adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3855, -0.0143, -0.0296, 0.9993, -0.0227, 0.7998, 0.6182, -0.3904, -0.0208, -0.0196, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=0.0002 left_pitch=0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2955 right_y=0.0006 right_z=0.1827 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.7846, 9.6752, 1.8046, -0.0806, 0.149, -0.0855, -0.1846, -1.7026, 9.1966, 1.8584, -0.0269, 0.0269, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f86be5fb9d60859f108654416576dc9248b730cf472043fc1796ada8a2a77b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a566a0a20aa0287d3226c58efe40308f7f4c61962d9a19c7af2c37c5fc6c168",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988d0f1fb7d866439dda39bd4881dafba33fbbd77ca14ddb559386124785a4a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtDewSpgUdHQMFz6z5OLbC4fPVZFlWLYwwSMVQn3kmVMfnlCXWuYuPqNbICvKi1aN3hhsQP9m9YQ46ifaRuTfl6TXZ32gXQ084AoTvMHVzVdHolKqzxRBjet4TgWSk57oBLkSnL6kXJgsoF4IaZ030cocHejEeDGSxLEe5t02OF0rdaxiQqNChrCDq0YBzCnL0e_MB6Wn2p66uVThT3puTTqQwoOC5Dj_jwyAP5pUWXsi3VEeTLjmHCxEef9IKzKZoBherDxvk1x9tjocSrSn_vv60IJiU8vW9bjfSf4fl2NtGPUfQ3asxNCfZpZxdnpRjGtLa2fmvCzmjnFacn4AtLSr6rLe6lrOMtOKpKxU_zcsz_8uIeIvP30GBOP30MZFgEM54o13wXeBQh0HPiBcyX5faiYgltgkoGeY1-ZaNkljDtHnE5R445-U6vRvtNoTRv1CLxfby85kfqJkUs6J1VikO5f88P6ESUxrLjcN_YHjZfC98gQgdbaw9__cwL77jm3DcZnQAmk4eu9HQTB_Dl5-w4N_pf-78e314mFdjVfbxPFbJfyG8btz3uz8ead-kH69BehVzoEJn53O4yhI5PGTaFKM8PpaZ2UVuv0YGs6G-PDuIArfR6bFR4oLb6kp8G-O_NA9EnfqT_hFtyajTqFfQVSI0dlDVmfBeux68uHVgGfo4Wun-tu3M3wTB3JAniX6KtOR_kEULJ2B1VRAFaxn5qXobqsNKPhXPdCJqfApaJh62D3Yl2yFkcWGAxpfAmksxjzbPwV6ourMe1kAij4U7S3ZgerMJsDufk0YFxh6C-RewtGcHVt9RRLWEsbVx27exWDeOTKNabnQnQgtpq19RUROsV-fROBbY8DyHxwBwkFhzbCsjPeZe2aNZ8CyaujSib4svHiQNWiDen-5woLI235lBeUiHWSeg53QyfPkz0s6kXi69dvpA4uLBRaLMk-zZx_kdo7Ekm1R9QR5n2x72msacz5XJnBAsxFjfR8xHo97oMbhizDPDMJhpSl9JAZF5CknI7yYnftqsv6H4RF13eJJmGCsV-oFu1AhcDIhnkG37iReTOK7NZ16ntzYmqZIQlms7q1d5AtpJsAQqQL-6jUoKPII_79MJyQcv3NGAU4WwB6cO4VvCwnyGPeRI4t_0DjlolG3_Zk46vdUm6iurZYr7OzV9ZGgg08mU3NycKoRgjyHwjIQyreE9vIprx7MKaS9lE70Cu9dINofptbzvK0zVSfh7gm5vtZ0UZ_P-C5jel6yIZh9UJHOL-u7zBX7XiwvPpA6FcMxsI4tdnfgADcVh8iGaysaeMSWp6yvek2-WI27bB2iW5qNeE85j0JH-NRfCbX96i8oaMrmo_tRXRlMTaYb1yJSn65MZe-n_AMW93u85LNWjQVOhhJXKEGkUmhZGwWZvvR3Z-UMl9-RzYeQPdApetlMYpMe6WqPqI71WqMOQDBJywuexqfZ51T1LoOi7oAGpLfFFNPLYUZzzn8Fp83W_1BK7HK1kiM8DA5M8SYxOw8s9o6S__caAYgrW5JRi19Kqn2755jdCB1-rOAnud5QThB718zvGKcUwh5g5B-b0Frf34FFQjJLCUqEfVf-1t_M9KhR2PArS5ZZxr9ZuYlHhTWY7pYodeDp8UtS3RPKM3TYEIqmJJeSHAOD3z2KAJLyeh8xiS5TF7UN49mJmesR--ueM4dANVJy9-cNkIbqMLSUz9SIydYna7eBcPKubNGMyiiF5mMif2prZuZ908QTWFRJcB4LF0XHJ8hUBxRLuZ_pEhLoQjUmKBIGICC63BwdwejFCrpeFuuvP1lgWQdx3qgtgEeK5gJme9fkwmeB5Lr2k4gBUsWWwtPjxsWlYKaw3nvKkJlqNyQorGqXCXfhe4HnXI2M23PNvv9gE37yDMFZmlQEhLBqyOK-uPh7yY-F8h_7J-Pmf1kClRwTND4uAN-BnD_tATFC_3c41zY3tE3_JTwYSgOD2rF6d0iWxdRKrmKZyF31uZh7PQGnqgzXHjmzpIIfxxyrHGcFxDtMDrKQYLTfNDxpgC7OsCVpUQR5YXwobcaS8x7dFQnfcx4dSpVOzRuaRfpJYhvL1QwshVaOPUbeTJXqM-aAhzJ7kPfUGgAtC-tA_e3kIFoC950dJ638d7X7BnRyBU_9xLiifSWcryrKh0BONMHWrtB2W9n6WpQlLGkUd_JpN2GxaycrqKMakEoQvvCURwgkrfrKHkzEZQsqT4zkJUIo6C4Ov2JmdAt8HyDsheLVsdU2Fu63HYFAGgaqVrNmW9sJcLql09Kjvl8YFv9IOm-3T-Ax7fX2_UnjuZ0D4fzkY-MryYA1IYU6lcKXfJP8_CnLsUqiNUejJWq_fiSSY6i9KzFAqaPp2TueQIMwrJWAaJaT4jEatCfphk8tOisfdIXrGSLfX6-iR8yG_NUhbIPNCJ_GxVmrfoWusOvTSUebmXVjQTlrQI9IBDtbewiTLT_KHtb0IjARBTOci-iN79Hamwiupvk_kb4QY-mUl-u5ng==",
  "id": "rs_00f56f3a0e430dd8016ab437ad3b1487d0be6ecef9ac8796e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.255,\"right_y\":0.12,\"right_z\":0.14},\"note\":\"I see three fruits in front of the blue bowl, with the green fruit nearest the right arm. I’ll bring the right gripper above it to line up a grasp.\"}",
  "call_id": "call_VGsDMUABPoNz6jGLjD3waRt1",
  "id": "fc_00f56f3a0e430dd8016ab437afd24c87d0a92de8107d3d4798",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VGsDMUABPoNz6jGLjD3waRt1",
  "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, 0.8005, 0.6132, -0.3981, -0.0139, -0.0307, 0.9993, 0.8227, 0.9264, 0.5259, -0.3836, 0.6323, 0.4908, 0.9993]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1787 left_yaw=0.0005 left_pitch=-0.013 left_roll=-0.0012 left_gripper=0.9993 right_x=0.2514 right_y=0.1227 right_z=0.1328 right_yaw=0.0376 right_pitch=-0.0348 right_roll=-0.0297 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.1419, 7.0906, 1.8535, -0.0464, -0.022, -0.0171, -0.4308, -2.3863, 6.9538, 1.5946, 0.3785, 0.1587, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de32801a7087fc706f2df23168cf3c6c9bd43bce3ff181077413caa876c8c13c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37fab365c3084b8fe2ba87735dfecad27b27b20dfa1e7651f2cdca1ba24bbbaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a0b35115ac88e960a9726e9bde24c7acbb322fe27af7d68da67968dc4dd7539",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.0219, 0.8001, 0.6136, -0.3855, -0.0143, -0.0296, 0.9993, -0.0227, 0.7998, 0.6182, -0.3904, -0.0208, -0.0196, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=0.0002 left_pitch=0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2955 right_y=0.0006 right_z=0.1827 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.7846, 9.6752, 1.8046, -0.0806, 0.149, -0.0855, -0.1846, -1.7026, 9.1966, 1.8584, -0.0269, 0.0269, -0.0855]",
      "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, 0.8005, 0.6132, -0.3981, -0.0139, -0.0307, 0.9993, 0.8227, 0.9264, 0.5259, -0.3836, 0.6323, 0.4908, 0.9993]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1787 left_yaw=0.0005 left_pitch=-0.013 left_roll=-0.0012 left_gripper=0.9993 right_x=0.2514 right_y=0.1227 right_z=0.1328 right_yaw=0.0376 right_pitch=-0.0348 right_roll=-0.0297 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.1419, 7.0906, 1.8535, -0.0464, -0.022, -0.0171, -0.4308, -2.3863, 6.9538, 1.5946, 0.3785, 0.1587, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de32801a7087fc706f2df23168cf3c6c9bd43bce3ff181077413caa876c8c13c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37fab365c3084b8fe2ba87735dfecad27b27b20dfa1e7651f2cdca1ba24bbbaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a0b35115ac88e960a9726e9bde24c7acbb322fe27af7d68da67968dc4dd7539",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDe3HYCS8Rb-VvH_ymwkKPVMFN87sQH32ctTXZvuzdSgBtwbNFEWgCgmUJQ4vCuFRveRKX2v3HN37i9jsEs0Yob86IjrV8xIr3ejLF-CKVPxWVgnlomWQ_h4cHYuukllHabUXegB4vI4NRP5E0o9YaI8FtTYEyfC2gWrO0vBYVxpgfhAjd2MPXvv3Sp46q1cmkrphlhqobb9KZNmMbezF11ZRFHCkOmeD181NZTTCWVPzX_Hls4hXoT49HqxUD4XEQVTj6UoQhgYdwBQeYKWjjsyg0tIacEMLAq6gyQ6SGkWOI673l7QgDIA2UxXCOftA-7hVSBaSueT7RilnJBIixMSOS7JqRaVnGHxKHfFr9zVSc3f9mjSos77soMIsE161vmhgAC8MTjWWLU5lh-hF1SL0Nfb0KwAelUj6GffV2V_4g-05qTeoFFGJC2M4Hh986Q1NlCkyvf86Rd0zKKWX2DsFqurM-NoLrOU9aZMRLXuFw1nOYoDRULxm_xBr4uoYRXNjOJKkMut0BU0Ls04quxoI0xFWvA0u_XD7jtuuUpTeImCEEX775LtrGPMDB_zCRcUdOvv7Ztt-8zGa92WMq-V-mkC69eqjoC-1bJ0s8rcGIb_8B0Wl6DhLmpEmYxmv__YqHGLVHQeFmVo51L6uDWUnpHzoDW8IJCgosAcQytq0i_Mw4HzIq7ai_4Ql3a1PvAa6yCxZmwTxEYKJZcHuUcu7lG1Ww19ytS1HxPuIzfVsIgvJETBgrLzixxekg8WH_2qFBISi2oA4LRSDS27S_E0DP48zbehcLDnf1-fN6eHa3PXvFMyi5K9322xUcNoREEWC48iV3OI2udC5WYSt3eHihO60HNvErniRWjfxExsJuKAc-pNjE-XihtTupiwbvLsiF6R6L6wxGfKeUAxIDX9POmY_KCE0oPba6bEEN0XsAC1KIbIAYlGQDda_V257KoBvROj03aGxLUXbx-T0_6csIsx7R3ayfiqw11LP9iqrSQ5enWAhpSal20AxkKhX0QBmZhDF-T7wpXBcxotuOIKz_CUPCCwkNV3g_MIP1Fw1P0tVJ6iurFc7X7LD8n3K6Yr6OcWMaV9AKwAr3YwA4PTgWYs5r-g2FvTOzMlR3sEBYe7Ckt9_VGmz5MNfHRJnloUL0aMr92buU23SHOR3IhF4BxcouxUIGekvpFVllRPjz8kLkbCObVlcm4JoRok5gu7C0dclUZgbPeBVHLnASlqaMxsdznp7yP7wGdnaLHE17xxW1zsJ7kcA0dNHUbxBt6-sSIzJwBYVeGNaCh-BS0ANe8qP3BpUAJQRlXZgOFHKgX-yHRZ_-I6wBzyyz8j7EZEpXSCHRZkp3d3t66QsakjVi2Ly7YURJbzpPXO4y2ZwkI89pkqrTTFCtj5P4_9FPhjR-frTIS9Q3S-l58CE-ad-5VolGbAApPa5sJctxhz-c5uowY1ebFbGc3RJe_SaqzeC2vH1RE0LFxpAMJC-klwWIbX_fSdvo-rh_CfsgToL0Cu9koxnxSEnf4N7XtXhHDQ7haFX-4KCZ_4cT9-p7iKovHt9IiQYlkU8r6iG2tLGujwT6gSfFjutrj2b8Lf2bcwQxtP-46MTqiK3dDbNP7TyLdp3ugZYbeaOwgvf5AtqNOOtThI1iwN0L3QXb4FXepH-1GWVege3Ys1xE2Ta34Tl00-TlSqKsWtTqREXm2FFTOW8UB-qhv_9VpMUE1TlPeHE69ypBlh1Kkv6nkLFEI0fTU_RCtwV1XA9hImRO_2eErC6EXxjbLRodDjJ9tLQjaW5ZcES0axtr8Wf8W4k3jmNGX46nwB2YsaUB_Ysb-AKEPFSu08UfNcxB_RRO16IwaCYei4jRe9eFlaM4fF9gBJOvHXoaCt8Stkuq63L2yq-zxnjGg5GobYE5woRyfJCQJ_jcrAdAMZGGFW1iqTPjfxCYBwWuewDDgm324c8ggSivWWLCCp9ldxz0ps2DMzYfFxhGBiilXY5MnNQFtraPEu8hc0r4wCTnf4OOojJibOMwoo_yz6BD1UDv7tKHXKJQjg5MvE4DlNKHMudedUu_vyD2713Lmr9jnsbg70Rvf--V2ZkEFL-OTPl5ZAW_KV34Mh6py1qtBZEwaVJYUB-eoNby2iLATDn5e4c5QLQy9mgtAIwTfxrLOICTyYRfgTe_Ro5mHxEELFssRQWJR1bDGcgg==",
  "id": "rs_00f56f3a0e430dd8016ab437b426a887d0a247df76cc481a60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.274,\"right_y\":0.105,\"right_z\":0.035},\"note\":\"The green fruit is visible near the right wrist’s fingertips, slightly right of the jaw center. I’ll shift the gripper toward it, advance a little, and lower to its middle.\"}",
  "call_id": "call_x5SofIeON1lAijrrnAkGeHbs",
  "id": "fc_00f56f3a0e430dd8016ab437b64c9c87d0af49246102f5d0f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x5SofIeON1lAijrrnAkGeHbs",
  "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, 0.8013, 0.6132, -0.408, -0.0139, -0.0307, 0.9993, 0.6392, 1.2194, 0.2367, 0.4458, 0.6052, 0.3023, 0.9992]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1764 left_yaw=0.0005 left_pitch=-0.0237 left_roll=-0.001 left_gripper=0.9993 right_x=0.2987 right_y=0.1013 right_z=0.0793 right_yaw=-0.0307 right_pitch=0.1373 right_roll=-0.0165 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.3333, 6.9949, 1.8339, -0.0464, -0.0415, -0.0122, 0.6769, -0.841, 2.9744, 0.5543, -0.8864, 0.4469, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:613a2196d49968ecc65f834dace72530cf981d41ca77990d317a5065a1ba0110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0903acabe617866e4fb063adad21b7fba063e4e95a0adb5bd774fd4e4d71bc03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34b319044c1187ba9687ee6907f95c40e29ebb11cbe492c8acfeb687d399874",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.0219, 0.8005, 0.6132, -0.3981, -0.0139, -0.0307, 0.9993, 0.8227, 0.9264, 0.5259, -0.3836, 0.6323, 0.4908, 0.9993]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1787 left_yaw=0.0005 left_pitch=-0.013 left_roll=-0.0012 left_gripper=0.9993 right_x=0.2514 right_y=0.1227 right_z=0.1328 right_yaw=0.0376 right_pitch=-0.0348 right_roll=-0.0297 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.1419, 7.0906, 1.8535, -0.0464, -0.022, -0.0171, -0.4308, -2.3863, 6.9538, 1.5946, 0.3785, 0.1587, -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]: [-0.0219, 0.8013, 0.6132, -0.408, -0.0139, -0.0307, 0.9993, 0.6392, 1.2194, 0.2367, 0.4458, 0.6052, 0.3023, 0.9992]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1764 left_yaw=0.0005 left_pitch=-0.0237 left_roll=-0.001 left_gripper=0.9993 right_x=0.2987 right_y=0.1013 right_z=0.0793 right_yaw=-0.0307 right_pitch=0.1373 right_roll=-0.0165 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.3333, 6.9949, 1.8339, -0.0464, -0.0415, -0.0122, 0.6769, -0.841, 2.9744, 0.5543, -0.8864, 0.4469, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:613a2196d49968ecc65f834dace72530cf981d41ca77990d317a5065a1ba0110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0903acabe617866e4fb063adad21b7fba063e4e95a0adb5bd774fd4e4d71bc03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34b319044c1187ba9687ee6907f95c40e29ebb11cbe492c8acfeb687d399874",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDe-Pu3ptweRb9KE2sHEXqjpQ2Qb55nROq-LhoJZ_2fJAD4xbK4m4WjEs46pHjeEuhWE68rIE5-F4k8awAkLseYspnZIUmfM2sLoWP_mx-A7HS9aMYglT2VcTluBaoCWbm_0Qszc19YLNu6h1snhgKM6_Plbs--mhtbmyGV8smMN-PMC4BEIT82Ab6eqNlXl-nqI8Ibh4TxOCIclJIdNr1l6eGFuRZkBZR-ccqQFZpn1qADjnooqNRi6MB28_hXeDC_bQzuvA4-xNbZhiSLJz7pX13cnm7PjbU1mSeXqA3m610QWWhGNOpeTfset9EFnUzX_7WBFmTVz-ilEO4H5ww3q8MniAIo8CoAtAPXGrOqFUfrDW6OcEeSXdPxudQEtjIH3BcITbQalJgLqJ2pYpaonDrX1skMl7dxpRFilsljT9ny3H_IdPu9t8y07BzwAopeMpR5UjKeJxIiY7Erhe8m6yMulDixDLWlBFQP9__97oX40EjfMILrzrFG7mP8eMEwgUF06r5UfDYLWox20RQ1YfQFX0FGZjNObhWBF_gv4MHh-yctEiWfKY_x24LeC42Ji4iIRJt5swJkrmiVg2oy7f784n81vnHMyCW0mUEJx9YRWwsmVWmWvrnXMV7KOJbsSZf35jzlqwT8E6GlmKUxAlxyP0HiepVgUoxJYEgo0TZxINyeU3ULvGdTnynj1WzFRfbe7SUPt5MahUlNsmWeGS4dRqfloGF6zPMPWk5ILgqAGLXn8VbMu5haYDZMO9-hNGiNpxmb1L__71phVyIurlvQcDRvL8-7ZFGRs8rdkpy-osfAwjOWz9HZTsn-LaltMgDpGQJBr_dEGuojcjLMUITGdykttkIh1U9BL6cPJ-g4jG7mTmFZ40tdbwLmE-Cv_L1t5bm63RCaEXvrNap6XVmhYV4acY5i9TxB-bDcGqqqoZnmxrgxUAh5NWaoB65HQew0HSxQ6Y_FPFL754zb_CJF5gptB2hWE8JQFCnmj7NoBraps0gvifKwoKMTNlQ4HQFwgajTuVGhX4-ZWs_5uQbzv9z5dNx5ZObJgjbx4R9RGHoR4JGnc-1H9P1qC3uLVrHIP1AkyiyDGP-NLfQjjq7NWRpuPC0N0pQbbwTNV9B14mL_b9UVxFQ4lpl0TKIGrB8P5IhuehXGTrxTxZMPtZmhyCMR7dpNAByBEGqZ1dag0GmXzEufcpH_00RHtxWJ6RG1bXtabkOl8Yr1XQ9Z4sSWXQ6YIlJr7D9oGvQUYI6iZ5qiEx-D-gWQcEEh8FCudIrhnZIlVfzEWullMGW-H4WAijpDYPkpRcaNrbB3wag_TKZVQu6m30MmQeiLyuJMqQ8W5YMX81rPoePWG9AC-KFCTi_FICVf1AxjJTSqQsvz-owpxaDQfGD3F9v8qy0Emy1U3zI-dhwaJjlldM8rIiT2EJvECkXPJiXNbo4OwJs4W5DZFMCI5_W7Ggb8SXpP1-zmWf3G62RylK8ab2baGmLrcuG19_PFV9DqFwM9fbOj_SqPlSZbxFRlFbJaD2tiCx1nZNzkRkTieEdPYf4X6593r4R0oEAdgt_mEs_SyCzU_NnZCD3TB1fQraY60kfEMwvy1K9ogSSg5uL_DCqy_-sfz-xuyd2guOvCc33ebnfc=",
  "id": "rs_00f56f3a0e430dd8016ab437bc8ac887d0b1926aa5975a20d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.105,\"right_z\":0.025},\"note\":\"The green fruit now sits between the jaws in the wrist view, but the readback shows the gripper is still about 8 cm above the table. I’ll lower it to the fruit’s grasp height before closing.\"}",
  "call_id": "call_zrGSUgosXL4JuSLVOGisvt6B",
  "id": "fc_00f56f3a0e430dd8016ab437bd6f5887d0a5e4f5b8e1fa3759",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zrGSUgosXL4JuSLVOGisvt6B",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8066, 0.6132, -0.4198, -0.0139, -0.0307, 0.9993, 0.7048, 1.4681, 0.1188, 0.6323, 0.6426, 0.3397, 0.9992]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=0.0005 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9993 right_x=0.268 right_y=0.0937 right_z=0.01 right_yaw=-0.0059 right_pitch=0.0136 right_roll=-0.1154 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.7162, 7.0085, 1.79, -0.0171, -0.0464, -0.0171, -0.5128, -3.7812, 4.4239, 1.8388, 0.359, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91294df71ec2056fe629eadf5a56f757bcc47ab5b1ec3676be37f3812c2354b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d9163a112cf0e9ad814ef1d48c2b437b2beccd553e902ffa367b53ffa1193be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ce03e675c021c7b6fcc4e5020711e416db0da17804f28b04d44a1eb71f9c10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3855, -0.0143, -0.0296, 0.9993, -0.0227, 0.7998, 0.6182, -0.3904, -0.0208, -0.0196, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1815 left_yaw=0.0002 left_pitch=0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2955 right_y=0.0006 right_z=0.1827 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.7846, 9.6752, 1.8046, -0.0806, 0.149, -0.0855, -0.1846, -1.7026, 9.1966, 1.8584, -0.0269, 0.0269, -0.0855]",
      "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, 0.8013, 0.6132, -0.408, -0.0139, -0.0307, 0.9993, 0.6392, 1.2194, 0.2367, 0.4458, 0.6052, 0.3023, 0.9992]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1764 left_yaw=0.0005 left_pitch=-0.0237 left_roll=-0.001 left_gripper=0.9993 right_x=0.2987 right_y=0.1013 right_z=0.0793 right_yaw=-0.0307 right_pitch=0.1373 right_roll=-0.0165 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.3333, 6.9949, 1.8339, -0.0464, -0.0415, -0.0122, 0.6769, -0.841, 2.9744, 0.5543, -0.8864, 0.4469, -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, 0.8066, 0.6132, -0.4198, -0.0139, -0.0307, 0.9993, 0.7048, 1.4681, 0.1188, 0.6323, 0.6426, 0.3397, 0.9992]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=0.0005 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9993 right_x=0.268 right_y=0.0937 right_z=0.01 right_yaw=-0.0059 right_pitch=0.0136 right_roll=-0.1154 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.7162, 7.0085, 1.79, -0.0171, -0.0464, -0.0171, -0.5128, -3.7812, 4.4239, 1.8388, 0.359, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91294df71ec2056fe629eadf5a56f757bcc47ab5b1ec3676be37f3812c2354b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d9163a112cf0e9ad814ef1d48c2b437b2beccd553e902ffa367b53ffa1193be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ce03e675c021c7b6fcc4e5020711e416db0da17804f28b04d44a1eb71f9c10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfEBs4ovX7EgziQObxbRn_3rWxtb8BYgZLJprSn--u29hwLJMwFlzo-IC9GZeeD7bS_gsFZZXenCGrxLtVa3PHqLyfnvJUumJUoYzPWPXQivAEFEkignI3CNEEIpovlTYPp6mkGynjIg5-yVCBFsNVHWGAxnzAsPYIpyMhzxCudDkX4ru-u-8Yg2q8JO7lIcGGqNEhv815ZOmAWC_p4E2BIKJ-nZubngRfwuw2i3U5HzRK2g86sy7imL1qnOcLnQMF0HFvsO5T4aj5YncXUZ0GIQXUETwM_s-0ICWQVzA-LgILzH2SDIbJ_5oDsXRn8X9H-qyVJRUU3zm9iQ-viGzNg5FG7dC6tmyllPmuYkJMO0_FuKoeYtfVptKj_Zt_0CwI0d9HUf1hAiNhCP5AwiyoHu7GBG1y5vGE2oWvKHZDIT7CeOTM34ORUmYnrTeS-BZndHwRpmRIklvRe04-fBcoTnKWIz5SCs5qspviIJ4CUgQYZw-iTTkbZ4gyQzyUx1UXWpbKo_4CeqPhaEIjksZbT88Ofk7f7F7Lz7QVCMBuIufdcDGA2tOpoxHdDJ2YvdQPoHJYtCEvaOkgVERPGphltjMgdu-ONkj_sA9RXbDwT_Wi9ywZ9O_BdPNEDgHq-NgUSnwLDxte_5edZa97M_I-YIUPfTSrmfhU42p-DxWPuNfjAFxu94-FtVVf8O_N31dAVhXuAPl_tzOSBPm6wyaRsMV7D0DN5NyCkqamIhNgcb8A5RWaa7_guVzorDRoOXepvA2p9c4FsjkWoLqAFau1aMdVlKrI--W1udcXCZ4JaTkb2KfmailYQ1vGk6DbqK7Auc3ahpNErrh5nBdvxzHIK_PBHKohMX37z6hs-Jx9HG2L_AjDO3vPCxaUhLUfuMYwYbmmOSTneW6tlqYwAiGQfUaXT6GTO1O9K_PFe6VXLfkaENYcD5cw6wUJ2Eq1RLReClzJq8ZfcainE5vTKXWpUlygs33sZC7m6R84P5qXGpOyf9R3o-FjobmX6HmgF8xbT9ufdo1yzUD7l5syZ4nhqbFjcaoL2S14tUzN-L7waS8MM34IU5MsJDc81Y3_rTE4hiEFkOJ-9sxF-JFQVVhXlG1n_ZJEyUaL3LRT6MuSxVzGAU7NLuK6iNLuKNtFyUBDlCfdwP3P4YcQoVjl6f978ANu9oVbDpldY1kis4QASBMDcKWYa6Jyje2MW-QQrqbkACGFrUPy1Qv7fdOGPvMwmWqKUglYKjQ5NSgJSqtIchT8UUrhIc82yBe4InQ_RMjU3UkDta8kTxVx21jm53jUw4MGmU-nP_muaLeMRarrhEs-QHkrncj74_4cqGPhrCLi9e4hb64be6O_uXY4YNUj89g==",
  "id": "rs_00f56f3a0e430dd8016ab437c32fb887d08db77dee9fde7045",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit is centered between the open jaws at table height. I’ll close the gripper and check whether it holds the fruit.\"}",
  "call_id": "call_EwBcifMUq9SABAmCYdom5yNA",
  "id": "fc_00f56f3a0e430dd8016ab437c390cc87d0b85ab99ee9e05a59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EwBcifMUq9SABAmCYdom5yNA",
  "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, 0.807, 0.6132, -0.424, -0.0139, -0.0307, 0.9993, 0.7052, 1.4681, 0.1188, 0.6392, 0.643, 0.3397, 0.745]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1716 left_yaw=0.0005 left_pitch=-0.0454 left_roll=-0.0005 left_gripper=0.9993 right_x=0.2687 right_y=0.0943 right_z=0.0111 right_yaw=-0.0058 right_pitch=0.0189 right_roll=-0.1111 right_gripper=0.745\nstate[joint_eff]: [-0.1162, -1.3197, 6.9949, 1.7607, -0.0757, -0.0415, -0.0122, -0.3897, -3.959, 4.5333, 1.8046, 0.3639, -0.0317, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0f35ebd3429226bda82af59624b38d8c4b5ca52eeb6745a888744164955215",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e5aec3adab97a2ce79902c825c08b6f25658fde53c2494319381e327c11f11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74f525e40acc19ced5fe99c95853b7e25c63658e5f69a94ed6c3262a4feeec78",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8005, 0.6132, -0.3981, -0.0139, -0.0307, 0.9993, 0.8227, 0.9264, 0.5259, -0.3836, 0.6323, 0.4908, 0.9993]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1787 left_yaw=0.0005 left_pitch=-0.013 left_roll=-0.0012 left_gripper=0.9993 right_x=0.2514 right_y=0.1227 right_z=0.1328 right_yaw=0.0376 right_pitch=-0.0348 right_roll=-0.0297 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.1419, 7.0906, 1.8535, -0.0464, -0.022, -0.0171, -0.4308, -2.3863, 6.9538, 1.5946, 0.3785, 0.1587, -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]: [-0.0219, 0.8066, 0.6132, -0.4198, -0.0139, -0.0307, 0.9993, 0.7048, 1.4681, 0.1188, 0.6323, 0.6426, 0.3397, 0.9992]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=0.0005 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9993 right_x=0.268 right_y=0.0937 right_z=0.01 right_yaw=-0.0059 right_pitch=0.0136 right_roll=-0.1154 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.7162, 7.0085, 1.79, -0.0171, -0.0464, -0.0171, -0.5128, -3.7812, 4.4239, 1.8388, 0.359, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.807, 0.6132, -0.424, -0.0139, -0.0307, 0.9993, 0.7052, 1.4681, 0.1188, 0.6392, 0.643, 0.3397, 0.745]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1716 left_yaw=0.0005 left_pitch=-0.0454 left_roll=-0.0005 left_gripper=0.9993 right_x=0.2687 right_y=0.0943 right_z=0.0111 right_yaw=-0.0058 right_pitch=0.0189 right_roll=-0.1111 right_gripper=0.745\nstate[joint_eff]: [-0.1162, -1.3197, 6.9949, 1.7607, -0.0757, -0.0415, -0.0122, -0.3897, -3.959, 4.5333, 1.8046, 0.3639, -0.0317, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0f35ebd3429226bda82af59624b38d8c4b5ca52eeb6745a888744164955215",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e5aec3adab97a2ce79902c825c08b6f25658fde53c2494319381e327c11f11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74f525e40acc19ced5fe99c95853b7e25c63658e5f69a94ed6c3262a4feeec78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfIfPRTZ7Ax4BiFM0nmR1NUkoM8ZVtOjGFbE870KIJEcO_Y_XsM5599oI8RKVfMQdn-5NfXz8h_tDAoYpe2EyG4ddOX3p0GRd_5BdAKL0pr92aXIZKZvlQt286_CArPtimxgfHIsJ2qeq_AFmBeVXCmZ-bYldxOdhV0C4ezHo2YDzK0hI0g8D5df2ekIr52eaBlqUK1zsh5MiP6pfRvMauOjdBF3loXIwn_9g5lO5eZVuLvjYbEPrE7DFtbqh5yf558F8kO9ODEN9y004cEsmSt8eA6r1hTgu9hKmMgHUxX397pFqlbAz9QddU_IMwi_wQ4T4z0U7X4z4UBBd7UNRv0_oVMMl7DgKdwQY5-6PC_1LMWwx4TLREU5r-qYCP_xmX2GdWh_0VdJ8RiftYJa5FD8bst33tJqx93WxnDnl9WokUDSODJtDG8Jw8t--zOc7VV2IDX8XEJTux4MvMgDvSQ-CJKGCLlAoRCLQCcl_ZYgzEGwi0wEth691doZYW4yNh6jmUfhpZHOD4mYieR_Ctaop1c7XeKxF6wICJdPzdV_cnCwlPhE27U7U1FMOU1ZbdPXEMwbrE_8ToE5q6c9-NqJ4Q9EHjyxfKNXPG7LUsZ5LYDYF0y3SaPRuhvclgzLAjeWV8W87FhE5tSKjCUHOxtz9Yw-VJVQqGgV8aGsgm7-1NfmOyk1-VLs3U2t7jRJKDCxS9f7WOg67G_p0fapzGguATrsqPMikzAHHe-Mfbump1aUevdkH4qZQ6fX8nQskmtHZ9gOCPdfc9_lsVmF6FTstKm69r1zoa26nNrCmhAdBjIhFIGU7WDw7HjQDH2IVLfVtsFL7YExlF7NwHp3Q0Voo0qPBCYCbp7wmZYMgGFyPc9wt5Am3C2xwttTURCOJBnuZALlsgpgvYoYq6oTwf4T7TBkedA2zGvqrfmzIflv3abgQ2IPsqZ6_I_AnmHKG0oSzsyHBI2Ekf3OgJy9guBuAjlrUrfBOPecV8a1UIsT3mP8Nz6cYJeEMV0DHtWiqbxx_vrdCipdYujla3c7FV_M8PD5vh2cgmWHwZVhDVHd19wO0Pgbv7D2lzTlCPkxJGw2bemaQatpe0LI3PYywdig7m_xQKNUStnxhPNl7TWf6c-vNFAcUC0IYYvtI8mVYU_yXcRxoGT-Kbi-dtmrIRauhDD8w0MarGMLX898uVLnj1ckcBbs0qD8HZ7lqT-g3M6SBUm4tM4LSYYkmM3pAP8BjvYTbI5q9yiypEcTZwrPeRU-Y5RXeKAlKc5UEQJD-tjR78h4cVO-wGufiPag-X7qRpzEwOIlz6gze6ovYNS1FAE0TJ9RlqB566-K5Qho0K4Q7tM0ADyrf9YvvRhq08LmK-LZ6rGyQCff0hNbAm9Pk22_hgGVglZoyi6QDObp76rIHRI1eLeFpiUj3tQjAOWxRFNd8Ybf1VsLnqAGkw_zhIB0bvftqKJ1hhM4ivCKCtymiv_hu45U0S7MJh4Y7cRnp_ES2aZIGYW4jh_ruc_BQrl_saES3WytOavN4hJFFSeei5vfkt3rCW2v5GB_bknSybtYk4t6teECRdtcOn0TU9CgN2mguEHXLvC7q34QE07",
  "id": "rs_00f56f3a0e430dd8016ab437c7033487d0bbb109be1de9d171",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The right gripper stopped partly open around the green fruit, which suggests contact but not yet a confirmed hold. I’ll lift it and check whether the fruit rises with the jaws.\"}",
  "call_id": "call_zVDc9ddBsXEUPp95Hv3p1q2f",
  "id": "fc_00f56f3a0e430dd8016ab437c78bd887d0ade7c36895a836e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zVDc9ddBsXEUPp95Hv3p1q2f",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8097, 0.6132, -0.4274, -0.0139, -0.0307, 0.9993, 0.7052, 0.9264, 0.432, -0.2367, 0.6247, 0.3359, 0.7498]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1702 left_yaw=0.0005 left_pitch=-0.0515 left_roll=-0.0003 left_gripper=0.9993 right_x=0.266 right_y=0.0955 right_z=0.1173 right_yaw=0.01 right_pitch=-0.0051 right_roll=-0.1187 right_gripper=0.7498\nstate[joint_eff]: [-0.0752, -1.5248, 7.1726, 1.7314, -0.0366, -0.0415, -0.0122, -0.1983, -2.2769, 8.9641, 1.4579, 0.4371, 0.0269, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4234888872402d4a4f69f1fa007dfd8ff890bd7d2fc560b6dcb065f80a1acf87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f492aa9ebfcbb2350776de1755aba2fcbe9559e1dd205b5d1590f8b6a49d958",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ba22801b8e9f725a56c33ea69f7014bd8befca55a5f183e9a31472edb0e19f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8013, 0.6132, -0.408, -0.0139, -0.0307, 0.9993, 0.6392, 1.2194, 0.2367, 0.4458, 0.6052, 0.3023, 0.9992]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1764 left_yaw=0.0005 left_pitch=-0.0237 left_roll=-0.001 left_gripper=0.9993 right_x=0.2987 right_y=0.1013 right_z=0.0793 right_yaw=-0.0307 right_pitch=0.1373 right_roll=-0.0165 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.3333, 6.9949, 1.8339, -0.0464, -0.0415, -0.0122, 0.6769, -0.841, 2.9744, 0.5543, -0.8864, 0.4469, -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, 0.807, 0.6132, -0.424, -0.0139, -0.0307, 0.9993, 0.7052, 1.4681, 0.1188, 0.6392, 0.643, 0.3397, 0.745]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1716 left_yaw=0.0005 left_pitch=-0.0454 left_roll=-0.0005 left_gripper=0.9993 right_x=0.2687 right_y=0.0943 right_z=0.0111 right_yaw=-0.0058 right_pitch=0.0189 right_roll=-0.1111 right_gripper=0.745\nstate[joint_eff]: [-0.1162, -1.3197, 6.9949, 1.7607, -0.0757, -0.0415, -0.0122, -0.3897, -3.959, 4.5333, 1.8046, 0.3639, -0.0317, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8097, 0.6132, -0.4274, -0.0139, -0.0307, 0.9993, 0.7052, 0.9264, 0.432, -0.2367, 0.6247, 0.3359, 0.7498]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1702 left_yaw=0.0005 left_pitch=-0.0515 left_roll=-0.0003 left_gripper=0.9993 right_x=0.266 right_y=0.0955 right_z=0.1173 right_yaw=0.01 right_pitch=-0.0051 right_roll=-0.1187 right_gripper=0.7498\nstate[joint_eff]: [-0.0752, -1.5248, 7.1726, 1.7314, -0.0366, -0.0415, -0.0122, -0.1983, -2.2769, 8.9641, 1.4579, 0.4371, 0.0269, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4234888872402d4a4f69f1fa007dfd8ff890bd7d2fc560b6dcb065f80a1acf87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f492aa9ebfcbb2350776de1755aba2fcbe9559e1dd205b5d1590f8b6a49d958",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ba22801b8e9f725a56c33ea69f7014bd8befca55a5f183e9a31472edb0e19f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfN1VwwQn4Ib5jLHdolp98-zI6dptof93ZoggYWGjgzELB4jxX6YOhvaA8N9LYy4Uq2iNsvcCLPHNymE192it2P68lxPD4R-0UW9OR_Ok8czfVBKddAf2TyqZgdpftmLC77TfBELYy5ohw6KP2cvG-QIo1cP5ujrUZMo_646CsnKRWrh1jT4XvfMvcPJOcgl0EYReTstLKD7MRtJ-W8Im-0mlZByjistaxo_JKgFk-sQuNFe6-L4kKjqKYephegMRpiVjXxCGyid-cPuiVHpM5ZICda5upTPl6OWZGQKF9KdBHHshk7EvRZmn8aq0hKGPN7LOXMyrRJtauoqLYE8LlBoC2qF8O5SRjNM-b_tVPHliuYD8zzV550dsXPe5raHJw43rrSGYpAPno4mOyj0qHyyg7tDyq9fXeTq-e28k1bydR4pFzbxNjqnxxFzY89xqldY8_hUni1OgIZCBlWPO6-3eoxMbSylVk3OECGSXYGIzMaXxyvYzE-rS2XVgFEQENaZcVh4HHXCTpR_pcssC4pKajUp768rLellj39gogbf9eMJbkt4rrDKQ1G8bJ15o5eYIjMUwT0MJuI6p_SUc4czdrVoYDNGiZ0PAZmwZnVek8IxigwNko74KJ7Qf5nHWMfwDOH51_sao0VXZMxzzi0PwhtqLicdHZ1u8PBnZqO8nVU74MgLXVaOMj0qXL1ElIVOOxYXiGrphAce9qaikVyBNGyr_KNH28DgEEF2KJGGak61UQwl1J-9DkDz4xrgLK8GsTkMqmzpJc5PBYNWCs0Ndy53ZbbZeH50vVhjfZ6eJ4VHovmi7qm0RK3N17l6X-ypZz-J0F4Ok43xMOCYUiNiTYY3rlpZoB4IUwqiU6wSO-uE-jytQACPZh68TIasUo3zu_WDhMDNDXDSjLAxkR44IbIIRfBRv-q0UVYT3Dd-KgiHTbOtOFHQUHlqoK8dR2UwOIIy8KZdxEzj_uiBG2wAc3bYz6z2b53UaXUDVareQTCdL4U5UDBX2DpewSKPy7BV2u8Int3dGcQHK22jILGPHwB519J8sb073jzI9mqcVHWKcxQRCuD4Q4m6rem8b_xbI0yCfZCdAuNo6hwia02PjJVNFwlIzgw6VHdPg1SM0LDqBBPtyUIDu5bgHuKjxkp2fRVAHZJSQAYv83jNZ65N25TkP3eVuC9IKcZdf3_GU123zZNlvFy4XG2aaiUxRtT1_znN222sT3MIWFzzij1NOzjm1ALxlvjQUY_MkDBau6B8kNb3cJbWcOhKDVnH-Y7-_ZxHvEsMGGq1ZIFwKceaXAtCytKRIWgo_C8RHP8IOKEgXNfTLE03GWhAExyRpeMdTDlKXuD_gJt3wik-cAeUexWY36ea61V3laHwDfYASTraa4eKTGRoMNpC-U6BttK1559rl8v8eInLi3g3LTaNf2HJKP_z3gnIzeqgz8XD_yGzp73sL-usyDUsyoel6cfL9qQMI_qyayzNcSsaHuMEmyWMALmLZzELcv4E2JURDSa9oPLvUoYDLeb2nqgSwipjrxHDqLlymD2Q31pFbwQ6Y7jOeX26DwZ4vy0_K3s8UVp-98eEpmeaaZKlpQpBIcX6bK3gD4gZKVuufwhbjkRvTDddAEvq7vC42pKS_dubRsVxCbagcnhRQ90MdX4kLcRCRSQNeXtPF_CAwP5D4hMXg0tz7WwZOQPfXufYF_cy9khdquTtcz5yZHXYtgs4c7Ea7q56TmmDMcu-Y2m4tzzTcDkdUcj-F9pD0t5CyjR_ytuaINWtY7V3IZwUB_04TDaefZ5gH8Ua2DRKsFraROSrbJlS5_-bB_m_nWkw2HMO5wUQKSwqnWb0ymPCmnU4RBNT-pt_WrNWL-_0gjedmaF3IJHsu9yPuMYeF5DB__riAmAYh6gIizfa79IfmjuTVADEs6_fI7rbrmpw0d41m6dC2nxOeur8bSBx1zDsDOszfq7khMRHhYJ_898tiK8V0Z4RljfUxw7yyUDcxmRF-MO44sCt6AH2bU10GpkDGa5E8uFX0hkRiAvWfCggQeh7kVkkgVskg5u_XuYSp6NpPmBw_KAeNERLHbwp1VZO3hfu3nRul-n7i1Iq-pr4M-z9UPzk5aFVxEh9inYCCfrQDDB2A==",
  "id": "rs_00f56f3a0e430dd8016ab437caddf087d0a557c36c49543eb5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.205,\"right_z\":0.18},\"note\":\"The green fruit rose with the right gripper; it is no longer visible on the table. I’ll carry it above the center of the blue bowl.\"}",
  "call_id": "call_VnOp0wFNn11DQI5bN1pdrcwQ",
  "id": "fc_00f56f3a0e430dd8016ab437cc7db487d0bb9b82812869c5e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VnOp0wFNn11DQI5bN1pdrcwQ",
  "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, 0.8135, 0.6132, -0.4324, -0.0139, -0.0307, 0.9993, 0.7052, 1.6096, 1.1191, -0.2974, 0.6052, 0.3283, 0.7519]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0603 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3877 right_y=0.2027 right_z=0.1608 right_yaw=0.0274 right_pitch=-0.0581 right_roll=-0.1506 right_gripper=0.7519\nstate[joint_eff]: [0.1709, -1.5932, 6.9949, 1.7265, -0.0611, -0.0806, -0.0122, -0.3487, -8.3214, 8.8821, 1.6288, 0.3736, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27441d80bf12ae720a90b5551126e12f310371fac44c5f1ac5c242c6c23faba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:642aa1858f7d5d80f4df3e4331590a22f7cf4dbae2f98d50754d0d6fb751bb05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f2725e2134c751c1d45966bad06bfd55d3c6c683c38fd32a61195e696f9b22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8066, 0.6132, -0.4198, -0.0139, -0.0307, 0.9993, 0.7048, 1.4681, 0.1188, 0.6323, 0.6426, 0.3397, 0.9992]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=0.0005 left_pitch=-0.0408 left_roll=-0.0006 left_gripper=0.9993 right_x=0.268 right_y=0.0937 right_z=0.01 right_yaw=-0.0059 right_pitch=0.0136 right_roll=-0.1154 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.7162, 7.0085, 1.79, -0.0171, -0.0464, -0.0171, -0.5128, -3.7812, 4.4239, 1.8388, 0.359, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8097, 0.6132, -0.4274, -0.0139, -0.0307, 0.9993, 0.7052, 0.9264, 0.432, -0.2367, 0.6247, 0.3359, 0.7498]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1702 left_yaw=0.0005 left_pitch=-0.0515 left_roll=-0.0003 left_gripper=0.9993 right_x=0.266 right_y=0.0955 right_z=0.1173 right_yaw=0.01 right_pitch=-0.0051 right_roll=-0.1187 right_gripper=0.7498\nstate[joint_eff]: [-0.0752, -1.5248, 7.1726, 1.7314, -0.0366, -0.0415, -0.0122, -0.1983, -2.2769, 8.9641, 1.4579, 0.4371, 0.0269, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4324, -0.0139, -0.0307, 0.9993, 0.7052, 1.6096, 1.1191, -0.2974, 0.6052, 0.3283, 0.7519]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0603 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3877 right_y=0.2027 right_z=0.1608 right_yaw=0.0274 right_pitch=-0.0581 right_roll=-0.1506 right_gripper=0.7519\nstate[joint_eff]: [0.1709, -1.5932, 6.9949, 1.7265, -0.0611, -0.0806, -0.0122, -0.3487, -8.3214, 8.8821, 1.6288, 0.3736, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27441d80bf12ae720a90b5551126e12f310371fac44c5f1ac5c242c6c23faba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:642aa1858f7d5d80f4df3e4331590a22f7cf4dbae2f98d50754d0d6fb751bb05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f2725e2134c751c1d45966bad06bfd55d3c6c683c38fd32a61195e696f9b22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfXD-gR8z9QqbmH-QnjTdgNsS_iboZlgKcnUGGFr5H4CFC95zx4vnfV88w_kFTZx34knojw2Ffg4r4hijuc6Pcs_uJzcmHWW4hcJAnQrjubD5PZVjX6oAQ5Hxd9Y5rmWJ6tDnzYJuBQ_u3k0cUqz5wme36GloimpbN2bZRdiaEpgKrqqi9_b4kHcHgMqwO21gGvQ9EncA_3iwKv8Gxh-M1GCfBTsh4H2I-H1faOmPy2pQuakqdzN71LHKKAGcbXs7F9NPVl4wse_MIEvNMKKyMNbFzj0rg-sG-QGc7nUwVcJzoQZkOCisHRVwf_q5Lza9hKEX1mQwkL2-mAobmunwvt1ssoC9GZRA0qwPfMGVfLiqYK8I7-KShTDFzx1FhCQdsQayv3VHpZCDSX5g-0-n_Gs7R0lXaICuc7MVOqDiN2ynluJZJkvOeqFAH1qUbIK6-3nbbnQYgsHfOpANFMZ_d_NXFHkXF_f46_ApY2O-l5MWB_-9FCy1uRLuO4L7jyXbKNQZ_QxbTorV6DhH6S3p5ElSGSxvA8qqx49bFMmribpyKVEA8x0bxS3ue8c0MQ_SDSgP5dzjVUSOUwDSQQfEn2gC0KfBKXMn-u-Vuo52AM2-LjmsTaK1UUYcHGp0mAIj_aWOo_WVWOEbYPQ5UEW-YAvVgX6Y-dMPMJ2y6No3noFm8moz3zseYe2hrUCNCloJaWt4d3vVCfclYXwZ-X02fSk-SII9k-pvY9V0hHY8gqM9FOwzICs2IYGL1GNwGhdmfIKqXjcg2wIVCN9jlT51McuF-7Rb3mRhdZ_aq5aQQ4RXm0aqZvk5V1Qrr3ai-GomQZlEy3vCzyFtft6RoEbnSqp-hpsJtDzuREMqqnQMQWmnZkkrvd7VyvfnznA0j50QD45k3ynkgv6Eyo8i5PQLbqRH9WkOuCZW3EDZm3H-z-4QdEnZAx8KBNP5V3uikU3iz6OZGdRjVBbyCMgXLc4nQJF6Q8EzagFyF8btLHGHy9RM1femVapJtbN4Cwz36GCNIYprCW_FaPhcqDnybc6B_JT6EQIY8-LMF68_-y7N6uxloOa2FzcLrYIlOLcieD9C0T_Lt-WUXujUPbOLTadYG8zc6qWFMQHXizS-Gcr7scjgnkCEH8VsqpEeecRPhjIcdOEAVwhawWQQLjauqKa51O7fNVio3nRVpvLdf_OfNCqTvbAys7r0MQDSOZYzBrNsptjAWF8Xa3Y3usaTP6n4OO6VzAxTnAwE50GB4NawaunV4ulUq3fOLzJkXFpm3HbofXVmVCroLxnhqTDV2XFipT62DAZnjiXZOOgSZ4YA4CFe54elUeqbEeuc92C3xj5vCHn7QDpigpL1g84zXnBMVnH-05vG7qmuDfMdyyDmEKzGffoSqEi-_6-yQZN7vcZwT7OcTmm9xX2TT7-8VrnntXRofG96kIdycpRpfFQeLmOr2JFW1sSZMGYgCWAhL1D2GiYM2kjX1ttAQKslsefv3-xKApCovxolBVCzeiPyEvahqCVwluaUEjFSnHrH1KJLGCYp6bDTtI-Pa1jcVm16tdjh5nHmqyyX1muooNjvRfwAjeT9u5rB-m_Z6Mys4nPdjHKKbv3l0fZdzS74yp1mZUStB_-waFXUkbQp5_oVQTsbeFxWhMMZfTBVZN-enEBuLkcu11bisEGsEdq5jT3BDIZ-SpwCjTr7EnzHJQWuph8JISaUEV8WFpim5vMo4yEhSBY-SzxJUq3GmLVCTSPU-2XMly80SQCUiKGrPfRGiO5LK7FgvJiO1NSKW2IqnLRs3t369lHj0de-fPB_jatrotHCR1LsNM7p862jAzh0fajiWUIUmSlUzamI8Clmue2QFNb0Gmo0MHevGxp3sbqYJltUK8O6WEiBxXuKx3ZAnqKzKjmXYmr3kKW2nk9o0NiGpi3PR4hl5xSipeuHSAfSM9UrWbeBJ8TrChbyMo3rYqb8ZP_yUM7gMDgBg0Fe0pU09oWdqzJ5piqa79pS_3am-6wVWOiCwkb6YDOvxQ0-Zm2wMSMzV8uY6bmLaWU-Mg00oO2EbePbQ2muxbFSvpLb6xBovFC-XSPUxx5d2loS99Ato5ZLN6C2IBpOAWOuZmmn7B6Hhpx7Jux-Tw2H1zdKvDDg7u28EcdxbI5I1kudwL18tlrouRxa8QTvDtqwR1mi8k0d1fnt8njih61eeDlbob_N8ck67iKLT9mYzgYncU6KaxFXWfErePFzGNAz022HlClij61Jv_UxigsJLwlxulw83WgtnnfkW0pk7m4umvqAotKMyWseOAFuE5-sJod27cZgll_tCD-vbddG6QAuzL-hG9kszXXqXZ1Li8mkM-M_P5l90FLG_AMJuEm8Ejo3uBqu-C71_NOmmv9uko8rnzu5HVJFuYzqfBdXk_9fhVTaOo9-lXxtP0CqvUY01d2vsHZF5bKDqMJGyFnGSWbpD2-Y_Jibpk_QR8Qh9aJKPvZ9I=",
  "id": "rs_00f56f3a0e430dd8016ab437d49bb487d099f051b118e70876",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095,\"left_x\":0.265,\"left_y\":-0.175,\"left_z\":0.15},\"note\":\"The right gripper is over the blue bowl with the green fruit. I’ll lower it for a short drop while bringing the left gripper above the dark fruit, keeping the arms apart.\"}",
  "call_id": "call_a5z2CseceaV1BtIbCz7cCHuN",
  "id": "fc_00f56f3a0e430dd8016ab437d6a39087d09c8158c346855874",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a5z2CseceaV1BtIbCz7cCHuN",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9588, 1.1816, 0.7311, -0.4835, -0.6815, -0.6922, 0.9993, 0.7052, 1.7031, 0.9493, -0.0761, 0.5934, 0.3286, 0.7519]\nstate[eef_state]: left_x=0.2605 left_y=-0.1712 left_z=0.1371 left_yaw=-0.0338 left_pitch=-0.1022 left_roll=0.0267 left_gripper=0.9993 right_x=0.3821 right_y=0.2002 right_z=0.0901 right_yaw=0.0339 right_pitch=-0.0962 right_roll=-0.1699 right_gripper=0.7519\nstate[joint_eff]: [-0.2256, -3.8496, 8.841, 1.2674, -0.569, -0.0415, -0.0122, -0.1709, -7.3368, 5.8872, 1.7656, 0.3541, -0.0122, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edba364f399bb234fca3f166f36ad36fab50fb571fc717304c9cadd9fc2c4994",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb8eda434405daf21ef99273772a163585c43bbaf6201bbfdb9166dcc8e3014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cd2f4e85593105c92fcf95576923dab29e8c5eec1b0426d7f76ae8c204cd530",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.807, 0.6132, -0.424, -0.0139, -0.0307, 0.9993, 0.7052, 1.4681, 0.1188, 0.6392, 0.643, 0.3397, 0.745]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1716 left_yaw=0.0005 left_pitch=-0.0454 left_roll=-0.0005 left_gripper=0.9993 right_x=0.2687 right_y=0.0943 right_z=0.0111 right_yaw=-0.0058 right_pitch=0.0189 right_roll=-0.1111 right_gripper=0.745\nstate[joint_eff]: [-0.1162, -1.3197, 6.9949, 1.7607, -0.0757, -0.0415, -0.0122, -0.3897, -3.959, 4.5333, 1.8046, 0.3639, -0.0317, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8135, 0.6132, -0.4324, -0.0139, -0.0307, 0.9993, 0.7052, 1.6096, 1.1191, -0.2974, 0.6052, 0.3283, 0.7519]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0603 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3877 right_y=0.2027 right_z=0.1608 right_yaw=0.0274 right_pitch=-0.0581 right_roll=-0.1506 right_gripper=0.7519\nstate[joint_eff]: [0.1709, -1.5932, 6.9949, 1.7265, -0.0611, -0.0806, -0.0122, -0.3487, -8.3214, 8.8821, 1.6288, 0.3736, 0.0171, 1.0281]",
      "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]: [-0.9588, 1.1816, 0.7311, -0.4835, -0.6815, -0.6922, 0.9993, 0.7052, 1.7031, 0.9493, -0.0761, 0.5934, 0.3286, 0.7519]\nstate[eef_state]: left_x=0.2605 left_y=-0.1712 left_z=0.1371 left_yaw=-0.0338 left_pitch=-0.1022 left_roll=0.0267 left_gripper=0.9993 right_x=0.3821 right_y=0.2002 right_z=0.0901 right_yaw=0.0339 right_pitch=-0.0962 right_roll=-0.1699 right_gripper=0.7519\nstate[joint_eff]: [-0.2256, -3.8496, 8.841, 1.2674, -0.569, -0.0415, -0.0122, -0.1709, -7.3368, 5.8872, 1.7656, 0.3541, -0.0122, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edba364f399bb234fca3f166f36ad36fab50fb571fc717304c9cadd9fc2c4994",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb8eda434405daf21ef99273772a163585c43bbaf6201bbfdb9166dcc8e3014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cd2f4e85593105c92fcf95576923dab29e8c5eec1b0426d7f76ae8c204cd530",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfjDmM5zY6TOHvuYWCR4BlyT0lAyQ3Sb0simvZx9LznIo9SMAa6JfNwJ7DTrAHAqK2upj65N4vfM9Qo_lE2ZNB8jNaBU9f3G6ZwrAbrXhhjmDP2vomtgX7dvPhkYlZq07sXWAiq0qmZIxLx03BGwYh0u_8ktSnK_4JyjI24vlnL_-0A8V3CkSMh5C2ItAsqZZ1zXp6kz9QqUKjmiGipoMULDAc_uYYPT48dS-NE4ORto6TT_qC0mPQ2Cck8s7mIlRSL9r3a4SAesKm3NEx-uvsGVQTFxSi5yHItfEdbVLo2juDR0M09igPEqYFa89O21qiggFNGPQxm_-sIR3tdrSRceUrJWMbGUjkPaFP9QHmC6eXJtOANXXFDgBgGAxtB5mVyHByB8j8jj519phqG1ooF9xfHHnxQS63UZLOVnYi65l9kk6AOvhLz3QpsR4xG9HtCueUvWMqgrnaRV49OCeMp8hVRgxSbcOH1hbf0oKvfVwcEEiziOARiVICZuwfaufeaFnPjwDuiq0130xMInv9d_VI6kTpJLv-QRTMr98BL1zvgGrjswXJYRhdYaVlgEbSu-ngA7o_efqjUpgbkRa7abQP6zuVi5D1JtLjwA65kqB0J55AmKkVMVzmoydZC3xsupJ7ZJohxn3nbP31J8UPs6RAET_Yqt2yMZZwgk1dUADcBEroczkYF5eJ21G3hEHOthLzkuK9qhLUO9ssUAgjyuzNjeA_sE4a4kaQKmW83gbJdFzT3U3eZfO0BVZQSDBsx0bSyRL62V-kkMrzOimd1wLk3PBiYQysEXG1Fcebp_6azS89f-w9iEzj7ysFQN0TAAqx5LITuNbFFkjl1N_0XczEFEOrF8kvUr4ekcdNspRgIYIf37JKCo7XrFprojRiHgaoVY_dtMBF3lIAV2ue-HOXlAEaNZlr_z3_FJ8mXV-JRcbqNPGVi0HfQMEP9-MyJmerDYb6IFxMV4Sp7Hjpr3hhOWrVEVcTaC5DztCu4v2TK6D-3JZaRWi-0TikBeQXNHlanjCRiCHGTh1b3n526nlXtYnK1J-GC-wM7TSJWPQtzZNqw0hCMcjox9M7IWlCTfuokB8vCD0o0n613p5z76T3r3OUg0Q62IluiAO0CrfCJ_OQzAR4obsL-ibiir14W-OsOJcO9YhDAgZgxPwJJLmrB0-sFQOQ7jtWxClNeLRrn35Wr5jgGNM_YSpBDcGbDCDF-USqjUEdP7ssiUmsjftNw_XA-DLSN8LAkKYtxl66lM6j8B5ixQmHGFf3g7HBBZW-y4uWlTjvUip9AdFQhMVSoD6AIh5Xwwml3r8Y668XZDeK2T-cmPHiN8yodZ3bgJEOcSHb7WITkfFzwuXkZPfGILoiEPcQ9hmen7mLgVcm3UpHZf3AgApwPooy-evVL_ivhBeHjSpmmd-PevOaRy6eQL6j951LhD9YjvKy0KSsZ9avFxCswu6j2Gy7_1L1MYCShah-ecLNWPin2oiBmzCG2ohhwcpY8FWbpJfJdefNlZebj5YI1yBM2NSrlMbyfiuwRkogELm5xZe3rqJGEsEOQ_LtUwsSNyseQiAPC8xV6SdvqPa_h_7bNdptLthFYNZ3DBzDucaJaaIPaqhAizETKEs7ODEHuXWKgEKd8DEvix9KqsGrA3qkON_Ajy_ET1M_HTnSFmTw-9E7Dm7EaRpVUokUt4Rl-t8BE737VrB659KD7iWEgygqZdBF2k3Xi9EVdpKo7qukbUaFSerU0JKgYC6-fAsSh2TptyOtZ90Q=",
  "id": "rs_00f56f3a0e430dd8016ab437e1920c87d0a1e0cc51fadf4183",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.282,\"left_z\":0.025},\"note\":\"The blue bowl is directly beneath the held green fruit, and the dark fruit is lined up in the left wrist view. I’ll release the green fruit, then advance and lower the left gripper for the dark fruit.\"}",
  "call_id": "call_VNT1xINTQVW4j7WRJl5xrAIv",
  "id": "fc_00f56f3a0e430dd8016ab437e2ae3487d095c96a68f9fc2988",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VNT1xINTQVW4j7WRJl5xrAIv",
  "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]: [-0.8864, 1.5021, 0.4644, 0.0635, -0.6353, -0.6304, 0.9993, 0.7052, 1.7096, 0.9489, -0.0807, 0.5865, 0.3229, 0.9981]\nstate[eef_state]: left_x=0.272 left_y=-0.1618 left_z=0.0194 left_yaw=-0.0207 left_pitch=-0.1582 left_roll=0.082 left_gripper=0.9993 right_x=0.381 right_y=0.2006 right_z=0.0862 right_yaw=0.0412 right_pitch=-0.1089 right_roll=-0.1775 right_gripper=0.9981\nstate[joint_eff]: [0.4308, -5.6821, 4.8615, 1.4921, -0.3785, 0.0708, -0.0122, -0.212, -8.5949, 6.106, 1.3895, 0.2759, 0.0073, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1f0efce09f7c88897330001c71cdd7a20dd966075b1680e06836d768386490",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d821bcaee5a32431fa374940a4a7e4917a826114e9e880fbb520f8d988ec9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01795e7331171a5122b54e7b9bc8251da8f9df39609ac124e9107788e731f7a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8097, 0.6132, -0.4274, -0.0139, -0.0307, 0.9993, 0.7052, 0.9264, 0.432, -0.2367, 0.6247, 0.3359, 0.7498]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1702 left_yaw=0.0005 left_pitch=-0.0515 left_roll=-0.0003 left_gripper=0.9993 right_x=0.266 right_y=0.0955 right_z=0.1173 right_yaw=0.01 right_pitch=-0.0051 right_roll=-0.1187 right_gripper=0.7498\nstate[joint_eff]: [-0.0752, -1.5248, 7.1726, 1.7314, -0.0366, -0.0415, -0.0122, -0.1983, -2.2769, 8.9641, 1.4579, 0.4371, 0.0269, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.9588, 1.1816, 0.7311, -0.4835, -0.6815, -0.6922, 0.9993, 0.7052, 1.7031, 0.9493, -0.0761, 0.5934, 0.3286, 0.7519]\nstate[eef_state]: left_x=0.2605 left_y=-0.1712 left_z=0.1371 left_yaw=-0.0338 left_pitch=-0.1022 left_roll=0.0267 left_gripper=0.9993 right_x=0.3821 right_y=0.2002 right_z=0.0901 right_yaw=0.0339 right_pitch=-0.0962 right_roll=-0.1699 right_gripper=0.7519\nstate[joint_eff]: [-0.2256, -3.8496, 8.841, 1.2674, -0.569, -0.0415, -0.0122, -0.1709, -7.3368, 5.8872, 1.7656, 0.3541, -0.0122, 1.0232]",
      "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]: [-0.8864, 1.5021, 0.4644, 0.0635, -0.6353, -0.6304, 0.9993, 0.7052, 1.7096, 0.9489, -0.0807, 0.5865, 0.3229, 0.9981]\nstate[eef_state]: left_x=0.272 left_y=-0.1618 left_z=0.0194 left_yaw=-0.0207 left_pitch=-0.1582 left_roll=0.082 left_gripper=0.9993 right_x=0.381 right_y=0.2006 right_z=0.0862 right_yaw=0.0412 right_pitch=-0.1089 right_roll=-0.1775 right_gripper=0.9981\nstate[joint_eff]: [0.4308, -5.6821, 4.8615, 1.4921, -0.3785, 0.0708, -0.0122, -0.212, -8.5949, 6.106, 1.3895, 0.2759, 0.0073, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1f0efce09f7c88897330001c71cdd7a20dd966075b1680e06836d768386490",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d821bcaee5a32431fa374940a4a7e4917a826114e9e880fbb520f8d988ec9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01795e7331171a5122b54e7b9bc8251da8f9df39609ac124e9107788e731f7a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfm58OoQubpOGdAF00mwbBp4sY9NwA6KQojlYvPFMdQ1m8ceykNfAG53xz7-7SFglm5EnZ4_0y7UiN0zXNm1WXz2br7C7piJgFev58HFuOveDja4xzsUl0lVUEDLSCvjvsQ6i7-zQDEVp9WKPR6vAEQ7LfCuKdwPZZP3NBPwun4f7dtNkS43vaoyM0zaO71-0eFQKIM7oAvAf0gziAJbFZJhzJjtVBz6VuL2MSqwyo7lvKTHcZJ4yHC48SXDnnD4RjswW5o5tF6zkQS8rKL9U47KQhg3vUlcTlStd9aV0yPPyw2rEqtPNrjB28D70rtC9fjG_EI05qaMnWWV4BGUSMYZC6M8NWvDl0CfNKQK6W99AN5wLOuTerK3Ks8ObJUVJFsROqRc4g3DqX-MG7HjydhmUljSPtg383k9yGHOdbAPMkBVQk6TYqapr42il9zTZ9-e2jdgcfnNGYIyo0OFRDUDtNTZUIV5GWVK06piPHG--79h0f65eo2SJIaF1c0F5okhbXO3QvU13Ut9dh85MYUfo3q7_nCJGd71s9hT13cDGwGib7uWDOwDESHgmoZosdH9ISTQPi7rYcsQrbywGDR0RZkkH7RZ6DIwQEDdcIgZcL2IwTklJsDmr6OtMUE2bCmo7ScoyzelN9strLbDe6923DV23lrfHG1EAI9gGF4w8_1mPJBJPZq3phBSg1x1CqfsJID4vHxfUESNMJC2jBNM-RVmgT2ZW5LNxczS0FzLYimRlfwdbgZGKMJvWNjIJWeHYik3y3dxM9EUNtWkxWCxrdIdq3QRpoiYoZHtquGZV7WBKsMxJft8_Mu-35Oz3qoCaRac5qA2K4ArwVMOGol_rn4eNa_pkHn2-XyY_Z2jiR2jYFySqaX1E42HNli_GsHegYWGTkWBt9NZ_SOnZ_J93sIJEd_sAOvvsSTlv5yEfHfrqsby6MJRz_fO2xs9LM_nX6Psa97-imO5Dwd7bEFj1fJxDrUXpKbUYVVyB6_nD9YLw2N-5xxcCz7-7WUa0E_olD6JpYtF5zSDlIFdQZglB6Qsjo74cO1aJ9-eMKmAvcOmcUxQvgRZH__quBvW5-CF1VYsuyVAoLxzQz9zbCG1R-NBpAwrjUGTsxznbcI0O4VcTPTontXlQk9mlMdpYdNGgJcUOcEzMKZEmQ3CE7GgGIhMIWDstFHhYgJvm4avW9-Q8HSCorbyMa_AlAbtkR4MV0jedpucTsBMDdILHY1DS_DGR6SEx3KUcD3tTCEDqI39sv8FY4E5uiRwP0PppGUWIekvSa89UZrczb3nVec6DOHaLKE1rHo6x-yCQrWF3tSM02xaRzGZtn-aRezdK35Q_Caj_d67M8qdYlAZHPzkMziH_uYEY-v25s4Hb214w9CZTXa6TG731OygRKZkE_3qXpte66xiRPVUejpX--f9EYItZVZSHvJhyDjDa09FBtJeeh-ltCPLKXhZLImqF7GyrZqjduL_IvtW1VkazcBy4-W9YcEExBS7XDizkLW-a8=",
  "id": "rs_00f56f3a0e430dd8016ab437e4da4887d0a51aa6d1f592022d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.17},\"note\":\"The green fruit is resting in the blue bowl. The dark fruit is centered between the left jaws, so I’ll close on it and lift the now-empty right gripper clear.\"}",
  "call_id": "call_i8HrNaPS76ZlNGZOSNJqbh6s",
  "id": "fc_00f56f3a0e430dd8016ab437e5686c87d0ae49263bbed97ccc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i8HrNaPS76ZlNGZOSNJqbh6s",
  "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]: [-0.8856, 1.5192, 0.4515, 0.0639, -0.635, -0.6292, 0.0084, 0.7052, 1.6356, 1.145, -0.4026, 0.5781, 0.3206, 0.9985]\nstate[eef_state]: left_x=0.2681 left_y=-0.1568 left_z=0.011 left_yaw=-0.017 left_pitch=-0.1777 left_roll=0.1057 left_gripper=0.0084 right_x=0.3787 right_y=0.2003 right_z=0.1432 right_yaw=0.0443 right_pitch=-0.154 right_roll=-0.2064 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -6.3932, 6.0513, 1.1697, -0.2955, -0.0464, 0.6325, -0.0205, -10.9333, 8.7316, 1.4481, 0.2515, -0.0269, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd532ae8b7df12acd3b50c46d94a0e96af2c074559ee03a8e435198d0469709",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab3652ca94031578b813aaa6ab8609198925f5cfc83ebeba8716bef46c033f75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96d0de29522aff9e3a91885aad4edfd568662ecd4333212c3f459c5e784b8b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4324, -0.0139, -0.0307, 0.9993, 0.7052, 1.6096, 1.1191, -0.2974, 0.6052, 0.3283, 0.7519]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0603 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3877 right_y=0.2027 right_z=0.1608 right_yaw=0.0274 right_pitch=-0.0581 right_roll=-0.1506 right_gripper=0.7519\nstate[joint_eff]: [0.1709, -1.5932, 6.9949, 1.7265, -0.0611, -0.0806, -0.0122, -0.3487, -8.3214, 8.8821, 1.6288, 0.3736, 0.0171, 1.0281]",
      "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]: [-0.8864, 1.5021, 0.4644, 0.0635, -0.6353, -0.6304, 0.9993, 0.7052, 1.7096, 0.9489, -0.0807, 0.5865, 0.3229, 0.9981]\nstate[eef_state]: left_x=0.272 left_y=-0.1618 left_z=0.0194 left_yaw=-0.0207 left_pitch=-0.1582 left_roll=0.082 left_gripper=0.9993 right_x=0.381 right_y=0.2006 right_z=0.0862 right_yaw=0.0412 right_pitch=-0.1089 right_roll=-0.1775 right_gripper=0.9981\nstate[joint_eff]: [0.4308, -5.6821, 4.8615, 1.4921, -0.3785, 0.0708, -0.0122, -0.212, -8.5949, 6.106, 1.3895, 0.2759, 0.0073, -0.0415]",
      "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]: [-0.8856, 1.5192, 0.4515, 0.0639, -0.635, -0.6292, 0.0084, 0.7052, 1.6356, 1.145, -0.4026, 0.5781, 0.3206, 0.9985]\nstate[eef_state]: left_x=0.2681 left_y=-0.1568 left_z=0.011 left_yaw=-0.017 left_pitch=-0.1777 left_roll=0.1057 left_gripper=0.0084 right_x=0.3787 right_y=0.2003 right_z=0.1432 right_yaw=0.0443 right_pitch=-0.154 right_roll=-0.2064 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -6.3932, 6.0513, 1.1697, -0.2955, -0.0464, 0.6325, -0.0205, -10.9333, 8.7316, 1.4481, 0.2515, -0.0269, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd532ae8b7df12acd3b50c46d94a0e96af2c074559ee03a8e435198d0469709",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab3652ca94031578b813aaa6ab8609198925f5cfc83ebeba8716bef46c033f75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96d0de29522aff9e3a91885aad4edfd568662ecd4333212c3f459c5e784b8b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfqVwo6kD01U-_ebCAcUbIu8XGjCDu7bQ4gxIdw4h05F0569SRO4fQRNaMmb83537nImWSaRT872c_a__Jg9syAeeLEq0T4-EDVFn2r7qw8uwNZtAeslSKPuPW2FoKd1oTKflQN2eKqQHzPCh7TgOCB2adrUrwkD9crxfxvlUawa9g_x6aev_YWGxSLG7AlD1rVuccNhV7uIWUh8fnnDMhV3d8_7x6pVZ_hBT9zug4xWNMwZpCQHYVH-QDgEYMD_c5C-FW-2CogTD2F7_TUceF2T5UB8HC_iAB9pEBaw-EWHHE1G_zmSeXPAyuz0Wi8A6XGBxLuO9W0BSTaWXxbEwO0934AG0FfOwEj6hS0MqpDuwFYAV_vcq1oBKVFeaKUYHxWFZ9bYjOHclVvtMyy3bG5kV3BQJrnqTc3ZB5p-vcjm9GRlC55G-sRcZfVpED7SGzQck589cxAYK6yrYq3MLchtVxOOsnw3uUzx-qRuUoXLn3U7QWeT75Xbj11B9ZpIdDL6L60duXlFDl5bMkbwiJbmswhvfsoltwKUs0BLxAPmAWw_7melXlebI7QPOvJthFJzfXou_wm5j0VShUdRttKcFin0sKyy2IjJ50dnKYaEJ1wDpwSHP-My2A-Z6OIuED2gxj_ttfmA2BN1FklmTtG_Pa7I3j_Vw8L9VlKPIZyQaioN5b_ZU63UnHOHnpKergsV--rVqhdwmEKHlMz7Q4-wRvTAoCstJzGomSXsDL1Pi4fFq-pwG4ww5j-Lxr6lbqF6vz2XEBK-sPf-sXC1RjFxH4XErpLZStm4JacrPA73SiFyDLNy9-VYgbXjdZ0SgJ6NPsn68BuDQjVjHdoe-MUqlV6ftGQKp8P1LN0RVcfmZ9UFMLZOaSkmuXtzN-zGD1lZiwKKVYqJ990SLVogcdCh5Lgnmp8buLRNjl-yF9mkj4WkV3abwHkTVxMiCxQAYwEEPchDkFTqIaWOqDh_iXrNFyHxrgan3G1cbVNS0IygRGoXhUI0CgA0bEQYTEjLrV2I6iAi4RYdASdXl7F1MMvAop5z0nqfGp9sqA-JHtsEPFQpkiS9ObIeQX97qofVwMkvJRFXKSPM_6V3hrYZnc78ryN1sG_3vMqfI-0_NokIhTkxi2b2VoU9A3UygxeDzq2Gj_zthWaGXOEzbT8Hbj_bk8LYClMh4aq2yfaXfqtQA_KsbjgHDsOMdeywlKefv97MlLDfWnLo_hu1IkWnN-i7kj8zhKaw8JhNbESm41J4gXhA_vYfUWq702MtbTOsMYOjjVgqoLwVBuODHjTl7naBw_4RNaWfIIy44s6T2YccJb26hBew8VkYhifDO03e9yZlP6cBmbwsenEt2UhEd815vsyfLMgF4xqXL8TvxCcWGaI6IsoJ4DkVQJhn4BSLLNKZ5Ud1buZYq5WcqX-_8uCcFp0prD5iumRiMTGOLrkN6SB1klVLFBLf9LfTT2PfHTcl0sGhiv--ZTH15s_1dp5jRTe4aYX3km5U5bmBmHI9DogsPVg3CNzYbYUft_OL1zBtVEaL44P5FVuUFCb-DCJIHqZXJBBwkfb558acNb9ep9hrtpwSUtRuA5A7D1qImzwwIgRVliysWIjnmX3QtTc1R0W8lOQCfDGdvGSmAL_APcnZrg4MpHKo1QshZz2-880Pc9BWj4ZJ8j3pXKXuI-8CnZpusfl4uZyyRRb9Do9eso8e9KgIwz-uhKHlUtdW54ZaBy8KVocOUBhWay3xLLWhdsrK4SwbjuWP8OMAeTf077CK6dbPvAxi5T5Drhn9add1CUxRdmPoA7daHc-A3yGI-IcjiuHWLQQ6JB3yQjxtIpmeTVSbQ1z1Xi42rDJG0LKKJ6baw28C_yX2wtrvZB3INlaKvd0fPvwLWG34iTJmq3jB46nz5jR5gjlE1BmvZPqg_DtRx9p1NpHvdxgQyTCfu6aOz_y-h9oyRMNYqpgHT6vJXFGXr7i6l2otl_-geyGkxb1iaAUkCmdpzUAN1hmR_BYBxYvqy0_d_Eu783Nhvr_f8s8OmA10ZY1NASG5BEniMJQh1ViMv59f0qugO2qaoJRX-yGyLJOMnUlyU9z0jRsEwssYi9cgEbvrq8xf1qqVM5ptwfqnAHqxQq7aWLZ2lVcSyQKR_YevxUqZZ03xhNwAFOkv0BeAF9PiK8o7xiJ9cI1kFG2VQABKn9U5D2hi6G9lTSCXwYMcQFYN821R8CpkG-2XZrHzkLK2iCg9IDhhv1x0azr4TfdQUPG8yonbi-UnWBSljnnNVIK3hBKI9gCtiu0313q8kYADh3yjs6Exhh1bUIXZ1_3UeOyM-MCTk9r-iAr0KD89XpMpvmucqFz93CsV2Gea4G8zwdzVhc_2IWay4ppftHDiOwLInr7Sg==",
  "id": "rs_00f56f3a0e430dd8016ab437e8159087d0b214967a4fbdf77b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.32,\"left_z\":0.13,\"right_x\":0.26,\"right_y\":0.28,\"right_z\":0.14},\"note\":\"The dark fruit slipped forward during the left close; the left gripper closed empty. I’ll reopen and reposition over it while bringing the right gripper toward the remaining yellow fruit.\"}",
  "call_id": "call_Vk9h0ve8FGxMVaACfpw7mf0U",
  "id": "fc_00f56f3a0e430dd8016ab437ea321487d0891e388e602d67eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vk9h0ve8FGxMVaACfpw7mf0U",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7319, 1.3834, 0.8158, -0.3756, -0.5518, -0.5022, 0.9951, 1.1343, 1.668, 1.2037, -0.7113, 0.7677, 0.7471, 0.9985]\nstate[eef_state]: left_x=0.3166 left_y=-0.1551 left_z=0.1119 left_yaw=0.0031 left_pitch=-0.1918 left_roll=0.1067 left_gripper=0.9951 right_x=0.2633 right_y=0.2826 right_z=0.1369 right_yaw=0.0916 right_pitch=-0.1699 right_roll=-0.2092 right_gripper=0.9985\nstate[joint_eff]: [0.3624, -7.0769, 8.6769, 1.1893, -0.1832, 0.0952, -0.149, 0.1573, -7.0496, 7.9111, 0.6862, 0.6129, 0.1929, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7908031b4c699f48da5801c6cca5a9a126a68a9a5693d02eea9c46f74b901e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be3a43b5e6197eb09d5af4a43830b43b502a516125b10a224c675cce25979f8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837b7ddefa10ec6306e7b30e9f468abb1adea13363d8b5fffb611c719b2d6c4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9588, 1.1816, 0.7311, -0.4835, -0.6815, -0.6922, 0.9993, 0.7052, 1.7031, 0.9493, -0.0761, 0.5934, 0.3286, 0.7519]\nstate[eef_state]: left_x=0.2605 left_y=-0.1712 left_z=0.1371 left_yaw=-0.0338 left_pitch=-0.1022 left_roll=0.0267 left_gripper=0.9993 right_x=0.3821 right_y=0.2002 right_z=0.0901 right_yaw=0.0339 right_pitch=-0.0962 right_roll=-0.1699 right_gripper=0.7519\nstate[joint_eff]: [-0.2256, -3.8496, 8.841, 1.2674, -0.569, -0.0415, -0.0122, -0.1709, -7.3368, 5.8872, 1.7656, 0.3541, -0.0122, 1.0232]",
      "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]: [-0.8856, 1.5192, 0.4515, 0.0639, -0.635, -0.6292, 0.0084, 0.7052, 1.6356, 1.145, -0.4026, 0.5781, 0.3206, 0.9985]\nstate[eef_state]: left_x=0.2681 left_y=-0.1568 left_z=0.011 left_yaw=-0.017 left_pitch=-0.1777 left_roll=0.1057 left_gripper=0.0084 right_x=0.3787 right_y=0.2003 right_z=0.1432 right_yaw=0.0443 right_pitch=-0.154 right_roll=-0.2064 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -6.3932, 6.0513, 1.1697, -0.2955, -0.0464, 0.6325, -0.0205, -10.9333, 8.7316, 1.4481, 0.2515, -0.0269, 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]: [-0.7319, 1.3834, 0.8158, -0.3756, -0.5518, -0.5022, 0.9951, 1.1343, 1.668, 1.2037, -0.7113, 0.7677, 0.7471, 0.9985]\nstate[eef_state]: left_x=0.3166 left_y=-0.1551 left_z=0.1119 left_yaw=0.0031 left_pitch=-0.1918 left_roll=0.1067 left_gripper=0.9951 right_x=0.2633 right_y=0.2826 right_z=0.1369 right_yaw=0.0916 right_pitch=-0.1699 right_roll=-0.2092 right_gripper=0.9985\nstate[joint_eff]: [0.3624, -7.0769, 8.6769, 1.1893, -0.1832, 0.0952, -0.149, 0.1573, -7.0496, 7.9111, 0.6862, 0.6129, 0.1929, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7908031b4c699f48da5801c6cca5a9a126a68a9a5693d02eea9c46f74b901e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be3a43b5e6197eb09d5af4a43830b43b502a516125b10a224c675cce25979f8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837b7ddefa10ec6306e7b30e9f468abb1adea13363d8b5fffb611c719b2d6c4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfwEcKqEblRi5WD4GFiYsrHvWAo2z7BYc6QBNwdVFxt5HCBYKX_aAUAvrl_CoSgzmOg434SmQakm_s2y0E1aSqLezCsIC7tH6LbeSoFoisPaVVNqcLM80J8pBZa4ONShe3fu9M_UAyaRGtTGKsThbgqtQOb_LYlFhMD6ugTf9x2inpuoIT6EDSfpWkkVJIWc260WAiekOjhMfMtpmblsUfGr-J5tOJNP1pkwivaib3xLsmjGE0c3iw-2vrA0MdYtp25gKtD4qSuNZw8PeIHAyKcjbT6nHxlE0xolThKsoeI1-u7ENZgrdeUBeP-rHLcn6Wc76OknEDU0nY9Jd8SfYxPzr6aMiW7LYbQMb8cMzCP0NayKC_Z-g2KguCdc8BqsNV-iNcK_0J2GaLRMYyX_IiMuUPlDl1ktfHOfFey2DT0jiosde1cg29VLU7A5-UOX_zkiXT97Ccqa6YdfQ5oyWR0kSZIVVpEc0fmRiFwPlNpqQh_f3pET5FmqqxuFKQ-zIXnRpO1rP3CPStr0vtLX_8XqQDs2BXlHtN0KpVxC_6KESf_wdEafM23lFvjAtOcPvj5_ZNL9kbvw3CgKkj3B5BtlkayFPyBE6ETpeLg_zJCLGuTpgrWv1GAgHwNRcbY7lrFV5CfRAwEiW4Sz7DwVOR6BGeyNcDiLp85Adlo888rBqba6IRu-4uYgYdwu14qz8a1Ys3x7aBjUv2F8TgvAekmpvu6r0BMmBMY8Jt69Y0Dw1J2wmraE7cAzHa_lvh_vcYIfA9eUiv4kmSjKUrDgBr7nukh1D29-aqPFbHZsq97WUM09GHz6cBfiVch2YU3JAfxiiO_fTY1MXn4d1IZVjdi7ZnYuYKxq_RFhVfCs4YK__GFVU-e0VftkZAJPP_aV0QabYDUy2_g3bZ-l-5cxfMMcMajZKgQfiHJ2Zhv-jiUxXum6-RlLti9ak4GYH4F3wMN7TKGwzcKPPEqv_yry7W-wOOsApsXvnUmz9q7ZwbrQ42kIc-H2iP1MifnaeKMyD-A1h-39v1niY31h_uLPZDfGVqXstMlPx4FTztC8BFhZcP1QUvUfy3BZ3Y5bXbph_MqjuooVTPmkPJektomCRD-666fzPa5aJTSqbkdMqBS9MXaeAk5aYuraJBaPnC7EMAXE-5Mrw0dglXxUmcLBiKfYpNmtrR2gZQ9t5Inx5sR4GJZdxSgdYXGOx05rBDwdqX3vQVrmhUAaENCCvmnRsW1cDX8szSS_uGsDJ8Mbi4LJhbQPoU0iVaI2Rj5lNnqZbBUedoGdJ7sjaKZgMWfpi3pwlLNjyZ-kaZswIDY5qMr7oR7EdtEL_Z1tE4ZZkOGwqL1JYtjOldTU73q2Kl4h7bRgECx-v-Xtvn84i2liXZ4ocSvc-edBwAio4XjMVLvvQ_7Vm38cR58uy1EtOJ03aRGX7WZVVnvcQP3nXF10tU2OPVR9b7XwyyD43-mGWjHhrOKCEaN2DXjK4t36KeRslrr4xHVkvtmYiDvphMo7msiRxDDYk_nIeOao4hdefgZVURc0j8dVAjGN4-AlYxlG3Fx584_Al99SoFVsJrFMWCvMWKU7Y5dAwBMNM3bxZfuAJovpkX0LxZ4aqtDBEb43uYbBuhUAn4r3u1_B1PP2czUKlfc-d3gOAE70HXbTZjJOPcSQ5kd6a0LqN4HFEIrcjhwck-oz9ZI9-iBVyY92Diu2_3r0nSxgjDcyBtTHOzDPTrXh9tR71AlTPG5TD329DAVJHCfaYNlmx-jOYngzCbDYyDIDJDkmei_dLfI8HKBLkHbKGQOYbtnqdYVU7RTMFTQgiuJB_JOiUBHYCIVG-xZx1wpjVDVn3mrTWKF3jtFS-684XTt1-OH5qadIvHAeQs1VYvNQsA1wOMMUs40Fh8sZL-eaUhw3pX9qsnsgkuvTP4lOr0MR5dW4pkSgU9KNLv5pFKtfDwcGx4hMqBt3tGUck8VkxRHUnZMOJNMuREvFsIdKUYllB9YGjq9cMZ2WK3BsZp8y7SmkH3ExZHsCteGKxrKUMqUDdDFuoSjJgXPns6N3g57Ri_3fIG26y9nqi3il1E3JgqYasIkrul_QmzKpwY9gUEaM3Bj9hFyZsvVOteYuI65ePtCs_7RfY9ECE5Zlr-4Z2dsuscKL9vLsHP8fpsYCtO25sSV_dFoBHfJLa2iw4qRov-vwuoqCzJkN3ui_UthU1_8SuG-l8DWben6m19eCQop478vrKubQFeSAmIS9VCw3kpkFttmtaWGhrTLEfR4Yw-HmdOKsqI0qVkVNa-Kjs90Tw8ahPAE7wPkBxakXLUFlMc2CrBNhfSv4RGMWEIO_QMudHEVQlK2IIL6izE=",
