adhoc

completed
2026-09-23T20:17:06.888050+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
229.6 s
total steps
370
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits across the table, with the blue bowl to their rear-right and the large white bowl on the left. I’ll position the right gripper over the green fruit first, keeping the other arm clear.
move_to
right_x0.3300right_y0.1300right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3855, -0.0143, -0.0299, 0.9993, -0.0227, 0.8005, 0.6189, -0.3866, -0.0174, -0.0124, 0.9992] state[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.1573, -1.4427, 9.5658, 1.9023, -0.0806, 0.1001, -0.0806, -0.2667, -1.6479, 9.1282, 1.9365, -0.0806, -0.0562, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.13,"right_z":0.15},"note":"I see three fruits across the table, with the blue bowl to their rear-right and the large white bowl on the left. I’ll position the right gripper over the green fruit first, keeping the other arm clear."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe green fruit is visible at the lower right of the right wrist view, so my first approach went too far left of it. I’ll shift the gripper sideways toward the fruit and lower it partway before grasping.
move_to
right_y0.0550right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.4004, -0.0139, -0.0307, 0.9993, 0.6086, 1.2118, 0.6544, -0.1677, 0.4786, 0.334, 0.9991] state[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1778 left_yaw=0.0001 left_pitch=-0.0172 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3208 right_y=0.1288 right_z=0.1302 right_yaw=0.0327 right_pitch=-0.0619 right_roll=-0.042 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.4291, 7.0769, 1.9023, -0.0464, -0.0269, -0.0171, -0.3077, -4.6701, 8.7863, 1.8632, 0.3443, 0.2076, -0.022] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.055,"right_z":0.105},"note":"The green fruit is visible at the lower right of the right wrist view, so my first approach went too far left of it. I’ll shift the gripper sideways toward the fruit and lower it partway before grasping."})
tool
executing move_to over 7 steps (0.7s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe green fruit is now nearly centered between the right-hand jaws in the wrist view. I’ll lower the open gripper to the fruit’s mid-height for a side grasp.
move_to
right_z0.0180
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.4084, -0.0139, -0.0311, 0.9993, 0.2779, 1.0958, 0.461, -0.0555, 0.2272, 0.1184, 0.9991] state[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=0.0003 left_pitch=-0.0252 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3167 right_y=0.0527 right_z=0.0957 right_yaw=0.0234 right_pitch=-0.1021 right_roll=-0.0503 right_gripper=0.9991 state[joint_eff]: [-0.0752, -1.306, 7.0085, 1.8046, -0.0317, -0.0366, -0.0122, 0.0205, -4.1368, 6.5846, 1.8877, 0.0757, -0.1245, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.018},"note":"The green fruit is now nearly centered between the right-hand jaws in the wrist view. I’ll lower the open gripper to the fruit’s mid-height for a side grasp."})
tool
executing move_to over 6 steps (0.6s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe right fingertips are at table-level grasp height around the green fruit. I’ll close the jaws and check whether they actually hold it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8055, 0.6132, -0.4168, -0.0139, -0.0311, 0.9993, 0.2787, 1.4204, 0.2565, 0.4412, 0.226, 0.1116, 0.9991] state[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1735 left_yaw=0.0003 left_pitch=-0.037 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3121 right_y=0.0518 right_z=0.0117 right_yaw=0.0279 right_pitch=-0.1339 right_roll=-0.0631 right_gripper=0.9991 state[joint_eff]: [-0.1709, -1.5521, 7.0632, 1.8144, -0.0757, -0.0415, -0.0122, 0.1709, -4.4513, 5.0667, 1.8144, 0.0366, 0.0024, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingertips are at table-level grasp height around the green fruit. I’ll close the jaws and check whether they actually hold it."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe jaws have begun closing around the green fruit but have not yet settled. I’ll continue closing while lifting a few centimetres to see whether the fruit comes with the gripper.
move_to
right_z0.0800right_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, 0.6132, -0.4236, -0.0139, -0.0315, 0.9993, 0.2783, 1.4204, 0.2565, 0.4423, 0.223, 0.1112, 0.7154] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1719 left_yaw=0.0005 left_pitch=-0.0446 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3122 right_y=0.0523 right_z=0.0118 right_yaw=0.0303 right_pitch=-0.1333 right_roll=-0.0611 right_gripper=0.7154 state[joint_eff]: [-0.0068, -1.347, 6.9949, 1.8046, -0.0269, -0.0513, -0.0122, 0.0068, -4.1094, 4.8205, 1.5897, 0.0513, -0.0659, 1.0281] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08,"right_gripper":0},"note":"The jaws have begun closing around the green fruit but have not yet settled. I’ll continue closing while lifting a few centimetres to see whether the fruit comes with the gripper."})
tool
executing move_to over 8 steps (0.8s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe jaws remain held apart by an object after lifting, and the green fruit appears to have moved with the right gripper. I’ll carry it above the blue bowl, keeping clearance over the rim.
move_to
right_x0.4050right_y0.1900right_z0.1900right_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, 0.8078, 0.6132, -0.4244, -0.0139, -0.0315, 0.9993, 0.2787, 1.1381, 0.4011, -0.0288, 0.2184, 0.1108, 0.7126] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1713 left_yaw=0.0005 left_pitch=-0.0469 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3037 right_y=0.0508 right_z=0.0635 right_yaw=0.033 right_pitch=-0.177 right_roll=-0.0693 right_gripper=0.7126 state[joint_eff]: [-0.294, -1.3333, 7.3915, 1.6777, -0.0659, -0.0562, -0.0122, -0.1299, -3.7265, 8.8547, 1.7021, 0.0806, -0.0708, 1.0379] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.19,"right_z":0.19,"right_gripper":0},"note":"The jaws remain held apart by an object after lifting, and the green fruit appears to have moved with the right gripper. I’ll carry it above the blue bowl, keeping clearance over the rim."})
tool
executing move_to over 12 steps (1.2s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe right gripper is over the blue bowl, and the green fruit is no longer at its starting spot. I’ll lower the fruit into the bowl before releasing it.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4278, -0.0139, -0.0311, 0.9993, 0.5976, 1.644, 1.3125, -0.5617, 0.4156, 0.3267, 0.712] state[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1694 left_yaw=0.0003 left_pitch=-0.0549 left_roll=0.0001 left_gripper=0.9993 right_x=0.3984 right_y=0.1892 right_z=0.1719 right_yaw=0.0619 right_pitch=-0.2292 right_roll=-0.098 right_gripper=0.712 state[joint_eff]: [-0.0068, -1.5111, 6.9949, 1.7314, -0.0415, -0.0366, -0.0122, 0.253, -8.7453, 8.7043, 1.4921, 0.4176, 0.2759, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The right gripper is over the blue bowl, and the green fruit is no longer at its starting spot. I’ll lower the fruit into the bowl before releasing it."})
tool
executing move_to over 7 steps (0.7s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe gripper has reached into the blue bowl at a low height. I’ll open the jaws to leave the green fruit there and lift away so I can verify the placement.
move_to
right_gripper1.0000right_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, 0.8135, 0.6132, -0.4313, -0.0139, -0.0334, 0.9993, 0.5995, 1.7657, 1.0073, -0.1684, 0.4068, 0.3222, 0.712] state[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1684 left_yaw=0.0016 left_pitch=-0.0595 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3922 right_y=0.1877 right_z=0.0604 right_yaw=0.0689 right_pitch=-0.2619 right_roll=-0.1127 right_gripper=0.712 state[joint_eff]: [-0.1026, -1.4154, 7.1863, 1.7314, -0.0708, -0.0317, -0.0122, -0.2256, -8.3761, 5.9966, 1.6874, 0.2515, -0.0171, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.17},"note":"The gripper has reached into the blue bowl at a low height. I’ll open the jaws to leave the green fruit there and lift away so I can verify the placement."})
tool
executing move_to over 8 steps (0.8s)
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 green-yellow pear is visibly resting inside the blue bowl. I’ll bring the right gripper over the small yellow fruit that is still on the table.
move_to
right_x0.3050right_y0.2500right_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, 0.8135, 0.6132, -0.432, -0.0139, -0.0334, 0.9993, 0.6003, 1.6707, 1.2961, -0.6075, 0.403, 0.3107, 0.9983] state[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1683 left_yaw=0.0016 left_pitch=-0.0603 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3882 right_y=0.1861 right_z=0.1476 right_yaw=0.0708 right_pitch=-0.312 right_roll=-0.1469 right_gripper=0.9983 state[joint_eff]: [-0.0615, -1.1556, 6.9949, 1.7021, -0.0513, -0.0366, -0.0122, -0.1299, -10.0855, 8.5128, 1.3016, 0.2173, 0.0513, -0.1832] 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_x":0.305,"right_y":0.25,"right_z":0.13},"note":"The green-yellow pear is visibly resting inside the blue bowl. I’ll bring the right gripper over the small yellow fruit that is still on the table."})
tool
executing move_to over 7 steps (0.7s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe small yellow fruit is centered near the fingertip line in the right wrist view, with the blue bowl behind it. I’ll lower the open gripper to its sides.
move_to
right_z0.0160
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4347, -0.0139, -0.0334, 0.9993, 0.9154, 1.6623, 1.2327, -0.6914, 0.5388, 0.5938, 0.9983] state[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1675 left_yaw=0.0016 left_pitch=-0.0637 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3056 right_y=0.2547 right_z=0.1279 right_yaw=0.1001 right_pitch=-0.3244 right_roll=-0.1464 right_gripper=0.9983 state[joint_eff]: [-0.0479, -1.388, 7.1453, 1.7021, -0.0415, -0.022, -0.0122, -0.0205, -8.5538, 5.9419, 0.9158, 0.4567, 0.0659, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.016},"note":"The small yellow fruit is centered near the fingertip line in the right wrist view, with the blue bowl behind it. I’ll lower the open gripper to its sides."})
tool
executing move_to over 8 steps (0.8s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe yellow fruit sits between the lowered right jaws. I’ll close the gripper around it and check the settled jaw opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4419, -0.0139, -0.0338, 0.9993, 0.9192, 1.8347, 0.96, -0.2672, 0.5339, 0.5919, 0.9983] state[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1661 left_yaw=0.0018 left_pitch=-0.071 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3017 right_y=0.2532 right_z=0.0154 right_yaw=0.1029 right_pitch=-0.3422 right_roll=-0.1605 right_gripper=0.9983 state[joint_eff]: [-0.1846, -1.347, 7.1726, 1.7851, -0.0659, -0.0611, -0.0122, -0.4444, -8.0068, 5.2034, 1.2137, 0.3199, -0.0171, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit sits between the lowered right jaws. I’ll close the gripper around it and check the settled jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe right jaws stopped at an opening consistent with holding the small fruit. I’ll lift it clear of the table and confirm that it follows the gripper.
move_to
right_z0.1050right_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, 0.8143, 0.6132, -0.4461, -0.0139, -0.0334, 0.9993, 0.9192, 1.8347, 0.9596, -0.2657, 0.5262, 0.5911, 0.438] state[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1653 left_yaw=0.0016 left_pitch=-0.0752 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3011 right_y=0.2543 right_z=0.0148 right_yaw=0.1085 right_pitch=-0.3465 right_roll=-0.1551 right_gripper=0.438 state[joint_eff]: [-0.0342, -1.347, 6.9812, 1.6923, -0.0513, -0.0415, -0.0122, -0.335, -8.5538, 5.4085, 1.0085, 0.3053, -0.0122, 1.033] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105,"right_gripper":0},"note":"The right jaws stopped at an opening consistent with holding the small fruit. I’ll lift it clear of the table and confirm that it follows the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe jaws remain about four centimetres apart after the lift, but the wrist view alone cannot prove the fruit was picked up. I’ll carry the grasp toward the blue bowl, which will also uncover the pickup spot in the overhead view.
move_to
right_x0.3950right_y0.1900right_z0.1800right_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, 0.8143, 0.6132, -0.4496, -0.0139, -0.0334, 0.9993, 0.9192, 1.7088, 1.1526, -0.6086, 0.5194, 0.5911, 0.4379] state[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1646 left_yaw=0.0016 left_pitch=-0.0786 left_roll=-0.0012 left_gripper=0.9993 right_x=0.2999 right_y=0.2545 right_z=0.09 right_yaw=0.1064 right_pitch=-0.3676 right_roll=-0.1691 right_gripper=0.4379 state[joint_eff]: [-0.1026, -1.2239, 7.1316, 1.7558, -0.0659, -0.0513, -0.0122, -0.1299, -10.0718, 7.8564, 0.8913, 0.359, -0.0464, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.19,"right_z":0.18,"right_gripper":0},"note":"The jaws remain about four centimetres apart after the lift, but the wrist view alone cannot prove the fruit was picked up. I’ll carry the grasp toward the blue bowl, which will also uncover the pickup spot in the overhead view."})
tool
executing move_to over 8 steps (0.8s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe yellow fruit has left its original table position and is carried over the blue bowl; the dark fruit is the only one still on the table. I’ll lower the yellow fruit into the bowl beside the pear.
move_to
right_z0.0720
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4515, -0.0139, -0.0334, 0.9993, 0.59, 1.718, 1.4818, -0.8082, 0.366, 0.2741, 0.4372] state[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1642 left_yaw=0.0016 left_pitch=-0.0805 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3897 right_y=0.1891 right_z=0.1711 right_yaw=0.0997 right_pitch=-0.3848 right_roll=-0.1738 right_gripper=0.4372 state[joint_eff]: [-0.0615, -1.347, 7.0906, 1.7265, -0.0562, -0.0415, -0.0122, -0.335, -8.0752, 8.7863, 1.1795, 0.1929, 0.0513, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.072},"note":"The yellow fruit has left its original table position and is carried over the blue bowl; the dark fruit is the only one still on the table. I’ll lower the yellow fruit into the bowl beside the pear."})
tool
executing move_to over 7 steps (0.7s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe yellow fruit is just above the blue bowl’s interior, with the pear already inside. I’ll release it and lift the right arm away.
move_to
right_gripper1.0000right_z0.1550
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4679, -0.0139, -0.0334, 0.9993, 0.5888, 1.7603, 1.1843, -0.4221, 0.3763, 0.2611, 0.4394] state[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1607 left_yaw=0.0017 left_pitch=-0.098 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3957 right_y=0.1905 right_z=0.0913 right_yaw=0.1058 right_pitch=-0.3411 right_roll=-0.1674 right_gripper=0.4394 state[joint_eff]: [-0.3214, -1.4154, 7.0906, 1.8437, -0.0611, -0.0122, -0.0171, 0.0068, -7.0222, 5.7641, 1.2576, 0.022, 0.0806, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.155},"note":"The yellow fruit is just above the blue bowl’s interior, with the pear already inside. I’ll release it and lift the right arm away."})
tool
executing move_to over 6 steps (0.6s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteTwo fruits now appear in the blue bowl, and the single dark fruit remains near the left side of the table. I’ll park the right arm and bring the left gripper above the dark fruit.
move_to
left_x0.3100left_y-0.1700left_z0.1250right_x0.2950right_y0.0000right_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, 0.8173, 0.6132, -0.4755, -0.0139, -0.0334, 0.9993, 0.5907, 1.7382, 1.3556, -0.6769, 0.3649, 0.2497, 0.9984] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1587 left_yaw=0.0017 left_pitch=-0.1076 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3891 right_y=0.1894 right_z=0.1316 right_yaw=0.1124 right_pitch=-0.4012 right_roll=-0.1958 right_gripper=0.9984 state[joint_eff]: [-0.0752, -1.4701, 7.1043, 1.7411, -0.0611, -0.0317, -0.0122, -0.5128, -10.7692, 8.7179, 1.2967, 0.2418, 0.0757, -0.1832] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.17,"left_z":0.125,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"Two fruits now appear in the blue bowl, and the single dark fruit remains near the left side of the table. I’ll park the right arm and bring the left gripper above the dark fruit."})
tool
executing move_to over 16 steps (1.6s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe dark fruit is centered in the left wrist camera but still sits a little beyond the fingertip line. I’ll advance the left gripper a couple of centimetres and lower it partway before closing.
move_to
left_x0.3320left_z0.0480
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]: [-0.7898, 1.3304, 0.7364, -0.3096, -0.5621, -0.5781, 0.9993, 0.017, 1.116, 1.0027, -0.8436, 0.0715, -0.2291, 0.9983] state[eef_state]: left_x=0.3015 left_y=-0.1653 left_z=0.1087 left_yaw=-0.0111 left_pitch=-0.1552 left_roll=0.029 left_gripper=0.9993 right_x=0.2962 right_y=-0.004 right_z=0.1799 right_yaw=0.0855 right_pitch=-0.4037 right_roll=-0.2038 right_gripper=0.9983 state[joint_eff]: [-0.1026, -5.1624, 9.265, 1.4921, -0.4811, -0.1343, -0.0122, 0.4308, -3.6171, 6.4068, 1.3114, -0.1636, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.332,"left_z":0.048},"note":"The dark fruit is centered in the left wrist camera but still sits a little beyond the fingertip line. I’ll advance the left gripper a couple of centimetres and lower it partway before closing."})
tool
executing move_to over 4 steps (0.4s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe dark fruit has moved down to the fingertip row in the left wrist view, and the jaws straddle it. I’ll lower slightly more to grasp around its lower sides.
move_to
left_z0.0140
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.709, 1.5654, 0.6479, 0.0196, -0.5152, -0.5209, 0.9993, 0.0166, 1.1183, 1.0027, -0.8474, 0.0662, -0.2363, 0.9983] state[eef_state]: left_x=0.3282 left_y=-0.1621 left_z=0.0431 left_yaw=0.004 left_pitch=-0.1768 left_roll=0.0407 left_gripper=0.9993 right_x=0.2956 right_y=-0.0032 right_z=0.1787 right_yaw=0.0944 right_pitch=-0.4103 right_roll=-0.2031 right_gripper=0.9983 state[joint_eff]: [0.1709, -6.612, 5.5726, 1.5653, -0.2027, 0.1148, -0.0122, 0.0068, -3.3026, 6.7761, 1.3211, 0.0708, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.014},"note":"The dark fruit has moved down to the fingertip row in the left wrist view, and the jaws straddle it. I’ll lower slightly more to grasp around its lower sides."})
tool
executing move_to over 2 steps (0.2s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe left gripper is at the dark fruit’s base, with the fruit between its open jaws. I’ll close gently around it and inspect the jaw opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7071, 1.6711, 0.5941, 0.1425, -0.5083, -0.5243, 0.9993, 0.0166, 1.1221, 1.0027, -0.8581, 0.0662, -0.2367, 0.9983] state[eef_state]: left_x=0.3233 left_y=-0.1585 left_z=0.0071 left_yaw=0.0075 left_pitch=-0.208 left_roll=0.0584 left_gripper=0.9993 right_x=0.2937 right_y=-0.0032 right_z=0.1761 right_yaw=0.0951 right_pitch=-0.4248 right_roll=-0.202 right_gripper=0.9983 state[joint_eff]: [-0.2667, -7.0632, 5.1214, 1.5458, -0.3639, -0.0073, -0.0122, -0.1846, -3.5077, 6.5709, 1.37, -0.0073, -0.0464, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper is at the dark fruit’s base, with the fruit between its open jaws. I’ll close gently around it and inspect the jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe left jaws remain several centimetres apart against the dark fruit, indicating contact. I’ll lift it to confirm that it leaves the table before moving to the blue bowl.
move_to
left_z0.1050left_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]: [-0.7071, 1.6711, 0.5941, 0.1379, -0.5076, -0.5247, 0.5354, 0.0166, 1.1221, 1.0027, -0.8581, 0.0662, -0.2367, 0.9983] state[eef_state]: left_x=0.3227 left_y=-0.158 left_z=0.0064 left_yaw=0.0078 left_pitch=-0.2118 left_roll=0.0607 left_gripper=0.5354 right_x=0.2937 right_y=-0.0032 right_z=0.1761 right_yaw=0.0951 right_pitch=-0.4248 right_roll=-0.202 right_gripper=0.9983 state[joint_eff]: [-0.0342, -6.4479, 4.9436, 1.3797, -0.3101, -0.0269, 1.0232, -0.1846, -3.2615, 6.7214, 1.2918, 0.0317, -0.0513, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105,"left_gripper":0},"note":"The left jaws remain several centimetres apart against the dark fruit, indicating contact. I’ll lift it to confirm that it leaves the table before moving to the blue bowl."})
tool
executing move_to over 7 steps (0.7s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe dark fruit left the tabletop with the left gripper, so the grasp is secure. I’ll carry it high across the table toward the blue bowl, while the right arm stays parked.
move_to
left_x0.3950left_y-0.3750left_z0.1850left_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]: [-0.7071, 1.4368, 0.7929, -0.3218, -0.5041, -0.532, 0.5323, 0.0166, 1.1255, 1.0027, -0.8654, 0.0662, -0.2367, 0.9983] state[eef_state]: left_x=0.3197 left_y=-0.1562 left_z=0.0898 left_yaw=0.0134 left_pitch=-0.2336 left_roll=0.0713 left_gripper=0.5323 right_x=0.2924 right_y=-0.0032 right_z=0.1742 right_yaw=0.0955 right_pitch=-0.4354 right_roll=-0.2011 right_gripper=0.9983 state[joint_eff]: [-0.1299, -7.0496, 8.4581, 1.1697, -0.2955, 0.0317, 1.033, -0.0479, -3.2479, 6.5573, 1.3504, 0.0464, -0.0757, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.375,"left_z":0.185,"left_gripper":0},"note":"The dark fruit left the tabletop with the left gripper, so the grasp is secure. I’ll carry it high across the table toward the blue bowl, while the right arm stays parked."})
tool
executing move_to over 20 steps (2.0s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe dark fruit is over the near-left portion of the blue bowl, which already contains the other two fruits. I’ll shift slightly toward the bowl’s center and lower it carefully above the rim.
move_to
left_y-0.3980left_z0.0850
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]: [-0.9497, 2.2753, 2.236, -1.0542, -0.6071, -0.7933, 0.5309, 0.0166, 1.1255, 1.0027, -0.8661, 0.0662, -0.2371, 0.9983] state[eef_state]: left_x=0.3973 left_y=-0.3759 left_z=0.1725 left_yaw=0.0074 left_pitch=-0.2462 left_roll=0.0448 left_gripper=0.5309 right_x=0.2923 right_y=-0.0032 right_z=0.1741 right_yaw=0.0958 right_pitch=-0.4362 right_roll=-0.2013 right_gripper=0.9983 state[joint_eff]: [-0.9504, -13.8188, 7.8701, 0.5201, -0.6422, 0.0708, 1.033, -0.3624, -3.0564, 6.7077, 1.2625, 0.0269, -0.0513, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.398,"left_z":0.085},"note":"The dark fruit is over the near-left portion of the blue bowl, which already contains the other two fruits. I’ll shift slightly toward the bowl’s center and lower it carefully above the rim."})
tool
executing move_to over 6 steps (0.6s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe dark fruit is at the left side of the bowl opening, close to its inner edge. I’ll move as far inward as the left arm allows and lower it just above the fruit already in the bowl.
move_to
left_y-0.4000left_z0.0510
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]: [-0.9642, 2.339, 2.0346, -0.8452, -0.6067, -0.8131, 0.5309, 0.0166, 1.1313, 1.0027, -0.8803, 0.0658, -0.2367, 0.9983] state[eef_state]: left_x=0.3953 left_y=-0.3867 left_z=0.0894 left_yaw=0.0162 left_pitch=-0.2776 left_roll=0.0787 left_gripper=0.5309 right_x=0.2897 right_y=-0.0032 right_z=0.1707 right_yaw=0.0967 right_pitch=-0.4559 right_roll=-0.199 right_gripper=0.9983 state[joint_eff]: [-1.0188, -12.506, 6.1744, 1.1697, -0.4615, -0.0952, 1.0281, -0.0752, -3.7265, 6.5709, 1.4188, -0.0024, -0.0562, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.4,"left_z":0.051},"note":"The dark fruit is at the left side of the bowl opening, close to its inner edge. I’ll move as far inward as the left arm allows and lower it just above the fruit already in the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe dark fruit is now inside the left edge of the blue bowl opening. I’ll release it and lift the gripper away to check whether all three fruits remain in the bowl.
move_to
left_gripper1.0000left_z0.1800left_y-0.2900
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]: [-0.9703, 2.3848, 2.0243, -0.7891, -0.6106, -0.8211, 0.5309, 0.0166, 1.1313, 1.0023, -0.8841, 0.0658, -0.2367, 0.9983] state[eef_state]: left_x=0.3974 left_y=-0.3946 left_z=0.0671 left_yaw=0.0167 left_pitch=-0.2744 left_roll=0.0752 left_gripper=0.5309 right_x=0.2888 right_y=-0.0032 right_z=0.17 right_yaw=0.0968 right_pitch=-0.4601 right_roll=-0.1986 right_gripper=0.9983 state[joint_eff]: [-0.8957, -11.2342, 5.9556, 1.1258, -0.3297, -0.1392, 1.0183, -0.1299, -3.3162, 6.653, 1.2869, -0.022, -0.0806, -0.0122] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_z":0.18,"left_y":-0.29},"note":"The dark fruit is now inside the left edge of the blue bowl opening. I’ll release it and lift the gripper away to check whether all three fruits remain in the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe left jaws opened, but the arm did not follow the combined lift-and-sideways command and is still near the bowl. I’ll first lift straight up to clear the bowl before moving it aside.
move_to
left_z0.1200left_y-0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9733, 2.4069, 2.0239, -0.7727, -0.6136, -0.8387, 0.9972, 0.0166, 1.1313, 1.0023, -0.8845, 0.0662, -0.2367, 0.9983] state[eef_state]: left_x=0.3976 left_y=-0.3972 left_z=0.0569 left_yaw=0.0266 left_pitch=-0.2748 left_roll=0.07 left_gripper=0.9972 right_x=0.2887 right_y=-0.0033 right_z=0.17 right_yaw=0.0965 right_pitch=-0.4605 right_roll=-0.1989 right_gripper=0.9983 state[joint_eff]: [-0.294, -13.1897, 6.1197, 1.0965, -0.3687, 0.0513, -0.1832, -0.0752, -3.2205, 6.6256, 1.2821, -0.0122, -0.0562, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12,"left_y":-0.4},"note":"The left jaws opened, but the arm did not follow the combined lift-and-sideways command and is still near the bowl. I’ll first lift straight up to clear the bowl before moving it aside."})
tool
executing move_to over 5 steps (0.5s)
step 204
top_cam
camera top_cam step 204
assistant
agent noteThe lift uncovered a yellow fruit that has rolled out beside the blue bowl; the dark fruit and pear are still at the bowl. I’ll move the left arm clear so I can see the bowl and retrieve the escaped fruit safely.
move_to
left_x0.2900left_y-0.1200left_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]: [-0.9394, 2.3764, 2.1784, -0.9211, -0.5999, -0.8307, 0.9977, 0.0166, 1.1358, 1.0023, -0.8963, 0.0662, -0.2367, 0.9983] state[eef_state]: left_x=0.412 left_y=-0.3883 left_z=0.1114 left_yaw=0.0399 left_pitch=-0.2653 left_roll=0.0367 left_gripper=0.9977 right_x=0.2865 right_y=-0.0033 right_z=0.1672 right_yaw=0.0972 right_pitch=-0.4769 right_roll=-0.1974 right_gripper=0.9983 state[joint_eff]: [-1.9077, -12.9573, 5.9966, -0.0269, -0.5739, -0.0269, 0.0366, -0.2393, -3.6718, 6.5026, 1.3358, 0.0122, -0.0611, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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":0.29,"left_y":-0.12,"left_z":0.19},"note":"The lift uncovered a yellow fruit that has rolled out beside the blue bowl; the dark fruit and pear are still at the bowl. I’ll move the left arm clear so I can see the bowl and retrieve the escaped fruit safely."})
tool
executing move_to over 24 steps (2.4s)
step 228
assistant
agent noteThe pear and dark fruit are both visible inside the blue bowl, but the small yellow fruit is on the table to its right. I’ll use the right gripper to retrieve it without disturbing the bowl.
move_to
right_x0.3300right_y-0.0530right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6666, 1.2285, 1.0485, -0.7959, -0.4698, -0.5816, 0.9977, 0.0166, 1.1408, 1.0023, -0.9066, 0.0658, -0.2371, 0.9983] state[eef_state]: left_x=0.2959 left_y=-0.1265 left_z=0.1875 left_yaw=0.0584 left_pitch=-0.259 left_roll=0.0215 left_gripper=0.9977 right_x=0.2846 right_y=-0.0033 right_z=0.1646 right_yaw=0.0984 right_pitch=-0.4921 right_roll=-0.1959 right_gripper=0.9983 state[joint_eff]: [0.1709, -5.135, 6.5436, 1.3553, -0.1587, 0.1099, -0.0122, -0.1162, -3.6034, 6.4752, 1.2723, -0.0171, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":-0.053,"right_z":0.11},"note":"The pear and dark fruit are both visible inside the blue bowl, but the small yellow fruit is on the table to its right. I’ll use the right gripper to retrieve it without disturbing the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 233
assistant
agent noteThe yellow fruit is ahead of and slightly right of the fingertip column in the right wrist camera. I’ll advance and shift sideways within the workspace, then descend toward its lower half.
move_to
right_x0.3550right_y-0.0750right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.664, 1.2308, 1.0447, -0.8047, -0.4557, -0.5758, 0.9977, -0.1738, 1.3354, 0.9241, -0.7105, -0.0139, -0.3813, 0.9983] state[eef_state]: left_x=0.2936 left_y=-0.1265 left_z=0.1833 left_yaw=0.0503 left_pitch=-0.278 left_roll=0.0264 left_gripper=0.9977 right_x=0.3103 right_y=-0.0483 right_z=0.1037 right_yaw=0.0824 right_pitch=-0.5706 right_roll=-0.1771 right_gripper=0.9983 state[joint_eff]: [-0.3624, -4.3556, 6.8581, 1.3162, -0.3883, -0.105, -0.0122, -0.3077, -4.9436, 6.4205, 1.3895, -0.1734, -0.0611, -0.0122] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":-0.075,"right_z":0.045},"note":"The yellow fruit is ahead of and slightly right of the fingertip column in the right wrist camera. I’ll advance and shift sideways within the workspace, then descend toward its lower half."})
tool
executing move_to over 4 steps (0.4s)
step 237
assistant
agent noteThe yellow fruit is now centered between the open jaws at the lower edge of the wrist view. I’ll lower to a table-level grasp height.
move_to
right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6632, 1.2316, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.2306, 1.5898, 0.9165, -0.5293, -0.0387, -0.4316, 0.9983] state[eef_state]: left_x=0.2936 left_y=-0.1263 left_z=0.183 left_yaw=0.0508 left_pitch=-0.2793 left_roll=0.0267 left_gripper=0.9977 right_x=0.336 right_y=-0.0682 right_z=0.0402 right_yaw=0.0995 right_pitch=-0.646 right_roll=-0.1459 right_gripper=0.9983 state[joint_eff]: [-0.1709, -4.2462, 6.9265, 1.243, -0.2808, -0.0659, -0.0122, -0.3624, -8.212, 5.9556, 1.2821, -0.0562, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.015},"note":"The yellow fruit is now centered between the open jaws at the lower edge of the wrist view. I’ll lower to a table-level grasp height."})
tool
executing move_to over 2 steps (0.2s)
step 239
assistant
agent noteThe right gripper is aligned with the yellow fruit, though the descent stopped a little above its target. I’ll close the jaws here and see whether they catch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.664, 1.2324, 1.0447, -0.8047, -0.4549, -0.5758, 0.9977, -0.2359, 1.6184, 0.9146, -0.4706, -0.0395, -0.4461, 0.9983] state[eef_state]: left_x=0.2936 left_y=-0.1266 left_z=0.1828 left_yaw=0.0501 left_pitch=-0.2795 left_roll=0.027 left_gripper=0.9977 right_x=0.346 right_y=-0.0723 right_z=0.0356 right_yaw=0.0977 right_pitch=-0.6203 right_roll=-0.163 right_gripper=0.9983 state[joint_eff]: [-0.1983, -4.2872, 6.7761, 1.2479, -0.2955, -0.0269, -0.0122, -0.5538, -8.2667, 6.065, 1.3065, -0.1197, 0.022, -0.0122] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper is aligned with the yellow fruit, though the descent stopped a little above its target. I’ll close the jaws here and see whether they catch it."})
tool
executing move_to over 10 steps (1.0s)
step 249
assistant
agent noteThe jaws closed completely without holding the fruit; they were too high to catch its sides. I’ll reopen and try a lower approach with the wrist level, while staying just inside the right-hand workspace edge.
move_to
right_gripper1.0000right_x0.3450right_y-0.0600right_z-0.0100right_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]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4545, -0.5758, 0.9977, -0.2359, 1.6184, 0.9062, -0.4606, -0.0391, -0.4534, 0.0094] state[eef_state]: left_x=0.2936 left_y=-0.1264 left_z=0.1828 left_yaw=0.0506 left_pitch=-0.28 left_roll=0.027 left_gripper=0.9977 right_x=0.3454 right_y=-0.0722 right_z=0.0338 right_yaw=0.1017 right_pitch=-0.6196 right_roll=-0.1674 right_gripper=0.0094 state[joint_eff]: [-0.1846, -4.0957, 6.735, 1.2332, -0.2222, -0.0366, -0.0073, -0.6632, -7.9932, 5.4359, 1.16, -0.1685, 0.0464, 0.6227] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.345,"right_y":-0.06,"right_z":-0.01,"right_pitch":0},"note":"The jaws closed completely without holding the fruit; they were too high to catch its sides. I’ll reopen and try a lower approach with the wrist level, while staying just inside the right-hand workspace edge."})
tool
executing move_to over 21 steps (2.1s)
step 270
assistant
agent noteThe right fingertips are now essentially at table height beside the yellow fruit. I’ll close again and check whether the lower grasp catches it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.3107, 1.787, 0.2749, 0.9657, -0.2703, -0.3618, 0.9973] state[eef_state]: left_x=0.2937 left_y=-0.1264 left_z=0.1828 left_yaw=0.0509 left_pitch=-0.2798 left_roll=0.0272 left_gripper=0.9977 right_x=0.3548 right_y=-0.0606 right_z=0.0041 right_yaw=0.1118 right_pitch=0.034 right_roll=-0.1726 right_gripper=0.9973 state[joint_eff]: [-0.3487, -4.1915, 6.5709, 1.2283, -0.2613, -0.0513, -0.0122, -0.2803, -3.8906, 1.7162, 0.7204, 0.2222, -0.188, -0.1245] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingertips are now essentially at table height beside the yellow fruit. I’ll close again and check whether the lower grasp catches it."})
tool
executing move_to over 10 steps (1.0s)
step 280
assistant
agent noteThe second grasp is empty too, and the yellow fruit is hidden by the right arm. I’ll retract the right gripper to locate it in the overhead camera before attempting another pickup.
move_to
right_x0.2900right_y0.0000right_z0.1800right_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]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.3107, 1.8008, 0.2646, 0.9718, -0.2707, -0.3592, 0.0092] state[eef_state]: left_x=0.2937 left_y=-0.1264 left_z=0.1828 left_yaw=0.0509 left_pitch=-0.2798 left_roll=0.0272 left_gripper=0.9977 right_x=0.3505 right_y=-0.0592 right_z=-0.0021 right_yaw=0.1106 right_pitch=0.0179 right_roll=-0.1628 right_gripper=0.0092 state[joint_eff]: [-0.0068, -4.2188, 6.5436, 1.2625, -0.2662, -0.0269, -0.0122, -0.335, -6.9675, 3.959, 1.7265, -0.1343, -0.0513, 0.6667] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.18,"right_gripper":1},"note":"The second grasp is empty too, and the yellow fruit is hidden by the right arm. I’ll retract the right gripper to locate it in the overhead camera before attempting another pickup."})
tool
executing move_to over 12 steps (1.2s)
step 292
assistant
agent noteThe escaped yellow fruit has rolled toward the right-side fence, where a sideways jaw approach may not fit. I’ll try approaching it from the front with the gripper rotated so its jaws close along the table’s length.
move_to
right_x0.1950right_y-0.0600right_z0.0900right_yaw1.5500
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]: [-0.6632, 1.2388, 1.0447, -0.8051, -0.4545, -0.5758, 0.9977, -0.0441, 0.7654, 0.5293, -0.2703, -0.0708, -0.2478, 0.9957] state[eef_state]: left_x=0.294 left_y=-0.1267 left_z=0.1809 left_yaw=0.0519 left_pitch=-0.2849 left_roll=0.0314 left_gripper=0.9977 right_x=0.2978 right_y=0.003 right_z=0.1766 right_yaw=0.15 right_pitch=0.0526 right_roll=-0.1814 right_gripper=0.9957 state[joint_eff]: [0.0068, -4.5607, 6.735, 1.2723, -0.2564, -0.0708, -0.0122, 0.212, -1.4154, 8.841, 1.8046, 0.0806, 0.2857, -0.1685] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.195,"right_y":-0.06,"right_z":0.09,"right_yaw":1.55},"note":"The escaped yellow fruit has rolled toward the right-side fence, where a sideways jaw approach may not fit. I’ll try approaching it from the front with the gripper rotated so its jaws close along the table’s length."})
tool
executing move_to over 9 steps (0.9s)
step 301
assistant
agent noteThe rotated approach did not track: the right gripper stayed well left of the requested fence-side position, likely because that wrist pose is awkward. I’ll reset its orientation and approach nearer the fruit to check what is reachable.
move_to
right_x0.2000right_y-0.0550right_z0.1100right_yaw0.0000
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]: [-0.6632, 1.2453, 1.0447, -0.8066, -0.4545, -0.5758, 0.9978, -0.3733, 1.6157, 0.8532, -1.0451, -0.9936, -1.7607, 0.9962] state[eef_state]: left_x=0.2941 left_y=-0.1268 left_z=0.1788 left_yaw=0.0534 left_pitch=-0.291 left_roll=0.0369 left_gripper=0.9978 right_x=0.2519 right_y=0.0642 right_z=0.0883 right_yaw=1.3019 right_pitch=0.0072 right_roll=0.0778 right_gripper=0.9962 state[joint_eff]: [-0.2803, -4.4239, 6.5436, 1.2821, -0.2906, -0.0415, -0.0122, -1.4154, -5.3265, 4.1778, -0.2125, -0.6129, -0.0611, 0.0464] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.20,"right_y":-0.055,"right_z":0.11,"right_yaw":0},"note":"The rotated approach did not track: the right gripper stayed well left of the requested fence-side position, likely because that wrist pose is awkward. I’ll reset its orientation and approach nearer the fruit to check what is reachable."})
tool
executing move_to over 10 steps (1.0s)
step 311
assistant
agent noteThe yellow fruit is no longer clearly visible on the tabletop, and the right wrist remains stuck in the rotated posture instead of following the fence-side targets. I’ll move the arm back into open space near the blue bowl to restore a controllable pose.
move_to
right_x0.3950right_y0.1900right_z0.1150right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6632, 1.2453, 1.0447, -0.8066, -0.4545, -0.5758, 0.9977, -0.5255, 1.6852, 0.9192, -1.2064, -0.9432, -2.072, 0.9962] state[eef_state]: left_x=0.2941 left_y=-0.1268 left_z=0.1788 left_yaw=0.0534 left_pitch=-0.291 left_roll=0.0369 left_gripper=0.9977 right_x=0.2466 right_y=0.0264 right_z=0.088 right_yaw=1.3327 right_pitch=-0.003 right_roll=-0.014 right_gripper=0.9962 state[joint_eff]: [-0.0342, -4.3145, 6.5436, 1.2039, -0.2662, -0.0464, -0.0171, -0.0615, -6.4205, 5.1214, -0.5788, -0.5006, -0.3101, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.19,"right_z":0.115,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The yellow fruit is no longer clearly visible on the tabletop, and the right wrist remains stuck in the rotated posture instead of following the fence-side targets. I’ll move the arm back into open space near the blue bowl to restore a controllable pose."})
tool
executing move_to over 14 steps (1.4s)
step 325
assistant
agent noteThe small yellow fruit is against the right fence, where the jaws cannot safely get around it. I’ll at least work on transferring the two fruits already in the blue bowl: the right gripper is centered over the bowl, so I’ll lower it to the rim.
move_to
right_x0.4050right_y0.2000right_z0.0350right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6636, 1.2507, 1.0447, -0.8085, -0.4545, -0.5758, 0.9977, 0.6289, 1.6024, 0.8318, 0.0967, 0.3672, 0.0429, 0.9963] state[eef_state]: left_x=0.294 left_y=-0.1269 left_z=0.177 left_yaw=0.0545 left_pitch=-0.2965 left_roll=0.0419 left_gripper=0.9977 right_x=0.3826 right_y=0.2043 right_z=0.1018 right_yaw=0.2994 right_pitch=-0.066 right_roll=-0.1907 right_gripper=0.9963 state[joint_eff]: [-0.0889, -4.588, 6.653, 1.3065, -0.2222, -0.0513, -0.0122, 0.1573, -7.9932, 6.8308, 1.4628, 0.3248, 0.232, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.20,"right_z":0.035,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The small yellow fruit is against the right fence, where the jaws cannot safely get around it. I’ll at least work on transferring the two fruits already in the blue bowl: the right gripper is centered over the bowl, so I’ll lower it to the rim."})
tool
executing move_to over 5 steps (0.5s)
step 330
assistant
agent noteThe right arm stopped about four centimetres above its requested rim height, likely because the current pose meets the bowl or an IK limit. I’ll ease it slightly toward the near side and pitch the tool forward to try a reachable rim grasp.
move_to
right_x0.3900right_y0.1850right_z0.0380right_pitch-0.2000
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]: [-0.6632, 1.251, 1.0447, -0.8074, -0.4545, -0.5758, 0.9977, 0.651, 1.8297, 0.8276, 0.4473, 0.5018, 0.3489, 0.9963] state[eef_state]: left_x=0.2943 left_y=-0.1269 left_z=0.1771 left_yaw=0.0547 left_pitch=-0.2959 left_roll=0.0413 left_gripper=0.9977 right_x=0.4164 right_y=0.2149 right_z=0.0747 right_yaw=0.0473 right_pitch=0.0873 right_roll=0.0536 right_gripper=0.9963 state[joint_eff]: [-0.2667, -4.1641, 6.5299, 1.16, -0.2711, -0.0611, -0.0122, 0.0205, -5.3675, 4.2735, 0.0073, 0.4469, -0.3736, -0.0122] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.185,"right_z":0.038,"right_pitch":-0.2},"note":"The right arm stopped about four centimetres above its requested rim height, likely because the current pose meets the bowl or an IK limit. I’ll ease it slightly toward the near side and pitch the tool forward to try a reachable rim grasp."})
tool
executing move_to over 10 steps (1.0s)
step 340
assistant
agent noteThe bowl rim is framed between the right jaws, but the arm cannot descend further in this pose. I’ll close around the bowl at the current height and test whether I have the rim before lifting.
