adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.7994, 0.6132, -0.3824, -0.0139, -0.0299, 0.9987, -0.0227, 0.7994, 0.6186, -0.387, -0.0174, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0002 left_z=0.1822 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.6342, 9.6752, 1.7949, -0.1197, 0.149, -0.1343, -0.3487, -1.7162, 9.3744, 1.8437, -0.0806, 0.1685, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d71d285d1c817357aabd897e179534d8cf8f2e8ab74058f6f68df0a7c91adfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb7576798a3849472c1db440f7db0e7230183212a500c234afb53e5ad7fb16a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca9c4e60badace10bc355cc33b7590b1ee31137965de0da46047e2fba3d7c7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_00c93f82a7f9cf82016ab44216b4a487d09fe117db1ff3b2b2",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIe4nse6yFGUXpb2fNQFI42Aw-iEzO2FnSjRmRNGHqWubb8-2uT-P7tWr-7j2dcK3qEjzE0SOi-TffQwgSOu0pRdQnF4SMwqZFQei5GZXeDVFj0xAjfuAdvFrwlpOdV2PHg18tDMKdJJokHGeaLx-SuCP7bjlkQNqT9j7bQ2OgCiva6V4xcPsgl-n6zyC7TvYOjI1IdInWI_LDxDYZOWv7iUhFgTcPGYvoZb6YNalKdHoAXVMbpVFq9hPH9aMoT2hmSXCBVxZufHhFLOQzR6jX7i0hCDYbLfLp2ELpNnUlIMVsmwLQTCNrAY2Vayjw-2wlN-xfI6iRQabncugNvghMjUvHDfvjt9Z2yt9u_2HmaR_x3MRFCioc4t8n5qgpY8zz8CnzfEBkyIfTOUN9d4iloxKTwV39BNbZl8RPEpe_BvISwU_NaQIgi6ZzfAFOt2KDjkEaRl-AykpYiKQPH2vscwhya8NyNRkh1fuYQMJ4Mcoi4jguchfwrnYJBhtpjmxP0fhduIB6M2AD6Xu3KCCNLXanMYqchIzOb8lUbPhPT3GPCJGEI2vJll8rNNtoT3aOMtk5QZJr-xZ1cMC2-3bo9wPQW2RDRN6s8GPSmz5S5lZzUiCb1cw1ypJWrLP4umZ0e0qrFF8mcwNF-ThwO0g0PL4YIX8L97yblP9fIV9RaGCE3VS8763LtmjiDD7-ZGoVYNwadrreYPJD8DR1No5GQA4RSI6BZ2gYa-EBqQOMoMRwFjaf0OhJzNA0rysG9exTclYn5N0IUMIoCX1E1jVQTbqqltdwZqAMlMPo5gvxazBKEiNR83uFWcbg67mSxHyG8TYReWw6gJ7Pdc6xI3GrmTf5TIelUIPG_NG4zbnRyJ5YTsdN1czSIR7kdrxvF7_zSVcZXTBaU7rb-St_ClnSv1IMD2PD27w_qR8efajcIK5D15q-2wbicdK6ggXmPImowy0tEUPemEKRrLtQRpcJkuQmBdZxEqyouxfRMc7B0UY1SGsYn4HFG8dp_E7MUg--Bosowj7zFxUe72EW6VGhF4_aVwP6a7gZaLmXaLmc37EL_fVyAG80rz6bfoUTheKC-z7grr-pf29loXNTMzTEh1VK-787NjFebQQswGjvavW3qGwMEuxs7N4WxXdb784t9oIRRVSJWlYnl77dEWIGQh7dBKFPVNVE8YunEw6I7OmgTUbNzDNPL4K4XVnMZAhW8KrRXwDqZ0jVCY1jXSKztBwvYFeyaE5l64z2z3uqQYWgA-K4_XDnfFGFIvJmp6owy19vn--kcE6P-eH-c7AsonGmG0wairrLrx54Ke9vy7XhIN2UIROfaszsd0aFJvDvD6CUOYkgZk9sg7e5xC2QG6fCPbRM5UL4d_omVslpgKpPfSWU-XbtT_-Coy00hyebi7ufQY1cR6EOmICYjIAbSlRvPXO8H96qCc7K1d4dc1qtWE7hBNs_aAwNcxJPr0zKeaVTgA5EMfhWU69bHci3Z2FYVVd_Z0LbYf1s5p6lVQVa4sLa-c-kG9UMqPmzjZ1oEaoxf8DJ3uhtfw4O9pT1C7MtiNwcsLQ0neonahb65vQWgdzDkaI_f8I78YPDmq7O2NGTdjHuZS54ShTkiwASyM8ljVTEWV9ZlJh4rfmStinbamlRjRL6kNXi8FpLTKn3wfyRWXEwXiDVsbingMBr1nUv7xd8ZFOrclz0w8owMX412OMdlwM83vHiED3VrmIMq",
  "id": "rs_00c93f82a7f9cf82016ab4421c980887d09125034963ee5eff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.06,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The overhead view shows a yellow-green pear just below-left of the blue bowl; the right wrist view has it low and left of the jaw column. I am shifting the right gripper slightly forward and left while hovering to center it for a grasp.\"}",
  "call_id": "call_8TZG5ZNbu4rsI3JlxpAma8D4",
  "id": "fc_00c93f82a7f9cf82016ab4421d716887d09fc2bf2b6e9c9d20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8TZG5ZNbu4rsI3JlxpAma8D4",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3889, -0.0139, -0.0311, 0.9987, 0.3199, 0.9993, 0.5613, -0.1852, 0.2501, 0.1318, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0002 left_z=0.1806 left_yaw=0.0003 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.9987 right_x=0.3169 right_y=0.0627 right_z=0.1439 right_yaw=0.0286 right_pitch=-0.0334 right_roll=-0.0174 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.347, 7.1316, 1.7851, -0.0806, -0.0366, -0.022, -0.0615, -3.2068, 6.6393, 1.9512, 0.188, 0.2076, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f21e286712728f5ad426bd9357c6fffb231d7317718be77ec58c3b3e5078b4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fec522da757c21bd4e737a22ead8f9d4e227d8fb2d240bd5f50ef777f0fd2aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a79107b3ff31218bd2308520eb2c056af6c5b012f578aa6f1dc665ebf836252",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.7994, 0.6132, -0.3824, -0.0139, -0.0299, 0.9987, -0.0227, 0.7994, 0.6186, -0.387, -0.0174, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0002 left_z=0.1822 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.6342, 9.6752, 1.7949, -0.1197, 0.149, -0.1343, -0.3487, -1.7162, 9.3744, 1.8437, -0.0806, 0.1685, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3889, -0.0139, -0.0311, 0.9987, 0.3199, 0.9993, 0.5613, -0.1852, 0.2501, 0.1318, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0002 left_z=0.1806 left_yaw=0.0003 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.9987 right_x=0.3169 right_y=0.0627 right_z=0.1439 right_yaw=0.0286 right_pitch=-0.0334 right_roll=-0.0174 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.347, 7.1316, 1.7851, -0.0806, -0.0366, -0.022, -0.0615, -3.2068, 6.6393, 1.9512, 0.188, 0.2076, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f21e286712728f5ad426bd9357c6fffb231d7317718be77ec58c3b3e5078b4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fec522da757c21bd4e737a22ead8f9d4e227d8fb2d240bd5f50ef777f0fd2aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a79107b3ff31218bd2308520eb2c056af6c5b012f578aa6f1dc665ebf836252",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIlZeHse5yBI0-LBFv9oFF946StmmuM0PThbsoMgxr_dZvlwp5GPPlpFYvtWZNH1j-zYkbITzM6sLub2XxJf0KFSMHm25ZGmvF0ui-3_eICoDwqut8ikFNqKFNZ3tKtHffxfR9hYQSiJ8swCQZ4Ou5ACUSPvlYpM9xtjH3I9Kpyocx8WilsRKV0K1XgzduoYP9Ahi62nz3SEELM8JNDTdjM-V1XGjJSfLF5NaHYwc_Eak6P-YZbWccZlS10rMR_kdMa5nshyU9A3VGCaGhMUT3bmXzCH_NxkhF-NORGRgeWIlQar3C7a4VtQakskEv0HihGhdB3e55cRTLMRRTp-uCUtpqZco-4H4zsv45gL3JW0NI4sIo6IVeTpopB9kb3CuqRY0GVCIBWew-7ZinrZ_U23_3SueWHUplhxiwniOQEASwMpXlZCt9qoiQ07VGtkq639WSBuzA-uPrzl0GmEOtuKGfqC0eNOhP3T4jh3Ut8bdDrlJgKV2aW0pdipV_x-F4ZIs-QDDh0CnZYUvqB2AgWqL5h_cUJT3dBt1UAF5sIhZ3IgtUm63pCFleqgkYDqbh8SEx62JRv0DOiPgUfKpnuruuGdXQrvMhxFIRnSSbvqpxoO-WFEhHmmPmYHAP9dJGoz0A-1wTicc_V9KbHF_oLDqXgA3Zho-wvqepzpPipkE2gAEGcoVC8GcNO3SKTDfYFSwOgVE6Zw35iY51Pb0ZZLpqLUVrgqDeOdAQ5ch7MZBmEFQuV5HSFjH2J_ywLtmZtaljRpC3R0SYU2SUONOLAET2CCswBitv7qmT_XA9gxa5ck5e2s6pKivG8ws2kLdUE2H_wXIOJUZyhqwYkicIYCHMwuOsDDYTUTcQIQixIwfig6lSqz7auy5DsjRmUt-x2b26suBmksBqHMd42nrUDK96xMi6BwThyWnxTmDwFfKojKKEtncmxLrzo-oadmtI_SA5ClED22CW6qIumETW0qH2wd3GFAXjotpDjxokkNeZAi-5CwMNW23MK7f2gqBdssw3KQFuDMUF1-XI4LbHNVYngTn-r4GkjK2WRvCSvw8aq0HiQNhCam97fx6fzwJk_0zgXh4NsEPPynqAlT-VeRIBrn_vHUyK7dQCgluqeKASlyCjPKHSihifBBJsDMrpsUg3VuYlGGmFRtoMFZxQKcfXcs0aiByiZaW80p2U55AHryhz_bkBPHektaTkzlb-aPvFJi2cZq_tM-jYTsX3tb87dbV0nGOGcIQM4tqvjNOqkfz_6TaPEaWtcI-psNwOExeF8f3vkk3_6Mk27GZ03BJ5vDH9yU7VmeTLDmO72szyZTkfnDRE1z9PCdYZKn94GaG_UfcXUhsm0_Bk6QzgN_xdOxYZwEO3q-ola_d-mf2f_FL6UC2Lm-Zi8NEC5AJd8nBDuO5g5vFrXTS7j4ODSa9r8LI0l-xi_fkN8PCKBbvvMLUrUkGNbpax5X07wAuNer6Cdzwzq5eRL7Z12MSTYGOkZog0nto5KCZH-IrnIE2wAyoDtTgq2gST_JkF-xYdUZEpj781ZePGpxhimiD7gZsHX96yGLQi5B0YLvCA0cREOi4_Pw9kh6Ct4bpjLPlardDC-X49jUZHUvA0FcXe_ouRH978Nm5gemIPuKzUBow5ntEF8oveu4PN6LyjjPXdzYQn6BR2AoOllUkveHm9Ab_IFg8TiZkToG_2juo06gNNaWFg7MR03QrbkxiEBC5A3cOCZeXyTU3BbU2J-DGJgROWeM_TNP6nuM-htTEPDwi6ivEkfpuDhfeUU8h_ow0YzX-fgQhOFxzPvsT5aIyH6ZC-I810Axy96bayCjAiIisl-vQu2NQ2HvgY5A2gcAzSy3WxB1OyHKv1DWtZuFf48Av7rEJPTCyTVO6MfqhulFck6mq4Yfb9Jk8a1j8TVLOJ9mqiV9G1bVVXd5vjD6CsKHKcpLzy68pcbggVWhlRTZKYLxXZlH-b7L0x1CJ_p5H-ehwg6MXAoNof4Z0AenrIA8UgB8_o4Zpy935k37U7tOc4BSSBsY-RYmzi_6C3bEpguAkf_sx5BsFgTv8kn_vc_bzOs5iL87pIy39Lh-Q1OB4QMggNRHzvUlNXT9HB4LoQhpoidgB2lKvhAaAx8YKr9oP-XMA8x1LFf4jt9-jM7_MZjgGMvmDOtIEytyNPu1EX6MVUdsKU0IYqQRGRRdG93stTPM0-nEifcA2FROsyeREgXTO5o714-uoQPdUbSoqR8WnMyeovek5raDn2xPEg7ZzS6yCcY9ZBDSs_qhXHudXP40YGZFS9wYSKKVdpBUEDWHISq-hDVDch_b-xk38uW33xes3R9exImia73y1VjgXocmHkNVSNeSJDwfNKg1DcXHYe707hX0OTBDN_pQ0mA7FNipQsNsA2zXwbeaq6lwrCQ6uouVdPbppQ5eMUQHWnVxH31KVLUmru1YufyPI91eqlg7uWawD1DokRzGnGeruMs6IEVn-PNdeJsARMDxj6LT0BBoj4n8iLf2asds7GXUsnXYVG2GEseNx1aiXt7VYs=",
  "id": "rs_00c93f82a7f9cf82016ab44222126c87d0be35a9f28a22aba3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.06,\"right_z\":0.1},\"note\":\"The pear is now centered on the right jaw column and sits at the bottom edge of the wrist image, indicating the fingertips are still a little short of it. I am advancing about 2 cm and lowering partway before the final descent.\"}",
  "call_id": "call_PyAIQFWK43aq0KxMU2NW29fz",
  "id": "fc_00c93f82a7f9cf82016ab44224872487d09cf9d9dceecf6d47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PyAIQFWK43aq0KxMU2NW29fz",
  "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]: [-0.0212, 0.8032, 0.6132, -0.4011, -0.0135, -0.0311, 0.9987, 0.2729, 1.1969, 0.4694, 0.0708, 0.205, 0.104, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0002 left_z=0.1773 left_yaw=-0.0 left_pitch=-0.0229 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3352 right_y=0.0602 right_z=0.0914 right_yaw=0.0337 right_pitch=-0.0732 right_roll=-0.0229 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4838, 7.0359, 1.8779, -0.0415, -0.0708, -0.0122, -0.212, -4.3009, 6.4889, 2.0049, 0.0855, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d752952fcdea90ad7db831a83f41459cd2b6d65088b5b26ba6d2f585f0a8900",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bea83251f3e84307c405f012cb17da0b7a568c23e16cb38b2c45c24e92ff9f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806f214d7805c8d7bec577e1f171ead1b10c2e56ac211b91e5e7b19e770dfd87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3889, -0.0139, -0.0311, 0.9987, 0.3199, 0.9993, 0.5613, -0.1852, 0.2501, 0.1318, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0002 left_z=0.1806 left_yaw=0.0003 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.9987 right_x=0.3169 right_y=0.0627 right_z=0.1439 right_yaw=0.0286 right_pitch=-0.0334 right_roll=-0.0174 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.347, 7.1316, 1.7851, -0.0806, -0.0366, -0.022, -0.0615, -3.2068, 6.6393, 1.9512, 0.188, 0.2076, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8032, 0.6132, -0.4011, -0.0135, -0.0311, 0.9987, 0.2729, 1.1969, 0.4694, 0.0708, 0.205, 0.104, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0002 left_z=0.1773 left_yaw=-0.0 left_pitch=-0.0229 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3352 right_y=0.0602 right_z=0.0914 right_yaw=0.0337 right_pitch=-0.0732 right_roll=-0.0229 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4838, 7.0359, 1.8779, -0.0415, -0.0708, -0.0122, -0.212, -4.3009, 6.4889, 2.0049, 0.0855, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d752952fcdea90ad7db831a83f41459cd2b6d65088b5b26ba6d2f585f0a8900",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bea83251f3e84307c405f012cb17da0b7a568c23e16cb38b2c45c24e92ff9f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806f214d7805c8d7bec577e1f171ead1b10c2e56ac211b91e5e7b19e770dfd87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIqn-EF-mom5HWh1uO2CyhFyuermOdi2xax8U0FUNG7SGTh3Pz3IKDI-ngLyxSyQmn8OfhBmU5xzVvpCusEEmb96AJyJAS_MyeYqN0PhutA7ztuyZFMRZinkvk3yCwder69mCds4XmPKaCxjpWCIvlITZTZTUmA5k1X3YlXWemLGbQmSnfHAd1WfFMDEYGiL09IbYVCTT3dlwAfsxKQwUOSabQduVpxcLOXuxNNwPOGZgXy8gjjZPDOB_Yi0QieCi_kVU8-kWyjBawh5w-9ycvFkAqBO5kSwRQPUojNgdLBqU_5HApGz2BRwJDAN0MaNBj0ZHBWE-ceaFsXOZGtDztWzF7guM4AfDMQRICuIuuk_wWhDjFax-1mNvxCoIDR2nwzEjOzghJ1AyX0U0gAuELFz_Ljg5bfOPWXN4Ot3FZlu_RNae7cIPri4nmbOfJEct3uvtpAh0iPNAOyEgM5lD4N5Z11p5HOV8CDyyQZWAR8h5Y4spugfGdQHh58DysUviilyMKee0ly-xdkikbch5fa-8-k15e3q8hfj4ONQD6OEKjTgFvSeqWAVgy-NWQh5Q043lpvKlI5PJmOILR_p_YWFxViREKPN9sfWIA-7TkVTi6qj2TVtI8UTOyNiuDGhRnUN_faGr1fZYHWbpcSZZoRCpKvHocz-pxY-2PFcv1n0eolh4i5bHvBQ9VHqLinDn1kNeHh4c3YycKnY79HsUo6RlNSTvUEzpuadS8-ebrYkYxwgMm-eSgsfuJ176ftCrEBqwbtLcSPIOvKgpz1cixxeGp04zML0hn1pWdCmvR2Wf-t1gmPjITJG6UqcfICTUr74W84vCOFK65TZDVZzvwJq3T0rNxLyaocfdxRDAC3Bbfxh1nCZESHdVTpHEGWyGHz1W-s458iRBf0SRk1FzPyWh9MQ8xkXwCo23jSRJTGIDLuEracJH7nBT2u4PdWpbUVpNVsY5X_Xc-OyTaVbcuiUDYlM-fn09kJC5Zc2mR7dlbrYtXetDa_NxOUvckHxYuzABq6UwC7A_a6emIGw21u2Zr_IFIHatnO-cH4VHxcuaGW1A1aIKTX_ZSVUrNfdg3h1DX6hO6GFoTWeGQ-32oDlBkZY1N0Pj_KFJhLoC5TnXqupRU-1ky-Oc4g_3ZQwDZhifdYm8F2Zp1kaxw_HJjDrGmc2nlnlO1Stmbk9zE6zPleTIyLBqlBbA3czfPUFuns9ZzlXVFZFBZMyM6UhhN2SjxrJNKWBpI7Gpej-MZtVj1x_khd-5zM-F2_f8-nDXZ9KA2vVpSqCYpSt46RYxlrD8WoTNfbCMs2Yjs8MkY4txP4HxgUTtCDdbqwq-ey2Eb1ROWGxac5KXgwSgCAd7_BAaH8Zb2FgniiJa_1eM4bamw=",
