adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}

{
  "content": [
    {
      "text": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3824, -0.0143, -0.0292, 0.9993, -0.0227, 0.8005, 0.6182, -0.3904, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1822 left_yaw=0.0002 left_pitch=0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2955 right_y=-0.0001 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.7846, 9.6889, 1.7802, -0.1197, 0.1636, -0.0904, -0.3214, -1.6752, 9.1966, 1.8974, -0.105, -0.0366, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb2e55aa06a4ab1b34490092f033b39ea6581ec866afbe39851842789e6437e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ca25b6b6ae2215525e4c6ded23a35d9d16df82aaf5df67be07027c2771d867",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef97342a6568cbb912e70479221bd20811b4b40ef744aff3de77dede9da6de9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_006cae29619b2ea6016ab44b07accc87d084df8050e25d3f74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The right wrist camera shows the green fruit centered between the jaw paths and very close to the fingertips. I’ll descend around its mid-height while keeping the gripper open for a controlled grasp.\"}",
  "call_id": "call_LK9Jgw7Y6LqYvY4kqkuU6GYV",
  "id": "fc_006cae29619b2ea6016ab44b0c31b487d09b3e1af7acb6c217",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LK9Jgw7Y6LqYvY4kqkuU6GYV",
  "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]: [-0.0208, 0.8032, 0.6132, -0.3901, -0.0139, -0.0303, 0.9992, -0.0227, 1.1076, 0.1253, 0.3717, -0.0238, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=-0.0001 left_z=0.1796 left_yaw=-0.0003 left_pitch=-0.0103 left_roll=-0.0006 left_gripper=0.9992 right_x=0.2903 right_y=0.0012 right_z=0.0364 right_yaw=0.0055 right_pitch=-0.0377 right_roll=0.0046 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -1.4017, 7.0906, 1.7998, -0.0659, -0.0171, -0.0171, -0.2393, -2.5231, 5.8462, 2.0293, -0.0171, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d3114fbfe4816b622816ba6385a11dd7836fb1548652f3ec3eb45da248c911a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6825315f83f05b6a790394346905020f9849ac35c50b1f003d843f71be1c1896",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b759aea61424f09f9acf5fc84bd2655f74502c25687495d8936ede267ab8ae6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3824, -0.0143, -0.0292, 0.9993, -0.0227, 0.8005, 0.6182, -0.3904, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1822 left_yaw=0.0002 left_pitch=0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2955 right_y=-0.0001 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.7846, 9.6889, 1.7802, -0.1197, 0.1636, -0.0904, -0.3214, -1.6752, 9.1966, 1.8974, -0.105, -0.0366, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8032, 0.6132, -0.3901, -0.0139, -0.0303, 0.9992, -0.0227, 1.1076, 0.1253, 0.3717, -0.0238, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=-0.0001 left_z=0.1796 left_yaw=-0.0003 left_pitch=-0.0103 left_roll=-0.0006 left_gripper=0.9992 right_x=0.2903 right_y=0.0012 right_z=0.0364 right_yaw=0.0055 right_pitch=-0.0377 right_roll=0.0046 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -1.4017, 7.0906, 1.7998, -0.0659, -0.0171, -0.0171, -0.2393, -2.5231, 5.8462, 2.0293, -0.0171, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d3114fbfe4816b622816ba6385a11dd7836fb1548652f3ec3eb45da248c911a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6825315f83f05b6a790394346905020f9849ac35c50b1f003d843f71be1c1896",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b759aea61424f09f9acf5fc84bd2655f74502c25687495d8936ede267ab8ae6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsW3SfMF5bSz7v0GgMPZjXHudWjWiWVr1to5fYHLpQB6NE2OpyZGc7c5NtdmaOTEVsyZ265DK5EKxxnJn_YzruYEQfxan09rFARqfnVrA8VW7ECZmE5R4q4hIWlJX_b85R2vS0rarZtZG6QgXyXM9namt56V1Grsb5jCOL5cNjUOoMyb6s3cbjOZapmIp9hN-9El7hKldbt-_QbYzsBZDHTe-vsRojEfSH0P9T2tY8mUwyAJhRD4sO-ihABk-tApkCKsemIFJ0e5IK22FYRD_dFKsLbCWEbM3v700q-q7gotuKTqDqsQD8wvHvfrypK-YqS5q3Xv75WElG408-8kb3y-G5uJbMJAnKB33Mj_mmmIOJVJqXHGSxRAwnGV-IUuzDnjyV0ry7zIDOLV-zdhJbPjyoYgt7vEV4wC05hArB5_sgG1S95GhVXLgVXfwDaQ7L1_kXGZ4v05QtTKYOQwqo-5_Dj2fgdl7jfeffFtuanRPBwD-gfFW0bcWcZKdGtGEgGIzNp7qmUx2NuBK-brcQm_91u3M9gtnyKDDWcAmKC_oKY0JSIph5XWDLhqAB7giKfELtMRDGMEJZHSfXj8oMMmXQJ7JaqHiK4i3_3IoUxn4EMMAa7XDtMA4juMpS86FS3a_QvC5sIkn1w3orbQjoYANl2HYUssqbXaIEozGMojdo9ic4hr2PqFDEYd_Pmj7KQrbyEUrZbNGbaMVZDReGf6xBQYk8UdPNVeKXvA4MbaTa3zDG7_4peDgk__ZxiR3SLyoOYzYbgDNUgkOHRbX7cJwyU5xy7qs5EjJ3caOjib6pfwHDXfzyg3XJyzRPNMVhZ2T-O9Ev5jkcMmT-n1Kc5bvjI19bxWJioaswZzpSXTRmbvd78P0T6Sr35KLgF-68hwBuIW1PH1K1R2vvLLlH5g01S6vLFfyH-jHpjX2TVPjV_MqtKh_oaURrimrx7E76hbbjr2SsCriVZFJ9c9ShNB0-nco41gJ1mCyrjGGder1WWKAUY1ftxnXPhZ7Rlu3Yl3NyQVQmjOF2CqFMlxHr8kvnaQX4dMrp9_y8dA_H6gXdOmDSmRg5aUhv1_5iyKrKajuGJ_lD8w-M72LcTrwOfKD5sSJanlZ6_qb61OD_esy818tJjY7iI6oXMzAQOGRrYhnqoXf9KSuTml22_c7dQL0TecFk6oj3Oks06ukYi9AanHcIGwpiAug3gfpD1DqQ68Vya-5qVliEjIhtxrlz_T8M-GaSYMBFuXyEUmHMG48X4XoovoTK2oBw21Apx6-Qbq-fSswj2fAOBY9dMWJtW06LhYl1s_YqHePW7E_j_hmYYXegddh4GqyzZbe30AbJ0tRKm0DyEnlCwYJ1J8357sMP1SrRrC1BC_oNhtEEPuSMLdVuLiGY5hDeS3mYrJ_7mWItj-SqfYlNGqNRSuYzUPLOrFaNMO6Cu9T-TcyLRi3VTnLIC-jVra4icHFoIEw4ydTF9CVqnfMhvjULw5d3qXRFLMyC9DfJkJ2XJ13ZeUHt2EZ0XjXvbfeJmgD2rZeWvSA1jhgM0MAHSws917eUkskCyr5oxAy4-Fj4PR-cj3qXw5hFLX6n4c-m562yyhEq7HO6azO47WVMXHiwZ8A2H-YYvGEFp6tyNO1SA-lKSUpHolbfId0ehGojOrFxp16guwmkRSBMizneHC0IxHkcCED_9itxbRIQY4t61DopPq6w=",
  "id": "rs_006cae29619b2ea6016ab44b14d69087d08cdbae3fae4ddb5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green pear now fills the gap symmetrically between the fingertips, with its stem centered in the wrist view. I’ll close the right gripper to secure it.\"}",
  "call_id": "call_sA9jBDrx6n6crVce3tBP6W6D",
  "id": "fc_006cae29619b2ea6016ab44b15d5e887d091fb1ceda521acd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sA9jBDrx6n6crVce3tBP6W6D",
  "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]: [-0.0208, 0.8036, 0.6132, -0.4011, -0.0139, -0.0307, 0.9992, -0.0227, 1.108, 0.1253, 0.3679, -0.0242, -0.0158, 0.0092]\nstate[eef_state]: left_x=0.2937 left_y=-0.0001 left_z=0.1772 left_yaw=-0.0001 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9992 right_x=0.2897 right_y=0.0013 right_z=0.0356 right_yaw=0.0077 right_pitch=-0.0418 right_roll=0.0021 right_gripper=0.0092\nstate[joint_eff]: [0.0068, -1.2103, 7.0222, 1.873, -0.0757, -0.0464, -0.0122, -0.0615, -2.2496, 5.8462, 1.746, -0.0073, 0.0269, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d4b1470dea639ce8a5ddd46b0b235573449dae01533fb38096e3a7446634fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d421b42d1c1069d022f43daf8ae4f6765f95ca84f56df3510626b202c4c9a50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3738a511d0efc244726f7022e9155560c5ae9351b13bf0419d3ac89fdbd12bef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8032, 0.6132, -0.3901, -0.0139, -0.0303, 0.9992, -0.0227, 1.1076, 0.1253, 0.3717, -0.0238, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=-0.0001 left_z=0.1796 left_yaw=-0.0003 left_pitch=-0.0103 left_roll=-0.0006 left_gripper=0.9992 right_x=0.2903 right_y=0.0012 right_z=0.0364 right_yaw=0.0055 right_pitch=-0.0377 right_roll=0.0046 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -1.4017, 7.0906, 1.7998, -0.0659, -0.0171, -0.0171, -0.2393, -2.5231, 5.8462, 2.0293, -0.0171, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8036, 0.6132, -0.4011, -0.0139, -0.0307, 0.9992, -0.0227, 1.108, 0.1253, 0.3679, -0.0242, -0.0158, 0.0092]\nstate[eef_state]: left_x=0.2937 left_y=-0.0001 left_z=0.1772 left_yaw=-0.0001 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9992 right_x=0.2897 right_y=0.0013 right_z=0.0356 right_yaw=0.0077 right_pitch=-0.0418 right_roll=0.0021 right_gripper=0.0092\nstate[joint_eff]: [0.0068, -1.2103, 7.0222, 1.873, -0.0757, -0.0464, -0.0122, -0.0615, -2.2496, 5.8462, 1.746, -0.0073, 0.0269, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d4b1470dea639ce8a5ddd46b0b235573449dae01533fb38096e3a7446634fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d421b42d1c1069d022f43daf8ae4f6765f95ca84f56df3510626b202c4c9a50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3738a511d0efc244726f7022e9155560c5ae9351b13bf0419d3ac89fdbd12bef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsasYwuzo20xgSQyE07qQwMpZNzd_SCq0i7zvb6_EeS_givjmy8KcADDIcGvEx7nnI82qRDMdBeSrd2DtkdgASJBRX2u_Q3o3PMMOL28-OmUIKYxo3sQWjPVvn6U-FGdjiJVh3NL3_8UboP-Vc8fcc7UVuCuXWhqB_hmM04OaKNgw42-NVqYAWNf-Q9Zi857iA5imG6lFxvKKOZbxJIMJjhVEkVNPjs30XuEC6MX6I_nDBUeH8Jl7Lxvts-JSi88rkYZUd4EVO82jYWh_wkxCmTTl0ZdUZOXbfvQn2CkyPCclLfbhMXKp2jhuOWR9f4F-8u_o7cvLCiusj9DSdWi693dKOo9pLBtwHYI0SHrpneQhK0uFw9ng9EA9iKmn1qBNkkkhrph_7-mJbV-6yrIJIqyPfbLtMgkieZ0TKGvOwvd8lpn12EfzQUsO28bTRZrWCf0d7EevLHMXhiQecBprJ4WOU04vKBnHM58BTDDD69TPzkmwyyg10oq8toCbaeHs0S9H1kKfB9BfHNhsGem8FuWgMmW1IY_z4MDbith4CC4nKFhvpCLhz_A3SfkM3fonYXnZ7RU9zlLo5B6oX6iEiUV3Z4TPV0jlNJrWk55s-Iu6rBKJTMshAB72kBPUs9IfAPYlBAk9ZPUzZ3ph6meo7zZyhgmg_TFKjPy7N9xUQJEt3rKgV-Enj4y15ZkUtFaVUv7lGFu8C03w-4_lWSgJR3zoFOv5dpISuuNVEd2LhC3bgf1hMsXXIgCFPatQCVo9ZazaV3kjDW-sS7vdeKtipqRaJsOT8GjzXdi5vxLH3l_6qjBSmr1xUrYDzid1odgWTdFTa66LAeavxuYjUDkQ_JyJEtzk8dy2gS7CFTZgckCWXHwE3JIkgB1N72KWA3TtG0vTCC_Ncms2nXC5Hkg8tekpKY0d-hnvmhAbAyVAjODqrXH8qn89AjWU1P0TschsVE44etGktrtJrBhAUnTUHos1lpBFVlH_m4orHZGA1NpDyzLSLOKhUiFBfp6Xn36pn15aNhKBWUMCcveaVhs4OLJJ_X31lx2rRfNpdj3cmj1wLdY4UFCJ-brqvltxQVl08IfXqEB9wnc1tLa_uxoHZMQNXtOELGm1F_X7oTso2Fa2ktAEtTVFghDZP9N0JsZhXqoXZaXv8CBRjhUyw1Cwv2qP_UzQl3IPe__R_w9yF0nB_aQSpIRXG7bCNffn1F2s2664W864V2LOjULi9DU9AbjZRi7Bfqet5Tndj4BV1OntGjmAF7Wczh_0H-ASMbdLArC5UefEb8y9HrC2e3Gkt3EQVek0mwd9s9ZVX94Ej2CQIFNRAtDEbrLJYUNhoQP6DJwlnDVGBl_t3VwMli_Lkz0SMwn9kzkXwcJ8C8Ixzz35dCos-IGd6oJ3Jj-u9u2qcAkFN6dQVoacxqeNEw5B_f242GJixxPEz9G0O13cEHbuXJF1_b0M1JPup0dNyhv7DAJIbsy17D2XAEOMEatS6w5m1YN7ynmDfIhEShWUwoAYobbCaVBKMp3STmSvEgip4EFPEcmKAPVO5ITVOQLvNjfZyrlYjVYCiydgSZrs94sqrDlYlm_hgvYnMFgG4qXqrY3SNUgmTF05gypF3Gzh2ZQbzvPxPaYnM40wA5CUvVHsmHe4hRSb7YZNU2l0THgIK7qxOZ9hPXI9rTqfwGikFVLYKfNIiGDvLYz4Ox_Z9Wi3pj53mSpRjSmqtudjfL4AIiiR8aEb40OH4Zh2hq-4tfS5cEXY0UMpgeylib40wg5vyDS1w2utjNS69kOVFSt5LlCm3J2Rehb3gTTmvirntuFOOiAj2irIopK1VN8-eSQxMYOHYq7w8DGtY-6_CakCxJUugKQ89iAb2xwj45cS1YPXmpRiKdQFjgrNNmsRMC8Qw=",
  "id": "rs_006cae29619b2ea6016ab44b185fc087d095e780925ab135d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_gripper\":1},\"note\":\"The gripper settled fully closed, so the first attempt was empty and the pear slipped just outward; it remains centered ahead of the jaws. I’ll reopen and advance 2.5 cm toward it before retrying.\"}",
  "call_id": "call_PAN3toPCVXK2ts76mQyQmyTb",
  "id": "fc_006cae29619b2ea6016ab44b19e09487d0bba329e2b8ec2f8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PAN3toPCVXK2ts76mQyQmyTb",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0307, 0.9992, -0.0219, 1.2785, 0.1806, 0.4301, -0.0238, -0.0196, 0.9986]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0005 left_pitch=-0.0317 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3028 right_y=0.0012 right_z=0.0214 right_yaw=0.0103 right_pitch=-0.0949 right_roll=0.0005 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.5111, 7.0222, 1.8144, -0.022, -0.0366, -0.0122, -0.0342, -2.947, 7.1316, 1.9365, 0.0024, 0.0122, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:709f7ddce5afa62091518c1b3a93a1eeb7cadcabaccc4d20faa734c94df19b8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62249d73b177f23748bdfd42674fd758202518e97ad32068df3799a2ba728b83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a0d3c707370eaccc390ad1f3b34b00f07ab1ce536a4e4b1e8767fc276bb0501",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3824, -0.0143, -0.0292, 0.9993, -0.0227, 0.8005, 0.6182, -0.3904, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1822 left_yaw=0.0002 left_pitch=0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2955 right_y=-0.0001 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.7846, 9.6889, 1.7802, -0.1197, 0.1636, -0.0904, -0.3214, -1.6752, 9.1966, 1.8974, -0.105, -0.0366, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8036, 0.6132, -0.4011, -0.0139, -0.0307, 0.9992, -0.0227, 1.108, 0.1253, 0.3679, -0.0242, -0.0158, 0.0092]\nstate[eef_state]: left_x=0.2937 left_y=-0.0001 left_z=0.1772 left_yaw=-0.0001 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9992 right_x=0.2897 right_y=0.0013 right_z=0.0356 right_yaw=0.0077 right_pitch=-0.0418 right_roll=0.0021 right_gripper=0.0092\nstate[joint_eff]: [0.0068, -1.2103, 7.0222, 1.873, -0.0757, -0.0464, -0.0122, -0.0615, -2.2496, 5.8462, 1.746, -0.0073, 0.0269, 0.696]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0307, 0.9992, -0.0219, 1.2785, 0.1806, 0.4301, -0.0238, -0.0196, 0.9986]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0005 left_pitch=-0.0317 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3028 right_y=0.0012 right_z=0.0214 right_yaw=0.0103 right_pitch=-0.0949 right_roll=0.0005 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.5111, 7.0222, 1.8144, -0.022, -0.0366, -0.0122, -0.0342, -2.947, 7.1316, 1.9365, 0.0024, 0.0122, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:709f7ddce5afa62091518c1b3a93a1eeb7cadcabaccc4d20faa734c94df19b8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62249d73b177f23748bdfd42674fd758202518e97ad32068df3799a2ba728b83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a0d3c707370eaccc390ad1f3b34b00f07ab1ce536a4e4b1e8767fc276bb0501",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEshfVxgSKIDeGAg9avBQoibzogfufHrQ1V2jAX4wnrUalzaep6Bbhqf7cJcw_r2I06yOoY5ouo5yMiWPxFUkAy_XBGoVVjxE4MCNYFYCSvT-th2an5xjplZit-yY_7x7joYdsOK87lwZ1XQo8eikJ0GwEkh7J4fKdAXypD7NOAtzxEe1MeBUXRMHhuj1Paw0spUM0HkU1gLLyu9ROw2NxBfaAOuWsqVDpVgLAseLbCrr5xRhTyifM5BwEjTtoJTgUY9AcF5Bg1TzEw7id1dScTtG_IJ0bFW3k8NirTXyU8iKwbyun8HhMDKoRFK6z5tsB9BZnS1bgwfs0wvJbygltm0eAaY15TPlfewebSO9L7ZsQTOfwK5JrC2YZuFGEm6auWpuWv7xYAmrCZ__G1SI79YVobr4KsTm-7ParQaT7v32QuF10gu72Z-vrb7SxzHeDYcvRJ7IaVIzZef0KXXvkUfj6oDvMc7SmPYtyb6BxGIJk6qSMKMywcuvjx0bl3IRICmOYTFwozPqdgEFH0d95Sz9Db57nn3z0in00X8b3O-Er1onLxq2W_cic8aNZEll2pq1uZkBIYUsH-vyuorBpLNnj7bDHvXLnjFG-o2_K-PDp-GEi7pFccCP955xVDJfkVmgVvZcuHCVAKIXsdD_JL8TpwbkPMUdjKstVXTPBi_j3C-ki2zzX7VPElnHOY_1GYjKKQOBI5ita5TYi0PrRUE7f-CRGF7UnlXuFteHO9NdGXt3ocQPH7FIAy5ZBOxBvpgaDHIyAwhZm6yQ2Dd7bGzyDMnkPBe2d_BnKQBgumzh1MYonTQvuTgfujIOwwC4S7_ss2tidrF85JUADf3Y4xD7lbkohtFD6d8eAOPH6l6W8Cj99Bm1vF56dC-ExlbrHPs7ZqYP8nj549wwX0R5WsUrqG_btzepUTf_EVKl41g3yLpvIRULGXgKCeWuNT69ZHfgAPbHInyQ7RMHDXNq4cUtAcPEewWWWzPoLOb584kIqSEc53mk059kW3r9lG48CuF3_0alVFmuT8B_gvjjq0aNaaN97GJfrrDSQCZPWYu87GWShdSQwagxNoKFkk9OHO0O5RvI5y0v38JIcOFr0gcHqiKItqOlXIwqw1J0DMKvLz-93MEuz8Yby2PdPPp0PFPK7K5NFwUvRuaCCqep9h5Jn7yJ1PjkXtd9d8C5HUqI6W1JlplBKCN45GXeNo_16u-Ir168mQDdlZGyZlFyRYLT3a06aPFtajou-GT_frhJ3hEPEXuoeI5FsTU0LCfITDh",
  "id": "rs_006cae29619b2ea6016ab44b20d7c887d096ee1d47d03be806",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After advancing, the pear is now clearly between the open fingertips rather than beyond them. I’ll close again from this better-centered position.\"}",
  "call_id": "call_3Lai8uo8KPzVZ4qy8UvNsaZb",
  "id": "fc_006cae29619b2ea6016ab44b211ccc87d09832bc13db1dd6b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3Lai8uo8KPzVZ4qy8UvNsaZb",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4171, -0.0139, -0.0307, 0.9992, -0.0219, 1.2785, 0.1802, 0.4221, -0.0315, -0.0196, 0.0092]\nstate[eef_state]: left_x=0.2916 left_y=-0.0001 left_z=0.1733 left_yaw=-0.0005 left_pitch=-0.0401 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3015 right_y=0.0025 right_z=0.0198 right_yaw=0.0168 right_pitch=-0.1031 right_roll=0.0055 right_gripper=0.0092\nstate[joint_eff]: [-0.0752, -1.0188, 7.2, 1.7949, -0.0464, -0.0611, -0.0122, -0.1436, -3.0838, 5.2034, 1.7411, 0.0317, -0.0611, 0.6911]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb53053eb5b896103f3c020d7c84cf712f76caeb4253aa3f71bd2f8ffcdfb9eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfe98220771452c98c03b490b1c87a55906cc08de1d4478103bbe96cd74e716",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784ef86a1659126c3ea0d503a44b4de1c2b3438dc0e4dc0ce24bb2640741316c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8032, 0.6132, -0.3901, -0.0139, -0.0303, 0.9992, -0.0227, 1.1076, 0.1253, 0.3717, -0.0238, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=-0.0001 left_z=0.1796 left_yaw=-0.0003 left_pitch=-0.0103 left_roll=-0.0006 left_gripper=0.9992 right_x=0.2903 right_y=0.0012 right_z=0.0364 right_yaw=0.0055 right_pitch=-0.0377 right_roll=0.0046 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -1.4017, 7.0906, 1.7998, -0.0659, -0.0171, -0.0171, -0.2393, -2.5231, 5.8462, 2.0293, -0.0171, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0307, 0.9992, -0.0219, 1.2785, 0.1806, 0.4301, -0.0238, -0.0196, 0.9986]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0005 left_pitch=-0.0317 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3028 right_y=0.0012 right_z=0.0214 right_yaw=0.0103 right_pitch=-0.0949 right_roll=0.0005 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.5111, 7.0222, 1.8144, -0.022, -0.0366, -0.0122, -0.0342, -2.947, 7.1316, 1.9365, 0.0024, 0.0122, -0.1587]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4171, -0.0139, -0.0307, 0.9992, -0.0219, 1.2785, 0.1802, 0.4221, -0.0315, -0.0196, 0.0092]\nstate[eef_state]: left_x=0.2916 left_y=-0.0001 left_z=0.1733 left_yaw=-0.0005 left_pitch=-0.0401 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3015 right_y=0.0025 right_z=0.0198 right_yaw=0.0168 right_pitch=-0.1031 right_roll=0.0055 right_gripper=0.0092\nstate[joint_eff]: [-0.0752, -1.0188, 7.2, 1.7949, -0.0464, -0.0611, -0.0122, -0.1436, -3.0838, 5.2034, 1.7411, 0.0317, -0.0611, 0.6911]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb53053eb5b896103f3c020d7c84cf712f76caeb4253aa3f71bd2f8ffcdfb9eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfe98220771452c98c03b490b1c87a55906cc08de1d4478103bbe96cd74e716",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784ef86a1659126c3ea0d503a44b4de1c2b3438dc0e4dc0ce24bb2640741316c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsnjasscnIrjHr9YacD1EC74iIIWVeXnBLA0PRiQe4NDfEtYUhXH6icTGXV0WbpcUzGVgamBf_wsDXsej_H-1xje4d_noqEtytaOPzL1G_FD9LnH3C1AGN4sgRrHs08ryqj6AA2t1P0B-up97Yqcoy80hdsn6bU5ctA_2Q_hA3LNNX9sTbXhgSYEB9u2N0SympBBakcLfdNJPgTdffSWE7tjSXYv1qeqbcpoO_kqd6nxUJ1nrdCrQ6qS6Ueh5JiqLW5-r19kJbf0iqn7xpaeBEjDjRkyGhyX3MHRvqhjUyDnKVQBP-gWjOOVveqyMTajPKMy_CGm5eOpyxlZY3Ik7VcyFTcYvvukO5UsWQXW6hjMkvg2gYQtcYEvexBpG7vRIB8Bx-JtTVDJFfJBNVFFBA3V2VY46pKCHvgxjR22DCLXpxEiLoozMPlVdQAZvbnzJm2ykvsBH-eToLccTVz8Fhp4h8D-KFokqE0HwBOB8dehb4rSuV5F8yFYzfdxq0FMDqWPcwjc9LqKMvW179Gf5Sxvn2iXw3s70wqatQxV4D1LAcBUc83eqVedipOSy0FsyOgZdYKSkgVCD5CV8J5qhB6xK29uLVeJkV1465ako0r86fsrvZx07YRAeIeTd6WsVc4zaITRXpCkCHbJbNsvDWLtFrQwVIQfQPFGGRzVoArXFYvSFcL-3pbux23NIAW9vjMmjFheh-v__JjwS2vJI2sqipq7cYs1akeOKRzI34mtZ8MQNCuPrhFQH-aJxYDqB6SUYUmccJw__j5AdjnH7YywSFY9RCSsxvGXk-1zQkKWiHfDL2TJPE1jsgnr6N4VGWC6Gl_Pq5i_-QDz4EwUlUVLnuy9NJ_-vEtEM8jOPAaCL2gKDJQmmz1nghTWpI7U0NVMtx5mDCqfXsLE5DDh5thVrPSEZsa_bL0cvnEB919ryUZYKTERkV64ZtIW3V2b--s7FQ5YXGGLtCiwptypS0caogUjK2ToaD4t5dRrH2a4NayJnShN-kxEZxwakT2ZgX8V9BBK93s0vaoBNpGaav1zecSscQ3aElJDPCBXGNhRhTF5BOR76qNR9G2MyUUlAp_R22aE9yylC3TV6yzICzKl1TFEBAdY-mydK6BpvmFCaMl6R2oxlJaHEBsZN3l1ZQaCnVKv2zYAEdGn2HY3D5BWdaxdO5Y0IDyBMwLImyGIq0eZqnYXSF7rYxpmCSJW-yCjn-JcSCTKToZamzC_Lf4iHqCa8V6D-Qhmnrd1P4J7shYSQ5RuT399Nc3-RdknsnMF5b___-dDPE13VfqF4VxjqtgQpOF8rjbrlVREftpBBw7fOdkWWmeQc6J9K4zj9ybpYARrX7d_gH6XsXDZrqX_ZkLVyF3_w2nPMfiIp95x5TOoCSntrYWW8Z0w__W1pbR9iaG9yLbezf6EargQEBkzSYzUj394PUyOFaAYD8IEEku_2BvqH5udpNC05ngaX9Eh4CJvuU1H46eCLt81oRiC3lwzaGHVd6N_pG3oUzWSn-N9Ki9lqo0CRby07ULQ84-5UBkq-qz37OgsFx4QSpw_Cj0lqHQ-aX0BGwTizWOY__hpAfoEQ-EpilqppZdElii9Xawjqx0PJez53YhXVuMdtTRCh4ndvpgAsdAPrIBkuabkO6Q5HijwFEq0NEE2vjjpiASZoruytBfUZX_N44EVuN55eJjU2OIEZMeftzOHOWPVr6q1DZWH6tgkLftwJu0QgGKZf6bKQ7CVWSGBfdANDWJc_BXfquimeBfk83ozmu7d1JbmdSTi5TPURk3rhWj4sx4pmX00wH5k0-0HXQEUy6gQi7UJJ1tpogrio2S51KLbEOuI37IELfdwOTaxADKeGMaJ9-rUB1XMZ-68SrE0ahnoLuvnyxTrH7w-Ciqlc0lvWvOHqA41RVcqBd4D9KSCkEeuTATn9Y04FufGV9FL_r9MWiLRlitcqqSq_XPaCs--pZb6Ykq1ehhhy5q3TGaGaCHbdiyaoqut8CAzZdek_YbK6Ns3dcMDVXiiJTM3j4QZ7ir58ijZR2gWQDFp4EG1GuZ1xqIq1MlVtGxKyrKdM0eRaFQHeFWJVXJGtI0Mbj9hzHYVycDMgxuL5WcRGRznW9qXlLRmNFC5KUa-GkmDZN_MZFP8630At39-GwrvWKXvG30DdhewuJvmPJ9ANe0pob9xDJk-lk0UmtHzn16A6v5l9RxuANmQ1yAZ5uS6Nx-9Ffxxe0_MlA98_LRRe0JY_Fd9YI_S08PFpCqQTRu0rX0Trgp2r8VS6gx7x6zMTfM08PBwVMBFZbXt1CQKAzTo5spk3u2ilRK0WwOTvzl9nNHvf7Rjz6QNdaT4qLrxVnS8SRZ4mhk5FZruAoqg-1fiEO3QP0T8-9C4D-OeMT97nNxjgQQuDYWgubvGRPW_lu-OMt5g5V11geR52V4iHQQ",
  "id": "rs_006cae29619b2ea6016ab44b23dff887d0ac627701394f1f4b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_z\":0.07,\"right_gripper\":1},\"note\":\"The pear again slipped outward as the low fingers closed around its tapered base; the reading confirms no grasp. I’ll reopen, raise to the pear’s wider midsection, and advance another 3 cm so the next closure contacts broad sides rather than the base.\"}",
  "call_id": "call_kmDWKhLV6njsLmgMZah2cEMQ",
  "id": "fc_006cae29619b2ea6016ab44b2615d087d0b3a34fdc9ad42f21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kmDWKhLV6njsLmgMZah2cEMQ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4236, -0.0139, -0.0307, 0.9992, -0.0189, 1.2392, 0.3832, 0.1436, -0.0319, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.172 left_yaw=-0.0004 left_pitch=-0.0465 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3268 right_y=0.003 right_z=0.0548 right_yaw=0.0245 right_pitch=-0.1393 right_roll=0.0014 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.306, 7.2274, 1.7314, -0.0317, -0.0513, -0.0122, -0.1983, -4.8615, 8.294, 1.7411, -0.0269, 0.0513, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:098d8f805df3da79d54e463e4497500ef5ac1f15b21eacbe04bba7d5136e8ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00080cd0d4025cf6a3441ddafdeb69e424ae788ead3fc6ee63a1136c38f5936a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cbbd9166e8abb7021a02033e35950d886e94e268f5c40cea77b48cbc821bcc5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8036, 0.6132, -0.4011, -0.0139, -0.0307, 0.9992, -0.0227, 1.108, 0.1253, 0.3679, -0.0242, -0.0158, 0.0092]\nstate[eef_state]: left_x=0.2937 left_y=-0.0001 left_z=0.1772 left_yaw=-0.0001 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9992 right_x=0.2897 right_y=0.0013 right_z=0.0356 right_yaw=0.0077 right_pitch=-0.0418 right_roll=0.0021 right_gripper=0.0092\nstate[joint_eff]: [0.0068, -1.2103, 7.0222, 1.873, -0.0757, -0.0464, -0.0122, -0.0615, -2.2496, 5.8462, 1.746, -0.0073, 0.0269, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4171, -0.0139, -0.0307, 0.9992, -0.0219, 1.2785, 0.1802, 0.4221, -0.0315, -0.0196, 0.0092]\nstate[eef_state]: left_x=0.2916 left_y=-0.0001 left_z=0.1733 left_yaw=-0.0005 left_pitch=-0.0401 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3015 right_y=0.0025 right_z=0.0198 right_yaw=0.0168 right_pitch=-0.1031 right_roll=0.0055 right_gripper=0.0092\nstate[joint_eff]: [-0.0752, -1.0188, 7.2, 1.7949, -0.0464, -0.0611, -0.0122, -0.1436, -3.0838, 5.2034, 1.7411, 0.0317, -0.0611, 0.6911]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4236, -0.0139, -0.0307, 0.9992, -0.0189, 1.2392, 0.3832, 0.1436, -0.0319, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.172 left_yaw=-0.0004 left_pitch=-0.0465 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3268 right_y=0.003 right_z=0.0548 right_yaw=0.0245 right_pitch=-0.1393 right_roll=0.0014 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.306, 7.2274, 1.7314, -0.0317, -0.0513, -0.0122, -0.1983, -4.8615, 8.294, 1.7411, -0.0269, 0.0513, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:098d8f805df3da79d54e463e4497500ef5ac1f15b21eacbe04bba7d5136e8ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00080cd0d4025cf6a3441ddafdeb69e424ae788ead3fc6ee63a1136c38f5936a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cbbd9166e8abb7021a02033e35950d886e94e268f5c40cea77b48cbc821bcc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsqplNf5RbFCCir_NzZOnBxF2rZC2qY5K9nxQGxpZ126WmAvXU2IyyJ_iRlVxMF4Gaac1bdGKNfWeK-5ryZCT7qBbAjLSwNeuwIHGXmsoiRKXgSK8tPkBiutHBHkGC8YEF1TRu7GD6y2DawTEfkqOtlUOSDgucZL0P8Ah6Sy4D45rtw_HRBw67PfgoBZ_JK8sJ45N-PTrEgji-yXW62dt1pWikI5t8byO05ojh_hIGjRXFQH9gUCND0x4chK4wN77DuaFHQAcAKpDTUIKbBRWKbuU1LCFTY2Bjda-i965P_xbb29iSMjmPoMp2IRgqJeFDfLZdO4iOjIKH1O11OHqN2rVEj5qZM2BJCKCr5OKRj7gHq-yb0LtyFvfdCQMwR2lgUqa9MvUmWY7FVWjvuKzQ8bKbBCf7rFhn-tIMw_7TnkzT7fvpVOIVQELUI-I6CHFB9cMgAspPzDbYektLaG5hRYU2kWOWT7YHl1N_CNUypzWMYoWdt2weEsEdcvUT7XXnj_viKa3fr6kGCA-JPG1OuvewCiGZCU3e2CbIdixiYFSllzq76pNTVkYnwviqjMIEhhJjSOt3YMOq76FhTBnnlZotvrqzL9PkOOv1w9UenItITGzigSWo3MCbBikEF_mZIUwY-1imHPh8Iq5_XTP9BobIFg48_o3oSG2vcqhRT_GWQ2ZmHs5K7YD8NAGEJHxHsXO5auJMJua4Fctprq0xbjfY1MMgIUeCsBKz_DQsfzcE7Cmqanbz8q1usdpJad-s03ToarvGrkMk-Iy_PwJd6f-SE9SSJ6OQb4W_rmUVS2i-1yJoPT-yH82HqD8L6HVIUK_WBtSZSWqemc-QVavd6lIWdu14AT_WhGYR8-iOEhOBDiJFYlRGLWI-VSLOGFbeIzWv_sP5LrdDPLlPJdaRjfTK_3LVkFTTFaY-0SRAE3gFF4AC9qmHFOkEytF2bSsAofmtKYFzzBToli2o0Kt4ou2ykdwKU2qTm0-tuNbOohq6sORyiKHi_q492P5O-oJbuuyOoO_ncdZRjYBNc2ULfOXF-S0FJaYqqgaE73FhrAV18tlzT-oUphD6wt_Dxi8BNHVnm1upxjbzfE-QZCueAtIlTIEZhtBUiTkQH8neTaazx0pWTCe80HKGYUzpC9hBX8XwG3lrdwXW8zlc61hoeaI7vPIIoB1H2a7F09OXQaheRfer21E2JVVsvDNeVnbtJdyixn5BaOatH8vfOggLBYYP5NuBmJ7qOE0BDV-2xWCBB4amSTylkP_e5LULlobJKuDhYIXQNlnFs_JVKrZJ3y26ntnSgXfk4nRU0xy0Q806Wj_yOnye4phVWvUD6PqLhqQliS8z_2JgAVlYHHbmuVKftRrvvQMaPJPiINxkdRULtg8jXskK0ycpSPhtYK5B5Dl9fDPrPM-pWvebEdd1WC2NQfgeECkmUVKDH_bryHPB1kMSK704irwMqlCNhiBTUiXw1GClduAL4YKs9TfJNG6X47nj322XjbQFEJj4MTbqkyB4G9hznzQ-dVbhsoEQA6Gyp7agfHaAbNxLSyQ6erxUhJB4belwnIcBVNObWcvM=",
