adhoc

completed
2026-09-23T18:49:24.202274+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
212.4 s
total steps
362
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe white bowl is on the left, the blue bowl is near the middle, and three fruits lie across the table in front of them. I’ll position the right gripper above the larger fruit on the right first.
move_to
right_x0.4000right_y0.1100right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8001, 0.6151, -0.3851, -0.0143, -0.0299, 0.9989, -0.0227, 0.8001, 0.6197, -0.3882, -0.017, -0.0185, 0.9994] state[eef_state]: left_x=0.2959 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=-0.0001 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.335, -1.853, 9.7573, 1.8388, -0.1001, 0.1099, -0.1245, -0.4444, -1.7983, 9.3607, 1.8926, -0.0708, 0.0024, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.11,"right_z":0.16},"note":"The white bowl is on the left, the blue bowl is near the middle, and three fruits lie across the table in front of them. I’ll position the right gripper above the larger fruit on the right first."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe right gripper is over the large yellow-green fruit, although its fingers still sit high above it. I’ll lower and shift slightly left to bring the jaws around the fruit.
move_to
right_x0.3900right_y0.1300right_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]: [-0.0219, 0.8062, 0.6151, -0.4007, -0.0139, -0.0311, 0.9988, 0.4038, 1.412, 0.8261, -0.0845, 0.3145, 0.1955, 0.9994] state[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0016 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3899 right_y=0.1111 right_z=0.1394 right_yaw=0.033 right_pitch=-0.064 right_roll=-0.0301 right_gripper=0.9994 state[joint_eff]: [0.0889, -1.1829, 7.0632, 1.8779, -0.0317, -0.0708, -0.022, -0.5402, -6.4342, 8.8547, 1.9658, 0.315, 0.2369, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.13,"right_z":0.035},"note":"The right gripper is over the large yellow-green fruit, although its fingers still sit high above it. I’ll lower and shift slightly left to bring the jaws around the fruit."})
tool
executing move_to over 7 steps (0.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe jaws are now at fruit height and the large fruit is hidden beneath the gripper in the overhead view. I’ll close on it and check whether the jaws retain its width.
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, 0.8062, 0.6151, -0.4088, -0.0139, -0.0311, 0.9988, 0.4618, 1.7161, 0.6312, 0.3775, 0.3447, 0.2211, 0.9994] state[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1758 left_yaw=-0.0016 left_pitch=-0.0298 left_roll=-0.0006 left_gripper=0.9988 right_x=0.3879 right_y=0.1304 right_z=0.0311 right_yaw=0.0514 right_pitch=-0.0904 right_roll=-0.0415 right_gripper=0.9994 state[joint_eff]: [-0.0615, -0.9504, 7.0085, 1.79, -0.0513, -0.0415, -0.0122, 0.1436, -7.241, 4.8479, 1.7314, 0.2759, 0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are now at fruit height and the large fruit is hidden beneath the gripper in the overhead view. I’ll close on it and check whether the jaws retain its width."})
tool
executing move_to over 10 steps (1.0s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe closed jaws read about 0.04, right on the empty-grasp threshold, and the fruit is still obscured. I’ll lift a few centimetres to see whether the fruit rises with the gripper.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8062, 0.6151, -0.4171, -0.0135, -0.0311, 0.9988, 0.4622, 1.7123, 0.6312, 0.4023, 0.3325, 0.2256, 0.0407] state[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1741 left_yaw=-0.0019 left_pitch=-0.0382 left_roll=-0.0006 left_gripper=0.9988 right_x=0.3911 right_y=0.1344 right_z=0.0367 right_yaw=0.0602 right_pitch=-0.0671 right_roll=-0.0193 right_gripper=0.0407 state[joint_eff]: [-0.1299, -1.306, 7.0359, 1.8193, -0.0269, -0.0317, -0.0171, -0.1299, -6.5026, 5.3538, 1.2821, 0.2906, -0.0757, 0.9451] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"The closed jaws read about 0.04, right on the empty-grasp threshold, and the fruit is still obscured. I’ll lift a few centimetres to see whether the fruit rises with the gripper."})
tool
executing move_to over 8 steps (0.8s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe lifted gripper still appears to have the right-hand fruit tucked between its fingers. I’ll move it above the blue bowl and release it there if the alignment looks right.
move_to
right_x0.4350right_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, 0.6151, -0.4236, -0.0139, -0.0334, 0.9988, 0.4618, 1.4498, 0.8967, -0.1669, 0.3206, 0.2176, 0.0422] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1728 left_yaw=-0.0004 left_pitch=-0.0446 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3875 right_y=0.1347 right_z=0.1398 right_yaw=0.0724 right_pitch=-0.1082 right_roll=-0.0346 right_gripper=0.0422 state[joint_eff]: [-0.0342, -1.2923, 7.0085, 1.7558, -0.0659, -0.022, -0.0122, -0.1846, -7.788, 8.9915, 1.5995, 0.1538, 0.0562, 1.0281] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.225,"right_z":0.19},"note":"The lifted gripper still appears to have the right-hand fruit tucked between its fingers. I’ll move it above the blue bowl and release it there if the alignment looks right."})
tool
executing move_to over 8 steps (0.8s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe large fruit is visibly still on the tabletop to the right of the blue bowl, so that first grasp was empty. I’ll reopen and approach slightly closer to the base, where the fruit sits relative to the fingertips.
move_to
right_x0.3550right_y0.1100right_z0.1250right_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, 0.8089, 0.6151, -0.4248, -0.0139, -0.0338, 0.9988, 0.6224, 1.7535, 1.3903, -0.4435, 0.4152, 0.3069, 0.0428] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1718 left_yaw=-0.0001 left_pitch=-0.0485 left_roll=-0.0024 left_gripper=0.9988 right_x=0.4284 right_y=0.2241 right_z=0.1735 right_yaw=0.1033 right_pitch=-0.1547 right_roll=-0.0633 right_gripper=0.0428 state[joint_eff]: [-0.212, -1.3197, 7.1179, 1.7216, -0.0464, -0.0415, -0.0122, 0.3214, -8.8684, 9.6068, 1.6093, 0.3834, 0.1734, 1.033] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.11,"right_z":0.125,"right_gripper":1},"note":"The large fruit is visibly still on the tabletop to the right of the blue bowl, so that first grasp was empty. I’ll reopen and approach slightly closer to the base, where the fruit sits relative to the fingertips."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe right wrist camera now shows the yellow-green fruit near the bottom, just to the right of the jaw centreline. I’ll descend with a small sideways correction so the fingers straddle it rather than reaching past it.
move_to
right_x0.3450right_y0.0950right_z0.0270
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6151, -0.4313, -0.0139, -0.0338, 0.9988, 0.4278, 1.3437, 0.7773, -0.2253, 0.279, 0.1669, 0.9978] state[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1696 left_yaw=-0.0001 left_pitch=-0.0584 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3536 right_y=0.1117 right_z=0.1178 right_yaw=0.0966 right_pitch=-0.1869 right_roll=-0.0718 right_gripper=0.9978 state[joint_eff]: [-0.1846, -1.4701, 7.0632, 1.746, -0.0562, -0.0659, -0.0122, -0.3761, -5.9282, 7.0769, 1.7558, 0.0904, -0.105, -0.0415] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.095,"right_z":0.027},"note":"The right wrist camera now shows the yellow-green fruit near the bottom, just to the right of the jaw centreline. I’ll descend with a small sideways correction so the fingers straddle it rather than reaching past it."})
tool
executing move_to over 6 steps (0.6s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe fruit now fills the space between the right gripper’s jaws in the wrist view. I’ll close and check for a substantial retained jaw opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8127, 0.6151, -0.432, -0.0139, -0.0338, 0.9988, 0.3794, 1.5227, 0.4885, 0.2157, 0.2516, 0.1295, 0.9986] state[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3391 right_y=0.0917 right_z=0.0199 right_yaw=0.0898 right_pitch=-0.2201 right_roll=-0.0883 right_gripper=0.9986 state[joint_eff]: [-0.3077, -1.3744, 7.2137, 1.6679, -0.0366, -0.0757, -0.0171, -0.1436, -5.8462, 5.6957, 1.7118, -0.0024, -0.0317, 0.0611] 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_gripper":0},"note":"The fruit now fills the space between the right gripper’s jaws in the wrist view. I’ll close and check for a substantial retained jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe gripper stopped at a wide opening, about 6.6 cm, consistent with holding the large fruit. I’ll lift it clear of the table before crossing to the blue bowl.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8127, 0.6151, -0.432, -0.0139, -0.0338, 0.9988, 0.3794, 1.5223, 0.4885, 0.2218, 0.2535, 0.1223, 0.6986] state[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3402 right_y=0.0918 right_z=0.0211 right_yaw=0.0926 right_pitch=-0.2138 right_roll=-0.093 right_gripper=0.6986 state[joint_eff]: [-0.0342, -1.2103, 7.1179, 1.6679, -0.0317, -0.0659, -0.0171, -0.0889, -5.5179, 5.2991, 1.4579, 0.0562, 0.0317, 1.0281] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"The gripper stopped at a wide opening, about 6.6 cm, consistent with holding the large fruit. I’ll lift it clear of the table before crossing to the blue bowl."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe fruit has moved away from its tabletop spot and stays immediately in front of the closed gripper as it lifts, so this grasp appears secure. I’ll carry it over the centre of the blue bowl.
move_to
right_x0.4200right_y0.2400right_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]: [-0.0219, 0.8185, 0.6147, -0.4458, -0.0139, -0.0338, 0.9988, 0.3794, 1.2564, 0.8989, -0.4995, 0.2489, 0.1188, 0.6982] state[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0001 left_pitch=-0.0793 left_roll=-0.0017 left_gripper=0.9988 right_x=0.337 right_y=0.0914 right_z=0.1513 right_yaw=0.0953 right_pitch=-0.2582 right_roll=-0.1051 right_gripper=0.6982 state[joint_eff]: [-0.0889, -1.7983, 7.0085, 1.7998, -0.0464, -0.0562, -0.0122, -0.0752, -6.4752, 9.0051, 1.5263, 0.1343, -0.0024, 0.5446] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.24,"right_z":0.2},"note":"The fruit has moved away from its tabletop spot and stays immediately in front of the closed gripper as it lifts, so this grasp appears secure. I’ll carry it over the centre of the blue bowl."})
tool
executing move_to over 13 steps (1.3s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe carried fruit is just in front of the blue bowl in the wrist view. I’ll move it forward into the bowl opening and lower it before releasing.
move_to
right_x0.4520right_y0.2400right_z0.1250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.45, -0.0139, -0.0338, 0.9988, 0.664, 1.845, 1.6447, -0.7914, 0.4053, 0.3332, 0.7008] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1639 left_yaw=-0.0001 left_pitch=-0.0843 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4114 right_y=0.238 right_z=0.1818 right_yaw=0.1155 right_pitch=-0.3166 right_roll=-0.1343 right_gripper=0.7008 state[joint_eff]: [-0.1846, -1.388, 7.0222, 1.7265, -0.0562, -0.0171, -0.0122, -0.0615, -10.1538, 9.0872, 1.4042, 0.3736, 0.1343, 0.7057] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.452,"right_y":0.24,"right_z":0.125},"note":"The carried fruit is just in front of the blue bowl in the wrist view. I’ll move it forward into the bowl opening and lower it before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe fruit now overlaps the blue bowl’s near rim in the wrist view, but its centre is still slightly short of the bowl’s centre. I’ll advance a little more to drop it safely inside.
move_to
right_x0.4670right_y0.2350right_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]: [-0.0219, 0.8192, 0.6147, -0.4507, -0.0139, -0.0334, 0.9988, 0.6109, 1.9881, 1.6047, -0.6388, 0.3618, 0.2768, 0.7023] state[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0003 left_pitch=-0.0851 left_roll=-0.0013 left_gripper=0.9988 right_x=0.4428 right_y=0.2382 right_z=0.1167 right_yaw=0.1236 right_pitch=-0.3658 right_roll=-0.1534 right_gripper=0.7023 state[joint_eff]: [-0.1436, -1.347, 6.9538, 1.707, -0.0562, -0.0122, -0.0171, -0.4855, -11.2752, 6.5709, 1.6532, 0.2662, 0.0122, 0.4811] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.467,"right_y":0.235,"right_z":0.12},"note":"The fruit now overlaps the blue bowl’s near rim in the wrist view, but its centre is still slightly short of the bowl’s centre. I’ll advance a little more to drop it safely inside."})
tool
executing move_to over 2 steps (0.2s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe fruit is aligned with the blue bowl opening and lowered over it. I’ll open the right gripper to deposit it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4545, -0.0139, -0.0338, 0.9988, 0.5789, 2.0552, 1.6855, -0.6914, 0.3355, 0.2424, 0.7044] state[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.163 left_yaw=-0.0001 left_pitch=-0.0889 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4556 right_y=0.2326 right_z=0.1064 right_yaw=0.1256 right_pitch=-0.4139 right_roll=-0.172 right_gripper=0.7044 state[joint_eff]: [-0.1983, -1.3197, 7.0632, 1.707, -0.0659, -0.0708, -0.0171, -0.5538, -10.8923, 9.388, 1.3358, 0.1392, -0.0464, 0.5348] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The fruit is aligned with the blue bowl opening and lowered over it. I’ll open the right gripper to deposit it."})
tool
executing move_to over 3 steps (0.3s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe large yellow-green fruit is visible inside the blue bowl. A small dark fruit remains near the table’s centre and a yellow fruit remains beside the white bowl; I’ll approach the dark one with the right gripper.
move_to
right_x0.3450right_y0.2100right_z0.1350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4648, -0.0139, -0.0338, 0.9988, 0.5781, 2.0556, 1.6852, -0.701, 0.3359, 0.2356, 0.9956] state[eef_state]: left_x=0.2855 left_y=-0.0002 left_z=0.161 left_yaw=-0.0001 left_pitch=-0.0992 left_roll=-0.0013 left_gripper=0.9988 right_x=0.4541 right_y=0.231 right_z=0.105 right_yaw=0.1265 right_pitch=-0.4237 right_roll=-0.1814 right_gripper=0.9956 state[joint_eff]: [-0.0889, -1.3197, 6.9538, 1.7949, -0.0611, -0.0513, -0.0171, 0.0479, -11.3983, 6.5299, 1.2283, 0.105, 0.0659, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.21,"right_z":0.135},"note":"The large yellow-green fruit is visible inside the blue bowl. A small dark fruit remains near the table’s centre and a yellow fruit remains beside the white bowl; I’ll approach the dark one with the right gripper."})
tool
executing move_to over 9 steps (0.9s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe dark fruit appears low and left of the jaw centre in the right wrist view. I’ll shift the gripper left by about four centimetres and descend to its height.
move_to
right_x0.3420right_y0.2550right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8238, 0.6147, -0.4702, -0.0135, -0.0338, 0.9988, 0.6979, 1.7058, 1.3201, -0.7399, 0.3744, 0.3264, 0.9965] state[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.1587 left_yaw=-0.0004 left_pitch=-0.1091 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3503 right_y=0.2142 right_z=0.1255 right_yaw=0.1498 right_pitch=-0.4456 right_roll=-0.189 right_gripper=0.9965 state[joint_eff]: [-0.1436, -1.306, 7.159, 1.7118, -0.0366, -0.0415, -0.0122, 0.4581, -9.6889, 6.7214, 1.1551, 0.3834, 0.1685, 0.0806] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.342,"right_y":0.255,"right_z":0.03},"note":"The dark fruit appears low and left of the jaw centre in the right wrist view. I’ll shift the gripper left by about four centimetres and descend to its height."})
tool
executing move_to over 7 steps (0.7s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe dark fruit is now almost between the fingers, slightly left of centre. I’ll make a small final lateral correction and lower to grasp its narrower body.
move_to
right_x0.3320right_y0.2630right_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, 0.8249, 0.6147, -0.4755, -0.0139, -0.0338, 0.9988, 0.7925, 1.8889, 1.1915, -0.4931, 0.3962, 0.3985, 0.9965] state[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1574 left_yaw=-0.0 left_pitch=-0.1156 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3376 right_y=0.2504 right_z=0.0352 right_yaw=0.1669 right_pitch=-0.4808 right_roll=-0.2059 right_gripper=0.9965 state[joint_eff]: [-0.335, -1.4564, 6.9402, 1.707, -0.0366, -0.0708, -0.0122, 0.4171, -8.9778, 5.1761, 0.906, 0.3834, 0.105, -0.0024] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.332,"right_y":0.263,"right_z":0.013},"note":"The dark fruit is now almost between the fingers, slightly left of centre. I’ll make a small final lateral correction and lower to grasp its narrower body."})
tool
executing move_to over 2 steps (0.2s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe small dark fruit sits on the jaw centreline at fingertip height. I’ll close and inspect the jaw opening to see if it has been caught.
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, 0.8249, 0.6147, -0.4759, -0.0139, -0.0338, 0.9988, 0.8108, 1.9205, 1.1793, -0.4538, 0.3965, 0.4122, 0.9965] state[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0 left_pitch=-0.116 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3342 right_y=0.2578 right_z=0.0222 right_yaw=0.1753 right_pitch=-0.4828 right_roll=-0.2015 right_gripper=0.9965 state[joint_eff]: [-0.2803, -1.306, 7.0906, 1.6679, -0.0757, -0.0611, -0.0171, 1.0462, -7.8017, 5.6821, 0.9792, 0.2759, 0.0904, -0.0073] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The small dark fruit sits on the jaw centreline at fingertip height. I’ll close and inspect the jaw opening to see if it has been caught."})
tool
executing move_to over 10 steps (1.0s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe gripper retained roughly a five-centimetre opening around the dark fruit. I’ll lift and confirm that it comes off the tabletop.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4763, -0.0139, -0.0338, 0.9987, 0.8284, 1.9503, 1.1793, -0.4438, 0.3965, 0.4198, 0.503] state[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0 left_pitch=-0.1163 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3292 right_y=0.2632 right_z=0.0113 right_yaw=0.182 right_pitch=-0.4978 right_roll=-0.2107 right_gripper=0.503 state[joint_eff]: [-0.1026, -1.2376, 7.0085, 1.6093, -0.0611, -0.0366, -0.0171, -0.1026, -9.6615, 5.7915, 1.0183, 0.2906, 0.1099, 1.0232] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The gripper retained roughly a five-centimetre opening around the dark fruit. I’ll lift and confirm that it comes off the tabletop."})
tool
executing move_to over 11 steps (1.1s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe dark fruit is no longer at its original table position and stays with the lifted gripper. I’ll carry it to the blue bowl, where the larger fruit is already sitting.
move_to
right_x0.4600right_y0.2350right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8257, 0.6147, -0.4759, -0.0139, -0.0338, 0.9988, 0.8284, 1.8454, 1.6581, -1.0332, 0.3889, 0.4183, 0.5029] state[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1571 left_yaw=-0.0 left_pitch=-0.1167 left_roll=-0.0009 left_gripper=0.9988 right_x=0.333 right_y=0.2692 right_z=0.1602 right_yaw=0.1868 right_pitch=-0.5069 right_roll=-0.2089 right_gripper=0.5029 state[joint_eff]: [-0.335, -1.2786, 6.9402, 1.6923, -0.0366, -0.0611, -0.0073, -0.212, -11.3709, 7.5966, 0.9499, 0.2613, -0.0464, 0.8083] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.235,"right_z":0.13},"note":"The dark fruit is no longer at its original table position and stays with the lifted gripper. I’ll carry it to the blue bowl, where the larger fruit is already sitting."})
tool
executing move_to over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe dark fruit is centred above the blue bowl, directly over the larger fruit. I’ll release it into the bowl.
move_to
right_x0.4580right_y0.2300right_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, 0.8303, 0.6147, -0.477, -0.0135, -0.0338, 0.9988, 0.5747, 2.1208, 1.9015, -0.9722, 0.2897, 0.1738, 0.5027] state[eef_state]: left_x=0.2841 left_y=-0.0003 left_z=0.1557 left_yaw=-0.0003 left_pitch=-0.1224 left_roll=-0.001 left_gripper=0.9988 right_x=0.4441 right_y=0.2317 right_z=0.1201 right_yaw=0.1735 right_pitch=-0.5573 right_roll=-0.2293 right_gripper=0.5027 state[joint_eff]: [-0.1436, -1.7299, 7.1453, 1.6239, -0.0513, -0.0659, -0.0171, -0.4171, -11.9453, 8.4034, 1.1453, 0.1148, -0.0415, 0.8083] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.458,"right_y":0.23,"right_gripper":1},"note":"The dark fruit is centred above the blue bowl, directly over the larger fruit. I’ll release it into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe dark fruit has dropped into the blue bowl; only the yellow fruit beside the white bowl remains on the table. I’ll park the right arm clear and bring the left gripper above that last fruit.
move_to
right_x0.2950right_y0.0000right_z0.1900left_x0.3450left_y-0.1900left_z0.1350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8303, 0.6147, -0.4763, -0.0139, -0.0334, 0.9988, 0.5591, 2.154, 1.9465, -0.9997, 0.2817, 0.1459, 0.9955] state[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1558 left_yaw=-0.0002 left_pitch=-0.1217 left_roll=-0.0005 left_gripper=0.9988 right_x=0.4503 right_y=0.228 right_z=0.1167 right_yaw=0.1786 right_pitch=-0.5781 right_roll=-0.2423 right_gripper=0.9955 state[joint_eff]: [-0.3624, -1.1829, 6.9538, 1.663, -0.0415, -0.0269, -0.0122, -0.6632, -10.9333, 8.3487, 1.0574, 0.1441, 0.1001, -0.149] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.19,"left_x":0.345,"left_y":-0.19,"left_z":0.135},"note":"The dark fruit has dropped into the blue bowl; only the yellow fruit beside the white bowl remains on the table. I’ll park the right arm clear and bring the left gripper above that last fruit."})
tool
executing move_to over 20 steps (2.0s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe yellow fruit is low and to the right of the left gripper’s jaw centreline. I’ll move the left gripper rightward and slightly toward its base, then descend beside the fruit.
move_to
left_x0.3150left_y-0.2300left_z0.0260
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7391, 1.4666, 0.8951, -0.3237, -0.5201, -0.5411, 0.9988, 0.0441, 1.2934, 1.2171, -1.0534, 0.0948, -0.3012, 0.9964] state[eef_state]: left_x=0.3356 left_y=-0.1822 left_z=0.1184 left_yaw=-0.0136 left_pitch=-0.1739 left_roll=0.0265 left_gripper=0.9988 right_x=0.3018 right_y=0.0002 right_z=0.1848 right_yaw=0.1374 right_pitch=-0.5854 right_roll=-0.2473 right_gripper=0.9964 state[joint_eff]: [-0.4991, -6.4615, 9.0735, 1.5458, -0.5299, 0.0073, -0.0122, -0.212, -5.3265, 6.0376, 1.1111, -0.1587, -0.022, 0.0806] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.23,"left_z":0.026},"note":"The yellow fruit is low and to the right of the left gripper’s jaw centreline. I’ll move the left gripper rightward and slightly toward its base, then descend beside the fruit."})
tool
executing move_to over 6 steps (0.6s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe yellow fruit is now near the fingers but remains slightly right of centre, and the left arm stopped a little high near the white bowl’s rim. I’ll make a smaller correction toward the fruit and lower cautiously.
move_to
left_x0.3050left_y-0.2450left_z0.0190
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]: [-0.8806, 1.7042, 0.8181, -0.0391, -0.6617, -0.6411, 0.9987, 0.0437, 1.298, 1.2171, -1.0676, 0.0814, -0.3222, 0.9965] state[eef_state]: left_x=0.33 left_y=-0.2236 left_z=0.0546 left_yaw=0.0007 left_pitch=-0.1125 left_roll=0.0503 left_gripper=0.9987 right_x=0.2989 right_y=0.0023 right_z=0.1819 right_yaw=0.1654 right_pitch=-0.6054 right_roll=-0.2406 right_gripper=0.9965 state[joint_eff]: [-1.3744, -5.2171, 3.2479, 0.8767, 0.2808, -0.4615, -0.0171, -0.1983, -4.8752, 6.3385, 1.1844, 0.1587, 0.1245, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.245,"left_z":0.019},"note":"The yellow fruit is now near the fingers but remains slightly right of centre, and the left arm stopped a little high near the white bowl’s rim. I’ll make a smaller correction toward the fruit and lower cautiously."})
tool
executing move_to over 3 steps (0.3s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe yellow fruit sits just inside the left gripper’s open fingers at table height. I’ll close now, avoiding any further descent beside the white bowl.
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]: [-0.9604, 1.7817, 0.7967, 0.0254, -0.7292, -0.7059, 0.9987, 0.0437, 1.298, 1.2171, -1.0676, 0.0834, -0.3229, 0.9965] state[eef_state]: left_x=0.3152 left_y=-0.239 left_z=0.034 left_yaw=0.0019 left_pitch=-0.0879 left_roll=0.0599 left_gripper=0.9987 right_x=0.2989 right_y=0.0019 right_z=0.1819 right_yaw=0.1639 right_pitch=-0.6057 right_roll=-0.243 right_gripper=0.9965 state[joint_eff]: [-1.2376, -5.6957, 5.3675, 0.9304, 0.0464, -0.4225, -0.0073, -0.0889, -4.506, 5.8598, 1.0916, -0.0171, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The yellow fruit sits just inside the left gripper’s open fingers at table height. I’ll close now, avoiding any further descent beside the white bowl."})
tool
executing move_to over 10 steps (1.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe left gripper settled with a small but definite opening around the yellow fruit. I’ll lift it clear of the table and check that the fruit leaves its original spot.
move_to
left_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]: [-0.9775, 1.7947, 0.8089, 0.0574, -0.8581, -0.7071, 0.1977, 0.0437, 1.298, 1.216, -1.0679, 0.0841, -0.3256, 0.9965] state[eef_state]: left_x=0.3235 left_y=-0.2343 left_z=0.0499 left_yaw=0.0621 left_pitch=0.0169 left_roll=0.089 left_gripper=0.1977 right_x=0.2986 right_y=0.0018 right_z=0.1815 right_yaw=0.1649 right_pitch=-0.6077 right_roll=-0.2449 right_gripper=0.9965 state[joint_eff]: [-1.3744, -6.0239, 3.8222, 0.9304, 0.9597, -0.5788, 0.7497, -0.1162, -4.9162, 5.9145, 1.0623, 0.0073, -0.0024, -0.0171] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The left gripper settled with a small but definite opening around the yellow fruit. I’ll lift it clear of the table and check that the fruit leaves its original spot."})
tool
executing move_to over 10 steps (1.0s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe yellow fruit is no longer visible at its tabletop spot, and the left gripper remains partly open as it lifts. I’ll move it across to the blue bowl while keeping the right arm parked.
move_to
left_x0.4250left_y-0.3200left_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]: [-0.9756, 1.5799, 1.116, -0.469, -0.8558, -0.7151, 0.1973, 0.0437, 1.298, 1.2156, -1.0672, 0.0837, -0.326, 0.9965] state[eef_state]: left_x=0.326 left_y=-0.2371 left_z=0.1708 left_yaw=0.0669 left_pitch=0.0133 left_roll=0.0852 left_gripper=0.1973 right_x=0.2987 right_y=0.0019 right_z=0.1814 right_yaw=0.1656 right_pitch=-0.6073 right_roll=-0.2448 right_gripper=0.9965 state[joint_eff]: [-0.4855, -9.1829, 8.6769, 1.0427, -0.4127, 0.0415, -0.0513, -0.2256, -5.0393, 5.6684, 1.1209, -0.0073, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.32,"left_z":0.19},"note":"The yellow fruit is no longer visible at its tabletop spot, and the left gripper remains partly open as it lifts. I’ll move it across to the blue bowl while keeping the right arm parked."})
tool
executing move_to over 8 steps (0.8s)
step 212
assistant
agent noteThe yellow fruit has slipped out and is now visibly on the table below the left arm, while the other two remain in the blue bowl. I’ll reopen the left gripper and approach the fruit’s new position from above.
move_to
left_x0.2650left_y-0.2300left_z0.1300left_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]: [-0.9012, 2.0113, 1.692, -0.5541, -0.8124, -0.6521, 0.1972, 0.0437, 1.298, 1.2121, -1.0679, 0.0807, -0.326, 0.9965] state[eef_state]: left_x=0.4181 left_y=-0.3158 left_z=0.1841 left_yaw=0.0814 left_pitch=0.0134 left_roll=0.0701 left_gripper=0.1972 right_x=0.2979 right_y=0.0024 right_z=0.1801 right_yaw=0.1691 right_pitch=-0.6111 right_roll=-0.2408 right_gripper=0.9965 state[joint_eff]: [0.6085, -11.2615, 7.9385, 1.0232, -0.3004, 0.2076, -0.022, -0.3897, -4.8615, 6.2564, 1.0818, 0.0464, -0.0269, -0.0122] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.23,"left_z":0.13,"left_gripper":1},"note":"The yellow fruit has slipped out and is now visibly on the table below the left arm, while the other two remain in the blue bowl. I’ll reopen the left gripper and approach the fruit’s new position from above."})
tool
executing move_to over 12 steps (1.2s)
step 224
assistant
agent noteThe yellow fruit is clearly centred near the bottom of the left wrist view, away from the white bowl’s rim. I’ll lower the open jaws around it for a cleaner grasp.
move_to
left_x0.2650left_y-0.2420left_z0.0120
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]: [-1.1324, 1.552, 0.939, -0.4984, -0.9104, -0.926, 0.9968, 0.0437, 1.298, 1.2045, -1.0672, 0.0803, -0.326, 0.9965] state[eef_state]: left_x=0.2692 left_y=-0.2372 left_z=0.1243 left_yaw=0.0526 left_pitch=-0.0144 left_roll=0.0885 left_gripper=0.9968 right_x=0.2967 right_y=0.0024 right_z=0.1775 right_yaw=0.1701 right_pitch=-0.6179 right_roll=-0.2393 right_gripper=0.9965 state[joint_eff]: [-0.2803, -7.3231, 6.5026, 1.0525, -0.7399, -0.188, -0.1245, -0.2256, -5.2991, 5.9692, 1.1795, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.242,"left_z":0.012},"note":"The yellow fruit is clearly centred near the bottom of the left wrist view, away from the white bowl’s rim. I’ll lower the open jaws around it for a cleaner grasp."})
tool
executing move_to over 8 steps (0.8s)
step 232
assistant
agent noteAt table height the yellow fruit is between the jaws in the left wrist view. I’ll close on it and then test the grasp with a lift.
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]: [-1.1461, 1.8282, 0.7444, -0.1009, -0.9047, -0.9504, 0.9973, 0.0437, 1.2968, 1.1912, -1.0595, 0.0803, -0.326, 0.9965] state[eef_state]: left_x=0.2626 left_y=-0.235 left_z=0.013 left_yaw=0.0516 left_pitch=-0.045 left_roll=0.1345 left_gripper=0.9973 right_x=0.2958 right_y=0.0023 right_z=0.1739 right_yaw=0.1705 right_pitch=-0.6224 right_roll=-0.2386 right_gripper=0.9965 state[joint_eff]: [-0.7453, -7.5282, 4.2462, 1.0134, -0.5348, -0.0952, 0.0415, -0.1709, -5.6957, 5.9966, 1.1258, -0.0122, -0.0562, -0.0171] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At table height the yellow fruit is between the jaws in the left wrist view. I’ll close on it and then test the grasp with a lift."})
tool
executing move_to over 10 steps (1.0s)
step 242
assistant
agent noteThe left jaws stopped at about 3.3 cm around the yellow fruit, a more convincing hold than before. I’ll lift it and confirm the fruit comes with the gripper.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1481, 1.8477, 0.7357, -0.0933, -0.8978, -0.9504, 0.3514, 0.0429, 1.2919, 1.1728, -1.0485, 0.0799, -0.326, 0.9965] state[eef_state]: left_x=0.26 left_y=-0.2326 left_z=0.0047 left_yaw=0.0481 left_pitch=-0.0584 left_roll=0.1513 left_gripper=0.3514 right_x=0.2944 right_y=0.0021 right_z=0.17 right_yaw=0.1704 right_pitch=-0.6247 right_roll=-0.2378 right_gripper=0.9965 state[joint_eff]: [-0.1983, -9.1419, 5.2444, 0.7937, -0.5397, -0.022, 1.6093, -0.3214, -5.6684, 5.9282, 1.1258, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The left jaws stopped at about 3.3 cm around the yellow fruit, a more convincing hold than before. I’ll lift it and confirm the fruit comes with the gripper."})
tool
executing move_to over 11 steps (1.1s)
step 253
assistant
agent noteThe yellow fruit rose with the gripper and remains snug between its fingers. I’ll carry it to the centre of the blue bowl, where the other two fruits are waiting.
move_to
left_x0.4450left_y-0.3250left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1481, 1.5398, 1.0851, -0.738, -0.889, -0.9524, 0.373, 0.0429, 1.2865, 1.1522, -1.037, 0.0803, -0.326, 0.9965] state[eef_state]: left_x=0.2618 left_y=-0.2388 left_z=0.1537 left_yaw=0.045 left_pitch=-0.0613 left_roll=0.1351 left_gripper=0.373 right_x=0.2926 right_y=0.002 right_z=0.1654 right_yaw=0.1703 right_pitch=-0.6285 right_roll=-0.2376 right_gripper=0.9965 state[joint_eff]: [-0.212, -8.0889, 7.9795, 0.6667, -0.5788, -0.022, 1.0427, -0.1983, -5.7094, 5.9692, 1.1062, -0.0513, -0.0562, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.325,"left_z":0.18},"note":"The yellow fruit rose with the gripper and remains snug between its fingers. I’ll carry it to the centre of the blue bowl, where the other two fruits are waiting."})
tool
executing move_to over 15 steps (1.5s)
step 268
assistant
agent noteThe carried yellow fruit is still left of the blue bowl’s centre in the wrist view. I’ll shift it right over the bowl opening and lower it gently onto the other fruits.
move_to
left_x0.4500left_y-0.3650left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8623, 2.1292, 1.8706, -0.6868, -0.7528, -0.6197, 0.3748, 0.0429, 1.2766, 1.1263, -1.0214, 0.0799, -0.326, 0.9965] state[eef_state]: left_x=0.4384 left_y=-0.3205 left_z=0.17 left_yaw=0.0672 left_pitch=-0.0682 left_roll=0.1287 left_gripper=0.3748 right_x=0.2904 right_y=0.0019 right_z=0.1606 right_yaw=0.1707 right_pitch=-0.6288 right_roll=-0.2371 right_gripper=0.9965 state[joint_eff]: [0.2803, -12.4239, 8.6496, 1.072, -0.3639, 0.2515, 1.0281, -0.212, -5.559, 6.106, 1.1209, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.365,"left_z":0.13},"note":"The carried yellow fruit is still left of the blue bowl’s centre in the wrist view. I’ll shift it right over the bowl opening and lower it gently onto the other fruits."})
tool
executing move_to over 4 steps (0.4s)
step 272
assistant
agent noteThe yellow fruit overlaps the blue bowl opening but is still near its left inner rim. I’ll nudge it toward the centre before opening the gripper.
move_to
left_x0.4620left_y-0.3850left_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]: [-0.8948, 2.3257, 2.0171, -0.6987, -0.7616, -0.6575, 0.3748, 0.0429, 1.2675, 1.1, -1.01, 0.0799, -0.326, 0.9965] state[eef_state]: left_x=0.4472 left_y=-0.357 left_z=0.1198 left_yaw=0.0644 left_pitch=-0.0958 left_roll=0.1531 left_gripper=0.3748 right_x=0.2872 right_y=0.0018 right_z=0.155 right_yaw=0.1713 right_pitch=-0.6345 right_roll=-0.2362 right_gripper=0.9965 state[joint_eff]: [-0.4308, -14.8034, 9.347, 1.0672, -0.5397, -0.0513, 1.0379, -0.3487, -5.4632, 6.2427, 1.1551, -0.0171, -0.0122, -0.0122] 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":{"left_x":0.462,"left_y":-0.385,"left_z":0.12},"note":"The yellow fruit overlaps the blue bowl opening but is still near its left inner rim. I’ll nudge it toward the centre before opening the gripper."})
tool
executing move_to over 3 steps (0.3s)
step 275
assistant
agent noteThe yellow fruit is now over the blue bowl’s inner left side, with the other fruits beneath it. I’ll release it and then lift the gripper away to verify that all three are in the bowl.
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]: [-0.9028, 2.4878, 2.2807, -0.7952, -0.765, -0.6807, 0.3749, 0.0429, 1.2545, 1.0676, -0.9936, 0.0803, -0.326, 0.9965] state[eef_state]: left_x=0.4631 left_y=-0.3836 left_z=0.1146 left_yaw=0.0705 left_pitch=-0.0889 left_roll=0.1322 left_gripper=0.3749 right_x=0.2835 right_y=0.0016 right_z=0.1488 right_yaw=0.1712 right_pitch=-0.6376 right_roll=-0.2362 right_gripper=0.9965 state[joint_eff]: [-0.5265, -14.7077, 7.747, 0.6764, -0.3687, 0.0611, 1.033, -0.5949, -5.559, 6.4752, 1.1795, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The yellow fruit is now over the blue bowl’s inner left side, with the other fruits beneath it. I’ll release it and then lift the gripper away to verify that all three are in the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 282
assistant
agent noteThe wrist view shows the yellow fruit resting beside the larger fruit inside the blue bowl. I’ll clear the left gripper from above the bowl and restore the parked right arm’s height so I can see the rim before attempting the pour.
move_to
left_x0.3400left_y-0.2000left_z0.2000right_x0.2960right_y0.0000right_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]: [-0.9035, 2.5134, 2.2868, -0.8043, -0.765, -0.6884, 0.9953, 0.0429, 1.2377, 1.0344, -0.9714, 0.0799, -0.326, 0.9965] state[eef_state]: left_x=0.4624 left_y=-0.3834 left_z=0.1013 left_yaw=0.0761 left_pitch=-0.1043 left_roll=0.15 left_gripper=0.9953 right_x=0.2808 right_y=0.0015 right_z=0.1438 right_yaw=0.171 right_pitch=-0.6319 right_roll=-0.2366 right_gripper=0.9965 state[joint_eff]: [0.0752, -16.7453, 6.0239, 1.2186, -0.3834, 0.0366, -0.0611, -0.4444, -5.4085, 6.106, 1.1258, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.2,"left_z":0.2,"right_x":0.296,"right_y":0,"right_z":0.19},"note":"The wrist view shows the yellow fruit resting beside the larger fruit inside the blue bowl. I’ll clear the left gripper from above the bowl and restore the parked right arm’s height so I can see the rim before attempting the pour."})
tool
executing move_to over 17 steps (1.7s)
step 299
assistant
agent noteWith the arm clear, the yellow fruit is actually on the tabletop behind the white bowl; it did not stay in the blue bowl. I’ll reach over the white bowl to retrieve that last fruit before attempting any pour.
move_to
left_x0.4850left_y-0.1450left_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]: [-0.8528, 1.5864, 1.2839, -0.6846, -0.7383, -0.6426, 0.9965, 0.0353, 1.2858, 1.2064, -1.0946, 0.0731, -0.334, 0.9965] state[eef_state]: left_x=0.3465 left_y=-0.2105 left_z=0.1929 left_yaw=0.083 left_pitch=-0.101 left_roll=0.1369 left_gripper=0.9965 right_x=0.29 right_y=0.0009 right_z=0.1788 right_yaw=0.1758 right_pitch=-0.6313 right_roll=-0.2327 right_gripper=0.9965 state[joint_eff]: [0.5128, -8.9231, 6.5162, 1.243, -0.359, 0.2076, 0.105, -0.7043, -4.0, 8.6359, 1.0085, -0.022, -0.0952, -0.0122] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.485,"left_y":-0.145,"left_z":0.15},"note":"With the arm clear, the yellow fruit is actually on the tabletop behind the white bowl; it did not stay in the blue bowl. I’ll reach over the white bowl to retrieve that last fruit before attempting any pour."})
tool
executing move_to over 11 steps (1.1s)
step 310
assistant
agent noteThe yellow fruit appears directly ahead of the left jaws, but still several centimetres farther out than the fingertips. I’ll advance over it while staying above the white bowl’s back rim.
move_to
left_x0.5350left_y-0.1450left_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4747, 1.8324, 1.3342, -0.3489, -0.5106, -0.3199, 0.9965, 0.0315, 1.2732, 1.1793, -1.0748, 0.0731, -0.334, 0.9965] state[eef_state]: left_x=0.4686 left_y=-0.1398 left_z=0.1348 left_yaw=0.1185 left_pitch=-0.1508 left_roll=0.1577 left_gripper=0.9965 right_x=0.2886 right_y=-0.0002 right_z=0.1747 right_yaw=0.1714 right_pitch=-0.626 right_roll=-0.2336 right_gripper=0.9965 state[joint_eff]: [0.1846, -9.4838, 9.2376, 1.5507, -0.2271, 0.1245, -0.0024, -0.2667, -5.5316, 5.9282, 1.1209, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.535,"left_y":-0.145,"left_z":0.095},"note":"The yellow fruit appears directly ahead of the left jaws, but still several centimetres farther out than the fingertips. I’ll advance over it while staying above the white bowl’s back rim."})
tool
executing move_to over 6 steps (0.6s)
step 316
assistant
agent noteThe fruit is now almost under the fingertips, but it is near the far reach limit. I’ll tip the tool forward and lower toward the fruit, then check how closely the arm actually tracks.
move_to
left_x0.5400left_y-0.1450left_z0.0250left_pitch0.3500
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]: [-0.4221, 2.0914, 1.5017, -0.3042, -0.4774, -0.2981, 0.9965, 0.0315, 1.264, 1.1595, -1.0634, 0.0731, -0.334, 0.9965] state[eef_state]: left_x=0.5187 left_y=-0.14 left_z=0.0778 left_yaw=0.1387 left_pitch=-0.2058 left_roll=0.1783 left_gripper=0.9965 right_x=0.2868 right_y=-0.0003 right_z=0.1714 right_yaw=0.1713 right_pitch=-0.6252 right_roll=-0.2337 right_gripper=0.9965 state[joint_eff]: [0.3487, -11.6581, 8.9778, 1.6728, -0.2125, 0.1832, -0.0073, -0.5265, -5.3265, 5.7915, 1.116, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.145,"left_z":0.025,"left_pitch":0.35},"note":"The fruit is now almost under the fingertips, but it is near the far reach limit. I’ll tip the tool forward and lower toward the fruit, then check how closely the arm actually tracks."})
tool
executing move_to over 19 steps (1.9s)
step 335
assistant
agent noteAt the extended, forward-tilted pose the arm stayed about seven centimetres too high, so it cannot grasp from there. I’ll retract slightly and try a more vertical descent at the reachable edge of the fruit.
move_to
left_x0.5000left_y-0.1400left_z0.0050left_pitch0.0000
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]: [-0.4656, 2.2993, 1.1866, 1.0241, -0.6842, -0.0376, 0.9966, 0.0296, 1.2583, 1.1381, -1.0489, 0.0727, -0.334, 0.9965] state[eef_state]: left_x=0.556 left_y=-0.1504 left_z=0.0977 left_yaw=0.1998 left_pitch=0.501 left_roll=0.0431 left_gripper=0.9966 right_x=0.2856 right_y=-0.0008 right_z=0.1669 right_yaw=0.1699 right_pitch=-0.6263 right_roll=-0.2331 right_gripper=0.9965 state[joint_eff]: [-0.7453, -5.7231, 2.1949, 0.1294, -0.0904, -0.1441, -0.0073, -0.4034, -5.5316, 5.9966, 1.0916, -0.0366, -0.0659, -0.0122] camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.14,"left_z":0.005,"left_pitch":0},"note":"At the extended, forward-tilted pose the arm stayed about seven centimetres too high, so it cannot grasp from there. I’ll retract slightly and try a more vertical descent at the reachable edge of the fruit."})
tool
executing move_to over 17 steps (1.7s)
step 352
assistant
agent noteThe yellow fruit is visible very close below the left wrist, but the low target still does not track at the extended pose. I’ll draw the gripper back within its floor reach and try to contact the fruit from its near side.
