adhoc

completed
2026-09-23T19:44:57.002937+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
228.4 s
total steps
423
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 noteThree fruits are lined up in front of the bowls: a dark fruit on the left, a yellow fruit in the middle, and a green fruit on the right. I’ll approach the rightmost fruit with the right gripper from above, then use the wrist view to refine the grasp.
move_to
right_x0.3400right_y0.1700right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3824, -0.0143, -0.0303, 0.9968, -0.0227, 0.8005, 0.6189, -0.3874, -0.0177, -0.0334, 0.9992] state[eef_state]: left_x=0.2961 left_y=-0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9968 right_x=0.296 right_y=0.0 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.294, -1.812, 9.6205, 1.7753, -0.1294, 0.1001, -0.3394, -0.1162, -1.7983, 9.3607, 1.8926, -0.0904, 0.1685, -0.0952] 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":0.34,"right_y":0.17,"right_z":0.14},"note":"Three fruits are lined up in front of the bowls: a dark fruit on the left, a yellow fruit in the middle, and a green fruit on the right. I’ll approach the rightmost fruit with the right gripper from above, then use the wrist view to refine the grasp."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe right gripper now covers the green fruit in the overhead view, while the yellow fruit remains visible just behind it in the wrist camera. I’ll lower the open jaws to the green fruit’s mid-height before closing.
move_to
right_z0.0180
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8028, 0.6147, -0.3973, -0.0135, -0.0315, 0.9964, 0.7074, 1.3655, 0.7338, -0.1234, 0.5568, 0.3862, 0.9991] state[eef_state]: left_x=0.2943 left_y=-0.0005 left_z=0.1789 left_yaw=-0.0008 left_pitch=-0.016 left_roll=-0.001 left_gripper=0.9964 right_x=0.3317 right_y=0.1655 right_z=0.1235 right_yaw=0.0305 right_pitch=-0.0528 right_roll=-0.0433 right_gripper=0.9991 state[joint_eff]: [-0.1299, -1.0051, 7.0632, 1.9219, -0.0464, -0.0659, -0.0562, 0.3214, -5.7641, 8.6906, 1.7021, 0.4274, 0.2711, -0.022] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.018},"note":"The right gripper now covers the green fruit in the overhead view, while the yellow fruit remains visible just behind it in the wrist camera. I’ll lower the open jaws to the green fruit’s mid-height before closing."})
tool
executing move_to over 7 steps (0.7s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteAt table height the fruit fills the lower part of the right wrist view between the open jaw tips. I’ll close gently around it and check the jaw spacing before lifting.
move_to
right_gripper0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.408, -0.0135, -0.0334, 0.9963, 0.7105, 1.6981, 0.5045, 0.4034, 0.5453, 0.382, 0.9991] state[eef_state]: left_x=0.2931 left_y=-0.0004 left_z=0.1759 left_yaw=0.0002 left_pitch=-0.0298 left_roll=-0.0023 left_gripper=0.9963 right_x=0.3267 right_y=0.1649 right_z=0.0112 right_yaw=0.043 right_pitch=-0.0854 right_roll=-0.0623 right_gripper=0.9991 state[joint_eff]: [-0.2256, -1.4154, 6.9812, 1.8095, -0.0171, -0.022, -0.0171, -0.2803, -6.6667, 4.5607, 1.8242, 0.2515, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.12},"note":"At table height the fruit fills the lower part of the right wrist view between the open jaw tips. I’ll close gently around it and check the jaw spacing before lifting."})
tool
executing move_to over 9 steps (0.9s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe jaws stopped around a substantial object rather than closing empty, but that alone does not confirm a hold. I’ll finish closing and lift a few centimetres to see whether the fruit rises with the gripper.
move_to
right_gripper0.0000right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4088, -0.0139, -0.0338, 0.9963, 0.7109, 1.6981, 0.5045, 0.3996, 0.5446, 0.3775, 0.7483] state[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1757 left_yaw=0.0008 left_pitch=-0.0305 left_roll=-0.0024 left_gripper=0.9963 right_x=0.3261 right_y=0.1648 right_z=0.0106 right_yaw=0.0462 right_pitch=-0.0889 right_roll=-0.0679 right_gripper=0.7483 state[joint_eff]: [-0.3214, -1.1419, 6.9812, 1.7363, -0.0269, -0.0562, -0.0122, -0.1299, -6.4205, 4.547, 1.4579, 0.1441, 0.0073, 1.033] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_z":0.09},"note":"The jaws stopped around a substantial object rather than closing empty, but that alone does not confirm a hold. I’ll finish closing and lift a few centimetres to see whether the fruit rises with the gripper."})
tool
executing move_to over 8 steps (0.8s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe right-hand fruit is no longer visible on the table after the lift, and the jaws remain held open about 7 cm, consistent with carrying it. I’ll carry it high over the blue bowl before lowering it in.
move_to
right_x0.4300right_y0.2250right_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]: [-0.0219, 0.8062, 0.6147, -0.4171, -0.0139, -0.0338, 0.9963, 0.7109, 1.4487, 0.6327, -0.0189, 0.5266, 0.3744, 0.7482] state[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1739 left_yaw=0.0008 left_pitch=-0.0393 left_roll=-0.0022 left_gripper=0.9963 right_x=0.3201 right_y=0.1632 right_z=0.0717 right_yaw=0.0585 right_pitch=-0.1293 right_roll=-0.085 right_gripper=0.7482 state[joint_eff]: [0.0479, -1.1966, 7.1726, 1.7753, -0.0806, -0.0708, -0.0122, -0.0615, -6.8855, 8.2803, 1.5311, 0.3834, 0.0122, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.225,"right_z":0.19},"note":"The right-hand fruit is no longer visible on the table after the lift, and the jaws remain held open about 7 cm, consistent with carrying it. I’ll carry it high over the blue bowl before lowering it in."})
tool
executing move_to over 9 steps (0.9s)
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 held fruit is centered over the blue bowl, whose rim is visible just beyond it in the wrist camera. I’ll lower until the fruit is inside the bowl, keeping the jaws closed during the descent.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6147, -0.424, -0.0139, -0.0338, 0.9963, 0.6495, 1.7668, 1.4254, -0.4992, 0.4664, 0.3099, 0.7482] state[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1709 left_yaw=0.0008 left_pitch=-0.0523 left_roll=-0.0019 left_gripper=0.9963 right_x=0.4237 right_y=0.2265 right_z=0.1758 right_yaw=0.0773 right_pitch=-0.163 right_roll=-0.1005 right_gripper=0.7482 state[joint_eff]: [-0.0068, -1.8256, 7.0359, 1.7265, -0.0611, -0.0464, -0.0122, -0.6496, -8.9504, 9.306, 1.5409, 0.3541, 0.0317, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). 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_z":0.065},"note":"The held fruit is centered over the blue bowl, whose rim is visible just beyond it in the wrist camera. I’ll lower until the fruit is inside the bowl, keeping the jaws closed during the descent."})
tool
executing move_to over 8 steps (0.8s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe gripper is low over the center of the blue bowl, and the fruit appears just inside its near rim. I’ll open the jaws to leave this first fruit in the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6147, -0.4271, -0.0135, -0.0338, 0.9963, 0.6487, 1.8996, 1.1316, -0.1074, 0.4545, 0.3031, 0.7482] state[eef_state]: left_x=0.2909 left_y=-0.0004 left_z=0.1697 left_yaw=0.0005 left_pitch=-0.0572 left_roll=-0.002 left_gripper=0.9963 right_x=0.4191 right_y=0.2249 right_z=0.0593 right_yaw=0.086 right_pitch=-0.1975 right_roll=-0.1169 right_gripper=0.7482 state[joint_eff]: [-0.0615, -1.3197, 7.1726, 1.7411, -0.0317, -0.0366, -0.0122, -0.0205, -9.935, 5.9282, 1.79, 0.2466, 0.0317, 1.0281] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The gripper is low over the center of the blue bowl, and the fruit appears just inside its near rim. I’ll open the jaws to leave this first fruit in the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe jaws are open and the fruit remains below them in the bowl. I’ll move clear of the bowl and approach the yellow fruit in the middle for the next pickup.
move_to
right_x0.3350right_y0.2850right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6147, -0.4271, -0.0139, -0.0338, 0.9963, 0.6487, 1.8996, 1.1316, -0.1112, 0.4507, 0.2974, 0.9957] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=0.0008 left_pitch=-0.0572 left_roll=-0.0018 left_gripper=0.9963 right_x=0.4183 right_y=0.2251 right_z=0.0585 right_yaw=0.0917 right_pitch=-0.2027 right_roll=-0.1207 right_gripper=0.9957 state[joint_eff]: [-0.1709, -0.9915, 7.2, 1.6679, -0.0366, -0.0806, -0.0073, -0.212, -9.7846, 6.2154, 1.409, 0.1538, 0.0757, -0.1783] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.285,"right_z":0.15},"note":"The jaws are open and the fruit remains below them in the bowl. I’ll move clear of the bowl and approach the yellow fruit in the middle for the next pickup."})
tool
executing move_to over 7 steps (0.7s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe first fruit is visibly resting in the blue bowl, and the yellow fruit is just left of the jaw column in the right wrist view. I’ll shift about a centimetre toward it while lowering the open jaws to table level.
move_to
right_y0.2980right_z0.0130
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4309, -0.0139, -0.0338, 0.9963, 0.9321, 1.7782, 1.3285, -0.6151, 0.5983, 0.543, 0.9963] state[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1687 left_yaw=0.0008 left_pitch=-0.0622 left_roll=-0.0017 left_gripper=0.9963 right_x=0.3308 right_y=0.2847 right_z=0.129 right_yaw=0.1073 right_pitch=-0.2492 right_roll=-0.1619 right_gripper=0.9963 state[joint_eff]: [-0.1846, -1.388, 6.9949, 1.707, -0.0757, -0.0708, -0.0122, -0.4581, -11.3846, 8.1162, 1.1062, 0.398, 0.1978, 0.0513] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.298,"right_z":0.013},"note":"The first fruit is visibly resting in the blue bowl, and the yellow fruit is just left of the jaw column in the right wrist view. I’ll shift about a centimetre toward it while lowering the open jaws to table level."})
tool
executing move_to over 8 steps (0.8s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteAt the lowered pose, the yellow fruit spans the space between the fingertips in the wrist view. I’ll close the jaws and use the resulting jaw spacing to judge the pickup.
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]: [-0.0219, 0.8154, 0.6147, -0.4335, -0.0139, -0.0338, 0.9963, 0.9474, 1.9846, 1.1358, -0.2306, 0.6056, 0.543, 0.9963] state[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1681 left_yaw=0.0008 left_pitch=-0.0649 left_roll=-0.0016 left_gripper=0.9963 right_x=0.3325 right_y=0.2963 right_z=0.0198 right_yaw=0.1152 right_pitch=-0.2543 right_roll=-0.1774 right_gripper=0.9963 state[joint_eff]: [0.0205, -1.3197, 6.9812, 1.6972, -0.0757, -0.0562, -0.0122, 0.1846, -8.8137, 4.8889, 1.2674, 0.2564, 0.2271, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"At the lowered pose, the yellow fruit spans the space between the fingertips in the wrist view. I’ll close the jaws and use the resulting jaw spacing to judge the pickup."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe jaws fully closed, so they did not secure the yellow fruit; the close may have nudged it toward the bowl. I’ll lift and clear the view to locate it before trying another grasp.
move_to
right_z0.1700right_x0.2900right_y0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4419, -0.0135, -0.0338, 0.9963, 0.9455, 1.9869, 1.1339, -0.2104, 0.6182, 0.5335, 0.01] state[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1665 left_yaw=0.0005 left_pitch=-0.0732 left_roll=-0.0017 left_gripper=0.9963 right_x=0.3359 right_y=0.2965 right_z=0.0215 right_yaw=0.1136 right_pitch=-0.2363 right_roll=-0.1796 right_gripper=0.01 state[joint_eff]: [0.0205, -1.3333, 7.159, 1.7607, -0.0269, -0.0269, -0.0122, -0.0615, -10.2085, 5.9145, 0.9353, 0.2613, 0.0611, 0.8181] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17,"right_x":0.29,"right_y":0.03},"note":"The jaws fully closed, so they did not secure the yellow fruit; the close may have nudged it toward the bowl. I’ll lift and clear the view to locate it before trying another grasp."})
tool
executing move_to over 23 steps (2.3s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteWith the arm out of the way, the yellow fruit is still on the table and has shifted slightly toward the bases; the green fruit is in the blue bowl. I’ll leave the right arm parked and approach the dark fruit with the left arm.
move_to
left_x0.3200left_y-0.2250left_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8188, 0.6147, -0.4496, -0.0139, -0.0338, 0.9963, 0.1745, 0.9703, 0.7616, -0.6304, 0.1661, -0.1066, 0.0101] state[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.164 left_yaw=0.0008 left_pitch=-0.0843 left_roll=-0.0012 left_gripper=0.9963 right_x=0.2863 right_y=0.0245 right_z=0.1561 right_yaw=0.0781 right_pitch=-0.2687 right_roll=-0.1863 right_gripper=0.0101 state[joint_eff]: [-0.1162, -1.6479, 6.9675, 1.7656, -0.0366, -0.0659, -0.0122, 0.2393, -2.6872, 9.3744, 1.5263, -0.105, -0.0855, 0.7497] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.225,"left_z":0.15,"right_gripper":1},"note":"With the arm out of the way, the yellow fruit is still on the table and has shifted slightly toward the bases; the green fruit is in the blue bowl. I’ll leave the right arm parked and approach the dark fruit with the left arm."})
tool
executing move_to over 20 steps (2.0s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe dark fruit is visible near the lower edge of the left wrist image, slightly left of the jaw center. I’ll shift left and a little forward while descending so the open jaws straddle it rather than brushing it away.
move_to
left_x0.3370left_y-0.1970left_z0.0180
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.894, 1.4799, 0.9619, -0.4042, -0.6453, -0.6674, 0.9963, 0.1738, 0.9722, 0.765, -0.6346, 0.1558, -0.1207, 0.9974] state[eef_state]: left_x=0.315 left_y=-0.2167 left_z=0.1375 left_yaw=-0.0085 left_pitch=-0.121 left_roll=0.0196 left_gripper=0.9963 right_x=0.2861 right_y=0.026 right_z=0.1562 right_yaw=0.094 right_pitch=-0.2735 right_roll=-0.1885 right_gripper=0.9974 state[joint_eff]: [-0.5949, -6.694, 8.5128, 1.2674, -0.6178, -0.022, -0.0122, -0.1573, -2.2632, 6.4889, 1.536, 0.1392, 0.0904, -0.0513] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.337,"left_y":-0.197,"left_z":0.018},"note":"The dark fruit is visible near the lower edge of the left wrist image, slightly left of the jaw center. I’ll shift left and a little forward while descending so the open jaws straddle it rather than brushing it away."})
tool
executing move_to over 8 steps (0.8s)
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 dark fruit now sits between the open left fingertips, nearly centered in the wrist image. I’ll close around it and check whether the jaws stop on the fruit.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7956, 1.7329, 0.6853, 0.1081, -0.59, -0.5884, 0.9963, 0.1738, 0.973, 0.765, -0.6346, 0.1551, -0.1215, 0.9983] state[eef_state]: left_x=0.3282 left_y=-0.1894 left_z=0.0154 left_yaw=0.0115 left_pitch=-0.1671 left_roll=0.0632 left_gripper=0.9963 right_x=0.2862 right_y=0.0262 right_z=0.1559 right_yaw=0.0951 right_pitch=-0.2743 right_roll=-0.1885 right_gripper=0.9983 state[joint_eff]: [0.294, -7.1726, 4.8068, 1.5018, -0.2418, 0.1001, -0.0171, -0.0615, -2.3043, 6.7897, 1.4237, 0.0317, -0.0562, 0.0757] 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":{"left_gripper":0},"note":"The dark fruit now sits between the open left fingertips, nearly centered in the wrist image. I’ll close around it and check whether the jaws stop on the fruit."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe left jaws stopped at roughly 5 cm, consistent with gripping the dark fruit. I’ll raise it first and confirm that it comes off the table before moving toward the bowl.
move_to
left_x0.3300left_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7944, 1.7557, 0.6712, 0.112, -0.5838, -0.5915, 0.5169, 0.1738, 0.9733, 0.765, -0.6346, 0.1551, -0.1219, 0.9983] state[eef_state]: left_x=0.3233 left_y=-0.1851 left_z=0.0034 left_yaw=0.0145 left_pitch=-0.1935 left_roll=0.0818 left_gripper=0.5169 right_x=0.2862 right_y=0.0262 right_z=0.1558 right_yaw=0.0953 right_pitch=-0.2748 right_roll=-0.1888 right_gripper=0.9983 state[joint_eff]: [-0.4581, -8.9094, 6.3111, 1.1844, -0.3883, -0.0073, 1.033, -0.0752, -2.2632, 6.8034, 1.4676, 0.0024, -0.0611, -0.0073] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_z":0.11},"note":"The left jaws stopped at roughly 5 cm, consistent with gripping the dark fruit. I’ll raise it first and confirm that it comes off the table before moving toward the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe dark fruit rose with the left gripper, confirming the grasp. The blue bowl is near the left arm’s cross-over limit, so I’ll carry the fruit high toward the nearest reachable point above its interior.
move_to
left_x0.4350left_y-0.4000left_z0.2000
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]: [-0.7811, 1.5387, 0.8761, -0.3038, -0.5823, -0.5915, 0.52, 0.1738, 0.9733, 0.765, -0.6346, 0.1547, -0.1219, 0.9983] state[eef_state]: left_x=0.3303 left_y=-0.1856 left_z=0.0935 left_yaw=0.026 left_pitch=-0.1902 left_roll=0.0764 left_gripper=0.52 right_x=0.2862 right_y=0.0262 right_z=0.1558 right_yaw=0.0956 right_pitch=-0.2748 right_roll=-0.1885 right_gripper=0.9983 state[joint_eff]: [0.4718, -8.2393, 8.5812, 1.2674, -0.1832, 0.149, 0.6764, -0.0615, -2.0855, 6.8171, 1.4237, -0.0073, -0.0464, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.4,"left_z":0.2},"note":"The dark fruit rose with the left gripper, confirming the grasp. The blue bowl is near the left arm’s cross-over limit, so I’ll carry the fruit high toward the nearest reachable point above its interior."})
tool
executing move_to over 20 steps (2.0s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe left fingertips are over the blue bowl, although the arm cannot move any farther toward its center because of its lateral limit. I’ll lower the held fruit into the bowl before releasing it.
move_to
left_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.926, 2.6484, 2.8086, -1.2781, -0.6472, -0.757, 0.5221, 0.1738, 0.9779, 0.765, -0.6479, 0.1551, -0.1242, 0.9983] state[eef_state]: left_x=0.4348 left_y=-0.3951 left_z=0.1457 left_yaw=0.0381 left_pitch=-0.2349 left_roll=0.1125 left_gripper=0.5221 right_x=0.2839 right_y=0.0258 right_z=0.1525 right_yaw=0.0961 right_pitch=-0.2929 right_roll=-0.1918 right_gripper=0.9983 state[joint_eff]: [-0.7726, -16.1162, 7.2821, 0.2955, -0.5495, 0.0952, 0.5299, -0.0068, -2.5504, 6.7761, 1.6435, 0.0562, -0.0073, -0.0122] 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":0.07},"note":"The left fingertips are over the blue bowl, although the arm cannot move any farther toward its center because of its lateral limit. I’ll lower the held fruit into the bowl before releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteIn the left wrist view the dark fruit is above the near-left portion of the bowl opening, with the green fruit already inside. I’ll lower a little farther to minimize any sideways bounce when I release it.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9272, 2.6492, 2.6614, -1.224, -0.6361, -0.7601, 0.5226, 0.1738, 0.9779, 0.765, -0.6533, 0.1551, -0.1242, 0.9983] state[eef_state]: left_x=0.4297 left_y=-0.3919 left_z=0.1013 left_yaw=0.0538 left_pitch=-0.296 left_roll=0.1848 left_gripper=0.5226 right_x=0.283 right_y=0.0256 right_z=0.1516 right_yaw=0.096 right_pitch=-0.2982 right_roll=-0.1922 right_gripper=0.9983 state[joint_eff]: [-0.1162, -19.6718, 5.7641, 1.1502, -0.4811, 0.0073, 0.2906, -0.0889, -2.1265, 6.9402, 1.4969, 0.0122, -0.0464, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"In the left wrist view the dark fruit is above the near-left portion of the bowl opening, with the green fruit already inside. I’ll lower a little farther to minimize any sideways bounce when I release it."})
tool
executing move_to over 5 steps (0.5s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe left arm stopped descending at about 10 cm despite a lower target, so this is its reachable placement height here. The fruit is over the visible bowl opening; I’ll release it and then inspect where it lands.
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]: [-0.9272, 2.6476, 2.6606, -1.2068, -0.6361, -0.7677, 0.5248, 0.1738, 0.9791, 0.765, -0.6567, 0.1547, -0.1246, 0.9983] state[eef_state]: left_x=0.4317 left_y=-0.3946 left_z=0.1032 left_yaw=0.0535 left_pitch=-0.2853 left_roll=0.164 left_gripper=0.5248 right_x=0.2824 right_y=0.0256 right_z=0.1508 right_yaw=0.0964 right_pitch=-0.3028 right_roll=-0.1926 right_gripper=0.9983 state[joint_eff]: [0.0342, -19.6171, 5.9829, 1.0965, -0.4908, 0.0611, 0.5153, -0.1026, -2.3863, 6.735, 1.4383, -0.0073, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The left arm stopped descending at about 10 cm despite a lower target, so this is its reachable placement height here. The fruit is over the visible bowl opening; I’ll release it and then inspect where it lands."})
tool
executing move_to over 5 steps (0.5s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe dark fruit dropped beside the green fruit in the bowl opening in the wrist view. I’ll move the left arm back home to verify the placement from above and make room to pick up the last yellow fruit.
move_to
left_x0.2960left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9272, 2.6476, 2.6606, -1.2076, -0.6353, -0.775, 0.9948, 0.1738, 0.9791, 0.765, -0.6567, 0.1551, -0.1246, 0.9983] state[eef_state]: left_x=0.4315 left_y=-0.3945 left_z=0.1031 left_yaw=0.0574 left_pitch=-0.2857 left_roll=0.1593 left_gripper=0.9948 right_x=0.2824 right_y=0.0255 right_z=0.1508 right_yaw=0.0961 right_pitch=-0.3028 right_roll=-0.1929 right_gripper=0.9983 state[joint_eff]: [-0.3487, -14.9402, 6.0376, 0.9206, -0.3639, 0.0708, -0.0659, -0.0342, -2.2906, 6.7624, 1.4481, 0.0415, -0.0757, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.18},"note":"The dark fruit dropped beside the green fruit in the bowl opening in the wrist view. I’ll move the left arm back home to verify the placement from above and make room to pick up the last yellow fruit."})
tool
executing move_to over 36 steps (3.6s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteBoth the green and dark fruits are now visible in the blue bowl; only the yellow fruit remains on the table, slightly closer to the bases than before. I’ll approach its new position with the right gripper open and straighten the tool for a more controlled grasp.
move_to
right_x0.2900right_y0.2950right_z0.1500right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1619, 1.0626, 0.9081, -0.7254, -0.2501, -0.0937, 0.9955, 0.1738, 0.9836, 0.765, -0.6685, 0.1547, -0.1246, 0.9983] state[eef_state]: left_x=0.3004 left_y=-0.0011 left_z=0.1784 left_yaw=0.1017 left_pitch=-0.282 left_roll=0.1518 left_gripper=0.9955 right_x=0.2803 right_y=0.0252 right_z=0.1477 right_yaw=0.096 right_pitch=-0.3192 right_roll=-0.1939 right_gripper=0.9983 state[joint_eff]: [0.3487, -3.9179, 6.3111, 1.3846, -0.0708, 0.149, 0.0562, -0.0068, -2.5368, 6.7214, 1.5653, 0.0513, -0.0171, -0.0073] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.295,"right_z":0.15,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"Both the green and dark fruits are now visible in the blue bowl; only the yellow fruit remains on the table, slightly closer to the bases than before. I’ll approach its new position with the right gripper open and straighten the tool for a more controlled grasp."})
tool
executing move_to over 23 steps (2.3s)
step 246
top_cam
camera top_cam step 246
left_cam
camera left_cam step 246
right_cam
camera right_cam step 246
assistant
agent noteThe yellow fruit is centered near the bottom edge of the right wrist view, just ahead of the fingertips. I’ll advance only about a centimetre and lower the open jaws beside it.
move_to
right_x0.3000right_z0.0180
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1604, 1.0641, 0.9062, -0.7364, -0.2459, -0.0868, 0.9956, 1.1057, 1.6569, 1.1076, -0.4599, 0.8127, 0.7658, 0.9983] state[eef_state]: left_x=0.2981 left_y=-0.001 left_z=0.1754 left_yaw=0.0969 left_pitch=-0.2974 left_roll=0.1571 left_gripper=0.9956 right_x=0.2841 right_y=0.2882 right_z=0.1363 right_yaw=0.0407 right_pitch=-0.0533 right_roll=-0.0561 right_gripper=0.9983 state[joint_eff]: [-0.1436, -2.7692, 6.9402, 1.4676, -0.1343, -0.105, -0.0073, 0.2393, -8.0342, 8.0479, 1.1551, 0.6471, 0.188, -0.0073] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_z":0.018},"note":"The yellow fruit is centered near the bottom edge of the right wrist view, just ahead of the fingertips. I’ll advance only about a centimetre and lower the open jaws beside it."})
tool
executing move_to over 8 steps (0.8s)
step 254
top_cam
camera top_cam step 254
left_cam
camera left_cam step 254
right_cam
camera right_cam step 254
assistant
agent noteThe yellow fruit is centered between the open jaw columns at table height. I’ll close now; a retained jaw gap will indicate a grasp, while a full closure means I need to reposition.
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]: [-0.16, 1.0657, 0.9062, -0.7372, -0.2459, -0.0864, 0.9956, 1.0687, 1.9068, 0.9012, -0.0219, 0.786, 0.7242, 0.9983] state[eef_state]: left_x=0.2981 left_y=-0.0009 left_z=0.1749 left_yaw=0.0973 left_pitch=-0.2996 left_roll=0.158 left_gripper=0.9956 right_x=0.294 right_y=0.2832 right_z=0.0198 right_yaw=0.0398 right_pitch=-0.0839 right_roll=-0.0941 right_gripper=0.9983 state[joint_eff]: [0.1299, -3.0291, 6.694, 1.3895, -0.1587, -0.0024, -0.0122, -0.5949, -8.7179, 4.5197, 1.3895, 0.4127, -0.0513, -0.0122] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is centered between the open jaw columns at table height. I’ll close now; a retained jaw gap will indicate a grasp, while a full closure means I need to reposition."})
tool
executing move_to over 10 steps (1.0s)
step 264
top_cam
camera top_cam step 264
left_cam
camera left_cam step 264
right_cam
camera right_cam step 264
assistant
agent noteThe right jaws stopped with about a 5 cm gap around the yellow fruit. I’ll lift it to confirm it leaves the tabletop before moving it to the blue bowl.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1596, 1.0657, 0.9066, -0.7372, -0.2455, -0.0864, 0.9956, 1.0657, 1.9301, 0.8871, -0.0139, 0.7803, 0.7177, 0.5069] state[eef_state]: left_x=0.2981 left_y=-0.0009 left_z=0.175 left_yaw=0.0973 left_pitch=-0.2993 left_roll=0.1576 left_gripper=0.9956 right_x=0.2915 right_y=0.2778 right_z=0.0075 right_yaw=0.041 right_pitch=-0.1037 right_roll=-0.1219 right_gripper=0.5069 state[joint_eff]: [-0.2803, -2.906, 6.6667, 1.3846, -0.149, -0.0269, -0.0122, 0.0752, -10.5094, 5.9692, 1.0232, 0.3785, 0.022, 1.0183] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The right jaws stopped with about a 5 cm gap around the yellow fruit. I’ll lift it to confirm it leaves the tabletop before moving it to the blue bowl."})
tool
executing move_to over 8 steps (0.8s)
step 272
top_cam
camera top_cam step 272
left_cam
camera left_cam step 272
right_cam
camera right_cam step 272
assistant
agent noteThe yellow fruit is still visible on the table after the lift, so that grasp slipped despite the jaw gap. I’ll reopen and regrasp slightly farther forward and at the fruit’s mid-height, rather than near its tapered base.
move_to
right_gripper1.0000right_x0.3150right_y0.2900right_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]: [-0.1596, 1.0657, 0.9066, -0.7372, -0.2459, -0.0864, 0.9956, 1.0649, 1.721, 1.0679, -0.4183, 0.7666, 0.7139, 0.5073] state[eef_state]: left_x=0.2981 left_y=-0.0008 left_z=0.1751 left_yaw=0.0976 left_pitch=-0.2993 left_roll=0.1579 left_gripper=0.9956 right_x=0.2906 right_y=0.2791 right_z=0.0987 right_yaw=0.0483 right_pitch=-0.1218 right_roll=-0.131 right_gripper=0.5073 state[joint_eff]: [-0.3897, -2.9197, 6.735, 1.3846, -0.1685, -0.0269, -0.0122, -0.0205, -10.0855, 7.9385, 1.1404, 0.4469, 0.0024, 0.7302] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.315,"right_y":0.29,"right_z":0.045},"note":"The yellow fruit is still visible on the table after the lift, so that grasp slipped despite the jaw gap. I’ll reopen and regrasp slightly farther forward and at the fruit’s mid-height, rather than near its tapered base."})
tool
executing move_to over 5 steps (0.5s)
step 277
top_cam
camera top_cam step 277
assistant
agent noteAt mid-height the yellow fruit is now below the fingertip camera’s lower edge rather than sitting visibly in front of the jaws. I’ll close around its fuller middle and then lift to confirm it comes along.
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]: [-0.1596, 1.0695, 0.9062, -0.7376, -0.2459, -0.086, 0.9956, 1.0218, 1.8824, 1.0382, -0.2531, 0.7387, 0.667, 0.9958] state[eef_state]: left_x=0.2982 left_y=-0.0008 left_z=0.1738 left_yaw=0.0978 left_pitch=-0.3037 left_roll=0.1593 left_gripper=0.9956 right_x=0.3072 right_y=0.281 right_z=0.0416 right_yaw=0.0422 right_pitch=-0.1605 right_roll=-0.1755 right_gripper=0.9958 state[joint_eff]: [-0.1983, -3.1111, 6.7077, 1.4188, -0.1343, -0.0317, -0.0171, -0.3214, -8.9231, 5.5179, 1.2527, 0.3834, -0.0269, -0.1929] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":0},"note":"At mid-height the yellow fruit is now below the fingertip camera’s lower edge rather than sitting visibly in front of the jaws. I’ll close around its fuller middle and then lift to confirm it comes along."})
tool
executing move_to over 10 steps (1.0s)
step 287
assistant
agent noteThe jaws closed empty, and the yellow fruit has been nudged toward the bases to a clearly visible spot behind the gripper. I’ll move above that new spot rather than repeat the same grasp position.
move_to
right_gripper1.0000right_x0.2450right_y0.3100right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1593, 1.0737, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 1.0191, 1.8931, 1.0389, -0.2543, 0.746, 0.6544, 0.0144] state[eef_state]: left_x=0.2985 left_y=-0.0008 left_z=0.1726 left_yaw=0.0984 left_pitch=-0.3078 left_roll=0.1599 left_gripper=0.9956 right_x=0.3081 right_y=0.2788 right_z=0.0384 right_yaw=0.041 right_pitch=-0.1626 right_roll=-0.198 right_gripper=0.0144 state[joint_eff]: [0.0205, -3.0701, 6.7077, 1.4042, -0.149, -0.0415, -0.0122, 0.212, -9.935, 5.641, 1.3016, 0.1441, 0.0806, 0.4762] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.245,"right_y":0.31,"right_z":0.11},"note":"The jaws closed empty, and the yellow fruit has been nudged toward the bases to a clearly visible spot behind the gripper. I’ll move above that new spot rather than repeat the same grasp position."})
tool
executing move_to over 10 steps (1.0s)
step 297
assistant
agent noteThe overhead view shows the dark fruit landed beside, not inside, the blue bowl, so it will also need another pickup. The remaining yellow fruit is just left of the right jaw column; I’ll center the jaws on it and descend for another attempt.
move_to
right_x0.2660right_y0.3360right_z0.0130
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1593, 1.0737, 0.9062, -0.7372, -0.2455, -0.0864, 0.9956, 1.2152, 1.8473, 1.2453, -0.6956, 0.7929, 0.8806, 0.9956] state[eef_state]: left_x=0.2985 left_y=-0.0008 left_z=0.1727 left_yaw=0.0984 left_pitch=-0.3075 left_roll=0.1598 left_gripper=0.9956 right_x=0.247 right_y=0.3139 right_z=0.09 right_yaw=0.0651 right_pitch=-0.1907 right_roll=-0.2185 right_gripper=0.9956 state[joint_eff]: [-0.0752, -2.9744, 6.8718, 1.4139, -0.1392, -0.0171, -0.0122, 0.2667, -11.8359, 7.3915, 0.6178, 0.6178, 0.1245, -0.1587] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.266,"right_y":0.336,"right_z":0.013},"note":"The overhead view shows the dark fruit landed beside, not inside, the blue bowl, so it will also need another pickup. The remaining yellow fruit is just left of the right jaw column; I’ll center the jaws on it and descend for another attempt."})
tool
executing move_to over 5 steps (0.5s)
step 302
assistant
agent noteThe yellow fruit has disappeared below the right wrist camera’s near edge, indicating it is directly between the lowered fingertips rather than visibly in front of them. I’ll close at this position 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]: [-0.1596, 1.0737, 0.9062, -0.7376, -0.2459, -0.0864, 0.9956, 1.1893, 2.0579, 1.2251, -0.4931, 0.7784, 0.8551, 0.9963] state[eef_state]: left_x=0.2985 left_y=-0.0009 left_z=0.1726 left_yaw=0.0983 left_pitch=-0.3078 left_roll=0.1602 left_gripper=0.9956 right_x=0.2608 right_y=0.3266 right_z=0.0146 right_yaw=0.0524 right_pitch=-0.2185 right_roll=-0.2576 right_gripper=0.9963 state[joint_eff]: [-0.2256, -2.9607, 6.8171, 1.3309, -0.1343, -0.0659, -0.0122, -0.0752, -10.2496, 5.2171, 0.735, 0.4664, -0.105, 0.0513] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":0},"note":"The yellow fruit has disappeared below the right wrist camera’s near edge, indicating it is directly between the lowered fingertips rather than visibly in front of them. I’ll close at this position and check the grip."})
tool
executing move_to over 10 steps (1.0s)
step 312
assistant
agent noteThe jaws closed completely, so this was another empty close. I’ll clear the right arm to locate the yellow fruit accurately from overhead instead of making another blind retry.
move_to
right_z0.1700right_x0.2900right_y0.0200right_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]: [-0.1596, 1.0737, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 1.1885, 2.0674, 1.2243, -0.4938, 0.7689, 0.849, 0.0106] state[eef_state]: left_x=0.2985 left_y=-0.0009 left_z=0.1726 left_yaw=0.098 left_pitch=-0.3078 left_roll=0.1599 left_gripper=0.9956 right_x=0.2595 right_y=0.3258 right_z=0.0096 right_yaw=0.0558 right_pitch=-0.2324 right_roll=-0.2683 right_gripper=0.0106 state[joint_eff]: [-0.0205, -2.9607, 6.653, 1.3407, -0.1978, -0.0513, -0.0122, -0.0479, -11.0974, 5.2308, 0.6764, 0.4127, 0.0562, 0.8669] 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":{"right_z":0.17,"right_x":0.29,"right_y":0.02,"right_gripper":1},"note":"The jaws closed completely, so this was another empty close. I’ll clear the right arm to locate the yellow fruit accurately from overhead instead of making another blind retry."})
tool
executing move_to over 26 steps (2.6s)
step 338
assistant
agent noteWith the gripper clear, the yellow fruit is at the front-center of the table, around image column 122 and row 178; the dark fruit is beside the bowl. I’ll move the right gripper above the yellow fruit’s actual position, which is farther back and right of the previous attempt.
move_to
right_x0.2200right_y0.2700right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1596, 1.0752, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 0.2337, 0.9787, 0.7414, -0.6281, 0.2989, -0.083, 0.9978] state[eef_state]: left_x=0.2986 left_y=-0.001 left_z=0.1722 left_yaw=0.0981 left_pitch=-0.3093 left_roll=0.1603 left_gripper=0.9956 right_x=0.2834 right_y=0.0177 right_z=0.15 right_yaw=0.0081 right_pitch=-0.2757 right_roll=-0.2766 right_gripper=0.9978 state[joint_eff]: [-0.1026, -3.0701, 6.8171, 1.3651, -0.1587, -0.0757, -0.0171, -0.1573, -3.0838, 10.0444, 1.5409, 0.1245, 0.0806, -0.0464] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.22,"right_y":0.27,"right_z":0.09},"note":"With the gripper clear, the yellow fruit is at the front-center of the table, around image column 122 and row 178; the dark fruit is beside the bowl. I’ll move the right gripper above the yellow fruit’s actual position, which is farther back and right of the previous attempt."})
tool
executing move_to over 22 steps (2.2s)
step 360
assistant
agent noteThe right gripper now obscures the yellow fruit from above, and the fruit is no longer visible ahead of the fingertips in the wrist view. I’ll lower the open jaws at this aligned position.
move_to
right_z0.0220
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]: [-0.1596, 1.0763, 0.9047, -0.7376, -0.2459, -0.0864, 0.9956, 1.216, 1.7298, 1.1374, -0.8433, 0.7258, 0.9237, 0.9983] state[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0987 left_pitch=-0.3118 left_roll=0.1613 left_gripper=0.9956 right_x=0.2197 right_y=0.2659 right_z=0.0854 right_yaw=0.031 right_pitch=-0.2996 right_roll=-0.292 right_gripper=0.9983 state[joint_eff]: [-0.1026, -3.0838, 6.8034, 1.3944, -0.1099, -0.0611, -0.0122, 0.3761, -7.6786, 6.9538, 0.2857, 0.5739, 0.1636, 0.0366] camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.022},"note":"The right gripper now obscures the yellow fruit from above, and the fruit is no longer visible ahead of the fingertips in the wrist view. I’ll lower the open jaws at this aligned position."})
tool
executing move_to over 5 steps (0.5s)
step 365
assistant
agent noteThe jaws are at the yellow fruit’s measured table position, with no fruit visible beyond them in the wrist image. I’ll close and check whether they stop on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1596, 1.0763, 0.9047, -0.7372, -0.2455, -0.0864, 0.9956, 1.219, 1.8359, 1.0088, -0.6533, 0.72, 0.931, 0.9983] state[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0983 left_pitch=-0.3115 left_roll=0.1609 left_gripper=0.9956 right_x=0.2153 right_y=0.259 right_z=0.0252 right_yaw=0.0182 right_pitch=-0.3202 right_roll=-0.3285 right_gripper=0.9983 state[joint_eff]: [-0.1573, -2.9744, 6.735, 1.3748, -0.1734, -0.0269, -0.0122, -0.3624, -7.8974, 4.9162, 0.4518, 0.398, -0.1392, -0.0073] camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are at the yellow fruit’s measured table position, with no fruit visible beyond them in the wrist image. I’ll close and check whether they stop on it."})
tool
executing move_to over 10 steps (1.0s)
step 375
assistant
agent noteThe right gripper again closed empty despite several repositioned attempts. I’ll park it and inspect the remaining yellow fruit from the left arm’s different angle, while keeping the dark fruit beside the bowl in view.
move_to
right_x0.2960right_y0.0000right_z0.1800right_gripper1.0000left_x0.2200left_y-0.3400left_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1596, 1.0763, 0.9047, -0.7376, -0.2455, -0.0864, 0.9956, 1.2194, 1.8458, 1.0008, -0.6518, 0.7094, 0.9249, 0.0106] state[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0983 left_pitch=-0.3119 left_roll=0.161 left_gripper=0.9956 right_x=0.2128 right_y=0.2565 right_z=0.0193 right_yaw=0.0188 right_pitch=-0.3371 right_roll=-0.3446 right_gripper=0.0106 state[joint_eff]: [-0.2256, -2.7282, 6.7077, 1.3455, -0.1392, -0.0562, -0.0171, -0.2256, -8.9778, 5.5453, 0.4078, 0.4762, 0.0757, 0.9011] camera 'top_cam' (step 375): [image omitted: streamed camera frame] camera 'left_cam' (step 375): [image omitted: streamed camera frame] camera 'right_cam' (step 375): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.18,"right_gripper":1,"left_x":0.22,"left_y":-0.34,"left_z":0.12},"note":"The right gripper again closed empty despite several repositioned attempts. I’ll park it and inspect the remaining yellow fruit from the left arm’s different angle, while keeping the dark fruit beside the bowl in view."})
tool
executing move_to over 31 steps (3.1s)
step 406
assistant
agent noteThe left wrist camera clearly shows the remaining yellow fruit centered along the jaw column, with its top at the bottom edge of the frame. I’ll move the left fingertips slightly forward and lower them to the fruit’s base.
move_to
left_x0.2400left_z0.0220
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]: [-1.2789, 1.9759, 1.6032, -1.1442, -0.6662, -1.2613, 0.9956, 0.1608, 1.0752, 0.8879, -0.7685, 0.2909, -0.1768, 0.998] state[eef_state]: left_x=0.2188 left_y=-0.3364 left_z=0.1128 left_yaw=0.0894 left_pitch=-0.3432 left_roll=0.1609 left_gripper=0.9956 right_x=0.2883 right_y=-0.0009 right_z=0.1622 right_yaw=-0.013 right_pitch=-0.3813 right_roll=-0.3517 right_gripper=0.998 state[joint_eff]: [-0.5949, -9.853, 7.4188, 0.0952, -0.7106, -0.105, -0.0122, -0.1709, -3.5487, 9.7573, 1.37, 0.0904, 0.0855, -0.0806] camera 'top_cam' (step 406): [image omitted: streamed camera frame] camera 'left_cam' (step 406): [image omitted: streamed camera frame] camera 'right_cam' (step 406): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.24,"left_z":0.022},"note":"The left wrist camera clearly shows the remaining yellow fruit centered along the jaw column, with its top at the bottom edge of the frame. I’ll move the left fingertips slightly forward and lower them to the fruit’s base."})
tool
executing move_to over 6 steps (0.6s)
step 412
assistant
agent noteAfter the short forward descent, the yellow fruit has moved below the left wrist camera’s lower edge, putting it between the fingertips. I’ll close the left jaws and see whether this angle secures it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.2316, 2.0754, 1.4136, -0.8539, -0.6579, -1.2167, 0.9956, 0.1608, 1.0752, 0.8909, -0.7727, 0.2771, -0.1986, 0.9983] state[eef_state]: left_x=0.2347 left_y=-0.3298 left_z=0.0305 left_yaw=0.1099 left_pitch=-0.3552 left_roll=0.1867 left_gripper=0.9956 right_x=0.288 right_y=0.0014 right_z=0.1623 right_yaw=0.0112 right_pitch=-0.3883 right_roll=-0.3538 right_gripper=0.9983 state[joint_eff]: [0.4718, -9.7436, 4.9299, 0.3932, -0.3346, 0.1343, -0.0122, -0.1026, -2.9333, 6.4342, 1.3944, 0.2418, 0.1734, 0.022] camera 'top_cam' (step 412): [image omitted: streamed camera frame] camera 'left_cam' (step 412): [image omitted: streamed camera frame] camera 'right_cam' (step 412): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"After the short forward descent, the yellow fruit has moved below the left wrist camera’s lower edge, putting it between the fingertips. I’ll close the left jaws and see whether this angle secures it."})
tool
executing move_to over 10 steps (1.0s)
step 422
assistant
I couldn’t complete the task. One fruit is in the blue bowl, the dark fruit is beside it, and the remaining yellow fruit was not securely grasped. I did not attempt the pour because not all the fruits were in the blue bowl.
user
Respond with exactly one tool call.
assistant
agent noteI could not get all three fruits into the blue bowl: one is in it, the dark fruit is beside it, and the remaining fruit repeatedly slipped or was pushed away during grasp attempts. Pouring now would not satisfy the required sequence.
give_up
hindsightThe blue bowl lies near the left arm's lateral limit: at left_y=-0.4 and x≈0.43, a commanded descent below z=0.07 stalled at readback z≈0.10, making a reliable left-arm placement difficult. The dark fruit fell beside the bowl during that placement. The remaining rounded yellow fruit repeatedly moved toward the bases when the jaws closed; a nonempty jaw gap did not prove a secure grasp, so confirm each lift from overhead before transporting.
