.4068, 1.243, -0.3834, 0.0904, -0.1197, 0.4855, -4.7248, 4.3145, 1.2283, -0.1148, -0.0952, 0.3199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e75cde63638f86752aa8ced176a304bf7349f375576e06b66b5ba34456c9217e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:787b932fe58f19f723ff72e3f886f624ccd4066c96375f62e93180f58231e96a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:381043e8b3f12a5786ebb2cecda19c4ab833fa098563fc71d9cfeb94bc23d880",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-qKpndBFdpAchMkFGJRC2RV64geQxODOz9uAc6wQbPqOPDnCDqavDVfVEHEwc_SQfP7-WTRElPIxOv-1ZReuZKWbuY1SLJ9rYM9te0aF93GwfRMA7pwsjW86KjkSHZksHd9iOk4HtHnHQd4rBiLR1aOMHgQECb9a5Q2ZmNE-LYcO5obrhG2-jYMF42uiebFi4Y_CGyvC9rELTc_qFfkaqCTZUZ8dNtwILKvQUxGuAkSvDdrWTSXN0EgV27piFDPTAmemJEeK2x_IcwAdQUycy5Nk0qNvNg0SBbKD7ps4WlSj6ZZVR4wX-hLSCAR2eIa_0Bl3WLGddmnHqZ8qRmOcFSGKHZ2KOUFdI8zz8cRPiiaUKlpUBsMdu09DrLFrvE1V1hAibWUJQ6eGOuFrugC-pTATfmNFjFCjiY-rN5BUtxZRUQ1tknr_JgiubTLSMXmBg1L4fUexdQVyAf7AdMHBm9Asx7F2pHq-D4B9oX9-5Ibu_edwRm1AYYzn0yYc8f_iBy74LdoVVSZFsQZ0BwPDEpXIWRXl4avEZbxzJ4QZl8CNPUGsjMz0U5kZixhlaokWVTlr4sm0ISaXsuu_iqKpjdqhlNtydsfRlOnvSHJ1_OgrAP3RISwVEoIT7YgiZtukcwgrWutZjopyunInn0ubN_EYNyCJT5DNypyoF6BKpUDpEGgRJCPjkg0nWFIPi23nwbGVuJctx-rT9m6JTKxKanpp2J69oGxGDMrQBzEC5xUD7i2SazwwCOhYB6K8kWtzPZzG3-_AWv7VtukDLyg0ECqekdiaSLa00w2LXoZhoNlcRmmCLZTalXDMgCOQC4l814nlqbrqv_WaOgB7EdAjzRsLS0bIQpOpB44H2LIRSXayXeKny72oKU9MWzwhVT_3cfvRuASzcRMCl2ayyUNm3W1inohlArFqdeg4Gg8zCYsKPcYmElpQ_Ic4Uy0SkoGRiiB4wjVfENbCEJLSAjr2uPmQppK7AC1vuD2Ow3beeOjZnGL7qLeCWGHd1Sloic4918D2ehHBD8ktx6ncLPKhSuifdgsEwIR9ljZjK0l86U44R5RdDV8dTR4S8jZ-AnPiOXvoHxgwSJrQoESBAlmFbCt6mqkLtJIcReLMY8DhZDYRSj-BqW0uj05uUgYqCAiwmUPoOZhskUC14Vx3MDCz_QYogyjOTJ8eOw8UP4WDyETviHwA9NmFlxNSJa_1uTO7G6FwetjsADPngQaqqouA1sRi1WOUBLZQ7Y9UAYsQobuMOQQh9t25jHbfpIbgJtqzBT32jHxn54h3_0zrKwb1m456cXEBU-7ZXsUGsvauOZtySQ8VXIqkjXaVX9jiQ_bwMpg2z-9mXJgh4qa6a0n7jlmXGGn_gyBvZ-L2Ca8jma_gBRh6Zob4pdsWcWvtpOUFlEkmafZoDA897VJVojbq_IM9-Yiq_3EzwbazG5T520bZn_GvWgef-cjPwOA7R6r-SpA7Hr9z5YedksSvavDJQguKseOzdhXQXJa8XMVL18sWbIBg4inI0ctrqiTQhWxYBqeixah0oqRjcURFMo0D6QU43TxYanZu3dUCoOfdRfLevYuUibVYPM50eCx9KVM3pHUT5jyaooRordKfoeX8v0ZF14O6uVcDEwZU--AWgYp0yhm14gR2USp2TxHOBYOkGLInToFwD2Wpx-omo1_8ZfsGBrknhbE58Fvnmubkhn9bbWtZ0oF8Y0SherpUe9EI5I7owPk3UbwqV9wAeBuiM18dAtxurz0gBIGWPQxFAEjf9QACX4v5ELMqf6XaMb3nUb5BG8L5KJJvXcAPmr-SL3anHaoCbXGkMhwc1mcKhBPVDOhqJ4qiRJvP1fxrjIGewzNkMIw2nPlOMC_OZtTjQ2QVlAYK6-htivYGwrr4ymTVklvBoYQjNxfxds8rNlOpGXcsDJ1X6922x6-ZIwqZTR4uj5Y7ZCEWKZdJSoj1p1ospt_rZm0rBcLan_GhWVeZJt0XGXLggyGR9FvuHNVKvCJlEvK4QD0p76cmoM-BLTLbpq4_ZbyuIG98d-Xh8Ua-p2dMj4lTNPNeOFDrTCYEoHQAOMQpMPv8bCGn3RsN0ZRCcOtYCFt7jif07jkdmntjw7Ur7g37j2IGfCU1USll9Za8UWQFtRUCVkzBbIZbeN0tiOSVNxgfqNtx9iVv6ij-0bhZ9T2c7g_or_b7DkGvZW9tXavAu__7TL7c8pZdKT04jvUyoRhirHkZHnniRX31A_DuzkZxEfIjvCZA7jeHIII8XSXmiMxLQRYhan_rC5X8e0GLBhGMOx2dF5fhhh1O6UrFH0tifMUc0ToTSj-Q1unLWMyrDQEHvYCN06Q_IKNXQbMSq_WENEBaP_OE-Y8hPa6_gWksDDjws3ShWihZmrtw==",
  "id": "rs_0e5c3612b8e83984016ab42fa6bd9c87d0af377de21deaa671",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.01,\"left_z\":0.19,\"right_x\":0.435,\"right_y\":0.31,\"right_z\":0.18},\"note\":\"The right jaws stayed roughly 1 cm open after closing, consistent with holding the green fruit. I'll lift it toward the blue bowl while moving the empty left arm out of the shared work area.\"}",
  "call_id": "call_BpRMxlCKcOpnZnGi2W8FCZ5c",
  "id": "fc_0e5c3612b8e83984016ab42fa924cc87d08820a1b8f2baf335",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BpRMxlCKcOpnZnGi2W8FCZ5c",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "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]: [-0.2771, 0.7136, 0.4892, -0.1936, -0.4053, -0.1787, 0.9964, 0.8337, 1.9121, 1.3651, -0.0669, 0.7036, 0.3748, 0.1027]\nstate[eef_state]: left_x=0.2944 left_y=-0.0076 left_z=0.1947 left_yaw=0.1586 left_pitch=0.1863 left_roll=0.0133 left_gripper=0.9964 right_x=0.429 right_y=0.3079 right_z=0.1668 right_yaw=0.0456 right_pitch=0.1157 right_roll=-0.0296 right_gripper=0.1027\nstate[joint_eff]: [0.1299, -0.6085, 7.0769, 1.9512, 0.0464, 0.1929, 0.0562, 0.1299, -9.5521, 9.1145, 1.7705, 0.4518, 0.1245, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8034f9a34b53ab00eb6650ceef4f32741ded43cb8f08544b253841fcf1b47a18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9ef963757a183e759de0dee8389b6c801764561a0394d56a9673edf162fdc1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97500e8130d981b8eb611cd2681b56a0549589130b5a6ce6c9f035fbe8fb4ab8",
      "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 · 4.305 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]: [-0.934, 2.0968, 1.6344, -0.2901, -0.9001, -0.5629, 0.1261, 0.6968, 1.5497, 0.4042, 0.519, 0.58, 0.2802, 0.9986]\nstate[eef_state]: left_x=0.4293 left_y=-0.3417 left_z=0.1619 left_yaw=0.0678 left_pitch=0.1282 left_roll=0.0818 left_gripper=0.1261 right_x=0.3258 right_y=0.151 right_z=0.0499 right_yaw=0.0565 right_pitch=0.0568 right_roll=-0.0675 right_gripper=0.9986\nstate[joint_eff]: [-0.6632, -11.6991, 9.4154, 1.4139, -0.442, -0.0024, 0.0806, -0.212, -6.9402, 4.6154, 1.5946, 0.3541, 0.105, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9222, 2.2333, 1.4509, 0.0723, -0.9119, -0.5777, 0.9957, 0.6838, 1.7428, 0.3698, 0.8474, 0.6029, 0.2989, 0.1038]\nstate[eef_state]: left_x=0.4366 left_y=-0.3388 left_z=0.0739 left_yaw=0.101 left_pitch=0.1577 left_roll=0.0361 left_gripper=0.9957 right_x=0.3392 right_y=0.1518 right_z=0.0357 right_yaw=0.0089 right_pitch=0.1448 right_roll=0.0014 right_gripper=0.1038\nstate[joint_eff]: [-0.3624, -12.7521, 6.4068, 1.243, -0.3834, 0.0904, -0.1197, 0.4855, -4.7248, 4.3145, 1.2283, -0.1148, -0.0952, 0.3199]",
      "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]: [-0.2771, 0.7136, 0.4892, -0.1936, -0.4053, -0.1787, 0.9964, 0.8337, 1.9121, 1.3651, -0.0669, 0.7036, 0.3748, 0.1027]\nstate[eef_state]: left_x=0.2944 left_y=-0.0076 left_z=0.1947 left_yaw=0.1586 left_pitch=0.1863 left_roll=0.0133 left_gripper=0.9964 right_x=0.429 right_y=0.3079 right_z=0.1668 right_yaw=0.0456 right_pitch=0.1157 right_roll=-0.0296 right_gripper=0.1027\nstate[joint_eff]: [0.1299, -0.6085, 7.0769, 1.9512, 0.0464, 0.1929, 0.0562, 0.1299, -9.5521, 9.1145, 1.7705, 0.4518, 0.1245, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8034f9a34b53ab00eb6650ceef4f32741ded43cb8f08544b253841fcf1b47a18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9ef963757a183e759de0dee8389b6c801764561a0394d56a9673edf162fdc1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97500e8130d981b8eb611cd2681b56a0549589130b5a6ce6c9f035fbe8fb4ab8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-34q7MldAsr6xbrIKxzzqJDMCrwYkOLgfQ5QvPNK8dj3GD425QAuknPSuz-63UUlf1FuH0hZct_pPJnF46VeqvZEuT4xx9vXeDTpjhJqi2ylE9G-C5gnPdspO7Qi1Xz5vOAY-rDFYKFma5JNHsKkx4EEEHjFN6R62qO6l2UdLv_kmM6SrjpLnrQtcGvsPnU9P1j4C99sInAoIN24JTpRePAEEBkrRAuwEAFpoxZOGSgpGSPqZL3CvNx7tGJTbJ_gEiQmskoKvynE9lulZwO4DXt0m-c9qltzUiO-HRXG3bJ2YMnZYQLkpf0a4W5jExVWdubfJXaQBWEfxI8aC0uZ0nljvyE4i1GsR49fLIA-UYAhRuWOQD4JqpFmz5FrSjV8D9Y43OX6Jt6vmQTCdzAzrZgvq2f09ss9V5fy086HMF5bgQeigKWwJJeoegTJFd01gzAVmRGdBMix9VoWrwjLYl7coe4pyrm9GbsDuxyzhZkIKQktcMMbIXQgYPJxe7LHhlm47gBGKoYnEtWrc2uuIvzuxXQ1aLQA3JACv1Tnw8PHj5pFAaZROAPSGu0dHW7h8FO4npZos6eUkL9Na31bPnrxnPYi8gfNs9JqBaIBQatFT2hzfo76Bv3FECO5AkTvZdE-XgURjk4rm-CWKFGlO9-THjGnn5yBjvZleDPqqvy6Zi-i2bSeeqkKqkGNsyOq77ZiAPDocdztCsPLjIBXp6qqlN4S8gO4vvePlq8Ds4pQJ8tiXYCPx5QyC_RrglP5V78VDgCNPG2A3tZtKK_piRRkg_JFn2lOT6OdCdZ_zPHHzH-ThtWQpHABdOUHeGGKJnzni-lYq1zG9b4SqjmsE2d92kijYkt7AfjEPwrthAv_gN3i5MUEZkBZvrF8nBNMDp86yYS4NVMERijb97Lws7MLz_e4Hm9cwhaexnett92MBj6FYYJCMawI2jbO3OrvtIm035avf0Si6UemnZCin59L_-nC6CiHwXfVCyqp3TpWH_0EYodNOMFQCQPTGqz6wKUrP4T3VjYuaFmcX9Osw4r0o8GH3WB8EwbOSID22El3ve3PPIBYUXV47gVhBDVsmXrUo1xH1qgF7yHMdOiDsUy2x7uEiJqtQC50k2QkHiz3LOBJDeTM9AX3OO5lUUI5yCrH9NW7H2sHFZigVJtFsyiDioUQzpxes8H7s4ojBA6rH7YQ8grDe1SWaPJ3zfwdudIFVREq3bnYpEAQmF7A_x56VRGRdtTK6tdCrPuQ7Eyrba9nG_vzvHLMI8HVICSQozspJlGrdu1FvbnIg1NC-jGCQgeOr8d23Nts_KfOM3Qhmu1_UBD2FFW1G-7GCUvUaUN8UnNg6DUTWweHoo9cLBenWGLl9YIMkYWkh06xvRyBE0vUQwZ7bGN2DdZwkE4nzlszOf7PpxKfKCNs-rxMkdXGuSqul9ORoC31BSS56DRU4VsGKWFkKPRSWIYCtWQaKlclaK3MzJjGdMgXeluqbGwwKqOQCYc1c25y9JxtTCD_pMR6ND_EpNHnz4Rrx9yg-AfzRoY6d5zpeTUNlfFWgTZqQJhogf0bYQ-5T6_jgsWJqTM0LkRp5PhC9xvWNrF9qSHaMbYwUZmTVGHCxmxUsvIHciyT66SizULpxpFLdKn94PaRAbw3yKWzU9quCNFXnUBLAuEHczmgDrwJu8xJ_rgL3EoSHFJSl8Szichv139TgVAAotH2V3U88457am55Snv-q_nEdOhFnfVYxX9bA4inX8_Cki3dpKoYvagJIwtyCrTQjLSwtDQPc_LiUmPlNot6epxYpYdsp4WuP2D_F44mTXcgCEH03QImXmLtyLxg1UzRo0SiV1lzdY5dtg6_eXfR59zyH7ABsacaQi9a52FRbxjae9abIVqbgc8MRf0mgB77U273kUO8nQ5RM1ocJllF1MnDEHUciJTTxskBNGOmWI3hSbWmO1ytmLPntD6nJDAn9cX9qIVALq77SgAipCiyJWBQKCji1-uUbiaXpCSNKkjRguIp40Bmhqf3bsYYPXWk5VN5HoqiwYegVaxGf7iQ33cqfkAn31Grljum5qYez-VKYtxuBAHL2kVSh-e3qQg7UG9mLMJnlm53xG45UCNUz9jSNMiZCKZS2SsY2nBgjHddNkrVpgKQ2BwKWnfuCMoi-U_vk7znRSoxGcxppkEmMmN4u5kszW3QYsyji-fMsMsNyxe6bPM4cLFcIYSPt7aYDjeeOPNRgNDKWzuHeIpM8KTGxxb48CJbpUB8LFferpAwmH7Rf3DkjRAvY0y43SpvSk7VYgkSCh7xGM7w6ByB9m7mMdLkXP9hlQzkzw9Pp6YcJpyt3qGnTqz2t5Ish9WgwKaBu_Dt6BgFfaZQNQ3RSNkl9eHMknuoe7ORBJzkvjlz6X9JZ5iCdnSUFOu26MFzhIejQtEnmJgrHAj9nzgdBd5AzvUQT3EAHoSVIf7jMrM8nm38aP6X4HfYPc-xp3aHy3Fcw_NFERMX81xUURKo6ODl8ejsEur93J-Ub_AU1N0znBcyd8tHslKfafkMZkJjhR5zq1Zivg_QBw46qTQU1LucK0DEwjRCDxzU6OrxwMW0Y9CJVUCajLJqZsYYz50AaRhP6mxCjhTQFlBd38hYbvkMQPcxyjipB_6MPHVapsDWJgCtcWiQknx61iR0_l_aFsxLLUyojspbP8c_5QaZfyzu64zNM7kK-WuvoVhYsQAZsYQXWD2UO_5s1URe5PybFpe-E7L02b1j-yxaDBhfMR1Qxg1lyAvbji_DFNz6csUqQ7QDQ4UWvyKlGPOMtCV9az2cze_7uSp74dmFue2VHFP7taIdgCv1pwV8baWp0kKcKDzm99ufHCRO1kBp0uaKhII5uRqF9w-_0g-yLps1CjLQhNCFe788qxhrPm8kXR5KIoBQqW3YODMovo1fDqGTorn4O960Imt9NSA_DEW-2GXloaXSqX-XUAxUpOprcDChqO1t9iSiU5NPh87WeqA-W-m5o9imJJlEKb40mIE-3kfKzlteq4g23Q3XIbupaWcf_hpfpVe8m0x3fsjOfAQsLGdXpNdBN4Fs5XOvLJjgFMVm288m1K9p4ZCMEbIktmxER8TvoOGEKyH7G9Ujd2-4gFawHsTla1z-ml_36o8PeP50hd73jCySWU8VhSdZWAY14nYAh3NeMjbNq8_l1IVbLfMgGlAKo9xliG_xlGIUMIeG1ggNcaHu8A1o6t-Pj8omXqTbT5RGP5FQ7CNL7U6gM-NbihFLvg3yehAKzyLG7MVt_dRXossy4O-EPMKFgCdYQNs-WQMYATWfghKBd1CgiuearpZ3e0mHVmMM05-6ETALlM92Cz7CfHLqhdjKPyeyZq1GWZFzY7twcBmtRL41i9_VmOBkr4PoN2tALj1CxeoNJ9UMCHGZSfwAQPpNIE_4_7atpckJ5FA4h_W5bbCvn_SsFb5c2lvKtmcEapfbSk5NizPFylVp8JARhEOqrDNYrf4OteMwQncpne5vOyBBp8yCLdSwKtIEDU80_VCIJNkPwY9FKOUBU-UevU5ctFtgYc6ExJ897xc47S1Cb1JhjkdrPu5dFmgyZ2OaOi0ZSMtgx7E3CGzX24_sVPsXXbJZPKFQLVUst82HQsYkuMVkuee3zZRkimfuEM2nDUP87N8LE_OzIZs-ov_i24PtXznZqwtUqnZkWlaN8yNp4MA1Z46BwmO4VtDBh3MRXfHdHyuHSe51by8bWUQw6rcgcvnetseLbhyFutbZMSCIswerz4Ns0gQTZkiKVfwERV1ILKs0x3Zi6RtjozLe0hTCIqel2C-wWXUVxsLUuuA9rkMbGWOIiFBjC5ikQilSRuCCm1n2GJ5H6zdrFFYEkRBEMdq3NT1jfb96zYrVEYT4Y=",
  "id": "rs_0e5c3612b8e83984016ab42fafbf0c87d085e59a75b2d18ad6",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-3k2w0YZRaWsbOCa9B5Gvvi2uBdQEU2nLZhHQFFMegw4FQtgnsQtgJdO3HS0arbah9AtxYBxqSFLsk_nqloFY80uSNeLN-2NXPpHKqQtow0BdABI8VtbkAiemsUWnoVWPeseAHhVUqDteayouUAXFf8J2mn7EWJQyAsFUtlB5TeoHq_fUK2sRBfFbMGJxqiR5b0XkhbU4XKEQhBLN64qAcymFp0zn57TdosmrTDO1_bQaICXm_ANa9WFMpjsE58FfzA1rkst2dvln8V13NsCXE3Dg3BYqGdGM43CJ6kIltYmsHO9TFegGuWC1ReDIo9yO0Eo3l_8fc6-voExt9aDuGKljQTURL7DJ4apKJwYog3GPU4-su5VgSMRveoXEsgniP-K6BhXJwLAEWQ7KmCYIB6fP2_q87hqdKVtTB9jA-mQ5K-qvMEukxY1jQiFTKkzpEiU411OKKa0UnWVpB727Gnn0P2EXLd3hDzxmT86hfkftavumXmpLNvB68lVM1oR00D7_WGize6LYf751RXnwbz_O8XScGledTu9FiCuz8hkvEPhBMt-G6UTwjXUBteU-q-uutl4z2P6S_DTMampyL3Fqftq3wbJ2bRel57cj8W5Ibf08_bVcDLLkI4SPCtZ1fwYfgPGWTRC490kf_-4BM1hrYCafddjWutWh1qGGabeEsQiDoidIYH9SWN1f-cFIwNJ2MoOIAum8aIR91HzZ2cRC3wPaqGU-_jj83SqsWeR62pUGrLcB_pXW33YkYuy97tnhPhWLqoB_CX7SH8Xmf6hc-pi3KDskrSE8ttlcdFu12UDCywa2BVmQVT93BMadFDnU4_pUXABBxtKuxLCdbk90mT5ufkJp1oxx3XCqXltpG3j4gBGEU2bRbDz47zUD1aM6-OzZRak47bvg_ynpMju4SVlz99Odi6s6kmKL891hfpyDJW0rs-ESVjrLdtwinWcPfmrZwMQiQdDR36JyTRfp9djQ_Sgg7eraSb0IuH-MtM5lELbLyk9JF-KenckBEMNSl9GAU86JLMipfad7vuO4PO_DFixN5_y5kQh7YcaWkZL4aK3y-Y2qBq1Ic2kY0bZjuSKFbBDOyvyNklhJPoRZbiRWRyOXUxs2wmAEznmXc7n2k0iNlwqzTbshyEE_cO2HVVS2_EIBpB3z4C-1t4cmvM6XhtYqWJSGCAitkn6fALvDy0Rmzy8EGRnlgtwe7aDyHD8UDSrXyBUm19Mx2GjF4SNi1rpPKsjE9bksoWKnNAlzm1z53-B0j4vz_9VHrB8kH1ZTLbJMJu6AzAvF14e8NBQ7MYA6xjZsVV9BbnAHQL8ZodX6roCwrEIMwu5MGYmyp16Gy14brKuD0LCYKvkiyEwjlD8GxzD0PHZCw3dExnNipdCet8fkMXeEoS1vsZMJaCvOCDz6VJZ-an5UvWxdXU-1D2xyiV7tbaeeJfcAUeXIRBG5sB10FAgzbMLw4Q0SS4cODdxxdYhYbpGL7rq_ClCirQkJxQf2ooHEsDCEPQwfToDTyghOSwZrpsvkxnggwtqUu_mqNTtgIV7vjuOtLeNQ-8v6vp8knPXtCAfI1VO087cI8sqBdSt25Sp6SV_ARP_U_oR3fRuFTguCbCUx5ycOUkX2rAJe7b_BkhV9FZ841pnTHGVFmJYky_sgk6Qt5mZfudVr_swB5ZJktgsOjsMid25Pw_G2s_9j2Mfo=",
  "id": "rs_0e5c3612b8e83984016ab42fb4830487d0a8eec0c775f9c283",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.055,\"left_x\":0.315,\"left_y\":-0.165,\"left_z\":0.15},\"note\":\"The dark fruit is still visible near the left side of the table, so its earlier placement did not succeed. I'll lower the right gripper into the blue-bowl area and bring the left gripper back above the dark fruit for another attempt.\"}",
  "call_id": "call_kPGeaVqim6qcdun7uqY6udJQ",
  "id": "fc_0e5c3612b8e83984016ab42fb5d34c87d0bbfef16a63bcf66e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kPGeaVqim6qcdun7uqY6udJQ",
  "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]: [-0.897, 1.3426, 0.6338, -0.0353, -0.9131, -0.5781, 0.9965, 0.8349, 2.1025, 1.182, 0.2867, 0.6991, 0.3748, 0.1027]\nstate[eef_state]: left_x=0.3095 left_y=-0.1578 left_z=0.1348 left_yaw=0.1229 left_pitch=0.1407 left_roll=0.0654 left_gripper=0.9965 right_x=0.4276 right_y=0.3082 right_z=0.0595 right_yaw=0.0517 right_pitch=0.0998 right_roll=-0.0419 right_gripper=0.1027\nstate[joint_eff]: [-0.335, -5.2444, 8.3214, 1.6093, -0.7057, -0.0757, -0.0073, -0.1299, -10.2359, 4.7795, 1.7314, 0.2662, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268349b72bff8f33bf76b30554d0a2a227cc64bab67206ede2c37f7b4817f480",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da29039da6c37877c2df88d4fef23303a39228ba1a049090b1d040ea7646755",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc562aa37bce8f7d0636a34002d042fb857a15dbd41acad095f2ea1d90cf2fc4",
      "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 · 2.886 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 39 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]: [-0.9268, 2.2292, 1.4521, 0.0536, -0.9115, -0.5667, 0.1262, 0.6914, 1.7576, 0.3683, 0.8013, 0.5831, 0.2913, 0.9986]\nstate[eef_state]: left_x=0.4339 left_y=-0.3394 left_z=0.0739 left_yaw=0.0884 left_pitch=0.1503 left_roll=0.0577 left_gripper=0.1262 right_x=0.332 right_y=0.1532 right_z=0.0207 right_yaw=0.0411 right_pitch=0.089 right_roll=-0.0359 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -9.8393, 5.2581, 1.4628, -0.1929, 0.0073, -0.0073, 0.1573, -4.5197, 2.947, 1.4969, 0.1148, -0.1294, -0.0122]",
      "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]: [-0.2771, 0.7136, 0.4892, -0.1936, -0.4053, -0.1787, 0.9964, 0.8337, 1.9121, 1.3651, -0.0669, 0.7036, 0.3748, 0.1027]\nstate[eef_state]: left_x=0.2944 left_y=-0.0076 left_z=0.1947 left_yaw=0.1586 left_pitch=0.1863 left_roll=0.0133 left_gripper=0.9964 right_x=0.429 right_y=0.3079 right_z=0.1668 right_yaw=0.0456 right_pitch=0.1157 right_roll=-0.0296 right_gripper=0.1027\nstate[joint_eff]: [0.1299, -0.6085, 7.0769, 1.9512, 0.0464, 0.1929, 0.0562, 0.1299, -9.5521, 9.1145, 1.7705, 0.4518, 0.1245, -0.1245]\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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.897, 1.3426, 0.6338, -0.0353, -0.9131, -0.5781, 0.9965, 0.8349, 2.1025, 1.182, 0.2867, 0.6991, 0.3748, 0.1027]\nstate[eef_state]: left_x=0.3095 left_y=-0.1578 left_z=0.1348 left_yaw=0.1229 left_pitch=0.1407 left_roll=0.0654 left_gripper=0.9965 right_x=0.4276 right_y=0.3082 right_z=0.0595 right_yaw=0.0517 right_pitch=0.0998 right_roll=-0.0419 right_gripper=0.1027\nstate[joint_eff]: [-0.335, -5.2444, 8.3214, 1.6093, -0.7057, -0.0757, -0.0073, -0.1299, -10.2359, 4.7795, 1.7314, 0.2662, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268349b72bff8f33bf76b30554d0a2a227cc64bab67206ede2c37f7b4817f480",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da29039da6c37877c2df88d4fef23303a39228ba1a049090b1d040ea7646755",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc562aa37bce8f7d0636a34002d042fb857a15dbd41acad095f2ea1d90cf2fc4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-8KKehuscJ4-UQVmu-Hy2yy4eDPT3xlZQsltTAOAJ87ErgepintN2dl535zsKynBUc3kzpiKEqBEf_rTwa33YwEKeMm98oK0mipPafL__Lf33xG5omYoY5aZioli1Wcm8rY4eUXHO9vyNZTKN5hTNh6qy4p8hWEAd2hHWc9PU6KGpPRmZY1hSH7CRfQY1oIRCZF34DAjeHIgEY1f5A0asmpdW8oB8oi_yzsFQuXVcXuE8g8FpwHhQQ1T9uv7r-ksTPatoHv6lERhR0gMZqckbZyzJ-QO4nWe-HUhtFt0VOFX3VDUQloB8KCXrMzCjm-ebE_JNss9qTKB9uv0jX68-3v6y8Rh5DLlgx-72kOC_KqhWxGVAZLOwWcqluSUpkTFKqcqavZUInCYGbNiyyG4EsqqDpmfYhdSc5CBZ8SOR74ayiOMm3HpaCUrV7XuymICiVhgZIHYKdqTPYbiHgkf6EduQtCIngc-oyqYQ-W9v4jUXNOl9Fy_Kx1kpn2ivqXuURBzXM6RQfw3t9FraF7FtTn3Lb6Gaoja_Ta2U7Nk51y5K145zzANOyYZZxP7lWJjPWPGzqBg8vCtLuTZeLDI_36EoLuzQw40kSR9dODg4d9BtmWXABBCQfNM5eL4hHDM0-yJlWlXpXo0Jdmqyc4G5W7boZzvUqbrIBxfUUJaMXRf5KUmpbmp8cVfz8ULCFqZpZB3ZgVHNFNjuMeZ-m1o-DcQmoMSvZEVfQRFTsrN0tZBF3zXcrKllDjOm9AkIUhyzR6rCJu59OkESOmoFW8cor-br_wsK_xYnaYKXfSbnqFBnDHpGVCqtxDIR9LfWiWP_99AUh7ltE0s3UFZgzlKHUX38AQfVAt73fM28WLMPaBRpmq_MDoByqvOmw2mHSl5pT0oeVmOb0_C36PmdGrJYgm2owCVjjGdQ0UdaZiseUIW0ijtza2U2VBEH6uvx2FKD2dc8QBsebaasScLrjGaAnI5PF2f2NkyXTRA3XT1P1stpq9W_q2WEoc-fZVqH_guSwLk4JAA3V5ewRuXv1hrlS6rIliUAUrUGi-Z66bPXJyI1esAHa0ewgL_yj3rz4eCz7reBsZ_0er0BEEv0YRTpiyhkj1DYCCc8CId3k2oSn-ZpW0m-JtDo7aZLMiU52VbEXOsdTkCuInavZXmd_5fBPhB8DUytOrmzh8-82e6D6VguwQVqltNkUrywUTFwwYNGg0b_0S5xYG-0k919vsC4xriawbrGs2Ib9x7l3q-k2t4S4tJlhPGuBi88cmlyy89R-PJSofm_gwSlPyDHAnkWTpbp38gEnvSEQLOzPZIpB_qAa0g-Lh_z4izxqcm2AEie4xzn7qSccKNSN-FqmepQ9Ycztb2e1VkTmY_6Re3p9XUirfPYKFjUOHR1bA5hkFhc8qmlWT6wlf8PXhOuibtH7J_egN9ZbBATaiLkaFppDntVZJjTwR7fMPPXjq7xvpF8YBnoSTgFbfNy5toaG2laWpBRBVoSbPBx3iEQaPXJJhQiF4mt-03uPZYtBLIAVs3MA6y4fHFG-YbNl5qlkuotkb5_Cm-u5UHIr_zH0rE6wAIXSXZTHgCJTCQWzXSUOzNQIowfEweqHyBB2AesxOaji1LUss_BPbZkyl6b5ER_y3JRSCl7pcDL0ckHrpQpKuTNC9hwuJu45M6yawth5oHYaYoNka_b11hG4CkCBQdpYS6oiSjlyGvuElvgS7cMEDpxR0F9TT4I-PSXx3lKqJzW0aefs0Nd6amGbpG7dWGuwkRMLX2qFJxTsrNmZ5QZvJkGPWWHKisGLIhgIjpJYsLFeZtFDPIejLSKnO6Qt8ecxxCHgCPZ6ajDl8-YobkzSvnchHitY5VMaYDkFaCDX1oYqmpJzeM-aRu9AtkqDU2c2udbGlFn2vcAPukvrpb22THxoSMCPRhlRuALpKd3puHGwKtsipEuUb3obrOIONShzh6eluAEGDxnMaT8pFr4YnxG2kgzcCKT1EFlt_FDwQ9kYgqDKfOxDFO4SgUhEq0w076E3bzlXRXBM-dXwFsP2GiWo0xSk2esMSWStAzSvCbILw4Yh8Zu_0etaUyV8X7MG3aXtVylDUagqE5I2aK2IAkgdpjNb92hviy7Fk__MwGa7Do_820-ybDCMNpp-IHSoq4zbDvBh_GOYYAJNsa974HdBVv4-gklGVpyJ1EfjDF1SUVm8A8nPFszH3H3imkmMnM35BGtni2IPDh7JPYVP_w6jceWQLRkMAaOMu2GZCShwCQLyZ37rufnxaqZseRlVQkb-zjHtDs9eBOeayqksDZBe",
  "id": "rs_0e5c3612b8e83984016ab42fb9cb2887d0a299e486bd225cac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.24,\"right_z\":0.14,\"left_x\":0.3,\"left_z\":0.018},\"note\":\"The blue bowl's rim is visible to the right of the right jaws, so that gripper needs a sideways correction before releasing anything. The left jaws are over the dark fruit; I'll lower them while raising and shifting the right gripper above the bowl.\"}",
  "call_id": "call_oOCQBOIecAxQ3MgCyN4u4KWV",
  "id": "fc_0e5c3612b8e83984016ab42fbbe7cc87d09ac408ec82de97a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oOCQBOIecAxQ3MgCyN4u4KWV",
  "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]: [-0.9264, 1.7241, 0.4435, 0.5713, -1.0279, -0.561, 0.9965, 0.7174, 1.8156, 1.0786, 0.1345, 0.6029, 0.292, 0.1026]\nstate[eef_state]: left_x=0.3103 left_y=-0.1552 left_z=0.0504 left_yaw=0.1686 left_pitch=0.2235 left_roll=0.0889 left_gripper=0.9965 right_x=0.4278 right_y=0.2451 right_z=0.1259 right_yaw=0.0517 right_pitch=0.0843 right_roll=-0.0529 right_gripper=0.1026\nstate[joint_eff]: [-0.5538, -4.7111, 2.0034, 1.1502, 0.0122, -0.3297, -0.0122, -0.3214, -10.9607, 6.2291, 1.8584, 0.1929, -0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5eded134d533d003da772619a332a9f0c4752700aeb7d02fe75e9191dcaa60c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e104c8f0856d1122ced7772051d2bfb04ab222005185df52c4c3f7d2c79ab99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d67d52840882f615780e77ab124d29210e4f56152f701b833e43fbda2f6db3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.357 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 39 changed as sent

message 43 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]: [-0.9222, 2.2333, 1.4509, 0.0723, -0.9119, -0.5777, 0.9957, 0.6838, 1.7428, 0.3698, 0.8474, 0.6029, 0.2989, 0.1038]\nstate[eef_state]: left_x=0.4366 left_y=-0.3388 left_z=0.0739 left_yaw=0.101 left_pitch=0.1577 left_roll=0.0361 left_gripper=0.9957 right_x=0.3392 right_y=0.1518 right_z=0.0357 right_yaw=0.0089 right_pitch=0.1448 right_roll=0.0014 right_gripper=0.1038\nstate[joint_eff]: [-0.3624, -12.7521, 6.4068, 1.243, -0.3834, 0.0904, -0.1197, 0.4855, -4.7248, 4.3145, 1.2283, -0.1148, -0.0952, 0.3199]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.897, 1.3426, 0.6338, -0.0353, -0.9131, -0.5781, 0.9965, 0.8349, 2.1025, 1.182, 0.2867, 0.6991, 0.3748, 0.1027]\nstate[eef_state]: left_x=0.3095 left_y=-0.1578 left_z=0.1348 left_yaw=0.1229 left_pitch=0.1407 left_roll=0.0654 left_gripper=0.9965 right_x=0.4276 right_y=0.3082 right_z=0.0595 right_yaw=0.0517 right_pitch=0.0998 right_roll=-0.0419 right_gripper=0.1027\nstate[joint_eff]: [-0.335, -5.2444, 8.3214, 1.6093, -0.7057, -0.0757, -0.0073, -0.1299, -10.2359, 4.7795, 1.7314, 0.2662, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9264, 1.7241, 0.4435, 0.5713, -1.0279, -0.561, 0.9965, 0.7174, 1.8156, 1.0786, 0.1345, 0.6029, 0.292, 0.1026]\nstate[eef_state]: left_x=0.3103 left_y=-0.1552 left_z=0.0504 left_yaw=0.1686 left_pitch=0.2235 left_roll=0.0889 left_gripper=0.9965 right_x=0.4278 right_y=0.2451 right_z=0.1259 right_yaw=0.0517 right_pitch=0.0843 right_roll=-0.0529 right_gripper=0.1026\nstate[joint_eff]: [-0.5538, -4.7111, 2.0034, 1.1502, 0.0122, -0.3297, -0.0122, -0.3214, -10.9607, 6.2291, 1.8584, 0.1929, -0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5eded134d533d003da772619a332a9f0c4752700aeb7d02fe75e9191dcaa60c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e104c8f0856d1122ced7772051d2bfb04ab222005185df52c4c3f7d2c79ab99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d67d52840882f615780e77ab124d29210e4f56152f701b833e43fbda2f6db3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_AdtdFqWbENmqxShRKsNC0v00PzsxJZb9tfduXhITECD377hNyacZXXlejHWQcteBKWaC1RzvbggUnIKqY8Lhh_40p3rdqtda7phs7E1FCGwhhDBMNHFKnEt55xfcSV-bZ9jUh7YHfAfhfOlFhOI734DQANLuXF05wjqWcEe3dU62DP8pbKWZ86KEuMWWUlOALEE6ALxLMAv3SMK6-hHZWCZnhUAxDA0SZgh_Ltv8nDCE05-xFbNECTbDYKFVYVmiZxFzQNgMHXD3cs_DSJtOyDEjvBNH7e-8Cr_DIg9PLZJYBi7Rl3JLzPrSn1kAbio6mJxtFOJ8Wk7veaWDZD8GcKNVe6oS2C8nDc0i5zu1ulgl7qcC6pXSNXR3ReoVVQfgkwSPLJns7Z36hX9KOPjqnW3suMWRqhG6LKGi0jcpu-qfRMSef-ejv24MWR3j6YFuAbBmeke4h4se4H3WxB3JMfbbVwCvWsd2Ulmv-KpE3OmPTYp9DmVYjHzeFJ6BGt8Ptlu5PFluW8uJGWH8qsEAkhJsjXQvDfk6uE5T2lucZM-jhp78p1AMzWmK8XpZzzQRWE5CByLpTJ1OkuPXqACKPFUmauSrvHDPgFCnF4z47j0D8LMYjp6XVaZ26xtBc8UlzaU2f8NiLfiISRDs7X7id-59x1j7YFldzapk3Up9Cij_UTKCA3LHgOKeQxJtlZv4L1VprxKlE_nKpVVKN-BZI2TH4dRrJdsNXvGRZVuFzH7g6yYumvcU8lbLLAw1OOJIfLdGaBJ8076QHtod8xyCqasUDd9r9y4Dgv7C9HtQm5ohkA9V9149BKF7EM5lGszqYbbVbWToy-_shyrZeO2wrvX16jFyZwiqNZKczt9jSZ0ag8Ts9HFs07az3lEQXa9x-WIH431ru5EbazTbrZ4yw69frLGX2xG6_TQr4T556B18ptbzksZcBXqZNt576xvw6f4hDPtNTJlt-GKvxUfSQ31WWNYE0ajJcDDy_klnpyy5YxfmrfKHLejRIqjBIkdZwCrzyJrFA9b1p1IH5D48eSVYvpGlYtQdLVU9JT24LkSECwzVdhx4fT7QyXMkCBr9E9RrvB0Hb6ZV_PiFKznU-0F1darVhI-yIuVFABUEzMdXqCuJlyS6DOofeVaD9l0fc2eci18_V9i5BJCfP13pEuigGC_ZbnzLvGOBYQu1RfENxt9CUD0j6kJFx3XovHLnyiJIZcpq-jgfs_17mRCBGgeZQ6NqoFr3x9s1AODfm1AwACDsq_Kxe7eRtlEpdkPM2gVUkzq7KGdZHna3lD8_nHsbpX5Pk0LM16KHiWWKZsp98WWltEByhN7DBTQB0iI4SvBF6tS6XP7WkWiacA3Zaach8gvMfmVZ89sEJFLnjEFqkxyk9iLmMQ_T7VWz9swK7P4ubSYFDUEpRzVi8NAh8_eMRERxh9QmiqF8B4h2ld79C-J6Folut5nVjbt025llp8WP08_H-WBAxj44scW37KTI6oxOXIMZIVrDo0pFfV8oOge6DR_OBsie4YNCu8pJ-NxOCowAfctj7BE4j42mMkZ5sBh0Ir3FhcT2Z0J8KfT14l5AEY7eq4cBegYl32UUzrCLPq5QJkRpEnbSnLJu060v8FlPogjnnO7pvjhO8hHwHQoIn6pv4mcDZd6LlKVPX5ad5xylIFOJr82TxxF_pa8N1UYRAlAKyWiXFceOyokc=",
  "id": "rs_0e5c3612b8e83984016ab42fbe914087d08d087963da5ca262",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.055},\"note\":\"The left descent stopped around 5 cm above the tabletop, suggesting contact near the dark fruit. The right jaws are now centered over the blue bowl; I'll close the left jaws and lower the right gripper to release height.\"}",