  "id": "rs_006cae29619b2ea6016ab44b29192487d0a0643135f1c8a13b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The open fingertips now flank the pear’s broad midsection symmetrically, and the stem points away from the grasp. I’ll make a partial close to about a 3.8 cm gap, avoiding the forceful full closure that previously squeezed it outward.\"}",
  "call_id": "call_NjqVJM9SsAgv7ywXjVmHzAlh",
  "id": "fc_006cae29619b2ea6016ab44b29fb8c87d0bf91c677dc0762b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NjqVJM9SsAgv7ywXjVmHzAlh",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, -0.0189, 1.2381, 0.3931, 0.1299, -0.0322, -0.0307, 0.4046]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0004 left_pitch=-0.0473 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3277 right_y=0.0031 right_z=0.0565 right_yaw=0.0267 right_pitch=-0.1419 right_roll=-0.0009 right_gripper=0.4046\nstate[joint_eff]: [-0.0889, -1.1966, 6.9812, 1.6972, -0.0513, -0.0464, -0.0122, -0.1573, -3.5624, 5.3812, 1.7607, -0.0611, -0.0024, 0.0952]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9587fe5e81fd03a5b668cbb062c75979fe73e68f4480b4bff2f5a1cc6d28ae68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa4a0f9877c04639e20fe08f93479b403b27c8313f2e35567e98243d0764c6e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0723ea9b3ef7c43fa13823e6d9eb0a31d973d90d394445d24a1880158ef4dbd8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0307, 0.9992, -0.0219, 1.2785, 0.1806, 0.4301, -0.0238, -0.0196, 0.9986]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0005 left_pitch=-0.0317 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3028 right_y=0.0012 right_z=0.0214 right_yaw=0.0103 right_pitch=-0.0949 right_roll=0.0005 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.5111, 7.0222, 1.8144, -0.022, -0.0366, -0.0122, -0.0342, -2.947, 7.1316, 1.9365, 0.0024, 0.0122, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4236, -0.0139, -0.0307, 0.9992, -0.0189, 1.2392, 0.3832, 0.1436, -0.0319, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.172 left_yaw=-0.0004 left_pitch=-0.0465 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3268 right_y=0.003 right_z=0.0548 right_yaw=0.0245 right_pitch=-0.1393 right_roll=0.0014 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.306, 7.2274, 1.7314, -0.0317, -0.0513, -0.0122, -0.1983, -4.8615, 8.294, 1.7411, -0.0269, 0.0513, -0.1832]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, -0.0189, 1.2381, 0.3931, 0.1299, -0.0322, -0.0307, 0.4046]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0004 left_pitch=-0.0473 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3277 right_y=0.0031 right_z=0.0565 right_yaw=0.0267 right_pitch=-0.1419 right_roll=-0.0009 right_gripper=0.4046\nstate[joint_eff]: [-0.0889, -1.1966, 6.9812, 1.6972, -0.0513, -0.0464, -0.0122, -0.1573, -3.5624, 5.3812, 1.7607, -0.0611, -0.0024, 0.0952]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9587fe5e81fd03a5b668cbb062c75979fe73e68f4480b4bff2f5a1cc6d28ae68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa4a0f9877c04639e20fe08f93479b403b27c8313f2e35567e98243d0764c6e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0723ea9b3ef7c43fa13823e6d9eb0a31d973d90d394445d24a1880158ef4dbd8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEstirudK4fNtItf8CKvBm32Y3fBKabwxlKy_8CJQFfG1Tf1Spby2Krtx1H3n6SI8k2c3dNSpUUk3cC8IPPMI1uwdx5B3HFTIHZ0cdYHlD5GpjQet_guyHtL4HRM379uHpVFN19iYEZA-Bym7ZNXVh9SADYKHy1m1nd7g_0cGo92I-cAnnG6IFd15KsTIWm3wuZtxJgINEcoXLhlKGPnL6KaCPSkC01mW99gbYzG3BMEhMUToJi9l7Jm-BqfcvSvn5Zlfb7lExshgVtUO9ok00togz-mnYfCrca3-SiCTkXlfOPDzsWFyJcSbREW-Yq1bc2Sg7x4d1vCvQ5Q7UOAFpq7UtSpbe33PPs-6Kc3ff6RuCPmQwdEd-BlrF3QIFyKKZs01i7rbPNdPhVx-_zqP2pU0_N51E-F-UvlSf1DNdMqioI45NkFJUeCp28NH5LXV9DOwNkYQT0QdI0XG8i-vQj_saIIwP_XC1uSdJssz-WamXUrJv2TOYgz159HxFJKSaCfEW_fHM6cRrpuvQSgReGB8nF3b_u_WsopT8xLXXn3X5F3N2mG8ClNTE040WWwnza0vlqF5APW9ERH9mfj6MKch5V3J2h1znCtJ0S-ssDWWj3HMyIlIlaGKfOdJlDA1XbQKF0d_iOcW8ZNQ9U0ur5FxEgQ0yu4mdzzF7wfYYAoJnfUL9LZxBJ3n4auTPzbvGSYfxrlrHtuqRQXQlSLCvYO1bJXwR9SVw22Mh04bVR_fXfi7UhsjNRsw2uPfyoFWVEwIgsRf30UAQ3rWtjSbAjbvpi-PUhZPf4wiMavB5Yu5xTAsca7n1d-JngAS8Ubn-OsO7oNFsyUog30gI00HNUW56vDKv5oDSiIt0KREf6IhKnUKzTDp-owaj3oCY6xT2PsAH3VnqiHOx55PcVpsoyIE-ut_esiAzL7dE7oF5SwjuNFA1yYe8LuSs-Zc1_Nxnx5BBXG7qtI3G2YruMGQMDtci8986nbs7kjIuNgXxwyMIyGzMB30cL3NwbnVq3C3ArtJGDE1AcxvHMN4o82dhSst-fTBOdZ85pCfokdYGnlIvVxkQJ2ZW7H1deZ5JGVLlkZJjx2RdI6XIUh-yKr0o1UKb8ErXfJO9-xdHNtcfZ24Rpdh72XKGVMvl5mFc-vYy8f1xUWP81tQmAvcbUQ72eLqqpYc4joZbt5pMmD-8alHC5ZvyXhFQqkstcFcm1TpX1OFnzF7mIzsYMG24PM9niEFZv2zV3ow-jsObaJ0Aj2fkDmjT-g5K9YzWMQE7WUgoq_GuYYvOmiF7g_rCRK2jy005bpFipoJybMSJRsJSQIPklQSLl1oDh_EIbsgO0-6QeEiul7uq2ee8kxqNvZXVP-pQrv554NV04EVdg9arl7otHD1cKZ5pwMt4n4JzdBalvy",
  "id": "rs_006cae29619b2ea6016ab44b2c70a487d09fe193b8545065f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The partial closure leaves both fingertips visibly pressed against the pear’s sides without ejecting it. I’ll lift straight up to test and confirm the fruit rises with the gripper.\"}",
  "call_id": "call_vUSrvQgGmBSXBef7S4tqRNjk",
  "id": "fc_006cae29619b2ea6016ab44b2cf1e887d0a6a9be9a3e384798",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vUSrvQgGmBSXBef7S4tqRNjk",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.0897, 0.5961, -0.239, -0.0319, -0.0383, 0.4041]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0004 left_pitch=-0.0477 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3256 right_y=0.0037 right_z=0.118 right_yaw=0.0326 right_pitch=-0.1595 right_roll=-0.0061 right_gripper=0.4041\nstate[joint_eff]: [-0.335, -1.2923, 7.2, 1.6923, -0.0513, -0.0171, -0.0122, -0.4718, -3.9043, 8.9641, 1.5409, -0.0366, 0.0366, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e44861783ccb823d557823fff7e9d639422059950669139253ab4e3698e602a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c48c99aef4e15456322929e4e5520fbcc8effc296a756f520855beae16a7761b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53e8ffe45179d4cfcbfb3381b7238aa323aaaf7e65bba7dd006ddb6567d3b76",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4171, -0.0139, -0.0307, 0.9992, -0.0219, 1.2785, 0.1802, 0.4221, -0.0315, -0.0196, 0.0092]\nstate[eef_state]: left_x=0.2916 left_y=-0.0001 left_z=0.1733 left_yaw=-0.0005 left_pitch=-0.0401 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3015 right_y=0.0025 right_z=0.0198 right_yaw=0.0168 right_pitch=-0.1031 right_roll=0.0055 right_gripper=0.0092\nstate[joint_eff]: [-0.0752, -1.0188, 7.2, 1.7949, -0.0464, -0.0611, -0.0122, -0.1436, -3.0838, 5.2034, 1.7411, 0.0317, -0.0611, 0.6911]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, -0.0189, 1.2381, 0.3931, 0.1299, -0.0322, -0.0307, 0.4046]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0004 left_pitch=-0.0473 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3277 right_y=0.0031 right_z=0.0565 right_yaw=0.0267 right_pitch=-0.1419 right_roll=-0.0009 right_gripper=0.4046\nstate[joint_eff]: [-0.0889, -1.1966, 6.9812, 1.6972, -0.0513, -0.0464, -0.0122, -0.1573, -3.5624, 5.3812, 1.7607, -0.0611, -0.0024, 0.0952]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.0897, 0.5961, -0.239, -0.0319, -0.0383, 0.4041]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0004 left_pitch=-0.0477 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3256 right_y=0.0037 right_z=0.118 right_yaw=0.0326 right_pitch=-0.1595 right_roll=-0.0061 right_gripper=0.4041\nstate[joint_eff]: [-0.335, -1.2923, 7.2, 1.6923, -0.0513, -0.0171, -0.0122, -0.4718, -3.9043, 8.9641, 1.5409, -0.0366, 0.0366, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e44861783ccb823d557823fff7e9d639422059950669139253ab4e3698e602a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c48c99aef4e15456322929e4e5520fbcc8effc296a756f520855beae16a7761b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53e8ffe45179d4cfcbfb3381b7238aa323aaaf7e65bba7dd006ddb6567d3b76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_006cae29619b2ea6016ab44b2fe96887d0a7288d0f8555a1c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.13,\"right_z\":0.19},\"note\":\"The pear moved upward with the gripper in the overhead view, confirming the partial grasp. The blue bowl is about 12–13 cm to the arm’s left and slightly farther forward, so I’ll carry the pear high over its center.\"}",
  "call_id": "call_45vYeR75u1rQLUmu79oY6JnP",
  "id": "fc_006cae29619b2ea6016ab44b345abc87d088830c058e8f3e98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_45vYeR75u1rQLUmu79oY6JnP",
  "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]: [-0.0212, 0.8059, 0.6132, -0.4309, -0.0139, -0.0307, 0.9992, 0.4438, 1.446, 1.1099, -0.4835, 0.284, 0.2481, 0.4041]\nstate[eef_state]: left_x=0.2896 left_y=-0.0001 left_z=0.1705 left_yaw=-0.0004 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3826 right_y=0.1311 right_z=0.1748 right_yaw=0.0651 right_pitch=-0.2054 right_roll=-0.0303 right_gripper=0.4041\nstate[joint_eff]: [-0.0479, -1.306, 7.0632, 1.7998, -0.0513, -0.0562, -0.0073, -0.2256, -6.2017, 9.3744, 1.6484, 0.2662, 0.2759, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be79a7a2a933e6a8599c03e277867471c95d2b89dd4b02fce608cfaef7955d26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef857dfd14ef634e3bc273dcacc374432b446e27c664d4a1bc7392adb89327ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9ede96a1db66c00d6e0a6c210f89384ee23ffe910918bf758ded1759d35718",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4236, -0.0139, -0.0307, 0.9992, -0.0189, 1.2392, 0.3832, 0.1436, -0.0319, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.172 left_yaw=-0.0004 left_pitch=-0.0465 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3268 right_y=0.003 right_z=0.0548 right_yaw=0.0245 right_pitch=-0.1393 right_roll=0.0014 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.306, 7.2274, 1.7314, -0.0317, -0.0513, -0.0122, -0.1983, -4.8615, 8.294, 1.7411, -0.0269, 0.0513, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.0897, 0.5961, -0.239, -0.0319, -0.0383, 0.4041]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0004 left_pitch=-0.0477 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3256 right_y=0.0037 right_z=0.118 right_yaw=0.0326 right_pitch=-0.1595 right_roll=-0.0061 right_gripper=0.4041\nstate[joint_eff]: [-0.335, -1.2923, 7.2, 1.6923, -0.0513, -0.0171, -0.0122, -0.4718, -3.9043, 8.9641, 1.5409, -0.0366, 0.0366, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4309, -0.0139, -0.0307, 0.9992, 0.4438, 1.446, 1.1099, -0.4835, 0.284, 0.2481, 0.4041]\nstate[eef_state]: left_x=0.2896 left_y=-0.0001 left_z=0.1705 left_yaw=-0.0004 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3826 right_y=0.1311 right_z=0.1748 right_yaw=0.0651 right_pitch=-0.2054 right_roll=-0.0303 right_gripper=0.4041\nstate[joint_eff]: [-0.0479, -1.306, 7.0632, 1.7998, -0.0513, -0.0562, -0.0073, -0.2256, -6.2017, 9.3744, 1.6484, 0.2662, 0.2759, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be79a7a2a933e6a8599c03e277867471c95d2b89dd4b02fce608cfaef7955d26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef857dfd14ef634e3bc273dcacc374432b446e27c664d4a1bc7392adb89327ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9ede96a1db66c00d6e0a6c210f89384ee23ffe910918bf758ded1759d35718",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEs7_afv6oznQaFsNlK_2ZXyeoTnoCiU3NSyzUqHwepScLd4PzinhKTlyKZ25AGZ0dgqIWnff4ENSdGIaGuAaI7FZdDF5i7bVhbmswHbwCHEvZqPZ7oU6Zp8xqPSANsuD99SGcZZzPkGWgzQm78idLIpAml9Po051Wrtp3EpPMvjaXTKb3ZtLsYo-28RyOADCkTBmM0EXaGdLtKZOAxY6dpY9kA13mMczTr_V0wqa5uXxwwaQMHmmfl7K2hOPBVgs-YH8q_eEcMPSljBUijLgMw2l7ON4RB5X3h14No9GA2xIrH4Jk5KZPXTFmsjUWWVYpNuPg6asaP8gI95B7H_w2_XBefq3dvIwULXXez5LIJxlWcdXfw26BlFQQwEWqjYzdzGVk--BoG7BDcdue4YNFuEfCNEmos4Fth5Rh7QJG4Xo8G6skfBOYY117orxU_ldwGbtGjFZd-kMkJd0_PNS_y0qH6_IGMtcRU2PgkjM6JNxiPuBb425mGUtQ3xnHpJF7xKT5zTnt-i0wbnQBjEIoSPx_lSjBMQaJRwGe_LUuQYBNweP6hCg6J942HGutIcSrWWOY2fyQ3lAhyL5t9pz-1UpOFgNxuEKjhnwCkHblj0PN7wh6rF82j022KzQlo5NoLDQbJHXTXk-H20-1j-gX7smgaD0nltwOMGXZJLEqPndLsff8Wo09Hc8_P8EHPc9y7aOdsrflMX-shZHnvVYwDAmRn74_-CRFQIS1vJVb8KyColKsa6Q_TLrZKo84qFHlCy4xgRAz71rmkQS-jqNJwFAm1cAvWH9_Y1CS3D6E233pEa0ou_QL7wSKjC1xEEmDQ7Fd_I2UF_1d7lALxeMDBQroKXz64dduPbCtQkTKPRuMk5wMBqeHNRAnT14t9ZpSTcsKKDsZJ3yMzt0O3Y_2OmJ8E964W_OcC1Cq6XRm7n99gXklipF2lvSeq4-Fvh_LSEMaFFgVs3QRvF469zgMuOOHhRZSszBc3RdZxvLoDzLEHBS1kOr24jehPR0Zkw3L6jk2t8ADu6okUBFHShd_pZHbzRw6HW7lJAoZ-PCOndakDKTO1ExEvY2CjoGCpUjQxFA15l2icEeegb-vSAdQMAjnmMDjeT6pmJVfHEeohWkDklpz40l4riDfTCKSGqTCWQmVa24UGPI78xfFP7TrN43Yc1UWRb8uAvSGz_JDxDV3pwlePSkSuT1L8DjMGuEvfYYzsAFHWsOGIg8NYEXfjBV5_w9jiPqiHuvT2LTn8J9WOTISQ5DG460uDWkDR3dX7_hLdXrt5gtE49bKh0f8KO8NVVZzG_Jimh3mzxwzhjUJ1ECH7DdJmC1TfNocRCDKLG8yGFVlbMzdCVmsEVjewfRNvekpld1uhPnmmSFNaB2t72r1YpQ_VN0is6I8vrnowzUAR_eO8hVOzAhoSDoKZbo_tbPM413Iu-8lCt4bqjxLWG2aOZKK6X-UHgSCD3_Na6Aj5EijUbDtB7q4esMKzm27l4XTLoxNguo0JMpEuK_n3C1P871zPq6x07uagodgDfCLtACEpcjO7RwNrSkuT92Mr5vSVUBW3lt3xxroD2h0c=",
  "id": "rs_006cae29619b2ea6016ab44b39e02487d0848a12d7a22d60c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The blue bowl is now centered directly between the jaws in the wrist view, with the held pear still pinched at the right side. I’ll lower until the pear is inside the bowl while keeping the grasp closed.\"}",
  "call_id": "call_kwMCsGZvPPnJHn76403r4vzM",
  "id": "fc_006cae29619b2ea6016ab44b3a9d3487d09c6612f431b5b7a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kwMCsGZvPPnJHn76403r4vzM",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4351, -0.0139, -0.0307, 0.9992, 0.4431, 1.5616, 0.8196, -0.1089, 0.2832, 0.2436, 0.4041]\nstate[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1697 left_yaw=-0.0004 left_pitch=-0.058 left_roll=0.0 left_gripper=0.9992 right_x=0.3781 right_y=0.1288 right_z=0.0746 right_yaw=0.0649 right_pitch=-0.2347 right_roll=-0.0448 right_gripper=0.4041\nstate[joint_eff]: [0.0205, -1.0462, 7.0359, 1.7167, -0.0415, -0.0513, -0.0122, -0.2803, -7.0085, 6.147, 1.7607, 0.1099, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab28546bd9493c6034bb38fc54c8f28f883e14e5054b2a4fcb66da697579f59a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50bfe4fc34ae8b6bcefc21ab5cae68bca18866c1a18856ac68ae32a5fa3c3be3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043b05a75694010458687d3e066f1795414e56c949ccf17a2f61e9319673281a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, -0.0189, 1.2381, 0.3931, 0.1299, -0.0322, -0.0307, 0.4046]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0004 left_pitch=-0.0473 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3277 right_y=0.0031 right_z=0.0565 right_yaw=0.0267 right_pitch=-0.1419 right_roll=-0.0009 right_gripper=0.4046\nstate[joint_eff]: [-0.0889, -1.1966, 6.9812, 1.6972, -0.0513, -0.0464, -0.0122, -0.1573, -3.5624, 5.3812, 1.7607, -0.0611, -0.0024, 0.0952]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4309, -0.0139, -0.0307, 0.9992, 0.4438, 1.446, 1.1099, -0.4835, 0.284, 0.2481, 0.4041]\nstate[eef_state]: left_x=0.2896 left_y=-0.0001 left_z=0.1705 left_yaw=-0.0004 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3826 right_y=0.1311 right_z=0.1748 right_yaw=0.0651 right_pitch=-0.2054 right_roll=-0.0303 right_gripper=0.4041\nstate[joint_eff]: [-0.0479, -1.306, 7.0632, 1.7998, -0.0513, -0.0562, -0.0073, -0.2256, -6.2017, 9.3744, 1.6484, 0.2662, 0.2759, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4351, -0.0139, -0.0307, 0.9992, 0.4431, 1.5616, 0.8196, -0.1089, 0.2832, 0.2436, 0.4041]\nstate[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1697 left_yaw=-0.0004 left_pitch=-0.058 left_roll=0.0 left_gripper=0.9992 right_x=0.3781 right_y=0.1288 right_z=0.0746 right_yaw=0.0649 right_pitch=-0.2347 right_roll=-0.0448 right_gripper=0.4041\nstate[joint_eff]: [0.0205, -1.0462, 7.0359, 1.7167, -0.0415, -0.0513, -0.0122, -0.2803, -7.0085, 6.147, 1.7607, 0.1099, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab28546bd9493c6034bb38fc54c8f28f883e14e5054b2a4fcb66da697579f59a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50bfe4fc34ae8b6bcefc21ab5cae68bca18866c1a18856ac68ae32a5fa3c3be3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043b05a75694010458687d3e066f1795414e56c949ccf17a2f61e9319673281a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtCiAc5bofbGUg8ke2rJs4sBM4fqT_Yiuec87-ZyI12JHkDpKSknAFizgHtjo6zFH7eOqV_12HcWwGGMwz4TKtCZSjugX_IWDJU5spkKR-bvOMfyCkyrgraNUfb-TN5ohz2msSGHFvSVIKstNO9-2EEidVpfbaMWQKqvFXjIqXPwZyVGk1_eabMoSg-VRqDiMtPXEn1Mj5J5Y0KtFMp3K4JdBND9RaVjbtBwFRRTPGL9ixfUjHKSS94Wusxz-P_xQLzU_Nia333SQim0ALg8e9r9MvxVEwxW6KhXvE4Lvme8jB0srqlgwbxJIENeo2W6y4jjYtds_acXoNt0coCO1D7BCitBBgvqLvzg2wci1dKSW88ND5MKIGCgzP9DkUSeqPtRLC8nMvcUdkl4o71RrZIpccubx67ePagnD7XVEB76edKwJZnV7BXHNki7Ez6YTUGd2kCQdVZT4nL0FiE_Huz5p5ZWZ-arQjhqkXLAM_2s2yXuu3rE6yGi8LQQr_pnPO3yGuHRr1Sj3Ei1Tjj8phS82GVQIxrI8mBDeXrx_hkwys1f0j0hYDZXRuCFlhA3qFn1EvXgJ7esZG-k0fpFVQu8OxrP5ZBE6r9pyIfsgPVFk2pX-IdYPOe2mgpU9_wGoa94PUG2VL3sJoYy1KF6ftArjJodzjZ-zE5bKFByn7BGOz21gWi5Hc6YR1lR7MzL5ECdh3qZDYLOQUISEwi_1WLVBVlzZQxuV-HvmKIPbkLL9sbipgZc5DcSwOv5i8xxqT4-7_WwBjmVaIr486bZWDzcO33sFto4C-TExU9AHu_SoittdElMuTcbGSv_eWq_mxKhvH59zvbigT816ydlpdxL09Ne9S2fZ4_6Eryjp_0R1SCtiWjnZunj-gIkXt87R_CHabSvGid3wAM1bZlJRxW5XBV1d6omxyX7yIlHUwplhEbCaNfnFEouetq28TApuXnJDcBEtTC4Fg_WNSIdW4nPic8qhXTBB6QNKWXAyr62fyod_j1cBRXfYJ4BQJApZwAaGeUb9Xuerhb1eIk30o77zO6pAMYLn6MBrydka_In00-R1fpRU9_HHhMAxasUwo0a5xheCMs9iqz3yQ7M03ddX3YX_cFSdTjN3tbz6txegured5DX6onfG4277OzfpvZidx8eQz8NHlUmGt6o8rEA5FSgJSzo96PLxS0-uFp9zjZwGHyLe1w7E_5gFznZ8S243aFFTNnfzVHbQ9aQ9W1Ow==",
  "id": "rs_006cae29619b2ea6016ab44b41fd7c87d0aa72073ddfa1297d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The gripper is lowered into the blue bowl and the pear is positioned just inside its right rim. I’ll open the jaws to release it into the bowl.\"}",
  "call_id": "call_WBDWTwnpLIywzPvDCJCgmWh3",
  "id": "fc_006cae29619b2ea6016ab44b421eb087d0be0abaa9881aeb43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WBDWTwnpLIywzPvDCJCgmWh3",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4355, -0.0139, -0.0307, 0.9992, 0.4431, 1.5616, 0.8196, -0.1173, 0.2825, 0.2363, 0.9955]\nstate[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0004 left_pitch=-0.0584 left_roll=0.0 left_gripper=0.9992 right_x=0.3767 right_y=0.1282 right_z=0.0732 right_yaw=0.0689 right_pitch=-0.243 right_roll=-0.0526 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -1.2923, 6.9949, 1.7021, -0.0562, -0.0464, -0.0122, -0.1026, -6.6256, 6.1607, 1.4774, 0.0757, 0.0269, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d51877f12aee77f62a296b14b8f1c15757cf39c96fc38313de9e85410b535b46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5ad16cdfad19bb5de6e7f3a0698ca55a6278dc8bbb0673b18e65b1131e3252",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e7f71e5a56da844da63fdfff34d37ae9f4afb2f56fd776a74da863443d92cd8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.0897, 0.5961, -0.239, -0.0319, -0.0383, 0.4041]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0004 left_pitch=-0.0477 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3256 right_y=0.0037 right_z=0.118 right_yaw=0.0326 right_pitch=-0.1595 right_roll=-0.0061 right_gripper=0.4041\nstate[joint_eff]: [-0.335, -1.2923, 7.2, 1.6923, -0.0513, -0.0171, -0.0122, -0.4718, -3.9043, 8.9641, 1.5409, -0.0366, 0.0366, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4351, -0.0139, -0.0307, 0.9992, 0.4431, 1.5616, 0.8196, -0.1089, 0.2832, 0.2436, 0.4041]\nstate[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1697 left_yaw=-0.0004 left_pitch=-0.058 left_roll=0.0 left_gripper=0.9992 right_x=0.3781 right_y=0.1288 right_z=0.0746 right_yaw=0.0649 right_pitch=-0.2347 right_roll=-0.0448 right_gripper=0.4041\nstate[joint_eff]: [0.0205, -1.0462, 7.0359, 1.7167, -0.0415, -0.0513, -0.0122, -0.2803, -7.0085, 6.147, 1.7607, 0.1099, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4355, -0.0139, -0.0307, 0.9992, 0.4431, 1.5616, 0.8196, -0.1173, 0.2825, 0.2363, 0.9955]\nstate[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0004 left_pitch=-0.0584 left_roll=0.0 left_gripper=0.9992 right_x=0.3767 right_y=0.1282 right_z=0.0732 right_yaw=0.0689 right_pitch=-0.243 right_roll=-0.0526 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -1.2923, 6.9949, 1.7021, -0.0562, -0.0464, -0.0122, -0.1026, -6.6256, 6.1607, 1.4774, 0.0757, 0.0269, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d51877f12aee77f62a296b14b8f1c15757cf39c96fc38313de9e85410b535b46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5ad16cdfad19bb5de6e7f3a0698ca55a6278dc8bbb0673b18e65b1131e3252",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e7f71e5a56da844da63fdfff34d37ae9f4afb2f56fd776a74da863443d92cd8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtGEDX34y2cAyFMu-O_KygtiCjO6GKnTugeRPPLoSpT7pvk3-J2LDv-_emCS5U_YCq43gH_9APY8LAKzcJ6V4TpEVRggDFojxr9_6aGkyBeQwIEue44C4kxFh8w4JPTb_FV4DY07IEy5iOTdKn2uGq1KO47co-MZiA92DX4OsvX12RSYTy8JPH1w_8K8tPlDLTCdA3bqM0UEvyDdZ__25Rv3xrREk0DrWgRmGbcaPcUiK6qxx4mOx_Ci9S3iYKj5tPmScY1UzLpYM8cIOzSSlcyTg3zSVsWgLFGyuKykb2VIU1yr0mleCd6A5TAOfLFQY0kBYB4CqbWWknBDwxvK26TciGfEAzf7rxCGAuryfaENx195jvKlUuhBz4EBvKsh8XYM9C0CcFXk2bMp7PJ-jeHsTjhjT3MLZKrvgdL_VQPAwdhbEGXBCquZuL5ihjUvhEIoJNlbIswpRz4DWa9LgQmYKQsvtXNTQAu8uWoFcIyOs0VIdTcg9zI5JkPUCDjzAAkGD24gLzbM_GroXuvAmUmSBT0sKeSgFFcEVsLivfjWMn4lIN1u2aeTsELz25hqUVqInJvff--JZKpylAik1xOuK8SRt91fZhh9OY8ev_aWpP4xAPPyyNMdLTCzatLH-wCOrfwyDakpjitVnlrvYNU4Voa_phHkkJlJpav-ZOrNA4MsPxhbn5bTpfX2DyZbLXDJTD9VkxpPeT0OQnTsyrypkaNDASu0EX9f0kdOHx0IzGEN9qZHZhSDV9eMhPulmUVF7d6w1tBr6-HmcSm3LJuO2GXtGJBg4nbLgZo5IsBYZCi91xiWdSGzVcbQc67cZwSLWqB_b-Qv_-rtXCC4rQoLX8q70VDsR8DH0LZOJxgc4XLFuwDsxtRtaZaDOPRQdT7e618ai89qGAtbHYU5hA4SAFlh7WB29oxKibVvCBkesb_gEGZctfo33iyB7m6BZ8_THMqfB4Ox39RRHzln0K9SZpDRFNMFJ3GRGfUv9wzsYUhBmAyHIX9esd1BLU2KuEm_oc9Rp7WAgfiIeBS3IRYON8nUsi_X8DgDWMCfirsyWoYTZcI0_LoGd5sqfNnizHABrxTMSYW5oy-fnG1-TQvqjVXY_D0AQx0jnMrHbomPoLAoXaqodUePNkYlEb5FNiZsM6jFeIVt_Z1F4nSJuEjCUg-vs9Rw-pywC92BZU3bgs0apvCWmntMWgv2iKu5NZcQw6F7mxiiWoQrGcCFXL2kI_m9I3YtoaEOyMBke-swmdO-hVwXqk6qpdaeXzLlpUYEfwg63P6tMvDLidBeKNmCFhYK4p-IYWJrxLdO3fKJ6bDw3QXQjogQ7icsWXuTKusVTJODKy2ot2S3wPYj1oAGAjUHxq83UaOmttlWszzA55mWfWMMDAUW5hxXdHYXGLszHw97rdf-YlDg8FqeRFb-Ydr6QkT63U98xCa_v4I6jgDyC9LmtpT-oOIYQ4wsHeKc-eL-aO5Aa2xr8UUBbb2Pvutmtay1t4ZFgUYsjwoM-54Slhj4_lll5aJ6pU6XsDVxVw8Fw6QEpTPUw6g1xShMwv7_D2lHQzWsiJNs3223dl03A9CvFWxXXOOMS6nRIK4v2ZPZzlGkJEnVoNkFd9X-cJPjntMhClHMBZc9EGYcLB8-GBHNkwOtSVqsEX2yOYTbL1i0Icp_JhOislseNOurubbh9voc5BbRRbW9xs5PrjFPHGo5uAUBkjWnPf3JcOshhHVh4tL21Mg9bylHlhKqlshyMQCjOWvr_WwHws0VFbiRl67SEDoyLu5JDab580bsroRHxoha2fMSRJbukod4A==",
  "id": "rs_006cae29619b2ea6016ab44b44e02887d08196ae83e814fcfe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"right_x\":0.32,\"right_y\":0.02},\"note\":\"The gripper is open, but the arm still blocks the overhead view of whether the pear cleared the rim. I’ll lift and retreat toward the right-arm home area so the bowl and nearby fruit positions become visible.\"}",
  "call_id": "call_RszA1uW1qTqQeoMEtN8fvrYF",