move_to
left_x0.4800left_y-0.1200left_z-0.0050left_pitch0.0000
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]: [-0.4564, 2.1391, 1.1404, 0.6029, -0.5922, -0.3431, 0.9966, 0.0288, 1.2507, 1.1149, -1.0367, 0.0731, -0.334, 0.9965] state[eef_state]: left_x=0.5345 left_y=-0.1486 left_z=0.0777 left_yaw=0.2285 left_pitch=0.2419 left_roll=-0.0917 left_gripper=0.9966 right_x=0.2834 right_y=-0.0011 right_z=0.162 right_yaw=0.1691 right_pitch=-0.6298 right_roll=-0.2329 right_gripper=0.9965 state[joint_eff]: [-0.3761, -8.2393, 3.3709, 0.1001, 0.0611, -0.1587, -0.0122, -0.335, -5.2444, 6.1333, 1.116, -0.0513, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.12,"left_z":-0.005,"left_pitch":0},"note":"The yellow fruit is visible very close below the left wrist, but the low target still does not track at the extended pose. I’ll draw the gripper back within its floor reach and try to contact the fruit from its near side."})
tool
executing move_to over 9 steps (0.9s)
step 361
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]: [-0.4305, 2.0789, 1.0046, 0.7055, -0.511, -0.4614, 0.9966, 0.0277, 1.2415, 1.0924, -1.021, 0.0731, -0.3336, 0.9965] state[eef_state]: left_x=0.5167 left_y=-0.1383 left_z=0.0752 left_yaw=0.2535 left_pitch=0.2326 left_roll=-0.2483 left_gripper=0.9966 right_x=0.2819 right_y=-0.0015 right_z=0.1581 right_yaw=0.1675 right_pitch=-0.6274 right_roll=-0.2332 right_gripper=0.9965 state[joint_eff]: [0.8684, -6.5846, 0.8957, 0.0855, 0.0708, -0.1636, -0.0122, -0.4444, -5.3949, 5.9692, 1.1648, -0.0708, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 4.169 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]: [-0.02, 0.8001, 0.6151, -0.3851, -0.0143, -0.0299, 0.9989, -0.0227, 0.8001, 0.6197, -0.3882, -0.017, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=-0.0001 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.853, 9.7573, 1.8388, -0.1001, 0.1099, -0.1245, -0.4444, -1.7983, 9.3607, 1.8926, -0.0708, 0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060333a07c65994ba349180ea343cc2dfdf0336965fd175a9ab62d461b7750f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7a49cadc7d15d0c08317d523f805eedb57eb331e8a923069c2e50d3a3fb388",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991dd798cb66783015505fff4f33e6958a1a2f6e557aefe4968de3c55e401ce9",
      "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 · 3.975 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0c852bb35cf55c9c016ab41f432fd087d0967e69e3612ac68f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.11,\"right_z\":0.16},\"note\":\"The white bowl is on the left, the blue bowl is near the middle, and three fruits lie across the table in front of them. I’ll position the right gripper above the larger fruit on the right first.\"}",
  "call_id": "call_tOlJlumW0mcm2kaIUj2G5jrw",
  "id": "fc_0c852bb35cf55c9c016ab41f456aa487d0b65ffb221dedf534",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tOlJlumW0mcm2kaIUj2G5jrw",
  "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, 0.8062, 0.6151, -0.4007, -0.0139, -0.0311, 0.9988, 0.4038, 1.412, 0.8261, -0.0845, 0.3145, 0.1955, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0016 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3899 right_y=0.1111 right_z=0.1394 right_yaw=0.033 right_pitch=-0.064 right_roll=-0.0301 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -1.1829, 7.0632, 1.8779, -0.0317, -0.0708, -0.022, -0.5402, -6.4342, 8.8547, 1.9658, 0.315, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162806787f3c36b85a5d3bb0cf7713a1b728bd612e43365728bb19bb08d132f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac06a2c85d90227a8908f9e4dccd8a7f9a7845e671f783f34c3bc29d4cdb9dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f344f1269716b906fa9287fbf289f7c11b56c29f8e050d10baeb409d11a1e59b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 1.746 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]: [-0.02, 0.8001, 0.6151, -0.3851, -0.0143, -0.0299, 0.9989, -0.0227, 0.8001, 0.6197, -0.3882, -0.017, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=-0.0001 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.853, 9.7573, 1.8388, -0.1001, 0.1099, -0.1245, -0.4444, -1.7983, 9.3607, 1.8926, -0.0708, 0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6151, -0.4007, -0.0139, -0.0311, 0.9988, 0.4038, 1.412, 0.8261, -0.0845, 0.3145, 0.1955, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0016 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3899 right_y=0.1111 right_z=0.1394 right_yaw=0.033 right_pitch=-0.064 right_roll=-0.0301 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -1.1829, 7.0632, 1.8779, -0.0317, -0.0708, -0.022, -0.5402, -6.4342, 8.8547, 1.9658, 0.315, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162806787f3c36b85a5d3bb0cf7713a1b728bd612e43365728bb19bb08d132f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac06a2c85d90227a8908f9e4dccd8a7f9a7845e671f783f34c3bc29d4cdb9dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f344f1269716b906fa9287fbf289f7c11b56c29f8e050d10baeb409d11a1e59b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB9S-Vtns7Pu3lp3lzai8J4-PyPm75lSIolfk5pAWHEJVvNm1M-HZiKIncK00tIefDDi8bp3HjvUWowTJXzU4OHCLRKfzvwPfmpmoIjGGb32fSxhjoRP-gTqvp1t3cbnQE_BKY_M4CG_veUStfGnhpza8tbs22F9P_nRNRIF2uLRhSmdD59xna3ZJ24sZj2DrkCTpvMP7Wc5hsV6V2-rr9JpNwU-sqzGJfyxDwf7PrkDQ550tJO3gYU1Jbbs1gQrIeKODOWPDLybw3CrDlJ3BkfoHMj2TF0oWToaCN35omhBB2VQ8SqVrD-wdbKLldpX0-gkC3d-H19LVMLzURObBcjo751RAripACxPtGAQx-HmukdlZFlcM1AtFK8spCUE6V071l_fugRvHchWa185hEG6ZwAqCsPqeidagQSrMRtt1CZzQTJUDCk89jfaKnUow2Zstj2kW5YBLLSlZyCR1tUjdRrc-lB5YgJD8Jg8eDsEIS1y646onYs76ZKdzYSsO9pp1uLosgrKGFLEhC1gn115VIiIVlrWzlIQFUVNsxI9TgBfAdVZYrLkr085K93jn4sxCLASsT_1wbK6xTuRKw6gJOYGy4wHCt4CTWqE2_8oZIDEs-avL9ja7ajrB-P5q9GQnPIVseaC1MaC-q0bZnPtQhhmb-kcOmZb9RndR1YvmATWrxhnj6AilHvzD1U_fB5JcGvlh97P4oadDkVY9eGok5DO25VmvhIGdUJzZyJ4YyPCM8k05UaxNXTP22sLuD0W7lj-M_3snzJtcREqvWBR3Ub4O2zbzGJ-o7t0cJhc_xEol59rSnNbPHBCWgzb8GNhvtI1Rkt9Tl28jNI5YCjx5K8nY0NPoVEE2EixdnH5QciIU9roHMu7CVHM6qcmH5GfAtmcvDGk5z76mXfuL4aIy3ppXaok7-aRxMc-2OuaTx5iE749uJ833KvabtlMrpstUv7SUsIr_4OA1vjX7j7eNQXPuuW7KdS_yAB11OqJwQ71F2ahsb7wfnwgaAZ4pWKBqHAxPJK4T1GO4QnBD7zbtQLPEWOouW1oSOTbATiNUs4XLY7kmR27o6l_UN-cSeGjQ4A3bIvSKA7gar-WnpDwOJTWT5O-RQRu1_pQLEw47jgnPoZwOSe0p3Z2la7Vm7mzR4hRd23IbxD6ioNj_O--6hxm-c2YlaAXrD8ihYAUmTtKnmfBXFXTic8oPKh89l6lcd1Yf_gpBw3VuHrv3kRUhSj3MXGVTxqQzc0Mitmx2jfZ0M9mrhMqVsvhCVStRSi3hIgFzZp1gGQzZi9fyVUL-hLzOmU34QvryNyO7B4CuvRECqvJf9jKvIqJPxAGaL5uVX4gR_szUPmrOgueSD6alsvDKTw390BH5-1ypy9DNgyNw-m0r8RYjiW0oEtlQ0GToQUap8jjKfAuBrywT-r-mtNUi633LAlwe6xwiJdZjdiWzuYGIOW8jWpPJQfvQEkTN6ZpmB-eMFbMfy0h5yT7k3B_ZkToS8xuWGRFKj5XlkV1rdx0TC3dJKWAR2z2w23EKEnx8wX7VtWlPyh77lPlnvDEXAsmsgJO4y77oRWd_qXqdQ8iH9K7RGNL93_xKSe1G4rx9Z5W5A1GxiKlydPiIeDklSi2k9z7RkANA9QQicU6D47JA3gHdqWB53lSX3GYsMYPfTkgBHH8i-SK0d0OfDJ4G5OPf1_ct14xCfGcFE4Mn7nr4F9SR_GmOQTr_oX5vPUTZlzjFIyXnnWzHeFlVn0M9UppB9XfrCNMcsGOB_PObgTI9GvGOkpvCFBh5QOuSejK9ajFxhm4laSavaIXRwC0czsu-Itk4lvTBpWJki97yEeBqYAsTYBB1cFdP9G_WEiACSJvm7yv9c_eeSd52dfIWQNuNiibv5maUw6fTf2_Js0EuQxVwS4qirs9Duey1PDw7vKXoAm-OQT5SmYnCPxMFngvjSsNLDrazg5jpDU=",
  "id": "rs_0c852bb35cf55c9c016ab41f500b5c87d0a4f44d4219a85fdf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.13,\"right_z\":0.035},\"note\":\"The right gripper is over the large yellow-green fruit, although its fingers still sit high above it. I’ll lower and shift slightly left to bring the jaws around the fruit.\"}",
  "call_id": "call_8beTX4UPupWH9d17RiINdjX3",
  "id": "fc_0c852bb35cf55c9c016ab41f516f5487d094da9d7488082d5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8beTX4UPupWH9d17RiINdjX3",
  "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, 0.8062, 0.6151, -0.4088, -0.0139, -0.0311, 0.9988, 0.4618, 1.7161, 0.6312, 0.3775, 0.3447, 0.2211, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1758 left_yaw=-0.0016 left_pitch=-0.0298 left_roll=-0.0006 left_gripper=0.9988 right_x=0.3879 right_y=0.1304 right_z=0.0311 right_yaw=0.0514 right_pitch=-0.0904 right_roll=-0.0415 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -0.9504, 7.0085, 1.79, -0.0513, -0.0415, -0.0122, 0.1436, -7.241, 4.8479, 1.7314, 0.2759, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccfb1092f70f0d8bf368f124abd8079ea3ea2c6692927665654a04cf7b8ec6fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3fd56ab83acccad1503c096c8ba3995111efd9a82363d576210bb4b8c2357df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0426158b153f346eb2341811ade9fb8d7a8cb509f2b06d7b7f00dc610842c2e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.4 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, 0.8062, 0.6151, -0.4007, -0.0139, -0.0311, 0.9988, 0.4038, 1.412, 0.8261, -0.0845, 0.3145, 0.1955, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0016 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3899 right_y=0.1111 right_z=0.1394 right_yaw=0.033 right_pitch=-0.064 right_roll=-0.0301 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -1.1829, 7.0632, 1.8779, -0.0317, -0.0708, -0.022, -0.5402, -6.4342, 8.8547, 1.9658, 0.315, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6151, -0.4088, -0.0139, -0.0311, 0.9988, 0.4618, 1.7161, 0.6312, 0.3775, 0.3447, 0.2211, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1758 left_yaw=-0.0016 left_pitch=-0.0298 left_roll=-0.0006 left_gripper=0.9988 right_x=0.3879 right_y=0.1304 right_z=0.0311 right_yaw=0.0514 right_pitch=-0.0904 right_roll=-0.0415 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -0.9504, 7.0085, 1.79, -0.0513, -0.0415, -0.0122, 0.1436, -7.241, 4.8479, 1.7314, 0.2759, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccfb1092f70f0d8bf368f124abd8079ea3ea2c6692927665654a04cf7b8ec6fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3fd56ab83acccad1503c096c8ba3995111efd9a82363d576210bb4b8c2357df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0426158b153f346eb2341811ade9fb8d7a8cb509f2b06d7b7f00dc610842c2e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB9X6jfEBsWRG6YJh1o6B2El2JlSxElV7jbxWICAQgGQ6Pzw4saCJEzqHRKjsiNvi7Wmh6yakjS6gWIhUaj1pIcPiq3v58sNRSYPL8M9Y23qnE2gwH_dcczf0EGBLmvDVq-4VGJTB--decbW7Z_fDoAU8PRdNgJSiXsNuVImtPADVX7OEdk0Kw4K4zaWdkrfWyuAUSTuQZ2yX4WHxe9yvI1rzFeQXdt4c2ddMzQyKzcJT2F9-YDE4s0KLhFOetqwgOmjb5UduRsiFxC7zSEG9bASN-x_9IOF32XTL0Sn6LbSkJSpvpc9lhTCj9GZvYn8xFp8VOo8bnPePqDX3Es6iqQJrsuId8dvJsPJw4tV34zG74oQuymh51cj_6hdixsFUTfZC6QLtRe_4Q6FK6o1Yw5Cr33tIezN-4yB5p27KjX2l6OPEHstLClSbbsHmVDVZjbFicvdEPmYXDo2W3LHFK0eS5FK8Tq_DcCRUjrSTPnmIq3dkKCu4MqnZcYpzwNPsgxtE3YNY5OU5a-y-0RQ3Vlp0s7dnJwLGWQJvxNrvaV-SATk7t_HL_CZHBlex5RFrnCyGLH4K6TH2yZRic_2lqVp1HCRXZ2ysMUw1AgoI6ULiMa8oJ63uGN3zJRsu7srBm6NHbUzzQRCHOf8U_LUjIpMFjmssQ3oyAf6-rNQoV_naxL2yGXa3x9XPJkHxBEZR_k5LxsjCiyKWZSHXW_T53wEcQnQ8hkna-iBwJcDmMzgT5xuje_aWkr8HTsLHDRSiinPSfUnEHiuUj-u2N5gwH4ecE3AB3imJs-yofyyLOXKD42bKmJsH3HVthTGiPNC-_sAB_j-dlDWiWQbdTn3u0J60a8BeXpE0M5Iuk-Q4RL3Eb1cY1DU16MVMkFhHldmai09uIW09PvUKxUwVMsLcoQMNHrnZb6H4pBIpjHA6Yhm_7QacW5PikGvP2gnR2cydyydjZjB5QrWF2jKSeYc64jn7t_Gw22gZdw33uMZDnw8X8tUfP0umbDs8hNHfDw2rmYs1OyE_TFUT7i1pA9ctbiSDkG0YI_iyK1SQwzQEV_TFZC72Yi02kB6DJPrVo7_xA4LTAYU-aAAwDe4PZUL6DcEA-TboTLXcj6gJYvpm2GMzCSpr_QzU3p7Nr5_T_n9AO8UMKkrPsYrgswNglDvF6hjpf84c5ncA7OprH24y1mK9ISE_CUfbm9TVPfBOkSBh_KCYh_DcHSwnNVNJPFK9FdkHdTC6cMYj0ZmeQG7LMfwFqY=",
  "id": "rs_0c852bb35cf55c9c016ab41f571e9887d0a9babbbef9e8604b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are now at fruit height and the large fruit is hidden beneath the gripper in the overhead view. I’ll close on it and check whether the jaws retain its width.\"}",
  "call_id": "call_Fk9EoBfg4Q9BWWA1hdzktsng",
  "id": "fc_0c852bb35cf55c9c016ab41f57531c87d09d3081f67dc51733",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Fk9EoBfg4Q9BWWA1hdzktsng",
  "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, 0.8062, 0.6151, -0.4171, -0.0135, -0.0311, 0.9988, 0.4622, 1.7123, 0.6312, 0.4023, 0.3325, 0.2256, 0.0407]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1741 left_yaw=-0.0019 left_pitch=-0.0382 left_roll=-0.0006 left_gripper=0.9988 right_x=0.3911 right_y=0.1344 right_z=0.0367 right_yaw=0.0602 right_pitch=-0.0671 right_roll=-0.0193 right_gripper=0.0407\nstate[joint_eff]: [-0.1299, -1.306, 7.0359, 1.8193, -0.0269, -0.0317, -0.0171, -0.1299, -6.5026, 5.3538, 1.2821, 0.2906, -0.0757, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7524db48139f0b2baeb058610832d3b13e36655d9b6ba0a9ece1f640bc6a5b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f1ae45c8756ee3d539f5b42df5c68c5df02ab92e22cddfa41f3f1894d7469c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e797b85438826ab81606ded7d5f4a267470126f9a928db95123860bfdbca2d99",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.277 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]: [-0.02, 0.8001, 0.6151, -0.3851, -0.0143, -0.0299, 0.9989, -0.0227, 0.8001, 0.6197, -0.3882, -0.017, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=-0.0001 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.853, 9.7573, 1.8388, -0.1001, 0.1099, -0.1245, -0.4444, -1.7983, 9.3607, 1.8926, -0.0708, 0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6151, -0.4088, -0.0139, -0.0311, 0.9988, 0.4618, 1.7161, 0.6312, 0.3775, 0.3447, 0.2211, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1758 left_yaw=-0.0016 left_pitch=-0.0298 left_roll=-0.0006 left_gripper=0.9988 right_x=0.3879 right_y=0.1304 right_z=0.0311 right_yaw=0.0514 right_pitch=-0.0904 right_roll=-0.0415 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -0.9504, 7.0085, 1.79, -0.0513, -0.0415, -0.0122, 0.1436, -7.241, 4.8479, 1.7314, 0.2759, 0.0806, -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, 0.8062, 0.6151, -0.4171, -0.0135, -0.0311, 0.9988, 0.4622, 1.7123, 0.6312, 0.4023, 0.3325, 0.2256, 0.0407]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1741 left_yaw=-0.0019 left_pitch=-0.0382 left_roll=-0.0006 left_gripper=0.9988 right_x=0.3911 right_y=0.1344 right_z=0.0367 right_yaw=0.0602 right_pitch=-0.0671 right_roll=-0.0193 right_gripper=0.0407\nstate[joint_eff]: [-0.1299, -1.306, 7.0359, 1.8193, -0.0269, -0.0317, -0.0171, -0.1299, -6.5026, 5.3538, 1.2821, 0.2906, -0.0757, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7524db48139f0b2baeb058610832d3b13e36655d9b6ba0a9ece1f640bc6a5b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f1ae45c8756ee3d539f5b42df5c68c5df02ab92e22cddfa41f3f1894d7469c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e797b85438826ab81606ded7d5f4a267470126f9a928db95123860bfdbca2d99",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB9bW076W9kJjsiDjKYhWWoHI5wUPCRgsp7uWEbLmplnHfVqez69eqqMbqnbNLlgzB4nMi_VhOVl9LBr0cEFPZ4hAcOtlMFl3_xwzRR8xz35sYBUG01AwCsqwIaRxA5vGLzZtuNXSczZFvOPJzXGzPmkagOA5q20GACh387QuyEZQTPXwIaPiNOIG5VMVQS-5sXKFKtkITgTv3jXprbmY1gmpF25XtRiwtayx8REG_bqJVsj0R3JKXwLD2B6UXVoGmM5aulEtyBs7SSE0QMLP8OTcbiU6BBPvFVq0ZM_A1I4evf5jh-E8MrnmKo8AdcDHyOTPBRhuODC4k87U1gyAmJVHALtLlVMOnEH0V935ax-Y2P91zHuqWtQh_RDBNTKQH2C-1BpdZKXF6GIyGj4kmXxsu7uv8FiYHV3B9z3gq3XNE65wguDf95ZEi0-WtnII2_6yfbi0p8sGm5CBJW26AvaX_-yjKSEstm-7YkNCr_RwZuv6ARuKABg4nmbBjmb18lQ4K0W61KY7R_Qn7nRi5z6NraNBuXPZbZk98PZgs8YJL8bmmkuoUbVJ_pWFee_34XtBN3XFRaJwOuvHVBDthiekUimqLiYcET0XgKjmMR6tJ6rjM7GboyXKuMWVlzykqXwDBgB8-FLSfNRRyA1eDD7prd3uXYHdb0v3AF18uzq7JlINUzNCONFlkMEVCZO23j6vhvULYnT5XYoaI5XyFEv-nZyuGNEfr9CjqC9KGztSZWbvT8HdJBWj6Iio3Jbc4yuUiUU5e5hM6UfUMPfdX76qq_gRN3gg3dNd2piS-pAQTb1-yrGR2LpH5qaxI6aw4u9ViZURTw_uDtiFSL08_8IvolZPavjJmydZuHk177SeB7ZxII2efQ-9u3sAB7-9UcQU1A_srN5CNF4qavyvjpT_KuDuytu0jyagd8eful6AlvjVVh6E6EriL4wIEOZoXYLpnd-KQG0YF8SIBBFfrGtgAaScEsJKoHr9xw5EO6fhd9u5OmS5zeg5w73A4lvdX3XiICTcZBFp4i9UaVADqTDvpVYp-81V2-NOaBw8kmP3PlHjm6lznBTXhQFTEiouF4Vk12O5ddBdy0yHTikgtGW8uBKa2zyr4SHaHc-KwHQJ5pz70Bg1Et_aOkmpGUpIc3CA1RnboSFc60qU1601XqU8uQOpyHTgj1e-c-cjoCewGP_EI-6LifhL-qh06gREMxJ0QJ3zyIHcUc44wjtfGpjZDMrW4ckFOoNatP2lckDIAwnDkG_pVdHj6ieU_W2mBAn",
  "id": "rs_0c852bb35cf55c9c016ab41f59d77887d099a8af64a1eeb481",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The closed jaws read about 0.04, right on the empty-grasp threshold, and the fruit is still obscured. I’ll lift a few centimetres to see whether the fruit rises with the gripper.\"}",
  "call_id": "call_dVGofBVoj6PtJD8A8Fs5JTpP",
  "id": "fc_0c852bb35cf55c9c016ab41f5a4bc087d098870a3876afbe60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dVGofBVoj6PtJD8A8Fs5JTpP",
  "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, 0.6151, -0.4236, -0.0139, -0.0334, 0.9988, 0.4618, 1.4498, 0.8967, -0.1669, 0.3206, 0.2176, 0.0422]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1728 left_yaw=-0.0004 left_pitch=-0.0446 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3875 right_y=0.1347 right_z=0.1398 right_yaw=0.0724 right_pitch=-0.1082 right_roll=-0.0346 right_gripper=0.0422\nstate[joint_eff]: [-0.0342, -1.2923, 7.0085, 1.7558, -0.0659, -0.022, -0.0122, -0.1846, -7.788, 8.9915, 1.5995, 0.1538, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d58f36432f973f446363cfcd3602b03aafd1ea587bf6ae16386db52d14d1db2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36a8a82e520d7704a26b2743027e30854fc7f7aaf4c332d14101f821489d900",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9970ebbdeccffff8976aef1f3a2f0233c44d4d609f7dfcd950fea89c16c85f",
      "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 · 3.84 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, 0.8062, 0.6151, -0.4007, -0.0139, -0.0311, 0.9988, 0.4038, 1.412, 0.8261, -0.0845, 0.3145, 0.1955, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0016 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3899 right_y=0.1111 right_z=0.1394 right_yaw=0.033 right_pitch=-0.064 right_roll=-0.0301 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -1.1829, 7.0632, 1.8779, -0.0317, -0.0708, -0.022, -0.5402, -6.4342, 8.8547, 1.9658, 0.315, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6151, -0.4171, -0.0135, -0.0311, 0.9988, 0.4622, 1.7123, 0.6312, 0.4023, 0.3325, 0.2256, 0.0407]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1741 left_yaw=-0.0019 left_pitch=-0.0382 left_roll=-0.0006 left_gripper=0.9988 right_x=0.3911 right_y=0.1344 right_z=0.0367 right_yaw=0.0602 right_pitch=-0.0671 right_roll=-0.0193 right_gripper=0.0407\nstate[joint_eff]: [-0.1299, -1.306, 7.0359, 1.8193, -0.0269, -0.0317, -0.0171, -0.1299, -6.5026, 5.3538, 1.2821, 0.2906, -0.0757, 0.9451]",
      "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, 0.6151, -0.4236, -0.0139, -0.0334, 0.9988, 0.4618, 1.4498, 0.8967, -0.1669, 0.3206, 0.2176, 0.0422]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1728 left_yaw=-0.0004 left_pitch=-0.0446 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3875 right_y=0.1347 right_z=0.1398 right_yaw=0.0724 right_pitch=-0.1082 right_roll=-0.0346 right_gripper=0.0422\nstate[joint_eff]: [-0.0342, -1.2923, 7.0085, 1.7558, -0.0659, -0.022, -0.0122, -0.1846, -7.788, 8.9915, 1.5995, 0.1538, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d58f36432f973f446363cfcd3602b03aafd1ea587bf6ae16386db52d14d1db2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36a8a82e520d7704a26b2743027e30854fc7f7aaf4c332d14101f821489d900",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9970ebbdeccffff8976aef1f3a2f0233c44d4d609f7dfcd950fea89c16c85f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB9gjsVTSa62W8VfTP9dpuFBpbdxb6YgAbXHEFJZ4IMtsctwCSW05pXGvp921edxQYMKA7Zxbpcwy6JnjYAiqbRW8rvDsP6QKYdRFyhs3Xk5VNbTZZG7mNrF7x_kT53mURXPgrDoXPlDP6Lun30lgqG5oUaYHTzcvWf0Q4k9-nHUwbGWaYVrEj9w1tKCMx2PGLihrd3IUiTj8grVeDXTLkElKlPF0pQhhQ0W4iLSXmwUL_hUCsRtkcLPSsxdVVdWnsqXlBx9FpW_V4mJWAffAQtJ2b-K7qJP83AOEjuHtlfBHs4uSE05PWi3Cmv4qh6CgFWW_wenIym78ngsVnTkXn4BHhUEH4HCGlDmZLG-XO9QMW2p7mNH4BggTGYUxkz34_wM1tGPEOoJrztzcrbmE5FV_tKH0rgtnmHY8hgAms1Qy3rHHLFWsBc2YQV3Xmz6B51lZc8daosnPk1QaHVbJrZzF7D5jF5lIxS7f4C-Hm96JHTUZITv_6ZRou8CQbZOVb_mH5E7cKbLi2elUKCPU-qrqe5nUVBIKqLFXZssXxFzBQK9Iw7fj5JVj6x2u5fLQLnm8CigTiXnjrqD1BoOhbCLhgbnqLtrkLVfS_tOBPEgoNTpS1XIoQuZrikqL2WDrPvURkQF7LGc-h7Rgu4T1Zu7QnVsu4V8W5F1jYybrXfE3-QYJMgel3NDNqz1e1iH-6ttXj3FHMZZvuD355SXHaErJe1syI-msbNhf89yLE-Fy9uzVeydmFEj27SkY7qUaIteWFgCEAzclDwcM97ew_7wdwfzPK3BKTmoVvrejZdN6D2C2U_95xW2Ddfi-0mwrUNnNz6kSnYOLw6uea5H1Ku7dcsuPr-5qo9MNdCsWgRkAeQk3mFwooCQB0_oc_GIy7_TEJZsSQav7MrJ2NOR5nj561LKeM5lXr3bvUwSoZ233N3U4Ys8Bzw8Cf2rUupHhIwvytBRUOwsNelmoPSDJurX46bjITVO6ecIln8_lt6sY6Hv45fZ0kDqFzAmRf-hOlfP6El_cbpbLyv8o5g1ml-IashGSPwbuY1-p77jwBKb3ECOp_EkANTP-FdlhbO2ZndmFcZi3yzW7pTGcKK39X3CuC4-c3eeWnLSIG9GPdcauQwrazfa9joOG0pb4k91Z2OzV0-wjanO8swJhp6tsJCU0nx1leXW1zQzDlWlvWaw99aUxyphoUjjPtzeS3NBXc56--fbpziAsXffG2_how0KkkCX_uPH0L8BgEZd3m1__NZAeeKYFDU8mD1e9F3_2QjODhaer2YfM7Fvrdzu6nHKVtd53QiJe4WCP47tdGoUrat0WWAl2XEe9aCDg9YQSbc2bYdWx-X_pnO1nxfbcO4tRW8kJP3if6Rzr8Ir7RyK7xnBaT8_nN8ad3VM8fKE_qoBaSpZXPbGfMRcTz4Z9K5RouWzcYbNGV_hBgv6xm5hg3l0mkbFoJiKnS1cakxsuEvX4f84t9eWpzeOF5C-l3cmId-paPVGEj2r8DRdPlp833L8wIbdvajVnkBldvfUtTVMhWYhrr75qNlV7KzvYY40wBVrh9zFSE5qTRSZtBVHuHa1ec_y7n_RwxmuBA9uSplDnTiFPQgJO_fMwrm3XkccyYRj3HrURo1cumiwlOdDjWg79MRPZ176NheiDhKV5zOSotOUL6t4UVQ1sMtSmUpb7PC7G-8CQRQW5DmbubiyaQHilaWEYIpjoJCNCDdUq-JCrirti3XYmtrE6dUKI8Gq2k_g6ZlQBAKUVGxtYJEmyxE=",
  "id": "rs_0c852bb35cf55c9c016ab41f5e0acc87d08f80b51eef617fb7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.225,\"right_z\":0.19},\"note\":\"The lifted gripper still appears to have the right-hand fruit tucked between its fingers. I’ll move it above the blue bowl and release it there if the alignment looks right.\"}",
  "call_id": "call_QJ7LYPLWPxMUvOGLl7PawEPj",
  "id": "fc_0c852bb35cf55c9c016ab41f5f2a4887d0b5913a57f4fa91c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QJ7LYPLWPxMUvOGLl7PawEPj",
  "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, 0.8089, 0.6151, -0.4248, -0.0139, -0.0338, 0.9988, 0.6224, 1.7535, 1.3903, -0.4435, 0.4152, 0.3069, 0.0428]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1718 left_yaw=-0.0001 left_pitch=-0.0485 left_roll=-0.0024 left_gripper=0.9988 right_x=0.4284 right_y=0.2241 right_z=0.1735 right_yaw=0.1033 right_pitch=-0.1547 right_roll=-0.0633 right_gripper=0.0428\nstate[joint_eff]: [-0.212, -1.3197, 7.1179, 1.7216, -0.0464, -0.0415, -0.0122, 0.3214, -8.8684, 9.6068, 1.6093, 0.3834, 0.1734, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d59adddd88e08e0bbdcfa7d05e8732982422190eb98924bbcfdf3a4f3cb5118",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f15b9d765ba0e2d48edb4b9be4019727aa2b55479bd1d10139cbdc5c494fbac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846ebb4b4539007fed3b52c910f08894c925e2bc1177f7282e89cd4dabb761af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.465 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, 0.8062, 0.6151, -0.4088, -0.0139, -0.0311, 0.9988, 0.4618, 1.7161, 0.6312, 0.3775, 0.3447, 0.2211, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1758 left_yaw=-0.0016 left_pitch=-0.0298 left_roll=-0.0006 left_gripper=0.9988 right_x=0.3879 right_y=0.1304 right_z=0.0311 right_yaw=0.0514 right_pitch=-0.0904 right_roll=-0.0415 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -0.9504, 7.0085, 1.79, -0.0513, -0.0415, -0.0122, 0.1436, -7.241, 4.8479, 1.7314, 0.2759, 0.0806, -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, 0.6151, -0.4236, -0.0139, -0.0334, 0.9988, 0.4618, 1.4498, 0.8967, -0.1669, 0.3206, 0.2176, 0.0422]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1728 left_yaw=-0.0004 left_pitch=-0.0446 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3875 right_y=0.1347 right_z=0.1398 right_yaw=0.0724 right_pitch=-0.1082 right_roll=-0.0346 right_gripper=0.0422\nstate[joint_eff]: [-0.0342, -1.2923, 7.0085, 1.7558, -0.0659, -0.022, -0.0122, -0.1846, -7.788, 8.9915, 1.5995, 0.1538, 0.0562, 1.0281]",
      "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, 0.8089, 0.6151, -0.4248, -0.0139, -0.0338, 0.9988, 0.6224, 1.7535, 1.3903, -0.4435, 0.4152, 0.3069, 0.0428]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1718 left_yaw=-0.0001 left_pitch=-0.0485 left_roll=-0.0024 left_gripper=0.9988 right_x=0.4284 right_y=0.2241 right_z=0.1735 right_yaw=0.1033 right_pitch=-0.1547 right_roll=-0.0633 right_gripper=0.0428\nstate[joint_eff]: [-0.212, -1.3197, 7.1179, 1.7216, -0.0464, -0.0415, -0.0122, 0.3214, -8.8684, 9.6068, 1.6093, 0.3834, 0.1734, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d59adddd88e08e0bbdcfa7d05e8732982422190eb98924bbcfdf3a4f3cb5118",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f15b9d765ba0e2d48edb4b9be4019727aa2b55479bd1d10139cbdc5c494fbac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846ebb4b4539007fed3b52c910f08894c925e2bc1177f7282e89cd4dabb761af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB9lRVwodl-AtQadSmzAxBnclk3ykiYavDMbS8_4lOHjAdXsbvH8TcJrFNUvWSxNHQvvw7549AqMA00UGSw2evuINjjdTW6JK54RMIe0AAtIJ0yCKAbBRjsE4Wn_nQO-R_ksVUGzOFsct3zczELsGSPIcYScQXYFNzWRBRKkzNStcLBy0LhsIoFNTgMpPt-sIVQY0l5U-ogeGIPz_NRu1e9PVD0ha9nlkavgkFutUxlf5l2qB9ToiUOoD5AQZRDOrUYwY4sKgYMhk21NtAARvi4C0S0FlfuXOno3-74D9Ys9wAGavBQQP7hmG4J1jcnddWnm5Km0vETyrEowYpVDn6Z-D6a3Z0fP-vE7ESbpj19NEoSv481h5L6y4aCetK8sGHGNOHWfe25AZpZaSidD5LPdnAgwTiRUD4deYLqviZn0xcGSZ-kFky_lZx2NRbFhUvOWJIlaZ3G2rOE3jWSg3vpUc2_ujSe227_NI5VBcxGuHdkmBL44Cjp5Sm1pujKWItdIAISzFPH1UeV1yAF9pCFvqU2oxyCP6J86T10MtpS8Y0yZvjdgn171RaGfu9zzEIFEGZAQoEEoYqigTu-P4LjTzSLbi-_2QRQZoDctKlsG-yDErhIxBYJ5qnOv9D5QNdIbO6nVUpy-tJoHqSaVT6bBNtt3YWVLVcnQmD7pY6uSnTHZODjfgQg-bukNjrjx7w1PygpSuS16edH6t_AAxCUdQEGEu2MnkpwMdzi054PTbzYbmPHRpebBgOc-tcNHQ4onugN4MGuDWcGn1r0OFgRIH--3I0_OUkPNIzW-Wu_o6H2Q7vw1DqGnCCxiEb7tea60sqDa6gowJtSnQ50jri9m-hemsUEMKEUkJppuDLCNXLMlAr40DC_lt6OF84q0BrWIC87xM2oq62tvjhlQYSIKfzNSVU7mNNUCWU3OXKSoWyGEDRtz0yG73HBTEt9D7y9EyeAg-6W1D_8l9UhCulJBQqNXkV5ZF0_Fc_UUOdI6NtVjY1ooj0ro0_Y5STLgCqpR8TEDpZJ9eJt7NUF3_gimJ66HMS72FEC0-2VeA7QF-Wigl-E3GJfM-Z4LMdRIe98ZvtCPBjTJtsEHtCZFKrKy92QCxnXn1JoY7MA9_kB54UxuYiXelH6QUIs-2-13pUswikIpQZYXNEsiJbWR8BiDnzL8jy5PNfQDA2_MxnVXacT8KlixlwJD45bQeTDaJtX6CiOMwpB8V5uaL7S3034Sw5J0jYqMcJG85WyUNykCuow53WaG4o6D6aDsP7TBmxl4hvYlOa0Ql2iQGh6-hJk42XI3h1vvsEz6OqCVeAlmx7Yqaj18aHG5BOQKm1ucQALRWtWOZ7cEbKZbckPwGwA5Cg70klxIA6sBid2XTOzLTGxF5xJiRi6RccJtPN-wSjfya_Ffv3CgwALGnSnzFVPjSdcpbEGVmevaCjQx5YZjF-Nc31XqUMeRgX8oT77BdYf72rkuqR7lcEUenvv6HTMqCjap5OHP-ASdwlO9Y1_gQZzmrOVM6k9O4NGZt9DC-W_9hOKUSBgJgremc0xV6tVu8snxrQLr7tM78G0h_aCLJ_n84fmIS93OQyW1o8EDFfcKIH5l4fNSnGcAU37Pq0RhK2PqJxZz5M0KqPi07YjtPHrkCuSoGjO2BpkBdaimuJjImhL9ftUnutPxm2ULHWwkZrSH1Z2XioPcU39V7FP-rD4P4bHnCRL9nB-HWnIFnXbDKe7Y40DPtPSJVM7gCRMNVM_rgqGO5dVzAV6ncIamUOugTgh9mlI33a4T1tVmfp-d6rKkj6TVAh9FA12GWQsmEKavP6cPG-HOuNp6uC6XRyKyqsHdxPgeIQA2t8VO3IPQz5ZCz-BFID_CeZRpp6MxaHKJ2XYqmkpzi2tsq7GnrscW2frjB883AhvLJnm0iKmEJ8KE7QGNwx9Wt49A2AZrme9KHuL6Yu2hWl3A8o5BpmL02A62fHTF_t9bvxgIVJrixy8eVpmbO-IlJPcjpt_7UMvkCNYQiRUs0FZE7iYJHFEnziYI28av_TPEDfoJkmy8eQKYHSy7gNsUlLlFdKBS5Gau-pU6Sqv2ngum6oxGbHkZE6ZOjiGwXsedxqKREyLPZggnMWNlpc51IobmyKWxD8rR427gU9vgz7e0ikFdJuNaBDotAkwr1zcJdB660rgje-6upg_pBj1P1qBBBLaGCs8bxGUFaxlq_p1gCqATw0Vg9o0y3LflbW7EGo5UabPc",
  "id": "rs_0c852bb35cf55c9c016ab41f62c4b487d0b88f62d552b3f099",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.11,\"right_z\":0.125,\"right_gripper\":1},\"note\":\"The large fruit is visibly still on the tabletop to the right of the blue bowl, so that first grasp was empty. I’ll reopen and approach slightly closer to the base, where the fruit sits relative to the fingertips.\"}",
  "call_id": "call_lJWgSN8L97UVH0SPmNjZq3Xm",
  "id": "fc_0c852bb35cf55c9c016ab41f64afc087d08c7915947f08e103",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lJWgSN8L97UVH0SPmNjZq3Xm",
  "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, 0.8124, 0.6151, -0.4313, -0.0139, -0.0338, 0.9988, 0.4278, 1.3437, 0.7773, -0.2253, 0.279, 0.1669, 0.9978]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1696 left_yaw=-0.0001 left_pitch=-0.0584 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3536 right_y=0.1117 right_z=0.1178 right_yaw=0.0966 right_pitch=-0.1869 right_roll=-0.0718 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -1.4701, 7.0632, 1.746, -0.0562, -0.0659, -0.0122, -0.3761, -5.9282, 7.0769, 1.7558, 0.0904, -0.105, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a9bcb8e46906f007fbe7c0a895204fbcc45339ec974759450c31cb6b3edba1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e111e52d6977103beb1c1f0707bbfab2581919a9ed30c755ab0ea69e36b3a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce2f840f673db37910d49a54f2dae9d572c788ab10505655b6a0582d399526a",
      "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 7 attempt 0 · /responses · status 200 · 1.93 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, 0.8062, 0.6151, -0.4171, -0.0135, -0.0311, 0.9988, 0.4622, 1.7123, 0.6312, 0.4023, 0.3325, 0.2256, 0.0407]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1741 left_yaw=-0.0019 left_pitch=-0.0382 left_roll=-0.0006 left_gripper=0.9988 right_x=0.3911 right_y=0.1344 right_z=0.0367 right_yaw=0.0602 right_pitch=-0.0671 right_roll=-0.0193 right_gripper=0.0407\nstate[joint_eff]: [-0.1299, -1.306, 7.0359, 1.8193, -0.0269, -0.0317, -0.0171, -0.1299, -6.5026, 5.3538, 1.2821, 0.2906, -0.0757, 0.9451]",
      "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, 0.8089, 0.6151, -0.4248, -0.0139, -0.0338, 0.9988, 0.6224, 1.7535, 1.3903, -0.4435, 0.4152, 0.3069, 0.0428]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1718 left_yaw=-0.0001 left_pitch=-0.0485 left_roll=-0.0024 left_gripper=0.9988 right_x=0.4284 right_y=0.2241 right_z=0.1735 right_yaw=0.1033 right_pitch=-0.1547 right_roll=-0.0633 right_gripper=0.0428\nstate[joint_eff]: [-0.212, -1.3197, 7.1179, 1.7216, -0.0464, -0.0415, -0.0122, 0.3214, -8.8684, 9.6068, 1.6093, 0.3834, 0.1734, 1.033]",