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]: [-1.2308, 2.0907, 1.4002, -0.844, -0.6544, -1.2198, 0.0084, 0.1608, 1.0752, 0.8909, -0.7807, 0.2821, -0.2024, 0.9983] state[eef_state]: left_x=0.2334 left_y=-0.3266 left_z=0.0214 left_yaw=0.1188 left_pitch=-0.3624 left_roll=0.2034 left_gripper=0.0084 right_x=0.2865 right_y=0.0003 right_z=0.1614 right_yaw=0.0082 right_pitch=-0.3963 right_roll=-0.3619 right_gripper=0.9983 state[joint_eff]: [-0.3897, -11.6444, 6.4752, 0.2564, -0.442, 0.0122, 0.652, -0.0752, -2.906, 6.6803, 1.3748, 0.0513, 0.0269, -0.0073] camera 'top_cam' (step 422): [image omitted: streamed camera frame] camera 'left_cam' (step 422): [image omitted: streamed camera frame] camera 'right_cam' (step 422): [image omitted: streamed camera frame]
assistant
I couldn’t complete the task. One fruit is in the blue bowl, the dark fruit is beside it, and the remaining yellow fruit was not securely grasped. I did not attempt the pour because not all the fruits were in the blue bowl.
user
Respond with exactly one tool call.
assistant
give_up({"reason":"I could not get all three fruits into the blue bowl: one is in it, the dark fruit is beside it, and the remaining fruit repeatedly slipped or was pushed away during grasp attempts. Pouring now would not satisfy the required sequence.","hindsight":"The blue bowl lies near the left arm's lateral limit: at left_y=-0.4 and x≈0.43, a commanded descent below z=0.07 stalled at readback z≈0.10, making a reliable left-arm placement difficult. The dark fruit fell beside the bowl during that placement. The remaining rounded yellow fruit repeatedly moved toward the bases when the jaws closed; a nonempty jaw gap did not prove a secure grasp, so confirm each lift from overhead before transporting."})
tool
give_up: I could not get all three fruits into the blue bowl: one is in it, the dark fruit is beside it, and the remaining fruit repeatedly slipped or was pushed away during grasp attempts. Pouring now would not satisfy the required sequence.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.132 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]: [-0.0212, 0.8005, 0.6136, -0.3824, -0.0143, -0.0303, 0.9968, -0.0227, 0.8005, 0.6189, -0.3874, -0.0177, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2961 left_y=-0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9968 right_x=0.296 right_y=0.0 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.812, 9.6205, 1.7753, -0.1294, 0.1001, -0.3394, -0.1162, -1.7983, 9.3607, 1.8926, -0.0904, 0.1685, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0dac582a10af16bcbb8e891ec78507ebc7352096c7f6dd204917d60c940466",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776065ae1a161a5cddc428952f852e2028f3cdfa152cdc01f8e908fae1e976d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6584537bb0a59933cd07246d6b61ea30e7a9f55032a4338c24d858cbce9acf72",
      "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 · 3.308 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtCxMd_Z2mdOGhFANoack8KEEE8cIzOlGJqIaA7_g002BTcV6olEtkGjIlxPckt8Hw_oXqSKRT1ii8rwk_eWgJqpnkA6DKsdxYJypiB94qDCPLklqnBdkMHrG70mYxGdOkG__rN8OeqsS_jhFmlKLdbUW9nNVDYNRv8JmgfCNG9TqO6ZFvhQjp_env3WCoQVt5uZu3tbYlzYW3ILnaKPdUCXtb3ZXkGuEEYiEE3MO0jbqLGZGbYuTUwI_46VTBclk6iIa2SZH-G5Ose5QI0-7eqpouET_D0bwhv1KGo_whFd2lA8QnIxXYdsVY333ghxuj8j22KKsvgtdzIj6jqyErvT0dL1YH497s7pA37T9jd2FmtGyl9ae7Rb9QFNj9B9DtqlnGYw0LfKckCL6OaDPgvPib5FBkh3UodCVofowgDb9rejo7XegV_RaFutCqB3cKj9Atmb7Qz0h8Qca1kUOKIjMooIIb-xVPhU6wcMh9_pG3gYKcVMDhw45ZPvzcdMtlwcEDLqKvkHaiDKloocDzT_vQbGn37bwlZaHNa1BJP4EGLB7uEkzcIr_sr6vNecniC3t2bwpIq_o4VvZ38sqPX7i9dOeX1wo2ZTtcMDsJfYkG3v4uqaXfJIvUU7XcqcHoqAdtvunPiZQwKFv1YDbY9JHO_UuHyomP81gEDSuor85NrKuudDVNIwYElb_18EQq4iS554NNl7VfDCdEFecx-dffC6iciOedfbo_BijqKZvKP2_JAEmoNJdsrMSPxcqrjFd4cCZgYpUCrJ_ffv0h9cGKArEUm2xZ8qnEwZPxM4pPVUe_QiA0c1U07VxmAgwPjOWuuIJHx_u73RCVBYQB5vGLYBo1ktDQUcDkCs6vwJZAik11n9-6RVNQa9as-wytxmKxm_hRV-Mn5WPFK9ANLHcIbg9eBTyXx5r4HJXCwMcZV2M8i79KqlQG5Q0-T-ZRuqZ0gz0Sla6QFV58dWip6MMEOI9I6blu3oQMXx5oxVL2SnDz4D1u5wbjOvgr0oL0oP04Z_aVgrnZXQEfs2NYtAdF_c9mMBBO9WDXdWsA3qixaJWy2iyMHtfyI4pf4lvqB3adFZUQCwpj4NXLx7q5LAKZ_xvvezbaSRna3lkSbS3yacxghIbr9fwXtTrQ6TtMEQjUw-GJMoM5Yjw5PzSU9QNve-_Lo8NxT6FhLDveLLxcro03i53T8ANa7h4tzuNRy5walid-0HnOSIuJJLxMAT36VAQMFGH9g6q3U1F8jin1sGXsKYw52kVnvIVlRFGZMjpFhMrdvkjEdMx51CQJnox_sWSIJPeyjbwXANocEt9lKl-Ce9LO1vAWZC4cvSnOiJN52pkEm6aLFPPzEeZ8Xdhyg_oY_jPSZkJGqUzQbp5Z_F-ezz2qNSDpNt3sbbGhVusGlI8-A6eyIAObO6ksScwYUjooX8Aw28AZ5sktmk2VScpcsb5GcwqCCTPByRTzgPeavAtl8rVGkvlA15nUtGcFdm7ZhDzOgz9e2Ye7i5Dz2k1VNQn9VD1pAvwzz8oql0uhWKglzi3ZSiLjBhbWSuuFevJ_ghNzspdNA3yJXdfq4FPTKGPLfG8JlLe-1ThVaEGAPo8NfbOn3XfsGPfMVXEe0kJfrQxrTT_EtAnOYDSLyMvOtuMDYdwr8gfb_3UzreZyEJhBnUl_TE19GYLO-eYguqX508DkC6EEqN16VM_TNK1iI7bt5G6kCrEHK8pCnKICN6LU9B-FlVVqazqPwE5UBoqQENseVtauwRITysjCWDWpQBDf-pngnKDkSBfcNSFi8Tz6XE8lEeOOlx30At3mAFn4WOhVo2-_2Kxz5fECQT4eUBFAXzdejT6qEbez3rOhY_sA9vnu-u2XS-AvTiCpzMjq_xai-il0RJlVWXnb0q3--5zsqbSuAlAyYPZ02xboLJnHLU0h8cyol8MyGigtJJKtAmF0AIHeMctovGBDDTefR4F-8dUUtX_hE2Ey2aOOXmRdJQCRRGMAZqmnDHLzJ19vDsVYtEMaKTcDEt9UC7q2FkC6zCKPMkuDTPRuwG1KwGMl7FizCrtEDpCtgDNhdtquxaWLCbCTkxAgskOJETwhfswcceBR_uWM9aLOfkDmlaJyb0KinJ3EuUVj7ij7_H6pJlS_EMjLEU2bZkty8MKOQFFDUbEDzJKNhFDZf8PR8ClCkdyPzuhuKW7xC7TigyySSrSzbqVqp4iMm-pl1-0BWZRybLeei9_1EqS288M5vYWhwJM3R2GXDo4VPY7ZtpiheaSdrYWScEXrW55X5EAmdXWiIlqnYBD7U7LVnY94zmyFlqCqawr3wkgT0wdhMB60mKK7Dw4UHpSUjqZRKpwUO1-THeLDtViCa0K6tvl4vtfExi5KUZORJ1mDl3XPyNr8solP2-oJw3UfgI-Mr3CrEpQxuRKa8w2eWIEOzId_nbQWPjtmbzAnRmRaRFEuU_FEjLPgcBP8SZYKVCLESqqwYCRdZ9J-JYJp_G05yBF4XrB-MNs2k2MChOOUB0juRtgIoRurb-jUSBfssE4HijDrVY-_2oH6lqFzipG0sI2ae7bDSm314smJwD5rdIWI1HpOwjtjlv49yvN5oYqui-CcpgBTvu1c3CUDM-4_Vdcot8ZwZ057tiBUYh2aD9fue7tmsKwemmUpf61mxxFuxEMq0heNe_N_OoVtE2NeI371NJVCgW-IokoWFPcppl73kOvKMGl-s-adoOfcBX2FM5EN4870uYMGpG5OIY33cMDinyrwZIRzUKvKuAH7M2dLmtsnT9emn-EGZVc3LSjmJdkmpLF97IIfgtjnzywFXm5b-JdBLOzaTWOo-GQ5JqU3LrJyp1u7Dh-Xc5vcMVRUruRFM4IKVzjiy7mBVCVAwpiSNP-je0oPt8sjqTz-RhkPLss5ldAIoMhjlUqXHSzcL0Z_1W_-kD6AM8mn-VeiYpC",
  "id": "rs_0b1c1beb708221f3016ab42c47e11887d08123497632263f0d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.17,\"right_z\":0.14},\"note\":\"Three fruits are lined up in front of the bowls: a dark fruit on the left, a yellow fruit in the middle, and a green fruit on the right. I’ll approach the rightmost fruit with the right gripper from above, then use the wrist view to refine the grasp.\"}",
  "call_id": "call_PW3rvt7wXV8GAR7yYC8SlDuG",
  "id": "fc_0b1c1beb708221f3016ab42c4b450087d0950b5e784c40ba46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PW3rvt7wXV8GAR7yYC8SlDuG",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8028, 0.6147, -0.3973, -0.0135, -0.0315, 0.9964, 0.7074, 1.3655, 0.7338, -0.1234, 0.5568, 0.3862, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=-0.0005 left_z=0.1789 left_yaw=-0.0008 left_pitch=-0.016 left_roll=-0.001 left_gripper=0.9964 right_x=0.3317 right_y=0.1655 right_z=0.1235 right_yaw=0.0305 right_pitch=-0.0528 right_roll=-0.0433 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.0051, 7.0632, 1.9219, -0.0464, -0.0659, -0.0562, 0.3214, -5.7641, 8.6906, 1.7021, 0.4274, 0.2711, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0122ef64322c36d46295032ce01519dafa36d293be37be0538041eef6113f586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c17b9345f1a1d1b07a8f2053693a865f85da9b982f9170a3b801c6478e0b9ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558c1caf637e8ec22ffca9da87f58213bbd3cf940df9fd07f4322d0cbf34bc8d",
      "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 · 4.196 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]: [-0.0212, 0.8005, 0.6136, -0.3824, -0.0143, -0.0303, 0.9968, -0.0227, 0.8005, 0.6189, -0.3874, -0.0177, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2961 left_y=-0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9968 right_x=0.296 right_y=0.0 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.812, 9.6205, 1.7753, -0.1294, 0.1001, -0.3394, -0.1162, -1.7983, 9.3607, 1.8926, -0.0904, 0.1685, -0.0952]",
      "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]: [-0.0219, 0.8028, 0.6147, -0.3973, -0.0135, -0.0315, 0.9964, 0.7074, 1.3655, 0.7338, -0.1234, 0.5568, 0.3862, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=-0.0005 left_z=0.1789 left_yaw=-0.0008 left_pitch=-0.016 left_roll=-0.001 left_gripper=0.9964 right_x=0.3317 right_y=0.1655 right_z=0.1235 right_yaw=0.0305 right_pitch=-0.0528 right_roll=-0.0433 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.0051, 7.0632, 1.9219, -0.0464, -0.0659, -0.0562, 0.3214, -5.7641, 8.6906, 1.7021, 0.4274, 0.2711, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0122ef64322c36d46295032ce01519dafa36d293be37be0538041eef6113f586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c17b9345f1a1d1b07a8f2053693a865f85da9b982f9170a3b801c6478e0b9ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558c1caf637e8ec22ffca9da87f58213bbd3cf940df9fd07f4322d0cbf34bc8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCxWHD36QHfy7PeKAPsxjKP-s0q3gbjnzRX98KLs4n_WSLrpCGOEhla6XABy-e1aLbvrvSx7JUlQ6fAKVZJAoG-1qPekjYLflOdpO7qdPqsIqJXxDLp40t44W1xKnXHTk00KYha96mOrBvJ5iiz6qUNuqK6ozsqAiOa5QMX_zaux_gbcsyv6zNkOF40tgGqtWw9qJcD3kFqL2RN1l2uV6Y9udUlAzWHy8QKV8dpoaEddFVt7rxw1b6bu8DS0WafyI4zzPPizUJ8vUtSh2QVnMPEvdMLSA2-oVndMM_C2oYxxuNWPnVBogNVWRH9TcrJXeZIwCPpKA26TK53a5DnTMii-d0xNbcNyUKiQK543kOZ_CEPtZbmg-GT-nGlr22ccLxH8BEGldKCcLWXpeRqL5ITQoXiTbE_hfAhcszGzDwsylGvhGWyj_pOFAL_OqJU7UUnLO5MjIuHJHtuSHTyYy4mlpw7M_i6gGPCsHiiFbk8jAOnE7n18F3BgUCODeWGSnShjtdPhoGA2PrVOhZ1S2hmaTeWn7MiL5INF_94kvDOfg9xVgJZxho9INepgnph6mvF91dmrM4mKJHan-fKvDQZJ5BAKNOlXhuEL2EALgn0Ge3N57THULeD0JcCkQyIbgL9jgVCIYygPr3rJ-cP1JoIhTdq4pjgCsxWtvM3lQTGHyQgFjGmtStTXK-sKVDNktGOrGItS3XyjN9pJm51S0ivqs-6iVcL5xtao-2Y7i2yEzD2sECMe-UNtwRUPXz6CTcOAcrw4r7XufpPrOjPFN0WZ34SK9ZTjh7GNHW0kvpaW1PPfnn-u-8ysiL-U4hl20JWh5oO8Uo5CS520yCwyJTOB4l-_Te45m8zh5VACZlGyOpGTziit6z1w9HStMRoL9GgWrhfo-XaJlA3aMkL5i2bwtWxEbtKj5s_dxgyt_uCxCeCLy7YJDsc9k3k8vSUj8q40fVdEM5tGLvCJhjf_1MoCF84YXRTQZE4BEbCsFIzx32RETowhQ6Y94X0nUXDn9C63rdfIPMcVGkmSS8OwMTP3_WKreAR9qUIIz3JuGzzJ8daeoohunTzVb6nIm_kp2ne5rb9N1EK8cNFOA91L5hiiJkO2bF_UHsQ81DneDCTi35I7SQlXkBkFu0l6fb-cDmpK86i2pedy2k5fAOx8st_Iz6A3UuOa486NUwH7Z2p8964Nx8pNgrr7cy8rkINz_QO7RDsSJGFGc5M31jmX2qsvPJLrNwn3WkvMnreOlD8FmMYQ_NMxxn7j7N7JBQidWVHoi0dChQbst3Kvv_tBEuOPEWgaXUHzCHxN8OCDLG3kV0dm6OVgjcYQ9kK4j_2v8TaVWX14x28KI9lJzcOK6sUwaDcKwkJ8uwbeFbIybGPwO7vFO_5i3mjsXqvDjP1mwqOb2wIa1Kn7doCOYXPiHnVNPoL3Fm5Y8Xst5gWNkJ22q9y2dbvKK2ajTB6KOWoATPhn-3XS2bUERcSUwOsgWmyrJZkuelUnYSCP2CV3Jl0uBY1RhvmjYSf1RNqFqaXz8odVgjVQl0bGU9qw1CpKkpBnUDosUELMuxJ75JmmbApVR09D9k99uiFNl3dttnZfa97ypqGpAGEDBmz1syikBcoULcSl31oc2_d8uhV6_eCXdcnrpm0APPMqILYXEP9A_ymeNQ7B97xBj7m8Hp5y3ljOQ8yrNTPbEbAxCD9hYet5nUlO6k7rYWqUdl0s1uHxH2c16lTJH4kjWHC_-Ts99SMZcB0wuZ594aUdTsapkCd2hXaa9wuXiqNn5w7P63JNx2E-u2RDu9es_yxg1Oq1UN5cZtR0Y2izj-QWwu6VUEmkoqyY-o_EBbv0m1wlrqza2zGC5T9oUDfN_UzNgiVeW6llkyK7Rc-ncMV2NJ1N4MTwiax9b52QXM8vdxF3Zx7B3fZz",
  "id": "rs_0b1c1beb708221f3016ab42c54922487d0beeca720c86fd458",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.018},\"note\":\"The right gripper now covers the green fruit in the overhead view, while the yellow fruit remains visible just behind it in the wrist camera. I’ll lower the open jaws to the green fruit’s mid-height before closing.\"}",
  "call_id": "call_4JNZrT3gNVNXn8rzlzcAiLuH",
  "id": "fc_0b1c1beb708221f3016ab42c56098487d09ddde2507ed36e83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4JNZrT3gNVNXn8rzlzcAiLuH",
  "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]: [-0.0219, 0.8059, 0.6147, -0.408, -0.0135, -0.0334, 0.9963, 0.7105, 1.6981, 0.5045, 0.4034, 0.5453, 0.382, 0.9991]\nstate[eef_state]: left_x=0.2931 left_y=-0.0004 left_z=0.1759 left_yaw=0.0002 left_pitch=-0.0298 left_roll=-0.0023 left_gripper=0.9963 right_x=0.3267 right_y=0.1649 right_z=0.0112 right_yaw=0.043 right_pitch=-0.0854 right_roll=-0.0623 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.4154, 6.9812, 1.8095, -0.0171, -0.022, -0.0171, -0.2803, -6.6667, 4.5607, 1.8242, 0.2515, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55111a01f7f79d81e16955859a445f3a86e50a0697cab2ce9be3f359df82656d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3ffb59f84c693d24f9845bf7519021670b7ec269dcb163f33d8dc0a9ea7f16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c02654af47caef2d021789c1f316e7a11a18d8717cda38c1ff83059298ecff6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.444 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]: [-0.0219, 0.8028, 0.6147, -0.3973, -0.0135, -0.0315, 0.9964, 0.7074, 1.3655, 0.7338, -0.1234, 0.5568, 0.3862, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=-0.0005 left_z=0.1789 left_yaw=-0.0008 left_pitch=-0.016 left_roll=-0.001 left_gripper=0.9964 right_x=0.3317 right_y=0.1655 right_z=0.1235 right_yaw=0.0305 right_pitch=-0.0528 right_roll=-0.0433 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.0051, 7.0632, 1.9219, -0.0464, -0.0659, -0.0562, 0.3214, -5.7641, 8.6906, 1.7021, 0.4274, 0.2711, -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]: [-0.0219, 0.8059, 0.6147, -0.408, -0.0135, -0.0334, 0.9963, 0.7105, 1.6981, 0.5045, 0.4034, 0.5453, 0.382, 0.9991]\nstate[eef_state]: left_x=0.2931 left_y=-0.0004 left_z=0.1759 left_yaw=0.0002 left_pitch=-0.0298 left_roll=-0.0023 left_gripper=0.9963 right_x=0.3267 right_y=0.1649 right_z=0.0112 right_yaw=0.043 right_pitch=-0.0854 right_roll=-0.0623 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.4154, 6.9812, 1.8095, -0.0171, -0.022, -0.0171, -0.2803, -6.6667, 4.5607, 1.8242, 0.2515, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55111a01f7f79d81e16955859a445f3a86e50a0697cab2ce9be3f359df82656d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3ffb59f84c693d24f9845bf7519021670b7ec269dcb163f33d8dc0a9ea7f16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c02654af47caef2d021789c1f316e7a11a18d8717cda38c1ff83059298ecff6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCxf5oT9tmKGbDzLFglzCr5o0BiDiatjQO8lp32ZyCaj17w9Ik3Dd9j5vD9YSGeM1RHM7zAr-Fk9G7hiKfBEH8PgCZ17anLk0MAz4pKHu-0vLBlEGl2dBXqt390a4_5WReMMO9htnhPGEAq9Ft1f6Xpt1Kf7pdhCdIog7ujfNe06W-AS-oq98JOaksqyAxXTVi6L7iFPtiQ_XDzgd2HGaE6FCbGtpGxlmWeW-Q2AU6izsivrHZo1lFl3twOvfeAiQYaUZTt4IbCV_WC-VHTcfE_BRsWB2jm-nV0dgMHDLVlI9bSBNNbAGPpOp4v6cAq-A3olsKkJKG6PqhZ2uZAIf3Yp4_0Lgk8ttQh1Orb7QIWZdh3mLBnSkfCy84jCjgjCwvec9bPRysvCyAPHcDknZzE-ez9MzWIm2-I-esYuaeiK_KfnUBFRrKbK_nRM12VcVbh9UxdIsc9dJULTtQCMrB_ALq3o01kSq6QHOsX9eJ7BssNtCgyfYPEnbj53DBxvh31hpU116l2JnJ_l3WC5i9Rh1KPhdjma4-BEKjwBUalLN9KIXh8wHua6xbjJYVMDSOtVzezQV8GHqvFNCQacGQhrTaraHuZEf3d7zX1RG5bOjscaxuDvpTfJNn55s668oVUPZgqkY886BKSE5iANRmb7BVmKnZGmRu1Ixg04n3Z4dl7FNCaKSZrBXSCOed_efDPMuSiGAd_GvH2_M473BkeCNWNVRRDz0LI5uXUrx2S7PddRFSxTgl2PFhfWcaVO0CGyLBbfN69NrBmVvqs4VWJd757YWueWjR7_w8t_lGXlYuX_xRPS3JU_eJNNfqTfwZboYkeYGPMsstkkkZ4jEbVouvLkmN7Og4o74pY-0hCWEJA5CWfVfQjhK0GFOA0dGntR0lX0ufKKF6aJMc98AQOAX3ZdjCxCnCFTvTwAPa7mgke5Fd1qFrgfyITweYgi3TQhFB-pb08dNWQIcOQ9B1DFvgDzfpYvVZyCQbz-sPooPTm4Mp_eeJ_G2FIcHtyCy0agwWSRxkQqJwYEn1CxjSlfePiUiXkkGVMPLcbdJXZB4fbUFYzMlIHQeQczr8_wVvn5YnuNOJuwv-KJtizp2CSKuAurPrsPWwXqcn9te7TdE0xipDV4NAo2XJ1PVsVOBAUgZ9XD7gNHx6XdbGtkAe2_NwDVSXlDbsvIODCEfOztO-W77TtAFq8XaknSH3pQDawztKchjQeF37NWlSqymP4UUfHlsBn7FSDjY4M8qDT1qD0wooY2vNbtYQSilHBEMLWNZILYOlm5-eVdnOQQLQW3fRB7peix1INv6alY_uzisSB8q4HYs8QV-quYfkXW1Wm08SpI--jIx8CZap1q6iuY9KLfAvykNRCKnkhzfSLYlFUpgJWyON6UeqVOSdmEvBkycNxfUhSNUrerZiBCZ1ByslDC1xMZMag1muWKvfzbSwIKtffyMGyV8PPlw0PbVh4aOEcHGet1BFSFU624iakUM5tqRhMGzSgUCbMgk7hRcj-VzJKGSJbcLAGF-IY35MgSchXWu40DiBArxjIEm0QyrikX0kgrzaeNcGFhJ916zX2wXk6CO1X-0JGDiz0quk_eFqchuUMzfVds99rOa82iqJdVGWfLq_YNvY0KLuQjMWE0O7yajHDqre85PQAxstB0hWhrR2kbPceV0HUc3-gZ-NuUsOyHShHDNyFLg5Ac6lBNjGqIWAh3EPsjkwbocJCBdSgI-Ex7jE-Uz0z4lgI-FPUCigvBjhI7lkfDBunKxaGJDdUmFm_iWOAgaR5aEltnpO__gQ-srKF4RI6RmVoIanqjKJ9UNdmCQEFbRXh8GsslkvX50UTZKwpsBhZXpym3F8n4TdqEzz6A0XDchXUAz2vv5Cc30ADhwRaeM8rW5eDvhutUUIUnluaEoxSIq6QlJqX-KFTf17rMin5W8vfw0IwsNJWeSky9GAtN5ZB3uxM4DIJ6JWmeYG8dpLSaKr-8BzbA6jDTJIfWznnTVZiCtDcxmxF7CMOO6UAGt3c7weLoUvtMUiEc9yBQ35ZKE7S7HPLBQ1h7D7dWszlF_o3PgNPFBo04Wq1umP01AJK53ZGpinmEkmZPPbAd65zdqNFpmzNthTQwy5nco7xlVs2YHV9qSdw_Jtg6PB5wWgOVqKKHUraQsQN6PzkVd3I4KlpPJU4ynPvjfkJ2ML_Ij5UlaVH5jgOvgzQcMdWgl3XWlNd6W3wmaMA1G2uTviHLJihEE3jeSymUB4a4pUx0LfiH0qYh6GhfTTMGKHvAuvBUzlkBWBJWVJ5sty58YRTUVv1WmCucsWtSGYVn7O5oCYYgDw==",
  "id": "rs_0b1c1beb708221f3016ab42c5c526c87d0898d6c929aaf1f1b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.12},\"note\":\"At table height the fruit fills the lower part of the right wrist view between the open jaw tips. I’ll close gently around it and check the jaw spacing before lifting.\"}",
  "call_id": "call_9dKgYqKrBcFjw7zZ8fkzQgMX",
  "id": "fc_0b1c1beb708221f3016ab42c5e5fd087d0be24e7ef6666b5ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9dKgYqKrBcFjw7zZ8fkzQgMX",
  "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]: [-0.0219, 0.8059, 0.6147, -0.4088, -0.0139, -0.0338, 0.9963, 0.7109, 1.6981, 0.5045, 0.3996, 0.5446, 0.3775, 0.7483]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1757 left_yaw=0.0008 left_pitch=-0.0305 left_roll=-0.0024 left_gripper=0.9963 right_x=0.3261 right_y=0.1648 right_z=0.0106 right_yaw=0.0462 right_pitch=-0.0889 right_roll=-0.0679 right_gripper=0.7483\nstate[joint_eff]: [-0.3214, -1.1419, 6.9812, 1.7363, -0.0269, -0.0562, -0.0122, -0.1299, -6.4205, 4.547, 1.4579, 0.1441, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5205a66a9ed777ea830c780cd3db92c1cc3d1e3e97836b3d83634e4cb8c10c48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be278dcde97a73c09d9ca55e81addbb1c578133f96f58f8dfd92bcb9491b53ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f0d9106ad0a97e5fc958b05786b9e02d65ed057fea546872a91fa45390171d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.222 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]: [-0.0212, 0.8005, 0.6136, -0.3824, -0.0143, -0.0303, 0.9968, -0.0227, 0.8005, 0.6189, -0.3874, -0.0177, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2961 left_y=-0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9968 right_x=0.296 right_y=0.0 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.812, 9.6205, 1.7753, -0.1294, 0.1001, -0.3394, -0.1162, -1.7983, 9.3607, 1.8926, -0.0904, 0.1685, -0.0952]",
      "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]: [-0.0219, 0.8059, 0.6147, -0.408, -0.0135, -0.0334, 0.9963, 0.7105, 1.6981, 0.5045, 0.4034, 0.5453, 0.382, 0.9991]\nstate[eef_state]: left_x=0.2931 left_y=-0.0004 left_z=0.1759 left_yaw=0.0002 left_pitch=-0.0298 left_roll=-0.0023 left_gripper=0.9963 right_x=0.3267 right_y=0.1649 right_z=0.0112 right_yaw=0.043 right_pitch=-0.0854 right_roll=-0.0623 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.4154, 6.9812, 1.8095, -0.0171, -0.022, -0.0171, -0.2803, -6.6667, 4.5607, 1.8242, 0.2515, -0.022, -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 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]: [-0.0219, 0.8059, 0.6147, -0.4088, -0.0139, -0.0338, 0.9963, 0.7109, 1.6981, 0.5045, 0.3996, 0.5446, 0.3775, 0.7483]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1757 left_yaw=0.0008 left_pitch=-0.0305 left_roll=-0.0024 left_gripper=0.9963 right_x=0.3261 right_y=0.1648 right_z=0.0106 right_yaw=0.0462 right_pitch=-0.0889 right_roll=-0.0679 right_gripper=0.7483\nstate[joint_eff]: [-0.3214, -1.1419, 6.9812, 1.7363, -0.0269, -0.0562, -0.0122, -0.1299, -6.4205, 4.547, 1.4579, 0.1441, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5205a66a9ed777ea830c780cd3db92c1cc3d1e3e97836b3d83634e4cb8c10c48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be278dcde97a73c09d9ca55e81addbb1c578133f96f58f8dfd92bcb9491b53ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f0d9106ad0a97e5fc958b05786b9e02d65ed057fea546872a91fa45390171d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCxiVHs2tubmzA-q0DbkmRvrH2gRK--eE4W7jLrPvXfT4B7PaK56c7iwDpd0l8jZheIGA2-MmPfvlmFkTyVboXY5se_f4aGg9dVVyhSYwW41jTPKbop-GTreWW1BsJHkH1zRQlLniEkgUeQEF8iXqhCWIaELmzEu1dzkveV1_jtek4NoXOvP0d2e9ZevvD7q6mp-rj1P-jcfG-vXrR3y7ucReLL9cVVMs0YRY-r1xsIa-NxzzPk8AUPUDys8riy1lp5ZiFEM1yPt-Q8LR5HkA2liDDvkX4UcEqakpzuyyjPZvTfxcw7_CygmyhCipQrq7AMTZAe2g8BnWgAQu6XF9lAN7teWik3Y2OR-eezbS12km5bZ6jP9dofEZZ-B2UjuP9N_7Bfi9dtMsMTT2rxFO8Gnw9RTwlnQ0grTmG-z5pXpHIFlnxLWVY_QHrb5OHuO0USRbOn_Zs8iTNmE-9wUw8awzH1a4EOUwfeLKwXhU16L-MkdZdgLtN6woUi2i9ohNW7bAf3fsqSRM0ubSMSL-xCRJIOXWrWq9-gCIFBvFl7Yn72z4geJ1-Z2YEjQiUJsfN1llcWd1C1FnJQYP7XIBKxo_vkv5x5a_IjKWXg9wWLoJS1Kk7pAf17XyvrMI2sQOEHC8QORsnO1u8wA98ahj3BNuvGOmKV20JZ-n0R7Th0t1BOCcKSGNMXcX2PY3Iu2PF-YeZzotC0N_vpicYbnoHTpHTL-CHlSXekYut4O6cgn2meZI1SjTkGfDbqA6MWZqYqvKe4bOnQTiu2xHRAVOeUXFQdJqgwlq0yl2UmLrHqv5zk4cpVD3_v-vOD3rE1IJrFgIa7oEItQWKomcxUObGDybyaB7ceO42P04dog8N5mSVdj9NFTvCkln9Y5wsPt_kgInhUJHB398LhNjSS3qhjL66FcrhY57AKAK69n7s61rJsYr9SWdYBWtqpmCrqlHP6kxam_mP3m7q-gmwocOMqoA70DQ5gZUAXKYgCX9Pn5lUOyIJALxqMN8HgWWsHgt7oUDmofEc5dGlMeLO_hP5KkDviwpwGX3X7XpbDzCa3vsDvJcBVzGNnyzvY4fBHxzeG5P9ugeUhAaC4JVL5JJa5V247Ns_1g9RqQSjsyeh67FE1CPFOw95Opo2OnDSKota2kYGme5beOdjHMZ1LBfzGGmM1bVSmZxsuUUZ2J47lZVCk3l24lr7EfW0rmRjTAMus4H2-7sLTBSNPjeRWceacAnY6G1eMXDAE72G3WNfc5_XAKOEGZKUZfPzwO2qg-B5M8_G-l3C_EhXxGRyP4DGYn4vr7Xk4Ijux3OEKzCLDPAmwJ6oFEfVgMgnC5zd5-VFvfavGbAiM_BXc6hIpLVlygDJG3NhQjVfq1cvBsuvAkduF6RzcZRrcqAXf-BRRlyIxpoUV8mSPq_o-3oE0_XomCtV94h-ZOErUxRuH23Wg37WF9mpQjKLwXKYqTe3mFqiPDeINMvKpUEUOZ1YMPzZqTm48OOVWa2YwZ8lVfjYq7rS6lia50uu01eQ5KSssMwUrIS0NLSIWFBqeyeZoFbai0xtaY75CySQK9fADMLdyvRP5ZZASIuyhI9SitHhESDkzl",
  "id": "rs_0b1c1beb708221f3016ab42c60bfa487d089a365d16547d9f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.09},\"note\":\"The jaws stopped around a substantial object rather than closing empty, but that alone does not confirm a hold. I’ll finish closing and lift a few centimetres to see whether the fruit rises with the gripper.\"}",
  "call_id": "call_sWJd0JaDokZWLJd4oLSy1MMF",
  "id": "fc_0b1c1beb708221f3016ab42c6181c487d0a008cf662ccd9136",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sWJd0JaDokZWLJd4oLSy1MMF",
  "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]: [-0.0219, 0.8062, 0.6147, -0.4171, -0.0139, -0.0338, 0.9963, 0.7109, 1.4487, 0.6327, -0.0189, 0.5266, 0.3744, 0.7482]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1739 left_yaw=0.0008 left_pitch=-0.0393 left_roll=-0.0022 left_gripper=0.9963 right_x=0.3201 right_y=0.1632 right_z=0.0717 right_yaw=0.0585 right_pitch=-0.1293 right_roll=-0.085 right_gripper=0.7482\nstate[joint_eff]: [0.0479, -1.1966, 7.1726, 1.7753, -0.0806, -0.0708, -0.0122, -0.0615, -6.8855, 8.2803, 1.5311, 0.3834, 0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc585494dc69871ef99de10b11b8380f2bd87042961c4145cc07eebe6046a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab016ac521b4a4d55a562a737f58067c6c94cea8e059a8b05c920b4de26f2544",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfefe960ba7f3f65de4625413f08ac02566e1114f4ac3c8e16024df1d465b0cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.602 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]: [-0.0219, 0.8028, 0.6147, -0.3973, -0.0135, -0.0315, 0.9964, 0.7074, 1.3655, 0.7338, -0.1234, 0.5568, 0.3862, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=-0.0005 left_z=0.1789 left_yaw=-0.0008 left_pitch=-0.016 left_roll=-0.001 left_gripper=0.9964 right_x=0.3317 right_y=0.1655 right_z=0.1235 right_yaw=0.0305 right_pitch=-0.0528 right_roll=-0.0433 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -1.0051, 7.0632, 1.9219, -0.0464, -0.0659, -0.0562, 0.3214, -5.7641, 8.6906, 1.7021, 0.4274, 0.2711, -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]: [-0.0219, 0.8059, 0.6147, -0.4088, -0.0139, -0.0338, 0.9963, 0.7109, 1.6981, 0.5045, 0.3996, 0.5446, 0.3775, 0.7483]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1757 left_yaw=0.0008 left_pitch=-0.0305 left_roll=-0.0024 left_gripper=0.9963 right_x=0.3261 right_y=0.1648 right_z=0.0106 right_yaw=0.0462 right_pitch=-0.0889 right_roll=-0.0679 right_gripper=0.7483\nstate[joint_eff]: [-0.3214, -1.1419, 6.9812, 1.7363, -0.0269, -0.0562, -0.0122, -0.1299, -6.4205, 4.547, 1.4579, 0.1441, 0.0073, 1.033]",
      "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]: [-0.0219, 0.8062, 0.6147, -0.4171, -0.0139, -0.0338, 0.9963, 0.7109, 1.4487, 0.6327, -0.0189, 0.5266, 0.3744, 0.7482]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1739 left_yaw=0.0008 left_pitch=-0.0393 left_roll=-0.0022 left_gripper=0.9963 right_x=0.3201 right_y=0.1632 right_z=0.0717 right_yaw=0.0585 right_pitch=-0.1293 right_roll=-0.085 right_gripper=0.7482\nstate[joint_eff]: [0.0479, -1.1966, 7.1726, 1.7753, -0.0806, -0.0708, -0.0122, -0.0615, -6.8855, 8.2803, 1.5311, 0.3834, 0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc585494dc69871ef99de10b11b8380f2bd87042961c4145cc07eebe6046a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab016ac521b4a4d55a562a737f58067c6c94cea8e059a8b05c920b4de26f2544",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfefe960ba7f3f65de4625413f08ac02566e1114f4ac3c8e16024df1d465b0cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCxnzPkTIzXjvb9wIKW01t5wACkwfac5J6edvZsNCUrGU18DSLJDDx8FZWC62V2sTUUN0irPBzS8sSv4cITxJxRtO0FPpgv-nM2qbGFE4Rtfww0gL1u64RZ_MgjGQZCccPJbAiJyWIr3KzJ1tC-s_Rq2L1CTORb85PwYJ3NEmk1EvuGUgQGo2hmmkIMB15gGpbseJ72PPB9jnW3DyaSdWV7ggRkLD312ve_-oUO63Q2rDms_9nrgps2Bl5wQ6Xoi_iMHgkKwYLqKtLxMCZ2jBnvFsGDMPI7ZyPOlLVYhXvpWpkRwVui5GCtK_HF5n_IC7Xc3TaZOQeuhfCqmZ37ZLMNcXwkozwUZbIH7X_Zx1zkgE8tIkBymzROBHIbrKOjx4b0cAI5czMPZhR0hRFympSJR9KKVRiXbI-eNaEIBTvLL7zeXwCXijOc7oa9zFnymNxteW2STuPOQ6isHK2tOQz-4CLymQoOfFPnKjqvhjDKl7kZWKIdOYZ_sLZwTiZbC-EJGpX5jOBb0TkFe6J769QQk2fpOkY6I4HFtHkypTtZkd5bNiYEp4_bpmRZhSLexjOFI43V51Xx-lKz14-6Q9GYrK0c_gCh0Cqo-yo7QOa6NUd9viQ81T-gR8lDnW1cKkD4J6_Rn0MBZAOOm5XiIfBF7eSAYj8FcZd_27yCVkd3BYrmsbK5uN3oqSP-RCXWCSymVtvr9f1tgeW6E6bZbil9BDofVnhByStpUUlsmNJiez200p4-p-0Cerms92KpF0s3jC-ViW5eAn6QK8WHPhE_65_ajRBjjDn5k5CrbyE9MQolNUkJ6xMcFVC4nJ70zSg-wBRYH5hnujF8sPgEdG1LCIrDXj4BkMesU6-ugyCWmk49Xz9KbJCBGkp_8X0sOWr7m-mcjyAWP7QWcLZ3541dnGhe1A5j8ys8L_3zxiFe8LI5PfuH26kTrhk9KpPPwaua-r_oVh3ktAKsNVZ0OMXumlY90BQ5NUXx2O20TcXo5wJLB3icn28R8hTd5nnjYVfpKh8oafQ1GvlyD-BkWGXIDFVLGa0_ngjBXSnTTIEMdRP6yjfiHD45cl0jmbrFxkxgraCvJXE5I1fIyVO3zUbd1ELUCneQlSxNEG8zhGX6lDW8Vy-yAl_r70oCz9rgkGPnB0wFRbC8hd4yAhbONGeOzzvKh0EVzTVwoIeUCIM90uuvebmLn9yi2NuZuq8C97D77JSkUoBM9-BVfdkA6CvDJIoEpDz0-yIpZvM8vjk2NpFcISn-KSu8Fsf2ZcdOvzo033UV6PoOP9pFDuR4lU5daahTe-volbY5rWdNxKEXoxnxjwA485Qv7x57ER1SaEZnCowj36Wb8ts02YvAHPq29cZainTZUVQ9ecVcjCD0PBtdeOwSlKZ05-bOjn0HefMlRrLYVNI6FgfoZLptDvb7FhTfrBQnfzrU1fESm4Nyp1NuuX_t_WugI_lvvp9hZB3z2nvvgsjgw-sICcEw1HHirlU_zJbS4FPk2bRuclXEFgukTukj45XHoOr4oERkX7BdUhPj6mAXYdRNt73qYvlDPclPv-zRmT2wqayS7oAkfGLFovdbByntn0barnxOCp3dZSXKgBGT7IY1cr_lnfjg1n7xExryxMihUvjlWmKVCzmxzUJQp-uWM83AwkQ7-BLP-coaJjVspvntM6d_MrIacD92LRIO2nOo0_LwRA1y4wHyQLN6cE_3duLdlm0_jXJh-S0n4bRoqE7SHe9bsMelGeS9wvaIfzrRetJWmtNB1eC3sSgjWgs1V3bUmJlwvGeR2-ULKZocuxGJnXdZJ-K8gEY_m96K5NuJVLp3uqbWf1fwV4kLjciZirAkSnumCxq5VjQhvHlgvMDhI4cBHSXys6Io-yMAzAqRIBseQmTtir-AdWRDjQFtm7Rh9qR8d0Kw5Z7sDreTxkdPdMWCnJnCe9Zc8Mb_0XRdSd5sml1JL_lVlJBJxYvtZx3jh_7yCktORG9tSvFsCgIkQ91wxUP4n8EW2_3fYNvfbUWgwTrxCH05crH8hh5Mm6pAsumO9Pxpijjo2tXYtVMf-a9E5AYLBFcRHEri65kB7P6JB_s_FCP3QatpdVAkI5QT37qIGrhSzmeh8qfS5wx56vtDuRtQQG5AM6KHE0v_PIhwKoGhRtFe83WcPnRDkIsM7SC00D_S9",
  "id": "rs_0b1c1beb708221f3016ab42c64704087d0987786ffd7d7d5f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.225,\"right_z\":0.19},\"note\":\"The right-hand fruit is no longer visible on the table after the lift, and the jaws remain held open about 7 cm, consistent with carrying it. I’ll carry it high over the blue bowl before lowering it in.\"}",
  "call_id": "call_KVyoCRgbLRHHA6pf4b6syKp3",
  "id": "fc_0b1c1beb708221f3016ab42c66ed2487d08ea11bb80849fd56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KVyoCRgbLRHHA6pf4b6syKp3",
