adhoc

completed
2026-09-23T18:58:19.700419+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
224 s
total steps
395
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits—a dark one left of center, a yellow one below the blue bowl, and a green one to its right. I’ll bring the left gripper above the dark fruit to line up a grasp.
move_to
left_x0.3500left_y-0.1700left_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]: [-0.0204, 0.8005, 0.6136, -0.3824, -0.0139, -0.0299, 0.9989, -0.0219, 0.8005, 0.6186, -0.3874, -0.0174, -0.0334, 0.9995] state[eef_state]: left_x=0.2961 left_y=0.0 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=0.0002 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995 state[joint_eff]: [-0.4991, -1.6205, 9.7436, 1.7753, -0.0952, 0.1538, -0.1245, -0.2393, -1.7983, 9.2239, 1.8291, -0.0855, 0.188, -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":0.35,"left_y":-0.17,"left_z":0.15},"note":"I see three fruits—a dark one left of center, a yellow one below the blue bowl, and a green one to its right. I’ll bring the left gripper above the dark fruit to line up a grasp."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe dark fruit is centered between the left wrist-camera jaws and very close to the fingertips. I’ll lower the open gripper to its middle height before closing.
move_to
left_x0.3500left_y-0.1700left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7044, 1.3746, 0.7868, -0.16, -0.5617, -0.4515, 0.9988, -0.0227, 0.8005, 0.6178, -0.3943, -0.0231, -0.0368, 0.9994] state[eef_state]: left_x=0.3427 left_y=-0.1631 left_z=0.1358 left_yaw=-0.0065 left_pitch=-0.0441 left_roll=0.0235 left_gripper=0.9988 right_x=0.295 right_y=0.001 right_z=0.1816 right_yaw=0.0059 right_pitch=-0.0076 right_roll=0.0004 right_gripper=0.9994 state[joint_eff]: [-0.5128, -5.4496, 8.759, 1.5849, -0.4371, -0.0513, -0.022, -0.1162, -1.1009, 7.1179, 1.7705, 0.0464, -0.0317, -0.022] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.17,"left_z":0.035},"note":"The dark fruit is centered between the left wrist-camera jaws and very close to the fingertips. I’ll lower the open gripper to its middle height before closing."})
tool
executing move_to over 7 steps (0.7s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteAt grasp height the dark fruit has dropped below the wrist camera’s field of view, as expected near the fingertips. I’ll close the left jaws around it and check the gripper reading.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7036, 1.6634, 0.6128, 0.4007, -0.6102, -0.432, 0.9988, -0.0227, 0.8024, 0.6178, -0.3946, -0.0235, -0.0372, 0.9994] state[eef_state]: left_x=0.3648 left_y=-0.1721 left_z=0.0623 left_yaw=0.021 left_pitch=0.0504 left_roll=-0.0004 left_gripper=0.9988 right_x=0.2951 right_y=0.001 right_z=0.181 right_yaw=0.0064 right_pitch=-0.0098 right_roll=0.0004 right_gripper=0.9994 state[joint_eff]: [-0.5812, -5.2034, 3.6581, 1.0379, 0.188, -0.2808, -0.0122, -0.0752, -1.2513, 7.0769, 1.7021, -0.0269, -0.0513, -0.0171] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At grasp height the dark fruit has dropped below the wrist camera’s field of view, as expected near the fingertips. I’ll close the left jaws around it and check the gripper reading."})
tool
executing move_to over 10 steps (1.0s)
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 noteThe left gripper closed almost completely, so that grasp was empty. I’ll reopen it and move lower, slightly back toward the fruit’s original overhead position, for one corrected attempt.
move_to
left_x0.3400left_z0.0050left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7006, 1.6562, 0.6163, 0.3996, -0.6128, -0.4385, 0.0089, -0.0227, 0.8024, 0.6178, -0.395, -0.0235, -0.0372, 0.9994] state[eef_state]: left_x=0.3663 left_y=-0.1713 left_z=0.0661 left_yaw=0.03 left_pitch=0.0586 left_roll=-0.0113 left_gripper=0.0089 right_x=0.295 right_y=0.001 right_z=0.1809 right_yaw=0.0064 right_pitch=-0.0102 right_roll=0.0004 right_gripper=0.9994 state[joint_eff]: [-0.294, -6.2701, 5.2171, 1.5995, -0.1636, 0.0269, 0.6081, -0.1709, -1.2923, 7.0222, 1.707, -0.0171, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_x":0.34,"left_z":0.005,"left_gripper":1},"note":"The left gripper closed almost completely, so that grasp was empty. I’ll reopen it and move lower, slightly back toward the fruit’s original overhead position, for one corrected attempt."})
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 dark fruit is now visibly centered between the left jaws at table height. I’ll close on it again and use the settled jaw opening to check whether it is held.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.762, 1.8553, 0.4808, 0.6876, -0.651, -0.4847, 0.9978, -0.0227, 0.8024, 0.6178, -0.3946, -0.0235, -0.0372, 0.9994] state[eef_state]: left_x=0.3395 left_y=-0.1711 left_z=0.0034 left_yaw=0.0211 left_pitch=0.0406 left_roll=-0.0023 left_gripper=0.9978 right_x=0.2951 right_y=0.001 right_z=0.181 right_yaw=0.0064 right_pitch=-0.0098 right_roll=0.0004 right_gripper=0.9994 state[joint_eff]: [-0.7043, -6.1744, 3.3299, 1.8242, -0.3639, -0.0806, -0.2369, -0.0342, -1.2923, 7.0222, 1.6972, -0.0269, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper":0},"note":"The dark fruit is now visibly centered between the left jaws at table height. I’ll close on it again and use the settled jaw opening to check whether it is held."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe left jaws stopped about 4.3 cm apart, consistent with holding the dark fruit. I’ll lift it clear of the table and check that it follows before moving toward the blue bowl.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7616, 1.8553, 0.4793, 0.6834, -0.6472, -0.4881, 0.4519, -0.0227, 0.8024, 0.6178, -0.3946, -0.0238, -0.0372, 0.9994] state[eef_state]: left_x=0.3386 left_y=-0.1708 left_z=0.0021 left_yaw=0.0203 left_pitch=0.0348 left_roll=-0.0029 left_gripper=0.4519 right_x=0.2951 right_y=0.0011 right_z=0.181 right_yaw=0.0068 right_pitch=-0.0098 right_roll=0.0006 right_gripper=0.9994 state[joint_eff]: [-0.2393, -6.8444, 4.0137, 1.5946, -0.3053, -0.0122, 1.033, -0.1026, -1.1419, 7.0632, 1.6972, -0.0415, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The left jaws stopped about 4.3 cm apart, consistent with holding the dark fruit. I’ll lift it clear of the table and check that it follows before moving toward the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe dark fruit rose with the left gripper. I’ll carry it high over the blue bowl, which is near the left arm’s cross-over limit, then verify alignment before releasing.
move_to
left_x0.3900left_y-0.3900left_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]: [-0.762, 1.3602, 0.7719, -0.1318, -0.6399, -0.4969, 0.454, -0.0227, 0.8043, 0.6178, -0.395, -0.0238, -0.0368, 0.9994] state[eef_state]: left_x=0.3366 left_y=-0.1705 left_z=0.1446 left_yaw=0.0188 left_pitch=0.0119 left_roll=0.0056 left_gripper=0.454 right_x=0.2951 right_y=0.0011 right_z=0.1804 right_yaw=0.0066 right_pitch=-0.0121 right_roll=0.001 right_gripper=0.9994 state[joint_eff]: [-0.3624, -6.612, 8.5402, 1.4774, -0.315, 0.0757, 1.0281, -0.0205, -1.265, 7.0496, 1.7314, -0.0366, -0.0317, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.39,"left_z":0.18},"note":"The dark fruit rose with the left gripper. I’ll carry it high over the blue bowl, which is near the left arm’s cross-over limit, then verify alignment before releasing."})
tool
executing move_to over 20 steps (2.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe blue bowl is just to the right of the held fruit in the wrist view, and the left arm is nearly at its sideways limit. I’ll bring the fruit over the reachable near edge of the bowl and lower it to a safe release height.
move_to
left_x0.4200left_y-0.4000left_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]: [-1.0172, 2.1342, 1.8347, -0.5991, -0.8047, -0.7578, 0.454, -0.0227, 0.8078, 0.6174, -0.4095, -0.0235, -0.0372, 0.9994] state[eef_state]: left_x=0.3914 left_y=-0.3843 left_z=0.1697 left_yaw=0.0182 left_pitch=-0.0041 left_roll=-0.0008 left_gripper=0.454 right_x=0.2933 right_y=0.0011 right_z=0.1763 right_yaw=0.0064 right_pitch=-0.0304 right_roll=0.001 right_gripper=0.9994 state[joint_eff]: [-0.9778, -12.7795, 8.4991, 0.9499, -0.5885, -0.0415, 1.0281, -0.1709, -1.6205, 7.1726, 1.8095, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.4,"left_z":0.105},"note":"The blue bowl is just to the right of the held fruit in the wrist view, and the left arm is nearly at its sideways limit. I’ll bring the fruit over the reachable near edge of the bowl and lower it to a safe release height."})
tool
executing move_to over 5 steps (0.5s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe fruit now overlaps the blue bowl’s near-left opening, though the bowl center is beyond the left arm’s sideways reach. I’ll release it here and then move the gripper away to check whether it landed inside.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9855, 2.2879, 1.8282, -0.469, -0.7876, -0.7441, 0.4545, -0.0227, 0.8082, 0.6174, -0.4179, -0.0235, -0.0372, 0.9994] state[eef_state]: left_x=0.4147 left_y=-0.3926 left_z=0.1003 left_yaw=0.0323 left_pitch=-0.0314 left_roll=0.0294 left_gripper=0.4545 right_x=0.2922 right_y=0.0011 right_z=0.1745 right_yaw=0.0065 right_pitch=-0.0392 right_roll=0.0012 right_gripper=0.9994 state[joint_eff]: [0.1436, -14.2564, 6.4068, 1.5018, -0.3199, 0.1734, 0.9988, -0.1709, -1.306, 7.1726, 1.7558, -0.022, -0.0366, -0.0171] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The fruit now overlaps the blue bowl’s near-left opening, though the bowl center is beyond the left arm’s sideways reach. I’ll release it here and then move the gripper away to check whether it landed inside."})
tool
executing move_to over 6 steps (0.6s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe fruit has left the jaws, but the arms still block the overhead view, so its landing is uncertain. I’ll park the left arm back and bring the right arm above the yellow fruit, clearing the bowl for inspection.
move_to
left_x0.3000left_y-0.1000left_z0.1700right_x0.3500right_y0.1400right_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]: [-0.9848, 2.31, 1.8229, -0.4675, -0.7776, -0.7521, 0.9952, -0.0227, 0.8082, 0.6174, -0.421, -0.0235, -0.0372, 0.9994] state[eef_state]: left_x=0.4136 left_y=-0.3925 left_z=0.0856 left_yaw=0.0323 left_pitch=-0.0517 left_roll=0.0407 left_gripper=0.9952 right_x=0.2917 right_y=0.0011 right_z=0.1738 right_yaw=0.0065 right_pitch=-0.0422 right_roll=0.0013 right_gripper=0.9994 state[joint_eff]: [-0.2667, -15.2, 6.9675, 1.2137, -0.4762, 0.0708, -0.0708, -0.0615, -1.3197, 6.9812, 1.7607, -0.0464, -0.0562, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.17,"right_x":0.35,"right_y":0.14,"right_z":0.15},"note":"The fruit has left the jaws, but the arms still block the overhead view, so its landing is uncertain. I’ll park the left arm back and bring the right arm above the yellow fruit, clearing the bowl for inspection."})
tool
executing move_to over 26 steps (2.6s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe overhead view confirms the dark fruit is inside the blue bowl. The yellow fruit is still on the table just left of the right gripper; I’ll move the right gripper sideways over it while staying above grasp height.
move_to
right_x0.3500right_y0.2400right_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]: [-0.6365, 1.0718, 0.7322, -0.3981, -0.5613, -0.4484, 0.9959, 0.5755, 1.3071, 0.7502, -0.2089, 0.4335, 0.3054, 0.9994] state[eef_state]: left_x=0.3051 left_y=-0.1041 left_z=0.1712 left_yaw=0.0592 left_pitch=-0.0364 left_roll=0.0192 left_gripper=0.9959 right_x=0.338 right_y=0.1351 right_z=0.1288 right_yaw=0.0364 right_pitch=-0.1117 right_roll=-0.0439 right_gripper=0.9994 state[joint_eff]: [0.1846, -3.2479, 6.612, 1.6532, -0.1343, 0.1245, 0.0611, 0.4171, -4.8342, 9.5385, 1.8046, 0.3297, 0.2418, -0.0171] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.24,"right_z":0.12},"note":"The overhead view confirms the dark fruit is inside the blue bowl. The yellow fruit is still on the table just left of the right gripper; I’ll move the right gripper sideways over it while staying above grasp height."})
tool
executing move_to over 9 steps (0.9s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe yellow fruit is just below and slightly left of the right jaw center in the overhead and wrist views. I’ll correct that small offset and lower the open gripper to the fruit’s height.
move_to
right_x0.3250right_y0.2550right_z0.0200
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]: [-0.6334, 1.0752, 0.7235, -0.4152, -0.5453, -0.445, 0.9959, 0.8253, 1.6371, 1.0073, -0.2657, 0.5747, 0.4808, 0.9994] state[eef_state]: left_x=0.3017 left_y=-0.1034 left_z=0.1629 left_yaw=0.0492 left_pitch=-0.0661 left_roll=0.0322 left_gripper=0.9959 right_x=0.3442 right_y=0.2366 right_z=0.1093 right_yaw=0.0743 right_pitch=-0.147 right_roll=-0.0709 right_gripper=0.9994 state[joint_eff]: [-0.3761, -3.3983, 7.4872, 1.6581, -0.3785, -0.0415, -0.0122, 0.2393, -7.9248, 8.0752, 1.2674, 0.4811, 0.1441, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.255,"right_z":0.02},"note":"The yellow fruit is just below and slightly left of the right jaw center in the overhead and wrist views. I’ll correct that small offset and lower the open gripper to the fruit’s height."})
tool
executing move_to over 6 steps (0.6s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe small yellow-orange fruit is between the right jaws near table height; a second, larger yellow fruit is still to the right of the blue bowl. I’ll close on the smaller fruit first and check the jaw spacing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6331, 1.0752, 0.7235, -0.416, -0.5446, -0.445, 0.9959, 0.9039, 1.8118, 0.8772, 0.0124, 0.6243, 0.5251, 0.9994] state[eef_state]: left_x=0.3016 left_y=-0.1034 left_z=0.1627 left_yaw=0.0491 left_pitch=-0.067 left_roll=0.0323 left_gripper=0.9959 right_x=0.3293 right_y=0.2572 right_z=0.037 right_yaw=0.0917 right_pitch=-0.1365 right_roll=-0.0841 right_gripper=0.9994 state[joint_eff]: [-0.0752, -3.0701, 6.8171, 1.5018, -0.2564, -0.0317, -0.0122, 0.3487, -6.5983, 3.535, 0.8767, 0.3736, 0.1294, -0.0171] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The small yellow-orange fruit is between the right jaws near table height; a second, larger yellow fruit is still to the right of the blue bowl. I’ll close on the smaller fruit first and check the jaw spacing."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe right jaws closed almost empty, so the small fruit was not captured. It appears slightly behind the fingertips; I’ll reopen, shift about 2 cm back, and lower to table level for one corrected grasp.
move_to
right_x0.3070right_y0.2600right_z0.0050right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.416, -0.5442, -0.445, 0.9959, 0.9051, 1.8187, 0.8665, 0.0177, 0.6365, 0.5117, 0.0226] state[eef_state]: left_x=0.3017 left_y=-0.1033 left_z=0.1627 left_yaw=0.0492 left_pitch=-0.0672 left_roll=0.0321 left_gripper=0.9959 right_x=0.3279 right_y=0.2534 right_z=0.0327 right_yaw=0.0906 right_pitch=-0.1385 right_roll=-0.1101 right_gripper=0.0226 state[joint_eff]: [-0.1846, -2.7145, 6.8308, 1.4872, -0.2613, -0.0317, -0.0073, -0.1846, -8.4034, 6.2154, 1.2234, 0.1441, 0.0855, 0.862] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.307,"right_y":0.26,"right_z":0.005,"right_gripper":1},"note":"The right jaws closed almost empty, so the small fruit was not captured. It appears slightly behind the fingertips; I’ll reopen, shift about 2 cm back, and lower to table level for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe right gripper is now lower and shifted back over the small fruit, which the arm largely hides in the overhead view. I’ll close once more and check whether the jaw spacing indicates a grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.4164, -0.5415, -0.445, 0.9959, 0.9653, 1.8694, 0.8204, 0.0731, 0.6579, 0.5621, 0.9954] state[eef_state]: left_x=0.3015 left_y=-0.1037 left_z=0.1624 left_yaw=0.0471 left_pitch=-0.0686 left_roll=0.0309 left_gripper=0.9959 right_x=0.3075 right_y=0.2607 right_z=0.0081 right_yaw=0.1051 right_pitch=-0.1503 right_roll=-0.1146 right_gripper=0.9954 state[joint_eff]: [-0.1573, -3.0974, 6.8308, 1.4628, -0.2466, -0.0269, -0.0122, 0.4308, -7.3094, 4.4786, 1.3846, 0.398, 0.1441, -0.1734] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper is now lower and shifted back over the small fruit, which the arm largely hides in the overhead view. I’ll close once more and check whether the jaw spacing indicates a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe right jaws stopped about 1 cm apart this time, suggesting they caught the small fruit. I’ll lift it and use the overhead view to confirm it actually moves with the gripper.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.4168, -0.5411, -0.445, 0.9959, 0.9649, 1.8587, 0.8196, 0.0799, 0.6918, 0.5381, 0.1044] state[eef_state]: left_x=0.3014 left_y=-0.1037 left_z=0.1624 left_yaw=0.0469 left_pitch=-0.0691 left_roll=0.0309 left_gripper=0.9959 right_x=0.3113 right_y=0.2578 right_z=0.0157 right_yaw=0.0977 right_pitch=-0.1198 right_roll=-0.1385 right_gripper=0.1044 state[joint_eff]: [-0.1162, -2.9744, 6.8171, 1.4725, -0.2808, -0.0611, -0.0122, 0.0615, -7.0085, 5.0393, 1.1453, -0.0317, 0.1636, 0.6716] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"The right jaws stopped about 1 cm apart this time, suggesting they caught the small fruit. I’ll lift it and use the overhead view to confirm it actually moves with the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteA small yellow piece is visible below the raised right arm, so I can’t yet tell if the grasp is secure; the jaws remain slightly open. I’ll bring them over the blue bowl and release anything they are holding there.
move_to
right_x0.4100right_y0.1700right_z0.1250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.4168, -0.5411, -0.445, 0.996, 0.9649, 1.6203, 1.1152, -0.4736, 0.6765, 0.5343, 0.1057] state[eef_state]: left_x=0.3014 left_y=-0.1037 left_z=0.1624 left_yaw=0.0469 left_pitch=-0.0691 left_roll=0.0309 left_gripper=0.996 right_x=0.3115 right_y=0.2617 right_z=0.1373 right_yaw=0.1075 right_pitch=-0.1423 right_roll=-0.1481 right_gripper=0.1057 state[joint_eff]: [-0.253, -2.947, 6.7897, 1.4774, -0.2759, -0.0366, -0.0122, -0.253, -10.0308, 8.3897, 1.1941, 0.4469, 0.022, 0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.17,"right_z":0.125},"note":"A small yellow piece is visible below the raised right arm, so I can’t yet tell if the grasp is secure; the jaws remain slightly open. I’ll bring them over the blue bowl and release anything they are holding there."})
tool
executing move_to over 8 steps (0.8s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe small yellow fruit is clearly still on the table below the bowl, so the slight jaw opening was not a secure lift. I’ll open the gripper over the bowl and reposition over the larger yellow-green fruit at its right side.
move_to
right_gripper1.0000right_x0.3400right_y0.1000right_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]: [-0.6327, 1.0763, 0.7235, -0.4198, -0.5407, -0.445, 0.9959, 0.5629, 1.6218, 1.0348, -0.2573, 0.4294, 0.1982, 0.1058] state[eef_state]: left_x=0.3011 left_y=-0.1036 left_z=0.1615 left_yaw=0.0468 left_pitch=-0.0725 left_roll=0.0333 left_gripper=0.9959 right_x=0.3959 right_y=0.1671 right_z=0.1176 right_yaw=0.0795 right_pitch=-0.1878 right_roll=-0.1617 right_gripper=0.1058 state[joint_eff]: [-0.3487, -3.0974, 6.8034, 1.5116, -0.2027, -0.0513, -0.0171, -0.212, -6.8171, 7.1043, 1.746, 0.1783, -0.0024, -0.0024] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.34,"right_y":0.1,"right_z":0.15},"note":"The small yellow fruit is clearly still on the table below the bowl, so the slight jaw opening was not a secure lift. I’ll open the gripper over the bowl and reposition over the larger yellow-green fruit at its right side."})
tool
executing move_to over 9 steps (0.9s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe larger yellow-green fruit is centered in the right wrist camera but sits a little short of the fingertips. I’ll advance about 2.5 cm and descend to its mid-height for a grasp.
move_to
right_x0.3700right_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]: [-0.6327, 1.0771, 0.7235, -0.4225, -0.5404, -0.445, 0.9959, 0.4553, 1.2861, 0.8585, -0.387, 0.3603, 0.1146, 0.9954] state[eef_state]: left_x=0.3008 left_y=-0.1034 left_z=0.1609 left_yaw=0.0466 left_pitch=-0.0754 left_roll=0.0353 left_gripper=0.9959 right_x=0.3449 right_y=0.1035 right_z=0.1473 right_yaw=0.075 right_pitch=-0.1895 right_roll=-0.1638 right_gripper=0.9954 state[joint_eff]: [-0.335, -3.0291, 6.8034, 1.5702, -0.2369, -0.0513, -0.0122, -0.3214, -5.3402, 6.3932, 1.5214, 0.0757, 0.1001, -0.0708] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_z":0.018},"note":"The larger yellow-green fruit is centered in the right wrist camera but sits a little short of the fingertips. I’ll advance about 2.5 cm and descend to its mid-height for a grasp."})
tool
executing move_to over 9 steps (0.9s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe larger fruit is directly between the low right jaws, with its upper portion visible at the bottom of the wrist view. I’ll close and check whether the jaws stop around it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4232, -0.5373, -0.445, 0.9959, 0.4164, 1.6501, 0.6071, 0.1585, 0.334, 0.0872, 0.9965] state[eef_state]: left_x=0.3006 left_y=-0.1038 left_z=0.1605 left_yaw=0.0444 left_pitch=-0.0773 left_roll=0.0341 left_gripper=0.9959 right_x=0.357 right_y=0.0985 right_z=0.0106 right_yaw=0.0669 right_pitch=-0.2644 right_roll=-0.1902 right_gripper=0.9965 state[joint_eff]: [-0.2393, -3.1248, 6.8444, 1.4579, -0.2125, -0.0806, -0.0122, -0.4034, -7.1316, 4.8615, 1.6972, 0.0562, -0.0708, 0.1001] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The larger fruit is directly between the low right jaws, with its upper portion visible at the bottom of the wrist view. I’ll close and check whether the jaws stop around it."})
tool
executing move_to over 10 steps (1.0s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteThe right jaws stopped widely around the larger fruit. I’ll lift it clear and check whether the yellow-green fruit leaves the table with the gripper.
move_to
right_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]: [-0.6327, 1.0771, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4156, 1.6604, 0.601, 0.1856, 0.3355, 0.078, 0.7285] state[eef_state]: left_x=0.3005 left_y=-0.1038 left_z=0.1605 left_yaw=0.0444 left_pitch=-0.0776 left_roll=0.0343 left_gripper=0.9959 right_x=0.3587 right_y=0.0986 right_z=0.0092 right_yaw=0.0709 right_pitch=-0.2549 right_roll=-0.194 right_gripper=0.7285 state[joint_eff]: [-0.253, -2.906, 6.8308, 1.4628, -0.2271, -0.0317, -0.0073, -0.0068, -7.4735, 5.559, 1.1062, 0.0855, 0.0757, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The right jaws stopped widely around the larger fruit. I’ll lift it clear and check whether the yellow-green fruit leaves the table with the gripper."})
tool
executing move_to over 12 steps (1.2s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteThe large yellow fruit has lifted off the table with the right gripper. I’ll move it high toward the center of the blue bowl, leaving the smaller yellow fruit on the table for the next pickup.
move_to
right_x0.4300right_y0.1500right_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]: [-0.6327, 1.0771, 0.7235, -0.4236, -0.5373, -0.4454, 0.9959, 0.4168, 1.388, 1.0317, -0.5552, 0.3313, 0.07, 0.7285] state[eef_state]: left_x=0.3005 left_y=-0.1038 left_z=0.1605 left_yaw=0.0446 left_pitch=-0.0776 left_roll=0.034 left_gripper=0.9959 right_x=0.3581 right_y=0.0996 right_z=0.1551 right_yaw=0.0763 right_pitch=-0.2925 right_roll=-0.2096 right_gripper=0.7285 state[joint_eff]: [-0.253, -3.1248, 6.9675, 1.5018, -0.2369, -0.0757, -0.0073, -0.4308, -8.0342, 9.265, 1.4481, 0.188, 0.0464, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.15,"right_z":0.19},"note":"The large yellow fruit has lifted off the table with the right gripper. I’ll move it high toward the center of the blue bowl, leaving the smaller yellow fruit on the table for the next pickup."})
tool
executing move_to over 6 steps (0.6s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteThe held yellow fruit is over the blue bowl but slightly off-center in the wrist view. I’ll shift it a few centimeters toward the bowl center and lower it just above the rim before releasing.
move_to
right_y0.1800right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.0794, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 0.4633, 1.7054, 1.4418, -0.7048, 0.3431, 0.0788, 0.7285] state[eef_state]: left_x=0.3006 left_y=-0.1038 left_z=0.1598 left_yaw=0.0445 left_pitch=-0.0797 left_roll=0.036 left_gripper=0.9959 right_x=0.42 right_y=0.1474 right_z=0.173 right_yaw=0.1017 right_pitch=-0.3415 right_roll=-0.2337 right_gripper=0.7285 state[joint_eff]: [-0.2393, -3.3026, 6.7761, 1.4139, -0.2222, -0.0659, -0.0122, 0.2667, -8.9368, 8.1026, 1.3016, 0.3004, 0.2662, 1.0232] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.18,"right_z":0.11},"note":"The held yellow fruit is over the blue bowl but slightly off-center in the wrist view. I’ll shift it a few centimeters toward the bowl center and lower it just above the rim before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteThe large fruit is centered over the blue bowl’s opening, with the dark fruit already inside. I’ll open the right jaws to set the large fruit into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.0801, 0.7235, -0.4236, -0.5373, -0.4454, 0.9959, 0.5392, 1.8019, 1.3159, -0.5808, 0.3614, 0.1204, 0.7312] state[eef_state]: left_x=0.3006 left_y=-0.1039 left_z=0.1596 left_yaw=0.0448 left_pitch=-0.08 left_roll=0.036 left_gripper=0.9959 right_x=0.4067 right_y=0.1747 right_z=0.1017 right_yaw=0.1238 right_pitch=-0.4212 right_roll=-0.2631 right_gripper=0.7312 state[joint_eff]: [-0.3487, -3.1932, 6.7761, 1.4676, -0.2662, -0.0757, -0.0073, 0.0342, -9.4017, 6.612, 1.3993, 0.398, 0.0952, 1.0281] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The large fruit is centered over the blue bowl’s opening, with the dark fruit already inside. I’ll open the right jaws to set the large fruit into the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 238
top_cam
camera top_cam step 238
left_cam
camera left_cam step 238
right_cam
camera right_cam step 238
assistant
agent noteThe large fruit has been released into the blue bowl. The remaining small yellow fruit is on the table closer to the bases than our earlier grasp; I’ll move the right arm back over it to correct the radial alignment.
move_to
right_x0.2450right_y0.2600right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.0801, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.5461, 1.8153, 1.3128, -0.5354, 0.366, 0.1307, 0.9957] state[eef_state]: left_x=0.3006 left_y=-0.1039 left_z=0.1596 left_yaw=0.0445 left_pitch=-0.08 left_roll=0.0363 left_gripper=0.9959 right_x=0.4129 right_y=0.1811 right_z=0.1005 right_yaw=0.1261 right_pitch=-0.3917 right_roll=-0.2479 right_gripper=0.9957 state[joint_eff]: [-0.335, -2.9607, 6.8171, 1.4676, -0.232, -0.0513, -0.0073, -0.4308, -10.1128, 6.188, 1.4969, 0.315, 0.1197, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.245,"right_y":0.26,"right_z":0.11},"note":"The large fruit has been released into the blue bowl. The remaining small yellow fruit is on the table closer to the bases than our earlier grasp; I’ll move the right arm back over it to correct the radial alignment."})
tool
executing move_to over 13 steps (1.3s)
step 251
top_cam
camera top_cam step 251
left_cam
camera left_cam step 251
assistant
agent noteThe remaining yellow fruit is now visible just left of the right wrist-camera jaw center, and the blue bowl holds the other two fruits. I’ll nudge the right gripper sideways and lower it around this last fruit.
move_to
right_x0.2650right_y0.2850right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.4454, 0.9959, 1.0573, 1.6646, 1.1675, -0.7868, 0.543, 0.5941, 0.9965] state[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.045 left_pitch=-0.0832 left_roll=0.0386 left_gripper=0.9959 right_x=0.2489 right_y=0.2628 right_z=0.0986 right_yaw=0.1787 right_pitch=-0.4258 right_roll=-0.2669 right_gripper=0.9965 state[joint_eff]: [-0.3761, -3.4393, 6.8171, 1.4335, -0.2955, -0.0659, -0.0122, 1.2376, -9.0188, 7.4598, 0.7985, 0.3736, 0.1099, 0.0659] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.285,"right_z":0.015},"note":"The remaining yellow fruit is now visible just left of the right wrist-camera jaw center, and the blue bowl holds the other two fruits. I’ll nudge the right gripper sideways and lower it around this last fruit."})
tool
executing move_to over 6 steps (0.6s)
step 257
assistant
agent noteAt table height the small fruit still sits low in the wrist frame, just behind the gripping point. I’ll back the gripper another few centimeters while keeping the jaws open, then make a fresh close.
move_to
right_x0.2250right_y0.2900right_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.084, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 1.0489, 1.8725, 1.0924, -0.5446, 0.5369, 0.5865, 0.9965] state[eef_state]: left_x=0.3008 left_y=-0.104 left_z=0.1585 left_yaw=0.0447 left_pitch=-0.083 left_roll=0.0387 left_gripper=0.9959 right_x=0.259 right_y=0.2764 right_z=0.0194 right_yaw=0.1631 right_pitch=-0.4575 right_roll=-0.3022 right_gripper=0.9965 state[joint_eff]: [-0.1573, -3.0291, 6.7897, 1.4481, -0.2613, -0.0513, -0.0122, -0.0205, -8.5812, 4.6017, 0.8376, 0.2906, 0.0366, -0.0122] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.225,"right_y":0.29,"right_z":0.005},"note":"At table height the small fruit still sits low in the wrist frame, just behind the gripping point. I’ll back the gripper another few centimeters while keeping the jaws open, then make a fresh close."})
tool
executing move_to over 3 steps (0.3s)
step 260
assistant
agent noteBacking up brought the fruit within the jaw depth, but it is now to the right of the wrist-camera center. I’ll correct the sideways offset before closing.
move_to
right_y0.2770
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]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1374, 1.8946, 1.0863, -0.5339, 0.5453, 0.6567, 0.9965] state[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.0448 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.2339 right_y=0.2957 right_z=0.0114 right_yaw=0.2001 right_pitch=-0.4508 right_roll=-0.2818 right_gripper=0.9965 state[joint_eff]: [-0.0752, -2.9744, 6.8171, 1.4579, -0.2711, -0.0464, -0.0122, 0.1299, -8.0342, 4.5607, 0.5446, 0.3883, 0.1148, -0.0073] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.277},"note":"Backing up brought the fruit within the jaw depth, but it is now to the right of the wrist-camera center. I’ll correct the sideways offset before closing."})
tool
executing move_to over 2 steps (0.2s)
step 262
assistant
agent noteThe first sideways correction has barely reached the gripper, and the fruit remains right of center. I’ll give the arm a slightly farther target to bring the open jaws around it without dragging it.
move_to
right_x0.2400right_y0.2650right_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6323, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1614, 1.8946, 1.0847, -0.5545, 0.5457, 0.693, 0.9965] state[eef_state]: left_x=0.3008 left_y=-0.1038 left_z=0.1585 left_yaw=0.0451 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.2247 right_y=0.2966 right_z=0.01 right_yaw=0.1943 right_pitch=-0.4579 right_roll=-0.2807 right_gripper=0.9965 state[joint_eff]: [-0.0479, -3.1248, 6.7897, 1.4335, -0.2808, -0.0317, -0.0122, -0.2393, -7.9932, 4.588, 0.6178, 0.4029, 0.1441, -0.0073] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.24,"right_y":0.265,"right_z":0.005},"note":"The first sideways correction has barely reached the gripper, and the fruit remains right of center. I’ll give the arm a slightly farther target to bring the open jaws around it without dragging it."})
tool
executing move_to over 3 steps (0.3s)
step 265
assistant
agent noteThe low right arm has stopped tracking the sideways correction, but the last fruit is still between the open jaws. I’ll close once here and check whether it is securely captured before changing approach.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 1.1614, 1.8946, 1.0847, -0.5549, 0.5457, 0.6933, 0.9966] state[eef_state]: left_x=0.3007 left_y=-0.104 left_z=0.1584 left_yaw=0.0445 left_pitch=-0.0834 left_roll=0.0387 left_gripper=0.9959 right_x=0.2247 right_y=0.2966 right_z=0.01 right_yaw=0.1939 right_pitch=-0.458 right_roll=-0.2808 right_gripper=0.9966 state[joint_eff]: [-0.0752, -2.9197, 6.8308, 1.453, -0.2027, -0.0757, -0.0122, -0.1573, -7.9932, 4.7932, 0.5788, 0.3834, 0.1734, -0.0122] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The low right arm has stopped tracking the sideways correction, but the last fruit is still between the open jaws. I’ll close once here and check whether it is securely captured before changing approach."})
tool
executing move_to over 10 steps (1.0s)
step 275
assistant
agent noteThe jaws closed fully empty, so that last fruit is not held. The arm also stalled when adjusting sideways at table height; I’ll raise and retreat to get a clear overhead view before trying another approach.
move_to
right_x0.3000right_y0.2200right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5369, -0.4454, 0.9959, 1.1614, 1.8946, 1.0824, -0.5579, 0.5419, 0.6891, 0.0091] state[eef_state]: left_x=0.3007 left_y=-0.104 left_z=0.1584 left_yaw=0.0447 left_pitch=-0.0834 left_roll=0.0384 left_gripper=0.9959 right_x=0.2236 right_y=0.2955 right_z=0.0089 right_yaw=0.196 right_pitch=-0.4648 right_roll=-0.2858 right_gripper=0.0091 state[joint_eff]: [-0.3487, -3.1658, 6.9675, 1.4335, -0.2564, -0.0513, -0.0122, -0.1846, -8.7453, 5.4222, 0.6764, 0.2906, 0.0073, 0.735] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.22,"right_z":0.16,"right_gripper":1},"note":"The jaws closed fully empty, so that last fruit is not held. The arm also stalled when adjusting sideways at table height; I’ll raise and retreat to get a clear overhead view before trying another approach."})
tool
executing move_to over 10 steps (1.0s)
step 285
assistant
agent noteThe overhead view now clearly shows the last small fruit at the lower center of the table; both larger fruits remain in the blue bowl. I’ll approach it farther back toward the base, where it actually lies, while staying above it.
move_to
right_x0.2000right_y0.2600right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6323, 1.084, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 0.8433, 1.6337, 1.3197, -0.9062, 0.4549, 0.3618, 0.9954] state[eef_state]: left_x=0.3008 left_y=-0.1039 left_z=0.1584 left_yaw=0.0449 left_pitch=-0.0834 left_roll=0.0387 left_gripper=0.9959 right_x=0.2991 right_y=0.2246 right_z=0.1422 right_yaw=0.1765 right_pitch=-0.4734 right_roll=-0.2885 right_gripper=0.9954 state[joint_eff]: [-0.0205, -2.9607, 6.7897, 1.4774, -0.2222, -0.0611, -0.0073, -0.2803, -9.6479, 7.8154, 0.779, 0.149, 0.1099, 0.0269] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.2,"right_y":0.26,"right_z":0.09},"note":"The overhead view now clearly shows the last small fruit at the lower center of the table; both larger fruits remain in the blue bowl. I’ll approach it farther back toward the base, where it actually lies, while staying above it."})
tool
executing move_to over 8 steps (0.8s)
step 293
assistant
agent noteThe small fruit is visible left of the right jaw center and still forward of the open gripper. I’ll shift left and back toward it while descending to its height.
move_to
right_x0.1700right_y0.2900right_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]: [-0.6323, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1667, 1.6196, 1.1316, -0.8951, 0.5213, 0.6682, 0.9964] state[eef_state]: left_x=0.3008 left_y=-0.1038 left_z=0.1585 left_yaw=0.0451 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.203 right_y=0.2601 right_z=0.0947 right_yaw=0.218 right_pitch=-0.492 right_roll=-0.2967 right_gripper=0.9964 state[joint_eff]: [0.0068, -2.6598, 6.8444, 1.4579, -0.2564, -0.0708, -0.0122, 0.1709, -6.0513, 5.6547, 0.6911, 0.4664, 0.1392, 0.0952] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.17,"right_y":0.29,"right_z":0.025},"note":"The small fruit is visible left of the right jaw center and still forward of the open gripper. I’ll shift left and back toward it while descending to its height."})
tool
executing move_to over 5 steps (0.5s)
step 298
assistant
agent noteThe last yellow fruit is now centered between the right jaws at a suitable grasp height. I’ll close on it and check the settled jaw opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.2907, 1.787, 1.055, -0.7574, 0.5259, 0.7799, 0.9965] state[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.0448 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.1694 right_y=0.281 right_z=0.0288 right_yaw=0.2242 right_pitch=-0.5261 right_roll=-0.3404 right_gripper=0.9965 state[joint_eff]: [-0.0889, -2.9607, 6.8991, 1.4383, -0.2711, -0.0415, -0.0073, 0.3897, -7.5556, 5.2171, 0.3834, 0.4371, 0.2955, 0.0024] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The last yellow fruit is now centered between the right jaws at a suitable grasp height. I’ll close on it and check the settled jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 308
assistant
agent noteThe jaws stopped about 5 cm apart around the remaining fruit. I’ll lift it to confirm it comes off the table before carrying it to the blue bowl.
move_to
right_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]: [-0.6323, 1.0851, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.3006, 1.8091, 1.0542, -0.7219, 0.5312, 0.8162, 0.5636] state[eef_state]: left_x=0.3008 left_y=-0.1039 left_z=0.1581 left_yaw=0.0452 left_pitch=-0.0841 left_roll=0.0396 left_gripper=0.9959 right_x=0.1689 right_y=0.2879 right_z=0.0231 right_yaw=0.2172 right_pitch=-0.5092 right_roll=-0.3106 right_gripper=0.5636 state[joint_eff]: [0.0479, -3.0427, 6.8171, 1.453, -0.2759, -0.0122, -0.0122, 0.1846, -8.1983, 4.9983, 0.5739, 0.3785, 0.0562, 0.8132] camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The jaws stopped about 5 cm apart around the remaining fruit. I’ll lift it to confirm it comes off the table before carrying it to the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 319
assistant
agent noteThe last fruit rose cleanly with the right gripper; all the other fruits are already in the blue bowl. I’ll carry this one above the bowl at a clearance height.
move_to
right_x0.4300right_y0.1700right_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.0874, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 1.3006, 1.7069, 1.5169, -1.2762, 0.5201, 0.812, 0.5636] state[eef_state]: left_x=0.3008 left_y=-0.1041 left_z=0.1575 left_yaw=0.0447 left_pitch=-0.0861 left_roll=0.0409 left_gripper=0.9959 right_x=0.1695 right_y=0.2964 right_z=0.1642 right_yaw=0.229 right_pitch=-0.5145 right_roll=-0.2961 right_gripper=0.5636 state[joint_eff]: [-0.1846, -3.3709, 6.8855, 1.4921, -0.1929, -0.0611, -0.0122, -0.0479, -9.2103, 7.1316, 0.398, 0.3492, 0.0122, 0.359] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.17,"right_z":0.21},"note":"The last fruit rose cleanly with the right gripper; all the other fruits are already in the blue bowl. I’ll carry this one above the bowl at a clearance height."})
tool
executing move_to over 21 steps (2.1s)
step 340
assistant
agent noteThe last fruit is aligned with the bowl sideways, but sits over its near edge in the wrist view. I’ll advance it a few centimeters toward the bowl center and lower it for a careful release.
move_to
right_x0.4500right_y0.1700right_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]: [-0.6327, 1.0904, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 0.485, 1.9079, 1.8977, -1.1446, 0.2817, -0.0303, 0.5652] state[eef_state]: left_x=0.301 left_y=-0.1041 left_z=0.1566 left_yaw=0.0451 left_pitch=-0.0883 left_roll=0.043 left_gripper=0.9959 right_x=0.4191 right_y=0.1694 right_z=0.1994 right_yaw=0.2132 right_pitch=-0.5513 right_roll=-0.3063 right_gripper=0.5652 state[joint_eff]: [-0.2667, -3.4393, 6.8855, 1.4628, -0.2222, -0.0171, -0.0122, -0.4171, -9.8256, 8.1162, 1.116, 0.1294, 0.0806, 0.6569] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.17,"right_z":0.12},"note":"The last fruit is aligned with the bowl sideways, but sits over its near edge in the wrist view. I’ll advance it a few centimeters toward the bowl center and lower it for a careful release."})
tool
executing move_to over 6 steps (0.6s)
step 346
assistant
agent noteThe final fruit now overlaps the blue bowl opening, just above the fruits already inside. I’ll release it into the bowl, then clear the right arm to inspect the result and prepare to pour.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6323, 1.0924, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4557, 1.9812, 1.7058, -0.9272, 0.271, -0.0574, 0.5662] state[eef_state]: left_x=0.3011 left_y=-0.1041 left_z=0.1561 left_yaw=0.0456 left_pitch=-0.0895 left_roll=0.0439 left_gripper=0.9959 right_x=0.4357 right_y=0.1649 right_z=0.1212 right_yaw=0.2026 right_pitch=-0.6045 right_roll=-0.3235 right_gripper=0.5662 state[joint_eff]: [-0.1026, -3.3846, 6.9675, 1.4481, -0.2173, -0.022, -0.0073, -0.5402, -9.8393, 6.612, 1.2674, 0.0904, -0.0904, 0.3101] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The final fruit now overlaps the blue bowl opening, just above the fruits already inside. I’ll release it into the bowl, then clear the right arm to inspect the result and prepare to pour."})
tool
executing move_to over 5 steps (0.5s)
step 351
assistant
agent noteThe wrist view shows the final yellow fruit bounced past the far rim onto the table; the dark and larger yellow fruits remain inside. I’ll move the open right jaws beyond the bowl to pick up the bounced fruit before pouring.
move_to
right_x0.4900right_y0.1600right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.0924, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4553, 1.9942, 1.6958, -0.918, 0.2642, -0.0681, 0.9959] state[eef_state]: left_x=0.3011 left_y=-0.1042 left_z=0.1561 left_yaw=0.0452 left_pitch=-0.0895 left_roll=0.0439 left_gripper=0.9959 right_x=0.4352 right_y=0.1657 right_z=0.1125 right_yaw=0.2134 right_pitch=-0.6212 right_roll=-0.3251 right_gripper=0.9959 state[joint_eff]: [-0.1983, -3.0154, 6.8171, 1.4335, -0.2857, -0.0269, -0.0122, -0.0068, -12.0, 6.5436, 0.8571, 0.1978, 0.0562, -0.1734] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.16,"right_z":0.03},"note":"The wrist view shows the final yellow fruit bounced past the far rim onto the table; the dark and larger yellow fruits remain inside. I’ll move the open right jaws beyond the bowl to pick up the bounced fruit before pouring."})
tool
executing move_to over 6 steps (0.6s)
step 357
assistant
agent noteThe bounced fruit is farther forward than the right gripper can currently reach at table height. I’ll try a forward-pitched approach to see whether the arm can bring its fingertips to the fruit without crossing the table edge.