  "call_id": "call_eva8HFaMoc0jLIJQFiIOX44V",
  "id": "fc_0e5c3612b8e83984016ab42fbf6f6087d0be83833782e3aca5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eva8HFaMoc0jLIJQFiIOX44V",
  "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]: [-0.9253, 1.7092, 0.4599, 0.6025, -1.1011, -0.5022, 0.1358, 0.7124, 1.9736, 0.9733, 0.3634, 0.5934, 0.284, 0.1026]\nstate[eef_state]: left_x=0.3156 left_y=-0.1512 left_z=0.0697 left_yaw=0.2037 left_pitch=0.2895 left_roll=0.1098 left_gripper=0.1358 right_x=0.4259 right_y=0.242 right_z=0.0525 right_yaw=0.06 right_pitch=0.0535 right_roll=-0.0767 right_gripper=0.1026\nstate[joint_eff]: [-0.1709, -5.012, 2.9197, 1.0818, 0.3541, -0.6471, 0.8571, 0.1983, -9.3197, 5.3128, 1.9805, 0.2906, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e407348d96520b98b97f9dcf7399b6071cab0bcf5e9b37c7204d0ddf72bde850",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076824e30b16fe1dced138e93cf528b01ba2b133ce9a29cb4fd5f9459e3f0104",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7641a0b3f519176aa3cd8530ac2c6a1db6fba5f2f70bcaa4c5a072c506055f9f",
      "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 12 attempt 0 · /responses · status 200 · 7.998 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 43 changed as sent

message 47 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]: [-0.2771, 0.7136, 0.4892, -0.1936, -0.4053, -0.1787, 0.9964, 0.8337, 1.9121, 1.3651, -0.0669, 0.7036, 0.3748, 0.1027]\nstate[eef_state]: left_x=0.2944 left_y=-0.0076 left_z=0.1947 left_yaw=0.1586 left_pitch=0.1863 left_roll=0.0133 left_gripper=0.9964 right_x=0.429 right_y=0.3079 right_z=0.1668 right_yaw=0.0456 right_pitch=0.1157 right_roll=-0.0296 right_gripper=0.1027\nstate[joint_eff]: [0.1299, -0.6085, 7.0769, 1.9512, 0.0464, 0.1929, 0.0562, 0.1299, -9.5521, 9.1145, 1.7705, 0.4518, 0.1245, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9264, 1.7241, 0.4435, 0.5713, -1.0279, -0.561, 0.9965, 0.7174, 1.8156, 1.0786, 0.1345, 0.6029, 0.292, 0.1026]\nstate[eef_state]: left_x=0.3103 left_y=-0.1552 left_z=0.0504 left_yaw=0.1686 left_pitch=0.2235 left_roll=0.0889 left_gripper=0.9965 right_x=0.4278 right_y=0.2451 right_z=0.1259 right_yaw=0.0517 right_pitch=0.0843 right_roll=-0.0529 right_gripper=0.1026\nstate[joint_eff]: [-0.5538, -4.7111, 2.0034, 1.1502, 0.0122, -0.3297, -0.0122, -0.3214, -10.9607, 6.2291, 1.8584, 0.1929, -0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9253, 1.7092, 0.4599, 0.6025, -1.1011, -0.5022, 0.1358, 0.7124, 1.9736, 0.9733, 0.3634, 0.5934, 0.284, 0.1026]\nstate[eef_state]: left_x=0.3156 left_y=-0.1512 left_z=0.0697 left_yaw=0.2037 left_pitch=0.2895 left_roll=0.1098 left_gripper=0.1358 right_x=0.4259 right_y=0.242 right_z=0.0525 right_yaw=0.06 right_pitch=0.0535 right_roll=-0.0767 right_gripper=0.1026\nstate[joint_eff]: [-0.1709, -5.012, 2.9197, 1.0818, 0.3541, -0.6471, 0.8571, 0.1983, -9.3197, 5.3128, 1.9805, 0.2906, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e407348d96520b98b97f9dcf7399b6071cab0bcf5e9b37c7204d0ddf72bde850",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076824e30b16fe1dced138e93cf528b01ba2b133ce9a29cb4fd5f9459e3f0104",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7641a0b3f519176aa3cd8530ac2c6a1db6fba5f2f70bcaa4c5a072c506055f9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_EaWwmtptr0x13aXRvhRbAqAXm1LXpFAod0pTrs-SvRTEd-JGNS3q5ORPkHT36Xr4uRvys_SEIfiM1jsqTj3ZOMxlhxM8Vty5L_U7-vjvK4kbNbi7Y9eefOtO4_8ZIgAaTu7nZ5OBuXKGxSBDeQJBfF-I4yhcBsCzQ-39OEBdzrGc7FCwToWxdFPmCdsp6T4-U1xXO0HthYPGphlBx3U8XXjEoW-8SXjWcx84hDk_evIPmpakrklRzP9l522RKwoKwmOw9A3s3n_cW0KX1AraBWGlwNO9dIFinTROP2OA-yonvaVyCbrUnULdNulFx4zJgN7xYGyWT7Q2oX9P3QQC6kUGx0oY9WhdZyiQvZQ7h4GmJbUHmDQWl6gsHekp4YVdvSaRHmdGFD7X8Ilcg6DKwATiv42l7LWPvOPYMMz-gjyNJ4x-A8AjWafaHtB4_RrKRIyv5w8Qgdyd2dltVYDrY2OBHfq6UNMbQmeM5vS5S8DkdAax4bS65NRURsxUt8D8TFDixOSMDXMaYNrpKYEGOTmJsVGFMmS36BvEWMbmZt2mxIQMpoqvpCK5OwkNxsPNMmVR0nu4itHst0bOJ4blcJ5XVJjw0VNabtT1Ibby-t6MsM7Z_yN8o1yWG1YZmLhGAjZ_PnaUUbMvbd68vau09ftFeosaRn4ybDWr7mAdNzW7KTsanIVtdLdYU2YMLq1NAveSHTZ1WKKH4cSdgqNdFkZn9unh52mwpgVyopaw6hh_fZiVdHT_HK8KlGnMyoRDUp5SqBZoXLlkE1MyjWG6LTFWsQ2vjWp6ALuncfcrr5pheiBbGPTewk-0zXZhvgMsOI44SOXmN_jrvrrOcRTNgHa_8L0ptAKdR8AsmH9JnCZao7Y0Iy_srPH0skaryH8L5Qun6w08xj56DirTS4iBOLPCsBIEnyrKKVmjq0REx2p0_9CE4qUFQUrPH4InF0XXWW5hQ_FqLb9cbMlNg4RKyjwU0mreaf3fJHDM3CFaEMFmKD_r_Mtb9ryWuxiPeT3eMv1dg6NJRZu9xIdbRkXEpVyrpfYZaVEBM2Ui3l5jKwArMQAQBz1akgUbBmv2EpUJRp-Eo_vDPgnXTDAeIS1MaZLQQxZY9jhg3BbfSlU57r6YycLB4vNxel0MVf2W5lQN99PO4R0MTr8qhJwye7ObCw7niclyIv3G8P9aw4Dqj8dI8HLivsRCHOLM-DotosEPN50ZEdG5joXnnFsGFqtubzxhegy-gaHsFSM9wBgTpkCYwzmpQKHmcqxIYUSivDjfjS9BiA8biF_lyT6OM4wojCu3tuA5NVPobM4zaVth5mVfrHBJz99bbuyIXygBXKaAZEMjyCULFmuqvuEhZhzlVa_m9QjgWidR64rTXjFYjlIlqe2Q3QtMQ_qN9W9MV9HhQCLkzqQmTrB9Iqgfdgm8GeOdtZEvFKnaRmvV1sYaqkO606xsv8ZCEfRBbK1Gu7L1j2WCxBc7eL4AxsGMld5EHUSYGPfcxDaJM123s0AD9YhIcXrbHkIRRT40h4tq6I7KUPhGQi6za1e_GfLnrtbMt4epYw2luqtaKxw3eIDLo0uwb2NNLu48COXh67Y8XuajWUj482NkWcpfkpJXOD3dIZcsZUYa0RziiNb-5LHPVrMVm2cYBzcwmTFrh0AY0ED6GzJeiaYNNxzcMW4H0qreUxDzE_I3rIPcK-T8BhsAh2x0EmsUvJFkzUdIHdasbBZz-A7ez6-H3mspb3UtcG0Cb09hhk5VEgOyVHE_q4M1L3mpC2PmfOYUpjTtzjShh5XESz-Z9s7W4D8T-PbhXSvZvorLS7V6hD_gpqIZTRA7Yo7WmoI_FVjID6YL-VOK-uSIDIhqHfPv_4um-gDuzq8-Fnb-gsawMTTzVOmnWcoyKmPwWvUMeda2Gj98TInMlUWihH6Hg_RVn_Kc_FLfnsQhWw7brrT8j-UaTcyPpX1l86k4pW24EW1RiGQZPcLcBfptFKzftkmkHH2EXZcUH5n6O_bnXp0hphUGLpdAsiTcx22vNup0R3XU4o79jLxt7yCUQPVPe3Uy1eVfRMAeu9c_FOToKYC63sMUZLl28CLMDFn6b1-cOLdELO8axLj7aXfMhZwURop5tJ6I-GN0ASdEYQ6thJksOqwRdyYMHpx7_ez5dmjOST7yw5rgndUrMZGEQStN0fGMTwHFJhO6lsYY0_rWUwB7ba46y_DCKNAiKiUs=",
  "id": "rs_0e5c3612b8e83984016ab42fc24ff087d0a983c1644da59b75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1,\"left_z\":0.16,\"left_x\":0.29,\"left_y\":-0.05},\"note\":\"The left gripper has caught the white bowl's rim rather than a fruit and nudged that bowl, so I'll release and withdraw it. The right gripper is down over the blue bowl; I'll open it to drop the held fruit.\"}",
  "call_id": "call_A5Hd6d4eQalYdwKd8wnf8wXu",
  "id": "fc_0e5c3612b8e83984016ab42fc3d58887d0a1ba0bcad6703fa5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A5Hd6d4eQalYdwKd8wnf8wXu",
  "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]: [-0.6819, 0.9264, 0.3252, 0.2024, -0.9192, -0.3042, 0.895, 0.7162, 1.9789, 0.9684, 0.3607, 0.5884, 0.279, 0.9955]\nstate[eef_state]: left_x=0.2933 left_y=-0.0526 left_z=0.1653 left_yaw=0.259 left_pitch=0.3305 left_roll=0.0389 left_gripper=0.895 right_x=0.4231 right_y=0.243 right_z=0.0475 right_yaw=0.0707 right_pitch=0.0412 right_roll=-0.0864 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -1.0051, 7.1863, 1.5311, 0.0171, 0.2711, -0.0464, -0.4034, -10.1402, 6.0376, 1.5897, 0.1392, 0.0024, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc7ed28d8e8a7a9c57f76514f7f8c674280e37cff06b28950f6e69afb9b6065e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620034acf4c77a4919669a42d88c6e7cc24df7f829f8dbac58beff027d7ea981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9870fe7220bb33870ba0af205e6d9b916c3f894993f4e0b8ba082527b44e62cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.254 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.897, 1.3426, 0.6338, -0.0353, -0.9131, -0.5781, 0.9965, 0.8349, 2.1025, 1.182, 0.2867, 0.6991, 0.3748, 0.1027]\nstate[eef_state]: left_x=0.3095 left_y=-0.1578 left_z=0.1348 left_yaw=0.1229 left_pitch=0.1407 left_roll=0.0654 left_gripper=0.9965 right_x=0.4276 right_y=0.3082 right_z=0.0595 right_yaw=0.0517 right_pitch=0.0998 right_roll=-0.0419 right_gripper=0.1027\nstate[joint_eff]: [-0.335, -5.2444, 8.3214, 1.6093, -0.7057, -0.0757, -0.0073, -0.1299, -10.2359, 4.7795, 1.7314, 0.2662, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9253, 1.7092, 0.4599, 0.6025, -1.1011, -0.5022, 0.1358, 0.7124, 1.9736, 0.9733, 0.3634, 0.5934, 0.284, 0.1026]\nstate[eef_state]: left_x=0.3156 left_y=-0.1512 left_z=0.0697 left_yaw=0.2037 left_pitch=0.2895 left_roll=0.1098 left_gripper=0.1358 right_x=0.4259 right_y=0.242 right_z=0.0525 right_yaw=0.06 right_pitch=0.0535 right_roll=-0.0767 right_gripper=0.1026\nstate[joint_eff]: [-0.1709, -5.012, 2.9197, 1.0818, 0.3541, -0.6471, 0.8571, 0.1983, -9.3197, 5.3128, 1.9805, 0.2906, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6819, 0.9264, 0.3252, 0.2024, -0.9192, -0.3042, 0.895, 0.7162, 1.9789, 0.9684, 0.3607, 0.5884, 0.279, 0.9955]\nstate[eef_state]: left_x=0.2933 left_y=-0.0526 left_z=0.1653 left_yaw=0.259 left_pitch=0.3305 left_roll=0.0389 left_gripper=0.895 right_x=0.4231 right_y=0.243 right_z=0.0475 right_yaw=0.0707 right_pitch=0.0412 right_roll=-0.0864 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -1.0051, 7.1863, 1.5311, 0.0171, 0.2711, -0.0464, -0.4034, -10.1402, 6.0376, 1.5897, 0.1392, 0.0024, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc7ed28d8e8a7a9c57f76514f7f8c674280e37cff06b28950f6e69afb9b6065e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620034acf4c77a4919669a42d88c6e7cc24df7f829f8dbac58beff027d7ea981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9870fe7220bb33870ba0af205e6d9b916c3f894993f4e0b8ba082527b44e62cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0e5c3612b8e83984016ab42fc7122c87d085cbd11f740f4f83",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_NCG0rdtkyJJCiAQxCBcppsyL0M0Sx896Xp5ZbXnmTudPK93wFWns8Y0Ueq-sG3UzTXgrtggK5kTc67jusEdbIryBibODnlu_MsHCQjDwo4zG0un77Hvgdn0CQFaOTQl9EBxQOSmcNeJ8WAaYa22dK8lxy68FWCb6we456HKiq7L4-JDC4FYoPeruo2f7TDp4d1x2PcS-lDzw4zOlNwcdTtlED45Zu3KFbe2TT7iaQxX3Lq-3V8cxeu9vie1MDAzDzSga6afHz6I7WYw3EiJR2aD04Wq_JqgZT5UF-NFDzPhMuo5P98Yimh-O-UhYDvbhqNqJwGI9niEJU5JtotXIVRCmTFSW58qmuCcU91rQptar14GEbyHDm0gSnweqBmqfNfUaao4Bt58-wDnlcQvXGCJ9xGNhmAbfZSVacpuxhWthERdlSmUCLCkY8tPZtdO9PcnoFqo-xRUcogHAya0G4MtDgulVaf0_-sSx7j05sCx-cC_ARgCZNpGBPOrvVz92uthXh15vY4Kn40JWNdRbs8Lg6E2jYv0kqY4FNnivJNjqS_y3DcROs7ZAKYyGHpelmtcEGXt8UxpGLiqYzry78_cF-U4GineclLUd-33jcFZgxL4CkB6uBYqoHMPkpiPdYARj3_leStGgMo5CdqoIYWRC8cdsNXlFm1ScYaUk0D6yUuK3vOchTd7lJE4Scf4HxAFKxFEWUufxBklZVX1UyZ2Qzu92UqvZccvwVqSt9jCIFwVsrLza-Le6R8VXLfuKxRUWgwv03-mhBz6lpvUTHJPhHrvmYPkxpSEX3A2XdZzII11_BN4By0Z0Wc_Ka8mdr121QzQJ12hkt_vfU93y_WQ0aNjXHFe-x1i1MPt5gAJ0ub7F-XhgvT8VWLANhQwmOV_fpiTFwZK7NLhxz8bM7DdbnqTGvEnlMHQW0PTJAQy1xUqLUqMOfFVMcZLsJJ0jB-gNbwmQnA9TlM1BfZBVMNUZwZAuQ80Tlk0szUQFckfZlZ4twjUPBzuSLhLispjkBh4N3Ool0jHJM7_WkJ1bdlu7k6uVWUypcgo5fj3ACg5P2KhOrsSlRC83KqzeGPTJryeYFbMDOXhVwsbnOk4we0seNem2UeTVzlUAf1pKhYV2FVO1EqasQc0g6cebnjGXmiQ9XEPg77Mx6KYFEKua7aSS3aiNiWyDg37nFZrMOaCAN1_v7haKp5ksdOSmK27tt4wOw77XnTRUwl2M8S5ufRbasxmhNif-Kv2v7NyzSn9patK-g96BV0VNi6wrVXZDqfNwHFcmFxQkSxuUFtzG8TaxNc8wn_upZh8W9NP75PQY1VKmywVmKaezv-RQgGmmNSM6gWGYPV7IrDPNs9rXfBDFo3MOsUxWKP4r3K-AsHWb_7Pa8iM4GOlC12aWhKMUh-dQBojzBiPbxnoXTUgpAIpGyaJWm3SLJpEb1C50sP9S716nct8UiYB63RXQRr5DzkWgOHJ0qDTn476nrYC0em2PUbz4T9SYn1S8ZMNzmiFkNqEoQ0MNT-nbIyT2JzlxjEy3mWQGIMi8EslGFSAZiIF4GvnNmAwqAsoxzYAyX2m9K4q1GSuOqOFnECmViWdQiMgJhxxCFBCZH0oqF_npsEXvEWFccyuCXfURHcV6dGB_Frz5Wy0B_dx4bd82fv1qrF47WRb79eKSikglaeeqxqct_31cNtKr9O2Cvekv3aQL4gFYi9uLjuScdRMPp_gbWhfm2kDDtFr1t3bOVX6yuJasP7EdC5bsQ8k1xSG0jR9Q7KOJcOXq2Zv2eV6QzV0ut-UqgO09EGrJA7VfrOduLbg==",
  "id": "rs_0e5c3612b8e83984016ab42fcb74c887d0a229ea5149b7870a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.125,\"left_z\":0.14,\"right_x\":0.275,\"right_y\":0.125,\"right_z\":0.14},\"note\":\"With both grippers open, all three fruits are still visible on the table: dark near the white bowl, yellow in the middle, and green to the right. I'll reposition the left gripper above the dark fruit and the right gripper above the green fruit, farther back from the bowls.\"}",
  "call_id": "call_pqwc4ITp9MRePyDKBflO537Y",
  "id": "fc_0e5c3612b8e83984016ab42fcc8fe087d096cad0b5800dc9cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pqwc4ITp9MRePyDKBflO537Y",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.008, 1.2469, 0.4255, 0.1047, -1.1698, -0.6323, 0.8962, 0.7574, 1.0161, 0.5098, -0.1062, 0.6086, 0.2958, 0.9965]\nstate[eef_state]: left_x=0.2749 left_y=-0.1242 left_z=0.1326 left_yaw=0.2223 left_pitch=0.3084 left_roll=0.0634 left_gripper=0.8962 right_x=0.2852 right_y=0.1356 right_z=0.1467 right_yaw=0.0857 right_pitch=0.0787 right_roll=-0.0583 right_gripper=0.9965\nstate[joint_eff]: [-0.5402, -3.5077, 7.8427, 1.1551, -0.7009, -0.0855, 0.1148, 0.4855, -1.7846, 6.3521, 1.8584, 0.2369, 0.0855, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5abb329d48c94bc8024ea217cd0c4b8493b4ce47e3812461742a370521a866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b87bdc257f8260b4579622f738816336f6bf9e0b043c22152c4838c5683def7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6fa95b160bff2f946c5d8d299b05115f5f0d44cab12f63852221e98436684c0",
      "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 · 6.084 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 56 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9264, 1.7241, 0.4435, 0.5713, -1.0279, -0.561, 0.9965, 0.7174, 1.8156, 1.0786, 0.1345, 0.6029, 0.292, 0.1026]\nstate[eef_state]: left_x=0.3103 left_y=-0.1552 left_z=0.0504 left_yaw=0.1686 left_pitch=0.2235 left_roll=0.0889 left_gripper=0.9965 right_x=0.4278 right_y=0.2451 right_z=0.1259 right_yaw=0.0517 right_pitch=0.0843 right_roll=-0.0529 right_gripper=0.1026\nstate[joint_eff]: [-0.5538, -4.7111, 2.0034, 1.1502, 0.0122, -0.3297, -0.0122, -0.3214, -10.9607, 6.2291, 1.8584, 0.1929, -0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6819, 0.9264, 0.3252, 0.2024, -0.9192, -0.3042, 0.895, 0.7162, 1.9789, 0.9684, 0.3607, 0.5884, 0.279, 0.9955]\nstate[eef_state]: left_x=0.2933 left_y=-0.0526 left_z=0.1653 left_yaw=0.259 left_pitch=0.3305 left_roll=0.0389 left_gripper=0.895 right_x=0.4231 right_y=0.243 right_z=0.0475 right_yaw=0.0707 right_pitch=0.0412 right_roll=-0.0864 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -1.0051, 7.1863, 1.5311, 0.0171, 0.2711, -0.0464, -0.4034, -10.1402, 6.0376, 1.5897, 0.1392, 0.0024, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.008, 1.2469, 0.4255, 0.1047, -1.1698, -0.6323, 0.8962, 0.7574, 1.0161, 0.5098, -0.1062, 0.6086, 0.2958, 0.9965]\nstate[eef_state]: left_x=0.2749 left_y=-0.1242 left_z=0.1326 left_yaw=0.2223 left_pitch=0.3084 left_roll=0.0634 left_gripper=0.8962 right_x=0.2852 right_y=0.1356 right_z=0.1467 right_yaw=0.0857 right_pitch=0.0787 right_roll=-0.0583 right_gripper=0.9965\nstate[joint_eff]: [-0.5402, -3.5077, 7.8427, 1.1551, -0.7009, -0.0855, 0.1148, 0.4855, -1.7846, 6.3521, 1.8584, 0.2369, 0.0855, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5abb329d48c94bc8024ea217cd0c4b8493b4ce47e3812461742a370521a866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b87bdc257f8260b4579622f738816336f6bf9e0b043c22152c4838c5683def7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6fa95b160bff2f946c5d8d299b05115f5f0d44cab12f63852221e98436684c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_RhBp7p6kXy7_McELkdgYmRnz2fpKzn-W6izSBc8khciJ23pjbVTM9cE9ax2CU2QsWUysbkx57XmYqOUidWU86g2k57XMyqG0h15HkV_4DJQ92S0NyQWqs0TRaeRTqFfXnEGsvWdlLixSBb-3WrPZ1LqfWA-ZEQCU3exB0EvUQSXUIwIp6LO6AiMII8r0HXR-6QLBuu57oLYEYNrSccIlKmA-HJTj8HHhKqym2C-EgoLXkQJPu4_UC-K7gSrA5uNMZgzi2XztZ23nTwXzm2u4RoOLzPZfYUFl1qagdI2sal1zDxRekqUiP77PBhc0SlXdWxf0T68CR7_z4XwbZQmSAa59LFETGglBfh--Bbziz4B0Zw4Aa9ifi_gL4EiufW-xeI1VbH1fBMqFEbU9tvgwc6rXa5JdvT5OsZL7QQTmgqu5lei7i2Sxv1OZ5nyGYqya-M5EOw0LRBqyiX2Y-i7UJn8XqE9AgLc6sSX-lP8uaGNNBQfD0Dd7RMUtzsUQHIFIGGH65K7d73yzfpC1XifogzdmE3zgIPoVr187l_T5iSikuBCjyB5XAB_prQjY_ncjarro8r7oZam69PNP_RmX67ZT_sS1Kn9rsa4vSBtEmbQXb3nFl_5JXXIN-mjXSbcGnCrMcsisHbUpLDCyh2TXs-O0aYFp1RoHqQgZUzqv4nOFfYXAe7kvQRxuV5cKSc_OqmV6NC7uLIOK_9mTLvZiPtwJewwFiRs0vOnxwKX4ZeUxxXDBZrrpE2e675pfFgDleXh81uYia5RWI8eeD2qZvK_MZuUv9gLN3ofa6V4YDptmKOJ02g3N2yhx9bX_ujEJ_x6dnsdUI0lYZ8GswJCIEVYZirGQC-2zeSeGGuww5kfAOuDZ7dQu8bJho7LL1wkKmOwToLjKrOSbQzZgHUWhDULLDsRjljq1aNVIJ5Xa7zaHy3rEeJhCgnUDinQQCy8xU0qtOI4PwnYtrsGncvJScRUIm1oEHpb8F2BtZIaMfgK__7gh4nVDJWW9fB3oFTSRQqiI3PnzzrrFDEWTBHWhfsBrq5rjCZaB0myCna_E2Br2riyWzGzP-iWBF5uwfv0AGn5p2QVlRHk5vhvdGITP7FNCbWzRYjh-95jAUUp_2z4zO2XuDqYJdV8iOeQkTwNqYy8h5kZKtcoMpEJDPmdvSZVrc6d_uKNy7oeyLIEkurjEP4QtFSBtxMiLtAftYBhLcFGZiBU-lTt-2grblREd9yNOINuMwJuJKymvAn-L6ax-HPor4KM7lfx7QOnMKISl0PyObzm7w_bCNGL8PQdjlKuql8i_V1SA1gUfoWkjH6vzZ-5UuloCeIg2f4yYP1YWCuXFQ3y8v04iTn2dsJiOYesLmPZCQXijI8QlJJWQ4WUXB-qGvkTtySktrKiz_evP_rZBP74KALStC9XzP17hWxx5PN1sJMJFqL-gVEpOA1iOtAzTGUrivlKNb0wuYapfKdiP-deJDQensTqH2o1eBJ9dEhP1lYg6wLV3exuVLTDmJ472O6vUu3TZ9CdMWV4f0hbN3_UwzPNOpgua6W85ZdCSwJ7-j_gBZm3MTN0JyIXMAy9hXDlKpdNludet3Sg6OJp5FHu9xEC5E0-Ykta5-KzeTiGFfCudj_ixVe3GkfGuUVBGsldvad7D76nN2BnCuZmcHpPVljf_IG6VNpn6FYn-ZaDkgzUUZARiljxOucD4qWIePFYNH-aIArPINC1N2ITzChm7JY8Osu1810bXPGe_4b194AHESwAW1MvClIihtkxVE_RvqIvR8JSzheQlnOEiGMolz039EIM4OGWnaLAD8krkwG1haYstq-Epy8TuawX4EguVKO6u27uobyWl4RQvD3xj7avO68W1ruOdtwFG5PNW4nfMMbZhNa_iWbME=",
  "id": "rs_0e5c3612b8e83984016ab42fcfba1087d0afd7d0985124a990",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.01,\"right_z\":0.01},\"note\":\"Each outer fruit is now mostly hidden beneath its approaching gripper, while the yellow fruit remains clearly between them. I'll lower both grippers vertically to try to meet the fruit rather than the bowls.\"}",
  "call_id": "call_qrQSPNrnczIg0sW7xp9NnqCl",
  "id": "fc_0e5c3612b8e83984016ab42fd0e78087d0847a9f53d2001af8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qrQSPNrnczIg0sW7xp9NnqCl",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0248, 1.8996, 0.292, 1.0145, -1.3758, -0.5926, 0.8964, 0.7624, 1.5623, 0.242, 0.9157, 0.7357, 0.1848, 0.9966]\nstate[eef_state]: left_x=0.2773 left_y=-0.1157 left_z=0.0567 left_yaw=0.382 left_pitch=0.46 left_roll=0.0108 left_gripper=0.8964 right_x=0.312 right_y=0.139 right_z=0.0746 right_yaw=0.0246 right_pitch=0.2733 right_roll=-0.0739 right_gripper=0.9966\nstate[joint_eff]: [0.9231, -1.9897, -0.3214, -1.243, 1.0379, 0.9841, 0.0024, -0.3487, 1.7026, -1.2513, -0.9304, -1.3114, 1.5263, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23fc89e8e5874eed129da10ff4e1a77252b5d76c8ab272e132e169f10ad06b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f54506310131049d3d43b8cae17810b628062e68c325699ad0a451e164f4800",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17cc261f57b4072ef3cb9dfc93f75f18d2aed93bb06c93f27d22ceff4473370b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 9.328 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 56 changed as sent

message 60 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9253, 1.7092, 0.4599, 0.6025, -1.1011, -0.5022, 0.1358, 0.7124, 1.9736, 0.9733, 0.3634, 0.5934, 0.284, 0.1026]\nstate[eef_state]: left_x=0.3156 left_y=-0.1512 left_z=0.0697 left_yaw=0.2037 left_pitch=0.2895 left_roll=0.1098 left_gripper=0.1358 right_x=0.4259 right_y=0.242 right_z=0.0525 right_yaw=0.06 right_pitch=0.0535 right_roll=-0.0767 right_gripper=0.1026\nstate[joint_eff]: [-0.1709, -5.012, 2.9197, 1.0818, 0.3541, -0.6471, 0.8571, 0.1983, -9.3197, 5.3128, 1.9805, 0.2906, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.008, 1.2469, 0.4255, 0.1047, -1.1698, -0.6323, 0.8962, 0.7574, 1.0161, 0.5098, -0.1062, 0.6086, 0.2958, 0.9965]\nstate[eef_state]: left_x=0.2749 left_y=-0.1242 left_z=0.1326 left_yaw=0.2223 left_pitch=0.3084 left_roll=0.0634 left_gripper=0.8962 right_x=0.2852 right_y=0.1356 right_z=0.1467 right_yaw=0.0857 right_pitch=0.0787 right_roll=-0.0583 right_gripper=0.9965\nstate[joint_eff]: [-0.5402, -3.5077, 7.8427, 1.1551, -0.7009, -0.0855, 0.1148, 0.4855, -1.7846, 6.3521, 1.8584, 0.2369, 0.0855, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0248, 1.8996, 0.292, 1.0145, -1.3758, -0.5926, 0.8964, 0.7624, 1.5623, 0.242, 0.9157, 0.7357, 0.1848, 0.9966]\nstate[eef_state]: left_x=0.2773 left_y=-0.1157 left_z=0.0567 left_yaw=0.382 left_pitch=0.46 left_roll=0.0108 left_gripper=0.8964 right_x=0.312 right_y=0.139 right_z=0.0746 right_yaw=0.0246 right_pitch=0.2733 right_roll=-0.0739 right_gripper=0.9966\nstate[joint_eff]: [0.9231, -1.9897, -0.3214, -1.243, 1.0379, 0.9841, 0.0024, -0.3487, 1.7026, -1.2513, -0.9304, -1.3114, 1.5263, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23fc89e8e5874eed129da10ff4e1a77252b5d76c8ab272e132e169f10ad06b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f54506310131049d3d43b8cae17810b628062e68c325699ad0a451e164f4800",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17cc261f57b4072ef3cb9dfc93f75f18d2aed93bb06c93f27d22ceff4473370b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_YnELoSdTLCh1wE82U0HiXrvH3di_HQ9Rm5_JgYbSJflhKp2y1TXdrZz6DXKNtf53LTebxQvcrzzlxXo4-_RsqIMGCbL0-Zyz75MY_6CMTT-TKW-_AXv8MmfQzk5w1ZP6gjtNRtfORMSmWfQ1BsB9q9N8bYUtC1WXm--hKzCPgJaWbMRZN1kVDtSew1fJ34J5gmey_j92Llxes0OPZTvpMqGWH4qIi2H6he6WuxWUd5QS47fLgdAvclCH2zS5kt25S0Kbjs2onygohHUVNbFhXxjLmDJpYjWwdKITPwOWXrtdVz6KiKjmaVc3z9-LVYeSxFJGzvEAZfeTCDCgLR860VoeDWTal7_361OXpjg6Y0o7DGJwLKJkYyq30mq2WXy_jJjyak4d6v-YN48zl9GsBLMuatQ8oMlzcMx9sI4Vzjs9LvJ9T4aOecsZmVHJrg9zfz2Bg6TONhYGFg1V0jBHj4PlATN1L2_cEZ7MLuTb2lU-Lxlmvf2nGxtCjuv6CRmOqYXAowpdLuaNWMULMKltg67c9IjHp5qAa7yZ4nzyVdmLj9S9cuH4ZDzrNms7_0XoZqq79BmiCjekEgH-oPexEiUSUjtyimsac_tjDWW1G00tIamu9iGdcZqYkEQmEScNRIyBldJsM6mUREIgE8YIBY1cVuq0dnLin4itrXsO3GPoZbqYfH8NDa3TbGJt5TJBMtCdk4NRR7-HRrLDfZcaZ0aPl8nG2OyM3YRPIgI1YhjsYNRP-LmCXgFO2XwCze8GgbfggRrD6B3Zf19VBE2vQepbK9lin5j3Uk1QaJRfDuKan1YaGRs-vDw1Q4OSu51SIOxpoYJE7FOFQI2AIf2KEiUlTwZ-ltarIA2z-j2ghmaxcJLz8FGW8HOvcot-iKxebJy5TZ_hX3UO9ZNUNapplFNB-8DsM4wzUUNpV7cE56yQHAGJ-1cq4n--Xf2befHKGsp3XB-sm0owPXDK35M_z7zT25rEcNtQAbppPGxP2QxX9eB3y62M5MGjWGfaFqnRtxEjcp9CxXfjoFxkx4oQhbLaFrw93tR4PD5DV8BoEy94fi60FfExuZMHNDoQJoFHZtB-mvBaPqecJs2NvzXCuqgGa5Sc1jh0Y6kwYg5AVL4LXoi2oscMShXYpUu8HOBfCB6HOfLQlYp9rjYkLV8wJDhl9sTP4Hy29aw4Le_Lyd3Hd8h128s5gCSKipv2TLs9iQrXh7ZlE1u45fXfd6tpFrnwhr_jL7_gkjQV03Cd825ZeUJKhgwx1am-ZYjuwFbZHY7ivDLjV9-fe8rpbkTXjoaSOfcdRsutd5Up3aovQgZiLrko-yKypEKDMcwm9uJj3y96hKjCNdTzepBzRzK6d3q-qi-0P6d7bWIg-9Q-wZFL-m9DFUBSBQIh961URuizxr9EPjRai3D9zw4YIb-m6uVs43B7tpHhfTn1vwj_1lt0NLyrz7gHL_0gstViN3g56vVcJeTUnzAlzOCyxnh4eLtC7UemhU_7fCogmSvDCVsWLeK8oPVzewWBPeKdQwva2LXAA_tNMtlBhlHewRK0wjvI_v3UAMvDnZIWca7gS-V8RIU1laMyfcNUULiy398ICiB4NNkd40_eb-iGPxX0Ka0vwZ6o9HK0VFTYb3p0rB9FelBTA5BBa3Gn6XgA4k3yu1KWiF_Pluu3lkcVLTGkl1mjOneJiZm12X6kKyYKLaTPkR2QR1KsDE6or8316VJFAUDQtmwoIvX3O4G8BV9o2eUR8I-RgtwL_C3LdR-_O3lC7rmnqpT-EEVa5RKAqn6UDCyEjCpVmhlun8niM51SB84HltR8avu1h6RcxU3fYkb6XBuDMNAHoTTKlUBEXt3o3CqRTutFJpIxt00P10TOR3BlEPQwCknClWoyQFuclE6rzuDt9yrK2ZrKMjcpy8VcGyI_ZaPF61CGTBWlI1oU2_zAVPHN5fNH_LB_AxaTRQPkdQnSRgpEhKUns7XD9xQBTCOLuFqPbqPqlM9mC0fgTe9jpfpipgBFyMcWL9wMe4Ols7wXtL9GgfnEOX_DGEP5dHypuug1tsDsIIt3YSt6pmSJGV_OR62v1ceDy9QZWSl6uDcTBL08Tm2T7BzMvq8MJ4Qx_dfDVwqLPQ8i8BufqAkZkhbscTJQaCJyMTmy6996iqv0bEMBLxRd58UgnknuwzNYl3Xj3HDWkgNj_8_j81XLhjoD814xGnPmm045GMHD4X1mN7SUQAX3WNIxqoKEwBp-ufGw2-G5_C7tk-TNnmvrMI-7bo1I1k0JJ8F5neEeJAEVVNPboBgekNGTXiS6_fwiOvtlHGn6L7dZjK8v84IBsM1KKuvhiipY2mmsO7k79dFApJEQ_YHqlAhtujJN4F2Z-vWy25atx2s11ku2zAhMFK5JKdwhQl5Oo8A9_FdZqMjWYHtK_wYHSHtfXiOf4gmORAI1km3kQVn6-HMmK77JbqsjtLm6esLswTPoSC_nz8a47uMC8-DFm2e6EoTtdjl9T4cTKvIAmUFERSRAHjlufVy5_n-2TJfFjgAXfz55xbbvrhbOC5pmIeh40RgCYndUvr74V7qwjMWek8PxaVeYbafvxBEw0TcnAxi0w_8Wvpgkp-mIMpEz0iD-KcnoRAuWnrozdCPKcKelndYgvUkcmBay-Me8Cv7Y6saI9fZLfskU858-R-DnW_1hGPk5HLXt1NnAjYJTbgcvlFE4RO_gqh_7n7yCsNXyCF8jtp7Eee7oFUGLOGS4nAq9MNZmHKsPCGO1ZVb1CUnuSnAWLERK7YWSQoYTPW11iKv0sDLZ4bkkVlbopr3rqKCOWFlrfkZU5Y7XKBL5rbDGkzfbAAHN08ou-DKVqCdCX9VyiBXvybVPCsl1nvyhjyPvG9bCZJKJ9SF7ZJXWPDJE7HIPTQgrEZS5Udcbk2F_gDnQExHhEJtrhNTAMQNI5N-eHPrVvPkDToifzwNQZzQw_LVKXHmvT7cD8ZGrKhbosRzjIluoSLjc36HYTxfgnxart9okpYMfjHpUg2qd7wNfBIpYxAFTPanTFi2AitPfKpjICUGOgQg77Do7uCp7H7ULSe1kIqo4m8IoUtJD6r6RNJr5gfGLcIKKOYsxwnBORWEDJACiMIXCQx3DNHAfXWFCRnhP_zCqHu_QHNHhi17qEwO_9BFhrE8Pooj5CgfJsWHJ0IEl6fmLAe5sv2o7SNcScJphE_CY5GeqQdmXNFeOqHK6VuCSg0kAYWptRCgBZgb6rwCV_nU6wARkm0MJSprsYA9eZo8aAqPfZqO_q61UNbwglh87neD50_UYz6bQeRlTUkgDiGTYTP7_zLnpMPbRhfefege99LQzStx62QdX6Q3Jaujlq-XdFqRexFBFGPwRqvw7pmfzVmrLEa7OcmnbFltNaww9Pu_cKTxkS7wKLsDjn6LBNjnEJhRHbh9D_MFVjscrhRCC0f12FYgPH6hCMXbfk8qRjHApVoHgVV-PUrQZqKF_O-ZL0ruieCv86JMnHpKXNqCrfUn72xVgphT0POuw_HaQGdrrzuykMyvgt5r3lRkZJvMFZxtO4s3k9tPj3ySk=",
  "id": "rs_0e5c3612b8e83984016ab42fd4096087d0b80eab9060202245",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_z\":0.105,\"right_x\":0.27,\"right_z\":0.115},\"note\":\"Both descents stopped well above the requested height and the shoulder effort rose, indicating contact rather than a clear grasp. I'll back both grippers off and move a few centimetres toward the bases, where the fruits appear relative to the fingertips.\"}",