  "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]: [-0.0219, 0.8124, 0.6147, -0.424, -0.0139, -0.0338, 0.9963, 0.6495, 1.7668, 1.4254, -0.4992, 0.4664, 0.3099, 0.7482]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1709 left_yaw=0.0008 left_pitch=-0.0523 left_roll=-0.0019 left_gripper=0.9963 right_x=0.4237 right_y=0.2265 right_z=0.1758 right_yaw=0.0773 right_pitch=-0.163 right_roll=-0.1005 right_gripper=0.7482\nstate[joint_eff]: [-0.0068, -1.8256, 7.0359, 1.7265, -0.0611, -0.0464, -0.0122, -0.6496, -8.9504, 9.306, 1.5409, 0.3541, 0.0317, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba747ddcd566ad3eb3f1d0e4836643e377872fade36563b9bd1c066b8c33e47e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9a7d735c4ed5648d3479aa5cfdb0593344cc25c102010463e009187e9ab83dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b94b74aa6956f0bb81fdc08c9e6c43c3e53043d516e3e9fab8f6d65baeef569",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.38 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]: [-0.0219, 0.8059, 0.6147, -0.408, -0.0135, -0.0334, 0.9963, 0.7105, 1.6981, 0.5045, 0.4034, 0.5453, 0.382, 0.9991]\nstate[eef_state]: left_x=0.2931 left_y=-0.0004 left_z=0.1759 left_yaw=0.0002 left_pitch=-0.0298 left_roll=-0.0023 left_gripper=0.9963 right_x=0.3267 right_y=0.1649 right_z=0.0112 right_yaw=0.043 right_pitch=-0.0854 right_roll=-0.0623 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -1.4154, 6.9812, 1.8095, -0.0171, -0.022, -0.0171, -0.2803, -6.6667, 4.5607, 1.8242, 0.2515, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4171, -0.0139, -0.0338, 0.9963, 0.7109, 1.4487, 0.6327, -0.0189, 0.5266, 0.3744, 0.7482]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1739 left_yaw=0.0008 left_pitch=-0.0393 left_roll=-0.0022 left_gripper=0.9963 right_x=0.3201 right_y=0.1632 right_z=0.0717 right_yaw=0.0585 right_pitch=-0.1293 right_roll=-0.085 right_gripper=0.7482\nstate[joint_eff]: [0.0479, -1.1966, 7.1726, 1.7753, -0.0806, -0.0708, -0.0122, -0.0615, -6.8855, 8.2803, 1.5311, 0.3834, 0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.8124, 0.6147, -0.424, -0.0139, -0.0338, 0.9963, 0.6495, 1.7668, 1.4254, -0.4992, 0.4664, 0.3099, 0.7482]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1709 left_yaw=0.0008 left_pitch=-0.0523 left_roll=-0.0019 left_gripper=0.9963 right_x=0.4237 right_y=0.2265 right_z=0.1758 right_yaw=0.0773 right_pitch=-0.163 right_roll=-0.1005 right_gripper=0.7482\nstate[joint_eff]: [-0.0068, -1.8256, 7.0359, 1.7265, -0.0611, -0.0464, -0.0122, -0.6496, -8.9504, 9.306, 1.5409, 0.3541, 0.0317, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba747ddcd566ad3eb3f1d0e4836643e377872fade36563b9bd1c066b8c33e47e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9a7d735c4ed5648d3479aa5cfdb0593344cc25c102010463e009187e9ab83dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b94b74aa6956f0bb81fdc08c9e6c43c3e53043d516e3e9fab8f6d65baeef569",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCxrznBnZzIT3syV-rp28IH-7aG1JDELieGAR7T6cu6UvDLY5ztQ7OrfTT2ShD9OdX66bEhArxPzky5M3f8hINM8ezdw3QsCXiGmkoLBk1wwK45mdXBXcHMCCENmcpb5g2vBGa_pT1JPzz54rgNzHobpgsovFlGialBM__EFYcbIbAHlhTgo8_8N4rsOc19Uf1FDxK0mAuGZUzTrfvfeG9x61hRXJ7jyWiIfZqbRAgYmbZSPBrnVkIzRnpgCi1qvfkBgHSQ1WgnhPpn1v_c6EsTT1KkFIegIxc_yefwn_qKnCcEXnm33KYEk7cJIjtpNIRXz5moGGFe6PASAmOi-fIukXHgZQ2RlZvm7UzsTIHIMEBx0oY2dQWjg38U1-iA3s3Xxr9fu-NByuZGOsOFyqo-TyA4WeeHsB-rRy9EOUlsv449eKkEDjkw27cqCffsE5megNOL2crG_7KLQsnIxYeNenP4DoZgicM-TZHdsQ7xXsS6QdlhgvvmRZ1n72pZT8y8fpUYuyya21aevxSbgtk_R4lOV-wNbS1Jqn8KaoF6cH8oibFMeL8leELG8saANJP-kqijN7xpyjbWKCu3qywC6VwTqaJM-DIRF2ka1h_xJYkM62vF_-o6ODDdwo0emF23-yNOnm9j5PWunaoTueeIDryBBwOlYp5Hsnsg3ZI95UUmS3t4flJWf6lFHVxtOUJLQviqnLZa9_lwYvhrpH5kA2XGoIHg-2LoCdo2XsQ8LNLXftr5nS8vkChRtmJ4jn4q7bLo0grJcZO1ucqBYFpWmRX9_a4LptizXfWOFGWt9_NGpIxre_VJ6ZF1cTZxsv2uRAkw2fSCZJJTFbsAGPCkFrXbli-2Qnh1G0Cfm3I3d4uto2CO8TLpMePpv9lbJjvV6Q1rJ6k7TdzuUj1HPpG9IOtxQlPNWP4uIp5hI4nb_W3XRV5JZdA0JIiOKbjo1_JGKkIB5T_IJ0D_1nVPyq3N_E779_bbQdCsheZQleVUshtDgg6Ux1tYE1w6RjsLFBu_cU-n10d4ajSde_9mU8FJq9wWG-utB2IKu2BqEvxmvm_TzuDyuirGFOFRUNvaiEhf0gp6tuGgaXu5Z7ib0Q9td9yB2nfwXszAvQZ-01lnNH3iKhERdcojOKhXQIPAvMVzoMLBic-wVDDjUweJ1oxXyrxEATFm_TsThYzWrckhmUCynlwSFbCsbRXko9ReQniKB7XV717Q7UxghHuLKsp2dv1y_YDoxgCIkzAamdSbwIBzvqxl5AHvOFmQSRIJE_dovbGH7zZCNBIM6Sh5xmAcUU5LjLG3rXgh2S-uV8TMh7XMw9owXjU2M5aJoOpTUD3MRve-tQvKDaDYx8O8DmkMpXASivDmh3-xUHx9MAfLyLGBuOFlWX6-3fyNSMKz78dXKVltv8GeTDX69dPvHv8sjzhnHRvf6VhWDb9tJVnxVwHlX0WrNwvq5WF5sY6Hsj_EZa5mmrjE0E0DlCfHb2rwqmzGpZlWIpcmZD0_X-uL1x5EmIJd5o1tO-mHkEQNcJeXy",
  "id": "rs_0b1c1beb708221f3016ab42c6a998087d08c235e1dc1df54de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The held fruit is centered over the blue bowl, whose rim is visible just beyond it in the wrist camera. I’ll lower until the fruit is inside the bowl, keeping the jaws closed during the descent.\"}",
  "call_id": "call_dMrSemOXDRXwYfYRBwahFvX5",
  "id": "fc_0b1c1beb708221f3016ab42c6b28fc87d080786155ed3fd357",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dMrSemOXDRXwYfYRBwahFvX5",
  "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]: [-0.0219, 0.8143, 0.6147, -0.4271, -0.0135, -0.0338, 0.9963, 0.6487, 1.8996, 1.1316, -0.1074, 0.4545, 0.3031, 0.7482]\nstate[eef_state]: left_x=0.2909 left_y=-0.0004 left_z=0.1697 left_yaw=0.0005 left_pitch=-0.0572 left_roll=-0.002 left_gripper=0.9963 right_x=0.4191 right_y=0.2249 right_z=0.0593 right_yaw=0.086 right_pitch=-0.1975 right_roll=-0.1169 right_gripper=0.7482\nstate[joint_eff]: [-0.0615, -1.3197, 7.1726, 1.7411, -0.0317, -0.0366, -0.0122, -0.0205, -9.935, 5.9282, 1.79, 0.2466, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c850a53d0e8f40ab66b62799150e61775893ed10e46bf76a353c0d8e728589",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da865f084791046b8c20ef7dae11e3ab1eb54c8bd80ce5a139889ced5dc8c456",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e03d2ef5f1b8943f9dea57c121803958bffbd505a42c7d85532ffbbd5a5bcb8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 4.491 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]: [-0.0219, 0.8059, 0.6147, -0.4088, -0.0139, -0.0338, 0.9963, 0.7109, 1.6981, 0.5045, 0.3996, 0.5446, 0.3775, 0.7483]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1757 left_yaw=0.0008 left_pitch=-0.0305 left_roll=-0.0024 left_gripper=0.9963 right_x=0.3261 right_y=0.1648 right_z=0.0106 right_yaw=0.0462 right_pitch=-0.0889 right_roll=-0.0679 right_gripper=0.7483\nstate[joint_eff]: [-0.3214, -1.1419, 6.9812, 1.7363, -0.0269, -0.0562, -0.0122, -0.1299, -6.4205, 4.547, 1.4579, 0.1441, 0.0073, 1.033]",
      "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]: [-0.0219, 0.8124, 0.6147, -0.424, -0.0139, -0.0338, 0.9963, 0.6495, 1.7668, 1.4254, -0.4992, 0.4664, 0.3099, 0.7482]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1709 left_yaw=0.0008 left_pitch=-0.0523 left_roll=-0.0019 left_gripper=0.9963 right_x=0.4237 right_y=0.2265 right_z=0.1758 right_yaw=0.0773 right_pitch=-0.163 right_roll=-0.1005 right_gripper=0.7482\nstate[joint_eff]: [-0.0068, -1.8256, 7.0359, 1.7265, -0.0611, -0.0464, -0.0122, -0.6496, -8.9504, 9.306, 1.5409, 0.3541, 0.0317, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.8143, 0.6147, -0.4271, -0.0135, -0.0338, 0.9963, 0.6487, 1.8996, 1.1316, -0.1074, 0.4545, 0.3031, 0.7482]\nstate[eef_state]: left_x=0.2909 left_y=-0.0004 left_z=0.1697 left_yaw=0.0005 left_pitch=-0.0572 left_roll=-0.002 left_gripper=0.9963 right_x=0.4191 right_y=0.2249 right_z=0.0593 right_yaw=0.086 right_pitch=-0.1975 right_roll=-0.1169 right_gripper=0.7482\nstate[joint_eff]: [-0.0615, -1.3197, 7.1726, 1.7411, -0.0317, -0.0366, -0.0122, -0.0205, -9.935, 5.9282, 1.79, 0.2466, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c850a53d0e8f40ab66b62799150e61775893ed10e46bf76a353c0d8e728589",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da865f084791046b8c20ef7dae11e3ab1eb54c8bd80ce5a139889ced5dc8c456",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e03d2ef5f1b8943f9dea57c121803958bffbd505a42c7d85532ffbbd5a5bcb8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCx2vaM9eNFNVsgqbNEvEXTQghFppaALM1s3_ZcOQdy1Hqv3A0aqQ679OwwKg4JF4xycXUMHUyT75RNT8qCpIwxZFFH2aKB9l5GFKpxz6QfhaV_U-ch51DKge9saV91spHuta6D6s1LgUxfajLw66kBdLzjP5UPsIrT6EXqLicqlyyW0c9e3SUe7FmixqoUbJw_Hd6WbbAalcuiq68_Vs8d1WG5ZtL3Z2U6fcfHtAQLvpbo5OY6YKJsc2LKCKipE7Rcaj_k-ty6jrPZO7KrdnjPn771Acl1nhlAwRuATSNYBRET-PoYqDVfveBODIk5qpHmPH8NhmCjiI3J_ZzsnGteTMsfSS1Ihggw95CHsPf5i5tN-FVbFpN15Yd2JhtQfHbFBctNMEh5IOoEdUf568OpRsHqlQqTezRz0rDkL-S5XR-RzcbwDIAHX3BYXlCoNENUXf-yPVI70mI-G6IlIsasIZXqR8ek2GtXJedmV-NmSvJ2RtUQWJZ4buGccN-M-N-pdpc3-R8pzCkF6sAEVaH_6n_m--s3O8-A6uANDgped7ahQ6cKIGAhg5lRIzGpE2nvQ_oZxrSdcoBNbmr-bzb_nhIbBm-VK9xkTZXjHyCUEYSm6vwiBFr61uy9PcC4jQAs4-QHnHyimx22xZIyHv4crgrRqbIN5qP38E48PMwXtSYAXjF8E8x5uhhTqeOKkBKJme8PHybINiLPQn8rICggw4V1Jn-HTPlCPhHF88oVuE9D2o8TfVz3hp7pXAieofb2zNVH7tl0sS1-b9DnbtR2PYc6uaarXp6oh5zZ6xiheWuiKKoFfsx3fg1pqGskfZOieerwS8d_3IvDD6tR3_R7VBNK6ucoq6iMvCjAjILXqDMRuARzm9oQ1P8HCZOelqegUVLU0MtqtVHu1nrOQXYzOZ3fkuasFBQ0P34MXwj7zMHbkuKmSbs1EdafHJ1dkgOurJxkrhGDpyxTRDQJN8XRI_6A1EB4hLRYrqlHovqoVaL2-JIaF3ss6Uu29WE-PAk57mdQ2H97J6hCmExw4cv8s16H8DnMziIaqdtodJmsRUFNs5_DyJG9eQyHt5K8-KsNJu_sKOa2edjA1HggR6eN-AhbvIeKCe7-mYGvZINigcgWX3cLWACPVxJ4XOuujcUzbp1n-L7hEVmIvy9oRbqRsyUgsIcbWHIl61SSqqixvT-dur9i8E0fbg2GQROBAPfzjYcfTXFByP1Ch5Eiwe_agVJFfnRkrSQD1sg2blmVk17A_UjUvUV9PCih_eFu_nOtpcTVsmXc2JxJ8vQHF3zvH7g-_fSJl9EBnVCW3u0GngJFuSNA_aKbo7O4K7AtxaORuH__svK_b4mwzd-Ixwl5BLE3h1sI9aAS-dfOuS2UTiCHxbNG8pamqwP2XjGtFAoobHfbsS9YIdtUWiFDVH-XuDxZbRhgx3EWFVx7sZYS8F0jbFu4l85A4p137FnsnZ8Ux754OOjj34tKEVLFx9PVsup66N0AeTmrHGvm5PFFEbMHACmwkZN7Jcry-UId3B9j8",
  "id": "rs_0b1c1beb708221f3016ab42c750c7487d081ce8bda351fcdb7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The gripper is low over the center of the blue bowl, and the fruit appears just inside its near rim. I’ll open the jaws to leave this first fruit in the bowl.\"}",
  "call_id": "call_I26J68QdiSDU7yMg43XO9ckx",
  "id": "fc_0b1c1beb708221f3016ab42c75906887d0a41a8d1313adede3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I26J68QdiSDU7yMg43XO9ckx",
  "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]: [-0.0219, 0.8143, 0.6147, -0.4271, -0.0139, -0.0338, 0.9963, 0.6487, 1.8996, 1.1316, -0.1112, 0.4507, 0.2974, 0.9957]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=0.0008 left_pitch=-0.0572 left_roll=-0.0018 left_gripper=0.9963 right_x=0.4183 right_y=0.2251 right_z=0.0585 right_yaw=0.0917 right_pitch=-0.2027 right_roll=-0.1207 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -0.9915, 7.2, 1.6679, -0.0366, -0.0806, -0.0073, -0.212, -9.7846, 6.2154, 1.409, 0.1538, 0.0757, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ca962696a878c67ae787ef529006d2c01de14284d44c637d892e49525fac73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dffe553af2d52201c4f2d28aea444f069728c4aa0715d071208e48e493bb701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1b7c5e9d1e1fd74aecfff4f6bee556d2d259a5a632090184eb8b7dff270dd6",
      "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 · 3.769 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]: [-0.0219, 0.8062, 0.6147, -0.4171, -0.0139, -0.0338, 0.9963, 0.7109, 1.4487, 0.6327, -0.0189, 0.5266, 0.3744, 0.7482]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1739 left_yaw=0.0008 left_pitch=-0.0393 left_roll=-0.0022 left_gripper=0.9963 right_x=0.3201 right_y=0.1632 right_z=0.0717 right_yaw=0.0585 right_pitch=-0.1293 right_roll=-0.085 right_gripper=0.7482\nstate[joint_eff]: [0.0479, -1.1966, 7.1726, 1.7753, -0.0806, -0.0708, -0.0122, -0.0615, -6.8855, 8.2803, 1.5311, 0.3834, 0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0219, 0.8143, 0.6147, -0.4271, -0.0135, -0.0338, 0.9963, 0.6487, 1.8996, 1.1316, -0.1074, 0.4545, 0.3031, 0.7482]\nstate[eef_state]: left_x=0.2909 left_y=-0.0004 left_z=0.1697 left_yaw=0.0005 left_pitch=-0.0572 left_roll=-0.002 left_gripper=0.9963 right_x=0.4191 right_y=0.2249 right_z=0.0593 right_yaw=0.086 right_pitch=-0.1975 right_roll=-0.1169 right_gripper=0.7482\nstate[joint_eff]: [-0.0615, -1.3197, 7.1726, 1.7411, -0.0317, -0.0366, -0.0122, -0.0205, -9.935, 5.9282, 1.79, 0.2466, 0.0317, 1.0281]",
      "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]: [-0.0219, 0.8143, 0.6147, -0.4271, -0.0139, -0.0338, 0.9963, 0.6487, 1.8996, 1.1316, -0.1112, 0.4507, 0.2974, 0.9957]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=0.0008 left_pitch=-0.0572 left_roll=-0.0018 left_gripper=0.9963 right_x=0.4183 right_y=0.2251 right_z=0.0585 right_yaw=0.0917 right_pitch=-0.2027 right_roll=-0.1207 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -0.9915, 7.2, 1.6679, -0.0366, -0.0806, -0.0073, -0.212, -9.7846, 6.2154, 1.409, 0.1538, 0.0757, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ca962696a878c67ae787ef529006d2c01de14284d44c637d892e49525fac73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dffe553af2d52201c4f2d28aea444f069728c4aa0715d071208e48e493bb701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1b7c5e9d1e1fd74aecfff4f6bee556d2d259a5a632090184eb8b7dff270dd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCx7p37vJRTPAl9mxPtHxt5BczrP5MmX2AOKsgUnhSYN6c1Kqb9OlkbRFITmHJfRZsENCxnizqwJEr_aqh37-Kamm9o4QdYBurSuo8VAD2PYPiIRKAFCwJsOUN03LwpVvnddh5TEKTnwO24j19OIrX7LP_q0_8dAbVE08OhKdrs7qhZFHcE7d4_hJynp-Ukql1fnwQVPuzdRfR8i3ZvbmcR3UR4bJJCZcB4utOx4o43Q3yXghgovSa4eEV4kn4iaPCIoeC8HFEcPR5raTSH1U2RT0qopu3EHpC-q7j6vf4C9K2aEAmzmimh6EnuTBeNWCxGgrIom1laAEg-_WwKuChDZ04WsQ5g8omYdgjECUKqNEBPAF2WYHE8br_mKOZClPIUhkJpTOneimrn7rDWztPTzZMxInXw60fcofLwgrYLa_VAUFYhmnHAbU-ygDU7K0RX7YnDj59BY0ewV2f20XLT_ayx_wP5yQDWX-RR5Q0BrPlMhNp5qe7iPmK0dhT-657Zhxr9UseAeHmW09J4N3b2XsxhxI2tSZqLiWKzbOxhZM-PFApu2hYloC0c1CvhovqjDvnsze8xRb6-fnnceKhWzGp-cubOvQX1iQQwqQ6b-TuVz7ZFkknu6AGbTKs58FEbBmGY_XGQArhSs-WMl7xSDv7A5Xp4PWXFzw7nu8kudnUhB8g_D8jyLDs4CzWsILlOFQxaSoA7C1vR5NZgVKji1tsfjxqWAAfRC_Qa_OVNwjVZvg9WbBD7aa25zZZf2a6_OyDilMTziiTaNwPhMVonCLi0AYCe8IuIBsP1bYbMEma8-1t7A_n20CEpCFvfpLn4fpg7z7HcaTGW818Na-tD9Kz4y_nDby12JRw1Xno13znZyGObIE0CJUPUZplB-6sh50JU6dcizlawK3-8OLoatd24PLnTGXB4xrwzltS0F_-7UucvUCz3WAs8IQIUnm9yq4u40yAlCDwHdvR3FmNZpE3y0vfsnZKvEJvFmXFDjpXwXhl7HnB9XlcFbjXhfNFQCh2WxlPRUeA98COhCM93rO6GD1K8JD3PIXNcmeqb5GHOHhVLBJ168tRUeL_Lepb71FTP88mIRLLKHLtj0ECO6OW779rlFCKV42kaCUwxQHfIZfF32J_3Zzc4tulKEcoGOXSKXzPTb0zPBolniqcgVoYNkOgzbSIoCZC_jP7iCd-M-ClV7TkRgAB-kBVtMfBF8PYhVJRXCROQX064Zrbs0umaSaPFzczCzxfRObuQfNPzBVIEYzOrx8-fdBQwEqZXx2T-OaHtC-2MmmUjOzdc96JlpjEdyCh1BbFO2gELfySsSn8JP5K_Zd_h6_P5uL3WqLZy_5ZF1HSabFq87y6Oaoh1AevbGZpsLSTH-wCQ2ciepOxuGCD10dMlXZHDH1m2ff5ltPJgipQUKZ11J-chNXHMj0-L2zHtwcKBwrQUpSY6aO3jgaLclIWmnG8N-tlBA4sZL9VZbgg66YfxEoDMN_nWZcNodDRzvvhOV49dgKwYTvcib4MydclTy9e_vcQOYzEkFMeb7DOUY72zm1_-1VLS_t8xNvZy1ZTKlRSw4QPJ6s2qqTf5OI-e3BUev3FE2lwUhdYAbv7LBQuhlui0fXIk3evLoIbIuYKa6G7CoOvfk012oJD4dh9x2IJpUuHWTEY2xiBmHQcLjPMa0UEHlRxURAchIe63ggCwFw1pYoUCp61K5sfx7sgsXogRvQlrzqXjIgYqLxexKWMTc1zwBtw==",
  "id": "rs_0b1c1beb708221f3016ab42c78076c87d0a45d41c28f60743d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.285,\"right_z\":0.15},\"note\":\"The jaws are open and the fruit remains below them in the bowl. I’ll move clear of the bowl and approach the yellow fruit in the middle for the next pickup.\"}",
  "call_id": "call_IKxEqlzht7oZ5BkhR9r9U71t",
  "id": "fc_0b1c1beb708221f3016ab42c79c4f487d0931f401f6f9ae875",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IKxEqlzht7oZ5BkhR9r9U71t",
  "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]: [-0.0219, 0.8154, 0.6147, -0.4309, -0.0139, -0.0338, 0.9963, 0.9321, 1.7782, 1.3285, -0.6151, 0.5983, 0.543, 0.9963]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1687 left_yaw=0.0008 left_pitch=-0.0622 left_roll=-0.0017 left_gripper=0.9963 right_x=0.3308 right_y=0.2847 right_z=0.129 right_yaw=0.1073 right_pitch=-0.2492 right_roll=-0.1619 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.388, 6.9949, 1.707, -0.0757, -0.0708, -0.0122, -0.4581, -11.3846, 8.1162, 1.1062, 0.398, 0.1978, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5030efaeb91bd99a5c862d63ccb4ebc7b795427f08603d4d4ce7680e5873b765",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b3c7cfce13746e9ce76d1df0ea9d52486aaa737f2ae27306b6c17e28a7fc35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6940685e10e8f726128494c1c953f81312e99b1b37a21663af015f91a98775",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.97 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]: [-0.0219, 0.8124, 0.6147, -0.424, -0.0139, -0.0338, 0.9963, 0.6495, 1.7668, 1.4254, -0.4992, 0.4664, 0.3099, 0.7482]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1709 left_yaw=0.0008 left_pitch=-0.0523 left_roll=-0.0019 left_gripper=0.9963 right_x=0.4237 right_y=0.2265 right_z=0.1758 right_yaw=0.0773 right_pitch=-0.163 right_roll=-0.1005 right_gripper=0.7482\nstate[joint_eff]: [-0.0068, -1.8256, 7.0359, 1.7265, -0.0611, -0.0464, -0.0122, -0.6496, -8.9504, 9.306, 1.5409, 0.3541, 0.0317, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.8143, 0.6147, -0.4271, -0.0139, -0.0338, 0.9963, 0.6487, 1.8996, 1.1316, -0.1112, 0.4507, 0.2974, 0.9957]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=0.0008 left_pitch=-0.0572 left_roll=-0.0018 left_gripper=0.9963 right_x=0.4183 right_y=0.2251 right_z=0.0585 right_yaw=0.0917 right_pitch=-0.2027 right_roll=-0.1207 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -0.9915, 7.2, 1.6679, -0.0366, -0.0806, -0.0073, -0.212, -9.7846, 6.2154, 1.409, 0.1538, 0.0757, -0.1783]",
      "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]: [-0.0219, 0.8154, 0.6147, -0.4309, -0.0139, -0.0338, 0.9963, 0.9321, 1.7782, 1.3285, -0.6151, 0.5983, 0.543, 0.9963]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1687 left_yaw=0.0008 left_pitch=-0.0622 left_roll=-0.0017 left_gripper=0.9963 right_x=0.3308 right_y=0.2847 right_z=0.129 right_yaw=0.1073 right_pitch=-0.2492 right_roll=-0.1619 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.388, 6.9949, 1.707, -0.0757, -0.0708, -0.0122, -0.4581, -11.3846, 8.1162, 1.1062, 0.398, 0.1978, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5030efaeb91bd99a5c862d63ccb4ebc7b795427f08603d4d4ce7680e5873b765",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b3c7cfce13746e9ce76d1df0ea9d52486aaa737f2ae27306b6c17e28a7fc35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6940685e10e8f726128494c1c953f81312e99b1b37a21663af015f91a98775",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCyBHbdSqmop1amqmTJOUZoZMD3ODxziijSmP5UsfxPTzq7C4116Bl-h2UlRXh0QKl2JKqM0IO4PAGfZcR0hCzwInwkkuIwO6UZr678AdkkLqz7yzc8D1rl6FgZkmFJBH6TJjJXHLJAaEN8e-fVpUBgT6C-wlJY09PmMgux_B7Hpa9xyhOFJbWsiZW8Sonjjltxme3Qwpg9EuAHFF89lYr8nN7-pKGlfgFSdUZcs1ZwLWkO9r_1iB5P0rbPbWNHNYTNFiTYyS2hYHKxxDFwu6Evb4mJvHgPpbSLSrOhs99AiZj1SIOD6zXtEsryPl3T6wnDLX8HVJZgDs5WNDDTVHvA2W9Pjf7UhIbbP1fRZ7B8LlDTa70dxCRtEbI1ofFHThAo6Lf4TlMrOx34GKl2IF-zJoVB7SE6M_8iy3BFmvD4_hTFY-eE-X4Ag1nTUcZEfJVF7Haj7qeuUiqHac5GvM-CNibq3Yzl-Fg33XWamU3jqEDcvLdUyad5RpSaY_i7uMZxHi4pNVVFMH1ygKecd_tfgR-AKD7BMTknyz0UbU_nwHdVnQ40sMQYy_mXVoTXkgAp4FeOFhTcgyk-eV3G-y9g-pNEb8cNJc9-m4xEC3EuAWTjsVkMxLkYRP_Hu2auCIrIjbj4YtN4mXc0EKWJGqv_cMBHoFTu5vRi7ATVA-ICkuqY-1-npQRXJueHtTaeeOrWk8e40Wd_J3bR_3oNd6fvmBJ0GESY6DmGhpANLkGY-AI9zrEVG2J5f44VjHt_Hi4O9MeiscNuuG2-L7kF8z1KoZ5Y_MbBUXI8jJrIloO9ZbMGoOL-e2GfFD5u7YhQ_wT9XJN8GnD7Nbg1wV1k6cA4pMNQ8ySX0b_ZVLD2Une72kmAvtkMyvL9Gw4yWV7y9ZqBqyjaZa_8FkgB9tCu5IjzmU2Ya1wgaFd2O-uv_Nh2r298F6QdE3ZX5VPwzhkfThDv7zlr9wIjXtpQlwACnF1xjZYVkbtJ0rm4XgbLe3hWPmhWtdd4rMBPWsgY3hitxNEFbR-Cc7elipiqxix1QQ5VSCoYuA83GP8mZND6neZTw6Qa3WWb5jHLRR9EHfKAEq-A1I705c6RwVxzK-2a68OVRqCh_bCVe8Ga0F6kWx8kV9Y-2tY05mCzl7sSeueh14n4P2NLKBpLgcHCAjfpyPUn62nhbPTM6n9DSAnzlTA_vjGL_X0eBp-_w3MWOl0iphJF9I1l69L35QfHtaSmuIh2JsjuFo6sRGFA1xI-gnX-hng4YjKviABSTk4tN2rtE09jCnxVqeRaWh1UCbD0sRGqv8B63JbZZvkGkZIzs90jXcxi5tgy2J87TNbFZPfiayoRtgsZwmhZn68FU8yxaYKplb4-6zhtKoXk8Hb6rD3m3UIyxToPlsKUfk-U3cTGYo4hlpOmW5Q2rGGxc4XLZXoHyn7m5mXX0krgC1P6384nJO-mGxFHcvNN3KZGYai8wmnt8Cp2i-QxoUw3sgydkrkzmIuTlgCbGej6TbX6aq7USPe-2OWZCRfi9q8_qINAJiP4LJULjM4LBrxcISNCAXumsSStp1wkK5LGw43B7cvppSeaECPpVTK6hCZGjBfKos0tmLBozHvrMc_bG6N1ge5gbvoVNEIrU40q8A2rNiranxsQNs5IgdUg1bNaNm5R_K4s-CHcCOxwHWIyWPBTNJQiuFPNZWgpdt9cJFc3k6qydx6VVSdmeniurT-QkXmO78sh3fijvd_dXIErnDRF5NBr84Wx3QLXKYwAgLzDSbS81Eqm7O_8IKYhrFvmNfOHBIIXcf5GSexqocVxFswcBsw4TibWxUC01jNbZyWapH6zkzWVpT2BpGiDTdpgdmjySEu_G-0hNCjlIvW9Gic1G7YkvclR-m1WlBD2WfAG6XdIO_ZL9uT53UPOr9a44GNMhbvySgsHJExib7GMHx_ml-B2IYhwgiBIEI3SNX9iKCIGS4ytudtFGy6780nBv_DLG5WI9L6DKpEOJzmG5dmMhi8yaffNbcfPDm-jkSigqKsvnXyyX6f6HWiO_CmeuNNg8HWKJ7puhkc0zg-Yr7H7MS7YXOvHmA0RsDarKMknD_WXkHT5NhhKH6JP1yHNkDtPYyVp87nfEGBn3PyASFFGeYQomPUWxHnp0PQf0q1j9i4NlE5qAA6pkS73J5JqCCo9FysoNcVqB3B2RVs5mxSZegZDh2g==",
  "id": "rs_0b1c1beb708221f3016ab42c7efb8887d0981f40728a395108",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.298,\"right_z\":0.013},\"note\":\"The first fruit is visibly resting in the blue bowl, and the yellow fruit is just left of the jaw column in the right wrist view. I’ll shift about a centimetre toward it while lowering the open jaws to table level.\"}",
  "call_id": "call_57zm1uJXyxSikDfUUfPYX6XK",
  "id": "fc_0b1c1beb708221f3016ab42c80db0087d0a0bfdd669f757b1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_57zm1uJXyxSikDfUUfPYX6XK",
  "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]: [-0.0219, 0.8154, 0.6147, -0.4335, -0.0139, -0.0338, 0.9963, 0.9474, 1.9846, 1.1358, -0.2306, 0.6056, 0.543, 0.9963]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1681 left_yaw=0.0008 left_pitch=-0.0649 left_roll=-0.0016 left_gripper=0.9963 right_x=0.3325 right_y=0.2963 right_z=0.0198 right_yaw=0.1152 right_pitch=-0.2543 right_roll=-0.1774 right_gripper=0.9963\nstate[joint_eff]: [0.0205, -1.3197, 6.9812, 1.6972, -0.0757, -0.0562, -0.0122, 0.1846, -8.8137, 4.8889, 1.2674, 0.2564, 0.2271, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6357771cc8a810c2deffc38bcd39a91f373c66f06fbc62b5f0a1c07cc0798c45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e684a37588e707f163e52fadd5a9ed98f019ed0770f5ce103397415fadefbc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e20f956a68ba85b4e058f1bc49c19ca19d4456b1ffe00a3c8bfb68229f70329",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 4.022 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]: [-0.0219, 0.8143, 0.6147, -0.4271, -0.0135, -0.0338, 0.9963, 0.6487, 1.8996, 1.1316, -0.1074, 0.4545, 0.3031, 0.7482]\nstate[eef_state]: left_x=0.2909 left_y=-0.0004 left_z=0.1697 left_yaw=0.0005 left_pitch=-0.0572 left_roll=-0.002 left_gripper=0.9963 right_x=0.4191 right_y=0.2249 right_z=0.0593 right_yaw=0.086 right_pitch=-0.1975 right_roll=-0.1169 right_gripper=0.7482\nstate[joint_eff]: [-0.0615, -1.3197, 7.1726, 1.7411, -0.0317, -0.0366, -0.0122, -0.0205, -9.935, 5.9282, 1.79, 0.2466, 0.0317, 1.0281]",
      "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]: [-0.0219, 0.8154, 0.6147, -0.4309, -0.0139, -0.0338, 0.9963, 0.9321, 1.7782, 1.3285, -0.6151, 0.5983, 0.543, 0.9963]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1687 left_yaw=0.0008 left_pitch=-0.0622 left_roll=-0.0017 left_gripper=0.9963 right_x=0.3308 right_y=0.2847 right_z=0.129 right_yaw=0.1073 right_pitch=-0.2492 right_roll=-0.1619 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.388, 6.9949, 1.707, -0.0757, -0.0708, -0.0122, -0.4581, -11.3846, 8.1162, 1.1062, 0.398, 0.1978, 0.0513]",
      "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]: [-0.0219, 0.8154, 0.6147, -0.4335, -0.0139, -0.0338, 0.9963, 0.9474, 1.9846, 1.1358, -0.2306, 0.6056, 0.543, 0.9963]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1681 left_yaw=0.0008 left_pitch=-0.0649 left_roll=-0.0016 left_gripper=0.9963 right_x=0.3325 right_y=0.2963 right_z=0.0198 right_yaw=0.1152 right_pitch=-0.2543 right_roll=-0.1774 right_gripper=0.9963\nstate[joint_eff]: [0.0205, -1.3197, 6.9812, 1.6972, -0.0757, -0.0562, -0.0122, 0.1846, -8.8137, 4.8889, 1.2674, 0.2564, 0.2271, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6357771cc8a810c2deffc38bcd39a91f373c66f06fbc62b5f0a1c07cc0798c45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e684a37588e707f163e52fadd5a9ed98f019ed0770f5ce103397415fadefbc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e20f956a68ba85b4e058f1bc49c19ca19d4456b1ffe00a3c8bfb68229f70329",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCyG_slQCtIMPtthFMWgxtfDwzjHg6-ElrxRyf9BUbCr1eO3OfAKjpVEqPauIGjZSmxhglGnc2baj0C8zOMuxzApPMeqS_IbGaxeogFiL_195pmFISk-uZiKNPuwSPVN7A0nHXLxOk39c30bq__ZRQ6IbOyn3WwyddF-eyv6vd3eu8KG35OoAZtsPhTtWtCHfclGmGBHMDRGVRwOvF0F82ydYBr6sqSprpwvV17Lnn3RmdEQTfY3_4Vpe1PMgTNY8xjC_kpNZ2z0VsyiUpq3wPGFBSRDhSx43bLqB6Bl3Cp2BpodW108GRNTXAdq0UFtgiezInLdUy777LWzQGKTTs_ZTknm5ybk1Nnxeet3Oo12X7kpj1ZxsE1dnDiEJ-BY7nSmmoYz7JqCmTauEqL_UWquBKxxFOPUdZEYkuflDnekoNarKI8bPYWGFJXp56M1clOvKvxoeSHjsirvsPcw4xle3FccCBEnCe1R3NLaxAElk6RtsJBMteXrxzDeytpHxcIfb0uO1656QsI7sm_xZsXj1SbJHkQ0dHBE5jGBK4upxgaK80vKtkERhYV_9G_ekf9sD2_qR6rxVcE2M5iM4dBb5UoFXTJzwXS9Dd_9f0dLY7NMS-Oba8YL2cRulp44GwZsvATsKMaYkOiYH6rKWwParJN2NX77zs3y-NChMKW7p3Txin7oGNlxDh5UxttTe6vdvfNnKji2ujFsvn5aX1IhxIZ63ep5z6hXudPcyPHADu5FJmiuBL20yZoi48Y_7tmdVSQMFaJWkY2eyzZmbtnQLAmKbbhBhfsXyctQ9GQ1aU0Ss9JOVCLtQ50p-PkiCa3cQkksE5K5of8l1lNHjBud26rIdwFnocEf3t4mMOssXAE5_KZa10xCGGfd6ExYy2PtlreyICkA4g4Ne57rS-TwqfClhPeuhWY3peqCoXXF9f_ZUGzLJBn9EmUYyPrFQSRjclWXxiYTzFZ-od8NyEKnwXJzEfMb4tBhuWEdGRD8ez8TFBKOBruOPN_rPayoqF2_imdian1JdSBrotP8Qy5XsoIs0GS8D75FjcHPj7WwYxvI0qGyHy_pJq5S_54B1wpXoK5EdzEB5VsacEMSct07-C5XpaPEOQ_83GRRmjF0PySVpALCIwaS26UTENjkcgTpISv5Ch1mfHFcfO98wc2dOm9u0RULE6fR6LrMNG3HVxGsnFHSAGKKTAZSN6K_LvV36Ue3hraDeGcD6OH3Mt6yhyYmIMUq5ok2AcWhy87PI65tDFti74UhAAUM_Ras20JOr3XRyC-TGXJea8gHz8WMWEUCdOeWaj7cD7E9Couy4FM=",
  "id": "rs_0b1c1beb708221f3016ab42c84973887d09a3cbc3d943a80ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At the lowered pose, the yellow fruit spans the space between the fingertips in the wrist view. I’ll close the jaws and use the resulting jaw spacing to judge the pickup.\"}",
  "call_id": "call_aR4PMRXAFoto0Hgc7pTe0Hn9",
  "id": "fc_0b1c1beb708221f3016ab42c851fa887d0bdcc96c68ebf0096",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aR4PMRXAFoto0Hgc7pTe0Hn9",
  "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]: [-0.0219, 0.8154, 0.6147, -0.4419, -0.0135, -0.0338, 0.9963, 0.9455, 1.9869, 1.1339, -0.2104, 0.6182, 0.5335, 0.01]\nstate[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1665 left_yaw=0.0005 left_pitch=-0.0732 left_roll=-0.0017 left_gripper=0.9963 right_x=0.3359 right_y=0.2965 right_z=0.0215 right_yaw=0.1136 right_pitch=-0.2363 right_roll=-0.1796 right_gripper=0.01\nstate[joint_eff]: [0.0205, -1.3333, 7.159, 1.7607, -0.0269, -0.0269, -0.0122, -0.0615, -10.2085, 5.9145, 0.9353, 0.2613, 0.0611, 0.8181]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b1e4cc51e22bfb11c41ac3e4dfdee5d3b0ccab76b94e01475632c97eb157842",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a878e369c8202d425fb94cb29f30eb6e919f9424d93a9d9d2ff6d1db8682692f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a402d1261776ed39aafd512b4ce04712374a84dea202e04f08d3c79aee442f41",
      "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 11 attempt 0 · /responses · status 200 · 3.386 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]: [-0.0219, 0.8143, 0.6147, -0.4271, -0.0139, -0.0338, 0.9963, 0.6487, 1.8996, 1.1316, -0.1112, 0.4507, 0.2974, 0.9957]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=0.0008 left_pitch=-0.0572 left_roll=-0.0018 left_gripper=0.9963 right_x=0.4183 right_y=0.2251 right_z=0.0585 right_yaw=0.0917 right_pitch=-0.2027 right_roll=-0.1207 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -0.9915, 7.2, 1.6679, -0.0366, -0.0806, -0.0073, -0.212, -9.7846, 6.2154, 1.409, 0.1538, 0.0757, -0.1783]",
      "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]: [-0.0219, 0.8154, 0.6147, -0.4335, -0.0139, -0.0338, 0.9963, 0.9474, 1.9846, 1.1358, -0.2306, 0.6056, 0.543, 0.9963]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1681 left_yaw=0.0008 left_pitch=-0.0649 left_roll=-0.0016 left_gripper=0.9963 right_x=0.3325 right_y=0.2963 right_z=0.0198 right_yaw=0.1152 right_pitch=-0.2543 right_roll=-0.1774 right_gripper=0.9963\nstate[joint_eff]: [0.0205, -1.3197, 6.9812, 1.6972, -0.0757, -0.0562, -0.0122, 0.1846, -8.8137, 4.8889, 1.2674, 0.2564, 0.2271, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.8154, 0.6147, -0.4419, -0.0135, -0.0338, 0.9963, 0.9455, 1.9869, 1.1339, -0.2104, 0.6182, 0.5335, 0.01]\nstate[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1665 left_yaw=0.0005 left_pitch=-0.0732 left_roll=-0.0017 left_gripper=0.9963 right_x=0.3359 right_y=0.2965 right_z=0.0215 right_yaw=0.1136 right_pitch=-0.2363 right_roll=-0.1796 right_gripper=0.01\nstate[joint_eff]: [0.0205, -1.3333, 7.159, 1.7607, -0.0269, -0.0269, -0.0122, -0.0615, -10.2085, 5.9145, 0.9353, 0.2613, 0.0611, 0.8181]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b1e4cc51e22bfb11c41ac3e4dfdee5d3b0ccab76b94e01475632c97eb157842",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a878e369c8202d425fb94cb29f30eb6e919f9424d93a9d9d2ff6d1db8682692f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a402d1261776ed39aafd512b4ce04712374a84dea202e04f08d3c79aee442f41",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCyLp3dpqGNk5kqQXQP_epgva-xTwN1JQlqD9toXwGlLT6Z36xyZ64ilVUmhlE8yzldYnhTVPKPJK1nr7kYkC-DxrG1zCrOqbl13lZzMw-XMpzZdDtoBOWEegA1_l8fdrdFh30ueAOQthxiy3rX1CAJAa2Uo86zhk_rxbYYRO9a2TG9MF_JI9ap0Ae7vq6EuwhmTq1UiUKKZ3rShY7FfhEVmifXvgduf9crnTxzaCvkUfVknN297NV2Qq7PWIxlAcQZJ-EHGkgZHCf8jRqE2vq6sWGk_q9QELfoW4nQmVl6qAD9GbuIL8uIianieh10HqJXtzituyy0Pg7jgrINqj1KRUq9XzZt4j8dywCtZcrTnXfs-h-4Ha9tUQCaPvV2hjQNHy1tnj3QK9F8wOOoeRA5YzVJKys0CcxOjH0uGApzCA2DrfjqcFjHzABxtD6KQy9iSMgaXEhxjyuUWGOvlzvQE_OdyhpDcS7vhr_IzXpbYtrKHApFNgcZbZ_q7NEM-GLwu--57rjg3QC3_ZOvdKeZxMc_m4OfZdb_BcAqxtMV3Jfo_Nwp1VsQkQPdGj_qsfsgizd1DZoQeY5eUG6Wk4o2axAd77_e8HzJ3SZ_ZAEOP8yWV_xLE-nUyK9YTZbf81vSPcqB3ld3k3vWAlq5gZTgRIp0grkra_Y_GjlOWe6CErFO0NsQ5ZyOLKesHwtQkQDFf7Gu8kT9hh-1VNmkzu8s-WPph-WCTQZ90cX2dv8Vfy3K0vMrYE3-HsYxH-ZLZxh8YStWr-nUt6mug3FywY6qUUVLI-RpJ39eOUj_puRdQrSEjUrcSRBdiIgnhHnbKszx4Cx2qPzeDmlve6DPnWUE_TMHuZNCJg14uermmWn6u7Y_1zNOY0NRX6GvW-UCn327HpB4pvgWMrct1c4DR6x8RUZwYM4nBAqkmNyZBd0kD707Gpy-r4-fL3pzk34xE5pW4DJX5PgP6IAjRt2I4Pckst6BxfP7mYfmG-bsgKFZEYZR4EcISjSrrqBK6InPjn-40k8LM5Iq9kQ2ttUgQV9-F86b046whzq-VWTYyDx8j5DesRLsPJy7lYKiXPTVNA1YjqjI_FncPPrgKdl5U4EyFptT-2LRQBgHmgroitDGp6FwChEabL35qS_9uTgZ3f7Jolj3CXLp2AQ3jwuQ0kTLZICseGN3mOPOigom6QybSHuH05zBlYipF-jlps-5qRGdbqUr46HXz8vAptfBSmLsWfzmjpy934v3YdjDiarNsLmz3vMAc2AV3bXnWk3Mr6q7KGUfgDF9Kojh6ePzNWY0fj6Ta-hFkGcd3wfNAU_nSjkL_RiDMAlEkK7VgNYKfqX2RIMfYVi0900VLGfrOY6bRPXhoEiidC1GjoJmFfkPd2B_AZFRqq90P9nct-tkLZor0GbrGdhcp1mDmrxxtZ5t8DmI6Jhs6JWU_eNsy5QIIsqkn-JT8lDrFjOnFg27C26RFcefGRg6SlXqI1tHyJfbSE8TgQK037ahlZPMf1behlx6bAFluZBlfvQ63KOySRf6G38UoXHTGOM6HXiurXHm2e6ZcQ_0IMGuP35I9l12pl976wApUpbpFZ2R2Tt5VPZJ8MlDudM-jxCS9jXrV4cbDlqtSt-pXov_NooQVdLUGYyFOFcFR38ZyENXkr8w9UBz6OJNHISVst_G4KgTYJJGXElhO1oLWOtgJU9NSK4BPOt3nKU0ES2sah-gX0FdwXVOkKFetzXpZ_4xNsPLz48F8gleYzJY6U7Qdgog9WGvTgt1lPKMT6D2-bol51Cr5iKx-5VEGvJ6tqXLhtHqgZLCitsCv91d4l4_P8nYEs13Pk8UpFI5SnUNzIQPk6lTr944zzrK6U08yBCJBH1YEbPU8k62BrwCXh-RHzfqOfODITSloN_X9rB-UXGYC0zISO6LtVxwk9fhZfc5-82_-DHZ9dQSLqOERbsAblPfiuGjSbB9vVTWXg0T1OwBlTI-SEnJD6NHdl3H9xgrC64y6QqKmxK4B7j1iMnczPdRzwOPyZX9cGpWmtr1XP5qQW9FHSYFNvjOBZTLXIwE9Zj_qG8qFdBXODuusuuh3oByABSr0vEQUfW-xR6c5vBFZ7HYN7x1mIaOvlBQX0jIMlY2xNqYa9lmxLqEvRPB4W89vJ9kW5FOUjE5k6qIN2SKRN6_8-1sKCCnFvkrx04ZCZ0q0sqJFluApuWIoaRPUMY1IgX1qS8Gv557FATXH3N8yWvCXZmbo9Sb0K6F-Qox9bg8d2NrAt0o-s4Q1XqS5NrLhojzLPBGt4r48OaxoFqmPr95Nl16OwrdCFZu4MJWA09KmMarXZlB89D7EY1cqsIwV6kVwW4dyYwdICK3VsENIWbsRUgIPfXyUT2iuDTjamfx1n3PGcdGUnj_3NVytQE17LPgP96M8nyUKnyEhrc236dONYjKHsMfo44W0ucxoC-mqSHl7b1DtmjBbR5qMXexYxwq_0Fm9tcb-oUWcaF7KazA-Kx-8HpRJrancNIVrlXfzIpJGIDgL9cbRkGoBfoJXODhNsI6yhkhpVKABvYdCG37Atas5FAK8yHi8WI1qUKfmyHvVm_8Nm0Q1PIF4PWCdyxuZVyzDCk3_cwy3k7VbpKFKNSnCudsGFwBR55M70rqjRbCojg==",
