adhoc

completed
2026-09-23T20:39:03.085688+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
206.7 s
total steps
343
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 noteThe green fruit is on the right side of the table, with the blue bowl behind it. I’ll bring the right gripper above the fruit, keeping it open for alignment.
move_to
right_x0.3200right_y0.0800right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0204, 0.7998, 0.6136, -0.3824, -0.012, -0.0299, 0.9991, -0.0227, 0.7994, 0.6182, -0.3912, -0.0238, -0.0124, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0003 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2954 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4718, -1.7299, 9.5658, 1.7753, -0.1197, 0.1294, -0.1001, -0.4171, -1.3197, 9.1966, 1.873, -0.0562, -0.0269, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.08,"right_z":0.14},"note":"The green fruit is on the right side of the table, with the blue bowl behind it. I’ll bring the right gripper above the fruit, keeping it open for alignment."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe green fruit is centered on the right wrist camera’s jaw column, near its lower edge. I’ll lower the open gripper to the fruit’s mid-height before closing.
move_to
right_z0.0380
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8021, 0.6147, -0.3977, -0.0116, -0.0307, 0.999, 0.4152, 1.0527, 0.5514, -0.1425, 0.3218, 0.2108, 0.9994] state[eef_state]: left_x=0.2942 left_y=-0.0006 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0005 left_gripper=0.999 right_x=0.3168 right_y=0.0825 right_z=0.1338 right_yaw=0.0283 right_pitch=-0.0336 right_roll=-0.0209 right_gripper=0.9994 state[joint_eff]: [0.0342, -1.4564, 6.9402, 1.9023, -0.0562, -0.0024, -0.0171, -0.1573, -3.2615, 6.7077, 1.873, 0.2369, 0.188, -0.022] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.038},"note":"The green fruit is centered on the right wrist camera’s jaw column, near its lower edge. I’ll lower the open gripper to the fruit’s mid-height before closing."})
tool
executing move_to over 7 steps (0.7s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe open jaws are lowered around the green fruit, which remains centered in the wrist view. I’ll close the right gripper and check whether it holds.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8059, 0.6147, -0.408, -0.0113, -0.0311, 0.999, 0.4152, 1.3716, 0.2768, 0.421, 0.3176, 0.2096, 0.9994] state[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1759 left_yaw=-0.0008 left_pitch=-0.0305 left_roll=-0.0008 left_gripper=0.999 right_x=0.313 right_y=0.0816 right_z=0.0322 right_yaw=0.0318 right_pitch=-0.0625 right_roll=-0.0308 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.4017, 7.241, 1.8339, -0.0171, -0.0317, -0.0073, -0.3214, -4.2051, 5.0256, 1.9267, 0.1001, 0.022, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open jaws are lowered around the green fruit, which remains centered in the wrist view. I’ll close the right gripper and check whether it holds."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe right gripper stopped partly closed, consistent with a fruit between the jaws. I’ll lift it clear and confirm the green fruit comes off the table.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8059, 0.6147, -0.4198, -0.0113, -0.0311, 0.999, 0.4152, 1.3708, 0.2764, 0.4263, 0.3134, 0.2062, 0.521] state[eef_state]: left_x=0.2914 left_y=-0.0006 left_z=0.1735 left_yaw=-0.0008 left_pitch=-0.0423 left_roll=-0.0005 left_gripper=0.999 right_x=0.3136 right_y=0.0826 right_z=0.0332 right_yaw=0.0373 right_pitch=-0.0582 right_roll=-0.029 right_gripper=0.521 state[joint_eff]: [-0.294, -1.306, 6.9949, 1.79, -0.0073, -0.0269, -0.0122, -0.1436, -3.7675, 5.4906, 1.5458, 0.1001, 0.0073, 1.0281] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"The right gripper stopped partly closed, consistent with a fruit between the jaws. I’ll lift it clear and confirm the green fruit comes off the table."})
tool
executing move_to over 9 steps (0.9s)
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 green fruit lifted with the right gripper, and the blue bowl is ahead and to its left. I’ll carry the fruit above the bowl’s center.
move_to
right_x0.4300right_y0.1700right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8062, 0.6147, -0.424, -0.0116, -0.0311, 0.999, 0.4152, 1.0344, 0.6724, -0.3431, 0.2989, 0.1989, 0.523] state[eef_state]: left_x=0.2908 left_y=-0.0005 left_z=0.1725 left_yaw=-0.0004 left_pitch=-0.0469 left_roll=-0.0002 left_gripper=0.999 right_x=0.31 right_y=0.0838 right_z=0.1536 right_yaw=0.052 right_pitch=-0.0961 right_roll=-0.0396 right_gripper=0.523 state[joint_eff]: [-0.0068, -1.3197, 7.2547, 1.7705, -0.0317, -0.0317, -0.0122, -0.0479, -3.8359, 9.5795, 1.5263, 0.2076, 0.0513, 0.7888] approver: 5 step(s) modified (delta_clamped ×5). 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":{"right_x":0.43,"right_y":0.17,"right_z":0.19},"note":"The green fruit lifted with the right gripper, and the blue bowl is ahead and to its left. I’ll carry the fruit above the bowl’s center."})
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 held fruit is above the blue bowl but slightly to its right. I’ll shift it over the bowl’s center and lower it inside the rim.
move_to
right_y0.2050right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8116, 0.6147, -0.4278, -0.0113, -0.0311, 0.999, 0.5087, 1.6253, 1.2293, -0.4015, 0.3443, 0.2295, 0.5228] state[eef_state]: left_x=0.2906 left_y=-0.0006 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0561 left_roll=-0.0002 left_gripper=0.999 right_x=0.4192 right_y=0.1696 right_z=0.1675 right_yaw=0.0871 right_pitch=-0.1687 right_roll=-0.0807 right_gripper=0.5228 state[joint_eff]: [-0.0752, -1.6889, 6.9812, 1.7363, -0.0415, -0.022, -0.0122, -0.212, -8.6496, 9.2923, 1.7998, 0.3394, 0.2759, 0.7302] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.205,"right_z":0.105},"note":"The held fruit is above the blue bowl but slightly to its right. I’ll shift it over the bowl’s center and lower it inside the rim."})
tool
executing move_to over 5 steps (0.5s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe green fruit is lowered inside the blue bowl’s rim. I’ll open the gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4313, -0.0113, -0.0334, 0.999, 0.5941, 1.7638, 1.1328, -0.2283, 0.3855, 0.2741, 0.5252] state[eef_state]: left_x=0.2901 left_y=-0.0006 left_z=0.1694 left_yaw=0.0005 left_pitch=-0.0603 left_roll=-0.002 left_gripper=0.999 right_x=0.4135 right_y=0.2035 right_z=0.0981 right_yaw=0.1098 right_pitch=-0.209 right_roll=-0.1031 right_gripper=0.5252 state[joint_eff]: [-0.0889, -1.4017, 7.0085, 1.7314, -0.0171, -0.0366, -0.0122, 0.1709, -8.9231, 6.4342, 1.8144, 0.2857, 0.1685, 0.525] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The green fruit is lowered inside the blue bowl’s rim. I’ll open the gripper to release it."})
tool
executing move_to over 5 steps (0.5s)
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 green fruit has been released into the blue bowl. The yellow fruit remains just below and left of the bowl, so I’ll bring the open right gripper over it.
move_to
right_x0.3100right_y0.2600right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4316, -0.0113, -0.0334, 0.999, 0.5938, 1.7638, 1.1328, -0.2363, 0.3843, 0.2684, 0.9955] state[eef_state]: left_x=0.2901 left_y=-0.0006 left_z=0.1693 left_yaw=0.0005 left_pitch=-0.0607 left_roll=-0.002 left_gripper=0.999 right_x=0.4123 right_y=0.2027 right_z=0.0968 right_yaw=0.1126 right_pitch=-0.2168 right_roll=-0.1102 right_gripper=0.9955 state[joint_eff]: [-0.1709, -1.347, 7.1863, 1.6777, -0.0317, -0.0171, -0.0171, -0.1436, -8.9231, 6.3932, 1.5116, 0.1001, 0.0611, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.26,"right_z":0.13},"note":"The green fruit has been released into the blue bowl. The yellow fruit remains just below and left of the bowl, so I’ll bring the open right gripper over it."})
tool
executing move_to over 8 steps (0.8s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe yellow fruit is centered near the bottom of the right wrist image, with the green fruit visible in the blue bowl behind it. I’ll lower the open jaws to grasp the yellow fruit.
move_to
right_z0.0330
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4347, -0.0116, -0.0334, 0.999, 0.9333, 1.6512, 1.1133, -0.5098, 0.5613, 0.5488, 0.9964] state[eef_state]: left_x=0.2896 left_y=-0.0005 left_z=0.1687 left_yaw=0.0008 left_pitch=-0.0637 left_roll=-0.0017 left_gripper=0.999 right_x=0.306 right_y=0.2612 right_z=0.111 right_yaw=0.1393 right_pitch=-0.2578 right_roll=-0.1414 right_gripper=0.9964 state[joint_eff]: [-0.0342, -1.1009, 6.9949, 1.6923, -0.0317, -0.0464, -0.0122, -0.4855, -9.8667, 8.3897, 1.072, 0.4371, 0.105, 0.0806] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.033},"note":"The yellow fruit is centered near the bottom of the right wrist image, with the green fruit visible in the blue bowl behind it. I’ll lower the open jaws to grasp the yellow fruit."})
tool
executing move_to over 6 steps (0.6s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe right gripper is at the yellow fruit’s mid-height and aligned with it. I’ll close the jaws and check the grip.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8127, 0.6147, -0.4423, -0.0113, -0.0338, 0.999, 0.9333, 1.7878, 0.9352, -0.2165, 0.5526, 0.5495, 0.9965] state[eef_state]: left_x=0.2885 left_y=-0.0005 left_z=0.1671 left_yaw=0.0007 left_pitch=-0.0717 left_roll=-0.0021 left_gripper=0.999 right_x=0.3033 right_y=0.2597 right_z=0.0317 right_yaw=0.1405 right_pitch=-0.2782 right_roll=-0.1511 right_gripper=0.9965 state[joint_eff]: [0.1162, -1.3744, 7.0769, 1.79, -0.0366, -0.0659, -0.0122, 0.0752, -7.665, 5.0256, 1.3846, 0.3443, -0.0415, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper is at the yellow fruit’s mid-height and aligned with it. I’ll close the jaws and check the grip."})
tool
executing move_to over 10 steps (1.0s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe gripper closed almost fully, so it missed the yellow fruit, which now appears left of the jaws. I’ll reopen and lift, then shift slightly left and forward for a second approach.
move_to
right_gripper1.0000right_z0.1250right_x0.3250right_y0.2850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4465, -0.0113, -0.0338, 0.999, 0.9329, 1.7878, 0.9352, -0.2131, 0.5499, 0.5396, 0.0224] state[eef_state]: left_x=0.288 left_y=-0.0005 left_z=0.1661 left_yaw=0.0007 left_pitch=-0.0767 left_roll=-0.0019 left_gripper=0.999 right_x=0.3035 right_y=0.2605 right_z=0.0318 right_yaw=0.1481 right_pitch=-0.2782 right_roll=-0.1537 right_gripper=0.0224 state[joint_eff]: [-0.0752, -1.347, 6.9538, 1.6777, -0.022, -0.0415, -0.0171, -0.1983, -8.2803, 5.5863, 1.0916, 0.2369, 0.0513, 0.8425] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.125,"right_x":0.325,"right_y":0.285},"note":"The gripper closed almost fully, so it missed the yellow fruit, which now appears left of the jaws. I’ll reopen and lift, then shift slightly left and forward for a second approach."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe yellow fruit is back on the jaw column in the wrist view, just below the gripper. I’ll advance a little and descend to surround it rather than catch its edge.
move_to
right_x0.3350right_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]: [-0.0212, 0.8135, 0.6147, -0.4496, -0.0113, -0.0338, 0.999, 0.9291, 1.7798, 1.2697, -0.5735, 0.5419, 0.522, 0.9954] state[eef_state]: left_x=0.2875 left_y=-0.0005 left_z=0.1655 left_yaw=0.0007 left_pitch=-0.0797 left_roll=-0.0019 left_gripper=0.999 right_x=0.3224 right_y=0.2853 right_z=0.1075 right_yaw=0.1556 right_pitch=-0.2973 right_roll=-0.1736 right_gripper=0.9954 state[joint_eff]: [0.0342, -0.9231, 6.9812, 1.7411, 0.0073, -0.0366, -0.0122, -0.5675, -10.5504, 7.9658, 1.0965, 0.232, 0.0415, -0.1343] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_z":0.025},"note":"The yellow fruit is back on the jaw column in the wrist view, just below the gripper. I’ll advance a little and descend to surround it rather than catch its edge."})
tool
executing move_to over 6 steps (0.6s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe gripper is low over the yellow fruit’s last visible position; the arm now obscures it in the overhead view. I’ll close and use the jaw reading and a lift to test the 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]: [-0.0212, 0.8135, 0.6147, -0.4511, -0.0116, -0.0334, 0.999, 0.9047, 1.9179, 1.1236, -0.3206, 0.5209, 0.4988, 0.9964] state[eef_state]: left_x=0.2873 left_y=-0.0004 left_z=0.1652 left_yaw=0.0008 left_pitch=-0.0813 left_roll=-0.0013 left_gripper=0.999 right_x=0.3274 right_y=0.2801 right_z=0.0272 right_yaw=0.1512 right_pitch=-0.3351 right_roll=-0.1976 right_gripper=0.9964 state[joint_eff]: [-0.1573, -1.3197, 6.9675, 1.6825, -0.0269, -0.0269, -0.0122, -0.6359, -8.6085, 5.3675, 1.1648, 0.2662, -0.022, 0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper is low over the yellow fruit’s last visible position; the arm now obscures it in the overhead view. I’ll close and use the jaw reading and a lift to test the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe gripper is nearly fully closed, so this second yellow-fruit grasp may also be empty. I’ll lift and move it aside to reveal where the fruit is before trying anything else.
move_to
right_z0.1550right_x0.2800right_y0.2300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4538, -0.0113, -0.0334, 0.999, 0.9047, 1.932, 1.1168, -0.3298, 0.519, 0.4889, 0.0381] state[eef_state]: left_x=0.2869 left_y=-0.0005 left_z=0.1646 left_yaw=0.0005 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.999 right_x=0.3239 right_y=0.2761 right_z=0.0184 right_yaw=0.1506 right_pitch=-0.3593 right_roll=-0.2246 right_gripper=0.0381 state[joint_eff]: [-0.0205, -1.1282, 6.9675, 1.7265, -0.0464, -0.0513, -0.0122, -0.1846, -10.7009, 6.0786, 1.0867, 0.2271, 0.0806, 1.5849] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.155,"right_x":0.28,"right_y":0.23},"note":"The gripper is nearly fully closed, so this second yellow-fruit grasp may also be empty. I’ll lift and move it aside to reveal where the fruit is before trying anything else."})
tool
executing move_to over 9 steps (0.9s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe yellow fruit is still on the table, left and closer to the bases than my previous grasp points. I’ve rechecked its position in the overhead view and will approach farther left with the gripper open.
move_to
right_gripper1.0000right_x0.2850right_y0.3100right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4675, -0.0113, -0.0338, 0.999, 0.9211, 1.5753, 1.1854, -0.7849, 0.5003, 0.49, 0.0418] state[eef_state]: left_x=0.2848 left_y=-0.0005 left_z=0.162 left_yaw=0.0008 left_pitch=-0.0977 left_roll=-0.0015 left_gripper=0.999 right_x=0.2808 right_y=0.2355 right_z=0.1309 right_yaw=0.1707 right_pitch=-0.3926 right_roll=-0.2323 right_gripper=0.0418 state[joint_eff]: [-0.0752, -1.0735, 7.1453, 1.8681, -0.0611, -0.0659, -0.0122, 0.4171, -8.4991, 9.1966, 1.0379, 0.486, 0.1734, 1.0281] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.285,"right_y":0.31,"right_z":0.14},"note":"The yellow fruit is still on the table, left and closer to the bases than my previous grasp points. I’ve rechecked its position in the overhead view and will approach farther left with the gripper open."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe yellow fruit appears below and left of the right fingertips in the overhead view, and left of the jaw column in the wrist view. I’ll move slightly back and left before descending.
move_to
right_x0.2550right_y0.3450right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8143, 0.6147, -0.4747, -0.0113, -0.0334, 0.999, 1.0309, 1.8206, 1.4826, -0.9161, 0.5224, 0.5854, 0.9954] state[eef_state]: left_x=0.2837 left_y=-0.0004 left_z=0.1604 left_yaw=0.0006 left_pitch=-0.1057 left_roll=-0.001 left_gripper=0.999 right_x=0.2811 right_y=0.3045 right_z=0.1313 right_yaw=0.1873 right_pitch=-0.4213 right_roll=-0.2514 right_gripper=0.9954 state[joint_eff]: [-0.1299, -1.1282, 6.9265, 1.7167, -0.0317, -0.0269, -0.0122, 0.2256, -8.9915, 8.5675, 0.7839, 0.4176, 0.2076, 0.0122] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.255,"right_y":0.345,"right_z":0.115},"note":"The yellow fruit appears below and left of the right fingertips in the overhead view, and left of the jaw column in the wrist view. I’ll move slightly back and left before descending."})
tool
executing move_to over 4 steps (0.4s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe yellow fruit is fully visible ahead of the fingertips and slightly left in the wrist image. I’ll advance about 3 cm and shift left about 2 cm to center it under the jaws.
move_to
right_x0.2810right_y0.3630
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8143, 0.6147, -0.4763, -0.0113, -0.0338, 0.999, 1.1328, 1.9278, 1.5463, -0.9436, 0.5304, 0.667, 0.9964] state[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1601 left_yaw=0.0008 left_pitch=-0.1072 left_roll=-0.0013 left_gripper=0.999 right_x=0.2541 right_y=0.3403 right_z=0.1082 right_yaw=0.2119 right_pitch=-0.4495 right_roll=-0.2685 right_gripper=0.9964 state[joint_eff]: [-0.0752, -1.2103, 6.9675, 1.6435, -0.022, -0.0464, -0.0122, 0.1983, -10.0308, 8.4718, 0.5885, 0.4176, 0.1001, 0.0904] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.281,"right_y":0.363},"note":"The yellow fruit is fully visible ahead of the fingertips and slightly left in the wrist image. I’ll advance about 3 cm and shift left about 2 cm to center it under the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe yellow fruit is now close to the jaw column at the bottom of the wrist view. I’ll make a small final alignment and lower around its middle.
move_to
right_x0.2870right_y0.3770right_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]: [-0.0212, 0.8154, 0.6147, -0.4767, -0.0116, -0.0338, 0.999, 1.1072, 2.0327, 1.6852, -0.9802, 0.5186, 0.6426, 0.9965] state[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1597 left_yaw=0.0011 left_pitch=-0.1087 left_roll=-0.001 left_gripper=0.999 right_x=0.2728 right_y=0.3579 right_z=0.1045 right_yaw=0.2059 right_pitch=-0.4637 right_roll=-0.2773 right_gripper=0.9965 state[joint_eff]: [-0.253, -1.3744, 7.1453, 1.6093, -0.0611, -0.0366, -0.0122, -0.3214, -11.0291, 7.1043, 0.5983, 0.1978, -0.0415, -0.0024] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.287,"right_y":0.377,"right_z":0.025},"note":"The yellow fruit is now close to the jaw column at the bottom of the wrist view. I’ll make a small final alignment and lower around its middle."})
tool
executing move_to over 6 steps (0.6s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe right arm has stalled high above the yellow fruit at its lateral reach limit. I’ll park it and switch to the left arm, which can approach this center-table position more directly.
move_to
right_x0.2950right_y0.0000right_z0.1850left_x0.2800left_y-0.2700left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4763, -0.0113, -0.0338, 0.999, 1.0954, 2.0502, 1.697, -0.9775, 0.5186, 0.6243, 0.9965] state[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1598 left_yaw=0.0008 left_pitch=-0.1083 left_roll=-0.0013 left_gripper=0.999 right_x=0.2785 right_y=0.3576 right_z=0.1008 right_yaw=0.2035 right_pitch=-0.4683 right_roll=-0.2906 right_gripper=0.9965 state[joint_eff]: [-0.1436, -1.2376, 6.9402, 1.6142, -0.0464, -0.022, -0.0122, 0.0479, -11.1932, 7.9658, 0.735, 0.2857, -0.022, -0.0122] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.185,"left_x":0.28,"left_y":-0.27,"left_z":0.14},"note":"The right arm has stalled high above the yellow fruit at its lateral reach limit. I’ll park it and switch to the left arm, which can approach this center-table position more directly."})
tool
executing move_to over 30 steps (3.0s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe left wrist camera now shows the yellow fruit directly under its open jaws near the lower edge. I’ll lower the left gripper to the fruit’s mid-height.
move_to
left_z0.0320
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0859, 1.5791, 1.0527, -0.543, -0.7326, -0.886, 0.999, 0.0437, 1.1755, 1.0485, -0.9245, 0.0921, -0.35, 0.9965] state[eef_state]: left_x=0.2759 left_y=-0.2626 left_z=0.1283 left_yaw=-0.0107 left_pitch=-0.1416 left_roll=0.0167 left_gripper=0.999 right_x=0.2913 right_y=0.0001 right_z=0.1707 right_yaw=0.1628 right_pitch=-0.51 right_roll=-0.2896 right_gripper=0.9965 state[joint_eff]: [-0.5949, -6.6803, 8.8137, 1.0965, -0.6276, -0.0171, -0.0171, -0.4034, -5.0667, 8.8547, 1.2576, -0.0562, 0.022, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.032},"note":"The left wrist camera now shows the yellow fruit directly under its open jaws near the lower edge. I’ll lower the left gripper to the fruit’s mid-height."})
tool
executing move_to over 7 steps (0.7s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteAt grasp height the yellow fruit sits a little right of the left gripper’s center. I’ll lift clear, shift about 2 cm toward it, then descend again to avoid pushing it sideways.
move_to
left_z0.0900left_x0.2810left_y-0.2780
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]: [-1.0889, 1.7454, 0.8429, -0.21, -0.7319, -0.8944, 0.999, 0.0441, 1.1744, 1.0485, -0.9329, 0.0811, -0.374, 0.9965] state[eef_state]: left_x=0.2718 left_y=-0.2572 left_z=0.0363 left_yaw=-0.0038 left_pitch=-0.1624 left_roll=0.0484 left_gripper=0.999 right_x=0.2894 right_y=0.002 right_z=0.1698 right_yaw=0.189 right_pitch=-0.5195 right_roll=-0.2907 right_gripper=0.9965 state[joint_eff]: [0.0205, -6.9538, 4.8615, 1.1551, -0.3443, 0.0366, -0.0122, -0.1026, -3.412, 6.4479, 1.2723, 0.1538, 0.1978, -0.0073] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"left_x":0.281,"left_y":-0.278},"note":"At grasp height the yellow fruit sits a little right of the left gripper’s center. I’ll lift clear, shift about 2 cm toward it, then descend again to avoid pushing it sideways."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe yellow fruit is centered under the left jaws after the adjustment. I’ll lower straight down for a centered grasp.
move_to
left_z0.0240
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]: [-1.0901, 1.7454, 1.0157, -0.3794, -0.7254, -0.9035, 0.999, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3752, 0.9965] state[eef_state]: left_x=0.2821 left_y=-0.2798 left_z=0.0724 left_yaw=-0.0038 left_pitch=-0.1658 left_roll=0.0357 left_gripper=0.999 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1901 right_pitch=-0.52 right_roll=-0.2905 right_gripper=0.9965 state[joint_eff]: [-0.5949, -10.0991, 6.9812, 0.823, -0.4713, 0.0611, -0.0122, -0.1846, -3.3846, 6.4479, 1.1941, -0.0317, -0.0317, -0.0073] 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":{"left_z":0.024},"note":"The yellow fruit is centered under the left jaws after the adjustment. I’ll lower straight down for a centered grasp."})
tool
executing move_to over 4 steps (0.4s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe left jaws now straddle the yellow fruit at table level. I’ll close them and check the resulting jaw opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0897, 1.8473, 0.9321, -0.2588, -0.7174, -0.9058, 0.999, 0.0437, 1.1744, 1.0485, -0.9333, 0.0807, -0.3756, 0.9965] state[eef_state]: left_x=0.2762 left_y=-0.2703 left_z=0.0211 left_yaw=0.0046 left_pitch=-0.2022 left_roll=0.0891 left_gripper=0.999 right_x=0.2893 right_y=0.002 right_z=0.1698 right_yaw=0.1899 right_pitch=-0.5201 right_roll=-0.2911 right_gripper=0.9965 state[joint_eff]: [-0.335, -8.6496, 5.6137, 1.2527, -0.4029, -0.0024, -0.0122, -0.1026, -3.5214, 6.5162, 1.16, 0.0366, -0.0464, -0.0122] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws now straddle the yellow fruit at table level. I’ll close them and check the resulting jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe left gripper stopped substantially open, consistent with holding the yellow fruit. I’ll lift it to verify that it leaves the table.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0889, 1.8568, 0.923, -0.2462, -0.7261, -0.91, 0.482, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3782, 0.9965] state[eef_state]: left_x=0.2764 left_y=-0.2677 left_z=0.0172 left_yaw=0.0129 left_pitch=-0.1975 left_roll=0.0953 left_gripper=0.482 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1919 right_pitch=-0.5205 right_roll=-0.2922 right_gripper=0.9965 state[joint_eff]: [-0.1846, -9.2376, 6.0376, 0.7741, -0.3346, 0.0171, 0.9206, -0.1983, -3.4667, 6.6667, 1.1551, -0.0122, -0.0513, -0.0171] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The left gripper stopped substantially open, consistent with holding the yellow fruit. I’ll lift it to verify that it leaves the table."})
tool
executing move_to over 11 steps (1.1s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe yellow fruit rose with the left gripper. The blue bowl is near the left arm’s sideways limit, so I’ll carry the fruit over the bowl’s near edge at a safe height.
move_to
left_x0.4050left_y-0.3950left_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]: [-1.0889, 1.6627, 1.314, -0.8356, -0.7174, -0.9173, 0.4817, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3782, 0.9965] state[eef_state]: left_x=0.2783 left_y=-0.2737 left_z=0.1595 left_yaw=0.0136 left_pitch=-0.2063 left_roll=0.0901 left_gripper=0.4817 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1919 right_pitch=-0.5205 right_roll=-0.2922 right_gripper=0.9965 state[joint_eff]: [-0.0889, -9.9077, 8.1573, 0.7546, -0.5201, 0.0171, -0.0366, -0.0615, -3.5761, 6.4752, 1.1258, -0.0366, -0.0708, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.395,"left_z":0.19},"note":"The yellow fruit rose with the left gripper. The blue bowl is near the left arm’s sideways limit, so I’ll carry the fruit over the bowl’s near edge at a safe height."})
tool
executing move_to over 11 steps (1.1s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
assistant
agent noteFrom the left wrist view, the blue bowl lies directly under the carried yellow fruit. I’ll lower the fruit inside the rim before releasing it.
move_to
left_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9791, 2.4271, 2.487, -1.1507, -0.6647, -0.8146, 0.4817, 0.0437, 1.1763, 1.0485, -0.9447, 0.0803, -0.3782, 0.9965] state[eef_state]: left_x=0.4041 left_y=-0.3995 left_z=0.1742 left_yaw=0.023 left_pitch=-0.2051 left_roll=0.0579 left_gripper=0.4817 right_x=0.287 right_y=0.002 right_z=0.1679 right_yaw=0.1931 right_pitch=-0.5337 right_roll=-0.2899 right_gripper=0.9965 state[joint_eff]: [0.4308, -13.6137, 6.3658, 0.0122, -0.398, 0.2466, -0.0073, -0.3487, -3.7128, 6.7077, 1.2772, 0.0122, 0.0122, -0.0073] 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":{"left_z":0.095},"note":"From the left wrist view, the blue bowl lies directly under the carried yellow fruit. I’ll lower the fruit inside the rim before releasing it."})
tool
executing move_to over 6 steps (0.6s)
step 218
assistant
agent noteThe yellow fruit is lowered over the visible blue bowl. I’ll open the left gripper to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9764, 2.4039, 2.0876, -0.86, -0.6579, -0.8116, 0.4817, 0.0437, 1.1763, 1.0485, -0.944, 0.0803, -0.3782, 0.9965] state[eef_state]: left_x=0.399 left_y=-0.3911 left_z=0.0768 left_yaw=0.0373 left_pitch=-0.2561 left_roll=0.1309 left_gripper=0.4817 right_x=0.2871 right_y=0.002 right_z=0.168 right_yaw=0.193 right_pitch=-0.5329 right_roll=-0.29 right_gripper=0.9965 state[joint_eff]: [-0.5265, -16.841, 5.7094, 1.0672, -0.4322, -0.0806, -0.0122, -0.212, -3.5761, 6.6667, 1.2088, 0.0317, -0.0269, -0.0073] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The yellow fruit is lowered over the visible blue bowl. I’ll open the left gripper to drop it in."})
tool
executing move_to over 6 steps (0.6s)
step 224
assistant
agent noteThe yellow fruit has been released; the remaining brown fruit is to the left on the table. I’ll lift clear of the bowl and bring the open left gripper over it.
move_to
left_x0.3020left_y-0.1050left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9771, 2.4039, 2.0663, -0.8555, -0.6571, -0.8162, 0.9957, 0.0437, 1.1763, 1.0485, -0.944, 0.0803, -0.3782, 0.9965] state[eef_state]: left_x=0.3966 left_y=-0.3884 left_z=0.07 left_yaw=0.0425 left_pitch=-0.2653 left_roll=0.1421 left_gripper=0.9957 right_x=0.2871 right_y=0.002 right_z=0.168 right_yaw=0.193 right_pitch=-0.5329 right_roll=-0.29 right_gripper=0.9965 state[joint_eff]: [0.0889, -13.8872, 8.1709, 0.9109, -0.3932, 0.0317, -0.1538, -0.1846, -3.3983, 6.4615, 1.1355, -0.022, -0.0611, -0.0073] 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":{"left_x":0.302,"left_y":-0.105,"left_z":0.14},"note":"The yellow fruit has been released; the remaining brown fruit is to the left on the table. I’ll lift clear of the bowl and bring the open left gripper over it."})
tool
executing move_to over 26 steps (2.6s)
step 250
assistant
agent noteThe brown fruit is visible ahead and slightly right in the left wrist camera. I also see the yellow fruit still outside the bowl, so I’ll return for it after grasping the brown one. First I’ll center over the brown fruit.
move_to
left_x0.3300left_y-0.1400left_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6178, 1.2602, 0.8703, -0.6006, -0.498, -0.4667, 0.9966, 0.0437, 1.1805, 1.0485, -0.9474, 0.0803, -0.3786, 0.9965] state[eef_state]: left_x=0.3055 left_y=-0.1092 left_z=0.1375 left_yaw=0.0669 left_pitch=-0.2624 left_roll=0.1314 left_gripper=0.9966 right_x=0.2866 right_y=0.0019 right_z=0.1665 right_yaw=0.1939 right_pitch=-0.5405 right_roll=-0.2889 right_gripper=0.9965 state[joint_eff]: [0.1162, -5.1487, 6.3932, 1.2967, -0.0855, 0.1783, 0.0855, -0.0889, -3.9453, 6.653, 1.2088, 0.0171, -0.0415, -0.0073] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.14,"left_z":0.105},"note":"The brown fruit is visible ahead and slightly right in the left wrist camera. I also see the yellow fruit still outside the bowl, so I’ll return for it after grasping the brown one. First I’ll center over the brown fruit."})
tool
executing move_to over 3 steps (0.3s)
step 253
assistant
agent noteThe brown fruit is now near the jaws but still a little right of center. I’ll make a small leftward correction and lower around its middle.
move_to
left_x0.3370left_y-0.1510left_z0.0340
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]: [-0.6529, 1.4395, 0.8734, -0.5068, -0.4999, -0.4843, 0.9968, 0.0437, 1.182, 1.0485, -0.9489, 0.0803, -0.3786, 0.9965] state[eef_state]: left_x=0.3172 left_y=-0.1315 left_z=0.0953 left_yaw=0.0589 left_pitch=-0.3231 left_roll=0.1761 left_gripper=0.9968 right_x=0.2864 right_y=0.0019 right_z=0.1659 right_yaw=0.1942 right_pitch=-0.5435 right_roll=-0.2883 right_gripper=0.9965 state[joint_eff]: [-0.1299, -8.4855, 7.5009, 1.2918, -0.5104, -0.1343, 0.0024, -0.3487, -3.4803, 6.4205, 1.1795, 0.0024, -0.0415, -0.0073] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.337,"left_y":-0.151,"left_z":0.034},"note":"The brown fruit is now near the jaws but still a little right of center. I’ll make a small leftward correction and lower around its middle."})
tool
executing move_to over 4 steps (0.4s)
step 257
assistant
agent noteThe brown fruit is between the left jaws at table height. I’ll close the gripper and test whether it holds.
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]: [-0.6617, 1.6508, 0.8265, -0.3195, -0.5026, -0.5014, 0.9968, 0.0437, 1.182, 1.0485, -0.9482, 0.0803, -0.3782, 0.9965] state[eef_state]: left_x=0.3264 left_y=-0.1418 left_z=0.0315 left_yaw=0.0787 left_pitch=-0.3729 left_roll=0.2169 left_gripper=0.9968 right_x=0.2865 right_y=0.0019 right_z=0.166 right_yaw=0.1939 right_pitch=-0.5427 right_roll=-0.2883 right_gripper=0.9965 state[joint_eff]: [-0.5949, -8.0342, 5.4222, 1.3553, -0.2662, 0.0122, -0.0073, -0.1162, -3.453, 6.4205, 1.1502, -0.0122, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":0},"note":"The brown fruit is between the left jaws at table height. I’ll close the gripper and test whether it holds."})
tool
executing move_to over 10 steps (1.0s)
step 267
assistant
agent noteThe brown-fruit close was empty; the fruit slipped out of the jaws. I’ll reopen and clear the view so I can locate it accurately before another attempt.
move_to
left_gripper1.0000left_x0.2900left_y-0.0300left_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]: [-0.6617, 1.6752, 0.8188, -0.3172, -0.4999, -0.5026, 0.009, 0.0437, 1.182, 1.0485, -0.9482, 0.0803, -0.3786, 0.9965] state[eef_state]: left_x=0.3228 left_y=-0.1395 left_z=0.0213 left_yaw=0.0857 left_pitch=-0.3963 left_roll=0.236 left_gripper=0.009 right_x=0.2865 right_y=0.0019 right_z=0.166 right_yaw=0.1941 right_pitch=-0.5428 right_roll=-0.2885 right_gripper=0.9965 state[joint_eff]: [-0.1026, -8.9504, 6.188, 0.9304, -0.315, 0.0171, 0.6422, -0.1026, -3.6171, 6.4479, 1.1551, 0.0024, -0.0806, -0.0073] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.29,"left_y":-0.03,"left_z":0.15},"note":"The brown-fruit close was empty; the fruit slipped out of the jaws. I’ll reopen and clear the view so I can locate it accurately before another attempt."})
tool
executing move_to over 10 steps (1.0s)
step 277
assistant
agent noteThe brown fruit is still on the table at the left, behind the previous jaw position. I’ll approach a few centimeters closer to the bases and align laterally before descending.
move_to
left_x0.2800left_y-0.1250left_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.3439, 1.1786, 0.8719, -0.7406, -0.3683, -0.2302, 0.9946, 0.0441, 1.1858, 1.0485, -0.9512, 0.0803, -0.3782, 0.9965] state[eef_state]: left_x=0.2939 left_y=-0.0339 left_z=0.1359 left_yaw=0.119 left_pitch=-0.3916 left_roll=0.2228 left_gripper=0.9946 right_x=0.2861 right_y=0.002 right_z=0.1646 right_yaw=0.1949 right_pitch=-0.5495 right_roll=-0.2871 right_gripper=0.9965 state[joint_eff]: [0.1573, -4.3829, 8.8957, 1.0818, -0.1392, 0.1294, -0.0269, -0.0752, -3.7265, 6.4615, 1.1551, 0.022, -0.0464, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.125,"left_z":0.105},"note":"The brown fruit is still on the table at the left, behind the previous jaw position. I’ll approach a few centimeters closer to the bases and align laterally before descending."})
tool
executing move_to over 9 steps (0.9s)
step 286
assistant
agent noteThe brown fruit is fully visible in the left wrist camera, to the right of the jaw column and still ahead of the fingertips. I’ll shift right toward it and advance slightly while lowering.
move_to
left_x0.3050left_y-0.1500left_z0.0530
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7124, 1.3701, 0.8783, -0.754, -0.5014, -0.5655, 0.996, 0.0437, 1.1858, 1.0485, -0.9554, 0.0807, -0.3786, 0.9965] state[eef_state]: left_x=0.2723 left_y=-0.1183 left_z=0.0949 left_yaw=0.0945 left_pitch=-0.4388 left_roll=0.254 left_gripper=0.996 right_x=0.2852 right_y=0.0018 right_z=0.1642 right_yaw=0.1947 right_pitch=-0.5538 right_roll=-0.2869 right_gripper=0.9965 state[joint_eff]: [-0.2667, -4.7658, 8.841, 0.8913, -0.4567, -0.1148, 0.1343, -0.0752, -3.4667, 6.5983, 1.1746, 0.0073, -0.0611, -0.0122] camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.15,"left_z":0.053},"note":"The brown fruit is fully visible in the left wrist camera, to the right of the jaw column and still ahead of the fingertips. I’ll shift right toward it and advance slightly while lowering."})
tool
executing move_to over 3 steps (0.3s)
step 289
assistant
agent noteThe brown fruit has moved nearer the fingertips but remains slightly right of center in the wrist view. I’ll make one small centering adjustment and descend to grasp height.
move_to
left_x0.3120left_y-0.1620left_z0.0270
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7223, 1.5848, 0.894, -0.6373, -0.5049, -0.5949, 0.9962, 0.0437, 1.1881, 1.0485, -0.9577, 0.0807, -0.3782, 0.9965] state[eef_state]: left_x=0.2874 left_y=-0.1346 left_z=0.0482 left_yaw=0.1341 left_pitch=-0.4877 left_roll=0.3074 left_gripper=0.9962 right_x=0.2848 right_y=0.0018 right_z=0.1633 right_yaw=0.1949 right_pitch=-0.5582 right_roll=-0.2859 right_gripper=0.9965 state[joint_eff]: [-0.0752, -8.9504, 8.3077, 0.6813, -0.4176, 0.1148, 0.0024, -0.1983, -3.5761, 6.5983, 1.2527, 0.0122, -0.0562, -0.0171] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.312,"left_y":-0.162,"left_z":0.027},"note":"The brown fruit has moved nearer the fingertips but remains slightly right of center in the wrist view. I’ll make one small centering adjustment and descend to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 292
assistant
agent noteThe brown fruit is now centered between the left jaws near their tips. I’ll close the gripper and check for a secure hold.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7307, 1.737, 0.963, -0.5873, -0.5003, -0.6075, 0.9962, 0.0437, 1.1893, 1.0485, -0.9607, 0.0807, -0.3786, 0.9965] state[eef_state]: left_x=0.3028 left_y=-0.1528 left_z=0.024 left_yaw=0.1443 left_pitch=-0.5105 left_roll=0.3258 left_gripper=0.9962 right_x=0.2842 right_y=0.0018 right_z=0.1626 right_yaw=0.1956 right_pitch=-0.5624 right_roll=-0.2854 right_gripper=0.9965 state[joint_eff]: [-0.4991, -8.0889, 7.2821, 0.5495, -0.398, -0.0611, -0.0122, -0.2803, -3.3846, 6.4752, 1.1795, 0.022, -0.0513, -0.0073] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown fruit is now centered between the left jaws near their tips. I’ll close the gripper and check for a secure hold."})
tool
executing move_to over 10 steps (1.0s)
step 302
assistant
agent noteThe brown fruit again slipped out, and the wrist view suggests the jaws were too far forward when they closed. I’ll reopen and move about 4 cm back toward the bases for a better-centered grasp.
move_to
left_gripper1.0000left_x0.2680left_y-0.1600left_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7319, 1.7664, 0.973, -0.5785, -0.5007, -0.6182, 0.0092, 0.0441, 1.1896, 1.0485, -0.963, 0.0803, -0.3786, 0.9965] state[eef_state]: left_x=0.3047 left_y=-0.1549 left_z=0.018 left_yaw=0.1543 left_pitch=-0.5152 left_roll=0.3296 left_gripper=0.0092 right_x=0.2837 right_y=0.0019 right_z=0.1623 right_yaw=0.1966 right_pitch=-0.565 right_roll=-0.2845 right_gripper=0.9965 state[joint_eff]: [-0.6222, -8.253, 7.5282, 0.7106, -0.398, 0.0562, 0.6178, -0.0752, -3.7265, 6.3932, 1.1355, -0.0171, -0.0757, -0.0122] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.268,"left_y":-0.16,"left_z":0.045},"note":"The brown fruit again slipped out, and the wrist view suggests the jaws were too far forward when they closed. I’ll reopen and move about 4 cm back toward the bases for a better-centered grasp."})
tool
executing move_to over 10 steps (1.0s)
step 312
assistant
agent noteThe brown fruit now fills the space between the open left jaws rather than sitting behind them. I’ll close at this retracted position.