  "id": "fc_006cae29619b2ea6016ab44b45ecd887d0808312684c4dd1a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RszA1uW1qTqQeoMEtN8fvrYF",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8097, 0.6132, -0.4427, -0.0139, -0.0307, 0.9992, 0.0666, 1.111, 0.9596, -0.6941, 0.0433, -0.0387, 0.9964]\nstate[eef_state]: left_x=0.2881 left_y=-0.0001 left_z=0.1672 left_yaw=-0.0004 left_pitch=-0.0694 left_roll=0.0003 left_gripper=0.9992 right_x=0.3173 right_y=0.0171 right_z=0.1866 right_yaw=0.052 right_pitch=-0.2733 right_roll=-0.0589 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.5795, 6.9812, 1.7314, -0.0464, -0.0757, -0.0122, -0.1709, -3.7949, 9.4427, 1.5653, -0.1197, -0.1001, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7811986b79b8e6baf1ef4a0323355768962d8eddecc57adb95c4fbc7ff7245c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c268ab3485de40a141c2b87521cfa16ead64ed63ff64ce0086913dc38b1904",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708e0a5ca8296693a55709109c3b65becd51518be122329f5e4556e2301f93dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4309, -0.0139, -0.0307, 0.9992, 0.4438, 1.446, 1.1099, -0.4835, 0.284, 0.2481, 0.4041]\nstate[eef_state]: left_x=0.2896 left_y=-0.0001 left_z=0.1705 left_yaw=-0.0004 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3826 right_y=0.1311 right_z=0.1748 right_yaw=0.0651 right_pitch=-0.2054 right_roll=-0.0303 right_gripper=0.4041\nstate[joint_eff]: [-0.0479, -1.306, 7.0632, 1.7998, -0.0513, -0.0562, -0.0073, -0.2256, -6.2017, 9.3744, 1.6484, 0.2662, 0.2759, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4355, -0.0139, -0.0307, 0.9992, 0.4431, 1.5616, 0.8196, -0.1173, 0.2825, 0.2363, 0.9955]\nstate[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0004 left_pitch=-0.0584 left_roll=0.0 left_gripper=0.9992 right_x=0.3767 right_y=0.1282 right_z=0.0732 right_yaw=0.0689 right_pitch=-0.243 right_roll=-0.0526 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -1.2923, 6.9949, 1.7021, -0.0562, -0.0464, -0.0122, -0.1026, -6.6256, 6.1607, 1.4774, 0.0757, 0.0269, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8097, 0.6132, -0.4427, -0.0139, -0.0307, 0.9992, 0.0666, 1.111, 0.9596, -0.6941, 0.0433, -0.0387, 0.9964]\nstate[eef_state]: left_x=0.2881 left_y=-0.0001 left_z=0.1672 left_yaw=-0.0004 left_pitch=-0.0694 left_roll=0.0003 left_gripper=0.9992 right_x=0.3173 right_y=0.0171 right_z=0.1866 right_yaw=0.052 right_pitch=-0.2733 right_roll=-0.0589 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.5795, 6.9812, 1.7314, -0.0464, -0.0757, -0.0122, -0.1709, -3.7949, 9.4427, 1.5653, -0.1197, -0.1001, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7811986b79b8e6baf1ef4a0323355768962d8eddecc57adb95c4fbc7ff7245c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c268ab3485de40a141c2b87521cfa16ead64ed63ff64ce0086913dc38b1904",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708e0a5ca8296693a55709109c3b65becd51518be122329f5e4556e2301f93dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtNU6VooXpZfqLCfoMCy2G2zwGOmyk9sfH8dS5mCgcS2QFGKGWqhYWSuap60S-7D2LMrZXt_ginCqw_J4KMwRcCft2bNOGjmTwljm1uQkzIYn4PIPj-0L22TWzDZI3qPyO6Bonl_H6b3vzfJAy4xVRRLfvMWp93vK13M91mqm82dBYAYodWDx3bMYKEkbJEynJbGqc9IRv0obmQ6ZEbN2nVmCHvJEETLFs-dk0iDOYg3fMeH3ZrDTI8voo8mS3WYOj_foXuP-_EbXz_zKaHPKtiiW_zxAe-mWgW61UATHsVxXtCRW5Dat7-4LLMm_7QyU6fP0SIb8Ob6khLmQmyxdOJvRi3VNgJwJfcjmVMh_mD-fE8JvAb6cRjJpUxv01AujScI3STdIU4LIRjvTkLJI5XjH4gcdPrcnHDIMSTB1DrOfetk7AXjUeQ_dIKC2UkcgV98m8R0BGKCiDMGU5dH5W9wNuemtc5_B9SfPN5r3mtQjw4xzN3A6erwsyAB45Kszoq7bi9XGcFKavXXq8JHAhFL1TntXgFDnViDMmS5yEllzSIq8v6Y1LV3GN13xs5QM3n6-kl4RMjLKnP_tmM_4Iv0RuQpbYLgiva1tw_3k7W4bDxAhJviqo6Qwcuvy4sLwLNdSJHI0NESsuCRCw86uiQxXDkW4Tuof0BKev75vRKCMJqrWvmjKsAEEtZds1HqSuWmmJ4jkfxW3BsxeRq3wFatn_moid4JrzEltTm6KmvhHeWTCItVwSmKnqSLUy5qLmRi9TJCNPww-4ZVDg7gvwBKpN8QtsonF5XqwRjZiVUV9KjqTxTYf_ZyNnOUtuH4EwuwFQrDXWlLH1JH-OfL3xGdXffGQUKTAv3rScHEJDhyqx-04Izp-MWlFNJXxgQfvlFSwR9SVp3Bia117C6OM8xmqiCuP6aL37owkXh20MmR9Zteh4uq0GEYVHcXvnOyLMi2oXkKUaGNGbV8R_LgdWfzpEvV0LB1WZSd32YMkGwyCj2Ev3Pr_HGrlBXmbz9mDMmFNXMfmmPZpvkJ30EvfiarPsFCKrQkmqw66IKY8TejI4eoe8m5hb_2OPGmlHegIQEm0jEJ9xx6ewSq52iVZ5z_KSR1L3TfP1QKEQI-Fcq0myLPHwudpN8D159USyj0pmnDTCvYgIJniBtltLEWm8DcUMWvuJEtXIciSjm6z8eLco8VuD6YhI6Uqm4ekPbuK2-2AWYPZtcqLMxETXlh2JOytQ7r6eiHyDbq13dMneZgsjNw-L36AYEhaEY4qGFqoX6_-jpIy7nvspq2Q9i2lVzL7GA8Kmg08bxHV6x4QEKE0mqNSmwmMzk-_QZMk87HWgJnqFWF81xk3_jipbLH2pWwFyHIQ_wxF1LTtpg4KPr7_ZYX-kOnS4cztxNP3dyiFyedZoVsyjbaKU51_TsxXYrJRLGSEM-XGyn7uuMI_-Wc6s64-f2fLRxN0boFcEHUmtO1JqrhNPfP9BeEYc5inK-ouvR0hRnsvDlc7J-LIMrofTTvcuYoNHo8hl7qdxEmKhIyeauu30sSERQIPUmpXY_F042m6CGjR4BJIquywmSYTLE7UNXl1nHvc86olBby9C5rDeFEE4JJDWujPOj9FT2crwtibaeprEO4TZgK1H987QfrEgDQaNxY5krsICwPBSEoQB0qeOvMKaeApJ5t-fUcyhW3SfE3fQs7RjfP7T-8ne05qmNuTBpw3A0G--ppg4PLZMbRCT4wDi_2zpuGytefN5Q0_gmBCrQDgRQAFBYbdwLST-VP9fk8MhbIWgD6cvmWY5vTVo6p2YjJGYo4yluDdi6V-l2P186qihrveNAbSPmgLxON8uN8F9jnoT_1WITwO9Psx5zocaOPgKv-pC7nA==",
  "id": "rs_006cae29619b2ea6016ab44b4a727c87d0a606bea0310279d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_z\":0.065},\"note\":\"The pear landed just outside the bowl on its right; the yellow fruit is also still on the table to the bowl’s left. The pear is centered in the wrist view with space below it, so I’ll advance 3 cm and descend to its broad mid-height for a cleaner regrasp.\"}",
  "call_id": "call_0Sq8ONleoQlSCjdA5esGZX0P",
  "id": "fc_006cae29619b2ea6016ab44b4c01d087d0a3c420a7d307eb79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0Sq8ONleoQlSCjdA5esGZX0P",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4477, -0.0139, -0.0307, 0.9992, 0.0605, 1.3399, 0.6422, -0.1875, 0.0429, -0.0456, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0 left_z=0.1655 left_yaw=-0.0004 left_pitch=-0.077 left_roll=0.0004 left_gripper=0.9992 right_x=0.3416 right_y=0.0167 right_z=0.0669 right_yaw=0.05 right_pitch=-0.3132 right_roll=-0.0638 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.5248, 7.1863, 1.707, -0.0562, -0.022, -0.0122, -0.4718, -4.9436, 5.9419, 1.4872, -0.0952, -0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed27838266d762be7607c32013117e4280e91ec8a68c54bd7af9f508c042d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb37c88d1e4d3df9c69c13b082699336d77e5f913771c21cc408f5dddfcc224",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75df8a1cc730bcdc478795d7f43e3222a03604026c7bbeafc9d6a411cda7880e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4351, -0.0139, -0.0307, 0.9992, 0.4431, 1.5616, 0.8196, -0.1089, 0.2832, 0.2436, 0.4041]\nstate[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1697 left_yaw=-0.0004 left_pitch=-0.058 left_roll=0.0 left_gripper=0.9992 right_x=0.3781 right_y=0.1288 right_z=0.0746 right_yaw=0.0649 right_pitch=-0.2347 right_roll=-0.0448 right_gripper=0.4041\nstate[joint_eff]: [0.0205, -1.0462, 7.0359, 1.7167, -0.0415, -0.0513, -0.0122, -0.2803, -7.0085, 6.147, 1.7607, 0.1099, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8097, 0.6132, -0.4427, -0.0139, -0.0307, 0.9992, 0.0666, 1.111, 0.9596, -0.6941, 0.0433, -0.0387, 0.9964]\nstate[eef_state]: left_x=0.2881 left_y=-0.0001 left_z=0.1672 left_yaw=-0.0004 left_pitch=-0.0694 left_roll=0.0003 left_gripper=0.9992 right_x=0.3173 right_y=0.0171 right_z=0.1866 right_yaw=0.052 right_pitch=-0.2733 right_roll=-0.0589 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.5795, 6.9812, 1.7314, -0.0464, -0.0757, -0.0122, -0.1709, -3.7949, 9.4427, 1.5653, -0.1197, -0.1001, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4477, -0.0139, -0.0307, 0.9992, 0.0605, 1.3399, 0.6422, -0.1875, 0.0429, -0.0456, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0 left_z=0.1655 left_yaw=-0.0004 left_pitch=-0.077 left_roll=0.0004 left_gripper=0.9992 right_x=0.3416 right_y=0.0167 right_z=0.0669 right_yaw=0.05 right_pitch=-0.3132 right_roll=-0.0638 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.5248, 7.1863, 1.707, -0.0562, -0.022, -0.0122, -0.4718, -4.9436, 5.9419, 1.4872, -0.0952, -0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed27838266d762be7607c32013117e4280e91ec8a68c54bd7af9f508c042d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb37c88d1e4d3df9c69c13b082699336d77e5f913771c21cc408f5dddfcc224",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75df8a1cc730bcdc478795d7f43e3222a03604026c7bbeafc9d6a411cda7880e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtUs_OFTznoWA0QZ-rSirCXBGADVYPDbx4ruejhU6cIUgZ64WeVwPcDayWu3PJ11mAkInbrfeRQNQ8QYcV9-KlJ8UqwmlSJK88IVB-aXHClF1Lr2YE5kjlrYqLwihTQ3_aCeJkGE88helsOtPvUBuLqHF2W24EMT43RpnpvsCooH14z3lLoskmz-PP8A6JuYU05L0uRKJUANAjaqw8RG1tBv8D8nFoqCRg-Tr2Vpoi--8GyOUi1V7YwHYAFPVcr2lS6bKNaUOrfPaZr9-eWfgBOJ9henAWFjmfeDIS1czpHJPEbNxLz56rNV717An5XhjizQG6Gn1_qX1E1PfgW51Z4pd7UA4QE5l2lkES-Hjhtgnm1O4PG7Xam6lVe3cGydKXFgrOiZqq743tDbOe7NgMabHIP9XEsbhvB1W7isApXgBFia-dGcONsHjtsOOaeOR8A28jQH6_inujjViLDXN6o8NQCcEN29L3i8XUKFuadEBTAaVjRw8MdBEQxwKqgsuGfZCsfrEsDCjqQGmxUgXTRDnIusgmRqD-14REjpuEESODtDfPBz8w3Z6-nuNM7TLOgBZfNbEJhozsMiZSKGF0VCEQNt2NHqBCCVKFGjJM5QFyyTIy2EbQwhqbiBuR262EKCpfGk1da-bidHOKTQ2oD4CBrpnqQ7gGgzdiXnz5-HrnRwLiGR0sD7WS5AWr009V7AdylsNHwkX-G8uN801L-j8Um0azzMd4W-Cc2jBrqzW3t2Jki-DfU0MjFfpFjaSxcPKPFCw5MdBg_8Mnc2c1tXnJZpEfkIqUAYJY_edanUN2AWVjllqTt6IPsya3JhE8vPFTQOxzt8n_kxZIjaRFDFL6NrWvyctbBJhBexRetj8KJDygT6Vii6KEL35EYRo60xe7pFse32vcIL26EtKPrMRr1Q_SlyaA97BPUJKmrNgyVghwsuf_jPpRy0NCBau-7ZlHZGK14r9K02NQ0utpVeIqJrX-KMcqw-gsZvhKBOTKkgL4aOwcD1l4hUotPs5hJDPQjPt322Y7UGTq9Cs6l1F2K37VLANEu4beLsAYLdlP3TV7GT7O7rYChdKa88POochUdTZ9j5cOEelvGA0M_6V1EOUjwTaGezi0g4ttkHwok4_alFWgNttYXNZ8HrdHn67vJrWeJMvAykrVKtGgEpbCsxOsbw4iHeooRYRoNnVn-guRMBZ-s1PbVVHVCM0kbxAGuWwYggjtQmNzZHUDUC0HHeHkiu0coKe3XF3wpoxrkiGa6qAwcrY2-17SPaZUsux20XK7mqPT5FTenXapih4W5frPjg7zVWdfOnHP1DmQRKf_e37Rp70ITFO01Q3aM",
  "id": "rs_006cae29619b2ea6016ab44b537a3487d08f65af4216cb4059",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The pear’s broad body is now centered and flanked by both fingertips, with the blue bowl immediately to its left. I’ll use another gentle partial closure, slightly tighter than before, to secure it without squeezing it away.\"}",
  "call_id": "call_JfdunAHsFCbWdwG5HsZS3hGE",
  "id": "fc_006cae29619b2ea6016ab44b53da1487d0954b2d0e76b7609d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JfdunAHsFCbWdwG5HsZS3hGE",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4496, -0.0139, -0.0307, 0.9992, 0.0605, 1.3556, 0.6186, -0.1875, 0.0395, -0.046, 0.3547]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1651 left_yaw=-0.0004 left_pitch=-0.079 left_roll=0.0005 left_gripper=0.9992 right_x=0.3335 right_y=0.0168 right_z=0.053 right_yaw=0.0531 right_pitch=-0.3525 right_roll=-0.0615 right_gripper=0.3547\nstate[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.6874, -0.0806, -0.0806, -0.0122, -0.3487, -6.0103, 8.0068, 1.3553, 0.022, -0.0317, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:560375d087bd04d309f13f8fbea320b3ce823f51d5ddbfa89ac42e022db8ed54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0387984ee337d2bcc10104f48c1fcc74abd60a17efff200d28c3a044827e145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a821b43c38550cb527deb2a9c3826e5f4cf7b376573fe9e3322c473c062641",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4355, -0.0139, -0.0307, 0.9992, 0.4431, 1.5616, 0.8196, -0.1173, 0.2825, 0.2363, 0.9955]\nstate[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0004 left_pitch=-0.0584 left_roll=0.0 left_gripper=0.9992 right_x=0.3767 right_y=0.1282 right_z=0.0732 right_yaw=0.0689 right_pitch=-0.243 right_roll=-0.0526 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -1.2923, 6.9949, 1.7021, -0.0562, -0.0464, -0.0122, -0.1026, -6.6256, 6.1607, 1.4774, 0.0757, 0.0269, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4477, -0.0139, -0.0307, 0.9992, 0.0605, 1.3399, 0.6422, -0.1875, 0.0429, -0.0456, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0 left_z=0.1655 left_yaw=-0.0004 left_pitch=-0.077 left_roll=0.0004 left_gripper=0.9992 right_x=0.3416 right_y=0.0167 right_z=0.0669 right_yaw=0.05 right_pitch=-0.3132 right_roll=-0.0638 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.5248, 7.1863, 1.707, -0.0562, -0.022, -0.0122, -0.4718, -4.9436, 5.9419, 1.4872, -0.0952, -0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4496, -0.0139, -0.0307, 0.9992, 0.0605, 1.3556, 0.6186, -0.1875, 0.0395, -0.046, 0.3547]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1651 left_yaw=-0.0004 left_pitch=-0.079 left_roll=0.0005 left_gripper=0.9992 right_x=0.3335 right_y=0.0168 right_z=0.053 right_yaw=0.0531 right_pitch=-0.3525 right_roll=-0.0615 right_gripper=0.3547\nstate[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.6874, -0.0806, -0.0806, -0.0122, -0.3487, -6.0103, 8.0068, 1.3553, 0.022, -0.0317, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:560375d087bd04d309f13f8fbea320b3ce823f51d5ddbfa89ac42e022db8ed54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0387984ee337d2bcc10104f48c1fcc74abd60a17efff200d28c3a044827e145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a821b43c38550cb527deb2a9c3826e5f4cf7b376573fe9e3322c473c062641",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtXUt6ynu7JHRLub1BlBhe-jGqWj9ArMIypnbplkQP466fDy-GSwxmKcFYq2U8HJLf7d90o6MuEZFoaR8-8F6bMRvrHTsZY64Lm1ptfmpg0fTuVpKIFSPVGxZOmr6CSzjYvOM12630mfyfjNbt66Pys_8e7GrGPa5XGJ3pv2-CzBgq_LiKbKKIqyggQBXCZL1mNFjeITwimwVtEOazimhcjohl4jBjdrrS8Ish47cENu-S8AbUaOZkYBWVX_eSigvp3JQdh5ckAH1GoVBCtWoCVyX43K1RaPBSzt157mOpxzLhZfgXo9g-kb6uxiq8Yqv8nJ0b2ZbsfBSWFS600xTsb-DnvNiQAJPotd8isdSZz-mQm18_Umq1zFNJls85Q1PONjaK8CX3bF-Eb9IcolVCy9cYwsNmDRCJ4ntFLfnalo1_mxXrK5G2AaLk3BUnVaHKHF8-Le4Az5xT4QezyO1Plj8u9XXL7tnDhgVuhwbgkQICcc5U74auoR27d1HvdfPBnU5uCVSmqBqF8ubOgQUTHwb6NGCMevShpprQGXS4L-qZv7VSPIRMgOis9cxxWSxIn0_Ec4kAV7-FTf91STWgP1-syKxrF7etRWmTEh-UyhBn_fmS4eda6g6_RZ_CW3ez9PffhRd8npzzVApL9I5yuAv_lpdjGjvNhYeVd7iDqIzqbXsNdC5rPmcDJMUp-zr_gHVdhBPc9epgWPx8-VDC4z5FH1APGP4M4tVFFh9Uhgg5isXpKotj3Zda-aVWuZABviFfrbWjfhL0bMnMkJp2BmzbhPkQfu_YZ6mQfKKUao80rxIIWFNUq1zJRbQpiczokTTbmnfP-_ZPAPc31JRvCnj07B51hL0oKDaLrtBxcXUISpS2aQDdAT1kHC8sgTZjlM0b5WK0odKJldHdzVGRWgTF3a7YKj7kBreGR_xrRMExumehstKZVrACBzxLb_J6v5P-cTt5-RBe5gHoPq8sCstINd58B2CZ9fjH76Wtg5Xt8hgyh2kHH1Y2iT4nZfVvCnhVjcxQx9Bi45j-cgHi_qEiuWWY1AuJczMV249zXYm-56GTlMKf6svFjIHHhTza0ubtJdM1fiV8YpiS3e2PhY-R76YB4wkL71SesjM105dbvNYmc6cyI7VRkcIx4d_u0FHTW0g8fTf1IV6xUF3mErd8VioLJRBWVdKSPSAcMldBSv_gp6h-LYvM_D8yLpgtAi_8CsqtH3OjaZ9lMlwDOwA==",
  "id": "rs_006cae29619b2ea6016ab44b5654d087d0880c2860fe789cab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"Both fingertips are visibly contacting opposite sides of the pear and it has not slipped outward. I’ll lift vertically to verify and then transfer it with the grasp centered over the bowl interior.\"}",
  "call_id": "call_7ZOnS8RfXLnPQcnkzBnU2kR8",
  "id": "fc_006cae29619b2ea6016ab44b567f3887d0b2e2005d4811588b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7ZOnS8RfXLnPQcnkzBnU2kR8",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.45, -0.0139, -0.0307, 0.9992, 0.0616, 1.2598, 0.8581, -0.5243, 0.0391, -0.0536, 0.3539]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.165 left_yaw=-0.0004 left_pitch=-0.0793 left_roll=0.0005 left_gripper=0.9992 right_x=0.336 right_y=0.0174 right_z=0.1258 right_yaw=0.059 right_pitch=-0.3544 right_roll=-0.0661 right_gripper=0.3539\nstate[joint_eff]: [-0.1846, -1.1829, 7.0632, 1.6728, -0.0659, -0.0708, -0.0122, -0.1573, -5.9556, 8.7043, 1.37, -0.0024, 0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd60eda89136e8a1f7a1e191c70a69b5b223b7b90c1ae4c4d914d36e5d8e676f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d60838e08b226b22512a800469395627ef6af7fb329992e8aa5da7054e317c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebea0f37d8f542ff9a229301224e3497c37297252676fc89266c39239580852",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8097, 0.6132, -0.4427, -0.0139, -0.0307, 0.9992, 0.0666, 1.111, 0.9596, -0.6941, 0.0433, -0.0387, 0.9964]\nstate[eef_state]: left_x=0.2881 left_y=-0.0001 left_z=0.1672 left_yaw=-0.0004 left_pitch=-0.0694 left_roll=0.0003 left_gripper=0.9992 right_x=0.3173 right_y=0.0171 right_z=0.1866 right_yaw=0.052 right_pitch=-0.2733 right_roll=-0.0589 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.5795, 6.9812, 1.7314, -0.0464, -0.0757, -0.0122, -0.1709, -3.7949, 9.4427, 1.5653, -0.1197, -0.1001, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4496, -0.0139, -0.0307, 0.9992, 0.0605, 1.3556, 0.6186, -0.1875, 0.0395, -0.046, 0.3547]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1651 left_yaw=-0.0004 left_pitch=-0.079 left_roll=0.0005 left_gripper=0.9992 right_x=0.3335 right_y=0.0168 right_z=0.053 right_yaw=0.0531 right_pitch=-0.3525 right_roll=-0.0615 right_gripper=0.3547\nstate[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.6874, -0.0806, -0.0806, -0.0122, -0.3487, -6.0103, 8.0068, 1.3553, 0.022, -0.0317, 0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.45, -0.0139, -0.0307, 0.9992, 0.0616, 1.2598, 0.8581, -0.5243, 0.0391, -0.0536, 0.3539]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.165 left_yaw=-0.0004 left_pitch=-0.0793 left_roll=0.0005 left_gripper=0.9992 right_x=0.336 right_y=0.0174 right_z=0.1258 right_yaw=0.059 right_pitch=-0.3544 right_roll=-0.0661 right_gripper=0.3539\nstate[joint_eff]: [-0.1846, -1.1829, 7.0632, 1.6728, -0.0659, -0.0708, -0.0122, -0.1573, -5.9556, 8.7043, 1.37, -0.0024, 0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd60eda89136e8a1f7a1e191c70a69b5b223b7b90c1ae4c4d914d36e5d8e676f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d60838e08b226b22512a800469395627ef6af7fb329992e8aa5da7054e317c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebea0f37d8f542ff9a229301224e3497c37297252676fc89266c39239580852",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtbHxxT7ACs1k_JkP2sddNO_QQ6Sx_BZXeUyqhNyNxTW0dNW3UsV3V8S8jaUVcrFPHYZp6MHnInXNYnaT6BtVWg4kQgQ4jVzkstykIsWgEYE_arvzKmpxVsZylz_hyG247h9jMYMtyDmIMqoypY2QwJiav96C_9slddooVuj2jnIMJn-38s8QMMZzpV4WF_tYjOChJzGYIrlAkww3XU7j01Z2cZELNO9UsrlnQXpjaHzUpUP4cOl25SaERwqcBopiFvlqx9_IOZmZR5Ett7yGQcn4zBRDMLEbsF14P2C_Q2f2TaR5SXWx5S_CLi_I706xI-nMjI3Y2NUBKM2OHDNpZRk6Hj9nGRlrwyA2tv2sy8gZ5sqeirHHgUH4JMe5GLUhiANiV4eRKmeD6LvR3fwmIl4fa8OSMkfTgxS0_hBDm3EjtieM2N6WjeY9_DXIPXeFHH3jbsmY83AH7HMKRoYz3BscC_FEit4VWA7mz9NwxTpVpvYpHXRAVPhyUNd68DHFUSHM9KCWLCAWGyvi17mQcpDXKHumos9c65cOxoGxKHoTqvyVb2K7ru4ivWhrOpb1qtCj1oolaaYn0RoIOHRGRb8J5IegaDHyyo-AH_w3WL7q3NSTwA8iSenpNBu3bMhH8Nk2L7j2qYdTgkgHiAsbjpEXhofm064PpguAXWFkDKUsNWdkhw_WLg3XXPhmUqVg6-BJVCqm4quUBJm5flycsRBSvKvlgEAKjmYuR-opkugpYiwi7FbpmJpSp65_9ydTiAQRcoTOZMNOYwUzM8KjklDzy6pzVNT7QLq6VbNH4ToKMuRr6rhZPg7gg6vFqwlvx7Hkjig2VKas7zI9KUEnXVU8nF8Kfk-i-GJqhQxFgKRmy30AWafRXyfJaXGFr-s84CQAwQtlNW6vHYHMwGbewGB7nl1vJKCzMXVfFww9loIRGI1WB4gS-f72XOMPEU0JwcYgGE4JnIEJT8RbgZHmlzO_X3WcIpuLokyZCOuWlpA4n0lfTxYLlhu5zTDLrchsqV7Ms8tnprA_qyY9xH5q1qB8GN6HR6SfRcQjTKclEZkqlXbKa0_Cxxml7Zwe1wvn46S_i23_M0M8iiUwi0RH-Hzv9YUrggk7WfPZN4S_2BrdDdHqn3svr3W0E8-IjjMRoV3seCj5KKdgw_ZSLE2FgO5XMOMkHuqleayD_nTQxb0gXZfeCUNhlz5tIKbyKXsmO6z1rVa-WemRSr_qW8Acvf4WrkDLoFr3QvypRFZEmCUIxY4CgLtWK2eGMa7U59pn1rHIwNoRv7Ra30aoWqJKsLJ9I8NKfZLYNqYatTcEsS2TOJhbnHBWNcuti0mk6n1Q97wXHdfrFUKZ9n-xnGJDMEdEvDXQW8_YWqjJWkEMOx9oXGB1KfP5tJ5E-a2YR2IuEAGRdrwYwlqlD28WkWZ_vJXZWwwaTRg7YM1e5RodSb7l59i4PGJ9ZDWz9XdWTRegX2weHrnY4WxyHZyfSVIgpJ894z6D_BuWx8uBkOfU7hcK4Q08h1asOW_uUNrdUunxjK_U0-YWPSyMRpMA5_P9VI5C0VtEYl_kXBa-bFc77PneKrDJdEcFjw85CBYlAqfjmEFSnPZrspIoRuYT8QEFIUMNIghPUeAZ6-6fQca0yXidLzeN1TMhL8QHkIYe5NOF6k2eNxuKdY_jjZbXcNy76GxR82hMYox1eCuQ6xTzWlD2QBMBU977mDrSBF3faEuxrdyNswDi8zmVHGt_9S-fBVoiNR8eoZh1FOUa7grL_9V6KEZqyNYtmABPYE-2pZ8JR2",
  "id": "rs_006cae29619b2ea6016ab44b58e97c87d0845846ab5f0dc3ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.115,\"right_z\":0.18},\"note\":\"The pear rose with the right gripper, confirming a secure grasp. I’ll shift about 10 cm left and 3 cm forward so the pear itself—not merely the gripper center—is centered above the small blue bowl.\"}",
  "call_id": "call_QPmM0nE5EJnVYcI33Jc4j3Jw",
  "id": "fc_006cae29619b2ea6016ab44b5a314487d085815f924f370ff1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QPmM0nE5EJnVYcI33Jc4j3Jw",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4622, -0.0139, -0.0307, 0.9992, 0.3904, 1.4715, 1.2095, -0.7311, 0.2062, 0.1696, 0.3538]\nstate[eef_state]: left_x=0.2854 left_y=0.0 left_z=0.1623 left_yaw=-0.0004 left_pitch=-0.0927 left_roll=0.0008 left_gripper=0.9992 right_x=0.3626 right_y=0.114 right_z=0.1657 right_yaw=0.105 right_pitch=-0.3919 right_roll=-0.0817 right_gripper=0.3538\nstate[joint_eff]: [-0.335, -1.388, 6.9538, 1.7607, -0.0415, -0.0806, -0.0122, 0.1846, -6.2838, 8.8137, 1.3846, 0.1001, 0.232, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b40c33e9fc1e817fc186fb31426fa4da952a2278c35fadc62d042a42e37d9323",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a0ec7d75d67424d0e2c68220f0e9f7e692e67ef0dab387537b7056ec864b6b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19dc8c96de54b8d6bb1eb43f61aee52a32ff8b5ff9738a3cf40174a44ccecdd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4477, -0.0139, -0.0307, 0.9992, 0.0605, 1.3399, 0.6422, -0.1875, 0.0429, -0.0456, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0 left_z=0.1655 left_yaw=-0.0004 left_pitch=-0.077 left_roll=0.0004 left_gripper=0.9992 right_x=0.3416 right_y=0.0167 right_z=0.0669 right_yaw=0.05 right_pitch=-0.3132 right_roll=-0.0638 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.5248, 7.1863, 1.707, -0.0562, -0.022, -0.0122, -0.4718, -4.9436, 5.9419, 1.4872, -0.0952, -0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.45, -0.0139, -0.0307, 0.9992, 0.0616, 1.2598, 0.8581, -0.5243, 0.0391, -0.0536, 0.3539]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.165 left_yaw=-0.0004 left_pitch=-0.0793 left_roll=0.0005 left_gripper=0.9992 right_x=0.336 right_y=0.0174 right_z=0.1258 right_yaw=0.059 right_pitch=-0.3544 right_roll=-0.0661 right_gripper=0.3539\nstate[joint_eff]: [-0.1846, -1.1829, 7.0632, 1.6728, -0.0659, -0.0708, -0.0122, -0.1573, -5.9556, 8.7043, 1.37, -0.0024, 0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4622, -0.0139, -0.0307, 0.9992, 0.3904, 1.4715, 1.2095, -0.7311, 0.2062, 0.1696, 0.3538]\nstate[eef_state]: left_x=0.2854 left_y=0.0 left_z=0.1623 left_yaw=-0.0004 left_pitch=-0.0927 left_roll=0.0008 left_gripper=0.9992 right_x=0.3626 right_y=0.114 right_z=0.1657 right_yaw=0.105 right_pitch=-0.3919 right_roll=-0.0817 right_gripper=0.3538\nstate[joint_eff]: [-0.335, -1.388, 6.9538, 1.7607, -0.0415, -0.0806, -0.0122, 0.1846, -6.2838, 8.8137, 1.3846, 0.1001, 0.232, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b40c33e9fc1e817fc186fb31426fa4da952a2278c35fadc62d042a42e37d9323",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a0ec7d75d67424d0e2c68220f0e9f7e692e67ef0dab387537b7056ec864b6b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19dc8c96de54b8d6bb1eb43f61aee52a32ff8b5ff9738a3cf40174a44ccecdd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtekXXNUaV3ajWTW7a8vGLEfb0JhZKIhtF3QEHOwmpPor62ogPsg5YR2wIHctkZsfiUfxOgqzXABY8cezzpEc3fvm9t9F8yNz_NcZuArG6xcolICtE3bxXJ7jb8dFkJuqhxXt9Ac1hT5097veuUMl7EGkqAp6LTkS-_cnO7quzOVn60eKnz_OC4XY1nkYZQIV0h5WrxruprwD5AHlfnVBSAUYb5JKyndqZ6xNXGPG03xG69SHoz17GvrHNnKAtbHpB6EaEAcWnEyQHq7jK1FYhdyyh9f4cJB1_coaZwS_gtQZx7KjWdX91Hu4LWlBp9JukFD_RbqjtKOhJQ7-lZCP1wQMEukpEVo4UJrg4rCl30-KAXtCWK3cDo5rxhsBdWgcrXsB1KiSfwaMwYDJCtVG2mDgLWCDlpDQHg2PGeBKbbdc9j8DA1hJu7FdT2UZhj-Max41WGNDNp-hxOI-Pis1oJS5tFtloqphoN8fi6MFdOOMhRoz8AjHPCVkmO3MQ6HkHbo0g9vC3qtle7NvWGFW0uRYaa5lOgLENEbxzkOwyHus7_kejosmEWvygNDtWXORIg5DrDRvuMQMV_Q5Ej8R_zjgjT8NSmQzGlApSQ_gJkRlTamMJ99F5XX0lRKprr5x7TAkwWHO68wcvFVHzT2Mztk3JrA8G6v2CknJ4x-gg4Onu-BN74JxXHtwYuYjdZ43SeGZZ1Z8QlvL1MuwZ29q65-14iXJ9wgKp0d7PMYBWLyWQnZOhwjYovKSpFIMD6IwamDxhWgipiOUZ-eXVdNoM8RTPzttg-tSWAh-1y91tWn0H3RUjKOMyiwjhQb5-wL9bWEYH39_VP3mr4_aOV5Qr4OrmJqz8xfc7yyzsiNkHdKfcPDxXKgXXQr9boFzzOciQwXOnndBBEslVVTysGS-ydy1SwEQy6NAJbxJpKpR1bxHW4FV4Fm58e_QcEapTlHcQLvDRrcuSzsQr0vJwqrk9Kl-zePtlJYuSyXUd7fHwcRB3aNhEyOs_ZNHdSCnISkODvJj0ZXe48jYBStzEZWqiR-tY9bmPutOTvUl49ioIwVTTUnlVJ4qSXjTFy7chCqjKkMUM_1QIidsFGvjSxOxwqIxcgQ-a2EVOiyn7_5lb0RtyJDklk04xWSrT5k-7huvdunRW1g1SjYZf-LVYLR4RZbI14-hjigEzVW5UyD9JOc-Y6l5WmdzDiifmQGeUFtg14wMol1CMRI3sdCoPh4j9J9RkPjllgfMEjO5jPtDko16N2nfegkwwkFgiGCqR7UBZYugyGSi1rkN3DCaIlBj9u5BrBEimHIsMPWlfenVubIZDrNGGD6tgWQOp8cL5d_Hj-RzyXdKye6klQmygl-O37R5-0wG6joLbdBev53u3-5BzEUfDSZGvjFlUxNF-qdRHFEq3q27q0HA3WZHrCFhaQMlAvhjU-acJIwcBc2kCJvSIHNV7-nnqlOO844fMspLiLM6XMdgJtVT4S2xXMF5p6ajSpwJg1r0UeP_0zR0hpcwkwNgyii_DKmvY3Zrat77ALoGPgNWNNYra4TvM8a3oWDkI0TC-yM53IK9SEvinVL4cuGTqqLMvj4Dpv5fnCGYatV4mvou-Da5QPR7qF1_-yPonK5op-HjVVIxEeuvJ49ByO6oSSgw-qAOYhynFIfC8Tl0fGBhWoqC1SlvutSnr4cQmBaOhqTU2fRERxiQQXWjfANWcZBC2iOmFjZMUbLF8QBYW8kZmh_fLpc6wcns11y4IKxymG03l8js4IOTth0Qnz4jP7MAEECMtBdoW8aK7bYdfznP19CuDt6Z0L2VNnUSgEkTzpgN8QSMHjRUrOCtSbutJvyhsasEVaAdzg3QgE",
  "id": "rs_006cae29619b2ea6016ab44b5cd2f087d08e62d493911f7345",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.17,\"right_z\":0.18},\"note\":\"The gripper center is over the blue bowl, but the pear is pinched off-center on the right jaw and still hangs to the bowl’s right. I’ll compensate by moving the arm another 5–6 cm left and 4 cm forward, aligning the fruit’s body over the bowl center.\"}",
  "call_id": "call_GQCM0HqsqWTCjQe42QyyzJ3r",
  "id": "fc_006cae29619b2ea6016ab44b5df33487d0a042c2046be272b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GQCM0HqsqWTCjQe42QyyzJ3r",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.815, 0.6132, -0.4698, -0.0135, -0.0307, 0.9992, 0.4919, 1.7088, 1.4685, -0.8253, 0.2356, 0.2214, 0.3538]\nstate[eef_state]: left_x=0.2843 left_y=-0.0 left_z=0.1604 left_yaw=-0.0007 left_pitch=-0.1018 left_roll=0.0007 left_gripper=0.9992 right_x=0.3929 right_y=0.1678 right_z=0.1619 right_yaw=0.1397 right_pitch=-0.4502 right_roll=-0.1017 right_gripper=0.3538\nstate[joint_eff]: [-0.2667, -1.4291, 6.9538, 1.6923, -0.022, -0.0659, -0.0122, -0.2393, -9.0598, 8.4991, 1.1746, 0.3736, 0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2857b755526efcb8e264a180ec6d9954ef122aed15e3e87c44c3ea30e9923e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90686b6f68e17c40dcdf48b444b24fb8cf5d9355ab62521606b6ca317d7b59bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f5204d9e8af21754305421f82bab102a1bac8282cbb0c6df56a99e13f169a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4496, -0.0139, -0.0307, 0.9992, 0.0605, 1.3556, 0.6186, -0.1875, 0.0395, -0.046, 0.3547]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1651 left_yaw=-0.0004 left_pitch=-0.079 left_roll=0.0005 left_gripper=0.9992 right_x=0.3335 right_y=0.0168 right_z=0.053 right_yaw=0.0531 right_pitch=-0.3525 right_roll=-0.0615 right_gripper=0.3547\nstate[joint_eff]: [-0.1026, -1.3333, 6.9949, 1.6874, -0.0806, -0.0806, -0.0122, -0.3487, -6.0103, 8.0068, 1.3553, 0.022, -0.0317, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4622, -0.0139, -0.0307, 0.9992, 0.3904, 1.4715, 1.2095, -0.7311, 0.2062, 0.1696, 0.3538]\nstate[eef_state]: left_x=0.2854 left_y=0.0 left_z=0.1623 left_yaw=-0.0004 left_pitch=-0.0927 left_roll=0.0008 left_gripper=0.9992 right_x=0.3626 right_y=0.114 right_z=0.1657 right_yaw=0.105 right_pitch=-0.3919 right_roll=-0.0817 right_gripper=0.3538\nstate[joint_eff]: [-0.335, -1.388, 6.9538, 1.7607, -0.0415, -0.0806, -0.0122, 0.1846, -6.2838, 8.8137, 1.3846, 0.1001, 0.232, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.815, 0.6132, -0.4698, -0.0135, -0.0307, 0.9992, 0.4919, 1.7088, 1.4685, -0.8253, 0.2356, 0.2214, 0.3538]\nstate[eef_state]: left_x=0.2843 left_y=-0.0 left_z=0.1604 left_yaw=-0.0007 left_pitch=-0.1018 left_roll=0.0007 left_gripper=0.9992 right_x=0.3929 right_y=0.1678 right_z=0.1619 right_yaw=0.1397 right_pitch=-0.4502 right_roll=-0.1017 right_gripper=0.3538\nstate[joint_eff]: [-0.2667, -1.4291, 6.9538, 1.6923, -0.022, -0.0659, -0.0122, -0.2393, -9.0598, 8.4991, 1.1746, 0.3736, 0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2857b755526efcb8e264a180ec6d9954ef122aed15e3e87c44c3ea30e9923e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90686b6f68e17c40dcdf48b444b24fb8cf5d9355ab62521606b6ca317d7b59bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f5204d9e8af21754305421f82bab102a1bac8282cbb0c6df56a99e13f169a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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  "content": [],