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]: [-0.6632, 1.251, 1.0447, -0.807, -0.4545, -0.5755, 0.9977, 0.6621, 1.8572, 0.8307, 0.4938, 0.5049, 0.3943, 0.9963] state[eef_state]: left_x=0.2943 left_y=-0.127 left_z=0.1771 left_yaw=0.0544 left_pitch=-0.2956 left_roll=0.0413 left_gripper=0.9977 right_x=0.4183 right_y=0.2222 right_z=0.0728 right_yaw=0.0301 right_pitch=0.1043 right_roll=0.1058 right_gripper=0.9963 state[joint_eff]: [-0.1983, -4.1368, 6.5709, 1.2186, -0.2857, -0.022, -0.0122, -1.0325, -6.1197, 3.4667, 0.8571, 0.4371, -0.1001, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The bowl rim is framed between the right jaws, but the arm cannot descend further in this pose. I’ll close around the bowl at the current height and test whether I have the rim before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 350
assistant
agent noteThe jaws closed to only about 2.3 cm, much narrower than the bowl, so this is likely a fruit contact rather than a secure bowl grip. I’ll reopen and withdraw without lifting the fruit out.
move_to
right_gripper1.0000right_z0.1800right_x0.3100right_y0.0000
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]: [-0.6636, 1.251, 1.0447, -0.807, -0.4545, -0.5758, 0.9977, 0.659, 1.8442, 0.8379, 0.4736, 0.4934, 0.3931, 0.237] state[eef_state]: left_x=0.2943 left_y=-0.1271 left_z=0.1771 left_yaw=0.0542 left_pitch=-0.2956 left_roll=0.0411 left_gripper=0.9977 right_x=0.4187 right_y=0.223 right_z=0.0769 right_yaw=0.0371 right_pitch=0.101 right_roll=0.1095 right_gripper=0.237 state[joint_eff]: [-0.0342, -4.3556, 6.5573, 1.1941, -0.2906, -0.022, -0.0122, 0.1709, -7.5692, 4.9846, 1.8584, 0.1929, -0.022, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.18,"right_x":0.31,"right_y":0},"note":"The jaws closed to only about 2.3 cm, much narrower than the bowl, so this is likely a fruit contact rather than a secure bowl grip. I’ll reopen and withdraw without lifting the fruit out."})
tool
executing move_to over 19 steps (1.9s)
step 369
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]: [-0.6636, 1.2514, 1.0447, -0.8055, -0.4541, -0.5758, 0.9977, -0.1001, 0.833, 0.4915, -0.1371, -0.131, 0.0475, 0.9978] state[eef_state]: left_x=0.2945 left_y=-0.1274 left_z=0.1772 left_yaw=0.0537 left_pitch=-0.2949 left_roll=0.04 left_gripper=0.9977 right_x=0.3123 right_y=-0.0046 right_z=0.1691 right_yaw=-0.0135 right_pitch=0.091 right_roll=0.1038 right_gripper=0.9978 state[joint_eff]: [-0.335, -4.3829, 6.5436, 1.2527, -0.2955, -0.0708, -0.0122, -0.0889, -1.6752, 9.8256, 1.9902, -0.1343, 0.0855, -0.1148] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 369): [image omitted: streamed camera frame] camera 'left_cam' (step 369): [image omitted: streamed camera frame] camera 'right_cam' (step 369): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.447 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"
    }
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{
  "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"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8001, 0.6136, -0.3855, -0.0143, -0.0299, 0.9993, -0.0227, 0.8005, 0.6189, -0.3866, -0.0174, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.4427, 9.5658, 1.9023, -0.0806, 0.1001, -0.0806, -0.2667, -1.6479, 9.1282, 1.9365, -0.0806, -0.0562, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8406c9ea33725d136965d1a45946e13ee25cc29554dfd25d842f310d0f515c39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db102f29d2447bb597f6b76690ceda83b70ce7d8c6b1f610345e10478d022c67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df751cafcef9777946db4403443cd8289d60c4c6c202dcaee059b5be77ca9ae5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 4.135 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.13,\"right_z\":0.15},\"note\":\"I see three fruits across the table, with the blue bowl to their rear-right and the large white bowl on the left. I’ll position the right gripper over the green fruit first, keeping the other arm clear.\"}",
  "call_id": "call_rS7TwnUD8WubR901sEL6NSu5",
  "id": "fc_031dcf041c9993fd016ab433d6a14887d08dd9e06973eb92ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rS7TwnUD8WubR901sEL6NSu5",
  "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, 0.8021, 0.6132, -0.4004, -0.0139, -0.0307, 0.9993, 0.6086, 1.2118, 0.6544, -0.1677, 0.4786, 0.334, 0.9991]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1778 left_yaw=0.0001 left_pitch=-0.0172 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3208 right_y=0.1288 right_z=0.1302 right_yaw=0.0327 right_pitch=-0.0619 right_roll=-0.042 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4291, 7.0769, 1.9023, -0.0464, -0.0269, -0.0171, -0.3077, -4.6701, 8.7863, 1.8632, 0.3443, 0.2076, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a682fef7e3587872869d680f465fe0b9864923c2df7be15c4837b5f388e0db67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da24fc122f0fb8509a99af0271d04e5e6c7534de062a11971f11d386cb3961fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8fbf6dda89113eb1d9db5744a9002c927d8e158a69978702746576df871f979",
      "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 2 attempt 0 · /responses · status 200 · 3.301 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3855, -0.0143, -0.0299, 0.9993, -0.0227, 0.8005, 0.6189, -0.3866, -0.0174, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.4427, 9.5658, 1.9023, -0.0806, 0.1001, -0.0806, -0.2667, -1.6479, 9.1282, 1.9365, -0.0806, -0.0562, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8021, 0.6132, -0.4004, -0.0139, -0.0307, 0.9993, 0.6086, 1.2118, 0.6544, -0.1677, 0.4786, 0.334, 0.9991]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1778 left_yaw=0.0001 left_pitch=-0.0172 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3208 right_y=0.1288 right_z=0.1302 right_yaw=0.0327 right_pitch=-0.0619 right_roll=-0.042 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4291, 7.0769, 1.9023, -0.0464, -0.0269, -0.0171, -0.3077, -4.6701, 8.7863, 1.8632, 0.3443, 0.2076, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a682fef7e3587872869d680f465fe0b9864923c2df7be15c4837b5f388e0db67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da24fc122f0fb8509a99af0271d04e5e6c7534de062a11971f11d386cb3961fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8fbf6dda89113eb1d9db5744a9002c927d8e158a69978702746576df871f979",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDPhzV04DVm0OzJSePFjDcnZXdG8-3uBd3Tx-WhecEboazBv4yEqUMZTSvFmt6vDs0weNZuBMHxvw_XSCwSXrNYNqfeG8Fb1IXd3nmKDYU4Om9fvPT_DtBNY4-jYZHdEIJVj0MkG0Y9mCDb-Xso9PGkzl9yq_4ZWFtoqrn789hnxI_Q75vljY5mG1qaX-nLLgwr7YXc-gRfSRTaHTb8JlQZT0qfsPnANtDISm22NKybGRyb3pEmf_7dJF5fkc1_93ERviO7DvxT-DdaNuOq_NbLmtpTaHj2F9AdVpHSGL2JVXQLmcH0etwUsQnZwaeKH43JDRvGq_6IcQF-SrHIcFPdLE5uoDco9DA1dN5jqxnBM-UYbN4ohxAzqC2qtDv0TuyS4qrz0lS4WbeYgVdo6h4tByciDMfHvR-iGMBD0Y0sO99NuQyAitIpWoecpr6OPMVIXk79tLFIX15PXvRapXD5Xagwjb4IxIkBKCJGCV-mZ9HOTMaixLcv32E-3gKHxc2Q96US22TG3_GmvtF8Epa4Js8iFdTeofnwYEIAFLRgfvYDwFcpowbSNnNqoMRgb4EPYp5q9abv29YPC4OSQvg8k4wCfF7YbSZfdHyBCofCHSGYZImLCuzXODiPAGGraGIOg7D6StUj8bu0bNZnI4VeHsQJSfVwYzQHdc7UMY-s-3VqNaXu2R8asIndnuqFnaQkKpPNWOfaLlf8cwkZzuUF6KD64OpbqqwGqtAN96jaLhwy9g0X3_vO1v2w8wXKBMKXvlkI_bvkEmwH-z1usvM6NkvHbT1tPuNn1kAiehoOEr456uEH6ksPKDFNePiN2WvTXfpv5h2O09RE2YEY1WYgzj8ZfQEE-X1dJSGhsZhBjQ0_xijdrgZf1Q4TwJo0961nbgymyOWRbdB0IeTnPRcobdSJGbeTRk5nuAxwz_qURhdADkRtHOUlg21ClxwJ23HZfAtdNrEb1kz6Oi_ObTJE6oR86RcAzTcR0oQ6K-5rBvjss113MzE4EvcWUh-mdMFoEhVIv6iPQzV9KF5fRTx4LHv9-oPYIJrjMS0-NaT5ZoIpDNkljziJTrgNoc7KL-CdWsKA3UpAJARVSCyrNbtfgfdv9z_EApYdY0QRRCdzmVe5qMRS08Q0qWKLYGgbihUD_BFwcOYxn-xbxqR2L4kjZ9vFxJA-U9dFVSNVbieA79DUuWNjGlJzQwSS62H7oRRV6wQ8WjUmLcd1mCwPIHgV77xSHkcOGZ-tyeLFlkmMDNgrUZ_LjZAuXL5mEX6DrCbId1ycQs7kaaqEv9ovyna8ec4_yFkfMzCH_Ry-HdpkPjOFaCqHByma_tBDRGd2y4RobYF5idzebljcZFM2OD1VPYP7BN-s5rZtz3pZo4qlSVBxqIaGGIATDAUeXO7fafmLTohSCEgQqrrxqD-AkZ0GH-kaFx8URyEP5qtym-BIItk-9nNz6bZ_MSNiDRMPBlzhdlQJtHnXBp7fYVTU3mkG1MrsSUzGI4N9VVDbeFsoUyP5uRqK6zhWRcEJFuGinea3AGbj9lqWRRkEYty3tqRYWq2WCxE64gE13-rkKjrkrfb9QFl2OO0ev_uZdtMqh4oiiL4d-BpBX-QAvmirMXIVQUqgrYeExVKloYTw0KKToOBcuw6S8ckfhhw2b0WwVO-GKofgJArLFPwStmuGlWcZMDCb_tLzTr6jZYsKe5JYcPGVKkDchaxPPqE_UjoOWbKr8HuIfplVSIGL6e6tvSSjKJjmFCYH-GwVZtfN9nCiVzWdAMkOVtmmEcQupVTtsmWeALKJBZuMmq2DTy7pOv6H6JlljlirGRIrUIA11xog0u_B03OceU9B0BqdwuWyAA-Gi4DiDS-EXIN9kO366f11kRiRQgvqYVkMRUFY1KhVM2Awz8eLWAYgtZtK0dzNKhw-d1eh4d62h6RgNZtAM1NwPKNwmPanWQPXRdPw_eZFECsVUN4j0UeVBxpxnArZE0hh37Id0fbjalQpZFFAFU7wWuJ2Lol2fgBlL90DIJNHCup6aJ2IP7osiKcKDJkfGkCvlj1wboE9fEbf24rSXwm88jiJyLgEDM2pCFcsNMqsV1i__dz-8VqwPX2t_htqcUKrENPUHEwwMPCPNIdnQJrdDj1w7KRxsFaHKfa7uCIZ3VOTTaMYWZEQzcilafI7iMZ3ZSXHdEWhQdcopKAZ7lyfF_Qs_ygPTGEAWWemOX58WwWLaDMzWA1JcFkeQqFaA6hQ-QuG5riwc1cPrv71cuTdeKlZSLlmiUhf7Thuw-j2pX6BHhkwiF3cLS1FiLvln9eberjlf19vmoPeCz2lVxunN9dQAB4aE2ChuMhd7M4_RvkhUyRS9SWpPdOyBDCBGN9imsGfkfNgiA0L9g5fPm-biUQ6yqlfu2Cw48xX_KGkaDfk=",
  "id": "rs_031dcf041c9993fd016ab433de8a0887d0ab6ef32a44ce0d8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.055,\"right_z\":0.105},\"note\":\"The green fruit is visible at the lower right of the right wrist view, so my first approach went too far left of it. I’ll shift the gripper sideways toward the fruit and lower it partway before grasping.\"}",
  "call_id": "call_WvBb6FwddFeywOeBq3cPdLpw",
  "id": "fc_031dcf041c9993fd016ab433e0ef7887d08c70c61de7ef624c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WvBb6FwddFeywOeBq3cPdLpw",
  "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, 0.8021, 0.6132, -0.4084, -0.0139, -0.0311, 0.9993, 0.2779, 1.0958, 0.461, -0.0555, 0.2272, 0.1184, 0.9991]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=0.0003 left_pitch=-0.0252 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3167 right_y=0.0527 right_z=0.0957 right_yaw=0.0234 right_pitch=-0.1021 right_roll=-0.0503 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.306, 7.0085, 1.8046, -0.0317, -0.0366, -0.0122, 0.0205, -4.1368, 6.5846, 1.8877, 0.0757, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db898540e3720a5e1233157ac56c0525c28a3ccb7052e5558cc4fce21cc60e10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8900a3042fd0936e1b938b8f3c5709b528b3e3eeb35982e0c786a9a667d625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55abcbf863d7312d34909e63111ead9b51b31da11cb7c2a79bd89329730a909a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.091 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8021, 0.6132, -0.4004, -0.0139, -0.0307, 0.9993, 0.6086, 1.2118, 0.6544, -0.1677, 0.4786, 0.334, 0.9991]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1778 left_yaw=0.0001 left_pitch=-0.0172 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3208 right_y=0.1288 right_z=0.1302 right_yaw=0.0327 right_pitch=-0.0619 right_roll=-0.042 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4291, 7.0769, 1.9023, -0.0464, -0.0269, -0.0171, -0.3077, -4.6701, 8.7863, 1.8632, 0.3443, 0.2076, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8021, 0.6132, -0.4084, -0.0139, -0.0311, 0.9993, 0.2779, 1.0958, 0.461, -0.0555, 0.2272, 0.1184, 0.9991]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=0.0003 left_pitch=-0.0252 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3167 right_y=0.0527 right_z=0.0957 right_yaw=0.0234 right_pitch=-0.1021 right_roll=-0.0503 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.306, 7.0085, 1.8046, -0.0317, -0.0366, -0.0122, 0.0205, -4.1368, 6.5846, 1.8877, 0.0757, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db898540e3720a5e1233157ac56c0525c28a3ccb7052e5558cc4fce21cc60e10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8900a3042fd0936e1b938b8f3c5709b528b3e3eeb35982e0c786a9a667d625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55abcbf863d7312d34909e63111ead9b51b31da11cb7c2a79bd89329730a909a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDPnSIE31psbdle0KsFFjN0Aifh76XeUCPA110tewKaObwSUZpU9d9ybsjQVCIJGSLVyx9w9jss6nFDq25ZqgbADQ4Mp29jwP6szX1GBUaa_jf8pbvf2UsdPahQfiHo_Zw2MX_Ol4jnczJHBKo4s90HR8QCj7AiT5maFAuFbMnJ0zy_6OJ3Kl3vC-Zr2g9dPzYfDeZtj7d6uhsXdKdeZo7BxsIxMmlywWsBttRQqXVXe7ubDWYS4oKO9d5aoAABLO_6JXRK3NRL2pvl-Bw-672-KkKq3rfclGli2AR-zhE_d66XIFbkMnjCAm4BSb9Woe9C6wy83qYm9_gLHbKHJ4fC0DwdxeZX2IqS-amgALG8ac6eqAz1p2GWQVus7e-T4cbt2aI8xgXLMSx1ysFi3J7_T7rCnwt271ZVJJGCLeMyeHwZldEtHBsgl-Dz411lmo1IaroFzd5pVmjMwKN1pGYIxjxjuF6Kr_eRZNR9cqp2Q3vxUkixU7iEWi-mvW-MGq_er8V-nLER9nlLa6ht7Rcq7QAkI-kBXjo3OESUhLj6FH2LUDhsWjDiCz9ijrWx_XCf7SIMuuxHsTCUP5YaE4qRAMh0NBqWPSXnP2pRKZnyvTfJkr8ezcFI10RFCTcxS91e3dcN0mfSKh98jKbdSzdvjhd_4JFtJB7wm2epQa2nngb07TbmWbF3vNRIGFsKLZnbJ9xDx79zeI-NfIhdZuhbreAKbFFNvRi5OtyuLkzWELjm7xgfLraY2QK3_QDDw75NaTzV-iKEW07Fkz7ql-04t53SpxuJEErGJftNOhp5NiWw2ADm4ceuIziX8o1203QL4Z7FKk-M2raRpTax5qhNJTgM3LVJnrot30vnC2k3GlG9ywo0rWCjaZgmD5prll5JHulmV-UKOZti107lDTQqcov8lBYMGLLASVMEbdcmP0s6O_8i3dQU3e3wQtHtglN_EW12piBVfIdVV6RnvLXfyFO9wSGOM-9RfQHmgJ0o5XGMcu-ZK2K0Pw3SicwRAfeZYsFxewUPdUcDODgKP1ZSvDh1nkDOrs7vYrtDeWOW8sE5v0vyr_eDOyRUpQUYgI8jJcY1tROAZ1KT7yIJekhEhZarfdggZ1t2jcVq_40DwjO_6RNseY-cMw06ZvPebk4meS_yPfBu49KVS5LSIcoVt2EB1mAxd5IAdehd6wXERYZkBVhPkxi06qrYmTDrbLWYuZCNVJFadZKMz7ypy-V34TK9rzjFWlBwt09sTTDbl0ZH6YtYYH6NFpSR7l-E7DM8ojlT-UfLMyIpelLVpxhQAXqQUVwTR-sIXHnJr4EMrSZKSezKlUl3EYSrEmNLpCpBQa0R55NTvwhY5zERmrg8qqxqZJgM56XN9TyMLII7TV_Mi2AiYv7o5QXO4Y5UxHwoyJ2yd4aEO126d7eDx_uwWYfwjdzMCJfoVnHrOTRhTJw7vuxo1qWy91ZzRyvrRNqtmbWaRixMrZcuyXp4K4zepcV6n4I8VlHB-U4a2XEonqTljxJTMbon69jIKIf7rfNCvIPLpNnNj7r83dKsZt31KRzcFkf86FPv07fgH2gpjaGyO-NbGasLqHHPQcrKCuLAfNICtLdx6hO2lty4TCkgb4K0BLTzhXSoiitl1kyQamqe2b7qmU0ogNd4ZudpJBSTBo1ka6cWdnGShkEAFckAi1u1UaaPqoQ2qW5XGvcpElwyduxwWQ7Dtin1iQ_Dz-8LsPmf7ONU56OIzETxfvrDzfqyLepjTFlMi9yvjNseoD3S2XV56itMpyXMsaoxLWg40pJ_9qW9UUKJIIoki2EYoiPoo9cnMiSin1aonBuM78cl23tG8-Jhf20tcpAyBqnZ5-O2nIM8XHGwo5u7mIOw3ng==",
  "id": "rs_031dcf041c9993fd016ab433e52f7887d083a25831e824ee11",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.018},\"note\":\"The green fruit is now nearly centered between the right-hand jaws in the wrist view. I’ll lower the open gripper to the fruit’s mid-height for a side grasp.\"}",
  "call_id": "call_qDrMxRvsyT3kmgV7MTq5iFkx",
  "id": "fc_031dcf041c9993fd016ab433e67af887d08db65ffb2980c39b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qDrMxRvsyT3kmgV7MTq5iFkx",
  "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, 0.8055, 0.6132, -0.4168, -0.0139, -0.0311, 0.9993, 0.2787, 1.4204, 0.2565, 0.4412, 0.226, 0.1116, 0.9991]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1735 left_yaw=0.0003 left_pitch=-0.037 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3121 right_y=0.0518 right_z=0.0117 right_yaw=0.0279 right_pitch=-0.1339 right_roll=-0.0631 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.5521, 7.0632, 1.8144, -0.0757, -0.0415, -0.0122, 0.1709, -4.4513, 5.0667, 1.8144, 0.0366, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbfbab3500a83b8b4f1a04f559956b6338b42d302cef75b3934f4d6d6faeb33a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b253048b06b61c211943b6a820630e49d846b9719567f7c80a1e0c70425b04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902da524227e8653b9a58a24f4024c076f2e31ecc87db006fba03f80f7b6470d",
      "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 · 3.242 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3855, -0.0143, -0.0299, 0.9993, -0.0227, 0.8005, 0.6189, -0.3866, -0.0174, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.4427, 9.5658, 1.9023, -0.0806, 0.1001, -0.0806, -0.2667, -1.6479, 9.1282, 1.9365, -0.0806, -0.0562, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8021, 0.6132, -0.4084, -0.0139, -0.0311, 0.9993, 0.2779, 1.0958, 0.461, -0.0555, 0.2272, 0.1184, 0.9991]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=0.0003 left_pitch=-0.0252 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3167 right_y=0.0527 right_z=0.0957 right_yaw=0.0234 right_pitch=-0.1021 right_roll=-0.0503 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.306, 7.0085, 1.8046, -0.0317, -0.0366, -0.0122, 0.0205, -4.1368, 6.5846, 1.8877, 0.0757, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8055, 0.6132, -0.4168, -0.0139, -0.0311, 0.9993, 0.2787, 1.4204, 0.2565, 0.4412, 0.226, 0.1116, 0.9991]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1735 left_yaw=0.0003 left_pitch=-0.037 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3121 right_y=0.0518 right_z=0.0117 right_yaw=0.0279 right_pitch=-0.1339 right_roll=-0.0631 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.5521, 7.0632, 1.8144, -0.0757, -0.0415, -0.0122, 0.1709, -4.4513, 5.0667, 1.8144, 0.0366, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbfbab3500a83b8b4f1a04f559956b6338b42d302cef75b3934f4d6d6faeb33a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b253048b06b61c211943b6a820630e49d846b9719567f7c80a1e0c70425b04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902da524227e8653b9a58a24f4024c076f2e31ecc87db006fba03f80f7b6470d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDPsXhpNrbzRoSkO3Oj8I6Ud2KoYPJ3TtAlBfjyjdPs_J8b1KRBVG6rjFqwBFPMDJ5cBosLfI47PJmohAN3rlko2I-Scda2n1xGFZUC5kPFNCZ1ZbiraSi2TA9gLJlBl5UBV2r3cHcD7g2CVfbapFpc8fbecY5HReTxU6SwGwAd1rZo9pTC3ktZIk17ac_eRNCqQmLKXCG5-X_FzG_Q1fpNtNm7v6JB4yTXJh4XkpTq1TauvxBlQNlZ9c5sNkB1XMYPYQScLyCt7RRkthDmFd9JXvTMtH3ID6_wYUR6OOkUs8AGPrjeW4L1uJPcrsy0TH-BrQU0p252e2-XxuktQsbO35MARUHzOL8LDCEtgY6f72SV7UMZaqL6bDx0HubCjmog7IsnvRxdwGQpils2XtotB8YAzLqL5zSk-W1qlb6ccvmKPU4XoIoV5yYDH10aVO02dhWLXE9pd8GeJt0IDTQMg3nBft88Hag8DE1tD1uMN5n7pqeLNRrbTmdZF044UPoAM3JEfKpZddtIRI7Bxace5H6duZzHV6ui8ASCclIpekE2-MtmoxqnkfYZCmDpDg_YedlEDf_XAEzJkmUIdfQDcuX2SAh6nl1_EYJNngXBOA7IXGyPnDAI6G0H5GM1PkyQpFgrRrlIe-CcrhA0ds65g8fRkIGkrYUkLix9EhwE8tUDCKZajh0J8lu9yeCDyALCzstZ1wSPkCyPkEujL1FmuI-raxcYjw7krjsWE6sOmSGqQDqq-wJDRzjNPtTrn8vrB7LMgG2kVgbl7FYDpmM71oQlNk_VIlFVgc38IsCEj7qiJREHPMnrT5mmT2VKZuiad6RsOCNKCLryE-TwnWcZk93kixCFZF7t-2k0XjIpGi-5bpPH5obEU70TNJlGdKtsYAEUnO2Pghv5ARPBmEtVYbWjGuxhvYLJfIdFf8k0uvuFi1yM2p-pirLi2UWHRfCBvoUgNylEl3o05-c3QjPXYy1jNu0yhGuOmuJCfmUkzOFDrNsnuDvdvX-bIBUW_YaWagLtABpg_Fuol4fnYuzaC3xyPxT1lzey9zm7NXDxeE6Hw7T227Gqm_Az_B9zW4BtUDBsgzCnAvd0wYGqJnFSKi_0WxWO-MpmxQVYDCE5WddRG6hZMIsHQNOGaG_bKEl12pnrU6hfW2Csxq1m-eNGBXITwQIRm9kbCApVxBtRjzAjvySif5JVuxABa21ZF2ITaEt4ZnC01RXjbb8MEzX-mF-KxUnRcZHEyAZfJwtYhWT65f5HI3JGweWzOsqI1b1iM16kkVfYwcZIpKRLCpOg3CA==",
  "id": "rs_031dcf041c9993fd016ab433ebcb4887d084b8ccbcdf4b34d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are at table-level grasp height around the green fruit. I’ll close the jaws and check whether they actually hold it.\"}",
  "call_id": "call_Djkqf9dPGSRmFtjVGPaCcAfN",
  "id": "fc_031dcf041c9993fd016ab433ec078487d09b987de92ad2aaa6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Djkqf9dPGSRmFtjVGPaCcAfN",
  "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, 0.6132, -0.4236, -0.0139, -0.0315, 0.9993, 0.2783, 1.4204, 0.2565, 0.4423, 0.223, 0.1112, 0.7154]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1719 left_yaw=0.0005 left_pitch=-0.0446 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3122 right_y=0.0523 right_z=0.0118 right_yaw=0.0303 right_pitch=-0.1333 right_roll=-0.0611 right_gripper=0.7154\nstate[joint_eff]: [-0.0068, -1.347, 6.9949, 1.8046, -0.0269, -0.0513, -0.0122, 0.0068, -4.1094, 4.8205, 1.5897, 0.0513, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c357df9d1ef1ba0d763b27fda9bfad198c70bc2669cff5b0c8ee1bdcbacbe25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab5152defca6f2646ca5694f441c2c48f1ba7d75a40fad8948f925ca62c1aee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04a563af4c0fe6d6897bcb98e4e7bcf962964ff1d243568c231e918e3dd431e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 4.402 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8021, 0.6132, -0.4004, -0.0139, -0.0307, 0.9993, 0.6086, 1.2118, 0.6544, -0.1677, 0.4786, 0.334, 0.9991]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1778 left_yaw=0.0001 left_pitch=-0.0172 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3208 right_y=0.1288 right_z=0.1302 right_yaw=0.0327 right_pitch=-0.0619 right_roll=-0.042 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4291, 7.0769, 1.9023, -0.0464, -0.0269, -0.0171, -0.3077, -4.6701, 8.7863, 1.8632, 0.3443, 0.2076, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8055, 0.6132, -0.4168, -0.0139, -0.0311, 0.9993, 0.2787, 1.4204, 0.2565, 0.4412, 0.226, 0.1116, 0.9991]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1735 left_yaw=0.0003 left_pitch=-0.037 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3121 right_y=0.0518 right_z=0.0117 right_yaw=0.0279 right_pitch=-0.1339 right_roll=-0.0631 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.5521, 7.0632, 1.8144, -0.0757, -0.0415, -0.0122, 0.1709, -4.4513, 5.0667, 1.8144, 0.0366, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6132, -0.4236, -0.0139, -0.0315, 0.9993, 0.2783, 1.4204, 0.2565, 0.4423, 0.223, 0.1112, 0.7154]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1719 left_yaw=0.0005 left_pitch=-0.0446 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3122 right_y=0.0523 right_z=0.0118 right_yaw=0.0303 right_pitch=-0.1333 right_roll=-0.0611 right_gripper=0.7154\nstate[joint_eff]: [-0.0068, -1.347, 6.9949, 1.8046, -0.0269, -0.0513, -0.0122, 0.0068, -4.1094, 4.8205, 1.5897, 0.0513, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c357df9d1ef1ba0d763b27fda9bfad198c70bc2669cff5b0c8ee1bdcbacbe25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab5152defca6f2646ca5694f441c2c48f1ba7d75a40fad8948f925ca62c1aee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04a563af4c0fe6d6897bcb98e4e7bcf962964ff1d243568c231e918e3dd431e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDPx64C5WcLZOnBLKEPrlyq-IlmXOpsNwSbFtQ9l5lfW0nOWRyI2C5XITt4tdQ9AFDqynajg2DyO1DHm59M1OiOVY76-D3ol8UdUvIaXw1dWazdncowdxKKtIqIxVHcdQfDxdy_dOynwTlr7zZ0MIbKO_4hBltITaPaRgV-uobxoo4j5ydHTu6yzySGo-82xxfngMn_Maoj56beu_EN_LRgMTiUJxeDrFHa1qYruXEESbLkVbA58zgL3Q5iD-RGi1PdQZ2_5sQy6wmNOwrcnZEPuOSgHUx9ckOIaxUSB6ioSSTD3UVAeaaLIejP-1cF5tpqXVlTJfui9ab7ZxNc_EmMXDCAEE8kZ0XuWo2pzdgHiM6ACx9kEaMlxWzZVDl9M9c-B-aV55aYwP5UGgopKiNhcfsayCTlwPwDrQHiyiXdpaXxdxj0vmdfxhDBHW-dJJyTyIcxnNEqgGwaszbMHOO0qybLMYo1JElfeDiQ9kdKwNfzzad3yc9vNBMgcbPRVKWzjqt3uqOLDBHtae0wi8-1fuMEPXG9Vu1YK3hPZYK60vwUTFMNSaskuUzwolYCAc5QVfqFoP_r1zP4LpbGvsux83wRWkH5hX5_5GmgrwvRMoGSuSlzIb586uM2fwN6NUkd8KUTHABWxZ6mW6Y8ryXjzPjfclsyHlicRFiMj8APPN75CFerurLp6spSiF9hOJI_FAbTqvi3qxUYx32RbGEsPFSswxT03Sqau1pyPLgeLvwrlLKDjK-kf-KZHLKN070Z4HTRjdm7wakcb0_Zc3Znf-LfFpbMm_eMFP856UJWFYFmiFYzu7qkoq2qADuUEJCyQvby6C5CWcYzzB4EweKcRtIBkODPBSOdfplcGa6KDEwfr5I5e-PDND0Rk6zcCfnGl85fvo_Wk0nxJV9QwpKRmW6t1nWQuTgFS4R2X9AuhBDVuDA-SVZm0Sk8TxyNIy_iRRl5ZKzT-c7xXPvCC7dTU_HHg2Z14wZuYOQgxD-dQp11hyuk3H0Ixi_gM9-5smjNw6MTPeOYfSZuOIrVK0Q_jh6_W1AOTLcyfJ_zD3YJjuVISn12sM88r7qh8ayOiqU7w-PTWlVoJ5q5YN9EHWpkDkdxrb0_S2fKwH8RJcPN0v_xml-AbR7LlJIS9JXwuOUi-15SoJH8vtn2rznf9iadrfWnh-rRD73En8zZmUC5iUZhV_JlhHhLD6jFVA42wT7D4wPF9gSy43yhymRw1hH9i1QEKxn04RIajwg4CHIIQxIJsndtafkEhLKuvfekpmqg5qDK_uiSRFHKlCLzICJUbCV1V6yKFghLpoUZaPNtC8UYhndtm56_SOxzriHHtLtwdAvJj2yIrWGieiJowWYsNb5JEq9Si2R98sRZz8vAMEcQu4I6niElIoxcP6vuIX_Z2bgAlWAHuDkoUGHYwiToB4ucaj59AXDNPBLp9rXBKaqWHkUBOYagwqEtMrwkUvAtbX64RP3DzjH5pdvArgDa2oOsVMiw5R1PjtrP2qAD4aLhkcs2qsklY7j_Gbj1nGRErbf7gx5xdTT41S5bSDvipdqq4AGgJPZtljC-jHIWhc7VbH8OQx2AGGFpQSAkGlA5GQIGeC8Wj4N09cRUywlqlmw_FVo8yrwEoK9nh13HOfGMHh-_vSgaBewPfZd6gznedlcYtnnqlXoy_Gh8X7IaFkvYLWE1yAFXuNhAbMgx0a_B89MRubAJiJXKMkKXnpN3ujzql_Q3OvEi7wjtjyyOFW7NsBCHz-bmC_M5gPAhNVO9MmuN0gkSTHlt6C1IAyhhchXNRR9O1_lfaQJdwfRRMKUNbJUKrX83IKczpnwDtkTU=",
  "id": "rs_031dcf041c9993fd016ab433eee26c87d0bbbced2f1e9a1a4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08,\"right_gripper\":0},\"note\":\"The jaws have begun closing around the green fruit but have not yet settled. I’ll continue closing while lifting a few centimetres to see whether the fruit comes with the gripper.\"}",
  "call_id": "call_ZmSBkFXKRBmR8e1i5AR98uo8",
  "id": "fc_031dcf041c9993fd016ab433f044d487d082c397bd80c73412",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZmSBkFXKRBmR8e1i5AR98uo8",
  "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, 0.8078, 0.6132, -0.4244, -0.0139, -0.0315, 0.9993, 0.2787, 1.1381, 0.4011, -0.0288, 0.2184, 0.1108, 0.7126]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1713 left_yaw=0.0005 left_pitch=-0.0469 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3037 right_y=0.0508 right_z=0.0635 right_yaw=0.033 right_pitch=-0.177 right_roll=-0.0693 right_gripper=0.7126\nstate[joint_eff]: [-0.294, -1.3333, 7.3915, 1.6777, -0.0659, -0.0562, -0.0122, -0.1299, -3.7265, 8.8547, 1.7021, 0.0806, -0.0708, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6339ed950d8e5f407abad56b72803f7365714e369ecf9bc209b9cfe72039e78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7985612ee1d836900fb0c8fa4173626a07c1642d56731261661aa6018ed80a6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e40fd97dce429b771ded32d1f4248f65cfc451919efd43b9eb6fd54b0c1af61",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.855 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8021, 0.6132, -0.4084, -0.0139, -0.0311, 0.9993, 0.2779, 1.0958, 0.461, -0.0555, 0.2272, 0.1184, 0.9991]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=0.0003 left_pitch=-0.0252 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3167 right_y=0.0527 right_z=0.0957 right_yaw=0.0234 right_pitch=-0.1021 right_roll=-0.0503 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.306, 7.0085, 1.8046, -0.0317, -0.0366, -0.0122, 0.0205, -4.1368, 6.5846, 1.8877, 0.0757, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6132, -0.4236, -0.0139, -0.0315, 0.9993, 0.2783, 1.4204, 0.2565, 0.4423, 0.223, 0.1112, 0.7154]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1719 left_yaw=0.0005 left_pitch=-0.0446 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3122 right_y=0.0523 right_z=0.0118 right_yaw=0.0303 right_pitch=-0.1333 right_roll=-0.0611 right_gripper=0.7154\nstate[joint_eff]: [-0.0068, -1.347, 6.9949, 1.8046, -0.0269, -0.0513, -0.0122, 0.0068, -4.1094, 4.8205, 1.5897, 0.0513, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4244, -0.0139, -0.0315, 0.9993, 0.2787, 1.1381, 0.4011, -0.0288, 0.2184, 0.1108, 0.7126]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1713 left_yaw=0.0005 left_pitch=-0.0469 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3037 right_y=0.0508 right_z=0.0635 right_yaw=0.033 right_pitch=-0.177 right_roll=-0.0693 right_gripper=0.7126\nstate[joint_eff]: [-0.294, -1.3333, 7.3915, 1.6777, -0.0659, -0.0562, -0.0122, -0.1299, -3.7265, 8.8547, 1.7021, 0.0806, -0.0708, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6339ed950d8e5f407abad56b72803f7365714e369ecf9bc209b9cfe72039e78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7985612ee1d836900fb0c8fa4173626a07c1642d56731261661aa6018ed80a6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e40fd97dce429b771ded32d1f4248f65cfc451919efd43b9eb6fd54b0c1af61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDP2EGuOBHDF97y9N0eb-7VmrDBxaCs9rrxjGxQ4_qwsmUx8r4WWAwILDqpfQXN0OYfHR34Cwi2DbeOunGFEhXxnmb7C_7lxBESwR5PoOD22W_LYlYs3k0DM4FacJlPyxzw2hhFW10fsaopQ0Gt6ApZ_EARgJLmLnX8LFhe4jkfhD-Zt1KjGMstz_e-I7osijTxzqGMjq41hQhKNPoMFw7o1Tm2PBk3Li6zXUBj5xAVvl7RdwjfGKE1ewRCJvr9Lr230FokxD5BnBr__dbydZrNIxnt9-ZfrmcXoEZ5wfBe2Rkh0L8nzNhh6NfHfguqHChPWon4IuOFVY_hgYDyGNRigKYDJznCfLbmnyHFuX0vaSIdrpMtF8-2wVtC8qSC2oY3EwGPv1m9xbcbPDSKou-WWE9WSgs9SdMqJbDdhho_gjerrBdkQJjDgcP6cllzM0HavUsJ-O3hqqQJkGX1q0wNQ4v2JAe-SWzbhU7qYYQe946cGOlWQbE9k1dlK2cYsY_9BPQie6CxA-63-k_arUAFLx6BWhD9P3YwCgCS4QuW9eR88hPsNru6iOIH3WGR8ls8BRlESYajTUMbd48An2oQu4T93JKDTcm0VTVh5_0IjW7utFLf4Oz4LRr_quIkYzW6ftKcya55NLguNLKEj0etkwLpjh6PHIVxtopdcQ9drMvNgmIcnnwu6pxVzXYWc1GYihTrDStFkOruRanYyise_AG-XeLeXphT-Z19coaJc7Zl59QIexOqfMdymyMUhdDMwcyK78J0LVrDKzvBl7KLU98MHYHhywSyYKF_xo_sdYxtbcCVKgcyGytdkCF856SHIuy0J_4JM55wNvrLB4weafvNa2PdtLyxW114EJiM2FmG5baCLoP5pd3DQnV_BMUV_81ltp-Gc17K-EQZViLnUC43ZC_YskOblxNqENJWt3O3YHmokRQ1-C7mHInaL_m7F75EmeSpbwZ-oF2KGay_0kEHx3A-81Af1_Q5IYIo3y2fxkWpE687my5Awp92JUQgdWSoy8VbJ5nHOWp-2_ttS6y5-5oswh0CLgPacOws_KfFB8WZ5lIJ1A6vHxa7EglOKvfnPTQMncMngeFd8FBAUmTn3EhwQ1tx2v6UWD_RgT3i6qyKUXPi1K0X6NAKb28Y6G3J1GTHo8_4UIyZa2ARPryuBq1wwEMM_ZQi9uKer4yzyJOjbG9ZhEcF77USPHY2RWWilDU2gL87Ya_PZgW3g4XtQYRpQAJblYzVG-iLftgJaqOg4F2ShK_k0upfTyHjTcyg5ffb3owDlgM0o63otOT5aX1jshIu5GDF7QBUiwKDO26jmr7pW9rs1YO7XsbT8lFJ8igp9G_N4slmFANI84rVN4w-b6k-BERStyLLFBenAJeCe1h5EP7GJj06j-RMY43-BO38fM5VpanLKocJcX2xaZqSjKfP6MfOv_OKp-66mhvNHsmzUKKvMxpJoXhzrWeu8LohGx7jDDiUk4eHq1P8SIjM1JzLT2XpgoZ1KD5fRQnl1fOefg0cFAIfXZx0JRMsY1k19AKRhtKifJPiHfzZ1Wyt1pEp8nzzQHjpCQoNbWbc-G8ktIqn1HyrsYpoYXwc7wF_5AwpQ5rvjA7optXmfVyueG3kUorlCJOTPTc8l-TpbSCaqm1ziT8Rr4WTkk6oHxJHNoyrS4_jq0pvJJFipiBxpZ5OiSUp7rj2Z93Z2lVbGMc39j7Cfhdn7Qo_x2ZHiRWJnrVF5kq9jkk34ke7YkPaVHVVfUjgb8Pip1I4PJA2_TBf9NXoCK9TYPM_dU_89obqfaGqNshy6j0x2w9_StajQa3KQaXBjvQiXBRylaaNK_PfGdCBIuZhzKM5W6N3ZCvFpbg7Ol8ttKRfXZI5y-28quQ5_SbKj854nIvbW0do8EY5JRXI2sAw_YrrIio4bjbuoUWpFub1rmF9RVuU7Aiqd4elfFDEjwluBf0fwqDLubvvdDQo9mSnq6EPtRmXPrRDqBHhgjaXF9tt8UYtKyD8baCcuTQzLkQ16kGcSX4Cp8xhGDFwHb5-o4r0rYIqpcAcvxbITXAPTYhlwu_vTns6b7pPJgW2_LDBAnqRPOt1od2YJaN9pWAhTOs6Tg5reoNFJv6kLpmTn4MOMzWRJkGAo1TOtLYT1GjJds0yvPhJ4_6bR2lyJMX6tmu8xNQfhtwM_6wO1g9t2LZC1YI1R0p2Ra14eD78-kgeWwLZzznEHFUenSCdN4qFmaju3Np1oThp7IFZS0P94ulnMmkqs6KfxgYVUKftXMryNpSMy5trOVT5zJltSu2JDNuM9phPPTfepdxv2nn17v8zznUAwUHwHaMs5xevY4_UHjpEFhVGcjJDRGbaX-ikY5vFQzRx1XIITevMEdU4cZxRvqcW9wr8hhE9B3gYs1raLxl-W8VcFLpIIXhTTTLbZF2o-Ad_rTp9cvMJuBzKxTzhIrQb60ijPz11QxVicbHjg-awkYQ2Xe3nFE4E2iSzrvqr-NnjILC3UotSDiW12OM0bQZmJfJ0a7cKEX4UsY9Jc8TM8qDUykbNxWet1Ac6A9mPbLzKIiY4Zbn__KE5HqrWqTH1680fl1jTa8mhCcfff3hiKTrWRDJkS-HazDbVue8Qcz4Lu2byjRM6M2Vz25GE_jm3IAmlCF8FESMcmA4SG1ssh6s49jrA7LygdfA5IkgAa-hEADAKlNF_DzYpPyYRQ4DdB6h9RCh0fj5dDMW4CU_zB2_-hrgO2X1LbGZ4pgkbgwR0hIHdy9yqhHhb1kE3hm0tWimUHxSHFoYjm9mmuy6Hul82JP8-2AVkSVCxk5IkfhuuUsgwAK7233Y1cIrkLCABiwbggNncCQJy4Su5SNWj_DX8AEoxPsb026koXSmyElyupD3f76XhGnaOSe2XS-1ZCU10fchqyM7ji1ywTuXMj6Qp2wAT8yea6S7tzV0ti",
  "id": "rs_031dcf041c9993fd016ab433f367ec87d0b112f53df453c8db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.19,\"right_z\":0.19,\"right_gripper\":0},\"note\":\"The jaws remain held apart by an object after lifting, and the green fruit appears to have moved with the right gripper. I’ll carry it above the blue bowl, keeping clearance over the rim.\"}",
  "call_id": "call_wmUyuVWx3OiDLM62Y6hp3ydj",