      "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, 0.8124, 0.6151, -0.4313, -0.0139, -0.0338, 0.9988, 0.4278, 1.3437, 0.7773, -0.2253, 0.279, 0.1669, 0.9978]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1696 left_yaw=-0.0001 left_pitch=-0.0584 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3536 right_y=0.1117 right_z=0.1178 right_yaw=0.0966 right_pitch=-0.1869 right_roll=-0.0718 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -1.4701, 7.0632, 1.746, -0.0562, -0.0659, -0.0122, -0.3761, -5.9282, 7.0769, 1.7558, 0.0904, -0.105, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a9bcb8e46906f007fbe7c0a895204fbcc45339ec974759450c31cb6b3edba1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e111e52d6977103beb1c1f0707bbfab2581919a9ed30c755ab0ea69e36b3a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce2f840f673db37910d49a54f2dae9d572c788ab10505655b6a0582d399526a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB9s1QMclxfOevZaubosWaQUngXmIsmNz5qBmHVyltRVAwPSATKPtf1-ToA7s0p6_3AkBtKHgmPpTHL4JbuAAzSs0px0QoK_5A2qA88U1E3AJuCGZgbImopaR2aFrYgVhK2bp_e7uK-eZ2Fa0v6fXMfTfyOsgGwmBgPIT_o_Jg0JSOV6LLgdcNIZDKPQZmKHqF524AofO7_m09nCABi1hdGpX5OfZ5c0TMU6K9_Pf-NgkDe9fjGIbmXqdXF9LxHr9kB3GmdYAyI-M25nDn276sYhHHZXupGiGpagwNt9mCwao7M1Ru6kDP5QCf6IEfm8N1utmT0dedM6IH04RwTQJW06njFh1NB841sIGavCvPu6B62oJLXjPTOA37LltYwa-LLmtXRZxa6JzHJDdDacgWZx5UXxoZXBYRusch-Vz8ff_tZumyn_EETiFqvmgHTJ9etYK-oce0OyTB6GEviq5ROmg18Ug33FJ4iOV-KV6NbYG3IsG57Blc05R46wKk_MtONZnpS7CRrOaRyohgocfPsQ9uhtSSKi9na5tK-T2-22WKVpgfogNaOsnY_y_vuXuZcXv2QzpLg8e-q1g2IZS5zMYnE3xU-yhYDmAbCvDiv5kWVF2FrrxlMoLJ-UoCA8ZonI3nG57LPBDoG65elvjZuzRudH_fdoMyryds-KznYosEoiYpqCjRCfbQL1fwd3bdlIolb4b-uTard42z0pxVtTbpqzwZuVTsQtMmELEtYTENEO8Lh-JWTJ_OLxR1IvKHGf_tAAdM7-OSudy61RbCu-FKDCgmhqMOcD-AWXsVhCJYxBIV88d9tcxfBVfMid4Pxo60wLj7JI9M2NjuDwZtdLPzigNSetjunPAKSVzDJfBWp9-QmI3mGJkns2s1qd1GhG9w5hVBpvN1OobvDwI6U-CphsFPAEnBEB6KJLCW9JZItc2cDN0FfzYaGm_Cy27IVZTL1nOdwHwGhhCYRvXD23Y65K6J2NyupnulLWn4TiBpgNYuIqM4SETVVKPnVG9oLzWzTsXZhjtPhz9BsbJLOQMPPqenscJdMORPkJzJ3Wqxj19FWewaqDc_9RktNvrcw_epGFl2FgtTlgJzBivlG1FB1TsaSWmeb68KDOQLvHBYOIi8xkNCJJkJlXwH59IrCJNr2gHFII5BWWAHYTtdXWlgzSaY1iFeb-Jj6LVihHuglsBjFZJLZmD7A2JcKZhIIHYgY-f3nOAmJD6kuYoASnke8tB6_0WXr-uXC98g0S5bcJ-iUoNKsdTrbAMBiesjT9WfXABgfuWd1GXCR8Mp0GtrZwQMA_XOscS2-vlx7kcdEnTN2oz6RGCJtdEOI64BoR9bMzfruTT6T6b4IjyrnDvMKeyus8Xuga_D1uZcZUO_dG5IxnfNvUrjOy13osXzChhfzVWuHpPJbOZAOQntJxWRA2zPq05YYFRa5siVviCZ8CyOyzKITqTrkabdBU7rHIyaIugM91erXorkTz9cdHFoMLd0aaSDUuZ-IxW0TOicUB11eGAUP6n6H4hQSqtqn7xBq_n0nqOoFokS2FV-q8KdOlVEAoibZV89qWy3FpuDxZn4dYBoDSkWJsUorgZRILgDSh6sl1HkNq26_n883_CXsimDn6yPhknOU9G2zz2fwg5DGSjqul1c2QG03o1TsBy8qg0sV5pCXYhzgAnzlM_ODNTJDkohPDrjjl9RExIiaPAyN4dy3n41OSPtfJ_sxCClQqRCc5Enzye2MZ6y8I6qXbyCSMY8gJk6uiAJ8KML5AncKoDRWAsIn4iV5UsimB6s903zas1pmvXvWBr4qg-Hqw8T0suVoXdJsmj1o8nMDtFKRtp8Zu1DNioXrz9nkDfTCs_AeCb0Ym2DmKvOu_bxYd-E0zeyjNWsVdy0JLH0x7MoSJexew3Dndiz7eyZXHnaLB0NyGNmHrrJt2-rhAZcjJelnwK1EjVXyiAPlcRzX1RWL4gM-NNC4YxK0uj50xpMhWxum8Y3psb3c1o1Rz8LkEIa83ThQElDh1PshpeahLqGqJAwGiuK5s626UXDOxC8Pmr5m9atK1D7wVqOJkvQmzFRh2pYYKjMuL78t4FvHqpw1LEMAYIJP-Lmj14VDJ0hwD-w4nBvnS85usLB1oPFA41w8v7n0qAymzWnxjfuE=",
  "id": "rs_0c852bb35cf55c9c016ab41f699c8487d088437d89218d9559",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.095,\"right_z\":0.027},\"note\":\"The right wrist camera now shows the yellow-green fruit near the bottom, just to the right of the jaw centreline. I’ll descend with a small sideways correction so the fingers straddle it rather than reaching past it.\"}",
  "call_id": "call_ARtvhKXXtpnoHTHhIhkHwMsp",
  "id": "fc_0c852bb35cf55c9c016ab41f6b644c87d0a39284e0f40b6956",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ARtvhKXXtpnoHTHhIhkHwMsp",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6151, -0.432, -0.0139, -0.0338, 0.9988, 0.3794, 1.5227, 0.4885, 0.2157, 0.2516, 0.1295, 0.9986]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3391 right_y=0.0917 right_z=0.0199 right_yaw=0.0898 right_pitch=-0.2201 right_roll=-0.0883 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.3744, 7.2137, 1.6679, -0.0366, -0.0757, -0.0171, -0.1436, -5.8462, 5.6957, 1.7118, -0.0024, -0.0317, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9bef39669bf567bc1b34593211dfad0d9b5f6f39cc46399df3d4895839a3b5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c510468a29ff27ada1b794a36cd87d19be63dd53942d81542112807172e19fde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0553bc612ee51be1450d5d38abd77d48bdd368be7f4e058a6748d436de598ee",
      "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 8 attempt 0 · /responses · status 200 · 3.875 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, 0.6151, -0.4236, -0.0139, -0.0334, 0.9988, 0.4618, 1.4498, 0.8967, -0.1669, 0.3206, 0.2176, 0.0422]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1728 left_yaw=-0.0004 left_pitch=-0.0446 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3875 right_y=0.1347 right_z=0.1398 right_yaw=0.0724 right_pitch=-0.1082 right_roll=-0.0346 right_gripper=0.0422\nstate[joint_eff]: [-0.0342, -1.2923, 7.0085, 1.7558, -0.0659, -0.022, -0.0122, -0.1846, -7.788, 8.9915, 1.5995, 0.1538, 0.0562, 1.0281]",
      "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, 0.8124, 0.6151, -0.4313, -0.0139, -0.0338, 0.9988, 0.4278, 1.3437, 0.7773, -0.2253, 0.279, 0.1669, 0.9978]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1696 left_yaw=-0.0001 left_pitch=-0.0584 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3536 right_y=0.1117 right_z=0.1178 right_yaw=0.0966 right_pitch=-0.1869 right_roll=-0.0718 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -1.4701, 7.0632, 1.746, -0.0562, -0.0659, -0.0122, -0.3761, -5.9282, 7.0769, 1.7558, 0.0904, -0.105, -0.0415]",
      "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, 0.8127, 0.6151, -0.432, -0.0139, -0.0338, 0.9988, 0.3794, 1.5227, 0.4885, 0.2157, 0.2516, 0.1295, 0.9986]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3391 right_y=0.0917 right_z=0.0199 right_yaw=0.0898 right_pitch=-0.2201 right_roll=-0.0883 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.3744, 7.2137, 1.6679, -0.0366, -0.0757, -0.0171, -0.1436, -5.8462, 5.6957, 1.7118, -0.0024, -0.0317, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9bef39669bf567bc1b34593211dfad0d9b5f6f39cc46399df3d4895839a3b5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c510468a29ff27ada1b794a36cd87d19be63dd53942d81542112807172e19fde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0553bc612ee51be1450d5d38abd77d48bdd368be7f4e058a6748d436de598ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB9wZW9tdP4YA7ORpFXPz4uUN_we8oTO9Xca_sOImA32XxCtkhbGfgx0dT-1Y8oFNRDw2ka2ZAy9Qvzqb7r09IAn4ZvzP70SXY4MQXCJqPIV0SEPYfw1k8HT2olB541S12Mn_bSx1R-CqHLDra_wIe3cuSENHMjiqc-bjU0h_ooKhAYbsWsAbkBTZh68DWdTLWIaAP9nGMONey-GzFeR_Arp7ZhG-VgLjhduLZ4DhPZzJzu8izc3aLKd0jqmXXkrkhuNyxVpaYzZPzcaayEefIbJn2L0PSxTkmzyZypCvHFvDUD9BKHNgLewlpw6wAIuvrNvRnhnzC5nBZt-HglceepDuAuI3l3c53_pkFPZLxO6scy4BrmRV9lNoK18xzB-NH6v2ochjiZ5Oix8iFHzJfdbxfx6Tyg6eijbf8EW0bBDPP-YDAyZJKu73xSDF7kioec9Szfhdq5DSmKx3x1Y1RRISYL0bPscwW5GesA3zRg2wEq3QdBoqiE3iLom9NEB_N7Zradxe_Hb3q2_m1-XRpJzTnP53FFsbHofNpPTE9P75C0cEKx5Xg6HYSg_jn1Shr206PfwPCeNBbb1TQAagaSBcSUGgKGprnfduuAztlrgRIQLqaUMK4q-rvyPLTMxlx6gmdQsGs8xFuXlqIBrPp7Km3_L7BrnCVOm78q7QRvYd57Au41WVrmhINPUotpuxLPfLn_hbK86N7UbR7gxCRCLDkrB0YowcvNrW-_ilCmMGANkLguFgMkYWR3UAIBEUKrtpgZXHUiZOWdowQJwZ5OZxZ9hONOL-_nUBg2FibRuZGAVhq1dRkzvagansLf6t0gYNQbx9REKKUYlp9Bz3jqCcifawLXEgM4SQemDqS4ZM7pvj7gze2VZDF_zpx8Mwfd2JViljrdjIJeXyb33p7c3MnyEv8hO2DMNL_C2S4EA85ZwTk3rMSAgKDNGyyvTNDwNfeZX6LEB9mRD8JxHDEupe6bam4QV52xERPqaxjwD6X4YahZy2_qp2TZxlo1UYMn2lPOfhuSQpoy4ewmImbUvGwGCJ1SNRT3hiocz-KoShx_g2nA7SDoWBMY9D9AnOSlYFs9XUwaSQKhZUWV2PmCLEAsjmdAt7mh06xq4FB2idf9WqK72aAIiBPym754zMw9-jGjKdLQ_-wJi5ONSFiQ_33z9IivzX9evXmZ7nQkK7rZAsKqSFCFZrw2u5du32VcQYHN8kZFD1AMHZjBkIonicKut04-b407vTdXTEXHW3ihuLIHIrr-PfVk9r3TNKaHLNykb4jQKK5s2SIa2qb6z6pY-M0i4P0iW4_7mJdqlRM4=",
  "id": "rs_0c852bb35cf55c9c016ab41f6f28c087d0b354f2cd12133986",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fruit now fills the space between the right gripper’s jaws in the wrist view. I’ll close and check for a substantial retained jaw opening.\"}",
  "call_id": "call_1zHVHGSn6ech6hg3P7jo6GLn",
  "id": "fc_0c852bb35cf55c9c016ab41f6f87e087d0bfc52c4f5e202730",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1zHVHGSn6ech6hg3P7jo6GLn",
  "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, 0.8127, 0.6151, -0.432, -0.0139, -0.0338, 0.9988, 0.3794, 1.5223, 0.4885, 0.2218, 0.2535, 0.1223, 0.6986]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3402 right_y=0.0918 right_z=0.0211 right_yaw=0.0926 right_pitch=-0.2138 right_roll=-0.093 right_gripper=0.6986\nstate[joint_eff]: [-0.0342, -1.2103, 7.1179, 1.6679, -0.0317, -0.0659, -0.0171, -0.0889, -5.5179, 5.2991, 1.4579, 0.0562, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134abd0c51d7ad229fbd333bd282c6af032f772c836810191762d611e36a493a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068fdc349b8086a4696744690345a70e1807bf8eb2b410b5377de8e833ff2304",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e9df4c2ba165219bf354eba96c76349f157b067697d0d3fa94cc57a11dafd3",
      "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 · 5.718 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, 0.8089, 0.6151, -0.4248, -0.0139, -0.0338, 0.9988, 0.6224, 1.7535, 1.3903, -0.4435, 0.4152, 0.3069, 0.0428]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1718 left_yaw=-0.0001 left_pitch=-0.0485 left_roll=-0.0024 left_gripper=0.9988 right_x=0.4284 right_y=0.2241 right_z=0.1735 right_yaw=0.1033 right_pitch=-0.1547 right_roll=-0.0633 right_gripper=0.0428\nstate[joint_eff]: [-0.212, -1.3197, 7.1179, 1.7216, -0.0464, -0.0415, -0.0122, 0.3214, -8.8684, 9.6068, 1.6093, 0.3834, 0.1734, 1.033]",
      "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, 0.8127, 0.6151, -0.432, -0.0139, -0.0338, 0.9988, 0.3794, 1.5227, 0.4885, 0.2157, 0.2516, 0.1295, 0.9986]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3391 right_y=0.0917 right_z=0.0199 right_yaw=0.0898 right_pitch=-0.2201 right_roll=-0.0883 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.3744, 7.2137, 1.6679, -0.0366, -0.0757, -0.0171, -0.1436, -5.8462, 5.6957, 1.7118, -0.0024, -0.0317, 0.0611]",
      "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, 0.8127, 0.6151, -0.432, -0.0139, -0.0338, 0.9988, 0.3794, 1.5223, 0.4885, 0.2218, 0.2535, 0.1223, 0.6986]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3402 right_y=0.0918 right_z=0.0211 right_yaw=0.0926 right_pitch=-0.2138 right_roll=-0.093 right_gripper=0.6986\nstate[joint_eff]: [-0.0342, -1.2103, 7.1179, 1.6679, -0.0317, -0.0659, -0.0171, -0.0889, -5.5179, 5.2991, 1.4579, 0.0562, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134abd0c51d7ad229fbd333bd282c6af032f772c836810191762d611e36a493a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068fdc349b8086a4696744690345a70e1807bf8eb2b410b5377de8e833ff2304",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e9df4c2ba165219bf354eba96c76349f157b067697d0d3fa94cc57a11dafd3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB90YqZUuTdZxeSeYvDk1mJOeWvUGrqowIS1Qh76GvsSQL_qzn3SCjt42gTS0NF_-8VrsaLkP0kV9ns2loPuzrktzMLCfhsNZEKIPA220ikLpPaNR-H4CBdw35SiUzRJiYr892HoX75HTU-xcYvnWXIvZ2x0Dl1F3JgqxuljnmUjKDlHhJg7x61RZvtpv9pXv9dST05USimgob0xakj0qeaIba4HAelFzwzgXQA7IwENUxzEmbG90GhKOqg4XU9zvR5KV1kzoqJXgZNTQL5DIgIl2jsw-ZPWkGS9CKohsGzi-EHZcO-HYeaW3X7akWEreFAnE3b5qsTzEBI_nD4KUOyrUHS12K4Pc5hUfv8IM1RtHr6HpGcNqFKleSX4mHB_kikyqS5insLc9Vor-ClxTT0NVnoj2VZDhmvVj99DmgLSn38mt5H8nTGp6Nm7VJ7toEjXdfVr33Rc3geEVRYDGSQJ7hpUwIHtJNAgQjm0hwH5e8aIV4tkerVFvuV6ZAIcVao_punJb124ld4OTOG-EAiMEWRDlgnvauDqGKVKR2SDZTzy4v9YglfkfZ2HfjE-k0u0M2oz5mQN6O1l1j7Vt7CwjLzbNhyrsxUfO1SkQniI_cmufmXKw9naRgnbglDxf1E65M8B9eGNxQWkRxDsP0zfNlh35jx_zLwV0SLof5twDuGdnbwWGx_krrj7mwhW9mApL987_DdFyd5NgdUWtjLN4opL_A6bTfKuQOclfPQcpcNjlmPnZmqtYWF9B30y-4maxVbok3Xo8i1Ps3ux86MKniH_Ig8HqryCN7imTHzYJ9kJ3AFhJ7MjHAdARY4YnQPhTmyBVp8Vrc2dlPz7yQTllr45bqIpT3vdD1ne3m55WDart7mfJr43ELGFF9ofI2Ghkss5tF_3p2fBLobE4bvuMDT0xXNGj0qaIO4tugkNdcTDp_fE34azWXSj7qpAWMXRaiojOWPJux29eoXhRP7lYa_bQ9QerPeQTTWazCd8Xh1U_UcsxUrvS9Pm4bFNfWGPTnPf2zuJj4kEapQ8PT2X4rQnx6eFUtwIzhaZO7_n2tfUEQyfzvvrH0b4_1eIds_Q1HI15J6KhgDYrCoTP1l81H5f45HoGF0JTFzL-GxFIBKvGp1sTvWX6V5zfUff6wGDbrxxyuIBSrSgNaYiAoCc_tdugldq80EchFqB_IL_4tn-8KrLBtQWPm0gqGXBvyf5J2_JpId4QI4LuOx88T-h3T5tycML01eTql8DO-T1iWo-RSlrs-tP9rYINXEdbjb6sLjrLh4OtgaH69w-rfNyPQ==",
  "id": "rs_0c852bb35cf55c9c016ab41f72842487d0b42863b57151401e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The gripper stopped at a wide opening, about 6.6 cm, consistent with holding the large fruit. I’ll lift it clear of the table before crossing to the blue bowl.\"}",
  "call_id": "call_FhD3D53uFb5EAJlVKll8Rfjw",
  "id": "fc_0c852bb35cf55c9c016ab41f73c96487d0a4e2fd700e6040fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FhD3D53uFb5EAJlVKll8Rfjw",
  "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, 0.8185, 0.6147, -0.4458, -0.0139, -0.0338, 0.9988, 0.3794, 1.2564, 0.8989, -0.4995, 0.2489, 0.1188, 0.6982]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0001 left_pitch=-0.0793 left_roll=-0.0017 left_gripper=0.9988 right_x=0.337 right_y=0.0914 right_z=0.1513 right_yaw=0.0953 right_pitch=-0.2582 right_roll=-0.1051 right_gripper=0.6982\nstate[joint_eff]: [-0.0889, -1.7983, 7.0085, 1.7998, -0.0464, -0.0562, -0.0122, -0.0752, -6.4752, 9.0051, 1.5263, 0.1343, -0.0024, 0.5446]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d630c8702dde70faf46247fe208c725049b96a56e8b3868177bda5b8dca1fdac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b69f811b6a602e42c6dd649a8ac82564e9bc0175bdd2425995a5c838dc3dff6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc820a1f4dcbfadbc911a27761b8bac89de3ff4e4daf176ab3ee99b5bd5d8c07",
      "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 10 attempt 0 · /responses · status 200 · 6 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, 0.8124, 0.6151, -0.4313, -0.0139, -0.0338, 0.9988, 0.4278, 1.3437, 0.7773, -0.2253, 0.279, 0.1669, 0.9978]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1696 left_yaw=-0.0001 left_pitch=-0.0584 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3536 right_y=0.1117 right_z=0.1178 right_yaw=0.0966 right_pitch=-0.1869 right_roll=-0.0718 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -1.4701, 7.0632, 1.746, -0.0562, -0.0659, -0.0122, -0.3761, -5.9282, 7.0769, 1.7558, 0.0904, -0.105, -0.0415]",
      "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, 0.8127, 0.6151, -0.432, -0.0139, -0.0338, 0.9988, 0.3794, 1.5223, 0.4885, 0.2218, 0.2535, 0.1223, 0.6986]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3402 right_y=0.0918 right_z=0.0211 right_yaw=0.0926 right_pitch=-0.2138 right_roll=-0.093 right_gripper=0.6986\nstate[joint_eff]: [-0.0342, -1.2103, 7.1179, 1.6679, -0.0317, -0.0659, -0.0171, -0.0889, -5.5179, 5.2991, 1.4579, 0.0562, 0.0317, 1.0281]",
      "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, 0.8185, 0.6147, -0.4458, -0.0139, -0.0338, 0.9988, 0.3794, 1.2564, 0.8989, -0.4995, 0.2489, 0.1188, 0.6982]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0001 left_pitch=-0.0793 left_roll=-0.0017 left_gripper=0.9988 right_x=0.337 right_y=0.0914 right_z=0.1513 right_yaw=0.0953 right_pitch=-0.2582 right_roll=-0.1051 right_gripper=0.6982\nstate[joint_eff]: [-0.0889, -1.7983, 7.0085, 1.7998, -0.0464, -0.0562, -0.0122, -0.0752, -6.4752, 9.0051, 1.5263, 0.1343, -0.0024, 0.5446]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d630c8702dde70faf46247fe208c725049b96a56e8b3868177bda5b8dca1fdac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b69f811b6a602e42c6dd649a8ac82564e9bc0175bdd2425995a5c838dc3dff6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc820a1f4dcbfadbc911a27761b8bac89de3ff4e4daf176ab3ee99b5bd5d8c07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB983pn1P6xWwpvhdVLXJqK4BajfEVDsGhTBr-TGLHIm_YkNAqDbO1GpnE7f1X0RIuXWe1ZmJB5io_02Ek4MY-7S8LV4YqJzX6EPVK0QJraCN_l85qOwvwWp_wrOkwCSW3RLeXaOdGaagoePCCWaEZLfylLTo2vqJHWzGa2hT2WhDZGxde9wI-uG0wsxPUSfk7MtGyWtscTcw73Jl_7dqikfilg2a736FzSdDQJgePyYwbvTpqDaQyf6GL7NTxL-hfY-zF6_-Me_hu7g_0ZzEGFBZ_vg2hb7CT1gGw4tk0ZxdFgdaJzhEJy8BOGPX9eNGBkGEx0T4aqeOCcvGG-UjD2p6cimeZzHGvIURx_K8fTvbIaAoE8y3-4Mk0da_0JYnDFtx6a0o3Y4p-dLjBELy9uTXV1WNwhEWqXhDaYUEN3h3jwhOpiVuoiiKkjaVi9StEgyJQJMmNhO9_GFK9mT-MSjeunvRN-WLuWAHbNv5ubuRN4CDwvMlewnRUGsnvHSKyDFHoEwCkDMNFW9xDYsq-QOjajDtC-Hc6Md0JCe1okx_ghx8k_tXGvpueEMwroXhLv8ieKOMTi5c3QLZdmB4y3YDSvdCjjz6H5bTnOquMUw_vUw9zRSfAV6m9c0ruZEwaIl2xGtlTvdgAHlCi5h5EEVS7faHT2uC2xzjXIzTxw1kOX2vTigVpNcOD5lk15c1gNMmiItAKhup7I_6v0hw2EJp3P1Cr5h5g_zZDW8JrTo4cWBAbZAAIiZG-9ndgo3R5hnuOQfwSGqw3vY7BY5WFC-0Gy93ixj_WHntDxzDP67QFoA6-451bfju4Xoyu953pfALwuf6Yls2b4nDClEc4NSnv0MWofvplK55_msXONVeRA82XgaPyckTTnNEn47u7XnlyUMPeEHk7CDoaVAABBbsPQ5j1KWeuiPnadZiinF4i-TK7vTrurYxXnEZFivj0Fiwnsoef3hS35yVQTRLsKqmknkCuAEEev5RpSnH9ZW78g8INO_YqyKnH3Fccr3BL7eDqLXLemcKAL4JKzV9OmXxeWosdbpgCjpXHCZismIL70Xs-CeesX01rdMCBS_KvhQzamMLoGKrXru53CCGADGYmpwkwV48mInkHxX6iGvYsSIiNBH3xQA4uy1wrFVOOQxHdEl-RWAPvLvU8jp4YbjNm5sUr4LrRr6e4dyJQ1KUEVdgc_rN4Lw85hAnSWkuq-y8VEb3g6Jph7jTWQHhrgI-kGHB1kOy5_JpNDjZX3XgY71PAjqyQODF5nSpk9jYCyy6gt2pOJBmzG91i3xRx6ntkh-hGwErzI-Wfjwl5he6V3mv5FkYbeKrFZQhjmCegA8nXHAvQoCRU4poMlzZs1bTkVgXoxot6Tr4mIsvd559iZE7KGGfV5_c0CkEGcEMe9i2OGwCam_lnX9812gntMLDz2tIja1gqny8ATfAgfttoAXEnRz1VA7rsQEWtx26_JqxK7EqfgHkfcrKHEf7sFBC9z2X8_gtVFJVFwYKnbidNI_PZ-ebW_XpFOQJYkxhObXWmnacrYByz6OTXrFgmoyRIPabtmAqiOYxd3k8AMyB_qBDv_tncR8kfWvPBDh71z7YiEvwj070yuB8ubwXLh6i700RxvVc3HAHs8ltC_Zxh7EAs0MoP9TwGT2STLnpTddqt-6q7L7cN9r5A3JY0RpnCbU_ylIUd_FIHiwyf1w0XhrpK3CRew5lGLPruxNOBKaujZuG_xmBEpEy3SX6tS4ZmNjYCnlMwdYrc3a8RAltuc0bapBTpVtxWkzAVQyxfFA6TXMtjCd-HqW3s4NHmWfQnr_ra1LkGaR8WowePSB4obuRWmBvL9ESn4HiHZNk9oJRcp3np7fEO1bK1d12v9iM8VAef2GD10UaYi2M4572RcpzemGlPnp9neDtckwWK5lGWoamasLm0z1KAP6NnH0TQr65DyJNdftCch5C3ABz_HZeuTCrExcKqMde-y0F1I1qPiPN9nNuqaqUQjgXeEVYqBXyBPciCrQ8_SexWT65_GcvRtQ_6VCUw8R50UCLzoIP4Ql5iMQ_8NdxkRxENxTE5eqk2mRhU5b_c7H2nkH__31JxG0MINDAshaSVMfhdWRQIpWW9ibY-3__Cc-OU6aLS1N7s103GMGawQ0KPIrjewO2aXNNDQfAPCnQcc6ean0Pbraom3Xyjafi2UzDWqTlc7rJeh_hVw2gUkuN1C48MpzyeCbQV_RwAAeRu96PMjViislFbr9gRYXS6fsmvNyNRxfGw-LSaX-FSFdyhE3qDQqIJMDDWb2ugbb8htiEmCskvI6QpFnQXEwGR3j5rXM6yvXTIS77OYu8u7qziX9cD1ihlO6orFmhpBCqviPkgOufPCiZ4v2mj-ulV4mqshrI_qF7us6oYDigArb3SUznYNMtUQzbSMODtXhaGigUBMwqdXpEd9ZiZLwiKiKgXyD-OW2qDQA1NuCeg3kEzfSicez5NxLFFiN7_xSqu7q0BN3QZG7nFGU9nQ5-2ZUz4tOccyX5TvfX76civo1pbcgdK8gHjD5oNrb4bdoC4VAK0zKeHzOG9dVZHWNcADhXMRCiqFl9iD7oBpda38qVh6ZXpJQM3zcEokbxAj9FO0V2SuI1dQDmEo8bZTBsaYdf3ATH4JKvCF5mzB0jLIPy8WF6aX4z9hcf-2O-Am_YUweQE6tOAh9HhhU9-_PAMVPMzDoSXb72oP9Yzv2W3sVu9MEp547w3rT6uTrmHeOTGnajJ_9JQ6X52OHy8eHabQiIIBhMfTWjUrA0oeJUG_AYSFrhXglcEews3_Oe5Em1z35lfBRnbPvbW8BYhRQuHUGtlS4V829kJi-0QJzIlb0T6jFltaWwbECBYisyby1J4R9Cfmyn7kEKubhZxp0pN9TAFA8zkBmwm2XA5Sw9CYjGzV20okPPsMRHFOhnmKoyILo-PFG7yDc1TNVuC0SwdJfZEMgBGWhH3DTZb790jaSlvRJAhkG7DpJ9uaVfjH-VwbCveXTf0ZVUbgkr9SuB9xg_mJGW1onLg125qOfHvCdSHZfJLEXH5QTDIAcHbUqJTLS_mBbtVJCpLtU9Elu3xhDpjDmRA7l7xEUGbV_Z39iSpwxZqMIZB_P4eg1QoM_BhUUa7HosZ7NFuTbVxVobGWQpfnwubgt67ROha16tOFLrKZwXbTtVbfJ3BZ_B-9xfpntbD7PqabXBitJ_P_PvK6nzc8AG8Qs7Ygz3KpH3O7eceUJc5cGiFkkiTy1Txb0u_wAAPF3ody61dtZfe-yHX6GSw1xHheK30EXwrf3FAPMrmHBaDGgUiNH87pruOyRM6-p7S7LwiBkDIvE2v770sdTUrecmoh44opJ2fK0iEujprKWbJavDCw7lyaY7u_UPQreRgZmn9f-E6DjXYttbWfADbBX4x9dmO44tJ_rjM8BxyirX1118mGfH7jYVjsUTC6p0scGnTHY_fLgoqTsXlyGiJcBjAOxPIHiNBHD1yRmsEB6LOL9BmEIU2_aB8ar1Sap5Mqj",
  "id": "rs_0c852bb35cf55c9c016ab41f77ed4087d09e20c64cb6782df1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.24,\"right_z\":0.2},\"note\":\"The fruit has moved away from its tabletop spot and stays immediately in front of the closed gripper as it lifts, so this grasp appears secure. I’ll carry it over the centre of the blue bowl.\"}",
  "call_id": "call_FSSRuIi5gfs0UNsUEQ8z8xee",
  "id": "fc_0c852bb35cf55c9c016ab41f7bb17487d0a4916da24575eeba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FSSRuIi5gfs0UNsUEQ8z8xee",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.45, -0.0139, -0.0338, 0.9988, 0.664, 1.845, 1.6447, -0.7914, 0.4053, 0.3332, 0.7008]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1639 left_yaw=-0.0001 left_pitch=-0.0843 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4114 right_y=0.238 right_z=0.1818 right_yaw=0.1155 right_pitch=-0.3166 right_roll=-0.1343 right_gripper=0.7008\nstate[joint_eff]: [-0.1846, -1.388, 7.0222, 1.7265, -0.0562, -0.0171, -0.0122, -0.0615, -10.1538, 9.0872, 1.4042, 0.3736, 0.1343, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc6c8e02c7937c05b5aa51082761fcf3aaff30bcf812c0d47426603df92519d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558fc0dcff58053de93188a83f861719c5cda8fe6285e0755e7c7c576a42244b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d31062dbd7a4f821a0d2b6f3db0a5a3a4521dceff16c1b05a6fb872c0e9e425",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.263 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, 0.8127, 0.6151, -0.432, -0.0139, -0.0338, 0.9988, 0.3794, 1.5227, 0.4885, 0.2157, 0.2516, 0.1295, 0.9986]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3391 right_y=0.0917 right_z=0.0199 right_yaw=0.0898 right_pitch=-0.2201 right_roll=-0.0883 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.3744, 7.2137, 1.6679, -0.0366, -0.0757, -0.0171, -0.1436, -5.8462, 5.6957, 1.7118, -0.0024, -0.0317, 0.0611]",
      "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, 0.8185, 0.6147, -0.4458, -0.0139, -0.0338, 0.9988, 0.3794, 1.2564, 0.8989, -0.4995, 0.2489, 0.1188, 0.6982]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0001 left_pitch=-0.0793 left_roll=-0.0017 left_gripper=0.9988 right_x=0.337 right_y=0.0914 right_z=0.1513 right_yaw=0.0953 right_pitch=-0.2582 right_roll=-0.1051 right_gripper=0.6982\nstate[joint_eff]: [-0.0889, -1.7983, 7.0085, 1.7998, -0.0464, -0.0562, -0.0122, -0.0752, -6.4752, 9.0051, 1.5263, 0.1343, -0.0024, 0.5446]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8192, 0.6147, -0.45, -0.0139, -0.0338, 0.9988, 0.664, 1.845, 1.6447, -0.7914, 0.4053, 0.3332, 0.7008]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1639 left_yaw=-0.0001 left_pitch=-0.0843 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4114 right_y=0.238 right_z=0.1818 right_yaw=0.1155 right_pitch=-0.3166 right_roll=-0.1343 right_gripper=0.7008\nstate[joint_eff]: [-0.1846, -1.388, 7.0222, 1.7265, -0.0562, -0.0171, -0.0122, -0.0615, -10.1538, 9.0872, 1.4042, 0.3736, 0.1343, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc6c8e02c7937c05b5aa51082761fcf3aaff30bcf812c0d47426603df92519d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558fc0dcff58053de93188a83f861719c5cda8fe6285e0755e7c7c576a42244b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d31062dbd7a4f821a0d2b6f3db0a5a3a4521dceff16c1b05a6fb872c0e9e425",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-ImfBON92oKz_EmT83MB-3i3RLNiTdIUDN4euj2PZ2dpMoTApAiIjNj1vDoLJztciHQtZsz7N8xh19EwCzBf0ndw5IQWI5QI7mNK5RvPWsyE9FaopDXc57QThpSxrNOsimr47i2Md-wvKcAMay67N0EnidSuRyaAqx5y1RRohDPESjgPuwjVe9ddc4UB7Pj_LYl5k0z0ao4SWoCwQx5WnPFpxmkyljHyR1W46MqcvhgM2HNaV0F376dejkISsfg_bV4eQlX0ADwUcVlIJNcqNtlpKCNuKiuNryU1QRTiWwhIJCRS_BM6wpJ25LAr6NnExDI4kIV51-4uZvz9OMY6EpYVq3D9na4Sl6h530e2pS38tqRQmA_ossHgQNikpUJqV0Onl5i-EWb71i2JVnf4ttPuNkYgxjl35bllLVt6aajUWd22qCsppcVQ0EVWfwTwzmkeGBNQA3SvSiYxoejqZbuUs0s2YmAU01HSGI2PLpauOiodHRoqyhtRmH0x4k3S8QkDRH1UzdFmXUaytZ_eo3-sA2neUXJPS0FQrzC5tOodM-AQ0rJL0IXsjtNA185Oxg2h2zFQ3AWDFXkLkPai-2toSwKnA0eBeNSrsymS_BfvgaTd3pX7s4SWMvf6wAoRUsxHT_gDlnzQEzZKgt2W89mAOsGDVjHejRCXdIO7Df2ptyDYyyHmrQ0lyFkjdBzKZgH5OMFavmsjsK_qSNMARA1i-AIb0NJ3ABkPt3AEyN-_kU4Pnx1OwPbNZX1wRmcUnZlso2n3El72saSkmZq2IXOjNiTOJgSn7awkHWfi-WsZhOEr9IY5pmsesg0ocrxadGtpx5GiRuD7-zeDvkFrU4lpb98cmHulvriTp0BRrFjGHt3rDQ19Q426zWa_UO1auMZivw678Jqtto0o4RcFLgj84_ch2T9Qx0lwBKGpewdb74R6n9m4bjTPyYB8vnYTrkxfN1fjpSPZUWswIvqWaycnG5RedO1GlrTUi5DyObkJAM4XBAJYAwUqBROwFWmgaS9iWppuMws7P9GFgCNAM-cI9a6HThIqnQa-yeuepQUS_brgeibYg96NYUtunuFv_Nh1lrlK_cLXbYCL3khll8HBtgjYSVpC58Dnit4k6B4eUUR3A4Vaogrlh5mrcAyuM8gWa71oCvwvuc_nUVnac0-wtBv9v4nASPLPn-nt-nqALIZLQ7pVaLj4imhjgyXnLxlWRXjNoB6PeNtGigtn8xPXhm1I1BXEndHoGJC06ztKvmUcw7o_DJpzOyKBmVSyUXdr6vIgCcgxQQPC29_fSLTvLkji-heeeTesH-xN8u_YUvDt-jtBmPFpQvKR4gNaJLLTituGlC-bOXTa2lPftWcIziLivNZ1W09pIMyZKQ5f52gKyHkFckiMOH2qTYC_KOKGE2_GahkbjGEbIn6abSgVXTnMOaLXCPKHaSZklx1Q8bdGUed6WKzPde5nskb0dHo9AuBPBat20qwWINVanLQN9KwkjJ-zLjjzt3bOp_fgNoIEyS4M3pF5sn7AGc-uhnVXwqF2XNQoagxumt00HxoWyGVh39Lm3eYmVPuYJ2TmciUXyROjrbTtluuZjphPMLfDyIVs-8utOPrq057kR2VWYmO07C3mSH6llVlAN2sgkp_xKPeVBcvXo00_tcVs09iCqYZDHy2gF9p_QyAOxuPeWzvUIl3CTuCW_V3o7baAlFsIjCOp8obTbeiG4do6wuVSutXDpf2reIHzdoprXD4R8dQrNe0lJtZ7q17gyVt8fFSUDo9dimDPQHWF4t18mYSgUFadye7nRuTfozxnxgQ1ej9gi4PcxK3IdqxJm7DSWmBVlBGK59Ebvg0KrkAg4r1CY_mfFR-fXXcj9X8tvsi08dYGvMZiOtmMKK7c2S_0Ahh3fNAdRRb3wzO-WM4dnxy7orvnRRVH4ZNXaNOHU4WFN-EX0Cze9rI5Cm0lSiIq22ozWderlaJAb8EVTJOSKZ_1LUsL1cWnAjBppHZiyjUc5fBpDvNjwqdONdR4-iA6P74SytpHminVwD3aZZ8I7ZO2BxWQOZtj9IHFG3okkNHRkCOR4maGj4C66XoJ-7pd192T_n4Oex3n897bXcy7MlpsOwJC7y3awCaJJueB1nxlFK596l30ms5thBkdvVFegUBAfS-2LPcpbuOSmsTeen7hrIQ_st2uoyF9HiGBFCmQ==",
  "id": "rs_0c852bb35cf55c9c016ab41f8592a087d097dedda404c89b19",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.452,\"right_y\":0.24,\"right_z\":0.125},\"note\":\"The carried fruit is just in front of the blue bowl in the wrist view. I’ll move it forward into the bowl opening and lower it before releasing.\"}",
  "call_id": "call_FuOBLnMvxVevbxqljtl9rKnI",
  "id": "fc_0c852bb35cf55c9c016ab41f878d8487d093d7a38e72995a08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FuOBLnMvxVevbxqljtl9rKnI",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4507, -0.0139, -0.0334, 0.9988, 0.6109, 1.9881, 1.6047, -0.6388, 0.3618, 0.2768, 0.7023]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0003 left_pitch=-0.0851 left_roll=-0.0013 left_gripper=0.9988 right_x=0.4428 right_y=0.2382 right_z=0.1167 right_yaw=0.1236 right_pitch=-0.3658 right_roll=-0.1534 right_gripper=0.7023\nstate[joint_eff]: [-0.1436, -1.347, 6.9538, 1.707, -0.0562, -0.0122, -0.0171, -0.4855, -11.2752, 6.5709, 1.6532, 0.2662, 0.0122, 0.4811]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5830f2b5170423151879cab9aa9dfab952f1faaf4a0b80d30413045088349bca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8780c0a518f29e9d56a674f5259ee3ed980d4ef16b4d8da64e33b29f0b66bbdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d474a7c232d3ebaf226457c54ed4f7b51c05ea0d199c078cacbef1e8bae953f",
      "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 12 attempt 0 · /responses · status 200 · 2.345 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, 0.8127, 0.6151, -0.432, -0.0139, -0.0338, 0.9988, 0.3794, 1.5223, 0.4885, 0.2218, 0.2535, 0.1223, 0.6986]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3402 right_y=0.0918 right_z=0.0211 right_yaw=0.0926 right_pitch=-0.2138 right_roll=-0.093 right_gripper=0.6986\nstate[joint_eff]: [-0.0342, -1.2103, 7.1179, 1.6679, -0.0317, -0.0659, -0.0171, -0.0889, -5.5179, 5.2991, 1.4579, 0.0562, 0.0317, 1.0281]",
      "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, 0.8192, 0.6147, -0.45, -0.0139, -0.0338, 0.9988, 0.664, 1.845, 1.6447, -0.7914, 0.4053, 0.3332, 0.7008]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1639 left_yaw=-0.0001 left_pitch=-0.0843 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4114 right_y=0.238 right_z=0.1818 right_yaw=0.1155 right_pitch=-0.3166 right_roll=-0.1343 right_gripper=0.7008\nstate[joint_eff]: [-0.1846, -1.388, 7.0222, 1.7265, -0.0562, -0.0171, -0.0122, -0.0615, -10.1538, 9.0872, 1.4042, 0.3736, 0.1343, 0.7057]",
      "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, 0.8192, 0.6147, -0.4507, -0.0139, -0.0334, 0.9988, 0.6109, 1.9881, 1.6047, -0.6388, 0.3618, 0.2768, 0.7023]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0003 left_pitch=-0.0851 left_roll=-0.0013 left_gripper=0.9988 right_x=0.4428 right_y=0.2382 right_z=0.1167 right_yaw=0.1236 right_pitch=-0.3658 right_roll=-0.1534 right_gripper=0.7023\nstate[joint_eff]: [-0.1436, -1.347, 6.9538, 1.707, -0.0562, -0.0122, -0.0171, -0.4855, -11.2752, 6.5709, 1.6532, 0.2662, 0.0122, 0.4811]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5830f2b5170423151879cab9aa9dfab952f1faaf4a0b80d30413045088349bca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8780c0a518f29e9d56a674f5259ee3ed980d4ef16b4d8da64e33b29f0b66bbdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d474a7c232d3ebaf226457c54ed4f7b51c05ea0d199c078cacbef1e8bae953f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-PBntIfLqMRHYg6pbEMat1qYlH4oN4U3FKCJnQ15vh-QaxpaddOnMWRL0vGcWdQ3ujWnt3MFb8P2nJM5tbNBqjKpfeQfoPhceKAGgEUemKofKrrTlVPGKJ57DYJ-B111RwsC3ASXnscKiI8fLlCHcPxEbMyVh0BzjPyZpYp40vcYFFDHP3lFpVKil8YF-4AgJCk-SVIlIsnwWGbQ22Kdn3-MWLhSQGtyh374Xu7oewai7KIiyRXw8rSzfo2byoPqWck4v4H1rUIhjljWTUD8VY8JOwbU5McX7E2aN-DnQAFecKvdMCYQAW9eNaBQAiTRqRQLn-2D5ebhXGdZUF5YjxY3gPBODVY5R6eNNYdUxDLpTGiY6a1V-JmZsmBo-KyvE6MntgTb9R1o2PUO2m1NJzBF3A9AxKa22j3KjEOBQocz9sFmgz4Dsk9UotUQTYUMSAKMCoLuNjWz18yELxTzUbUePqZdIReFjmmbZYQjiljWpi9k8l2ni7ifupW7sOzo3azILiwue9qkRHBEggiYZv7hUQmoPSyH2PruaO5H3lMds0FqcM7e26u8mistGCrK3dImlLZAZvAdxoFhdLIWNSHUAn1byfxNt5SDMeFJOTwwj2e0uVNNGhF1oIe1no-98OQ7tFmzcaJyxmI70Q3Ek1AcWddcN5TDB-QuncYt29I09cAp8ib_vPnGFxyVzAfI-CZHNUQqj0l7U8rqSbEXESVPYMY1Yhc6ZwBpYDzY_J1q1smfPUvPhQ76LgwAgjMAtOJ09sUrPF-6_sWDfU0lVnHpJwK2d69wBUIVZFvNwRqrdM1qOij2VkVDYl3nyiWQcV_NMt1dbO9CvI0_iHOW0APv1fHP07xP1Ad0mR5BSliwx0LGG_rz3QpCWI01RL-VYwvKPOGtz-F0CiaRqd-1kAGH7HFBJsQ4ujAgtNdLzkvVFj5ZOj8K5yD1VIYCrDmUVY2O7Q7Mx5onI4YLdAjm4KyIl6CxXNFw-X37931cDDWtRR1tqeg-AJ6u4WesFK8PUK7UbUlQ4StKe6JEyfsLmdAe4pRM0xA9lgGBSL_QlIgLETQp8WvavMqXEEkukAabmxdkUzFhdW2dxqR4BqbMLrAwOdP_kKwcWse6udYa9XOeQVgT5SBU_UmVxIGfbaZIQqWym6o3g9sOk84fOrs3ERjbiQd7lCKxbwFpxyUxWAzXYUrsqt_JGdxYv8pe3fPRjh5xtZ3-5ihUUITqQy1GmDd-b9cifBzuoy5ZlINU-3YZYYjy5rpjFttAwE4kD5-VomkjgA_hCLe1UBd8CqR-74b2Ko5z8fgdqPTM8oocumaXqGt5UinKfmtxeDNqpxXGEQLrErTO1udpEVULUdB_0LmCdBeTc1YUCzSSt8nFsrfQilCUJClcvt9vcVtccxt_yXdsAVD2PqJOxL00bBj9dB2saivczL8tHlhFKGzhNejD9tFkzX2tTyYACHyetqxPQiVxzcqcqE1gEqgtYFKdc_7u2V1mLIgcyzAVpPkOWcd9DPdjQvns5V12uH9ByDNZdClKs04-NIUOTXWdDlL0F6mDDR6UQHSLR0LMTxrQgsTZNNbrGAcu4TyoxJ7Po9OV4DD0RNzaYBJNcwEoPe_CZGA6CJiCmDnYLnoTk0VDH1PxYUQleLtyWc_k52ZybGsfYhemFzYD3HZ3WmpP1Wsqx4EsCfmupmrxeOkrSO_WKZqw6Hc7NY9jpL7e108UIjqIPNX5JW5B6rfvJW5-y2wVWl_SH6GslfShso_zPxyDUu1cI=",