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  "id": "rs_006cae29619b2ea6016ab44b60243c87d09671281b0741d7a6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtoaB86ciY5E0I1LcqKFhlMXYn3sZLAqbSIC9jTU6cIHzGsEGYp42Gf-Jbze6Snk8bVdk4EqqAPzY6_PFhFV3N5UgFaTfQoLFlbtbE3pEgsLJe8UUSHZKsPXir-0AOa0D5h4CILDybiXcTc2-g6lIqdIyf7nO4nDOAQ8T_oB6UZTz4t_Q2U_F1BwjzZ_3zVBscij3yHLQDDuxotDIGR5XAGVmyNUHCHJbInP9nTkG6V8O1E1D0qQcWgrfHh5FwwSI6TDj_4Xu-zfm2ewXSb6jJz3d7Cnprh_u11GDN0MVq8YTx9Y-Wqv-o2mRV383itVqU-7nVXHP-NmjAmTOTJugfCWXwHb09On5BEPZxi35Y1Ex9vuKfqjYdA9aEG3bSxfmzbyGkw0AHV0XmpZpxMe2QgJbqE03YZNdc8YmLnDrS49HyPTbU-yf40ZWT6-Ooencymg-F3C2bQNohQg7wr2Qc_LypDvMx3hdWluZWrZr1XspkBuYin31zaxBAEO3ZLjo3pn2Flw2mcXbupbSguHtwqfx-gcagRUGdRzpP4bUANTN9w-0ID3_x_DYJMMZPOroijwwxgsSxSfjwXcooub3QCir3jwy7hTqMo9MIWGDj25nsdRFGUMIAXQng6rk5BIfYC981ejmZiXIca0mYEvshlrqLQ4qAcC0BFHcjYJXnCP4pWShDijpWzKGWZ1RMl5182gcQMK1V6U0UirN7hZTYfvPzXckXBTX82TNBcRXInalkgV7-pVp9TVplB8oZnHfERl7T6NzMJYWm3Qw8oeTOwrMfzMi2GzzYfknrjTSVfjxQZknSbqHEJUk6vO11Z3cLf2IL5lPeOBZXBxlUWu29Q7dy4-KdoAWRq-QGXvS-v1LhJG0YQQu29dqVLlJHe7iPqdP54whth-vif1JQKziIyI9i1Q92ORalSJ5py21mIJnEBIOB0RVvV7PJoKg19djxvoFUg7Vs4Yc2U1gB_si_Nixd3iI_PEufB3pqaQrnHT3p7aiIHE9lVafRSesgw4rYQMtqvGIRObPjNHwXAUwV3uzC6N0IIb0-R6g08L-AbW_VfngU7RQQpSE_IUVOpF0iBFcwM6QTtmeC_1O0UbeyzyMw-pZSx-i7G9TB9tdHinYN28iBqBBMHmXt3QRy4RClATS3CJI4X1vC4lPskl9FwlthCsThQ3faoOcvX38V5FDvIYoZtGTe60HLfcehUVf0HPsu76XBTRPVeL4QjVHoRGteajLZ-NzV4qNYJQ4EzZjnmYR7YmUwvx8K1tFD4-F1Nmyx4GVR6qLyIhQjzEkU9OipHd_3zK3wyVc-jfMrZTfaZ9n3sjxfCld9uI8kCTmGh8fgokFPbvw9ge_QANTnR_58XtSnC8wOq3AsdwCdwNp_Wr7Qd3Pbl1GJsu93B1esd_EZiV3L5XpNrG1Wub1fdHRwc60x-ZF_TtxSaUn_ULjVPMB1jF1xGex432af9StojJIyJy4PXyfN8IguynCiAwSHGjc_bXJWF0uaFqqwnLYn4v5CbxSPFZs3eWURQ4YdpKsTO5srp8a19g0ZLSgZrE4Ndg58S40cGdBNnsjDeVx53DyRu09HmnJr5rSQPi1FPOEQl8q7nkedhz4sint7ktZJ42urOohStupQo1JC8FJampBMSy3nsrjAOZ8UShmUltPKjCkpxcCDKprwwjfNTL9K_81ytzuvj8QBRYvkUvozUGSwKPEgAbYDYm5uIk9NLxWjy42TJ15sBxhFWR7Yz4ulLrRDngVcria3a70ZRwZrIAJTTDboeNqGuSmj39oy_a_g43_WvP3W6JzCIsTxT9Tc92s6fFMjYe9bukznllGy8B3BvZNxRu7qDhKevr3eUJxodJ4IXhgGQckBEWr4YIFcM2yB4KJ6YTOp-ZQcyLFqCUl2l2CLT_TUpRsXams6GxStnr5u_jJ30sln-Ak2Zvt-8v7K4kPsUbQIUYizOhvHnNrrNmXXP7FoG2M_xtM_LfjAcM_IRCi0Yfve-V_LZxJYSEqpHPfCqne6iaiq-zDM7tK-BUnFyqx3Feub3_SMq",
  "id": "rs_006cae29619b2ea6016ab44b65861c87d082a49c5df4ac32cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.07,\"right_z\":0.11,\"right_yaw\":1.57,\"right_gripper\":1},\"note\":\"The pear is again resting on the table to the bowl’s right, so the partial pinch did not survive transport. I’ll reopen and approach its estimated center with the jaws rotated 90°, so closure acts front-to-back rather than squeezing the pear sideways away from the bowl.\"}",
  "call_id": "call_UHXcRxPd5kBW1DlxroCY216p",
  "id": "fc_006cae29619b2ea6016ab44b673bc487d08fc0cd08c2f23183",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UHXcRxPd5kBW1DlxroCY216p",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4755, -0.0139, -0.0307, 0.9992, 0.4946, 1.7206, 1.4887, -0.836, 0.2432, 0.2371, 0.997]\nstate[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1592 left_yaw=-0.0003 left_pitch=-0.1079 left_roll=0.0011 left_gripper=0.9992 right_x=0.3952 right_y=0.1689 right_z=0.1636 right_yaw=0.126 right_pitch=-0.4491 right_roll=-0.1005 right_gripper=0.997\nstate[joint_eff]: [-0.3761, -0.9915, 7.0906, 1.6923, -0.0659, -0.0757, -0.0122, -0.3077, -8.8821, 8.8821, 1.3309, 0.232, 0.1734, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ff91fc95cc49c5b5ee4ba7554ec4172e868abffc8d9de1ddaac4c8f7b9a1c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d071a9399186b82674a901cb71a7153da2bd12dcc3bd41dac5c8118496e7b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6130905547fded555e3b8fa2a65ae2c9de738c395872ea801938171d0b961c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.45, -0.0139, -0.0307, 0.9992, 0.0616, 1.2598, 0.8581, -0.5243, 0.0391, -0.0536, 0.3539]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.165 left_yaw=-0.0004 left_pitch=-0.0793 left_roll=0.0005 left_gripper=0.9992 right_x=0.336 right_y=0.0174 right_z=0.1258 right_yaw=0.059 right_pitch=-0.3544 right_roll=-0.0661 right_gripper=0.3539\nstate[joint_eff]: [-0.1846, -1.1829, 7.0632, 1.6728, -0.0659, -0.0708, -0.0122, -0.1573, -5.9556, 8.7043, 1.37, -0.0024, 0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.815, 0.6132, -0.4698, -0.0135, -0.0307, 0.9992, 0.4919, 1.7088, 1.4685, -0.8253, 0.2356, 0.2214, 0.3538]\nstate[eef_state]: left_x=0.2843 left_y=-0.0 left_z=0.1604 left_yaw=-0.0007 left_pitch=-0.1018 left_roll=0.0007 left_gripper=0.9992 right_x=0.3929 right_y=0.1678 right_z=0.1619 right_yaw=0.1397 right_pitch=-0.4502 right_roll=-0.1017 right_gripper=0.3538\nstate[joint_eff]: [-0.2667, -1.4291, 6.9538, 1.6923, -0.022, -0.0659, -0.0122, -0.2393, -9.0598, 8.4991, 1.1746, 0.3736, 0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4755, -0.0139, -0.0307, 0.9992, 0.4946, 1.7206, 1.4887, -0.836, 0.2432, 0.2371, 0.997]\nstate[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1592 left_yaw=-0.0003 left_pitch=-0.1079 left_roll=0.0011 left_gripper=0.9992 right_x=0.3952 right_y=0.1689 right_z=0.1636 right_yaw=0.126 right_pitch=-0.4491 right_roll=-0.1005 right_gripper=0.997\nstate[joint_eff]: [-0.3761, -0.9915, 7.0906, 1.6923, -0.0659, -0.0757, -0.0122, -0.3077, -8.8821, 8.8821, 1.3309, 0.232, 0.1734, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ff91fc95cc49c5b5ee4ba7554ec4172e868abffc8d9de1ddaac4c8f7b9a1c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d071a9399186b82674a901cb71a7153da2bd12dcc3bd41dac5c8118496e7b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6130905547fded555e3b8fa2a65ae2c9de738c395872ea801938171d0b961c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtseHvCugLtpTVFj6x3bliN3ZPJUWZ5PrQ-RGD6LAUGkZmxUC6MEQNC9jWtzBjkHqiNgX0ARknsT6amxjC3Fh2wKJfdD5ALGyHMxB8i2Ghd1w8debdILt2Ob9t8wabWbJl45MiZ0_ViRwZ7a5gFmYIBwc3hiYs_zjy72gvjuKmIfQzIiAYV-RhuGZQLMjhFnhhFwuJ9QTHD0s4REGPFy5Ebtir6YJCf94Hsh3jK3RzxTb3KbizVxSUCB24JLj-YGwCx7Vpmsbpm3AfDA-4NnoAAAaQ74WNQSEZRPDIew81NaBQo6oNYbX_f-hZKHyWZITSUhonvO1l3upedX4dN3I6pF6GEGHSNY6h4nW-brHh3i-ikbvjJeYVtz3SeB_sPowy2Soso5Ih-XN8RT3yKvsYuPfOniBtgcAku0G34zAAlaTrbWyD77Jwo-upbLK8f5EizX0xuIf8wFt763VjJoytojWD26GI5QDfc5msd1nTCDDmQojc8hcQ5SJ2AXPSQCQXcOmWWZEbATk1L-SMl4cNpXzD2MTzx9TiYisql6YXJEwZ9lpdU0KGorFW82F3s2fiaw1-EYYxp5yExyhvnXStxpbCRpahyehA5Kjc7ldqEb6uQBMRo0JyVn-VAIB_XYlPVkuKupTb_MFFqQVrZrsQsQhmcLDGQfsyboPBMakkiBTIZzelo1Q6pd5YG34CdiIM4fhnrdXtLsKhHurSB1NC0BJpo7KKlMSUOJqauO6jiaWqZ-6ukBL9bIUJ1sz5g_tKCvFreteb7OAyrbZmOXMwo2Cqqy2mjZb-c0Rtf1JRKXrZjcVVAFmhPdL_Hpb4sHvk6PZbvzAxZJ9FsBUsT4lHPu-GAxoiCRJqkTxVsfUfQX3nRZDdNVB2I_CCbJjnozWi2DmAtzCCplJpOsNa7fIQlkeHskMm4HRL50_x6t2B1Dgf_g1UaHGMaId3vmkk_hzG-MI8-LNGAJStlnn6NsyMzre0d9PmFcsfkBwk28F0_ceQ1Ke2UAZ9tMHBVfRTKdYfLOQIywA1qAHL_vU_Qo8L9LFK5giKes4vXdTJxL9KjMhvn9X3fo14itoP91Ix_M9T1tnp7LWEuEuQ4PUTdlp9igHplFfqtPZz5ifLMrkx_iSXPt5rIBcJlNwyPHWU1qWeSlSLwCTKsnrUOonxGtzoc659YGpxPloch_Qd1FKV_s0L1ZhzS3MrOg5foeX1kInNvQvMm5_WtsvxuYiytPfLvOR9a-ZmBw6NfrtdV_ZvY7H2N3oNj1TyLX2RXR189ymYE8VrFIasuLrKUnqaecfY5ItjCx6rxZlJLR3dz9IqSn73CFUUGEbZ0SbiuwD4oJqLlUaaOIYKqWxSLrBhjxNCNAa20Yij1JufKfjgaz5Vw1hbMfUwqJVKmUKh8YO9QQZKT2128eAIAH2FKnpUNBIivyEQt9gtN_dV6p8bHlbc0nAFh4XUxy3Roqm_crNhOMYdTUNx-6nonWaDN23nUi1xjypTaJYzmPb27URxH5oBUuqntExBmaCNFZKu15SFu_bnYka-SaMAcLvuzSas8393n_1AL088f8yAoygHvkae4ixFzXaQJDI-vi2vg3BH3FwwvIR-x57FNsCV1ZvSTJRvIx_ydo_zy2cccEyJNvDNjWdN46Sbv3i89ir4gO_6XKbtSWZPXQKZSCeLWCkogVf6Oxw==",
  "id": "rs_006cae29619b2ea6016ab44b6ab88087d095a3a629ce3dcea6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"right_yaw\":0.7},\"note\":\"The combined reposition did not track—the readback stayed near the prior pose, likely because the large yaw change was awkward at this reach. I’ll first raise clear of the objects and rotate only partway, then reposition in a separate small motion.\"}",
  "call_id": "call_qJagXNcBsul2fZoQMQtR1JuA",
  "id": "fc_006cae29619b2ea6016ab44b6bbafc87d097719fef1719393a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qJagXNcBsul2fZoQMQtR1JuA",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.815, 0.6132, -0.4763, -0.0139, -0.0307, 0.9992, 0.2729, 1.7252, 1.6135, -0.9943, -0.02, -0.1394, 0.9972]\nstate[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.1592 left_yaw=-0.0003 left_pitch=-0.1083 left_roll=0.0011 left_gripper=0.9992 right_x=0.4038 right_y=0.1204 right_z=0.1848 right_yaw=0.3818 right_pitch=-0.5345 right_roll=-0.05 right_gripper=0.9972\nstate[joint_eff]: [-0.1846, -1.1829, 7.0085, 1.6972, -0.0562, -0.0122, -0.0122, 2.9607, -9.4564, 8.3487, 1.1502, -0.315, 0.0073, 0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b59bf1ef4f21c166bfe89545cfe6beea1e31864d665f80d6d1af61e4675a63d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af289b80aa779374dbd65ecdc4ea20de79aa3d9ef6367481f4076241e3b9ed33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a96b9eaa88e90e31bc3839731243d3760231d0f5100ea2572dd73ddc7adbe6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4622, -0.0139, -0.0307, 0.9992, 0.3904, 1.4715, 1.2095, -0.7311, 0.2062, 0.1696, 0.3538]\nstate[eef_state]: left_x=0.2854 left_y=0.0 left_z=0.1623 left_yaw=-0.0004 left_pitch=-0.0927 left_roll=0.0008 left_gripper=0.9992 right_x=0.3626 right_y=0.114 right_z=0.1657 right_yaw=0.105 right_pitch=-0.3919 right_roll=-0.0817 right_gripper=0.3538\nstate[joint_eff]: [-0.335, -1.388, 6.9538, 1.7607, -0.0415, -0.0806, -0.0122, 0.1846, -6.2838, 8.8137, 1.3846, 0.1001, 0.232, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4755, -0.0139, -0.0307, 0.9992, 0.4946, 1.7206, 1.4887, -0.836, 0.2432, 0.2371, 0.997]\nstate[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1592 left_yaw=-0.0003 left_pitch=-0.1079 left_roll=0.0011 left_gripper=0.9992 right_x=0.3952 right_y=0.1689 right_z=0.1636 right_yaw=0.126 right_pitch=-0.4491 right_roll=-0.1005 right_gripper=0.997\nstate[joint_eff]: [-0.3761, -0.9915, 7.0906, 1.6923, -0.0659, -0.0757, -0.0122, -0.3077, -8.8821, 8.8821, 1.3309, 0.232, 0.1734, -0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.815, 0.6132, -0.4763, -0.0139, -0.0307, 0.9992, 0.2729, 1.7252, 1.6135, -0.9943, -0.02, -0.1394, 0.9972]\nstate[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.1592 left_yaw=-0.0003 left_pitch=-0.1083 left_roll=0.0011 left_gripper=0.9992 right_x=0.4038 right_y=0.1204 right_z=0.1848 right_yaw=0.3818 right_pitch=-0.5345 right_roll=-0.05 right_gripper=0.9972\nstate[joint_eff]: [-0.1846, -1.1829, 7.0085, 1.6972, -0.0562, -0.0122, -0.0122, 2.9607, -9.4564, 8.3487, 1.1502, -0.315, 0.0073, 0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b59bf1ef4f21c166bfe89545cfe6beea1e31864d665f80d6d1af61e4675a63d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af289b80aa779374dbd65ecdc4ea20de79aa3d9ef6367481f4076241e3b9ed33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a96b9eaa88e90e31bc3839731243d3760231d0f5100ea2572dd73ddc7adbe6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtx0SZQtgHGmXEBuImwPsbvCBqlaHYmAkPzSrsTbxNagMZ5I72Ey0uBz2OYFvt3gSDB7NORT8K1wpaXoyawEQOpdwMcn0qM8Hh3rMvxs2Bnq2-O1PkhPDqNA40PboUp3Z0XCwOC-GDQpb8VnZHRn9am4WGNU-ZYsDGj_wqHl81qH9RmXkYGV8ExISYW9mj7D_1TpJHDMxDxFVm13k2_fOtlrEYiMpjAThOSrA6aS8IZoGIogNrCWqcsJx2s_zRPpJuwGymlsUeEf7OiP1ps29vb1OhG5ykqhQUIV8BtjaeRyAwlNw4pu_BRw-WQY6eolJMIilEAK-_qY0kocBkd6LkDn1X95Rk25qgDKWfUBTXciNIcE-rHWOOdfxEHSlL4M6B8i8YeeChaNl9EknyLFS5Aaz-qTYiHq5qII7cKOcFYv1-6nVeat1EtJy-eMEpwoUlfkD4O3ZAKpErXebAAYNBK3nmUcWp-Dn3ZLviFUUXpxcVlgDLw4GqPEEZk94CKQHMK1vay9QgyCligyMyI9yr2yKcxr35c9hSxxGVxsFsh0-3JXrBli5QckVw3qhiz6d0FWUOfFI8naj96AeR93j5nc8gXe2jopifTqkcO7bnQ1c-QN4imvw6luDcQeM89uDEcLUup1cn51UJNxIAj9-CoOxqahSnc8ReTDmw2DoQLxSmpn0VNM1Ov4fQhRE0CSsZu8TqA7RPbpU2UYLtROpTr84oLi8fcdXmk6Uq0QB6xYeLQfbgFqUQfhJqbOgaLEbQWoNS6gL7Qz51flO-T5QleWrSWJ9KAU9J2Quoy8cXcg1RZA2xCsB0H4TFYw5OayQqvLDfHJmVSn-Z7SdujhQX-s_uIC6ryS34j2FXRfy6FiLxNRNGXbZv3uz5BnpNnSy_-T0NeDwwfrXV8Yd4bhGNnxH3mYPRV7KEfTWHt1ESx-eGxuXDYzFjm-r9hmsRhPsBy9fs9AESvVr5xRhjyvDY7rA_dmX1vUPNEdECGSzudeD-YGvGxEuhfZ3ah37NQuan2nrbx5QnWPujKV075JDPJGQU2-YWFcTAv-5eOLoOFmRXOESjFkllnMC7lfefERQ7w6Kub5bjneIu1vJGrljP6Cu2JVYGPd_jPqeyWbJU8Wf-FkFHOInAoARwQg2ichVYuQSavAuFHng9tQfsy6eUXFy28WUlQ9MnM4wqQ7q0zPa00_ARss7Lopcdx8i-lCo_PNYANrIcYqsUWa2RfEWSvDo8j4LWz217nVKbmqFeg0hrriBAlcV4cotk0LdU1x_kx9VJZQfquBSuCjbXmh9iQFX8XQgK6Y94hipMjMBBXXzkze_uv0h3yZNvOOz53_C83J_jY3rIrzVjMmB-JixXE7mUTwwRvclj8DVRf0Qwm1s25Mb_ma5kdIYCdbB9RepuRHEix-sZC5GQX6Ol7DdkWezQMLcNpIE7veBrcOy9WGNYiaaMfhRIUeJ94Tf9cj0lTUWxMI_5VY8eypms_sI5AAfh1VHjHRozM6-YcP9pQTVSRBX3CZPhdLKlA58n_vkKmRn3mNOLHZJ_T40du3iC-j1-UD_DBpM6jvgBmjB9Je3aYNTQxTcLiko-7Q8ei0rFDXDjEecOTSYZgmPIcU3GV-2SAYTBGC40DROSlVkJI6caQdu1cvfGnBOnUXYrkFhmYMEwfanDfShgluzafO4N49gWx4qJgYNWjxeOmmAiAThFTgAlbv61TSxW-AJPlB-9vpd5ovH7Isg5zKd6cyuf9iEYZoG1yFRhKCTQJZDBtOuGmH8M-gvDoQzCO5Fia9gCNaFfxRZMtpJwv9bM4KDwRs2E9ZxHkdJGK4qPlED2YVCy3pLQNGMeY94MavppDZw79Sg9qmd0-2W-USm43gFhVvFPpt30mzp1c5RhVOmWkXGQ4xzZw0Bc54G9VmyEqCXuB_q19y5hzgOg58YOb97GtKA==",
  "id": "rs_006cae29619b2ea6016ab44b6e476887d082e2228a6c8a47ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.035,\"right_z\":0.075,\"right_yaw\":0.7},\"note\":\"The arm raised and rotated partway; the pear is now visible low-right in the wrist view, about 8–10 cm to the arm’s right and slightly toward the base. I’ll translate over that fruit and descend while completing the remaining moderate rotation.\"}",
  "call_id": "call_trlE3eFO1TxrG0xsqRondalS",
  "id": "fc_006cae29619b2ea6016ab44b6ff30487d0a6490c0675275f64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_trlE3eFO1TxrG0xsqRondalS",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8188, 0.6132, -0.4767, -0.0139, -0.0307, 0.9992, -0.0334, 1.6566, 1.1168, -0.6987, -0.2428, -0.6357, 0.9972]\nstate[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1581 left_yaw=-0.0003 left_pitch=-0.1125 left_roll=0.0012 left_gripper=0.9992 right_x=0.3637 right_y=0.0339 right_z=0.0724 right_yaw=0.6354 right_pitch=-0.5893 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -1.5248, 6.9538, 1.6679, -0.0513, -0.0269, -0.0122, -0.1436, -8.1026, 6.5162, 1.1648, -0.3883, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4341133b900291a9aa0314267ff2f7d91d16ec11dc07bd1e6fdd17bb47049433",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3867bb1d1cc627434942fcf5fa4cbf303bfe9abeb2f6c7e7749c2881b7c45bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f716a2c80bb2e9e1a1a6b208754f9891a8e8a3d42dd601b280fa99c4b444b97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.815, 0.6132, -0.4698, -0.0135, -0.0307, 0.9992, 0.4919, 1.7088, 1.4685, -0.8253, 0.2356, 0.2214, 0.3538]\nstate[eef_state]: left_x=0.2843 left_y=-0.0 left_z=0.1604 left_yaw=-0.0007 left_pitch=-0.1018 left_roll=0.0007 left_gripper=0.9992 right_x=0.3929 right_y=0.1678 right_z=0.1619 right_yaw=0.1397 right_pitch=-0.4502 right_roll=-0.1017 right_gripper=0.3538\nstate[joint_eff]: [-0.2667, -1.4291, 6.9538, 1.6923, -0.022, -0.0659, -0.0122, -0.2393, -9.0598, 8.4991, 1.1746, 0.3736, 0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.815, 0.6132, -0.4763, -0.0139, -0.0307, 0.9992, 0.2729, 1.7252, 1.6135, -0.9943, -0.02, -0.1394, 0.9972]\nstate[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.1592 left_yaw=-0.0003 left_pitch=-0.1083 left_roll=0.0011 left_gripper=0.9992 right_x=0.4038 right_y=0.1204 right_z=0.1848 right_yaw=0.3818 right_pitch=-0.5345 right_roll=-0.05 right_gripper=0.9972\nstate[joint_eff]: [-0.1846, -1.1829, 7.0085, 1.6972, -0.0562, -0.0122, -0.0122, 2.9607, -9.4564, 8.3487, 1.1502, -0.315, 0.0073, 0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8188, 0.6132, -0.4767, -0.0139, -0.0307, 0.9992, -0.0334, 1.6566, 1.1168, -0.6987, -0.2428, -0.6357, 0.9972]\nstate[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1581 left_yaw=-0.0003 left_pitch=-0.1125 left_roll=0.0012 left_gripper=0.9992 right_x=0.3637 right_y=0.0339 right_z=0.0724 right_yaw=0.6354 right_pitch=-0.5893 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -1.5248, 6.9538, 1.6679, -0.0513, -0.0269, -0.0122, -0.1436, -8.1026, 6.5162, 1.1648, -0.3883, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4341133b900291a9aa0314267ff2f7d91d16ec11dc07bd1e6fdd17bb47049433",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3867bb1d1cc627434942fcf5fa4cbf303bfe9abeb2f6c7e7749c2881b7c45bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f716a2c80bb2e9e1a1a6b208754f9891a8e8a3d42dd601b280fa99c4b444b97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEt1yqso_gURj3NVYerW64QVr1q6_Hg6smF7UMTMQVny-W00SJWdJOx_pYSmmsgfJz5Bq-LoPfEbb1l1ZOAt35M3vHD3TNok9j5IwFs21SrRqwpgkTyvxuhv-rFhSkWG5ToUqkb3yV9EdVqlQkdk40KRflvk2QLA5wEHG-YNhUmtAFgOeXsL4TvWur3oOGAUdK0rQ6-kemS4oYqHuUPx3X7JtIFFNhAZVEf8ZhRHVaXipJByJJi-lmjFjPWY8nmJ3vhOh646PSqT2gxcyjB-AJbyud2yOvvEIlxOpNYAhkdGtPo_6U1GFBl86HqlUngAtoLy3-IYJSw9w26Oi5OrhUXrIQhZ3RN3tOYqEKaT2QMiDDsOnVqUm2vETj8itVwSg8FP8SCU-DgmBXFonm7XF3IQk-YODmPEDbey27weKDQasBAim7toG6N7S75es-Ud7mgw0lIzjrr1TWAHrEBjkmdDtLUGSdfd2ng1-MjGEY2gcTKL1-l0E6u3xiDRz8jqLFTQFT-l2n8Pd5c-NJQ2u5kZY3MnctcMs_KaFFwkcVPvAs46UdaheC8m36awRXJmgKqOguVji_B_GyyHXz1mD7LUY3RRxkBOB57y2MdN1pqgrfqQ848D05yXgx1THE3fGN8uhq24paUJl85qmR213J9iCRFLKvUIUMe2BPdokeFg07HoEnImJ14datirO3Ydjg8i4tx36063e7wvVijs1odBXtsXB87xqnmp79JkpCitYbFF309mquyL-quP8KeK_2shhFPzJTDihgKuW0FCn1ExkfgAx3m9MiHWqOmvarGeFlXMnpbbXdSaHDh4V3LTPjlfU-IFQ--IVZ_u9dPWZdwdPaXgASkPvEY5xfsdW7LNXZdtoN9wF1F1zKwHCPQ2VRg8j_uULd8pmNcbVhnHVU3mvbXoDlPI-eBzU-4mz2Ls0qPm3-3AESA6Yal_IulkuBfBpUbN3cZrcfKBJ13fPHD8aWOPRY-Lf7e1z7QJIrkubr_vKz-Dgt4yLpiVqSByuOAmJsdvHBtOGxw5qQfEmTwtbzGWKlO7S4uDCYsytr_ZdtnIWtaUINfXLFVO9ivWIZh4ORWIJgkz4EeHINqklDgKYWxvpL1o-6fm7Q9_e2hww_PanqXs46iR_6QwkILV1lUma7m6S9dk4VRlg1Yu_guAa8jn7059GX8sGQu_m3MIbyTge99iXMLzMFMjolacRBxRovJK4a8MdTEW43XuJbkuNbnaGlMiEG4IYPC-B8rjPgTe2rgwyaYmYfiwYRdxUZL6vYce5_lhdPgpaVNokE4F_nYojlcvMVLDQ0A7Qt4TlKmgFvZoaQlDdlNfzEsrcf5yiD8bEQVoZ5ZKNHsbtvuowjSzC0U4jSOaFkBp2WQv24U2Ep-mjsdM1I7cAVKpITsczMVQX6usXoYhwgRK7fuZyF8BxU1IY_ffkaBHJAZqXsE2Lb7j3JvNNI-hMGxmDZIoPY6CNf-opfsXT6-7B1ojEqd_fDxZEe6cEZJ_SIhxD2vFLOUddtLYKqGom05PfDkYedL1u-_noKbtDeVqAerJ8ISsqeUx7LiRofezXZv4btjaEiEOwnqVG7gQWCMz9kZ72m0ce4EjofwXoVcj-by06JE3GPEIejmUyb97y1pHRx4C08p48BW3bNEpx0dCztJTEe38Li6Tk9I-IAC6I6ZxD5VGu7TYy43QIyylDUMXnKg7oNXIny391l7duY-hy27Lx0Vvtj72Hzrh_kqkh9MrC0flFp_ZB3oq-lF5lWX8eOvFdHdhoFg3-11R-0Q6PMRpL0gXRtHPKhTy65SXjSG6lt6F9-m77Lk4fH_-Z5ormuID_gKIt1O_h2tN1EGuvWr_MB8tTjL3vIJFrmg6PDiWmEh7PHM6Lb7KanPoSsmvSI5fDIsfv9nNSndyWrsRUTL89ul7DMNkYIgLQCC3Bd0sxuQToG7ovp-rBcz-iFvrHVG3c1zvbSJIB8zzDnBFJgG7gG0RlvAyZ3jHlYJ6qoWmaP5UZCgQE-ICE7GG3AkrLEu-kHn3-YGgZ7_CgVVURKh698SjWGwm0Spopz4WS6RABQ==",
  "id": "rs_006cae29619b2ea6016ab44b72df3087d0bd58ad6ba0bae3cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.15},\"note\":\"The rotated fingertips now straddle the pear near its widest section, and the fruit is centered along the new jaw axis. I’ll close firmly to a small commanded gap; a nonzero stopped reading should confirm physical contact.\"}",
  "call_id": "call_8w38eXCjwdczPii9xzs4li6X",
  "id": "fc_006cae29619b2ea6016ab44b747d0887d0b1611f4cc4d54c63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8w38eXCjwdczPii9xzs4li6X",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8188, 0.6132, -0.4797, -0.0135, -0.0307, 0.9992, -0.0338, 1.6585, 1.1, -0.6968, -0.2413, -0.6434, 0.3467]\nstate[eef_state]: left_x=0.2829 left_y=-0.0 left_z=0.1575 left_yaw=-0.0007 left_pitch=-0.1156 left_roll=0.001 left_gripper=0.9992 right_x=0.3589 right_y=0.0337 right_z=0.0665 right_yaw=0.6459 right_pitch=-0.6034 right_roll=-0.0034 right_gripper=0.3467\nstate[joint_eff]: [-0.0479, -1.2239, 7.0085, 1.6337, -0.0366, -0.0366, -0.0122, -0.1846, -7.5145, 7.3778, 0.7937, -0.1734, 0.0415, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9e1684f550fda223908693f5b8832210c51e792f61b49edaa7a31daada74b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29a4a1f13fca735ae17cc5c7da968428aa3c9f9753cfcd7c3ba6bca6fddde196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb3b4263a40d126b600b4f8b191a349122d9f88e5a0215e5613c73cadcc5016a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4755, -0.0139, -0.0307, 0.9992, 0.4946, 1.7206, 1.4887, -0.836, 0.2432, 0.2371, 0.997]\nstate[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1592 left_yaw=-0.0003 left_pitch=-0.1079 left_roll=0.0011 left_gripper=0.9992 right_x=0.3952 right_y=0.1689 right_z=0.1636 right_yaw=0.126 right_pitch=-0.4491 right_roll=-0.1005 right_gripper=0.997\nstate[joint_eff]: [-0.3761, -0.9915, 7.0906, 1.6923, -0.0659, -0.0757, -0.0122, -0.3077, -8.8821, 8.8821, 1.3309, 0.232, 0.1734, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8188, 0.6132, -0.4767, -0.0139, -0.0307, 0.9992, -0.0334, 1.6566, 1.1168, -0.6987, -0.2428, -0.6357, 0.9972]\nstate[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1581 left_yaw=-0.0003 left_pitch=-0.1125 left_roll=0.0012 left_gripper=0.9992 right_x=0.3637 right_y=0.0339 right_z=0.0724 right_yaw=0.6354 right_pitch=-0.5893 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -1.5248, 6.9538, 1.6679, -0.0513, -0.0269, -0.0122, -0.1436, -8.1026, 6.5162, 1.1648, -0.3883, -0.0806, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8188, 0.6132, -0.4797, -0.0135, -0.0307, 0.9992, -0.0338, 1.6585, 1.1, -0.6968, -0.2413, -0.6434, 0.3467]\nstate[eef_state]: left_x=0.2829 left_y=-0.0 left_z=0.1575 left_yaw=-0.0007 left_pitch=-0.1156 left_roll=0.001 left_gripper=0.9992 right_x=0.3589 right_y=0.0337 right_z=0.0665 right_yaw=0.6459 right_pitch=-0.6034 right_roll=-0.0034 right_gripper=0.3467\nstate[joint_eff]: [-0.0479, -1.2239, 7.0085, 1.6337, -0.0366, -0.0366, -0.0122, -0.1846, -7.5145, 7.3778, 0.7937, -0.1734, 0.0415, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9e1684f550fda223908693f5b8832210c51e792f61b49edaa7a31daada74b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29a4a1f13fca735ae17cc5c7da968428aa3c9f9753cfcd7c3ba6bca6fddde196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb3b4263a40d126b600b4f8b191a349122d9f88e5a0215e5613c73cadcc5016a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEt4DObhNcxUNEck2NX76yc9eAMRBCNkbzMmu3tS6jSf_qsziv_0PIn3FTK8l2R8by_iTQgKba6mt4mwDO_COy6F3OW6kcKSf6aTYW3uB3zdf5rCKd89nPsOdRFl24SLutxPxO5W7ug-lE6HhClC706k_EBsCoHOsml9pAK5f-7jpeYa1BxB_P9MoHBuQBJhgQqu5Weer0tmw0abUIzy_kJXAFKNSKHxBVqsUgt6Jm92h_Vfqauk49lM_f0iOD_F-iNANqJO44H92Behi0Su-YroDKKgJ0uasmw3ExmLRjyVHzDeODQkWNzK554h8VTBWtbhqlQQFMDA8nJVUT94lCpb-hVK3ayoWry6uMVJljRzg_7tcbpmmOGo-kPu_yCS1KRnFS_50uDXI52n-rmDyzjG8gyyh7wBNk2TiKBpgOqK90EK9kea-WlhZ4fBTxE-fHqeIJWX-HV1s1nu6r-JHSiLNSny1H7sjQ2IkvR5InV-MG8i6REWYTcTP7LJkVvyuu1yzzrXj5GQM6QAayoLJQyG-VWFvYgTDzfPssaNrp84nyP9FUShSL9972dnglumQxWNIYq7QTlbrX8c6clg_X5x4cRCf9SDhdL4-uaxfDHmU7V08zCxft1h-_xVOOhaQ_z86gNFc_wP6PzXDrHQnPP0V7ia_hREJZ4-TcZWo4BZrRHAnax37O8q0C5S_MW25nS9A-6iaSJYJP6vck3gcpBdrN3XvO8WRsuvhCs5boY9DVrDJcS5Ge31m5USLe-gwzKNSeBTYk07naDd9Oq_2ssKwoD7lR4Mj_iKltpyldZSC10RpLgPVaFVAVHgt9t1eZRxzNEg5lhoL_s7fFRTLS06nVPdzXhj29Aum0J_-GufrPAgh0wl6AvuYi__OrN1i2TLqZF7vBwLv05NaRYBqRvXn1OsuN6vA2R7jnj4YqzIAaoT1VaRhoMZpLryPkzbLi82v-sLXxwu0L6SYQvAs3vOaFTOzauQoJBqnn0waxeKrDLcFeAqY0N4ejMw4bdmg8SfRocWyLmtnR-wr_h-QuFagTbtiecJo03fdQKkrVvxrZUMVM6s23rxS0CBAJqFz18bUTW3YZ5MAcZa-Rtm07LF1qzzkafZVX3MHQDdvx-Ou7PobKArbZ1CAAfNtxb1LIGt3iI22i_ZyYkrbgJOb_aE2hnVUa7tPSeC1TFi60t7VFR5w2IYYnwluporApbSYgQq4Id89sEKrsbEsGbodyTRbBBK5p1skN5Y29dV10WhdHOtkvvwWLX_hrm88fU0IRsz",
  "id": "rs_006cae29619b2ea6016ab44b77062487d0b83b2484f825df2d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The gripper stopped at 0.347 despite a 0.15 command, confirming a solid contact around the pear. I’ll lift it clear of the table while preserving the rotated, firm grasp.\"}",
  "call_id": "call_qrJdjmlP8J9HKGRy4atF8w6w",