  "id": "rs_00c93f82a7f9cf82016ab44228caf487d0b911e12393af0566",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.06,\"right_z\":0.035},\"note\":\"The pear remains centered between the jaws after the forward adjustment, with its body immediately below the wrist view. I am descending to about mid-fruit height while keeping the gripper open.\"}",
  "call_id": "call_H4kWxsTCer77a5JjjLrr2KdT",
  "id": "fc_00c93f82a7f9cf82016ab44229332887d0918d5338ceaa2ccc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H4kWxsTCer77a5JjjLrr2KdT",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0334, 0.9987, 0.2672, 1.4456, 0.3462, 0.4011, 0.2008, 0.0967, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=0.0015 left_pitch=-0.0332 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3345 right_y=0.0587 right_z=0.0267 right_yaw=0.0345 right_pitch=-0.1143 right_roll=-0.0358 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.5385, 7.3094, 1.8095, -0.0366, -0.022, -0.0122, -0.212, -5.012, 5.1214, 2.044, -0.0073, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f3b17d028ee5a78505192771c841e49384ddd1992414b9b99ab3711d58888d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aebeb9c83c233d082d0bb909b61114035e099ea526aabca3dd7fb5a82a40ebc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021d7d350a97150bbd0182f2689d9d22b408ab04497b448aa981f5c50955fad8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.7994, 0.6132, -0.3824, -0.0139, -0.0299, 0.9987, -0.0227, 0.7994, 0.6186, -0.387, -0.0174, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0002 left_z=0.1822 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.6342, 9.6752, 1.7949, -0.1197, 0.149, -0.1343, -0.3487, -1.7162, 9.3744, 1.8437, -0.0806, 0.1685, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8032, 0.6132, -0.4011, -0.0135, -0.0311, 0.9987, 0.2729, 1.1969, 0.4694, 0.0708, 0.205, 0.104, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0002 left_z=0.1773 left_yaw=-0.0 left_pitch=-0.0229 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3352 right_y=0.0602 right_z=0.0914 right_yaw=0.0337 right_pitch=-0.0732 right_roll=-0.0229 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4838, 7.0359, 1.8779, -0.0415, -0.0708, -0.0122, -0.212, -4.3009, 6.4889, 2.0049, 0.0855, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0334, 0.9987, 0.2672, 1.4456, 0.3462, 0.4011, 0.2008, 0.0967, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=0.0015 left_pitch=-0.0332 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3345 right_y=0.0587 right_z=0.0267 right_yaw=0.0345 right_pitch=-0.1143 right_roll=-0.0358 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.5385, 7.3094, 1.8095, -0.0366, -0.022, -0.0122, -0.212, -5.012, 5.1214, 2.044, -0.0073, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f3b17d028ee5a78505192771c841e49384ddd1992414b9b99ab3711d58888d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aebeb9c83c233d082d0bb909b61114035e099ea526aabca3dd7fb5a82a40ebc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021d7d350a97150bbd0182f2689d9d22b408ab04497b448aa981f5c50955fad8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIww1q4LrJfNoNqnyNnc6z9FJFlbikQPD4GIxVVLJR7MaL6IYtHTBLt6jPRcY6-wvgnV489k6HmC-AIBpafH8zSm1Dqi__JIw9GIV8_TMwjJU4rTNBhwEr8S-IYZun4I_RpvWFnu_N_j7zxhju4NR2O6gbTy8PVjgHrr2uLbbgLg8lSuTwulMoI3eMci8BOjV6E5q5N1Xj9Y_4bpBtv4sTt_u9KOLZl4pHrL6YnczF9HssEB3e2Ecw3R6CB1HHLeSZRYACvOzNLhAK3mDxYvv9yPhqSH5qEWhPRuHXjYFvEiSrI1rO-j0nXihNk-AafoflFkjDxG9jRlkkPedL8-wgdq5zp2vdXjZYKMZQ7wIIsDVUSTgwhB89tcmOfHFCWr4DvZUu98sqXhiOJlTL5Pc1I2_-REUF-BCuVvDn3g0wuTRxL7SjO0KN23ABHoxhI25dWYixCezTJPudjfMbUCsS8cK0FsWcoMAOXL8zAbLO8tqtZLYfLCVYCPicgFP2ddOdLo1aQmkR8mHgHgkQNAN7wL24kppu8jgWGbw-cCOJKljKllQbGjiZlAeD-usiqDQpQht3FGpVgHXZ00KBg602znNBhOIRGmolog3fRAO-ocK-5vWvq2wIgCyrlbmMG4NOoMz9UBu8qDPVPrWdYoZYwPYZiAYblkyq08W4XYFZC-EVqTu6sWlIUrI__POF9C8fpCzZHziLfayjod39_7iT0TTKyrM2zRNndUSbu-xlhmFarz58kqlFX0l4m5V3B31XlBD8KhwoxVvr7HrAFbnEf6_Y1yD2rQ3yl_RlgPawcCk1aAXl4Zu06F4OgYXr9Z70mXOTMImsjkPZY_SKrojOv_RecSUcxJ0yaWm5r4DJxQjoJetGzBDlThdItbbsyWgg7dGJeJSBPVW0MZvxj5KNTw1JfzgCouNEprroIJry2rtm55z_dneXnvHtuuKpFd4jeag5AJJ7lHLWmtepIm0gAMlFvHeMvTHePrykzves9YkITTg0Tgmx2b0Bks3cyj_UOxqtqQ0NpdXO6Whfra-vFLd3bd5r2mOq48Ny7GL29PgAtts7ktcPCp0EoV8ya8pblXxlKRzkfIw3-kAOfopJ9JAS8neb9x1cciI-JkDB08pE55upZsxwckd5cKfaXD84Pcs_Qlx6OJ1bug3lvLDs1FWo4TVo3vnPMxCr-A-sGfeuzroyywLMzWoelSrgCVG9760ujhk3AHBm6MzVBADV0-6JsLTsrRnen9S_Orxx1_s0=",
  "id": "rs_00c93f82a7f9cf82016ab4422f6e9087d09883c2edde617c1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are now down around the centered pear at table level. I am closing fully to secure it before lifting.\"}",
  "call_id": "call_p2w7EtZ46xzALeAQ6vmVo3zd",
  "id": "fc_00c93f82a7f9cf82016ab4422f8d7087d0b4573cd233275e0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p2w7EtZ46xzALeAQ6vmVo3zd",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4171, -0.0139, -0.0338, 0.9987, 0.2672, 1.4456, 0.3462, 0.3988, 0.2012, 0.0933, 0.7144]\nstate[eef_state]: left_x=0.2916 left_y=-0.0001 left_z=0.1733 left_yaw=0.0018 left_pitch=-0.0416 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3341 right_y=0.0586 right_z=0.0263 right_yaw=0.036 right_pitch=-0.1166 right_roll=-0.0393 right_gripper=0.7144\nstate[joint_eff]: [-0.335, -1.2923, 7.2, 1.7949, -0.0269, -0.0366, -0.0122, -0.1573, -4.6427, 5.094, 1.5995, 0.022, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87e78da1841cc0aca0bd6c4c47e6d8923026e9c39a028c5d71d7deefbdf8f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e9bb4db1c45925c08e1bae0ccb20078b6b047d752be74ed59a4eb89bb8ccaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aadcf2f4bf33e94f77426601ce1d806e5301e6f182974c0d0b07e83ef684c551",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3889, -0.0139, -0.0311, 0.9987, 0.3199, 0.9993, 0.5613, -0.1852, 0.2501, 0.1318, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0002 left_z=0.1806 left_yaw=0.0003 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.9987 right_x=0.3169 right_y=0.0627 right_z=0.1439 right_yaw=0.0286 right_pitch=-0.0334 right_roll=-0.0174 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.347, 7.1316, 1.7851, -0.0806, -0.0366, -0.022, -0.0615, -3.2068, 6.6393, 1.9512, 0.188, 0.2076, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0334, 0.9987, 0.2672, 1.4456, 0.3462, 0.4011, 0.2008, 0.0967, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=0.0015 left_pitch=-0.0332 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3345 right_y=0.0587 right_z=0.0267 right_yaw=0.0345 right_pitch=-0.1143 right_roll=-0.0358 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.5385, 7.3094, 1.8095, -0.0366, -0.022, -0.0122, -0.212, -5.012, 5.1214, 2.044, -0.0073, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4171, -0.0139, -0.0338, 0.9987, 0.2672, 1.4456, 0.3462, 0.3988, 0.2012, 0.0933, 0.7144]\nstate[eef_state]: left_x=0.2916 left_y=-0.0001 left_z=0.1733 left_yaw=0.0018 left_pitch=-0.0416 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3341 right_y=0.0586 right_z=0.0263 right_yaw=0.036 right_pitch=-0.1166 right_roll=-0.0393 right_gripper=0.7144\nstate[joint_eff]: [-0.335, -1.2923, 7.2, 1.7949, -0.0269, -0.0366, -0.0122, -0.1573, -4.6427, 5.094, 1.5995, 0.022, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87e78da1841cc0aca0bd6c4c47e6d8923026e9c39a028c5d71d7deefbdf8f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e9bb4db1c45925c08e1bae0ccb20078b6b047d752be74ed59a4eb89bb8ccaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aadcf2f4bf33e94f77426601ce1d806e5301e6f182974c0d0b07e83ef684c551",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEI0gEbI9gYCk7YROHw4tH7SYN7PydO1J1uAFF2AnB0I1FVcEwdOwQwsc4UL9tUpI9fmrq5_lLyso0o44Lah7_htzrkFQ38wBIx2j7mTyBW1XoXlUyMG5t7I1jL241RlR0mF2WRJEKehxgIiF0oHpVtGTQuQISVaxf5ESpB56-LTxAzOYsf-VoGFt0L9H78VoQHATXSU7yLubvTbdIL7dTeCnmViDC-s_5VoH8k2e05aizNvSpcsgLsV-CjX9j_-WfEO8T75siJ6jc7x9jeINQL62FzlTMkTEOTU3-t_0fXF57REAtAK40OmOxygBWLEj2szlrjK3AlicwqeRbNwlQ7Cbi2z0EbAXL2NGcn5BfKZ-GgjbgltCNkzgMrgrU8eXGevd8Hfn_f7m4Nyixkz41cXQBB21ZONtU_nx9PZ4FQYTrEhX8ZjAM_eAchcs1Ncx0fDnf_p-n62uOR0J98YIXM1Kc8aZ-tYvsbwkTh6eGQRpowTNddj5aOwaO01hqZz2XwYIF_sqconoPcJqkNu-bi6Z35S1xYPnBtJbCqD6rQqIZVYwYtpqKCCiOyzwIbF2Ow6CWbqekMujnLvKAhE_4BMXtQ-YT5U5bn1eXVxDYPCrguUjhBdqtQ-_uq-5Ms1Bkn-JpeYRLlbODHMTec0k97Yjk1BGu6Xt0UIQ45boTBmSKOFVp5rAmYpFhf3MGgEtkdGa6EczxUuEoc20FKRkEt4V1XKs-wXh7qdUw2WvjwYQDBdLY1HEePR2X07nyVakjpzcD1fBpgeezKFtEmRqJCj_H55TDKTOvbaUHxf6iZhAXvBCTj2SasPoDyzwavLVPUdnurQjeo9ftg0FxHx0c5UZh7qM69LECsHhvym7x-XPwN87IGKRtzvAjBI9rVfRASki7MRdOdQFDjsWdTVEagbOe64QWoNf7kBCEDsqCf0THJj3gNVVkcAN6m7dPsBU-xnHZ1JFW46rS_hT1FCOp7gQvFXdN0ckjAJ-M0gTLB8B_0Co7fr5QvHjMrMPgAq94EZV1ZNPztPm4epxjOeZ0GC_zR8wzcakOXYoX-vgCu_vwzwKLtW0Md7VyDpwJx9yFNGHIgxUo6CQYUaFyCLcxC9ZKyecIdbCV9jYEy-BxPALG7IasAjunubPTvqmc63YZ_HcxPA9Emd9xMlb42DVJp9bl_OI75BtDxeA2nr-5yO4CeVtGl4WkZfvumQHT-PMYFwjh-X_F3lMoAfRSAyaCOOxrpuVhHVTCfo3h9K_rHatf0=",
  "id": "rs_00c93f82a7f9cf82016ab44232b83087d0811f3f1c595dda67",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The right gripper settled at 0.71, clearly indicating the pear is held rather than an empty close. I am lifting it well above the table to confirm the pickup and prepare to move over the blue bowl.\"}",