  "id": "rs_00f56f3a0e430dd8016ab437ed0e2087d09cffa26e9ba865d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_z\":0.025,\"right_x\":0.285,\"right_z\":0.022},\"note\":\"Both remaining fruits are visible near their respective jaw columns: the dark fruit under the left arm and the yellow fruit under the right. I’ll advance each gripper slightly and lower both to grasp height.\"}",
  "call_id": "call_2PvaClZJoY3hzoB3tji23tTh",
  "id": "fc_00f56f3a0e430dd8016ab437eee38087d088fc6c2ac8e3471a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2PvaClZJoY3hzoB3tji23tTh",
  "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]: [-0.6804, 1.6405, 0.6708, -0.0048, -0.5251, -0.4667, 0.9963, 1.0771, 1.8725, 0.9749, -0.2794, 0.7403, 0.6868, 0.9985]\nstate[eef_state]: left_x=0.3313 left_y=-0.1496 left_z=0.0229 left_yaw=0.0206 left_pitch=-0.2319 left_roll=0.1366 left_gripper=0.9963 right_x=0.2794 right_y=0.2754 right_z=0.0249 right_yaw=0.0796 right_pitch=-0.1995 right_roll=-0.2418 right_gripper=0.9985\nstate[joint_eff]: [0.6359, -6.612, 4.9709, 1.5458, -0.2173, 0.1587, 0.1099, -0.2803, -8.2803, 5.0256, 0.9695, 0.5201, -0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e741dc4f2750ef3743e6c0b3f98f34bd645000a887a506db54f087ffc640edf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901ad2123dc0e26202c1e7a06de3dd0f736eafe037536486e4ca41b3dce48a58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e3be1fe50391dd58dbd02f006886aac492583878d8f44a1353d2b7cad80398",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8864, 1.5021, 0.4644, 0.0635, -0.6353, -0.6304, 0.9993, 0.7052, 1.7096, 0.9489, -0.0807, 0.5865, 0.3229, 0.9981]\nstate[eef_state]: left_x=0.272 left_y=-0.1618 left_z=0.0194 left_yaw=-0.0207 left_pitch=-0.1582 left_roll=0.082 left_gripper=0.9993 right_x=0.381 right_y=0.2006 right_z=0.0862 right_yaw=0.0412 right_pitch=-0.1089 right_roll=-0.1775 right_gripper=0.9981\nstate[joint_eff]: [0.4308, -5.6821, 4.8615, 1.4921, -0.3785, 0.0708, -0.0122, -0.212, -8.5949, 6.106, 1.3895, 0.2759, 0.0073, -0.0415]",
      "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]: [-0.7319, 1.3834, 0.8158, -0.3756, -0.5518, -0.5022, 0.9951, 1.1343, 1.668, 1.2037, -0.7113, 0.7677, 0.7471, 0.9985]\nstate[eef_state]: left_x=0.3166 left_y=-0.1551 left_z=0.1119 left_yaw=0.0031 left_pitch=-0.1918 left_roll=0.1067 left_gripper=0.9951 right_x=0.2633 right_y=0.2826 right_z=0.1369 right_yaw=0.0916 right_pitch=-0.1699 right_roll=-0.2092 right_gripper=0.9985\nstate[joint_eff]: [0.3624, -7.0769, 8.6769, 1.1893, -0.1832, 0.0952, -0.149, 0.1573, -7.0496, 7.9111, 0.6862, 0.6129, 0.1929, -0.0122]\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]: [-0.6804, 1.6405, 0.6708, -0.0048, -0.5251, -0.4667, 0.9963, 1.0771, 1.8725, 0.9749, -0.2794, 0.7403, 0.6868, 0.9985]\nstate[eef_state]: left_x=0.3313 left_y=-0.1496 left_z=0.0229 left_yaw=0.0206 left_pitch=-0.2319 left_roll=0.1366 left_gripper=0.9963 right_x=0.2794 right_y=0.2754 right_z=0.0249 right_yaw=0.0796 right_pitch=-0.1995 right_roll=-0.2418 right_gripper=0.9985\nstate[joint_eff]: [0.6359, -6.612, 4.9709, 1.5458, -0.2173, 0.1587, 0.1099, -0.2803, -8.2803, 5.0256, 0.9695, 0.5201, -0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e741dc4f2750ef3743e6c0b3f98f34bd645000a887a506db54f087ffc640edf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901ad2123dc0e26202c1e7a06de3dd0f736eafe037536486e4ca41b3dce48a58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e3be1fe50391dd58dbd02f006886aac492583878d8f44a1353d2b7cad80398",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfzpIZVBbVHbj0cpE-9X0W2rcE_wYtLTTz5iKGod1nZX9Is7UJWIAodV1nXaWlro8lMWZ8w2j5ec-q95wC2NIaebimILV4sJn4kaja2-29fWRyPjcf-QXpW6gHsysie65B2DPhlgGKthwRdO8Y4zQY_NjLqdONNKfdevqV6gGvHwYcazXq-GUHlyOb38ChkMkkx71k5OSOrLNfl8oNbRcl8R9EM1WDNu_PednjY2qi7CDQ-lDCs3XuFzONr07Gd2oXgreGC9Eg3d4ZiVHNGxbxYWaxogBRatuH2tgH0p6Ne3uIRfVwbFQ7IiSorMmr-6wZEp1oVA1533mEG_-r_8yoNW3z0avq-gamb-gz6IcNiK5etqf6NS-lHPj459e5gGEBYoE6c8NaRSzd9oNM4mznmm3sFwsnufOB2ovVQFivc9PJZFAVapmT-ik79LK60wgIGXUI5IiY2YgpN7t9BmaSfNpcC6YekcotPVK6Skw1JfDpamb8MfJ486GLS0wuN220oQAeArPXNW9_5GqrXvnM4whrd7Ld8Pex7928jmymzGZWD0mz1HOO-iituB486qsiRgZi4urUvtfVn6sNRKYmjWyK5G5Hbvk7n6SemnoILtIAUhYs7nu6mbUkxKTINsQdZs9YOQEEwPwJJG8jfuHcoTFiTs3zndKYX_4LKyvpn1cRvK7zPXHFBePZjUUK9AxFWkNZaqRaQWj2DcyPLCdK9r2P9ZkINRz2lQPkoA5kNVTKJc_30rXu9jJTDxw2J-kqgJmjwTmqifUOBobXzbd2WYmtvrJIaa62_7bMw6KFIvVvSLN72P1wNiO26JzkLDaC91UgOZDUWW5M-okGK9R0-J6DTwanMwPFK-g60xhDk_KVAAvmLmj7Fz68EWBKHpQLYZXpXvy-9NNxfMgaIxVwD-RSnVlCQUJIUxEI1VP2QhhYdSLKCK2lPxIUOtHJ2wel6xpkI3iHRNASKgF3OCFFUgfYKW-RX9p7Vc1fSbUWnbN3vcR1YYcZsLqNe_6w6_TeeWBNrMLRm3WQXer_AoeUswSM2rTfHuP7Qv1MGysUpGNXO6QZk_2vedHyRqVRxiAIqssMhhDiZKPGrvhN7kR_xiqyBXjkW9q4M0g5e3bExy5SC2PUq7H4GQq6ZyvyQJIWCgGO3NYV9cCBOtXf69lShxWw7-8jKVg4aHXu3luYo3VZXN2wpqNmBxH-O0Vhul3WAmW8bsKmsoYpSOy9Ns-7Dqa9dkHjHhJfmTT3ZgNbZb6DhFw_jBe_TNmX1eQcvrJNxs09jOIh-KGvzGUTwRKtVkgI0AzakZfDkASdHq4RKBRnhLz9mSpH3EenP2d4YzbHeaX-qQHDptKHsbsLIvK0_gM-loHPAMiuPJKBcbowOFgy495FgvSROTPIHZZsHMR8ks54DGHbiJS22PqlloQSotQNy5hBP96FCvxznJyoWJRA=",
  "id": "rs_00f56f3a0e430dd8016ab437f2204087d09e6ec3175759f8b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The dark and yellow fruits are both centered between open jaws at table level. I’ll close both grippers, then verify each hold before transporting them.\"}",
  "call_id": "call_A12QGNUX6vCIPLQYHdnTeAqM",
  "id": "fc_00f56f3a0e430dd8016ab437f2ae5c87d09147c4ed376e6261",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A12QGNUX6vCIPLQYHdnTeAqM",
  "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]: [-0.6792, 1.6604, 0.6628, 0.0002, -0.5228, -0.4709, 0.5205, 1.074, 1.8927, 0.9634, -0.2775, 0.7349, 0.6727, 0.4442]\nstate[eef_state]: left_x=0.3284 left_y=-0.1472 left_z=0.0143 left_yaw=0.0261 left_pitch=-0.2503 left_roll=0.1474 left_gripper=0.5205 right_x=0.2772 right_y=0.2703 right_z=0.0142 right_yaw=0.0813 right_pitch=-0.2217 right_roll=-0.2748 right_gripper=0.4442\nstate[joint_eff]: [-0.253, -8.3077, 5.7915, 1.1697, -0.2955, 0.0366, 1.0281, 0.1709, -10.3726, 6.2154, 0.8425, 0.3346, 0.1099, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52495517b889fe28f8f6f8317f92132761f53955b29c457b429420e07b59a785",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e91ecd17c54b9a07ef3eac7a2d940f7c0517a1a2a7ebf99d790eaa9cefe99211",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2ca652c938c04cc64bc2c75922ce77f40572c6486838d00d8ec226cc492c11e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8856, 1.5192, 0.4515, 0.0639, -0.635, -0.6292, 0.0084, 0.7052, 1.6356, 1.145, -0.4026, 0.5781, 0.3206, 0.9985]\nstate[eef_state]: left_x=0.2681 left_y=-0.1568 left_z=0.011 left_yaw=-0.017 left_pitch=-0.1777 left_roll=0.1057 left_gripper=0.0084 right_x=0.3787 right_y=0.2003 right_z=0.1432 right_yaw=0.0443 right_pitch=-0.154 right_roll=-0.2064 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -6.3932, 6.0513, 1.1697, -0.2955, -0.0464, 0.6325, -0.0205, -10.9333, 8.7316, 1.4481, 0.2515, -0.0269, 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]: [-0.6804, 1.6405, 0.6708, -0.0048, -0.5251, -0.4667, 0.9963, 1.0771, 1.8725, 0.9749, -0.2794, 0.7403, 0.6868, 0.9985]\nstate[eef_state]: left_x=0.3313 left_y=-0.1496 left_z=0.0229 left_yaw=0.0206 left_pitch=-0.2319 left_roll=0.1366 left_gripper=0.9963 right_x=0.2794 right_y=0.2754 right_z=0.0249 right_yaw=0.0796 right_pitch=-0.1995 right_roll=-0.2418 right_gripper=0.9985\nstate[joint_eff]: [0.6359, -6.612, 4.9709, 1.5458, -0.2173, 0.1587, 0.1099, -0.2803, -8.2803, 5.0256, 0.9695, 0.5201, -0.1929, -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]: [-0.6792, 1.6604, 0.6628, 0.0002, -0.5228, -0.4709, 0.5205, 1.074, 1.8927, 0.9634, -0.2775, 0.7349, 0.6727, 0.4442]\nstate[eef_state]: left_x=0.3284 left_y=-0.1472 left_z=0.0143 left_yaw=0.0261 left_pitch=-0.2503 left_roll=0.1474 left_gripper=0.5205 right_x=0.2772 right_y=0.2703 right_z=0.0142 right_yaw=0.0813 right_pitch=-0.2217 right_roll=-0.2748 right_gripper=0.4442\nstate[joint_eff]: [-0.253, -8.3077, 5.7915, 1.1697, -0.2955, 0.0366, 1.0281, 0.1709, -10.3726, 6.2154, 0.8425, 0.3346, 0.1099, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52495517b889fe28f8f6f8317f92132761f53955b29c457b429420e07b59a785",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e91ecd17c54b9a07ef3eac7a2d940f7c0517a1a2a7ebf99d790eaa9cefe99211",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2ca652c938c04cc64bc2c75922ce77f40572c6486838d00d8ec226cc492c11e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDf2MZWOyIeGX865fRp1-qjeRruCStpR3mWYMPufSzaEGdVFbK-fPrcIx6ado7-hnxhjJQDdRqv7xHBtcnd-8a5hqXTMHzKjoiTyvM7W8IV6ZmbBGIIDhou34rd3ShrKXEFTDHB1_cmccUMGyTJ3wGSD5aDT0EtgM8Sp8HIzQbTSGQPVDschKCSL2wPql2HzkmRxB4Eg4hKeHrkVLdUwfZMKoihwrm8q_wwWA8eiBxJFzCOhg2iXCHFe8LHIJTySX6eM_cZN3oNHGMYXeadLjjX-VdwGlO3GW51ujWjD2Do0w449HVroxASXlvLDko9j-Lwa4xwBp7xhCsGLj1eP7JKK0f5kqvts2UlPHBrbYBatuJfJJ8x41abZ_BaEagv66LX0ioswTvB84q01V_3xKiAg-rRTC_IY4XZR00IRrwIz7jaMcSfA4vr4cpHp2exz_dmGumUERPTp63iv1hKLUgugg0AfyBwTz5DfA7oC4OArOnBunQSxcXzIUgUx1rV0iU-IHf2ZvQfwVRZ2TsEVETx5NrxbZG828PSi4_ErEEoa8uTUZz71iFlZHu5tIh2L2e-Aq3eVb9lLHQUGwqU4DqllrrOImVLrKaFnw_o6OGL5FBQCfW06xCaALPnZ0CUVaR6b_pVc43XVW1jvg3E4gtb5PQyPYcewGwBtI78XUg8tMSHve7vrCLvv4LRUnl-62uaZtN8-VwGt1M96X_gPIn6zkvMkI1Ok7yd1We2DSR_FibYgBF7v2idEGjJSTxIVV_e1D8LP25Ivh-vbK0mx5AAS8lxzoz03XskOU20pWuE_Gb6P-rmS0ZSa3R-lT8uO1KaP7dPLOHwZdT6VU39nrUjrqNKaugCn5o1W2ldhmMxbOYQtu5SfzNvrMutI0bhwGrg7PnZ8F-SQAlSNjlOLyJK0SNv4gI9rXuphxxjypdlvV1scb72z0ddW0LdmSqM2Lt4Y19lOm46aw19Czk7VSQ1LthNXBL-AVPdoI49dOCwJ0r2m_08_E5QnY1hVqVtxWzuNjv4rM0ZvwtBXK6SwkrrWNzywE6a61DI9S0m1UFP_fpnFa-Y1dLRbRVIr-143iH5SlDcsIa9TVZRhYHP8J8zCrLpoBfe_y-1TqvW1x233HZpmDmvqPUWyFRF8PO8IIXU_hkH3G9vSt2TjlCKsaiWZekfMUl99IA7emfeVJJUEncCt5WgJpVqL7ZQ6mA6DA9_-xahz_PjfJJfInq2o4P2pai9cve2-ft_B-4ad9mhAqdOU2taP4iyhepgdJNVjQdNPE3nmWrLTeL1ZtSjua0WufQ-0jGqqxSRbgVYzwkKpH72x_VU1uKtBmUgkzS_x7-XI0E84qugNmsvXTVV5JCM5aMmX61ClnV5aRZ755vFsZn-rIUHyBitwD0wmoR0ciAEi5bgOKThlvdaVrmt4CUrfYA==",
  "id": "rs_00f56f3a0e430dd8016ab437f5254887d0aade2ea013545450",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"right_z\":0.16},\"note\":\"Both grippers stopped at plausible fruit widths rather than closing empty. I’ll lift both fruits and confirm that they move off the table with the jaws.\"}",
  "call_id": "call_ReVoAmFfzKvZcCR4L7tJaboV",
  "id": "fc_00f56f3a0e430dd8016ab437f5a61087d0827818cf30bace54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ReVoAmFfzKvZcCR4L7tJaboV",
  "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]: [-0.6792, 1.4296, 1.0183, -0.5941, -0.5217, -0.4789, 0.5213, 1.074, 1.7088, 1.2938, -0.7979, 0.7246, 0.6685, 0.4483]\nstate[eef_state]: left_x=0.3306 left_y=-0.1492 left_z=0.1421 left_yaw=0.0311 left_pitch=-0.2564 left_roll=0.1464 left_gripper=0.5213 right_x=0.2787 right_y=0.276 right_z=0.1402 right_yaw=0.0872 right_pitch=-0.2338 right_roll=-0.2776 right_gripper=0.4483\nstate[joint_eff]: [-0.3487, -7.706, 8.6222, 1.1355, -0.2906, 0.0464, 1.033, -0.1983, -10.6735, 7.6103, 0.779, 0.4469, -0.0073, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18b417f588a22030a5b6e900938025cecfa648216f5cabc2f6f6fbd7703565da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746cd20f2010a5fcfe7bc6d9aaa4ca56f22b68f5bce2e6d1262c0dd250838142",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0fb6c6b3dca5750cf1096f210ff3c282e75da3ed9a63db03d7f5ad561b85763",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7319, 1.3834, 0.8158, -0.3756, -0.5518, -0.5022, 0.9951, 1.1343, 1.668, 1.2037, -0.7113, 0.7677, 0.7471, 0.9985]\nstate[eef_state]: left_x=0.3166 left_y=-0.1551 left_z=0.1119 left_yaw=0.0031 left_pitch=-0.1918 left_roll=0.1067 left_gripper=0.9951 right_x=0.2633 right_y=0.2826 right_z=0.1369 right_yaw=0.0916 right_pitch=-0.1699 right_roll=-0.2092 right_gripper=0.9985\nstate[joint_eff]: [0.3624, -7.0769, 8.6769, 1.1893, -0.1832, 0.0952, -0.149, 0.1573, -7.0496, 7.9111, 0.6862, 0.6129, 0.1929, -0.0122]\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]: [-0.6792, 1.6604, 0.6628, 0.0002, -0.5228, -0.4709, 0.5205, 1.074, 1.8927, 0.9634, -0.2775, 0.7349, 0.6727, 0.4442]\nstate[eef_state]: left_x=0.3284 left_y=-0.1472 left_z=0.0143 left_yaw=0.0261 left_pitch=-0.2503 left_roll=0.1474 left_gripper=0.5205 right_x=0.2772 right_y=0.2703 right_z=0.0142 right_yaw=0.0813 right_pitch=-0.2217 right_roll=-0.2748 right_gripper=0.4442\nstate[joint_eff]: [-0.253, -8.3077, 5.7915, 1.1697, -0.2955, 0.0366, 1.0281, 0.1709, -10.3726, 6.2154, 0.8425, 0.3346, 0.1099, 1.033]",
      "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]: [-0.6792, 1.4296, 1.0183, -0.5941, -0.5217, -0.4789, 0.5213, 1.074, 1.7088, 1.2938, -0.7979, 0.7246, 0.6685, 0.4483]\nstate[eef_state]: left_x=0.3306 left_y=-0.1492 left_z=0.1421 left_yaw=0.0311 left_pitch=-0.2564 left_roll=0.1464 left_gripper=0.5213 right_x=0.2787 right_y=0.276 right_z=0.1402 right_yaw=0.0872 right_pitch=-0.2338 right_roll=-0.2776 right_gripper=0.4483\nstate[joint_eff]: [-0.3487, -7.706, 8.6222, 1.1355, -0.2906, 0.0464, 1.033, -0.1983, -10.6735, 7.6103, 0.779, 0.4469, -0.0073, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18b417f588a22030a5b6e900938025cecfa648216f5cabc2f6f6fbd7703565da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746cd20f2010a5fcfe7bc6d9aaa4ca56f22b68f5bce2e6d1262c0dd250838142",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0fb6c6b3dca5750cf1096f210ff3c282e75da3ed9a63db03d7f5ad561b85763",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDf7sAZpEYbgIiVVe9oRt3af_A7qjfYoehJy_hrcWVqU7EpTjfZUD0qUVg2s9OfIreHVyDent-Hh-Q-pqc5YD3JaQmYoymRCdITLkf7hbKSoUvlWDU18HWnXMXER0lk-Lm9nhhOUjKSI04g7yoGQrZsjCHU3Ql1Qlbuo0K46lQq03LtP8LB06rPfi50yhNNDCS-JqdAHwGlwgHd3jd6VpdYC2IKpSxGdc5qdrEAP06Qg856z9EeUvyT-x3bdlEuGf3nzms5dLyCPguk0ShOxPKdmiQxlHqSdn-MizszPV45yzjYbhrOETRzYG4QdjiadzIb6GEIfOBxwy2mISDevkksoNBuGy4vmrEu6nSfXYXYRFqJxLoFgdRJveuQtlfMdAtnW-8uWLOWfMdbG4VlEaJIy5w3bYF0LOOkV_Y7YpmBq1NkBxku43iBq-Ny0Xd-Gs4LtWW8M4UcXTD1m_Z7IrEQa7NH0iGxYlV-ySkRRuMAU5BkYkSSqNesgj0xy9bLrlEnVPZwmL3DNBmZta2oDJeQThzxKIkncps9t6tgt9X9VQnPYqQlBmwSQ-z8Zf32XedRe9FDE7d0HEaKcXvNrVct1NbnTr2n2PMj_LufBu3BpvljRdAHyRepj04VL_yksW6OLQIgWqIEjbXSUPPiDf5ZO8rrQymi_KFzD3RDV7sTx6weN70ymq9nPf7MEVfuJ0UVQ8bTXRX-X2fB-Bujt0Npz8FW3SpLOgqwDHjNKx12utQORsYqyzvduQ8LRtYiX4sOD1vjxYZkao6HW35EePU3DJzNo8Quk2fbE3giro7n0C_kLjJD6VFvQLSOpbcX26V4ZNBUIlD18eArHxuUvA5BkGq0eNd9GFWUm9JspX5FlzZLwlaV6puiKWUT5pwO_xczlY7STnkEpbIOuQPd0ORYvW3yPFdq4P0ZaEcstAWlFCOhUiN91I3aVwInqxuZzyDXBcpR0v8PFk9An6ZxRMzjdZPZxx6tPnDvFmrImyvdlVpTro0i6hT8U5yrgwDe84SfmTfhF68HQkjf5EGEV2vHJQcNtMAjzBgn-1f3MqZe_KyYMOB1ZtaM0yfW70acmRP-Ikge6f6iI6rXcpOS4rOD_g6Xzw3jrs_eaJYWiydOu3q11-deVNv-ZlXrpnTkhIaGXiBvGHqVS-QSSmkxlaIZOUr5BnWG6EpZsJ89jc2cWPiWQXu57lC-6or3f3nmQWnDNBEq12yietkulKPUEPl7RAKbrNTPOHr2p-98-GD3kuv9m062sMZeAu5fGYeZamp9D-6H_0fnty-nchnn7ewFUwwfUkRMOkY3Z8H3anxB8Ly7YFtdm-CeJhP94UerNiTXEyA0Dc4BSOmx0mhZMDogtf9i-DLERnpPCzoveJ4K_SuKPzz6aZh3Zvnj3ltNuRJDFyi4fQTCJ1oHw-p1zOzL4q4x8NUA_BQLiA9C85Kg8tky8RgCRI2cmQbAoKUgGsOzVV3BPqLC0OJDZgbh5iprIklcSqodEZsvpM7O3X9AuTfKVNTDDn_oLDM4CO8WbA_z1YdzpUjfQhiQOTaMJtjP7ve66TMz3GvQKGckfzy4JQVfRNnEpyxGmQEJ4XQMYiSQ0XfQierf8cGmnifrJYxqmE08JizlLHQOdZySCrLDrq_96zTGOLTb5OXsnoDjhXBiejO9ykRk7dFL0PyY8-VWOkde0w5MZmjh1BJ_BzzwN2nWXMPcZPncH-j3qpqT0_YVZqkrkbR8ZoYVDc1cp2gD9oaP8Sm9Kl8Sidw9SH-1K5sBS1VLQ9eJlrZLAnt0Dkaj_kvuv4fzkh_FNstZKM4kRQ9wBn7REtg4SiiAM817oCHe7GNzrpjQCu5zvP57g4QT2Xq7ppuf1V4klIkjhhpQLQ1W2O_C6i4QHaIrnMf_5_6tw278Abg8wJCzhKqkqC5FbkASi1lWhOtm90PQEIv6exzS2w8PMjm-JJX6C72LtP--4lghryGkDdr3DqYNg6Nw9MVLnh4-7pHgVwUTZmnj2JFtU6Rt0MWt-YFDub3_ozEsmh_XhfZqQ9aQs6dzgQDgrMzlB4MKxTRpR-uB7cOjNN-TfxckCU30CGLlHu_92GiyBz3xvUAT8efVNzN8BNaVyL56r1tNN8WjoAK7kJG6CEjWPv1WVfHbS7R7mFAOZalR4mYxSCOZqijNu_T4jHBgEEvAIwe67R4ubxQQd18JXpA==",
  "id": "rs_00f56f3a0e430dd8016ab437f9375487d0a1d085615bb53bb8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.388,\"right_y\":0.205,\"right_z\":0.12},\"note\":\"Both fruits lifted successfully, and the green fruit is visible inside the blue bowl. I’ll bring the yellow fruit over the bowl first while the left arm holds the dark fruit clear.\"}",
  "call_id": "call_spee9fc9i9C4Z2RZUn27Vuzw",
  "id": "fc_00f56f3a0e430dd8016ab437fadc6887d097f87680fe1f557f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_spee9fc9i9C4Z2RZUn27Vuzw",
  "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]: [-0.6788, 1.4212, 1.0245, -0.6083, -0.5217, -0.4789, 0.5213, 0.701, 1.7103, 1.1988, -0.4965, 0.5556, 0.2829, 0.4483]\nstate[eef_state]: left_x=0.3295 left_y=-0.1481 left_z=0.1454 left_yaw=0.0314 left_pitch=-0.2561 left_roll=0.1461 left_gripper=0.5213 right_x=0.3766 right_y=0.2006 right_z=0.1197 right_yaw=0.0619 right_pitch=-0.2614 right_roll=-0.29 right_gripper=0.4483\nstate[joint_eff]: [-0.2803, -5.1897, 6.0103, 1.3944, -0.2173, -0.0611, 1.0134, -0.1573, -7.1863, 6.2701, 1.4139, 0.2613, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6768eaa398f7019051a473fdb6ca08d7adca79e1d44752940f81d595042ecb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbcaba9578d00649753130a5bb3265a65b6acf27b120695bbf4abdd927161602",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa5068ff71053a9bbb4c44f18cb92a69f744ca72317aa58b3e9ed4887ab8e7c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6804, 1.6405, 0.6708, -0.0048, -0.5251, -0.4667, 0.9963, 1.0771, 1.8725, 0.9749, -0.2794, 0.7403, 0.6868, 0.9985]\nstate[eef_state]: left_x=0.3313 left_y=-0.1496 left_z=0.0229 left_yaw=0.0206 left_pitch=-0.2319 left_roll=0.1366 left_gripper=0.9963 right_x=0.2794 right_y=0.2754 right_z=0.0249 right_yaw=0.0796 right_pitch=-0.1995 right_roll=-0.2418 right_gripper=0.9985\nstate[joint_eff]: [0.6359, -6.612, 4.9709, 1.5458, -0.2173, 0.1587, 0.1099, -0.2803, -8.2803, 5.0256, 0.9695, 0.5201, -0.1929, -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]: [-0.6792, 1.4296, 1.0183, -0.5941, -0.5217, -0.4789, 0.5213, 1.074, 1.7088, 1.2938, -0.7979, 0.7246, 0.6685, 0.4483]\nstate[eef_state]: left_x=0.3306 left_y=-0.1492 left_z=0.1421 left_yaw=0.0311 left_pitch=-0.2564 left_roll=0.1464 left_gripper=0.5213 right_x=0.2787 right_y=0.276 right_z=0.1402 right_yaw=0.0872 right_pitch=-0.2338 right_roll=-0.2776 right_gripper=0.4483\nstate[joint_eff]: [-0.3487, -7.706, 8.6222, 1.1355, -0.2906, 0.0464, 1.033, -0.1983, -10.6735, 7.6103, 0.779, 0.4469, -0.0073, 1.033]\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]: [-0.6788, 1.4212, 1.0245, -0.6083, -0.5217, -0.4789, 0.5213, 0.701, 1.7103, 1.1988, -0.4965, 0.5556, 0.2829, 0.4483]\nstate[eef_state]: left_x=0.3295 left_y=-0.1481 left_z=0.1454 left_yaw=0.0314 left_pitch=-0.2561 left_roll=0.1461 left_gripper=0.5213 right_x=0.3766 right_y=0.2006 right_z=0.1197 right_yaw=0.0619 right_pitch=-0.2614 right_roll=-0.29 right_gripper=0.4483\nstate[joint_eff]: [-0.2803, -5.1897, 6.0103, 1.3944, -0.2173, -0.0611, 1.0134, -0.1573, -7.1863, 6.2701, 1.4139, 0.2613, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6768eaa398f7019051a473fdb6ca08d7adca79e1d44752940f81d595042ecb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbcaba9578d00649753130a5bb3265a65b6acf27b120695bbf4abdd927161602",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa5068ff71053a9bbb4c44f18cb92a69f744ca72317aa58b3e9ed4887ab8e7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDf_dtjA3QO8HJMDDEnKTcGaWfjHPR8pau62q9vnrT5gBzRnq7XYDQmQlVSEhRoA9QGQe0xXRbdHX33ClBDXwqBGLG7QYg4IYnrdEOhkwF2fpOaok2nrcaKjjwmJ5VUaHiABI-QHKZa1CKWEgPgtVztq5l2WQ3W6milNW9P52iSLg4Hx8MJPkZuXXoyMh77wbY5PdxVyyaB5T8J1RCkl2Gwl8NqZ65r9egrWe1tQTZyv_N-qriVvdAaCFO7DyJeehyTYuNp-IJFweZz4gnrtPCTx1a2pGFAIkYywWaTlEPFeQGcKgVydESEJ-1ruim1y93dedqDKxX8YAF4TXeuNxgHHrWcpj0o1yPdCrnvGtq71qmXligY_ibJWkqepUBcv7bc0MmSzWCSapfmIUn_bCV4FatK8YFevkvFxnaApzmY-it8GNnSYC64MtSg8jQokbanWupF-5u42PgAu1Dt1bra19MdVTmpyB-ESHB54w8MGHXXgcCm2rHnZa0K-7JHe1WoRiUtFGWUCk1L1vV-WVxxncKWCPmsfzFC1YQJhM8TuZ6I_P_qNtb1ur0agt3DDNlmyyf6xCGeCmqHTX1Gcn9oomgKINOs7HJrm8Aj3kJzhvmDElkg_bH7UsXyhXVPJzWJmwupBetatDAn00kaKKYGMIV7OwdMhNyrn5Pi9i1amgoEc8kWLMS1e0NTW1C5xJugH8x_sRXQb-HII18seWZeW9RqLEY7l71ZIAOQsiRvTl2JbJ7E837PAbExwlNl7NTliIaRfuOGFHb1p1F2xRarKJVkJxPJD-i9f1rCS1HESR5RD2mJwU8kuD2CzoKmakd00ikDzHdEtCrv0Ym4l4-vkN4jskFdUjmBnJ3YsjoItAXA0WPVW7e-soqW17GtmeVNgXQ_QMQgDhijMnysdJVkSN21qj-Ch_oT5OwgeW7p5yr8bYD3xoJnO9ZSQ_FGWn49qfjdM_9bN0bJIr_h-plxM2F4tPl3wsFUjgcWGREXSWTwowmmwkoMFGGTKLH5N_A7DEVv9zYoypbmxNrK56I46uR3b_rh8OHuOHGHOc7Tb3imXlmhpVTqULP3xrR8HXkE-q_nHI4Nxx96T6g0pVaQcGS5exFkYsGXBC0hCbsIZ4iPAstDYqm7_GyR_xNmqZrGRCScprYV3DsTVoYeWAMV8Eo4aU_BJOHQm-V-GgvV9GGf2jGsPoATBMsK0V7WIF9IfuZTLmR80TjBCGrGSiplcB48m4FnrpOPPfXyzU_-yitGCDvO9Mhi1-FCTFHNxjIE5uf_sXieHjuOSHGiA4MLnIo2Ed-5uOzS2R5MyidDu4n5B51-e_4oYJ_qmr0piEuqEEr7BqCgLchtHFFTREqKy0Vt_ZjkBScYwI44DQ_beClgXgrfabOwjausscCqn6Mj6zy82pMDXJeMCntp12C8nREM53QVRZyV4jUHGaRcTCfBY07CYsiOAa5Cd4l5mO7U5bAnEBKB3oIcn1HDeRqshWNOaAq8TXR7had7jCYOihulvGWc1XzblBtzr-Oh_XlNAIEC8JhGuAjK9Y2n9fyrY278fU9QSMMF40r5cFBzmbSOVHppvwJQUdHSPW0bVrlKi3XBihJx-ifuQ2xEV2XGMww==",
  "id": "rs_00f56f3a0e430dd8016ab437fd81f087d0a593f741d7093919",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.083},\"note\":\"The yellow fruit is centered above the blue bowl in the right wrist view. I’ll lower it a few centimeters so it lands inside rather than dropping from high above.\"}",
  "call_id": "call_nS4RAKcMoTYeu0hqcPsBStjv",
  "id": "fc_00f56f3a0e430dd8016ab437fea99487d0a7c37e445caa8e28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nS4RAKcMoTYeu0hqcPsBStjv",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6788, 1.4212, 1.0245, -0.6071, -0.522, -0.4789, 0.5213, 0.6975, 1.7435, 1.1145, -0.3985, 0.5446, 0.2623, 0.4483]\nstate[eef_state]: left_x=0.3297 left_y=-0.1482 left_z=0.1456 left_yaw=0.0315 left_pitch=-0.255 left_roll=0.1456 left_gripper=0.5213 right_x=0.3731 right_y=0.198 right_z=0.0872 right_yaw=0.0743 right_pitch=-0.286 right_roll=-0.3084 right_gripper=0.4483\nstate[joint_eff]: [-0.0889, -5.8735, 6.7077, 1.1648, -0.2857, -0.0415, 1.0037, 0.5128, -7.7744, 6.653, 1.5556, 0.3394, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bdcb8408c4c58305032addff6bc4005038663ea87f10b35b57d22dd8973f9df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa0cd4bf032629356e6fb64d6f4b50ba0195edf4b36da4efe44eae30be0e9de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d94c65c1ea0aec8274b42f90cf79e41ad37a0aba7b3dba08d01190f73470ff63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6792, 1.6604, 0.6628, 0.0002, -0.5228, -0.4709, 0.5205, 1.074, 1.8927, 0.9634, -0.2775, 0.7349, 0.6727, 0.4442]\nstate[eef_state]: left_x=0.3284 left_y=-0.1472 left_z=0.0143 left_yaw=0.0261 left_pitch=-0.2503 left_roll=0.1474 left_gripper=0.5205 right_x=0.2772 right_y=0.2703 right_z=0.0142 right_yaw=0.0813 right_pitch=-0.2217 right_roll=-0.2748 right_gripper=0.4442\nstate[joint_eff]: [-0.253, -8.3077, 5.7915, 1.1697, -0.2955, 0.0366, 1.0281, 0.1709, -10.3726, 6.2154, 0.8425, 0.3346, 0.1099, 1.033]",
      "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]: [-0.6788, 1.4212, 1.0245, -0.6083, -0.5217, -0.4789, 0.5213, 0.701, 1.7103, 1.1988, -0.4965, 0.5556, 0.2829, 0.4483]\nstate[eef_state]: left_x=0.3295 left_y=-0.1481 left_z=0.1454 left_yaw=0.0314 left_pitch=-0.2561 left_roll=0.1461 left_gripper=0.5213 right_x=0.3766 right_y=0.2006 right_z=0.1197 right_yaw=0.0619 right_pitch=-0.2614 right_roll=-0.29 right_gripper=0.4483\nstate[joint_eff]: [-0.2803, -5.1897, 6.0103, 1.3944, -0.2173, -0.0611, 1.0134, -0.1573, -7.1863, 6.2701, 1.4139, 0.2613, -0.022, 1.0281]",
      "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]: [-0.6788, 1.4212, 1.0245, -0.6071, -0.522, -0.4789, 0.5213, 0.6975, 1.7435, 1.1145, -0.3985, 0.5446, 0.2623, 0.4483]\nstate[eef_state]: left_x=0.3297 left_y=-0.1482 left_z=0.1456 left_yaw=0.0315 left_pitch=-0.255 left_roll=0.1456 left_gripper=0.5213 right_x=0.3731 right_y=0.198 right_z=0.0872 right_yaw=0.0743 right_pitch=-0.286 right_roll=-0.3084 right_gripper=0.4483\nstate[joint_eff]: [-0.0889, -5.8735, 6.7077, 1.1648, -0.2857, -0.0415, 1.0037, 0.5128, -7.7744, 6.653, 1.5556, 0.3394, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bdcb8408c4c58305032addff6bc4005038663ea87f10b35b57d22dd8973f9df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa0cd4bf032629356e6fb64d6f4b50ba0195edf4b36da4efe44eae30be0e9de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d94c65c1ea0aec8274b42f90cf79e41ad37a0aba7b3dba08d01190f73470ff63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgD4d3K1lc11Pq5ovoj-Wk_pQpM3hP3_ruEbK7oIcTQ9DSLK18Y1Aji4EMwrZbxZjza6OiimUGMf9E9JhPVCa-O91y4hqijeNUqEyQQbAgEQZvmRfisTjAsYvTa-hWkf7FTh9JCLMq6dHnW1T5EeMz-yv8yllMNGxQpPiqlfjZoY2KlcW7vUUf6jqn9iD029cOb8Fl0SstdKi57UdG7zEsJuVqRRS8GNQhOgx0Du4qmaNs7QuG03ctqznBwE5b9ja9FX0atbU80bDtD2pqPaRODLEURyjo5wkyM_0JUC-dqvo1B4B_LlzBSacuzGu51tcDipAwmFEv5fwM7bd22Bl1v5awMFoBVC-53I2OXvZuHztxCaeCuBMJEYaDcjzKFUi06h6LfySW42U9W3kdD06mPjrnX7itAZtjRT2yPNwQnaXKl0sXfQrNkMKsZ3p8Vl5HVBycMqm0KU9mEP2mgEonCPqJ6LB2VdbHyq-we4SA5Ou1b0n9OO8w_PglGQ7Fcgyltou5TLDiaqjFDbs4dAP-wmCKEOvHrP0Ar9o5lJYWEqkA_dMjk-gEa6DXAMGiN01fpIiqakLIRvwCYu3dPXJZjB-XJPEZuxSAiJAeDMWzNmtuKsEcEEk8VbqUSzozfOin22JCwChJiwg9yF87vQpX3dmtoIbyvZyaqMsBBdj6nrKZilnOWpXamYV0ONqNUkxDBngjJ4bC8sqaqGgMct3f_zEwwTX4xOY_dXHPFy9Gly7w8SJstVn2172r2dhadR_BAQYvWYE8bc8MTdp0HLCEbechON0l2GxiYvWTZdDf7OrTN7Phn0XRYgS7iDtEK3SXHo-Ek3HPla-FTcjhvXueRuuIfxYUK2c_j62HRTYtvc_gySb2Muuo_saGY_oqOR3ol9roINAJhf6957EjXHQ8kYyppDfXOzwC7gP6kd8_zBMCiO2i9i9olN6FJ8X4e_ZeznuVgOQGaJM_Uy51VfYo0DCE3JoT9be0pe5Rt1mBcxscDQRTQraqV0IxVifcf5kZgJSpJc4m2juGOJGU-aAf2B5UOxniIuRBcpqVQ-wLXe4WcQfTkde3-Uh2NIMl7WaMbYEDXmkhvJLd45g6kw9zECb09qCejVXUKtlssVOBZfak_Il0paaByogvGwU_8rScgn9yt5Ri_T5D9zatDOCSUg1cK44U6B63q8lRJhzx2FJZr4oaqIp3o20QoVREBGmvZf7_4e1P6GPlMOWS1t2l8jVOIF4vO9Dor2ujLbDyBAQwQ30qhTBqCy8n56Wad0DEog3FXiOvxLuKaCaLCr9il4ZzLP-SWf_Az3J1CNPyF5pvd5ZE498L7jFlLBzh8CCYm4wNFBygW_y8pL0ohT7ZyhKCELOSa77E3jicaazNzOWyRigQIJTp5AH__k5RbrxnSo4qqI5vPB4mhMbDFHurIDTMSPlTNTsiWSeC5whYwiZk_MgGHo3vNQ84uH4QKYzxXvI4-oOypW4_fsX4NHgiJIoFU0uc2oWLwXv9ZJKhVzRK5E5GrpY4iCkjdUgGf-Sfvyed14IOHTtVt8AOxEUjMoIQJzWW36g7aDPijVL1YRai1__fUHs8pwCUN5budLwxCgjptpFUP940iUwdIA46USyNTfKPK3401JRvaGz_9TbFnh9oKQPZlkEq06Xnr5PtDT005-qSI-Ar6P4bpV8V-cc7tJBHIGoq0wl-fvIrm2dpZPTHk6v_C5x1rpT-eRwGgGF2nloiV_w4pfaKnf2rPGQ==",
  "id": "rs_00f56f3a0e430dd8016ab4380205f087d09fc5f610e8233eeb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is now lowered inside the bowl opening. I’ll release it without moving the gripper sideways.\"}",
  "call_id": "call_0AMtPQbdiH6okAdUUG7GbeOJ",
  "id": "fc_00f56f3a0e430dd8016ab43803289c87d0bc883c436c6eb8f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0AMtPQbdiH6okAdUUG7GbeOJ",
  "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]: [-0.6788, 1.4212, 1.0245, -0.6071, -0.5217, -0.4789, 0.5231, 0.7013, 1.7607, 1.0988, -0.3695, 0.5442, 0.2691, 0.9958]\nstate[eef_state]: left_x=0.3297 left_y=-0.1483 left_z=0.1455 left_yaw=0.0312 left_pitch=-0.2552 left_roll=0.1454 left_gripper=0.5231 right_x=0.3727 right_y=0.1997 right_z=0.0784 right_yaw=0.074 right_pitch=-0.2881 right_roll=-0.3057 right_gripper=0.9958\nstate[joint_eff]: [-0.1436, -5.6274, 6.735, 1.1697, -0.2613, -0.0464, 0.8962, -0.1026, -8.5265, 6.2154, 1.3211, 0.359, 0.1294, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2158641dc3e4f148e80ce0ae7ac96dbbef33d211130304ca6aee161e12b4ff8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a42a29f8af8d750e0e4a8df4edce1c3dd295ceb08a4bc9941cf6dbe5b9bb08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606926028d9030c6d2a55ebddb3f6921d6d06d2101e31a2bf1412ec8b500b836",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6792, 1.4296, 1.0183, -0.5941, -0.5217, -0.4789, 0.5213, 1.074, 1.7088, 1.2938, -0.7979, 0.7246, 0.6685, 0.4483]\nstate[eef_state]: left_x=0.3306 left_y=-0.1492 left_z=0.1421 left_yaw=0.0311 left_pitch=-0.2564 left_roll=0.1464 left_gripper=0.5213 right_x=0.2787 right_y=0.276 right_z=0.1402 right_yaw=0.0872 right_pitch=-0.2338 right_roll=-0.2776 right_gripper=0.4483\nstate[joint_eff]: [-0.3487, -7.706, 8.6222, 1.1355, -0.2906, 0.0464, 1.033, -0.1983, -10.6735, 7.6103, 0.779, 0.4469, -0.0073, 1.033]\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]: [-0.6788, 1.4212, 1.0245, -0.6071, -0.522, -0.4789, 0.5213, 0.6975, 1.7435, 1.1145, -0.3985, 0.5446, 0.2623, 0.4483]\nstate[eef_state]: left_x=0.3297 left_y=-0.1482 left_z=0.1456 left_yaw=0.0315 left_pitch=-0.255 left_roll=0.1456 left_gripper=0.5213 right_x=0.3731 right_y=0.198 right_z=0.0872 right_yaw=0.0743 right_pitch=-0.286 right_roll=-0.3084 right_gripper=0.4483\nstate[joint_eff]: [-0.0889, -5.8735, 6.7077, 1.1648, -0.2857, -0.0415, 1.0037, 0.5128, -7.7744, 6.653, 1.5556, 0.3394, 0.188, 1.0281]",
      "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]: [-0.6788, 1.4212, 1.0245, -0.6071, -0.5217, -0.4789, 0.5231, 0.7013, 1.7607, 1.0988, -0.3695, 0.5442, 0.2691, 0.9958]\nstate[eef_state]: left_x=0.3297 left_y=-0.1483 left_z=0.1455 left_yaw=0.0312 left_pitch=-0.2552 left_roll=0.1454 left_gripper=0.5231 right_x=0.3727 right_y=0.1997 right_z=0.0784 right_yaw=0.074 right_pitch=-0.2881 right_roll=-0.3057 right_gripper=0.9958\nstate[joint_eff]: [-0.1436, -5.6274, 6.735, 1.1697, -0.2613, -0.0464, 0.8962, -0.1026, -8.5265, 6.2154, 1.3211, 0.359, 0.1294, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2158641dc3e4f148e80ce0ae7ac96dbbef33d211130304ca6aee161e12b4ff8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a42a29f8af8d750e0e4a8df4edce1c3dd295ceb08a4bc9941cf6dbe5b9bb08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606926028d9030c6d2a55ebddb3f6921d6d06d2101e31a2bf1412ec8b500b836",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgL909UlRj0TNY780cvTyLkCp05ctnB-wlye9YjLkBEyRBlaMenH3JpG3HJEuv2l77eZzD0TRfk3hN846XgYGIbHAMywVHZDDd6ChIA6aOm0QSCdExtqUT5zHVZ7xRoue0PFOU-MXJl6txX2uM3TEXoDDMVBJLBrfDH-wZo6bRX8D6JlZbNxtoACfPNXENJrIOAFUc2PF68zZVjFS-J09OKxGY63boNZkHCqGp_ud7cBqjqh34YRY3u1GsTNBGMZ97ldx5VpEuCjKZHLRj12We-2F_DKTkXUgBc3pff5eteV7kInQqpDLnS5bf7Ep00v42mB_8q-iII6OByV1MlNRcFowImBvDX0pQNTOkwXSJX1aYYZcG9WehDju2A6DQSIfHSiqxRZA0aVr1pTciwrgHRO9HhmiP4JBqMYZN_NkWq_-8z3wrjoyc5bziIG5yHjJlWhhuiCMWs9r59tB8FkaWA2TdO4vW6HP30bMoBNKw8u0IohRZnyBZOkJ0GTvMiceHlYDQGtxK0-xtdHLNuMXWLMj-zdTnJR8DoJPO37eL76kchbxPzRDTODrIXzIbEk-GLXHW-r8H9-QlvLm_FKDVqie7DnsENwpHqmlZD3buZ3wCpxYG82ZUR4_SaxMvt0T8rqJRd-WTtWYFtCL1yGr7BxBTnbgWDiHoDzSxMX9a53I8hvEYT6joZ-7Q8IriNGxoJ5wk_yOM3_eQWVWJg6nIAedjHDjs7SJnE9NFUN286bJTXw9dLVjw_sOC8RctQil0VVZuIs0cwVUDndcmjz15Ihx0C7sUAc5ln8gGUR3iwgMfloWYQP9Ss_79PlgVAQ_EZsHZ9q-n_BU8XX0qF1G2kXguW_U_uWPV9aXKtbWAV-aMv16daB09avU3dzHnUoXLyXVcRHIkzmmbvUcrIjGELaA7qsJCf1eMVGux3RjC62D5pQEhPdAniuJappG4t6u0iLmikn0VVqQAs2N8VFyv6u-pP6C0MSf8ZQr4P_kpoeNxn34Sml7_JfjqIpAXXNeOKlj6FpSW6CSyLdmWmdTlwr2OQFovuYL1LFbWvCcYqa5o5137Nzy6aEvCP4eAHQpcKdFgrCiFaob5OofDBf5R4XEbYt7YoE4zuEc_z1LeLSwqquVm1_qdUyvzPpKj-I4mNeBwaWXhco36KrC9gHwqLJZRlHTOx4zkXL9I7lo_4_OtlT4OdG3_d8g0OaWemY7Zb5J_pyF_4lFj9mlXBe_JcB2lPtJDwaKnyQDNzTiLvVmnvvt7WCdE-lYAbrz3MBNZ3keKsBuhileTOWJfdiDC6-s87AdkGloRfW3GaIU1Ml7mKgWGZ2MN-HGAdgQ_3TjsJl5pFmhR9GOPwHT_CORkIKQJd4kzZYgiPUiCDIg6OVfb5HociqtKpAq2RNHuSIaMA-oBYpK94_rnsqhBf99WQ56Sr8sbj5vojoBiqnCxJEBlcOTz0cHR8K0c_9sDp9eXMycRI6uwm5B3I00mPWtceAn1aDTGNt99OAQqwoA0WBnyihvJ7NWuZuRxS9udFMdE8DqObtL3FbqGRhQuZbB-5UVd0CZmWjAVTsrbRMZRLRIB4u8beAMNYvxJNX1ps8Fzik1Da2yId1B8lcH4NumuYtnQwlKYehw7-xl3Ijo0cVnuVjYb1alPT8S87mp_DX9wI_6V-keFsx-o2eU4m5foXDxHf62ouOO3Bi3TDBz654qryeVF-ZpRNFhdPQXJ7t5SQR39xw-jlcqFdacFpTN-qp3fUty0mlRyTuuXMiMV9trKD_sKvEjBd6_qCtHwkeho6CQFC2lHzK_gkuEFNlnb5v-Od3TdQfq3hfuFDu45CRnwVEiioNfqQpvx33BAU5HDlSXAZFQ5n22WlXoc4jyRf0hM6DKlzj3HP1J_CoN9v10JnCy5_d7i_tUTIkSVQq-8D-UnD6DZg0WUsq8VRBVv0K5BXaIXt5KY93ugrjjj0RvlzcfWQd8YGNEniQs5ZspRR7CqZTBhy9G-KIegG1WaTHLZ7zQqFpVnSn7mXiqB5DDX31ynbMmgigGa4v8xISSOXyu7OCSt4Ex0e07IW_WMARrx_0_sFfQRWtlHwcko7BvZqoqzdnQduPHjkYQKpFleM6fQmzOlUNAKwSZVhHhyFOTvWiaMp9j5Mzk4q67LhZ2VIQWb02D6wSawCvcsWO16s5tPRQ__EPe6eR4z7m-9BkxZ4bHacVdJJ6-hF9sKO5UdnyfSbWVhOA3wtYdV2LUMvZSfejmDTHngEBuXb2oBVGw==",
  "id": "rs_00f56f3a0e430dd8016ab43807af9887d0b3cd64622912b9e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185,\"left_x\":0.37,\"left_y\":-0.3,\"left_z\":0.18},\"note\":\"The yellow and green fruits are both visible in the blue bowl. I’ll park the right gripper away from it and bring the held dark fruit toward the bowl from the left.\"}",
  "call_id": "call_YfDIFiC2ZtSBkePyfXfHXN6j",
  "id": "fc_00f56f3a0e430dd8016ab4380a01b887d087ba7237912018c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YfDIFiC2ZtSBkePyfXfHXN6j",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9001, 1.9602, 1.755, -0.9413, -0.6033, -0.7162, 0.524, 0.112, 1.0328, 0.8711, -0.7002, 0.2157, -0.2073, 0.9964]\nstate[eef_state]: left_x=0.3678 left_y=-0.2966 left_z=0.1688 left_yaw=0.0237 left_pitch=-0.2833 left_roll=0.1401 left_gripper=0.524 right_x=0.2962 right_y=-0.0011 right_z=0.1744 right_yaw=0.032 right_pitch=-0.3002 right_roll=-0.3085 right_gripper=0.9964\nstate[joint_eff]: [-0.8137, -10.4821, 8.3761, 0.7741, -0.5983, -0.0806, 0.8816, -0.1299, -3.2342, 9.2923, 1.5409, -0.022, 0.0171, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ece70e51f246e85b7baad124a504ec2473d47b347fab0350f0ec2578e7071cb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4584d46d7089b945e58389cdc32abe443097d49133bb4d4f7ba30d992782d02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c7ce0c8baf22bf231d01154d5bc12248b3f77e38a3741463d29a0698f969d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6788, 1.4212, 1.0245, -0.6083, -0.5217, -0.4789, 0.5213, 0.701, 1.7103, 1.1988, -0.4965, 0.5556, 0.2829, 0.4483]\nstate[eef_state]: left_x=0.3295 left_y=-0.1481 left_z=0.1454 left_yaw=0.0314 left_pitch=-0.2561 left_roll=0.1461 left_gripper=0.5213 right_x=0.3766 right_y=0.2006 right_z=0.1197 right_yaw=0.0619 right_pitch=-0.2614 right_roll=-0.29 right_gripper=0.4483\nstate[joint_eff]: [-0.2803, -5.1897, 6.0103, 1.3944, -0.2173, -0.0611, 1.0134, -0.1573, -7.1863, 6.2701, 1.4139, 0.2613, -0.022, 1.0281]",
      "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]: [-0.6788, 1.4212, 1.0245, -0.6071, -0.5217, -0.4789, 0.5231, 0.7013, 1.7607, 1.0988, -0.3695, 0.5442, 0.2691, 0.9958]\nstate[eef_state]: left_x=0.3297 left_y=-0.1483 left_z=0.1455 left_yaw=0.0312 left_pitch=-0.2552 left_roll=0.1454 left_gripper=0.5231 right_x=0.3727 right_y=0.1997 right_z=0.0784 right_yaw=0.074 right_pitch=-0.2881 right_roll=-0.3057 right_gripper=0.9958\nstate[joint_eff]: [-0.1436, -5.6274, 6.735, 1.1697, -0.2613, -0.0464, 0.8962, -0.1026, -8.5265, 6.2154, 1.3211, 0.359, 0.1294, -0.2173]",
      "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]: [-0.9001, 1.9602, 1.755, -0.9413, -0.6033, -0.7162, 0.524, 0.112, 1.0328, 0.8711, -0.7002, 0.2157, -0.2073, 0.9964]\nstate[eef_state]: left_x=0.3678 left_y=-0.2966 left_z=0.1688 left_yaw=0.0237 left_pitch=-0.2833 left_roll=0.1401 left_gripper=0.524 right_x=0.2962 right_y=-0.0011 right_z=0.1744 right_yaw=0.032 right_pitch=-0.3002 right_roll=-0.3085 right_gripper=0.9964\nstate[joint_eff]: [-0.8137, -10.4821, 8.3761, 0.7741, -0.5983, -0.0806, 0.8816, -0.1299, -3.2342, 9.2923, 1.5409, -0.022, 0.0171, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ece70e51f246e85b7baad124a504ec2473d47b347fab0350f0ec2578e7071cb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4584d46d7089b945e58389cdc32abe443097d49133bb4d4f7ba30d992782d02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c7ce0c8baf22bf231d01154d5bc12248b3f77e38a3741463d29a0698f969d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgRV08rS0EjBsjvHsGG4Y2rmxxLahfMeIhoavW6xyTcpBzqQ0gC2uwVlM_A4HcGkdBnJoA_7y4BfkC4kS3bRgtKp6OrkBDyv1m-0Rzy0lSUIPn8muQWbN-ns5I_3UNQkYWjcgPtjfUvW5A5DBl37TgSvPoyrzP0YaSGm0qTsFcpuPrM-JXbVXDs66nwvR6HHybWStePJG6xrazBWcdAMYTE5Hq168kz26e3IEoeIRzHx-L3FQjV67KfMYPIz7k1QwGbw_gtEEgxO57oLPMmQbG7KotenBkOQzgA5wuJGPyh5aS3YEeXY3_9kiSAlfQdwx3ez9SF8seHgAASCX_FdpYjDORIxqfMmCrG7ExOv2cx6zFHtoail_oUBwxSUsEBI-ph2RxTxLgTZ6KmwUF9iNs4e7ERXljeyAH6Xulfahs6qI5mR8t7OtQguf0-o8cerBV5FNarwGXHDCxm9ehB6Kbz48NHzdjGm6fZZEA62oUOptU9rL8Q71LtpmViYVsRn-zTtjJfCW9dmSgIc-zu8SKA-Jb-mqIfuFsMDocIuOySudhB87NPASVA6Fvnjx8DsTc-HN1jgh4YIovhb-37eodDTDTbY39Zi23i2PScXp_W3DkhLBQ-cQv3PDVfrjUwvAXriL3ffZJLWqNb0QN6ueU5w7p1xwYTKLDTRmFXiQY3KPrPGuztnMxCL3aFRbSxNFKFrvfCuodTun92eY5ysOUxeu3kcKMBHS73lYW6CaLeXc1uXWpD-MkFlF5iAwBWaGMVj1VxXJnRpB2OyYYn5bW_0yRsjr7h0ReZ-YJokBGgSRbYTcH6FKvwShHUitUSDEphqICSKQYH9RCAsWJx53-G1VVzw-KxKC84iHdMyktiRlQmr7UR_C6R3hx-dsdYYHsBFDoamS2wz4oG3x7Y8FxbsWGlCdT4AJNreuwp4lnKASfqq_huevvJBzkv8g6ip5GW544IO7SKd3rw2jeX84x3A-F2pdQTYkWr4oB2NghuHLwz0u2A3vBPOWiQg2Ev2suKZO_ggEa48c8q5JccTpywOOCwTm3jlOeWwU8dNVGMJmLWkcNlndZ-NP-lvhgRkwLqA7Rh8tb40mgy6HM29hBYmINjafDthKKrm2Yzfauk_oRC7MBtYLfwidEy4KWy_l7jylla8sILUNRM4iRGTAEU4xx7HuKZx4M2ZKCHttr47aRve97ZB-qzFYhamRnVaGxuXsDL-VK2qSMl22MG6aZJeLrQ4Bkx5F8QIfKJtqdCqGwqa49cX4vIa56AuZLlVUlbVnflm-uZp_WuSPU2tEOGMAy4vSeN1dfCSBtxK-ReDhCNTG5DJejOBBXQ6LIMFN1unuQQAPvI6WBoSZQnBPcSWM7DRVe-6IMpkQmvutEn-32jenuXd8LUR6nQQwsama02LkTyG94gA8MpyjDAs9r2V1n5csEi_rRNk1bnebroRAI12NduTZjVF_-6iAZ-WlhoSBiIB4u_-9_F4wsoJ8pTuoS5_VvJyyh9neiT7mFRyZwGNaVMlR4WPXEgzjeMz4IE9T8DF07g3cT6Db2JRftJDXxphZa044CKBEWzvwxb83KJ-KoHPzAgn6CdRDODDspDuzYop9qwK1bQ3e0XaUesEIQUTAXqYacQlE8Ven1ndFLy3CL1QCLNX_nC_qeVth12THkfq9WqmUlg-hDTY0U2Xv0-UJV2maJl_q79LgrnaoKnR3VX2Qjb4bTN0v4idotvbw6ysHPXSS25aPZJM6lzGfWRZ9skWm19muy5a5Zutez-a9uq5JMuz8IBbfED6LvDsw8DJE1G-kkdxF_-_kvzh7gdBgJPi01hDzEFBogo9LuDVNL2rBTk0Olnu-l-tOqjeM9isA9y9zUCZnz9Oz2-oXFlsBX1FQKwoSP7NMmYLnogKduQVIZkpkNCF9ijXSevFHHenVE21g7c6lo9i7E2iN9AXL5iTI-otTNIlC3rKtitPj-U0uhNO9qTK9e1cZiHpfRchL7tke9L3LPCqh81CBAdJfpyKLQ8zCxtv8AluZEbqsCMkT5CMmI8lqbKm3x_0_UDzHl7b5VE2BFZL2P-2bNHlIumRS0U12UUGa4sFG0vnTW-RiPqdjU7TusF9zkvkTJ86Z4hwLUJrSSWmhuOvXuGWf1SgqH5hluPSXXTx7-IccgGVosqDT3pl0VqGCYu60sMFpNVe90iGoD_izDfAT4KAxHojVKKm3przBkr9avd8LYD3LF1q2-wUSvxy-jAvm3UZmzpZiWlRlQ_YXOEhL9HUhVPd1X4i-3WbAsHKWzTEJsemsiyAwWRqOfJQXcDIFAlTWaimBH5qr8qf2dzNEcfom_c_5qd-Ya8Yr_TvUH_86eHay2sGEDPC68x75kNxQy6W-WhFjRhfucbIukdtg==",
  "id": "rs_00f56f3a0e430dd8016ab4380e7de487d0816f8bbd8eebcbde",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.369,\"left_y\":-0.398,\"left_z\":0.14},\"note\":\"With the right arm parked, the blue bowl is visible just to the right of the dark fruit. I’ll move the left gripper across to the bowl and lower it above the fruits already inside.\"}",
  "call_id": "call_jJTNPQUzEqStqkhHbfbb6ViZ",
  "id": "fc_00f56f3a0e430dd8016ab43810bb5087d0829402950d085442",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jJTNPQUzEqStqkhHbfbb6ViZ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0168, 2.3783, 2.2894, -1.145, -0.6209, -0.857, 0.5258, 0.1131, 1.0359, 0.8711, -0.7238, 0.205, -0.2268, 0.9965]\nstate[eef_state]: left_x=0.3696 left_y=-0.3954 left_z=0.1309 left_yaw=0.0175 left_pitch=-0.3089 left_roll=0.1302 left_gripper=0.5258 right_x=0.292 right_y=0.0006 right_z=0.1696 right_yaw=0.0526 right_pitch=-0.3306 right_roll=-0.315 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -13.8325, 8.0752, 0.4713, -0.6129, -0.022, 0.8327, -0.253, -2.8239, 6.7077, 1.6044, 0.2076, 0.1978, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eaaae3f398996f9e8d7cf5e1b4cb79271b850d8e8a97f7e24fb0e3c12568ce5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:836a8f726212887228276688d6f5f6e338439c0516875f6a555f760dfd12c537",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5e055308b622d50050f863733855a7b766630e98e36493688936b87edcf031",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6788, 1.4212, 1.0245, -0.6071, -0.522, -0.4789, 0.5213, 0.6975, 1.7435, 1.1145, -0.3985, 0.5446, 0.2623, 0.4483]\nstate[eef_state]: left_x=0.3297 left_y=-0.1482 left_z=0.1456 left_yaw=0.0315 left_pitch=-0.255 left_roll=0.1456 left_gripper=0.5213 right_x=0.3731 right_y=0.198 right_z=0.0872 right_yaw=0.0743 right_pitch=-0.286 right_roll=-0.3084 right_gripper=0.4483\nstate[joint_eff]: [-0.0889, -5.8735, 6.7077, 1.1648, -0.2857, -0.0415, 1.0037, 0.5128, -7.7744, 6.653, 1.5556, 0.3394, 0.188, 1.0281]",
      "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]: [-0.9001, 1.9602, 1.755, -0.9413, -0.6033, -0.7162, 0.524, 0.112, 1.0328, 0.8711, -0.7002, 0.2157, -0.2073, 0.9964]\nstate[eef_state]: left_x=0.3678 left_y=-0.2966 left_z=0.1688 left_yaw=0.0237 left_pitch=-0.2833 left_roll=0.1401 left_gripper=0.524 right_x=0.2962 right_y=-0.0011 right_z=0.1744 right_yaw=0.032 right_pitch=-0.3002 right_roll=-0.3085 right_gripper=0.9964\nstate[joint_eff]: [-0.8137, -10.4821, 8.3761, 0.7741, -0.5983, -0.0806, 0.8816, -0.1299, -3.2342, 9.2923, 1.5409, -0.022, 0.0171, 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]: [-1.0168, 2.3783, 2.2894, -1.145, -0.6209, -0.857, 0.5258, 0.1131, 1.0359, 0.8711, -0.7238, 0.205, -0.2268, 0.9965]\nstate[eef_state]: left_x=0.3696 left_y=-0.3954 left_z=0.1309 left_yaw=0.0175 left_pitch=-0.3089 left_roll=0.1302 left_gripper=0.5258 right_x=0.292 right_y=0.0006 right_z=0.1696 right_yaw=0.0526 right_pitch=-0.3306 right_roll=-0.315 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -13.8325, 8.0752, 0.4713, -0.6129, -0.022, 0.8327, -0.253, -2.8239, 6.7077, 1.6044, 0.2076, 0.1978, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eaaae3f398996f9e8d7cf5e1b4cb79271b850d8e8a97f7e24fb0e3c12568ce5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:836a8f726212887228276688d6f5f6e338439c0516875f6a555f760dfd12c537",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5e055308b622d50050f863733855a7b766630e98e36493688936b87edcf031",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_00f56f3a0e430dd8016ab4381352fc87d0b3b34d4c59378a21",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDggHwPRlHOfCU9_TZiWAoh4HUFz5jmNUvbnCZZDDSKE11HlTZi7M3vehG93NxNYyEiDKvjmN2n6FJqUD57JkipT4E1jIioaZAZFIVdDyqZCI6esSTAEebQz6Y7NOmH-bfXO89_LTBos5Gszqq2ddHyOqz4V28pSOPzH67YpHBhnscrVVnFh-EtMypUd9hDoW8pj0IL25VigJgBbT_oldQbTqqKkBhzS8x5oLXGHuAA9Ts958Hk067Zbpr2I-Px4PliXfmud8ZOHwMSFTtokx_SeelaQPZxmFKNqY0YhYaFvVNxRHGX8x7jNmURFp7vUGQDoQO1Ne4ccDojb5Di2b3Wwy_N7J-AxHv-8B9JSKlojBLyoWHb0nTkQ2J4loX2EeAMU2PVCM4GauJCSoj1pjhQZYtUfwcT8uJNzGvr9ZTrDDTN5s-FyOLg1DGwxvqdaVoiDYU_ao9MtL2UdEGJuxPQX0mpVC0hj5kEIP7g1O3Mp_t0H2YhVjEb-Zh818aATDLNYNAMXLJFqwWaTgqiTIMigIsNm2MmeSnh21rSmP2xygPjhBkaXhygbdUuzgtfC04v0VSVZoi3IEFMiYA0MP0izqUtvNW2txEKd6ZMvLoXG5bPcvQeP87NhzIAA0CN60St7vS0FvrTsI-JWNj7Bug04AXbMYzOmIL0OAcJ2VJAgZz0FtQmbrVquHf4cY-guhwTHdgnhCdrb1a1CK_oz8-wDj413M9OQpH85bWpt0WKmohGPzCaNGKOkQFIuuMG1HC2awgbXHb_rZVhAFoqQPyGP-481autohuHunmS49HJtyMLUmN9QkUQRdLZi8Fe16Cy3eiofVkUqWvwVGde2bfzr_q7ZVey-tEOtRE8EYaNrSw20a3LdBwJ3lEXQjpvNtHoR_q7RFsDYzpgd4ohYOJ__Z34ThB4xcZ4rGmUtPMFQS3l99_xwkhlASNjIGbprF-9yR3tGxKPe4qUWYei-WRDV6RbP9FAwC1XHRqhNo8F3lOnRz2fDSZjbqjnxyZpjPAmNP1Z19_uYdyZmLY71rx72YdfXUbbWsRx20y_IUC70Vb0JY8wrr98ikCApgdRWmBKfEReg6WfZ79yex5Kw2ADCb_w-ZSRZ-_qaXAHdB8u62BOd8CjHnKZO99cAV7IMRv3ya-xK7kvIBoS2ghy88_OeaBVd3eg_mjRw20NsstpbUWC9FqJpiQPHOXh1q1BgEBZv_Lf8wkg4ar9rMptQHgHCN0rpBJ6NlJRl5naf2DvEFFVxBRW-tKOlUgQk31VArV71I7Dd-YHJ60e2Rpv6qE6KoL-CkCX2aYBzry3ZXErRScdwyrAK0bFdlCexfrrXQPtMSDQBZ_kZBsAYpfy1uNz19wCCWZlCvsE8QOBS6GuBoX0o2nX2jp7BEMlo1IZ2EBVdz1qViQ4fOYDj2C7fRuqR21_Vgrg3C26Ijq41u8CpI80Al579kII7FEm3NPhewkOBgXXzfg4Q3dSb8PfmnhmtBAoMpwSNi02cdnDjxG41pC5A0rY1g1OR9sXqszcwpbizgKFE2gilgXtJNet_KmPDLBpOGioB4_KDB_X1cCLmdm2dD6ml4LygRAiRqzbWfweu9HYtxlUutWphzZmCDQdO5-rTCdCw2S3AA65-C8lpwholbP5x903socKtsx9Z5TI970c-qxFXP6-4nPPy4mjEe2CmkKNYPeRMaqbycksafNj5WKc_r6fQ7Fjmi-eCVKiYZT2FCgHZz3rAFqSqMi591P6DezkYK2btW4oTGqp456WL1Eu-RJjcrsJStH7kgkHGtcLnPb7UxXeDNeXVl1HvuyyiW95H4f_QqsNWv1MOx_QWsk6EXR8Z_oElOScUw9hBH6tjcYbS_NxRMRhnSyEttn_XqbMah6gQ9IcWSOdrvHMxYgPu75OTD3Bx6BWx39kFz2g4ITLNU3qhpzuFB-3hSm5bmoLuRXDEuSI39yw69mkYOBYQK7O3EwhcqwlzZY4sjlia51M545fWlX4HYESu0WNVRT67O97KN6_qVMK1a7ysH0uFPpqB0LGuiMZR2VasAxXo2Gier3oHfxgqn8ADdCerHWDQhBbD-OxGma4D-FVolvfan4bLbNUsY6v56REQUnKU9rK3btFfylRXq2ZU-iviLzaPTh3t7jiWlv9RoLb62yf7sHcipd3g0f0JqhztyFPHwiyiYWnUi8SEC4Xsq-AYtm0HOP7aAQGOPdgcr29u83_skP3e3mXiunsWwjiQUPY8qXGTbrfbh-19fUDq3bhfZJutHKmB8Q9FyC8X9AguMvf9jjxKpx4nsVE10BdLsq6uuxXL3C4i8e4igx3WzBxEKr31K6oaduNKXmoxPHyl5LVgS7kKpFTueuRRPFO7LXeM3eFGTvbzZcHawhPZMzG3axiBBpVGiYgBEfU7TtdbWLsMln4Exse62WqmHK9gujBfCzjDpzoRjgU-5QLjwB3zhQtxY21ddthh8s6V5TVi3_NlwaDfxi0Di4FBcxodWVj7kYpGTy5NYIYcaQVsUBEaGt2PKCoKbuOF2Xam7Zq8VRPKqviXle5JriLoooYOosliRH2SPAAC2ZIK3Zn9mPoFS2fxJMdHL5qCPIiGZ3WhLqqXt4UGEuhncBg6uGIsTOZawYKGbWizcR5OGm43bHakjcNdI6kz3zlqqR4QR1LnRqRsgush7a7IIRirpX4SGCF18EmqhLgLjmGoJO7dif7BCJJ_z2NhwDwS4vyNILFAINESAFxYVfCBq2TupHluccij8Sga9R6-sRiGwJwGViqHRNaCoFP8ZxKTi1aFL-bQLPtOc-4q3sswpqi1XJkNosHYjQLhdru0NaAvof0L9_qHivF_TsqwEpKCnPs8EDof322NqquXtOfUbBzzYKjO9wrGq5FCC2g72eKqS69L4P4syAo05_svk7RR9LTH8y3s6TEEOdTeLr6BRMrj6RoAGB2rI5RabPv56jl_yeLlkgqMueRHpCiL0ZXCQmYHQtMk2GDCg8b5MHT09TBo_TwZr70O91yqu_ZnBQM66iQrVtziRWcfK72mIm4u47g4Q8tlbShPLx1zrLHHiXXOWP6US3nflPWjtWCecyeq-oVVgZ0I86EhlV-3dclpAwZJEH0KOntBwUVmeNE25MQ024PvAcDGdTAnlCkkYw31lrVlczx0pI6Aggit16sDIzxTsTWV7DMMu-ba7wmTzOp1U3HuT2qQDiBP5B7BXAmVxS2CJ-Z__ba61k5kiavH5TbD03AHWRtK18hKEDEc3mh8rRmU2dJWszqtiqTIHIPjE_uf2CocSxxmP7L4OX11ELdsaH1KBQuK7zOum0YtS26I9ouuSTZYursSUiMnGLuri_nrQO_OQLYsKlf0_k3MLI4m86c4ps2WZfYjwBkNKEy1rbC5lSiGc2RXoNaui-QKuls9K55HIHON2YsHD1-tYkBx2pobo40guGkOdYkQz_wESWrcDzginqcQQUqjGlhULEfp3qi9z0wPasws2HTNJT5PjBR0E_w_HxZrvFKBxnQmI9Eqd6XXVyjvUxOkJoq60rgf8pH3rex7tar2IAVEY1EhvfMGEIwCL4GlQTW4JZwlrOAYTnfx0avId4yNvo0uRRKyb16iHWVtGPAgppR346Wr-MBWznCdjCMRWbofogoC9R_ba6jCljwM644YYVtD2y1sMTJlVNKefwXaDxjmGUSs9ntZ4CCC258DBySYCY7dj0i-",
  "id": "rs_00f56f3a0e430dd8016ab4381787bc87d0ace5a83af00fcded",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDggdIQn4gCD7Kdlhs0NWifU8bfGXFQXENyNb3qdmJduvY_Ydwcy0AdLPb67LIStOWZ-WeDned665YXb8qOOPVPprTQPelyN4dLBZF77XO_XVKae9XkkDUu1fL9rbSiyC8ALLPHKB3VlCWSI3iSTBRM5OOLy6cDFaC0fp9rzVC87Ld1Ap0aARwGIbHYrcU6X2jkmw6P0W2ms-7WMYKg0cuq_edFLIeD_HYuxF2kYHOzCPSZMC5k90Hf7AAZh-Yh5X-BVGJIO0qnIdehOPTw8XPznbslJGjOUJHL-XB3JPJhANUaJ63UxuxPI6N_XpoZcZ56CGliATJvS2Zx5mj63p2H6zsQFFtALM7hLkooUVcDen_t93yUZMe2CwJJ_hkSwoZODV3ZtfsvAsDhbKw5k2n0qo13SQuV9Bv_AOCfSEMNKAiakjgD0e_5tcJpzrxx91D01CndhAg23WsJUTx6nDX1Vhl_vrtPLYCqh1bqthYpyRfcMYI-DAUaS9vNlJWIGeqBv0QXSLjRaVzrFCWmQFXhC-vNSXg6Ds-tKxJcglbAx2VE3B6KL2K_dLjkGeW84ISjleAeBDyM2zJBQ0hhTzah2eaE0eGPp-uv9Td4JL8mjns1-kTfuafJIs4owgjA6oX3OQ4hSIVYSB6AdcdL1iPEXtx_jmi-4Hx4qmyt23zAzklQUPxmvi6ZHQdAWfouQ2AgUe0-bCa1yoDHbgXEKNebI33KSVwm-Ht4x3s_TB7CdySW1Uw4LTUGFhVEpbICGcgcin6sGryI-zbVrX-6E_We18TyZn_jLlaT8BcJ_H34r8jXBcOJXxQg8uUBYCNFq6uqJm6lbJOAgDpGUEIm7sdoDUUsGdXmx7_iYB8oZSShixnnAan1CrPnGB6u-1MNiQ4hiacW0I_1bIUo8kV3Jl6b-_vNwVgPvct-p_T_Z8cab6V6Qeqkv1-zMi_I8w-EagmrlmcjLf9wmQCzIIXeedv-T-gcWLG-zd-9eKBt5jUMTmFpLl3LFVllS95zDI9AaZK5cUw_Ad4Zs5EJauq892cCBWyM4-dmUw2qdT21UG1GGk5rbdDvsANbYaxPGL68jpFHiWo75P1Xnjd2lWXpU_JrQJ7crqVXEWJ1fbAC2SnfVBaZNtJwDauWlasOk0r_EEFBhch6MlSyVq3r3AcBhPpxKCJCROlooZXSHDbIqASqhU5ATy9ALxZ_iwNLX5wt5WKGwy0OsIaQYHRF7Uza9ECcvqAeY94gOJxVVfc-kxexWqo_7Jkl-OOkmp_ZDYyV4UHUH6vdvee7U5vEQUm4beqc790Tf0D5RqvpimKdl1TmD8D6GWE5r6Pm87cRGTnIxF2CYJoT-D48J2q_31atLc_7iA3VzCw906Updd4Z9hxteGnVtnWdaWeMMFEb22F53svLDNLBDgR0HgIW95_GBNh7Q0v_OJKFExhj9CxQlAKj2mSfUDasGau46x-D0Pbi0-FFyziYZpP-dWUeXUuLkdwz9I115HHHJlhY7etDsoKsP9N7wAPrheFIKXN1MVq1iTPmRQObDKXi5sumoC1r_gQ0M2JR8skd6y-VBpU5at6QPfPbvW_ewiknNjqFFsgsU-xHtRFwmW0DeVBpHaOHcDbBOWqxu0q60Xcc8tGxChDBlUTd1mjo6As8Fx7Mug2JqIeKHqOctkWOnypNvNDhY8vApeE8CfjBOUXmB43eJO4Y3Aoo1mUP0RD2Hrd1sNpuzqtOraEOtrTjaCWypxzZd6ld8UKK0XoqOn8oI8hHXNjwba72c_ZfAUldPirM4nFCiWEOk9S4af5B690EpefajjmbtsIUTCt_ErhDPB7EcTPArGF3YVnddjO03qS6UtbTOrbrqLO6YFEGAOXyKYGrHlI2gQKNIaKH1lWdVmF9nWZkgY_QqVKUEsViRPBdMRN5z8RYxEfOnEXszvn6amu_GSHw9gglXnAq4reN0PHQZo7U46za-BCrKq9STvOWfsjEZpmCzPlVJtOGX28YQUqiwugCC5uTSwaGm1tdKVRVt5v7QI8DKirpLPTEDuQDql-hyNWHYL974BeKH9dWc_QIsa2KLKrwTCpdD8kZwMdcSOQcC0eP96aYfY3zV2hHWwx7hyqPdI0OFCS6ZsD97eukvdT6KiedD55W7BY-A2_7oBQrusynfiTNwp6wEaSsmZpe6zS3xjmFwxDPZ32FG2REE8Sn0ETdk5Em09dOcuc3zYt2Nnz4Pma6GhzmjpymVROQ5OGD53wf13YhE_aSxOAWRszDtBpFhQYdoNcdIDLtUugXMZiwbkQi1z3l8Z1tyPgT6T21sByK6Hv2mhayFAka_EwuAjYXamHfS6GOzuQSGx2iE2trfVm8twE93r47poh2oxQmZyYj8QUn2O_R4bsBpO6gbcYGIsR8mdbI-a4jU8X96zDC63scePLCC8Xh26NZiYpmlyNdILHydiO1xxyQ6uBpHZZl0A1X3OoHJFCbdOM2kj2b6LLzZKpPM_lGWS8OPXHNtuVg0IJa-w2V_tr36-bx20e9CdtJUDtUok_9nnZAs37U8Q93xVJ2ASl2NL6PlBn52Gk8GREzh3euQKSHIbDsLAMD_h2hfnCjIY7oaY0po5ZvS2sewWwFkwShB5bwiVBTvXTGk2wR5eqNTvPXv53l4Gtm_h0alUVcY2eyBI2G141hRsj_O976Akf6WW8s3yOFf9ZK6qGOcHbwP5CTD1ep1udb4g7MpiAS1ZjnHG6cWWFE-5HZBYlQZxRtzZ5Y5MVb5AXCdpRklhPUwr42nz4F3_yhhxWGFHepff1_Zd5o59oUaobj95aclY4ovqorWvlDWOVabzcJP1J0_iW1lyVLvsj8DrgT4yqceYCEViWC6In6bucp13xrpqGeR9JGgeYWmt9qvQ-L9K-9Zs2TgVCO8WMpmb7MyiQBT2VzrgggMiRhLuopofBAaoai94g1zosfp7W5mAk4cBc7umDogd3QZM5n14sJmKG8u60ssz9ElvKn5wccjGaCN9zCxAO8DcyS6aWdZGdA8TuDI8QW2ZnEGj4g8g2ceYp3KEwLlOqVBVvDMT0KFjzAo7DYwLYwnz5BYUTsyAnHlzf1n4Q_AAgPCTuKLNgc_QbI0-qSnnsPuW2E0AFVlgJVGsFiw1ldGdV9x_IMOUsaDHhSOyiEJOFYWJ2KYPZN2MA-VwDVMwMktjKKJHg7VcrxJJuv9IDVBUHgWuAPOAC6tP0ZCj6ySfmp-odimR0-P5m-Vp2SZXXePNXeem-6iFw3PKSeYqU_tDACxaRKa2PBUEyXC9dGFun-GYP80ngt252mrnAzoVPL4nclGNjQcWfDobyoZPWFftun4o9BX7XtSwRW1oJzj137qLBSx9sTKgnHHVTzuHXoB69_NeZjxDu7gTRUmiN-ZE_xUHYBVSqUEv1oXM2RAxGdB5eD9Pdl12ozWgGo7XP3qnbx1uDPB-iMereeYqhM4UiJC0IAc_dkrnZ05ocsVHJ_GG4T_tzopxGuAyR4zl5UA10w2B5A3ymWPaQlulCKSATxEyhpGODPZCJ3eG04HVe2ATQ==",
  "id": "rs_00f56f3a0e430dd8016ab4381bf26487d0911a4aa444905a3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.285,\"left_z\":0.055},\"note\":\"The left arm has reached its sideways limit, and the dark fruit is still left of the bowl opening. I’ll set it down at a central spot the right arm can reach, then use the right arm for a centered placement.\"}",
  "call_id": "call_ptj8LmEyx6Z9koySCeLuKOZe",
  "id": "fc_00f56f3a0e430dd8016ab4381fdb1087d0afc1e6dab894b4aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ptj8LmEyx6Z9koySCeLuKOZe",
  "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]: [-0.9901, 1.9507, 1.264, -0.6109, -0.6056, -0.8333, 0.5278, 0.1139, 1.0401, 0.8711, -0.7315, 0.2047, -0.2287, 0.9965]\nstate[eef_state]: left_x=0.3084 left_y=-0.2801 left_z=0.0411 left_yaw=0.0426 left_pitch=-0.356 left_roll=0.1957 left_gripper=0.5278 right_x=0.2908 right_y=0.0007 right_z=0.1673 right_yaw=0.0545 right_pitch=-0.3427 right_roll=-0.3166 right_gripper=0.9965\nstate[joint_eff]: [0.6085, -12.3282, 6.4752, 1.2723, -0.4225, 0.105, 0.5348, -0.2667, -2.5778, 6.7214, 1.4432, 0.0757, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfac352ce6885e2b81c76a1b80ef2374b2da937153f95c560f2fa85de8242391",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b745a2fe29a0b6346ebfd46a86e3a7da2e3d579624cbff442f5cccd608bce23b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861823452f80e3c8746473dab26279effe9f441a6b4d78ed31096b6adcef3dca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 80 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]: [-0.6788, 1.4212, 1.0245, -0.6071, -0.5217, -0.4789, 0.5231, 0.7013, 1.7607, 1.0988, -0.3695, 0.5442, 0.2691, 0.9958]\nstate[eef_state]: left_x=0.3297 left_y=-0.1483 left_z=0.1455 left_yaw=0.0312 left_pitch=-0.2552 left_roll=0.1454 left_gripper=0.5231 right_x=0.3727 right_y=0.1997 right_z=0.0784 right_yaw=0.074 right_pitch=-0.2881 right_roll=-0.3057 right_gripper=0.9958\nstate[joint_eff]: [-0.1436, -5.6274, 6.735, 1.1697, -0.2613, -0.0464, 0.8962, -0.1026, -8.5265, 6.2154, 1.3211, 0.359, 0.1294, -0.2173]",
      "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]: [-1.0168, 2.3783, 2.2894, -1.145, -0.6209, -0.857, 0.5258, 0.1131, 1.0359, 0.8711, -0.7238, 0.205, -0.2268, 0.9965]\nstate[eef_state]: left_x=0.3696 left_y=-0.3954 left_z=0.1309 left_yaw=0.0175 left_pitch=-0.3089 left_roll=0.1302 left_gripper=0.5258 right_x=0.292 right_y=0.0006 right_z=0.1696 right_yaw=0.0526 right_pitch=-0.3306 right_roll=-0.315 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -13.8325, 8.0752, 0.4713, -0.6129, -0.022, 0.8327, -0.253, -2.8239, 6.7077, 1.6044, 0.2076, 0.1978, -0.0073]",
      "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]: [-0.9901, 1.9507, 1.264, -0.6109, -0.6056, -0.8333, 0.5278, 0.1139, 1.0401, 0.8711, -0.7315, 0.2047, -0.2287, 0.9965]\nstate[eef_state]: left_x=0.3084 left_y=-0.2801 left_z=0.0411 left_yaw=0.0426 left_pitch=-0.356 left_roll=0.1957 left_gripper=0.5278 right_x=0.2908 right_y=0.0007 right_z=0.1673 right_yaw=0.0545 right_pitch=-0.3427 right_roll=-0.3166 right_gripper=0.9965\nstate[joint_eff]: [0.6085, -12.3282, 6.4752, 1.2723, -0.4225, 0.105, 0.5348, -0.2667, -2.5778, 6.7214, 1.4432, 0.0757, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfac352ce6885e2b81c76a1b80ef2374b2da937153f95c560f2fa85de8242391",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b745a2fe29a0b6346ebfd46a86e3a7da2e3d579624cbff442f5cccd608bce23b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861823452f80e3c8746473dab26279effe9f441a6b4d78ed31096b6adcef3dca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgki-9PsfOpNgmkwDoAbwB_j_cfugCmlHPbfUwwt2D3jVRHT5sMwLdruRaCe_P8_M7f650aIraEhn-F0E3PKgw65KnU0fSJ8EAQ-ZWvSvDLw31AgquP184sjQZ8MSQukBihGn3NlDbEbO1OkgEzia3ss5bV2BW2HsaEm7A9FX9UwVxPC1imf4mLgufTPnb4LNSqL2SX_7szibdZj9Oauv4nmt5w7dMM5VpD581DHHAnjkTvP-GGI_4WjepN36fmnEnd-rCDdvnZEq4LnlpZCk6Hl-2zDUyPGgJtr4wEKNvnyKNcLT8OV6UX6KDjXolJgLehkPVlV9sxiX_BA3tY9RG6TmWgPl_XqC6yksZHEDBxQiF9-9OcfB2qqaFl7l7DxBo8x0eA5L435Lf1fnzkobGwGES9nzf2eoPjzBurEza5tFsFTIbUjiUwyYV1xepkmSuBiDGlWekKq9TlmXUuVkpDDnu24anF6TAT6a3qH64B6Ld6iwHcK7ktXl9T1M06s-7rOAeKedrx3c7PFgeIaSP-8zXrxniRTHTw5-K3MiDnnHcPm3ne7Owy-QW4fvB5L-oAXoPNydLmu9atyM7zcS2OXmoNwn-gHDIyvwk1FQTjEgX1o8ZHcdopuIpxqrFF0mese4498w00Vc0FEro1dGI8xwkRw0eVu3NQ3qGmrOoVxUicE1t0_4qEr7MRDcvIKEBHk41bxy0GRo9dmcJbj6VFw_bCEwhq-a5UpiKtoCpByN7Gn7DD46p52ljuWzwqK1usybwuNxN8ENhKA6lJJ2-jRDJTqm9x2qBsKDGOz2r92G_t9cNmuQgtEcizdHuTAMOSOg-zV0ApbBFeG5QZyPyCsctsmIqt2W7picMujTME-To-z_X85wALEaaHq3HmGrAlFiyDUhVYtJvP3zOxfuUmRO1wEytm_mnMgaVGe33qcuKGAx3ifSMc5qEZgYDar1gbc_1pvM8kqPlqHqUyPkMf_0Pp9LKjL5pdvHebSjj3U-uw47wD76Hzu4PWp7cZLRgnnKt-Mjdm4xleeEJC5UzQJFz4voTF3rbVS_Yo_sCr3uPEaagqaCA0gYXq7wbTPiIBXTBjdraZ2JiVKqdgVKI2j5di6rHvKY37Bi4ZA_7dqWk0Ru_9SAlHCg4Lo71l41oOhBoPYssH3qukicdEPQ7gLCvLHD-gc8B0357eEZSd2XURjL9Ih3d6Npg1j9yI6aCOwh6-K-ZHgP9983UQmAkm8rkP643No5Yr9UDbrH8j_RVYe-MM32U9J-ZahmbfyWHkHyIycmKAQSMHBswG23z8Fg5jHjXIXA-j6wFLFv6iZnGn0BcRupkVoUZVuwsAeW9-kC-G5Ljofsw0ro5zym57tmdX87KQDrbd0KOt0zo5Q7fLs6J6z1vAl40reUBq0mdTHTbfNl-6FbcAkKUwfaWQVq7_ZdyUEPWLQfL1-kngx3S5zT1OHtgmVEr7deiX8XuuocywMe7UsBzbox8o2n4RV9jYBDB1qVJUsugHLLdp8C75IckWLtR7UwduXByA-wVt-vJ1eGdl07j-pO8Z9jpkbiW157VzgjrLptXOCyrCgv1Xmtj-TW5UP3JSUlRd1ScXcBqFJzAcSUPzrtkbsxh1rg==",
  "id": "rs_00f56f3a0e430dd8016ab43822f4e087d0878b547351a8d6a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is down on the tabletop at a central handoff spot. I’ll open the left gripper before moving it away.\"}",
  "call_id": "call_NgtKUwaH8xBXVw7OfIrniYMm",
  "id": "fc_00f56f3a0e430dd8016ab43823af2887d088f8f882ebf03385",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NgtKUwaH8xBXVw7OfIrniYMm",
  "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]: [-0.9886, 1.9446, 1.2377, -0.6052, -0.6052, -0.8383, 0.9954, 0.1139, 1.0397, 0.8711, -0.7319, 0.2047, -0.2287, 0.9965]\nstate[eef_state]: left_x=0.305 left_y=-0.2741 left_z=0.0362 left_yaw=0.0514 left_pitch=-0.3632 left_roll=0.2057 left_gripper=0.9954 right_x=0.2907 right_y=0.0007 right_z=0.1674 right_yaw=0.0545 right_pitch=-0.3427 right_roll=-0.3166 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -9.2376, 7.7333, 0.6764, -0.3785, 0.0171, -0.1099, -0.212, -2.4684, 6.694, 1.409, 0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e699fed945f30afbf921f648332c70ecf978a82cd015a2fb71d272b8e1a7eda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:659424dc17f20d196d5c95bafc0d6e427b0bdd13bd863bc708da95b31e145995",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a781c4869261202b91f5388571ca1a0b330590f251e332cc3bc63ee8a5dc3a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 80 changed as sent