  "call_id": "call_VjnlyfHjXoQfWsoJuxs67fBW",
  "id": "fc_0e5c3612b8e83984016ab42fd7de7887d0a9f81e20b61d9aa1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VjnlyfHjXoQfWsoJuxs67fBW",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1492, 1.5387, 0.4576, 0.4767, -1.3975, -1.0752, 0.8964, 0.9142, 1.1709, 0.2459, 0.73, 0.8211, 0.2573, 0.9966]\nstate[eef_state]: left_x=0.2695 left_y=-0.1669 left_z=0.1309 left_yaw=0.5455 left_pitch=0.4071 left_roll=-0.5015 left_gripper=0.8964 right_x=0.2825 right_y=0.1606 right_z=0.1589 right_yaw=0.0019 right_pitch=0.4327 right_roll=0.147 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -4.9026, 4.3145, 0.7546, -0.4127, -0.0708, -0.0122, 0.1436, -0.8137, 6.8308, 1.1795, 0.1832, 0.1001, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c652c0cf8863b669cd9e46235a7a1f91d3fd35ca5b6b1e4b58102e37a57fc27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef8b501c105bad969ea1b1adc3b9e304352b94400532bae06ce6665481b498a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586494313062832ed9308118d50cbb5332302c45d3e5dbc54bb2ad0526ae18b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 8.582 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 60 changed as sent

message 64 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6819, 0.9264, 0.3252, 0.2024, -0.9192, -0.3042, 0.895, 0.7162, 1.9789, 0.9684, 0.3607, 0.5884, 0.279, 0.9955]\nstate[eef_state]: left_x=0.2933 left_y=-0.0526 left_z=0.1653 left_yaw=0.259 left_pitch=0.3305 left_roll=0.0389 left_gripper=0.895 right_x=0.4231 right_y=0.243 right_z=0.0475 right_yaw=0.0707 right_pitch=0.0412 right_roll=-0.0864 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -1.0051, 7.1863, 1.5311, 0.0171, 0.2711, -0.0464, -0.4034, -10.1402, 6.0376, 1.5897, 0.1392, 0.0024, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0248, 1.8996, 0.292, 1.0145, -1.3758, -0.5926, 0.8964, 0.7624, 1.5623, 0.242, 0.9157, 0.7357, 0.1848, 0.9966]\nstate[eef_state]: left_x=0.2773 left_y=-0.1157 left_z=0.0567 left_yaw=0.382 left_pitch=0.46 left_roll=0.0108 left_gripper=0.8964 right_x=0.312 right_y=0.139 right_z=0.0746 right_yaw=0.0246 right_pitch=0.2733 right_roll=-0.0739 right_gripper=0.9966\nstate[joint_eff]: [0.9231, -1.9897, -0.3214, -1.243, 1.0379, 0.9841, 0.0024, -0.3487, 1.7026, -1.2513, -0.9304, -1.3114, 1.5263, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1492, 1.5387, 0.4576, 0.4767, -1.3975, -1.0752, 0.8964, 0.9142, 1.1709, 0.2459, 0.73, 0.8211, 0.2573, 0.9966]\nstate[eef_state]: left_x=0.2695 left_y=-0.1669 left_z=0.1309 left_yaw=0.5455 left_pitch=0.4071 left_roll=-0.5015 left_gripper=0.8964 right_x=0.2825 right_y=0.1606 right_z=0.1589 right_yaw=0.0019 right_pitch=0.4327 right_roll=0.147 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -4.9026, 4.3145, 0.7546, -0.4127, -0.0708, -0.0122, 0.1436, -0.8137, 6.8308, 1.1795, 0.1832, 0.1001, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c652c0cf8863b669cd9e46235a7a1f91d3fd35ca5b6b1e4b58102e37a57fc27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef8b501c105bad969ea1b1adc3b9e304352b94400532bae06ce6665481b498a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586494313062832ed9308118d50cbb5332302c45d3e5dbc54bb2ad0526ae18b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_ihbGjrFJ3rHKqoh5z0cEtFSg1WUYDPvAf-J6xaXCB9ZKqXmoAKQyH1OwyPHStWhUYyOMuGypmklHTRE-taH0q3XUQEorsk1ZFgsgEd4lUS8ecPeBli9gLt3aFfJph4M9DVsd2nifOwRBlYRUUmbYegOOUgE2eyklI4FIKczObhqr0DfVgp9pCiaKxF7qA_4u6C_1yLU1ZalOouAbYZDVpKqA-0FxChqzN_jq2-rMZyocCHllFbtYQz8XUocSvLh17Oh9KLzHE3yCa44nFgGou2XlEiOF4_T3ZLa8bOk1GtXmdT9_eAFv6HDNKTr9MADBfF0W-Xcoxve_CUEFr_KpPtQ819f_bFskhp950P8pz6x8O8mUcRteOUufRr4mIigo1OHF9vZTMjU-yhLgTFW5SEa36r1N4cmgxcDWdJ1WR9MpFcdsR1b-brHZ6o6l8f3H0I4IZcdTnu7SwoLMz0Xr5K5t4IGFOAkofRecSQ3uP21GdTfjtoE38RuR_O2YpR5cD2MR7rxQDd3wwEDCuP-FrGfpMgYIIkScdtPDjB5X8rfuYaa2J6dYn2wUjOh_tcjLjS1cenXmNvFxP8AnzQzwvom4JoYupXgY2jByV7e1ZsLLBG4w_tVZuyC12P9RipUJ2Yf8fsqygw4hzcExv4mZ4oZryuunquor9y_KwVnk9U66h78ihHiYaDnR_CZ0h5JbtjB0Qudd1prceOGcwUVP6PJGunLkFiYIsDLmKpMGHYV7KXScg2phHbnq3zl2B7KmDZSV4X-BuhswBnqz-JaqEjhNSOaehX7LMoZbmKCML4fLqsFbG9sln4JEREiewODMV6VDrGoKY2hqGiKIPov8NThdlkasqAww7oc9_y8VnA1l6G9GCaPMY9hyTW20sAKLbfV0EQWX_0EVlRsSjDGBXXFTrv8ovOVlbPlw4ONYV2N2TN_FlngbZp5knu2Frh2RD-985KmwR-i3_qWu2S64f6tnO1IfKGxfW0BbJk5hvNYD_hSoxahzkaleuVjXCLPLanBr9MteY0AJV_dPVPvCBqP3wFR4rt2mkoKc9jaHij5U5-Es3rFnQ8fFgNZ4E0Bf2DpuVFuvEPjpL1tZ2aV1E9sgKo8EfX5J80j8Fm17CGIbHIfen6xtB0S926RhF2CoaPS2tDMj9YbcWdod4yLte3aSpdw5MMsZqLMIrZKs4kdVGsHTVdZRQ-IjOaH5A5IyYVOn0BdfwUgVRbNK1CIVStLOtyT3_ZZ3aT-mGYdN-upPhghXYeK--V1pneLvr0OCGp9D4N8B8V_cQIIbzzWPSRjZDZbNuyFZVYz8-20pXoP2Lm0rEJaY2X3iNnXV28yWoZbS8DYqXX2I064Y5PT-1tcA1iR59lQLHhXe-3txVSKTr0gINZpYZHhSzudFbKv04R215kTg5TBDh6mCUCUa1VJw0pz4sxvzZIamF23gOjQvrtmApkmuIZKXmmNeJu45YyNCMnfIr9IJ2kv0t84n_hcJTHFaiOn3mnw6c9cG0MuOIzU8HAacC3vQccjdk2h4iVV0A1U1gPk1QXUnGkGh8PkSgjJhjzBuE6Hke0UEamXsLqCLW-QH4ccu_4O9i71CGL7Oc4GYqspmt_vfy8CY5oVptONGA3ZT9xsuIqThO_PpiuuNKMlVaj6SC6E52500oKbL2vw3zEXf509tGQZE4wReBJLXrrjS09relTqEy-0TkPh0rzglB_SS-o6T5CuKq-HtpD87bhIlkxGd4G5TnRMiZN2HzzR_O7W_cOf0QlNI7UJ-Usm4wbsZBC5LaDN57S_JMxTrbyUUK0WmhnIYRUxMEv87sKWDTd-UFEP92OecCzMHu3FlD3ShtsyuIVxKYx3hKixZzn_PeLJKkJUDVQM4sMlNVVJAi1IuVsqVDhL2yOZ-SmTFzihLxG3ii_lboGubONY411Tz97GbE3ACYT9NtFzFTfg8JTca-N3kxNeMQSo4O2_Tr73NtebIEzMhJtWqSNxScp92OvzVWHPfWsFVH88Q84NJCTXNWuqV4yCc4mPHcYAVJcmEVkQeUbmbMeDO_pF0OqULFg42FR7_PF1peCZUmE7iwVJwpw23F7xiMbVcxWsuWoVjSXF5AT0GROn0CMcIajxFvXZyE9uXSaDIsMmO9q188i6Bq6PZwHo9F4bO59ySZkZjyPpz4j7V8-AqzmQIrv9QSrFkdlXbUt-kIFvSp1bStIHQzCg3azWMWxnfT_Zc3Zku9DGAFErt5mPKG1Ed5ZmcDeVU-snNh9IQ4xTFB1TzK4PPvM--nOQ5Actx-gTpCQGYUNEEfD8a19oZqac14WtFmAIVqBRpZzH29Q80tMEfWIV_IHwPkb5sZebY6Zie3tK8TTAHUvt5dfS2Oca7xMFns5EswGcR5xg7YQNkR607TEU1202pz9gr8KQQN2x50b8czfjgwlX3m_774zxlvgezir8prfSV-jQUYGMiemkzGU0XS7C_GjeWD-1Jupc-MzBR-ERnmd-n8Aej-6Wa3GEr74WycLwbGoQ8uMbiq8H_hNoSqvVJ1uY3k2kRBrb84Cu-FHSA5N12ntyLe8loobfR71SQHC2ORZBnYhtjdk692cccrIBBtFuFBdkTssC9mW4GasPwuWwsgZBLE4H0AYOD8FGNYIG0RcC4pVB6GibrtrK8vr11LjFLNB6vwbLNi9rrf42qDgI74djqJJHBzdnwEgdt_8BGJa6wSHu8e_fv86KfUMg7oJF6dPsfNfoJGS6b0c4nb5D4LnP8dC3v_8dshoVrNy6V-OTb8QVEA_ID69wVC6aGhYxba95KrFyBL7ebNBRxrHl5F3K-TBPnHFXCGiuaAZQKp6YOWnLZ3C36GPU3mlFxc-lT8FRsyf6EPK7dVxVfoGgPPoQEM2edkyKw3RDRlgnptTDOXuKD_lbgC23bfEW-k44Th841EDzFQVLJi45xcljdOOsihri8dXL3PCgNDyyElPuKvQIx-pE0WHdhTODAwrC36XmXsYdr_0BxOVSO6xYUKDRljQntr4bOycR_Rj5UDuLOwfLsZUhz2divlMikXQGdr5wJFpvcrz-i1M4YNm7tRYa7YQ6pNHSMRyQqL4UKs4Jmd5i0atWSJZ9Vvd4XsBlA0gZOPgQZGB63xnV1PfAw1bbOFA8EagOEnh0UQnnVPVWKkosgMUNe2WvNmkHHOPEFC0dar_0yWItcVacbgU3HJMRWDCKAYDynKpOI7pT68-2lXlYCMevRWKlfUkzTRlB9pHaKI0W33QOD5YKTkpYgiJ3RG7bD9W3cKkirc17omjUJXNxsw5PPQACYUrelkCGTMxiFrW0Jh96vLZGcHWRhlGkzAoXlr--Ow0AzdOKkgAeyXOzqAGtuILFRrn_7iBu6iFik8a0CFGQp8EpNjYGJUK2_Gar2ZKaH81uB66Sx5LRry41De-XJQUQlTUU0ywe5Z4vbCevt7eNCaYvHTCoQNlNM6kbT0SMYV8ENTmnW8B2gq7dy_E309-b8HgXNAgmU=",
  "id": "rs_0e5c3612b8e83984016ab42fda429087d0a972f808f1632273",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.29,\"right_y\":0.3,\"right_z\":0.14,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The clearly visible yellow fruit is still upright in front of the blue bowl; the green patch beside the right gripper appears to move with the arm. I'll park the left arm, level both tools, and bring the right gripper above the yellow fruit.\"}",
  "call_id": "call_0BxxEVvseYZ4AspO9zqr8SqU",
  "id": "fc_0e5c3612b8e83984016ab42fdfee2887d0be75bef95178a5f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0BxxEVvseYZ4AspO9zqr8SqU",
  "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]: [-0.0593, 0.7692, 0.5919, -0.3798, -0.1448, -0.1558, 0.8964, 1.1149, 1.6871, 1.092, -0.3336, 0.8585, 0.7658, 0.9965]\nstate[eef_state]: left_x=0.2913 left_y=0.0118 left_z=0.1821 left_yaw=0.1404 left_pitch=0.0172 left_roll=-0.0391 left_gripper=0.8964 right_x=0.2922 right_y=0.3003 right_z=0.1381 right_yaw=0.0223 right_pitch=0.0199 right_roll=-0.0047 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -1.0325, 9.7983, 1.5702, 0.1832, 0.1392, -0.0122, 0.2393, -8.3077, 7.6786, 1.0574, 0.4518, 0.2027, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b7c253227753dcf19a6347c7b4a5d5180537bcafb0f31225e04f99eae086cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d75e2399eb870a14d507eeadbed4490a3a06ee37afe74efc2f17a0ab5f22ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a22696a143c46b069c82719a1becd98bfec4431a44455f6081dd36e45cab90",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 5.29 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.008, 1.2469, 0.4255, 0.1047, -1.1698, -0.6323, 0.8962, 0.7574, 1.0161, 0.5098, -0.1062, 0.6086, 0.2958, 0.9965]\nstate[eef_state]: left_x=0.2749 left_y=-0.1242 left_z=0.1326 left_yaw=0.2223 left_pitch=0.3084 left_roll=0.0634 left_gripper=0.8962 right_x=0.2852 right_y=0.1356 right_z=0.1467 right_yaw=0.0857 right_pitch=0.0787 right_roll=-0.0583 right_gripper=0.9965\nstate[joint_eff]: [-0.5402, -3.5077, 7.8427, 1.1551, -0.7009, -0.0855, 0.1148, 0.4855, -1.7846, 6.3521, 1.8584, 0.2369, 0.0855, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1492, 1.5387, 0.4576, 0.4767, -1.3975, -1.0752, 0.8964, 0.9142, 1.1709, 0.2459, 0.73, 0.8211, 0.2573, 0.9966]\nstate[eef_state]: left_x=0.2695 left_y=-0.1669 left_z=0.1309 left_yaw=0.5455 left_pitch=0.4071 left_roll=-0.5015 left_gripper=0.8964 right_x=0.2825 right_y=0.1606 right_z=0.1589 right_yaw=0.0019 right_pitch=0.4327 right_roll=0.147 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -4.9026, 4.3145, 0.7546, -0.4127, -0.0708, -0.0122, 0.1436, -0.8137, 6.8308, 1.1795, 0.1832, 0.1001, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0593, 0.7692, 0.5919, -0.3798, -0.1448, -0.1558, 0.8964, 1.1149, 1.6871, 1.092, -0.3336, 0.8585, 0.7658, 0.9965]\nstate[eef_state]: left_x=0.2913 left_y=0.0118 left_z=0.1821 left_yaw=0.1404 left_pitch=0.0172 left_roll=-0.0391 left_gripper=0.8964 right_x=0.2922 right_y=0.3003 right_z=0.1381 right_yaw=0.0223 right_pitch=0.0199 right_roll=-0.0047 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -1.0325, 9.7983, 1.5702, 0.1832, 0.1392, -0.0122, 0.2393, -8.3077, 7.6786, 1.0574, 0.4518, 0.2027, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b7c253227753dcf19a6347c7b4a5d5180537bcafb0f31225e04f99eae086cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d75e2399eb870a14d507eeadbed4490a3a06ee37afe74efc2f17a0ab5f22ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a22696a143c46b069c82719a1becd98bfec4431a44455f6081dd36e45cab90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_sSmcwGwGcdPRkZ5rMrC3W6AAwIwbKf50mTZxpOK7mARM8ZudM9lkGVyHafxCMg1P0tt03fWfl3yO3PcFxFCdL3vSnJW_l6yf68jfWMO2cQeB7BJvpOkejjYKHdI65Y_Mk1iRsE6w-r7nhu6FlWA3kEujUzlo4bRKTSjLDFLH3K1S8ioKboX7vS5zY3sEFjY9NpMULqsXOH_OBiH9cVcp7nyQtdA8L8huR51ywo3a24PByVx-yLlZQ5qCdwf39ibXNPxgS5_PMBTJhpMwIOQaVUTNeut0mDp7_EvQxU2zrCsOnOhe7V2aSkJYg_Pq8VeDYRJsbZkQdB66878S2m45y-Fkz01TsDIgCCPDwXQonWds3TjvG7opZx-lvC7dvQV0A6jgD8v9tVi3TEl7rLd1-Rr9NNg2xgPu0z5-w4ZrlSIXN7RCOC6ix28D9wqJAW-J5qtRFhlpapAXdmy2mw84lg2RsoS2rAisOttXN2ngzBADuTllUEFqXolhDQMg7ebrDZja2nAnZ6b8yhmKtbkIQDHWG5qxiN6VLT8H-otgezYdl4kEAGzWmULN8qptSfH_ji8yLp9UR4whNNdNNX3ox6mbNKJqO950CpQxsOSX8vRlSdijLvDlID8PGdNZaaeWJPrugL4DqxgZ9aUDob84HfIW3m7QKvQaaRGdp5gy_EFyzp0c1y6v3G79Y7ERL-3aVHh4mhu0JiTdp44-07l2cZYSQEwS9KJbhqA1VZk2KmpC_HNsYmwmOoqpnWaVzTH7OfPYqxRhP3Wpa0-1tKY6D3dlEPBMKQ-3W4oGdF24ByetmjupSanvjyh65YriWMBBXoPLw1nVQ9nK43pMC6qI-5mDshI346_d0hK7At7MH7c0zX5JWGb-BLUaYcG_hZf0J3wBeKp_FlfPlfLShuzZhwpBqzoLWzzP7AvCctTSfmA3glO5wbTG-0dY6pWsc8BlVdooqYEzskKb1AB37P--vUVkEYo_5w8vHq0toI9wbryicBUdeWt-5UrdgRR3hfLLGEQM9VqCoT8XSNKiC9u3UKyQaVbH9lvXJ8UNYg_2RXt2ApKNc4xTlJ4PLhMYIxhlIgpkEv-oFh1hxxDQVggqxllHeyUT4EMRp0twmCDbehckT7XTH8loYZjHJBWHepbGPQdbhApaM5gXYD0vBbY1Jx-Xc7XbiU8W3ewKr5624eP8TLjnQa0WAb7P5kdjU8Wb2qqqxQwCDItHM29069Jm7zd_hpRyc5pKwhvrCVk6KK4Y7Hq-EExbQiFzRPkrZS2R6PvNpH7V6IdK1s3po0IazKJ1Om76AhL7K7nbILd1gqx4eG3Rjr9ZfxTROc-3YJH1dtNXlSr05b8Z0RFUY165B5dlm-JU22gMTPqoSYLtyC1e8p3UoEaYZQjiQ_E0CWLdgHW8ZuM_Kc_XnQvHjrXoP4xoRYsa1LzNVtCPHcRFWLovjx4fvfm01zekjlJE_JCyx6E3r0cI9WsAbfbuv8AHXMHJrAPb8NbL_hRQdIV6y2aYi9Ab7lX5rBF44MMdDR0OUG-4Wo5yzRN-YBkMcJYbuyE1W_1gVzvOki7MCsQeCMiM8MCBHBB-2xXWfAXPjm25Xcga7k4Qtr2zQlX_KwVABiwJ_0m0c4PWLT1nGAkY1jH2TlcjZyPPepSAxRBpQtxMA7bPJIzvtd12va7OGGsr93AzuQ_o7lpVAii1_y_XZS0KztykvgU9n8AKVFqWqmcVdTr_b9JEmQa9lseEGXkT2eP88ZWwxzdNXOUEDa03It1C2l9c45BFmBL9dwPepoObEBabk7xDnLz9BC8peYLI1SWvwRCc_Ig6kKTie4-_c_3ZQcJj6vevjZ-CvYnoDqJ4YxWhsMeScwWpmx3o-FzwN6uTaRX1Cv4CdjPOeANO2-JmU_Sj6ZquYQZ-73JY2JhwBPt259qJxapHnvMrFpeSTAnqDZPDwOuFUygjX1mHQYmFeHU9TJAbqNPJWEYnSPz7QDFxBBLZbLXIPnPcYBP3w9tIBNUN9A7h5JhCtIQC3dgQgytdfKbHFjvulw8EHEVQeyXT_kI7pjwdETaWyh3doKKaWThD6arlqz-eLjAfNXGPT_U78OIU0p_5vRMG2cnxMef7HDxz9xOncSYYX5-WM9ZcaeOIVXp2EBlm_bjps3mul5OTw1pVUXRfM8ZwdM9Mc-CLm8BtDwBo4fsW3zaaVqtjTQaWCCTiHU9bQ2seSNaNGouDDbt-83cdwbp7RQ9NxVO--11hOMQ-X1YzCtJDDcbByTgLo8bi2yVhU8axIOMnBFhdU_4woX_pLZWU8byQiHEVXcalNmqv3dBM0WgW7M6WzmXSgfuc3HQph8YaRbLNVCL4Dulw8-c3_FjtYIXe57fD1K_GUVDc2unORjSMJgUDs4k5S8gewLE9-9N8GhSmIcpmpi6yCVLXRbZS_bum8aC9EztV-1iG44YyMsBWCvXQRXEpCA-57WVSDdwRDF7DFdPQ5yKAdTkCypXfmE-GX92_Ccu6_JRbmuyFa4KZ5IlyC4LBJyRVMABbUA1lQ5mnFxn7Fvu_eHHSVRDcQgV58JooGercn0XIxoNApTJInpq69GYxTX9OLykGfd5xF3umZHM07-Wfc-DphMd96J2GMDubYnUMTddbypuX_G9kJONjj-AfRcR30qDyL-Hvq1f961UoEnyX6z6irsK7XGl0mtnOzOTrXL_pSAH-AhTLFqPwfNHJ0g9ZHRyb4Vzot3ogRxM85GTCBIvlCme_GvAkU7Y9yUOt67ctiH2m4RisiKEv_HUgJsi8no5rUo-KgEecLhwqYVDrZC_fc5qTl9sIRvK9P-vrebQlo08pTXm8uxvAwGQQZ159sRLv-lEFhA4w6AIzShABWlPrsDQgEuEEaWYidoRGh8DXUCXlOkt536mf2FIBzCtFdVEBjMf3yMP0w_WlJIyR8j8pi_Uc8Mn2KRFs7eCom8vY1gzbX-zvtxsp9KjXhOwesOzJO26AwX9s2Qdaqq9DelBkF36b2KvOSdk9Q69wIWHHGjAVMQBtM2fkNkHoJOs-HYTNvUbp8EJFT32Vn6JDeVgg1VVq3IPQSCiAbCGU1yu3dQtmaoJp_yu4crNK7ROMY6Di8YDfeyZjLEZfbSil1-HZL3NhJVkugT_784_GdTk_uRESpWqy3khZJWqG65dKKj55riflyO801ogt3DbsLSsXC6ESMxntbwC0WjS7vkVQaBrcmzu9Xw8A6HM-UATpOM1nWpXYp6O5qTUWTYGsH3c7g7SkhAoZpXHE01MGSpV6Hsh4IJ8U3KLwAQoLhBdmXGzyqS_3r7cmvSMVmJv12uDJuSC5yqxtfEWr56fYqADKphOma9569picjq-bNUtXi3FJC19iZgDSYDtCnlUCb9ApDhuBpHWgWOzoCVIQiUzqzkZkKf9mdlypm29MqUfV8SXgtZky9GagqFSjltJkxIP3EOVFZQGEcaZCpW8q1A_-yftUPDZWHKVPAA1V-hmzf3hAM7Ay4JuVyEh2bhh5zhS4iSj5xu-EzXMxpvLGEpEwdp8f64TA2if63v0ECUVq2uSmMRhHE_cn9ZNdYgOGZG7sRuCH-3f9e85X5vr4h7kQ0eJK-pCmZiDTEO-ng05ZtBp1lvsJFgrzb61Z1egE0mNdsFfcwO2POFeAciDa8beMzo4BN0U6To9A0lMl1NGXFLQY1r1OtIna7U46xe2IcCHHHCSOoOYMGNSHnXCAhdpM6NaYMDCZl-jGfvEwVX5YD0QRN1k6ocTg=",
  "id": "rs_0e5c3612b8e83984016ab42fe6e48887d0a51dfd2e83baf959",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.145,\"left_z\":0.12,\"right_x\":0.265,\"right_y\":0.185,\"right_z\":0.12},\"note\":\"With the arms out of the way, I can see the dark fruit at lower left and the yellow fruit just right of the blue bowl; the yellow one was displaced during the last approach. I'll bring each open gripper above its visible fruit, keeping clear of both bowls.\"}",
  "call_id": "call_zvn2vhVCUeJeM3jupBNZrO2t",
  "id": "fc_0e5c3612b8e83984016ab42feb5c4c87d0bc16ddb43114b5df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zvn2vhVCUeJeM3jupBNZrO2t",
  "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]: [-0.9699, 1.1545, 0.5468, -0.3546, -0.8074, -0.8028, 0.8964, 0.9966, 1.2671, 0.6159, -0.2058, 0.7853, 0.6456, 0.9966]\nstate[eef_state]: left_x=0.2544 left_y=-0.1391 left_z=0.1053 left_yaw=0.0939 left_pitch=-0.0347 left_roll=0.0176 left_gripper=0.8964 right_x=0.2648 right_y=0.186 right_z=0.1159 right_yaw=0.0138 right_pitch=0.0067 right_roll=-0.0159 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -3.8359, 8.7179, 1.3358, -0.6178, -0.0659, -0.0122, -0.3487, -4.588, 6.5709, 1.5604, 0.232, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b8110a3821926dfbbe53a73ca9aff0d1886fb11657f220e6e5ff6191cd4f3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36264b0fd67425d02f3fcd755332d2e2b8db9c9bd49307aa49331160bab6e71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b11b335c3d1f56a2a50af1958641e383d4b20181190406b67415bf193ccbf9",
      "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 · 2.559 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0248, 1.8996, 0.292, 1.0145, -1.3758, -0.5926, 0.8964, 0.7624, 1.5623, 0.242, 0.9157, 0.7357, 0.1848, 0.9966]\nstate[eef_state]: left_x=0.2773 left_y=-0.1157 left_z=0.0567 left_yaw=0.382 left_pitch=0.46 left_roll=0.0108 left_gripper=0.8964 right_x=0.312 right_y=0.139 right_z=0.0746 right_yaw=0.0246 right_pitch=0.2733 right_roll=-0.0739 right_gripper=0.9966\nstate[joint_eff]: [0.9231, -1.9897, -0.3214, -1.243, 1.0379, 0.9841, 0.0024, -0.3487, 1.7026, -1.2513, -0.9304, -1.3114, 1.5263, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0593, 0.7692, 0.5919, -0.3798, -0.1448, -0.1558, 0.8964, 1.1149, 1.6871, 1.092, -0.3336, 0.8585, 0.7658, 0.9965]\nstate[eef_state]: left_x=0.2913 left_y=0.0118 left_z=0.1821 left_yaw=0.1404 left_pitch=0.0172 left_roll=-0.0391 left_gripper=0.8964 right_x=0.2922 right_y=0.3003 right_z=0.1381 right_yaw=0.0223 right_pitch=0.0199 right_roll=-0.0047 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -1.0325, 9.7983, 1.5702, 0.1832, 0.1392, -0.0122, 0.2393, -8.3077, 7.6786, 1.0574, 0.4518, 0.2027, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9699, 1.1545, 0.5468, -0.3546, -0.8074, -0.8028, 0.8964, 0.9966, 1.2671, 0.6159, -0.2058, 0.7853, 0.6456, 0.9966]\nstate[eef_state]: left_x=0.2544 left_y=-0.1391 left_z=0.1053 left_yaw=0.0939 left_pitch=-0.0347 left_roll=0.0176 left_gripper=0.8964 right_x=0.2648 right_y=0.186 right_z=0.1159 right_yaw=0.0138 right_pitch=0.0067 right_roll=-0.0159 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -3.8359, 8.7179, 1.3358, -0.6178, -0.0659, -0.0122, -0.3487, -4.588, 6.5709, 1.5604, 0.232, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b8110a3821926dfbbe53a73ca9aff0d1886fb11657f220e6e5ff6191cd4f3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36264b0fd67425d02f3fcd755332d2e2b8db9c9bd49307aa49331160bab6e71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b11b335c3d1f56a2a50af1958641e383d4b20181190406b67415bf193ccbf9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_zcSkrjSTRriVA3nQmtZX9k05z_LZxH1FglYWaPk_TXKfHU4PBwMFWJIM_UXWcZtahQjccBvRv6PMu8Dl7a2n7KGPkdAT5FFFe8loVFgXCwRgJGX1rr0ijPngB2Z8NBSmpe4L8hjuoEfPahvh3k2mx3uF8jq-TgEMySOZYCOW6g3HXMRR2XV2268ZzhIUwektp_3hGMrmfmo01IGBXlSP3kyt0CzUp3BpzrEb4sw8xbQOlMBK56zg9Q3b0bhxXsH7zLyBVYVlNl9UGTcQZwvMLMq-BhfC14dGJ4RJeS_nUHjSOUKtOYqb9l3KqWjf4FuGCfISsqFjTeE1_pT9OMnZgMgYg-0mncTDT4Or5eIzcFCmHM8hyQoheVITEgMMM7S4Ay7vjWuZrrQrQfVg1O4VLwamke_ularhWq-CqO-nafzzcRoD_0BS6P3k54GCHcSdB6m1H6VDH3vIOadFXRfJHvC1JZdtFsdAUAYz5BkNWEDW9tt3ERX4_7j1uMa6mfm4x36Mlo7PGSynSV8Dj6ICte4CUR7J3qWR_iQYlJtV9xYBdRG86eMVfaGWcvSktjk59TVd5XsYIDQpjSmBQiG_2Xcmtx3wUQqlybMN5jfSAPCH6mQkHqMqTRgL11X9U-_4Prtiu2aE-Rv7m8hacwibo1qNYLWaOikI_vmSy2efpvp8ZsnjFz_wkBcld-OTYWuVU-ZdM45OVOsTAu2cvZ9n8Vyj_M-2pOxSYk_T8juolRUjs8WbO8sU74ztchxrGRsDsLGH68UqRnx5whc_RX5vZ9rTD3nzv_wd9jZU6FgTmZKn_CHhtG_mUxzIeoI_-5Uux5wh4AWSFj1JlNL33fTpeWAnvFL_AN2V6O-WuEh59zgSxar-YYccc3v8hkQtAAegroHjxxETzGdFrGVHwJwCfDexSySNQoig8hWxF3nfmqRlsvB5sDVpLIAKmnt_gQlSD_EaC0drBRcph2vpOcRJP2Ik5UTE4EyMnpPNn4khSHqPGfFGitgN7fxGSmEODJeYbVZpVcgnsl_VCZthSgby3XiqDTJBvkEmdbK-sWJH0XhK1rry8_gepzvYzOU-tiJt8L-3fFOUzfLjKeRFtqmH0QJXD9Pt5FN0LZoA8RSiPmGonpBM3RuDnO8Rib_5czgLR-bARFCpsPmW-6BcxBpkRBvF8UWXC72U9GRcxFFIckQUsFD_mCoIuJ-IyLffsHA7nvtrSPYyeyFLmq8Y_F2f5MahXLySs_hUe24NAmVpInQo8Uz1VHXv1yIJxuAV28dLyghSx1oD9QtvMYDyH7kuG2wbceGPepwT1PCe42r-LzSTySoj37Veaz0EilCHQYDZxh78OiFlChMLrUeSVn4qAdJvZRR_RAdsZpYZyhPgOQqwRwqmXg7n5CxpHLhXcgD32PqXLQPQ6fvMlco6cXaH3Ppd4CpFyPDyXL9Qdk2Te1S_tGJAR-7E31hLRcXg3KhsTtUYT_jiri3ZlqNTtZuuESKF0CuBvPDN-Z1oygLa8Y17_pZhOVzOMj3N8llOGTSSKr8Lg0GgMEFOoHgP6AyKAs6JrzACB74G804yVx2iQpNsmrfKi2IOL1ZssUf0E4k0L1h-YhY9-svohJEwt8AH2sCnTyTc8Nis5UuHulQWNd25QDNAlyxAdjB6UqbYuNz_ENk0QVsU1cT6mAWTvmbmKoE9RQ7qiZXCg4HhgpRG6FYoQdr2GQJntNrTlxvy6UoAffE9U6w28XGR6_2-q-ginwtq5NYYo5kwjjmaNXZt1m_14U6HZHQOatjGt7_fURqyppR-jKfqBJ9QmStHnxmX_aroKAavVFcX6dxuCR7CejPEngYH9YpU2M2eLQrfqTX023QkCvuQWU4RMjmhUrFRpVg3r544va904oVNYZukpzAYSjck6jhjs60wJBF5Tpnb-VZH8SELEdx7EbARc3jS1jLGn6xXRwlvs2KmV8N_U28zR0h7D6IMJqPheR_x9DmdL3Eqv9P3aE47pHMJTJG3QbiCSC75-Y3JMnLFyarRyFBltnjzbAlJC4Z0OfiVMUiQ9mHESFZIuhgrxu8cTxcDL0_DQ4ltRqlnvTaZRpnYLsanzcDK7irrCdOY-Lw_wdRWKxe4mzyAUiZ5jrP37lBb7-60dRDUGRooNmi65EM-BTRhpAHpfKw4qQ4BT3wNYcvUE6UNnsbuLPs6yU9MkSUXJfNv4LFrdYTZERnGJ7PyAvl7hM1569PWlRstom_sRkuHVUk6c2h0_snTIqXsobP4niu_SK9UWh3NCYsWBBlX8x8f8gGixYLv_49cSqV6ORNRnt85FHPzOn24DwTGQxkUwTut7OxMeafH5jLylpUTd_mKZ5ZhBaEf-HnRRLx9FgSTCXbTOJNYmVaY2sWwTw1cPllMHp0SRl-V7-hKIMIDV8dshkJ2FgAwZDvcvPo07k_RDHAvN5E7gExZZyr14VGCbl3nPMOLX2b4p-FrFXFKCJUIg85v7ed5wqvSYH9j37ZCUXkErAFi8mq0utBNzzDH-QNYMLMgnBGM9zPQa_CFgQJRmT8cW1u59ynbYdB1GlKz53uEUO6gcYG6SDpM-LEBKxBHCQTKan741_kCBS1jUHyAinD1yoUq67GSRKMeu-wehzrpRQbZyy50uzWAwNQWMRFSwvYxHTJQzTkcVncmvXAI05AWFXlKPeE_AaM1q_6qDklwt-Tq9O1J2xgESm_g9bEL-LnAzzF43keIFSG60hk8fNv1ebo9PZJlrqbkiJv-UCRvVLoNNSWq2ymGmw7T1XgqMicVfLo9lxkHUypDspsHj80rmpIo6QGpFbxUKREsZGWIszZ0Uq5RHsHWgPksKS1kpw1g1-j7eD7cWBE99qQ3YVH5T_95kq2LFdAfb_LkOII-biwHzrLORikGvJIfFc-J4ORAIZfbH0ac7TV3e8KvwbcR47cJkKSa7XXK4GoAlSJCLRpw5zIKgeCJKxJiZ3a6tZZTkXCH7E0st0-ha2SM_Q2Pmf2FxnJX6i3s_rmJQgWhGwu53WZ7W1JzZtPkPzQOanEfkvAkuYvuKnTIV4w6s2FkdgTV1L97d0hhhUhGsMb13UFBSB-_KznLt4q4DJsTVAF2lddAudV95Tjz2djCd5BrnSlCcDxuKnZfXD8oodqRaX4j4nHeTmphZM5rqjpSrJeGiqzli0mlDcV5-FhKwDJdakeo3x_EUFrWDW3mU66YkvT-NhHbtGeDZ9PR_vDYF1-SlID_3GJcQ0-ROvGpfhIhftH1vCAZYo9OiYoEzu1zzN-elwR7NdmhvjxJqYWQjkwvTMrht857lhuIBD9JmQG8zCp7xyPlatv3iUXkOi6mKeNdp7VINILPuuPlE80Ouy5DjU2zWOG9flUvBRnrrKTsXIZTaO5EFO9oXVe2KtX9oH1xjII4km5FtOVG-EMSEDtDfjhHTIyQX0VDiHbbeAvL0uB1RjfMC-6enzCp-",
  "id": "rs_0e5c3612b8e83984016ab42fef27e887d085aff5731cc1059b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"right_y\":0.14,\"right_z\":0.045},\"note\":\"The dark fruit is centered low in the left wrist camera. A yellow fruit sits low and to the right of the right wrist-camera jaws, so I'll lower the left gripper and shift the right gripper toward that fruit as it descends.\"}",
  "call_id": "call_2zdXKtMekJ2c8gFygDeANqwo",
  "id": "fc_0e5c3612b8e83984016ab42ff2410087d0930fb0729993c3b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2zdXKtMekJ2c8gFygDeANqwo",
  "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]: [-0.973, 1.4151, 0.3523, 0.0208, -0.8078, -0.8108, 0.8964, 0.8684, 1.301, 0.3038, 0.1638, 0.7063, 0.5381, 0.9965]\nstate[eef_state]: left_x=0.2478 left_y=-0.1308 left_z=0.0222 left_yaw=0.0991 left_pitch=-0.0727 left_roll=0.0812 left_gripper=0.8964 right_x=0.2595 right_y=0.1348 right_z=0.042 right_yaw=-0.0033 right_pitch=-0.0282 right_roll=-0.0515 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -4.7795, 4.4103, 1.3651, -0.486, 0.0562, -0.0122, -0.2256, -2.988, 5.6, 1.3504, 0.2906, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5eaaf7896ea55d2365f70fb30bec84263fdcf54a544f6308edc234b8bcfa4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e021cd7a8ba7cc862ae6236403981ce0e933c50354c69b5f7dffc8e8dc71b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ffb3386aca2c14f5f9e8152f2200072fa419efe5ed37d0c76a2c5d51414ea89",