  "id": "fc_031dcf041c9993fd016ab433f614f487d09bac27eb78c2eb2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wmUyuVWx3OiDLM62Y6hp3ydj",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4278, -0.0139, -0.0311, 0.9993, 0.5976, 1.644, 1.3125, -0.5617, 0.4156, 0.3267, 0.712]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1694 left_yaw=0.0003 left_pitch=-0.0549 left_roll=0.0001 left_gripper=0.9993 right_x=0.3984 right_y=0.1892 right_z=0.1719 right_yaw=0.0619 right_pitch=-0.2292 right_roll=-0.098 right_gripper=0.712\nstate[joint_eff]: [-0.0068, -1.5111, 6.9949, 1.7314, -0.0415, -0.0366, -0.0122, 0.253, -8.7453, 8.7043, 1.4921, 0.4176, 0.2759, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9cf149369170c4a2f013005e600fe71b517d6f92ee4cca699e3f82f0e57de1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17c04561d790ec2eb8710867033cc814510c06818590b764277f39b300307d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3dd415efffdfaccf1645221a66960bc2623b225fcdac5381bb362a293091bf7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.871 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8055, 0.6132, -0.4168, -0.0139, -0.0311, 0.9993, 0.2787, 1.4204, 0.2565, 0.4412, 0.226, 0.1116, 0.9991]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1735 left_yaw=0.0003 left_pitch=-0.037 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3121 right_y=0.0518 right_z=0.0117 right_yaw=0.0279 right_pitch=-0.1339 right_roll=-0.0631 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -1.5521, 7.0632, 1.8144, -0.0757, -0.0415, -0.0122, 0.1709, -4.4513, 5.0667, 1.8144, 0.0366, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4244, -0.0139, -0.0315, 0.9993, 0.2787, 1.1381, 0.4011, -0.0288, 0.2184, 0.1108, 0.7126]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1713 left_yaw=0.0005 left_pitch=-0.0469 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3037 right_y=0.0508 right_z=0.0635 right_yaw=0.033 right_pitch=-0.177 right_roll=-0.0693 right_gripper=0.7126\nstate[joint_eff]: [-0.294, -1.3333, 7.3915, 1.6777, -0.0659, -0.0562, -0.0122, -0.1299, -3.7265, 8.8547, 1.7021, 0.0806, -0.0708, 1.0379]\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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6132, -0.4278, -0.0139, -0.0311, 0.9993, 0.5976, 1.644, 1.3125, -0.5617, 0.4156, 0.3267, 0.712]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1694 left_yaw=0.0003 left_pitch=-0.0549 left_roll=0.0001 left_gripper=0.9993 right_x=0.3984 right_y=0.1892 right_z=0.1719 right_yaw=0.0619 right_pitch=-0.2292 right_roll=-0.098 right_gripper=0.712\nstate[joint_eff]: [-0.0068, -1.5111, 6.9949, 1.7314, -0.0415, -0.0366, -0.0122, 0.253, -8.7453, 8.7043, 1.4921, 0.4176, 0.2759, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9cf149369170c4a2f013005e600fe71b517d6f92ee4cca699e3f82f0e57de1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17c04561d790ec2eb8710867033cc814510c06818590b764277f39b300307d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3dd415efffdfaccf1645221a66960bc2623b225fcdac5381bb362a293091bf7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDP7GuhpQgg_4VJU8VouuE5vxDajTuXvtBIDS5K4MTbdQwBN-xMdJwtThhn9hDO292JRAzuOf-vgRwZSD7BVjR9KcOzfLLWoQzqwLvzf7L7OCSK7ZlrsF8ii8-EmhqBSQGiZG1u5fX8RmO3hR_tO6o7TsU30yAahwQ8I_L3JEAAvLSiTEkMRNI2894Jvpa0SSLo3wt-aFKMUyJSuBIzogjCvxHCsaxdnlkFzGvdwa6G3rdv8vxVlpkvL7uaCgne0YLsxse9pCLmpyCoE6i9EqqtGAgXIWoHfTKowqdeGhwOFoa66mdSQxb21N8k9dyP_KgWXoq3TmSvBtx11JRocU0ZsClezDeAS97AlXgBbAny14ag8eauL29SVZS2kmeLZ2l77DoOmMdhtrNd5hNJowUNiTLX0P087RK4TJNHdH5IJP4YetaYIvU_m8-rS-hD0Ar2pewpdzEkyxdFuHz9kZam4U7Qw6o3hLOYRAVG9Ozbt_xt2Xzj5uaF9HOG904rz19IApt0I8wph59738lzKoF_D2DwzqWNawsvgaU5l3m-ir0j7uZbPT6k9tXiqT2bXE4FOGICzhkxdHkzEGqMnYEvS2-cJZDTBWE1_h4m7e1FJ67u2J6xMfv8Y83Zc8YXH1OWclJ9mnrGchB8RZrbS6WqrMAbn11-HugrCT9tWT2yg1v-eBA4xuwVdKCq_zMQm3VCAH8hZAghGJ2XqyGXqoyy5mPfswO2vcxeZcpUyBOZf7ryu0lnOReyoJIhzrkuNlmZffrY_nCmHC61Pm998DHe5sZAo-uGKtf_qlL14tYyW2gV2IdIKqGkcMHIJB80JAVVJEKYGzJWeAydLjxlnuGZehnjr8NdQtOJW0j9zT_B2-wwcEHeBlVmZr-2qCR8oEahJRlPXTp57YDzd1WV7pPhsfW6TAUhd_-LFdQwzDtxlDhoOuPz6i2lfDhyLUt3Q37WKtczoZnjaPNYCxAIDqeTBy28655T0VINwzQgkV7YhcI61I0ZGgd0FOy8-RAG3NKE0XJQGc2XYfR9Zee_94j5txgzSJmKiendBjfH21FMuf7h5S6XORsAHTyTGq3sbbGXWfndFWQFNuhSOrEkq-edtSJNLjqaLMx-Iefc2ErLhFv1GkQKSKlm9caUpX_rzTvsbtNgpkO4I48OLjmymn-NxbnlwhujWJHUzFYhCcUDx4okCjkNYo3UZ9hB7ki-saTWrVp1h28cW0DisxkRK9smaW4zQCUMo5n7-WK8kjtlttnWghJxWzC4vUwLaQqrWhzrcEk14HuUR9QRNEYtqglKNr5TdSXxuNDOr1ieMToMBDuUHLEf-EXcNHs-17SGrnxJ1giOkaqnj-gUk9Rt3jJP0LL4vbJdhnFF6jBn1P4ljwZq4iHBgMD1EQJau2b6njQ5EGa0nrd3CZYhMJr8pFz1iK1P_qJpsZFCFjZiiTaEk5O48HNsXYzg9NfYlq_utiYJQG_WWQXOux-BqjIZoS6-vVPB8C-0vtEBB2QA7vvNjN7-u4uObr4MzD1RItKt6NJN9L-1UIxft9OJNE56ZLVnlB04za5ZIugNsjyoMj0JeVeGnbZi34gP-Act37dc8j9KY5yucz-1ceDj14fdUQyeVePck_3RwAIepLJ6TuuDbb5By6MY4P-lbc-baYbx4eGwX9ikVMCbyJXPVGFf4PmholJJCY8d9QqOKGGhZYRkLVFt8qZ8_51P2_DP-mZbTfaZZiLgCe3CY6c0j_UNyVKbnSweYBQo3F1Me_8YbXJns0QX-Aa1UmVQlWMrq1yjiSSq59Jb1BAFCbKwlEoLQBEZnqyx86kbyUfl5eX13PEN_C90puFEJcx71nM48PvNy1bBhCmUQReqHU58VsjWmzX8fqw==",
  "id": "rs_031dcf041c9993fd016ab433fa180087d0b6d7daa9d42b506c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The right gripper is over the blue bowl, and the green fruit is no longer at its starting spot. I’ll lower the fruit into the bowl before releasing it.\"}",
  "call_id": "call_5rYbLltIrodFCWtb6qxnNvLs",
  "id": "fc_031dcf041c9993fd016ab433fb5ed087d0ae096901caab52be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5rYbLltIrodFCWtb6qxnNvLs",
  "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, 0.8135, 0.6132, -0.4313, -0.0139, -0.0334, 0.9993, 0.5995, 1.7657, 1.0073, -0.1684, 0.4068, 0.3222, 0.712]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1684 left_yaw=0.0016 left_pitch=-0.0595 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3922 right_y=0.1877 right_z=0.0604 right_yaw=0.0689 right_pitch=-0.2619 right_roll=-0.1127 right_gripper=0.712\nstate[joint_eff]: [-0.1026, -1.4154, 7.1863, 1.7314, -0.0708, -0.0317, -0.0122, -0.2256, -8.3761, 5.9966, 1.6874, 0.2515, -0.0171, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02540234f6c55e13e75323ad6301dd493bc148c47b6515354e81a7e35ac01499",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22667203abafc0a33cefdab1b9e7dac2413b2b938cd14e11d91a0c32e9e8e92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30330aeba1b8a2846acfbd836c2af0fa0748125d1955b43234e41470110d0c56",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.295 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6132, -0.4236, -0.0139, -0.0315, 0.9993, 0.2783, 1.4204, 0.2565, 0.4423, 0.223, 0.1112, 0.7154]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1719 left_yaw=0.0005 left_pitch=-0.0446 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3122 right_y=0.0523 right_z=0.0118 right_yaw=0.0303 right_pitch=-0.1333 right_roll=-0.0611 right_gripper=0.7154\nstate[joint_eff]: [-0.0068, -1.347, 6.9949, 1.8046, -0.0269, -0.0513, -0.0122, 0.0068, -4.1094, 4.8205, 1.5897, 0.0513, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6132, -0.4278, -0.0139, -0.0311, 0.9993, 0.5976, 1.644, 1.3125, -0.5617, 0.4156, 0.3267, 0.712]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1694 left_yaw=0.0003 left_pitch=-0.0549 left_roll=0.0001 left_gripper=0.9993 right_x=0.3984 right_y=0.1892 right_z=0.1719 right_yaw=0.0619 right_pitch=-0.2292 right_roll=-0.098 right_gripper=0.712\nstate[joint_eff]: [-0.0068, -1.5111, 6.9949, 1.7314, -0.0415, -0.0366, -0.0122, 0.253, -8.7453, 8.7043, 1.4921, 0.4176, 0.2759, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8135, 0.6132, -0.4313, -0.0139, -0.0334, 0.9993, 0.5995, 1.7657, 1.0073, -0.1684, 0.4068, 0.3222, 0.712]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1684 left_yaw=0.0016 left_pitch=-0.0595 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3922 right_y=0.1877 right_z=0.0604 right_yaw=0.0689 right_pitch=-0.2619 right_roll=-0.1127 right_gripper=0.712\nstate[joint_eff]: [-0.1026, -1.4154, 7.1863, 1.7314, -0.0708, -0.0317, -0.0122, -0.2256, -8.3761, 5.9966, 1.6874, 0.2515, -0.0171, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02540234f6c55e13e75323ad6301dd493bc148c47b6515354e81a7e35ac01499",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22667203abafc0a33cefdab1b9e7dac2413b2b938cd14e11d91a0c32e9e8e92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30330aeba1b8a2846acfbd836c2af0fa0748125d1955b43234e41470110d0c56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQFvcAr9KgTColkzEWsHY9cI2t0S-t1MJpZraYIn3XcqmhNbQFO7nTlKNukDq-jiwU5rY2EtFMun5yXHER-yPqtLwRjAB01DD6OR2xFKsiYKYCsxTDEZsBBpTqaTTHPmSrGj0RTj62CuQFF67rYVH5IidKmUPoyiGU-KJyXVeYQz6KaVEN9Kl5O5x2TmLYLWzODzXEb7M7Yag4QcRuKUx16ITjSK-XZRWbQEyxLGI25YbaKeBH2yS7OAd6POj_thPC1mK_D-crsaMn8A_FgWeN_5_595aq_6F29Pq9SFc--Q9i585UMIS04UEbvCCH--FDL6I152X4vLRvXrDLszeMq5ImtmL6xGzGne77w99Kh5gW745a_ccVDY2xXKl6A_BNRGaO3nEHXX_ghlRbefFSeiqsM_PUa4ub3O9124dllr3EqDzUrY20T0h2S_wry1gL-cgamn0IW6-0XhvYhrN6ueV4TEvyshKdR1ATVBYaBDP3-MtHzYdS3_W_uk59Y85bq5_eroX8KjHas2CICDNy4Mf_AAYtph62RxlxT1hZuTdq4DmtlNASYRAAQTkIjYVfMAyVCDNAml3nIVgktuTWENetDWuKSRHRnS2XvRroa-B9trBxR4EOaJDuPJ-fppIR_-0gCX5-foEqxEGe7wU91AgCjJCEe-M15LD_0s6cwYxrneuj2Fe1GWtjDeEj-bj2v1Xp7hIzyIAa_ogGxTQqyG8c0FFAaE41G_zvNF75NQ45Pu32nhWgLXHoPtHqcEccTUKO6eWCExJz7PcB6DwWc6gcYZo3xMp0KWhx0oqRBHn8tfYrnwOQJTMDhBw17G40JY5ZYuVqs1wxIQ7v5su1nPez5sHNO2ZGhaB-N_I17PWiE8QOmPFG5uF4j-6vGxDHuqoMJplxb4ycOw9EnAZyb9p_B5fqQRsuauVa7D6r2DdVdiYjQTTHbXG62VXZYUw6Cst3VyfZBIH_on8RN8xTc-rrmfhL66l9oJ9Fa9GY92zMM_E3VPchOpu79TVmkPzZyUeDisDc-bWyVQZc8FjrPVqKk5HPhc5bZ5S4vqsB16Fxk4djebsjvQoHJiBMHSLr3nD9ioqMica3mNeV1LqPws8Mow1dILfAsn1a7xg9DzG3tqnIDmEN3GVFQRfSluaECkqqg_zXU1q3OaJ4xV1MPoLgi6h6L0Ut9pZS9WPNywnG827I8XJhMU4cP1ZRIp54i-FL_QEoGLCmSXjUE8Sy_RAg1y9ofXdQ4k4_nQX6pWq7lDy7Nxk4-jMfNb-4lOL9aDq0U8CAxE_xznWmjxdTHwGtQqTWKiONPG4A1o3BQiLdYQjpQBn7jBsjhxyOUZcQ8QYP3lE--8IgBUNYpTtJiIsMadKvNnDWTyz-_s3Z1zpVF14ROuz2jRu1Za2WuQ2SmcMb4Ah7qWNJ0dcTv0GhKFSIlAYbkjF_LBUDwRXX6huktlDdQZ-V2Tjijmkmq6_ACfZy0FVvk0jflLMQmc5jbNC3mcf7plK9U3wvAUBifK4oGkKnExQibni2uTY3n03hxNUITNUXOywHwL95e_SUIJvyp-oPOv0P3m9SB3knv_ace4s7y90jo3f-leHXDBWPe",
  "id": "rs_031dcf041c9993fd016ab43404434887d0ac86814fe032b519",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.17},\"note\":\"The gripper has reached into the blue bowl at a low height. I’ll open the jaws to leave the green fruit there and lift away so I can verify the placement.\"}",
  "call_id": "call_pyKrVe4HQ6Ete67kHZhGGYpy",
  "id": "fc_031dcf041c9993fd016ab4340529c887d0847909205004ac2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pyKrVe4HQ6Ete67kHZhGGYpy",
  "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, 0.8135, 0.6132, -0.432, -0.0139, -0.0334, 0.9993, 0.6003, 1.6707, 1.2961, -0.6075, 0.403, 0.3107, 0.9983]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1683 left_yaw=0.0016 left_pitch=-0.0603 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3882 right_y=0.1861 right_z=0.1476 right_yaw=0.0708 right_pitch=-0.312 right_roll=-0.1469 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.1556, 6.9949, 1.7021, -0.0513, -0.0366, -0.0122, -0.1299, -10.0855, 8.5128, 1.3016, 0.2173, 0.0513, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9068437e41090b3fbacd6f954585d7d657531db6b514dadb1a71d3ce6c10fd03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97460995b14016dbdb23fd54ce027583196fbe6edaa9703eeeb19a0606aa1eae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c64b4efe5a7b987191a03d9fe1057750e96d4af7d40334a2b0e093c4ee44e51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.105 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4244, -0.0139, -0.0315, 0.9993, 0.2787, 1.1381, 0.4011, -0.0288, 0.2184, 0.1108, 0.7126]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1713 left_yaw=0.0005 left_pitch=-0.0469 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3037 right_y=0.0508 right_z=0.0635 right_yaw=0.033 right_pitch=-0.177 right_roll=-0.0693 right_gripper=0.7126\nstate[joint_eff]: [-0.294, -1.3333, 7.3915, 1.6777, -0.0659, -0.0562, -0.0122, -0.1299, -3.7265, 8.8547, 1.7021, 0.0806, -0.0708, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8135, 0.6132, -0.4313, -0.0139, -0.0334, 0.9993, 0.5995, 1.7657, 1.0073, -0.1684, 0.4068, 0.3222, 0.712]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1684 left_yaw=0.0016 left_pitch=-0.0595 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3922 right_y=0.1877 right_z=0.0604 right_yaw=0.0689 right_pitch=-0.2619 right_roll=-0.1127 right_gripper=0.712\nstate[joint_eff]: [-0.1026, -1.4154, 7.1863, 1.7314, -0.0708, -0.0317, -0.0122, -0.2256, -8.3761, 5.9966, 1.6874, 0.2515, -0.0171, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8135, 0.6132, -0.432, -0.0139, -0.0334, 0.9993, 0.6003, 1.6707, 1.2961, -0.6075, 0.403, 0.3107, 0.9983]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1683 left_yaw=0.0016 left_pitch=-0.0603 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3882 right_y=0.1861 right_z=0.1476 right_yaw=0.0708 right_pitch=-0.312 right_roll=-0.1469 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.1556, 6.9949, 1.7021, -0.0513, -0.0366, -0.0122, -0.1299, -10.0855, 8.5128, 1.3016, 0.2173, 0.0513, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9068437e41090b3fbacd6f954585d7d657531db6b514dadb1a71d3ce6c10fd03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97460995b14016dbdb23fd54ce027583196fbe6edaa9703eeeb19a0606aa1eae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c64b4efe5a7b987191a03d9fe1057750e96d4af7d40334a2b0e093c4ee44e51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQLAb9jb1VpxS0VtG6W1POa3YmQPAiZekK0qCDno_RZnGGN9qfXHKwVt3T0pSYmjqYNPPPNvnmA-YiGZbSYbsmNCvAxHvUcArMaRQrQX47dzynXyet6kwSonIgTUNARbtPR6o5ZqIkrRLuk9KH0Ztpsf7rdgT0NPZyD76oQKiLUflkjOSxAmRw1aE5YQI6hHiU9ELUOBeL0pNavea-8Vdmv-CmAkqaB05OgyPz1YFv3wz7lvuTWvBQZf3aRhxqBt-HJaPn8Ehi3tbKkcmoVDi10m3vcoIKzBGHNaQFdrpf2qU9xpReslkh548dGjmzkNSC6ziFARv2syWUJct_LC0PM-oE4U8SPNcG46k9SlNTzvJhQUd8Kjtqr0vH4cjNWOynppOjCoQJ5jNBUH6H9K8BnHLW0MBBhMz-n5LeZaa4yAsotw1JvZ4vp2ci05ZeXVCWn2XP5XTEsIEHR1SXNjsLsQ2EaH-Wygpj_iFbCgdMv-bKZ4DiHd3udfTzuegOCHonF0LW4KCUux1ztP_xb-1lK7ud_37ufNObEX7aRPJX64UaadkclMtcTYyAlNvW8FTdlToaLjaLNxOgsIi_2ns8rb70XWi13lSdVqCZ9ymW3AFSSHAnEJtlsMl6i41ntDK2D5m0WIFDU1iM7YvjvtWhU3vYp-8PSHCGLzNxcwiE8cs085WrVByhYk5qq92W7j4342vEsCJEW5JqWR3K2U33NAocgvZWR33lpbKS17J1RE0OPvd26Aj1xBbbQp9jGj99I3-oSjJA4HG2r4lJ3-moNHY-Sl5K77XI7rl0yWGNJeV0sNL9T47fIKCxu00-vCgOoOBh7OGYjPgLZWy4BsuO9KDD3O9Os76hHTWQRItBLid87Fogs0UOP28UzMVo1aPiC2M3H-2V0M2-sQoIh63vBG0o-BFJBlX9wu0r1sdBGjc87-J5O2ut8_VEAOzFLD-X-mdtZw_YgB6IaTW1GcX0WgvEzi1XClHbrXlJyMbd5vMyXie6kVccur2Jdu4YrQfhN7MsmeQRzmUgOmrk2-UztsZmJBdjOfR0-XGUbAjEOtsRbbBqWG5ImVBngvxhA8a7bNTKFexpqLJvJMJy18KeagECbWCEzj7Wk6o7_OnjbBD_aqyTuK9RZzQK91xhX8M6NFg1xOCrRdyXNWNwqPGlbecWf_Hk_L2nhjX8VJyIs1WpEXaJfekVjK5D6K5cZawaO6_jeZM-KBjtHpmsjAPuCDaTGnia4V93voR82lPIvN7tZSpTW7Zh9hG8WhlEXauuLJ7kSfOEKx84FdkPt8FsjjKHBCqlS-iQF1utvEtcd0TeqOt7qc18OFzpWCnWyb-eiC1dgGiGWuIKGFNVISz9TXBKI-Dnt6jMcuX89FuVqLIaEsURSdR1gl0eJrBcu0BgTlRrL1FsasN4lexwmQUTmEYnc69Swoo3UWvxVu-Rk5bqLF8NV-zrMk2st5gmCYa1OxLw3Wu5eqY-ju-OOu3kR9G8A6rRHi6aXRAI9tHE9MBUF6G2Xzw2ZKwKMRy4bJW3gRlZ0PUOmvoXLvXM_tKNTh-ouZAkU6JJNIj2CTgipxqxMK7_oDUfeAZ82jXYyg_34Xhm1ACabswUOZddhU8_xyvtkWatOOxcYS3UtELWskEg7ckTfROGH67FM8g4zSUQo1sAaJZI2ZN7YIi4751062Cv-MJEcX-b1ROnIH7wdBH0BprxduoaD1kXkSs_95pHjrK5M61pbG-Oo3QJ4YEhdGTRRidPMzR73arhwE9Wh5PwVn3mOtKiqSW0_5UvrMNR3NRtCMdYXRa8g-1oa8KxslXXUs_YJQVvPVzeodpo7ci0FWZXzCE_pvXntdHG52gDf4zz6P3MMro2sRlGDgBFONeA14_1wwdYUxKTwu4XcD16lsrS-KI3pq0aiPVhWXXrbq99VorH_5GWgbk-SVuoiZxe39xFWZ6SFCJNFyzjS_Q8mc6geucX0oXF2WOrpB0Lk41Owl8owS7ew8AG6MBRfb2jglIolzf1F9Kuu_QweuLB_HuNm44_pJkDdtyAJrBfrk_ANyI_KqIr75ulvcZfBRT8oLaGszwThgpxfNFDAtGAGlkRyBYBYUJ2DCT6WXgBXBotfrm7xLfZHUwthjoCQ9cLF6xY1R69ubRnwho70-HJNKL07YOc9C8KEfkTADwtl7kZLZNCQL42wUsxfzeXaa2tpT5AaccSIeP0sXYBrY-4dDG4sCc7NzzNJ0E2g-NjE9HoGD05JMOPqrbphF8VF_R-FcFGcEP9x4zJFhKnhbWBGXr6Ed8eRGTKRCdiYuwTOlVBoBULNb77HCNFtl-FMM0GkXHL0A2qANAEM3p7VLstMSEanUKvIrHVEX2KZhhXR_vV_Oyb8M2_KRhV-iTcOC0Boap34KTA3ngFhX5UEV7WbhSVlxTARGABsujJCuG3bfOFTTGuQfiZ7D5zdd3ygOSOX-X0SNQUyLmAwhowjnmBFdB2dh-O6OM2hbNArkgfBxmlqKJnlPn1KEtrRRd17P7CMgYoskulpprvYuT8UirVEMdRcWR3eb908trlTcBszhnglJCMtXXKpC7Rlv4RlIsZb576u951MwESmtPbx-3W-QiDq-MEGSfwvn0BCuFeQvlx2QNxGVAdlxPdKMNnbaz0HySlehH5vNySS6fWPmNh4xvL0_BqrQqK7BNOxuhdwAOvSQxviJsb-lVZLZOtQ16UmCK3S27n0Pzkgb9LuEkHc1dJ8ySOWOsmwW-dPVX3EnXNt1gZy_Xod1t6yj5qWd4Oxy8G4Omz7HCN_wX6L3iQ=",
  "id": "rs_031dcf041c9993fd016ab43408dec887d0a0c3456d461b9db3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.25,\"right_z\":0.13},\"note\":\"The green-yellow pear is visibly resting inside the blue bowl. I’ll bring the right gripper over the small yellow fruit that is still on the table.\"}",
  "call_id": "call_U1VBlgPhFA6RxZwNcxrkz4le",
  "id": "fc_031dcf041c9993fd016ab4340b4e2887d0bae2c49f129064ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U1VBlgPhFA6RxZwNcxrkz4le",
  "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, 0.8143, 0.6132, -0.4347, -0.0139, -0.0334, 0.9993, 0.9154, 1.6623, 1.2327, -0.6914, 0.5388, 0.5938, 0.9983]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1675 left_yaw=0.0016 left_pitch=-0.0637 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3056 right_y=0.2547 right_z=0.1279 right_yaw=0.1001 right_pitch=-0.3244 right_roll=-0.1464 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.388, 7.1453, 1.7021, -0.0415, -0.022, -0.0122, -0.0205, -8.5538, 5.9419, 0.9158, 0.4567, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911687099744b3726675c8c2cd05b0410c8df82f17fc635e16264c1d1a0ba64b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e3b7a688309a505298754df61748010dae798a71b97fbd2591c06dc7be09a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1956062f90ba037e2521de9a68aa29b744bbe9618169416d32ab4df3c75ef493",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 1.571 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6132, -0.4278, -0.0139, -0.0311, 0.9993, 0.5976, 1.644, 1.3125, -0.5617, 0.4156, 0.3267, 0.712]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1694 left_yaw=0.0003 left_pitch=-0.0549 left_roll=0.0001 left_gripper=0.9993 right_x=0.3984 right_y=0.1892 right_z=0.1719 right_yaw=0.0619 right_pitch=-0.2292 right_roll=-0.098 right_gripper=0.712\nstate[joint_eff]: [-0.0068, -1.5111, 6.9949, 1.7314, -0.0415, -0.0366, -0.0122, 0.253, -8.7453, 8.7043, 1.4921, 0.4176, 0.2759, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8135, 0.6132, -0.432, -0.0139, -0.0334, 0.9993, 0.6003, 1.6707, 1.2961, -0.6075, 0.403, 0.3107, 0.9983]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1683 left_yaw=0.0016 left_pitch=-0.0603 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3882 right_y=0.1861 right_z=0.1476 right_yaw=0.0708 right_pitch=-0.312 right_roll=-0.1469 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.1556, 6.9949, 1.7021, -0.0513, -0.0366, -0.0122, -0.1299, -10.0855, 8.5128, 1.3016, 0.2173, 0.0513, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4347, -0.0139, -0.0334, 0.9993, 0.9154, 1.6623, 1.2327, -0.6914, 0.5388, 0.5938, 0.9983]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1675 left_yaw=0.0016 left_pitch=-0.0637 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3056 right_y=0.2547 right_z=0.1279 right_yaw=0.1001 right_pitch=-0.3244 right_roll=-0.1464 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.388, 7.1453, 1.7021, -0.0415, -0.022, -0.0122, -0.0205, -8.5538, 5.9419, 0.9158, 0.4567, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911687099744b3726675c8c2cd05b0410c8df82f17fc635e16264c1d1a0ba64b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e3b7a688309a505298754df61748010dae798a71b97fbd2591c06dc7be09a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1956062f90ba037e2521de9a68aa29b744bbe9618169416d32ab4df3c75ef493",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQPbUehVAsttUlmt5xDJg4m4BQ5i_X3e6ipagzaNh6iMjLvV_AMyARmZ5ImNvm7ahTQMKcUqB_H4K59ox6uTSfoQw2j1es44NhVsJ7UTK_g_W2t7Z7eNEHnnpu46qr-pmLV8cFA3Y3CSV12ayEJelgR5WzSnDA3tqSHJktPO5OIcB5jUnXHzMAhyRAnZT0iOIk1KrgV63mj67lD_4q5BlToIobRGaVAxTmhXu2xORroeFPmBnvfG7iVHHrXp8CYEBsflf2KNQYFwkXkkNdHWQEPVsZTjMrsLS4_8UjHlbYmqaxYAossF5uQSBuKIK1rMiqDQzWG8rLk044NwD7WpoqDCm28m7UMrnfUNwyoozjo9TBoh8V5J4H5UyuQmt27XpxHHb5INw4zDEM2it2K_B5ZDCIKx-Ab4tei-TZ3mwMwIK0nzPxgjXjmxnpe5s0fkxFlpV14cdYNJ2vehBpWRhVVBrZ1F4ejAJOvhWbc6iaG30dLD-QpKHSaXfdTQlPNypiwxHU3C2gicsBcXC-n6mbPbMw6LpFQyP-CdZzHjFBAOMhR7OOlWVSrZhG-sTD3KCz8IBI_c0HmUXeGF5ONV2u-sZwiEuZtgZyRR87mojObetWl5Ztun56VZ0_4F9VPdfzroq_jueLp9PORHeUQ5odbSMFATGhESMrEFE5N34hO0MwgE2_r7BtQD2K_lmVPQcM7TFQ1r_K1oZ6MyyOYtSFK4Q7tUw3h_Cv0vdFqDEt5LGJo_bUtvSPCKNcubWqWMStdLZZrBy0i6JTpemWLamaLOg_Lqp6YhBOYkIndZWT-W8LGXpdV2x4GNQRiIQKM07VQqyQnv4aUT914XUEyElyogC60r93pU-FGMQlcLKF9nK3MeGZ4elFmXweMkF6C2Z-_QCySpasR9k4AnpJTARCuJ93ylqwwRe8gI6V9MI4G3j8zqh-ZusQ7dVzI-HowUSruDJMjnK9qgH1hB5BEPoeiRD4W-cPOyVXxgsjATDY1hPZ0S4KM4BIeqFdFsCd7fsvY3I-N4z-8XeNyiHuJfGHL2N-UhfnZ7NVwEpdq-WB8FGdH9WUyqvhVX_sq3mcRvQV4VZca9GEdMSPDI41xyx8bUrCKG6IfNfC1T_E8fZly5UgsPDuPBoiMTF4ajeLyW6CBIH1fd5vEWAmhX9w85N9lShIQ_svWNXhNcspEuMbCETVP48xHByLPipnQMAVl7ERUVzdo6B4UYwRU0Q33qLvWwrB75G5ZG1w1UHKBBb_APABhEdSiN_lBvUGQNhTlcZsxEqoRvV1c7s90eCaCC6RdNx2KAgRLm8IAXNdDH_o4uQj14M7hjkWmaBmURJ3986bhQEgrNdoZzR1F7gATrmGKLMbWJraArgFwNAVHA64eXFw=",
  "id": "rs_031dcf041c9993fd016ab4340e6c8487d092790043f44659af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.016},\"note\":\"The small yellow fruit is centered near the fingertip line in the right wrist view, with the blue bowl behind it. I’ll lower the open gripper to its sides.\"}",
  "call_id": "call_XoDz84HbIg73O4Beqw1hpYLa",
  "id": "fc_031dcf041c9993fd016ab4340edb1087d0877340899515c1cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XoDz84HbIg73O4Beqw1hpYLa",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4419, -0.0139, -0.0338, 0.9993, 0.9192, 1.8347, 0.96, -0.2672, 0.5339, 0.5919, 0.9983]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1661 left_yaw=0.0018 left_pitch=-0.071 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3017 right_y=0.2532 right_z=0.0154 right_yaw=0.1029 right_pitch=-0.3422 right_roll=-0.1605 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.347, 7.1726, 1.7851, -0.0659, -0.0611, -0.0122, -0.4444, -8.0068, 5.2034, 1.2137, 0.3199, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70bf0e87a65f6febef96aee5e1b1259a92721382e3f65d1545cf4d6f8d5d604",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654157c139a4167abf89949cc576a533300fdcda27c65bc135c13c3d5224ab51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5af7bf3e15879a9656b9239fc74933bd6b72e61230be0b5285c21412ad7dea2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 2.44 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8135, 0.6132, -0.4313, -0.0139, -0.0334, 0.9993, 0.5995, 1.7657, 1.0073, -0.1684, 0.4068, 0.3222, 0.712]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1684 left_yaw=0.0016 left_pitch=-0.0595 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3922 right_y=0.1877 right_z=0.0604 right_yaw=0.0689 right_pitch=-0.2619 right_roll=-0.1127 right_gripper=0.712\nstate[joint_eff]: [-0.1026, -1.4154, 7.1863, 1.7314, -0.0708, -0.0317, -0.0122, -0.2256, -8.3761, 5.9966, 1.6874, 0.2515, -0.0171, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4347, -0.0139, -0.0334, 0.9993, 0.9154, 1.6623, 1.2327, -0.6914, 0.5388, 0.5938, 0.9983]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1675 left_yaw=0.0016 left_pitch=-0.0637 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3056 right_y=0.2547 right_z=0.1279 right_yaw=0.1001 right_pitch=-0.3244 right_roll=-0.1464 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.388, 7.1453, 1.7021, -0.0415, -0.022, -0.0122, -0.0205, -8.5538, 5.9419, 0.9158, 0.4567, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4419, -0.0139, -0.0338, 0.9993, 0.9192, 1.8347, 0.96, -0.2672, 0.5339, 0.5919, 0.9983]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1661 left_yaw=0.0018 left_pitch=-0.071 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3017 right_y=0.2532 right_z=0.0154 right_yaw=0.1029 right_pitch=-0.3422 right_roll=-0.1605 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.347, 7.1726, 1.7851, -0.0659, -0.0611, -0.0122, -0.4444, -8.0068, 5.2034, 1.2137, 0.3199, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70bf0e87a65f6febef96aee5e1b1259a92721382e3f65d1545cf4d6f8d5d604",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654157c139a4167abf89949cc576a533300fdcda27c65bc135c13c3d5224ab51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5af7bf3e15879a9656b9239fc74933bd6b72e61230be0b5285c21412ad7dea2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQS4stlWgjC5ESzvM2y3VnSfdAYiAUNTRPaDisUUavdKnwLdZc4NzWHSs2mHDlhBS0KZZuilvdLrkygfzILJAsr1a1DNKKBbIgjPKHsW6vjAtk2cuRsYP0qh1wGpfm7CjIEhW66M44aZbIzU86COdc2KdnZ74dS54iTVNCK_vTYX0-kWcflG-4wKrfI1B_7YFcx9Onglgx7IolYbkeYorW07_UTCSB6STYtM7jNwLS46vK2ihXjV7iZ1Jd5j3EfRZke3zIriQUt8nMgaIv9-cTWP2gM_zipL1-fm4f7tgKtEc7SCuRXNoh2SITJHwhjdWJTEAATOx652gCh9o6sUqkV21p3-DPptNurjQeFVmkCY6bhZR2CL2Hq8iMG2T_Yi9jOLVv-nihQEcN40tXVnAv7k2MzG7Vst2eTlSIF1l3kyzn2mgIjx56tnaICCjPPC-uZ0_KD7KfJOaWwe5Uud5Ru6_ddu2uCvEjjTP8nslef59RaoFxkWoTlsR7TMW8JzU4ryryTdjM3ufH47ShIbN4or6CUcOlgAC0EB2vfGo988Nts1FnA1tghVugoxZSsaXvxRcmyDTpIRGe3cY1HfP7WFTceP01GOxv6u4-F53CXuvrx2p_g2siEyuPjl_-IExdlNveYcZ3SBWSqJBPAGW9M5pYKvmnCxo4uABldLVdzqzEbs9RR6_OdrQmrCeyFT6JjaouDqd6ez4ai7uBwbPXVvZsIoPhoUMzBCV3h6h5q3aWd_yeZBVxCKYUBvzXrP0vkIIjn8mRBM1rG5qa_rMWvaJtCQlx1ZOipq-IzyBCoWnReJ6JXFSC5Wbkk2nYk1AKbUFHGc8QDv5o_W8jTq7aJbyFc3Hyh5CjZi1OWJo9Tk6dvyr5yfz3eV3oLNc3oCJ7phxxO8U2mEEzJS7NhyuCYJNtZLk68IXJv9Jrb1aJgWH3Nd5XSfptMts8bW-3DulYaMazvX0esL_jef8O1sbnjn-6qcy8c2BTH-xNLrQ-hwDwgVUlm7R7vcjONwYCHe_erilnYKi9SGiM8WEHH56ympIfMb-i8TQPiG3Uw1W1jh2OHXFfsYnm1Vi5CP-m5xN338YhlNefjjhQ-_jBRcPY3S5PhHkNWj2RZhXJYMa-aS6GEdPVDJl0vi9VQ4dZc0mwsVZSebhP9LLzLPdpH9aoNXJRF7S-7OZO2C5zReKOlLR1DWc2MQ9V95GJTfG04UzSXH7Lfika6GTGtbKP5TxBK_A==",
  "id": "rs_031dcf041c9993fd016ab434123c7087d0984da50feae475c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit sits between the lowered right jaws. I’ll close the gripper around it and check the settled jaw opening.\"}",
  "call_id": "call_24DvyWtjarmkkcp0omYUOSjy",
  "id": "fc_031dcf041c9993fd016ab434126a5087d09bcc4c1004002b8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_24DvyWtjarmkkcp0omYUOSjy",
  "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, 0.8143, 0.6132, -0.4461, -0.0139, -0.0334, 0.9993, 0.9192, 1.8347, 0.9596, -0.2657, 0.5262, 0.5911, 0.438]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1653 left_yaw=0.0016 left_pitch=-0.0752 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3011 right_y=0.2543 right_z=0.0148 right_yaw=0.1085 right_pitch=-0.3465 right_roll=-0.1551 right_gripper=0.438\nstate[joint_eff]: [-0.0342, -1.347, 6.9812, 1.6923, -0.0513, -0.0415, -0.0122, -0.335, -8.5538, 5.4085, 1.0085, 0.3053, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a6996a563b649c480e44f36a7abb31ad6ddeafc20d77c5c23162a87e15708c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e35dddb5ad02cced97ed57205d995961cf684c8dd21a3512d489d5b73436a344",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b46393e49fd44a9522ed24e4a750370af56c31ee8b60ecf69ebaf3be87448e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.621 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8135, 0.6132, -0.432, -0.0139, -0.0334, 0.9993, 0.6003, 1.6707, 1.2961, -0.6075, 0.403, 0.3107, 0.9983]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1683 left_yaw=0.0016 left_pitch=-0.0603 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3882 right_y=0.1861 right_z=0.1476 right_yaw=0.0708 right_pitch=-0.312 right_roll=-0.1469 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.1556, 6.9949, 1.7021, -0.0513, -0.0366, -0.0122, -0.1299, -10.0855, 8.5128, 1.3016, 0.2173, 0.0513, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4419, -0.0139, -0.0338, 0.9993, 0.9192, 1.8347, 0.96, -0.2672, 0.5339, 0.5919, 0.9983]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1661 left_yaw=0.0018 left_pitch=-0.071 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3017 right_y=0.2532 right_z=0.0154 right_yaw=0.1029 right_pitch=-0.3422 right_roll=-0.1605 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.347, 7.1726, 1.7851, -0.0659, -0.0611, -0.0122, -0.4444, -8.0068, 5.2034, 1.2137, 0.3199, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4461, -0.0139, -0.0334, 0.9993, 0.9192, 1.8347, 0.9596, -0.2657, 0.5262, 0.5911, 0.438]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1653 left_yaw=0.0016 left_pitch=-0.0752 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3011 right_y=0.2543 right_z=0.0148 right_yaw=0.1085 right_pitch=-0.3465 right_roll=-0.1551 right_gripper=0.438\nstate[joint_eff]: [-0.0342, -1.347, 6.9812, 1.6923, -0.0513, -0.0415, -0.0122, -0.335, -8.5538, 5.4085, 1.0085, 0.3053, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a6996a563b649c480e44f36a7abb31ad6ddeafc20d77c5c23162a87e15708c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e35dddb5ad02cced97ed57205d995961cf684c8dd21a3512d489d5b73436a344",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b46393e49fd44a9522ed24e4a750370af56c31ee8b60ecf69ebaf3be87448e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQWxg0pFBCZWTHSDXZqEauBh3SQ_Ny3HpUOpAB2HoTltqlcHld4sfvZLFKWdZBHqTiwDuwM35ZYIkPR9OqL3kCsNxAqBAij_I737VSA0ef5-o1WUKNNAiu4zdH4JOm8f8UPuwGQdo4VTeG2M2asCAul2SW_GIi6Bn4TfeSE0eYrubueh5WRhDbaxcrJZ1m0IFXLg2zrwVkW2UW4TeEGMVEXmGeC6QK0QXIVbmIfHoFgBpIsaBC7AkQVYW185nY-1Op0tPduqUwWdXT3EPOMHD-DrFtucFIH45RE8P-a5kzKLGnokKsTbh-8gueTElWSz0t7eiBESXxmMe_r5m-Ac45SUJsJO2EXLYUfpOcBmL4l5ytzp95NS6KWXEkUknKqr7jpnBRLerOduks9mWY8nYF8j3el0BcEauol-1zBHBYlSFSlHwBSeDOPZ7u6PFScKeakQQtP7ZNAIPIn5mCH3vm_i8Cu12wqmfLDZ0kpgMxkD9NZjNr-E9bQBAnMLdtoAfks1CdzYgEntvV3YdVas8O7_c_ybqLjY6cJW_T-UOPgCiQE-vQK8VnksZcK3PWnKyuuR0atXKdRAMAkrhCvCRTNefCmV212HT2BCCvO0qe-F-SEn3Arq0u8Vn_8LBwCjdFPmsW0noAmT7hMxB2pefg58uPidQJJMdxZKi33-9x-jTJFyX89IlvZAiOhXtna566vPm8Ff_UE-hGGJSlJsYZOjHLfD5WaVZePRVCUFBE6cYeTV_Fkr_3qjbxFwmgqhhMQ6n3KNTqLUIjizfmuGzquRKj3UjSAzmttvXULuMewywgq-PipzR6T99ZY9csKycLfEPAXkRDzH0wljpdUJFQzuSMbbFL-1yN55nq_wcrGgxjqKvZsPX-lwcF6-NnsTM_Zuji4vhZEJVOdKMsq1wd48SVua-LlqP20STXuJY6ejBviaPkJD3bdPChGJexQJVArsIlChep57rBdf1Rbw6difr64o3G2XjCj3VtQCLRL4f1pwGRTqauS701LoRZ073YMnOrwPWPazU0JLF5YMusQ7vFp9viUL-CLojgjo-Kb5NV4YdHrL4woxYRNtcCM6rxazF6XUSGqonFgas-238bbF72qXoH72JPRqGQ813zjfHzP-gSF64CI2B7TXOHp7OOGmWPoGqS_P1zoUSDyOnOmQY68TgJRa87iNutktT9_sXhDT2tzRzyl9HYzj4gqvdUewSW4iaaO4Zvnzv-BDjjlUh1M5HE5cF1XlfWxOhqHEYC4d1NMGuUf5p_w7USj_h_2FkQfkp6h698s17GsbeL3BgqSJelj2tdfHdcyGp--N0M7ihHvT4T3Qw-sfTcgseGF1RawkVCfOxlagp5PcAD3RQaZ1gPswaVH1kj-LGI64SzwKq-xkph07Z67Slk4GOkkgBvksiXaOVXI8sxuCso4Am-hUrvrTxJOfx7OgxG1EEx_heZC67eWjNHYjZGHN-4Mjjz3SSacrWwPC7jGtPv4njlLwF4bQKDJFxg9ooB9PmOsRUS31oAis50aMJ2KX2ojR7NEgsGrUM-zAslT0U9-mvLiA_HqClO_8vYGqbVXfO7VcTB72KACToUI6oqHnEOZgTP_tsjWWmJ1ivdvMWW4w2TUGF-eMOX7ltaKmZlba8IRmRNc1OKVcbB9_LCNRLVEZZR6MfXdy1Vgl3V4AGVj7A==",
  "id": "rs_031dcf041c9993fd016ab43414e45c87d0b0af56ffbcd36806",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_gripper\":0},\"note\":\"The right jaws stopped at an opening consistent with holding the small fruit. I’ll lift it clear of the table and confirm that it follows the gripper.\"}",
  "call_id": "call_JRtFQEqqlVRMWrgN1Hx5JCwK",
  "id": "fc_031dcf041c9993fd016ab43415a83887d0a6a6701ae382bde8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JRtFQEqqlVRMWrgN1Hx5JCwK",