  "id": "rs_0b1c1beb708221f3016ab42c8868c087d0aa5d9c38550a75f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"right_x\":0.29,\"right_y\":0.03},\"note\":\"The jaws fully closed, so they did not secure the yellow fruit; the close may have nudged it toward the bowl. I’ll lift and clear the view to locate it before trying another grasp.\"}",
  "call_id": "call_KFI9r0EMlUlX34rEUAbzr0PU",
  "id": "fc_0b1c1beb708221f3016ab42c8a860887d09e8ba3f4cad5469f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KFI9r0EMlUlX34rEUAbzr0PU",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.0219, 0.8188, 0.6147, -0.4496, -0.0139, -0.0338, 0.9963, 0.1745, 0.9703, 0.7616, -0.6304, 0.1661, -0.1066, 0.0101]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.164 left_yaw=0.0008 left_pitch=-0.0843 left_roll=-0.0012 left_gripper=0.9963 right_x=0.2863 right_y=0.0245 right_z=0.1561 right_yaw=0.0781 right_pitch=-0.2687 right_roll=-0.1863 right_gripper=0.0101\nstate[joint_eff]: [-0.1162, -1.6479, 6.9675, 1.7656, -0.0366, -0.0659, -0.0122, 0.2393, -2.6872, 9.3744, 1.5263, -0.105, -0.0855, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5446e7f5c095c3dfbd7aa56e000bc5a9ad1f579d3440601cf05d7dc1edfca5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44a53a29b8b6c28afe280cd16a3fc807473508c35027d6671724a6df53b3fb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b4a4540ecc7a7b299269259962a97e9881c311333c73f637e8c685f0a6a0e72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.464 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]: [-0.0219, 0.8154, 0.6147, -0.4309, -0.0139, -0.0338, 0.9963, 0.9321, 1.7782, 1.3285, -0.6151, 0.5983, 0.543, 0.9963]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1687 left_yaw=0.0008 left_pitch=-0.0622 left_roll=-0.0017 left_gripper=0.9963 right_x=0.3308 right_y=0.2847 right_z=0.129 right_yaw=0.1073 right_pitch=-0.2492 right_roll=-0.1619 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.388, 6.9949, 1.707, -0.0757, -0.0708, -0.0122, -0.4581, -11.3846, 8.1162, 1.1062, 0.398, 0.1978, 0.0513]",
      "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]: [-0.0219, 0.8154, 0.6147, -0.4419, -0.0135, -0.0338, 0.9963, 0.9455, 1.9869, 1.1339, -0.2104, 0.6182, 0.5335, 0.01]\nstate[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1665 left_yaw=0.0005 left_pitch=-0.0732 left_roll=-0.0017 left_gripper=0.9963 right_x=0.3359 right_y=0.2965 right_z=0.0215 right_yaw=0.1136 right_pitch=-0.2363 right_roll=-0.1796 right_gripper=0.01\nstate[joint_eff]: [0.0205, -1.3333, 7.159, 1.7607, -0.0269, -0.0269, -0.0122, -0.0615, -10.2085, 5.9145, 0.9353, 0.2613, 0.0611, 0.8181]",
      "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]: [-0.0219, 0.8188, 0.6147, -0.4496, -0.0139, -0.0338, 0.9963, 0.1745, 0.9703, 0.7616, -0.6304, 0.1661, -0.1066, 0.0101]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.164 left_yaw=0.0008 left_pitch=-0.0843 left_roll=-0.0012 left_gripper=0.9963 right_x=0.2863 right_y=0.0245 right_z=0.1561 right_yaw=0.0781 right_pitch=-0.2687 right_roll=-0.1863 right_gripper=0.0101\nstate[joint_eff]: [-0.1162, -1.6479, 6.9675, 1.7656, -0.0366, -0.0659, -0.0122, 0.2393, -2.6872, 9.3744, 1.5263, -0.105, -0.0855, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5446e7f5c095c3dfbd7aa56e000bc5a9ad1f579d3440601cf05d7dc1edfca5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44a53a29b8b6c28afe280cd16a3fc807473508c35027d6671724a6df53b3fb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b4a4540ecc7a7b299269259962a97e9881c311333c73f637e8c685f0a6a0e72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCySxEg7mbwrVfXI0jlHebTUE_xLSlA4IJ2NGNj76sQDptYv_VF95teEaUloM9GKUQhQX0rB4qI-u7SpnrzpwWSCJpYIVKJ8PMNIb10A2_XH7WG__lpKh9eHZgD4NA8V-VTc48q9B349QWIR25Wdav1TPmAI6t7s1T1doqHzYhLg9ltnif4Q5KyCj71qmgKlvriKiyetuYu0xPQyp82VKQSaKPw9sCY9E6dmX180_hfXKU1yufUyAVHfQA8usPGQFdKvTXYKLR-PP-VVONu6Hg-GdD2hx2PlqdQiVxYbVsXDO3KVpPlj2BZIJBar3xqV1snuLu5nusuuDz1CCE8kFOO0-0bI60ra6RweWsuI-c6iyk2CBJzHWrDcuQ6LncBCgTE8CMqVyksYX2m0kGWq3Tkbgl3vD0Y1XD9GrsWEO0pCMLrhw8UTYLk25guKfBXdSI60QhYzk27sU23b7iKthEj22ATOTJen3XMr2pydVfg6zZjxBMX3XD-S7-FtpoMk6mntVXjz8SLP7GrCFe6md9WhQsIXacc4YZHIJ4-fT0n7d6oaKA2VovqTjav4OEvVjksj8LSbWA2nh9URK2cT91ZU2hCj25rNyVCpkvzA_bT9her0rNIrw2C_nWoXmiKqGsG9cG5gUQ5Ws4sp1hiV9l1jqIizw-nRNrbE-E3WM_-lP53Vtj3q2Bw4rftcZBPUkt3qZqvWslYI55g6fYvVv1N3V6VB7t1Amd3GOKkjGyO25GPOHujRhQtQ618Mr2T9hDjxDJbqBerDXTkv7uL5UksWspJZst3ld8BJmhmov6exL4LxOEDjdcllbaBPYm2D_5WBPn-cJf-4xnavaDMC19d49tjC2xeK4HV4KGrFPA2xlseLjkkrbLv3jjgr4PGBt5778SMWIz8UVr9NwsGJVbcgAUKH0a1QoexmJ53qk-fl4oHoei71ZDPSKxIfq50ouYvSFTK1Q-cAiGInmzYFnzxnMG5SwVla394QEK4l4AGevurPk_WLNwZk0ymge91561RW1n0UDmAQM8f2al4Z__JRTQKuC9SkXFLhdnGj6YesnH9PSIZjhYJkEya3GGky7n9qkHFD7ThNgGmksRjQbwCnAg8lF1f5OJr5awksYC9aFFgEMKmhIzjyPF0HPzPTn-7pXuVD5TkKRTvwT6CS1lX5QB2t7dyZ8lFqw2_4Otk1dBjsMujTJ9OLZGXXhStgNdZpAtHjrNfo0BNPanHao73BJHkEYsKy6YB7ivOjbvjLYRW2eQz-dCDLfQG4yb8fvXSlrKXIKcADph0e4i2S8FCDBEAqzxs6uj2ytCJjOKun_xeKd652QIqUTwO6a8odIznA9dxpS43qTH22sAYjXzQdeMQihfLfmC9y1EgwJZIw9fxSAYDfhHzutxy8Kk5equPRo_bGaMpyCx69xHTiB-TMxppcNS1y4Cd3uCENA7bAymu4Pj58OqK7L3ToLZSQ0-NVCDrqnrYZUyHmmdPYh5WuT10B6Fde-0AK7Lsh0VoruK0jfqesSScrgXRd45CCwAfJHn1oN4AQcbQdUvLDTw9KZgTmNYQZzviL82GMoDlYvuM2ltHy5UDA-PwxwWohcg8kmfZ5IAtR5dfaggWvwJBEMiHlbUT9jBBdavEgTucXAfNNoyaAcm7pBCC1FXgMzHI96j66eN6rDX8YkntUsXTTaXRFYxGAprl3XvbxxxaH7s0R_42XYiXBNnBPV8W_-R1jU3fSY9z79qSMDar8z4aY76wFUn7DYJ896ZTZOBIXs5MBT7s0iJD22CCsdrLtyI9GXN85N1mzDlhg_Q2cBl9q_1roDVFKoT1cK_9vztDc6qH_w9KVnIJVziVFh5hYo_J0uilzSKMsBFR-XRHrDXve4cM6t9nhpJG41LggDVokzLlPaVv1I2LPkiM9yrgacpzS_uT4v0O35t-NdeNaptUXeg==",
  "id": "rs_0b1c1beb708221f3016ab42c8fa6d887d0a23341ddd6767f68",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.225,\"left_z\":0.15,\"right_gripper\":1},\"note\":\"With the arm out of the way, the yellow fruit is still on the table and has shifted slightly toward the bases; the green fruit is in the blue bowl. I’ll leave the right arm parked and approach the dark fruit with the left arm.\"}",
  "call_id": "call_SYd4ifUtMJgspLtOF8nRUv9h",
  "id": "fc_0b1c1beb708221f3016ab42c91146487d0a6d9d2356d6820ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SYd4ifUtMJgspLtOF8nRUv9h",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.894, 1.4799, 0.9619, -0.4042, -0.6453, -0.6674, 0.9963, 0.1738, 0.9722, 0.765, -0.6346, 0.1558, -0.1207, 0.9974]\nstate[eef_state]: left_x=0.315 left_y=-0.2167 left_z=0.1375 left_yaw=-0.0085 left_pitch=-0.121 left_roll=0.0196 left_gripper=0.9963 right_x=0.2861 right_y=0.026 right_z=0.1562 right_yaw=0.094 right_pitch=-0.2735 right_roll=-0.1885 right_gripper=0.9974\nstate[joint_eff]: [-0.5949, -6.694, 8.5128, 1.2674, -0.6178, -0.022, -0.0122, -0.1573, -2.2632, 6.4889, 1.536, 0.1392, 0.0904, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fce8241e083e188a19fbe708829f2e9b0157a5d331e9a5d3633ec6515f8e48c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee79cdc7ed30382cdc7870bee8b2b16f609992ccbf0311e65b3e92bb1d08e815",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785cebccc074d2b4e86b5c22b0524ae63164dd1f8d85b1d40b161882f375470b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.367 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]: [-0.0219, 0.8154, 0.6147, -0.4335, -0.0139, -0.0338, 0.9963, 0.9474, 1.9846, 1.1358, -0.2306, 0.6056, 0.543, 0.9963]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1681 left_yaw=0.0008 left_pitch=-0.0649 left_roll=-0.0016 left_gripper=0.9963 right_x=0.3325 right_y=0.2963 right_z=0.0198 right_yaw=0.1152 right_pitch=-0.2543 right_roll=-0.1774 right_gripper=0.9963\nstate[joint_eff]: [0.0205, -1.3197, 6.9812, 1.6972, -0.0757, -0.0562, -0.0122, 0.1846, -8.8137, 4.8889, 1.2674, 0.2564, 0.2271, -0.0073]\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]: [-0.0219, 0.8188, 0.6147, -0.4496, -0.0139, -0.0338, 0.9963, 0.1745, 0.9703, 0.7616, -0.6304, 0.1661, -0.1066, 0.0101]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.164 left_yaw=0.0008 left_pitch=-0.0843 left_roll=-0.0012 left_gripper=0.9963 right_x=0.2863 right_y=0.0245 right_z=0.1561 right_yaw=0.0781 right_pitch=-0.2687 right_roll=-0.1863 right_gripper=0.0101\nstate[joint_eff]: [-0.1162, -1.6479, 6.9675, 1.7656, -0.0366, -0.0659, -0.0122, 0.2393, -2.6872, 9.3744, 1.5263, -0.105, -0.0855, 0.7497]",
      "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]: [-0.894, 1.4799, 0.9619, -0.4042, -0.6453, -0.6674, 0.9963, 0.1738, 0.9722, 0.765, -0.6346, 0.1558, -0.1207, 0.9974]\nstate[eef_state]: left_x=0.315 left_y=-0.2167 left_z=0.1375 left_yaw=-0.0085 left_pitch=-0.121 left_roll=0.0196 left_gripper=0.9963 right_x=0.2861 right_y=0.026 right_z=0.1562 right_yaw=0.094 right_pitch=-0.2735 right_roll=-0.1885 right_gripper=0.9974\nstate[joint_eff]: [-0.5949, -6.694, 8.5128, 1.2674, -0.6178, -0.022, -0.0122, -0.1573, -2.2632, 6.4889, 1.536, 0.1392, 0.0904, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fce8241e083e188a19fbe708829f2e9b0157a5d331e9a5d3633ec6515f8e48c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee79cdc7ed30382cdc7870bee8b2b16f609992ccbf0311e65b3e92bb1d08e815",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785cebccc074d2b4e86b5c22b0524ae63164dd1f8d85b1d40b161882f375470b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCycKWoOyDyXr_wfvrEyRZqyjYPMd2U_y5Et9fkuI64ZX8pEUlqHW_4AKAw7CIcfTIANb7F35LQakN92OxmK07oAC6bS4MqD-GvHZV6k0F65Px9Y_8dSM5MSdR7nIomISndVkfiBAfqnR-r32cYLHweTJw9fALGF52Yb6ipRuNFpndIs4gU_7XiUtMnkrhPY3WXwKVtnSDBq0vkz0lGZ-6hMQYrWMwQZhYQL27H5Nh8B_uHls3hSncoxcHQUfIWbG74V1kxjMoUBv2SyOX5INOSg_fOF1WKbDRpSozSvzI1r86bt7s27G3vr14OJNM27Erm_PVRAGkXxjnsewP5gGNE1J8-wxwJU3rmSJlFIAhjUCiPa7rO7-CdT_swEb7-V97IIWbndc_T5ru0TtxSqctLhYjKYiLKBaGf4vqmTjxLLVS1-lJ2p0kETxFEXkZq2a7aswh3BQ1evw2vYe9XloOegsQtVPvoGyifFu9A26S68HBtPG4RDj0zhcARBDdkjLjCD81PWcRAKnurrSvP1HTpl2QnacuNZWW3awL1oF499uzYP5_nzdxZv7mPNZLDoNbX6MNeZQUMznKfittm-7L9mjJYTU1VC8beZZ5VapKtZ3A6B0xDAl_yP1H1h3Eyn6trmVOwoAjAzRems_oCxqljsUbWdn4czHVffyfZqJ1X8m2LQJWbGv4EAwhQ3yfFd5KA5MhNBFv7tgvROfMFn-w5dUxCWwpIu55Q-9uO1X9MIfr7fwl04dHv4bU9yqzMGC8zhhDX6ZqT0WgGyew53_3MX0xaIqfZGe_cihtZMAfK3TT-86RpL0s4Vm5K712N9ZaMGPPIglBjcEQkNTstlqG565--1SHEkb1NbkL9pbY0_YqgmsBeSCWeiL3W_pFSCfLss39hTlo_iH9dSwaPxseTqBmyLUkWTe6QzsM9hzlAbtv6L-yUljrA1X5ptLITtwnAXHbulXW-om-cCDFt-SIh7INSlMQ8T_QFDFqYiEbD2kz3xqe94mgU-OLjb1RPk7j0kUw-h9IZjOA_HU4ItPS-jyI_yu7IBId3iHzj9RRowoH6Sl-m1QokVz1WmcFnpnTLHUIK7UTnOPfZ2cRuFLyOqN9QNKVd1OA1PnWUPBVac0w0S4RQZrewf79jjdwqBF2Z-pe1y45ewKEb6iTHjjwIvfuH4Ks3Rp0r8t14ssM1tXN-b0BXmU4Ms4Hcafgqu7-07anl_Sb2MibUK0aYkpg5UfwTGnZikPhuVN4Nf0IR0fjluf_ZFcHW9xHlzKORW85KL2TqAsbpYk2_TMrC1Mzjar7z33C8moHPHyUyYwX1rX_0aymPD-sL6l_wjbqR4WRyvZ2Kv2EkaboMumanCtUNppjo_Apnl7F8FzQvL-8clGk85p0RcypGtNpPMU6OVMS_3rDYGgrXJvd8W3Wy8QRSRPJ7hFkLR8jYCMpbzb9vV6GAMFWHSo9UYUBICjlpBV9nmLND_ut5tt0uyU_uECTSWjWuw0nLS8JZS0ijkRJl0L517MxTPsL0wYfPZ1JPHAe1VLjCB8cpHXONOJOJUHJ0jzsYpBdiatV-KA1E46Btny8VON6rher4DZqJuJKgjpXzhUsQawe3sEAuW9cf_NbsRiTk9BSyIfxQCQzurhtvMqvRNdDhRjdOQprmx9WHDkNTLhPSkM6PN5_dkhytH86yttnqmy1I6Zrw_v4TD7DtXIo-2jOixVuyHJWcS6JVPMiR3emq9pRxt31GXSpm8IwtfDq_svd2AFwWTPwjfUPz7VOlHErUlf6XbKU1cf0d__a7_thZS1YflheBmAP3qabifWn4OVz6x91aWJc9mB6zozov9pEWY88_um_L_kegxpjEGGk0-R2hkkE57cSQEIRO5NYEnnolGQljdGK2ClouNK0UnYAs5QosjkcDL2J0hGKgzRMY3xdz7jp6xU_9hLVbAYPF0kfjsJ05KVpRxcZ_D6-v1svbU77g5KpuCT1f6znUldtaWtvpuJmNp0Iw6UBqv_zZ72hkeKm9XRZWBqa1xj1353oW65fUFDsZLdNJfBgQWqYJC-dw7bfo9QmPA_YjXnOz5W-aFGr4vBOiCerGzEWjQwrmV75N41eJHJatvxc6rgp7jP_HhyVyXEbGVbqPViA==",
  "id": "rs_0b1c1beb708221f3016ab42c99e35087d09fd1e6a0c57935ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.337,\"left_y\":-0.197,\"left_z\":0.018},\"note\":\"The dark fruit is visible near the lower edge of the left wrist image, slightly left of the jaw center. I’ll shift left and a little forward while descending so the open jaws straddle it rather than brushing it away.\"}",
  "call_id": "call_SFJJqzaSXbqyVDi5pVniriTd",
  "id": "fc_0b1c1beb708221f3016ab42c9bac3087d0ad7abf2b34cb20f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SFJJqzaSXbqyVDi5pVniriTd",
  "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]: [-0.7956, 1.7329, 0.6853, 0.1081, -0.59, -0.5884, 0.9963, 0.1738, 0.973, 0.765, -0.6346, 0.1551, -0.1215, 0.9983]\nstate[eef_state]: left_x=0.3282 left_y=-0.1894 left_z=0.0154 left_yaw=0.0115 left_pitch=-0.1671 left_roll=0.0632 left_gripper=0.9963 right_x=0.2862 right_y=0.0262 right_z=0.1559 right_yaw=0.0951 right_pitch=-0.2743 right_roll=-0.1885 right_gripper=0.9983\nstate[joint_eff]: [0.294, -7.1726, 4.8068, 1.5018, -0.2418, 0.1001, -0.0171, -0.0615, -2.3043, 6.7897, 1.4237, 0.0317, -0.0562, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f733119c643c17ec1f470afbc9aea2feb66749d548b9d3f353a502c6103f944",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14db3ebafa17c42f5fa4268f63dd4de59c5d3f74eb90a4b7124287655d33fb5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9daf8ddca9b83ebfba931871326ea66ad2fed9842615b7935c85e92787641cf9",
      "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 · 4.593 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]: [-0.0219, 0.8154, 0.6147, -0.4419, -0.0135, -0.0338, 0.9963, 0.9455, 1.9869, 1.1339, -0.2104, 0.6182, 0.5335, 0.01]\nstate[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1665 left_yaw=0.0005 left_pitch=-0.0732 left_roll=-0.0017 left_gripper=0.9963 right_x=0.3359 right_y=0.2965 right_z=0.0215 right_yaw=0.1136 right_pitch=-0.2363 right_roll=-0.1796 right_gripper=0.01\nstate[joint_eff]: [0.0205, -1.3333, 7.159, 1.7607, -0.0269, -0.0269, -0.0122, -0.0615, -10.2085, 5.9145, 0.9353, 0.2613, 0.0611, 0.8181]",
      "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]: [-0.894, 1.4799, 0.9619, -0.4042, -0.6453, -0.6674, 0.9963, 0.1738, 0.9722, 0.765, -0.6346, 0.1558, -0.1207, 0.9974]\nstate[eef_state]: left_x=0.315 left_y=-0.2167 left_z=0.1375 left_yaw=-0.0085 left_pitch=-0.121 left_roll=0.0196 left_gripper=0.9963 right_x=0.2861 right_y=0.026 right_z=0.1562 right_yaw=0.094 right_pitch=-0.2735 right_roll=-0.1885 right_gripper=0.9974\nstate[joint_eff]: [-0.5949, -6.694, 8.5128, 1.2674, -0.6178, -0.022, -0.0122, -0.1573, -2.2632, 6.4889, 1.536, 0.1392, 0.0904, -0.0513]",
      "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]: [-0.7956, 1.7329, 0.6853, 0.1081, -0.59, -0.5884, 0.9963, 0.1738, 0.973, 0.765, -0.6346, 0.1551, -0.1215, 0.9983]\nstate[eef_state]: left_x=0.3282 left_y=-0.1894 left_z=0.0154 left_yaw=0.0115 left_pitch=-0.1671 left_roll=0.0632 left_gripper=0.9963 right_x=0.2862 right_y=0.0262 right_z=0.1559 right_yaw=0.0951 right_pitch=-0.2743 right_roll=-0.1885 right_gripper=0.9983\nstate[joint_eff]: [0.294, -7.1726, 4.8068, 1.5018, -0.2418, 0.1001, -0.0171, -0.0615, -2.3043, 6.7897, 1.4237, 0.0317, -0.0562, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f733119c643c17ec1f470afbc9aea2feb66749d548b9d3f353a502c6103f944",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14db3ebafa17c42f5fa4268f63dd4de59c5d3f74eb90a4b7124287655d33fb5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9daf8ddca9b83ebfba931871326ea66ad2fed9842615b7935c85e92787641cf9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCygh9Bw3AW_vo6ZZ532-LGDmDFIYSK8IxJmjSUgkPjV3_XC8saAQgfS7IKVCDtlY2RomY87cTlWvwKU5wQhLkP4jnjYKSq0F9AtkgyfdbtX4OyCeM89wSatNzk5r-lVpg904QlzA05Q7l2QCIIYNhShl7lo96iRK2PLol0YdgzgiU2A04zAUAQ4drm4k0vk1rowzyEHlbXxWFPSUlUJUYnVbWuLKhTNV_3SWEY9U-noqaZoqk8pyFa3EfZlvFW2IKkV3DPh8K1Lqz3i3K7qPCq3HLF7eSjc2xVGpHvsk-9BJgIGbkob0MMuoZt99VmHh8drF5n-lW07br-LewTfrg_3sWCuJXKk4XDV1f5nBoLh5mQpp2DC_LrvazfxXXySHYxPJVXC8z98rR6kCCXfmUtA_lTIkG5X41yitoaL0gzhpHxMLkjsZWbMlNUt3j7xNXib3SuCiH4Tb2cAwUCBwoKUj36W_uQdHoXbvvI95dtX_9ng4DsbH94l1hDGdBRgjJNtpexJB_QgHP-hUWnM7QToW_5kobqMSHTPJkdsklGAMDJJ2aUkCh8yK8fY6B2jqTfHHxFg4PP6DGT1BlPfR6xrUQYYd9ZDY6ZxEoiqiMyGOyDQ_MykrobXJYBBbqB0LTSD_DQ6EL0ClsglF7AQqqgdQlj6IXsuYYuELa5fNrgd2PdMwAuQ_kkUYngo8oSB24peVjM1pslbPSsLSl4jGNt18Q9DXiKviBeOTjqZH7Wm8VnJf_A2Nl6dYAdvozk8aHx1vW7qFKyqk8iLoOmZpuMWVNBB6Gj9KSBGsqM7-OpCJ5v89IMY9VnFdbGujKBV3Ibnfn5yDmzKy2a9aBmamfF-NmvMSp1sNFwP0yo8KDV6SwP5WrHTXgDyMdcdB0Ulgi1_9qwDYJlxcynunyWlLI0y1tWjkZG7JAbX9iV0q25hfvBohBZjET3gS0ps3s-5iHeY94HKi8k6Bu_dFZuT2z7Vkk5pxgH9Ur7aw0HRwKk2hbRGgHgiSZbsc2MI10UGZ1eGwOWAixQGGF7iZ9K8r-MG5ynvc1yOFdv8BgjYxWO9sfLEshSZzxmdMsUJz-X0ee576iT0Z4KhHna4gBE5-uwp9DSFoKbkVfW_EuIjx9MPANjbf7WUfGNXA8aWQ9K_60dd7wiwBUgo84TEEmF12ejiGDm8yifcxHa2Z-6_r2Rlx6-LnE0V5XQUc4DAr0qdGLKf5Brqe3ieZSYSt8wSpADBySKXc1ReEti3j_mZElIppYqU9a6FSwm610_a_Gy0XdLCi-mDh5bXbGlipYegL2E-Z1H2NvjLaC0HHjDOanQuNt6YXK9S0utCHdnG6jiN_059GiFhTdwzjzN3BIDVRzWNqR6yOR_6-ETTssTrxuIQCjSZeULdftFfaxJwh1YBQwj1tbqd2PcdieT2SIzPGL3GzbBBLahV6MSirYPYdgziCPIVsDCmMWqavjf8F6M0LlvC6tIlZD00PmBPBBYI8mJNUuBuwekUL3WA18fTE5YoXPs9gOfo6htV3htzvzzPQeFNlcR_1NEV-OQKhT8JwbCMROJL9VyxDb5tE07p1T8yxehmPADIu3Ipyfm-dwN1w49MaNhluZxIiEI2-Y_GGy6pUFTx-uJ8s2WpcqHDqpip6G5IwRna_2-updfqTB5kcf4bTIed8Jpb56EWWAGjpk858CBc-MoZl9A1-tZTf7SaAJtv8pCwNM4iYVLtPWXfS4UJvrVQTDlLtqe1HMSMq2XyIWZ4Bz9vG4HhJkLsMJmhL6BytV0QR8nZH9s90yI7p9EvTQKAIrZbf_YAzPoCq6glaHKf7WK7ip0Xa7fIiCUPCF0RsfWMXTK7bORQWFIjOm_QYOlE6qcHQRtT396uho4fPo0pHbb8EKDVheFtxXZnAc-vdO00SdHPaZfn6iL24PHOqLGgpJGPA7qMeKk2Mhp5Y_2diwRcgzj4SRcrtgYYvn0C3SEfvHUWv2l6BLYSE9Pp4JB_v4pjQWPUoSAdLlWr_tJ_gXPVs-2MD11fv4KevprLeuiCkC6YzMv9IqgiCrqvg_BhBqPnNLVj9PEH4kypKmnguJCGD83XRcBX-NNr53N1Xn8YrOETmtCukne9eId41UcYvH4AN_jdIouYoHtKD13PZqpkqwZsy9OmaZpI9ssu8NdHjuIqR7xK0HvAHXh6ij1ZJyYcy_KIvZoHFxEwAlNSHPBSlERp5n94IUCrX1gdhubuOkSiSp1PhFQFSpZhXJgVlEa8BpqUDyionC_hok1ozKkfiay63uOmeXD1uo10_l38MT3WABDhfJTiFCAsbqa3ipKQLuOOPmvYsHYLtg==",
  "id": "rs_0b1c1beb708221f3016ab42c9e116c87d09a8e7570f7386797",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit now sits between the open left fingertips, nearly centered in the wrist image. I’ll close around it and check whether the jaws stop on the fruit.\"}",
  "call_id": "call_TpVEAOEHP89PZvvdBcdsHfpl",
  "id": "fc_0b1c1beb708221f3016ab42c9ff56887d09dfed4d717d351e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TpVEAOEHP89PZvvdBcdsHfpl",
  "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]: [-0.7944, 1.7557, 0.6712, 0.112, -0.5838, -0.5915, 0.5169, 0.1738, 0.9733, 0.765, -0.6346, 0.1551, -0.1219, 0.9983]\nstate[eef_state]: left_x=0.3233 left_y=-0.1851 left_z=0.0034 left_yaw=0.0145 left_pitch=-0.1935 left_roll=0.0818 left_gripper=0.5169 right_x=0.2862 right_y=0.0262 right_z=0.1558 right_yaw=0.0953 right_pitch=-0.2748 right_roll=-0.1888 right_gripper=0.9983\nstate[joint_eff]: [-0.4581, -8.9094, 6.3111, 1.1844, -0.3883, -0.0073, 1.033, -0.0752, -2.2632, 6.8034, 1.4676, 0.0024, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93caf884c7d8629f15127e4df26e5245183c7f50ab3800cf0859ec355abbd6e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b466ad50707935079b02c6cf8bfe66459d8eba178221fb1170d91b3b9529c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3489f3166a30daf470474663e2097f550ad1b271b6b43ea0958478d11ac74dcc",
      "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 · 2.384 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]: [-0.0219, 0.8188, 0.6147, -0.4496, -0.0139, -0.0338, 0.9963, 0.1745, 0.9703, 0.7616, -0.6304, 0.1661, -0.1066, 0.0101]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.164 left_yaw=0.0008 left_pitch=-0.0843 left_roll=-0.0012 left_gripper=0.9963 right_x=0.2863 right_y=0.0245 right_z=0.1561 right_yaw=0.0781 right_pitch=-0.2687 right_roll=-0.1863 right_gripper=0.0101\nstate[joint_eff]: [-0.1162, -1.6479, 6.9675, 1.7656, -0.0366, -0.0659, -0.0122, 0.2393, -2.6872, 9.3744, 1.5263, -0.105, -0.0855, 0.7497]",
      "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]: [-0.7956, 1.7329, 0.6853, 0.1081, -0.59, -0.5884, 0.9963, 0.1738, 0.973, 0.765, -0.6346, 0.1551, -0.1215, 0.9983]\nstate[eef_state]: left_x=0.3282 left_y=-0.1894 left_z=0.0154 left_yaw=0.0115 left_pitch=-0.1671 left_roll=0.0632 left_gripper=0.9963 right_x=0.2862 right_y=0.0262 right_z=0.1559 right_yaw=0.0951 right_pitch=-0.2743 right_roll=-0.1885 right_gripper=0.9983\nstate[joint_eff]: [0.294, -7.1726, 4.8068, 1.5018, -0.2418, 0.1001, -0.0171, -0.0615, -2.3043, 6.7897, 1.4237, 0.0317, -0.0562, 0.0757]",
      "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]: [-0.7944, 1.7557, 0.6712, 0.112, -0.5838, -0.5915, 0.5169, 0.1738, 0.9733, 0.765, -0.6346, 0.1551, -0.1219, 0.9983]\nstate[eef_state]: left_x=0.3233 left_y=-0.1851 left_z=0.0034 left_yaw=0.0145 left_pitch=-0.1935 left_roll=0.0818 left_gripper=0.5169 right_x=0.2862 right_y=0.0262 right_z=0.1558 right_yaw=0.0953 right_pitch=-0.2748 right_roll=-0.1888 right_gripper=0.9983\nstate[joint_eff]: [-0.4581, -8.9094, 6.3111, 1.1844, -0.3883, -0.0073, 1.033, -0.0752, -2.2632, 6.8034, 1.4676, 0.0024, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93caf884c7d8629f15127e4df26e5245183c7f50ab3800cf0859ec355abbd6e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b466ad50707935079b02c6cf8bfe66459d8eba178221fb1170d91b3b9529c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3489f3166a30daf470474663e2097f550ad1b271b6b43ea0958478d11ac74dcc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCymPCSVqj0YHRtqP_cGc7gkXuHKWyv-eFH_d5IoYTGEKcXF7M9quZWT3IBFfcp9x3eSbBoUXO39qm4O9kbDm2RTz10txkbupbzd4qIY08C3p8s1XPR7izc2FxgzH5eMOPcRy2smoAGCSQYgw87dAJ-s0ekvHczAVdix0FNjEH3hT8FsaYD61uOgi6xXZ2DFwolO_V3RQVO_37Os5JtrqYAjTAT0jWsuzDsZEd1W3tiqkKlSTocRovy4qXk0Y49u7VYa4AebSLJ0Y_IXkmYQx0Bx9PvnNvZzC_h9QhfG2NzoURWykDoReNdBcRzURnbZaxwjdka_YuLbh3q4zkpwsvNJhOk-WExzWwhz0Zygiz6aDNRvOQQvFuN1TVAaAAfez3XZUXbWGCPPjEUXCmJpwkfwqitwt70zoXUegJT0160I3I96rIFp3Yr6Lh8vpU1q1IKrTKUiqq2VpBnwaRcM8PATtHr30neTiGqkz5Ax5bKGLiStULV8B3oMivp2RJpLGtMLAFtvA1dSHy4iPBnsOJi4WkhMnEWvSc359-19c7l8fKZd94wR7lqh93RDrV_FIHkUctET7NW3AgPATk786VYLIqsOqR1wCtkzFM0qWk0_MStZGzgJN70iAe_Hc8nO1ctNkn7q_FkAS9_YucUb9bgCjqeEo2gcvx3QWgmJIUBGw8mWx9Wv0vHrIQSWalQtclBxKNrxhuL49_pZRuVU1oOiTw1taUDM79js5_SR0xEvY4d4TjFr1YprJ9eu-OPJdA4IYMp77t_C0Xgg7iiKei7FGq0qKzmap_51eiC9Yeq-ovFdEbyRwE2fKET2broprb6wkuMNQqngMtbGdgcjx_OqRdUYG-nmL8LY3662igfS_vFkBKr0LIp3eb3Mz4SQ5pnKBLKk1QKTeOm8gIrAI2leDwOgAdhQTPTSE9iieGomQzX5aVOI32Ia0FtmEdOoJv75HvIpIp-2TBwznjwZIIrftRat2po0XMf7yunoMDefZrSfp_J9qiGTS72Xdrq9yMIn8yp6PIgkZXeQ1hHbB7qziwiFGO0rdGL84giySNHMcse5Qckhte_jLaM6h4iyqif1lA5HjXnpvVj6oipvcXmbS4NJ8-IyPcWsNvegwcj2x0L0cHxmMtRPDyOPXEmIQyrYiIZf8L7jeDDelhE6CPbDoLYtAYsTDj3mQ9R15yt4Ik9rILF9bgUI_TxcGmEMVCQfXtvNiitn9VO21Vpymod3SLFQRsGluiR4Qit3Mkats_o_pb7LT6BQoUWbLzn4Ol4I69BrUp9XuQ23gW3nnzSR1CFrBPlLXsXtvn7cCtFx7oXCY9_qatAN5IMJ8KfesW-f-SGvcZXRXdDAXb1vB1FkUToqgi-0DKFIYcBjx9yMyRZkXA0gODq9V-1yAS7tGPPvQVHl49OU205oEpuGJLrRnwJKSHk0q5wBzYAasZwSU-4SZa7FOgBnFsW2x5YTA-8fLauSmE58wJPd1znzSSl8ac_BKVQag_nU4JnavQ41gRHDLHN6oTTJCL41dZTPxglQN7Uy8DMmlL9oqdClmqawKoxPMSMsbysYNkc2_XPXI_jWq8_NyNZgAJ8LsrBL62JMzdCY2wOUc0s5mXTWncm664LYUlpevE3Bq0ObgcybODrpRqcSkZ81rJUsmXNq45MoMkJ0SrdXqqTbRUkIWmL_5ilkIFkWoH461TYIYSR6mgndaLRkOW7rEFVk3d-JOoQOJdNcE5ih4nfK6R1nnzKq-bCYXAJ3dEGI3-5WDeGJsXxCbQUC0BRE66bdjxLEhiVB6MC-u_Li2ZEEFetm-wo-cFsujUQcM_hIUeZRMk_XDpqEcQ9tNGxfj0ftRwf3KzdmdYQZmRGCr9FLPCARZqX1JbJC0pK7f4bN6BV0YfJRziyW4vmQzFoSltO95h0k2lmrAeXtEXBs2vamBfLprP7bq0c3YoXF-gT3FrFUR70nS0HWkDiZxSQ0S7C7NRRnHArWjz0hUd4MFvGJp-ulhwFC-tHsvrbftm_Gqce_T3I6dvjkk5Je3yY_9dahfK1JqIYUKY_o3Vd7uWoDAl_DiZ1SMJx-LMnCGrtxIISLgkA_U3UM9q5_AH58pffaFvr547_Krf_jZbWLpFNfpt_wFFueUz5grOKAVO9EPXjbDFBSSAsX6X4_G2ylHpF2r7jLXAPY8QG-kJfNzQaet6pH5aAnkkqMSN0hFEbSYbzMW0Gv5vKa5avIr-vIYGe4EO6i4XU01mULJkMKqVNWkNwfIE5eWeZDjK2v5uoN6vkD8i1ZoxGxZUZ2RVllK_kxN0KnmGx7gehfymEX99Sue-daSj5bJBwEmmWWWU5tEhd7k3-TXxBokGF68gsXzAr_u_yJl8QAnW9Ac2foxA624Km3NGtEDwSD0-KKFO_b_EPH_aWZQuqlMTF-dikmKy2kmGHWrIHasx-lrnrbiT2sqZYXOH9EqNDom44kb0OJZMelhtJZUDe2u4t6F_bAPw7oBypsR-563Y0E1-1HEOwJy_2RXNMbBwg9QAqpkbSqApuQYFBC7lgegb5bk6Jotop3tZPCCDvYA6SEH9Ysae3NcnLqpJ6erVLycgZ4wfzJE0T2nUWS05D2gJvrWTmLkRPzsl4rfC7HdzGBGBr4JhJyZZ5_odwFqqGX-IQe3SDeRhAV5u_9svr7XvZCD00ZnChXf_cZbYtBt6LoHDbZiSpJl3NejZQYHgmUg0vwQRodoauYHaszQfFLrea8nSx_BFL3IoYwp_1sAibsanCV41gQ7G4FnKkGhm6y9waqR2YOcTUW1oI6_80uSCqRCGGYMyDFJedNhjpW",
  "id": "rs_0b1c1beb708221f3016ab42ca2682c87d09b111ee646967524",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_z\":0.11},\"note\":\"The left jaws stopped at roughly 5 cm, consistent with gripping the dark fruit. I’ll raise it first and confirm that it comes off the table before moving toward the bowl.\"}",
  "call_id": "call_1UpOu8TtKef5OWKgfdzjFuRr",
  "id": "fc_0b1c1beb708221f3016ab42ca559a887d0b5557afe93c3cec6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1UpOu8TtKef5OWKgfdzjFuRr",
  "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]: [-0.7811, 1.5387, 0.8761, -0.3038, -0.5823, -0.5915, 0.52, 0.1738, 0.9733, 0.765, -0.6346, 0.1547, -0.1219, 0.9983]\nstate[eef_state]: left_x=0.3303 left_y=-0.1856 left_z=0.0935 left_yaw=0.026 left_pitch=-0.1902 left_roll=0.0764 left_gripper=0.52 right_x=0.2862 right_y=0.0262 right_z=0.1558 right_yaw=0.0956 right_pitch=-0.2748 right_roll=-0.1885 right_gripper=0.9983\nstate[joint_eff]: [0.4718, -8.2393, 8.5812, 1.2674, -0.1832, 0.149, 0.6764, -0.0615, -2.0855, 6.8171, 1.4237, -0.0073, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f032ac742d56e316eee31adc254f1345ab96d14abd45530af8a20133524579",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b6e5e3d3c5c1bfa3d940bb7a664424ca040a3fd51ea68c4a7274721c8b5365",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7229ce25d638f79df10a4b71962af6fdf9a3c9776c10f708cf9f4c1d77c5b4e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 4.837 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]: [-0.894, 1.4799, 0.9619, -0.4042, -0.6453, -0.6674, 0.9963, 0.1738, 0.9722, 0.765, -0.6346, 0.1558, -0.1207, 0.9974]\nstate[eef_state]: left_x=0.315 left_y=-0.2167 left_z=0.1375 left_yaw=-0.0085 left_pitch=-0.121 left_roll=0.0196 left_gripper=0.9963 right_x=0.2861 right_y=0.026 right_z=0.1562 right_yaw=0.094 right_pitch=-0.2735 right_roll=-0.1885 right_gripper=0.9974\nstate[joint_eff]: [-0.5949, -6.694, 8.5128, 1.2674, -0.6178, -0.022, -0.0122, -0.1573, -2.2632, 6.4889, 1.536, 0.1392, 0.0904, -0.0513]",
      "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]: [-0.7944, 1.7557, 0.6712, 0.112, -0.5838, -0.5915, 0.5169, 0.1738, 0.9733, 0.765, -0.6346, 0.1551, -0.1219, 0.9983]\nstate[eef_state]: left_x=0.3233 left_y=-0.1851 left_z=0.0034 left_yaw=0.0145 left_pitch=-0.1935 left_roll=0.0818 left_gripper=0.5169 right_x=0.2862 right_y=0.0262 right_z=0.1558 right_yaw=0.0953 right_pitch=-0.2748 right_roll=-0.1888 right_gripper=0.9983\nstate[joint_eff]: [-0.4581, -8.9094, 6.3111, 1.1844, -0.3883, -0.0073, 1.033, -0.0752, -2.2632, 6.8034, 1.4676, 0.0024, -0.0611, -0.0073]",
      "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]: [-0.7811, 1.5387, 0.8761, -0.3038, -0.5823, -0.5915, 0.52, 0.1738, 0.9733, 0.765, -0.6346, 0.1547, -0.1219, 0.9983]\nstate[eef_state]: left_x=0.3303 left_y=-0.1856 left_z=0.0935 left_yaw=0.026 left_pitch=-0.1902 left_roll=0.0764 left_gripper=0.52 right_x=0.2862 right_y=0.0262 right_z=0.1558 right_yaw=0.0956 right_pitch=-0.2748 right_roll=-0.1885 right_gripper=0.9983\nstate[joint_eff]: [0.4718, -8.2393, 8.5812, 1.2674, -0.1832, 0.149, 0.6764, -0.0615, -2.0855, 6.8171, 1.4237, -0.0073, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f032ac742d56e316eee31adc254f1345ab96d14abd45530af8a20133524579",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b6e5e3d3c5c1bfa3d940bb7a664424ca040a3fd51ea68c4a7274721c8b5365",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7229ce25d638f79df10a4b71962af6fdf9a3c9776c10f708cf9f4c1d77c5b4e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCypnvO9ZOZdfJVtT41SI_Bj1MC7gJiCS8liT6ZgwNKA6d3HWy9eJIDS2l08-C-36r2rC3OP8s_nAsqCzTMHgB9hjygqBs5tIetUq5eOb2Fo-Q09ex2vB0Ann_2hBdgVUsBlGvNzoE3ygJIHpCAEqNnJOXW7iWfJKKfY81xuqX_wD4Ydm-vD1n4i6ohfHs5VW63Z76jfg09-QagtogWkVZgRMuMr7fwXWdmWYqcaviBY5ADlt3c0yYmnu3kwQj4-XnUJ-_k7GFS2Pii41iqhGHmLODlBhGziZJ_fJEIxFH1DPlHnES3LqSjBzIsTTL3-Rq5-UZYbFsHdB0vgKl4Yss1g12wE4N7S_P1-1MZWbktCNSYKBn-482ssJDp6wQaB7J4MzYV_5oME3qhPNZmbbUbywU-k3QMlhOEb_FrzgddONdvr4CBKScfyBQLF9C_0ig75cxZ8OxmV5nd8n4_kGHHLLkyOr9LHGLid3wDvsMzUnhPlPxk1ZaxldG25vo5XkAJm24oaNHA7RpuT4i5NgA8N3ZoMTfwjac3jXo_GsLlmF-r5x70eTPlLbCWyIO73RNt0qe75lV0GQnMkhJk5JGHf0m3_3PPiIQgi695bQPILFn0JLgFjWyYi_7MAxKORXIT4hamqSIjUj3e_k-X_bMGVml5Wd17vjezPnH6MUTYgoTGY9NvtxMO0bTVLv49OZjaI81sav_0jMofhCP9TX826wu-QTlOF8VCAJMTYsEk2vAFlN_sv6VwJfqLidZkPYKhHQm209kD0VP9qkjDuzWRXByZhg3waar3npGrLbCMa6cUYogw8vhhBsSzvwzVvBqX6y7oPcR8s8TQHLx8aQ8KrOOe9bvhhxJhR-SmN-HCM-lFvYBIAYoTFoTVrVCrW_MXAn3huLrObZ8y2smdJTV7tUW1mT3VmsR9mtoX4sFXRg_DKjxcsaFIv6CAmuiHh44EYlpqCGM64doRT6hL3lIvnlXftnnvmsDxhl75IzrYwW8MTAgvIka-VAam0uec9QiRDmS8zt9iOwMtRobtmQkdRkXtypOIDfEA1dGORVe538up8aJHL5zuq1mSvQQpb0QbSvG1KKl7arbjdJNGtUffH_6HvJX5ERngDH1fu2IhoJJebW0oboervSmfJhpSHKHuexGHVdJ-G5rf4yrUCoed9_FfhMhedDH8ZDFjHNmQJDRODL4oKi96LQWeTewFDwiXx0VnQM-0ld4_fy48PJ3RuAO_EjiUogmmz5z1mxaURsyqSruOe18TW1SI2gR5y_T1eOBMqYeab7HlCZc3uEhyJT6S324wMPMqUKWzHFCuSazYn1ZW5W68-zKAYrv9qAGMESpVim-K1HIkeh-oibOa6UHta9SiVrz2phwvbTVlhFaxc1wEujJV29Djt1q6pqCR_z7LNcpYQOvAso44PQYyR2A==",