  "call_id": "call_Zzt5VwLXvWetndUCGO8yamhD",
  "id": "fc_00c93f82a7f9cf82016ab44232f9fc87d0bb6442300b0e9da8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Zzt5VwLXvWetndUCGO8yamhD",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6132, -0.4236, -0.0135, -0.0338, 0.9987, 0.2672, 1.1381, 0.6392, -0.247, 0.2008, 0.0864, 0.7178]\nstate[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1719 left_yaw=0.0014 left_pitch=-0.0485 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3284 right_y=0.0571 right_z=0.1222 right_yaw=0.0386 right_pitch=-0.161 right_roll=-0.0547 right_gripper=0.7178\nstate[joint_eff]: [0.0342, -1.2513, 7.1863, 1.8242, -0.0269, -0.0757, -0.0122, -0.2803, -4.547, 9.2239, 1.5751, -0.0122, 0.0122, 0.6667]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a034bb8fdbb8090414fccc944601658bbd2723fa30c9fe723757bd4798a9df0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd6bb886a56888e7b41aef4c3b9904639c81bf965c5c28f3470ffb0dcabaaf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43e4920477ae58f863475966a7607b62ce854226c164580c30818d2b169046a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8032, 0.6132, -0.4011, -0.0135, -0.0311, 0.9987, 0.2729, 1.1969, 0.4694, 0.0708, 0.205, 0.104, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0002 left_z=0.1773 left_yaw=-0.0 left_pitch=-0.0229 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3352 right_y=0.0602 right_z=0.0914 right_yaw=0.0337 right_pitch=-0.0732 right_roll=-0.0229 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4838, 7.0359, 1.8779, -0.0415, -0.0708, -0.0122, -0.212, -4.3009, 6.4889, 2.0049, 0.0855, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4171, -0.0139, -0.0338, 0.9987, 0.2672, 1.4456, 0.3462, 0.3988, 0.2012, 0.0933, 0.7144]\nstate[eef_state]: left_x=0.2916 left_y=-0.0001 left_z=0.1733 left_yaw=0.0018 left_pitch=-0.0416 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3341 right_y=0.0586 right_z=0.0263 right_yaw=0.036 right_pitch=-0.1166 right_roll=-0.0393 right_gripper=0.7144\nstate[joint_eff]: [-0.335, -1.2923, 7.2, 1.7949, -0.0269, -0.0366, -0.0122, -0.1573, -4.6427, 5.094, 1.5995, 0.022, 0.0024, 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]: [-0.0212, 0.8062, 0.6132, -0.4236, -0.0135, -0.0338, 0.9987, 0.2672, 1.1381, 0.6392, -0.247, 0.2008, 0.0864, 0.7178]\nstate[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1719 left_yaw=0.0014 left_pitch=-0.0485 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3284 right_y=0.0571 right_z=0.1222 right_yaw=0.0386 right_pitch=-0.161 right_roll=-0.0547 right_gripper=0.7178\nstate[joint_eff]: [0.0342, -1.2513, 7.1863, 1.8242, -0.0269, -0.0757, -0.0122, -0.2803, -4.547, 9.2239, 1.5751, -0.0122, 0.0122, 0.6667]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a034bb8fdbb8090414fccc944601658bbd2723fa30c9fe723757bd4798a9df0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd6bb886a56888e7b41aef4c3b9904639c81bf965c5c28f3470ffb0dcabaaf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43e4920477ae58f863475966a7607b62ce854226c164580c30818d2b169046a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEI97yBhfvjglejaPUQ79_8nnJK3kBwaUK1pQneoRo9hCfUi3oYnaORUG8C0FVX_0a_WclrkfEGS6mVyUYO3YaifTtpbwf-seIbU_1vMNprAx7dxNVCIDrI0Q-8_W_VBHgIPBtdtjEri9FsX-mriUw9wl1lPKdXe3CoSGMVNl9c4Eh2M79PQGSewM5dcUZsbC7LdSAvP-dxU2FWtVTk7QCqBl0UiU6OZgyifTw9DPUohoFbZ_TwBog-kI49pr0y3hf97FlKkNQQG-Q2ckSg6GHmKIX2jeRQhU4H2TwCOaQ53Bti8ieKQWo7tlWA4eGQgqHMMssLXrPdwHciu9lfhijPi1lWTfGdWu1BsOcgqooehq2Xf36Co23N7mFKKRfrymvkc8k25x948jJ7-U8BVR-kiyFayl39cvDFbtmQWLUkyay1RLFDqqjtUesq3pCaDT5mNZMZSaNc-2Pd_ngWfoNTqE48nWWLhXpMv6m3Bi9oyhz-lkC9CD28YHW3Fg8cq3DG0dmXFH8aV7JcErCxH1eePPA17-MMDdIgSXbJxAFv4f9xbBUBWTOrusAdqnU2DuGszgY4MYYhN4TNid0Ky0WHMzo1rnoAFPfqHHlMhSpK2LIdEabUi2cWItOBABTPxDlrSQtYPbJX46_fdwCZT3Z-9b3yx14gsho33wA53gBnW7yh9cP9JW_uakaUAfptU_YsqWI82xLnpuehMaUIj692BtDFwjGEnbCTSpW13KD15JgdIOZystZA6dOXDj3YA7NhpCOZNcEkxw3qBPLORfVlIUJucAIcXOXnXDtKx6Xn3w42JBlxe7e0I0whi7odrlBJpXumBbyY55nna6GUtyTVN3BjlT7qTEkrnhL4xAAjy_4x7nHPq3PTHNGRhLhRfohXXRWaVUHkx7QzJcb3mk_GitvCcNb1MlbNiO0rL532s7TGH8EYjFCRbSYio3WCv6m73HAF_3qH-Er_CY3N-gjQe7pfNUYJDQbX36k8LhHHidwoJC4gntBeNZdXpXmhQnNhqZBIwpOC0i8-mpBQ501mqe5m2tCHxPgXpgBWZaVcrOM0tjv_ooEDSyd72P0aQVDRlIztj_qwtFhw0r-Ndj74rKKjpRYE05eImSCpzE4Q9jZxSEXxqiaTagp1cycH9wXeFxEYUVETKU_5ZSBK2EqGaAsAw39aEXA9eGfvNG9ZDxV1vY4c_ly07kEYARC1J_si5vVQH34PA7LZlTZgLlcxrGPmOmF_6B6YUbqsb2uhYSzPy9iVTBMbwYRsPf5r76jqsfAxgFfSYN3gNkcCkTXZPSJTxuuC-DWdvMXQ5ehhlzhjkqGCm59aHH6_qdj3lxoJOD6ZVwewqkLkIR45ifFagbyEwhj7lBllZdYGuTSfEqr_71DBzeO4neTCJuQ3-nw6FffLlSLLqnQKQhvvwwbAAX14WKSr01T6bW_PBfW8TGJline670fCbo6FT2sowM-_jVqcmqSMZ97PE5mTVEElXh_uQWh78SmCXSx5HE5BGuB7qbVChNR-ML32m8jYtFboYBJLM4qOanxQftIHT3yy-gqiYdipjADHLMaFvllpacE2M377sMFjeI4kjr6zXs-LiBqb-I2wRCS24z17XKOkialDMQ4Fs6jNzWCW1FQR_1XKlZzY656l1HgTZMB3ehVJ4BchB43Zyxee8va4nOZbfDCUr3cHyfAk-tOY0SuBrjZluWfLaUPSEaw_CQkz25qUVB_p_N0rPYr5HTq1lT7z30mIPYZsex3w8wUKqJhcKBCw1X5E7C6-Y3CU80GGcbgV_CeY7_v8_qN6s-rUkt92PHGSpu35zHNrctTCXz-wDZ8muffthTnqTyF_f2CsLdlufeh597iNPdCyKl34WQm32q2UWIVyiDHjOFxWt2iXDR09wtWZ-ZYxoMzP0ydOCOiYUyjA8pN4oJ5Noshe1R2zbDZS35lsOJPND6IWIrMMKgYPNOPtf93gKg6XLyizvBvcNeYZUMdnkcHDD0D_i4-cPmyxOOW9EoS49gkOJTQryMuep6xpxlO5RXu0IrZWVCoFx2BdePpr8YaL4WxspXVcPex1Xrt1ZExhLM80wJ9YJ7DRwYDpXxJGbmwty6O-5fRqr_c-VaoU3xPfeWezUqfdJzzepmRyRhf6e14CzqL_FB9xboXOjZNVStOJrM2QLnuEayS3G4j9bXrnciSVe8N0UcKbpdBKJaKdo8pc1-USC2ypfm_OZN21teyCLEcjUbhwKKnr8ZEVRQotJ1PF4MxR-kTpD2n4GdRonj4rSeUESOinrkZpyHvcVjOxKnwC2l7fJiv87gIGBV38zeMe9ZKjsHsMhLqJ5_u1qy7yubjggOvK9kRBV8ZMY0jg4HzxUQ1MixFR3glsxHp0-k0iHJUOyhKYGcAD5u5dWxIj52Lp5keXClgnccYy5k93Dy9NsB_HpdUPUbjDs5CfPVpxKsSUvtf378XfXqQWuxBwvAQ0JlcLjhH1muAHLC3AYttKhDf2nvV9SY1ZX6dAKW3YSPZ4mMQzNcrFPMP4YkN5VRnnRvnZrjvNvA_oAkrU7KiwmW88DPKgVEvPwmJF5RyuwEOxBtlHLgPAzsj7YiUTfaj5Nc2S_bUwU1DknvCJlpkv6BS_RlaIQpPda2GcwHVebb0-QsN4Si1noD2JB4faDiREbhqvIKZvdXevNY2YOIrmfPhoKEDnlDnr02d0oq2JuyHANxRk77AwM_EVC3Z_hpZbEpoADQwUOG3Q8q62TjOIrfNpb-RTc3blWmMyixUveNjanUKjR2iAZ2L72Czt6xrpeo8ucXOiAfLexDlqpBTilaRVXCYPP61euxgBKNQYbys6xJmI8q_WjEuDQmShCNYwdy4k_QyRohaBplgHW74diccCaGlHr0xFEaaGidnUgeVx37tuYY2aSpm5ZvMMTiTZamowi5UvYHV0ERMsoRSwXltFWsc0fVRqhMdEQJgNwMg2UlK4aDcKhamh6EJ_zfX9AjoG5NaGJ3wY742PFhtkAtLSSHxH-zREDh7DXqOHD4JYodRJQvf_tnXZQ2fqZrqzHEJ5Rcwxebo9riNgwnVg-nRy7fC1FChcyMXEAYLzkanj_bJRFuxMRmIowWzUAE9U1kLiMFBUUq63tiVfcQZu5tunY8Wdr0M_cJXU_zNCfqMGWUBS3KNGTEJLiD6_skD6TDFdpKs-nDIf2-aDi4mHpMWNxOzAbQGfZ-tZaeXnAncSK_TEfRx_o7v21cEfUsQ-9dfqVE_iyHkUgaqE8HPaMIYLYPJv2RAOxYkDUnuLyLQxJgIkWFI74V-m-2vOi8aZXBXS3tGZcXf_AmCly6A4L1sgUjKWzO7Wl5vYyB8EozSMh8JX6oh_iTyE-BXCxcUgRKvuzGfrfYZxTs5xtzIuKZpcHaUMcokWsjOsEo_R3hE8Y6Ob4YWGCACCxoMBRPki3dumA2IngwqKhqXj5QdSRBpaf1ufgP_8hWDhzFrX5TEUWtlvzD6EzVSdh01w4pjDnE5JNHvrgrv0iRQAecuiu5gCVg67VP5b7ue9PI5FqtCPVhQA8SddPrI7riC-WUyKifIwdK2ESsIbuGJUGPOoajUrX-gU_-HTYVV9OAi3dO33WJc4xLKQ3r2ZWLmnU_KFbtBzCoOpn-ADBN431vEojpI1epqwKCVHgWdJshK6VP2C-3iZ5xO-B3qVu2YZShbiPfodbJauD0oV1gpqu8s-vq_EfhRwcExgqTLUTSAUD8P0k1KuAaDahMhQhwWElJBpD4zS9_t5n6QPrOYGXSjuTSlNWp5vIpemhnu74wMRL3fUdtURZW6wpF1sODQBjvoOTtNMnBFxak-F_JjF-UJfNN5uNBVQKuyly5pYtl9ErVm9TbW3NMV6mIP0mNcrWhRi1zF9j773UPH1FhuMfOeB64YJ1",
  "id": "rs_00c93f82a7f9cf82016ab44237c0bc87d09c3c87958695d64a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.01,\"right_z\":0.18},\"note\":\"The gripper remains stopped wide at 0.72 under load, consistent with the large pear being secured. From the overhead view the blue bowl is several centimetres farther forward and to the right, so I am carrying the pear to a high hover above its center.\"}",
  "call_id": "call_ETDcvO0sjKpfScvJfS3JXjbe",
  "id": "fc_00c93f82a7f9cf82016ab4423cde0c87d0acc823bc71379838",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ETDcvO0sjKpfScvJfS3JXjbe",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4248, -0.0139, -0.0338, 0.9987, 0.0284, 1.3674, 0.9867, -0.4088, 0.028, -0.0772, 0.7188]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.0511 left_roll=-0.0022 left_gripper=0.9987 right_x=0.3901 right_y=0.0097 right_z=0.1602 right_yaw=0.0362 right_pitch=-0.2228 right_roll=-0.059 right_gripper=0.7188\nstate[joint_eff]: [-0.3761, -1.388, 7.1453, 1.7216, -0.0171, -0.0855, -0.0122, -0.4308, -5.6684, 9.6342, 1.8242, -0.0952, 0.0024, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e8928e98a76aafd8debbeb9d5d2c3729967f2dcb03fc67e5b88d5a0e56edb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8412922ba8bb8b297a62e7bfa1b00b1d34dd5806494b1de430f64314462d5dd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e62579886bb3c3fe7c68e5377490d67c970e077b5e08adb6631bc9013cd0ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0334, 0.9987, 0.2672, 1.4456, 0.3462, 0.4011, 0.2008, 0.0967, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=0.0015 left_pitch=-0.0332 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3345 right_y=0.0587 right_z=0.0267 right_yaw=0.0345 right_pitch=-0.1143 right_roll=-0.0358 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.5385, 7.3094, 1.8095, -0.0366, -0.022, -0.0122, -0.212, -5.012, 5.1214, 2.044, -0.0073, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6132, -0.4236, -0.0135, -0.0338, 0.9987, 0.2672, 1.1381, 0.6392, -0.247, 0.2008, 0.0864, 0.7178]\nstate[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1719 left_yaw=0.0014 left_pitch=-0.0485 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3284 right_y=0.0571 right_z=0.1222 right_yaw=0.0386 right_pitch=-0.161 right_roll=-0.0547 right_gripper=0.7178\nstate[joint_eff]: [0.0342, -1.2513, 7.1863, 1.8242, -0.0269, -0.0757, -0.0122, -0.2803, -4.547, 9.2239, 1.5751, -0.0122, 0.0122, 0.6667]\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]: [-0.0212, 0.8078, 0.6132, -0.4248, -0.0139, -0.0338, 0.9987, 0.0284, 1.3674, 0.9867, -0.4088, 0.028, -0.0772, 0.7188]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.0511 left_roll=-0.0022 left_gripper=0.9987 right_x=0.3901 right_y=0.0097 right_z=0.1602 right_yaw=0.0362 right_pitch=-0.2228 right_roll=-0.059 right_gripper=0.7188\nstate[joint_eff]: [-0.3761, -1.388, 7.1453, 1.7216, -0.0171, -0.0855, -0.0122, -0.4308, -5.6684, 9.6342, 1.8242, -0.0952, 