      "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 · 3.893 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1492, 1.5387, 0.4576, 0.4767, -1.3975, -1.0752, 0.8964, 0.9142, 1.1709, 0.2459, 0.73, 0.8211, 0.2573, 0.9966]\nstate[eef_state]: left_x=0.2695 left_y=-0.1669 left_z=0.1309 left_yaw=0.5455 left_pitch=0.4071 left_roll=-0.5015 left_gripper=0.8964 right_x=0.2825 right_y=0.1606 right_z=0.1589 right_yaw=0.0019 right_pitch=0.4327 right_roll=0.147 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -4.9026, 4.3145, 0.7546, -0.4127, -0.0708, -0.0122, 0.1436, -0.8137, 6.8308, 1.1795, 0.1832, 0.1001, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9699, 1.1545, 0.5468, -0.3546, -0.8074, -0.8028, 0.8964, 0.9966, 1.2671, 0.6159, -0.2058, 0.7853, 0.6456, 0.9966]\nstate[eef_state]: left_x=0.2544 left_y=-0.1391 left_z=0.1053 left_yaw=0.0939 left_pitch=-0.0347 left_roll=0.0176 left_gripper=0.8964 right_x=0.2648 right_y=0.186 right_z=0.1159 right_yaw=0.0138 right_pitch=0.0067 right_roll=-0.0159 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -3.8359, 8.7179, 1.3358, -0.6178, -0.0659, -0.0122, -0.3487, -4.588, 6.5709, 1.5604, 0.232, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.973, 1.4151, 0.3523, 0.0208, -0.8078, -0.8108, 0.8964, 0.8684, 1.301, 0.3038, 0.1638, 0.7063, 0.5381, 0.9965]\nstate[eef_state]: left_x=0.2478 left_y=-0.1308 left_z=0.0222 left_yaw=0.0991 left_pitch=-0.0727 left_roll=0.0812 left_gripper=0.8964 right_x=0.2595 right_y=0.1348 right_z=0.042 right_yaw=-0.0033 right_pitch=-0.0282 right_roll=-0.0515 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -4.7795, 4.4103, 1.3651, -0.486, 0.0562, -0.0122, -0.2256, -2.988, 5.6, 1.3504, 0.2906, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5eaaf7896ea55d2365f70fb30bec84263fdcf54a544f6308edc234b8bcfa4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e021cd7a8ba7cc862ae6236403981ce0e933c50354c69b5f7dffc8e8dc71b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ffb3386aca2c14f5f9e8152f2200072fa419efe5ed37d0c76a2c5d51414ea89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_2nVFBJnmZaOuPz37OQhWsp6OLrUssPS70yPbe51aVHF6tRJNkcJfvsYIX6xzVnrNdy5gEUsTEAUJbUduAMEJKohqOs17ortWLseH2xYmOtZ8igg-1X7Nw_jrBK9S55aNO4KL-J2d-z_Ekb70oI5bxxJe5uMtIDgOJa82j1ZDZUjswng2VhvqAfG1li7CDWkJqWBD5-Gy8xi168YRmfTHNRg7ZskJinxIdlP41iAy-B2at_9yNz-y_XujWmLrq1PxXziq8zkdW6Sy_tQh6syRP16qWRv-GR0PsTAt36lYsRPHnSoPMTp6tpUlokJst985mdEKxAvr6_Q2gFMi18HsXf7Zen-jRUYz6_wWq-oIvKIa-LSafzz_6njuJrTpGGGtmY6AIPSXdo32BcadPnypdhiEt9O4cWWqvEwA-5PFYJ_RxZbodvxYOJO-tjhjTuwMuashbW0Yg9Roy5jOdDuycETTGsv6WXvs4VevNyAqPxsVQeyTXl7R4ZUgN-bxHrOC_NJ4pSOMYaniYdcjAu_D95ZEXVmI9cPdwjECGa0lcKiHFr1wPAX14hnzx1w6udTOxpU2W8jQQz7rR5sg5yxlXecaeIjXOFDqm2YbeAr6I_JiqBX_h1W_-WP2SxPBsMhE9Kd8D2V0CLDCr4PKhpFtk_k5j1-iBA_g7Aly3oFwjJBLEX6D7BmUwwkDhfY6Obwy5ERS_Ctkr2ewMnvxJXFvCKza6OG2QpoWQb7hLS6DIRry9ar_ys0SWfNGyqB2srtKDnDsRHOvKwED5qZttuSzEf2iDHf70iSsoQGmsGpLE313dktFpu8beb5HL5BRlIefaw3JH6cMdDd4CAtyuoZRo0lweVv2j691mmNDafw1moHq6PeBc3OGL3kkGJVWhCr4zynMaJQaRc1P4QhVXO8gsreWH1qLiTRfNrPNTE8awXNIucsDyqOeHv6XFjQ0033fswdxaqAWxYAw2Pr29YckWDdk0Vkc27qIL5Q0coHQx1PgWZqvIr4RulnhTDPfPNhryrYwlMT7-TU6IcdbcTfO2XYVXcW0D1Kw7MJQzWehT8bLncCKw7GqEmL5lNqj-cWaqd5bDx0pFtt0NTht_zV0AjKmoZpDfor7XjherGJPYUTOILBWx_xi-Pg3ysLL49lAygUuOjcNhC05EzQibhejFkjXTRHr193TLUGYjyTdQ780t0hNf7ZEGfMxuxUHbdQ04cJ-tvT7dY5chsajHTKfJhw7GYUhKAfWN6xDGlypMVfOy35VveMJ-frcLb4MF1r-O7fmik4ZKpUf4nA4Ys7Ny0FMtl3dsFv9NFTkDOWrd3BUmXiYXxJ9AA8iIZls2279bfEV02rLaYZRbDNyIar0Hw1lRnIR5xn0tVtEZbhUb38i_4Wipb5u3bxJ0YDSM4U_YyWZyYBJBwjMK-ZLe4dUTPNfprbXMzMBblgf5A5XIHmf-YS4nq03_c1OIeieSOW24gfxOqsCk1HrX0TqZAlhoIgBOYCCvKmHRipF7efiJRe03GCd6gWSBKGLDqnMrR7h-3FLUdyoPEn_PEresGRrV7GwghZBUcwDEzheuyqcvt0MGtVyclP_wQP8cquGSAfvu6PQdcvcpsZagBYHsBNc0jQj9gnMyj_ipSTP8NRP9LN8=",
  "id": "rs_0e5c3612b8e83984016ab42ff4bb9487d0a5d46a79e7349ed8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_y\":0.105,\"right_z\":0.055},\"note\":\"The dark fruit is between the left fingertips at table height. The right fruit is still just outside the right jaw, so I'll grasp the dark fruit now and shift the open right gripper a little farther toward its fruit.\"}",
  "call_id": "call_1tNCe4fTpmpHRpctyMRO7VwR",
  "id": "fc_0e5c3612b8e83984016ab42ff57e2c87d0909dcbc659b35f5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1tNCe4fTpmpHRpctyMRO7VwR",
  "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]: [-0.9749, 1.4284, 0.3405, 0.0376, -0.8074, -0.8116, 0.5203, 0.7536, 1.1191, 0.2611, 0.0944, 0.6277, 0.4423, 0.9965]\nstate[eef_state]: left_x=0.2461 left_y=-0.1291 left_z=0.0176 left_yaw=0.098 left_pitch=-0.0769 left_roll=0.0878 left_gripper=0.5203 right_x=0.2613 right_y=0.1079 right_z=0.0562 right_yaw=-0.0091 right_pitch=-0.0237 right_roll=-0.0413 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -4.9573, 5.7231, 0.9499, -0.398, -0.0464, 1.0281, -0.4171, -2.8239, 5.2034, 1.5018, 0.2222, -0.1099, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4bedeb769941e8a15c87956784af2e51b89ec01f8fbd10f46e33ee0d8fcd56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9881776cc8b0cbcba6f91347353a083565de8de3582df56399dce70b24cdb03a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03e4eb31a07cdbe2f5e31c31337f5412aeda93fe9be470ad59ceeba97446d917",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.945 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0593, 0.7692, 0.5919, -0.3798, -0.1448, -0.1558, 0.8964, 1.1149, 1.6871, 1.092, -0.3336, 0.8585, 0.7658, 0.9965]\nstate[eef_state]: left_x=0.2913 left_y=0.0118 left_z=0.1821 left_yaw=0.1404 left_pitch=0.0172 left_roll=-0.0391 left_gripper=0.8964 right_x=0.2922 right_y=0.3003 right_z=0.1381 right_yaw=0.0223 right_pitch=0.0199 right_roll=-0.0047 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -1.0325, 9.7983, 1.5702, 0.1832, 0.1392, -0.0122, 0.2393, -8.3077, 7.6786, 1.0574, 0.4518, 0.2027, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.973, 1.4151, 0.3523, 0.0208, -0.8078, -0.8108, 0.8964, 0.8684, 1.301, 0.3038, 0.1638, 0.7063, 0.5381, 0.9965]\nstate[eef_state]: left_x=0.2478 left_y=-0.1308 left_z=0.0222 left_yaw=0.0991 left_pitch=-0.0727 left_roll=0.0812 left_gripper=0.8964 right_x=0.2595 right_y=0.1348 right_z=0.042 right_yaw=-0.0033 right_pitch=-0.0282 right_roll=-0.0515 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -4.7795, 4.4103, 1.3651, -0.486, 0.0562, -0.0122, -0.2256, -2.988, 5.6, 1.3504, 0.2906, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9749, 1.4284, 0.3405, 0.0376, -0.8074, -0.8116, 0.5203, 0.7536, 1.1191, 0.2611, 0.0944, 0.6277, 0.4423, 0.9965]\nstate[eef_state]: left_x=0.2461 left_y=-0.1291 left_z=0.0176 left_yaw=0.098 left_pitch=-0.0769 left_roll=0.0878 left_gripper=0.5203 right_x=0.2613 right_y=0.1079 right_z=0.0562 right_yaw=-0.0091 right_pitch=-0.0237 right_roll=-0.0413 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -4.9573, 5.7231, 0.9499, -0.398, -0.0464, 1.0281, -0.4171, -2.8239, 5.2034, 1.5018, 0.2222, -0.1099, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4bedeb769941e8a15c87956784af2e51b89ec01f8fbd10f46e33ee0d8fcd56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9881776cc8b0cbcba6f91347353a083565de8de3582df56399dce70b24cdb03a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03e4eb31a07cdbe2f5e31c31337f5412aeda93fe9be470ad59ceeba97446d917",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_656puMGJF_hE3R5oOcn8HSVCpiJLT9Hr0Ttvas37iPc0S59P7a0Zd7XW2w96tkVn3ttBrXJWer6-BoV5XdUtOHbpPdfs9m5l1dySpLkpbpQtkFEfdHCEc0PDeXDb-Vk7iQHaH4S0KFVzmjm-_pJzoI_qHXv6J7dd0ugOzzhAABB-nNU5oGsHtQ1Be6Cqd5UIj3hqLPAsDEpZ3AU_Qa4QRPQjDWueYLQNdrFuuCYwkESTRBBr93AbAXjkqNvc1OwIUWJ05JCG3SxX1GbMEc9TSQcIQvOegNyzg_2kg9tpKhL_4wXcvMgidgqte6hn1dKaMpehO5TUoCoyvZRhTMGnM7qyc7TliPz2usE4NimPaqPLLb8On0inDAPhOMD3pYWLLOeWeV7_BAoJqODiMvuh2THnOC8Ylzyg7QwcTaJRcUZB-ZMuBCL0zN0ueOQCn1_HCrSiK9VOjh6VZuwPFB-Q_ocCmALStRYovpxY8PGea1kNnCpLyDlFmCj9jEiDyzvxcMbtD--iO3AzG3q3ZlrLf7YoBZ5W_3v4ck251hPUksqqmjkt9FKirsVQmK4fn1LqFUaTiS5qy9IsfOL4kQwFx3-zwdjZnXrCnXqRxCkXnbandcz7T7NzH63JfeLdLBJ0pqeLizCcEaM3ZCDWdAV7HRy_4y83JRokdw0K4DJR5q6q9RL0ZW-8mBe62Lxq-MaMuubsxNMAughwRyaj63Vif86L1mu0_Erbd1J-oQw-likJhit2HmexfmSVHjNqm10dVCbYkBqCzd3SfFNWqA8i0lmoFdbyi9Sre3SdoKKt7R9MqcfNQa-cnYYD4ibBURwfLRnRWKPkQhIUierTO-WSruMKlYI5JTQR7bHQ9YGmJKKdNYGebxv22WSdnerH_gm17K7hrmsBmTdEHLYx_zFNCGz5l9d2_LZbcGdD7QaKPQ0d6d9cN8LkYr9R5hHeP0MsKkXN-n_UeXTz5J_vA8FKtcRiuwSmZpqzf7i2vzY54d7t-8fLvKJqHnvmTiada8cjxeGgv-DppUNWL0K9ZbVP7XXcBXP6DkALXthbUsyhpEHB1ouYRj3v4qTflclOsgt_0jHqtTSjFfMTWCdXfkqIetq9kIY1g5aRSIq6tkoA3nGj1ts5pU5XNbSbvf155xBO9i20iF9meeRRcqJdBBpx6brrv63jnYb8PU2--7YY4l3S0EFJypg7f2EnOhPM_5GrLx987ZN4-SmQzaYZ39kKaEjIosvAw8qGW2XRlLlt1NfQHmtS5Xt4i9QFb71_wX5Ye36T8XYPkvTdZMyw7S7QtN6e1FYYf5rvoYcmy3Pxj6vWCkBmm6V3nvqZxrCeuptVi1JknoU5KUwQAMgOnIjuQ-XbSwre4Pz1fW0bhyWMLxxE-P9mjInrNJGdBO65VRGovNvsvJtsSZRl2bFTqOrq-BzMVyKg5KTa1yAxOZ4HS_ouZEz98uonKqhVHO7Lht4lvlQIpkGFY3FKS0o4hY-4QhorBpY8Er7nZ_hqQHAgGy90TyJAWzWLUVb5rj-o2LRyywcAgeohkyesgYD2Xqp5ELuL7AXCjYEddGIqUgUsq3ig1tjVudkEhEWPn_u0MXeGvUeFlxDFCcGP336q8zXpRnm2xx_EHYi3TQZLspzvHDU3NszorrLV968laLwT8ml4_ks-W0uR4R0RS4cCNRKz6y3xyl5U7CT62kOzQhd3AnK0C73C-OEEibmHy7g_UR6-6",
  "id": "rs_0e5c3612b8e83984016ab42ff89dc887d09536796fc55f4d33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"right_y\":0.082,\"right_z\":0.025},\"note\":\"The left gripper stopped about halfway closed around the dark fruit, a plausible hold; I'll lift it to confirm. The right fruit is still at the right jaw edge, so I'll make one small final alignment and lower the right jaws.\"}",
  "call_id": "call_e9LzAc8sshfV3tAODrUCEMrf",
  "id": "fc_0e5c3612b8e83984016ab42ff9e09487d094c74d5c91813fa2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e9LzAc8sshfV3tAODrUCEMrf",
  "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]: [-0.9749, 1.1412, 0.5816, -0.4644, -0.7948, -0.8127, 0.5212, 0.6308, 1.1866, 0.1234, 0.3134, 0.5426, 0.3569, 0.9965]\nstate[eef_state]: left_x=0.2478 left_y=-0.1343 left_z=0.1074 left_yaw=0.0901 left_pitch=-0.0737 left_roll=0.0585 left_gripper=0.5212 right_x=0.2573 right_y=0.0794 right_z=0.0211 right_yaw=-0.0219 right_pitch=-0.0534 right_roll=-0.0581 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -3.6855, 8.6359, 0.9695, -0.5153, 0.0024, 1.0232, -0.2667, -2.1538, 4.9299, 1.619, 0.1538, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85038e955dab792aa82aed555ac2745c9b5d9910a79b58005c6cc96b3d777db6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea90766cf883d2880194d25f345d176c7472c8a571b4a97a87367acb36cb9766",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f027573d70a5c997a3d24bb366d8e5025c1ee48984f4cdd774081d6121eb7b65",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 4.571 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9699, 1.1545, 0.5468, -0.3546, -0.8074, -0.8028, 0.8964, 0.9966, 1.2671, 0.6159, -0.2058, 0.7853, 0.6456, 0.9966]\nstate[eef_state]: left_x=0.2544 left_y=-0.1391 left_z=0.1053 left_yaw=0.0939 left_pitch=-0.0347 left_roll=0.0176 left_gripper=0.8964 right_x=0.2648 right_y=0.186 right_z=0.1159 right_yaw=0.0138 right_pitch=0.0067 right_roll=-0.0159 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -3.8359, 8.7179, 1.3358, -0.6178, -0.0659, -0.0122, -0.3487, -4.588, 6.5709, 1.5604, 0.232, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9749, 1.4284, 0.3405, 0.0376, -0.8074, -0.8116, 0.5203, 0.7536, 1.1191, 0.2611, 0.0944, 0.6277, 0.4423, 0.9965]\nstate[eef_state]: left_x=0.2461 left_y=-0.1291 left_z=0.0176 left_yaw=0.098 left_pitch=-0.0769 left_roll=0.0878 left_gripper=0.5203 right_x=0.2613 right_y=0.1079 right_z=0.0562 right_yaw=-0.0091 right_pitch=-0.0237 right_roll=-0.0413 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -4.9573, 5.7231, 0.9499, -0.398, -0.0464, 1.0281, -0.4171, -2.8239, 5.2034, 1.5018, 0.2222, -0.1099, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9749, 1.1412, 0.5816, -0.4644, -0.7948, -0.8127, 0.5212, 0.6308, 1.1866, 0.1234, 0.3134, 0.5426, 0.3569, 0.9965]\nstate[eef_state]: left_x=0.2478 left_y=-0.1343 left_z=0.1074 left_yaw=0.0901 left_pitch=-0.0737 left_roll=0.0585 left_gripper=0.5212 right_x=0.2573 right_y=0.0794 right_z=0.0211 right_yaw=-0.0219 right_pitch=-0.0534 right_roll=-0.0581 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -3.6855, 8.6359, 0.9695, -0.5153, 0.0024, 1.0232, -0.2667, -2.1538, 4.9299, 1.619, 0.1538, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85038e955dab792aa82aed555ac2745c9b5d9910a79b58005c6cc96b3d777db6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea90766cf883d2880194d25f345d176c7472c8a571b4a97a87367acb36cb9766",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f027573d70a5c997a3d24bb366d8e5025c1ee48984f4cdd774081d6121eb7b65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC__Ib9G6SN0PYZEbj-CCCpJgFgBFBfrSYC0WOwFCYhACaZtcUsC8xwkIWBWHFGl03TTbj6XF-ad6TVMIicEDsMFrJUM_GMXH6JzGx3FjPESOqiNMkiecEyW79RluEp6KIyCvevTlLJ7vNu2dbdhjOW3Lsj9PBkLbEnaKQ7yhVoiczX1iZpVxGWdIv614XcURRa_6mHTzQA2zu906ilst39PcML8BAOQd26K67GUZO8t9JXT6HyRs-myOAsoL8vYAVi97t7BNAjXIVnCmjdPqtwoZi-Ji3SCXHQ8CrKODyv9RZcELLfAI4x3XxDUTQjN0rOhN2DfvGKyS3VcIauxGGR2q52oZ54ZxlEPQOjQdvvLYBM3MBMhN7z9h-QT0eNfOOIFKf589oQ7Of_YrEWrVoz9KPN9aK5bnSM55yFYi2LV2ri66ki7ONGqeOOdrziQa9b7bzIJuHXueIWlvdi2sa-qc32SyKp746tLyL7IisN85NPqLwXuDELMvLUnU0qKTVVvA8uy-2qBCBNK72VBSxvW8FxtYiwch7rQgruBk88FKyC1FtO2rOVlGFt3jsaW2xEsTibwrUaeTLG-7Bze78irkguBDMf4lXUWppkw5jIpewYWdHk1Hj2vC0lafe2cXdzVU0r3OYjlXhj3lIr-IKGD0ViFb8iXxQ2HJKsgndu2d9wPtlR4lFPjZdje-tOBpuiaeMF7hRVJpaVdwsEFliV9u1kUtRILbBqc4SKDUCfDoHBUth8GmOZEB8CaqeYDOEWBPW0T2ALaAE-ilYYxsqtbQZFdXkZes2lgzpLPQMGEqX_iuTS0o7QX7naD4VOg_HkwjSFaBK6aqoz8zbG8yaXb85Td4zKIbidYAxaJVj32bh10qj9SWU0gluDd0-ZsPJsEY8SJsbXzalJrMvjenT8EdEK3HivO4ss-8ryRqziBBNpxV3cI-OhvqNYfC8EX9xM7sx0wi6jLle6KHP78mmBt2rNLem4zPsaqqKNYF1lg-WPwRltuHU6jP2Sp8gaopiekO4WVRAg8aCcH4W4RkjuihZpWcuB8xvl-QlRi0-l2BMMSj9m_KVyl9x6WTE0vyF4gdeN7Q2FJTJk1EuLkTQIN3W-aowvyhZ062XiiAWEtNeOlT6V37w0u9sooyHfJcdAYpUx2LoJfbh94uRcG0gLvkbtbTJNobDSQpMSn43_4_BGDS0GBGh3TIpEO_OZW2b4hXW6WlZsZtdKj2QGnKXQ2hHIkjKWrGOLnRsbkNd3kMQVEmO2iyMgIrzpufvMLKCaG0YXUtL84F4VAO386xx5to7XvDZxYfbYsh9QgGAB98Bdh1WwUOTcoAlkrDvX7Nx3F471kN8-wKSDg8wW6dw3bEz0Ge7Lpb2uaVSwDep_4xSEYfE_YUEc17KnCuIazOjHUqi6tt9iUhE6Kw9aOzWS3d53jcufDUu0syQ3S-k2ZWua94EldM8jPLfm-ljmKQmaJTdl5WyhsgkW5R2KKIEW--3Jm0P1tRrkIYnwzNA82IWA2Z9714EFnZmeCHtDO9pgiq6sBa2pUtDoEGJI4lXuej_gFl2HEtuYW2G9yzepX5ViTSJdH_X4sKKFKJ_adFYoTY4kSIB-6M6OtS6_UAi-UtTkSXiDnFLM3w5qzDM_wC0WJlBZ9yj3mxHR5RaD6PWb4g79orW8A7SfT5iYdZv8Fm1c9pqyDTDeSVs6gGLtlEQs9vmBA03t2vfqudgK-VxUpycwaRjf-g3M0xYuk9_NGPFZATDwKWJbeyjojuFjUZyTMvS6oXVdtIp2mfLhRoJdCqqlUDyAUsXnC9-kVAjZ4BGuxm4LLRPszbdfP7iM08Fkqlhpu-NJiKY4mrj1kHoiudHIwhKB7S3xkfV6uvojrW6cPw5nmpuwysrfyGgFFgUs1Bo9Qkcmj9BZFpPcwfkdZ1xJis9t28AqklwNuM8nadX83Vk25rRFW8IMw0YFKTZExCwQvQc8Miw4MxdMEwz3RDeSx6hdZRobLx3PJZwVsE9RoyBOTNOLBv_wvoR3B7CtfiSrAvm8OeUZEApZFGphcF6_j4jyFmwlj0IKLOJz8W2KfG7Cn0JhyJ82W0q7glV0AhQymDH2bitNpe9Z_4tnf",
  "id": "rs_0e5c3612b8e83984016ab42ffcab4c87d0b9c2ca731778e84e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.345,\"left_z\":0.19,\"right_y\":0,\"right_z\":0.135},\"note\":\"The dark fruit rose with the left gripper, confirming that grasp. The rightmost yellow fruit was nudged rightward during alignment; I'll carry the dark fruit above the blue bowl and raise the right gripper before approaching the displaced fruit from above.\"}",
  "call_id": "call_MeWb70397aXeUFLLjCe77GA7",
  "id": "fc_0e5c3612b8e83984016ab42ffe6b0487d0b85bf0e1b0d6d589",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MeWb70397aXeUFLLjCe77GA7",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [-0.9249, 2.1445, 1.9457, -0.7715, -0.762, -0.7803, 0.5241, 0.0544, 0.63, 0.4011, -0.4213, 0.1131, -0.0109, 0.9966]\nstate[eef_state]: left_x=0.4175 left_y=-0.3454 left_z=0.1811 left_yaw=0.1003 left_pitch=-0.0712 left_roll=0.0241 left_gripper=0.5241 right_x=0.255 right_y=-0.0025 right_z=0.1219 right_yaw=-0.048 right_pitch=-0.0758 right_roll=-0.0614 right_gripper=0.9966\nstate[joint_eff]: [0.4581, -12.588, 8.294, 0.6129, -0.3785, 0.3004, 0.5934, -0.1573, -0.4718, 9.3744, 1.7021, -0.022, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86214117c2fa4946fa50c7bd6f9304c53384a4c2082a71d9560f5b673a8a53d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:564e42a53f62b0c0e1622991eec8281fceed0a8767ddd0f5bb9f9022b0d0089d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23aa68ed4a0420b608476b38cfc011d29282842174f81f5e732aa810d79cb1aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.086 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.973, 1.4151, 0.3523, 0.0208, -0.8078, -0.8108, 0.8964, 0.8684, 1.301, 0.3038, 0.1638, 0.7063, 0.5381, 0.9965]\nstate[eef_state]: left_x=0.2478 left_y=-0.1308 left_z=0.0222 left_yaw=0.0991 left_pitch=-0.0727 left_roll=0.0812 left_gripper=0.8964 right_x=0.2595 right_y=0.1348 right_z=0.042 right_yaw=-0.0033 right_pitch=-0.0282 right_roll=-0.0515 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -4.7795, 4.4103, 1.3651, -0.486, 0.0562, -0.0122, -0.2256, -2.988, 5.6, 1.3504, 0.2906, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9749, 1.1412, 0.5816, -0.4644, -0.7948, -0.8127, 0.5212, 0.6308, 1.1866, 0.1234, 0.3134, 0.5426, 0.3569, 0.9965]\nstate[eef_state]: left_x=0.2478 left_y=-0.1343 left_z=0.1074 left_yaw=0.0901 left_pitch=-0.0737 left_roll=0.0585 left_gripper=0.5212 right_x=0.2573 right_y=0.0794 right_z=0.0211 right_yaw=-0.0219 right_pitch=-0.0534 right_roll=-0.0581 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -3.6855, 8.6359, 0.9695, -0.5153, 0.0024, 1.0232, -0.2667, -2.1538, 4.9299, 1.619, 0.1538, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9249, 2.1445, 1.9457, -0.7715, -0.762, -0.7803, 0.5241, 0.0544, 0.63, 0.4011, -0.4213, 0.1131, -0.0109, 0.9966]\nstate[eef_state]: left_x=0.4175 left_y=-0.3454 left_z=0.1811 left_yaw=0.1003 left_pitch=-0.0712 left_roll=0.0241 left_gripper=0.5241 right_x=0.255 right_y=-0.0025 right_z=0.1219 right_yaw=-0.048 right_pitch=-0.0758 right_roll=-0.0614 right_gripper=0.9966\nstate[joint_eff]: [0.4581, -12.588, 8.294, 0.6129, -0.3785, 0.3004, 0.5934, -0.1573, -0.4718, 9.3744, 1.7021, -0.022, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86214117c2fa4946fa50c7bd6f9304c53384a4c2082a71d9560f5b673a8a53d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:564e42a53f62b0c0e1622991eec8281fceed0a8767ddd0f5bb9f9022b0d0089d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23aa68ed4a0420b608476b38cfc011d29282842174f81f5e732aa810d79cb1aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAFiNz8GL5utubSNdEsWEEFbhjApCIQ0JFxGzaqawBp7Kh4kaanBaJd_3F0fGT9MZhVLEOIe1lf5pwpAWitCCf5igv78ToIkFvBMDazJHaAgNOAp2452NORwvXwKi0E1Pf35xJX7WybLXUb_Au3K2BvLQ978o0spPtmxR0fPctzWAKucCSTl6FH3jXlKGagCoRxBNirAkiW5ugy0sSMZNwFeJTU1Q1O_J7Rn47yJba7uEAbStniNkTQLlJnqzEcJliuqQet74ubQ5YPqLNMbO43VqoWAl253KxdnIyE6_2PKNduWR4Lbe1Ws6YfUYjEX6p_Xbz03i6m2L56lpcooFb3C7y4Y6UzHAfvko-GDyCA3EsX2OUvaLp4NlOY7kbOuAmgLQyZPGC4aYyK1uFlJmfe6fiDALyartVoYjJh6ewmscLzbw7kAaYhlSs-elRLcPYO7GxK0fE-f7YvC5UoR6xzC3LRVrxb615sGsyu4C9PHwySvVhXmHA4-KDkedgebAT4JpUBBT5QfMYA1M6a0xNHkOME3VRm-e4EbQk1FXrMK2Kwjau8FY2VBGrNugCnPdmikE3bC9QnY6lqfZkone10YMqXuRp7WeQUb3bahLI2AW__Njyh4yImndDGMJDnYcgUgqGR-_cn0RodEh45ZsPVJBFusDULd4hCNMTbM2brfkbaR3lcgFY-lCgD0XRWGU0N-qMxgjsJRUk8JJ_JH9JkRx005ci92hVzHV_rjSnaoCVF1pOrQV89uGcXlrQ6hhnmMqZN0ZKFGPPPwZuYSXU85CJY2n2ZEumtabD3ELIGnU1nxZ7gVIOOt7HiW2iEAFMi_6HMC41nqelTj1qVJrSg1CX6CmXPkKaOQZ7x8xYOgYnt5bX1kYU_rSAgtHFhkTwkhEsvplNney78coptJx-GhdtYY3VKzj4uUlv8F3XVeTkM3D_wdk-HfjxUeccqguCzk5W-LQhAO1Fc58AWpa0AgDu1yJSqLYDWqTsC2KpA-vsh2kWG3DcNLVOjABD0q250z-gNYErqVOXpuC56o8XaxVbddXpQBsqS_-9eWzLpuPDvaOzQiH-Sr83tYVsh9_e2vpCgnxHr__G9MG5pKGZ9M3qMm5_6o9KDLVTWJeq33ztdMHXvCzg4Yqi85KhM3O2xVVfKMBSa6gk60MR0M3YDaE9uxC-Se1zIAiCEunAZERw5vwzzefzVuCqoN7JijzbtMipuwAklGfJ3eLJip2uxLPtkFp63AdOInmH9fLi2WxSZcvBHNpq7AoRcY410PmKhb0XIVUFtO-nPO4P89oUEb1QnlJbnSTJhnwZFfNPlVp_TJWNKU99dqewS0x8pJxdwjEQFOwvGQ-RbExA70C006cmV42m-PP1Rgu70QJCzdu5YdMbSJyQifvMH0glT-ommp9CFlWQW_eyIOno1-yn2Tft3y0ZrkUtGbIphyy3UGLHB7B_dxJxXpsLq9MSQQbkzDCdtmt6dC1U0A0RanNkeIzMs1AO5gh0qmD76x7ISWs6cMnIT_fVVYn_HfkGA0iWtlFqxHOU5x-bt0YcRfY_865Up6vTdEJ8XiRMXmsgtmbtySORVpnfmGSKUimJfvI7UwFnqGuT2FsG5Rv2B2sapL_rkhban6i1Y_eg43ofP20e8bxXXUKL0E0QXP1PRvfmLcY-9RqbxAiqDfHDpIWiRBNi51eOGFwU0-PWoj7S_vxlNOoj5HNO_FAytfK5FN-LtBEmUkf4X2v34lXGXAU8-ZyD2vPEOedj4bXx73rMixDnhxvPZJ9qr8q4Xi62ykK3pmvmPW8GKqMf1M0FPh51GkJM8rUEUBwoAVyjeMSkHixdQ12xybtmt4RPy5NJ6BMt6XpDi7bFHKoiF7RYtqla9_tbj4ryTl0oLNmmOaOJdtc1mn8LQnfhOxcI0eonruT0mYZ7ib0owgxfinNJ0Dmnus2s5Fjn0OuQUVcvgKUjh8pdlFy_GK1WWM9NNQpttQEJoJ9fKscNg2jWIGVOLlnJnn0egeEYOVuanTcbLPvfMaPMvO4Ak3ECT_0uCJGMINkSSyE9E8DEpetihoD6252aCQwcgOLyUvMC9LnLw7NM_14lTsDsu1YLe2U14Wl0kB5BnHmKDXQmV1RnXdyXe9rww2wDCJXSbE1YI6kgzsIz_uvDrMCc9nUbald_tHm9UYOfb-7ufcaOg9SMip6Nio3bNwQ==",
  "id": "rs_0e5c3612b8e83984016ab4300289d487d096af66109af9a439",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_z\":0.075,\"right_y\":-0.025,\"right_z\":0.025},\"note\":\"The dark fruit is suspended above the blue bowl, and the right wrist view shows the displaced yellow fruit just right of the jaw center. I'll lower the dark fruit into the bowl while correcting the right gripper by a couple of centimetres and descending around its fruit.\"}",
  "call_id": "call_iXC6KWFN1dCHOFLaQflypPds",
  "id": "fc_0e5c3612b8e83984016ab43004d67087d0bc4268d016862676",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iXC6KWFN1dCHOFLaQflypPds",
  "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]: [-0.9565, 2.1494, 1.5826, -0.4706, -0.7692, -0.8158, 0.527, -0.131, 0.8307, 0.0593, 0.0242, -0.0158, -0.1036, 0.9966]\nstate[eef_state]: left_x=0.3935 left_y=-0.3385 left_z=0.0826 left_yaw=0.0969 left_pitch=-0.0993 left_roll=0.057 left_gripper=0.527 right_x=0.2393 right_y=-0.0251 right_z=0.0117 right_yaw=-0.0737 right_pitch=-0.1771 right_roll=-0.0517 right_gripper=0.9966\nstate[joint_eff]: [-0.9231, -10.1812, 6.0786, 1.3065, -0.5299, -0.0415, 0.569, -0.253, -0.2803, 6.0923, 1.7851, -0.0611, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:517b1faa23ac979ec239300bd0830b8963d4df83400faeb2f6a4e47adae90697",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9da0899a44dbc18d2cbf6fb6a43989996ec4b54c30e5b6db5d16b95ac9e699c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dc47bde6501984f4f8ebe43a6061e8f7f2d36d00cce22aeca19b0700a2a3cd4",
      "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 · 7.207 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9749, 1.4284, 0.3405, 0.0376, -0.8074, -0.8116, 0.5203, 0.7536, 1.1191, 0.2611, 0.0944, 0.6277, 0.4423, 0.9965]\nstate[eef_state]: left_x=0.2461 left_y=-0.1291 left_z=0.0176 left_yaw=0.098 left_pitch=-0.0769 left_roll=0.0878 left_gripper=0.5203 right_x=0.2613 right_y=0.1079 right_z=0.0562 right_yaw=-0.0091 right_pitch=-0.0237 right_roll=-0.0413 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -4.9573, 5.7231, 0.9499, -0.398, -0.0464, 1.0281, -0.4171, -2.8239, 5.2034, 1.5018, 0.2222, -0.1099, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9249, 2.1445, 1.9457, -0.7715, -0.762, -0.7803, 0.5241, 0.0544, 0.63, 0.4011, -0.4213, 0.1131, -0.0109, 0.9966]\nstate[eef_state]: left_x=0.4175 left_y=-0.3454 left_z=0.1811 left_yaw=0.1003 left_pitch=-0.0712 left_roll=0.0241 left_gripper=0.5241 right_x=0.255 right_y=-0.0025 right_z=0.1219 right_yaw=-0.048 right_pitch=-0.0758 right_roll=-0.0614 right_gripper=0.9966\nstate[joint_eff]: [0.4581, -12.588, 8.294, 0.6129, -0.3785, 0.3004, 0.5934, -0.1573, -0.4718, 9.3744, 1.7021, -0.022, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9565, 2.1494, 1.5826, -0.4706, -0.7692, -0.8158, 0.527, -0.131, 0.8307, 0.0593, 0.0242, -0.0158, -0.1036, 0.9966]\nstate[eef_state]: left_x=0.3935 left_y=-0.3385 left_z=0.0826 left_yaw=0.0969 left_pitch=-0.0993 left_roll=0.057 left_gripper=0.527 right_x=0.2393 right_y=-0.0251 right_z=0.0117 right_yaw=-0.0737 right_pitch=-0.1771 right_roll=-0.0517 right_gripper=0.9966\nstate[joint_eff]: [-0.9231, -10.1812, 6.0786, 1.3065, -0.5299, -0.0415, 0.569, -0.253, -0.2803, 6.0923, 1.7851, -0.0611, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:517b1faa23ac979ec239300bd0830b8963d4df83400faeb2f6a4e47adae90697",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9da0899a44dbc18d2cbf6fb6a43989996ec4b54c30e5b6db5d16b95ac9e699c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dc47bde6501984f4f8ebe43a6061e8f7f2d36d00cce22aeca19b0700a2a3cd4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDAKuA4CWfzeKTWiKPf4H7LM0dRRLBp0pdM-FeFlYIVPPF6ss9GMssuO03hS6J9WwX5mhgWqa46wHvYBvZGUlQW1BenSyLERX4BhDa3sB1BsJOyItAeQKJ9yE8SiTNTpm_We4QxM66Y7E8LP_UKFnySNJGxvtIiV0iJf3r7CACwC7GMWPxK3NjRpUOmK1DuHj58qxjfBvomIcMBjLDEznUbylfOXTEPwYjxiHyXrfy01SI9KEBhjo4hz0uap0BHFFUed5ETYqQHv8CrsUNwzYbcY_nlIl4LqKP1DGjII_m4MEVYaHn0A4LmbW53P1xqGFXixUHRrbhNM59SyLO6e0_ZFPnj-4sFnK-h1sqMdFZJgrjoIaoVvdOHtZjCIS7uP_GOzUEnndh-WLWLcXDC_ZXVhTCuJ-BECqtgU6p5vTr6zt37ruolyli2PP9efO6awS00KIm84jvcRh2ajAQLrGnfzV4N3n5uf-Pp0HL6WpPaVbjXIh-5uiNC-3it-DAkgwUWmgtIdzIogIiZZmCCe6Ddc3Uy1cASxlDavuFA3DK6L4I-AAxFqlVG2T7K_SU9VIPmUU9Kgaaqnd9pzfNFXPaS1b5RsfnicoBoUtRCslpTEHl0dRbIEdcyn_wOAliaYd9Kgccxe_BWU7zKdJ8rEPF8TeBIs4c2N4ap0All5OWNilf2XsvEDS9XKwj1mvvBzKvtNkItE_BBQy4PLeG4f5frXLmql47kXnEQodlQeHByipPgzkW1VBKtDBcQusSuYwjALfHFCsCGfs-SLyheIEfpaIQSIL7gXr_FTI4H9Iro4l6oUfKspXxwiG2YDO2PvXjfo9IUwYUQ833ZnCJP9ZLIP1mtVRpfNEvBRNMwPyH0p3cvs0LudOjshEogAlKdRkHMVgpuwVlbXJqJY-H2j8NaqwfDHlV6wPrf7P4IzKYULUaeV5m0S5VQbz2kWGjp1BsuXfTDzBzugipql1mxEwR8dZ2kQIh4fdhvSWAnVvCLFnQbWr37CdcCe6ZFB3MB21Om4VRN9JYTQn2K0Sc9ItCpj3fiQXiXbYhb7ploZHMugmBS7t5cFTjMohjn3Y16g7L3SBR8B1dwmLJz0I8pQkWehf8HSJfQwJxHyoVyehu818VKx87yLs_Ws1E-WuhpNV_NN7OgXJB57X27bfogbfnKNt0nAhhUn7kNFfeHoHG816ssPEZURk8FkqW7YNNICv_c2JFBAKMOgDuF6vqKS3pKCJ_JMrd8qodpYE_b3pe9wmVCSWZGqcCDGBpp9p82tWUlNWHU9QWBpZvVirIgS_DLt83Q32V5YqGv2cXLVKnUvQ7AbCRQH27Ic3b0Ua3Boz0s_VS6Li1pbYbMdd_oNZlDk6tUu2XMpiY4D5BCTlG-vd8PX_xvEEwqK9Fx9OH2iEhN-RW6MKiaeOp016TQrdvKAxPtQatkC0J0txRVnEsO8_xmWNypNC9B8bZTvUctRF0cYLXdbAv4Ah3JmDV70qZgQbFscglOkUX39bOdcgt9CdEraCGIlih8IIxDIZxGUbQLYsYqeJFndLsLkEZHaYRzYAQ==",