  "id": "fc_006cae29619b2ea6016ab44b772db087d09f8e929b69e9b9cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qrJdjmlP8J9HKGRy4atF8w6w",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6132, -0.4847, -0.0139, -0.0307, 0.9992, -0.0345, 1.6375, 1.3804, -1.0138, -0.2398, -0.6472, 0.3491]\nstate[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1565 left_yaw=-0.0003 left_pitch=-0.1209 left_roll=0.0013 left_gripper=0.9992 right_x=0.3625 right_y=0.033 right_z=0.1404 right_yaw=0.6533 right_pitch=-0.6164 right_roll=0.0055 right_gripper=0.3491\nstate[joint_eff]: [-0.2256, -1.347, 6.9949, 1.6484, -0.0513, -0.0659, -0.0122, -0.294, -9.6342, 7.9795, 0.8181, -0.1832, -0.0317, 0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e874161e467f55f25b1746dea95fc6c443e6a13c99552a22569eeb7c0235db30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb946a33a6a2926050067f4500f43f7f7d7a3fe62022c7970d382e70db0aad9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e11dae61e4fcc9bcf15d0a3b32823f4a09bf4a42345ceed3925ea98c54984b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.815, 0.6132, -0.4763, -0.0139, -0.0307, 0.9992, 0.2729, 1.7252, 1.6135, -0.9943, -0.02, -0.1394, 0.9972]\nstate[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.1592 left_yaw=-0.0003 left_pitch=-0.1083 left_roll=0.0011 left_gripper=0.9992 right_x=0.4038 right_y=0.1204 right_z=0.1848 right_yaw=0.3818 right_pitch=-0.5345 right_roll=-0.05 right_gripper=0.9972\nstate[joint_eff]: [-0.1846, -1.1829, 7.0085, 1.6972, -0.0562, -0.0122, -0.0122, 2.9607, -9.4564, 8.3487, 1.1502, -0.315, 0.0073, 0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8188, 0.6132, -0.4797, -0.0135, -0.0307, 0.9992, -0.0338, 1.6585, 1.1, -0.6968, -0.2413, -0.6434, 0.3467]\nstate[eef_state]: left_x=0.2829 left_y=-0.0 left_z=0.1575 left_yaw=-0.0007 left_pitch=-0.1156 left_roll=0.001 left_gripper=0.9992 right_x=0.3589 right_y=0.0337 right_z=0.0665 right_yaw=0.6459 right_pitch=-0.6034 right_roll=-0.0034 right_gripper=0.3467\nstate[joint_eff]: [-0.0479, -1.2239, 7.0085, 1.6337, -0.0366, -0.0366, -0.0122, -0.1846, -7.5145, 7.3778, 0.7937, -0.1734, 0.0415, 0.9109]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6132, -0.4847, -0.0139, -0.0307, 0.9992, -0.0345, 1.6375, 1.3804, -1.0138, -0.2398, -0.6472, 0.3491]\nstate[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1565 left_yaw=-0.0003 left_pitch=-0.1209 left_roll=0.0013 left_gripper=0.9992 right_x=0.3625 right_y=0.033 right_z=0.1404 right_yaw=0.6533 right_pitch=-0.6164 right_roll=0.0055 right_gripper=0.3491\nstate[joint_eff]: [-0.2256, -1.347, 6.9949, 1.6484, -0.0513, -0.0659, -0.0122, -0.294, -9.6342, 7.9795, 0.8181, -0.1832, -0.0317, 0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e874161e467f55f25b1746dea95fc6c443e6a13c99552a22569eeb7c0235db30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb946a33a6a2926050067f4500f43f7f7d7a3fe62022c7970d382e70db0aad9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e11dae61e4fcc9bcf15d0a3b32823f4a09bf4a42345ceed3925ea98c54984b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEt9MkPe9BJT37JmB5S6cUnw_3IHaR-J4OVE9pukFcryUWp9tHa0KS7J0ZlgKi_mo3DhA7tkzffbcTXSQVbXDM3v_nW91LgtKlq37T1Rr9fhF4b6U36vBEn_Egq5EXskqeSnZjJma02gj9nOcoY89X2oiA8EduRVN10F9S3gfutd6dPe-K_HLslWq-d2BanXh7beXQLJw47SjUOl0l6MGqtSbqm-i3jr7j7YMne5Zaab_w9m1pPeaPDDWRgPSH763j9S9kVKVabSQW3ThjUWhT40g8VHzwL-SkJ4UkpXbG0yxKv_HdMu8cPVnFYuCw_pU5BBEVWLFNzvZcyZ4Js3UHVN3hASmHjW4mxZq2xSsaXw2xjy5jNf-i3DJs_DHtD5110UFN6QDAm3BYp1OPsKa10kMOWVsHjadL_5f0CRqxpiig_faSzAMZIJaTI5Lz4gSr45gNyWfUAl80N5gXXqMLG8BlM8KKAYcPY7Bh-8i-CveghV_lxMl5Jb54bFaK5pcMdgU9KuWeJ3nya1n3EbetDfTRs8AI-_1lc_AN-TBVPtViiiu7fAVyMqe6FUb9dnZLGIRnEklD7gBs2fy-OmluQ9wr10-vTX522pnuNtSvSG_L0qvKiAEX3IYQqQPEObgve6Bb7xUhLTdjnpliT5FmBK81tTFVlNMIfyjxkLdNLfjlfoDlYdgivTvnNqBwSlVaVSlyFStmMEyNYHgG8q_b8tQsWIlxqye9zVIjtthO_TCPiU7PpoF-RnSYiTJWPZCAYJewEUflCPx4hoFcqS6h7oabNG2DOkU72ufm7qkjQXwZqJaARn6QpBIzkdsWualeyJ11Y_-pCY_y14PFN32Y1crYba9tBipgMXWNMQj0EnaAUSBvAK0wcWk4pRRbNzJdEIjW_vYJHjF_20KI9WWMsuNGZitwHeYpRUi_O0dF5kNf5u3JTtcSVrnVE1OYqurNgwZpuoG-Ev-ivyHhQiNHJKrJGf1FgvrSaNQ41FZkj5YlkXkSxde1cRlSJJgA08ppmbdvJoRPAQPqqDQJi01XG5WP7wFokLDzRbeOMmqK-50iMGkY-pybdvA__UyOoQTRSL6vQ4U4rrVm6FzVZmPQ4oC1S88p9PRHSQz9LBotAuzKNZ58Ta1ZZ13-bghyGN6QZUlwBQVd4bZnNZJ84CQFBp3gtQ1bY3g2IaUyMHTXw_svX7kI5lnVtBrQ5bCqT484D10vsoQgUH_wmx6OaiD8g7Ain0fpeUJq0tNBWjNCfAfQNj9MJUHiw8vH4qcAX9OHZ_H0BrkYfVbdXR0RLTTWYdclXe5ZBKqj0sJq8sTbTXKfGhr0O4EOK50PaXBH_OjoU8EOK5Bh32naIrUwKRVjYKLSpqZ5Vr15dIY1zQVeM2B41rAJeEmE-t2K5c7zFYgFOv-i1tjGUJv4FgcCfTrpJi9BUC2cMa76QyOB7GxJJFiZvVNGT8m3QsCoqc2kjamiWlOSx0ssu9IbhO1QMdaG8u-fABfil1QsJM78ycNnv366pfdt7_fVb6G4PwRz9kh_dCuIbdl6ThVspMyj752NhaBvhh8D5lzdxVflc7sOCyme_zQ4eWpUjfik8eg0iyTF3U",
  "id": "rs_006cae29619b2ea6016ab44b7b45ec87d0a062ae16e178ab06",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.135,\"right_z\":0.2},\"note\":\"The pear is visibly suspended and has moved with the arm; the blue bowl is about 10 cm to the left at nearly the same radial distance. I’ll carry the securely held fruit directly above the bowl center at a safe height.\"}",
  "call_id": "call_kzV1doROka4fj5WcewoPQQsr",
  "id": "fc_006cae29619b2ea6016ab44b7c2db087d094724ddcc9d07edb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kzV1doROka4fj5WcewoPQQsr",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6132, -0.4915, -0.0135, -0.0307, 0.9992, 0.2729, 1.6802, 1.6203, -1.1572, -0.1501, -0.3962, 0.3512]\nstate[eef_state]: left_x=0.2811 left_y=0.0 left_z=0.1552 left_yaw=-0.0006 left_pitch=-0.1278 left_roll=0.0012 left_gripper=0.9992 right_x=0.3595 right_y=0.1318 right_z=0.1902 right_yaw=0.6939 right_pitch=-0.6151 right_roll=-0.0032 right_gripper=0.3512\nstate[joint_eff]: [-0.0752, -1.3197, 6.9402, 1.6923, -0.0562, -0.0415, -0.0122, 0.0205, -7.2274, 8.6769, 0.7595, -0.0513, 0.2857, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc95e413c1e8f33a4656db88b1e3a8a3492c0918aa28fcc8ae14830b32357a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdbc44d110e0aa8369271cabb7aa6b94de0f0ae3c0e7d567c93bed12860bc53f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82663b49c9fb237746c43dfb9a791dcb0f8b574ff08cf2c3cb7280693dca8325",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8188, 0.6132, -0.4767, -0.0139, -0.0307, 0.9992, -0.0334, 1.6566, 1.1168, -0.6987, -0.2428, -0.6357, 0.9972]\nstate[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1581 left_yaw=-0.0003 left_pitch=-0.1125 left_roll=0.0012 left_gripper=0.9992 right_x=0.3637 right_y=0.0339 right_z=0.0724 right_yaw=0.6354 right_pitch=-0.5893 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -1.5248, 6.9538, 1.6679, -0.0513, -0.0269, -0.0122, -0.1436, -8.1026, 6.5162, 1.1648, -0.3883, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6132, -0.4847, -0.0139, -0.0307, 0.9992, -0.0345, 1.6375, 1.3804, -1.0138, -0.2398, -0.6472, 0.3491]\nstate[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1565 left_yaw=-0.0003 left_pitch=-0.1209 left_roll=0.0013 left_gripper=0.9992 right_x=0.3625 right_y=0.033 right_z=0.1404 right_yaw=0.6533 right_pitch=-0.6164 right_roll=0.0055 right_gripper=0.3491\nstate[joint_eff]: [-0.2256, -1.347, 6.9949, 1.6484, -0.0513, -0.0659, -0.0122, -0.294, -9.6342, 7.9795, 0.8181, -0.1832, -0.0317, 0.2418]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6132, -0.4915, -0.0135, -0.0307, 0.9992, 0.2729, 1.6802, 1.6203, -1.1572, -0.1501, -0.3962, 0.3512]\nstate[eef_state]: left_x=0.2811 left_y=0.0 left_z=0.1552 left_yaw=-0.0006 left_pitch=-0.1278 left_roll=0.0012 left_gripper=0.9992 right_x=0.3595 right_y=0.1318 right_z=0.1902 right_yaw=0.6939 right_pitch=-0.6151 right_roll=-0.0032 right_gripper=0.3512\nstate[joint_eff]: [-0.0752, -1.3197, 6.9402, 1.6923, -0.0562, -0.0415, -0.0122, 0.0205, -7.2274, 8.6769, 0.7595, -0.0513, 0.2857, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc95e413c1e8f33a4656db88b1e3a8a3492c0918aa28fcc8ae14830b32357a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdbc44d110e0aa8369271cabb7aa6b94de0f0ae3c0e7d567c93bed12860bc53f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82663b49c9fb237746c43dfb9a791dcb0f8b574ff08cf2c3cb7280693dca8325",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuA7WldGXxOfDVlZdMoUcMFL1rYR0unF44ivRSgDkq_xRgq46ezvDhcan7GDKIVoXlhd7WRriej3rkpITV20EMIKRatAUHnlx6o7R7bpSoQWpRI0NDR_IPtdKzmVtwgcEEjwuoAnvmxAYtOBHmkAaCFiCfqLGNG4DTouyXCEabAXud07CPiJIUxPFXbu4aKqY1v1MiTNWGTjjvxdZSKqvsl2R8peH6sKmiL-YdJogUNJ9HlaS7U9Ymduc4-N5IwTzO8wqbs23TeUK2hESB3ZYWPTMbrB6i-Fb-zC8wqgb3wdUptUiO9kEdm99h1ojaCGUc_yA1kfrXazMOU26-cs_lbZwxGuW1Zy8OkfMxFICMVeiyF5y8cQLnNeLZ48LSEHFDiZ7o8Z1P6HTYodRrOfdZAt2w1OmYfHf_VXcmX9d1BabCv61oJe4HeteHS4fXtqkS-gTUARH4YolgWzC6b4DQujvo1e1wiDPQXFB46GZhq9p_zVdi23FF3akxBp909RxD94rfoy9cwM42lk6RmgHRuXr9IXau9F0IlztoK9Q2VlAoP_ilH5lyZ8oNKDC1Qk32JhR8QYSbPo1wcghlTW2oXamHx1-sAHTnIV4_BTheN85zq8SAdgiVdEIhK2Owqg1jwgAdJxkRJMvtbq2SmliV2OgN_E4paoEh8QZirY7HQHEfp9ccf_vpbO6sm2-8Hs4Fr8BKPa2sS81aN70k4Cq89-GUH50EZflPHKJvxsBP7IJZf9gumw69gSTm_fTleBvIjZto6m1B1vdQlIJzmYqav9DwP-8ohdmLnY6tGRxUjUHcBy1TLlevclAPdWPFoa0wTa8IZ24UI4cA68oUTEVIyqVcIx152S20gjOK09-6L8l8rEiUFa3v5jfFyKHi-nt16jJx0RymA7YPgwe9pXGgUaRS-QHxzIFZadn2FTGOAYMJHRZ3Je9ZNCgKaDUJXhoA194thX_jUwfZbkJf_CtCu_-V1TabOTiZeaxJAL87d3oPfds71E6OJ6fzAe4DZA-BVWCr3t_m6ODk1XKKBgE9dqMdd_iNFwM1RqnNscLeRVQBEEB1jEr4ZG-OPIZaN8n3j4-h-YKA9XjNDC2ldsxbnFnN8xsDExVgysgKpn36cuW54_2q8wm-Bz38PWTn2NQDUOz26qj2etpF1DoHVN09-nAVM2dbdE3eGPVOnCIbc0v8lqLZGxDEmZaqxcmfe11s0DbrLiTEb4XWy80ajbe5mcbHMTaQPKfmqZzUk2r6_IMwBr94fbdxouDBAvRQ8Csy_6vvmwLtXHsPJ7Z76_1EVGq8Z_tngICs5TYkpAgQwGEkf205OfMjsgOp13OOBp1jF86ZEcmHWoC5JWDP-DoMu0c49U6J1jrrQyHd_Ii4RZeLh0GKFBmdtQZ4gs0qyHECCo-Wc8AdiMvXNsm0DncV15s-RdAGjMZNQWm836ISu9BkyXNkc1DERxXketzrk0X-MOJlsKR5X4GTt_ThTl7Hw1sT-MUxfpZOhHlwHt4C07VJ66zn9d4OeUM0tSBsPKnfs",
  "id": "rs_006cae29619b2ea6016ab44b7f3a4c87d0957a1fbb9b73a641",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The pear is now centered over the blue bowl, with its body overlapping the bowl interior in both overhead and wrist views. I’ll lower it below the rim before releasing so it cannot bounce outside.\"}",
  "call_id": "call_moVSpxBn9L3UKOsBoldPKteF",
  "id": "fc_006cae29619b2ea6016ab44b7fee9c87d0a34d3fc8ab1c58d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_moVSpxBn9L3UKOsBoldPKteF",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8207, 0.6132, -0.4942, -0.0135, -0.0307, 0.9992, 0.2703, 1.6661, 1.2755, -0.8818, -0.1532, -0.3855, 0.3526]\nstate[eef_state]: left_x=0.2807 left_y=0.0 left_z=0.1543 left_yaw=-0.0006 left_pitch=-0.132 left_roll=0.0013 left_gripper=0.9992 right_x=0.3449 right_y=0.1272 right_z=0.1033 right_yaw=0.704 right_pitch=-0.6643 right_roll=0.0333 right_gripper=0.3526\nstate[joint_eff]: [-0.1162, -0.9094, 6.9402, 1.6288, -0.0464, -0.0269, -0.0073, 0.0752, -7.7607, 6.612, 1.033, -0.1392, -0.1636, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846a5dd08ab66c687ba7809ec6f3cb66ec57fd2052e66b3d62255afbb946c408",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e28e88a47d46b94bf7099a522fc92311852bc781ed3e2a058f28def0a65220e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eced1fa50cea703bba2458feb4d55fb38bbce39c005375383dfdabea370f349c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8188, 0.6132, -0.4797, -0.0135, -0.0307, 0.9992, -0.0338, 1.6585, 1.1, -0.6968, -0.2413, -0.6434, 0.3467]\nstate[eef_state]: left_x=0.2829 left_y=-0.0 left_z=0.1575 left_yaw=-0.0007 left_pitch=-0.1156 left_roll=0.001 left_gripper=0.9992 right_x=0.3589 right_y=0.0337 right_z=0.0665 right_yaw=0.6459 right_pitch=-0.6034 right_roll=-0.0034 right_gripper=0.3467\nstate[joint_eff]: [-0.0479, -1.2239, 7.0085, 1.6337, -0.0366, -0.0366, -0.0122, -0.1846, -7.5145, 7.3778, 0.7937, -0.1734, 0.0415, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6132, -0.4915, -0.0135, -0.0307, 0.9992, 0.2729, 1.6802, 1.6203, -1.1572, -0.1501, -0.3962, 0.3512]\nstate[eef_state]: left_x=0.2811 left_y=0.0 left_z=0.1552 left_yaw=-0.0006 left_pitch=-0.1278 left_roll=0.0012 left_gripper=0.9992 right_x=0.3595 right_y=0.1318 right_z=0.1902 right_yaw=0.6939 right_pitch=-0.6151 right_roll=-0.0032 right_gripper=0.3512\nstate[joint_eff]: [-0.0752, -1.3197, 6.9402, 1.6923, -0.0562, -0.0415, -0.0122, 0.0205, -7.2274, 8.6769, 0.7595, -0.0513, 0.2857, 0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8207, 0.6132, -0.4942, -0.0135, -0.0307, 0.9992, 0.2703, 1.6661, 1.2755, -0.8818, -0.1532, -0.3855, 0.3526]\nstate[eef_state]: left_x=0.2807 left_y=0.0 left_z=0.1543 left_yaw=-0.0006 left_pitch=-0.132 left_roll=0.0013 left_gripper=0.9992 right_x=0.3449 right_y=0.1272 right_z=0.1033 right_yaw=0.704 right_pitch=-0.6643 right_roll=0.0333 right_gripper=0.3526\nstate[joint_eff]: [-0.1162, -0.9094, 6.9402, 1.6288, -0.0464, -0.0269, -0.0073, 0.0752, -7.7607, 6.612, 1.033, -0.1392, -0.1636, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846a5dd08ab66c687ba7809ec6f3cb66ec57fd2052e66b3d62255afbb946c408",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e28e88a47d46b94bf7099a522fc92311852bc781ed3e2a058f28def0a65220e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eced1fa50cea703bba2458feb4d55fb38bbce39c005375383dfdabea370f349c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuFrM6xl3ktIiTcgEb5-kzcAsAOB5PZ4q0fuV6Jwj-G-w-kvNl_D4FV6qq7AJVaymtW1tdk2ECdrTxyJi46TvmUlg0qZTVZmx5DIrdsAPjOeAQEXgRn-gcnwI8nneHTVTxFlK7r6ABknIuiHZ3Q7sUIzmaaJmMeh7Fnu5syzzDjkjU2jqGGCbFDV7U07bstHPsNYPwg5_NNMNM7iomqR20qCkgT3w8VBtuecBfKcXoDrn280St57dn9ZbldDj8WdMOhnvJeuSKbjAoBIwWzYYIkifpBW3VeFLfp4-G7ODNa10hTF-0HolI_uJZ8u67KlIHhz9tRCI1vtYgmpQajNEaZa1JE6CoBQy-5KFtFmygUGGUNkJ4pGLTf9kvKHJrCZhD0mYitoot5VcG-H9SXQBrpGqUNpuPamA1AkXu1KbSB0t_u2jVQO7t3y53VJFLZ5fs1nKbrpZy76Lsoit-Te-tWR5rn17bYDJQmB5F6c7ZUUkcczRs3SHr0yT0Syu0J7jhiOhBS086pVPSF4gP7Cl2yHmkDjAwXPimOrO1nuXj5f-WVMj789m9H_w0JDGVTX7NsMq7vwFZ6QOHAvXuvqkTxyohwH4vJKThUT73snSt8LAyFFxkRoZ-JotOiSo9hvYnMbSNCPmFuvHmkmwtAIG87tDVBpnX3P75fv9pILPbhjRKK6DWmgt6ibnR4E1oAC8TRTV70mKwwiWUYVu5QV3CMavH2EQniIcMyERrMcAjsDHY9SP-yiEiitPgk3SK04nwoBlV4biX1BPmPZ-45PF4UXnybLsndWCOoGS-7OtzQLK3jUhQPPeJysVRhbwMWlySpKyx_BJyJ8BjhDzz3x3YRvTe-qbR3qbNWEPwMYfOdX44BwiAMV2MuhN321xHUKX7hcCTWZ_1oT8U52FAP5iB42vJdwzl2hIjdNW4BUbufnxIYhi6xC5Kw2rjS9g5sdpTZmq4G8SNOxzYAx68tYcDLFUWspQoG9j0Fqt8_lU0hce2dyUgA89L4LeOzJA3SBxThgV_NAs_FZ8un1lsyrL8QzdiOZwuub3uTBeabLtnl4h1xs1ChXb6kxKZDLalQx_9oIpysxy6ZwweB6zBlEr5yrEk5seDs57b55ZkepkI0thjQMTMqgY6J1N_P39psEX1rFpeLne5bZi5H-wE6JrWZtcZP2aFb8Jo4CetVKpdGSmfhTjR8PC0tRl7ZlepzkTHeuEuIaQOXXQvQ0L0wHMnogKeNyl7H2lOu-MKh_lQTN295DVkmjlw1AlbZcfP7MymfbJjklFlA4VP46T0R97inVInCDFLJWXtSg19LP7hTmRiBDOtrX6rVeA8JU6RkJTY3dRu1CURDNonsr2NiqrtDlAJAlhtHFfU1mvhZlghEI-py9tCAsyuO-8S9T023E5IgbgQkkYAQ3g-PG-2VaThBZ3_CV26ydd6MTVvf3X977wG6WdgXV_JdoxlTX_o5YXgTYTNcZ4LTBMMTFDfY447T5y57eXhp0oy6IXoPpTRiAS6bAiAFuVdXVz9wkC4TkP8gvpN3ZgpeCJm2QQvHNCQXkG-hEfuNwvZYIwVYy7Toc9u7WvDwXvFPhr8RLCeDKgDBqrmQYOHBXe0KIcjZm6HaXJZbUAMmx40qH56bBK9619X3S0RWatjrALc9BPhEfQIYbT6pdrky447hBsVcXXFDscWH_nM5pLz3cAU59GuDTbnFkTnavFqcxWVOyUgX8d4HO1y6z4ehqHBLAbAgSvHjH_slFCAqfd50m_UBIU18pwC2zo_DXUQwzwijUFhmYehgP81AIcR5jJN16W4Zfo37f2AQl_g12orp0QhKfH4H3TRbx12ldMGc8gShx2CwT0pmxYwwgs1pi1DcMlHobpF_vNgPlkLabEHe7AkuU11pgG6fs1rGZ1Ibnw3K_BEjOx1q",
  "id": "rs_006cae29619b2ea6016ab44b8341c887d0a317347bca50dd7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear has been lowered to bowl-rim height while remaining centered from the overhead alignment. I’ll open fully now to drop it into the bowl interior.\"}",
  "call_id": "call_6ND8l1rLh50LUleXKokeeN0X",
  "id": "fc_006cae29619b2ea6016ab44b84c08887d0959bd5a8b5905855",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6ND8l1rLh50LUleXKokeeN0X",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8257, 0.6132, -0.495, -0.0135, -0.0307, 0.9992, 0.2577, 1.6451, 1.2037, -0.8108, -0.173, -0.4004, 0.9959]\nstate[eef_state]: left_x=0.2808 left_y=0.0 left_z=0.1528 left_yaw=-0.0006 left_pitch=-0.1377 left_roll=0.0015 left_gripper=0.9992 right_x=0.3425 right_y=0.1254 right_z=0.0932 right_yaw=0.7139 right_pitch=-0.6377 right_roll=0.0375 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -1.6615, 6.9265, 1.5995, -0.022, -0.0415, -0.0122, -0.1299, -9.4974, 6.147, 0.9841, -0.2955, 0.0464, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ce7646a4b3574d8c1a8326b6984fd66df1d6750e1f9dfd3f4ff282a6db43b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e3ea857a088ccc7feb87e60cd246af6dd59340ca779fb5ecfde52de81b54ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8ba90cca458251fb275645fe67e934e71db04467229575e1db08e9ff313d27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6132, -0.4847, -0.0139, -0.0307, 0.9992, -0.0345, 1.6375, 1.3804, -1.0138, -0.2398, -0.6472, 0.3491]\nstate[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1565 left_yaw=-0.0003 left_pitch=-0.1209 left_roll=0.0013 left_gripper=0.9992 right_x=0.3625 right_y=0.033 right_z=0.1404 right_yaw=0.6533 right_pitch=-0.6164 right_roll=0.0055 right_gripper=0.3491\nstate[joint_eff]: [-0.2256, -1.347, 6.9949, 1.6484, -0.0513, -0.0659, -0.0122, -0.294, -9.6342, 7.9795, 0.8181, -0.1832, -0.0317, 0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8207, 0.6132, -0.4942, -0.0135, -0.0307, 0.9992, 0.2703, 1.6661, 1.2755, -0.8818, -0.1532, -0.3855, 0.3526]\nstate[eef_state]: left_x=0.2807 left_y=0.0 left_z=0.1543 left_yaw=-0.0006 left_pitch=-0.132 left_roll=0.0013 left_gripper=0.9992 right_x=0.3449 right_y=0.1272 right_z=0.1033 right_yaw=0.704 right_pitch=-0.6643 right_roll=0.0333 right_gripper=0.3526\nstate[joint_eff]: [-0.1162, -0.9094, 6.9402, 1.6288, -0.0464, -0.0269, -0.0073, 0.0752, -7.7607, 6.612, 1.033, -0.1392, -0.1636, 0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8257, 0.6132, -0.495, -0.0135, -0.0307, 0.9992, 0.2577, 1.6451, 1.2037, -0.8108, -0.173, -0.4004, 0.9959]\nstate[eef_state]: left_x=0.2808 left_y=0.0 left_z=0.1528 left_yaw=-0.0006 left_pitch=-0.1377 left_roll=0.0015 left_gripper=0.9992 right_x=0.3425 right_y=0.1254 right_z=0.0932 right_yaw=0.7139 right_pitch=-0.6377 right_roll=0.0375 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -1.6615, 6.9265, 1.5995, -0.022, -0.0415, -0.0122, -0.1299, -9.4974, 6.147, 0.9841, -0.2955, 0.0464, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ce7646a4b3574d8c1a8326b6984fd66df1d6750e1f9dfd3f4ff282a6db43b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e3ea857a088ccc7feb87e60cd246af6dd59340ca779fb5ecfde52de81b54ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8ba90cca458251fb275645fe67e934e71db04467229575e1db08e9ff313d27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuKApLwB_Gvn7A1mNx1uUnujKFy7yxvPel3Ac_rxTG8d-D9pIcFkFFc_akStzSgGTU_-o1VGpY5pbn6Ua1TnRJdsWHAy7qVAVBJUlH31E90dXdzoqMrVxBZw8zL8R3A8nUr-glf0h3t8hrmPthLzU4hDobBEhpLwj0JDXYFufAK8xmP9k3YYJh3vgetoOy8l7KXAox6He60kH1iTy5tGPOS2Dg5QuVBopMsIKycvdsRSOpUWbstrlHkPnrA5kY8M6D8lbRwwcqhHXo9C5ojabrq6Q4L8Uwb0UWBnLE4h91s8KR_GDykfbs_uZK15EQIDZmao0UdQxJ1o9EALg1pS2E4Ndgd1SxB8-ccDajI7n2GoUZVftcekdSiVcZByDUsT-iVR4kWEDDLTXbm_NJ4MsZXyKlHk7KQiwidw5x0qGCcom8KmDfcmHOS1QEjHwxB8ZT-kxEUmUQe7uXrj_rO8z5Wrca3CwNBr5ST-Fa2PkGb7h5RoItLldvUgzcFi7zp1R7IwaPJw--mykDmYnH8YStkRTMGE70MfdsicgS2MvKJs5OLjhAMPqPDseIKD4XnhWHCSklIE3T5rGK9NTToSjxx4k2hnoB6HA0n_w0FFRVpAMFjnkbgS7EUYxdUzvAC7Az9evTwfxTjU8coC3pLdOs1bfJs4ialBEAO0vPaArP5VTHgdjLZWnjpihMQBFny6ALqxG4syTIVEkbKTMzXyCDbpBQwwUIgJdEoEzsU5VDRIeQ7aYSQIb_btTA5Ex9AAi5WRgGrIJE7BcAWfbAAouJXrI3mpT9PERGFuXRA4YGmpQxkZXM4tl57JoFaywYX12lLDlcpI_M2SAgHdaJjB7AQ2eio1i0dVLw3jPvrJ4RWPA45WSCR25-CqTwS8_PTOeTSFult5p8jLTva9yXugvldffdgrXkILq8QALQEz0MIutJknxzIWdMHVBNIEKHAsYTYBcyuadabOJ-zym_BtW1o52DRV0eIR8o7S_vpMIOMztV5UBf5uMbKN-7JEzm36MeytXhNBr4D1Vdkyl9jcyhGAAo15FA-NkTQpTiDM_M-bFFLUYxoBSF75cIORhJKmCBOr7VneWsk4nC1EW0_h7IgeDuy4IJVieZIsPEqH1JeeCsw95kYSQUYxrcfsp-I-wgD0GjBkR_qzPEygxo6Agi4jPpZtW2K-ebfSWT_X-swiVwmUyAw4UbGMRA4lmhOM97R6PxtGKq192ojci4dH3kxK87ZVl1HGWlUwz74KLxA3K284P08P_1OVgSW34gzxNLuVHBKC9VYMf_J5bzAY-Qs4yYlhrkFAZB--w6JCVGJu7YoTWTzOyD1203MFIRtUOXGg2LHNA2Zsvl3q36OTWkVF6W3XThwephCbGwEfR56gbBZQRA1zkhVPPOhkYo2_Q6Yns2fxrPnue_3uTsBXn1JS6W4c_4Ex9OEkZRVCNyOqsLd-Uz5LA4r2yX4cQLoq_cZPM-7F01KOurmHPH3pOZ4HITwr3qgk184gtDHCXrXVQCX1ns0HKKUPzsAshc08ekKuJi5BbqeTLiKGAeacFp2hOEDSkfQdHc8_VfS-AWyjqwe8dvmIJ6YJa6lKW_hoNfDNIsGJy8WTEm_ltee0KAf6-ofIXDisvD98tsS3MkJFSAcMHDEA-cOeQZ6ZfCLoh8u5Tv8tNszlXtA4WJZ_gBvA0qNuMdGSxqymQBf27UAOuBBf0TaKTYQoers7LWL5_kIkleyMqJH7-ubjtiX3oycrPhj97azh0DGOXQAGsbOkGOhal5otwihiC8ZNnWp-gMUI8Nm2SeSWXYtAynFNOsj-W6eJ8Tl7D7DMT7GvbcAL-ZQuPOBdLFJVv5o4DJUVX3Xv3m3Nf57BMdotJc4H32LROG8LMpdy1tI5SZ_4aBehd-kAPn6l2MLSD1eHc7i3dSkHEjBWSzf3gC_E0E5la4xGhayFV0WIfT9ifIeJfuZoviG9nQ9M9jJF2xaUH1_JIUCviCfF3Wbp4TSWOFtOWWLVzpeNHyausT9MdGn_bm75hs_wL0ol49MemOVgJf4hK9g6I4lt3S1cVQ4sJcgLcyIBJp_3_5UBgV-OervTiXyfSOEmYUWWJb9p0oDkBQBYgyXLhSFECwcRUY6nIU58At73t3AHBc9mMoYyNgSlN3_p7x-BfSJ5QzK6rRF1p7WUj4UckN3DxyWI7z0_mKo0-bYZHwV7l2-L4KNoz0ZX6N6yQHC3WdXIdbLWd8Iw1QUbIeagwiwJW8ihMy4d4VbZ_euA40ZogXiEqvG28d-VTDG0BM=",
  "id": "rs_006cae29619b2ea6016ab44b8774b087d0b79e4db88a21e759",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"right_x\":0.3,\"right_y\":0.02,\"right_yaw\":0},\"note\":\"The blue bowl tipped onto its side during release, with the pear partly beneath its rim; the yellow fruit remains nearby on the table. I’ll retract the right arm to clear the view and avoid further contact before recovering the bowl.\"}",
  "call_id": "call_ymYWgrGNBSV9igEHZPp6LKmt",
  "id": "fc_006cae29619b2ea6016ab44b898ee087d09938ba1f2d7199f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ymYWgrGNBSV9igEHZPp6LKmt",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8268, 0.6132, -0.4946, -0.0135, -0.0307, 0.9992, 0.0658, 1.3823, 1.3891, -1.1816, -0.0254, -0.0006, 0.9965]\nstate[eef_state]: left_x=0.2809 left_y=0.0 left_z=0.1526 left_yaw=-0.0006 left_pitch=-0.1385 left_roll=0.0015 left_gripper=0.9992 right_x=0.309 right_y=0.0284 right_z=0.2056 right_yaw=0.0937 right_pitch=-0.6017 right_roll=0.0301 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.306, 6.9265, 1.6337, -0.0171, -0.0366, -0.0122, -0.3214, -6.4068, 7.8564, 0.9744, 0.0073, 0.2613, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a206820e8e3dbd283da4807fd21abf44b49a3fbb720b1f5b9395bb16b8fdb4c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:238737a6e36e2f865c595a5e033c64a0111d0b6688861df3b864221e31f51c0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd5c2d5417554c9407e8e83f95fc6c95d2e16023a449418e3205613a153dddc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6132, -0.4915, -0.0135, -0.0307, 0.9992, 0.2729, 1.6802, 1.6203, -1.1572, -0.1501, -0.3962, 0.3512]\nstate[eef_state]: left_x=0.2811 left_y=0.0 left_z=0.1552 left_yaw=-0.0006 left_pitch=-0.1278 left_roll=0.0012 left_gripper=0.9992 right_x=0.3595 right_y=0.1318 right_z=0.1902 right_yaw=0.6939 right_pitch=-0.6151 right_roll=-0.0032 right_gripper=0.3512\nstate[joint_eff]: [-0.0752, -1.3197, 6.9402, 1.6923, -0.0562, -0.0415, -0.0122, 0.0205, -7.2274, 8.6769, 0.7595, -0.0513, 0.2857, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8257, 0.6132, -0.495, -0.0135, -0.0307, 0.9992, 0.2577, 1.6451, 1.2037, -0.8108, -0.173, -0.4004, 0.9959]\nstate[eef_state]: left_x=0.2808 left_y=0.0 left_z=0.1528 left_yaw=-0.0006 left_pitch=-0.1377 left_roll=0.0015 left_gripper=0.9992 right_x=0.3425 right_y=0.1254 right_z=0.0932 right_yaw=0.7139 right_pitch=-0.6377 right_roll=0.0375 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -1.6615, 6.9265, 1.5995, -0.022, -0.0415, -0.0122, -0.1299, -9.4974, 6.147, 0.9841, -0.2955, 0.0464, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8268, 0.6132, -0.4946, -0.0135, -0.0307, 0.9992, 0.0658, 1.3823, 1.3891, -1.1816, -0.0254, -0.0006, 0.9965]\nstate[eef_state]: left_x=0.2809 left_y=0.0 left_z=0.1526 left_yaw=-0.0006 left_pitch=-0.1385 left_roll=0.0015 left_gripper=0.9992 right_x=0.309 right_y=0.0284 right_z=0.2056 right_yaw=0.0937 right_pitch=-0.6017 right_roll=0.0301 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.306, 6.9265, 1.6337, -0.0171, -0.0366, -0.0122, -0.3214, -6.4068, 7.8564, 0.9744, 0.0073, 0.2613, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a206820e8e3dbd283da4807fd21abf44b49a3fbb720b1f5b9395bb16b8fdb4c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:238737a6e36e2f865c595a5e033c64a0111d0b6688861df3b864221e31f51c0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd5c2d5417554c9407e8e83f95fc6c95d2e16023a449418e3205613a153dddc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuRSondtU1jDpYzpZumKS8R3GDBJ4NWpJSDdVBN09e39NcsPE_BN0qHYjlv5wDV3TC_AopIovijNDFwFF-oCRcLBx1Q7j0p-2XvwCOoDc4hb4uO6B0LCAuKqLn84c5HV72FGm5M26zFG8vh47XPklavCtdS36HGARhOHYJ2Jb_zJHsViwHhF5RXdF244ePOv0JRh5ngl7VAtP7wFvVRWcVPPtBPUNt4PqwXadnHubJHFtuMAFbrtoKNsmNJxeUD4QJvIYgD4Ak7yOMMr8yqwkk37a8hE7px_gToT41xTuwufdfByqL-mZjd_rxN_DFFzjbghsbMBdp40i5lQy7j415g0NYgD6a1-g3zxsRd05QsZn0x6TzG20kjaWM_ELFpz938jf9vRC35qZXzONzQ4wvD0a_6tIePhXbU4SZO8JMlcqN9BiF3rmxCMRPgXm-tu2OroRUqkDYP95gty9-l9fKUr6dUhWUI9ANSwtxosLX_pNneAHdmGPXsAEGtRy5UNchldOH16Pb_4uL5DPvwrNnAbKRiSkG-6y3WbFhbfsa25Ir-zbs6n9VrKEdkT-uWZT4sUtsZj_ZEtWjAHYdS-VsO96ChHN8nnf6WPdXT2b-DSW6PvboUE_cZdddyK8Hazrc7pwRpoihk5ZUJWWah7a0ibmTdO5Uq9KLK8DRrnR-eBzbJqvdricbPbvJYf6LXO2wXDRKKJPCtHJvBPCkh5DghhY2IwSKrUUp-k9JZfDBAwDiWvESanYL8OR08Z_N6dvoPZAUpQU-6e6mSue-6DOy3mW9gpESjSxaSWK48gq-rgz7B1zW_Kh9FsZcwihLlqfBLEdkWv0ck98Cco0RPWU0MMwsyT5_wi-K8QMg1p0A8aoy7-U7doWtgT5LaOUzw7PmxCrX-iSbtdmAdJMbotWI5h6uBba7qyUCISeAtamJJWpM5Er_MSvvY-GJYbahtwKuP5kry7jQBwywsAkJ1YTOHaFa19FeZFEJFqh0my0Go6lPRDUZhWK__7w6LFkMVRICer9FopJ-O2b0YMNLPCOACv52uYXnPs4lmv9dv_KG0pA2G2Fc-qHgg-ery1NFMXnEldJanzjez3hFKMasZf-zJOuNDCT7KGgkV51lUyho3UmRmmvaK0o60NSl5MKUlEL2Z9jL-zQsZU0YB2UPPYXIa_VBDYgZ9O-yKSND399TMIFUYLHRSgePVTlm6IghJFHIcuwOUtnz80n720m17iSgbRM5zs2fzC9yfoz-bPfuPDmrBzLAwZ8-3tIrjXTSaiWAefEQ8K_mD6R-ZrbG5H1uJ6SJ3foHzPspAcwcKw-46P2xvo6vYUcGosmq7ejHsmetEd5u8gf9gPYDJ0SqIqXACEvI0w-eDCyPxN53zITRiL-vQadTyzJlm_ZcDisnGAhqz6hG4nXTwuhXQCAVXh7uZr2gnWfTNnBdtsHr50Gujbvitux8QjQBXvE8OO4v2rqVtOWEeHW1R0Q_TxBadMx7AmSsSZo2ZT_q2zdCUl4Ty-XmcBwOAv38zn--0HpI5wsb53nbLxotrqMj5G9-LzH720xthzYLrIf7NUINq-VmawuDTzlmcUBBGPvD803a91KWm5UyjN1Jerrd4dSpHCfEdeP7SqZa03WAccH71kNQwAiOAuzIc0cyLbPkz1Z4CBZDGMCfUDnMeEHb8SnSdI66Z3CTWUeflCKwn8YlXlX2_Gz6PzvovvFOX-DZfYWPMm6CbC-_Ck6RF2_NAM_WTCofL310Ljbp0NbF1FevfY-w_mvMYsK8pJQ51plo56jDLCJAkn8bHZzf_17tOBcJsdMeWDABq_4PV7Miw1o6sehpZL7De74I1e15xBOKQkGSfX6bf_K7xaVr5ekR8zBpdoD1iVt9G2WgZy8Irtet5FT0fsr7omrP70jcGapvAoIXRtA5yaenaBKHAi94a8p4zEFDDE3ecZi4_U-vGekTTP4QVe0meWDG-iiJ38Fkhtb2f8yHExtHi6uf7h2k9AyC5OeCzCAI3axsFdiiurRDWrp_pRMURBizRjLMs-tEP4QTPl2AnqUap3ZF2B90XKAHeHYDcAYnnav8OYimyPq8uwy9Ios3wxDBQAA-t6VJwcoxgwMumVzIK-VYVGGKxnqHJabP2Gd1U9VML32jgFcS-YKjlO2cW3H1aIBt4GQ9HjJMuZQtyavSBFjXgaHJ9vPCKPmTlaJusX2PqPZ_TiuNWWmOR_RaBeeFpLg54G7jyan29oFoKoV-_jIK_f-RmJg_Demtiib2EDVDKEkEtjekcomNMg3synF3aL57hF4qTFp7vU7ciETA0vd-lWNU_Hax244hXZodnuExVm73k1DS6fCAcl-i3YIDKYJTtiXywYk4oScFSjBMISqJW8xeatwkNJcZgH7qK0ODJlJ_ycmXAHdBci4IyUFqaIpaVPVNsC6smKe9lo490hZBYzjjw5nw2lyxilatBFs2xKH2VxbbdwVAPbpOdhvGcEwhr4VUZv5rPHU6sUuyOHmMQL-nzWOR8SaKlpdZVHMGkiO0hukW9dDLv11B-QoKtTA5H-BbF6v8o5QffzCphxQQmSJ3Cpztjm0lA_tKXkDY-te4c3eNfzjepDyDo2o5JpKBMqZPwwcuzj1zdUdeGyWtQSZuwKTIZw4sH0fgYPS19vMOd-dI9HHd_XOAmlPMrRfUy2J4UoktI9E9CbaEZ46qfrpcWfmVuZz3fq38auDGHMyVdyO-ASxfPhn9qaZ36xckLg3QjA-6uUqvU_IIb2TTbDBm5GWCF9qUsH7o1BNKcYeQpF3_A0QowjGwq03ykwngF4T6evHkCkv8NCR0_2thGqdRZ_RLBXXpiue-bMxRAZ-Ro8ync6qiOz1TRVQLhDC8INEJ_yNuiHm5ij7KWdj-rMV2XUr5jy89qqq-Okj9Vy0DaRW5FYEhw6Ff7Fo1QxZrYkRvNX5HYQf22MxWZeyS2nMwmzsV7URCohcPpeym6rxysjxWlMhWkeF9FCfZg2exP-r-8Xt17uAO7UaZ_aL2rJjc7UYxRQAOxncGrkvTwGaPvDyRepk-R9LyebkeTodYf160U1McMchossIkQkSYZPYXjjuAqtFlzeHUAgovdSmxf9ZmujCjwpV4rEXDxlLJpf6cENebUA7WAYpIXmi46zQGJw7mWajfdEgVMzyeW_hLKRLvcBaQcf6cR9ePgEJ1uhJcYPJcUzLaPt-t3KchUidhlUf9kaDdYQenYjdpilpze5kTda6FEgRGYRB2NhvocZhFlKDY8bBVPH41tfgQdBOg6JuEcrsDSRAekR58dCqEJ391QdS5KYfI=",