move_to
right_x0.5300right_y0.1600right_z0.0300right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6327, 1.0931, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4011, 2.2028, 1.6726, -0.7376, 0.2451, -0.1265, 0.9965] state[eef_state]: left_x=0.3011 left_y=-0.1042 left_z=0.1559 left_yaw=0.0452 left_pitch=-0.0901 left_roll=0.0444 left_gripper=0.9959 right_x=0.4661 right_y=0.155 right_z=0.0226 right_yaw=0.2077 right_pitch=-0.6858 right_roll=-0.3433 right_gripper=0.9965 state[joint_eff]: [-0.0889, -2.865, 6.7761, 1.4628, -0.2857, -0.0611, -0.0122, -0.8, -11.3573, 8.8821, 1.243, 0.0806, -0.0415, 0.0513] camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.16,"right_z":0.03,"right_pitch":0.4},"note":"The bounced fruit is farther forward than the right gripper can currently reach at table height. I’ll try a forward-pitched approach to see whether the arm can bring its fingertips to the fruit without crossing the table edge."})
tool
executing move_to over 37 steps (3.7s)
step 394
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]: [-0.6342, 1.0954, 0.7235, -0.4236, -0.5373, -0.4454, 0.996, 0.4156, 2.2986, 1.0302, 1.3258, 0.3553, -0.2779, 0.9966] state[eef_state]: left_x=0.301 left_y=-0.1047 left_z=0.1553 left_yaw=0.0441 left_pitch=-0.0919 left_roll=0.0456 left_gripper=0.996 right_x=0.537 right_y=0.1738 right_z=0.1069 right_yaw=0.2149 right_pitch=0.6045 right_roll=-0.2882 right_gripper=0.9966 state[joint_eff]: [-0.0068, -3.4393, 6.7624, 1.4579, -0.2857, -0.0659, -0.0122, -1.1009, -4.9573, 3.3573, 0.0855, 0.149, -0.0024, -0.0073] camera 'top_cam' (step 394): [image omitted: streamed camera frame] camera 'left_cam' (step 394): [image omitted: streamed camera frame] camera 'right_cam' (step 394): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.318 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8005, 0.6136, -0.3824, -0.0139, -0.0299, 0.9989, -0.0219, 0.8005, 0.6186, -0.3874, -0.0174, -0.0334, 0.9995]\nstate[eef_state]: left_x=0.2961 left_y=0.0 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=0.0002 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4991, -1.6205, 9.7436, 1.7753, -0.0952, 0.1538, -0.1245, -0.2393, -1.7983, 9.2239, 1.8291, -0.0855, 0.188, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e571371aefd43a7e4f056377cdf7b0d737a6c05a991af8a2a00f9eaa790648",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:375794ebea0a0496db461e35c62a5d8647bcfad9b702a0e1b6be11dc446cd4b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d8826e2f83f37b5aeb8162f657b161a2f83575c08e62d9c116310a31c1cda8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.165 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFeX23E3-rCi0u9tbQZAifv9PMZEUf5lg8aDJftvtnpz_4EpRGPzUinV41zXx3mY7wfvVpnUhR7BaFX8c8w4jndpIBC5MtVGOqfJ2Dyf5xLY9XHQsKS9M43C6Xpl8eMr-BaBTZLrc1bx3qrfHsynbV5P1uKmKv5XJ_kplxbZGGyNTwsQGzom42Fpy6w46GT-4oeqjSZHlqJymVVhphO-w-m-U2dP7_uVV1T1qm6njYa5xbU4J8dmys9s0RiiOz0tMqMp2Y03Mwwlz9Vht80e_xVP9WD51RD9pLm0BcQ3wVHilt14UPD6g8DgEWzWpl2Pzeafatq2lGp_-_RE9nTJU-e5oQ2siR9jJt_1D76DCnxOs1Y5kNRrJgFIAn4XsLdaqAcsJMwo2yUaYyBPtiYPCYZx72iIz9EQveuYscb4ielVonuNheRu3G_YbC7rZcqZcHe-BjgEad7igarGYRTsdF98zDjD0tkqGbTyC4x9dUOhwiR0-l1qdyWiI14wvm-_76TtNm403xwQGYq5HPAVN869lSe7qseBNnKdebND8QUvV972AIXfttZuDASHBPWesstLgNNIu1Yg4xc8d6EHZiForwJ6Y4t7J695OLl8yeVGjRxNlKKdJJV9SrJf-AVE6J_jTpbIUg04exYvgNMN-q_oH2iX93jYGVxl3QinrhRy5gEFGtBnkN6fIAozKkWKrkETAXhtX8wqSSifzmugiA3hQOkzHxDV1wQ6YlYEnjdUV371WhAHHpKGcyxNdXDpgr1BauY6Bo-kySUGE0xgOnxUxWVyiSrnL4Jidp5v9FVvuNgPcefCN_M0ru-WMfIEeiC9YbbkJeypde1LAkmIZ93qHNawgL4HUIuGAmuJ0uFPZDA_9f2khUZJgwbdsH0rwTIFwT_mR4OqLr-_Rm2nk5R-beFvnUKQ77oxMuc5Dv2-VdcXYLcUNvicZulimNsCBlSKbZH2cqTE9K61nQR2_yIBwFJpH3qJ5xWB4ttmTCqU9jFnyS7ZoyMndJFUNxCOxqnxLH8QTz-uI-L8AoUh-cyLsr1qrCeEdfgC33e9RThdbK_pv1KwW7Bo44oZuNB33ETkOHIAUXR48sIXvv4jvQa1dYClCtlTSzlXj6KB3a6IjMm77JCySkWNYbtGA1L3PXIfbRPl6LDMy0dnnDqB-zHlfYhS0AkvBQeuxLyYpHXreF3IKulZaOvVhxdTrESFxLRFQuUfQ4_ZoXqTgvLJKrih9AxfmlSjeIV4EvRO6Ozm4PaaBHZqSPqU2P7votp48f1GvC8vrFbAAKIKwJQ-xg4_w8yYksfRT1zCHNWP24D8-E_xgZUI7502oSxauXmQOxApl4ziR4k3R5f7aHW-YZfL4P255UMXbxaMHDXYKt5fmAL129LCbXTVoFFq_wEeTvnfNwf2feITZBki0MDD24m7wqYy9zscAljxP9R4FVjM7zLrHyik3_KrnZd0WGp32TVoIS3_HVglTxMIx7hzJUGByko1LyNKdSWnDrVQlJKSk7r0DYhSR8a6NmUdg1AJmbWvRuANUvalZkJoFlDoZ2_UwX-11kNXXfbDsHlWhWniY3bGAJ2IRo7eUg5I3qE1l7UDDHkSiEpnTr8UDy0nGoMdQTZqjLtZmIXJ9pHzy4AlLjzIp53te4oTS-HKcWilDy7WEAfogendB_QWrmWaNOJUPIrKRzPV6wfzC6Bxnou2bFn4Uyspb9chWF3Yfn9HhcgPDWiCFr1SgHYzjPpIanfO0WhoYBfJNJHzEw9o7XvM1cQGZd5JpAWU4OZaNFI-La5FWihCZiKHkFPUj5Gmlk52vck5End0eKHrqk8hTe6yminwyRIlMoeq7ZJYNNEPVI7OffuzZs6W9ZrwI0d6WpM_dgN6D4UIi2A9X_efFitw9ZXlbFLqBFbx_txkHxjZCXKYSZw9jaNWakq5W_bcWu0fq3gc0OsRT2MSoTvjnFKeMwwcvzeOxvjUhWskm5zLoYxL4WuUJIRBmtdGhxHAQE7a4ZckYmCFyeNhQ9fd4p3nISd2bpY-nISsyuqRAZQYzOjBdtwHlI8KEwSlzVLiRmuWjX0Do1zVu07pgsWPtMRumlO5VJppXVL1J1YUnqPLnhfuPvUSjZ8ap1HmxXNSPkeFUOz8xEtLYPWI5nMif35BclQRlgePu3v_gOfAVeqq4bdau4YuXwMLJselADU2pkkJSRRGZP2meFDxuXPtVKdXpi4RHuEa85P2zZLNjVid4jYMm7AIh4vAjLLJzUOjE2-xD-grtp4-JQBbCPJX5KoAkjeheYQYr4lsL-W_YZE7_Dc1TlT_CfqvKYy3JVamu1A51rSxMukbmpK-6jUBmm-lskwn6R6S9t90pPyFm9rhEjD3xlMCd0SRqVSz7tbLQapHO8S0Zz7VQorUQB-D5Y-nb3Imm1jZln5fMFB7LYFDscJecqlurHKxKzZPBpw8lsVNWgJCmLLpn6Jk7Xvuv-zV787rbeF2tX-jE1YzRe7kr1R8dkOLHn7dAABAgrW97N3QtqnacpsvrAkqygUrXbkfLNRV7Ub3rBINbc4OFUewmnZ6myLDNmkxO1aptVp7TfL3rbWJ9OeLBvfDa8_ccaqz0sdTAjZVj_crL5vTigBLZ0-CX0Ubr1q2Liab4RToEWo3c8USatyNYROBXZCos_p_AeZEwNmkGb4ng4BaZFeCMgtAUZootAiYTeV8lHW_R5peCE6nIP9aoHXrXPm90iL-32787kR9tvB7Z1z00Puvs7ZCh57oqbeMMIMcPgbDU45JDV7xNhM9IhTwXl9UhAJNAVpeXHpmrFxfxhlkvKfVzn_83i8SiNnfRzY3KlqXlo1nxFnhxDgrSUR_OTJNOZXeD2hMikeWtN9auNm1KjDl9ZHz9MPF1tz_Nu0PMic2Iz70QW_vo39EukDZmMpO0fuacyvNdxWvqlSzEQ4MZJP1dTJFiJf_P-CZKwje9Quj4VTyAn1n_r5kV-mjccgCMmJpLQjXKlARoLJb3Lyp1g_CtClCTgXaGHjyl6IW-yXuUrr9yZwNHSjFDI7mdeIJvpLVfG--eoLM0F7f5-zxumvDHc4-cpctVZLVDiO18elc0HVcM4PO05w6h2fLqCxN1G7VD0eKoqL9rmr7aRVpclr7qXg",
  "id": "rs_0fa6169a1aad87c1016ab4215a9b3887d0945a00289f997498",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.15},\"note\":\"I see three fruits—a dark one left of center, a yellow one below the blue bowl, and a green one to its right. I’ll bring the left gripper above the dark fruit to line up a grasp.\"}",
  "call_id": "call_gU2N3YvlSUniPvfAdyJPqudU",
  "id": "fc_0fa6169a1aad87c1016ab4215e504087d0b713d8177e571ada",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gU2N3YvlSUniPvfAdyJPqudU",
  "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]: [-0.7044, 1.3746, 0.7868, -0.16, -0.5617, -0.4515, 0.9988, -0.0227, 0.8005, 0.6178, -0.3943, -0.0231, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3427 left_y=-0.1631 left_z=0.1358 left_yaw=-0.0065 left_pitch=-0.0441 left_roll=0.0235 left_gripper=0.9988 right_x=0.295 right_y=0.001 right_z=0.1816 right_yaw=0.0059 right_pitch=-0.0076 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -5.4496, 8.759, 1.5849, -0.4371, -0.0513, -0.022, -0.1162, -1.1009, 7.1179, 1.7705, 0.0464, -0.0317, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a95f75e936eb1fcfe1499f841bbf1a8e8ab041ec668fd2fe2f622d9a1a18f6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7702188b0a96af56e794e1aa4be46ce7538050d97957d1b6d697a91916f27553",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd95016f666703e6f311e29e93e6313d223244b8767f65f504190f41a4b76f7",
      "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 · 2.057 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8005, 0.6136, -0.3824, -0.0139, -0.0299, 0.9989, -0.0219, 0.8005, 0.6186, -0.3874, -0.0174, -0.0334, 0.9995]\nstate[eef_state]: left_x=0.2961 left_y=0.0 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=0.0002 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4991, -1.6205, 9.7436, 1.7753, -0.0952, 0.1538, -0.1245, -0.2393, -1.7983, 9.2239, 1.8291, -0.0855, 0.188, -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]: [-0.7044, 1.3746, 0.7868, -0.16, -0.5617, -0.4515, 0.9988, -0.0227, 0.8005, 0.6178, -0.3943, -0.0231, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3427 left_y=-0.1631 left_z=0.1358 left_yaw=-0.0065 left_pitch=-0.0441 left_roll=0.0235 left_gripper=0.9988 right_x=0.295 right_y=0.001 right_z=0.1816 right_yaw=0.0059 right_pitch=-0.0076 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -5.4496, 8.759, 1.5849, -0.4371, -0.0513, -0.022, -0.1162, -1.1009, 7.1179, 1.7705, 0.0464, -0.0317, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a95f75e936eb1fcfe1499f841bbf1a8e8ab041ec668fd2fe2f622d9a1a18f6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7702188b0a96af56e794e1aa4be46ce7538050d97957d1b6d697a91916f27553",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd95016f666703e6f311e29e93e6313d223244b8767f65f504190f41a4b76f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCFom0aj5rbjisMAVGjUPWsENW5qe_b60nJznuNjgTdeVmRM12PIJodhS-y3zr8_sNLNgKFHPsSU9cT6SBsDdeTyX2cpMEFR-1VWnJTqtw2ahk8FHNDwCGUqY6X8ReUomv4X6PBUe0dW3-ixhUejWv_fOtXlUi2ayzTbiEJ6vjTnA0kOWqqBMPgUC4WT01gSNN5tBDkBt-p1diZKWlW6f3_rqb-j5jc8x6oBq-ZuqB0dUcCMn6htcXbW-_BaPenqoAoArHE5v1E_hyFRq3XwV6oUewUoUAYuNVmxOfQNGX-Y3NLTi-oRCxr82fgeG2TJIggZBw00lpanOquNfA5W6wJa-yONHau2KaGVdllisdYp0jeVyRbjTU5kpcZqsuVI7aENxNWv8TV2FCq_iE5IJkhEV5tYzeme3pKv6kdBrGz2zSBnmVd_4VOKYmt2xyeXN2srbi19vzZjIfScdFve_RR3YL5JcgZuEpEQHxqLpdbCnYNlnDOGec1DkJhfzuxtuI1lXMkSa8EGKO67ubkwh7Ht7eimzYrEmzxlZqiwoCL8XuJuSELFK2v0w4wvR14zjWfdEZRBbdqhQdQG-QdWnD-GF75L2kGzljGAy1kYhKq6ExYI6E82svKT-_Vz2f1LVa5infM1K2kt1riBGZmCxzQ6fVBaJ6LTG84A60-O8k5iurj6Tb3KGC5Vi3WfIffcvQ7pjBePdIeS2AaZcN5c8N8CVFg9viopcxsCgypYHypVFdSxQkc3_v64nVmAfjVo3AklOJU0rPYD1U1-sACqcxS_2O3fKW5RTVtigyPwBlXhHFAZeSwb1MCHRR_ECZTmFazww3d3aoDWZWDRKfXawwIs64Xm47HDICxUr8degsICMYOR6v2VfsJoHM89ojSPQAv20d_94SJqf_ILwQ3UMEVwI4Dy32-g1CcO5kZxHw4xoELgvLp2E_sG2B-aYaUSV8raYb473OLWWXI-mBGoIKRU_Q6kw3NUMQT1UdTywFDj-RRjsuN0d9yRFkoNx-jufy--z6YS0LR3GglaE1OA7IWkRcqE_f3oizEfNQELqZG5AYTbV1oYKU6Q0OW-e8DSIImHMRERDLzFk8qLC-Tj3t7aZh0gya_oYeodRR5WZtaWNXHC3pzvr5PxKXBqOp865_OrUXRmr6kWmjw9vxKNLlhEaMBOmY-xjQIYYOql75uhSFXQytMXgpI8LmIgmlQYxnn-Z0diFiGWu69G8K3lytvb6fQprV5KCh2i5fCmfLfxmSkR5iqHEs7DGNs0KlXTGW00OXw8ThXIXF6lKn8IdBRN65POtDbKLMqn7PceKFzQIA_BhdRoCPT5UftF2rm8QQ1_Ko2pOHK9NHhwdH-q2_AToDeUfYpSPM-SyDxw3jH1V3gk_W_MFO6wCFp-wPu0xnk73W77mCxAS6ZLPzT3HAtlx3rGap5IbRpegKRq5eI4KyAUXS39XUsp-s2eprnu88rXR50-D6TJ66YrBNgxrpvZow0ywvaGKNmOAQ-0_cDlRamT-zq2gC2IOIZ_ENLPWvLpJQvODQFU_4YFof0FLY7Z87UtuWKNAeB-m2a4kaCjS_igOLffh08LhPuGYkn1xkr0yY-RQqBV12Y4ILtUhO4wmWZZx6Ra2dHtvKASYAD5LXCGzIHa-JjBzcAlwPgr-Aoyhws5O6P32nr1J9KXiK8h2-Aesz7-OV3pYfdIcEQRrAz84dPNScHfuaODSKbn7L1ClYd7fiaO2ae_r7UoefwYhg==",
  "id": "rs_0fa6169a1aad87c1016ab421663a5087d08b03bd566cf08354",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.035},\"note\":\"The dark fruit is centered between the left wrist-camera jaws and very close to the fingertips. I’ll lower the open gripper to its middle height before closing.\"}",
  "call_id": "call_R423qPY3BTpcNt8qWkyADEgV",
  "id": "fc_0fa6169a1aad87c1016ab42167796c87d09c41d08b40b64e06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R423qPY3BTpcNt8qWkyADEgV",
  "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]: [-0.7036, 1.6634, 0.6128, 0.4007, -0.6102, -0.432, 0.9988, -0.0227, 0.8024, 0.6178, -0.3946, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3648 left_y=-0.1721 left_z=0.0623 left_yaw=0.021 left_pitch=0.0504 left_roll=-0.0004 left_gripper=0.9988 right_x=0.2951 right_y=0.001 right_z=0.181 right_yaw=0.0064 right_pitch=-0.0098 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -5.2034, 3.6581, 1.0379, 0.188, -0.2808, -0.0122, -0.0752, -1.2513, 7.0769, 1.7021, -0.0269, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa889271cc66a9949d4e0e14cdb27df15766c492094307fa862352713723a32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63b986175ec13763d767c2f6eab37351c01c6ec3a60094f6b7eccf6af788d12f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a437780b4ad0c2e939fee10fb7c3299efaa8629ebcbb82911e1c2e3f6ccf5b",
      "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 · 3.441 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]: [-0.7044, 1.3746, 0.7868, -0.16, -0.5617, -0.4515, 0.9988, -0.0227, 0.8005, 0.6178, -0.3943, -0.0231, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3427 left_y=-0.1631 left_z=0.1358 left_yaw=-0.0065 left_pitch=-0.0441 left_roll=0.0235 left_gripper=0.9988 right_x=0.295 right_y=0.001 right_z=0.1816 right_yaw=0.0059 right_pitch=-0.0076 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -5.4496, 8.759, 1.5849, -0.4371, -0.0513, -0.022, -0.1162, -1.1009, 7.1179, 1.7705, 0.0464, -0.0317, -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]: [-0.7036, 1.6634, 0.6128, 0.4007, -0.6102, -0.432, 0.9988, -0.0227, 0.8024, 0.6178, -0.3946, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3648 left_y=-0.1721 left_z=0.0623 left_yaw=0.021 left_pitch=0.0504 left_roll=-0.0004 left_gripper=0.9988 right_x=0.2951 right_y=0.001 right_z=0.181 right_yaw=0.0064 right_pitch=-0.0098 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -5.2034, 3.6581, 1.0379, 0.188, -0.2808, -0.0122, -0.0752, -1.2513, 7.0769, 1.7021, -0.0269, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa889271cc66a9949d4e0e14cdb27df15766c492094307fa862352713723a32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63b986175ec13763d767c2f6eab37351c01c6ec3a60094f6b7eccf6af788d12f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a437780b4ad0c2e939fee10fb7c3299efaa8629ebcbb82911e1c2e3f6ccf5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCFvoHB4DPNLO9qM4zIWl9tecDfUB7-9q-qXLo8haFm-KIr_Lpnd2R-o3B8fvBVtlXL3LQ2ETLxJR_1Qo5OPfIVQwoCqyPVLhfyZmzPqFX8sdeR9A8n77dZTWklL_cY25KLyrAgi9ud_UOSMOoQf2bGpyRn9J8Y4kt06oqNw0KucT6Twbss0whh3NqBuFp3FLKYV-sOlSGCjgOVMtbXxAkQ5KI1hYtQ7x7oFrX34TkgHyRpTQR8Q_d2_flCOjWnHAcdmrZBzLMYSYTbXbvVHPuwL8X3cqnzmgrTxxTTN-KanZ2hxCO0vHKwQkdWRRXN0uomYuGAdRBN-k7UpfYvBvoQxThlecSX4llrxBKnUGSeCKW3jjtjUi1lIBFPLPRYVPPUpM5d6ATTkIZJxmjs67G5aiDDrizeyKxtrDOt-DCB3oUOgwOMwhGyoqAt8gO0DyrR13L_B4_SvCm7OVyaTXwe3mF39S9agpvGISeMULEr5cf0k8YLx62f4Vn2e3vkPGqqSph1f-hvWMiPfa2TL4anZs84pzbwErNQx27Iff0oYw-QF_b9wkGjaQV3ViH2uJ232h9n9o_mGc1nHjFyWeDNO2ZQ5jvz5_-IqcXuYyAKhZ2b6WefyZ5p0BdYDEVToWLx_mz_49u4SKCa5zqojlJ4qKSAM6CjysPELH8zDey9jqIHG7g--Sil8ZRCGiMeIlI5FEEMr_8ZbmbjQg6m0dXdlU6vf90B7s9ovE9j9uvAjwj3r99Wrop1FPpQwjR0p8kCB-eEwFEVOP1_y77eiq5YSKQokLBWwOCKzsSpx6DFBWlJRbWfux9jGK2G4tEvErhrZJRpVh2737F6n367Rmji5HMA1SE9CE9gapIx70Hhl3dKw2nvFUNGB3ZR_nNZDV1SPhXkzRVzr9ZvRqHMN2I7bggI8whcaR4evLilLmTqrQNBwL9xSTKvkevNPrz6we5bUGOq4v8d3HL4N52ex_7frJuieSWX3Ehxtt1Q94v4scnDkUSxUHre5quiv4F7AL6Wxx6xKJF4icRSMlfTEZysjTfEjhbaSSKfN7kvJY0NxThHbj2fR9xdkRStWzGRPvK3otbnLPbOCD8k2CDrktFRObO51p9iIWPmngxS2sk5aQGPNmqFAtxRaiFBUV2wVjLDrCmk9jcaaaqsPQvusq_7o5Bs9_auVI4pJRzc94uf2xNm6Siql1Qt819oDp-85FJnt-HqDZnlmmUBIKMw-9UQp0FKZDIOH7jv5xNlD5CKO861tJx3hOQWyQlgr_YbS3vsW_xVYr71XFtnE0wnwh8csg0TsC73-4-KneTVcvrltEJo-4X6nhzgq52SZcp-Q7tlm7SY28bJL-T2MqXnuBK1NiA==",
  "id": "rs_0fa6169a1aad87c1016ab4216de34487d0827bb3783a59b303",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At grasp height the dark fruit has dropped below the wrist camera’s field of view, as expected near the fingertips. I’ll close the left jaws around it and check the gripper reading.\"}",
  "call_id": "call_bGuOv7BjIa03T07dq7kdfdZN",
  "id": "fc_0fa6169a1aad87c1016ab4216e485c87d083b2ad434e082c0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bGuOv7BjIa03T07dq7kdfdZN",
  "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]: [-0.7006, 1.6562, 0.6163, 0.3996, -0.6128, -0.4385, 0.0089, -0.0227, 0.8024, 0.6178, -0.395, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3663 left_y=-0.1713 left_z=0.0661 left_yaw=0.03 left_pitch=0.0586 left_roll=-0.0113 left_gripper=0.0089 right_x=0.295 right_y=0.001 right_z=0.1809 right_yaw=0.0064 right_pitch=-0.0102 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -6.2701, 5.2171, 1.5995, -0.1636, 0.0269, 0.6081, -0.1709, -1.2923, 7.0222, 1.707, -0.0171, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecee2b2f53a29c7262f2c7a62eb448376a0743b7b7505452776e2f2acbaa6d80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e64610cda9bcc7bbd3ac97fe084ab89f80474eb9553e5d5c3427fc86e373190",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd71a14f4d6df073f6ce894352dd7f760deb13b073d76de672574355d6896a86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 1.985 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8005, 0.6136, -0.3824, -0.0139, -0.0299, 0.9989, -0.0219, 0.8005, 0.6186, -0.3874, -0.0174, -0.0334, 0.9995]\nstate[eef_state]: left_x=0.2961 left_y=0.0 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=0.0002 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4991, -1.6205, 9.7436, 1.7753, -0.0952, 0.1538, -0.1245, -0.2393, -1.7983, 9.2239, 1.8291, -0.0855, 0.188, -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]: [-0.7036, 1.6634, 0.6128, 0.4007, -0.6102, -0.432, 0.9988, -0.0227, 0.8024, 0.6178, -0.3946, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3648 left_y=-0.1721 left_z=0.0623 left_yaw=0.021 left_pitch=0.0504 left_roll=-0.0004 left_gripper=0.9988 right_x=0.2951 right_y=0.001 right_z=0.181 right_yaw=0.0064 right_pitch=-0.0098 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -5.2034, 3.6581, 1.0379, 0.188, -0.2808, -0.0122, -0.0752, -1.2513, 7.0769, 1.7021, -0.0269, -0.0513, -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]: [-0.7006, 1.6562, 0.6163, 0.3996, -0.6128, -0.4385, 0.0089, -0.0227, 0.8024, 0.6178, -0.395, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3663 left_y=-0.1713 left_z=0.0661 left_yaw=0.03 left_pitch=0.0586 left_roll=-0.0113 left_gripper=0.0089 right_x=0.295 right_y=0.001 right_z=0.1809 right_yaw=0.0064 right_pitch=-0.0102 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -6.2701, 5.2171, 1.5995, -0.1636, 0.0269, 0.6081, -0.1709, -1.2923, 7.0222, 1.707, -0.0171, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecee2b2f53a29c7262f2c7a62eb448376a0743b7b7505452776e2f2acbaa6d80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e64610cda9bcc7bbd3ac97fe084ab89f80474eb9553e5d5c3427fc86e373190",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd71a14f4d6df073f6ce894352dd7f760deb13b073d76de672574355d6896a86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCF4TVpE4-ICni7S5dpzaA8ft0dtklx0HmNmiEM34c9W5Nw_iUJT1iXh44r8oe6zk7Nwb7seb1gkGpG59pK-8IWC29KbT-D9oxrMxsFxwTC8kGVQk0525C8bMzSvY9ZfPhI8uyRlAkrGVaakfX6bwqkyLnZHgIuGKpQloqulXckyAO1XtihJ4aJc7Tgtb1d2JZ4cSvcnkKJTYfPrIQGYp-eQb0ND2f0NJwEr1261VjXNyHn5ISTW0_tqjJ32tM9ScDXlMeI8IvEpKg8YyAUlAqa6avb3RbysvhIvqEXNJdrvHbYyEINil1q0svcZtOlEsMTH8bt230XidrUlME9xci9eWKmF_2rzdeDuZHyJZRjVOqSa6emk6Iv1TaxxwupFbDBZQHRwqtCo6WR-m7SFvJA1t1NBwfTMbI6n_jf7_jZnKAY7wb6oi508_CZYqvs4fX5Cj5E7XXerv0KIgIsFhLUEuQU9X-u6gova5ZD14XlCqdAr23XUhUbS-4Kd9EOq9yKlpWbG8tLVBRIMI9grSy0-lCEG1QWwkNbD6-uzvfcrPbs8ziTpqPwX9T7ZWjUaKGbh8odVwKxAe_NBAMd05EBmgOrFPvKV4uIOSYEBgD6rro6iW2v5GqocW7kxmQ0UZD4K_qwfYGfKN_2e37DaSoJhXVljapVvNXc0d_6cE-HBndAHGWeFlb2k18DUsMUMyEpwn-Vv4EZpadEFqp3MnfRgMsSMgCK2t0trDHLT8cygYci_CHXCp5On_YcFxx86YsC3azRIXbDGcYUEvvvBvWtqD-jy4Mm8lN3ii8zGIelkVy_vIkmIvTXZq7K9C4oWCF9ETidE_qp485ggfhOPNz4oDaodGSwoOU1kcUd7z-P4Gigo_T6YWMvb8-qpC5y56ZTKEqtASYlktEQXSricL7vdYIUU868YnM6D8U1zns2ye2-W3hSjgMSmGKPWg5csDK72M_s_WxNqfWpkzBNwAMXTAXnK09NZ_JTPMpMyOa249smCUzSUqovUHm8HL8LjWuFVOKLu9KG1A5aaN-JK9hXGzslEU6-NuDiygA-Z9bdkEkpDBjGZDk5B6nLHONpdbdA37yz8anju7FV-h3C-ynKYBZA5fJ8g1nKTlPTnpmpdmZJWsCqgoPima6ejnfguGsCdPsGImBHGPG4E0_NGytjR2Vgd7N6D4zzM6nWLnY5jbNkS1EjXZCsRjk_f6Jqr9KbvZrxfAzI_C3HxtOG1CJRbCkXQgPKV5OMlHT_op4DR7m3X09XRbY90TZ0E5G-YKLDuvWbFkmMk99g2DWSESFcJbnHCQg2qn9CLfJTxdF8bM_5f7NT8E2sfU5Yxv1GZJbQWxqXOEt9XETFg0f8LQeeAWdXBgjMbzNs-9CGpufm6aISA8aNC2_DzezYk-fgQGCH_wQ6Py3id3GegKu8desHd1joHoLtnOjbGqOjKE-s9GnclyqKjnCMJWXSQqVdUEuZf8ZLGup_UYGl_2Izx_-LZLTJqnUKpt_9oQKqh9MK2761ukKgpgvt6hU8ZSjRMhEFjHoiET34jRzYK95vsgW2YivtZsKZqPB_wPRqCv95AgfbvK5g8p9V1QNmxi1h-S7JgOAlsKaK5-LmwfPRPYeXQwgN5VFSQ9zY7U2225BsNjLeWr1OrftW34MTUHYyq9mf4KMa8B2GSBnA7-x4lDaU37cpCweG7oY4s8T2yN15YPe2-3tOYWD_A37lhLlxR_yTUw_CL1xoYgbyuVflMKg6DKg==",
  "id": "rs_0fa6169a1aad87c1016ab4217662d487d0a68d5a4609b89385",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_z\":0.005,\"left_gripper\":1},\"note\":\"The left gripper closed almost completely, so that grasp was empty. I’ll reopen it and move lower, slightly back toward the fruit’s original overhead position, for one corrected attempt.\"}",
  "call_id": "call_ivApHUMKEVE7gRvDTmODPYAZ",
  "id": "fc_0fa6169a1aad87c1016ab421774cb487d0afc0f1e407a775e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ivApHUMKEVE7gRvDTmODPYAZ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.762, 1.8553, 0.4808, 0.6876, -0.651, -0.4847, 0.9978, -0.0227, 0.8024, 0.6178, -0.3946, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3395 left_y=-0.1711 left_z=0.0034 left_yaw=0.0211 left_pitch=0.0406 left_roll=-0.0023 left_gripper=0.9978 right_x=0.2951 right_y=0.001 right_z=0.181 right_yaw=0.0064 right_pitch=-0.0098 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.7043, -6.1744, 3.3299, 1.8242, -0.3639, -0.0806, -0.2369, -0.0342, -1.2923, 7.0222, 1.6972, -0.0269, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b480ed16e74ebfea81072aa24740e31a812af3fee3a6fdb2aedb81bf22d10e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:674b82bd79b443e2a049d6425422fd4b775bb09c149bf37e3bd20220e599b4d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0348eaf25d722a80f12d00bb8457a8dca5618c981d35d43a73f3959a0cf8023",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.102 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]: [-0.7044, 1.3746, 0.7868, -0.16, -0.5617, -0.4515, 0.9988, -0.0227, 0.8005, 0.6178, -0.3943, -0.0231, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3427 left_y=-0.1631 left_z=0.1358 left_yaw=-0.0065 left_pitch=-0.0441 left_roll=0.0235 left_gripper=0.9988 right_x=0.295 right_y=0.001 right_z=0.1816 right_yaw=0.0059 right_pitch=-0.0076 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -5.4496, 8.759, 1.5849, -0.4371, -0.0513, -0.022, -0.1162, -1.1009, 7.1179, 1.7705, 0.0464, -0.0317, -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]: [-0.7006, 1.6562, 0.6163, 0.3996, -0.6128, -0.4385, 0.0089, -0.0227, 0.8024, 0.6178, -0.395, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3663 left_y=-0.1713 left_z=0.0661 left_yaw=0.03 left_pitch=0.0586 left_roll=-0.0113 left_gripper=0.0089 right_x=0.295 right_y=0.001 right_z=0.1809 right_yaw=0.0064 right_pitch=-0.0102 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -6.2701, 5.2171, 1.5995, -0.1636, 0.0269, 0.6081, -0.1709, -1.2923, 7.0222, 1.707, -0.0171, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.762, 1.8553, 0.4808, 0.6876, -0.651, -0.4847, 0.9978, -0.0227, 0.8024, 0.6178, -0.3946, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3395 left_y=-0.1711 left_z=0.0034 left_yaw=0.0211 left_pitch=0.0406 left_roll=-0.0023 left_gripper=0.9978 right_x=0.2951 right_y=0.001 right_z=0.181 right_yaw=0.0064 right_pitch=-0.0098 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.7043, -6.1744, 3.3299, 1.8242, -0.3639, -0.0806, -0.2369, -0.0342, -1.2923, 7.0222, 1.6972, -0.0269, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b480ed16e74ebfea81072aa24740e31a812af3fee3a6fdb2aedb81bf22d10e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:674b82bd79b443e2a049d6425422fd4b775bb09c149bf37e3bd20220e599b4d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0348eaf25d722a80f12d00bb8457a8dca5618c981d35d43a73f3959a0cf8023",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCF8Y98pL6WpDyt6KpSaE8i6AJXsOHVruhRFL_EhEcMJHsGGtgB8LgeA39ufGzg8mVICRyMzef8cPIDI_IARFXII7xMPzfEfSYfONkuNx_iHaMmdKLsnepK-knoyoEuBVAPYW4QYqhGhASBn1uKdaIR34BYgFKQTM7UHSHqYOT-4yRyUoa6CkBcOaMItWoZO8B-9pJ57dNUxAVYW10bpGEM7oKHzFIuBT5F9ZkfxEseGLp_7rqgFy8NsR2olc4s0dE0EisuZsrsC2SFTcSU1Mhu0Itmno8K2OSAWG-hOK_DYmGVW4ECdNxRiba9aYZwCeUnANEbd0hoTXnV5PVqmZK0Ju0T1mVQ0SQ0oVerGWTwbQgTvONyanQWb2QLEEvyzYEwDMS9JyInBpBSvlD7MOlF4GCcIh_nIxuV7Y7-eXc8DTIecMqL4Klsio8qGMftBkRGoR-xOF2vEXxuoRwwmXXUIh6NO0uFeo-mNej0_kgy5LCpH6yfs5YuZd7WZyM5jICs3KkZCM4fWWfbcZL8Gxkv3uiVMKwFunPbjRcx0CqSPge8GF0Kz58-nLiLpdcJPJUnDAwUN7B9rGB06_NF8VqtTa9KEyDA0Vze9jLzyjZ_0JF_tJXBrCj1il_trcYAd7UKF9ESsYlBjf4R9HCykhGt5N9HECnI15TcL0r08e1COffPlSvSyyYXLWXj-GcgdJWtOafi2eaV9CPCg1QOT4apznDDRXCeilg9uE7jP0RYyKaiokbcsZv4sFOtAfOg8zFDgFVG34AetuqJYonZjvlyg9o1YtScyDBESmnrCnmhGez0J3kFC-E5cShphw0cgtacNQ2Pu_ER2xPMI7igm1rWJO66ANcsy1qkhd7vQc7QLAoRTEk5mox3F-b3wKhWYlAvRM1RItA3JqJnhxZa-4XfoD05h1RbF0PGL-1JoWBTlK2pgkH0Sa6HIiPeCUlAYgVkF24JHOE57HvggY1UzTkduCBdKqq-rKlkOtu3w1VYZG06e56T9nfFHEK2_iIySn5c1Z2tgtrHp4H_1t7jEnd-MkAkiHrdoFTHR5CuS2ljmgd1oFl7MZO1LSUYv7dQ_5iNY7sHmlRDA07br-pinuJBLj1LLk3zc3u1PS0VExiO2ZWEETJEuamZmic56Zfr5BK3pKykNRlrLuQxZjQH9k5X_XYerANBtbkBtNpWYXTcCj-oasGli-ioy56C_V_5V3_jnMmFDULZq8esRUVFToJLHqaWb9qbd_eWGCZnL614VLmjT64rL80hVFxNi90D7ykuj",
  "id": "rs_0fa6169a1aad87c1016ab4217bc61c87d09e065406aee5ab73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit is now visibly centered between the left jaws at table height. I’ll close on it again and use the settled jaw opening to check whether it is held.\"}",
  "call_id": "call_FYLsC05QoNyRwN1wjytBR7tf",
  "id": "fc_0fa6169a1aad87c1016ab4217c0fbc87d087ffebd44c419f19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FYLsC05QoNyRwN1wjytBR7tf",
  "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]: [-0.7616, 1.8553, 0.4793, 0.6834, -0.6472, -0.4881, 0.4519, -0.0227, 0.8024, 0.6178, -0.3946, -0.0238, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3386 left_y=-0.1708 left_z=0.0021 left_yaw=0.0203 left_pitch=0.0348 left_roll=-0.0029 left_gripper=0.4519 right_x=0.2951 right_y=0.0011 right_z=0.181 right_yaw=0.0068 right_pitch=-0.0098 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -6.8444, 4.0137, 1.5946, -0.3053, -0.0122, 1.033, -0.1026, -1.1419, 7.0632, 1.6972, -0.0415, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e603828579cbd6af606620b0e646581bdc0fdaafa6d7419f4f5bca6e807f37c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fa7b87ca7760b0fe917a86d693f502d8726fc7b2c4bdf9e7286c4c9b8707076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ea118dc1bef73f0c4f936946d7a8b4a97274a2a81475783b7aac6dbe42d082",
      "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 6 attempt 0 · /responses · status 200 · 2.627 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]: [-0.7036, 1.6634, 0.6128, 0.4007, -0.6102, -0.432, 0.9988, -0.0227, 0.8024, 0.6178, -0.3946, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3648 left_y=-0.1721 left_z=0.0623 left_yaw=0.021 left_pitch=0.0504 left_roll=-0.0004 left_gripper=0.9988 right_x=0.2951 right_y=0.001 right_z=0.181 right_yaw=0.0064 right_pitch=-0.0098 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -5.2034, 3.6581, 1.0379, 0.188, -0.2808, -0.0122, -0.0752, -1.2513, 7.0769, 1.7021, -0.0269, -0.0513, -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]: [-0.762, 1.8553, 0.4808, 0.6876, -0.651, -0.4847, 0.9978, -0.0227, 0.8024, 0.6178, -0.3946, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3395 left_y=-0.1711 left_z=0.0034 left_yaw=0.0211 left_pitch=0.0406 left_roll=-0.0023 left_gripper=0.9978 right_x=0.2951 right_y=0.001 right_z=0.181 right_yaw=0.0064 right_pitch=-0.0098 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.7043, -6.1744, 3.3299, 1.8242, -0.3639, -0.0806, -0.2369, -0.0342, -1.2923, 7.0222, 1.6972, -0.0269, -0.0464, -0.0122]\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 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]: [-0.7616, 1.8553, 0.4793, 0.6834, -0.6472, -0.4881, 0.4519, -0.0227, 0.8024, 0.6178, -0.3946, -0.0238, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3386 left_y=-0.1708 left_z=0.0021 left_yaw=0.0203 left_pitch=0.0348 left_roll=-0.0029 left_gripper=0.4519 right_x=0.2951 right_y=0.0011 right_z=0.181 right_yaw=0.0068 right_pitch=-0.0098 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -6.8444, 4.0137, 1.5946, -0.3053, -0.0122, 1.033, -0.1026, -1.1419, 7.0632, 1.6972, -0.0415, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e603828579cbd6af606620b0e646581bdc0fdaafa6d7419f4f5bca6e807f37c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fa7b87ca7760b0fe917a86d693f502d8726fc7b2c4bdf9e7286c4c9b8707076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ea118dc1bef73f0c4f936946d7a8b4a97274a2a81475783b7aac6dbe42d082",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCGB0-bShNtQSMNhr24GecPeZxu1WwMYixgkvFRlVG9hN6taTKbftrDteAMLXqsatt89FNy5rw6zdBRYT59iVaCTRNZ15ovZONBSm3CJQtvDTzpK59m6r9UcwNe2x6b2PKNRBLPSJnI4ipQZXBeQXPYsG9M-QlflzNVJAh24zhl2D8EAzVIe9i8vRztQkJ8xqjyPxz7sQZ0JdXoSImUVkktxpaflRLKBZNbVz4zZyxR310VI6DCxJZJxjgEDsAVxWZiaH7n3KdgbNJ-v-8YO_HtsBoNh9VZozWVNb6I9yQSNCx2SbYpiUjwXdmcbuIk5bXE1_XnA-l1ARryY1OmDpX55ZFCuVXPZhq2vzoplwnwfB1MUwMkwvCYq6bPE1tAj5T2v4rSgESUDYDTIeZytihusljE6v8qGUZVrplea95meUh-ZS8bUKKxVqN02ougi-2BrALyUIGqUbaLxhiFIdzSSm6ehBloCy09GdoMkHoFy5r3sAkybVp-n3R4UwgNTYH36rXEW1WMV0BTl8YxBtsLVq6_VRmrVlWtRjNUxhT0WBfpX--JfrqfEfKd6LsykCz6zw3dq1ZV_qClPGeuUbtbw_YD4Pkpo6v3xth5dfpg5UHITyNZEEtWirvd1EG_IdbbEALbz2gxnKyP4mPIYig-8Xqu0oNogwv3G13g6-011NtAtdI-128TMTgnMPdZ48Jaacf5rGq6M3qKXsJHdN_VVpCGZmnT68lrzvjAwX2FkdcxrHSdOK3toX1EsWlu7oB1l8D00f581o8KCbuzr9BKrOSYis_80dEmEmXabLMEhbCjaLW8aVkAF72FnyuzjvZSHCBNFia5V9Ex3tqNqnxZ_YPo8K5yCC5Fb0Io3l-HpV5j56EJrWabFGEGtV8nGzH9_voYnKtgAuAjSFi3sNcyGbpkA871oWEI0EanCyQDC8Xk9tmL6bdkta3InKFtLdxtN3Biixo6OowyzlvD3dWSSUWY7LrFEfg1OF79DhUOVwDlmm7l0-QlgmO7_AjbWQB_8aD5AX3lSXwErMSEuPGLOumrnVIr2hCw6F7sa6p5QAo5uK_oJK6LtnoBZgO4FSCGmrc3ugylZ9ffNjQF8X5fU85asvoQyuGYpUdxxkGEXHNpxAfIg0YNrXZhU3BNWAHyryEdv6YV1nJLM5EsNujTXNg4pJIuYeJneGI2Kzs8Car3772xHkb70B50wTSyKDbnEA9FHLYKQTmXfw5CrOhMgRSFF7cFn-fdt4Bj98zpIrLyX-lX6e57itQVgKmEUQnreL_Iszf3o3wGZR1ztWi1Ki9vT_egYv8rRf2vbUIs2KDbnbufhBwZhIcIUJURjtP4rOMNNj6tENxWzXiVmj00CF7rw1l2npAzRLvbYRKy5GV2pwy3b0094mWWCyY_de6WL58Q5lzSDG0fGinxVaCPYXCs8ks42dNFKg1naasbLfqFHIfrYhQKi6XCYU9HgBNI_uvXYtuRVf5arwea5QE0_IZ6Fb22P9TG1atTgX3iuWD1Zmp1i8KaZRXozfNGakdsSli6M3bnm7TMqDrQS_0s0Taw3Z-gVjwttR9J1h4XAk4NXDJUbYuJo_tUKX0S9-WD9ygSUjAxj9sIlQrwRiKQNFApFxIAhUqFg9tdBaAYYuob2VL0RCKpb9GTUSarluQdGaHtlB8Qd6XwEZZOgrCf_6aDVPv4DVWX4--5V8kmg4YcMUIM29CjBL5Wtbo5lmXg--TXKXxiEOr0K5dUXrKjZHR3Z2w0rgJL-rel-owci-UEYD6VsKS-D03wlXTgZLRjVUXwWGSrNq0J3a8ebrhEEhj1L1Eodaa22zAAW7kmeuCVctz5lP0CJgGMB0qEQXAAzA6_Q1TrNoCnIgg7T8bkp_yUNvwMZCCWDM4EHxbNgP2h3QAew9lE9ZZs1QXkvT62q6jwB4keAkzBDyzi9SN-Ybg==",