0.0024, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e8928e98a76aafd8debbeb9d5d2c3729967f2dcb03fc67e5b88d5a0e56edb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8412922ba8bb8b297a62e7bfa1b00b1d34dd5806494b1de430f64314462d5dd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e62579886bb3c3fe7c68e5377490d67c970e077b5e08adb6631bc9013cd0ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJKXZehGD_uyCeYwdpd32Dk4FTeWq7PrDI3bTgS4vjNFNeLkbgymf06ayLb_bixw_aJ6qBkYBvifbVScnIB1TgfjCgscZW2E4LfwexyrdHvuJtpLnM0Nlvy2psDa4JIUAAlJWx8e3l5YReT3JGT9TVTKJOVFxeMUkRSXGWSj61YLj34wdVO1pY_ofbaBedDMRSnqhVGb9kRNNnNnvh5SAClyrbbVmYlYyIQ8woyTxqDz9z-2mZxK8UY7h0H45wC8k6IUMS0sfGH-PwfG4wR7YXsBdrGop0Ncs0XvsOpdAoWt8uervESSIsJ3GfZLrdRNc8OoL9RPTAneFFR5lN2W5laLxHUZ_4JOgRSP3JKlUIdUL-4djvVFiTll0VxETDB5mG2_Hmjz25yVyZ1TAitwBkJKMDGYgJK1cQsQ72GV6M08E0R5Q1NZk8OBX0EsY47kjaurrqfGRS3YcDyrWvEvU9E40PtSuGc4ToTcmPhmXKgfmnI1MCmBqPxrAiLAiWBSF1mxz-h2R53truWTWp9jQyW5S6eMRVdVA-TzraepMfeinBK_cGNANkLUH5hufW3PHjYmLsDhTCRTkJ1vDcu5RpsBDTgVG4mJ_fVFqx8bVlWEhEcvLRm-xOw07ky5u9bSG5zmvU_II1EMLVhKqvCZETBMKIcpEnHrLfmC5sTaj3dt9U0m9AgieMVrlt6-nv9VTCMHXnyNdJqEdzsXISTqWbnFkbfF8rCYiOHwdOxRLQZAsQ1fY3bM2HeJTLEBKbcwTKK8hoROBoH7qi5QgKBc8KAT88tFrSoGEdYpOgA6bDFBoorzbYc-S3bDQ_WinUpX2Omrx41wYR-ISPOikw3KkCOyyzDvkyDscCMOxl2ucd3xg6rWcDGPVwV_LXcW2z7eug7NvAO0Eps8qmUEFHRG3UNc4MWGtC0pKsT9nYtEZdqjI4m_6bCYWMpXCMd8MU5flEYi8cULkcPGWJv8CincROaPk7F_yt4dfIfmp2oSB444FYz7eMRY4jHF4tg9yJPwGZ6UnpFQpLrkpL-ba_bZWlK_Dsrnijq3l-Vf7rRWc22wHYH9HrXm0zrBuSqMaknaIKma6jfzfnYgqBN1hckxZnuaM3qeZRRqWZWEwJVnYppVZ8FCc7TYPKQuGTxWdiu_dvJr5XUolnwHoQ5gsXP-TelA4ymxlwPuXvd8YuqNwtz2gFFT8StgRrOc05i6Gtk7gjVfOJu0koLb0LIGGrtH53oGtiH4V6FA6Q5AbCra0p2R0Iaw8X4_wH5ylhMF9jqC_dklMEVe3BfDwAAeHKriVpLCnpQjMKM2mYnaClB0oo3jQzWiO_FmbvmI9Ra5UBckaHiggsvi__Oy58ys0t7DaxUt7d_lkRHSiRcDswMkcIDzFNfPtY7YgUmK2lzwM3sPTmy-ofVuqewShcvKenGDvI0sJ2-XOWaWU9d3AqMdi-zcvvZ21aUQpSWOmCf41UjD-VReqgpNhr35Az5WSakP-UxkHVQq3Am8KIeCnl33V02VdZtZSqJ2delmWiwwGP7Pg6dG746Qf51tNHRXHn_-W9POhuReotwKngeisxcbkaC4kN9uJ5bHglqTAZHkUKbuEiNjStpdrCx52EwaK475udY9GSb-8vWUVSea22wiftCFUjLldK8AaJvB5NohqmHvbpgcWqHOdaKdO1HrYeeOaF0iAJVOo1uBCV_rh0x7c_rJzE43eo_NVfpoCiiC5-YUyPsnMxRpE8IxrPJ4UwWVM1R0EJ81PzbKmjbAuDDOCLTsgHY_SFF8z9Vqvz9Ol1DTZXSZr0M3pPfUdemQRc-qF49shk053J5vlFgsbH2sqKIK4P9_p4OdwQsLtsW65RYUqFwuT0JGfazulTe-QvlPuIjqYN2Y23tfT0077QilqfQf_0HvDydVDQ7fZVFR4b3uin2T-9JvP5tTBhes8rfFDjfx8rfp2bcOpef62MFayx_Afm07qGphffJbIkS9N8J1DridpI0EICLNWZjMF2brmq7bN0k6MB6OKEbqFoVwkf86ab_36BgowFiz2WcUOmW7pR5-l_HmlvTgMMzN1AaNbWE9xx28Cdz4IHU0dNko0SOXY-zAUa9zx6Q5K12-UDd0945d6ucx2UJy0_bhhdWLjsDf50ivk5uEE5Ggg3FbRsrPR3z3fuyxDRHs7eAQWYZbYq0v_cUAVl_NtdGTaYhQ_F6170hGVgxhkbXki_K_R5T_e8zV3oJoogTuycImCt1e94ZTfrnvRPrmbOoLDj1A2xqhJMf3yNlKCZknxSkXg23uoQCl2_3-gpHyKracRjMUpexopqCdQ8mo9ufBN1oX4zEIpbtqbNyFACYug536_7EUZJjr9LbXw14V9v5AWZN7bvS9d7zjLbFl6MbaSBAzyyefMT8cA3uKCuLOrJ71DfTXpxUeHPjrapMcpxBDGr-LBJBVjIe74SZ5CV1-_pmuTeL4V8QoYD5tckjRQITirsiN5pqF0EIZd8tGmJ7GLw33FuExx8lfIuhsosfttY9DKnWPobd_VLWSdshZwh0rYLG1UnvqP5kVBMpmIdo4vMOBRD9L-CW9mB5tXWvbd9OayBXApJPwDk8F2aKlJNcAWDarp6gu7sDlqT6hynrpKiuovqIoUwppTdaakQP6pYjIQzih5SfQdZDTtnoWTTPwb850v9YMVfqzuT637yA9ORv0QdWFXhtU7msE7lxVxuRUy4wmw3Hqp7jYVXqhmWMMatbw1kSJf-NYCNC4gtyzIy5n3vj1IxHvWzy8ZZZBUHx48tYk97SKt__0krMCEvMmn-btZrLKAIJuJCMCRmwYmidNX4SkzKrjKK_arukMB4nBhlfYamUKPlNFlnuDsAySGHUVFSNDBm6IEkCdg2hYwKlumnsBANedp2vxVuvbZ_oZWocETtbnnVLOFkmTePEnsUvpwj6LCRtxvpwmFPzI7fh9C1orYXjICCjR9OBCapxScLhL0CDkcDqP4jTbGUP3m_pdfSZnRkIezx_U8i7RLaM4qNvii7BLYfhaIPpYCd84kCw2NfDtls6UOuACPrynr_QDV5R2yJKKWLaXU_IBj9831BnbtbDh8s1FT2bNv5Pa_DvIwTgrPn7rLI6xx1l_5GJgO7jySvwCgXQJz0jXYZzeQ0VUvanauUxLOyiCjAnaAtGagUPUQfGpKPheYCGjgvAN_Oz-Ms90cjxAH8k0NnfdJorCP_-Qhe3_2ANvVWNnlp8eJsjW900UXvvTDCuI2wv97JaDr-yeE5_m-ohjoD_iKOfZFjESMK72hf4ER8eb77cMiUs4wFN_aj1bp7ItAuJ6nG-5WghKGPAJooYfhVJqhbNGVdpnIJVbK5Z-q2D7wOQCjrQ92DM-bk88BdkpsEW1gq3nfl01uSpJayx9v9B4hGpbBmONsvpLL3QnhGSxjpQxIPDP969T0LhU-e7WFQVfMxm4zEZILuZmfBlcnN5lbA-xuprg2ibnuaFsAhlBdHbATPxOoM0fWYMHS7ySvV9ll15Ei6DXQtGsNDbMK5lU9gUw68RiieJa6llRcI3EC-07rC39guztM900R_AaBUGn14fCKp9PWFzkmA6ippWE-6CR-OkaLJxgVmoGo2SANq8cmgNkocQkIWrJvugmv5fwWOLztuZwH8qqJlBOso6RJCY5E9hAyRy3ApavAiFxU_fhz-kanW1TO8AXjbK1Da0C_xhV6ZQD4gHN6BF2kl8KNghYtqYF-rAZSaAfAeOlPAC5ZhUzaG0oQp-5J11d4Lb_wLNP_eXXE3mUYffjptWw-pVB9t_gwAstdHWVGwhCOEL8uKpyZVICio7fDzQ8Gn1gWsPWhZ1ySm-IxY_YZEMi8-q4qqfPvNalUvShcZSskZk_apDw4yCQzubRue7EEpU8VmMlnMz6dqQrLiF3_sK7ECIfeEYNTpSXsNcScwQTUx0oLsDjtCm-VCx5i98S2sFzqgh8hEdfQnWdJsE_HwRB4LqaG3sxna2ZmnD6JY4gsQyhCQRUWOMyMeWtjCd7nMRTmI0coEQJxW_Y8V6qndIMs8zDRD7JLwGggqFbINXbWoy6aioBC4QYLFLF5r1tGsYI2YEno-qTPbJCLrGPWQeEXG5499zFi8zCs_O0IW3w6eG5S8u5zzSDsY60-o91GXnFK30_wJeXik14dzmBaW998rpS9lcQsmRly4AWPODSJ5agg==",
  "id": "rs_00c93f82a7f9cf82016ab44240ead087d0a4e97df8a9aae4e9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJKUEe1ZZduYxokhOU2bgIe29IcW0RRCh52EKJ3oOeNo3SMg0MX5CqOyggUjorFlkQpqkzXhyh1mB6CYSMV8P9ciCmX7W6TGWTI5FCTN_JN_xzlVbWfeT1Bs_6VAdlquG6iuJIInFw5gK5Rb8B83ojripgnkiTvBwG7SkK1kobqWO7h1wGZsaLwublIgFnv9cluj7HHtFlUkq7XjR05H3Y8BuDZY3223j3_3umrAfEE02XkeVLMn2Ok4-E2kPxA5BcwdQ82sTV2pjhXsxLhsKPcgsVcvHZwdb8t6rLFclEWQHmEWng0SWmU_A6gU_o1vJS0GPJ_K5PCzSQ63FiHM0vpnH0AwSdwbSFfVQCumUmMjIlcd8ifFGmM5uwSQgMy30sko_8qaHMJubxOQHLaujxzsVRVvaBGXjL9ZaURK1hVutF8OHXKBebEWML4z4Gh3lKFeKchW3wjKr7g79P840YGsk-SiSGqs9eUV2X6qZVeMwOGM5T74Z8_mJf0N93txtP-Pbc4zs9aTIP39BilWQFgaUYiRfmAPH5S2QFtnfqU_eSuhGGV9OTX0oh67u45j152wmqqfbtDkh_saTCRPRK4lWRnh4nO4aM87_aR5giCuGKRjFTPvD2VNYgFI4SGki5IBI_Ip4qoS0Ozo9k_R8P9Oq6tQ5ARopBy_jlWv4cAHWpG0iMuXF7OhCZd6KJmWXd5c7wX0wI-Xn8pS_8Xk_iQF0y2qkhAflcnoDEqMAE9RhsI5NSf0WbNeeaev-4eEzFi1PrTl2sDX0zHAGV7pg_EMQpxb84L1HwiZh6o8Wj1vh7NWX0kITG1D2-G3OtgBvnyzkrsrC6kAhKtKBaao_LiMyDL1IYxf7OF1Q7-JQ0sBw9IlAIRPvz5_oHpp4-aRX4_LsdXBQ2tKQa2xFFNZ2wDJBk4BWxZ1nbkmdz8Zt_SwdYkLUNRsYjedYNaxVKYCnzeTEMslSXWHi2Nz0gPjuGje3VgZYLcrPbLEaCs3F4Kmj3XCzCYZ4-R3TfYsE16X4o8MigKp754pe2BDr_9dqVK2cytwEtz73inna6yEJDHMKMx8dwcr9QyiW3g8Q9NZVquIBjHnSD0YMuXOfv_d7nUZ_rLR-O-SUc1ePCBsOPs7aR8rYdGLvHywHzXzUZle4_aVDnRZutbs1Rb_phH3rwHKyumAYTyjEACbjXnINI80qNeinBYV8CKy7pIfvuqjRUMtAnEJkxW6qc8CQWpSikmA7nf_Vj87oI71tq1QCVFbaiRvK0VtfnwBJo5nx16Px8D0oUuEmnPcFThzi8acnqw3zUP97Xzv9MSaIqhiICD0TYVsv_O_KKd4eHE-DmmF2Rh4VQxj6lwOOsKPMZ_l6p07C6g64OnDnoOqtx-zpQE7tEMq4t-Mc2IzrTKVPDMoaBp-v0CEdzr1bxICojGfdXnyUAMtU94Yx3HATp0sT4rdOTMrs2TxvhZBb_Gw0S_AGhwyZwLMa5HmQgs8eol1SriO2pzpPYvH-GDV3ibBesq2aapm6CW15cENI1Mwx4MHcFN6ADGimPz9WfhliEs_cA5vUqh-oe0ekifo_JbZ-4RrNKbBI_-I00wjjGLX9KWe0WZTU4PcB4roxs-6d1r-4yW7WsSsO5plLuBeSGZKALEqveH_RjInMNrrswyXlxPSFDM4AwEE6aUyb3FHSZFQrVdUsfwdtQdwJxn6ygpiHwAEhQvFmQeHbR4MeS2uWVCbuSrer_tIsnDpTqmNHGD7tLxIxkbnBZkTkPcF3Dsl0kV4czZQ10LCAnfhRVh52BMbwFMHOAkf74gJSOFXGILZYNxdKsxe-b1bpx96GKK0rr-8PXVBJbmny_CHhuiZgVlgl8CPlFNCR0Aw7JszKs6dBEK17XXoyoons7TejZQH68gjJpuZRJzG-FR7SinROZRlM6wYlRD9RBZ8WKW1TGbKRbty7urMRcuEYfJbjN4yelHhOa9O7qRTQG_YZiepYok38ZxUgLYRqTRfv9ePqhhT4hCzm4cHvGJqSvvMbX1D3unK-wXOWwvOYlBuuipdma74aTHM9irQGs1ShfbT7iLmyblfnsQs5mCM8Y0nnvl23Tbt5yPugue_27Uj16BfDxV4gtWNi6UPWVkI08aQmlwj2XNAqqoiyMZuaSOycYpNTH5-cj8vSwGpLod3HAGJ6LuDsymihwtFXYLDj8nBhy9t4hmkIDa_9RIo6m-sbcPuRT4z9UjcMup1TvsURXQaP4jH0lWIAVtUDyzeA51gNoA8diJjl-RbTkticXqk0oUtk9M5zC0IWE-yIeyOi77xWnUQR92QCStKtPx8mzTUEyRQhFAP2_VWK9wfPJiN7qIxKpdTzvA41C4pCGWNXzshz80juZrwjqAxlh9t5rcljxnfQIYHhDV1l42CiTghNOwV0u0oWd4FWDHOK1d18j3oja8VLZB4sQ9_9tm7GudHI7GCPMs-xCIgMJJCZ4XhaS60xhkYOQXJqc6o4Hc2yJc5NMI0YKt9FGQbsvjvLj366jqON-aH8o2Fdaj5lYoGClopIEFljXRwlKjfIrSmkAZHuzFM7b8J9GTeJbjEmf60aaRv2PQHXQ8VZi10lT0B34T-EelciKcrvMhNOQTQBkUf5XrD6Ff",
  "id": "rs_00c93f82a7f9cf82016ab442467b2087d0bec4aeccb590b5bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.11,\"right_z\":0.17},\"note\":\"The pear is still visibly clamped between the right fingertips, while the blue bowl has shifted to the far lower-left of the wrist view; the yellow item remaining on the table therefore appears to be another fruit that had been overlapped. I am correcting back and left to center the held pear over the blue bowl before release.\"}",
  "call_id": "call_LQlX2oXhoQuoVvUxq6iFlnUt",
  "id": "fc_00c93f82a7f9cf82016ab4424937fc87d0ac9f4e030549c024",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LQlX2oXhoQuoVvUxq6iFlnUt",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4248, -0.0139, -0.0338, 0.9987, 0.4427, 1.3407, 0.9703, -0.5304, 0.2874, 0.1997, 0.7183]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.0511 left_roll=-0.0022 left_gripper=0.9987 right_x=0.344 right_y=0.1116 right_z=0.1487 right_yaw=0.0682 right_pitch=-0.2858 right_roll=-0.0824 right_gripper=0.7183\nstate[joint_eff]: [-0.1846, -1.306, 7.0496, 1.6679, -0.0415, -0.0269, -0.0122, -0.3761, -7.2684, 8.7863, 1.4628, 0.3443, 0.105, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:642d978874c50ecc3140be32ca93d4e04ee508a2c42f5b133b0a1975e18c6001",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e5e806dfa4bc66f480f32fdeab58b25d469bf353707d3ee3ca6a1829c1e6249",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02dd8de1f51bb141407e97d35fa9ce9ddfed54ba9c51b0d24cfe88c64b3b5bda",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4171, -0.0139, -0.0338, 0.9987, 0.2672, 1.4456, 0.3462, 0.3988, 0.2012, 0.0933, 0.7144]\nstate[eef_state]: left_x=0.2916 left_y=-0.0001 left_z=0.1733 left_yaw=0.0018 left_pitch=-0.0416 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3341 right_y=0.0586 right_z=0.0263 right_yaw=0.036 right_pitch=-0.1166 right_roll=-0.0393 right_gripper=0.7144\nstate[joint_eff]: [-0.335, -1.2923, 7.2, 1.7949, -0.0269, -0.0366, -0.0122, -0.1573, -4.6427, 5.094, 1.5995, 0.022, 0.0024, 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]: [-0.0212, 0.8078, 0.6132, -0.4248, -0.0139, -0.0338, 0.9987, 0.0284, 1.3674, 0.9867, -0.4088, 0.028, -0.0772, 0.7188]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.0511 left_roll=-0.0022 left_gripper=0.9987 right_x=0.3901 right_y=0.0097 right_z=0.1602 right_yaw=0.0362 right_pitch=-0.2228 right_roll=-0.059 right_gripper=0.7188\nstate[joint_eff]: [-0.3761, -1.388, 7.1453, 1.7216, -0.0171, -0.0855, -0.0122, -0.4308, -5.6684, 9.6342, 1.8242, -0.0952, 0.0024, 0.6325]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4248, -0.0139, -0.0338, 0.9987, 0.4427, 1.3407, 0.9703, -0.5304, 0.2874, 0.1997, 0.7183]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.0511 left_roll=-0.0022 left_gripper=0.9987 right_x=0.344 right_y=0.1116 right_z=0.1487 right_yaw=0.0682 right_pitch=-0.2858 right_roll=-0.0824 right_gripper=0.7183\nstate[joint_eff]: [-0.1846, -1.306, 7.0496, 1.6679, -0.0415, -0.0269, -0.0122, -0.3761, -7.2684, 8.7863, 1.4628, 0.3443, 0.105, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:642d978874c50ecc3140be32ca93d4e04ee508a2c42f5b133b0a1975e18c6001",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e5e806dfa4bc66f480f32fdeab58b25d469bf353707d3ee3ca6a1829c1e6249",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02dd8de1f51bb141407e97d35fa9ce9ddfed54ba9c51b0d24cfe88c64b3b5bda",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJQDV97E-FhzVARbOtYDoRepVS0sEZRNjk0aD-fQKJOXW4ajSjgxIuoKCnTeZUwjAChOhyr7r_ZaqcYqAVPnhQ3gdum4Qks41PZJ9bX6ers0ZjXn1PUwkwdZJQQqq9vqpdEEpRbpGjVYt9QaefFl8sYHOcSAzYVCQNdMEBCvET1Q7JDTREWBDe3KFvyWjjaU5ilcYW6T-3G_hgSYbrPs5R8SMgJBTEH1XiJGCw0gSPfhIfp1cl0Pw3irJYG0JRNk8Wsa3-qoCvcbzQaRiER199B7DjFPNnxNE70950cjaB8C79qJcbACdOL8_IaCPE9drxrtyU4kSoUkGHyXXoTeUICj6TSbLerJVcfeTKDhnhpfRSnjwdCmkR8i7SaY8VPLHV4P2jpSlQR5bCyqChU8Mw-P83wdGwX8cLkSYxeE_T-Rbb48Lhwto5TNjqtEDsYVhRR54_vaR7afW7EH-Iw4-oLdJCkjN2JUg_SYF35HxbV4oyA2XU4wYP_o5cpnQRYYW7RMuZbGOSpL9C4JRSxKzHzLP9WWE-_nJEEgxb4JwrGdyBOHyTNIT7k2zpdbr6si0ueESXqfFoSy-AKu4HNoG0aTuk4DHnIYK3pTCzsvLjEcf1Bni84YoYA2_0ClFQ1cjdR_l9MGorMqCpP_xTqSZ9-HBkzz079DCpVGnGI-MrWuLysCpq8WIS8m4epeYxsXMVdwc0oQN52QNb0X7oi4skWxs6CI008hsd9kGFjIqr962lVpkqFUj6ZwLn3D31CDOYizNT22f6bfIxMlCIWR2nHWiBLVpxMYhJ4EofBIIZ83Jq23XnYMFXtgkwlLTYkiHHngSLWbMYAKmEmjNVQg0OiYswALKo1fLNwlVsF4qh8CwDyMZoaDBcJuHViOpaq9prbVTjE5pAnqTitQF70ZAwi96ZqR5ZcZ2f_CYGscAbQ51jAX3kiTSm1uVcL607CFaxqw6jCjuBMOr7nLbIZd2Yz-_IuuonVMoREtEOmZYGIyfOCQClLfDi95AvnIQKZSJUMC73C8Qu7LzkQ91kxqujqv7R4wovJzyJkC3fW0HqTBc-KWg0730lbFk4eX0XWWjUGY-5uTiKaFYr7r4ruoWu1j3zPy-cZckTwZkjt6lCa4WA-NGRYjqAOP6nVm9usnO0ibi-SG8AMT6tw5_Myo5yhvR-nnCfTiNAePW1N8aAJow8yIyr5VBs6D7Me8pJJYvYWFJU4ZuMgPThTGEEz25ouq2ZDrSMZH8K3wvtrSCgY87CbgNGPFhuEoLJYgP7Oqmlzcnlk_kT8mLAzC2QTjHB5DxefE2Ah0jFYqCH2lfQ7SMUwYvrl5F_waOfr2g8A91LxuJgOTNGt92desO7_fWFbBns_qOJQMIroEIdONz92P5-Z6fDdZ0Dl8srt9He2LyIj4-LOplwyRg6IsaWjtcPIUMT58aEu-w3H5T_ZmJ9l6RkhoIJgwcGpHHp5aNFQVgK66ToyhOGve1pKKroPFuGJtCvPKZNe4vG5ryqZrnSfhPpVcyUvvDdk45HkGFclaj0IDas5JCQmvUuyd5LcH-SttHZiJTQOKri2Yp92f7wW8mITSw99CvFKQp5ewDnJ_WG6mSbjwROT0jE5-r8wptKTg_T96rCgU5p_Zqx9NWqWggmLNgWdj4rq9UwaL0786vbhGsAtlzHKuVvzSoJbfS-TBUzTgYtR7LA8Wou-V8eeZSvVFAnmC-NQ6ZGeNNM2rkApVgEnek5s9aHHZhsi7qD9xlhs8Y6zHgG4QbBhv89Lt7zRYLk2VllNMGuV4LsUtA29",