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]: [-0.8261, 1.6714, 0.9611, -0.7139, -0.5018, -0.7158, 0.9951, 0.0441, 1.1915, 1.0485, -0.9665, 0.0803, -0.3786, 0.9965] state[eef_state]: left_x=0.2712 left_y=-0.1636 left_z=0.038 left_yaw=0.1424 left_pitch=-0.5293 left_roll=0.3251 left_gripper=0.9951 right_x=0.283 right_y=0.0019 right_z=0.1614 right_yaw=0.1971 right_pitch=-0.5703 right_roll=-0.2835 right_gripper=0.9965 state[joint_eff]: [-0.6359, -8.5675, 5.1077, 0.4322, -0.4664, -0.1587, -0.0806, -0.1573, -3.8496, 6.3932, 1.1404, -0.022, -0.0659, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown fruit now fills the space between the open left jaws rather than sitting behind them. I’ll close at this retracted position."})
tool
executing move_to over 10 steps (1.0s)
step 322
assistant
agent noteThe brown fruit stayed under the closing jaws, but they closed above it. I’ll reopen and lower to table level so the fingertips can engage its sides.
move_to
left_gripper1.0000left_z-0.0050
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]: [-0.8291, 1.6669, 0.9611, -0.7181, -0.5003, -0.7227, 0.0091, 0.0441, 1.1915, 1.0485, -0.9668, 0.0803, -0.3786, 0.9965] state[eef_state]: left_x=0.2702 left_y=-0.1641 left_z=0.0391 left_yaw=0.1425 left_pitch=-0.5292 left_roll=0.32 left_gripper=0.0091 right_x=0.2829 right_y=0.0019 right_z=0.1614 right_yaw=0.1971 right_pitch=-0.5707 right_roll=-0.2835 right_gripper=0.9965 state[joint_eff]: [0.1162, -6.694, 5.641, 0.5739, -0.3297, 0.0806, 0.652, -0.0342, -3.5077, 6.694, 1.1453, 0.0024, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_z":-0.005},"note":"The brown fruit stayed under the closing jaws, but they closed above it. I’ll reopen and lower to table level so the fingertips can engage its sides."})
tool
executing move_to over 10 steps (1.0s)
step 332
assistant
agent noteThe left fingertips are now at the brown fruit’s base with the fruit between them. I’ll close once more and 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]: [-0.8291, 1.7317, 0.8898, -0.5518, -0.5159, -0.7334, 0.9949, 0.0437, 1.1915, 1.0485, -0.9668, 0.0803, -0.3786, 0.9965] state[eef_state]: left_x=0.276 left_y=-0.1669 left_z=0.0097 left_yaw=0.1422 left_pitch=-0.4978 left_roll=0.2955 left_gripper=0.9949 right_x=0.2829 right_y=0.0018 right_z=0.1614 right_yaw=0.1968 right_pitch=-0.5707 right_roll=-0.2835 right_gripper=0.9965 state[joint_eff]: [-0.2667, -4.7795, 3.6581, 0.5446, -0.0952, 0.0952, -0.0464, -0.1983, -3.6991, 6.3932, 1.1111, -0.0171, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingertips are now at the brown fruit’s base with the fruit between them. I’ll close once more and check whether it is held."})
tool
executing move_to over 10 steps (1.0s)
step 342
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]: [-0.8291, 1.7317, 0.886, -0.5453, -0.5114, -0.7338, 0.0086, 0.0437, 1.1915, 1.0485, -0.9672, 0.0803, -0.3782, 0.9965] state[eef_state]: left_x=0.2755 left_y=-0.1675 left_z=0.0087 left_yaw=0.139 left_pitch=-0.4999 left_roll=0.2899 left_gripper=0.0086 right_x=0.2829 right_y=0.0018 right_z=0.1613 right_yaw=0.1966 right_pitch=-0.571 right_roll=-0.2832 right_gripper=0.9965 state[joint_eff]: [-0.1573, -7.3368, 5.5453, 0.5592, -0.3541, -0.022, 0.6471, -0.2393, -3.6718, 6.4342, 1.1062, 0.0171, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [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 · 6.843 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, 0.7998, 0.6136, -0.3824, -0.012, -0.0299, 0.9991, -0.0227, 0.7994, 0.6182, -0.3912, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0003 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2954 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.7299, 9.5658, 1.7753, -0.1197, 0.1294, -0.1001, -0.4171, -1.3197, 9.1966, 1.873, -0.0562, -0.0269, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af44821dc7925f4674c856975d2e24c4128e47057beb70b2dbc0becb5f1cd191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0e42350931ea326612d0fc7ae783fc8400cc10204945a7e543d70261157915d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c96194bad55c80353c2d7026bcafbf824aa1871ad594f072600cd17360134f",
      "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 · 3.937 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtDj72Qw2lGUYKyUkk-tHrqKvhmtEPpn05CxU_rudFLi2L2KZ7fcz6LYBzMjzvYXmE6upyG48Wvu5G7bHKWJQnSnOuu7X3Wr3xw8PdvaMjJUo6oxsBM7s2Oso5m4TPTvjNtI0CMh6533VsVwf7hyC5kbwxOtH7qSa0ChJkItf4WBpa3jOjZPKFIDDZAoYNjSzb-tRAkkjcB9ZlqbWAfVpoidHzQl0ftu5nlBl5TGN2XfCVhmtrZNDHu1eLBh2HNnZfTuINej1WugWEaC8W8NEMCOjYHT-YhW0JGLF-qOUkQ8zvOmkJCUoUTVA1Zj9EK0GfiAy19kzgXFwYvSCr49nFUQzunKtOn42g-PW1ixyc_EuDkGtXlWkifrpyjzfPw-EICeZBKi-a-biQ4oKCzsW3xkjGWAsF0Y5V994toGCZNXO5V0S8g8eY3ZozdrOwbL00h-uHGdlFQgb2vTPYxFUqVc0nMpQFTTit9vNLYykXy1XIZIYvIWtd4gVCh2DHkhI9napHOrAo0pL9EV9GrzbsvS9k2IwCw0AB5i_8XKz3PoNQQY4nvMn5XQJdedZCBSRrnJ7fBsbaYnciRK_DXmhh7e3XOYO7bPKHeHXLhhbvxnNY5P1x8lc55MEU8GBMe2sPmG9tmPGCaujvmIfmpBzYGwpJciDg2TLEwXCXEmcGLSpaSj4E_EzpLpMC9HnwwcmJUHecDrfpywiZiJPLjT8S6WSmZfpOD8AIgScnWAVSNXRJfuQ1esdvib4bhggL0vq50AY5bQYja1yyGFnS5lrSgg6ssxr-PLJJ7JtXsenH6qqhbSsAOzoOGX28damU8e5L3cNF_7Z0UpjCbl4aEl94V7HuEDcQ53cSrCUpc2dnaL8Ip8OWAgt1umM-tgIFHAB5G-tueSjbkpA09H7Qfxd5i6qEWqHNQeeqFERcBFyVqO2sOJQ3DgQlnq9QZ-gRTdC9okv-heCOTR_nF-L3vh1KqP0RRLqm8DbZkKGh6LcoR4q_cv4ijAOMZnHTb8klWGjeaIwZymUWEEqO03B9j0tyw83koO8aQk8Dxl9VruXVlJTng3rsluNIY9GmU4CLaLOvIBPTn2vUK0Ut7hBzrBKQnXZwAxyOOQfZ0LGfhb5behM5ievLKPZDVhI1XlHzc82SHhGEAxp_vLv7ki33SRl2cOtXMyLfOUe6hzIIUkOc06NJQnIV09EV__VIEwujODRPpHfT5AkjyHY2-BEM3h9ZU0wmRCXe8CEIKPrgNk8ZV6Dis6XFadIhe90Wb90IpIuunz2Vt7LfIxY30Fc77sujzQASkuonYsPpqg2EgCN05-Zdj2kZuwX1Gi7x_0SqBouMq7Wk4xyocZxAW7Z4QKVi1rPPBmw_sbHcLLb6wtTcZzgAOBVaLc9s2pqBos573R7ZJAm1ZNGpKz5HFUiFQvWr9cLRgH1Z9GI4Y2uEYqLLveYsqydDQxaNbiDQa_IGTN9U4Tw5ByvjlhSwnc-8QtVshI3hSn8Q-OeEeNexZDHtabDWz8VpijBRZtCHF4zFJErqs-L460xOh6YwuVsgt9cK1xxx1YTkB1uBUJJe15oQ3COgr_4CMAMdIPQYBC5n_T_-7LEf_Yc4cQzL9Ee_2nCSZ2iPUnmAbRJ4VZOLDTTFWSSZFkl0ZZkrJOJfsqdi8ngoMAaIOr8jAx55ziI8XVVui0CGky5-VIzrngGfIwNbrTO-HRxReRkmys_etkFO-roDR1FuEnaqTGxo0-LpJQEPBGnV2M23ZOT2tL_wgKiF9QfW_EGWEWw_rr4IGu6jdrpVjHa86WP2PBLJz5BCgmtKLVc0156uDH_dymeJoeOmSGpgTjGVMWqBmAjWfH1burESwvro3eEsA2xYTy7maosqi_Uy_swh-flxLeZ2FQb4guWCYPqBa_WBO0XOImrwjJLHG7XDqZagNVHU2fIs4TAYv3faMoTXh5dF380u-2NlxLgOt5u4THt5hq_rVqT-aT3kdl0LgZCAN39SVI5KWTzK2iqQ6LvcsGW_lFb83Inbejh9w80BMLeQMz-pGEu2KGuF8qMtD_28dOLVRpQZoTPfVr9s3vhBlyEhh4QyR_yHByGjSzz_v6JX66R_0_0ehZWo6EhPTJ7n21zRiY-kpqwuhWkxXT_5gDpGd_fXV4cS1WI9P61ZCWLsnlaDHmG0qnvtaz-m_VJZzHGhRgQSO-iuiT6TJhzBghGz-0GVMAbtG5Fck1zOWxqFtTxwAxCexJFYFkkBguPUn0pkI7NR-BiTRJvSHvcSGya_FpfmlyH1NuB6_gVvhMb7olQjLN5wFGqsfIYHv1n3b0eWhAJ4FK5LwY0fgc1rdnkLE643YSf9MnD19B8_EDf4tBDyfpAC0LhKAuLL3-hgYv0dQ6AbHRLjgMfKLTfwQnx7XOUIHcMaO3EWc4Yu7800fcXejeacEVpd8i5Yvn7bIMgfVP0mNykPiC6sHvh74lmsc89CVkq_cC6281akHNOXwUb_DR1k71k4cy_AwiRkn-GzuPCnQMQmLtBYcIx3qIqx7DB-Pil82WMCcKLNCvDCUo0l9MOm7TBuB-8l83SBxvOY-cHHgto8CbvO1J4VOa4X0YZmO8-9uFHEeLtcFmU_zzUUtF1z9QtXvXsZhBjpFaiCXSK6-ezuFsD0UaQxqup4FyBvi1vw4AyK9MhMLE0BEWsyjSNEQnFU1O8pNUoFHXLLK9i-bRDwhIqvFKqaJ0WwTh0GQ3zn1QQUX9AkcJWyp_lkZnCeP4Rn8u7BgZ7ys1-M1wx6AXpRFN2VzUBbc9yBOqjMHAZYaJbjIot_FmcOPSm46F_DgQt5ljcAvXNFO5xrfo-F_I6GR6mJUyPUGRG2I29SzeI38fC--_glIHRdtl8nS7RIAYpaRgomaxb4VX2QeCrE6m0V3TTeAIvdnoKG6z--tYcmzg9_KQhaMH1fAOS1fnX2oUUvUF6yCIxee_F82oT7v_AW-DoJdz5LopOGalc5o8Adpxrih5sPatXkrEosBRbXYb-T9CrS75ApAuEd_X-aJ_VHYPgJPr5XlKhC9J4NBLAMyXNzCNifzUl2BjubTAJlcsU12g7I8cUh1WGaStkXWBv454z81mhF-sAa7MgmY6RjmQUOwiHfWZhO-kkt_vMCLACh1XlodNVT__cxrX6XlQrOpvtkyHS6n27FUcZBQ3SJfhuD5jH7GOUdOI2k_bk2CDND6_wJu3d-14nopKTdYB7MVdXJfkYF8btPcWYjDDZ58Aq4GSqHt-kFdHpJqnqvT8g-ggscqOwxrCrzFAMXdzWQmTXn9FKB7J-otRbGQR58GDkYngm9bmcRy3y07HwnlKdDdCh2XDQmbc5jUkOKkFj3eUIJLMxCP3pG4HEbJOL1ioVoTExtXNBsme_3FJcqIP9c9AkjFEH8732owVpBkM4rT7fmRz_wqr5xMrCJDW0svLJTZKbOgxZKPv_qRotOLvYrBKYrBU0TwvQ41cKkNDdUVAYhw==",
  "id": "rs_0f6042e3193e95e9016ab438f60de087d0ae32ebe5ed8d7639",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.08,\"right_z\":0.14},\"note\":\"The green fruit is on the right side of the table, with the blue bowl behind it. I’ll bring the right gripper above the fruit, keeping it open for alignment.\"}",
  "call_id": "call_0q60pnH0bQHdWUVo9G1yDHnW",
  "id": "fc_0f6042e3193e95e9016ab438fb1df887d087e084548c400089",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0q60pnH0bQHdWUVo9G1yDHnW",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8021, 0.6147, -0.3977, -0.0116, -0.0307, 0.999, 0.4152, 1.0527, 0.5514, -0.1425, 0.3218, 0.2108, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0006 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0005 left_gripper=0.999 right_x=0.3168 right_y=0.0825 right_z=0.1338 right_yaw=0.0283 right_pitch=-0.0336 right_roll=-0.0209 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -1.4564, 6.9402, 1.9023, -0.0562, -0.0024, -0.0171, -0.1573, -3.2615, 6.7077, 1.873, 0.2369, 0.188, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc88f60f90857e6e6babaa8ae7fae69600b30ce312e1fa05aab9c1b080722ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5201af91f5d4d92e1e92f8b2e80bf4dc8ea91ba1627ce6174c103d612fbf9795",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cb72c4098693162d878a6611ce0e8d43a1d7a6d4bea458b6351708f7f24903b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 1.924 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, 0.7998, 0.6136, -0.3824, -0.012, -0.0299, 0.9991, -0.0227, 0.7994, 0.6182, -0.3912, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0003 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2954 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.7299, 9.5658, 1.7753, -0.1197, 0.1294, -0.1001, -0.4171, -1.3197, 9.1966, 1.873, -0.0562, -0.0269, -0.0757]",
      "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]: [-0.0212, 0.8021, 0.6147, -0.3977, -0.0116, -0.0307, 0.999, 0.4152, 1.0527, 0.5514, -0.1425, 0.3218, 0.2108, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0006 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0005 left_gripper=0.999 right_x=0.3168 right_y=0.0825 right_z=0.1338 right_yaw=0.0283 right_pitch=-0.0336 right_roll=-0.0209 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -1.4564, 6.9402, 1.9023, -0.0562, -0.0024, -0.0171, -0.1573, -3.2615, 6.7077, 1.873, 0.2369, 0.188, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc88f60f90857e6e6babaa8ae7fae69600b30ce312e1fa05aab9c1b080722ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5201af91f5d4d92e1e92f8b2e80bf4dc8ea91ba1627ce6174c103d612fbf9795",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cb72c4098693162d878a6611ce0e8d43a1d7a6d4bea458b6351708f7f24903b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDkDC4Ha6U6krSRw__sLynAZ9nGWMfz9d4KcctmN-P3AUnq618Nls28t1TuEBOIGrwZiavdB14Cnl7iIMxplvO7YXkgv7qQQsmWoLRuiZsBP8u3LhZQQD_BLzXiNAsNvS-yFQQX2Ii7AKhyAHSPS6X8KOML6GizOPggdftrVD5pWgGX0H53cIQPRNdpxAL_-8poNkQe0OEnkOt7dIhLfOMll-PdQmat0MUw0kN0z6YnDqDeZT8MkRIje3O3y5a_6vfwJ9jf1ffPnUv10uITACbJ4e4cFeHVRne-s-CfyqkBTdzX3LqrrY3BLrnX44SeJ-uOTLgVsWqkjGFyd19wUVdY5ko9NKq2pgNsdPRBkvyjEOfoZiYiAkzxEduOVAOmXOOJmfC8d4bwhBQKBE_Om1w8dbINPZkMy87jGpuv3TYZXAQ3vS2gK2BGq6X6xarfH1CukrUE5AfGlVAAupAD5piPjvDwHGN1p8IGX9ShXT8p7vJTpAFDYilZqK9zKJ5KQ0jbS7XuMcptv0xkXetGVfg_4Io9ZuXnfJ21aMvaSJ8r__6DGFZeFAc2wOSLObWuCF5sUQGbdsUHoqoLYxM84QmKALHmy3qK6BlEiVy4szXH7a8P4hRS8eSbxssWA_I4uhB_cX0v7ZtlivEVUICRCQLPsN3RR25XqLzWU4WQfLH-etbzthpeFmR6bTJ89lFfXlEEudIxNgfKWzn3nnTU1VWChkEV5Di_ZiZIUuL2MCSWAtfKk-Y35Y23uqD-M-yGy_mpG-WccRm-qFJZuBPFhyCnvdIhOImw_c-ezEOF285Mn2lDRY3NlXGJxOW-mF69pZ9xt4cThCy1WyxcLLmvB1criAMunwBlHpcysMtkNFGNFDE3ycAaP-5liAV0WQcmk0AC5po2RZVomAadUph164aq4SHK7guCad7HZlZZxx2G6D7PmG0AlMF3p5gyhhKLy-QMrP5n3pug_ldfeVaEd8QU8gbMS4XX0Q-vAskCell5BTCrZClYVdo6OTQHSoMBe5IZfTN015qmtwnnVopKm4YIp2jIU8kXpvv1-GzABP5_pANtv4Ucx0GcL7iHDsdNJ1ZaKLIQXmLcRG6ZGLUYanMZSNcVYDtYzTVKT8A-8R9gDcxNcHUl_GrNQYJAaKd1fYATxllJ4ymXDeMccnJfPwVY1AmqHgVzWm-WixlBPZQf2fsMQW0TfGKZ2k1fpu0671RAYyI5MF0J-DQ7FL4NJOoNVBkPTHjcUbdNN8S_2-d2BvcqWU8PPXrIM6kagOv4zwcMRsZBw_gmrPU43lFu2j9sjPx4dJonb69YvS-H8P78JNYZIqhztmrhNA19HcX9CO_dWb3NKDcZC5p_x0iwNHsUmICr7AlgAl6rAdiDK5zGOrQHlOvCcLRvPahDbrDemRdAhapkI9MaFDsY-1LHaZQ8Woct3ak5cGiH5mLibSmLMpDpau1-6A7uhOnbtVDmo1_6JL_CMjMYs-YYu5YJPnw_d84XqDHc4Dbqnj4Bj9DYGa1pZhfEsHXkLxSASBlwAoAwB-0vp-FHXI4dkrieCVMvOc5Tnvj1qT0E1x_31cEdU30gOVSaLXyslDiTrRLrw0HBeKJIQhDg-CQYS1THTJ-yYxipL4nshwaTVcyTWFgVfmDRkwpT_juJv05520jMnNIXAbmB8ufDtrKpJrQGvO9kJaeatRUqG7JUXsewEBBrYDMLRduuTDYeAT0I5GPaaq90NwoRsEdrPWF8wxI17PhIPoiEI9jzyYEjz3hHKjD39oqjsxakb6-84nXuKk7qwToxLosiKlXpArOQvXQ7Dd7Wls1z-Zc518jSfsV2RUnIG1jHBOsF2pLkU9PJSOkysivrTQ79atiq5vzEx7vCJsCeUaau6IOcmG15FE19UL5mzV5U=",
  "id": "rs_0f6042e3193e95e9016ab43901183887d0a2d9a566d02b8b1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.038},\"note\":\"The green fruit is centered on the right wrist camera’s jaw column, near its lower edge. I’ll lower the open gripper to the fruit’s mid-height before closing.\"}",
  "call_id": "call_gMb2u3UkW9fTyICdvLXtBEGh",
  "id": "fc_0f6042e3193e95e9016ab43902fd1c87d0961926261ed7f75a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gMb2u3UkW9fTyICdvLXtBEGh",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6147, -0.408, -0.0113, -0.0311, 0.999, 0.4152, 1.3716, 0.2768, 0.421, 0.3176, 0.2096, 0.9994]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1759 left_yaw=-0.0008 left_pitch=-0.0305 left_roll=-0.0008 left_gripper=0.999 right_x=0.313 right_y=0.0816 right_z=0.0322 right_yaw=0.0318 right_pitch=-0.0625 right_roll=-0.0308 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.4017, 7.241, 1.8339, -0.0171, -0.0317, -0.0073, -0.3214, -4.2051, 5.0256, 1.9267, 0.1001, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:793500b2792d4cad06dab526405d1fcabf3ae864ce875334ed480c78a996fe71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4a3be570f3aef3c39a35d77a1fca3626014963aa5e939aa307e21836f719d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90afb4cca90327436ccdd74eb013b88f2fd98f3bb239e05c242dfbcb2302366a",
      "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 · 2.112 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]: [-0.0212, 0.8021, 0.6147, -0.3977, -0.0116, -0.0307, 0.999, 0.4152, 1.0527, 0.5514, -0.1425, 0.3218, 0.2108, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0006 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0005 left_gripper=0.999 right_x=0.3168 right_y=0.0825 right_z=0.1338 right_yaw=0.0283 right_pitch=-0.0336 right_roll=-0.0209 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -1.4564, 6.9402, 1.9023, -0.0562, -0.0024, -0.0171, -0.1573, -3.2615, 6.7077, 1.873, 0.2369, 0.188, -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]: [-0.0212, 0.8059, 0.6147, -0.408, -0.0113, -0.0311, 0.999, 0.4152, 1.3716, 0.2768, 0.421, 0.3176, 0.2096, 0.9994]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1759 left_yaw=-0.0008 left_pitch=-0.0305 left_roll=-0.0008 left_gripper=0.999 right_x=0.313 right_y=0.0816 right_z=0.0322 right_yaw=0.0318 right_pitch=-0.0625 right_roll=-0.0308 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.4017, 7.241, 1.8339, -0.0171, -0.0317, -0.0073, -0.3214, -4.2051, 5.0256, 1.9267, 0.1001, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:793500b2792d4cad06dab526405d1fcabf3ae864ce875334ed480c78a996fe71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4a3be570f3aef3c39a35d77a1fca3626014963aa5e939aa307e21836f719d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90afb4cca90327436ccdd74eb013b88f2fd98f3bb239e05c242dfbcb2302366a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDkJeCwiK0olC9axjjxt1Fnv5mDH0IZN4Fmjpw302FQFyC8SyFtLI6d600ElJPmVS6IHC5gcFI9xF7xGK5216h7nTR2Nh0dgBkV2O0qPbdZg5bhgTJL9UFkuus2h7WcJhhSTq2wqfdRfzLxb_kew1Lbky3sSPl-ff7JFaJf70KMa3YCe24-tFK-mysx58lA1Bcg2T9vj0-ZdQ0UFnOyQydzD8gb5eJyWsKfElEmPYHz76iw710QYLKrOjPETy_rs-vIcITYklIG-ZqZeHI-oTPlFEZbqtaWlMjqQmhp0-p1QdPLE7SO22HKBGbNhfxni7sP-NVWJ08_d_YVcXVWkbL4OpxhwYrTqbLcNZgV0lk2TVHJTu9397E0J8wiNNsFOHP4iYN3jW3ZzZp6I3MsYsHJe0nD0Qc_WixTnPXEiTA-vCHmdDLu0yZkw9Apr-rfLRArtGwfDCTikvLcP_IBS9wulHYRMTWR7lAv_w-8D0fKbwoWWOBsSNOC3w9NhhG4cp0bAilRqQNXABFK3KHHf_6f671TwONrfRtufyAvxzYO39tW8FuMeBd7t7SN6hHPVqjf9K70yzbc54v7onsvIxcloOLDWLTs8AdF4EyJVXdT6cnQ2xKTICmFnngRTBtr7CmtheaAdwS5gD8Fg5J-tUEhoBk5-OBnhvjGP45X1vbX19DUYmWG-hus83aZlm9oew6-K7YTVqIOVKTPAhTWxbZWDhJ5W1Pk08Ftxj0UelwYlpIdPzqhTpvW5bBGoGKTHX35yzuaSv1zSOE1nTTKYyDIq_FIvyi7y1vNB4JQZKo-mxGJUIqqtARs6X6RRY9_DsOPilDYDZnxgEkQCDON4GodfHEj847NUbqlGcIlHXmdxB5oJJ3RLVlrmqMKOZ7cKw0EMggOjn2Vr6_vVVbAXwShrk63o1xCBptdkCWrOmUb_jaEyN-dn_-uLp77z5cHF9hvyNEBmfguU8MS5Onl53FnrroUxj1ysfRnHninI0Laozh-tRbSfw26_TCguTReO7k7HEBeqflGFJU6niW5vn7FXbmpkYzHSmRn73RW9LIZS_XDttD9xBFscAG1YV7x0cXQ_1h3RSxgJRNxWUYvCqe9dJheuy8zEwx4TLjgGgzCFPjdKHKwPd-hDmjf0G2fod_IUFyEHN9c_3XSQhPVmOe6o6kFOwbGxjtVBoeI5_LNNobxwWJ4UjcatuVtpVtK3uOGTwksTW7HoZ5-7uUhRRAAyNhFRk93sxc_RB7mjoPvzV6A=",
  "id": "rs_0f6042e3193e95e9016ab4390829e087d0a7902ee11a4b55c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws are lowered around the green fruit, which remains centered in the wrist view. I’ll close the right gripper and check whether it holds.\"}",
  "call_id": "call_09BHFIW8F4zGOAMtJMbATxXR",
  "id": "fc_0f6042e3193e95e9016ab4390870d487d0a6918a15d5edc579",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_09BHFIW8F4zGOAMtJMbATxXR",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6147, -0.4198, -0.0113, -0.0311, 0.999, 0.4152, 1.3708, 0.2764, 0.4263, 0.3134, 0.2062, 0.521]\nstate[eef_state]: left_x=0.2914 left_y=-0.0006 left_z=0.1735 left_yaw=-0.0008 left_pitch=-0.0423 left_roll=-0.0005 left_gripper=0.999 right_x=0.3136 right_y=0.0826 right_z=0.0332 right_yaw=0.0373 right_pitch=-0.0582 right_roll=-0.029 right_gripper=0.521\nstate[joint_eff]: [-0.294, -1.306, 6.9949, 1.79, -0.0073, -0.0269, -0.0122, -0.1436, -3.7675, 5.4906, 1.5458, 0.1001, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3304d18958ec488998eb4001201ca0beaa10974459ebb2248bf15bc3507ddb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4833f989e8d93d9599a4ef29e7ff8ba880d48711613823c46e9b204cf76af614",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c17f5e7fc3c66957b60ca59377db5349d5b3b58310e14752c5553bb2b6f977",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.741 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, 0.7998, 0.6136, -0.3824, -0.012, -0.0299, 0.9991, -0.0227, 0.7994, 0.6182, -0.3912, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0003 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2954 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.7299, 9.5658, 1.7753, -0.1197, 0.1294, -0.1001, -0.4171, -1.3197, 9.1966, 1.873, -0.0562, -0.0269, -0.0757]",
      "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]: [-0.0212, 0.8059, 0.6147, -0.408, -0.0113, -0.0311, 0.999, 0.4152, 1.3716, 0.2768, 0.421, 0.3176, 0.2096, 0.9994]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1759 left_yaw=-0.0008 left_pitch=-0.0305 left_roll=-0.0008 left_gripper=0.999 right_x=0.313 right_y=0.0816 right_z=0.0322 right_yaw=0.0318 right_pitch=-0.0625 right_roll=-0.0308 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.4017, 7.241, 1.8339, -0.0171, -0.0317, -0.0073, -0.3214, -4.2051, 5.0256, 1.9267, 0.1001, 0.022, -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]: [-0.0212, 0.8059, 0.6147, -0.4198, -0.0113, -0.0311, 0.999, 0.4152, 1.3708, 0.2764, 0.4263, 0.3134, 0.2062, 0.521]\nstate[eef_state]: left_x=0.2914 left_y=-0.0006 left_z=0.1735 left_yaw=-0.0008 left_pitch=-0.0423 left_roll=-0.0005 left_gripper=0.999 right_x=0.3136 right_y=0.0826 right_z=0.0332 right_yaw=0.0373 right_pitch=-0.0582 right_roll=-0.029 right_gripper=0.521\nstate[joint_eff]: [-0.294, -1.306, 6.9949, 1.79, -0.0073, -0.0269, -0.0122, -0.1436, -3.7675, 5.4906, 1.5458, 0.1001, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3304d18958ec488998eb4001201ca0beaa10974459ebb2248bf15bc3507ddb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4833f989e8d93d9599a4ef29e7ff8ba880d48711613823c46e9b204cf76af614",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c17f5e7fc3c66957b60ca59377db5349d5b3b58310e14752c5553bb2b6f977",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDkMIH2TQ3nXUTa8fKg7rzQdUacr1tQY24y3ytrtSfL-HFX81l5-M2JS3gSLHOFW-ZGb7wf4HW_d0I9TAN4NZqgmkBZzaMZ0GJtcirh0p7xzKYNPE6NxzlyNvgEMu7Zyx7eo1iGEjV3l_LrHpIYPA54dGfZLXxysJ-dw4uOl3o606Wjg-hAyDSLujAlmudNnviSFbQ1ABOiImWv1CL7abAHoi583nZ1PkUzDTU1fuH3Wz_JixbDWTMXdr6lwu0xRyuboMGzY6Wa57OevkzlTt9502-VwyL8GQmD_Wo7Ficge2KnMv0SFkZp5LxtLoIxl8UPlxMIaOuBijqs6p8bWcZZCxBBcsu2G2sAW00NOZXe9BskZQGZtG1ResGnL7KFqRv5xEujar-4dQeog8vhKPYq6lD2k0akAhOuEkrzS8_JXALSuw1x1ZTKyI-DAoy7l_9MborGhaCD1UC1riC4dFtkedONdrxXIhZKvA-jZA2aTgIFvQIFGbwXzRTlskji6_-6WHp4fcniuGg-PL6pr642pBt_UrRLRU2qJ7IWeceZMruVSwabFiFLh-nEhDpso2WD8AHFfSgfDIDpvG7NVi-0fpHFzeMGLwdtnBoTDXfRMQPrZMuXDWaI329FXFHKuGCYWISCx31P5GKFHl2XGTSefXAZsTIhmsGhBO49Nj38ZBQaCouy4MZLm7n80d_ySE3SjeOblKSO4lt0e6M1aMX0t0q-adsv5hIGLrARecb5Jsvd9ecsgiw1ZK7SdoiKokk9-w8S_I28bp_Z3dY9Vnlg4QRbi3zRykDIUKIQP319mkNrTsS1xqfrsWAEc2ScigB5IMCYlVxLchBydYWX5LbzaQf_b_GHNdyI78kHqx7qeEFR2nYxU7dsiH8ARjywAnCHfJPBKT7E_ck98_lyyIz6W50WDbEg64nV7amfoWorX71jGE2n2hAtozqw4JxMKU4i-0-bZ_xunqlx0bgepRTCpk15d4LakCx5dTaWzGYbEB409RFEohHIsjQxD9Yz0OwOy8iDYe9B_tG_utpvKHhVl2rUMrSJvVtBaVRbloXMauadXOJrWf0GoiROs28fgme0-O5M2d-h1e_8K5ClQPhrO__uMgRr4G_lKHVZA-MGM7R7slVxSbHD40odoQlK7eALq391ilaRsh1m9OEWVH6yNZAbG7BXHnpWi5NSgaLkomPDfjrGpyYJpNBZ4T4l4w3Bn7wDPSrnrc5yfJpmJquNMIZNK0n703HTmRNHYdxhczEowMhMg1Ai9-ZEvcmpnvb7l",
  "id": "rs_0f6042e3193e95e9016ab4390ae81887d0b143af1b124f98e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper stopped partly closed, consistent with a fruit between the jaws. I’ll lift it clear and confirm the green fruit comes off the table.\"}",
  "call_id": "call_2MqGLrr9MiWpPtKh88TXDWVZ",
  "id": "fc_0f6042e3193e95e9016ab4390b1a5887d094fb6e3e2c8c2196",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2MqGLrr9MiWpPtKh88TXDWVZ",
  "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]: [-0.0212, 0.8062, 0.6147, -0.424, -0.0116, -0.0311, 0.999, 0.4152, 1.0344, 0.6724, -0.3431, 0.2989, 0.1989, 0.523]\nstate[eef_state]: left_x=0.2908 left_y=-0.0005 left_z=0.1725 left_yaw=-0.0004 left_pitch=-0.0469 left_roll=-0.0002 left_gripper=0.999 right_x=0.31 right_y=0.0838 right_z=0.1536 right_yaw=0.052 right_pitch=-0.0961 right_roll=-0.0396 right_gripper=0.523\nstate[joint_eff]: [-0.0068, -1.3197, 7.2547, 1.7705, -0.0317, -0.0317, -0.0122, -0.0479, -3.8359, 9.5795, 1.5263, 0.2076, 0.0513, 0.7888]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6a48a873906d0a6657e36364b51f7f3354731d360d8cce5e3a24e200e1f335",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5124d15f68ffefbb718976835722dcf002b8e5b56ab65a09d8c7f01237ca949e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571799260ba81918721131f8b3cc8ecd3438de97b70fd87dac439ef86a383c45",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.171 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]: [-0.0212, 0.8021, 0.6147, -0.3977, -0.0116, -0.0307, 0.999, 0.4152, 1.0527, 0.5514, -0.1425, 0.3218, 0.2108, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0006 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0005 left_gripper=0.999 right_x=0.3168 right_y=0.0825 right_z=0.1338 right_yaw=0.0283 right_pitch=-0.0336 right_roll=-0.0209 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -1.4564, 6.9402, 1.9023, -0.0562, -0.0024, -0.0171, -0.1573, -3.2615, 6.7077, 1.873, 0.2369, 0.188, -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]: [-0.0212, 0.8059, 0.6147, -0.4198, -0.0113, -0.0311, 0.999, 0.4152, 1.3708, 0.2764, 0.4263, 0.3134, 0.2062, 0.521]\nstate[eef_state]: left_x=0.2914 left_y=-0.0006 left_z=0.1735 left_yaw=-0.0008 left_pitch=-0.0423 left_roll=-0.0005 left_gripper=0.999 right_x=0.3136 right_y=0.0826 right_z=0.0332 right_yaw=0.0373 right_pitch=-0.0582 right_roll=-0.029 right_gripper=0.521\nstate[joint_eff]: [-0.294, -1.306, 6.9949, 1.79, -0.0073, -0.0269, -0.0122, -0.1436, -3.7675, 5.4906, 1.5458, 0.1001, 0.0073, 1.0281]",
      "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]: [-0.0212, 0.8062, 0.6147, -0.424, -0.0116, -0.0311, 0.999, 0.4152, 1.0344, 0.6724, -0.3431, 0.2989, 0.1989, 0.523]\nstate[eef_state]: left_x=0.2908 left_y=-0.0005 left_z=0.1725 left_yaw=-0.0004 left_pitch=-0.0469 left_roll=-0.0002 left_gripper=0.999 right_x=0.31 right_y=0.0838 right_z=0.1536 right_yaw=0.052 right_pitch=-0.0961 right_roll=-0.0396 right_gripper=0.523\nstate[joint_eff]: [-0.0068, -1.3197, 7.2547, 1.7705, -0.0317, -0.0317, -0.0122, -0.0479, -3.8359, 9.5795, 1.5263, 0.2076, 0.0513, 0.7888]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6a48a873906d0a6657e36364b51f7f3354731d360d8cce5e3a24e200e1f335",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5124d15f68ffefbb718976835722dcf002b8e5b56ab65a09d8c7f01237ca949e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571799260ba81918721131f8b3cc8ecd3438de97b70fd87dac439ef86a383c45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDkRf3J6jY3A2h32GIetJ19s7IQx48sleK1nVr0xxqjcxjUmMj__biPWPNvffXNY-q0bv0L0yNOLEFmTV54TCX6PhpRExccsuZxCeJ4LsJryeyGbOCSIXlerCtNss1x6kxjpk3hRWjE3SqMmRO36nTp_hvMGwzpF4EMPE2w1FcRiK4gNTMu7kmvAaFSklknmApdciGgvzA_gqJAoxy0KKThW8S9AkWtjsAI85dS4i-XIMjQvqbbM04xjRDP1akRpgBUvavq6btvmoKvxDAmuu5hykXpk9d54VeIz3MW5ISL7VaKcQVLLxp-5L4rgUfi4EW8zVk_0fkUBWcian77A2kzqdM2uvdVbHCrFhFzI5Cq4Er3fu-rjW2ebfSw237GkjtBvQhNk9oCxb5APyhun1E8S5FX2HIRABcN_6KpFGi9vK54McRWMGsmGr5nFXGqE-a_YRTZxmjSEjlk6s2rmSuWqlrB3kFrnF11B_h6cvUoYbD3W3DvRusIglkolgpiIacrKhdBB0-ezOK-MNiYDcGzihxE0D2Q5-p4Iarhw5qiny2rB8mCsmlL1T0Alt2j7zhLX4lWjAq5n7U6ni0214RXaHOjDYnRGSYxmIzQ_QF8RcDYrZ_IBd7S1o4jl-SqqZkaPnGQ9IK1yl2Sc7dy-3geR06-DS7kjIABjFjHyMlhWJhApdPaxBs1sJhWSylWJbWv0RAtxtGda9wVRjjSCot0xmb7fR26rHqTxyPbMOBeg6sishcUJK9SILXhYMF2mDb9yZ6eWUqdxFsjybVSnIxy11WV6AAzTXsG1CZz4aMJ0XwI2zdnXVfgo9uE9714tygM9bJuWW2K5mG8m1-m5RzhFwrEXlZQVujuAtew0nPSJKEEQuTWrbjQeONDTuLWu7xlbkocA3sVKTwjnsbn4o3Zp27AjU3r2D7ibZjgCGazgz9g_CGmyKfKUzR2DzPz8L2XZmpCOIlDe_JyL62UI7mAWKJNaF2TPdBpVNVIkwPm6LHfhLgyWuylxdf6NAq4OVV7uTFKhdgDEOKm5j2iL6iMt4fnbTCfZFOa7vdc1ywy6fcopuBwVswHf68o6Ml3rlVfUUFAPfz36lh7wyXrQ_qur59GKsRzRXdCUf2L4bgmwz3sDRY4XJyLBGtTrH38l5A600CW41V7XRj2CAlBaeiZvULTQN6DZYCxUHwK6radgt517IkS04OV9jfjV2-AIDXbG9B0GMu5sPz-D5gVcOa24_am6Qsc9mBzVuJ0jPfw7k2p-ts3gdzguYeFLgB6ntjrrG4FfPICbawy2uI_OSsIv6jWdEXGjP8j6ijR-eTriRoXttRMCcz4fByFv6Uss7M3cGLCe4QBrEoeoxbXaERsGAeeJgB2AD1r39Zqp7IxLmEKx6laCL4A6OZ16bqY7O6aKzXSvjs5er7Dwc1x7MAz4LgUsJT3JhD_brI8FuEfORHJxX5_wseQE7VvJSuTjbvKkzpsAMzsKSIgfwYyTnA0H0WpT1AbNUiNTmtpEWRIC3LHvnip-dUvkNTCV9igNy0QTjCk9_xItGW65WJHapGhiJDJIDeQg6X2NcPIWuu5tA5dNyhl19hXwyAH9TmULdpGhPpbehLTPi9L2Wu7soseXKn2pmkphZn1BRmLVEy5djMc2npyaIjJTq2bZMXu-g_ksIlI20xAxJAbNNtm8-lBJKzfOUAgAcZrReVQfK6Fgyu8so0aqXzuc4IdmIeCSi37vaF0DPToT4ATD2qnxytAzIvINZuJPT7tvBkvWQDB-sY-W3Y0nAVd8Ix01HIZlIW84phtEoXExeXPpXE9y_HKDjwWvWXu8fgYEzxIyBiod-IwsDH1lpui6Zq-cewrgn7UD71RUvyu3TI9m7dWBkB7QSNgkYzegxWXVGQW2BuEdr0PErlwI1il9fRV_DwRs9rS1cMYiYN0QGFz5niPFrTG5h9QbAuWi293d3EgP7pXzIssV7L3QYdHhzWBl5Rs65cBnFFoHGYUmUS_hVMsW41b1HA==",
  "id": "rs_0f6042e3193e95e9016ab4390ed81487d0a742abd93658c770",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.17,\"right_z\":0.19},\"note\":\"The green fruit lifted with the right gripper, and the blue bowl is ahead and to its left. I’ll carry the fruit above the bowl’s center.\"}",
  "call_id": "call_WCMOn1D7PMk0eUvLAN1Khe9R",
  "id": "fc_0f6042e3193e95e9016ab43910d2f487d0bc584f3a3f762ea9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WCMOn1D7PMk0eUvLAN1Khe9R",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8116, 0.6147, -0.4278, -0.0113, -0.0311, 0.999, 0.5087, 1.6253, 1.2293, -0.4015, 0.3443, 0.2295, 0.5228]\nstate[eef_state]: left_x=0.2906 left_y=-0.0006 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0561 left_roll=-0.0002 left_gripper=0.999 right_x=0.4192 right_y=0.1696 right_z=0.1675 right_yaw=0.0871 right_pitch=-0.1687 right_roll=-0.0807 right_gripper=0.5228\nstate[joint_eff]: [-0.0752, -1.6889, 6.9812, 1.7363, -0.0415, -0.022, -0.0122, -0.212, -8.6496, 9.2923, 1.7998, 0.3394, 0.2759, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9402618b85cae4efc1af023b6aa901000e2455b11f0e5e88007272818e9d938a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df11915f84f6bf909412048ffa9d987c1c172b10f2e81f1b7152d4c651502acd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64981ce9ce261c4d8d9ae187a4556c2e1b620e7f32bf0e2d444d99f575f14b23",
      "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 6 attempt 0 · /responses · status 200 · 3.305 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]: [-0.0212, 0.8059, 0.6147, -0.408, -0.0113, -0.0311, 0.999, 0.4152, 1.3716, 0.2768, 0.421, 0.3176, 0.2096, 0.9994]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1759 left_yaw=-0.0008 left_pitch=-0.0305 left_roll=-0.0008 left_gripper=0.999 right_x=0.313 right_y=0.0816 right_z=0.0322 right_yaw=0.0318 right_pitch=-0.0625 right_roll=-0.0308 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.4017, 7.241, 1.8339, -0.0171, -0.0317, -0.0073, -0.3214, -4.2051, 5.0256, 1.9267, 0.1001, 0.022, -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]: [-0.0212, 0.8062, 0.6147, -0.424, -0.0116, -0.0311, 0.999, 0.4152, 1.0344, 0.6724, -0.3431, 0.2989, 0.1989, 0.523]\nstate[eef_state]: left_x=0.2908 left_y=-0.0005 left_z=0.1725 left_yaw=-0.0004 left_pitch=-0.0469 left_roll=-0.0002 left_gripper=0.999 right_x=0.31 right_y=0.0838 right_z=0.1536 right_yaw=0.052 right_pitch=-0.0961 right_roll=-0.0396 right_gripper=0.523\nstate[joint_eff]: [-0.0068, -1.3197, 7.2547, 1.7705, -0.0317, -0.0317, -0.0122, -0.0479, -3.8359, 9.5795, 1.5263, 0.2076, 0.0513, 0.7888]\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 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]: [-0.0212, 0.8116, 0.6147, -0.4278, -0.0113, -0.0311, 0.999, 0.5087, 1.6253, 1.2293, -0.4015, 0.3443, 0.2295, 0.5228]\nstate[eef_state]: left_x=0.2906 left_y=-0.0006 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0561 left_roll=-0.0002 left_gripper=0.999 right_x=0.4192 right_y=0.1696 right_z=0.1675 right_yaw=0.0871 right_pitch=-0.1687 right_roll=-0.0807 right_gripper=0.5228\nstate[joint_eff]: [-0.0752, -1.6889, 6.9812, 1.7363, -0.0415, -0.022, -0.0122, -0.212, -8.6496, 9.2923, 1.7998, 0.3394, 0.2759, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9402618b85cae4efc1af023b6aa901000e2455b11f0e5e88007272818e9d938a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df11915f84f6bf909412048ffa9d987c1c172b10f2e81f1b7152d4c651502acd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64981ce9ce261c4d8d9ae187a4556c2e1b620e7f32bf0e2d444d99f575f14b23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDkdzV0y1Z8eI3-qazgJvxhYyhLAg70qqR9X5SMq4eUgqosOyL3TuHcl8jfLmbA2JegTN7qoghMKNnJBi6UAxqYfvc85IRbFO3vgdzCK_YxT48mUZgIiWx-5SkK0FFP-JYeJsgJ-NKYkcWW9mmnvyZlAvLafaYbBSn5OUB9LSqaU-nybe0-F0IZRaLA9geRWnbCjJuLPzGEUedavzcRLxERlTYyKUdin9SSVzgUSWxm-jeEOH4d2WztbsJ3QX3Ir_dU7Yn6o7P75Ozpc731lidZ_4iJ7h9gkP_hKepfdfiEOtciGIVClH-VZMPzAbg2UGpIRcRI5MQqwvOW7O0ReAZbvJC01GOl2F6QPjM4Hn5n8KZ1AgUrHjnXNdWu1sylY08UCrNXfUM4B1D3MGTWHRkXv-dkIecKYPdqzsEiZvTof72J5qDFUXiYmDoV833ihWXntx92pX0ZAbgKCZWjvYlBIrDxR7Vp2a_snweo-0_AbMam6rWPaa5V14BuoM0SebPMi6i5go-wmwsXDe4WFDWNcQIejy7ktHaw6XkFSMmvBnbhM_C4O4uY7Rt5loSPGKlJzglL3wtS5NB6Mof_tb5lxxwuyJeG98aZXJn4tLVPbSwPQmB9NrfjtDESLA795O0AjgJV9skYFcQ6SydHdPO0WghnXjtqrJnIlrdwA-ATp8yXjtNbDGeImYBtXzaVJ85wlKZEnWvHQQ-yQsZZpwOPZGWjhQ7Oi6u0r9q_bzsKflL4EgoGKg-hZLUx1J2N40OOdS7n7MyVsYu81vzp6hQEjXE45V6x8oNg25_2ca5WDiXftPmkcu9hXHgFGPNdrihT7fURwCLqf4gHRQoItA4D0yl3qhKYTrj6VpCwO1HUrmGTOrboZciv23IsZ1N_1IrmQzvnLQhh0_XjOkazh30LBVfrGox6lkz069Ckp15uZbhGPucNxPDl-eo6XV57e9JVkQ13a_Heb0JvUPnqEbZ0F_ZbvEz23DVTVGQP2q8LxTm8jubXhW7SZzx1naKGJjEdalWzIi8W33C-KfXj294eBPi49okj1f0E8kXFSsEW3tumUSFkuC9QQMGCIoIiBXpNzrafNKtIXow7myIUr499JiQIjzR7Z9In4DJ9Y_Uw_R-NYV08AymCkJ4AR0Ga7_X5UnNpZ3qgM0joY-1IWF_qvsvHHIB0InZnCmgu9FjCj1pmZF-3k7vxbndWVRKDM6j6Z6e_h34UyxVBJ_l8OHy15R-TIUGTGeJz9WIw27XlPpf912NSvQCydj7KfjWUhRa11namwX8UuBDox8GCcytTNvZh6r46Z6sUkVe6t4vKnroSkJTJsg86wF60b_WbrbTVS6h9Dv1KwRVtMyM6hIN1hkJrMaRTqiZ_T5WH6rE_v74nu9_DvYwGwCIXKxvTTWcoC_Hr4B56-Z9mzDIJTftaYYqZYGeU6k7aU1XYPcV7JnCg3hvgCnJgB3V18911VZBJAgH51NzioudjMNq57OVF_kd-_RNKR0hsRJUMb-LRE9xAqPhZf9I4bTMcvcqSEghIlEpl1cJ_x77JgnOP01-DcPgTNBJO19YrjUNe2SFnnLcNWralXVGTOlttffJS6NSr8J8FlCH-WUVGs8X481xy4Rk9jrA-W4jp9coiL3erV8jDzOJGGAcnp7nmxX8ew_4dly_9blMssGa2cGdGzEpuw4MGKig1eQuR1_I2voQKWzICirSUt6whtiDnLX7Bhh2YzNz_0XUDl8TdNquRAWRlYgjsA0P1gfA6SROxxtBhH8hpvgtT39xzFdJIulYuFOEsI",