message 84 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]: [-0.9001, 1.9602, 1.755, -0.9413, -0.6033, -0.7162, 0.524, 0.112, 1.0328, 0.8711, -0.7002, 0.2157, -0.2073, 0.9964]\nstate[eef_state]: left_x=0.3678 left_y=-0.2966 left_z=0.1688 left_yaw=0.0237 left_pitch=-0.2833 left_roll=0.1401 left_gripper=0.524 right_x=0.2962 right_y=-0.0011 right_z=0.1744 right_yaw=0.032 right_pitch=-0.3002 right_roll=-0.3085 right_gripper=0.9964\nstate[joint_eff]: [-0.8137, -10.4821, 8.3761, 0.7741, -0.5983, -0.0806, 0.8816, -0.1299, -3.2342, 9.2923, 1.5409, -0.022, 0.0171, 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]: [-0.9901, 1.9507, 1.264, -0.6109, -0.6056, -0.8333, 0.5278, 0.1139, 1.0401, 0.8711, -0.7315, 0.2047, -0.2287, 0.9965]\nstate[eef_state]: left_x=0.3084 left_y=-0.2801 left_z=0.0411 left_yaw=0.0426 left_pitch=-0.356 left_roll=0.1957 left_gripper=0.5278 right_x=0.2908 right_y=0.0007 right_z=0.1673 right_yaw=0.0545 right_pitch=-0.3427 right_roll=-0.3166 right_gripper=0.9965\nstate[joint_eff]: [0.6085, -12.3282, 6.4752, 1.2723, -0.4225, 0.105, 0.5348, -0.2667, -2.5778, 6.7214, 1.4432, 0.0757, -0.0366, -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]: [-0.9886, 1.9446, 1.2377, -0.6052, -0.6052, -0.8383, 0.9954, 0.1139, 1.0397, 0.8711, -0.7319, 0.2047, -0.2287, 0.9965]\nstate[eef_state]: left_x=0.305 left_y=-0.2741 left_z=0.0362 left_yaw=0.0514 left_pitch=-0.3632 left_roll=0.2057 left_gripper=0.9954 right_x=0.2907 right_y=0.0007 right_z=0.1674 right_yaw=0.0545 right_pitch=-0.3427 right_roll=-0.3166 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -9.2376, 7.7333, 0.6764, -0.3785, 0.0171, -0.1099, -0.212, -2.4684, 6.694, 1.409, 0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e699fed945f30afbf921f648332c70ecf978a82cd015a2fb71d272b8e1a7eda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:659424dc17f20d196d5c95bafc0d6e427b0bdd13bd863bc708da95b31e145995",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a781c4869261202b91f5388571ca1a0b330590f251e332cc3bc63ee8a5dc3a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgnc3mil4f1bF0cyAVVZ1c4ELRhG27dBsv_vkJqo2eskv15tUcRcyKJK_x0zZLNxSJvwI-N5xU6ahCntHYpUX3qlf7p_zJAIAS1xddIMYYAWZdt4q27oUBSPyff6OJvmIUZzmhuAoj9LfaIeOlRO6fUaZ9WORdFiUrMhDoTsYI6JfpqNbXCZNfwRu35FEACetT2zhqihksKKcie3gUakwhNbwAY94PitIKcIjndjHUU8xJmPnmtxslVBK8C9HgPCBXCY3RQBd748QZggrqEwSXRLiPDzkjphWhzPTRfnqjkZ6Rrt-rqG9e91t7v3rYyaL3lDpn_wSyHpz_cA3ZWNBiCsMwEKlyY8j6ulG4UyYeEm3IZH2iV-JmFJdd-WQVz1MFcBiTGiKjbLWrYsfoxe5xfIJyKq1pPdX3RLnSkldTcnEj0K3oaFkBkLWA-zsd8ut0bOS-IxRZTatjiJgVG68FNwxnO6VUJOusplUJ31RCJZlU7hXwDmHzY__Fs3TFhrwxUk-JQZk7NNzBOdOTkI2T43DOHY0bK8adVcuXEifFHbTBbHwfK0vSHfc1Y4ayln1aGI6cRaTlsK-24g-HJ-knt4ZCfVqarV4fhd7jiBs-aUU4JTHex26eeF10uBV3JmxLox2YcAOSN5XmWxWqZYfFHIZ03nszkyCDriwCWwle3kEknHkEckvWgcnSTpf2toC5GAPos_pTJZOjzcCMuY5vbgExrEaHzFlTfyYgyIoyFEeXkPUFYMmB4sJ-xJU0EdslEC2xQU3O-MLJhwVlB0-X60Ia4AgwElI_A0Np9Uzc5JuUPIaTVB2ywLyc_Bgh5-xuar0loxiDMTWLoLCrLOeP80Z5SBkUsU2I4t03vO8pWmzFp46r-VEshljFE8VKnS5iahdg5cT-8i32e11Eb6hzsRRekFUCofEWYffgRDU9J7S26uHIvsA0ipYF_7CeZQhfu-NJkIOFL12s_rFkNZhOpioggg59u75VdcmBlVsecoSwAuS6v-5sH6tPyWhyzZjcH3jOKHBV7_qw3rrBc8QT4Io7CWeZAd4WfOMSilJEoLVH9o8LCLJu8PQy1Oym7s1uYyuXqciHVk6bJLg9paN9xIgNfQv13jROLm_GSxUa8EjPIOKKwOVp4gv1KDHs5ldt_U4uqqgwDoDVlloQtk3O5QqXZIsC9pf3RzTuQjuyXdU9JIAVUHjYdU_MRTVbWoYDrXsvveO0cfVj23tAgQ4Bvld6X4Plzs7yZRMnRkm9zJ3mRfFpVvPFwX61ajT74jCB7yNL6Sd-83ff2LHwQXQh8weu_8Fjcw155EmDskFQOhRgMqUSl7RkCgSqFWromBISwfMDPD9tTBJZjm1YywHN2hyLA_xUAP4v2MQAaU_Yxd8TdAh5mX3kg5TexYy_p5OQqE6DOQ7U3yfi6xWlz884sl5jMw6eO1JTkb7u277UKxjXOrr417zR7E8W9orGr0ZEvRKdJHrmRhXK5-wOfd4kuVHtqVUmwL7YHM9ap_o_TKhJtnddf5-nhrab5rYR_FL-mZncy7sn9H7resIqiJ58r42inQE3zQnTM_5OhFbsNmRLQKdrtx18io-qW5mTGZVmOp5kj81L_PkQHSReULYiLYUkCm5RbXQBQw0UGawS4_FMiGr_GmEyXeQw5h9f5HW-u3Lps3tfYaN2y3DZ-GiVbvP0z-hxRhp4I1ceKuqbpzPQD7ZBIO21mDACxAizepRTEFOgaZwfuVRKfCCSkodZPpKqHL8Y2rqDZFlYE93Gj7CFrvXBLNYmGGrAUW8Oxhxo_OiQsla8_Iau2x1dC8gWw8Hv-ter4H1vyQ6IMoLzaHES5aNczJVWrrh6ZvRIgrX4b",
  "id": "rs_00f56f3a0e430dd8016ab43825c6f887d09db4a70a730b8fc1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.305,\"right_y\":0.31,\"right_z\":0.13},\"note\":\"The dark fruit stayed on the table after release, and the left jaws are clear of it. I’ll park the left arm and bring the right gripper above the fruit.\"}",
  "call_id": "call_hA8SjCOru6cLwMy22B1sMq2K",
  "id": "fc_00f56f3a0e430dd8016ab43826e3ac87d0a7400b54b5c5c02c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hA8SjCOru6cLwMy22B1sMq2K",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.168, 1.1229, 0.947, -0.8223, -0.2615, -0.0734, 0.9963, 1.0279, 1.9316, 1.5692, -0.9535, 0.6285, 0.6304, 0.9965]\nstate[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.164 left_yaw=0.106 left_pitch=-0.3922 left_roll=0.207 left_gripper=0.9963 right_x=0.3014 right_y=0.3054 right_z=0.1223 right_yaw=0.0805 right_pitch=-0.3739 right_roll=-0.3378 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -4.2325, 9.347, 1.2821, -0.0513, 0.2076, 0.0806, 0.3624, -9.894, 7.9932, 0.5739, 0.5104, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89b355347bcdd4ee1c15f3f586808387601803e878203c6bcdbc66da8b078ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cdf434eeb8beb6bd34868b81252c0833e93191bfdc21a21996d30aee451deb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c99b214a4e0f338ae31ff82c5bc7633102f69b90d09b9518524b9dcf5762280a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 84 changed as sent