  "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, 0.8143, 0.6132, -0.4496, -0.0139, -0.0334, 0.9993, 0.9192, 1.7088, 1.1526, -0.6086, 0.5194, 0.5911, 0.4379]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1646 left_yaw=0.0016 left_pitch=-0.0786 left_roll=-0.0012 left_gripper=0.9993 right_x=0.2999 right_y=0.2545 right_z=0.09 right_yaw=0.1064 right_pitch=-0.3676 right_roll=-0.1691 right_gripper=0.4379\nstate[joint_eff]: [-0.1026, -1.2239, 7.1316, 1.7558, -0.0659, -0.0513, -0.0122, -0.1299, -10.0718, 7.8564, 0.8913, 0.359, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c65bb934c6614a425106bf52aeb24308f42146603d7b6197b9e42639cbcde7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1262e5b56208cc91a2261324ab8bccf1ac12f4213ace62b9c348d3bb616ae6a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc2286c6cf29e7e77d6d6d9490498632f1db3b981c4ddefe4eda21aedba4071",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.276 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4347, -0.0139, -0.0334, 0.9993, 0.9154, 1.6623, 1.2327, -0.6914, 0.5388, 0.5938, 0.9983]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1675 left_yaw=0.0016 left_pitch=-0.0637 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3056 right_y=0.2547 right_z=0.1279 right_yaw=0.1001 right_pitch=-0.3244 right_roll=-0.1464 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.388, 7.1453, 1.7021, -0.0415, -0.022, -0.0122, -0.0205, -8.5538, 5.9419, 0.9158, 0.4567, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4461, -0.0139, -0.0334, 0.9993, 0.9192, 1.8347, 0.9596, -0.2657, 0.5262, 0.5911, 0.438]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1653 left_yaw=0.0016 left_pitch=-0.0752 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3011 right_y=0.2543 right_z=0.0148 right_yaw=0.1085 right_pitch=-0.3465 right_roll=-0.1551 right_gripper=0.438\nstate[joint_eff]: [-0.0342, -1.347, 6.9812, 1.6923, -0.0513, -0.0415, -0.0122, -0.335, -8.5538, 5.4085, 1.0085, 0.3053, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4496, -0.0139, -0.0334, 0.9993, 0.9192, 1.7088, 1.1526, -0.6086, 0.5194, 0.5911, 0.4379]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1646 left_yaw=0.0016 left_pitch=-0.0786 left_roll=-0.0012 left_gripper=0.9993 right_x=0.2999 right_y=0.2545 right_z=0.09 right_yaw=0.1064 right_pitch=-0.3676 right_roll=-0.1691 right_gripper=0.4379\nstate[joint_eff]: [-0.1026, -1.2239, 7.1316, 1.7558, -0.0659, -0.0513, -0.0122, -0.1299, -10.0718, 7.8564, 0.8913, 0.359, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c65bb934c6614a425106bf52aeb24308f42146603d7b6197b9e42639cbcde7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1262e5b56208cc91a2261324ab8bccf1ac12f4213ace62b9c348d3bb616ae6a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc2286c6cf29e7e77d6d6d9490498632f1db3b981c4ddefe4eda21aedba4071",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQb0_k-ydlawl8Z4KORlynIPMxYc3ZXCCG_aEX0_OPnRS5XXUIfoqt7ewUCAK-sUf9xPcOGX2b2epgtQyVUVFRkwqL-kcOB9KYEjW6UBDoxhJo0a7GiYKliaJfomtnyYWnlP8irP4CzYgkpljyly43KFLxewuVznld7fACMacw2iDkyxliU0f31VK5Tq4LS5YM7bebL04Zr6J47TMyhdaLq6TV8kA7qGO0oHB97q5BNSCapvc4rHeiWXvw27Gvsg0x3sxaXbPvsx172S1a85kl9AldUTVZoLuiChxxOpue6Oj4AEYGFwodig2M6tmxyOuRSxc3uEofUdTsRLClyJGiCU23BuYdihbCDNnU2OxjOXlA0IKWG2JRUVBf-9NAqoXPuruJ003k6kzER1jymUrne7MJUu81tKimZOnZPav_BKXODP7_BKwnVSdr-_qFjMqSTB6EryQLbjccA7-KRhvstp5iurGRmqg1CbFbywd_huaqsYqT3_9vMBCxy-iUxCRpXjnzf3KOz5VOHQ5ap2aYlqcpHaDOvvX8KuawDtAcTulE53VhjjMMuVzF-yBiQ8z1QJg4PlxGszJLldYabSa6piRsHdb9Y6F1PcTX704dWDsHd_ngGCaJ1Nzz0EQvuKo9_zGwz78K7NJkcRCsx54Xb8UP3u_A4U5Tj_JKJmdGqYU-_dIfTN_79Lsjubn2VG02gLEuF2aB6itHYf8d0d9Szz1-jlfitgkNSNorFLnOUN8Hsfchy-EvLNSat4PeksBpzoomiVwDgWokjxMMX-SYlLaThXrhyRNmntAs7YJOwx63HEhP16sA0CaTRryMPttzAxGjjJrHzu8D0V8_ROc3fWrY4gBgG_DfeG-GEfcg-oJw8NAsY9ozB98Fttd_I_0R9gFKWRK-60rHA2x7X-5WMr71FzjVkGH4_XCd2_UlD3hbwKWXjd3M-q8YTSnH1AFz8eWl0tev48uLW80yK5Q8-GQ_0cH7loeaONRrOv5FPJ1fOgDOhcfBBvTEqKdJ189_-aHjWO5JUSvGHdUzd_q1EYKFc61Tt8BO-3SEM-p8HsJAUoqTNrOWgoFI74v3oJrWuhtxkznQsWYAB-eiAn2hI5-RjbiBVXEeXW2V7qhe93AQ3880JmxygKZ734uGSzoju1HiHTrsy2bzj579Syvq6Vo7BlZKtzkTKKPYc1Sj0GrIl7VEsiZ0mUrUPtfCDgu45dGqgFBhOS-yy-bR8-_tJUypPBm-xL_YClBlw7EOsCZvKxsTfPsBpFSd2d_IxXaPYIeyMMUHZ4XT_-MhAOUfVtukzOKaCa4ykg4Hdl8IQpHe2RwkoGAS0X5KgN4kakRZfZa4hucn6tOuD5S9dUlcqj6p06JWGBxN7aa7X_vcLmICRUndkVrqEETgIzZhbHot4Sy4XqT88MB6Hmw4wJ6vatYZerUFYUX9eV_AenvZC7RfgwcySzm1IbCoC0jgaOvWR7OWw5QlcIO-Yca8ZVZ1zLFaS9x5C3LDZia9cywkwbzdbHWzDgYkzwVILpakRTKwog7TaP5G7M1hk_a67yMMiVayI9y9bx-QSwMsPFuLgX8g1JMtfl-YSsVTVKGeLWSHoJJCZMgTAygWrZEv0Ks6dBTlO2r8-fDCTzwDNU4lK-Y9Q6zFybv6OJuPs1zd9oA3WBe1j1jHt1UhW_C5xNr7uXPlEy9m6kzfd8LmLtrlmcJbX8Mw-SMLmCpvXoBIOccrmKt01HnG1Z1WxIYnX86AX9zrVm5uoFLIFYJ-DlT114rgU2IUociFy1cQm2UZWTdCUTb-6ENhcdt4TNo5IZLqovbjo3paD7mCP2DljmTmGsab2JwUgEE4tUvzIRcked1bFtVsaerSDOdNUS7vhEy1SWaGstLKKZIwWuVW9aiN3jdcHA_ylDSv9YssCI6Q8FQBU0Kq8vPVZ60nuQH0LxghYTpO54CKLJJwcJ28C5NBnO91pI1KoSmSmwxUJ3mnuXHDhi-oS8qjui2nX_dIHIyUR5WvdqRsBWRCwmq9yeUpYdMNDmBfRyS6WWY8Jy6JkrNwLzF4B_BNjaKyB2oNQ33lylyZsiD_Lw-jfjNsB5VaVHiWSxEYclo03tpbAFk6w5PSQh612vlerukqgk0sEm9xueQflt7dxvKxM9Edg4OoISkA75P1kReX7W8P2sL-ih7UiW_YHbybxk6YNnT5B7M0WObkeyk2Qp85RVIuRXjVaDQAq0KvP6y45f3uK_evfC1JFaFI1nDB_nmgkpN5EmWPOyz4n18jVyszBKfc6sh1Wn_QbDFMLQmbihtcYSMeN6IZcN8tGawIPkemm78xk-ZcfM2d0woRroTFk8rmrSRGfBgMvKo8_v77prnX3denCwksX4inbhxnalTD3ox3CHixBIg==",
  "id": "rs_031dcf041c9993fd016ab43418981c87d0a7524975f0217825",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.19,\"right_z\":0.18,\"right_gripper\":0},\"note\":\"The jaws remain about four centimetres apart after the lift, but the wrist view alone cannot prove the fruit was picked up. I’ll carry the grasp toward the blue bowl, which will also uncover the pickup spot in the overhead view.\"}",
  "call_id": "call_IrL3fWyxy0E0Zngs0TnAY3zF",
  "id": "fc_031dcf041c9993fd016ab4341a55ac87d0967c139233763e25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IrL3fWyxy0E0Zngs0TnAY3zF",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4515, -0.0139, -0.0334, 0.9993, 0.59, 1.718, 1.4818, -0.8082, 0.366, 0.2741, 0.4372]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1642 left_yaw=0.0016 left_pitch=-0.0805 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3897 right_y=0.1891 right_z=0.1711 right_yaw=0.0997 right_pitch=-0.3848 right_roll=-0.1738 right_gripper=0.4372\nstate[joint_eff]: [-0.0615, -1.347, 7.0906, 1.7265, -0.0562, -0.0415, -0.0122, -0.335, -8.0752, 8.7863, 1.1795, 0.1929, 0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739cc13fff91fcad671a5bcbcd327b2ce8cc6bede5b7fbc42723424d9605ed33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:392db4271068d6e9879976ccbd862002cc59a7b378481fe967dc5ce3a9ce0ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35464e177c486609dcda2f9e0b936b7dac5a81329163fb4f81a1907765ec56d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 2.015 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4419, -0.0139, -0.0338, 0.9993, 0.9192, 1.8347, 0.96, -0.2672, 0.5339, 0.5919, 0.9983]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1661 left_yaw=0.0018 left_pitch=-0.071 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3017 right_y=0.2532 right_z=0.0154 right_yaw=0.1029 right_pitch=-0.3422 right_roll=-0.1605 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.347, 7.1726, 1.7851, -0.0659, -0.0611, -0.0122, -0.4444, -8.0068, 5.2034, 1.2137, 0.3199, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4496, -0.0139, -0.0334, 0.9993, 0.9192, 1.7088, 1.1526, -0.6086, 0.5194, 0.5911, 0.4379]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1646 left_yaw=0.0016 left_pitch=-0.0786 left_roll=-0.0012 left_gripper=0.9993 right_x=0.2999 right_y=0.2545 right_z=0.09 right_yaw=0.1064 right_pitch=-0.3676 right_roll=-0.1691 right_gripper=0.4379\nstate[joint_eff]: [-0.1026, -1.2239, 7.1316, 1.7558, -0.0659, -0.0513, -0.0122, -0.1299, -10.0718, 7.8564, 0.8913, 0.359, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4515, -0.0139, -0.0334, 0.9993, 0.59, 1.718, 1.4818, -0.8082, 0.366, 0.2741, 0.4372]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1642 left_yaw=0.0016 left_pitch=-0.0805 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3897 right_y=0.1891 right_z=0.1711 right_yaw=0.0997 right_pitch=-0.3848 right_roll=-0.1738 right_gripper=0.4372\nstate[joint_eff]: [-0.0615, -1.347, 7.0906, 1.7265, -0.0562, -0.0415, -0.0122, -0.335, -8.0752, 8.7863, 1.1795, 0.1929, 0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739cc13fff91fcad671a5bcbcd327b2ce8cc6bede5b7fbc42723424d9605ed33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:392db4271068d6e9879976ccbd862002cc59a7b378481fe967dc5ce3a9ce0ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35464e177c486609dcda2f9e0b936b7dac5a81329163fb4f81a1907765ec56d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDQfmqjsq6IXZST_rHwPeQlo-nqpkivmgGe4MrwW1_trGXZjGYuy13vaFBgAKgBKwkgJrrEL9X1ey7pfb9eHuF534mJcTxEOEWVF6vyKP5I_zIrJRMDMLFAdLnELlM4jvLXpb4ADkQPkODg2sTFul81_5jxp6bZpWanQLVMLkCs05aTkjmBGiWWwc1jb_8TwaqIP8emO-mz3kkz9I7Hn4Rr7CDGxh1AKxK9-EHGIcwI1pTsG7-pIIdJb1MuZP5y-6sRTsUg4VGMF5lKnmxmq-xXyUMJdjNpYCrUAywlz8tHuYVWmdEBDmg0Zne1qW9S29JYvWJVxFAH1i8-gdW9x607ICa1GZNsP_epJrwPCWgMclA-lK1XClGMfS-rRWFBTYLx6t1q2wzIjXipWJVLOCCsnGs0rKRONuCekBDF-qiFNCsbVhCqW2aFySzufFiR5ekVfaEJa5ypYgb_ZrO1ZVvkex1GqpLa1hDjqWl8d4zFsuzI1PUYBu2QbFqVWZGXtYY92Mfwl_MOZLUQNK5nna0mhwfsWDHONL9allG0DCdS2ahPuSekdXyJysGf9NHOIv1uoy91XSfxzZqTIeb-NEbyF1Jtz9SCZm5eWIpQL_k8zRkLbsy-judXM1455umTfFrHcM7WYFW2B5snFvpvjfyqFt9wYAnTFUjj2OPyD-9T1a50XUn8zid-xd1CW9hloz2hsxehmESovBI-IXPkVGYzszHDwUlOfHUpJBCuhxFgDkp9w8Lr78IpoJaz8ErBUU7PgPRo8c-VRLlrDCi79lMHk9w5qftCBGzxi8qkFd_HFOQrSUVYhvSWG12463aZl2LCIYZkY9lWVwWUNNOYRlJ6D287uvNDYk5aisPiWlS58FkZfDT5X_HiZRSnP8log0D-bOnOENbHSsq0lyFhdDlG0J_XRTqHKBY-y6kZVY_qSd6dIVl2zRWQIJac-R_3OUZ34coSirxBmAvYHoBP9kgazln00hUpXAv5sESkr9POnyXRjs1aBOAKRj7CyTvn_Y3859CSxOCrtEO0WbMbTsq37hqFzCWDkASV1FVp7Cduv4BovRXYwjvANzZ_Cq1RHdqtqPdtbX7NO3e_ji5PO5T27bKO8MxXMoTyKVFVdS7JLrYYFTPcKSMGwPJTx5KetuBcbcpacp4Cva4VdzHmXxCQ7rbSSyua6h1AQGk0BTShgE0DzRaQ4sSaOPj_jl18IIaPY3hKIGOhlxbIDl4GrmuxbCQ_4VhVJqNwNVLtfNVKK5fZ7mPwOLWK5kALXL-7uYhrl-sVPZygrOIaNnsM0gi2WAgbqEFIfhsPjs7HWKf8Nddq6CfMqEJjt66YQaRKeX_KduSg5GcQAlHDGcFeTHgE72h8Nw9HH-7gSgyR6K-XlEfJiM9DLMm5_b6yIgbz94WhHCZgIwVzoFg3nzD6zxjqLtjkTS-s4QEp-PBuQmCUT8koARPAgjTH8XqqgAVSp9k9cJ79BhnK0MOwsi9xERJVqR9e5TdoA_LPUZBz_XwKjzuV10_qdPjpMD3Kvygqutv9jqaxRkhGPm6x8bHHNEDs5v9NplWtYtK8GAT5s_N09gdWDyPEytsq1y5HbOB66GO8qVWCwZrKGraj4PPMiwlcMx813WAu37Cc7XEXVu77nsIb34N6d0eWSgV8j8gRk5m7NJHl6OWYWqkEdW8t34_ewko5Sc06lHydmRuNsPOt5CNDkm1COntRiRZZi0kfCAxQCOhVznUG-W30-rqJeVydXyJdVHxBws2vaTxp87FNUKdk=",
  "id": "rs_031dcf041c9993fd016ab4341e2ab087d08f07db4b2b600675",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.072},\"note\":\"The yellow fruit has left its original table position and is carried over the blue bowl; the dark fruit is the only one still on the table. I’ll lower the yellow fruit into the bowl beside the pear.\"}",
  "call_id": "call_XwrmN983SzW661D1pecs5PFx",
  "id": "fc_031dcf041c9993fd016ab4341eee9887d0b79f5e0706cdde18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XwrmN983SzW661D1pecs5PFx",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4679, -0.0139, -0.0334, 0.9993, 0.5888, 1.7603, 1.1843, -0.4221, 0.3763, 0.2611, 0.4394]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1607 left_yaw=0.0017 left_pitch=-0.098 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3957 right_y=0.1905 right_z=0.0913 right_yaw=0.1058 right_pitch=-0.3411 right_roll=-0.1674 right_gripper=0.4394\nstate[joint_eff]: [-0.3214, -1.4154, 7.0906, 1.8437, -0.0611, -0.0122, -0.0171, 0.0068, -7.0222, 5.7641, 1.2576, 0.022, 0.0806, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02e848d6a83dacff05212d6b8deb7a407585746b8a7bc5e3067286c3610f064",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b96337aa6500f4d0414c999d99e1c14a3e77c8e382285ec2f47800944bfed7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27bfc6784599dc3c42385fd30194c93159ffd24dff2cde8addee702d0ed64625",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 9.191 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4461, -0.0139, -0.0334, 0.9993, 0.9192, 1.8347, 0.9596, -0.2657, 0.5262, 0.5911, 0.438]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1653 left_yaw=0.0016 left_pitch=-0.0752 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3011 right_y=0.2543 right_z=0.0148 right_yaw=0.1085 right_pitch=-0.3465 right_roll=-0.1551 right_gripper=0.438\nstate[joint_eff]: [-0.0342, -1.347, 6.9812, 1.6923, -0.0513, -0.0415, -0.0122, -0.335, -8.5538, 5.4085, 1.0085, 0.3053, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4515, -0.0139, -0.0334, 0.9993, 0.59, 1.718, 1.4818, -0.8082, 0.366, 0.2741, 0.4372]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1642 left_yaw=0.0016 left_pitch=-0.0805 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3897 right_y=0.1891 right_z=0.1711 right_yaw=0.0997 right_pitch=-0.3848 right_roll=-0.1738 right_gripper=0.4372\nstate[joint_eff]: [-0.0615, -1.347, 7.0906, 1.7265, -0.0562, -0.0415, -0.0122, -0.335, -8.0752, 8.7863, 1.1795, 0.1929, 0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4679, -0.0139, -0.0334, 0.9993, 0.5888, 1.7603, 1.1843, -0.4221, 0.3763, 0.2611, 0.4394]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1607 left_yaw=0.0017 left_pitch=-0.098 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3957 right_y=0.1905 right_z=0.0913 right_yaw=0.1058 right_pitch=-0.3411 right_roll=-0.1674 right_gripper=0.4394\nstate[joint_eff]: [-0.3214, -1.4154, 7.0906, 1.8437, -0.0611, -0.0122, -0.0171, 0.0068, -7.0222, 5.7641, 1.2576, 0.022, 0.0806, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02e848d6a83dacff05212d6b8deb7a407585746b8a7bc5e3067286c3610f064",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b96337aa6500f4d0414c999d99e1c14a3e77c8e382285ec2f47800944bfed7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27bfc6784599dc3c42385fd30194c93159ffd24dff2cde8addee702d0ed64625",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDQk5zLTD1tutVN2A5UtDa2Qy-aNUOYCve0H17SO4BCh8yv9r-e7Bq9Tdkq-yC-AIC3-MkHPGKRQcNFXCSA4hxDkBs870pnBOy1bI1pAR_sRTFfEYNHH-rt7rGUKxNLe-3cEcPWfKBal7sGn8ZIFgHnDYvQPqiqniGILWCW-FPjwxK46MQbQRO0TsGFtlhgEVcClTEbYCGsftgCgc5KdGMA9ILjMyiUUN_XRFe8gU-r4RWFe6J99SD0drfYBA3iPGx0iUzXkPdzMKcO9fpmutzsmYyTvHsmDr1eA1kZA39H1jwJ5ndBGFZbw3AIC7igYrlYlYhpu3M6PycwjR6Q6W3hqX_o0-Eoc0Zgjejpqn4HuXn_sGPALf0K_VFrr1cI5U-Q_uiykB9c9tpHdPYTxWKSawMB39gmw9vpkNCoqL0kcEzCPL-jgH5jZgzFCZ6Vkt9W8EPRfMfJrJG6-O8vFvT50bdI7dwOVlMklUa_23s9cf8bkZ10WhXUJF7Up8ZQ7DkJ91VYwDkJ9qODBgRwC-r-QxgykwymYcu6vBeJN7l3NvydkMjCqNXn1Mt2ENVUszpSZXtToVtFHbaY_XZUhIECe7BHRfx06rly1NbcOHUysun4wFDVj_3r7uFtEM3zF96DU0sa9IT2T3cOpXpVNVEUxoLCg8sTap4qARd11KRBhzNS4igb80Yd5dQjBwUe1Afaqm5JvKozmkgwTV8ttLJYA0ZLf_MMhSjSGvg-jYhC6pdT3bCRf3f1mjQjNv_XaaFg3PK420L6cbFoA3NWv0rpKTu2l1EKxn7hzlkD6hzBymxNuKyPRzl64z9Eh5g52KvH0B20rsrDKazBV39Fv85i6csihYFGiQtBckommrO6rEboJ5GjxJl6q4kfZsZECHJ0M0PFM5ZpbYDAXNT2Ly7VRSnvr8SolzCqwKh55loc5PFIuCs-qANe_8Ru_ipGEm9tPbwy6zf309wnRrqZge4Xmy6N8LS-X2PUvWA6TJmbI4t1gAObaxkB2EYeGh7BveKkIlS5RMN6AEW4A1E-tWEOxnkoDDGSpREy1LOv8vrusAR7SP3rF9yTfbAWig8rWsHxzT2Se7FlzswxS1Od5c0pcl6gTKRfLn1f01ifANMNrzacaAlbliqc-SkEjOafek5nHn6xQ0tyLO7vb6ElDXACD46wkXq7El-kV39Kz0M_orVMEcwONV3pTXvDU46OnBYT_s--rpckQvc8bLL6KmCQVwvNuXbpukbUFTscKZrNTaLwfeeHsypwbVehXu-Rxj3PWTArkrygSAceT5i8zN1u-jgXQ-ieNEkuLK80P2xsa9BzEsUqRqLpIFJBgJ7Xo9-GzR5NlKhN5liI_cn2l6slPEz0kIChe9MFzA9Tf1ZunKn4GvdggN4BaV87hd2CtKBRO",
  "id": "rs_031dcf041c9993fd016ab43423430487d0a022b7f8227445cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.155},\"note\":\"The yellow fruit is just above the blue bowl’s interior, with the pear already inside. I’ll release it and lift the right arm away.\"}",
  "call_id": "call_b0VYFvJQ3ZuyXQugjcViZc7k",
  "id": "fc_031dcf041c9993fd016ab434238a4c87d0b2a458fea4dbe799",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b0VYFvJQ3ZuyXQugjcViZc7k",
  "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, 0.8173, 0.6132, -0.4755, -0.0139, -0.0334, 0.9993, 0.5907, 1.7382, 1.3556, -0.6769, 0.3649, 0.2497, 0.9984]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1587 left_yaw=0.0017 left_pitch=-0.1076 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3891 right_y=0.1894 right_z=0.1316 right_yaw=0.1124 right_pitch=-0.4012 right_roll=-0.1958 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -1.4701, 7.1043, 1.7411, -0.0611, -0.0317, -0.0122, -0.5128, -10.7692, 8.7179, 1.2967, 0.2418, 0.0757, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f880e81f19cc83e22ad3cdc33fefbda487f8661b81e41ecaa9621b0ab827c7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d361697dcd689e48fa99a554cdfe5519426d0fd62a13de462a0d23734229c58c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5578ee5010a008e823a7964464f97f03922f6d38b82661dbc26fbf462c705b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.902 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4496, -0.0139, -0.0334, 0.9993, 0.9192, 1.7088, 1.1526, -0.6086, 0.5194, 0.5911, 0.4379]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1646 left_yaw=0.0016 left_pitch=-0.0786 left_roll=-0.0012 left_gripper=0.9993 right_x=0.2999 right_y=0.2545 right_z=0.09 right_yaw=0.1064 right_pitch=-0.3676 right_roll=-0.1691 right_gripper=0.4379\nstate[joint_eff]: [-0.1026, -1.2239, 7.1316, 1.7558, -0.0659, -0.0513, -0.0122, -0.1299, -10.0718, 7.8564, 0.8913, 0.359, -0.0464, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4679, -0.0139, -0.0334, 0.9993, 0.5888, 1.7603, 1.1843, -0.4221, 0.3763, 0.2611, 0.4394]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1607 left_yaw=0.0017 left_pitch=-0.098 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3957 right_y=0.1905 right_z=0.0913 right_yaw=0.1058 right_pitch=-0.3411 right_roll=-0.1674 right_gripper=0.4394\nstate[joint_eff]: [-0.3214, -1.4154, 7.0906, 1.8437, -0.0611, -0.0122, -0.0171, 0.0068, -7.0222, 5.7641, 1.2576, 0.022, 0.0806, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4755, -0.0139, -0.0334, 0.9993, 0.5907, 1.7382, 1.3556, -0.6769, 0.3649, 0.2497, 0.9984]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1587 left_yaw=0.0017 left_pitch=-0.1076 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3891 right_y=0.1894 right_z=0.1316 right_yaw=0.1124 right_pitch=-0.4012 right_roll=-0.1958 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -1.4701, 7.1043, 1.7411, -0.0611, -0.0317, -0.0122, -0.5128, -10.7692, 8.7179, 1.2967, 0.2418, 0.0757, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f880e81f19cc83e22ad3cdc33fefbda487f8661b81e41ecaa9621b0ab827c7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d361697dcd689e48fa99a554cdfe5519426d0fd62a13de462a0d23734229c58c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5578ee5010a008e823a7964464f97f03922f6d38b82661dbc26fbf462c705b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDQv859Yq46aW_2zydMxDqVw0oL2sNJxLL5vJA37EKQuOst2sV0TIn6auvCvge4_BUglCfwUcCUT-wJKvX2oz3FevMcEdb_Yx-3s0ejsgX-qre5RvF0ExDZwOQiTq6gS0vzVBOextfRUEjMTywGpcIojK_NycqjJqt_xHBi6kXHtwWn2oAV-nMDPIgNKeezu2U_p64EFv2OZwkpUbM2cMKdJVi4IHFzq__ZZ-F98JS6GFZnuHSnzFK9Ppps3Ed-Z3TIukqFOD-hDS3hqrCHO4NrsmMQjYMcwtaB_jsE9g758SI6qOG-Q2cYQW3nsePBWxz-9kXC-Pmh0-FtjSqDlsQ-dIfcAnBRxojXb5ZlvJA_NHzkHyc9q85uQ4SE8x962i-ilSvDgzDcTKxfYyyCcI8kY6-ThCxIMNIW6eL8kMFSagGbKpef76nasMkPwsdfCbFGC--FceuanhEL5PbKTTDy3hXXvihz6_r13MCYGThDCP_QfEA26sIqCxsbM3aJG4bFfVXuEnWMwcNfRYv26a83nVUrZu-ISagpth31bvKLXUGL5rYFfVNav2HmwB3OUlX5nQNLpz_kW0-os-WvlaywAPN3WgYF_VJiwDv2GHQe59hE4qL3_YHlY9K9QFQ1MYnxD0ano0O8uZBosD6NwuXZwE0YpcNVZpJ1YTjW2Lm24zHy_tG3ngzXgGnl3DzbPM2bUuaeNz61VWhrmp9A7bgJ40IFppHM3AlmSwOyWlJJC6_H5NIES_TGuB2uz400qrJvmjF9ig8hLp2qpiO1hCpGs7CYZN_ria_kWcREzTKFbRF5T5nc5QQnXXdsGn7fYcEW-2-LYYsmpHP3tSZIGDxLlK-aSaX9DekvpOKsl0d9bkpQU2ZPjVihX2Js7l9ZqX5_CuFoNBLQA-RdspNb2puRG-7dQCqy8Ow-mE__Mfq4XhzOzpO07vZQHY24mKJCSfiy-4f39R000wW5XwnBPo1HEsdIVUisX8ozUvP5CjCA5hFLrR0fYmcQm4I8_M5nPqHYLG_PYLH9IofQHveOqttiZVCrUvsbz1Tf4pHxY1wp9d-0eKWA6-NoDBGPtjfxAtvpSZcg58LAq5yl8FDGefD7zP2Kgf5R9m9bOmdsLKuvTbtAO2t0mwb7HnaoxkeShJYP3Z4X50ueHyCyaQdMav1ASemjX1mN9ibvmzpbztK7zPIR74wTUpfvuU4EI5gbBu6i9H_woNoPCmEwwLrcfy2KdfuLEpriSn3tsTJpNwB4b1EuT8z8J_S4exXjbsszz8YnKanqeYSNGqOhZSSrvQIxim20h6zhXLDmtRtZ4oOsxTm0xT4mKwY1wCw1L5psLHpMtQZgFZPYKV5bsb303J0RZyh0NqRCWqvrGcKvIiCUc8gEoFDaXhjTEFqdX8Y-aZpp-DqRXDdixXI0DLRz0sPOtaPptA6uL384G4AiqaDtoEi7yLBV6e7vscAIAK_anmho9D7o6Na2MGOecqfkzPnPTpHGyVwkVrPBLoJGSMUgIufeJ91VzqSYXez5kLaHlvhkjbstH9MkrPbBxLA1YLzjiQid6haABjTlttLmLntNMAOtMHxqgw-rUX_UJCycObM-Y9AfelcCmaY5oCEHYAQgXgmSk8iNJTVHed3yARqrOYYP4xqSK56P2bqBvow90uroh29_WSvuZWsCice9ca5fzOrgH9NHdO1-_m82ugh8A19spoVqbx9vN0sO696QQ6kj4PRK5FNHnaWqFMQceEc5YS1_03IbAhjqbAEOhvu-eRdNwTCGmyW-pnsXlxrwrPBb9sTPEqVmUBOHuF2oBYMB435RcuLRwSxGIQEfZPEfvtXYO32nvsr39RIj4zyL-pfnmwcwZsLtcb9sKLAZTbho7Ml2P48PvTWzX7WywEHUi2lqZGxMa62U6MNMX9CYskKqtpr1Kk71ryLP2Cdse5D5mXa-qFwraaO765DSSOVB86G50NoLMiVlbxaw0C-Oh0n4wEYIO7sgDEQMr-_FtOx9jHgRiE_ZEv5z9K2PtlKvEtWteNBsJoHWKZJ07BgdQOknRf0LDrxcsIjCiNXiZGNGnKrkT9hBUVH82ev6ShMmBsxOsJ3szXy-rmAVoE1fGX4i8bSzs0UX1TSr7veXfokf5O1TFWsE3IZ3qvYIPaMcIGweZaJjCoaQ--GtmWI2MldSVL4Q2KGhrznuEHR2Ywle4XqLfRivyMXl9Wd44uES5FmUStb7Tey-6Xnt0bJE_DPvB7q_K8Wgw4CV14VrTX_gYngtBCtarnJbVzu3vX6xLpkEc0kMz9zlDwk6ilvPa7_zMwc9KtFvx5mI1ZVkXV4S_6CKVd2GXJdaQzcwnD_A1L8FY42UqVGl3JPQaAJyb-i4Pw0BYDDTSIx8i9kSGGYQPSVxGeGb24YUdcTXjkfIIy-bDKbwT0ydhDLTybPkUOfgn_tHcS3dQXkd1K5jpUKdwcCJs9_yYwV_8b-pfZLRadULPOseBoUIyrSAy_Vb3CyHtGxvQjhVtdSc865ttNqjv57n4roJdIXiDLKCcXb436tW6sChfjn2uUfd-z-togVVQ6I3f4JDFbgT_qfiLcH8BcbE4OpM-9yo1HiZ08HcXxvXQv4VrNlQecMUfGdjAs1ZQbxO6diaxlw5oiq1v9KWHDyM_HpH0B2btxfmEHnRkKmsUvJ_P13hUJYG7bwbY4KnRRSKyMsrdYBzl0lc7RnVCOqfbh70HrvFbgoCch9CIUfthiMGZ-7QxqmfM4K3b9mx9Gl8hf8mLwA17Cwwk261dbQujmTIfIbMkneWr0T5Wffwi8TNS_G1jTkKiEd4Edx8Xdzr7dhTOMiRNlZrwWgyqX3HtU2jfPhIUq2sHzmiYvXqrVJ8XHZ-ny846LhXn4AsnEeWFWXkgnMONyXHkn4Thge3v5U7iRmb78lgQDlrNdqdQGCvlUFukRVfKcr_x6gHnlva1q5eMpA1HXOg1VeJy60tSx12_AqEbNbUGh7Cc1l--hLabc2097Af6MViuUCHT5rqJdSNeBXaY4-oIv0ypnPFSQHllUrpLhLweolQe-NrwXEnZVeK5niWesn9YGBgk5gIBlxZoNggBvXZqAp1QvV3hKw642PAgeAqFpDKPfJmiC2pPQa4f_z2qKae9oS2pQU_kRRr2FMWUhgUsAYlDwA==",
  "id": "rs_031dcf041c9993fd016ab4342ad01487d095802018aaed6b03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.17,\"left_z\":0.125,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"Two fruits now appear in the blue bowl, and the single dark fruit remains near the left side of the table. I’ll park the right arm and bring the left gripper above the dark fruit.\"}",
  "call_id": "call_U8pY7E0pX7MOdquEdgsphWlI",
  "id": "fc_031dcf041c9993fd016ab4342e3d3887d09ff1ee66d17e8358",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U8pY7E0pX7MOdquEdgsphWlI",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7898, 1.3304, 0.7364, -0.3096, -0.5621, -0.5781, 0.9993, 0.017, 1.116, 1.0027, -0.8436, 0.0715, -0.2291, 0.9983]\nstate[eef_state]: left_x=0.3015 left_y=-0.1653 left_z=0.1087 left_yaw=-0.0111 left_pitch=-0.1552 left_roll=0.029 left_gripper=0.9993 right_x=0.2962 right_y=-0.004 right_z=0.1799 right_yaw=0.0855 right_pitch=-0.4037 right_roll=-0.2038 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -5.1624, 9.265, 1.4921, -0.4811, -0.1343, -0.0122, 0.4308, -3.6171, 6.4068, 1.3114, -0.1636, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bb0e6da68df0a2cc0f3abd3f2b75a87c92b0ff6de0be4ec567314500f0c6819",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da2f17d77f64d0afbf1fce7741517f6bfde0e6729cf4f2fbbd17d29778da7e5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973546b5abe1181f50df6ec635876b72ab9e2e3c5caff9a54a6a22a1280cb500",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.491 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4515, -0.0139, -0.0334, 0.9993, 0.59, 1.718, 1.4818, -0.8082, 0.366, 0.2741, 0.4372]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1642 left_yaw=0.0016 left_pitch=-0.0805 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3897 right_y=0.1891 right_z=0.1711 right_yaw=0.0997 right_pitch=-0.3848 right_roll=-0.1738 right_gripper=0.4372\nstate[joint_eff]: [-0.0615, -1.347, 7.0906, 1.7265, -0.0562, -0.0415, -0.0122, -0.335, -8.0752, 8.7863, 1.1795, 0.1929, 0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4755, -0.0139, -0.0334, 0.9993, 0.5907, 1.7382, 1.3556, -0.6769, 0.3649, 0.2497, 0.9984]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1587 left_yaw=0.0017 left_pitch=-0.1076 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3891 right_y=0.1894 right_z=0.1316 right_yaw=0.1124 right_pitch=-0.4012 right_roll=-0.1958 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -1.4701, 7.1043, 1.7411, -0.0611, -0.0317, -0.0122, -0.5128, -10.7692, 8.7179, 1.2967, 0.2418, 0.0757, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7898, 1.3304, 0.7364, -0.3096, -0.5621, -0.5781, 0.9993, 0.017, 1.116, 1.0027, -0.8436, 0.0715, -0.2291, 0.9983]\nstate[eef_state]: left_x=0.3015 left_y=-0.1653 left_z=0.1087 left_yaw=-0.0111 left_pitch=-0.1552 left_roll=0.029 left_gripper=0.9993 right_x=0.2962 right_y=-0.004 right_z=0.1799 right_yaw=0.0855 right_pitch=-0.4037 right_roll=-0.2038 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -5.1624, 9.265, 1.4921, -0.4811, -0.1343, -0.0122, 0.4308, -3.6171, 6.4068, 1.3114, -0.1636, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bb0e6da68df0a2cc0f3abd3f2b75a87c92b0ff6de0be4ec567314500f0c6819",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da2f17d77f64d0afbf1fce7741517f6bfde0e6729cf4f2fbbd17d29778da7e5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973546b5abe1181f50df6ec635876b72ab9e2e3c5caff9a54a6a22a1280cb500",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDQ3XwISLJmCTpZirQRiwf3u84KHnIsMQTMoz2ocR8OrEfmCzQrqI4xdXd1DujdZM2K1wtYd0bINj6k54pwIvx0l4NRQsncjnbDhZh2Pfy2ETX87_SrlCTOWMs69QyE4SZ7mySA6UOkvVwkK3Q2_jUJo8_ExJNMnD40Gv7DtvY4gQ_paM814HedZuTcxlpHuN_GcRQLv6ah5OJTWO79MS_N-qHNNNDgExjhDjUhlj98Fdnzfg3kJHF5aTJ-tvN0NtJoNa9y47CQyaalwizO9m0yEO6ttHwOUXLr9le6Zn6rQf9tB_p1f0Uk7S3ZqXkVOBd8x-rInRylQ8eP2CYRWJowylvoXGFnTiTcbYD9atOXtBpUMsTvVukhaORYh0IUdxG38Jyz-XdHXfd-x4N6veIqVnX__hUYf2C8J9XNLqt7esozMHLJtVy7nxruRy0J3ScWMQ9qpOlb3qX7kgkpVdMuVUipWcNYmWyHOKhuOjnJBtIZBnvye4zMm9iT7tMowDGdu8B1UGvQmdWpKfs_6EjuIVbuOFqqADtF4hT2OXpYF4qmatz7BfDZhgtu2x448olHWdjhAqlJqQuIBkAACVMbhlASS8A7RS5Req2EI7PBQzc0vZc9n5ED5trrmQmi_7oJq3c-e-Mw6tsru8Slf6QWjSnsqgQfdfsNsvZzEv-Qwb6_F8fHUfEsnstpdi9kwGgA1VwCrkCu3Q5N4CYQ6HW99DWe2N51OaeoRIjAZl6DOZXJpPg4UwEp1HUDBfVnyATFUFAVeeNl_0U0KMh18GWAhWgnOC5ZcOIX3UGj1nYym2nhj1-8_wS7wCR5QcTMMR7OPrYsw7qKMYhBSGkXkjIgaZVmv6ijSR1byyvOLDTOt5dU7YTO-fWHIcejKjbCtVPuBUoTzVvG6vlnw_xbBjTtjmIJ3P1IOhMnGXj9TU07SGxwc0-GIR2HrKq7Gj6ahMsrFODTpZmHVhIx51-1eCicpl_788IBNzX1VI9oJNY4ZyzCKvLgyDZpvSn7kZ7pVgDKsh6RNu4IL4yFtB4wGQkZqSztzWG2pgaBFHnMHCuBeCeqYi08Rf0TzZ7qH7MX6qPdNKQHf9DhqeA1HJCjhZcm-q55qxLvqo_dWiVv2wt9kUNrnX-ue07bw92L-nOkJlS73JuFxx2t6GvNHR043zM4pjAjP5YD2dItoq2LvB1Jzjf51CxkNlHVCqneTY5tC9ngQSVBdLEOBoGFSqgP3JsSKfXOkYWjRrS6WUGV_zFMvVDkMpUecgZWkdU5lxaGz76NiA7xrn1AVabvBaoeERpAGZowHpsVxy9ZeIISLZdVZRZVjLvgTS8cZgZkisrLVm6d8VGDF_CAWbY40106rVjp2q_O4XQa7v2C1BuRHon2BVE_6_ir0ENGQw0-_WrIKEPqdRkIjdHrXeXd3XEQNIW8dkVrylaUQ_6ilysZR77ftjoQGhqzLEmMQLEMFfUwWsyN4zgc489WC2k1WwhcKn3Og_Om-x9vcG4TDgl-rMe-lqO6ySH1HlGCsST3-SN72CwC40nE1LHCMZvM9x07TSN5JdC6_MSMXXEQ68WmD1dUrC9cGQKFgDZjhFV3vXIYGxb74VhTR9JlnHDMjh4Q8pV4r_26q48TokQZG7MpFzTOCXltGgAgeAzafkqXaKvPtNPuf8Qn6YE_Z1EXXPUTY_8jNsUS5hjckQ6xNJ2ORCRWyOfvivcJgZEpXCwuUljzmO9vIb6HRjSfRu0oVFsQSO1uQ-xiXpYwiEVBilyNa0-5PGhUUJ2V81ZFZTOcMT2UPJv3cS1wWX_sAqgBhp4EMtT98xf2o51i9bfL-AlJyMJKG7uaMPXTTqPmHOJfQMWVFrlnujzzRMcl2pea0TBaPZltdlRDDj0si5hFJGI2WKWYK-33_wvGucNcAxECKlKiEFR9GOXoUjJuAk-PzgBmL8M7BJAhrvGVtoEkwCe2G9JJuLSJFtPz8oKH6qHm3WXArz1SxP_Yc0R9MgNkZDTflsJGfidH7yc4zOSY2QQo8Ulc1Y0PaOJJkK9vbfevu8ImZgm1P5Q4VhqR6Noq9eVgtqbcus1P2O_W44a-Ny886yZYp7kS_maz1SGoDvzteobYk73YeP28wfJsETw_Q3GXEpl4tUgbwIm_fopZTx40hQBwW16aau7jDYwAo9vJwozzlw4smAI3_KN3tW3U9b56EfofG5Q==",
  "id": "rs_031dcf041c9993fd016ab43434d5e887d0b762eb70c53db426",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.332,\"left_z\":0.048},\"note\":\"The dark fruit is centered in the left wrist camera but still sits a little beyond the fingertip line. I’ll advance the left gripper a couple of centimetres and lower it partway before closing.\"}",
  "call_id": "call_dMXW7A9qPvlsyYRMrKTGuqMU",
  "id": "fc_031dcf041c9993fd016ab434369ee487d09c3fcfc28611cdf5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dMXW7A9qPvlsyYRMrKTGuqMU",
  "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]: [-0.709, 1.5654, 0.6479, 0.0196, -0.5152, -0.5209, 0.9993, 0.0166, 1.1183, 1.0027, -0.8474, 0.0662, -0.2363, 0.9983]\nstate[eef_state]: left_x=0.3282 left_y=-0.1621 left_z=0.0431 left_yaw=0.004 left_pitch=-0.1768 left_roll=0.0407 left_gripper=0.9993 right_x=0.2956 right_y=-0.0032 right_z=0.1787 right_yaw=0.0944 right_pitch=-0.4103 right_roll=-0.2031 right_gripper=0.9983\nstate[joint_eff]: [0.1709, -6.612, 5.5726, 1.5653, -0.2027, 0.1148, -0.0122, 0.0068, -3.3026, 6.7761, 1.3211, 0.0708, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec380476a15e2d6b02e09b41be9cedd09d37d8c5fdd0023f43347475a757ad50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:febe8fd55c108b5ce909fa07e645db549370b441fba9cb2a04a41969d45ca850",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a14b234ae2a6d06b9e7a44a2b2af0800007410db8bfddf473a51c8e10058ca",
      "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 · 1.892 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4679, -0.0139, -0.0334, 0.9993, 0.5888, 1.7603, 1.1843, -0.4221, 0.3763, 0.2611, 0.4394]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1607 left_yaw=0.0017 left_pitch=-0.098 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3957 right_y=0.1905 right_z=0.0913 right_yaw=0.1058 right_pitch=-0.3411 right_roll=-0.1674 right_gripper=0.4394\nstate[joint_eff]: [-0.3214, -1.4154, 7.0906, 1.8437, -0.0611, -0.0122, -0.0171, 0.0068, -7.0222, 5.7641, 1.2576, 0.022, 0.0806, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7898, 1.3304, 0.7364, -0.3096, -0.5621, -0.5781, 0.9993, 0.017, 1.116, 1.0027, -0.8436, 0.0715, -0.2291, 0.9983]\nstate[eef_state]: left_x=0.3015 left_y=-0.1653 left_z=0.1087 left_yaw=-0.0111 left_pitch=-0.1552 left_roll=0.029 left_gripper=0.9993 right_x=0.2962 right_y=-0.004 right_z=0.1799 right_yaw=0.0855 right_pitch=-0.4037 right_roll=-0.2038 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -5.1624, 9.265, 1.4921, -0.4811, -0.1343, -0.0122, 0.4308, -3.6171, 6.4068, 1.3114, -0.1636, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.709, 1.5654, 0.6479, 0.0196, -0.5152, -0.5209, 0.9993, 0.0166, 1.1183, 1.0027, -0.8474, 0.0662, -0.2363, 0.9983]\nstate[eef_state]: left_x=0.3282 left_y=-0.1621 left_z=0.0431 left_yaw=0.004 left_pitch=-0.1768 left_roll=0.0407 left_gripper=0.9993 right_x=0.2956 right_y=-0.0032 right_z=0.1787 right_yaw=0.0944 right_pitch=-0.4103 right_roll=-0.2031 right_gripper=0.9983\nstate[joint_eff]: [0.1709, -6.612, 5.5726, 1.5653, -0.2027, 0.1148, -0.0122, 0.0068, -3.3026, 6.7761, 1.3211, 0.0708, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec380476a15e2d6b02e09b41be9cedd09d37d8c5fdd0023f43347475a757ad50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:febe8fd55c108b5ce909fa07e645db549370b441fba9cb2a04a41969d45ca850",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a14b234ae2a6d06b9e7a44a2b2af0800007410db8bfddf473a51c8e10058ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDQ7Ga4CzH3ih16hQI-1-hp5o4b_IJBZn5KKvVwoPL_3T4QUod0lIOs1XYOefp2fXquxJd8yYcR9OYLFihrgAx66aKMMLIroLh5EpWunHEaID4tRMFXZoHAzR0I_mb1TTUZp6XfXvhN5EZysbCc695LCfa9RE_srkWq1TnqA4mNvUAnqlbg_8ESkrDAx9mTK4jWAqDlZa9xqS0IjiTqSeNiUzWRwLPbOUecjMW5nM7mmKY8yu3JocV6_da-2tg16K_80DwVGD-di_hT_1IE_iqx01I5h2m22dKbZk8CTjLks5wNchwQi0_B02qi1omnfQzX27qExVqS2lwi23uzBMbNEa0p7W9u_ZrIlBN2qEv63r6Swz_m9avqx2umnoto_v-RQrLp_tnCOJsQoh9w8LmWUbbJ6_XUKkc_yqgSs57xKhPYSiqUGcc0_7pVrLklmjDFdFWIqNLop3OBZTPw5d9w5Z6iFuPsISQPWSfrJ_BNT4QzBfx9epKBKP57sDtCxbCIwyoBCrmFsB8deZ43ORWBwvtuulhMMq-MP6iNDVkGdj1-OdMx2CVKz3McxpHkHsidtRm0ealE3LGNKO0xnwPppMs2dNTpRtnWQ6dd0bCpO3-l32VFrSOV0HbAyorF6qTZrmMoyjqOozqUQI2yHRIt58G2nez5WUgqMZu8MokTFAYiYlxJFgZc4FwX5W4X5_m8F1XPAG0Ceg6EeaMFXwveAifBgnniZnIdwVb1DTeQUhxmKmYiltSz07T57AKoTdqP9Egda86whOlegvfbTozdP5O4PT-LU-oHfQ025iq34NPu1tKfwEmd7z4cM49hvlURnlwpboBGZhKl-ExDcUwKH8-rmqrw7NejEFo1ULG6tp9l2OksmilGYRNfkA_OVfmFEBPERFRFla_jQpQFLg27CAnsvqXJXz6RTfUomFgHQTxFwyCdfqU2F-rvE_spHIanJ6bWJUHN2x2D0nu2TeySVYtKBNlCKwqTGzi2PbJlEx798lInNqLe4T3U7IdP5mOEXN9kQjDrnB_sIs-u13wLNplNepvJpCiMlRa4VzzNftkFzP9Q8jEWCi-LBe61DNCk7XG0rlZli9jVnmAebD_rLxztSOOwrxOnHzwPEcKZbJ8Qsfo6dRk4cE-edQXziCM3wOmjh0rK527iPeYhCuPK5KNWBzQDT5vhKDYugBpCsAcsA10bRlu0M-7x4hSzMA2Nfy_BstFZw00JXHLnDMCBHXwNoExiDM2N72JYD331sAHYeOK0xOpXO_NY1SWbR4p2APirtSNRI9GzSUy7q0ayrjyXU3Jolkz6LdghTsholeoAmFzVRz2DUFIBcy5k4YLuv3v_Kc8bPaep-7pN3oOt3TqHsU6gyMmqOGwqlvRMhBRSXpoI1amI-qbDzBwQbmVTfe-7i5g5IoiIgIqT5fs1684XFypmsUxhG-9hV2f8yoZ1nqLzA7WAS_svKDnrvg9nbEW05YljWK3W9WWl5QE3S7B6eJ0LJVlpH-tx_EsGVHPRNwHuLuu4y15fOazdpyvhDn-txq9cYHXrVzKI-zuUI0LjSzkUuj-AFGtMpwWt9CwY=",