  "id": "rs_0c852bb35cf55c9c016ab41f8dc6fc87d092e67b75dce780f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.467,\"right_y\":0.235,\"right_z\":0.12},\"note\":\"The fruit now overlaps the blue bowl’s near rim in the wrist view, but its centre is still slightly short of the bowl’s centre. I’ll advance a little more to drop it safely inside.\"}",
  "call_id": "call_OZZQ6WKQr5wZuu94YGc51Jwr",
  "id": "fc_0c852bb35cf55c9c016ab41f8ee34087d0800b7dea4c1c2a69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OZZQ6WKQr5wZuu94YGc51Jwr",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4545, -0.0139, -0.0338, 0.9988, 0.5789, 2.0552, 1.6855, -0.6914, 0.3355, 0.2424, 0.7044]\nstate[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.163 left_yaw=-0.0001 left_pitch=-0.0889 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4556 right_y=0.2326 right_z=0.1064 right_yaw=0.1256 right_pitch=-0.4139 right_roll=-0.172 right_gripper=0.7044\nstate[joint_eff]: [-0.1983, -1.3197, 7.0632, 1.707, -0.0659, -0.0708, -0.0171, -0.5538, -10.8923, 9.388, 1.3358, 0.1392, -0.0464, 0.5348]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be7bab2fb200abdd3c4c16598047aa65821f9c415ff357eee881d66abedb4040",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cecb5c55f64acf87ed696bdd764e0b7df65f7bb218f5a668f466d7364a7b74d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23264914fa5be9172d92fcd5fcfddf403751a1b6602cd05db9d339ebece7f8e2",
      "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 13 attempt 0 · /responses · status 200 · 3.111 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, 0.8185, 0.6147, -0.4458, -0.0139, -0.0338, 0.9988, 0.3794, 1.2564, 0.8989, -0.4995, 0.2489, 0.1188, 0.6982]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0001 left_pitch=-0.0793 left_roll=-0.0017 left_gripper=0.9988 right_x=0.337 right_y=0.0914 right_z=0.1513 right_yaw=0.0953 right_pitch=-0.2582 right_roll=-0.1051 right_gripper=0.6982\nstate[joint_eff]: [-0.0889, -1.7983, 7.0085, 1.7998, -0.0464, -0.0562, -0.0122, -0.0752, -6.4752, 9.0051, 1.5263, 0.1343, -0.0024, 0.5446]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8192, 0.6147, -0.4507, -0.0139, -0.0334, 0.9988, 0.6109, 1.9881, 1.6047, -0.6388, 0.3618, 0.2768, 0.7023]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0003 left_pitch=-0.0851 left_roll=-0.0013 left_gripper=0.9988 right_x=0.4428 right_y=0.2382 right_z=0.1167 right_yaw=0.1236 right_pitch=-0.3658 right_roll=-0.1534 right_gripper=0.7023\nstate[joint_eff]: [-0.1436, -1.347, 6.9538, 1.707, -0.0562, -0.0122, -0.0171, -0.4855, -11.2752, 6.5709, 1.6532, 0.2662, 0.0122, 0.4811]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4545, -0.0139, -0.0338, 0.9988, 0.5789, 2.0552, 1.6855, -0.6914, 0.3355, 0.2424, 0.7044]\nstate[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.163 left_yaw=-0.0001 left_pitch=-0.0889 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4556 right_y=0.2326 right_z=0.1064 right_yaw=0.1256 right_pitch=-0.4139 right_roll=-0.172 right_gripper=0.7044\nstate[joint_eff]: [-0.1983, -1.3197, 7.0632, 1.707, -0.0659, -0.0708, -0.0171, -0.5538, -10.8923, 9.388, 1.3358, 0.1392, -0.0464, 0.5348]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be7bab2fb200abdd3c4c16598047aa65821f9c415ff357eee881d66abedb4040",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cecb5c55f64acf87ed696bdd764e0b7df65f7bb218f5a668f466d7364a7b74d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23264914fa5be9172d92fcd5fcfddf403751a1b6602cd05db9d339ebece7f8e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB-T-LWKXgpYRv9nXZ4WF7InPiOvPQYl8MzqLAB7LpePyYQTRH5EnvMD9iND_ew62oGg6DNeCs4NJqarD2ka67HHbFJ6PAt8nVcx2G7etPRzH58FuOl32mPGPyCPGIF6hnKFl0ZAyssAX3i0gh48dtPOYowYKCPMBu17HiOrBrusuG4iGXQ0RU57imUtucsQImv-0ajVRFUzukMm4cYt9r6lehXQePuv6ZSwFG5WKN_CKDetDt6qen7-xO1NSOD-ywQU6tljiz8zjmb5fuHY5D--kF90PKm6yAG_EW6tN5UePLeIUxmr3hxMuPXMvYy26i9Vg6V5JZCgiMgtCFTIDaVc5sqy_CKXM6rDXFZV_refNbAEkJcW8f_K7KY-1vpTfnuzbng3ZUAX67cjRHXoTcY5UAznK49uI8KK_XKap_ln2jG1XJGCVBhfR8I0j_5g42LfXugeUVBnakM5R_n7iz37N0a52lLGAgb89MayJRe-5AGdYV3lRvY9ImBxpEDGIRTVhildKR4NufRnYpk9Fd5LbefSiyfelhG5HuXhfozAG5ozUlmcxvbWKnCFkhPhFEIK9fKXXKYujOGZ-V1LCpu_4OCLHiv9mwo2LaZOHOkLoKtuUieigmEQJdAnhSzzE4eX8WMKYsZ5CS73u5NMSney9bVcK8zEvafOBlqwwcIoohdMGlMHFl0l7BRPVBODfeUhtLs92pg6uMddGHvPy95jAxQOT7JVRNMtQtR-uy_ia_3-nJhHPeoJzs7mX5e9eRiMan2Stsk6qmWES0lx6zWb-Q_CMzeshOTcUYkhOecOHLSZ4-XpOV6wn528hNO3N3hq_AcHRS75L_v6ovPW8fEaZ3lan7hUU2WsbtxrSUmrHZ3aS51ElK9H1NJOAUWqGLhErTxDxwG8FWHftCkjAsQttzaSSw_joTbdZH3xTb48qO6KupUZXFGa7-hqYm1x29q6wWqPxU1tJkK7a-8QZM6VJVGTq4eYMHQvp7lxJ1zXFpZXm5PPMfmF57KMfxoJq-T1Yc8LUv8exJmukMLXaVUZOBszkqwF0locV99LAxMfLCD3EXlNx42SxpOn_nJVq4gF9COwpbLxpV0dgZ6WGm61VOSj5nKUt5Lky3wlfO4RzRKqfc4whEPVXBTgXORKKQsAQnIgYEt0waxEZzvg8YZZCjJ47BDZYzbgsIOC5RfIK4DCXGecVBpZ3GG58d8I_3OnpSZdlQXrLCO1Uqe3S43WMNFVh5puoJna0EyktiaujsQC6Pxtjk5GX7geSFEu-mbPFhhtwfHZ_wIu5_aSjwB6fbFHHaMkdVULVZe4Vep2vPezinT5lGbkqqei6JAwZrWxH3YPFd1I5x2z1hX1VB1liI9-LGKxKOoFDD-8uejSlHzaQ-sZjNEhgA2V4pzEPhDnQpApN6W6fEZEWnOAmBIeSmOuW0dA4DrjFJ41d0al9gELtFDGsoKFaaJLO22zkT47",
  "id": "rs_0c852bb35cf55c9c016ab41f91ca5887d087f24df08200e793",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The fruit is aligned with the blue bowl opening and lowered over it. I’ll open the right gripper to deposit it.\"}",
  "call_id": "call_Mwof0E2ITyUcRuISUyGLGPJu",
  "id": "fc_0c852bb35cf55c9c016ab41f9240c487d0936a0c6124c5cc3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Mwof0E2ITyUcRuISUyGLGPJu",
  "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, 0.8192, 0.6147, -0.4648, -0.0139, -0.0338, 0.9988, 0.5781, 2.0556, 1.6852, -0.701, 0.3359, 0.2356, 0.9956]\nstate[eef_state]: left_x=0.2855 left_y=-0.0002 left_z=0.161 left_yaw=-0.0001 left_pitch=-0.0992 left_roll=-0.0013 left_gripper=0.9988 right_x=0.4541 right_y=0.231 right_z=0.105 right_yaw=0.1265 right_pitch=-0.4237 right_roll=-0.1814 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.3197, 6.9538, 1.7949, -0.0611, -0.0513, -0.0171, 0.0479, -11.3983, 6.5299, 1.2283, 0.105, 0.0659, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3caddf7a4c6fc74353d666f2dd6a41d6b31c17c9aefab199589545d0fede5fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04a07f2ad49c5989c12281435e5b0b604cbf54ccff5ee80767d5f3764548ba2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08bf6ecce4cda4bc2743fcf3f17210e13ad491ce4e97b9cd11c8d23a886f7c39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.924 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, 0.8192, 0.6147, -0.45, -0.0139, -0.0338, 0.9988, 0.664, 1.845, 1.6447, -0.7914, 0.4053, 0.3332, 0.7008]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1639 left_yaw=-0.0001 left_pitch=-0.0843 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4114 right_y=0.238 right_z=0.1818 right_yaw=0.1155 right_pitch=-0.3166 right_roll=-0.1343 right_gripper=0.7008\nstate[joint_eff]: [-0.1846, -1.388, 7.0222, 1.7265, -0.0562, -0.0171, -0.0122, -0.0615, -10.1538, 9.0872, 1.4042, 0.3736, 0.1343, 0.7057]",
      "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]: [-0.0219, 0.8192, 0.6147, -0.4545, -0.0139, -0.0338, 0.9988, 0.5789, 2.0552, 1.6855, -0.6914, 0.3355, 0.2424, 0.7044]\nstate[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.163 left_yaw=-0.0001 left_pitch=-0.0889 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4556 right_y=0.2326 right_z=0.1064 right_yaw=0.1256 right_pitch=-0.4139 right_roll=-0.172 right_gripper=0.7044\nstate[joint_eff]: [-0.1983, -1.3197, 7.0632, 1.707, -0.0659, -0.0708, -0.0171, -0.5538, -10.8923, 9.388, 1.3358, 0.1392, -0.0464, 0.5348]",
      "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]: [-0.0219, 0.8192, 0.6147, -0.4648, -0.0139, -0.0338, 0.9988, 0.5781, 2.0556, 1.6852, -0.701, 0.3359, 0.2356, 0.9956]\nstate[eef_state]: left_x=0.2855 left_y=-0.0002 left_z=0.161 left_yaw=-0.0001 left_pitch=-0.0992 left_roll=-0.0013 left_gripper=0.9988 right_x=0.4541 right_y=0.231 right_z=0.105 right_yaw=0.1265 right_pitch=-0.4237 right_roll=-0.1814 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.3197, 6.9538, 1.7949, -0.0611, -0.0513, -0.0171, 0.0479, -11.3983, 6.5299, 1.2283, 0.105, 0.0659, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3caddf7a4c6fc74353d666f2dd6a41d6b31c17c9aefab199589545d0fede5fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04a07f2ad49c5989c12281435e5b0b604cbf54ccff5ee80767d5f3764548ba2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08bf6ecce4cda4bc2743fcf3f17210e13ad491ce4e97b9cd11c8d23a886f7c39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-WS0Mq9XI2MNuYYMqwCOY9WDI4I0_Wa-m67XJt7o_CO14PRE9yq7e2o318wKDFyqP55JdlEhSdpwo3_C1nDncIxlRuMLF5EDocSoHYH7BYLxviuMUYyDskwFwDcLKyNB-6NJmbMpgxesrrMGTQKdFNwqRtdV5YFJlLxJsDSEslnblFA1xJ_9Vbxtp4kvRxp5qp2qvkDJtyK5o_JSM_eSoiK-l-V2S5aV8OT5A4fDoDgAnnFItiNYEku60TU-2UTj4E1xxCAmxBYIODhpa5457B2O_9VwMmlqbmmPaW6NWuSCaJt9MFzaXQKzGioHAHriDZS_qQxCk9k679ACRRT0yHzUpLAp_9hJjFdvhxFZ6XsHq7j6e3rV5qt3-rfNyKSKG2Rkh2gg_HlRuDkadRDHqirq1wrXnYrdJmTXlLppGD23Sxp72ZkXlNy_ykvQKG-y1F49clxzwRPkDcFMomf8b6RsC1wrhBpztl8G6Bk0jHrQucPUFXXyUnXNfmiFAWKEWmXbvDA4q7hnWooODc19oA21Lr4nNv_I5a8HyxB0YRJ0Tw4Mvy39oNahCIIMAFb0UatqHTmROd4NSQRvI6q8pZSR6xvkJW1bJqmffnxjNkWgStl6bz239oFoJ3keEPAIHjJceFDALMD48V8wyEuZ3TCNr2fQdDopjkiMv9kKe_tuPPKa8avokFwO3vgaom23syap-X0JGUd2qTT62yxdn8cx3_hlPAzHFQKxstw8e5tAQEo1umKVvGYlQk1jaVzxM-bgPSTbt1oEAdqCmjHgl-VEii4FyUSQ3DN0nIsZbhPZ-5wbSK_uzmDk2yaenNV909ZcovkWoTYdos1vUlQ110F079TArmgW9x5jeoSj_uHghaAt__8ZhPeOsqXZtxnLmzFLvqWjcukCAUzXjANCiZhFfOrYMd1-l-PR-XSPz_ij3soiNo0u5x7HokhMyvNj72wZfRB-aRA-osFQGcJkjYtAokMCbje8VVr_xd6TdwaNxiFLd_MBZFSEyAuQ0VFfG1J9SGZzxGX3eOyJiI8gP6jS99C0irZ4AZ-SwwIGTBtwib6aI3FUgwFvezt5DEImCwbejOJerB3ZEZtFU1a5pQNDYIK8ahxBU2KzkBInc5PWYsz7oAjHJuLqBzb2_SyC1iSOCyy1eWkGHqizB6YD1UxXf19aYrMQRfOjYfjlZ2wK5wt7gLXV8qrcuo9i5-Isryxn0VIv8LukC0Vl2__Q4c3oNs-0arMOdR9rkq7wkoHmnTCg5qjbDf4Zt7gSVgpFEECq6qVh9_lzsu4vwQpB5ITE6aSSyQG7vBl0gzzeZ810HWpfCkh2PGR94CWsbNF87puIqhALpG7hS4H23HDTo07j_pJv8PjyQttvRw897f_BwG1UGxpTr2E32jNkiqh2k_gz0TIqvrrYBWypRG3vGH79Ywr6HMtMoPniXHNnrrg2Ji2QrErSSA_Kc5OP5Z7iHjsVZMdnDhcK_ZDYxi5D95tcJA_Pp2Wr_Nad9hgzVxZm5An2AZEf8n8Xl5Cqy-MxfBf8MieEa8YNM1ADYaR1tikCimSTU7OxEOtobMpBZucXlKC3cZj-Y9h5eTSXVDWt84bDT32bTbJKWohNMAYKbXg4GfrOUt52PEtqIdH1s5PaplHCuyxpCNdvq_9uNc_hBAXSmIdcM0foUtu0DrzTxJdIQ1p89BOp2Aiqw3npCF9Pd22AMrGC_sX4dulPcypZY2M1545Jq3KWRDFsO-zHJZbpTBudb96lbET3hGr_JrVdjamp9pX36v7t1SMIGuJXPV8iIHWfGTbrr0rNZsYk2KqXlYi3BWHlM5BMXIZyGm5Qxnwy8CV6dALTwnA1Ds_1LwJc89O_Pmb6fh4pfhPGnkH6kGgjjDnla1xD_AWUQF6_iKyQkzZvOkplmIUGq5uqUsLHa__fnerBaCYWS2Qsx9KwatmpsDr8OPLowcFKAjRvxQ-u4vTZGpmhv6UegeJq0z0ocK3zUEWE29f1dAESsS9A==",
  "id": "rs_0c852bb35cf55c9c016ab41f94361c87d0bccce5e7d5665ecb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.21,\"right_z\":0.135},\"note\":\"The large yellow-green fruit is visible inside the blue bowl. A small dark fruit remains near the table’s centre and a yellow fruit remains beside the white bowl; I’ll approach the dark one with the right gripper.\"}",
  "call_id": "call_gpDbl9NGTgXhwnXJbBFyCKdJ",
  "id": "fc_0c852bb35cf55c9c016ab41f95b67487d08996138a6b049ea8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gpDbl9NGTgXhwnXJbBFyCKdJ",
  "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, 0.8238, 0.6147, -0.4702, -0.0135, -0.0338, 0.9988, 0.6979, 1.7058, 1.3201, -0.7399, 0.3744, 0.3264, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.1587 left_yaw=-0.0004 left_pitch=-0.1091 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3503 right_y=0.2142 right_z=0.1255 right_yaw=0.1498 right_pitch=-0.4456 right_roll=-0.189 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.306, 7.159, 1.7118, -0.0366, -0.0415, -0.0122, 0.4581, -9.6889, 6.7214, 1.1551, 0.3834, 0.1685, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabf893bc085fd34463763279b087ff835e88bc875873b05fa6831d67a788a69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a53fcc7184026b78dda201f56ab85dd6672b7d5012713a1eb8bb78a61c17fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3693e44e9f633e834f33e4308bba81328852a74e5fb6074ed312c9e411a40c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.102 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, 0.8192, 0.6147, -0.4507, -0.0139, -0.0334, 0.9988, 0.6109, 1.9881, 1.6047, -0.6388, 0.3618, 0.2768, 0.7023]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0003 left_pitch=-0.0851 left_roll=-0.0013 left_gripper=0.9988 right_x=0.4428 right_y=0.2382 right_z=0.1167 right_yaw=0.1236 right_pitch=-0.3658 right_roll=-0.1534 right_gripper=0.7023\nstate[joint_eff]: [-0.1436, -1.347, 6.9538, 1.707, -0.0562, -0.0122, -0.0171, -0.4855, -11.2752, 6.5709, 1.6532, 0.2662, 0.0122, 0.4811]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4648, -0.0139, -0.0338, 0.9988, 0.5781, 2.0556, 1.6852, -0.701, 0.3359, 0.2356, 0.9956]\nstate[eef_state]: left_x=0.2855 left_y=-0.0002 left_z=0.161 left_yaw=-0.0001 left_pitch=-0.0992 left_roll=-0.0013 left_gripper=0.9988 right_x=0.4541 right_y=0.231 right_z=0.105 right_yaw=0.1265 right_pitch=-0.4237 right_roll=-0.1814 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.3197, 6.9538, 1.7949, -0.0611, -0.0513, -0.0171, 0.0479, -11.3983, 6.5299, 1.2283, 0.105, 0.0659, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8238, 0.6147, -0.4702, -0.0135, -0.0338, 0.9988, 0.6979, 1.7058, 1.3201, -0.7399, 0.3744, 0.3264, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.1587 left_yaw=-0.0004 left_pitch=-0.1091 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3503 right_y=0.2142 right_z=0.1255 right_yaw=0.1498 right_pitch=-0.4456 right_roll=-0.189 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.306, 7.159, 1.7118, -0.0366, -0.0415, -0.0122, 0.4581, -9.6889, 6.7214, 1.1551, 0.3834, 0.1685, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabf893bc085fd34463763279b087ff835e88bc875873b05fa6831d67a788a69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a53fcc7184026b78dda201f56ab85dd6672b7d5012713a1eb8bb78a61c17fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3693e44e9f633e834f33e4308bba81328852a74e5fb6074ed312c9e411a40c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB-cZbVElncnN5LYw83v_DRfe3BTGwxa7jOYa-dMfydN3ej0SPGgSq5Qm3vBbbCRDfWZ0jQ5r5xwBntjoO08ToPvlwyuSH9Aq46Bi2_cWjIQTUaESqS2kHI2cxhsQ6ROIv4IGjahI7-w0nBbC3YIofhY1gMtFGIQmPBybdudAqqycbo3rFKV7UJzBvfKhwbhUGabe0tBedOUTqi4kbI0z-TdX8Fg0GoFZDL4DfGAptpsZFT4LeJjxPpQDTuLC5IL-tyhnYLmcpZkIqqo0hLl8H7w8lTL8sk3-Tv8-ul8jqj7qRiWhfeoSNawfkjyUpExcaDH0B76lz2Krl081G60NvCVWuinNrsuIlin88Pnhlj4qtNIHEqS3lPryqoe3ap5Uh5k_526sqZN05z_Ntpo00uDJ2bj6anSkhMAGLAH8_4o8TOG_GBlcRGcmEMBcg0UTUTyL7hCVhyVqNHvbcxnOaTeb3B6J5Qfyz5D7CaMbmZum-sBhY1CpBVsXz3PVjz240zGLH9OSzNJNSQTLYyX1BFV-bDsF9cYb-wgRVUFk9jPFE9xV2nl1bdV6wU4HRX8IVd2woM0OaAQxUEeRFhCaPl0tXFYhPjsVfG2PrkncdBIfaILQPO4ic5SK_w_XpFgZeWEJA61X62yRTNY2vjUPMTJqwlqWIAgVvYV47yfZ7U0XtQIsiwFt5_x00V-XiwzzKhTdnwHC-OwZxAxIyfwapvUmqjiGmzEqCMocmb5qRkQ5Dkidob9yoxzN34x5krqJtO3o7-TdOclcFaR43ccr3h-TNf1qd_D6f1qWKarXCahHpeOQLBWw6c0wDksiu3CZaqtEfcOVpKvcLnMYcJXkHnhCbrmT_2uUz9x8jcCcQv8b-B4kDKQHGcsiIXfugzOWFomUOhFHjkq-vWvEbd57xkWNRB-WxF75RBrmIH9yMBinIURJgsThAAtaNxbxs6aSK9dTQXxQzz6d9f2lF-scdFm-SlWmaDC_in_E7_FKbAsidv6TNQzyCoaZXT7zkir34k7o41blRR0NxCrLr-d8rViBEuKiB0owk3fruilaTUJaVca9K2vE5Xb-W28C6jynitEKUOrVMN7af35p2NLQCArf0_grThLOkEuwOuMKKDX00mlpzhI-BNb0ev9zojx44lEFzsXjjm02ej9dzUhJIAA9_f9-cUCbd0EaJWIV54AfxUGAFrPf-vP5IhX411HE9xkb06c51kXt7xcifaPTFMHLSo-UwBlmnXicWPx8VnfsQJS7k_DzA9H_lRGGnzB34orK5U2eGYG5HGiR_HmVPXQ5fUiOeFPq4HH4BmQxkQJv0KOT-bi14434bQqGuCBDkjpE65hdtjS94C-FaCn3pICTMWcwrzz9ZJrVeP9dMl-X3YqJMXIRD9BMQIrQFBTVMKAxxkKUV9LfznIeYmArudBzQ2QaufsWQbD8YYui33IWC3T-9Y1I5u8kDdOBL-dYq_kEpGGLpO7Q3FGC7nW5I5QAwdfqZ2aKxpPv8XXwqQK7EH9O530G_srsXAbwj5BJK5mU2jbruY_chUFBAErK9mv_b_2QTwMV9Dgr_E1WbX_XyAuNq0BptxZzp8qZaKvIdY59r8c-hHfzR2qL9DsPi6YvcImtWatUQISGvfAlHb960-puWXaD4lgp32umPKEV5guz3Ba9Gp7WRDAQBFjN65U8pwWCcFquJiRZk6qIwMdm0Rgpx4pzoGmBqXGJj7uZmvGOetWNujHvh2NAfLyFj7xrgADEMwvH6W1dLJnSxrvAbN1xqMd6p0yge0w4o63uYGr2W16PptO918rSy30TzqtwvFa-GPGJLwN8Eymx1HbcoxGi93Jxq_Qkx82sszaTKZsn3q4KyROXSa2cAdP65olTYyT9zqFSs3zdAb1kVRyTpyG9flMvICKjNmn3_ko1GnRt5ngQa7AdfhUze5ayEbXoJpl83g7Iy_b3iIQewBhASgfEkm8I6u5p8j_JwPLYOzr",
  "id": "rs_0c852bb35cf55c9c016ab41f9a059887d088e16afc1d7f0d66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.342,\"right_y\":0.255,\"right_z\":0.03},\"note\":\"The dark fruit appears low and left of the jaw centre in the right wrist view. I’ll shift the gripper left by about four centimetres and descend to its height.\"}",
  "call_id": "call_8eDrMmEZw4XZZcPc5KVQjHe5",
  "id": "fc_0c852bb35cf55c9c016ab41f9b6c1087d0a34d47f139d57e67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8eDrMmEZw4XZZcPc5KVQjHe5",
  "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, 0.8249, 0.6147, -0.4755, -0.0139, -0.0338, 0.9988, 0.7925, 1.8889, 1.1915, -0.4931, 0.3962, 0.3985, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1574 left_yaw=-0.0 left_pitch=-0.1156 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3376 right_y=0.2504 right_z=0.0352 right_yaw=0.1669 right_pitch=-0.4808 right_roll=-0.2059 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.4564, 6.9402, 1.707, -0.0366, -0.0708, -0.0122, 0.4171, -8.9778, 5.1761, 0.906, 0.3834, 0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93249631fbe5084e1c90638d6cad150dc67307f62ceccec045fe07f05dbb800b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf580fa8157d5803e742fba1b6e92bc5a8365aecec3f2474b6af3ceadee5d3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b110bdc9b704c9ce8b89e16be59cdb80c3f738c8af577189778ab26228f17b4e",
      "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 16 attempt 0 · /responses · status 200 · 1.652 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]: [-0.0219, 0.8192, 0.6147, -0.4545, -0.0139, -0.0338, 0.9988, 0.5789, 2.0552, 1.6855, -0.6914, 0.3355, 0.2424, 0.7044]\nstate[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.163 left_yaw=-0.0001 left_pitch=-0.0889 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4556 right_y=0.2326 right_z=0.1064 right_yaw=0.1256 right_pitch=-0.4139 right_roll=-0.172 right_gripper=0.7044\nstate[joint_eff]: [-0.1983, -1.3197, 7.0632, 1.707, -0.0659, -0.0708, -0.0171, -0.5538, -10.8923, 9.388, 1.3358, 0.1392, -0.0464, 0.5348]",
      "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]: [-0.0219, 0.8238, 0.6147, -0.4702, -0.0135, -0.0338, 0.9988, 0.6979, 1.7058, 1.3201, -0.7399, 0.3744, 0.3264, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.1587 left_yaw=-0.0004 left_pitch=-0.1091 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3503 right_y=0.2142 right_z=0.1255 right_yaw=0.1498 right_pitch=-0.4456 right_roll=-0.189 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.306, 7.159, 1.7118, -0.0366, -0.0415, -0.0122, 0.4581, -9.6889, 6.7214, 1.1551, 0.3834, 0.1685, 0.0806]",
      "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]: [-0.0219, 0.8249, 0.6147, -0.4755, -0.0139, -0.0338, 0.9988, 0.7925, 1.8889, 1.1915, -0.4931, 0.3962, 0.3985, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1574 left_yaw=-0.0 left_pitch=-0.1156 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3376 right_y=0.2504 right_z=0.0352 right_yaw=0.1669 right_pitch=-0.4808 right_roll=-0.2059 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.4564, 6.9402, 1.707, -0.0366, -0.0708, -0.0122, 0.4171, -8.9778, 5.1761, 0.906, 0.3834, 0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93249631fbe5084e1c90638d6cad150dc67307f62ceccec045fe07f05dbb800b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf580fa8157d5803e742fba1b6e92bc5a8365aecec3f2474b6af3ceadee5d3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b110bdc9b704c9ce8b89e16be59cdb80c3f738c8af577189778ab26228f17b4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-fwpQNKrnvAPVDU402nqcPfF_QopzM9iT8NjjTu5YDuWtxZJb6b8g3CpiH6f76HXu1-XkfyZZBUW5yf8B0ARvYClnCfW7OyOdCilDVwnWWWvwws9uSfc4Bf8bCpo_omVNACK3-ozqp2qekfz2bJbT5TtwLHIk80--gDKRYiYrgzFyaSKkNC4QMMJpYC7YDY9IIJvC4hNMlVrSzG0m2MClDzU1p2djdpYzY7LsiLI09FA8MZAABL35016NlLPnwcC-HSpjQFCnc9MtGDwv8hYryX7BVyZSBJF0XEHsshHPDNyvR5qXCZCsHXasfiJpVZRDSoE93Niaiyxe5sBttoGHce2r_i6Y_sKFN_dlwGd9L7S1EV9ZTFmCUKBksdGD6cD5UK2PCLn3vr7vcRu7_dwZ81THYqLbiXd0rMvAu8EaKd_t9rzG1eewZX5YocoWCQxtq8RrUprWWPTNq3U6KUKWHUD4hEoES02q5z32nMelEVjM5tbK78PMyZozMKN8xOUCitbphIwHj2L1oGIvmrTMCWow8-LqaGdanBTVzE2CmPmI9OCe8zcdxoWurxCygSmbej1WFxhVz30DSjo_Zb3327y4BPR9CuKLZsZzdufMD6CTki4ZgQpIah0kEf9xSgsfg_MPTuwq8lsg4iUAOk7ts-2jAni6HIhkm2PJqGkr_D1wsBV0idlqX5W1IDIX5vEkmbDH0tH8EjfCT5uWfA4Pv9E395Er_kRQ9j7ueC9QA-ptXbSKeOTem6gFrF_2udPb0jKYbMswbEbUm-jUOcJBSzx0UuMYw30HqGV312C8M8MNufvNnJxVc3g0pVZj_2imrGE20sunwmhJfQ4Mm1Zvm5rXg3i0ekWpP5OkRl5a5-nj6OD0kVavLo7vMd9qaOWzIspwSorzbJdWlGh1aqSjPfUyYYnLyVH0t4Mg47bMDLV33p54NJC_JEWnqFQzqT-EYG9oe_fm0VNJXilGcu9IB6rfCupsE5gcAMFrc3_w23vNfxgAAM0nU46PBPR6YEoXwqMtgXT1YTKJhBeQk-xe8MSJZPoofVcpmphq8W9wuABOrWS47HuXWlE13lR_6gBD14WA22MA50QdOvk1lMXFjqSoZJg-IfNr_F_uidXjSlN3PKxaso8lN9J_S0unRFhjsZSV2XfpYFvTo50YoP80i6PT9Ico6lbJsDBUEoX0H52mfqWz95qfdqbZsS2E80lxWj8dEj0fmdSoEA5tavZ2OiGdfelnDUfgmEK-hnmYA3OohpitxUiTdUD82tQSTrVjVd2k7VZmBVU2_w1Qw6TW7lCYVC4nt_FwlzD1aSz3KvbxLh2yTvGKznjXd_SzJUq1YVwc73GBmllcAylZREU2U-AG3a-8ULzJvCSETUNFX5COPSvV5_82n9_vzc9rsByb3XHlvTx02Mb6vkU7Qd4xICoO8n0glZKQKb6FEUzaY7yBLLC7Gz3ZYwRfB_Qm0n6FU2ev7re8r_zUQTtEdX8zy6dsSqS6109h1Cwh7MznEJNqNM-DqxAUvuF3cvEWfw47_hcskpzqAi_1dH_mNGazgjIeVuxM5xR-SQElVSYuePEIHIMufF6nKm20PLabE0gZW9LOnD6USdg-JjKZTA5PYxJFCemqlDMogZDzteHPtG9_tV5IWy4DfYnJxDixdDbzJsnO0mKzAqjaX4VFvgMaEqdpLC_GDNrIyaUAc5-uuI1MzOrzr1g1bzH4YCWazA3NKbpNI_zkT49uOr3uRtt-8lER9qL36mcuO1f79EDfSwyQ=",
  "id": "rs_0c852bb35cf55c9c016ab41f9dc97087d0aff987f0525d7cbf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.332,\"right_y\":0.263,\"right_z\":0.013},\"note\":\"The dark fruit is now almost between the fingers, slightly left of centre. I’ll make a small final lateral correction and lower to grasp its narrower body.\"}",
  "call_id": "call_dMVmRkcPTBeTD34jCCgfx9ct",
  "id": "fc_0c852bb35cf55c9c016ab41f9f1e2487d0b35c5741a5e10bc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dMVmRkcPTBeTD34jCCgfx9ct",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4759, -0.0139, -0.0338, 0.9988, 0.8108, 1.9205, 1.1793, -0.4538, 0.3965, 0.4122, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0 left_pitch=-0.116 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3342 right_y=0.2578 right_z=0.0222 right_yaw=0.1753 right_pitch=-0.4828 right_roll=-0.2015 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -1.306, 7.0906, 1.6679, -0.0757, -0.0611, -0.0171, 1.0462, -7.8017, 5.6821, 0.9792, 0.2759, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a44bf8e2f332c80882ae2b16a9a240f9c29323e832a36c5d4f6ff4551b34e014",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f843a0dcd0e94891e668e2ab3342252c774e74fd6899a5414907388752c5a549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d30bab0feaf185a63c01c12811ec3e6319dd1d00765d1bbbe352ce556de86b73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.842 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]: [-0.0219, 0.8192, 0.6147, -0.4648, -0.0139, -0.0338, 0.9988, 0.5781, 2.0556, 1.6852, -0.701, 0.3359, 0.2356, 0.9956]\nstate[eef_state]: left_x=0.2855 left_y=-0.0002 left_z=0.161 left_yaw=-0.0001 left_pitch=-0.0992 left_roll=-0.0013 left_gripper=0.9988 right_x=0.4541 right_y=0.231 right_z=0.105 right_yaw=0.1265 right_pitch=-0.4237 right_roll=-0.1814 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.3197, 6.9538, 1.7949, -0.0611, -0.0513, -0.0171, 0.0479, -11.3983, 6.5299, 1.2283, 0.105, 0.0659, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4755, -0.0139, -0.0338, 0.9988, 0.7925, 1.8889, 1.1915, -0.4931, 0.3962, 0.3985, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1574 left_yaw=-0.0 left_pitch=-0.1156 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3376 right_y=0.2504 right_z=0.0352 right_yaw=0.1669 right_pitch=-0.4808 right_roll=-0.2059 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.4564, 6.9402, 1.707, -0.0366, -0.0708, -0.0122, 0.4171, -8.9778, 5.1761, 0.906, 0.3834, 0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4759, -0.0139, -0.0338, 0.9988, 0.8108, 1.9205, 1.1793, -0.4538, 0.3965, 0.4122, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0 left_pitch=-0.116 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3342 right_y=0.2578 right_z=0.0222 right_yaw=0.1753 right_pitch=-0.4828 right_roll=-0.2015 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -1.306, 7.0906, 1.6679, -0.0757, -0.0611, -0.0171, 1.0462, -7.8017, 5.6821, 0.9792, 0.2759, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a44bf8e2f332c80882ae2b16a9a240f9c29323e832a36c5d4f6ff4551b34e014",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f843a0dcd0e94891e668e2ab3342252c774e74fd6899a5414907388752c5a549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d30bab0feaf185a63c01c12811ec3e6319dd1d00765d1bbbe352ce556de86b73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-htX7P4zZS5_xJ-sSR-BYUHyCVC6EtNKPIMOuTPNeD6xR5YVCqUeL_rmVVdrOTqLUMtbnUvUYMyDd96c0lHgrrntaFfJNUxB3FiT0N1bce_Hmdy8rton6yranajXeeiE-6cKayBQtKnbmxPdJS0dTuZy_7r1pFmn5epTRVU3gjyTAbs3P4XBS7cUvMSln66tfJmScHLGc14XslpTujhUlXoaCO_JazmxYjndaHiVvaMwlK8oGKmr_5szb9T2WJdBiOEm0rDLFEUneZmOYaHBOfCi7vHX993yIagwTMO775mqbKN1ij2Ax19I9Lik3aS_6Lv-zmvWVdXEggLsHOTbFXNFKCXFck-vUwGvzluL5UJ0L706J_c7skJwvkor_hvnIk7fjVicmih6-t7jH7XWE-udhPbA6o3oOR3cFRpChlYkNzrRj9c2oPB_TYRpIkgIjAKSWM8E2DWIvikXQy4qkK8rHcTJJ5XZqnEA6BRonCaVF2RNY_wUobPutstc62Kq-FzB5i01J1BVQO5il2JaPJakOd378wmhRhz5dzAueicWFrUpYaeMKm7YZXfKx05UYSZr6-l0OVU4L0metTSB_MzpepipqXvBaqxebrRYNKRLyCDA8ngDimcb4df2knzczROTnN7O_NQhIC7OHCdTvhjU55iGKr5DC6Jr9KWUud-HcMvk7NRcvr6vrTERKALusnuKGDDxzOhSdJ2tBTQdyQ3EatMl0DbEsgfPY4591Lg2huJYmtNkhLUWSWkpaYXZ1xLDDnTPU9vEfiiYod3vpNTm8b4vnwipYSGpE3jSQLnPzyuqrAPDpfeav05-zl25X1xP4xEy4w6sGqQZoOeH3tm5tuQZigjX0qUpCLL5Jq8olCs-Hv_XjmFdvLlq6ORdR5FFtWgaxYyuumIb9cNgOPnYI2Xnupacw_ElL1uuXu3swbVEs52E8X9NtjTAuEW4CNy9EPf0uWP0FP7R6OpyLHn5X5AevKqdXdtuvZerrsFREM2aW6dwa_RFEtnqnMXhPdQ6vHuP3hhQ-pA_RFGbnQ7qc6zjjFeShG6zhLJWwJYbFaYAT6ReoxlnOVYgfFD5HiAKSRDNU-1JCfCL9h0k6Y_WXkl7L9JQq7AlVaPQ58xzW2L_qT6kGn4vYG1taogjeqJA8tBa5J2O2VBSd40rtf1qPwfLsfQkof4RAIHXYNuQHQxUQ92X9zwQLDSRqaM9b5",
  "id": "rs_0c852bb35cf55c9c016ab41fa0df0887d0a5c7bf9ebd9d97f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The small dark fruit sits on the jaw centreline at fingertip height. I’ll close and inspect the jaw opening to see if it has been caught.\"}",
  "call_id": "call_eG4wdi9XfpJFQ7PVWRGhS3PR",
  "id": "fc_0c852bb35cf55c9c016ab41fa10afc87d0ab940c94db52c612",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eG4wdi9XfpJFQ7PVWRGhS3PR",
  "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, 0.8249, 0.6147, -0.4763, -0.0139, -0.0338, 0.9987, 0.8284, 1.9503, 1.1793, -0.4438, 0.3965, 0.4198, 0.503]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0 left_pitch=-0.1163 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3292 right_y=0.2632 right_z=0.0113 right_yaw=0.182 right_pitch=-0.4978 right_roll=-0.2107 right_gripper=0.503\nstate[joint_eff]: [-0.1026, -1.2376, 7.0085, 1.6093, -0.0611, -0.0366, -0.0171, -0.1026, -9.6615, 5.7915, 1.0183, 0.2906, 0.1099, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f6db986d0d371ed77b3a3586b0b39bd8ebaef347125055c0365ff9661e87c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bbad2d861166c502f9980ecf77d44e58268cb84c4dccc10eb0548b5cc368c92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11cea55150f6dbbbe450cde1879ab5a317271de36e455f1155842f462413a333",
      "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 · 2.735 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]: [-0.0219, 0.8238, 0.6147, -0.4702, -0.0135, -0.0338, 0.9988, 0.6979, 1.7058, 1.3201, -0.7399, 0.3744, 0.3264, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.1587 left_yaw=-0.0004 left_pitch=-0.1091 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3503 right_y=0.2142 right_z=0.1255 right_yaw=0.1498 right_pitch=-0.4456 right_roll=-0.189 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.306, 7.159, 1.7118, -0.0366, -0.0415, -0.0122, 0.4581, -9.6889, 6.7214, 1.1551, 0.3834, 0.1685, 0.0806]",
      "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]: [-0.0219, 0.8249, 0.6147, -0.4759, -0.0139, -0.0338, 0.9988, 0.8108, 1.9205, 1.1793, -0.4538, 0.3965, 0.4122, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0 left_pitch=-0.116 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3342 right_y=0.2578 right_z=0.0222 right_yaw=0.1753 right_pitch=-0.4828 right_roll=-0.2015 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -1.306, 7.0906, 1.6679, -0.0757, -0.0611, -0.0171, 1.0462, -7.8017, 5.6821, 0.9792, 0.2759, 0.0904, -0.0073]",