  "id": "rs_0f6042e3193e95e9016ab4391c058087d0bcf9dc6e7040c586",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.205,\"right_z\":0.105},\"note\":\"The held fruit is above the blue bowl but slightly to its right. I’ll shift it over the bowl’s center and lower it inside the rim.\"}",
  "call_id": "call_2U9HTUjftvlTKwA3ACiUNI7V",
  "id": "fc_0f6042e3193e95e9016ab4391d382c87d094896d49f1288c7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2U9HTUjftvlTKwA3ACiUNI7V",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4313, -0.0113, -0.0334, 0.999, 0.5941, 1.7638, 1.1328, -0.2283, 0.3855, 0.2741, 0.5252]\nstate[eef_state]: left_x=0.2901 left_y=-0.0006 left_z=0.1694 left_yaw=0.0005 left_pitch=-0.0603 left_roll=-0.002 left_gripper=0.999 right_x=0.4135 right_y=0.2035 right_z=0.0981 right_yaw=0.1098 right_pitch=-0.209 right_roll=-0.1031 right_gripper=0.5252\nstate[joint_eff]: [-0.0889, -1.4017, 7.0085, 1.7314, -0.0171, -0.0366, -0.0122, 0.1709, -8.9231, 6.4342, 1.8144, 0.2857, 0.1685, 0.525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c4ebded8e1ca0bdd36a1207acf00bccc467a1b69ecade830febfd93e1c431a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:017f20afd3b192b97ecbd4dae04bb851fa52049fa362f7c51781bd1a9a0eb044",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ecd3bd14ac5cc0a330d11120ce25adbc6b65ae5288d4ea51da1fbd298cf9eb1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.115 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]: [-0.0212, 0.8059, 0.6147, -0.4198, -0.0113, -0.0311, 0.999, 0.4152, 1.3708, 0.2764, 0.4263, 0.3134, 0.2062, 0.521]\nstate[eef_state]: left_x=0.2914 left_y=-0.0006 left_z=0.1735 left_yaw=-0.0008 left_pitch=-0.0423 left_roll=-0.0005 left_gripper=0.999 right_x=0.3136 right_y=0.0826 right_z=0.0332 right_yaw=0.0373 right_pitch=-0.0582 right_roll=-0.029 right_gripper=0.521\nstate[joint_eff]: [-0.294, -1.306, 6.9949, 1.79, -0.0073, -0.0269, -0.0122, -0.1436, -3.7675, 5.4906, 1.5458, 0.1001, 0.0073, 1.0281]",
      "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]: [-0.0212, 0.8116, 0.6147, -0.4278, -0.0113, -0.0311, 0.999, 0.5087, 1.6253, 1.2293, -0.4015, 0.3443, 0.2295, 0.5228]\nstate[eef_state]: left_x=0.2906 left_y=-0.0006 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0561 left_roll=-0.0002 left_gripper=0.999 right_x=0.4192 right_y=0.1696 right_z=0.1675 right_yaw=0.0871 right_pitch=-0.1687 right_roll=-0.0807 right_gripper=0.5228\nstate[joint_eff]: [-0.0752, -1.6889, 6.9812, 1.7363, -0.0415, -0.022, -0.0122, -0.212, -8.6496, 9.2923, 1.7998, 0.3394, 0.2759, 0.7302]",
      "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]: [-0.0212, 0.8124, 0.6147, -0.4313, -0.0113, -0.0334, 0.999, 0.5941, 1.7638, 1.1328, -0.2283, 0.3855, 0.2741, 0.5252]\nstate[eef_state]: left_x=0.2901 left_y=-0.0006 left_z=0.1694 left_yaw=0.0005 left_pitch=-0.0603 left_roll=-0.002 left_gripper=0.999 right_x=0.4135 right_y=0.2035 right_z=0.0981 right_yaw=0.1098 right_pitch=-0.209 right_roll=-0.1031 right_gripper=0.5252\nstate[joint_eff]: [-0.0889, -1.4017, 7.0085, 1.7314, -0.0171, -0.0366, -0.0122, 0.1709, -8.9231, 6.4342, 1.8144, 0.2857, 0.1685, 0.525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c4ebded8e1ca0bdd36a1207acf00bccc467a1b69ecade830febfd93e1c431a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:017f20afd3b192b97ecbd4dae04bb851fa52049fa362f7c51781bd1a9a0eb044",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ecd3bd14ac5cc0a330d11120ce25adbc6b65ae5288d4ea51da1fbd298cf9eb1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDkmJTC7Ns-Q2-Pvs_Hm6HQJTWOHfSDmakIH0nI1r8ieKeaG2F8Sr8zkVOsFcXqFmAtLJGyGRUZFxXEt9nGcVgv9CSU7o88vr9h-ui2Ip_pdwg7g-B7J-7yHVekAFyhZ4c-nDS9lwisRMrJLQybOHJ4QPAJwch-Rvb845miSsUafi9H76QwHrEl7htYB4ilGvL69T-quW7WsBjPqImJyxzoor_UxYrch_F8PiZugdOUepOtglwKt3AfK7xLqHAK-IC0cOjkzU1JItGjf-qk6ugyoJZY30C3mUFwbK3VqADrBMsVV56F7dUKMemqC07TUexzFoUHG3wALyUERKR9lS03J8aRo729awGQk2GxYeHo-dVoRhzYNmZ3F0iSDb_nmdvuk74GIhYgR4mHbJcuDs1W3XaeIkRDhDl-uQNQykq1f3j3gzmW3GCUbKOSKTl8U-00BhgezOkXIW2wFDYStskqpT7x0EKhUqNToZftu73kiWWyL7-ymhFN7jD-g3F1G98o-t81Up1luYvZWneEQF-RgOUw_9ETn_R4OTRxojNtj06UL4ikMR9Hc2cGm1Vu_yTYQYxTMPM6Kauav2AC6aide92HvC4klW0pKkjCTW8AsCU4S9C5orDT-uMAlIpDgFjlCvwgA4zyUklWaA9TU9SJUsTX0jW5l9H5AnpyV9S3PYkLhqRpClfefkuUUhkCVXrC26579OLWYZtEhTFfJlxLw4Gf2hnaBqEbBWxsdWAPTb-ADtqq2GoMD-xHY-bONfpgoFe-0LEOjA1aTiCC87p2FCiYvTsL-AkfeM3uTWxJ_9l5QjhElWV3z7bjQv1HLaPIWNC99rcnVnDMfq7rw_hLeVv3em6e8dAfiDlWPkoXaHrgusKuAY2fJVELRx-hR7yrx6NRFSZVsIrsCMTHECeVmB3EebtYaxA53cPfcrobkob46ej9a_hlnSr1dlkq80Q6bEKV4d-twheLIlrwsGcn_3edP1aNEUluMfgChyk0lDj18d3_Ft_PxwmcGc-LyMzKa0KXakYos-oSToS2SIr6i4malVeSm3wDWLnjGuaL5FqWUJ7ealfeokxXKPa8CWcwQ3xePfrOoKP3Qj70gx5At0-ZQ3xQE1tUQ2lo6yYPeTIkvJbnAXAAK7hd6h5r_h7LelQ-zEkZ37EmgCpgTdiTcz3xclEHOmylGQ61D5gdP_0HfJGhRofrXpfNAW0zzL_Eapt8nkAFB8cbreA-2sEsmiLQK5PkkZHmaYsuGwHN4M6NjVzOWU6vrtW_GDjVKH6-4Teoa4pkOBFqvEwdhYdgNH_Aks1lsSIIhFDu_nWQ-Gawe9DPH7Xg5JF39MI9Bk0Lnxe1o5M003YA40snrMFpP0w==",
  "id": "rs_0f6042e3193e95e9016ab4392473b087d094aef25a28d375e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is lowered inside the blue bowl’s rim. I’ll open the gripper to release it.\"}",
  "call_id": "call_jZUu56lWcSaltE9ljibfln8P",
  "id": "fc_0f6042e3193e95e9016ab43924d4ac87d084a4415d0bcd2056",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jZUu56lWcSaltE9ljibfln8P",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4316, -0.0113, -0.0334, 0.999, 0.5938, 1.7638, 1.1328, -0.2363, 0.3843, 0.2684, 0.9955]\nstate[eef_state]: left_x=0.2901 left_y=-0.0006 left_z=0.1693 left_yaw=0.0005 left_pitch=-0.0607 left_roll=-0.002 left_gripper=0.999 right_x=0.4123 right_y=0.2027 right_z=0.0968 right_yaw=0.1126 right_pitch=-0.2168 right_roll=-0.1102 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.347, 7.1863, 1.6777, -0.0317, -0.0171, -0.0171, -0.1436, -8.9231, 6.3932, 1.5116, 0.1001, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3e231ca1146f7831b494f40928f1fb08e8058914d544c94adf76dc04e92ab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970d16d418481e2232e9fd7fa6f239a6a9525a9d6a83f0197ba32fc6a3169e1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d17f21124155ba79dc6f4915406dc90d0cfa03ab7e7d27bc2d4a70d7340f5506",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.127 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]: [-0.0212, 0.8062, 0.6147, -0.424, -0.0116, -0.0311, 0.999, 0.4152, 1.0344, 0.6724, -0.3431, 0.2989, 0.1989, 0.523]\nstate[eef_state]: left_x=0.2908 left_y=-0.0005 left_z=0.1725 left_yaw=-0.0004 left_pitch=-0.0469 left_roll=-0.0002 left_gripper=0.999 right_x=0.31 right_y=0.0838 right_z=0.1536 right_yaw=0.052 right_pitch=-0.0961 right_roll=-0.0396 right_gripper=0.523\nstate[joint_eff]: [-0.0068, -1.3197, 7.2547, 1.7705, -0.0317, -0.0317, -0.0122, -0.0479, -3.8359, 9.5795, 1.5263, 0.2076, 0.0513, 0.7888]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0212, 0.8124, 0.6147, -0.4313, -0.0113, -0.0334, 0.999, 0.5941, 1.7638, 1.1328, -0.2283, 0.3855, 0.2741, 0.5252]\nstate[eef_state]: left_x=0.2901 left_y=-0.0006 left_z=0.1694 left_yaw=0.0005 left_pitch=-0.0603 left_roll=-0.002 left_gripper=0.999 right_x=0.4135 right_y=0.2035 right_z=0.0981 right_yaw=0.1098 right_pitch=-0.209 right_roll=-0.1031 right_gripper=0.5252\nstate[joint_eff]: [-0.0889, -1.4017, 7.0085, 1.7314, -0.0171, -0.0366, -0.0122, 0.1709, -8.9231, 6.4342, 1.8144, 0.2857, 0.1685, 0.525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4316, -0.0113, -0.0334, 0.999, 0.5938, 1.7638, 1.1328, -0.2363, 0.3843, 0.2684, 0.9955]\nstate[eef_state]: left_x=0.2901 left_y=-0.0006 left_z=0.1693 left_yaw=0.0005 left_pitch=-0.0607 left_roll=-0.002 left_gripper=0.999 right_x=0.4123 right_y=0.2027 right_z=0.0968 right_yaw=0.1126 right_pitch=-0.2168 right_roll=-0.1102 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.347, 7.1863, 1.6777, -0.0317, -0.0171, -0.0171, -0.1436, -8.9231, 6.3932, 1.5116, 0.1001, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3e231ca1146f7831b494f40928f1fb08e8058914d544c94adf76dc04e92ab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970d16d418481e2232e9fd7fa6f239a6a9525a9d6a83f0197ba32fc6a3169e1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d17f21124155ba79dc6f4915406dc90d0cfa03ab7e7d27bc2d4a70d7340f5506",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDkpJar8Rcv9B6oNpr3H_snPDOtH4S_5p_wnnBaWIjnlT5KEo4I_U3Zgnj7Ug4gFTtTYIBOCPPUXg555OoRmV7kYZPzpDittekw7jkuKbPuYopdGLEzPMWIC_xjzxBqAmLae01zixqhb5zUcav2mgO1Qofc0p6i8_EfHZjeLLQUCEuzHYMLQHXbJu2Cp1leBG3TM1hLV0KELCw8M1fRZICnYqp8LbZia2o5Q5dNMi0i9yPkv_yThmYH6-z4nnrvR_7AbIRfqGcLaGmjtoHZ8x29BEbZWAmVY14JEV6ZWXZGUbSW7wsbmONjCTX0RijbTwXnNuKVRpTj6uvpygAdy3yn9ktJdyIHk9pLJAS0XDb9AOoY3MLmAScaLUeJu7YDLgqpjpQ337yfKjh6inSw0RuvFIsE6noZTNjzaT3cZCtlXQDiJRxHqadzqTMvNpmXkBtSJqXoGQ6ilMYJArFKX3J-GxyhUVUVcTrkI9sQDa9j6aPELT75MpFt9Mc2zYeHd7JLuWLsZn_pqFrhn7ruC9Xs0oTW0WwurJ4FkXtBtNfuKxV8j9wtFCEshjGc27QF05FHCPRFdurWtH29fmTGzCDDH52WLzIxdMQngu7_tkN9vlWBpaIcNv869uM5JpRbD22DGD13s-gE8Px5hfVH6B5Zp8ZgJnRskCtoLv4wUEbejZKgwerwvvbP7S7VfknQYXaJr_AmxqVMS0275YqUAFc21SykxqdwD6CziVWkEPVcenyRRbxML0dYOuuogFoiqVA43tUKa5_NrkdHAVRvX7GALpDPLlW0qXFq9wnzMrSpOkRjWF0T6n-c_6JXjsfUQ0R85y_G39jJGibhYB8AXg6A-_2f7KHTPFXi_Ogb9SJc-I1F_5pCB_X0u_XkqUnFquu9ePt4SsOuj3HY5jwCpQUPeNRhEYwPb4Y_1RvZ7x7Oo9GtCNy8we5l2jQiHmOgpcagOm7kEfP24_2oUvV5edSu-bvorNnjnzTMT3uHn-KcMfAxSRlbIJXEVtI2yOv0BuAPFL_9sgteUQVcM9ZRp-Z46EjKMsIsNKfFXpG9gzH1GWCFZfT_-Oiu8OnJziMHuH5gYYs98dp9f_7YcgAXGlCgR7QGiEIhC1NlzpuFwOK38EHY0-RPYMWYAXATWk9zphEYyY5nnHgKcxl5wo6YrK8YBbz7u2cyl1AnY8NPYHw2A5ZB6BI0rW2C5lhbr43UZ55mO733Yc6X-3z_c4p5z-nSkFcqFOUpoM9kXNAVt1kcQOWayBYNDT5K1QmYtcYhWhb9teoChzyebLqu-17bHWxJ9antRdeTAs6O3y7rXO0ZhTQiEoWV4tCWzwmwxvwPR0-LNiZT8Lxb6kddDVizzc_jFKy-MEZt4wfL2S4a_zOGdm-paIN_wi_a9vw1btR_Ywlu-QfGdRWL99bcSKLnylzpDyap66s4l7EGaEheeJrtNSrGBhiZedE1WMipmy19f_gPq7gvQl-v_i_IH7aMGZZdKv0EBUo-2LpnwSpYa15KCIHzqzyZ3D8ZLzxQ6o0HI0qYKY3j2TChhTQR-mtge_80DsPw1e8_UFLFVzoa2eC1LeWbx_JnadH8YeDsTD3Xvndl02HMZB9wZEtAXkFF_dxO8w9nmlD4UU4QYUmzKP8rsP4IfA-bEPR_rvk35ouIN4lWhdlDjYNB1basjZSLDYplai8Ka9U1FlKDzRcDTjWYfy0x9wtoeE3lhxaaWP6YIT8pmluXVKumbzZqB8566knzZUi227Be7J7SsFoU8QVSCLIzvbaFoAydP_41z9Hzt5oo1cubX50GHMLHzNXinYL8rnfdVKq7uN_8KVoqid_a--oVkH021tqcpHNsxYM8EP1x6",
  "id": "rs_0f6042e3193e95e9016ab43927b51c87d0a82e8208ed7609ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.26,\"right_z\":0.13},\"note\":\"The green fruit has been released into the blue bowl. The yellow fruit remains just below and left of the bowl, so I’ll bring the open right gripper over it.\"}",
  "call_id": "call_8cPNkkUf0OrQzM5FUfOWKSq0",
  "id": "fc_0f6042e3193e95e9016ab43929402c87d0836d009e755e9451",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8cPNkkUf0OrQzM5FUfOWKSq0",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4347, -0.0116, -0.0334, 0.999, 0.9333, 1.6512, 1.1133, -0.5098, 0.5613, 0.5488, 0.9964]\nstate[eef_state]: left_x=0.2896 left_y=-0.0005 left_z=0.1687 left_yaw=0.0008 left_pitch=-0.0637 left_roll=-0.0017 left_gripper=0.999 right_x=0.306 right_y=0.2612 right_z=0.111 right_yaw=0.1393 right_pitch=-0.2578 right_roll=-0.1414 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -1.1009, 6.9949, 1.6923, -0.0317, -0.0464, -0.0122, -0.4855, -9.8667, 8.3897, 1.072, 0.4371, 0.105, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39de6cbd1eafa2ff7b4c423a145d83889213ef66e518bde244019f622039e2ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfd9e82de0c26b9ae88b7788696ed1d8c87e9fa0aa1bb8f75c2ba07dd0a5dd74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a8d4559b62482be03518ec435b7d1c9419a15220fff4ff1b2511dd51b088cda",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.774 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]: [-0.0212, 0.8116, 0.6147, -0.4278, -0.0113, -0.0311, 0.999, 0.5087, 1.6253, 1.2293, -0.4015, 0.3443, 0.2295, 0.5228]\nstate[eef_state]: left_x=0.2906 left_y=-0.0006 left_z=0.1703 left_yaw=-0.0008 left_pitch=-0.0561 left_roll=-0.0002 left_gripper=0.999 right_x=0.4192 right_y=0.1696 right_z=0.1675 right_yaw=0.0871 right_pitch=-0.1687 right_roll=-0.0807 right_gripper=0.5228\nstate[joint_eff]: [-0.0752, -1.6889, 6.9812, 1.7363, -0.0415, -0.022, -0.0122, -0.212, -8.6496, 9.2923, 1.7998, 0.3394, 0.2759, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4316, -0.0113, -0.0334, 0.999, 0.5938, 1.7638, 1.1328, -0.2363, 0.3843, 0.2684, 0.9955]\nstate[eef_state]: left_x=0.2901 left_y=-0.0006 left_z=0.1693 left_yaw=0.0005 left_pitch=-0.0607 left_roll=-0.002 left_gripper=0.999 right_x=0.4123 right_y=0.2027 right_z=0.0968 right_yaw=0.1126 right_pitch=-0.2168 right_roll=-0.1102 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.347, 7.1863, 1.6777, -0.0317, -0.0171, -0.0171, -0.1436, -8.9231, 6.3932, 1.5116, 0.1001, 0.0611, -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]: [-0.0212, 0.8124, 0.6147, -0.4347, -0.0116, -0.0334, 0.999, 0.9333, 1.6512, 1.1133, -0.5098, 0.5613, 0.5488, 0.9964]\nstate[eef_state]: left_x=0.2896 left_y=-0.0005 left_z=0.1687 left_yaw=0.0008 left_pitch=-0.0637 left_roll=-0.0017 left_gripper=0.999 right_x=0.306 right_y=0.2612 right_z=0.111 right_yaw=0.1393 right_pitch=-0.2578 right_roll=-0.1414 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -1.1009, 6.9949, 1.6923, -0.0317, -0.0464, -0.0122, -0.4855, -9.8667, 8.3897, 1.072, 0.4371, 0.105, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39de6cbd1eafa2ff7b4c423a145d83889213ef66e518bde244019f622039e2ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfd9e82de0c26b9ae88b7788696ed1d8c87e9fa0aa1bb8f75c2ba07dd0a5dd74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a8d4559b62482be03518ec435b7d1c9419a15220fff4ff1b2511dd51b088cda",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDkwYiuA9eiig4q_HbvdcXRhkAxqWxGSwZ5Bk8F5YCXubtYkk6OhS7o_z_-dbHZmhPeN4sEUOijVBDgEA7YpkFGcYwVG8zfQ1nKXZb0nWCFQlyWlebYFbqAjEh3NXcK6ntvBKF-M8-pdPEyH9O5QhjA3Ck5A1JbJIHkCnBpYRVDRz6fEKaYUxdVoaMaL2t33hg0LDhBex0_sO7t75LCuYTl_GzDtL2OilMgTygpaDwNz7RwlMRFQ6XaaggU6dOLqPO_gGSI2vGwAtt5MklhGA4vFHmfMArdn6Lyshqrg6oLNJfsJfDW-wrfdPUuJRlulM7Wo3oRFa-C__5DolAr05y4OhsvWZTeunleKcTjLlYr7QkGtoqI5zOdR9HALeP7cCWhA77X68gWl3NZkb7250NNwXJFJweWkVY0ZnYZqgwzDRhmA32IEzT-L4lvyk-qMCZ3j9YIH3uO93buomTlIZhPZ-3SPMsrkzqELcU_fQGAwG5hdeLBy7B1vveRFCPNsruLetE7mv_maSxJ5Mqi22dlioosjvAV9LUhg9JxF3pQPa73Q1TMctjBfsnwQBUK1aLHubn3YJLnaHD7ShvyHRefH7jPuENqulApqCZo0nmdMNFWJmVe6QnL6pPgQ17IafF16U4km2aJ3C2E7qGxfiUDNNPlxIvtcIRUA8tAf3kniVKOQX4sL2s1TnYLJ7goP4vrhH0o-GEMywHLXqEbYlPchxq59f0f95vEatwTBt5Zu5KtfxpgWhBAxnyVRWE5K_KfzR_Fx0xudx2tC_UpRdLzS_4_YKakwziT2Kzu1Dm_nSPTOr5xCw2548puh-pdlxrY_76ZNsVQJoppWNriEGNfgzzl6rQzpczNES1_CfnX27CLgZPbH4c09XB-RDKtaLrIhGUn5w2osxyqrwUVFEm5rLhz2LkCRufZNydkyZHcUkH-wRoPZIr-0cdJdyQpv1t-mgKDyU0zIvTESfUROnKdXT_rlhzjILSFF4CHbnLEbPJjmU_UKvngA7ri78NJyInSQLGb25k-tdyjddfzOVal-LRt-vH14ZUk6KllAnDeADGaiSYAxZWgg1CnHENMPu2bP0VeiSBm8IebuOY-sGcumg9YtUFcfwTHB7vjXy5U6unD0NQygkbCSgWrVfEuUzgKHJ_Cad2XNiZdE0W0AN4bIQDzenYoAosJ5Afv46l-B8Zy6j-jsr-3GQCr9Y7zwe-StFTC7qSsJaj0iVplR_asIRqGUci4qdYzqqMjVEr8zvdwAljNFwBPS31IScTojcQb6O6CxtkxWsD-xsDf8tmNjjzmC9htOoDT9sBOrqgpbhP7xyYoDTDyTwpjn4pNVAyHjuzgtCaqPiJ6wXV8HUifRI5SjGbJTdfF7YCtf-DDlIK8moaCRUfa7IincWTzziNTavP2jSrO_PE208gsNaOVaxE-E-X-xFWVdpWUkMBZ9TA7_iBmWsF4jGvy-EkCALdcU8-B3A7_RwGRkdpXd6556y7t_ioFHF2Jl4ieNbXgei3pL0z7mTB4Bw1SN6pjjlLzs4887nlvyGVnOM9z7uSAchO-_wiEbFw-ZNaX4HMWfZjuA1KphDcv-4sTVpKn6K-TFFY0pR9-0yY04AdA2oRdAWQ==",
  "id": "rs_0f6042e3193e95e9016ab4392e8b4887d084f5a1599cdf2b38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.033},\"note\":\"The yellow fruit is centered near the bottom of the right wrist image, with the green fruit visible in the blue bowl behind it. I’ll lower the open jaws to grasp the yellow fruit.\"}",
  "call_id": "call_80KQKZN9Qpq7TO7p1ZQc5kt0",
  "id": "fc_0f6042e3193e95e9016ab4392f5f8c87d0b28133a2c7a2256a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_80KQKZN9Qpq7TO7p1ZQc5kt0",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6147, -0.4423, -0.0113, -0.0338, 0.999, 0.9333, 1.7878, 0.9352, -0.2165, 0.5526, 0.5495, 0.9965]\nstate[eef_state]: left_x=0.2885 left_y=-0.0005 left_z=0.1671 left_yaw=0.0007 left_pitch=-0.0717 left_roll=-0.0021 left_gripper=0.999 right_x=0.3033 right_y=0.2597 right_z=0.0317 right_yaw=0.1405 right_pitch=-0.2782 right_roll=-0.1511 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -1.3744, 7.0769, 1.79, -0.0366, -0.0659, -0.0122, 0.0752, -7.665, 5.0256, 1.3846, 0.3443, -0.0415, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aedbaf486db203f258e4a408cf726eb6d1b99cb421221debd730f5290aeb6134",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff4207079b1953d2c4956b2220f67a40ac9b1559ed12263206501bceb42cabc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54460a3356b0793122917d81197c0c3067a5f7ad58873e7ad5ee69fd10757f86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.923 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]: [-0.0212, 0.8124, 0.6147, -0.4313, -0.0113, -0.0334, 0.999, 0.5941, 1.7638, 1.1328, -0.2283, 0.3855, 0.2741, 0.5252]\nstate[eef_state]: left_x=0.2901 left_y=-0.0006 left_z=0.1694 left_yaw=0.0005 left_pitch=-0.0603 left_roll=-0.002 left_gripper=0.999 right_x=0.4135 right_y=0.2035 right_z=0.0981 right_yaw=0.1098 right_pitch=-0.209 right_roll=-0.1031 right_gripper=0.5252\nstate[joint_eff]: [-0.0889, -1.4017, 7.0085, 1.7314, -0.0171, -0.0366, -0.0122, 0.1709, -8.9231, 6.4342, 1.8144, 0.2857, 0.1685, 0.525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4347, -0.0116, -0.0334, 0.999, 0.9333, 1.6512, 1.1133, -0.5098, 0.5613, 0.5488, 0.9964]\nstate[eef_state]: left_x=0.2896 left_y=-0.0005 left_z=0.1687 left_yaw=0.0008 left_pitch=-0.0637 left_roll=-0.0017 left_gripper=0.999 right_x=0.306 right_y=0.2612 right_z=0.111 right_yaw=0.1393 right_pitch=-0.2578 right_roll=-0.1414 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -1.1009, 6.9949, 1.6923, -0.0317, -0.0464, -0.0122, -0.4855, -9.8667, 8.3897, 1.072, 0.4371, 0.105, 0.0806]",
      "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]: [-0.0212, 0.8127, 0.6147, -0.4423, -0.0113, -0.0338, 0.999, 0.9333, 1.7878, 0.9352, -0.2165, 0.5526, 0.5495, 0.9965]\nstate[eef_state]: left_x=0.2885 left_y=-0.0005 left_z=0.1671 left_yaw=0.0007 left_pitch=-0.0717 left_roll=-0.0021 left_gripper=0.999 right_x=0.3033 right_y=0.2597 right_z=0.0317 right_yaw=0.1405 right_pitch=-0.2782 right_roll=-0.1511 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -1.3744, 7.0769, 1.79, -0.0366, -0.0659, -0.0122, 0.0752, -7.665, 5.0256, 1.3846, 0.3443, -0.0415, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aedbaf486db203f258e4a408cf726eb6d1b99cb421221debd730f5290aeb6134",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff4207079b1953d2c4956b2220f67a40ac9b1559ed12263206501bceb42cabc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54460a3356b0793122917d81197c0c3067a5f7ad58873e7ad5ee69fd10757f86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDk0WY0nZRnUqgtA60_dY-6lfXhJnm-6qutflukDxYVRRaYoC0L5LBlLAlbJxdIP2SGgtG-5o4QmXqd5ZxSkNVq-B1Pz-LnmOynd1OCAIGNBffhFo1Ao9czm_ByYCq_vBeeCPGmBVY6mu9MG_kkoXpadgiK6PPynGroOJt1ZX39VgRrIaK5IRQYteYCJaYMmPJSyMQzpow90DFrqjF5Fr4G7hJ6mDx2lqRhm6jp0pDEh31AXCZoEXifZ9myFUOWzNZoDRSocNdo61AFK2W28M7TlSRA3Wt1tb9FKnUxPxXMYhCOI5nusIJ74sui8jBScrY9c6e86SJGQOmi06M_3miTQJSdrSEvRk3iBzpLm-N4CT3bgsJIR8K5hvZZpXL9EqpyWsYsmHB5dGLzDc0b6XKKJMM2eZQN7z4xx0aQ391ecjoMLRw_gcrddGxfaMeegibsUtD85t4dQfkL38C9Mngz4H1yq5Y5DOrhp34LMtG54wdOliCNZ_ZK4SU2ZtpLc0QyY5SllUWhnWVANCK4qmdMfrNwC1o21205_DGcMVge1RARUvCrl19zwNesX1xgCG9QcCvxmEoosLP7nPQmC8HrWBNvZGNEVb_Y_0rYK50K71-eH4qe0usg2-Uzuhc96_oatWIE0E5TBYEsdXgpdmVo-wU9NXWUP3jwg-vzsD4jhoDPj7jdPjzLqsmM5k0NUZlx2sSe-EUziVQrepqpOr2NFslx-Wz9Z_zs23M5hJ8EuPLDMrhYAaplBNykQH3p88PvrBJb1T6lWHh2uDwYnyA4VCmcXvCRtIQb0IY6tsqecdN-GzpUMl4aXlLAFtCdxrfXQ5cf7WFpbko1civ0DsDj2t7QZGv8iZVsXvxdE9J1-r8J9I3GXQ4FEdAWqzNGJSGoomJO6FgpH9AI8Ib3P9YvZL0wKHj2bEuySVE6qloBDTx98QrWqFC4G3AtDnd9PiVKlOogutE4dVlR-ukhoxPHWY6c2XVFSZe9g80EGOHCrt5ansFbtF3AmX4skadxgl9Essj90qKBnxZrhRa4cLBEy0jv_bIkgvnxvOHWI3EmIAZ0f5OEcYPqMOvghWDx4ylbE8kEywYn_Iqihlnf6js4ZmTWaUEMeHv0xDZlNnl24G5ALIAaxL4LFW7uxspz5AAVGHiPMkrFdn7PaI_FmvFcUiVRfweY0huYY9cWdCbeKEZzrJXKO7QhyAGYu4UzuvH55",
  "id": "rs_0f6042e3193e95e9016ab43933850087d0b98837534acd1802",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is at the yellow fruit’s mid-height and aligned with it. I’ll close the jaws and check the grip.\"}",
  "call_id": "call_9A4jNDZ2Aq9WUjsmL8NnxvWt",
  "id": "fc_0f6042e3193e95e9016ab43933af4087d0b762f4bdc2a05941",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9A4jNDZ2Aq9WUjsmL8NnxvWt",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4465, -0.0113, -0.0338, 0.999, 0.9329, 1.7878, 0.9352, -0.2131, 0.5499, 0.5396, 0.0224]\nstate[eef_state]: left_x=0.288 left_y=-0.0005 left_z=0.1661 left_yaw=0.0007 left_pitch=-0.0767 left_roll=-0.0019 left_gripper=0.999 right_x=0.3035 right_y=0.2605 right_z=0.0318 right_yaw=0.1481 right_pitch=-0.2782 right_roll=-0.1537 right_gripper=0.0224\nstate[joint_eff]: [-0.0752, -1.347, 6.9538, 1.6777, -0.022, -0.0415, -0.0171, -0.1983, -8.2803, 5.5863, 1.0916, 0.2369, 0.0513, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b4c6a9689e35c10fe49ed049a300afcde18f12cc011712aec0e2cb23ab111c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ebee2980f249fec66768dba9cd325628346b7e0f8e21cd03a769a36f30cfd16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd741683d999f67f05db9c4d842ca30528a32ad226f66133e6e5b97085a1c5a4",
      "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 · 3.592 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4316, -0.0113, -0.0334, 0.999, 0.5938, 1.7638, 1.1328, -0.2363, 0.3843, 0.2684, 0.9955]\nstate[eef_state]: left_x=0.2901 left_y=-0.0006 left_z=0.1693 left_yaw=0.0005 left_pitch=-0.0607 left_roll=-0.002 left_gripper=0.999 right_x=0.4123 right_y=0.2027 right_z=0.0968 right_yaw=0.1126 right_pitch=-0.2168 right_roll=-0.1102 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.347, 7.1863, 1.6777, -0.0317, -0.0171, -0.0171, -0.1436, -8.9231, 6.3932, 1.5116, 0.1001, 0.0611, -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]: [-0.0212, 0.8127, 0.6147, -0.4423, -0.0113, -0.0338, 0.999, 0.9333, 1.7878, 0.9352, -0.2165, 0.5526, 0.5495, 0.9965]\nstate[eef_state]: left_x=0.2885 left_y=-0.0005 left_z=0.1671 left_yaw=0.0007 left_pitch=-0.0717 left_roll=-0.0021 left_gripper=0.999 right_x=0.3033 right_y=0.2597 right_z=0.0317 right_yaw=0.1405 right_pitch=-0.2782 right_roll=-0.1511 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -1.3744, 7.0769, 1.79, -0.0366, -0.0659, -0.0122, 0.0752, -7.665, 5.0256, 1.3846, 0.3443, -0.0415, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0212, 0.8135, 0.6147, -0.4465, -0.0113, -0.0338, 0.999, 0.9329, 1.7878, 0.9352, -0.2131, 0.5499, 0.5396, 0.0224]\nstate[eef_state]: left_x=0.288 left_y=-0.0005 left_z=0.1661 left_yaw=0.0007 left_pitch=-0.0767 left_roll=-0.0019 left_gripper=0.999 right_x=0.3035 right_y=0.2605 right_z=0.0318 right_yaw=0.1481 right_pitch=-0.2782 right_roll=-0.1537 right_gripper=0.0224\nstate[joint_eff]: [-0.0752, -1.347, 6.9538, 1.6777, -0.022, -0.0415, -0.0171, -0.1983, -8.2803, 5.5863, 1.0916, 0.2369, 0.0513, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b4c6a9689e35c10fe49ed049a300afcde18f12cc011712aec0e2cb23ab111c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ebee2980f249fec66768dba9cd325628346b7e0f8e21cd03a769a36f30cfd16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd741683d999f67f05db9c4d842ca30528a32ad226f66133e6e5b97085a1c5a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDk5Li8CL93_76lHP5mWhcsNyuk_bZRJZgc4DR2nW7ibvF-EpOH_mCK47_Ilxe7WQf8cNlRY3TD20AJijQakhbqT5Vplf7mSYV6qxIdJlE_dqxu-QjHm3EKLWCYgQ9POCjbHm_fHHfWzI3nvjQjvNE3CJ3swBmELlHbh0j_4lRmFwiAjD05xkkA4RFDtoup6meixhNf16PA6m0pnSjTxTTWxes9l7Pn8J_X63v8hrGqEZRUnEIUU9zfhjZhA31SwKSxntU17_5a6AZUiddEljcRKsxOKlI_sqy6szBW1JrieZt_mxDcpUXDTcGHIWUY5-0BU7SfMQCqBhAypfTRHWkzehhuIh2I9oEBKorw_ECrarylz5wbHKoBKJorCserCvzd2wEDrkIlNjBWa_EFLR9ZbwW03kAejLvf9mDcfC-IFQg33JALj9SuEi8qY1K1DfMcfF1Skuve5v35c8qOO7guzlhVGkFH-ON0orQKWEe4SCabz1OLEyJlbYLKO8VldFoClC7K6SGFWY_Jd2xMIpb0VmavEoNSGbAxY0pfy9LOmKuH040XwKFSMcozTG6zFVR32HO1e2N0sAIsiHxr7VWGon53FNrNVE1mG6n8dj9dlvXv3JHrWIScwWwx24G5ccPAWaVf_TdLwfWIpyPs1_DkX8nrjMLNlg8vZ6HhdxGaBz3RxWm9M5Xy0-puG104b_D_Xe4synhYrH7rwH6Aqwlow_z8ZF_YKie8WV9XW7sI1vfSRPdfVqUT3rLjdd91XEXdhJxeLDF0WEb_5LXtweMCNQmjmNqJvPBMiEbN6tNi7CGEtKHKNh63dQZNb_4r6xj8McgKIKJhCVwkjDw5lg4AaGZnBikmytCixOH2gD9f2K3TCN7id45maR2CmU3Rge6sqN23RGoPa1-_b-jFtppEsTCA2DUshnOxH9C4WItZpFgojN5bKSBUyMNtfKXswm_9Rkx4RSPhiult2nZLcG9prDV6AX1epT0r7TiDTDglDOJVbp3Yo_uCh5ya_3C2roOLo6sgeiN9iUZm3Krs2r7cVN4hF_-gKXlSHrbvzqEXLSddiPlPVCI6oRY6nJ-yMYb033lbmTksvJgAx-FILnWmOHkhNj05Ivz7t49CHtXwIrb8qArRlKGxnmvzd6IAXgTfcjZ_35bviMjwUbatpkHHc4tH3PCVRCKamXPFO6o0AYq_yKGJpsWIqIqN8Mx5VlqprQbPboOR6AA62ZUvl8v4l1wLn5XiaHyjloWITNW9AMK-3O7pr6_2Exq__6bMzqk552BVFcbJludroGg4xwVYoslFhUD8wYefq6Pa6jXw20LsiOtLhm6yh5Y8wAAlKWAbkgpm_nNUg6C5lWxlXlGtL23zJqw2prza-bXm2_wuebsk0E_YfZKDcdEQQfdwlV__8g7lGWQgQ_AuYb4al0F3RjokG3b0opfWz6TOIp-8I_hsZIOxhMrfDCQmEpZs3AB6NCXg6gD9UkXmC7lGqQLQjKgjXlw5ndig2LCIqxQJdoQRzOLj3b4xRnjTA7rybb5rpdPGz6uguGP5BL4RsFRQOVrTP3cte2tS0_70BWOrajygKQwATqM1dPv4F9ZYDCj7M9G2IzI_cgfLOEWyHRs0U4ODiTqEBgCO8e63Od70gkRpJrwDmqMkER4RaAMbcwsxmk4-EB4g-HyAEjvZ2y50kdYZ66ZjrgOcAvywN7TadmAAnc7oAUTqoEfPSHV6jF-oobXk0GyfZoPOVn4viAe-cCz-kUYO5GqHJLXXyTGnfLidP5TlkpLKu-0OYwHN7ueb0quEHBQsoDAFh8oediOFeZpuITXsCuuoyLW-KQRekgeeLU2EZLePA-iIfr6CKEgbqAOoAk1Rb65PlcOa9MT_QajJfgZJi0s1BF9GFU_giv-0uBYNLclayuVdRpnGiCVJUGgqF0Xxnb7MFsozfkuXN5jmu74vX44aluToTaacWOtRc-C342uwhkKyxJwby5OLazLvjLWWI4GSeI1VynwAsc2JSJbG2iQZ8uAVFmGC_z68wckJ7-gIH0p4d30hJm1QAOHGhTruzQw-qswYPo6sEC2aULuapMg-qI-hHeIvVSVwmbthXUY3FoAbYw6XgWTaQYF7MmmjqpHkx_0LI61XiWmrc-KY_IRlHMPsHMDNP98dGi3Y2l2WIet4Rdfiop2UOyssyyqJw4CXMgIOECpE2ASe6G0WtKaPJ7H5cJcGHRFdAYeheq2ZXnF-d4QlUSSd8PunEIC81JWKFR4G2PjHbr9_SnF6LmxLCa_RLHRM2Lp9QS26ZCSmBkTQo6_4nMe6c",
  "id": "rs_0f6042e3193e95e9016ab43936821087d0bb2ff9a33a53bda7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.125,\"right_x\":0.325,\"right_y\":0.285},\"note\":\"The gripper closed almost fully, so it missed the yellow fruit, which now appears left of the jaws. I’ll reopen and lift, then shift slightly left and forward for a second approach.\"}",
  "call_id": "call_fTXNqesiJ9LkTtdQeWEKYOaW",
  "id": "fc_0f6042e3193e95e9016ab4393884f887d089e972f91fd9ed94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fTXNqesiJ9LkTtdQeWEKYOaW",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4496, -0.0113, -0.0338, 0.999, 0.9291, 1.7798, 1.2697, -0.5735, 0.5419, 0.522, 0.9954]\nstate[eef_state]: left_x=0.2875 left_y=-0.0005 left_z=0.1655 left_yaw=0.0007 left_pitch=-0.0797 left_roll=-0.0019 left_gripper=0.999 right_x=0.3224 right_y=0.2853 right_z=0.1075 right_yaw=0.1556 right_pitch=-0.2973 right_roll=-0.1736 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -0.9231, 6.9812, 1.7411, 0.0073, -0.0366, -0.0122, -0.5675, -10.5504, 7.9658, 1.0965, 0.232, 0.0415, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd632be41ddba5ec268e0741ce18f5a6147ee85c552a26bd7f2e35523f3b5c80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c23061f6c34996a13d47b5e290a96d616a337e43955c761779e53eb952fd46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1045148cdefb6d55a94af78695be7fe59f8dc21dcd0f45f8c5a3bbe3031be72e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 2.764 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4347, -0.0116, -0.0334, 0.999, 0.9333, 1.6512, 1.1133, -0.5098, 0.5613, 0.5488, 0.9964]\nstate[eef_state]: left_x=0.2896 left_y=-0.0005 left_z=0.1687 left_yaw=0.0008 left_pitch=-0.0637 left_roll=-0.0017 left_gripper=0.999 right_x=0.306 right_y=0.2612 right_z=0.111 right_yaw=0.1393 right_pitch=-0.2578 right_roll=-0.1414 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -1.1009, 6.9949, 1.6923, -0.0317, -0.0464, -0.0122, -0.4855, -9.8667, 8.3897, 1.072, 0.4371, 0.105, 0.0806]",