  "id": "rs_0b1c1beb708221f3016ab42ca7ca5887d0ac9b0fc7d885a36a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.4,\"left_z\":0.2},\"note\":\"The dark fruit rose with the left gripper, confirming the grasp. The blue bowl is near the left arm’s cross-over limit, so I’ll carry the fruit high toward the nearest reachable point above its interior.\"}",
  "call_id": "call_8L6mWrQ3x0cVomWAcFep3Ojq",
  "id": "fc_0b1c1beb708221f3016ab42ca84fa087d08a19cc4557b7dfe2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8L6mWrQ3x0cVomWAcFep3Ojq",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.926, 2.6484, 2.8086, -1.2781, -0.6472, -0.757, 0.5221, 0.1738, 0.9779, 0.765, -0.6479, 0.1551, -0.1242, 0.9983]\nstate[eef_state]: left_x=0.4348 left_y=-0.3951 left_z=0.1457 left_yaw=0.0381 left_pitch=-0.2349 left_roll=0.1125 left_gripper=0.5221 right_x=0.2839 right_y=0.0258 right_z=0.1525 right_yaw=0.0961 right_pitch=-0.2929 right_roll=-0.1918 right_gripper=0.9983\nstate[joint_eff]: [-0.7726, -16.1162, 7.2821, 0.2955, -0.5495, 0.0952, 0.5299, -0.0068, -2.5504, 6.7761, 1.6435, 0.0562, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908662590ff012596957a556ba84195e8c6420a622b00b3a3630f02a6fb7d36a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db077f26adc9a06c00c20c8f7f7dcebb1637649eb64628ae7c0ecd1620d2fa8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3750f97259ce089bd99ab606990310d3d95802709dc5b312e82a973a83ccde11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.105 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]: [-0.7956, 1.7329, 0.6853, 0.1081, -0.59, -0.5884, 0.9963, 0.1738, 0.973, 0.765, -0.6346, 0.1551, -0.1215, 0.9983]\nstate[eef_state]: left_x=0.3282 left_y=-0.1894 left_z=0.0154 left_yaw=0.0115 left_pitch=-0.1671 left_roll=0.0632 left_gripper=0.9963 right_x=0.2862 right_y=0.0262 right_z=0.1559 right_yaw=0.0951 right_pitch=-0.2743 right_roll=-0.1885 right_gripper=0.9983\nstate[joint_eff]: [0.294, -7.1726, 4.8068, 1.5018, -0.2418, 0.1001, -0.0171, -0.0615, -2.3043, 6.7897, 1.4237, 0.0317, -0.0562, 0.0757]",
      "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]: [-0.7811, 1.5387, 0.8761, -0.3038, -0.5823, -0.5915, 0.52, 0.1738, 0.9733, 0.765, -0.6346, 0.1547, -0.1219, 0.9983]\nstate[eef_state]: left_x=0.3303 left_y=-0.1856 left_z=0.0935 left_yaw=0.026 left_pitch=-0.1902 left_roll=0.0764 left_gripper=0.52 right_x=0.2862 right_y=0.0262 right_z=0.1558 right_yaw=0.0956 right_pitch=-0.2748 right_roll=-0.1885 right_gripper=0.9983\nstate[joint_eff]: [0.4718, -8.2393, 8.5812, 1.2674, -0.1832, 0.149, 0.6764, -0.0615, -2.0855, 6.8171, 1.4237, -0.0073, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.926, 2.6484, 2.8086, -1.2781, -0.6472, -0.757, 0.5221, 0.1738, 0.9779, 0.765, -0.6479, 0.1551, -0.1242, 0.9983]\nstate[eef_state]: left_x=0.4348 left_y=-0.3951 left_z=0.1457 left_yaw=0.0381 left_pitch=-0.2349 left_roll=0.1125 left_gripper=0.5221 right_x=0.2839 right_y=0.0258 right_z=0.1525 right_yaw=0.0961 right_pitch=-0.2929 right_roll=-0.1918 right_gripper=0.9983\nstate[joint_eff]: [-0.7726, -16.1162, 7.2821, 0.2955, -0.5495, 0.0952, 0.5299, -0.0068, -2.5504, 6.7761, 1.6435, 0.0562, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908662590ff012596957a556ba84195e8c6420a622b00b3a3630f02a6fb7d36a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db077f26adc9a06c00c20c8f7f7dcebb1637649eb64628ae7c0ecd1620d2fa8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3750f97259ce089bd99ab606990310d3d95802709dc5b312e82a973a83ccde11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyvyCwGjRnXOVX4s0K86PxXtcpfT_P55kBbXS_6j4ai5hy0CCG0njzOhxmVFSb2dWAWPrdcREJIIqqH4Ozbb9fm6mmCOfnxBLf8ai-LrOBJ-wkDgkMGNMNjNDejlYf5z4c1RnGD326QfeZe6bkB6oMy7YvZaqt1bVwtGr8VCWlr5BHTYy5oTs6TBgxGWDTezryDu4iO1w-AzzdM_qHs0Amn8bZXud_68HIQUxLfQHjE_Rb2NTjM2pbi4iFLmeAnePkyh1V7_aRu4o20qBmFOMvvjeFy8p9A9sr_CUPeU1GWUl88UXlLi9FMGeXrIyF79ug0ErHKVufaILEbxiLHEEBgiuJt1ZAfT6QP6i3UPW2DG0m34B8ROz8xqMo0sJ3kFd5nqBo-ibUpoXfcUj4E16XyLuMx8gMjoINUV9leMPqv7VDDWkgF_jI5x8_DpALfJcuMNp4ruFszk5kLNXD_pSMinnfki0Y3r37QhWLXGngfmCOsncVT90c4qDXizUeVkTbdiM32b93Qy6eWRKJ5RAZbEixJ4tsa0nWtTTmrU5B4cK6mE_4-nathy0uBkoVglae4WE9iYqetTzWamyysoygwQQxn3pIkG_yafT67OGhGbcmv3rzp_VkazG6bpXn72Hem7l8yVl_IOhTIZrTfINpRBfWUMwcPDxz-SXlU1Mr8eVWlhBKVVerOjttX33wi-yXO2vNBtaOg42UqCFZPbUwNNOTV5ML64BuwOlHErueV7EQl49mBtC5Z8J02rOkQwjOnNzvWTfGlrYilKeDN0DWk-rvWE1IijHhHFNa2TDJzb_acHsnaFTYlvIn577ksPmPKdOQ6seLVHk_Xtts5QT-9iuNqhpNpfcgBtQ4FcXQSKTmQOArSE3Zk3aqKz9cn1C-ErlK5rpaBzc53q50INCN5z4qmM8wNkcCrPGy2Dy3AdLaYMlrjrFCR85CBivN1VcrKSlpG_JIFq0MsZEXunndh9spd2VZFHjFQ6O9QN4NqNXQsQLui_rIQLPLvhztW56QpGxyXayPk27frBLbwgf-7EYEIZT-2Y7ZYhKlJrJL1eJgqNhRKaf5on8GUhqhW02IvPZuaRFpM4HXOjOt2H7CFVTYFiCg9NwisslL3fNCO61Wc6dt42bV3mtg-gf9f4ErvkyPFdUngW19fHYH6xwTvzNsF48aDYAncIt67l6igCssMAbIsP6sEv69Un51vSFjOuELYCtNN6CETy2-SPOxYRhXygnvuGqE5dIqdA1X6cIZxjsR6O94uTg5IjjpvkVvdfCuh39xDd9AFIrX9EQDbB1iwJ4G1V8Id1qKXoPn3f4GWyiDGGxncWJp7aejdkJfmL-sYpkmRow8lQrA2b2AAwy7hicLJzQafX8P7qbUQTadez_nS5K02Ix2wVk4SwQ6Hud1rqmdsYZXHfc33a3LB9JIidvoeZ2Wlb1ifpUZA7DL94WUgOEH0653kVGIcfbEEAW2OSBdoZpCzfEDedRJVaOu6qIMRD98iXHECgYwr-qtwHpuzOnH5Pjl7G1G0FAy9OqLxSujXnQWIu5Ag7A30bu44-F210nzsZ8qwoIYK50RPxhPTFgYqc23NbXPPUoyouyBfGS90V-8u718qyak4DKhoXN6jksDrz9pK7xawK8Tpa50U_oA3y-iCVPWjTI8bj8cyH3Pb6-Bnsq-76aLGXwNbFttNUL3bGduNjys5oXESp6iESFpfybmH8xI99TWQQzy-E3_gv5oFyFt4S7Bam3-XcyjoQKhVFn16pbotv--MiFFWAimOkpFgp34RGPKrUK8OXHYyafbwnoVdIALvZj70tE5lHrZA4I0CQ-MgzgEtOuIRmrgNm_i8s3mS4ZuzJ2tOaXh1WjeOfVSAVuQwjXFkliypHDRirBD_gj0G3yuVDXPRm9KfQnlNECVXAR1uwo9rilunmeDnHzk11ftJbQRqZDQ2Fvcln5SeTwelZxfKgKILcGPYdjmkXLmK2E7H0TGkBlRbSKYq_SuSuIJmDN5Mm9fzOOKye3x_vSue_Mzv8lm-oQt62rDuwCHSzYmQGt4zlqVF6sDA3zx7kPAOR_72mye6vAbEBJxuaL7YJaXPnJho6JNiOX9fySD2ykrrxh_dRJkatA-S_lUdMM3MO564O5gwWqplrFRzDM80oaPOWf7O1WyJzEMV63Pt0b9R0ujpV9LCXLzhpdxY080uQcRUvyQWTmjJjQKkv9AxXPLQv1Xb7OpSjk2DEOFJlUi4yigGB2kAxuQSvsss_BfitQ8xDmtOFCEGbW7B_MBD6QxRWoXXH1VJj-FkQ3VN2EPdei5X4d3-lmWB9fTf7iwESgBuDvABptstgpqXeYZOitTF1jfRDh6LHbV-0qrgFR0-c6kfsQg43-ySDJT0nVv3zaMX12s3ZoUP4bFuCJ5sIdKrfO_Y-71TuY2-o5AKmwNdEJGdY7mST5lFuNXqVI0vbXzNrQq29PmCKbnJEW2nJawjuviSVIpfJko3t5P8tdbCD8MYsyHlFUu5T2bzZfxkUTrG4z_eMce78uHOjKLcS333MUJlal7XQ7ioRNwSfnsFKQoicj6OzJmp8jPRqTvsZuosLuoP7rDbu52mkkHdzx0dyXrA4x2uTxafjnImKGAh0GIn7A-XItmcQ3eopsyXaAzBX84FdDH6MVFFc2d26LKqXLsarHjdmB4e_86HBi5Y6U2XldVA8uYInK0vPUuXcj1ftMz3g-FWWOREV-U4iEC8kGPP0aadROSlB8H2zY6RypOmqNAvCswcCYtMxby9ONnwHoKFq6WeA_emVh1oSm906sXtnWVWgs2pQOZmVnZTY1SIDNT-7eoSngfcact9RbhrT20cLWTzIi5OB_d0pM6cqJvPwdyQvKGjXoywnT3pK9flbVi2z9er8c2-LcnOALswjaqC0xGOKVuR7LKDzTnziNojjpSWVpV6UMmwVXRFDnrOqJxAofzSjcDGShlFtnGKdUUkcPSvJdj0lWrZGaDOTV_jF-2J-X1vVA6PfCVZ8eOe_y15mjAEzpE7bcsklw==",
  "id": "rs_0b1c1beb708221f3016ab42cac16fc87d0a346ed2ad78d5e6c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.07},\"note\":\"The left fingertips are over the blue bowl, although the arm cannot move any farther toward its center because of its lateral limit. I’ll lower the held fruit into the bowl before releasing it.\"}",
  "call_id": "call_XRshFUhKgNMeEr5tCxoheHjQ",
  "id": "fc_0b1c1beb708221f3016ab42caee64887d0a5101895ddc573ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XRshFUhKgNMeEr5tCxoheHjQ",
  "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]: [-0.9272, 2.6492, 2.6614, -1.224, -0.6361, -0.7601, 0.5226, 0.1738, 0.9779, 0.765, -0.6533, 0.1551, -0.1242, 0.9983]\nstate[eef_state]: left_x=0.4297 left_y=-0.3919 left_z=0.1013 left_yaw=0.0538 left_pitch=-0.296 left_roll=0.1848 left_gripper=0.5226 right_x=0.283 right_y=0.0256 right_z=0.1516 right_yaw=0.096 right_pitch=-0.2982 right_roll=-0.1922 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -19.6718, 5.7641, 1.1502, -0.4811, 0.0073, 0.2906, -0.0889, -2.1265, 6.9402, 1.4969, 0.0122, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5924468def1632b05e7c60b9d4efbd59f6a32b057a8d86193548929cc54c133",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a70f61d9cc64185b871d416abbc215c9b5cfb51c80241445e288bd6a2eab4723",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96898adcc342ea1dc358ced9a660086a607f7b2c6c5b260e03c917128abf11b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.264 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]: [-0.7944, 1.7557, 0.6712, 0.112, -0.5838, -0.5915, 0.5169, 0.1738, 0.9733, 0.765, -0.6346, 0.1551, -0.1219, 0.9983]\nstate[eef_state]: left_x=0.3233 left_y=-0.1851 left_z=0.0034 left_yaw=0.0145 left_pitch=-0.1935 left_roll=0.0818 left_gripper=0.5169 right_x=0.2862 right_y=0.0262 right_z=0.1558 right_yaw=0.0953 right_pitch=-0.2748 right_roll=-0.1888 right_gripper=0.9983\nstate[joint_eff]: [-0.4581, -8.9094, 6.3111, 1.1844, -0.3883, -0.0073, 1.033, -0.0752, -2.2632, 6.8034, 1.4676, 0.0024, -0.0611, -0.0073]",
      "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]: [-0.926, 2.6484, 2.8086, -1.2781, -0.6472, -0.757, 0.5221, 0.1738, 0.9779, 0.765, -0.6479, 0.1551, -0.1242, 0.9983]\nstate[eef_state]: left_x=0.4348 left_y=-0.3951 left_z=0.1457 left_yaw=0.0381 left_pitch=-0.2349 left_roll=0.1125 left_gripper=0.5221 right_x=0.2839 right_y=0.0258 right_z=0.1525 right_yaw=0.0961 right_pitch=-0.2929 right_roll=-0.1918 right_gripper=0.9983\nstate[joint_eff]: [-0.7726, -16.1162, 7.2821, 0.2955, -0.5495, 0.0952, 0.5299, -0.0068, -2.5504, 6.7761, 1.6435, 0.0562, -0.0073, -0.0122]",
      "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]: [-0.9272, 2.6492, 2.6614, -1.224, -0.6361, -0.7601, 0.5226, 0.1738, 0.9779, 0.765, -0.6533, 0.1551, -0.1242, 0.9983]\nstate[eef_state]: left_x=0.4297 left_y=-0.3919 left_z=0.1013 left_yaw=0.0538 left_pitch=-0.296 left_roll=0.1848 left_gripper=0.5226 right_x=0.283 right_y=0.0256 right_z=0.1516 right_yaw=0.096 right_pitch=-0.2982 right_roll=-0.1922 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -19.6718, 5.7641, 1.1502, -0.4811, 0.0073, 0.2906, -0.0889, -2.1265, 6.9402, 1.4969, 0.0122, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5924468def1632b05e7c60b9d4efbd59f6a32b057a8d86193548929cc54c133",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a70f61d9cc64185b871d416abbc215c9b5cfb51c80241445e288bd6a2eab4723",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96898adcc342ea1dc358ced9a660086a607f7b2c6c5b260e03c917128abf11b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCy03RVlJ46--T__aHeHtugXOCxrad8yaEK_ZN2J52acAlq5J6aNqho7Ym14HAzskTDYMyhbikNJopirUZTymvfLjVEVFOZsB3nfCcaXlxW5MpRxrMjLXYp24wsFkjHfZag4eBE-2l3-jUcZ96H_F8wofSgcfLdFBqyRcUpOdVfVg26ey40IRoRWwIVG167gwgSEfEUNAuVCkQ_AhUX5Pwxd_dWok9AgW77LCzjVq6PpUnpsnwZZ5GUC1v3XlTGLSWbFQJMn5MZggo6LpyBm5ezWWozuSF6zb-76fRdkuD0Hf4IM5-evS6jxzEWZLaBOrcfvhSnkcTHXSDOQ3eWnJ3LRI8XL1lrp2UaVKWG8j6bNkjyhGMERUkZ3SvaEoVSMLuHkS0kDLaOoPFsXdH8En3jZNrLdULUrPH4b99rS9CdPxJ9DzD3paeXLCO1GQ9zHm-PQCwMyJIVgCTcU4sqP1sfrOXNRY5DPTDnxczJo8gbQW4LB5U00B5JaeA0jraX-XqhP5yxiIR-m1e7yrLhDJQ2kTQJn_xAmgxPRTE87LXaHyxibkxeNzCQG79Nm8t35lbmUImFIrznActsid1mGqzQqt6FlRPKFQoZHpDgM39qh3OwUH8yJlB6WAxXo5D0NEiPqcAfZ5kVnOVGKoRtzjeeYW7Jp0XZFdHsBPmAFh5xmEkUvJ8Q24nTkv6Tw26kxOgVnoWQN7P1sSGJ_dAgxX86ov2a34cEGiVOfl9WubrPrapp5fMItWlAxdOYF_T8AF17Agi2OqlIHvxyJIY445G-M8BkNWDglM9ayzcTx6waKMA6Q6trlbNWvwUU0JykeaF6USThQcrhl_bZ2MVmTSjWWqttVGsZ_L81YnrLiJg6F5N_rmD-GPNB37WLT7cn9DuysvA5eIUFhgIhiHvp4-orvvRc-iZ4If58ba7h2HQOA7txhvQvdCbKQyYFMsrTtdIlX3Tj62-QyC6G2qftY2W2KwAT1QPOOaxM5asblfd8DSm3a_JhMqX84337_SQtjJTB8lsXMYUd3mUCU5ssh4nswEmw9q0HJYxJe-AnOLIwL2fVZ6VCtNDhYD4YDcWJuaRqDWIUZLutNd-F9Xwa4fB1m3kLoisBXx0DzJQAWNBNvkuDQs-WKmEMJhKGxl8XPRE03aPkbwEeZe0piw_WLIhKhcoFE_saETPpjUKppXShgFUZxasXrcI82T_PKFRzUImlthnR_cXVUA7Z3g0AwMyFYuOrZ1WUsbf0vfTRXC5YZwE0rVMvIni2JFawpd1SXSujpdi_OSBfrYF4RXMmSDcRWqeX-IhPKAp65ZmP_JWYfC2eHDU4U3vA0tey2eYujlgp9Dq1AWShRRAj3WmwtlJckPZWCnDsJFDiO2PG3ga0DWjK4Srrx4SOQDqPHwaRipuFYaCbQJCOrolNcVO1yt3z5A2dhkyc5THSskL-8wsgKo5zYYMfI7BEjs10TdctKUs7AkEBsC0rEQnQWCWHLNLCTTfr_DA49B9NzVDQ5joNPA7E68e9SGe0s4hS9wZ9URekrogVuF9-F-bUEHYUH7N0M9bMLg6rd7NUUFGNshthSJ64A2YOLca0zPaaguJ6h3SKYtHm9OZtkBWv8j8RXHf7J2KHuETdcq39HiUA6jXwuCIFAQTmwjugTZJptIk86pdZRYg1qUXzbBqVyiLisXnopzdXzInmVylt6A-C1HBQUuKZPv0ll3V6KrX7H3rvkWk36qMNeCx8IuJfDD9wyXvt0VF6JUwlVSQgoA2G_SkaVnOprEPi9xwFgAHtFtmUvid28MIw7dXjKG0Ix7hDs6KrJkATCJQvBnnrC2dYLbJeZjzGMRHNhGmydQAH6YM5cMUWsk0pdMyLQqAnC2W9sNVgpSST1mN3c65MUh1hl3_xSaspkeem8gWBEzkGjCPyzczFoHaYSt2Emo1h7x7larcbJYZj3c8SP_HzmScAqqyynfodvvVpX7Hbj0aFUclquzccmaQ91RpJsIoxja9svlzn05ntqrLKVLlcQ4MWPQjmUgqhZwS4IpFw_GAn1vS9b2D8O-gpSEWWJkWrKAwdaUAkyZoQ_9A7qjTDSwD2MLYWH2Uqms6RFB_WDG6NUpqu60RhpfuhwhnCnHVAxp5Zr6EQkSSghrGeKqIsVCxraCGQf7iWCkouzrLSzmAaJEVWs7NCLrtRG0m55clVQGjxnwaE37K2lkfq1kZ1M7wln7sEIM8JM1q4IzqeHENFI5iiPslMf4Fo5VvPmAFesKHxFWaXFkxN98oxJPzjO2eSm84JvV-SGSUXqLFULBbghrPEnMeC1chwPhevMOD69z7MHuAV4EdbIckV5A4XCyHLQuJ0slIpVqndMSZDi1bsCFqR7jkpW26Dn1RFAiswiT5pTcA4gU6vF1ztOY3PcQh-PPG_jnGrWG8bCh7_IjKuKEOveNNrmRQWbwKfRYzCJd9kDa3boe6TiomvkCQDWqHbD3tQMfUUcEmgiGWVdfxbQWUde9UAe7WjiM1YKiZ9Q5FS6sezot6HEUbh86NxMHRBKXLg05SwMEHp97tZ5NlXCS4Z4vngs",
  "id": "rs_0b1c1beb708221f3016ab42cb13ca087d0b490646ab9f03b1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"In the left wrist view the dark fruit is above the near-left portion of the bowl opening, with the green fruit already inside. I’ll lower a little farther to minimize any sideways bounce when I release it.\"}",
  "call_id": "call_d4cLsiDW5Kjd0ryc2SIsXDed",
  "id": "fc_0b1c1beb708221f3016ab42cb3829087d090d9da36ae0d04c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d4cLsiDW5Kjd0ryc2SIsXDed",
  "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]: [-0.9272, 2.6476, 2.6606, -1.2068, -0.6361, -0.7677, 0.5248, 0.1738, 0.9791, 0.765, -0.6567, 0.1547, -0.1246, 0.9983]\nstate[eef_state]: left_x=0.4317 left_y=-0.3946 left_z=0.1032 left_yaw=0.0535 left_pitch=-0.2853 left_roll=0.164 left_gripper=0.5248 right_x=0.2824 right_y=0.0256 right_z=0.1508 right_yaw=0.0964 right_pitch=-0.3028 right_roll=-0.1926 right_gripper=0.9983\nstate[joint_eff]: [0.0342, -19.6171, 5.9829, 1.0965, -0.4908, 0.0611, 0.5153, -0.1026, -2.3863, 6.735, 1.4383, -0.0073, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c8fc0372acd6a439235951ee0939870964660cd50cb9b742844e7e633c51141",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a45971b720af8b1b31d707bfc1949420844a257dc19eb6cdca4b35f425b8a05f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f0a33904e15210bc43990b4b7592c7bcb15f75f1ad4dca670b3bedcbee4ec3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 2.975 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]: [-0.7811, 1.5387, 0.8761, -0.3038, -0.5823, -0.5915, 0.52, 0.1738, 0.9733, 0.765, -0.6346, 0.1547, -0.1219, 0.9983]\nstate[eef_state]: left_x=0.3303 left_y=-0.1856 left_z=0.0935 left_yaw=0.026 left_pitch=-0.1902 left_roll=0.0764 left_gripper=0.52 right_x=0.2862 right_y=0.0262 right_z=0.1558 right_yaw=0.0956 right_pitch=-0.2748 right_roll=-0.1885 right_gripper=0.9983\nstate[joint_eff]: [0.4718, -8.2393, 8.5812, 1.2674, -0.1832, 0.149, 0.6764, -0.0615, -2.0855, 6.8171, 1.4237, -0.0073, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9272, 2.6492, 2.6614, -1.224, -0.6361, -0.7601, 0.5226, 0.1738, 0.9779, 0.765, -0.6533, 0.1551, -0.1242, 0.9983]\nstate[eef_state]: left_x=0.4297 left_y=-0.3919 left_z=0.1013 left_yaw=0.0538 left_pitch=-0.296 left_roll=0.1848 left_gripper=0.5226 right_x=0.283 right_y=0.0256 right_z=0.1516 right_yaw=0.096 right_pitch=-0.2982 right_roll=-0.1922 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -19.6718, 5.7641, 1.1502, -0.4811, 0.0073, 0.2906, -0.0889, -2.1265, 6.9402, 1.4969, 0.0122, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9272, 2.6476, 2.6606, -1.2068, -0.6361, -0.7677, 0.5248, 0.1738, 0.9791, 0.765, -0.6567, 0.1547, -0.1246, 0.9983]\nstate[eef_state]: left_x=0.4317 left_y=-0.3946 left_z=0.1032 left_yaw=0.0535 left_pitch=-0.2853 left_roll=0.164 left_gripper=0.5248 right_x=0.2824 right_y=0.0256 right_z=0.1508 right_yaw=0.0964 right_pitch=-0.3028 right_roll=-0.1926 right_gripper=0.9983\nstate[joint_eff]: [0.0342, -19.6171, 5.9829, 1.0965, -0.4908, 0.0611, 0.5153, -0.1026, -2.3863, 6.735, 1.4383, -0.0073, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c8fc0372acd6a439235951ee0939870964660cd50cb9b742844e7e633c51141",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a45971b720af8b1b31d707bfc1949420844a257dc19eb6cdca4b35f425b8a05f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f0a33904e15210bc43990b4b7592c7bcb15f75f1ad4dca670b3bedcbee4ec3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCy3dSVuCQVEB4EVzALbU8jk0AW1MOsJ_eN1hoI052mPGnEAPsC5ASmITvRti5HrarR34YFFQDCD9P-DBLGLkrI5vO5kJXXGm7A1isyw77WCkwP_EzQMvwS5548tc-BZnYztWNkau4Mw_4tC7qU88jNaJeyYbL8Ss8xfN7cm5koyXmT62xXMivP6DAFsZ4t_toPedWTKm0ktK6B8QrfElONO1o0mC4YIB9UbQoNvq8hjpina11h5Dxer6L3zdkcSxKtYwlIBeWbqUKYmxi2kFngzt7mTO-cqJ8ltI_MKqbkvXlv5CYSceNSYNYAqmf_fj-Ak6-q8-2IyqxfdJxVHEon7t6mWdgGJNAZsw38BgUcrrmT6PrEe3PxFyiOWGynpcy04i4r3SpqvY3c3vzKRv0GwGgaV6j41iSCe_w9v2Eb9UHyQlzMgGbCfqUgFZTduhBRr9nqJZPpuTnf8VwgcazPqc9M_N5CBUn80SgOmyL_BvXMM6yOyKRNwTw9B4l68ATi5KhxGRrlX-4votGzgMoMu013AWyESQP51wofAt5WlYo-Eqj7qGdlQ_CqyCNkj7ihvHywhJMSEF5INQCHrjx3Dq23HGdPoQ_FcMGgdqX4oMrBe4ZAPbjikrgwHvVAS1W1NwHHdp0lwQ3FN_wDAW0CcRPybnBtsOZrF5SlxQsAlZd0Ymw1xjLgcHBoXzwKRErYI8FBCu5adxYYR3WEtV_3pwP5w6vQ8sYoJG_bVENl6Qwig1xDbZdfBqgh42B9FgKUiPekqu4dHCi0aJOM60QkZUMGqV2jVxWaHkG-YlBDbwFjwm_DhJalzD79dtPqjccWr40QJJucyoNr79bQ17kn9KwnmZniSNxXxciqO2RPH4rGX9vfZZaZL0brXu6IpRZI6vo21zEEBqaD9It3K5XUaIhaguPxjY65fPiYQ_7m3hpBJE9P9iaYvX9T8SPVhbP0m4YOY_rQjnt9Vr0ZbypX2yVTsMwDAB0mwPrtd0ivhG6toy_MenM7LP_0tRPx11Fm8wz9HLZQ-28tKpnanQu8EZNRZEpdlPZWETDfr1THKA5Iehg3KCEGHu8utkIUwEeS7InGuWh72lvd9pPtiTw-iEyg1eFL9yXn7Jg3q2EFFNVYI8dW949YMhZMhUn1tpuqWH3PAwg-ZJIv5fGJTuI_eHVbP9ay9KdB9_yRrTCOB0kaBJ7rwn5yV-_x7p-OOtcGtYT-aum9HMGlCpBXVySdC2HqbxdJ2s1YrXWVpznbUoqs_4EhWyfLaj5fROxj5MmqqGyD55Ti9wjdKK1FnEa-BsOJN6u3J_aqEHxcUFXps7g63paEY7GjysRCU71nOaiB7pMTC8Vy5OcPmhQcDQUeevIqNQ9jEHZsi9ZeOSW66cHo=",
  "id": "rs_0b1c1beb708221f3016ab42cb5d6a087d0a8185e88f1c973c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The left arm stopped descending at about 10 cm despite a lower target, so this is its reachable placement height here. The fruit is over the visible bowl opening; I’ll release it and then inspect where it lands.\"}",
  "call_id": "call_640MeKFxIcA5LSw0NdcD466w",
  "id": "fc_0b1c1beb708221f3016ab42cb6408c87d0a2a3a8fde3f6f9ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_640MeKFxIcA5LSw0NdcD466w",
  "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]: [-0.9272, 2.6476, 2.6606, -1.2076, -0.6353, -0.775, 0.9948, 0.1738, 0.9791, 0.765, -0.6567, 0.1551, -0.1246, 0.9983]\nstate[eef_state]: left_x=0.4315 left_y=-0.3945 left_z=0.1031 left_yaw=0.0574 left_pitch=-0.2857 left_roll=0.1593 left_gripper=0.9948 right_x=0.2824 right_y=0.0255 right_z=0.1508 right_yaw=0.0961 right_pitch=-0.3028 right_roll=-0.1929 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -14.9402, 6.0376, 0.9206, -0.3639, 0.0708, -0.0659, -0.0342, -2.2906, 6.7624, 1.4481, 0.0415, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f743bfba10b4e78fd3c3ca9e9f6b5892de0e9c25f38c9a53381a116a4ae9b450",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d6bd9c3aaf38b323d8be7390a16791d4c0ec0ac6ff7df5ef495c5957ec7d657",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e807f569c6db97b4f88b48728c30f1fecf67c718b90a6841f3a1fdd8ec817f08",
      "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 20 attempt 0 · /responses · status 200 · 3.949 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]: [-0.926, 2.6484, 2.8086, -1.2781, -0.6472, -0.757, 0.5221, 0.1738, 0.9779, 0.765, -0.6479, 0.1551, -0.1242, 0.9983]\nstate[eef_state]: left_x=0.4348 left_y=-0.3951 left_z=0.1457 left_yaw=0.0381 left_pitch=-0.2349 left_roll=0.1125 left_gripper=0.5221 right_x=0.2839 right_y=0.0258 right_z=0.1525 right_yaw=0.0961 right_pitch=-0.2929 right_roll=-0.1918 right_gripper=0.9983\nstate[joint_eff]: [-0.7726, -16.1162, 7.2821, 0.2955, -0.5495, 0.0952, 0.5299, -0.0068, -2.5504, 6.7761, 1.6435, 0.0562, -0.0073, -0.0122]",
      "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]: [-0.9272, 2.6476, 2.6606, -1.2068, -0.6361, -0.7677, 0.5248, 0.1738, 0.9791, 0.765, -0.6567, 0.1547, -0.1246, 0.9983]\nstate[eef_state]: left_x=0.4317 left_y=-0.3946 left_z=0.1032 left_yaw=0.0535 left_pitch=-0.2853 left_roll=0.164 left_gripper=0.5248 right_x=0.2824 right_y=0.0256 right_z=0.1508 right_yaw=0.0964 right_pitch=-0.3028 right_roll=-0.1926 right_gripper=0.9983\nstate[joint_eff]: [0.0342, -19.6171, 5.9829, 1.0965, -0.4908, 0.0611, 0.5153, -0.1026, -2.3863, 6.735, 1.4383, -0.0073, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9272, 2.6476, 2.6606, -1.2076, -0.6353, -0.775, 0.9948, 0.1738, 0.9791, 0.765, -0.6567, 0.1551, -0.1246, 0.9983]\nstate[eef_state]: left_x=0.4315 left_y=-0.3945 left_z=0.1031 left_yaw=0.0574 left_pitch=-0.2857 left_roll=0.1593 left_gripper=0.9948 right_x=0.2824 right_y=0.0255 right_z=0.1508 right_yaw=0.0961 right_pitch=-0.3028 right_roll=-0.1929 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -14.9402, 6.0376, 0.9206, -0.3639, 0.0708, -0.0659, -0.0342, -2.2906, 6.7624, 1.4481, 0.0415, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f743bfba10b4e78fd3c3ca9e9f6b5892de0e9c25f38c9a53381a116a4ae9b450",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d6bd9c3aaf38b323d8be7390a16791d4c0ec0ac6ff7df5ef495c5957ec7d657",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e807f569c6db97b4f88b48728c30f1fecf67c718b90a6841f3a1fdd8ec817f08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCy6Usl6JByQnnb2jH6q5P5KM8PzhFlsY1_QYXn-LYUjKqUAJr9cZbu2xCvYU6BKPjXMBAD-7pkQfUkp_jgJ_XYSEXuQC6-DOYvBmvL-L9-w8H3L9rJYljMMx2d3hDl8fry731piSgal7y_Z6c8luyHdd7UALOeTTvZKOEp4Z1zZDonTbNx7nRCcAKCXv8jItTQc1fgxKzl-nBMpO-1QmUI2w9FF-VBqHEvByqHkI41xeewdnOpwo8v0zbVP7MyTllLnxHp7-tMUbiSjS1FALfJLIIigwzTF4iscIR_mdn-RrqLLhvP73qWrkPhpYXjCLxjot6d0yb723oe-8-xqmBj6mYBBQRn1cWKX-4qQKZ2gjPjkZaFb64dzC7FmGJz8HPro7i16vgB6AZ163iY8hF-ee094OZyayL9D-qYYmoQIJHXkFFWdvaOcXJRjD9yBX1S45P11I3LFPt4GoIKH6ZmQ_M7bdRn3MgCZHZ9vzrR5VDz9cgv_4d-VJ8SqTijA1cWYcL1lGi6PdnXV37w_cmpT4u9Ig2UDW_CayewGbDlPmcISxIBCpvVVGiBtYrqCGUCK45CPd3c_5nSSyN1y1Mb3i6_8GapyNDq4b1fnTTR9D5_IIQNOjdYznNtWElfAv22fp9QJsPsc2nfEdZTrbyqR_hE-j4H8_8LVjWrlLFCGzvtwYYd697FQ5Ms9tWW1_-eig0KAchucHDARsE-tSiWcOfhvl8yiY7NCKslCv1Fj-OCtc-YVTC_cB_Xv5htDc6P_bnDOXrr1picisha0uqpD4X5fjP03Zpaue31GGEQvf0YjZdWOVJIp-LME9DWp2fVivNWIyicdYRv_iPCD6Ycnkbz3NjBH2ZwJLemQdzbISqYSmgvnyQNZWRed-aw3EHqNBsysGWsHhjp_C-bUaAC9UTo_kQDJXpUWkwKkFtrSgc6so7XxX0AH-sNf4_FnRNkUrOyt0BYbM5AO4ET0XnAaImBvNrS73vzABkRovAGlD7YB-_qP-tMf_6NNojomlg4EzJVlxwoFq7lGuc7LyBJycnXz3WDLWB2qCt9blrZw5QD2LaSEAGO5WvzeQLjPwrmpdgERl3wQx3OZUCCLboEGkfNGa-WSzZqkFSpGOY3jEp5UOSULPFEwUYLBC-6nHTXZgT0Wj9ZALAoPNP58x_4tqhwm76GrB57kyYiNoljlsjgIdlGdrcJVbzOgCbqHpEF0Rr3te30DM6IzzCgnfwexFiUsqbBS1WOrc3OOP5m34AL-Sy62cuys3dYP1YSGN9JCtLgjeHt3OPqPbTo9dvmOCSd1QUEstvsrBOs3bEw47wCM09WYr3iJXrF3X_a6y8ONodEHQJVkfBQAHs4zleiGTC2d4Rxxy2anMIbIyC35BuglmE7kAQjn8vZ24gchlcahz3oLjvTyOfPzYZodHJ9Yyg==",
  "id": "rs_0b1c1beb708221f3016ab42cb8ba9887d0aae8ef167706174f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.18},\"note\":\"The dark fruit dropped beside the green fruit in the bowl opening in the wrist view. I’ll move the left arm back home to verify the placement from above and make room to pick up the last yellow fruit.\"}",
  "call_id": "call_oORdTQqhE2KUHu95D48vdh3U",
  "id": "fc_0b1c1beb708221f3016ab42cb94ea487d09cf27d6d011aa3f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oORdTQqhE2KUHu95D48vdh3U",
  "output": [
    {
      "text": "executing move_to over 36 steps (3.6s)",
      "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]: [-0.1619, 1.0626, 0.9081, -0.7254, -0.2501, -0.0937, 0.9955, 0.1738, 0.9836, 0.765, -0.6685, 0.1547, -0.1246, 0.9983]\nstate[eef_state]: left_x=0.3004 left_y=-0.0011 left_z=0.1784 left_yaw=0.1017 left_pitch=-0.282 left_roll=0.1518 left_gripper=0.9955 right_x=0.2803 right_y=0.0252 right_z=0.1477 right_yaw=0.096 right_pitch=-0.3192 right_roll=-0.1939 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -3.9179, 6.3111, 1.3846, -0.0708, 0.149, 0.0562, -0.0068, -2.5368, 6.7214, 1.5653, 0.0513, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab3e6581f1bc061677c7deb75c0186924663310f9f4a9a45caadef10148fadee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:238ecb6fbec01a4ad4d27c02b62d388498ec57ae0332ddcdd9940864c3016ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c2585ee96f74c1f210d3c35c9f784f19f67fc03682033100b2c343f89cf06d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.572 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]: [-0.9272, 2.6492, 2.6614, -1.224, -0.6361, -0.7601, 0.5226, 0.1738, 0.9779, 0.765, -0.6533, 0.1551, -0.1242, 0.9983]\nstate[eef_state]: left_x=0.4297 left_y=-0.3919 left_z=0.1013 left_yaw=0.0538 left_pitch=-0.296 left_roll=0.1848 left_gripper=0.5226 right_x=0.283 right_y=0.0256 right_z=0.1516 right_yaw=0.096 right_pitch=-0.2982 right_roll=-0.1922 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -19.6718, 5.7641, 1.1502, -0.4811, 0.0073, 0.2906, -0.0889, -2.1265, 6.9402, 1.4969, 0.0122, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9272, 2.6476, 2.6606, -1.2076, -0.6353, -0.775, 0.9948, 0.1738, 0.9791, 0.765, -0.6567, 0.1551, -0.1246, 0.9983]\nstate[eef_state]: left_x=0.4315 left_y=-0.3945 left_z=0.1031 left_yaw=0.0574 left_pitch=-0.2857 left_roll=0.1593 left_gripper=0.9948 right_x=0.2824 right_y=0.0255 right_z=0.1508 right_yaw=0.0961 right_pitch=-0.3028 right_roll=-0.1929 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -14.9402, 6.0376, 0.9206, -0.3639, 0.0708, -0.0659, -0.0342, -2.2906, 6.7624, 1.4481, 0.0415, -0.0757, -0.0073]\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]: [-0.1619, 1.0626, 0.9081, -0.7254, -0.2501, -0.0937, 0.9955, 0.1738, 0.9836, 0.765, -0.6685, 0.1547, -0.1246, 0.9983]\nstate[eef_state]: left_x=0.3004 left_y=-0.0011 left_z=0.1784 left_yaw=0.1017 left_pitch=-0.282 left_roll=0.1518 left_gripper=0.9955 right_x=0.2803 right_y=0.0252 right_z=0.1477 right_yaw=0.096 right_pitch=-0.3192 right_roll=-0.1939 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -3.9179, 6.3111, 1.3846, -0.0708, 0.149, 0.0562, -0.0068, -2.5368, 6.7214, 1.5653, 0.0513, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab3e6581f1bc061677c7deb75c0186924663310f9f4a9a45caadef10148fadee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:238ecb6fbec01a4ad4d27c02b62d388498ec57ae0332ddcdd9940864c3016ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c2585ee96f74c1f210d3c35c9f784f19f67fc03682033100b2c343f89cf06d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzBqFEpNbes4PAQJ-a0aX1FQd3imaONQC3U3ACw0kblY4N4pr845DIDfOLqVrgXAMdBv1jxSQEb0YsR-SGoezKledOT_DtCokNu4RhXlXso_JA4aWBEp0jC_GllfsL5SjBQNANNHg9OUip1KBNLM2B5ihmTJH6_pYqqoXSL95usGWjonf_uHyrrf7a2txUawKMeLnKoiWrMetOOfMHVj_BPal39oYkued6p7GrJ_vtmRmFCC7kf5XPUNfqXdRUI2fKoUgq1zeD5rL5DB0uNFXX8sJyGGPzuWfrG4RaUqSQfXiV0a7-aqRMY_7EQD5vEI_xwB5lcZ5LNdlzayvhQzayp46DHw-fjTH2QGkju3ViA7Qub93aa9NVlJQI05M3CDECdfVnQjG7QjDuJRVSpql0HjVo03paG6dd3Di9ITRekykAkizpKuO3ztsLqe02fiWkU0YjzXC9TXP1MOYO2lj8NgPM14n_U3u7Gv-5sBwVJ5mqN2Rcs6G72XQW3I64aj2yYtYowUgbnkKssIWsJHG4ITYquInnv8ayF8UI1bfDqCfwnVQoLhGeu7lNDKIazIiIKkkA-p2cNEQPxUDBWOQ5lGpCXs-7BT8QCIUQFunxwG2bua9uGnoHG_6xOEYQnFIXp4SYOg07EkaXmRgCfUSJHP6eBZX9CUjDjsY9gLPFA5fKUK4RqtBrh5GpNoFr6cHvLt6WmJINkVykxNCOZERJj-X8KDOEl19l8gQ5ZLXDzJPs5rma8RmjYhHMzx3lI4SDe8JqbPUgCglBn2SWj4C0scTsgCcdVi3FVXLRc_TDdRCy6tZyyH2-dgpTtVeQsUhENzq1SX01ulo8zaldBAf8Qdmu7rswo-dcjt7NEB0chpSjSeNC9WUfWq2-NKiJreNQmRRzyrQpOvmr5AYmeotEqu_zkaao1VWphps3TyXmpN41MBaXpQLb5iZb_uCAtm9OzJWCTaJjWvwrBjtaNhvBGNviP52H-VJH3QGFTmob5RWKnkW3JEkbvs3reTSI_WuM81qfcY1bpXzf9npgOJ6ThslMFriJ82wyeOY_rerz7ZWtfmJOHeSavfoFEzdJBIjAHWsqrGH7cfSCWzt0HQ2pYapEc4fsRe0jFWpRUn-bWqX8WPhyZ4Sm3eE1gQAX_jc0vdyBhGEOlMm1_2JCulQ_A9DFaVVZHxASrxg-3kivNdHYegt9tz1x00DLMWmwX0BKuBEnLi5SLSArwXi7CtKmIM2MDg72BLpkMcdqVY0195uswXQP2IyenkkKmZ4UTGR_O3ytTTUyYcfYpWUXmm4A61CQK7BpUyhq23zRzYXjcnxRv68C5knS5U2bLeCiO1hI7yOxmgyr045oM3hEw8L3NF_uQyAMBuxJZrraOzRC1txy4z2_MR3ZjK9IgAMiEgPi-yIWgyhQ4XeRVBJiAeR-Hd2jI3ahsXO-5UKgo8TLXcECauyluU9zonX1y3NBUdZRpOZ2KqYl9PNZOCVRjtsow5Mjbh0D8WuR4rp0LhJiQp0RQfLRLakQdACe38mOEPRjbteNhK5uTBy7-a891Yc3ND8Vw1Z1z1VOw_lc7_01PwrK_83jSbGccTqxEfTo4s2XwBl0fAjcQdeXAHDyiSf9SDOZrG_vPwkJxLTndCx_cbTibGVXCnqiM65YRjS87Jj8i3IjxuvcOnkWeShTY28DfRVGZBDmm2a8Jim1abAXa1bb-h7Kv83BdLLZtsm3BX_g7oFNJhBlD0Oq2lQCn1jXsGLicK2omwpk2Z3S_q-BjaOf8GGWXo5ywzQUYeu0nj7Crvc8hByIiXYVbP6Dj1nx-t27sW4tYv2leLDJBGLZLSDy4Une0CiJyLyMO8Mo3ON8mF1gOOT4_8Z3wtlRe7Y5J46wUfQ6-sWsYv1Is365zxXn8jLulJwikVq0HZA8f2jp0h314mR4lgf2cdGjbv_jzUPWXaKZbMOY-NPbsabUErdvgYUrVqXVj9VoCMa3914yA4QhfDWhLxvOoaxe21RXlr2JlGUtVd37XZvyZofxFzA_sNditA0YUpDAp2UXo-pairwIYu7lPNyWd1zulx7zBc47uw4__E1PRG3VrbJ6LTG8AUoqwdoxF0JnGKlv4FhC0n0b2VaYiC5MQGClh2-bIuKZA3JyBXuOZtERhong6Hz-MP7aL61hNT0puvjSLDPTwTdkk28epQ0SXtaoPw5q4P6deMgo54qD6mIpvTMk4rtTHYV8B2YOJyCYmDzlR4W7qwsLg9gdRvWqUiLAryXRrOg==",