      "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]: [-0.0219, 0.8249, 0.6147, -0.4763, -0.0139, -0.0338, 0.9987, 0.8284, 1.9503, 1.1793, -0.4438, 0.3965, 0.4198, 0.503]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0 left_pitch=-0.1163 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3292 right_y=0.2632 right_z=0.0113 right_yaw=0.182 right_pitch=-0.4978 right_roll=-0.2107 right_gripper=0.503\nstate[joint_eff]: [-0.1026, -1.2376, 7.0085, 1.6093, -0.0611, -0.0366, -0.0171, -0.1026, -9.6615, 5.7915, 1.0183, 0.2906, 0.1099, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f6db986d0d371ed77b3a3586b0b39bd8ebaef347125055c0365ff9661e87c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bbad2d861166c502f9980ecf77d44e58268cb84c4dccc10eb0548b5cc368c92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11cea55150f6dbbbe450cde1879ab5a317271de36e455f1155842f462413a333",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB-l7kgFk5HGbycg2FEje_HXjZpQUmDs_kXBe6lMCH0rKylkYHPUH2TfMPMKxS1LQCMmjXV5BW21HDRo4YzTzo7Yx5lircni9FLNLNZ13eLgs6Qp6pfSw1p9wgCzeutLCk-U_cjn7-Edrfbktl9QV2KBYq5WBojGBfWPMIIgd0wcchBTPmX13CSIVVfOgNcLhZ9jsL6n8FmWbFUNj-_KigNNGkWo3Ae7GhUbzVpTzwtpRRo-Z5B_nZC-CZZFx5U2zvseao1HNzDPjV-4GrC0fGuNtnu6T7zKxJaKl5w-cpMzCu1fMT1XfqXIm6Od6mtA_xyYUVmm44-D-e-FwbXm8RRQbdiYQoADESXCnXU0xyHT07j1D-TwOGXLlX24LD6PtQMPT8HoXhEVfNAwh5JUmB2X0YAtFQQbWMN0ZX2OOkYnmfEFoeMU52VH-2-pWmx1gj8-_F39zXbZYPXT4Gc5QXqn9wjYts5SY0VNTBXF2v1qas9Z9HvfFSt2yXR4HPT_XPTIGFxc8mDSpC7xReJQtOyNKF8_AS-N_XE0y_XTKlVYm_4L_P2Ybsz70qHTgcLe-zJ2V4JIUcX_CmCOEr-Me-Saz_3MHG9dBmOPIg2Us5h0lB_pFtH3-2dbZ-wA1w09JvpshJ7fStUmW1P_NMRqk2VQkX7KPQ5tEP80S73XN1bX2DDglrB5DI8aiRGsWlKnGZiM38HRC4CSqfTDb1TnmGVwnQjmsRuAk346B-bqORO_a1Ahpf3SO7ya0dginfcgBOVj1_TNrYJ2sveNfggx3PwpLukFcw-N0U3VMuydRWTR_K0zoUBCxtaRmKBUFJxOha4EfoE5RilZX0KiD_5bSNSxkfksC6bBQEmrgT5I49knMjC_o9MKv9h5VePQizQUCpscB4PpdV1PfENjQL4cHrhUABf9pilmA9nAtNh8__0sRrsbWMpxSNlaSjgVGbzFLYiETsaxsKgOiEaWG8ZzI3COccV5ilbpCjk3flVDI_OZFg1o8-Ndih61ZZqF4cxTf60sBbu3uLkG0-cGkQumHZcQfVdYKmdaxSXqAwRiqS6HWTtYh1xABzT3JGXbSgW2kL7BVZngmEhxDpEixfHxk97FLCuIxoVqQVY34AbwyM-cJIlc-iX-OuaPmSlo3ZQCxFyCyc1BTMKVieHOd_wBuDcciKQfBanoKBhCPr2OBEAfvJ7XTYsvXPBQwKm5ckVBGhfFPNuxWq5x2VyohA9COMuUSIOlK1X1qfM5PaGBvixDXZJUmM5Jjt9BSj4X8q2hfWkHYYssa1QiXrXBr0H89jzJrw==",
  "id": "rs_0c852bb35cf55c9c016ab41fa479e887d0865aaec412547d05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The gripper retained roughly a five-centimetre opening around the dark fruit. I’ll lift and confirm that it comes off the tabletop.\"}",
  "call_id": "call_NpvVS2yKbNfSb2ayXgE9oHtM",
  "id": "fc_0c852bb35cf55c9c016ab41fa4b0cc87d0aedd6ac80f1e1187",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NpvVS2yKbNfSb2ayXgE9oHtM",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6147, -0.4759, -0.0139, -0.0338, 0.9988, 0.8284, 1.8454, 1.6581, -1.0332, 0.3889, 0.4183, 0.5029]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1571 left_yaw=-0.0 left_pitch=-0.1167 left_roll=-0.0009 left_gripper=0.9988 right_x=0.333 right_y=0.2692 right_z=0.1602 right_yaw=0.1868 right_pitch=-0.5069 right_roll=-0.2089 right_gripper=0.5029\nstate[joint_eff]: [-0.335, -1.2786, 6.9402, 1.6923, -0.0366, -0.0611, -0.0073, -0.212, -11.3709, 7.5966, 0.9499, 0.2613, -0.0464, 0.8083]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76bf5209ed25bd317fd0f86812821a40b7f40d4c98eb7042b1bba6c4a2392866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50822f96e0c3f5a8ae8630339db06e6e4f8c3780aa160134126bde6f4dd79a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad6c1ad9a0478d603248d0e5467b380125bcf4258c96223717c28895bbae6d84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.123 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]: [-0.0219, 0.8249, 0.6147, -0.4755, -0.0139, -0.0338, 0.9988, 0.7925, 1.8889, 1.1915, -0.4931, 0.3962, 0.3985, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1574 left_yaw=-0.0 left_pitch=-0.1156 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3376 right_y=0.2504 right_z=0.0352 right_yaw=0.1669 right_pitch=-0.4808 right_roll=-0.2059 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.4564, 6.9402, 1.707, -0.0366, -0.0708, -0.0122, 0.4171, -8.9778, 5.1761, 0.906, 0.3834, 0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4763, -0.0139, -0.0338, 0.9987, 0.8284, 1.9503, 1.1793, -0.4438, 0.3965, 0.4198, 0.503]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0 left_pitch=-0.1163 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3292 right_y=0.2632 right_z=0.0113 right_yaw=0.182 right_pitch=-0.4978 right_roll=-0.2107 right_gripper=0.503\nstate[joint_eff]: [-0.1026, -1.2376, 7.0085, 1.6093, -0.0611, -0.0366, -0.0171, -0.1026, -9.6615, 5.7915, 1.0183, 0.2906, 0.1099, 1.0232]",
      "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]: [-0.0219, 0.8257, 0.6147, -0.4759, -0.0139, -0.0338, 0.9988, 0.8284, 1.8454, 1.6581, -1.0332, 0.3889, 0.4183, 0.5029]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1571 left_yaw=-0.0 left_pitch=-0.1167 left_roll=-0.0009 left_gripper=0.9988 right_x=0.333 right_y=0.2692 right_z=0.1602 right_yaw=0.1868 right_pitch=-0.5069 right_roll=-0.2089 right_gripper=0.5029\nstate[joint_eff]: [-0.335, -1.2786, 6.9402, 1.6923, -0.0366, -0.0611, -0.0073, -0.212, -11.3709, 7.5966, 0.9499, 0.2613, -0.0464, 0.8083]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76bf5209ed25bd317fd0f86812821a40b7f40d4c98eb7042b1bba6c4a2392866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50822f96e0c3f5a8ae8630339db06e6e4f8c3780aa160134126bde6f4dd79a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad6c1ad9a0478d603248d0e5467b380125bcf4258c96223717c28895bbae6d84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB-pT3VqTzZkBTv6I8S8lwkVvygyAT_lLUc_zdrQ3RXj-_X-6Sqb78xNqzNEximwI8RGdGAeNK2KWP7mlBsPvxo3OqGXg_n4lkZirbdGT1boFQbLxwrBZ6rGJmTW4P51c2b6kWeM-Qg4g-XwH6dcKgUHFAGw8e2zADiVucl92_zY-ygsk9VtVBw64N7RZEutHIkaTPp9UglQAiobRhuYRDrUsZ2QfEGiBVBwhZlA_QlyvHPl2qXfmoQyiiRJ-SKat7My8lLpgY9gdh0A_OtYceHU1p6BX2RimCTJ03fkfHepnpKsbdQVMLoY9kSx5a34XQT8b1VxNCF_QrEp9JBrk5QlRr-YKRvZbur3ZBGuTZoB5fxAVrWG-K-K0cZs2-4lljka31x-AoR3iRTMIKbZVkgwa6L_RiGeBF-9QSaq4dx7B4a-aDZCqz4chmqCJANgtkp81D-BcXPsW_3Em2Q_59vt2UCmxau6y99YKVFrib2U3ZrYcetvRa3_byGLbC3hOyxe0ioehso-uEgYOpi1uykz1aJc7hfKWuGNCn8dG7LyMDn3LN0LdbVLnJ0qizUTxG15fhYYKbGfUBReuHm8R2nwAPmec480dGu98wmIG6XwaU-xp7MkpWKsSEliEpmEi-03M5KzDQ8nVmb0bQr-ciFAXC4tN4oT15a-A7OdqMtI1Vx8qf3veqKQvMer-Zv-Pi0I2S1mjwJhqDgNju5PeCs3prKsdPzfz9dZMQDJfPoVMBlzBoo6wA6JD_WKUcPp3ClQhK5SLISHnFiUgFyGlGK2xZA62pO_6Uovhf0wrueO2HpdhebvqBW8glVtLGBoNxQHq-24bKQkEnhBZPCDublWtly2b1URW3_QUnJCRPYl8jvbboyrSOoLEXhWZkLakwLkwIIde2fcd8L8cyY8RDRjun6G7AW9QkgKtqmc4UtsKwwy_P_6ppXlScvUsECEXePEHXdQH96kLAXa97Sp-8aoolWScyyuz6yU3cLabyjQ-KECzZM-gq2pt_kluztBMw8gCB4p-ryx-WTiaoUfFkqWfQdSP-NkwP26QUmw1IfeO4rblUUH9r9TPCwkddsoHdpbViXIypCNv4Qi8FIXQWZpUVl4tlXBthBxQIVovBIsohRTIeZuF-cP63wMPnPbi7ibEOHSsWmeo55LJF4cAh_rsuIxt9c8sViy9h4jfFc3p1wyWHOj6a-mstdNh6eQopOMQYfLxfO7C6oT5n4Uby90_J5OOel1BJitcdfZyjRb0H7YwbgHxWt7-j-FsjPQtVbbInIRBU095H7gN9vkHKQBmiKPwOkMnbrVlic68rQqxb1DY65qkdiiwWy05BoNehqNafKpfja9JY_DfKLC8WPc_Y8jyuqrnjPUkTBN0h-95kMjI2msffkUNUUUYpimNhAxv3XXmohIhrhLxLb070LML3e1MrzwnX_-8XFptGx9GwCofX_bGO15L5tq9cCpPA83_lX1sdZ8QQxmu4Y2WNz17kBQ5BOeTiQl1_H7U7AW9AWy5JlEYI5fAj21oI97IO18RjLo-ECxU9wUR9xUcsaNR8v_7NYbo_yMf1TEUSpcMmrRStt3-_ETCYpCwCrLy6UuKax6nneUlAtHpwStGJsW7I09O4zadUStRw27P5c-DqjhNk6lV8qk4oq-2e9rJ_pJd_mlgz6sjA_0cOED1_-UDtK2hvaEDWDnj9ZkNbol7Q1fw_fMJ64rWiCMyjiPx-GX",
  "id": "rs_0c852bb35cf55c9c016ab41fa7693887d092170f6bf66471f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.235,\"right_z\":0.13},\"note\":\"The dark fruit is no longer at its original table position and stays with the lifted gripper. I’ll carry it to the blue bowl, where the larger fruit is already sitting.\"}",
  "call_id": "call_McgItblEZzLf5NHLNc7Z6kbJ",
  "id": "fc_0c852bb35cf55c9c016ab41fa881a087d0989d8d17b5336a4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_McgItblEZzLf5NHLNc7Z6kbJ",
  "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, 0.8303, 0.6147, -0.477, -0.0135, -0.0338, 0.9988, 0.5747, 2.1208, 1.9015, -0.9722, 0.2897, 0.1738, 0.5027]\nstate[eef_state]: left_x=0.2841 left_y=-0.0003 left_z=0.1557 left_yaw=-0.0003 left_pitch=-0.1224 left_roll=-0.001 left_gripper=0.9988 right_x=0.4441 right_y=0.2317 right_z=0.1201 right_yaw=0.1735 right_pitch=-0.5573 right_roll=-0.2293 right_gripper=0.5027\nstate[joint_eff]: [-0.1436, -1.7299, 7.1453, 1.6239, -0.0513, -0.0659, -0.0171, -0.4171, -11.9453, 8.4034, 1.1453, 0.1148, -0.0415, 0.8083]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:802be77c530a7cd2d213989387b0bd0716591a4497886f9ae029ccc8599245bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a49fec74d690c6c55b946475942d853f78cc2caf94cd50c5ef1bc1d07c4d793a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e475a4b988b86a1a289344bdae28ee510f8cd4c7b03fdbf2373227fba69aadb3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 4.313 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]: [-0.0219, 0.8249, 0.6147, -0.4759, -0.0139, -0.0338, 0.9988, 0.8108, 1.9205, 1.1793, -0.4538, 0.3965, 0.4122, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0 left_pitch=-0.116 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3342 right_y=0.2578 right_z=0.0222 right_yaw=0.1753 right_pitch=-0.4828 right_roll=-0.2015 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -1.306, 7.0906, 1.6679, -0.0757, -0.0611, -0.0171, 1.0462, -7.8017, 5.6821, 0.9792, 0.2759, 0.0904, -0.0073]",
      "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]: [-0.0219, 0.8257, 0.6147, -0.4759, -0.0139, -0.0338, 0.9988, 0.8284, 1.8454, 1.6581, -1.0332, 0.3889, 0.4183, 0.5029]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1571 left_yaw=-0.0 left_pitch=-0.1167 left_roll=-0.0009 left_gripper=0.9988 right_x=0.333 right_y=0.2692 right_z=0.1602 right_yaw=0.1868 right_pitch=-0.5069 right_roll=-0.2089 right_gripper=0.5029\nstate[joint_eff]: [-0.335, -1.2786, 6.9402, 1.6923, -0.0366, -0.0611, -0.0073, -0.212, -11.3709, 7.5966, 0.9499, 0.2613, -0.0464, 0.8083]\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 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]: [-0.0219, 0.8303, 0.6147, -0.477, -0.0135, -0.0338, 0.9988, 0.5747, 2.1208, 1.9015, -0.9722, 0.2897, 0.1738, 0.5027]\nstate[eef_state]: left_x=0.2841 left_y=-0.0003 left_z=0.1557 left_yaw=-0.0003 left_pitch=-0.1224 left_roll=-0.001 left_gripper=0.9988 right_x=0.4441 right_y=0.2317 right_z=0.1201 right_yaw=0.1735 right_pitch=-0.5573 right_roll=-0.2293 right_gripper=0.5027\nstate[joint_eff]: [-0.1436, -1.7299, 7.1453, 1.6239, -0.0513, -0.0659, -0.0171, -0.4171, -11.9453, 8.4034, 1.1453, 0.1148, -0.0415, 0.8083]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:802be77c530a7cd2d213989387b0bd0716591a4497886f9ae029ccc8599245bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a49fec74d690c6c55b946475942d853f78cc2caf94cd50c5ef1bc1d07c4d793a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e475a4b988b86a1a289344bdae28ee510f8cd4c7b03fdbf2373227fba69aadb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-sXK5u6c76M3l_tCUUJ5YDJAMAzdbCWqh0Bn5rc6Zc3-J7FTvS3_srCvbFU0cNOR940ljTmfIwmLY402ivcXRNzCUIhdA9egxph6jks2Qq8tG408SeqAlfzusMbkClKKQ9ZAIBy_EHjr5ze-bdTDl4G6BE4cdbzADoOArVzRWNRjWrPN8bJmy8saOQn5booTzS_v_zbLvm1PcMoeoMRV-t37RgK5tqAPYfqcBXP1mVAXBYyLlF6Tq7D_iN23TTuwO5Rv2V4ng0XqL_O-tzPvtLIBeCRWne7pjzBgaRtWXz64bVANx62-0VdrII4b28Z89rhLwEJ2iBR22uFvWNhnoDogHQE1vVNpaB6xT5YdexOVXAo5Lhu53uYwPRkEZ9rl3yV94ee9IvmmtUYeX-S96yRX6Z2OSU6qhprMKgilECAq9UeKE-ISfbyVkStLfM7rcjzGcXBWFuYENuMxqMK6QchnDrnjuphZT0qN5hqdUfF5q-j2NOPXd-KC2RH1Rp6xUU41LlBE6R4V502pgu-PlKr8D1qY83wMDJSTWijrBJ6rRxLGjxEvNTssM4xd-W3Y-PTDdVZtFHMNkmrHIy5z1GHg44UYN6hhBCTV7TJq8riHdbJDbOlp1LLdQlLVdExoLgmrWWxyQnCAkaFW_e4vTd97fk7Ct-_L_9iKsOhpem3D2EX91kJ-EjS-I9jHU3Lax5khpnmdKlAUufI9RNkUKJ4GDips4A8seQoWwmbX73kAW8RLr19qcJqfKJbWsuIhu3hRshrBo6a9X4IwcN_tLdxPvN2WvKpMKyR8f5R_yAh_9qxLEhB1Q5BnbQd7aVef5QSVS2tdG_80buPHJ8GqzKvHFWs9LYszqkmk47lcvHx0nwVaaGHTaqxckHGlGeiXUVhDNv2QGkAPRoPDUUm29xDigGJUwg1gLzPlqTUoFD5xzdIom6DxpLTMbgxfOXPtHcjL-foeR2Rodaopt0pkTgdK42DKfWfpvnYrSqZ_oIXeMIv6QsF29HrzvVJDTp__4ZW6Se__G7vQiZ4KBnxG3S8JgT2zvWXdUKa3x1YZb9RpdQkc1_TdWlVGM9fctgOefO2RPfouNukeARbWg0GS0UKD6rOCMZfMMZyYEB60-BSOI65penTxvvWZjMB81opz4TpG30gymxZlcWDyvTTxlJ2xIh5jItMd-IRJ-PsqtaSWkwK300GBhohO73JfXZnJh308hRSUH7N8LQqehwd5h5FYeoohHcP-nPxtUSkclHK7MHalTj4uD922BKKMm6JaKSdvjEmgLrbGK8T5SSE6XmWWsmeF_n6udoE0lYw6eWLDtxWuAI49jtW3BtDkhtSEV8feOJK_X1uiMV3lfOz9eZaJGkHPPMOC-2IEDnkiTVTsy1xEjlGAC_N523ovuTtn4GKaxS43yBj0T2R2PYUcLj1vpd4x8tIVmUBzbsfxLJV1Q=",
  "id": "rs_0c852bb35cf55c9c016ab41fab181887d09857a68bb7be0ef1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.458,\"right_y\":0.23,\"right_gripper\":1},\"note\":\"The dark fruit is centred above the blue bowl, directly over the larger fruit. I’ll release it into the bowl.\"}",
  "call_id": "call_H8jZNxJQk7RBsDamiAfvERif",
  "id": "fc_0c852bb35cf55c9c016ab41fab935487d0aff9290b669ac980",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H8jZNxJQk7RBsDamiAfvERif",
  "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]: [-0.0219, 0.8303, 0.6147, -0.4763, -0.0139, -0.0334, 0.9988, 0.5591, 2.154, 1.9465, -0.9997, 0.2817, 0.1459, 0.9955]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1558 left_yaw=-0.0002 left_pitch=-0.1217 left_roll=-0.0005 left_gripper=0.9988 right_x=0.4503 right_y=0.228 right_z=0.1167 right_yaw=0.1786 right_pitch=-0.5781 right_roll=-0.2423 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -1.1829, 6.9538, 1.663, -0.0415, -0.0269, -0.0122, -0.6632, -10.9333, 8.3487, 1.0574, 0.1441, 0.1001, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c355b291c6a04de0f6b700bfa5d095ae50d359abeb39e5e74b267495de5ab32a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a4cea79e94a4e1627dc73896ab7c353888c7978e1a64afca970745544cc9b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:559fa18cb181497d8dd773b0700278adf83c851d1fc75513711c46b0b02e0cdc",
      "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 · 3.232 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]: [-0.0219, 0.8249, 0.6147, -0.4763, -0.0139, -0.0338, 0.9987, 0.8284, 1.9503, 1.1793, -0.4438, 0.3965, 0.4198, 0.503]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0 left_pitch=-0.1163 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3292 right_y=0.2632 right_z=0.0113 right_yaw=0.182 right_pitch=-0.4978 right_roll=-0.2107 right_gripper=0.503\nstate[joint_eff]: [-0.1026, -1.2376, 7.0085, 1.6093, -0.0611, -0.0366, -0.0171, -0.1026, -9.6615, 5.7915, 1.0183, 0.2906, 0.1099, 1.0232]",
      "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]: [-0.0219, 0.8303, 0.6147, -0.477, -0.0135, -0.0338, 0.9988, 0.5747, 2.1208, 1.9015, -0.9722, 0.2897, 0.1738, 0.5027]\nstate[eef_state]: left_x=0.2841 left_y=-0.0003 left_z=0.1557 left_yaw=-0.0003 left_pitch=-0.1224 left_roll=-0.001 left_gripper=0.9988 right_x=0.4441 right_y=0.2317 right_z=0.1201 right_yaw=0.1735 right_pitch=-0.5573 right_roll=-0.2293 right_gripper=0.5027\nstate[joint_eff]: [-0.1436, -1.7299, 7.1453, 1.6239, -0.0513, -0.0659, -0.0171, -0.4171, -11.9453, 8.4034, 1.1453, 0.1148, -0.0415, 0.8083]",
      "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]: [-0.0219, 0.8303, 0.6147, -0.4763, -0.0139, -0.0334, 0.9988, 0.5591, 2.154, 1.9465, -0.9997, 0.2817, 0.1459, 0.9955]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1558 left_yaw=-0.0002 left_pitch=-0.1217 left_roll=-0.0005 left_gripper=0.9988 right_x=0.4503 right_y=0.228 right_z=0.1167 right_yaw=0.1786 right_pitch=-0.5781 right_roll=-0.2423 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -1.1829, 6.9538, 1.663, -0.0415, -0.0269, -0.0122, -0.6632, -10.9333, 8.3487, 1.0574, 0.1441, 0.1001, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c355b291c6a04de0f6b700bfa5d095ae50d359abeb39e5e74b267495de5ab32a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a4cea79e94a4e1627dc73896ab7c353888c7978e1a64afca970745544cc9b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:559fa18cb181497d8dd773b0700278adf83c851d1fc75513711c46b0b02e0cdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB-wMeRov0rDZH4CSYPCmBpeeAUO02x7vQeBIg3X5uhDGIUY63PH_0LuExl7_uIFCLAbLsC789k7USPxiLPxzvqC6zHa4kGIOnD6kYMRUWQ7QjeyEaRn4yhewqknj53qmivUYz8_N8gdzKvYmQCHWGtSMZDkPKtKhCCKlZq2tr3WtBujDqOiox-H7oHA2cLzVSXamuAMvV5JM0D3Ijk13JABmNhwSckOjKD4nvq55Jhg2pp47mZ3iTkJ2Jy2_CkjBhn-AIonN4F0hASgR8sP3xI8CERe2AwK7RBZORiih4OL4DW3QJzN81s_reJCO1tG2NNASziBE02PzE1xi8zB1NerVHwRufL4Q3xZk4vWcs3fqwaWDrsMUSDq7RS755_4SdLqImMuttWsrCP9EtgXFp0_JwkBHZRZMplWkFq6BsSP-37Ix2PL5h9HtaDb4zYnHCFqu9r4N75U9hZg97u9ZKzA3aU21vRjKyHbup8nIodsOOS39aeD9jWEBLHT6v1YRQjudVI0ilOyXtHfq_TRCrNLaEQEiV1akU3LK0WYYHtF_BixjI5jcsLNUWzWCnF5ymtyEUU1skg7xE3TkyX3NNPDqrr-vvj8QY9Mr_952Lmk_23DgZDE243JvQDrdtr2sdZOtXH3nKIHd_h-QC2wxW4HSWvkBAMFpCoIFOMCptPYOP7wNU9Tpp8HBZH7gMFxeoUfLJRoKhdUie1-JrOcdb6TVAyUTmR0_fbhJiCYTn2VV3dPQBf-YWbH9YyMoWmgGnVtex6pYm1h7sb_NiYZeywCM_yYHXkhACfB2hY_3LdhN3CCa_qh3N36YZXVlofR7IestZuKYJjD-HVXVpklSS0XfbA3pFsBBZi9xbOJp-PQkqR-8_QCx--46dpxSU9lF20kiqjn_nPJrBSSrvQP7qffa3hU7N_A9QBeBuIfKCos5SbG-7Y_4upgNKviGsEOnhQeXhRj6heHQm82ud4cKgXPjO4B3SalA0B7t81aVyI2tlilptRLsHdtOf6LoFoB81x5wYItrRd0jT8LnHdE2ADJTnr3Og-mAR2OzKOaTwNzVw4czI7RWPtdPRLGVtQBdLmL95Ubl50VXaNqCMnFJ_kq_gpxqvQgGajrXTXSEcxvET9OxNkr9CV5bmbYfZEheX_MaNxR-d4tb1CO_MmI-_5V35583czFgrypWSPOy2R2sBdn9y0lx_L3rFFNt9WOKim3P4xYKce-R4VXAlbR6sD-16JWh50Aj4YnlaYaPIaOEDLTV2j_aOAEoZUQ0JUf5WZs2Fcbl_SwE5QstAXnYQ27NIwM5SErIBtU3KvQBIaCI4jDdAuMrc-JTNvRbZVMUdVweN2uupgBTOoDV3OnUKOg9vuSZzB2QFkedT5TKP71vu7z512Qya0lOTRGGh4FlyRKKjCeRl8JvY4B0nPjbBE9x24LUmM4fiq6PTm8orSd8RlBb2osgv3gAhFA_xYb1cyLxACQL8OYyky3mUBKgpPFwSlC0W3TkOAcDqFrDd4mUt0VeVOuglh7H01o59R8lVKRG9AOl746pAEg8jYx7uxEOxxlHrTabocgL7-B11bvKIc50w66zkzy42_Ujzzed7cwucfiv2g70APKIXol6CD9jZuNqhxHub9uRQsPVBKwu3Vh3su--aGjypfHuOf-ZkfrTEzF0sw-3uMNg4m3htrWLnxeeITNbUfbEOffwTuoQf0lZcMyFOrcD_Y4PSvZOvVGynKkuOpx0hF7C_fSz88U7HwAC-8saT4E9ZoigxHXdkgbBbPYIfABuAzr5aAGs_aavynTiIhG7P0qrI5ghseAmhNfDXwxI8XfTtD8z6xLN2ohiyS9HrKA9bCOhzxROummF_U1jinJNUiSYMyb7M3aeGW_aFjzuWeRlJ9yq2RQp8aXKXTObs5inU13np660CIEtgODDvG9uSIKDYq6nPDK4qI4o4dNkBtv6uu1j7uZbrIBO8ny4Oi7GzflTpcYzbWwyvQFtGiUkj7xe6JdhdgQhFjgeWVCylJYGRuyLxBelHD33nWqJPZIDyQwgFLilN9pt36Owx9av5Tn6A3n8MpZfGH2LbSN-c-LJ9egfkhonGuGbogBRfuH8pfOU05Oou91CTyPWD464DJjLvdordIaz4kz7ccHUINgo2n9qhFVYaU=",
  "id": "rs_0c852bb35cf55c9c016ab41faded1487d09c70db97e92c563b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19,\"left_x\":0.345,\"left_y\":-0.19,\"left_z\":0.135},\"note\":\"The dark fruit has dropped into the blue bowl; only the yellow fruit beside the white bowl remains on the table. I’ll park the right arm clear and bring the left gripper above that last fruit.\"}",
  "call_id": "call_YZMVU5dFYfK3yBzpV7v6lJZb",
  "id": "fc_0c852bb35cf55c9c016ab41fafa6ac87d0b6a7e1e599b8c2b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YZMVU5dFYfK3yBzpV7v6lJZb",
  "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]: [-0.7391, 1.4666, 0.8951, -0.3237, -0.5201, -0.5411, 0.9988, 0.0441, 1.2934, 1.2171, -1.0534, 0.0948, -0.3012, 0.9964]\nstate[eef_state]: left_x=0.3356 left_y=-0.1822 left_z=0.1184 left_yaw=-0.0136 left_pitch=-0.1739 left_roll=0.0265 left_gripper=0.9988 right_x=0.3018 right_y=0.0002 right_z=0.1848 right_yaw=0.1374 right_pitch=-0.5854 right_roll=-0.2473 right_gripper=0.9964\nstate[joint_eff]: [-0.4991, -6.4615, 9.0735, 1.5458, -0.5299, 0.0073, -0.0122, -0.212, -5.3265, 6.0376, 1.1111, -0.1587, -0.022, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0689795fea662557a39a45a905a1b61f6f5898017591f91d429af4a2c89b037b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efaac7ab8b7875d9a96b0edd99ecd26263fadc824d6f4e0bc29ec1b7a94222f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1661974e7bf9fd7363f6d17e929482b585a7d72b01eceedce0d6c9d68f8a51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 3.689 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]: [-0.0219, 0.8257, 0.6147, -0.4759, -0.0139, -0.0338, 0.9988, 0.8284, 1.8454, 1.6581, -1.0332, 0.3889, 0.4183, 0.5029]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1571 left_yaw=-0.0 left_pitch=-0.1167 left_roll=-0.0009 left_gripper=0.9988 right_x=0.333 right_y=0.2692 right_z=0.1602 right_yaw=0.1868 right_pitch=-0.5069 right_roll=-0.2089 right_gripper=0.5029\nstate[joint_eff]: [-0.335, -1.2786, 6.9402, 1.6923, -0.0366, -0.0611, -0.0073, -0.212, -11.3709, 7.5966, 0.9499, 0.2613, -0.0464, 0.8083]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0219, 0.8303, 0.6147, -0.4763, -0.0139, -0.0334, 0.9988, 0.5591, 2.154, 1.9465, -0.9997, 0.2817, 0.1459, 0.9955]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1558 left_yaw=-0.0002 left_pitch=-0.1217 left_roll=-0.0005 left_gripper=0.9988 right_x=0.4503 right_y=0.228 right_z=0.1167 right_yaw=0.1786 right_pitch=-0.5781 right_roll=-0.2423 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -1.1829, 6.9538, 1.663, -0.0415, -0.0269, -0.0122, -0.6632, -10.9333, 8.3487, 1.0574, 0.1441, 0.1001, -0.149]",
      "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]: [-0.7391, 1.4666, 0.8951, -0.3237, -0.5201, -0.5411, 0.9988, 0.0441, 1.2934, 1.2171, -1.0534, 0.0948, -0.3012, 0.9964]\nstate[eef_state]: left_x=0.3356 left_y=-0.1822 left_z=0.1184 left_yaw=-0.0136 left_pitch=-0.1739 left_roll=0.0265 left_gripper=0.9988 right_x=0.3018 right_y=0.0002 right_z=0.1848 right_yaw=0.1374 right_pitch=-0.5854 right_roll=-0.2473 right_gripper=0.9964\nstate[joint_eff]: [-0.4991, -6.4615, 9.0735, 1.5458, -0.5299, 0.0073, -0.0122, -0.212, -5.3265, 6.0376, 1.1111, -0.1587, -0.022, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0689795fea662557a39a45a905a1b61f6f5898017591f91d429af4a2c89b037b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efaac7ab8b7875d9a96b0edd99ecd26263fadc824d6f4e0bc29ec1b7a94222f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1661974e7bf9fd7363f6d17e929482b585a7d72b01eceedce0d6c9d68f8a51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-2nS-zSSxvgZGGaLaX32_3QWfYYGk230LtV49YXHGOatjLZcRc1t6rcqiLIyykk-aHpFdKMAnZRLNpPjompKuj6ZwKSImm8lyN4BE_QzYBsFY_E5ieCReEXDBErJraB_DAu5-ondWSzRwpAURPLvB3844StQiJtCuWoAaIz4pL-pefllfkdT64aUcAad3HnUpFdJOimyNDu7WkQmf78CCvJ3hoOHhCYt6L4y0p546iu-MYXkE13wDUlvRPVo9plsxTnJkJ8xitUhOjms0UjZVtXomjjWk7daNVXKuDfKYWKQVQjseYw7lLaHF0b3Uw5EI7N-z1xTvk5b7BbWQpJccxBZ11Fs8UQZwr8vf3DKf9VnDOQgpWLoiK-h1zXRZ_PuyVU73jYZbNg-knvflJJcg5GVWdFEb7fI4P6hJczlrfNU5H6Dn73pNLYDMyiBIb1B3fDGZu_TMbuEh8z-XjBRo356dW4CJ0o7-BSmvQYdEUSJhqjBEa7VWpNTNq0vvBlCjUk1OMfZijC3tt-739P3tYUU81HpWVQRyZLo1h5SLbDE2dFaF81gSekjs0c-9Ucn1G_uQXwM4WdF3fyXe8EkRUnEoeQmec-69Uatm4HdVE2sFZ7Wrdb_tuKPVYkQZ_Wuv5sx-WAsQjc-K3ORW86EIPhXywJlVSAGWwom_cMVTyoN2xC703XavHAFARZS8IestsMUzn-zYgeaHwmsnWmlh_3yuPAEUNqszyj75-ZTXy6N7kR_Cv0RBLOtPAHNZFtjLpEwCaHBDPC5G4QzDf65yskYL-0C8PFAVJrvJb4AgQFn4B7DjkpjKEmOd1YZ5seQXrq_3DG571LKR9oLrm-zJdiGLvLf1pDavIrC8wLkuoom9OQmdiBulijNsr3Tr75JHAiayL0oBhSC9k1fSvAh1QIYhd2bi_TplHKZQaq5e_I_SbonuFpooZ48CybLzFBheZnfVqaDFNWdAanNBP1yYECHVsUvSZIo8kQjUyX5LbwgwGtLZetWjDxLm-PRjSbVeaCKJ5oLpa3vQjrseS_JFhFGhu_fsvmw7sOVeaumsOeNfMcvzsfS7YPFTte4we-Jsk4TYDi8s5kGHxW26YQ0BKHahwGAEFwS6W2Rc6If31gMfU96ik5hVkzeY_pg2fNvGtWYGrLA-NfGgjDenKrabPdBRPJCAQVf7h90Og00MPx5MWv29bNLLQU-KJw_JPzFnLqGNQVrzlaEuW_lgFksQHlWbHZ1ZVkunlgUNajQsix-8BAEadLeM5o8slYSBrqO4zruHiAXZC2B1h46s8UyOsQaAuT-ZhuCkbkJ9Svgy2a1UEO8rrndUvgx6xfZ2Oy2b9CJL02FGcfIL-bnoakz78LvKYQHiZo--8H3RYlBcqYIgs7KYJYbFOgh2c-jjvPfCr7d-cyKQxH0TMHzBmowuAx-iQLe6XnPo1RY2WuoSIx5B5pi6_ei1HhnFmHSQmG3zfVufjCC75kEPxN8KNnqZ87-avLyHLgE0gttprtdt85DgRhT5aDokAX8nZylevRfOtqdHGT9cdxMkIDW1oKNyjNPeOCs460kUAvTGinpcaqHu3jCOrUoFODbiAq01euhFxSPBl2RDM3ymEaIa6vc984iBSsY7k7huftUriKYIxbf12bhzzEfB0GL04aXtLxoIbWrAwR4xp-YMHAQhRt8TIBLINF39NkdT1ywROSF6EDz1XfV1QXdrSWcDHWz3IkahUCIj7XLH1-JZJnhOU0OjFC8Nv7PowLY7oIteNU9p5ZFoH7xQ_J6Ak18O2spOZkK95ITqLdTEdz3tdJlZuyXF7lT-Z-3nZ9kZhQgo5R97WKOQ=",
  "id": "rs_0c852bb35cf55c9c016ab41fb4281887d0abd6d552a2971cb9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.23,\"left_z\":0.026},\"note\":\"The yellow fruit is low and to the right of the left gripper’s jaw centreline. I’ll move the left gripper rightward and slightly toward its base, then descend beside the fruit.\"}",
  "call_id": "call_YcDsW6qmvK7gTbu6X23cMXoj",
  "id": "fc_0c852bb35cf55c9c016ab41fb567d887d0ab6844136d702139",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YcDsW6qmvK7gTbu6X23cMXoj",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8806, 1.7042, 0.8181, -0.0391, -0.6617, -0.6411, 0.9987, 0.0437, 1.298, 1.2171, -1.0676, 0.0814, -0.3222, 0.9965]\nstate[eef_state]: left_x=0.33 left_y=-0.2236 left_z=0.0546 left_yaw=0.0007 left_pitch=-0.1125 left_roll=0.0503 left_gripper=0.9987 right_x=0.2989 right_y=0.0023 right_z=0.1819 right_yaw=0.1654 right_pitch=-0.6054 right_roll=-0.2406 right_gripper=0.9965\nstate[joint_eff]: [-1.3744, -5.2171, 3.2479, 0.8767, 0.2808, -0.4615, -0.0171, -0.1983, -4.8752, 6.3385, 1.1844, 0.1587, 0.1245, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea1d55c848b966480b71f35abbb87b2c8e777e7f81549e036144bea6a83b0d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f015376e88580a5564db317eee499a66525108bccc2e76e622c1bb50bd9c107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6cd31f25040393684001fc21d2d05f9447606c6265faf4218376ab87cb4b054",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.436 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]: [-0.0219, 0.8303, 0.6147, -0.477, -0.0135, -0.0338, 0.9988, 0.5747, 2.1208, 1.9015, -0.9722, 0.2897, 0.1738, 0.5027]\nstate[eef_state]: left_x=0.2841 left_y=-0.0003 left_z=0.1557 left_yaw=-0.0003 left_pitch=-0.1224 left_roll=-0.001 left_gripper=0.9988 right_x=0.4441 right_y=0.2317 right_z=0.1201 right_yaw=0.1735 right_pitch=-0.5573 right_roll=-0.2293 right_gripper=0.5027\nstate[joint_eff]: [-0.1436, -1.7299, 7.1453, 1.6239, -0.0513, -0.0659, -0.0171, -0.4171, -11.9453, 8.4034, 1.1453, 0.1148, -0.0415, 0.8083]",
      "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]: [-0.7391, 1.4666, 0.8951, -0.3237, -0.5201, -0.5411, 0.9988, 0.0441, 1.2934, 1.2171, -1.0534, 0.0948, -0.3012, 0.9964]\nstate[eef_state]: left_x=0.3356 left_y=-0.1822 left_z=0.1184 left_yaw=-0.0136 left_pitch=-0.1739 left_roll=0.0265 left_gripper=0.9988 right_x=0.3018 right_y=0.0002 right_z=0.1848 right_yaw=0.1374 right_pitch=-0.5854 right_roll=-0.2473 right_gripper=0.9964\nstate[joint_eff]: [-0.4991, -6.4615, 9.0735, 1.5458, -0.5299, 0.0073, -0.0122, -0.212, -5.3265, 6.0376, 1.1111, -0.1587, -0.022, 0.0806]",
      "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]: [-0.8806, 1.7042, 0.8181, -0.0391, -0.6617, -0.6411, 0.9987, 0.0437, 1.298, 1.2171, -1.0676, 0.0814, -0.3222, 0.9965]\nstate[eef_state]: left_x=0.33 left_y=-0.2236 left_z=0.0546 left_yaw=0.0007 left_pitch=-0.1125 left_roll=0.0503 left_gripper=0.9987 right_x=0.2989 right_y=0.0023 right_z=0.1819 right_yaw=0.1654 right_pitch=-0.6054 right_roll=-0.2406 right_gripper=0.9965\nstate[joint_eff]: [-1.3744, -5.2171, 3.2479, 0.8767, 0.2808, -0.4615, -0.0171, -0.1983, -4.8752, 6.3385, 1.1844, 0.1587, 0.1245, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea1d55c848b966480b71f35abbb87b2c8e777e7f81549e036144bea6a83b0d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f015376e88580a5564db317eee499a66525108bccc2e76e622c1bb50bd9c107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6cd31f25040393684001fc21d2d05f9447606c6265faf4218376ab87cb4b054",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-6vDZT8CEbP-uKpeJ7rm6I2s6bfYH5ztbVQAnBfabulPIowhU1ODSy7pkoeWuw6uhOjlHrEN_DoozAqJVba9s4WTGaipALawNHcBX0xr89wpS4-T8KssuFO70FhwBo5mHCyP4LtTf_cTum5DUm3BGdDgGBBmHTWcZB71lAsdrvEW-9nY5U2r4Pdcw34tS0jpa4dX6AD23xpAYMnGBg4CZEBcuDGT0KppVF8Z1qqSlYpT6AU1BCFu0300Aw6OmZ4dLHpDubKtDH2Fz1DAOEDtaWnwNYVWujDHx5M-C81F9rD2auU0PGvat74cOLQawO4f-KRQLWF99dQfLTLxhZgJeInp_TptBAmGVuhcdJ99OwY_ws19bPSBCByQ5PITuuVDmaAhTDmRiMxckvxU9Eq7Yf4uDfI7lfDNJBXRNLjZ475wdy3OKoPs4BsAsgOjoP4_UjsYOD0ABlUY9YaefC3jqBHHofyP9_WI0mT96SbsEf1rXWYt5UELc88P4Gm0jCKKSTgK0sOnJM0vbED_jU4DU86HAw3ju-TFkwyJ6-4c3VBcuNnR58Edo_-lKyxk_HaU8bSAAZcfKUM0mDcMbOO3lDF28DaqQWkda8HkORWSII7QEWvCWIlA7RC2CJ7sX5lvrUBnvUqgcy5ZMGDo0dxD4ZfOm0OIHx28jphTCWbk2z7R6OUFMh0L0MaefZqOUykrfdLGVUTzIW_lVQHHc8SmKi4MbTv5itpoF78lwOHSH9XL6fQCqeMXUuWy-k0EN5zc5T3gNcIz3wzTacnHQthA6v5rG6CQb2CIfIKYH7x7JpqFyR3uJ6QnVoOf0Qz-TdPFrfb1FMmodVNM5O11kcPb5j4V9DhzpKKRTmeEfPlsjXDdCzPpG8pcAMcCpgwkQpHvsJUOBWxF1F_n1P5XaxHuPVhaPPlEOWCRS8JF7Z2TarGqc7JcD8Dz2DEPlxWQspgFaEnshSzgJ4rwjNxwbmLk2QvCAjNTuda5jc7f0aVnufM8uIMTWztT9IuvxZkRF91jOoVhRi6aVXHtTgqSmJZ5zAgPlUauOfEegp_NpjTmmf055uaBIaTM36w87H1k8Z1_27HS10Ld7J18-unqWIAOjTirFFKCGH7vqiZ-CYje2hb81CwLwRkv5QdcRx9eHzMPFDvAYreSNuOo0Xp0WCfeMgopsB78jtXcQnUlCQuiNYPLU28C-kbpJhcy8YW4O6qqX26bRtbx_85dOM-3ujv3cxc9mty-OUddltnMawGQe7vAe8DTEbirKMKU8EyU6Zdgyuo1z0ESCgIW6PHeV62iYaHIi_OXe38IcourGFMIlmTznLo1yTNDEFP3Ib_DGMLdArvxzzoFPBZ-Cx7lg4LKADTOYYEbJ_nywi2g8Kxr7Qp6OOMmivqpd_X3qXPzPxPqDrlKtUuA32XOupzkg7Gjp3cgRZtTDcLfk0vaNU-4Z93zH7US-aVqb4ww0YAe9zWdXSjNslzgjmoBjOfQvSyQJUvsQbb04PFq3QN1he40qgEZG3fQkpPs8kQJDXQaZUqoKsBZWQ6_rWt7sxsCPajMwX9VmhOqpwFNvSN5Ttgwl4b7yJGWW_zMeDiUlMap7EjXmMpyIGJ5BKXDZLXWV8gEzKBbASIHK36zj6atj-X1ULk1_uGS2RHNfPGgBAoyUB5jzfVG8q4VPNHFkFgWpAdb0-5aKNo0hDBsh3hqYll4t0-gn8IamtwULQARJTh5wBVSSC1fWh7uGZCwCkXR98aRNamRqclOjeQ_ukCRSYxR-uIpugw1WSBhZDRZ30BCGdEL4WKoWq9yG7wynY5Kx-6kKKN0x4ouAVD50w3bbXVqtTcdbC6FTBNmLVSs-ufwNf4kur_6Gui3gC7rzNGt8jpD8JAx83nzo1XOmQhvHkESjGBBKrI5Rm_GQq-7NkJOyjVFtlpDz52t0b1zb-206cu1NbHptyi1xwxQiUuSqC00c2u4OJ0T3dQv17QYwdxaYRNncwzjI8pa7Z7-VOAMGdpKTsGDI8ZIiSgEHl-1xIi9mL_U4DczQAvF5kPhp0e0j5lL4n8XgqE42etj3whZlfVCqQeP1lrijLXH8o932LhduNfAw0jzmy9_ILGl2wfZ4C6mYkstKH5vU0OQmSLsLndze8XtHy2kHWgs498n61s1YAbAFTlT_3AR_smK7mgCF9zhLD",
  "id": "rs_0c852bb35cf55c9c016ab41fb7f8ac87d088ec2d1ce2a67174",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.245,\"left_z\":0.019},\"note\":\"The yellow fruit is now near the fingers but remains slightly right of centre, and the left arm stopped a little high near the white bowl’s rim. I’ll make a smaller correction toward the fruit and lower cautiously.\"}",
  "call_id": "call_Zp8HbzUznEgTRYcXwT2So5xp",
  "id": "fc_0c852bb35cf55c9c016ab41fb99ba887d09e9f9a350ba13366",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zp8HbzUznEgTRYcXwT2So5xp",
  "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]: [-0.9604, 1.7817, 0.7967, 0.0254, -0.7292, -0.7059, 0.9987, 0.0437, 1.298, 1.2171, -1.0676, 0.0834, -0.3229, 0.9965]\nstate[eef_state]: left_x=0.3152 left_y=-0.239 left_z=0.034 left_yaw=0.0019 left_pitch=-0.0879 left_roll=0.0599 left_gripper=0.9987 right_x=0.2989 right_y=0.0019 right_z=0.1819 right_yaw=0.1639 right_pitch=-0.6057 right_roll=-0.243 right_gripper=0.9965\nstate[joint_eff]: [-1.2376, -5.6957, 5.3675, 0.9304, 0.0464, -0.4225, -0.0073, -0.0889, -4.506, 5.8598, 1.0916, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c34b8107dd8bb70dfa12d60558645ead2cccca276a876d58eff6ef59c76706e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0986ee2e2a80ada41dd9a3d339a403aeb624afd86a0019895e8c70ccef07e59a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33720b3a203fb61267898b716760c08214f43b97a6cbfc9f3d0a8ec8264001d",