      "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]: [-0.0212, 0.8135, 0.6147, -0.4465, -0.0113, -0.0338, 0.999, 0.9329, 1.7878, 0.9352, -0.2131, 0.5499, 0.5396, 0.0224]\nstate[eef_state]: left_x=0.288 left_y=-0.0005 left_z=0.1661 left_yaw=0.0007 left_pitch=-0.0767 left_roll=-0.0019 left_gripper=0.999 right_x=0.3035 right_y=0.2605 right_z=0.0318 right_yaw=0.1481 right_pitch=-0.2782 right_roll=-0.1537 right_gripper=0.0224\nstate[joint_eff]: [-0.0752, -1.347, 6.9538, 1.6777, -0.022, -0.0415, -0.0171, -0.1983, -8.2803, 5.5863, 1.0916, 0.2369, 0.0513, 0.8425]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4496, -0.0113, -0.0338, 0.999, 0.9291, 1.7798, 1.2697, -0.5735, 0.5419, 0.522, 0.9954]\nstate[eef_state]: left_x=0.2875 left_y=-0.0005 left_z=0.1655 left_yaw=0.0007 left_pitch=-0.0797 left_roll=-0.0019 left_gripper=0.999 right_x=0.3224 right_y=0.2853 right_z=0.1075 right_yaw=0.1556 right_pitch=-0.2973 right_roll=-0.1736 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -0.9231, 6.9812, 1.7411, 0.0073, -0.0366, -0.0122, -0.5675, -10.5504, 7.9658, 1.0965, 0.232, 0.0415, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd632be41ddba5ec268e0741ce18f5a6147ee85c552a26bd7f2e35523f3b5c80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c23061f6c34996a13d47b5e290a96d616a337e43955c761779e53eb952fd46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1045148cdefb6d55a94af78695be7fe59f8dc21dcd0f45f8c5a3bbe3031be72e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDk_QHAc_AE4x7QHzZ8jn8_FXpRq56CeNgnzKDs2SLdgZLOdYu_8_KdD8rBF-aiQp9Q8V3hUOZ7KUPpcSFef1D3qzOWA-9LxJVzaADvjObMBmcNqzZ2VP1L7P8wbIyF4AbNnd_FJ6E1JthpcbGg6Z792qKGBs55l9GLQ_Tp6iS13p5_0POeLPZ3jD0Pel3JP81ES57LuwqiwR6wxApcqVn92NYdVw1NmVW-RtvypLw-QRQrPO7L-mISSF-ZTcz8afAx6BFNi3kSzflrC4EQx9aEsiE5YJMyNpz_j_GeggTSbm-W51lDlgxjW0wyruucHXZV5W1ZacnP0KT7XnkEY8ERVJ9j0E6w7i-ELotVnsBz_BGFaR0rA-j4lscEBN0NLa2_SeTDkNs_q5XZABsDUZUnvrIJe7yjIyLTl19b36WbGRppwrJ1gCQsJjf0UUvLW2BnWOrPE2br_NXsZ35BwVlNS3Vt08MguyYJ7zxjkOnKw_HEnno0d2gxD1H2LlaXcciNwRXiXr969r_Dw8xCTaBqfpPsucxkVZc8orBPkP3K58_5IMzYzIVKCg4VDTaBQw1wXZ_HjKZ0_IXNnSizuKN62o2dQETFRW6zDqpBuCl-_w4R6fIfUxv2kMd42OnOn4uMG4tm3bzmVFqSRT3-VXLTqSI6gzv8vjcYjR3xOQ7rviJIhIvrxfwRuZ71R-ibQcPJwTORF5kEEOGOcfMby3aVMxWA-DbEM9S3MvXsQ3bUMsKMOe69hwpoQ7rDdiTSdc6H5sBjCwinGDSwc6m9_gk4rr_DQRSyU5WzsFkBEqe5mtgqDDRmWdW2kx3PWPM1WvtulTMbJ8PZWXgOyTZ_C91yg2HLAWGYTHDqr2OXxgFxSoLK_bWx0txKIwzdO1Py9R5h1TfgfI9w48wCFCXtwxs_JD_UTCvLLbtiLIcHmBuBOLIncFbrv5oUQEVxElYGgH40pec2cuszk5SQ-bKvtz3wiMnlgco9uLmUCYs-ZH9rBoSVUY4NMk9sjjl9_8UI8fefVXKg4vv7mRuwr-u-LJfUcL_JQHpJFSWAsWll3TUvXPjH3eq4PspPADQ-NJ1UHihIuZ50H3QYAzx6CG0aeJfe8SVwpSum-EYnzdzAlQUvl0FiwZg3KpdgWLo_4MPt_peEpvzFyjUGUAhUlDycfKaciTpm3_FOFdxvF0CT2OTzDBL05PUwBwYXv3DTacTqmLb0X2goltCOVo37LzLDVgNWyIXkQO3gTu2TRUECp0rUXA3G3C_NzNShfwsEhDk1gQ-zJ9gA1yBka8Rvks2vOhbbvGwBVUkSd2bHJYhIH0qZby_D310A0v6jgGIYtJKWpQuNBCBH9osc2GZF5inM_cbY1yKzsbA6j7wciCskh5ADZhuSvpvnis7KxL_i5dw4biuYyc12_1R6ocHoLcw6cd9FMc2kuDSEFaoI3CtAra6NZdHYLL5c0CpGkNOfTwA-IV8IVaQiiPK0lEs_qv8nKjl_sSPO_nlKU1-vTFipVDyMCpnfIXC0_gT52m1-m4IMhdnKwUZDmHxVJelDZaiZ180whAh5R-zGGhqLShvkoWlC2Po270xCQa8WMV2KqOPN8IRTRJ6_OmWNgkemdcg_uQk7X28s70YwyWmU497H4wy-jaD2R4F-pg9bbA2OBg1LmTlnMVHT69pvmsRStVQtD170Zdj6ENm1XhU3_Z1n8hGJ9X3qmkmekzIlTd0x6UOx26jpmKJqgOSIaNrSc696rlDM8rxK7ebSGvHowSdZ65480hv49XGvjLo9IY-Dt1SCCVcQQOPNadxF-qqe8-9fDjKny0PKirazDQ_ZcukwvmWvpSREWzrLRBhyBCUpDaIKJo6Bz",
  "id": "rs_0f6042e3193e95e9016ab4393cd39887d0ac1dcd5c387b7376",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_z\":0.025},\"note\":\"The yellow fruit is back on the jaw column in the wrist view, just below the gripper. I’ll advance a little and descend to surround it rather than catch its edge.\"}",
  "call_id": "call_Dj0HQg2K3py2XAxqrSXI8Xts",
  "id": "fc_0f6042e3193e95e9016ab4393e098087d0a062073fc62c97fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Dj0HQg2K3py2XAxqrSXI8Xts",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4511, -0.0116, -0.0334, 0.999, 0.9047, 1.9179, 1.1236, -0.3206, 0.5209, 0.4988, 0.9964]\nstate[eef_state]: left_x=0.2873 left_y=-0.0004 left_z=0.1652 left_yaw=0.0008 left_pitch=-0.0813 left_roll=-0.0013 left_gripper=0.999 right_x=0.3274 right_y=0.2801 right_z=0.0272 right_yaw=0.1512 right_pitch=-0.3351 right_roll=-0.1976 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.3197, 6.9675, 1.6825, -0.0269, -0.0269, -0.0122, -0.6359, -8.6085, 5.3675, 1.1648, 0.2662, -0.022, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3b2ad50c9df2be504df2cfa779f514edaa35d1801e1358a899550950453721b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef1a09b9751451a873c66ca0b1061519db00641fd55b3dc315d59cb13b4b4385",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f0fbb556cf72d5008d54397925f3554b9cf373417345f1c111963321b5db18",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.782 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6147, -0.4423, -0.0113, -0.0338, 0.999, 0.9333, 1.7878, 0.9352, -0.2165, 0.5526, 0.5495, 0.9965]\nstate[eef_state]: left_x=0.2885 left_y=-0.0005 left_z=0.1671 left_yaw=0.0007 left_pitch=-0.0717 left_roll=-0.0021 left_gripper=0.999 right_x=0.3033 right_y=0.2597 right_z=0.0317 right_yaw=0.1405 right_pitch=-0.2782 right_roll=-0.1511 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -1.3744, 7.0769, 1.79, -0.0366, -0.0659, -0.0122, 0.0752, -7.665, 5.0256, 1.3846, 0.3443, -0.0415, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4496, -0.0113, -0.0338, 0.999, 0.9291, 1.7798, 1.2697, -0.5735, 0.5419, 0.522, 0.9954]\nstate[eef_state]: left_x=0.2875 left_y=-0.0005 left_z=0.1655 left_yaw=0.0007 left_pitch=-0.0797 left_roll=-0.0019 left_gripper=0.999 right_x=0.3224 right_y=0.2853 right_z=0.1075 right_yaw=0.1556 right_pitch=-0.2973 right_roll=-0.1736 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -0.9231, 6.9812, 1.7411, 0.0073, -0.0366, -0.0122, -0.5675, -10.5504, 7.9658, 1.0965, 0.232, 0.0415, -0.1343]\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 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4511, -0.0116, -0.0334, 0.999, 0.9047, 1.9179, 1.1236, -0.3206, 0.5209, 0.4988, 0.9964]\nstate[eef_state]: left_x=0.2873 left_y=-0.0004 left_z=0.1652 left_yaw=0.0008 left_pitch=-0.0813 left_roll=-0.0013 left_gripper=0.999 right_x=0.3274 right_y=0.2801 right_z=0.0272 right_yaw=0.1512 right_pitch=-0.3351 right_roll=-0.1976 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.3197, 6.9675, 1.6825, -0.0269, -0.0269, -0.0122, -0.6359, -8.6085, 5.3675, 1.1648, 0.2662, -0.022, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3b2ad50c9df2be504df2cfa779f514edaa35d1801e1358a899550950453721b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef1a09b9751451a873c66ca0b1061519db00641fd55b3dc315d59cb13b4b4385",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f0fbb556cf72d5008d54397925f3554b9cf373417345f1c111963321b5db18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDlCiAneEE7wa2E0Sh74WhEYLoW_PjP-8RVVDovKV900zVDCBQUVeUZkBfhzFc5Kz67VxKvQXiKhGkHIYO-8AVF6umuYe8nQasM5xvYK7RQStOgaUeLIDhjsyUCbSB-OzsxdzFa19my4hmRRHdfgkb-0nkMRFJ4QpD9eFYyqCZi6tlx80umaZ6ezkHh0zw87dwdUrEn8yta3EN0saP-Mwn1YqKFDoqGJhkn0YRltmI6f7uZxma-cb6z8HITJmBlsyAj8H3TuqcV_tk_YAkkXUq-3_Rj7LV8giVdapifwSiRYangTC3sl3sV34xLg69Ay9_vrRfmWIvCl12LDFXpeCRq0j3zvhc0DtEFiWzhJRN708VlM_tViglGOIQuBZn9yWY5_9_5SPEjaYAEO7h2JDGSH0GVqfQNh_Gc73lOtcsvAJUk2Jk6CI1lWGyNjzfSk1unPn3Pv5vF-9NzbPGYaYO3-t6pZ3y9KhtycL5J5pe-OElMuDqrNEtPhho974QX1fdmQcXMJiaJMWS8V04uAL3EpIa-kFdg1b_942iT8Vk8wJWjxT5tMRx1wptuWExRSMLJlR6vQYQA1_5Y3RI4aOsvOAR7FEV-r5erQ6648X1Zz5bX7RZZOkICioeEOIARu3TCV1EBFk-0MIWaNboEshhmVtiqXJJC-TwhTJn3d9bQHupyS2qhUv8wFQT_ceoMO9XBpi2fsbOqp62Lo5fFyGUqkmvCM7_bxSrck0I43ucIy0mFir-3wpnOIpRwiZYbD9y0yvS_A5y0Q3gs0yWFAsV1LI0nzjBOyO0zJippIDLSyKmOo_8qGRAgDy1TQKTY4aqcA4sx0uzfMn5Qjek7NMg5IYrjvWA5w1trjOGb4QPz8N3UfmjpluCbh3ZamVSf_xAV5_rpjK2kqUIhsY1815T8lG9bbAY8NJwoDe1ZQO4AreOt-hhhwycZXG3XHVWOOnNkTn75MVBIGIKfgWWvjieoYePtxKheGD-c-jHuHXDKH9AI85b1t2WsLfzrG8cdO6OBQ5__Vyhhqw2ZzP-1rOz-Ac0VM8DViCMt-yYIUNMSy4uqPOC0VvqjkBTHUpz4hbdyZrsKRShoPYJXMYYk_fGHixFYSsJYo373tvO6nmLGY6bO03XOMAgax0FkGwccbEiwc4nUo23P5U3ekYnAXnTRjDTL-0g92mmsTMRqV9EIZ83CGwuwji8IDKEpJN-f8lDfR-JOgcJBz8oazGNI9SOHXLUlrE9aX45IvvlzQWAUDbqQ8CsLMMdswRD20E8i1QwsmQkrog7omdfx3x3GdY2exDigLT_ZiiGCSmIY2tPJRSPAW7pZdIw0NeD2sj8oUKS0o8FRFHMr64WHXnXeSqahXKjvWYIGc_5T1ZfQi71-PVWyQoG1RxGJew-0XV_pyVIhmP21meNS4uNXsNz2zwgHlaOI-JDPBkimBLlTWs3EDa1LaRRtJqKPkkWNbupCGIRcErr3tFOda2uUc9F-DjvKdT_5ssCnoZYP9ji6fdnMU1MxLl9fyxMYcsK20L0k6lKDkSgiFAGvWC7GJv_iZjxv5IpagyIU-MJWitV8zkJ5MgFS3HcG4aP4tT432CDi6ikx5wD3hdFJEF-gW1c5Se2-iwCQCQ076ARyDcAkEebgdV-Ju3A4c9oYUvXjTxIh4fnuMAmq4PzvzwEX1p3wkJl6iki2YkaCGsyVZwhQ_zy9xTqvtT0WaAKnNFaVZY2xAc2adkXn7e85jvsSIjYTw-M0FyGnd1wrmzolU37yimN1Muu7s7PLee6O5IzV3jLwk-qtr",
  "id": "rs_0f6042e3193e95e9016ab43940920887d0b6a7b0f0e1001075",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper is low over the yellow fruit’s last visible position; the arm now obscures it in the overhead view. I’ll close and use the jaw reading and a lift to test the grasp.\"}",
  "call_id": "call_hQGKk2ZAnQogx3NFOXZJm3PD",
  "id": "fc_0f6042e3193e95e9016ab43941a7c087d0bdb24cd95452c558",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hQGKk2ZAnQogx3NFOXZJm3PD",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4538, -0.0113, -0.0334, 0.999, 0.9047, 1.932, 1.1168, -0.3298, 0.519, 0.4889, 0.0381]\nstate[eef_state]: left_x=0.2869 left_y=-0.0005 left_z=0.1646 left_yaw=0.0005 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.999 right_x=0.3239 right_y=0.2761 right_z=0.0184 right_yaw=0.1506 right_pitch=-0.3593 right_roll=-0.2246 right_gripper=0.0381\nstate[joint_eff]: [-0.0205, -1.1282, 6.9675, 1.7265, -0.0464, -0.0513, -0.0122, -0.1846, -10.7009, 6.0786, 1.0867, 0.2271, 0.0806, 1.5849]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:715660d558166635fe5c2aa973a7c092efd3c860c5847531ba26d7e91609be29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf21ead52f5c576b7bdf6dde1055aac31fb49d600675647a435fe2bbc75d1e2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ca9bd44d80819a5dbfe4a0e3290e35b9e5a23d233cfa15b887fe8aaec8089e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 6.017 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4465, -0.0113, -0.0338, 0.999, 0.9329, 1.7878, 0.9352, -0.2131, 0.5499, 0.5396, 0.0224]\nstate[eef_state]: left_x=0.288 left_y=-0.0005 left_z=0.1661 left_yaw=0.0007 left_pitch=-0.0767 left_roll=-0.0019 left_gripper=0.999 right_x=0.3035 right_y=0.2605 right_z=0.0318 right_yaw=0.1481 right_pitch=-0.2782 right_roll=-0.1537 right_gripper=0.0224\nstate[joint_eff]: [-0.0752, -1.347, 6.9538, 1.6777, -0.022, -0.0415, -0.0171, -0.1983, -8.2803, 5.5863, 1.0916, 0.2369, 0.0513, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4511, -0.0116, -0.0334, 0.999, 0.9047, 1.9179, 1.1236, -0.3206, 0.5209, 0.4988, 0.9964]\nstate[eef_state]: left_x=0.2873 left_y=-0.0004 left_z=0.1652 left_yaw=0.0008 left_pitch=-0.0813 left_roll=-0.0013 left_gripper=0.999 right_x=0.3274 right_y=0.2801 right_z=0.0272 right_yaw=0.1512 right_pitch=-0.3351 right_roll=-0.1976 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.3197, 6.9675, 1.6825, -0.0269, -0.0269, -0.0122, -0.6359, -8.6085, 5.3675, 1.1648, 0.2662, -0.022, 0.0952]\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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4538, -0.0113, -0.0334, 0.999, 0.9047, 1.932, 1.1168, -0.3298, 0.519, 0.4889, 0.0381]\nstate[eef_state]: left_x=0.2869 left_y=-0.0005 left_z=0.1646 left_yaw=0.0005 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.999 right_x=0.3239 right_y=0.2761 right_z=0.0184 right_yaw=0.1506 right_pitch=-0.3593 right_roll=-0.2246 right_gripper=0.0381\nstate[joint_eff]: [-0.0205, -1.1282, 6.9675, 1.7265, -0.0464, -0.0513, -0.0122, -0.1846, -10.7009, 6.0786, 1.0867, 0.2271, 0.0806, 1.5849]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:715660d558166635fe5c2aa973a7c092efd3c860c5847531ba26d7e91609be29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf21ead52f5c576b7bdf6dde1055aac31fb49d600675647a435fe2bbc75d1e2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ca9bd44d80819a5dbfe4a0e3290e35b9e5a23d233cfa15b887fe8aaec8089e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDlG63wXkxUeUC_UXj6jtma0OqUDillXUBhJeon5a0-HLL5EwKnv5VJBfEluPal34NL4JE3Pj_78j3eHLg-buVq5XnsCrLtsZjC91t_D1yPxf3E_UHnmq-hLf-0eBSDJIwCy6lTOQjRaTAoRFhk885MmIE9JR7nBALljQdvb73sERBYTyJ6e9hRFgBU0tKxaOAMdH6i9iN5eMovJbIHJZaO4_-uq2fP5_QnafCV9J3UmLbbw5vxM5h6jJpJpiXRm6I-x83EIa2ZocVa1atm_jZK0ERKn-azOpql2ziuqXYdDSElsj6cnTg813sR7m44AcjS7D3Yr4oixvZqgP_DJYrfivkvLsmrfSyKB4DRtjDZGOFt2rRG52VL4LdWhNlEDPP2wp0d9g6OSkXPfgJTxAAtEaFOU2iNL0h3Oam2t6fLsEpF__80cO1cLtCkUg27lyj26KbGPl8a5dWAUakgT1P07_AkhCPnlkZEi2G98jO-UOLskAwcS2ZvP4R6ELK7F1-cPcVwjum2Ys4cBeWVZxkaZK0Yhg8FgfwCehfZuaScc2J6RYRjB7_JPweRv96UuWLz8DiBRyTbMZY7TIDSaTizhLL9FPxO5sAy5UtHPiwARBJnEGk0D4VLreG1LXTg3O0vzC9KFO3eokjo8gaLdAMyayDoXYL-W2Z3uOoiodxxjnlmKLUki-cbKlH4DzQWW0J0SHU2T5wGomaATPAoq17xTm6JeDrHoik3xH0CDxV9wQK5xLHWQPLqkRc08VN7RQGU498rXZbZftCiZj2aNZuM9g3sRE6JCYNcvB0oUJlqhJD9itzMthAoDmkgXlygVcBRGGqv1wjUroO_AEblQtFYmXbSkw4ALEBuI-4G8eMdqq7qDAONMBzgwN1WnEaL7yocRX1zD2-LKPWgZzZUmqJqRypY2P9t8Ubi2VJyIJvcJyPfWYxkQkM5ftCgG_rnK7QAZI_myvbR0DFEfcY5TtpEFS3TKVANaPyJPuhCEJoWEsTLkeXf3qEW6tIdSZXaVAQAYEGb3GR6TZzd_b_iQP5FnGblnrUwQy69HUnOPy0R9dqzZ0vq_BZYH1DcZgeoJoPwZAv_jjLV4WBz_ZRJNNWWmF73ZJHpwjPI9_7l8vhMR1IewhWrZwxWDbXaSdC3_MiZx73ZWCu8A18LdKbRy-kh8pCn_gNPWEYBn8T9q7QcHOuj9mtkGjkq0iYkQmFfgLOxhNwbuawtJtOhPmDveObdAklqLY6AIZyUAFJdz7mhnGN18_2BJu-4ob0xFWa5cOvFaw2YdTV_WkjmfhVOqbUoferOYSH_9aOEM3Ikx8qeRfFeX067fo9lCkN-HsEhCr7mP8gKv2FOff3Dg1mpm2C7XPoSh-iV-ZhRB_09M-WNL1lVoFqknctnbEF86O72QzsSjPFYS7KLygOIWuGdEzR73LrxQ5xrwnm5dfEqmBSLhI4yCjGRHyuDJAVqVIqWohfw_6tz4Y7zkfdLgTBT6W6mSyHsrWU2KTAf7ROFOhhsBCbTO8DMYMrTa1mRQEPtVdIMb6G_SsHcdY3COhZkKgnSH2T7gZiXqEbaHb4FGZWhOLxkOuBmkEst1sq6bdJC2ZnoxdOykwvKMzbTuCkrfUb0ByBXrqFO0loW7-kfFD_ojJBfus6hVukw1vB4A499Mg9e55ofoi2A8PR0A9Qf-C7cWmRXYD5XnYyEbkwWSKiqM6ui_VtZGe8REHs_mueIUQVf8AhR_iPmPknNjyLZjJdegMV8Iw_Xpa56EYBNQbv8772g=",
  "id": "rs_0f6042e3193e95e9016ab439443ae887d0b844d1ed599edfe7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.155,\"right_x\":0.28,\"right_y\":0.23},\"note\":\"The gripper is nearly fully closed, so this second yellow-fruit grasp may also be empty. I’ll lift and move it aside to reveal where the fruit is before trying anything else.\"}",
  "call_id": "call_rlHYaGx8IxbrJOe0ZDc4bjlW",
  "id": "fc_0f6042e3193e95e9016ab43945509887d0833cc1d786500e38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rlHYaGx8IxbrJOe0ZDc4bjlW",
  "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]: [-0.0212, 0.8135, 0.6147, -0.4675, -0.0113, -0.0338, 0.999, 0.9211, 1.5753, 1.1854, -0.7849, 0.5003, 0.49, 0.0418]\nstate[eef_state]: left_x=0.2848 left_y=-0.0005 left_z=0.162 left_yaw=0.0008 left_pitch=-0.0977 left_roll=-0.0015 left_gripper=0.999 right_x=0.2808 right_y=0.2355 right_z=0.1309 right_yaw=0.1707 right_pitch=-0.3926 right_roll=-0.2323 right_gripper=0.0418\nstate[joint_eff]: [-0.0752, -1.0735, 7.1453, 1.8681, -0.0611, -0.0659, -0.0122, 0.4171, -8.4991, 9.1966, 1.0379, 0.486, 0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f633e2c84154a07be7951803b61d9de2e07293e81ff565e1e7e2010985391681",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e4c9c309cfa5932fd5707453686ae4a42b0b09051a016ef758eac4a6dc79a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28d06414ba3c3ed97a54662132c43354aca5f333a665f1f198a957600ff39bd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 3.743 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4496, -0.0113, -0.0338, 0.999, 0.9291, 1.7798, 1.2697, -0.5735, 0.5419, 0.522, 0.9954]\nstate[eef_state]: left_x=0.2875 left_y=-0.0005 left_z=0.1655 left_yaw=0.0007 left_pitch=-0.0797 left_roll=-0.0019 left_gripper=0.999 right_x=0.3224 right_y=0.2853 right_z=0.1075 right_yaw=0.1556 right_pitch=-0.2973 right_roll=-0.1736 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -0.9231, 6.9812, 1.7411, 0.0073, -0.0366, -0.0122, -0.5675, -10.5504, 7.9658, 1.0965, 0.232, 0.0415, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4538, -0.0113, -0.0334, 0.999, 0.9047, 1.932, 1.1168, -0.3298, 0.519, 0.4889, 0.0381]\nstate[eef_state]: left_x=0.2869 left_y=-0.0005 left_z=0.1646 left_yaw=0.0005 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.999 right_x=0.3239 right_y=0.2761 right_z=0.0184 right_yaw=0.1506 right_pitch=-0.3593 right_roll=-0.2246 right_gripper=0.0381\nstate[joint_eff]: [-0.0205, -1.1282, 6.9675, 1.7265, -0.0464, -0.0513, -0.0122, -0.1846, -10.7009, 6.0786, 1.0867, 0.2271, 0.0806, 1.5849]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4675, -0.0113, -0.0338, 0.999, 0.9211, 1.5753, 1.1854, -0.7849, 0.5003, 0.49, 0.0418]\nstate[eef_state]: left_x=0.2848 left_y=-0.0005 left_z=0.162 left_yaw=0.0008 left_pitch=-0.0977 left_roll=-0.0015 left_gripper=0.999 right_x=0.2808 right_y=0.2355 right_z=0.1309 right_yaw=0.1707 right_pitch=-0.3926 right_roll=-0.2323 right_gripper=0.0418\nstate[joint_eff]: [-0.0752, -1.0735, 7.1453, 1.8681, -0.0611, -0.0659, -0.0122, 0.4171, -8.4991, 9.1966, 1.0379, 0.486, 0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f633e2c84154a07be7951803b61d9de2e07293e81ff565e1e7e2010985391681",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e4c9c309cfa5932fd5707453686ae4a42b0b09051a016ef758eac4a6dc79a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28d06414ba3c3ed97a54662132c43354aca5f333a665f1f198a957600ff39bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDlMQSdHJLPdH2_jZRIDXDBTo2TZAJc03ycDez97wrHhbqfOWo3BMnfXt13KMOLk_JqKl45A25enBwWpQvBeyvqKLAyhG5yJ6j2Wftt-35Uvwf7BFR7k9HjW0xyTFx1ELLgRPkcS1lPDuoKv-ujKDZBnawGB_GOSz_YSjPXlhUis-P052iAlpgCR-ThJXIDfyOPXnHphWuwAFT4Li55PFFRrUu9xyd3ukaUZC1ebjoeyL2GClo-DPyFVFNMMkDHh6f3wi2M2IoGYGdavsQylPEjX64psTG24pAcHkvwb-k7mqLtkdvWASP8rO2aUdVHzrskErU9aqkPD3GSCb8wqvugwwbFgYO2XKd4UWCrR2c0BquJtz2uITkc-G5U2ch2RVH9UyvHm4WnvuQJsz8UjGhYOjYfMmPGEdyCn87_7CT8Rb-BNvtzL-UZkwY9V90vbG5D8XUW_DEgBsNKAKnG1ZXyAFfS4nKuc5dkXjYDzsuu0zKNKIq1AN__BSfaY0hQAKYUMNRBjrQOikcSVl--ehgLnhb80lbW4J0omuLLTqlKezI794IPrINqOWBVrEuTRSUJakcLZ-HeOqvJVuiX8krRhLeUmhEPL0ODKQXV_AYMsJZYieckw1k5eFN3n09afypF7l-wQ8kdquf8COuIW11WALJV5TSDTCmDqaC8TEeyJHN---zeiXYOefmar3lZdhFfdvujl50pyM7F-WJXV4rsHWdo8APqMjLNO84IJmHV30W3RnBFYdVoAiH3_pbV8U1YYB2nHaQAVf1QSAwn57WjGUPT9ME9dbcLDmE0QBcifWJl5-IXfXRwNZged1SeDwPfG-WUWF-i_0mEKzT-D6l1yrgNLwnekKins2QzvDWQKfpXsExGvxO8e1breF85gM5d6fUavmOWhwk85aCvsjEeIXOWegFthGDCqaWyCBlX5dguyNaM7zjUU1-adwJ6F0bstqzH21t_51Jmh0J7Ropu7EaaM4LyJSZpBYF3euiSjCO9QhDqMVA33cQ8o_lLLLSoKaij6o7kZNzHUlJOaSD8Ls__rJ2SpIOQz8mIDu_6XlRiV6Xr3h30vdZW_KYuwrwkFiio-8wXRHiEBK39jAcUc9s9ePDHPEUR3oJp3ScmBZ5tNLfqtoyMhV9WTtdixXP1dOpYq9ujWEGNq5E7JlvZP66nnNwjb2I7fVk07xPAXntqXj2csFh4_aLr_7Q9lruzy9ChPNSgaksUIGx3bqGrntSZN6E1ZKOgFSY8m542sJk3xmqrqF1pka-6mJK1RODHSLX6d2PmNsRKm-q0rKJq__RlGQvIQ4uA9u9PQsy81czk0fFVrbyYeHAwfvcEQENP6cN7SKuKhTMbDCdfnHOZRNZGYSBujNjya4IJ2YZ3WcWnYkgEYI3ipwj79kcu0B7xedNkL6Fm9jN7MUOi4eO_6hHBuoGlWWpHB07Tw_Se-LIgMz8G5QH_5FznoIzEbolV7zejsIMzi2mjBK3bFq4X_DWHaUXneilCVJ9eb4JAQZSvGJWTcu48f9rJkSzepuQ-_YYGRrl2nxCIZDjOKsNC2TCzyEfJKjOiKyX6CMuvjrpTqK9Dat-Kb5N4Syq8vhQLoM-GCQKgaD_iAMBjZNLtm9Y5O7AQggwHgziilr0ebAWVlLwHNjO5Pyt3qbBcgF2ImturdiYK_kAsDSJkcqZDzU6QkbLFDgmtSFCqopARolKUGwkn8nXpPBzyJMSGB0zFMO8MOMrsveqP1boypL5GJ0TmuDET28Xv6mJo2VJ2S0SJfUcNtZi3-aZAB3jey1G9hvHMdLWzHMqGtzb7GqZk3k4VnBybC-CvxeJBAXhshsYsGE-stSDLuQ8L420KLzUGELiywuTtSQkly8MEOTQwN2hffx5tAUfyvPJPBffGLnDgBjmCE-v8sxOwMpQUKVLI4nDo8numhJ4H_Et0v7ZibYQoIj0B_vw5yomm3PN2Wx5M5t8eGC8x3JOk2AQb_jbsz1hktJq_e2nse968h6JHzoFja9SZ6Pv57mxwOpHGjk2ts7slKFtfxMPg7X4G5hpSwf85rY3RlCdxZsX0ZF9WLWR7uRdM_VTF-sQxLdTZe-rItPUqRVFJmnIgP8TEexI4nZT5aq4g_hMXtQ-fkzgSfERCQnS8ROkjk35pmrn9u6B-4h6_-OQ8kLq1KVDgkVzVTbBaM-yZjaGhOf8z92g6fPxpMB1LhvgzICVCu8jupazGxVVzjAaPyeozxXpesnz3qRFNNmqX6aI4K42oeVFVhoMwZRsCNyvyoeHKE1JNY-WqPSMAyZBaEGf7ERISsj1RjNmtyUaIVbZ_s7k3Y2DxvqOg5_D-GEDgu_8BiBdXWJZBYoRcPhNkBLUhacmtoLxCA6TT6XrY8YIAVaCgXz4j7TPuMOX_UGzxWn0pvWD8QAHW8CGFTVQ9PpxKNaZWOZEEgFpECaiViH1F1O-vBDX1MJWGWXYea5EcTSnuILL94tGdFYR5iCf9Se-3eqvddl9L-djsIiMIRDMoX4CfPMwdl9_W4dIvQ34aBmpTL2XIEKRsMBHcq9pL9syfcr6k14TATrzppbqRgJU8vhJ2FIvllTuzVNn7TPTtODwHk0cOxpuP226tqsU5EkOjeHFschOzG2VBKdIReEeogLGgMHJDsB63DLwGa37yRiZ0SEalACXL8zaJpoyg4xN_TxDtaw9FtSmAzzn7UlA3dKoRnmkjjKGkWT7oI5cpz9HLXVQTLwp35kU3ukpgJvTL4gjtFCjdBlFkwcmWUeWxWHP6HDjuUu8oy7oWNiyPfFgvpI6qsokNC9yzb-CZ2mg1QBUX39ZD2ziAMcfQJvi6odwIQYY9lxUtJmRmv4KSmuLJuE_bIQfE_4HOZq84qt-6aOXGtRNze0DYlMqW3fmprcQ3ytCbthWK0KN2rKzY8xCDdlRvs0YntVqnZ_GAtV35UBNrrzzBf-I0eD9UnO29xpEmf9Hzoa3T9yYOC8xeO4ePWOXb0PpZ85lbAhyCO5hdGDY6M123bvqe7uDmbzvfwyzDKBiBaMtEhqqp5Z9BJUiEY9N4wtmMQ0fURSNbIrUzgCMjhIvnm0NnEGeML3qJJ4ctIkZdGEQBxUgSsdROAxWJ6EWREYr-8yikefu_6rx01zEEY3CgtXIx4Qln2fsrpR92YHM4wC4VHOx2MpZByE9v6SfIRlGDjjnT5iJIpwDSGG3BWtomiwftQbvYal6d_qyjND_720w==",
  "id": "rs_0f6042e3193e95e9016ab43948689887d0937fff28da859896",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.285,\"right_y\":0.31,\"right_z\":0.14},\"note\":\"The yellow fruit is still on the table, left and closer to the bases than my previous grasp points. I’ve rechecked its position in the overhead view and will approach farther left with the gripper open.\"}",
  "call_id": "call_FN6Asc500517L6POp3GcvL7E",
  "id": "fc_0f6042e3193e95e9016ab4394c038087d08a65a7302645c7b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FN6Asc500517L6POp3GcvL7E",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8143, 0.6147, -0.4747, -0.0113, -0.0334, 0.999, 1.0309, 1.8206, 1.4826, -0.9161, 0.5224, 0.5854, 0.9954]\nstate[eef_state]: left_x=0.2837 left_y=-0.0004 left_z=0.1604 left_yaw=0.0006 left_pitch=-0.1057 left_roll=-0.001 left_gripper=0.999 right_x=0.2811 right_y=0.3045 right_z=0.1313 right_yaw=0.1873 right_pitch=-0.4213 right_roll=-0.2514 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.1282, 6.9265, 1.7167, -0.0317, -0.0269, -0.0122, 0.2256, -8.9915, 8.5675, 0.7839, 0.4176, 0.2076, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56fda6c003db75cbc9a968f171b25e18cd93700186790de61605ef33a90c3d4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1752e0faf605cf7599ec410ff12a6d370e7af9242d9c14a79e7f3545b98b1f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8063b8517e2b49f7ff9ed98e0de6906c018b824fde7175b357022caab8284b3b",
      "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 · 5.407 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4511, -0.0116, -0.0334, 0.999, 0.9047, 1.9179, 1.1236, -0.3206, 0.5209, 0.4988, 0.9964]\nstate[eef_state]: left_x=0.2873 left_y=-0.0004 left_z=0.1652 left_yaw=0.0008 left_pitch=-0.0813 left_roll=-0.0013 left_gripper=0.999 right_x=0.3274 right_y=0.2801 right_z=0.0272 right_yaw=0.1512 right_pitch=-0.3351 right_roll=-0.1976 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.3197, 6.9675, 1.6825, -0.0269, -0.0269, -0.0122, -0.6359, -8.6085, 5.3675, 1.1648, 0.2662, -0.022, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4675, -0.0113, -0.0338, 0.999, 0.9211, 1.5753, 1.1854, -0.7849, 0.5003, 0.49, 0.0418]\nstate[eef_state]: left_x=0.2848 left_y=-0.0005 left_z=0.162 left_yaw=0.0008 left_pitch=-0.0977 left_roll=-0.0015 left_gripper=0.999 right_x=0.2808 right_y=0.2355 right_z=0.1309 right_yaw=0.1707 right_pitch=-0.3926 right_roll=-0.2323 right_gripper=0.0418\nstate[joint_eff]: [-0.0752, -1.0735, 7.1453, 1.8681, -0.0611, -0.0659, -0.0122, 0.4171, -8.4991, 9.1966, 1.0379, 0.486, 0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8143, 0.6147, -0.4747, -0.0113, -0.0334, 0.999, 1.0309, 1.8206, 1.4826, -0.9161, 0.5224, 0.5854, 0.9954]\nstate[eef_state]: left_x=0.2837 left_y=-0.0004 left_z=0.1604 left_yaw=0.0006 left_pitch=-0.1057 left_roll=-0.001 left_gripper=0.999 right_x=0.2811 right_y=0.3045 right_z=0.1313 right_yaw=0.1873 right_pitch=-0.4213 right_roll=-0.2514 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.1282, 6.9265, 1.7167, -0.0317, -0.0269, -0.0122, 0.2256, -8.9915, 8.5675, 0.7839, 0.4176, 0.2076, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56fda6c003db75cbc9a968f171b25e18cd93700186790de61605ef33a90c3d4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1752e0faf605cf7599ec410ff12a6d370e7af9242d9c14a79e7f3545b98b1f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8063b8517e2b49f7ff9ed98e0de6906c018b824fde7175b357022caab8284b3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDlRSO4xSAgyj2tP1soj39pJS02xwQP_Tm-cIaZUvPETReTPRqJWs4zIogMkNjp7ehSkEEyiS5XJTRAcFK7mTIMrI8cY1Lpd-RYLEH2pMQoDHkFDDsC2EFnEdnCkNG6SYLSp1iuPd9htxsgSwVq5OCMGDsRhaZEvmHexfD7CKg4srtiaTH4A1S-E09n-NIpfv_4E0cTC81gwiZ-zAiLxHLHuguJPdY_aZ-Sm0kq-gf6LcsMtzLvqwu4i9vi01lBSIJxpUZzg-_rUl3fqSVBFwVi6i8HRiPvwcJ3J_5XtlAcCng7VKNJhBV-PBm1pqKnKFA3aKO0faK5X6FOSu0J0vCWijTnbrxWdbFJblkqhpwV6ecUQ5b0_CRnBmjIkkYD2I5ydnYUUJF1QB5ES6R8wyPILwF7CmA8jUF5zEVpacclOjvZmyQGwmujU4SY3tlkHCVBcmsjFTNdasWbKVCQXJhNMYEUIdG4Z2d25OS2ZUIn8XcPlrFTh-cZObU4QQoskzb0SYioH-m7NM5o8cfzxxWJ1-kpMaFkoC44n0aXWibRCQUb-lKKsPuwoowphy-m82qKyvuu9pS35EYPJpgWFotqtVYtvrjP0-X-PtCtL94Zg5NGzi6fNGR4_Kp_FRH7PScIC1c00Fw7uwjiMp7CEvN2BQgpOP33AhYPqKIPbgA2gKFDtxEmCEgTkFwQNHAm9vTRymJqqGwSOtAHMCLiW04rcmv0Hh25a526T7ptXKVldDdy4gyl-u0gcQ7k8opsvZWzyzJa9tqROVJaLizGQA2k83MP5TiYYZFZ2pVK4bpSTMP3o_n5EcEe-wX97r17vtbIMB2krFtTS9xiqYzq7kUt7sdSHHys9j70jkreGOJtD9t2DSytdWCH4xtahBfHppRFt8wnVF5VoWz6oNQIMt0ypATO62HDjhw6-sddak9GIu0g6zbeHzwxToqD8V4S2y0CK33ne-oxASmx_WdmXOLgj8hnJwrMkVU1C4ufff0OhwUCbgmLJspEqEQwIv4oFcIByghznnw84BOaSBndo-yEH4QGZjofyikQCYvhu_KTdlzKaPnSY__KbCxEsIyhnbXiaZi6YQYGJV5A8sxapGIGci_MkH0c2k_56SCKulcJDPhikq26Cndr-yL2pj0udPTNwLlH4qq0_Fhjpvhp0_m-a-MPP0l5QmorgE0ZrUPhTUUtZK0Zqfp04kmjbcvD-q16N5g1kdCgeZ6JlM9ZE7GXsrEH5nqc8OK5d3Nuv3h10pl4RKBlrlrE9iJ07RYpBgm1sUOOA6BHwwOPlKzXusH9S0GhrG7LutIa-QAelOX4vtgvVTfQDLNBm4SaVEgG0XefXuL5An5KbE3r14e6G7-6fgdV2i_-6_DUweRKEPTkaTF8Jsxcw3W4sr0ReC2R2g86r5UZH5lH71MYUtgsglHcjs83izQDxUbMzG7DpsTpz5kC2DbnwRrSPrPcB7JVSZ2n3nY-EoLPkyroGpq0tT9VaO7JnJhSbIKyiwUfpoIeJCcYfYGuD_Xk_XgHiourW52NbWvXV6DU3S_qohCq5QKvK1MvahPraMCoMOzNHNBHdtSA4U6ruA5AaCVAeXT2IXs6jTcbFMgNDCFFfU7bGrVE34ay8gwuHjokIVb-M1y7dIgC7Yj2cpa9AIO65A4JKuO4Yt9k-HKU9xotcczXX5HNeczb4vFUhAFM0Smn1ev-YEtj-5RHkMYGVOAJvXkq6VkpGLB22oyszfyHkWL46fHoH26V-AgFVJKwDrhfO7tLYRLiESJ_eRNM0Ai5z3h4y6LbdC8-c_8MQKlAuTpaUP7P5_p9VNDTcfiwOZkEC2gRKL6zIQQbiFJifo3d6z-OQQ7bXGQdmMVehmJLPo1wq37qaKsyIHZtPvVrTazMGqEALEnKZ76tykErHpa7__dkNWTI9_HFy8uW97fkpH38eCJxtHz-5yLHbkKUle97YsuhYoCW4l64ijYX-XNCR8CXgq39T9UItSx4DvfT8W5KEqkXCVw==",
  "id": "rs_0f6042e3193e95e9016ab4394f00ec87d0a737a7cf2ee0b11c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.255,\"right_y\":0.345,\"right_z\":0.115},\"note\":\"The yellow fruit appears below and left of the right fingertips in the overhead view, and left of the jaw column in the wrist view. I’ll move slightly back and left before descending.\"}",
  "call_id": "call_onuGA1SB26JFvuqUWSVxa9sV",
  "id": "fc_0f6042e3193e95e9016ab43950d52087d0b71749f1fef65ec5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_onuGA1SB26JFvuqUWSVxa9sV",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8143, 0.6147, -0.4763, -0.0113, -0.0338, 0.999, 1.1328, 1.9278, 1.5463, -0.9436, 0.5304, 0.667, 0.9964]\nstate[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1601 left_yaw=0.0008 left_pitch=-0.1072 left_roll=-0.0013 left_gripper=0.999 right_x=0.2541 right_y=0.3403 right_z=0.1082 right_yaw=0.2119 right_pitch=-0.4495 right_roll=-0.2685 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.2103, 6.9675, 1.6435, -0.022, -0.0464, -0.0122, 0.1983, -10.0308, 8.4718, 0.5885, 0.4176, 0.1001, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c63b3b942a20e9d123f3596092854d2351a213065d806d1868e50451cf4741",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7303af858d4187929822b10fa222674eb403dceda7b99a8d43fbf8c4d942087a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082fd55a11b69495cd46a9ff325c1be4ee5832d22b030eb125fe9dc4107e5621",
      "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 · 2.275 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4538, -0.0113, -0.0334, 0.999, 0.9047, 1.932, 1.1168, -0.3298, 0.519, 0.4889, 0.0381]\nstate[eef_state]: left_x=0.2869 left_y=-0.0005 left_z=0.1646 left_yaw=0.0005 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.999 right_x=0.3239 right_y=0.2761 right_z=0.0184 right_yaw=0.1506 right_pitch=-0.3593 right_roll=-0.2246 right_gripper=0.0381\nstate[joint_eff]: [-0.0205, -1.1282, 6.9675, 1.7265, -0.0464, -0.0513, -0.0122, -0.1846, -10.7009, 6.0786, 1.0867, 0.2271, 0.0806, 1.5849]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8143, 0.6147, -0.4747, -0.0113, -0.0334, 0.999, 1.0309, 1.8206, 1.4826, -0.9161, 0.5224, 0.5854, 0.9954]\nstate[eef_state]: left_x=0.2837 left_y=-0.0004 left_z=0.1604 left_yaw=0.0006 left_pitch=-0.1057 left_roll=-0.001 left_gripper=0.999 right_x=0.2811 right_y=0.3045 right_z=0.1313 right_yaw=0.1873 right_pitch=-0.4213 right_roll=-0.2514 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.1282, 6.9265, 1.7167, -0.0317, -0.0269, -0.0122, 0.2256, -8.9915, 8.5675, 0.7839, 0.4176, 0.2076, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8143, 0.6147, -0.4763, -0.0113, -0.0338, 0.999, 1.1328, 1.9278, 1.5463, -0.9436, 0.5304, 0.667, 0.9964]\nstate[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1601 left_yaw=0.0008 left_pitch=-0.1072 left_roll=-0.0013 left_gripper=0.999 right_x=0.2541 right_y=0.3403 right_z=0.1082 right_yaw=0.2119 right_pitch=-0.4495 right_roll=-0.2685 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.2103, 6.9675, 1.6435, -0.022, -0.0464, -0.0122, 0.1983, -10.0308, 8.4718, 0.5885, 0.4176, 0.1001, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c63b3b942a20e9d123f3596092854d2351a213065d806d1868e50451cf4741",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7303af858d4187929822b10fa222674eb403dceda7b99a8d43fbf8c4d942087a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082fd55a11b69495cd46a9ff325c1be4ee5832d22b030eb125fe9dc4107e5621",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDlXS62EHakasX_pqEN1zsaRG3K7IK-FMYLDJyvrrbsx9BVC3ecBS_4N92Lhzpzbr09fowU9C-lwCT-JqqlFLs9BwxAR0NZjnhbI7vT8WDtcIl0Se52u44PrbxD7mHhO46OKNDjOdE9Q77D1ucLrb6rxzr--xdA8yjM8qExM-0sg4FsowzJT3oxjf40esvQ-dzRyGEBYKpkHhILEiA3c6-erZW8m6YZ5oJ7M6CQD6AVfEZ9DqlIxDA4jRb08_g8t6ckB8yg0uudDbuNWZVSd8raAzaiSmc4gBVzNOghEz6lFK8Yfj7JbQZhBdWbVwRR9-U4UAA7hwca0RpXKzehovf2_R00QlzFqWPnHZRWme2B7oRMSePy8nskuRelpj11yvORduUqcPIWEJ-1vYL6bysuVwf7mWrVWcl5zjmTv5kD2YH6ejBtX0veLUXoxTPx4kRt5D9oITLTtBQ_UR05DWWEDpnSBb5QuI0bwq871sZS8a-cuNikwlHRWnJZ_Vam4hwif1CePiIDCkutvj8_uhuv3Hpa-WzFYf41PFL44deFPmZPwjO1gsGQO-7sKgv6N6NL2_j50tKwcVKc1wKwtwjdQdHeK_siRXfW1yJIsf4-3F-qkCBn_qBCn2omD6uhRf0IhYEyaSEHFApBPVPYAatKso0X-Fd0_IeOsWRXaWBcsFRMpU2si5mST6x-sJ34cNrxFHCZWF1ilol7LHXvDvaUMonnos1NhngW9xrgyPo0jaaYmYqL6T1W-MXjCVHE9esXCiH1Zd6WSGwbDXlCM014i1Makr40fZBaTnO-6MLjLXdrobkrlQ8Z6cCoWluQ0KOUZLCpp8kOITOMdTrBL8t9WpQLKWfht0wTFaWc7m_IeB_blG-uN0J9g2GaQ1kxCLTFkOtovAcvUBlPsUMIC74z8bukM6wAEE7wbaPb852FPWTNqVRB8Wp2unCl_SRkvN7Y8CmqbR9UkUcHVG8gr5kxdavb8tu2yhVaYKCvcKRRNcqnjDhm0DcHZzGTYHMG2IFHcEdSIsTw-bXjGVXf6bKwj2t6boLPmfdmfObtAPUkDtMHl9CxoaSieyF8TnND0qZVjlRnEoMzAG7BZCh5fQh6gCQTdn4YhUekKJ0UB9GhC10ybL3g2U3qsDXQ2FnUE-PuIL7qsdn77wKQaeFv6eX-i9w8X7YaC_0jOCys6C8_QDUAyer5knrvnnTsDEGne8hTMRnJ7EvqwpWFuN4mC-L2eYyUfsqfJwT_fkJfaCzsntHIIiinr2pPm_rHIp7TAYYMr61yNR80JdJ3xZW0k-rmNwV5B1iwY28HkJQ0IRM9-pzpoSXaqG-gk1RvMWPBWEfamfWZFd6fzuvXUvzPtLIJOVqJUX1fJbAJxv0VdWSBDu9xOYBEdwFQ9lVtF1UBSFQl-zcbyObDy4FcIxkpK-GWRW9A5aX795C2zSlUACuNtviZ1HgI0DoTdJXjo_iHUJeZ3VYUMV4d_itQQzxcdLICHp_YLCI1_xuImazMhx8SqsgvwcBBbU9UweqBvNEdBv-qtofr8vhXcnS8QVK2MoA7B4pi7HVU2YVHV4CFtaAG5wZY_FSMWZDOrygpbXauyjtUHivmHjwMqqLKWCOHvjZ4IpGXmr5hhXn6ulaQ_yJmtYx-MMq2DeIgqo9eoiO_hHyyX7ARal3y3DnfJGcqzGJcolh380LY3QoTStaGFsV7xZTw2UhXEBXLyD5WvacHe0cXVCd4RcpuI2SH3j-TkeM21oxg9bSeJU37suXqf05pZyAo=",