  "id": "rs_0fa6169a1aad87c1016ab4217ed33887d085c9da68573671ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The left jaws stopped about 4.3 cm apart, consistent with holding the dark fruit. I’ll lift it clear of the table and check that it follows before moving toward the blue bowl.\"}",
  "call_id": "call_yv72Vb1q8V4iiouJRwAv8X5S",
  "id": "fc_0fa6169a1aad87c1016ab42180f2ac87d09abdf36222d48713",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yv72Vb1q8V4iiouJRwAv8X5S",
  "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]: [-0.762, 1.3602, 0.7719, -0.1318, -0.6399, -0.4969, 0.454, -0.0227, 0.8043, 0.6178, -0.395, -0.0238, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3366 left_y=-0.1705 left_z=0.1446 left_yaw=0.0188 left_pitch=0.0119 left_roll=0.0056 left_gripper=0.454 right_x=0.2951 right_y=0.0011 right_z=0.1804 right_yaw=0.0066 right_pitch=-0.0121 right_roll=0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -6.612, 8.5402, 1.4774, -0.315, 0.0757, 1.0281, -0.0205, -1.265, 7.0496, 1.7314, -0.0366, -0.0317, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49464dd4023cfebc849e6f73fcfb9b105d0bed3d90414930bc511a3bdf89fbfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283e48aa10926ea7615ee7ecf6a0761a73cb849f056d4c7a6f7c8d22d7298abc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfcdc6dce0c5b894647b10ce55ee42ae906ca86f1a218e5bd26edc8ed9ed497",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.297 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]: [-0.7006, 1.6562, 0.6163, 0.3996, -0.6128, -0.4385, 0.0089, -0.0227, 0.8024, 0.6178, -0.395, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3663 left_y=-0.1713 left_z=0.0661 left_yaw=0.03 left_pitch=0.0586 left_roll=-0.0113 left_gripper=0.0089 right_x=0.295 right_y=0.001 right_z=0.1809 right_yaw=0.0064 right_pitch=-0.0102 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -6.2701, 5.2171, 1.5995, -0.1636, 0.0269, 0.6081, -0.1709, -1.2923, 7.0222, 1.707, -0.0171, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7616, 1.8553, 0.4793, 0.6834, -0.6472, -0.4881, 0.4519, -0.0227, 0.8024, 0.6178, -0.3946, -0.0238, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3386 left_y=-0.1708 left_z=0.0021 left_yaw=0.0203 left_pitch=0.0348 left_roll=-0.0029 left_gripper=0.4519 right_x=0.2951 right_y=0.0011 right_z=0.181 right_yaw=0.0068 right_pitch=-0.0098 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -6.8444, 4.0137, 1.5946, -0.3053, -0.0122, 1.033, -0.1026, -1.1419, 7.0632, 1.6972, -0.0415, -0.0317, -0.0122]\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 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]: [-0.762, 1.3602, 0.7719, -0.1318, -0.6399, -0.4969, 0.454, -0.0227, 0.8043, 0.6178, -0.395, -0.0238, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3366 left_y=-0.1705 left_z=0.1446 left_yaw=0.0188 left_pitch=0.0119 left_roll=0.0056 left_gripper=0.454 right_x=0.2951 right_y=0.0011 right_z=0.1804 right_yaw=0.0066 right_pitch=-0.0121 right_roll=0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -6.612, 8.5402, 1.4774, -0.315, 0.0757, 1.0281, -0.0205, -1.265, 7.0496, 1.7314, -0.0366, -0.0317, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49464dd4023cfebc849e6f73fcfb9b105d0bed3d90414930bc511a3bdf89fbfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283e48aa10926ea7615ee7ecf6a0761a73cb849f056d4c7a6f7c8d22d7298abc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfcdc6dce0c5b894647b10ce55ee42ae906ca86f1a218e5bd26edc8ed9ed497",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCGG4C5abWkMOeMC3oEJmtfMXZN45L43QVUFd3rxNS2j968hU65zipO7i8fERMzgzB3gRhurJpGlfrXFsP1iNa3M1YhI4xtBnRm6afoYu3KFfxIDLr2CXiQuJQ2IK6J39gZcY5B4VkqVH5B9rRoCLQtHu7RWrIIZRkPTqPGPtv29zoLxzBRHhmyBTECqE3ZlHiD_jl67biqebFe6UcnbG3qZgEtCzhIloeRydLiL8k_vljgt6OxlO1S6_Jyd8j8lnjKlvah1Q10LAZUyl87WMMjieURTmNM8CUe_P3Nlo1JFVO9bKdg0muPZ1DfH1vnvTmAv19-WzwUx78YE17zrt4Gn_s2fjBC1wwiIgQNQWFdusYuuuvqYYQFEtYhwBSsV4aFk3qo6n9RQvA8hodABJLshxqujGFo08jyd6ikJCzUd0fGcZpmPtrNPbWXEpKNGVy_dYEtr03Cm4acdJdudpY4hiQOiX5u823djWw3i3-6VcP78m_bOPj4mI6zJYCt__4dQip0WCKWeSKoiVXDt0OY1tjVtYd95FsFRm_W9OETeV8dJXcQ1uWATp4Xfbt4OjaT13wnJKh3u5ab227HR0lwBgLiztgrzMst8lf0w-BwXLGLjQ-MWcWdZybnmUMRUo7iZeL7BEiuUgit6zwqs00uCtDvU1PcEC61zC7U5iiCEbbu9W0E98jk00w1FnhRGccVMT7t3ymFFdnhFFWQELi6b-jnu_WJ1BhPItqxRn4W2IvvzIdeXLiFGmA8IQg1TzOk8OQWOeFBwHz2t1hKa36gEXFte8q725T3ulBLiN4aqHick3wwgjNRGQEkgnPyoo0wEZGA5UVGvsWPANoaEyDsbSkTtZK_BWahQn_zCGHgLz5JS7eOxWPeESDKztNK-BBVZGNyjL13NQ7reKZo3rv4sdZME6t8pwOgMdzOivHQ3Tvq1oRb2IsBKV2yuab6dKd1keNZ7w3p7UkNqSNeimVHGrOEFX3mkO4ywPn3Yuc3OQYfjsyKdzZl9tC5eYpkuQMxXOy3MrNenq63H9AlZq0tX-SwL-B3r0OfbouVH-aTpAeWWg3zabHjMENCmSZP8IJGm9DDAT-pmsPM96AG3Hjpp0TpvacEOKj-0fNVrh0_qHbdpvaCAYmlcm-tDep4C_MSQBDFkL6TubfpXfL7HuPKrfKVs7Id9Ci4YTVm1PCjFDFrD1HrFrQraEx0ODX181d7yrtnRmJXJYSxZzCtK4VHsDTq6yecAfEwiAbMnapVq46CEIZmBpPzvJP4EqjQ382FNQik2IBTrmmVH8tQlJAGEZv9BqFf9h8ggb3aFlfzf4vltmkTWusuJythYkpPzlGUmRRaXj2xyM8YBAF_H9M6yQzn5hlp5fUlzfmp6ndcyO5QQUFiyi8vXYulYqfVdA4KgKzKe8txm-_rjZ-bCzZ-WAjH2GP2SfFibVZ-_6dKb-0BKgabdyUHo37NngF1Upfi7uy6WzZTZ16s26YMyYQQScxPYePPVAeeVr0RCfzKEyEjP8DOXS5YZNTmzmy2937sVHwOeozSRXaLg4t1df6EGyA==",
  "id": "rs_0fa6169a1aad87c1016ab42184da2487d08652d0f370c0fc5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.39,\"left_z\":0.18},\"note\":\"The dark fruit rose with the left gripper. I’ll carry it high over the blue bowl, which is near the left arm’s cross-over limit, then verify alignment before releasing.\"}",
  "call_id": "call_whXKAbwcKcZTbAUWcEAHQKwt",
  "id": "fc_0fa6169a1aad87c1016ab42185a3dc87d0bf44e66d609ae422",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_whXKAbwcKcZTbAUWcEAHQKwt",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0172, 2.1342, 1.8347, -0.5991, -0.8047, -0.7578, 0.454, -0.0227, 0.8078, 0.6174, -0.4095, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3914 left_y=-0.3843 left_z=0.1697 left_yaw=0.0182 left_pitch=-0.0041 left_roll=-0.0008 left_gripper=0.454 right_x=0.2933 right_y=0.0011 right_z=0.1763 right_yaw=0.0064 right_pitch=-0.0304 right_roll=0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.9778, -12.7795, 8.4991, 0.9499, -0.5885, -0.0415, 1.0281, -0.1709, -1.6205, 7.1726, 1.8095, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdd417b85a2356f36c152a88268eef4df7d9aefe63bf575c8f02c5121d2007f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbf90d4a72a42a965e927f23f981f3e04144acb1823ff561ea80f81d2095c367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d545b466db849fea24c354ca6e95647a166f02de942700b0ccd754de73975c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 5.252 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]: [-0.762, 1.8553, 0.4808, 0.6876, -0.651, -0.4847, 0.9978, -0.0227, 0.8024, 0.6178, -0.3946, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3395 left_y=-0.1711 left_z=0.0034 left_yaw=0.0211 left_pitch=0.0406 left_roll=-0.0023 left_gripper=0.9978 right_x=0.2951 right_y=0.001 right_z=0.181 right_yaw=0.0064 right_pitch=-0.0098 right_roll=0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.7043, -6.1744, 3.3299, 1.8242, -0.3639, -0.0806, -0.2369, -0.0342, -1.2923, 7.0222, 1.6972, -0.0269, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.762, 1.3602, 0.7719, -0.1318, -0.6399, -0.4969, 0.454, -0.0227, 0.8043, 0.6178, -0.395, -0.0238, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3366 left_y=-0.1705 left_z=0.1446 left_yaw=0.0188 left_pitch=0.0119 left_roll=0.0056 left_gripper=0.454 right_x=0.2951 right_y=0.0011 right_z=0.1804 right_yaw=0.0066 right_pitch=-0.0121 right_roll=0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -6.612, 8.5402, 1.4774, -0.315, 0.0757, 1.0281, -0.0205, -1.265, 7.0496, 1.7314, -0.0366, -0.0317, -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 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]: [-1.0172, 2.1342, 1.8347, -0.5991, -0.8047, -0.7578, 0.454, -0.0227, 0.8078, 0.6174, -0.4095, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3914 left_y=-0.3843 left_z=0.1697 left_yaw=0.0182 left_pitch=-0.0041 left_roll=-0.0008 left_gripper=0.454 right_x=0.2933 right_y=0.0011 right_z=0.1763 right_yaw=0.0064 right_pitch=-0.0304 right_roll=0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.9778, -12.7795, 8.4991, 0.9499, -0.5885, -0.0415, 1.0281, -0.1709, -1.6205, 7.1726, 1.8095, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdd417b85a2356f36c152a88268eef4df7d9aefe63bf575c8f02c5121d2007f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbf90d4a72a42a965e927f23f981f3e04144acb1823ff561ea80f81d2095c367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d545b466db849fea24c354ca6e95647a166f02de942700b0ccd754de73975c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCGUrRUJo57ER2d5tc2Bbj4espLHRV-AvJEd0JHnRB2lj0RCx_E8DnGd55rdNE9ZyNxZ4TEfcWhAwmEEO7L7b4-v9tYB4_ZCXjS4PlwaVAL1fXrmUvWDULBqGYYiYqjYPhm1CrfpV2qpumvtB-6Dbab31yqVe-J4mV_-_Q3m1KaoZynHIyz3rHC3oNn1we1CX4HR52yDWCS6tF_aJTgHCiS1WKCrckez2ylpWRm3rJymkMZ5gW4_vqlfj1SllvNPRLsnm7uK0XL5yPbREBJUMK0Qb4VpzsLnkQMgJKu8j7BiTpNg_qbChsSjnBSX2DrlDcBrPzTVvpCuSjHw2lxJCWMdO7eg5YPrdg87TuzR6RP2Mx5clRbLXgDW9NsNofFviObNZEHSF9M5w6I9HaRsSCAx8mF9UiEacvBFJbg707B7gyqKrrpxZgJ7n4FudSunk7-Pqt1Hccw19lp378z0xEjwV0B0m5VuwXRhX9Y1oPYKdVxyM2YlIGwjFeOaPReveEWtjxkzc5XflieZtKygcqL_U1YZHaQU-8pcQA9ffO5SvmtRkFxggAT8pBbHcRKO8vw26SAujXfLctFHmdFdS6AnPe-W24nrZIghDsk0Do1_Ja4R-jfm1KeXpSBPQeP9R-NgUH7CKAILJRe_2GRUkASB9ib83Hpkho855tmaih4rXhZhV9FejU_PlQGMyhO8IXT8rF94XdQcxmjJ6e7tBaRfxQ5moqQ8J6XOfDYzkNBK54SvGN-L1j-Y3HtIDbZzDyFzKniSUeK7fuJbyaPGcdNRQWWN1SNUnI9DQ7lpDpoYiQ2_oZ19KwxOYYtc9SPY9a7sJ9XpjIWUUWm6C-4lp1cCo94TtRaOEcC-kYRcWEHYlTSY2Yyy0qfmZ_YQIIPsEvqoXx1UwffiBzNYmpQbsaf1It1B7MSvRbvNvOQFIAqzUBGpBxh9iZKtcWE6ikQ6i4qvK7im4QMozOhhSfTasH5DZE8DZAk2F0RmWvoSimE15QH6ia07F_LrtZsa_ZoobqEbKZdI_d9g3mnTGFiopf7YDFyKTmVGjL76ebe5B4OqkGApaz_8_YgvfSEkNiyFcdfhgsrkpYQzOX858MGMWEn6aTdi9AFiVgw7aBONzBYYPi0NJbvpgzd_ph4jsrxh_mlO6rjvqvN_YJX6YVMMZVcP8VTQXsjh5Wvn5M98w5h7EuL3HtEJbFqoXzhxL-STassUIzSt5kVV5458kzjO_gfGJLFDsSRkloppaM9hUvVIUrmFi47WtPzcFZNpuSbXnNyZX1ZDqsNdF6_cZk0R0CLMOHcjqh50lk5UhTUTzSI62cwzbjU7TgNxRguuSvdV_A7-fm166_cJUdMDP9_5jUfpTL2CSkXY1waEWfBlBzRRdfwrayBC5MEu-v7NoIKTbUc7d_7GKhbLHDSwR7lDJhKv-WOGx89YmS53n8_4fvqYsO31LrqmdMerv91SsbdNZW_42pGhsr6K_7Pq5ne29jTyVMd1c_tZa0I5_F1TavuqCXYTjI88nXhtDp_pYMH1yWqe6_m5LEe4j16KvfiQYkyItKavyp-nTN-ijE8z-Yxaw--1b4ZrV2oYqCfAD27An_nFYLW77PmpOQb6C6HiTCu4_DBkdfZNrEmEPKaorvNsqbm0ZRk2csSQxwvk-bGj60nV9-SAB-rexI3rv5BAADwds7HJvj8-2vuAFEhNyEvrzycR-5P0FeJCkhoAqVBPmFl6RzkoSHh4UdK6uvq6CN6E5NmHuJH5MFq545fsPhMl15wZlQx3ZTD6zAG90XkgijDUxU6LVeC0iog5tGi4G55RR7mFj_gFVdBm8Ht-j5QWMx5Y0iAR0ZkUiIuFrE_2HT0nPTfBA-YLRz9O6dsIAqFrgl2c8Al0H0vvs-_Hr2Nj1YmGFqiKakAIyyYItS_bi1YfZsSXj0QMbzOqBE3YMOvF6_03icHXkONZL2jy1iLwpbR8KRBc0KpPGJ4Y1_Q2Qo-tJnV5GYPVKZXJw7IOfduukxWde161_IEtrWQ3j1UNO_XFj-Rh5J1o42Wla0IqQW_1Xi8Km8NHuzSK0Tax9GAhEv0h4GuBnYVh13RpkHdlueTn-Cy0bWvx3l8X4fsd7BiHFMLMIKaWk7fYyYJrhjDy2k3xOn07vvvhpAzJt8L2S7Bkp46trasgY20nS6jPd1zHtcNLnlWeyCLbZNqfNMwb1iS5iT4dVt87QgXID0N9EfTdRjNmKt-kagLbLNuR2UM6L8ZfUWNcrpCcEmfP-5nRJ6TVB1e4jgCq9UaaQrAM4IhSGzZkCgvkh9nIxAFTaw7Ntlm5u30XP5q01LRgt_Pm4pNdMuZaXdDlE_9_oNEiu1U9BULbHe9SeOAEEcnbkAZoUxbmomKUb4TcL7GjmWR6D1Bf_eyEZdvIf19v34M0KotkSx9o8-NI3EBbTo4i9bJhLFi8LBfhUoaE7kqp-EnFKTRnvz1LJC_UmAJHbOC-lt9c3m--QUFV0zIMba63iCbQUkmTB3uMm3V1t-Q8vm4qfDj0wtpO6ham4xujHCgS82WP969dTCr4A3k20i4OOmV5MxGVIaD2-J-_sAwKrOslNEW0rSBUr3HwtwQry9--IIZE8J7hIFPPEerPKBJhsqkvQbgrE7KLz6Xxoah2gUP7h4A9vFFfAFGV605rJjL-VOO74-U3m29jiPcLQeo0CutgFzy8iN-IBhZPevHtXYBfGOgj6_3nCR02SxbMtwRF6E-YCsqHkuYLJJe_7ujw3PfZnmbwLjBBtDYbA3bI4YpR6diKUox4AGouP_URBmFAIgiQ4OFbp3M6Ig4c-m7C-WmVHzjKj9028cM0ffdFSt7z6WzS8GF20-rTIr0xSgPB90fVsrzdngAZDAznMeYRcvpkqQV3obl-J_caHSX-5t8lqA==",
  "id": "rs_0fa6169a1aad87c1016ab4218fe47087d0a8cf246f41b34fdf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.4,\"left_z\":0.105},\"note\":\"The blue bowl is just to the right of the held fruit in the wrist view, and the left arm is nearly at its sideways limit. I’ll bring the fruit over the reachable near edge of the bowl and lower it to a safe release height.\"}",
  "call_id": "call_u8oZFHLL3LcvhKSSp2ySVBno",
  "id": "fc_0fa6169a1aad87c1016ab4219370e887d0aa6ba61d1603e4be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u8oZFHLL3LcvhKSSp2ySVBno",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9855, 2.2879, 1.8282, -0.469, -0.7876, -0.7441, 0.4545, -0.0227, 0.8082, 0.6174, -0.4179, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.4147 left_y=-0.3926 left_z=0.1003 left_yaw=0.0323 left_pitch=-0.0314 left_roll=0.0294 left_gripper=0.4545 right_x=0.2922 right_y=0.0011 right_z=0.1745 right_yaw=0.0065 right_pitch=-0.0392 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -14.2564, 6.4068, 1.5018, -0.3199, 0.1734, 0.9988, -0.1709, -1.306, 7.1726, 1.7558, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8700b88f939f11c395558acf950c144db8cfef302f3d9f6c6865b2b737ea4997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb8e7eed5a9c7e213464852e222a0df54faf7052103cb83839e6f92e838dab02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c444a232903de76a24f0c57e35e62858387949941b1ba28198c60a6099a34143",
      "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 · 4.284 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]: [-0.7616, 1.8553, 0.4793, 0.6834, -0.6472, -0.4881, 0.4519, -0.0227, 0.8024, 0.6178, -0.3946, -0.0238, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3386 left_y=-0.1708 left_z=0.0021 left_yaw=0.0203 left_pitch=0.0348 left_roll=-0.0029 left_gripper=0.4519 right_x=0.2951 right_y=0.0011 right_z=0.181 right_yaw=0.0068 right_pitch=-0.0098 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -6.8444, 4.0137, 1.5946, -0.3053, -0.0122, 1.033, -0.1026, -1.1419, 7.0632, 1.6972, -0.0415, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-1.0172, 2.1342, 1.8347, -0.5991, -0.8047, -0.7578, 0.454, -0.0227, 0.8078, 0.6174, -0.4095, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3914 left_y=-0.3843 left_z=0.1697 left_yaw=0.0182 left_pitch=-0.0041 left_roll=-0.0008 left_gripper=0.454 right_x=0.2933 right_y=0.0011 right_z=0.1763 right_yaw=0.0064 right_pitch=-0.0304 right_roll=0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.9778, -12.7795, 8.4991, 0.9499, -0.5885, -0.0415, 1.0281, -0.1709, -1.6205, 7.1726, 1.8095, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9855, 2.2879, 1.8282, -0.469, -0.7876, -0.7441, 0.4545, -0.0227, 0.8082, 0.6174, -0.4179, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.4147 left_y=-0.3926 left_z=0.1003 left_yaw=0.0323 left_pitch=-0.0314 left_roll=0.0294 left_gripper=0.4545 right_x=0.2922 right_y=0.0011 right_z=0.1745 right_yaw=0.0065 right_pitch=-0.0392 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -14.2564, 6.4068, 1.5018, -0.3199, 0.1734, 0.9988, -0.1709, -1.306, 7.1726, 1.7558, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8700b88f939f11c395558acf950c144db8cfef302f3d9f6c6865b2b737ea4997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb8e7eed5a9c7e213464852e222a0df54faf7052103cb83839e6f92e838dab02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c444a232903de76a24f0c57e35e62858387949941b1ba28198c60a6099a34143",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCGZAfO0xmx_50euO42YEZ_s6JAJeJiVnWGpwVRAOwk0R_Efu92SIBM2eumEp5UE8iUfWKqa-gt1WU47AXOZVNlUZM9Lv7spFJQFB6_ySW9XGL8YqRaczeeFNw3rdc1xkOKiFWdJqcQ9ua2v_LjzBKlMyZi3xmLBWJNPHgUuBCIeoHQyj_cqAIP8i3Rh4c4bA5760nGi5AFplF_UnjYj82Nohj3EbkwQsSUK0_ZvQTkbVCfy4S-kVHuhNNQ9ac2w7EtGZscc65H4XQ09nKEUdlI2jn9csg1Gy9SGkzfaqkpDFJtc72XTA6gRnBLI0z-kTyo4_d_qUUr5aOh52BIeMN8WKM6L33sgUDfnXt4DB9mShX3qM2KI4nR5vRCTeg1mIpccNv5rrV_YyK1boUjxDwn7Q01eDx-t0uAtcca1LIMU6xeqvUnUz8sfSWQNUcqd3qHAbKgMXYurdhvs2LzpgP6KKC1GNhdBmfxyQHg5K0hoMAJB1E15azaj-L2ZLBBM1NTHG67o8gubSkMRoiBpGDSWCMvZ1cxvX0bWAmOyzuLx3RwmdS1dm4fB46maIeW5ZBxty7tBadcxLXNxZGWXzRDpbnlOEC7ArYQwURjJzNGSrBn-_fnkdcVbADy6asserjhKYbTPVOdcl0-yFK60DEtAb76Cwu09NVCUezYBMYMcszUC9F5U6tJgIoLaN7LkgBBxR_LAjpG1VI2dPEhHTRSYvoHtF9n-8dVktWcC7KIR_LLCWGsoXm3T9WYrlyfO9eJRIwW-SDKcGlEzZUAtmAqEApMzX3rFMUuHUSyszOioiKCvQNxwJmenSXSgQ_NQ8vn9c-tpNW1QV9R1hL3UFV7hl2jpFfXFW28-Mh-Ay6D3UcbAKVWsdLFChufQeDiaQ4omyq4JhEZhnVG2nyMXhRknMiOolgFTeKNDWQgNfT3EvhTggZ4pGC7LDUSZxTJnv7FQuHVg6mMLnS7sG1pYGJ6duS5avQYD20FWU8c6WT_oO5hHctT9Wcvvn82Q6bVVzBMIx30DDozX6VUy2iR-4apY6GWW1FQNrRgkdPWSobsC2oINOJIj7mLYLKJnFY4jjVNym-FS5-mmbCWKmYhNqt35TpkdbOMqyO6NEHfNP0SJCk3TVhUdn3WSpo6kRHPPimSFdQ1fkvXmoaLJPBQ_6JngiE9BeiZlsJbu8s0w7TWhB9z19Pozf2qyys_PbJ5Ew8TkdkvJW3TN-Wwpa7_cd3N9oxDwZrynDGBwnGlAvjr9MKMp3HslPLjODMQAt8SCaWcqQ0wHUo8zlsaPBWQ-J9fbi5ZpCKXdshsTyHfWcwDWv_nA4cuX_VNMAhspw4rlUdn1CPyGaqwYXxtyBfMW7dqCcjUzKY6GtKJ1IKP9dF_cToicW6O-qLqvQQR0u1lJGyB3uXHgFuuPyzfmZ00-_y_gruC4oK9DwQlVXNzTV6OQC_CbauBVm9TygLhlpSYuSXOgcmNLYg_51kdCrx1GAgn2WQSzpuI8jPV7-1FSnyDmuxMtoGIUMdqMX16n73qrofvEX4VW_C6M_7L7qYCH6_jfGAG2V7bQHz0blau8UDJKvpk_vxH_5bMp1XzY9FzV9fbwWww92iF7qOB8G7YGW84dofbKpFnS5ySdtnz5qIg8r9zx7X0oV_uw1IyKRyHlQnV5nV39p-RSFOVFPwjTfppzXp-9HBzSs_md64B_qZz8jJnIbzz3ntjnO4OdOIZjoGLruiS7pB0t0H4Y5JzLJDHf1_kcyPceGH9E7bk5oluHnYIZEy8JHG_87JLYf-O2vwVabmVuh6PqEY50cat7HSnj_JNJSAEH4BjyBQEUhEJsYfqv9-eU5v8VS_Qlm5dg2Vqu14Foq8q51tLepEuIAMeNJZOZOZwb8T9ohsLxpl7SA54HPQ1favSm_8_vp6kOGinenvTLwcSA15ghRv6LipPDNA9xI7sP4ra4ZDTjjIW81-0M8U07BGZF-5wSiR5ImX5-xodBZZHHB81UL5gM6ZDbZ2HjvFLp02Gdl4UWQCxUoYW21vbYX3NOA6dQgU19oHDmyefk_1SMJPCVywe6k_3lpUDxMrV9pTICyKRFRSxeo6xuFlF7mIfBhxbb9vLJZFq-yn3Ybn4VfIB6pg5veTekqHTRVaod0NS_-P9QMUHDMy_zz5uDu-XXnEB70dpMKoCQOMyZDT7KHKNbcQDbuyWNntCwuIqvol6YqyBEgVy04__2YXjaRetHRZ9yCCMPorCis3o6kpdVsquNXUa4uTNt5tS8nhbP1D4sqSnBCdm48tKhaUZUHI11tuHnc2HBqST5YQ8m086vjsDpbdmAbymyM_0QVnxIRij1XLNFI2Fsa5aM1SMHACM_IhHtHOvQosyTvk-yEvPczEDmtE1usQxnJGmh1qKRuzkVmSu9wMS-WYbizVgM__7YtL4gE8mBaRQZqbJg7dpXmsuWEDYmfqM8Zg==",
  "id": "rs_0fa6169a1aad87c1016ab4219689ec87d0a712340f558c5f55",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The fruit now overlaps the blue bowl’s near-left opening, though the bowl center is beyond the left arm’s sideways reach. I’ll release it here and then move the gripper away to check whether it landed inside.\"}",
  "call_id": "call_8e0pvju0fNXt8YkVSjUW1kJf",
  "id": "fc_0fa6169a1aad87c1016ab421990c5487d0bb0854cf5fbbf16e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8e0pvju0fNXt8YkVSjUW1kJf",
  "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]: [-0.9848, 2.31, 1.8229, -0.4675, -0.7776, -0.7521, 0.9952, -0.0227, 0.8082, 0.6174, -0.421, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.4136 left_y=-0.3925 left_z=0.0856 left_yaw=0.0323 left_pitch=-0.0517 left_roll=0.0407 left_gripper=0.9952 right_x=0.2917 right_y=0.0011 right_z=0.1738 right_yaw=0.0065 right_pitch=-0.0422 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -15.2, 6.9675, 1.2137, -0.4762, 0.0708, -0.0708, -0.0615, -1.3197, 6.9812, 1.7607, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677979d7e522377cf4c486b9b2433ee9aed5826ea7f1d55ce1efee974f8763f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970d296ab5730efdd49d7a16f637fdbba014fc7abdfbccd43d2a2bc2dd48dabd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80294ea6e71bc6c2c02655c3523f78121b30e71249fc3247e411302dd928a673",
      "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 · 6.955 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.762, 1.3602, 0.7719, -0.1318, -0.6399, -0.4969, 0.454, -0.0227, 0.8043, 0.6178, -0.395, -0.0238, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3366 left_y=-0.1705 left_z=0.1446 left_yaw=0.0188 left_pitch=0.0119 left_roll=0.0056 left_gripper=0.454 right_x=0.2951 right_y=0.0011 right_z=0.1804 right_yaw=0.0066 right_pitch=-0.0121 right_roll=0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -6.612, 8.5402, 1.4774, -0.315, 0.0757, 1.0281, -0.0205, -1.265, 7.0496, 1.7314, -0.0366, -0.0317, -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 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]: [-0.9855, 2.2879, 1.8282, -0.469, -0.7876, -0.7441, 0.4545, -0.0227, 0.8082, 0.6174, -0.4179, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.4147 left_y=-0.3926 left_z=0.1003 left_yaw=0.0323 left_pitch=-0.0314 left_roll=0.0294 left_gripper=0.4545 right_x=0.2922 right_y=0.0011 right_z=0.1745 right_yaw=0.0065 right_pitch=-0.0392 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -14.2564, 6.4068, 1.5018, -0.3199, 0.1734, 0.9988, -0.1709, -1.306, 7.1726, 1.7558, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9848, 2.31, 1.8229, -0.4675, -0.7776, -0.7521, 0.9952, -0.0227, 0.8082, 0.6174, -0.421, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.4136 left_y=-0.3925 left_z=0.0856 left_yaw=0.0323 left_pitch=-0.0517 left_roll=0.0407 left_gripper=0.9952 right_x=0.2917 right_y=0.0011 right_z=0.1738 right_yaw=0.0065 right_pitch=-0.0422 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -15.2, 6.9675, 1.2137, -0.4762, 0.0708, -0.0708, -0.0615, -1.3197, 6.9812, 1.7607, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677979d7e522377cf4c486b9b2433ee9aed5826ea7f1d55ce1efee974f8763f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970d296ab5730efdd49d7a16f637fdbba014fc7abdfbccd43d2a2bc2dd48dabd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80294ea6e71bc6c2c02655c3523f78121b30e71249fc3247e411302dd928a673",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCGeYwlUg92_7UUjK1AvkcytTWe75v1Tsv7x3ot3NdjQg7L66LptcObKqKRM4m77VIx26HBFxpeWa1H4rVjogJICgQj7aykXatJMb8nhTnYfo-l3xPkbdusV0suhAVuiH82xHTf8PCSiWQHA633gZ6M6U9xCq0LjU4K_uKdOve5CSwsXmbdlKb6MJx_OwebjLby_QTlz4_psLI-gQN7O5wzwLZp7S8dfM-5ZvcfLytki4ykyU8GUVYZVGaS1YQDg7ba8WtyBhyjUf6z-H6B9OH8yEmYXK3E1YbVd4s7CKI_adyZFG3rq48zVhI3lS19oVd6c2EflvSzftawHik0Vs8EKFI5oy_tC_YKr6vRpWB3EbQS9tK2-EtR3j0wJVIsau_Afq3IUnBZsu2-PtseZhPMauAiB7efN8l5ekQFP3Ph3iy_8d_Cmlk3oEb3MJTLAqGGrs_jYGPKCpW4PszlHDJIeFoGGxAgN56xtAXqlyv6cM30Htk-Ey4EmbznUYbZvH0jhyUqTj3acKz7K2os4FpYN_R6bhN6PrUGmTgp4kapoeLpVs4e338oJSeRl4xZG4HA8XlfxT7nvYvSX90SNeySj66hNjDoCbMXYuIYIp3RjAF5EOBpYToqL7oBtNVe5cUzIBKB8T1t9DVhyYJGvVFmCqso_8Y2QKxyhNV6gW2n4L0LAH9oAgrQkcFzz7htyimVsKuWsreW6l8Dy3j9gnajNkZ78gAkjcApjrwmntQQPcFB92odzgqNt0F8jlpQ9NNMqRFFYHSvsL8ZCqih0IbwpAeLlowslGOob38w8fAZKPid_32qWDc2Sd8BcRe8X6ddOYvDVk11qDpErKNv_mUrO_AY1KBvwDe0LxcpHEtqIksnIPAGvz8d06SjCIpftT2DuKRqi54WHRS3WbqGMEKe47SXitCqRny2YodS-cSZHLkbSwZCBMUiAvesTu44DfW7HLjmmW1ddTWjf6l6O4E11lGsnSNgyblm3Smr4gTSOGzvVrhmW5H3cMdTC7vJ3AHvULxHbkoB-reaG9bDoDcx_duzNBvhSeHz2Gi6Nyl81OXW2ltBfX6GyLSGXY0Hjv37dMr5X0RLJKb8mPK3dKS8dV1O4MQaQDcrgfgp8PNfgQ9B8OtewQftUlRXFrtNFMMLbg3eHxKt5MjZbSqs2qR082rTJ52kb2z-1KpHkZQnVpJHgmhg4plHWJuD4lY-EB34rHFNSrKpQMhrwZB2pfaB2k_3IgmLDjBaDfGkd11X3RAMfSLpqUSxu1R--Bq_t6lhsaLF0jWZeqI_Syyut4H0eWh6y-OnckrbB_Ql48rEJNRCZS_PXsg3Vo4vrnmNKdyymeMJXwaGWRiXO6Od8Fo3a5cudBwbGRHCruGQ5UVysaPT0HoG3sAs5P10YeX5z4ehXisl_iHaQoL2tbymjEn0KniNT5Vueu8UtJkSkYz4VxllwrH8SNbCq9xsRGas-xCkkEW1YWvAypPlnyWjk3thvGos4MXl5f-CElf86oHBUov0oQe8bsgIJs5Zp_ax7hvoUXD6ODdKR8e7upWKT9D7usZ_GHGSippN5HjMSnMJAZHQYeirU6prufVufUCBSX4bMFOKCuMDpT1c1UcqccHsGBG9kjm4oJKlxVjBjdwDJh-xOklG9aKTjA4ulvgFA5iqI4ArK4J9VLmdU5zAJMuCMHmR6LhaQLWsDXL6Wxo1t98fHyvZSVGR9X2F_UUSIxGmTd_5AyWVVTXKFc1XMaGuLyKkrEXC65gDaoWJXNzlwBAPNVDftAHJdUwC6gbG-0CkQw3rIutifwMF7pySHSSco5749LUI0dipHWN7ZcrPYOf3lr4r4OvClR7iozNtuUyNuQwr9Hlyf6kOP6fYMPa43YTZlfW_Trl7F9pj1iw7dKT02Ao9_bhaK34gRKWq6Lxso8lNLmuhJz7l36frQh_6c7c2d0obE-TpYdttZsYAndeajLYQDems5nGsL2LIQ3eUlIo7tjwm3ZSWA-cCb4nuZSyDHhaQesWwzgGg4WRe-x0rvlmMz_-yERovk1BAYllRqhWGMfpic_4tz6wf3C2tWgbHBNH02kFanEP0laXQn7Tie-smHDFuv20s1y2ikecTf-x9BW5GxmagZ4s7g4vIm7f3nx1gze6yheqGyk18Q4m_vottXQCC3Z_2WQTZWwamis2WZdcGog-4Tapk0W4ZR5EoFnUFtq9G58zdr-dTxdY304Y-1C-V4AduX6MChEG9lASvKijoBMpgQEtKZU1xrLAvEs09EiYcukmum83oakTTJIo1rZwzt1gcX9gO71ZaIAw1nPkb-Za_tv70tgnh1vxo5KAD_MmXGNvbbXS1B1PwG_Ao7LsYlGQKXzwaY_GEz6X39GYy-czvrP9gK1Ytqi06eLs4FzVSFDAnvHxkgcXIthXS8YTT2KLLhPOH_tGaeqREDjZfSwADBpRNPEy2_FOwbE9WhSARxwB_n7-noqWn1sSOWefh_nZTIoDNUbNxiFL696kgWNOclNcOsMAdwew==",
  "id": "rs_0fa6169a1aad87c1016ab4219b8a2087d093209abacc15363f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.17,\"right_x\":0.35,\"right_y\":0.14,\"right_z\":0.15},\"note\":\"The fruit has left the jaws, but the arms still block the overhead view, so its landing is uncertain. I’ll park the left arm back and bring the right arm above the yellow fruit, clearing the bowl for inspection.\"}",
  "call_id": "call_SRUCOqWHGPDtH5mJoQ0wMBOW",
  "id": "fc_0fa6169a1aad87c1016ab4219dce8c87d0978c14d8b71b1535",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SRUCOqWHGPDtH5mJoQ0wMBOW",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6365, 1.0718, 0.7322, -0.3981, -0.5613, -0.4484, 0.9959, 0.5755, 1.3071, 0.7502, -0.2089, 0.4335, 0.3054, 0.9994]\nstate[eef_state]: left_x=0.3051 left_y=-0.1041 left_z=0.1712 left_yaw=0.0592 left_pitch=-0.0364 left_roll=0.0192 left_gripper=0.9959 right_x=0.338 right_y=0.1351 right_z=0.1288 right_yaw=0.0364 right_pitch=-0.1117 right_roll=-0.0439 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -3.2479, 6.612, 1.6532, -0.1343, 0.1245, 0.0611, 0.4171, -4.8342, 9.5385, 1.8046, 0.3297, 0.2418, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f84af9af1e59ed81cddcdf9e0adee6230c8c84102b0fb96e492f8096b2926b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9096cc7b3677e6376f6ab1ecfffbedb8ba881c82c518a23b1a241522259540",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f323baefb9792ff911f3439a8a5306fd3fa1283e67be75e7b53f48dc1199a792",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.864 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0172, 2.1342, 1.8347, -0.5991, -0.8047, -0.7578, 0.454, -0.0227, 0.8078, 0.6174, -0.4095, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.3914 left_y=-0.3843 left_z=0.1697 left_yaw=0.0182 left_pitch=-0.0041 left_roll=-0.0008 left_gripper=0.454 right_x=0.2933 right_y=0.0011 right_z=0.1763 right_yaw=0.0064 right_pitch=-0.0304 right_roll=0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.9778, -12.7795, 8.4991, 0.9499, -0.5885, -0.0415, 1.0281, -0.1709, -1.6205, 7.1726, 1.8095, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9848, 2.31, 1.8229, -0.4675, -0.7776, -0.7521, 0.9952, -0.0227, 0.8082, 0.6174, -0.421, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.4136 left_y=-0.3925 left_z=0.0856 left_yaw=0.0323 left_pitch=-0.0517 left_roll=0.0407 left_gripper=0.9952 right_x=0.2917 right_y=0.0011 right_z=0.1738 right_yaw=0.0065 right_pitch=-0.0422 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -15.2, 6.9675, 1.2137, -0.4762, 0.0708, -0.0708, -0.0615, -1.3197, 6.9812, 1.7607, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6365, 1.0718, 0.7322, -0.3981, -0.5613, -0.4484, 0.9959, 0.5755, 1.3071, 0.7502, -0.2089, 0.4335, 0.3054, 0.9994]\nstate[eef_state]: left_x=0.3051 left_y=-0.1041 left_z=0.1712 left_yaw=0.0592 left_pitch=-0.0364 left_roll=0.0192 left_gripper=0.9959 right_x=0.338 right_y=0.1351 right_z=0.1288 right_yaw=0.0364 right_pitch=-0.1117 right_roll=-0.0439 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -3.2479, 6.612, 1.6532, -0.1343, 0.1245, 0.0611, 0.4171, -4.8342, 9.5385, 1.8046, 0.3297, 0.2418, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f84af9af1e59ed81cddcdf9e0adee6230c8c84102b0fb96e492f8096b2926b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9096cc7b3677e6376f6ab1ecfffbedb8ba881c82c518a23b1a241522259540",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f323baefb9792ff911f3439a8a5306fd3fa1283e67be75e7b53f48dc1199a792",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCGoB62uPO8Um5JkIMnb-8W6baq7Fz-7AIQ47U74jZl6zZRpL3z6BxXKgb_OPTW7v9QCCm1sOX9FFCCfK7ij5VICBFOktp70oyVzX4GDKOS3_HjAg_W2YIx9G_Sci5R8uTEHQ3T--39yeaHt8K6rrBruGMY5M-bBL7-ChX25g5yA9enMcSMhnuZdQxrO-crWMKP2PnWARHu6cNJX1BzOQCHOUVBFGKEbry4jBYMcs-ZXBrc_Wh2C7gJ9G6HiQBy-ek8IqwZfDY_LgaTnWovezI9tUaIh9eqxJSr__1KW2mq0XzbMTrz-BJZma2R0_cE_5Myh8tf_fz325MV--8utCBnrwmkl4fCcIy2-3DD1f_EYAaMsk-TrMhWgGAatDWpzpsG5eDgsoups49aZISaCzUATK4GumKiBqfO8q5a1YA2B0wPv3MMm8vT5Hg-vwlXbhPodFSuANgcX-3wJvYs7vyYvhBrDyyBcJq96836sfGu-yx2kvixb2dkJvhoWJRg2We9ldvrCJDXXaEs_Us1FNFZYTcdO76xeAsHDY_aRq0niOIZXdE6g2wB57S8QFcdcwexLrjNDgrV0i_soj3js3KqjAiKuh-swWcR1WPUrcXegYFK4dYIKY32x9kmyjrlp2uS2_FDIzf3b1God0I3pqeYSTgEGWRndJxX5_zlYW0Hzf1-QYVwXmV3-7JocxlvIemseRPgnLlHgAXETvK_foACeIvvqS4uV5muZR_-7uklbFvqFVsvPbipYu9V7G1RBDNeB6g3_UxjuHeCQEI_-KizrCM_bAq92djB9GYgWu43jzetS8qS8VzsU4LW96c0Z-AJr6aP3atkvqXtSI2ekKzJ8pXGCK0CGuhA5_5tgCHEhXywi6hwkkuySvGvlQB5cOnWiikZW-zP0-LUkKy3iKO4Ewzls8zhFH_vwe_NsDqsdht-VTFwOWHiAPn6RQWQRMn4dpOcR386jAjFs6EFOLSJOfkVnRA-eA_qwSSDqUTgboDa6S8dVYvlR4PkcbvpT-mRCNwru2sj8WCd2AhomWPmLQgLE03ogLmy_nv3iGtj6cna8Jywp2Y213hJRBZfAIkEyYrkwidDYkIQnkAmXEp50hxc2mP6LNBbDHWUH11UjLsAKVckFpW1T0QQYPahCse_UTpQfF3SiRBLpYaMdo2IIwwq3hY5DXljM9MHJ7Zd9W7fkDC3--uFZsEjN2e4ZvlAjCzQMZR-NyRTIin_H4gdU-yOFSpuEoAvNHy8b_qFKeHegnKdCOH5QPg1yLJOA6h5It9PZfdVl7VlFTBRNzxRwoWu61gwONwJgDhIgdfb9liO_a570zg7ofFDzQZizlBQoEJxTCRl59eAaVLjiiGjF-ZSrVAy2_HGkd86YdH-tEIvjW9LFnlxfbaMy90HkmkH0L-MnxqUHrUqIGMffLCBXaUbIiEOAylCOkARocu8fnQcO_OPgIP9ku2lvf94bFhw0VuHAMAK5g-VHaA4oJWChh-nlmQqTOvk7ZS8PaZGeRP-FDupyAeR6SPAvYvQMiF9mC8Ae6UgXudRDZ_7Z3CxxywyMhbJz9fDBAZ2PGLKF-PTLmKw7YnsUy4Vi0eMpMUvki-VRBs72Uo_dwme36s0oM1h7DtvMr3D2T2GXM4VwzAD0sDnGE5MB6AbLh5g6MoQuvtwPg2r1Key2XM2MWDMA7gjx9UYeVNZoSwo8AABCGu6uJxSbg40rePPuxfcDvcl3gi-t9bBlXDjLcbpmygjEgzVDZRBLa5XLB-GJ7soQc_2KJnmsmmk_AnP3Drpdi_2RlxmP5YAou93Z7kYAk7eOFj9T8vc34U6Om-tGZz1UYrqX8Mw5JAArXi83LCvFTT6G3nuj7SEwoKlkMR87LRDIwmp1TiF27uLtv6GktXKXd9vMaJzxRlWDYFBn64zoDwj16Uda5P8TrtWZvRmMwRcOXrRaUSxbt9-69vnwYRwm3EtBdHwF6_PwOEX5S6dgeI18pyRMdlsc5ZnYR2DhzKGoBhmUaHSDj9M9q8b5l5kYVFxjUSROnM3zIZv3g67hzkpFn4LXh3ihDgSHzlsLM6supJ0glGmypFBtwvMjb673YZUvyqi6ziAMsv7y1fEQSAf5FjUcqPRZhf9oIORua6zIAiwk1ME1AD_D8JghtNDN4ASzKi8hFA1tAypGfZs5ijnR8Ld1FY_3lexMbyxoslC6WHkLy2vYBrWvTyobzxiSA1Fc8LeyrZ5aroJboHelMAeIahy1I3MiOpo0CnWZvXmoab-PN5J8SYHb74YHTRpoteOlFO87qbpUN97nJrH0st8UTWqf7w0GjhxL2y6poahRtsVcyH1yGBzRsQ0hwJjMjG5xUB5P-TqcRV_CshtNRtfStqCKPN-XtwR2D0NkAGnT7CMvnnyuYAMjHubAVjfi80wpyPNx0negNFCrgDLyUYT510gHueXDeyQfMSLgbbCNyteaXjrzc38oB4AGiqoVqQenyfv4Z4lsG3mpZZIzPID47YG7i-ST7-dmTGVXE0uQ5CffyitMrNYQhwQhLPW_2wLL5VRQTb0_6CMwMV0RyYeBPl7zZ_SkcLDGQNBAfsKfwoDlFvnHqStuiKFzvJ7eM-i3tdI14z7aMzPzPbGAmmwVWyQOe5b7bLjyUmcM_tsP7Tfd2nnhrY_T-XWA1bzTmFV5_jQAYXXT4nKru1vDJ6Inx1x4a4nVwmFDCF0o7N68VV-csknHFxY-CnHAe0WQJ_RagXvthyPgeDY6nIva3PQmqz8eiiNcpf68GpcP4ihUbdCWk4QtOzawrDz8x1xWFJVXKNG8uEE7Iu2XBLvm_0F79IxQy-w07KgdBa2z5WaT6iy_sZdVfJl3IQeks8GALRJ9yHCqEw0Eu5I1Jd_dO9JXgrurah7FUawmgiGjUp-VJd1kK_Vnh3flwoYzULHbUse7xrpRl1usWOj0V7rWcl0hm2xKLICMnV2WFTxcmszUiWKzlp0WmG3_xFN5U2j5w3sxr4Zvp4ULHO2IG4JOuIl8DeDmcqbdOYAjT69wHRRAuGgXWM02AQu-dkZOEGPasfRMjI2xWl_yUQpH7abObsd2TDGSGN9C1VEhh2Sdu1Sx4TWOupVBUD646uokL1nwsDHDZIjnXSi1pkf4tCSBB6OnZbmQ_Wxi4QprBSv03FFCubAIRKr4ag3yyi5YFWb94o0vsjIwYFVQAgpKxz5zb3Xn2SuzwrlaAvtXuxvaSpIB7CzLcMzVPfnGpt5ArNwcYfksSIjJkhp9rKsqWUhrAi6MQGzYFzajyiP9hB8V73_zuxj3x6WypE-Cgcpwmqv0aGLC_g_DXj5hajoC31TegJ3Ueq2LEQyp5TxlZ0NvrvkXJwS1TAbFVycyeLQ9u79pkPlNehbW0JB4j8zff1vVzkamG2wfdX-NsuFLg_eGucIGeonH-q3AOodLVkvthn8SBf8TYZ3ICExWogfBqdpCU-BA-YRkWL9rXS_iT4Zm3PL8LfQpsGtDjdx2txrnK3VbrcrBG0_Ht04YFtHeS3h55LPEk6kIxo0xtnWZQyPAp5HZ1azcePPpvxYxlinY1eByI5sA6cqIMHKzcD3edsP3rJ3hpOAyfkl5iGCk2XSzh_lZtKFfuCpZwrmrfCkhyYc9vWNoRDwo9Wfaat0Xj0ckqGuVfr0QEX1BWgiE87PdU575hCYFFQBYirTM6MnmvuP2CYPa8B9H-tRRnrp7WoUlA1cE0gIQcmUvkXYr2HPPa0zRgrxsTHqJsIq-XPSUKZaGmQZW_A0Ch9v2ZWEkM0vJgUE7G6olQpwuZxzPY634s3DBG5kAnaqvKtaE-oHds8qIaLQ7XtjBaxmtVqK2707MAJmKfhvKcLRerXPfj248SUi1g-Or1i4TE8vrmndONJLyYhzWHN_aLr861p0QHS4tq1NOiIOJv2o7O_Xyg5RIkQdCpg==",