  "id": "rs_00c93f82a7f9cf82016ab4424e7a8c87d0b43837932b64373b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.16,\"right_z\":0.17},\"note\":\"The blue bowl is now fully visible in the right wrist view but remains left and slightly ahead of the held pear. I am making a modest forward-left correction to bring the fruit over the bowl's center.\"}",
  "call_id": "call_vUbmsZv894QLX775iBjYcdhS",
  "id": "fc_00c93f82a7f9cf82016ab4424fc64487d09aecdcc94370cebb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vUbmsZv894QLX775iBjYcdhS",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.812, 0.6132, -0.4274, -0.0139, -0.0338, 0.9987, 0.5293, 1.5532, 1.2125, -0.6338, 0.3183, 0.2481, 0.719]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1696 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3713 right_y=0.1573 right_z=0.154 right_yaw=0.0924 right_pitch=-0.3411 right_roll=-0.1045 right_gripper=0.719\nstate[joint_eff]: [-0.0889, -1.6752, 6.9949, 1.707, -0.0757, -0.0415, -0.0122, 0.0615, -7.1179, 9.0735, 1.4628, 0.315, 0.232, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab45a7b06833f62c3f47cdda815cc86bbf989a654f15886ca5a8a55e2340a33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e93af2f027e86757b7b1ffd689910d3365b0a311c8de4e3982caecb005f57b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e1ce013d85b2f81457ae197a4d7daa3303752503dafe9f8dfce1f64bce213d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6132, -0.4236, -0.0135, -0.0338, 0.9987, 0.2672, 1.1381, 0.6392, -0.247, 0.2008, 0.0864, 0.7178]\nstate[eef_state]: left_x=0.2907 left_y=-0.0002 left_z=0.1719 left_yaw=0.0014 left_pitch=-0.0485 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3284 right_y=0.0571 right_z=0.1222 right_yaw=0.0386 right_pitch=-0.161 right_roll=-0.0547 right_gripper=0.7178\nstate[joint_eff]: [0.0342, -1.2513, 7.1863, 1.8242, -0.0269, -0.0757, -0.0122, -0.2803, -4.547, 9.2239, 1.5751, -0.0122, 0.0122, 0.6667]\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]: [-0.0212, 0.8078, 0.6132, -0.4248, -0.0139, -0.0338, 0.9987, 0.4427, 1.3407, 0.9703, -0.5304, 0.2874, 0.1997, 0.7183]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.0511 left_roll=-0.0022 left_gripper=0.9987 right_x=0.344 right_y=0.1116 right_z=0.1487 right_yaw=0.0682 right_pitch=-0.2858 right_roll=-0.0824 right_gripper=0.7183\nstate[joint_eff]: [-0.1846, -1.306, 7.0496, 1.6679, -0.0415, -0.0269, -0.0122, -0.3761, -7.2684, 8.7863, 1.4628, 0.3443, 0.105, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.812, 0.6132, -0.4274, -0.0139, -0.0338, 0.9987, 0.5293, 1.5532, 1.2125, -0.6338, 0.3183, 0.2481, 0.719]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1696 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3713 right_y=0.1573 right_z=0.154 right_yaw=0.0924 right_pitch=-0.3411 right_roll=-0.1045 right_gripper=0.719\nstate[joint_eff]: [-0.0889, -1.6752, 6.9949, 1.707, -0.0757, -0.0415, -0.0122, 0.0615, -7.1179, 9.0735, 1.4628, 0.315, 0.232, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab45a7b06833f62c3f47cdda815cc86bbf989a654f15886ca5a8a55e2340a33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e93af2f027e86757b7b1ffd689910d3365b0a311c8de4e3982caecb005f57b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e1ce013d85b2f81457ae197a4d7daa3303752503dafe9f8dfce1f64bce213d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJUXyTP7Oc2NXLptqbyEk2tHbiIDVQMCk54ivUiqzk_r5mlYhkf6kp1nvxhBbs5wQr-LSyCLHQCGyhDrnV3pY6d8efIhZ_KQXgqlBfl1WLVYCX8werldTc9CiZBe8oyCpYlCWEpZwgZ-zNTt-i5ff9d3tryuoOqiKLI6_E-Cai5uEvVVJxBhi5RLebPcxf-2B5m93njFXqcC58xCANqz6aAgvSo--M9jdBxCnOHRchc2J6JPxh7gQn1pBpNHuVBY-Yl2IJt-MXJtRydCE2jDh9bbt17EYOI412Iw-PYBXoPIkR2pTLoIp2UFHN1rKvw-aei6qoGLKO01WeccVFZ1daFm-R5D48_1wDHVslblKCW5ZaZ7TqNxI_pfFXd8kecUHh4a_MCllIe_6pj_KXYdMfsKWLiYUw_57G3052qkp0DkZeOT1mt9CoWOc7Vi3aQtHV7HJxLQpTVjcRBXLVg7M7i-iBunGobYni4z4t4qZQgRKWLl1Rl_P9Tr3fxn9qgK462f-mEMiXsEzu_kEVFtXBDhFmd8sCQYmUmBh94eSrHTvA35ymudszEx9-2Kn2Ij2k6qssPfPRf_4M4GNYyLn5_JLoglmKn4-hil01v9tgxyAiQtLZCgwJ5ImmGqbFFhoug0tLfHVVqLH0Qv17zHTRwfhz_ukyK43EIaVBbKd6U1ak3bAHcmFZ6pZtJJqlJz70oCOjKM2dscwmdk8tTD-e7pPkADIpYldyeOsIqPCGZrGfODMSHOdVDGG_-P04VbwPAtZPjMWVpBp1hnWOHutEGp-3-0RkPj10Ys40XiGcezdGdwn_i0YwKpKguQ8uT98JtVXc8Hs-znjI3pwexL4w-zxvNEzBbdzwg5-JfHjQISQp1Bfp1utaeHuJXxpJY6Cd3UK1IL17toPcmEMyq8O8NPWmkMZHRjPV-yGDEAEE24092P7-ye7DDJM4ts5IyOgzlHGwNtTAVgP3bxP6oEcrHyT9DeSZnVNWf_Bsd1liE_fw7zAnJ1jmw3t3JScOdFbQJXRWT8S8F9xP-EK5mESBmKtmgjP8_o-UO6fvXxrYLWlhHTD3eVa7kquaimDGR_j1K-bPjIQZZAvVCXiEhrQzNq4LEhJ21z3AmzaTTPwy9_ItccbGp-p7hnAZVPhAYCxhhEGQOwfMKxDwt4pqmMqQIbBrR-V62aFlFu6Je_Uzp2efScweGWZD-NApybvnwqM5o6N8GbtzjHP_WSI5kzeyQ50hxjxKMBW_u5sjK6BnB03uuo_1hh1EYBUeltCzi8wDvp-FDAI8btWC-oreV3vx6qwt_1Ve6ptGEcvbKhF-i_foHwMl56SQSCvk9vGQ9nGgI5G7dLZ3zCA2y-IXqasTMCRJimRg3389zHCsqjHhJisr8P3dWOWPAV0UJLWU_fJmrVhufcLFE03Dz7wrT7-lsnCvBXoTervdjlEDoZm8I9B1O-0U9eTnNLVfNZdZPzyrASovjROrq2TUBCPFItdtju0tEvwtR-JhzZ98PvyrBUPvgRguxx2elYNPKa_Q1vC7g",
  "id": "rs_00c93f82a7f9cf82016ab44252d44087d0bc8bc259610290a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.175,\"right_z\":0.11},\"note\":\"The bowl is nearly centered between the jaws now, about 2 cm left and a few centimetres ahead of the fruit. I am applying one small centering correction while lowering to a safe release height inside the bowl rim.\"}",
  "call_id": "call_dtPACpYtwmHe2BtWnOlUakJ0",
  "id": "fc_00c93f82a7f9cf82016ab44253b49487d0900ef31759955698",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dtPACpYtwmHe2BtWnOlUakJ0",
  "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]: [-0.0212, 0.8116, 0.6132, -0.4274, -0.0139, -0.0338, 0.9987, 0.5331, 1.5543, 1.2129, -0.6342, 0.3214, 0.255, 0.7188]\nstate[eef_state]: left_x=0.2904 left_y=-0.0001 left_z=0.1697 left_yaw=0.0018 left_pitch=-0.0576 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3709 right_y=0.1582 right_z=0.1538 right_yaw=0.0896 right_pitch=-0.3407 right_roll=-0.103 right_gripper=0.7188\nstate[joint_eff]: [-0.3761, -1.3197, 6.9949, 1.6972, -0.0757, -0.0317, -0.0073, -0.0615, -7.5282, 8.8547, 1.4432, 0.3297, 0.1392, 0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81759da655d88fb801e764732832136d4a8509c64b048a276eb84caed1500131",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b58a0dd3f703c061f67f268dfdbd6c073b5e5126849dd309d1aaca9aab2710c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b93a35e30675dde0c2a39f5024d23fab90c54d22f4b87a02f9f4d53aa12b2ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4248, -0.0139, -0.0338, 0.9987, 0.0284, 1.3674, 0.9867, -0.4088, 0.028, -0.0772, 0.7188]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.0511 left_roll=-0.0022 left_gripper=0.9987 right_x=0.3901 right_y=0.0097 right_z=0.1602 right_yaw=0.0362 right_pitch=-0.2228 right_roll=-0.059 right_gripper=0.7188\nstate[joint_eff]: [-0.3761, -1.388, 7.1453, 1.7216, -0.0171, -0.0855, -0.0122, -0.4308, -5.6684, 9.6342, 1.8242, -0.0952, 0.0024, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.812, 0.6132, -0.4274, -0.0139, -0.0338, 0.9987, 0.5293, 1.5532, 1.2125, -0.6338, 0.3183, 0.2481, 0.719]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1696 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3713 right_y=0.1573 right_z=0.154 right_yaw=0.0924 right_pitch=-0.3411 right_roll=-0.1045 right_gripper=0.719\nstate[joint_eff]: [-0.0889, -1.6752, 6.9949, 1.707, -0.0757, -0.0415, -0.0122, 0.0615, -7.1179, 9.0735, 1.4628, 0.315, 0.232, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8116, 0.6132, -0.4274, -0.0139, -0.0338, 0.9987, 0.5331, 1.5543, 1.2129, -0.6342, 0.3214, 0.255, 0.7188]\nstate[eef_state]: left_x=0.2904 left_y=-0.0001 left_z=0.1697 left_yaw=0.0018 left_pitch=-0.0576 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3709 right_y=0.1582 right_z=0.1538 right_yaw=0.0896 right_pitch=-0.3407 right_roll=-0.103 right_gripper=0.7188\nstate[joint_eff]: [-0.3761, -1.3197, 6.9949, 1.6972, -0.0757, -0.0317, -0.0073, -0.0615, -7.5282, 8.8547, 1.4432, 0.3297, 0.1392, 0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81759da655d88fb801e764732832136d4a8509c64b048a276eb84caed1500131",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b58a0dd3f703c061f67f268dfdbd6c073b5e5126849dd309d1aaca9aab2710c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b93a35e30675dde0c2a39f5024d23fab90c54d22f4b87a02f9f4d53aa12b2ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJYOmJsrfmrKrLdUgKFVX0i0viT0jMQkh5PuQIAjidCrzPgZVRxgIfRKJvqptZtBQyEw936_TlfMwRrQLoX3fPnwbGRfIzwV2ECxGLgOsCZiALyhCDW1TcEp9271Et3lSrAmxhzrcSzbT8gPEWoHRAKzyA5wxlAo0u0l9PqSMLg8y8oacUbWIcOId8NY1cVm4TAus6p68bfWgJ9jZqnq2Ar7s-y6_SyugXC71qVl0h6OcdV1keDo7savzxcy5WwVes3lLa23SvxovfB2j5lCYXWDGR3v1kJmAS_kWmyizl9nO4bkBxl_9OYTm9JdDhf5M-o-zPKgjtxS67hyAUClwTZyzumpEtcV3oynf-xJFeAX0n-XlmcSJ81g6H2NV1X3k674ygNYJopUFkJ5n2L-27zheElwV0TZ2TL0R7zscyE9RsJoNDIDTTmcDyy1Y7VZYEfw1cvYTWRpcdUoQkAmDhlnA728tZkXN6nvzklivQ1ixmnjnMFEVrXHGrETQBFhWAzk87MICSySOOAjMbir5DKOjUJKAChswa8jBkJAKTAsWZc1Z8xLjPEefiP5Z_YdARZ4o_CgW70BKM_KqPjKMdGxcGibyPpkdKOGBv_xcb-auMt_niOeEWDwosRIJqomTFRWeHh8sr-p40rNdrBvLVcfxSmYjffIkS3tstqJRw0rPNu3hGpqB7DHCV4kJJGgUXczZpGY4EuuMQ9uMQ3s_X05GqYPMRljcVQn1TnYx0vDVJH4gmAVkQ18kK7QJLXHLj7-e68fgOKHoyBSw_ckCLzDbxYWyNRTEGcS3BJGXmXYdEnEB-8l_sPUarZSr5hNY57J3YQX-LG9AMgktkmj2H0fzCqKu-UlvSg4t7_SWqhc5EehtSNuLnpPvxzY5sC2z04uCR5XxF6yYII3qHBNED4TPXI4mQ5YUF9tHaxrhf6f-zQJryytV7KcvZAozdXxaxumfM75laHj3NfsPMIQwuQkAuFkog43rLA8QQ8Wyk3GVlDm2SFqd8t_CTfpcOUiNWWpbsbj73KRfM2ZY5Gs6njbMFG6-UpZpjVITW3dp-Nr3-q8OG0fUNbKaQRRwQng4mhYKx0mhJTeo7wvaV9w6fbEf1V5QC3Lzy9LtXu_QXlFNhhMjxveBSe5T9RtbjOzV6TVIXNWQTemymcGZees88YPXDXFqAmH7tEc3WWbaiz3i7rSR0D9AUeaVj6ry_eR23XRNLSeJJbVutm2zC3jdcGKV5TjyuOs6td9KhdL1zeycYwM_vonFQvjKg6J86n3315iIH1l3zP4qsb0oZaHvSxA3vWZkSoXlnqdL0lNsbrr0gfeOlTv97uKBPibzMZuk6cFSuFC7o7vhGz-RieTqSqL079KDBAZSM2gFWXUbBwNo6n9WAYLuGVgska0YB_W5WCSx61FPZ9wnMscmMBOMbhu3W3vOvKZeckKZDlJ6z7nWCQ4vIV2AMX2J08VbU3qJfo3tT_ERMYeqpIo4JXF9xud5Q-VAHZtSEzm9qBmPv3z58WhbxXw8ZFfzFu7bJLnD1Xxq40M_fZ-7juTSlKKBMY0gKVMau7VE_2vz_ZeQ7j38-uaQ4ZAocqQ6Cm9s8tHCyhNIcNghiaenK6AiScEHIzyW633Pm_gSKRCfDFSpNw05OGCu97CvqKoNmr8dLcPgkdvhsEox1NLA8C7G9yx86RGURxO5fV0HJT01-4Z9mN6ZPZfEkhp-640EfwIcf-D6fIsoMrtvRJvcaJZjS6Y48LNcEN-nELShTPDlxN0IZmX_O3LplxlCE5eG54kWHY8CcsB4woLi_RH1mUlPdBfYtU2UuG_NQcj_53Q6OvVK6OOtyLSVCPQ-bfqkXp0bW_Mh9DaYoehR9NsS78HB1QoCnHGw==",