  "id": "rs_006cae29619b2ea6016ab44b8cb02887d0be6ae60f3c1765ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.11,\"right_z\":0.14,\"right_yaw\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"With the arm clear, the pear is visibly lodged inside the blue bowl’s sideways opening, while the yellow fruit sits just outside. I’ll approach above the bowl’s center with an open, neutral gripper to recover and upright the bowl without disturbing the pear.\"}",
  "call_id": "call_B3JZSQP9NRbWKggNUdJFjauU",
  "id": "fc_006cae29619b2ea6016ab44b90bb4c87d0bf0cbdb95bb22730",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B3JZSQP9NRbWKggNUdJFjauU",
  "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, 0.8322, 0.6132, -0.4984, -0.0135, -0.0307, 0.9992, 0.3496, 1.5688, 1.3167, -0.984, 0.1066, 0.2687, 0.9986]\nstate[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1505 left_yaw=-0.0013 left_pitch=-0.1476 left_roll=0.0017 left_gripper=0.9992 right_x=0.3362 right_y=0.1064 right_z=0.141 right_yaw=0.0555 right_pitch=-0.6476 right_roll=-0.0101 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.812, 6.9402, 1.6142, -0.0366, -0.0269, -0.0073, 0.2256, -6.2017, 6.3248, 1.0672, 0.2759, 0.2076, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b567909a5de785c19926f793f22ddff23bd3ed484ba3e8adb586455297490ec2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3950a0a8049542a3b715b51287c15cbf1fb136337f07ee0431167e0eb40ffa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6125d148b3e4e25fae075510b1965e2f0d562ff7e7f202f0392310fd59cfe7b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8207, 0.6132, -0.4942, -0.0135, -0.0307, 0.9992, 0.2703, 1.6661, 1.2755, -0.8818, -0.1532, -0.3855, 0.3526]\nstate[eef_state]: left_x=0.2807 left_y=0.0 left_z=0.1543 left_yaw=-0.0006 left_pitch=-0.132 left_roll=0.0013 left_gripper=0.9992 right_x=0.3449 right_y=0.1272 right_z=0.1033 right_yaw=0.704 right_pitch=-0.6643 right_roll=0.0333 right_gripper=0.3526\nstate[joint_eff]: [-0.1162, -0.9094, 6.9402, 1.6288, -0.0464, -0.0269, -0.0073, 0.0752, -7.7607, 6.612, 1.033, -0.1392, -0.1636, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8268, 0.6132, -0.4946, -0.0135, -0.0307, 0.9992, 0.0658, 1.3823, 1.3891, -1.1816, -0.0254, -0.0006, 0.9965]\nstate[eef_state]: left_x=0.2809 left_y=0.0 left_z=0.1526 left_yaw=-0.0006 left_pitch=-0.1385 left_roll=0.0015 left_gripper=0.9992 right_x=0.309 right_y=0.0284 right_z=0.2056 right_yaw=0.0937 right_pitch=-0.6017 right_roll=0.0301 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.306, 6.9265, 1.6337, -0.0171, -0.0366, -0.0122, -0.3214, -6.4068, 7.8564, 0.9744, 0.0073, 0.2613, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4984, -0.0135, -0.0307, 0.9992, 0.3496, 1.5688, 1.3167, -0.984, 0.1066, 0.2687, 0.9986]\nstate[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1505 left_yaw=-0.0013 left_pitch=-0.1476 left_roll=0.0017 left_gripper=0.9992 right_x=0.3362 right_y=0.1064 right_z=0.141 right_yaw=0.0555 right_pitch=-0.6476 right_roll=-0.0101 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.812, 6.9402, 1.6142, -0.0366, -0.0269, -0.0073, 0.2256, -6.2017, 6.3248, 1.0672, 0.2759, 0.2076, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b567909a5de785c19926f793f22ddff23bd3ed484ba3e8adb586455297490ec2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3950a0a8049542a3b715b51287c15cbf1fb136337f07ee0431167e0eb40ffa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6125d148b3e4e25fae075510b1965e2f0d562ff7e7f202f0392310fd59cfe7b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuV_Qv3tdBZNpC7LxOFdtmfBBl_l9CZ5ZtIlxf1WbJnAYzrcHczORMdLNfc9s_d3jdKgL3_NH08NaqH5SgzmJZRfW8KjPRSUEL8SDBfKa0BcTkm8xK9H6yxVWCOOavJshFW_icHq0cnsNG-JJ2MhSU47mI5hjM8lU_tA1vrhUlM4HUTgU0ggL8A7mbN1Q5c7pc8JGU9OLDxZE6e1h_icoMe9CzHYttdOOg_U8wS0QElHI2JXpii4LYfNLErkq8Vx0lexVMa5E3TC4XNYOa0rXtBmeJcCkpE_o4YIVIDE6kWRq5wMkD-ydAwNt-8rUHT4DuzAMKyu5WXQteoONQ0UnH6SjJPKJrw-OHNstE80ARooFjpphz7kVIKNIzPxG4wQrccYVcjaiL4vxr5mn7h9QHdjt52g3KHUALtbPyyYKGD_H7JeLAhDvceM19EgFktL4L-57Yu5CjBqUTINjKwWiEJRJ1dYRt2igrxaMB-NvpcGfpdJy4n3Eg7xB-b_vAwWr8NvHemicwxIjBJcVGfl7AnJQDwc___6KPi4zQngamyg__K1J2xpQOoZwudIJ7XjVvZ0sgEhS8aFFVu2qCun6Veb-7jYynH2a8B7m9q12oD8TK6zoq4Cirm1LCkn-vmFTR6wZ8hupTlZqH4AELFyH2GZGhKD7kMvLDmsz2Q62R3w_7otcDAYBAdtKavylK6yvwD8ipYrUJLTcbYKNG9HW1JuGQDL3UGFM6huUlvTkf4EbnliyeJJarHb5dApH2WPGIYDgeMabCmO3FhREyobFurBHOtqy2qxsEI76O6bhh_B9tlHgwL3PyBfcAAzH2ENKX-3ke8rd81WGulBh8CptDtSOunBZVRquASljxk6jXxbKJnusaFPbeI-co2VEnoSXFIrwIdihgUg2CtPUopwoHE2qL_j3ruMc3UqkoXMiANTLqBwJnWkBl1Gn4BFxENbD6Y7eS70GqtByqQx_MI511Kovk-No4_J7kZlc2ebqBqtJ-YnlBpiYZ041Wx7dJGwUknGfJoqJpKXtF4mbpTBOFe5b1kxjXFIo0Y3XX4lPN-EAjBmAHVMJIZo--RDCX9p4fb5QVFBl1JpjVMWsLL62bldjgcmLtkA1T4fbDQmHuKjK22xaMP6m1M_MwloBvHZgocIF82cBrsppz0x-hg8yi8HW1zAXr4uvWcDDLzn8iYw8Y-EpNu2KZQB223Wc9bmUOE-qag1zW_0UMUGSl683UNTSqOFumMTv942G82AJFI1YAZUMA4wFT8WhmcvDX4pYEAmNqsveq64wmeM7dxvhC2Cfz07Uokv9kJwd-ZoFgPRfVKDSzN8-146cDS3UtGndb1dLNhtmqfGUQKiS8z3jSD2Kx49Uyo4ZwgNuykhkbEy20SkCj6zX7m2DG0jtZqDKr1EWqgCH7LRa2o8DxNkwlYLD8DVFgmwJ6pobE2iaMci8tv2lpTCdqv-j-1kSyXjaL9n-x1y-M7KtZ7GW8kr5qYZ-0oPk7Graake9HWwFEZHcb_4kAzFuaxUaciRe9L9r5c4YYFbISzQ0bhXVQ5lSYUAhOmkQnixIm6Iw6IGN21xoiXrjiQjuGSn63sHuvNON12nGq1lQaS49dlY_t_F7e6sA==",
  "id": "rs_006cae29619b2ea6016ab44b93e9c087d0b521f93cb97ab835",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The sideways blue bowl is centered in the right wrist view, and the pear remains cradled in its opening. I’ll descend over the bowl’s diameter with the jaws fully open so they can straddle its outer sides.\"}",
  "call_id": "call_NE3tauIUcl7XL12BrTt82o9k",
  "id": "fc_006cae29619b2ea6016ab44b94d71887d08677e92a0c07380f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NE3tauIUcl7XL12BrTt82o9k",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8333, 0.6132, -0.5014, -0.0135, -0.0307, 0.9992, 0.3626, 1.5719, 1.0214, -0.7086, 0.1184, 0.2768, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=-0.0002 left_z=0.1496 left_yaw=-0.0013 left_pitch=-0.1518 left_roll=0.0017 left_gripper=0.9992 right_x=0.32 right_y=0.1029 right_z=0.0655 right_yaw=0.0457 right_pitch=-0.666 right_roll=-0.0289 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -1.4974, 7.0769, 1.619, -0.0122, -0.0415, -0.0122, -0.6632, -5.9966, 6.2974, 1.0232, 0.0562, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e125771fb7d9ae5c776743d5d4b044e72a2a23ced639cff093d5c557055e0938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd44e110f96358062f0a8edff01393724fbcd98b1ce1a9219276eaa49490f561",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85fdb473627a25942b6a4963cea5b34af545ed375bd7408d61158b2c75277e20",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8257, 0.6132, -0.495, -0.0135, -0.0307, 0.9992, 0.2577, 1.6451, 1.2037, -0.8108, -0.173, -0.4004, 0.9959]\nstate[eef_state]: left_x=0.2808 left_y=0.0 left_z=0.1528 left_yaw=-0.0006 left_pitch=-0.1377 left_roll=0.0015 left_gripper=0.9992 right_x=0.3425 right_y=0.1254 right_z=0.0932 right_yaw=0.7139 right_pitch=-0.6377 right_roll=0.0375 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -1.6615, 6.9265, 1.5995, -0.022, -0.0415, -0.0122, -0.1299, -9.4974, 6.147, 0.9841, -0.2955, 0.0464, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4984, -0.0135, -0.0307, 0.9992, 0.3496, 1.5688, 1.3167, -0.984, 0.1066, 0.2687, 0.9986]\nstate[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1505 left_yaw=-0.0013 left_pitch=-0.1476 left_roll=0.0017 left_gripper=0.9992 right_x=0.3362 right_y=0.1064 right_z=0.141 right_yaw=0.0555 right_pitch=-0.6476 right_roll=-0.0101 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.812, 6.9402, 1.6142, -0.0366, -0.0269, -0.0073, 0.2256, -6.2017, 6.3248, 1.0672, 0.2759, 0.2076, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8333, 0.6132, -0.5014, -0.0135, -0.0307, 0.9992, 0.3626, 1.5719, 1.0214, -0.7086, 0.1184, 0.2768, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=-0.0002 left_z=0.1496 left_yaw=-0.0013 left_pitch=-0.1518 left_roll=0.0017 left_gripper=0.9992 right_x=0.32 right_y=0.1029 right_z=0.0655 right_yaw=0.0457 right_pitch=-0.666 right_roll=-0.0289 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -1.4974, 7.0769, 1.619, -0.0122, -0.0415, -0.0122, -0.6632, -5.9966, 6.2974, 1.0232, 0.0562, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e125771fb7d9ae5c776743d5d4b044e72a2a23ced639cff093d5c557055e0938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd44e110f96358062f0a8edff01393724fbcd98b1ce1a9219276eaa49490f561",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85fdb473627a25942b6a4963cea5b34af545ed375bd7408d61158b2c75277e20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEucKIn_om4dA0tc9gKxw4hduPxrOtKzBoFedxH9IqlDZr-EjohSMVF_hUeYeCAJjXx8wZ-5FBsNs6NdlBbmnRVGZOp5lz1Yu8CSYzGFpju9FOJ2RPBsc0q2wYAQ_43OVbW66h0AbIf4zmouLfaBHvvU1tpkyF1su4a_WK2gvseGvO9CS5KL3_oa3PRf05gkLkXDMjYKMop9LVrUufRj07nFr1JIw66P8YMiHabdro4hvTpWV_dWVKQKTzhR8sV0HK-CGBZrT_lDu1FSpCRViD9KYAtj6kRc5u_JZNLpoDjBTZ2hvZ54hYhLq_eWJlx9Tp0I0i4HXAQJvafLL9lUFLyeZQNiA9fvZB0YpxLnQUnEn9wIgHd-NRLGHvYJeD_2SmRymIBmEY_V2_FMRoQPvoQRocFt_tnTeDHiwlFmpA7l8M6LFCanDE1S3maeICQE73O-e6P_CV5HnRIcULsS_g__ivGBtCYzhP_GkdNne_FvTj5XVyy4JzmBzOu-0RPIX7T6dnHYFwHx8r8W7oKjmMjSwkTDc-Y9O9KXCEym8qjAwE23yTnc4JWvWOi79zuIEbx0hyl_uqJUjuwYV7Eqvn2E8pTU6nP78dstAYFAct3qVdDRijE4j2SmaxVWmwjdusqv3i7VvTcqaBe-DvdwtvgOhxTXO258VdFcxOlgiYzTXm31RRxXRL6DPUJjqH20v1CsNhWa9Lw2oJthqzpEVfKFvmh3LMd5UyQ77ynLdsK0-WfysihjLq0kV_tDE5bPhzXwk0_ubrWrw3sSXjtAVZYl4D04FaT4JysYRlYSSrsIYP_Ra85MgboWB9KwzcmS-KRYu7LMBtAIfTsyczw473Z4Sl_vx0eJTW6SYCJoUjMku5nl9Nzf97uuszKegEIJY_J-LZcM5Gn3C39trgXZmajsNwYy6WQauYZeK42zo6qZx5oADYShkD_U7wZYmTBMZR66L_rM9ASjPAmAdKsZM7z70P5BME5ztqefpqzIfiSoGU-fqsxn7QkON3Gqkfts4knx7d7fxGeEicRg9SB3sRtbx2U90Hcu_pQRB_REK3inyVgYmBj034mANNl0XA8zHLR9DV8XZuEyq3yrsC-qArh-Eocz2Mu9Bj8BD0Eya2KbRUT2QS7xMu4ydDN21UbqJnXzVwWnirhA3g2xVZADdQ8xTVXvaA19cb31HiAjoa6KlElRM6o7KHoWvBt8lt90hlT7dRiBtmUehPDzRLgT3mHO3LiOxvrdBUJQKBbIe8d4GfWouF5sqn1U3I_ufgM-_E9jkKPPeBInYt9HoBJNIXdGSQ-e1LjFjBdjMegxvwCD9AoXBEbckmhCL5QT9z53MRnB0torwSgB0NMRTnF_x_Rp5hwLyp-yZQ1tM1yjjebNNUnjG7RP4Uy244_Sw0M9cK1hSJ92AeQwuwIGee1XIWqviogTqDl7I_cIeg_3DB71cW2Yf0zjq61W6OI6tCVrkmt4I5J0MaIPFpYmeH5LyWbn22CpaGgcuox1K8wA0q2Z2cXmCo9rJwYQzELJio2F3HWS2ZByiA1shtO-fS9-MNXnLs5OBgjdWyIju0O4h16-fhDVPorJaxUNqpC0eDi7NQPnbRpPMDkW1sMFMfFLm3FkOt5SyKTqlE1FegJVh8ki2vd7nOGDzSIeR3jtf3nOY6HXOGFA6yxW0MaudEhSc_VY5arEJU0jzwkPTEF_5Lucq9n5aqWT4oFu7zBTWHMUYmm8TPfJMa0munmSSjyqXg-SwhWaZFatynexskyMObxJLuZcadxP7KClERjzqqtadkDH09pzFKTmhpOBipQM3P_DFYWSdOhn37tRwRaYuy4TSyZcWQVs0pKzvhsPXuPppVQQvT5Buzk3g4Kb6b8ra7sk3ERx04_gyGidE2PuFpaiTOj_YRV6qVvhStArac1J29CtByxWkjiJTESiyhKJrIaRxie7K7V-ITGc3xmLa6jUnfQN8WwBh-WERXccdWbn0rQ7o-Quj1yGvmMsUWedP7Jcpm1qWVBBpeY8kEJoXmqjJAMmqZj_Fp9khqHxoUuNHV3dYHouHse9UUuLA7DJmhT9JW5RcWgEVN7uuLM5BC0xi2wQ7ZHpoHorLPtWUo7lN1TfB3A5O76CvT7hRCPk0AKyVtnqwq4lPrcS3shLTYcMSm56v6Mpa2vwUcdg0RK2MBSAKKucYW7sbTyxnD4rurDfaaxIRCDnjdJZfb7rJwr7XiommGwkl2esz68003ds-Fzvv9JXLFvxZ6WdGuBIVUpyhJt9nNLDELsUS3bEEVXuN_s1_HwWmfXu4YIEXaHWDbm30QzRaJZ0lwZXXAdc-CFOLXgllAa6RCYBnPBKo8Mx-9pKMXHIlSXScnpN7XB3X6Qs4wehfuNoLW4-2GDGTu0y3DlQg4EOZjjeVM1M0m0kI_rdIdRFsVYqZ03i9KBF6dGcNC630-SOJakRWwlUsXqdp2nbo91UItIbzC0R2BSmYx0fcbrwzcLL2uTxi8Uc05-Su2ps9ljgOyuvs6s3HbZ4P2CMaISJ_BGnkHCLsX6KBw2aoPqoMY8NOMaXXfSkz_cxcE4Q8mdB7S5lNA41XM4_mw9MRNJ-wp0WAOEAWmUPr5MOsN4v3R2KNolVf0C4VXYrd_5lqTPJrLnetS5N-AcKm70RjEXXVTKnlUP3sxpZ0jAQX0m19HSD3SdoAUFx5d6861H3mY7r1eUhvzvRRZEfsJ1BU16bNI9RoRKijER0pgQiK3aVSe2ssdbod10l1DLugUAPDbHYyHkaX6EHxK4VZBk5juaG8JzxTC5cuQ2kP26GMJTmLlhAwWnzMS2w79jSgvLf2xj6_-c4Az6Rlh2vsOtl48qTo3x8oahE1QWIsnVIreScSIQ3RWbyS24shg6IpFDUoDW8-mgpExF2cJpqHi2fcpWBypcn__0RW7x5ZOJjTgjGEJrJOEyUNUsLj9DI-HTgFgK-Ckaq_qRQuDNPsaRmhfn9VkE7VUHEY1K1r3iYIABTlVvIMYkCvDg3o18u17stMHC83yFCE5PJj89vcib-GQk6ZAckqNie12S0Njn5KePOtTV6VPgimB3lulvlPr59xiOcoNYUY4-yfFsNkSQs8tRRm3wGQf177UBvZC0=",
  "id": "rs_006cae29619b2ea6016ab44b973f5487d08f356980fa451934",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_gripper\":0.4},\"note\":\"At the lower height, the bowl’s outer rim fills the gap and extends between both open fingertips; the pear is still nested in the opening. I’ll advance the last 3 cm and close moderately around the bowl’s exterior, expecting the jaws to stop wide if they secure the rim.\"}",
  "call_id": "call_vafeOUAcRxBwvTjNhWr6KwHw",
  "id": "fc_006cae29619b2ea6016ab44b9af84087d0b74aae967108224b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vafeOUAcRxBwvTjNhWr6KwHw",
  "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, 0.8368, 0.6132, -0.5129, -0.0135, -0.0307, 0.9992, 0.363, 1.5848, 1.0073, -0.6319, 0.1154, 0.2619, 0.4043]\nstate[eef_state]: left_x=0.2783 left_y=-0.0001 left_z=0.1467 left_yaw=-0.0013 left_pitch=-0.1667 left_roll=0.0021 left_gripper=0.9992 right_x=0.3317 right_y=0.1081 right_z=0.0629 right_yaw=0.0704 right_pitch=-0.6197 right_roll=-0.0134 right_gripper=0.4043\nstate[joint_eff]: [-0.1983, -1.5658, 6.9265, 1.6825, -0.0122, -0.0757, -0.0122, -0.4718, -6.8991, 5.9966, 1.1013, 0.105, 0.0904, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8382c338d31a77e31096b824e5e1204e987f3e39d80122cc137db8a59491b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b5ec5a3a9968ebe05de8070076b0c518743fe6584dd0c79a4a49afe685ca28e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cfa629a87d24f130613d2d682e80f6ba4a9674070d10bedb8d628960f787e88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8268, 0.6132, -0.4946, -0.0135, -0.0307, 0.9992, 0.0658, 1.3823, 1.3891, -1.1816, -0.0254, -0.0006, 0.9965]\nstate[eef_state]: left_x=0.2809 left_y=0.0 left_z=0.1526 left_yaw=-0.0006 left_pitch=-0.1385 left_roll=0.0015 left_gripper=0.9992 right_x=0.309 right_y=0.0284 right_z=0.2056 right_yaw=0.0937 right_pitch=-0.6017 right_roll=0.0301 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.306, 6.9265, 1.6337, -0.0171, -0.0366, -0.0122, -0.3214, -6.4068, 7.8564, 0.9744, 0.0073, 0.2613, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8333, 0.6132, -0.5014, -0.0135, -0.0307, 0.9992, 0.3626, 1.5719, 1.0214, -0.7086, 0.1184, 0.2768, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=-0.0002 left_z=0.1496 left_yaw=-0.0013 left_pitch=-0.1518 left_roll=0.0017 left_gripper=0.9992 right_x=0.32 right_y=0.1029 right_z=0.0655 right_yaw=0.0457 right_pitch=-0.666 right_roll=-0.0289 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -1.4974, 7.0769, 1.619, -0.0122, -0.0415, -0.0122, -0.6632, -5.9966, 6.2974, 1.0232, 0.0562, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8368, 0.6132, -0.5129, -0.0135, -0.0307, 0.9992, 0.363, 1.5848, 1.0073, -0.6319, 0.1154, 0.2619, 0.4043]\nstate[eef_state]: left_x=0.2783 left_y=-0.0001 left_z=0.1467 left_yaw=-0.0013 left_pitch=-0.1667 left_roll=0.0021 left_gripper=0.9992 right_x=0.3317 right_y=0.1081 right_z=0.0629 right_yaw=0.0704 right_pitch=-0.6197 right_roll=-0.0134 right_gripper=0.4043\nstate[joint_eff]: [-0.1983, -1.5658, 6.9265, 1.6825, -0.0122, -0.0757, -0.0122, -0.4718, -6.8991, 5.9966, 1.1013, 0.105, 0.0904, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8382c338d31a77e31096b824e5e1204e987f3e39d80122cc137db8a59491b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b5ec5a3a9968ebe05de8070076b0c518743fe6584dd0c79a4a49afe685ca28e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cfa629a87d24f130613d2d682e80f6ba4a9674070d10bedb8d628960f787e88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuh_w_I3mVFlwdHlafM7f206sw2xglZ5TgNCOcJpYQtIQr5pO1mCKSoaa0scJy1GuDBnkl0RqHkQ_hqxXUqp-Jd4ETSCSU2haodYEkNCA_P8_pCseHd9FyVWEwqi2b6HU1OQgPTI6qp82vy6ojeBOo3G6r8u_F13qHsCbAfFXIo2OqyztsSGjcLsXIQ6-7UGHoMtVarcuefq-R9r9FnjbHSpMO9v07haPEddOmDydRRfM967XYd750Q9-pkBptJiY7PSgFxDhF_m9CVSXvr7bwrh6iRA3r4XTyT9GHbofzlwzzLY7MYZuNXviZi5VHMahJwx9HcxSkBmrB2WvwEOnQbKIq6TPF1jedmdr86arjTfJAZBXgRqBo9S5dJLmlZz9nvHfckFGiyYOlIDbDJgwL7qfQAJOGK8EGmYu09ezLjlmkxGThEJnulb23Q7ScovgDTNyEWaGchkh9Tvc6b7SE7yBQfvpdjngip-eyOyFVMfZJAqSvzmM2i9hhTEQ8wYYYYoiTz6NRxKy9r0mUdRU-rHuXulxVYzDvd8Nhc0hZdZT4T8swz1oTxxv2VzLoz-3Wf8_m53VI-vnUabvXeKGqm7yvecrte8H3CjWApFzzLvXqtUNT-ZwJ4WOLXR4wxuxPSo6Q_Run6JXXLzVwao6fqsT6IRcpgnPpDCEP7wtUv3-tq3kj69IxliHgXacMKXdLfNbuS5QzhQ_ksNI6dnDUWJEB0DAmjcKy0PJYxtjv1ekKkjIdtwRCPIfvaUckD962-UCltcVFHAFxvcv7CGmkK6zPi8-jBFO9pHO9l4MciPdO_xURglMKySPlshr4SNkDoVIoUrlyxCGWjuafG9a_UlgaKQHwKwkpzow5XogR-c4kfLfQxhVgGe7zZuzLPSyM0Si0pZASjF8o9N5uVlMTMJQ9au7HxFNnYGNTp_la4hUJH3HeefdHWwZaVyUc2EEmAJzPRAM4o67SJ7koJ8CBgkM-9Jerpxukj7oalUheLznR7h6PTJ019e6208L8yBPbVbBao63AErntt9VmVmnXuTIEmTG1w3D3Tr9v6e6xnZ1QMy7nUvbblr4uO-klbBiFW8pikPh5XLP-u6WW1LD0o02Pl__gRFFpT4BcylqdqZYL0GRuByVzMBXBD0t0xJnh48hAnXh40eUc7z3MlCCIvKs9JzXrsyt5_skYLTzg8uCd1FK5-lW3US4O-dZJv68DKToSf_A-fGCeyYEi_rLTZVeRD0yz8rKaTvMmywXx6todREEL_RHsizNKOxWMgeRxQfg17Wsscp-0bd7qMhjqFzYM80UKnMYd88pIyifwPTktJYakUfCdWd-PGZLUEWszR-tvGhetoSDoaXkV7tM6b2q7DOLkbcH-SbyoDCLPeYJY245fEmf_ZPq_ppXu0X_AIP0wLbvHrmkZ6mEQEQSVuZjvXQZW9GRuNeDRVVS-mypg3uR0NkLaRa5I-jGyPNBcz5gRSUqA6egglbGHodxUNCuaPUN_-r0uxkbPwiX_FClP6M6omPGUA524qpRzmAd5cFunwRtlWdP_m3qJFD4hbiZFUveQIXLxPsIGKC5nbaRDjg2WSMwGn-sRiswBn1OWaEfaaDe1R610N__OK8JHZLRmeaT_-g9CgiFydh83V1kpWmifaYb_WJIDlz26jlwBUfcSWJXrt1lX2LZmhEIK7vKGwTHalhSAClb75ssrkw_1GCIzR8rtvzehpdM0a6dVmfjoJMNQA_wP0TwvnSCaNdz3B33XJ2gkOAMFUpaf4e3sH-6nC-e94pXLylh5gCT-4qdc5Xg__lYtWmDqpaJpvHwSyZGhYya45NuSW-9MVier6YdPVqpeLTTnjQxzTR2AIANDzbi3UrbjW71mqqhv119MQcfblesi8L10ON8OInFkTv4thVt9-hDm6FTIYPLUzqSSGrjAAx6uPja9NaVRK0glGn5wAMBG9AJ5xb21fW-jlaRu_mFzrkh6_uIooXnsBlog6aLVAH3IXELL9KByrGPUHVj0MC0rktnTKDgdZal3P5uWodj8sQCUM0Ondq4MZALua6HCPD4CcTPLcXXm3OS5pLaBYMZa3X3xKDrmRTdj20toogYTiT_O0NG7temnmKY-jeQqdE3KZJPg_QvhUP8zTSPsFV3PzbYS6RBR5hvpSDyLSOUrb3XxPSf8nhFtkGlt-FA04mIhXnTyr7YWADbEQr1bxDYGtKwibEyIZTea71rE_Sr0v4xQ97__UgJE_4mBJmpHj-I8KASnKur_XSywvB0lPpi8Sbm5Br4RuR7Pv84owF7DXzPw3LCUcrdxCzxLUc0zR6Y7JJydkff7_riFyqlYpvPiTjJUY4qroTjNpAFTMWxumoRM3StlrutJxekaU-brsrmcmZWZBaUhg75tdNnGBV2Cy1kRzhsxFkUNbaSkFsDdUTHKczioYrMT83YFLLE-MkLjhlevbWo1E8WSmxYFW3fIMX3om2cnr924nmK_i67244d4I_FAFvmooQxgjLotUtMEk8b7HRBob8sUH9vDolZ2I7uNaqnQB5qf26rSYfAqcG-UcnoBQiiwm64t_v36_NF4MQ_fmL3KdQQw9T7OV49N2_pLBwe3o8p9LC83ddnd_6TrMu_LorloLSJtntIoLk8WzN8u_dAlqLB5GuNwCUI_yFbxyyGRrWhI141x_8dpfo1CLZv4FTce5NBCCU4MeJ07IvO3OQgd96PrlWFrFOVB7jaaaIG4Fx9zpeN5SkIi9GmZYzfcumX62Cny_CldOTkXrF649Dgt5zJVj1oAVccrQbc9Bo2WdGG3j3NFklRPICs9rDE4v_9m-aWFzRDoBCq2l7eklnnYkczXkclrl_f8Ymjp-4X_4H8hhkAjS02vEVxB778DjzXg_MqALhMFECFOye-Q-ClzQgGmT6q8zhZHiXpnOUNtWLSQ=",
  "id": "rs_006cae29619b2ea6016ab44b9dbc3487d0af8f731e734d712c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.21,\"right_gripper\":1},\"note\":\"The moderate closure did not contact—the bowl rolled away and its underside now faces the wrist camera, so the approach was too low and radial. I’ll retract again to inspect whether it settled upright and to locate the pear before choosing the next grasp.\"}",
  "call_id": "call_li3STV9lAzlMZsRZJFhFjUlJ",
  "id": "fc_006cae29619b2ea6016ab44ba0d4c087d091b7ab7f53f7cb56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_li3STV9lAzlMZsRZJFhFjUlJ",
  "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, 0.8379, 0.6132, -0.5167, -0.0139, -0.0307, 0.9992, -0.0113, 1.3113, 1.3167, -1.1236, -0.0051, -0.0536, 0.9973]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1457 left_yaw=-0.0009 left_pitch=-0.1716 left_roll=0.0024 left_gripper=0.9992 right_x=0.3048 right_y=0.0011 right_z=0.2067 right_yaw=0.0294 right_pitch=-0.5459 right_roll=-0.0201 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -1.5248, 7.0632, 1.6288, -0.0562, -0.0708, -0.0122, -0.1299, -4.5744, 8.6222, 0.9646, -0.1343, -0.0024, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda4ea37bd0ef958de99dcd6d3237c26833199745cbee77f2cff7ff92bfdda9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3764f85364f68da9cdc12ffcfb583257641e28919bf1949d4d24bb28b5588f54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b9eeba99149e01eed4e8ce08eb2afcf3e7d8964d7f72eb964fd44ec654bfb3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8322, 0.6132, -0.4984, -0.0135, -0.0307, 0.9992, 0.3496, 1.5688, 1.3167, -0.984, 0.1066, 0.2687, 0.9986]\nstate[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1505 left_yaw=-0.0013 left_pitch=-0.1476 left_roll=0.0017 left_gripper=0.9992 right_x=0.3362 right_y=0.1064 right_z=0.141 right_yaw=0.0555 right_pitch=-0.6476 right_roll=-0.0101 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.812, 6.9402, 1.6142, -0.0366, -0.0269, -0.0073, 0.2256, -6.2017, 6.3248, 1.0672, 0.2759, 0.2076, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8368, 0.6132, -0.5129, -0.0135, -0.0307, 0.9992, 0.363, 1.5848, 1.0073, -0.6319, 0.1154, 0.2619, 0.4043]\nstate[eef_state]: left_x=0.2783 left_y=-0.0001 left_z=0.1467 left_yaw=-0.0013 left_pitch=-0.1667 left_roll=0.0021 left_gripper=0.9992 right_x=0.3317 right_y=0.1081 right_z=0.0629 right_yaw=0.0704 right_pitch=-0.6197 right_roll=-0.0134 right_gripper=0.4043\nstate[joint_eff]: [-0.1983, -1.5658, 6.9265, 1.6825, -0.0122, -0.0757, -0.0122, -0.4718, -6.8991, 5.9966, 1.1013, 0.105, 0.0904, 0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6132, -0.5167, -0.0139, -0.0307, 0.9992, -0.0113, 1.3113, 1.3167, -1.1236, -0.0051, -0.0536, 0.9973]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1457 left_yaw=-0.0009 left_pitch=-0.1716 left_roll=0.0024 left_gripper=0.9992 right_x=0.3048 right_y=0.0011 right_z=0.2067 right_yaw=0.0294 right_pitch=-0.5459 right_roll=-0.0201 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -1.5248, 7.0632, 1.6288, -0.0562, -0.0708, -0.0122, -0.1299, -4.5744, 8.6222, 0.9646, -0.1343, -0.0024, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda4ea37bd0ef958de99dcd6d3237c26833199745cbee77f2cff7ff92bfdda9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3764f85364f68da9cdc12ffcfb583257641e28919bf1949d4d24bb28b5588f54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b9eeba99149e01eed4e8ce08eb2afcf3e7d8964d7f72eb964fd44ec654bfb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEunCjttKcUMHxi5UaU1hhJ-7JeIwebhleXo0NQBiqx_fYriH1U2Rm5yfTgIkietlc1iiLsqTUVXu5Dtwcf5WrWeKTe_3LoXebT5uXGKsry1b9KkqZ9kPcIRljTJMc7qQGtzPiKY531VXPZhvLOPIH9oZhtOBXSsnYS_F9-Umq6SXmPoJP3cNHrLVxi6805Wpm-C95qeVb42CCgfQ9tGyukyK_QmZsdzxSCEsaYxKKlDj14hjlv9fB_VubU_Xeyhg-WVGtPfYK3i0clX2dPcK-u1kSD8gaoCWqy5sYXoTGwKsaPtRwcGh20lDfLaj1wrB78h7ygWpVz9B3H4wvKzb8aazBtcphNWHuKbgGRSDeebLj8so5ElFmK4VySvOtoZeWSuKKOwn-qxANGdDQVWPH_YwSib0G-gqPYlbRsquUktirgc-Na3oTVEntJbOSXYYh6_YH0jwEZqe-mRfA0rz8ppaOGm3IwKWtCuiQT1OWeoOEYnmY5jX2pY8fSrVoBUD_fPUokAjwoW91QhhjrGMlnhdG0MJfQ27YuJZaryJ9GoNNOfACE2Xj12IZWi-wt05zF5YEBeAnDFNtf0mW6QWKLSpa9mFNvUC2GGk1lQQkYbcJurKQavYxCUf_HCVVFA9Iu6VzESNLmzqn8bfBdhJmSbmXPGGAGqiSLCEeTU-8FX8EE46JpE5j9HeqLIR3UwZGhDWTgs6O5LF-OoRfhFbo_KFIrWiTWG-vDedPsMiNQNNZmeWsj_gzFWPImPi0zErJg8Y9LtLNqUJN8-KJ97PBPLsHA1veMeEwqw31prC-mzb4CfJxs5FuRwm6iqIMeVxO4zi672VnJT1mFyCx4PQoYKcwgHaXqqP-GQAJ17FBj3Q3zjlv8kKv2n8iEbDimVumd31VC6ccjKNPzPA14PYfj2N2LJnw65XghVw3N0SpFxeqCNm8_9vehen9txv3K2SB-GPK1xSqhWzN5X58-u8RsPTgOkegpxw8LlahN2vwmCvM-CeutNyd-8bmwHHtE1cdmkU6aP6PFFA8j4WBbCMr3eYy52gjpPtbzOdzSDluow4dcMEz3a2wQPjU9_xNPfp2opsmO3UcYEQxtSjXo4BXJIuBuesqMuCKPhfQyHsDMcwVoQ4SBdKA8dhSvNBhJ0mQFzFa7wGV1yfj0zrzLVZ-eSwE3rG9HOH1xZ3wvJzXEdBpRtwqbqNDpX17ZI802VZ1eFeugvAn-XwvTGy_5D_lW2kgYNT7PcLnohnPAYn876wdqWVzgjtBLodUw5DZ4iDFRz3EWREpkCPhgMYnZbncnVZbgd2tlSMrUaRcnxp62VwDccI4IUPKFdml5vvSmoh9hI1GBNnmqbRebQIzCiWs_COOS52SUoD-MeL3QFPsQyN58zcrmhHLoTtJ-hr2E5xwaWaShXZxJ0HJjEe7D9EDXPUzXXeJuxoDKobXsfNmg2-1zqXJletpCr_4zbXRJS96VpgGMw3LW4Cp65I-7M0kRaw45oYPOXViP3xnUd-nYHaPCEwdDQpCgtj9wBgh88Sj0hi7XV46t3WLbRSz89Lsu3WUFojzIC__yghitabGPX7_ea0qe2OD-W6ijc48nVFlh8fe54YWu9E1CEWY_UqMoCMKaA3zRfn9UuCoMhnSst5ph3oBUSbWE2ouDCc5Z0jSEdJ8Vnf-3RpQP1fjODCdOhX3RDh29neCFfH8kNST16dOHzYKnV8yQZTn5nuqBHdSIpxzJDVnkxn_xkqzfb7FWrPmIEx_d8QJMc6GrYRt3v9J78x3XdaLQ3pnoOWq8-0bSbzFaXqnVBNz4LhcRSjpOtBljAtBV6y2onGDv5K-iiIkTpkhdB9t4iJza97rLtMIH8uiMjKDj4EPH7HAHFL5ftDZHntGDfPPObNHDwhfu_4h57Kphqi69-R3TdCnhxolSNUCVxDdb2y3R9V_ilrzBAK_nzCPDucz2jC2Tyo9oaYXMKpymBzjEtg4vWELkdsqDQAcsZBN3SP2NK4JYU1OEN841NaYgksqHat8ZnBny0-lF01cgEW9696WXGjDuku5XdqtUk9Lu06olA2E0hF9E1jLGt3ANOPaZhm4duGjKHIyWQ4r4WMhPPr6DiOtmAIT9vR3gSbK_IXwy-Uq-tz0xbBAOTNwF2l5UdPcRtsZzTCBQE6Aitk4Ii1-Z5XIrPbEeD3B_F0aDyBY6svNzRdktnEOWYO4iLUu-PaI9viIb69FR9peSAyU5ZPjo-gbRW2qlkhc_02i014IlCuOStxyWTM3dAPqkb-hefTXbkZsUhGMj074mpWi2EMxZYLKLCigtZmzy-a-hRsikvnp0Dt_P99A==",
  "id": "rs_006cae29619b2ea6016ab44ba3e80887d0b6e16343e2fb6c33",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.18,\"right_z\":0.07,\"right_yaw\":0.6,\"right_gripper\":1},\"note\":\"The blue bowl remains on its side but the pear is clearly contained inside its opening; only the yellow fruit is outside, about 9 cm left and 4 cm nearer the base. I’ll approach the yellow fruit at mid-height with the jaws angled for a secure oblique grasp.\"}",
  "call_id": "call_qzeqqwQRtGB8w4KKK3kq8nU7",