  "id": "rs_0fa6169a1aad87c1016ab421a22d6087d08f8a54bea501f9b4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCGonQ2AP3nYKgDSF9m_ZUpeu-PJqCE4HWw7rX88Bd0oRB__ygKgq-887upzYr3KT6wpjk1sFRRJtWFUPiviT2_PT-E-wKSpREmuPo3wWCmGBoIPeIscd2qH4Xy_iEzdVJ6TM5vlJSqNaxItfdRZYYpRqjSNDCg2Dt1-P9xIdAyN0nMkX0UiYbnt0dkOxb8mzjse8Af_BuJs0CvlzQD9cr6YfYV6AOULGazL2NniIjvfijIJp151AGFmIaDfszzxnW-6zKKaeWKa7z6z4Tv_py9GRrFBUj5m3OwHPwM8mO1klAfnuyPjLjTzN49H0zH3RJZGr0digngQziNq4fGbDRZR0_Y3vhu5T9wAQUfBrEiNwTlVnDz6LSv5POIUkiSHt9CNxShrXwlocbEmCkw-ReMndMdOnzceZ2HS8whGqQQ_0GJ6OZlGZkmtNwQHaEqRf0nvtREfZYadojWMisEFcOqN7EUSdehljKnFs73F0yk2GmstsipUpipnVRuT8H_DyceXTFz3hhJRk1ZBLCuPZpByuyJ0xmOsqP8NzTsIMvx_D-bbtVQVgjvhKrDg44SwJv_3DxyxGAgFEo0K8Nk_KD0srLogQX3V3vjtjKo_8w0lFGhBcyPvn7LQoIAPvllW6Vi2HS53twLOhCtxnIwjrq_X9BwmE6XvLLftP5oGPmstqjZ8Q1NCSV7BBjWo7qkQWyp7ikGGYBPgYqx_SkyvUkRdYgUyoZ2RTf1ncq4Th5bvJITi3A9VQlJbGDsQjyJKxG98q0-NPhMz5Lba9RczblYbYXW080hokAR_xjj-_sxeGGr6qSg7LTOC9myNrkD1QA_yaj-4CeGHwVy7KHr9hEyP9qV7gln8y28c8DOZ9q97iTr4MS6F_8mPyY7W0oxCfmzFp7czO-WcvlidkNST1nnCdmkLtHc1cKQAGSSinhXLIDETwhTCEtkJr0fyrfPmWcEuTS-FGrdT5Blb2_vzqG5DIDNWYzeEMGMB-ntBMwCBNwl7zUc2z5wX_pZmPaQVgDHg0-hKFd9v9KpOlk4rJC5hyLBjBrxSRWMXiqtgLpcJI-ix5ZVhkq5nBg_ZUAOIAOABm-C38dDNrygqn6seGGKdl8T6riDHmUIEvO6VZxwkPCRrNkhd3jhqsqiYtwB7_E5lwryrX0TiZ0qvoEdpKLvQu-Himp-RNHi2A3evTc8ozoeEBYHO0W5-QN0WjnjhgwKEVBDbZlK1ZNJXHgTsegmxlNbkbea7RtYDJAiJQFNyssDbd93K3Knf_cgsJThOToOOS6GlUOKpd_W-vxfvsuQdYWCBa2OCY62OJ50F1KWewdJ-SxzHX7NGnFBvmd4qx8RvQA2fr_twjy2AXzAf7YyoOibuGwts_4NwvHO_ofvGSxVHgwtEJNj9KNtBs-k8zwV8ZaWHb48xzHqGXoIXpkVmowirjnDBuymky0Jt7Xi1pIU=",
  "id": "rs_0fa6169a1aad87c1016ab421a6f19487d09bd87fe064e5f804",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.24,\"right_z\":0.12},\"note\":\"The overhead view confirms the dark fruit is inside the blue bowl. The yellow fruit is still on the table just left of the right gripper; I’ll move the right gripper sideways over it while staying above grasp height.\"}",
  "call_id": "call_75gIu0j7gvGJvdvUYmGoBc7L",
  "id": "fc_0fa6169a1aad87c1016ab421a78b9487d09a603afc3815960f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_75gIu0j7gvGJvdvUYmGoBc7L",
  "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]: [-0.6334, 1.0752, 0.7235, -0.4152, -0.5453, -0.445, 0.9959, 0.8253, 1.6371, 1.0073, -0.2657, 0.5747, 0.4808, 0.9994]\nstate[eef_state]: left_x=0.3017 left_y=-0.1034 left_z=0.1629 left_yaw=0.0492 left_pitch=-0.0661 left_roll=0.0322 left_gripper=0.9959 right_x=0.3442 right_y=0.2366 right_z=0.1093 right_yaw=0.0743 right_pitch=-0.147 right_roll=-0.0709 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -3.3983, 7.4872, 1.6581, -0.3785, -0.0415, -0.0122, 0.2393, -7.9248, 8.0752, 1.2674, 0.4811, 0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d989e02e9d441cf836e07bf9e5f4e9a27e093bcee7b37fa7d2f6cd52c899064",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfa64fc9caa13c1293072745866cb0239034cb4ffdd0e8af6e6527cbae2cf72f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2dad5e12d92ad83112bb42f9bd40496abe66fa6fe7101b2f22d6511c0679c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.985 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 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]: [-0.9855, 2.2879, 1.8282, -0.469, -0.7876, -0.7441, 0.4545, -0.0227, 0.8082, 0.6174, -0.4179, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.4147 left_y=-0.3926 left_z=0.1003 left_yaw=0.0323 left_pitch=-0.0314 left_roll=0.0294 left_gripper=0.4545 right_x=0.2922 right_y=0.0011 right_z=0.1745 right_yaw=0.0065 right_pitch=-0.0392 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -14.2564, 6.4068, 1.5018, -0.3199, 0.1734, 0.9988, -0.1709, -1.306, 7.1726, 1.7558, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6365, 1.0718, 0.7322, -0.3981, -0.5613, -0.4484, 0.9959, 0.5755, 1.3071, 0.7502, -0.2089, 0.4335, 0.3054, 0.9994]\nstate[eef_state]: left_x=0.3051 left_y=-0.1041 left_z=0.1712 left_yaw=0.0592 left_pitch=-0.0364 left_roll=0.0192 left_gripper=0.9959 right_x=0.338 right_y=0.1351 right_z=0.1288 right_yaw=0.0364 right_pitch=-0.1117 right_roll=-0.0439 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -3.2479, 6.612, 1.6532, -0.1343, 0.1245, 0.0611, 0.4171, -4.8342, 9.5385, 1.8046, 0.3297, 0.2418, -0.0171]",
      "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]: [-0.6334, 1.0752, 0.7235, -0.4152, -0.5453, -0.445, 0.9959, 0.8253, 1.6371, 1.0073, -0.2657, 0.5747, 0.4808, 0.9994]\nstate[eef_state]: left_x=0.3017 left_y=-0.1034 left_z=0.1629 left_yaw=0.0492 left_pitch=-0.0661 left_roll=0.0322 left_gripper=0.9959 right_x=0.3442 right_y=0.2366 right_z=0.1093 right_yaw=0.0743 right_pitch=-0.147 right_roll=-0.0709 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -3.3983, 7.4872, 1.6581, -0.3785, -0.0415, -0.0122, 0.2393, -7.9248, 8.0752, 1.2674, 0.4811, 0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d989e02e9d441cf836e07bf9e5f4e9a27e093bcee7b37fa7d2f6cd52c899064",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfa64fc9caa13c1293072745866cb0239034cb4ffdd0e8af6e6527cbae2cf72f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2dad5e12d92ad83112bb42f9bd40496abe66fa6fe7101b2f22d6511c0679c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCGs_lNRRk3Ap-V_iRqYVOnOEV5hytYwccPwRIiPO_6LlKWP1euMpKmiViewXoNpAGA4yxiOEXa89_FwZsyUU085OSwsPJdKlFgQQDhkj2tWnfY79uoedpMYzw4PoyPoFAwV1_NL0SvjI_AgQTYemfnUNOqCXUnoJNGjc0LqspujIP3lAbwKxT57sK2cCqo2UNwApVUkqklHXvAhtU9l2gJOrM6Hgeedkzv6zVF6inB4_E-HLueTvhbC6oCi5Y5aAtRbc_QibM5OLLmCrSPZrSbACeS3eE-js67U7P6T26LCWVzm7KV6pZyN3pc9ar53KTwyscQwU1YeWxUCO6K9w0UDZWsCa1NfWPOJ_umgFxYXKPw7hnD7_HB7k6_ytQRda_TADIaqARHW_LQou8_5qatMi51_XDZh4g8E94rHuSJyBo6sPMmEj2RNLUT70WcecFSvEeRm9iT2_MqqSg3JQOHw1Q6QSfoQNZwPLRu7O7J2laMiEYYIcTe5HctAxmDO_AhHiOyIzyAhvysXy9c6j-rPga1QcZSTI3o8LQ7xeYmj45pjLDNWQtJmLX0d2LCH7mBZkiC97oldHBL_5O5ErqOajGFavImv7sJ0e-0MM7pWQVyC6gRxmfDSbgCljGsGZ2c8rRio5ejsikJtM5sph6LYGl77Wb12Aq9i6twhlJonUJMwmgb1nE_dO54PxsWXUbPpLU6BE6W-mWfcC57e-CeLwjjkikY7NLzx_SUaZlfL4dXqHuJdVEYXK5HJ3WpoMrFkP825ZgOOxsIXlr4MU7nzz_9BCSc4_jObRoP0SRnEqivYCu3p1ytlvoYI4_cmVyogaDK-DUI3FZNRhkeZifFhAovGfQH7BZcZs-Yvg0F1GH8PUMxvUITG8l0QE3L05LEN-AkVNivvDk-YLpBzBvym9apDx0phTMmiP6IRkdb1HhDxAbQbSNKoCpnQumklV-jQTqda-55BhyBIwMS0eyUGgNzvq3H9AatQc1iqWHZ5-FudDq6qolgLAT4m9t4WrHy6MACUyxnd27cAVbyS6BLa1dtPcrRyPBbl9Tc1K40rnRB62qc_Csy_RU01EjKu5SCcOlYDTyEF00KebF1gzfwHr2wKZb1P8Iia2R08kb6NxEFQbdnBXjI4ZhwxuxgoJIJH9xCJZh-vNrlmRqSgPv6hzPe1MmBKKjdzzS5CBodWxvqZ4QG-QpnCULVpS6urEY5dylQZes78Z4f7ZoVUWZAupjd1KXDP_wSOhRdZh2_jBXFMX813l9TVPrjzAgRO--lzK52LAt7BVCtffFwFHEugCU3pTa2YTsGrQK58ISiR-fCiXVLIv5u392OHdp7eAccdrp7tu34lV38k3y30aYX8XjcAI8aWELm_4N02KVYFAyAwslzpwjnWqhyF19a4I01x3OiIQOErMh1Vbo_6MiGhQkvAWSm04nBU086YM5jUzibaDjKHwiaQWd9PXG-tPrp7W86SMWxJOTtZ4AD3H4lEzGI-gdTgE3hryBRPeSntn-xSV6Q1NoxxJVGMmpkG_gSDtcvNsvdIZjagOLeDsXyaBWZayqBqiplrrjz294Tp4ZOkkplOtMnW_U0Yr00qo5McBSupeoEdRO2yTAJeQG52-SPsfo0dztzcutDwpJL5DR49uxtSAN8mjKjDs9KMfXG2aitM4sBaKXG5i7RCmit88PnYRJNwy46lgxUQOAi5BdfmVYXMnMh6SwLUf-WCNSFZygE0vlrVNOWtw3gDusvNCCX-rnt8deA6HTtrNjNbm3xbx2HovBr5QGxZlV2BcbU0MS8i2amZ8sXpeRBNlpzBl19j6gg_PhUZDOHMYD4Fa3f8bFORgPq2gSX-fK9bdalqzROBR0SrWe3IFrvyTX2MpGYZNux_ZCKMQDeIWRNrwx3CLN5sMZDOPMRzoqUrbu83TnxL7S9Yi-6UqF8RgLAMcynq6D9WeT47L3aoB-XlzEmyxmXcYSUEfE6NcIPaHBttfyF98OZJFF--KRtYwpvFSeP-r3hdgEGuJuj62v-PhJCBhTh_pOh7rKJYHPhCUqTayJGUCnDlDi1XRjGAyekKcs5SqxqkSXd5K1YbUYkJABe5_ksB7mCsuLO7k37i7U0HvDdgLP3JLK-V2ofHCbpUjMpPcTOBrOZ_oKof1Tz6auQ=",
  "id": "rs_0fa6169a1aad87c1016ab421aa73f887d0bfb56f6b8eeec9b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.255,\"right_z\":0.02},\"note\":\"The yellow fruit is just below and slightly left of the right jaw center in the overhead and wrist views. I’ll correct that small offset and lower the open gripper to the fruit’s height.\"}",
  "call_id": "call_iYd2fC4Vasp6P8DOzHnSEQzf",
  "id": "fc_0fa6169a1aad87c1016ab421ac123887d0a1e8841cdf765dd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iYd2fC4Vasp6P8DOzHnSEQzf",
  "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]: [-0.6331, 1.0752, 0.7235, -0.416, -0.5446, -0.445, 0.9959, 0.9039, 1.8118, 0.8772, 0.0124, 0.6243, 0.5251, 0.9994]\nstate[eef_state]: left_x=0.3016 left_y=-0.1034 left_z=0.1627 left_yaw=0.0491 left_pitch=-0.067 left_roll=0.0323 left_gripper=0.9959 right_x=0.3293 right_y=0.2572 right_z=0.037 right_yaw=0.0917 right_pitch=-0.1365 right_roll=-0.0841 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -3.0701, 6.8171, 1.5018, -0.2564, -0.0317, -0.0122, 0.3487, -6.5983, 3.535, 0.8767, 0.3736, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36d37b9e2df2327b3a519c06db6d8963759807a6a224080e416f1d80be2cf6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86f1acea3f69dbfdad2d854a176ce95b19ac96e47021de3946348319a0137fb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76f2e9c5dfa98d48709c6461f60b268abcbf56970457885fc0dd0f8f9d4b9432",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.788 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 47 changed as sent

message 51 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9848, 2.31, 1.8229, -0.4675, -0.7776, -0.7521, 0.9952, -0.0227, 0.8082, 0.6174, -0.421, -0.0235, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.4136 left_y=-0.3925 left_z=0.0856 left_yaw=0.0323 left_pitch=-0.0517 left_roll=0.0407 left_gripper=0.9952 right_x=0.2917 right_y=0.0011 right_z=0.1738 right_yaw=0.0065 right_pitch=-0.0422 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -15.2, 6.9675, 1.2137, -0.4762, 0.0708, -0.0708, -0.0615, -1.3197, 6.9812, 1.7607, -0.0464, -0.0562, -0.0171]",
      "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]: [-0.6334, 1.0752, 0.7235, -0.4152, -0.5453, -0.445, 0.9959, 0.8253, 1.6371, 1.0073, -0.2657, 0.5747, 0.4808, 0.9994]\nstate[eef_state]: left_x=0.3017 left_y=-0.1034 left_z=0.1629 left_yaw=0.0492 left_pitch=-0.0661 left_roll=0.0322 left_gripper=0.9959 right_x=0.3442 right_y=0.2366 right_z=0.1093 right_yaw=0.0743 right_pitch=-0.147 right_roll=-0.0709 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -3.3983, 7.4872, 1.6581, -0.3785, -0.0415, -0.0122, 0.2393, -7.9248, 8.0752, 1.2674, 0.4811, 0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6331, 1.0752, 0.7235, -0.416, -0.5446, -0.445, 0.9959, 0.9039, 1.8118, 0.8772, 0.0124, 0.6243, 0.5251, 0.9994]\nstate[eef_state]: left_x=0.3016 left_y=-0.1034 left_z=0.1627 left_yaw=0.0491 left_pitch=-0.067 left_roll=0.0323 left_gripper=0.9959 right_x=0.3293 right_y=0.2572 right_z=0.037 right_yaw=0.0917 right_pitch=-0.1365 right_roll=-0.0841 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -3.0701, 6.8171, 1.5018, -0.2564, -0.0317, -0.0122, 0.3487, -6.5983, 3.535, 0.8767, 0.3736, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36d37b9e2df2327b3a519c06db6d8963759807a6a224080e416f1d80be2cf6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86f1acea3f69dbfdad2d854a176ce95b19ac96e47021de3946348319a0137fb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76f2e9c5dfa98d48709c6461f60b268abcbf56970457885fc0dd0f8f9d4b9432",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCGxbkoipbB1MS9JgaKGTLKDpUhhYTetTSsSfnzhH3drHeXgZiG-PcjbGqDnUdexiFZdvGspdtsf0JVELXHxfpDMx4NtVjoRVWMlC3k12Rw6rUezK6Y5jgtPEjwHC3Pa0zizUdWqHINWx-ZODTDXTRuT0q25YFiKRt8U4phEZVbtL6PBrAI7U_G3ZnPBnU1FBkSWCLeCuHcs5dGX77Ehj29IOhsx9rbvgg1aOfq5sPHJe-0tXcA1nrfKroGfSxHxqVLS4PVavrQkcOUh8X5fitiMCymlhtJPq0teTy1bRxiBcFdfkEGbcuczK9Nskkftl1kDruZfUIpp6AeR4e4-1XI8La7supvEGDdEWzZww4sIai9CAuY9Dd_u2Wgw6yaT-HUvYXrodOpAgWx4SBO902qKdVARhpKsbDydVLaWecHb95fi3MzCC0E_EcxmK4eRENJ3JF0Euy7eoxrEYL_T6HrMTcdrjdSKjrGR0g-K0rz-lmHAzdhqkh8n87lzg3f5T7Y2Vwn0--y_5sCI3lAj8T1PYB_G0cgJ_NFRN6rhFA1-8boxD33LMjmoVi4Hk-EvvjzrNws0FzsvY39tybWtiitkF7ufo2rrxAQuuJblq9ZzVTxiJ3bKAy7vdQDlzch-ve1b_Ztrlr5Ko3oH9WHKPcFUqLJoBSpQvva3JwMbBkHMRcQPZgDHl9BwnOUWwa-r8tPRgjUc2BV7cr7DEOQ1eTbkvb2UJgJ06D3SeEXvTQDQr_JtZDFAaMeIaDjG6op2mnQQgmNyxsMUNjRmrYGRGkN5Bhc4ZrPxLPkvQFjLL5Ec3gU1BinSFYfmsM2zNwOp0YL-qvvBGY2_bBWRRLkwMI9bBNeGk5VsLuRpVffu9ZomBNqWEZ646en_1DG765F0dj6cObI4PLIjCfWfDI2jtVHtNq2dxAKPOmEwRzxAjvCX07yawh6nDESRUDUxulhtVklDIrgMq6p37u34lZ7CqESk-6I6aoqN3kCpfgVYPQif0GFqtuzwsX7MfagfFkc-YMhXZg7L4InX05kuR90QjPrMkWw5gdapEZGnozkJchjCpn1BTV9fJlMEwTLYxpmeeq1s4EGOcHXxWFH0L0W9tSyI5uOzA_QQ_RgTkmd-SgKA-ixCLiRWkiCuAgAEqVJVMtFsWOQgpckjc1HTseNTn04YMMWkVmH4eVPw3ykFdILwWhm10iIaiKTiP2lSz-O1W_mo4zenpL-Waz3MsVVzKvSiYFHrPawZ8qP5hXEyWJYwISoubRDMXxk_NwWg34dyJNmxk3_bay-PehL1dsnRxrRwNP00-w_vKZEFRaSBhgpTEfac21Hb7Kahm23Xk7hoQbm4NM6K_MLUzwPghvjwaF8iZA2B31Z4mf44WKY9jonH3XaH40_17CKhdo-cb5AbyJwl39uNtd764w3waBosKjFJW5LNXjyUmSr6kFJ0qakSGvINuUsgX4y41iM4LIj5jSgKy1mMFv7qhAUp7uFhIq66gPO1kkPlZ7JyqRwscFh1BWl1DLc3eYw5YZDClO0C7MGClOazVsk51JLu4Ig-LIy9RbBKHW_h-Zr4F-FgMQvhAKu9WjcBFd2toc6HmjQWvI0IhqMp300A34t05oRKUle_9kOcJRVFY5QSzyP09N8YyvoWpPNvtVZDJCrxdxc4i3oSjFhWN-yUUDuSjwNYHsxJEr9YqaNEkjz5oVP4lIY3Mow4vH-H6S05TwSQTQL-MtzAgS5wVP-YEBkDrqgUPQ6fE-xvacGxpkwl5i6EN1-YD8AUxBpUcNcAtDCEEAsnPIsVhPFNXy-XO0rTYvL1ZscpH0SQjLhqAQ7-jh4QHV5nU1y4YUbH-Y3EukVORMHwflmSQC-n4b0HFcWLiuBsTA1c35rYh6djz6ISETEzOatVb63b60DnjkU2D2gRsnRu_QMnv4RB3MxAy8uAwKRQs8x_Qc0h8_6bXTOA9-er-_YZ4h9P6MtTMKR_R710yxED393RY-01wOVYBMWNOWGNM5L3ZZYm2z_T4gqiR86dli_cUN1-MzVIv1UaQ2B4Q_SnsFOMmWTfRTopJ5ti3htB8yFrjv99UoZ5PEclPQH7_1omTdRIeYwlP1roqjjX758D-8aCp_u1cQGz3wkNkz4-NpieoxVUQABDUNrBz9jSLN8Uyt0N7d0lolDfL7ED9kkcfeTZiNiHT4f6FpLIVFRUTVrSDsso65ZPHRNbJ0GZL-eafki9lvasFVkvVnQb4AAmyhsiltvcbfzatY-iurokzVvB_H85YyEgIqogv3P8yN4HhNL15ym8F5Q9adJ3n3gSpGAUK7vpJgb2UYbiGx7mYA7sWKZdlyjMD2Mpz-9WAFIJ7ezaZWkyviVWs_DdQKk8v8XNp0CkH3WGkR6BjuULrPDXCNytyYQZEyMOAzuZQI54LV3W7ga_tifjPkAlSFv1xQhl4L-YTkUy7Jb3dTrdIO2RcL-eR_AzhcAXGSgL9qaubGXSXTnhdqwLMPhFoCDK56iNDFie2asupfnvwt8asln5ARGIO43kOyvhsu4_5ZMeaIiyjCbldCM1UtGLOI-EGC_4or9M-W9DHv2MQ-gOmIJnEvQ3SdBtMtwjtieveKPyo2E=",
  "id": "rs_0fa6169a1aad87c1016ab421ae841087d0b932e516209226e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The small yellow-orange fruit is between the right jaws near table height; a second, larger yellow fruit is still to the right of the blue bowl. I’ll close on the smaller fruit first and check the jaw spacing.\"}",
  "call_id": "call_IyBzp9Sdto31mjtcT9K7wKfi",
  "id": "fc_0fa6169a1aad87c1016ab421b0a05c87d0a9a3316466e923f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IyBzp9Sdto31mjtcT9K7wKfi",
  "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]: [-0.6327, 1.0752, 0.7235, -0.416, -0.5442, -0.445, 0.9959, 0.9051, 1.8187, 0.8665, 0.0177, 0.6365, 0.5117, 0.0226]\nstate[eef_state]: left_x=0.3017 left_y=-0.1033 left_z=0.1627 left_yaw=0.0492 left_pitch=-0.0672 left_roll=0.0321 left_gripper=0.9959 right_x=0.3279 right_y=0.2534 right_z=0.0327 right_yaw=0.0906 right_pitch=-0.1385 right_roll=-0.1101 right_gripper=0.0226\nstate[joint_eff]: [-0.1846, -2.7145, 6.8308, 1.4872, -0.2613, -0.0317, -0.0073, -0.1846, -8.4034, 6.2154, 1.2234, 0.1441, 0.0855, 0.862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6f96e85c7ca0156db450c316514cd335a1c655b33515ce61dfcd1952850a82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7935787fab2f1828aa05e1fe4ced3394cf35402e256103902d602637c57bace5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3016e0c52bc91e81a76187e96310c93dfb11a6ebfc36f3a8571192a9591e21f3",
      "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 14 attempt 0 · /responses · status 200 · 2.189 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 51 changed as sent

message 55 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6365, 1.0718, 0.7322, -0.3981, -0.5613, -0.4484, 0.9959, 0.5755, 1.3071, 0.7502, -0.2089, 0.4335, 0.3054, 0.9994]\nstate[eef_state]: left_x=0.3051 left_y=-0.1041 left_z=0.1712 left_yaw=0.0592 left_pitch=-0.0364 left_roll=0.0192 left_gripper=0.9959 right_x=0.338 right_y=0.1351 right_z=0.1288 right_yaw=0.0364 right_pitch=-0.1117 right_roll=-0.0439 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -3.2479, 6.612, 1.6532, -0.1343, 0.1245, 0.0611, 0.4171, -4.8342, 9.5385, 1.8046, 0.3297, 0.2418, -0.0171]",
      "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]: [-0.6331, 1.0752, 0.7235, -0.416, -0.5446, -0.445, 0.9959, 0.9039, 1.8118, 0.8772, 0.0124, 0.6243, 0.5251, 0.9994]\nstate[eef_state]: left_x=0.3016 left_y=-0.1034 left_z=0.1627 left_yaw=0.0491 left_pitch=-0.067 left_roll=0.0323 left_gripper=0.9959 right_x=0.3293 right_y=0.2572 right_z=0.037 right_yaw=0.0917 right_pitch=-0.1365 right_roll=-0.0841 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -3.0701, 6.8171, 1.5018, -0.2564, -0.0317, -0.0122, 0.3487, -6.5983, 3.535, 0.8767, 0.3736, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.416, -0.5442, -0.445, 0.9959, 0.9051, 1.8187, 0.8665, 0.0177, 0.6365, 0.5117, 0.0226]\nstate[eef_state]: left_x=0.3017 left_y=-0.1033 left_z=0.1627 left_yaw=0.0492 left_pitch=-0.0672 left_roll=0.0321 left_gripper=0.9959 right_x=0.3279 right_y=0.2534 right_z=0.0327 right_yaw=0.0906 right_pitch=-0.1385 right_roll=-0.1101 right_gripper=0.0226\nstate[joint_eff]: [-0.1846, -2.7145, 6.8308, 1.4872, -0.2613, -0.0317, -0.0073, -0.1846, -8.4034, 6.2154, 1.2234, 0.1441, 0.0855, 0.862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6f96e85c7ca0156db450c316514cd335a1c655b33515ce61dfcd1952850a82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7935787fab2f1828aa05e1fe4ced3394cf35402e256103902d602637c57bace5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3016e0c52bc91e81a76187e96310c93dfb11a6ebfc36f3a8571192a9591e21f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCG2aDkfcyPqdse2R1f2Xn_jFP88cVh-FnlUDnyeSgJsNE-Pl5fGaGI3GseTPLhD68NewEerxcAlldTNNPHf0FAgW0nHaoblqd2w4aAag07DI0O1heX4ct_TB610uLsDcQRhgSa8pULKhjKZvdmElsp1fVXtrgXywZVUqPTxQAgY49MDM8KIFGT6q2cxSqG3_QQHg-u8wJet9D3Gy0ibxWCN3gAwdinYyYqzGdVMOHThk8qMtQB22eIta_pTJ04jlt5V6aV6aNDPksUG3_j6lgya_ABonIjHBRo6PfATtECY2nKcKcKwrZMXiH1hKCZSD2WiXKVmPS1h0z8DaDcS9Xjj5Tk4g4-V8bRtxbhnBMYhi4teW6xxMi2QEme4CAba4ABzXy0oC6sYQcxCzePCkKL3yaFvqr9Nz2VGUcCk9iPvowMSGK_JY35IRaLAZGB3vqk3Rim0VWnyMud4QthKMCwIy1V14BKa_zSNwVY3eV9XFJeCuf2Kbf2xLqNLqHXv-Cx95XdxV3dnWh8FsyjH5-0QUtZPP93Us4eyIHBiZyGf7QyV9aXch34XcP-INI-Fi8MwqHmZaKlbBGeuGrUvXqRKpkKMl1mTePsk01XF6dpIXcFEOBobvVssM_3eMQkwNuKWcgJVHoJWru4Q4OT9nMy2VNaPp-rXah-cTurIJpQsHx6Z8COs7jN5RGyyEaDnw1GehkAJ3_0l_YkJKP6EYVYhPPrKvOOSfQ3ntvWWPF6szoqqQBa7tJ0_1fleb6HxuSUJjIomNvjBA2GNTiyWa8aHK6XsD-ztfc6OPzm87Nm1er-DP35FhVFF11ZNZzKHXEm8WIaDKLEH4AC3uWIKZ4Gs7Lkop3u4nVKcc2HuyjbHqlg7awWaoXr3DCSrw-Oif1imC-bLYh8-3aXpQumXiTVWN22yocAE3gvDSCUIxpjy7jK7mkodh64HeAjbmj_45ZxKAp7vy2lVPaaJlyFM6R_RCKBxhpnmgvM_eGg_PKPBhfaiWggSKR16KFJCBLKOdPdp20NRGAOQ9TNirGImfNIp39uePGWzGbQADEL1N0B0PeUhLVi93S9Kjx6RNePVnWlZGGh4KoWy_fcQzRsbxQ2CXZQy1l4fQClUxSPXOgBxeVv5-IFRVZ5QqOkqm_8pASUn8nJ8JczjFoehZswDUIjDxKu63_BQiDPuqu5lVyvomue7cNjTPzq8mgy4La8VPQ90e2o3gHVHnXanytHcWJuGj0EQ1tOLNKilRLfrrA6L2Ct3HCyUGlq7nW-sQTv-ChNMau1y0kBWzQJFYPLylhllfOhOpcpzzG4V3c2cK5GaOvun4yQv12WyZL-SZT3u40T5PMXWVUcQD4ZA79RC-KdikjU_pAV8E6K7Ix7rOSFw7xPS-xLO2_cdkMEIsNpQMlpnJ_L-gsdVcW3WCiHxwurAYc0u7xKzFqojrc4CfRYDSlIhxGBz9HRpzQgc1pd29k0RgvZNq-s7agL28eZrgFeMrZ3p-DyCU5762F-mUUT1ZeB02ZPucItyL-jR7yZxNnybE636lfhbkkTXrxtBmYoKW7HXw-E8zJRTUs4A1yGIsBmi0l7eRHkePbE4wK7My-Y_czvqCBNOUMdsLs8G4KrSnIiZXLnWdnm7RLM3ziekNcV9TzwnCFhdLhf8a-XbassTHFaiWuoSqV0s8uzh5p4CGmu9Lq73q7qZ2lmzuTiJRiFpuuu53ZyUFVyFY-YFI-PXmjj7-kARrmKI86HiX1ial3ieLc-AoZiqk39k2nkkP-aY2S_rHCid5EQEpfXULkj-NHkndWC4RvXU0rOIKFKnKzh-OeSfrKBuheyVdZi_JtHYPNS7cVFLilm0xJWbWKMsGEEl-a_2hGOdMvlsXhYWFc9yJt6qm6jfFLQHJ7JNADfr_mWN9qUgDEIKrxdUjZDmXZQd2T794S6cQscCz1fkVlFLAYu7ZcmE2qq7ERhLLld1K0FXIx1GiJwyyPiGx6SqURJgpEZVi3I-16tvRZ2tbBLe7JWAegDrkgHBNt8KzU7proBu9e47WTxE4fMgP7gjzpvervtyMzXoivruOPqW_CMVERkQboBYmXngo4qwPKRhreAgjfyb-1G9SNIkesjV0NNhiwiM-m40yV1uMPwJYLVA3gywlc34BMdEYNo06Z509KCZM70Iw7PoRSFX5UBmXu1hfM0qq06eCzHmknDS7eVcS0sbDRq3nVJ00Zr3k3Q0hWLs8Cfg2Dfkf4hSye1u",
  "id": "rs_0fa6169a1aad87c1016ab421b3322887d0a80c87a7b540ba7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.307,\"right_y\":0.26,\"right_z\":0.005,\"right_gripper\":1},\"note\":\"The right jaws closed almost empty, so the small fruit was not captured. It appears slightly behind the fingertips; I’ll reopen, shift about 2 cm back, and lower to table level for one corrected grasp.\"}",
  "call_id": "call_Vh37dtgQt3pjECe03eJecjXd",
  "id": "fc_0fa6169a1aad87c1016ab421b5145c87d0aad3ff0e75189d57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vh37dtgQt3pjECe03eJecjXd",
  "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]: [-0.6327, 1.0752, 0.7235, -0.4164, -0.5415, -0.445, 0.9959, 0.9653, 1.8694, 0.8204, 0.0731, 0.6579, 0.5621, 0.9954]\nstate[eef_state]: left_x=0.3015 left_y=-0.1037 left_z=0.1624 left_yaw=0.0471 left_pitch=-0.0686 left_roll=0.0309 left_gripper=0.9959 right_x=0.3075 right_y=0.2607 right_z=0.0081 right_yaw=0.1051 right_pitch=-0.1503 right_roll=-0.1146 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -3.0974, 6.8308, 1.4628, -0.2466, -0.0269, -0.0122, 0.4308, -7.3094, 4.4786, 1.3846, 0.398, 0.1441, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17cf8c1da051a01f09a53f1c18023fc2d583b5a6e95179136fc5017c2800bb5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05dc5acc0f0f2314c9b654920d768c37c6276007859b8119d359701cdf9f2991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9570f37819cc5a3fc123d4fe74f9ea2c5183a9ff8ba6e2490c439e0c972d33e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 2.301 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6334, 1.0752, 0.7235, -0.4152, -0.5453, -0.445, 0.9959, 0.8253, 1.6371, 1.0073, -0.2657, 0.5747, 0.4808, 0.9994]\nstate[eef_state]: left_x=0.3017 left_y=-0.1034 left_z=0.1629 left_yaw=0.0492 left_pitch=-0.0661 left_roll=0.0322 left_gripper=0.9959 right_x=0.3442 right_y=0.2366 right_z=0.1093 right_yaw=0.0743 right_pitch=-0.147 right_roll=-0.0709 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -3.3983, 7.4872, 1.6581, -0.3785, -0.0415, -0.0122, 0.2393, -7.9248, 8.0752, 1.2674, 0.4811, 0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.416, -0.5442, -0.445, 0.9959, 0.9051, 1.8187, 0.8665, 0.0177, 0.6365, 0.5117, 0.0226]\nstate[eef_state]: left_x=0.3017 left_y=-0.1033 left_z=0.1627 left_yaw=0.0492 left_pitch=-0.0672 left_roll=0.0321 left_gripper=0.9959 right_x=0.3279 right_y=0.2534 right_z=0.0327 right_yaw=0.0906 right_pitch=-0.1385 right_roll=-0.1101 right_gripper=0.0226\nstate[joint_eff]: [-0.1846, -2.7145, 6.8308, 1.4872, -0.2613, -0.0317, -0.0073, -0.1846, -8.4034, 6.2154, 1.2234, 0.1441, 0.0855, 0.862]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.4164, -0.5415, -0.445, 0.9959, 0.9653, 1.8694, 0.8204, 0.0731, 0.6579, 0.5621, 0.9954]\nstate[eef_state]: left_x=0.3015 left_y=-0.1037 left_z=0.1624 left_yaw=0.0471 left_pitch=-0.0686 left_roll=0.0309 left_gripper=0.9959 right_x=0.3075 right_y=0.2607 right_z=0.0081 right_yaw=0.1051 right_pitch=-0.1503 right_roll=-0.1146 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -3.0974, 6.8308, 1.4628, -0.2466, -0.0269, -0.0122, 0.4308, -7.3094, 4.4786, 1.3846, 0.398, 0.1441, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17cf8c1da051a01f09a53f1c18023fc2d583b5a6e95179136fc5017c2800bb5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05dc5acc0f0f2314c9b654920d768c37c6276007859b8119d359701cdf9f2991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9570f37819cc5a3fc123d4fe74f9ea2c5183a9ff8ba6e2490c439e0c972d33e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCG5KE1lXrvNm1CX1ZNHMrbcWBb9b_67t288UQk2buEQOdlTYlZjaGUedaK4IijVIgXCPOCXMSmJuGr1Zg4Gf39jiGsqrG1nqMzj7CvN-B03T70OPezQaXKVLZ2IBy6WIvGs8f9yMWUp5klYaZEh_tr-khuikhNEoie7ukyXgMrlThejoRkg803zuITalCoWP2bXLPwqLMa7gJ0XnWNdtcBAt65T6Mu8MXpXQEtwSR38U9_oZI3i1V9v0-xxAivbMcmUxxfnwPojWtxYPdWEtAnPBj46_a9R06xIB2us4mk3AJy-UqZZoCzPTz7_OAH1rCQk3wVOttAWzJEJyWvv-vXLiLi136_qErmldZd5uy70NhmwzhNBf2YA0pKOpwChBlw691V34GgpRsluaYUniqKKR8E4MyR3M-gM9LHg76ykc7vg1p8fAe28IYQJj7GgXMP31RZIYKnva6-4kmiYabvON4JLrbkY1YHv4tKPEnlzX4kEE7wUgwVpMUkiYb5rHXfz-5F4EO9644y4fjJa49iSLg8pnZXFuVj9eP3RSSgxZhcmhqMfGYaf5-qD1FvAcKv_7Gw_lYWKUuybMFT6sWmcD8JJfAK5ECR7QqI6PtnC_1PIWcxdaNeGLwHBZP8J-J5FFAshdWmhedBmGGE278UL8iLyURaXOLLyzEgHRK6lyG5zOkIlq6ceUI2k0RUj7RW_on8g2kcf7OFGYKgXsIfv0uRr9LkE6oyaa-gPmQMdXU2ImlaKmuqZbyssG_owHkRqW2Ls5QrnAaFhPdvg4aLR2AA3qWoZC1s23wC2e0aUosX1fq8LvP1ttXnjr1aQYNrzfzR8WIuyLCKAPUFmcd_7SyrobsmR_TURsU9zkhNAdiTyoOSvC7Z3F8UDbNm9i9ib81kt1x0RXJn8russtBhfAlSevPZ6uWYavPx8m1-NOZ_FLtU1WSBVvColHXEOdT5FgiDEGaKog3oGn4KpuYHRXCArZw4YEhrXFL9l9K1MUQ8phkTfn_ryOhCxU6kZ4MnXvS65Zajs9CCnTGJwiYGcYmHJX12CL4um7VcP7WyoNk48DTIRTG8zQriVptYwlLihn6c5VakPfPqlpes-4lX8AKTkJADDrpuRrEjS5TQC6EndmKk1o0kiuMlolAQNZmfcaWmiJHNZurTsDgte8-dDORtE2bnztL4Po02tzSVflBsarzLjdIRQ_OG2pHabvJLkcbgSNI0RLsAYJuGX69hvsGShnJnA0OVIBXz4XVvrRVon1u5FiUKWMa49_Ejwd6WW1pnVDlNyxSDiuac4Ya5V5zMieMbrZdYqogRpO_kIObggwzoSRJn2q5-XKZb468hX8S2cRwh-tPNQAezYM-3i2Q==",
  "id": "rs_0fa6169a1aad87c1016ab421b81e1487d0a44d83670e377233",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is now lower and shifted back over the small fruit, which the arm largely hides in the overhead view. I’ll close once more and check whether the jaw spacing indicates a grasp.\"}",
  "call_id": "call_HodUV0sHE19DKtKBliJ7ylQX",
  "id": "fc_0fa6169a1aad87c1016ab421b8809c87d0951d3da64bc739f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HodUV0sHE19DKtKBliJ7ylQX",
  "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]: [-0.6327, 1.0752, 0.7235, -0.4168, -0.5411, -0.445, 0.9959, 0.9649, 1.8587, 0.8196, 0.0799, 0.6918, 0.5381, 0.1044]\nstate[eef_state]: left_x=0.3014 left_y=-0.1037 left_z=0.1624 left_yaw=0.0469 left_pitch=-0.0691 left_roll=0.0309 left_gripper=0.9959 right_x=0.3113 right_y=0.2578 right_z=0.0157 right_yaw=0.0977 right_pitch=-0.1198 right_roll=-0.1385 right_gripper=0.1044\nstate[joint_eff]: [-0.1162, -2.9744, 6.8171, 1.4725, -0.2808, -0.0611, -0.0122, 0.0615, -7.0085, 5.0393, 1.1453, -0.0317, 0.1636, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308b17fbb4522ee455da7a6e78c2b8dd771b317a53acada171775cd9809e3644",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:158ffffb438cf747b510163f77c6f62c01306cd9b03bc8321eaa92f81d2da45f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150a24c526707a563b26d3fd543f40e971277daae02914c44f59b84896cdbfe1",
      "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 · 4.835 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6331, 1.0752, 0.7235, -0.416, -0.5446, -0.445, 0.9959, 0.9039, 1.8118, 0.8772, 0.0124, 0.6243, 0.5251, 0.9994]\nstate[eef_state]: left_x=0.3016 left_y=-0.1034 left_z=0.1627 left_yaw=0.0491 left_pitch=-0.067 left_roll=0.0323 left_gripper=0.9959 right_x=0.3293 right_y=0.2572 right_z=0.037 right_yaw=0.0917 right_pitch=-0.1365 right_roll=-0.0841 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -3.0701, 6.8171, 1.5018, -0.2564, -0.0317, -0.0122, 0.3487, -6.5983, 3.535, 0.8767, 0.3736, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.4164, -0.5415, -0.445, 0.9959, 0.9653, 1.8694, 0.8204, 0.0731, 0.6579, 0.5621, 0.9954]\nstate[eef_state]: left_x=0.3015 left_y=-0.1037 left_z=0.1624 left_yaw=0.0471 left_pitch=-0.0686 left_roll=0.0309 left_gripper=0.9959 right_x=0.3075 right_y=0.2607 right_z=0.0081 right_yaw=0.1051 right_pitch=-0.1503 right_roll=-0.1146 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -3.0974, 6.8308, 1.4628, -0.2466, -0.0269, -0.0122, 0.4308, -7.3094, 4.4786, 1.3846, 0.398, 0.1441, -0.1734]\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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.4168, -0.5411, -0.445, 0.9959, 0.9649, 1.8587, 0.8196, 0.0799, 0.6918, 0.5381, 0.1044]\nstate[eef_state]: left_x=0.3014 left_y=-0.1037 left_z=0.1624 left_yaw=0.0469 left_pitch=-0.0691 left_roll=0.0309 left_gripper=0.9959 right_x=0.3113 right_y=0.2578 right_z=0.0157 right_yaw=0.0977 right_pitch=-0.1198 right_roll=-0.1385 right_gripper=0.1044\nstate[joint_eff]: [-0.1162, -2.9744, 6.8171, 1.4725, -0.2808, -0.0611, -0.0122, 0.0615, -7.0085, 5.0393, 1.1453, -0.0317, 0.1636, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308b17fbb4522ee455da7a6e78c2b8dd771b317a53acada171775cd9809e3644",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:158ffffb438cf747b510163f77c6f62c01306cd9b03bc8321eaa92f81d2da45f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150a24c526707a563b26d3fd543f40e971277daae02914c44f59b84896cdbfe1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCG8VlD4ZEa6IBlE9Op49odscd6btCLW64hi2-i0jevqUQHWOHu2xx-ZkBEnt162EPK1nIQY6i8DrecKf5NzXBEzslqX5WCDoKSOnGC4ezxbrBBuyui3bFSwOp_Y2o1ZSw_nP9-8h3NImePdVKT4NAVHNTdrhnBOvPVT1MbmGQi76sKrBh1LsB5sJj8BdelLV5cmZtQIY9ADK3zaJXMWrTvnws1yFduGLvKgzNF6Qfc0zZFQzpvGtZBUPFJW44EhlDdJe6c7NpV3IU53nW8fPC0V3agu0kKO861MtSl_MOcBraaTYcU3mlWQBkhPt6KxdEqyEGdJZrfiCghCCtM-_goT6SxF8wBTxovtxYea2pQsMpKC4KCuBBmq_Xavw5_HPCssQFgFfVNHVgP3DoVz0t-tERnCdh0tF1d08P9JRUIcAdKoeI6FSidjyW5i1r_-BA8x76SVEyb7H3tIb0VjnnEkP953U6D4IhvO0sKk6KvNkkQU6K8PCcpc_WA6gHDPnQrLCeY4CCi6AxNaoi_5BEIGMcFtzGSVGvplcsPDQUFqp2AFI23e_qNF0a5_jDaFx5B3b7syGSmWVNO1xm-GJXh727dn8OYhOhAEZtS4G-CihC2OES86MKp2XlTuLjxQsNm17UJYDjTWhUbYoXgDMV1P8sD0vAnsHRQJ03nE6ZR7s89rCFOXoMw36JbUQ0aEgyT_R5era9ho8On4B5_da0SvpWqQ4S08JbW9yBl4CBTbbBGgBHyTfmF4v2rKX0vazZPspwFZGC9rM_swuEJdnfP3mmLR5EUH0aL0wWYTsLZkxLjdxoi9t7fyoB1g5t7Z9Eibq2YWIJO6IGIK0OAo_pB_YH9VXuOJOo3XuvN7ICdBTZgKLtWvP22PeFb-dWpejvsZWEwWh2b5CbitoqqI3YI9Owmo1QvjfAzUcEOWprdDG_jqLixyFttZjNpBjzDSgEOhON-1zrpx_8AZzP__OoepHKXvNdMnGBVzYWVvlXcytkj1qrHh3ouhKXtQ5898pny7sWt_a4yGSNqXJ5FetcNPaqrx5mPdGAPMDHu57CQs-MbqjFtR7v1xBhI8naPqUWXM56nOZQrLt1bbGzvwZTsTEcyEGjuBaiXdYN3JIVE96y-lsDDi7A2c98BsPqHqXrFyyqcmzjOew4WO6GkO5xJklV4cqTmyCx9ej72miNMprxFDtYeVgn50zj_YxxQWDd_8Lgkj1kXgFMIazMXnN2EMH8h6LFSYyjJUIxmdlsHkI5s=",