  "id": "rs_031dcf041c9993fd016ab43439bb3487d0a68a91f50f7c79e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.014},\"note\":\"The dark fruit has moved down to the fingertip row in the left wrist view, and the jaws straddle it. I’ll lower slightly more to grasp around its lower sides.\"}",
  "call_id": "call_rpQOSTBxhFBo6UutZaI5tGLE",
  "id": "fc_031dcf041c9993fd016ab4343aa56487d0a700a773fc508aa6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rpQOSTBxhFBo6UutZaI5tGLE",
  "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]: [-0.7071, 1.6711, 0.5941, 0.1425, -0.5083, -0.5243, 0.9993, 0.0166, 1.1221, 1.0027, -0.8581, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3233 left_y=-0.1585 left_z=0.0071 left_yaw=0.0075 left_pitch=-0.208 left_roll=0.0584 left_gripper=0.9993 right_x=0.2937 right_y=-0.0032 right_z=0.1761 right_yaw=0.0951 right_pitch=-0.4248 right_roll=-0.202 right_gripper=0.9983\nstate[joint_eff]: [-0.2667, -7.0632, 5.1214, 1.5458, -0.3639, -0.0073, -0.0122, -0.1846, -3.5077, 6.5709, 1.37, -0.0073, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4366c7a15b724846fae1bd02f3dd807ca57cefd1671640e54a5e466af51095b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:023d6c12e0712094b8cc263c2005698005027f67588c35a3aa88feac3148379b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:440c9e48f7c25ea190dd1526691dd66795a7bd95b487e7dd1749ed3fc4849419",
      "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 · 1.989 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.4755, -0.0139, -0.0334, 0.9993, 0.5907, 1.7382, 1.3556, -0.6769, 0.3649, 0.2497, 0.9984]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1587 left_yaw=0.0017 left_pitch=-0.1076 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3891 right_y=0.1894 right_z=0.1316 right_yaw=0.1124 right_pitch=-0.4012 right_roll=-0.1958 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -1.4701, 7.1043, 1.7411, -0.0611, -0.0317, -0.0122, -0.5128, -10.7692, 8.7179, 1.2967, 0.2418, 0.0757, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.709, 1.5654, 0.6479, 0.0196, -0.5152, -0.5209, 0.9993, 0.0166, 1.1183, 1.0027, -0.8474, 0.0662, -0.2363, 0.9983]\nstate[eef_state]: left_x=0.3282 left_y=-0.1621 left_z=0.0431 left_yaw=0.004 left_pitch=-0.1768 left_roll=0.0407 left_gripper=0.9993 right_x=0.2956 right_y=-0.0032 right_z=0.1787 right_yaw=0.0944 right_pitch=-0.4103 right_roll=-0.2031 right_gripper=0.9983\nstate[joint_eff]: [0.1709, -6.612, 5.5726, 1.5653, -0.2027, 0.1148, -0.0122, 0.0068, -3.3026, 6.7761, 1.3211, 0.0708, 0.0171, -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 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7071, 1.6711, 0.5941, 0.1425, -0.5083, -0.5243, 0.9993, 0.0166, 1.1221, 1.0027, -0.8581, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3233 left_y=-0.1585 left_z=0.0071 left_yaw=0.0075 left_pitch=-0.208 left_roll=0.0584 left_gripper=0.9993 right_x=0.2937 right_y=-0.0032 right_z=0.1761 right_yaw=0.0951 right_pitch=-0.4248 right_roll=-0.202 right_gripper=0.9983\nstate[joint_eff]: [-0.2667, -7.0632, 5.1214, 1.5458, -0.3639, -0.0073, -0.0122, -0.1846, -3.5077, 6.5709, 1.37, -0.0073, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4366c7a15b724846fae1bd02f3dd807ca57cefd1671640e54a5e466af51095b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:023d6c12e0712094b8cc263c2005698005027f67588c35a3aa88feac3148379b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:440c9e48f7c25ea190dd1526691dd66795a7bd95b487e7dd1749ed3fc4849419",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDQ9ukI6lytD9wykXN65qiVwD3jvS4mh8HkX7XbYvnwpDffmL6fOblY0bfy4H1eLU2Eq18XDjVNKbXPfp6FOR7gOt8g2l9HLelwM4H2v3_x2DEYAmjxb7vQTnCrbADJNHz0gAdmsWaokkDvLNYiWfFwUzDT6TeJcH-qcKfH3SQfGhcUWIUysN0MD4CTgGY8zzgzwJVU8xZkOWj8hsvdqwA40AZX39Yx1tpiv8nTbQ6O_gGHlB2eqQTlHSNI_Rf-tvTUFFF4GoB32JGN6joM8QbA2c2SWUIHZSgLuuX6RNvDRLzSi-O8Gh32AXdGuxGzpSVwZdPqBcSpVp7BUV1jVEKrU9yvjl6G0Tw0-hvARzut_ftXpWj6Kq31WkqkmhAmAzaUfk_rCgqRYICbJLroxporZdu_AHfbUSVfLTU_AkyW1TFdk4dqNCy1yjQGWcIodkNJhlDbynfU33r1cz72JNDsIclB0sOI83Wm_G4O2txpuGlAPzjGJ6VIhGwLV6VnrRTv-PaLLH1gW4RsgxsZ6IXyUwPhktBEOejbRJUWjFGyxSKTR7MijLIRXRvCQEUMt9KntDzPagbfExA6Xzk5DAZMpDUQdr7wssw05BNHdanAcxs4fUwotmXX1iRJTl7jCVl-Ac_5t7OjIU5AF42u41MfbSpLTPNVhRia9VNcgDAXXY8edDBThhkquBhR_DHDfdOYiMUznWd4z2tutPImWjGh9_asiylKtMl5yH3NWw44OGkTVZZyfk9gtdkVdfAvSLrJhm9Wlnaj2kxt5gu4lfvsATUwzmlm3wN22rQQ3eUyrkEcX5ND14b-Hxg9SN-MrjkXX0IbATgYBA0wLDh3O-3DZkh-CtNLkie6sC-RvE6o33UFBiIjnItkIxDleRUPVfZ_Qpjjt5zMTVqdgcUuKyRAIRTcdw2MZpU84b5TEfHexuEBYugxI7dwUL0eKJbeBm8W9iZAnfLG08EMzgz8PiXDu13nJ5Xr-DMqXoqTM3FDZv0_EwjkVaVBP1sXryak0He5Nwxjh4xo8ZEF4OpCR9aJSJ0b4VB7jMFd4-HP-HRCDZ7jrAgXSUACLu5f9L_ubSJ6KcO2ItCCF7mQPAGgFMGGivye5_UXkpAHS0564t6fLYtKuLVEoshxjSxsAH7k3OLNf_G3ig7pJeckqr3RdV-9C3tPnSMno8mtdgqTBWHeYpj37mZr_cnUphr1iSCcU7xtnd7uR_M3eH0uNHQidTCMBDc5yLjzV1J97Dl3pNPUQ9b4=",
  "id": "rs_031dcf041c9993fd016ab4343ce1d087d09775c61bf5814daa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper is at the dark fruit’s base, with the fruit between its open jaws. I’ll close gently around it and inspect the jaw opening.\"}",
  "call_id": "call_91eWNkRv4YA2yDFiyKXGSPjY",
  "id": "fc_031dcf041c9993fd016ab4343d09c087d096c879cdb6e98b34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_91eWNkRv4YA2yDFiyKXGSPjY",
  "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]: [-0.7071, 1.6711, 0.5941, 0.1379, -0.5076, -0.5247, 0.5354, 0.0166, 1.1221, 1.0027, -0.8581, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3227 left_y=-0.158 left_z=0.0064 left_yaw=0.0078 left_pitch=-0.2118 left_roll=0.0607 left_gripper=0.5354 right_x=0.2937 right_y=-0.0032 right_z=0.1761 right_yaw=0.0951 right_pitch=-0.4248 right_roll=-0.202 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -6.4479, 4.9436, 1.3797, -0.3101, -0.0269, 1.0232, -0.1846, -3.2615, 6.7214, 1.2918, 0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ab8d634d6ac47f65dcf6a28ffc28d4fdc588862d0574160e9c0357f8560a22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf0c8842560e7f3daeaff2387c81aaffe1b70a4f1a9df4911c77e94682b4d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726721b40d91629715ee995504b91e3e617146697e4e17043f717bde0308a435",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.117 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7898, 1.3304, 0.7364, -0.3096, -0.5621, -0.5781, 0.9993, 0.017, 1.116, 1.0027, -0.8436, 0.0715, -0.2291, 0.9983]\nstate[eef_state]: left_x=0.3015 left_y=-0.1653 left_z=0.1087 left_yaw=-0.0111 left_pitch=-0.1552 left_roll=0.029 left_gripper=0.9993 right_x=0.2962 right_y=-0.004 right_z=0.1799 right_yaw=0.0855 right_pitch=-0.4037 right_roll=-0.2038 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -5.1624, 9.265, 1.4921, -0.4811, -0.1343, -0.0122, 0.4308, -3.6171, 6.4068, 1.3114, -0.1636, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7071, 1.6711, 0.5941, 0.1425, -0.5083, -0.5243, 0.9993, 0.0166, 1.1221, 1.0027, -0.8581, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3233 left_y=-0.1585 left_z=0.0071 left_yaw=0.0075 left_pitch=-0.208 left_roll=0.0584 left_gripper=0.9993 right_x=0.2937 right_y=-0.0032 right_z=0.1761 right_yaw=0.0951 right_pitch=-0.4248 right_roll=-0.202 right_gripper=0.9983\nstate[joint_eff]: [-0.2667, -7.0632, 5.1214, 1.5458, -0.3639, -0.0073, -0.0122, -0.1846, -3.5077, 6.5709, 1.37, -0.0073, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7071, 1.6711, 0.5941, 0.1379, -0.5076, -0.5247, 0.5354, 0.0166, 1.1221, 1.0027, -0.8581, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3227 left_y=-0.158 left_z=0.0064 left_yaw=0.0078 left_pitch=-0.2118 left_roll=0.0607 left_gripper=0.5354 right_x=0.2937 right_y=-0.0032 right_z=0.1761 right_yaw=0.0951 right_pitch=-0.4248 right_roll=-0.202 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -6.4479, 4.9436, 1.3797, -0.3101, -0.0269, 1.0232, -0.1846, -3.2615, 6.7214, 1.2918, 0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ab8d634d6ac47f65dcf6a28ffc28d4fdc588862d0574160e9c0357f8560a22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf0c8842560e7f3daeaff2387c81aaffe1b70a4f1a9df4911c77e94682b4d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726721b40d91629715ee995504b91e3e617146697e4e17043f717bde0308a435",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDRAI5QMRqe5dwpuSK1vCrsbWgl1X1r8aGEcjMtmthw6pyt-hN5OKCi8B4l24Qj5wGE1PhKME0JabRhYx79AgI3naU3zdvlHGUnPWwtMV7pOo9M6odppdUFAgwahcPcnWVTGXTzO_Enwx8bGD6Fasfc2Y9zSQokYakMsnmUTDIBxa5olG-lrSLwRT47pmidEIJw7nlCtxCcvfkYUxDuWYvQZeFAFt7nb2-15UxkQ2TxXOgGYYlTXTVIPKbvPVFSBkc-nSfqfFDbkHmG-Blyk5AziSWuPPB4EZpvAI6SMrzgbiLuhqkZDjDmJbqnjzdU5wBNP3dJV-7m1NbJyXciQ-Dr3nq4iOHXbYJ-eHSps0mHyzvByApAbaEeTZUyxoGffVqS_TAkzD_CX79PBAAUMepE9euJt20wpNkGq9KbdkzUgRltjKcrxEUCe5TplmICJxAGH1PslPhIqqV48uuDLTGphzTlB_-IhCmSYMFN45yl7FJKQx10n8V9laPNWKve1tONeGqeX8JyVx5NGpA08y1wXkzlTZWDGImKV-AW1nPx4AoD22nagfXxgUkGBOWZQbpX_9iUetposlofvU-DpkflFmvlreXXcG5tf6NyPv4EIFt3yfO3xKxQcM_PKtViCeixwlzlNfbdJW6uOcNhPSmziVe3HzHmgPZ3tAURzByDEcaGPH0e6F8xhQYQv4ZMNfFb8kHHtjoEACtcYBsZBvmw6qRf0-sdgScvHeYoslNtIzEiGhwrdM4_UYb-fVGXPyMSBY5G-hC_5nmIA_9W4SNbF_vwt5YR0CEuoZvHCah4X3Wc2_toHHF5OS1bEm0GoX8SpTQaJihuqJc9XgCfSR4xk281UHdZWB5_Fyi8AL0Bg9O4CaESEmLK660Ftue_b2VGjGB-F1m_AgBiuDeLs-hwSINb_uNN0wSLGqC0FE7PrxYAMSF7k5oWiFKHmfgyyGdwmomea0fJdoGTy__ZxUSHdeLz-XU0vvD3tgTVxhJ-iahI7wfV08sp0UiazF30j0E5UL1itNLYysCwG_dAz9FdFhn-bzSN9Eoxp-rBkesM1p3ZjOGm-rZKf1gSMNn1kg5oLUQt7b5JTpAb7qr2zibEc2bEVjV7fMGT6_tSk_4z80T2DevKUdw9QjAT1ZWA1zCwDWbx3ckDxlq2giWNUx80zz6E_iwdtlMVJnacoVZpNk4Hh05umP79osgvR10Y6DuJ3mdtfkTE0-mMm0qbNmDUfMszqnFFRbyPahEewI84CuEhY1WEzpc-Muu7TGuwRomYD",
  "id": "rs_031dcf041c9993fd016ab4343f985887d0a7934b83c63a9fcc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105,\"left_gripper\":0},\"note\":\"The left jaws remain several centimetres apart against the dark fruit, indicating contact. I’ll lift it to confirm that it leaves the table before moving to the blue bowl.\"}",
  "call_id": "call_WtPxj0rZWW7wzGZKRqXWMySv",
  "id": "fc_031dcf041c9993fd016ab4343fe59c87d0821c1af3c6eb8c88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WtPxj0rZWW7wzGZKRqXWMySv",
  "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]: [-0.7071, 1.4368, 0.7929, -0.3218, -0.5041, -0.532, 0.5323, 0.0166, 1.1255, 1.0027, -0.8654, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3197 left_y=-0.1562 left_z=0.0898 left_yaw=0.0134 left_pitch=-0.2336 left_roll=0.0713 left_gripper=0.5323 right_x=0.2924 right_y=-0.0032 right_z=0.1742 right_yaw=0.0955 right_pitch=-0.4354 right_roll=-0.2011 right_gripper=0.9983\nstate[joint_eff]: [-0.1299, -7.0496, 8.4581, 1.1697, -0.2955, 0.0317, 1.033, -0.0479, -3.2479, 6.5573, 1.3504, 0.0464, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57142f0a45928207c117847e7b27c38817cededfa26e90314b43b20e03dda78e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e54bc6920b259c7d942afad400073e65189fe5733e34c0dfadcc3f1992c8adc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861eff43be5f3d23bd8f949c2afd60febd66a42f98dfad8d4edb3f2a9e491ecf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 5.821 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.709, 1.5654, 0.6479, 0.0196, -0.5152, -0.5209, 0.9993, 0.0166, 1.1183, 1.0027, -0.8474, 0.0662, -0.2363, 0.9983]\nstate[eef_state]: left_x=0.3282 left_y=-0.1621 left_z=0.0431 left_yaw=0.004 left_pitch=-0.1768 left_roll=0.0407 left_gripper=0.9993 right_x=0.2956 right_y=-0.0032 right_z=0.1787 right_yaw=0.0944 right_pitch=-0.4103 right_roll=-0.2031 right_gripper=0.9983\nstate[joint_eff]: [0.1709, -6.612, 5.5726, 1.5653, -0.2027, 0.1148, -0.0122, 0.0068, -3.3026, 6.7761, 1.3211, 0.0708, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7071, 1.6711, 0.5941, 0.1379, -0.5076, -0.5247, 0.5354, 0.0166, 1.1221, 1.0027, -0.8581, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3227 left_y=-0.158 left_z=0.0064 left_yaw=0.0078 left_pitch=-0.2118 left_roll=0.0607 left_gripper=0.5354 right_x=0.2937 right_y=-0.0032 right_z=0.1761 right_yaw=0.0951 right_pitch=-0.4248 right_roll=-0.202 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -6.4479, 4.9436, 1.3797, -0.3101, -0.0269, 1.0232, -0.1846, -3.2615, 6.7214, 1.2918, 0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7071, 1.4368, 0.7929, -0.3218, -0.5041, -0.532, 0.5323, 0.0166, 1.1255, 1.0027, -0.8654, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3197 left_y=-0.1562 left_z=0.0898 left_yaw=0.0134 left_pitch=-0.2336 left_roll=0.0713 left_gripper=0.5323 right_x=0.2924 right_y=-0.0032 right_z=0.1742 right_yaw=0.0955 right_pitch=-0.4354 right_roll=-0.2011 right_gripper=0.9983\nstate[joint_eff]: [-0.1299, -7.0496, 8.4581, 1.1697, -0.2955, 0.0317, 1.033, -0.0479, -3.2479, 6.5573, 1.3504, 0.0464, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57142f0a45928207c117847e7b27c38817cededfa26e90314b43b20e03dda78e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e54bc6920b259c7d942afad400073e65189fe5733e34c0dfadcc3f1992c8adc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861eff43be5f3d23bd8f949c2afd60febd66a42f98dfad8d4edb3f2a9e491ecf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDRFJzM56n4Np1aHmc_MwwaDsVmi1DpWpbIt-9rir8pPK64CFq25H0ot-zn27X5Kvirk1oIQj7Cy-ui7TDbVPm1SICuCdMGHKQ6FrDsfKSxeVozFStT7pEF8JSzJwCyZgiAhKY29BiibInRz6AUfcdg6uyGsXtgRn82bsFooxqJeaqaKb7qFAaxIwgc31vEz449v_qBFa7jhCOdAgiMBMxiG3YP-rPONw7CGiWhVRDM1Kb2WIoYR-TqGVJDzZvXe8l5u3kTv-ZRFwzmeW1XuxAW5YasTbjSI_eiOwW3hq30I_t0SNtzA5ch-aATGNnyHLyKTZpHig6CIAmLgo59I23Xs6qHJirY0kA7xzDC4vkmei5qAX1CO128p1dVsEgLQUF1fQ3TRieItGD7pd4nPMTvX9UqD7MCFXeAaJsOrgdhWr5992aHpQ7KMzvNua2Qi9GC_AorSt0fGokJCwlm7FSmuTRssvzUqhwSy5pOxYQ3hRrxJasnHwKzpigyaheY2liWdZEYqfsckw4ZskJJh4KwQ3eLJE7Sd-gDJ1-Nz0dMSZ6CynajpSTMm1lJLXD6KfVbJAt9SLPrW0m0PF6GNUHnKNOySSqGekXxH2gVpqSGBEv3wWC4IBaHLhpUY5NLQLD_QlqieaNkaXVx8kYwiXZIEvd42zLSQAI56SfAuCwhVV-laRBIJ9qqR_JcvJldaKtcqa9KzOvGTbS5BU9ahQk4Jl21_Q3dAAQhJFtG7Mj2Up7YAbLVzWmc7TTBL5cSlD-CH683TCVD5RSiySbIAAclxkPu8GqpS4O5A6afyDd8UDJOKROdTgHMhc5qORzkIRoqipmMUVQOCU3Ta120nLrQ8ZVEOD8p8Du0J7NZCV4x77oOhte-gWqpD4vO0B9orxWdMvcHHKhMUcV7m7c0zgm4Ns3lFL_2yekk1Exbp3bsRgXHAUe_qePJAgPmWR5grKT2_VC7sdAcyb0e3XnP4cefh5H5zwHYSaW9-xd1vsZDLUNd10pbUux4T6uFMzg1_e_ZNG2nzmR2EtVRSo7yB-euJHSI4VmxVqKEv__4LSXxtBM6jgiIdHyTwTWx1V6Xc9ppEhoI0rQdjPiOSP88Ed2EOQfZrEhxF8uRU3JEFijpE3djGOwe2j3weIb7H8BWAnfQ_nXWBOthHgnnUUKsyWqQM50qFHL-vh0Ucqro1yBkNxMISx__fMXKUcIE0vgXrMxyMBefuodVY0Rddk8ow9SAT2aDhQ8MxUej5AuShx8GHt5b8Dj3oTZNs6Blz4A3vnf36uQam81WLiODQk61-msbkoqFQoP82CNM1URyGgE27pXtQ1tGXO3WWkNiOgO4aTF3v7N9BfKtHp0ekulioWioqwfW1Z2HEKJUqlSxNkNS-LVHTchj7RvgNIVGyBtx6e1fOJR83lrac-LjliJvP8KGKD7VHBiLsGRi0WMFNKXidvQXh7I15bJ7lslbM81Kw8q0f7zX8RYIfaXxdRNR7NS4kFN1MULXv6Ubn8JOLHGH79eLCWpcjsZh6O20KBf5PjOgpcGgi1exkAKE_7eiPohQOpsM8_Ine5l__Y_I2YUGWaRXu8nYyaKixzB6b9r1eglZN7ka8NQ2giGiSmrx6vJP4Mn-1XBUGUrlf3X8s5bsuM1HGWZGSIT2NHacTBo4TcLR3c-wdgJ8J_fYoBF1gLThrQrsum-Y1dSYWpc0M-uxiVPcH_MpJVRi_seJNJtp75v-aIGr4tr-MF_oZ1qx6I-hwPgRTq9VMPax9N3CxA3bxdH0k0YlKHZ5clKOBR58LhfQkMQUbzeCe_VAe298zfNxpT9Yl_NeisOkm95z5f0gO9zQphiKm5AEY54aHaIcMzEeoKqKgrdJG5httXqLXHevzOQ==",
  "id": "rs_031dcf041c9993fd016ab43442e97087d0b9f9f6bb4a61fc7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.375,\"left_z\":0.185,\"left_gripper\":0},\"note\":\"The dark fruit left the tabletop with the left gripper, so the grasp is secure. I’ll carry it high across the table toward the blue bowl, while the right arm stays parked.\"}",
  "call_id": "call_SaJXtFkApJ7OXyfspPcUqVJI",
  "id": "fc_031dcf041c9993fd016ab434443f3487d0a55658d148f680f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SaJXtFkApJ7OXyfspPcUqVJI",
  "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]: [-0.9497, 2.2753, 2.236, -1.0542, -0.6071, -0.7933, 0.5309, 0.0166, 1.1255, 1.0027, -0.8661, 0.0662, -0.2371, 0.9983]\nstate[eef_state]: left_x=0.3973 left_y=-0.3759 left_z=0.1725 left_yaw=0.0074 left_pitch=-0.2462 left_roll=0.0448 left_gripper=0.5309 right_x=0.2923 right_y=-0.0032 right_z=0.1741 right_yaw=0.0958 right_pitch=-0.4362 right_roll=-0.2013 right_gripper=0.9983\nstate[joint_eff]: [-0.9504, -13.8188, 7.8701, 0.5201, -0.6422, 0.0708, 1.033, -0.3624, -3.0564, 6.7077, 1.2625, 0.0269, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d89447783a33c05b5cdc2a08c80e6d58f038afdaf04780a07a7b05e5dc537cff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bdbb993c0832fa1af02f96d4a312bf273c504116aa1ae38f88f7fc8f69d283a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603afccbde3f671fc4ad134ca103294a8936f1d2d2ef4ad431610507bca2ff3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 5.122 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7071, 1.6711, 0.5941, 0.1425, -0.5083, -0.5243, 0.9993, 0.0166, 1.1221, 1.0027, -0.8581, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3233 left_y=-0.1585 left_z=0.0071 left_yaw=0.0075 left_pitch=-0.208 left_roll=0.0584 left_gripper=0.9993 right_x=0.2937 right_y=-0.0032 right_z=0.1761 right_yaw=0.0951 right_pitch=-0.4248 right_roll=-0.202 right_gripper=0.9983\nstate[joint_eff]: [-0.2667, -7.0632, 5.1214, 1.5458, -0.3639, -0.0073, -0.0122, -0.1846, -3.5077, 6.5709, 1.37, -0.0073, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7071, 1.4368, 0.7929, -0.3218, -0.5041, -0.532, 0.5323, 0.0166, 1.1255, 1.0027, -0.8654, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3197 left_y=-0.1562 left_z=0.0898 left_yaw=0.0134 left_pitch=-0.2336 left_roll=0.0713 left_gripper=0.5323 right_x=0.2924 right_y=-0.0032 right_z=0.1742 right_yaw=0.0955 right_pitch=-0.4354 right_roll=-0.2011 right_gripper=0.9983\nstate[joint_eff]: [-0.1299, -7.0496, 8.4581, 1.1697, -0.2955, 0.0317, 1.033, -0.0479, -3.2479, 6.5573, 1.3504, 0.0464, -0.0757, -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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9497, 2.2753, 2.236, -1.0542, -0.6071, -0.7933, 0.5309, 0.0166, 1.1255, 1.0027, -0.8661, 0.0662, -0.2371, 0.9983]\nstate[eef_state]: left_x=0.3973 left_y=-0.3759 left_z=0.1725 left_yaw=0.0074 left_pitch=-0.2462 left_roll=0.0448 left_gripper=0.5309 right_x=0.2923 right_y=-0.0032 right_z=0.1741 right_yaw=0.0958 right_pitch=-0.4362 right_roll=-0.2013 right_gripper=0.9983\nstate[joint_eff]: [-0.9504, -13.8188, 7.8701, 0.5201, -0.6422, 0.0708, 1.033, -0.3624, -3.0564, 6.7077, 1.2625, 0.0269, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d89447783a33c05b5cdc2a08c80e6d58f038afdaf04780a07a7b05e5dc537cff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bdbb993c0832fa1af02f96d4a312bf273c504116aa1ae38f88f7fc8f69d283a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603afccbde3f671fc4ad134ca103294a8936f1d2d2ef4ad431610507bca2ff3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDRRDZwXy5b831OtstXq9hxNiv4ftdHuvHyz_os-2hC32KUyojX6H-lVPHjHgogzoF8tOHHMB6f8tsM2ZDcBkby7aSf9LpEmGIEH8P4MSCV0lttW5fUS9ta7WSe3bFJ15J9Qgc3UDpVZ11cFk_39uSIYyoi3IVJ0SHYnHx9dylbTPBLKqtBrBZbB8MOkVNDTgU8V_PhV_O0u9czcXNY2KqMjZ6Azf-9sJTqo4eQewnzgD4X1PjwN0ukHnNEso31J2Ypv-mg7Tz_IJwOw1ebijXYsFw5rRcop9sOsv3DUwaEL0CNupaCGxm2qcExg5T67QtZ5ImzQCiMX3imkYCwXTo9PS5gr6tDUTr4DkeYfKt-KykB4k4f-XfvA9ZKUv1OGumBn8lt4qQ6k9_sgwE1gOU6BlS3yxtLikQOwYSSzpiIv1_M4sBPCGdHIsW8eHDc1ZEbgv3EcQvu7p9QYq090rMxJgcaOkSRP_IJfontkYVts6TLvBJczq-EbTtDls9GBffCBvsLjuDZq5e9SIqlPqbHxeB_dxzv0CYZ6EsU9MrUJDSlK7Vvwz48sN6ChnvNvLykStiivE4GRBNzd90QaE1n4Hu7eJq5LVuij_DHA0ex1J-IQMikxJxZU5zMZXg-tFtt3L7R-3H_GOvyoxD4aYkzWdLOA2rPNEiyvJXKNPoS8Jh4b0DQ81-m5aIn-q-UZ7I3MVlf7tEqaLWW8H9ePqm5f5siuWWMqaF6_db239HhE97svlAtfI7R0dwQdtt3XA5nq82WHCoI15OMesHqoqK6SPVBe3SDd7VKs_7Gcps10CXIrNVjbOT3aoIg9kpCoYknXSf5Z-iy5ANyhX-3laQmIOpV63h02vtJwBFwFx56qtBfSYGZkJit56sNnI9pYAYG4-O5xb7s31-UCFoCZUtlt0aKaCHkm2hcOAFP0TT2BerxEzmnnbPQH3m1TNPE9vaRYl_IJXOcLXJANesPZpeLHXcWRz_kiauM85SAmP9wNU2vj8GHuouaiy7NLh9sKlnZG53LU_rEfj1adB-0v7HMWiJCt_gQ5FMHRQQO9nJC3bP7kKhcbQrRO53onlhGDcosYqSGOScuZjEnsidjRYnKE99cRDXtecdeElnKL_IJCJB1oxdd2zDHgeZpfBiwP_tlUBcscaSqxt_XUTK7lCBor_KZvcQC8k6dqGjTPLnsMAQPrPJUfvu0a-2m9EA8AP9hYa_z0d-ZHeyfwDO9zLf3w8LjKxrkHrBou-FsYEa2bRUPWE5kn4YbanxpgSx8ziyEufVaRSyNoEAS-Pn6W2R1nFSfGoXSrtFVhCsVbdvZOqpJ2rB-if0EoAl68ZQdCB0fTm2QYknuq9lgNqUsDyPkBbWVjx8Imba4tD0lVQFHKEuY5anDFt6QuCFHDLWddLIPB27OrJDuVItCWwrKq0oLMQyV1h0JQfz988oKIRQ4EuMBIo54_9Ofsp6rFs0W7PDKBQEyUosLPjR7O4AVdrDBw3ym4QKQgXT_rZ2htHExpUj736QlxMgqdSuYdTo0bEPK157b3WcBY44pU_GZE98BfRIjzA0uAGbCIgoJUsqpFnLZkF14mtBKo9gmjIn682NeGhwVwUEd0eGvyvRtO77Eo9N41zHSW8PDKM9_2v9tP8rxJwmPpho1ZeZOrWMaNlCTRsxpraJJDnv7NtJXzKgH3Rw3VhAEp6PO-17kc9vcnx68vE1-sGZemMJSvEUi8rRf3r956E25JOX3qoiDume80zTe4nVp2DOlFDqaxe0F66UqUnEk-OYAKDD1L_EJqCSdkFp8zq40KVHNBBSvOHaFljcnYSR79NRGdPGnDhMc129wXuvBF9ERpN6FPC3iwZIztuHpahUl_ibMk9S9YJM8fz_26LOeLP132XU0MmujYtp6MIzw73ug7aaZEzAYgkUtEyZL1LdpJpkKRwmfy0n4n33qjamNZ4di_anNDCzPfOiVJpoHGwdiCNuVee9GTDvlMtkSXpOCCPzVNgEfhULZV5zrOGC2yx7xxYqx8OfvalVV5SHqyQmf_kQ4wb7Io8r06xzlVyR6E-U9UIddgXRlMK-REJBL3LUTgvrSE8xIh8_47mamxXy05ZNGpV-maAG_tFPTCfvFCrD5C-bzY4H94tyqlKg1X80V46uSCvNoY5mfKV0oe9J-m9hoPTU-kuM9JZvz6Fp0Bt5uazxhH6rk6o4eM8mPxsz6-2CkP1CVpTYefekvMXDM-LhomJFJz11e54fNHtVdSkBM9ZYLihr3AkB1xWQN_B8QfCVwLjKSW3scj3ofS78Ps8xJp62nJ1JP3T5THuI26cwyhUraC5duSDS4ugRKqoJFIl416-aWf059pwor3UWVf5616jkgxBBuL2u0uhCQTMb8ZxjReqtsKZq0VIEhaIoVGK03KwPkLoeXVa8_dngBWdSaNJ8CcJ_kBolCgUX77-4ZDd0t0rn4BJ4PkhZ3bZ4L3crF9Dw-NiR3SGf3MDiVSYk85nEAHxKYoCg7fJtDpiIVWCvrEIvV-5YP2yFHlUMjV3HaQkP0ZA71HEkq8uMIixxQQA_24JLLSi57tdpcXPwsDdAo0DOptnLYociq2GjWPY59bNFbmywXhBGxIyZNzbbTOmUm2g3NdIU3hb4rGcRk6q0BCl_m0Vk9XDSJr_djQjxAbaeMf8SRzfIDe2zvYZzNEGEGsOwxYgAnm6fyPvDvV0VgoItYP1h4nzJ8cCpREHACay-xPk5dEBEDUINgYFhtxssu4EwRm1FNP6QE9A94-rDsKA0rduA-jDicyRTZTbSXYyE6TwD5cHL_x3njoV4iyDQ_WiCzKeVXiKcl21JtoZPuJjn_LonwYOjxkGuaedHnPtj0K9hfJ6ROowy4TmiLLs8ruun7RGPl6gY_iebtjfmv6wppB8r10JirMhOXpjKtK-l29d9b60LDwSRmK6SBaSFmGM5LE7womTaTqVxj-_rwMaTUy7PtDN7aOmYV8eYbH87yCJ-4DWogrAaqH8KDZq8jVGXv3NElGd8qh8sQlP32DFwKXz4oXUDLENh0ZqBlfzy5uO42FNqSBJl_QN9h6fv8E6BVZVlxsnTnNFqLI0pM_uJOgGqCb1vwigaC03Dl9z2OBfN6NLb8nFlgEzEJEhybJXBQRJZs1GofCbTfC-PUF7q0qhfOUGTPfUAdkQZHGYtn8Wzha22P_HPZ12JyYQoQzBT_9BLRB1ixqVL3k8DRXxi4sgkR-biNzAev0fyUAtlxg-yZp103M9_bN4hw9jYvkMsS3sM0njO9vbtqZ3jy6YNExSnCEzNLn9I_n0jDVCiTVzl_rcHJbrKPD_tgE0VkKYYfmWzRGBMPlJXfGzTofcfBVorYVywhqFRiHX14DV97aXcoCXAOiZ5Ns7saoWGITWDrqrta7LdaIn1oGxJRuICZq_snY1y-8L2PDp16lT9J5itiojWBCE2XfV1SqFEWvsJkuhVREHR_YA2WH1CghfRgeM7gS-WD7VuaIMqzyJTABrtnQGRm_yLCHyT4jxcW2rFnA",
  "id": "rs_031dcf041c9993fd016ab4344d271487d0865f3366b42c79cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.398,\"left_z\":0.085},\"note\":\"The dark fruit is over the near-left portion of the blue bowl, which already contains the other two fruits. I’ll shift slightly toward the bowl’s center and lower it carefully above the rim.\"}",
  "call_id": "call_Y8ReQyycqX5VRexydxJ9QQmS",
  "id": "fc_031dcf041c9993fd016ab43450ed6887d0af8826efa3f6cab5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y8ReQyycqX5VRexydxJ9QQmS",
  "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]: [-0.9642, 2.339, 2.0346, -0.8452, -0.6067, -0.8131, 0.5309, 0.0166, 1.1313, 1.0027, -0.8803, 0.0658, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3953 left_y=-0.3867 left_z=0.0894 left_yaw=0.0162 left_pitch=-0.2776 left_roll=0.0787 left_gripper=0.5309 right_x=0.2897 right_y=-0.0032 right_z=0.1707 right_yaw=0.0967 right_pitch=-0.4559 right_roll=-0.199 right_gripper=0.9983\nstate[joint_eff]: [-1.0188, -12.506, 6.1744, 1.1697, -0.4615, -0.0952, 1.0281, -0.0752, -3.7265, 6.5709, 1.4188, -0.0024, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf6d10d735bb47d59c2ba8a599d93101885f0d87e297847e5c7c98da89dc91c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c4adc63360cedf92d6128635a308e92f570fd740214604a1c724a6ce1c1ba6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b1ee81e32f9ad78e4ac1acc59511cc3607634754ff290f0c76094861d28cab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.421 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7071, 1.6711, 0.5941, 0.1379, -0.5076, -0.5247, 0.5354, 0.0166, 1.1221, 1.0027, -0.8581, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3227 left_y=-0.158 left_z=0.0064 left_yaw=0.0078 left_pitch=-0.2118 left_roll=0.0607 left_gripper=0.5354 right_x=0.2937 right_y=-0.0032 right_z=0.1761 right_yaw=0.0951 right_pitch=-0.4248 right_roll=-0.202 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -6.4479, 4.9436, 1.3797, -0.3101, -0.0269, 1.0232, -0.1846, -3.2615, 6.7214, 1.2918, 0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9497, 2.2753, 2.236, -1.0542, -0.6071, -0.7933, 0.5309, 0.0166, 1.1255, 1.0027, -0.8661, 0.0662, -0.2371, 0.9983]\nstate[eef_state]: left_x=0.3973 left_y=-0.3759 left_z=0.1725 left_yaw=0.0074 left_pitch=-0.2462 left_roll=0.0448 left_gripper=0.5309 right_x=0.2923 right_y=-0.0032 right_z=0.1741 right_yaw=0.0958 right_pitch=-0.4362 right_roll=-0.2013 right_gripper=0.9983\nstate[joint_eff]: [-0.9504, -13.8188, 7.8701, 0.5201, -0.6422, 0.0708, 1.033, -0.3624, -3.0564, 6.7077, 1.2625, 0.0269, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9642, 2.339, 2.0346, -0.8452, -0.6067, -0.8131, 0.5309, 0.0166, 1.1313, 1.0027, -0.8803, 0.0658, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3953 left_y=-0.3867 left_z=0.0894 left_yaw=0.0162 left_pitch=-0.2776 left_roll=0.0787 left_gripper=0.5309 right_x=0.2897 right_y=-0.0032 right_z=0.1707 right_yaw=0.0967 right_pitch=-0.4559 right_roll=-0.199 right_gripper=0.9983\nstate[joint_eff]: [-1.0188, -12.506, 6.1744, 1.1697, -0.4615, -0.0952, 1.0281, -0.0752, -3.7265, 6.5709, 1.4188, -0.0024, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf6d10d735bb47d59c2ba8a599d93101885f0d87e297847e5c7c98da89dc91c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c4adc63360cedf92d6128635a308e92f570fd740214604a1c724a6ce1c1ba6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b1ee81e32f9ad78e4ac1acc59511cc3607634754ff290f0c76094861d28cab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDRX1QB40qHt2LNPLOehCG-GFRwBkVstaH4vAftjCu9rA0a6k9d9EJn5oZGl7ZFWSEGt9KDfB5UX10bEnKw3VlhwluQlMDmu2etdWNL9xfVkZEykCwOxS36ig4URfVOroxhFm3D05TMjPdQr97jGlR1kqujTcmgt8GapYxPj4PWlLhqPlI8GhZ-GMF-WAfd98sY-vXW-oq4cIPot-8blG7UPXYCnTKJ0CRex5wMebJ35xCzuFnK88wHaVRLD2HXMbZeqH9WNezyCCPh1u_-gpCrlI1LEFjKJ7yYgMXDjslfM-YoF-YCeQW9pEkZIeevH_p0Jj6WuRnTJ_wAO87-NJ1CYy_tvYPtoioAsnbpEgz8WZ1x2iqwDYwyVVToGYz3eOkM7aLf7ZOEvEckGiDQEbXRFl-QsNcKU4iI4MA_6QDJHUf3VoriELwHr6nqFUBcglWfl3GO5NrgADuzDfCszglbK6uHVWFPzYJ8ZAh17D9zmIB5RpZXy8XLcKGbh2tRooafZrgp3qQ-WVjA0mGm2uDZ_yEfZ8OYU4XJNCNLBlJyTVouym4siMb26z6orMNgarOyvHGMpU-9E6UXZreKrIWjn19HI6SjLsQfthJvCa2jvyziyscgiDmml905qMN5jvw--QiwVUSV6F-ny5_K5M07JAyNHfXEfAXlEdjgoOvOraMn9gyLqxxVLJOl075IAHoLJozXVafrISeB_TNfNCcUctI7XALq4Pf_aQ0ow-VlNWHLcMcFR7eHTOy5__Y_RBQTInMOKFMOcjimbJ1xLN3NWLtNax1iB4xOHXbuoDuuJvEwDisT11iAcPbxD1AKkiukzrl_OhkDd5ZYB_pjXBBvD1eyXgeDmxjyogSY3tcYhyIin2DuQ3zJA26eEp-9Zl9vCVySMSbYDYennEWiN1hWbw-pU9s7BSjns9je2ZjGl-bm2uRavynoufLUdZH6s940Zk9QON4q9SFQDwdqOITZeHiSxg7Y9GoH8Q9Z4wfzVs3UClKF4NT7H_qkXotyZcL7BOpsLJQeiJophOXdSVa-xShMLX78mhn1ZMkylT8KUmP_OTP5wFsE3ZkK1Yzqt86CsP9IUmFvhujcKVVMW4oTdR6DocU-R6AtIvDTFbZBstzbK2r1vD7eyZAJVa4kp3TIbflNyHz-b_03eW-zPGKBcO9r7u3nf_LleMeTfZc30a65Eay7dCxbDi5FEjHX9WJSOHgYNGOC2MpQTFK_vaXde3BlUn_Xd-RFjurnVN_U51Zro-3_Ml6a1xUNEXLgnVynkeqm5fmq3SZ_rLq1KCkHrCFzWZlPN_2D_LPgz_Me9XCQBJXkEA_ikC6rEJWplESfSakpxUE-p4NGHjplOPnUlQCAOdQQ64CPuD7TXR22fdNqPy2ZvhcqM1S9qRlz9YxJ0fqhdcGEOe-0AgssHGeNrt4VQ6-4e719MJuRmX2W6BcmEN50jYfM6msf2X_wfFQ6BPNz62HOiif6RW7A2g0By1WZXSHF2JhRPZKKZj0mikYmlOXTMRrSYeQN56CFa37zxXW3fS6ygt-RSRrD3k7ghWm1EsbdDLqsDVaRSMJNP-1wR3IVhiIa0l7KLQeRTOUYPc6d-k4MJP-YJ9knCpshGfoD2LkB3vl07PjE-DfRMGTAjpZhUjSxMliaKmFUJcoYInI6vghlc1Hc_JxK_RVTojGp4n2F46CRmxjAHbvnVc_jsYM6L5BaL_H7hFNBuv6A9ZesqcMtK-5Q3fBN0wuh0XqyNkssa5nO9Z1XFP1gHYsW7gL0PI7a8hyshxNS6YgorkRXXOe4vtE_VThdyq_iWHoYLiTjRCdFQiZeTQucFhDYsLuwaomydC4Fuz6f9h3XJld0UESj5M__UU-7zKUDemA7-qQCuuReoKCxu53prJAMwioNRpdIUVfLtSbC6ZvP1wnv11C9OPzN_qhQ7woNWIl2AbI6zWebIqA6xpQRfZTofJ3kW5sx3wZrWbk-Noe_Ws_UbhgiWL6QLCfMrFrqEhrfMYO1gTiF8o9kszmIusTuxYtGpvNjGAWMPeUq2Kxmg7uPrULW5DD0ZYisrCADrr-5ccsm_vNgQiLkrrSriLTdUSXeJaGYxXEZWCVlwSs4o8GR4EQfm0TbZPslGIKl5wpdaYuAPj_HyOraBA7srfQf42A7mhCIh9TOlhQ-P-qVjfTfRQZ0uJpgQ7y0AHjGmLM3YJp5IMRJs7PPqYnerCXMn3uuslgONWf6MENvif8A2qq-JUEQ7R9-X0bA4t6LbFo5WxHfLa6HT30BkjEATg1XR3eZqQJqkPd5rt3APKT6_QfTLOHXaz5h4qzJEYSL5Jjs5USYWWLj2oLKgBclaQXHzljmogIKFWsuuE-jvPGEEWVmdxeDsJJAwbNHneF6E237Vi2elM9j5_XFLWpqkdRGi-vf7XibuNOLZuRWl6KCdgc7fQs8p2e63-AtQ773mokg33TpJtrVjLLBQFx7OWh2HYIEzX_iQPP3VCRbdL8oVnLXI_vE5bxjnKjv_hIvmRdS_N4ejXJgnok8rgB9QY20Q1GSAQpADdf9dfG0Bwv0wWQLblVoemR0nY18w5Npfj0zQX-60MTSqGVYaWlFYvf_s3r6lPziKuFTccFVyshCzDUY5GCbhdH7FpGS4MVaFyzL1ErRwpEaHEqHtB3-AO6ifo783C_hjplaLvGnufhxSNlrFAqTRA-Vkh6KpCFI_5IDRY8D5wa5uOw3mhX3ZFK0MgFStc69nrKOcNb5QfZWNPb0Xc7OEQYcVJ0ZB7wnmYFsxwMcFrxdfVs56Gcie4bD7IYLGC-cXf_fG79LrjDYgcKQksU4FlmOVPSCi2pOUYdix0X2Pbye2lnjy8x4XsZ8hB2LNLhReovd0KjFYULPZPf-ZOApaD87YXyviCNARihWhp77OXfKUTNm-f049r00V54SEeDUxBB5xiQe86QkNofmYhbtQTJ-oLRM0rDemliFFImRIv1f33GwoLzTbVy0rtPkvyb9YITj2t6yT2i5ixfjIX68xXI4oAbXgHrA_IoZJj9JD3dh-6Nl4n50IHTe3n2_c0l34FIQ9kHRTPImnOAGWBqEKHaQACU-25TcuNxzqgr9-bjQeQzOTW_vqqDs=",
  "id": "rs_031dcf041c9993fd016ab434533b0887d08a37b86af5122c85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.4,\"left_z\":0.051},\"note\":\"The dark fruit is at the left side of the bowl opening, close to its inner edge. I’ll move as far inward as the left arm allows and lower it just above the fruit already in the bowl.\"}",
  "call_id": "call_LE4t8MrL4wMoSRsGtaIsaNIc",
  "id": "fc_031dcf041c9993fd016ab4345657f887d083d765d13fbf35db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LE4t8MrL4wMoSRsGtaIsaNIc",
  "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]: [-0.9703, 2.3848, 2.0243, -0.7891, -0.6106, -0.8211, 0.5309, 0.0166, 1.1313, 1.0023, -0.8841, 0.0658, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3974 left_y=-0.3946 left_z=0.0671 left_yaw=0.0167 left_pitch=-0.2744 left_roll=0.0752 left_gripper=0.5309 right_x=0.2888 right_y=-0.0032 right_z=0.17 right_yaw=0.0968 right_pitch=-0.4601 right_roll=-0.1986 right_gripper=0.9983\nstate[joint_eff]: [-0.8957, -11.2342, 5.9556, 1.1258, -0.3297, -0.1392, 1.0183, -0.1299, -3.3162, 6.653, 1.2869, -0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2c05ebc88c3b691eb2fab55df82dfeb69918beee494fd9c878cf07448ca483",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a917d1cf891f814a2aac6d581df85228229ba165dc35d17918bfb660138a95a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4414191e6a2d751b6a7ff6388062f9fdd3d0fdd2678914b4328b5a91442c5a2e",