  "id": "rs_00c93f82a7f9cf82016ab44255ef3487d0ba93b8e921765a95",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped with the pear contacting the blue bowl at the rim/interior, and the bowl is centered directly behind it in the wrist view. I am opening the jaws so the pear settles into the bowl.\"}",
  "call_id": "call_GzMl0a59V35Pr2r2l6LOufnH",
  "id": "fc_00c93f82a7f9cf82016ab44257199487d097968b18e01133f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GzMl0a59V35Pr2r2l6LOufnH",
  "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]: [-0.0212, 0.8124, 0.6132, -0.4278, -0.0135, -0.0338, 0.9987, 0.5331, 1.5543, 1.2129, -0.6338, 0.3225, 0.255, 0.9958]\nstate[eef_state]: left_x=0.2904 left_y=-0.0002 left_z=0.1694 left_yaw=0.0014 left_pitch=-0.0588 left_roll=-0.0023 left_gripper=0.9987 right_x=0.371 right_y=0.1581 right_z=0.1539 right_yaw=0.0887 right_pitch=-0.3399 right_roll=-0.1037 right_gripper=0.9958\nstate[joint_eff]: [-0.2393, -1.3744, 7.0222, 1.6679, -0.0513, -0.0415, -0.0122, -0.0889, -7.5009, 8.8684, 1.4188, 0.2857, 0.2125, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308d0691f95d5ebdd2fa2ee6faa9ef439cfdf0c7747f257b1827ea3f03bf3c55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cc47add37ba794131417ab97fe97997702e47029ec52c9b8b230da54f23b77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd75fb323acd23c5fcb9b266cbe03ac0e47ebef068fc45b8d4b5aa7e7913d9e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4248, -0.0139, -0.0338, 0.9987, 0.4427, 1.3407, 0.9703, -0.5304, 0.2874, 0.1997, 0.7183]\nstate[eef_state]: left_x=0.2906 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.0511 left_roll=-0.0022 left_gripper=0.9987 right_x=0.344 right_y=0.1116 right_z=0.1487 right_yaw=0.0682 right_pitch=-0.2858 right_roll=-0.0824 right_gripper=0.7183\nstate[joint_eff]: [-0.1846, -1.306, 7.0496, 1.6679, -0.0415, -0.0269, -0.0122, -0.3761, -7.2684, 8.7863, 1.4628, 0.3443, 0.105, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8116, 0.6132, -0.4274, -0.0139, -0.0338, 0.9987, 0.5331, 1.5543, 1.2129, -0.6342, 0.3214, 0.255, 0.7188]\nstate[eef_state]: left_x=0.2904 left_y=-0.0001 left_z=0.1697 left_yaw=0.0018 left_pitch=-0.0576 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3709 right_y=0.1582 right_z=0.1538 right_yaw=0.0896 right_pitch=-0.3407 right_roll=-0.103 right_gripper=0.7188\nstate[joint_eff]: [-0.3761, -1.3197, 6.9949, 1.6972, -0.0757, -0.0317, -0.0073, -0.0615, -7.5282, 8.8547, 1.4432, 0.3297, 0.1392, 0.2808]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4278, -0.0135, -0.0338, 0.9987, 0.5331, 1.5543, 1.2129, -0.6338, 0.3225, 0.255, 0.9958]\nstate[eef_state]: left_x=0.2904 left_y=-0.0002 left_z=0.1694 left_yaw=0.0014 left_pitch=-0.0588 left_roll=-0.0023 left_gripper=0.9987 right_x=0.371 right_y=0.1581 right_z=0.1539 right_yaw=0.0887 right_pitch=-0.3399 right_roll=-0.1037 right_gripper=0.9958\nstate[joint_eff]: [-0.2393, -1.3744, 7.0222, 1.6679, -0.0513, -0.0415, -0.0122, -0.0889, -7.5009, 8.8684, 1.4188, 0.2857, 0.2125, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308d0691f95d5ebdd2fa2ee6faa9ef439cfdf0c7747f257b1827ea3f03bf3c55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cc47add37ba794131417ab97fe97997702e47029ec52c9b8b230da54f23b77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd75fb323acd23c5fcb9b266cbe03ac0e47ebef068fc45b8d4b5aa7e7913d9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJcvPfbjDR3iW_gyeL-iIMjwoHWNpyd7me0ccOhHAs2G86njBCSakW-qsqXABZF7vgG9xRRJ6BZYUeV6znJuYRj_J4qpYXuwBA5OxZJpcqPL2dZ9RfyIz9r7qABj3fxnExoTZoj6q_kHvSMSzQgRiQqONmIq_fschWfSYf8gdAT8e3kDOnCYLlDM8Aa3LIQHdAjt34CZoppk9VSCDNZa7pEoCYOBm_Gy1kx6F0An28gH58X9m5JQBHbl0m0Z2uMDr_Yk1suzdVdO3aveRS-66szQqj7cfTlmM4W6Aunf3Kg7TnRsgjcB_hw-9K-9sACfDfLZwelIc_dljP5U_MiTmNO5LT8QDWS2iKzgezxEPXGbDTjaR5UM3DBG2Wk7ffJfMgTIN8WkzmenlKiQfAdrOWH1IKLVKIFCAzERonw2UvX4XFV-Id_CB1ZcF-0Tz4qQd_v65qkTy7I2RK-MlI35X_OUoCiUZ-KsOMQx0hLOnZc0QceC5HoYkwH74HyAZ6rRcrDchvbnQEMg5or3GYICHznsgyfOTEZh3sGME00a8MHo7bcvebdHgKWu51V2bBofb9WIHdOKeT8buUCvP3IzeFH5TUWfEU0bzR3QLCgS4JE7EguiPANb7GSIsDTQUiiaCWJMZ7flUUJbHIOWRrFqA59I5mQbCAqFl5DvNg38o_5BQ_w9QPs8_N4JU0Sb5XZeoGDtVLehc8h3N5LZMHHNaKXjb0CPG9VvHdXzFAyf1d1sI0U7yNXfKU1WPHPFQ0VWExrmzF1MkQAZatdWk4qM2WtgZjdhfk2nzbxDWnN0uXGHphkoH7SPg5uHPU1EF8V3QWRCgJlZnDXjwM-fZfLn9Ek-Xj04jcH-UKkNkO8LcDmxvMTKMphL3Coy6abASVf9Fm9koQEkSEcbHIcO0Attf06iE9CIVhsM6tsFwgshw8zkJXb3ZexHNGCY8Z5U9vCIvowzxwvoeB0X_GWiRvldX76ERsptNgUlacSZ460KXDsvlM9rTBK5HrpoiqLJgtDJN-6fMyshI8oB400aop6pKZmk3VaTILIJcKYOJh85SRffLmYqfn7dXlCigfANH_fkFTMy9e5FGtoz6uoJ_2Tw2227A460h3nxrAbZQR6FCFx0BN0zQ3ysj9rzcMEhI0UBOUhlyDx5K1_uD05ubs0OMvPMFPtnDkKEB9r4KROvp8t05hAJPm4-50Z7anhBaMUWY5Rx4VJKj3RoP-huhp6959WGZ6tmPMEQyemxxlbp8yX2LoJ3UdEN3z_d0zavhDShpzftyZyMOKWiHr7U45-ihGIiCChzvx1JlKjh47G6w6IBUzmOmwTojPNEfJWWStbXRyeoffsaxitnmrN-Kmn0TFjKL6OMGcTRK3QbnEHGsYAzWhIZe0ub5_H7E1TctHW448Dx3n91QxaGPEdnkjmrd39GjPMl0VGj4BieVen182L8gcpqmILezTyq2bXdza6FQyzJ14bYcLwqI8yDvhKkevaaVbGqu7Tdl5sC-paZn-FmOAnqMFdSM0GzqGT7kRxgMo8sfw22W8v59NrxwEMkh248fEjugN_eo32J1SZJzQ0Clnso2eW-hPlDbzy9BMU4OgUtdz86kDDQm1TOMvUGsXrk1gkJK8_WwWUPZ3M4v0dZGr-WlUTxKADT6vQquLL-ye_YLituSuub2okoVa2CAxKYJdbs3F3G2zlpVI-hO8Ji1RdrO0pCA_AZWeR2_qciU79CO3SmxwHbOCQ_4t0uV20eYP5G0Dkjnpla7Fgs31YPKZfb9qk4e-x1AKA1fPJft1EI-VIiTm2jHWhUV_WAXXZwFqk1czcY_J4AEEDZ4oktbWoaPPDC8VPtS7-OI27wfHS7BdviLzMU2-zxbIPxogCAt2bHrcqcmOLPgCeeZPZpgkcAxtph9uTuy7hIEA0VG_XpO8yN-azJX4WhHleR__brmm-fzBu4iBePdqF9a5nm4TnwBnVWfIBarbp1mIEAJkD8wfUeBDH003Gy3FBoFDORi7N6xZw35SdJXCp1kAfse5kdwb-TxddcVczbRKTWqDXkwnRZ6qKc5-BoLnWaZaY7-5XSS_Gmm7sEKO9X6PTwkRAPjwfFrWInH3r_UomqQIZgHN0oi6zQRLGVsg-jRCAuztVEHZmzuNVDsWWD53b534BYSiZ0fJiUxAxBMX_hEwNK8d5QwdsHPeixPX0W_dW9PPOAWHSlfDtGkbU6Rf7ipNgK9tt9etkuU-wI0tM8q366OGvoSZE72fClEEIjVLO3dhjt7RwaytQ5v5AvbRsx7Rl8AqEd7iDxY-4E7SknXmPYzlghcxtdC8nksvfR_Wl41WP9vW0CaLT5f6e5a4jGiA=",
  "id": "rs_00c93f82a7f9cf82016ab44259d72487d0b415ee06ec877d01",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.06,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"The pear has left the jaws and is visibly resting inside the blue bowl. A second yellow fruit remains on the table at the original pickup spot, so I am returning the open right gripper to hover above that location.\"}",
  "call_id": "call_QyeKcFAeDc5a7CSSfj5ln2Fx",
  "id": "fc_00c93f82a7f9cf82016ab4425bf66087d0948c42d5ca209b67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QyeKcFAeDc5a7CSSfj5ln2Fx",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6132, -0.4339, -0.0139, -0.0334, 0.9987, 0.2447, 1.3121, 0.9237, -0.5743, 0.1764, 0.0395, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1675 left_yaw=0.0008 left_pitch=-0.0675 left_roll=-0.0016 left_gripper=0.9987 right_x=0.3378 right_y=0.0561 right_z=0.1299 right_yaw=0.0508 right_pitch=-0.379 right_roll=-0.1157 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.5795, 6.9949, 1.7363, -0.0757, -0.0122, -0.0122, 0.5812, -6.2974, 6.9675, 1.5165, -0.1685, -0.0855, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b980698cf0f1dbc1f4bb579392e85898ec8e178bfd0dce9b36898674d2ede5e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1ec6505e00aaccd9a1d0129a29cd51d4c667a68a452d4bd8ec6a40a5145b72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220cc1bd356812bbf906b945965e5e919e49a8849b0dc48f03cf75da58412b64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.812, 0.6132, -0.4274, -0.0139, -0.0338, 0.9987, 0.5293, 1.5532, 1.2125, -0.6338, 0.3183, 0.2481, 0.719]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1696 left_yaw=0.0018 left_pitch=-0.058 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3713 right_y=0.1573 right_z=0.154 right_yaw=0.0924 right_pitch=-0.3411 right_roll=-0.1045 right_gripper=0.719\nstate[joint_eff]: [-0.0889, -1.6752, 6.9949, 1.707, -0.0757, -0.0415, -0.0122, 0.0615, -7.1179, 9.0735, 1.4628, 0.315, 0.232, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4278, -0.0135, -0.0338, 0.9987, 0.5331, 1.5543, 1.2129, -0.6338, 0.3225, 0.255, 0.9958]\nstate[eef_state]: left_x=0.2904 left_y=-0.0002 left_z=0.1694 left_yaw=0.0014 left_pitch=-0.0588 left_roll=-0.0023 left_gripper=0.9987 right_x=0.371 right_y=0.1581 right_z=0.1539 right_yaw=0.0887 right_pitch=-0.3399 right_roll=-0.1037 right_gripper=0.9958\nstate[joint_eff]: [-0.2393, -1.3744, 7.0222, 1.6679, -0.0513, -0.0415, -0.0122, -0.0889, -7.5009, 8.8684, 1.4188, 0.2857, 0.2125, -0.1832]\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]: [-0.0219, 0.815, 0.6132, -0.4339, -0.0139, -0.0334, 0.9987, 0.2447, 1.3121, 0.9237, -0.5743, 0.1764, 0.0395, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1675 left_yaw=0.0008 left_pitch=-0.0675 left_roll=-0.0016 left_gripper=0.9987 right_x=0.3378 right_y=0.0561 right_z=0.1299 right_yaw=0.0508 right_pitch=-0.379 right_roll=-0.1157 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.5795, 6.9949, 1.7363, -0.0757, -0.0122, -0.0122, 0.5812, -6.2974, 6.9675, 