message 88 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]: [-1.0168, 2.3783, 2.2894, -1.145, -0.6209, -0.857, 0.5258, 0.1131, 1.0359, 0.8711, -0.7238, 0.205, -0.2268, 0.9965]\nstate[eef_state]: left_x=0.3696 left_y=-0.3954 left_z=0.1309 left_yaw=0.0175 left_pitch=-0.3089 left_roll=0.1302 left_gripper=0.5258 right_x=0.292 right_y=0.0006 right_z=0.1696 right_yaw=0.0526 right_pitch=-0.3306 right_roll=-0.315 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -13.8325, 8.0752, 0.4713, -0.6129, -0.022, 0.8327, -0.253, -2.8239, 6.7077, 1.6044, 0.2076, 0.1978, -0.0073]",
      "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]: [-0.9886, 1.9446, 1.2377, -0.6052, -0.6052, -0.8383, 0.9954, 0.1139, 1.0397, 0.8711, -0.7319, 0.2047, -0.2287, 0.9965]\nstate[eef_state]: left_x=0.305 left_y=-0.2741 left_z=0.0362 left_yaw=0.0514 left_pitch=-0.3632 left_roll=0.2057 left_gripper=0.9954 right_x=0.2907 right_y=0.0007 right_z=0.1674 right_yaw=0.0545 right_pitch=-0.3427 right_roll=-0.3166 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -9.2376, 7.7333, 0.6764, -0.3785, 0.0171, -0.1099, -0.212, -2.4684, 6.694, 1.409, 0.0366, -0.0122, -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]: [-0.168, 1.1229, 0.947, -0.8223, -0.2615, -0.0734, 0.9963, 1.0279, 1.9316, 1.5692, -0.9535, 0.6285, 0.6304, 0.9965]\nstate[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.164 left_yaw=0.106 left_pitch=-0.3922 left_roll=0.207 left_gripper=0.9963 right_x=0.3014 right_y=0.3054 right_z=0.1223 right_yaw=0.0805 right_pitch=-0.3739 right_roll=-0.3378 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -4.2325, 9.347, 1.2821, -0.0513, 0.2076, 0.0806, 0.3624, -9.894, 7.9932, 0.5739, 0.5104, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89b355347bcdd4ee1c15f3f586808387601803e878203c6bcdbc66da8b078ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cdf434eeb8beb6bd34868b81252c0833e93191bfdc21a21996d30aee451deb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c99b214a4e0f338ae31ff82c5bc7633102f69b90d09b9518524b9dcf5762280a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgtDXb39MhsaLXVk9UmsTZhgI6fAdoX0hmizaCmQK2whjqEpxBNKCIZm8MAq0qoZAGqV7g5JpqIbDtg3ghAKhY0fVOAX0zCKuY8c2HyrrpBNN23jZLXaQ8Qhqeqkw-3vUBGHcnd_nnRXbXmS-Jbqs7mT7xT5XWKsJLmLuYGBNTbNXo6M48rL6IH4FZmHgMI0RNBIOxEaTrWksIu3mqDHi1_HWmh4yK1JdOyCkXmZcDCrvSmK-ouCoaVWmHjKK4zUVbuuWgcy4POnqoYWPzQIZ3zeOaNyimMBO1VXgbyaqLAPryub_pApLKWL9GCAo1oSb92OspMp4DCkNf0qgQdXTCPF20Pke95wGKQR0NfpSVJZhMEE67wKoMHeA5C9gbmsgnmQDrf-hIOwThDGZ5MctFIFBpxlA2P7_f0_rRERXMFhRFH4Y_UiWj94CWBK7xFgxYV0Ql1aPQNcXtaVGfWrQbFJ-MCNOynrBkFeYwvcfkJyFCRNTGlt4PLnSeXtAYHVnZ2Q7-GM9bHvNVdzdpIY3O7e2Qc9TxlOUOhUsJvk01oqX3Oy7Zf-oEGA5pvIT6X6oYXl4YKCftlarQ2HGCOhqaL4aBxQl4lVHk2RtBe8FeKyTp7lKUpF-XxOAbbI5jYAP9NH5Vx5K4Fg8wexlNOP5SOi3MnoNbF_rmKI3Qz56HVNurN8wTBsPwiom3GJlVI7yxTP7Zz571g0d2jWeMQTiEci66Lkrfc1D3CybftOf4OfarxLbEP9vV62fGO6BO3aKXrmh4kzX20GDPDLwi1xd-G7BR-NZq5IJMhyB1wpN34IcEbNsq6QbCaV-hoxfYj5bYFMWWJEiTnuCWrYxB46FtZ8RUEY4K2IxHnH4kMNHcyzq7V_K54VQPmyE68cvxh5oiLDGQhcNftDHw7XCDPQ-AJ4Txjrt3d-pW1He-5BbawEAexRHoaJl9WRH3PysjMW-EfmTnpHTN8pxqdyoAXjSLR9-xh3p66XFSa5ocqkoSxKkKXQWIbmNRkITzvSVTRHd-mZFX1R31FczSfHri-ntzIF7D8NIPje5I4v6DrYrVH4J9K_o8oUTSRkfZcaf0uOWb2iVJG-WWyoUQVQIjlai3XjopmXyyUKFLCOhbzQ0o1GubaPewYIBg7u63_kwjr3T6Zatq9x_YVEZDzfyl0dpPmD-4TnyKlDyOb1ltqN9nV9gwBXynb8LZzUFklwUh6mMDiCeKRC0i1PMYiaa7Qy8CfcmwLTaF4vre-n2KzVch45Ih0KRhFXd7LCRjDDqJveDt1xa2-0LRD1Ll7dlymb-uFzFJB9i9XL6I2O4NpAjiLnXdUv_edq0WglC9cmP5eLBqAIzYv97zs1DREwZAicNBVhSWVF5qaWltJnoqyKLXimcrOLN2_RafWaSfYNFk7JaxSOOk2qlFBcsyKeOAkL1XmyuVezHQ2y8u3x3RafrumBHFtMUHIWgiFxPIqLnLbSSkGOcl3S7hzBqOrEkXp33OWOKGUW-LIQpWvcOOozt2OpP5CpD9gUu8Py5rev2u4-Wy2yroje04g6CQMSr5SvWOOQTiKYX8rr0aKSZ8ysxw3ez40rWMbYi-7kmqjDH2PIraOO2IJGo7TCEcR40qJTfzRzu3Anb0l5_kx5qXHBYqgrvHEkVxniu2zEO_lLHvn5GjW5J_J5BpkFGNu1jUVBPDCg_jyB8QHtJ4wWJg1xeDoUOstMdarkW96Ax4fLHdDnrQ4CQYop_Fc88cpO8R8x8x9TsaLfohIjlqvqqAoCY1fEny-ip5kmwi1uGvjjGDLiP-JBuOl9GM-u81-I8WrA0iwC2tQCJRJwe5q3arqAM-Ko-FPLrJ-SQLlgW6angn2NU8X7lG2KAPZznnYiftIPqel6JYkdZNFBhxcfXBn0WKMCxw2O5PPe9e8wiRMWZPqnKTChkQZx2ARb1XOx_drg9zOh0QByD-lrz2BQyzeZ7Wc1-GT4Rk4HCpRkOZRiKc7kYe48Fv83-wgrYfmF_-3Uw1EyaQ5ULd0kvVyLpRH3_FLlSs=",
  "id": "rs_00f56f3a0e430dd8016ab4382b4f5c87d08d199a5357450327",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.365,\"right_z\":0.025},\"note\":\"The dark fruit is left of the right jaw column in the wrist view, while the bowl and its two fruits remain to the right. I’ll shift the right gripper toward the dark fruit, advance slightly, and lower to grasp height.\"}",
  "call_id": "call_4WnUm4km0enwzxMBtsrswEdD",
  "id": "fc_00f56f3a0e430dd8016ab4382cdd8887d09b8a2ae16a5758a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4WnUm4km0enwzxMBtsrswEdD",
  "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]: [-0.1669, 1.1229, 0.9501, -0.831, -0.2535, -0.0715, 0.9964, 1.0389, 2.2562, 1.6791, -0.8036, 0.6193, 0.6365, 0.9965]\nstate[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1637 left_yaw=0.0996 left_pitch=-0.3997 left_roll=0.2028 left_gripper=0.9964 right_x=0.3213 right_y=0.351 right_z=0.0231 right_yaw=0.0702 right_pitch=-0.4173 right_roll=-0.3859 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.2342, 6.3658, 1.3358, -0.2271, -0.0562, -0.0024, 0.1162, -12.2462, 7.3094, 0.6081, 0.442, 0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76b5ea5ae72d744dfd403238c183fe1f4ba9789a51c732fc1c4775c36933e756",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d4e50b385a3ed984eacf7b60d750286659661f0e93c2867f5b72dadd0d8f95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3589845e2572d18747bb22518a1f1ca6b3869aa25a7218e8fc66eafb8a452226",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 80 changed as sent