  "id": "rs_0b1c1beb708221f3016ab42cbf06d487d094dc66dd4ca3d00d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.295,\"right_z\":0.15,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both the green and dark fruits are now visible in the blue bowl; only the yellow fruit remains on the table, slightly closer to the bases than before. I’ll approach its new position with the right gripper open and straighten the tool for a more controlled grasp.\"}",
  "call_id": "call_7n0tpHO9HqwKrq1F5bD6OWB1",
  "id": "fc_0b1c1beb708221f3016ab42cc0f60c87d0af59a3e9348b104b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7n0tpHO9HqwKrq1F5bD6OWB1",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.1604, 1.0641, 0.9062, -0.7364, -0.2459, -0.0868, 0.9956, 1.1057, 1.6569, 1.1076, -0.4599, 0.8127, 0.7658, 0.9983]\nstate[eef_state]: left_x=0.2981 left_y=-0.001 left_z=0.1754 left_yaw=0.0969 left_pitch=-0.2974 left_roll=0.1571 left_gripper=0.9956 right_x=0.2841 right_y=0.2882 right_z=0.1363 right_yaw=0.0407 right_pitch=-0.0533 right_roll=-0.0561 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -2.7692, 6.9402, 1.4676, -0.1343, -0.105, -0.0073, 0.2393, -8.0342, 8.0479, 1.1551, 0.6471, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94af6bc81108674b37627666fedd9b353062b2c0dd9dd303801343091c624a29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0f3bcac5ef9ab2d93447010f75161155e58e180a42c3a09c7089ac3efb57d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376c1bc85608ddd1d61ea5ca77c8b0753e4cea684fde65ae57e8546cfcfa0fd2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 2.144 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]: [-0.9272, 2.6476, 2.6606, -1.2068, -0.6361, -0.7677, 0.5248, 0.1738, 0.9791, 0.765, -0.6567, 0.1547, -0.1246, 0.9983]\nstate[eef_state]: left_x=0.4317 left_y=-0.3946 left_z=0.1032 left_yaw=0.0535 left_pitch=-0.2853 left_roll=0.164 left_gripper=0.5248 right_x=0.2824 right_y=0.0256 right_z=0.1508 right_yaw=0.0964 right_pitch=-0.3028 right_roll=-0.1926 right_gripper=0.9983\nstate[joint_eff]: [0.0342, -19.6171, 5.9829, 1.0965, -0.4908, 0.0611, 0.5153, -0.1026, -2.3863, 6.735, 1.4383, -0.0073, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1619, 1.0626, 0.9081, -0.7254, -0.2501, -0.0937, 0.9955, 0.1738, 0.9836, 0.765, -0.6685, 0.1547, -0.1246, 0.9983]\nstate[eef_state]: left_x=0.3004 left_y=-0.0011 left_z=0.1784 left_yaw=0.1017 left_pitch=-0.282 left_roll=0.1518 left_gripper=0.9955 right_x=0.2803 right_y=0.0252 right_z=0.1477 right_yaw=0.096 right_pitch=-0.3192 right_roll=-0.1939 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -3.9179, 6.3111, 1.3846, -0.0708, 0.149, 0.0562, -0.0068, -2.5368, 6.7214, 1.5653, 0.0513, -0.0171, -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]: [-0.1604, 1.0641, 0.9062, -0.7364, -0.2459, -0.0868, 0.9956, 1.1057, 1.6569, 1.1076, -0.4599, 0.8127, 0.7658, 0.9983]\nstate[eef_state]: left_x=0.2981 left_y=-0.001 left_z=0.1754 left_yaw=0.0969 left_pitch=-0.2974 left_roll=0.1571 left_gripper=0.9956 right_x=0.2841 right_y=0.2882 right_z=0.1363 right_yaw=0.0407 right_pitch=-0.0533 right_roll=-0.0561 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -2.7692, 6.9402, 1.4676, -0.1343, -0.105, -0.0073, 0.2393, -8.0342, 8.0479, 1.1551, 0.6471, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94af6bc81108674b37627666fedd9b353062b2c0dd9dd303801343091c624a29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0f3bcac5ef9ab2d93447010f75161155e58e180a42c3a09c7089ac3efb57d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376c1bc85608ddd1d61ea5ca77c8b0753e4cea684fde65ae57e8546cfcfa0fd2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzHrur8hBEZH6ImT5oVPt94QwvcbTfIzfD4yfz5gHZ3gylgsWWtUdCLPm7HMIgT4EFufFdIsw9JRssVhdGNLrgAHNFifPtapNLAgf_x1HD85XYd9_WzG--gpfZM6Ne92uO5V83JQyaB8DRXZFnkBhSA07zGnkvP132DI0NWFPacB6O-ROym4fneUm36weyIly7Su73rT93anheeaOSTmYF0VLYu5JQ3guhb7hGrRioYfbsT7muNrJYLgxU_AzUMrkIS2nfOy-6stkJ16w-SegaMEUlNbZM_nznixKkbCn-4pq025HfElo3wYMRTvJ0ZS0Kwcys3Rvb7FYVMO85M9m70UbiyI-BTNzdWCa6oL78ubmcO97L9cv2qrvkgSiI2DHfCMqOlZCVjYFkV9apj0Y00XEQpDn4YuryJY1qN7nVaeq1W8EkU1j_gf6yJCweycnnaEHYnOBbU7pad7eRic6lduQ_6OgVCRjN7TiH4Ez_4NDgAMz1usMOAqwaFvf2FDMNo_A8_fCDTG25jjUdrOj9PqfunzntyYkD36R1LAQJm6vvmCot56o-Ly4d_p6ZVyY3H1hGd6baTImhOJj9SClmBbhzSeBIGS76B3NQMvcpQHlIWgJ5gTeYHOecYe33NZ_yDQLUjb1LtfEq75EliGQJGjlVQfjuM0XUdvnRw1khHz53qS1trdqI1FzG6Pu_EqzdBXbcNA3kucwXv1FLLyMpSSNOUZHinu6m0npnfzDPt3zwSEe_Rq-JYKWq3yXXRCwICN08PiXpfG_153k1lcoGCpKyxg6nLW71kIlIMpbG98OAjyJy9IDaMCgaXJTmjX939nLzmtyOdpCS1dt99NN3bwn86O8bXHjf0lHhj-svX46tHsIfaDUzVPNoTlisX5vEgDWc3oSlu2Q_sPSxZJXwz9VVnWEP1b-Bq5waWKRaA-NQ_yc-nRBe551-czUeoq8IPgPuyu0jsK5Q5QxenSaDhekAk_6HGc-FhnJlcc9Pa8pt5b551wwzHs4eZOU_PEHlqxu7WhQAiabQ2jPLWDgPJArydMtVzel80nqlnDxP8V9mMUIOzqLOrYDzypW6h0BMQHataNftBJ7dbWhc-rmDYbQP-c9D8eA-rxDpTo-1TV342OYIoIjyhihmnle821Yod_PnrcqZ19p5YWcZtjbSAQkYNz8nFIidgIvaRUV8lyd7RHKE3PXp4JUt_pO-V4Vud5t-lZAjX9BvAvcCsCNegL8zQNqv9xyvW2I8Et559IfDMJ2fqV9j8fthf8ZXu67AhHGSTOfRbaHpN8jm2_YL_4Uvpapi1LBDouluJjkU4XmjJPpMBCofI3s5XnDaOA6txUqM8lBx1KFAyDma8oFCy5SDC4JucZagb-JjwkYM5_0IIoFwuJ8YCRkxt33HXNow-hQF-f6rK7ucE14aaAHGMHFkfQv6kvEc-zXthX0twabEv2U9WEezrUSIdl7SkU5-yeJ2-2BlM27SZnIj3P8rrCr7Wl0-1JpeUg4LLJkh_g9KwZyuRm5A6u1EYdsyuts8V5DrjUP1M79aEm3pkMfSsGokJixxkGRAPLZ7NgT7aiDcIy9J_gFx6IeXHDKBBH_Z6PYxLT9qe7vWfIKJO5-4FcLoPqRA03WyL5CuXLIQcyzGkbfwN9BRnccN5Y7J6duA9m4zJWmyfrdpK1dbKNItOWqEDfLWRA5eFo5CQafDfDhBvyTSlqKS2Tt9RmoecgWVE95sI94z2J7niU-fK1wl3DBcQhpJFjzGS1rF3ckqJXEDBFrP7HxzaKplmkq2ceU8-uAOFzsrhtGUpTwWEbq7kA2NUNt6QRIQqNWI9sOf44WAI0LmW_n2N81YGYteEsUaGssqscvry7z29-hjlikvgQByZOszUfLdlIs7DElMUu8WgjwnrOhRG16Qi88BMEqi28YVrCgZrPnXT14Iv0fjuHBdap54mJQXYzr3H8U6IfC2YCPZDByYNYGVMpk710jChUrjC2geNng1XtpaGisKU6VajKhZ00ql6aRyAhW4fJXdZ550owqO0b9ZOVZRSV-xTkW7m8Wd_XJx0bwUxFJZIXnOe42zxmPwqqZeOFVlklHOEqhT2qOLSL3Lwtby8KY5KRf8mnYN2fsGldcgybcys_ftMDdai4DiT8VIzSeo9uEZodLRw9MlHyB5W937boOJPH3L66M4t5ObmaBEH2FKdfVYSc01Wlcn0ZhKBTvYFe4o2k_troxAEqPiLOzYmBlpq6vZZd4eWNgGflXcG0xdOIQ8KUkGrOFYqtWsr5EB-L_Gq-xKS4B6IJV0a7UMe4pMkjFwfQPjuVp2WgbyLmmNvX6GGxA-UT8WJjEGQl8Cck_qhXeDYkZw5MjyQmk2t4rZe",
  "id": "rs_0b1c1beb708221f3016ab42cc5554487d0872d64cf3a731cc4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_z\":0.018},\"note\":\"The yellow fruit is centered near the bottom edge of the right wrist view, just ahead of the fingertips. I’ll advance only about a centimetre and lower the open jaws beside it.\"}",
  "call_id": "call_2pOvfdbwA9EIj0I5hONYWFXG",
  "id": "fc_0b1c1beb708221f3016ab42cc70d2487d0a9623e66c960973f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2pOvfdbwA9EIj0I5hONYWFXG",
  "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]: [-0.16, 1.0657, 0.9062, -0.7372, -0.2459, -0.0864, 0.9956, 1.0687, 1.9068, 0.9012, -0.0219, 0.786, 0.7242, 0.9983]\nstate[eef_state]: left_x=0.2981 left_y=-0.0009 left_z=0.1749 left_yaw=0.0973 left_pitch=-0.2996 left_roll=0.158 left_gripper=0.9956 right_x=0.294 right_y=0.2832 right_z=0.0198 right_yaw=0.0398 right_pitch=-0.0839 right_roll=-0.0941 right_gripper=0.9983\nstate[joint_eff]: [0.1299, -3.0291, 6.694, 1.3895, -0.1587, -0.0024, -0.0122, -0.5949, -8.7179, 4.5197, 1.3895, 0.4127, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ed90cbef25c305e20521e869b1bf0cac2701cd6e272c1d9a76901d9dd7415d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f178f3cbbf8553687794cf8fbe4f327df8eae25d7d97537607e7caac2eeca16c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b558bba43a6bfeaef57fd2526f3ccd6525bcbc5119c663658a90b4483292c9e1",
      "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 · 2.262 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9272, 2.6476, 2.6606, -1.2076, -0.6353, -0.775, 0.9948, 0.1738, 0.9791, 0.765, -0.6567, 0.1551, -0.1246, 0.9983]\nstate[eef_state]: left_x=0.4315 left_y=-0.3945 left_z=0.1031 left_yaw=0.0574 left_pitch=-0.2857 left_roll=0.1593 left_gripper=0.9948 right_x=0.2824 right_y=0.0255 right_z=0.1508 right_yaw=0.0961 right_pitch=-0.3028 right_roll=-0.1929 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -14.9402, 6.0376, 0.9206, -0.3639, 0.0708, -0.0659, -0.0342, -2.2906, 6.7624, 1.4481, 0.0415, -0.0757, -0.0073]\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]: [-0.1604, 1.0641, 0.9062, -0.7364, -0.2459, -0.0868, 0.9956, 1.1057, 1.6569, 1.1076, -0.4599, 0.8127, 0.7658, 0.9983]\nstate[eef_state]: left_x=0.2981 left_y=-0.001 left_z=0.1754 left_yaw=0.0969 left_pitch=-0.2974 left_roll=0.1571 left_gripper=0.9956 right_x=0.2841 right_y=0.2882 right_z=0.1363 right_yaw=0.0407 right_pitch=-0.0533 right_roll=-0.0561 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -2.7692, 6.9402, 1.4676, -0.1343, -0.105, -0.0073, 0.2393, -8.0342, 8.0479, 1.1551, 0.6471, 0.188, -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]: [-0.16, 1.0657, 0.9062, -0.7372, -0.2459, -0.0864, 0.9956, 1.0687, 1.9068, 0.9012, -0.0219, 0.786, 0.7242, 0.9983]\nstate[eef_state]: left_x=0.2981 left_y=-0.0009 left_z=0.1749 left_yaw=0.0973 left_pitch=-0.2996 left_roll=0.158 left_gripper=0.9956 right_x=0.294 right_y=0.2832 right_z=0.0198 right_yaw=0.0398 right_pitch=-0.0839 right_roll=-0.0941 right_gripper=0.9983\nstate[joint_eff]: [0.1299, -3.0291, 6.694, 1.3895, -0.1587, -0.0024, -0.0122, -0.5949, -8.7179, 4.5197, 1.3895, 0.4127, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ed90cbef25c305e20521e869b1bf0cac2701cd6e272c1d9a76901d9dd7415d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f178f3cbbf8553687794cf8fbe4f327df8eae25d7d97537607e7caac2eeca16c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b558bba43a6bfeaef57fd2526f3ccd6525bcbc5119c663658a90b4483292c9e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzKJXe-RA3ONVwLkYTAQ6G5_DLDpYPaalSfzlb0vR3-xA-tKXyf_KQt5__MEc8q3efFIGkNUKSbKwK4z8f1L84MnjXK5sNKjctoc0skuytuuNGDqdU53hxEu7SdaajCDBg0G1GH6qTtoa97HjFDgM8TY_lNkp-uaFFW4tYasihHK23AdpJd1dvDSGsbf_mfuP0HQ45ovYRcY745ERjRoVJkww80oDcr-HYZHB5GO5RI98I3iZD54jmbNy0Jgi4-FbIQ90ymXEEaaT8Bn5AnBi-zX4wUjAc_OPcy14S7V8fEpEZNbKxJDiJJiiaoSv9PcE_lSOXrct-IKKn7gVFCCu5Hvp7l4U1eBX522kaGLs0rxeKPR1HlccNhwSgvB65WV_yrqCW2eY2JAZ5bXK_lZaJFG8IVacGY88TF_O9TFNU92ry17eiUVQqJy6deN13j_DLPP4XHj8f-Ix_AB0ZCIiMGwLAHEWjmCBoXzfd2ZNW0MvQwBNvK_UINsqmwIeiLrNed7cBrVj4qCa88FhYtriQ99rKtGNL-ADVFDuiCT3INENmROitITw8IcRnnPmf9oXliSKIHr3Syw_rJgclq53noObISrc0mXAt19wrRe_7bf6lGt5DvidEillRJnlC-mv9OEtjFeNOry4SCCW6PMHepE47eZbC_kgvL_h6XAqfDadKbzEO5D4OwXrP6L_Y3PK9SQ5snz1PrY1LTSivKUv9DaIiBrUBiLc7oSCX2HvGiGrtJEX5CP4_jy_DSGVn9dHxrhHS3lGDwhGrJQHAccKXhBtBL1K6SnHhsa7WqTLQsTxyryTz9qjDMpZdoujaXoVwwiGm8a6qcSLjQ2uiTzroVGReyz5mMDcK7jXwQEZlAlX7vBp689sQ0jsDbepm2WgFP5aLbtBTHi5KCstzzTWRvJxHyshhTHg9aYZ4CSKHvJ0SuUJcyEIR8DzctohKZYZP1BEUuGLmETY6EC8HfSvRtos_7BHynl0T3Rug0lyQFYQwdpfM87GHW9tB5MgRftB3N9v30xIW5AjFHZX_NmoX4Z0WvCDjyPGtjw6F-mZbQ0ZLKFaKZ4G5dLxM7mJFSpFtY5rz78-OSTeAHQcXUKcZQZB3CY6vCvff0cUnLe60YSpFJYFxJKp3dTenSSeVDnj1v9DcGbA6Jnm4z1GgU1AZUbHzqAqu2QU6nrr-Mqm-oOAGIcCCyz-AFfQ_qUsW7_alH_BpfuZeyptOQT7ab1-_2h20g6U4TtvNloQ-Z2E9zlYiSSdYrfMtGK6kivQDI8HY_zaicpNO6RgrMBosmlIyr5PUQ4TnYLSLGNE4KLL_jbKLceqf4LFGPGge40bLmK0pmKfy0qVpLSNOA8B470joEhlglEd17b2QPSiSszwn9s6saglb5JTcGDEt7f2Jnl6_5k7hi_P0EW2p5hj3BUXLQ12imWVb4J_J4EzKNaet1S9zKo-Wd4NXgz6V1Sh5zex2ozkDLRdSm160awYEm1xEWF8EmJA86KFUG0WaHQVSnO6w=",
  "id": "rs_0b1c1beb708221f3016ab42cc978d087d09adf318f461c7762",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is centered between the open jaw columns at table height. I’ll close now; a retained jaw gap will indicate a grasp, while a full closure means I need to reposition.\"}",
  "call_id": "call_nP8jITKFnW2OnRS1qM7gy8WC",
  "id": "fc_0b1c1beb708221f3016ab42cc9ed2c87d08f5b3271a37f7938",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nP8jITKFnW2OnRS1qM7gy8WC",
  "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]: [-0.1596, 1.0657, 0.9066, -0.7372, -0.2455, -0.0864, 0.9956, 1.0657, 1.9301, 0.8871, -0.0139, 0.7803, 0.7177, 0.5069]\nstate[eef_state]: left_x=0.2981 left_y=-0.0009 left_z=0.175 left_yaw=0.0973 left_pitch=-0.2993 left_roll=0.1576 left_gripper=0.9956 right_x=0.2915 right_y=0.2778 right_z=0.0075 right_yaw=0.041 right_pitch=-0.1037 right_roll=-0.1219 right_gripper=0.5069\nstate[joint_eff]: [-0.2803, -2.906, 6.6667, 1.3846, -0.149, -0.0269, -0.0122, 0.0752, -10.5094, 5.9692, 1.0232, 0.3785, 0.022, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655fcd82e32ca5e1527e6a35e69fdbad8da7adda45e2a87b58f4f55c6b0abf29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8fadd66634b0a7ee7bc23eab3442449eea3d975a457daf81df8bd576e7cb44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d7ef9fb15d890146e4396da7da1438a9c93fdd85653aaa67711f1b3b1092854",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 7.727 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1619, 1.0626, 0.9081, -0.7254, -0.2501, -0.0937, 0.9955, 0.1738, 0.9836, 0.765, -0.6685, 0.1547, -0.1246, 0.9983]\nstate[eef_state]: left_x=0.3004 left_y=-0.0011 left_z=0.1784 left_yaw=0.1017 left_pitch=-0.282 left_roll=0.1518 left_gripper=0.9955 right_x=0.2803 right_y=0.0252 right_z=0.1477 right_yaw=0.096 right_pitch=-0.3192 right_roll=-0.1939 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -3.9179, 6.3111, 1.3846, -0.0708, 0.149, 0.0562, -0.0068, -2.5368, 6.7214, 1.5653, 0.0513, -0.0171, -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]: [-0.16, 1.0657, 0.9062, -0.7372, -0.2459, -0.0864, 0.9956, 1.0687, 1.9068, 0.9012, -0.0219, 0.786, 0.7242, 0.9983]\nstate[eef_state]: left_x=0.2981 left_y=-0.0009 left_z=0.1749 left_yaw=0.0973 left_pitch=-0.2996 left_roll=0.158 left_gripper=0.9956 right_x=0.294 right_y=0.2832 right_z=0.0198 right_yaw=0.0398 right_pitch=-0.0839 right_roll=-0.0941 right_gripper=0.9983\nstate[joint_eff]: [0.1299, -3.0291, 6.694, 1.3895, -0.1587, -0.0024, -0.0122, -0.5949, -8.7179, 4.5197, 1.3895, 0.4127, -0.0513, -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]: [-0.1596, 1.0657, 0.9066, -0.7372, -0.2455, -0.0864, 0.9956, 1.0657, 1.9301, 0.8871, -0.0139, 0.7803, 0.7177, 0.5069]\nstate[eef_state]: left_x=0.2981 left_y=-0.0009 left_z=0.175 left_yaw=0.0973 left_pitch=-0.2993 left_roll=0.1576 left_gripper=0.9956 right_x=0.2915 right_y=0.2778 right_z=0.0075 right_yaw=0.041 right_pitch=-0.1037 right_roll=-0.1219 right_gripper=0.5069\nstate[joint_eff]: [-0.2803, -2.906, 6.6667, 1.3846, -0.149, -0.0269, -0.0122, 0.0752, -10.5094, 5.9692, 1.0232, 0.3785, 0.022, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655fcd82e32ca5e1527e6a35e69fdbad8da7adda45e2a87b58f4f55c6b0abf29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8fadd66634b0a7ee7bc23eab3442449eea3d975a457daf81df8bd576e7cb44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d7ef9fb15d890146e4396da7da1438a9c93fdd85653aaa67711f1b3b1092854",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCzN2hEmLCd7UDYnclwP51t4ihftc_vJ0O7tfFUhyW7kMS5mFL_yZ1h67z3R3PHay40VsLSOCu4mJoF9ewx6Pf2K-5HD1Zd8737-DWcYfooS52004LQ42dnCTsQ2xOEy_djp2xQDAd8UqzRbWNcb0-u-ynI77RCIerzzRfE57uEn3EkUYszBHanPSz7-THHO4yubmmHKFCA88K7dwQtSbtteeCeSw88jEmukD_sVsoQ5zhy5-GizSLIPWSvZXzXFMg9vLagjSUh361ZfhAWSjwqljA9JrVqwbygW1mLBtnb-x9EW4F7owPNVJOtxS3I92pdbHup9efuELvyaqRD8KmlTdmdg3uR9kWTIPCPSdqCx0ABFijYOYKtlSBVHJi2YSPjXJGRVwnyGuCCsS6p17lXA45gbkhgFJM9GoSJw85785Y2Z89OI5LGLQk1XXszcyICRuEpM7yN49WsO3DgmkeKowJdCCkbKeOu-M1LTd3UC1QxguA5k1nO-yLxlfPUP8KDd3MeDFmPTSFVsCinxlSRtAvhs2fGsrrOA-SOlPLKqTaeiFmyaSTRiuHF0YKR_e0xUZez7Hpc-1ouWKW-WZ22TcbLZmBqn3hntwt7gK4teht8-HdzqieHMhUqIRb5y4o68iCbf14BxLpvUCvabXQPAiMhNHv4xgETK0bnBTSljb1SVI4kxPMzacy1V3mrwmbUqeed7mOWfN0MldLRedkcMP7prdJPh02_nn1DjL8HwSgEWIhhIgeFSTUOf6jzj5NyEL_EG9DRdCw8CxG57LTPml3_QIGqxOisPgbYkLPCRlXp8A4cZco34qh7k82ewRz7uGKYljtamhTxzeBcA1g1w4PKU6wtaeW6LUD5dNo4joSEYa30O7iIdElc_TB8gK4sDV0ftBN4mZUCqiiTNd-ebTG--F6jdM4AmylbhX8yiv8FR9wzlLAUZbmu_eobQpsrszTbik3535uoaE54aRtBXNc-M0KcBGqiSLw0j6skfZ3W1Jt1p6iOQAekpbTdiFKSl8Umyf9tSqzDof0nkh1OYcuru79wWvBDW9Io-ozN64oLtZ05NGJ7i_QLRTfgHczrOEhusldX7IRONo9uPed4VGoXyRVvpbg8CxIIYRc5vygPZvv0MyJ7vVEWgpJqp51Rz85RAvdIoOj6qyKnwH_pcCPZF7PEtO1mP_PnnXpdzfR3erPFyuJ72G73lK4zCljZFwRhOQcc1EElL_N-NCrRDspDbkMKiiDQ0k6fQdNCrFBnNPYx8WlGUbVqkjqgL9jl8HaDDApYDBtFguFWEMRMD4Q==",
  "id": "rs_0b1c1beb708221f3016ab42cccb47887d08302472bbd965e0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The right jaws stopped with about a 5 cm gap around the yellow fruit. I’ll lift it to confirm it leaves the tabletop before moving it to the blue bowl.\"}",
  "call_id": "call_YbtaIK7UWaL2ACOSryJ5f5pk",
  "id": "fc_0b1c1beb708221f3016ab42ccd1b2487d0aa3cf0f259cb74d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YbtaIK7UWaL2ACOSryJ5f5pk",
  "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]: [-0.1596, 1.0657, 0.9066, -0.7372, -0.2459, -0.0864, 0.9956, 1.0649, 1.721, 1.0679, -0.4183, 0.7666, 0.7139, 0.5073]\nstate[eef_state]: left_x=0.2981 left_y=-0.0008 left_z=0.1751 left_yaw=0.0976 left_pitch=-0.2993 left_roll=0.1579 left_gripper=0.9956 right_x=0.2906 right_y=0.2791 right_z=0.0987 right_yaw=0.0483 right_pitch=-0.1218 right_roll=-0.131 right_gripper=0.5073\nstate[joint_eff]: [-0.3897, -2.9197, 6.735, 1.3846, -0.1685, -0.0269, -0.0122, -0.0205, -10.0855, 7.9385, 1.1404, 0.4469, 0.0024, 0.7302]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d47ab8bc26dcda6a6ac3a1e828ae352634b980cce42039d6771ec2604a0662a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6344166fdd836a117f417b128ea52d5d3ebeb9cfba928978130451ca9efa7a19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a753db7b36120f340f4090928aa91e39218568c0f22ff984a0418d2c0315847",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.312 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1604, 1.0641, 0.9062, -0.7364, -0.2459, -0.0868, 0.9956, 1.1057, 1.6569, 1.1076, -0.4599, 0.8127, 0.7658, 0.9983]\nstate[eef_state]: left_x=0.2981 left_y=-0.001 left_z=0.1754 left_yaw=0.0969 left_pitch=-0.2974 left_roll=0.1571 left_gripper=0.9956 right_x=0.2841 right_y=0.2882 right_z=0.1363 right_yaw=0.0407 right_pitch=-0.0533 right_roll=-0.0561 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -2.7692, 6.9402, 1.4676, -0.1343, -0.105, -0.0073, 0.2393, -8.0342, 8.0479, 1.1551, 0.6471, 0.188, -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]: [-0.1596, 1.0657, 0.9066, -0.7372, -0.2455, -0.0864, 0.9956, 1.0657, 1.9301, 0.8871, -0.0139, 0.7803, 0.7177, 0.5069]\nstate[eef_state]: left_x=0.2981 left_y=-0.0009 left_z=0.175 left_yaw=0.0973 left_pitch=-0.2993 left_roll=0.1576 left_gripper=0.9956 right_x=0.2915 right_y=0.2778 right_z=0.0075 right_yaw=0.041 right_pitch=-0.1037 right_roll=-0.1219 right_gripper=0.5069\nstate[joint_eff]: [-0.2803, -2.906, 6.6667, 1.3846, -0.149, -0.0269, -0.0122, 0.0752, -10.5094, 5.9692, 1.0232, 0.3785, 0.022, 1.0183]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0657, 0.9066, -0.7372, -0.2459, -0.0864, 0.9956, 1.0649, 1.721, 1.0679, -0.4183, 0.7666, 0.7139, 0.5073]\nstate[eef_state]: left_x=0.2981 left_y=-0.0008 left_z=0.1751 left_yaw=0.0976 left_pitch=-0.2993 left_roll=0.1579 left_gripper=0.9956 right_x=0.2906 right_y=0.2791 right_z=0.0987 right_yaw=0.0483 right_pitch=-0.1218 right_roll=-0.131 right_gripper=0.5073\nstate[joint_eff]: [-0.3897, -2.9197, 6.735, 1.3846, -0.1685, -0.0269, -0.0122, -0.0205, -10.0855, 7.9385, 1.1404, 0.4469, 0.0024, 0.7302]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d47ab8bc26dcda6a6ac3a1e828ae352634b980cce42039d6771ec2604a0662a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6344166fdd836a117f417b128ea52d5d3ebeb9cfba928978130451ca9efa7a19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a753db7b36120f340f4090928aa91e39218568c0f22ff984a0418d2c0315847",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0b1c1beb708221f3016ab42cd0364c87d082f7e7fc3cf32383",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzWr-u_MwJQ9Ta5ENq2orrIslYy4Rdo_0XBZtNev8gRev_L9XBWvJj3gYyhBj0a5FHQ2vsxNweUJ26KTyeQOurZXw_n0z95fzWWcUi6xKIK61EycHWv86v0R5Q6t_i6wWbBWEu9lduneBaiHO8RFxYB1i0mDJ4IUyvbN5oG5sS03bRih5eQUq5ntmmumJcyJiDsCJ2S7pe51EcOCg9gUrWQdw6SChjlmUcFOaifOjJgZCrzeZk_bB0ZuHctp9KpF-ANpaFD1a15GVd1S4pXEhHNB25TdMCKFjkRtpccPa_iOff1pCOmskxDMt74XrSDElKGekKcKimh4gGckqknh_hc5nEBVfqeuLyKX6022L_pTB6qjZHCO8lDlJjtqZeM3tpGIsHmqn5hSm0WAlJloHRWxQSuCfaS-KKmGL2rpXpZgkfLZM98nViIN08atJCJljJeGTv3bO1BLbYrq49EhJp54Tn0s8YzPr8b2KXWLVODQqsMbI0w4zg9wvzyKua0nyIiBaigFi6W_Am3Imq538aHgC9T_VzENXEMKY96gt6EWha3gwvy2yMpkpPXnSMS2nNS6eM9tHu1vMbcW6n9ZkeSVov4WdRLqW7Pfs8CFQZSvTgCsoejeUMjgk4wWwrpZT8J1eEZkJ4Z6MudC_iR-kosG2_9s6c6pY3kB7K5ULH2Qu5H_A5SxqQ2a0br3EZUNKM8eBJX935AWjwuJGScjRj_iKwQkwGLNk-CE4DbTACqXd5524AyvtQ4mxGfF6CbP3cD02oklYeIaT4u7Nx2VtcbqDe8xgmLqMCwU8cpZnzIvSpfFVNJgkXk_RIZhA2te6uJzarhnfW7mFNJI-gd-_wbpXEwz1UkiaqidjEmNlJ-is67cNADm0eA9kTNs56UasjLGMpu1SMigBlxUj3n1J3mIWIu0uGHRk3NPPZs4QnyPr7o3AWcZQfpppObtgvGZQe0xVaY7t8QdAEjon67N-eUJAb0H3prV-H-TMGH1jAzlWCn0GCxriTl7qyfiTz77ewGd0zAEcshi3lZED6fIVN0NhBZF-E5HLrmAJqg_axcwcFQCThAjY5vivFSP1nK4WrlpLyW80T7mNpC4G0Ppb5oszbHiR46FK3L7r1FVUoFuGcc0rFUBBybHodfIOZllp8fJL6tE0-tFZnvdN3uAfRN20AljpKB6nrMiBWC-2uOh8L4ahl6JdHLkLLrykg3atg3rIvlCLm9mwgG0pox95YeoCqMxTmj_AhVCfTCjg-ppaIsKyY_J15HRHn6nDWsK2VdulUGV0Q7H6xJklR6Yns8hN8_y5LA5c4nbYO3DUxp_auP4JTNT5tIi_B_9jIuUGpPsO-H3Z6R61Wko_tpf-CcKMDX0ZNjeJKNkjLrV7-j0MxlVIQCp28z891zKAXLtlrsNwXry_nh42r_A0pNulUlciYV7AsGKIY9FqF7UYMnNMTs6YiBvYFDvKEl4kwFgXj7gkiDz2MLnIwpdNtDliP9o5_xXp0LME3FtS3pRaBXx1IWiicEpuSnWXZFSmZ_iFRogEigDX9jMiyga3nI436XJHevMn11dMXc35FHoAEr3HryPKexncUsjprrLk3ai775GBXmCQpyxItjOLQ7hP_rVpTt7VVyNkkFYRPKohYvA6l4YAEIM5p65V3cL6FWUFOiPsgYfTYyNvfBK876E6IL3zplaJzNvzR10pJEdcu5XYfZkcRovp2ZOZSoU727WGSrUsGUayezjHgyb-FI-mYbZnuXiSk2IYyZKCn6en3rlUUmuSkPm2H8oJU_5HqHDSSn",
  "id": "rs_0b1c1beb708221f3016ab42cd4532087d08c146f669d1faf7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.315,\"right_y\":0.29,\"right_z\":0.045},\"note\":\"The yellow fruit is still visible on the table after the lift, so that grasp slipped despite the jaw gap. I’ll reopen and regrasp slightly farther forward and at the fruit’s mid-height, rather than near its tapered base.\"}",
  "call_id": "call_A6F8548K23StVwkFpePRMtiD",
  "id": "fc_0b1c1beb708221f3016ab42cd545e887d0b30940880ba1b948",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A6F8548K23StVwkFpePRMtiD",
  "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]: [-0.1596, 1.0695, 0.9062, -0.7376, -0.2459, -0.086, 0.9956, 1.0218, 1.8824, 1.0382, -0.2531, 0.7387, 0.667, 0.9958]\nstate[eef_state]: left_x=0.2982 left_y=-0.0008 left_z=0.1738 left_yaw=0.0978 left_pitch=-0.3037 left_roll=0.1593 left_gripper=0.9956 right_x=0.3072 right_y=0.281 right_z=0.0416 right_yaw=0.0422 right_pitch=-0.1605 right_roll=-0.1755 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -3.1111, 6.7077, 1.4188, -0.1343, -0.0317, -0.0171, -0.3214, -8.9231, 5.5179, 1.2527, 0.3834, -0.0269, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8c88f1ca37d0c3417538757e5e8ffeb3e79d0a73a29b89d77f6a71b7e08732a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:278d365367c9fd9ead1300c12c203a068fb205ea854dbb2d95562e2a179a8f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b35a517d6ffcfe2c8dc99b1f3cf2d138604627ea36cb371fa4270902faec4724",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.898 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]: [-0.16, 1.0657, 0.9062, -0.7372, -0.2459, -0.0864, 0.9956, 1.0687, 1.9068, 0.9012, -0.0219, 0.786, 0.7242, 0.9983]\nstate[eef_state]: left_x=0.2981 left_y=-0.0009 left_z=0.1749 left_yaw=0.0973 left_pitch=-0.2996 left_roll=0.158 left_gripper=0.9956 right_x=0.294 right_y=0.2832 right_z=0.0198 right_yaw=0.0398 right_pitch=-0.0839 right_roll=-0.0941 right_gripper=0.9983\nstate[joint_eff]: [0.1299, -3.0291, 6.694, 1.3895, -0.1587, -0.0024, -0.0122, -0.5949, -8.7179, 4.5197, 1.3895, 0.4127, -0.0513, -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]: [-0.1596, 1.0657, 0.9066, -0.7372, -0.2459, -0.0864, 0.9956, 1.0649, 1.721, 1.0679, -0.4183, 0.7666, 0.7139, 0.5073]\nstate[eef_state]: left_x=0.2981 left_y=-0.0008 left_z=0.1751 left_yaw=0.0976 left_pitch=-0.2993 left_roll=0.1579 left_gripper=0.9956 right_x=0.2906 right_y=0.2791 right_z=0.0987 right_yaw=0.0483 right_pitch=-0.1218 right_roll=-0.131 right_gripper=0.5073\nstate[joint_eff]: [-0.3897, -2.9197, 6.735, 1.3846, -0.1685, -0.0269, -0.0122, -0.0205, -10.0855, 7.9385, 1.1404, 0.4469, 0.0024, 0.7302]\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 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]: [-0.1596, 1.0695, 0.9062, -0.7376, -0.2459, -0.086, 0.9956, 1.0218, 1.8824, 1.0382, -0.2531, 0.7387, 0.667, 0.9958]\nstate[eef_state]: left_x=0.2982 left_y=-0.0008 left_z=0.1738 left_yaw=0.0978 left_pitch=-0.3037 left_roll=0.1593 left_gripper=0.9956 right_x=0.3072 right_y=0.281 right_z=0.0416 right_yaw=0.0422 right_pitch=-0.1605 right_roll=-0.1755 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -3.1111, 6.7077, 1.4188, -0.1343, -0.0317, -0.0171, -0.3214, -8.9231, 5.5179, 1.2527, 0.3834, -0.0269, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8c88f1ca37d0c3417538757e5e8ffeb3e79d0a73a29b89d77f6a71b7e08732a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:278d365367c9fd9ead1300c12c203a068fb205ea854dbb2d95562e2a179a8f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b35a517d6ffcfe2c8dc99b1f3cf2d138604627ea36cb371fa4270902faec4724",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCzZRSXcGqBis44L9upRNlETtY8aXZhlzp2q2-rSA9Xq2if1OXl1Ng28m_YFYZzJBY8-QcPPgMWQ4HkWTn8jzwcbxG14BjPq11xZKdKAES9AHckklqn0_FCcgNn_O78zm3abxg5KOHnT7ozj83vnNEt1AE34jsLKEhGC8kavNNjiriI661_wTKqrQCRRox6fcW3N4lF5NU4hQUgXhO17bz872SXh6XmAHHHa9EmKpd9OZtQbzaHIq_A0JrPhIgDNGlBtvcwdnY-c2_S-wWkGo3wSdrH3I_-1XpJoyK2Z62Vn_OpsqhMsqbwRpOqkZZy80Ml8wosRzWeXyNQojqVW5Vj7vY31pac-pzks6LnMmp6m7bFdxL1X42n8iKs76e-xSkQzIz2nVyQ00Ku4GrkkN4y4Cv1MwOFTlWqdsP5yiX2KX_3gum8Vp3Y29aibov3ZF3tyg8bVkQtLmmx7up36c5Eg-00PceomO_1ufMq15n4lvVULBrQtRBl7FQltOiMmkTT4vQ3KppIXoBwtSW5oYbCNBRi9kH-ZH_0_5Cx4qL1XViZAqYpxMewA0T0ORYBK_gt0tOG_6ZVNz-yoPl5xQWDxJ93_fjIGrCswURhMHkHAAnbwJiVuTl_SCAd4Mj_GmfJa2VW3ocJiBkIprk1rySqzCCf9isBov7s89wF6lE1IjcxAR5HcMXmgdT7l5IjL9vdDNc1okA3Z-VmjrrLUZqibNpHGOMk_I2J9k1jgp-rM9guFJNmNKdEhvpnrvFus7wSAZEo9Iu2_KU6xaJF51cG8X-ifltkTKQkiSgylla_8BoNtTwpxV8yujZUgLNxy9IaVg_EZ5Rtxb-bCxCCB0UBwkj-p6zVK18EiCsiZEtLNurKjBNujHXL3uIwj3qKLam5YGg4Uss_JN9PdbPs0BB7cSYz5bk1BqanjfkMiKe9b-DC1MbQB-2jNTNrmnteWz1MfVN4PiLdEuWKUjXaLW2QioR4knGSJLoT7jmQq0CFAIRh9eIB9II4atiDZdXdDfp7OVVXzkMLk0iNuX-zpXRyrBogYj6YVN-7Z7lmAwSGRpFM2CW04Sgtmh6-ZMtToO3qUOPT-RI9ZhvywjOuIuDHxvwNvuflxaCeT4IDbcJ0loIOMvbRR68ktd2xnSs6Xdh3nSJAPyg0LhP-hi1aoJtC0j946aJXrugV28xFnXG4a1aJ5Jc8MtlfdxkrxRL08dn-tN7p4CxAn7Y_eh_308qv171E7fwruipJ7RYJBgQDd8wOSEqPaC47tm4LDXDez4dG_0rmmV8UoIbf5AtSvLoUx4-5FTutdqfq_ssdUOn2m8YeAQqOWNAXPn5aYhMbtU3cIEvQmb5N6T1tRXOUbXcL3_uJDQfPW5J5TUSxufhIdbaXjK1vuXd6-BeMrM9TwR0fO0xWNnCp4cUFEALZYi8kfP0wPv9N0JPuuYIidgrRr-vuap0BDdfwH7r1uZG-Yc0BDzcZl9uvUopsxuRjymSH0gGdLJTUtqq29IJca9offJp1htFbT6frFEA7DGKhy3rhDPzbCmJnMMOVSM3HDC6YT9ltKHuSaEtD5P685Z0xIrIz0WXjZBTXsBs9n1jIG52lpeQ_XbS0oIMrpopMYodsgexH-uSPFD6bhoMOpbs6vtX6QwZnFNOF3QMPTgw2pInnulSQO0xHf6J-dgTqLTsumRcem6_fXwA2JjcUaBTKl9RPGQ2UAVL8jmjmlp0CTUGbS__XcpTphU22E4MBqXTgEDjtXSYbEnMXRqTdmBd281Kso0mnF0jhgZipWawM97TsrNzOpdJ96p3usOilqML8zvVHYBcuS_4YKT-5J3eGjK65QsdM_YERmSLcMsJU1bUaQm4wmNe4VSWgb8UbrbTZpK1-RFmnBUjxOW7R55jszpJor4GcGco8xrElWa8dDBaFJXW4GMaDJYRiNqQdE1Zv-HUpSMjDfDSfjQL4t31tle-0=",
  "id": "rs_0b1c1beb708221f3016ab42cd7d25487d0a5a8b34d50e9435c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At mid-height the yellow fruit is now below the fingertip camera’s lower edge rather than sitting visibly in front of the jaws. I’ll close around its fuller middle and then lift to confirm it comes along.\"}",
  "call_id": "call_2tfsSeNZCuuO8hdzKFLREA3r",
  "id": "fc_0b1c1beb708221f3016ab42cd91b2887d0986336cd5d2aa176",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2tfsSeNZCuuO8hdzKFLREA3r",
  "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]: [-0.1593, 1.0737, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 1.0191, 1.8931, 1.0389, -0.2543, 0.746, 0.6544, 0.0144]\nstate[eef_state]: left_x=0.2985 left_y=-0.0008 left_z=0.1726 left_yaw=0.0984 left_pitch=-0.3078 left_roll=0.1599 left_gripper=0.9956 right_x=0.3081 right_y=0.2788 right_z=0.0384 right_yaw=0.041 right_pitch=-0.1626 right_roll=-0.198 right_gripper=0.0144\nstate[joint_eff]: [0.0205, -3.0701, 6.7077, 1.4042, -0.149, -0.0415, -0.0122, 0.212, -9.935, 5.641, 1.3016, 0.1441, 0.0806, 0.4762]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e967622cd8543e9e10f8737485c8c066e2fc1524b2146cb8a81bc21e54fa3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b528b746cb446056744f4ea4904236ebe9607ca60c78723b165728645125026",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e2227b5080e459361cddb7e6d31f75c50407a58f10f89afb629dfa514860999",
      "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 · 11.79 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]: [-0.1596, 1.0657, 0.9066, -0.7372, -0.2455, -0.0864, 0.9956, 1.0657, 1.9301, 0.8871, -0.0139, 0.7803, 0.7177, 0.5069]\nstate[eef_state]: left_x=0.2981 left_y=-0.0009 left_z=0.175 left_yaw=0.0973 left_pitch=-0.2993 left_roll=0.1576 left_gripper=0.9956 right_x=0.2915 right_y=0.2778 right_z=0.0075 right_yaw=0.041 right_pitch=-0.1037 right_roll=-0.1219 right_gripper=0.5069\nstate[joint_eff]: [-0.2803, -2.906, 6.6667, 1.3846, -0.149, -0.0269, -0.0122, 0.0752, -10.5094, 5.9692, 1.0232, 0.3785, 0.022, 1.0183]",