      "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 · 2.395 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]: [-0.0219, 0.8303, 0.6147, -0.4763, -0.0139, -0.0334, 0.9988, 0.5591, 2.154, 1.9465, -0.9997, 0.2817, 0.1459, 0.9955]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1558 left_yaw=-0.0002 left_pitch=-0.1217 left_roll=-0.0005 left_gripper=0.9988 right_x=0.4503 right_y=0.228 right_z=0.1167 right_yaw=0.1786 right_pitch=-0.5781 right_roll=-0.2423 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -1.1829, 6.9538, 1.663, -0.0415, -0.0269, -0.0122, -0.6632, -10.9333, 8.3487, 1.0574, 0.1441, 0.1001, -0.149]",
      "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]: [-0.8806, 1.7042, 0.8181, -0.0391, -0.6617, -0.6411, 0.9987, 0.0437, 1.298, 1.2171, -1.0676, 0.0814, -0.3222, 0.9965]\nstate[eef_state]: left_x=0.33 left_y=-0.2236 left_z=0.0546 left_yaw=0.0007 left_pitch=-0.1125 left_roll=0.0503 left_gripper=0.9987 right_x=0.2989 right_y=0.0023 right_z=0.1819 right_yaw=0.1654 right_pitch=-0.6054 right_roll=-0.2406 right_gripper=0.9965\nstate[joint_eff]: [-1.3744, -5.2171, 3.2479, 0.8767, 0.2808, -0.4615, -0.0171, -0.1983, -4.8752, 6.3385, 1.1844, 0.1587, 0.1245, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9604, 1.7817, 0.7967, 0.0254, -0.7292, -0.7059, 0.9987, 0.0437, 1.298, 1.2171, -1.0676, 0.0834, -0.3229, 0.9965]\nstate[eef_state]: left_x=0.3152 left_y=-0.239 left_z=0.034 left_yaw=0.0019 left_pitch=-0.0879 left_roll=0.0599 left_gripper=0.9987 right_x=0.2989 right_y=0.0019 right_z=0.1819 right_yaw=0.1639 right_pitch=-0.6057 right_roll=-0.243 right_gripper=0.9965\nstate[joint_eff]: [-1.2376, -5.6957, 5.3675, 0.9304, 0.0464, -0.4225, -0.0073, -0.0889, -4.506, 5.8598, 1.0916, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c34b8107dd8bb70dfa12d60558645ead2cccca276a876d58eff6ef59c76706e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0986ee2e2a80ada41dd9a3d339a403aeb624afd86a0019895e8c70ccef07e59a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33720b3a203fb61267898b716760c08214f43b97a6cbfc9f3d0a8ec8264001d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB--eHagdR5_h2mLwT62l5AM1yVRRZM4uMEW7zxmrSa9XKMc5yBZBr-HUyHe87HquED5hfZSmkykvJFlBj4a11qhakiXZZuVI2URgXLKsuE0l1aGqZxX5OD0d4mq5nk11BrCFR_m4S4rs0da6IaOUAqeeqJMtSEgjSX0uQKsNgIYbrkrDf5AlmfFWgSo0Upq9pJKUoLZxOLoJWAUBZzZKaWp1BJ4jp0ubU0ylOM3BOIsGWhTbExtB3BXY_-6xby4AMEWmAp8JF29lqw_wJyOjIkXLlnOB3tbW-IkUui9obPulqUIKaDqf6IXxkSy98bZG1S2d4F3ggf13B55Sz2ZCN2qTXLI2i-mnC3qvKdMDyrsOwtCaRbUcgPr4KzaGMQfhjl9PqzgmIUiJm6gBTBv5_MTzgVUPMjMA0-aRxcqZQAdV3kShl_E99cvUvXdZ-gadlnooWAYivZe5aR64GiHBFEmZYy3k21_fZh2YdsPOpCCvNmk1uJHcv_sh4gAKsKBBVOOIyrK2wdWZgZFFAT_CtIqbUdLqv0E0BSwk_8LpyLxIC0HCi9ZNJ-53IzvWiWK1Jq0qW30UxrDhNWYWmfCBYJjDHxnqL2c1mXzpsYREKg0-onJ34pyLQk0Lr2vVdfvrAkqN_9p_t4LQJ1lY4dGW0VlpBfuVol9_VHDX5_LULTn3VCOhmoOUVsSHVN10vbgRCnHs4xpRuPRV6EOjGXH8E4IXrp-ot5pbeXPV-tThKcqAYkdWPn187fTSCp-pPDcqG2Wc2WlFJaQR-CGv1ITH1TAJBHVo9XUYBXH02byVVi2zkjAS9KI-keCbnmkhGQvWu-wqtmCOG6jYGFFFcyyr41TE5nyatzkdInB7wIY6LbhZxNeQQ_lYSPh3e4yl8cGsdUYutk-U5kQALWteZX0e30eXfOzz1ieRdEL4KldV212BMQrXxLH5pxNUwh9d-92emYX6Yrjmw1NpOS-JvwptPBP__ykomeG_jBpbUIJDvlpyozgtjrTpTmoMtz7JP8ID5E_c5uVIp1uw9HbGRQDIe_g0pWGvt0V2db-DumBPp4FMZ8VvQKwsFeLzz6ztsgzCuNnVD3GcSWCh7roCwtMFoyn3NTTJV5hCTgjAI2xxyKkLpZZ_NNqIGQTeKIxB7y25ulSeYCGUewG7FMhglqn-Nsth26fc9srwcnMLv7W99wReWU10FsoceOFX0Iw3SHYEXF3mLGSaa-c-0LrcK6ouCxE8rM3dAtZ4SXAy8S0XYgemvAXv1wzGRknQYI7XUrJjPAdOAYgAWQ5b7XT6gA_56_DxjdlqEL-Eewpu5_ko1Y2qoojvzfQY-jfGbnWxmhS_Y9ezW5jjYC3L0cQ1npjXTm0MlD4U9AYAgDK-YoLeal2rrukB5cv7D-pCxk7pX-vF8aWLuCiBxCaD2EQ72XKOoFhhzSRPbpQ1Z3ObySmq025OVmKKwp8c3ZFmjqtmvh-NTYROevZLIeTIbRqiDzkM9C0kh3QHecANoA6nKbKCkt3LHtCeCmcdY6E5A1_CC7rvmPGSixcjrJQLMcXUkSKHWKOlQrsf8CJCP2BbhNqpYWOopSSE82YiX_nO_GyX9dPwChJkEcJu0uUTBcjgvv_C20SVcI7Bbi427AyhXySC3uRwt1ntp2Db0p5a3gkPXJ7WWg8JU7D4C8wrDfw4udvDKgtI4GM07LkGCzn9Z0A_yYSfTl5JZJqhJUN58bDX5FiHGIX86s0ZOMnJPJ_fBFPTEmXIeZizV2B3xmoRxceDQhgGQ-rdin1cFPDyoQ6zJFsUTYYg9kxybsn5oxku9UFvfKv4A==",
  "id": "rs_0c852bb35cf55c9c016ab41fbcde7c87d0bd7ada2730772111",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The yellow fruit sits just inside the left gripper’s open fingers at table height. I’ll close now, avoiding any further descent beside the white bowl.\"}",
  "call_id": "call_LMIFJ7XS0w8gQDupskDfHakr",
  "id": "fc_0c852bb35cf55c9c016ab41fbe905c87d0af5153a326131394",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LMIFJ7XS0w8gQDupskDfHakr",
  "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]: [-0.9775, 1.7947, 0.8089, 0.0574, -0.8581, -0.7071, 0.1977, 0.0437, 1.298, 1.216, -1.0679, 0.0841, -0.3256, 0.9965]\nstate[eef_state]: left_x=0.3235 left_y=-0.2343 left_z=0.0499 left_yaw=0.0621 left_pitch=0.0169 left_roll=0.089 left_gripper=0.1977 right_x=0.2986 right_y=0.0018 right_z=0.1815 right_yaw=0.1649 right_pitch=-0.6077 right_roll=-0.2449 right_gripper=0.9965\nstate[joint_eff]: [-1.3744, -6.0239, 3.8222, 0.9304, 0.9597, -0.5788, 0.7497, -0.1162, -4.9162, 5.9145, 1.0623, 0.0073, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67348c61df6ccadc8ffc30a1921c8d5d0f9eaf1b713c112676a3d1140d5f15f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eadf72a1a51875bc5fcbb27b28aa0c684e362cff2d2c24e6dda12fe1a7d0ea1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:133dc43c957eee6997faf0b637c00199eb24d4ad609e0b2b8e3ef417d43317fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 3.605 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]: [-0.7391, 1.4666, 0.8951, -0.3237, -0.5201, -0.5411, 0.9988, 0.0441, 1.2934, 1.2171, -1.0534, 0.0948, -0.3012, 0.9964]\nstate[eef_state]: left_x=0.3356 left_y=-0.1822 left_z=0.1184 left_yaw=-0.0136 left_pitch=-0.1739 left_roll=0.0265 left_gripper=0.9988 right_x=0.3018 right_y=0.0002 right_z=0.1848 right_yaw=0.1374 right_pitch=-0.5854 right_roll=-0.2473 right_gripper=0.9964\nstate[joint_eff]: [-0.4991, -6.4615, 9.0735, 1.5458, -0.5299, 0.0073, -0.0122, -0.212, -5.3265, 6.0376, 1.1111, -0.1587, -0.022, 0.0806]",
      "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]: [-0.9604, 1.7817, 0.7967, 0.0254, -0.7292, -0.7059, 0.9987, 0.0437, 1.298, 1.2171, -1.0676, 0.0834, -0.3229, 0.9965]\nstate[eef_state]: left_x=0.3152 left_y=-0.239 left_z=0.034 left_yaw=0.0019 left_pitch=-0.0879 left_roll=0.0599 left_gripper=0.9987 right_x=0.2989 right_y=0.0019 right_z=0.1819 right_yaw=0.1639 right_pitch=-0.6057 right_roll=-0.243 right_gripper=0.9965\nstate[joint_eff]: [-1.2376, -5.6957, 5.3675, 0.9304, 0.0464, -0.4225, -0.0073, -0.0889, -4.506, 5.8598, 1.0916, -0.0171, -0.0611, -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 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]: [-0.9775, 1.7947, 0.8089, 0.0574, -0.8581, -0.7071, 0.1977, 0.0437, 1.298, 1.216, -1.0679, 0.0841, -0.3256, 0.9965]\nstate[eef_state]: left_x=0.3235 left_y=-0.2343 left_z=0.0499 left_yaw=0.0621 left_pitch=0.0169 left_roll=0.089 left_gripper=0.1977 right_x=0.2986 right_y=0.0018 right_z=0.1815 right_yaw=0.1649 right_pitch=-0.6077 right_roll=-0.2449 right_gripper=0.9965\nstate[joint_eff]: [-1.3744, -6.0239, 3.8222, 0.9304, 0.9597, -0.5788, 0.7497, -0.1162, -4.9162, 5.9145, 1.0623, 0.0073, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67348c61df6ccadc8ffc30a1921c8d5d0f9eaf1b713c112676a3d1140d5f15f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eadf72a1a51875bc5fcbb27b28aa0c684e362cff2d2c24e6dda12fe1a7d0ea1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:133dc43c957eee6997faf0b637c00199eb24d4ad609e0b2b8e3ef417d43317fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_CbG-bJZQrx7DqZBZJ0BwKsclCl9MLYmbOOphs3ifp-zlgKzk2m9fPpOqThzom_QUwpXoLHLbYoMVwKIozUL6FwAmbcwPjbj17PNPO-xGvLcX9fP12F6nynPTd2HkBVudKxPfs39GUdioRSDJAUm6DmLZJicHQI70xg4XiYRTeMaMd46Po-cZKUyPLOT6J3zBUisdM3k4cN1Qkke1bpVMlJAujQiFDzJe2SXm3STaRsEW9ATie_nZQxOhN19MKnqfThD8QcpQlV57m0Y_BCSeL_LfdZ2S4ULo2Z982y7v4fQs55S0bI_37u_tQ19qohWI8vud7-VOcYVHGkfenTOAB58CJYOHLtmRnJOdqMcoSWDtxkn4YLlvk1VXmtuorxAodZCBeOtmKqINUAp1OUV88Vay3DJGtf1JZ1beGOLFeek8bk3wILozgXYofFbkg7-enxDHhotlvc6NadyRfhEThH9HKyoXvnXhcic2kDjnDXoFQpoKKa1EoHsRS8ft1ifDWk0mVceM78RwzXBYqugos5WNVa8tF6MhK_sKYHW_SiMPCJKPtFN0P4aJ0UsWMySRSmX8ikVQNuaQ9xB5GGUfnms-GR-w4TDDAHvvVI5cPW7Lo7P0Hvgbp5j2ayb5470g4BFAWcAvFsvqZbRbfu7-Q4fg2yS5za4M8vQ1LUdeIYR67851n6frvHYvHAgEk6nYy53ON_zSo4oOhYBCgShLcqjgGfpCmHa_baq3PWYzZ8pr85L8oNww5HxfGk0j_GJh8IWQJcg7u-_2VJIkB-It-AlQU92Q8q6P0EDGYtaLzcnDWS0i3gEs7aZTwGD0jaH_RZFndoU3dE3KEqv8vHuy1FGAxpmuog-kY0ReplZZSmSt3JU2rDi0oOFXbmR7LIF0_lJtMWCcrVWRn6V37EiSTtLDfYpVIkhPb5JobZTFmD5_nwbZDTmp3bTFInQ5A9Kh6PPAgsrAJObTFJyoZrQgATJ9vNOzRywcgRnvxGBdzhHW8PHrESfAsMUKy53CJEB1GOeyAUeyfeGtHtywEWWzp4L0TXdw02hhDcBk86ynrSyQCUWmrVOYDksH737dHXB2gGa6_IHxtLtuJ7KspzdJs4eEw3y6duH4ZK6aJA-PTW1sciHDgVA9AQ46JshuooRE5oWZ2DP3B-FAtvnU1PC-G8j5B02LMcz8sljvSi5_msZ6btpoBhEFh-SYCa1lJKGj9PrRQdE_ZX4aYLPUgu9mo-PnoYpf0FCLVqbb_GoeLHnAXwzvtIXmwhqFpeThp_c1WACUjkkLy-x4hRf-Fo8QoxA==",
  "id": "rs_0c852bb35cf55c9c016ab41fc1217487d0af35622e4c77e9d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The left gripper settled with a small but definite opening around the yellow fruit. I’ll lift it clear of the table and check that the fruit leaves its original spot.\"}",
  "call_id": "call_k6lxYobd2rkyJUkDYxNRITv7",
  "id": "fc_0c852bb35cf55c9c016ab41fc17eb887d098a7c34e81e8786b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k6lxYobd2rkyJUkDYxNRITv7",
  "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]: [-0.9756, 1.5799, 1.116, -0.469, -0.8558, -0.7151, 0.1973, 0.0437, 1.298, 1.2156, -1.0672, 0.0837, -0.326, 0.9965]\nstate[eef_state]: left_x=0.326 left_y=-0.2371 left_z=0.1708 left_yaw=0.0669 left_pitch=0.0133 left_roll=0.0852 left_gripper=0.1973 right_x=0.2987 right_y=0.0019 right_z=0.1814 right_yaw=0.1656 right_pitch=-0.6073 right_roll=-0.2448 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -9.1829, 8.6769, 1.0427, -0.4127, 0.0415, -0.0513, -0.2256, -5.0393, 5.6684, 1.1209, -0.0073, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9200236fa2cd283584631085bbd4075df778892b061810e210fba836f549b65f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6109f1d720741360b57f6e1814a2775f3ace0fa3a432068f314c6ee22b757a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e429a382f6b0f280e0803433d531e36693bb0fc37ab7e425100db821e7719700",
      "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 · 3.645 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8806, 1.7042, 0.8181, -0.0391, -0.6617, -0.6411, 0.9987, 0.0437, 1.298, 1.2171, -1.0676, 0.0814, -0.3222, 0.9965]\nstate[eef_state]: left_x=0.33 left_y=-0.2236 left_z=0.0546 left_yaw=0.0007 left_pitch=-0.1125 left_roll=0.0503 left_gripper=0.9987 right_x=0.2989 right_y=0.0023 right_z=0.1819 right_yaw=0.1654 right_pitch=-0.6054 right_roll=-0.2406 right_gripper=0.9965\nstate[joint_eff]: [-1.3744, -5.2171, 3.2479, 0.8767, 0.2808, -0.4615, -0.0171, -0.1983, -4.8752, 6.3385, 1.1844, 0.1587, 0.1245, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9775, 1.7947, 0.8089, 0.0574, -0.8581, -0.7071, 0.1977, 0.0437, 1.298, 1.216, -1.0679, 0.0841, -0.3256, 0.9965]\nstate[eef_state]: left_x=0.3235 left_y=-0.2343 left_z=0.0499 left_yaw=0.0621 left_pitch=0.0169 left_roll=0.089 left_gripper=0.1977 right_x=0.2986 right_y=0.0018 right_z=0.1815 right_yaw=0.1649 right_pitch=-0.6077 right_roll=-0.2449 right_gripper=0.9965\nstate[joint_eff]: [-1.3744, -6.0239, 3.8222, 0.9304, 0.9597, -0.5788, 0.7497, -0.1162, -4.9162, 5.9145, 1.0623, 0.0073, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9756, 1.5799, 1.116, -0.469, -0.8558, -0.7151, 0.1973, 0.0437, 1.298, 1.2156, -1.0672, 0.0837, -0.326, 0.9965]\nstate[eef_state]: left_x=0.326 left_y=-0.2371 left_z=0.1708 left_yaw=0.0669 left_pitch=0.0133 left_roll=0.0852 left_gripper=0.1973 right_x=0.2987 right_y=0.0019 right_z=0.1814 right_yaw=0.1656 right_pitch=-0.6073 right_roll=-0.2448 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -9.1829, 8.6769, 1.0427, -0.4127, 0.0415, -0.0513, -0.2256, -5.0393, 5.6684, 1.1209, -0.0073, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9200236fa2cd283584631085bbd4075df778892b061810e210fba836f549b65f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6109f1d720741360b57f6e1814a2775f3ace0fa3a432068f314c6ee22b757a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e429a382f6b0f280e0803433d531e36693bb0fc37ab7e425100db821e7719700",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_GZkUZh6KPdk7LBBmfX_4g2z5xXbZW-XRIbSnu806xUJkq-7vEzulV3xUWdB4u_8VNXVGN7cwQIrZ66vp7lg4ZkxFJTP79Z_r0Fnt6zfotkWZCaAS2zNrERkHOBxKRXxh1-8ya68rliJ3swvFWGfg0YmTb7DV9wgXnLq1IWM9zXkIkNp9JmgqikPRAXXBy0wu8F2XvGpZWryWR7mh3jls6ZQYiGBSGMtciYA4SEtUWAYRtcHnIUUSNNM9JHwLn5FpikI1WdIDUJMyz7xd005fnxC43pWT0s36LCKDDhz4LiTXfQmU8BU2pAge1L9XoPmBiDIEq7qIzhQOjh2-zDMl-LDtjHFNRMAm6sY-0bqVudPaIHCGzQsbKKWnvq5XBjDvyeeQKhaMihtBQGhSrwxkJ6nNY7HQGJlwtrtv78_7TzHgjZT2K_pVr7OkDXsjWzmTPr8MrmesCCD-8BJ0vJSoyJxI9ACg1FkJz4UB51Q2iY12NfMmJT8-G7LRbNir0H4p_CTSTdZpKTEpAg7UtoKrujchEXcMr8Le-EOjfJzM4Fw9PO9k7OYp_HpOCJp9HoWsq_xDdOIhexOx3YFhiM6NVHmrw6kSMBxxghDkuiWH2Bg8slVRtjgZ7_YF_B1dc3fwhv3ggWlQ0wz34J4yQF6ER3cvfhgAusrLDjgWoG_1sU3sx2s6mDAPKQ5Ig3XLjGoyWXCAa_8U7fQZ2FaOG_R76pZud1B8_vFKERSYUOwlFIpL_BBnY-2IogMMn8hh-5hO4Q6L8sQABOTdKAqkgHysQH_r-ENdW-z5UozqPYmzho1_TByO7qIMUgd93QEqEprh-tYvffA4e1DJeYfT24aCh20iNRkL736YhkME2c_0ZVvVFzVG0XsrOsSBt_ID0-_HEsUlG5--L76ttAbyjYa1I0au94OXiQEYb-NMUcMARnPJi6Vo1N4j6-wLvl3CyiOAVjPG2ve9FN46UEVetWGCO4xq2wzDft4dB72nWrhgKiMlzJKJdNDVKxqt00xea8KY7yhdVCuJiKmes6atuWT3fw3N1O-mE9DIkMdohjFuC3z78UgrdlUzzMcPNJPD0nKQKp6CgLd8b4QZVyIaZd8i1F91s_oBTdQWuZDCX1vCY8GO8OOCUduqM8JTGncXtagpsu43yBJOYkrzsb6eIOddhkkRii_XXw3pQOKeRNcV_9hVeZIiGDjmN8MMC_B3DSNqs7sWtCtx6Vz1cPqL1ySUQLBEgo5W3F4lkzBHzNomFrMKkrtJGMAx7Tg7wGGa3xytSJEl0QMFNBGbRIYNSb6d-gMOjowhqd56PHmCPg3pr4-BIt3uxMt2fVY20asIdpAmFOnD8m1mpqsXeF_nkk8ipv85UsMZPqZ-cNJW5s9jQ3ewDbvWUgXTqy-UKnsy_uITSa7qNDXX7oNCnF4HJri6aFLKe9rYyMnkGQzxhfnO16PpZl4cwAGmCJWC7-GjqUX-BZHLKfAkU6otiM2Yfo076TByo7awKExfky3B-L6shZKJQ3b7j1r6lgywVdMbviSpNRRdtXeHz6p76LXGb5k9Yw_WAK4kgC5SIoAfwCGhv5jwec8OfRMpqDOq476o1QR56oi0xcD8XNuaiWT3HhXbnIegD5bjphHjcxUvM-R5mT9fOk13Oyrbk5uSib3MmoL1zowV3LbrAhkwMx3b59R76MnwvnML2vl9MiFc5pl9ImAtr3pGe3sofZ0U2ZyjnUiMzjW8Ne_9bZ7A3JL1thCORrK9lpzx2ITl6Fl6OiXDseASi9ai3RZA7GelhAue-Ees2osmj8wvtvkBLOx7H_rn1C60-4ktp8-hIL-dX2Zl_SSO6rvduP1JHGXdECbdCgFMZrRpGGvPGsa2dPhwMgU7tkxcl3Y2azrzakcyxK4JhDZwjaYM0B14k_jRNa7pEQ-iAwwXcpqSnWmx8k9LDUpK304k1TjfoJpcT4gC9BKmPAQ4=",
  "id": "rs_0c852bb35cf55c9c016ab41fc44bb487d08bb4de5842c805f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.32,\"left_z\":0.19},\"note\":\"The yellow fruit is no longer visible at its tabletop spot, and the left gripper remains partly open as it lifts. I’ll move it across to the blue bowl while keeping the right arm parked.\"}",
  "call_id": "call_4dv3PMgzzOLOSNpNAHLoBp1F",
  "id": "fc_0c852bb35cf55c9c016ab41fc5f64c87d0862d7f1c600a1c22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4dv3PMgzzOLOSNpNAHLoBp1F",
  "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]: [-0.9012, 2.0113, 1.692, -0.5541, -0.8124, -0.6521, 0.1972, 0.0437, 1.298, 1.2121, -1.0679, 0.0807, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4181 left_y=-0.3158 left_z=0.1841 left_yaw=0.0814 left_pitch=0.0134 left_roll=0.0701 left_gripper=0.1972 right_x=0.2979 right_y=0.0024 right_z=0.1801 right_yaw=0.1691 right_pitch=-0.6111 right_roll=-0.2408 right_gripper=0.9965\nstate[joint_eff]: [0.6085, -11.2615, 7.9385, 1.0232, -0.3004, 0.2076, -0.022, -0.3897, -4.8615, 6.2564, 1.0818, 0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553a85059dbdb10aaba859baccd8e18da239404d2f1457ba76f92b3f441f42a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4114077217dee60c09fc40bf8045e7ccc489351e0e29bec5c9f163a40de3b32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2af5697ed84530467adc654b9234a54c55de511e9896dcf3f9988a242bee41e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.238 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9604, 1.7817, 0.7967, 0.0254, -0.7292, -0.7059, 0.9987, 0.0437, 1.298, 1.2171, -1.0676, 0.0834, -0.3229, 0.9965]\nstate[eef_state]: left_x=0.3152 left_y=-0.239 left_z=0.034 left_yaw=0.0019 left_pitch=-0.0879 left_roll=0.0599 left_gripper=0.9987 right_x=0.2989 right_y=0.0019 right_z=0.1819 right_yaw=0.1639 right_pitch=-0.6057 right_roll=-0.243 right_gripper=0.9965\nstate[joint_eff]: [-1.2376, -5.6957, 5.3675, 0.9304, 0.0464, -0.4225, -0.0073, -0.0889, -4.506, 5.8598, 1.0916, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9756, 1.5799, 1.116, -0.469, -0.8558, -0.7151, 0.1973, 0.0437, 1.298, 1.2156, -1.0672, 0.0837, -0.326, 0.9965]\nstate[eef_state]: left_x=0.326 left_y=-0.2371 left_z=0.1708 left_yaw=0.0669 left_pitch=0.0133 left_roll=0.0852 left_gripper=0.1973 right_x=0.2987 right_y=0.0019 right_z=0.1814 right_yaw=0.1656 right_pitch=-0.6073 right_roll=-0.2448 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -9.1829, 8.6769, 1.0427, -0.4127, 0.0415, -0.0513, -0.2256, -5.0393, 5.6684, 1.1209, -0.0073, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9012, 2.0113, 1.692, -0.5541, -0.8124, -0.6521, 0.1972, 0.0437, 1.298, 1.2121, -1.0679, 0.0807, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4181 left_y=-0.3158 left_z=0.1841 left_yaw=0.0814 left_pitch=0.0134 left_roll=0.0701 left_gripper=0.1972 right_x=0.2979 right_y=0.0024 right_z=0.1801 right_yaw=0.1691 right_pitch=-0.6111 right_roll=-0.2408 right_gripper=0.9965\nstate[joint_eff]: [0.6085, -11.2615, 7.9385, 1.0232, -0.3004, 0.2076, -0.022, -0.3897, -4.8615, 6.2564, 1.0818, 0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553a85059dbdb10aaba859baccd8e18da239404d2f1457ba76f92b3f441f42a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4114077217dee60c09fc40bf8045e7ccc489351e0e29bec5c9f163a40de3b32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2af5697ed84530467adc654b9234a54c55de511e9896dcf3f9988a242bee41e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_L54xqwP66jRpXZ7UYqEIW-6JElzfhqlhwZC1dry8m_BFgDAEy-8nsY-8q6D32tsqvPT6v8z-8ZrRpRXZNpnLgD1TFfTFiZbG2PU4x0KmDTUsscxjidTBQAn-gOm4xG4uWPZGXgoDN3IPY0vzEoA-EaBmH2gdiS3VUXRkWeX4Ixl51ReuXB__ScIFcKU6q-LBewUYoRlPhBiybBHfPGk7-JqEiJ6NfJ3QN0uelCtswBMj1cH5sei2e15Mcw6QrHzCT7j-NRTuzq0sZ3IiEeTYmX4xueSyvEjWp-o44IMGFYMyacy4v0WEFbSJIlmb-44ii0cTlSidFxiE5h8O0dMFWFS1luxU1G9Fzo92PF0NSY4R_89meztvqWEF4rzNvo4Ck9RMzaENB8YjVrjHyvNhjDU27dYgGbQV4OC163lVx4kMRsXfXCMtKi-oCL1vmHhokKBn7Se5Ef9TrZGgZfnfendIE5SHygQdENUiEH3X1b6rVqQc-qjARfdvcn_jkBskYX5cHICxKdZnrcFaIcpuCeLh94Ok65x9nk7GXqZXhWfexSdHcu76T5sdLmt0c4KxGHf9ESzjh9mxKMkBRUzdXQ0hPf3xhI-lPi_ATV4WZDNlBvJjWN34aBVQIWGKuMfh6ZdAedWugQMq3oYahCWrSwI5tLGf0mqqlVyqA8fGjDO2CQX81wfIjAkHYlMmLTmEtZCDl5FaBxMkZQalnhClwmMbjSFH9sNg2ZiTPmMQyQKsakVvOtLDF03SK5GVD1CZfoyWWgFl7O8diKKBCPBda_J2mHk9wwRlhkmNnl73fpkglApRQFraB9S__2d4MOvBfHCZCH78qE8ZEWI87Jg1Qy3baURt1keCc8dscQDYYLNbnw_1k4xetgjXyFosBYxaPjU9wW7A5EEM1qWph3Qxju4a8wi6-eybR5hLiT6s_573hpyu6H7jydy8F65w-TaysQ36IX0bhNSh7RrpW1YGft0UtRqDQ2ihJXCYHSljoGQCyAl0bG11yeDEE1de0A4mx9Wo9hNhnyLhd6L0WWJ92qW7YvRtF95fBV6h9NgxERFty4Zboi3_XVU7QEpHK2gjnsuEP0gTa56O2WKz26bTwtISz88lsxcZXrUjKGA_8soWQ-muQmYWU4GhSg36yF1pDIT04Y04TFKdMdJGnGYMkgXoFPXZuzCpuXQZmmp2vsHZobZ4cqxmXHpMrLPu8UOQ_M4qxPjphysJUOgC628CFc1L0eGOnIm3sdNCrLDc5KhRBvXGD-AF9kNMhyeNtSO6VjhwdM-1a6nVHdszi7SAxltjOou9lfGz4ksoDqYxeylqNCbsSlnZ9rfgDNpH7OJr6R10RhlWKJUZCE1a-_hmvo_BJZBDdtqrh0Xw6l7z10EIBj6owzncMm1s2hy75l28t8mh9k5YbKpR4h8PCBW_XvVcN2uPm4CGWQV0FIm9aLC5u9HIrIsV8XsQXB9iPRZPb_pEg5hxpDnMJYcMFo4Cq6tejcDDPiY9e7ZAhpnqZ7HGUx8khMtzQRJcg8QVDveqGnoF1Q6pMqrg5d5ZpleK9yMjlP2lXZvjHEBfYGUaiJPank5LGSZv_3mku-JdXMqU2URbT-fVdQctK7ZNNg2dvpcXoO6DOIjbjuJcLbfFWzyRMzgp0EVmnljIRk5M-6etGXbeGvDAsr4hRWVD2mLFpnJyiZsiI-5R7DBQ60B6bxjuL5LRn8SMiwWuPhrpK5HKAmYj03JP_gq7PbyVwBXxO7qEm53mDYVQ5IJVg3ta3-S9NbG8bzD0w2ZBvisu-aa7VxLr_a6U2rpmK21RQ-ehZP1FrYcYrb_8gBdyNjspD6Ycpm2OIpc_bAgQnDIzbS0hTgegrSnAjtgNU4Z2f1sSUSgR5jNcK_AUHomIfq7mqVXnwBb17H6mILyDlj6uOCcJi4kz4wG_KM76ijp_BmJbgZXXT4s6d0K9fFwXVIJBQXRx5qsy0nQg9cata8gt6QeSTOMr9yHvqQWY_vNb6d2RWOzeOFKo54HYGTUwbG9sFwrVn3wJflUVyRt35dUOZQvMuPQSXvVjYm9uHqgZnc7FP1OCF0JtcvSiwDac4TQ1jb4o=",
  "id": "rs_0c852bb35cf55c9c016ab41fc88a1487d0b5657dea5135e5a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.23,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The yellow fruit has slipped out and is now visibly on the table below the left arm, while the other two remain in the blue bowl. I’ll reopen the left gripper and approach the fruit’s new position from above.\"}",
  "call_id": "call_eJZPBSiHCe5fuY9z6Eo2ujtD",
  "id": "fc_0c852bb35cf55c9c016ab41fca3db087d09fcc3831f506dd43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eJZPBSiHCe5fuY9z6Eo2ujtD",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1324, 1.552, 0.939, -0.4984, -0.9104, -0.926, 0.9968, 0.0437, 1.298, 1.2045, -1.0672, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.2692 left_y=-0.2372 left_z=0.1243 left_yaw=0.0526 left_pitch=-0.0144 left_roll=0.0885 left_gripper=0.9968 right_x=0.2967 right_y=0.0024 right_z=0.1775 right_yaw=0.1701 right_pitch=-0.6179 right_roll=-0.2393 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -7.3231, 6.5026, 1.0525, -0.7399, -0.188, -0.1245, -0.2256, -5.2991, 5.9692, 1.1795, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:007651ca95a60b0f55f3e8708002c364aaf81d24a02fe1c123993bb7b3740bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91f5879598601cf302a2729dda6332b2d846e5eef8eefedbb98360cd7699464",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae55a7b854cf9c0277252c176bfb36ce8f51411e3874074c72fd830ca1588e34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 2.138 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9775, 1.7947, 0.8089, 0.0574, -0.8581, -0.7071, 0.1977, 0.0437, 1.298, 1.216, -1.0679, 0.0841, -0.3256, 0.9965]\nstate[eef_state]: left_x=0.3235 left_y=-0.2343 left_z=0.0499 left_yaw=0.0621 left_pitch=0.0169 left_roll=0.089 left_gripper=0.1977 right_x=0.2986 right_y=0.0018 right_z=0.1815 right_yaw=0.1649 right_pitch=-0.6077 right_roll=-0.2449 right_gripper=0.9965\nstate[joint_eff]: [-1.3744, -6.0239, 3.8222, 0.9304, 0.9597, -0.5788, 0.7497, -0.1162, -4.9162, 5.9145, 1.0623, 0.0073, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9012, 2.0113, 1.692, -0.5541, -0.8124, -0.6521, 0.1972, 0.0437, 1.298, 1.2121, -1.0679, 0.0807, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4181 left_y=-0.3158 left_z=0.1841 left_yaw=0.0814 left_pitch=0.0134 left_roll=0.0701 left_gripper=0.1972 right_x=0.2979 right_y=0.0024 right_z=0.1801 right_yaw=0.1691 right_pitch=-0.6111 right_roll=-0.2408 right_gripper=0.9965\nstate[joint_eff]: [0.6085, -11.2615, 7.9385, 1.0232, -0.3004, 0.2076, -0.022, -0.3897, -4.8615, 6.2564, 1.0818, 0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1324, 1.552, 0.939, -0.4984, -0.9104, -0.926, 0.9968, 0.0437, 1.298, 1.2045, -1.0672, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.2692 left_y=-0.2372 left_z=0.1243 left_yaw=0.0526 left_pitch=-0.0144 left_roll=0.0885 left_gripper=0.9968 right_x=0.2967 right_y=0.0024 right_z=0.1775 right_yaw=0.1701 right_pitch=-0.6179 right_roll=-0.2393 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -7.3231, 6.5026, 1.0525, -0.7399, -0.188, -0.1245, -0.2256, -5.2991, 5.9692, 1.1795, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:007651ca95a60b0f55f3e8708002c364aaf81d24a02fe1c123993bb7b3740bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91f5879598601cf302a2729dda6332b2d846e5eef8eefedbb98360cd7699464",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae55a7b854cf9c0277252c176bfb36ce8f51411e3874074c72fd830ca1588e34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_PvshChpg-KNDSozgBX5Vpz55LOSPhx-WNzmX82sCjD8O4kX1jtOVGG0jR2S7Ks_7cDUOwhorCzJMlrgE4py1sWK9BeX3W4Se0Y7SJZj8twuviTxxks18dWb2K1GdwQHvNBiSpTJeQzNeMCa79o4Mx5Kj3wb_5zwzokN90MqW-9hu6Vxw-Px9q3mNIQtlqM3e6t2GE0UCYuikPZxKHt-T6s_gzsTdsvcar1KVsY-WPq22_Uj-v0Nsor5dMbgN2Vi3buXSfCJky64sIYC-yyRXD0xsbTORnZ5SUxpWWFNe48vRWkSqEFKZT1KxBcwU6ytiKKYN6VwepDAEsKMtNtNY84Cs1M4W44mjNMiJOpf-LrkrnkvQKrJYFhkxpQ-__sPPD8xeE_ybY8M72z3WWOTDMGVjRB7BHmNdMXUM8hYqgt4FgzfSCeIdNTE_WipCVscQX5pZ9rO1o7WK3wwUVD6hvqIQAu5v3Qegz3zk1Fk6ZUkiay2Q6z7RmW6tD3VPHjIEcjlP4yrZsqEgFiycc3KSfZvFztZJzXcNN1XGEnCR1BKPqfpN4rk-Ubloje-oqJ5gaTvPfvkRHfQMZ8MnnQZkNeM_4U9-PrNozMzXdN4U1HIjt42B-CVilcFGUSchmvDtwXydaUseHaNgE20gGrEIf9Ns4ijB5vezrmmTWIug7v7wUd3bnj35vKTBO8vUsvKvulgmJe1ztX7tCBzj6Mj3Dwzqmq6B7nJY3CRiTmC4t6F22AbZlRJmJLnuG6MCRzuHa8Wcl9ztOWwSUd6Cj8CGErL8cieSuKfueKoVzDZGplgZFUpzAc89kkVh3lXVty4jnX8KRgSUgZs1O4xKWJq8IqwOKGxIsRpUoLGzzLt3WpXDIy-3DK9nKyMZofB-vOu3gaokwA-mH51aU4lkJKSZhgaSOyixNS7q4BDxejY5e9ccaemt4AN4SYMaTS3SfNVeMRwKZk1XT_ccGHzW8xkAKf4O5kxgEyk8y92kU-k9uieJ6u4nCuaO7quprDo-y7bUBHEvJLjExffV-rm4uEv-vSnoLzkq-91qAAf-0j3WLci5yeXwXtu3hvBe6mfTlM9jvHLHgtloGyP5K0KgdR5f2Y07k7re9HX7KPA4P5gg2bfvZHJwVrBnma_kOkwLrzZCbSRaWT2Nb_CdopEodf4PXohCdizqFTkQxPBsYL7DvsZH2ylL07iMWyquSC7rnahkonrG2SSR_bYLVDCGxNN4F_h36A7SjHf3NVrzOe0rENlSXUyR4HkEnVumHIKWXZ4XLCByuHPeqNwVu0XzvfgG0uOIAkDMNgkJ_d5FGS8QxGad_qkEMfzZiMyVJoFgNn4_xKuTHQ9VHk77egmAQokOXZvzS6wzJeV_pHwrvs3mt1SnIa1RUNqL-6ilx5aWw6MPxTcuUVnzSUmRTxb7br-zrRm7W87JWolytpUenu6rw7OVomwFH5CP0w2Q2iQC1gf-vfbd5Xo6JAdVItW19lVr3aKKHivzPOOFhaT2BD6Hu8wxCXnyRaTiknzHPyNp5pCxLUWmWFNpgqTCtGREdvaIprXqTSv5qZY_A-gGCP9aRqWLrUXIJphZeZ76OKzmbbRbj_Ppanz_vjdLoe7jYMaOxvpf-LYIGfyhzK0R77B4Jc_mS8kwNhsd0g4WxCh3BjJ7GbWBKs1Sqxvawo18jlKmR4640MoFu8PQgD6pyZ6YvO0Ubj1qp2YP-4las0TczPstcRtckqt---qgWPmwogxzC5lg-3hBKvBj-Xgk1RIN83ezlM7n6-dEdksi-0kVIBiBFBR0zjKkZek9s9N6fVY_KyrLu0WQ4PtME5sQPSQ4DteM=",
  "id": "rs_0c852bb35cf55c9c016ab41fcd700887d083000b478057c949",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.242,\"left_z\":0.012},\"note\":\"The yellow fruit is clearly centred near the bottom of the left wrist view, away from the white bowl’s rim. I’ll lower the open jaws around it for a cleaner grasp.\"}",
  "call_id": "call_sXQiPtxndSDdt4ze2OnokVJy",
  "id": "fc_0c852bb35cf55c9c016ab41fceae4487d08f43f8b187cf83aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sXQiPtxndSDdt4ze2OnokVJy",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1461, 1.8282, 0.7444, -0.1009, -0.9047, -0.9504, 0.9973, 0.0437, 1.2968, 1.1912, -1.0595, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.2626 left_y=-0.235 left_z=0.013 left_yaw=0.0516 left_pitch=-0.045 left_roll=0.1345 left_gripper=0.9973 right_x=0.2958 right_y=0.0023 right_z=0.1739 right_yaw=0.1705 right_pitch=-0.6224 right_roll=-0.2386 right_gripper=0.9965\nstate[joint_eff]: [-0.7453, -7.5282, 4.2462, 1.0134, -0.5348, -0.0952, 0.0415, -0.1709, -5.6957, 5.9966, 1.1258, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fca15682b4c46cc50266991c91c87b9d851e72493199c8710c99f0936444a46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e671f11913545c6409e2e10b2fb5a40a4a9ba23c71b1b4549919b9022512d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f21d73e4f388b0bc5612e3ffefc6e1c2b2186f3c3306431d982c378c331579ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 2.377 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9756, 1.5799, 1.116, -0.469, -0.8558, -0.7151, 0.1973, 0.0437, 1.298, 1.2156, -1.0672, 0.0837, -0.326, 0.9965]\nstate[eef_state]: left_x=0.326 left_y=-0.2371 left_z=0.1708 left_yaw=0.0669 left_pitch=0.0133 left_roll=0.0852 left_gripper=0.1973 right_x=0.2987 right_y=0.0019 right_z=0.1814 right_yaw=0.1656 right_pitch=-0.6073 right_roll=-0.2448 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -9.1829, 8.6769, 1.0427, -0.4127, 0.0415, -0.0513, -0.2256, -5.0393, 5.6684, 1.1209, -0.0073, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1324, 1.552, 0.939, -0.4984, -0.9104, -0.926, 0.9968, 0.0437, 1.298, 1.2045, -1.0672, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.2692 left_y=-0.2372 left_z=0.1243 left_yaw=0.0526 left_pitch=-0.0144 left_roll=0.0885 left_gripper=0.9968 right_x=0.2967 right_y=0.0024 right_z=0.1775 right_yaw=0.1701 right_pitch=-0.6179 right_roll=-0.2393 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -7.3231, 6.5026, 1.0525, -0.7399, -0.188, -0.1245, -0.2256, -5.2991, 5.9692, 1.1795, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1461, 1.8282, 0.7444, -0.1009, -0.9047, -0.9504, 0.9973, 0.0437, 1.2968, 1.1912, -1.0595, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.2626 left_y=-0.235 left_z=0.013 left_yaw=0.0516 left_pitch=-0.045 left_roll=0.1345 left_gripper=0.9973 right_x=0.2958 right_y=0.0023 right_z=0.1739 right_yaw=0.1705 right_pitch=-0.6224 right_roll=-0.2386 right_gripper=0.9965\nstate[joint_eff]: [-0.7453, -7.5282, 4.2462, 1.0134, -0.5348, -0.0952, 0.0415, -0.1709, -5.6957, 5.9966, 1.1258, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fca15682b4c46cc50266991c91c87b9d851e72493199c8710c99f0936444a46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e671f11913545c6409e2e10b2fb5a40a4a9ba23c71b1b4549919b9022512d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f21d73e4f388b0bc5612e3ffefc6e1c2b2186f3c3306431d982c378c331579ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_SU0ALpge1gs81VByPgPqI8vdvcddosY_uy-gObW2AsG0vFlS9YCU9A42QJfPdGY7bwkAJ8U1rml3eBx4iBNJpguWDpEUyRgK-h1xefPWfxWhwcv_kn7sLSF7-tKzZVniNP3hpr9LX4Zwvztdu3ygehevytBqg0y3wKuIQSGL9FYCfxgQlfd0TgeW-PQsBhC5D_4ppkj0J-TN8IiCfvAZqwReBdh-6VuHiPq4NBSuf7uaf4o7cEKYN6lh5PbHFhoUJIaZaGZCroSQWBC3h838-5nG85G7MKAwuUXp2HTlyWH2Wl0lObsVkPNGvwVsL1J06XsW8KUE8mOYE8Gbe9nieyGgksSWc6zva5dolHews8yK-sMJtwalk2nxFcarUAlJyt_Q1CCNvIgBXOv9n08iAnh6WQAANJBxC4OdyljtM6lUNCL25_ZX0hc9Bc7Q_MhDY-zvl6MV9ZLlJAg79UdIiZnVXGpwIhQZofLFoxswEW-Afj6m4_RpSCTWuHdmTnXGtrMGSDIbTXw0TCM2d95mkXwL7qo07zn8Gm5M0kddLhLbHLJTn4D9WHayWc0P5VY6yAfaMFbontK9R7cexmaqMe1Z3o7GkMgys8ds2bTfblEVAU5hIa0VubzIUF2IfkiN6Ld8wUJTPL4_0aBvbQldEM2n9tJoxv1GeQLPi22zEXe0kOSyMGszF48B7ok3FDh-6hmkzILuKUbQy_g_HGcuGSVRbeGB8GMqUsmPdAMmzmPuN7VAS-rPWdreykeX8coNZMpP6Re6KqAZ6-FFRGZp1GiTABMR-Hmg3MSWezGr6wNbM4NWWh8CXXu3zQ2CzoCO7YuT1m4z0nNrfWfwfYc-NqP3IBwFnfPEHuN2rjzIEQmiOPPo22y_PO0cYSHzQmrMzWBn23UYvDTTLohR32DCI_cJ5qNB3LReIIFq7j787tpLCcnKS9NQ7x_PXiwMoOUScS86u4-K_AuZ4tSbvwxIkXaUVbMPRunGKUQn5QIfp07AksF50zUc_Q4FfJMYpC4OMytMk7gRICXJYYOcNgDVMQwXUEM58dxu6rcy6H-Ebtbu2U0SDCoskgENB9jQCIEcPjMaTkn2vUUg6ocBxcpIqj3Yv3EKFbNh7-SPvQOAw-kB1ZyejogCnxlS7gIlnDxHoYI5GzIXQNwsMq_DJuSxRxnoZ2zJQ_-OyTS3nLkplJ6bAC2haqkObIAwp8UHqXAyy8niMYAoFNgxEv6oC6MaAKp0wGhbCMBAXn5vRtaGBk2Mw0Q-NyAOa3qnw605c4Uwdve-RO7lKBiSt8JdxGfQm2ZyEqf2yTVnQctOFEPCnf0Aj8tHbsCtgz4OKvFakHj1dw9Vk8ib3DmxBnpWlS5JVcxM8BIZVSevoZrLmxMGYXcK7-7bQkjpODVtRoySbDqKc",