message 88 changed as sent

message 92 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]: [-0.9901, 1.9507, 1.264, -0.6109, -0.6056, -0.8333, 0.5278, 0.1139, 1.0401, 0.8711, -0.7315, 0.2047, -0.2287, 0.9965]\nstate[eef_state]: left_x=0.3084 left_y=-0.2801 left_z=0.0411 left_yaw=0.0426 left_pitch=-0.356 left_roll=0.1957 left_gripper=0.5278 right_x=0.2908 right_y=0.0007 right_z=0.1673 right_yaw=0.0545 right_pitch=-0.3427 right_roll=-0.3166 right_gripper=0.9965\nstate[joint_eff]: [0.6085, -12.3282, 6.4752, 1.2723, -0.4225, 0.105, 0.5348, -0.2667, -2.5778, 6.7214, 1.4432, 0.0757, -0.0366, -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]: [-0.168, 1.1229, 0.947, -0.8223, -0.2615, -0.0734, 0.9963, 1.0279, 1.9316, 1.5692, -0.9535, 0.6285, 0.6304, 0.9965]\nstate[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.164 left_yaw=0.106 left_pitch=-0.3922 left_roll=0.207 left_gripper=0.9963 right_x=0.3014 right_y=0.3054 right_z=0.1223 right_yaw=0.0805 right_pitch=-0.3739 right_roll=-0.3378 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -4.2325, 9.347, 1.2821, -0.0513, 0.2076, 0.0806, 0.3624, -9.894, 7.9932, 0.5739, 0.5104, 0.2076, -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]: [-0.1669, 1.1229, 0.9501, -0.831, -0.2535, -0.0715, 0.9964, 1.0389, 2.2562, 1.6791, -0.8036, 0.6193, 0.6365, 0.9965]\nstate[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1637 left_yaw=0.0996 left_pitch=-0.3997 left_roll=0.2028 left_gripper=0.9964 right_x=0.3213 right_y=0.351 right_z=0.0231 right_yaw=0.0702 right_pitch=-0.4173 right_roll=-0.3859 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.2342, 6.3658, 1.3358, -0.2271, -0.0562, -0.0024, 0.1162, -12.2462, 7.3094, 0.6081, 0.442, 0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76b5ea5ae72d744dfd403238c183fe1f4ba9789a51c732fc1c4775c36933e756",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d4e50b385a3ed984eacf7b60d750286659661f0e93c2867f5b72dadd0d8f95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3589845e2572d18747bb22518a1f1ca6b3869aa25a7218e8fc66eafb8a452226",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgyUL8O6jFj7xn3LVALH1xhiBsyR2Ao6ulg9kI9dxDdTVaTRfCicCtHmmuRl-PFc0qdJu6A00z5iiW9kIBo5IVZ3_5XOqM8eSE-rb2_tkSg4Rnhci8RLgD118JS_RaJkEYnW3Hcg7Se2qSvFUq8P0RyOLhzKiUT_XkXc8eIAV1UNW3RI1_QcCBs7PmAhwCY-DiYBMy3dNtk_4ww_Q60IW4JfZ476rxxpg4fWLqdoIp7mTCiu8rNembNdqZ8LzNq3lDlu3yFShsxNc5D2fBjXcXzBXMP6oLQxvKvBrmtT_AnAkU-XP6O8Kfxj4CSkwpff953C_beLqTz7rADLEB6eboBSCf--H998WjH0lapQM2UtOoyyy3EqhZicP0XD8ZABlVSjpzTtf9pBcuTNt20XkDvFWPKooCKlF1--zTma58BOiLbTcjh6JZeNJ2iAA0mgtImN3PeJuQLONIdma7HRQMW1Noa9zWgOF6rAWVvihsTBUBR6hD5SZwVb-3og-j4DQaxDQmUJSiHS6XZLpozsnNcOZrbOK-0E7w0FFG6-2DpEhs_xSK8yZ9x4FcoYx_EtgTDfkN-hFTZuWNXhbkXiBHDpDKohtVkx_Grwq5qYYJnydEOQqR2LBG2wnWfBpmikMNx2EOHbooBqEnn4HEk6ZmmfauB87ZNNzYrmzljktBhKvuysVMIhaPRMjlAOwKA29go9c5zI0VBV3gZ-DTi-XEpCX4CpM4CSSSIwO_jzsUxI_yPVs4L9uwFVwSOCzCY89KHnMFMAryz5pvA78_3794KtadSwyAIBwCp6t4id0yjYvwnRFNm_FLKSlxnqGctZpkYk8nx092evEI3rGi7STgm6FVShhlHHrsFtZ-J4wBkWI7p5H0REXIJY1-dGymszT0wVHW9vMzLx4pNHBOunVUNiN_EQxkLgiJ0-JOuq7hIYRPdVSRuuj5a3gQT23dTn_Bv2HVqQaicl7I4LoRkyaqPO-eMzr9Hrlz_OcxskI4TZ-atr-NarLcSAur_tpiijyAoH93zIDRE8JnHwD4063k2sGd44dRb6A9gyQdlqM9sUWYLogVfcg2eWzJqj6He8IDypU5QLMYnkxAY6Y4CYvRZlhFdCUHsy_rNhGjp-7VzxS0jXvINTgrA90Lo1zSX4l4dbwbpNAqe7WQXIR-itiD9I9O0yVMPiynMrqhp0YRz5oQc97lBXtl74bXsm07452BGI183c2674Np26_O3f8iD0pMg-AubILnwituxgCF5VBo5aRvc62KhSn08W3vV3BbLkAeiL3WqHqNiiTg6dhrPeG-RJouYslC5PcCzC10Ku9ssNwcIZSClg35dbCRzVCJXonhKKtl3lGJeCubf1Cg3aJ4vONuLd8Hfb25pHgqlSkyrmIJbqNr_9MbywOmuG_Ok5_tWmSKjqhZ3OCAcLlhKqGtHB9P2yGjnxiaAr9PnRETFTtD_qw4PW0AXDFwooyqalKpHsHUBtkZDEOxoyjXfk2w1TPP0OiPGgyzWrzhKC6CBtvjBj5qUciLnViM91F2-mVfP2dlFchDpKFnuHJpQqDthXjrElmfUM8mwj4TuPAKUzcgoSgb0Q5vg7GMfltrkzIth8B6tx071UhdqDhrRNTsWMCUBTmhPGDli4KJ5Qbe92DdJjBNBeug6z6VD2AqlkowNRPYOV6RiNmWq-g8CoXdSRCEDpKLPGI2EslDvw81s0v5oyYhunqtcj_WEDHV_3A6wgPEjdlEJRsuGD9v5RFxWDaM_achIZZeVRwkblRA_qMsK9r0Y3DDYASlJd6hszHXjAhBGiK1N89liArhXEJALg50Doz6uEiRbADNXa0Z48Ue7TYeaSqFxTW_oWXvpxKdjF_FSmq70tRLEVKMhfN72NFVuvTz1uY4N74blewHlSxGD-qiAclYKBTLWl1-9ez8B8WOS7OEzOPaHT4b7OyihC4pqEXb9C3II8j0WpRfyayP5BridaqAAyEsavpNKynz5XEsM8BWOxBuVT8BKgcaPe9SdpDwytkMZu7E1jh2Za6_emfUj-vXBalc0m7BxlPKxPKrVbtm9TBGUXi3rN9w0G1lcE9Y6a6PxRvKg8MqcvNzduRO6dHCiFDFGUZG8Kpp30AdgTsC9-piEuzWl-Q==",
  "id": "rs_00f56f3a0e430dd8016ab4382f542087d0ad4cce269820e210",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.395,\"right_z\":0.11},\"note\":\"The dark fruit slid forward rather than staying between the jaws; it is still on the table ahead of the right gripper. I’ll lift and reposition over its new location before trying again.\"}",
  "call_id": "call_nda8hOilkEyAOHoG87HMn2OT",
  "id": "fc_00f56f3a0e430dd8016ab43831418087d0bd43fd029040b4e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nda8hOilkEyAOHoG87HMn2OT",
  "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]: [-0.1669, 1.1271, 0.9489, -0.8337, -0.2531, -0.0753, 0.9964, 0.9405, 2.7716, 2.7613, -1.3827, 0.593, 0.511, 0.9958]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1618 left_yaw=0.1024 left_pitch=-0.4071 left_roll=0.2024 left_gripper=0.9964 right_x=0.401 right_y=0.3882 right_z=0.0519 right_yaw=0.0481 right_pitch=-0.4729 right_roll=-0.4556 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -3.5897, 6.6393, 1.2625, -0.2222, -0.0317, -0.0122, -0.7453, -15.9795, 7.0222, 0.5348, 0.0366, -0.1197, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca559421c78e55faf51eae3798524f3875a143c793076431dab5a7f84cd538d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d4323a951546ab5b11668f01a4045f7c12bcffd1f453c35deb7b3c95da68ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d95c2988cb2994f46edd34af420b57baee9485769733a9aae02352ae0335cf47",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 84 changed as sent