      "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 · 2.765 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7071, 1.4368, 0.7929, -0.3218, -0.5041, -0.532, 0.5323, 0.0166, 1.1255, 1.0027, -0.8654, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3197 left_y=-0.1562 left_z=0.0898 left_yaw=0.0134 left_pitch=-0.2336 left_roll=0.0713 left_gripper=0.5323 right_x=0.2924 right_y=-0.0032 right_z=0.1742 right_yaw=0.0955 right_pitch=-0.4354 right_roll=-0.2011 right_gripper=0.9983\nstate[joint_eff]: [-0.1299, -7.0496, 8.4581, 1.1697, -0.2955, 0.0317, 1.033, -0.0479, -3.2479, 6.5573, 1.3504, 0.0464, -0.0757, -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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9642, 2.339, 2.0346, -0.8452, -0.6067, -0.8131, 0.5309, 0.0166, 1.1313, 1.0027, -0.8803, 0.0658, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3953 left_y=-0.3867 left_z=0.0894 left_yaw=0.0162 left_pitch=-0.2776 left_roll=0.0787 left_gripper=0.5309 right_x=0.2897 right_y=-0.0032 right_z=0.1707 right_yaw=0.0967 right_pitch=-0.4559 right_roll=-0.199 right_gripper=0.9983\nstate[joint_eff]: [-1.0188, -12.506, 6.1744, 1.1697, -0.4615, -0.0952, 1.0281, -0.0752, -3.7265, 6.5709, 1.4188, -0.0024, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9703, 2.3848, 2.0243, -0.7891, -0.6106, -0.8211, 0.5309, 0.0166, 1.1313, 1.0023, -0.8841, 0.0658, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3974 left_y=-0.3946 left_z=0.0671 left_yaw=0.0167 left_pitch=-0.2744 left_roll=0.0752 left_gripper=0.5309 right_x=0.2888 right_y=-0.0032 right_z=0.17 right_yaw=0.0968 right_pitch=-0.4601 right_roll=-0.1986 right_gripper=0.9983\nstate[joint_eff]: [-0.8957, -11.2342, 5.9556, 1.1258, -0.3297, -0.1392, 1.0183, -0.1299, -3.3162, 6.653, 1.2869, -0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2c05ebc88c3b691eb2fab55df82dfeb69918beee494fd9c878cf07448ca483",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a917d1cf891f814a2aac6d581df85228229ba165dc35d17918bfb660138a95a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4414191e6a2d751b6a7ff6388062f9fdd3d0fdd2678914b4328b5a91442c5a2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDRZOCN-cif-9hoV5a7JPPXjrLXoFae-Bdp1KzCePIlN9ZXaotldhDOw8qLfKZMEepvrEojw6AV3F117SElwPOuEQMPr2BQCCPbnWx5IgrnpTWR-bz9LO41TLVw2qssk3x7ZqQJ8Itu6XK2u1nxX2lKpHoUAiQgg9mvmm44B7cJGb3b2qREPhmFAWwtXdOeEIqbTL3WAXoaP6Iq9Loh8uHh51fkGx9CAjuSY7cup93kB9-exrGLUOodu9DtVBM8NB-AepVzRZFwdXQZpDST339uLZnkvlRyequjlwr7vE8SNXwJmerOp1aauAUkeCQZ7195vtnO5-RuSz-JUEjc9Io82iIHlG_wL2C0le0MPN5E3tT9_KPMZdUSnFrUite6m7_u3tsKDV0v7Cd-XIsCY5VWAS88O_HsAcVkBCHwcM3AzZbK9CjhAbMR4Xl6y2ORxl6XW849YS7-jHckUyX7kRsg8fZ5HabqnZa_nfkLwd3YvZIy1ARnviopr7TEyQPzksV6ifCZoDLhgY2VhhcS5IhYF9UDyRMxbNI7kigHZPoHtBbPORvFfpEmMTThw_ofUaFuuopub1RI8LQFBLKY2Ttjm8zZ6mue7r9SssazNs-uw1pRUOePsdEqPI3Rvf4VX4LbNWz_x5CObMx_VtfhuHjuOIcWXdkQJb72KzvnPX9ovp4HeGwJsBPQ2TGmCSvUDrotyHS8ptpMcnlVYxFCOBtmaEdDOJLrij5Q4qlqAUYzLiZJkkD2BaUuHgb8F1thGLx6D7C5Av1rNnCLGxmLcuSNM7LWW4_pEkHvn21cmNW27T9iNGYABUjtz0oAxPU3NLKEoNTzCFeTIgDTwvk8qDeXwZE8jT4xrFPHF854hGCTxZ_bTyyY23LnunDjbdFBFaIm5c2gNASDnc2BoD_Gj6eqNDs0SIbLCE9gw4unm_1PnpXrDno8bflN8dBuZ9h4No-yIyU_FDLFjq_JbcYjpw65oQ0FGmTlAp8_dzRc8MZK_CNysS8nzr4Cn4XkqRT5aa6saL3zy0Com1DPVz6OYMkR0WjvliyOvJ7B8rPFz_9GzJbBX9ljDrkPjWRr6iy_rYWZfeAK1hix9AYc7FyBVURihwIUmIK837rgkBialEG5YBVhi5pPLQkm-G5TGZ0aIuCaojpbQDanDjfaWEaPf4PWs0EJfMXAdKvLi9nWYWCtJf7w5QCPg7LWYYsC3k85n2oqc2s6pRt89XBJDt0WU0C_uZ_78zH7xgj9zswXl-8SHHP6SIXBV-PA-NmUX8u2athlx-cFUEXGEp5cpkUand6AwBUW6mjQ9m9Fmj96x0jm6CcuhK38QMbxOj_YNfE22zq88ySw6MgkGCJiQTL9RMd5Cyw451rLpXaXh8YIKal-8fU2YmL7ASUA2ORXLaZWyEO4-Q1bPNtI6GlCpWDLGJ55fPsqu7c6Z9ZTKKyhG9OtDSrH2hi7fqQlFOUS-FN-FfW_-BXVFyt8N4f_JPCociQxOum4lPcDjLrHC4Vvv8Gmwacny3ogG53XAWvosjpArBFvEonI2YdYy6JveFgkb2rpdrw==",
  "id": "rs_031dcf041c9993fd016ab43458a06887d098ac72ea9e86f5a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.18,\"left_y\":-0.29},\"note\":\"The dark fruit is now inside the left edge of the blue bowl opening. I’ll release it and lift the gripper away to check whether all three fruits remain in the bowl.\"}",
  "call_id": "call_pJgnaMZw69azJ22y46ZH3nJS",
  "id": "fc_031dcf041c9993fd016ab434592eb887d0b9185c77e6f65f8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pJgnaMZw69azJ22y46ZH3nJS",
  "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]: [-0.9733, 2.4069, 2.0239, -0.7727, -0.6136, -0.8387, 0.9972, 0.0166, 1.1313, 1.0023, -0.8845, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3976 left_y=-0.3972 left_z=0.0569 left_yaw=0.0266 left_pitch=-0.2748 left_roll=0.07 left_gripper=0.9972 right_x=0.2887 right_y=-0.0033 right_z=0.17 right_yaw=0.0965 right_pitch=-0.4605 right_roll=-0.1989 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -13.1897, 6.1197, 1.0965, -0.3687, 0.0513, -0.1832, -0.0752, -3.2205, 6.6256, 1.2821, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fd57d897dd2af8da51af39c6ebcfccd7b1cb8036390de414989276aed6c5497",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a78a53217ea853fbf8bd881b87833ab2f35b9e8219349b7d8f5e26e0b2003ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708f1414528d6b888719e1761b72a95f29dbdc83bc29d9661726f9aa3e6a3017",
      "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 · 3.117 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9497, 2.2753, 2.236, -1.0542, -0.6071, -0.7933, 0.5309, 0.0166, 1.1255, 1.0027, -0.8661, 0.0662, -0.2371, 0.9983]\nstate[eef_state]: left_x=0.3973 left_y=-0.3759 left_z=0.1725 left_yaw=0.0074 left_pitch=-0.2462 left_roll=0.0448 left_gripper=0.5309 right_x=0.2923 right_y=-0.0032 right_z=0.1741 right_yaw=0.0958 right_pitch=-0.4362 right_roll=-0.2013 right_gripper=0.9983\nstate[joint_eff]: [-0.9504, -13.8188, 7.8701, 0.5201, -0.6422, 0.0708, 1.033, -0.3624, -3.0564, 6.7077, 1.2625, 0.0269, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9703, 2.3848, 2.0243, -0.7891, -0.6106, -0.8211, 0.5309, 0.0166, 1.1313, 1.0023, -0.8841, 0.0658, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3974 left_y=-0.3946 left_z=0.0671 left_yaw=0.0167 left_pitch=-0.2744 left_roll=0.0752 left_gripper=0.5309 right_x=0.2888 right_y=-0.0032 right_z=0.17 right_yaw=0.0968 right_pitch=-0.4601 right_roll=-0.1986 right_gripper=0.9983\nstate[joint_eff]: [-0.8957, -11.2342, 5.9556, 1.1258, -0.3297, -0.1392, 1.0183, -0.1299, -3.3162, 6.653, 1.2869, -0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9733, 2.4069, 2.0239, -0.7727, -0.6136, -0.8387, 0.9972, 0.0166, 1.1313, 1.0023, -0.8845, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3976 left_y=-0.3972 left_z=0.0569 left_yaw=0.0266 left_pitch=-0.2748 left_roll=0.07 left_gripper=0.9972 right_x=0.2887 right_y=-0.0033 right_z=0.17 right_yaw=0.0965 right_pitch=-0.4605 right_roll=-0.1989 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -13.1897, 6.1197, 1.0965, -0.3687, 0.0513, -0.1832, -0.0752, -3.2205, 6.6256, 1.2821, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fd57d897dd2af8da51af39c6ebcfccd7b1cb8036390de414989276aed6c5497",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a78a53217ea853fbf8bd881b87833ab2f35b9e8219349b7d8f5e26e0b2003ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708f1414528d6b888719e1761b72a95f29dbdc83bc29d9661726f9aa3e6a3017",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDRddkj-vEUN0acBvf1MTFr8pylHXAjD0WpAzOT0QC3-ZylhrHbV2dragn8xzP0duO6NX_d04I1rVbkApmpD1G1mPUYZcMMU7IvBT4o_aFmYsEcbSe3LfDzrJ8ttjHgiZQ6QORO3wwkB-ta-icDFs00yFUsbJ5wADUh3Mrd1yU64PorqYrCm3nRcQn-aJFGSGKmSSOZJBgKaVdI6b_hQx57iAu47kf694CB_u14sfg0GojN-LGpAu8edWwYWhfxVJFf6atCHY7ThmtkrDLNZm05QEqcsyDoqBvk9t8UNo7pVOLO0lPS5Cke9ETn8_n6EK6IqNzGxdIGFeWZBYMuEaJPySQIS6F8fWfybRSfSlCoa-1Cq2XrcOkApEltAEaHdUAfat06K_GI0Z46wqkmqRu8Pt_Et4kKl0TXWXIVbmFlubgi_3jAvYQZkA0zHbLVeQKu6mSK3rCvqB_TaD4B7Nr55FaSEeKO0DWcPtlUXox2DFxNFBAMC9ICs8ZOKPrtu6xZdiasNHTmeSPvHqBePFgby4X0gqXqojU2yUuME3Q0s7-75pV-VOvpk8zW7InnfOZv9Zea5bmWFjWrV98ycnImJK320svUEYR0uaq69SAQvVCyCLDaqtKiy_fwczc2E58hP2j-QAnNezIWn8stj0HSyQ1oZNPxmDzkyF_zK9RR3SagybSyYSTzxW1Wo2EnrSq5pCE1OTHxJiRmOAr8SWMRLKHyOgHkDnRcAfzEZbI9TOIQoZB7pgbtF09kmSDP4ZDAQgyjoBGXmvGoB0-gDqplbgTrjLBsah1SKRLLqmJJ9FkKRGy4i4Pu9SMWgDB9E-Bzbv0FlplCTjYKC4aOptp2vRsSf2NL8e8ifJ5Xjjo1RAjnL6H2MOG5O8fcbVgjzN0zCwmhlpuJ5k5bGkf3eJ9gDH_6R5_amdJl8RSFUA8uwSaZoIXbaxM9WQIXwnSTsmliys4fWZX5ni8RqJLlirNU4f8b6WvFvJ5_LVAs405h9w3kuCsbBelQJxsC2pakR_INOYS9wqWDjho1CvLbjM_NDU4y7oS19mp-Qk1VA_aZmQYoMDhjzxwON696u11q2a0FnT6uRUuPNpEwtqV305n_n95pzHWK4fFkiL9EAlorY8WcdFwHnZRYtyltBssBkC-0E4Q_VSB3937RMpAad6DqOA-Vtp907ugh2dT__iglM5OMfW8r5J3L9GwOheZ3LnWnXluJHN7-wXxVUfWpyqogdDs1q7tzSyb8D4lPGqh0dWVHt5UwAw5aLS_MYCaKAwy0Ua62EBscXg9e49qu9msooaECK49ZC6I8JjiEJN6sxPmse5L_Agut8d524JUPtJyMwzGXppwTe3G5hbPdHOFsED6BuZAGqH0L52oVVWsDXRXuqTN2HSDzpVkSDcsQpa4vGyOeI343OAvNOD8LgKuDiyRsT9tDSgWYeImU936qNzYjfqfa6qlQhLhvjgamGobfgDAc3RmRnljdXeFPnaRMvlEl6vzeP0DniC63SRVK7CHxqxYKXZgjioBL5b7PLaxlZLLpSDDlxr1OQuOk9SVCMHmaORKpMcOLcDgjq9bB27_GA1YoA-4sF0Ai3i84COCnz9LsFtSqCWgrwzd4FrGRVNWDx7QzNIISRZTJ4_fqmtIB4mC00F0y5pnCpVa4Ycg9Q",
  "id": "rs_031dcf041c9993fd016ab4345be7c487d09adc1c231df069c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_y\":-0.4},\"note\":\"The left jaws opened, but the arm did not follow the combined lift-and-sideways command and is still near the bowl. I’ll first lift straight up to clear the bowl before moving it aside.\"}",
  "call_id": "call_Ec9kH3cuHq0tsxGF2QuWcntc",
  "id": "fc_031dcf041c9993fd016ab4345ce29487d0be02e6bc0d3f3263",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ec9kH3cuHq0tsxGF2QuWcntc",
  "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]: [-0.9394, 2.3764, 2.1784, -0.9211, -0.5999, -0.8307, 0.9977, 0.0166, 1.1358, 1.0023, -0.8963, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.412 left_y=-0.3883 left_z=0.1114 left_yaw=0.0399 left_pitch=-0.2653 left_roll=0.0367 left_gripper=0.9977 right_x=0.2865 right_y=-0.0033 right_z=0.1672 right_yaw=0.0972 right_pitch=-0.4769 right_roll=-0.1974 right_gripper=0.9983\nstate[joint_eff]: [-1.9077, -12.9573, 5.9966, -0.0269, -0.5739, -0.0269, 0.0366, -0.2393, -3.6718, 6.5026, 1.3358, 0.0122, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aed86e76895fe942d367337443f69e88e4d6bdbbfe247c0dc1750ce86929bbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84bd4baa9e86d3b2018dfadf26154dd8025acebfdea352c052c1715616e06d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0bd2eb2fe93f8e7dcd7ed1d4baf68526fd492e0191a6fc5dc72b2b2957a54c",
      "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 · 6.012 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9642, 2.339, 2.0346, -0.8452, -0.6067, -0.8131, 0.5309, 0.0166, 1.1313, 1.0027, -0.8803, 0.0658, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3953 left_y=-0.3867 left_z=0.0894 left_yaw=0.0162 left_pitch=-0.2776 left_roll=0.0787 left_gripper=0.5309 right_x=0.2897 right_y=-0.0032 right_z=0.1707 right_yaw=0.0967 right_pitch=-0.4559 right_roll=-0.199 right_gripper=0.9983\nstate[joint_eff]: [-1.0188, -12.506, 6.1744, 1.1697, -0.4615, -0.0952, 1.0281, -0.0752, -3.7265, 6.5709, 1.4188, -0.0024, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9733, 2.4069, 2.0239, -0.7727, -0.6136, -0.8387, 0.9972, 0.0166, 1.1313, 1.0023, -0.8845, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3976 left_y=-0.3972 left_z=0.0569 left_yaw=0.0266 left_pitch=-0.2748 left_roll=0.07 left_gripper=0.9972 right_x=0.2887 right_y=-0.0033 right_z=0.17 right_yaw=0.0965 right_pitch=-0.4605 right_roll=-0.1989 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -13.1897, 6.1197, 1.0965, -0.3687, 0.0513, -0.1832, -0.0752, -3.2205, 6.6256, 1.2821, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9394, 2.3764, 2.1784, -0.9211, -0.5999, -0.8307, 0.9977, 0.0166, 1.1358, 1.0023, -0.8963, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.412 left_y=-0.3883 left_z=0.1114 left_yaw=0.0399 left_pitch=-0.2653 left_roll=0.0367 left_gripper=0.9977 right_x=0.2865 right_y=-0.0033 right_z=0.1672 right_yaw=0.0972 right_pitch=-0.4769 right_roll=-0.1974 right_gripper=0.9983\nstate[joint_eff]: [-1.9077, -12.9573, 5.9966, -0.0269, -0.5739, -0.0269, 0.0366, -0.2393, -3.6718, 6.5026, 1.3358, 0.0122, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aed86e76895fe942d367337443f69e88e4d6bdbbfe247c0dc1750ce86929bbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84bd4baa9e86d3b2018dfadf26154dd8025acebfdea352c052c1715616e06d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0bd2eb2fe93f8e7dcd7ed1d4baf68526fd492e0191a6fc5dc72b2b2957a54c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDRhWFo6Q0iNiKLFg2-kvvxySNCls-6-XaX8X8FF4aMCm7gCb1anwrPf2Nvcajju4iMgWWPHFL2QY7CKByRE4nRAZoHkxPlR7GsJ4eBvn0n2SxwO-yhBK_9T8vbHm6P_7ocxMnxodflrC7ZJpOKY_lRnlWD3dVp1c9KlczhRaQtXOWCszCXs1VIA4mDZpe3mUZ8aUEJcnnwRxzfhsjJkMjH7Jri16kmzbxhCG6wpdtlCMXs6idJlkzG3JYTJfklKHu9kwLQmcDpCHXxwTYb-PTu_S1a9DTf42mvMXYhE-ZSlODHjABfsV4v4lK2GHsv4-D0NuW1ZYPefdhEjRm624qnUxMx-mTFHI-htPwoMGACruTLkeTqjvphPToGaIq2KS9EsDMK7utRAYWfA2hxFK5VGH0YfqRB5RpBmmP1DPA_1qRGEitabEYwDkDvvLsyEHj_HZh2cqm4eC3ZrlwRFFpAmoR422vxlF_5U1v2eijkpEm8DQ3nt3lPVGaUUUVrLKVZTobIi5UxOnw28Abhh5KxyjXrraaD1f4k08wiKX0_05bQaTa6gqkQ1SJKuyEDpjCLbIGRfpjk7l-K-7lU4KYTd04ejiCKwAN3z7vQRQOwkdB6plq14637W9TahBzLEPwzkFqVW8x1YclGo0kNrCbstqyAWcF-HLvi3O18i7CUs6xDl-OZtAQ42rFWmZe2EyoVfYa932xDsXxjQ5rB6t-AU0Z9y7aaUZU2ZbK8nHsFe_zopgOyldf_WhUGhbk8MT1SiaxcHSBE4-DcoIZnpg_Pm262nW_y0p2YsZndkCSIqgRAhXNR5xiM-LswKaV3Mnmz3R4k_Rzt7VODQrQAdd_Pgw8e1PojEjyeBJEaxw3h1FfwzIWbnPGmUDMoybX8ITiQyOfcg_IKahg6KcacxBVn1pOJpDmrPKkrhjPzEW33D8ncY666PsiySMmaHucUdLC_EaX4iERrD8ojabLoKCJFCVL0ev_NMJqCALMX8Dw7dvLWjeU-iol0oHHvCQCu94u_sthn90nfoP4ePRXOxABovRpiXyNdiOPoWusXLkBqxth1hx4J95Fi0ZiUuEd21ZGfmS9T1POQhGEqRch0j1CCuGLbKHbwiEITrWcp09ZmERlHHYW5TYywyO-ZCD8sERgv9P95QtitKl8vpaFN06NjYZikv_5pQh8aEOvLZ4wy2T1R0UuQKF2FTROzgntAEnuCf2gAxclWWZcctnsYKmwz_EQi8l0_ruF32UFMEinbZFW1GWd_ZDHk7r45lIDe1nOFt2tGsGqy5c_L2JNckMeC2Ea_NLEnP8z5ku_lOnikR8otJ3s1qLtm_cIpqtmPc5vBUC5nWrFHMmcPqqBDNBm4rp7UYB5FPUuJzWnITX-KIL9BVDD3nWKmOM9sUXNdAT7EMLCcqRaDA0oa8H_BmDDNFGdt3V9hYbynfwLRcNMbtcYTnsu999n4mz_rjmzFpD_WbRiwEN2GiJ7wzfeA4X4jA7ceMf2nFOaIDqD8dHDJ9ns-sh_owGMA_TOeQR82QLH3mmJtSkbINJScw4Gmq49GrFS38kPFbz9ECBLBtfnKEEK6lvlXTyXc0pK-bFNApsP59vyryClPbMkHDBDaL1zMTaLgKHBoCZmivfKz4q-B_30qMr512RYtDhgcqelmIZ04si_OGucHmyWdrOYV1wPfyKzzKEGYNPp7mktg0UU6fqg_AaDIwznTrFJgVHV2QxUxgrZAlcymrad-DbZG7IQJT4j7AamuVt_eje5NlqsG8DHCmlTqGZ5iFWdYqNeNo3Jpv23Fbbk-kJdp-2Ek1BIEOWYqIAPGTUmnE7abLl-jVV1A=",
  "id": "rs_031dcf041c9993fd016ab4345f58a887d09e1149d1dfaca345",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.12,\"left_z\":0.19},\"note\":\"The lift uncovered a yellow fruit that has rolled out beside the blue bowl; the dark fruit and pear are still at the bowl. I’ll move the left arm clear so I can see the bowl and retrieve the escaped fruit safely.\"}",
  "call_id": "call_fYKvVGh2u8YX1ts8ULeOvBKu",
  "id": "fc_031dcf041c9993fd016ab4346066e487d09ac773d10ba38e4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fYKvVGh2u8YX1ts8ULeOvBKu",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "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]: [-0.6666, 1.2285, 1.0485, -0.7959, -0.4698, -0.5816, 0.9977, 0.0166, 1.1408, 1.0023, -0.9066, 0.0658, -0.2371, 0.9983]\nstate[eef_state]: left_x=0.2959 left_y=-0.1265 left_z=0.1875 left_yaw=0.0584 left_pitch=-0.259 left_roll=0.0215 left_gripper=0.9977 right_x=0.2846 right_y=-0.0033 right_z=0.1646 right_yaw=0.0984 right_pitch=-0.4921 right_roll=-0.1959 right_gripper=0.9983\nstate[joint_eff]: [0.1709, -5.135, 6.5436, 1.3553, -0.1587, 0.1099, -0.0122, -0.1162, -3.6034, 6.4752, 1.2723, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9df2f6e560890c344f2c4c43c38241ce7e25811a3b6c7a96f7f3bc586a834019",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f91be881025b194325710b0a80e837858eda3730b52575f9b256072142b4632",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0fc0c356dd29ba838c4352ca31e17212efe15c65224debabcc0fdf79215da1",
      "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 · 3.213 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9703, 2.3848, 2.0243, -0.7891, -0.6106, -0.8211, 0.5309, 0.0166, 1.1313, 1.0023, -0.8841, 0.0658, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3974 left_y=-0.3946 left_z=0.0671 left_yaw=0.0167 left_pitch=-0.2744 left_roll=0.0752 left_gripper=0.5309 right_x=0.2888 right_y=-0.0032 right_z=0.17 right_yaw=0.0968 right_pitch=-0.4601 right_roll=-0.1986 right_gripper=0.9983\nstate[joint_eff]: [-0.8957, -11.2342, 5.9556, 1.1258, -0.3297, -0.1392, 1.0183, -0.1299, -3.3162, 6.653, 1.2869, -0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9394, 2.3764, 2.1784, -0.9211, -0.5999, -0.8307, 0.9977, 0.0166, 1.1358, 1.0023, -0.8963, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.412 left_y=-0.3883 left_z=0.1114 left_yaw=0.0399 left_pitch=-0.2653 left_roll=0.0367 left_gripper=0.9977 right_x=0.2865 right_y=-0.0033 right_z=0.1672 right_yaw=0.0972 right_pitch=-0.4769 right_roll=-0.1974 right_gripper=0.9983\nstate[joint_eff]: [-1.9077, -12.9573, 5.9966, -0.0269, -0.5739, -0.0269, 0.0366, -0.2393, -3.6718, 6.5026, 1.3358, 0.0122, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6666, 1.2285, 1.0485, -0.7959, -0.4698, -0.5816, 0.9977, 0.0166, 1.1408, 1.0023, -0.9066, 0.0658, -0.2371, 0.9983]\nstate[eef_state]: left_x=0.2959 left_y=-0.1265 left_z=0.1875 left_yaw=0.0584 left_pitch=-0.259 left_roll=0.0215 left_gripper=0.9977 right_x=0.2846 right_y=-0.0033 right_z=0.1646 right_yaw=0.0984 right_pitch=-0.4921 right_roll=-0.1959 right_gripper=0.9983\nstate[joint_eff]: [0.1709, -5.135, 6.5436, 1.3553, -0.1587, 0.1099, -0.0122, -0.1162, -3.6034, 6.4752, 1.2723, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9df2f6e560890c344f2c4c43c38241ce7e25811a3b6c7a96f7f3bc586a834019",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f91be881025b194325710b0a80e837858eda3730b52575f9b256072142b4632",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0fc0c356dd29ba838c4352ca31e17212efe15c65224debabcc0fdf79215da1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDRp2PkJuqBY35i4-DgEkaTBffGbG_PPjUtSp8yEY2S-rhnAKX59WMg4uOPCV6u-N3nBlMIHRUmMDRffF8mnnoQREA-9h4Dih4FK5VNYFZkmYpiXjdbHhGaR2VqgrIdUh16Z5dyfhaEXfLDmfBRNwFpAhRyceB1vZUUBsEldyJytzHLDZrKSw_lhEPQP2r3B8QAJhAfS_9Uq5nYfsRW3LdcqeMhmcQG_PsYzkZ7NJZtUDvQtPEtnx8vpCvtCMnbqlQy7OX8WEIbEX_idJ-pX0FeNvkCvkKarQn4s4yq0GML420chs5VJIZo4lfMp2pjBVqfIH4kvuKYNNbXN7UXOuCM3yp3-mSydpjHC3lD8ogAFcTUv-VkFhkEqu6_nop5-zS3LlyReMukSIZw0mYLkTVsLaSmADAKeyvm4ev5yd68pepst6e1kZBC0Wyzabd5jfnE2kvavr0INXMd0H3ROkLcF92g0oIeQQ8vsACpYFmYcqcK74OEGiv1QF16kFnGPRCkTXUTwQBYQ4KLP036k3e81_b3_ZpKpCiAeE2BAxXUHuJ4sty62eJ3mU1N25ttPQZclZ_ZnYuvwuJFcJWaUxbND3csEpGwAKZ0rGHs959Dm37cFEcqmLxMj0zYLRpD1hnUnamnOggfJhnSXrf22yzjdrvERiHqgIbBNHSJLMoSts5lmfpBNkc-n6VG_ztci8Gfi8ZIPWp2MPTUyU7borY6t4V7oaW7QtZj0uOj-4syqxJCUpJ_-ngIQwd1GgOkhm1J2aysC0JqRyw_lGXy7sr46TpovlGrNrqRzXgv_0WBYJ2xYNWStZvz238iMueOxfNrkiuhQZpEO1SxBATVROlWIlQwC3zi0Bhj6uBUML5_mvyZ5D2OjE2AvZzlRrD_An4ncnvCWc-MQgIl9nh5iDj1NY5m6dH71A6xs5zAle8qRYG7cL8_VnvJk6Iu_9c10E03aSIeknKC3TPUhT9hap9DfL1ajyUZ_HQ1AtklxIJ6csDYSSCwYohVjQ_tkbGOUY23bS-AW9h2txpqypPhDPbnOSWKDjhkYJij3OEiqmEihJWkqHwjOrgfenjcbITive8BufvkmGhPwwHs-vNbUugwyHdkrhacm7Ttw9dYVtFQtnn8ip1GhUrYptdi6oYDym5w7Oy12yB-zvGuilbMtW9pM5HGaR8gjP4lwK7F9DwQ58artxYqC7jTxcy1yjNS64V2RRCN-BXUwpOwqLfphN-Ppu0BmjUP1jwPskylLfDMSvKopeKKN2vdBal0nLS5WuEKozWN9kMHKywsnBqiaCAWqWXxFwVirLhdOLgKVeRC4UqBuczgqhRcirW10BTnyopBYFzjmkeKmZ_pmy4MYwRcyaC8tvR82fRxUw2ba9hRgyt02swpvHdjXEA30VDx49-qCekNRUd-wzXnU1tCBjN2_xvkUqinffOKU0MjG6_QHHImDhfC0B_PdT4VYayFShcwkcB7UrJgGO6v5JV3glJ3B0NVlWKAK8pJWXytoKxQZDbKOEAwJ7d5Ol7jyC3ZqWR6vQXWhZjmolap03Hg0GJE8ydigTO-hJoRs90etDiKymSfOIyBROZGMqbjOKQRPcIRIHKu6PkHXXPC7vlo5UivuvwkbPzW6afBWTUeERJB4_kmMqEPUTQUqeud7FaEYEUITo7KKrUyj8b4TjDqYj_VthQoZ76pNLraugdUT3N6D3jKMUsR1Xx3k8PpsCOYRxRpZi5UQzDM5Ue_Cpe4_ZN4gPEHbxHRk3VQ73AjrHfXjt4WrBe5fjvghJeuN1KhDjeyThAKhjJTPzdvZuV5LOn8O39RVdQ7OKHVeI6TmuT47ayAqZF2iozNRA8yqk83xuZNJ9p6MszUAEbqKwCd4_vQf7NniaTgaEHiiEwLsLwMJ4-ctbs5_BDNmq8-xgRkOtQLStaa1Q2VbsTyeAbzHDRa52G2T3BKVdOpZuiuq080ncoRwhX7oR9G-TcAVNqY7vdqXE4ibqPqw4v4h3slDpD74-9RnleapiolhFAgZxgvqkMWTM-eVV5b4XpaMJOznImb0RGUiEE1qtGmcR-RIg1SPw6RmVqs6YyOhhZ6omDYe2IZVu5s3BFdhvRw-v-_FvuHR09eZh0yLPDsAegZkErL5jNQiZ2EfnFaA6NcGvK6_qTVczzbYJgEEz4I5_1LT85xVIJ6L8rljLD-Nrn6wwkzmYhaNryrn-CGJH3A1XOz5v1pVq__2vdKdbreyoVuuUTCH5WyFQxOo8PjAQtm5E_wzt0JaR9V85HNJluNMqtF0luXekZXjOQvAZcOFCVkuTUUhpIkICGQVE3iLl-SQvNqC0T_39cI6ztpZ7jAwyGU2QYfwc8wJMtjSXwM4yhZ38-QtEWrgaaskFcQ2E_NatVCI-47KNDkTkImUSsl6ucpk_3gqEIul1lkmfm8uCtiYTTdfpv7lJ2fuwltgfFkn_E7OkGu7cLfl4lCqdNQRIHWKw7SB-FVncNwkZgYR7-gTpPn8rx9Qzub8qz4JH28EEK8DIQ_cLQAk0yeg5r6yduELX32PQhVbqixY9XsFWk2rH9th8krvh08aTT_OAici7Ed9nJA8SxR93hdF1j-7-jReBzi_Q0Y7DYztoEO0XrPo2DBNgM8zTl0NFNyRRQQsFQ2zIVKsXVug__CDizHlVWd3XiOx8J6eJTTiuxXUs8HuTJBcWrsYjHhy_rSSO7zQyNluNWKctDnyK0y8zOj-BMMtDSvbE0n-N68NQ79HAPH3p7695k-OgWRg71wOPXzwF1bjadrYBUflwc8SKxnt1dKaSB5hUDeXj9lGIjNWVUYNmyIHJ1_uOvQ85ZDuMj5zPwHS0KlVpMX2aoAOFDPoJMG5A0GftXa2SN2k8qyuoZxzwcpC",
  "id": "rs_031dcf041c9993fd016ab43464842487d0b5e79113e1de60de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":-0.053,\"right_z\":0.11},\"note\":\"The pear and dark fruit are both visible inside the blue bowl, but the small yellow fruit is on the table to its right. I’ll use the right gripper to retrieve it without disturbing the bowl.\"}",
  "call_id": "call_BpyHlt2fswHA9zBRvoUhmG01",
  "id": "fc_031dcf041c9993fd016ab43468c1cc87d0a0c4afc10edd0b95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BpyHlt2fswHA9zBRvoUhmG01",
  "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]: [-0.664, 1.2308, 1.0447, -0.8047, -0.4557, -0.5758, 0.9977, -0.1738, 1.3354, 0.9241, -0.7105, -0.0139, -0.3813, 0.9983]\nstate[eef_state]: left_x=0.2936 left_y=-0.1265 left_z=0.1833 left_yaw=0.0503 left_pitch=-0.278 left_roll=0.0264 left_gripper=0.9977 right_x=0.3103 right_y=-0.0483 right_z=0.1037 right_yaw=0.0824 right_pitch=-0.5706 right_roll=-0.1771 right_gripper=0.9983\nstate[joint_eff]: [-0.3624, -4.3556, 6.8581, 1.3162, -0.3883, -0.105, -0.0122, -0.3077, -4.9436, 6.4205, 1.3895, -0.1734, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28e251c5327bcf5ebe35ef3badbbe7c2c20e55225921dfb42addb29a6715319",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1749ee4b03c1922f8fa2eb7831d07e7f7502000dcc63d424fa81895d30bf8bad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d28819437bd692a12cfa77590df309c58fe1429e977e0fbb5747badb67fa8b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 1.834 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9733, 2.4069, 2.0239, -0.7727, -0.6136, -0.8387, 0.9972, 0.0166, 1.1313, 1.0023, -0.8845, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.3976 left_y=-0.3972 left_z=0.0569 left_yaw=0.0266 left_pitch=-0.2748 left_roll=0.07 left_gripper=0.9972 right_x=0.2887 right_y=-0.0033 right_z=0.17 right_yaw=0.0965 right_pitch=-0.4605 right_roll=-0.1989 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -13.1897, 6.1197, 1.0965, -0.3687, 0.0513, -0.1832, -0.0752, -3.2205, 6.6256, 1.2821, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6666, 1.2285, 1.0485, -0.7959, -0.4698, -0.5816, 0.9977, 0.0166, 1.1408, 1.0023, -0.9066, 0.0658, -0.2371, 0.9983]\nstate[eef_state]: left_x=0.2959 left_y=-0.1265 left_z=0.1875 left_yaw=0.0584 left_pitch=-0.259 left_roll=0.0215 left_gripper=0.9977 right_x=0.2846 right_y=-0.0033 right_z=0.1646 right_yaw=0.0984 right_pitch=-0.4921 right_roll=-0.1959 right_gripper=0.9983\nstate[joint_eff]: [0.1709, -5.135, 6.5436, 1.3553, -0.1587, 0.1099, -0.0122, -0.1162, -3.6034, 6.4752, 1.2723, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.664, 1.2308, 1.0447, -0.8047, -0.4557, -0.5758, 0.9977, -0.1738, 1.3354, 0.9241, -0.7105, -0.0139, -0.3813, 0.9983]\nstate[eef_state]: left_x=0.2936 left_y=-0.1265 left_z=0.1833 left_yaw=0.0503 left_pitch=-0.278 left_roll=0.0264 left_gripper=0.9977 right_x=0.3103 right_y=-0.0483 right_z=0.1037 right_yaw=0.0824 right_pitch=-0.5706 right_roll=-0.1771 right_gripper=0.9983\nstate[joint_eff]: [-0.3624, -4.3556, 6.8581, 1.3162, -0.3883, -0.105, -0.0122, -0.3077, -4.9436, 6.4205, 1.3895, -0.1734, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28e251c5327bcf5ebe35ef3badbbe7c2c20e55225921dfb42addb29a6715319",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1749ee4b03c1922f8fa2eb7831d07e7f7502000dcc63d424fa81895d30bf8bad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d28819437bd692a12cfa77590df309c58fe1429e977e0fbb5747badb67fa8b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDRteCOY1MD6M5ozLKC3hEnsp3ocmhLb9LNDH7TLmcNE6e8jKc86nZqbPasrR8qVKl7TgMEebFllf_sUNQWMjqWiEkPdT6VSwXQ7zI0NNL0AQSjt1D7pWn7ssYcAwrwV4FVW9Ujq8mQZocdBIXKn6cVz0onp6oTxhF68LtCuadVSxxk-hRgDtGKS7W6WVB7ZIG_ie5xajde2fmtTfOUl0CHYXpVNWjKawlLz7o0YhOA-_zGWKdQ1MUuL_JUvVQjLnKjmZZFWRsLIy96j8ugm5PxSxWgZ_26gDmUfllTPdXknEatCWH79A8fY5joKH-_VxE2bu-IoDtO3fp40ldZKVcUioHUZzsfqzVhNIffI8hTrQ-rGHTjucCStyma76Z4zOvK97xQecm-kqstQbpmrhwQ-IvmCZo9d1AZwp8Z68aIgEjju-Tb2G4ny90lmRFbzPWYjAgsz3qLnOnOqEqAxm9c07PT_wsVL0aBmmZNklBhBJtbWD3fOiloyPEJck6F2J_TdxhXg2oR_Nn0j8ZY0bQ-t7v_AsSFf6UB_waocyRaD0cvswXMC7TaP8S4czigL1nLbzfo03-Dk2K7RDSF9tBz6qOjx--57ve0_lpDQoe-Phzj1IhdaC9X0CLZy0GJ8kSin1EVa0opmr_GhSGZ9Y0S2oxu9XUdTKZiQloZOL1YznVWGTIdlqzBhh60coQe67O6x6Kc1Xa34DS8s0GD4kdkOc2dbOvz69tCXAtMFyBM_PCw5XzsQlwb16X-rIdGZ2OX11-XiBkZzTZsi6d_iQYAk5qTSFf63qBPpOpwib3GVnWdb2WK1UlfBh3O5AnCUvXv3RcvKYJwjnWRgYZ0FTHSv3u16XKPcvOW6F51B4IdBjLjAMM-oiOR43o97CAcaeQbWtKWFnyy9hGypZiMw5BOiDsOBuKT6l8Mvol9tp9Mp7atPJ71VIU5qW4G2Ey0-eWtCTREgaJkUKEx_53hoV2uRPgWxL9qvvyI1gE46GIu_heDhv2jE1gqMOlahC_vV1xUmK5KqJiGPC5OzB8oMlmTmvlWOCJm4dXFO19uo-C3h5W36Sme0Dj8YP35iy8ul2l6wRAq11eFrVAlAoZq1Oomde-H8Ght9tyVvL0r59AqaPk05hQwCmAM7qXP7ttC-t-J60wv1jo5MYkmlkspz6IYw2y7Ts05CQgWeNMrfx6hD0-McxC551_5AxsoZJw1hiFcPEA4wRSIlERWVV5cUFcHqYJbhz66Dr4h3nWrryQLjLKq3SDlIq8fEWLXtOOXPomGWR6y4bExbZitQ1i7lSAiKSALoK5q_eb-Iv7Wtre7VC0TKWXehr9ckweXu-IHinjMpgiTeevJ9maQM7z3Uh05-ikW8WOAhqIw13QXPmFJ_d09TT7aU8JIpcz1DimdY_7dRj1yE1jPSZQVmzKJdsDfnNE1q-Kbl_suNqV3P0f6kA-Rno6bRd_s5XbsfdcyJESNKgrZ3Nf6QI5y6v5wgSevKmC59iOHEbRw57Z3ufntmQP_sTKrktRfTFMSOzFrxQHtRNxcBH5ooVtUm283SyjgfLI4C8-BmQr48h3P-748FhRXGguk3IykjZQSXUmEjovgKLZftkfaNj-Vf9rL96pnFefarvmwUXFZVzD35OOk7ZvleQ3ywHPptOHlePlek17PRK849plk9usg9KY5zqtxQz2INCX3QuMbEcqrAKLwDvqJUctxqH3gHDGeBaMyc6Xy4IwKlOS9Oyv3-sHh7cXRwbtpDnc5SYCbiVb_zecFJXKhcVtjutmYnBCxbrhAh6PAa8HkkB2uIMDR9Kv4cGiItruvCtQnJYB8tEOggwMJj-inca153gq0mjhH78XGtV5qKnmI7QhE0LhgK_xr5d5juCHZPoHOjps3dVtKLBQn29QJYQ6Lylirj3wqg8Rce9pzKlngOHw4CKo9AkACy-kWtIFj-8MYmU8M_O3xCFvz4ju2A_b1RMjqZ-DB-9KeXo9m1",
  "id": "rs_031dcf041c9993fd016ab4346afa9087d0b029c731de83594a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":-0.075,\"right_z\":0.045},\"note\":\"The yellow fruit is ahead of and slightly right of the fingertip column in the right wrist camera. I’ll advance and shift sideways within the workspace, then descend toward its lower half.\"}",
  "call_id": "call_os2QV1UUNvT5tqx3Ei4HVxDf",
  "id": "fc_031dcf041c9993fd016ab4346c6f1c87d08772148cbea6a5c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_os2QV1UUNvT5tqx3Ei4HVxDf",
  "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]: [-0.6632, 1.2316, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.2306, 1.5898, 0.9165, -0.5293, -0.0387, -0.4316, 0.9983]\nstate[eef_state]: left_x=0.2936 left_y=-0.1263 left_z=0.183 left_yaw=0.0508 left_pitch=-0.2793 left_roll=0.0267 left_gripper=0.9977 right_x=0.336 right_y=-0.0682 right_z=0.0402 right_yaw=0.0995 right_pitch=-0.646 right_roll=-0.1459 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -4.2462, 6.9265, 1.243, -0.2808, -0.0659, -0.0122, -0.3624, -8.212, 5.9556, 1.2821, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67dcc4d6d1326099e5a23fcce563ae192d12374e7a0b2234cf7f27988111543e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42adc1a10daef6ba748ecf4eae44053ce3befc4c2ac8a6ece0927cd618237bc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e11ad34289cc0224e135b79dff355d84f17b97e74b7ad158109e8362c13a8d",
      "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 · 5.405 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9394, 2.3764, 2.1784, -0.9211, -0.5999, -0.8307, 0.9977, 0.0166, 1.1358, 1.0023, -0.8963, 0.0662, -0.2367, 0.9983]\nstate[eef_state]: left_x=0.412 left_y=-0.3883 left_z=0.1114 left_yaw=0.0399 left_pitch=-0.2653 left_roll=0.0367 left_gripper=0.9977 right_x=0.2865 right_y=-0.0033 right_z=0.1672 right_yaw=0.0972 right_pitch=-0.4769 right_roll=-0.1974 right_gripper=0.9983\nstate[joint_eff]: [-1.9077, -12.9573, 5.9966, -0.0269, -0.5739, -0.0269, 0.0366, -0.2393, -3.6718, 6.5026, 1.3358, 0.0122, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.664, 1.2308, 1.0447, -0.8047, -0.4557, -0.5758, 0.9977, -0.1738, 1.3354, 0.9241, -0.7105, -0.0139, -0.3813, 0.9983]\nstate[eef_state]: left_x=0.2936 left_y=-0.1265 left_z=0.1833 left_yaw=0.0503 left_pitch=-0.278 left_roll=0.0264 left_gripper=0.9977 right_x=0.3103 right_y=-0.0483 right_z=0.1037 right_yaw=0.0824 right_pitch=-0.5706 right_roll=-0.1771 right_gripper=0.9983\nstate[joint_eff]: [-0.3624, -4.3556, 6.8581, 1.3162, -0.3883, -0.105, -0.0122, -0.3077, -4.9436, 6.4205, 1.3895, -0.1734, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2316, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.2306, 1.5898, 0.9165, -0.5293, -0.0387, -0.4316, 0.9983]\nstate[eef_state]: left_x=0.2936 left_y=-0.1263 left_z=0.183 left_yaw=0.0508 left_pitch=-0.2793 left_roll=0.0267 left_gripper=0.9977 right_x=0.336 right_y=-0.0682 right_z=0.0402 right_yaw=0.0995 right_pitch=-0.646 right_roll=-0.1459 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -4.2462, 6.9265, 1.243, -0.2808, -0.0659, -0.0122, -0.3624, -8.212, 5.9556, 1.2821, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67dcc4d6d1326099e5a23fcce563ae192d12374e7a0b2234cf7f27988111543e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42adc1a10daef6ba748ecf4eae44053ce3befc4c2ac8a6ece0927cd618237bc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e11ad34289cc0224e135b79dff355d84f17b97e74b7ad158109e8362c13a8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDRvi0orzSseSnQN_MW_g44_Olm2OV578z30vT1-McYWIacKwej8XhOLPC4NEMDkZfvLRen-ddh8Hdq8YmGoieSKQZLCi-9HyTvi0I6GatZoWdIA45HZhCQaRyGE9lUFfkePlftrY2OTPMkwvlqKx49ApsQEj2IHvmYQtcwYSc-9Rrh_JGnC7qFE_34Nbj5V9LK70BsWsTLUPPmNFEgNu-Jmf5mpAI7D5YpVJn2l4_XCxkP_8X_52DHNg93ueritah-vZ5Q272wH6UZxWRNWa9gOXT1uSVGSLVFruVw61FY8-EGTifsq44qKRYewt_kxcL9ftTSxwgJ-IVNm5W0aVUNvuHOAFShX2av5lQ_ruYzqhVi1SYCW8BCf72l0iLXUyBaEpto_DX-uR_jgrPdMVOFjAmGITwKSr31lhFQO_OZkX-SvDfUVvGgGV64W0Bl-YCJc-2x7mHjV64ynLMlTYv1F5opfp4tNUWmIcFCvsNlpmYFtz0wQSDBdHsPqxvn9S0MM3sXgOBFbhX1GIUqqEpdEHQJYXXv2XSkIbmZpvyHj8t1x7KSlBWnUEWqFf8NN2ZmCVCxCTGtbvCU7KIdFelqJVKGUNArDEfebIy5ftY_C0SVJ9g6VeZZNwyQUBAI2b4sZWZXPWfz_wE-6CFUCNluzPwpPKyg0vcTdo2BKbLtYfIyM7gNHSoPgR7Yu375RhHlo6pduYXAkFRGpPkdDtkHLBjTvx7U6Ijbspz2vLanWyuojz_6C0TmveUB7icsv7uM7L4q515eNutLDMpHkEqG1MNqmP5cHSPuifC3sZ90lru3e-fbZ8fFCKz2DMR1b712ZTepB5lHG1XP-wy-kKztEqeEPNDgy-8tMhkq8B5Me9Qs7FKWaI46fKWyKObH28-6yShmNkaW6wprCDkquBm9fvMSvvifCzcE4ZEIYkzdDcd10r3nB_KNmnpdocf27Gn41rZZxx_bUz0T5W_YH_Q6_4j8vjdaiy1Zgq8sp62v6z05_H6XDECq1_ENcBzBNFYSOg8UjiMa_aJdWaFDu07LGIKo0l42nO33zOyEfA7LqClgbWiDHYdO2R4uInH3mmQ-eSaNz-Cfwt9XhrkidYvDMDzYJPm2XpQfiybu7dVbkWFW4FHELkF2j80KVffM2W_o8cjh7TnNRRCDttlYNd_nyfXu-Kbp6s7ecMjr-R3Exhk2fbwHK9RWHJznPlyZzrJp4mPU97F-QD_jZFLEbSJveMLpCKxfND27rUD2A5FE7lAg=",