  "id": "rs_0f6042e3193e95e9016ab439548b1c87d0b89fad3ea775a58c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.281,\"right_y\":0.363},\"note\":\"The yellow fruit is fully visible ahead of the fingertips and slightly left in the wrist image. I’ll advance about 3 cm and shift left about 2 cm to center it under the jaws.\"}",
  "call_id": "call_ilv011r7ZhywxgkjJ74NPDR2",
  "id": "fc_0f6042e3193e95e9016ab43955fe2c87d0b088e089e4f083ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ilv011r7ZhywxgkjJ74NPDR2",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4767, -0.0116, -0.0338, 0.999, 1.1072, 2.0327, 1.6852, -0.9802, 0.5186, 0.6426, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1597 left_yaw=0.0011 left_pitch=-0.1087 left_roll=-0.001 left_gripper=0.999 right_x=0.2728 right_y=0.3579 right_z=0.1045 right_yaw=0.2059 right_pitch=-0.4637 right_roll=-0.2773 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.3744, 7.1453, 1.6093, -0.0611, -0.0366, -0.0122, -0.3214, -11.0291, 7.1043, 0.5983, 0.1978, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b82ab91a2c53b59a185d8963330bcc702342666e5ccad910e4c2be15b8a8576d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5836b2799f2dbcab42cd703804eb7c8bd9ea9ba31372b3de592337cb02d3cf4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af7dbeecc67f16564249d50e12036504d66b85db1a9ca89e62c4a0a69589ab2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 5.214 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4675, -0.0113, -0.0338, 0.999, 0.9211, 1.5753, 1.1854, -0.7849, 0.5003, 0.49, 0.0418]\nstate[eef_state]: left_x=0.2848 left_y=-0.0005 left_z=0.162 left_yaw=0.0008 left_pitch=-0.0977 left_roll=-0.0015 left_gripper=0.999 right_x=0.2808 right_y=0.2355 right_z=0.1309 right_yaw=0.1707 right_pitch=-0.3926 right_roll=-0.2323 right_gripper=0.0418\nstate[joint_eff]: [-0.0752, -1.0735, 7.1453, 1.8681, -0.0611, -0.0659, -0.0122, 0.4171, -8.4991, 9.1966, 1.0379, 0.486, 0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8143, 0.6147, -0.4763, -0.0113, -0.0338, 0.999, 1.1328, 1.9278, 1.5463, -0.9436, 0.5304, 0.667, 0.9964]\nstate[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1601 left_yaw=0.0008 left_pitch=-0.1072 left_roll=-0.0013 left_gripper=0.999 right_x=0.2541 right_y=0.3403 right_z=0.1082 right_yaw=0.2119 right_pitch=-0.4495 right_roll=-0.2685 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.2103, 6.9675, 1.6435, -0.022, -0.0464, -0.0122, 0.1983, -10.0308, 8.4718, 0.5885, 0.4176, 0.1001, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4767, -0.0116, -0.0338, 0.999, 1.1072, 2.0327, 1.6852, -0.9802, 0.5186, 0.6426, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1597 left_yaw=0.0011 left_pitch=-0.1087 left_roll=-0.001 left_gripper=0.999 right_x=0.2728 right_y=0.3579 right_z=0.1045 right_yaw=0.2059 right_pitch=-0.4637 right_roll=-0.2773 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.3744, 7.1453, 1.6093, -0.0611, -0.0366, -0.0122, -0.3214, -11.0291, 7.1043, 0.5983, 0.1978, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b82ab91a2c53b59a185d8963330bcc702342666e5ccad910e4c2be15b8a8576d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5836b2799f2dbcab42cd703804eb7c8bd9ea9ba31372b3de592337cb02d3cf4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af7dbeecc67f16564249d50e12036504d66b85db1a9ca89e62c4a0a69589ab2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDlZaHaFCn08bnXVjLaLEXb81Oz8oqN3rXzE09RYH3iysD3fopu-fHXGRXORdFbuACav8-f_N1vRhGzeYBCkBDD3lmlQrfi0w7t3elc4guX-r7dONAPC2lOeKWzq_tG4rQJ4f5MPSrc73QGN6C_ycWPcqIsGUpLqkmz1RmaHGili1o7ZJmMRPTjK-ZeSG_Y_KGONNu1knnhkQ0vBVujE15iqQY_pYV3s3lgZj9BK54gy6LZkieewR3QrGxmItalNVkSYz8WGDmmbSosk21u6KAFRYjRaPZHr0hG6bX7wHDmAvq-VO5jibYv2Wj8LgOxizD2vNIqs3caq2nN2Heli0OUqYliqM71kEQl1Y6zn72WG1vEBse7yboQH7AKpnjz0LYCStz9XqOqdbN6EetgthAOeKVI33SgYMlIs4-ttWTRROvRA-Dv71W67VGWQcYknC-r6TuB472SmpHRr6poYAdewuhr0xLJOyzCiFAni4wZTnx_cJS54WRvAkChuf0S9gZU1vWh90aY7Qz9I0nqj5KgTHr1pB6g0KcihG7nd5LKyTg6uwry_2MRJvYx2vZjDpX9sP7SM_7l6-l18W3qdcm-Ju8FAi1FmI3-Zx5a2Xkr_A6O5nsdaPlAdsWcIXvzPuMTZv3tArXlVfOeWBNQye8WLddkcvn4z6H5daFUfY4x0t5ip5qIM4QKekx93krjuNXBie7Oyyew_9b-bwwFSC-X8rGaiicKSCTHMfTmsm6yOusV0MYQvwRFxjHhrJ2GsQMGzzPG7oK6dfwJjs56274--JmhEqfs0jwnPWxrrfYyfAAXmWX4JjR8yx9c5LcPJViZpafZTGRvdGc6gQ9yHi3T-sD0vMzm_s8eTsKuMyfktXOuwEsF79SHg5oCPmSV9c-VsEIjM0ZYKRvoenq5hmTl31C1KL6AEzKqcvdi9Jc7BJ5ebFkw83Oc069rfVq8sXtoVrRHW8nkonzy1eqSgapX29_tjqWbQciyz2ybvLSq52xKXFqRIDoL_aCHw66wS_Xe9kJiqWncw9RbdMTOP_DnKz6yEDzZI8YuQPK6qPvswq16O-INSuK65I_He1OC3yvlyURfyFBV7SqNABW8_sTgsArbp9eaQc0vXnAxtdRFv0mYfPhT89lXBN06fhAybq7BnoqGO2T-N7Vuo3B39so5ISqEiToCdCaenNJ7y86en20K9GeQ5DmrrdAVrR3ZA1ymh0oGJ9Yh-MUVCF4AEaSV7Vk-bva52rFdq8Ngbwmsbf-0SBp_AzNyFOof0HwrwBFjUSAv7AdQHKEq6_t7HaWzukSm0xH8Ojg2NKv5DuVKwkKSobmoGpzjFeCCQ2_TJvDo7JDosCj6nt4et2KWYjctBuugtco2BRKeuKYGXycSnV5o7I4Uf9262qd_k2mHd85NN",
  "id": "rs_0f6042e3193e95e9016ab439588db887d0973d084d343a0f67",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.287,\"right_y\":0.377,\"right_z\":0.025},\"note\":\"The yellow fruit is now close to the jaw column at the bottom of the wrist view. I’ll make a small final alignment and lower around its middle.\"}",
  "call_id": "call_bJVXFejhQ3TFa50fDpA9zJJ6",
  "id": "fc_0f6042e3193e95e9016ab4395918fc87d0af9a4eaf8387dfa1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bJVXFejhQ3TFa50fDpA9zJJ6",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4763, -0.0113, -0.0338, 0.999, 1.0954, 2.0502, 1.697, -0.9775, 0.5186, 0.6243, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1598 left_yaw=0.0008 left_pitch=-0.1083 left_roll=-0.0013 left_gripper=0.999 right_x=0.2785 right_y=0.3576 right_z=0.1008 right_yaw=0.2035 right_pitch=-0.4683 right_roll=-0.2906 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.2376, 6.9402, 1.6142, -0.0464, -0.022, -0.0122, 0.0479, -11.1932, 7.9658, 0.735, 0.2857, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4149eb03251114f135a0ff7643f186791767b88a58b382b6a04c0fdc35e9a09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae09489c866d7e54a760840d208361a6fdb7cf1d2ef01119fb2d04878260655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdad9b1957e437cbfe99ad1474553320f8c5bbdadd77001b9b10231eba568803",
      "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 · 2.402 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8143, 0.6147, -0.4747, -0.0113, -0.0334, 0.999, 1.0309, 1.8206, 1.4826, -0.9161, 0.5224, 0.5854, 0.9954]\nstate[eef_state]: left_x=0.2837 left_y=-0.0004 left_z=0.1604 left_yaw=0.0006 left_pitch=-0.1057 left_roll=-0.001 left_gripper=0.999 right_x=0.2811 right_y=0.3045 right_z=0.1313 right_yaw=0.1873 right_pitch=-0.4213 right_roll=-0.2514 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.1282, 6.9265, 1.7167, -0.0317, -0.0269, -0.0122, 0.2256, -8.9915, 8.5675, 0.7839, 0.4176, 0.2076, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4767, -0.0116, -0.0338, 0.999, 1.1072, 2.0327, 1.6852, -0.9802, 0.5186, 0.6426, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1597 left_yaw=0.0011 left_pitch=-0.1087 left_roll=-0.001 left_gripper=0.999 right_x=0.2728 right_y=0.3579 right_z=0.1045 right_yaw=0.2059 right_pitch=-0.4637 right_roll=-0.2773 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.3744, 7.1453, 1.6093, -0.0611, -0.0366, -0.0122, -0.3214, -11.0291, 7.1043, 0.5983, 0.1978, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4763, -0.0113, -0.0338, 0.999, 1.0954, 2.0502, 1.697, -0.9775, 0.5186, 0.6243, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1598 left_yaw=0.0008 left_pitch=-0.1083 left_roll=-0.0013 left_gripper=0.999 right_x=0.2785 right_y=0.3576 right_z=0.1008 right_yaw=0.2035 right_pitch=-0.4683 right_roll=-0.2906 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.2376, 6.9402, 1.6142, -0.0464, -0.022, -0.0122, 0.0479, -11.1932, 7.9658, 0.735, 0.2857, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4149eb03251114f135a0ff7643f186791767b88a58b382b6a04c0fdc35e9a09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae09489c866d7e54a760840d208361a6fdb7cf1d2ef01119fb2d04878260655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdad9b1957e437cbfe99ad1474553320f8c5bbdadd77001b9b10231eba568803",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDlfYhyewOU1YKgVwEOnyGzzhL6XZz2OsIvf8qhiI90toFIdta9BSFB3jc-F27Oy1mUyeSPylOz6hA3Eq0kI5ohE-nVBH8hwL-Inwr0sjkgU3IeObNua3jliLKNwgN08inbZq8qucpIOspapuH99d-NOGpLFgTR2Ib8sNKq-1LahzGBmu3DgFucE0yW3oGqCYJ3ZfdvL5oFkrLLY19pRvSSN0ajoh77u8rBg5xo8tG-5tD-jgVPZcC0sETVqwLcwVW9fJ5BLwUicWROBY3utYIULkPa7axxA5GUisNcxN5QMXrcPgKCll93CpvmreFMz5bSOBY6h3jh15nd_VXagdzX0JO_ucPR9FDJda3jErFjXGgLAUv1EQOPKxdHM2sCCtrjjVt0spzPf8osaWHX6hRRuKJclW7jlhVcoNTiQ2sA9MuPSiO_lvJ2smunDBZz76JODj8OCUD72ryrX7leod2HMgGrA60Y_Yrmy8Gr-DwwCdK7I6FbRFV4QSqdQBojmKCbyVO_7q4r-jwm3T7SfA7kNKjjKIqFKg3wB9P88A7f44M_Gi6-hdauY-gZgvoK98ZSahaj-tFD_FHI2F_EIwq6FwByaPOwv-LKQtwM1bOz9pN-Y1iE15TaUVE9BQBynqkb3rSZ9faITBF53ba8mudC54Tm4iamS1WiVSEnImeLWzqlspfSnr-L77rvtaLYVBAD2SI9Ln3E-4KbXBG0PsDlehdb04n1W3HjHiBy6JlxJClObr7iKIU1t83ajzN8j7QXBhJJwRARLfIaV7LxuD8_gXf-t4x3hIFGixjR8UfNjbCpSUE2wi0gAjtYtj-sniWgJm40O5p9eQ3cE7WJ0Ym844QJWD1AoXTu4MS2C82PJdwdaEvoC-z-Fk6qKktC-KFvLhwdMU7llKWOMPwAYBXK41kKkJKjZ5gfBMb15szZ9Uwpgn4WXW1vAoCWNW_GmnrqVDFka4ZEaH4vkQYWA69HQUITFyaUGlxUYK9MptDdFLHn61R8KRJ6sR4u_cvGpAAolouC_BND96apv6Nm1ZDn992oikeH5F1E-mP74ICevEHzk-ZME-arTj7IZocMILk8gZ3XismVI9Krj9Hu_SrGbje0GZML4GOiHDWNSZ2q4DRhOfjjvxpGuL-Kd_ucTRheh4zwosVRTZg2I0g_W1eH40KHtH5CFWz1TyuwIjjStacPiEHKwsbpRFkqeEOyhSe4aFhtrr5d1kCk1DznYLgOtCYfttJM5223zrIv0FkDM1o6ejeUHO1ZeuiRuEoFdG2V9zOWUe625D1X8lmdAsQbC43Go2epIaZab-2My8kburCAi0Nbe67EEuBfx8vPzx7ccJOz2K0E4ezRZhAheXManDDWnZdJ4nt_n25kd4swJFbvphthpMPiREXJiwjHcWn1WIuy7gj6-dF_QHMbQeRhnJv5G-MpH0uoZqdzgj73mLA-u6nG39FkEPber16ifvSbKlqe6VByl2dZ8eSqWSNUoRHXXvAPo4fcSCUDq_t9a31HPdPSVU0x-210EVvH3PXcREHdLtPapEtce1GBTTyP9HTxysOj70pukJieyj5EI10c1snygeK6ylmYBHRysJHFrO3O5XjuB_iMh_77zZH8B7vm0sGJ3NPJJWObAglozj8oV9x05SUUWtfInN4FafQ9KGMarwfcKXXGrPXenBsojXp1agWHNM7GIlZahLi_VFF3bfZkAZkYlx1jU_WG2mcaktJMUzbV4bUQp7OV1BrHBzY40JY_rAzLu5VyUQIhzaq-1SxX9br8prmtVIVIGLrK9sgHB0kRJSPsXQCJy1HbMook_qddROtFHlp0-t2nH0YRPl0wOiuzeDxFBdXa8kOodKBInkglyCreQ7FOzz5_z3359H-7So32aKRR-m5phf-_-ZU04DORt57idmS4iKRwQiigxD3I_oQ__8YGVg_wL7OIAWFcZgD2la2q4Mje9Sc41deVgMNVTmN1K6RPH39AFjxdymVw3labkXUcfb6ckualOK8P8D4C1LW57IfNeb-My5kxtng3QI23RPeRQHHlLRez9UMidbLwt9ArwHwLz9SW1k1XdlSDkIbhljUddx9PUWrAO1G7Pc4i0mPCR1irBc1mn-exgubyWjfpYQPOOkXVpIAHIBjpOELYFwUYE8n1Yp5k4H6Ns5QIppHdjbJxIMbwrrR41EjvV9hin1PL2EhIpQGJZ7DtDdYUY-KJX96G1mObqGMuSlAvx3rLkmJk4PnQP7x1oRnqN4B_4QKoAVqXxBQTjhruQxOu59WO7lf5ftTK3FvmdkRJp8jcgAW9UgItc6RTY5BWLaV5ACpYemzBG9mYafyaWwDAYFkUBrYTZt4QC1Lf-VCqqyd9jLVE5AjUa7RN2xqzmuZrxcmIyKEcIIShZEz48EUscmGUDif6CUiizsB6wV2zc1eyJqUVgILmGNf7VYuVQYgop1xNw3Q==",
  "id": "rs_0f6042e3193e95e9016ab4395b34dc87d09bc87deb058dddf6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185,\"left_x\":0.28,\"left_y\":-0.27,\"left_z\":0.14},\"note\":\"The right arm has stalled high above the yellow fruit at its lateral reach limit. I’ll park it and switch to the left arm, which can approach this center-table position more directly.\"}",
  "call_id": "call_FFwueKMn72kQn9bsBGBY3xYQ",
  "id": "fc_0f6042e3193e95e9016ab4395d819c87d0bbce42e249b6842f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FFwueKMn72kQn9bsBGBY3xYQ",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0859, 1.5791, 1.0527, -0.543, -0.7326, -0.886, 0.999, 0.0437, 1.1755, 1.0485, -0.9245, 0.0921, -0.35, 0.9965]\nstate[eef_state]: left_x=0.2759 left_y=-0.2626 left_z=0.1283 left_yaw=-0.0107 left_pitch=-0.1416 left_roll=0.0167 left_gripper=0.999 right_x=0.2913 right_y=0.0001 right_z=0.1707 right_yaw=0.1628 right_pitch=-0.51 right_roll=-0.2896 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -6.6803, 8.8137, 1.0965, -0.6276, -0.0171, -0.0171, -0.4034, -5.0667, 8.8547, 1.2576, -0.0562, 0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d268e88be8baca451ef9b05b3f0a4fe3a5e31bca15156b72616ca6ba4bc8e5f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45293ad6bc812582f5a172d260f7ae2558a545235158d49fb0c98cd527051dd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:944fda240508bdecdfa87718b9ce1969497be989d07f12065d79af739c42c955",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 4.289 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8143, 0.6147, -0.4763, -0.0113, -0.0338, 0.999, 1.1328, 1.9278, 1.5463, -0.9436, 0.5304, 0.667, 0.9964]\nstate[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1601 left_yaw=0.0008 left_pitch=-0.1072 left_roll=-0.0013 left_gripper=0.999 right_x=0.2541 right_y=0.3403 right_z=0.1082 right_yaw=0.2119 right_pitch=-0.4495 right_roll=-0.2685 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.2103, 6.9675, 1.6435, -0.022, -0.0464, -0.0122, 0.1983, -10.0308, 8.4718, 0.5885, 0.4176, 0.1001, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4763, -0.0113, -0.0338, 0.999, 1.0954, 2.0502, 1.697, -0.9775, 0.5186, 0.6243, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1598 left_yaw=0.0008 left_pitch=-0.1083 left_roll=-0.0013 left_gripper=0.999 right_x=0.2785 right_y=0.3576 right_z=0.1008 right_yaw=0.2035 right_pitch=-0.4683 right_roll=-0.2906 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.2376, 6.9402, 1.6142, -0.0464, -0.022, -0.0122, 0.0479, -11.1932, 7.9658, 0.735, 0.2857, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0859, 1.5791, 1.0527, -0.543, -0.7326, -0.886, 0.999, 0.0437, 1.1755, 1.0485, -0.9245, 0.0921, -0.35, 0.9965]\nstate[eef_state]: left_x=0.2759 left_y=-0.2626 left_z=0.1283 left_yaw=-0.0107 left_pitch=-0.1416 left_roll=0.0167 left_gripper=0.999 right_x=0.2913 right_y=0.0001 right_z=0.1707 right_yaw=0.1628 right_pitch=-0.51 right_roll=-0.2896 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -6.6803, 8.8137, 1.0965, -0.6276, -0.0171, -0.0171, -0.4034, -5.0667, 8.8547, 1.2576, -0.0562, 0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d268e88be8baca451ef9b05b3f0a4fe3a5e31bca15156b72616ca6ba4bc8e5f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45293ad6bc812582f5a172d260f7ae2558a545235158d49fb0c98cd527051dd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:944fda240508bdecdfa87718b9ce1969497be989d07f12065d79af739c42c955",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDlkvJ-nHcM2nr6N9Lcq88d6FNAifd-DSsSm4hI_gB_cIuyIrbqJMMx4xJ1wQy0L4FCnnzRDK3p9gHRxwQuHWvYRbPewXItNuU6Z8iuZwt1yZ-449POqb7VGdEEl3cxQXPFxZLB22pquCTLbfAnTBecm4ww0g_4pjrzScCmbpBpw8Z6MP1Ci2FxUcqbmsbf5sXIrMApz9r9jQw2eqHAoPrtqu4VehzqoEKsri3UEGrbR3krvMt78X9dZ63Q6iGyhyTAIjdThf1vV_0VHywXL4oBVDRups-smyVJYA1iQnt2ZLEAmx6Yn0-ha2CagRZvFCBpNpDuuvn6lyw7jmyaQCk7yyYYwXsRVdhVsDGSBuuYXaIcvGDzHq9v5qdSm6Cil36X1fk-00figa78yA2Z6BoFVey05AanMTuM00ah30BjpzP1P0EoonKurTB6xDv3bw_jSVTFwLSumjCmyKSZIUFGErNEhmyxaqT51k-BmI6Nm4JxL1TCpZqflhQ3rxhV3FaHVDdEkRxuBXHf6B8JIG-wad233C-1GUBr4CHJArPhS4eZkwiRhsOUgwJAle6jX_P6wpikN8optCuOSaHNHTliXnxP4ly3yO5wzyexVxjS2nFLyarPlLqO5uDDVGSM0FeCkX08PJB2OOpp8FTmXpBYmrCtZ6kr9Rf68AAVBy3VJVtfYl2CRQv8dR5meysIRhcfVt6fAR8mqfeCjVwll8M1BCelRLadHqS15SciJTkS0rIYZPrI3ROqZptAkLm_yymRilUOuxeKjf8aYNiilM0oPFdzt4QC5cBGhZrAbmyq5-p72Wr2c7pQnqh-070J3BYUUTRbcgrnvgMAqsEzn4GhZ0JoyyM8YL8VKwPi36Tp6QTOUc8kIJveMZf7PaWdqy34RewsrLMQrNj6R_c73W2-DN7fYp_XttNFYk4VQ6AOb1M65MzRnWeAM2wqTLX4iKpwD9bNZwjCLfsENP2O3G3jItTViqM01LGFtwIuBNmj3jyaiMfDjPRGEWVCcZi5mYCq7XSipxHRZjVGpWMfluY6OzZfB_81HqRI4tkg8jrzV-dVJnqppTJKhoCpRVhCojfWLhD_CZ92QnOemcd3K7E-8fM06qVklAuImelbH9QcjkPigLptxP-SdPx7RLslpMEPd-K4pBAIhFFgenAmp6U46YC5O9q05MYJ4OQmEUGdoS8UPTdOpeV24m_OlVEeAEaMYCeo3T1WU_kKwGNcxi_iNKfvA7VzT1qojgWqhD32c0tCsCX_RO13WlSujBY8pLB5Qopo5U7Kq0sFhv2q89iSc7p2dFtX0cpB16IBAFIzylT495dJO-cMy5LhzkxPzLcVFSOBi41Flu58Th8aGafwSXPaAqM20yOnep16gDIbXuum7lRFqXc2SJcGNsHztXAS_yAAhgAtVeV-YqJQThp47if1Q9hY9jnkGD8-Vt0hrI6npal9Iga1kvgL55H6mtuN4uuqdpAaIlvFI3DRW9ZmNGb9LrBZDbBL1zBm7zidcDX11JUZOKuAWiO7eCmKzIvbDjS_KZEHwWE3vt-yt62o9ug==",
  "id": "rs_0f6042e3193e95e9016ab439635df487d087eef0be08c306a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.032},\"note\":\"The left wrist camera now shows the yellow fruit directly under its open jaws near the lower edge. I’ll lower the left gripper to the fruit’s mid-height.\"}",
  "call_id": "call_GI73QtP9MSb7luTn6I6HRZIL",
  "id": "fc_0f6042e3193e95e9016ab439642e7087d09823ab967e88e84a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GI73QtP9MSb7luTn6I6HRZIL",
  "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]: [-1.0889, 1.7454, 0.8429, -0.21, -0.7319, -0.8944, 0.999, 0.0441, 1.1744, 1.0485, -0.9329, 0.0811, -0.374, 0.9965]\nstate[eef_state]: left_x=0.2718 left_y=-0.2572 left_z=0.0363 left_yaw=-0.0038 left_pitch=-0.1624 left_roll=0.0484 left_gripper=0.999 right_x=0.2894 right_y=0.002 right_z=0.1698 right_yaw=0.189 right_pitch=-0.5195 right_roll=-0.2907 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -6.9538, 4.8615, 1.1551, -0.3443, 0.0366, -0.0122, -0.1026, -3.412, 6.4479, 1.2723, 0.1538, 0.1978, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958d56227db3aa80b7fde61b51aa2c3948aae554a1927c00be98d07f5cc519e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb998bd3005c28da425ae7fcc9b2fbcf769c3e67c335d717c3f1db709ba5d81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a813724019394d084064cbcf61e50cd421b6c6cc45222e4fe56d13508126f9",
      "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 21 attempt 0 · /responses · status 200 · 2.287 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4767, -0.0116, -0.0338, 0.999, 1.1072, 2.0327, 1.6852, -0.9802, 0.5186, 0.6426, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1597 left_yaw=0.0011 left_pitch=-0.1087 left_roll=-0.001 left_gripper=0.999 right_x=0.2728 right_y=0.3579 right_z=0.1045 right_yaw=0.2059 right_pitch=-0.4637 right_roll=-0.2773 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.3744, 7.1453, 1.6093, -0.0611, -0.0366, -0.0122, -0.3214, -11.0291, 7.1043, 0.5983, 0.1978, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0859, 1.5791, 1.0527, -0.543, -0.7326, -0.886, 0.999, 0.0437, 1.1755, 1.0485, -0.9245, 0.0921, -0.35, 0.9965]\nstate[eef_state]: left_x=0.2759 left_y=-0.2626 left_z=0.1283 left_yaw=-0.0107 left_pitch=-0.1416 left_roll=0.0167 left_gripper=0.999 right_x=0.2913 right_y=0.0001 right_z=0.1707 right_yaw=0.1628 right_pitch=-0.51 right_roll=-0.2896 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -6.6803, 8.8137, 1.0965, -0.6276, -0.0171, -0.0171, -0.4034, -5.0667, 8.8547, 1.2576, -0.0562, 0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0889, 1.7454, 0.8429, -0.21, -0.7319, -0.8944, 0.999, 0.0441, 1.1744, 1.0485, -0.9329, 0.0811, -0.374, 0.9965]\nstate[eef_state]: left_x=0.2718 left_y=-0.2572 left_z=0.0363 left_yaw=-0.0038 left_pitch=-0.1624 left_roll=0.0484 left_gripper=0.999 right_x=0.2894 right_y=0.002 right_z=0.1698 right_yaw=0.189 right_pitch=-0.5195 right_roll=-0.2907 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -6.9538, 4.8615, 1.1551, -0.3443, 0.0366, -0.0122, -0.1026, -3.412, 6.4479, 1.2723, 0.1538, 0.1978, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958d56227db3aa80b7fde61b51aa2c3948aae554a1927c00be98d07f5cc519e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb998bd3005c28da425ae7fcc9b2fbcf769c3e67c335d717c3f1db709ba5d81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a813724019394d084064cbcf61e50cd421b6c6cc45222e4fe56d13508126f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDlpDXJwdceXXSYCrD8ysgK9xAYidkT1ZMhDtx36umrIi9ONpKIh7H5KUsf27URaNt7klImIWnXaFbMBYV95G15dsDgMAixDqAPJp-XoHF7vaQFFIIV9z4Omj8bjv8OOl6MRVVn6m8JewecWEg9KG3nZC3IgezYIEmkQMBg5eGG6uZ9rA5JMPgcVeJk56eAPxPkyudTkqXSOVbAEhPv5O1y0u4mbsb03SfykK6xtcspQ2nnWNtLP3v6QAeLtNiYqLxirNJ7bzXLIjnGLXNplSQY5djIZ5fMe9Cj5N0D_ARaGrXAmLWGHiwIzciEmx4D6I_cOnKpITH4xvnueDAGEtQsSDRUucSguG-xmRITawWGXrLPnDj-uv5znmrCmQqgTEq2_fR_fW73UOVlU-rc0ovxVE4Y392pwwwXrJik8QUg3q-9rLV3rApipMAKfeYBb3Bku6Z8TMzoTwyKuPLXRJqmcXuzdUTOMrv6cMKLuJaQCnKiKZEKdwxMBLKha6-x3IChVd5D9bxZIOUoVPBEHsQNQ6zHFgv5T1mH_CZAjak1_RO8kzwPlFWr6BCftP2_ENW0nVu8EXhINMxc9inOhsz5sWXp6ogTpGfswWtCQ-f_s3X1VxKalsxTLbOsk-b0goWjEFaPH_1oDdlYULM3SmTb3p2NL9B5RC1y7NdBAueLS1DK-04TJFXfGHh23wLpCCoFRFytvqkL2j8gbVEpDtCKF_2Tm3dfoRfSb5LRVpHGDMa2F8e-f-MzEE3xsJktKuMXiNdgyc8r3UvmxDDJeUGci6G8M0G_F4IuriL2G90Vntd1Hf_ITnqiv5xa6ZRAbUEcBzyiiVzOzmMsgpmcgehL53-0ut7zMeCp_pIz4XuZ70tGZ46O2elnBKym1lY-12R4e4w_qfx9wUgG8SaTonvXmv_ZdrpMFOJZax_l-PhwTtlyVtrHYDS6UcjmICWFYRBzJztsQJA1rs6f9TCQRlCXGWeCwOxloAZiJw-d8e_cuOEhSNHNXBARUVhKzvd5nO7P9GWF7P8pXK3RrVtYHfhv34muzbX7x-WEy2zZmrVTtA0f7DB22gG-RoqbHFmWJiU1l90L-kgmDqXglcKaEgv40bznLs-PfaEWoSBHTIVJmqXMzokj4lyEz_YsE31IeOD1nXXgcJmYVmtSB_0QnkTjcpPsQ58SRUUMsUrO1GfEkn1dPJQZb0scgzb0LiGt0WEUX_xy28toM55VizC53_nThOBW4uHbooTi7tw0oGglTMas1epzo06QGYVdPZFkDiV8_wY9pPiuwxqbShKAsx98Fq1Xy2qeVlEu8PfbVERgz8dQKrKQ7nTc-rOieaDxBaQtjeBET6WexRmapQT1OL5ZVhjhNgGBcU8SMRCJsOFHvZw6Rwztaa5jxLdR92ZZzFbE-5qSJuOe1K91dVM5ZayK5ByGPXZSNv_00EIDoV3CrDDUVT-1pP_MzWK3xTYRM-4o9GfNTxiAuR5KaVZD_gFAD5pGWiPcv_6zzXvTjjJWlzz3t6KTRDjXz2Z899KwNocZSQVtW8MFKq12j8rbkYG2ZXM0-FiIs4bNMUvh_uJuiVY1IV2IQDsiNDWpCp0VEdOZTIpVB0M6CHDoYK-bQvQmdMJaxhPkypekWxulCI3v__hmmK2dZjyu0pSXJnJGX8ZxUD2lAyKO5XWvJbhHOgSNgBqweYw4_AVRrai85Ztv41NQg1lglhuXeRx7QnTQhAIw9i9r3SM_IqWPO6JUksG4uw1IawtV-HhlRoC8BewpANMfEofCyyQW5rX3JGTcBbKMVPdv2CCoQu-SzSi1FVF85QP3GDcAFY4cYiJI-jlz80al-YCrfLEYqyTIWgU2IFvWgPxtkv5B9LzPDH5aYs-iE3pHMzIv_XDPr0w9RFMh1c3_rOp3Alc1xdgmlxOtCS7sHVjI2pTcDq1lALz6zFm-PUCTqOJSb26GsKS1csdxCSmy-5Oqsc1do0Y-L9htYWsKDOgwFuJzDBoqmb2ouTcDfnwHV21VkUjtLS20BwjCQMm7SDe7qOFVildp5bn_MRnZXZ9ptwgVuLlbM8U9Lwk42H66mz7-9YKFfctxgYsuBDTOzgCYAUyPBQpfzjZRrO4Bbx6fo6cANwcNkSy8QEJ1KVtSkzrwMn8bH5ClOY2TJzYhLefS1h738ryZGXvVY2Oqd3LD-f1ywOdQ1WCQ8hQYWfyL2LfAMJKxcGx_zBZ32uhfeU7BoUyx5cNTkv4-Uh2B8VbXwL3due1SLyyo7xE2awdudn4zgrh0aseucNaXvorqEmyR9TDxRqhVdFvJA4nCM6d03kgW8F5hEz1BlBaV5q4oXXcvAroHEfsgY0jQHsUHYKmXfKJjQV0RP0NuGLhQ0i0CqVIq6vXyZrFekoos8IcuEhmNoZIGqwsOV6CjAAiIDc0jZrdRh3sDGUISev9qsh9BPGU41hhxGP7-5E8rbUmSbA-2zU44JoczI3eNmvWMeCe31OjcAiaW_DE3qvy_mPYg5WhdIMYCLc3Y5TLQpBk2S76rRbOvfx-Nl4g-XytLx_dNU45DBa4icydK-v5PH",
  "id": "rs_0f6042e3193e95e9016ab43966a98087d0b317f08a2e88b203",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_x\":0.281,\"left_y\":-0.278},\"note\":\"At grasp height the yellow fruit sits a little right of the left gripper’s center. I’ll lift clear, shift about 2 cm toward it, then descend again to avoid pushing it sideways.\"}",
  "call_id": "call_7FontKMUHeNVNitask5sZzlH",
  "id": "fc_0f6042e3193e95e9016ab43968ed1087d0ab4d4f2b0f981bbd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7FontKMUHeNVNitask5sZzlH",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0901, 1.7454, 1.0157, -0.3794, -0.7254, -0.9035, 0.999, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3752, 0.9965]\nstate[eef_state]: left_x=0.2821 left_y=-0.2798 left_z=0.0724 left_yaw=-0.0038 left_pitch=-0.1658 left_roll=0.0357 left_gripper=0.999 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1901 right_pitch=-0.52 right_roll=-0.2905 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -10.0991, 6.9812, 0.823, -0.4713, 0.0611, -0.0122, -0.1846, -3.3846, 6.4479, 1.1941, -0.0317, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5751655f9fd17d502430926cb0634afe6c0f43c597644175ed041a243b5b7d5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd0c2b388c688ac593122de86e0812a7aae76714ce697a6543b0767bc6db1c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02cbad6882ef512be219c28ad5f7ea3f0e05771b3fb2a1def19617e61300c21c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.891 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4763, -0.0113, -0.0338, 0.999, 1.0954, 2.0502, 1.697, -0.9775, 0.5186, 0.6243, 0.9965]\nstate[eef_state]: left_x=0.2835 left_y=-0.0004 left_z=0.1598 left_yaw=0.0008 left_pitch=-0.1083 left_roll=-0.0013 left_gripper=0.999 right_x=0.2785 right_y=0.3576 right_z=0.1008 right_yaw=0.2035 right_pitch=-0.4683 right_roll=-0.2906 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.2376, 6.9402, 1.6142, -0.0464, -0.022, -0.0122, 0.0479, -11.1932, 7.9658, 0.735, 0.2857, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0889, 1.7454, 0.8429, -0.21, -0.7319, -0.8944, 0.999, 0.0441, 1.1744, 1.0485, -0.9329, 0.0811, -0.374, 0.9965]\nstate[eef_state]: left_x=0.2718 left_y=-0.2572 left_z=0.0363 left_yaw=-0.0038 left_pitch=-0.1624 left_roll=0.0484 left_gripper=0.999 right_x=0.2894 right_y=0.002 right_z=0.1698 right_yaw=0.189 right_pitch=-0.5195 right_roll=-0.2907 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -6.9538, 4.8615, 1.1551, -0.3443, 0.0366, -0.0122, -0.1026, -3.412, 6.4479, 1.2723, 0.1538, 0.1978, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0901, 1.7454, 1.0157, -0.3794, -0.7254, -0.9035, 0.999, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3752, 0.9965]\nstate[eef_state]: left_x=0.2821 left_y=-0.2798 left_z=0.0724 left_yaw=-0.0038 left_pitch=-0.1658 left_roll=0.0357 left_gripper=0.999 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1901 right_pitch=-0.52 right_roll=-0.2905 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -10.0991, 6.9812, 0.823, -0.4713, 0.0611, -0.0122, -0.1846, -3.3846, 6.4479, 1.1941, -0.0317, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5751655f9fd17d502430926cb0634afe6c0f43c597644175ed041a243b5b7d5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd0c2b388c688ac593122de86e0812a7aae76714ce697a6543b0767bc6db1c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02cbad6882ef512be219c28ad5f7ea3f0e05771b3fb2a1def19617e61300c21c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDlsuWDW-NFa262NblIWhqetbs8TOFzt1pmMukcCyvMwMCMg_7WmYvqxSlOSERAknJH1QjgeBhGNjDoA2CdYBGogc3ll7T85UbFUKckTH4Rnf9KA8j9Y7rYtSVVxlnwavsJi5bPLEiqHJVT021ZauifEoo8IEn7P88UtxQeCM8S0QOU_PixBVIdmiMWdql7TfKBQChQep70Z1WOPdvWuxR_rmWTg9-WmPzzymt01gRWCBGrc-Ia6Z--FKcbS_ZIIAJBgGnZ69F5mRSswpJFWXMBTADNueGBePv2RqQxJTic1o8qvXpbTn8zEvq6sz4zC6hP6E4ENMH_-oTfuAaoUOfumBnLWasqTfBeampB9DIoiF-B27JFdR3BfOyQcD5XxLvwabrb-N0i4X1ZNBkGpfLl8HPyWIMWAt1QUS8i5-Z6CLOLrI_Wrdr0rBYh0mPniv8domCOCbRkY2B5-QgSxCVPvSHUN_tKv5w_5W8O-WFzOLtrKIwQGZbea9yFa0Rf9FEMCAxfv9Oswc5MfjyJNAnZGuekljoLwTzVyjF42b4nkAvPjdZ7aTpJV6aDEvDoI3yvmz3mDym0_CZmhoc7IG8J_c_NWSMl2zOTRo5WaVfTZjB2OqoVhP5b_GLi0L_bCYoPkla6knmn6_B47BiVf63jo5oYgPY-4l5G9jp1xBPN5qHUVSyf3pPv6QXxLsq_exC-7bn4iBDmgjvFdVuXSqclQexG1-A5wt58rO5yQN_BIHZP-RQVunYjMYmvy2gfpMiYnO0lauy4dXtjvxV03k3VXRlVjyaPydMGpidLHA2CYJgYV9oxmp3FVMKItc5Q1nyQlfnSgzUkHXBQ58U4yxTajc-AlCgcjxllVYLXQrKqGJqAFfOS9Y77JOnFCGb2Ke-AvGhcmexpKdMxZWcLsvlQuW2WkeGRKFm3Yui5PDbvJpyyscYQ8MAcbKfaMuZIb2yhph-_FP2CY80kCzXJWsgrTRiinbe_TC6ScnOfq9z60zvDU1GYcF32E8J0Az3bXAYM2U0nXK1mOsY8ZxvEGWqZJRFbNvlCPB7He8o-4kzx-Vnb36qclr4oLqq4I1eCJPGug1nGBh-eoIYNlPxB3dhF475zie1Y4lMTd1PwsDBS1yuPVT9L-oSh6LUOXajNHoiIou4uBeILP3_rPqRLNTRA-AfkNYUiUNl1NIp-r0I1MXc_GfJOis3t64JcUDVj1FTFHC61AUaPTwMczHoAbnoRaDX2qmURzc9ak5gVOG3m_N_lG1BUKZp2vmp6pNKwqjDzRT1RdRAk8BPrc40MV5vjRW1EcHlXuopLW7WsdRyAdv96A6MV1LXz9x5O6zKaJvukMTE_q3lH239_W2RNiGaK3Mz9YZmUWsj6Qm8eR9ejBhlM=",
  "id": "rs_0f6042e3193e95e9016ab4396b74fc87d0bf4bea09e429d6de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.024},\"note\":\"The yellow fruit is centered under the left jaws after the adjustment. I’ll lower straight down for a centered grasp.\"}",
  "call_id": "call_kxeKJ9AWkMGDjPw5VvhoQZec",
  "id": "fc_0f6042e3193e95e9016ab4396ba7f887d0a28bd97e2c9f2417",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kxeKJ9AWkMGDjPw5VvhoQZec",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0897, 1.8473, 0.9321, -0.2588, -0.7174, -0.9058, 0.999, 0.0437, 1.1744, 1.0485, -0.9333, 0.0807, -0.3756, 0.9965]\nstate[eef_state]: left_x=0.2762 left_y=-0.2703 left_z=0.0211 left_yaw=0.0046 left_pitch=-0.2022 left_roll=0.0891 left_gripper=0.999 right_x=0.2893 right_y=0.002 right_z=0.1698 right_yaw=0.1899 right_pitch=-0.5201 right_roll=-0.2911 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -8.6496, 5.6137, 1.2527, -0.4029, -0.0024, -0.0122, -0.1026, -3.5214, 6.5162, 1.16, 0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e704ca6b8b7e78ac655180d0c73eb259bea85f6d5a04442a3f6a08baabf4f6a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f417927417d107b04c72a2fd911c1f440be000d1076860f78bd612c261bcaa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:154d8c7ce7c85f87210f805a686233086590ecf0ec167ddcfbc27170d2dfa32c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 2.063 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0859, 1.5791, 1.0527, -0.543, -0.7326, -0.886, 0.999, 0.0437, 1.1755, 1.0485, -0.9245, 0.0921, -0.35, 0.9965]\nstate[eef_state]: left_x=0.2759 left_y=-0.2626 left_z=0.1283 left_yaw=-0.0107 left_pitch=-0.1416 left_roll=0.0167 left_gripper=0.999 right_x=0.2913 right_y=0.0001 right_z=0.1707 right_yaw=0.1628 right_pitch=-0.51 right_roll=-0.2896 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -6.6803, 8.8137, 1.0965, -0.6276, -0.0171, -0.0171, -0.4034, -5.0667, 8.8547, 1.2576, -0.0562, 0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0901, 1.7454, 1.0157, -0.3794, -0.7254, -0.9035, 0.999, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3752, 0.9965]\nstate[eef_state]: left_x=0.2821 left_y=-0.2798 left_z=0.0724 left_yaw=-0.0038 left_pitch=-0.1658 left_roll=0.0357 left_gripper=0.999 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1901 right_pitch=-0.52 right_roll=-0.2905 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -10.0991, 6.9812, 0.823, -0.4713, 0.0611, -0.0122, -0.1846, -3.3846, 6.4479, 1.1941, -0.0317, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0897, 1.8473, 0.9321, -0.2588, -0.7174, -0.9058, 0.999, 0.0437, 1.1744, 1.0485, -0.9333, 0.0807, -0.3756, 0.9965]\nstate[eef_state]: left_x=0.2762 left_y=-0.2703 left_z=0.0211 left_yaw=0.0046 left_pitch=-0.2022 left_roll=0.0891 left_gripper=0.999 right_x=0.2893 right_y=0.002 right_z=0.1698 right_yaw=0.1899 right_pitch=-0.5201 right_roll=-0.2911 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -8.6496, 5.6137, 1.2527, -0.4029, -0.0024, -0.0122, -0.1026, -3.5214, 6.5162, 1.16, 0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e704ca6b8b7e78ac655180d0c73eb259bea85f6d5a04442a3f6a08baabf4f6a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f417927417d107b04c72a2fd911c1f440be000d1076860f78bd612c261bcaa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:154d8c7ce7c85f87210f805a686233086590ecf0ec167ddcfbc27170d2dfa32c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDlxF-TGGx7gM1h90aqJHTczy2gGJAb3UAsCCoiT2rn4ZnAlv_4QMaLmQDZ2uu8uji6vMsiAYbu_TPWbarQdsKUwja2jH9ayhe_PnBlWI41a0RZjpaKohncHubpqAxTKZWF-dSqR1Oqz0fAH6oYPxkjVurPs29P5R7LFOFeqwGMpOElojZyaRLrlCNjyEYY4QkdWzDZWWPe4if1ZGX5vf4kltl4kBSXKRuoQcNfZtuVbAV9ZTRQnrS4kEN4VruH2kwTJQc7MO4nNaUzHLiBuwHCha35kzKnXhkyUIBF-f2jPRITmT9ppTshPv9mFtERifXNHWV9zrjU4l_Kz7WRHRMj-yFiSt2kGpi2ydyyXIv_C2cmPYuNnEXXKGkI1IsVwlPpi6XSitMk9NHZ_6W-ZJobJExE4a8IqiW0gtqmHYoQkHgqXUVxVBEHE6WP4QlCQsu-gmSmXrAd79gQHzDQsvlaAOCrmoOVW1LOFMQeOfCI5pIifNXpp94Oykng2bGrqpkKmIB589XJPOumlRSjKTO_bvZJ8oUv2zbC7JfXQNwUWFPBzH1jlJ2kHNhG2d1x7OQ0ud4U0AjeFYLGQllNKwT6VYmlVPq1PKSypTHmV-89CUNTIUP5OLDVkJcFUhdTNHM9lFhNlJQHTjp8PtfyJcc4qjydie3-qyTH81fb3bguzNSwMHHZ3ZjrKjHj0p1M88jvp_8QfTSvCf9cJ4VjFkI3H6GD2j-S9kRcrSIFfL80fqZFYR4CPqT9vAehirUrALzokEUuqlxHIIG6j5FnpFlw8Mg8xM1MQGlo6opiVv51bz50HMv1zzeuuXvMn-s9ZIUVuyVPGnBh8vo70egrrkdFG5vlpxH9VJ3HjRXbeYcV9JIUoLAIEBdi74P5OxBeR2s792bZIsNgSiCtU6exYnUmVsWZB4S72eROMdryFa_H0Y2-5wEu5s7WsGtvWVFcbeNn1YIOderFJHqZTS0bVpjlY5QF6BKuA0MXoJySoU_-q5UJQn_hGFFF1kS052sUK19D8vA5vknyHksQLI9zE_Mu0WO_PkDj16iNzowx3fciyZQ_nSh5hezL-RkbKxnA4Y1AlzY2j6hdRdN7plVZlPkLheQUfBaLUPRD4ZnClEbR-zqS9-NCRd2PzozB-5wWiaI_hcuLCu2AVGZpivvjigZes9xObGTj2s7Re1JXsWlCxyAV-ROt4eDkChCQv2At_2WTsgBc6RTcT2QjUS6OSZ1TGrKFyfEIOWXCFrfkDH0jxHBQ=",