message 92 changed as sent

message 96 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]: [-0.9886, 1.9446, 1.2377, -0.6052, -0.6052, -0.8383, 0.9954, 0.1139, 1.0397, 0.8711, -0.7319, 0.2047, -0.2287, 0.9965]\nstate[eef_state]: left_x=0.305 left_y=-0.2741 left_z=0.0362 left_yaw=0.0514 left_pitch=-0.3632 left_roll=0.2057 left_gripper=0.9954 right_x=0.2907 right_y=0.0007 right_z=0.1674 right_yaw=0.0545 right_pitch=-0.3427 right_roll=-0.3166 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -9.2376, 7.7333, 0.6764, -0.3785, 0.0171, -0.1099, -0.212, -2.4684, 6.694, 1.409, 0.0366, -0.0122, -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]: [-0.1669, 1.1229, 0.9501, -0.831, -0.2535, -0.0715, 0.9964, 1.0389, 2.2562, 1.6791, -0.8036, 0.6193, 0.6365, 0.9965]\nstate[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1637 left_yaw=0.0996 left_pitch=-0.3997 left_roll=0.2028 left_gripper=0.9964 right_x=0.3213 right_y=0.351 right_z=0.0231 right_yaw=0.0702 right_pitch=-0.4173 right_roll=-0.3859 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.2342, 6.3658, 1.3358, -0.2271, -0.0562, -0.0024, 0.1162, -12.2462, 7.3094, 0.6081, 0.442, 0.0464, -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]: [-0.1669, 1.1271, 0.9489, -0.8337, -0.2531, -0.0753, 0.9964, 0.9405, 2.7716, 2.7613, -1.3827, 0.593, 0.511, 0.9958]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1618 left_yaw=0.1024 left_pitch=-0.4071 left_roll=0.2024 left_gripper=0.9964 right_x=0.401 right_y=0.3882 right_z=0.0519 right_yaw=0.0481 right_pitch=-0.4729 right_roll=-0.4556 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -3.5897, 6.6393, 1.2625, -0.2222, -0.0317, -0.0122, -0.7453, -15.9795, 7.0222, 0.5348, 0.0366, -0.1197, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca559421c78e55faf51eae3798524f3875a143c793076431dab5a7f84cd538d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d4323a951546ab5b11668f01a4045f7c12bcffd1f453c35deb7b3c95da68ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d95c2988cb2994f46edd34af420b57baee9485769733a9aae02352ae0335cf47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg21zN0w_M5UAKT6Gz-p6P_-QpseyE844CmWJsE2ZZlhnLGHu8wC-EgXucxa_MfwAlWgBp7Ipe3wYeQ5PrDtNP0Fy6D2NS1Y1lmXVjaczmVJDjtA5_fxHsNDEH4NDjoq7RkUyWpMjXWfm1Pmm29nRIDgNhfCX7VGWSLESvyr_Pf3Co906AESAKLuHvNQ5tgqdBjt7HsX94sKGdLS0sr3Xdvw2e6wGx3iU2h37M_McAVyQHJN_ReGFP8QmcMM7t_PyKxZ3Z5vbSHS0C_WEf6vjZLwEinLBHwhUcBD4YoVvOBzaU5IPYUPDtP9a93AVMffIDSwNkfCp9QLcLYcXHIpqd_J5yqA14BZOJGMGmoEvwPYcMy9MhApuH_Hdd6ZAmJEUBsP4vbc40SuW1U52X9Zinl5Nb1B6YUFi44Ap-YuM83i-BvKmFf4T9JWSuwHqSjKJes4oTXavTfEgWhjzVLgpr_X_vGnuHgcwFSmlY8HFVQTlj4zMDujMz0bLNBt3KPSWuTklvQgei_6-hpgV5OUQhwnwJHOnGRpGeFJ6IMfxMj49AaSCuLVM2KmmgT3yY9WGEI-zAAXAiQ6KmapQD7eL0FdZgHFg_dcEeYKcBTjf6Fs9epb-gUTm0si00D_kvg22Z2cWcDI4PlTYtS406Q7CklLE4Gh5L18CmD_oXLRGbalKl0z9-tV-MKkScArK7SWZNRE6XAZRXcQJKNqzWg1sRF8g3TKqAqR3cIXC9spH-GbUvIMCLXehoQYBMRTZqUAcZFzQQmdFTu8_BVTd7Kbk8oZnvYHKt1ASDiXuAbeEWIyJ8DUlCw49ovHQ2yaR38I1SEU8rJR2RhV44E1rnLEmGX2X9pOWuy51g29rtjSdxa4CvYBE7CyeiVUzPhbIJScmQUDkdXUNhGLiuDFdH_L60oFzBwfgbJgQpFtquuee33NA8aHWCqdSok05cJH44ZIGVoOxSFA8biBJtFaG1eWiRn2X5f8jHLErjkkVy52plXwlcWnwl_WoYIX1H8-y8Sw8lp8mzo21uor9DPg6SzohFIgyvDxuLjTAWBM-nz2SIysgR_Gbim-3ZmtLR0JYrcp-MokoWoYMdoJoLgY4mpYJKrjxd3G0HYAz_WNanBACDLGapapp2KIM9lfyL_uq1rVklNuWeybUzXyD8fBywQshC7IesIdptIN-0m-xe1YzaHacOYyAaac_uYBTP1PJOp3sksQ__GFjV4o361QYqmoXvx9DJBJqYcE7RTZ2J4A6iuwGMrnNkpPTwcijhDtTFwEOg7bPGq3Vd6vAyGxU5S6jTabpWQ5ohiSEN7harBAWcqEa-bgMzZyj80hkYz4s-o83YKIWizooxzxWC0n48huHe02kQmIMzc5To4ijItyFMlMsB-FuvQguS0tyG-SEcswn484lrNW5jqWaNTJnTr3UUFfLwMx9tTgAb6nFMggRoRviykt_NNFDOR4XORYAgjENdOc2QpyvZes36T845O-i-EbI37yBxc7bMnshgAP5uGo4YBWIi6pjFu_fB3VA4vTE84wuhw_tbolUUE08uJSnzPRYZ8gVuP3patfVx_KXeC37gTaKb1U1i2QtBkpJJ4eefO1BlTmaW6r6rXspUAh_ujMaEuMAZDkFJ_wD7R4_6VArncmTHOyd-X2gdU-xLYlk0mH94QHYQ46QZsoKnQZ9iaSJBobMiSGgv9Lx9VVWNx33Pcr_v5q8-nOQlpLUVpDVygv1K1XsVEJeQnlRV06Zt7jEfcuGd31A8E44N-4r-7WFXR7wBxlruUW5q1P9MZuLonM2btKhV2ImnFHo1V5AAj7-aA-bwVq7jbt5D7yXhTEhwOTa3TlQMErUMxeMcfNn0pV9GvAJVYznCFik6GETxEsx8wjoimRHn9bAOe8WYxIW6-XxovSXxlV3Rw6YvhMyo_dAFeH4MC_-y22senVDpxB_SQDkOGY1rubwjLJh3YPcaSbFGt1MV_O1cVwUa3vzK4muYUTku16DygHSG7ax1dCQ==",
  "id": "rs_00f56f3a0e430dd8016ab43833db0887d0959f35cc571ddef2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.438,\"right_y\":0.395,\"right_z\":0.015},\"note\":\"The dark fruit is centered in the right wrist view, but it is still ahead of the fingertips. I’ll advance the gripper and lower it alongside the fruit before closing.\"}",
  "call_id": "call_tdrijABwGX7feKfk1DVQPiD8",
  "id": "fc_00f56f3a0e430dd8016ab438355c2c87d096f79389e600620f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tdrijABwGX7feKfk1DVQPiD8",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1669, 1.1275, 0.9489, -0.8341, -0.2531, -0.0753, 0.9964, 0.9096, 2.9063, 2.978, -1.4677, 0.5732, 0.461, 0.9957]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1616 left_yaw=0.1025 left_pitch=-0.4079 left_roll=0.2026 left_gripper=0.9964 right_x=0.4134 right_y=0.3811 right_z=0.0359 right_yaw=0.0534 right_pitch=-0.5019 right_roll=-0.4732 right_gripper=0.9957\nstate[joint_eff]: [-0.294, -3.2889, 6.5436, 1.1941, -0.1636, -0.0122, -0.0122, -1.4838, -12.7248, 5.3949, 0.2711, 0.4371, 0.0073, -0.0269]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ad4528b2e923b59491cc3b00eda97e532a4984a9e229ff2dce94beb5cafa59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd5bad61b8a5c4567ef356cf19b873333723d8d83f250fc3416c7d5eb229567",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d22a9c1f58477a37bfed1792a108798bcf6dbe776b010e4db5713616f88d888c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 88 changed as sent

message 96 changed as sent

message 100 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]: [-0.168, 1.1229, 0.947, -0.8223, -0.2615, -0.0734, 0.9963, 1.0279, 1.9316, 1.5692, -0.9535, 0.6285, 0.6304, 0.9965]\nstate[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.164 left_yaw=0.106 left_pitch=-0.3922 left_roll=0.207 left_gripper=0.9963 right_x=0.3014 right_y=0.3054 right_z=0.1223 right_yaw=0.0805 right_pitch=-0.3739 right_roll=-0.3378 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -4.2325, 9.347, 1.2821, -0.0513, 0.2076, 0.0806, 0.3624, -9.894, 7.9932, 0.5739, 0.5104, 0.2076, -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]: [-0.1669, 1.1271, 0.9489, -0.8337, -0.2531, -0.0753, 0.9964, 0.9405, 2.7716, 2.7613, -1.3827, 0.593, 0.511, 0.9958]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1618 left_yaw=0.1024 left_pitch=-0.4071 left_roll=0.2024 left_gripper=0.9964 right_x=0.401 right_y=0.3882 right_z=0.0519 right_yaw=0.0481 right_pitch=-0.4729 right_roll=-0.4556 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -3.5897, 6.6393, 1.2625, -0.2222, -0.0317, -0.0122, -0.7453, -15.9795, 7.0222, 0.5348, 0.0366, -0.1197, -0.1099]",
      "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]: [-0.1669, 1.1275, 0.9489, -0.8341, -0.2531, -0.0753, 0.9964, 0.9096, 2.9063, 2.978, -1.4677, 0.5732, 0.461, 0.9957]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1616 left_yaw=0.1025 left_pitch=-0.4079 left_roll=0.2026 left_gripper=0.9964 right_x=0.4134 right_y=0.3811 right_z=0.0359 right_yaw=0.0534 right_pitch=-0.5019 right_roll=-0.4732 right_gripper=0.9957\nstate[joint_eff]: [-0.294, -3.2889, 6.5436, 1.1941, -0.1636, -0.0122, -0.0122, -1.4838, -12.7248, 5.3949, 0.2711, 0.4371, 0.0073, -0.0269]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ad4528b2e923b59491cc3b00eda97e532a4984a9e229ff2dce94beb5cafa59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd5bad61b8a5c4567ef356cf19b873333723d8d83f250fc3416c7d5eb229567",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d22a9c1f58477a37bfed1792a108798bcf6dbe776b010e4db5713616f88d888c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg6PUO8UFbLPfNMb2eV64-E3uKyv3qooxaOmzY3g7Awfok5Ga2FTHDdZriYZl5nKQsMBcnQ0WZmaRe8n04i6BmivYqa2E3hTzmg09qxIwekh6Ktv2gOevkUTtIT4oe9zNiQTJY9Ze6O6BXokqFI0w_ukOM3hzGKOWML81Dk822mCYur8-fo17h1clX5t3epPypl02Zm6FEKQWriSCF4MXm2E3kPYRg8Hfki3bQpCfJVhpLxS9u_DH1aflsZlWQz3Y3iRk9RCtshCe-cjTpWxy-El7Xk7NdF6sefOHCXNL9X8yZWwx2NjVW831F8UN4Fy3Jpw0gxTUtIcDXq-slItZM1NIWbvQlnPxO1gsAz9gT2sKm4Bms8XF8j_tqwj3fCinwQOgLUE3lpQsXlWKnbi2TIUYlTZi3YuQkqv8uhm3zvTR5a7SpxrnOPJDOJJKQW-8CGvkv6w-NIow3BwgtlKTLJuZIQOG5zw3aQxzAcgYXjkbQVjlCP-cBqYPEcdGLtRs1-maz1ZQGq_DahMKXaoXTIFXHV0-XVezDeODmqHP-kyImAcvbtKAD8_8RwKhjRVjOPgKKv6Iqjcix1c3RoppYr2Ou2Xh1hCdalveHxnlYZ8O4HQKC9oRHIDPjhyaqI3AaiQ_Ku30fybYb0TBstnES8vN91rORwXiN5PPobUr8kVhUIjz-iBXDiyMIsB-h2pQTpzpsbNQn9R1nJTJ82zkUj-6igdZ_VqdPAFJmJj12ZmaojVShm9zRUb7JtQhgtXeDx5oQxPcfPGdwtuge_3US59F_M2x9EveNPp1Zi2_IjP0cINxy8q2qzwAKSCF96CLA8C_2RsO6ffpA4MWVQ9MDlXehH_P_e3Hej6579Tukx7J94u8zdhOMTDxGUfbr2AJaP7vXoqBgNE5HydZJj7Aur6kvWfbPi4chlbQ6EtuJw96NyM4UluufgYSPywF5hWgFl8tFl0AMSR5vImzgmG35X9KMKrfuav6lxet1EH_98WiJEu8dC-wZn8VBHwgk3UJD2FZZUeymXIMlcyV2LVsD8RTIT-D7jS2GDOPnIe-TVFDx986B2RG1iwGEvM0mLzlDG8lks6lwT57teTHgeWA3puM2z92KNIEsj8kX6wgrHX9_Gzr77vKOVxwaUlD4n1SclxIUvAcQGAfJV6zUYFJUGOCFqcwIHPl9lWgjPwNRqJ9QBuSI-0eFzIlcnuokROZuUi7YkWNHaEGitr3LAsLICKgpzpCkQnkWTxu4_blsV8EZ7Dvg_-gc6mRETg7InpEoNo2aG3dpztrDcd4WTLBFP_vMmY2t-dyAJ1L39GKMw-Gu7x2fMqPCf5WgzPZWjyr1C4grXgTqlnPCPkI_ajFw3dckX_b2VNU8I9ypSIAWyUiJRwpuAMwG5alPE-_Dht9xbk5QdpXsZYzBUiCt0i8eCPht8bQxIYBNBVq0T4l_kwQUO14CohP_obg28kbE9KRXr3zQYw1o0hcEGCcFcQ3cCyNvm6y8AZGPeIOeWVUHmcBNclF-HRvRGSS7tua4p09n1fSSS5qXTXN2kwDEiqVXrcQeWWFhB-Mu0j8tWPIQ8rCkX6FKbbQEu_xgKAWgwndkG5oOwwDR7oyetbH1pihnR8E04CoDx2Gh1JMuvwlPRoMX0mrUN9QueMHgbFCCWfhge_1WEc0iiq_HGH52ivvnLWuKkaKaS9EuCPUsDRUfI0BZmKG5KLujKP1dr2owKO-Sfkk8U9BPhSXif1h9yEcUAu_wBZjfM_KSRpyq8dpuUHryqQck1gc8eVbqfbS9mEs9Y1kS8V1QWqdCLBLccdOjysLgB7sgyvvkcxoWh5rCWq4gMAD0mYc8FwoQ6spbmBIyz6jzJHzQvAXONfWnr947E38L4na1APToBFw0CIfMinEHJiEEVp0Xsmorv9mYCVGpXVACU4Ba1q_UTyX-RKNkvb4Tphcm6q_n2UX3EAenJMfQ6WtVHCmcfHwTzyByQqV55ljSPO13tnolK4L8iguCH-bp4vdZ-giLqirsZ_YpgK91qO9TA0ojHJWhesqzKeLN5jmwpwIzOeDXOoSfuZBsxTSPGD2TZtlnVmbFW-qeIiajL6pHJpXyZ0-g8cO_DyIpjOpMsT4a5NWS3XvWTKc45gadx4vbTXv4pHxBGWSU7hqrFC4NEfRdrYxxoAlbBADxyfn38YlmPK-mf47ZROPC0aA==",
  "id": "rs_00f56f3a0e430dd8016ab4383745c887d0963bfbdf773b70c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.4,\"right_z\":0.012},\"note\":\"The dark fruit remains just ahead and slightly left of the right jaws. I’ll move to the right arm’s sideways limit and advance enough to bring the jaws around it.\"}",
  "call_id": "call_KUdwudmRefO5HnfyFT7pgrHg",
  "id": "fc_00f56f3a0e430dd8016ab43838efdc87d0960708e506683016",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KUdwudmRefO5HnfyFT7pgrHg",
  "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]: [-0.1669, 1.1275, 0.9489, -0.8337, -0.2531, -0.0757, 0.9964, 0.8989, 2.9543, 3.0253, -1.4479, 0.5709, 0.4438, 0.9956]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1617 left_yaw=0.1026 left_pitch=-0.4075 left_roll=0.2023 left_gripper=0.9964 right_x=0.4214 right_y=0.3823 right_z=0.0239 right_yaw=0.0612 right_pitch=-0.4951 right_roll=-0.4652 right_gripper=0.9956\nstate[joint_eff]: [-0.1299, -3.1111, 6.735, 1.2674, -0.1929, -0.0562, -0.0122, -0.8957, -13.9829, 6.3111, 0.8181, 0.3932, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29a058a07f46129cc8a1e0e6f217ee4abfba6016b7a0953bba7301593eb1617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba92410b5fa79655f235316f892bea77ebeef1d499e85d0db40a09604b295bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8505cb1d66f4895b531a5308875bd7e740124aa16c88131feccacf11d6d3b0b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 92 changed as sent

message 100 changed as sent

message 104 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]: [-0.1669, 1.1229, 0.9501, -0.831, -0.2535, -0.0715, 0.9964, 1.0389, 2.2562, 1.6791, -0.8036, 0.6193, 0.6365, 0.9965]\nstate[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1637 left_yaw=0.0996 left_pitch=-0.3997 left_roll=0.2028 left_gripper=0.9964 right_x=0.3213 right_y=0.351 right_z=0.0231 right_yaw=0.0702 right_pitch=-0.4173 right_roll=-0.3859 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.2342, 6.3658, 1.3358, -0.2271, -0.0562, -0.0024, 0.1162, -12.2462, 7.3094, 0.6081, 0.442, 0.0464, -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]: [-0.1669, 1.1275, 0.9489, -0.8341, -0.2531, -0.0753, 0.9964, 0.9096, 2.9063, 2.978, -1.4677, 0.5732, 0.461, 0.9957]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1616 left_yaw=0.1025 left_pitch=-0.4079 left_roll=0.2026 left_gripper=0.9964 right_x=0.4134 right_y=0.3811 right_z=0.0359 right_yaw=0.0534 right_pitch=-0.5019 right_roll=-0.4732 right_gripper=0.9957\nstate[joint_eff]: [-0.294, -3.2889, 6.5436, 1.1941, -0.1636, -0.0122, -0.0122, -1.4838, -12.7248, 5.3949, 0.2711, 0.4371, 0.0073, -0.0269]\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]: [-0.1669, 1.1275, 0.9489, -0.8337, -0.2531, -0.0757, 0.9964, 0.8989, 2.9543, 3.0253, -1.4479, 0.5709, 0.4438, 0.9956]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1617 left_yaw=0.1026 left_pitch=-0.4075 left_roll=0.2023 left_gripper=0.9964 right_x=0.4214 right_y=0.3823 right_z=0.0239 right_yaw=0.0612 right_pitch=-0.4951 right_roll=-0.4652 right_gripper=0.9956\nstate[joint_eff]: [-0.1299, -3.1111, 6.735, 1.2674, -0.1929, -0.0562, -0.0122, -0.8957, -13.9829, 6.3111, 0.8181, 0.3932, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29a058a07f46129cc8a1e0e6f217ee4abfba6016b7a0953bba7301593eb1617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba92410b5fa79655f235316f892bea77ebeef1d499e85d0db40a09604b295bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8505cb1d66f4895b531a5308875bd7e740124aa16c88131feccacf11d6d3b0b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg9Rgzjdkz4BdiXqZZr2jwLwADS2Q7Bl2ly05oGA4SD0dZJ3QDF-mJurhUf1eW-tdmvFKoh6JP4q4Z4nwtP39tEw5FL2_KxI8nElblyQFj5TA4s1LprVW-fdbsnd7JuULzwto6PoinPw7GNw3SZuF2j44CB2GjbNsvp4gFN6PkA13b6AWlu-UMNQ1N7ughk4yS7xCcf1zT5lo7unHgz27p7UsIyA_vzFmD6lleftG86qeM8q1vedVBxGDcuGBhYEPGjtfLMPHdj8t0Oc1xe90wumjhCRip2BzJOuBRJAkw0u5QnNixr6FBYeod3oFr_45CIQPxQoPRyGuEAsUIIgDmEWv9xpDnJgJviffT_3kLVlFD7YzQ3uzomfVXcpAd1UvG5gUqshz2FEZPaSU0Xyxtzf0guuuEddVtTgaFlDbbP8kiXN6m8aAbll4XBoNOFdgGm82yOyj0gTxbMfGQk2EUDmSpt7Ceb-RQ25SFfotTYzgqBdGnSPF75o3ULkoumyZMNtaZOlv0eahjPFwX4O9jCPww09S5o5y4OVkAqPy6jK27dCjNpgyh-rbLrqzvSLcuRAcPrpQjpE57WRlVIrRzZsrwn0BbsGqCltSY2OFpSnItcGEIZXNVuqvU0zuhsQ-Lfxatu2xlATIsrvaiMyx6riu2uSlZEO6J8t3VKp9-D111fr43YfuZujTZ8FGbszEfcDK5_73r2Doq5EnOZCXUSElEhBUYAETOrbKwnjd-oe8ygtTzPe1Gd88DBmFVaHSNKn6DH4ySRIs2iySvkrbBsza66Wg1oHm6vLKE2fA8z1HcFZ82Cu4jh23yyzkYnNpjSAwBz5oFj6BNcTT-9jgGd_BzqbaC3glft4MrOOyOyFkfO_N1dNzO2lwG1-KDFW98yfRckAvKD8Ip0a90BksUatWhmJJU1KHOqI0kTDh8Ayu-ew7mpRFr4qIOWLzvXPN_0yK82TfsN6TRr4YrqZTm4P78-w9cYKPuZqo-MnOaDjotA3eUvfec7ZVXPDDSG9wi4qNtqXAmq2ctKn6jArqe0kMWZYquSufmCfRE9yrYPE4yYNlArPkRD_AxQQ8GNu8OhKps_1gXKdXwmOgXT-_XmzGfdnlNf8VcCS_RzhHfhxZz9XDpdA6yEuRHdOjJ8QhyDvYUILGdKEDgmtDliuFv1trDuEeJ5TT8faqn71DwdxaPym-q_ZGrOC1zi24zXAlDsyi_wxJMRPIheqLYTPUJ_a8FfOjzTKCgNOC43aHKFzqgEEjBB-Inpr_N9j6pFy8emCeu0F8wePDbRbbS5xf2hiYFi2A5yQ5181xxf75Dss6zGuj_JnHEgio4VlY-2RX9Vf_KNJNuB0_qLiWgNq1Z-M2YK9AGv6RTgPV-_5giVssMFLeh9688R2A7KrBMQvB_fd8Ba8p44sBoSWeompLOXuJiKcckklz7lfqHkh-D_ZI7xWtebrgSOQuCbxzuP4FP6noddme-3hlkGGgJmMKwG5DULnjkMneSjOMo7Kx1lUdGI3LxIto5aQzHKO7tc9d8d-UJuC5mHrFW7QAKPz6G75EbdWqk09jvnompSF8s33e4ewUXOhMVXOZOdY6qQUJ0KhPeOEk26LA4pvB4alr-UV7JIhZH3eFE69o9S_oZBA2QTVDf5KqV1ucsYPrl9MabM1IDoo2m7ZML-uAzYM5htOiTEOguZSXXwr3lkAoQWAPY=",
  "id": "rs_00f56f3a0e430dd8016ab4383beb3887d0966e0fb16bc8107f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The dark fruit is now between the right jaws at table height. I’ll close the gripper and check the settled width to see whether this grasp succeeds.\"}",
  "call_id": "call_QjLTsGVFM3kEJNiysFqL49wy",
  "id": "fc_00f56f3a0e430dd8016ab4383d258c87d092479a11f21b9350",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QjLTsGVFM3kEJNiysFqL49wy",
  "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]: [-0.1669, 1.1275, 0.9489, -0.8337, -0.2531, -0.0757, 0.9964, 0.8993, 2.9547, 3.0253, -1.4483, 0.5671, 0.4366, 0.0102]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1617 left_yaw=0.1026 left_pitch=-0.4075 left_roll=0.2023 left_gripper=0.9964 right_x=0.4208 right_y=0.3828 right_z=0.0233 right_yaw=0.0674 right_pitch=-0.5002 right_roll=-0.4672 right_gripper=0.0102\nstate[joint_eff]: [-0.0205, -3.1932, 6.5846, 1.1893, -0.1734, -0.0562, -0.0122, -0.294, -15.3368, 5.6957, 0.6129, 0.2808, 0.0952, 0.8816]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88cfa3abccfa0b3e0274cb2e7e78abd2d50e4db7755d7e8bb7297d2ede727bef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ee62c47017390c203da1e89c3d9b713382c3ab768cb59a0f50b761787517a5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9908f1a0b23d60c8a04fc1f788ca2d341efaf466da82995b1f77bb19c674d42e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 96 changed as sent

message 104 changed as sent

message 108 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]: [-0.1669, 1.1271, 0.9489, -0.8337, -0.2531, -0.0753, 0.9964, 0.9405, 2.7716, 2.7613, -1.3827, 0.593, 0.511, 0.9958]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1618 left_yaw=0.1024 left_pitch=-0.4071 left_roll=0.2024 left_gripper=0.9964 right_x=0.401 right_y=0.3882 right_z=0.0519 right_yaw=0.0481 right_pitch=-0.4729 right_roll=-0.4556 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -3.5897, 6.6393, 1.2625, -0.2222, -0.0317, -0.0122, -0.7453, -15.9795, 7.0222, 0.5348, 0.0366, -0.1197, -0.1099]",
      "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]: [-0.1669, 1.1275, 0.9489, -0.8337, -0.2531, -0.0757, 0.9964, 0.8989, 2.9543, 3.0253, -1.4479, 0.5709, 0.4438, 0.9956]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1617 left_yaw=0.1026 left_pitch=-0.4075 left_roll=0.2023 left_gripper=0.9964 right_x=0.4214 right_y=0.3823 right_z=0.0239 right_yaw=0.0612 right_pitch=-0.4951 right_roll=-0.4652 right_gripper=0.9956\nstate[joint_eff]: [-0.1299, -3.1111, 6.735, 1.2674, -0.1929, -0.0562, -0.0122, -0.8957, -13.9829, 6.3111, 0.8181, 0.3932, 0.0122, -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]: [-0.1669, 1.1275, 0.9489, -0.8337, -0.2531, -0.0757, 0.9964, 0.8993, 2.9547, 3.0253, -1.4483, 0.5671, 0.4366, 0.0102]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1617 left_yaw=0.1026 left_pitch=-0.4075 left_roll=0.2023 left_gripper=0.9964 right_x=0.4208 right_y=0.3828 right_z=0.0233 right_yaw=0.0674 right_pitch=-0.5002 right_roll=-0.4672 right_gripper=0.0102\nstate[joint_eff]: [-0.0205, -3.1932, 6.5846, 1.1893, -0.1734, -0.0562, -0.0122, -0.294, -15.3368, 5.6957, 0.6129, 0.2808, 0.0952, 0.8816]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88cfa3abccfa0b3e0274cb2e7e78abd2d50e4db7755d7e8bb7297d2ede727bef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ee62c47017390c203da1e89c3d9b713382c3ab768cb59a0f50b761787517a5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9908f1a0b23d60c8a04fc1f788ca2d341efaf466da82995b1f77bb19c674d42e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhC2NIVPwpQIS0mmO_BNQ_01DeNLyRCTvKpSiwLgCG39dLlDc00N0FLxkOlh3U2mNiWsCyJjJNa7JKZJd9LO35GJz2ARSsLulfAbDSGbJfF1vz5k5N-HzrxIqSDL33LH1t_x0FcCvAQ3I1cxxw9MxDJEjY3mofrCxmt6qJnZQZXVfB4ZzKgcnId3EYH0iNCa1D5oJQ7ifCNgIemsoG0PN_CzvxU4KH5Wq9leWV8nyu4udkN5PiZSzpxv03q1S4TpRqh3n6yJ-ajJbPkoT2QD6m-9XSR93teUOrxFjVbPwf434QM9UnCxtv54LgIhJ_-K-M1UXsERzXRfsjs6UguYZiOevdQQxjICEMHgqGVoHPYtnafTfSQiYkqKZ1vXt8-V3Z1RxBthqkTBz4HkyZsJrMURd2FhWPqkhIWmp3Wn_O0Fa9sZ-_n269lT_qI0Kx1wiMTXPzaEHn7lTQX85z7_Oz5_qSGSAsJxU8B57cD35_b1dznDuzuG8VpriGdidGevyT1K4iqra2Yjs7HPl5xpZqZMSR-mJ-GR5utIZxz7bVwRbAfr7lZ3b5hyx9g2d5Kwxac5l3Fdqh5zjRVen_YU4Q22OjcAAqmZlmH8XEOwJZpCeIF0DHurbEYaQdV0_j5VyWjVT_waPY630t-ZQCauxQAtd-gJFcIB7On0RAe4hdttd6WJL3Q1XIDoGAOY9ihx3qqOBX9zed1dpEXRHpDjJ8ZFaeOyEDZFl_zjwehAKQZco4uIsgEilDbnuhhNyjwpxxSr0vnXTqfjVxQ27Cq-KL2iB7uPEgmxkkDosrrxFRdTcevbgxrCubnY-idGcxsBT7kSWQubBdWuk_tSwHD2e4xVchrbbi_pydoqQP2oVl2uKk6g8_wNF6YDw8Br5VJJ2rg5uPgOjW2SDze8-F2dQmD6S4lcFUz7GeBJzCxT4Y6yoKilJquksQWoKkoioZAhpuEcO4QI61UpcdKKduTDyYfzg9GeKgYUrhjfZO0h-4wFBRoagMZNgH7xPiHtDCrOMIgQ-bfaIcUV2-RAcISKOqRBhsuugaS3JKeM8t3uUreukwt33QOnrjLKuHjh6RpWYtE3fDlsB0TvAzu6KuxHogMOm5yStYyifKRifKEH7ly1VDM_mqBCmmyXJAEvGBYHML4uB5vNsZKUC2-xTxSX8JwEJ7gFjRgrFmWXe7kZlzwlhtumuR9WMvQOjwoNrMZimGLUumzhhJx9R5tBz1aBNYRmfueZqmb2sC4kSpbj_QcVtwnrkJdWL68hm1e3QaAPC7nJtn6J-dCK7V5Vww65OrmgtbAU_BY7SzHkWd4Jgoe7WA4felmSnG85zXGNzohhg8QXj33OrcXcHsgnVqyYheomkTFdFB5QFtJkG5iWSOuURDQYOrpPTkU96ItnC7OpkL5IT8RhVhk-p3QI6ANkS5_vBpFiKetIAeLY5TIcWwV_9WNvUBTgaQRBKXD1fyvAaItbddOGvpiGc2zN03RFT_saZmkToMouv_NnXXBLCbdxSTP0Bc552br96NgcpuAxBuU731gjxyXOQTXCpDlHWANkotoKBfvHOs1MpXTTn5SPhh-ZL9uRddhLIqlWbnmM0qQj-4ZOqsdYZnndmYRApteXJqdwnRa_07ypiLtbD0Jef_qQjTmlrTD18hzRAkMlPX_VTSJm4wK1XcOWh3y6CETIk62rJR5eMxtga9ivlacHARelvk_M1NMkRuKhpMAIR30XI_CZWAU3Iuhyzt_8P13ptjwRTiKqgaO78OsoIUeYVQoUArwzBXSHZjS7a5FNIM5ra2txKjuMRVcSqs4VJQrha4FDy8hs5H-oW4n-b6T_7Ie7Kr2kd5NE_0ft2zWm3qa85wG9B46T0NIF6hytAbs_WkjSj33R1OfY_ZEVEbP7kTi62MqxxCiB8cK4zPtpGA0brWeq2AHIGLZ-L56HE6RWC9O0EZd2wE3IqoR6JyX2-nd7DzO3gsh5kz5z258OphEldVENgFcBr9Gmf55r7nmvnQpvNKrBabfQ3hvxLFnM-WsV6_36zqjHyRdB9LJ49jqRb4jB3r8Q8hQG6m8kT6cEE1gqWLUXormyTLAsubyD1iJenrezPsByCMOrdpD5uqKAdbRCeJlQds6WYzZGDdSiT3W8wcm7VrKPfEFuJsn9rZtETBWT2nx4UVUaKkUQ-Q9i5kHNJiYRJBMBfrAzahfowFHBSjr7xa8QLnsWSbwDPR8Pu7GP8pjXLYQt98_WOADlKEj8t6n5xDX7v520VZ4RHDajmbITw3-66asO3XksKe4n5esZ6nneJTQfaz4OI45sFt5QQXJ_e-jVk1ULzLtcA==",
  "id": "rs_00f56f3a0e430dd8016ab4383fb15487d080031b16a34069a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"left_x\":0.445,\"left_y\":-0.245,\"left_z\":0.13},\"note\":\"The right gripper closed empty, and the dark fruit slid forward toward the white bowl. I’ll switch to the left arm for a different approach and move the right arm out of its way.\"}",
  "call_id": "call_8th6OVVUBj5i1twxB8eOr3nj",
  "id": "fc_00f56f3a0e430dd8016ab438417cd887d0a0e9d1a43fd6558a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8th6OVVUBj5i1twxB8eOr3nj",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-0.6662, 2.1391, 1.8965, -0.9642, -0.4641, -0.5587, 0.9964, 0.1791, 1.2091, 1.0672, -0.918, 0.318, -0.2749, 0.9981]\nstate[eef_state]: left_x=0.4406 left_y=-0.2412 left_z=0.1209 left_yaw=0.0987 left_pitch=-0.4333 left_roll=0.1979 left_gripper=0.9964 right_x=0.2984 right_y=0.0015 right_z=0.1763 right_yaw=0.0323 right_pitch=-0.5011 right_roll=-0.4656 right_gripper=0.9981\nstate[joint_eff]: [-0.7453, -11.8906, 8.253, 0.735, -0.4274, 0.0366, -0.0122, -0.1436, -4.6838, 6.2154, 1.2137, 0.1734, 0.0464, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32479a87cbdab729a3e973f6c00e294dfeabb1e2958246e156c055503af784b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbca545b5226744111ad8990b8a9f5d016f626ddd61afa0d0ee28456d231ed39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a6f6a20dc61573a77893768420ea8f2cbd29c9f65949c44180db5693d0f7612",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 100 changed as sent

message 108 changed as sent

message 112 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]: [-0.1669, 1.1275, 0.9489, -0.8341, -0.2531, -0.0753, 0.9964, 0.9096, 2.9063, 2.978, -1.4677, 0.5732, 0.461, 0.9957]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1616 left_yaw=0.1025 left_pitch=-0.4079 left_roll=0.2026 left_gripper=0.9964 right_x=0.4134 right_y=0.3811 right_z=0.0359 right_yaw=0.0534 right_pitch=-0.5019 right_roll=-0.4732 right_gripper=0.9957\nstate[joint_eff]: [-0.294, -3.2889, 6.5436, 1.1941, -0.1636, -0.0122, -0.0122, -1.4838, -12.7248, 5.3949, 0.2711, 0.4371, 0.0073, -0.0269]\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]: [-0.1669, 1.1275, 0.9489, -0.8337, -0.2531, -0.0757, 0.9964, 0.8993, 2.9547, 3.0253, -1.4483, 0.5671, 0.4366, 0.0102]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1617 left_yaw=0.1026 left_pitch=-0.4075 left_roll=0.2023 left_gripper=0.9964 right_x=0.4208 right_y=0.3828 right_z=0.0233 right_yaw=0.0674 right_pitch=-0.5002 right_roll=-0.4672 right_gripper=0.0102\nstate[joint_eff]: [-0.0205, -3.1932, 6.5846, 1.1893, -0.1734, -0.0562, -0.0122, -0.294, -15.3368, 5.6957, 0.6129, 0.2808, 0.0952, 0.8816]\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]: [-0.6662, 2.1391, 1.8965, -0.9642, -0.4641, -0.5587, 0.9964, 0.1791, 1.2091, 1.0672, -0.918, 0.318, -0.2749, 0.9981]\nstate[eef_state]: left_x=0.4406 left_y=-0.2412 left_z=0.1209 left_yaw=0.0987 left_pitch=-0.4333 left_roll=0.1979 left_gripper=0.9964 right_x=0.2984 right_y=0.0015 right_z=0.1763 right_yaw=0.0323 right_pitch=-0.5011 right_roll=-0.4656 right_gripper=0.9981\nstate[joint_eff]: [-0.7453, -11.8906, 8.253, 0.735, -0.4274, 0.0366, -0.0122, -0.1436, -4.6838, 6.2154, 1.2137, 0.1734, 0.0464, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32479a87cbdab729a3e973f6c00e294dfeabb1e2958246e156c055503af784b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbca545b5226744111ad8990b8a9f5d016f626ddd61afa0d0ee28456d231ed39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a6f6a20dc61573a77893768420ea8f2cbd29c9f65949c44180db5693d0f7612",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhI0s7UskDj3v9iiMEdHMk39RxHBg693sGnXiIM85syvo9ye-K5tblNSS6wL1s3eOqKy1B3mrIFq3my8lzOee4VWuVb-MgDMGhoJpmqWsZuOfsGP2bH5RSqimmPrWVJLbcGrtkCnnzOA06L-0CAkAPFOoVdcEoRo6dhXWt5tl7BBOSj5DR8FE-qE1nzrhPGg2Hfet2I8cvnVQN3siSc9JkJ7nZniHSHC7eTf_LCXG1SVbhFgSdOG4hXfjQsRNPttcTa2MnfhUVC-sKu7C8APW46vJk28bQijgc20bpRx9MmQt5rP2bnKozTWRwEPd9CAd6A6F0Sa5s523cQyD4IuIio3HsRqp-1vmPBu6yG4SBWulvoYDWTGwi9LfG4YFIl3LW907rUs7yjEottKZk3MNkZgz8Wvh-zNdymy7bn6Il_rZWQJNC2Eonyl9drlyAJqoYBa_k9CjRaKfZORM5A8aQ73LLDac-8EEdBE9opWPPqvmoYELROPrEx0A0rSgHTyOB8g4oAcrsW_Q8drDB97yREEjaYoOr-1aCvRGsdsLdNS3OsD1fnCfFLc51mRO1M7Xay9BGk9Z2_23A1VTKvIvX_YdnP4ewtuOOYQ5_T6hhkVYNcUS90Mb_qsVoPplqIIRUxYQPPNzhVYZYJBbnk3cYgRpdWUcDvWRAUUx49FN8AqlnvxhGcdDTji-En_zQLa5Nb4SDO3FUmM8yF18ikH7aNOfJVMXF2fSIcQA-FYwqAKCbeCpDCfdJSfE6a0535rgAaBcItBbuot3U0KmOH9_nVPdeCIpk6KHdqCutQnN3SXNbCfXigjS1gBWU49Lobx7Y9VXud3a77R6NIpI1RhyfMBjPRzgHrneEkGfJ2SpE34CoyQc-doZoJXt0gofVhb4TLBtlEJu1ahBA3w3nQA6NT2V5oN0SGJcgXNR1Fb3VEs5-VB0BGW3_jU8nGAbURxpKl_upBeWLAFf-D1NOHUPn89fKa_ck6Oebpc-Id-XueLMSrJi4AzopFy5kEvYA00QLJXZB8EgfZSbsO4nZl_Z4vJeo5JiBEFaGGc2zziPGjWAh8jC6nB_3Bik9cdZRBaHXFIESeElhgv4Kl0x0EQgBVrVEM47-j72MpxQglmr0b_vzpVBOPzV9f22nzHaqL8sYNwRWhshXXCZ2jVquWQ_jeOoC6zbNhKPK32vX3QRqepjebSOqvyOwzZ_4y2xTGmEHMy7zMu6uu65mnaEjY-u_49UlQfmsYfkP9-9mqzxJsB52UZkfMwQjLpm46Mdj6d0h1WDNKcFJjowZitHK9VrKUdMrnh2R8SFe9_03d9CJ_8gW02ct-oZHtwRVK9ifXzor44qNgDqclQX3iCOjOhD_YfRHnWdsuoRaPorxPBfq_durCRqDtyZrN4STs75yRvYKi2TV39mTOAV_i0BQ6o6AcEvbB_JjWNR787kL3Q0kv-fza1W50uq4FNRoAlyQFp1vp7z3Rsh8OzTVqfHB77yEt4AHVdT_SgMaEqZfm4mVmqNXSmZ_DjmcKQ3l0LIxdD6y650KpkwDRK7xK8FiGd-ov8RiLedS30iEsRrraPbUAhqy3MOZ2Uxm5oUWRcJMBnAu-n7HjLd0anNZ0Sogd45Km6fmU8tKM2BRnreyQj4SX6FpSiP9Br6vwKPp1762G7ihhZmHv5Ncuu3EWyG4AOfOu6PGrL8da6G5_R2vkvblvxmA0hBnDTLyQ9S-zfiLYi8Cm6khFqEefoTyN-POfWyKYzAKrnl7_BKDbtZijY6f3duKrq_HNpJW20IFhN2YwnaMVkmci_5JbxaWYQNUtJ9hNWrAHhuRHGoabk0Wy401v312ZUytH2hFbYUknGJxEK6yxu5vObM0rMPYeTLZ-6pZ8w9RXoevT5J0Muk3-Uq5XMx79sUgh-Lo204KlXuHiDnC8dtdN_WV-4yevhnWkx2Sps1f6Pw_JBz-2ScoXDGUDVGQPf0zh33JMaP8h-uC7aiDQ2GsF7cacPMS8jzBddtSG8KFSBbelPrQS0SD4R_4xUjI=",
  "id": "rs_00f56f3a0e430dd8016ab438465b0087d0873cebd9b17a5169",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_z\":0.025},\"note\":\"The dark fruit is centered in the left wrist view with clear space below it. I’ll advance toward it and lower beside it, then check the jaw alignment before closing.\"}",
  "call_id": "call_lpQLvfNdiGQUmYpuCnZZO14l",
  "id": "fc_00f56f3a0e430dd8016ab43848080887d0a2063a7d0dc65949",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lpQLvfNdiGQUmYpuCnZZO14l",
  "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]: [-0.6151, 2.3314, 1.8465, -0.7464, -0.448, -0.5213, 0.9964, 0.1776, 1.2118, 1.0672, -0.9249, 0.3054, -0.2958, 0.9985]\nstate[eef_state]: left_x=0.4734 left_y=-0.2364 left_z=0.0261 left_yaw=0.125 left_pitch=-0.4655 left_roll=0.2261 left_gripper=0.9964 right_x=0.2971 right_y=0.003 right_z=0.1742 right_yaw=0.0539 right_pitch=-0.5171 right_roll=-0.4666 right_gripper=0.9985\nstate[joint_eff]: [0.6359, -12.7385, 6.3932, 1.1209, -0.2173, 0.1929, -0.0073, -0.0752, -4.041, 6.4342, 1.1746, 0.1978, 0.1734, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65431e7d1649ee1ef13ff2e2643e08dadbc4c9695c9adbd4554b0e4c2ed94223",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dab19fbc40128802f5990706cc9937f67b29d85b14f015ee9d3ee01a7c53f92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ac7c99c7c255c370ab41efce462c873b17ffd3be1e7a005245c570ddb3cd34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 112 changed as sent