      "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]: [-0.1596, 1.0695, 0.9062, -0.7376, -0.2459, -0.086, 0.9956, 1.0218, 1.8824, 1.0382, -0.2531, 0.7387, 0.667, 0.9958]\nstate[eef_state]: left_x=0.2982 left_y=-0.0008 left_z=0.1738 left_yaw=0.0978 left_pitch=-0.3037 left_roll=0.1593 left_gripper=0.9956 right_x=0.3072 right_y=0.281 right_z=0.0416 right_yaw=0.0422 right_pitch=-0.1605 right_roll=-0.1755 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -3.1111, 6.7077, 1.4188, -0.1343, -0.0317, -0.0171, -0.3214, -8.9231, 5.5179, 1.2527, 0.3834, -0.0269, -0.1929]\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 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]: [-0.1593, 1.0737, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 1.0191, 1.8931, 1.0389, -0.2543, 0.746, 0.6544, 0.0144]\nstate[eef_state]: left_x=0.2985 left_y=-0.0008 left_z=0.1726 left_yaw=0.0984 left_pitch=-0.3078 left_roll=0.1599 left_gripper=0.9956 right_x=0.3081 right_y=0.2788 right_z=0.0384 right_yaw=0.041 right_pitch=-0.1626 right_roll=-0.198 right_gripper=0.0144\nstate[joint_eff]: [0.0205, -3.0701, 6.7077, 1.4042, -0.149, -0.0415, -0.0122, 0.212, -9.935, 5.641, 1.3016, 0.1441, 0.0806, 0.4762]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e967622cd8543e9e10f8737485c8c066e2fc1524b2146cb8a81bc21e54fa3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b528b746cb446056744f4ea4904236ebe9607ca60c78723b165728645125026",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e2227b5080e459361cddb7e6d31f75c50407a58f10f89afb629dfa514860999",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzeLLH1UOoU_JsgV500T3IyAe9fA8IAw6lxzjyEq9ameKkiZkZlBCods7jYN-UykpXfi7j29ijhJdxVXsB91y4LDzTBgXOt8nEstkZBIP_NMJ8vJXRkwZlXDqGPwY5ndVedZyzzXgOFX5vnKBkRveK-G5yokzglkl1VBGIAoji4NevM-q5b1ykPsFrdIyN70oyYrzTjtIA5tDi8Vsn-fedsWqfwgFjjkuPtx2qImqzsDD7VOHVaGAyCciKFho2n5Xsbofho-9en7wXn5ha3K6bxLHyrdssD0_SUwoCo7gg7FjjNvxbVkF3NmfcTrif1DpoFbPLvCpuMp5jrT1lUhV7zJXmB6wU2cwo_S1EAVBzUxoYueqp4PQUe4AOaMSr14126ic0mhhjTAJhTGch_HbO-wHqFGpJkCIVZSYTRhZPmczce_9xFbIZcx22p-_nG_hHtZjSi5BkomgTunzPH7qXI9INtbMFWRmn9kj9v3la_SN5oiEb-0dFB_dIYPUH8V9PuKYPgqAVB5XjUtzOu5vI75dIRD60UlWkZm--bFl5hbh8sbpGFBhSF9b2BuKxIUjrFmN0P26gLx0ouQpTIL2uMe41NAJOUk9_y9In3GUtUKfrFr0Fj_7sqpsHQBwdJ0MWYyY7mOMrQUfT9dstI_N0Qz0vHsb4DWcgEynRNpdXM-nrviUOio88bT7SE3QkTJX7j1POipjZTgEp75eGpj6JSI9m3mL0UD2ZinotDcRlvjhJGbclKdfTHUm5N7_ALJB-ky-yBuY9iSa0mvn1e4LFFVOfsohrHER__lfg7yz6EdnwkBjpVpsDmcMaJZGFjx5JnbXg5n7LCDVoedO1_vliDbVhPHSGV0eXC4PrQDnm30idNFgBzYpN4xRt4Isql4X81EQaMhRutdEttYkzMDvqiYkoPNaY4cPA4JbDavRjIeBWOsU1iQKPFJpgaIgoGr8j1Q-Ug-eJrFK60vk4yZaoHdIN8-yuH9VxFlYUb5w5IsB_aHpovb3GgYSmYPE3M2mPkwHgdnz11XWWoVHUCH_UtjaXrzkpTZv1BJ8aBX2eMv7ndYJkYbfSSaOsU2mar4CcSsOgNkPaNR89kIh3XTkG2pMuIX1QdDGXhJu3J15bpWrUVSsw-dSI7NcD9orPUiOKBrZt5sufFAl6-US_XFuS-kBAXY34Ixo33IQOHDuGd7In63-RGVYhx748Lyg1Sq3XqOlMiJpKkkEp8LSiHsFNK3GcQOr6Zb1vR3o7y_iw1MgzseCexaubikHESfCWiZD2__A5I0IbsazHaVdZ6X84pX01hV6wVOYgPhUupl68owiyn3QBLCSsQkzCVlLUqGNi3ke48jWmPvNEuG4-WDpgNcTOtIcQiy5HiRBeP_Y0VSPkMKBAWgoozCpfEjXCpVS15kSnButjNiGDiFfgDUiP6sSBhgColyT95K9Ab42rZYRZr6sz9G1RBxiH8PpYW6SLbJ82gVwFtW_V9mZD9sNpSrFDavgmpy1nrYk9NGWWIko3OnlTG6y5G7FdbekYiY-OcYYOVsm7PZcR4USwiLJ70jYJcdznu3iAt4YVLh7utDWlkzlzBN3JnxbF14hf_sYs0MRNwzkuttDdDvR-tdFeYuGVZlIthfxPepZDH426dgOxg9Bk3mAaApbQ7aBcyHJUJi8KCt5ut6OzG8SE7-T7SbS6NYKRVbcV0UapfbIc4OiH-Sbl_apfb51OAqnQRlbKULOt7_U74y7NK6bLAVK5W3XcnI5RBbEaVwl50FTWC7XjydneoR9NQJyI2OWAk2C_CFhTfzIXIEl6tY5VsTtmSYyazW-HoLstZEfDFtPTYPUhwQfIowTWzHEsRVBdLPhVuylAXREf7RWhxHcnxk_HmQAJjiBIZDHH-hEm-5SASZCIeyKNZER00EPXmydMScLFHMZExqKzvDKMOEYYgPyvUuud5uKOk6iw7hetz8z60FWo7YJE2aSUiqbYavEAo5gWiwYQgitaLh33ESm8Pio0A6DTifiKR6JmHqUIJsb58oqtsuOO7faDRKNVJk_UvMOAiEw8Fmm9sXeWxjTrq2LBygjnufAhGIjiy7n-S51lNtdYhpdUG43g8EbWIPS0zI6tG",
  "id": "rs_0b1c1beb708221f3016ab42cdc00c887d088ed3dbb0e66877b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.245,\"right_y\":0.31,\"right_z\":0.11},\"note\":\"The jaws closed empty, and the yellow fruit has been nudged toward the bases to a clearly visible spot behind the gripper. I’ll move above that new spot rather than repeat the same grasp position.\"}",
  "call_id": "call_NdJpvhnybmoAxjltZXY67bBH",
  "id": "fc_0b1c1beb708221f3016ab42cdd83b487d09a5933813b67d924",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NdJpvhnybmoAxjltZXY67bBH",
  "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]: [-0.1593, 1.0737, 0.9062, -0.7372, -0.2455, -0.0864, 0.9956, 1.2152, 1.8473, 1.2453, -0.6956, 0.7929, 0.8806, 0.9956]\nstate[eef_state]: left_x=0.2985 left_y=-0.0008 left_z=0.1727 left_yaw=0.0984 left_pitch=-0.3075 left_roll=0.1598 left_gripper=0.9956 right_x=0.247 right_y=0.3139 right_z=0.09 right_yaw=0.0651 right_pitch=-0.1907 right_roll=-0.2185 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.9744, 6.8718, 1.4139, -0.1392, -0.0171, -0.0122, 0.2667, -11.8359, 7.3915, 0.6178, 0.6178, 0.1245, -0.1587]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:279fa112221937dd5b62fa3aac7a88e702c804131e66dac4be788de70565065d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52e1ad9276e2986cb2004efb34f05a8077a86c2aab850761ad8b6f114a1e05c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7164aec285755a1ef054fc684bdc6af4935efd7385811a9a29f5bd6d58fa02a",
      "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 28 attempt 0 · /responses · status 200 · 1.933 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]: [-0.1596, 1.0657, 0.9066, -0.7372, -0.2459, -0.0864, 0.9956, 1.0649, 1.721, 1.0679, -0.4183, 0.7666, 0.7139, 0.5073]\nstate[eef_state]: left_x=0.2981 left_y=-0.0008 left_z=0.1751 left_yaw=0.0976 left_pitch=-0.2993 left_roll=0.1579 left_gripper=0.9956 right_x=0.2906 right_y=0.2791 right_z=0.0987 right_yaw=0.0483 right_pitch=-0.1218 right_roll=-0.131 right_gripper=0.5073\nstate[joint_eff]: [-0.3897, -2.9197, 6.735, 1.3846, -0.1685, -0.0269, -0.0122, -0.0205, -10.0855, 7.9385, 1.1404, 0.4469, 0.0024, 0.7302]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.1593, 1.0737, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 1.0191, 1.8931, 1.0389, -0.2543, 0.746, 0.6544, 0.0144]\nstate[eef_state]: left_x=0.2985 left_y=-0.0008 left_z=0.1726 left_yaw=0.0984 left_pitch=-0.3078 left_roll=0.1599 left_gripper=0.9956 right_x=0.3081 right_y=0.2788 right_z=0.0384 right_yaw=0.041 right_pitch=-0.1626 right_roll=-0.198 right_gripper=0.0144\nstate[joint_eff]: [0.0205, -3.0701, 6.7077, 1.4042, -0.149, -0.0415, -0.0122, 0.212, -9.935, 5.641, 1.3016, 0.1441, 0.0806, 0.4762]\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 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]: [-0.1593, 1.0737, 0.9062, -0.7372, -0.2455, -0.0864, 0.9956, 1.2152, 1.8473, 1.2453, -0.6956, 0.7929, 0.8806, 0.9956]\nstate[eef_state]: left_x=0.2985 left_y=-0.0008 left_z=0.1727 left_yaw=0.0984 left_pitch=-0.3075 left_roll=0.1598 left_gripper=0.9956 right_x=0.247 right_y=0.3139 right_z=0.09 right_yaw=0.0651 right_pitch=-0.1907 right_roll=-0.2185 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.9744, 6.8718, 1.4139, -0.1392, -0.0171, -0.0122, 0.2667, -11.8359, 7.3915, 0.6178, 0.6178, 0.1245, -0.1587]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:279fa112221937dd5b62fa3aac7a88e702c804131e66dac4be788de70565065d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52e1ad9276e2986cb2004efb34f05a8077a86c2aab850761ad8b6f114a1e05c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7164aec285755a1ef054fc684bdc6af4935efd7385811a9a29f5bd6d58fa02a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzrKUee7x5y8j3WZ7ekUla33YDYa0_IZ712nGSIBIiMIfz5Cin91jsMZXdlU029S5nbHy3R9RY_XsgCVuql_ZPH68vdLMWQUgzN9-idLfYvORwxJ63Syt2Dd5pWaPULcORbgYjG42cIWtruNUz0wav49Y3I-B12E3zu8ZIfGnV-thgqb6XJon2XJiNtWpNLi3_f3cEwY--BYlrQkjXTCY7989oMe56RLQiIg9arnw9bBpnbOF-vPTrc1XCfJOMTV_z2J7nKiVR11D7xKBLiNhhllAlZShxFu4ULBlOd-pDjpGDt37gL68lsfoJlRyPr5G61GYeUYSc5zp5UGRvA8xyQIGJjti_dPe5_2h4lz87ey05cAe59c5mDEKtLWMDQJ1EV_Fu17Qn-rQ7HAjmLRex_kaU8X-U7M-fw6zslTYFEuRWqLZVuhbbMGGbcQgQ6_Ia0xaB23q0y77EaCrnxRkMrIHhbVFQfKFJr3ZHsf9szKPM9JPpQVCbFGVFoZB07kK8rOeIXOkErO6N7yo5dHhVfeiJ6liTSH3bllJGbj8pDp2YwCV8gZtvHczQ9PuvtxU78lN5Q1-8YmOZfCQ2v7OyEakljEVfqXu4udRMxk53BqCBlyiBlUh_HT9LEtOZQBIX3EANijwXijR-0Zs9l3-uyF3Ke1G3MXb6a-sGMPL1q-tjr1EIvWcOqDBFURU9zkqhYFdEmw5pR3p6tCclZ9DvW49fba36f2ODMUNMhFDGlYbMyiWJ56QVmcmjeEN8EfGRApuQGhXikB6RIfkuPfU6M9G98JPDkpgJsSJLsFV9g39VCJwtIgBApKyJHZUxgCJYV3MMMDA3DFCqz2eWxEJetEYJSn_p695EKYoEcdZ18C1Iazh9TKdJ-Kv1X_uPPJ4nISvSZQhU6bMNqOUUMYvT7R613ktUo8I-ksHbnqZttiXNYFp3aSX1hjtZtL1_rNP9nXDM6DQZIMMuF8DOtmpbyeySSucXl54QG0WgsJ_MkbLgyg9ezbcciM05nAqofXW-FLWMcV7HzhtUBOw_tu_VA-26o84UAuTnRe9MhLk7sr3LEEBLWzFBg3TvuB29hbRlSmq9G6IY4ym1mkKQGJuq0T3O_BTf97ZyQMeZ70RamuAoXb0oxXwItSUGp4KIXN8F7t4rBHXqnbQBOXUyKDGMlOKqRm1AUBiiT-kOTbssS_lqqM6ZKg-yylPA8aVt7U0WS1vlFFFnTQ0I6Bhcw3oEUXVXPiMY3fSIrkg4u-1Sl7jeMbO639qeUphIFhFHD644cbmp4f5v_dwRyU_HFRqec_v-4Pyo-CHnczD63dpre0bfqCwHbMLWq2kS0SoTFAREGTDJjuwHYAjMZUP-SQTmDmE0jBoM24cnzeClRzyWnxMlhgaOAyyeiuDn_3tkyVxQXqVbKF5QN4heFTawIOeKFJcZXd_Rj-DLfEXyoZbEwstOEWL86rWK7skaRIl7VPzo60T8BJ1WvonSku3f_vOphUcKenXekXSGK-MUY4MGFI2Az7q67ZZQM635ZLAs4rBBIM5o_Ca06mXRjQoEY41fCjPM9ra2ADYkKXbuJMdw9H8-ZypHBFD1ztl2YoRkIbbtfGYsJGou-SauPADL2iZl4Q5-yXkehKNbQUJXHm_bMv5LUB3bmS83AicOVX_fAARE4ZgTsOKhf1pjETGJIabj2zIg1LCaE6QMetlbkHWZNi06hfgkoxpV80jL8FYrwhd6RH-oN3u6bhMruyuV1bPprc3WUgd-3EUtaHmYN8voxybTUeQmcniAPnFBPA8O_k502P97n8fLCSxvtU8uAGkNpaz4uAP6Ev2o2OId-Owy_zh4gl2bzulqGEnBDNc6cIS0eyg5Cea0hgnRHalS6VmbAHC37y3nXT12IvhFxQOsN_L_kAVDkNODXDFX_kkO-_cfDXq7VouffMZKmtibTyxMmeBVZ5-AzKEycZkWS1Av1jBdP0lc79jbRx2jOPi7dinY8AJhGnBAiYp3rEAYPczr1vgzbkdlxLWe07tcWZJo18N-Rc3K_GULhCpqsQIn6bT8yTtsn1JhPiWu8jBdYKTaVE6sbEFs4ft2G60tuMwQRklQiPCl2e0l18zAnYJ8xxuqhVSFUnxMeuE_M75RJbp02D5PVhdbLAhpyiJul-bEUtx8bT5KFxGvJL8p10eonQuTDDGwCSk4eDXRDd3b5BzQOT0HuqzllDPtihstjd3kRWXoGAPLYVHL8jhQrgg_-06OiK6FFTjQ5Vr0nJGrhewrG5uoAQfuU5P4ZsENiyvLWi1Er5S89DSxA9kbTtnWqXNQAaGZvWMr--qea_s9jHEEBOOQ-Ml030CgbPTz7CSKdbdHDUxHDFoWTF6ul-zlw28v66tSCta0YUeKh095pSfTRjYfJEb-wUAtS-a1vR4N9RNpAUbcE59pCi-RjKhvlkHmoMJOektSOyhkcWCLh9BZXCiQmRvTMZFsyKx1ZdaiNu4V-i9h4Iz2b_LfvKRnYJY8fhELGgL57QYu6nl58QfUKkA5fMB3aRxXCzoZQRYZ5OliOKCFnaN2LgvHgU5eBzAdI3ccjdMxTNMzf-shJCeXeaU2HE4Yd979DU1PZCshA8A8PVuBBKxLJX7cIkmcyCp61qLg8cArVN9JJw7fbPClq5ZtXkZKScHMCR6LSXczsDir2UtVsLsBG_EXH_cuMjZUqV4RagaeInxYbDsoNLCo3jIAasRaushF72beQ9sRYdr5WMxWn6lxnlYmLIJoVzFwRACMi3r-na629cv2IXvwQ-cBuC3UnRidfGBMbDMTMcAi7mCxS3dS5ibWJXxD_PENqW6vqMNVaTt6h5MZ_VPjVkpSAhiDYvdqAUZg5KWQ_qrI2M83-JdXeoLSOR8Soda2aBvepRuTWwpjf8sKx0-TimwG6gtNX4OQ3KuQBdYzOGSxTGlsCatvzko0ME8MWE4FxiusF0LxZZEwnzsqHX062-hg3BjS-Ev3I9eChp7eW1ewTc1goJWGZuxsSW2ddXFyJSyBXXte8R9BQ-STiPS5NHjan6n7SEnD-a8mnmkJsnKXzDC48sr_ziVsYZnkJhC57e8lV7JjD8Vh4L06g1i4t6ib6tJ7-Qw0bYVRsmrnazgCKp3SOHL0bhA-iwALBaReNC_KN0OndtRB6W_iszqNdsuSlGK5COkUlqYxGpyYnq5xlhGTxcQKYr85GdIzRlnE5glrR62JnrYXcbMY5eCFyqBSWbUH__tffd-3WvcWOxRaVdEDUe1hcIzdmOU9wZvmkIaXFfJLzSSQvNeNDdn17etjPXw8_AHkG2qoroilbME6BkVrGq5tAr8HCbO6ksuLLH9uEQOa4NNJKESIGFfP6EuzWWv_2PwDyIRwpY8CiZ5oi_OWLrF3-5djw7LKPixzSbydhhaAHklV9EnNFiOFRF3ygIkhqJldbOpWcJ0PK0x9FbeMLGqFhzAQJ0EoVGxFBmc1T5Z_p15df87WjKYq8wJ7s2L24uo7rBuSLiSJbPM_4YwJRd_0N4CmngLqDQw5NnySSUix3ejQcXZbIckSI0H-AtMNV_ng6yYhnebLYFb5MExy77qkv6TRU8dc-uUpu_DPdFKSXh3N1wzlDkP9sNpVtT2GnNuBQtm7wufrZmLy8r5TafM3iCqYvSVNHOCooP3BExQ-ChIC8r5YdnGMjdLpx6WQ0uILJO3QHRZV8auJfPFSLufEktj01LV7tIaNALwLXaRTjJsEXEed0vGHgQXZMOiH_TJhAD2Dl03D8jHMg7jT00kzsxmQ500lUgGHtsWar-4zbH0Hd2VGVYiQJ98n5YOJfjV4VFNevJRbR7oehvrNpQgM4cTfJjADArzq8VkMmdXlzi6YC2IdQnDpATFbk2eBc2T2qClQiihtG0cQ7tyVIykfil85g14X-3ycU",
  "id": "rs_0b1c1beb708221f3016ab42ce217b487d0ba020260f5d2e116",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzr_Or_5ELIHJNVIWz8lFdol9u-zuy0Z9SBDfc8tqCi_KmmMO-MjvG_NE15xuBq8S0DRyhbJhQb9EIisuCC1OTVL5xCQezPJEwWpz9Wrf0OvRwY02m26JkpY1H_P2J_zvhBhNoOD5ODN_xt4oGYIFRJKi9CnlUa3yu7oFK77zKoDFD1N5LWE6Olgi1TDdlCrLaV9Uh4xkMcSCNZ73fmI1jLPEvWWpCqvNkvBQEnQ2AivGrDgdB99VoFqMAsQ3dQDJ8Mk0S7J3g5xRLxOjIxejxW70N_jJqJ6gLyiHfwJ_udz5DQg6ugxqhhKLUhsxzMIe1VdnJYz-B-BnNwkqx14d7F8dqTEWrY6HxMb0bCps7Mydvg74Kdd5ySmDvrj3sqXh0jGtm8-mskowmtJXE--wt95WC55XxAtbDo1hnpc_uI2zoCvukiszmAjp8cFrRda6_3knhA4c2V9OfqIHgeaw7_t0-SdKIl5iKTzF1KWl-wli0oLHOU1KVuiPAL3mapdCvSFmZmLri9XWW5mQViirTrVrgo-B4b1Eyacug-M6X_r2X4Cs9F5I6Umimxt_75eY-Xv8uv9s8gYFWQHmk9iAY-fFChP3cu4gD_6-NOr9doJ9ovG2B75c03lJy9yZbjzQcQB1N3r2PgFHoeX0W_XxFQu-eeKEBNOYvjTfOcl7XnSIQgLur6dzxwI7MLZxbgQ4yCRmvKI9qY1D8FgFX6A9huiy2OwoWeWKcKpxrQuWE4KiSrCcDuAhqwNV4bJ9i-GF3aQ8CCoXcyZtGl9ypcMbpcqhen7mt0YJ3MI-6KyaQn56SEswDZpm6AkHJ1rjr-Z1f05W_GjTXlieC4lAn9jAN8TNxYro40uRCiuKNUz3p7KWUJXeEnJLdqlX86RUPYy3drHX-rF-xMxcJ6drKyYn6FQLzfSFuEA8jl9Vj3hTuSA2NfLQXQS0MZorI6KKSQATrsQoFsKh1eDmewIE2Rhy3QSmIA5sEQxR6Vv5soXxNOTaJbJr_DFsBFZjBduclM3MP1Er9MXoMly6s8-si4UyIOeSHFex3cb7UPiM8rNnlgD0jy8uu32g5fHEy1sdTZXPq1isNDGsz5NkOrMK7yeK4N4y4pKqNh3KFRdfhk9tcuIJXddHnJdW8svhxn1SwgvJBg5pbWA_VRsNzFYil7jH0vYGioiX95UxmvnT1MhIvw3-Oqn69Ga6eCQuhPYzqhekLkRhc-YkMwfkteDkHZhWLZXlmfTNGn9WDNCgOqEkUDGoWu8WZj2k0TzEcir9U4lt877AYuOMlu4BumkoydgjMF99IsKEA7iVsIU30ONw44uSmfKnQghTWccd5tWBDGwURQ1eBUFAAD2OMvhsw1FYrpsobx1TtbWthJ43sIL0Wt2Ja3UHsoDoeGdDV1CcflVakKx_xxyxAquQfVxDKTOgeybCFaOfE9oadOLTjITBRisOmRk2UlWs5GxpiKkzgghtrd5xyEXwR9sgnoXkQXNXi4NUrJUw9rv-Ptx18K8YtPg6-JKUpY7MPkO5KHoKzGdbgcgOfViwFdCBMe6ihsPpbvO2nv7e6iWBABEgD-Msg65gA5pXlsR3hFUDlCb5PcaNV8FYBPTYB8SdfhB8wBAZJ-Q5ucfJxqy6jLP64AqCzbCBhpxW8fzTGJI-N9AZzdlBH0",
  "id": "rs_0b1c1beb708221f3016ab42ce90fe887d08bd99a55415198a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.266,\"right_y\":0.336,\"right_z\":0.013},\"note\":\"The overhead view shows the dark fruit landed beside, not inside, the blue bowl, so it will also need another pickup. The remaining yellow fruit is just left of the right jaw column; I’ll center the jaws on it and descend for another attempt.\"}",
  "call_id": "call_F7frMqvq8Wl1A4N8FTHfkOUz",
  "id": "fc_0b1c1beb708221f3016ab42ce9f52c87d0b0e3417da89be5a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F7frMqvq8Wl1A4N8FTHfkOUz",
  "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]: [-0.1596, 1.0737, 0.9062, -0.7376, -0.2459, -0.0864, 0.9956, 1.1893, 2.0579, 1.2251, -0.4931, 0.7784, 0.8551, 0.9963]\nstate[eef_state]: left_x=0.2985 left_y=-0.0009 left_z=0.1726 left_yaw=0.0983 left_pitch=-0.3078 left_roll=0.1602 left_gripper=0.9956 right_x=0.2608 right_y=0.3266 right_z=0.0146 right_yaw=0.0524 right_pitch=-0.2185 right_roll=-0.2576 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -2.9607, 6.8171, 1.3309, -0.1343, -0.0659, -0.0122, -0.0752, -10.2496, 5.2171, 0.735, 0.4664, -0.105, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b366f2833e07370653ef696e539e8e440bd694ff3eecb3b239877c05286b648",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355a32a5663b2cc095065d0b563d2d0f0becbe4b23f03258ce295d17d679a32b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78fcdc1b375af5f7a593fc9464b1489e65112712dfd9eecb282040770a24149d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.396 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 116 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]: [-0.1596, 1.0695, 0.9062, -0.7376, -0.2459, -0.086, 0.9956, 1.0218, 1.8824, 1.0382, -0.2531, 0.7387, 0.667, 0.9958]\nstate[eef_state]: left_x=0.2982 left_y=-0.0008 left_z=0.1738 left_yaw=0.0978 left_pitch=-0.3037 left_roll=0.1593 left_gripper=0.9956 right_x=0.3072 right_y=0.281 right_z=0.0416 right_yaw=0.0422 right_pitch=-0.1605 right_roll=-0.1755 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -3.1111, 6.7077, 1.4188, -0.1343, -0.0317, -0.0171, -0.3214, -8.9231, 5.5179, 1.2527, 0.3834, -0.0269, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1593, 1.0737, 0.9062, -0.7372, -0.2455, -0.0864, 0.9956, 1.2152, 1.8473, 1.2453, -0.6956, 0.7929, 0.8806, 0.9956]\nstate[eef_state]: left_x=0.2985 left_y=-0.0008 left_z=0.1727 left_yaw=0.0984 left_pitch=-0.3075 left_roll=0.1598 left_gripper=0.9956 right_x=0.247 right_y=0.3139 right_z=0.09 right_yaw=0.0651 right_pitch=-0.1907 right_roll=-0.2185 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.9744, 6.8718, 1.4139, -0.1392, -0.0171, -0.0122, 0.2667, -11.8359, 7.3915, 0.6178, 0.6178, 0.1245, -0.1587]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0737, 0.9062, -0.7376, -0.2459, -0.0864, 0.9956, 1.1893, 2.0579, 1.2251, -0.4931, 0.7784, 0.8551, 0.9963]\nstate[eef_state]: left_x=0.2985 left_y=-0.0009 left_z=0.1726 left_yaw=0.0983 left_pitch=-0.3078 left_roll=0.1602 left_gripper=0.9956 right_x=0.2608 right_y=0.3266 right_z=0.0146 right_yaw=0.0524 right_pitch=-0.2185 right_roll=-0.2576 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -2.9607, 6.8171, 1.3309, -0.1343, -0.0659, -0.0122, -0.0752, -10.2496, 5.2171, 0.735, 0.4664, -0.105, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b366f2833e07370653ef696e539e8e440bd694ff3eecb3b239877c05286b648",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355a32a5663b2cc095065d0b563d2d0f0becbe4b23f03258ce295d17d679a32b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78fcdc1b375af5f7a593fc9464b1489e65112712dfd9eecb282040770a24149d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCzt0o0OLWB5CoL2jzFwMcs6s2QBd4UgKFDs6Df78CviD6a1mvIEkRV2k5yIPiW49ncOkEI4xklwBkDPNVUv8LciWXhCdF_g97sKApuSb7_e5YNINpDN12nqdQ735u7I89OvoHmpIhs0XPoTcYcpNXvniP6xt-d2ZubY70rSU1GVN5dBBkWZEF4B1U8eVhuEt1XjG-2q1-YawvGiLorhXsRFDqxJAIT0fRFm62z_zxhInddE8s0ifqttnRD2xSZdGdcT5W0rMnBIreiXmFhOIQT2tXsNK62e3aBLTwxHdkQMEwcuDfc9BW0aA_kcncJ4i3cdw5O3fEW1KuvEYtLlI6R9XWyszeP91koyQ_huWWLaR4ZyIspOHR6RAsq-dTZxBFrQamNAuJE_khJmfmDJyQSLUouMIxsVDzSeq9cPDCHhlKaqm8Hto_z_lxPqgFrb72SQYhFUGkGFBZHQ0NvFLe24jEqr5_D-cLjiihsRIVRKeNbVlTI4WdErgxtQ5ITW-4OU-OZwhXs5c-02fwuaSQloiB3P-2iQRE37ZN6EFoNikeySmZKPIg1xxankKefBEce1iidYeOe5o_QnHsNiQwe0blwcTRfVfPE1hmsZI7XKp3R45Nd3E0O8pUr8skW2b2VPH41JUvRbQVrLy3gGvoVQ0g92m7fFtDK8oiDm6MhlQW3r-oldWTcx6TWTlfusaDUDOUPFQij4bo3qeMLk4V6xx51OfaXpmzRXKkBfXquRPuvACJzVj3Ih7wUVrKZtZmS2jJc4toTu9D8EsqWASL4URlV9C9-6DmQYn4mn8ChxihPcEf-iYUaixgceiPAeF8qaxL3-BxopNn2bhQX43NnX4aT0M2fqpFrwC-0ROBZqLEJXC-KLk-IGuiSJ_MiPeZSJgeHhL1qNU2iRDKJfINaWuGaRzchv67dYkFiynex19AzJF7i1AOWRYx7Tfdxvg9k_mZi9Nz2H7-kMpWKoTOOb_3BaqIkz3Hqyx2bHOshxRwUvChc8OIgM-K8KhOkC0Qv8tf3mMjcjkAoOgJfqO37HYb_G-4jq20EHWbRRWv4bP2DFmb0PQUTmBpU_OJY5scunyprBr1eDxV3N3Al8VlWTrRLV5aLXe7Sqv364JoIlWRwRbvp0dzUEK6u5jM8N_B5lGR8BfBADMxh9RYlBf8ltUna9QyvkBBOlUvKx-w35oRQuUM4n0sdEIXd6kzoVUbBO5FBiTUO7F7wrFuqFrFW4T_s4fumvDgku0qGShBVfbFkpbk1AaPd7ubH2cPzYCNlIm_hJPWRW8T2vKOHKnUHYdTDwKByy4GoCR9UcA-GvW-uvFnU3mcDwW4GiRPAP79Ol",
  "id": "rs_0b1c1beb708221f3016ab42cecfc3c87d08f7b3775921de6d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit has disappeared below the right wrist camera’s near edge, indicating it is directly between the lowered fingertips rather than visibly in front of them. I’ll close at this position and check the grip.\"}",
  "call_id": "call_EzzqOpgUTWIO9jANQfH2aRq5",
  "id": "fc_0b1c1beb708221f3016ab42ced3a3887d09179da8b0e2d1176",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EzzqOpgUTWIO9jANQfH2aRq5",
  "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]: [-0.1596, 1.0737, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 1.1885, 2.0674, 1.2243, -0.4938, 0.7689, 0.849, 0.0106]\nstate[eef_state]: left_x=0.2985 left_y=-0.0009 left_z=0.1726 left_yaw=0.098 left_pitch=-0.3078 left_roll=0.1599 left_gripper=0.9956 right_x=0.2595 right_y=0.3258 right_z=0.0096 right_yaw=0.0558 right_pitch=-0.2324 right_roll=-0.2683 right_gripper=0.0106\nstate[joint_eff]: [-0.0205, -2.9607, 6.653, 1.3407, -0.1978, -0.0513, -0.0122, -0.0479, -11.0974, 5.2308, 0.6764, 0.4127, 0.0562, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30633e1b4ddeb3880be327c50520f0aefd6f56b0b57602a7c29101cecc94e04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a834cf2d3a6f75db156e5cda219a19a5d274f5e46a3e20b4b7394a32511bd6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac48aa8b4f7504900b9a12d9ebae32ea3ddfa23c1e1bdcb1d8aa01e7546ec3dc",
      "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 30 attempt 0 · /responses · status 200 · 5.033 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 116 changed as sent

message 120 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]: [-0.1593, 1.0737, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 1.0191, 1.8931, 1.0389, -0.2543, 0.746, 0.6544, 0.0144]\nstate[eef_state]: left_x=0.2985 left_y=-0.0008 left_z=0.1726 left_yaw=0.0984 left_pitch=-0.3078 left_roll=0.1599 left_gripper=0.9956 right_x=0.3081 right_y=0.2788 right_z=0.0384 right_yaw=0.041 right_pitch=-0.1626 right_roll=-0.198 right_gripper=0.0144\nstate[joint_eff]: [0.0205, -3.0701, 6.7077, 1.4042, -0.149, -0.0415, -0.0122, 0.212, -9.935, 5.641, 1.3016, 0.1441, 0.0806, 0.4762]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0737, 0.9062, -0.7376, -0.2459, -0.0864, 0.9956, 1.1893, 2.0579, 1.2251, -0.4931, 0.7784, 0.8551, 0.9963]\nstate[eef_state]: left_x=0.2985 left_y=-0.0009 left_z=0.1726 left_yaw=0.0983 left_pitch=-0.3078 left_roll=0.1602 left_gripper=0.9956 right_x=0.2608 right_y=0.3266 right_z=0.0146 right_yaw=0.0524 right_pitch=-0.2185 right_roll=-0.2576 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -2.9607, 6.8171, 1.3309, -0.1343, -0.0659, -0.0122, -0.0752, -10.2496, 5.2171, 0.735, 0.4664, -0.105, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0737, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 1.1885, 2.0674, 1.2243, -0.4938, 0.7689, 0.849, 0.0106]\nstate[eef_state]: left_x=0.2985 left_y=-0.0009 left_z=0.1726 left_yaw=0.098 left_pitch=-0.3078 left_roll=0.1599 left_gripper=0.9956 right_x=0.2595 right_y=0.3258 right_z=0.0096 right_yaw=0.0558 right_pitch=-0.2324 right_roll=-0.2683 right_gripper=0.0106\nstate[joint_eff]: [-0.0205, -2.9607, 6.653, 1.3407, -0.1978, -0.0513, -0.0122, -0.0479, -11.0974, 5.2308, 0.6764, 0.4127, 0.0562, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30633e1b4ddeb3880be327c50520f0aefd6f56b0b57602a7c29101cecc94e04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a834cf2d3a6f75db156e5cda219a19a5d274f5e46a3e20b4b7394a32511bd6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac48aa8b4f7504900b9a12d9ebae32ea3ddfa23c1e1bdcb1d8aa01e7546ec3dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzyUcfheY5Y7HwU0gdaKApQgqfSR9FSdJJJBVNXebV6oZNlmi5cjkFd2ERyXbJwSoqLIMtzXFb1jCsoTsj1um6jHEcylCp5AbISjEkGkrZnywWYKxTsbOgYm6oe_blEzVOvwrOvbblU0ogbgRcgFGLsdE1e3uqGh6wGsgfQFjg6wnUG1eSWU-A-vhUvsmILYwz9PQkRSsyUlNsbO0Hs1PwB0KRcP9h2KbSUnTIY5wPKm3dIA90rUZNOQoH-2o__rPbrvOwddePXGR2OmXnO5dBlzc4S2VwRDs5Jj1xVGethYhX_8sXsmhht-p0j-AnFEOY1a57B9CBEEvLZDKBZoHSQlmqO9bGP3Gxrf4v38EjCiqIHZLf-_dUWS2dLel_m6vYzkGpVozncaIaubFbFY6rofl7fr7_gMmbVgs8unsl_cGvoc_va0eblOYVo9ICTJUmfsx55_oRuHtS6SqquSp8QX1-f10XJG8TVTwbH6sjOyWZt4zpK5GHRCMDGrtMaHODYtijYXQQ2xmSoSAK-j5Azh4m1O3IjXtlTctlrXf3gRaEq2vWMPP3RTe9uW_Y7k2iMkbdvWM75BP--MPYbCbO_11SWujBAgnA5quY9QI_pQ6KLdbp2yuCixJyprDhiYXD0tviBBCcLsH5Ovs07u8ZEh1leHrJfdn96COxbk74Ruyv0y9zQrNdFH1z-nPdwP_WncxuMO3ZqD8OBsyLecTTu0uxngaG7-8trQB4N7swb_ok_cSgijnpHtLyKCzlCzanZwmpb-hiO8EKlHA1pqpyUK4gyWn7mKUDQ-6qlZWJcImGNbn-ovh-n77OGAFWIAcMjtVudC8IbIiyRQOn1C5jWdvocD7j8pBjdSiTSrt3-nm4PBxz2s3kavegcAfNyhj9W24puJobqTyj-xZYMYu2qf-ul-0M3XnKbyj-VdPB9MU9nwicem9G779BUgFPZWFmdXlY8JwVubXGZgBszZUHIypdkNhe6BS7dwFixYHSI6MTR4kEVgKX1syW70s5ekwFJDH-cxaywTzDLWqEcm9c4re3jby3GiVhXUB3RXwUReCk_vGid1AmIoIY9AuBUN7rxCp4_k-6b2iPEnWUz3McKgjxB8jQop9kLVkmsOMh_ENT0LPVZknIgBicAw6QVQxCWeW-jHZsjz6HoRXx2UFVXArbIVrT0WlKr76IsFN_PaGvFuF8B54Get4I2-DTx_17UZiqu8OacqfR4PaW2doi63arh-txk4EH_Esvil9ZWJEolCzyBKVlXUK3luDNsXKgSO88BWVCR3HXamksM4YEhOFqnhWcA9mxh6Ut7YrZM9uw0oa31OaojClpnHWnoy5wS5Y-Ku3Y-4coIXmN8oG4MGncNo2rhhFtoDi6-YVVVhPY7S4VV9WKiyF_tFzt3RGg5063qLc1elf0myFYVD5HS5sqy-dquznK5w6IMZLWEqWs_Joi46_vrIj_3AcjzaAQDDjSIvtduMiKgmzg2WA2kLUAHoaRjrVgqWkbtuMEXiF1EIRDt8vpNodfs7KHvLyxZZpyrRdIz7Dn9rXjNI-6frGIqpNNxlajJSXD5Tj8GNmuP0swWPOCKumXH1Oa9pLL3gc5wIsBRfNcIb_dQAdq9LKUafisiOnJ4g61YkKgef7jE4dEbZYx1Te74UY_0-1cb8bIL_UxDLn_4WzYZau2E4KxX-64229nhE_-g8CJWj0Cchqtt6H8OLqHw1VjFglLsYtxTs1wXwlDd9GKoIobvxzrpRVuHb4gY81R_GXMBKVF-xUDx2nJHAHw-9Cg_LCe6MzlKWbhI4EQ2eBFNwr7RNyRiqapMuBn1koLuS1yxCpR5SsMIHYugdvhl5QGXNTV2XqaJ-xKY2qAE4ZpRXMScH8XPpkgQNKaQaLNYZDIVqpEy2_JApctVjH8XjxiOKwyrj-mvgZjLYYWd7ldOMz6ewyEAuvONyM0vC8f1mDsMWtriXouEhftOTepnne_W_b7H2H5OeeaPJN8YiVIE0xzUsCF_npBmeS_Ro64Bdh5a4dKYi9sRfWMNXbObrDr5Ih4QvL-hAPtc-7VgYHtYmwSxIIUcE89Z5yymi7J8fZPGtOpOqEukXKeSDK9ANd0xArQj",
  "id": "rs_0b1c1beb708221f3016ab42cf00f1087d0aae667f7429100b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"right_x\":0.29,\"right_y\":0.02,\"right_gripper\":1},\"note\":\"The jaws closed completely, so this was another empty close. I’ll clear the right arm to locate the yellow fruit accurately from overhead instead of making another blind retry.\"}",
  "call_id": "call_lwdBtXaY6V7fG4GvyIJc4PDh",
  "id": "fc_0b1c1beb708221f3016ab42cf17b1487d084912911a5fcf278",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lwdBtXaY6V7fG4GvyIJc4PDh",
  "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]: [-0.1596, 1.0752, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 0.2337, 0.9787, 0.7414, -0.6281, 0.2989, -0.083, 0.9978]\nstate[eef_state]: left_x=0.2986 left_y=-0.001 left_z=0.1722 left_yaw=0.0981 left_pitch=-0.3093 left_roll=0.1603 left_gripper=0.9956 right_x=0.2834 right_y=0.0177 right_z=0.15 right_yaw=0.0081 right_pitch=-0.2757 right_roll=-0.2766 right_gripper=0.9978\nstate[joint_eff]: [-0.1026, -3.0701, 6.8171, 1.3651, -0.1587, -0.0757, -0.0171, -0.1573, -3.0838, 10.0444, 1.5409, 0.1245, 0.0806, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f60ed53e42f81dc8fbc544ebbec4196fa73969f7132eb479bf9879255fa8dd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e0c48020f4c8da7bbcfdbf75f865e721a58b9ea50ccd951af9a3ef70af6983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686c257984864d91d64b83fa5e2bd9fc48b76f00f223c2c2eddf5738e4bc4ea1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 2.443 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 120 changed as sent

message 124 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1593, 1.0737, 0.9062, -0.7372, -0.2455, -0.0864, 0.9956, 1.2152, 1.8473, 1.2453, -0.6956, 0.7929, 0.8806, 0.9956]\nstate[eef_state]: left_x=0.2985 left_y=-0.0008 left_z=0.1727 left_yaw=0.0984 left_pitch=-0.3075 left_roll=0.1598 left_gripper=0.9956 right_x=0.247 right_y=0.3139 right_z=0.09 right_yaw=0.0651 right_pitch=-0.1907 right_roll=-0.2185 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.9744, 6.8718, 1.4139, -0.1392, -0.0171, -0.0122, 0.2667, -11.8359, 7.3915, 0.6178, 0.6178, 0.1245, -0.1587]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0737, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 1.1885, 2.0674, 1.2243, -0.4938, 0.7689, 0.849, 0.0106]\nstate[eef_state]: left_x=0.2985 left_y=-0.0009 left_z=0.1726 left_yaw=0.098 left_pitch=-0.3078 left_roll=0.1599 left_gripper=0.9956 right_x=0.2595 right_y=0.3258 right_z=0.0096 right_yaw=0.0558 right_pitch=-0.2324 right_roll=-0.2683 right_gripper=0.0106\nstate[joint_eff]: [-0.0205, -2.9607, 6.653, 1.3407, -0.1978, -0.0513, -0.0122, -0.0479, -11.0974, 5.2308, 0.6764, 0.4127, 0.0562, 0.8669]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0752, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 0.2337, 0.9787, 0.7414, -0.6281, 0.2989, -0.083, 0.9978]\nstate[eef_state]: left_x=0.2986 left_y=-0.001 left_z=0.1722 left_yaw=0.0981 left_pitch=-0.3093 left_roll=0.1603 left_gripper=0.9956 right_x=0.2834 right_y=0.0177 right_z=0.15 right_yaw=0.0081 right_pitch=-0.2757 right_roll=-0.2766 right_gripper=0.9978\nstate[joint_eff]: [-0.1026, -3.0701, 6.8171, 1.3651, -0.1587, -0.0757, -0.0171, -0.1573, -3.0838, 10.0444, 1.5409, 0.1245, 0.0806, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f60ed53e42f81dc8fbc544ebbec4196fa73969f7132eb479bf9879255fa8dd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e0c48020f4c8da7bbcfdbf75f865e721a58b9ea50ccd951af9a3ef70af6983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686c257984864d91d64b83fa5e2bd9fc48b76f00f223c2c2eddf5738e4bc4ea1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCz5BFVW6oV8OJNcb0mvPeDZD4AafOk6umMdNxeQbBGiaYOW_6wpXsnd4U1jUfdkWOla90VINKgbU_hd_AZ5uXchVYdBHxDC1U1Tlkok-rZ6mNmZ6Z0wc53hTXy1QRPEp1BsyREnUJWWp4IOyoc8HoHtaSs3Q_IVAK5WixR0MDbitqF_UuwswSBLIrL8NSeOWZTLPNsb2LRpVLKnozobIsMd-j6vSRs15W6imdKI1AP0rvDawLJv70BOEGHvY1_d9HlIxS3vDNqTnBQ80RNj3yCWLavmHYtAo22h41GzgppWMamCw3barQz-8W8et9aVwvZNWlSp99nyTeuoUuz40c99Yansch2BqzcnbCH0tjUD3qzE0u70tuB9Z_Qont30ZTNwkfxXZ2iLMXQVifwVRj3PUW8AiFJyf5D4hphzL6NHuREMHN9V8RiuYC9YfLWFPAfhpLjNl8kBq1f4SJNimgRpI7HOqaJhTSrSBMhBBb4-Tkmx2dqiyUlaIBCW5Ko77w-ot-g1ngrFSGvOS7cBut2ohGW1R2S9KHVp-rOrilGTgymHfWvsPdhlg-Hoh8Pdqchpk1Ln8TVDP7G9_4tDR2HEH-5sdFxvn0KsT6H68Z91cDYbSLpUSNCsOUWu0zWwZb73ZXnxqqxYMQw6usT9qIOHnC4IiHLgolacYIp_LdnTHqUqWFwlzvniFHXYXF2d6mn3gJ9ELw4yQllf7P44-UaMdfyr7epHPm3xJt4S5w--yfaKUQWftzM7GHkb8jCpCbDyM6JPVKHqwPUfOi0esIm3y6TdDKx2Jb3yeOjGfzHSlmuw5uGZHPXHF1syLMwQmzbn0clX4EF6TXd2ZcPFA1x6yzRBCZmrztA0Gr0sgmJRkkUmWUxSCCgPp_Ydn224cbrBpu13fwBzYlzWuFL40HPGnpXMrpkXpkK93C3lrTUsj3wgLKmmz6kNtd3XL-rFvE6-bEtCdZZ-BjX-MjrszZ7B7V_E3F17U326bg9MfgEEuuRMK7Zcb9bqCNPmPkCyjFJ6V3_AjzZLKdsV6Gtw-ThvOo7Mx8GZpGUimvJ7qQk9lKnOQkrbVTjlHI5Tl08PCQWxAshRqqTN796VxrRONwMfdsZqfK1UmgRLLokzb32DzEAZ1nSEP0Sn45Xcx1Jbu1Vv43Dinm0zgGkdYo9Ng_FTx3dTZl1sByUX_hdQLrZ2WfgCapjlrxlA7XAXIbeFub5dXXOiOHq_l3SDsg5P0vTxiDAQv_EREbUqip4RpFr-eZavXYaGpnuX-W55PTmH4tpjuVjW9zfVGIkBE0nED4KF0t_NUsKlz4Qyw-J_zfjq65hS-6I62izSaIYXnVx7gqUm-_nKXhZScD_mow9QyOmhc5WMuIytMn0YTZbCiyWNfyF7FSRJ65foZaueGQVRYpOrpRk2ZO8nCrHt886ZxmZNqE9CwObqfyQcPAvXCJbdonsfOaSxjcVGGl2Oty0O8pMGPDk0NZarRBPAUWvKdn3R5E5tRr-6KjxOZ2xaegIr34n778efxJ-VJ59th6MCl-8xj3g5me0NgZU3c5gtMKfVjDC2hAKglNiZlFGvZUWKKbU8uJFw0Le4uk6wP-KYtaCn1TGBlqBKWT2bzFKCA_fPoImOOazYptgDO4dow41h9jzf8cwpOzPLdvLZ4gtEOjo_DxXhx1Bk1mqKhFyP4zFK9z8KhFWcOtdtpgLAfzfrdTs8vEUv-KXqMgiAEQGiLKL0kPLv8koKbMK_o9hoyeRlznPgPcqLmWBtSc8mcCpD-Wm7ppQqNm-mnj0tib4HptatwdRK6kyKTmE30tI2gBBPH-jzmjA41ZBq9lUgIOFtU2EHGzKhiG0gUzqW5IE71_eQ5WITLe2LaJaz7REmSByhYjjXgxNlp9QvjGU3DkxZeQDjzrAnN5wVk4m8EKPCcRs0v8H4g-iZECB-wBGoHsPmbR2SsuPqxdwNI9ps5S_4D6_M0AbxINTn8orTVxvl2Pf6RtCEZk749bVTfZPhEIh18x43JXWDztjUfoR61yQ10S4MBkQ7flR1OTRtfXZpe7tZ08GWDeoeUWhHHeOm_l_lJnYM4i14r3rONCgWPk-V9BsJxtFV1uKVDvDbMwNTDCwaAJ8BWTQWt9cFPqD2BKH5wgsc_KVxtK4cHCgfjdErO-VOoigGpnmKXDMcUJTpb0e9HAahknAQcY0bdCruaUadXIgvmTOGbFe3QSXQYnk26twML830-5uosbqsrmwyAHcNsgIQKYMvfXSIETiGZNPrlhgRcSSnyULGcyCkaSU_uZAQz-_F8imb0ei_iqFb12_kc-I2sKplqMuoyvHA-S8NGQRLe146geR758rBoLuoHpDboAP7Au55qCWgHT0Ow9SAerPsFN3spc0CGb8HK_t9w6pz8FL3SblaYJQbNzz3UvhTUCzYF2SUFaaPXihjMb88JrK9YxJGWcwECNK4f85OcfAocviqV5RdtA0H9TuOX0OSKbwXzbQHef96PUOwvsuP4AQoFq_kHTqxN2TYgn_q70baB8dc-g8CdbsL9V2Ge8J_lDdver28XEzjDyjXB2HNhTxgxS9oZ1viX46p_N6sD7WS0cbRi8u4h_FnaUnTy5aPx84EBqgm13xPDMivDdS99fN9kTYIB4omMvEIr867jJHauUW3rf6VInqBSq2bsLH-3OdKaonVS9tfYtWC8HadvGt00WaWpNf_AK_UDw_R0RMV0KO0yurG1_wxZP6Ze5Nn7HGYTqlGN182TyOp9nb5h-pLesLiWIT4yWfkk_4XZtjAV-M-eoeIVV7Z1WIqHFpr8R_03tfA77HR957OZ947RYskRhTu77iswmGlZfTHGc735pSvhAKigYZVunxU5saU34Weny8YDURt1GFp3HUqYBuRAeTy-vWFElQtwIurZ54IjVWJQ9zndn17MvNHwp_N2w590oTM0NfGrK6FiSLszyLGQPhankqf0nyXr9GwqVg8z2qf2TyJkFHSFgXayqDEG4kJLoIrI0YxksJ0j4iz1pauHNzyqy04FYOD6iLQZiTNlR5ar8L407UamcDR-Q7uVC81FRLBOVxt-8Oe5PAXyYuvndTicDigsz0JI4lhZZq4dTNLLGDbfGfyK7GnnasIzkTwjvfqrXxocOdifLZMCFDDO50_C-lBJrTb5r9u-oU-JCn9bON_I_xZQJyojm76_pFBW8JNmA7AWkCAxQCaK8RIqMyZd47htU6wU1iv08WFaTAQ8UIc5j0-GL3MbyZoabl0_nfZB0DJHBHzY2hEOF1lbScBVwv2zqjDI0LXcfXRCJO7LKmmoBgIkn6A8iRstxoM-Sk3YiwlsPayGWAIQQWzBY-vUe3oZq0P-3OKqwGeZMgRz4p_R1UKo7xmYlwm4u5fjy3hKlSPTqPiPIxv1KhpZq3pKcXHK4W4nRHVKw==",