  "id": "rs_0f6042e3193e95e9016ab4396dc6e087d0ba22ade4709e7f09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws now straddle the yellow fruit at table level. I’ll close them and check the resulting jaw opening.\"}",
  "call_id": "call_J8XjUaEN0XhuAqLzCA4VOOYQ",
  "id": "fc_0f6042e3193e95e9016ab4396df58c87d0be6f94ca14de088d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J8XjUaEN0XhuAqLzCA4VOOYQ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0889, 1.8568, 0.923, -0.2462, -0.7261, -0.91, 0.482, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2764 left_y=-0.2677 left_z=0.0172 left_yaw=0.0129 left_pitch=-0.1975 left_roll=0.0953 left_gripper=0.482 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1919 right_pitch=-0.5205 right_roll=-0.2922 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -9.2376, 6.0376, 0.7741, -0.3346, 0.0171, 0.9206, -0.1983, -3.4667, 6.6667, 1.1551, -0.0122, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1066c3746a33008e7fa0606487988c9c8f34dd3ac00c5bee1bc7c5b875df271d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11eee88235c47a157189d896b6537e0776674185f1d0d418588e5909cafbdf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e26a81ea1b2c33acb903b032eebb07c7497e904d25e234b58868ce8e8abc041",
      "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 · 7.432 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0889, 1.7454, 0.8429, -0.21, -0.7319, -0.8944, 0.999, 0.0441, 1.1744, 1.0485, -0.9329, 0.0811, -0.374, 0.9965]\nstate[eef_state]: left_x=0.2718 left_y=-0.2572 left_z=0.0363 left_yaw=-0.0038 left_pitch=-0.1624 left_roll=0.0484 left_gripper=0.999 right_x=0.2894 right_y=0.002 right_z=0.1698 right_yaw=0.189 right_pitch=-0.5195 right_roll=-0.2907 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -6.9538, 4.8615, 1.1551, -0.3443, 0.0366, -0.0122, -0.1026, -3.412, 6.4479, 1.2723, 0.1538, 0.1978, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0897, 1.8473, 0.9321, -0.2588, -0.7174, -0.9058, 0.999, 0.0437, 1.1744, 1.0485, -0.9333, 0.0807, -0.3756, 0.9965]\nstate[eef_state]: left_x=0.2762 left_y=-0.2703 left_z=0.0211 left_yaw=0.0046 left_pitch=-0.2022 left_roll=0.0891 left_gripper=0.999 right_x=0.2893 right_y=0.002 right_z=0.1698 right_yaw=0.1899 right_pitch=-0.5201 right_roll=-0.2911 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -8.6496, 5.6137, 1.2527, -0.4029, -0.0024, -0.0122, -0.1026, -3.5214, 6.5162, 1.16, 0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0889, 1.8568, 0.923, -0.2462, -0.7261, -0.91, 0.482, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2764 left_y=-0.2677 left_z=0.0172 left_yaw=0.0129 left_pitch=-0.1975 left_roll=0.0953 left_gripper=0.482 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1919 right_pitch=-0.5205 right_roll=-0.2922 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -9.2376, 6.0376, 0.7741, -0.3346, 0.0171, 0.9206, -0.1983, -3.4667, 6.6667, 1.1551, -0.0122, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1066c3746a33008e7fa0606487988c9c8f34dd3ac00c5bee1bc7c5b875df271d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11eee88235c47a157189d896b6537e0776674185f1d0d418588e5909cafbdf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e26a81ea1b2c33acb903b032eebb07c7497e904d25e234b58868ce8e8abc041",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDl0-6V12lGn5Mqhdk_mcsMQy1RmFvIvfmdtzB85Kvy0WF7OcvTmEtRI0QPip4b64sazDWqcqpBivnpaKoXLvsklGOJZFsNiJ6OX9dn03lgy6LnOm45JRZfESvXLNABEgS0mE9LKHwC_CzMRdHOjea-aazeRU4_CvxYECr-HOq8DX7-CiiCrtB-QlNKoMW1jrkzFB3qkVb1hmySAStoTsxTbmDJBbsGCQmpJmr0Ivo_Gsu5VjDd2HLgBa6uF2309OaQppQQ7NGUb4C78lq5wWFw-aw7p3O_IMY00rrRw_0etNAI5CP3HiJWi69I0Ln9t25zlt2PXFFJPT68Q0JRanxb1aI5izUpbOUBoCcc608u_zQPieT58Qj2z4hPVc-S1i85DCKB4CdK6ipmqQAL9TzabzquBsOV-BUAaaXpm-GoTPRGt6Ydbs5OuAoU6VHNSGgRFB_3aOC1ZQW3qwCbV_Wf7o8KTEacaInvksqE7hmYRvuRxPHYZtPGw8DtmZEtiFN2NbwZuEfDOql4u0JBY4Nub4aX_iM--JjNzqmrIW5hpCjPjhjBHh75ZHBzs9PJjbyK02oxM4d-8BvbGph3rTC7tLnsUvfVXHzXGRbQlM5iICXd8GB2nv7uD_rculA2L8ZnJIVcp0NYGMY-T8tbksuWOfLN78EE6Wj5O2X_u-W4FgAlybE3S44mCjRuzXobXTF5HFKRicC4GjQJsdTMVd-G9L0wwxulq8ajDCh2YdBOUs2qHwI80WXv2Y5x6hbG0RP8yfVy67GHvn9JkhdazlBsG90EuxjxOldB8go-w4HcvWqtENOqKodanSSrD0TMbeC9_qIpVbIcRU7ExLIVv9PQdfxxlAB0yxZI-WrZfPY7H0vIi1TAJh_WxbpYjhegZOxDzCDmMFNblSwbyxoH5zvXti0cKNo0he0M0joDAQnoRbAwssKxQHdKnTAvLIi8CvCEmq91AD8Ai4SBomNZzqAQ0y6sHH8KBDh5WuOyFcTHWKkPUCTBjeLQuosIfTi5pOA6kUsXQTi5Lh_Pw3s4uvzKS9fVKUohJUsAKGj8ffd4HoZmHm1m7D2RoWKqKckqhnnXxAIhXNaBSva5-RWmA1HGEM5ZCjzrnbTQsFqs4TFWS2S44l3G9wZKLweu1l6Wi6sCrFvGPLRp1BKrIHgJ98EpUVmCSIbhTYGVipG8-qZn8MFKhG1Eh0DgNJcNclj3F9INB",
  "id": "rs_0f6042e3193e95e9016ab43973ed7087d08badc277503b911e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The left gripper stopped substantially open, consistent with holding the yellow fruit. I’ll lift it to verify that it leaves the table.\"}",
  "call_id": "call_jBtyuy7bdBke4s2IBPzwfxVq",
  "id": "fc_0f6042e3193e95e9016ab439740c7087d0bff6be5ea1b679fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jBtyuy7bdBke4s2IBPzwfxVq",
  "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]: [-1.0889, 1.6627, 1.314, -0.8356, -0.7174, -0.9173, 0.4817, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2783 left_y=-0.2737 left_z=0.1595 left_yaw=0.0136 left_pitch=-0.2063 left_roll=0.0901 left_gripper=0.4817 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1919 right_pitch=-0.5205 right_roll=-0.2922 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -9.9077, 8.1573, 0.7546, -0.5201, 0.0171, -0.0366, -0.0615, -3.5761, 6.4752, 1.1258, -0.0366, -0.0708, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a573435f59d5e9f5751b57c773714231fa8353ec579a7048c401f4254b9874",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d26d8048455f2a868e124c4eb14ed1fd9fdc7f3a11829ab9ce2b103a79f58c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213535b1ccd57d0249ab0b2d932f15202d06ec6ce425a32a27d6181f6bebfe21",
      "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 25 attempt 0 · /responses · status 200 · 3.911 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0901, 1.7454, 1.0157, -0.3794, -0.7254, -0.9035, 0.999, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3752, 0.9965]\nstate[eef_state]: left_x=0.2821 left_y=-0.2798 left_z=0.0724 left_yaw=-0.0038 left_pitch=-0.1658 left_roll=0.0357 left_gripper=0.999 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1901 right_pitch=-0.52 right_roll=-0.2905 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -10.0991, 6.9812, 0.823, -0.4713, 0.0611, -0.0122, -0.1846, -3.3846, 6.4479, 1.1941, -0.0317, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0889, 1.8568, 0.923, -0.2462, -0.7261, -0.91, 0.482, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2764 left_y=-0.2677 left_z=0.0172 left_yaw=0.0129 left_pitch=-0.1975 left_roll=0.0953 left_gripper=0.482 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1919 right_pitch=-0.5205 right_roll=-0.2922 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -9.2376, 6.0376, 0.7741, -0.3346, 0.0171, 0.9206, -0.1983, -3.4667, 6.6667, 1.1551, -0.0122, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0889, 1.6627, 1.314, -0.8356, -0.7174, -0.9173, 0.4817, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2783 left_y=-0.2737 left_z=0.1595 left_yaw=0.0136 left_pitch=-0.2063 left_roll=0.0901 left_gripper=0.4817 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1919 right_pitch=-0.5205 right_roll=-0.2922 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -9.9077, 8.1573, 0.7546, -0.5201, 0.0171, -0.0366, -0.0615, -3.5761, 6.4752, 1.1258, -0.0366, -0.0708, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a573435f59d5e9f5751b57c773714231fa8353ec579a7048c401f4254b9874",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d26d8048455f2a868e124c4eb14ed1fd9fdc7f3a11829ab9ce2b103a79f58c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213535b1ccd57d0249ab0b2d932f15202d06ec6ce425a32a27d6181f6bebfe21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDl9rdrdguR6-2T_HWlGROKhLVQ2WIhnCZjMb9FOyKTm3L8ljcACYL7OaaDFX3_0BIlXmWsTY3VzuxhWbGn9xZx0qkwVBvcJeh3ux489I6sj5KZT2Zks6M-iJCeYWtjqZnnm7rG3NAgP157cMxuQDwrTFoUumMvGJmrtn7hBulUUXdAERriNkj3kyu14XaRLOfPH4Qk6RtfMO4up0NEUR9I_Q2QV1d3kYSxJQ053GrbxkJja_EoJx3Okj2Q_4w8rHBou_vcrI7oUXV6iSj3mE7igajpogTlMdwn1cU5mjspH5GoXAMnB0vyMTEZS31z15nrzFQEDD2xaFEJjqOsY8YC_oPI20DcWYaBor90CfHaQyZOnY60pL7lieXVb2gDi_ssdSwEG6NERR1wxcPXP7YGk-ky4OZsMwqOJf--1M8r5Quejgg5IQ9rKwZIu3TGI-Y4IpCp-tDzuBTvo50btRSALem6eZhUnwgcnKT6sW8Cquki3uyWK7AVnD3wq1ik9d_7JSOiaMBOMdpM28wmt_eMxve4IfYb_xx3r-kZItBI-YG--AaqSfbcszZvfI51TO7WXY8mA5JpV91Z-DLQu3Y4SyDD8WUzWXftxSDxFnmlC8ua2bEC-TX1bw2CYk4gU7hxc2-mQ_zuRPV4d5bs-UKE__BLvQVS55jiBo7iZF-j367dOdjcD0FiNQbEP8YIQhMjQi3oy4xiWjhiWPhBK2d8KB2ye1sBKm2EoMMOvlr0k1NuBaWKiu1inWFITruAO6nkD4a7L44MQrz7N_0rPK-gEhFJ9urqmcNn8GURCCVuYnx4it4m1UQzoNz8F2ySCJ7nsr8mXPbGHTh_z4vAqsyD2I-A0hDYmV8hNlZRR0F3NZuOrJNCQXY03bItS7iGaLPxEtRmok-jTnCqvQmgOSJH1ygOXGh1v_EkbuHSYW9kiYg-rPDnrVZCtiv945hC8ehFoQK1yyo6sKA-JietrivXN5cIyoi44HdLEFrho0u_y4wioHzppbmObn2OjLhuMNqOgjlpC5fnLSwSSui09mkbZKk336yswnW74zgXw7HsoSS2C-A1iPoNvicqskMiyH5f3ZKqLVc5crbSIQQY7F7Z9zoc3BhL9xspc-Or8ysRscR-0gO9qatchDVY_KhxRELB9KiVRvonzC6S7DBq12o40cJIULGpSP2lhEkAXtnFFcuHblgfA1etIaEAIbzTA5H2hj-sMVLS1CA0U3djm6oqcPL_uL-PB2OpidcqBfshfXZUs8EHpE6lOgnshbNZcJO887SsxnbMkcsgMb2QjzjzBWxpT4sKPrDOHORmmextIAKShTnygOHK8yrzPBRktWnmDnYSa338FlQz2Y0Tkh745pdmjIRUMS9X2l7ykF_7FS_xAZs-3nLZjVtTCswm1QUx7vCdfsAVjcuBU-NWLrP3oTq0kjEPg7EA7EjfgQZufnFITKfVR4nLVaXGC7Pza9njl0xQy1UtO0yj8tJr3eCVqv19U506TL1uFRhKDgq5DWkcERy99KPA7t2VRCuhTR3_cvh6Ntb007H5ohkRFXOoEshbswYGeO-nZa043qmwZj3X9Z-tDS6YktAWWX9dNXCys7j-J8sAMfHQPojwuBwFajnDkcDyDk1YEef0QiHE62g8JrwEcZ7jzRAWatrMnIJdDCRa1KsX_di885NBCGSYMsHTUzOmwePyZ1_FDlHXU0r7Xt4-TQRoy3Ix11G8MM1WdADzqkX6T_I03Hc_oES52MWIfelzrkfVgR3C7CrozaBRFmm71XnPM3IAcAgOqviTV_rWgDRI6hT_MILS2CWaHB8im4scNe6LyfHNVSltOEjg31kLU0dBO_qhT1-w_WVL9CI-W1Yaa0Mf23vQKKx-MoZMbhTau7FYkEJwFYoL5Ykd0gfSDieeqgvSqSgglQN72_9RK0KNVsyzTm-w8irS11mqiDS4O_SkMQwtVqfGq01omNf2f8wTX5oeEn_FDHuHcUIPK9PZ7ViX9ofhS_ZS38UdUExPdzQf6aGNdUulgnxiIM2Sx-zuiDAxRPgZ9b5J80EjQkF_Q6UjYn0RBTtOOI0tH1fbjgVyFV_iy3s43otxin-T7105i13BZeav4BogQA_Yo13MHDNKWmVGhmcsHy0VFEij3JRAM2m2pFGQM7gIGGb7fhK43oH4EhF0ojPVthEtHUKccV8HyZHrnKT0861kKX7AufGyM3AwTx3MRugOCNz3ej_0wgVnljjDdm_oYkeKbJNS-8zbSvKgWSkZd9ZR0JRWXRCe9rCjcjMgmn2AJaoPwyHslgoBM-OaNsYogRUWbtmjOvOZA4hW-J5wl91HlyjlW6oBW0HChPaXEuB7KCOhOiyo0Gnd28f9kWBqDWsjUApNogAE28WinToTLBFcV6i5eUjiGz8CGHEFPdZz369CnWNxVQ5E7Mo-BNFK-t9-Vme6EkNLcSbXz2kUy3RqkeeJDRwHE6GW54XyUEclzZb_1SxnlaWAXpAt6nH6JEf7N-WmXLWwGnjxOdBJH4V1DsCNGEyqIUycF7_5uV5SB7A3H1IHWd5GEmsIWUPAPQFWRUrv_tRwJPyVbKi48daFZadlLky-hok39mwY5gN7kfw7Dh0FDmq_kF3WlXUg5TlP2Ckl1MLviqF5z1vHfdaFUcDHjwvAHv4BVAgTEUvM5ARNQdMG1VJKZso7LNEHaya2jJNEz3tX_I0Fa2bGZMX3OYuY8FoOsUapQYlV6AET5FuBS1wfL_es7sYdmTDwkxxIIzNe_TsmrVO06bc_VMeXs7aHIYpj2NkpAjZAdU1cpYj4cn-5O5gzHcNgJ-3TfuZTJKdqq_qTV_9cj_w9-EEpOqlWs-k9BoTHEmqnWYwq2B5gKIclNlmugbDglCsTljbhJqAGLw19je51eGMpejKqX0gizJF3TbfQRYr5Xwp9YUdFeUXJOM-SfdE9T3cYEOpO3xB-boUFVtiRUIBgIKkJj2d6X5W0xDQ3Fiy5QycjWllCOvM3EBDK1u6LGV3pTD34TnPuk_r8fLunZLt3vggtNWIhmkOyw43dqsh69KyzB2CpHj-KCZdZVXuu8l1iFaGZKd1_JzdOtAlFfneMxZUK9-w18F0OMQ4WJKHyF42rbdU8QU5ov1BQY1zszIBZINaBun6qjqzjIsbnAHdR37eTrGC1A6l76Y5rSKchzOCHPW1CBuVTriSDYAKvdclajX9BFESzjnpRq_0WjN5EovkFtMmW7rGfPR24QgG4GF2msj3fy1w4jVfCUsRuM4UdcpRZGkc2ohcYMW2XiE789oq1HLVTyYBAoCEr0v7cc2kXOXSZJmnpWRUCz3D3t-tnYtMvKjplHlGWyuqM1Ct0LyHcepL6Fo0krdI2N5Y1sxF5EzE3XST4UcuADx06c51c4gTtKVibUU0ZqysuyF6AqmiqsYKPZ9GVQ4psixrXMkSlTEkrt_8zZ5Y6-pD2buyqYfSdxu_Qjj171HeDIp6XehpiWTJsB5aOWWK1yIeaTyhu-HpGA8d-zD-fYyt1bgMHD20KaX2zYlDrQGnZlVxyaiDvSYrTxXzDLkjZBAZf003R1HDLSqPtkvf8oiBgfjIjEsUJtkVvxJxlQwGa2gmad0bfPVT3qFR19_P4emcMTEd5bqIXCjpM7tizV0ZpDIhc8VKqXF7rMYrGnpfVW5aOFnc4VVeDGyCqqVBFBPSYXJpT4P11ve8GQCpn916D7nseoh5FzgXG6lHim_6hNmAw7_xbdTWFZNbLRaBLV14mAdgMC0uMEDgFKZfVNfQA4RqB9",
  "id": "rs_0f6042e3193e95e9016ab43976b12887d0983415325db5f3a3",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDl9UCCd95pPUO5j5rmyQpEufmCCP3RsDKCwlEinabD-tgZ0ygmMXAKXsHpqPmzQOY4AsPJfye9Az9oTApFUB0NGV3nX5m3xI2JBthN302kNuHkLtJyAhwvrHDeJ11vWUVMhe8jNTCWW3Fq0F5D89nCVf0ow3v5du7nQdtf_xS1rJ-3N7qbCdI97RLeSiCjuZqQchfpx3J0S8quCoc5WEEw3MMYPGzdZAnUwE9j_-EeMM3ePA4NSTGBwt2qUMCtDWgI1N2q5-f99ijPv8rklG6TuUniSR8vpbRg__SaXlgJeBWR9kTRohYvWnC5BO8V9q5f-WU6DM4zK6qdKlAnOVRA79ZTN9RBH4tAuKHJmI0p-xkrIQqKd_8GrTAuxVv-TiR0ke9Jxb1bcedW5aqTUiehGPY0VK3T7FkyEei3UyXIIHR5J-lvKFQ3AKdrh3_LeVfusYus9f_2CbD991FlCETzpxLZuK6rVNt7mZai0hTKcyGmESnXbEX9KMBozgbpLUd6Dth4LGnEarVysrmuQATV5j2OYDkcydxlL_qkAWqJ-qZb2uLoMSzAbDJjb2_h8Pn5EsnZIw6NcFphfZN4fkIN6kD-Zwp_Mb1uiTxWSjEc0a5mY5kG2VTkAbgDB_wnHGaTfBRBOPmnjbF07ZUnuJbtKz-sYpmTIj9cU2-Hwa82pC4OnbH28OfYEauZRE_Qz_q2mVNWAG2wxfBw3g-R3Mmy-qI9oqeKo63e5Dg8H6DukUpDP_MPXkdkhCXZm5Xy7T8yd9-EyVD4CLXyc4R0dgVuHyIVKE-HxvaE3rSCl7LMUxfEaYVzr2Y3x5jjvwfBvlTDRCrm_idz_i61o9Cl15mPhNydYtiGbDLAQpbL8buMhNw0hubQyGfdtPAixTB8vWOrR-oP79i4Ri8ppKGkmx_UXYbhQbgsbdkUbJ8ZC--Tvog5MLPutvmk57aJXLTaRnRRcrJ6ClvpzO3-g6Z1VNcOwef_6oo1v-fhIsZkhBDyKEWTgLNLHlaaS7PEv8LqixlWyiNSx_-PNW8q1J1J6IKvLm1anSCggEbdA7dilDKElddZEEqTWJ10yIv8Pwb7YjJNmIUEp_YKhCzvi_86l7dEvQdOC7pHhIyEsgcUcCLkKW6BrYfu_K0xxpz4Ttsu2yyVfm6LLpRcV1_KXKbGV4Mauec-mim_2o9rjeLwBCiOg6ORoRyCHuyoAFY8BHwlsAW45mt-T5V9GpNDoS-FYk8F33qXKuIQN6Yn-13Iwi5Ldi5zbYdob9oOLakzPVwixfYpTQH0VA0JF0jMnXFfFJkW4xjLfB7jfUHogmR3xCR3uFRsL-7e0X4HNagdR16zLXMIjgOTu4wUGYEQfTUOyg5RRh0wtaTsMx8a3bVsXN5fwgTHL3SNJwBBGInoGKzYYcmkfGpQT1zo_zU0c53zIq95Eq6E3eL0913USsHzuQEpKz_yuXy0A30fGp-g1xnBucR54S0f9ULOM1dSztiN9CqcOrvJNAJ2a0616jPZhAWND-PLgwYDDEU_zNMcqM8m3OnGN252_hA8KZ_A2H421d5r7CsY8pqnvJdaMC77LfxEpV5NOijyPkgfY2FCjspp--V0ZJca3hER0sOdkMq_6rR532l_e3IL1LEJw9AFzmxVGvLXJG-2242sq25wE3-5XUlbk2rym47MAvDF7Uf3tmuMG1JbUeiPc8WdBY_Jy4Gx2ixqHny4pvMerUQw_8GjY7bw4FEPCNv3vB8qXMw02Y4Ri6QOlfXlkrAXOet_XXX160WgupVXnFW_w7vr6azsT75wmo8XuIS6OUbjT6HqWbpc-dflMeECZcddAc0ICnKGiS2DT4rQYX5_ee-INE_82ldDCXUlGGbXf-45MO298lsAfgFSkiP0rqFT-aCH2FKDF3jE=",
  "id": "rs_0f6042e3193e95e9016ab4397ad1e087d0b3665cf52e5f0ea8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.395,\"left_z\":0.19},\"note\":\"The yellow fruit rose with the left gripper. The blue bowl is near the left arm’s sideways limit, so I’ll carry the fruit over the bowl’s near edge at a safe height.\"}",
  "call_id": "call_9ypAZCkLerX088eephDwPGqg",
  "id": "fc_0f6042e3193e95e9016ab4397c491887d0ad6994d6f98932a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9ypAZCkLerX088eephDwPGqg",
  "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]: [-0.9791, 2.4271, 2.487, -1.1507, -0.6647, -0.8146, 0.4817, 0.0437, 1.1763, 1.0485, -0.9447, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.4041 left_y=-0.3995 left_z=0.1742 left_yaw=0.023 left_pitch=-0.2051 left_roll=0.0579 left_gripper=0.4817 right_x=0.287 right_y=0.002 right_z=0.1679 right_yaw=0.1931 right_pitch=-0.5337 right_roll=-0.2899 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -13.6137, 6.3658, 0.0122, -0.398, 0.2466, -0.0073, -0.3487, -3.7128, 6.7077, 1.2772, 0.0122, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adba07d065a20a8438017708887f5145cdb23ba0f1d08c7393dfc91e90cff346",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71497272fa046f3f49f173d84c7b5eabeb60f4463a7c0c27ff53fd16179f400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5acaf9014f7b94e9b2f09688dc7b746d75ac73a63bb2422d972f9fdc3091b94",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 2.739 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 103 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0897, 1.8473, 0.9321, -0.2588, -0.7174, -0.9058, 0.999, 0.0437, 1.1744, 1.0485, -0.9333, 0.0807, -0.3756, 0.9965]\nstate[eef_state]: left_x=0.2762 left_y=-0.2703 left_z=0.0211 left_yaw=0.0046 left_pitch=-0.2022 left_roll=0.0891 left_gripper=0.999 right_x=0.2893 right_y=0.002 right_z=0.1698 right_yaw=0.1899 right_pitch=-0.5201 right_roll=-0.2911 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -8.6496, 5.6137, 1.2527, -0.4029, -0.0024, -0.0122, -0.1026, -3.5214, 6.5162, 1.16, 0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0889, 1.6627, 1.314, -0.8356, -0.7174, -0.9173, 0.4817, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2783 left_y=-0.2737 left_z=0.1595 left_yaw=0.0136 left_pitch=-0.2063 left_roll=0.0901 left_gripper=0.4817 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1919 right_pitch=-0.5205 right_roll=-0.2922 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -9.9077, 8.1573, 0.7546, -0.5201, 0.0171, -0.0366, -0.0615, -3.5761, 6.4752, 1.1258, -0.0366, -0.0708, -0.0073]\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 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]: [-0.9791, 2.4271, 2.487, -1.1507, -0.6647, -0.8146, 0.4817, 0.0437, 1.1763, 1.0485, -0.9447, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.4041 left_y=-0.3995 left_z=0.1742 left_yaw=0.023 left_pitch=-0.2051 left_roll=0.0579 left_gripper=0.4817 right_x=0.287 right_y=0.002 right_z=0.1679 right_yaw=0.1931 right_pitch=-0.5337 right_roll=-0.2899 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -13.6137, 6.3658, 0.0122, -0.398, 0.2466, -0.0073, -0.3487, -3.7128, 6.7077, 1.2772, 0.0122, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adba07d065a20a8438017708887f5145cdb23ba0f1d08c7393dfc91e90cff346",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71497272fa046f3f49f173d84c7b5eabeb60f4463a7c0c27ff53fd16179f400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5acaf9014f7b94e9b2f09688dc7b746d75ac73a63bb2422d972f9fdc3091b94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDmBZHjy2_lSN8ZdLXJXfMO9Yl1NoJWFo1X7MOsk9A7EHE622vZKNtk5a4HG49PoFfH0FjKyrDuQQ8OHy3EjCm3vZcy_Gvb1EReGu6xlHJQrrzmxt5Rn7Gh4H0Jds3U3jwRK6irSG6RRNt2UjnpeDq9lMXGc1I4Fp8yji2syU_7OTb-lTKhZ2epbpodXVvfyEwvTdOIAfwrzkcdjhspPL4ji83wfoPyuW4J5BCHP3emMr2UE-Nxxi880NrrvuI_gVypmSOBCUK-XY1Z1XcbLOMVuu_vZVzzF6VX0zRJulmiv9FAxhkoC7beBBL9Mr1nhm18AEUC7J-CE5aJB7MX3CA4oTEtM2Sio3RsZRipVebqOrUcRxHmOMnW6SBHbmlNrZ1hB7kUJm16WKgXmqAwVinAqTB37Lf_Nquj_5ICAdjxiLdnvzDIp4zyWLRODjKjvmRhCQk1pPYHM7ez2TMPp3xFDef-BIDUbAjsI2ZshMUB1EctJ5eM8aGmUpMmkdHPmy7fZ58MDbu1iv4vFzhYDB8zb9NpPJu51HB925DB3VQ8DXU8d3HwkDaSb_jJl9zjqm2YtxdsvOj9f2yWfIHjeIxqI036HCu7pXvVSc9w706GOLFCe2oAbQ79ggW3Ghtof8ih9Myd-7BooLzLMHaZdHrUETZGj22deDe7r8SlOdrtocqHazv5XdnrmuVEcIwiO-rZf634oTMwm5C5dSEHmEskNsngXBEUEUe4-Vgl8zOAnjSeP70wJcMOcqrWSvCZu7cS0KPF32FN1Pophtq-izANQf7LJgQp45aLAQwTg0kX9AWrttMr4xmsVOlFCqKl0N0IKyiQSeFpN7h_aWNJOTaUPfO_FVtuWBVTnQJGlZcHVW1HsUy0IcWqEIoaVL54UlqtMzrBMA0Yh12AhgYzm22I59W8Ye0sHXe2XF2LOZeKmGR8jhmHapCR1bkf0RFHbC6lhF3mEeNx0vl6veG3WHPs0v24sG1hT67mWfr5XA4QGoF9b76GRipgH9XCEpm7sTPIxTHZSgzk5wzX2uu4_x9wa2neZVGVj-5Vtkg6rcShpznGOof5BHG1cFFeAus1369dlN0OJSRpPYpZQZGZNzC21in92Vi6Er-ssCURhMNsi-WrJOHpgLkJ0H-cWjv3zBNP_nWLHKj9GcCe1BVeVmssgKE6a9Vp0VBSIpYgEFPucoLltxulY91Z9fZVQOB9dZcy1epYghR5i0B9wQ6_0er9rLz_0_9mKgZOEvLVempoIar3pbDSyfY-h40WJJyrhfyaXDKDFlY5w_ajGvllbrdYLlQ4OpOyVVKCI1w-MDTz9H7CZH-FpxB3PyyVdZ8dtLSSHIUU3V3qZR8f3hrIa6ST0w-0txraHiQ_YNVOg0MDsn8OvVs1_2ZnD_Lg1Nmat_S0CZ3DnGqQhJe72wnBDL3XQI4yxuKBI4FgprW7GY1kYBSiikNk4CU0WG64kkIF7HxxeavoVGMHu7HUW-klwWlYdLOhgMmxAP8v_jhzvxpH4EaNx9ieYZr_pTXUAwbupEbGEyHYlbJ55i2tB7ML27hnY-uuxj9iOJ8gKH5AX3O3fAQpaYFvsRI9sNY1BMCIKxXXGQKqzexu-mL6hwhcvsD-d-Vkt4l4Ng5wEyBVqVnXbigzZUb2CNVXPbpba1D6gIxo9bEdWa5BZv4ulAkIdR8GU6FDBp-aZmamvhvRbvCnP-9q15M05lQ_-3HlNQCiJ-_gvIfszl2RB4sVxboFN9Rky7Vt2cjsHqzXBhLSkHHyOJe-yq1tiY-dWgjCo82oRBYL36wR-hxYPp_wrHvFjmQRl5ndaLSkL4C1S2FTdDWOF9LwK40ELVq3wsAW6gse8Z4litpaNnw0pTP3dF0ND9-4NvjbVkn_O0lutXMJWCfIKHyInpqBJMflStmSFx2LYf4u5xRAPUwIiIWm28IocngdKL0uzqkT3YFRn11JmTuUx-lrB7HhTom0TwqlJrSOvuzaJGF89QYx_sQw_peMC0W40fcll92V1HzhC46qjWR-xZVPwvAWnTwFwlf-MhQ3X49-MQSb96dkoM7je7gTg8w9zPBdcf5V0MSO7p9ysOknE1foMEvlE0-tVn-0oyno-ekosZvOlrUbH_H7mJ7CBVOqAduWW3MqAL7jMX9vbfKaOg1YrFGlpY0TUqQ_JSsakZBHwtbSF3gs1ZvptDV699g409hVrpqrzMCb0Qu5_kZZpm8hlCIZafsMHvsA0ewe0udMEBm0NehkIAISJTvkkaxZiw8a71qzn1cPzFaNicMv1luM027pdAAo7Bq1QzdnefHuQEuNntK_I5ruBkoLrIEQGaBJT8ncuqjdAt2VPXrm98Ws=",
  "id": "rs_0f6042e3193e95e9016ab4397f1fa087d08a1e6c5750f27794",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"From the left wrist view, the blue bowl lies directly under the carried yellow fruit. I’ll lower the fruit inside the rim before releasing it.\"}",
  "call_id": "call_vhPiVslkARLECzOV9a5iLWya",
  "id": "fc_0f6042e3193e95e9016ab439813da487d092d79fa31929b004",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vhPiVslkARLECzOV9a5iLWya",
  "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]: [-0.9764, 2.4039, 2.0876, -0.86, -0.6579, -0.8116, 0.4817, 0.0437, 1.1763, 1.0485, -0.944, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.399 left_y=-0.3911 left_z=0.0768 left_yaw=0.0373 left_pitch=-0.2561 left_roll=0.1309 left_gripper=0.4817 right_x=0.2871 right_y=0.002 right_z=0.168 right_yaw=0.193 right_pitch=-0.5329 right_roll=-0.29 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -16.841, 5.7094, 1.0672, -0.4322, -0.0806, -0.0122, -0.212, -3.5761, 6.6667, 1.2088, 0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e84a6c5b2c5c43c16a84ae1363b7eaee497c29f1ca6efd2bfd8f9fc08508598",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ba4bf57772f63010a2eb2559f536215006bd3f0bcda67679a2fcd7369bd033",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53ee0e0a680806d9bb76b0d8d4e1105663549b914c113292575056385f0fad59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.425 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 103 changed as sent

message 107 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0889, 1.8568, 0.923, -0.2462, -0.7261, -0.91, 0.482, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2764 left_y=-0.2677 left_z=0.0172 left_yaw=0.0129 left_pitch=-0.1975 left_roll=0.0953 left_gripper=0.482 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1919 right_pitch=-0.5205 right_roll=-0.2922 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -9.2376, 6.0376, 0.7741, -0.3346, 0.0171, 0.9206, -0.1983, -3.4667, 6.6667, 1.1551, -0.0122, -0.0513, -0.0171]",
      "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]: [-0.9791, 2.4271, 2.487, -1.1507, -0.6647, -0.8146, 0.4817, 0.0437, 1.1763, 1.0485, -0.9447, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.4041 left_y=-0.3995 left_z=0.1742 left_yaw=0.023 left_pitch=-0.2051 left_roll=0.0579 left_gripper=0.4817 right_x=0.287 right_y=0.002 right_z=0.1679 right_yaw=0.1931 right_pitch=-0.5337 right_roll=-0.2899 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -13.6137, 6.3658, 0.0122, -0.398, 0.2466, -0.0073, -0.3487, -3.7128, 6.7077, 1.2772, 0.0122, 0.0122, -0.0073]",
      "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]: [-0.9764, 2.4039, 2.0876, -0.86, -0.6579, -0.8116, 0.4817, 0.0437, 1.1763, 1.0485, -0.944, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.399 left_y=-0.3911 left_z=0.0768 left_yaw=0.0373 left_pitch=-0.2561 left_roll=0.1309 left_gripper=0.4817 right_x=0.2871 right_y=0.002 right_z=0.168 right_yaw=0.193 right_pitch=-0.5329 right_roll=-0.29 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -16.841, 5.7094, 1.0672, -0.4322, -0.0806, -0.0122, -0.212, -3.5761, 6.6667, 1.2088, 0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e84a6c5b2c5c43c16a84ae1363b7eaee497c29f1ca6efd2bfd8f9fc08508598",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ba4bf57772f63010a2eb2559f536215006bd3f0bcda67679a2fcd7369bd033",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53ee0e0a680806d9bb76b0d8d4e1105663549b914c113292575056385f0fad59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDmF0hVXLsTt2a-l_oDv0MtDkyqNYhDVBCouJVqNVKtjBOxD8OWBIYoaZLRS_mADnjaeK7uXyBUukxgIvQ7stF5qax_yiHGsPDOHcoSE1M1CQIYe45rCuxkpFSL4oIEYZ_aUwaOWo9V_-ftO-kiES7GQM0m0-ggUj_k7Nl41YDKtN5awbaUgmPyz2Ce0Z4e4aelJff5VaX6ddUIna5lHe7UvSZa0L_yYvTzeXXDR6dpXbt7cB2Psovtv4jkgfKak92BH2RxNIba8d_LhRiH4EIA8KZMhYhG5l4uHmaT4juDDXNNo86PWHOP0N2Z4OSm3lflb_P3QfGvw3QcBm648_Qvz-1DsVSEvz5Q5ORx3WrImjq8lvcgc5_ZZXXjHH6aFmrX56kMNbWzsQzV90a9zaXHVWYdLJW8f-0gkHezqb5-D_8uHjflSpw8otJLP5VqjNcps6by4pbIus6fO-JNeh8rVLaD-pj0z97qeUiGtWmzBLngwvD3EWtIdgS84LtaGBJU1VvGT8wyAAZpqe90BJ0soQQThLy7dxFwemuYnvaxIlye5f3dqAyEHYQ5uup2h7F-OzbgKP_8jg0zjHFmWAplGJ1pxuwmJvEEvX-mi84ZLEtGjCuU7cIyG5KHbT-TCsDgkcOK6qH_v_ldmPJWeM2J2SsKBQ1mWM-cLxlz08DsbwhPjEE2hOU06wSq4h7SEOq4ISsOeK5AJQGhV4PVQoYEYlFY3IudvFRZtfb1UgIBji7mQqkqtNFfLhBF-Rhc-4sp015RFZJMMr3zZjKdIkLfR68Sxz1YZCOENV5lLgSyYTAiXtVHbvwpM1SIl0ycQuCDkzcJ-5T4OR-7SjzP9l36bhzFUd4MQeNewTrvZ8Dz6mpYt2QQDnzXnngn1QAWw_W7tZqi3tbh9-VeWs8AyuFnBQ-3WkoC_MGxyavaj_uQU1q-5JYBN5MmIHuwy31K2yK0Gs60xbflWj09vCjeY6Wq3bOS4wXdM_2lNiqEa5oIVBF5LQ6d7SNDDeA3XuC3aWXPfSURnzemdKOVng_u-Su7UBX7CqpOhj0a_clpIpSwlwTS3iDgimqFZxoTwb96ViJZYYZEuzYX_Af9XM_bGGhYvj9hiHr4dBZXO9Ck3TeEd4grqkxwPfGjf1IBRQQf8MvKpqAe2XqsKxHmgvwYdBIgKVLvvt8Y-4H4CyyViu5SKtMiuPxUObMjUp_SFuDWIhIb0qTz7RKo0-I3ENUI08TTGZbXX7PeNMuc_KQcy2KI7cRA_Cv7EW48XL0POSxwTDBlc1vsUSevCrrJzJlT1mh111MKa-HxwVyS9sLbF5T20ZUt31vbfhBWCOSEOQRcMuFJQHMufpLo08fA_SQwU5iYN2ue2vVFJ5AdEQvL0CkLaIBU=",
  "id": "rs_0f6042e3193e95e9016ab43983756487d0a97f93316594aabc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow fruit is lowered over the visible blue bowl. I’ll open the left gripper to drop it in.\"}",
  "call_id": "call_86tg4cxWWbOIAVkz7BYbZVmN",
  "id": "fc_0f6042e3193e95e9016ab4398487a887d0bf08972c7fa793ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_86tg4cxWWbOIAVkz7BYbZVmN",
  "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]: [-0.9771, 2.4039, 2.0663, -0.8555, -0.6571, -0.8162, 0.9957, 0.0437, 1.1763, 1.0485, -0.944, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.3966 left_y=-0.3884 left_z=0.07 left_yaw=0.0425 left_pitch=-0.2653 left_roll=0.1421 left_gripper=0.9957 right_x=0.2871 right_y=0.002 right_z=0.168 right_yaw=0.193 right_pitch=-0.5329 right_roll=-0.29 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -13.8872, 8.1709, 0.9109, -0.3932, 0.0317, -0.1538, -0.1846, -3.3983, 6.4615, 1.1355, -0.022, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b93d6cd3753ee277fff6e277f366240594cc69b35ab61a017c71fa195ba74e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef26936a7dc0a6698ff450c2bf5d23e19a7ab937246e6c43ab20c1c4f6c21946",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d81ae00ef2cce611ab9499cc6eb581f8920bc24523795f67744befcb0e72c16",
      "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 28 attempt 0 · /responses · status 200 · 4.02 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 107 changed as sent

message 111 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0889, 1.6627, 1.314, -0.8356, -0.7174, -0.9173, 0.4817, 0.0437, 1.1744, 1.0485, -0.9333, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2783 left_y=-0.2737 left_z=0.1595 left_yaw=0.0136 left_pitch=-0.2063 left_roll=0.0901 left_gripper=0.4817 right_x=0.2893 right_y=0.0021 right_z=0.1698 right_yaw=0.1919 right_pitch=-0.5205 right_roll=-0.2922 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -9.9077, 8.1573, 0.7546, -0.5201, 0.0171, -0.0366, -0.0615, -3.5761, 6.4752, 1.1258, -0.0366, -0.0708, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.9764, 2.4039, 2.0876, -0.86, -0.6579, -0.8116, 0.4817, 0.0437, 1.1763, 1.0485, -0.944, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.399 left_y=-0.3911 left_z=0.0768 left_yaw=0.0373 left_pitch=-0.2561 left_roll=0.1309 left_gripper=0.4817 right_x=0.2871 right_y=0.002 right_z=0.168 right_yaw=0.193 right_pitch=-0.5329 right_roll=-0.29 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -16.841, 5.7094, 1.0672, -0.4322, -0.0806, -0.0122, -0.212, -3.5761, 6.6667, 1.2088, 0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9771, 2.4039, 2.0663, -0.8555, -0.6571, -0.8162, 0.9957, 0.0437, 1.1763, 1.0485, -0.944, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.3966 left_y=-0.3884 left_z=0.07 left_yaw=0.0425 left_pitch=-0.2653 left_roll=0.1421 left_gripper=0.9957 right_x=0.2871 right_y=0.002 right_z=0.168 right_yaw=0.193 right_pitch=-0.5329 right_roll=-0.29 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -13.8872, 8.1709, 0.9109, -0.3932, 0.0317, -0.1538, -0.1846, -3.3983, 6.4615, 1.1355, -0.022, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b93d6cd3753ee277fff6e277f366240594cc69b35ab61a017c71fa195ba74e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef26936a7dc0a6698ff450c2bf5d23e19a7ab937246e6c43ab20c1c4f6c21946",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d81ae00ef2cce611ab9499cc6eb581f8920bc24523795f67744befcb0e72c16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDmJ_6uHwZbVXK-h3Hgkau4W72WpYzF6EUQVYoVrnJVSphrUCBRIHAvNs0Ih_2pIIO4iWmZ9cLsD4LkD43AthN4KRPk7cVlduNhHJNtO08Quep4RAqTiEX7WSbzTkhAHmGo6AlbeVCCEmKIdQ8MuepVZEaTrlO6rIUS0ymhCa-JFqFLlbi2tMwkozptD4HpxYNH45o_w1ia27UDrv49FBw4s4gUO5UmnMICawQTKvFrVCMXRGtwh7VcKAKCRXuA94snjkz8DiqLhfnIt8oCL-IdZxMoQan4C4Y0O8PF0n47wfKegkU31IcqDVDT41D1INvt22jKA_08_iKwyZrjV46YAAG9V3iKEKD6RoVo71jFqtcfFqwEhCux8x0oPXSH4ZKIzpGGBEhR2WgpFbPrZOcp1fL30Qs80IQ2tyqMAkSYK8gRSiBoFObUaEwof4sxfe5-tJcigDFO1Nk2yqFAmpRkckeZVVRQ7R5s6sivhqwdYm4V5WqkR3AmLTpD1rHOjkLU1rf4gCEQKZNuiZ9q9YDEldhRX2IFur7otnrVXFrWJfr8N1OCwuIWgqb-4RnF_bY3N4DmLy_JH40e48v_Gu6HW5vOrvDbEupUmxA-REvNO-dKTQ8CumUnoAtoiqwOfvfe8ku8TphW_ZtV4TB_y_Zk2hCOtN1NdmwKUr9IC5MSa7idDa7ypVQjvYWG6qcMsmpjI5ANu1jVuStTeilciVQgkO-P-dct44l-Emo-1jQMAOs7Q8GFyFc3u9ZJNklY_K4Y4NUZUjkz7QAbAtEkwWVgBMaTiffVIPzOZfSafZZKrxNr2_DjcAqdInNGXtxBfXlTvaUShNgG9qYbJicHPl5JMsJJ0I_c_t1WBo4WKF7vhmtHF1o6qv1R7CoMzCOJNlRWhsdrRs4kcn-Zcpru-kAaVDwvDZaOyTLMSbMiPPy1IA2OYO4Q7nX2XNbund6AtUuT_gtpWwJEd3hS7qEZSJDhds7UlJfMsR-J9Y-k9gkDqCgILGyOIyuNOM_kNx_qRHKU8-CW2Yaal15ZrS3HDbUIcC8xw1Nl2dOWWyYszmEPeSva3SUW9YypphQ27fdr7Vx4x24GaHFsxmmwtbufZ9bWkGnngUKlW_7bJ5dCJ_q-9FGieDZWUM0PMxFqwXBFwrddV6JviPRDJwZZx80ysiWVRuhqCblIHBFEBQMrLICwiihlV8-vXFeKGQpO1sA9XphwTXhFbILwNtTWK1mFDVIqt_wjTzQPAwvenmfXaO164fNzoPjPT2mskEcPpbSvVpwPP153LNWgIZz936YMQxkCOKPs9W-h3n1UUKVIhs2b8XsfwBytTiEjXKAxB89dwv9Re7aiIK8898Pn66eB4Qyuxxxrh0eaUwaXUkok16K65tBNLMoLZ9RqnCJE5xu4zSNfQ-n4kf1EiEjSFndGBwlyg82QIKSvtja3TK3F7deDnnSoGLRBRFGy-qFpDFx06Q6rJzcQ8sEdYMcrU7f2EJXwwK-yvmv_quq7P_2ZB8SNgmOCi1ZMU5QdxNrekyJLSc8lZd_G9hQDAAnqCT_ALg-yF8ExQyHHeyh24XiMFAJk_elxoB8ju8rtXsjsM3HY5qKGQVxMZAnjCj2qHBhMUK34fb6b-aJFZnpFqsV-xnBIuaa5SiLggwtGY8uSR5cCHLVPO55upvEd1Yojs2NTogpQwNuGy_6gT4gyOtqM3SJnqTKU=",