message 116 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]: [-0.1669, 1.1275, 0.9489, -0.8337, -0.2531, -0.0757, 0.9964, 0.8989, 2.9543, 3.0253, -1.4479, 0.5709, 0.4438, 0.9956]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1617 left_yaw=0.1026 left_pitch=-0.4075 left_roll=0.2023 left_gripper=0.9964 right_x=0.4214 right_y=0.3823 right_z=0.0239 right_yaw=0.0612 right_pitch=-0.4951 right_roll=-0.4652 right_gripper=0.9956\nstate[joint_eff]: [-0.1299, -3.1111, 6.735, 1.2674, -0.1929, -0.0562, -0.0122, -0.8957, -13.9829, 6.3111, 0.8181, 0.3932, 0.0122, -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]: [-0.6662, 2.1391, 1.8965, -0.9642, -0.4641, -0.5587, 0.9964, 0.1791, 1.2091, 1.0672, -0.918, 0.318, -0.2749, 0.9981]\nstate[eef_state]: left_x=0.4406 left_y=-0.2412 left_z=0.1209 left_yaw=0.0987 left_pitch=-0.4333 left_roll=0.1979 left_gripper=0.9964 right_x=0.2984 right_y=0.0015 right_z=0.1763 right_yaw=0.0323 right_pitch=-0.5011 right_roll=-0.4656 right_gripper=0.9981\nstate[joint_eff]: [-0.7453, -11.8906, 8.253, 0.735, -0.4274, 0.0366, -0.0122, -0.1436, -4.6838, 6.2154, 1.2137, 0.1734, 0.0464, -0.1197]",
      "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]: [-0.6151, 2.3314, 1.8465, -0.7464, -0.448, -0.5213, 0.9964, 0.1776, 1.2118, 1.0672, -0.9249, 0.3054, -0.2958, 0.9985]\nstate[eef_state]: left_x=0.4734 left_y=-0.2364 left_z=0.0261 left_yaw=0.125 left_pitch=-0.4655 left_roll=0.2261 left_gripper=0.9964 right_x=0.2971 right_y=0.003 right_z=0.1742 right_yaw=0.0539 right_pitch=-0.5171 right_roll=-0.4666 right_gripper=0.9985\nstate[joint_eff]: [0.6359, -12.7385, 6.3932, 1.1209, -0.2173, 0.1929, -0.0073, -0.0752, -4.041, 6.4342, 1.1746, 0.1978, 0.1734, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65431e7d1649ee1ef13ff2e2643e08dadbc4c9695c9adbd4554b0e4c2ed94223",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dab19fbc40128802f5990706cc9937f67b29d85b14f015ee9d3ee01a7c53f92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ac7c99c7c255c370ab41efce462c873b17ffd3be1e7a005245c570ddb3cd34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhMsXeIYyyD4u8R_gNicda5JIrG-qU-LSHrQ7CVPjEddUUP-LWPrrSdCpfOu5pw7VautYsxDFcdr9l1AmUVaYccX36ntzqN-OGC802y5sRQAvryIjFDS6PQBdtGX2290FCeq3-rI3NsiJUmj2my-evWBy8N59jOO_s0GRtKm9sBSii2Ijl-x3iMTWY3oWR2eMM3gZA0Z7x5ZhwSOfqgUicBp7W1b-x8JY5vCDRXkPrhBhHXs__tbznFjY8LjJwtWYCtCudOZ94ixNt2RxiLfuTbh0ze7irEqG3uEpWv7b9iqhX9D1CqY1HXflekYoUbVYC6D93tttXLRuMrune5UX1dy-WPK9coe7Z_HfFmiDDqg6IJceVKPptbw_IiAxP30NT4r8U_kOLTxWBsfeTZHD9N2ppBgK6EOCcTb8mVqNp4m8sOPL-Onbw244FFzAXAGlxPNAmn8VH1FAzH6OJOg3jtnv_kCIgBvwnZS4SpPvVmix2oat31VIOQP_XSTWbNC-ZM5T56OeiRA2wFp8SMi3bcowRqKuhfYBJlqt8spknT_nQo6ll-vsxzoaS0pHbkP4hcFkKA-_-yQ6ZfaBSygoD9TljRrhEYxxw_hfWXcn6U_x7bscHLuxtn6fvdCkMneA-FV7njy7xAHuIhL-2WgDKHo4G42co2ykCdgnaWLzuQ98yLBnP-_5_ZOWbNrT-KaYBpX5-sc37it-FegaetVfwp6QwUh99DWTipUXtvI8CZNak1P25od8o76brUwuQDhvlcrqfMVLcTIvbqg2sQaFt2j6vlWN0y5LLEp1uoy0YTzQeFOr2TgiYB_rRJzK-_T6Sxki2r9amBz-L8dLzUQSL4Y4I30zvPK1AqPSWadn09QToV-rHvWfSQ1_CrZBGK8kysCA5EXO6mZkEwRt2XtIyON1MpEkRjqIYmFqxHQGSpG3q_vX_Od2Ya4mxd4MiQm4X3dzf05ZYFLIdf__GFHXRNRGVBdYoKvlhH9-zy8dXXuvwv8iTmpHgslPgH-MlXKNhsJJEmDJzw-BKdgjfAfl23NbLZJEvLh4UIwxt1O6ukaDfy72jzw77KJW12gw69jvAy_Va2oT-Fnp91DWNpN07iTNeFnMf-q8Y1pkqOvGZSs5fxj3hWz0LKm8N-JMtVhg4p0MYZ8vZQRuc9T7A4nH8FHULyj1Cyf4TPWuHu2V-t5fIAYy0QlTzMtuXOLA2WVq28a3rCEBJNe0x7UAX6oeTZEr1nkrOwKixqsCSxdvGgbRiqvjjnPHBvl0Kq8ir9rSQv8CeN0CYumJv9alVqvTJ4pWgMTl9VcImX3GcVJkcSaeRTadKyoU6Xa75LzxDmlXek-PP9rrvBSQ7FLyPzR_6ZLkuaWrTNsrp4CFzlT2QcUv0nKSaMj0xJ-0s81y5xVCOji5aeHFHRbjEjkLSeZC1qaJsFZsGnVRm0dFhfx-Iw338xgqYyVty7gBfmQ6CLOKbW40OdNcwDkZKMy5GNuoAr3A_JDXYtjRbkS5Z0xL7Brf9NdyoBuZ1OoOla0AfD8jxhMCe14nv-xHt1b1g8W9geAuULpByqasK5X0P06v8s07EFzyIcqXHLCF_PUX1A29_JeYnc8CfvHtkIHhtxyu7m1Zi-7Vj77opCf1T3-xwVKtg2KFrULZVAb63U-i0fwEn9V49js-76fcigamrcvtxLpA==",
  "id": "rs_00f56f3a0e430dd8016ab4384b007887d0be631091f6559275",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.495,\"left_z\":0.005},\"note\":\"The dark fruit is close to the left fingertips but not yet deep between them. I’ll advance a little farther and lower to table level before closing.\"}",
  "call_id": "call_c60gYtfghlPCKSBhBPE2fv4W",
  "id": "fc_00f56f3a0e430dd8016ab4384bd1b887d09590fe98c3987f99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c60gYtfghlPCKSBhBPE2fv4W",
  "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]: [-0.6041, 2.3859, 1.895, -0.7261, -0.4492, -0.5213, 0.9964, 0.1776, 1.2118, 1.0672, -0.9253, 0.305, -0.297, 0.9985]\nstate[eef_state]: left_x=0.4866 left_y=-0.2383 left_z=0.0156 left_yaw=0.1322 left_pitch=-0.4544 left_roll=0.2164 left_gripper=0.9964 right_x=0.297 right_y=0.0031 right_z=0.1741 right_yaw=0.0549 right_pitch=-0.5178 right_roll=-0.4669 right_gripper=0.9985\nstate[joint_eff]: [1.2239, -10.8786, 7.0906, 0.8034, -0.1734, 0.2076, -0.0122, -0.0889, -3.8906, 6.7624, 1.116, 0.0904, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b077c335104a68cd3cf66c863800387117b3172cf3bef9fd478a1c2aefbf6f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08f2665056019c61cb4dd614c9264928f3adb54afa45ded3b0f74789d5d016fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796e0f3513e4d5111af03c8aa7390670fa0890f3955555be6ddb55eeb3cb88e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 120 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]: [-0.1669, 1.1275, 0.9489, -0.8337, -0.2531, -0.0757, 0.9964, 0.8993, 2.9547, 3.0253, -1.4483, 0.5671, 0.4366, 0.0102]\nstate[eef_state]: left_x=0.2902 left_y=-0.0004 left_z=0.1617 left_yaw=0.1026 left_pitch=-0.4075 left_roll=0.2023 left_gripper=0.9964 right_x=0.4208 right_y=0.3828 right_z=0.0233 right_yaw=0.0674 right_pitch=-0.5002 right_roll=-0.4672 right_gripper=0.0102\nstate[joint_eff]: [-0.0205, -3.1932, 6.5846, 1.1893, -0.1734, -0.0562, -0.0122, -0.294, -15.3368, 5.6957, 0.6129, 0.2808, 0.0952, 0.8816]\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]: [-0.6151, 2.3314, 1.8465, -0.7464, -0.448, -0.5213, 0.9964, 0.1776, 1.2118, 1.0672, -0.9249, 0.3054, -0.2958, 0.9985]\nstate[eef_state]: left_x=0.4734 left_y=-0.2364 left_z=0.0261 left_yaw=0.125 left_pitch=-0.4655 left_roll=0.2261 left_gripper=0.9964 right_x=0.2971 right_y=0.003 right_z=0.1742 right_yaw=0.0539 right_pitch=-0.5171 right_roll=-0.4666 right_gripper=0.9985\nstate[joint_eff]: [0.6359, -12.7385, 6.3932, 1.1209, -0.2173, 0.1929, -0.0073, -0.0752, -4.041, 6.4342, 1.1746, 0.1978, 0.1734, 0.0269]",
      "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]: [-0.6041, 2.3859, 1.895, -0.7261, -0.4492, -0.5213, 0.9964, 0.1776, 1.2118, 1.0672, -0.9253, 0.305, -0.297, 0.9985]\nstate[eef_state]: left_x=0.4866 left_y=-0.2383 left_z=0.0156 left_yaw=0.1322 left_pitch=-0.4544 left_roll=0.2164 left_gripper=0.9964 right_x=0.297 right_y=0.0031 right_z=0.1741 right_yaw=0.0549 right_pitch=-0.5178 right_roll=-0.4669 right_gripper=0.9985\nstate[joint_eff]: [1.2239, -10.8786, 7.0906, 0.8034, -0.1734, 0.2076, -0.0122, -0.0889, -3.8906, 6.7624, 1.116, 0.0904, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b077c335104a68cd3cf66c863800387117b3172cf3bef9fd478a1c2aefbf6f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08f2665056019c61cb4dd614c9264928f3adb54afa45ded3b0f74789d5d016fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796e0f3513e4d5111af03c8aa7390670fa0890f3955555be6ddb55eeb3cb88e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhPBFKQvFJquUG7Ta-1xKCAqloiLCvHuKqsJvU1SLsrYfvcGVSzmBdWjiZPSsP2OuBka5723u_iiUfFuvop2khflkOqXOVncwg252sS8mZ1Gif3ziorh9Zr1cerkoM7C4fsPzoHIdH79x0NBJhmps-AroTnPeaefaWh6X24uOH5cRCr5NQuvSBjWtWlYsmFQzJ7mV2ygeO6y768QXfHnNHhzOD610tauMbckwdwqNY7ETTmOLMWpJzp5RvRA3qwtzJ_hMM7240N_WhqnyS1irWP1ZAYi-y2UZBuB1PSAFiygbN1Q8Ln_FofLGkIJymqM6_3ZAgzjICR_zW_16Lmw0WGgrM8zsLKxI6NWlJAMVyVNYcPaiRNOX9paagDdkvEI32xjY9QaNwpQbtZUHnKaUK5xa3JxTje8yi9WN_U7HivIumgVkNZBFP4bRtXUWBa9_WXdzUhaES91_booeZ7wWkp1M5hzHuPK-lfPNlVbHU_oiT-8PjjvYPBmeS1oc7bR0MqfGrtDDaJ08pO95maitK7XElXQ3soAbwVFVGtRwMhSWGhFFRUH50DU590qHtLHwj_sSkTTRMFoPElHeMAOVyqkrmq54c3CdfJ5xdQTCmF619FTMkCbouxYDD_aUGY7-Pbb1ARb-JX3O6PdlK9UqadE0pYWB2PD-MlxmVDXXmfwWCRonYgdn7tVzr0eEV1lE1Xh8hIp9P73jQH3K_yQz6Obu-l8K6oYMZoXVMArqPqZd6ghF083n857qre8rNfh2xbyzJUgm3njxdKSLIw8drMHfHpGO6d9ovtkc8Ue3Q0I98r0eu5KuGiUsUEq1S1n4Nj-p3lBPUQRdlEa5ba63sxbLLfgEBORTYmBkOzuUZJz9Ufk90E-b4l05S7nAuvxuF2HBDmjXDj6_wYG4ICDPyzlf9yqgh_AYGm2bnUEeyJUGuGsKDoOIX0cSKaVwuvFbUKr6uLQ_v9Zb0jWLnjb3-4un0NOCYdtAevyfgOoi3VVSKk7g4jJATEQTtnf31x5qYhC0hmVGV2y9wlWx3l0iIqgBXgShrT9SpAqY8qpwRUOEmFiVaROp6ToE-SLr8dWRy9UAsYtl3JS5gPPDTyby3pvcHZKSLCCERJ2nucqObwpCZVkfL3PWb5O1lQE-6lZazlVQPxr0c7uSKkYKZkVpljPS53ywXbMF_pbpsOYJYBy0scIoRpfCX92PVB0nl5RDJIt5wZc8hMRO4pgktwt20iROn-1mRdQHYn4r5h_Ed5G0E=",
  "id": "rs_00f56f3a0e430dd8016ab4384edb8887d0b1285c9dc736d6bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit now fills the space between the left jaws at table height. I’ll close on it and check for a nonempty grasp.\"}",
  "call_id": "call_ZXRbPfqpZswWcMxX7n9zQ8GF",
  "id": "fc_00f56f3a0e430dd8016ab4384ef9ec87d0a8360d6fe7b509cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZXRbPfqpZswWcMxX7n9zQ8GF",
  "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]: [-0.5919, 2.4096, 1.919, -0.7197, -0.4492, -0.5098, 0.5059, 0.1776, 1.2121, 1.0672, -0.9257, 0.3046, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.4942 left_y=-0.2355 left_z=0.0116 left_yaw=0.1354 left_pitch=-0.4505 left_roll=0.218 left_gripper=0.5059 right_x=0.2969 right_y=0.0031 right_z=0.174 right_yaw=0.0567 right_pitch=-0.5192 right_roll=-0.4682 right_gripper=0.9985\nstate[joint_eff]: [0.212, -12.041, 7.4051, 0.8571, -0.2173, 0.1197, 1.0134, -0.0068, -3.7538, 6.5026, 1.1013, 0.0806, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c7ed24a33612a39cc6033c70380be1911860568ba3baadc361a107c95d04b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e19602fa09ac95d9fcce72b86fb45f6c03e6f11c4f7a99e6e3ecddada6a1adf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ffc6b38f1362d1da193a21d306edc8c3ff0eae9ab5b1f14ced91e439085963",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 120 changed as sent

message 124 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]: [-0.6662, 2.1391, 1.8965, -0.9642, -0.4641, -0.5587, 0.9964, 0.1791, 1.2091, 1.0672, -0.918, 0.318, -0.2749, 0.9981]\nstate[eef_state]: left_x=0.4406 left_y=-0.2412 left_z=0.1209 left_yaw=0.0987 left_pitch=-0.4333 left_roll=0.1979 left_gripper=0.9964 right_x=0.2984 right_y=0.0015 right_z=0.1763 right_yaw=0.0323 right_pitch=-0.5011 right_roll=-0.4656 right_gripper=0.9981\nstate[joint_eff]: [-0.7453, -11.8906, 8.253, 0.735, -0.4274, 0.0366, -0.0122, -0.1436, -4.6838, 6.2154, 1.2137, 0.1734, 0.0464, -0.1197]",
      "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]: [-0.6041, 2.3859, 1.895, -0.7261, -0.4492, -0.5213, 0.9964, 0.1776, 1.2118, 1.0672, -0.9253, 0.305, -0.297, 0.9985]\nstate[eef_state]: left_x=0.4866 left_y=-0.2383 left_z=0.0156 left_yaw=0.1322 left_pitch=-0.4544 left_roll=0.2164 left_gripper=0.9964 right_x=0.297 right_y=0.0031 right_z=0.1741 right_yaw=0.0549 right_pitch=-0.5178 right_roll=-0.4669 right_gripper=0.9985\nstate[joint_eff]: [1.2239, -10.8786, 7.0906, 0.8034, -0.1734, 0.2076, -0.0122, -0.0889, -3.8906, 6.7624, 1.116, 0.0904, -0.0464, -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]: [-0.5919, 2.4096, 1.919, -0.7197, -0.4492, -0.5098, 0.5059, 0.1776, 1.2121, 1.0672, -0.9257, 0.3046, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.4942 left_y=-0.2355 left_z=0.0116 left_yaw=0.1354 left_pitch=-0.4505 left_roll=0.218 left_gripper=0.5059 right_x=0.2969 right_y=0.0031 right_z=0.174 right_yaw=0.0567 right_pitch=-0.5192 right_roll=-0.4682 right_gripper=0.9985\nstate[joint_eff]: [0.212, -12.041, 7.4051, 0.8571, -0.2173, 0.1197, 1.0134, -0.0068, -3.7538, 6.5026, 1.1013, 0.0806, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c7ed24a33612a39cc6033c70380be1911860568ba3baadc361a107c95d04b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e19602fa09ac95d9fcce72b86fb45f6c03e6f11c4f7a99e6e3ecddada6a1adf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ffc6b38f1362d1da193a21d306edc8c3ff0eae9ab5b1f14ced91e439085963",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhTNq2xgYMii9gR7oEGFVqGn7dKANQmtUrcgChsyKcxKun0fcDuiPREa2z3a23t6_5r8lTpvOyzrDPQJTZ3FcmtXhJP_vMXzibIrY4V_3pd9aVhhmAhtzV2dWWNXgJuACTBA46EtCk4W7t_DJ_xV3XgJaASZEYfsT24_rN0uKzSS4lqJwAuZO7nA2pL7k5HHdRYt3eS8CtphfnNDOq_vKjOWZLMB98PMGofcYWnHTIcBrsJwpxq9XAqtdSJjpsbJryx5AjZFb_Zs7AhSUtBB2bSAT3NIvVwu81PdxuvwdiU4r4HN16rCFUYPVr7_rhAjFr3xkzTLufgK3Y_pAnY18e4B7ZGYJtrUjuWIri8UMVE_P1Q6yYxYnnyY9-p7RUzp-4ZRK4KftuXPqa5SBO5NkvillAiyJHadJwIxToqcdocoj5fPqVo2jU2IyKo9FRXpBDVljimJGge5D23yy2BwOzbbu2RWiuZOCTWIpcA55V8BHHnO2uCBOe8CbibT17tgzbf9qOciioR4V4_S9ssGsLt_mr2kkZXHy95e1NIwwKHlhGbRBgc4i_nAffhERpFAZ9KoUIG3wgbunNeI_DKQjy5M4RgBy0ICc6Ag68y4XA-U45qCEcWarpFciRGBLYK8PT5psshd0bBBZ1xLuMkfvft4xVSIDSsmZFx5Uymsp_LOikYfcmoSAah8McPjYq9w7twaVj6zk-5_QHPtacAz9Yb921SJYr10beSPHM1EhFc5x_u385jgCfIetGOmGwH62XqIxgnMPlqUL07dcbHxcsMF2H7-s8RjBlSA9T-6wxv_Bxkqel9zlMOSJC8INEcp-KRzPkdCEIdCUNCl2ZVG7XWkzTUqQEoW5zwbKY5IRfQZ_U7461JvTRUiK3Bto1Deow4tapb4Xb3wQY0eCk88DuMcMMHURJyMGPrtDN78CSpkVlnVtgvt-h1qOpx7Qru766r93zyEH7pKoLaY8KV0ppPPtCgwQuyVvtZlmhM9dh0McBMqvu_DiwiyFOIBCQuPF-dsveLe0bBWma2PI0bLBez0eXzRpRnVtlumIeu3DlSrdCLXFLGmVPWWCi3lYipaLBs_eWLsT4VehjXPJGGAPTcp_jFqG-Nf4uthK5NXFCcYYuM8-3uP2ugDuq7jH67CRkHNHtsVtLLmjVf6BuRSkY8ybk1vxHNmIBzWLseT4FDgAJzgxlbRJcbVv4P4RWwipO8f162ULR7yFNaTZPzX7Dg46Y8XG5b_Qa4ZtW9NI-1pRwkWj9x_G2duuCx9PU2ATps8d6FE8kTn-83VE08qriN3jjHWrlVaurQQmRKywivioV3N_wsgAl-Zq4T15E0RvHtCtmuTGtkVvE0aA0tPjaxbiDlSNK-qhBVcvjYCUWl7yuce9WP5aruAnMys1RDiCQB_aqsmzS6rmxsyByv1-Ik7g==",
  "id": "rs_00f56f3a0e430dd8016ab43852786087d0bca6f59c6c957333",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The left gripper stopped at about the dark fruit’s width, and the fruit is no longer visible ahead of the jaws. I’ll lift to confirm it is held.\"}",
  "call_id": "call_ciYylyqdRjPyEdkzOGNedYmz",
  "id": "fc_00f56f3a0e430dd8016ab4385303e487d0b2d28fa70823f9f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ciYylyqdRjPyEdkzOGNedYmz",
  "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]: [-0.5922, 2.4722, 2.5923, -1.2804, -0.4484, -0.5224, 0.5082, 0.1776, 1.2144, 1.0672, -0.926, 0.3046, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.5048 left_y=-0.243 left_z=0.1547 left_yaw=0.1266 left_pitch=-0.4123 left_roll=0.1735 left_gripper=0.5082 right_x=0.297 right_y=0.0031 right_z=0.1733 right_yaw=0.0565 right_pitch=-0.5219 right_roll=-0.4685 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -13.1897, 7.2547, 0.3541, -0.2711, 0.0659, 0.7106, -0.0342, -3.9453, 6.4752, 1.0965, 0.0904, -0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b234c69dba1414c97fa167a97725a4537305b7178164e8dfae4837b5fd9c55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4de02ad2f5166c0ab0b28fc2a37346c5d79b8d16da594f0bc4cbe2079b67dcb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d088e182e1f0a797c7d64535ad564b3d08b29012e556f217c2c37c8cf8d2f834",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6151, 2.3314, 1.8465, -0.7464, -0.448, -0.5213, 0.9964, 0.1776, 1.2118, 1.0672, -0.9249, 0.3054, -0.2958, 0.9985]\nstate[eef_state]: left_x=0.4734 left_y=-0.2364 left_z=0.0261 left_yaw=0.125 left_pitch=-0.4655 left_roll=0.2261 left_gripper=0.9964 right_x=0.2971 right_y=0.003 right_z=0.1742 right_yaw=0.0539 right_pitch=-0.5171 right_roll=-0.4666 right_gripper=0.9985\nstate[joint_eff]: [0.6359, -12.7385, 6.3932, 1.1209, -0.2173, 0.1929, -0.0073, -0.0752, -4.041, 6.4342, 1.1746, 0.1978, 0.1734, 0.0269]",
      "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]: [-0.5919, 2.4096, 1.919, -0.7197, -0.4492, -0.5098, 0.5059, 0.1776, 1.2121, 1.0672, -0.9257, 0.3046, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.4942 left_y=-0.2355 left_z=0.0116 left_yaw=0.1354 left_pitch=-0.4505 left_roll=0.218 left_gripper=0.5059 right_x=0.2969 right_y=0.0031 right_z=0.174 right_yaw=0.0567 right_pitch=-0.5192 right_roll=-0.4682 right_gripper=0.9985\nstate[joint_eff]: [0.212, -12.041, 7.4051, 0.8571, -0.2173, 0.1197, 1.0134, -0.0068, -3.7538, 6.5026, 1.1013, 0.0806, -0.0269, -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]: [-0.5922, 2.4722, 2.5923, -1.2804, -0.4484, -0.5224, 0.5082, 0.1776, 1.2144, 1.0672, -0.926, 0.3046, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.5048 left_y=-0.243 left_z=0.1547 left_yaw=0.1266 left_pitch=-0.4123 left_roll=0.1735 left_gripper=0.5082 right_x=0.297 right_y=0.0031 right_z=0.1733 right_yaw=0.0565 right_pitch=-0.5219 right_roll=-0.4685 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -13.1897, 7.2547, 0.3541, -0.2711, 0.0659, 0.7106, -0.0342, -3.9453, 6.4752, 1.0965, 0.0904, -0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b234c69dba1414c97fa167a97725a4537305b7178164e8dfae4837b5fd9c55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4de02ad2f5166c0ab0b28fc2a37346c5d79b8d16da594f0bc4cbe2079b67dcb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d088e182e1f0a797c7d64535ad564b3d08b29012e556f217c2c37c8cf8d2f834",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhZ6DEi1UMTj9Nz3LrbAoF17-VgsosOlzpd8WECcNbKC2Tcp-rAjaQP9RkkeVoS9pE8CcObK_GFb9YS8m-gEP61vtAD2F79GFiByPWDHzyMtl8YJ-kHjwMDrh3tpxBi3gvOV9qu4pbXHSBwbwKbkfc2TQDpeoI9g4IGvHtXyot8PQwkVmkQry0lAoV6kE_FP-beGBMiWZ--NH1hb13Cr_5vDVYdokxsHfNTXLYbbxfQe-hvgcoDS3p6EVSSOCavm0-Dne62y70VSOyi1i4HK0YNiCAhesUqfhB1yQjKzT7AAjj7gzgj5DyeMoktF7I9iAMGQGR9QuH2SLBHFabcsuec6iCmQnjiE1Q0InBJdgYoMwkmLGzRRIb8MF-GtL66Dq2ARrE9Kt6VqK1XgiuAoofUcr7Ba8IRZdyIT7y71GL7z5H-erUse7uzDZS91thZt4sw1irXqt3bkhWAUsEPLHqOlWG6ysgAEodu2Qp-Je59MLGBEC6VlsYOG2psNFEvkEqAo1xiemNwmf0m_cZlN6XTXUT2a_T6vTjDA8iOTYZwjv6thO6nYPefb-RQeTjIfgPxRjpl9BQn-RI-GLNfgDiLTKpsRZkVusna0LQZHeSyioKo9Kv7DFnkaQGoL7DrEQ9Z_hpPlB70As7EFAJpaPuGw5LzTZqLBah046wWWByoQ5ajpBKZrzG8SfCg_aAEFixjJScWdairu0x373Jn7mBuYtsdR1bKbUNRJFqco3E4RHRe3wokHWOp3G-whI4qgF3gSXZTfa3cUSfN9CQl8vQjbhIvAt52CeOUeBJU1DE8GP9isiSHDStu_iz0jHk1PqPvZ1pt2r7FFZ8JC6ReK4cCIObkwanFK1N_73x1vFrLmPTEZcrWwCBCEzSevcWUpb33ZgfUj8Nz3jOTpH-pU1_LwH2PfnAI41bzTQgWE7lpUC2lWp7bozq5g5p23CY81Bil7X_aDum0KEN0ZBZGVr3dCXUt0B2Ujs5KU5w-eXOQzH0TOot78YRIhGxL1A9vbLVPXRLg7NLjDTs5IEaXRPSQfpwsbBgwbovWs8mzyBz0ExyxpBfzU4zJ7Kdf5LpBfhDWoXoHF5Qd76Kjb3n60V_KRmkL6eJm-o7Tjg03sSvYXmu9K81taVPdAzwGav03UC7rk0SNLm73p1O8whNm8U6I3BKw-TfwvreMxxFX8zb8v6cCMGsZNwksS-78husB-XsSUK_CXppHJoXfqJ9zSSMMgPdKkbHoOQTgQjM9j065r0fmFQW1sEDerH9MRLekV37M1i8L-SvljNMymuppCjI4wSIkEzmJC4bh17I5LyODibCX2l1AH2Gp2rQ-wGPk1DwJyZin3Luc4bjoK0llFyDSohFAEWCPwmPfebzalU1az3jGOFs6J1ehj60sQxf2O1hMxzJC1q0lvTyIeMy1Fptssh9LYq2fyeD2Y2FQbQxzeTaf4c_9jFOJOHeUEnfeOCu7B8fEe28efer9YjWCS28hB2Koo4ZWoGtnGAFY3PN1a5vWn4WcBfJxIAkxjeJPEsZUWXuNHYMhtLAkLFAbqzUGy3jfsbiHgL2ln-YywQuEBTImgUIcsrxJlzJT8CMbW0lUsLd56qd0ghIu8eHjOTopAmxTpB2Bn2saR9zIHg_ZOs-dwlme_AhrOa44GSl-zPlMl1R_K5Vtovh7QDlw5lPoDzbscVFDnu9ArEsusp6L_8lWm7v6qUWvO3nBDTe4w6fR-C0bZTXOi--V51dKBykY2dSvS98n7_uTrBYlWkV9kmBwD4hRbWXpirYuVKXicW72sCrwAPjlvgMMLKoF5c2wyv8VhE52s466giVg567RvxCjKlq-x8FVl0RHX4_yJhynxYgzecaXu9FU-SVM1l5Agzp7KfZ3FnjMsJ7AKAT59vu4HlhBy2z90TbCzoBba8EF6dC_lNmVIPQxMU5tz8ahY1DrBmpJvfchWgiOo0bpHG8QYnhgGV1ELBRjN1mC7QCxb54Nr53uUn8VofXI0QJB_hQq3uAuZq0sgtZt1dGZlySsLLeFgA0gEiRzL81NiCr45reQ0ydAU8FcDxd0hLPuBGtFjbqwC-AvyTnW9kb2hl76wHTVj6d-IVY9ziO2inwiZOvy9L8bHw9cpyOZhaoztfSt4pHF2oCILUtTjchig7LanU9iMVnGKgdM4jimYtzC0kI18X4TBnaFYJSC8b9OiEPlC8YYzRiFLdr-8g-3-uvIVdH6KBEYSLgtNOZgoO3NHQ3pnbytjHrMdkmMJ1tbvPE89hsWVpnH-fgOPV4XCgN5MkL1URzwcTlrRgnDmqOR8lhChL6zEn1ZPi4Twf58fcGlIy89-dvs2ivxTYq_pb-wNfsUuOBbgN5-eCHOWNxHU_X-tWxlnsJw1Bj4PDrjbBWDX_9EVdgxSvr5Mi9xSA9WQBDaVepNXTc_hltcmzDm6tAwhgr4E27Z6vNR0OO3wMRGbw7V4XY1XC4wvRTa5zV2-GzoKnQmXUIVf8FjaRXTDZexr_dg7WDAh9KBOnbS78D1Ee8NH4ZR6orswfU93U3YqNoZYnKtGJwfeId3RP_VyENo7MrkKMhHr1dlvO6Mm-12kRsigW3-2gIlKDGJXUynOcvjZ3U_b1awIjfQsbTjb-d_F6yP0UFNv6EeR-ZQ_p8pcc4YBzj8ZzkZrYDd5YKzTaVBWDlU4rZGmwDLb5rb7OKME14TmgBdgCkVqfiJAtmMDoAj_hJetBqswlIkITdwSkBuzmiZyWozyJpjUMOdkAw1qGq-SsTasvKC3RtrhPfPz4dFoIUGpaALgIe-RBZLP0WtidWC7dggEZviFjO-GlGxdwEN7Zg5m2XkuQ9Xn59JhLYfs1VMnW718_vtROM-SVxWtIKZM8ELOSgC7TDJsCjO34SVr2Yc1p16couDJuo1V7qQUivxbw50QHGU_RTPIVpNGqjGtWXDG6Q8bdiftDBHrfNLGS2w9mwS55iqSLyR84LXXIFpUF5sYhPqZ92ZNREalkKf4cDfmgbfzW4iw-xd474sQZmXICB0hW-FyE7aSJnuVDG_Nx-GDVgNuL4=",
  "id": "rs_00f56f3a0e430dd8016ab43856330c87d0b263042cf52a16d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.4,\"left_z\":0.15,\"left_roll\":-0.3},\"note\":\"The dark fruit rose with the left gripper and remains held. I’ll carry it to the leftmost reachable part of the blue bowl and tilt it slightly toward the bowl’s center.\"}",
  "call_id": "call_FZ8Wf0ktoYFYGSjqeecBHTgn",
  "id": "fc_00f56f3a0e430dd8016ab43858e76087d0a6243d6bff53d421",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FZ8Wf0ktoYFYGSjqeecBHTgn",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9268, 2.3581, 2.2597, -1.0691, -0.4187, -1.1213, 0.5102, 0.1776, 1.2148, 1.0672, -0.9333, 0.3042, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.389 left_y=-0.3926 left_z=0.1212 left_yaw=0.128 left_pitch=-0.4451 left_roll=-0.1993 left_gripper=0.5102 right_x=0.2955 right_y=0.0029 right_z=0.1723 right_yaw=0.0563 right_pitch=-0.5295 right_roll=-0.4692 right_gripper=0.9985\nstate[joint_eff]: [-0.7179, -17.7162, 6.1333, 1.1111, -0.3492, -0.1392, 0.4469, -0.212, -3.7675, 6.6393, 1.2234, 0.0904, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b888f81910f6dd9549665b479c2ccbf272047885b8bf42fc48f356a176f6339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f479618662122fbdba7f1e09514520b029a15593d54b6edd6beb4883ce192f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a05e4aa4fddaa1524aa425abb7eac75cc671006e95e553856bf263a4428a19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6041, 2.3859, 1.895, -0.7261, -0.4492, -0.5213, 0.9964, 0.1776, 1.2118, 1.0672, -0.9253, 0.305, -0.297, 0.9985]\nstate[eef_state]: left_x=0.4866 left_y=-0.2383 left_z=0.0156 left_yaw=0.1322 left_pitch=-0.4544 left_roll=0.2164 left_gripper=0.9964 right_x=0.297 right_y=0.0031 right_z=0.1741 right_yaw=0.0549 right_pitch=-0.5178 right_roll=-0.4669 right_gripper=0.9985\nstate[joint_eff]: [1.2239, -10.8786, 7.0906, 0.8034, -0.1734, 0.2076, -0.0122, -0.0889, -3.8906, 6.7624, 1.116, 0.0904, -0.0464, -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]: [-0.5922, 2.4722, 2.5923, -1.2804, -0.4484, -0.5224, 0.5082, 0.1776, 1.2144, 1.0672, -0.926, 0.3046, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.5048 left_y=-0.243 left_z=0.1547 left_yaw=0.1266 left_pitch=-0.4123 left_roll=0.1735 left_gripper=0.5082 right_x=0.297 right_y=0.0031 right_z=0.1733 right_yaw=0.0565 right_pitch=-0.5219 right_roll=-0.4685 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -13.1897, 7.2547, 0.3541, -0.2711, 0.0659, 0.7106, -0.0342, -3.9453, 6.4752, 1.0965, 0.0904, -0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9268, 2.3581, 2.2597, -1.0691, -0.4187, -1.1213, 0.5102, 0.1776, 1.2148, 1.0672, -0.9333, 0.3042, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.389 left_y=-0.3926 left_z=0.1212 left_yaw=0.128 left_pitch=-0.4451 left_roll=-0.1993 left_gripper=0.5102 right_x=0.2955 right_y=0.0029 right_z=0.1723 right_yaw=0.0563 right_pitch=-0.5295 right_roll=-0.4692 right_gripper=0.9985\nstate[joint_eff]: [-0.7179, -17.7162, 6.1333, 1.1111, -0.3492, -0.1392, 0.4469, -0.212, -3.7675, 6.6393, 1.2234, 0.0904, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b888f81910f6dd9549665b479c2ccbf272047885b8bf42fc48f356a176f6339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f479618662122fbdba7f1e09514520b029a15593d54b6edd6beb4883ce192f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a05e4aa4fddaa1524aa425abb7eac75cc671006e95e553856bf263a4428a19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhgCR0Q-rL8CdDq9XkGKULlJEhQG0aN6veKTk7IN-h-01L4IblNodb7qYCq9D-me1sFjtapUmZ8NbD4Uxes-NUVpMxXKvyIH9BRw2sqWQ1tTfcbPoGJOo6lzMXlLGQ23v8QDuKVSUrExhfUjz2dkrjKpaweSBOIj3btYh2atzTjQOJbBGp1RAtQTBsXAIrIeaqA3egbcmYhW5cd6laM8Ohc1Bks-0QDPYYnE4wJ77HyatSdSeVkqEa8xYWI2Nd3YYLKACe39Kvac-4_NDIlDFfhYV3NnlvPEIqJ4RAz4PNVRgnR3I1qaeaTJVOlV6E6KF7YFj4z7vX59gVReCbpPS9AWAQbrfmvZ4fZLU1e5IDhbZrwIzopgYy71oBFC7EyZHGbjViIDEaToxHl4f84a-xYAe0wJlJR1cMdas0THG45xJK-lpSAZJjee4KQ1Niqp9JxjQg00xFUwaV_gI736GgrkPvXRRtpKLvKcnVoRs4n2qD22hJDQsxGfE7e_Khj4lVeUFiK_kteHKHOPkSpgSIbgop7ShKYGl69bzo6_PvKtGm-NulERtSqejmABNtgAsWJZ7KYv4dnT-dff6Q8FdUs_Z9cXXBcUu1zFRuqo3VbjPVZCHTxe9_aRb5gWB8tb8U_FYO0hJ26K8BOxa__tuSxLRc4Ujm_i4zxEU5gIDbQvilHFNqmqqA6MFdDY-NEUfUX2tynLvQg8xSX_8C4-nOrANYgvEHxi1N4Bq5Wo9pT_YSR1mBKt_vi0aPyyFC8qxpHnLNiVr775csMbDMgadBX-b98j5ZwJT5RRqh6O42T0JCbRd6tFnyYSG3fbmwCELPgQGllw6EsSYjPZkIt2A8icbrHEuN0IYzBkwyMcM7P9o2yqWPuSWRO7Ci-gvi_2zoH68uSmvd9XN2o1bGhzPGeO0BzUvWqtLmKer1mhgN4CH4pxS_IzEwt9TFXSqGhNQi8HwAyQm3YtlQdvXogBTAIQlJCz62p2mtZBFc5GvnGaWzL6aR_umdUdRsDya9_syPVpjMBIAI9lDJcqnoazd3v-F5ZxlgS5jOSVMCvUwb1lI_d4ccL7oGrHtTH-5ILAJTXHWK0VwoDId22q759U0WrMJeOOFaKzpxG70uczb974i8Gu9bGqj1gulX_wnJuiF9TkqMnGVGSUpk_LZzSnvnmTyLeAw2lKVuYPTpN4-rbsPzdQ5dcDWDGHhuGKr3wIJqcZ2URz3vti3z-9W6Npf8k3oXxe39GOXs124bpc16WmcwKCwhpfJ4nupiuEFPCY885VaN6x9BffMKowHkog37aZNJuvPRaP-h9Pj8l5CgZXHOQw-g-Z2JGJPq1kQrnQoSJ5n_hSlpva2y56AhRTnQQTenlBs6BaFWyx47ZX3_Ik_Hgz7xgRLmXoeBOyLA3G023ylzw6FyFcjuJ7JLbxrD1mNWpmX-LYMIK7RgNroXHbUxwvQ1UMglpAY6ZURxqvbWzlHL2sCPjSXjGZAhf6Dg60XLcb_fsEBhHOfNA2hbnRxqYZA7_hVX2mCqvlvJfmrRMpwCjw2MF1O2RG-rd_z_Gu7hUVKMo93k_uW9V21waMqkdx4ERLxsOS-tlWbbXiE8Skp1b2uIln8NdotUwkq5lobzorsh1UX6YZut6hNz2pelvt6JlpzTOupw7v7fg_FkcdRtTR81Vgo3UcQafmGp1wIJehkB5BElwJHyeY3CaU89VJZ0JXlEUydXMKkOsyjmd7Mhpt4li1u1L9d1GHdWMIk5KHgGJp0r3Pex91cdfgE6Y9nQYKVECwPnDPXLGwWIwphNog1WvX7dc1ZQ7rcuNNfTUF8vnfqjA9fPgGksWtX7Cfnh2flF-Hw-ihYtSQKk40FUZkTK4jirzrhG_NJ9Tmedp8q_HYXT4DNYdmvXVu3jNw-reEZnlp9ntnd41HaAK9OUwtkraFNViM6OBYjOtHU-uYzvmFnYphq4CNXmoOiZ2SVzi4q9W7RD8sdZBOvlK-3Fs6HFjX4lf-HX5XQ5OpMYxvfgHpTi7c1tbi65LRDrYx-mh8l9uZQOKmdngSUq-wB579v3t_PTZ_l9GikEsbEWF9qRFUlmwSoZFes9aQw9xOHJgWhFRnWVed80xPpshlX9KTN8PyohP_sk7hPRHR98OYMEuhmfruWqRvak5QFmRl3ZEbrlsoM70xDbbqTenh__HFMZUFx86MT42Kn1679-WMPNaP0WxJ0mQMPhdif_YfwTqi4MSnMMOnTfCYO7qOEaGEg5SsrGNn3s88k6ZxNKfBxmtbKnAWJKjUdqCHL6fRpitCOkaehAYIpzaR77Cx_P9Vb8oT3ZEh-WwCsavWzaKZcOdAVPokud5jjWvR6U51ePfXlBNi9FfFkNd80KsEOg_l17qra2kUsgaYV1ZTQaShMD7tOzbVx7YKYniZGuG4yPU3YnyxB6yczU65QatpFZj66PK-cAr3eDxQU-0EjcPK9_KWSpbvVJRV5wn139HT3yYPu3SY6b5orWQEfS_mNy8ZKDMKsC_71wn1a7eDfVEww5PeCigCyJ7CCEVmyVABIx2EVJaxCQEFv6vB-92NMUqSZfZSnh8ukt2-aJtf4gKah3XbiCQZbYzrvuZ5ljLQgAWxOlq9tHf-7RdxJGS3k7mh3kftpHOg7hKye9d6yN6u4MjZmnJjk6OVhJxvR14PYPq8e6vYPogVjQKucUo90frNRBwuUg7S8FZTY7iHQ==",
  "id": "rs_00f56f3a0e430dd8016ab4385c17c487d0a14c6fc1caf99114",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.4,\"left_z\":0.095,\"left_roll\":-0.6},\"note\":\"The dark fruit is at the near-left side of the blue bowl, which already contains the other two fruits. I’ll shift it over the bowl opening, lower it gently, and angle the gripper a little farther inward.\"}",
  "call_id": "call_hgGuBXGdXxVX8fLnSWMwt0Vc",
  "id": "fc_00f56f3a0e430dd8016ab4385f425487d09e216bffcc3aa78d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hgGuBXGdXxVX8fLnSWMwt0Vc",
  "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]: [-0.9604, 2.146, 1.6539, -0.6262, -0.3733, -1.3495, 0.5129, 0.1776, 1.2148, 1.0672, -0.9405, 0.3042, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.3483 left_y=-0.3792 left_z=0.0598 left_yaw=0.1757 left_pitch=-0.4968 left_roll=-0.4018 left_gripper=0.5129 right_x=0.294 right_y=0.0027 right_z=0.1715 right_yaw=0.0558 right_pitch=-0.5367 right_roll=-0.4702 right_gripper=0.9985\nstate[joint_eff]: [-0.8684, -15.2684, 7.159, 1.5897, -0.2369, -0.1685, 0.2662, -0.0889, -3.9316, 6.4205, 1.243, 0.0952, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58fdc561fd9ff8aa7f0a2cf806fa13eedd5347cae7647c2ea7400824eb162fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca39c7b283c5c7fd474c99d65f8cd2d6552e866fce688a6423e2d60cb65ee1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae82db6a84ccd5c3765fca7da5ff8206fdf7e08778f121f6e974c0edbd2248d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5919, 2.4096, 1.919, -0.7197, -0.4492, -0.5098, 0.5059, 0.1776, 1.2121, 1.0672, -0.9257, 0.3046, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.4942 left_y=-0.2355 left_z=0.0116 left_yaw=0.1354 left_pitch=-0.4505 left_roll=0.218 left_gripper=0.5059 right_x=0.2969 right_y=0.0031 right_z=0.174 right_yaw=0.0567 right_pitch=-0.5192 right_roll=-0.4682 right_gripper=0.9985\nstate[joint_eff]: [0.212, -12.041, 7.4051, 0.8571, -0.2173, 0.1197, 1.0134, -0.0068, -3.7538, 6.5026, 1.1013, 0.0806, -0.0269, -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]: [-0.9268, 2.3581, 2.2597, -1.0691, -0.4187, -1.1213, 0.5102, 0.1776, 1.2148, 1.0672, -0.9333, 0.3042, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.389 left_y=-0.3926 left_z=0.1212 left_yaw=0.128 left_pitch=-0.4451 left_roll=-0.1993 left_gripper=0.5102 right_x=0.2955 right_y=0.0029 right_z=0.1723 right_yaw=0.0563 right_pitch=-0.5295 right_roll=-0.4692 right_gripper=0.9985\nstate[joint_eff]: [-0.7179, -17.7162, 6.1333, 1.1111, -0.3492, -0.1392, 0.4469, -0.212, -3.7675, 6.6393, 1.2234, 0.0904, -0.0366, -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]: [-0.9604, 2.146, 1.6539, -0.6262, -0.3733, -1.3495, 0.5129, 0.1776, 1.2148, 1.0672, -0.9405, 0.3042, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.3483 left_y=-0.3792 left_z=0.0598 left_yaw=0.1757 left_pitch=-0.4968 left_roll=-0.4018 left_gripper=0.5129 right_x=0.294 right_y=0.0027 right_z=0.1715 right_yaw=0.0558 right_pitch=-0.5367 right_roll=-0.4702 right_gripper=0.9985\nstate[joint_eff]: [-0.8684, -15.2684, 7.159, 1.5897, -0.2369, -0.1685, 0.2662, -0.0889, -3.9316, 6.4205, 1.243, 0.0952, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58fdc561fd9ff8aa7f0a2cf806fa13eedd5347cae7647c2ea7400824eb162fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca39c7b283c5c7fd474c99d65f8cd2d6552e866fce688a6423e2d60cb65ee1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae82db6a84ccd5c3765fca7da5ff8206fdf7e08778f121f6e974c0edbd2248d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhklcXMZJw5f2Zi9cNewjGL1j1fTzSF3-xzB4Zmd2El-YA1iCqXyDPFZ5XPyxB4uvMfghM0Qm_E-CiztvhSb-Da33UoEeVRLInKC8GEo3MQgDzHcgyZWC3KhzNPVRxLuo70sU2d9qMay0QpQUDriDtElFSdLSH8w9fEfTTkhJgyuydbNCnYZOFr6jQITeX4O_HttAAqU00bG-DmAh3IN8qRSL0Yf6pH2aJPdfwPOyw35qHULyY6es0Jom6cECnw0DgZ8Dp_sPUQ_d92qB4Ce8-e2oL6316KBybUut-j1qCGJdgRUbbBcA7S0DWXuJWQrOUy-5Me_qO5NGtm44BQHW2wBwL9nSdFs9xNWd0xwzMgNlKZE2s9RTAB3lmhzIvsW_lCGj1x9Y_uFzSu9jtwQbbMbyO-XuD_hxpH4H1vJSKGn5SeMnC4Y9p5x-EajaN5fhsj2fRLb3_Ktb3T_L2pUULNK34ajgtAvshbq5Cnc_CcvoginthcU37nRlucSRR8AHEE-FxugEeHkF9HwVuJr5l84chzJxTrnKd0Eymb8Wa0KvYzDLPXC-XNiT8ax4h7RCkBmjh1JOU-GjXRdSs6-4wILbP3J5oGlMl0KYP9agdXqAiikKi-cSM8ScIBmIQG-hQNbsyR_671V64TNW-aHL1SOWIl5ycz48wlUNdAOQ8hnyTVtQE82gu4hTjim-IUTelS_Kv1iQv_VPKOHTg0MGWe_Hny4ZGE5aqE_QpsSkxfLSDZZoLPeRJF6K74p4NuJL9j17NDnQK-g7FpO7353PExvk9-I82sLWrBKHKkVHM001O0obhNd_SIZeDI22xooywGE42PhS4ckBnIrngEYwEC5gtssj4VspCemN6MPM34hjn4eo5somG772WYp301XxB1LBztdxuflqwykT1XcR6RZKvt3wSegzEjMgRxhZKstmPgga_Zc60w_3od-6y-HXyAjXZLwoBWScOgA6jRcEWxt4mt3Zoio8RdpuNc86rt2xV_dvSBLtFy47joYt2ufWZ2Ro7uqVMwSg-cCFOZPQU0lFw-CkG2VrdZXntAOy_hGqIY-Ra6mS2aE0AJjbwUlwEXOXZbzd-4criEVWv2JMln3niJvB5CunaghI3bWtdh5TjHFQR6_SGE3e2-u1xixT2RmzPIp6bttOkjHVsxIoprNZ8hHmaE_CtmKjPpbkWYeOqeu8ykIKK5TtB3HYrAXYAg0TynTw05fN49jgEqQB3DzFCLSkrnKXBO7A-zhjLCFtY-kdhEnR2QvfR5PBrGgyEzxDngYe1gpu1wXowv5uuNYljt9X2PFh8n1uHQ-Zi9Yqc0HZeuAd1s6JrW3Uoc9rgp_kLHpAeYUM9jI-1ZSixl1dng3bsCTgMPttF8p6GFYIdFrq17iFagokDBODh66IRWtCEu6oDlr0Hv3Z5iz4JKoF1EczUH_HTfpc9jLLM7aY9v3xrHskz1H7wIe8LW4KQlOFw_2dzSKKaqp55LkID9MY0nFZQrfRo2a4FKSO91O67XB3vfWuXz8uXCvFR9k7fYcuesPvFPWrPh6kygdIGUl3pINp0oKe6AfNZDHv9SR4A4-Xxtak8LpcsfsEGO3_isanXczUKfOmz7NY4kKA5m4-AyMg6ZYY1s1AyLF5xE1IhrVB8g2OXrrsDbofrYaJnYfBa64tOcNgYwAEC_s7NlCL8VJ0GoBXHtPyxSd5BvKJPqoswh9sRPEAstzYLzr4FKRA7NO4xIKlvnbXqJ1C46OGUGxuGkSAI_6kS0KOTFhtcorcX4df3HFG4Oo3SUTHLN9whVoDYWIu3AP6Lnwdfy2l-GQfeVMqiYpqTxhIdQR6XKHYa2MzwZTtvVGOfni64SGdy7XorsTqoJ_qV1KrNMLNPWc6URk08g7MR0OabsYBoPXW9Y57XcvhYQUcZ-vvX0eSXtfOh4jugiECLvQ_xyhU9se-1jHp6XrYaiGsGsrO69R6-2IzMBIr1eUz53lLe0lWwKjwdlknJBQMegY-xTmtwPi_uN8Z9cLRt6kJhhw0lTHz6E44Z7_1Uh1_GjSYJkT6-O5vQMJLOkWoOC-SEk7--Er9xX_spYZpNzRdSZAiZMZq7dHY6k3mMbGva_AQKdeGQXYtCHn28EYDNUv6JViSyyfDup1QH12gQPqsLIKx5FeelGx0mDOnIbF6pnMAsGm3TaNyZ3d4x104598MIgYMfa7RQF_BnXgwEKzkTHNTe97S7OMMLCIvZ28eXpSeOlAZyAoqR9r0eIWBQjnmoLVXFIIiKlnHcgPUgB1kKssii5kGr7owD8Cc2CmTHgnQUpRKHr-J5bHDRtq0hy6u5bNzoKC3hEgbJ5kmCXI3SKoXPMp7TAgM8yEGzgEwVaiKbN",
  "id": "rs_00f56f3a0e430dd8016ab43862095c87d08a4589078b493503",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is lowered against the left side of the blue bowl, alongside the two fruits inside. I’ll release it and check whether it settles in the bowl.\"}",
  "call_id": "call_CEZBXLUbLsFfmZ4sVrVLPkwP",
  "id": "fc_00f56f3a0e430dd8016ab43864047887d09eedbf228a0b50c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CEZBXLUbLsFfmZ4sVrVLPkwP",
  "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]: [-0.9627, 2.1391, 1.6321, -0.6098, -0.3729, -1.3605, 0.995, 0.1776, 1.2148, 1.0672, -0.9436, 0.3046, -0.2996, 0.9984]\nstate[eef_state]: left_x=0.3461 left_y=-0.3783 left_z=0.0573 left_yaw=0.1786 left_pitch=-0.4989 left_roll=-0.4099 left_gripper=0.995 right_x=0.2934 right_y=0.0025 right_z=0.1712 right_yaw=0.0552 right_pitch=-0.5397 right_roll=-0.4711 right_gripper=0.9984\nstate[joint_eff]: [0.1026, -11.0427, 8.1162, 0.9451, -0.2027, 0.0562, 0.0122, -0.1299, -3.7402, 6.4068, 1.1111, 0.1099, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28bc9ca0f68c1a2961725e7fa943a3f23cb22f7fdee76b33babb998061b3121e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14c94e4bc69095900d58a428ba41a8a1a2ed34cccc8dd0a421493957abffd3fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fc3be52e8936a76e5a131dbe10ae83a4486216fc5892ef0a95f8e56aacd15f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 128 changed as sent