  "id": "rs_0e5c3612b8e83984016ab43007a7d087d0afb9f1582e80e6ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":0},\"note\":\"The dark fruit is at the blue bowl's opening, and the right wrist camera shows the yellow fruit filling the space between the jaws. I'll release the dark fruit and close on the yellow one.\"}",
  "call_id": "call_5L61Xr7DKwBWFjntdFh9uOfZ",
  "id": "fc_0e5c3612b8e83984016ab430084ad087d09930ae7358f3eac1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5L61Xr7DKwBWFjntdFh9uOfZ",
  "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]: [-0.9581, 2.1639, 1.5612, -0.4671, -0.7658, -0.8196, 0.9971, -0.1337, 0.8291, 0.0471, 0.0681, -0.0311, -0.1131, 0.7455]\nstate[eef_state]: left_x=0.3896 left_y=-0.3351 left_z=0.0684 left_yaw=0.0987 left_pitch=-0.1178 left_roll=0.0809 left_gripper=0.9971 right_x=0.2433 right_y=-0.0236 right_z=0.0152 right_yaw=-0.0585 right_pitch=-0.1436 right_roll=-0.0508 right_gripper=0.7455\nstate[joint_eff]: [0.0342, -13.1624, 7.8427, 1.0281, -0.4078, 0.0317, -0.0659, -0.0889, -0.3487, 7.1863, 1.1795, 0.0952, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0511ab07c60cf070cf25be4a02adcf1b6a93dbac2b528a91561c64c41ab4b481",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e28d8844842a09ad72193759d0d5868a827b1f9471644b74297e43c70a4701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597df640a55dbfd4215ddfdd5810ccc02c336d9405c7ad407e91c05ad17c9a1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 5.517 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9749, 1.1412, 0.5816, -0.4644, -0.7948, -0.8127, 0.5212, 0.6308, 1.1866, 0.1234, 0.3134, 0.5426, 0.3569, 0.9965]\nstate[eef_state]: left_x=0.2478 left_y=-0.1343 left_z=0.1074 left_yaw=0.0901 left_pitch=-0.0737 left_roll=0.0585 left_gripper=0.5212 right_x=0.2573 right_y=0.0794 right_z=0.0211 right_yaw=-0.0219 right_pitch=-0.0534 right_roll=-0.0581 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -3.6855, 8.6359, 0.9695, -0.5153, 0.0024, 1.0232, -0.2667, -2.1538, 4.9299, 1.619, 0.1538, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9565, 2.1494, 1.5826, -0.4706, -0.7692, -0.8158, 0.527, -0.131, 0.8307, 0.0593, 0.0242, -0.0158, -0.1036, 0.9966]\nstate[eef_state]: left_x=0.3935 left_y=-0.3385 left_z=0.0826 left_yaw=0.0969 left_pitch=-0.0993 left_roll=0.057 left_gripper=0.527 right_x=0.2393 right_y=-0.0251 right_z=0.0117 right_yaw=-0.0737 right_pitch=-0.1771 right_roll=-0.0517 right_gripper=0.9966\nstate[joint_eff]: [-0.9231, -10.1812, 6.0786, 1.3065, -0.5299, -0.0415, 0.569, -0.253, -0.2803, 6.0923, 1.7851, -0.0611, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9581, 2.1639, 1.5612, -0.4671, -0.7658, -0.8196, 0.9971, -0.1337, 0.8291, 0.0471, 0.0681, -0.0311, -0.1131, 0.7455]\nstate[eef_state]: left_x=0.3896 left_y=-0.3351 left_z=0.0684 left_yaw=0.0987 left_pitch=-0.1178 left_roll=0.0809 left_gripper=0.9971 right_x=0.2433 right_y=-0.0236 right_z=0.0152 right_yaw=-0.0585 right_pitch=-0.1436 right_roll=-0.0508 right_gripper=0.7455\nstate[joint_eff]: [0.0342, -13.1624, 7.8427, 1.0281, -0.4078, 0.0317, -0.0659, -0.0889, -0.3487, 7.1863, 1.1795, 0.0952, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0511ab07c60cf070cf25be4a02adcf1b6a93dbac2b528a91561c64c41ab4b481",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e28d8844842a09ad72193759d0d5868a827b1f9471644b74297e43c70a4701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597df640a55dbfd4215ddfdd5810ccc02c336d9405c7ad407e91c05ad17c9a1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDASe2p3Pr0_8wLH3relULc-tflf3PJs-SLB0N_C9BZIDeQLzEXI_tpmI2dl_JskbaEZo4OXxD8HuFUnQhlFSztpTdyvpHa5-oWpJkWpMIfOOpirX0DvYOfmrsy1kFWNg-Nokc1FvraK0udt7htTQyvnO6BuCsHxwUPtIGO-aHSWe4srDTgmLX-2uEpbONXEacfTiGLlVGOBcbzofQZxyfboSBOw7oGbUVZaAtHNjqmqRFoBS7LjMyBfFEMe-XUTJJ3vLnZngedIutnuL3FRbqacCQi-NP96wUm0Jez-8sb5e4E7Q46ov20y5n9zGoczlCppafE29dy4RKc91yzGxdJteklAQop2FQCN19FMpBrduNayymVOc13vGkCNSk0KZqZ3C6CwZ99VIzvvJNxRZeuqgBHCUSD5bNp7EtprvvsnaEEMhNtT5rnX385agEhsAZK7T6ke46KA5FltZfNYsqsftyu-scFie3ZEn906ATSz3zDen1AU9w1PYEMC_DxhsfLnlDLzkSvscpjzX0U7MD7avx8ehtjHZdPxbqtv0YMKbzuMrgkrzKOMljQyDDsTarZCo4SR4W50te8zhA9JeRALv4hJ-bX9xzgWOi3j2llkD-GJtyqbCdkjDiLSwEBZoXgqiCb-s_UbBbMpC-7q9Sjvcpm99TaHbRtoVSxfLlHaEeY-hjhaSCXie4VzB8VAq8UAMIg4S73iSnkRNnyQTXWKLj6BdpRDaGSC9NQ0ZNON4L7aud0y7Fhrmh2xYqwqqFy-hIoP8Oq4YFFIKfWvjXxui3HldMhF2ThrWNm_jha-ZnYtmj7K8UGGZey_lDRsGamIDW82s2HU5FbFmNLUxo9k-83BF54teqQPMQOIGaPbScB8-Un-KA5JwYkrmoE9wPnrmI9jI9lMQtcdGsWIvbuA1ADQstjwWunlV1yj7QlE-N4zLSEPV5AXhm1NZWInKkgrrZ_Rdv_dvm9MO9O-YHSSNNHFtmkLS2gDdHZrWWXlEMdSw9atYU4tYvgz_qgZOm5Kt_w3kmSFn-Tkf4MS0pmxaMPkReb5qp001knG33QHgeFgY9CWNpQVkG_rEu0u0WRDlc6gIjtR2G0dW4banaR6L8XQnJzS78qC4uQ9DMtC4MVQNT1HGo_VBEU7oHYbhtPGp3kgduSV-iX88BCcTB_2-Fa1quS6qCxDESkpmWZeMfKZ2Z8UFODYylt1bAitGBVKPw3eHNxX9qlXod-grPdAVozWiEaYS-rQTEYH0suRS8hkQ6dI_K9SKDUt1uWWR7ncM5FdlzXfwZMeg6aEaprqHt4CUzLirBfi4QDbWBFe6bnL_y_WnmLEYJHZOQMqKNj0lVB6jGBbfuTXmr2Dw2FrQ5Yxm_nUKs86JHLm8ihcghvLsIL7wL4PSVN-zw5Uk-PDZPQoddyuXZ9G2bmOhk4WTZzPIYVDAP2TTxQCxktLDFuDKY_eOqYnUqd28dpOJHJn_gI31qXDjsaFYJe1Us6jCzWukrge8czXacktY6Y5KPG69_aa5h86uC0vQL5s37wQBXkGOVR_uHoL8qMHvoRCLWItP4KdNS6FCWHECCTLD1NN_aQVeWOEqblq3gisHZk_y9OoRhxgRi_eHRcn640MWs2peWmipsXV6CQrTYpey0WcLhTcB8j_LTiN266j9Y1VKTRBFkUIIfcAHSieRvIghHSs91nHQZZ68HGk7wHmFUEtvzVpeJsiEyJH5VV49zK_9JhFJW1yUW4DoRNIfjuYfxl4SKCHLOX_0iIDuhF1eQn8HAbN45iRmrd_yQL-tSKTQS7di9eiK_M5MnF6s63wF2puOUGuL8olZynMHIGf-6HNvuYDibBAl0DAAmMCpIeQX2ONL5OXrL3Xt7itd5TV1xm84Mg9YKhsZFyfr4HbVcSmSsrzk4uvpsAl2yBEo4uXHsebMUMnriQv_w9IHDfqML_JEPmC1EJaG2GR0ldu8Iam86Aq1jYO6vccCS2CIXnkM59pOq08yfC1MLOC1h-L9ZzwHX4x8GEHTvQ5p-896VqbOndvXdekrDGWVBr2cdFb2uRDuD6u-QnRYF9F1g4RoPXOVKY_yAnu6nIiYoh-Z8PvRtQQ2CkolVYIjEta_8RQaQIiLAVN9GndbcaBY9hnItoQ4AX9aSDqkvKdINRpJKxZd8rBBf-h30Vaa5yb8TlcUqMnCbZeKP8Ee5eBq-Aq5LG-kDoiPOKJX5jCk4zAcksM-JPb0kHmAfr2DC7ZQusriKhUitumwTx-jm8Vc8QO0MSX919OdtYaj5o6q8L0Hu70PLrcEPcq3ujAlRrO_pQriD67qRk8L4q_LbG0uIe4TKnChEm16FTlzmcTpi6JWiwKL8TR2xAqiE53_0gFaw8H0Rwfag4hW4uHa544eQxFUznPVe4GIDnpIJXhnkIY6PyOdCTTFlkjEwwCMEENJBPFKjYVpqEJX5leD6ckVnIxQvL_d7vj1cLY7qyVjL2NmDiFWlhyt0aUNm710qKrDeSPmcpk8Ru3Ki8VWkkM_zrd3XpjK8sPZ0aVyR0dRYBE0hPiWeXuCsUs0ZqqfDqfXFmEux32PlgtA6wQ04uszUNCJud5bIVcv6nAADGB3okXFOZCbCzYVvmDCK_Q-o3yY5-0iTtxC4xw47sNhP35JNyqlU2f_V7ltIS5oyvtPQy6hRKy4A_YRZUwVMB2SBOTVwSuFLVIrkU6EhjjvqbTGsmaoTZU-8InqRNDU6ewtV4jar8z9FIDAkAAiARDNBjofKJ-DGAORGykmZWxfoxUs1SKVgoo1U2WS_MsaNtOBTFCEFeE2iWi_Ta29yt4uRMxeqmn-WEBQ72UvBVNlSJsA_NtjPlB5636WxQqpW1T9Wb4PvzTFeUpUZgBn0b0ofr4GlZSr8IbxcnEVJyQoBJbo1nd8GoapzRVVQ0J0OTJmFI4k23tNM6yZsHnj0TJ5n0bZtIGS4N8pUnchkQg2-bWmO469HDvMionvsBJZ-gRONXGKytEj3y1xt2Qjfl6tipdiwNzB2JvV6fzcRz-60_O3jUjLshEvVSi-KgDcfM1fAPY_CrJQxclEDl8bOZm3CQoTcMACfjwbB21uQtjNo2JQBNzCLYBN7LtJkMpXAKMe60ol8J8oZjUN02k923Ue_PCn3AVEAPmgL7MoP7r954V8kvzDA6XdAS-9OHtdI8il_64CaObGHRAe3Yeqh3exv1IsDdgoydIt-u7RH4Nas7xC4jtZGYm1-CjzrpBqJHfXMw6p3HexO0R3-FumrHkUvEia4LWXWE-DY0AIGpYkE0aHYGq95ZcMCBLAdwve2qY8cXS0NamWocad_ViOkoRk9Ek9_mp1Ly50ss8eu-5i1WK2MdJqzLW4a8-fjQcsGjWBVUPWN1ukUn_ZSq2SV4mdDvw33QkvuXcuuV3gq8KG72eLBWXCLDm_H8tfjoQVzR9iRfZD4oszMytW-8Fowtm53jVLlDH4LjX8ZBNrs3YWz07SmlegexLNX9p3a0k03fxKLyybvmme5aF6kzwZN_xIunb2MzMGhF5y24iEDJyucyqD8v7xqrq77w7k0KFQbZFLlIVhYwXb4FnKvqFFQFJyreelIs_pDINqFjoWhQAzRbjTZ9yXEfhNHA9JWX2veGDm9y3AmlcK4MJ6oORqucyLJsxWwM-PHklaVQThjp23jY4W592PtOLqCuBpAPzUPAFUucEyVbrerGyPwFG1QR2kxTmFJwhdeNRlyT-z-XYfVghMDZOVVCm6R97KSWdRlvcgCL6JCYSqYqJXP7R_r0FjjFhRTP_qDvvN5CDI2-Vccz9XHfrvg==",
  "id": "rs_0e5c3612b8e83984016ab4300d011487d0b47f8c8531fbde85",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDASM7IEji7Y5VsMH81LU0-AN6tXapdkT8iWHjindVeKREYj6tFLl_H9YN7Upxs_y3-khbmOtP9v8rZ963pbTpKBDNbpftg7ORDdn29WIOOrs6vx4R9hnJu-sDI9lU2QTfYjdVqpLzlve87NSiR1bjxPl9M-PpJ6CZi8LTKybMQi7OKP1MPny5yZ6XNJrjz9rG5G8tO0NYL8xaJx0tR6OP--_930bd2pgkZJmfzCk8rtymtMkvf7m9L-K9pAFWXKvI2fF4EtjoD1OsFQyIkD7q06ZXN_7m1yOpjY4CQQzgQCoGPCTFQj5sePFjoDW1G9rqtXBkIsB8K-B5HvbUhJ9eoTFGLMXSBUBr9e1wgnQBtrQUi9ia1miovADqgkfRh1No6SucDEhU5SizxzJ9Sh9vD6Z3JkjWhJVsPFgKBC3GP7aZCkdAKaZHn3HwT3R9_2YjrgqFpRtH_q7UQI4waCVkSyeWyj9fjme_dbbQUjYG121XkfHJejLTL1jjaKSvRxAZQG-WAkCwR9RI1HtD_NFk9KMXiuNrQllx8LyoRM1wpEcS4dIp596h2VFafEXlv03Uu01XUyTUpcySSZjWoph8gL8e9qIDnzf4WVv63tZ-WoN2w--6jS3ftcRiQ3ewGHbAFrTzZrsFrDh_oZvU1YfyfkIckqN3ox49ul33TEMx_yE30n0HxpeF0WYVHvr9rRmAwUxivdsaDp75pCZ4q6bE7NLmiq2dci_fUHop3WXEyzGeKA7nKVeayk4boXZ4WoZPvqF4hpaTohZb0K_ZQs3YRv6kjZ-smWQ4zs1XQVOgD9mWv2YAAq5SemNlkgvZdK9xHLdVCQMZ9GNmRCN8oypbiKAp4o_TEAnbfNJMkoeDxWjlknh2SFcdtLFln1Ede2f7ard21-iw7Aq17xbZExxdE8f3yC8RJ-L7hSHX6DhcH4pWmXEBJ1bYVBnI-o_EcIZfvSNV2IXXAktI2kJCrqb2DW0Ynog66kAsPclLojE7EwUtfCaoUB6h-sQfsODzKT8Okfr27jSNWClVweCFGbQCyO1DBx3zh7pcPoE-xO1_WO-lfqozmAK2JoavyiPTW9eRLRNDtrRh_QmY_OX6LEqkoJA7oa_cgIVeXKs2IswthiTHocP7lPgxTFfk1rvK3if4Uv8Q4NfiuyqQU0X9xSBKD7j3Z_6_2H4cU4OBZpm47i-gi_xlpDdm1ohWyMFkTQ9srYIvq7bdt7Y3WuHWfKH46DSUpFbCVsyLV_joYi1llhQ1acqnU5pykWO6PKG0RVkk8Zq5nPLZJLeaAavQV9ZUlpUPVVu066LTVX6IFNlpJYwfvTr0uIQgwP3Ss-9UIU8Yo4Qm_-Tousgl6ag3iUmPMsURiNhQMAFCLahnWcnyyjqun_IB-ceuWtpN-Cnoi9G792",
  "id": "rs_0e5c3612b8e83984016ab43011375887d08e82f223b0eaccb6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.27,\"left_z\":0.16,\"right_x\":0.395,\"right_y\":0.23,\"right_z\":0.19},\"note\":\"The right gripper remains widely open around the large yellow fruit, indicating a hold. The dark fruit appears ahead of the left fingertips after release rather than clearly inside the bowl, so I'll clear the bowl with the left arm and lift the yellow fruit toward it.\"}",
  "call_id": "call_QpWAXoccM5DUsekRKBfmEJ8s",
  "id": "fc_0e5c3612b8e83984016ab43011b03c87d093b8c6bf337d8a9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QpWAXoccM5DUsekRKBfmEJ8s",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0481, 1.7481, 1.319, -0.7818, -0.7963, -0.9447, 0.9977, 0.7132, 1.7142, 1.3922, -0.6102, 0.5522, 0.4988, 0.7525]\nstate[eef_state]: left_x=0.3034 left_y=-0.2665 left_z=0.1434 left_yaw=0.108 left_pitch=-0.1498 left_roll=0.1244 left_gripper=0.9977 right_x=0.3915 right_y=0.2209 right_z=0.1758 right_yaw=-0.0379 right_pitch=-0.1836 right_roll=-0.0718 right_gripper=0.7525\nstate[joint_eff]: [-1.4564, -10.7556, 6.3932, 0.9548, -0.525, -0.1441, 0.0464, 1.1692, -8.4855, 8.2667, 1.3309, 0.4957, 0.2613, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c758cab8d3cc130cf2e4d43649f74576fde62e62f397936152ce5d13596828db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57611ba4c45d62671fc96525b3213c0562ecf8cd8e7446a91dffcafc7094adc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:763689e0e4fb18aec990288659d30d3c7a8f0d72d8c56f7ae326529949ef9e6f",
      "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 · 5.259 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 101 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9249, 2.1445, 1.9457, -0.7715, -0.762, -0.7803, 0.5241, 0.0544, 0.63, 0.4011, -0.4213, 0.1131, -0.0109, 0.9966]\nstate[eef_state]: left_x=0.4175 left_y=-0.3454 left_z=0.1811 left_yaw=0.1003 left_pitch=-0.0712 left_roll=0.0241 left_gripper=0.5241 right_x=0.255 right_y=-0.0025 right_z=0.1219 right_yaw=-0.048 right_pitch=-0.0758 right_roll=-0.0614 right_gripper=0.9966\nstate[joint_eff]: [0.4581, -12.588, 8.294, 0.6129, -0.3785, 0.3004, 0.5934, -0.1573, -0.4718, 9.3744, 1.7021, -0.022, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9581, 2.1639, 1.5612, -0.4671, -0.7658, -0.8196, 0.9971, -0.1337, 0.8291, 0.0471, 0.0681, -0.0311, -0.1131, 0.7455]\nstate[eef_state]: left_x=0.3896 left_y=-0.3351 left_z=0.0684 left_yaw=0.0987 left_pitch=-0.1178 left_roll=0.0809 left_gripper=0.9971 right_x=0.2433 right_y=-0.0236 right_z=0.0152 right_yaw=-0.0585 right_pitch=-0.1436 right_roll=-0.0508 right_gripper=0.7455\nstate[joint_eff]: [0.0342, -13.1624, 7.8427, 1.0281, -0.4078, 0.0317, -0.0659, -0.0889, -0.3487, 7.1863, 1.1795, 0.0952, 0.0269, 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 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0481, 1.7481, 1.319, -0.7818, -0.7963, -0.9447, 0.9977, 0.7132, 1.7142, 1.3922, -0.6102, 0.5522, 0.4988, 0.7525]\nstate[eef_state]: left_x=0.3034 left_y=-0.2665 left_z=0.1434 left_yaw=0.108 left_pitch=-0.1498 left_roll=0.1244 left_gripper=0.9977 right_x=0.3915 right_y=0.2209 right_z=0.1758 right_yaw=-0.0379 right_pitch=-0.1836 right_roll=-0.0718 right_gripper=0.7525\nstate[joint_eff]: [-1.4564, -10.7556, 6.3932, 0.9548, -0.525, -0.1441, 0.0464, 1.1692, -8.4855, 8.2667, 1.3309, 0.4957, 0.2613, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c758cab8d3cc130cf2e4d43649f74576fde62e62f397936152ce5d13596828db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57611ba4c45d62671fc96525b3213c0562ecf8cd8e7446a91dffcafc7094adc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:763689e0e4fb18aec990288659d30d3c7a8f0d72d8c56f7ae326529949ef9e6f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAaIRDKXlpp9a-AOPyrqzNgRM_wdGFvrKZWi2wCL6l24O09PFtQ7oDhsmP75Bgun4ixlMwdX7EqUR5T1HYxTwWsdZ8vi2HM6IkDQEK4bkXb0vCB22PhXDNv9w5wDe9yMJnD8XHZ2zZXktBvdN4TLUjqPqWO5nmx_scu-nPlfT4TbjtrURADfkA45x1X8SNhpTFTVu0jhFTP7DvC4YPasuR12MbjyDhSm7PWOLj7ku7AAoaZMJ0Jj_Ck06o_bdcHyQme1_36TUlv_T8sYFMVYBDgMPN_lFMaZWQykYInFumqsAt7ItTvw_ZKaZTsIlLyzmXcbQM0QRKfexZos7iXZ-Xek3jyv_33m8ZHKyR8UDHUtuo6rWOCTeQdP7my7M5aStfc4o0mvC52OxMPy9dGWe4Sh1OcCsQWFMhtjr4mpjPTxIVbnwYBBnl035ZRjWfwZZl3Bu5Ea5M5ueYezmJiJqnKSBbgeqEJPmsozUTfycqU2kuBNjgExZPnS-2PuURFWbazVd3UhBh25SJSjfyKOiSTXQZAyz3hcaV6aBPjj9PzavD2I0OfnAeYaY-fSZZ09ZT6mPAxNeQCsStT1IyTq5uxRD620flRUfDu5aN1-fqepkfKtxHHx0xJYsSr_MK7I4xP_oiXRMtIl_D4fSWOBg7FMtmmdxnnkZMHcGephYJo95_Bw1tUa_Wl1UBQc6irDDZqyi4QGc4_eeu0uOaUC9PxbrcAwMVyYuSKTiQ7s18VmFnypS0J2rFziYd-Gn1cXhMFXxrDblOBAGt4b1zp7v6FPy4csKp9shEnBc4kpbAroxkdyIq0Hb1amEu4lkOugI1S_09SGNZlXKeWKZY5Y4A8hOnNmGOBKi4vTOgbB0hoFcSTg2hoWPqFuoInpUG4dRUm_bKM6Rjs-zbc1WWTwQdukgjREs2oUSA55jg-mEOnlvp9zTvuaydcrggp8YtA-JXFd9ZL11HFdN0ZlHAAMHrrUad6UL4Qrbgekf6YQh_Ez_Yj8rbA_E0q-fnhgKpuYi_Gd798jjKXqJl9kAzV8MaGRFsozIc2yYTllatp3h5Amxy4tAPdmtJpxNHqoXPYvs1P1sr5dETzLA0S7QSsPVq3WIy0QGQtUGbDUUzqs47le4YHGlU-bcnc_bYrfavFBc_Fq28OxvmNqFLKS1K_dW4JMnfvKNK1U8Zz4yvkGfALko184LiJ46gUT8uFz0nKj7eFtvsvNqlz0I1vdH9BDqPYwqw9bHsV4c-i0R_xHBy3DDK7mFFOffomwbURXn5zdcZbScATjI2iRzMouXIivkBgK8mGaurbFTe508OKmUeZUBuZNrTtxpPTvg8ufSCf5wxOxCReQ31gaY49h_zTdZjmTXmyxFlpGyXomQQSFnBqLOhPrk6dv8VHLtXsINg0VXOXhw01Jxoell9DmLU1Kl78iToLIxJEGDAi4TnJixIPgjDLirOUm8s-6sxJAJ8Ur0H4tySVAQbPGuhQJupWhCCCyXMsmxkc0tUQypD8HEClRVcIrOatGxycYzMN_k9f7P2ApaQ1dyAP5Do4KACb5aNSUvP8XuToZK2xRQjtBTNwemTaCFk9s_pH0yA3flrNkTlokVW1GyC5Bd7_ZUgsodW-op9F0MSZw7V28JSdkO4_JNAWJTAunQ3eX-GoRsD0zr1n19Xp2UBV4Y1v_jMHN0-fmqC9S9V7J07F0b43E2ZrIJWe3iD5HoARo6qyvtYT9qgbvIj5OOT5oBYbePKqAUAzxZyHq7ELkcgIBIL8jyrMe9eJDBbH6dGxCIjB_AHD4Hj94e5PMz5MM39qn3ib1duQJezG_TWwaWlG35KTzN219hfkywpX39WZxFDTI4xfSJdZ4WrCYUSqoTtCvGVd2u2r0LmNDFPkxXc2loTer1dCvGYdC93RNG96eFIxysXwkYsxRopVHWSF5WKTy9v3yp0p9gtzu_VaW1WAZIZzTdt_4Jzb5fWTIR4W2QVCqYh5vPydK0DN5TW5IdGKtkKvev3LbX9d9j5Jrv29m18dUtNoMf_pSKynU8Qn__dVKA2UcjmEynOCFek6K8jqbeuJ2xK6WbAGvb9tlXkCuH4ScoNyqOS7PpQcHJU0b5OmDf4xI5PYwhXCQF_ZbAT87jKaNCteZk_WLZiQ8VZZQVtC_nIGsvbgF3NrGGiqheIy1fOY5dz-ykBeMHqI4oYpOhXk2scR9W8qwm3MFuZROfWQ4DYIPyVG9EvoaT3hG9PizXx-xI4tLoTbIJTamognWwb6Mh1Gmgr-ZOfDNvH5Qh-6My4tN61lZs3Z5Wc6jP4bOpSOSduKUj5iDWa0vFuWAl3W-6o2NpfXmEZNaAqlvR_dcFYMxiC30sDrOvfSdnw8G7mbUoXVtwQTFeJaOGOTZdVbqAY6INnDNhL8rOddrzagvtC12R7vSMo8wcE7dejJLjlpXjYgAoUPJhb2xS-_3ZhrdtfhSKVUgq_PWP7vVj6OEHH4nZT0RkbSTNNnE40STxvRYDf-7UsplrdQaCAdPV8_Chkg0JRy4L-zZE4SHVby6PVYalRIj-soPWiB_6o03Z08McQSGOsWDCnJ3ZzcmmBM2OopnHWGRXzNOXG00R7rBIXjK38tH6M80M5s4M2YswYgM-DpobGtYLU5b_veImdLGcmP6Xoop6J9yYV4yIImWKrwpRtKbfowxhxIlpxKYUFxw2SeUFeFEZPHRVqJYPJUJL8FBwAk8H0aXjS8XazMdl4YnqrMIvLl2Wa4P7tGWr13YGytD8loc-0mncWTpgSZ6HsHhaZeoZdBo28hYThg6CSHbW9ZxQ0f27St6m_2stez_ryRUt41uiaKtK2auwEXbGiiRo1x3WmHT73MDF2k1TME9eLW_sNpWM7Ig80tWzTWX6Hvp0YXejuhaKjWrt-wwgjZUY96zILEUS35euHMQ_RKA8p0_h77c0O6RB4QW8ksiHpxIY-1QNJfvhJhcGWyu7OiH8k0dIZR1OAU5_4P6QRYoRRt5Xb6oyLZ-X5jvPUpoTkxBt1P5MVX7u4t8oUYSBHKBqvPCgSIlEcyxv2DiIL-3bUZxeou9ZQdjZUH4A7HEjXilicqG0mY57cPizyrGXT_EPA27614SB4KrrJGHF-aRgtPitSwStSBAJbY6Scj34NvXUWqScGGVM1_XmwJY9Pt-LPdQ8R0N-P5xyQ7X-8L4Duh7EGcAGgJftXpV_bSxJfgfBP9FuipZh0vQpHUlV5IZiVOlsThI4VOimwwb5a31C54S6EIpSb51JbF_QeJiiDewTsqopRHjEGvA3eAAj8RUi32S_TYD4fOQb8yP0ny5sL9PyTUWLb1r-aVAAwN5iXk_NvbdmeQ61n_CVO3-UXevWo3lpbTq2xgsAGQeunowoL20qEEX_Jdh2pRKlxQs7RWDSoO-tldze7vCmSU5CsKkilQ_MGJoypxqRsuZyIpbK1Sxxgx74nKmJwsTH83MmSakbc8lwuhzYKRVpQK4esy9SRQxK8iVSKe8fbdusowR45PHW2Jtj7VI1B6q63agPiRhUjU95Nym2_Ubfnm4KxRa2m8mXN4kuVE9jbAh3LRTpRCJbKb-iyp0hFtelTJD_UIYhkQGcknJZgLUADZn52NecDG9ZpOgRVB27F65T9dZbgeKcUFtOUqMtHT2kHBpCEL141-p-e9B3A2PVCjQsT-EQlf5GMu_SKVGfsy9ol2HNNSBekgHq-w_Ti7jiyBiubG",
  "id": "rs_0e5c3612b8e83984016ab43015e03c87d08b917b7bf120dfd4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.245,\"right_z\":0.085,\"left_x\":0.28,\"left_y\":-0.15,\"left_z\":0.17},\"note\":\"The right wrist camera confirms the large yellow fruit is held. From the left wrist camera, the dark fruit is still on the table beyond the blue bowl; I'll move the left arm aside and lower the held yellow fruit into the bowl first.\"}",
  "call_id": "call_FjTpACR3QVBXl5KVbgFCy0Ug",
  "id": "fc_0e5c3612b8e83984016ab43019802887d0a1abbf87affce251",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FjTpACR3QVBXl5KVbgFCy0Ug",
  "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]: [-0.8928, 1.3102, 0.9817, -0.7547, -0.7338, -0.7738, 0.9977, 0.841, 1.7641, 1.1019, -0.3882, 0.5949, 0.6044, 0.7526]\nstate[eef_state]: left_x=0.2815 left_y=-0.1553 left_z=0.1672 left_yaw=0.1236 left_pitch=-0.151 left_roll=0.1133 left_gripper=0.9977 right_x=0.3434 right_y=0.2408 right_z=0.0802 right_yaw=-0.0152 right_pitch=-0.2351 right_roll=-0.1074 right_gripper=0.7526\nstate[joint_eff]: [0.212, -5.2581, 6.4615, 1.1258, -0.2857, 0.1245, -0.0122, 0.2667, -7.8291, 6.5436, 1.5604, 0.5446, 0.2027, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ead388e8dbf7cfbc62d9ac53b1c12afc11212f4a047233f1e99ca8699c0a8c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ef3cf5e0c1665a03b6f48abf17e65fc1be7dda1f4c8b5f937b665f8ed5b1c65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa8b7821fa6e0d48002a452a89541e36b368db60cc7037741f4d6e23ff25dbe",
      "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 26 attempt 0 · /responses · status 200 · 6.1 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 101 changed as sent

message 105 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9565, 2.1494, 1.5826, -0.4706, -0.7692, -0.8158, 0.527, -0.131, 0.8307, 0.0593, 0.0242, -0.0158, -0.1036, 0.9966]\nstate[eef_state]: left_x=0.3935 left_y=-0.3385 left_z=0.0826 left_yaw=0.0969 left_pitch=-0.0993 left_roll=0.057 left_gripper=0.527 right_x=0.2393 right_y=-0.0251 right_z=0.0117 right_yaw=-0.0737 right_pitch=-0.1771 right_roll=-0.0517 right_gripper=0.9966\nstate[joint_eff]: [-0.9231, -10.1812, 6.0786, 1.3065, -0.5299, -0.0415, 0.569, -0.253, -0.2803, 6.0923, 1.7851, -0.0611, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0481, 1.7481, 1.319, -0.7818, -0.7963, -0.9447, 0.9977, 0.7132, 1.7142, 1.3922, -0.6102, 0.5522, 0.4988, 0.7525]\nstate[eef_state]: left_x=0.3034 left_y=-0.2665 left_z=0.1434 left_yaw=0.108 left_pitch=-0.1498 left_roll=0.1244 left_gripper=0.9977 right_x=0.3915 right_y=0.2209 right_z=0.1758 right_yaw=-0.0379 right_pitch=-0.1836 right_roll=-0.0718 right_gripper=0.7525\nstate[joint_eff]: [-1.4564, -10.7556, 6.3932, 0.9548, -0.525, -0.1441, 0.0464, 1.1692, -8.4855, 8.2667, 1.3309, 0.4957, 0.2613, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8928, 1.3102, 0.9817, -0.7547, -0.7338, -0.7738, 0.9977, 0.841, 1.7641, 1.1019, -0.3882, 0.5949, 0.6044, 0.7526]\nstate[eef_state]: left_x=0.2815 left_y=-0.1553 left_z=0.1672 left_yaw=0.1236 left_pitch=-0.151 left_roll=0.1133 left_gripper=0.9977 right_x=0.3434 right_y=0.2408 right_z=0.0802 right_yaw=-0.0152 right_pitch=-0.2351 right_roll=-0.1074 right_gripper=0.7526\nstate[joint_eff]: [0.212, -5.2581, 6.4615, 1.1258, -0.2857, 0.1245, -0.0122, 0.2667, -7.8291, 6.5436, 1.5604, 0.5446, 0.2027, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ead388e8dbf7cfbc62d9ac53b1c12afc11212f4a047233f1e99ca8699c0a8c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ef3cf5e0c1665a03b6f48abf17e65fc1be7dda1f4c8b5f937b665f8ed5b1c65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa8b7821fa6e0d48002a452a89541e36b368db60cc7037741f4d6e23ff25dbe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0e5c3612b8e83984016ab4301cb83887d0920b3379a5ed0291",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.195,\"right_z\":0.047},\"note\":\"The held yellow fruit hangs just left of the blue bowl in the overhead view, while the dark fruit is visible farther across the table in the right wrist camera. I'll shift the yellow fruit toward the bowl's center and lower it before release.\"}",
  "call_id": "call_GV6Hsn62lExcJBXKGcWfaRaD",
  "id": "fc_0e5c3612b8e83984016ab4301fd60487d085358ade9c795f78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GV6Hsn62lExcJBXKGcWfaRaD",
  "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]: [-0.8906, 1.3098, 0.9749, -0.7563, -0.7242, -0.767, 0.9977, 0.7113, 1.7596, 0.9329, -0.2226, 0.5404, 0.5106, 0.7576]\nstate[eef_state]: left_x=0.2802 left_y=-0.1545 left_z=0.1638 left_yaw=0.1181 left_pitch=-0.1628 left_roll=0.1208 left_gripper=0.9977 right_x=0.3524 right_y=0.1885 right_z=0.0397 right_yaw=-0.057 right_pitch=-0.2747 right_roll=-0.1387 right_gripper=0.7576\nstate[joint_eff]: [-0.5128, -4.7385, 6.9949, 1.0085, -0.4762, -0.1197, -0.0122, 0.5265, -8.9915, 5.3402, 1.4383, 0.1197, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceccc40777a0bf7befa2497ab3eace5ed62ead876d27dedf4b76d75e5ce5ac38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19c6e52757fb993f2eb0d9280c82c8d8f81426a7f7bde4b0bb99caaf6aa0ace2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbba7cf49581397211e67ec19e68c78345e00179c7f87e424b6c4a451fb6f710",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.624 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 105 changed as sent