  "id": "rs_0f6042e3193e95e9016ab43987397087d0acd905d53e48ae64",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.302,\"left_y\":-0.105,\"left_z\":0.14},\"note\":\"The yellow fruit has been released; the remaining brown fruit is to the left on the table. I’ll lift clear of the bowl and bring the open left gripper over it.\"}",
  "call_id": "call_8DC4PJqkfTIgBshlYWEfqpSE",
  "id": "fc_0f6042e3193e95e9016ab43988629887d09247e24e5789f91b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8DC4PJqkfTIgBshlYWEfqpSE",
  "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]: [-0.6178, 1.2602, 0.8703, -0.6006, -0.498, -0.4667, 0.9966, 0.0437, 1.1805, 1.0485, -0.9474, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3055 left_y=-0.1092 left_z=0.1375 left_yaw=0.0669 left_pitch=-0.2624 left_roll=0.1314 left_gripper=0.9966 right_x=0.2866 right_y=0.0019 right_z=0.1665 right_yaw=0.1939 right_pitch=-0.5405 right_roll=-0.2889 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -5.1487, 6.3932, 1.2967, -0.0855, 0.1783, 0.0855, -0.0889, -3.9453, 6.653, 1.2088, 0.0171, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe727a8160dc856bfb2fcd49eb707c80ed9fec009a0646b14b3a5ae3a6f594b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:befc4e4f7702318a8d905f2728813e9dddf380515f0f5c194ce3908dcc8c75c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f8aa582df825782162d3519dfe1aa5b2408561025835655a3da5e3ff6430c8",
      "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 · 2.338 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]: [-0.9791, 2.4271, 2.487, -1.1507, -0.6647, -0.8146, 0.4817, 0.0437, 1.1763, 1.0485, -0.9447, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.4041 left_y=-0.3995 left_z=0.1742 left_yaw=0.023 left_pitch=-0.2051 left_roll=0.0579 left_gripper=0.4817 right_x=0.287 right_y=0.002 right_z=0.1679 right_yaw=0.1931 right_pitch=-0.5337 right_roll=-0.2899 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -13.6137, 6.3658, 0.0122, -0.398, 0.2466, -0.0073, -0.3487, -3.7128, 6.7077, 1.2772, 0.0122, 0.0122, -0.0073]",
      "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]: [-0.9771, 2.4039, 2.0663, -0.8555, -0.6571, -0.8162, 0.9957, 0.0437, 1.1763, 1.0485, -0.944, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.3966 left_y=-0.3884 left_z=0.07 left_yaw=0.0425 left_pitch=-0.2653 left_roll=0.1421 left_gripper=0.9957 right_x=0.2871 right_y=0.002 right_z=0.168 right_yaw=0.193 right_pitch=-0.5329 right_roll=-0.29 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -13.8872, 8.1709, 0.9109, -0.3932, 0.0317, -0.1538, -0.1846, -3.3983, 6.4615, 1.1355, -0.022, -0.0611, -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]: [-0.6178, 1.2602, 0.8703, -0.6006, -0.498, -0.4667, 0.9966, 0.0437, 1.1805, 1.0485, -0.9474, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3055 left_y=-0.1092 left_z=0.1375 left_yaw=0.0669 left_pitch=-0.2624 left_roll=0.1314 left_gripper=0.9966 right_x=0.2866 right_y=0.0019 right_z=0.1665 right_yaw=0.1939 right_pitch=-0.5405 right_roll=-0.2889 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -5.1487, 6.3932, 1.2967, -0.0855, 0.1783, 0.0855, -0.0889, -3.9453, 6.653, 1.2088, 0.0171, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe727a8160dc856bfb2fcd49eb707c80ed9fec009a0646b14b3a5ae3a6f594b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:befc4e4f7702318a8d905f2728813e9dddf380515f0f5c194ce3908dcc8c75c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f8aa582df825782162d3519dfe1aa5b2408561025835655a3da5e3ff6430c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDmPD6mVBIgoZSWoc-j5m06NshUA7NLrAr8MwOHDi_h4JsmlxgCR1SRNN2YT-__pcI9d5eQt3svhIRigzc2DcijzYxh_5CFq7ABM7Al9e_qIRiPj3QJ9VC6FhvVv9_KLldveYXWyYe145p8HUBhL7gBxBCpiPO0TtvVg_DKzH62wu9Sm_axAtbqnBQIxOghKAqLelXz3YzI6-PMjk41mYAMIVPYhTLGAYGjHzCmsHBNdYMsA6WsStG2C261JrgCb5he9wcKcCPIBommuFQxtrGKI32hMdmLs2enVMOqB9xJBbLPmBhAVspspOMhtySpVjbSX0PCFwSxBdR8cZxAUgz2dGjpArQeS-EdHhxYYV8FvT6w_Xeul078_3JxIjQ48IxvV2mBxPz5BQPPMQI0AoLoGGNfFa6MkBCc4AvFpUpnY9DDPfUWPX1g---GsP56KVAtE5bimcrlklO-pVNuuvLNfKaLuVlElJ11eDZ5Od0gtgtKQjMJXUEMA3sCI2ZVKPfPSTTiPXeAivxi07hOdfe1MBI3_prWqztKoIrwtsT9QZPPPCyP_FvJqEdL9oLIYX_P7-ywT0I1_eWusig6yXwAMTxQx2D8u6ncSoiSi6sL3ckhkr8RVCqK0jPiQfJu9kePq3owjLVUxlShEuwoI9Ub81iH5erI10iL9IDekquPblUH2woBHfWRCrDiWuZrY7vuMSbpdV_b1rolVA7qnfg05Wh5tJYMJHu2nuinITEcUAeFb-HDxoqKRwE7guo7T-57ObsM_BmKqUq14DHW4oEsiMVKq0jKq39_8H-CYHs0E6VcvUuqrCEyqNw_arx9CvxM06z7YX-6_h3Cz5UNuqkKDEmxfO93hYNk9PZjakLir4rg-P4xXgn2gS6kaMIRttciCRUCiRwTbc-T1H5ELvptytzbkBkRFnHQ05KNHkM81t2tM2sdTD3kB8m-0B7ac6TJz_CA-kGFKnu1Tr9fT8I9X7hpqbMtjcXckrCCnOyGuoq76_eoKBbY9q_JgSMrxWsKiiLcWe-yggcoKZOVXDbPpYeezTsa6dE6r0AbUmPRN3cERwmG8UnQtkP3F9nVW4sxY9tuFpCRPjeNrKtYETXt2zEdv28GzlfFgwHfQnMLnqOdg2GkwmponVX4QMEhnxQCm7gl3LhmdldqJJEGTiI-fBE3ex33bJzBAyLEjaoT_pXHvB0dpSCnAgaZ4K0R9EAlOavjOZ6hJXk5U8N-kxH0iLQXY6QXfM4y685kGVeYDh3b_FtUFozYchcd_bONW_PnVBkico0Lx4Yb2YqIrC_cb5-jIf7KNtjf0y7kKfhUPrEgpmJqe1sgdlxbO5D1iGmZqOav78_jEi6RuqgW2vuxKdP49oYGGGILmaHhhPsmp9q1LW_yDnbIxuwvqcJyS9JizBT9TyaZ-ToaYmI3po5fWvMA6AUnOss_it9CJeLsZqf5822OplVcXRB8T8fwKdC-CUVDOVzt38j0TaMB6SHHR1YRFA8VkZm-BoB0Qkyr__LU6FBolMC0A0gYdLtp--17YDhVTyH96Pz3nRZVMBQmkViNWF1vGAmg1KVPsaM9n07tKt0yTL-qfm3cHWscWCbl5nXV4m6cnhlgyG_9TW7lqmdVBJfQz-fJVsI18m-eXGDdzCfIB-1-erEUlceDeUOWVt6SQkIOcKBnaXjO2rl48MY6wCS1Xe4Gm2On1uZYEm2xHZzzDJfm51hTzybi8iPaOm9SeHD4xHalCS54EqPgqVuy-9YBbSgU2cUCjo5FJA6FUiETF_oDadI-zCthSgD70yJwddosMYIt1SuQFXi0bPkbM2pqnJTAIyrFErUgLtAhJg49hsb-M4R8zzcfW9LmcofxoksPFMJ5Am4_Z_XZaa1PLr8lFAZTOkou5CiJjXp2Ms7OC0hiJIUOFnp43ItH3OgEJHxwt1NPyCd0Eet0_ALDpur0D0hsmYv6p1C2vIjgvEtLo8YVvkmna35b3SJrM-3vv33Ehk9ZUQ4_dvX3hkUMEfVf_n8r3LoaCwWlI2Eg=",
  "id": "rs_0f6042e3193e95e9016ab4398d564887d08427f96caea1c9cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.14,\"left_z\":0.105},\"note\":\"The brown fruit is visible ahead and slightly right in the left wrist camera. I also see the yellow fruit still outside the bowl, so I’ll return for it after grasping the brown one. First I’ll center over the brown fruit.\"}",
  "call_id": "call_JPf2zMSpvystkBUkufB9ifzG",
  "id": "fc_0f6042e3193e95e9016ab4398eed4887d0868be128754ae005",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JPf2zMSpvystkBUkufB9ifzG",
  "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]: [-0.6529, 1.4395, 0.8734, -0.5068, -0.4999, -0.4843, 0.9968, 0.0437, 1.182, 1.0485, -0.9489, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3172 left_y=-0.1315 left_z=0.0953 left_yaw=0.0589 left_pitch=-0.3231 left_roll=0.1761 left_gripper=0.9968 right_x=0.2864 right_y=0.0019 right_z=0.1659 right_yaw=0.1942 right_pitch=-0.5435 right_roll=-0.2883 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -8.4855, 7.5009, 1.2918, -0.5104, -0.1343, 0.0024, -0.3487, -3.4803, 6.4205, 1.1795, 0.0024, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ec8fd7a96721957e0b8dac74197046bf54fba5f8cbc245b50335bd1f3826871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac7817638d82d9cf510f6367c22a6a96836c0bc1797abe6aff3016de96fcd00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f684d37db3da9eb8d59c924fc7c9bbaff27a4b7380f05acfb90676d4af8d4ddf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 2.717 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]: [-0.9764, 2.4039, 2.0876, -0.86, -0.6579, -0.8116, 0.4817, 0.0437, 1.1763, 1.0485, -0.944, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.399 left_y=-0.3911 left_z=0.0768 left_yaw=0.0373 left_pitch=-0.2561 left_roll=0.1309 left_gripper=0.4817 right_x=0.2871 right_y=0.002 right_z=0.168 right_yaw=0.193 right_pitch=-0.5329 right_roll=-0.29 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -16.841, 5.7094, 1.0672, -0.4322, -0.0806, -0.0122, -0.212, -3.5761, 6.6667, 1.2088, 0.0317, -0.0269, -0.0073]",
      "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]: [-0.6178, 1.2602, 0.8703, -0.6006, -0.498, -0.4667, 0.9966, 0.0437, 1.1805, 1.0485, -0.9474, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3055 left_y=-0.1092 left_z=0.1375 left_yaw=0.0669 left_pitch=-0.2624 left_roll=0.1314 left_gripper=0.9966 right_x=0.2866 right_y=0.0019 right_z=0.1665 right_yaw=0.1939 right_pitch=-0.5405 right_roll=-0.2889 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -5.1487, 6.3932, 1.2967, -0.0855, 0.1783, 0.0855, -0.0889, -3.9453, 6.653, 1.2088, 0.0171, -0.0415, -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]: [-0.6529, 1.4395, 0.8734, -0.5068, -0.4999, -0.4843, 0.9968, 0.0437, 1.182, 1.0485, -0.9489, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3172 left_y=-0.1315 left_z=0.0953 left_yaw=0.0589 left_pitch=-0.3231 left_roll=0.1761 left_gripper=0.9968 right_x=0.2864 right_y=0.0019 right_z=0.1659 right_yaw=0.1942 right_pitch=-0.5435 right_roll=-0.2883 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -8.4855, 7.5009, 1.2918, -0.5104, -0.1343, 0.0024, -0.3487, -3.4803, 6.4205, 1.1795, 0.0024, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ec8fd7a96721957e0b8dac74197046bf54fba5f8cbc245b50335bd1f3826871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac7817638d82d9cf510f6367c22a6a96836c0bc1797abe6aff3016de96fcd00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f684d37db3da9eb8d59c924fc7c9bbaff27a4b7380f05acfb90676d4af8d4ddf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDmSx2YWXK86zpvka12etKyVTTMEQFKAr7LUKwF8oADabDkGVCFLkoJCoZ1a8Qg81JEjAL8aP1tp9WouaPuVvLXs5OamfezgDrDg3fqRaO2BhKmSI5ZtRtmliZPFJ0hYbfPWjzRR4OP54ulFa9K-7FOmGdKuCCW3QtiXQDPV8kFFIR9tZMPV-ANOUalf9l3aH3U4wlKv5eMhw1yulDEELCLNWHReZzGdwIqcCr5s57dvZ21pLvatuntsdZARv-gHyTpB8mPoomtLzxn5U9y9k8oulnax3v-oXg8ERmmiww8XshQF5s14Cdb-LRweXmxsOxc43BZmFXuNWg1_NPlC6SZE6L03Ib8TmqQCU1HcXbHni93SI3li1cr3eASC6SpNLqOEdbVziS98c0SpAaibrtcYGQu7CkTARXtBXwxEp5fHA0DPxs9Xw2513BqSZngLlR1F07hJhlBNs4KBcgoCaTosP-djcv9mZT59Wq74-Fa0xbROm3TVGx3mTLNkeRPbh6_MNcvNKDX_8nROUAchkDBlAlfXn-wIdFCHOmzU-JF1xdFIqRRoTr5d1XDhzy8D9LsooLNGriXmjPjfcw8YT3IgxF05moy9hWh_dUR5LEbJdOi2_TwJwSMSJzkXAsixM09SnH_UJoMgPoSrw4FoOC8qMWIp3X_cZXGcLSZ4WikajrfHHwFHxy0omYOhs1lfVjcW0_puM4m3hE-Llzvoo-FG0iqTFo5fCNKsj85TxG92VDFyCH6l_23N3GJFkdNgLQGPdVrV3oo6bDHhItjr4pFp9kBHqucr0f029zINdSMU7GAb37-YciL8QHXOjUZEkORNS-N2OH5O6gIxQqK175JeGBs9Ljx-2God1-6gjatKbHnnLypTC7sB9acVefsAtIM6StIsTCg8wcsGjS86HkHX_L62cyFvyLXJRQzEl7e52UGyFtQC97-6xXGFbMr5u_MqB23XJO2AbY8Hc8U_SUDfy-IKfEeFLIifGi-ByWX0Tq5MrOwweB-uUtxpWTyWcY1YC2VmJGKvppMCS53CPmHJ8SAkeMwWsKUQJISBm8t9_i1o08zPOT8e07pp6m-zj1ScPX1PL0qSugknfGWv5W69DvLtXc6Ke8TotEdjVV_4PU8m8JiBeg9Dy16p1VOCbiqNlihNN9raL3imss6OvX-khp9U_o2nAgpyMO3aWmu7PI91ZmVpThuJL6Q3R1MiTRKbZgOOu-4oJb4tIda6vKgqOncNgt4vHpQ6e6DvitwZGQRewbBf7m2LdFNv0H3RisnaIbyPzx2EysHtj6iUzT3G8bn768XzaEh03p4MEdEOBNR9yRyD-Pu-dao5XsByk9mcU_g45CGyn2BR43l03LvH8ymo3pKcNcrV4A6_4bTNFrJ60Ct0wF8ApPvX4MwORLSfvhDgWQWEkvLZ6Fk8mL2aMaSjNNCFvKlwH_qJNOg9cgzuY-7RAqMyFY5-dkgG_FzD-guhpYmtHyuCLo8mS6q9Sh8cwov2P5WtFaksepRf09I=",
  "id": "rs_0f6042e3193e95e9016ab43990f54487d08bd6d98f0fa4f5a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.337,\"left_y\":-0.151,\"left_z\":0.034},\"note\":\"The brown fruit is now near the jaws but still a little right of center. I’ll make a small leftward correction and lower around its middle.\"}",
  "call_id": "call_5T8x3AFJ6vbnBDd6yhF9VPPX",
  "id": "fc_0f6042e3193e95e9016ab43991bfa087d0a7c8e9a0faecf8a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5T8x3AFJ6vbnBDd6yhF9VPPX",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6617, 1.6508, 0.8265, -0.3195, -0.5026, -0.5014, 0.9968, 0.0437, 1.182, 1.0485, -0.9482, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.3264 left_y=-0.1418 left_z=0.0315 left_yaw=0.0787 left_pitch=-0.3729 left_roll=0.2169 left_gripper=0.9968 right_x=0.2865 right_y=0.0019 right_z=0.166 right_yaw=0.1939 right_pitch=-0.5427 right_roll=-0.2883 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -8.0342, 5.4222, 1.3553, -0.2662, 0.0122, -0.0073, -0.1162, -3.453, 6.4205, 1.1502, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b9f60128296b54c1e1ac39e452c54d59ef809a86e4664f067b3701b031b5b9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d61b9cf814d7cce0a74439916f61eebf74a38c4c3ab4f3844bc0acd557aa32ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fb3eef3aa92536fb4011d8da1bb1b626a543ad757d6b6d561137b6530fe07c",
      "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 · 3.331 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 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]: [-0.9771, 2.4039, 2.0663, -0.8555, -0.6571, -0.8162, 0.9957, 0.0437, 1.1763, 1.0485, -0.944, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.3966 left_y=-0.3884 left_z=0.07 left_yaw=0.0425 left_pitch=-0.2653 left_roll=0.1421 left_gripper=0.9957 right_x=0.2871 right_y=0.002 right_z=0.168 right_yaw=0.193 right_pitch=-0.5329 right_roll=-0.29 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -13.8872, 8.1709, 0.9109, -0.3932, 0.0317, -0.1538, -0.1846, -3.3983, 6.4615, 1.1355, -0.022, -0.0611, -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]: [-0.6529, 1.4395, 0.8734, -0.5068, -0.4999, -0.4843, 0.9968, 0.0437, 1.182, 1.0485, -0.9489, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3172 left_y=-0.1315 left_z=0.0953 left_yaw=0.0589 left_pitch=-0.3231 left_roll=0.1761 left_gripper=0.9968 right_x=0.2864 right_y=0.0019 right_z=0.1659 right_yaw=0.1942 right_pitch=-0.5435 right_roll=-0.2883 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -8.4855, 7.5009, 1.2918, -0.5104, -0.1343, 0.0024, -0.3487, -3.4803, 6.4205, 1.1795, 0.0024, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6617, 1.6508, 0.8265, -0.3195, -0.5026, -0.5014, 0.9968, 0.0437, 1.182, 1.0485, -0.9482, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.3264 left_y=-0.1418 left_z=0.0315 left_yaw=0.0787 left_pitch=-0.3729 left_roll=0.2169 left_gripper=0.9968 right_x=0.2865 right_y=0.0019 right_z=0.166 right_yaw=0.1939 right_pitch=-0.5427 right_roll=-0.2883 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -8.0342, 5.4222, 1.3553, -0.2662, 0.0122, -0.0073, -0.1162, -3.453, 6.4205, 1.1502, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b9f60128296b54c1e1ac39e452c54d59ef809a86e4664f067b3701b031b5b9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d61b9cf814d7cce0a74439916f61eebf74a38c4c3ab4f3844bc0acd557aa32ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fb3eef3aa92536fb4011d8da1bb1b626a543ad757d6b6d561137b6530fe07c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDmVd978aQKmyuJAMy4tU6WZOcPFRFZvTtpO_by0xz-icxG5Mqc11FcXJ9TeAiTd77n9yJrS2alT8EKD0eRE7uBckmjVPNWsOQKq2kGRxXrBdRtyARUEHrwMJjNSzBzXf70sqkLxwehARxYDXdHrxyRzcsSmqra8aq0M48in5uk81XbUPepy0rqwYXdUlzJCl9cjQ3UDKSbzysS0CRtuZVSVquCwzF7Q8yUmPlTOcSsiJfRncYxZoVb_2Ll4JzRoVWkN0DvloEgQg4GNs1fx1qUqx65tEIrPhLs2tBMiyrkMByso-Fbn-4cI4VUjv80e89LPkcvIOZVeNDTaNk3G7Z9ghnQmVdVHKnu62i7uWtUIWa3ucGLUz-F5VEyi5vLl8swCatac4f8g4qoWK3BHTeLXN--fHwqAwxJLs_1SA-BOJdlSyW0fNPxGv7JJn_stFlMjXJUQlxrvVzX-so8QJtJxZipm9L1d0TNEeM57FeFmj_fm8o9qoyuavNLzznJdRGgE3noPk8KVoxeyWlqR-YRdRC3WVoYRFHGj-riAmmTz-BhVU1QdSJXz2_5dSr_v_2xox69r6ux5KsuGnL8kMGAMXnGPmFugs0ZJd5cw92Lgzn34uLVfXB7GjlcKX99gtIUGDSnk5iBHCiITKw_4HyEIctz3o2BosFSBrT1qIci2WvqH59S8KO5NxytT88M3hcYdATsO6Z9Qbt-kVOqU8aX8FomcGFVy2-LpUK-5Gmp7Z6GEZWeIFG6q3W8s9pUUQQXODvubzMYQPgasGBr96NsA0SRRjpkfm2xf8zbplfG3T6mdfNZ4oOihXDQGXGWdjQOIz4nP6PvDd8u7Z5CvIMViiKIft7mfbL2MyKs7sPIOnzJwFK-RiP2h1ZSQxQxFtlNBIFvQJPWNGrKwvXpacevgtXhCxvPMboV6zRvf8gIL1D2hBk6swyH_mq06CxGjVeDlQSUXrSwBGOB1bGCtVd9pxKcZQupYK80K7nNmEjwU56HKGQO0jOCyTDL5fnUKGPyNW0qblQAWQ397LaDUYmbXBDrSU8qDmqTyL-m51oog0ihSEFbl9FXwqVNbGgizpVtmBDZKwcEpo7fbb2sUY9lL1rlkEd-0hKK6_ZLLmd_hKTspBSfhdczFgWZFyuvqcYax9z303giBf7xVy0IpdfOCx7ZFAT-Qlw2lLcz13bncyMVfnt4TOlikPYhNStLUhF2VHmRjq9xkxeAv1QwH6R0ySXdFEu7rlDa9ORC8ZO0fHyLttCTGXoJvb2RF9WGfbXG9lDruZrysIolULnXUMaKFi3fksKRKUzbdg1sLYuFDe316O8w1gKkPy6aJduclEqNm8bYyTu_QOJ2huS90paKltgWljJP7We5SgLGgV8rBq634eqP-LO8Chngyk46KkqZBwZu0pgl7YQAlrM0X9Xa7atDn1seyq2YCGCvheP8ex5-SliEpOPMWybQptqAhPKoUOPKHVo6hgZNt4mcZOY-JLvwL3EWuBJlLhFHumZTkF_F8p4hXgI1KZ_LcAyE3FjAf8_YQU7rVpZBTnlCMq-AMlHeuxj-7bKzxozAe0fbyZbyMJmz5zGxO4tOtRLk3OTv511ygcgu5akuFrJsd4kfyZQ==",
  "id": "rs_0f6042e3193e95e9016ab43993d18c87d0a6f0218be97aef28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown fruit is between the left jaws at table height. I’ll close the gripper and test whether it holds.\"}",
  "call_id": "call_XiVVi2h7R49WvenKBqI3PmN9",
  "id": "fc_0f6042e3193e95e9016ab43994c18c87d08f12ac944932bb09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XiVVi2h7R49WvenKBqI3PmN9",
  "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]: [-0.6617, 1.6752, 0.8188, -0.3172, -0.4999, -0.5026, 0.009, 0.0437, 1.182, 1.0485, -0.9482, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3228 left_y=-0.1395 left_z=0.0213 left_yaw=0.0857 left_pitch=-0.3963 left_roll=0.236 left_gripper=0.009 right_x=0.2865 right_y=0.0019 right_z=0.166 right_yaw=0.1941 right_pitch=-0.5428 right_roll=-0.2885 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -8.9504, 6.188, 0.9304, -0.315, 0.0171, 0.6422, -0.1026, -3.6171, 6.4479, 1.1551, 0.0024, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:820c51868ea2e9b59c843c4d8f48f71b9eb1d867dd654d438375ef721140e849",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e8d595c3c085b29f32bde7a1d2448e0c78d52097531c55d4bf72589af7ec26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:198db9e73d81483ddbefedbd5b0288dd6f0a91d5d7854ba1d6660abb0c8cffb0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 4.603 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6178, 1.2602, 0.8703, -0.6006, -0.498, -0.4667, 0.9966, 0.0437, 1.1805, 1.0485, -0.9474, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3055 left_y=-0.1092 left_z=0.1375 left_yaw=0.0669 left_pitch=-0.2624 left_roll=0.1314 left_gripper=0.9966 right_x=0.2866 right_y=0.0019 right_z=0.1665 right_yaw=0.1939 right_pitch=-0.5405 right_roll=-0.2889 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -5.1487, 6.3932, 1.2967, -0.0855, 0.1783, 0.0855, -0.0889, -3.9453, 6.653, 1.2088, 0.0171, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6617, 1.6508, 0.8265, -0.3195, -0.5026, -0.5014, 0.9968, 0.0437, 1.182, 1.0485, -0.9482, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.3264 left_y=-0.1418 left_z=0.0315 left_yaw=0.0787 left_pitch=-0.3729 left_roll=0.2169 left_gripper=0.9968 right_x=0.2865 right_y=0.0019 right_z=0.166 right_yaw=0.1939 right_pitch=-0.5427 right_roll=-0.2883 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -8.0342, 5.4222, 1.3553, -0.2662, 0.0122, -0.0073, -0.1162, -3.453, 6.4205, 1.1502, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6617, 1.6752, 0.8188, -0.3172, -0.4999, -0.5026, 0.009, 0.0437, 1.182, 1.0485, -0.9482, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3228 left_y=-0.1395 left_z=0.0213 left_yaw=0.0857 left_pitch=-0.3963 left_roll=0.236 left_gripper=0.009 right_x=0.2865 right_y=0.0019 right_z=0.166 right_yaw=0.1941 right_pitch=-0.5428 right_roll=-0.2885 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -8.9504, 6.188, 0.9304, -0.315, 0.0171, 0.6422, -0.1026, -3.6171, 6.4479, 1.1551, 0.0024, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:820c51868ea2e9b59c843c4d8f48f71b9eb1d867dd654d438375ef721140e849",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e8d595c3c085b29f32bde7a1d2448e0c78d52097531c55d4bf72589af7ec26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:198db9e73d81483ddbefedbd5b0288dd6f0a91d5d7854ba1d6660abb0c8cffb0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDmZdlzEi5r-sd188GMr1n7NjJjqDok5_c5UX8uK1HnOyzsP5BmybxCU7nQ82h3b6ku0L0HjRJCtnmV7UL4mdyGBs7dxwSkXf5wgh3UWb4ZKgXLBkQ-vEbfiQ4orXQ_AgRiQPZyHK5zS5lo87issCeH_aW_MxCi6ZbSymKtkbwWR9R-8sCu0OPILHRJKtbWTwBqd9ahzFvnapBTIoVKhU_QDpRJRA5EhgRuG46prhxNME1rlVWLnND9FCmK8SOyL8bqu8MmpGwkcwLAlqUjCQTd_5vQgN4tJxCeOOXTD89wddSwxTds1BYCQIrvt7i9f4EHOLwHRe7-f24xMp_w7BLjWxJIG6f3jId1wTiuJntKYy_0NsX9Dtw23xRGX3DYr5jalSkUoyZjqhBzpGTIkfNQ7GfY2cSpn-nswp-JzYScOnk7eeICzetAD-a3rBv2hRb5MKUzvI_5nuqhoVzrQYn4DdVsiLHLNYWBW3CzRzqQzNo6QPzO4iWBCL9Nas9fSIwx61F0F9351FKfNmIuI7hXuw2UqE6uhdBGhhzDw6unH58elAz0VnMgUZbuOq6SQKGdhSorSqZNoiqEyPt_kq5ljMYXHAJOLCW2N8_CKCKJaaFe_9TkUaWca8Et-7-HUexy11baDAC0aE_O4f2hmBddkmiZIrcKhfbvOjVib3iru4_-DA87Yj86b7LpLtafHG3zsEKru-jSyTwKFeAz-TgUBLaok0-girIevmEc4Q1YbDClns2BUX6WnV4lRqpTFWJfuwrL7CdSqNZckeBq9wZozfnP_-Yq3ZzDu-eK_ZsJG3lrU0Y1fjfCJbiOBZqnBt-lpvKCeuE6W0pPDpm2CzCFOJe_j3zIUgRNrpCeuEbaZgKaNciN0yfxZqNJpmGnZl2_wLQKwQ1zK0a_TN38qqSSYYeLtVMo8gnDm3XEDnKtMQiy6FgCKIYPkUyjBDEOzSFRvNfes5GJL4ZdaZPKlFAIUJGshV__sZLhN-gkR3hmdnsJMl9x0Va1QpnvHOJEHFygVTc5eFMCi7Ftr0LjiKcZblrJzr9Zb3nGXL1h3zt84SmrhxSn38OCRbeEOQKVvxmt8qX4KvRk5QNQ41E1qKG7JUa8GlizF5t48esGOh7NLzJygi-kHwqAjDE2lyWriRXH7Ygq1NgpQBdarjEafNEPKvwZ0QWQsDRt-4Hyj64YCwORAPjafK48UN4_x4mY7xdg8UhAgbihPj59xBADUlmcsrS1Ai48qcygzNlTbMAHvBv8EMaR0OrmUO4kVIWDf4GdiOzu6tqnmcswS7kOvFkqLfFD0nyguCNsVKXB1EfY_FY8_M7r-iiuhb2WojtwCrXPugC1Rk0OYHgvhP02MD43Yy9ioqjHNJz_aiC60Wf4h3vNyVdgYoBmqwH3QlDOZKgwaRWRHlOOGe_iwQMXIUsa2L2u4Fz4Yc8_X_tV2TQigxosHhevQIhV0JKNvjagT0dw9jqRMIXYi-_RwLsMEm7MfNGCwNDorJpQF7VB31oCw_ILAuX1IfH7EzChtaXBy7D0lWCOD7HQILxk9SpM4G_WfNFqDlOdAs2zyoTZcestV7jsG301ggs0Em7RKy7neLLlp40PXKKd2dEVOmVjq1E2ygXro3jQ1aOxp3JzwJuTYMg6KFuEUGTnbCmdZWK0Is7Ol6gZ513LHhbZLFwq0oT3K8UYqaAlqBhWey0fiATXz9qVTQMVXaAOfKVqvD3NUxcVeLSWnRj-E_1xfl2WGL65RaDUb4CDCsnnVOdTZozAEaJwuFSM8vmgEM4ZvMYwmAXNkoTRLkaibWMqK_XJub1jhtFz49BIt5G14c6-U17MqMss_3vTO5f1eWeBxpg3DYjDPHR-8fdCU7zQOZPeRC6YXAfNHTmmekgCBOVkwSxxPR4M=",
  "id": "rs_0f6042e3193e95e9016ab439981ddc87d0b4a35f4b23f68d30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.29,\"left_y\":-0.03,\"left_z\":0.15},\"note\":\"The brown-fruit close was empty; the fruit slipped out of the jaws. I’ll reopen and clear the view so I can locate it accurately before another attempt.\"}",
  "call_id": "call_yD6f0Gflt7TThDI05KEVv2Ug",
  "id": "fc_0f6042e3193e95e9016ab43998f2f487d083693c3998933c01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yD6f0Gflt7TThDI05KEVv2Ug",
  "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]: [-0.3439, 1.1786, 0.8719, -0.7406, -0.3683, -0.2302, 0.9946, 0.0441, 1.1858, 1.0485, -0.9512, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2939 left_y=-0.0339 left_z=0.1359 left_yaw=0.119 left_pitch=-0.3916 left_roll=0.2228 left_gripper=0.9946 right_x=0.2861 right_y=0.002 right_z=0.1646 right_yaw=0.1949 right_pitch=-0.5495 right_roll=-0.2871 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -4.3829, 8.8957, 1.0818, -0.1392, 0.1294, -0.0269, -0.0752, -3.7265, 6.4615, 1.1551, 0.022, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937d5d1167db04199bca9dad77138a12ca8262f6ebb9f6b6402614ec5dfca98f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9353692756a4b340b6c3a9c4d0ea38c46cffa0e4f0411ecca30cbdaed0f4b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf90fec3e0628d94eb96f6833fb9d4da4b95ace839eb4f708cfe93e31b20a3b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.984 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 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]: [-0.6529, 1.4395, 0.8734, -0.5068, -0.4999, -0.4843, 0.9968, 0.0437, 1.182, 1.0485, -0.9489, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3172 left_y=-0.1315 left_z=0.0953 left_yaw=0.0589 left_pitch=-0.3231 left_roll=0.1761 left_gripper=0.9968 right_x=0.2864 right_y=0.0019 right_z=0.1659 right_yaw=0.1942 right_pitch=-0.5435 right_roll=-0.2883 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -8.4855, 7.5009, 1.2918, -0.5104, -0.1343, 0.0024, -0.3487, -3.4803, 6.4205, 1.1795, 0.0024, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6617, 1.6752, 0.8188, -0.3172, -0.4999, -0.5026, 0.009, 0.0437, 1.182, 1.0485, -0.9482, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3228 left_y=-0.1395 left_z=0.0213 left_yaw=0.0857 left_pitch=-0.3963 left_roll=0.236 left_gripper=0.009 right_x=0.2865 right_y=0.0019 right_z=0.166 right_yaw=0.1941 right_pitch=-0.5428 right_roll=-0.2885 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -8.9504, 6.188, 0.9304, -0.315, 0.0171, 0.6422, -0.1026, -3.6171, 6.4479, 1.1551, 0.0024, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3439, 1.1786, 0.8719, -0.7406, -0.3683, -0.2302, 0.9946, 0.0441, 1.1858, 1.0485, -0.9512, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2939 left_y=-0.0339 left_z=0.1359 left_yaw=0.119 left_pitch=-0.3916 left_roll=0.2228 left_gripper=0.9946 right_x=0.2861 right_y=0.002 right_z=0.1646 right_yaw=0.1949 right_pitch=-0.5495 right_roll=-0.2871 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -4.3829, 8.8957, 1.0818, -0.1392, 0.1294, -0.0269, -0.0752, -3.7265, 6.4615, 1.1551, 0.022, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937d5d1167db04199bca9dad77138a12ca8262f6ebb9f6b6402614ec5dfca98f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9353692756a4b340b6c3a9c4d0ea38c46cffa0e4f0411ecca30cbdaed0f4b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf90fec3e0628d94eb96f6833fb9d4da4b95ace839eb4f708cfe93e31b20a3b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDmfi4XQ5XWdU0WCdBtZQCZjD3Hdol-JvyNkM2s2z6_6RwWAM2dMkHPXKRPgi_0wS6c3Rrk3C8JAuefyd6s1rbdNlgMm08rYr54CY9KFPRuiPUNwWFMAqPvseKjwJn_85z1AVi0OeFSRzM5GdJ-KwE9O5UHv5Qm2JHD3jteKIXZyhuhFWnhrLd1WLGZqRXV6uwKEpBWinPCJ_l69seg3c7jiuQQLOX9IsTE4jDrX9JzEHQvJXbtKEbdr1FvQaUddfvaK_xh_8YuqrW3Tz2NvKQFSnIIbrQAr5t2kB_JFf7SG15KhgK5VeTAs6p_pV6G707baMJQHiMqzOakSzXSF69aCJJdOdsS1LfnytZZCulv6eLXPP3lqZYVDhmdecs2jWp_E5bPzdG01mGxrWIMdTfI2_ViJcGyKeDiJTKtZRdL0QBBkcGaFyS_8ahGQZEKBtA-ddt2Wx0FoW9BLpgTGnVVSbs8x8NG19FuY_7gIvzAu5m8WS0T39E4f1zpRhGP7do-KVrlsysGe5vtr0qKbM8wGUxaoUznflOIfjWipuzMC9RVg-BGaFou3OJeKpx1unw4HjWkB414WEHGNBlMS1ddbrFVXQFZsWRIL7xJ4N5sztrN_oSEafpISWWFbt7t4vfxO0KRlQn4IbwobnOegVkyDrx2oBCCak163O4Aqbzzk7rr4n7DCuIOIxfao_D7qq-hegr5N1PfbO6Q_9Y5gFkWm2WPXDkjoFfvN62oRGkuMD7UOW5bXsqZh97lEk097aq6ozqJADiGgH0a0anSoS1IcqQzdGA79QYOprronrVlW_2DrQnQjbmV1EN8fKFj-NfkonSHftqPSFJExhtpxakQhyhuAVgoMuKtt4y-rV7Y9tqqXtQhaoX5S-emAW52ovnnBvdZwu3Cntwj5lNIwY3DkkEfP-26i4cFZ-k2TcL8Ni9THNADaYw4WNG9WMRT2Uw4yDFh5R3wmfpDB3g_FdQ4Gpcxp_9VS34NXaICuLRmy7WNZJZJI6viZZyLO69fWOKe9FMbg9GV5H4p0GfgKYdaMWMa5PD5fJBXHqA3vvlWwAs7bA9823lL6iN5hsPkd71pjor8sLYuSeNyFuzFkrbFt5hpTOvrAQbNOhr815IVDQLuGquAWZxnaDrK8Kj-tm-Rk2P38fYtbD7QWmbuYo_1eKGtFIvCBDIS0LmmENuJwWj1WFQAI3Xwgiw4A_LkFZcFNCotxrp8PrjqcajDcJuH38TUjfV-rIZ2YiB7NE6glRbKmFri6MnPMt6-tRu1jwDHGikZL91bvlLQy5vmWE9tUtZZu9sTHEVeMJ9yuRW3MOVS_alHAIeIneQ311qrNpiagHoeXgYCdZvXJHNEJHO6fiG6JR9FTosbsvg816fvHWNiiV-eq9ZTj4A4SH5zh_6MipQifZWPRs8J9Sb8eQY7DIn8kGu1UbK8ZNvxHTt6UcGvCEAo4Y4xrLQ9hgq8eDOuj2_N7THkcbZe9PF1VM799Jg23fAknfz4cYUcxm0nu502-2uIdGnr1j4U2ZTKgODkmem8X0q6MZgz_t4PUXVA8SgWLmPzPsmdMm3eBsUzSFMDZyOzwijKRJVNJjDyKhJTYgjXCIuqOrzOjxrtMBzTmz2n2XbupyklekXFxD2lIrKqCgeGURCU8tjgWuSEO3NB_A7M7qsrfQ9uBNjuEnw3niKOcLG869u84uAA07ocW7oYHuvHZ3EGdgRbnH6X2wF0I3ONfvEUWwaMtl4Kihhef3Kd0JFjn3ElyWc6SCmafY3bZOdb645tOvkCLYu8br6fOLBVhW6USUBwpWxIG6eSVoXqTMmJsbYzmtIx1oIAingrKfQJ_vfXHcPuMpdqEpdqbeNMwC1y0nrndbLqzheWx4xSnbBLI7Awb7D32RCF-TCgPfb9On6xqFCIF1R2DOV4IFDCbmpL4SjlqN0z0HpYpz5_zRTNNzbXnITCYYCZrj3UZpc3RHlz_frKUV-0yUUsAfLahPS8Mfvs16MFb9vrYitBlbpCTQ4KnFwWCYDgUR_8I4-_sJQHnFmrJqGaH8kfw1Br3rQY0bYoTMsiqYxYgJa86ZOP3dFB-LT3-Ognuh9P-78Bt5d4bfRwDRO2Q-mdRN4SxeE_ZqocYYbToedO68dDPqwp8QZP1wBirVZrCCBndiCGS4B4LPpMQTyvZy4vv98_dJ8g3nBQWZNmJsDt5trVj9C8_sQCtbvOzgQnxG5Cwb1fw6iD1xRByCxkFVG3FFuB6vb59uNkRmHKO1yDDIHUYFPhcmNqQ-Y0-So3cQbiKrUoA5cBf1VQRbuo_AzPOhPXBozLEq1lc_kJA4xHpeqP873QL2qyzO6RWfe_i3-rfUPhLHp98O5eoemB4rgauT-bNmNsHMNE0_5RCq5sVcXKbJsomqeqApaaBRuW6xEvWwSBt6NfWj7Yj0DcJK7KErn0LJDkLc6q8Iktf4lpJUsBc0dGmsQRphbJt9a77hsfJAMIg8b_OboES3QYYrQtX0tD1AjYTC8e_xX6kMm6GNF7XayUBab-BtFT1zJK2SgvGcAKqqvvSF9Yfl586bffYgzagH641nvFSDRQY7AeFXA==",
  "id": "rs_0f6042e3193e95e9016ab4399b9f2887d08418f3cd0a3c2c6d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.125,\"left_z\":0.105},\"note\":\"The brown fruit is still on the table at the left, behind the previous jaw position. I’ll approach a few centimeters closer to the bases and align laterally before descending.\"}",
  "call_id": "call_64pGC1WlnPmjfAupYyQ1vwSk",
  "id": "fc_0f6042e3193e95e9016ab4399e721087d0a8be35dbd2b529b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_64pGC1WlnPmjfAupYyQ1vwSk",