  "id": "rs_0fa6169a1aad87c1016ab421bb51b087d0a545f13526650b54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The right jaws stopped about 1 cm apart this time, suggesting they caught the small fruit. I’ll lift it and use the overhead view to confirm it actually moves with the gripper.\"}",
  "call_id": "call_3IV2iAaDu0CjRq3QqdLl1GjX",
  "id": "fc_0fa6169a1aad87c1016ab421bb927887d0805cc0544a6976ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3IV2iAaDu0CjRq3QqdLl1GjX",
  "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]: [-0.6327, 1.0752, 0.7235, -0.4168, -0.5411, -0.445, 0.996, 0.9649, 1.6203, 1.1152, -0.4736, 0.6765, 0.5343, 0.1057]\nstate[eef_state]: left_x=0.3014 left_y=-0.1037 left_z=0.1624 left_yaw=0.0469 left_pitch=-0.0691 left_roll=0.0309 left_gripper=0.996 right_x=0.3115 right_y=0.2617 right_z=0.1373 right_yaw=0.1075 right_pitch=-0.1423 right_roll=-0.1481 right_gripper=0.1057\nstate[joint_eff]: [-0.253, -2.947, 6.7897, 1.4774, -0.2759, -0.0366, -0.0122, -0.253, -10.0308, 8.3897, 1.1941, 0.4469, 0.022, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77000cf0d0393de3edce8ef9f3ba62264eed3dc934c292018f9a84e86f6501d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3d8125c6d550090a3accb4c6769d0c3f3b4b43988669db496bb4bcfa09821a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2f53b8397abf1bc4ebbb51a18ba26971ea09da6a9c57630599d3bfda919d359",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.357 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.416, -0.5442, -0.445, 0.9959, 0.9051, 1.8187, 0.8665, 0.0177, 0.6365, 0.5117, 0.0226]\nstate[eef_state]: left_x=0.3017 left_y=-0.1033 left_z=0.1627 left_yaw=0.0492 left_pitch=-0.0672 left_roll=0.0321 left_gripper=0.9959 right_x=0.3279 right_y=0.2534 right_z=0.0327 right_yaw=0.0906 right_pitch=-0.1385 right_roll=-0.1101 right_gripper=0.0226\nstate[joint_eff]: [-0.1846, -2.7145, 6.8308, 1.4872, -0.2613, -0.0317, -0.0073, -0.1846, -8.4034, 6.2154, 1.2234, 0.1441, 0.0855, 0.862]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.4168, -0.5411, -0.445, 0.9959, 0.9649, 1.8587, 0.8196, 0.0799, 0.6918, 0.5381, 0.1044]\nstate[eef_state]: left_x=0.3014 left_y=-0.1037 left_z=0.1624 left_yaw=0.0469 left_pitch=-0.0691 left_roll=0.0309 left_gripper=0.9959 right_x=0.3113 right_y=0.2578 right_z=0.0157 right_yaw=0.0977 right_pitch=-0.1198 right_roll=-0.1385 right_gripper=0.1044\nstate[joint_eff]: [-0.1162, -2.9744, 6.8171, 1.4725, -0.2808, -0.0611, -0.0122, 0.0615, -7.0085, 5.0393, 1.1453, -0.0317, 0.1636, 0.6716]\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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.4168, -0.5411, -0.445, 0.996, 0.9649, 1.6203, 1.1152, -0.4736, 0.6765, 0.5343, 0.1057]\nstate[eef_state]: left_x=0.3014 left_y=-0.1037 left_z=0.1624 left_yaw=0.0469 left_pitch=-0.0691 left_roll=0.0309 left_gripper=0.996 right_x=0.3115 right_y=0.2617 right_z=0.1373 right_yaw=0.1075 right_pitch=-0.1423 right_roll=-0.1481 right_gripper=0.1057\nstate[joint_eff]: [-0.253, -2.947, 6.7897, 1.4774, -0.2759, -0.0366, -0.0122, -0.253, -10.0308, 8.3897, 1.1941, 0.4469, 0.022, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77000cf0d0393de3edce8ef9f3ba62264eed3dc934c292018f9a84e86f6501d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3d8125c6d550090a3accb4c6769d0c3f3b4b43988669db496bb4bcfa09821a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2f53b8397abf1bc4ebbb51a18ba26971ea09da6a9c57630599d3bfda919d359",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCHCtQs42DOpBj3us0NoipZikuDeXmCGkdtqara9xnMspunEPLVUJuYaggiPTNNNEdS99kZLHIkP04zt03JcmCtY9YYl0ZZ7-8dNFALI1onLDWLihYcA9Dp5BRf49xGb71SBBriUSj5yqxgTD32Sufjk3rSM8mKCXXmXsvm9-68Mgw7kh_2l16BEwmFjAWvOEa_jbxh5pY7BJ1p_03JZgv7VQyjEl-gK-o6H80RRMljB2KiFYjybLw--DVBPVFxwX94yrZuNTh3kJulY7OE2zNvGuJ_OBgwGU-MnoI-aR4N67MYFDINRNPMuZ3N85vlfCN8gMQ9POdO2owq3BtmWKJ4GgHl8PtQYeNl38XHLG1gH_yce6ZNa-oxHkvDELbhMJj3ytTeNmcJgj017LhmhMu_QZdHaDTP8iQjI-sLe0oGXHTqrNOnNl1ry-O6gJnDF9UEcxiSBGChXr16w3ArO54bDwg0grlZd1xAjOwWcTU5MECcAVPKfV1f7KaZDZZDFwsJky_v63t2Q4SnY7kOj_dblFyKx3JMqa9xQlZd5Q5hLxGwBXSVfU2U-ug32DuhBrjeZjg0rfkJzSTzHEY4R-G7oaDAAmjCvsJoWiDlCUTFND4FVgO-xA-dhp1bCYp8Q8e9BOppPpdlyHwqyeo_nujP8Ii3ACAuO2bGUYkLbQ4vR7UbQKt9m7vPnK8jZCJmIW1tLOV50hbt91yI6Gu878v4rlBbcAK8bDOQvjV5qoyLPoa9kVPWa4CWrfccy-lxezkP_H5EMrirOZ9_QgxOna9nvsSmwvAFZ4W7Dzt98Uu7CkJskygkAwbnhPK0CaL71nlO4P6Zu5qVCEyWbeBLlTg9NuhMvJh2rVuzS30wnWN_Dmz9AcbHtDlkolw9W8muIZeSfS_sRraat9DZFvDUfxcVVeFFRFgjDPzavirnfhL0p3rLJokOUXlDmCoMkdR16bMRhxaKxCCAfz3oic561-YRmXcUk-kOxgk4zacq8Ts9eeBsSrLzQj5RwT6p26WGYXiNkP6j53F1BgDkDbL9fgGHVzrwEedOrCr8qmECkjoNeJjk3YC5p9zsy-6GYiLeBVHjToVJQEtsQR7zJ0msjt5aYfF9S772Yu3TznRHw2zcZPSEZbf-P_sdrFocm_4zkrEdzGn_bUfods2qMu0ov-Y8wXl5Msw5JfLbeqTrSAxtLhkEftr0psIdd7aZu1m2ifrWcZHcRV5zlCMX__iqlsgHBDD8KZj4uZae4RKHnQw9UkezIEZXZebxPRPiMCRpcUuaL_egmnDJbS7r_Y-R3VJnqALZedVIIXy1cI2ktsX6vVjkOMYEDxtAQO08_6YqeCEdVOXgSRAbTmgPsYf4F8pK21xtZMFvybH8MHUufJ9A9Ohf2kg9_86X6xo95XABdMnu4IeklZHyeOMluJuhpMLZlJefjtzLcGsWW1sRRrEk0W3ZMiyzNzSw2T5Cf5f9Yc6s3KLHK4xQqAyScPA0HlwdsnRLU5pPIIru4Pv52K9ZNs01t9AyIwVPouzMQlnEJHj8a1fkVd7z1DlhGqK8cyRl6U4Dt5vzGp0shj5c-v_s_TqQ5yjpQWsb638oI6TKxyssYDr-AIOaMqU4nAaWVIRXxCwRGlGYc7q6WKbPFNIOySgUdLU0V0eFIZJ8AXDNF0u9wz3Nv96X7z41SNPYMS1ZpsyBZnZ3r_ssoYcuMnIQBFUdYTuORerQtstd-fVGE91DhNeG--jpvotzMXNDKuhJGye3kSmIM2BGDT1xsvK2FOtiZUgLjLVrAxBLOksFIGzrIuBZ-JZ1oVlDX-suvEfIlU6Y3SZZUrv-LdxBlibvCiuT4Z-KxNZGwqQy9P33wClyL4_Q3zbn9AVEtiMQ9bNi_Y9A3tf6VDSXeVA6qUKlh3jtfm6RWYEVrH2aF5M1-AGrdyiTLq0kluOcNgrBAz0xJfqjDLQ__u8VdvgvPTVCBvVwhbTLNPFeE4erIkUj_eyWsGKwEvCiVISzRQ5UrH5dKoKUipKkmV8foTwTV0bLf_-EzH_OfJtHfpAC6PPrL0hW0GSdGX0BAGQYJdWXbRbBZ-IqXP-QpMdqQn3SCsezgcj2UqtgZDq0YyJnLG07yup5_e1jmypwExCjp6hu2yoxa2c3Ju7Jk4QD92l_GKPKwn3HXuF6_aMeqh3RhAdujTEh4BkkLqSaMo1tISTx1CpZG_iwQ7XqgNO-EWJhB1Rjph--GwRBt2KObwktE7l8DVuXAcXjwT-WpYb8d_mTup5VqxIkCRXceW1a0E1SuEbnLGyY-ActwA1s7rTUIl4JqE4TfCIEib4DA1EmlbRzDEtOiovOEbREpkMNIFvU2lsejo9UaSQeNKg8GEMf0hWvwEZ_lAkNRoLm0P1kTmD5cRcvPuOahP3-DgbKZ7dG88w3iFVbPDX6s_0lxNRE4bQW8f-dWaociPFnxWyZpvNWV9OzzBKGEWXwUKgPEUm74bCnTT5H9dbHqZehNZnm_9Rv4RaWIwfMkCr65GwhkESrBlU1ivA0uA-iVX3RmCzx1-Bq252mPjVPxtGIGtw62uaK5JKdb",
  "id": "rs_0fa6169a1aad87c1016ab421be9ac487d09c53850668c31cbe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.17,\"right_z\":0.125},\"note\":\"A small yellow piece is visible below the raised right arm, so I can’t yet tell if the grasp is secure; the jaws remain slightly open. I’ll bring them over the blue bowl and release anything they are holding there.\"}",
  "call_id": "call_UsQhL8Z3h3xPLTFaSeJvD7Ie",
  "id": "fc_0fa6169a1aad87c1016ab421c1365487d08571b80d6933e244",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UsQhL8Z3h3xPLTFaSeJvD7Ie",
  "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]: [-0.6327, 1.0763, 0.7235, -0.4198, -0.5407, -0.445, 0.9959, 0.5629, 1.6218, 1.0348, -0.2573, 0.4294, 0.1982, 0.1058]\nstate[eef_state]: left_x=0.3011 left_y=-0.1036 left_z=0.1615 left_yaw=0.0468 left_pitch=-0.0725 left_roll=0.0333 left_gripper=0.9959 right_x=0.3959 right_y=0.1671 right_z=0.1176 right_yaw=0.0795 right_pitch=-0.1878 right_roll=-0.1617 right_gripper=0.1058\nstate[joint_eff]: [-0.3487, -3.0974, 6.8034, 1.5116, -0.2027, -0.0513, -0.0171, -0.212, -6.8171, 7.1043, 1.746, 0.1783, -0.0024, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37f7850ed2f2d813e1a1924524625605f9fbbf6ed8c36d653139490d8afabc8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c0888b8da2f923baaf83c0abedf92ac3114144f3a0d317939b8de44b4140ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7c7d4930a0f408930c414de5c103cc8913083e0c6ceabe86bca87285ee4cb9",
      "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 · 3.121 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.4164, -0.5415, -0.445, 0.9959, 0.9653, 1.8694, 0.8204, 0.0731, 0.6579, 0.5621, 0.9954]\nstate[eef_state]: left_x=0.3015 left_y=-0.1037 left_z=0.1624 left_yaw=0.0471 left_pitch=-0.0686 left_roll=0.0309 left_gripper=0.9959 right_x=0.3075 right_y=0.2607 right_z=0.0081 right_yaw=0.1051 right_pitch=-0.1503 right_roll=-0.1146 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -3.0974, 6.8308, 1.4628, -0.2466, -0.0269, -0.0122, 0.4308, -7.3094, 4.4786, 1.3846, 0.398, 0.1441, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.4168, -0.5411, -0.445, 0.996, 0.9649, 1.6203, 1.1152, -0.4736, 0.6765, 0.5343, 0.1057]\nstate[eef_state]: left_x=0.3014 left_y=-0.1037 left_z=0.1624 left_yaw=0.0469 left_pitch=-0.0691 left_roll=0.0309 left_gripper=0.996 right_x=0.3115 right_y=0.2617 right_z=0.1373 right_yaw=0.1075 right_pitch=-0.1423 right_roll=-0.1481 right_gripper=0.1057\nstate[joint_eff]: [-0.253, -2.947, 6.7897, 1.4774, -0.2759, -0.0366, -0.0122, -0.253, -10.0308, 8.3897, 1.1941, 0.4469, 0.022, 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 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0763, 0.7235, -0.4198, -0.5407, -0.445, 0.9959, 0.5629, 1.6218, 1.0348, -0.2573, 0.4294, 0.1982, 0.1058]\nstate[eef_state]: left_x=0.3011 left_y=-0.1036 left_z=0.1615 left_yaw=0.0468 left_pitch=-0.0725 left_roll=0.0333 left_gripper=0.9959 right_x=0.3959 right_y=0.1671 right_z=0.1176 right_yaw=0.0795 right_pitch=-0.1878 right_roll=-0.1617 right_gripper=0.1058\nstate[joint_eff]: [-0.3487, -3.0974, 6.8034, 1.5116, -0.2027, -0.0513, -0.0171, -0.212, -6.8171, 7.1043, 1.746, 0.1783, -0.0024, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37f7850ed2f2d813e1a1924524625605f9fbbf6ed8c36d653139490d8afabc8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c0888b8da2f923baaf83c0abedf92ac3114144f3a0d317939b8de44b4140ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7c7d4930a0f408930c414de5c103cc8913083e0c6ceabe86bca87285ee4cb9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCHHk1UNhsbaInsa__7SN1-sq9tGo-nIMEmy24hxUWirvsX4sI_FYBAq-qshE-lJmxuQt4DG2-wpwntfLhi68fjViZrmUN1aKHhNU6GN0Q-bWCpZSZFueN_wjg-tXmI1mchDwkCdgO-inNeGpK4E5oq7YCFQHghw0OvX2IvUTX49W9UJE4Z9qL-ZkdnNld9fxmlMOkIA8kImDRszH02SEsC1ss7WtAp_re-MPKlGjKeSN4SVxQZDFwanm8qRLkzoaP5RZRb582_LPaDOee6T8JcDZuEAqKZoFj9yrv4yqwy85gF4v25J_cs7pVcgBDurmpGnVfsu-oF7_365fJhfnF9_jrOyVsnRvkSalyQZz0LqNozgI0VzI7rPB0xnu7TFv8JVZUdHa3fgLprzkVnuEDQzipbsdreZXRDjWEKZY10hGwtYaQBf5upsyYZ51QxWNd5FtdZedVacpMclCD8fpg_ClC_Yp_O0UI-8UBh1P74zEL0megZKA1EJrqgEYpOjWlIhTmXNBIPQsf_KMxhimegHTmXJSHdBW5X5hOAFwL3ERRg3xiBxvbRXKLCqDe-WO6yqjhHS_T0T8TdwmurFIVb8yWRCa65eSajSXt4BetrFaf06z1l9qkQm3WS4434iXIi3V_E1lzzr_saQrpzoRSQWil4FhBqo5Ha76j2f7KEJt6roev_t5VIdVxiX3L-bEUqE1s9tltZBlvaS_eJjgnv53xdGFHn8d8SVUKQX3r8PyMWj_tDBEKdhdthBvOOrihWrogjhcdmIFoH1HcUYyHPA6ygILlSD3-SOixm0hSjEDSDWaGLouTiVEjKk6SdO3RcNsVvCeTuSYZAYR6nvBSbY-TDKdlZvZY2N4B0_gO1DKZco0RMUGBq52Yjt31ABT68DtIeDJA5DQZriFqSEjjrKVJAmSLP_Lw_rbvSf-95fzvly2IR4LuCckKm_86B9aZXUTiXd33--t8thj1kwq7qZ3KXeSkEZXy-mosNxMY8doQUz3VxVgHkVWRLHbM-pnY6SPUaMSZ2iILjDVyKEaedMqu1z7NeYg6HNf2JIP5oEJJ8v4CCw3qmhd2R-gcqkx_iflvuijegA2wHhoEdoV4pq3-xDwTnEJ6KCoz-vDgFNvcmFwVJ0ybQ9Uwa7C6bj8MvB1HmCRmTxSpwLLIJA5BLk2-ad8yzz-ivpNs-L_iXAjCvfEBzBk0YL_kBzfC6_XRX5Ft1WKGBsFZ4g4Ond6ZqMa9K6PaVAZf4cRSLOyI8lhIZikY36l6rxcssDxpslAjTeYjW2Nl_OmtkO1reQJTEKuZDTwHrNgX-Re_avZcy_QBr6OW_2MS3S6TGdq7bki406KGS3zQ9boMQTgz19v8yblPnyKEFMjl34sGFFpJFp-eLdDgbhZK1Qhmf7jsRcT0_dmXvL_66xN6n2otlfCJy7dzABx22tt7mMCnR7oqoAcQ-rg_C2WUfq530x89AJhNIyH31mD9F_VSWyQ7RBqzb-5O3KS-Qmv3UL2ELE3gluXzuMrLPyx_EzketMrySHCsrnfWBjRzyBqDgUmQBGjScUzdB4dbGgp9ZEO-TLYNIhgp35-JAC3c_jjwfch8JtP8_Wc2gFSpYwerOtRQdNtINzmIJ2xWPM8oqXBwRl0Vqj6GWKg6KvJCc6kyL6hfWVwCEn6NL9IJofnVvOxgirZgHK0QDctrD85DiiHOkI3Y0u7BKK4hkZ6HtmlUphVft0r8OprwzhjIz4L-6iSAKb40eTuY3BJgKku_Ojzn0jmmOm5WNZdrQs3WXyWxtpXAWv6EpsKNW8UnSLA4PxmUzQ3WUzJFH9BdANMVTdUlL7QsfWJLGRJxRYCKj6r77d7Vh9Rr4h0J1cs2IWAyxPJCxalA9uS4B6KtSiCbrcwyPqW282Dy5DNXABFkyB-xIQUdY3_3s-NOREZ-ewBHxEdgj5VN27oh21mq9APd71u96iqWHmdSX06Uyx1AYT1OaCMe89zs7vgVqHVmIfRYdSU6mo5ibJhRjlFzGwqggaWF7YhXq581LwHQHEnSPzQ6GNHRNulv8d_wt-yi9zFdKnk36dwiw_imWu404Z8p_WQJXw8h3zGTSBzvVXzzFvBk_moHAaMSefQ1KmgWxJrh-bnk8KZAKhUNlPOfHh7cdQerBak5PxqkpxJEcDaLO8oAjJ4HM5bVCSCKx31GXDYEsCmeSXmtYIqMGF77o7OWNZHHqvtRN_b5w6pPUtahgh7cmif5XVZ5Md63zjqVPgrKmFazg4W7M3CdTiKGmyqPfBVB3vc6qsaTJKv80VIhOSYVeE5KMSNikoHwVyx31EqxV192MXVl10B38PlNV91q6NsGHZEYTsJ1fNsZE7VI45FKRo7iF4S7VN",
  "id": "rs_0fa6169a1aad87c1016ab421c3daa087d094fca82ccbf795e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.34,\"right_y\":0.1,\"right_z\":0.15},\"note\":\"The small yellow fruit is clearly still on the table below the bowl, so the slight jaw opening was not a secure lift. I’ll open the gripper over the bowl and reposition over the larger yellow-green fruit at its right side.\"}",
  "call_id": "call_YYPttQTXXiQPMxVv6AKApP4m",
  "id": "fc_0fa6169a1aad87c1016ab421c6761887d081578212a5eefe46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YYPttQTXXiQPMxVv6AKApP4m",
  "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]: [-0.6327, 1.0771, 0.7235, -0.4225, -0.5404, -0.445, 0.9959, 0.4553, 1.2861, 0.8585, -0.387, 0.3603, 0.1146, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.1034 left_z=0.1609 left_yaw=0.0466 left_pitch=-0.0754 left_roll=0.0353 left_gripper=0.9959 right_x=0.3449 right_y=0.1035 right_z=0.1473 right_yaw=0.075 right_pitch=-0.1895 right_roll=-0.1638 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -3.0291, 6.8034, 1.5702, -0.2369, -0.0513, -0.0122, -0.3214, -5.3402, 6.3932, 1.5214, 0.0757, 0.1001, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3bf5f6e9567df80af0329058158f89baca62a344f1445c3b7c7654055a88eef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ecaeed787a88acce80da5a7442285554d7f7a146c21282b21a5e8b0f783b78f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4489cf0dfb052fa3048117bb3b3ecbe2b17d2974dbfb748be4fae0fd7c0a114",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.559 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.4168, -0.5411, -0.445, 0.9959, 0.9649, 1.8587, 0.8196, 0.0799, 0.6918, 0.5381, 0.1044]\nstate[eef_state]: left_x=0.3014 left_y=-0.1037 left_z=0.1624 left_yaw=0.0469 left_pitch=-0.0691 left_roll=0.0309 left_gripper=0.9959 right_x=0.3113 right_y=0.2578 right_z=0.0157 right_yaw=0.0977 right_pitch=-0.1198 right_roll=-0.1385 right_gripper=0.1044\nstate[joint_eff]: [-0.1162, -2.9744, 6.8171, 1.4725, -0.2808, -0.0611, -0.0122, 0.0615, -7.0085, 5.0393, 1.1453, -0.0317, 0.1636, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0763, 0.7235, -0.4198, -0.5407, -0.445, 0.9959, 0.5629, 1.6218, 1.0348, -0.2573, 0.4294, 0.1982, 0.1058]\nstate[eef_state]: left_x=0.3011 left_y=-0.1036 left_z=0.1615 left_yaw=0.0468 left_pitch=-0.0725 left_roll=0.0333 left_gripper=0.9959 right_x=0.3959 right_y=0.1671 right_z=0.1176 right_yaw=0.0795 right_pitch=-0.1878 right_roll=-0.1617 right_gripper=0.1058\nstate[joint_eff]: [-0.3487, -3.0974, 6.8034, 1.5116, -0.2027, -0.0513, -0.0171, -0.212, -6.8171, 7.1043, 1.746, 0.1783, -0.0024, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4225, -0.5404, -0.445, 0.9959, 0.4553, 1.2861, 0.8585, -0.387, 0.3603, 0.1146, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.1034 left_z=0.1609 left_yaw=0.0466 left_pitch=-0.0754 left_roll=0.0353 left_gripper=0.9959 right_x=0.3449 right_y=0.1035 right_z=0.1473 right_yaw=0.075 right_pitch=-0.1895 right_roll=-0.1638 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -3.0291, 6.8034, 1.5702, -0.2369, -0.0513, -0.0122, -0.3214, -5.3402, 6.3932, 1.5214, 0.0757, 0.1001, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3bf5f6e9567df80af0329058158f89baca62a344f1445c3b7c7654055a88eef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ecaeed787a88acce80da5a7442285554d7f7a146c21282b21a5e8b0f783b78f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4489cf0dfb052fa3048117bb3b3ecbe2b17d2974dbfb748be4fae0fd7c0a114",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCHLxqEGWFReOU-lgUqR8GcY0DiJMFMc3DB34ihvSBUlrr3ZMMYRMzZxM2BqqTeFW7UtGnPhzeeffIrfi1cgUVTU6heeNIVYFbK9pJuBmHvK3qOU7GsayWsXNeiSZplZNMxkgAX8VWb74bEUvo7bKt8mF7daQ104SmPUfYm7IM-90ibwR62wwEelyMx2Dr3yGHyFI-EzT8AzuaT4-z7iWHcg4ywvFtd22QL2oeAr3PTSHzaRnndVtwoWMhU7zjH4aTVvMWX2wBXJAxXJ8rGv8P1XG9QFkgSPk7CRg3oOksAkfPMzIvWCNQmzfePipLiPenmet6j-iEAsuwn3Ojs_3_Rj6HofcLY7a92cU6wb68uT7jxwQUgAb5snVrYiHOYTL50nY6-8OgEXhy5PRgWg41RGopnt_wv5wz4pMU64a1qOyMrJ0NXeNpYNuJQmWWQH2SJXkOqsX_tf4z-4D2qOHvKsc6AyVk3-uGEqZRFU-N7UbmMi1JcJ1nE00GAePgfiJ2FzotpLx2tPD7MvDJ-aJw8ubNgavjrrsEV7Qf4LvefPtzpox8mwk4to0t6Z_bx-2v2Q0Yeh2lGd0JK-dT16uHLl7kZu43S21anXjFRA-DohHwDByDOwFG4XhLLBpr4tQ8iXZJsrK06onL0ZfzIKQwzJQ1IeaYqRO67vyCjgmUS6uVT_Y17a_6z8LdxvECyM03p-yUuHcWoipmcoobDEn2jqkzoozSlzzt1Cb8cfkrTpnnhlUnEmpCc-2cOj-Y6BIL9Wwr-ZPcS6h3iEQpKN5NeLzfMgWKt2F-nSdzfFnPgC1fslBKoOJPNqUPgoUClTrlerTo3WX2LnP5CGga-2j9YDTWpXZJrqqP_CQtC3GCbOR9uEWVZmkS3im3cbnHlhg13A0yByEq46oYyH5JvjQyvQeCL3EiIvXW7jkWaP9LWklxt5xM7vjCdlgx6QBpcidpnOJAgPM25cdm2h-IDBD_avu6AXyDVDI_A8RwOGLmiXKxZCI4cs552Spg6lL1MSS-PXXNpjfU6YQ7HuvomsMAuqDjJvN-qik4BVIq0Xu_nIBS7eQkMaRlMCPPc43-WLzVg8DHbHwNKW_F0N39B5fZb-FLJf5PotK_PVgO_7N5XV-2IA6sA2c8qKxNEYJX5J7jUTSxqQJQffrbfpOmHNywI3PDyTBtzZtgBERmoLd-RRNow0cJaJj9ealiC73U32w_l_iiifeKhLh6-zqY9BWOWs0cJAPaYhxABSF9dENKILcy9eRYmtbbpoQDgeNZTOjiJsFmpsaOUTZniUCr5vCILBIYc7vWnQOfFga0AofwM4Fajj-GRSZRbtjroxNE7x6IpxgbRFslG3rB1Xm4SOedkEvUv0IOZkCg5d-DhREC_4f5Rbn6C5OXxMjPM-m1wD_AyLumEkePZcqSwLsLOK3hdCt1am6yzBID1RzOYde7TekT2FkPxry9t9bm59Gin64mB7jCpsWt8V6EZNltjzJvF_fxWFg4aghnkE-JMbrNzIwSBB5tw-lgrMe-QTtWDlrU0v5XVixBbyZmRY8mRv8if_B1FYyGKns6wprEoKfMOOxXw22-JPqky0aS6jwv5omUujVi4AtGwnHiTWJ8DtuI02_TRuYxUZEBvZDEnSKA6EL0Bf_KaoEjdmdtFtdI5P9Cpa",
  "id": "rs_0fa6169a1aad87c1016ab421c9001087d0933387d6be6401f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_z\":0.018},\"note\":\"The larger yellow-green fruit is centered in the right wrist camera but sits a little short of the fingertips. I’ll advance about 2.5 cm and descend to its mid-height for a grasp.\"}",
  "call_id": "call_zCVACewTLfNEQlbfq5c0j4G1",
  "id": "fc_0fa6169a1aad87c1016ab421c9e2f887d0b400782a983d27c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zCVACewTLfNEQlbfq5c0j4G1",
  "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]: [-0.6327, 1.0771, 0.7235, -0.4232, -0.5373, -0.445, 0.9959, 0.4164, 1.6501, 0.6071, 0.1585, 0.334, 0.0872, 0.9965]\nstate[eef_state]: left_x=0.3006 left_y=-0.1038 left_z=0.1605 left_yaw=0.0444 left_pitch=-0.0773 left_roll=0.0341 left_gripper=0.9959 right_x=0.357 right_y=0.0985 right_z=0.0106 right_yaw=0.0669 right_pitch=-0.2644 right_roll=-0.1902 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -3.1248, 6.8444, 1.4579, -0.2125, -0.0806, -0.0122, -0.4034, -7.1316, 4.8615, 1.6972, 0.0562, -0.0708, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d95176334232c27fcf915141deccb305044dd45a221a0527a79694626c8b72b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471a4356177ea907ef574fba3a1a04e3d996084a20828a87cfcf6aa7a9f361da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794ffad816ec7052e1a42a51dfc3c0dde9d1e89fb49b8cdd1c3c7b81239d430d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 2.561 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0752, 0.7235, -0.4168, -0.5411, -0.445, 0.996, 0.9649, 1.6203, 1.1152, -0.4736, 0.6765, 0.5343, 0.1057]\nstate[eef_state]: left_x=0.3014 left_y=-0.1037 left_z=0.1624 left_yaw=0.0469 left_pitch=-0.0691 left_roll=0.0309 left_gripper=0.996 right_x=0.3115 right_y=0.2617 right_z=0.1373 right_yaw=0.1075 right_pitch=-0.1423 right_roll=-0.1481 right_gripper=0.1057\nstate[joint_eff]: [-0.253, -2.947, 6.7897, 1.4774, -0.2759, -0.0366, -0.0122, -0.253, -10.0308, 8.3897, 1.1941, 0.4469, 0.022, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4225, -0.5404, -0.445, 0.9959, 0.4553, 1.2861, 0.8585, -0.387, 0.3603, 0.1146, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.1034 left_z=0.1609 left_yaw=0.0466 left_pitch=-0.0754 left_roll=0.0353 left_gripper=0.9959 right_x=0.3449 right_y=0.1035 right_z=0.1473 right_yaw=0.075 right_pitch=-0.1895 right_roll=-0.1638 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -3.0291, 6.8034, 1.5702, -0.2369, -0.0513, -0.0122, -0.3214, -5.3402, 6.3932, 1.5214, 0.0757, 0.1001, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4232, -0.5373, -0.445, 0.9959, 0.4164, 1.6501, 0.6071, 0.1585, 0.334, 0.0872, 0.9965]\nstate[eef_state]: left_x=0.3006 left_y=-0.1038 left_z=0.1605 left_yaw=0.0444 left_pitch=-0.0773 left_roll=0.0341 left_gripper=0.9959 right_x=0.357 right_y=0.0985 right_z=0.0106 right_yaw=0.0669 right_pitch=-0.2644 right_roll=-0.1902 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -3.1248, 6.8444, 1.4579, -0.2125, -0.0806, -0.0122, -0.4034, -7.1316, 4.8615, 1.6972, 0.0562, -0.0708, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d95176334232c27fcf915141deccb305044dd45a221a0527a79694626c8b72b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471a4356177ea907ef574fba3a1a04e3d996084a20828a87cfcf6aa7a9f361da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794ffad816ec7052e1a42a51dfc3c0dde9d1e89fb49b8cdd1c3c7b81239d430d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCHOatjhpkmPrp0oVTwNIvy6AyDNB3XRIpcFAGz-bFgAJw73xFuWTeFjWV6Ebe5SRMHZewp-Yy4WUZS9lSm5Pk-KmldwoWbqurMBQmhMPtaCSwNIX8G8nkJkixU07ufiO9jFNwuL7ImIOjZlf45EBDBU6idgUIhvdVnurbkqfbQyahPVr1FN5X7bUXv6YwR0-VO0sKHFJF3-pIcfmG9H4ZEDBNsF9aAcOPtWJZ1Zg_jOBQhR3-p14XXtAH23z9EmwQLaMQnLgekjd1Ya57KM-fqX1zAnjgMyCmabufzhlWrNQ88A0M1IZVoctjvowaDqSljAnG4_WLvLOYypIKMfvrJp7e9jS0EhUdwrfHqW9hQoXsMMh9B86rLXyoJPs291rWIgKRQMsmNr83ZOmdH-zaRLR4DUDHU7fVonLM7vOrZO1Qw9OnbOW6Fhu59okN5dqbcjNGErLqVqABUuOyGisdw2LDmOSUkk6yXtsSt5v4TwNO3F-kmGdbR25x-zO6kVBqTlTL2_9knt37uSKL2aaeKzcCkexh5v68dbWwXibBKeoRp4hw-hV-7fq7LcbLTOs_JlEAi3Sq1VYIE6irFb8CCK05Co2NnFt78kkE-oMOmzs4asHr_Q7yio7pGoRkrzmDJ0oOpjd0WLySyxnFrZhfuORMgFW0JEkW7joXtI0CPQ-Ui6NRg7-Ys92Vor9WXGnx3l1bdSy_2lkBxcPuHJYSBMOJXGE1A9wPjjswNhh7eOvEgV8dJwTgvvkBWXeIriqaPZlap3Q1q7QPiV2y4gjzmST4X5v8x74MOqTHbVBdntfxIAxkzVYIkgcUK1ckosDYaFdb8h8J3W4-2nO8BQLOdd6qbSJSOOLZnZS7TrVbOVqWeqczNVhfrkMNJPvqqoFFZQYU9r2xp34KK0LMEIHUJEaHjH5em_h1so8Tk0uIjZSXkM8v19hjRFxeyNkDIabvnzQJu3nlPxkQ5wfpHqr5mTxuq-bEoho6Y8z44ep7-luH_2R6iUzTKlyVqMPHRgw8LZGebvVpZEutTN5xmMmPaISUJLhma7lyVMTtnbiLHbWpPwymbeKUMVQUl9NYoMHhniHd4JJR_I9rJhsu0zKWR3HLrFyCAgfZ0_AwmZlhzTJrcg-vZj7u8dYDoT_-VpGnBgfrKxza6M_Lus_1imTM5W5VSQf6fIbXH8mPT9wTaBqlHulkNqAgei6n80IzM5Q9Zop9EJr7zjoTmrrshP7mkbG_yYZIKI1bWsoJQAGCJzQ4JOaFiKZTXwAuvzVGOvUmg-",
  "id": "rs_0fa6169a1aad87c1016ab421cd85a487d09e0da9b8a29602f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The larger fruit is directly between the low right jaws, with its upper portion visible at the bottom of the wrist view. I’ll close and check whether the jaws stop around it.\"}",
  "call_id": "call_4ag3ZsqbgmmdhroKRZp5zX9t",
  "id": "fc_0fa6169a1aad87c1016ab421cdbab887d0bd8732624ef24210",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4ag3ZsqbgmmdhroKRZp5zX9t",
  "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]: [-0.6327, 1.0771, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4156, 1.6604, 0.601, 0.1856, 0.3355, 0.078, 0.7285]\nstate[eef_state]: left_x=0.3005 left_y=-0.1038 left_z=0.1605 left_yaw=0.0444 left_pitch=-0.0776 left_roll=0.0343 left_gripper=0.9959 right_x=0.3587 right_y=0.0986 right_z=0.0092 right_yaw=0.0709 right_pitch=-0.2549 right_roll=-0.194 right_gripper=0.7285\nstate[joint_eff]: [-0.253, -2.906, 6.8308, 1.4628, -0.2271, -0.0317, -0.0073, -0.0068, -7.4735, 5.559, 1.1062, 0.0855, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ba565b761546318519acffe9f9357f7b1d87f69a39ccac430c940e0f4cdacb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b688759ecfe0da845de7f59c7c82200c6c3ea89af785240fc185ba8acbc9b2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92db8573eaaac9cd7ee93a44b953eedd0d25d96b5268670012d7258fc8e06632",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.201 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0763, 0.7235, -0.4198, -0.5407, -0.445, 0.9959, 0.5629, 1.6218, 1.0348, -0.2573, 0.4294, 0.1982, 0.1058]\nstate[eef_state]: left_x=0.3011 left_y=-0.1036 left_z=0.1615 left_yaw=0.0468 left_pitch=-0.0725 left_roll=0.0333 left_gripper=0.9959 right_x=0.3959 right_y=0.1671 right_z=0.1176 right_yaw=0.0795 right_pitch=-0.1878 right_roll=-0.1617 right_gripper=0.1058\nstate[joint_eff]: [-0.3487, -3.0974, 6.8034, 1.5116, -0.2027, -0.0513, -0.0171, -0.212, -6.8171, 7.1043, 1.746, 0.1783, -0.0024, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4232, -0.5373, -0.445, 0.9959, 0.4164, 1.6501, 0.6071, 0.1585, 0.334, 0.0872, 0.9965]\nstate[eef_state]: left_x=0.3006 left_y=-0.1038 left_z=0.1605 left_yaw=0.0444 left_pitch=-0.0773 left_roll=0.0341 left_gripper=0.9959 right_x=0.357 right_y=0.0985 right_z=0.0106 right_yaw=0.0669 right_pitch=-0.2644 right_roll=-0.1902 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -3.1248, 6.8444, 1.4579, -0.2125, -0.0806, -0.0122, -0.4034, -7.1316, 4.8615, 1.6972, 0.0562, -0.0708, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4156, 1.6604, 0.601, 0.1856, 0.3355, 0.078, 0.7285]\nstate[eef_state]: left_x=0.3005 left_y=-0.1038 left_z=0.1605 left_yaw=0.0444 left_pitch=-0.0776 left_roll=0.0343 left_gripper=0.9959 right_x=0.3587 right_y=0.0986 right_z=0.0092 right_yaw=0.0709 right_pitch=-0.2549 right_roll=-0.194 right_gripper=0.7285\nstate[joint_eff]: [-0.253, -2.906, 6.8308, 1.4628, -0.2271, -0.0317, -0.0073, -0.0068, -7.4735, 5.559, 1.1062, 0.0855, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ba565b761546318519acffe9f9357f7b1d87f69a39ccac430c940e0f4cdacb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b688759ecfe0da845de7f59c7c82200c6c3ea89af785240fc185ba8acbc9b2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92db8573eaaac9cd7ee93a44b953eedd0d25d96b5268670012d7258fc8e06632",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCHS6UXGOZnXQ2ikyVjwYrp9-eGhM2FKPrrbMyaWMfGhk3Ues6uKAmDiLdyXr4J5PjMdTbsnsk-M68onHulxkxnR9bc17N5LVsX6uRTKYIS5SmBJ_YjQFSBhpnuTctHrZztbeve7tlm3CB5nqeLFrsaQyEUreYItK3UHoc7nuKz7aLKxvgAhX3LCRJ9_rflpsfWrOu_-m5en5CXsGzO5z9GIyoDr9z05qyB7FP7qC9rwKN20v5AVSD44YYqEFWB3SNOFUC8MS7w-dcwr8mKmQD7IQM36scqxIdgo7rtRpZkT2uNYQTt-f5xu4ZSkKjlyvWv7hwR233H_0E7ha9gXI8uVmwdRi25TL-9iv-IyGizaCG-2nNTOeKKvJ5NEvI3ThTq9FFcPYTWGuYWIbd8UXj-Zeoe-Kaee9HYPPq52x2hLItUmuex7qZKSSbpznshVHndX5S94Kvj3AezXo2IYn3qmiP_5RwtH4UAamejK_7wivirJzBnd13H38pgNZmEfQbmIDKT5MYcPMERRGO6HDQ7AowAH0NykW4RhnK0Ktsbbqwe2JxFUUwgvBOpU7Fm8M4sKSHfzOVLEZ5ZNZEqk9hoNswCeqwKh6hME0UztguS3mG6Jrwd_hx2TO7FVFDdqMiAFUzWRAO56qaThNugiyr25f2-yl8b1C8w6PZZfKFioAxF13yeIz6C1FibX9dq11PzprmQputWhmn3sTn_AQNM20GTBT0pRkqrixfbsYo2_D_oRyn-nnj7_T5-StjpF3uEYuQcK0bHL8qeBpeA1YqlveVcjM_x-Hg0jmVGaqjCTbIUDkpLfqn5Rfgx2bpOjg4ZdCI0Shq9j9kiIHsNTbkPAOPYCvw1J_3-gvgT7woUtnexUwcfoO_R2dSRIangp5NkNIilaXEexEO_wd5maMmqD1zQHnSmmA0r9O15cl4KwPTZYQQeBZATEERWBlQlVDM0DTTLgkF-QLyUUN0S2o7Bs0_kd5VS16Hs52vAlrz0kRfGVu7gCOOg8qbdgTnAuEe29_n1kA7UIBrR3D6PHkmNLUo4rxaAsXAb3ll9naKe5pG1nZvAFTSvOAtYYQ1uMqgaVvGrpJBBmalUMquxEg_vdBvpEMt96yN-lvIWk7_YVquM08127Ak_I7OhnzfOxkjHVdBkoax5U9_Rt3A25Fd1BQ8iVZU-HAkCfIxv8uwjvhOp2k-z6USYy_8vkAzfhErPuVoKuyzsrpVg37ASC6e85Tgn3OQvwrpI8yaMMJSAIP0pcNmkvVJXtUlTDlO1AR-vy1UBRR025y1AJ0DjMe60PjFEx4VjLlcGDWGlPVOKCC7dMrEAq2xxXjbxqc6xE2-cCCXmK6AzUrPGzU_KUFaB2oYT9mjoQhGf59EoetXJFGrW4gkCWCnRQiny7m9EHUZHyFqXp8T7ekrJObKUrw_pFXDuRDy1nyCs0e2wysoi4C-bcrir4_RjZlqstGnVFu-41pxPgnckac6i7A6j7lTPYal5TMzm7Jl8FF87AVdLWV1E=",
  "id": "rs_0fa6169a1aad87c1016ab421d0a02887d0b388414cdc821fcd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The right jaws stopped widely around the larger fruit. I’ll lift it clear and check whether the yellow-green fruit leaves the table with the gripper.\"}",
  "call_id": "call_8Xl5zquPHZ0I3xnznkZSxems",