message 109 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9581, 2.1639, 1.5612, -0.4671, -0.7658, -0.8196, 0.9971, -0.1337, 0.8291, 0.0471, 0.0681, -0.0311, -0.1131, 0.7455]\nstate[eef_state]: left_x=0.3896 left_y=-0.3351 left_z=0.0684 left_yaw=0.0987 left_pitch=-0.1178 left_roll=0.0809 left_gripper=0.9971 right_x=0.2433 right_y=-0.0236 right_z=0.0152 right_yaw=-0.0585 right_pitch=-0.1436 right_roll=-0.0508 right_gripper=0.7455\nstate[joint_eff]: [0.0342, -13.1624, 7.8427, 1.0281, -0.4078, 0.0317, -0.0659, -0.0889, -0.3487, 7.1863, 1.1795, 0.0952, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8928, 1.3102, 0.9817, -0.7547, -0.7338, -0.7738, 0.9977, 0.841, 1.7641, 1.1019, -0.3882, 0.5949, 0.6044, 0.7526]\nstate[eef_state]: left_x=0.2815 left_y=-0.1553 left_z=0.1672 left_yaw=0.1236 left_pitch=-0.151 left_roll=0.1133 left_gripper=0.9977 right_x=0.3434 right_y=0.2408 right_z=0.0802 right_yaw=-0.0152 right_pitch=-0.2351 right_roll=-0.1074 right_gripper=0.7526\nstate[joint_eff]: [0.212, -5.2581, 6.4615, 1.1258, -0.2857, 0.1245, -0.0122, 0.2667, -7.8291, 6.5436, 1.5604, 0.5446, 0.2027, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8906, 1.3098, 0.9749, -0.7563, -0.7242, -0.767, 0.9977, 0.7113, 1.7596, 0.9329, -0.2226, 0.5404, 0.5106, 0.7576]\nstate[eef_state]: left_x=0.2802 left_y=-0.1545 left_z=0.1638 left_yaw=0.1181 left_pitch=-0.1628 left_roll=0.1208 left_gripper=0.9977 right_x=0.3524 right_y=0.1885 right_z=0.0397 right_yaw=-0.057 right_pitch=-0.2747 right_roll=-0.1387 right_gripper=0.7576\nstate[joint_eff]: [-0.5128, -4.7385, 6.9949, 1.0085, -0.4762, -0.1197, -0.0122, 0.5265, -8.9915, 5.3402, 1.4383, 0.1197, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceccc40777a0bf7befa2497ab3eace5ed62ead876d27dedf4b76d75e5ce5ac38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19c6e52757fb993f2eb0d9280c82c8d8f81426a7f7bde4b0bb99caaf6aa0ace2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbba7cf49581397211e67ec19e68c78345e00179c7f87e424b6c4a451fb6f710",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDAntypcbcu6cAc1pl7hVvBOIhH42iMFerFKQtgfcT90xDIwFPyfbem5f_25zqMDfmiibnnGxzzyIZvf0pPxpyyd_W4z6iRAlht-1bl0XIoZ1_3vGhr7iFBiWI0yE9E-6iYLWFurUkvQrxa1khPnl3sLWWxLplHZruuEV0jIXRhYoecHS5nFR3qDCYamZ-Nj8l5F6Ft7yp46vHKqoqF0gJkWQLC14qu-AcGmFPzgIf2EGy4BKwLjAc1KM9AZRFAWpPcErYiLBjXngoUbL0pzN69G3FYhcS1FI8b_gq8OQQmGw9D--xxBv5Nr8aXN5tentWZT86eTmP8y_CpvTW-43S_s0RSqX2iRDUvVWJEbrevqamJT_otkIlCWxl9ns08ww02CUztVU1SlNRGblLLJe2y5zwpD3U4W9c7c3iVWe-CIWwQI9E0rQ1ggVJgEpK6cAP8SA1hDrzDW6Xwrb8N4NNIuVIVo0cF8hAZkAGsK1PbpgkejFddKoTdUj4oLfqRU2HblrFlN90wQNIqAOeTgQAGeOBbyehqjuVwWm4LfbD_y28a_3ri4XA6-3HnD62gYE-Kj82yqibEve_hAxPwJy9A81yYX25f22JMTvmZ-V1Ig5o3HVk4SuV5rk0xK317jlTm0xdtWKyL43AFDY2lSm8r-hVEoObxqR_QlO6r1G_SLQyyn1wOCpp8Uo_P_qfrQ_rBPWLROtiyvTYTlKXcTTfltwzPJVeWJEUhZm288t5VqMgPM5BYdsRjxwH8IwXHqF89ESQyD1A1vEavpAPAAk9d8xbUO-93zNN80rg5hPuE88OQLSuJCQl9mHHI1fVWiNbC9_wcS65iYutYV8olHtDqxEBAzL2RJSWQgctyv0UgOWseRnD1zISQDH8UPq422X2VfJGZVzg7Z1HtnvjKWRERdTW4262FvTHtwn_c0VGTOS6eLgcACNUKfJE2Qn855ZapvyLWJT0fQQIpDzGrquF88IM33wiMy_t6P7s11ajPX54iiLtal_sEOFlnRPpSiW9I-chTzKIjG68RhbGP4gKoJKqBuNqLvH7-jzi_5lNfOw7t5UYJ2TRe5tguhVGFpnItGoFAVvddI8UoqfWkpbqd05j_Va8szZyxcx6CLhRQkU7wf9YOaC6DC3Y05n0aPlicXGdUiV3kS_ZT_cAvsP7nKmGaH-6zw30mwo3V03jpOA2i0Ea0ZkzbnVu5F_LjnGgyom7-idSd8vMJbow3Wu129aN0MCc8Q_WwBVQeg30kWTeXKNd5iOwPmweo1qOZr98C7dzeIGGTccDekjpn4zuMNQVGOfn2--qDmKVwrl2dztXpyypycLneFFDyK8zK9D_UE9D7x03zZsANy6p81R_pY7WAASAtCbWdEhz7_2s42uIcrITZw56DzGkj3inlrvH0O7yMBkO9SKJVpMotpXqVpAszsECg2s5iNXNoPI8y8qYxtJsS4XAgi9jAGVm6CDvZ0h4D0InGs_rMKzQW9hQrDwe6VIxLIevW4SOauo9vkGz_qdoUpBoiIPhadtBpHYSy-eE75vT1PNgzjOTkcOUWJBqPNaG36iqcP9x8laxx88o8hGH67wHCRjCwkyXFgO6DTtMoriaSl4WM17zbcAWKE6nDRdI8X8-Sxzf5bRQ7Remi_UlQoPRqPkkC0yRFCzxwl6VpvHlceXE7NYY3bItFepvoA4QEVnK2ao5YK1sFq401I6P9jRIUvqSUDbUtb7w7vcO1Mdy77l2RQitE6GuomINITRKBMiaV18HyF_4u8WJaovifSf44BQdbkfnnEbmOmRfQrN_U_aOceOW6amB_3aKVBH9RSbYcla8ieHpFwv0_DRrEbhdixhnOkzEFzOWg7YsopijiKk0w5nKIiMKKP4569LA7_JMDNJUyiMalRt_lngeCnDc35AajY_4nIQMj6JhVRTPrSih30H0OXDUTSLtTnIWx0Nh3MJseX-3pCIvQC3zQeJt0Gyv-MuvJRyajCJCiKJBiRjwE_ap62iybluexSAS6npkKOWRnMJE5Vhtjp6puRE22Tb37EIoCeIcUpaBdtwMwnL95SofelCl4ywhzcyU_r2AWhK96j5HWz99LITDwkLIKohCbJxEryDsg8MhETA7apv-2Nl_tmkBVrAMSzCRuS1wtha_ipC64-pxWcrWwN25in9WMtBPKATIQP5NOcWJEJk7ZmT92k_Z_rpxO1Ms1mBoH6fWMg5KcI9IjuOzFP_QhfbqH9Tly-ArMJPSENxoAMECHTEo-zvG5tWSkVxhuXnJmvNaDCerJ6I4dckqukxk3yoMtsvZn2BsOf_w8kVzDalt5tFxif6WWkc1XfdSXPKdCJXt4nFEoZ9kSvYd3UzMoxRaxeId6PoAg7P-LPc8Zb-KrqeMlpACIDI_6mnVisjo3BmrKZMGJ_y_QhmiXGbRvNzkWBjNQ_w3BCgfIRKmk3VQgCOhAiQJfE022s3TE6GxZMa4P6tm2DW7dwvtECeYL6yL-EkPbTimFHx_XyU_PG1bZyEObo_SPuLypnvFxI3jMLTq1FtXeeuSwA8BdGFQidrVJJjMKdLPAj5fQxk69H3-AO--_7BP_umFC1pOd2v1NIRbYWPausvZmle3TOobPFzSyCFTYAckR_7wrZTOxI-ZOBzkQx09Kk98frUSknkhRtjS6Ot9dQ-1zmn5iyo3aC9eIEXL1lISnzC7QCf4V6NJ-a23AfrZBZycIt9nuceguWkJSYMs2-WyIITWfpzRY2fKzvc_rb-RG09tVoBIiY86M_KHrNUc5WzS4VE6gz8T7Q6SKbNsWy7kxgDNku5vMQTRJ-t3WNWWwXcf2QBjunSLvAzrDsmOBIVyLThs2fzcUGyPi0enYt5gB76bCXYh_YvJrsTxTgQkKs-hSkPIeWJYtfbOPfc4hlVZllgk6-R6fZhhFql_aLmnb0UlB3D6wtp8FI57EI3_HcTpb9EraL-fWvGlZxUezrBKxNriunkutK-tODZ3oRmF_PwBtobBB8B6lRi-2xni0zB_kySCxX7yQZo7fPA22SwL9cio1dNoulhuTH0d6RXKknGvQZjbbtpMDYgVBak-skJYWGFN6EVXtXr3LS3JC4OwPwoEYsfFFWvSpWLUQk_F_ReQdMePrw0miy085I07H-WuVce_zpNlbxnHiYZqvmdTega3pYrfA7Vwj2LWZE6HlBDzkgK0mtHv6-GFkWJmWCG8uxZ636vNzD-QdbkT6DydaSZsicYFaTUHgzXkmNw0dPp1xyTdUC4lcy9jNB4h2y",
  "id": "rs_0e5c3612b8e83984016ab430221a9487d0a5899661e6f3fe22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0,\"right_gripper\":1,\"left_x\":0.27,\"left_y\":-0.29,\"left_z\":0.12},\"note\":\"The yellow fruit remains on the table in both the overhead and right wrist views; the right gripper appears to have been holding the blue bowl by its rim instead. I'll set that bowl down, release it, and bring the left gripper above the remaining yellow fruit.\"}",
  "call_id": "call_PGF6sY5EFNmL2BWZGpPiN87a",
  "id": "fc_0e5c3612b8e83984016ab43025d07087d0af13fb6bd028eaab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PGF6sY5EFNmL2BWZGpPiN87a",
  "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]: [-1.1515, 1.8046, 1.2942, -0.8379, -0.7929, -1.1004, 0.9977, 0.7094, 1.8442, 0.8783, -0.0753, 0.5255, 0.4896, 0.9985]\nstate[eef_state]: left_x=0.2676 left_y=-0.2824 left_z=0.1124 left_yaw=0.1101 left_pitch=-0.1914 left_roll=0.1368 left_gripper=0.9977 right_x=0.3532 right_y=0.1912 right_z=0.0066 right_yaw=-0.0356 right_pitch=-0.2793 right_roll=-0.1378 right_gripper=0.9985\nstate[joint_eff]: [-0.6222, -8.1026, 8.4855, 0.6569, -0.6716, -0.1245, -0.0122, -0.0068, -6.5573, 4.9846, 1.033, 0.3883, 0.1294, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e90fca4f32d245fc3c8b2538069ce2c9bc4947e8f966c4dab2137cfcc5867ba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd4c428c295b3e23a1476bd85aac69e452778d09dea0cb7899805ec6f976f54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2570ab97e2250f8e32579c84632a9ed1314f839a0f983f2e92759295d27097a",
      "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 · 3.99 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0481, 1.7481, 1.319, -0.7818, -0.7963, -0.9447, 0.9977, 0.7132, 1.7142, 1.3922, -0.6102, 0.5522, 0.4988, 0.7525]\nstate[eef_state]: left_x=0.3034 left_y=-0.2665 left_z=0.1434 left_yaw=0.108 left_pitch=-0.1498 left_roll=0.1244 left_gripper=0.9977 right_x=0.3915 right_y=0.2209 right_z=0.1758 right_yaw=-0.0379 right_pitch=-0.1836 right_roll=-0.0718 right_gripper=0.7525\nstate[joint_eff]: [-1.4564, -10.7556, 6.3932, 0.9548, -0.525, -0.1441, 0.0464, 1.1692, -8.4855, 8.2667, 1.3309, 0.4957, 0.2613, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8906, 1.3098, 0.9749, -0.7563, -0.7242, -0.767, 0.9977, 0.7113, 1.7596, 0.9329, -0.2226, 0.5404, 0.5106, 0.7576]\nstate[eef_state]: left_x=0.2802 left_y=-0.1545 left_z=0.1638 left_yaw=0.1181 left_pitch=-0.1628 left_roll=0.1208 left_gripper=0.9977 right_x=0.3524 right_y=0.1885 right_z=0.0397 right_yaw=-0.057 right_pitch=-0.2747 right_roll=-0.1387 right_gripper=0.7576\nstate[joint_eff]: [-0.5128, -4.7385, 6.9949, 1.0085, -0.4762, -0.1197, -0.0122, 0.5265, -8.9915, 5.3402, 1.4383, 0.1197, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1515, 1.8046, 1.2942, -0.8379, -0.7929, -1.1004, 0.9977, 0.7094, 1.8442, 0.8783, -0.0753, 0.5255, 0.4896, 0.9985]\nstate[eef_state]: left_x=0.2676 left_y=-0.2824 left_z=0.1124 left_yaw=0.1101 left_pitch=-0.1914 left_roll=0.1368 left_gripper=0.9977 right_x=0.3532 right_y=0.1912 right_z=0.0066 right_yaw=-0.0356 right_pitch=-0.2793 right_roll=-0.1378 right_gripper=0.9985\nstate[joint_eff]: [-0.6222, -8.1026, 8.4855, 0.6569, -0.6716, -0.1245, -0.0122, -0.0068, -6.5573, 4.9846, 1.033, 0.3883, 0.1294, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e90fca4f32d245fc3c8b2538069ce2c9bc4947e8f966c4dab2137cfcc5867ba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd4c428c295b3e23a1476bd85aac69e452778d09dea0cb7899805ec6f976f54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2570ab97e2250f8e32579c84632a9ed1314f839a0f983f2e92759295d27097a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDAuutLQig3g2FvPKjLvKd1p72ferD1qB_282KpRizs5P4rnfxtEs8bEjd8gq9J9pd9DQjdtg6mpvy90xHm5NRm5SVTcjXBI-W5mqqO3BPQveTf_O-zwdnRD9K5dZG0Hy2-2aRgOoysjT5EbgZDdwkgNF-2N5OaREAQASr5KoILEQLLm_Yt6UfW_EuXReLux-rx0AUtJd9RWPif1G2ayv7MxfZ1Z2-YBKvzuSupKEcnShkz_gUTgqB0-wd72AvMCrErPlcRyAY1eQ_zTk3pzU9r6PyfvvZA0_ndppYLSaA-LG1D629cuprkXCjL9PREWTkbfgGzFx45MKHgqQukWC6hHBUOnwafaykeDoR8Me1Y9ERPlzeXTmTKiQwhNV-0JGIYPr_gVVO2upvRdc11K2ndA6OzjHFqhpeQB0Je-xfaTF8DpuvSRxpzJDB0QeEnHb6U8O7qWAZbLSvX7cgKtvHAtk2SsjhxTV19pVd7-N0pOn0PreajPWc-P_RyegW2QLozgq2y5JiEt8NqoB-PDZyHL_CjBwYbZYQnOQkKYFrMqWBze_fCPBmLJ-SqHQFcg7SQ3VzTOuMZk_olyfKGLilr-nDELzLH_u1xyhdbWg-uuzsRO9mZEgMT0A5cXSB_ITCblvhIhrLdvQNTWBadK6ATTzMEWuQY2GhoulfUeHsy_htllsloX-7aVgMSOnMTQXnAF3IVxJkkRLPZtayQKAfoBpj7CqYiHC2uvSaDgdnkraypVOaTzvemQt9SSDEUIP2tOkJpaT65XiXWfW87OtMUxpKAnHrWrj4imTLhCGKCuDkCLu88sfnqHO5yQ_XpSaIUO4dBKiwanrT-zJsxPiFKz72spg6ioqVwxS9CzEX7WaR-camGZ9eEm6PwGR6laXvD49VPmgtbHi24Jyh_sqltKbYfyVVmFpIIdlbPIZ6qXKrpeEW7v91F4iXc3cCjVCtUJ4VphOa8GsumAmZfG8R6r96PtB-YfOw73JlvUGFYfzlCd6EhlEgr3d9DSAD3RpBVJVTXzO6B6CC1E8SXem6_rHKyNAk_vpG85yRCkdl_O9qRnvUsHjUFYfbWghwpIT1EngFfC03P7X5_LNPlF82zzXrubEgOCQz4ffFgWWgwTzDjn91kl3w9QYutHkqWv1MD9e38EtJ74saho1N6OLwvlhnfMBGmD4-_zlnC3b-aSYq5Rnf-sousBXNFM0vQV7mW23tSEjWyi6uvsguNzjDA51cxdMj4YPkQKZkAmVYiqdsoUzaW2Y5k5mOnGAG6Ai1J7zHUK9_ILY3hHTWNdPPfrFVJTGlhMDaxuO0Sw6wRI2yLkb747SF1hXRbrrnV1Us_u_X80cv67ARiV2TEvrKMzL0nOnyZZ91EM5sXEWWrXZ1pMyztPZFmpIIG7jr1aIsQ_A21n-PGGkxHFBk4JgiafQyvYnSnEc_bS7w2rsWitSLm9h-OljR7nbJxYLprqJE_nw14k_kQEFyAaN9phIaN16Hz4bDrq50RpnagYf0iZjzrpAxCz6kyNPK2aF0gbCRFYpqrXFC1-KTzxPJnAEogqeqm6VcaSamGyHRM7STEoVVjlLb__tbMXOIcZnP3JDZm6MkfXlmvUWRGW1ByvLMcSKdtbd4CpL2Ue13qpkjwMr6f5xbGqILeFdmD_bXrcwIjcrB49o4LuJGOWaUnjbcOma-LjIprOt760rfeZ42PYjjvAuLMLo3DhOP79Zdw3La3_MTzGlY6DoE6i2BCGuczi42bAoEBiLa9DdAIdzWFRqiuIX202MVjYvD1-HJKTAj4ST9bnYeC6zIwJwYn9WUJZxLqrkuyjZAUIp88wHRZXwXkdPIKRK20pyFHQSFoLKqfvSKmB98r09JQuAC6cSQRCQpqycs7Dggaa3m055xEhrG6cbcWBQO8zCMh1xrg9FXoibumF1-nC-HhRzTSVRURzKF3Pf0pHhrkw5LzLOa3x4-eWmhpJfo9nGPAVJKdyZOZJPRs8ECPKerS_clHFeGJG-4HqDgxcnH6cpPVFx5slcDw=",
  "id": "rs_0e5c3612b8e83984016ab43029ae5c87d083f6e3cc2f295ee5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.015,\"right_z\":0.19,\"left_y\":-0.32,\"left_z\":0.053},\"note\":\"The blue bowl is released on the table. The yellow fruit is low and to the right in the left wrist camera, so I'll move the right arm out of the way and align the left jaws with the fruit at grasping height.\"}",
  "call_id": "call_CDw92QlHe2OGlsm8upcAv28P",
  "id": "fc_0e5c3612b8e83984016ab4302ca68c87d0863f1f04c1da660f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CDw92QlHe2OGlsm8upcAv28P",
  "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]: [-1.1847, 2.0029, 1.309, -0.7219, -0.7921, -1.1439, 0.9977, 0.1928, 0.9997, 0.8787, -0.7525, 0.247, 0.0677, 0.9986]\nstate[eef_state]: left_x=0.2656 left_y=-0.3099 left_z=0.0495 left_yaw=0.1135 left_pitch=-0.2081 left_roll=0.1706 left_gripper=0.9977 right_x=0.2851 right_y=0.0153 right_z=0.1792 right_yaw=-0.0737 right_pitch=-0.2741 right_roll=-0.1365 right_gripper=0.9986\nstate[joint_eff]: [-0.841, -8.841, 7.8017, 0.652, -0.5104, -0.1343, -0.0122, -0.1983, -2.6735, 8.8137, 1.3944, 0.0855, 0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39b748b160734b2dd857c3815d75f3119a7abd25f0b544814bb7f48f85fcab7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888f04d6a0e71f022d939b88ae67539262cc505b7bce97ade78fc2b26d019af8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5b4a9a418535966975f08574c539fa4ac852c9cbd287167914410a1439a7e1",
      "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 · 3.59 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8928, 1.3102, 0.9817, -0.7547, -0.7338, -0.7738, 0.9977, 0.841, 1.7641, 1.1019, -0.3882, 0.5949, 0.6044, 0.7526]\nstate[eef_state]: left_x=0.2815 left_y=-0.1553 left_z=0.1672 left_yaw=0.1236 left_pitch=-0.151 left_roll=0.1133 left_gripper=0.9977 right_x=0.3434 right_y=0.2408 right_z=0.0802 right_yaw=-0.0152 right_pitch=-0.2351 right_roll=-0.1074 right_gripper=0.7526\nstate[joint_eff]: [0.212, -5.2581, 6.4615, 1.1258, -0.2857, 0.1245, -0.0122, 0.2667, -7.8291, 6.5436, 1.5604, 0.5446, 0.2027, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1515, 1.8046, 1.2942, -0.8379, -0.7929, -1.1004, 0.9977, 0.7094, 1.8442, 0.8783, -0.0753, 0.5255, 0.4896, 0.9985]\nstate[eef_state]: left_x=0.2676 left_y=-0.2824 left_z=0.1124 left_yaw=0.1101 left_pitch=-0.1914 left_roll=0.1368 left_gripper=0.9977 right_x=0.3532 right_y=0.1912 right_z=0.0066 right_yaw=-0.0356 right_pitch=-0.2793 right_roll=-0.1378 right_gripper=0.9985\nstate[joint_eff]: [-0.6222, -8.1026, 8.4855, 0.6569, -0.6716, -0.1245, -0.0122, -0.0068, -6.5573, 4.9846, 1.033, 0.3883, 0.1294, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1847, 2.0029, 1.309, -0.7219, -0.7921, -1.1439, 0.9977, 0.1928, 0.9997, 0.8787, -0.7525, 0.247, 0.0677, 0.9986]\nstate[eef_state]: left_x=0.2656 left_y=-0.3099 left_z=0.0495 left_yaw=0.1135 left_pitch=-0.2081 left_roll=0.1706 left_gripper=0.9977 right_x=0.2851 right_y=0.0153 right_z=0.1792 right_yaw=-0.0737 right_pitch=-0.2741 right_roll=-0.1365 right_gripper=0.9986\nstate[joint_eff]: [-0.841, -8.841, 7.8017, 0.652, -0.5104, -0.1343, -0.0122, -0.1983, -2.6735, 8.8137, 1.3944, 0.0855, 0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39b748b160734b2dd857c3815d75f3119a7abd25f0b544814bb7f48f85fcab7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888f04d6a0e71f022d939b88ae67539262cc505b7bce97ade78fc2b26d019af8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5b4a9a418535966975f08574c539fa4ac852c9cbd287167914410a1439a7e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0e5c3612b8e83984016ab4303141d887d0a645c33a4015a9e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.325,\"left_gripper\":0},\"note\":\"With the right arm clear, the overhead view shows the blue bowl near the front-right, two small fruits farther back, and the large yellow fruit under the left gripper. I'll make a final small sideways correction and close on the yellow fruit.\"}",
  "call_id": "call_vhcgdwKI53CWkgLIJlz4XNQg",
  "id": "fc_0e5c3612b8e83984016ab4303295a887d0970904295474a48a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vhcgdwKI53CWkgLIJlz4XNQg",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.19, 2.038, 1.3628, -0.757, -0.7887, -1.1652, 0.0086, 0.1936, 1.005, 0.8852, -0.7826, 0.2344, 0.0448, 0.9986]\nstate[eef_state]: left_x=0.2662 left_y=-0.3182 left_z=0.0489 left_yaw=0.1224 left_pitch=-0.2138 left_roll=0.1703 left_gripper=0.0086 right_x=0.2808 right_y=0.0169 right_z=0.1754 right_yaw=-0.0516 right_pitch=-0.3063 right_roll=-0.1499 right_gripper=0.9986\nstate[joint_eff]: [-1.0598, -9.1692, 7.3915, 0.4078, -0.4615, -0.0122, 0.569, -0.1573, -2.3863, 6.1333, 1.6972, 0.1734, 0.1978, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:917c608a5741e4bc9c5f7566fb976044ded0ab43e179b8e9f0379d00f18db4b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c56623fcc6e5875ba9d023061979583d9cb3238569d45862f4f3a7876e44ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb19a001805023778a869a29a2baf2b8b53575644c410413aa714d80b9f97aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 3.619 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8906, 1.3098, 0.9749, -0.7563, -0.7242, -0.767, 0.9977, 0.7113, 1.7596, 0.9329, -0.2226, 0.5404, 0.5106, 0.7576]\nstate[eef_state]: left_x=0.2802 left_y=-0.1545 left_z=0.1638 left_yaw=0.1181 left_pitch=-0.1628 left_roll=0.1208 left_gripper=0.9977 right_x=0.3524 right_y=0.1885 right_z=0.0397 right_yaw=-0.057 right_pitch=-0.2747 right_roll=-0.1387 right_gripper=0.7576\nstate[joint_eff]: [-0.5128, -4.7385, 6.9949, 1.0085, -0.4762, -0.1197, -0.0122, 0.5265, -8.9915, 5.3402, 1.4383, 0.1197, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1847, 2.0029, 1.309, -0.7219, -0.7921, -1.1439, 0.9977, 0.1928, 0.9997, 0.8787, -0.7525, 0.247, 0.0677, 0.9986]\nstate[eef_state]: left_x=0.2656 left_y=-0.3099 left_z=0.0495 left_yaw=0.1135 left_pitch=-0.2081 left_roll=0.1706 left_gripper=0.9977 right_x=0.2851 right_y=0.0153 right_z=0.1792 right_yaw=-0.0737 right_pitch=-0.2741 right_roll=-0.1365 right_gripper=0.9986\nstate[joint_eff]: [-0.841, -8.841, 7.8017, 0.652, -0.5104, -0.1343, -0.0122, -0.1983, -2.6735, 8.8137, 1.3944, 0.0855, 0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.19, 2.038, 1.3628, -0.757, -0.7887, -1.1652, 0.0086, 0.1936, 1.005, 0.8852, -0.7826, 0.2344, 0.0448, 0.9986]\nstate[eef_state]: left_x=0.2662 left_y=-0.3182 left_z=0.0489 left_yaw=0.1224 left_pitch=-0.2138 left_roll=0.1703 left_gripper=0.0086 right_x=0.2808 right_y=0.0169 right_z=0.1754 right_yaw=-0.0516 right_pitch=-0.3063 right_roll=-0.1499 right_gripper=0.9986\nstate[joint_eff]: [-1.0598, -9.1692, 7.3915, 0.4078, -0.4615, -0.0122, 0.569, -0.1573, -2.3863, 6.1333, 1.6972, 0.1734, 0.1978, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:917c608a5741e4bc9c5f7566fb976044ded0ab43e179b8e9f0379d00f18db4b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c56623fcc6e5875ba9d023061979583d9cb3238569d45862f4f3a7876e44ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb19a001805023778a869a29a2baf2b8b53575644c410413aa714d80b9f97aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDA4OJ_9oiFhnWhfhirtZSdzj40WVi-s0xfX0UXCyfO33VqjAzT9ueRC09uWkBbI18PcfPY8V9kevQUwt8m3buBlkPoIhzV8nBrzyZMMAuWju520lycE0kHO2Zp8byBj3HVcHknADBNrRkBCyCMVqpAm1SN4pw9QCSJ8P8DpdN691AQhFJ2d22zDAOCIaGxWUFKWT1WaYhfDVNnKVJyAAnXSjWEsdK8sWKWAf2Q_zRL9U7TTOaY7x7UUu8pGdzmO73wLbXVUMADSP8U-7JSjkMt-IRdCrTAAlvhW3PqsXf80edZGH_00hnffNw4vsyD0QuPel8BIMlBfZ0ZstKbgMV_dwv92p5DkPNs-vjdwQ8gD152pspbPFCWyZ5yZdwYf2-Ss_IsAGyt3_lwSGsI0z_sDESMZ0yFaoXjiWpz8Vpdvb-t-P-ttPlX3XMnEfy-g1QcB1xB1lNd1G_wWoSj73L1NSJds81T50zwIGF16ItsxOdJ0Zu5DoWHWWvxVTn3gP36pY6udYtGaDq_yh8VfWXV8RD84CbH22Ul8PiwnCt_DNTTIEauiEP3f0SR-KVTnHE67EbjqTak372QUvVU6UqJKlOhVnvxwxNAO4FguHyNVg_ukT64q7ctPgso4ba-YlWIgXyPtrm-XdNpLS_JwlQ701WJbzvHsUBY8qZjs99UQJ9dZUz5yBe-tPWr9BDIwxYIkrnAEWL30SF2byP8F75l-i3rtWx0dfVVOePuKW3Ox2P_rWFWbb9iAkvMVeDe3hxN8yNK2tPcnA4dGjjPqzMogZC_Fgwdl6MsJMGwc-mO0BnWedBQ9lext6M0vyxrtxArRjg3gDnS26abZTMNX_sbAqcJsMfkQQ6nQMg_LiXUe_MWXE0l7ZUcCfCUEqjcBkLkSPxJh12q8nrmPdQmHnahNQ--OT8HoQ-9yrmrmYd_hqqjY6nN9PEfoGZ1lkgLJH0N53EaNx3Z4mO_TPDo6QoCoHxhBHhXgcfFGPICABdYAlqfEZE5voAm0OLaLPlrwRW4fmQWoReuhf0ohjusg475JjP-4b8et1o-mkXDneSO7RllALKUy3MXazppoDqdtn2L-jPDBeL7Uj5jc3j3TCEqKh1TeIyaMJSqtnNFy9n-2_w9lO2ziVHjdcOeIe2HJzVALAp8HXghJhVsau5l92F-U-amsscidrowSUNEi3c0an-z_1cHaOkuu1LPg8gR8CNgnUgMYjUQxi3xeD6Op_8Tl9unPyfEz-w24yyU0lUE9s9CLeVW3XcLiwbuSShHg6PG8QYHkLO0D9vbtafYX6ArE1iYWjAoDdKgHsBkSheDB8oUWmIFX_n34sMC9Dq9bCljnlcXK-CTGtM4cB7EsroeY7N6-EF9GVjz98y4H2nVBXFL0AhsN9PxZvnzWZQttYSA6p-0YCqoyJ31s-7j7M0pE-t3xxYWspmzAxCbr0YtK12UBNRfrLnvk_qv09AFGpiyZWRGVHLmyx19bVfIq6g2E5zCTbk3lX03yl5i6efnXD4QbyhFiYY5wAfI1lziNY9-qm9ZNklcNI_GwdccDfg0vX4QG7Y4xs4KcRHAEou7WmC9ZYGHj9lJn6Z11ocCMqNNxN_Nuvemhk5AiXdGQAgQTGbE8R0X2Al07c-iD3bqF5YSE6LTEUJOiL0E1jUoQzqfRikKWMANk4MvaXlOsLMP-t-5LXpd0mKFYzEvoa0_jLGzPs3EUD1Y6GbOE0-CbJA5WC4vnHjwdhwiiIyHCoRi3tNQOLD_Nala_OSXET_xz2QKYFkFniUHhETgRWEkkCryg_94QOq2U8f8uveR4GBCHJ-9CZ4biGbYUr7JSGoJpRSD8j-XIJCquX6lXc_gA0rEukGWsm861Ule-k7oktVYb1GQDz_u8HeZrzVipNX8a0dftO8SV4aIlH4oaa6GX-iEesWkHYjQ63T9wiNOHS3il9qltmQITtXZTjsMBxGRpdPTqIigMj6dibASyRTG9zX6vHMEXyWjnD7DW3V5OPwLB5EDnwElbUq6QpihdGRKw29aPqujxJfXnO1fjmuGa60prMs9a_wdj7kLuWD87Mv3GhltFXhnhc1pBB8rmlvr4v02ZCXg8n3XgKxUMS2SIhHUDXHdmgSWK9i-Z7QtQE7YJ5m_vGuazURJ-DnEJCOUEsym-bLK0g_D3IH1Vw2RKdbdcNIsWspXBcCdSRFLZQl79jIaU3R8b_a2VWl8haOJKo6U=",
  "id": "rs_0e5c3612b8e83984016ab430362df087d08996832d882329fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.27,\"left_z\":0.037},\"note\":\"The left jaws closed almost completely and the yellow fruit is still visible beside them, so that grasp missed. I'll reopen and shift toward the fruit's position in the wrist view before trying once more.\"}",
  "call_id": "call_hrXMh8rv41jDJ57Af42xm6oC",
  "id": "fc_0e5c3612b8e83984016ab43038244487d09b5e9d65285b143b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hrXMh8rv41jDJ57Af42xm6oC",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1408, 1.9373, 1.1191, -0.6056, -0.7765, -1.1046, 0.9955, 0.1936, 1.0054, 0.8848, -0.7902, 0.2306, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2635 left_y=-0.2691 left_z=0.0268 left_yaw=0.1344 left_pitch=-0.2289 left_roll=0.2026 left_gripper=0.9955 right_x=0.2793 right_y=0.0173 right_z=0.1739 right_yaw=-0.0466 right_pitch=-0.3155 right_roll=-0.1517 right_gripper=0.9986\nstate[joint_eff]: [0.2667, -11.6855, 4.9709, 0.7253, -0.4225, 0.0269, -0.1392, -0.0615, -2.3863, 6.7214, 1.4579, 0.0904, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e28c86ae8092cd9ddae53b640a1211a0917a7f229881142a89fa0fbda8eddb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a29f0721a2990f3ace1b48fbe65295ffa1e8ab637183a382b12345bfd09f8a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2da239a992ed605abb22520c1fd586c74d9f4cd41f2a4aeaceeb2906630dee0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 11.19 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1515, 1.8046, 1.2942, -0.8379, -0.7929, -1.1004, 0.9977, 0.7094, 1.8442, 0.8783, -0.0753, 0.5255, 0.4896, 0.9985]\nstate[eef_state]: left_x=0.2676 left_y=-0.2824 left_z=0.1124 left_yaw=0.1101 left_pitch=-0.1914 left_roll=0.1368 left_gripper=0.9977 right_x=0.3532 right_y=0.1912 right_z=0.0066 right_yaw=-0.0356 right_pitch=-0.2793 right_roll=-0.1378 right_gripper=0.9985\nstate[joint_eff]: [-0.6222, -8.1026, 8.4855, 0.6569, -0.6716, -0.1245, -0.0122, -0.0068, -6.5573, 4.9846, 1.033, 0.3883, 0.1294, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.19, 2.038, 1.3628, -0.757, -0.7887, -1.1652, 0.0086, 0.1936, 1.005, 0.8852, -0.7826, 0.2344, 0.0448, 0.9986]\nstate[eef_state]: left_x=0.2662 left_y=-0.3182 left_z=0.0489 left_yaw=0.1224 left_pitch=-0.2138 left_roll=0.1703 left_gripper=0.0086 right_x=0.2808 right_y=0.0169 right_z=0.1754 right_yaw=-0.0516 right_pitch=-0.3063 right_roll=-0.1499 right_gripper=0.9986\nstate[joint_eff]: [-1.0598, -9.1692, 7.3915, 0.4078, -0.4615, -0.0122, 0.569, -0.1573, -2.3863, 6.1333, 1.6972, 0.1734, 0.1978, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1408, 1.9373, 1.1191, -0.6056, -0.7765, -1.1046, 0.9955, 0.1936, 1.0054, 0.8848, -0.7902, 0.2306, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2635 left_y=-0.2691 left_z=0.0268 left_yaw=0.1344 left_pitch=-0.2289 left_roll=0.2026 left_gripper=0.9955 right_x=0.2793 right_y=0.0173 right_z=0.1739 right_yaw=-0.0466 right_pitch=-0.3155 right_roll=-0.1517 right_gripper=0.9986\nstate[joint_eff]: [0.2667, -11.6855, 4.9709, 0.7253, -0.4225, 0.0269, -0.1392, -0.0615, -2.3863, 6.7214, 1.4579, 0.0904, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e28c86ae8092cd9ddae53b640a1211a0917a7f229881142a89fa0fbda8eddb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a29f0721a2990f3ace1b48fbe65295ffa1e8ab637183a382b12345bfd09f8a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2da239a992ed605abb22520c1fd586c74d9f4cd41f2a4aeaceeb2906630dee0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0e5c3612b8e83984016ab4303af4f087d0ba144e4778eb2ba9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.35,\"left_z\":0.095},\"note\":\"The yellow fruit shifted farther left in the wrist image after that correction, so I moved in the wrong lateral direction. I'll raise the open jaws and approach from farther to the right in the overhead view before lowering again.\"}",
  "call_id": "call_mGxqk1P1scXxIhYXwdWXq12h",