  "id": "fc_006cae29619b2ea6016ab44ba64c9087d09b854d453e49c9b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qzeqqwQRtGB8w4KKK3kq8nU7",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6132, -0.5201, -0.0135, -0.0307, 0.9992, 0.5083, 1.5002, 0.9421, -0.5987, -0.0158, -0.0795, 0.9986]\nstate[eef_state]: left_x=0.2772 left_y=-0.0001 left_z=0.1447 left_yaw=-0.0012 left_pitch=-0.1762 left_roll=0.0023 left_gripper=0.9992 right_x=0.294 right_y=0.1711 right_z=0.0708 right_yaw=0.5776 right_pitch=-0.5841 right_roll=-0.0191 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4974, 6.8991, 1.6435, -0.0317, -0.0269, -0.0122, 0.1846, -6.2701, 5.5726, 1.199, -0.0464, -0.0708, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:032717e94554d32871f50b296e1b0019825892ff5f5b3c6090abb02cae8300f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecee375ccab96a9e46c7cd9481c7ebc88f38c3d08cab927734854ccebafe6766",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c26617ca4c855c7d2127dcf68dd191da3bc4d6c3e5017744629a151a2acb63bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8333, 0.6132, -0.5014, -0.0135, -0.0307, 0.9992, 0.3626, 1.5719, 1.0214, -0.7086, 0.1184, 0.2768, 0.9986]\nstate[eef_state]: left_x=0.2801 left_y=-0.0002 left_z=0.1496 left_yaw=-0.0013 left_pitch=-0.1518 left_roll=0.0017 left_gripper=0.9992 right_x=0.32 right_y=0.1029 right_z=0.0655 right_yaw=0.0457 right_pitch=-0.666 right_roll=-0.0289 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -1.4974, 7.0769, 1.619, -0.0122, -0.0415, -0.0122, -0.6632, -5.9966, 6.2974, 1.0232, 0.0562, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6132, -0.5167, -0.0139, -0.0307, 0.9992, -0.0113, 1.3113, 1.3167, -1.1236, -0.0051, -0.0536, 0.9973]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1457 left_yaw=-0.0009 left_pitch=-0.1716 left_roll=0.0024 left_gripper=0.9992 right_x=0.3048 right_y=0.0011 right_z=0.2067 right_yaw=0.0294 right_pitch=-0.5459 right_roll=-0.0201 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -1.5248, 7.0632, 1.6288, -0.0562, -0.0708, -0.0122, -0.1299, -4.5744, 8.6222, 0.9646, -0.1343, -0.0024, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6132, -0.5201, -0.0135, -0.0307, 0.9992, 0.5083, 1.5002, 0.9421, -0.5987, -0.0158, -0.0795, 0.9986]\nstate[eef_state]: left_x=0.2772 left_y=-0.0001 left_z=0.1447 left_yaw=-0.0012 left_pitch=-0.1762 left_roll=0.0023 left_gripper=0.9992 right_x=0.294 right_y=0.1711 right_z=0.0708 right_yaw=0.5776 right_pitch=-0.5841 right_roll=-0.0191 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4974, 6.8991, 1.6435, -0.0317, -0.0269, -0.0122, 0.1846, -6.2701, 5.5726, 1.199, -0.0464, -0.0708, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:032717e94554d32871f50b296e1b0019825892ff5f5b3c6090abb02cae8300f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecee375ccab96a9e46c7cd9481c7ebc88f38c3d08cab927734854ccebafe6766",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c26617ca4c855c7d2127dcf68dd191da3bc4d6c3e5017744629a151a2acb63bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEurP51r-ol3VrAROR2G0K_VcM2FFYvumzuZmUNuwYBYk82JhhEL_z9U2TRhJMnXwPkfqdwIlGe3HWjpPkXoAoSYSoWfUtM_nSvXJwS8wbJz_0ICINVs51x6GAYTJ5SFM7N93wm41BjZNRV_-BqHDfvjPodb73yU7XrYD1ub6L1rrWqBHDkP5bAL2hnONGe8o1Q1MM0qjo_UMDY_Etxs2JAocgH4Ra59FpF7U-H_sZf0O5Um8O-4xXKF6DiaYoHSvxUfLL3g_bowNgWHnHFNdpuXC-JZMbNFLSwTPkQqtrdiseZKZmVyR3cXIn8sCYUkIHXfe8hG9vzevzVodxz65pngUDFgyrGtl9reyp29p9wA1zX9-wSgBrAhpsAuM9fvbk3V91YX2UcTkfLAMpKXdqE0oWTGP0mgpiuWtKnflSq3TsK9C0iLI3OgGv3PYI0TnLFcmNwm03YyZ_Mws6KQxZS7Ompet_1-jZJPBTIQhq4pFQEWwgUdKZVlZOpZH3wFDIsqpcSMSh_qUMNFo60F8mnKDKSaEaEeGN_Am6FE0Pc1B_WCv_aY75l17eSclf5DeAetGUAXmv91jMph_wG2EUQZ9EWfNr_yTr42RC_DDp0N4NRI2kdTkLNoSWC4SCU-nASub-4k-O5YHW7OKhvzWB6wdnoA00KUosOlju5nA6mGLRdy8cc6SKxJ0WHfzaPiyjsAD-HPfiKMCQCJFPCTeKOZqqfrrhRIzbxPHqbEpMYw_4d6De6nMeAjMovZlWnxMZOtAa351QmwlrcIPwLO4iuQtVgsVTDDNlg-ybUsSCw9QIcFZJqQww2EYoriryq5i0fD_zqKvRmOY4AyuiPDZ1nJPuJFeCEHqNjjOkC5e_PTADkSCeFBONXJBS1Nv9vaOWPXR7oVoufZull0cQwnJhEft60MABkUxFaa1QLz2c7Il0fBgakWJnDCxQlpeYpefomw7SH9zYjeSWoLedHP69ZcdpA3IQhu9rKjGVBvDgChAWYkSAM0kIpJQnwq4bFz-pSa8BR6YrFLRV2DV7Xu-TDL8z4hhS7Wy2R_heGzF3E9n8qeGAWnGaO1GDPc7Il86_07lYB6m8DC1UzZbRYbUYnA8rFrk8NzqtYVcLZFIqA4ymE5lK7o5vPazA6srWhtqygTVbqtoL2fiJISHq4fWi8svLtlpK9RTERWn3M6AsEyJw38E__WQ4Ix_Kn_3-V8uqgllpBx1jV9qP8v9arlwMth2215w7Rgw6yXow045B3Odn0tpKRye6C4H9Wo-R_FKcSfnTbaHplaE4tg_aDGKvNeyKvsch4BJCpJQMQuUpYFrqAwntHcJdB_QJCKnuoxEfBkA7u4_e06ycIsMdWn4yoRy2jfSGg-O2ffheiO_wR65Tdoja1f54AgSZ6OGTMzqhkGnSh5BFgy8qcYKKUXia06TuR5zWIP4BKCKmKPi5cwTqse4UwjVgFd1Alg86W2--19",
  "id": "rs_006cae29619b2ea6016ab44baa243087d0b12ecc067c7d4112",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32},\"note\":\"The yellow fruit is centered on the jaw column but still shows clear table space below it, indicating it is just short of the fingertips. I’ll advance 2.5 cm radially before closing.\"}",
  "call_id": "call_MMUtsGBlilRyeLwowLLaMXbN",
  "id": "fc_006cae29619b2ea6016ab44baab2d887d0bcfba8cefbe5d22e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MMUtsGBlilRyeLwowLLaMXbN",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8387, 0.6132, -0.5213, -0.0139, -0.0303, 0.9992, 0.4904, 1.5562, 0.9798, -0.5945, -0.0315, -0.104, 0.9986]\nstate[eef_state]: left_x=0.277 left_y=-0.0 left_z=0.1446 left_yaw=-0.0011 left_pitch=-0.177 left_roll=0.0028 left_gripper=0.9992 right_x=0.3046 right_y=0.173 right_z=0.0657 right_yaw=0.5922 right_pitch=-0.5972 right_roll=-0.012 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.347, 6.8991, 1.5507, -0.022, -0.0415, -0.0122, -0.6906, -6.188, 7.9932, 0.9695, 0.0317, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f84ea2013ca08a01e34a5968e4bee18ed402eebe00f1a3a7e9fc6f9710470ded",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8f342318d87daa5d579ebe73da259521efdde04f4fee3964cd30ab78760dae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff79c104cc8d8ed26f41260ce199927cbbd5ebed066423c7a03011bab26876bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8368, 0.6132, -0.5129, -0.0135, -0.0307, 0.9992, 0.363, 1.5848, 1.0073, -0.6319, 0.1154, 0.2619, 0.4043]\nstate[eef_state]: left_x=0.2783 left_y=-0.0001 left_z=0.1467 left_yaw=-0.0013 left_pitch=-0.1667 left_roll=0.0021 left_gripper=0.9992 right_x=0.3317 right_y=0.1081 right_z=0.0629 right_yaw=0.0704 right_pitch=-0.6197 right_roll=-0.0134 right_gripper=0.4043\nstate[joint_eff]: [-0.1983, -1.5658, 6.9265, 1.6825, -0.0122, -0.0757, -0.0122, -0.4718, -6.8991, 5.9966, 1.1013, 0.105, 0.0904, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6132, -0.5201, -0.0135, -0.0307, 0.9992, 0.5083, 1.5002, 0.9421, -0.5987, -0.0158, -0.0795, 0.9986]\nstate[eef_state]: left_x=0.2772 left_y=-0.0001 left_z=0.1447 left_yaw=-0.0012 left_pitch=-0.1762 left_roll=0.0023 left_gripper=0.9992 right_x=0.294 right_y=0.1711 right_z=0.0708 right_yaw=0.5776 right_pitch=-0.5841 right_roll=-0.0191 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4974, 6.8991, 1.6435, -0.0317, -0.0269, -0.0122, 0.1846, -6.2701, 5.5726, 1.199, -0.0464, -0.0708, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8387, 0.6132, -0.5213, -0.0139, -0.0303, 0.9992, 0.4904, 1.5562, 0.9798, -0.5945, -0.0315, -0.104, 0.9986]\nstate[eef_state]: left_x=0.277 left_y=-0.0 left_z=0.1446 left_yaw=-0.0011 left_pitch=-0.177 left_roll=0.0028 left_gripper=0.9992 right_x=0.3046 right_y=0.173 right_z=0.0657 right_yaw=0.5922 right_pitch=-0.5972 right_roll=-0.012 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.347, 6.8991, 1.5507, -0.022, -0.0415, -0.0122, -0.6906, -6.188, 7.9932, 0.9695, 0.0317, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f84ea2013ca08a01e34a5968e4bee18ed402eebe00f1a3a7e9fc6f9710470ded",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8f342318d87daa5d579ebe73da259521efdde04f4fee3964cd30ab78760dae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff79c104cc8d8ed26f41260ce199927cbbd5ebed066423c7a03011bab26876bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuuQNegJSsWc4JzeBF0Goh2fh_Q9VniOK8jdlAURv0d3Em9e8dxTHBZeU-huL5zC84ZnpIqL5qWsfsje_rBO5XNxS45VteBnJhM57cC_jlaPUFwhk5hO4A42by6xAvOB_dihnORMuBeV2oShEbHN0dTg7WDrRSkABi6ejPPT2JZq2LliRjwaqufvZE0VVPGaBArDfTTiIe3mpUUK8MSxZakcsgQLEjrgHg3cJDqQxDeOilhC5-VEbw8Mz9erm6i1AQ_puPe-TAJN6OV8ZT7-2f_v2qMci3LDKMsq7shkY4p2s2JPF-6kGASfsLFkPIrX1yXprjuPtyI3OperXoRwJmN_39y1Qe7BSX3sn9-b7Bbujwis8fF6_o2Ql5ILntsxsi_D8xd1vb_-bmpSL_bpj0dDl9tJQ2v8M8s88sbflqamR_NBbwYIEfUcF83ddeDlF520nF5K1aSaDZQXCPu_OkPsTHJsZwlNHKyQV-cBT0Cr4Drqe2_uT5zJ65bEM01N2pVXs5G5yOMeqaF6BzxpyZZcXZ0VW-dYONFHI0FF8-hKARtJXTXjMqr5SQ7VbMm4v8MyCwMTIWAsRx1pbLsUBPbMdRRIX2-YbVd7ocVxJlnU-MNV1zMXt0KcRm_mw4rt9Vhvh3Z-z8-2csksEdvBgPfPaKXX35eaPpXF7S7A8yDM60LOZoDAvBYmg--vIxzY6hIrXE3x1Rhoxs5MEEa6vj-2n_NysfQwCcNJFRF9Q_apEy_qDGwzus_NBFlWpZGYuzWJ5fxMB-aX62MIPgOF7X28dq6sHp6OstUFhmZY7eVHmNz1ka_4eispDky7ROH--5sTBYRURn4u1hoVGkWE2hJmuavTTxVSwwYsMYJfeVUA4wBrt5ASpBwv3pFpuZmHUd7XCdPidhR0tZni7NaTMLVyR74fh85DOOpSaqK1kP5y9uNz21z41AfsksTQD5_MqrQ4SwvylqSGWfOEXYuzZ0glxwIUBiV7Amt2awL5NgN5khL9zTj6lpY8jbptXAlV_DYBACeQ0NKrUHTG_gCZf5TvLuxhXMRehFGAGzrFSk63QE-EXe_z-VSgL_ZWhITvKWI76oGy9yVbVhsC1TgVW3-vqTgS9Wt-C_K2D29rpXUPWnx0Pv53TLJ0MRO0tqfFbAHy9QFn-fUYA91NhClr7DZkPA7IER85gra7UU-y4IEP330UGzvx0f1bj6WHdo0mqAezaZq2QwVBZTvk0KSOMpHX7R_BxH7V_2oKfiAd9j6jRbLIb8CZ1zx9KJc7CXgrsc0UceDN3jMJvg-Rit-TgyGs8XaqDVAFxHhTzjoqrHRanCbkusWTOuRFyXb4GJ5na17B2rKUXmmI9Pdg6lBvds-Bw==",
  "id": "rs_006cae29619b2ea6016ab44bacbf1c87d0a118e8554f49b134",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.1},\"note\":\"After the advance, the yellow fruit sits directly between the fingertip paths at its widest section. I’ll close firmly and use the stopped gripper reading to verify the grasp.\"}",
  "call_id": "call_zvh2qwSk25e30REL3N5XrSqW",
  "id": "fc_006cae29619b2ea6016ab44bad9e7887d08f2b97ce925c1a70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zvh2qwSk25e30REL3N5XrSqW",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6128, -0.5365, -0.0135, -0.0307, 0.9992, 0.4915, 1.5726, 0.9852, -0.6037, -0.0315, -0.1135, 0.1048]\nstate[eef_state]: left_x=0.2745 left_y=-0.0 left_z=0.1401 left_yaw=-0.0011 left_pitch=-0.1991 left_roll=0.0027 left_gripper=0.9992 right_x=0.3034 right_y=0.1728 right_z=0.0612 right_yaw=0.6011 right_pitch=-0.6174 right_roll=-0.0139 right_gripper=0.1048\nstate[joint_eff]: [-0.1436, -1.9077, 6.9128, 1.7509, -0.0171, -0.0464, -0.0073, -0.253, -8.0068, 5.7231, 1.0965, -0.0464, 0.0562, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a59bed74765b9a75be01f2c72213f3d2a11335566d1933893cc7f7b8eba4b0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c9707a107c71d871f09e50346f72b1e248315d3a14ec9c91ee431139598bee7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678d12b44de124485460a24c8edd269a6f458d5c2beba3fc46fa8bfdb4434219",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8379, 0.6132, -0.5167, -0.0139, -0.0307, 0.9992, -0.0113, 1.3113, 1.3167, -1.1236, -0.0051, -0.0536, 0.9973]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1457 left_yaw=-0.0009 left_pitch=-0.1716 left_roll=0.0024 left_gripper=0.9992 right_x=0.3048 right_y=0.0011 right_z=0.2067 right_yaw=0.0294 right_pitch=-0.5459 right_roll=-0.0201 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -1.5248, 7.0632, 1.6288, -0.0562, -0.0708, -0.0122, -0.1299, -4.5744, 8.6222, 0.9646, -0.1343, -0.0024, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8387, 0.6132, -0.5213, -0.0139, -0.0303, 0.9992, 0.4904, 1.5562, 0.9798, -0.5945, -0.0315, -0.104, 0.9986]\nstate[eef_state]: left_x=0.277 left_y=-0.0 left_z=0.1446 left_yaw=-0.0011 left_pitch=-0.177 left_roll=0.0028 left_gripper=0.9992 right_x=0.3046 right_y=0.173 right_z=0.0657 right_yaw=0.5922 right_pitch=-0.5972 right_roll=-0.012 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.347, 6.8991, 1.5507, -0.022, -0.0415, -0.0122, -0.6906, -6.188, 7.9932, 0.9695, 0.0317, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6128, -0.5365, -0.0135, -0.0307, 0.9992, 0.4915, 1.5726, 0.9852, -0.6037, -0.0315, -0.1135, 0.1048]\nstate[eef_state]: left_x=0.2745 left_y=-0.0 left_z=0.1401 left_yaw=-0.0011 left_pitch=-0.1991 left_roll=0.0027 left_gripper=0.9992 right_x=0.3034 right_y=0.1728 right_z=0.0612 right_yaw=0.6011 right_pitch=-0.6174 right_roll=-0.0139 right_gripper=0.1048\nstate[joint_eff]: [-0.1436, -1.9077, 6.9128, 1.7509, -0.0171, -0.0464, -0.0073, -0.253, -8.0068, 5.7231, 1.0965, -0.0464, 0.0562, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a59bed74765b9a75be01f2c72213f3d2a11335566d1933893cc7f7b8eba4b0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c9707a107c71d871f09e50346f72b1e248315d3a14ec9c91ee431139598bee7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678d12b44de124485460a24c8edd269a6f458d5c2beba3fc46fa8bfdb4434219",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuz4EWH4hvehf8LGYTfgJmyqj8-OCW-dPfCO3p9JB-IzdC8LutdCxg8b2o_78EB-FaFOqRwXSKe5sesEnPgXssNymA-HMSoZasAvzyBNnzqK8ivdET6DaCUPnnODq7kti7xHZ1nI1xDhM3Hkbh6uruArTXQG8eCATctQlvLdPm8qU7VGnhm6g7Wwv-hD-25yvC1Ml3PrWNHORiE0Y309qmW6KY2w1atLBIY4XP59TV-JaojzpGVM-Iztlh0VAUJrFjQcuK3o8S1zec0RtaQ8xvxDeZgbTHpNgtO2UmrtUCqqxvjSnAV5sFIMJH4QTVlgLhmz1t4qYZhqme6PnKJkJEIEepzHUquYHZrgZTSH2wFvf9KuZePQp9OpggNHj4XvKcm3ivGnAmnkbm37V6wnkP2Ncg1AHM2XBdA-FkVYxKnEEnBhyBf38GWLjQzpO5pd4W9S_bb5wyolQkPZvR2u8-DemrvvQ93NDYEVgDcZgPZ6m53790QQwZ-GucwpWFnjNf2nUy5zXUl8yCnIzZPAPJZmyTHL2MM5HTX7eGx6yXCKMBjT-mmHua0lCb6FwB6Emc85FVEon6gFkmHKieg_yUfqH5eoJhHnGi6lW6gy_Jll8rEZBfBA3WLDnsgIJTckJlf6jD572dbqgxQKUvqt5psHAh4lEh70r4XKZM4QFciJhB7NMf7ObkVw4-ClxfWXCpsLjPYYi8M1kE37Rip0i5jjb_7Qr4g0eVuz6VEs60jigGqjUwM5spT1KwCMzGOsG0NHdwBlzKJuulN3ONvR3da8aZrRhABzxf9Tt1RUv33Ah99coTpibdpNU9x_9hA-N-Ab6kKuUhx9ljfGamx_7IZcgI2mSI58_raMmxFld5g8YhGVessVV8RPJpbeQ2QRTULKo0BOM22m91_IMgkKbAkbBZDFw5IP3K6JUchlJ_nUsyrpYMptc1q9dG0m0Ykrk0O2bIj-UzCdc73iatdrOmAiC0vqjMs61I0yoidGH32phMA1zCn5uU6mpFnch01gnK_My4rAc9I4rDJsIbmIHgFBhYkMyHsE8hNHtZOFFPfoIHMZrcOVpC_VCDkXMCQgNGMSv691qwj2QaOpxrFyMrglxtqu4KPilIaBkjHGqQDzyH3Eg5ki2w_JETcKCk_LHjbqfI766KVE8ldbpFYXN_nZ7yEa-pwoQV-5OOfrhdSgB-h0Jy0PnDUblJsHRiPemmEhQJXAFIvNKxWx9Y4R5FlvrW5Uyr0qjCeS9OhTtobhL7OiwrPCo3QGkTmfi6VDhqU_7bPpTXnYzjYHNqrZXCzRqbuVrwb47lrLYAgq86l46GUH3HPcxopJcHfHBOyUS4slby38JzNdvfzw0KruoIAyxQOqD6BPnZuZz1eWLbPWhIF2yqYNDPbRRUg9xaGeFiLHMDhJ_2miZR1yXXe8OcGeTzI2V6vjbymLG5DfHBDOnORuL6T8JAZHbf4WcSagAfBZUju0GVgbO2Ccsphhf-dL3r1PkS1KDo1gQ33ngWA6dFZhF_ZFIug12TF1wJjqyVJSvW21g45vq5TmQxzw9hJobSSy57XLfnM4Ysbfyip7B4MdZZT07VPB03QckWhx01l9JmZYCWzJl4twghSQLpPmEG0uV7OJuif3K_ByWewSRZkexqnznZR6u_Wz_YEThwsP9COYLVrNbUcEbBBPqHZrbl1zUt8XByFMOmlgQrEQ5lAu0YkIrzYvHYdAOKh5f6JRHAKO9P4drToVU0vQyGUVodvLgKqITzkmEqxbKXXekxG8Dipu3O9AhE9xD7zR3oRB7F41SCQk4eZdcnXmyP0Wz1qC-v68jegN5LTnghY7GE9auPhgn9BfpKZdLz23lgAjpytrseYswivqlEkgX8Z-Ouyh9UqI-9mzmrvrHex3G670lIreg7UgGKgmSypqxCH-z0txXLh6yyn1_aqKROV6saKpdg_W09seSIYLWU0MFqYP8e0CgDzQSKvB-tyZNY8",
  "id": "rs_006cae29619b2ea6016ab44bb01d1487d0aad6ebca148e3609",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_gripper\":1},\"note\":\"The gripper reached the 0.10 target, so it closed in front of the fruit rather than around it; the wrist view shows the finger tips just at the fruit’s near end. I’ll reopen and advance another 4 cm to bring the broad body between the jaws.\"}",
  "call_id": "call_a6kdUzpnCzXcdeMpSjSLRd43",
  "id": "fc_006cae29619b2ea6016ab44bb1f61c87d0b7eeb5d1b3787d1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a6kdUzpnCzXcdeMpSjSLRd43",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6128, -0.5365, -0.0135, -0.0307, 0.9992, 0.4343, 1.6875, 1.0859, -0.6022, -0.0509, -0.1703, 0.9955]\nstate[eef_state]: left_x=0.2745 left_y=-0.0 left_z=0.14 left_yaw=-0.0011 left_pitch=-0.1995 left_roll=0.0027 left_gripper=0.9992 right_x=0.3349 right_y=0.1692 right_z=0.0551 right_yaw=0.603 right_pitch=-0.6279 right_roll=-0.0153 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.265, 6.8718, 1.5214, -0.0562, -0.0366, -0.0122, -0.5402, -6.5983, 8.1573, 1.0672, -0.1001, -0.0073, -0.1392]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc125ad67f125f41ee9b7c1a6e2836d0650141b5024b80031b242e6f7a309ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf0f6070eaee44b48b450ddbc8a16e1a60aa47d3257a0efe96fa690805c31c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ba2b467b25f1e029aef5f2399a5783224c30548ef452d5deca3f450e9a7bf7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8391, 0.6132, -0.5201, -0.0135, -0.0307, 0.9992, 0.5083, 1.5002, 0.9421, -0.5987, -0.0158, -0.0795, 0.9986]\nstate[eef_state]: left_x=0.2772 left_y=-0.0001 left_z=0.1447 left_yaw=-0.0012 left_pitch=-0.1762 left_roll=0.0023 left_gripper=0.9992 right_x=0.294 right_y=0.1711 right_z=0.0708 right_yaw=0.5776 right_pitch=-0.5841 right_roll=-0.0191 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4974, 6.8991, 1.6435, -0.0317, -0.0269, -0.0122, 0.1846, -6.2701, 5.5726, 1.199, -0.0464, -0.0708, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6128, -0.5365, -0.0135, -0.0307, 0.9992, 0.4915, 1.5726, 0.9852, -0.6037, -0.0315, -0.1135, 0.1048]\nstate[eef_state]: left_x=0.2745 left_y=-0.0 left_z=0.1401 left_yaw=-0.0011 left_pitch=-0.1991 left_roll=0.0027 left_gripper=0.9992 right_x=0.3034 right_y=0.1728 right_z=0.0612 right_yaw=0.6011 right_pitch=-0.6174 right_roll=-0.0139 right_gripper=0.1048\nstate[joint_eff]: [-0.1436, -1.9077, 6.9128, 1.7509, -0.0171, -0.0464, -0.0073, -0.253, -8.0068, 5.7231, 1.0965, -0.0464, 0.0562, 0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6128, -0.5365, -0.0135, -0.0307, 0.9992, 0.4343, 1.6875, 1.0859, -0.6022, -0.0509, -0.1703, 0.9955]\nstate[eef_state]: left_x=0.2745 left_y=-0.0 left_z=0.14 left_yaw=-0.0011 left_pitch=-0.1995 left_roll=0.0027 left_gripper=0.9992 right_x=0.3349 right_y=0.1692 right_z=0.0551 right_yaw=0.603 right_pitch=-0.6279 right_roll=-0.0153 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.265, 6.8718, 1.5214, -0.0562, -0.0366, -0.0122, -0.5402, -6.5983, 8.1573, 1.0672, -0.1001, -0.0073, -0.1392]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc125ad67f125f41ee9b7c1a6e2836d0650141b5024b80031b242e6f7a309ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf0f6070eaee44b48b450ddbc8a16e1a60aa47d3257a0efe96fa690805c31c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ba2b467b25f1e029aef5f2399a5783224c30548ef452d5deca3f450e9a7bf7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEu2jkT6Komc_wXocMDQO8HYrZuwNA_LQ51ikgre2zjSk2kXsK6BNiGEuOQS5YlxsatvLtzj2kD-tXRBAq3WokKKF21TNlBL_ZmCUU1vcwCmeHbQ0xBvyAt5-J_jh_f3Zw_5ByCL4e7DseF2HlHGGlsfs3_hKG1gd33dhfx6VAYUK23nDAPgoJgEOPgvpw9j6EYCD1aC5jz90W5Gb80cw1VOr0MfP5Y2Spx1OncTGUnpaniERVYQjIgof0GhdfTB0kajPIWvgtBfWtkI-h7nL7Nq5lfNwZiyDlxVTONCX42tZ6adSWCnn9Ye8tK4-x22xm9oy2zhqAKzhtJBpba2UgAYZXV0YeCs9-AifW2uT85vqgt56mN-gQTtEwgbvT9qtT-S-kBMo9DjMFgwVYSrrcX5ewZBREoSIR6Bs2Slz_u1dy6KsLMI73NgkDZwNBQQFSeFO4zqL8O8kaMAzDLOi3EX39HiRmd7HW0RuitTXcz_XC4O4LHTkCW8wEG8JYpkVxTMdUnmktXqdXjc-BHKYKe-vfFd4Hr0P9CM64C5wR_jKQDAdXZri9s58a54GdFF735J7qtMpFIhwzbfXzB6zjVDOS0ydg6pgrTzdgwygcLvsrn9ARH4ucLORl90ijx1GOyEaOk63KFOMppoVw84oMoREDUw7xUqfH1sPQOYkJB_FiZa0ksaiNJPuXXLaK3IL-SCBlQ57nFtzqB-DQLK0NyhJeTYqfzvFpBZtAVIzy-E_U4rAfuL-cVF_o5OhVdTfa6yGHNy0DHc2Tq5kx-HLfuHy_oUkEGd_aYwUV0cpBqgIt1S6zro1OAEh1gtiPDygtfTXujEY4XxQFOV8sdCSGEsDCRPRonyLh-LyFo1ZE-2GzoT9ONYT7GUl5wykGYyXfncARRyr-yQpDpkQGWYJEJLtx9xJzhWLxLgUTSOU5r4SJX-SWMeslRcbMHNTH0BexCSvINK5Eed79IZV77R9BltaJombehx0S5kCvqC9lEy48BJympCn76ozlPkigJa6VTIvhwk7MMELtFy8cs_-XO2wsUoiZR9OCsaPbCM8w9IMthBDXnseIBn6tg08CvjDi_IMGKyyRpToYxRyeHmXFBflZqLBAh8rIMjZWEP1PPrP1p6Vxp3xZej_EUX7H0gKbJct8Gc_WAezE2dS4UGpxiEo2QUoVLJWFCUcjZo3b2KBmIUlGfKn4qQPmXJ_E-x8XBnQ7ZaHyO3NBO_2pxpuAVGjRGOiC9wod7CfDpEe_Q42fx_B6jnhrr3e-Z8gl8tc7Pw2w8f4w7s5AuKnuqtu0xZJOKTWaEq7CYmO6B8s3iWzlmT12ii7iPbviE-0ihnwEY1",
  "id": "rs_006cae29619b2ea6016ab44bb5931487d087882009fcf40149",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.1},\"note\":\"The extra advance places the yellow fruit’s broad body squarely between the open fingertips. I’ll close firmly again; this time the jaws should stop well above the commanded 0.10 if the grasp is secure.\"}",
  "call_id": "call_CDsJHHXCDmNHrtnfmDf4VGps",
  "id": "fc_006cae29619b2ea6016ab44bb5e6a087d082e15bc88d20164d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CDsJHHXCDmNHrtnfmDf4VGps",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6128, -0.5365, -0.0139, -0.0307, 0.9992, 0.4297, 1.6905, 1.055, -0.58, -0.0574, -0.1761, 0.1049]\nstate[eef_state]: left_x=0.2745 left_y=0.0 left_z=0.14 left_yaw=-0.0008 left_pitch=-0.1995 left_roll=0.003 left_gripper=0.9992 right_x=0.3306 right_y=0.1666 right_z=0.0461 right_yaw=0.6105 right_pitch=-0.6385 right_roll=-0.0078 right_gripper=0.1049\nstate[joint_eff]: [-0.1026, -1.4427, 6.8581, 1.5946, -0.0611, -0.0513, -0.0073, 0.0615, -9.5521, 5.9556, 1.0769, -0.0122, 0.0269, 0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd7a4d44119a4d912dc40b34fe7c994e344f55a6399531fd7d847ba8b3e7463",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b093d19eaa0d9ecedfb401af7e526d728ef3f29a6d58120ceb273478cd6a22e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6de8a30d05d05af16e3c2e7b33b75a51387569e099c0f7f1435b5da7f55b53a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8387, 0.6132, -0.5213, -0.0139, -0.0303, 0.9992, 0.4904, 1.5562, 0.9798, -0.5945, -0.0315, -0.104, 0.9986]\nstate[eef_state]: left_x=0.277 left_y=-0.0 left_z=0.1446 left_yaw=-0.0011 left_pitch=-0.177 left_roll=0.0028 left_gripper=0.9992 right_x=0.3046 right_y=0.173 right_z=0.0657 right_yaw=0.5922 right_pitch=-0.5972 right_roll=-0.012 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.347, 6.8991, 1.5507, -0.022, -0.0415, -0.0122, -0.6906, -6.188, 7.9932, 0.9695, 0.0317, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6128, -0.5365, -0.0135, -0.0307, 0.9992, 0.4343, 1.6875, 1.0859, -0.6022, -0.0509, -0.1703, 0.9955]\nstate[eef_state]: left_x=0.2745 left_y=-0.0 left_z=0.14 left_yaw=-0.0011 left_pitch=-0.1995 left_roll=0.0027 left_gripper=0.9992 right_x=0.3349 right_y=0.1692 right_z=0.0551 right_yaw=0.603 right_pitch=-0.6279 right_roll=-0.0153 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.265, 6.8718, 1.5214, -0.0562, -0.0366, -0.0122, -0.5402, -6.5983, 8.1573, 1.0672, -0.1001, -0.0073, -0.1392]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8455, 0.6128, -0.5365, -0.0139, -0.0307, 0.9992, 0.4297, 1.6905, 1.055, -0.58, -0.0574, -0.1761, 0.1049]\nstate[eef_state]: left_x=0.2745 left_y=0.0 left_z=0.14 left_yaw=-0.0008 left_pitch=-0.1995 left_roll=0.003 left_gripper=0.9992 right_x=0.3306 right_y=0.1666 right_z=0.0461 right_yaw=0.6105 right_pitch=-0.6385 right_roll=-0.0078 right_gripper=0.1049\nstate[joint_eff]: [-0.1026, -1.4427, 6.8581, 1.5946, -0.0611, -0.0513, -0.0073, 0.0615, -9.5521, 5.9556, 1.0769, -0.0122, 0.0269, 0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd7a4d44119a4d912dc40b34fe7c994e344f55a6399531fd7d847ba8b3e7463",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b093d19eaa0d9ecedfb401af7e526d728ef3f29a6d58120ceb273478cd6a22e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6de8a30d05d05af16e3c2e7b33b75a51387569e099c0f7f1435b5da7f55b53a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvBrqvVpSzBcFzz3uDb_SYo1nUfbs_nLWo2omegw83Jg4m7S93lO_i3CxdqXEocTZmd-gjMJooi2l3JMd31rN1Uqontji1fqQhDaROy4wRjAXkEHglaxT8TrXpG5sWjq1Jzk8DnKFJdEo8yhRI9GYOHWtTLvjph_kAKefXul5wuauAIBZRG3caJijecDEm3cgnUthr76h90fFNltPsCov_DtvzAsCaVGnExbuP1Anbwxl72QxVVA2RlcG1kKzaAhpT4uIxglNYrkcPps5UQnlVVR1L6RdkhhghSNW0eyILsBFIOFLbTupFmeczZrsgDbddDg0FXHD6AcTZelwU5wEUkXOU2VT15WC-C2879qNiLg6ePtnElHgZvEtRJlzQyqiPrpZDsORCTQGKnJRu9c1tdCgC_ae6xP6Pb3u23S7E0NXpKXEZpMrrF9VQ_u0hFSrDZv3S_e23SMu7H0U4hnv68BnL5B8woqiZXjUzbMl9R_7Qa1P-NKpWBL1XQfhvrx8eQ7EcnN94lkG7fu2bJrrH3PH44j5Gqk4af4V4RQ-vU0Wk1Hv8XpclAhZFEtrZLjvnX40umdwfvHT3-IxiZYp3F6NP0qYN9YqHTJEFXfgGZlGyS4ARyD-wGtoSFQhWI3pfCZBZr8Zj8uSvtKVwe9csipweJOBe8VTMmrd93hn9egQMmmJ065iJZjmdrRkKxx8A3VpMif55MpXOGb_Ig3U_ODDk82Q1wsIetqKPwdSVRkYeoArp1Cd7IltWA8e3PgSY0WPBvPrEztfr-j3Oc-Q3rrYf9Wpbd0CEnDp65-1XWS_92Gg2g_JpF3WqJws_SqHn0eKihnQxJyc-mjKuUY1AsEIFNIQvJv1wykv-0Z7SkpjzBuRFyiwXLSiIubfiRQFPAoAeYOgKrNYexawInzQGlaZLFj6iDW7nmJfXhatCXhvC4JoClC9AfAupYLdyd2lNqd_U8tim-RNaYERUCsn6QMRKgKiq7aBTnhCfxU48Gz6oP7OhYKPRpGs07TFl5_8x2WZsFarf5Zd3zBln6efKhISDld7UtuSdo9RTU5zlKultNZl8H4rS37Jtb-gzX_JV4M4oBAjFR7qBRb5I9WA7vG1vAROiVeISznBZK3dOhiCMwCnQXerhMsCqix0Ct9uulRyByzvYI68D7DO4X-ohJ3EbeVj3hVZWgyU4sx_1GM7G0OzEmOm6gqIOgRukZlDzOPl2njg1qa96G0LGlD9t3vTmxSkKgJzQooRcpHCNXjsv63u7l0EZXcoEfgGNKCx9CFzVsOvWFtmO1tI9muqXzl7Sm8FxMdqOi7I_1dvJX7mVh--HbIRduZu2IUBTp16mJS80CAQe_XzG6QNjFjEpRZcWUz_GrN0053KmMLVoE1yWVqj3xvX_vsP6rmaWk1cO0f6L5-31yhnsYqsejNTxPhe1x2qyCU4Wm622H01ibAicnyjrDvmIZwhodXyQX_umOZA8LF44zpBnwqppuXV0oRZ5AkCku7iQryw3b2OvTxwxJDEixiPKEhA6Zdmv9hw-gWib6ks-VZ8byCuqVoN_FxOrG2VlNfDX4OLQOb7UMMEgJZQ-5xKCpcHZSz4ufTDsI724SBwCLZ-BtFJbhin0CYXSLNOfKl-Ag9p4OfU0OZRZL-98kGK7L5jan-Ozb2ijIKZ8YyWWPbQFuI55mfqRTzGCZOgXrKztzEAs4-XrRI0skhwDxy-pejJAs6paW52JwyjId07Tp7MJwb3VzlCZa8SbmTW8dZu8fSQxTgiIbFYafQz-KRmVAtH__DIP2k_z6mXIk4PYAsSOcsrjg-nFf6hqz3yx577j2qT0k2pvSiw3yJVhy3DotVkkvAy_VxriJg6jfQcnjW9jovd63jyggRE6dlQgHp9dG9f359MfnpsHvFQkOvbNQ6mEMKAGPJrhWEEPN2MwweBDN4Mt1OdkVYM5frH0LesXXOvkd6otQ81-XDGo_GsiCw5XnVnIOJ19k1OmI2rWYhJLf7qGGwiiKMwayLJ5bV_pnWYEv5B2qmj2286WfTnFVcRcr9tf8gqn1cNSNQ7cUTZVkUR4CgFif_zzYCLGLhF_KMFNFC0MeLJ1W78ApsVFAEL88A90IKlutWYYRdgIaNcAsOgdQhUP3CfIdZIyseGyRcAuaS7BpD1FWdN_k2gUApr4bhhxuL9JngLx-6B4GqJWRA3k5OBpbaMrugqZrNTDeUgM5FQCt_9lCPc2a0Vz2ngde8stTXo50nG8-4WG_g3fd4FH8nysmd0Q7RXHe0wDcnBjG2WhTxDGs7pELtfu-srfpgpcKv9T9M04_7eC9q3VKYR7OPL4E18zV3B5ZVfhKxrU3fOhkYL8BtRIMZfGh7P1MKELgQHhIWmKptKjiCilMRRWlMP5yVY_eD_LIqz72-xCDmlSjegWP7ofqpH2sBgb8OQJOeBUzEliFgjcZ5NeidT1squULwMKAZW88JTlUh8drKfOPvxlflzbd8qv9ZRO20daA-1gaxMy_eHfrDKedA-o812xBNsqc6FI7WEoYt9j5YGVa3AgQks4bTlZHwAg4ucKn6BHqnmhv-o3SRnZS4hSJnBMHyr1xPbDZZPkaacZQPcjtR7poO2YtR6b7LtzVfsE7Jc4PnZc02hpqC0rcBcNgM6mDtoO6lW1XpkdCh4ZsACR6futYZu-_JzXhiAPULuTEeTdgd43949kcmro6OsQ8_NYF62fL89Wu39jznU15MC21_HdoditOUrd8mFaaY7o-Chlmcadmk3l3aPbxSfdgf5mTFuoHEhspC3ccWapKP0e52IjJ9y-f4MXs2LOvGjeLlph-6CIegHr5kJKyUjy8LueR_nOn2Vg1RxX1FSjmFNPpZefBsj6q3Xpcb_w7wd0z64WC2F57DqwGhp-9AVJJq0izniydFmuW8utJMyvZBuG1km-3FkAumy91bD6UzLCJWefwqqliomMiORtQlrcIN4iHGvx7xaaTx7pkd22mgmsJXUGK_cdzDcPekYoYxSW-JU1Nj-jIw9C5bBUoUv8BtgeSwWhx0NrSnefohNNZ5hMgN5XxzhVj6b07lUF5i_kYwM9uz-EOQ8-SwPMDg5OK0G--lFc6n6nYixCqRvyzlmb743WfcrPPdUGaXD5Qcf3KtUlY8PgwQjmY_GUEPuAKsgdlG8Q6uED2-sPzSxGVPodMWkHWar2BMGVFP3OFllD421otlxGqj7GuYB5u7R80Xk8YCU9X-zMi5EeKBnfpiOF2RYtp8m0KrluwARazw7nquTljHbGtGfQ51cYpExPIGjkzNDbcczNR7dNAoQgEAgRZNsj7PohlL8LwF27TWrpQIiSLGTHj8NQY_2vTf5gVghhYQIUVUncfFRzou39yV_N9G9Q2AkVNFD584Tj7Yd3YpBE9J93Tgjx7uKXjv-jJsRR28-dQIgrqWeB2_GEhfo0nwUJ3GjDiP93L1AHRKk_JWJktf74_vDrgdnhWdUfgH04a_Ru_y-_RZEdplk2Nl75ANAhQ2EwEkoTJ3iWaRe4jAIE3CxvNNVh4WTiVBjtO9PF5atofjL9vgm4EERmLqIGS3oFhsRED46rQa8IxT0BQOXw8SZwVmRzRO8mtNghkpteVHdZAvvGGFl_nYcOrjbug0teQeRhZVjz69sDJ3b2togyhCCTSZ-_BrkHntFXX1fSbAwc8zFPxlyRHTPshOe9XDhnRzNhrpPCaLdxRYxsAq0DgGL0LFKHpyaCpu5KjulLd4NcmfOQS1AyqI1_r_fxaxWaRhbIkwZOzH9798_NCRmlX9WWhklSfuN5cLcPx7HsX5RuVTRGqoVtAijD333pVV5VhYF8AioQlGKHk3W5WKdzfmJzSOI7F0oUUq5ZeX3cqVP371iTWsXHpXWCRrQS_qRXmwxk8vxKIqVaBcs7nWySa",