  "id": "fc_0fa6169a1aad87c1016ab421d156c887d0a855788c8200aafa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8Xl5zquPHZ0I3xnznkZSxems",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4236, -0.5373, -0.4454, 0.9959, 0.4168, 1.388, 1.0317, -0.5552, 0.3313, 0.07, 0.7285]\nstate[eef_state]: left_x=0.3005 left_y=-0.1038 left_z=0.1605 left_yaw=0.0446 left_pitch=-0.0776 left_roll=0.034 left_gripper=0.9959 right_x=0.3581 right_y=0.0996 right_z=0.1551 right_yaw=0.0763 right_pitch=-0.2925 right_roll=-0.2096 right_gripper=0.7285\nstate[joint_eff]: [-0.253, -3.1248, 6.9675, 1.5018, -0.2369, -0.0757, -0.0073, -0.4308, -8.0342, 9.265, 1.4481, 0.188, 0.0464, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aabf14b4dddecf755ad7f5160f3a814e6d293661cba536ad0bdf8c99209a1a7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2653c72a7669423ff994e4be978296c0145eb9a10ab9932030415f6cf9136448",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95ca8a983d09714c7d2fefeebaa339b26703e7d0e0900409ff058f9a362f321",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 3.134 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4225, -0.5404, -0.445, 0.9959, 0.4553, 1.2861, 0.8585, -0.387, 0.3603, 0.1146, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.1034 left_z=0.1609 left_yaw=0.0466 left_pitch=-0.0754 left_roll=0.0353 left_gripper=0.9959 right_x=0.3449 right_y=0.1035 right_z=0.1473 right_yaw=0.075 right_pitch=-0.1895 right_roll=-0.1638 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -3.0291, 6.8034, 1.5702, -0.2369, -0.0513, -0.0122, -0.3214, -5.3402, 6.3932, 1.5214, 0.0757, 0.1001, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4156, 1.6604, 0.601, 0.1856, 0.3355, 0.078, 0.7285]\nstate[eef_state]: left_x=0.3005 left_y=-0.1038 left_z=0.1605 left_yaw=0.0444 left_pitch=-0.0776 left_roll=0.0343 left_gripper=0.9959 right_x=0.3587 right_y=0.0986 right_z=0.0092 right_yaw=0.0709 right_pitch=-0.2549 right_roll=-0.194 right_gripper=0.7285\nstate[joint_eff]: [-0.253, -2.906, 6.8308, 1.4628, -0.2271, -0.0317, -0.0073, -0.0068, -7.4735, 5.559, 1.1062, 0.0855, 0.0757, 1.0281]\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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4236, -0.5373, -0.4454, 0.9959, 0.4168, 1.388, 1.0317, -0.5552, 0.3313, 0.07, 0.7285]\nstate[eef_state]: left_x=0.3005 left_y=-0.1038 left_z=0.1605 left_yaw=0.0446 left_pitch=-0.0776 left_roll=0.034 left_gripper=0.9959 right_x=0.3581 right_y=0.0996 right_z=0.1551 right_yaw=0.0763 right_pitch=-0.2925 right_roll=-0.2096 right_gripper=0.7285\nstate[joint_eff]: [-0.253, -3.1248, 6.9675, 1.5018, -0.2369, -0.0757, -0.0073, -0.4308, -8.0342, 9.265, 1.4481, 0.188, 0.0464, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aabf14b4dddecf755ad7f5160f3a814e6d293661cba536ad0bdf8c99209a1a7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2653c72a7669423ff994e4be978296c0145eb9a10ab9932030415f6cf9136448",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95ca8a983d09714c7d2fefeebaa339b26703e7d0e0900409ff058f9a362f321",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCHWirpQBkYv_Oem1oi5NXSJQ4rPaxSwMq3FMSss7hJAwv9k34w3M6TIMdfiBXMrCQ_rBeWE0UVFSTo4knZvMxKU73Tj6zSnewp4MLddJUbxdxWvcU77Ltgn48RbhIrmFcSnL8ehlVudFChoGXsdgMCC7qe1BhafoQYxjL5Uwwb8tEw8G6RX1pw3N_fchoLsOC-NDRUM_qvg7fu1jHU_EFeeux7PQRu9Fqy2NEE5m6iIFNimEAH5nXYRmF4sTbIdWv3oqN2feoaSsiqXZp2kvKnH6wFNse6WYFbcPyE8WRvZcppNuZJKLskOCUhCyNEhXrw3Gv_NHSLDLecjvD3sVkUlwbFwfrCC6QFkTLsIE5bXB_oa7x5St4TEKJJdtMZ8HMOGW8wICH0Xpee5URAm7E3PJRA6NWT0YoA7hqk2qhaeS1neQ9Hck22Hi8qFb59NNzTrwwbw_bJtKJ_cdyDXnz6XSTP4SjuPEYhHJNlEwNRRbGSzK3CqvNeWHfBatZ97OXRHzclTxwDlNlY6Kj0QeNEp9ZdJGRSKQ-5qAOgcBIkuDBvtthcUklhecdeEF9ODpZHIwOIhrznpG5ae_4BVieGPHrz3iHBR29P-M-bbef5WDXbgfgk0a46J6Ns9y91FJBBtUubgSVCswzw8rKAuRVs6Eo0F-XJg-XvIpZqT1YCVzHtTjmnqhUvvRdG-k5ozlEywk4LaRxY3AwX5pg1MsVIPBfPx7LFSiMquVtmPIrhjympjC7dd7Pp0A1qXy3EzvDd2bXEAVxtrhs_nOV73f0hyQu9GzlsmIYQdYskBSwoZb6G8W263bPc_KpCL3K7aBlp0_UogfElVRv6krs_T0X0P9qFqZM9l7eRIWlVvvyGxdHRshnHrLc4tGDvaGdJLA_JXnfrkLJ5LuoDdYrLqt3esrFqZpWuglqM80_EVD7e0YIdY4BU1hItAGMpmDBEybcRblty38uqOaHW7SSzAhLDZL1AOLjteciMVyLFEeVBA4dJOtupXqdEdlhkgNXIvm95HugvM9Mcpda-QYg1RD0ZTALRScsVzLkSDbeGaW8jpL1ouJ9xPepJPhr5kTbfGGwRUM3yXhzGO3aoZynWquLnoICuYY-AAnMZNGM34GcjxZ5du7vvQ9Eu26K1aTqGhbnbSvIZt1bO45-CJM8w9w0_AeMf3JXEWiX5CR5Zdtkfi6HMq0Uad14FKtHhpZ_OsFGGnv9oLOURKEwaClpqOPuCu-utP-d9kmuyQO3uTK9bOuOiP06Of3By8YoxzgSqYVQkVvAyZPRyHDnRS39relPPm2NSTz5Ddn9qoUBD62kb4gK9KfAX3Rhng1UIgNE54VPSEhVFAdjjB6B-tmqzzIki4aB24-34uqz6_NvE4iQeMeV34SRVR7dZcamF3VfSU5V7RSwYfpHEdRj9BH_jC5bEN99lk-Rxz3pg3G7Xqb4PWgkGP617cIkFYvSt0kx7vW4OdYrymm9Mtmw0dJ-KvJ-MN6AJOVoxdK8Ff3vrQ8Lv4QYJIC1tysSZlK1PHdjy707zrsuLNCpryqUveoujQST6RkxarueWbeSEMuePQxZEwj5z_oeC1jpMDLtJ6fTNXZdhIc1MwvkADHEdrEG_0xkd7WD9CT2YuwBj-l-ix8RZMi0ALVvNlFGpYZm9ZzGIEOKpjDnDL_J9f8zv2Z4_hXwDRbWv6FH0vA5PBLZsQ4y5podubvh6e63wAYkUnIxpCJbg5JuMqSl-9qWJMRnPTFeaHYG12Bqmc7b70RpZLJdd2375KYJWREw3WA2nRLoG1KuZizyvTkcKrs1g1yKGWIM68BhRwQWapzfpOYzWhmXO3t6ZO9MjBiOYZtxoTAtT-tQlmRSM205zOkgxsQY6T6MgizAcrIPsqAh9QDEQBC2_YAYYaZeUnpcQ1he6VnXLQQlXUxezmWDKWxT6qFeJD1HxxAvzYwDQLRrerVORa-goRVwDxAg4D1BjRimOhMx5SGkHTxMzo8W_iPkyDUTmqnCZc2syBkNL07zKXj2prCKYELVc5NZQJKlr6VJ3hS7mxD9ouozKv-Ho7JwPSLtqKn72QWgsqdnrb3DmVkJ60awf_fOo=",
  "id": "rs_0fa6169a1aad87c1016ab421d42fa487d0992c979d36d937be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.15,\"right_z\":0.19},\"note\":\"The large yellow fruit has lifted off the table with the right gripper. I’ll move it high toward the center of the blue bowl, leaving the smaller yellow fruit on the table for the next pickup.\"}",
  "call_id": "call_p3oc37jRpOYSuoKz9iZ5dg6q",
  "id": "fc_0fa6169a1aad87c1016ab421d5b7f087d09524056d1542776e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p3oc37jRpOYSuoKz9iZ5dg6q",
  "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]: [-0.6327, 1.0794, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 0.4633, 1.7054, 1.4418, -0.7048, 0.3431, 0.0788, 0.7285]\nstate[eef_state]: left_x=0.3006 left_y=-0.1038 left_z=0.1598 left_yaw=0.0445 left_pitch=-0.0797 left_roll=0.036 left_gripper=0.9959 right_x=0.42 right_y=0.1474 right_z=0.173 right_yaw=0.1017 right_pitch=-0.3415 right_roll=-0.2337 right_gripper=0.7285\nstate[joint_eff]: [-0.2393, -3.3026, 6.7761, 1.4139, -0.2222, -0.0659, -0.0122, 0.2667, -8.9368, 8.1026, 1.3016, 0.3004, 0.2662, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bfe141304c2d11b287eef22c9eebb19cabaaca74ba175f26acc4aceb3a14ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bcded638439184b864fef022d4208453e252e5e3b567e0da7d79f2da8668ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9fc402dca48bcdba5568c7b1a7abe7720974bd51258ebb500a271977ba87720",
      "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 23 attempt 0 · /responses · status 200 · 1.72 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4232, -0.5373, -0.445, 0.9959, 0.4164, 1.6501, 0.6071, 0.1585, 0.334, 0.0872, 0.9965]\nstate[eef_state]: left_x=0.3006 left_y=-0.1038 left_z=0.1605 left_yaw=0.0444 left_pitch=-0.0773 left_roll=0.0341 left_gripper=0.9959 right_x=0.357 right_y=0.0985 right_z=0.0106 right_yaw=0.0669 right_pitch=-0.2644 right_roll=-0.1902 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -3.1248, 6.8444, 1.4579, -0.2125, -0.0806, -0.0122, -0.4034, -7.1316, 4.8615, 1.6972, 0.0562, -0.0708, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4236, -0.5373, -0.4454, 0.9959, 0.4168, 1.388, 1.0317, -0.5552, 0.3313, 0.07, 0.7285]\nstate[eef_state]: left_x=0.3005 left_y=-0.1038 left_z=0.1605 left_yaw=0.0446 left_pitch=-0.0776 left_roll=0.034 left_gripper=0.9959 right_x=0.3581 right_y=0.0996 right_z=0.1551 right_yaw=0.0763 right_pitch=-0.2925 right_roll=-0.2096 right_gripper=0.7285\nstate[joint_eff]: [-0.253, -3.1248, 6.9675, 1.5018, -0.2369, -0.0757, -0.0073, -0.4308, -8.0342, 9.265, 1.4481, 0.188, 0.0464, 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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0794, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 0.4633, 1.7054, 1.4418, -0.7048, 0.3431, 0.0788, 0.7285]\nstate[eef_state]: left_x=0.3006 left_y=-0.1038 left_z=0.1598 left_yaw=0.0445 left_pitch=-0.0797 left_roll=0.036 left_gripper=0.9959 right_x=0.42 right_y=0.1474 right_z=0.173 right_yaw=0.1017 right_pitch=-0.3415 right_roll=-0.2337 right_gripper=0.7285\nstate[joint_eff]: [-0.2393, -3.3026, 6.7761, 1.4139, -0.2222, -0.0659, -0.0122, 0.2667, -8.9368, 8.1026, 1.3016, 0.3004, 0.2662, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bfe141304c2d11b287eef22c9eebb19cabaaca74ba175f26acc4aceb3a14ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bcded638439184b864fef022d4208453e252e5e3b567e0da7d79f2da8668ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9fc402dca48bcdba5568c7b1a7abe7720974bd51258ebb500a271977ba87720",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCHaA-kwzt3uoF492AdGvTNyybI3ix9B5X3NFrwvmMhHcvgdrws_oL9svc4VP9FUn7JAd3mWx-ewBxCuIUrDNuH_MxdgMvpOuEG_ibw_U-tiW8lUOrO5yx_t59orwjFQn8kQI6DCvRl6Br9hFimNifvbln0FiPKkMgDYUhdwhWDEc7oQESIcnZMPX4heA3iHZLvI-QwwvuteJL83WDW11vs1x3QvQjObSWsVGw_tM_9GYVTiRqdyNFdsUUHF502kk9M5nXFPlLgY_YXmabEjTe4y-piOauCI5AfXTjR6W-anlHKfQVUdflAGCVFsTlbWf-9SrdPC2bsCDn3zrf-ByJUGGqUMYMa-HfWUuIc-eIvo90cGxcrr4_-T5pNIVfOrbIXLLUmnM9bl9o8xhRiE1xTXiodRLkGHdxNWVkGBtVUICPpAKpcdKjdOTLS7a3qH_mtlt2D0kzNyILmEEmA7DhgovfKd_GRLVi4ZR29hJH2MhYtnQMbH1Ti3bMOfkS0vS7ThOmXyT-qhisGJ7JnCAbNpmX0k6JxEMyqBj1ktbSul6U2LI25ZnGTsLIr_GWOPxZiE6Cf2wPk9452mF3eDvknBGKiy_O28X5qc2YEe-Wd8SptfypMytRPEa4n9z7yjdClDwHzPV6Unfz8cYIkdWU6yjAsVC30ul5iwygkYfVyV8dG-On4RhRJaav5uvSbioB4hueEILobrb6ysftF02QFet5gN4W7AkCrFabiX4pMR1dNoJC4J3nMrDzVkXOUo3ms28Z1kUyASff_x5mIT6zHlAGv0YIQQ9G4uAmY5DE3llEpp4wPyEo5MRHwiCllbKQ_LsR9xgb0OHHTgofk_wXCxgooJS1tQz3grWiH8HKkHEU7ofaYDM-_KJ8r7lLso_61o6UHrBIoz4EV_jNglpPAYm9M07S2VWArAUtnmyjGzVSnkm9v5fR9XgmTmIJaTuE9Wntqz5ST1Bws4apIYGSIuk5qSWSgfYivnvdyq4VY1qdq1Fv1zKYXN00GX48IAXU9jQAb9npQcWBb0GmHl4Kx3N6dSP71o3j3Ip2webL7cfQ2S_1GUqbv4r0btWdYS3DvXwRExsBvvFRfADHJG2VHZ8x-p7W96MBPQkjMWVW3TR5HiAfFozT7Ld8WK3Z5UI5uZ9NeEaFXHri5O6vgNBLh9eObeCQ5igp023CanNNtakHQsNlUknwbCbX9O_keDNWLZPoJtiHhVYZWlJJZjR-DqwshmvLRU7inc_-QRdmKwDpQ-Fz2qzIvZ0ha3YdaXb-b0qzA7iKopYOFvgW-Zag4zcECHHHJ7Sxjq9Fx-jVkW085BthtVuo4fSQOH7iH0s9Fvx95o73SPD3DxW-YqMycVIcb_DIXfP0DcPQjdJ5NU3BAIyNOIL-jTjZuggLw1Hx5kqDuD8gg2ZByc7Eft_l0lbUPNVZ3jmJ2jlnCXHmYGyFMyDktqwaC-ZvGQuT83VTsWUgZ1rp6-6am40UcFo5hV5wscktki5i0gJovOe10f-y5yASqvqW1-i1EahouCAxu170yOoWg3oujTtKi6BHTQD-UkUtp6ZBfzeMFhP3ER5EgoH7IaPVEKKil0GQKkGbqemvXnlnPiccmuBHVHw1fCNeJrzneah1n9gG-fmBfS_6xEAhiTYG62DuDpo3PsJSxGnBJYvIf4W98Z7fyviDyBFH3siJPsE_FgAH-jpprwiq9EaXMFB5OG9d6Zrua89NLqzgqovDMCXFv1nUZtmnoSI-AKpg1dKjgXh-MQab7vASFXtyREKGx72DRNzftRUkZK4w4aAjxY8VYhimU5S-2dcXcGVeTGbRAnib3vsrLrCcrFuUeldBY0EpnWgTlo1AZjX0NewoA-J12_i1loaaZdjJmyCZzY9nPfhaJ1E-ImZ1geNAjuanc3pxlMFU1ARHaNrcuHaWM8Nvln2Z-A37E8o66Rq-c017GxTZ05Eul_qXlKM6iL36gfHnCzHQn2pQIS_9sNv7aGlfMjtetsdY64ow==",
  "id": "rs_0fa6169a1aad87c1016ab421d810f087d0a3d7b8de57d4126d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.18,\"right_z\":0.11},\"note\":\"The held yellow fruit is over the blue bowl but slightly off-center in the wrist view. I’ll shift it a few centimeters toward the bowl center and lower it just above the rim before releasing.\"}",
  "call_id": "call_PEZ3JUsSyxILmIx1VL30Jf8d",
  "id": "fc_0fa6169a1aad87c1016ab421d96e3087d0a805548ac1ec4056",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PEZ3JUsSyxILmIx1VL30Jf8d",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0801, 0.7235, -0.4236, -0.5373, -0.4454, 0.9959, 0.5392, 1.8019, 1.3159, -0.5808, 0.3614, 0.1204, 0.7312]\nstate[eef_state]: left_x=0.3006 left_y=-0.1039 left_z=0.1596 left_yaw=0.0448 left_pitch=-0.08 left_roll=0.036 left_gripper=0.9959 right_x=0.4067 right_y=0.1747 right_z=0.1017 right_yaw=0.1238 right_pitch=-0.4212 right_roll=-0.2631 right_gripper=0.7312\nstate[joint_eff]: [-0.3487, -3.1932, 6.7761, 1.4676, -0.2662, -0.0757, -0.0073, 0.0342, -9.4017, 6.612, 1.3993, 0.398, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da4bbad257db615800c3da7879551589b2fc5c328ab2c255bd74061028213cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d83b7dbf481d82d9ce48744cbb3d8e0a58ec076da767c0da96c0d5225e658f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33bb94181d7862e941a85e82b3c17d3087fbb9d6b0f236187afa0621f037294",
      "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 · 4.547 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4156, 1.6604, 0.601, 0.1856, 0.3355, 0.078, 0.7285]\nstate[eef_state]: left_x=0.3005 left_y=-0.1038 left_z=0.1605 left_yaw=0.0444 left_pitch=-0.0776 left_roll=0.0343 left_gripper=0.9959 right_x=0.3587 right_y=0.0986 right_z=0.0092 right_yaw=0.0709 right_pitch=-0.2549 right_roll=-0.194 right_gripper=0.7285\nstate[joint_eff]: [-0.253, -2.906, 6.8308, 1.4628, -0.2271, -0.0317, -0.0073, -0.0068, -7.4735, 5.559, 1.1062, 0.0855, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0794, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 0.4633, 1.7054, 1.4418, -0.7048, 0.3431, 0.0788, 0.7285]\nstate[eef_state]: left_x=0.3006 left_y=-0.1038 left_z=0.1598 left_yaw=0.0445 left_pitch=-0.0797 left_roll=0.036 left_gripper=0.9959 right_x=0.42 right_y=0.1474 right_z=0.173 right_yaw=0.1017 right_pitch=-0.3415 right_roll=-0.2337 right_gripper=0.7285\nstate[joint_eff]: [-0.2393, -3.3026, 6.7761, 1.4139, -0.2222, -0.0659, -0.0122, 0.2667, -8.9368, 8.1026, 1.3016, 0.3004, 0.2662, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0801, 0.7235, -0.4236, -0.5373, -0.4454, 0.9959, 0.5392, 1.8019, 1.3159, -0.5808, 0.3614, 0.1204, 0.7312]\nstate[eef_state]: left_x=0.3006 left_y=-0.1039 left_z=0.1596 left_yaw=0.0448 left_pitch=-0.08 left_roll=0.036 left_gripper=0.9959 right_x=0.4067 right_y=0.1747 right_z=0.1017 right_yaw=0.1238 right_pitch=-0.4212 right_roll=-0.2631 right_gripper=0.7312\nstate[joint_eff]: [-0.3487, -3.1932, 6.7761, 1.4676, -0.2662, -0.0757, -0.0073, 0.0342, -9.4017, 6.612, 1.3993, 0.398, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da4bbad257db615800c3da7879551589b2fc5c328ab2c255bd74061028213cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d83b7dbf481d82d9ce48744cbb3d8e0a58ec076da767c0da96c0d5225e658f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33bb94181d7862e941a85e82b3c17d3087fbb9d6b0f236187afa0621f037294",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCHcffEsO5mLXs6szlEpu-BmzmJL16PQiYPA03UxfXPddMjD5_nD688Snm1SAkdVk74Crvxg9s1s_icBwC63DSZV-hQUpEmS6EPSwCgwb6jByOzfAS_n6ur9g1JjRsmc-v7Q8CpN1AlfbY1cXTbS7torFFg-4ZgT5mpGIQSh8uMt5LRuIjNU5yDm9NK-_hj2f6iaQvXnQJpnA6-89RVpnjgByPh2F0JuH_aqKaSfMEPyOV_yLZ8WYF3kjZRJ4vXmp3LS2ZVBYoN5i-6-V3sDzl74y6DMf3L3jUimqWpHCjpL14dFBJ4v4Z70S7HQg34lWat5IBgSdQmbG3yGBZjYKPtpYdNzyY0UfUrrar5K7N8KqBa2BTASX3StDBUdHH-NrcyYGCV2HuMSkupl_J_wd_gLivvvJ-ZnS1_XmKIhZZRI8SgpOJTpd9z466Y6Oj41ijCF_zoUxFY3JaDMWCUnUQ363nl52qdx_-mKGyM4_xOmoA5G2JxsD_LssjmZA0kD2Yn63-IVVmMpeKVZze3q5vUELsmNqNL10PgFB4c3ZgwCnPW2WooNCk88GRNoi37c2r1jhdj91LE0JNyzkm3YXTcmdFxwoo1PuZzgREhAYle578-VUzeoM9kDYUYx_FVKbACk_W2S1ACcROpH8M-rQA-RI8K66iL6wgJ2tYQmIUbl7kL6ugml9MPrwzIDMXk-WNgENRaROGgwlTWJkbO8HF5kkahTfrFHpHKDlPrrUxQO54S9f7EbAbNwsKXzfdhKDJZCCrFfowp3jKi3ZukTz-85pq8_4EjQPCg5x6OvTlEtl1MIZLrKaBnixxiUcO4jPJVaKpj7hcyAiYVLycthfgKTWp2prpdezVHOnkr-IrJRdJQUdWlgVN7Inbr1EKLEl0cIQgximlk4OcDtM09qQzRs5WTFK7Qk2oU0zYUdJmpGlvwMsgl8PT9kyRbJsbWu7VI7xlUBA07B_mMTGSMSqyzI-_sRZjOoLDia8Lm9nF1mqP1qMiCMBThoF_3BX34500Cq5aK8N4H5JshyjGxWIEOqBuxKfuiYVnKvqbkXw-fR29e6d3kwy5whYYstbel31ULyj-IXV6XkM8lLzybO9ceR5RMpq5Rg6H1SbC9RPd65hvkisfVZkxAHyEKyzc4tf8b0p70TfXtdle9BOI_NHbhXYp_ajLwK7_ztYJrRzS4daIHr4T3MiL7MY-EELkXvHinfF1kmRju_iT9crVD31O1Wf7W4h8Tirwrp8_3GhhgSG-4=",
  "id": "rs_0fa6169a1aad87c1016ab421db830487d09fb2e0de693103d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The large fruit is centered over the blue bowl’s opening, with the dark fruit already inside. I’ll open the right jaws to set the large fruit into the bowl.\"}",
  "call_id": "call_7PrvkXXOmFwvH7kWfcW9JvAO",
  "id": "fc_0fa6169a1aad87c1016ab421db9fc887d0b6bb3a42e8202020",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7PrvkXXOmFwvH7kWfcW9JvAO",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0801, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.5461, 1.8153, 1.3128, -0.5354, 0.366, 0.1307, 0.9957]\nstate[eef_state]: left_x=0.3006 left_y=-0.1039 left_z=0.1596 left_yaw=0.0445 left_pitch=-0.08 left_roll=0.0363 left_gripper=0.9959 right_x=0.4129 right_y=0.1811 right_z=0.1005 right_yaw=0.1261 right_pitch=-0.3917 right_roll=-0.2479 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -2.9607, 6.8171, 1.4676, -0.232, -0.0513, -0.0073, -0.4308, -10.1128, 6.188, 1.4969, 0.315, 0.1197, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba44c236c5ba1bc51693745121a3fc3858b6dd7c17cb6266b29da758dbe64532",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ad4cf5384df970cc5b42ebe2a84dd7d9c735f5b776a4b7bc0bd41870359c780",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d5affec32a6a661bd5400cdaefdcc373aa36c7cb567c196371391d4f3e2e45",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 5.436 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0771, 0.7235, -0.4236, -0.5373, -0.4454, 0.9959, 0.4168, 1.388, 1.0317, -0.5552, 0.3313, 0.07, 0.7285]\nstate[eef_state]: left_x=0.3005 left_y=-0.1038 left_z=0.1605 left_yaw=0.0446 left_pitch=-0.0776 left_roll=0.034 left_gripper=0.9959 right_x=0.3581 right_y=0.0996 right_z=0.1551 right_yaw=0.0763 right_pitch=-0.2925 right_roll=-0.2096 right_gripper=0.7285\nstate[joint_eff]: [-0.253, -3.1248, 6.9675, 1.5018, -0.2369, -0.0757, -0.0073, -0.4308, -8.0342, 9.265, 1.4481, 0.188, 0.0464, 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 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0801, 0.7235, -0.4236, -0.5373, -0.4454, 0.9959, 0.5392, 1.8019, 1.3159, -0.5808, 0.3614, 0.1204, 0.7312]\nstate[eef_state]: left_x=0.3006 left_y=-0.1039 left_z=0.1596 left_yaw=0.0448 left_pitch=-0.08 left_roll=0.036 left_gripper=0.9959 right_x=0.4067 right_y=0.1747 right_z=0.1017 right_yaw=0.1238 right_pitch=-0.4212 right_roll=-0.2631 right_gripper=0.7312\nstate[joint_eff]: [-0.3487, -3.1932, 6.7761, 1.4676, -0.2662, -0.0757, -0.0073, 0.0342, -9.4017, 6.612, 1.3993, 0.398, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0801, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.5461, 1.8153, 1.3128, -0.5354, 0.366, 0.1307, 0.9957]\nstate[eef_state]: left_x=0.3006 left_y=-0.1039 left_z=0.1596 left_yaw=0.0445 left_pitch=-0.08 left_roll=0.0363 left_gripper=0.9959 right_x=0.4129 right_y=0.1811 right_z=0.1005 right_yaw=0.1261 right_pitch=-0.3917 right_roll=-0.2479 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -2.9607, 6.8171, 1.4676, -0.232, -0.0513, -0.0073, -0.4308, -10.1128, 6.188, 1.4969, 0.315, 0.1197, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba44c236c5ba1bc51693745121a3fc3858b6dd7c17cb6266b29da758dbe64532",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ad4cf5384df970cc5b42ebe2a84dd7d9c735f5b776a4b7bc0bd41870359c780",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d5affec32a6a661bd5400cdaefdcc373aa36c7cb567c196371391d4f3e2e45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCHg79U3IlK4jY1O3XcMtgPUP71Z-20kNwuLPGyewUnZ-oEGtryNQ1HBrDpeVRMbU5EpDmqY9YL0zCqd9zr2bTNDxP-JposTcYEgWShst7oWmRmsZT2OsfmGGvLlaPBuW8uBWR0WCygYVnn0Dh_TfvipKXVanVQWw6BUowag2w3lVDs8iPtEAlo2wHmFkndS5-2QkmaHJUdsfWYZIl0ie6e3EvZSij5Wxgqjb8jZGszmCcV8VBa66pSZioyDyysOgH_U1c5KB-imBzHNk9_REUPdEFIQd1jQ_g8heZytl19xhh42Baar3N7BRUY5YyTD172L2sGocuyhV2AnPmsKRIrXlMb3k64xAno2BoqIRdEZN4gm0goNurvPlGVUfd4hxSLKvsTWsU4x-KsGVflCQ4yOGlBf1quGxa5XCl5d4X41nladbS6NG2I-GUULF59jLmkf9If24N_mnAZzRpXghIb876p4Wa3xnMjyjBZFaHPmJOUmBlQbMXP8_xEOWzJhoC-QFGZYHAXcfDQIw7o9c_cXOqRjc3RfKk8V5rmJFZaK5MCygvqsU_g_BSztjcMj5ijzOHe1JbRkzh0z2yUa0EO_EUtP4hwVh1sjdvSN8_OGjFc4D5yMK4zV4BlMYSFeVOwweyk4XiHDbuaQs38-WglYUBIAXr0WOlmCSMzeLzmQ2dQCKpef49FgMKPoM2enrzgJGoc1HFvL65F12wITmTZQ6y6d3nt37ww-uz7PHkH8ehjwvZWaS94lBYuJkpmyuQ68HsIkLh_krXcHWID3fooqxpnxilAY5lkfTxus594AkqzkQJmcoErwD32_M4hNRYmuCrqayt7_ORrOxyPMVzfI45QZ9C8jxTQHUumhsEsm4ND_6mFEb7mQOrzwjHQzP52Z0x2YsNdqdni_GmxHZaMuNfg5dhlwbciPOrUbCrTy-xvsWNDAgZNZcz88FT8ap-25LjrJRR5G42cP1kndXBeLdCA4ipS_1s1B0iEdot5JpSC31seYnbRrv317Z-sahpzuBXEwXLSNEYFMWoImpKrfa61BkWzMnOSDsd5o0pzm0kviH2BQYUPgeFETIDzepV6uLE17r1nH6Hs8qvfLwdNwgHopvwXe2gwOAf5T6IxHsn1G36FoRSxt8WJ2JNwZqt33YFWHqYlbi57rA6Bkte4bXAw-SOn-IiX_4jnuyvt76kdpXS6_5G2JQZctDo7ZND7tBBLMABszWSJ83TkbxWhq_hIWWI2EApGPClyFIqTb1cqzspMQpqeHrZOwwJhyDzUbfYzKSECiepCAk1V1uAwerJZk2tUO_aYlAMjy0XVvQjwc_wH1U6SZMZf3nGJRE8Uje6VoMSqlDfxzIa4fIflncVv6-GBxNfsc47bo8ONHg45yd7mkB9wB-qEdP6bn8sKFFHkY54AVG7UQ3KLy2dDWLPH6Y6ddDx4rnik9dT0O3U6HImkhvrR_V_YhDr6izU0ste62BF7Ncd7w0791jKvyYtgOoYT4Ulrk-vX9UYWKFMkHnKyN9JgsytFjL6AUK1ENvifLkXwpwr2FrhlwrHtdVJJUYLJ9Bgqt2D3L2rH0xSBo9eYp65pcShLHU9Ok4fTte09lOh4x90tp3qWNKkEJR7ohl8qoMakq5Qe7dqDf7x-xuYX_QBrZnF4U7QNywIshm6YDozBVar7RE-dw6R5XVLZ_b6eGZjGyBU8PwvyZmqoGXSZoaRp0QStn-o2VV0hBHSNLwY2z4GftuNVyjm6-8ZBfeHkrao2Xg9_RUUGVtaM2t7kyxyorar4vX2dS5RYIp6_8iJ9KVvI4MbzBFFQeX7j-tAyEU4gclaVKlRXY4Kv2IfrATog3rlm_B-yutUxTw6NYgFF8XEaB-hN1LXqXovXE_UOWFtozEc4ieAKH5Uk-ItxmQcyc8DW5pSQi1He6e6mRhnANUp21sL3YGYfI9hJ2KkdsjfSe5zGr8ijeFAglP8APVpCAGDkvSYRCsk5vUdBa09lm7s68Cpqkz669M8jB2PieDZxzp02OTks-FsEeHPCZ24CFqSmdBVaRZ-T_OxK4nZrBhctsHkF-L3fhF1l8Vco8PM-lijQLiXJwl7F5QP7KipCUFmvMUo2VKNFnMKy5aoX__jpg4-evMwnCcjCv0u_V1LWNt44djLMqtjb7IsMfOs73y1GD3qRFi34PxkxF54KjP8XJ-R0xnA5_Q3ImfJNQ5tfWlgK_N7Qkk5KikDNXziRoDfsRRCPvam6cwiC3eJGfTUJbugaHRdJAQ_oir_iIrQQ0vCCp9gfpNgGaCYk2zQRv6Btz2oc_QpTCyo_2zQErUTM6eleE5lJsFQ_wVmQ6IkUvENCN_GglBd0dZYcjahmFiiTTNBKakvwPafdi4Rhf0sFvSrDaEtiujC1iN9Ux2CKKXYtz7hXn7oYtyVrn77j8EQ5kdtR_ZAGWOdVT-7DFSh9Z8P5u2dOlvUYDZ6iwNpLki-KBqRValmAoFL9-WwbyXfExSmsnln93",
  "id": "rs_0fa6169a1aad87c1016ab421dda4c087d091caff8d10efc70f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.245,\"right_y\":0.26,\"right_z\":0.11},\"note\":\"The large fruit has been released into the blue bowl. The remaining small yellow fruit is on the table closer to the bases than our earlier grasp; I’ll move the right arm back over it to correct the radial alignment.\"}",
  "call_id": "call_vXWLSt2mXXjlFN7mUAZ1Chru",
  "id": "fc_0fa6169a1aad87c1016ab421dff72c87d0aa7638024061524f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vXWLSt2mXXjlFN7mUAZ1Chru",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.4454, 0.9959, 1.0573, 1.6646, 1.1675, -0.7868, 0.543, 0.5941, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.045 left_pitch=-0.0832 left_roll=0.0386 left_gripper=0.9959 right_x=0.2489 right_y=0.2628 right_z=0.0986 right_yaw=0.1787 right_pitch=-0.4258 right_roll=-0.2669 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -3.4393, 6.8171, 1.4335, -0.2955, -0.0659, -0.0122, 1.2376, -9.0188, 7.4598, 0.7985, 0.3736, 0.1099, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e9477e3a2f5e72609b739cc422add085968cbc42db6efe08e592421a1e7d11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d07a3b51244ab1c9e4188516980de969a8c7d359eb6f5cf6a3c0979d54aa9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0c63ea31126f4e2526fe2cf190d68c08cee26169098dd583a1b4a3ec798d0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 5.354 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0794, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 0.4633, 1.7054, 1.4418, -0.7048, 0.3431, 0.0788, 0.7285]\nstate[eef_state]: left_x=0.3006 left_y=-0.1038 left_z=0.1598 left_yaw=0.0445 left_pitch=-0.0797 left_roll=0.036 left_gripper=0.9959 right_x=0.42 right_y=0.1474 right_z=0.173 right_yaw=0.1017 right_pitch=-0.3415 right_roll=-0.2337 right_gripper=0.7285\nstate[joint_eff]: [-0.2393, -3.3026, 6.7761, 1.4139, -0.2222, -0.0659, -0.0122, 0.2667, -8.9368, 8.1026, 1.3016, 0.3004, 0.2662, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0801, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.5461, 1.8153, 1.3128, -0.5354, 0.366, 0.1307, 0.9957]\nstate[eef_state]: left_x=0.3006 left_y=-0.1039 left_z=0.1596 left_yaw=0.0445 left_pitch=-0.08 left_roll=0.0363 left_gripper=0.9959 right_x=0.4129 right_y=0.1811 right_z=0.1005 right_yaw=0.1261 right_pitch=-0.3917 right_roll=-0.2479 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -2.9607, 6.8171, 1.4676, -0.232, -0.0513, -0.0073, -0.4308, -10.1128, 6.188, 1.4969, 0.315, 0.1197, -0.0269]\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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.4454, 0.9959, 1.0573, 1.6646, 1.1675, -0.7868, 0.543, 0.5941, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.045 left_pitch=-0.0832 left_roll=0.0386 left_gripper=0.9959 right_x=0.2489 right_y=0.2628 right_z=0.0986 right_yaw=0.1787 right_pitch=-0.4258 right_roll=-0.2669 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -3.4393, 6.8171, 1.4335, -0.2955, -0.0659, -0.0122, 1.2376, -9.0188, 7.4598, 0.7985, 0.3736, 0.1099, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e9477e3a2f5e72609b739cc422add085968cbc42db6efe08e592421a1e7d11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d07a3b51244ab1c9e4188516980de969a8c7d359eb6f5cf6a3c0979d54aa9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0c63ea31126f4e2526fe2cf190d68c08cee26169098dd583a1b4a3ec798d0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCHnwU3adNyyVWy9l4wYUt7dEFKEw8bjIPXnnOVw2iFARTXviWytQLShnUTx2_0lmUG_tQr_NSg8CBUZjbsGK3oNBDY252fGAFNDzQfxy9lc9k5frsr1UbP2foL8rNE_lCQ029sS5koImY9BNKOxzAEgjp2rg9j9ZGzmOvjQbC5bXqJraDb2BV9mM3hHJzpZ1htXdehuAKJeEr8zJzxaxMfz3s8-uHoQc6h9eS5nEKFLdU3hn7HgNciOyoS3ItYfEauZvYeRZhK3FOheVZH8hrnQED5zGzz912AjBriNmKVfYHYXhVJQvkzKxH3Z75eBfaRO9C8X6qvcAbRLyMnD6NWcAq4IJqhjKKElGafShmyDbi0VXnf6rg2ltQaeTBCQuHgixqjJ4eCs2F0ukqcsu1vr5o6dNDILuIFFxStxutkSs8HWojo8fNtga5v2rbVC8rnSdgYL9kgRDKOoDQ4P9-Bd4gdB6p_5UvapdYUTRbCtb_w5lrnbmE3jb7Si-qIe9-av_Ra4F1l78dM0A9v3O9pgRZz6dDq1u80CJG74QxRadpJe4xnTKhhE_QXYhNCIjCkStmJxVwNxUmlYH0jfi-aUSrK8hRSbMenY2bB2BRUIn2upvIzaa4vn3eRqleIKfPJUkSA7Je98h9KDwaohDpqitdl56ed3rBSf1YDC4a1e2UO5uzXAtqtU175zkdCI2JAS4EADJm3SoIhb9O6eZoHBJCImTwe-yUQnssbD8-gImFXgmZa1WfuLk5xNXrDt0qTW9lgAdK3HvFp55wwgOA39wX_31qM8ocy0_g8ZxRMdOlTtqTYA9CS14InxXCNLP3SzdIssae2u5pRLdKm8IwD_TVXB-9hT3k43tDUut8c-N-DnGTNJiD_JhsO5Cq_jV1NSjqaHnnykUPCHq7hBnOOxjZ6MAiUBW16MOgWjpTLXupNLYYj5garyI7Z3h1FM00SGqRmya7KAqcES7BgGfniSBzcYwW8OxNnLyVPtb1gdH7w4EHLyS7q1ODD8L6X9eB3_mKqTRzMI5nKu3DS_mPQ30uwasyUpD5Lr5eDbnZ5azBrwOjHAeq_8_KiuxVWV7ypdyO-2T4IlficIaC2kGRybbu1UFsZY_ATg7xphCsNjsBpp_1hQlyQnzEzLUCRUODEwFfLxQWdmlmpARAgFleLGwEDq24sy-yx5Eo7mokXpAxeakvo_WUrhuCORDimPWLySX5iCZGzBQPSQtqjlP5V-I_cXyvlfe9VEiw76fSTCGYx44w1owzbWM0SjFcYK151zSqkpekFDxA0-xCS38EfXLYbU7cSw_dQcHbt8KYejdg1rWwv6zpYkcC179_tHYQfVqyCwDzyO6LLaarbKapN7kihqnNszhOPRNavnT3CTIqXt2QEsB8a99hs14L4c7xq2DYbJJ2BiEymcxKrbVIzgaG1q1y7mLeSJXntWrE32WHT0nBls4RhGlRB7DjSssbC9a8B0KahZ_3Nho0PneF-5jVNEBV_VqT2djq4DvWX9umkZDaSiu9Y0uJUmG5aGQ0lVN_dbvbdj_JCfxne2fApqdIy5vxt4gI2XQN0_gbsPWEqMQHNzgaebtWpeI9WrAtxazSN5OZLWBJJsw9jTmsTSQw3peqfcetvlr1zgoa2eJdzkQk0V0jvRwVJpFcVn9HCnBUbHFRBkT2so3X0hHGR-pT7tJbWSpU1gqQ19wvjq-YUJXBfJk4EC_HZTwU5m1IYsOuxqQH67crwGd9xpdGxdXOJDXVbh2yYkFRmm6X1iRqTP8JSE7XiY-QVC0fX88F3Zdgvw7CgVwXCFlRfVAgncafEteEd_VfIKvNtVKPuyVgwB_NjlRyPDXe7Zd6oYjj2ZMpH6vnDSvREde91_9VNiMgzf0EgonXJchqprcFORx58-soUx9sKOj4YmqRGzjgve1HokdvaxbQb8dM_gAA8Rqzpcdvz5632J1wDd28HQFThqt1a84SJ595yoKLq7IuxFaxbG4yLanTUGB6wDnAysn4TXoS_UpLfZszvr9zRd0hLhZWA57XGq9VC0GuewuPWjcx03RFYikpyEJbgrszYfuA==",
  "id": "rs_0fa6169a1aad87c1016ab421e3868887d0a8c0aec78c63a163",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.285,\"right_z\":0.015},\"note\":\"The remaining yellow fruit is now visible just left of the right wrist-camera jaw center, and the blue bowl holds the other two fruits. I’ll nudge the right gripper sideways and lower it around this last fruit.\"}",
  "call_id": "call_5wiTmHVs1yTcFn2dlHYes0Rw",
  "id": "fc_0fa6169a1aad87c1016ab421e6679487d08c84c10a43b78950",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5wiTmHVs1yTcFn2dlHYes0Rw",
  "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]: [-0.6327, 1.084, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 1.0489, 1.8725, 1.0924, -0.5446, 0.5369, 0.5865, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.104 left_z=0.1585 left_yaw=0.0447 left_pitch=-0.083 left_roll=0.0387 left_gripper=0.9959 right_x=0.259 right_y=0.2764 right_z=0.0194 right_yaw=0.1631 right_pitch=-0.4575 right_roll=-0.3022 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.0291, 6.7897, 1.4481, -0.2613, -0.0513, -0.0122, -0.0205, -8.5812, 4.6017, 0.8376, 0.2906, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8739f1fc03abc35af70c0128f1d50ecc5d1b364c3842c7eaef27447adbeca0b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998a7e6e88b7e592dd67b29867d4a64ddd6f9ded60221972cfd67449be9a0ab2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a3a5e0aa5d5ea571b166a4780cc48a7188613a1a95a796f3bfdf5f613a7595",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 2.911 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0801, 0.7235, -0.4236, -0.5373, -0.4454, 0.9959, 0.5392, 1.8019, 1.3159, -0.5808, 0.3614, 0.1204, 0.7312]\nstate[eef_state]: left_x=0.3006 left_y=-0.1039 left_z=0.1596 left_yaw=0.0448 left_pitch=-0.08 left_roll=0.036 left_gripper=0.9959 right_x=0.4067 right_y=0.1747 right_z=0.1017 right_yaw=0.1238 right_pitch=-0.4212 right_roll=-0.2631 right_gripper=0.7312\nstate[joint_eff]: [-0.3487, -3.1932, 6.7761, 1.4676, -0.2662, -0.0757, -0.0073, 0.0342, -9.4017, 6.612, 1.3993, 0.398, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.4454, 0.9959, 1.0573, 1.6646, 1.1675, -0.7868, 0.543, 0.5941, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.045 left_pitch=-0.0832 left_roll=0.0386 left_gripper=0.9959 right_x=0.2489 right_y=0.2628 right_z=0.0986 right_yaw=0.1787 right_pitch=-0.4258 right_roll=-0.2669 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -3.4393, 6.8171, 1.4335, -0.2955, -0.0659, -0.0122, 1.2376, -9.0188, 7.4598, 0.7985, 0.3736, 0.1099, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 1.0489, 1.8725, 1.0924, -0.5446, 0.5369, 0.5865, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.104 left_z=0.1585 left_yaw=0.0447 left_pitch=-0.083 left_roll=0.0387 left_gripper=0.9959 right_x=0.259 right_y=0.2764 right_z=0.0194 right_yaw=0.1631 right_pitch=-0.4575 right_roll=-0.3022 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.0291, 6.7897, 1.4481, -0.2613, -0.0513, -0.0122, -0.0205, -8.5812, 4.6017, 0.8376, 0.2906, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8739f1fc03abc35af70c0128f1d50ecc5d1b364c3842c7eaef27447adbeca0b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998a7e6e88b7e592dd67b29867d4a64ddd6f9ded60221972cfd67449be9a0ab2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a3a5e0aa5d5ea571b166a4780cc48a7188613a1a95a796f3bfdf5f613a7595",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCHt1crlQ-r5RMHzmojg2qjqxtIEjrLlxdTcguJV97bap7SInhlLjEGpy-d4IH7u5rDjtz0kgejX7ARZ6uoMZhZRolvnTlknjFTjh93wF56Wx7mNhbzh6Fhw451yrIbBFt7NrSnZpKdftJ5jLpkdcJaFhBvJfD3MWLvMxC6XW5_J5k1uhOtxS92RORYON67qpKTTFYtVTUrLvGmck8IdBKCx4gasZx5LEJXvpf7vJuiE9S4-YQZYUOtxGmKkRTHGummgY4NOMRaGGkXZbTFCRqttXU6lW0Ggjx3YCcH20sn-y8YXuXiWvKu7u7ILu7J5wcxet0kBXnnG79WsPeCS4Xv4-IigptuM3ZG60toDLDZUYUoba-xI-qv3UOgmIjIppKwY8si003RKiLr1Y6qpMGpYMTeDDbNPjhN9FImH-W63nJRH9RXY8K76kYYtV8W9NImi-zZ_idwJrs8qMEuqkFAaDQJFTC8HYfgg-x1HxFdrAJ0u55xGOEa2RgVNYrsFGS8a6i5thpLp1kLRC9-hN3Ea5HCFafkxmrUQsMMsfFPgwo-MTYVDx33FS4ytfY86mcZWqqtZl7_HKWs90LU8T4YNkm5c1EgNj97yaCx-h63ZPzuCqsUs3-2R2fDLWXqiM0cD79qa6oJuELiLy51v1gxnZ7y_XRqFKlm-Veniv9QixIfHeNiN38jv12EuIvRETGca1NobtuWcM7HDZb0D61wnTq5IZFF7JeQhMd1tFTBrrgMOoc-1ej6-RLO7qYsBPQ_Q0GVQeIUqk0hPaqbpvWIDNtSHQRqjowhst-ub-7Lsxbs78uCn6gjI1jeNajotHviza9OuRb6WHovt5ayUXkZtqnAAQ63DLzIhrDckJluxVC5h6KoWdEFjhE1arkBWdUcIS0gi5bFwi6gnaa-k-ghmA_qbcLqGMmMVVYZH7Q3CtqvRVqI7IRuVpeX0wW11vuA3C5Y6UXbnavM1GHx5pdw63rxaoayxbh2rE9QHZfPD9g-wsmcEnMgmBaqlytMdN2Pd_h3PaqnNg3ycB0LtTB-bQdjVpLC1YqQ23zjWWBt0SI-yw3flsMpstbpHN1pAltVoAHWCX05CTN4y6X-eq88WcVf0u60iNq9y72YYiztb6IfYwtsN_jOSNX-qLnW1_-ASnDD20d9cHmQUjX4ElaIdVCH7Gk91RIcd8dxXwt1PXHGi3-XnRrYIfeo3fxyyOmfZj5AIyXtPjnKCvHn2Gn1CL5OCnsI8LlOWhWLUcnBCf_biiZq_L37dG5tWdDFDEhml1fUfryU1riEEC7qpLB3jlc7MDI2QuzgvbMWXo8TIN18ruX9Wtt02FYPKD2A5t44t8x9f_mXdEIK3wKI3UNmGRw_gyn8bByyXczzEd5uRhUep5GqbiivJwILtve1v9l_D4cikL5hHJue_z6Rm6CciJaHmZyelvxRX5uJjAJUIjwe_Z_QIYApt4KAGiSTn-QNCd--DGwz5huowWzvGHxmDUoyNw3tADtB6TmV8IPvgDi6zqXyAsjuBdnwMQFnxIes-WmQxWITMdxCMbN_ubA3iFEC9QYl0DOzG5Sgf3HF0fXrWLsrLi5n455OnS-kwys4dJRo_dsNdEpoWKnE_ome0HaF57lGDcOPBIrmMGMxnqGG8T6owrs-6d8DwNNGD3bD6cFnETy4DVHdYnAhv3aYdfZagOgMbBZBW-9c2cDt_sw_dgPsKohHVxQkLHTD2bsooEP7vMhEZxLTUFxxcfd1nV6Ch3wuyDR471qe2gWMERGq2U_DepH0ZQ10Wqkt4cNs67hlqdnVnJPb5LHzjK8B5VJ84L9wLxThfljbv5qdct2DSpsc8m9QaFBdn5JoE-oaSqmFpjxthBV7jpfC2xe4yG-PFxt4WAW9CyKHrUHmlvXS8oms9XFALefZqLXVzJZEyrpeuISj3kPM49Nd2uWuEoT7sdFkkMsjc15IJU6uuzDO6nDUMqWlP2yGxrneWuOwhbQu1wAQkdzPoX4oq40HbrVrh7qRXwI2GMScnsX3ffHMpUlO6t5ZB_q4A0esOw8oqRWWMayBglU8QNy3JL3G8_3YrmE95_28JQHLMZrLe7DLpVdEh-8WekokxE6zLI_xwJFx_gdl5Jr6KABjlro1zN9jYPPp0rbKiEgvg_tRL6a2VNX2goYvvA3rXSDRqzDB0lVjMgzbaKhV143NZ9wl8kOB6lNFGDnBk4xkmpEJrEBk=",