message 136 changed as sent

message 140 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]: [-0.5922, 2.4722, 2.5923, -1.2804, -0.4484, -0.5224, 0.5082, 0.1776, 1.2144, 1.0672, -0.926, 0.3046, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.5048 left_y=-0.243 left_z=0.1547 left_yaw=0.1266 left_pitch=-0.4123 left_roll=0.1735 left_gripper=0.5082 right_x=0.297 right_y=0.0031 right_z=0.1733 right_yaw=0.0565 right_pitch=-0.5219 right_roll=-0.4685 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -13.1897, 7.2547, 0.3541, -0.2711, 0.0659, 0.7106, -0.0342, -3.9453, 6.4752, 1.0965, 0.0904, -0.022, -0.0122]\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]: [-0.9604, 2.146, 1.6539, -0.6262, -0.3733, -1.3495, 0.5129, 0.1776, 1.2148, 1.0672, -0.9405, 0.3042, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.3483 left_y=-0.3792 left_z=0.0598 left_yaw=0.1757 left_pitch=-0.4968 left_roll=-0.4018 left_gripper=0.5129 right_x=0.294 right_y=0.0027 right_z=0.1715 right_yaw=0.0558 right_pitch=-0.5367 right_roll=-0.4702 right_gripper=0.9985\nstate[joint_eff]: [-0.8684, -15.2684, 7.159, 1.5897, -0.2369, -0.1685, 0.2662, -0.0889, -3.9316, 6.4205, 1.243, 0.0952, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9627, 2.1391, 1.6321, -0.6098, -0.3729, -1.3605, 0.995, 0.1776, 1.2148, 1.0672, -0.9436, 0.3046, -0.2996, 0.9984]\nstate[eef_state]: left_x=0.3461 left_y=-0.3783 left_z=0.0573 left_yaw=0.1786 left_pitch=-0.4989 left_roll=-0.4099 left_gripper=0.995 right_x=0.2934 right_y=0.0025 right_z=0.1712 right_yaw=0.0552 right_pitch=-0.5397 right_roll=-0.4711 right_gripper=0.9984\nstate[joint_eff]: [0.1026, -11.0427, 8.1162, 0.9451, -0.2027, 0.0562, 0.0122, -0.1299, -3.7402, 6.4068, 1.1111, 0.1099, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28bc9ca0f68c1a2961725e7fa943a3f23cb22f7fdee76b33babb998061b3121e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14c94e4bc69095900d58a428ba41a8a1a2ed34cccc8dd0a421493957abffd3fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fc3be52e8936a76e5a131dbe10ae83a4486216fc5892ef0a95f8e56aacd15f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_00f56f3a0e430dd8016ab4386610fc87d0a8e688b6f5a68a27",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhr3GAoTrwLAijFZjp3bw4iCRN-9-Ncl5f8UGhhIyc6L2KEuTF5BASQ2eritZsbdGAQUOSO3rQboxIptrWnI8HpxK6wenpVEx8603GJe7GQ9QxSdQKJf84hCwBYv8_13hBgCYFNDnKLuj14TfUYYX8I9MH0-gTymvbGdIl1WbZg5HR3S_SHxJxMWgAnS8kg4w9_NPKd1r5v-MS8uURg2UC0JPqfoK97cfDWP7GW011JwT55YBpHcOZ1hEjkTPbHRF_IKPSSuvPyEbkXT40yBnSPC4Z1aNH44Cn_1upJfX1QcQc11hut_crYizNEg9pnzEKIb3yDhPPaYC2NbdCbhDg0AKxpddYsyBuG1r-ZYbVRF-TyYZ_QvY9NMmQJXb8QkmlvxgPxmovLCjM3G1S_Y3vwdJmG4BcN3SNACyKeiOrjaheQszAj0Nddrxmro2k-mcPI3mSgSQOLHKUceBhgvepbS98OBm7FsjBNcivL--fjAmKRbuzvhPSRqFYKqayT0cQgPY-2GO_x5PmTyGhdzOYiB4SFAIrSYjCc3_wwixS1BLk6V5hnqB8wAaqUlKCmPh4PxgPTuOeGqRyqVF1iXfZYMXessmgwuszdd-Kkd_6nfltzxt6Qqtnt8bmgssMMdr2AJTGCE7e9Ohhr2RQhY3t3i6OIb2UoUW_LLTqvDmWzS5Gt8_CwCXyRUCjzAkHKqOSrrjN-8kKklqCIeyNhOMbdeQK8LRt4BN8_7tqdXAS8ROGvf_NR2QulFx1uLrAGVeRa2_GSeFif3IL8DphZY4MWCAwsfXEc8Q09iDeZ4U6m3A1chk7VnSyt0n8a7am-8_muG8e-WyJDavJW6Sy-GTJSIWM_4fvZT8yoRgDeGVJKx9hOzaVzCOqBsOS0yn0mK6VwXwdEl4nXTEjfLreL75NtCNlzZBN9odgJ49gz_npuoB9xZemWTGH0-p40Er_wNMJc_gtwdWIRAd4nmlEfKcnWDv9uraDyB0UOL4MTW1BjQxrbzQhzvv6GnEgpud3XSmttNsYAn5qzXsZNqHsdIQ-SBFUQlAtOaQHMpannkPjG0-BBlEascjf_-0Ii3GfkdRw9uVfuFDXu03ehxHdqs2iIJz3Q1nkBLULI2qzUKZyIq_t4phhdxt-oS2RNolX6PDr9C04TorGVAdJr7738vlSSbJ4z_QitVUQHlLx7zDScP9ZRYFREYq6AzCRFIEeWv4vlkGjAdyJYFSSkkZ9JE0aVNF88vf48hbQ2psO12JzbIR08I-lwYy27LASxowghT3I66gJp7aNUTg_WueFyfo8bzKV-BlEVrNVowXpF6wiTjjhIELfvYQGDDpiO7tyTNAROXbuI4_tJpVFaQ2ccyuoNE8xM6A7FRLvwNiBZ4xQc56RvTpxuwQxg-bX4XAoT45FTMph8uOCqxD_tVGLa7mnU59mhPdolG1BbZXggguQ4L_4VcLJn73PuVa3ty0AHKCWhtGVrCmr05WpFfSsrMbjZM0SBCDEjALxDneKVm8INKbnuev4osYG010OAjfE6CL5QXwmxzzopKfSnmX7IrvIx1kpVMVVxM2SG-SCQheUUPZ60TBxSt8X_peMNYKU1DeVvIAPJ8vXmrUeLq1G4MxZk2gtCdleMhbWNjCtmpSMvpnc=",
  "id": "rs_00f56f3a0e430dd8016ab4386a14cc87d0b491bff9dbc0bc3d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.4,\"left_z\":0.015},\"note\":\"The dark fruit landed just left of the blue bowl rather than inside it. I’ll make a short, low sideways motion with the open left jaws to try to nudge it over the rim.\"}",
  "call_id": "call_EHDUrOvHlc5wtSytqcubnDoE",
  "id": "fc_00f56f3a0e430dd8016ab4386ae22887d0b60cf377ecfdff94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EHDUrOvHlc5wtSytqcubnDoE",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9634, 2.2532, 1.6852, -0.5606, -0.3729, -1.3621, 0.9962, 0.1776, 1.2148, 1.0672, -0.9451, 0.3046, -0.2996, 0.9984]\nstate[eef_state]: left_x=0.3558 left_y=-0.3928 left_z=0.0238 left_yaw=0.1846 left_pitch=-0.5041 left_roll=-0.3985 left_gripper=0.9962 right_x=0.2931 right_y=0.0024 right_z=0.171 right_yaw=0.0551 right_pitch=-0.5412 right_roll=-0.4713 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -12.6427, 7.5145, 0.8669, -0.2466, -0.0171, 0.1197, -0.1983, -3.9043, 6.6803, 1.1648, 0.1294, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3991b7e58f847d92ba1a7ac7f7335a759f1701fc50ffb7606f182af207e20d85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a87005818b3c340a9e3f894a00c52ae4319c833870a1de247cbdcaba2b003b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d381b94739db78ce128d037117c05a4bec0f1cbbc7a6dc4ae39075edc7b243ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 132 changed as sent

message 140 changed as sent

message 145 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]: [-0.9268, 2.3581, 2.2597, -1.0691, -0.4187, -1.1213, 0.5102, 0.1776, 1.2148, 1.0672, -0.9333, 0.3042, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.389 left_y=-0.3926 left_z=0.1212 left_yaw=0.128 left_pitch=-0.4451 left_roll=-0.1993 left_gripper=0.5102 right_x=0.2955 right_y=0.0029 right_z=0.1723 right_yaw=0.0563 right_pitch=-0.5295 right_roll=-0.4692 right_gripper=0.9985\nstate[joint_eff]: [-0.7179, -17.7162, 6.1333, 1.1111, -0.3492, -0.1392, 0.4469, -0.212, -3.7675, 6.6393, 1.2234, 0.0904, -0.0366, -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]: [-0.9627, 2.1391, 1.6321, -0.6098, -0.3729, -1.3605, 0.995, 0.1776, 1.2148, 1.0672, -0.9436, 0.3046, -0.2996, 0.9984]\nstate[eef_state]: left_x=0.3461 left_y=-0.3783 left_z=0.0573 left_yaw=0.1786 left_pitch=-0.4989 left_roll=-0.4099 left_gripper=0.995 right_x=0.2934 right_y=0.0025 right_z=0.1712 right_yaw=0.0552 right_pitch=-0.5397 right_roll=-0.4711 right_gripper=0.9984\nstate[joint_eff]: [0.1026, -11.0427, 8.1162, 0.9451, -0.2027, 0.0562, 0.0122, -0.1299, -3.7402, 6.4068, 1.1111, 0.1099, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9634, 2.2532, 1.6852, -0.5606, -0.3729, -1.3621, 0.9962, 0.1776, 1.2148, 1.0672, -0.9451, 0.3046, -0.2996, 0.9984]\nstate[eef_state]: left_x=0.3558 left_y=-0.3928 left_z=0.0238 left_yaw=0.1846 left_pitch=-0.5041 left_roll=-0.3985 left_gripper=0.9962 right_x=0.2931 right_y=0.0024 right_z=0.171 right_yaw=0.0551 right_pitch=-0.5412 right_roll=-0.4713 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -12.6427, 7.5145, 0.8669, -0.2466, -0.0171, 0.1197, -0.1983, -3.9043, 6.6803, 1.1648, 0.1294, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3991b7e58f847d92ba1a7ac7f7335a759f1701fc50ffb7606f182af207e20d85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a87005818b3c340a9e3f894a00c52ae4319c833870a1de247cbdcaba2b003b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d381b94739db78ce128d037117c05a4bec0f1cbbc7a6dc4ae39075edc7b243ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhxuFd4Fgt14tyTsYz5Mi3cjJRxpD_6YMHvBUMEbk3kEKDCRWA48rG4K8tSDnrYq1-dWZj8vDp7ANsmEPba_aGggFXY45fmzqFPtavJsNznl6R_aVh1g-3fwre15gPsJbLlF19zNuJCgzgEcrD-0m1dnp3ARdacS9oYfCBpB62X2EG0KG5OEAL2jZEJnpVyKE8QXZoXw_QIrO5KGZzm-NzdKOOq6uG10lKkpVgV7w1Oqy9A8XOnSQL8T3Ju8kdo6hd-OUAvvDeUIhmAb_svVTid2hXi_HgSya2mTouF8a2LgyKIcnYUjqAtcNIBSB6rYpdLWWvtpNvOMe72yUroRBY7pPi2rjR7awmeDQdUfBjR-09EpOEjGOG9Xsx8RBOO6tn3_F5f9rhQNYo96e1w0G7W-y6rYl3OmiAn-qFom5q9NuwIJMf7waaImeRmMr5H5suhCAQctVSKFy63adVzhdR3wRMRQP4KeB03KUsfM_az-lLFjjRDT4hO4sSWHem9vP_4JJa50PjhVTeFrNVblj58rQbJiuHO9YDCKtB8ycIAZ5s5X69EDZQwwLbfCKPIPbZiD3zagppNzsJNv7M-bamAuEiNdXyOTmZzRR5kPSS2jYcoMWFgGIvbE4pIGFfAqV_dqxhdKKgjRE-RS54s17G-eV4-cI5jhqnkjMv58FicUo90EF3l-fK0SWvbA0dF4YpXkVJlKToKgJM_vU6ach_s4IGWa-LgVm2thFQRpsfoQROUCNE5WIx34n3d9wmQ0DwOs5eKW4WFGIL0aWJaJXEM9vKCKikaCRs4YWPsobrXSbLPq33FyWQSi519c-r6HrW0A1q_DpO-JEUUXnxMdgNMHOkmhb0JzL9r56-8SyE6mCfOgPjYPvCsY3E0e_FOS_Ozsil5yKJZlw1PM28egOZWpAd0GHL7oxJ9CpA8dP23d-34CZaW_qGNj8GBDSz2MgpnyIg3DgyZ4j4zvTW0y5okvU4knFT_W-rVGJwkX8Kw4UIAlydZczIVlxjif3QUlMSR7zSrrrXfreFg-MKTksdE0Fs8ceCY3SdpZoI_INtrdinRkd9asVNF-j9JdBwRM_b63gtqXc15s8uDRy09fFEgeWxUCQDVs4sgHxW5Fk6kiDk6u7Pbgzp2xB00qLeNfkEes_oeR6QQP1iJfeVe1pdPg0jyecfJ3QorEHc6DCg0JhbajpDaeTHae9bxwM_evpy0eMOYAYmUvbffFQ_mwEzmy7igQVLm-e8rYnElMa5dyYmQJAIsJTJctTABEZjRV5_wJ55bf60Ks9ITtQi7I0cu6Cy-ItBsRP-EgP39e6SSLs2SqA4--tojiMu2s4eYQ9TrZYXRCpoIxt_BEFPnu2SgC8YRywhzFHsENZF6mf-2lNrbPAmjOXHsT5ef66oUQ2_WtoZV71jh7Y7z8dJ29PeXhIEK6BEsCwa25WjHrSEW7_BOSVGtffWJdFluZ4bw2dcdD_qXr4N1GaCLmlLq86qJCREVBdT9GIGw2Hfe8gOoH_t2DtIiQP6auUbDqEogZiIDq8Fvg-XUV1H1iWkoFKN8cqzlAw0FJ9SGpkfoYuU4-Cw1EIv-ADQeZ4xU-IY5VGKmOZyHFsgFixuQvwzBxwVHu_b4IvJMx1TWGVLMNvikcZR1u6qNLTAynJ3sy-2BpDIteZA3WxxQ5usUOV9gG6p6zFJJrD1zqd-LmUvMribAdkLV6Kkviko1vmXeYhqXnG8eqXsbdIuEIfbe7pBmbACxDybqGyhexNGwhUUrE-XoRvg6P6IM88RsjoT485YrCN5rZ82AGGuUnmI-_qzpXmVlUPg-tH1VYPFVmI5F5nRh8-z_AaBWzFVFSH9p232beiQDSoQhxDdJl6GrrH4Guk_1u0m14t6Yepc7ivF8KVQDQOcDQ6JN8_6-LGAL_1TcmZi9ScxXmhd1mWYJ0oY5EWMVvB7dd1e5AQCtvfbwsreu0f-nHF2982D86eyrIWCp5C9_HKY8ORZW8or6gfQP1M9OSCNTXkiFtx95WsWGcnon0B47Xj-dSpmafSPeT1CoTOmYIw6GfmvWslIZDkua3mGZQIhGP9nMvClh4T9Fl6QAHzU=",
  "id": "rs_00f56f3a0e430dd8016ab4386e579487d0af47d132ca3e12b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.38,\"right_y\":0.205,\"right_z\":0.045},\"note\":\"The nudge did not move the dark fruit into the bowl. I’ll clear the left arm and bring the right gripper to the blue bowl so I can try transferring the fruit already inside to the white bowl.\"}",
  "call_id": "call_UVA3KTXeZ5JlrPCvQ0AkRHpV",
  "id": "fc_00f56f3a0e430dd8016ab4387125c887d0955f70df7a16ac34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UVA3KTXeZ5JlrPCvQ0AkRHpV",
  "output": [
    {
      "text": "executing move_to over 35 steps (3.5s)",
      "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]: [0.0601, 1.19, 1.0252, -0.8879, 0.1261, -0.5171, 0.9957, 0.6735, 1.9755, 1.3575, -0.7025, 0.4835, 0.1768, 0.9985]\nstate[eef_state]: left_x=0.2955 left_y=-0.0009 left_z=0.1631 left_yaw=0.2422 left_pitch=-0.5452 left_roll=-0.3958 left_gripper=0.9957 right_x=0.3729 right_y=0.1971 right_z=0.0424 right_yaw=0.0644 right_pitch=-0.576 right_roll=-0.4958 right_gripper=0.9985\nstate[joint_eff]: [0.2667, -5.1761, 9.3197, 1.1502, 0.2271, 0.2662, -0.0708, 0.5265, -9.3333, 7.3368, 0.9158, 0.3199, 0.3297, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e6d4f5bf4a4b02758067d54a490efe7c2ef9845d542c81fc9b3c83a03650ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6addbd7fb5a7509ee5276806a9a1c5082e1279b56a8eac521ad57507d6c3d4c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bac2902c2c8d42bfa5bf89f36f30b72dd43523a1874f37ab5b8157aa6e9ca21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 136 changed as sent

message 145 changed as sent

message 149 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]: [-0.9604, 2.146, 1.6539, -0.6262, -0.3733, -1.3495, 0.5129, 0.1776, 1.2148, 1.0672, -0.9405, 0.3042, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.3483 left_y=-0.3792 left_z=0.0598 left_yaw=0.1757 left_pitch=-0.4968 left_roll=-0.4018 left_gripper=0.5129 right_x=0.294 right_y=0.0027 right_z=0.1715 right_yaw=0.0558 right_pitch=-0.5367 right_roll=-0.4702 right_gripper=0.9985\nstate[joint_eff]: [-0.8684, -15.2684, 7.159, 1.5897, -0.2369, -0.1685, 0.2662, -0.0889, -3.9316, 6.4205, 1.243, 0.0952, -0.0659, -0.0171]\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]: [-0.9634, 2.2532, 1.6852, -0.5606, -0.3729, -1.3621, 0.9962, 0.1776, 1.2148, 1.0672, -0.9451, 0.3046, -0.2996, 0.9984]\nstate[eef_state]: left_x=0.3558 left_y=-0.3928 left_z=0.0238 left_yaw=0.1846 left_pitch=-0.5041 left_roll=-0.3985 left_gripper=0.9962 right_x=0.2931 right_y=0.0024 right_z=0.171 right_yaw=0.0551 right_pitch=-0.5412 right_roll=-0.4713 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -12.6427, 7.5145, 0.8669, -0.2466, -0.0171, 0.1197, -0.1983, -3.9043, 6.6803, 1.1648, 0.1294, -0.0757, -0.0073]",
      "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]: [0.0601, 1.19, 1.0252, -0.8879, 0.1261, -0.5171, 0.9957, 0.6735, 1.9755, 1.3575, -0.7025, 0.4835, 0.1768, 0.9985]\nstate[eef_state]: left_x=0.2955 left_y=-0.0009 left_z=0.1631 left_yaw=0.2422 left_pitch=-0.5452 left_roll=-0.3958 left_gripper=0.9957 right_x=0.3729 right_y=0.1971 right_z=0.0424 right_yaw=0.0644 right_pitch=-0.576 right_roll=-0.4958 right_gripper=0.9985\nstate[joint_eff]: [0.2667, -5.1761, 9.3197, 1.1502, 0.2271, 0.2662, -0.0708, 0.5265, -9.3333, 7.3368, 0.9158, 0.3199, 0.3297, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e6d4f5bf4a4b02758067d54a490efe7c2ef9845d542c81fc9b3c83a03650ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6addbd7fb5a7509ee5276806a9a1c5082e1279b56a8eac521ad57507d6c3d4c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bac2902c2c8d42bfa5bf89f36f30b72dd43523a1874f37ab5b8157aa6e9ca21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDh4XBwSmGqov2TuzYVZTBxZck85Nj5Y3xf4I9LQuXXxh__TgJ21u-iOIKdcbfrpwO4EWD8gXRmMLyLcphqpZIsBJFAUpRhvGAXYQ_LuG5DgqBgBoOTTdyHlkCyE54lazs4jJyLeFAnRFGKm-3H-_ogZkQHFf1OBOv6NiLfajY-_iFRa7VlZ4ar9naUpa2XbQaQE7u1kptSSgaxcTFoIzOxvIASZpeaNiQDxGRtb2sAJMxl7YL7uv_smbJMcOPFl1Npa3dWtGy1oGur82Bnu0Tba4jsaE2a8xlNOSXSzn1l2SoDGpcF9O6KTlLVwfIXLyGuNyYQWrniUFlARYRZpg0FH9SITiC3WERY6FHaKH1gCI8VSbgoDmdZaHuuE7ndFwMRehDWQOiEjzd72GI_SO9LVHqEsdJQPg7kJwquvybcYx91f7C_ogI_FtwRBXkCSiFH6RzT1u_W-llXa8HlKFMGe2FdOzPB-8mDSmShCDKUjfsg7BA0G8Bs_mlZcDc-v53e_xFQtFWRjGGYzRc9wC7a7U1oraeQIAKLOABsHJVTcHCiOdJGvlXEPqAzp0LMAqR7mMk8J4CzI_465kNKlYP0M1Lb_QoyMOv0K7GswTvFO9SmZJNMmnp9PqqvO3JkoMtFDnFPGO_FcW31MLMUPcJSmWEnmmwVYovEuPlE7mQvChQh5XveLBEAAUK-sUWboi1ZL9EPktD8cQHsFs_CdS4fRvE3U_UglWAXq-kBxxm79cDwb-oUvcAorKddAhCPt1Xp3KkmBXxOES-bNyDwfbXv7xC_IOuLuz-pgzg4Mps3mhbn2Z6YYsYeAmFYzUBVjQzBDZnMB0YYMJm-lvJTkmPjHu6blyLpT5LbPAU36XR9AnDaZz0bCTQaBr9ez7-KxTnc4GT4gcx-EHnanSpOUh6bbFryr_3DeCB2ZHOC0sqTF7ldOmIQRmPb7bYaA02rfjADFLF5S8Q6JKq0CUQA-_tunwhhOyMY79TzclTFQgyxWgaBDj55jGoZ8EcJhz6nQLjRPVUOgGQN86m5_D0tA_wLUq3viJ5XfD8-nPdUM3hRYpuLM1kLSzBqR8XE4hMUqrvLb_5pVOCErw8fVTWxm_pvk8QT_VbZRTXqGx6iI_cDP36EpCt9P3jtXSDCD-xIP4Qsh_Bdd34maG8cJBFVAvRyuDkXk8TKoVa2XRqLhCoNDADu4GtsoykZE8MsvmuChD6XY7PymbexW_vNqsDxJcizdxkv28igRtdCiW6sw5W7Dyc5xHNIZOQVWBMCGJTisVWpBU3mzXLOd2b1I5sRY0-PjsufRhS2x6rVKL8R_v6r_O4tPvRm5kF0vxJFm5J8vzVNtzguQ9_l4O_UCYZSkGipkCPnnGFl0BxiIuUMGKwL93F8A1xH6Y4iTFqugFJkqSLhxk7rn8UfFVhy101vYWnOaCIwuFIDXrMrOYDNkbOX9g4c=",
  "id": "rs_00f56f3a0e430dd8016ab43877670487d0b3568353eb85fed1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are around the blue bowl near its rim; the yellow fruit is visible inside. I’ll close gently on the bowl and check whether the grip is secure before lifting.\"}",
  "call_id": "call_erHjyuw1ib9cJvWEzG4Stvjh",
  "id": "fc_00f56f3a0e430dd8016ab43877ec2487d0978e702ef391a12c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_erHjyuw1ib9cJvWEzG4Stvjh",
  "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]: [0.0624, 1.1873, 1.0283, -0.9009, 0.1349, -0.5217, 0.9956, 0.6781, 1.9766, 1.3636, -0.6804, 0.4824, 0.1726, 0.5744]\nstate[eef_state]: left_x=0.2932 left_y=-0.0019 left_z=0.1636 left_yaw=0.239 left_pitch=-0.5547 left_roll=-0.4056 left_gripper=0.9956 right_x=0.3771 right_y=0.2031 right_z=0.0449 right_yaw=0.082 right_pitch=-0.5553 right_roll=-0.4788 right_gripper=0.5744\nstate[joint_eff]: [-0.253, -3.5214, 6.2291, 1.2967, -0.0708, -0.0171, -0.022, -0.4855, -10.1128, 5.4222, 0.5739, 0.2466, 0.0122, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b1c7d473342b56cdac0a5e6738950f6410c6d9581dfd41a6f78551657885d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15389ae4d0f4fb8fc647558ea8932b4c843c379a439a6723ff48846bd230c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88dd2d304a09da45af13cfacadd6aa8e6ba22873d07af29e9ed0324e5d64443c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 140 changed as sent

message 149 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]: [-0.9627, 2.1391, 1.6321, -0.6098, -0.3729, -1.3605, 0.995, 0.1776, 1.2148, 1.0672, -0.9436, 0.3046, -0.2996, 0.9984]\nstate[eef_state]: left_x=0.3461 left_y=-0.3783 left_z=0.0573 left_yaw=0.1786 left_pitch=-0.4989 left_roll=-0.4099 left_gripper=0.995 right_x=0.2934 right_y=0.0025 right_z=0.1712 right_yaw=0.0552 right_pitch=-0.5397 right_roll=-0.4711 right_gripper=0.9984\nstate[joint_eff]: [0.1026, -11.0427, 8.1162, 0.9451, -0.2027, 0.0562, 0.0122, -0.1299, -3.7402, 6.4068, 1.1111, 0.1099, -0.0708, -0.0171]\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]: [0.0601, 1.19, 1.0252, -0.8879, 0.1261, -0.5171, 0.9957, 0.6735, 1.9755, 1.3575, -0.7025, 0.4835, 0.1768, 0.9985]\nstate[eef_state]: left_x=0.2955 left_y=-0.0009 left_z=0.1631 left_yaw=0.2422 left_pitch=-0.5452 left_roll=-0.3958 left_gripper=0.9957 right_x=0.3729 right_y=0.1971 right_z=0.0424 right_yaw=0.0644 right_pitch=-0.576 right_roll=-0.4958 right_gripper=0.9985\nstate[joint_eff]: [0.2667, -5.1761, 9.3197, 1.1502, 0.2271, 0.2662, -0.0708, 0.5265, -9.3333, 7.3368, 0.9158, 0.3199, 0.3297, -0.0073]",
      "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]: [0.0624, 1.1873, 1.0283, -0.9009, 0.1349, -0.5217, 0.9956, 0.6781, 1.9766, 1.3636, -0.6804, 0.4824, 0.1726, 0.5744]\nstate[eef_state]: left_x=0.2932 left_y=-0.0019 left_z=0.1636 left_yaw=0.239 left_pitch=-0.5547 left_roll=-0.4056 left_gripper=0.9956 right_x=0.3771 right_y=0.2031 right_z=0.0449 right_yaw=0.082 right_pitch=-0.5553 right_roll=-0.4788 right_gripper=0.5744\nstate[joint_eff]: [-0.253, -3.5214, 6.2291, 1.2967, -0.0708, -0.0171, -0.022, -0.4855, -10.1128, 5.4222, 0.5739, 0.2466, 0.0122, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b1c7d473342b56cdac0a5e6738950f6410c6d9581dfd41a6f78551657885d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15389ae4d0f4fb8fc647558ea8932b4c843c379a439a6723ff48846bd230c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88dd2d304a09da45af13cfacadd6aa8e6ba22873d07af29e9ed0324e5d64443c",
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    },
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      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper stopped partly open around the bowl area, but that alone does not confirm it holds the bowl. I’ll lift and check whether the bowl rises with it.\"}",
  "call_id": "call_7OzFOs7FX93gHD99l87xStX2",
  "id": "fc_00f56f3a0e430dd8016ab4387bb8f887d0b0705fb2d8ae534c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7OzFOs7FX93gHD99l87xStX2",
  "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]: [0.0631, 1.1873, 1.0283, -0.902, 0.1356, -0.5243, 0.9956, 0.6788, 1.9373, 1.737, -1.1088, 0.4679, 0.1646, 0.5737]\nstate[eef_state]: left_x=0.2929 left_y=-0.0018 left_z=0.1634 left_yaw=0.2406 left_pitch=-0.5565 left_roll=-0.4075 left_gripper=0.9956 right_x=0.3789 right_y=0.2079 right_z=0.1487 right_yaw=0.0931 right_pitch=-0.5781 right_roll=-0.4797 right_gripper=0.5737\nstate[joint_eff]: [-0.2667, -3.6171, 6.4889, 1.2137, 0.0464, -0.022, -0.0122, 0.1162, -11.8906, 7.7333, 0.8132, 0.3248, 0.022, -0.0806]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:899b0ec1c487380d6450261477ccaa4afa867c5507b4b092334854410560d560",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd34739b083a8d38d07eb950f3f61e4b4f556240a2f1223a21b5058ed874a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555c11080d2541a9fca23c13151d2b635bd47f31443d8cf77643f134c94bc3f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}