  "id": "rs_006cae29619b2ea6016ab44bb8d59887d085fc5daf7ee99dd1",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvBZL2BlkH-CTuqwmgitLkOXegA3NO2NO1s4HZm7BwXmmx_8dVF1EsT7vY8FPiWFRnLRehTbuj4h_ap311oMCOFeYEKTw06YkE9HOuAt2yagf9c0oRUSIQ42O3UVESPxCL4vEv4uvfeKFZKMPC6mOX_qIfAOQ1LfL8tcaaHTIOC1BfO6mRcSYVHsfpGvFGlNJb693DHXX7oXRLQLk0_SvQMmrjcvfyhLF9SGm-r3No7psdnHlGjZpB3H66WIYCi8qE3VPykCrRoH1f0ouFRSdRIM2_ou1ddzsJz-XTzMBkdtCgpsWsBiMF6WhipHtTBDxj292jw4W0vF78USboQ9zqs3gT-ZbfRe2KHtm4nRpFD_4gcqJnUJspeVl6WokHtN2xLCjqGS4dtEeMdwctHbBbumKUu7kN4Xkp-rI9bFyXyvHpf8SwMz8wi1z8_DoDvhYWC6dx7PLj2cZ1EAoIhWX3y6juBDqIPWjtGwlInCXqDCu6ErglehJJ_2FYKuX5rbWFqA90AeOtGoZjtzKR6tITR99v6gh-hT0stnAFhnbfJuwQErRUqLvRm3ZevIBLYL7AeYH1Ng36D-Anzv9OYkWhbsHivybPs9_Q3s3h0j797gDj-c1xTgTsVx11TcJ2_49_pZ5Lerw8oPxt_msRG4vlpjSeDi539GvMUrLDlWHK3nDL_TSK_WMXwCyZ8i493k7MlLRnxjp6H1l8PzblIGOoiCAMf4CWUUUpST2TgE98UxCeaWsfDr86AvTKp4MFu3QTMuImairPG5fI5K8qQu7GxmHyV--nNq69tEfhA9U7BNBBhOTe5V5keOXJBHfEQZlNsGwH880W5t4iUb4-iQQvqe0p1b8vCKI7VzfeR5IIZyEtmvoovPNTfnbbfK1XNhfmJevIjYiUTmutp7EzLXaajOSlrm7eT4_W4NUs8t03qRUHJmxkt_0JjYmoFbH7QChVQZqCkpoS6gpN01BS6U98-4Pj3jIW5d2TcbTHsjzBDZ4cG_x1nQ3Ar3xfJNiVtX3HuGqltd57yA4hJZWd8NZzoWVX6v3VFEul1KRKNqrpPYNaRWvfuEo6a3jN51xyH_TxswrPTCgculUpIH6TE_C3LAuPM2Bq4CZs0pPe5oTQZgEOn0-YbJCpxt3Njxlry1S28ogKID40uVEaR_acJ0DhumA0Mb-_BUz7zg-uJSS-nFweNd4o7yiU6rwfHyTqLBJqmejAK84xdYvwnJaF0Pv6i6rtpjT7ENJoHDG1_0jmLXrj4NfVPRejuYwguL0ECPjwPKpX2q74bSpdyVEx_t_t-k09mCHoEKSkcKTws4UO9Jq79MprtuXGo_RdGfclcqs7xrJu7RG21E0SAhNTUV2FyKIx8-KG_V-0WNZZvoZAjZULLg3R9I_eFEcV5bgC11x1ci4kz-t1X4Ok0_2y9ohyt6oi7VYT6TyjvNYs0QqvmYI1NZrwbUSTcDvsUarBcwkBY5PhlOF1TH2y3NSv5Mqnv2X5gwPvCbQx70bpRIw3Ohtl8FtNPQY5kBX_d46ccwOegeZVJmIfVw0oa1bl9VHcarm2fOj4qqxCmoBwjjp7ol34S6mAV0TZLfCQK5WoB76PP3uqKp3dLvpVXjDOpcKrVcOFMcCrf-Ldg_-4xwl38ezWP8nr_-J74PlVXbnXcnl8kNZFwoBinbw7wdiNNw6GlEGcb0jEtemSYmIZUbCitrMIGSPRkNVL7RtdVEYP7u948LABAAED7_T4BJLgzN4n_xfxe9DYaob6U1zBlYwch5gBwBwo8Od1nDjefopgW-lnUQtTAX_iAHIEDLEA8SgMeMqf286mlLKO7Ln-aGKAGe57sHu43R9vF-lUskvzQPy-8tj5M91CszPD11SPjKFxY3HRfWDEE0ELfXfEc7ADCCNSxYXW3p2qG86dz9Pm1_cSmn-TOhyuQ4Pt4_OyzMQieDmz08d1U8P5sO5msjiu4R1elZOtLSXs6T3HxEpMJFl-RCYUVRQTeeJuvcCZrXQno4SRZo6zP2cfjqrfsUZfJwe1I8I_lEC2MdNviM7tDrm2sr4l7aAZdYI3bJs9WusXy2xBiTOBO_OwqRw8z3g5d83OcnyvUAPgmBYJ_CiRzXakRDdqPFYsXDGuXwBvF2o1-cCZ8q5o2Aiti9znD2-1BfSBnowlo56Qy5ZCSZ_iL79sT-U9RRDT9TXUgj9PEaWyfNVcDgR3TnsjZs_trn9eeCbg=",
  "id": "rs_006cae29619b2ea6016ab44bbdb92c87d0a163714fc650ce20",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.23,\"right_z\":0.05,\"right_gripper\":0},\"note\":\"The second closure pushed the yellow fruit sideways rather than grasping it, but it remains upright and the pear is still in the nearby sideways bowl. With limited room, I’ll place the closed fingertips just to the fruit’s left/base side to use a controlled push toward the bowl opening.\"}",
  "call_id": "call_lXm4xHq3ABo3ei7fxLy436Si",
  "id": "fc_006cae29619b2ea6016ab44bc0184087d08580f98aba82bbe2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lXm4xHq3ABo3ei7fxLy436Si",
  "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, 0.8463, 0.6128, -0.5369, -0.0139, -0.0307, 0.9992, 0.6373, 1.6867, 1.0233, -0.5362, 0.0063, -0.0135, 0.0082]\nstate[eef_state]: left_x=0.2745 left_y=0.0 left_z=0.1397 left_yaw=-0.0008 left_pitch=-0.2006 left_roll=0.003 left_gripper=0.9992 right_x=0.2959 right_y=0.2221 right_z=0.0409 right_yaw=0.6415 right_pitch=-0.6269 right_roll=-0.0113 right_gripper=0.0082\nstate[joint_eff]: [-0.0752, -0.9094, 6.8718, 1.5556, -0.0122, -0.0464, -0.0122, 0.4855, -7.9248, 7.9521, 0.9011, 0.0952, 0.0757, 0.4469]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a2b1a9d5bef35af6af034e58c5136fd1c28c9bc91fae48d3876ce1006bcfc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b352a898c7ee8e0ff0e0aedad7079767f31e15c484cd0c3d4f2c5c7a1ba15cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f1f5e25be34c1b0add0bcebc6b19f0c76758b0888cfd72ea96e627af89238f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 131 changed as sent

message 139 changed as sent

message 144 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8452, 0.6128, -0.5365, -0.0135, -0.0307, 0.9992, 0.4915, 1.5726, 0.9852, -0.6037, -0.0315, -0.1135, 0.1048]\nstate[eef_state]: left_x=0.2745 left_y=-0.0 left_z=0.1401 left_yaw=-0.0011 left_pitch=-0.1991 left_roll=0.0027 left_gripper=0.9992 right_x=0.3034 right_y=0.1728 right_z=0.0612 right_yaw=0.6011 right_pitch=-0.6174 right_roll=-0.0139 right_gripper=0.1048\nstate[joint_eff]: [-0.1436, -1.9077, 6.9128, 1.7509, -0.0171, -0.0464, -0.0073, -0.253, -8.0068, 5.7231, 1.0965, -0.0464, 0.0562, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6128, -0.5365, -0.0139, -0.0307, 0.9992, 0.4297, 1.6905, 1.055, -0.58, -0.0574, -0.1761, 0.1049]\nstate[eef_state]: left_x=0.2745 left_y=0.0 left_z=0.14 left_yaw=-0.0008 left_pitch=-0.1995 left_roll=0.003 left_gripper=0.9992 right_x=0.3306 right_y=0.1666 right_z=0.0461 right_yaw=0.6105 right_pitch=-0.6385 right_roll=-0.0078 right_gripper=0.1049\nstate[joint_eff]: [-0.1026, -1.4427, 6.8581, 1.5946, -0.0611, -0.0513, -0.0073, 0.0615, -9.5521, 5.9556, 1.0769, -0.0122, 0.0269, 0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8463, 0.6128, -0.5369, -0.0139, -0.0307, 0.9992, 0.6373, 1.6867, 1.0233, -0.5362, 0.0063, -0.0135, 0.0082]\nstate[eef_state]: left_x=0.2745 left_y=0.0 left_z=0.1397 left_yaw=-0.0008 left_pitch=-0.2006 left_roll=0.003 left_gripper=0.9992 right_x=0.2959 right_y=0.2221 right_z=0.0409 right_yaw=0.6415 right_pitch=-0.6269 right_roll=-0.0113 right_gripper=0.0082\nstate[joint_eff]: [-0.0752, -0.9094, 6.8718, 1.5556, -0.0122, -0.0464, -0.0122, 0.4855, -7.9248, 7.9521, 0.9011, 0.0952, 0.0757, 0.4469]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a2b1a9d5bef35af6af034e58c5136fd1c28c9bc91fae48d3876ce1006bcfc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b352a898c7ee8e0ff0e0aedad7079767f31e15c484cd0c3d4f2c5c7a1ba15cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f1f5e25be34c1b0add0bcebc6b19f0c76758b0888cfd72ea96e627af89238f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvE0HrkwyrvyDirHgHlfU2fX1VqC2Hf7kRlC_VlBCjNRRqb-fN0r6hV9qPik0JhGvfi2Lr159WJLno_q_xUlOfZk9QyjLyF7W72NxSYfej4X1HxKLegJB2Kv7PfsgpqwbjMi4GkjrFUkRmTlAocf_A9CyfgH6lVEWx0Ok7AJIAgHpefDns192l5zs7v4CQb_jLBSRCeeaCFIuUfPACzCZWwzwgC-8DyqbM8-7Y86n1-Eln1VbK6FCi2FGIxffAfCpWbKq37A1bEfV6C6t78HFDFxxSATreOhBthIQPbxZQH2BPbqemkWmJyLrzt1uKtXvZwxEjd5lZQEu9j8n6XN-fKYimBR_kGbrTm3dv2XuLMWPYwmKBZp8ADTv6gEg20XEJdxsKpse_2J5Nsa9aRTTdF9FYORWaUmoO0VBJ4Z51ZgSwiCle3ZknblXvZk06qjzmD3DPWHPoHReufm7cS84Gu2bkGWJ39GHY_cVNLVTN_NlIFo5u_Sb0y4y0Q0vaJ5L0vsVlixPYv8jQa7m2BXhRM-sCrEWEV9b4kRfTxJRvtDaLAt5sLQ8CGIDhRli__MwmOoYp5oSuhKOWtJ2xykvY6s33vyLHKhylIEWRTxinGmEhBJVFX5ddv75ZnII2viOJSH7tVH8Ktg8noAyKj-X-0iQlHT5vxVVWTnRcIzEh6FL_8N0Bysdzp29TF8ooMmFJSKcNei_4M7poI2tK9irXmHFy163Uh7jxqEuZSGRxnGienIi9QLgaGlNGnui7NURTPjCwtVbebJgj0Vf4tj642O2FkdT0JUvlhWVqlhjPp0X10swA6DErDy5G_ZYxip-QDYaATm6uFRI0EOou7HJuf9p8BdZA7uOf7VBnbfeO1CBLG_2eXINOUpbv47Qs2yaUYqpyTb1CBqCWYi53lMX-JCzX0N-4cb3bbTUTEZ1RaJdDxe7pkVpTrxIf7HfaJm2KytmVYqNrLVR1tF0LhiBMeSyoaw63Q44PssPI3SdfqscR5guoVy4Wpjb-Z8cO1GG6r3N1wDeIsQPqQeia8BH4rQiBbDH-P_eTlarKONi5w5Gx5MaOItfJT9b-_s0asrJg8Lt7E5mdHdi5oJSRcA_0HXKratLQK_G7Lu_YHpBVmC7qNktOR5F-VJnpnX_seR5B-qZzHpbRGDDaWhLKZKz2I4-kC5x6539rpMYHiJK5nqwoiFT0_5b0CHO2i8cxHt_PuS6zlCMoFWduqOXhVB3tUo-mAQ6IB008hxtnb6lO-mXbwXpZRQ29GyiUAWzlmyzeBvjG8OhcKNCxzh_PBLoMnUte2AawMpg1LzoLyuf7QeZYNJht8RFNy877XS5oCVX70vjxkiK983JH24sE7obXdI-XkbvVMFLMceH1_Xw3uasJcGwsNBltgkdwH6gBLFuEJ",
  "id": "rs_006cae29619b2ea6016ab44bc2ccb887d097e08b9d619ebf51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.1,\"right_z\":0.04,\"right_gripper\":0},\"note\":\"The closed fingertips are now directly behind the yellow fruit on the side opposite the blue bowl. I’ll push diagonally forward and right into the bowl’s sideways opening, where the pear is already contained.\"}",
  "call_id": "call_tp3lkYhbFaSR7cNGePjMx4Rj",
  "id": "fc_006cae29619b2ea6016ab44bc361b087d0b35f19734b50be0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tp3lkYhbFaSR7cNGePjMx4Rj",
  "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, 0.8471, 0.6132, -0.5377, -0.0139, -0.0307, 0.9992, 0.2008, 1.6917, 1.0096, -0.5388, -0.1452, -0.3946, 0.0074]\nstate[eef_state]: left_x=0.2744 left_y=0.0 left_z=0.1396 left_yaw=-0.0008 left_pitch=-0.2018 left_roll=0.0031 left_gripper=0.9992 right_x=0.3506 right_y=0.1011 right_z=0.0363 right_yaw=0.6171 right_pitch=-0.6205 right_roll=-0.0058 right_gripper=0.0074\nstate[joint_eff]: [-0.1573, -1.2923, 7.0222, 1.5214, -0.0562, -0.0366, -0.0122, -0.3487, -6.2427, 7.7744, 0.9744, -0.1832, -0.0122, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ae43b06f3adffa9b7e5b013814cc1b634619b32ba5a27a0b90785043d6ef51e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e925a8f38cba55e77746bde250a4378fbe4e4566961ccc886acc17c8a451fde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d1cfbd897025e1f58c68d59f5f9e8f51d46a5a593376793e6d10d70b470acb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 135 changed as sent

message 144 changed as sent

message 148 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8455, 0.6128, -0.5365, -0.0135, -0.0307, 0.9992, 0.4343, 1.6875, 1.0859, -0.6022, -0.0509, -0.1703, 0.9955]\nstate[eef_state]: left_x=0.2745 left_y=-0.0 left_z=0.14 left_yaw=-0.0011 left_pitch=-0.1995 left_roll=0.0027 left_gripper=0.9992 right_x=0.3349 right_y=0.1692 right_z=0.0551 right_yaw=0.603 right_pitch=-0.6279 right_roll=-0.0153 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.265, 6.8718, 1.5214, -0.0562, -0.0366, -0.0122, -0.5402, -6.5983, 8.1573, 1.0672, -0.1001, -0.0073, -0.1392]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5369, -0.0139, -0.0307, 0.9992, 0.6373, 1.6867, 1.0233, -0.5362, 0.0063, -0.0135, 0.0082]\nstate[eef_state]: left_x=0.2745 left_y=0.0 left_z=0.1397 left_yaw=-0.0008 left_pitch=-0.2006 left_roll=0.003 left_gripper=0.9992 right_x=0.2959 right_y=0.2221 right_z=0.0409 right_yaw=0.6415 right_pitch=-0.6269 right_roll=-0.0113 right_gripper=0.0082\nstate[joint_eff]: [-0.0752, -0.9094, 6.8718, 1.5556, -0.0122, -0.0464, -0.0122, 0.4855, -7.9248, 7.9521, 0.9011, 0.0952, 0.0757, 0.4469]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6132, -0.5377, -0.0139, -0.0307, 0.9992, 0.2008, 1.6917, 1.0096, -0.5388, -0.1452, -0.3946, 0.0074]\nstate[eef_state]: left_x=0.2744 left_y=0.0 left_z=0.1396 left_yaw=-0.0008 left_pitch=-0.2018 left_roll=0.0031 left_gripper=0.9992 right_x=0.3506 right_y=0.1011 right_z=0.0363 right_yaw=0.6171 right_pitch=-0.6205 right_roll=-0.0058 right_gripper=0.0074\nstate[joint_eff]: [-0.1573, -1.2923, 7.0222, 1.5214, -0.0562, -0.0366, -0.0122, -0.3487, -6.2427, 7.7744, 0.9744, -0.1832, -0.0122, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ae43b06f3adffa9b7e5b013814cc1b634619b32ba5a27a0b90785043d6ef51e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e925a8f38cba55e77746bde250a4378fbe4e4566961ccc886acc17c8a451fde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d1cfbd897025e1f58c68d59f5f9e8f51d46a5a593376793e6d10d70b470acb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvN65AB9w1XMXFqkalaNQm-5xeSUEqiBTw70EZ3ynfMBGGjy1kg3L6uoUVYZ2nKsyT9r0auc5KEHZy124Auao66BRpvK-n7d1oBXSiEsIRxTzWho5japUMlDLhxfEWeRCmb7wIX2YRY7l5Hpimpv8DdHANZm3yuW-fY3YuvHcRxvWInBM0V5fblYgvVPtEKCfWMbsdR-yW_T1JlStMv8kdLyWZiYhb0LkjaLxbXAqwtzgi61iSvKSJ0JbcduxZqIi3IZdXswA_oSYcG0b9ZElwM4R8jzkTVSyXRk9idUkpFI-v5Ps68_-IHdWRhYKar8s7uU-u0c_T1cQN9wKn1PrM4bXBEqISGW6vSIMxpeCsz709t9Po1tAdJddbNZ0KQmTyLEqKEYmKNO64iS4Ny7PHvDI58r7aB6j-wpdbsP-mrnvGQFbQbjo68sH8pL-5kxZsOUiebS44X4iWtKohw-JOe1Wvqo-K_w6hNkeNOxrjuitNn1cTgMzBtmTacfjMMp_zXwWGNBEFQuVVGlvRmvIh8IF5OmqJ0m4I1OuIET7pJhU8n_xgJ2gpO9G72cFWk8QyHI9OorEKKXkUIWs1EbXtoxhAYM4qc1y5xxE8qee3jYz7UAucQoZ6ymTJe9RiPKGmLW0wZ241xDxuwSNG3cxr1jWNU75f5hto1sZ2QldrGkdJ5gvcYwkK-F9aHlJrUDP7T6jS7urnwrP1cyk4zBgIedCJban1T-7Bv8NupFPm2nxlXKaGZdcHFyXr2RYOjmtrbUt-KnKXTTPtzWWkzkX8nOuUB51iKnb-5vEMN48wmVXjAIJTLRYjBzRwd7A586YLaXXO29szYLzo5S1AYbQODLcHy2KZFnrZ_ygAnid8NzKhYnLQmZO1-j2y9AhjNfDPl5QjNOq_3etKuRIWLXcNc1MyzYIa3tsEpW6OjdBT_3P2XrMH4ci5DMwPuSpsOB07BaF1Pom5mlIU50j-DWcijqswejXac-ZnAso1oJv9BCYv4X8pyC75UB6epavPRdYgr0CxoGZhjC2Sz4Msgvo99hEA5TY0f0BShkVif0lxVZpT6hyEtTm2J3xsB_q6iYCP4E1uorbcb_k0V7vln9QUyNvTvOHGbAJdWBWy8LsHehpxEqSS4Sq4lSVM1Ufn-XrrHcJxtmQ8XCGyFNdqdTzs9LCluxVDiXUjfk3QiQ3hGC4nCJ6mCjpE9bBQ9W--AGUIRht5uJ8vRe5Xu_Safc-EkfkWNAHBEVt59QcMCNSs97h0nfA5WEz9NEP327rTsHj4sZ3plyky1X_l5-HG2bftcc6MwQadpfYPAVg3T2mhzfMNKnmXjKf7z8j76SrvMnJcRjsHeW_Gdp-DHdcEFnEbAdRVBZQrMjoEZL2zojT10j_WDScjN2sEV2c8K12PN7nFNrypgGH7tTKrvOOLf9l73v0G3lsIgfxgvluzzKUuiRW1HduQnk_DD5-goGyD64VhkX2GQn3AtsbTaELqAgzbKV40vySpPfLllvVgX4jwLs7NjNMT7KsIXq0_y8QCbk8Cht54RXisw-Vx_5EJ0vXB2EjJ3FVP68tjTmCCnbm4Eer1R1VqWdUsZ22nJFWAH8AUFUFPRyJ8KuMuLnc9v8RfymPJadtqPEtwXCe9rAW8UauDUIgn3tKppHinDEzpX3uVjMiEW-hPaLdqG8wbsH45t5LFY6OcxXYYcBExE9MHUxA-8R4jbKxqUgTnlBEQqFcz15YQRzJUwpX9VomsShDtTOX326xckEuCk9PbIo0viJ842CD6qr2_gzfWgReUVgwi41EYUNkub6vJIPtJMhOvtH2StSmXbAWNzdcesQlNQMf3Kw5En4vABT0i4iofL4WykeBlomON0YPJ_92FmsEbxS7mFS9k2WKc8hYHK7Xd7kZk3mdfcm_2CwAnidrh6dMBRSVIM-1D8W58HfMJqgU3zLtAa-QjPuNFoSnsC75SJliDQRDQbCUYFSU3sGMSpBXOdTMSYBcfcZpmPxDw7aFVKA7TJ-D8HWJVojTVyst4YRCFIYcpgxzaN9vBtJ2dIpMY-HuQIDFNlGMQc13P9Yx1lVwd281tlYz5EEwBg3D0Q_Xwine3tPEPAw0tdHLoQeIX2xpuEgWbHixDghWObWlFgIeHaL-VmdfYbYXzBCs5ZXYV9urwT0wIalqkNTbKXSX8M2v9OHF2Lsml-MHM7dFTPV7liTj3AfQIMfjxfzfOM097JlW3nLjhv27JYumFma5LbL6SxgNPo0zeppOVCp9OqxNF2m66geEK_HYSsD5Q5U7lqY44PEzRt3lEnkQriImk0LfxXKPq8glLF_v1GSKq0Si4r2-sQzxSSCEXCTzgJRXlbj4urklgmr-C6ivWjYkuqa0OrxjlelmW_cWBJg5fgpHUG2mSjz5WvTPMtA6qoT8HYpgQbVDnEzchA_iGXvfIx4fFD1S9VS7jQG7x-trfNlDyqN9IcIJhVU_a0nIbGv1J0Hew1EQI071_2e3EMUv3LJmXaY9nyzAypeWQzEiAt1s7ZWOSclgsF6CteeJE9EUDvaa_zK62D68K-hGt7M-b5xyoXWeHUU1T84gFvwNmWHRBK0qHGHqdRIRtylQAPWFWcy2kuEx2edfWC4KsXxQ6OtmoWf5k1wdurWYvDVkH5lvJvbbbz5GLUO2MXHfkPPcUQvWkl96Zufx5_d-YEa9Q4SHDyMlezqFOQaw9U6lOPdLzOwkrjpul7t3EZAHAcltKh6xSaFk9yxKzN9P7rzh3wMvKWdNdXW-U8YAqkhpo_8AZqRTWBLDR6hu6aCS_Kovgj48CXtvx02dSHOXyfy29Dz72Occsq2hHYfVDKjZWscda8t-NUrsy9apaSqSqNnkUsVZPTmTs0X98XK5ySWTFEwgEgyH2AzrHbIHZs0S7-o8-u9RRWqCY-npru5Up5Ct_FZ3UwwYXpW2v1ayeELGWy5HzuF_vEsEiI8vs4Zs-bKeQJUjv7adCcDH5BAm_QEycJvVsFtkJ9tGIUiUGJ3n563fwtk7arDrpaX48eP8zHnluy2lIQTByrS8p55GDeOcgjLk435r9T_l2rQIr0WKCff1NfJkFAEzKEeg8ZNgtx71rkxJ6ZND3dQM5t_0XR6dMhZMHorpgmgxxcZZAjKlUdbyyLbgb_395jRO0skz5JkwW2KWFzSzZeRlW7v8dqhvlBGLaKeBneYjY5Ia9eQQqaPQsfFTl3JjMAu3tx3BivQ-yRpICpz7fr-xPBkxYnUEONtml60hpLOxIXTGPQg0pIhM-3bkIvDHSC3f52ceNK1LR5z6BLNwTmlTPKR1OayXMdwqfnuNtVlrvXtOoGl7thgNARHRrqkxkE0wmCkZabmc5F6a2Ff4dK2DcNbbzfLy0CPkzZACddkZjmJw3yu6tHY2b1020ErhcyJQZqvQTlY3j3d0UMyg5ccUPU4oPumyMW6Ey8wOBiJNCeE8HKx2GM2nLpYyyVzE5GTP7mYuhqsMafG8yIO0orszooPxhFkPge9UtbsblX4--TpPjw6mxNClpLAW1LGlcNTCZqTc1YkgMy1UnpSx3cmgkmxLXsKXNCfbfb99iAY8Cu27s_8tFx-G5HBe1fhr5ip0fvt8motuVG9uKKKaRooRh-bhyyTVW34BlFfzUhfaQprOEIqaTwfI8QcXdR1x8cuy-2p-bOWdNIPqg_EvtLFHCkrA5tLnj8sXZ_WwDfNjcyR7nRE_oCrfRLoKNb30PCi_53BYY15woaB6utBNYnaqReNDo2rT-tObSV1jzRQREZ9zxvxJxgzS6IQYJGEH2ta4mqXxPiuBcOaWTF-D99asHgyEvR1VoeHStAHTH-f4nclBVZ9zEa2sDv74teIJ5jrq6Oi0jUKLN4k8g7C3Qg8piHe0-Gaa8j9CcBbiAKgmuvt_uXUakkPwxIkzBFqjv4Nxs6Iwa1C9zXFEbM94UWsnmIvR8vHJMt61d0lICtzj9MLJuTlpnOh3LkL0gKvqVBmSOaNPnf7g==",
  "id": "rs_006cae29619b2ea6016ab44bc6762087d08931c0a07506c148",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvNvrrvQSl5vWX0aYYIAyMWLw5eycpY0uEly3LD4z3_YVvAWt6rfIP9D98sTbDYY6hyMsFYjR2vcP-SdNKV8GUM775YHnXz64mucPKKtkyXsjYXETy2RI1n9o7XAiPT-IQUPYTeKn5LFioNG7RhvA2oUgkwYpjRK2-g-2DdMmGZyQzbRETbsSovlhT1bfzhssUeIsSk_anFkctP7eXNTCMW3sheWyAF5qw3FG1ldzSzV_culVX-Pj6_1J-IE1TTMs4SZxyh_7ORX82x1Sj43J52xeAdkpiZIy_Xlvbf0SC5U2dw1NHwAd2s9cBp2f1BbhPCkD6S6B6gUdu3Ek-_jgxqv9-LMAOpnTns7icG0DtbMRvOoeMBMP7pFRUvzGfSFSuxyMCdpyx35hdaTtjO9RQ2fOTPJYpC6HWYy1-mB0v9WAJveNXNhcB08CVIeOyfieHSWgAtt9rvwihAC35qCCwrAjN8i-Yp8zxoKd-cQ04DpAvYVty4AW5xnzYhe-ABU8f8twphmHCwosAt3XcKrJtWopHcCSSqNQtIVzHKHwBjOknSOlPHefzNbXLkD65jvHHYdbuyf455rHVKco_6VcYFPRPjIYzgqC1u-J-UDNPziOnOCgBAHoEwtb-XweqHN5ZKrFuM3d0TfLBX3MFQrCLXrzgN3tcoB4xzvs9wcRrxVIK8oiV1bCcL-WV7nZKFMds7WXxfStReTwIzbuv3SdGgbgecokWJSi3HmAC15NA6Jtjs0DPGzxsL6XCpMZ9WDJflBZIQtYSSWXLIIAphstfS9HXJvDupG_uKDe_hSdH6rAGDyM0waAc7XLRROgmnBpERsE-uJKBE_vK3y0AFSB2Dhlu7YPR1BTPo2xa6uPX4NQYOduCkhZ_Xc_kW-TaureZOdgpTzeLJMhXNsMCpGQFC9nI2V5CYOnwPj1c7XTNHUDIFA0wy8yPiEfeuP0CaPRRh-xbPW6uYShAq56mPn1PWjvfYvipG5iDo0imRgUa1rtRsFEp65sR9RWVvZaNEQhYq-d3cAig8aR4f5N-s4av_a4nk7egp3tXOaWxQ_XDFaVCHwi-X_NI2xhsv16ZcOPd2voPJdcDFFFsEXlIhhEXGng9-o-9_UhDY-fST5wJTMoKzQWbtruKy7_z6zYzrjIg4TbyF92nDDQt_KiSxni9c34HSeyN84v9dpDRBBMmajo8wu05jso7XopzSzxwPy-L5X73iztAOvVRLyweskVTyRmqpV73qlX8yctTUFUU_yWZsu7Cbc9SR4HlXxd6cDtU885oyG5RTbBUvCjRssnO9vuFYfT9oIAz7r8spLoAEZHbnv59d5fHIPjwLDd8OxBXqBQdgNQRMTHZJay64Y3nmanDOLSuRnhQJNdspeSRK-E4gLEl7VmuuMEyqDnTWyAnAZG52uBhvCOb8ZGDp0hNfQttVw6S4BxnsTELm-gxtPag09ScZEEJMKwNMwXfi9EBK8-Hj_QeZkhOsy0KabWgB4vsGhVYtWi-TqZa6LSvmvqYKwLX1JqFblPA116ieiWPV1nhJZPc85tVAcaYyMqu-arQNAuLon3AThAJLoPnlfxyNL5eihZhMFdnj4EG3HvEwMQpO0vultXpSUYa4M5JPqczES5lRo_rB9iXewZUilJi0nCeQKSmfOLX8wejxIVLr9UuUQdCYOzpwwOntvxx0OAXAnmfMM8T2_O8G3ayzh2jhmyIQaQDe6c_ATpSHMXnZSC4aEbszQNz13JOHAFDXCJv43DTp0kiHO1q6o5h79-piTzUMLq9mzfBxqAioJrI0wX4mLRbtQLdVv0NEQdTh9EkamyQrR68lG4GdMxK2oBjk_RQV0dbEBwlAzS5n3gVCBCOFsVn3-O5X5q7eqMsMrTKfq-yzXc60rRfX5jWmKzs=",
  "id": "rs_006cae29619b2ea6016ab44bcb784c87d0a5dbdf3146196f34",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.12,\"right_z\":0.075,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The push glanced off and left the yellow fruit outside, while the pear remains in the sideways blue bowl. I’ll prioritize securing the loaded bowl now by opening directly around its exterior, then attempt the required pour toward the large white bowl.\"}",
  "call_id": "call_qwTCPdVrtDo3KPViL8enCdVb",
  "id": "fc_006cae29619b2ea6016ab44bccfb1487d0b5730bd3010c7911",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qwTCPdVrtDo3KPViL8enCdVb",
  "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, 0.8471, 0.6128, -0.5388, -0.0139, -0.0307, 0.9992, 0.3672, 1.7012, 1.1542, -0.6609, 0.0998, 0.2314, 0.9954]\nstate[eef_state]: left_x=0.2742 left_y=0.0 left_z=0.1392 left_yaw=-0.0008 left_pitch=-0.2033 left_roll=0.0031 left_gripper=0.9992 right_x=0.3615 right_y=0.124 right_z=0.0679 right_yaw=0.1108 right_pitch=-0.6225 right_roll=-0.0093 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.4564, 7.0632, 1.5702, -0.0562, -0.0415, -0.0122, -0.0068, -6.612, 8.3487, 0.9451, 0.1636, 0.2857, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aef86dcbf682e8adac4dad49b2d332538d42f026316cb0931d5ad80dcf322e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:730b4fd6cca269713b835f527c9e3b15e3aed689e49fefafa7fa9a9d7e506487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8668d9dd7c85c34800f097df99e38acfbbf7c30db91b2eab5a32c2bcb727f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 139 changed as sent

message 148 changed as sent

message 153 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8455, 0.6128, -0.5365, -0.0139, -0.0307, 0.9992, 0.4297, 1.6905, 1.055, -0.58, -0.0574, -0.1761, 0.1049]\nstate[eef_state]: left_x=0.2745 left_y=0.0 left_z=0.14 left_yaw=-0.0008 left_pitch=-0.1995 left_roll=0.003 left_gripper=0.9992 right_x=0.3306 right_y=0.1666 right_z=0.0461 right_yaw=0.6105 right_pitch=-0.6385 right_roll=-0.0078 right_gripper=0.1049\nstate[joint_eff]: [-0.1026, -1.4427, 6.8581, 1.5946, -0.0611, -0.0513, -0.0073, 0.0615, -9.5521, 5.9556, 1.0769, -0.0122, 0.0269, 0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6132, -0.5377, -0.0139, -0.0307, 0.9992, 0.2008, 1.6917, 1.0096, -0.5388, -0.1452, -0.3946, 0.0074]\nstate[eef_state]: left_x=0.2744 left_y=0.0 left_z=0.1396 left_yaw=-0.0008 left_pitch=-0.2018 left_roll=0.0031 left_gripper=0.9992 right_x=0.3506 right_y=0.1011 right_z=0.0363 right_yaw=0.6171 right_pitch=-0.6205 right_roll=-0.0058 right_gripper=0.0074\nstate[joint_eff]: [-0.1573, -1.2923, 7.0222, 1.5214, -0.0562, -0.0366, -0.0122, -0.3487, -6.2427, 7.7744, 0.9744, -0.1832, -0.0122, 0.7692]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6128, -0.5388, -0.0139, -0.0307, 0.9992, 0.3672, 1.7012, 1.1542, -0.6609, 0.0998, 0.2314, 0.9954]\nstate[eef_state]: left_x=0.2742 left_y=0.0 left_z=0.1392 left_yaw=-0.0008 left_pitch=-0.2033 left_roll=0.0031 left_gripper=0.9992 right_x=0.3615 right_y=0.124 right_z=0.0679 right_yaw=0.1108 right_pitch=-0.6225 right_roll=-0.0093 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.4564, 7.0632, 1.5702, -0.0562, -0.0415, -0.0122, -0.0068, -6.612, 8.3487, 0.9451, 0.1636, 0.2857, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aef86dcbf682e8adac4dad49b2d332538d42f026316cb0931d5ad80dcf322e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:730b4fd6cca269713b835f527c9e3b15e3aed689e49fefafa7fa9a9d7e506487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8668d9dd7c85c34800f097df99e38acfbbf7c30db91b2eab5a32c2bcb727f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvSyjdASTognh8HsjjAQDAQmH5HredsA7IX1NJ6MNLZH-fna7kTMhh9-EXaar5pJWRp5BiglAkZzpL6ordy3rvmXcDVAZ3BlOHNQ4ra3hNDsYU1_JGHazDem--oOdVUg4T_vwF2OLwKe_uJFIRmw6r6Rdli7T3hocxcaIadtAC6aJfSyswebQ12F1pioHL5fcClgIGg1kKghdHAPV5GrvTldBF_NEtPvxTDCKEqfoAvVwYh8ExvUTdiQb1d7lPaRdb7CMCCiLdVycgZsXc12lndJExusiOZ1skXuc7XZW9dgtbEQfvcuVDDculrYMun5TkLYzthiwMZJ3uuGcWdk5_dw2H17CJf5KzjZLRdaB4wqSxAugQnlXRGhAI6-7AWkOPDl5m9UQ4Qo8o3v1667-T2zl9iHQM5eT4iVuC2gAGNXHSkEuoefiBR7sKq-G4hIWqmfl762IYsdU1GrwNlOCoSyq1o8GdoFSUEyMHVNNZ1-s9Qb8lcxdCvY9GpQPwBUBDAYuDT6DfWq9-O1jfZy0zBZGtiZhydlz1Zd2nRvs-ZOeeh-r5vaKmlALWnUGJrTfYTiBlhprGQ66gpHg3_hqkrA7vvzBmng07ms0CdkfY3qv3CEqXbGvoy6aecIyIAhxTszSiAHP2iw_zVrWypjIK3xUZsqy9AXhcq33wQSLLjk9Q-_4y9tSxhSznb1tZUEpK0GIBFZ4ZdMmKflz4snCjehwgXn51yY3fT29PzMZvbe5A_YdXf3Jbu88Iwgh-OeE4_2fD9OnkxiHQsm0-pSZ8JCze6FPk5Hd-BPErfD1Ty25DKDqy53__6F2mhN4pi3x2q6e0_bywEYJHXgMhcUjt6j2nK5t1exT9dnj22yyfTBRBZK769oS6j8yt09_c4e_GxYKkQfTTXRKEN521tGVqgDubS8fn68sRV1VQEdmQ5BxG6E8ZiloUGqb9lxInVqNV5rfgfS4bkA5o29NA8_dFmf61_j2OMo_CO9p1gX8tFZcI0orPNNO0QP1WQ46KICT_gImKIS3362xrBojkbIFT0xqf1ZYk38YDXp1gy2gyt9J2qKzwke-kUQzfJ2mBgIlFTD2koODjM6o8IoNLwLyf-XNTDOMlmm7GbGu33KD_Fj3YJ1Fy779DrBUmc62ZSqgSgSlJtglcIuT4K1WcU9AXrJi8_zCc7P4L4jAbmwUOlHnUMxBqi4kUQqje5nElIA82axtTL_iu4D5smSRBzg80neF9HoPPxxgNPLNPm19X8D5ygpxoLlmYQiXNdJDh5xjPophQbZCvTx4wO3iAD3fyLZWovDNpskQr6_dUtR6Q2JL5L6cq-BWLO7Phx3nBBbxHsywJ945RcQZe5RDlC0K7Vw1TK9nMbbmhoXXAZvnHJ4YZf9y_mrTtQT7NM01-lQ5YP6nGrAg_XNvJb2QTH5AK6uzg5neqGFUN05xp3uybDXKDIPk4hbvtIcY8lXXa7u-KbpcUSnqUd6y7uMpEDmJaZJyr9j75RexSPMLyxLI1kYCFcuGKh3VO-Iq4rREGoDdHI1oPqgsU-JQ3dSSUCx36hToeu88OEisDh7jBvRfwOotP1jT5iPCOvYp9Rv0lJKEYAsv0dC7FDkETga5msfc14ryD4FrZQzS3dtNiuqSNmk9mCeHZXEJ6wuyR_uKQAl5JkfcWIlFthDUpUeQgABzY14Y0_0ts7EV4uEtzmJDa0X9HU4KUNR2LkaYe3LcJ5h3za",
  "id": "rs_006cae29619b2ea6016ab44bd06c7c87d0847afa3a19ad0bf7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now span the narrow gap between the yellow fruit on the left and the loaded blue bowl on the right. I’ll close to trap the yellow fruit against/into the bowl while simultaneously securing the bowl assembly.\"}",
  "call_id": "call_ylfGr928NpTGGriVV8mQQIHf",
  "id": "fc_006cae29619b2ea6016ab44bd1680087d08b87776800e8a715",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ylfGr928NpTGGriVV8mQQIHf",
  "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, 0.8471, 0.6128, -0.5388, -0.0139, -0.0303, 0.9992, 0.3702, 1.7035, 1.1324, -0.6487, 0.1078, 0.2249, 0.0094]\nstate[eef_state]: left_x=0.2742 left_y=0.0 left_z=0.1392 left_yaw=-0.001 left_pitch=-0.2033 left_roll=0.0034 left_gripper=0.9992 right_x=0.3579 right_y=0.1224 right_z=0.0612 right_yaw=0.108 right_pitch=-0.632 right_roll=-0.025 right_gripper=0.0094\nstate[joint_eff]: [-0.1299, -1.4564, 6.8581, 1.5556, -0.0415, -0.022, -0.0122, -0.1162, -9.4564, 6.0786, 1.1062, -0.0024, 0.0513, 0.5641]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:652fc73b5907c0b1fd6b73b9a78c1c1b3775ffeec47578628009e5da126f469d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a86e72e6bb568e25dceb48b2f8181b1abba55c00de1b9a68d921541824a703d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c2513a0eeeee7659186012410b00c421cd2d670e1cb78d81cd089543eb2f3c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}