  "id": "rs_0fa6169a1aad87c1016ab421e9953487d0b2688383568b54b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.225,\"right_y\":0.29,\"right_z\":0.005},\"note\":\"At table height the small fruit still sits low in the wrist frame, just behind the gripping point. I’ll back the gripper another few centimeters while keeping the jaws open, then make a fresh close.\"}",
  "call_id": "call_m5waVomC7siTInvEV27K0Edo",
  "id": "fc_0fa6169a1aad87c1016ab421ec8dfc87d0be3208acd6008586",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m5waVomC7siTInvEV27K0Edo",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1374, 1.8946, 1.0863, -0.5339, 0.5453, 0.6567, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.0448 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.2339 right_y=0.2957 right_z=0.0114 right_yaw=0.2001 right_pitch=-0.4508 right_roll=-0.2818 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -2.9744, 6.8171, 1.4579, -0.2711, -0.0464, -0.0122, 0.1299, -8.0342, 4.5607, 0.5446, 0.3883, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cc52a0db749b4709565dfe63e14c3a4223773282243af861a47ee07b40ecfb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d487ddb67c1105e4eb51ed8ecefa296aa9d0d3f25debf7e4775b9346fd560b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c5f1d866908e75118d2dc982915dc6d3a21b9bf23bd543faf7a4a6d2fb4a8e",
      "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 · 4.833 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0801, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.5461, 1.8153, 1.3128, -0.5354, 0.366, 0.1307, 0.9957]\nstate[eef_state]: left_x=0.3006 left_y=-0.1039 left_z=0.1596 left_yaw=0.0445 left_pitch=-0.08 left_roll=0.0363 left_gripper=0.9959 right_x=0.4129 right_y=0.1811 right_z=0.1005 right_yaw=0.1261 right_pitch=-0.3917 right_roll=-0.2479 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -2.9607, 6.8171, 1.4676, -0.232, -0.0513, -0.0073, -0.4308, -10.1128, 6.188, 1.4969, 0.315, 0.1197, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 1.0489, 1.8725, 1.0924, -0.5446, 0.5369, 0.5865, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.104 left_z=0.1585 left_yaw=0.0447 left_pitch=-0.083 left_roll=0.0387 left_gripper=0.9959 right_x=0.259 right_y=0.2764 right_z=0.0194 right_yaw=0.1631 right_pitch=-0.4575 right_roll=-0.3022 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.0291, 6.7897, 1.4481, -0.2613, -0.0513, -0.0122, -0.0205, -8.5812, 4.6017, 0.8376, 0.2906, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1374, 1.8946, 1.0863, -0.5339, 0.5453, 0.6567, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.0448 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.2339 right_y=0.2957 right_z=0.0114 right_yaw=0.2001 right_pitch=-0.4508 right_roll=-0.2818 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -2.9744, 6.8171, 1.4579, -0.2711, -0.0464, -0.0122, 0.1299, -8.0342, 4.5607, 0.5446, 0.3883, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cc52a0db749b4709565dfe63e14c3a4223773282243af861a47ee07b40ecfb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d487ddb67c1105e4eb51ed8ecefa296aa9d0d3f25debf7e4775b9346fd560b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c5f1d866908e75118d2dc982915dc6d3a21b9bf23bd543faf7a4a6d2fb4a8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCHwQesYaZnZcK47kC8Rp7xwmAwISME-beQyceNP3NrHPxEp15n4wnwX9QDdP58p6lV-qEjbnzQUT1U2pl7AxFESPxPKBGZUjKeWrINXysjO-NP1NWUwsYEwJzisgQO9ccFpwkAih3n1HFPaPquH0F2XULBHwWPoaje16LNbLRHUK-6UVKd0oLxbXmkf4bRGcTPZpWJCk1_mcYDpd1gg-7CRO5WSk0KGmUHwgkdinpCUWd42ST0ktu3SX5Gw6zAXOxVFYpwbeB1RA2dgzHpXaUrMwmFPDn-qiiccRWmlI8PsKfPUhgfPjIWzYSNI6P8BbhuZLK2WpV7-AGLMTb8oXJ-dVswC_2Jf1I6WkKoQDPOOP6N1pZ02F0Y0_eHDQ_KYK-QmxN0dKTHVxXvYsg_Y2xCsi8cxR3o9JTVx8IFqu5gBuXjVMVHN7HH79Bonk1JQL8VNdUUq_2WvqoWwakghccUQkpTrICgXbC4V6UCeKSKXs-bqAgxxYzRigAbKdJ-8trsZCazYPhrARwP7v_v0nIdob1k2ixDErkpNLsn7PgVmfhASRP_JHgaPLyXcnf6RiQ3B2RxgewW2talTjNee6zTw3vIXxSWG5ivJa3AzRtGJ_cZGT0UFbSNMMIwnO7VQ1xAo5Ta05pnkXSk-R0WWG0KrmkcBEKgG31XKT8fnwiJ36zeYSaTKYjfgfxJI6r4ZqqXgBt5XvLmbIz32twf617P7-nuQ7Vx_dv7rXVZ68vbkViFU-fghHV-PQ5Y4qU7q5NPuqQQabyUkmvFTQqtl3kxnR7VVXpjRgpnK9LkepgiPFiGEDrJNmP6FCzPWmR72-iGoNLxc9q6d978r7YrdYdze9ZSWSyItTzo0bvSq2G6WlolxFpZTrgRjJZSOjZCI5JgZE-5MNPqxDpaOfBc2qAWvhNNO4Z3vw4Qi-8vKTr-JaMGKBzLLjpSHrSIInkN8FaKNqv-lgOvkVIcd99KsA8F0mZV6HaiqbeudJjl_HwwQtzqWfjXuCzC0A0dnzx_VTCplBm4aZeDaa_nCfKvr2gA1-p9UzrEj3RshzKPflKDR-yVqMdHR4WsgqS1y4eAtJ_DJOMG2v_Piv8DCpMbS6f69Uiv2HBcM3Zhb18q_Td9XcS0l85GYUyykQ-cNZla7-J9bGxGlFZU9421ex1JERvg6W_Y3UmOvSOYui-q4C_3beCFCre75PpDqTet3hIDHNA_jl9cE63nmtywjc0m6sLyj6zUhv8yreacPU37Y32LmhZh2zD2WEej14Gf0U_dXiI3wVUMYuFrv4OH_7-3WCHw4iq7TtW6PDeAj8AT4HeyVupHTSjgO8UEmfuvC1CLEXFyRlZMo8pBCG490hNMvkU9rURJnY8YcP_JZez4RR-082arnC1fLNQRWd9THdQ3LVqxE9MacEiUfajwWwq-kyr-yTVXuL6_VJeJSxkvtB27vj6q3mt-n0D2w27V0Dz_4E3o_SlefWor5EHF2XP07JWyPSIYqJKOcGO6NDmMWqvOcX45yvCJeS2dkbYbZoCYpAQ7PWM5dSTdjNv85UhzR6OglkDpt1srw7l2VCx80snSLRdEnz-fjKh-H55fejRkByQcW9hu23D-t7_483Rd5_GlMsc-WVkFm1Hs8qhmO9VXOiDsJpMn6T8u2gQYqW3zxczYW",
  "id": "rs_0fa6169a1aad87c1016ab421eebd6887d0813760833087d1f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.277},\"note\":\"Backing up brought the fruit within the jaw depth, but it is now to the right of the wrist-camera center. I’ll correct the sideways offset before closing.\"}",
  "call_id": "call_egJEDfRd7xiEkKmCS0DXx0OH",
  "id": "fc_0fa6169a1aad87c1016ab421efcf1087d0971620c078cd06ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_egJEDfRd7xiEkKmCS0DXx0OH",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1614, 1.8946, 1.0847, -0.5545, 0.5457, 0.693, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.1038 left_z=0.1585 left_yaw=0.0451 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.2247 right_y=0.2966 right_z=0.01 right_yaw=0.1943 right_pitch=-0.4579 right_roll=-0.2807 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -3.1248, 6.7897, 1.4335, -0.2808, -0.0317, -0.0122, -0.2393, -7.9932, 4.588, 0.6178, 0.4029, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae3882467b9eade011054e19821a9b28fa29a1949008809412ef706a3c4af6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5428500202866cf5ebe1001a67d670e9a1b39cd0d0b6878df1e6d1603e81ac6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:999b7352b988484eb3706f6871bd8abf7729eb63a426d4747b65f91ab9f4f0bb",
      "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 · 7.112 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.4454, 0.9959, 1.0573, 1.6646, 1.1675, -0.7868, 0.543, 0.5941, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.045 left_pitch=-0.0832 left_roll=0.0386 left_gripper=0.9959 right_x=0.2489 right_y=0.2628 right_z=0.0986 right_yaw=0.1787 right_pitch=-0.4258 right_roll=-0.2669 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -3.4393, 6.8171, 1.4335, -0.2955, -0.0659, -0.0122, 1.2376, -9.0188, 7.4598, 0.7985, 0.3736, 0.1099, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1374, 1.8946, 1.0863, -0.5339, 0.5453, 0.6567, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.0448 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.2339 right_y=0.2957 right_z=0.0114 right_yaw=0.2001 right_pitch=-0.4508 right_roll=-0.2818 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -2.9744, 6.8171, 1.4579, -0.2711, -0.0464, -0.0122, 0.1299, -8.0342, 4.5607, 0.5446, 0.3883, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1614, 1.8946, 1.0847, -0.5545, 0.5457, 0.693, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.1038 left_z=0.1585 left_yaw=0.0451 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.2247 right_y=0.2966 right_z=0.01 right_yaw=0.1943 right_pitch=-0.4579 right_roll=-0.2807 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -3.1248, 6.7897, 1.4335, -0.2808, -0.0317, -0.0122, -0.2393, -7.9932, 4.588, 0.6178, 0.4029, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae3882467b9eade011054e19821a9b28fa29a1949008809412ef706a3c4af6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5428500202866cf5ebe1001a67d670e9a1b39cd0d0b6878df1e6d1603e81ac6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:999b7352b988484eb3706f6871bd8abf7729eb63a426d4747b65f91ab9f4f0bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCH11k4HrPV1sTQT5kHFQYa2m-6b6A7i24jrUsI7-wZljZwvqTqz1QggOc9DcLctrHktI_nerUn0XLJ-sK9oMufNxVdcB-IdgZKXcNs16Ger3W-AlUH0YK25eJRHgi_Ch3BQO4eW6pGZyg4KfJqWV6jS_UrP-D1lArMOU3EXDeC1-Se-7gAR9W3GBU1fEXi-tZlQRFZ2fhPgm2uP7V787nhFzJ6G5jxy1zEx7Hry4gVps4yMq_vkW9XG8jcHgpZmWCcb0RZCTTXFfx10eRP0NrzzPA1WjItxHorzVMWby2baGye9_P5wUyplM_XFOhw09dXLT0hKc_2jM6ygE_OA1oB9LpLQ1HGf7C1FKtIEMTVJcZ4_6_H23cki2an1n1vzZwv9vgIyJTgoiEGeTWKl15t-2Hbkb0hiWff3J5SS_ehMolNkJmd-bxLTtfz-Upx7VJLROEkbHlqG0rbJ6aJBupiyoGOBRrsDXvgvSfZO68_x2ATuodYKxoS0w7JfS3CMj2_fzkJUWKi36I4lMfZrRnuErzOmZJWfFFx0eDE51P2b1et1TxPWuJLVS23Rx-jIO1tJZSFY__VkwLYoga8SDuZJkhTzCOVPnYKr1zPIa-zcxZAMz08IoRM5-WPfkwQ0DuXSCxODdUO-Ivd9sEejMYC6a__fO4JiFQIqMVmJipv-Ng1Qb2BSVmR2wxGy9h7V9ZmFKKKb95U1jbgV7zTGz7S9VAW5mx8QoTT31g40an5f1Vt5ceGLLKUGhgvLlnTNwZkH14khkJK0gyx6PLfjl7zD0a782WKGsManPGu0UGr811xwVcD_N1GU6WsVtmR5Xqa9L2JQJcZppEz-dinSoOt1InDpBPW1PaDG2YiDKBKCbCCu3Ackgxa3ReAle3DzU6b20RUhvO9-StaqheOdM_jJBeJg-Ht_Y-zVvfDkREDc_TP9zJZfRaSGf_j8fBGPptqsyPfmyHsI1WIeuoilJn6Edbje2QDecAzcbwYjTddMwLt7FuVZpUUmqX762gg81wrcgTEVcKw5NUcvIBTmsT50es8jcIQgedybAvuBaG9MvreGz0ZhsgeFI_iLuIpIIKC350cXoYHjl90_bPW5lICel0AvOLgHJI2mwx15czov9GqgfCY00zqDAbJIsGhQ3p54WwuDcQ1rPISzIheMekS12LzSx_b1edrvozTyHWlj5TwnGwkSrtHvlbJrbxoHCUsrVVsN3tig7FgiaFZUUiFippArJhMALL89P4slESGRCZFjUUAGKXc600OvKzZvY0NLv2XJyvbhXNrs3InW0cy7URTU_nBPPuqpRK7uDyk-hTMYN6oK9TTWO12GDWNfQUXgq7ZeyRw1MmX1QhApkyjU6rMNvMIiGc5fIaVkioNIeT1pVymNGD-OhJnfvSCijbc_3CgpG26qlE2KaIEzwXeSQDyRiebpEFQjAcrjFTCsAa19o2BNJ7pH8zjQYjqkOtzNULdpAZRdk7DO9WBYpzqlmXVICgsCsODt627Ecv-mhb3Ao0UNdjKf4ezRBotv6Q0MESYgOTSQ9Lyk-GX5PIEXk3nUepGdZcy9ElYAaozHF9kCEV9QiXpKJpgasX4nEpxK0jeMtuIXqCYakumvV8bULsmsVCkYtrXjdYHAXVttcCc=",
  "id": "rs_0fa6169a1aad87c1016ab421f209c087d0b37a7370ef6d738a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.24,\"right_y\":0.265,\"right_z\":0.005},\"note\":\"The first sideways correction has barely reached the gripper, and the fruit remains right of center. I’ll give the arm a slightly farther target to bring the open jaws around it without dragging it.\"}",
  "call_id": "call_dy9ube4T6ewkGETLsu8VWnXM",
  "id": "fc_0fa6169a1aad87c1016ab421f4390887d0b286050e5dd2adfe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dy9ube4T6ewkGETLsu8VWnXM",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 1.1614, 1.8946, 1.0847, -0.5549, 0.5457, 0.6933, 0.9966]\nstate[eef_state]: left_x=0.3007 left_y=-0.104 left_z=0.1584 left_yaw=0.0445 left_pitch=-0.0834 left_roll=0.0387 left_gripper=0.9959 right_x=0.2247 right_y=0.2966 right_z=0.01 right_yaw=0.1939 right_pitch=-0.458 right_roll=-0.2808 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -2.9197, 6.8308, 1.453, -0.2027, -0.0757, -0.0122, -0.1573, -7.9932, 4.7932, 0.5788, 0.3834, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bbc5ae5d813fc497f9a554e5969d24a82fe9d6a9f35c6bb09a643443e02ba1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b88caf26c3b12feb3ce4b9d83f27bf7602141fe0ed785ebd39d38aec8ea300",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9e68a4ba294b9b251500fef3dc69363b099fbf797e58e5fe32f8695ceb9fde",
      "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 · 3.295 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 1.0489, 1.8725, 1.0924, -0.5446, 0.5369, 0.5865, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.104 left_z=0.1585 left_yaw=0.0447 left_pitch=-0.083 left_roll=0.0387 left_gripper=0.9959 right_x=0.259 right_y=0.2764 right_z=0.0194 right_yaw=0.1631 right_pitch=-0.4575 right_roll=-0.3022 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.0291, 6.7897, 1.4481, -0.2613, -0.0513, -0.0122, -0.0205, -8.5812, 4.6017, 0.8376, 0.2906, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1614, 1.8946, 1.0847, -0.5545, 0.5457, 0.693, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.1038 left_z=0.1585 left_yaw=0.0451 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.2247 right_y=0.2966 right_z=0.01 right_yaw=0.1943 right_pitch=-0.4579 right_roll=-0.2807 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -3.1248, 6.7897, 1.4335, -0.2808, -0.0317, -0.0122, -0.2393, -7.9932, 4.588, 0.6178, 0.4029, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 1.1614, 1.8946, 1.0847, -0.5549, 0.5457, 0.6933, 0.9966]\nstate[eef_state]: left_x=0.3007 left_y=-0.104 left_z=0.1584 left_yaw=0.0445 left_pitch=-0.0834 left_roll=0.0387 left_gripper=0.9959 right_x=0.2247 right_y=0.2966 right_z=0.01 right_yaw=0.1939 right_pitch=-0.458 right_roll=-0.2808 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -2.9197, 6.8308, 1.453, -0.2027, -0.0757, -0.0122, -0.1573, -7.9932, 4.7932, 0.5788, 0.3834, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bbc5ae5d813fc497f9a554e5969d24a82fe9d6a9f35c6bb09a643443e02ba1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b88caf26c3b12feb3ce4b9d83f27bf7602141fe0ed785ebd39d38aec8ea300",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9e68a4ba294b9b251500fef3dc69363b099fbf797e58e5fe32f8695ceb9fde",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0fa6169a1aad87c1016ab421f7475c87d0abf8a6f354f9ad79",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCH8Awkr_0jCJt4NV66AB8iyzu5jlXlWLYW5yFnvrgIlAMFTXr94UP1MWeoHA7jr4r3c2JLuEhDsGepE-h8W9vrNj89tr7UlPgauTIIwXnJplD-vs5cehoEZuvVa8-vj4wGwqCfk0wnlefhJP6I8bGmREBghyYyM-j5lbfjVcOoRj-Lc7-BstBdEXDUPto97Hk38p3gAneNF62GYdEEv50NlaNDdNXSNbSDJgaHtwQnJuVswPCvMVnJzXVlD778wHyV9NI7HH2O9d6S1Z2dB_wSduUE3_G-Sl4MYMBYshjDHMHPDICuo4MD14zaEw2wF-G0GawMha1PwmttIZGHmFW5WiHLF13uV6qWo79WZSJFuygwcvc1KAgDaEaJRN8si47LpjEFxk6_tW1VCtZ9JnMO7k548GotGVMI-iilCEbKT7OLOa7NaZFsYrmqDiUZRMOYQkY_TpX5QK3T6L3Y80Dex9rhH1Td33tq8Ji9Jvkjafoys6-st4pLcU7_Ax2PGmUYWzs9Smq4IBoAK2godPFLVjlXql9McyNRI5bTAdfUIHp_wYIrDgjYxLWxtTRs-U_vAoUL3MajCoLRyhbS5iLZJ7mIBqkrvrJdMXTCVNuVjGWGDALF1fi5ZUlR_g7OkU5onurJtBgHAZR936ktDg1Y0SCo1Lm7S4F4Aauq_0XAAgqA5Dj6X9dUw_HTmfmq-nBxTsCidLNULi31JJ4C9al-NqYU3RbCz9DADc7LnnFBdFg8RtAYIHb4z9kcZ56fiTjHGpy6MI_Vf3O5StrUqxaMzz-iz4E3kJ0MII_Ng9p6CFpY4MMLq3qGYrYkhvxWKMhQtXgQa5nFGZrYRhZ-tX_PmOpV16pdQRBotU_QFyN-D4ZdK6jK6npitXZAUOC_iAjkvVLF9Sm1q8JqX5ODMwYQ2S623_lmlLYvm3H3W-L2C4vZrSATAbA3ouKXkiJjfNU3kh2Dzs2JXnTyLxk4wlN-xRKxltOBDTPheS9DG8eBqj7H7QF0YMtzTa3oXSefFnLQlixWF4r0jT3Qkv7LdPrEESHrYzWsSN5bbBjtilnrKpkEkhK9pShCKF8ovvG3EEZO5pik9AqM5ohNo761XQyF-eNTUKlvBCBBjf0Fkd6cGFdUCguqY46YLcvJjvKinBHgprt_qPicivqWTpaxALhGKWNcfbPCzw7CZG88jHzIACOcwZYoCYGe-s7Dr6cpdscRKYtlS0pA4sYBzrWVNDc2SBF8bd0tT_NW6iMD6AHOEzx33AGDZNtF-dZQ-lD_UPdKq",
  "id": "rs_0fa6169a1aad87c1016ab421fbece487d081480da586c80b4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The low right arm has stopped tracking the sideways correction, but the last fruit is still between the open jaws. I’ll close once here and check whether it is securely captured before changing approach.\"}",
  "call_id": "call_6sbY3t75ZnPg5TH8s8TPktqe",
  "id": "fc_0fa6169a1aad87c1016ab421fc52d487d093fab3748aa02617",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6sbY3t75ZnPg5TH8s8TPktqe",
  "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]: [-0.6327, 1.084, 0.7235, -0.424, -0.5369, -0.4454, 0.9959, 1.1614, 1.8946, 1.0824, -0.5579, 0.5419, 0.6891, 0.0091]\nstate[eef_state]: left_x=0.3007 left_y=-0.104 left_z=0.1584 left_yaw=0.0447 left_pitch=-0.0834 left_roll=0.0384 left_gripper=0.9959 right_x=0.2236 right_y=0.2955 right_z=0.0089 right_yaw=0.196 right_pitch=-0.4648 right_roll=-0.2858 right_gripper=0.0091\nstate[joint_eff]: [-0.3487, -3.1658, 6.9675, 1.4335, -0.2564, -0.0513, -0.0122, -0.1846, -8.7453, 5.4222, 0.6764, 0.2906, 0.0073, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053ecb4c3480dd09b32728068da4072a50fc8a8f7144509befeafcba2075ba13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9634730fae03270f3d2ec6e344fd7cd7bb5838edb1e2a72d11f9b6593e996b6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb55d3f4bc9beaa15e19e48f2994f312003476264b7e5d91dea6f06dead16056",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 4.279 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 124 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1374, 1.8946, 1.0863, -0.5339, 0.5453, 0.6567, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.0448 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.2339 right_y=0.2957 right_z=0.0114 right_yaw=0.2001 right_pitch=-0.4508 right_roll=-0.2818 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -2.9744, 6.8171, 1.4579, -0.2711, -0.0464, -0.0122, 0.1299, -8.0342, 4.5607, 0.5446, 0.3883, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 1.1614, 1.8946, 1.0847, -0.5549, 0.5457, 0.6933, 0.9966]\nstate[eef_state]: left_x=0.3007 left_y=-0.104 left_z=0.1584 left_yaw=0.0445 left_pitch=-0.0834 left_roll=0.0387 left_gripper=0.9959 right_x=0.2247 right_y=0.2966 right_z=0.01 right_yaw=0.1939 right_pitch=-0.458 right_roll=-0.2808 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -2.9197, 6.8308, 1.453, -0.2027, -0.0757, -0.0122, -0.1573, -7.9932, 4.7932, 0.5788, 0.3834, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5369, -0.4454, 0.9959, 1.1614, 1.8946, 1.0824, -0.5579, 0.5419, 0.6891, 0.0091]\nstate[eef_state]: left_x=0.3007 left_y=-0.104 left_z=0.1584 left_yaw=0.0447 left_pitch=-0.0834 left_roll=0.0384 left_gripper=0.9959 right_x=0.2236 right_y=0.2955 right_z=0.0089 right_yaw=0.196 right_pitch=-0.4648 right_roll=-0.2858 right_gripper=0.0091\nstate[joint_eff]: [-0.3487, -3.1658, 6.9675, 1.4335, -0.2564, -0.0513, -0.0122, -0.1846, -8.7453, 5.4222, 0.6764, 0.2906, 0.0073, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053ecb4c3480dd09b32728068da4072a50fc8a8f7144509befeafcba2075ba13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9634730fae03270f3d2ec6e344fd7cd7bb5838edb1e2a72d11f9b6593e996b6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb55d3f4bc9beaa15e19e48f2994f312003476264b7e5d91dea6f06dead16056",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCIBfgyPQdnGeCpnMLWKIAiBycKWpUj-odf6PUBp1Cw9ipX4vSeBlYT72HuJI3J4AzzRBcICyIjbl2cedNRGg0WRFOJ_yPY5LVDVVk_yB87uFgGI51D_goPsqJbIAod9ACJ-wXb1h6fSuam_IADnzSzm-fQcT4YhquC0wa4HRYlOSCdkdsLD1w4wfroq2MmF7AVB8wnIIdbGqW6xnzvieo410RWCA-tuPkAogFedY9zfiBy8-X3oFu14IoyNes0S_UBzhHvEQKGMRCs_hBYZ69R6okvLMoK_iw4U0OC5MArFMui8ps1unptUHaD9Qdq73UqsQqDafy9nIDK4ptX-r0eUDVOptTR2g2ZUgGXHjP4dY9ij8fqXH696_OgpN_XHcrRP0us_GABxrbH5Qqekeudhr2mijJuBYJHc99zC-1Mu9ccEFJ2-43SUQCnEGfueDOHpFR-7ofyskTdTDQ_LvZ1Hdi0mld8p657IEWTElDdc5pwSGAFeu5ePy3o4Dj_cu80_dg-6P_IWqohyIM651hfaf-QDXgoB9AI8gkeHneQu8YOMsUUIvi7v0msGz7V3aMn6VcbD4ufWlT_GvZ2z_XWe7e_3lsxPMTAebAfTkdW47yYymQf1uIrpuqYLHJGP2eynI1n26-0JhaYwJXRVwjmUd86RDbcq7XWj_YGXGYi5ExgYC7GCuD_UFdY-LWEIDAxF5nwJN4KfoH6LM3Ylcq10U-PdjcnBQGk2HC1_VTKS4XyxHpbnSN_hgd4o1LlK3IaEFk3vBW3GrrH1ipMVJJQykEtiWSkEyseqzBu47WI9r0gmUABttvogAp0Ddv1WecXXHrtMz320K17nLnkSvF2uK2i-p_YsEApJUfAiC7_mTRTJww5YEOeK_OdeITHlR-V3j8i9g7bBDs4oS9nUfjg_79dWuPXWdfEkHllXuN5-fH8ybJHMhO9w-en-QFwyZ4mxZJMzAZOdFpb1ZMahrZHMYQPqviiYckNeuqErAxbmOekmgPxVly2d1-jUxVh1Y6fqrjExzKhsvMGRzbq-RileFgB1L9bluX3TBp-q7lTdeN54ljHbUOPd56AmPdliZOLdO0IJtxI_9pxiAxaQCKqurwWUbe08uXYHz1ye6huSwvJr5uHOOImC1-foA2ZQ4gP8f3h9_DISaM2PXy1V9v0hY9wEWmqXIJ0Oeoy9zbW7fMYFmDOQ0xRNd9mtDAf2apxMKJffapTWP88hEP2y09lJterd9d4fRi3BGJcHT8Gsugw=",
  "id": "rs_0fa6169a1aad87c1016ab421ffb1c487d0ad368c2a459762f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.22,\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The jaws closed fully empty, so that last fruit is not held. The arm also stalled when adjusting sideways at table height; I’ll raise and retreat to get a clear overhead view before trying another approach.\"}",
  "call_id": "call_lEVBWuXQvIUNhrPjWvbmv6aU",
  "id": "fc_0fa6169a1aad87c1016ab422000ecc87d087a18a5561766dd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lEVBWuXQvIUNhrPjWvbmv6aU",
  "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]: [-0.6323, 1.084, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 0.8433, 1.6337, 1.3197, -0.9062, 0.4549, 0.3618, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.1039 left_z=0.1584 left_yaw=0.0449 left_pitch=-0.0834 left_roll=0.0387 left_gripper=0.9959 right_x=0.2991 right_y=0.2246 right_z=0.1422 right_yaw=0.1765 right_pitch=-0.4734 right_roll=-0.2885 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -2.9607, 6.7897, 1.4774, -0.2222, -0.0611, -0.0073, -0.2803, -9.6479, 7.8154, 0.779, 0.149, 0.1099, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:955014a7c65318c3bb79d74748005a5373be369a8b6ae7c2fe631391b39eaf98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:788c72fd00b7cb39563b47de7312a1670f3f306e3552ee71dbd05f474d0e0f4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ca6d5cd5d85b1acd1acb38aa91c45aba7bf1f58cc5984b5016760060daf800",
      "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 · 3.379 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 124 changed as sent

message 128 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1614, 1.8946, 1.0847, -0.5545, 0.5457, 0.693, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.1038 left_z=0.1585 left_yaw=0.0451 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.2247 right_y=0.2966 right_z=0.01 right_yaw=0.1943 right_pitch=-0.4579 right_roll=-0.2807 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -3.1248, 6.7897, 1.4335, -0.2808, -0.0317, -0.0122, -0.2393, -7.9932, 4.588, 0.6178, 0.4029, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5369, -0.4454, 0.9959, 1.1614, 1.8946, 1.0824, -0.5579, 0.5419, 0.6891, 0.0091]\nstate[eef_state]: left_x=0.3007 left_y=-0.104 left_z=0.1584 left_yaw=0.0447 left_pitch=-0.0834 left_roll=0.0384 left_gripper=0.9959 right_x=0.2236 right_y=0.2955 right_z=0.0089 right_yaw=0.196 right_pitch=-0.4648 right_roll=-0.2858 right_gripper=0.0091\nstate[joint_eff]: [-0.3487, -3.1658, 6.9675, 1.4335, -0.2564, -0.0513, -0.0122, -0.1846, -8.7453, 5.4222, 0.6764, 0.2906, 0.0073, 0.735]\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 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.084, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 0.8433, 1.6337, 1.3197, -0.9062, 0.4549, 0.3618, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.1039 left_z=0.1584 left_yaw=0.0449 left_pitch=-0.0834 left_roll=0.0387 left_gripper=0.9959 right_x=0.2991 right_y=0.2246 right_z=0.1422 right_yaw=0.1765 right_pitch=-0.4734 right_roll=-0.2885 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -2.9607, 6.7897, 1.4774, -0.2222, -0.0611, -0.0073, -0.2803, -9.6479, 7.8154, 0.779, 0.149, 0.1099, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:955014a7c65318c3bb79d74748005a5373be369a8b6ae7c2fe631391b39eaf98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:788c72fd00b7cb39563b47de7312a1670f3f306e3552ee71dbd05f474d0e0f4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ca6d5cd5d85b1acd1acb38aa91c45aba7bf1f58cc5984b5016760060daf800",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0fa6169a1aad87c1016ab4220350ac87d0a3128ab0a126c899",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.2,\"right_y\":0.26,\"right_z\":0.09},\"note\":\"The overhead view now clearly shows the last small fruit at the lower center of the table; both larger fruits remain in the blue bowl. I’ll approach it farther back toward the base, where it actually lies, while staying above it.\"}",
  "call_id": "call_n45WeeoIUkbBHELEiKcRwjsV",
  "id": "fc_0fa6169a1aad87c1016ab422058ad087d080a8f33c0309fc6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n45WeeoIUkbBHELEiKcRwjsV",
  "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]: [-0.6323, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1667, 1.6196, 1.1316, -0.8951, 0.5213, 0.6682, 0.9964]\nstate[eef_state]: left_x=0.3008 left_y=-0.1038 left_z=0.1585 left_yaw=0.0451 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.203 right_y=0.2601 right_z=0.0947 right_yaw=0.218 right_pitch=-0.492 right_roll=-0.2967 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -2.6598, 6.8444, 1.4579, -0.2564, -0.0708, -0.0122, 0.1709, -6.0513, 5.6547, 0.6911, 0.4664, 0.1392, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa933e9425556b8aeea586483e2c86720d4199d659360705106dc76b11a92d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71c09df48b95267238b053a982e62d3f95f9fd3ee0e0e72c7628b3386f553ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384a6bae6938d356aef8d00c15b82f810e14eebc4c41e7e1e050bed9d865b79e",
      "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 · 2.297 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 128 changed as sent

message 132 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 1.1614, 1.8946, 1.0847, -0.5549, 0.5457, 0.6933, 0.9966]\nstate[eef_state]: left_x=0.3007 left_y=-0.104 left_z=0.1584 left_yaw=0.0445 left_pitch=-0.0834 left_roll=0.0387 left_gripper=0.9959 right_x=0.2247 right_y=0.2966 right_z=0.01 right_yaw=0.1939 right_pitch=-0.458 right_roll=-0.2808 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -2.9197, 6.8308, 1.453, -0.2027, -0.0757, -0.0122, -0.1573, -7.9932, 4.7932, 0.5788, 0.3834, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.084, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 0.8433, 1.6337, 1.3197, -0.9062, 0.4549, 0.3618, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.1039 left_z=0.1584 left_yaw=0.0449 left_pitch=-0.0834 left_roll=0.0387 left_gripper=0.9959 right_x=0.2991 right_y=0.2246 right_z=0.1422 right_yaw=0.1765 right_pitch=-0.4734 right_roll=-0.2885 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -2.9607, 6.7897, 1.4774, -0.2222, -0.0611, -0.0073, -0.2803, -9.6479, 7.8154, 0.779, 0.149, 0.1099, 0.0269]\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 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1667, 1.6196, 1.1316, -0.8951, 0.5213, 0.6682, 0.9964]\nstate[eef_state]: left_x=0.3008 left_y=-0.1038 left_z=0.1585 left_yaw=0.0451 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.203 right_y=0.2601 right_z=0.0947 right_yaw=0.218 right_pitch=-0.492 right_roll=-0.2967 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -2.6598, 6.8444, 1.4579, -0.2564, -0.0708, -0.0122, 0.1709, -6.0513, 5.6547, 0.6911, 0.4664, 0.1392, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa933e9425556b8aeea586483e2c86720d4199d659360705106dc76b11a92d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71c09df48b95267238b053a982e62d3f95f9fd3ee0e0e72c7628b3386f553ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384a6bae6938d356aef8d00c15b82f810e14eebc4c41e7e1e050bed9d865b79e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0fa6169a1aad87c1016ab42208619487d0a04bacadd82042e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.17,\"right_y\":0.29,\"right_z\":0.025},\"note\":\"The small fruit is visible left of the right jaw center and still forward of the open gripper. I’ll shift left and back toward it while descending to its height.\"}",
  "call_id": "call_UiNkc94kbyJDI5WMiVdDCoqt",