  "id": "rs_031dcf041c9993fd016ab4346e8d5087d0af6310f760c83112",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.015},\"note\":\"The yellow fruit is now centered between the open jaws at the lower edge of the wrist view. I’ll lower to a table-level grasp height.\"}",
  "call_id": "call_5zPzSXQY6NCQsqOIjEImEA74",
  "id": "fc_031dcf041c9993fd016ab4346ebc9487d0b9f4250baf29bde6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5zPzSXQY6NCQsqOIjEImEA74",
  "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]: [-0.664, 1.2324, 1.0447, -0.8047, -0.4549, -0.5758, 0.9977, -0.2359, 1.6184, 0.9146, -0.4706, -0.0395, -0.4461, 0.9983]\nstate[eef_state]: left_x=0.2936 left_y=-0.1266 left_z=0.1828 left_yaw=0.0501 left_pitch=-0.2795 left_roll=0.027 left_gripper=0.9977 right_x=0.346 right_y=-0.0723 right_z=0.0356 right_yaw=0.0977 right_pitch=-0.6203 right_roll=-0.163 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -4.2872, 6.7761, 1.2479, -0.2955, -0.0269, -0.0122, -0.5538, -8.2667, 6.065, 1.3065, -0.1197, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82558adb4d6f870f1d8956c8047995332ee35180bdf49279f308ed8db4ec07e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77406b387ee1fc8e07a06fd1afe79019f1d91ded21c4dd6787f65b8a702964e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeb8a4dee8141fcc06455697fa868a77b63699ef012454432273c91387672459",
      "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 · 4.732 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6666, 1.2285, 1.0485, -0.7959, -0.4698, -0.5816, 0.9977, 0.0166, 1.1408, 1.0023, -0.9066, 0.0658, -0.2371, 0.9983]\nstate[eef_state]: left_x=0.2959 left_y=-0.1265 left_z=0.1875 left_yaw=0.0584 left_pitch=-0.259 left_roll=0.0215 left_gripper=0.9977 right_x=0.2846 right_y=-0.0033 right_z=0.1646 right_yaw=0.0984 right_pitch=-0.4921 right_roll=-0.1959 right_gripper=0.9983\nstate[joint_eff]: [0.1709, -5.135, 6.5436, 1.3553, -0.1587, 0.1099, -0.0122, -0.1162, -3.6034, 6.4752, 1.2723, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2316, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.2306, 1.5898, 0.9165, -0.5293, -0.0387, -0.4316, 0.9983]\nstate[eef_state]: left_x=0.2936 left_y=-0.1263 left_z=0.183 left_yaw=0.0508 left_pitch=-0.2793 left_roll=0.0267 left_gripper=0.9977 right_x=0.336 right_y=-0.0682 right_z=0.0402 right_yaw=0.0995 right_pitch=-0.646 right_roll=-0.1459 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -4.2462, 6.9265, 1.243, -0.2808, -0.0659, -0.0122, -0.3624, -8.212, 5.9556, 1.2821, -0.0562, -0.0659, -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 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.664, 1.2324, 1.0447, -0.8047, -0.4549, -0.5758, 0.9977, -0.2359, 1.6184, 0.9146, -0.4706, -0.0395, -0.4461, 0.9983]\nstate[eef_state]: left_x=0.2936 left_y=-0.1266 left_z=0.1828 left_yaw=0.0501 left_pitch=-0.2795 left_roll=0.027 left_gripper=0.9977 right_x=0.346 right_y=-0.0723 right_z=0.0356 right_yaw=0.0977 right_pitch=-0.6203 right_roll=-0.163 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -4.2872, 6.7761, 1.2479, -0.2955, -0.0269, -0.0122, -0.5538, -8.2667, 6.065, 1.3065, -0.1197, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82558adb4d6f870f1d8956c8047995332ee35180bdf49279f308ed8db4ec07e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77406b387ee1fc8e07a06fd1afe79019f1d91ded21c4dd6787f65b8a702964e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeb8a4dee8141fcc06455697fa868a77b63699ef012454432273c91387672459",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDR0cC9M730-ndqQrVLRjJbGQJvXWqK9KbUx-ztIKMKvkr8ZIQYHEwkdI5uURQLP3hGY_64DeBg9m2WAI7jCrpOGyXJI8TaVB_I6PQ-hk5EMK7l9cyCWm7B909hj0Uq7aEwPNBLK5-Ex7eeRKTjs0e8KXTAnu0N2iI25IvBe9NVTaJzdHH1id3l45-LlTMfrZkzVjX2PbH_v-2vKBDCyRbEiYsLkCizrMGD5YonD9vsxHwSnzheTNzL41FpIK0GAR6M0o_JP2WrDJku4cRBsFpTIdl2-Ml0o1wFS5KA0slolSleZ-YOTaBbbKKELcKP4hq1UCeYPr2whaqPgSK0tstGXmG5j9jnuCLIwJp6yb2WWMm6-R5A_a77ihSL75GKPzcuaAm2Cby8j9HbN9fdS4fQ8KP62ek1L9guFSnpUN4Z6Utk9QeDTb1MtCZDDEfjAmtqatrLvnwAqenR5GifQ2uZcSdMvD2BhLKSH0KKB7KfB0tElSdeEXUSwu1dS0cpeLsIRHmCxD1CoLx1iG2pxEca9gb01aP6rwCcdW6UMvJQWb2IME0iyfPgiAHFN3Z4le0bkuoVSqPwZ8sE0w0Ge2Y6QtN2KrJblp6RF4wlOURWQvCD5k3rSQao2qd-6T-NGT-0jGZbnOmTn9LZQ40UPGWs6Uxz2ewYGslyNMJxG1JM4a7I076cIh_7bHF4yn3IWOv4lA0O6GKnXbasfRX-yO5rrnN7JOk83DQufsE7glg4qUxx6BoWtyIy-v-ALDbDpbn7qrv4jibci9JEYmskTSbTFNRqH6gsNsuGe9C0FE4BGgIuwPjJXj5On-v9ZEBkdOcs-f6ty1EjR6Gc-l_SmaHGAh0571JbU8QTK7sotFpH5BbjJPb6zHLGp2nRcV-qzkN6QoDa_o-G23klXvOZkZvVGb-skcFMkDPg8FXuw0sGDyKQtUyamom4UnDEqm7K7M-hP4oPIR1vy6RYMl6DLSsWxMduULD8BtYadD2Gt0mIgqMukvW0-scqy4C6HYPcM7fYQGQDeWwcKVQYPDn0nVT8bg19so9CSYgwk9IJDVow74xMYMbPkdMOe1c-jVsARz03QXrv2rUYnPRQaIq5nyqrYbqW6UZPDFXge3QuQ9kQMcEpWn36YvZ2UUi1fICy4F-tQB1rN4i5WlqsTbMcfPKMd4KHPq0-fJg6uOkAOX8yQn9CDv2Exgpzh1JO9mMN02JZl08zPhFn9gjjBJvjVcg2hl4IYdvb88ICqBYj__sEskKVXCJaTG6lDDU9af_mq22krnfW-aVa82cBzWFmJyaeomZBHApH1YDCa_YRGRkIdlVg9-37yw0_WhEY2gvS_1o1iNEsFE7MQEAiR_tNpx4IoPY_aTwo7Jv3_WAfEvd0AiAA=",
  "id": "rs_031dcf041c9993fd016ab434710a7487d08f01defb7dda3eb0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is aligned with the yellow fruit, though the descent stopped a little above its target. I’ll close the jaws here and see whether they catch it.\"}",
  "call_id": "call_rpCRZkqiaxZTCRmpgvtcWwOs",
  "id": "fc_031dcf041c9993fd016ab43472106087d09fea948e1cba3369",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rpCRZkqiaxZTCRmpgvtcWwOs",
  "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]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4545, -0.5758, 0.9977, -0.2359, 1.6184, 0.9062, -0.4606, -0.0391, -0.4534, 0.0094]\nstate[eef_state]: left_x=0.2936 left_y=-0.1264 left_z=0.1828 left_yaw=0.0506 left_pitch=-0.28 left_roll=0.027 left_gripper=0.9977 right_x=0.3454 right_y=-0.0722 right_z=0.0338 right_yaw=0.1017 right_pitch=-0.6196 right_roll=-0.1674 right_gripper=0.0094\nstate[joint_eff]: [-0.1846, -4.0957, 6.735, 1.2332, -0.2222, -0.0366, -0.0073, -0.6632, -7.9932, 5.4359, 1.16, -0.1685, 0.0464, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07bb23fbfab6a65d323b48f38c9e07d472a3e1d0782a18ef97f89d2c8a7685c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162944989a33cacf50d52952974db47e07de208d972a4cb8bc34aa842fed7827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11e569fbd4f5f28306cf656c2dd3b918add4f0631ccdeb97a03e605f85ed8e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.71 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.664, 1.2308, 1.0447, -0.8047, -0.4557, -0.5758, 0.9977, -0.1738, 1.3354, 0.9241, -0.7105, -0.0139, -0.3813, 0.9983]\nstate[eef_state]: left_x=0.2936 left_y=-0.1265 left_z=0.1833 left_yaw=0.0503 left_pitch=-0.278 left_roll=0.0264 left_gripper=0.9977 right_x=0.3103 right_y=-0.0483 right_z=0.1037 right_yaw=0.0824 right_pitch=-0.5706 right_roll=-0.1771 right_gripper=0.9983\nstate[joint_eff]: [-0.3624, -4.3556, 6.8581, 1.3162, -0.3883, -0.105, -0.0122, -0.3077, -4.9436, 6.4205, 1.3895, -0.1734, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.664, 1.2324, 1.0447, -0.8047, -0.4549, -0.5758, 0.9977, -0.2359, 1.6184, 0.9146, -0.4706, -0.0395, -0.4461, 0.9983]\nstate[eef_state]: left_x=0.2936 left_y=-0.1266 left_z=0.1828 left_yaw=0.0501 left_pitch=-0.2795 left_roll=0.027 left_gripper=0.9977 right_x=0.346 right_y=-0.0723 right_z=0.0356 right_yaw=0.0977 right_pitch=-0.6203 right_roll=-0.163 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -4.2872, 6.7761, 1.2479, -0.2955, -0.0269, -0.0122, -0.5538, -8.2667, 6.065, 1.3065, -0.1197, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4545, -0.5758, 0.9977, -0.2359, 1.6184, 0.9062, -0.4606, -0.0391, -0.4534, 0.0094]\nstate[eef_state]: left_x=0.2936 left_y=-0.1264 left_z=0.1828 left_yaw=0.0506 left_pitch=-0.28 left_roll=0.027 left_gripper=0.9977 right_x=0.3454 right_y=-0.0722 right_z=0.0338 right_yaw=0.1017 right_pitch=-0.6196 right_roll=-0.1674 right_gripper=0.0094\nstate[joint_eff]: [-0.1846, -4.0957, 6.735, 1.2332, -0.2222, -0.0366, -0.0073, -0.6632, -7.9932, 5.4359, 1.16, -0.1685, 0.0464, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07bb23fbfab6a65d323b48f38c9e07d472a3e1d0782a18ef97f89d2c8a7685c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162944989a33cacf50d52952974db47e07de208d972a4cb8bc34aa842fed7827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11e569fbd4f5f28306cf656c2dd3b918add4f0631ccdeb97a03e605f85ed8e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDR6X2WIF7RglVYaOrlbksPLRgD5maYxB3dTjFyUSS_7GTJ8AWgbrZ4i6dNCEi-SCByrOW1siBsmBSOUGjqSfzZrm90JFY6vj5AP2Bu2M_ZE_WIiVpdVpRwLYeiVyw-zgjqScscks-9RTwR4ZM-OzUiOoRk37XDlWedWwF77avipDowPSmMykqitm8qYA1K8Vf1X0D8K2m0x8uWwDAcpKHQuKtem64tVchu7YFhKQfq59CDBM5UE1Ixjp4169RT8cG5Vr4u54qn9jj7Uuh8UlYnP_ptkPBGrvQ4J8JHZhJComvBAts0lhKpakM9W_XTDQPVhBsUbqiGWWHNDW3m8EPoNyAzR5oB7JK2-LT2qDP9VEgzZt9dHzLH28CIdVXSVFeHr8TxDhPJjq_NP9fywbl6SfkR5jY5czHEEqpHrpZMWFhpvpm3iTtZ52oWDN5C3XEuj1fFCRdJq5PV1-lyxkV-H4uIws0wxqK-fnv_cXZzItwUu1M7Vqs5YAASmGcvLcAAWlHDmw-Q842cI3d4vSv4q9tsEPvDkUHhdYDEpKLAws_Nc4DhVjJIRXwrdJC_iuBOUr8y3RjdE6SWQFfJEEExa9zBT3shh2os5p_TNquw4-35ir-8EMqb5zNGRb6O0Umx7_FOVaaru4JgE-JieVqnaHNRuCEnWcptpBhvXn8iGyuMrCvbU84ekp1wtvsfogUGbLB-jvGm5wqCdpVHDLc9qK5pI-6NM5C9flBUW1bRlMDinql8BswgmBVfhnVaMqDvtOXsO7bxdVqMbT6hykzziG4XmIR4NTLSHpQb3_6p4euGpQndysFceM36hq7wlRwknz_ojPTZqokCVaHIdsTsIos8WdE3mWLNUMfpU7ptYhpg71I8v1aXQcCx3AWrUhcVw_DtmIzGQ4IhiCGBDxHOU0yhvKk500xWmcjiqhaXbZQ-KrzLa5yMSQFvr3l35BrfsxLREM8YwEKF_6Ifi56wZPAdP9ic1bff5h8KiTAJrX5D-raMnn2UJr78bFSDZ9bJwqIL-V31jv1Dr0PKLCoLSOwTwFmzQSRLS03BVDpNqKeqh9SipY85FXV0C6ToBzj5CIzcY2Yvz2SNX3IepkzxHjfWPiocVvhTvYwNkTozhIyMDFA7Fhs0t1Zecp4xXKTBCTgcYZQ-nqjIcfUiKwU1Ae6OA6hgXtaSpgbcVL81AN1zjgr8B-mCp928noeBZMqGm9n6WUCpdDGwezorBb_hkp0t7hPvXxsaJSfS3puqvbNz6owsAwfI5f-mThGVC98CFpRBNnpff7pWxaNeF_XeX265z3lPOyTTt6193bhneY-25QZStuTYrulRa-ThHLS-jUBU_8ork0P2A5F7RYul74QzXruNdI9dHObHkPfC9xXzJGW4Sqy0MOcE5gl6ZYwh3mySJDlCFEwADfWUkRA8iIVTztvEKLo5UvLhvKuhDeYqb8Q6ikzQA2ORgZpLE73Wzhdooy-zgkQaLPreHDhN0wjscioM1_OjsM2uGHMT5XvvD5WDkE-vaAI1en616rBq5Z6zDhAXdIc7rGAeXfE_srouPp_m8we81YA9NZR4INVLAN4wqlPE1QigsEb6mp50KLRTf99ppNd96NjZjRU3TdaNgsNJZWT8kHG5h0cMVWwwTZOR58d_1VBsU817dRGxLDl8Bg0DMnLPuiFuMuSg_Cbw_fdrB1ItmaMdPaqnOyGfQIpnO8BtTaedhEU0vo88vm3ngpl8VSQTxp91kciNHSNS12bqBL0VkzQm1sx6OWjgbUDu7RxsDlEfe2w-IfnSs5AAA1wXd9LNYEzta4AfV3pfH1STaSgr4UFcVwpv6GTWV81pcBGnXO1iIqhijdPNDwLnJYi7OraKOYsAN108oDPW2sJXUXiz1jZ606OCzrUOjf8dYqXrJi8CP-b9Q8ACk50tLmeczMb_kzZh43mM_pcIz5mjkkFkPmI-Ms3ZuxBtMG_s3q071haOLcht1NdyUh8rmze9Qa5gCGwfVFazkgVMYhODxolT-UAV7aA1HpSx-zU-YkaCI7Q4XkGPrKa1W2OXU-vbvBrT6WmxdGkSapRyiOEG1U35dFOIp39xViwhaFPffOpJssPzGmsxNhEaWcUHEbtC5MqqBkDTQlhRmeh-ZqjCw7__gqUd_IXONUYSI2egXa54CPJRgqUp4aru7JeMP3b6ZNpX6C3wlLOEwdRXniq_JJWSMg71uU0BlxQzuFXan_MSuCKU0ScUaFz_ZtGqDR9seqJmY1lYkvikdotzWTAGfxrS59pAavxr0OTBoQ1NyrSDhEFQR4bmGDyhJgxXIIzTN_1jI3l030BYg-GfOzrqfbRnMNLvn5Fv43aZLRdkI51gEKdft1VXq_pCIUUQWIEj4Hbd5XEXKdAnJ20bR_xnCDSUVvZSedA15acpN4S6UQWTZfywKbGQhIsSf6Fg6bCxudsuUq4eCK96Iaw==",
  "id": "rs_031dcf041c9993fd016ab43476db4c87d09a2364acbd5a0073",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.345,\"right_y\":-0.06,\"right_z\":-0.01,\"right_pitch\":0},\"note\":\"The jaws closed completely without holding the fruit; they were too high to catch its sides. I’ll reopen and try a lower approach with the wrist level, while staying just inside the right-hand workspace edge.\"}",
  "call_id": "call_d7BuV1JlE6de9nHYIyPAJiEW",
  "id": "fc_031dcf041c9993fd016ab43479712c87d09efd8da95ce1ccca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d7BuV1JlE6de9nHYIyPAJiEW",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.3107, 1.787, 0.2749, 0.9657, -0.2703, -0.3618, 0.9973]\nstate[eef_state]: left_x=0.2937 left_y=-0.1264 left_z=0.1828 left_yaw=0.0509 left_pitch=-0.2798 left_roll=0.0272 left_gripper=0.9977 right_x=0.3548 right_y=-0.0606 right_z=0.0041 right_yaw=0.1118 right_pitch=0.034 right_roll=-0.1726 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -4.1915, 6.5709, 1.2283, -0.2613, -0.0513, -0.0122, -0.2803, -3.8906, 1.7162, 0.7204, 0.2222, -0.188, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2c2fd28800c4c45f3c77b841f9f6945ecdae128bee0499b5f1a588596226d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:773fe5829da48caadcf4c8320a8b5a2cab8c19bdcb6f9f0a6ab53af2ca4df317",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ab5aa8df7c4174e9b2ab7d0ecc902e81cf24cf78ec923d6ba216a7f52e8770",
      "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 32 attempt 0 · /responses · status 200 · 3.4 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2316, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.2306, 1.5898, 0.9165, -0.5293, -0.0387, -0.4316, 0.9983]\nstate[eef_state]: left_x=0.2936 left_y=-0.1263 left_z=0.183 left_yaw=0.0508 left_pitch=-0.2793 left_roll=0.0267 left_gripper=0.9977 right_x=0.336 right_y=-0.0682 right_z=0.0402 right_yaw=0.0995 right_pitch=-0.646 right_roll=-0.1459 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -4.2462, 6.9265, 1.243, -0.2808, -0.0659, -0.0122, -0.3624, -8.212, 5.9556, 1.2821, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4545, -0.5758, 0.9977, -0.2359, 1.6184, 0.9062, -0.4606, -0.0391, -0.4534, 0.0094]\nstate[eef_state]: left_x=0.2936 left_y=-0.1264 left_z=0.1828 left_yaw=0.0506 left_pitch=-0.28 left_roll=0.027 left_gripper=0.9977 right_x=0.3454 right_y=-0.0722 right_z=0.0338 right_yaw=0.1017 right_pitch=-0.6196 right_roll=-0.1674 right_gripper=0.0094\nstate[joint_eff]: [-0.1846, -4.0957, 6.735, 1.2332, -0.2222, -0.0366, -0.0073, -0.6632, -7.9932, 5.4359, 1.16, -0.1685, 0.0464, 0.6227]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.3107, 1.787, 0.2749, 0.9657, -0.2703, -0.3618, 0.9973]\nstate[eef_state]: left_x=0.2937 left_y=-0.1264 left_z=0.1828 left_yaw=0.0509 left_pitch=-0.2798 left_roll=0.0272 left_gripper=0.9977 right_x=0.3548 right_y=-0.0606 right_z=0.0041 right_yaw=0.1118 right_pitch=0.034 right_roll=-0.1726 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -4.1915, 6.5709, 1.2283, -0.2613, -0.0513, -0.0122, -0.2803, -3.8906, 1.7162, 0.7204, 0.2222, -0.188, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2c2fd28800c4c45f3c77b841f9f6945ecdae128bee0499b5f1a588596226d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:773fe5829da48caadcf4c8320a8b5a2cab8c19bdcb6f9f0a6ab53af2ca4df317",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ab5aa8df7c4174e9b2ab7d0ecc902e81cf24cf78ec923d6ba216a7f52e8770",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDR_5ErCGT5-k8N0TMvyxsf0H4NOhiflgfv9cgg9Kl980BYYupRMXwpgX2Vg44ahB-L_NXXN90BltC5n9KHVTzqgpc2IqjXwOzssOa1fGnVjNnwpHAG00rJ0ehuyn3iC2LsNJE3iZBtIjzm5uC-a7gZuVIykkxVRSF-BJpUU_RfZIDLPpWIAeJ8E7MRIbqsHEhzd94F3t2uFz3WursaTbm-cPo0R3mqasD1gYulI4-znyZgF-2lI57L3kOi26MhPL93dMUiWVAgvnE9Li5L0N2PY-Rk9V4KhtIOarLd1qixHzini8ZbKB7Kb8bWo6mb7eU3AcHcwcnW59BdH7fa-Rdg-huqjSfhsWICPE9x6hMcbyyKCt1dRokxlyG0rjssfAteVnRHsRs2CoGEsXGRzx9YNrOZc1CFMRxeJUYUDFcy6tblaruarEY0zlRUxj8MSu04-D9Zy7bbo4Sa09pgRJlZwDd04JFKnUyzTvc6fi8GBGRyMn4_tiG0FpuSxEpl30pFzwpCxcQw0oasPCqCHHwxTh_pInGAFDzyfX_cr1_gb_s9kWS6ZWRQL2ifff0N5b2NE5iq8X61Xs3bCwNX0he0WI_Wl_OAx66eL27l-gTIMYUdKYnUEF2XRYmNa3xZJhh-ilVNd0JdlhuwTU0M2h8lLxydoyvmGx-mHLpH_USkRUchDcjUv0jXl5vHfU_yPQlyYFRvi_fur2uP7AczSQTvE9fxrOnyUFmxUgk49WyItl3qTARMVsD410Xx8kdVoIssmYd2fhg_PZUQtBnrqnh-wI91TFuRdvD4Qfxu4IuN0SA3YsTLJYImO3FO6QYxLkdCu8iQ6bylVYRyn0d26c0dRe4r0_d42tEMO_BlxIjBMQCzM65T_rj-fpuzfXB5mci2qRYneKHMw_3mK9nepcK51HUVx9Ul7e5NUI2Se7xyYQrIVjDiw6PnJ1hm5tShbjrztBAXMfglE7S5T90Kq2k4wNUomjzliWUGwRmnbLg9Z_8agNK3GsOE7wTovSvqepItsSIiOZYN2PPakw4SHzS9OhCThDlJZR8s71uYt0kYExejgYyxxENqSyuJSn5y8PZ3baeSgoo4JTmlS2CynprCn0K2q69M0g_hKvVRKKmpf_0iLNu97UKAjK9Q4UEzzwvijSrEk7WOM4y5f6fDLyIpUnTvEGZe0fOnmoUwidICeUQVz248RsVmuGMrtEtiZJ0VvNgLfZgqb78FRdBz_4i8Pz-6H_VT0UGVZ5dsZ4DzD74VKw7j1PkR8by2uhkXniHwHv83WEvjEya1nZgos2rDUofdeU2Ol_vJpkQZ-vhmpIFPduKRiGeaIY0IcAB-RGjq8-p4hqpBFE7Ux91OiiwJ_K9n3npqcOorlAWRNg3oCKRG91qxNSfsz7XS6x30DrEgz8EVzFUFeruJewqMtAdjx6E_08ktLETnutYiqPhNzjIqImlgkvNIbWtwbm4K17QVP4TcRaLNAELNaHlPf_TyPPgo6XenQwoaT966rzJS4KKKihmX4hj0_MmES12tI2WMQCvBormes2GZL68_HIanndKkzOhitEBtbcZkUXAAVmSDcx7LUcUltEZ17jZCiIDcrD6qCSZZm4rPZV2qFeRK2NvPJlEVBF7VYEZRbi8cGdFeWK-UdrtuKcSLuHM4dNn4u5Cr7MHkGqxTWhm4llt-eLYA52N_8m35PD1Wdrjf2hXH7HGk38japBxqLmeG6Y6DokkOoipQ0zynVb11hwq1QiAcUrqFEpOIsL9FUmI6yms9J-latXhMqH3T71e37BeHr56VBekicSXCJjMIBcNwagg==",
  "id": "rs_031dcf041c9993fd016ab4347d82e487d0ae76e4bdce3b9725",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are now essentially at table height beside the yellow fruit. I’ll close again and check whether the lower grasp catches it.\"}",
  "call_id": "call_jdozBHOveWkQ2QNDObsqvr8r",
  "id": "fc_031dcf041c9993fd016ab4347e66d087d09dc3da491690e98b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jdozBHOveWkQ2QNDObsqvr8r",
  "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]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.3107, 1.8008, 0.2646, 0.9718, -0.2707, -0.3592, 0.0092]\nstate[eef_state]: left_x=0.2937 left_y=-0.1264 left_z=0.1828 left_yaw=0.0509 left_pitch=-0.2798 left_roll=0.0272 left_gripper=0.9977 right_x=0.3505 right_y=-0.0592 right_z=-0.0021 right_yaw=0.1106 right_pitch=0.0179 right_roll=-0.1628 right_gripper=0.0092\nstate[joint_eff]: [-0.0068, -4.2188, 6.5436, 1.2625, -0.2662, -0.0269, -0.0122, -0.335, -6.9675, 3.959, 1.7265, -0.1343, -0.0513, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b545e71fc73aa5582437a1660b8955d2c3a7b91c931fbb6728397dd2814b6121",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9904b5b2f0e7072bb24100689a628dd20b9be89ac4fb8697c42696b16fee9331",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:433f80381f49d3b3464a5f7a304af20c4a3ae6a0b120dc685bb365e92f39c90f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 11.81 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.664, 1.2324, 1.0447, -0.8047, -0.4549, -0.5758, 0.9977, -0.2359, 1.6184, 0.9146, -0.4706, -0.0395, -0.4461, 0.9983]\nstate[eef_state]: left_x=0.2936 left_y=-0.1266 left_z=0.1828 left_yaw=0.0501 left_pitch=-0.2795 left_roll=0.027 left_gripper=0.9977 right_x=0.346 right_y=-0.0723 right_z=0.0356 right_yaw=0.0977 right_pitch=-0.6203 right_roll=-0.163 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -4.2872, 6.7761, 1.2479, -0.2955, -0.0269, -0.0122, -0.5538, -8.2667, 6.065, 1.3065, -0.1197, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.3107, 1.787, 0.2749, 0.9657, -0.2703, -0.3618, 0.9973]\nstate[eef_state]: left_x=0.2937 left_y=-0.1264 left_z=0.1828 left_yaw=0.0509 left_pitch=-0.2798 left_roll=0.0272 left_gripper=0.9977 right_x=0.3548 right_y=-0.0606 right_z=0.0041 right_yaw=0.1118 right_pitch=0.034 right_roll=-0.1726 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -4.1915, 6.5709, 1.2283, -0.2613, -0.0513, -0.0122, -0.2803, -3.8906, 1.7162, 0.7204, 0.2222, -0.188, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.3107, 1.8008, 0.2646, 0.9718, -0.2707, -0.3592, 0.0092]\nstate[eef_state]: left_x=0.2937 left_y=-0.1264 left_z=0.1828 left_yaw=0.0509 left_pitch=-0.2798 left_roll=0.0272 left_gripper=0.9977 right_x=0.3505 right_y=-0.0592 right_z=-0.0021 right_yaw=0.1106 right_pitch=0.0179 right_roll=-0.1628 right_gripper=0.0092\nstate[joint_eff]: [-0.0068, -4.2188, 6.5436, 1.2625, -0.2662, -0.0269, -0.0122, -0.335, -6.9675, 3.959, 1.7265, -0.1343, -0.0513, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b545e71fc73aa5582437a1660b8955d2c3a7b91c931fbb6728397dd2814b6121",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9904b5b2f0e7072bb24100689a628dd20b9be89ac4fb8697c42696b16fee9331",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:433f80381f49d3b3464a5f7a304af20c4a3ae6a0b120dc685bb365e92f39c90f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDSDwMqzODwNP-3HPykQfSFs30CN7hQ79zDDmRiSDEY3R_7il1YK82rnacAkcizjsvF5Y6FCBpndLXTTck4WPeKaUxAQKkQIfOBZwBwOcOBH-_Ge90yFlZ5cC618GXQ0rM1pXJFIIqZkEz0PJU6JBNiJ3VU4mv4JL3rK-WbUeriKcWd1c16iDijLQOSy93vxXRKQ5ugFeHJiXztVPEZEzUQDWKSOaBS7gD2W4pK65E4uPiCVO3HHTAHeSP13PdvtrR92uANCGXS23Dln_ddZSV4JkXycqGULJ0r1lhDf5v8I4zIcWmXFXITP01l9HXTvqmwlo0JAHXmQmCPeOhZzR3dHHL1l6qLYxmlrGmQp6SkuB1W2qrL1p_sb6sYVCgtTcuXcSjc9LAeiyQDZdiuiAIwW4etwFqycxn5IKMHJMkKR3QZfv1OLVwVswEzezf9abCQDZSYXbNxoa0Q-o29qATzLw4o3XTl1uKYpNTZ9CwUuKh1P9ZRBE9HNsdKC5Aimv11avqXPI8nuaHlUFH8BstUPE36RA6frKQeDIQUPM2TQUigVy51-OtrtbC9yhPceSCUVTGkB8GTMHs8CRB7Pp9_f0U1gQxqKjDSFs52DESMHc65tUOXp4nyHbEX3s6MbPRPgikZ-rpkc9I0R-yUoAN77sfi5YzP3vojFmz4Uu_7eICUa-2QCjxZ-xiLmKdMx475LOhTYQxrtijc4LllTV3YXEahk1-Fry3uzQfh_6FFoRH7JJNbCMbqmOafqFn5sKfhAbBVAfP5GwKPZc55v3kpBsw33GPq_Ibt6ABf0WK_yH5T65Yv6patvc0H4X3ItzN3Hth24UPA3bwrqaRxWfWhcipiyT8lf-Fn063NyK89Bnz0RTrmjGkIBqZzuBPPaGIl6NuwpDm5b3Ty4_EBfqfShhE4ifFUGeFslevI3vW6WF4lxLvSqYU2yTvQQN9b8z5hpjfCa9qZ2fDibkNvSfLeHsUur-QTC9tsJ0lXgX5H9XSYSRtZ2A6c3736JTm1djKbTY7fxzieyI9nMsMzTfB3JsypSyyksGUSpJUOkCIPIT_W3Wz43-n3v-LEXfZksQ3s73GU3eNy0XTwxyC6Eov2cKxwQgoEc_7re8SDKGf5HlOt3RTzndtH8LTDIybGXNEJmw1joekESvqa5g61yi7PgXgEcU7RpixcCazMvRSsHnp3LJuYWuqm3kColt0umHFmS_pFnZpiTMe7XLFbdVy4eW1undTavtbFQIcQd_HCghVSEl4vDrlaKr1hcSnO8ECIe2J5nTMvJMzjn-o25bfvAWqkDcgxHDFO7lroP7VeXJYWwuRNVdjuduivYOK9m3zjUqR-igzmL713qKFDrNxhN-xOtpSSUf5i_LWyDdd3q_4wiQeKPwzdgx-MvMBHMkRo6uCLdGEb1WdQx4D6Z_WDQda1uP9u9OgHxybaVDTjsYo-6J7f-OaMPOWD2PxTdopIcLwozJ5GxejFi4kZsOiW43GfJ65RadCOucXUfRzmBOqVNm1s4LfEKHbsk3HeDK-ZQW_nSS3cNHLgPrTt_vzc6mAib2YRQpQWoYDHZ3sly104bKi6F9FPvTiTX38U-4Mr9-drS-t9Cdnj-5vTLNqIxkrr6I6-QM2DX8bY1A5zpJy7fUXSOlOrIwOkWTQGJQv8PDwkVAXmA3fUqg4XTTRm3fe9US49BHngzhG5gUF4c9uTq4HzqvIQKX7eOi4YLD2rtya0vJZWsvYG4n_yo0a4VVEcPNdnKPWM_WG71NSHbVh7X_y73O8gXe6T2MNLlPabhmoYGAtP8fi6TWGBokt8pCfzkcwqk9q8jWQWen1T4Ryy-J87KbEoXIKvs4WLnXqgrMPzN01K34PU0zcHBSRbbp4f6XWYSar7U_Ey2YMvGeq7bDFZSBUYs5lDdKWfISFwJjfe222MNYtJkB3uf8OkV_4rWXvsMgWISX-79FippYinLf8FaS1YepDLGOM83Grq5Uj4-T1mKeILb1FHxfgViYAjOW8Oag2pt-dNAbwLC8P0tD_zL8zGF9uC7tj5za_1Mb_kkEC-TXOcUQc5XYmTbPFI6rYtDHoSbLgbAqlrjdcVuSHPfJtQL4B-lnYU_YWJ1V7_ewC-2V0citZ_5x1bM-IayVpZCe4o6rXl28gErQ445iTvahRIQ6TOw_sdRm8QSPX4jZfRVRz1p9Lg94MUhew==",
  "id": "rs_031dcf041c9993fd016ab434816b3487d0acc60c0a6111ff18",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The second grasp is empty too, and the yellow fruit is hidden by the right arm. I’ll retract the right gripper to locate it in the overhead camera before attempting another pickup.\"}",
  "call_id": "call_ZSgtIuMjsZyv783G2yAGyfTe",
  "id": "fc_031dcf041c9993fd016ab43482bb6087d0bb1952a24ae8e647",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZSgtIuMjsZyv783G2yAGyfTe",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2388, 1.0447, -0.8051, -0.4545, -0.5758, 0.9977, -0.0441, 0.7654, 0.5293, -0.2703, -0.0708, -0.2478, 0.9957]\nstate[eef_state]: left_x=0.294 left_y=-0.1267 left_z=0.1809 left_yaw=0.0519 left_pitch=-0.2849 left_roll=0.0314 left_gripper=0.9977 right_x=0.2978 right_y=0.003 right_z=0.1766 right_yaw=0.15 right_pitch=0.0526 right_roll=-0.1814 right_gripper=0.9957\nstate[joint_eff]: [0.0068, -4.5607, 6.735, 1.2723, -0.2564, -0.0708, -0.0122, 0.212, -1.4154, 8.841, 1.8046, 0.0806, 0.2857, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c5d1b7812367f7beae40334173fb588fe403de128b3003a5d021fbdfa2d3a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f6ab2ea141b6d72f6686f571510aeb00dc7fac919780fcc869f60b1b41ebc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a33b8a18045284fb5cddd003b7049432de0549e3bede89eeb590482d8c85be2a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 3.509 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4545, -0.5758, 0.9977, -0.2359, 1.6184, 0.9062, -0.4606, -0.0391, -0.4534, 0.0094]\nstate[eef_state]: left_x=0.2936 left_y=-0.1264 left_z=0.1828 left_yaw=0.0506 left_pitch=-0.28 left_roll=0.027 left_gripper=0.9977 right_x=0.3454 right_y=-0.0722 right_z=0.0338 right_yaw=0.1017 right_pitch=-0.6196 right_roll=-0.1674 right_gripper=0.0094\nstate[joint_eff]: [-0.1846, -4.0957, 6.735, 1.2332, -0.2222, -0.0366, -0.0073, -0.6632, -7.9932, 5.4359, 1.16, -0.1685, 0.0464, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.3107, 1.8008, 0.2646, 0.9718, -0.2707, -0.3592, 0.0092]\nstate[eef_state]: left_x=0.2937 left_y=-0.1264 left_z=0.1828 left_yaw=0.0509 left_pitch=-0.2798 left_roll=0.0272 left_gripper=0.9977 right_x=0.3505 right_y=-0.0592 right_z=-0.0021 right_yaw=0.1106 right_pitch=0.0179 right_roll=-0.1628 right_gripper=0.0092\nstate[joint_eff]: [-0.0068, -4.2188, 6.5436, 1.2625, -0.2662, -0.0269, -0.0122, -0.335, -6.9675, 3.959, 1.7265, -0.1343, -0.0513, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2388, 1.0447, -0.8051, -0.4545, -0.5758, 0.9977, -0.0441, 0.7654, 0.5293, -0.2703, -0.0708, -0.2478, 0.9957]\nstate[eef_state]: left_x=0.294 left_y=-0.1267 left_z=0.1809 left_yaw=0.0519 left_pitch=-0.2849 left_roll=0.0314 left_gripper=0.9977 right_x=0.2978 right_y=0.003 right_z=0.1766 right_yaw=0.15 right_pitch=0.0526 right_roll=-0.1814 right_gripper=0.9957\nstate[joint_eff]: [0.0068, -4.5607, 6.735, 1.2723, -0.2564, -0.0708, -0.0122, 0.212, -1.4154, 8.841, 1.8046, 0.0806, 0.2857, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c5d1b7812367f7beae40334173fb588fe403de128b3003a5d021fbdfa2d3a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f6ab2ea141b6d72f6686f571510aeb00dc7fac919780fcc869f60b1b41ebc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a33b8a18045284fb5cddd003b7049432de0549e3bede89eeb590482d8c85be2a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
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  "id": "rs_031dcf041c9993fd016ab434864d9887d0b8420b59e1923893",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDSQv0rxkD4_ygLuZgTdj38noozwuDpwvaNcZiNdJ_N7FUilxrQqadppRu25zW2mkOqxgG4eV6EqyCiE23lIczAJ-AbHYvEoprOwYxwTgLjDOmMNF3LltQ635_H1x5mJag1hUgFc2yEhAbmvO59tUyUDz7prsRr1g-udsD1-MnJs72m52GuARN6wXraRfYvxL7bwdExd2QlwVA3eaF4H-Hoau9LNOgQ08R5THXBViQTg_3azRlgyibthHXhoDvgv9JEW7lLeUW_PvsFZE6KxfoKxubu5GosPZpJd-iUWzRkfemtptcHmzZ63yGZvSUKynrZHHbi_5K-7VhHoZR3I6y4VRh5fOrDwZZYys7Hq7Bbfjmh77rjbHxs94dR8oVG7aaxG-i-qYwbXYBn_4aUgZ3R9TsO5J7X1osEsVQ9AqNZosBn5ZUFZk3F93lDkdQz3CnEjg1PJvVYuwqROWqwHcrWFLsad1N6OYpMPxylCDimepmU3ZoeDVFPL8DDMk96V_Pa1bLq4gsnhN8TeMI9V1D7-EQDmi9nrEP1UPaUW0q3k8vOIhvU_Irm4wEf4yD0BnZQqDCWcZt0I_0joIQehG4VWE2V9Fb1tDDJaYCmBPl3UYzTDqpG-juLRd9OPQxsXwpnTFELSMYEO9EZZ61sqg6V-eY1r8thVv9kI4dU6hzuouUkAdpKrfPIj2siEPMppBTwf845O4bltKRnQhoBqumBB9Osr0nO15avPgoIBZ2pGroMmrGKnnivj54fnqY-PcDQait066Wreyuek5vNXJ8Qtdi7bMf08d-6uwTCvrj7imX8PU8BuaV4S_gP-Xlw3xtYYXeL8TvpKBwpvbKpqq9YulwPxirvQ6YzrIw6amjQjdD46lvcObbtS7TFwRURFQZ8tKBcMkp44atMHbpWTTKqNS38GPyUBGaRVZTZKV4lpORNEGmjEnGufuzfklPu820BvLviiRbLmR62mUEVaf7ecQW7uXlxypOyKAzObsVvkvCu8Akeiu4CuWK1UTqm8XJ_HcnD--QlPNN5G32rblgxo_FIT0KKqzT5oY9U6bqQ7mRZI4dXmDmnszRye_rtd4Se4KbUBpM6YoosvGH39ca_-g7vZu0xS6lyDTat7mUA3sx-OtoWvw9vvCl1mHUvZRBAhEOPbxRqxJE86CpILBwzxEvedmr89C7Ku4KEJJSORO0WhczgpE1geq9s1B10ZJfhgYGysY8k4cT3Qsu6JzMRfOckjoetnFqTLsutk-aWLIPHy0XtCwPdgzzfggN2HrBYVsjdciGAK3cRcRrqgTfuSA-siW0_mSNETsJf_Z63Iyti5aWtcAKX3DYgXu7S0UxGiJ6ozDd08ohgli0PC0WMeqw3dGmhkHXC0e2-p2oVPm3UFWRXQvP-rvi6cp5XSrLSTh7q8Y2nA5Eb-hoJdZwKANmDF1pjNcmf9gSdZykAWS_NW2nHIFCNg3Gagj7Nuxw72XICCpi7WpWbd_5eWVzQoQ1TvjjvHzJVuuXYnEvZbOopcabIwgkwC4ET9ZK8N2uXzXHI9vAqGaPBdFj6GlScPHogFv4DW1h0y1lQl6hcxhbp6GFiWjj7YR1U2YY-tBmOjESRDTiDZ9wZk7truWMF5aQg2_kOrB1kGKtjw6FNFcMv9SUsq60aOWZm1V5uL9DVlorlsNRKpZtnmvG4hjfR3bZuOGZTLB4C0VpntV8dmvHOT4FJt_Ej7sllbVz6N_fX4UvPJz6apUCzAlFnYcnrDC6pMDRR5KJpy9mzDnGoBJJVVMy-Eh6qE9utMmM0JdeijAAl51SERoY1zyFdKGoF_1rZoQ7vadbyoabdwO2OyUfCankp7jwKCNh6s2mTpw6w7mIDrLLMvbOA87-3Xd54CZ179ByGWK2DyaI5avtlnOS8tISa4BOkx4uwmJQYothmNzE-dXNBK3iPgaYQeI7-GWZt-lXYGYPbh1X_FISECr1DfOhUKkyK5_l5fxsPWXS9MigzubFt9-GK7IiyB27sM45RJ-2wiuLPImWbiyi-hAPZbrybJJUAf6y7GucFzEfo-DP_bpZS8uEVlc5pDL7Rn0NGHIc7UCdKDmMEUtyzWPAg_McF5SfQxQnGs3r4THFBYeL37vLo1I-5waQjZWW3j5LtM8O0u4m6Ho4QrW7jbXh4qfJQa-uLwJreK7UgPyzfqR5tWtnhuaq1Q21-EuRFHC-Vr1YPKMRBpb4pPZxSZt5fmntEW2wX7Ks8Mxqrzo_ef0vW4sK22Vyttc2E8M9rvBwsoQ02bLylVG8AuxqOwUWgtbA8Bib0Wz1D9x_gm7dTN0Gfd8CIhYyUTcp0UBUQ4QpeTEO6KtmhpPxZsXcFtc9bOJFuQU_SF2QhDS-0XiVGwNgO7AuAY8ztk1aZ33xA656f2-t6X4ka7q5ZyJwDG2o0WnHoMeiF_ncEtexdnA6y3TBgiIwOY1Uhq0dPOfD03zZsQWw51Mkxf1sMAjUYKH5gXZ9TUcxyQNjVAkdDSxMyvIPvizofiTI2fwvcW5XjpIzaBdTO206BRiWFR2dleUiHrNHSx4W4JNWGYvgt1_Wk13UqeGFLtdCcvCAUksaoTL9Mouyi0myfsBiG9V8lr8YIYslkYUG60GJBPRZMIZpJ2KPDD-bdoWniyv66AVwRWVgx_vfvd82jOZVlgD4Arly47qrWED10U7YviTh_y0v-gmMEK28yZBw8up06ZNIbQSwTK3ngLY4ZoMO5OLI21seYuYoo3dH0Q4jcO_gGhy1xSz68Tnf0CsJkrjZE_WgJNDHUbWqpy6YQHG0bEBE1sWVx2Y5wgtEbpOt0WsmItNjDWi27sJcCXMbUmnAnvLpq319G-sPWvXRGVCImpEZsyf8O8fJuBfHar9cxVNEr4Jn3DB8xJxdrILJAHMBkojo1yPXNsXQS_CpqctJcW-mULxt-ufnrO9prhRZeJDXNE6uP8ZldY0XeCr4TyJE3wSZ0J31PrwYzpBJEPcBh9LPIaJWVoTiuDIylOm62tUThNbp6E0b97D8Ts2U23lQSoCaXsAbA8dilP5MO-snTPpijRNMDcD1EXYqSPtyfroKAgaqgWe_USDDCIaraakV-NgF8ySPHtreydzuqIil483PcOy4wgQIlCuSENcHIzBszlILtMrD6EYyoABK0_W6ilaQg-akDOcjo7gxhtTC_zkun6kdIen7OgHWeKsI0B6muEe5j4F4MWix03tAOph7DsCYg4F6JlikTz71qoIfMVJ01BtfNcBhSkJsg44LLwe_E8zqdzaLy1poGH9Ay1SPdEJGdjNNXL5CasyyEh5cVbaXy89hBcJ5wgsKCGLUtBK49HTFFLv3WDN5Znj34I3M12W15nm7ieq5l3GVtBPVZR1JyHQ37bMpTUXMYxouSZk3Mtyaci0fc4R95PzcM-dE8U5DWgV_B2xngLkXk7Z_eXBLrpFqaZ1vV__XSVbrCOhTx00OKMrLdcG9Tw-wzKgzBrVs4UdjcdNo8-dYW5gFz5ITfKadQ-SLe8-Q4loFxf7Ib4eyAU8leUbBXcqvpVk-Xil3H9CU3DcRddFcAd-ayayQwK5rXjdbmdMTiNlvLfbWeHbmKgduK_6Sds4sItD5CkV4j3RlwUPHOM_Z1Ky0Icj4RBecd_HV4XG6ipEVcWHLSj3g4QzwKYni2h05S3ItlBIQvd-on66ZSj2K9VeQKokw1__zQVg-icZMKYqhFbPTcMEwPqGrqiRwdfncg1gm-LW0mVoy0BQuZ540WSiVNHuuyyFTo5_GF28PUoW_uvp9xdRusJG8-9eX5kvS_SxIb23U0gj9xYr4-6aVbXZp-qIRiNgJzC1hDkJbEyhR461F9pOS4SJV-m2sHxx6no8_IR8KqeiXQGmIE_C3BpGwvMr5vUGfYagQZ-0PKRJlftP_C7xITZk4B-WcnjEMGQd2h_ktmQLQ5RT1EI2wO4C6nYkieoO7v6DjJzpe6cZgidyNj3m9DrDEB2oP936rGLBT5z0F1JupnL6qCaUCcjxJnHZ2yqqjcu93HmzJUBXs6aDNOK-2Wuqk5Lpgv7aNZ1Rv_w2dPNPUyDWIqOv11-V1XKMsEoYCw=",
  "id": "rs_031dcf041c9993fd016ab4348aaf5087d0b4d68f506bc3493d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDSQn0vA2mwlpPyqmZf22dGSNRAPzSiC8lEduG3i5mxoE_S44J6gVN2dwU8bDnZGpWRmnWUx3TnOAtmbi-O93jkwRNlriDBkmiGNky1qaYYa7eIlXAwJ6S5X11BuaxOK4Xjn4m6myUkiwC_Vnd2qZc-2Pxa41VkTMqZqSmCBheEhHa6bu0m0A-eqxVUgvAotlFoRhYrDFZSUbhbSoqgBL-peOgiqXM1P4jDsF6EPQ7zPrN9K27MjWSXPEJcxrSONP0HiSFqEAC_0SOhkPsQM68S26RQy31-hWFY9LWg6_2CuJCrsdHXxoxauEmT_Z-xCXjWefOz0Z4OGLhrlwI9RuEnbPCB5PdgLvLa8JTaMxoOWOOwd-Zn9BOJjeMp-zOkVPeemwLCUmiK8iB_DZsx5yMSBDAsHbTQDJSE4C5MaqGpLCxfls3EbhZT-Pi5hKkkBQsBr9IkOdF-8fpB96_7l-6wkILbg0N2tKrKj6sXYb4s6_N0jPKepI_XZEkEATk3-0-1dsN0ah8s7u_OpIHzOKiMIbOHlJIktnwvryN_NYhRX2LHF35E-ViwHTpsmacX_gdUQIt5uS4L_zRYtBfc40yCc-E_Pzju3YNHAyjiVt483z5PGE9uxY9a5aWY6K77MfYHHeGKo5Wz9eQYKSD1czXc4baqO9JNs1UwEJzpJOCvgPZjl1BBuiavHPlTvJSh0k4Jqqe9xoTSIdsZ_9FqFa1V_R6_r7jvESurf0YlaYpCYN6drC86alnBJu5tTe5Mk2zDzTb4Q7QQdxb3XBxUQn6FBtIiH7fkkTIXWCIILdvBWXrC_skrndBO5REOjppMoM94pB9aPaD0Tg4ERuMfzRqNTuRg3gHgSjxRxWSUkJ8LS2XbLR6Whi9mq3evGxdTPWB5L-60NrvHBrSlC7W7YVvmykzvWcIOY5vy6wufuhJV0-eZwS7q_93gAV10GnOjmQV-zqsGwFFd_ge0InZOJhTnI3KAAlZV0SnoapzCs7IkDSwmUl7DklPYRPVdKjbO4gfpchIIiEEqNjvZkY56giywTYhwE7d_TuDVRhOkn2fKOC0jQIh1ef1eYtSOcXARdPQp1yuxlgaghYxUN8AOdFLueAjoNoZiCLbX6CGgj3hp9Tqk2bfAR1vJNeicUABzO5qeKYeifd_GokPI1cQoCHLIqF5ctjllouPOJOxEV_PGPbMnQjG8lBqJJrAG6zmgTEJrjwlaIN5WA6RxF2aOlnZ4qlG4D8eE1l5mwPPo1oFOGu8b7jmijy517GYXaLYI6PDhpL4gh9WrIN9Osa_5JwSRy8SqJjTf4-c16rpYSohkepv1fGd6Ccg_UD8kM0hodPyuJTX-z3mYtSB2SLkM-KUWXdrdX2s5Su8_rdfRYbdTvEaPIZVO-_xN1t0rnJUr8oXmodWW2El9yJDWx1SVCRU43kZ_USFAbmvrPm2YN71NDKathuAuF4mhUkX50siihOV2G4A4wiaMPW6iPBubYxKXKbbhaS0iSfPRktqwfbOHVE6A=",