  "id": "rs_0b1c1beb708221f3016ab42cf5b28887d099711a48f1a2be05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.27,\"right_z\":0.09},\"note\":\"With the gripper clear, the yellow fruit is at the front-center of the table, around image column 122 and row 178; the dark fruit is beside the bowl. I’ll move the right gripper above the yellow fruit’s actual position, which is farther back and right of the previous attempt.\"}",
  "call_id": "call_T5BlRhUbYRSQ9cC0UeqkgIoI",
  "id": "fc_0b1c1beb708221f3016ab42cf8fdb487d0b294b79559f45366",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T5BlRhUbYRSQ9cC0UeqkgIoI",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0763, 0.9047, -0.7376, -0.2459, -0.0864, 0.9956, 1.216, 1.7298, 1.1374, -0.8433, 0.7258, 0.9237, 0.9983]\nstate[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0987 left_pitch=-0.3118 left_roll=0.1613 left_gripper=0.9956 right_x=0.2197 right_y=0.2659 right_z=0.0854 right_yaw=0.031 right_pitch=-0.2996 right_roll=-0.292 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -3.0838, 6.8034, 1.3944, -0.1099, -0.0611, -0.0122, 0.3761, -7.6786, 6.9538, 0.2857, 0.5739, 0.1636, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e612fd272e63cad0a29ae5a460b900e2b4bf639fecf2afe4f02d455e24f2a2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26d2469d5a551fe5c04e56cd8fb7d0ea7c72cc10ddec55b0dd59f5ac1abcf4e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d2d243d14e3ef765c86f5ff955efbbc2be1d18554c0f47da1d7f019fb7dde2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 2.892 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0737, 0.9062, -0.7376, -0.2459, -0.0864, 0.9956, 1.1893, 2.0579, 1.2251, -0.4931, 0.7784, 0.8551, 0.9963]\nstate[eef_state]: left_x=0.2985 left_y=-0.0009 left_z=0.1726 left_yaw=0.0983 left_pitch=-0.3078 left_roll=0.1602 left_gripper=0.9956 right_x=0.2608 right_y=0.3266 right_z=0.0146 right_yaw=0.0524 right_pitch=-0.2185 right_roll=-0.2576 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -2.9607, 6.8171, 1.3309, -0.1343, -0.0659, -0.0122, -0.0752, -10.2496, 5.2171, 0.735, 0.4664, -0.105, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0752, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 0.2337, 0.9787, 0.7414, -0.6281, 0.2989, -0.083, 0.9978]\nstate[eef_state]: left_x=0.2986 left_y=-0.001 left_z=0.1722 left_yaw=0.0981 left_pitch=-0.3093 left_roll=0.1603 left_gripper=0.9956 right_x=0.2834 right_y=0.0177 right_z=0.15 right_yaw=0.0081 right_pitch=-0.2757 right_roll=-0.2766 right_gripper=0.9978\nstate[joint_eff]: [-0.1026, -3.0701, 6.8171, 1.3651, -0.1587, -0.0757, -0.0171, -0.1573, -3.0838, 10.0444, 1.5409, 0.1245, 0.0806, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0763, 0.9047, -0.7376, -0.2459, -0.0864, 0.9956, 1.216, 1.7298, 1.1374, -0.8433, 0.7258, 0.9237, 0.9983]\nstate[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0987 left_pitch=-0.3118 left_roll=0.1613 left_gripper=0.9956 right_x=0.2197 right_y=0.2659 right_z=0.0854 right_yaw=0.031 right_pitch=-0.2996 right_roll=-0.292 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -3.0838, 6.8034, 1.3944, -0.1099, -0.0611, -0.0122, 0.3761, -7.6786, 6.9538, 0.2857, 0.5739, 0.1636, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e612fd272e63cad0a29ae5a460b900e2b4bf639fecf2afe4f02d455e24f2a2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26d2469d5a551fe5c04e56cd8fb7d0ea7c72cc10ddec55b0dd59f5ac1abcf4e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d2d243d14e3ef765c86f5ff955efbbc2be1d18554c0f47da1d7f019fb7dde2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCz-GDQVTNYRzbLoTnwvrw_NZPwpamDLenURK902_6rhH3vZLqXb77trFjHvlmujQmYBKLwbS9fmtVT-sU1jgyK2B5mpirP7gVJxWu60NiMqNFpHi0xDwT1ZZlkF_ecjRzD-fajDBnxt_2zhPN0gCwGpIbMzedCaQnyKTZ9BMkhFi_HpbyZsSpZxl-gFK-N58ehVJXacFC-NISMMSJfdgQ0wMcnmZMxX-LJLQg-mXFRwvKxx-F9MV9wdXbgqBmYymCzNjpRXRyS0U-qaO4N_MqN13-pf3Fg3kl4GlK0qqhWOSYYSm4TM4sYVZIyjPdVjl1UuHiIASgHoCDrKsaiusBScFL1lLli4xbQhGfIzTNSlJBF2baH-v0hz4j7aBGIutwxmSqfwQfV1hoGR02HRfw-f7SxZ7AhuyHGUyq4SgXWtAhmWouh8R4MWFcybpnZIRVshnmZOcojHsiCHfJehFIzUENyaIYXmtwIZ6De16ksCluDO5aC5Ftv3vLILodbmUA-YV82s0YyAmekPx4nftd9_s0Gpm0ps2KzsyrjFUyjwhZgktdCGTzRe-1r1itQuChWkXd3diQMf9CZrlaeUdn_JtCmbTvGEgbVdz5K5Q0vCOFH6B9KyQ3bo83dQ6ZAoaFqZpQzdsRPfMXmm4qIn0YPoZS7P1foO5fw_xSvM9fVwpPQ25RB1JJ7FCcgFqS4l3NK_7PaRyuZK6GJGlMEC51TV1IFrcW6S_rEHhuGxleIKgpi8gWr_90VJuBseeOjUupxL7Ipt0nvPBXp6KzAOO3p8T5blRUw4rR2KccdRTXSf18INXQ-v8G7UmqqJA0Nm0jWg9MZRh-fFoU8_Ek0rWalmFs7GvKoCoh4kq6hImKOqT5xrip7hJLm3D4z4V5XVO1mn1J77cCfnW9zbafST1Mzfx_F3nUArpCq9zZ9HN30LBayc32S66F-LwD-HeTolWMjZb9_KaSOmegd_51_-txwqpz6AtsEPgbC2y5d8B4Z8kuLkE8NVk2WijEo7dNXrQf2kc-bWg0eil_jT1ppmQ8lpfi3u-YTBgw_RHcF8-SwCyWw2G98MNzYwDBbhXDi0NvPo-7NMrIFClecjl9L6gh9KBT5Zfd8oXsq343Olym2q7cmXNfohQJD50mHijUlXL8q0nhrdUlN4t21nABiDozOr3zPdg_vLQvau2eu3rZUCqNI2DN5PX6cSHLVefp5oLg6dXtM5n1eLAwt_gNeCMJh9MzGlxHaoVxfPeXfrl2RMt96cLU10pRq-7unpRAnSyfUxfnVQV7nrL7QT5tIKQ4f4_rxKT4fykSPe_of7wNe821nUVD_MucG1FR2qOddwfjZXqa8yl2V9eUZmr4kJmnL5doiEG5gpRvuq-72d1IYFNN8=",
  "id": "rs_0b1c1beb708221f3016ab42cfd1ee087d0bc3b1e6d0930b955",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.022},\"note\":\"The right gripper now obscures the yellow fruit from above, and the fruit is no longer visible ahead of the fingertips in the wrist view. I’ll lower the open jaws at this aligned position.\"}",
  "call_id": "call_eukAvp9fkYoXv4gbIbtXLb6V",
  "id": "fc_0b1c1beb708221f3016ab42cfd8fcc87d09dce4c0b7ecf5a85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eukAvp9fkYoXv4gbIbtXLb6V",
  "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]: [-0.1596, 1.0763, 0.9047, -0.7372, -0.2455, -0.0864, 0.9956, 1.219, 1.8359, 1.0088, -0.6533, 0.72, 0.931, 0.9983]\nstate[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0983 left_pitch=-0.3115 left_roll=0.1609 left_gripper=0.9956 right_x=0.2153 right_y=0.259 right_z=0.0252 right_yaw=0.0182 right_pitch=-0.3202 right_roll=-0.3285 right_gripper=0.9983\nstate[joint_eff]: [-0.1573, -2.9744, 6.735, 1.3748, -0.1734, -0.0269, -0.0122, -0.3624, -7.8974, 4.9162, 0.4518, 0.398, -0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33d80b42a9c9955e2481c67836de0b9cb16fa1e7be1cd87393106a9b4dab9ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6e125bc4e79b89424afdf0e831f0b6fccb4468dc6078d9838481e73e1fddedf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4c42badf02aa32908d9bf39b935adeeda8dad49a41ca5219f3977cb6b445519",
      "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 33 attempt 0 · /responses · status 200 · 10.97 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0737, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 1.1885, 2.0674, 1.2243, -0.4938, 0.7689, 0.849, 0.0106]\nstate[eef_state]: left_x=0.2985 left_y=-0.0009 left_z=0.1726 left_yaw=0.098 left_pitch=-0.3078 left_roll=0.1599 left_gripper=0.9956 right_x=0.2595 right_y=0.3258 right_z=0.0096 right_yaw=0.0558 right_pitch=-0.2324 right_roll=-0.2683 right_gripper=0.0106\nstate[joint_eff]: [-0.0205, -2.9607, 6.653, 1.3407, -0.1978, -0.0513, -0.0122, -0.0479, -11.0974, 5.2308, 0.6764, 0.4127, 0.0562, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0763, 0.9047, -0.7376, -0.2459, -0.0864, 0.9956, 1.216, 1.7298, 1.1374, -0.8433, 0.7258, 0.9237, 0.9983]\nstate[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0987 left_pitch=-0.3118 left_roll=0.1613 left_gripper=0.9956 right_x=0.2197 right_y=0.2659 right_z=0.0854 right_yaw=0.031 right_pitch=-0.2996 right_roll=-0.292 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -3.0838, 6.8034, 1.3944, -0.1099, -0.0611, -0.0122, 0.3761, -7.6786, 6.9538, 0.2857, 0.5739, 0.1636, 0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0763, 0.9047, -0.7372, -0.2455, -0.0864, 0.9956, 1.219, 1.8359, 1.0088, -0.6533, 0.72, 0.931, 0.9983]\nstate[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0983 left_pitch=-0.3115 left_roll=0.1609 left_gripper=0.9956 right_x=0.2153 right_y=0.259 right_z=0.0252 right_yaw=0.0182 right_pitch=-0.3202 right_roll=-0.3285 right_gripper=0.9983\nstate[joint_eff]: [-0.1573, -2.9744, 6.735, 1.3748, -0.1734, -0.0269, -0.0122, -0.3624, -7.8974, 4.9162, 0.4518, 0.398, -0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33d80b42a9c9955e2481c67836de0b9cb16fa1e7be1cd87393106a9b4dab9ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6e125bc4e79b89424afdf0e831f0b6fccb4468dc6078d9838481e73e1fddedf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4c42badf02aa32908d9bf39b935adeeda8dad49a41ca5219f3977cb6b445519",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC0B661--9dTpyDEmKXuBV9zVdy6QnkkbtqJIfOGfQOa7gNI03bEmJh6V5VBRSTNC-erCSApf9QfxBszcQs4TNHdUj4PkevftnysgMrzZeEN_7tHahp_P4-XQbEfIkGgqyLEH0Z8iXume4UcwCq0rqTEaRndrnG2X9LyOJT1_ZG5CQrayiTpZdYSOAEZnlIj2k1QpFin0gMcP00JnkCxUpEj7sDBNT4Vd7VDSPcneT3amv11_gJnhVNxd452kaPTs16Sh5-ouXtGYP9MykPVlCvNP5v0UJiKtkKjCXeyGRen_y25WRw2J-U4XsgLdlRV9XBFXsucL1EnG4r_yrKtnKtOHbUApVwgUYr7H2aNoxyAsnvNoIWlDwVsP_r1VDPdeyaQmwpOdqDNN7bPLSoMC9EUg5PbPRM8jutnn5bUAn2EcNdjZAjoKClHoFT8t6YbJiFFG0X1uxWDAjTuS_zvargHS1nLUz-mrxDTtUhCcogBexyPkh3eTDEGBx62Tdebr6rMthRino2B4m_SgE8l4xtFxBQEMvYZs4s2GZZrOhz9eRbk0nS7seTzoriaasQ31kpcPvyuEFw4qJZrSu4d_6BTVnhW0TFe_aZmit7j4iESiHwR2gYC4YguJsw-z36ueKWe9oAaT8ezlQUROKfHj7Wbxo9AtaOuoRl-dkXxlhhohP41n-OQoKmVGqSZzwZLbxIufknx42IheWFB8TH8Phe-Qir755Spuw_aRhdanoSCqOLkq3jckHqDuPjdYMBzG5sPBoyZRs621rSFE6CzR27AiOKvdnSR9ml1gJ2nreTp0KlQxu3eObvmBfMTXoA83QkGHhTYPNxAyvRE7kmD229Co31zmgOSY3S4DbdXmp3OprzcACXIeBB711owCHEE-DKKrFJ5Bb7uSgVj6ROHeSzOraIuCjvm8iAPeUp7Vn6JuaC-5ZxSnDqw3OJfysbnkG7EopZCeSbUkKzZ_TI7T9ws_sz2VRZqHUTvRP4lj7gOLEPz-eIQfdhDxia310ixTo73f1i03BZU0xSr5q0J_lQbi1yPre9D2VS8SvrMmB1FvEF_AtpSmmQWuzEPODLoymSn8wACxHh5idMFiZwfxNuVY4j2PAPlYbGJNmK9pp32qL4PWsyX5qg4RrTe1qBuasc_0UYZ-_lwuQjASiGaEskk0ylREmFHIa0OvziVNkGdaDXMUu0MfASNpu7PXKi2TeYJ9wjzBfRK42TklNUykqeVrHIzeTd9T__IxUFlwfl77HhwAwAQRoaEOfXgIqivLf9J3oz4W_1sk61plQRtuB7BgmziT85y55Fzwm3r-W9LVqhGlj4yYy8-o5NFYimrGYBhVSyD4uuc9btgrIt9dBOLIF9O6LheQbffqcqdfUd_YgXxjQu3AGmNEHhAC0n7GiYMRlb2h9Py96q59jZseUUJ9A==",
  "id": "rs_0b1c1beb708221f3016ab42d004c1087d0b1893aba8896fb7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are at the yellow fruit’s measured table position, with no fruit visible beyond them in the wrist image. I’ll close and check whether they stop on it.\"}",
  "call_id": "call_luN4Kmqu49n4cQ3XZdMA5qdR",
  "id": "fc_0b1c1beb708221f3016ab42d00cb3487d0b0032dda28d41c31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_luN4Kmqu49n4cQ3XZdMA5qdR",
  "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]: [-0.1596, 1.0763, 0.9047, -0.7376, -0.2455, -0.0864, 0.9956, 1.2194, 1.8458, 1.0008, -0.6518, 0.7094, 0.9249, 0.0106]\nstate[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0983 left_pitch=-0.3119 left_roll=0.161 left_gripper=0.9956 right_x=0.2128 right_y=0.2565 right_z=0.0193 right_yaw=0.0188 right_pitch=-0.3371 right_roll=-0.3446 right_gripper=0.0106\nstate[joint_eff]: [-0.2256, -2.7282, 6.7077, 1.3455, -0.1392, -0.0562, -0.0171, -0.2256, -8.9778, 5.5453, 0.4078, 0.4762, 0.0757, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faeb0912ce16a2d26ca0263ec54a5c5caa4b5f2a9400cc4f11b7c6459f92a631",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f20fba89c1c1df9772f6869ebcd09beb8bcd5271f00e776b0fd3143eb286b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf78ad4a5455d1ab1a28dc27276e966d97dbf7bc060411e844e79f9c4bad79d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.492 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0752, 0.9062, -0.7376, -0.2455, -0.0864, 0.9956, 0.2337, 0.9787, 0.7414, -0.6281, 0.2989, -0.083, 0.9978]\nstate[eef_state]: left_x=0.2986 left_y=-0.001 left_z=0.1722 left_yaw=0.0981 left_pitch=-0.3093 left_roll=0.1603 left_gripper=0.9956 right_x=0.2834 right_y=0.0177 right_z=0.15 right_yaw=0.0081 right_pitch=-0.2757 right_roll=-0.2766 right_gripper=0.9978\nstate[joint_eff]: [-0.1026, -3.0701, 6.8171, 1.3651, -0.1587, -0.0757, -0.0171, -0.1573, -3.0838, 10.0444, 1.5409, 0.1245, 0.0806, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0763, 0.9047, -0.7372, -0.2455, -0.0864, 0.9956, 1.219, 1.8359, 1.0088, -0.6533, 0.72, 0.931, 0.9983]\nstate[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0983 left_pitch=-0.3115 left_roll=0.1609 left_gripper=0.9956 right_x=0.2153 right_y=0.259 right_z=0.0252 right_yaw=0.0182 right_pitch=-0.3202 right_roll=-0.3285 right_gripper=0.9983\nstate[joint_eff]: [-0.1573, -2.9744, 6.735, 1.3748, -0.1734, -0.0269, -0.0122, -0.3624, -7.8974, 4.9162, 0.4518, 0.398, -0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0763, 0.9047, -0.7376, -0.2455, -0.0864, 0.9956, 1.2194, 1.8458, 1.0008, -0.6518, 0.7094, 0.9249, 0.0106]\nstate[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0983 left_pitch=-0.3119 left_roll=0.161 left_gripper=0.9956 right_x=0.2128 right_y=0.2565 right_z=0.0193 right_yaw=0.0188 right_pitch=-0.3371 right_roll=-0.3446 right_gripper=0.0106\nstate[joint_eff]: [-0.2256, -2.7282, 6.7077, 1.3455, -0.1392, -0.0562, -0.0171, -0.2256, -8.9778, 5.5453, 0.4078, 0.4762, 0.0757, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faeb0912ce16a2d26ca0263ec54a5c5caa4b5f2a9400cc4f11b7c6459f92a631",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f20fba89c1c1df9772f6869ebcd09beb8bcd5271f00e776b0fd3143eb286b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf78ad4a5455d1ab1a28dc27276e966d97dbf7bc060411e844e79f9c4bad79d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0b1c1beb708221f3016ab42d03e4ec87d0a6be79449a2dab30",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_0b1c1beb708221f3016ab42d07ead087d0a9b2e4adb68bf8d7",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC0NA0IAGz-s8TrXp2zX6eRep_qj_3audNQD2e1Ct537K2Cr6UCk9QOcDX4qbikuLYYQ_XRdy_ydIw3rsIrtEM7tNyu6Nv1NNKJSemXOnOxDmolcyvtd-_oCL56jReadZqa_3Vh0IU_deOWGiJmV4ur4oMXwU0Ljm_aiBJkB3E6iP2dPKDPyKf7vDVc1jK3afKLh9xMf5E6FHDdxw1jwtQUr4UmUbiap-LzkX8ISNumhkAlrTGxTGJOXz_2pkVSdKXdxj9wbtK94Vmj_nwvbhjXZmDMJJoiV0Ijlo9L_jRx_iWW9MVcre_loyUQEBqU9GWuzoD3rD6YV59Xbt0zhwj4VMbBtFst0165miZ6PNqjhqs8rsoTl2goYU8ukwIVP5Fi4xyESMnvWU8RF4z4a8e0AbKEaNG8Z2p1K838NeByS3F-R_HipKwx6LKtjU_PyRnePe-zD8JPse2AWLGsCgxzy8CMvrbBGfe5NsYWYTRrcmjCJhO5HYsIjg3hVPqSUo37kxdS-yF3iR07bFS8R_x9yyS2IF24ordBWyQXejWqr82GQwObncJHQ2QFJq_AQrTKVYyF6CxVPFPLLGc8IOoJ6fBsdxi2-z6sNLpbBtgivsd9LXb4yiJpq4ORyBjVoCddEy1uVEMPcXa0rpwouiSnxPRzHbRy_bg0RO_bnBFSmR-XkINZRdI0jFmOU-dxxLACobuAkQBm7T4ihk2UduN_nv4bPV1X3cQTvFZjm4oWKjtLlV93wjIMApxbZgntdufxsSbLUfpcDs4MWhDdv-L8oiE-O9El1mXcgSS_aoqNU-9fmy6cgLczlGyN-aIpm1J5UmEiITwCliZbDc7b4F3Y54ZgCWlitOLXJh-8JblWJgF-iC4cCi-2ak0mQAfI2bpW8p6vdYFJjL_9E2aUM78Kt8Bq91ZHD9xaFfz-P3ANOuDMZWiXMGtV6ztMjnF0V5xZKqlz8ZFMIJcXz0wcfhVtXhUI8Ez6j_nzzmr-MVQXKZiA2ruDWkC0sV_A5SXKXhoAzy6S3IuNdota6CTBnAy64K5L9-GJyk3bQqxmdTNOg08j1Z2Fh0K7iDffWrSNoSIZrQS-UDFULXJ4ETv-CUDwyN7Hm6b0SvYG9JoxgZlEtlQbHQ-Y7TvZSpeVSEsiamqW9G3GnRkoCjgvK7MckOkffNcEE1AlIcaSSYNB0gwdEwXWNoPg2hKG8KM596SgadrUQkcnZhEYvspfN9rw0iSoDPoV-2ydiveMsyqfJZ1kMP2QIqLpZUbRuoVo4eWn7Z3Vad7BYFb5h7J-BF-Rs5R7LhPwCJTzYidsU-o9o52xoRiwpvpMndKuYGRGiGpULkbLLHC14-UcfWJcbiVA8m1TKzEtKl4auuBNBc2D5hj_fhSYS49jl0jlnSUIZIWPu6u0ES0SscxRJLyPjMFpk5CvoYvWSClusSRSdmgVCJwXEWN-FfGq8PYrvJMmVS1b7957fgjp1Q2fizENME3QLCZ1C0tcKiEXhMmzqXF2ZTQJg_cMFwAEvo13K07aoq2H38dV4MF48p5-j-hisSoA4Eh5zHQ==",
  "id": "rs_0b1c1beb708221f3016ab42d0b9e0087d0babfa1e5683ce5d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.22,\"left_y\":-0.34,\"left_z\":0.12},\"note\":\"The right gripper again closed empty despite several repositioned attempts. I’ll park it and inspect the remaining yellow fruit from the left arm’s different angle, while keeping the dark fruit beside the bowl in view.\"}",
  "call_id": "call_Pfcbj9iEaQ2YJg2J0n7nNi92",
  "id": "fc_0b1c1beb708221f3016ab42d0c542887d0968517453f731605",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pfcbj9iEaQ2YJg2J0n7nNi92",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "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]: [-1.2789, 1.9759, 1.6032, -1.1442, -0.6662, -1.2613, 0.9956, 0.1608, 1.0752, 0.8879, -0.7685, 0.2909, -0.1768, 0.998]\nstate[eef_state]: left_x=0.2188 left_y=-0.3364 left_z=0.1128 left_yaw=0.0894 left_pitch=-0.3432 left_roll=0.1609 left_gripper=0.9956 right_x=0.2883 right_y=-0.0009 right_z=0.1622 right_yaw=-0.013 right_pitch=-0.3813 right_roll=-0.3517 right_gripper=0.998\nstate[joint_eff]: [-0.5949, -9.853, 7.4188, 0.0952, -0.7106, -0.105, -0.0122, -0.1709, -3.5487, 9.7573, 1.37, 0.0904, 0.0855, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62df6f7649911b6099835cbedb6ab8176ed9dea7d4ff3fb15894cab8620bf4f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b5a19f8788b77c1952adb1819077588e96f4f8f987cb9bd7f2e4c47ab827e05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a0c12e441e889473b96f27dc2756060912691abd71383d5209f658c3248fa79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 1.924 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 142 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0763, 0.9047, -0.7376, -0.2459, -0.0864, 0.9956, 1.216, 1.7298, 1.1374, -0.8433, 0.7258, 0.9237, 0.9983]\nstate[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0987 left_pitch=-0.3118 left_roll=0.1613 left_gripper=0.9956 right_x=0.2197 right_y=0.2659 right_z=0.0854 right_yaw=0.031 right_pitch=-0.2996 right_roll=-0.292 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -3.0838, 6.8034, 1.3944, -0.1099, -0.0611, -0.0122, 0.3761, -7.6786, 6.9538, 0.2857, 0.5739, 0.1636, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0763, 0.9047, -0.7376, -0.2455, -0.0864, 0.9956, 1.2194, 1.8458, 1.0008, -0.6518, 0.7094, 0.9249, 0.0106]\nstate[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0983 left_pitch=-0.3119 left_roll=0.161 left_gripper=0.9956 right_x=0.2128 right_y=0.2565 right_z=0.0193 right_yaw=0.0188 right_pitch=-0.3371 right_roll=-0.3446 right_gripper=0.0106\nstate[joint_eff]: [-0.2256, -2.7282, 6.7077, 1.3455, -0.1392, -0.0562, -0.0171, -0.2256, -8.9778, 5.5453, 0.4078, 0.4762, 0.0757, 0.9011]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2789, 1.9759, 1.6032, -1.1442, -0.6662, -1.2613, 0.9956, 0.1608, 1.0752, 0.8879, -0.7685, 0.2909, -0.1768, 0.998]\nstate[eef_state]: left_x=0.2188 left_y=-0.3364 left_z=0.1128 left_yaw=0.0894 left_pitch=-0.3432 left_roll=0.1609 left_gripper=0.9956 right_x=0.2883 right_y=-0.0009 right_z=0.1622 right_yaw=-0.013 right_pitch=-0.3813 right_roll=-0.3517 right_gripper=0.998\nstate[joint_eff]: [-0.5949, -9.853, 7.4188, 0.0952, -0.7106, -0.105, -0.0122, -0.1709, -3.5487, 9.7573, 1.37, 0.0904, 0.0855, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62df6f7649911b6099835cbedb6ab8176ed9dea7d4ff3fb15894cab8620bf4f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b5a19f8788b77c1952adb1819077588e96f4f8f987cb9bd7f2e4c47ab827e05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a0c12e441e889473b96f27dc2756060912691abd71383d5209f658c3248fa79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC0T10Bwp6AeJUZlTZk064KQsIyZXB85FA3ZWEVRdMxsT5mRHwFFSZhdFwX912e28YQ47od2TaZJiyT7g8nm2jHvCPjiFelF76UFKkqOUmFBHVE_u_f8qAGXs-3xKcZGR_Xx1b1viyHlLhg99CmO7YWecaI7uazV_YG9MahhAGyCGlnA5p5TehjIy4FgI-sqg-HYGakdPeoRstc25ScAfKgvMRDzMo76igtNAtw8QbDTjsRa_RSyYuPPMpcGU-Istm2SMKEqxKv0A0MGEmRY9LYOGJIcMJYzquN0hzAzZkJ6Acg3cMTM35oI55QrmRY3X9ii-gMeJnNBCnVbIYWaxjVKRKjcWtKDyYy2k1j2QRyg0Ffw8SCNoghVPKV8_kqLb9s6LmK-QXiPL0vc9ed8bddLVOG1A7_OOsXnIqpufJRItI3IUiASMmQ-DezJUs14lBcB9Vj0QTsqnln46MNCPbOfQxzBVYW4juu1FU1BJxUGe-VFRBEXB1PkL3-F3rsX57KzFqc2P7AJ7g2Wr1XoK-uU3laJ9SlWvk6dktyKN2cyxZRAj2DpdtcHhh6wiiXZrj1p_DnBAuvrcUfk4dGWTbKYh7QwTKIDxX-y1WVr63WNwU5kS8kJ22oKA0j7ySxqvi4kmDMgbwW6mmkGH0lmvYojKyLD99TPrvYgTG3r6nesi1CXeVzjFUQ5p1n3H1lbRKvV9xhafSAsGxsONETLDzATty3tFJwqgLdGjB6cc7lh4E-2IfoE9ygui2_zCx7CcwCNwMix1lQZXlljBvqxkJ2kxuuu1j1Jb0mQ29rzMFGTeUURkIy8qcbFUe2_Zd_nvO7Jk_1gh8O31Z4GRVCKOi-T7805fwojEp2ySGLqas0rONMA7BAE1elc-cvkZYLEfYGE9EgWJxeMP2UamZd6Pil_sl-GADZXBxaP8XJz866OBGKYQY4UegoBHoJ_8v85JbTnKzjmAbuM1HjiAtHwg_KLiyP-AGygs6sUtNkp9DyYrzEvEhnH1O3maFKE3ewT1UM8WfL3o6N_uaCjei2fNT0__nlNLW8rcEJlw5sCiZNHXxKpyYZ_inTQsMgpvDFAW3zbjSeEG4S2MBlrNAvyQA5ojfN9jpGZoxJeX1lJJ6pTnRex7iiaHzcKW45sfrj5vXOfi2nPbwrLcNhPeZjBme9aHaiPZcLJyoun5SQZbq3siF3FECv5XC2YecGMqY5X7dQBMApgQDytD35HHLaTXQgGpwdmHm_Uj9fkSqtCnQpvV3N7BXyh2z-4er8CB6jGX7VRfSapsK_gaOalhB6iZFEItD8z85PxUcYZSQuJwyqBFxXMZKG6cl8foAnK_817eWqMASKx6GU2bA4MIF1huiAU30TrovsffvFipk_WVx7eugAxn5nr3UQdOjtA-nQYRYJ35VG3lEsWw0hBKoreshZ4eRqDiNq8-6P-7OZrRfvmOGibASsZsiilvwZMyGY9Qa2dafWCvW6f36EZZGawg3iOQw==",
  "id": "rs_0b1c1beb708221f3016ab42d119cac87d094ada7ccf8f036d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_z\":0.022},\"note\":\"The left wrist camera clearly shows the remaining yellow fruit centered along the jaw column, with its top at the bottom edge of the frame. I’ll move the left fingertips slightly forward and lower them to the fruit’s base.\"}",
  "call_id": "call_Hbm4wtZtCHttQN4asA0VueWc",
  "id": "fc_0b1c1beb708221f3016ab42d12341487d0af0d67544a5dfe2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hbm4wtZtCHttQN4asA0VueWc",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2316, 2.0754, 1.4136, -0.8539, -0.6579, -1.2167, 0.9956, 0.1608, 1.0752, 0.8909, -0.7727, 0.2771, -0.1986, 0.9983]\nstate[eef_state]: left_x=0.2347 left_y=-0.3298 left_z=0.0305 left_yaw=0.1099 left_pitch=-0.3552 left_roll=0.1867 left_gripper=0.9956 right_x=0.288 right_y=0.0014 right_z=0.1623 right_yaw=0.0112 right_pitch=-0.3883 right_roll=-0.3538 right_gripper=0.9983\nstate[joint_eff]: [0.4718, -9.7436, 4.9299, 0.3932, -0.3346, 0.1343, -0.0122, -0.1026, -2.9333, 6.4342, 1.3944, 0.2418, 0.1734, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ae7c389d69007b094565e46216b1cc1d9747c74365f9463dc63c866fefccdda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed42607d90eaefa6cad0fe8a4af0a97a70af792413b67781dece20a9a19f17c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5403c28c102b37d84a1f63e31aec0ccb7b004ce4b662cd2a42a13196281aae74",
      "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 · 8.108 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 142 changed as sent

message 146 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0763, 0.9047, -0.7372, -0.2455, -0.0864, 0.9956, 1.219, 1.8359, 1.0088, -0.6533, 0.72, 0.931, 0.9983]\nstate[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0983 left_pitch=-0.3115 left_roll=0.1609 left_gripper=0.9956 right_x=0.2153 right_y=0.259 right_z=0.0252 right_yaw=0.0182 right_pitch=-0.3202 right_roll=-0.3285 right_gripper=0.9983\nstate[joint_eff]: [-0.1573, -2.9744, 6.735, 1.3748, -0.1734, -0.0269, -0.0122, -0.3624, -7.8974, 4.9162, 0.4518, 0.398, -0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2789, 1.9759, 1.6032, -1.1442, -0.6662, -1.2613, 0.9956, 0.1608, 1.0752, 0.8879, -0.7685, 0.2909, -0.1768, 0.998]\nstate[eef_state]: left_x=0.2188 left_y=-0.3364 left_z=0.1128 left_yaw=0.0894 left_pitch=-0.3432 left_roll=0.1609 left_gripper=0.9956 right_x=0.2883 right_y=-0.0009 right_z=0.1622 right_yaw=-0.013 right_pitch=-0.3813 right_roll=-0.3517 right_gripper=0.998\nstate[joint_eff]: [-0.5949, -9.853, 7.4188, 0.0952, -0.7106, -0.105, -0.0122, -0.1709, -3.5487, 9.7573, 1.37, 0.0904, 0.0855, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2316, 2.0754, 1.4136, -0.8539, -0.6579, -1.2167, 0.9956, 0.1608, 1.0752, 0.8909, -0.7727, 0.2771, -0.1986, 0.9983]\nstate[eef_state]: left_x=0.2347 left_y=-0.3298 left_z=0.0305 left_yaw=0.1099 left_pitch=-0.3552 left_roll=0.1867 left_gripper=0.9956 right_x=0.288 right_y=0.0014 right_z=0.1623 right_yaw=0.0112 right_pitch=-0.3883 right_roll=-0.3538 right_gripper=0.9983\nstate[joint_eff]: [0.4718, -9.7436, 4.9299, 0.3932, -0.3346, 0.1343, -0.0122, -0.1026, -2.9333, 6.4342, 1.3944, 0.2418, 0.1734, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ae7c389d69007b094565e46216b1cc1d9747c74365f9463dc63c866fefccdda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed42607d90eaefa6cad0fe8a4af0a97a70af792413b67781dece20a9a19f17c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5403c28c102b37d84a1f63e31aec0ccb7b004ce4b662cd2a42a13196281aae74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC0VGgh3TV9CUaS-P9uH1bRyHJFP9lNtd94oMiZqE7nMVV6oawmTbI8d0bWKTePqJNH-l03ZhtLEuwHYXvlFyxjtJcuUNXZnpzdl30FPStaw4Rcr-w7dwD-fj-DuH1z1k_sbG8wtZ5BXCfF8GF7qz_ITmwgqtz2S6cFx_zwpWac6tScrD1ff5D9jMt4FdYP45A2RZhVGzIzEMpvyfQwDnBjMOXnsxOHKC5hgxFvp_pDoiYT2Njp-Bzw8QeRcx-cEAJj9r3apEueZ39CQhZo6z0qnsyqs-UjDbuptjR3i86mdwK_XbdU8HuhxoTOkI1fp2Ag4zJjh9s8AfhpQ1rs-DteyNiS4nNCmX20gT6jNj8HwiBbZWlZ3865M7Y7CElw40pJayOAwp7lWQgvFJ0CGRpXIPFLhWQEIkOPVejexrNAVWobjTchrHxdxRY1wn2bUG4SfgCQu2o_34s_c6TzTGkkT4CmxdSTJ88mFGIxSWfYyHE7mIeA-v5xZDUYeMx1uHpHQwIx494Hi5wcMYwMfNvQZUCZhB1vcb8eE5Xuz8rwB83HToCO32mBARHH6-BWyqS0PqcS2ramezSR3x8WA66DGE4mXkxYcA8ra8Wwuu9jVLtZ4ASbSPQHYTe58LrG71jNp3Xc8GExsPxOTNikx4wP4TcmCvCnAJalJGWwBLV6e-HCb07Sl2jerHTwuCtllypEJRrpCtv7dCeO1kcmun2HzXlAH0ajQy_D6AiuT7KyuLNbyVp1yytQ1rKn4ZzWS0SlMpnqD4Rod44GeUiYYWg5VVn4CNpmd6ZngiTUKRYDDc04DxZqEFAoY1NwGLddB00j71khh4qQVPVaUl1dn1P-S9u1xTv2IYVAeJ2kg1A8PUmyMLr0SY0HbJmwrol_Sb5u-UHYTlw61SZeYsbQYEE1TzFB71QTeITyyNcohDSqON05w6QaErKRd3CW9cA2XXG0bocZz3KW3Ek3mPGtaKoeT0ElAgILLo4VVWRkZlWeOJvz9McoZOCg7FA0ecJo_Kxao7XVjfc40RmPgiTpsFl19KpR1ATyWlFbzOQvjxiBr4QZqSuAu2UycX_Ay1_Tzv9xC2y_UhlpdJ48pghvpFP1lCBN6nQDPVfahaAbj5rpd7YwaCngADJbsSTpGzyH5BmOu7X1FZYsW6WCQMZsOb1A0A5aTPHV0PZSWHtiKwxWi3D6U0qsKM8xWtqNWUB_yBqQe054E8WViRVSniiHLslavbQ==",
  "id": "rs_0b1c1beb708221f3016ab42d14bf2087d08f133b96cfb5cc86",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After the short forward descent, the yellow fruit has moved below the left wrist camera’s lower edge, putting it between the fingertips. I’ll close the left jaws and see whether this angle secures it.\"}",
  "call_id": "call_wTrk4mVONLY0VYeNREVMbjQA",
  "id": "fc_0b1c1beb708221f3016ab42d14d32887d08bdc781a10971b1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wTrk4mVONLY0VYeNREVMbjQA",
  "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]: [-1.2308, 2.0907, 1.4002, -0.844, -0.6544, -1.2198, 0.0084, 0.1608, 1.0752, 0.8909, -0.7807, 0.2821, -0.2024, 0.9983]\nstate[eef_state]: left_x=0.2334 left_y=-0.3266 left_z=0.0214 left_yaw=0.1188 left_pitch=-0.3624 left_roll=0.2034 left_gripper=0.0084 right_x=0.2865 right_y=0.0003 right_z=0.1614 right_yaw=0.0082 right_pitch=-0.3963 right_roll=-0.3619 right_gripper=0.9983\nstate[joint_eff]: [-0.3897, -11.6444, 6.4752, 0.2564, -0.442, 0.0122, 0.652, -0.0752, -2.906, 6.6803, 1.3748, 0.0513, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d60d7b5cc8977c5c8eb74529730a0ccc4180ccc39925483ba2836f88c7ebf1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5760cd3e3cca81f751bf379a4dc227cb1055c2c637b567e64f5e97f1a111c586",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1746adec526b798d6777b1e565d90e64f5c6ec3b50629f613d190588735d0ce1",
      "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 · 3.8 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1596, 1.0763, 0.9047, -0.7376, -0.2455, -0.0864, 0.9956, 1.2194, 1.8458, 1.0008, -0.6518, 0.7094, 0.9249, 0.0106]\nstate[eef_state]: left_x=0.2984 left_y=-0.0009 left_z=0.1713 left_yaw=0.0983 left_pitch=-0.3119 left_roll=0.161 left_gripper=0.9956 right_x=0.2128 right_y=0.2565 right_z=0.0193 right_yaw=0.0188 right_pitch=-0.3371 right_roll=-0.3446 right_gripper=0.0106\nstate[joint_eff]: [-0.2256, -2.7282, 6.7077, 1.3455, -0.1392, -0.0562, -0.0171, -0.2256, -8.9778, 5.5453, 0.4078, 0.4762, 0.0757, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": "I couldn’t complete the task. One fruit is in the blue bowl, the dark fruit is beside it, and the remaining yellow fruit was not securely grasped. I did not attempt the pour because not all the fruits were in the blue bowl.",
  "role": "assistant"
}
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "Respond with exactly one tool call.",
      "type": "input_text"
    }
  ],
  "role": "user"
}