1.5165, -0.1685, -0.0855, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b980698cf0f1dbc1f4bb579392e85898ec8e178bfd0dce9b36898674d2ede5e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1ec6505e00aaccd9a1d0129a29cd51d4c667a68a452d4bd8ec6a40a5145b72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220cc1bd356812bbf906b945965e5e919e49a8849b0dc48f03cf75da58412b64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJiD_FCUJr8aQH4Xzp8ojIHhDmCEASVgeFbswgkprNA0HbH33Lzc8RqkFHb-Jp3e12IV7WYw4oMb60Y-vaJ1j5rOzPMVHbOmLQ9Dt4m4Z76jciHcYsPFE8PJlbYh4th7_3Bgl1CDd1MmXB5t-PJHEXhrqERT9b4A1pnX4XLka77SROztz8LHFp_x6m22J-o3G8ZLzG11uAaEmckP3UO1hXNo-R7q9zvfGD2JRPZdTSq4w-4y2jN7obKtlS8bY0oI6bUeK6bStpJwFrFiPWu09ZAhsoWRvXH2_MYc8waGDPEYjNqb9Z_zmz8ezBWi_3Tb8RlUTF9B0K3y16_pSgU8S9mGzQ_L2gO1M9Z6wNk_JkfXlw0TJZtrGYV5mZeUOhTxbx0HJ0D8UKm1sNOEinBCVjkfJ_9ynTAB6wYn6dnpyBxgz6vEnnmdxT0HiP3uTU3TUwSC_xvx3HFfd8uHGxCyiL4SKJgIxZ8d32lO9hfz0HfGCuE5SRg00_nf5JxAFyyiKjUA2rmh8gUdY4sdk9MihgGO_4YySD1KWIwTHiUPFiTfUoH1fNWfVKvOhPgjMzmtwH3ltcqJnlPo71AjL7iVjyyVfhEGIeANS5TGyvp3lZG3p8_4dOVdIxtLUqrId2D21H3r60TR_myU_XS6BOpFU9RthiUAR5nCoi-fFmslnNnal6kVoNyPpffUloJJEK2GDV_ARGFU3rS253CsW8KXIZxawAhFYmSu863WnThJcOQIm1wVtBl_5z5gNl3948r_MxS002ziuM5EOMidhpufmxuUjQixLGh5zR7oPuU6W1comhg_iH-5Sno85SAnoEGVagEPtxChpzy6mikg9I_X74W-vMIVtADRnLCN9S_aGmWYi5YZxWhgqbZgH-RrNcTVUhYftroVm9lGQnBYt9rQXC5aFlt7w1HRSVJPX66W3sB_pniePx-1TBXYS-PM5bdm4yh5_768h7IQwI9OKEqOxmm10Zaa7THlsznnsRYYs5C_Xzc5mR2qOutamDxR9Hw1ZrSDxSNEHRkQ3zYZUYqc0JK824vtteChOIwvBhi1OzBfh0QbMZYnDqIzSVxcY5Lrm5PV0Yg13kKWe5wRn3zToUmc-Yv_xSmpIvGhPrhGrDuD1YO_2YpDpqjue37buxTCqWkvi4fRpsn6p3dzr-i5sr586jGYIaUK_w5sIoMEJBFk1BzWVQZ0VpxaaI_1nEkmMaS1xipqKuFfItRAphykA8f7rXb8-l6ucFtaxN-AzwEau1VWhER8l5CeORbkY2TQogIZiZI7gITAa4niWeAObEhACogoph7fwmNvU-QNGJvgnCKI3WFOWiW9Wrr50GPriosDo14FJSoyCckryTgkh99gOshfpBGRjMg_W26DVfwncs-CZP8SsHjgfD81lT9F1O1LeAoTBkrVSKnE9QVAT2URl90MfI1ENpmDUyHs6J5E8yd6tiu9R_AoOJvmjyTlhpADp40MOU5uODIEsy2X1C5aQLcl47LUgcb4VfZoPhurnev5icMMAixv8K3RdLPhw4vtP6Opc8-cI9Y_Ne2kHBeDp2ScNrIbtM_kAUclzy6Ma63Z-hhVhVD3f5GuXpv6XZP9-V_3JCseRIvuEBP34yjaTI-F7voCduehkMxByW7aMpRKVQSKdBJK1hH8zdXBUOB8xa4qm--nii-a6ry0RKA7HJcLch_4XS8Tj_5Dav9Jmw_311j-JcjV2wnFt3jw63FVQtFylTkKm1Me3FA5Qogk6CxSSVNZmTO8Hf1HKgzIwdBTW15RNT0CG6zqn8N78cGXjgv7S5_ZZrcLz26BVuyoVkbjLfDm2rYSD6h_2KhAyDwq0eZIh2BUJbVu5y2k8uKtH5s1STX6e_VZE53S8wAprE5D1EIi_SAXXHSD03b8DVUqRiaT0U0FbTmWsGrCHFvNDDQ0S-Bn8HHRsD8L7G4kkfNdTIVcfZddWBOJCj-i_9OWAaS0U06qCLWsbTbhhN1XLvopX1IdcGa5M4VzuOgl62j0z6hwh8MzL4FuLRuWPLMnCNq54UTtZaJLOaIt6gPcC2lf0eD2-vS5QZ3Ibk3E3QHCspJqazWClEczMrBM_BHDW1XvKJEtSNlHZ3Is6c4XiEUOcKN_cn2nxkLoC_hyQ9Qh5OLyP1IMGDRDimJfvQe-CfzUpOPEMqlhyb-nFX4SlktX4RMATAOn9oWNrqOki2svnXL3JR-MMs6oceQboQ2DjGcFmbOp-Kh_4Yd2lbeBmc2s4GZu7Kg6aL2xQiE5JVmWix90FhzdDpDMlY5rcwcJF2ObovWHetMzMU-g4eXd8GS0aszBEqm2p0V0qMkcLFuWwi87xb1mBC7Mun9sfoNbzL4wwH0thrtGCQvBHeZw8rvW6XHRPNFglEFcuhOKjaVwDdCoMUDFPpdGAdDojRIf3jml4qclORhjS1L5oLL_SYbox94uo_wQ8p6SRtiZYYCi5S7q-5IA-y0ufN3LW396VG2cVcFUdA-e3UeG789Tqp_rcxiRXRORHE-NzGT5Sw2zOmg7eBDtUiDwlTfjZABy2TBWCNPEcJdR0BswJnbr7YhjfYi48yp61WIjikwzc-u6zjLoP8XlpBG_RDS0UTjxGw86zF4CuQQ2fQHYtpqUyvGbudQQeZT4HaC_6ZL2A==",
  "id": "rs_00c93f82a7f9cf82016ab4425f3d5c87d094afe2c48ba6d2f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.21,\"right_z\":0.14},\"note\":\"From this hover the blue bowl appears at the far left of the wrist image, while the remaining round yellow fruit is even farther left and slightly nearer the bases in the overhead view. I am shifting substantially left and a little back to bring that fruit onto the jaw column.\"}",
  "call_id": "call_oUGzyVresyHwOmSxH3SrSkUB",
  "id": "fc_00c93f82a7f9cf82016ab44261cbe087d0a09b41bcd26fe696",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oUGzyVresyHwOmSxH3SrSkUB",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4419, -0.0139, -0.0334, 0.9987, 0.7483, 1.6127, 1.2278, -0.7418, 0.416, 0.4656, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1656 left_yaw=0.0008 left_pitch=-0.0763 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3247 right_y=0.209 right_z=0.1303 right_yaw=0.077 right_pitch=-0.4121 right_roll=-0.131 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.3607, 6.9949, 1.7216, -0.0513, -0.0269, -0.0171, 0.1299, -7.0632, 8.6359, 1.0427, 0.3932, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa6fcb7a24aec9710e268323c41ddd4c0f2814808bdf75e5eb9714fcd7100500",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdee8193a7cf634356836d2c42c028d3394161f86d755d265de71b4f24432eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08df25a28a8aa4e177286f79f7d2b86ee0182591f4f7bd59374e927609e56e9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8116, 0.6132, -0.4274, -0.0139, -0.0338, 0.9987, 0.5331, 1.5543, 1.2129, -0.6342, 0.3214, 0.255, 0.7188]\nstate[eef_state]: left_x=0.2904 left_y=-0.0001 left_z=0.1697 left_yaw=0.0018 left_pitch=-0.0576 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3709 right_y=0.1582 right_z=0.1538 right_yaw=0.0896 right_pitch=-0.3407 right_roll=-0.103 right_gripper=0.7188\nstate[joint_eff]: [-0.3761, -1.3197, 6.9949, 1.6972, -0.0757, -0.0317, -0.0073, -0.0615, -7.5282, 8.8547, 1.4432, 0.3297, 0.1392, 0.2808]",
      "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, 0.815, 0.6132, -0.4339, -0.0139, -0.0334, 0.9987, 0.2447, 1.3121, 0.9237, -0.5743, 0.1764, 0.0395, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1675 left_yaw=0.0008 left_pitch=-0.0675 left_roll=-0.0016 left_gripper=0.9987 right_x=0.3378 right_y=0.0561 right_z=0.1299 right_yaw=0.0508 right_pitch=-0.379 right_roll=-0.1157 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.5795, 6.9949, 1.7363, -0.0757, -0.0122, -0.0122, 0.5812, -6.2974, 6.9675, 1.5165, -0.1685, -0.0855, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4419, -0.0139, -0.0334, 0.9987, 0.7483, 1.6127, 1.2278, -0.7418, 0.416, 0.4656, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1656 left_yaw=0.0008 left_pitch=-0.0763 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3247 right_y=0.209 right_z=0.1303 right_yaw=0.077 right_pitch=-0.4121 right_roll=-0.131 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.3607, 6.9949, 1.7216, -0.0513, -0.0269, -0.0171, 0.1299, -7.0632, 8.6359, 1.0427, 0.3932, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa6fcb7a24aec9710e268323c41ddd4c0f2814808bdf75e5eb9714fcd7100500",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdee8193a7cf634356836d2c42c028d3394161f86d755d265de71b4f24432eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08df25a28a8aa4e177286f79f7d2b86ee0182591f4f7bd59374e927609e56e9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJoDW03yxOxkfFFv7S88xjQtCsIDgAQCiLtn_9pHxxt13dhtKxIQQCe1zvCigKACHYAJc4EPyVpDXynBczZw3TJ499WYqCOZA6VTb1arI7iwUBX1LIuU4AcgCchMyYIEfh-0BraHjTuDOFJGCY51QeC9Ib29idbOj7tLmZHssxlQC0M3BSpIz9STaoyA6I0q_FhTh5_iuu1ZF2VoSH7_yfLZyWZssHp7iLuFzHCJyBYsgaan4y0nzqMR1uwBUCEOkGAFM7dE-dQaR__OtA3dVyqfN2YCGuA1ytiQNdG00NKRKzjhaseB56A96nHRmV3DW20Dbx3JdmLkcE3J5miQMqgu5Ic3t6JEQ6KFiCIUskfjVVS-KPqyAAEiix2fXRu8IVG9mRajMU7mxk1NqrEH6rfKostYwhJnAVJpM3DS7sEBai-nHXoi2_CHli3-wFZFNAcmYeEBN_aMO6wmgyo7EDu5kYUoR4HnIEl3KgfCFV6nMFud4OrG0ClhR7d9ycXSeKVj4H61KyNz1qhCPjWqNraDmVhVWWjZmMltw98Ku3bGqUijOpxjDtjS7Ma_7YkrVibWGUc42F34bH64-ttbMxEy9MG8TLA-BAvAJDJok9jxNT27kAPTp0ukSFTzk-uS1TBdsjSmItt7_vaggNqUM3h5BW2At7dfQZ71vW1r3KUt3ckL7LQIh8YBlPOaBp3iT51psQTawfxRguDT-Qo8XHyUXZpuT5yCCXu9kxzJY4k1YmI_-odN6pS089Cpmb4HNq7o5bDnW_PbdLmIY3L5vBmVC74VpGmDn5v2OlyjoirH2mFs7XLsQEha1Y1PhQd1FLLoaIDTwUcpUFJDURKbZA5ObV0HEWxcHIuxz30Qwa46Lu0wwzx7hbMgovY7uBZN86cED0ngeu0Hlq1oJUNS0LmHhmPkDsYAGKQAkuUwTG7mUaL_57kqqrQpfVreV77UF9VcCjpkSiCv1J-c45jnJOXkbMfEpmQ6Oy2cVCbLyiD_LR7GBdOqiQfUpRRYN0YJUqfCDLle-SF4jDXJA8kRZfpin0Xbpe7qEA_M-wMcH4DUw3CThuYfgOGlEMmPA9GGDhhkMABIQb5EBISlHc35M1-lsPxMQOUVuHg7rDTCipqIQg7SsP_GsI6BmCh3_UJlalC8hZ5fDSDhgF7GAxwoKXBFKsdRGGaG76iimae5gIwIlzNxQYDR8ElBEdDTQXcF1cilq1BLM5T9hG1PABCdC6mldaShvgElZVJUSfVwy1PgyModZvcasxmcZ9Vry78ZIZu5RhnqcploY0wJAgoQRTbxgWE37sP4OAhG-ZvpveD7rdlWxDqlQWeZzrCjMgdwolQuiVQzpsYyiU_DxxWPjvCO_jbE7eIuZNvIeIJaXodRnsE5g1lJqTOt51eqfSBeAMdrRf3Y4mVM4Rcnu89C6JXXeeAHMjuSvcwcxWQ24M8EMTsgfjRPpekqnIjefLBdxrdk_nX_RESlFQPvFrG7AqDqm3hyfQTOfyqsNmkQLuGweEoQsFA5oQs4FnkmHCNsN69g98b-dqCWgn_9wgLyc1-zS1vgfZBmK-EzG338G8yEIAQalLE4in2nSacFB2AFBuJvd9fivtNDNhZBsI0CLOVtm0W9JuFBzNUhdGVZChIUFuhAHgEPmcL5SjcxcB8nsz3YbTjzt0WIxhLGuz854lXVUQdNTz1aL2Ey5ACNRP9Q-g=",
  "id": "rs_00c93f82a7f9cf82016ab44267054487d08bdd57bd8d9fc740",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.29,\"right_z\":0.12},\"note\":\"The yellow fruit is now visible low-left in the wrist view, about 7–8 cm left of the jaw column and slightly closer to the base. I am moving left and back to center over it, with a small partial descent.\"}",
  "call_id": "call_LrgANLhmTy2bJmftt71ZkkMl",
  "id": "fc_00c93f82a7f9cf82016ab44268046487d0b927f0911d9ab83e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LrgANLhmTy2bJmftt71ZkkMl",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4469, -0.0139, -0.0338, 0.9987, 0.9829, 1.7908, 1.3857, -0.8425, 0.4828, 0.683, 0.9986]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1648 left_yaw=0.001 left_pitch=-0.0809 left_roll=-0.0016 left_gripper=0.9987 right_x=0.2862 right_y=0.2879 right_z=0.1135 right_yaw=0.1006 right_pitch=-0.4388 right_roll=-0.1418 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3197, 6.9812, 1.6972, -0.0513, -0.0464, -0.0122, 0.3487, -8.3761, 8.3897, 0.8034, 0.5055, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3abf2ae0df25e517c105e9f83da384de250f8cd79b8b954ad6752969d17dbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:595aafb5ec40f9a5d807149312e74a08f8b1b5c1010b09c1cccf94fe434e0a16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecdee6af33e923846829b6fa29468c2bcf55fd0c6e8addb2238fa8edf30c0cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4278, -0.0135, -0.0338, 0.9987, 0.5331, 1.5543, 1.2129, -0.6338, 0.3225, 0.255, 0.9958]\nstate[eef_state]: left_x=0.2904 left_y=-0.0002 left_z=0.1694 left_yaw=0.0014 left_pitch=-0.0588 left_roll=-0.0023 left_gripper=0.9987 right_x=0.371 right_y=0.1581 right_z=0.1539 right_yaw=0.0887 right_pitch=-0.3399 right_roll=-0.1037 right_gripper=0.9958\nstate[joint_eff]: [-0.2393, -1.3744, 7.0222, 1.6679, -0.0513, -0.0415, -0.0122, -0.0889, -7.5009, 8.8684, 1.4188, 0.2857, 0.2125, -0.1832]\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]: [-0.0219, 0.8154, 0.6128, -0.4419, -0.0139, -0.0334, 0.9987, 0.7483, 1.6127, 1.2278, -0.7418, 0.416, 0.4656, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1656 left_yaw=0.0008 left_pitch=-0.0763 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3247 right_y=0.209 right_z=0.1303 right_yaw=0.077 right_pitch=-0.4121 right_roll=-0.131 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.3607, 6.9949, 1.7216, -0.0513, -0.0269, -0.0171, 0.1299, -7.0632, 8.6359, 1.0427, 0.3932, 0.2564, -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, 0.8154, 0.6132, -0.4469, -0.0139, -0.0338, 0.9987, 0.9829, 1.7908, 1.3857, -0.8425, 0.4828, 0.683, 0.9986]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1648 left_yaw=0.001 left_pitch=-0.0809 left_roll=-0.0016 left_gripper=0.9987 right_x=0.2862 right_y=0.2879 right_z=0.1135 right_yaw=0.1006 right_pitch=-0.4388 right_roll=-0.1418 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3197, 6.9812, 1.6972, -0.0513, -0.0464, -0.0122, 0.3487, -8.3761, 8.3897, 0.8034, 0.5055, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3abf2ae0df25e517c105e9f83da384de250f8cd79b8b954ad6752969d17dbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:595aafb5ec40f9a5d807149312e74a08f8b1b5c1010b09c1cccf94fe434e0a16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecdee6af33e923846829b6fa29468c2bcf55fd0c6e8addb2238fa8edf30c0cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJtA5xn6qjzWJCugJX9RRvI7YbV2jVp5TBmenF_Dc0gToaKWEA_W2-kkWizLHg7iBqdq1kQrUl_UPIU7H1Jpf2S3Et-nXRJi2jwm_Qakqg3rcv7r6YZXIyu0HUJh2eFgBoSyl46ELGhBjZAu7d-WDS8zfkMVhARsqeGhPFCoTMHn3xD8rwAoGSse4400Y4LniJ2Goc6zjW03G1qaMA6mhW4-gsXRyKAs8-gIiEgitZoFUqgbm8jm4-MDrjDKJVx_1wUJSS38CKie2sjgmREdaKkmT5fTcpGTf_YtnUsNNzKruBJIpA1QOH1DKzgJAiAlOqQV6R2UjKmY9JOEj1j7_Ir2lMtusmIpThq5YtW4ec5fhRGt6am8HbJyb3Tv6dU0ottjhMoH2G8VVB0YEeddb8Ou0FSeZCN8iDuHkC0_tiJm2mTzu9dBVeE5d3hJBgltUzOXg8oQfGaB0dt2UrIsDcxLqzV-Q618ODkoDQgtaW8TBdk_lA38zgc25A0Gz412iAcAA-xnSMNqcvbNlbIvwNb2ogQTMrD1e3pVMI9scjmwPktV3aDaUJs3r4vsjiibKiHQHZQ5e796R1mD2lqfdc4PvDhxfRH7i-cGmHj6dbb_8ovCGfN3m3oupmM9yNLHpbiS-7du7oKgf0OA2ZeKTeRk1Xj9BuTod-4a3XlS_zTh2fBSJRsJk4BFi7dO-4dHcSTXVJGiSLWmQgHuoKUSrd_SEcn3JaXcKu5x5g2lHpUXiNSY-IC3xJluD4G4BSCHwpd3Ee5R6ocmWm1RrKcvD2WSVPH-mVRk3TVY8I5KHeYfpwPkxdvJNUK0ewhFpU_6S9_kHB6gx5Z3-lG4q2m57H5bDFe5STKyfZvM0zytox7BOpMbrBg2tYFvmF_xEStBCcQoTfCuXkHqnvSDmDhGxTB6SrOmU6AYxYDjqL68XewBgE0x2jU-fip3cpQVXIUeIt2OXR8uHnXRbg7PTK49olTDFOQ8jssL3ouror6CzDDO1irNf8plXt3rJcOlnHhOUGT7TGzCahlHcdcAM--hLK_MLjod5uqpQ-fkQbj0TR5YpN6NZ39lEy4KSgAfj7v8HXuGKuN34dKdUlxdsrK-Srift4T0ettD6t3yeNyzIyV-IZgX48kJFsx7yhzOP0KETie4hof5heqKUPZssYYDyBjjFIjQ_BRJ5pVuCxv8EnFyxHJa2SuWLHWT9JfYr5zU9CtoMnjpsTqtqGtkIv0bKsl1MHQTvdcLrTNSfBpYTQyTQsyCHQLVt4WLSjA_WlVuuu_My-o4OE1bwRAMkGGmcoFNZzP8anfHw4DCdyNq7YfHUtEeMlewG9Nnqhsthute6q1eMm-tHwz7rIwLAyx0YHxeKpXSBxsb-Aww8o9z5MyYs4FXlwieS02_kxDFp3iW6xwBSO69TKfEVlJ275vy2PTRx4ru3Hw8zTQSqZRfnSoAJlulTQgUx0rUhqfGRLtSvIeSww8QrPVJjvL8x1ch9YWFWBfuG7Wa-mWFUEQKTnmcWQ=",