  "id": "rs_031dcf041c9993fd016ab4348eb16087d0a75ef9b592d0b2c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.195,\"right_y\":-0.06,\"right_z\":0.09,\"right_yaw\":1.55},\"note\":\"The escaped yellow fruit has rolled toward the right-side fence, where a sideways jaw approach may not fit. I’ll try approaching it from the front with the gripper rotated so its jaws close along the table’s length.\"}",
  "call_id": "call_iU0HC9rmwxiw4cnQDu386qTr",
  "id": "fc_031dcf041c9993fd016ab4348f982087d0b302cbed94363b0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iU0HC9rmwxiw4cnQDu386qTr",
  "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]: [-0.6632, 1.2453, 1.0447, -0.8066, -0.4545, -0.5758, 0.9978, -0.3733, 1.6157, 0.8532, -1.0451, -0.9936, -1.7607, 0.9962]\nstate[eef_state]: left_x=0.2941 left_y=-0.1268 left_z=0.1788 left_yaw=0.0534 left_pitch=-0.291 left_roll=0.0369 left_gripper=0.9978 right_x=0.2519 right_y=0.0642 right_z=0.0883 right_yaw=1.3019 right_pitch=0.0072 right_roll=0.0778 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -4.4239, 6.5436, 1.2821, -0.2906, -0.0415, -0.0122, -1.4154, -5.3265, 4.1778, -0.2125, -0.6129, -0.0611, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fc010eaea97dc898c44d75660973c20238ded249275568728f32c9dad270cdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa837112f93793810ac55836dcf43712b759e91c331b2c397771d3517571bd5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263245703642dc346dbff02fe04a73e0779c290080d6abb0fe7a118b78f00bc8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 4.312 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 141 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.3107, 1.787, 0.2749, 0.9657, -0.2703, -0.3618, 0.9973]\nstate[eef_state]: left_x=0.2937 left_y=-0.1264 left_z=0.1828 left_yaw=0.0509 left_pitch=-0.2798 left_roll=0.0272 left_gripper=0.9977 right_x=0.3548 right_y=-0.0606 right_z=0.0041 right_yaw=0.1118 right_pitch=0.034 right_roll=-0.1726 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -4.1915, 6.5709, 1.2283, -0.2613, -0.0513, -0.0122, -0.2803, -3.8906, 1.7162, 0.7204, 0.2222, -0.188, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2388, 1.0447, -0.8051, -0.4545, -0.5758, 0.9977, -0.0441, 0.7654, 0.5293, -0.2703, -0.0708, -0.2478, 0.9957]\nstate[eef_state]: left_x=0.294 left_y=-0.1267 left_z=0.1809 left_yaw=0.0519 left_pitch=-0.2849 left_roll=0.0314 left_gripper=0.9977 right_x=0.2978 right_y=0.003 right_z=0.1766 right_yaw=0.15 right_pitch=0.0526 right_roll=-0.1814 right_gripper=0.9957\nstate[joint_eff]: [0.0068, -4.5607, 6.735, 1.2723, -0.2564, -0.0708, -0.0122, 0.212, -1.4154, 8.841, 1.8046, 0.0806, 0.2857, -0.1685]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2453, 1.0447, -0.8066, -0.4545, -0.5758, 0.9978, -0.3733, 1.6157, 0.8532, -1.0451, -0.9936, -1.7607, 0.9962]\nstate[eef_state]: left_x=0.2941 left_y=-0.1268 left_z=0.1788 left_yaw=0.0534 left_pitch=-0.291 left_roll=0.0369 left_gripper=0.9978 right_x=0.2519 right_y=0.0642 right_z=0.0883 right_yaw=1.3019 right_pitch=0.0072 right_roll=0.0778 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -4.4239, 6.5436, 1.2821, -0.2906, -0.0415, -0.0122, -1.4154, -5.3265, 4.1778, -0.2125, -0.6129, -0.0611, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fc010eaea97dc898c44d75660973c20238ded249275568728f32c9dad270cdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa837112f93793810ac55836dcf43712b759e91c331b2c397771d3517571bd5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263245703642dc346dbff02fe04a73e0779c290080d6abb0fe7a118b78f00bc8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDSUGii-BT7nTcIFZUt9LBAh2VcqVH1MaFRNfLxcZle4T_ScxKF15a7P-aKT1K_Ix-ITwr3zX0qGmr5jDaDW_SQQZRqXsk8Kncn2TqkwZ6ic2Kv5jKtHUKpSsYnkFRZpEvvruoeABASnSLSTcBW2fwMNjEKl6YCCPzIVNNlD0xxH_7YoWD0UR77AWsD8VrLHUOjPs1i39plAnAU_inhn9YZkNgQq2-HUyvWhvmRW9D1UvWGa2kKPM0TCQO0jxg7mFc64v6cD2DNDt_waZoQ-6NjKdunumqlXmtFAT-1SaaN0fFWOwaHeJC7PuNvMgk2TCJZuzea6eAbmaGSwcz-VtYCJ8ODtMveRyaxWHJnehuj6naAhtkOIPeDsyAAvEwGtkImxuRQk8cCPJR6SmNEX4xA7UK_Zj9QFEhAsWa281P2xqUaYH3AiUV4bNYkB63dWtLKTFLGcA69ECVJsiTcwZczK4p_9SlVp5KtieVTTO8cCBLOn-NH7VYwpwHwcPvC-nI-bHGehhjxayisx4PGTZNrLtjLlirazaGFPT9bLPWWBEugs3jhvuayqR7ksOlQczGNPmvh0qNMTzrEiut6UStXXUBn9ikcsEsxvtNy2Oue60BIn6BbfjGG7CkLhBlerSyfGWXP34v4QTvW1QJkgti-hi07xxNzAs1KkcjDBxLL06-w2EQvAtQN3Fv1g8HypNmyoTKiqc0sm9IR_NEx7x09OT_DLIPNo-o67vr6Payysq0ojX2d_37kqeFcj02AJQwynPEkFgDcwE1nbNuYVEnuBx12F5lsu0RiREzixAnAOc4sOdKuEnpGqYQtAA9oCnELTDL4x6AqlF0V3BZ2yC7hRn866FALGI9pgWjmu1OnM52OkPatJr-Ts7JQPzEFIAl3o2F2FrIid2wGG5UBlUdOO68xcEJwa_I34t1ZXuopmGQvKUCzTqN9GOTuUozXk79njr9SKOeH7ANJABScRIxl7u4XACP0Y8Slv5uM2onZMZTOjU0rgAH2FTvp2fcRtksB5jQnKhPDmXCuUzQabceGX9hd3VeR5LLZTF5B1wvCYyf3NqsLExtRjCVJdvDAVF17EFQRNkJeeryzcpbl1C2kwS39ptkMRow5ok0JbDDypEDDo1Em97Ve11pHhkQaQRYvMMss2YWdHLTz7uvgwljNdh3CKL5gJ-25JYQ4BpcE4CJI6LM_5Y52P38ZBK_sE294n5Jqx_ghw8h54qhgrLjnQ6WpHH_XJbNK0pC6neNpleAGvFsbony79mw2gZiRLpA4eOK6WDOvI4OsyT1OYb5M9VlYqnnL4SqGvNoSD6rOCEF-W06a81OcJlGAng1j7KAy4O3CRPdvm5dnPEY_xa3eSReTpg9agEAqNQzxvl-8QyMPe6bxop6q3KO7yEt-M4vBSa7jEDDRgBLyWdXNvkIQy3hdEiFUUFkcrxqIuxpri1TfiImQFM6p4mMUYhhLLgV3pFayGhredJv6hNYbJKLpUtDTPZO3_ONRazbmYaSsz7FRfgho6g8C0dXwtzeF-OovXVmgu77z2P3j0C38gMeQKPjkwtkHcug7tBvWdi7H3N7Zqfh6Bqn-1x1wRza5SoFTl3WtrHav_eZ5A8tUTVzaDMTUAohZUKvaV1oyBgW3nrWcyd8GiGPpnkBwpFgT92ySM2EOrP4GXozv_j9ZXEqFVAiAbDxxIQg82UJIeqhjS-HrcKdFQEfJeDOwhSsKy3dayJ6TgcSMvPzSaRcWqoIwJ1c_AUTTP9frjGfZp0BCaS8euIuVheDb0NT4d3Gjw9xvs-ChnqdFA8NI6X_EqQqwqHvh-PWQbnsFRlN0EcGYfCzznc_-XlVeSl83d_oWY2lfg2GHwrKXM-f6ZRybtqh8YZlonpS7tZzFbTYGefBlXr0TZkszeAPAGpVykWdyDX5d9SvsY78dkjV1-3I_IlvS178X9tb-yoPwomBYwkbrpy680Wig39N9UQw8yq4V6riLB",
  "id": "rs_031dcf041c9993fd016ab4349283b087d0ad8c9197b7635e3f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.20,\"right_y\":-0.055,\"right_z\":0.11,\"right_yaw\":0},\"note\":\"The rotated approach did not track: the right gripper stayed well left of the requested fence-side position, likely because that wrist pose is awkward. I’ll reset its orientation and approach nearer the fruit to check what is reachable.\"}",
  "call_id": "call_9B0xxIUy7wDbWvUCe9DVLDe7",
  "id": "fc_031dcf041c9993fd016ab43493ec3487d08ce91e7d410e5780",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9B0xxIUy7wDbWvUCe9DVLDe7",
  "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]: [-0.6632, 1.2453, 1.0447, -0.8066, -0.4545, -0.5758, 0.9977, -0.5255, 1.6852, 0.9192, -1.2064, -0.9432, -2.072, 0.9962]\nstate[eef_state]: left_x=0.2941 left_y=-0.1268 left_z=0.1788 left_yaw=0.0534 left_pitch=-0.291 left_roll=0.0369 left_gripper=0.9977 right_x=0.2466 right_y=0.0264 right_z=0.088 right_yaw=1.3327 right_pitch=-0.003 right_roll=-0.014 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -4.3145, 6.5436, 1.2039, -0.2662, -0.0464, -0.0171, -0.0615, -6.4205, 5.1214, -0.5788, -0.5006, -0.3101, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d70364340fd7dcdc3e329a217942bede3a4fbd41c79e4b172879a80fbbfcb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef8e1fe6c0a3675f7f07fecb7770da72f3e0b74e3a5035fb6eea147ca07481f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf086c63934975fc7e32df40fa5acca7e87e76837d41ae821b53b7cb59537da",
      "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 36 attempt 0 · /responses · status 200 · 4.175 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 141 changed as sent

message 145 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2324, 1.0447, -0.8051, -0.4549, -0.5758, 0.9977, -0.3107, 1.8008, 0.2646, 0.9718, -0.2707, -0.3592, 0.0092]\nstate[eef_state]: left_x=0.2937 left_y=-0.1264 left_z=0.1828 left_yaw=0.0509 left_pitch=-0.2798 left_roll=0.0272 left_gripper=0.9977 right_x=0.3505 right_y=-0.0592 right_z=-0.0021 right_yaw=0.1106 right_pitch=0.0179 right_roll=-0.1628 right_gripper=0.0092\nstate[joint_eff]: [-0.0068, -4.2188, 6.5436, 1.2625, -0.2662, -0.0269, -0.0122, -0.335, -6.9675, 3.959, 1.7265, -0.1343, -0.0513, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2453, 1.0447, -0.8066, -0.4545, -0.5758, 0.9978, -0.3733, 1.6157, 0.8532, -1.0451, -0.9936, -1.7607, 0.9962]\nstate[eef_state]: left_x=0.2941 left_y=-0.1268 left_z=0.1788 left_yaw=0.0534 left_pitch=-0.291 left_roll=0.0369 left_gripper=0.9978 right_x=0.2519 right_y=0.0642 right_z=0.0883 right_yaw=1.3019 right_pitch=0.0072 right_roll=0.0778 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -4.4239, 6.5436, 1.2821, -0.2906, -0.0415, -0.0122, -1.4154, -5.3265, 4.1778, -0.2125, -0.6129, -0.0611, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2453, 1.0447, -0.8066, -0.4545, -0.5758, 0.9977, -0.5255, 1.6852, 0.9192, -1.2064, -0.9432, -2.072, 0.9962]\nstate[eef_state]: left_x=0.2941 left_y=-0.1268 left_z=0.1788 left_yaw=0.0534 left_pitch=-0.291 left_roll=0.0369 left_gripper=0.9977 right_x=0.2466 right_y=0.0264 right_z=0.088 right_yaw=1.3327 right_pitch=-0.003 right_roll=-0.014 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -4.3145, 6.5436, 1.2039, -0.2662, -0.0464, -0.0171, -0.0615, -6.4205, 5.1214, -0.5788, -0.5006, -0.3101, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d70364340fd7dcdc3e329a217942bede3a4fbd41c79e4b172879a80fbbfcb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef8e1fe6c0a3675f7f07fecb7770da72f3e0b74e3a5035fb6eea147ca07481f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf086c63934975fc7e32df40fa5acca7e87e76837d41ae821b53b7cb59537da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDSav9yTZa0uqI5ZYA0acwa4dVJSEZCOAsmUQKo452JLdq1QX-G0PEX8xdtAoVvTNyDXDxL7_WRoF_mHTBCwm7A_rGDDESgZTnsUnLs6X87L4GIlAKjF61F_v-PGlU7Vqsai_x7LEh9ypIxiAb7YQlnByPUqm-mOgYI5S2f7V-GnujZoJ8BigHQVFX2sgEt7cOAnSORtii0NmKAJV9-WqCZYW4XPWItCJEkPfPRXJ-44Mf4fP-LyiBk5iA07dx-L6T-IQf4B3aoYP2yJ-JVii7wep1JfwJ7KLzQ6-XhU9tPC7j8MiCKsQan6gw1GGCrmT_MDMOVIhRQX43_mfNC7Y6tuZi3efM5peoVfwEMkzRhfSJZgzR1cF6byHztCQxsljXo7ucgwc0hIFcU2A856yPBwq2aa5C70xc6V8rnOoTiAD7tKJWCaMLGBAWFurlj7RQxDqzotnrgVEl_c5LL5pcI8CvtW9nHh9QTwLXpqjx9ncntNMRZR1bSFGeS2NIP3AKXK3x05THS1Y50mOEW17UVFkRL4nscCq-di359TCHh4ogf0nF9evsaUmdi0bpP3BsrFU6B-IQdcH1k7W9bFUrn87xcZ5DjrEk10GHOwd4zxQEzyavUxdtlmG73Na3AjUO2mBl1cWXPNFZIEEgWyDfCSqqy_TOAEQ9WLbD1DShLQ2VFgYxsFxQ4WIa7gstYyIkdnQa2N-B5cgaoubgG8xk84kgEthQVfmzrfxREUuKeOlJv0adb8eigEV8DQmFHq__DV48nBGOgmMMoztMZOy6MlIHJS0UaFyZ31LpUuX8ZqUf0fkBOpL8TqV9YQaLnS_CH9wGn3zqr4mVtib3r2U-b0cesKRY2-DoOSBzw9Nyckn5QnPTKbs_kYPRuIWtctkQQaIViXi1LE_CojkSNCGEyZj--6My0JQ9j5BZ2iEByetzqBq9IooNgweQekxm0kYXZ_-ZSlNer3oPa-i5IVdeQc7L4ABl1zSZO4_F0IlD-wrOCntm6P_KbQB_z-BU7ijUgW0OuQG23IR1rGMfmWGkTVdRKsflgSiCSmk9IRBELfoHN-BVVyledtV-ywJtVzxSZU7GWtpSMIq7Q_sZ-GuGvHbA0WHgL90bfVbHi5yY84vzfSM8NY518Ox9etRjWltoeDJfkhrD8wq9ZU0WiyKzL5p1mPAiYChIzp_fh42_M6D2ogD_HN-r78RJj-6sYUKwsZUiQmaf1ez0zBYtLvbsQO8m-YcxEofsgf5XiAbRqMdOn2DSEaOPUVRDsxa1lJ2O4XyDTRk_kanvvJulK4HDaq2fSwP0HTik0fDfP1vCrlLbRR7RL8QSKNc_aJaPe96BlIljsfsDkjZqOq_t_ckfYJN16XTv-KYVxENXjDDCvMSPWfYM_VXLZ16y8gz8LGAPcVfUMPAyJ_9t-8kXUO-qf5dte6ksvTqwZem7HXNCIy89Le6poPL6k9JIviPnAvevpn-jY3SLoj224Q6AX87hm0IkppulIyKyUpem9Sol2mbhRap5Xi5st-0rPMcEgi3M1VhvPFw6ZZN8jvDwrKRCbKWg0alUmBQuPtJdjBskM53FNn67yufEdfjbIuqbMAB2LPfGi8e03nQr7e87G-MVs3uDiIV9KX9ploEdyp8zsv6hDqtNC0TiYWCQENujxTY0LcgFEBQxaYqp_GYLZioTHs5TgZtIoweElhcy0lKONPSQbu7YVhpI-k_LmVgl1IKCEXm0dNuDTGV3w9N8NA0xPGofDSxOBaDCZnEFLPo-wVkHnE4yt7DrZXOiVexXTh8c7kliJX7XnT5b7K0Qf6Z_ixGB5qjAYQvdqjNmP-icWOCHgpVvaTkS7h1LMJH108SZ2ZjQIy1DlyUK1Fu_eOJNMVyk99lurGYDzmlGk_QCPUaJI4nY2Mk3RM5cdDwVdv6Y3yB-QQD2GLNCEOJSQplRPBiHXiNHRSIUoaL79a0Y7828Oe_7K-rBzoWVVVsYbWhNhXp7vW0f-EKCJptjNf_hRtaxkH22yikcIrc-wZ7fGMWOxE4opS7Il1q-SvLREnAxSxoRe5xUzpZMssbpV-xvFmqKYy_FpP6A9vQIyDDx204ivyNr2GK7WR5Z2YOVVGlgEaQdknRMR8VlCBtBdpuCHZh68DvITggmIF6tlI4N59LbqgFt3aLJvgy1C9v9uJp-WuYSpPeGFzZzOzA_3Tvpv8nZWGAuRu09vwDpXmwu7s2oYdKQUOHbRJ6S_ydOQ9T4uYulF1Vo3ng6TD6313rRn0y2FntsWFh2fQ5t6QZHDdre2jXpqz_9QFSa97d7GDEgPvD820V_YW7dGx0irUKDHAM3av_02EHdBmeOOkZFUzn1OLFTqi4Uwu5iOOgE91tfSiWd7zIFLEtjR3LEABIZ3oQ_I06fxQ-C1-SQjPEF7GNrjRjrNZUkYrrDqJnZ3A8wHc6bUUwadCzgnaiwRh_AP6X5WiJ0fa1PkTyJPKsVjiY0U=",
  "id": "rs_031dcf041c9993fd016ab43496d26487d094744e39560e75a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.19,\"right_z\":0.115,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit is no longer clearly visible on the tabletop, and the right wrist remains stuck in the rotated posture instead of following the fence-side targets. I’ll move the arm back into open space near the blue bowl to restore a controllable pose.\"}",
  "call_id": "call_53tB2sOyOVRpgYdbH3rPUJHU",
  "id": "fc_031dcf041c9993fd016ab434990fd087d0929b3319c51143b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_53tB2sOyOVRpgYdbH3rPUJHU",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6636, 1.2507, 1.0447, -0.8085, -0.4545, -0.5758, 0.9977, 0.6289, 1.6024, 0.8318, 0.0967, 0.3672, 0.0429, 0.9963]\nstate[eef_state]: left_x=0.294 left_y=-0.1269 left_z=0.177 left_yaw=0.0545 left_pitch=-0.2965 left_roll=0.0419 left_gripper=0.9977 right_x=0.3826 right_y=0.2043 right_z=0.1018 right_yaw=0.2994 right_pitch=-0.066 right_roll=-0.1907 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -4.588, 6.653, 1.3065, -0.2222, -0.0513, -0.0122, 0.1573, -7.9932, 6.8308, 1.4628, 0.3248, 0.232, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83cbfcdf44e1a5150760ff0a79637dded339f0fd1963c39f9d568e302bcbedfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac0816ea5826daf0eb692a155ebf7bef0d48190a6493b6d77c9f8a4fcb3022de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31fcf8bf329b350364bbd75508f64b0b35cafdff8e680783ed487dfa5bb7b8e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 4.061 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 145 changed as sent

message 149 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2388, 1.0447, -0.8051, -0.4545, -0.5758, 0.9977, -0.0441, 0.7654, 0.5293, -0.2703, -0.0708, -0.2478, 0.9957]\nstate[eef_state]: left_x=0.294 left_y=-0.1267 left_z=0.1809 left_yaw=0.0519 left_pitch=-0.2849 left_roll=0.0314 left_gripper=0.9977 right_x=0.2978 right_y=0.003 right_z=0.1766 right_yaw=0.15 right_pitch=0.0526 right_roll=-0.1814 right_gripper=0.9957\nstate[joint_eff]: [0.0068, -4.5607, 6.735, 1.2723, -0.2564, -0.0708, -0.0122, 0.212, -1.4154, 8.841, 1.8046, 0.0806, 0.2857, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2453, 1.0447, -0.8066, -0.4545, -0.5758, 0.9977, -0.5255, 1.6852, 0.9192, -1.2064, -0.9432, -2.072, 0.9962]\nstate[eef_state]: left_x=0.2941 left_y=-0.1268 left_z=0.1788 left_yaw=0.0534 left_pitch=-0.291 left_roll=0.0369 left_gripper=0.9977 right_x=0.2466 right_y=0.0264 right_z=0.088 right_yaw=1.3327 right_pitch=-0.003 right_roll=-0.014 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -4.3145, 6.5436, 1.2039, -0.2662, -0.0464, -0.0171, -0.0615, -6.4205, 5.1214, -0.5788, -0.5006, -0.3101, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6636, 1.2507, 1.0447, -0.8085, -0.4545, -0.5758, 0.9977, 0.6289, 1.6024, 0.8318, 0.0967, 0.3672, 0.0429, 0.9963]\nstate[eef_state]: left_x=0.294 left_y=-0.1269 left_z=0.177 left_yaw=0.0545 left_pitch=-0.2965 left_roll=0.0419 left_gripper=0.9977 right_x=0.3826 right_y=0.2043 right_z=0.1018 right_yaw=0.2994 right_pitch=-0.066 right_roll=-0.1907 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -4.588, 6.653, 1.3065, -0.2222, -0.0513, -0.0122, 0.1573, -7.9932, 6.8308, 1.4628, 0.3248, 0.232, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83cbfcdf44e1a5150760ff0a79637dded339f0fd1963c39f9d568e302bcbedfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac0816ea5826daf0eb692a155ebf7bef0d48190a6493b6d77c9f8a4fcb3022de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31fcf8bf329b350364bbd75508f64b0b35cafdff8e680783ed487dfa5bb7b8e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDSfCGqSzSkp_fyrJkPvqiGdKTqsnzDxhAJiODo-xwYk9foJxrk4BWOavpIhoyM6gSFg2F96jZPLYjU-W6HUo3X97i_BICUaaK9zR6Z0pTqI994qLZiBwcmsHbDvIBslpHmf23WxK1Cmfwwkb66RdOMNnEknDHXimK-1XUHN7SEssELchDG31oChhz2dpiv54OvvJYeeFisgjB7R3lNr2kc8wtmZyhoRVEf_zCMUycalrC49-a7pfebkj9C6cUmweX9waekoDWl17J8fxEwzvmY-ISRHbFS8dibYg5CsFTHtmd7p2K0mUwDQlNqBZDiEMnFa5HigZdwlSu0ywerwEpeJBeWrF5OltXlL80MEbwnF3ZrNAmnyoydFxq73UQRuzvYo7FsPxci_vhaiwfNM3Zpg70mCiy8EfbV-fV4eMh-M6kNvrdxnY8mMwazMOUr49HuBsTohlk2K1uKvb9glksbVeUP1ODr_YWoUHdb3m0ojpOD3lzD0Z5cWGtr-EoZgOrX4XSaeIr5cYQl2Y4nCxVPjyctL3F9sdWKAwHq5bsPDtJgU4KVVWwNh5QsQB1udxFcdxdy8yqILuh0A69KfSbeZ_cfw_soNkgSU4SNSp_6-vW6lh-0an2gTnlTYB9tO6YPiYd_0erDvMcb5tB14IUfLdPo2aOavcSfly4EAqgTbjkm4J7FMQqyYpslADcyQAWvHCSzm62q_tr1yZKznKGhL_dkZWbvx1C8j-tL_9L-6NKGGRVitn9ACrz-vo4yMblr4ynvvjVleA-VBMMTKqtNNVhZ2rVTtYZIS6VgPYiOb5KIMV6T5RcJsxBI_QHjmdin3Biptg8TOHY7JfgD3b3X-LGp64IEcFtEKFQi7Gh2tQjwB31fTVTxf1N2z_WJvVESacf2MXMcwJ01CfjkN5z8xwf6Asvxn86r0rFQOH-9Xrj9W3zQ1mUvT8LD_VHrWzDpsjBEnG9sN0eyURxdCEga5B5hFlVjeUSlHzAuMTcgBg92x06Pkaets7PcDPCmA1aH6S3PDvQCTUksAOKJlScxWRYcRNNiYk8Uyu-tGjcvl_jox4rfJbrWQFQ2Lf169uCR7Oe4xYL-5uMPI3AlAg-MNmMCMvqjLIsGA7NAfSy1XKYJd3D0rkbS1SMrmM5OJeOXy6mXRECm1u87GlSAA2V4Ge63HXE6tazxps65VUHpZR7FnytNQOHPlfpx9wmLblXALBCnUbfS58VR1GWQPjkNb1fXiHIsde6kpMgcc-q1XLMnL29ANUINvFERrtl9gYXUwDCQJ3x7SjmWOZme0heslkn-1Wn4f5Vj1dK9zqOCZR7OP5QdD6l98HNb2DbRoVw0mpABY6--3xaYVHfB6eBzmh-x3UJgHPmYQGLgg0i2FmlpHdQvvSgwDZf1CMWo1s241ualatHSGqxrnaEcyTQ4y2aKEU7MQ7I720z2gb3BThUAdhZApfxb_1MU2ozQm-ep9boK5K2NbcCiaMtf2l7kzmhsgiDDHFnPxVx5ZFXqb0uU8-OLvEx48S6xIytFFmabpspNxWjU7-v3h4mdWboXR6RGSlLEKyJp3dCmlWiHeGUkXYuftBVWyYOcN8Zxits2_WLLid4vcbV_ROrhORxZrLMbOjf6cG-dGQar0NaL4vROdugHAccs9x8DHlQvS7MZSDXUTTjC7RghwvKF6KdAXm3K3Ks9MmZ8kbtr7zQpVWOxhL7tGj7REfCRjV8SBCsBgX-c80QSC660JkEnc1FalJj_Vme0qp97YitHphYcf1_i7wJlZNtQWMwEbnovbdVj1bPgNaaNMfTSfh4AWV2NOYGdMZKls0H07uLW1cqRRf4u6vKXxr17L_tM9CZPYyFMyRv-zMiJ6iGIlT0_FW67NvxwjCdCzZR6u8dBjVT6F_bq10H3g-cF6zH8_fPcYOIfv1VqfkNGaBRXi10BP7AFtXLMcPmkJ1cPgNuX3twhIeppBBiEYRntbluMT9o1B1Kip7s3BmJDj3HxZvdeP4Yi1Jrur4fDFZvfkpLKOw7N5LnEhROGylNhylxTiF8oywz9ZeGkl5NuDZFeIzYsbIrcMgBe66q62e8UVOxM5ddZphtfWS2jqjkXVj9G-wWMd_XKMCLfA8gbSQyoZZjgIYQQ8RjWA5K9X7HRL8dJpyVoiQENBOg0fscNLVdJdX7qner624RawNYQMZSr-c_yR2i9bVMU4-nggT9ZTSm6oCNf39RJPk9McZOy7YfcDF0nb8XTZOZ0q5_sDmgFRrVdwoW0M_ETwnmg4abCud16kh0947OOE-UAGyzH-doIrjE4_9ZaMUFkbRX6KDcM2uvJR2Qv-07WdaA3S_u7Q2VutYeHdDx6faN-QfasJH0NwUtF0DDJEhMpF8Nw6GpjRajUj-Xg-bNSgoJ-uZxwotS6rQ6m30x_pH0C9qw4F2LdWo9CnLgENWk-QuyRje0-QM1EI6oZb9AKujhlRCeEOXThHJ901kGvYWpubVGbscusrdT1oGZ_0",
  "id": "rs_031dcf041c9993fd016ab4349c66e887d0a38fcb6d8367ecf4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.20,\"right_z\":0.035,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The small yellow fruit is against the right fence, where the jaws cannot safely get around it. I’ll at least work on transferring the two fruits already in the blue bowl: the right gripper is centered over the bowl, so I’ll lower it to the rim.\"}",
  "call_id": "call_Ho5ts95h67kmY3giM89kB9j1",
  "id": "fc_031dcf041c9993fd016ab4349eaa5887d089ec4d7c71766509",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ho5ts95h67kmY3giM89kB9j1",
  "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]: [-0.6632, 1.251, 1.0447, -0.8074, -0.4545, -0.5758, 0.9977, 0.651, 1.8297, 0.8276, 0.4473, 0.5018, 0.3489, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=-0.1269 left_z=0.1771 left_yaw=0.0547 left_pitch=-0.2959 left_roll=0.0413 left_gripper=0.9977 right_x=0.4164 right_y=0.2149 right_z=0.0747 right_yaw=0.0473 right_pitch=0.0873 right_roll=0.0536 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -4.1641, 6.5299, 1.16, -0.2711, -0.0611, -0.0122, 0.0205, -5.3675, 4.2735, 0.0073, 0.4469, -0.3736, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce301f1f5d0c665ece496cf269042d7b136a885e790d6a3e00b0cdbb7cb8af46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ace2a950b7658836593361cd39055102d173db1d95cd04a3c705973c7bf84a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c51a2efeed4dd8f0c5ab0b6141d523448d7a2c683a5f0c5b6cbb9d6f31385ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.293 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2453, 1.0447, -0.8066, -0.4545, -0.5758, 0.9978, -0.3733, 1.6157, 0.8532, -1.0451, -0.9936, -1.7607, 0.9962]\nstate[eef_state]: left_x=0.2941 left_y=-0.1268 left_z=0.1788 left_yaw=0.0534 left_pitch=-0.291 left_roll=0.0369 left_gripper=0.9978 right_x=0.2519 right_y=0.0642 right_z=0.0883 right_yaw=1.3019 right_pitch=0.0072 right_roll=0.0778 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -4.4239, 6.5436, 1.2821, -0.2906, -0.0415, -0.0122, -1.4154, -5.3265, 4.1778, -0.2125, -0.6129, -0.0611, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6636, 1.2507, 1.0447, -0.8085, -0.4545, -0.5758, 0.9977, 0.6289, 1.6024, 0.8318, 0.0967, 0.3672, 0.0429, 0.9963]\nstate[eef_state]: left_x=0.294 left_y=-0.1269 left_z=0.177 left_yaw=0.0545 left_pitch=-0.2965 left_roll=0.0419 left_gripper=0.9977 right_x=0.3826 right_y=0.2043 right_z=0.1018 right_yaw=0.2994 right_pitch=-0.066 right_roll=-0.1907 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -4.588, 6.653, 1.3065, -0.2222, -0.0513, -0.0122, 0.1573, -7.9932, 6.8308, 1.4628, 0.3248, 0.232, -0.0073]\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 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.251, 1.0447, -0.8074, -0.4545, -0.5758, 0.9977, 0.651, 1.8297, 0.8276, 0.4473, 0.5018, 0.3489, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=-0.1269 left_z=0.1771 left_yaw=0.0547 left_pitch=-0.2959 left_roll=0.0413 left_gripper=0.9977 right_x=0.4164 right_y=0.2149 right_z=0.0747 right_yaw=0.0473 right_pitch=0.0873 right_roll=0.0536 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -4.1641, 6.5299, 1.16, -0.2711, -0.0611, -0.0122, 0.0205, -5.3675, 4.2735, 0.0073, 0.4469, -0.3736, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce301f1f5d0c665ece496cf269042d7b136a885e790d6a3e00b0cdbb7cb8af46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ace2a950b7658836593361cd39055102d173db1d95cd04a3c705973c7bf84a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c51a2efeed4dd8f0c5ab0b6141d523448d7a2c683a5f0c5b6cbb9d6f31385ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDSkpdPFMvPu_BCwy2azsEZBG0YUjhP5I1Wdhdm__kxny84NgmQO4HFQbBILbn3B9riAT8--dOKOebnsyeGIXIE3CimM2lQuGp-azUvw3Lcqhdu5vF7XWObN1r5a1tLfk0Il5rpi8CLacLWfkfUXWlCacAQZDrw7QA2u6e87vVOX-2C-nMlXj_ota0ZDEFJoGcrCesGLeLn71uRD8Y7puTm8wg6wPTcT4zjalcJ3_3Lki6Y9bhaJGdQ8qH6KIxeoDzwWW5XLGmpdOGYlOGH0GV9qykX2o3a4FBeKMetmq2_0Gf8o3DGGvZY_2GS9zinFCPQVpegpn-XXgp0vgGk4otp9CxPJ8NjT5zE_KNrOD4XwBZcVppldkf5WO1oXKjUhOumhaD8_0dXKKzx0c42mb50bMvx6BglfP14KumQwdBPn7e-EABtVVIoLmzQQ6Phtw4pDIANHm0gat7aPr1yCiI85lLwgZyIIw3VaEntKUw6tBaojx1tSDyIDsvgiJWcMrgDhk-QVpHD7OnyauVohNhMT7e64pE2awHhNPM13BLktaq6DFOZnr5g0cyTda4m4-6V6SiFOoidfLiH1PiswxLvLQbYYVnCaqm-Q5KV0kEnbiwayWXfrE2It5C6Tvw-QA-pBmYvWDFF54PADr-yjBJcHiIT-cKYFXTWZaEkVN-XaJ9-TkPtdYpGnh6kYJU-HWJqaZKVw7uLSG1bE2Na0eth5y079YHEf1ACWXKLqWebiR5RE-2GY7irdi44Ie2hdCXMmuRSNuMbXFbRyjTiu0aqDtvBtwWb-mQWWkZHNs4nVzj7sh9xyYTLQFjErf84ZT51QnY-V-Njr3soaKUFo3AoPaGE1lYwppuvgR69uoBq8ft74QvCzZG_IFwQlbXIOwFl2_jN-UOtI6IPrpmdkfNNbs8wiRvEywMhS3EAUSieuFJEsLgS9u2J0c4ciXNXUSZKNQMOSi58CmhggC9ACwdTbcrBzu7XWEwv1t8yViStQISfGKM0ooe7kfSQq4Y5llGneiqdN_rsiRJtds4LsNQMqOKSc2ZURyXklAXGtgQniLbUNtvLnM7EhdyAM6i9ZG1t5w9uGKPg-j4rOxA5jvIijGSv3xntEyPeJJBiDAnwsUximwDPy6Y8TLNrOntvQmo7iSaT0A2wSBbK8OQ3mxgo1V5QYKMk2_ehU7nWsEDLxJC0qHgjJKY0C2dq8uPGQWfrNEAqxbwkCERwv8jyF_aYHsS2yaEOt8-rFglYYun8PZ0aiAmWr0P9GJGRgsvOdvBRu5LXTdTnzKugAr5_EVYTp0F8rIfgqPAg2j6IoO9ldbEHUVnhscbzCzqnGFXIocbDOrlwSfrhlItBVVE0wvlJlzqaPh-xWAkldE64OpyeUMIR9bKOUPgmXBraQw1II1h42LZBbEpsqwLB8w_1RrK2KglhHK6xe27SFckICWv2j3r9Ahj1kEdwVkWcdjaNFT97Nxrnn08-6c5WOx9zedr6zfA2xRc7gOD2FGT5Vr58i2GPTJvHW6vJvr-MV76qHU-9gyCmQZB4w86WJiT2DxAUuS27QwWvNHgnOslRq1ONmnPpnc6zRbuMcsDoS2vp0NjJzhwNLqxIWvV58CJJJL2Orj92RAIxDvhpP7YZMoKesZj6tZn3b1RGVeG_iXj5ggXnalq1jHB4Eu7teKxBg3VhKXBr5oMyfenuOGJjsfgSlxBW1miiONfHrTugqd3ckmQs1yiq-tsk3LmHrjJi794LeES_uXV-Ido1AGahqoV9P9O3utlMmeJwbJKMf7PSqfyeyEaohwNv0UuB64DGVc99nkCsHunn-PmUxiFDQXzsjNiooVabm9k-HQI1LuYJRxBMqSGIkaYYr5AR4g7SLA1lcyFuMUVTwTQ_OM34kDuDrzl_07RpVyXjuRUZ1p5ZrFRLMynCwLmHuZ1aHsD9NEv-Rw1wBn_PqnkOTFjo1XVOnI812mVsVlTtR8XKyoZ8_HSY5lF6QBrPOXdxz5Z9e9VDh1HJPLoLxVqkTVPmhf7_uouGEKyI0w0sa-u1LyBwbpi1vGZKxJajYc4oLLBzpiZpEV40ZY9qWLYWg4eFCq9btRSpqwPAE1YNcZK0sR81qUH55EJjnd8XUOzXUOHTAd6XY1VbcLIUyE9-P2HVK5dw-66c7x4vfd9f5--TucGJ5xdQ6pFTLOOfDSm4zEbAZQV4l88SzhX7ib-QgdE9N4N28t8laka8Y1kRe5ftwNkNWbZzvlJBEaRUem32vMq5B-AUTca6IzRUyLDjy5BM6Uv5Byy1TRadUyzYbg6Ddiq70ntmgaJ_gMvTy1sPMguHwr8SZDmwO58lQblQAMmWgkGxJ3FX_ltOIXuSl31P5uNec97mz",
  "id": "rs_031dcf041c9993fd016ab434a12b3c87d0bd4aa076cb09da36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.185,\"right_z\":0.038,\"right_pitch\":-0.2},\"note\":\"The right arm stopped about four centimetres above its requested rim height, likely because the current pose meets the bowl or an IK limit. I’ll ease it slightly toward the near side and pitch the tool forward to try a reachable rim grasp.\"}",
  "call_id": "call_WOnrkLdqGHyO5Jyp9rv26X1m",
  "id": "fc_031dcf041c9993fd016ab434a3332887d0b364f54a341db638",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WOnrkLdqGHyO5Jyp9rv26X1m",
  "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]: [-0.6632, 1.251, 1.0447, -0.807, -0.4545, -0.5755, 0.9977, 0.6621, 1.8572, 0.8307, 0.4938, 0.5049, 0.3943, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=-0.127 left_z=0.1771 left_yaw=0.0544 left_pitch=-0.2956 left_roll=0.0413 left_gripper=0.9977 right_x=0.4183 right_y=0.2222 right_z=0.0728 right_yaw=0.0301 right_pitch=0.1043 right_roll=0.1058 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -4.1368, 6.5709, 1.2186, -0.2857, -0.022, -0.0122, -1.0325, -6.1197, 3.4667, 0.8571, 0.4371, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ec58cbecb819a96b1093b5fabb5fe47747efff1b8a19aa1808fa7cddaac8c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87933deef18e2618e0cbbcfd7e043a2e2255f96ff4b6ce4a6544ccb7a5fa82ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d0e7f7a945578d89fbd06f7d2a15941273ce3f7c03d27ede2d472335c55cdcd",
      "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 · 2.325 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.2453, 1.0447, -0.8066, -0.4545, -0.5758, 0.9977, -0.5255, 1.6852, 0.9192, -1.2064, -0.9432, -2.072, 0.9962]\nstate[eef_state]: left_x=0.2941 left_y=-0.1268 left_z=0.1788 left_yaw=0.0534 left_pitch=-0.291 left_roll=0.0369 left_gripper=0.9977 right_x=0.2466 right_y=0.0264 right_z=0.088 right_yaw=1.3327 right_pitch=-0.003 right_roll=-0.014 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -4.3145, 6.5436, 1.2039, -0.2662, -0.0464, -0.0171, -0.0615, -6.4205, 5.1214, -0.5788, -0.5006, -0.3101, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.251, 1.0447, -0.8074, -0.4545, -0.5758, 0.9977, 0.651, 1.8297, 0.8276, 0.4473, 0.5018, 0.3489, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=-0.1269 left_z=0.1771 left_yaw=0.0547 left_pitch=-0.2959 left_roll=0.0413 left_gripper=0.9977 right_x=0.4164 right_y=0.2149 right_z=0.0747 right_yaw=0.0473 right_pitch=0.0873 right_roll=0.0536 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -4.1641, 6.5299, 1.16, -0.2711, -0.0611, -0.0122, 0.0205, -5.3675, 4.2735, 0.0073, 0.4469, -0.3736, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6632, 1.251, 1.0447, -0.807, -0.4545, -0.5755, 0.9977, 0.6621, 1.8572, 0.8307, 0.4938, 0.5049, 0.3943, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=-0.127 left_z=0.1771 left_yaw=0.0544 left_pitch=-0.2956 left_roll=0.0413 left_gripper=0.9977 right_x=0.4183 right_y=0.2222 right_z=0.0728 right_yaw=0.0301 right_pitch=0.1043 right_roll=0.1058 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -4.1368, 6.5709, 1.2186, -0.2857, -0.022, -0.0122, -1.0325, -6.1197, 3.4667, 0.8571, 0.4371, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ec58cbecb819a96b1093b5fabb5fe47747efff1b8a19aa1808fa7cddaac8c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87933deef18e2618e0cbbcfd7e043a2e2255f96ff4b6ce4a6544ccb7a5fa82ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d0e7f7a945578d89fbd06f7d2a15941273ce3f7c03d27ede2d472335c55cdcd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDSozCngQmPsdukD-bk0l1TgJD1AWdX8LlpKvbQhQhCPDe1xLbv5doFM-vzxbR5wQfJvO6WFjwPdnilRhQ5ldxDl-sEQe6IE2WYyhtLYr9UfFpumZCaxQvcYqLSsKEMxaYLJpjH5gkucfk-nnSdSdeR5MosGvsBZ5onlAE0pUAIHHbiuV1HJJRv-V6x_dyJqfjWx79dK_zsZ-XIOyJspsM-Gum8Vz5XdSoa4sdWl4OKT7OhrltDC6yISqURO3O1xqOPEEws_y0UBnszABszRblKAEHpuprHqHjJf3iTZoMiGx3CpgqcnDLU9q64zfO0dpzX41wL4lptkh6sxvGtgBVq385okG37a6W6Y6R-KS4RetLql3uNcyJyrvHQ6RN0R12Y3P1RR2tBczM3twqmonwDRcNKJP11mUtWJnKNiNO--FK0iDA7QRleUZ1q71PI7LP-Z21nkRy4QQtnadtLnJ3QbHxNcI6g07ukJYOWWv_KSuzzhX5-G0JzzAbQTUVs6wKu5q6kU-KlqA7r7tsvDVwyCtJVOL7ptqrcT5-4AVI7Xy440VbdcJRrgMvs5ITwsOjJTl2Sxfg1kkpRgKLatlWaeRpUnHMipaH2eiHixF9zsaXdGYBQ-KaO_n9eyHkqWQb73hIXMm9fNC09i2LYl4_UpSv8TlNFaIckvgGDSgghxksabQLgw6un0RatQUOl3AM2TyxSa_I9AV5FfXzFhx75Mxi3n6Pa6g-IsZUZoQLwJtv3cLnjenBLJM-Bmw7Mw6NfmXLF-WNJW2ctUQ9RqaOBUhHzoi3V8A1GIFLuCUaIjfXmqT03aE36yqv0LPTiO3AbczCzVUaf71IrweUQyNEXszNU3vPT_BHe-N3MryVhTy90tpGRW6AjOGDDQv99K1_Pv59nMjbZFtWPxSvQZfwDt-F8-xyljyyIrCC6RtyFWGKpPiePE7TJVIIPbF-iMP2dGmD1CkTYiluicLEAnOeP32k8BTTK3KokOnf7QVUE3z_5PHTQOxI-0ocSyYLrX0nCr6oAxphwI5AC3BaSHhUCWbE8YauKyOuS-vKoPsazYtqNsvkIiI8CKigFA7vJfxHXn-xlNN7Ij9wNqG7Qs76LvReuDD2jEwMqFGYiDpGehDZg1B71cN8NsgHz2Y5LntTRe1J9Po7Ewdq2r5C0Yy3wIuMbrywNCNBjcJ1B5U_3oOWsZVZ9fZDtpLftHBz6yGybLsVUKhUsiol1BAOFGQe_rSGnt_wlyP0hgi6CtW0uhg2GqRzwGYtLfkcPhlefBS0E8uY-2jvgCs-jGbaq1uGFyVzBhyaWElOUwv-F3zSS3g8V7srsv_MP4uJQ6a8jk1h2d4GI0NDuEqq2XQBIu_J4yJYZG1CNMUSaZcewk3ijPvy2jple4SpdH8ADAfZruda01u8S5gI40E4MB3j8ygF7ECf1C3yM-w4tmgz_eETTgx8gM-8cGE9tdV6c1ddp7jRHNN1OSNZgeT_WqrsPLAXrfTq12pWcD1yhzZ4bfc-XHsjMW5Jm99lmMskECTcKQqEGpSyCB8clQPW1NxVYv29YdGhALYqhlQAh5lc4JGtyd2AQ-OAUTRYPZIVBn7-srJOd1vJ48Uspr1jL-govbkTL9UFcTscsTGzLI5_ipFMNG8WKbDTnFwuFArp1y5N3ROpeU4uQVllUw7m2gfs3U2DoNeezWudzVKd4zDVEOqC6hAJW7ZxNtCjwrEVWXuaJex9yGx7eJJLvTiv9liZxLiumqxP49wavLXKwyaugpup5JzdDYk84ydn3C8CDwqoSRJ6z0czYppYlrEDOdXD_moW_9rogAJ4ENgbTbvrXXNh7WP_g=",
  "id": "rs_031dcf041c9993fd016ab434a6567087d089c5a0e7245097e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bowl rim is framed between the right jaws, but the arm cannot descend further in this pose. I’ll close around the bowl at the current height and test whether I have the rim before lifting.\"}",
  "call_id": "call_nlxT7VOzO48qS88ua5HsuFTy",
  "id": "fc_031dcf041c9993fd016ab434a765e087d0b24cccde29a8ce48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nlxT7VOzO48qS88ua5HsuFTy",
  "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]: [-0.6636, 1.251, 1.0447, -0.807, -0.4545, -0.5758, 0.9977, 0.659, 1.8442, 0.8379, 0.4736, 0.4934, 0.3931, 0.237]\nstate[eef_state]: left_x=0.2943 left_y=-0.1271 left_z=0.1771 left_yaw=0.0542 left_pitch=-0.2956 left_roll=0.0411 left_gripper=0.9977 right_x=0.4187 right_y=0.223 right_z=0.0769 right_yaw=0.0371 right_pitch=0.101 right_roll=0.1095 right_gripper=0.237\nstate[joint_eff]: [-0.0342, -4.3556, 6.5573, 1.1941, -0.2906, -0.022, -0.0122, 0.1709, -7.5692, 4.9846, 1.8584, 0.1929, -0.022, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:081e68e76cb8b3e014e071076d298664cc4cd9f654e4a3c64968af0f7aeaa78d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9696deea09035815c25779c3c73f9fd3f1c3abd28b045339f1425c58f2726203",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b71af6b08e066cec024725fcbbf05a225e13f067b7e78d6d96dc9fb63ee8198",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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