  "id": "rs_0c852bb35cf55c9c016ab41fd1637487d0bd89e0f9a9ab516e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At table height the yellow fruit is between the jaws in the left wrist view. I’ll close on it and then test the grasp with a lift.\"}",
  "call_id": "call_D2m7s50NMVIPXkKG5V7ALzGP",
  "id": "fc_0c852bb35cf55c9c016ab41fd1ddd087d081104bbc4d57d43b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D2m7s50NMVIPXkKG5V7ALzGP",
  "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]: [-1.1481, 1.8477, 0.7357, -0.0933, -0.8978, -0.9504, 0.3514, 0.0429, 1.2919, 1.1728, -1.0485, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.26 left_y=-0.2326 left_z=0.0047 left_yaw=0.0481 left_pitch=-0.0584 left_roll=0.1513 left_gripper=0.3514 right_x=0.2944 right_y=0.0021 right_z=0.17 right_yaw=0.1704 right_pitch=-0.6247 right_roll=-0.2378 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -9.1419, 5.2444, 0.7937, -0.5397, -0.022, 1.6093, -0.3214, -5.6684, 5.9282, 1.1258, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7d1f6a56b1dcb469f759d408a8d569ab5d5692b30581822ce535e6a0d8b3d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:865148b3d6cc2b723dc5d2a3c4ea331ca28c5d9c0055eeaa2a7a281e421e4822",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6251171fe8290fc3e9a275dea926cb2757c5601802b8c0f905dfcc2d05a39e9e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 2.803 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9012, 2.0113, 1.692, -0.5541, -0.8124, -0.6521, 0.1972, 0.0437, 1.298, 1.2121, -1.0679, 0.0807, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4181 left_y=-0.3158 left_z=0.1841 left_yaw=0.0814 left_pitch=0.0134 left_roll=0.0701 left_gripper=0.1972 right_x=0.2979 right_y=0.0024 right_z=0.1801 right_yaw=0.1691 right_pitch=-0.6111 right_roll=-0.2408 right_gripper=0.9965\nstate[joint_eff]: [0.6085, -11.2615, 7.9385, 1.0232, -0.3004, 0.2076, -0.022, -0.3897, -4.8615, 6.2564, 1.0818, 0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1461, 1.8282, 0.7444, -0.1009, -0.9047, -0.9504, 0.9973, 0.0437, 1.2968, 1.1912, -1.0595, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.2626 left_y=-0.235 left_z=0.013 left_yaw=0.0516 left_pitch=-0.045 left_roll=0.1345 left_gripper=0.9973 right_x=0.2958 right_y=0.0023 right_z=0.1739 right_yaw=0.1705 right_pitch=-0.6224 right_roll=-0.2386 right_gripper=0.9965\nstate[joint_eff]: [-0.7453, -7.5282, 4.2462, 1.0134, -0.5348, -0.0952, 0.0415, -0.1709, -5.6957, 5.9966, 1.1258, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1481, 1.8477, 0.7357, -0.0933, -0.8978, -0.9504, 0.3514, 0.0429, 1.2919, 1.1728, -1.0485, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.26 left_y=-0.2326 left_z=0.0047 left_yaw=0.0481 left_pitch=-0.0584 left_roll=0.1513 left_gripper=0.3514 right_x=0.2944 right_y=0.0021 right_z=0.17 right_yaw=0.1704 right_pitch=-0.6247 right_roll=-0.2378 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -9.1419, 5.2444, 0.7937, -0.5397, -0.022, 1.6093, -0.3214, -5.6684, 5.9282, 1.1258, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7d1f6a56b1dcb469f759d408a8d569ab5d5692b30581822ce535e6a0d8b3d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:865148b3d6cc2b723dc5d2a3c4ea331ca28c5d9c0055eeaa2a7a281e421e4822",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6251171fe8290fc3e9a275dea926cb2757c5601802b8c0f905dfcc2d05a39e9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_VYWvJ3pkNKFf-gShhAX0Y9Ly8Q3Z2rHGAraYjWbhmX05sjoHHQkcVQPfL8C9doloYCpfzS7pCi-hPd5YGyreJi9p-87zTiXnnNWrHCyXXgBn4wwX4d0qV6wIon9xVEBaZ8qtD5p6JDxWDAwr8NngTF8NBUWqnna6bCT9V0mxXB3Uk1FXY1BtPy1Fb6y4-tUAJ5t6ANSBcctUTkgevbJex1Ufgi2xIjn_BcLIF239SfKc_jG1N5jzeeKX8CmulbJmTdODHNSo5oFz8-aVQQglzaXczTRZXojID7JTHfbACQcbqLpcHC3r-bFE3iswJCeqFMiXQKN_NsdBoMnFqz7Ywbr1ZPfR_OJPsa7dnPNM3ApjM9SNc6lNNhFZ4pghM6qIpjJk9cf8FAS-C_Jl3_tjpiJ7CWINdAEXx6mmZT6KeFvmcChsvDw6skc2oyq1gRNP8hZRDMg_ihTdfzLY2ET3MJrrZ1PXcYFX2WWvAsdZR9EoROoKnAahF98b_O7IQsQdu0FhSH63NtS3_wPsApL1IAENawt-r4WO3OZwJpf4XGSpL834rXg6AErHAQyPrhNDY7JFObUx6qDNNKm1VAv_Vu5M8NWyK1Qbdny-4vW5LU6nJVar2yTtZOJhx7yt0YIMZD9iKph-m5BRap_uLRhYsuzn0dUyeL_trRmF-4C4h8PFtFVyTwC9Gb2lc6Kmg70C2jEh6PzRGHESzk27dQUUE_5j-pEDxbpDEWyMKfo1D_cnAoJDG8QMCto2ReAYJk0g45SD8IJctlgBdgJiUtegYEETmifqCywUguXu5HLwaMxOUTEhuy4RPIa1UU850KOb-SUk3HpjrGKPSOPAhFA5AY4uhKRvkyBA9Pttbx6csdus6kW5IGp-jmVZw4vcU1WX9jOB-KDs4asne0XQMvdZZXx2UdbSyUC7uar4EG1Z6OkYo8JiDkSLvCXhKPlGXGeds2SWtRxI1zAh5-GG5Gqc-rIG3kHQWjr9XU_Pacuj7FPMyucdx5hVVNtEp667eLZbr67wVJCbjvA9RTZsWQIhk08ULYrn1YxQA1jjWtEQm01OYkiPgGTjFlxcaWbl4tcqcC4Io4b9RpSGc_tkdaBPtsAaLfSK56Wu2hGYylRJLmpbpGuruCh7jWsszsxFPmud07QJQ0iDkaUavHoMoE7yn63WxWCDujaRU0rWbJ9mNBCidoKjF_jvXr7dllWnOLvCvr8U6sLw0bLHi21t-4IDbsA==",
  "id": "rs_0c852bb35cf55c9c016ab41fd4ed8c87d090347f71ea6553eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The left jaws stopped at about 3.3 cm around the yellow fruit, a more convincing hold than before. I’ll lift it and confirm the fruit comes with the gripper.\"}",
  "call_id": "call_IxpeQeJ7hzbRM2VfjSOwOMiH",
  "id": "fc_0c852bb35cf55c9c016ab41fd5176887d0b85137ee6afc2292",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IxpeQeJ7hzbRM2VfjSOwOMiH",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1481, 1.5398, 1.0851, -0.738, -0.889, -0.9524, 0.373, 0.0429, 1.2865, 1.1522, -1.037, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.2618 left_y=-0.2388 left_z=0.1537 left_yaw=0.045 left_pitch=-0.0613 left_roll=0.1351 left_gripper=0.373 right_x=0.2926 right_y=0.002 right_z=0.1654 right_yaw=0.1703 right_pitch=-0.6285 right_roll=-0.2376 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -8.0889, 7.9795, 0.6667, -0.5788, -0.022, 1.0427, -0.1983, -5.7094, 5.9692, 1.1062, -0.0513, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9eddac98c479671a96c80056e680a2159af081b024f0a4c15bfa5a0a64c1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65678c0e6db2f320e665ce2bd81c7699e2414c43ff0118a8601e6dfa7b7365f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c732be545d73e941c88872825d34ff8ce4a253311038a560afbc335d2cfcf31d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 5.445 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1324, 1.552, 0.939, -0.4984, -0.9104, -0.926, 0.9968, 0.0437, 1.298, 1.2045, -1.0672, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.2692 left_y=-0.2372 left_z=0.1243 left_yaw=0.0526 left_pitch=-0.0144 left_roll=0.0885 left_gripper=0.9968 right_x=0.2967 right_y=0.0024 right_z=0.1775 right_yaw=0.1701 right_pitch=-0.6179 right_roll=-0.2393 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -7.3231, 6.5026, 1.0525, -0.7399, -0.188, -0.1245, -0.2256, -5.2991, 5.9692, 1.1795, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1481, 1.8477, 0.7357, -0.0933, -0.8978, -0.9504, 0.3514, 0.0429, 1.2919, 1.1728, -1.0485, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.26 left_y=-0.2326 left_z=0.0047 left_yaw=0.0481 left_pitch=-0.0584 left_roll=0.1513 left_gripper=0.3514 right_x=0.2944 right_y=0.0021 right_z=0.17 right_yaw=0.1704 right_pitch=-0.6247 right_roll=-0.2378 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -9.1419, 5.2444, 0.7937, -0.5397, -0.022, 1.6093, -0.3214, -5.6684, 5.9282, 1.1258, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1481, 1.5398, 1.0851, -0.738, -0.889, -0.9524, 0.373, 0.0429, 1.2865, 1.1522, -1.037, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.2618 left_y=-0.2388 left_z=0.1537 left_yaw=0.045 left_pitch=-0.0613 left_roll=0.1351 left_gripper=0.373 right_x=0.2926 right_y=0.002 right_z=0.1654 right_yaw=0.1703 right_pitch=-0.6285 right_roll=-0.2376 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -8.0889, 7.9795, 0.6667, -0.5788, -0.022, 1.0427, -0.1983, -5.7094, 5.9692, 1.1062, -0.0513, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9eddac98c479671a96c80056e680a2159af081b024f0a4c15bfa5a0a64c1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65678c0e6db2f320e665ce2bd81c7699e2414c43ff0118a8601e6dfa7b7365f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c732be545d73e941c88872825d34ff8ce4a253311038a560afbc335d2cfcf31d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_ZumArOPOiB8Kk6DbOX78gCd46hbU-qzNKjDMfQGDxAV9s0ELzhTSEfORis94MjFL_q_US3jUgl39iImELAvIndNHjErsZpTIB_FXlXeJ9Y_X12ESsKrPkhOjA99X5-Q60PWaE7HIwXVXe4ysGm7ihy-7cIDTotTpgkgy1Yvpmus8oklvmt4Xrn9VC3oHHy0x292LCt3GUCx0vIcYF0-s6zAuEW2B5LQjsNOSSrmpxMakLuURt2rrWKkBmfxEKZvLf3NR-nkPTXApM4Vggn196ni19xLsPCmNt1y1pQzrDYePORtwPAaxMf4MvcdQxUAb3Y_upUt4UHfys3fxtsluPdtAbvLj1f3E_ODq9iXGfdqAtBh-OBf1h1QKWhWIAsX9IbWdv-6xncrt7bnOnvDmKMp9zLobm8-KCGYqj6n1bTu8Mz7fl0vR9n795gPa_jNGnPSxknR7ewhe7EF_YJVcphpwtvMcNq1KHKEt6EK9PxvTlPaK42TRL2-9Q36XL0m_CgWTqcWytGWFR1wHR4bhIpek2jtKs7LF-kh26O8bmXRwg7dYEPt2uPfhaxsiOo5pgLRN4nqJsKBJBVQMTXFvWO6ZzgxjS3R022JNwD0jmYpSaUGTYZ0RlQx9DlCKj-YRMkLD0bP8rrR_aOQPQ2T_Gln89hhGwS50ml-RcULAZVYG4OoYtPum_XVdZm03InR3_WSU1qQIoq2FErWuCWmRU67IdOiZsO7HSuLWkvKKmnmfBz-SidbP3M9k3KiRlyldp9GmLvsYTOc5MwM-ODYEItQnlk39EaytAaStLp1wNCbHdHugNRmq93oNPH-mLkVFAnmFrQCijmeY9CgWRHmaxSN688jBgWZZFGXLW4SDn8Q1UsjfgX9X55pw4Eb6ZlJ2jeDd3wFnRDhJRJ_S5Wkx-fqtcNqe7H3FR6MI5V21SMl7oeZDHcXFbJqWhSizw5qLQgaecKh13UTknFRx-dgiFfugEuMf-ksdO4UasB0Vi1PeZCi_zHlw7LgKtkYxzPDA24udjUwWpsBqlVw7amsbBo0tHuQNJTAG74BwSVDqpAvFMSO5CACZXPgmeL_na4_WNJAwgExGu3Vj81aqfvyaLPpp5gH7BuYJ77Okl_VnjbY5p6h_bEcFSa40rM_HF7imGIegJ5Gz72lBQJiby2RiY300RsBtqzkJsNZqQXzVDYogjGLKICxDRdxJe_6O1ABVPsr380clTT8YNgeKtNewTbox9YejvkNKd13PHvb630NfUcOk03ujqpI3I9wRed98HdYmaAN_mG6hOAn5J5vrYSQ0ZVB1jGVJrBBj1oiUwH0_E1TXdyM26oHzHikBJvUF8IQ8-TaScAtnYl01PTUSorm_wb5lW0sYYzixj5T5jEQ3xYihGt-unvv8htTdmDg5BFHAjVwcrWBioy_LZ2_2jd4qHM4mu0JCG602sWZPdI2g9n3kuhfdfwtBtiVOXLMNlgIoHrqiInPjtz6cbCxQ2EOHrPd55nFtrFhvFWuw9NiMC3DcoCCllQ7RXtCM2Pm48ml4Q2KePuBtyWhsMQQQeyl_IzfQBPOQ602Q_NO-WepsXwd7BFixzpFZuwD3Qm8CFp-ypBDHVdclHFxBZUHWrMYU_cAsKraZ9cpLc-MdUQydopwdqj2tdwSExvyozk6LznGuBKqIQRttz2836f3NW0oY16E_Kx2iC1mbHRX3KHQ3djzWJxC0LbrThBq-8CCtAiH1AeLBOAK_GGyXlDUKuCkYqshw0dg3QWLksAJD73YU=",
  "id": "rs_0c852bb35cf55c9c016ab41fd7e30887d09ffa8e06afb3fc30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.325,\"left_z\":0.18},\"note\":\"The yellow fruit rose with the gripper and remains snug between its fingers. I’ll carry it to the centre of the blue bowl, where the other two fruits are waiting.\"}",
  "call_id": "call_4MnR1d50vsQzBzapFS1y11N8",
  "id": "fc_0c852bb35cf55c9c016ab41fd8de8c87d0bccc6e9594d952da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4MnR1d50vsQzBzapFS1y11N8",
  "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]: [-0.8623, 2.1292, 1.8706, -0.6868, -0.7528, -0.6197, 0.3748, 0.0429, 1.2766, 1.1263, -1.0214, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4384 left_y=-0.3205 left_z=0.17 left_yaw=0.0672 left_pitch=-0.0682 left_roll=0.1287 left_gripper=0.3748 right_x=0.2904 right_y=0.0019 right_z=0.1606 right_yaw=0.1707 right_pitch=-0.6288 right_roll=-0.2371 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -12.4239, 8.6496, 1.072, -0.3639, 0.2515, 1.0281, -0.212, -5.559, 6.106, 1.1209, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d569ca241f0ee5dd6f4c51665e10c45201d300750d6e399325be2f5a3c79a775",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfbad0dc75f9a8438d893a9f36b64092a0e7f6b6be240c8d202e5f1a7e8d7df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0b841035e9fcf2e6ba5cb41c7839b25f85d6769725cde0d419e936dcff2bbd9",
      "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 32 attempt 0 · /responses · status 200 · 3.328 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1461, 1.8282, 0.7444, -0.1009, -0.9047, -0.9504, 0.9973, 0.0437, 1.2968, 1.1912, -1.0595, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.2626 left_y=-0.235 left_z=0.013 left_yaw=0.0516 left_pitch=-0.045 left_roll=0.1345 left_gripper=0.9973 right_x=0.2958 right_y=0.0023 right_z=0.1739 right_yaw=0.1705 right_pitch=-0.6224 right_roll=-0.2386 right_gripper=0.9965\nstate[joint_eff]: [-0.7453, -7.5282, 4.2462, 1.0134, -0.5348, -0.0952, 0.0415, -0.1709, -5.6957, 5.9966, 1.1258, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1481, 1.5398, 1.0851, -0.738, -0.889, -0.9524, 0.373, 0.0429, 1.2865, 1.1522, -1.037, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.2618 left_y=-0.2388 left_z=0.1537 left_yaw=0.045 left_pitch=-0.0613 left_roll=0.1351 left_gripper=0.373 right_x=0.2926 right_y=0.002 right_z=0.1654 right_yaw=0.1703 right_pitch=-0.6285 right_roll=-0.2376 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -8.0889, 7.9795, 0.6667, -0.5788, -0.022, 1.0427, -0.1983, -5.7094, 5.9692, 1.1062, -0.0513, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 2.1292, 1.8706, -0.6868, -0.7528, -0.6197, 0.3748, 0.0429, 1.2766, 1.1263, -1.0214, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4384 left_y=-0.3205 left_z=0.17 left_yaw=0.0672 left_pitch=-0.0682 left_roll=0.1287 left_gripper=0.3748 right_x=0.2904 right_y=0.0019 right_z=0.1606 right_yaw=0.1707 right_pitch=-0.6288 right_roll=-0.2371 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -12.4239, 8.6496, 1.072, -0.3639, 0.2515, 1.0281, -0.212, -5.559, 6.106, 1.1209, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d569ca241f0ee5dd6f4c51665e10c45201d300750d6e399325be2f5a3c79a775",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfbad0dc75f9a8438d893a9f36b64092a0e7f6b6be240c8d202e5f1a7e8d7df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0b841035e9fcf2e6ba5cb41c7839b25f85d6769725cde0d419e936dcff2bbd9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_gCfd_-Sb-ggmKD11o6f09-0pEI6UhCA1uWX795qIyxvEOn4ZOUusjZfrQWpcjbks0jaKI5Th3kWGb3_iFI2vUmuIbAZiCAhC7DZ2I8zVtlYJaGXduhpqlgUBnLub3sNswrgmzW0SKV5MHcjVaxFvg1rV359J-wV_DO7itXdjm9VBKPH1idZgsonKDSWo274wuuNU-cxIhGIUX_57-WTYG7AXfk1MJw1lFLs5nvAkSPHLzNJqwzwpJzl5p-h3yBtakFOcmTkt_YUzkBktGsFyVs17E2i1kh-_f-2ee_8VPEqmnUFOyaaNv7ASvAtnwN8cPTLJmzdPfITALvRgmB_r7i-noXiSOWclLdlXdgbW4DYelH4mKzifuPFbDZF6v8qPLff_Av7CJcQHasDEACophUytHGQp6qh3h0d01AAuj5YT-RGeNjT4lgGgFZoT44OwviV36YDoM02hudfGziPRV_rKsoLF3edsl3YuaheJPYt8-rsxVFB_PR7W7EISP98zfxbEB53VxOjkMQB83tLoDKTssbZhPrT1qqD576lm66zpGCgsdShqN7dbw29So1fJtiF4DIFjSHVpq9f7IZl4JYSw9WNVfvQzQAObX6qD_eaWOJ4bRVz6Oef1UlZh0OIjOJkNPl-LQE97ME-UBeSJkCUBhdLQnLh-AsugX66YTVKgJyOwGDlv7SRImqh_SqMV12C7U7RMV6FbfuA1yh-pEe6KIKuCLlxrhneMt8djhLnfOQb7HGmLtOyd-5Ln4oE3MIadrhpzuBVVNbaH-uGLLKnT4ncf8G-6jCiy4R7aXiFemfXHjDQnmwQ0KatoSMgb47j4u4-IUDCgFlYQikOG1W4w6EuPbWQdbF9lGUCJAa-VmsNbC9s37ST736C4KOVPuNor4TkVaRTWHSthoDdjLTMgOJg8sb3PByNlnRBYbYc2m50_d5m46jbUcsGwFRbwCtx5Fhb3rdyplTJ_iAMFfCb6aXx3AkvoZCV5W1ol1eZ-09z2yqCTdmXtV8JALy1oVXrhY37l_LCRSSAQmdrfqkr_a73ZoioS7rrSN-xJVGdBJbBkDWmmH-1wXvOxkwxipF-qpNZyXyWH51Zf0B7cb2O6io_6Epz22wgkTG4EUgRZxV9xGBhzmN0jRDJMWmEhTrpKiNJjmL1tfumNEC9eig7LSIjKUUcaGjJAHkGY5RmAtQmuuNPOc2Pl_hKnKM7-PlVEi8EuWRiVUbUWtI35RMLRvgrKNrxvh4MYd4XaKQhxsdo6N3teWwl8opDqltKV_KCFiXnVtGShD0Px4525ym8lz28VZqSXa6ckDO-IeTozXIOG2FkchKoXVztrxCBXnr_Q1kAwDrDfFh8hXlIKM4VBhYVYxP9Jfey9sUtG2nvMNmP_Ics5jdihfo1HYLg92IQMa_aSDdGTkpLANMvOaEZT1hcBxKUisaI7-NspFHAssGZJtgN1rIE5wm6vKbKaWQpmyj2vYTirk-_-bEFCeK13is_Aahth_L-mXxGbiZdl-5PdmCC658kzoIt-QDmujn5uh2Y6J-W7lwV4d1W3Wf0OgjQN0DcWf6Oy6r8pM5hZwCQr59POhEmLIz2TSy2bS49wBuFHgU02QZIeEKEqkw4EM9AdkZBAc2Q7U5XpZq3SU-MB7-R-_0A7fGMLLtle-CFg-cUJ98XXxOXntYaBDjudMtNsxdnAYSwkht5f-aa7QTnaVrAYAgxAgS86-2XhkRIPe5GoCQ0kn3kJP43PWVtz44xnMbaXU9FG-QLs5pl3_QBcn09KLv06hOmwepJsV4byahVd7gWEoCzKdYyaiVEJBVK-ocjqpMkAVnEBBObVaDXVW9fVxtBkmPooIrn-MLYn6xhw5yJ0yjT_wXC5b9P3i5b_e8i5gPc6zXS91J_QweoAMEfRQGL_KP6q9ZJIPIfvkWZMLuqbpF5BMpG-zbicNPtCCoWssl4i21vxsj09ZgcA9p1xbXM2nXdfYps_-91K5eV5oWS393p9W5WcNpbi7cIEhUlMJCh750UUvC0lFJBmSteZCzVVqZ9xqOtr5iEa_Kzou1yquCaPHaSe4wTQgwxQV0wsIgc7QBg9mwocODl2Oly6z7VcUtckmVXzz-vu82-x2hBQVBSLeUJYgsIHIjSdVRJdDZ_PKGios0lOKmECDIKevbHnfa5b9PdQyVYnfkSOJwec9B6gRRyBJQ0T0yBbLEkhAsF8T77bSdqSE6HQNlobaAMXWaiAULY-Xhgeg3Xdn-NXQc88_6EuMq9LHCKskbeuPSOnRWnWGDsI6j6pksJ6OVLHc-6AlNacQrZ13RLj3RSGXtPyGp5GOSysZI6-QQmjc0btovCkSPgJ4AFj5tmzQBgdOS1zdqZQyKxT67EAlBfRoGVKR7pumNg==",
  "id": "rs_0c852bb35cf55c9c016ab41fdcaf5c87d0b71599b6f1615caa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.365,\"left_z\":0.13},\"note\":\"The carried yellow fruit is still left of the blue bowl’s centre in the wrist view. I’ll shift it right over the bowl opening and lower it gently onto the other fruits.\"}",
  "call_id": "call_JRaRHv5eoBgsalccPCgL0SZl",
  "id": "fc_0c852bb35cf55c9c016ab41fdf817087d0bb580b294cca1f2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JRaRHv5eoBgsalccPCgL0SZl",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8948, 2.3257, 2.0171, -0.6987, -0.7616, -0.6575, 0.3748, 0.0429, 1.2675, 1.1, -1.01, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4472 left_y=-0.357 left_z=0.1198 left_yaw=0.0644 left_pitch=-0.0958 left_roll=0.1531 left_gripper=0.3748 right_x=0.2872 right_y=0.0018 right_z=0.155 right_yaw=0.1713 right_pitch=-0.6345 right_roll=-0.2362 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -14.8034, 9.347, 1.0672, -0.5397, -0.0513, 1.0379, -0.3487, -5.4632, 6.2427, 1.1551, -0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82ab5e7a4e761086b55fd764801c303cd43e13b956e2d34a5264c3ec276e060b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbb18742b319cf3d71d33b28a2312ff49a3064d46f79c966365c39bb18150fcb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e17611771532b740384fbb9c3cc51e1ef489a11ad4c57e3ff248df73476c0e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 2.311 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1481, 1.8477, 0.7357, -0.0933, -0.8978, -0.9504, 0.3514, 0.0429, 1.2919, 1.1728, -1.0485, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.26 left_y=-0.2326 left_z=0.0047 left_yaw=0.0481 left_pitch=-0.0584 left_roll=0.1513 left_gripper=0.3514 right_x=0.2944 right_y=0.0021 right_z=0.17 right_yaw=0.1704 right_pitch=-0.6247 right_roll=-0.2378 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -9.1419, 5.2444, 0.7937, -0.5397, -0.022, 1.6093, -0.3214, -5.6684, 5.9282, 1.1258, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 2.1292, 1.8706, -0.6868, -0.7528, -0.6197, 0.3748, 0.0429, 1.2766, 1.1263, -1.0214, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4384 left_y=-0.3205 left_z=0.17 left_yaw=0.0672 left_pitch=-0.0682 left_roll=0.1287 left_gripper=0.3748 right_x=0.2904 right_y=0.0019 right_z=0.1606 right_yaw=0.1707 right_pitch=-0.6288 right_roll=-0.2371 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -12.4239, 8.6496, 1.072, -0.3639, 0.2515, 1.0281, -0.212, -5.559, 6.106, 1.1209, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8948, 2.3257, 2.0171, -0.6987, -0.7616, -0.6575, 0.3748, 0.0429, 1.2675, 1.1, -1.01, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4472 left_y=-0.357 left_z=0.1198 left_yaw=0.0644 left_pitch=-0.0958 left_roll=0.1531 left_gripper=0.3748 right_x=0.2872 right_y=0.0018 right_z=0.155 right_yaw=0.1713 right_pitch=-0.6345 right_roll=-0.2362 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -14.8034, 9.347, 1.0672, -0.5397, -0.0513, 1.0379, -0.3487, -5.4632, 6.2427, 1.1551, -0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82ab5e7a4e761086b55fd764801c303cd43e13b956e2d34a5264c3ec276e060b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbb18742b319cf3d71d33b28a2312ff49a3064d46f79c966365c39bb18150fcb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e17611771532b740384fbb9c3cc51e1ef489a11ad4c57e3ff248df73476c0e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_kP9LNQQ10Cp_hrW3nRu4xOueyyykcwtkePUAtZyw402nxxwLIpld8LkGbIGB-mlL1O6zJFxR2zAbnOg4U2mNsH-UANzbXJcTMbTEii7x4phRFBctNFantOS_sNFgzhyjbVBhd2XLAQInt66XljeLJwG-5DAlg3s3bkOJHx0Kswvc57qBlPgHOnvRcwF4SE5tgJItM_ngxQE1BPUFy0xMG9zndxv-m2xosiNq9YLfGwp1bBimqOZIUJZeSQIOsx8e5wSZMgJsFcyFt8tPytdgmOwLEWYuWFWqdrv0zTF1McbFeaWyp9JCvkoZXwoRgPvZWyGhMsFbJT9FoelEZ75_rpDC_23BtP7tcqE31p6ttwHA3405zQEgnORpXETcwCqSfozRnVOLzvX4_MMFExVCw85Ka9G7tlLqnjIkF2NqcQQoEQ1kVIByWhNKzwk8C8nPRqei4Er9ttARSPoFhmtCeY-Y27IRROfzRK2ySMxb1aCa10bXB0fYZXQuWDTX3p-1wDcV7CLr0NAr1DHeMEd7VG8foWT6IcG_g5KKlpACm1ILj7rt9cWozurTxp_GsqnXnRBcLFmcDrU9uAjC-3O0cQJUkCsj125VxBupcxTVJvGvtw893WnhmY-a6kXxbeuMTCLRgcbMkiv9Odh5376uO1ZMn-j-6IT24zgDeUvXOdmzYAV5KYg9CI0wZotx9WIbaIeLQ25GsOou7MvYw7D-Cxnaa1moCHFA37mnMMzH9-a_wuTxRWYXHiGh8WAmdFV967XJQJ7j9_kPZKLBrrGQG50qTdW2Uhsd1MH2IPr-p9WpraRI8ojqrgFqrma1REh38wuLYuttKDe94cbKDwFotEkGAfEX7Xyp_LvA5fk6Ji-WbmsLh6UhKc-WW_nzKxqlH2B6r70UDkL_g9G-ocDNTxJ352Sc9hft8RD44YDUkY8HgAz6JEvZwUU37e1YGPs-GnVwPofHuDxJ2WWAxBnh31ZB41IaNM8T2BH3YceMjpOfbQSgEEv_QttlEulsf49WFY17CEFn9BWaxfwSJqwQIB46CLnRJTf5a_R_JqiPuAsJBR_ndFpboExW-NZvOMd5ze0MNb5AXziKGzW14BZH7-OQud5cWP2B7wR60fmNOajpkKtpJ0MVGt-Wv3iHe-u9BV58P5zfjPdQI19pi06mMsnb3_Qip8xnVUT_uWAhcR_rDTyuWhJmX6BwoTbiuoOuseqxB536ct1XvVuh1U3TbaJ2bzOYXc9w43_F39po8rhLYciniOP2oac6HcX5HqrrHQ8L3UxqLhXExII9kjxrDReczc6sFibbAPvFufunsCOJMVIE9Q7Vq6Me18a-oSViHDWM7tVWczOr8DJEY1cP9axQi6KUU-lVfPmzwHvCpCb7_Lfv4LoJ4WGUI-iXxUNJKOq9qXFk5KTvJfL2w5p1-mF5an_MYSDK7wIMLbIG0y-e6NJt3hrf8H5kW7oIkVwHMTZy6P3hv6Jfp5IpflmCGUWS9p7VcEcaYqtbj94VIMfMKFJSQrs73wvYRmhzfr8gwqV8h0M8HOt6FHC7j0IWtUbXCuAr-1jXnQYGMp9XpRTw=",
  "id": "rs_0c852bb35cf55c9c016ab41fe220ec87d099496e76f02556f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.462,\"left_y\":-0.385,\"left_z\":0.12},\"note\":\"The yellow fruit overlaps the blue bowl opening but is still near its left inner rim. I’ll nudge it toward the centre before opening the gripper.\"}",
  "call_id": "call_qSTS3RycWUSKzAQeR8xm6VDU",
  "id": "fc_0c852bb35cf55c9c016ab41fe31c1887d0978391265c11d697",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qSTS3RycWUSKzAQeR8xm6VDU",
  "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]: [-0.9028, 2.4878, 2.2807, -0.7952, -0.765, -0.6807, 0.3749, 0.0429, 1.2545, 1.0676, -0.9936, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4631 left_y=-0.3836 left_z=0.1146 left_yaw=0.0705 left_pitch=-0.0889 left_roll=0.1322 left_gripper=0.3749 right_x=0.2835 right_y=0.0016 right_z=0.1488 right_yaw=0.1712 right_pitch=-0.6376 right_roll=-0.2362 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -14.7077, 7.747, 0.6764, -0.3687, 0.0611, 1.033, -0.5949, -5.559, 6.4752, 1.1795, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0e59546849ee32ea79cd8c950709a06840e742c89e02963b79181a885ad1af0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32d45c88d7d00a2bcd8ebcfbca95878e32f77136cfa752894a6668afcb1cef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b8a604d4bae1d7c96def216f96effc647ddc5254b7a254c2e39446e3932d58",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 10.07 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1481, 1.5398, 1.0851, -0.738, -0.889, -0.9524, 0.373, 0.0429, 1.2865, 1.1522, -1.037, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.2618 left_y=-0.2388 left_z=0.1537 left_yaw=0.045 left_pitch=-0.0613 left_roll=0.1351 left_gripper=0.373 right_x=0.2926 right_y=0.002 right_z=0.1654 right_yaw=0.1703 right_pitch=-0.6285 right_roll=-0.2376 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -8.0889, 7.9795, 0.6667, -0.5788, -0.022, 1.0427, -0.1983, -5.7094, 5.9692, 1.1062, -0.0513, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8948, 2.3257, 2.0171, -0.6987, -0.7616, -0.6575, 0.3748, 0.0429, 1.2675, 1.1, -1.01, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4472 left_y=-0.357 left_z=0.1198 left_yaw=0.0644 left_pitch=-0.0958 left_roll=0.1531 left_gripper=0.3748 right_x=0.2872 right_y=0.0018 right_z=0.155 right_yaw=0.1713 right_pitch=-0.6345 right_roll=-0.2362 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -14.8034, 9.347, 1.0672, -0.5397, -0.0513, 1.0379, -0.3487, -5.4632, 6.2427, 1.1551, -0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9028, 2.4878, 2.2807, -0.7952, -0.765, -0.6807, 0.3749, 0.0429, 1.2545, 1.0676, -0.9936, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4631 left_y=-0.3836 left_z=0.1146 left_yaw=0.0705 left_pitch=-0.0889 left_roll=0.1322 left_gripper=0.3749 right_x=0.2835 right_y=0.0016 right_z=0.1488 right_yaw=0.1712 right_pitch=-0.6376 right_roll=-0.2362 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -14.7077, 7.747, 0.6764, -0.3687, 0.0611, 1.033, -0.5949, -5.559, 6.4752, 1.1795, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0e59546849ee32ea79cd8c950709a06840e742c89e02963b79181a885ad1af0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32d45c88d7d00a2bcd8ebcfbca95878e32f77136cfa752894a6668afcb1cef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b8a604d4bae1d7c96def216f96effc647ddc5254b7a254c2e39446e3932d58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_myLavXCzeBJvi4vHTwB2sAVV__AveQ4LvIBISv1W2iHevcAwlBz8kYYr7JpQNU1EHbkFuZCsb33IeRrOaomMVU_z_4Ol6EnZoaAT_yxGKOALZJr3tBf8FT0z_2Nw6WBT-EQv1wZoLOiBf5jJPlGf6qnjegBPqwXmdBFIh9yMxIG2flWo7uvyyIz5RuMLyK5qeV_INUVieBxAJCB4cmQdaENzgae0SH5h3GnEzisCAFlJUaHFbzfq71GmLfoqVpIZDoaDfu8Sdrak52Ge65M6GEqA5MSQKdR0tIFOadw69I6QnXSFfpmPLkIxuuf8iMNiv1tm3HOLQt4g-pf5xnD_PRBF2F42NDbCN4yJ9vBTn2xH4HoeArpme8NQGZuULOM4ShWSto8amXQmqLSticq_gizFUKDZrSqlmjYcYkWZrfKaTLY12RuptibteCDuAPWou5lcMCxe9SOI7f3ORxz1sQEmySbdlyr43o6hbOz50tnz0qSE1HUHyeTxuQ3SZwaUfum_rpNE-c7NhN5fkp1Dc7TeDl35gLB59w8L6iZF2_E5H0WiklKPBYYJpKOGFoPCFucniryT0q2cj_ip7ClwI4TNmYiaR9wE9hG_bhq92nb0GIwxP0FE1hjhl2alMCC6X7s51qzM4RolwHOUNmeTndBUu3Uk99Tud4pVFfSJO2IJj3WooI22m_yRt_Wj3gSQ3gWAcZEEwx3l4DN2Oj1Vp6UDWOObcnnhr57NW-qNER2hqvzjYWol30WxiN5d1JCe7NSxU5-e52-HXdjsFrLnxguh5nAAfH03wUY5oGNVdxbO9Zkp7gGRy6gyZnVuLfeqLyl9xfPoKjPTQmSW_sj8sEve1dDc17XRFKsvwByZ2gZQMeZFrtt7xnukJNleBoxtuMQ7sfPys9pYfXAOVW9mV1MUBMRsPx4P5mgRJnf7Q3wL91MlerdliQ-PMKBr51ptWKE-ASzhUmEgkThnZI4bO06NaF-nMGbNwgQs6xlKnthYSsTVasBaCCIujiyHKQUMN00Qday3tcJiw8svMuS4-zo5g52BHQdn09SzLNis1vTzUEq5h6Qtj0ibCckzQWgjRTYiFy0oHZsVAXVc8LNoMnvDvVtKfHBr81g96dpoe0kPP2m7xeqr-OUzs_WxjbFwV5AJgUkCZFcE9Phd3iXUZRjmOnFxAUKr1HEu8TDhGga12kDLM2xmiFYCfEbrNtL6ueOxYp85St_UzwOfHH3CM_kauysOd-V24PLDUctYSTxu9zN6_GMKs-Hc0jKcxm2PuMwPqTFEZeL61yBWoIm5laO6KJNnWU5fVFs-Pdy9T4dAQj2jDG_SgRl7qAhIf9gvaP7C7PH94ZZxFXn5lru9G73PnUgscTGvZnmboX2PxJx8suZ9pWBioZjb1iR-3pKTXTT6FQiQhBVUzWU-DDqu9oKu5TrRMuhCWyASCGHmkqZk=",
  "id": "rs_0c852bb35cf55c9c016ab41fe5616087d08935988f874a2d84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow fruit is now over the blue bowl’s inner left side, with the other fruits beneath it. I’ll release it and then lift the gripper away to verify that all three are in the bowl.\"}",
  "call_id": "call_cdH4oB8VYlF4gJe0TqptR8Ih",
  "id": "fc_0c852bb35cf55c9c016ab41fe5f51487d095e49c95c6a6a57b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cdH4oB8VYlF4gJe0TqptR8Ih",