  "id": "fc_0fa6169a1aad87c1016ab42209b30487d0b881295e6615acbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UiNkc94kbyJDI5WMiVdDCoqt",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.2907, 1.787, 1.055, -0.7574, 0.5259, 0.7799, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.0448 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.1694 right_y=0.281 right_z=0.0288 right_yaw=0.2242 right_pitch=-0.5261 right_roll=-0.3404 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -2.9607, 6.8991, 1.4383, -0.2711, -0.0415, -0.0073, 0.3897, -7.5556, 5.2171, 0.3834, 0.4371, 0.2955, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7c0b5fcef51dc8113a6c4513084dbc447017b157ce2094a500e8178e61bc460",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57a8c916ea999cd40b289daaa310012114d47236f0e8656b2b8b6db30bbf1e84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959cd8688772250bc2e9bb0b6d0900341b7b689d1183b6c9263b4635af695279",
      "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 · 3.102 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5369, -0.4454, 0.9959, 1.1614, 1.8946, 1.0824, -0.5579, 0.5419, 0.6891, 0.0091]\nstate[eef_state]: left_x=0.3007 left_y=-0.104 left_z=0.1584 left_yaw=0.0447 left_pitch=-0.0834 left_roll=0.0384 left_gripper=0.9959 right_x=0.2236 right_y=0.2955 right_z=0.0089 right_yaw=0.196 right_pitch=-0.4648 right_roll=-0.2858 right_gripper=0.0091\nstate[joint_eff]: [-0.3487, -3.1658, 6.9675, 1.4335, -0.2564, -0.0513, -0.0122, -0.1846, -8.7453, 5.4222, 0.6764, 0.2906, 0.0073, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1667, 1.6196, 1.1316, -0.8951, 0.5213, 0.6682, 0.9964]\nstate[eef_state]: left_x=0.3008 left_y=-0.1038 left_z=0.1585 left_yaw=0.0451 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.203 right_y=0.2601 right_z=0.0947 right_yaw=0.218 right_pitch=-0.492 right_roll=-0.2967 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -2.6598, 6.8444, 1.4579, -0.2564, -0.0708, -0.0122, 0.1709, -6.0513, 5.6547, 0.6911, 0.4664, 0.1392, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.2907, 1.787, 1.055, -0.7574, 0.5259, 0.7799, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.0448 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.1694 right_y=0.281 right_z=0.0288 right_yaw=0.2242 right_pitch=-0.5261 right_roll=-0.3404 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -2.9607, 6.8991, 1.4383, -0.2711, -0.0415, -0.0073, 0.3897, -7.5556, 5.2171, 0.3834, 0.4371, 0.2955, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7c0b5fcef51dc8113a6c4513084dbc447017b157ce2094a500e8178e61bc460",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57a8c916ea999cd40b289daaa310012114d47236f0e8656b2b8b6db30bbf1e84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959cd8688772250bc2e9bb0b6d0900341b7b689d1183b6c9263b4635af695279",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCINkM4viXtM6KenhlnSVJmRNueV4RY4tU3LJyP5Vtrgd9-cAyY5ny1Li-O0f5l6dPu8FqZ9bHLFL1kBBgHPV1O4g8h1UODB8xF_lAlDBLI7gr0DpEjTPxxZlteTBSJn7tMlg5-R6EIv5jBmd1phTgroF9kxz7i6vL_WJxgGnSdzd8qvKjxA2NntNg2hhxvQX5ZL_szyfKoGNRyBukRMdGv-5GSKdqe_bAMSq58NNTMLAPRF44lBJVuEaU1nn-J2PiZngaMfNN6CZ6GMQb_mxQuw-p7LI3rvHm5WIIVgZMxErJcK4mK01D0xiGOSYic3Q3GgMgOEblbC_fowIINlY5h6-b-c4mN9IZY7Os0M854Zwigzw1T1m2_LhVj-gXfoj41pN0Lh5KG-WlRjaIQYZ5dLqm_oW6IsurHj5zTibmk83Zxiqmn0MstC9l3M9g0UNx08CB4JGsMEUVAnsyUBjO0qhsBvNijTxIWAosbEpZv71VXWBITvRYyBeGC714Bc5UMu4C1NPNUrFR9mwNcafqeqZ830yrmfYqmoWRFDhBT_kw8iaDqtxSRBWxKLUe3v1ktcIL8kuLGdFGDCCMc9220iDPXbdT3cD5p8-p56QJs58KEsngArw7vCJJf8vcnozYqUE-Z6ES5uBxDGME0NByQAEqhGfUhnMZWGCrLN37Mk4XHDV7EWhpkRZtEZUWN0g64ZXYEjrqPvcoa19-tnIJpb5wjA_LXfWGfniZxBDu315_g3SuBHJ3wb03WxCwvB8FC40QWGNCMN0FKY5-DciTEO95WlESJihjipskt7ncHHqonOlHIUdxpMkrJdmrXLkQyxZOv2oz1AAsWwQ8kEBYCxrup0l9dMglv1X-bpuY1dYLXTCRmmEBcDe4XQHQLUR8eQDIdrL_6Sd4hxvoWnOqGtxPveam2c5EXkBV0h6fVKZUxFlPiME8LcB384CnLvOcO_S4Z6BHEaH1QuP0SezdurjljXeb37lAr9N4n4vJg8JQ9dhsiz2n9SPJegKdEsr03avaWYOE_H1l55TFQ4nAioFviEoPeW4-n8lqQxgeQdYVSe4seEBirhJIqKrPAyuxrVjrojaCJsuegvheF-mGkpCwwNcbgDmiW81UQLhM1w4hEbjnVWsC8rmCemIo1WnfmvPagr_Pn14cmq0mA8vNKmkax62fhI6kWqKGwGiHV0PH9xTuyY7bypz1pLZTmLXFEamv6UvOnXOiemeO3MbtikyNX2QnuqXlUIUbdmsWuGQlhCzvs3y9ewtcPWmDMSoXEKb6BbLjW2Ip0l7Ru4P3hzT3FkIJ_WZcs9y5-WFEN91ieIu6b_pJ9lGBpL4jdGWOTqGPxzYwpg3UOwYxP2yEsFow==",
  "id": "rs_0fa6169a1aad87c1016ab4220c152887d0a50b2ea785199240",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The last yellow fruit is now centered between the right jaws at a suitable grasp height. I’ll close on it and check the settled jaw opening.\"}",
  "call_id": "call_SujaApKD9C0pCnv1HidbNep0",
  "id": "fc_0fa6169a1aad87c1016ab4220c8db887d0866aa1f198418a22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SujaApKD9C0pCnv1HidbNep0",
  "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]: [-0.6323, 1.0851, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.3006, 1.8091, 1.0542, -0.7219, 0.5312, 0.8162, 0.5636]\nstate[eef_state]: left_x=0.3008 left_y=-0.1039 left_z=0.1581 left_yaw=0.0452 left_pitch=-0.0841 left_roll=0.0396 left_gripper=0.9959 right_x=0.1689 right_y=0.2879 right_z=0.0231 right_yaw=0.2172 right_pitch=-0.5092 right_roll=-0.3106 right_gripper=0.5636\nstate[joint_eff]: [0.0479, -3.0427, 6.8171, 1.453, -0.2759, -0.0122, -0.0122, 0.1846, -8.1983, 4.9983, 0.5739, 0.3785, 0.0562, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a50a594c865bfdfff526327601d6a42253285a66483b232fd200a1329fd63d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:002cec6d70058c0915a61bfd74f1f87798a16a05882ce7a79c9c2fe4d1cd28fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b845786059e51412356a6f2b442e5b27034e5b657245df5164736ce4551209d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.025 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.084, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 0.8433, 1.6337, 1.3197, -0.9062, 0.4549, 0.3618, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.1039 left_z=0.1584 left_yaw=0.0449 left_pitch=-0.0834 left_roll=0.0387 left_gripper=0.9959 right_x=0.2991 right_y=0.2246 right_z=0.1422 right_yaw=0.1765 right_pitch=-0.4734 right_roll=-0.2885 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -2.9607, 6.7897, 1.4774, -0.2222, -0.0611, -0.0073, -0.2803, -9.6479, 7.8154, 0.779, 0.149, 0.1099, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.2907, 1.787, 1.055, -0.7574, 0.5259, 0.7799, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.0448 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.1694 right_y=0.281 right_z=0.0288 right_yaw=0.2242 right_pitch=-0.5261 right_roll=-0.3404 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -2.9607, 6.8991, 1.4383, -0.2711, -0.0415, -0.0073, 0.3897, -7.5556, 5.2171, 0.3834, 0.4371, 0.2955, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.0851, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.3006, 1.8091, 1.0542, -0.7219, 0.5312, 0.8162, 0.5636]\nstate[eef_state]: left_x=0.3008 left_y=-0.1039 left_z=0.1581 left_yaw=0.0452 left_pitch=-0.0841 left_roll=0.0396 left_gripper=0.9959 right_x=0.1689 right_y=0.2879 right_z=0.0231 right_yaw=0.2172 right_pitch=-0.5092 right_roll=-0.3106 right_gripper=0.5636\nstate[joint_eff]: [0.0479, -3.0427, 6.8171, 1.453, -0.2759, -0.0122, -0.0122, 0.1846, -8.1983, 4.9983, 0.5739, 0.3785, 0.0562, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a50a594c865bfdfff526327601d6a42253285a66483b232fd200a1329fd63d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:002cec6d70058c0915a61bfd74f1f87798a16a05882ce7a79c9c2fe4d1cd28fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b845786059e51412356a6f2b442e5b27034e5b657245df5164736ce4551209d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCIRHXpnORGs94H3Ht4E23fBhjCa7qng6bFy19oDK8U65Vxxnpe_qjUN_ihdUwge1omGDurONJHzP5inALXbXjlPpzDsVSDcZtUypYZTqdN6hSihQeRWpLQZ2oTCZcVGY4Ik911pQjfTnTCo1MISOPuR4jHD25hjwyM06DKzG3KE7U6uOuPb0ivKXgBbuJeJkmLN7Mk1zWStCjZpjndruILKR5a1VAOZ3BwU8pLodaqJgp0PGgm67wB9SCF_GoY-yIcnSsr4vMzer62bgmZD9NoOcPUlOS5BpiBFiVuWUQwMA91T7FkwBxnbRPvehbHgnr6E9tl-IQOTXPOLdMa2FJ6qyFET4sH2BO8s8p5qFXAnGo7Ms_tre9r-n2rPgjOkKzNspFBzNdHmllCf8CEc0-eNru-pF7B9a2vdDcV_HWcg1vKu5J5F9wHFM9kdFHJdpfhLy1zKWxN854RN_xMGrTvbMgopdXJjZkrAAhrHOFtI-aKGIIncSrK_AwQ674i5hIpxkOPLqLfJu4SusD-0E7rLRjyNeC0WdWjUZ8WmogUKJ0c_WMuNogIUblMHNeXJ5dP5M9X-pZoxpszasrFsZtAsQ3fXld1JKj6Z81saQ1_sB4g_4DzwuaFDQ813vQSQt6F468NfzIHpjbTZtuprY8-n9y2c4-MS9516m-pZZVrI2NNJduYnGfA4F_lwbD7b5rY2PmcwTBYq519nE_4QGr7YaJKHxl-olJG-IyPi_o07FPZ05cfnV-A03RVVQEmWrmmqHMvaNxWqyyv86G_zhzMIOVe8o6AzNZM9ZlU0ZrVeKaF3YYH-T7ajwEVCXPmEMGLdc0Wy3gPCropqeUBygdnGQbBfT6HPjQOtW2c8UVRDsGHWmXAC6iXj5XMqeZbxShlb8ZR1RQH5BndliXdCbM9GQHgZSXqgl3j3JNeo0kR-QTiwtwQJYJJ-7JVJ2lY-ISbApTEVQKb-lEbDytJEo1xzQsE_mYKFVXVr25clse2N_DvoirPY1FonRx7Ma2y8LHAdAZ68euWhmkOfzIoFrO_KYDP7sysNGKfO87HTIvVh-ePmnMIjd-zCqDNhH_lO_RIDJkXWQ7LpiR2kuROVWFMlo5zgBKpLLXz72TiAYpiYCENeE1L2rYjnyOzp0oV2tF2TIE1oZtD3FN_bfDU7NR8M1ONXvxAiNOxVAXsuTSWTIfXqD200nUtgfT3VjV0SD1K4lhuhq8RqpEo-1V2VAjUIllk_lxAwATnDmXb6b4qgs3ODFtxx8q4MxANGWrELyPMg",
  "id": "rs_0fa6169a1aad87c1016ab422104ddc87d0a4b28c7e44121945",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The jaws stopped about 5 cm apart around the remaining fruit. I’ll lift it to confirm it comes off the table before carrying it to the blue bowl.\"}",
  "call_id": "call_POrNjYHL6goNvspnxyd6819j",
  "id": "fc_0fa6169a1aad87c1016ab422107e2c87d08609168f0a2bb729",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_POrNjYHL6goNvspnxyd6819j",
  "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]: [-0.6327, 1.0874, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 1.3006, 1.7069, 1.5169, -1.2762, 0.5201, 0.812, 0.5636]\nstate[eef_state]: left_x=0.3008 left_y=-0.1041 left_z=0.1575 left_yaw=0.0447 left_pitch=-0.0861 left_roll=0.0409 left_gripper=0.9959 right_x=0.1695 right_y=0.2964 right_z=0.1642 right_yaw=0.229 right_pitch=-0.5145 right_roll=-0.2961 right_gripper=0.5636\nstate[joint_eff]: [-0.1846, -3.3709, 6.8855, 1.4921, -0.1929, -0.0611, -0.0122, -0.0479, -9.2103, 7.1316, 0.398, 0.3492, 0.0122, 0.359]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba2c16430074c788275d1eef1d89239f2caf698541ea563f824c13e5334c5d24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3462b8041ac80d4989d3dabf74d9c608df4ab4f67f4ebe0a8028eeaa66deb67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4309fac88d26831a1393561725e593745e5b30c8d0c7e934c70c5f0521619652",
      "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 · 4.412 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.1667, 1.6196, 1.1316, -0.8951, 0.5213, 0.6682, 0.9964]\nstate[eef_state]: left_x=0.3008 left_y=-0.1038 left_z=0.1585 left_yaw=0.0451 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.203 right_y=0.2601 right_z=0.0947 right_yaw=0.218 right_pitch=-0.492 right_roll=-0.2967 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -2.6598, 6.8444, 1.4579, -0.2564, -0.0708, -0.0122, 0.1709, -6.0513, 5.6547, 0.6911, 0.4664, 0.1392, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.0851, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.3006, 1.8091, 1.0542, -0.7219, 0.5312, 0.8162, 0.5636]\nstate[eef_state]: left_x=0.3008 left_y=-0.1039 left_z=0.1581 left_yaw=0.0452 left_pitch=-0.0841 left_roll=0.0396 left_gripper=0.9959 right_x=0.1689 right_y=0.2879 right_z=0.0231 right_yaw=0.2172 right_pitch=-0.5092 right_roll=-0.3106 right_gripper=0.5636\nstate[joint_eff]: [0.0479, -3.0427, 6.8171, 1.453, -0.2759, -0.0122, -0.0122, 0.1846, -8.1983, 4.9983, 0.5739, 0.3785, 0.0562, 0.8132]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0874, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 1.3006, 1.7069, 1.5169, -1.2762, 0.5201, 0.812, 0.5636]\nstate[eef_state]: left_x=0.3008 left_y=-0.1041 left_z=0.1575 left_yaw=0.0447 left_pitch=-0.0861 left_roll=0.0409 left_gripper=0.9959 right_x=0.1695 right_y=0.2964 right_z=0.1642 right_yaw=0.229 right_pitch=-0.5145 right_roll=-0.2961 right_gripper=0.5636\nstate[joint_eff]: [-0.1846, -3.3709, 6.8855, 1.4921, -0.1929, -0.0611, -0.0122, -0.0479, -9.2103, 7.1316, 0.398, 0.3492, 0.0122, 0.359]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba2c16430074c788275d1eef1d89239f2caf698541ea563f824c13e5334c5d24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3462b8041ac80d4989d3dabf74d9c608df4ab4f67f4ebe0a8028eeaa66deb67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4309fac88d26831a1393561725e593745e5b30c8d0c7e934c70c5f0521619652",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCIVP19yTbydqN6vaLhCiOyq4dVBTcSuIutW3IOxvBKAOrw7dqWAHcK_q6CozWSztuowTD5J-UbwCw397jJvQRKAD_C8hXwZ4KJgoAcJC-a5swwtipUnCqR0abF35g3ZXS9EOA1Qof_rLQ6P5udQRyl8S0rue3UI5_0tg5EUh0leRqVaJxZlRV1qj8KrNpYYyk4GoZxJDDCu_h0a5uTOehJ14prCuaqQ0IPqgy3gd_oJqdAqlC1vOq1hlD6W1FCIjGZU7YtlMWDY1zyeYCB8VYiPJ1B0thOzLRxwUN_oIaEl89XbfWQuB7qfnhktgYgGQDLZ5jTA8sd9C7mQRv_RvXD_icmwhPDeynyNwv2sSVGoE3Jg1Fzuo8PbNY5cs5CHOu8JlCAa_IL1K9I-LaUDyThYg-fZITWVSWo93UtK12Y4MoA9E5fFv_dLGSTAPXgz9TLgJ9bx_hxmLowiUaA7p0ZcQsgeKPtvos1XXBZaF7xPK1Ax7ZcWIfAKvyD2Vwr4wsPnivgnTYvJserj_G9YU2UCBkofyhBOzDSHYOXttn3HBusfHEu5tE4bRiM8TNJ3pS4F7H5vqVA5JMfnRbSMjjJbRJxqY_Xs-ocuKP8wZVxrqjL9EpSNm5wvv4l1JfKUoNNQua02gXZOZiQ37BSgPoMtpmzP8fjin1BWLAwovBtSPTwp7ekv5a8_lBd4xlfe7pJ2I57wqgZ392nswDJNiN5QwIwrfkje6GCXcqx7oMVuypkKNwGojgImDL1lh785RVtOxOdkAw6iFXQltC91Eh0S_h_xkf8tLvIkF7rqDVJ3zBZbWJBiJn9VI8N-CHBsjZj7uJ32NM18e8586B1MGdINemA9ddQwySFCuU1a9eI6tSkJCLGaUEX6Xp6PVG2lkPEu4weJjN2Z_k0SU6YLY0jU-SpGmf9SgC0oQv8xCH7ZiiLn3QdLyvCDuNtRBguA9VQ9w-PtelyO2_g5SReA5WvA20QMzxUR0UOcBd8vSSrCRM7fgDidcG2mdVa7rd78Jc_Hg1dxJKXYeqD3JkRmSWY2hqqKAfZXDjGNVhUbiEsylkCVlArGZED0_RDtl4BAmMxwmo4EEiFHdTVXd1gA-H55LJ6MDiV-KKcUMYQGa-EA5Q_q1PTdn3yL6CtjnhiRhOV1JttjUsBc12hq37IxtyxAeYLlGbly28HNAFbNebhUtfDW4T_9KrcpN3UkNa4r91MPLdgI_SmkjqK8aGlxUSpfhiefhNtclMaFzyz1_3EJkq_cZz8o3UicCgLQUc7hDGWx59OIQgQ2PxCxztv9FQVl7nKamfB3RprZBlm39RzgjkMhWl-TkVX-6c6vaJvfHfavyMxiLVkIxnhMsxwjK3gWyDc7tBN5imgaC9mnEtYCxt7yvVTtm_m6w68cHxpLj_Iz73fwGIiteizNOEimHEgOd55_EJfqmcsN7WU0wATcV0MaK4qbR8W6NVuKy-L2PyMHDoW_qwif5RLPoyo6IcJg2CBn4prTjEoMICSAMegN9noSfVFDQUfzM4CHxaP5ZeYCcEzy3XHQmBW8d80ETWUwd7p4H_jekK2CbayhE9_I-mbFB-HKqlJ55suVeN85hp67_8xsx7VuP-abdKoG-MZq2gLWEOh_htvQ6XvAWZbacYAHVNbPPz3juZ4Lkr6vNVSzytpFKbG_37JUHQRHiBN-jAJ90NwCrzufm2NVM-k0sn5c-O3jcPmsoSseHgGJJ7lF",
  "id": "rs_0fa6169a1aad87c1016ab422139b8c87d082e2018a7da87605",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.17,\"right_z\":0.21},\"note\":\"The last fruit rose cleanly with the right gripper; all the other fruits are already in the blue bowl. I’ll carry this one above the bowl at a clearance height.\"}",
  "call_id": "call_r4Zb7KuDDKU5XtpYxqLsQXGc",
  "id": "fc_0fa6169a1aad87c1016ab422148d5c87d0a4c8ae174ec96e77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r4Zb7KuDDKU5XtpYxqLsQXGc",
  "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]: [-0.6327, 1.0904, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 0.485, 1.9079, 1.8977, -1.1446, 0.2817, -0.0303, 0.5652]\nstate[eef_state]: left_x=0.301 left_y=-0.1041 left_z=0.1566 left_yaw=0.0451 left_pitch=-0.0883 left_roll=0.043 left_gripper=0.9959 right_x=0.4191 right_y=0.1694 right_z=0.1994 right_yaw=0.2132 right_pitch=-0.5513 right_roll=-0.3063 right_gripper=0.5652\nstate[joint_eff]: [-0.2667, -3.4393, 6.8855, 1.4628, -0.2222, -0.0171, -0.0122, -0.4171, -9.8256, 8.1162, 1.116, 0.1294, 0.0806, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:788188201a4369642822f0e586f478ed966f3ab73b5fbea431ad3f51d3ffefbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2206568beaab442441388c9d3e0619c8e07a99e9ddcc8f380a0d156e2aa05260",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ef2c6f6ca53d1cb029699c40bb76e9ad9e667850f5cd1255911a371e1bfd1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 2.548 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.084, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.2907, 1.787, 1.055, -0.7574, 0.5259, 0.7799, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1039 left_z=0.1585 left_yaw=0.0448 left_pitch=-0.0832 left_roll=0.0389 left_gripper=0.9959 right_x=0.1694 right_y=0.281 right_z=0.0288 right_yaw=0.2242 right_pitch=-0.5261 right_roll=-0.3404 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -2.9607, 6.8991, 1.4383, -0.2711, -0.0415, -0.0073, 0.3897, -7.5556, 5.2171, 0.3834, 0.4371, 0.2955, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0874, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 1.3006, 1.7069, 1.5169, -1.2762, 0.5201, 0.812, 0.5636]\nstate[eef_state]: left_x=0.3008 left_y=-0.1041 left_z=0.1575 left_yaw=0.0447 left_pitch=-0.0861 left_roll=0.0409 left_gripper=0.9959 right_x=0.1695 right_y=0.2964 right_z=0.1642 right_yaw=0.229 right_pitch=-0.5145 right_roll=-0.2961 right_gripper=0.5636\nstate[joint_eff]: [-0.1846, -3.3709, 6.8855, 1.4921, -0.1929, -0.0611, -0.0122, -0.0479, -9.2103, 7.1316, 0.398, 0.3492, 0.0122, 0.359]\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 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0904, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 0.485, 1.9079, 1.8977, -1.1446, 0.2817, -0.0303, 0.5652]\nstate[eef_state]: left_x=0.301 left_y=-0.1041 left_z=0.1566 left_yaw=0.0451 left_pitch=-0.0883 left_roll=0.043 left_gripper=0.9959 right_x=0.4191 right_y=0.1694 right_z=0.1994 right_yaw=0.2132 right_pitch=-0.5513 right_roll=-0.3063 right_gripper=0.5652\nstate[joint_eff]: [-0.2667, -3.4393, 6.8855, 1.4628, -0.2222, -0.0171, -0.0122, -0.4171, -9.8256, 8.1162, 1.116, 0.1294, 0.0806, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:788188201a4369642822f0e586f478ed966f3ab73b5fbea431ad3f51d3ffefbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2206568beaab442441388c9d3e0619c8e07a99e9ddcc8f380a0d156e2aa05260",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ef2c6f6ca53d1cb029699c40bb76e9ad9e667850f5cd1255911a371e1bfd1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCIbdjN0uFNkDOimWfqSGcfxjx9cFttR5-jovfuwXRBqCLOl_bMjZlr-o8jAwpidUnYdK1sfE2VEBUqW3dipVeWWx_C5hFBa9eAB10flaHpR1mXJAFslH2iWnTAZT8D17yr78DD0evyxv_tEF3jW-64ITCq0nDrsnqQ7Z2UigfrSdF-HueExdndpkco7z0stBOt1-qslDLBdVbsr1TVgZw7C4BIIc0pN6LCWbYv64GFTIgQQCxIGPMu0hqUiobTSPsSRuITMpVzhwqaKO0OGyslZLJatmT8bXPVf3HxVt7eGIVBJX5ubfv9LJ48XzGy7jf_L1aFGDV7DPftl32Ju43U9I9XUEz_JagujmNiF-v65EXauPAvlS5s8Egw_VT8mlVJBa8yxU3_xp_KQsbJvfXvuRLPwBLKXR3QJuIOvQRSvdGTAeWY_P3S7-gyHhjnoxTtBVz93S3ciCDVwHeD1_xXFbTpnUYZsojtx5lrSUbN6ZIjBuT-ypPurVNO7XkwCuawoR9pjObSILOOOjsATWJVB0tEEtF3HEFTRqh5XZWOxPTvR8iuC2Es-g4-NHEwiqyNlb0k5yiRAi629hjX8TJlS5kI_hEm1mitkpmHV7WKLuhBh3MmgdGrErw146NqZy2e--JHwxtWsj_x-L1KTtpZprS1e61umcttWei6Kc9l7l9vlFBnxtnxYO6F9M2MXriczXVtWsoqjQT9Zp_MfxdeNW4VgwdhREiAe5Z6xVTOwpT0wRKIPsdmnEGcKNMGP9KqdBawQIgWNLIA1eJ8Rr4JOc2csmeDylwgoDBer7cqtMwIUnXjABvRXRNMdFNXODNHlWs8W9SxKhMVMssLHHuZ5SARKRVpmdk01KTbP2HjQ0WMqlXv9nkcbaC4UWYGoa41AHXg_SZMAlQd1QmRJhMelwaed00CJc8jTxpkkK5zz17iWRZf59rDXF8z26HlkeiCYzwc6E8giP-pVY-Xp349LbHlWPQJcIwS8pr_cYOh0QgGVn567e6NjeKlCXUg9blqHxKMQmBbF_fgsLq_jFHk3Hf5wV8JS-qG76iSVwlzMQxr4BUJaQuiz-MJXI-WM5ahMkeJSqCG9PuuhEVdPCqeZa8bpslrd_yLAHwLngykXlzDD4U6ORF_vgM1b9P2UhRqIuCaJDfkw7JxPaxp3QXojAwEA4gXSz8y7nJnmgwIsJMYSJ6jVVRBoQwOH-4FNlgeHRtUp6NgQ0KifhmYUkwtkjAwjxJhWEhex8cRv5juOqwZ2xNvUpdctxrX1Ucgp_hInWh1ibVYYFyfxd9SPunCH5npJ_gcn9IeJhe4oPVc_Fq8fTN3J9U7XunHvbrB4MgoyoEZLeUJFgorkFWrkXwpeubguzs8FL0HfN1TrTiMyLXZwJhZK4ij5cFk3u_MttP4lBpL4IM3-LwoPRWkfbPta3Y9WAuIQkP_5GuBQhnOzDk6tSVuE7NH0ppN7HOlGbC3W71jDP-VKTnL4u-zSDe2GwfQoV7sc-WgkShY2VpiVYhvqMbEWWJsmLoPDW33p7MoKvr5Yb3N6_aSafjHN3upq5Q4g26-_t6TitQwPQ47n__pll__9zYDUdxXr8looju5b73jnmCUocsU6mve5sltaEJQ8FwBMZ4QpeyeZ3_6HvsAaFNR9S6B_IAnp6fhajMe9Iu6PNWhTAw3VMG_qtuBnpWtD0FZjtj9AHlfFEpMwMrniWRG6I8IhScrAVAdPdt1nPYQgP7n08gHWYsS-REp6GN6eVFoX6e6wPXVLHuZgetADfUG2XN92yvVgxB8EAiZXjmFF5BAs4UIcS077bKZCNoGxTmgWlwfz1AtzWOP9TvEgtQNZuKHDK8PzOITnvABVifsomz6Rb2aA3OrWQa0yRmBBXSxmUXrFOXQn4ohZbGvke1-uxz5XIMwTRhcTXVHf673hzzQwaBg795pHeURGzA==",
  "id": "rs_0fa6169a1aad87c1016ab422187d0487d0a44ffa4ec23274d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.17,\"right_z\":0.12},\"note\":\"The last fruit is aligned with the bowl sideways, but sits over its near edge in the wrist view. I’ll advance it a few centimeters toward the bowl center and lower it for a careful release.\"}",
  "call_id": "call_41XBW2HMcJ9gTr0mmS7YUR9u",
  "id": "fc_0fa6169a1aad87c1016ab4221ac86c87d0a86bcd360c5edd4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_41XBW2HMcJ9gTr0mmS7YUR9u",
  "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]: [-0.6323, 1.0924, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4557, 1.9812, 1.7058, -0.9272, 0.271, -0.0574, 0.5662]\nstate[eef_state]: left_x=0.3011 left_y=-0.1041 left_z=0.1561 left_yaw=0.0456 left_pitch=-0.0895 left_roll=0.0439 left_gripper=0.9959 right_x=0.4357 right_y=0.1649 right_z=0.1212 right_yaw=0.2026 right_pitch=-0.6045 right_roll=-0.3235 right_gripper=0.5662\nstate[joint_eff]: [-0.1026, -3.3846, 6.9675, 1.4481, -0.2173, -0.022, -0.0073, -0.5402, -9.8393, 6.612, 1.2674, 0.0904, -0.0904, 0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a7fd506d2635b5d05541c18a04dd7af468fed274f3e1f56df2f230917c2fdf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ccf4d7a5b0d2feea38c391325946a109a34c1755c8ea64c59ade867ac343b2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd2ec36d4e31913bab6c15e5cc6e9f7a45ec95a6cdf546702579cf77b17aa07",
      "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 38 attempt 0 · /responses · status 200 · 7.187 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.0851, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 1.3006, 1.8091, 1.0542, -0.7219, 0.5312, 0.8162, 0.5636]\nstate[eef_state]: left_x=0.3008 left_y=-0.1039 left_z=0.1581 left_yaw=0.0452 left_pitch=-0.0841 left_roll=0.0396 left_gripper=0.9959 right_x=0.1689 right_y=0.2879 right_z=0.0231 right_yaw=0.2172 right_pitch=-0.5092 right_roll=-0.3106 right_gripper=0.5636\nstate[joint_eff]: [0.0479, -3.0427, 6.8171, 1.453, -0.2759, -0.0122, -0.0122, 0.1846, -8.1983, 4.9983, 0.5739, 0.3785, 0.0562, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0904, 0.7235, -0.424, -0.5373, -0.445, 0.9959, 0.485, 1.9079, 1.8977, -1.1446, 0.2817, -0.0303, 0.5652]\nstate[eef_state]: left_x=0.301 left_y=-0.1041 left_z=0.1566 left_yaw=0.0451 left_pitch=-0.0883 left_roll=0.043 left_gripper=0.9959 right_x=0.4191 right_y=0.1694 right_z=0.1994 right_yaw=0.2132 right_pitch=-0.5513 right_roll=-0.3063 right_gripper=0.5652\nstate[joint_eff]: [-0.2667, -3.4393, 6.8855, 1.4628, -0.2222, -0.0171, -0.0122, -0.4171, -9.8256, 8.1162, 1.116, 0.1294, 0.0806, 0.6569]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.0924, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4557, 1.9812, 1.7058, -0.9272, 0.271, -0.0574, 0.5662]\nstate[eef_state]: left_x=0.3011 left_y=-0.1041 left_z=0.1561 left_yaw=0.0456 left_pitch=-0.0895 left_roll=0.0439 left_gripper=0.9959 right_x=0.4357 right_y=0.1649 right_z=0.1212 right_yaw=0.2026 right_pitch=-0.6045 right_roll=-0.3235 right_gripper=0.5662\nstate[joint_eff]: [-0.1026, -3.3846, 6.9675, 1.4481, -0.2173, -0.022, -0.0073, -0.5402, -9.8393, 6.612, 1.2674, 0.0904, -0.0904, 0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a7fd506d2635b5d05541c18a04dd7af468fed274f3e1f56df2f230917c2fdf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ccf4d7a5b0d2feea38c391325946a109a34c1755c8ea64c59ade867ac343b2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd2ec36d4e31913bab6c15e5cc6e9f7a45ec95a6cdf546702579cf77b17aa07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCIeP-QQj8EGeJ5H8TuFlEZnzk_almJqQJNEYPDC8dW7SHEOQjPmxrKjvA3B2LTmLDjAWZ-gksP2Q2pDbBja-ZvgyxwLeluItQx343UPZJEewova_3KcqUayoNL9Y51SlpqBEugtD0VjhTTRXRbndox_NcR8xQAaqeEl8zeYj2hx8ZieTZCFXVZr7EPYZEe1dysUSHpfVchzYU6tRlXgF8CE0BZUNZDZH0xDF2vDJ_4W7ataYmN4o1j1r_bW0qH7ehYdEg41dYR2jsDNPLFA2sGI3oIfZ-cSEV-R5JRSSkjFPKo8A-wnl5n0Wbe3CKrYznvXrWab_5sSIV2chmbL9mrJdQnToXwlCCXp6_Sy3SS8GOsyTZoYswrjC-hfbUowfQebRd0MfSBjokUjh_QiY7V6bIDmUpeWpGPbDOyVpxUkh4qR6hKQryyEogrkVbHgYX1ML8sdW1CS8vbDppvwBrSY2-XSWuFMG41MblWeASLgnngnCOtCzDpyroQSKUJVFkeFuEqUTFDnLOQ3ImMFsp4aajOEL0GgxXFBubxr4YsAdyyjfkrVImPGW36Wm5W-1TswNSNVpcysTwNfZ5Xs3HBMoH6ZCoUHGHxG9SKzRDBnEnp_npXPXhXXQL1tPWJ2WA6TT_amyx6ZmeQFS2ql6xWVsSDOpYsEk1ppqaovvfJem6zW74ii6RCfPJB4XqLUxz6QBGzHmvdtEg9j9jjcO8JqgR81TqcR3Tw48GjPj-NZ_TK7yD8qMkHds14Tg4j8PtWfT3c11WiYTj4GrO6YO6EdLqyibmb15ThF23N_mmhOpPkPswqNcwQ3ciLX0Lex8hgxqFMSR8NxFP7de2UZ4G1X-cVfg81WYEdD_TxA7ldVIzoov-1txRZ2b6oFq3y0jE3gKguJ08BMRA778xXJHpFnJGwm1xhFTZeegL3c8EJCh-KnrNnrmrY5fmpxJSMmW4Q1gpWr1eMYJeuKuO3PymarwrPFJeR5E6eumLTWJooShSlzXLcCdu6RrbKXKlBfvncXzfPr9lNguLKWiakhguGKRSDGj3r0W3_UqTfmLqPzqKRbpd4DVNjxhXE-2tMd7fyKqg3ZE7NcTixCLm2xaXXBpvjfuQhUq4gcL4eiSsgYctGc_6gOmTwjwwHJBE3WOSyMqe1fQUBJPuYtcSNtM6OF1f6b5vC9yxlIcucK-ctxG-atwq0fOdm1S-XHflAMEEfdlFpNhGDnXKgH30FedcZf5lgyxNVx5w-Dds3RR5GAFw_JUtITodUPbzWkfpj8NlK71VGqp_6w2G9ukiQNwx4mPLLxb3bmrJE8j7XbTXM8Sxz3Gq6-ijCqFwlsrmXoealUYp8cSPpsb6mZOxcuHmK9lbC_BwAwUvkmDU4sEHoG1L2lHonl9-1JCX2udQ9IIRl-TsQ_yTul0noNYkxfFmY-pg==",
  "id": "rs_0fa6169a1aad87c1016ab4221d894087d09d24dbe12275b495",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The final fruit now overlaps the blue bowl opening, just above the fruits already inside. I’ll release it into the bowl, then clear the right arm to inspect the result and prepare to pour.\"}",
  "call_id": "call_ObkB8zxR2YN9WmmD74ck7A8p",
  "id": "fc_0fa6169a1aad87c1016ab4221e009087d099fb6293d4ffdcd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ObkB8zxR2YN9WmmD74ck7A8p",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0924, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4553, 1.9942, 1.6958, -0.918, 0.2642, -0.0681, 0.9959]\nstate[eef_state]: left_x=0.3011 left_y=-0.1042 left_z=0.1561 left_yaw=0.0452 left_pitch=-0.0895 left_roll=0.0439 left_gripper=0.9959 right_x=0.4352 right_y=0.1657 right_z=0.1125 right_yaw=0.2134 right_pitch=-0.6212 right_roll=-0.3251 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -3.0154, 6.8171, 1.4335, -0.2857, -0.0269, -0.0122, -0.0068, -12.0, 6.5436, 0.8571, 0.1978, 0.0562, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a315be9cbbba42261a41649a2494bab2d2bf12fb23cc5454d7ef56b5748b69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534d231c9f796162f58a93759f4b21004ca8868d1c3c2a17d978a788fbb5b313",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e95e1b59be3a6a41089af55ee0399d70d5446e401b2d1d72aca4c3373184c4a2",
      "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 39 attempt 0 · /responses · status 200 · 5.969 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0874, 0.7235, -0.424, -0.5369, -0.445, 0.9959, 1.3006, 1.7069, 1.5169, -1.2762, 0.5201, 0.812, 0.5636]\nstate[eef_state]: left_x=0.3008 left_y=-0.1041 left_z=0.1575 left_yaw=0.0447 left_pitch=-0.0861 left_roll=0.0409 left_gripper=0.9959 right_x=0.1695 right_y=0.2964 right_z=0.1642 right_yaw=0.229 right_pitch=-0.5145 right_roll=-0.2961 right_gripper=0.5636\nstate[joint_eff]: [-0.1846, -3.3709, 6.8855, 1.4921, -0.1929, -0.0611, -0.0122, -0.0479, -9.2103, 7.1316, 0.398, 0.3492, 0.0122, 0.359]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6323, 1.0924, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4557, 1.9812, 1.7058, -0.9272, 0.271, -0.0574, 0.5662]\nstate[eef_state]: left_x=0.3011 left_y=-0.1041 left_z=0.1561 left_yaw=0.0456 left_pitch=-0.0895 left_roll=0.0439 left_gripper=0.9959 right_x=0.4357 right_y=0.1649 right_z=0.1212 right_yaw=0.2026 right_pitch=-0.6045 right_roll=-0.3235 right_gripper=0.5662\nstate[joint_eff]: [-0.1026, -3.3846, 6.9675, 1.4481, -0.2173, -0.022, -0.0073, -0.5402, -9.8393, 6.612, 1.2674, 0.0904, -0.0904, 0.3101]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0924, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4553, 1.9942, 1.6958, -0.918, 0.2642, -0.0681, 0.9959]\nstate[eef_state]: left_x=0.3011 left_y=-0.1042 left_z=0.1561 left_yaw=0.0452 left_pitch=-0.0895 left_roll=0.0439 left_gripper=0.9959 right_x=0.4352 right_y=0.1657 right_z=0.1125 right_yaw=0.2134 right_pitch=-0.6212 right_roll=-0.3251 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -3.0154, 6.8171, 1.4335, -0.2857, -0.0269, -0.0122, -0.0068, -12.0, 6.5436, 0.8571, 0.1978, 0.0562, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a315be9cbbba42261a41649a2494bab2d2bf12fb23cc5454d7ef56b5748b69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534d231c9f796162f58a93759f4b21004ca8868d1c3c2a17d978a788fbb5b313",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e95e1b59be3a6a41089af55ee0399d70d5446e401b2d1d72aca4c3373184c4a2",
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    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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  "id": "rs_0fa6169a1aad87c1016ab42221bdc487d090206f631ed796ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.16,\"right_z\":0.03},\"note\":\"The wrist view shows the final yellow fruit bounced past the far rim onto the table; the dark and larger yellow fruits remain inside. I’ll move the open right jaws beyond the bowl to pick up the bounced fruit before pouring.\"}",
  "call_id": "call_4hScZlMKzrAtGAjmXac9Yo56",
  "id": "fc_0fa6169a1aad87c1016ab42225961c87d0a81d8b712eb1d218",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4hScZlMKzrAtGAjmXac9Yo56",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6327, 1.0931, 0.7235, -0.4236, -0.5373, -0.445, 0.9959, 0.4011, 2.2028, 1.6726, -0.7376, 0.2451, -0.1265, 0.9965]\nstate[eef_state]: left_x=0.3011 left_y=-0.1042 left_z=0.1559 left_yaw=0.0452 left_pitch=-0.0901 left_roll=0.0444 left_gripper=0.9959 right_x=0.4661 right_y=0.155 right_z=0.0226 right_yaw=0.2077 right_pitch=-0.6858 right_roll=-0.3433 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -2.865, 6.7761, 1.4628, -0.2857, -0.0611, -0.0122, -0.8, -11.3573, 8.8821, 1.243, 0.0806, -0.0415, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b243d801aca56078adaa01521b0a704c73541175c7d09908122b4cf776bd7b60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5527498f6a77245b57e6f9218da5d20acba93ebb2cbae6f09fd07ecf4009ffc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f652b670bbf1ef8772d3069085c4ffa0b7a123496830ff50fe92b28f1620876f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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