  "id": "fc_0e5c3612b8e83984016ab4303c8cdc87d092281cf51a4c4b47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mGxqk1P1scXxIhYXwdWXq12h",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.211, 2.1082, 1.6394, -0.9962, -0.7689, -1.2102, 0.9963, 0.1936, 1.0054, 0.8848, -0.794, 0.2302, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2667 left_y=-0.35 left_z=0.0858 left_yaw=0.1298 left_pitch=-0.237 left_roll=0.1657 left_gripper=0.9963 right_x=0.2786 right_y=0.0172 right_z=0.1734 right_yaw=-0.0466 right_pitch=-0.3193 right_roll=-0.1524 right_gripper=0.9986\nstate[joint_eff]: [-0.8821, -10.5231, 7.4872, -0.0024, -0.6178, -0.0757, 0.0757, -0.0752, -2.2906, 6.612, 1.4383, 0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5afc2e82085aeb3a306c4895a5a6b976d6736b5a6cc0522f870daa0dbe6de0a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53e6bd5abba7ceeb6dbc706a208a2d59ce24806b3c87dc1d9e19aacf98f9941",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f441762de8f8aa890bb76ce6a7edf3b9e2808399a2e90236100fcf5afa0383",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.786 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1847, 2.0029, 1.309, -0.7219, -0.7921, -1.1439, 0.9977, 0.1928, 0.9997, 0.8787, -0.7525, 0.247, 0.0677, 0.9986]\nstate[eef_state]: left_x=0.2656 left_y=-0.3099 left_z=0.0495 left_yaw=0.1135 left_pitch=-0.2081 left_roll=0.1706 left_gripper=0.9977 right_x=0.2851 right_y=0.0153 right_z=0.1792 right_yaw=-0.0737 right_pitch=-0.2741 right_roll=-0.1365 right_gripper=0.9986\nstate[joint_eff]: [-0.841, -8.841, 7.8017, 0.652, -0.5104, -0.1343, -0.0122, -0.1983, -2.6735, 8.8137, 1.3944, 0.0855, 0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1408, 1.9373, 1.1191, -0.6056, -0.7765, -1.1046, 0.9955, 0.1936, 1.0054, 0.8848, -0.7902, 0.2306, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2635 left_y=-0.2691 left_z=0.0268 left_yaw=0.1344 left_pitch=-0.2289 left_roll=0.2026 left_gripper=0.9955 right_x=0.2793 right_y=0.0173 right_z=0.1739 right_yaw=-0.0466 right_pitch=-0.3155 right_roll=-0.1517 right_gripper=0.9986\nstate[joint_eff]: [0.2667, -11.6855, 4.9709, 0.7253, -0.4225, 0.0269, -0.1392, -0.0615, -2.3863, 6.7214, 1.4579, 0.0904, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.211, 2.1082, 1.6394, -0.9962, -0.7689, -1.2102, 0.9963, 0.1936, 1.0054, 0.8848, -0.794, 0.2302, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2667 left_y=-0.35 left_z=0.0858 left_yaw=0.1298 left_pitch=-0.237 left_roll=0.1657 left_gripper=0.9963 right_x=0.2786 right_y=0.0172 right_z=0.1734 right_yaw=-0.0466 right_pitch=-0.3193 right_roll=-0.1524 right_gripper=0.9986\nstate[joint_eff]: [-0.8821, -10.5231, 7.4872, -0.0024, -0.6178, -0.0757, 0.0757, -0.0752, -2.2906, 6.612, 1.4383, 0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5afc2e82085aeb3a306c4895a5a6b976d6736b5a6cc0522f870daa0dbe6de0a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53e6bd5abba7ceeb6dbc706a208a2d59ce24806b3c87dc1d9e19aacf98f9941",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f441762de8f8aa890bb76ce6a7edf3b9e2808399a2e90236100fcf5afa0383",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDBJv3JJjlTdG73-nHKsR5xTcJ8z6gL5U1Mvr-zf6_xUnPEQueqarXkRGAaoUCPdg2GlhJ26Izp4vN3ZyW39DaaOL7U7eN5iRptRERm92muhVt3lAzO6dwX122MFXw3qdYRd9TNK4OJcPtHWKQjjbFeX_b76B96nqAEmvKPtHGhiicmWjZkvxjQfROfQIA02ZztLgaY0n3NGXXm6F1I63YHljOwuRUQJHINY7xV8WgCFYeLgUfbkT_xJ6eM4RTzjxG5z-GaY54Bw4gTRU3XSnWUsAgSjbUekaJ0miz74gLhUJl1iHxVfRaNsjXKl4PX9TEZeCYs9DBeRNZ100QKrPtorwEyfTfsfboioijZSmchlYuTS45Z5TjyDreAoKUx8wh5w8kU4zfOhP0TvUYmUIccfQYtDrM42dSSqIo1-5vbEWmiG4VN9frCoNYWjOSpYU-lFVar2x9dAtbAdwv4N7J9ciYNWWK9wic6WDKrBJf7CENHc4CMQqKPZzw3nMIOzVvn73Nco9SfAfho4cpvBC2MmLefnRUK6oV4AWqvN-6BSWL3uwtitwkdSynieXMkP1nBkOmbYhd5CGttNQN6Nrop2Ds0WVErXLStj5iCcX2WQ9FUkTgFXhcF79DSknsyPfr1xfOV2-AfqwoJG78bbOg59L7kO9i0JxOaZ8cIZ8k5IOhSjlZrnE12Ti0OgFWbIpVPcEYD3rpvi1nsPlK6s9hQYNtA0Asktj1JZH5zYeK1hY02mQt4bctBWoZ7QAdk1wTMukleEZz7Nzk-dvep7wjSvlwzDkpHO6BD5KODN47SuOZgNGKpjpnknPf1fnuUIdsbwn0QsWDLXAt2oYgMZLSBSDzM5wy77XMEyHx2og4hU4o7h-Rmweb1EhIVcNdbpx10W-PgUFAWZ5jM-722byy6HVZwAEr7RL7l-IDVo6VwAWfYqfEayn99_PbtVcpd2EvNKf-pq0tTGd93FH2pLBPVd9Lhov2zPhCypf_kaz8-eC0z-fRNIoIU-KYAfrF6X_XEZ0Aw6mWpjvVleRSY_HZ3ZbHm9K8rWrqkbldJz_mnotPU2OJysegNYcHQahTi-YL5f11gXYFf3eaXF1s9IbED1fH_AASwG3Ns7UMkBLKzEMsSEtmg2kdhac_OrE0mr3Y0nlxvAg3ZXtWq-xG3_BaSiNNAOdFWnW5tKBxJQbmCvZY2nphukSN8SsOskBUyXRANbtN6k5s6FYlmY2r_O0tA01wwByUn95x9124QEsTEklTnEscJ3tVezG8PjrOPuhv3lI9BGiaigTojhe9bV212tdrCZoTx7Mqj4iKWdI2nrjiq6YM8O68EWGKv6JnKhQ6Nd6Oq-wUOy9zjMguHVBvl1AdSSSKF7RLnq6f1d-RlmIcgaFcWxoMNyXOuJl_UAekeygq-xWH0DUwAkMx9i-MGHyhUFwk3K3TBDTAxD7gga9M6fA5AYdnt45R6VqUBUmX8xvDJP5yWeNsXTNT31Uk5u_JYLZMIvA2qA9YpaZgwjCQSEfs7EZbaLjxqTufJJpfxHcupsvdOHZZFFq_YNb7IFZ1d-h7yosv55BqQc33IScOwuATVTxDAA8aw-29ZUcqVPuR7wQQDl02YTRlUtyJ7yHi2u3N1C2KOEm4RrlgX32DByzgxDi1j6HwENjoGu77_GYhO1SIuoDfVVJsopAh2IeA2RRC1_QNiB7QbuzpHfPAx0bgP0_EwehHBTEZYJUOvIIRKbqvVyALTx4HHfnVaLime7lw3dghCSMqyU6xOKGvb4Bz-PeWKI75do2ruz50TbNdBe16MnIohn2UwnjwFF91ueDZBrIjTNTrTWJYz6w5Kc9eyST0lIhXX2GunhNYvicZwHnJ98v_dTKGa-HritLqBLbZujs_KDttXitmRJB0P8UHtZP4571T_VYqZWPKM8--LMBRgI7tq9KsS-tfOrR-6fX8KBC9QtLWRImheHz3JmaLvyT7ftr6NpgAR5srMzZTmOLvWHCggfOwOjXXhUt6IBuDzgTEftlwrWWFJYEPdJfIu6XmrRgxGwr3-tBlYSTBfCxUQOpPULjKK7sQgSMaeRPnQN6Mj-7iOHHRuyjReJPPb_Z00iDCwa5MS8ygzfeCtCFpjcZl_HXpcDrH6TT5A6IkYc3J-TGNqcNieUvU-zvfUYYnBpMEJgujmGRGfrZcwwACSN13PhpWkG-ixKspRPmX4iSrmSwl0ynq-IplQHCkCh7WmU1e9BtjCZr5cpstuBbL-AHlF5hnW660-i4JVLuuuiWMiaHTVUr-t_V5lucLelR2gd3QChtcnJLLDVj_-fQuizWn7GOXYpO-adcGjvgaBgoS2kOLeSTMCvaLEmCCfWi2F_PU-z615NbAr1I6kWVjr_YAXLjJPlkseXGAz6UklXWhBG5Hg3fpgGUK2QsfRMngdQTzqmOP0xO6yQG898zQ4XC5EpXKyXLHdZDUqdM7wmnNzqQFJ4JZTdl3G29yLZSqTDwHPW-qF__nwATO2u7-YjvaTn_XkbDutyYpXwp4ctR7aBjcavuQfz57JHQ6z-JpeEDQaYSpougUjwqsONor76YOq3MRAxUVVYKGfo93qnIRpEFsaru2QOBEy6mC5Xeb3ny7oWWeXPZoh87bKMvH3pxAuB_ZYkZ5gaZOHCd0NgdrArPOiUWQ14i7xWLbbQeKuVySGCf4_BIjaGLp4YG9GDJHmm89o0FUfYdFESAuFoQA5F8IqQwTRQksLCFBu_nafrnsXDW1XRR8-Zz-zM4ywnva0mUdlWPDQwPLbMhrUOr59aeuqiPIqkcAOGPyTGcJwk2MMVXdKAFN6AKUsV2-C1mMxcnDWlKaABykglCInYzyZxInsbymAevKRdJop3FTtFJUjRe5bctMp1Vcc320-aZ5MdY0pNCGZf0PtmPBrRB70XD_TlQXPd6vHbOgke7UjQTg9emMEIPZLYR250NaK3wBD9lTzkNDFZUeiM0sQHccCwtv04MgdHp4Sxk208z2Olm6MRKX5g7jPKQH8cFZ3qtRw0l7P8EMilu_YBqPuM6i2ychbsMviWmFO-rJHBtYFXssMg2PXOTeKAA2V3ngxOiYV9WL1kgg55RwrTG5SvpjBP8YMH4LtfedoRvWPISoD_vBLNecLfoXgfMwfLLS2iGAeGddjt_MEXIPS2r1E3-xRqO67yaGUzV2u5bl0uVf9mKTIuJcDFInCOZuWtVRHUwTJ1xnnGwq_-PDhRQ3hRZBNQ7qpB5bKaEWI46-I-4zU3j177I9rSeAFlkrMYtw5-doFMlXK-RFu9oxAa8JwLnAgzESvrtm4VEgKk49V_IIq2Q1bAuOWBJxZP0_9ud3dIdqzsIOoorc0AvUgAEnluyYdHb6XSnxJnewxPk_6HMws7iWdhrI65IMDjbbB8HhZrKwZuNFzaWG1V8lDzHxDnQ6MzB-oTaaAgVoo3TZF2vakW5fMy7Oe9UFwhgySfWBpB0np5RU0ymI0DxG5cEY2UClJF25nAOHLDCfXMNPp786yl_E7EfBCBUiBIRECMUkFMebZK4j44u5TcIQM5HmkdMpHPxeoBNYvM0ntsRbEiI_egPx3CkRHYhTe0vShKnnqEj_5TJbr3LQEl3liPgdNfuWthD7U_lk5W3Ju0emoGSvIOP4mMQb7ttQUs",
  "id": "rs_0e5c3612b8e83984016ab43042f57487d0b1a4a3a42ed82314",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDBJzQdiqtZpL0qY1D7_8WLKRrqMTLkM8oiZUxf1t5k2yvRlGkFy43PTka8VWEL79YloSDHjgSivqLznGL2lKxCtxbnPDw0Y-2S4sQG2LCQjImBx85JeYUMUP7gopZg5HU1MO5qfVxmvcsUWqkkpNgQ5N7HBdFlaeH_38Q6fNWmGtZd9Uaw2fpBai56idyrxwwSKU6nfsrDEiIyMMpIPMjvUKE5uwWUAr5Kh_ctULEmOwziJTcDpIY6PvfvoUvYOnry07f-XlSLuT75F6UAiyhibZ0Jql8E_RAv87DYyMwq_LcVjuqO-IDpvLAwde698XtqMNHWZp2SNNfFed-pd0-bONG3CP3CsKUVj6zmTMKsfFbWObdGMy0TW4rlZ9lspIMNrKpA-YswG2vePemE5tLNIu-jJS3OF0zbwg5-J5lD0N1R56LmrzMJLAvBGLXXmCTMS529OEYY_8zedDRKR0UZBRoVJp1bzQRFreYrXkhRVo0O3oquvp99voti-jFtphxf9DxEbCHZk5Hh2vVXNHTKM9i86vFHTbZsfzT9lXzVtRj9J8MX4MwjiqJUxE4aATQKTlmd6VZBrsLIo76M_cCoBOxjXct3kTRW5TW9__p6lZCunDDuqGD-J8t_j3DD--vHjm4oHFbiGrj2bkPJ_qNl9Ei8xk5K-7GPRluwNzshN3CrSTXU2EAB59n7VJI-orX5X7mXe9ZRFwSYsKzFJDrk7AZFUyeA-o2Urx50W3Y6M6HMZeBf5kDSN5IDdVwdCOnTCj1rkzIHSxcikjadoPzJYyzDn30aA8tEiNd9jcrPeEoN3pMPK0pVeZxZfnFXkIAKuv3X8zSJBqNxY_W6gtpWgagGWS_psJ8f5kN6yOkO16Q8XxZhRj2yYvaXnKUtJXgex-CCdmykKWkqpLYejCqKEorVyUUfJFWXMGGNoaHZqfH-VYcqsF4pzoVg7PrjVL0b4Xuqm_fxBf0orErgJRFEVo-vuFA9TfyyjxeeIhBwZ6PsaL3wMLFhOPzsAgxivRofpSIdIdcUl2TCh8x4n0MxlnQMGadnUp15RzozknkFC9XVQxjv0AUXEBr7GBp12TkBO0nuIdrw2aJvhWU4hAW-Up-2v8h_Rj-xHfaXANXjsAFAPBZ6vz6aWNO8t2UDl3niueDXD04lPYklHztlCZpdVPEGhGSXuawy5nk_Jk8xKmErCP-9UccoWA5yJDvTQmEBayGuFfLcqaRFFTGWMfqC8OyHMFKEdlSVMcZJ5a8lOnm3zHJ3a9K2geB1bczdaRO8YFD1_Mo__KILCpIU4_Ov0NX_0pqJb5cBo34FJcbkXiLR8E3hRNP5EBYEkOBY3YWGCClZ1RY2IZbNaOoxex6qOE5JUvSU-xK5eGVWeoQGVwWgzHKu-PlfWU0Y3l1BfxMucTNfrCmJRs0DZiRkqELGqe6grhuFO5OPji2alpsdFxOKOX21duJXj5Aj6N3G3MITlNI6mfnac5NpUqPeW4moGEQ==",
  "id": "rs_0e5c3612b8e83984016ab43047da9887d0a9ff54a61034e94e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_y\":-0.205,\"left_z\":0.105},\"note\":\"The overhead view shows the banana-shaped yellow fruit left of the left gripper, while the two smaller fruits stand behind the bowl. I'll move the open left jaws above the yellow fruit using the overhead position rather than the distorted wrist-image edge.\"}",
  "call_id": "call_k5TgI83bjNxSUJcNHFSfSnt8",
  "id": "fc_0e5c3612b8e83984016ab4304862b487d0b91aa1892ef1a7ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k5TgI83bjNxSUJcNHFSfSnt8",
  "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]: [-1.1019, 1.5703, 1.008, -0.8158, -0.7471, -1.0794, 0.9964, 0.1936, 1.008, 0.8852, -0.8032, 0.2302, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2446 left_y=-0.2093 left_z=0.1003 left_yaw=0.142 left_pitch=-0.2449 left_roll=0.1666 left_gripper=0.9964 right_x=0.2771 right_y=0.0169 right_z=0.1715 right_yaw=-0.0475 right_pitch=-0.3304 right_roll=-0.1552 right_gripper=0.9986\nstate[joint_eff]: [0.1846, -7.0906, 6.0376, 0.7155, -0.4567, 0.1099, -0.0024, -0.0342, -2.6188, 6.9538, 1.4823, 0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a9f5651b366d12bbbf326925bd7fbff01e69962633e8786a141386588b9457",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aadfc605afd859c8e387a3d307b712bef9a8781a163cf10714b3c5643b91689b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e047134c36503392b7aecdf479c80cb7e6db21748629e15d59e05554fa224a06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 2.217 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 134 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.19, 2.038, 1.3628, -0.757, -0.7887, -1.1652, 0.0086, 0.1936, 1.005, 0.8852, -0.7826, 0.2344, 0.0448, 0.9986]\nstate[eef_state]: left_x=0.2662 left_y=-0.3182 left_z=0.0489 left_yaw=0.1224 left_pitch=-0.2138 left_roll=0.1703 left_gripper=0.0086 right_x=0.2808 right_y=0.0169 right_z=0.1754 right_yaw=-0.0516 right_pitch=-0.3063 right_roll=-0.1499 right_gripper=0.9986\nstate[joint_eff]: [-1.0598, -9.1692, 7.3915, 0.4078, -0.4615, -0.0122, 0.569, -0.1573, -2.3863, 6.1333, 1.6972, 0.1734, 0.1978, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.211, 2.1082, 1.6394, -0.9962, -0.7689, -1.2102, 0.9963, 0.1936, 1.0054, 0.8848, -0.794, 0.2302, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2667 left_y=-0.35 left_z=0.0858 left_yaw=0.1298 left_pitch=-0.237 left_roll=0.1657 left_gripper=0.9963 right_x=0.2786 right_y=0.0172 right_z=0.1734 right_yaw=-0.0466 right_pitch=-0.3193 right_roll=-0.1524 right_gripper=0.9986\nstate[joint_eff]: [-0.8821, -10.5231, 7.4872, -0.0024, -0.6178, -0.0757, 0.0757, -0.0752, -2.2906, 6.612, 1.4383, 0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1019, 1.5703, 1.008, -0.8158, -0.7471, -1.0794, 0.9964, 0.1936, 1.008, 0.8852, -0.8032, 0.2302, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2446 left_y=-0.2093 left_z=0.1003 left_yaw=0.142 left_pitch=-0.2449 left_roll=0.1666 left_gripper=0.9964 right_x=0.2771 right_y=0.0169 right_z=0.1715 right_yaw=-0.0475 right_pitch=-0.3304 right_roll=-0.1552 right_gripper=0.9986\nstate[joint_eff]: [0.1846, -7.0906, 6.0376, 0.7155, -0.4567, 0.1099, -0.0024, -0.0342, -2.6188, 6.9538, 1.4823, 0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a9f5651b366d12bbbf326925bd7fbff01e69962633e8786a141386588b9457",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aadfc605afd859c8e387a3d307b712bef9a8781a163cf10714b3c5643b91689b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e047134c36503392b7aecdf479c80cb7e6db21748629e15d59e05554fa224a06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDBNgkXk1iPYRql-h9txJuyzdQKt6PBquS1OK7zJnEqHXcw_QKyr29E9YKj_6sLRfLvKNDLJhbKS32np3Znu9U-wgaRwgunGYtU4l1UFewBPELnkXUxjZZ6kj4ovFFDYuznZS5OOP3dI9hpDcTDcfy5PL4ZnwjWxWleHDS42pfLwHQfMK07LweFDm7p39nOIB3aswhiWhLdoQUpWMjRgnVf4YY0uG3zM-2g296SJ8RVJyT1VB0gC-7ij6yPULRHgT1NV5Npeb_GL8pMa92kslDSoc7-bpDxi4hE3weJ3GB39s_daBmaLP14RfsiUjRAQBDbsCnPH7-cvIMRdewUHeuFd2Iv4PJRXMz-kG9-tM_b2NuBCoBtJrvpycPEXhdKi1-haGd-jq-lucb9J-GUYb66pcY_1A0rwx5ffJXfxRXBSUuarTmb3kXX-GbDiRL_CT2WDS99myvWs3kuinXeR5M2NuRFnZZwXHWuAP459LOFPfPwbdEMmQgGEquXv2_IruxnE3Rq1Wyut1cPSofYdmpqtOF9R5exOD1TreCT1Op5xt0DedwCDc0z8VS-NIyvk7jVis4Rb-iLQnbewOKA92zMzzY5fdEOS3XCP65y-f7dbk2FX91--QTAMW9Eilo-PuwHhfqWHlrVdG46VP-trGLbL6uyUKUkmavo5a8lpSnadtul2EsEtX8g64OOCh1LKNUj1RtJkCm6Bm11OmOVRY7A0o75qa1j3Kjfc_k85uEj09moYTVNz4UylxX9SbQw_cPTun3C8FCPQnzv-0_E1MV5CSFmzGNGW9rUpv-Mp54-yN_6jK6EnFc8Njt5SLdLLh9avgX1q4iDZpnGbYrALDXvPm5TuxccFOWgZBuRBPNjtPanFoHrKMU-93o-DngUQfR1sCMQfiur5n7r3O-ym_NUWZRd28jHdHAlXKUYx-4ZNb4ZgoOKMrVMZ97GUNY2D9cAebJ8dyLnKSuSuOkgfQTH91ibcylWw6o-gB7y2S1Wb8jmF0OIIGGR4m0mjqlG2pDS6BfLiMEVtncvI3899sQk4_22hOJMmbn0jGwJNSsorR1dE7dh2kzd4JEQOz6Q586fmGTbV5miuQdn0OBgyM_Hq5IVPzP1PS6m08HBes4Xh5KAlTlzukn6l-UFYYaXnyC2FBJ5D_Ul59s5aAy25xZFe9Hvvn72zufjDeU3h2aVSCoyEs0zwr5wLHHz3h9An_tAKd59S-Vc3wdtxlATA0hMjlke1hVth9mtgatQNegO3IA-tiO2jm2_zf7Vy1N7aSmrrlrJ30CK6PQPbHU3yWEpVSuktVq9X6fMHtj7aMSEsDmsZU1V0xNiEXH7BqZwYB3G7vJm9v1irmcOMwPKtfCQ6Q0VV0JD4CuVbCD1SpeDVHInoEo2sxLju2PsSvXRAARhQU_p72qpuqRHt09ffsAcBnBRPwyx0O4-nCmHA-q-LC0T7c-Qad7LIf_owEB_uoHki5hAK6WcvqCuUuYPMgCWrFh_yGxRzRH4m3gbVxrTL0LOBvvAp0FXE-dt8CNjxOyJJZZ7krOlS_SqMqigUJDnMvnSa5pKU_u5Omysgts8-O9t98C_0T1lpCsazcGUQd5rMq38kRB758dehrQ8VA0OU_KwU_w77cIJosW9vd80p2V4=",
  "id": "rs_0e5c3612b8e83984016ab4304ba62487d0ba41d31ef6507b43",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.014},\"note\":\"The yellow fruit is now centered between the open left jaws in the wrist view. I'll descend nearly to table level while keeping the jaws aligned around it.\"}",
  "call_id": "call_ozn4LyhfR7kfGH5cU6lNiwHi",
  "id": "fc_0e5c3612b8e83984016ab4304ca49c87d093af4269e6d24536",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ozn4LyhfR7kfGH5cU6lNiwHi",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1, 1.7279, 0.8227, -0.5201, -0.7399, -1.0737, 0.9964, 0.1936, 1.008, 0.8848, -0.8101, 0.2298, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2403 left_y=-0.2016 left_z=0.0188 left_yaw=0.1507 left_pitch=-0.2673 left_roll=0.2146 left_gripper=0.9964 right_x=0.2757 right_y=0.0167 right_z=0.1703 right_yaw=-0.0478 right_pitch=-0.3375 right_roll=-0.1568 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -6.6256, 4.5607, 0.6227, -0.4274, -0.1099, -0.0122, -0.1026, -2.3863, 6.6667, 1.3846, 0.0757, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82bf22b9704b70189592cb626ff8094d6a17d89d75876f555afc756798e2b58e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c920109c7defc74a6bd4a6a46949d79ef92a0f29bffd0e273c429f22e25e0a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feaea22f5c5d8ac16eae96fa54e29358564e242a849811124456ed4c1abfb9e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 2.925 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 134 changed as sent

message 138 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1408, 1.9373, 1.1191, -0.6056, -0.7765, -1.1046, 0.9955, 0.1936, 1.0054, 0.8848, -0.7902, 0.2306, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2635 left_y=-0.2691 left_z=0.0268 left_yaw=0.1344 left_pitch=-0.2289 left_roll=0.2026 left_gripper=0.9955 right_x=0.2793 right_y=0.0173 right_z=0.1739 right_yaw=-0.0466 right_pitch=-0.3155 right_roll=-0.1517 right_gripper=0.9986\nstate[joint_eff]: [0.2667, -11.6855, 4.9709, 0.7253, -0.4225, 0.0269, -0.1392, -0.0615, -2.3863, 6.7214, 1.4579, 0.0904, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1019, 1.5703, 1.008, -0.8158, -0.7471, -1.0794, 0.9964, 0.1936, 1.008, 0.8852, -0.8032, 0.2302, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2446 left_y=-0.2093 left_z=0.1003 left_yaw=0.142 left_pitch=-0.2449 left_roll=0.1666 left_gripper=0.9964 right_x=0.2771 right_y=0.0169 right_z=0.1715 right_yaw=-0.0475 right_pitch=-0.3304 right_roll=-0.1552 right_gripper=0.9986\nstate[joint_eff]: [0.1846, -7.0906, 6.0376, 0.7155, -0.4567, 0.1099, -0.0024, -0.0342, -2.6188, 6.9538, 1.4823, 0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1, 1.7279, 0.8227, -0.5201, -0.7399, -1.0737, 0.9964, 0.1936, 1.008, 0.8848, -0.8101, 0.2298, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2403 left_y=-0.2016 left_z=0.0188 left_yaw=0.1507 left_pitch=-0.2673 left_roll=0.2146 left_gripper=0.9964 right_x=0.2757 right_y=0.0167 right_z=0.1703 right_yaw=-0.0478 right_pitch=-0.3375 right_roll=-0.1568 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -6.6256, 4.5607, 0.6227, -0.4274, -0.1099, -0.0122, -0.1026, -2.3863, 6.6667, 1.3846, 0.0757, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82bf22b9704b70189592cb626ff8094d6a17d89d75876f555afc756798e2b58e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c920109c7defc74a6bd4a6a46949d79ef92a0f29bffd0e273c429f22e25e0a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feaea22f5c5d8ac16eae96fa54e29358564e242a849811124456ed4c1abfb9e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDBP_g-mat1grmZNVlUpgpzzJbdy0vJffkSI8_UMdn9VVoIaW92nc3VBKtpqBey867HMFoJZCDNPU9in1YeFdkXPV1F22zjCJNEDjZlcljVzJ1QE4GJ3e_yUhwDqK0Jfkm4SVbgrKxBxl0uRaTk_kAr_Vv0hAGfcrgzoau7WSPZdP3KwBZosaaApaZUynGE752RPbrLUPVHS3MgvCNxs11dsI8ryZAB7-hm2zLD_0z7XL7lKDhevwWSIZ7a--ITwfm6cTdjhWKk62ttZbaq1kxRHuknFQ9iumxzAccljIzYkKbxAQN39tUNSLTLXDDT89Iu-gfuFMcXOnUU3egU5uuzd1e-mMsIAyngUFr27GEfcQ8o13NfxtKkusI5gsYJXZZv6m2_ZQTku4kvBzxuOtuYuLgs5osBLtySBVOPzHQ0nONqrF_6amx4ULl0SdeezsKRE3Cp5wBbW1wkWZdOhqjYUKKKsnVNn11BsooivonSTPnKGfkZgKSfPd3caJaDczOFxOGu26u__Y9-z0gCgodEpKlOTzWQx7Mb-UiiFnLM9qSF4iXRk5uNfGTuXKJhYJO2T5DyV5rWlcIREMxQkAzfTbjJBNJtwGoj9lW3yDoGrWSWdc5Em9noWVxP50OW7XRYwBHjeVOV4u_3wDWMpGxQuTaXSXa44D0B82jYRzUwm7aoyGium5uiDrhlfyGH87GEVbwkScNs9A8Z8J5loG7IX6sp3Yw2DP1jpCFmtPQ963-y0ziroAOzE_bVcbCT63ClXFRujLeRSZ7aZwrog2CbxQufxrZw_PMPpFk5vSmSKU5o_VBEhzG2mXEIQgfo9joIfY_HhSGfHhprMyJqXWAtIdqWdNISF1t3w1u4D1XX4n-80HaAWg5YnsLcspksG3kWlc3dDk8v0LwuaghgesnAoOOplf_cMHFxCWTK6qCjyFCyLQrhzMCzZlUA_IkbvTyrDMHxK-NMrcc6c9NzCbYOu5z9CyKU7_goZphYYf2Yf_ykGoyTxBnatLjLxa93fejMKc4JkJr-RFpzmWejjcRzKtlofkrGKq9bHHNYgIvrvqlmngeGjQ6HplqQ2SQY8kgA3k1HNujx2lYZEaSLythC5_9L-BZtKWlu3acg4XgnzTHReTnlNZGflMZ1VGqddpSf_GmVpS9DBNXtIDwC3PNbknPHbyeFJbumZtiFNaqDi1QBQWxLtQuwsgV7aQ3CisSQoXZae0Zex7LLCxghQuNpBtUTV65iGJqZIoMm3VaLHvWS21jtPnuhvZsI99Cm8SOD_",
  "id": "rs_0e5c3612b8e83984016ab4304f028087d0a31ae6074ae72d1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fruit fills the space between the left jaws at table level. I'll close the gripper and use its settled opening, then a lift, to verify the grasp.\"}",
  "call_id": "call_00Eh1E8PdUZr51HyZv1XcWw9",
  "id": "fc_0e5c3612b8e83984016ab4304f52b487d0a3174f2900b30c59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_00Eh1E8PdUZr51HyZv1XcWw9",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0996, 1.7485, 0.8104, -0.5117, -0.7414, -1.0733, 0.4395, 0.1936, 1.008, 0.8848, -0.8131, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.2384 left_y=-0.1972 left_z=0.011 left_yaw=0.1576 left_pitch=-0.2735 left_roll=0.2395 left_gripper=0.4395 right_x=0.2751 right_y=0.0165 right_z=0.1699 right_yaw=-0.0482 right_pitch=-0.3405 right_roll=-0.1581 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -8.7179, 5.8462, 0.4078, -0.4274, -0.0513, 1.033, -0.1983, -2.3863, 6.7761, 1.409, 0.0513, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af955865c5af0facbdacd5e51a8283898acd00f32565d59ee6410da07ba40060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2403096ccbfdfbcc15d1bfba94a7a4607d1a54d1f9ccd64e63392e6c85b4c743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf98f3f3d7b268e67cbb34edb3ab69a81b7410455de1c51612d95c9c97f9b66d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 4.764 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 138 changed as sent

message 142 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.211, 2.1082, 1.6394, -0.9962, -0.7689, -1.2102, 0.9963, 0.1936, 1.0054, 0.8848, -0.794, 0.2302, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2667 left_y=-0.35 left_z=0.0858 left_yaw=0.1298 left_pitch=-0.237 left_roll=0.1657 left_gripper=0.9963 right_x=0.2786 right_y=0.0172 right_z=0.1734 right_yaw=-0.0466 right_pitch=-0.3193 right_roll=-0.1524 right_gripper=0.9986\nstate[joint_eff]: [-0.8821, -10.5231, 7.4872, -0.0024, -0.6178, -0.0757, 0.0757, -0.0752, -2.2906, 6.612, 1.4383, 0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1, 1.7279, 0.8227, -0.5201, -0.7399, -1.0737, 0.9964, 0.1936, 1.008, 0.8848, -0.8101, 0.2298, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2403 left_y=-0.2016 left_z=0.0188 left_yaw=0.1507 left_pitch=-0.2673 left_roll=0.2146 left_gripper=0.9964 right_x=0.2757 right_y=0.0167 right_z=0.1703 right_yaw=-0.0478 right_pitch=-0.3375 right_roll=-0.1568 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -6.6256, 4.5607, 0.6227, -0.4274, -0.1099, -0.0122, -0.1026, -2.3863, 6.6667, 1.3846, 0.0757, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0996, 1.7485, 0.8104, -0.5117, -0.7414, -1.0733, 0.4395, 0.1936, 1.008, 0.8848, -0.8131, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.2384 left_y=-0.1972 left_z=0.011 left_yaw=0.1576 left_pitch=-0.2735 left_roll=0.2395 left_gripper=0.4395 right_x=0.2751 right_y=0.0165 right_z=0.1699 right_yaw=-0.0482 right_pitch=-0.3405 right_roll=-0.1581 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -8.7179, 5.8462, 0.4078, -0.4274, -0.0513, 1.033, -0.1983, -2.3863, 6.7761, 1.409, 0.0513, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af955865c5af0facbdacd5e51a8283898acd00f32565d59ee6410da07ba40060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2403096ccbfdfbcc15d1bfba94a7a4607d1a54d1f9ccd64e63392e6c85b4c743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf98f3f3d7b268e67cbb34edb3ab69a81b7410455de1c51612d95c9c97f9b66d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDBTPVLHeJ06zJDTXbbkJ8fAwd-jLHtXXV9bZ7plfQ8rg6PUgG4d-rTxsQ7mrKDnQYKsutQ5kL1moAnU36q5LitI2mZ7IJ5hiFw5o5_mzvSGIzbTNc0nv_sgMxif_RlE_xdF9sURDh5gToua266YaJuugQehDOQfM3gPQvF0zj9H-GIGyQjDVuZ6s1lR2tnMGwsr42pGJntMBtw-Xq7WeOilJqKEFTA7XdRNbEGg3zxqWQyZ5QGyiqnyHlNFErqDq6KDAeT90mMOapgnvxOReETQvCC8IkPzJuwg0JcE3TE97nW9XjSwEfCpcE11llmtTJ3OKbKa8kDJhWWh8EBjkmaXhQ75hmIRWEQaHMWOWeoRNHG6klVFjwWSgKZojhfnWrcXTvC_raAn45WiFHZpP48H7sc8rYgQ8d5P1JPa9EJX3uHuE30AWUfH5Jp4HZKDpt-BxMs3pIqrs6LH_8FuOnf7yQT8Mv2AojjR95LQLtrqVIdqUBwNHzvPxAXGYY_Wz8II4FR7LLqM4V6PzeleOr2qS8FerpIU3p_oJ-oQNtf6eUv5VYq_-Id7wm1w1IaTXK5XxrMLo_ZpUfH0hhVOY0lKbQ4cp6Bw1ZUYq-dfosrN1EgFyXQC8rqcD6xe-KbXRGShzIwo6LbcIB6ThCvLrZpbH0EiXhjyB7wGhmFsNC0i5JYhPtBNuo9N5SBE36uoQ1vHIpQwD0arR5HZNL7GT8NZmg6lSXBYhtXnwBu8iwRZq67GNhA6Xrm-VoPMSiU_lixPPoNLjQOW0AqjdsGJT4Ozus9fB5st1B2syYdvlLIcewGi3kA76EOzchQr48uROO2zeILtSgaXhsBiBZNWbOr-LmVneO9rMQ_MxMtPoX6VecQc7VONRovbmJAGfWvhJ2u5B_NSQnXnJDdSYMSxZf1BNFNINiyI8UBI3pFOcbl4K0qrgMrLY_tDGc-AISZqTfYxLf1PB-EC3IRXWAt_Tyt7T2ryQX2I9WfUWavZLPNhB9GDzBpSETEFshmz_jGmGBmypsCneQcJaMXI7YAxDvGsj85odFjstHL7Ot6jLfQWLin4olOsjioNaa95F9fR2LPsYaF6pLHfiWVlQod41zw6P58v8AOajDQFOoCOhiKudbiJa9oIWkA2ZivawuikPZ9yxPzBZ1AYEt39s2GMIxg9oga6pEa99N1ZRhbB8YHEPZkAHqe2iyC5VQhj2kumEy0ho48IFrXMX4FobfRKOwx6IsIh6yu1x1HwIN9N6uAj_XSEepWz_GC2lI3d6M2qdEj2mX7GO7QDy-EaFsdwc5R1lD5xn3ad13We1LaujtnmU0mtT_rvx-pMvvTMheOLChpWcaL795EhbJ0YeiE-xtfMc91gLzdFSrpfmiRTxyB04VUXD2USv8AEoruyt4-Ji3V9aIZvd02Pw0no8a005Hzc1Z0LOkKhmi85yu2NUzOwvyZwilS18d5eFlyXQ1oujMZxDtIB8iumY0Zg6HU3zRcUcIm6zFhiuUpmnYhVTzjKepajLz-6TUGHPMUStYOcOMaXu7V1u-ZV5ODG4_3jEmGFBa8YqZW8iDfLGwq1e3UZ2Y5V_doQgpebjKaMUcuVlH4OJAELlvKQqTTnKgGQgk-l38JVgXnz1swnPJoiz3xbMLE=",
  "id": "rs_0e5c3612b8e83984016ab430522f7c87d0ab37409be261c210",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.365,\"left_z\":0.18},\"note\":\"The left jaws settled about 4 cm apart around the large yellow fruit. I'll lift it and carry it toward the blue bowl, which is sitting near the table's front-right.\"}",
  "call_id": "call_yTZZXI4A7PqcSue9afwYMnIl",
  "id": "fc_0e5c3612b8e83984016ab43053093c87d0a36c6a73cdb122b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yTZZXI4A7PqcSue9afwYMnIl",