  "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]: [-0.9035, 2.5134, 2.2868, -0.8043, -0.765, -0.6884, 0.9953, 0.0429, 1.2377, 1.0344, -0.9714, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4624 left_y=-0.3834 left_z=0.1013 left_yaw=0.0761 left_pitch=-0.1043 left_roll=0.15 left_gripper=0.9953 right_x=0.2808 right_y=0.0015 right_z=0.1438 right_yaw=0.171 right_pitch=-0.6319 right_roll=-0.2366 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -16.7453, 6.0239, 1.2186, -0.3834, 0.0366, -0.0611, -0.4444, -5.4085, 6.106, 1.1258, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf8b7a4cf98f7377e8077a954a09893c7a2b6a34082ca94968e353c07dffbb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:653bf1fd3a9187f6e6afab2cd0c85a82f90eadb735f6e9f8ac1a6843dd8021d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14088fb1f5f9d406175b742afafaef80721715a66f3c7bb5a6a1b82ee88689d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 5.71 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 2.1292, 1.8706, -0.6868, -0.7528, -0.6197, 0.3748, 0.0429, 1.2766, 1.1263, -1.0214, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4384 left_y=-0.3205 left_z=0.17 left_yaw=0.0672 left_pitch=-0.0682 left_roll=0.1287 left_gripper=0.3748 right_x=0.2904 right_y=0.0019 right_z=0.1606 right_yaw=0.1707 right_pitch=-0.6288 right_roll=-0.2371 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -12.4239, 8.6496, 1.072, -0.3639, 0.2515, 1.0281, -0.212, -5.559, 6.106, 1.1209, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9028, 2.4878, 2.2807, -0.7952, -0.765, -0.6807, 0.3749, 0.0429, 1.2545, 1.0676, -0.9936, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4631 left_y=-0.3836 left_z=0.1146 left_yaw=0.0705 left_pitch=-0.0889 left_roll=0.1322 left_gripper=0.3749 right_x=0.2835 right_y=0.0016 right_z=0.1488 right_yaw=0.1712 right_pitch=-0.6376 right_roll=-0.2362 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -14.7077, 7.747, 0.6764, -0.3687, 0.0611, 1.033, -0.5949, -5.559, 6.4752, 1.1795, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9035, 2.5134, 2.2868, -0.8043, -0.765, -0.6884, 0.9953, 0.0429, 1.2377, 1.0344, -0.9714, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4624 left_y=-0.3834 left_z=0.1013 left_yaw=0.0761 left_pitch=-0.1043 left_roll=0.15 left_gripper=0.9953 right_x=0.2808 right_y=0.0015 right_z=0.1438 right_yaw=0.171 right_pitch=-0.6319 right_roll=-0.2366 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -16.7453, 6.0239, 1.2186, -0.3834, 0.0366, -0.0611, -0.4444, -5.4085, 6.106, 1.1258, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf8b7a4cf98f7377e8077a954a09893c7a2b6a34082ca94968e353c07dffbb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:653bf1fd3a9187f6e6afab2cd0c85a82f90eadb735f6e9f8ac1a6843dd8021d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14088fb1f5f9d406175b742afafaef80721715a66f3c7bb5a6a1b82ee88689d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_xBNwxyaABOMk4Z2fLAP6vlDWfa36peY9sbBp1yxZHkKefiRPesUUodi8hBr-I1yUY2AS5JJsCcsih8waxgckLHbR3d_ut1y78f0XmaaQBmhPLkeocyUG4m26PCoAhzxqmCnmwtkjvtxH-dHvhXSxeBuWruNP7NCn4qP5j5TB8it--bifWRTpgxQwmjk79AfbNhDPV4kganHQpITvhv6cNSgWqfF_Jsjwc711QAoDwaKGMmAorHw4LgAR9F0K4VjvzE0WiIF5rvJISgTrxbfZvr2sYUxnCNq9lnNMsoDCJJOFwH1bnCuWcVzvhHFTTR7tABgwdpr_QezSK2JW3WJhiSScxRdUxpSv2GQfqThGmujTlZtBs_vAFpXniilJqvm_GJjMe9K4m3paTB0eQAX6s7QsgWtwLzP_VvvTR90fmAjvxM_XtNZ4zByj6xXDehAoSNfps5JP0SfH5ux840pVwydxGxTq9xDr0APCEfuholBokVf1vy3NFvFrcLHoJirQPX3fopw8hlx6yFhUw4gj097_vSXNB_a25jTaAqGoLXjkABxMTo0UQs--VMfSBNnB_IzGcSnfv6tVKLB6_E1GLjHkqy0B5k6e2FcWHmETFfXLrp0CtQ5UsyQJtEgwRkr_r_CP5V8GPY8dEju-qiIUNpY2qlMYUCYaN640d1S3iGX6tS_GtTclixdt9cShFF2R5RjSmNwf2nqay9DJKLtAu_cv2cmu_w-WHQ3uY35rGhp6jehAVUNJy4OgaMpYDBrECQ6mHOxjp0qeOD7LD5DCXE5cPp_WVzqA5BwFYmwNPHGFtdsUGxI-vD0u9yArLWeXouhO2nCzDqP5DJQYRQqDxqL4WYEvc7w5NEUy5FV8nGnd-hGHCYe9sv4vzSgh76t4Fxm3yy3d1qcOX3XwO0Dt-6y8PS_ggU5Rwi5jWLFYPGpJZc8TCuQ02aeK3MCZVraghZ6Vxhk0TLhDAKPHGmnm3eGOoC9SaDUKGaXUFPzCES8oQ4ymfjFOlnmz7ewWgp4RfykRISy4DPoZ6FJ5gIzE6KfYiW5GInadKaaX2eKLjYS96kQ6h0htkU9sV6Hp5Yxzfbdo87OVI6UrgeKMt2FA0izf_BgrDkeNEdpT0omMYiR2MDvC6kEXtayLBjIaHBDVI-fkryPIj4x74PP5JgyAAvqLThacFSOXvmL8Z-gKu81QxrA4UNKpKnHZj7lsOAvoj8X5jydVdzoI5r0AcF8b7ifBo-Kw8TAPWavce-xeICDXT6F6jI99BvrL5_8X8Z8svTZNf3PenmYgowECbxTYCBoT_nUUtvX47STPCw8u2FfNg2h5PDMF5eLEDusdbKlTOhRyDTpBR3HXmhKBKNT1gtY5dj1VZV6xPjp6w33srfktnshr0YvTVxi2hISYDUIKd_Xwnb7hBCl_Veaj8shjGxab5k4dtnpnyn9hKRXeS9v5eT_nVdTPcpRAZy2s-QIBJsaXTaeRCnvQxEKXl-4Fikg4fYWHNO5UCrNrJ-ipY19Pi2LMDkcZUrra1pWq6D1QQ5QAB0cnnLA_ah2i-Q5_rP3fvi0ptdd0pqnYmoWPEsYseUs3rQXp7xQb7QXjP0rig1Wb8NPoV2GDtrRA6w1UIq1lp3YaHqQflsFmP25-ejwhSt92o2wWDwVZDa2cvnYrj2o3gq0yQoR7eJnNLH55b6ol5odUqIZBi6Of2FkyxKAMdzMYzvOzmX8C_jgUA3vGnXdaomVQZnx4z1Tpk6lJ1hC1PmCFg_ITNlVRbViirfRHmBygBPxIBVQS9X6JQ0WwE6W_R9H3m6_fYtCy0rWeLHU3Rpa_csCSe9yIEN27f-lwnGgcqo9WHSpljKMszlGhv-SVm_0RnBJQ-j6piF6lBqdShiAtTLxIs57RbH3S_AQRci9jf4bJ-Td-ZHeDT6GtpFRQdsPf5HLL0k40XW_EuSvIVsGPU1UmUzwstvJKQtnZg1HI_P7W4u0W_GsmNe1oBaTcgjXrpExxGqv59ibWRvBr-v-uK5l1O9thFQk8jxu9ilQq6GMZubTnWJ9EaskmEsg-wHA2xNUJ7o57L2LhHz2vZhkxvhVGdDHOt3kfwb895j4tLOrLHjW31JX1APNp0pilhVt4-DIpFURPYVPYNH6eKjCmxadbRq2NkF18oREdH9yyM4onk903P8wbgVp4WxhwYImr0RfUiv9yj0xJzvbTb6IKLXQ-7Q78Pl2C-hsV69AX0T8NQsga6cV_MgIu1_9ncRM3x7gI2r6-L3ZWW2yCqWdvDvxwGSfedt-bnl9BifReTM7aXYPXfeCc2lLAN7ZS-ykZlqcjGd0zMeeKMn_TUjmpdbtgON7MGrbsSvqbe3BovgwGRADjK3XMT3KagR6dRpRjZam0BwOcEg6HPdVIU8LL8qn6AMP-1U8QUaAM6f1jBrLlPW23jHB7blbQdfM9lKolWQH5--D-2t6XRdqRl-UgdUonGqx6sYB0B03hQLDv2BTwlPORWCGM6Jv2fNNDDEyIpr0QqzM8BRw50roAq3SsoQubISfiSxHIBL8r7c7KgiTvCGsKpMIXStEAA_rtdXDb-JJCsubbvdFieMU0epG3muy5y6n5LtUwreVUbNn6YDGYghC7fuFQbyvbuRQDmzXBwUwFAEsLBQ5XmzDhR6fBIJAQiRqAAmiobdJ2xN6_OqBySf3ZRVmsZsRNTBflgkrDZBSXl-DkOX4ChMGwe1ymJDqptVG5RJcM_R4R3Ge6OhjRslh0bZalSyG7zMbW4To2rwc-dl99ULOjibmzKg7q_aPiRhBmS5ls1cLtqrONohuAShnVHIdBNT9LeO4KBQt82tRZ_Te4_mFyWmVio0pm-ZAmnljiDdQF0eAoNLfCYuE0e5cGHbfYqe7LcCf4xaC1jCU6MSxl7-EjXVdn9Wh7DOe72llG8KlUrWsGuXW15cCTMlmI06eoLGvYUCK-wwFd4m2ig73En9CRJDqbyjRpow67pC0vVwqopyEjO0rE7sf1x6vd3-hdxJm6CXAVvkw4iQI7Gz5_mc1MKozGQjX-NMGy9MpC4iXlyVHylaFcXASaAulkZ5SdtiV9VduPyIhGwbJ9zXvszgvpePzYZNKj9xOobn9YaU4HT-epZGV9T3MKS77geu8mZp49SqZTJ1luUN8iY5Fj0krrl-2INq4URFzNI4P_33oDubu3A7tKc6K5qzeEY2Mt736_Ya8RAeVT2KKM2IT2AriXNvcBOGTt45c_CBygRBFFsyQjGip6kTCNlTYw0yhJatiqaJYD3SVQXkwQy2U_MgZOOa3u6FHaWIGR_SoL_IcmTeAUcr-42Woe2jb5MVgKhrATBFnlBIJarde3Z83pU_VC1OKoUsBmw-8D7NsuvmARNVAYbTCukLHUsS1qrllqOzVO6HFRz_LSqeBNsm8yqpEoErvIc72DkGNieQkM0tvqv3FFFrfQHhTq8b4Gh6CbYZAa8YEzJg1eTt19bFOvTd4KztZkXkLj8Vh_2keCRr0wVqxtD8r1bMw8yUdMIBb30IvBhSfcO5l5EYbE3FuesVDqDOcj0a0qoOm4CrbWgXGn2lGZtFpUM0KWWp0H_WOqF21ZeABSAwswXaKMn2YK0ZWS5wMGFzpkV3hMRCHTFjPfGKFDsT2PrOHKCgphQ1SBKtEm_bizztAbEvyVd-ce75EBgaD620nAFpI4HiwtbawqxWox2YxeBanTkV-uQ6Mg9CTGJVy1XKj-LT2I69Lwedfm882FTZI-gI_PUV4ElXWHXMCbnj8Ngg4bFmYvw7kdbAJ5LUfioqm3cNBuTi1nc0lQL_79Tf4fN5D1iQjLXc2u_l3Y=",
  "id": "rs_0c852bb35cf55c9c016ab41fe87d0487d09bf6556944edc677",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_xsBJR6OpgmDtt212rrVZPZwwyJRGPm2RFOAI_k6yAHUowMRpiHEzqI23Itafle5KZSDkgTXyMHeUXfS1MkAASI68kJ97eRH67Ly-r9HSzVOFOldGdVYR58mvKGe4aaeNUNkFS9om1DO2vanzJ3fBndzBcAYAiBbbkzoq-l3yFKQRheTVHKyyYVzkMRnfOGD6e96Y2s5dnmZQKtcKKqkMaG3QYRs0uKz19QILc5dKDb6WPYosgUan9VG_WXh6JcWE3G3M2ZmXEXNpIsIQYsFIhHNPxRNC-sJxEYfKZ_pMIZ53dDSzbdpuVTO2XlqxlopPPf7UPhKSgBW-Zta_bqPYA3FcOcIA7VSd6ilShu97YWS7HyFG2zExp0JiT5DUzHPAvdMdYQrPhLBxvxSRo8KpzQXk1x50BOf6OMbvlq0LQ47rcKPifO1c_GIo6D56H927m5zNUM6rFMXHebVgKbPTlSMt9ulYU_eia3tQKSIuJg_9qb973YwsICKqXaOy01pz3dSBuTph5g3daClVog6Xxm7QBC2BcKLXjf7CmEyfZfbDE4lM26fSyCpywnc5S6Vm_QFgB1RwiSV0F7xBCeYUQ8Btno1UwpwFiF783BnKsGYeBYOYG4JP59DTZ63p771oO7ZgT7qPKyoYTAN5l5Uj9Cbd8AtQq1bVMQwxCAj7VO_hQgiYzIEp-gjH2lleXzv2VtYdH3PLrw_ZRtJag5w61hXOOPSwQ6RlXna9lu41VI0OTR9pwHfu-43-ReXRV0dzWhLjfH-_Kn1FuafLRYewbelzb1EF_9lW07UNZysK3j2-kdfjSXxE6gKP__oFzFQsQLDHOvX1V1eQ_1CTpj5C_LCRPMQ0jfV0TrUli21EgCWjtCq5JP9cE_yN7HrYPnCiZapJilN0Z6jqrMtLdQr_wDezUq2HX3Kxe6p5N83VCb9aJc1kw5GkxhsLHFwvcOewUbarPijyNjVLsh1fXCHKOJ_9BohnpZfr73jSCw8hn9zIZsfbWpERaUGXBFUAMYgWkEtbrkeYZc8_tjYNJpHsvcFtEvZgPLD-87f6RpwkqLAZcopv3L-b0-hPOEYllSevYVm0gGdADCse2D6D4JGblEELJ0VJByJkA_2XaTvb7BE6cMPohZ7FHQEG6gr21bvWRV3eaVSZWtGdzhm5zTSVswO7sJ0cfJZHLWjeR1vliQqJyroc00e6sijFeS14Pzf0bm-4-Y0-vMa9JSxuPMdnMEAWfHmkZJLMR2zLmAvwsdxDIuRAOgLogEizLGG-9V6ZkXZckwtIgKEWakmePuStcFVwkz1r18QNk2FiKCd04XlTdCCclTqI4E0Zb6djWFd1IeH09ENhmToCRxuKzm_W6RmWgPb_q8eJUeRW-kPux4w25a98Y7B9d6Z9CjfDxDm8JOQ8VzGU6mlq9b86ar9ily49Dxp9g1VEp4Tk7abTF3TahBX1xRb2OhdisO4gkYzp0b23g75Cx6NANSXV99NkCESof98RCeIPmkazHoLivGbi8cBSZwiKBabHDFFakRqfzutX3IeuP9ZCBuT4Xc3j5SKwfLZVTq6oM5TxNRWEKOmJcNJbIFFpa1wJyfTq_izvaF7ufj649qukQJUseMU-gFZzfHVD7Nww_65Uk-FYSCouWoss3qtwrU_HaAmFKHKrCdlAETxXARSW0ULY2iqqUI-Dcqw7NRcxyFKvhtpt0VbXRxrw0Hm9aRAaOZXz9Y51kRXZNmnM_kGPowFLprK0fg9xMg42f58l82cqYMYPLsKKunmByc8E405zeMegN947OwBFANqfkTZj6PyXKVIv64YPz-dZvnHamMQ-xaLuJVtp3g_nog5Ubsptar7srh1IwlOeBsIG7mm20PpImsPITtH1XEsurCtZ9-n4L6qIu9upr5_eCWHELdC7wNJaXn7q4R0j7GaAHR429W3eV9dvCdc_PocrFNfneedjWIFt1aoextOK8sR7146_i-my81UGBlpI6dGuux1LMJ5yxQkMVVqHKy_wsuEfVECWkKWpIW3z8H7W519J9JUrsSOY8YHk3omrAX2EAIo4rq7Or8amu3Tbhxs45eOqsKbNK8ikh-t4yJc80LkxUzAYrfNFDiXXVDP6GRpuYUtJYYAi3QipjZyjYZXWx9-f8-BSUJRrEhqNm7TBND5xomF9DpfpSnNTRWIM_c5saSUKIL3YRqquoLcYvOi54TDxjLqsUXDxLBbz7IOrHJLhgO5ro0wsIo2nUmx199t0p_zusWMJ_D0AxMVD1XyVj8Tt-eS1_grrrYj-MheEmf3W2L9j1clqk6qZC7usUNMDZn_Bf9uUfdAjPmwY_1Z70RenGHsKOT4GBAPi1LOvqRy5eoD_qB8aD-pmkNPIoD7obbbfOu7NP_-FQQfpBd-kkBj5HtGqMzJgW31nt8ILNUt-yPlA9nkOBGjvEuRt4gDxwIhC4rAbh0qBd_Gujah6cWF-Z2ZQXgWp0QA5md7K3B4Tx4pEgo7R6ttI7HjqvYqozAJfezKUgouIEoQhi0WVgJTttiMjABZSlHa8GkGeOs46eiz_bSCR8QJvBjsDJnFKvuacXFWDnXQN_hdEfugW6ux90flPmeWNTaIg3VXbKj0UTKJjmPnh3aMs_lG5Zf4qtOlaQBLYE4xzccnpkKj93ZkOzWlJnEKlV4ecVA4Ql3QZV4sHgIUSu5mISRRVTwCUlB8LY9fiIw9CfoeyPUmxMltGpOAHYtZizVWxJAL8QnssqkOjgNwBiTtvkhRwcI9cLoPqoSuHALtr_o7Qk64Vyv7a-1bcl27eKf91POzQJfj2d2jOAdzC3yFdVHq88VdSyFRsZtUhYqHXj5WWDjdaJF1LWiLX1opZ2-4XQLgQEfe4gi1vkJSQB9YynlmiAqbX2UcnxePxkCFPXxWyguQXglB714L7-WHv-9pqzxHm7NPWJglL6mRV2SQqfTGuaFVZ3CGCQ2vQ33vVyaBtyKar7-kWzVmPXpbP2tTggg9yQWOaDx8Ze_e5VWh02zf32N_Zbo3i4jY-i5kVzYQgfhxElv4heyUQUQBgTSRRUGHLBDq3f_oYgGYuepOFNtYmpPXnsyskqn4557z0PtyH27y4jRjfYw-1HJfwhlvqIhJR-XNYZgcxghl3FrXXJXHsoHeXa6bXPFYv3BExnP_cWj1AWAXiTZI1fjzfuSdQ=",
  "id": "rs_0c852bb35cf55c9c016ab41fed35fc87d0aa9008cdd30260fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.2,\"left_z\":0.2,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19},\"note\":\"The wrist view shows the yellow fruit resting beside the larger fruit inside the blue bowl. I’ll clear the left gripper from above the bowl and restore the parked right arm’s height so I can see the rim before attempting the pour.\"}",
  "call_id": "call_dY4rgUHMqJBn90gDGVgccznM",
  "id": "fc_0c852bb35cf55c9c016ab41ff058c887d09fe514e642d34ffb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dY4rgUHMqJBn90gDGVgccznM",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "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]: [-0.8528, 1.5864, 1.2839, -0.6846, -0.7383, -0.6426, 0.9965, 0.0353, 1.2858, 1.2064, -1.0946, 0.0731, -0.334, 0.9965]\nstate[eef_state]: left_x=0.3465 left_y=-0.2105 left_z=0.1929 left_yaw=0.083 left_pitch=-0.101 left_roll=0.1369 left_gripper=0.9965 right_x=0.29 right_y=0.0009 right_z=0.1788 right_yaw=0.1758 right_pitch=-0.6313 right_roll=-0.2327 right_gripper=0.9965\nstate[joint_eff]: [0.5128, -8.9231, 6.5162, 1.243, -0.359, 0.2076, 0.105, -0.7043, -4.0, 8.6359, 1.0085, -0.022, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2fd1596798715fdaf821d5ef224d970c11ba01b9983b7b7ac6210796f2f6ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01856f9cc82caf06067a47dd455dc278ba052b37a7b860cf16063245eb5619a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3914daed96ab89157392834c4ad26c2f19a5fae0cc39821eff1343baf98ce39",
      "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 36 attempt 0 · /responses · status 200 · 3.358 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 143 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8948, 2.3257, 2.0171, -0.6987, -0.7616, -0.6575, 0.3748, 0.0429, 1.2675, 1.1, -1.01, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4472 left_y=-0.357 left_z=0.1198 left_yaw=0.0644 left_pitch=-0.0958 left_roll=0.1531 left_gripper=0.3748 right_x=0.2872 right_y=0.0018 right_z=0.155 right_yaw=0.1713 right_pitch=-0.6345 right_roll=-0.2362 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -14.8034, 9.347, 1.0672, -0.5397, -0.0513, 1.0379, -0.3487, -5.4632, 6.2427, 1.1551, -0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9035, 2.5134, 2.2868, -0.8043, -0.765, -0.6884, 0.9953, 0.0429, 1.2377, 1.0344, -0.9714, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4624 left_y=-0.3834 left_z=0.1013 left_yaw=0.0761 left_pitch=-0.1043 left_roll=0.15 left_gripper=0.9953 right_x=0.2808 right_y=0.0015 right_z=0.1438 right_yaw=0.171 right_pitch=-0.6319 right_roll=-0.2366 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -16.7453, 6.0239, 1.2186, -0.3834, 0.0366, -0.0611, -0.4444, -5.4085, 6.106, 1.1258, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8528, 1.5864, 1.2839, -0.6846, -0.7383, -0.6426, 0.9965, 0.0353, 1.2858, 1.2064, -1.0946, 0.0731, -0.334, 0.9965]\nstate[eef_state]: left_x=0.3465 left_y=-0.2105 left_z=0.1929 left_yaw=0.083 left_pitch=-0.101 left_roll=0.1369 left_gripper=0.9965 right_x=0.29 right_y=0.0009 right_z=0.1788 right_yaw=0.1758 right_pitch=-0.6313 right_roll=-0.2327 right_gripper=0.9965\nstate[joint_eff]: [0.5128, -8.9231, 6.5162, 1.243, -0.359, 0.2076, 0.105, -0.7043, -4.0, 8.6359, 1.0085, -0.022, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2fd1596798715fdaf821d5ef224d970c11ba01b9983b7b7ac6210796f2f6ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01856f9cc82caf06067a47dd455dc278ba052b37a7b860cf16063245eb5619a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3914daed96ab89157392834c4ad26c2f19a5fae0cc39821eff1343baf98ce39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_4-bkKKMLM-BAN0C5Tj8fCYZjdjJzh4fhlaf3ZD5MxvIWLltu48gmq9GK-DKyJj3IBFKWaYhuzv7fAc4uoRkPPtQzYpwujiaXlxoYQXOdbHmFFjtgScsBbY560lVMA7_EOQtlGORsljIHjz3JQJaEwLqqVdOPZ28fCVY3_HFXvwO356KTMkv0ZyjpbiaZ2WPHYvOeMJh2QpAfJrgsd7G2DaVLEZR6Ek5Dk7OeoHihib-PduXRrn0F6cVO4BHfaobfuzmwOqF-sZ0pfUcZZAvPSRu9AgweRc_FqnFHB-0NpHpiGWMBBO3x8iuBACt5hkxFiTcDQJVQJvmWC3iJGGwx7RNR0FEZrG-xc6bDSrs6HpRl4koMajD8Pb-kTZMKTihvYM3A913ALJw178eQoHz2HYJ6chMbRxzzRFq9YjQ2e9TUBW_PwT8T8kR9GNv1GCzmbaDnDgHnzMDA35VzCDXn0VLuUaGGtsZLQIBa8qO8bd96DlyFAKiIHr9G-3xRL4c2A_ejJv2V7gYVjgwJsy4KqodTb62ITQRn617SmcqurnUTs6CM9CH4Adl4S7QV-1D9BSsFEDKtZR10W5fLKUgKNjFVCFlcl6bw8zw-J7ykRj0EDTizBm-nc_xwajenDM8mY5bFzZWXD0HdWL1cZxCK0wkhiS7a_ProxvzfFCMo-qdJZqoDEn2WnBqJ6GPsfTa98jvSNN0EAIk774bH2tIx2oLg0RYv9p50raf8eK1MAL8_fvtismazbOUhF4whykcleF2yhLtiEXeTkR6fjZio0OXuxNhMrAkXyFSX2UfJfHJQMs_11tSu3OBYnt-n_FEhXyKkXE-WRIxkhbCpwu5m2d_Kr2wptP1zb9FgN4FxTmoqUjyS0H6T7ipQ25Rj4jg_oWCCEZz4TdYLO6-GypEeXZr1VGvcTXDc4KYR8RlsDh6qG2gZ8lvGu64aOTDeAVGjW_E8K2zqD_A8MXGkilrWyRetGIx7_OkymcKOcmoIH-WBmRJq-OhmZE1DiDzFFpQquaJ9IGAIYpxN1eh_10vt3LJpO7PjnXIcWD6nk7RD2PNZ9ureYtMTmcUSpj-u5CpiE3wMPB_3QofMdOahtLhtG0yPVbNGhIZJxS_ocIMcbO-n-JA98ygj0H5avDh0C_t6Vek7AlgRajkAQiyRSzl-KniJoaFfUGLx2rSaKlYMUDKzagoavlYr5gzLZwMdYqAgZ60toukezaiLmWRuZKWzTPkvdYKdOQTWArRzqk-sNzxbvxd1APIEHBtOQs4IG0Kqq3lozkMLKMUUITz5ugpWWfxLDAeV9Kj66OfGD4WftTppZGo-yrs9i-gQ4Ba3zFkzkhtGCftPM-UeOecP62jpDtkyJg0HpWQvJ0QIf_H5w3ibz0R2DkrvexjJzH2Y2CSw6tj3oDmFg03Zug4E3KHJgF8y0VEx8XAarP4DmLcnoOOWGROThiT5N8j2S92ErJ9O4pElLaXImJovQlyryGoN0jtGCIJjWw0-p4NWN0ZXRYbpNUEuyKKy0Qq7mkjSrOFhfoLPBjGTqYn74GftTccv6i_VgG_pQYf2s2gf0981FYYK5BcgBID3V2OQ-5pCgnzksxJHtAxYr1OLrgH_Lnsb1T648DUUVKhqwo9haqYyjxElFXjc0HtpSy7OHhWASwpI53gHgZyeW9WRuBtvGH2AwR6jSwJawrNV7S3UwkpKc7nXgEUp7YMGpqP1Iw_UGw39l-x7ABWl6kM1XnGF-4q1bRgY1kWcwnTOgVQkpACcV-owVhQF81crekMH9F13dVkU4Slz8WdsN1GGAamToy_h1VpVceGtJW6gMFDdNLQdMGtAUtKuc5LTDyNEo2YJfDB37UbVb_ia0hemCnXLz3vtbI3y8qS2dwl1hDvBjeE9muWJw1FYm8fQo5MBDxmdOkOkucgFI2Wgnn4XAB2GJXE0Qpqg9f-0gBmYyfzUPjq4L_FgmHd-0qvuX9fFEZljA2MzIogZHndT60MjDCyrL1RLWv0adaIC440LlTTatBOfWo_IabQMbxA4-3wtUsRf4Lm9x6hSnJOrxg0mGQEFtKdBHAVgYsWNMjAhVeQyQEwe1-z0XSMQzMFAMGfiZFzEjvGBQsMXAYCLeIaHXP7512B1KG5bN2X6KXbnePDicLDv4DTrzBvEa8fQTS_rXXA8a3A0UzkXIhvgXW9CkbcduFFjo5_J26weHTfzmAGliicYXzGdCNB4cEpgMd8cTXjd38NP6asOfo2lVguhMgT559W_yHzJn3K1puuyBlmMFPFuIVDV7DjT8_LqJa0xjD3SCisNgQtbxVXtT29kyszcKIP9dJo4WGFOVxHDgQFQuMWnt9uMJoiZh0eHQfnoBlrF-HJOY86fiaPlKhBlTk2hLhmHDO_2k5JrjRSod01YLV_ydQAXgFJU3adMp6nyng0gyzQuKWGtO1BkKW6v0Cjc0Si5V8K3o7uCL0_YK6k3R64zmAggMITgN8oLqZ4P_gi7A2mq2UbxkBLQnqxVR4MALskSTHiv4SNrWetD6XFxAjnfobhzvh4xbOF3UVhHqhyZJf5S8JzE453bCpboF-0bjnaugtpg6bVUKDO1pJR6Kvoci6RAYHcW8Yx2IBTc8DRJ4RAtlT86MnNsG1D2UTu_UCdl8cG6p8C3dW7MYN3dAFBwQCCIMyW6s1uEJREpaTKOxAfTECS6vLRjSMWHyGlFgWi4Qu-O2K9dxoJ2NBzsdcWNbVg3yL-c4dII5-SITc0voayFb2DJakDOlJ-Dy2WO6Mg8G2w==",
  "id": "rs_0c852bb35cf55c9c016ab41ff42e0487d08e10daabc0e77270",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.145,\"left_z\":0.15},\"note\":\"With the arm clear, the yellow fruit is actually on the tabletop behind the white bowl; it did not stay in the blue bowl. I’ll reach over the white bowl to retrieve that last fruit before attempting any pour.\"}",
  "call_id": "call_87RChf2wdJxKUWkKH6L5Vdmo",
  "id": "fc_0c852bb35cf55c9c016ab41ff7141487d0baf67f8927be7d2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_87RChf2wdJxKUWkKH6L5Vdmo",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4747, 1.8324, 1.3342, -0.3489, -0.5106, -0.3199, 0.9965, 0.0315, 1.2732, 1.1793, -1.0748, 0.0731, -0.334, 0.9965]\nstate[eef_state]: left_x=0.4686 left_y=-0.1398 left_z=0.1348 left_yaw=0.1185 left_pitch=-0.1508 left_roll=0.1577 left_gripper=0.9965 right_x=0.2886 right_y=-0.0002 right_z=0.1747 right_yaw=0.1714 right_pitch=-0.626 right_roll=-0.2336 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -9.4838, 9.2376, 1.5507, -0.2271, 0.1245, -0.0024, -0.2667, -5.5316, 5.9282, 1.1209, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f4df7b5168869a8996dbd83ca63e7c3758e9996b6c686e2d3fb92172e48e39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31cd15305f19bb473e5a991965027679b64ded6085bb7607274dcc4c323447d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b38924b0ed883591776962b0519be465c4cc2c83ac28a8f220f8acfb95bd4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 3.893 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 143 changed as sent

message 147 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9028, 2.4878, 2.2807, -0.7952, -0.765, -0.6807, 0.3749, 0.0429, 1.2545, 1.0676, -0.9936, 0.0803, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4631 left_y=-0.3836 left_z=0.1146 left_yaw=0.0705 left_pitch=-0.0889 left_roll=0.1322 left_gripper=0.3749 right_x=0.2835 right_y=0.0016 right_z=0.1488 right_yaw=0.1712 right_pitch=-0.6376 right_roll=-0.2362 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -14.7077, 7.747, 0.6764, -0.3687, 0.0611, 1.033, -0.5949, -5.559, 6.4752, 1.1795, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8528, 1.5864, 1.2839, -0.6846, -0.7383, -0.6426, 0.9965, 0.0353, 1.2858, 1.2064, -1.0946, 0.0731, -0.334, 0.9965]\nstate[eef_state]: left_x=0.3465 left_y=-0.2105 left_z=0.1929 left_yaw=0.083 left_pitch=-0.101 left_roll=0.1369 left_gripper=0.9965 right_x=0.29 right_y=0.0009 right_z=0.1788 right_yaw=0.1758 right_pitch=-0.6313 right_roll=-0.2327 right_gripper=0.9965\nstate[joint_eff]: [0.5128, -8.9231, 6.5162, 1.243, -0.359, 0.2076, 0.105, -0.7043, -4.0, 8.6359, 1.0085, -0.022, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4747, 1.8324, 1.3342, -0.3489, -0.5106, -0.3199, 0.9965, 0.0315, 1.2732, 1.1793, -1.0748, 0.0731, -0.334, 0.9965]\nstate[eef_state]: left_x=0.4686 left_y=-0.1398 left_z=0.1348 left_yaw=0.1185 left_pitch=-0.1508 left_roll=0.1577 left_gripper=0.9965 right_x=0.2886 right_y=-0.0002 right_z=0.1747 right_yaw=0.1714 right_pitch=-0.626 right_roll=-0.2336 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -9.4838, 9.2376, 1.5507, -0.2271, 0.1245, -0.0024, -0.2667, -5.5316, 5.9282, 1.1209, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f4df7b5168869a8996dbd83ca63e7c3758e9996b6c686e2d3fb92172e48e39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31cd15305f19bb473e5a991965027679b64ded6085bb7607274dcc4c323447d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b38924b0ed883591776962b0519be465c4cc2c83ac28a8f220f8acfb95bd4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_9djuOFKy3gt67ttNzmeKHxL-jMDksRP10UaECnoIdLpH5i8IVo4nWSQRW0xsAV_WhouySXjFZ5dYp0IOya__Z1_YPTp6g4OTfE-BJ8AYmss5ewI1MR1c82EsqDuVWHxaEfbDb2nB96fzmFfy9MWKmWS5WeN6_t28UbR03G4dEVYPkLE1nQJZkfMj8RfA2963Ez3crMHxRvnpBDzBkXKAFuUo19XbViO6D8zP4c1z-SViAQJj4smOL-EZP_MFVEZGGnbvfyNHEHt69SD_ZCjzKbPzGRtE8fwrOT_mxJ5dIapwipc-_aucHXD7vn7OqW5zkK4xQVEE-Bwd299B3GI2t_-u0WPTA-BCcrV5DooYtq6OxCE6zMfijCzNn416tl6baAZ7VlYY4yzsRzH12xDSYIy9IkIukfEvfhSYQbl-OI2_5MdWeFOO2rjgJtxQgpR94ay7TWDrMdZz4L2I-L8docczkHNbZqLWWj4jALrW7D2egSmf75AhbniSgEjdw4HdYnyInPCpTFMfwiRAOE1HKSXkC8AJkfp5B7wb6cRQ3nMo4MwFneFC6Fp-I2Kb5AUvFAz1QWM3kei4AdQJ4ez5wjKYnBaD9RaFuM4uu1VxpFYw8noKVkOuc9FCk1JsHqw1zNxLGgjeu71mB1tT6SiYJLSb2m1QfdqFTVcIE-dq-M8Ia2d6FIoobcCujvYskgeZRYXI3cD3ajPGOqZESzp3IHFgXoKVBZvebURSkn1IpgDiDd-iXFAMjvELzNnZOe6C8u9llruY437fX3ALv8PCnNix27GJ6SRL29g0JOhmWyOlwUknIErtwQPwGesU7lkdDmVWpg9rIoMGwUeAtfz21-8jHDg4sT7QtuJaZBdNly35CqBQiEFN5cGOQr12UWh_pLC8FYnOU5jYXAoutEGk3OVUhligAJEVZVJjbDRcpBQ7iaAcMwcQqGGABiEoIp0M_DvQ2OlOlNNdJeQWH2m4TIWtDmiOZ8TfOUp-wRYKsrv27v9GUkbnuDnohn9QmfGfsJggYsSYry4ngOptYSAx_auVE9KI_aFnEFybCEsPiXfI4G5cIBO9_WsmOus8SseekxJ-CI9XGRgGZn9wcKYRXY21B-7MzkwDFs3gZwAnIDr1DHEl1wp-kbfdn-ruugsCcHMS5UpyurYR7SBVrPH5tHXefroXoT35YFMCQnjn1MUy2U-5tZpZCJTqLVzSdjFc2lrveT6SPJAJwYcr9ekqxLDlvhKI1Sypnx7HLO9StSMxq_qNH4gzpPf_WUzsqBb0QnMIjFJVWIinvPu4bDQvI-P8GdNiSDHW4XnGcKnX0F29_3h3fyBQlpqhLMfgcxKlaH1Q8_WhTjuzGa_ge-t7iHZyMVYpww0lH6N4yU1P4vbBIzxdIUa5pRuLhC0v1sUK-XvNbjUfRJKLoFrGjX3glj9OoJo-zGq06HrdGCyUMI3WApO_yQh2F2ePuO1OYw2MJo_qbrp-MEM4x4JizZqoT9E2-0PeAcuYrHEOY6o0KmvSnf3cv2JNzu79iVJSmon-xqHYsiyYtkAt-S_TuXm3_WUiBLEZyWlwJ9iHeqNsZpeq61cjdTA51_KKpRa3vx2GLK2GZGrCVPV9dLgu0qhKiZwtQ6PxZkDo71LWwB2V5l59H44R5rQtAItQHN9964l7uCPqA-NXoZeLw_jT4IEEd3zcJJ4WSOElwgGXTp-fW008ekoXsznWzgXNmb0nMxDPYYi7gf2jrtdnt93ybIMoLrWTK6_g1HAae_qFhb2YAp0X_C9asyyIm4HtWYOJmK7_1dKYePN-WB9TZNar1rEpMTrbDOrwoKCd3f2rzRtAnr9swxRwCGla-1DwPflCXT_Dx5AVqek_MQZ1MDRphIhsPuUlCxcKQFjWmrE9w_ofujjc=",
  "id": "rs_0c852bb35cf55c9c016ab41ffb030887d0b3a6b07da1051565",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.145,\"left_z\":0.095},\"note\":\"The yellow fruit appears directly ahead of the left jaws, but still several centimetres farther out than the fingertips. I’ll advance over it while staying above the white bowl’s back rim.\"}",
  "call_id": "call_YSUxDe5hgxhFAOsoecdeEsxB",
  "id": "fc_0c852bb35cf55c9c016ab41ffc5bcc87d0aaf2ba0937eda7d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YSUxDe5hgxhFAOsoecdeEsxB",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4221, 2.0914, 1.5017, -0.3042, -0.4774, -0.2981, 0.9965, 0.0315, 1.264, 1.1595, -1.0634, 0.0731, -0.334, 0.9965]\nstate[eef_state]: left_x=0.5187 left_y=-0.14 left_z=0.0778 left_yaw=0.1387 left_pitch=-0.2058 left_roll=0.1783 left_gripper=0.9965 right_x=0.2868 right_y=-0.0003 right_z=0.1714 right_yaw=0.1713 right_pitch=-0.6252 right_roll=-0.2337 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -11.6581, 8.9778, 1.6728, -0.2125, 0.1832, -0.0073, -0.5265, -5.3265, 5.7915, 1.116, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb5211cd4bc39c12bdf5726bfb3ca4ffd7ef13d5d35ee17e03fe67e81586cfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c0a9fa50c62c2041961701d12b9ac6ab2ff3aa903e68249e2e8afb45131a52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3fe4529764c793fdd01ae1d1c111cfefdf865d6a5775096a8ef3f59533a4721",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 4.998 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 147 changed as sent

message 151 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9035, 2.5134, 2.2868, -0.8043, -0.765, -0.6884, 0.9953, 0.0429, 1.2377, 1.0344, -0.9714, 0.0799, -0.326, 0.9965]\nstate[eef_state]: left_x=0.4624 left_y=-0.3834 left_z=0.1013 left_yaw=0.0761 left_pitch=-0.1043 left_roll=0.15 left_gripper=0.9953 right_x=0.2808 right_y=0.0015 right_z=0.1438 right_yaw=0.171 right_pitch=-0.6319 right_roll=-0.2366 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -16.7453, 6.0239, 1.2186, -0.3834, 0.0366, -0.0611, -0.4444, -5.4085, 6.106, 1.1258, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4747, 1.8324, 1.3342, -0.3489, -0.5106, -0.3199, 0.9965, 0.0315, 1.2732, 1.1793, -1.0748, 0.0731, -0.334, 0.9965]\nstate[eef_state]: left_x=0.4686 left_y=-0.1398 left_z=0.1348 left_yaw=0.1185 left_pitch=-0.1508 left_roll=0.1577 left_gripper=0.9965 right_x=0.2886 right_y=-0.0002 right_z=0.1747 right_yaw=0.1714 right_pitch=-0.626 right_roll=-0.2336 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -9.4838, 9.2376, 1.5507, -0.2271, 0.1245, -0.0024, -0.2667, -5.5316, 5.9282, 1.1209, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4221, 2.0914, 1.5017, -0.3042, -0.4774, -0.2981, 0.9965, 0.0315, 1.264, 1.1595, -1.0634, 0.0731, -0.334, 0.9965]\nstate[eef_state]: left_x=0.5187 left_y=-0.14 left_z=0.0778 left_yaw=0.1387 left_pitch=-0.2058 left_roll=0.1783 left_gripper=0.9965 right_x=0.2868 right_y=-0.0003 right_z=0.1714 right_yaw=0.1713 right_pitch=-0.6252 right_roll=-0.2337 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -11.6581, 8.9778, 1.6728, -0.2125, 0.1832, -0.0073, -0.5265, -5.3265, 5.7915, 1.116, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb5211cd4bc39c12bdf5726bfb3ca4ffd7ef13d5d35ee17e03fe67e81586cfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c0a9fa50c62c2041961701d12b9ac6ab2ff3aa903e68249e2e8afb45131a52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3fe4529764c793fdd01ae1d1c111cfefdf865d6a5775096a8ef3f59533a4721",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCABIroErqNCm4P8xHe-BrgXF5bK52q_XBQDK09pq_6lmFLu7m8gX_zEF6pcbna4w0qubAF8UxOyFIID625ZjxOzRtTivOpSik2Unq4W4VNkfPDf9ANDEdkcQccDhkbyZ_q_0brp4c5DOuC5suLab73yKzbjW0EEgohfdYBr7Hqt0ui6iOO7-RMN5yNCgpCleMgAuv7ZQdFK86SokpCsZqAFKVp1dfCRMMtX5czr7AfDUQ_lvmFYKCwKPePTl6s9S29xpvf0nt9xGy8QJomb0smrnLlhKw1iQJEAe1LM3k7kBl1seYsrF15q0T2XKOVfkNPgzR0-sklkTRUdSSQ5JH9FOiw1JRud-AmCAgbLQDoBlO9e6osa-LYyY0zVHo0rYPV89Mh7VUUKR3OZYfjRiTLbjGj2p1yYhI8iE1yRKKqSGFt2lUZty8ebP8rLctTVgU5pUUri1mWNVPsvsUqR6AkiyvOEk3GgWBSNBSj7flxKf_0W8BuPwfRwspx5SEPD1noWMlAkCFNr66AboZpt4f4pADQbXE4B1F0eR4bbdsAZxzw9JkuzTe4Z1lcTL4EFHeu2rt40nrny_wwFZyYlHt8VV4pFCjFTrggMAR8jwwMrScppyMm2vVS6aPJeMSw2XGTVQVp-P-tgo7jcESwjNxRkUMqgcvCctgu2GXfgsTm_K3sK8G2gTNCkS0W0vpAB0zAaplYyuw6TiI-8ShQn4DUF-NNkqIHBehj1hhb4jNfHtLyT00TjXXXSJhQvY50-mUiQ7ga5eKT5Kv5pYdxzJy4Sz0I1PqoqWCVQfRZjPJsXO1H9c1qEv5jbnLzm-6Sjvy4BStuYRGe1GMyskcS7_6ZmO6y17FDvRpw4J6_AQBe2aurecqNlEjI0aoYp484SjMh4BMR2SAJsYpri-JvNVrW7ijs4XzhHxlPONTzZWGt8dwTDCBfVN0o0oIEf4Pnpk6ZrOK-a_jMwAusBkVEaSSUZp4t7mivHSU37QsVwDh0z8_VY7_mQKV1uU66QX5JDMWjKdgaXNi6k5NgrBsgbge9yqL2G4Fmy7xrzinEJ4l758HHY4GbU-hELDtBWiliMVRMVqzaULuOwtO599bblAGoDQvuUcWQkkD5Judl8U-KHznFHBpjsV7H0RXh4CwJnl8Zu-AUgQpC33wXJaRtj1lq44pYjWvvCfkZJ81t6waBfqdVRWZJ2atbaI4jv03UJH9r_zNKk4GvK2lYZNUbkpIeuhTYwz4tksddNygzaFrASkY_ZcwD7UkJn-3K9qpMERt13o1GqTNBXF8wlvLrgUJPJF1wSznmlZSEQ_OhASOPs4ymTDPY1xi4Ffq2iXypcn4vJzvjQJ51nr3o6DXFR2NLTSiUaY4EuN_lFzeFkfNpubPG9a2kQtMyVntGPWEyIikiE6C5xvs_g7J_Y9kMvuY_4S92z-jhzxxKE3HUHvGOPlVWKGaEth2UMtvZ_6wELW3il0gIcbma0da-ss0fzTwumrhXYobQadYvDoPwLhPMmKupajLEniKqLDMSZg3dp5aaDrgBbyezV4TSgNGp1zQqKfL1y5LqP7EKheP54RRM7e7rHGi6LtvfrWowBlIhVDaqONkPoCTabPin5p7lh_G50M11hdaVHyRjmHZc4CZTLmIsSlWw8sNCcTqzFVlpFmO37jxdaDdAB8nSyijDBEifcAAj-ycENH451ldUYa_3FDmxgGbSDj8exUwBOVPP4lNdh0Sjf-IWke3h5gasUN8NabNcs01TFpZe99540O1BiR9hrU1zef_XhXZMB9qE--1nHXbRapdLfWFIzfBtp4Yu70TwSCLZFcIV-OL1ntTgXYJgbUJ8VAjSVa4usEJ3W_v1BzpN1YkDiwKZjfgfw5zNrvolEeSMQksoCTlIBk5z3Kmm_j2aHcwIzf3imn4HPIaXWZNVieVZRCkYD851s0tIgES9-4fIMoDp5feYHSmrXq0jd6JBQ5DlLR0LHfqWk6S6IA8aAN7XsD-_B2afUz5CSmAqcpGNHeMrq7Lex1SNNqDI=",
  "id": "rs_0c852bb35cf55c9c016ab41ffeebd087d0a1c5eef8023fb942",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.145,\"left_z\":0.025,\"left_pitch\":0.35},\"note\":\"The fruit is now almost under the fingertips, but it is near the far reach limit. I’ll tip the tool forward and lower toward the fruit, then check how closely the arm actually tracks.\"}",
  "call_id": "call_twpOncJ2CpoHacWjJYa2jcdR",
  "id": "fc_0c852bb35cf55c9c016ab42000b19087d0981c279677ba09bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_twpOncJ2CpoHacWjJYa2jcdR",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4656, 2.2993, 1.1866, 1.0241, -0.6842, -0.0376, 0.9966, 0.0296, 1.2583, 1.1381, -1.0489, 0.0727, -0.334, 0.9965]\nstate[eef_state]: left_x=0.556 left_y=-0.1504 left_z=0.0977 left_yaw=0.1998 left_pitch=0.501 left_roll=0.0431 left_gripper=0.9966 right_x=0.2856 right_y=-0.0008 right_z=0.1669 right_yaw=0.1699 right_pitch=-0.6263 right_roll=-0.2331 right_gripper=0.9965\nstate[joint_eff]: [-0.7453, -5.7231, 2.1949, 0.1294, -0.0904, -0.1441, -0.0073, -0.4034, -5.5316, 5.9966, 1.0916, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e713b9d29716b10ba69b6a30843d9e54fc6fdc8348698eb685327354fca61680",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e66c87e43173b99765afc09ec9ecb43b5a87c4dfb94323af770dbedaaf0faef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3322b72c3f541bae7644c6d11ffa7b53f4dc130c77ea82d3257259c0ae66ec6f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 2.696 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8528, 1.5864, 1.2839, -0.6846, -0.7383, -0.6426, 0.9965, 0.0353, 1.2858, 1.2064, -1.0946, 0.0731, -0.334, 0.9965]\nstate[eef_state]: left_x=0.3465 left_y=-0.2105 left_z=0.1929 left_yaw=0.083 left_pitch=-0.101 left_roll=0.1369 left_gripper=0.9965 right_x=0.29 right_y=0.0009 right_z=0.1788 right_yaw=0.1758 right_pitch=-0.6313 right_roll=-0.2327 right_gripper=0.9965\nstate[joint_eff]: [0.5128, -8.9231, 6.5162, 1.243, -0.359, 0.2076, 0.105, -0.7043, -4.0, 8.6359, 1.0085, -0.022, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4221, 2.0914, 1.5017, -0.3042, -0.4774, -0.2981, 0.9965, 0.0315, 1.264, 1.1595, -1.0634, 0.0731, -0.334, 0.9965]\nstate[eef_state]: left_x=0.5187 left_y=-0.14 left_z=0.0778 left_yaw=0.1387 left_pitch=-0.2058 left_roll=0.1783 left_gripper=0.9965 right_x=0.2868 right_y=-0.0003 right_z=0.1714 right_yaw=0.1713 right_pitch=-0.6252 right_roll=-0.2337 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -11.6581, 8.9778, 1.6728, -0.2125, 0.1832, -0.0073, -0.5265, -5.3265, 5.7915, 1.116, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4656, 2.2993, 1.1866, 1.0241, -0.6842, -0.0376, 0.9966, 0.0296, 1.2583, 1.1381, -1.0489, 0.0727, -0.334, 0.9965]\nstate[eef_state]: left_x=0.556 left_y=-0.1504 left_z=0.0977 left_yaw=0.1998 left_pitch=0.501 left_roll=0.0431 left_gripper=0.9966 right_x=0.2856 right_y=-0.0008 right_z=0.1669 right_yaw=0.1699 right_pitch=-0.6263 right_roll=-0.2331 right_gripper=0.9965\nstate[joint_eff]: [-0.7453, -5.7231, 2.1949, 0.1294, -0.0904, -0.1441, -0.0073, -0.4034, -5.5316, 5.9966, 1.0916, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e713b9d29716b10ba69b6a30843d9e54fc6fdc8348698eb685327354fca61680",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e66c87e43173b99765afc09ec9ecb43b5a87c4dfb94323af770dbedaaf0faef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3322b72c3f541bae7644c6d11ffa7b53f4dc130c77ea82d3257259c0ae66ec6f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0c852bb35cf55c9c016ab42004781087d0adbb22f6520a165e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.14,\"left_z\":0.005,\"left_pitch\":0},\"note\":\"At the extended, forward-tilted pose the arm stayed about seven centimetres too high, so it cannot grasp from there. I’ll retract slightly and try a more vertical descent at the reachable edge of the fruit.\"}",
  "call_id": "call_oxvqULVpbDs6oMiqoe71ED7L",
  "id": "fc_0c852bb35cf55c9c016ab42007325887d095090df209db868a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oxvqULVpbDs6oMiqoe71ED7L",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "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]: [-0.4564, 2.1391, 1.1404, 0.6029, -0.5922, -0.3431, 0.9966, 0.0288, 1.2507, 1.1149, -1.0367, 0.0731, -0.334, 0.9965]\nstate[eef_state]: left_x=0.5345 left_y=-0.1486 left_z=0.0777 left_yaw=0.2285 left_pitch=0.2419 left_roll=-0.0917 left_gripper=0.9966 right_x=0.2834 right_y=-0.0011 right_z=0.162 right_yaw=0.1691 right_pitch=-0.6298 right_roll=-0.2329 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -8.2393, 3.3709, 0.1001, 0.0611, -0.1587, -0.0122, -0.335, -5.2444, 6.1333, 1.116, -0.0513, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c022fec98ed1b8235c7d40f6518b53f3f4b60012619bd61c57990e3e4bd2e62d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c923b0cd30a747bc6fc348fa755f89b5d7a4bec5c550e1f04ebd3452271e26ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e445b010accae0699d8e63a8633ae7bcfc1eca12eb8ebf8cb988f533e342cb46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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