  "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]: [-0.7124, 1.3701, 0.8783, -0.754, -0.5014, -0.5655, 0.996, 0.0437, 1.1858, 1.0485, -0.9554, 0.0807, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.2723 left_y=-0.1183 left_z=0.0949 left_yaw=0.0945 left_pitch=-0.4388 left_roll=0.254 left_gripper=0.996 right_x=0.2852 right_y=0.0018 right_z=0.1642 right_yaw=0.1947 right_pitch=-0.5538 right_roll=-0.2869 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -4.7658, 8.841, 0.8913, -0.4567, -0.1148, 0.1343, -0.0752, -3.4667, 6.5983, 1.1746, 0.0073, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c24ee3c269dd6804b5fb39a20f80fd5b0a4bb59bd0aa1671ba767f46ceab3e4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9210125ddd949fa2ccd6a8a3d82a95d6f8c1cd05ad564fcd8f8ecae1dbdc5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36004247f269bd00f6721d2ff6b123f0fe4032e8888cc11eb77c764c0c805d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 2.163 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6617, 1.6508, 0.8265, -0.3195, -0.5026, -0.5014, 0.9968, 0.0437, 1.182, 1.0485, -0.9482, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.3264 left_y=-0.1418 left_z=0.0315 left_yaw=0.0787 left_pitch=-0.3729 left_roll=0.2169 left_gripper=0.9968 right_x=0.2865 right_y=0.0019 right_z=0.166 right_yaw=0.1939 right_pitch=-0.5427 right_roll=-0.2883 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -8.0342, 5.4222, 1.3553, -0.2662, 0.0122, -0.0073, -0.1162, -3.453, 6.4205, 1.1502, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3439, 1.1786, 0.8719, -0.7406, -0.3683, -0.2302, 0.9946, 0.0441, 1.1858, 1.0485, -0.9512, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2939 left_y=-0.0339 left_z=0.1359 left_yaw=0.119 left_pitch=-0.3916 left_roll=0.2228 left_gripper=0.9946 right_x=0.2861 right_y=0.002 right_z=0.1646 right_yaw=0.1949 right_pitch=-0.5495 right_roll=-0.2871 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -4.3829, 8.8957, 1.0818, -0.1392, 0.1294, -0.0269, -0.0752, -3.7265, 6.4615, 1.1551, 0.022, -0.0464, -0.0073]\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 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7124, 1.3701, 0.8783, -0.754, -0.5014, -0.5655, 0.996, 0.0437, 1.1858, 1.0485, -0.9554, 0.0807, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.2723 left_y=-0.1183 left_z=0.0949 left_yaw=0.0945 left_pitch=-0.4388 left_roll=0.254 left_gripper=0.996 right_x=0.2852 right_y=0.0018 right_z=0.1642 right_yaw=0.1947 right_pitch=-0.5538 right_roll=-0.2869 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -4.7658, 8.841, 0.8913, -0.4567, -0.1148, 0.1343, -0.0752, -3.4667, 6.5983, 1.1746, 0.0073, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c24ee3c269dd6804b5fb39a20f80fd5b0a4bb59bd0aa1671ba767f46ceab3e4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9210125ddd949fa2ccd6a8a3d82a95d6f8c1cd05ad564fcd8f8ecae1dbdc5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36004247f269bd00f6721d2ff6b123f0fe4032e8888cc11eb77c764c0c805d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDmjm4uQKfcDAqFwrSbiJa2c0vZUXvDgazgHa4ZMN1pSMLbZFBcihhR6mwJD9IVLcKCHtXSEIn6jsHG-s8_H5DEe1ZHfxQPyZcM9xXH3yK4A-IOL9KEfvy01iRi5na88NRuNeCf4i3zLOrCkJnT0SeFQy9ykXZo2bzB1tU3clmfx-n0gGFnGA6Z55_cCFX4lW738jEb5Ro4IM4Dz2knpv0vVl2gQ2i7ot3ntyyKW44anhC_TmboDkKbRqblpqA6UIiY0jV-Svs0YsNrrM4AmOTBh8EfTL105q1Elmb4Fj4OlYJ_fRtK-LifCmWP7KgrWlEKXkLHf-Zu_LpyptKLtNMarrqL_cUb90slRST8sQoFH76dH_11IQNk-0QRJeXQtxCJkZjeth2hca0xeeg-tfoQQs89_DAUkXc9xeCRhh4GBYWeBjGLt-wVD9ZrySTulkZBZInNl_ksnfAqr677EeI3lcQ8ueel4xutG-O8QV14WbAeXDYKAXQwWjA6y5X4ea3Ecb3HNEbJ_EZS5zR9ipF4dj6rLJHLtg4wx1MpLith8riBHtYV3cD0sA9TwjNySvXoqKkOh2BueyQOkklYchH2_fydCckpw8gRr6ss2meGlxbXEk0b0mN9HQYlR1cgWYNsb_a1QuyvcHUKCWIHRpxfH7xFiq7ATFvpsOZZKpPmwuYKoI2IMkPwrsb50f_cVyKc379bDE-Umh9zWmxfH48W5BWJTHgXbRT09gYcM_A2zO88QbqJe2ormN4VkJQHf7M3CtMCexh3EkEvyPaeSR7LbT5EyHj0kISo64ztVk1CxeIPxrvqkCQh1mXM5BmxL1eXlQnDcJKOE3EhOc5OFLguXBwk961EAyqBcAjnNnLF8Uh_GqQ9Ylp1TrK1EVJIpWzKpugUpx4630U2Lju33FaJxYrxaOzVcobqXaNljkymyZ_d0_IXy_2m0xrWTyvJSwVqHvRAf97cj8NNj25BZs0ThcKc2aRgsiZC2V4MRXWoXf3dBtxJU3EQPpjV0dsFPI-3vl42CX9-HBJL6lCgJrEBmXmO_v6shEz892JpFuzOB-shOyaNmmNSwBjFimL_4T-0unzFzHYb6l4ySY7GOtN1qH5Vu2NDEM7gjYO4Jt1CvBB3vdM-8yi4IABOErTjVG0-eHBv9nEwGIsGjC-fw8yL9RmCTwRmziqUXiT0ZdqnOfr_uFTL5L1fONAwhCPBi9MFwH5QC0Ax1hwu_P_dsymbpZ5p3djzdrp1tQ7mcnQ0WAn0G6KoftE37xB54dVqzUe5_rHAN8qFr62QPgK-EHgT5Wmh6nAwGjicF8gNoBFnS95yRAgNdadFIsZ1z-k_DYZgQ1VQZuapo6uFwYHCX0fDt3eFT8qQOf1zC8-QiQ_K3B5Ee-PTUKb8gQsyfa_5NwG6ZDUt-VZBGTtOnfIv919PN8AOxcbOj7Xtj8omr4q_jGEckXoZ2pIFszrXM-FQ-Ajg-MRVLJVHaKgumCBBSnbCMlmEpzwfWQqYpYkFBc9JNDRVJz4zGCQY6F7GL4ogG7CWYA1rZBOgnQ9bs0E4i8orShW-zYGPeb7dccgJrrS9ggBQEdby4hFEM1MnZDvrEofE8L3UyZ3xz-BulUFSWzd4lEgFDaFmpQQmSaSXBALtn9XPeyiPi1SC_2vgVX70fhBYj",
  "id": "rs_0f6042e3193e95e9016ab439a1cd5487d0986b184e828b5903",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.15,\"left_z\":0.053},\"note\":\"The brown fruit is fully visible in the left wrist camera, to the right of the jaw column and still ahead of the fingertips. I’ll shift right toward it and advance slightly while lowering.\"}",
  "call_id": "call_UPcNyMujJYWi5XUa1aLHai2b",
  "id": "fc_0f6042e3193e95e9016ab439a2f5ac87d09d0e22513162becc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UPcNyMujJYWi5XUa1aLHai2b",
  "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]: [-0.7223, 1.5848, 0.894, -0.6373, -0.5049, -0.5949, 0.9962, 0.0437, 1.1881, 1.0485, -0.9577, 0.0807, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2874 left_y=-0.1346 left_z=0.0482 left_yaw=0.1341 left_pitch=-0.4877 left_roll=0.3074 left_gripper=0.9962 right_x=0.2848 right_y=0.0018 right_z=0.1633 right_yaw=0.1949 right_pitch=-0.5582 right_roll=-0.2859 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -8.9504, 8.3077, 0.6813, -0.4176, 0.1148, 0.0024, -0.1983, -3.5761, 6.5983, 1.2527, 0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00bba21dfc2b4127698362aa4a3a3e3d75815738bd50b95ec3d5a50cf3fa33c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aafe20e042cd98c4e302e5b2fb791ce4440ed11a39b2eb1d893381a095292bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df412c46ecb12b914dfbcba6b89e08a75d9f41d8719c28fecb75bcc24cc6e13c",
      "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 35 attempt 0 · /responses · status 200 · 1.91 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6617, 1.6752, 0.8188, -0.3172, -0.4999, -0.5026, 0.009, 0.0437, 1.182, 1.0485, -0.9482, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3228 left_y=-0.1395 left_z=0.0213 left_yaw=0.0857 left_pitch=-0.3963 left_roll=0.236 left_gripper=0.009 right_x=0.2865 right_y=0.0019 right_z=0.166 right_yaw=0.1941 right_pitch=-0.5428 right_roll=-0.2885 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -8.9504, 6.188, 0.9304, -0.315, 0.0171, 0.6422, -0.1026, -3.6171, 6.4479, 1.1551, 0.0024, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7124, 1.3701, 0.8783, -0.754, -0.5014, -0.5655, 0.996, 0.0437, 1.1858, 1.0485, -0.9554, 0.0807, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.2723 left_y=-0.1183 left_z=0.0949 left_yaw=0.0945 left_pitch=-0.4388 left_roll=0.254 left_gripper=0.996 right_x=0.2852 right_y=0.0018 right_z=0.1642 right_yaw=0.1947 right_pitch=-0.5538 right_roll=-0.2869 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -4.7658, 8.841, 0.8913, -0.4567, -0.1148, 0.1343, -0.0752, -3.4667, 6.5983, 1.1746, 0.0073, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7223, 1.5848, 0.894, -0.6373, -0.5049, -0.5949, 0.9962, 0.0437, 1.1881, 1.0485, -0.9577, 0.0807, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2874 left_y=-0.1346 left_z=0.0482 left_yaw=0.1341 left_pitch=-0.4877 left_roll=0.3074 left_gripper=0.9962 right_x=0.2848 right_y=0.0018 right_z=0.1633 right_yaw=0.1949 right_pitch=-0.5582 right_roll=-0.2859 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -8.9504, 8.3077, 0.6813, -0.4176, 0.1148, 0.0024, -0.1983, -3.5761, 6.5983, 1.2527, 0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00bba21dfc2b4127698362aa4a3a3e3d75815738bd50b95ec3d5a50cf3fa33c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aafe20e042cd98c4e302e5b2fb791ce4440ed11a39b2eb1d893381a095292bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df412c46ecb12b914dfbcba6b89e08a75d9f41d8719c28fecb75bcc24cc6e13c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDmmYfgJ3M7oFc3PJsFKdNoTtlAEgf0Jh4wddIsvm2PqbmZX94duDxlGIcGh_sx_uDwmtRYJ12RdYBC5R5fFKD07MqMPyOJMdPDVg7ts4x_pJpEXJV-ZQ1XTubYkpU_rq36qAndv2ODEfDsI8yPjN-HIeNA7CL8IY_iz2DeeO-lyD71tXD5ECGqqY69Eilu3VmycaWmrHHig3GrhxLnpYpCD3fmBZOj6Us0L_UkBkuGowFkhSolwwEu0CwfTQYSfjzBAn00HPlWR9PxOGet7JtXjvd6nGxvFdH76Qoj8yuCQ06_XkacBgiBsWDMe2WXr9YVruszBX8E1WRn4pCrr4X9jE-t_X_eok3FJ0uBM_ZebtvP89NhmOHOMz2ifBJNnRqaYg-qxhbobm0WG8nIcFsW8mRAu7qdBGgwtwxjOa9djfzqwdmSdjKz0lgwIVWd8qXGoFpBV_w3nqUigz2f56dUpIqm1Iu1Xg_BORcmdoHZ78Sc-EfL2fj6cFQMmLOiuLmeZjdaop5ZfrhZaJMpjhX5N0IZ3HQaHu2au7PJ90_GC4X9twD9TJ5GNEoNZbzPItVt5m1-RgYKBbglGqldPiCvMu75sLA-Tvm6nApp0P_GBpBjF1i_zhh95W7dsGXq1VpTc6bO_Bach9zsm8MzEp57H9dUUDyyTr0MoKqOMB3VMHSZmaQJgxFPMC97YxmzyTOHUfi9m1T_l0tjDd39UqmuT2qCUWgda1Gc6dmq22qJf2OO9L_5gAYO_Ch2vSsjWJMMamfvQJjnPPVWdKBrnp-zcfr0oNT-4XdID8l9SIx6UbyUECMcByW8YXfCo_t2yG-Yi6PsXLyVERzS-88iIz7mFwPXxbV9GtYsdM9VdTniXWzZH2iS-e1d_5zuWRyY9yHSkP_5db_4ipV83qEyWP8VwuE_jToauAtkCBGpi__ynuNvgycu1ompoZkl35ryJ2MB-1wxzlxGQnrfnfoIURym7S_asRU6F7P8k9Gv0azjvONgKyNn3-vMHsJPVLUq43C5XDq_Nc-xSVOdx-orEXZ1hn0xvisuCoqdCN48NyH0LKWbkMGOScHqBkvuZT8TuQ0qh7Zgn_Mqjf_vkFP9DY2EiqUK1eSavM0lpkHcC-fN5QdefXiPMffyH-4hzwtYfqevY881MVxdXV65ax15U_cL0lDZLc9BofEvEgsgOEZ2VTcU2q67_9javTnycnkF3UvVnoNvkHtefZTduU3FjW1CsIOnudc9rVyMq1WnipaOzOOSugU85tOeCf1QUjIVe-dQC5eOvrKw9DRjBP2NShcs_1BH3iar9PL9ac6yJ9E24aytGy6Q-znxQ4JYCeXinvAHU",
  "id": "rs_0f6042e3193e95e9016ab439a5502c87d0a71940c7771654de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.312,\"left_y\":-0.162,\"left_z\":0.027},\"note\":\"The brown fruit has moved nearer the fingertips but remains slightly right of center in the wrist view. I’ll make one small centering adjustment and descend to grasp height.\"}",
  "call_id": "call_XagvSfjvZm5mknEeit1y7eX6",
  "id": "fc_0f6042e3193e95e9016ab439a5a42887d0b5a0882a05b44c5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XagvSfjvZm5mknEeit1y7eX6",
  "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]: [-0.7307, 1.737, 0.963, -0.5873, -0.5003, -0.6075, 0.9962, 0.0437, 1.1893, 1.0485, -0.9607, 0.0807, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3028 left_y=-0.1528 left_z=0.024 left_yaw=0.1443 left_pitch=-0.5105 left_roll=0.3258 left_gripper=0.9962 right_x=0.2842 right_y=0.0018 right_z=0.1626 right_yaw=0.1956 right_pitch=-0.5624 right_roll=-0.2854 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -8.0889, 7.2821, 0.5495, -0.398, -0.0611, -0.0122, -0.2803, -3.3846, 6.4752, 1.1795, 0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a1a1edd14441cd134317f4ca1519f3c606c5acdd8599873390802ce28a0bab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e674dff918b0ca9ecc3e3e45a86c05f5141562a5d539c42dd334d43f99d00b46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81934123b6a852364a0f7b37931d55824d6593307acbf5d87b92596cbf9a7002",
      "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 · 5.055 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3439, 1.1786, 0.8719, -0.7406, -0.3683, -0.2302, 0.9946, 0.0441, 1.1858, 1.0485, -0.9512, 0.0803, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2939 left_y=-0.0339 left_z=0.1359 left_yaw=0.119 left_pitch=-0.3916 left_roll=0.2228 left_gripper=0.9946 right_x=0.2861 right_y=0.002 right_z=0.1646 right_yaw=0.1949 right_pitch=-0.5495 right_roll=-0.2871 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -4.3829, 8.8957, 1.0818, -0.1392, 0.1294, -0.0269, -0.0752, -3.7265, 6.4615, 1.1551, 0.022, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7223, 1.5848, 0.894, -0.6373, -0.5049, -0.5949, 0.9962, 0.0437, 1.1881, 1.0485, -0.9577, 0.0807, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2874 left_y=-0.1346 left_z=0.0482 left_yaw=0.1341 left_pitch=-0.4877 left_roll=0.3074 left_gripper=0.9962 right_x=0.2848 right_y=0.0018 right_z=0.1633 right_yaw=0.1949 right_pitch=-0.5582 right_roll=-0.2859 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -8.9504, 8.3077, 0.6813, -0.4176, 0.1148, 0.0024, -0.1983, -3.5761, 6.5983, 1.2527, 0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7307, 1.737, 0.963, -0.5873, -0.5003, -0.6075, 0.9962, 0.0437, 1.1893, 1.0485, -0.9607, 0.0807, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3028 left_y=-0.1528 left_z=0.024 left_yaw=0.1443 left_pitch=-0.5105 left_roll=0.3258 left_gripper=0.9962 right_x=0.2842 right_y=0.0018 right_z=0.1626 right_yaw=0.1956 right_pitch=-0.5624 right_roll=-0.2854 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -8.0889, 7.2821, 0.5495, -0.398, -0.0611, -0.0122, -0.2803, -3.3846, 6.4752, 1.1795, 0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a1a1edd14441cd134317f4ca1519f3c606c5acdd8599873390802ce28a0bab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e674dff918b0ca9ecc3e3e45a86c05f5141562a5d539c42dd334d43f99d00b46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81934123b6a852364a0f7b37931d55824d6593307acbf5d87b92596cbf9a7002",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDmoJrdb7zlBmAvO2Vs2kzvSuSRIQ71Fv0W8OcHaNnzoQcLxa7Y4ftGPC3VRzWH9S3nJMDfUoqi-PYgSj8u5XBU8_fEcmvchIQLVwYpiHqWVYe0vovT1RoCv9T4ys7KIMmfypIECEUyiBF6TnV-D5g3WImOMp50fQqOqpKnl2ZPTPNwLVKslQIWhUqtVMODDDuJp2h8UYqEo_Uie6LhoTzuVSy1FA2fL1x06Zm90jq4RZD2rO93h1skBThprBfIPnBrhrXZwPEg4BVvdykiWfQ2zF0MWe2u7MVYPcNN5F5spL0XA_34CfO8TxJNVD7UCXcGaR9dg9J1hf8RQCqUnT_SziRCh3-3Abd01CflqB_77kUHFZ56D46j_pW1Uwhg-GQv17ceh-q3g4h-sw9qdkyb_1nvIiWqTIiAQe8pJDcCWzJBIzYUm2jopX9lZqUAf_KzQIk6HNBXeI7rLjwQq9ExLx_XkHemHGr7TajAkPqpllIzHRKczkQqEYJc3qgnGt9YE2fg5JLtTkB3zn8BVvFgk_C8gWXksQFBCif_-A_iyK5oqHS1Mbb6TahwqcDQ5lLbiFbXnoxPhr-bJI2d9n1D8m3j0rP8zTQpimfGx64fTJw_Hg2piWeFvaAflHNtR0-5xwlDxRxBL3SUF0BQ71r_eoTTaCuq-qcRprUo3BG4IiZgkS_lpgVL23GAlW73MqMnjJssR-9wcZZOCYxpVya9e3RrMkdxkOYkM5YiKHjC0_SimjntfHu2eWu0gTprK12ifwTn3XPw7kW1DnqSNg0EP3VPQvY4_Mgv6Y57J8sDS27g-e7m_lsRP4VKiinWQGUD74lyVgCEGfoft7xaNH7Zp1bYUk0kh5XqNACjNxW0OFBO94XiANsOVqkq2xeKqPLdcNE4HtAvEkWNbqY_sCsBCi2UgPK35hMauQ6Kbx2SZqrnDay72NVAjUo0qx0zZHqWRbAfiwCdYJuFd-bxkjFDp-_RecZKEbAhaWemTHPKnANDvsgFlC2lNBrc6UY0J1A8p57Egb7Z5YcUXK4yZCxTmnwyGHK-RMGzWa2AFuFsNziqlAgmDWIQ_ZJr9B5aknnTrXbCkIlzuod7iZc2eHhU8zFf3EunoDIsmZ-kQDFzs-5sG30qOeU5oyPIo-u8JNJTi_BrfS8TeRg0fxJXEgDEmrcDsamQHStaHvhxBjkmAtd3cnPiwy66zQON1pf4XJHleVvYllEVgxt0KIF-1IytStg==",
  "id": "rs_0f6042e3193e95e9016ab439a7ad9887d085dbc7e6b44dd22f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown fruit is now centered between the left jaws near their tips. I’ll close the gripper and check for a secure hold.\"}",
  "call_id": "call_X4sD2oRD84RSwzMdzWsrtWxR",
  "id": "fc_0f6042e3193e95e9016ab439a7d81887d087aa4a92fb02375c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X4sD2oRD84RSwzMdzWsrtWxR",
  "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]: [-0.7319, 1.7664, 0.973, -0.5785, -0.5007, -0.6182, 0.0092, 0.0441, 1.1896, 1.0485, -0.963, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3047 left_y=-0.1549 left_z=0.018 left_yaw=0.1543 left_pitch=-0.5152 left_roll=0.3296 left_gripper=0.0092 right_x=0.2837 right_y=0.0019 right_z=0.1623 right_yaw=0.1966 right_pitch=-0.565 right_roll=-0.2845 right_gripper=0.9965\nstate[joint_eff]: [-0.6222, -8.253, 7.5282, 0.7106, -0.398, 0.0562, 0.6178, -0.0752, -3.7265, 6.3932, 1.1355, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b321c1a7a83fc1745e8cddd02add9b5742683dc20302780524ef64c0d911d02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aac175a85c5ee8536b9d4c18677b142b1e427fcfb34464a0334f44f764ac8f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c8b7ce55ce32771e0de18b44f3cb4af32d0f3ef28d8bfe0c2ad44a15a20fd9d",
      "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 · 2.547 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7124, 1.3701, 0.8783, -0.754, -0.5014, -0.5655, 0.996, 0.0437, 1.1858, 1.0485, -0.9554, 0.0807, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.2723 left_y=-0.1183 left_z=0.0949 left_yaw=0.0945 left_pitch=-0.4388 left_roll=0.254 left_gripper=0.996 right_x=0.2852 right_y=0.0018 right_z=0.1642 right_yaw=0.1947 right_pitch=-0.5538 right_roll=-0.2869 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -4.7658, 8.841, 0.8913, -0.4567, -0.1148, 0.1343, -0.0752, -3.4667, 6.5983, 1.1746, 0.0073, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7307, 1.737, 0.963, -0.5873, -0.5003, -0.6075, 0.9962, 0.0437, 1.1893, 1.0485, -0.9607, 0.0807, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3028 left_y=-0.1528 left_z=0.024 left_yaw=0.1443 left_pitch=-0.5105 left_roll=0.3258 left_gripper=0.9962 right_x=0.2842 right_y=0.0018 right_z=0.1626 right_yaw=0.1956 right_pitch=-0.5624 right_roll=-0.2854 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -8.0889, 7.2821, 0.5495, -0.398, -0.0611, -0.0122, -0.2803, -3.3846, 6.4752, 1.1795, 0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7319, 1.7664, 0.973, -0.5785, -0.5007, -0.6182, 0.0092, 0.0441, 1.1896, 1.0485, -0.963, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3047 left_y=-0.1549 left_z=0.018 left_yaw=0.1543 left_pitch=-0.5152 left_roll=0.3296 left_gripper=0.0092 right_x=0.2837 right_y=0.0019 right_z=0.1623 right_yaw=0.1966 right_pitch=-0.565 right_roll=-0.2845 right_gripper=0.9965\nstate[joint_eff]: [-0.6222, -8.253, 7.5282, 0.7106, -0.398, 0.0562, 0.6178, -0.0752, -3.7265, 6.3932, 1.1355, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b321c1a7a83fc1745e8cddd02add9b5742683dc20302780524ef64c0d911d02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aac175a85c5ee8536b9d4c18677b142b1e427fcfb34464a0334f44f764ac8f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c8b7ce55ce32771e0de18b44f3cb4af32d0f3ef28d8bfe0c2ad44a15a20fd9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDmuZar74zrWeJ17Ioie6_6wK6i6_QlPr_SQqJMaoNsTTj--Nb7ixeqKkyKD3Aj8Cb77IsDZbHKbqL287A_MSHdGbUHcaZsPqIXzjxggmA8gCXYMk7yEQZNhIrz0ZkCvEjy0qIf7a9PADeFRqdRu6PeAnNFq7adyAjMDBn8qVu90m3LIhOBI4XMGLiGiHjNvzngRECX-18x7bOIkUFHL1K_h0j1VQYkPJtPsIfpeJ1rRbTdh83vjw-KWnnxHjJqY8YbwErUtzOi_JEq9jVBQIwInY37t8Nr5Ufe2of4_L0x5-magymMynqBSaM_jAEsabZbe9lM4KVBXbsv8BqwCiTPdeOntWWhZmkjWP3Z2vL7b7ZSoItacR3PNNZt2Ic194lTgSqqfxbtCUypGhpKNbOVt_8MWL7dvuF2yVzt_nBOOiGlqzULV8onbEaJbrfawVAbqN4iqrAmCrgwve70IVcudVrWyaCTzyMFBVAIO1ZXSh4vY_CMXdQxyrMCNEX1rCtK_XdlRiDqPehkqmTkrGfrZRdZYOKpuu2obbvurK7WKl1XySMezT3nlqkjCrAtYA-9yJUHqmWhsGiW0gU7TQFQIMdImoXv8qOKhKcwS1zyZTSOOzNjOKEpq218f2McGOfx-GRQ47d4tM0eSSCaGArNJyH8lxvgql46cdp5DMo0Gxqd6RZYQCqEGoynIuWx_boSEjX453KFeYtaK_T0f-kPTOrAoppXBAnq_7GoDfGdaH148pAP7tu5CGo1N0WgfQUWSUuyIueZQZb7cAVQItUbOlK1SEurqaRGQmAyBs8h4yVFaZ1kGH_JD8V0YZMuOMc6msvgCxs2fdndJ4GNyAYdqDx8jCF2Bm-zbAg-pUEqr_bAEfDZ09pjkGgN1_eQ_6-MFGJq1XjnCKh_UhudgiSxIBXCYHtHNtNj4M8w0ZkEb0hEY5b1DK60MiYEVzwAMq0ThyBxEaRwOKSonHWi8chq0rupviuYaGenBDmBwBL-HAF2Q20djsvj3RB4L_brD2pdGJ8ZZEbnGU-Q4FkOzMhgOjF6YhFR7tRdIKdps_PGscEgLEcB8dvcsucNLT765HP9YpjQKMmk-o5AAZejqdlP9yFq-FPF7uQ98c_DJhS0pkbnvL89ck1SNEw9f6YgbVG0fnKQuUUGFyVfWL8ZnQXFbeg3HPlb7wMWdX8WwVqtghojbWRxIyJh3UUBvxhMpZruHXC5smEu4tK1PFQKmjgU5LvUJp_SkVMNombjh4ZrDOzZSzSDAr2Rf3_Cf7T1E75fgVde54Oj6MUy422SO5LwnREMXzKxWmw4tOEfZZy9dXy8L8CDNWqbrmNU2XD2lBbZsDZp8xo7RDzZNUCVU1mhDSJwebeKr7DZDnnqe4J9s_hydJIuY_6gb_qw_7odo-Sz3KeuVg2pgTV6g4FIlA3yBl71O5XdC3cjqdizwTmlJrG41fxg9vH-q4obEnByYYaYa1eciZ0sdrJ7awObL2fNp7N-9MqZUkVgsY53zS3j7gV1HHz4VKerAXusa3Su4WFO5DOZ7qRhDWtw4qMAGclt1-CTPzmGPuIRV_iw2ZcnBSiQrw0hQyN0k-vEtjlyLsWOV78gdhRKReRtjJgEoFmbLDzYXV0fr9Yta5Sd7h_vH_gcLaBW03dHrd9QnldgmUCjM_XOwQ02PKjeemoXpo81q_HNDS0DtlStJm6KAtm20ZXkjXahsTfaquCivk27r5q_l-eDJj1tsExOHFSI-mD7ndcKYOxgEypeviYAmUlr6VXhN-mOwPhmNifpJpKHY9UiYqD1teq0IN14pl4CIIuSLTTZnwXBAyPbPKBiL5CDcGECsvhcUtXSHO8G-sjxCP0OdF7-WeURdvhbX_nuQ3Puj8c5vDCOEF8gXqR85IORfRYTKlDQZCh3H7821w7NEnWuYH94R96u-1EjvTshQUzbsxBZJKvpfGaddyTsx1ojUOu8KDBKzSYlr-hVfTMepK2QkNVrxtBSH5ugSLhGyrw3f51BX8WL-D9FZ84CogqKAA3ypdLdv2A0GgKt6SBK6Pr1JhkaOq0h8ez8XgKij2ajlAi2IE9d3ZdAscLdy-jfxJ9fXQ_xJalcZLJCKFgrK38_xvYeh3aoWJHPMsIqTH87yiVf13KviEdVT-N5HYoAxZzRx3nSCGWeWLZJD0HDZZXATwVI4N1RK_47kyJ9XEl_xjhUxIrTTF-il97oSgQAmxHcDsnoAnqrIUd0jZ9ukZxsI4Rig337Kd7cAhaNd4D-UqxNPHSwrYwEDWe6l41wAs6i0MTeCloIzgzVqb_Q8AwW-6Z0fSkf0REuYwf2DAm6VOI5ZDap1cq7ob97-hu1WfaGJXa1lKYKxab31wa1D8yjqmJEXkvSILK-Te-IdQkjZq7SJDLa1Flh9fZDs_aSZRB-QalXHcHXzVSI5MzP0TisN16yJc4XQ53jTN6NMYfKTuxGgvXaVmkCxcZcw58oYx0IZWZwonbRlKsLuNFHOrSfO1ZWPlDT2mSzi87vrAR7EZiZxgQJEDslt6HnNCp9jamRxADCG1va4LzicddYYWatS-Iop-tMv6zBGKVhDNZWnalsH3PKKswdGHtE2Okwe78TrnzHkxo2LuMgdPKQe41_3J9QpStBYPf8tCEEl9ZWBUXQkp7HYIxAWzbSXIjUKEEQhdJYSuVp9gd5H48BKhLBUKwjZiL9x-d1FpHUhu7Ojr2Y9gR77wiDFciA30WXy-NcSVWtlNCl-7Zg3g8TWB9ITo4X_sZ_0U2ykuVVy1WOJxfQG5fxnUYK1MAXE2Ndq-WHIaPZQH6TZYNXh6jwIQwjj7NwtmPv8PqgDBwA7ejNaLgYq6MxyuCr6L-SxwNEuNp-EZQIEOXh90F_i195mH5eUr2ShPx7OmwJ04NpVlBOQmr0YHpNU_XkdIJUoAfgjsWkZctjJnYiTmBfgo9d1Wb_YchbrcyMBhgLYMJw1h1tOi1uEHwlgmRDY7yZrkXgA5GS8uW5tYie01wbVqM0Z98Fa-b1jNnKtnnPKXGyL2YqxeoLQvQtqj8HPDHEpWt3zox9Jfmb6tF0dfIOWWs9TcnzC",
  "id": "rs_0f6042e3193e95e9016ab439aa7ed087d0a63f5d67e096f1c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.268,\"left_y\":-0.16,\"left_z\":0.045},\"note\":\"The brown fruit again slipped out, and the wrist view suggests the jaws were too far forward when they closed. I’ll reopen and move about 4 cm back toward the bases for a better-centered grasp.\"}",
  "call_id": "call_8ZwZxqkfwKkmEg5bLBpRTGVW",
  "id": "fc_0f6042e3193e95e9016ab439ad801087d08b09e9993fa65bdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8ZwZxqkfwKkmEg5bLBpRTGVW",
  "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]: [-0.8261, 1.6714, 0.9611, -0.7139, -0.5018, -0.7158, 0.9951, 0.0441, 1.1915, 1.0485, -0.9665, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.2712 left_y=-0.1636 left_z=0.038 left_yaw=0.1424 left_pitch=-0.5293 left_roll=0.3251 left_gripper=0.9951 right_x=0.283 right_y=0.0019 right_z=0.1614 right_yaw=0.1971 right_pitch=-0.5703 right_roll=-0.2835 right_gripper=0.9965\nstate[joint_eff]: [-0.6359, -8.5675, 5.1077, 0.4322, -0.4664, -0.1587, -0.0806, -0.1573, -3.8496, 6.3932, 1.1404, -0.022, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2279f997a20dae2219935b41bdc00f58fce90a1e5ed5fcb4420cb6d30571d9f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c2d0a9df0f117b572a0026fa845244245faa98c90bafea89d2f7779b68a8189",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5571b8bb443d5e3fef094e302faf8f32f08afe490f7718510463a298bd9a967",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.981 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7223, 1.5848, 0.894, -0.6373, -0.5049, -0.5949, 0.9962, 0.0437, 1.1881, 1.0485, -0.9577, 0.0807, -0.3782, 0.9965]\nstate[eef_state]: left_x=0.2874 left_y=-0.1346 left_z=0.0482 left_yaw=0.1341 left_pitch=-0.4877 left_roll=0.3074 left_gripper=0.9962 right_x=0.2848 right_y=0.0018 right_z=0.1633 right_yaw=0.1949 right_pitch=-0.5582 right_roll=-0.2859 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -8.9504, 8.3077, 0.6813, -0.4176, 0.1148, 0.0024, -0.1983, -3.5761, 6.5983, 1.2527, 0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7319, 1.7664, 0.973, -0.5785, -0.5007, -0.6182, 0.0092, 0.0441, 1.1896, 1.0485, -0.963, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3047 left_y=-0.1549 left_z=0.018 left_yaw=0.1543 left_pitch=-0.5152 left_roll=0.3296 left_gripper=0.0092 right_x=0.2837 right_y=0.0019 right_z=0.1623 right_yaw=0.1966 right_pitch=-0.565 right_roll=-0.2845 right_gripper=0.9965\nstate[joint_eff]: [-0.6222, -8.253, 7.5282, 0.7106, -0.398, 0.0562, 0.6178, -0.0752, -3.7265, 6.3932, 1.1355, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8261, 1.6714, 0.9611, -0.7139, -0.5018, -0.7158, 0.9951, 0.0441, 1.1915, 1.0485, -0.9665, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.2712 left_y=-0.1636 left_z=0.038 left_yaw=0.1424 left_pitch=-0.5293 left_roll=0.3251 left_gripper=0.9951 right_x=0.283 right_y=0.0019 right_z=0.1614 right_yaw=0.1971 right_pitch=-0.5703 right_roll=-0.2835 right_gripper=0.9965\nstate[joint_eff]: [-0.6359, -8.5675, 5.1077, 0.4322, -0.4664, -0.1587, -0.0806, -0.1573, -3.8496, 6.3932, 1.1404, -0.022, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2279f997a20dae2219935b41bdc00f58fce90a1e5ed5fcb4420cb6d30571d9f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c2d0a9df0f117b572a0026fa845244245faa98c90bafea89d2f7779b68a8189",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5571b8bb443d5e3fef094e302faf8f32f08afe490f7718510463a298bd9a967",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDmx5nOseFxDoTK1SPpvFGiXazL8bxGXpUGm-9scNd7HTk_eeIrscfen4C66iXDSb2oTze4fPCLIAvjYiewlfrSVbwbW_SRN-l5YciQdEYD-GRRhYpUAyWVBYgAAM40kcroU2TWBqlapqQnnjD_7VWGf9tl3HaUNQxt-51wsc6EKIBf_5s3jI3Bk7fLg5nVaWImjnuQq5_hoa9YNSFNvAE4VX0QV9CjHjQBe5W-rIR0lnALsQb8pcDVThHs6Y2MqSFbTPZKAnaOT-7WhmSTYX7bZKSe4YNlaHfbIwXoj2vl9oY_em0eCzsDqumZ0KmGjH6BA0h5Ffcx9meR2YIgqBJyzhYT5TzZ7P-5mbLpPFV7P5oHued2h_9utpWTp035FjZk5uuui8JQcOyP_10Tfrw7vEQIFP4Dmdm6B2ssAFLZsu-RqjHkTBOoZU-t-Ak-n8iD4bMMPG9oT2S7XqUdd3ZrsWb3MNvkc3O5Ws6zP2t-k92WFrzKA5qM7lG2f-7RrZbm1MZ4l-FSwf5hYi9lVIECORued9WYeClhnhUyQWdEHhqYk7XuDV_xr9f_AyNfIaMp42PTBxn_kPBTh0ThWlVBHXQW0mXT8W6O6FTUZp6TcYV9Lp2UsvvZhDL5rPTy4isIEl8psEZGHHXXpgGx546hecu3kjHbCv-qzqZe8Mp7cdCeT3lFqq1gvxFVO31WrYN6vLcrHwbsosmvceXWq6y7DRyr_toubb9oOCngR2zdgouAWaHjiU6ALaraBBAcMg9dFVl-FKUjoPbFYdI62wXp6N6MUyrS-M8l7EkXr3Jr6kVUJORKBEejtSB2_8j8-3p-pL7DH5i4z2A__EswdwN6cuSw9cydC4krGg73nEc9gK8-t5uHN71SgJoAFnY-Lqgy7kuwY-aO1Lz4aNLz1RywLitGJg5Q2ZnbERPNtC1F_61B6v343vuseEElPHYtQNIMsdNLEGF_3F0CpfCgv7Dv7rZxk5y7g83OY1-TveGXmy4drPVaX7G_3Mxhgh0edVJoHB4rCMN1_u3yfNt1CBlMzstJRCvyfS3hFTrGFBevFFYR3bD5KXUjrsFkJDCLciFCGaF-hFxNj1YzMqObleUVe5Z-NdUWF0ku4x-Z-HVcVPeDcOjHQkzlONIFER_gY3crX8vke5psF05mEhylSjcVgsDX-dK__GLv1jhF-XjcAkQJ8aOXgEW0cflPPLcufup6RBqV4EAniSdIKcRa0XP9Ziw4ZLXcbp_r4HrzJ2maQG2XlH-yV0PGkAfMX5Zi8CbOBPMGTa1wOMeBaQhzupnFikSO0QFvhjFORuUeMzWUVCww=",
  "id": "rs_0f6042e3193e95e9016ab439b0fc9c87d0891a27f1d824d716",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown fruit now fills the space between the open left jaws rather than sitting behind them. I’ll close at this retracted position.\"}",
  "call_id": "call_RhOODss6O2fYZWheylZzi6aF",
  "id": "fc_0f6042e3193e95e9016ab439b145b087d08d62e2977fee992e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RhOODss6O2fYZWheylZzi6aF",
  "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]: [-0.8291, 1.6669, 0.9611, -0.7181, -0.5003, -0.7227, 0.0091, 0.0441, 1.1915, 1.0485, -0.9668, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.2702 left_y=-0.1641 left_z=0.0391 left_yaw=0.1425 left_pitch=-0.5292 left_roll=0.32 left_gripper=0.0091 right_x=0.2829 right_y=0.0019 right_z=0.1614 right_yaw=0.1971 right_pitch=-0.5707 right_roll=-0.2835 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -6.694, 5.641, 0.5739, -0.3297, 0.0806, 0.652, -0.0342, -3.5077, 6.694, 1.1453, 0.0024, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bcd12dca3cdc2ef749573f42a8c1da9734be76b085074365592157cf8398a66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1698fbc0232315659d733fc79d8a1f36cb95c3d4cecf2e3e8c61b111e90d666",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e1739b354d14776d9f6cd13f40aff45cd856066f7917daa3338da47f2931258",
      "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 · 1.876 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7307, 1.737, 0.963, -0.5873, -0.5003, -0.6075, 0.9962, 0.0437, 1.1893, 1.0485, -0.9607, 0.0807, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.3028 left_y=-0.1528 left_z=0.024 left_yaw=0.1443 left_pitch=-0.5105 left_roll=0.3258 left_gripper=0.9962 right_x=0.2842 right_y=0.0018 right_z=0.1626 right_yaw=0.1956 right_pitch=-0.5624 right_roll=-0.2854 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -8.0889, 7.2821, 0.5495, -0.398, -0.0611, -0.0122, -0.2803, -3.3846, 6.4752, 1.1795, 0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8261, 1.6714, 0.9611, -0.7139, -0.5018, -0.7158, 0.9951, 0.0441, 1.1915, 1.0485, -0.9665, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.2712 left_y=-0.1636 left_z=0.038 left_yaw=0.1424 left_pitch=-0.5293 left_roll=0.3251 left_gripper=0.9951 right_x=0.283 right_y=0.0019 right_z=0.1614 right_yaw=0.1971 right_pitch=-0.5703 right_roll=-0.2835 right_gripper=0.9965\nstate[joint_eff]: [-0.6359, -8.5675, 5.1077, 0.4322, -0.4664, -0.1587, -0.0806, -0.1573, -3.8496, 6.3932, 1.1404, -0.022, -0.0659, -0.0073]\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 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8291, 1.6669, 0.9611, -0.7181, -0.5003, -0.7227, 0.0091, 0.0441, 1.1915, 1.0485, -0.9668, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.2702 left_y=-0.1641 left_z=0.0391 left_yaw=0.1425 left_pitch=-0.5292 left_roll=0.32 left_gripper=0.0091 right_x=0.2829 right_y=0.0019 right_z=0.1614 right_yaw=0.1971 right_pitch=-0.5707 right_roll=-0.2835 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -6.694, 5.641, 0.5739, -0.3297, 0.0806, 0.652, -0.0342, -3.5077, 6.694, 1.1453, 0.0024, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bcd12dca3cdc2ef749573f42a8c1da9734be76b085074365592157cf8398a66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1698fbc0232315659d733fc79d8a1f36cb95c3d4cecf2e3e8c61b111e90d666",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e1739b354d14776d9f6cd13f40aff45cd856066f7917daa3338da47f2931258",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDm2cTvNyM3pilq9u2YPSSGgI2y71b1DtbQxMRpSKEeVCpxmDhUrolHKBqNHUZYkGruOBPYdafAAtBVObqVDRDUt9BI2mwpopvOruxWLu9Qb-ARe8HUsDXl38RWpLpPDJZy38kK-ndWoY0dTbmFgE8p00ZDW3DKaDmTJ3b-JtAXA3Wfsyhh5lDvyMBtj703OxJ7vQQPR-OHqJhI2B9U9PUr_oJ8S4HLcw2thK4YV-4hd6FaYl81WGn5aVuWGreQGBe4aXjorbMz2ZCAS1MxGniBaVK32wobkw9tOiENeJxXQG6jdR60pXNVVFaehPq0P0ogWGTi7LLWj-2TVYdpxolPHUGjpRk0shEqCRDQI5sQkmdpN9aA4dZTc9K-QIgmvSTtX41nOzYs1oa_N2PfCdluv-e1WbNuuUn60NsTlZF-9iDLAj2rYJlUneDay0Rz_Q1QKqQAnRWM6I5VDcExEqORirJ-sDCTkCTzqahWQNExDveytSGmMuFbgDhT6wZpFpg1u8TacYpwbAKzXIWzpOclp8orsVg_4DNSsJpxyfl-D0vZ6rPlNCjyXM8m_r6B8bMcwv0gW9Yo2mURw4KG_HbBGLivQ83-sdnF4beX0zWvrAuGRgsW3IK0DVkPAW2gJhJrds2g6YnwISijb3-OrR2PuJ0weAKhOF6EogZ4xtyfd0G0DI1tKYQyBWFBSKnf6_Scvb5xhzvecePjPzp8l0QOFkiHVkco43BwklA-AZj2cJuRmiw8IcZ0ZFCa7DvY0H6LZoDtA-QF_z1oZBJy5M81V5qaqtRYhSJvsr0zxM-SpgeVrYK7m22s3p2DWD8qPm8lP2RNu7pe12kPqVK_fM4ckYuAsoil7M755tKLpHTgLn7q1XyhL2lkNUeFSrpkFu2JxnKTWt648opVRF0IrzAD7haZ6vxWT-pTTJShHV8bpy4bazzdiR0DCpVwtPd6EKsUcQU8AF1y6cZ7EDzVFQKRElj8UhqM9XEUd81auWzAgEIFIQM_vOSmVMr1RQCPlqq5giQtpEFc4B_REdyoWfDUaBJwRYcJTF8mBtzL-POnspO64j6VDzTOg5VfPeEKpRHFBGG9fvoWouxzjb4IKREuDsMRGZTqvMQGW0-LPKFr86WtO0VvB4aiHYrgoaTMT85_51qQ18EkFmZqmkuEmg12iy094wZHkL_vo3Ef3t9pM973wb8L5VZ3ISfLK5n8EQEfTcR5N9VOM0KVoMO4IQBzSfleGqOJKEmFqVBd-gqAdnKg95qrGaenXd26_5hn4-LYN5iQw3P3MxXo7qTVfwpt98Bj3Y0UeRY5cH7SIIpckDFm3_3QpTAYvylMU3l1JaDINqlqrSIymZ531n-ZuLVcXsk21JlCJnTb1pZmgabUmmumBouhbeaxJH0aDtk-vGsl3WCozHV0j-x9CwQ_ZnGl1sjHZvRQgCXAW2Yjj9aYl3XOEjJyksnEiZ8-EwEq5gA-ncxQGn2q0EloWRYKkpz9CFHEJDq4Iz4_GUyhhQaBCI_8KcQVZkU4QAT-FOl6Nut_v7dN9XJLOgzjgaisk-7GdiFOFAoVolxbHGh5-nsExfBjYqhdg-AuDV2TuU_E3avix4mb8JJJl6xtqeNW1MxBVEOo1rwkkYdwFRXtx9HAfVBY50KOpYCdmlcou0yuPVYgtcbIm5TRfa-_RWZzCwjlgcWLYfWsUU4T5GRnRY1V6owwacQ-VnkbXx63qyBxwHSn4rk9W_YAdRWYvOHU_tVs60hIoUarwiFLHi8l9MJWPXW5y5LwnUM6EGCuEJq5ahpO7UE4FZDgfFdtd23fm2Qen91BmWy5OMzbqwiJOifxqRc8tiBBx-mPO7VlCHn61Hg2N",
  "id": "rs_0f6042e3193e95e9016ab439b41c9c87d0a51cf6efcc0bd20a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":-0.005},\"note\":\"The brown fruit stayed under the closing jaws, but they closed above it. I’ll reopen and lower to table level so the fingertips can engage its sides.\"}",
  "call_id": "call_9wxTxy8fuL7molYwk6kI6c8h",
  "id": "fc_0f6042e3193e95e9016ab439b5841487d0a5c7b1db4e0058cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9wxTxy8fuL7molYwk6kI6c8h",
  "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]: [-0.8291, 1.7317, 0.8898, -0.5518, -0.5159, -0.7334, 0.9949, 0.0437, 1.1915, 1.0485, -0.9668, 0.0803, -0.3786, 0.9965]\nstate[eef_state]: left_x=0.276 left_y=-0.1669 left_z=0.0097 left_yaw=0.1422 left_pitch=-0.4978 left_roll=0.2955 left_gripper=0.9949 right_x=0.2829 right_y=0.0018 right_z=0.1614 right_yaw=0.1968 right_pitch=-0.5707 right_roll=-0.2835 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -4.7795, 3.6581, 0.5446, -0.0952, 0.0952, -0.0464, -0.1983, -3.6991, 6.3932, 1.1111, -0.0171, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f41155913296de292b8491dd44f1f616b978233d1f268ff5f6638d6f07d589",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffa27e102047e02910beb7bb5b603702e3e54b522bd07b1853d24cb47a29d0df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69acf7a864d08ec292f0d471e1cc1f059f0a725ab6b31bc2cbe49dd4403ba9e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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