  "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]: [-1.2118, 2.2353, 2.1952, -1.4429, -0.725, -1.2373, 0.4415, 0.1932, 1.008, 0.8848, -0.8135, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.2703 left_y=-0.3766 left_z=0.1686 left_yaw=0.1418 left_pitch=-0.2813 left_roll=0.1547 left_gripper=0.4415 right_x=0.2751 right_y=0.0164 right_z=0.1698 right_yaw=-0.0486 right_pitch=-0.3408 right_roll=-0.1582 right_gripper=0.9986\nstate[joint_eff]: [-0.9504, -12.3966, 6.6393, -0.6227, -0.5934, -0.0122, 1.033, -0.0342, -2.3726, 6.6393, 1.3602, 0.0317, -0.0757, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2427375a1d74988bcc52064acbc775756cc5051edd40f1eec82bcf653030c465",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236f82c228eac0f31bcae270ad5f778471deacd43634121ad1627044f32c5796",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db59d201177828f54cad91d0cc22372186dd61633c2f81215ce6c4a48ce7950d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 9.283 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1019, 1.5703, 1.008, -0.8158, -0.7471, -1.0794, 0.9964, 0.1936, 1.008, 0.8852, -0.8032, 0.2302, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2446 left_y=-0.2093 left_z=0.1003 left_yaw=0.142 left_pitch=-0.2449 left_roll=0.1666 left_gripper=0.9964 right_x=0.2771 right_y=0.0169 right_z=0.1715 right_yaw=-0.0475 right_pitch=-0.3304 right_roll=-0.1552 right_gripper=0.9986\nstate[joint_eff]: [0.1846, -7.0906, 6.0376, 0.7155, -0.4567, 0.1099, -0.0024, -0.0342, -2.6188, 6.9538, 1.4823, 0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0996, 1.7485, 0.8104, -0.5117, -0.7414, -1.0733, 0.4395, 0.1936, 1.008, 0.8848, -0.8131, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.2384 left_y=-0.1972 left_z=0.011 left_yaw=0.1576 left_pitch=-0.2735 left_roll=0.2395 left_gripper=0.4395 right_x=0.2751 right_y=0.0165 right_z=0.1699 right_yaw=-0.0482 right_pitch=-0.3405 right_roll=-0.1581 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -8.7179, 5.8462, 0.4078, -0.4274, -0.0513, 1.033, -0.1983, -2.3863, 6.7761, 1.409, 0.0513, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2118, 2.2353, 2.1952, -1.4429, -0.725, -1.2373, 0.4415, 0.1932, 1.008, 0.8848, -0.8135, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.2703 left_y=-0.3766 left_z=0.1686 left_yaw=0.1418 left_pitch=-0.2813 left_roll=0.1547 left_gripper=0.4415 right_x=0.2751 right_y=0.0164 right_z=0.1698 right_yaw=-0.0486 right_pitch=-0.3408 right_roll=-0.1582 right_gripper=0.9986\nstate[joint_eff]: [-0.9504, -12.3966, 6.6393, -0.6227, -0.5934, -0.0122, 1.033, -0.0342, -2.3726, 6.6393, 1.3602, 0.0317, -0.0757, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2427375a1d74988bcc52064acbc775756cc5051edd40f1eec82bcf653030c465",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236f82c228eac0f31bcae270ad5f778471deacd43634121ad1627044f32c5796",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 396):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db59d201177828f54cad91d0cc22372186dd61633c2f81215ce6c4a48ce7950d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDBaCsYedO6u5pW2PLyZThmk4GRH1NJ6XaTUn29o1tqJ0j2uc2l-agO-PHs8fjAkP-tA2ZFkJeuBek4NTG5a0PocDrdHL9XtzsSGnTZoBSB_95r4jai3dRK9kP7KWjKOG-YsKxt4Pqri3wjz_FUYa24xuzfGpC9ajz_InKKYd_fWNfIlTXixpgLERIkad9uo5UkY-EW9zoCPVHKMs8YxjmRWeRauxzy-1dU9VBRwcWH_7s8KbXvaN7T1ntEkx19FUrJaxMW1agA1zGl7RdovqtxREouj_IAUv2nol4f5BRi2dLkFtuqfzots25jQhLWCQVdFXw5rEwNJHCrJ3rYUjVbmfL6ozknICUedcGbgzMm9EuMp8DYbayxtGTsCF-SiT0Wjjo6FLzp4Wk0X6qgB2W0C6hGlPo94yjk6Mgre11zLOFs2xzfj14wc3YYct4KlU9LHv2vJG1pXPz4uzvRvlhQzYSaTlhqh3LpAU6QxszFotbrE5eW2JgXZqTwoQudB6tnky0jyJeLMcl3lmcgKEzPsaGRWxNn76R8AbnEfmoWHLAiEg0MD9xMIWBmzAav82fDHrKrs-yq2sXnhjvEAXtUtmMSq4n6Emq1SBMaoZ3EJAZz3wKqQNW0MOGCoV_KzCjdSTn4Qt0RsSKwZ41J186CQfP-SJfjZOKk0-idM3idnM-ibJob4B6iEyPp4ggTuJ-ObGMhyxO69XLcJJJp6oOqg_2lQkH37ErlNuUdXrL4YRlulqFuDuRuNQpaRgaRmB6tJ6nMjv_ez9G_RhPYp-kwzD1v58fzPXb24UyGExM82yCVQ8us8VYrhrM0JpOrW10jbllTH_s7ZeoKw4FBLM1JOY01i64jZaqJWEB_CkvTK2s-ruAPO5Px1Y20VBP5NwNnjwnhQgTSlb0G9Kcylje3MhMj2k31ZDCyUjuwWyECmC5ZbhloRWdfq8pGL_drsYH2Eha_XTBOGpUOYNPvgpLi1ZtCAx6xFNdPK1Z9w2lu7coWSUgYrD9S4EmcKmHi2Wkhz8tETe9IOFYcszC3QKHJWV0MnOIRTxd20Gr1O5A6jX3KvzZ98GsB-EQDbiKIRDuJu6j9juMGlKiGb7cY09ccOyPYDJivTOHjbxj9dvGYEV5rwNYO_UUnSzY9Yon0dBBKYZldNGT7N66fjLrVGO2xnYl0xmd3q3ziK0ODZ76EJoz3jUtuo7Xkibdl2O_zfzNZmfIKzoVEyBWXsV5vbYd8e-w-kzkfmE8UujiEPdxcQcuzhlLfGYQXk1-4jc54sNNaUVaWIJOY2iQ0uG07ilKg1WF5sXakuWb1SUKXJBUYokbD7VR2j-YyKmf89lV8J51ZG33oi3Xw4dIqVK0BQmwRDk7y8wyG1yezC7hS9MWpGC4vYMnOsdhLtOon39FhANS819jiMS0EfMmYFniEr6lVWQ8HIDxg0qZ4FahsMSsikNMqCt-N9oYdCn4dlYfr3PTrMWD-cC5AriwQzjKC2Zlz9VA6vsxFJhEREZ7m6hAkhkCsJwpjHKFHwhQPuzaOyy7f7YT1PyNPSlkhv0ZnI51v8tiN33ymKQR5-Ln41ZkVLuX2MtZTq2blIxMAQysj9RqaVsugGbRU3p22W9ykHyOrR3THRSk3gtnlJaesW-BQ_9WQbc0ivQkdNeCEvzIqXZpr-xE1QHh9R5Y9K8TQTdpyR819K9ijK1VdtWhuQMno-VsH6hZK5bBhazDLmtbOr26sLwwgfEHoDPBUffg1B3AUDnceLfxW3WGmYiNRb0iVrc_I6hWkHb34Eg4oMRGA3fMdAWSf4WLg0YuPtiyFUnEOXxwHM0cIpfc0qpo5Iy9WNeCV9tqd2WUKV3NNj7lTW8_2vpj-fMYv6r2aaj1SVct9UHjWTcnp5LaNh10JX-yiAKCOAwASh6KjJf5ssrdxVTXkUocfBpQfSOClJYErJJbKpBl_zo_M2u7qG0RODZZA7Ek-_Jdbo1fbL7kGRTgp-iG3UAScbqG5h8ZeMQgeMmwOTYJ5CgkesIisZ_iRBxVQ8JwRJsZ54O8E92m8DxYeuddN5QARPUNeOxYUgOGghUhxFUmU3d7ipuKklZVLJKpP6t_uNkWMFMueW70UnEVRIBve0mKHNSiYlkmo4vBeCidhtL-DX-liP7xc9piunLI8m_Wg=",
  "id": "rs_0e5c3612b8e83984016ab43056905c87d0815e5a035a8a0ee7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.235,\"left_y\":-0.397,\"left_z\":0.058},\"note\":\"The yellow fruit lifted securely. The blue bowl appears below and slightly right of it in the left wrist view, near the left arm's sideways limit; I'll move as far toward the bowl as permitted and lower the fruit over its opening.\"}",
  "call_id": "call_BVJu5Q07Fv3N3H3bpaMNgSsr",
  "id": "fc_0e5c3612b8e83984016ab43059077487d0b986dae038f08e75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BVJu5Q07Fv3N3H3bpaMNgSsr",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2922, 2.289, 1.8866, -1.169, -0.7174, -1.3315, 0.4416, 0.1936, 1.0119, 0.8848, -0.8314, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.2367 left_y=-0.3923 left_z=0.067 left_yaw=0.1388 left_pitch=-0.2965 left_roll=0.1797 left_gripper=0.4416 right_x=0.2718 right_y=0.0159 right_z=0.1664 right_yaw=-0.0501 right_pitch=-0.3619 right_roll=-0.1638 right_gripper=0.9986\nstate[joint_eff]: [-0.8, -11.9726, 5.0393, 0.3297, -0.5397, -0.1197, 0.9597, -0.2256, -2.5368, 6.6393, 1.5018, 0.0757, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8e819bfb97c99fd688a183a5114eae0c5b51cdc249bc1d0ed45c8c05c3aba2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0566c4580ed39eecd7d8e370d22868a15c5d4209411c9a24f5e2fac993004991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c342a1003601296d127dd525808844e686835e3b27fb287a94bb5b32f39ede",
      "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 · 5.04 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1, 1.7279, 0.8227, -0.5201, -0.7399, -1.0737, 0.9964, 0.1936, 1.008, 0.8848, -0.8101, 0.2298, 0.0406, 0.9986]\nstate[eef_state]: left_x=0.2403 left_y=-0.2016 left_z=0.0188 left_yaw=0.1507 left_pitch=-0.2673 left_roll=0.2146 left_gripper=0.9964 right_x=0.2757 right_y=0.0167 right_z=0.1703 right_yaw=-0.0478 right_pitch=-0.3375 right_roll=-0.1568 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -6.6256, 4.5607, 0.6227, -0.4274, -0.1099, -0.0122, -0.1026, -2.3863, 6.6667, 1.3846, 0.0757, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2118, 2.2353, 2.1952, -1.4429, -0.725, -1.2373, 0.4415, 0.1932, 1.008, 0.8848, -0.8135, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.2703 left_y=-0.3766 left_z=0.1686 left_yaw=0.1418 left_pitch=-0.2813 left_roll=0.1547 left_gripper=0.4415 right_x=0.2751 right_y=0.0164 right_z=0.1698 right_yaw=-0.0486 right_pitch=-0.3408 right_roll=-0.1582 right_gripper=0.9986\nstate[joint_eff]: [-0.9504, -12.3966, 6.6393, -0.6227, -0.5934, -0.0122, 1.033, -0.0342, -2.3726, 6.6393, 1.3602, 0.0317, -0.0757, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2922, 2.289, 1.8866, -1.169, -0.7174, -1.3315, 0.4416, 0.1936, 1.0119, 0.8848, -0.8314, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.2367 left_y=-0.3923 left_z=0.067 left_yaw=0.1388 left_pitch=-0.2965 left_roll=0.1797 left_gripper=0.4416 right_x=0.2718 right_y=0.0159 right_z=0.1664 right_yaw=-0.0501 right_pitch=-0.3619 right_roll=-0.1638 right_gripper=0.9986\nstate[joint_eff]: [-0.8, -11.9726, 5.0393, 0.3297, -0.5397, -0.1197, 0.9597, -0.2256, -2.5368, 6.6393, 1.5018, 0.0757, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8e819bfb97c99fd688a183a5114eae0c5b51cdc249bc1d0ed45c8c05c3aba2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0566c4580ed39eecd7d8e370d22868a15c5d4209411c9a24f5e2fac993004991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c342a1003601296d127dd525808844e686835e3b27fb287a94bb5b32f39ede",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0e5c3612b8e83984016ab4305c08f087d0a4f1fd4d853ddf45",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDBkDIkmaFAybbTnkqTa3blHs3157Eug1h_tBnv4f8SmlRYBWHlNNKFXInaUm8CYeXN1QDTDLKBW3jLTIAFM5ShCuhn3WVz4agvn_yZwK40LDnYPKyCOAjY7LDqmG3IK7G18U2byKlFnOev59m4VjVWcfbQE7GBwj7ozo7A4mr099_7pEDWI72WNxvNu5fgH-CVfpxxyJpDpvWQw0KjB4MDQUE2Qyxri3fT0Cunnte7WBqVl0ODwKbJmlSRApDYGR3D7hxvkzxWNlgaFlLX7RbqI_k4IUttthOGvzWX88VLNlbFBkowtT-r5TiqfHDx1brm7OjMWgLal1se9E-CEI3twAw4YZx_L4zqIEry8ixKU5FscjNWYY8yY8MQe1rDF5Oqy3tXOgtbI_SgkhstGg5qfQiuzqiMQgEDBWraQ_ELo1uTgG38p1NMej7zn9mbTREEbKd2bAEX2IsTJ67T4ps3J0nKERi83WKrSYZrjb-IN6SCWgzbrEVdIxkYwU_-4lWGLoGu-sZH4Luegu8E7CdWXChk38WN-PVfodMc3ZqZpmSZNfU7H5GsAUyqeroNqD4aoDU-YuYZAJLE4td1POLLa5RaAtQUTLKGE4iMkcHS4ZPLEA3hkm1JinlDw4xDY9iN7rkKyC3A6RjQ090tvjKFCZMO4HlepnCbEVS5xqT7VSmLZYrvzU0K7BsYznI3XcPP5qECMhnaN0U2AgRgxMKRblQwq76THsEhRXWQ0vpqi8ROP65gjYo-fIZYxK8Cbd2F3medbvoE483XNp0rHlrpi8AfasH43xRVV59UiSvBLMwXDh0quisv_zqNvRuBiGphnRuLvvhI19jB7W79y4J75PObI1aEl5i1QlBXDxlLm87futIOfPKP0sRDZ0_FxNRmor_jOYVyA0YDxVIY5PskGTFJmnlNAI2hmarnp2gx6d1TRTGKgBbsqvH9enKeft5z4YZPYgVPmGJ88VWvirtb3Hv5N7jjto4D0MptI1G5nkq_AYGA9lwjekBhnv0UVII8ozicoWSbjpHHjSKah-tx6TPVzuCz3t_fm55r7KSGPq9LLv6doljZ6PlfjS_RW0RVP_kjuOlsx9R8OfW5r7o4B0PHoerLNaFFt2UPN5Urs1L3BvplN4LrP_XShVUIhEpYBrLq6SHE3HdBijWWdlofYqtXdfcM1lm45Dr-773ln7od8NMI1HuHwBScflDHkLeqWKBIikyhXA9ezK1jqvL-EBQMAkUMLU1F-_k_0Z88QYmXYP3t1wH78KhMPrMrLTXGwcyw92-CHlelCt2Du63NUVh2O0eXfaByUfcfs_z7U2FV-5f4PKiIBj-x-A59q6LcVUh2rMdjQhR5dapUcC_i4hyyU0ty-mAcsC6XlfKwU5e2plMpTOgfy25zYNA1aF5raPrU_kzDVyw_caeoj6uuPGt2oktKm3CCSwr5BrhdwbFuuxiwQA8x_RGU3nuJxxkdOV0hs69HCZ5IolI-sK6ZmqzMd_0fvQZdte9iUiCsFiicF4QnJWGnqg2KVTEhtQaiapM4Un7A2BYpSiHFJlH00I7303MqBS2KnblJPbcLsFTA9FnL0tHLXJrMi-jkEKfKiBxpCHxHPfu4bkvVuPu9F7t5rVyrGolaDHkBnDvxxlXUOAAGGULnNTMDrw03kKU1eiLZysW2viXyMRluY12zygKfsVMAYhGPXX4KjxdyFZsC9G0pMCzdOsSh3zD6RWCX4sUDK75YFhruqa6lTeP9kfBI2vAcLGQq-8HjTu22wWrWM5VeigBCWX592ER7V3hBh6lx8_OcNgrKLjRs-uY0PK-EADkv45EEqjO00G_c-8EOI1qiLjbNoQK-i1qCdBERa83-TBqwOCwSWM7nkmMmaa577n1hq7PWc__yakPw9RoiMIduA_K92x00-wPdciVk97D7nlB7HaMZjTFPQC6P-JOg6qRTX_EUVUhYAV-Um_oY_YTb7uK1S7OoORVXOyrq9LLeOB7Khh8wGDlT_pAKJYwgsnvfhX9820hLP4gxwsFIIkDcMI3-VzSvhY377LoaIk-xGc3AiurBTH3-LDNHRtUssHl3QYoSJPNAxx9mIW90AbPjzHRnpxAWW3aiT3ZKqwiPSx9phrrSZboulnKjeMdtEnBWNpEu9qVpor8XGlrzvfyi8ZLmdaWqkz0RMWKQ64nA-n6WlipC9yHPCdD_Q9N99ZLkt_H5k57KUVVAaD5t0EWzmkykXpycBzleLZnc5acKYkYQuT6I5Cf2-ez5eRThaTCkDfLDbuQ15ohpwjDOA-ao2Sir1NjaphoHU1WI2BqN92rQVKzZLvfXPzr5IPh1_2RUzU9MQNubkvX-V3Mb7_Gaf9nGz8ecXU3wxDM20Z9WO_y4fX2cT4AOxyrDY97OBDcdqUeHlkgDoFoRQhE1EYjCBkn-aMPeFipH20Ebpw9UxHUetC2Piz2JpDzNV5yhXLt17GOc80HA822Gz997jDJzosqTUUy32rbTi0M4fg7LPr4794Kbfx56HMYexIYxI1AskZdjGJzGoqXGMHAcniU3cOAWAfp-DeH66TD-GdhpNThjvmYWPXSqCdItg6uUGA_T3VpdQIdaQrkXI1sWhgYSlMTfjTYqgjjcH4_a2iiWnlTvBDTRS1OT-1J9v-XE7175DvhK12SVM9asgdaQhLqVsgiOKD3A2SOUYGZgg5IG00Y3DWoXtydUz80ZTv_2DRfy0Jm0sjpn1IsJpSAL8pumprnWnSR59WpTSjUgOyNBDOxuCoBodVg2Dhm_LIebEokurLol2n4DrqHSsrENjEuTqxNd3gomadr0b_YMXpPXr-zxxERpyrQWTqJq8kJmM3W745fyS6ZShLXwZ3sj25pSdsSDwcbOMZX-Fwcuu7JQLY1axhsbjGyJshmt-giiZL-zdC0jl00EQwVVDMENe7GZ4WElBvvOsPoNRGM2X1O9Gng-2rOjMDrjGI8g5ex02Htud-OLaM9P8MwR_oRzsu8gRLjKHpnOZvBF-SCqtEMUZZrKUcgPoxd7B2JXR7q1i0UtvNCkxkSBFHh8Saac7OJTiSre2gv73-Fs9WvyHymPtbLHfrxwcS9jFmEEhpuKVxWNf0iE5KbFl9-vkjixgtXfmeXopMb5ryZlxdmv-01x9HYuV7HbO0jjTt7u3Pyy9VHWi2rV64pziJO91BTps_Brt-M_8V90Veyv5RwBfNksdLIoXDZK_5V5-TIPNfKi-EnZpJxalBPk0vOIPAJe6QlaErz6Wt6Ywvw9fDWqDgeSlGD0uT59uGSspKL9Hlg==",
  "id": "rs_0e5c3612b8e83984016ab43060032487d086d8aa3910f73488",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.11},\"note\":\"The yellow fruit is pressed against the blue bowl's near-left edge, but the left arm cannot move farther sideways to center it. I'll release it at the rim and lift the gripper to see whether it settles into the bowl.\"}",
  "call_id": "call_BsGTtPx9xZk3vrJGrLlYuluS",
  "id": "fc_0e5c3612b8e83984016ab43063740487d0bb216bb100a0e5d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BsGTtPx9xZk3vrJGrLlYuluS",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2919, 2.3058, 1.9976, -1.2892, -0.709, -1.3434, 0.9953, 0.1936, 1.0115, 0.8848, -0.8364, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.236 left_y=-0.3933 left_z=0.0868 left_yaw=0.1535 left_pitch=-0.3071 left_roll=0.1974 left_gripper=0.9953 right_x=0.2708 right_y=0.0157 right_z=0.1658 right_yaw=-0.0505 right_pitch=-0.3664 right_roll=-0.165 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -15.2684, 7.6376, 0.1148, -0.4615, 0.0659, -0.1001, -0.0342, -2.3863, 6.6256, 1.326, 0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2c8a707a54834940ab3e4c7504c468c37c6f5209e4ea3b9c033cf95f0ac107",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b3f7c12618983a72ec0ceec0cbad1c5eda3ae17bb4f47468804bdefa6c0d953",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7beb1522e7efbe932adfa4fa8dea83f0c78e807ab407e6b589794fef89e96987",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 2.964 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 155 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0996, 1.7485, 0.8104, -0.5117, -0.7414, -1.0733, 0.4395, 0.1936, 1.008, 0.8848, -0.8131, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.2384 left_y=-0.1972 left_z=0.011 left_yaw=0.1576 left_pitch=-0.2735 left_roll=0.2395 left_gripper=0.4395 right_x=0.2751 right_y=0.0165 right_z=0.1699 right_yaw=-0.0482 right_pitch=-0.3405 right_roll=-0.1581 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -8.7179, 5.8462, 0.4078, -0.4274, -0.0513, 1.033, -0.1983, -2.3863, 6.7761, 1.409, 0.0513, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2922, 2.289, 1.8866, -1.169, -0.7174, -1.3315, 0.4416, 0.1936, 1.0119, 0.8848, -0.8314, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.2367 left_y=-0.3923 left_z=0.067 left_yaw=0.1388 left_pitch=-0.2965 left_roll=0.1797 left_gripper=0.4416 right_x=0.2718 right_y=0.0159 right_z=0.1664 right_yaw=-0.0501 right_pitch=-0.3619 right_roll=-0.1638 right_gripper=0.9986\nstate[joint_eff]: [-0.8, -11.9726, 5.0393, 0.3297, -0.5397, -0.1197, 0.9597, -0.2256, -2.5368, 6.6393, 1.5018, 0.0757, -0.0806, -0.0171]",
      "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]: [-1.2919, 2.3058, 1.9976, -1.2892, -0.709, -1.3434, 0.9953, 0.1936, 1.0115, 0.8848, -0.8364, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.236 left_y=-0.3933 left_z=0.0868 left_yaw=0.1535 left_pitch=-0.3071 left_roll=0.1974 left_gripper=0.9953 right_x=0.2708 right_y=0.0157 right_z=0.1658 right_yaw=-0.0505 right_pitch=-0.3664 right_roll=-0.165 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -15.2684, 7.6376, 0.1148, -0.4615, 0.0659, -0.1001, -0.0342, -2.3863, 6.6256, 1.326, 0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2c8a707a54834940ab3e4c7504c468c37c6f5209e4ea3b9c033cf95f0ac107",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b3f7c12618983a72ec0ceec0cbad1c5eda3ae17bb4f47468804bdefa6c0d953",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7beb1522e7efbe932adfa4fa8dea83f0c78e807ab407e6b589794fef89e96987",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDBp6G_AVY-nXBDqJS9iLcPuoPJWfAPSvbTWw9fvw3WpscT5VAKaAOwkjZlAJTpIfq7Uz-CpIFr8-BzJVbXF5hLHbjnI9ThyEcimwaXpgdrqHA3xWBx68wdS7AGXWxLDdLptsOUmboGW-rK8PCtOGbE1vQKCylhqROi69kNsVULTblKEeKcP_5Ab_dphhk4I0w7e0fyjqZPa4Hre04tTCZ1xQTVcdZpT6r6iOQzs2401V94H7ggj7v9poOcTyq29WymsU48j-X_C_v4Fu3b0T5r3d4VR97xtwRw0MVQgHlVfU3K2ie5747XNP7UegBhAqWFnNviNkJLO9sFlnvqj1tJXQX84M3oAdwF-fXw_qpfN7XIpSbOgyCKTrocMIc1yarveSMUg09mP4U0AsrBhFetRkP5MrQiRPP2HJoo5_DPkp8Jdx-bAFLW7wFTdfQOjJ86czQqmvWTRdByWtg33CMwGFGwER008a9GMM3OV2SKAcJkvm-lQndkPC68TBmdvSPa-8qYoC2Llfo6QFY8Q6O1VuPIELlsLwYTL-pWO0Prie_cIYmWYff0MP6fxSTFTHiReFV2Wi0N9SQY-Nj0k4sUFWzs0GpohPd93rh0Pr9kJ3V5xEpXZtt6EnPwrSXk3CS4xquBQdF6MGI5tfiEHQTCu7GVEAuUT2en7KqrSkhMsJ_sXVMb3edzzgLbcURDbN7ERE3yujcRMV_bZwiO-KFNgukTNmy2XSl95Wr8zUrqLWtjYD5isjBF0k4gxxd-8sYvXnigZKyRCCbr30zyvsT9RWWb4T4qBCCksLOGL3VKz3L8_PFFMHT3d7sXFn8YvaTQk9JKnrVRIkGs_VV7lwyxwwSX0ZjyTtD6C11wHZmj_xcU6-ZmwIQMDGpmFY9_UqdPohCllKvR19yIF9w1fjjiBm2FZZ2rX9LBZyjZlIGIqzK_1H2qmgvuoWxOFfz-bkLxKdaqqpRdAcGJlhK787dHWbsI0KqxkpiGDMiSKYkKaw8eR4n_AgmwI8wspSQxMVqg1IhXxMVy_35TtguJHFsSFDo0Kqulbyyc2Hq4CaYLOTaXGdY3AF6zLW9tDhUCMxZ6KOz43KlI4mbU9I8a8HALIB1VMGy6pswoTxS4sZ4ur6TtoRhBvhLxwfe1gyHhNnG3giOvacSX-0KeR9NGW9-6FbboZSMiIh0-dGxajBm_z-HPE_gW0iauqR-5QsVvPVcZQXLH23i7ttFJPrAYSpB3uNY2pwP64pgWT28VJnQrFKvyrV47n4CaHOVSmTkNqcURIw_mfGuWqZacYhPyFwAXmqq97GueN6OZsitPW9_S4qw5AuIEl-8ztGYlPFun0EyKnVX1xbUGl0WHMXlvWxs-v5LJ-B9WAfvKvk4u2h7gqmtu8ByZZn69RrGTjNZCo_y_ge18x49Fr4gCejPaxfFhqSNypRHuX67VSKQJ39WW2iVsdavAl9oaVcD-xlWb_rXfap8_5ZXAftEpjZ3GyTGCaBqb_1tpp8V_7EvXNsr-6a9jv4jJ4JK0H5Xm057ZD73pCvT7x8TxDT8fFnw-DHwfABMyRwdvgO54Dm1GN0WVqTL7iFQeMvj-gBC1O1YsZmcrXj1ZuWkv_OlFZ5qENN5KYUnCRKXLZu8m68-AzjcJ_fSDZ9Q2OiR4WVL2mHOucZAq20xGRQjgb9iQupfCqPsp40K0HGJ8Pam4BhxLKeKMNn05fgDqhFLnILlK5u0KUjHoKljE8fQPdNyMmeZLhl7ovUsGUSEl7Tu9S1l0UWLzTAn2jeJZHfKjuBUqaRpzsdG-WrjBKRVrr2wf4YOSgSOM0Rx04bnqapQKYMdaq7fkFgRLskm7RadTu_tdwAKsOw2XlOCRCK7SXEG4k_3HMb2WUeAXpdsHyADLtJiuAReG4-uKuHI7qxQDy-h4o923dW3p2fYlMl7Bx6aTRJMGZrnB7B5k5GB77WnKuTY-QzUDFDi5FspCxKedz-eWBi7Wlw5vA-7XWKHQnf2_6pXoO7z4kCvUm_IhB_4fBnM86ZLdBwLMkkPz68FMXEv42fKXgApt9E6X0zW5LCfRKH-1tPaI2RrONYOjV_SE6OTX0sb4YjQOLjeOqnNYDGbB-mJ890QNTuFnZ3hKyKTz_zNKZ928tTzX1ff_MZFFc2vNbf3eSAoquV316O5-prX2RTjmttK8ppmrgRLVhDruAGcakhdH1KHhjFNI7Dz-IbXdeg8o_ZlXHSQrhQyVLOZnOOCGnZSpkzPeL9kBTyZIpR78JorZNm16YhPmQT6DdTQOFutHTBKCoNwzas6lgNF5TNQXMjjN6PjVj5sj4pswmUuSFoEIaYP7xuAtf5AGI5E0ysW7EkqsdoBNiaueV2_sg0FeHGZX7WIiVlwb51DfQ95wqobRhZRVI3CqtDjKlJDyUi17saXKHsbDzK7G6B7nf3GvvwNIK4u2js7lV377631Nit-ja_LuwGkj_IavHMMTh5iIscTuyUq2TySlqt4sSYjTictdsa0ogzYTkpJsknR0PRkIecN-gXZe2KEaIdMiXjdemBEX0j2yuPaMr8UXNP45TAul1siPfSLC1UjETNEGJV0jOYKA387T6ursIlEmm1EZVVOur7a56qIAzMHgeogHMgiPyHLo8kt-vAly6RX57hdMbi-wX6t90zwZmDhQvU43H3AX8X-bpjb-A7Gm-cXlQ6vi_2cI2hCcq7-6FaF0peEzR_c_G9f5vJxTVPM-SbW6H51OS1nIMWpuzhDOXUvhN-OIe-kFUKcI8Rqa2vMCEEB8XGSMfp61RZqLZGzcraWe8NGPfaeJs7hqO260nAl_54hw2",
  "id": "rs_0e5c3612b8e83984016ab43065f17087d0b5e2efa5df9b2b99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.225,\"left_y\":-0.26,\"left_z\":0.018,\"left_gripper\":0},\"note\":\"The yellow fruit landed just left of the blue bowl instead of inside it. I'll put the closed left jaws low on the fruit's far-left side, then try to nudge the upright fruit into the bowl.\"}",
  "call_id": "call_nBHZw7GWRTTOgla68wTlwLqS",
  "id": "fc_0e5c3612b8e83984016ab43068626c87d0883e9b94d0fb6d99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nBHZw7GWRTTOgla68wTlwLqS",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2152, 1.9312, 1.0912, -0.7521, -0.6979, -1.2499, 0.0076, 0.1936, 1.0119, 0.8848, -0.8505, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.22 left_y=-0.2561 left_z=0.0115 left_yaw=0.1764 left_pitch=-0.3281 left_roll=0.2527 left_gripper=0.0076 right_x=0.2681 right_y=0.0151 right_z=0.1637 right_yaw=-0.0519 right_pitch=-0.3804 right_roll=-0.1687 right_gripper=0.9986\nstate[joint_eff]: [0.3077, -10.5094, 5.1487, 0.6422, -0.4811, 0.0659, 0.6081, -0.0752, -2.3863, 6.7487, 1.4335, 0.0708, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b8c6662eed72d5a2a91909da73c819d72ee9edfb830d26cf287726c1d16f095",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45fdb90c4855f549814b79d7b267464f4fc70a5d927362dcd7aa124a205b9873",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a802aa58dceb2aa3265393c76f0ae3c088f342b69e18b8ad06a7dae09025b8",
      "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 · 3.908 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 155 changed as sent

message 159 changed as sent

message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2118, 2.2353, 2.1952, -1.4429, -0.725, -1.2373, 0.4415, 0.1932, 1.008, 0.8848, -0.8135, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.2703 left_y=-0.3766 left_z=0.1686 left_yaw=0.1418 left_pitch=-0.2813 left_roll=0.1547 left_gripper=0.4415 right_x=0.2751 right_y=0.0164 right_z=0.1698 right_yaw=-0.0486 right_pitch=-0.3408 right_roll=-0.1582 right_gripper=0.9986\nstate[joint_eff]: [-0.9504, -12.3966, 6.6393, -0.6227, -0.5934, -0.0122, 1.033, -0.0342, -2.3726, 6.6393, 1.3602, 0.0317, -0.0757, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "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]: [-1.2919, 2.3058, 1.9976, -1.2892, -0.709, -1.3434, 0.9953, 0.1936, 1.0115, 0.8848, -0.8364, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.236 left_y=-0.3933 left_z=0.0868 left_yaw=0.1535 left_pitch=-0.3071 left_roll=0.1974 left_gripper=0.9953 right_x=0.2708 right_y=0.0157 right_z=0.1658 right_yaw=-0.0505 right_pitch=-0.3664 right_roll=-0.165 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -15.2684, 7.6376, 0.1148, -0.4615, 0.0659, -0.1001, -0.0342, -2.3863, 6.6256, 1.326, 0.0611, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 159 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2152, 1.9312, 1.0912, -0.7521, -0.6979, -1.2499, 0.0076, 0.1936, 1.0119, 0.8848, -0.8505, 0.2302, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.22 left_y=-0.2561 left_z=0.0115 left_yaw=0.1764 left_pitch=-0.3281 left_roll=0.2527 left_gripper=0.0076 right_x=0.2681 right_y=0.0151 right_z=0.1637 right_yaw=-0.0519 right_pitch=-0.3804 right_roll=-0.1687 right_gripper=0.9986\nstate[joint_eff]: [0.3077, -10.5094, 5.1487, 0.6422, -0.4811, 0.0659, 0.6081, -0.0752, -2.3863, 6.7487, 1.4335, 0.0708, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b8c6662eed72d5a2a91909da73c819d72ee9edfb830d26cf287726c1d16f095",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45fdb90c4855f549814b79d7b267464f4fc70a5d927362dcd7aa124a205b9873",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a802aa58dceb2aa3265393c76f0ae3c088f342b69e18b8ad06a7dae09025b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDBt6jVBd537ujkhsLOkXfZGv3Er939AjtlD7UUGD_nAxVtacU471TqMNcX3pYL44IRipPcdAULaudQLyYwO9rDLHE_nTNtyYVMn-iyUqAoWhCqBVdNKDWFe_K9uwEYn_UjvVvAfVPb76285NSBnvb5oQpjnlCBlqdNviCjBW-QBymz_sAfFdKQjXPL4sQNtJdnVgbbwhJ8KTcaSTUtEuh2H6-cM4O_Dkm6cuVBAZg-wgbKhD6PlQJdPqM4GI4pvP2--oSeG0BtlmoEmdHcBkycdT2UqpJ56Jy3bK5cMqSGCYXZWVi7o436AKFi26rAjBgX3kWUAJuVfbPGGwG4fm2xTCn3e6hmDaVMqtmOUgITlpnLI8gxjV1OGX8aQlX4st0pok-HEaUbS-BaPfRJJGBScakBwizHJ5I8n_UZbUWk-XXYITYbESbJJuPs9s3AzGseZf07dU0QFpkVPQZWn0KIV4z1R6UNm9p2Nx0_6CErKTaBryFqlILiDs6_X9IKTNUxKEv40BxZY-LnoN99j9J_oHkPch8E-2ZZoTtA18sBrLAC5LFz3ZecfGM9gqJnhfzyHv5PFqV7HTJbx2UZ0H3tUOt5NubePglXphdxYFh28_Vid0T4XxPvkCIlKnYrerSW9oVTSTtePDUwS9SF7AQhmV0O4S9YFzaVRDex_IzcPRVm1SVdzNEPEkEWUHZWWNEbD-BS6pIUM1tKcFTboQfDUX-gNxq6wy2t0zFlW23GdMz9mf3a4Ik2Xz2wwuadYts0yq1wGbOhZixTUkRQ5aI217fmlEqZEub0qLiILh0xu2hl_xQXy9vAqdC1FfUZHeAm-j9JuI-FIlLVwaXuopIpVuTDPCYmUUrQ0zSqK256jx13dqgMOwDCe4wfZ9OOEnEvF6d7opwJxJDoVRsI4F1A4WBf_w8IYEzxDesOxqhqI_jaNfaAiZUoqN3Po3pyVrWqetFTC_Ib4L0A5yKVsxdUkEAOTMWtU7BL1ksjJp_HtzrXD0mKH-3WUSfBcdZ2Ci3gzz1reLzgLijo6wTaZgjkjU4tYQtH8He3anuQueemAYgVIMRFMSK6S5cIqTHkmn-sIN65viBm67IGS2uJ0J9Zd6x5OpEExDjVHHyhBBAiojr0RuOO5FbDxTdyEJ9HYXLphKtdWFtX75AFwtjqZM5gTJ7ocdZ4iAlaRP1uXv_cOysOGVNbI1CSMqU_E_LmSPRqnRrL5kBlKaKy8YtXhh19RpxzeQZgpHczTSKok2wtmIHlKadeaMjEUou7KavJV230o5nVuXl29zm9qM9qcUgwhFl3-Zv4eey42OSxq2-2m_0eSp3o5-gY3oTI2R7tZlUOQ9ZcM6zqd3gVc9LNf2AfoDqUZhGpgbQZT0ypiJFpUjJr09LixQFo-bF00MkcAPNmOVYBJd4FL5Y8-ZE2vwAhuSPWh4DELsMZS5vUovZ_jFZtUp9YQg1ibOjnCbXkCNw5657sdQRLMZ5Gehtuw_k8pO07A_CRRl26t7yL23V5jOYYuQH2gKIBJea-Vxz7wSFdX82dtkdLg55df8sOMcGmEStaNMUAJxU_Wuo7hXerGQ-kNMOE6JtlT-3W-NcaMXVn7bZTfCHvnnROg2pBe2SWuqjv4eRGgK4hRXehYxhENdExv2qae6denYVRQl864XNjX",
  "id": "rs_0e5c3612b8e83984016ab4306c474c87d0b60035b3abf9011d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.4,\"left_z\":0.013},\"note\":\"The closed left jaws are low beside the yellow fruit, with the blue bowl to its right. I'll sweep toward the bowl while moving slightly forward so the fingertips contact the fruit rather than sliding past it.\"}",
  "call_id": "call_j871xTe7fEuL9Hgn9kYKz1y6",
  "id": "fc_0e5c3612b8e83984016ab4306cf17487d09edbfe33300cdeac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j871xTe7fEuL9Hgn9kYKz1y6",
  "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]: [-1.214, 2.463, 1.9583, -1.0874, -0.6861, -1.2644, 0.0095, 0.1932, 1.0119, 0.8848, -0.8589, 0.2306, 0.0402, 0.9986]\nstate[eef_state]: left_x=0.2704 left_y=-0.3948 left_z=0.0053 left_yaw=0.1851 left_pitch=-0.3379 left_roll=0.241 left_gripper=0.0095 right_x=0.2664 right_y=0.0146 right_z=0.1626 right_yaw=-0.0534 right_pitch=-0.3885 right_roll=-0.1713 right_gripper=0.9986\nstate[joint_eff]: [-0.759, -13.2855, 7.5282, -0.1587, -0.4713, 0.0171, 0.1734, -0.1436, -2.3316, 6.5436, 1.3211, 0.1099, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90715820d9a17efbd9a0f8c12fb4927455f2ea8a5397d4b84e7a19b6631cc09b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f40b6abeb3ac8fb2416d3c8fe6d18182402e356185f1dde03e2671fb7472de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 435):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0abfb540edb1913308aed3aa31d2303b7de1f15a3cc85cbbe73e91676548f1c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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