  "id": "rs_00c93f82a7f9cf82016ab4426c14a887d0892971cf1147ccd3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.288,\"right_z\":0.04},\"note\":\"The yellow fruit is now centered on the jaw column and close to the fingertips, with the blue bowl safely to the right. I am advancing about 2 cm and descending to the fruit's mid-height for grasping.\"}",
  "call_id": "call_RB4brFH8RwiyqI732VDjFXPw",
  "id": "fc_00c93f82a7f9cf82016ab4426ccf0487d0abac75c434969ada",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RB4brFH8RwiyqI732VDjFXPw",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.45, -0.0139, -0.0338, 0.9987, 0.9421, 1.903, 1.2346, -0.577, 0.4664, 0.643, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3015 right_y=0.2856 right_z=0.0411 right_yaw=0.0943 right_pitch=-0.4524 right_roll=-0.1523 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.3333, 7.159, 1.7314, -0.0708, -0.0611, -0.0122, -0.4991, -8.8547, 5.6684, 1.0476, 0.188, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56939f61327a96f85dc8bc51c8cd241f01becd9a4b9dbe0db1b62c4d861c5259",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0bf0cd30c9f7c236b22d5cf98ae3edb56de85c36ca140d916f8e21b11909430",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534d10f5fdf866e6237ae9d5167eaae0db90082d30ffbf6b922606d2161a1f5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 60 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, 0.815, 0.6132, -0.4339, -0.0139, -0.0334, 0.9987, 0.2447, 1.3121, 0.9237, -0.5743, 0.1764, 0.0395, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1675 left_yaw=0.0008 left_pitch=-0.0675 left_roll=-0.0016 left_gripper=0.9987 right_x=0.3378 right_y=0.0561 right_z=0.1299 right_yaw=0.0508 right_pitch=-0.379 right_roll=-0.1157 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.5795, 6.9949, 1.7363, -0.0757, -0.0122, -0.0122, 0.5812, -6.2974, 6.9675, 1.5165, -0.1685, -0.0855, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4469, -0.0139, -0.0338, 0.9987, 0.9829, 1.7908, 1.3857, -0.8425, 0.4828, 0.683, 0.9986]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1648 left_yaw=0.001 left_pitch=-0.0809 left_roll=-0.0016 left_gripper=0.9987 right_x=0.2862 right_y=0.2879 right_z=0.1135 right_yaw=0.1006 right_pitch=-0.4388 right_roll=-0.1418 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3197, 6.9812, 1.6972, -0.0513, -0.0464, -0.0122, 0.3487, -8.3761, 8.3897, 0.8034, 0.5055, 0.2125, -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]: [-0.0219, 0.8154, 0.6132, -0.45, -0.0139, -0.0338, 0.9987, 0.9421, 1.903, 1.2346, -0.577, 0.4664, 0.643, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3015 right_y=0.2856 right_z=0.0411 right_yaw=0.0943 right_pitch=-0.4524 right_roll=-0.1523 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.3333, 7.159, 1.7314, -0.0708, -0.0611, -0.0122, -0.4991, -8.8547, 5.6684, 1.0476, 0.188, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56939f61327a96f85dc8bc51c8cd241f01becd9a4b9dbe0db1b62c4d861c5259",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0bf0cd30c9f7c236b22d5cf98ae3edb56de85c36ca140d916f8e21b11909430",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534d10f5fdf866e6237ae9d5167eaae0db90082d30ffbf6b922606d2161a1f5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJwN3vQM9JJQmQBD9kNS_sSR4DE9iixQ-z1BqD5_YFZUdsxElMeQe8S4RVZTQXHxo6lVRBHDqfJ0dpi2Df5Id6HcyXR51PyyGqIARLbP__na32xuQeNJlw1gen4xTNHxovoQ2wm6bGY7m8ZRjobDEx407kfjmv5ixqzLCgEyhUHj0xf0U4rsZ56X4tqODv7u6XrN3c3GZxpTDu0iGdkXqN5vrGx7O1lpIaJw0Lv_oYcoWJbtpXiK8FLhPR7DyxNboFXjmJgw2QQCQ7tpk4Yah9oWb93YXkkxlZqGTEhrJFoAkGd0ujclUJ318iMXssREOFTD80hygzUlVp9H6sKyCWMbyDW0LsU_5dc-yJ_XQfQXyd6XWY9ACh-lUVNI3eXy8Jr-fgDv-UzWu6AfmUBFD0kAtu6orgLeTLmTBr9Gs3iH2cEl1GhEzCh9u_GNK7GMsu-jgxLUWZ7huhRc8wPoPBsj8bvj4QJ4e1SLTBJk0GjerxTDk4ct_CCCvOPTHmKyzJcmUDMJXduLVNLwEPNWLDLXu-GVitPgsUOJhYtLOYtQbMIJUGl0PcfNW2l0iVnYkIYd7jiQkuz6sbcmODz7CAww_vs-y05XAkCl6xHkxpIbW1j-fwouys-V58GIHlL9Jt-bnqddzKiHhDTQ7Zajk6HCNLjTs32_CUYHlhpvNzIreNwXtJxjI4tSJW7QuMsHSieW7L2ohKO_ih5fLErtFIZPUMlfkAoD4xzGpmwF_6cue1PSfABFjKQHi2S0smYWivUdb-Smqw-vVbM1vbzCZAR9rs7T7UviTYawzwGWEm0ZRJJrl8DlvbPC2LQWYoShwkLvIHYFCHWZUYW3nFrMvBfJD9618Eki3c5JVRkM7OsA47yTDrNmwfOSjdyPQd1HqrmtEgFi-wPK6EkMVnoy4_XKLZv6sFv91ly7FFcPtcW096Qcz2LD0b-SP0ZdgtnJAtpg3ggVdoQPrynNk0s84qIAatnbdHJakqodfXaB5yIDdP_OwawHyThXZFdbUkGgjx4-hjCTdAtr1K8y_f9MgsyHU-wgpkWX-qD0aiECfIcUKEQiw_pn4JXmfmt5W2b1Rlmlb2ayOYmmW1clyULBcTXQnqOMUJom7WqMGe-XRSXmaSXUUWiGPwVlMZLsF5gG44PT-kPluit2G19U4ezXKShZmH6sssYWHOyFMbDykezhkGpxria3YUroy0WaIY68dGl7RUWLLRoSyB8RtNcPtVipwXqqprQb-5qUCZrMFyyEyI=",
  "id": "rs_00c93f82a7f9cf82016ab4426fc0cc87d0834d1b97842f4ea8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are positioned around the centered yellow fruit at table level. I am closing fully to secure it.\"}",
  "call_id": "call_SRUFeZhm1F43JoYHFzsk9eK7",
  "id": "fc_00c93f82a7f9cf82016ab4426ff22887d0b417cf2e0a8787bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SRUFeZhm1F43JoYHFzsk9eK7",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.45, -0.0139, -0.0338, 0.9987, 0.9401, 1.9041, 1.2327, -0.577, 0.4625, 0.6365, 0.0107]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3012 right_y=0.2849 right_z=0.0398 right_yaw=0.0975 right_pitch=-0.4577 right_roll=-0.156 right_gripper=0.0107\nstate[joint_eff]: [-0.1026, -1.1556, 6.9949, 1.6825, -0.0806, -0.0611, -0.0122, -0.1162, -9.6479, 5.9282, 0.8767, 0.2173, 0.0464, 0.8523]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab3b4331f07410885dd9159e16efc417c45f02456f9b59384b2f4cb648fbc39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4c63a0800f9f205d315957fc56b4bf0f6d4479e07ab70acfb71e3f2509a9be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:976d1194b7a73c4f1251ea3584176421233c525e4bb16dfdadf29484f5e39388",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 60 changed as sent

message 64 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, 0.8154, 0.6128, -0.4419, -0.0139, -0.0334, 0.9987, 0.7483, 1.6127, 1.2278, -0.7418, 0.416, 0.4656, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1656 left_yaw=0.0008 left_pitch=-0.0763 left_roll=-0.0014 left_gripper=0.9987 right_x=0.3247 right_y=0.209 right_z=0.1303 right_yaw=0.077 right_pitch=-0.4121 right_roll=-0.131 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.3607, 6.9949, 1.7216, -0.0513, -0.0269, -0.0171, 0.1299, -7.0632, 8.6359, 1.0427, 0.3932, 0.2564, -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, 0.8154, 0.6132, -0.45, -0.0139, -0.0338, 0.9987, 0.9421, 1.903, 1.2346, -0.577, 0.4664, 0.643, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3015 right_y=0.2856 right_z=0.0411 right_yaw=0.0943 right_pitch=-0.4524 right_roll=-0.1523 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.3333, 7.159, 1.7314, -0.0708, -0.0611, -0.0122, -0.4991, -8.8547, 5.6684, 1.0476, 0.188, -0.0952, -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]: [-0.0219, 0.8154, 0.6132, -0.45, -0.0139, -0.0338, 0.9987, 0.9401, 1.9041, 1.2327, -0.577, 0.4625, 0.6365, 0.0107]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3012 right_y=0.2849 right_z=0.0398 right_yaw=0.0975 right_pitch=-0.4577 right_roll=-0.156 right_gripper=0.0107\nstate[joint_eff]: [-0.1026, -1.1556, 6.9949, 1.6825, -0.0806, -0.0611, -0.0122, -0.1162, -9.6479, 5.9282, 0.8767, 0.2173, 0.0464, 0.8523]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab3b4331f07410885dd9159e16efc417c45f02456f9b59384b2f4cb648fbc39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4c63a0800f9f205d315957fc56b4bf0f6d4479e07ab70acfb71e3f2509a9be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:976d1194b7a73c4f1251ea3584176421233c525e4bb16dfdadf29484f5e39388",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJ1xvFZu2kySXyCWIrzZYPoOCZvb6F5LbRVJ7gEu72hmuI5Z8NZfnm1WXqBonzr-Rec9FxJiApI3eGauXaIfbdLRnFVSqk4vxwv2Fr0S80tigYflzk7X6xKUjPNxzbldAtky08GHLqbeJdwulHtHEfaWpxfRIThIp5fGacNYXm1sAsblWstded3W5OFq2lX6xtcMwwmUXCV7y60YZj8PVoac-F7y7KEcXik1AN0oPo1yYeW9znO7botuP1O8LzkbyNUGFjwnjpk0w4I1XujglRwMZ2jvaeN6EQizhuccbY3POpg1Rmv0I5WxleqNp3P9GYvtsZeQwuD4F5I0ycqAyGYKZwJR8a1AtA_ygRpQJsmTOyeMmAZRlkEezR38bInUXy1BQSkuQ_o9zxFxub4PgUnZR7i6IaNy5XG4RM_Br2mJLHUWPlnfKNMyn3ziQhrSTQIHLaGx2Zi_uOYbXAURp1lSbNRrmZdLaJPFuknW1BatO08TO7_8GZ_Pry0dfxfNSZmygR597s2l9yceycVPnlCWHIvXRrhiE9zHuiQLtzTn045clQ0UIIaCgJc862dJX5K__y4w6Bz0PVic0rXXxPnZ-W2KsVT5jSOkSQHS5v-1KvEn36o5H-FfdPsj6d95oVxYtehFDhRmzyOF7VogJaYmgqYT7-oKzTLq7vqvEL9FX1znj0eMlmuhCbHsw3E8CiQtP8N8x5Q3I3FQL8urra5vwYBW0mxt7hgmCvhEunlA11AqHmd9sYZFY59TWbVWgyABt7Tos-VspXJ0-w--Ys3yoEyIHvMSGpmn81i--WW3uY4kcVa6URJGcx8xmiAhvcSFtxq3RZYuzFEGlDdeoZdAjooppRi1gtjFKaMt2I3l0Mkldg6KvT5na5ShVRJE3w5XZHtfpQgK7d2W_rCqc6cQZSM0zneFwS8lnyvwwD6e-eLPTWnNwkB21FvegjH50IbgMPlB6QkWLx2loYkJuBPyKFe8ARn2NkN6kbq3WQn00IXXnd-rv4TNnJ6BiCvl0iO1AT0GZ_O9Y2MUgKE_B8B4hnia0sCE0MM7IN6U0tvxr1RCBA8VyUBQaGGhtbG7JdSip2NFiqrDagpVCUacbswGdfkOx0P5jWp8-M66qKo-SbuqevNY-A_gZDTqwA4vwCUWQoqafUjDhtHt-lqMWyMjN0waf329_7RyPHU9IrAsnE3YxSClO52F69oUBOb0JFojIhXhB2dFeoDTYRJ_4ScTYqOTVxrv1MkL28LSflknJoMr-4mLjBD0fab6pNeKZPzVzentMYxOrgHnAz16k_3F6-ah90a0RZlAmPXolYneRplc1rkXTSZ-Fsg1D-QrFR88soKC52AL9BOAzYobfJZmmPXl-pZZIj8yGX6Y-41s_N_Fas8gypgx2qAxSo1VoRwW7DT1o7Cb4qGCQaKN08eau7iTQM5K88NXY8XeGA5pQC3a38wSXYZD41LR1XC76-HEKUxAaqOjfAtRTMyQoCHAZz7LidJDUAkH2yiEs4WlUaOdXKTW2CFRTIiU9f-CCYfCktTgv0VDrOxTNxsuZef3zAwOUTCY3n0ngzRk7Zn2Jj1H9anFCECf4ubU2rwhMRXSiHYGwx5A0vjj9ArCT8lzfdseaAxwCR6041bsCwNMzECcUVOnuluuz9Frr6FHRrOVdifuGoZ-IvhcSwY2B6oN-HkZkxkH_SdKrIRdNiFVWkr4oaxj63SMHLT9vqqBaRAO7jB0EGdmn536V0Xm4eoeBRzdDb8xUu7iWs9pgEDzBvWAd4ymsYt3Zcyg49bKkxT-gXpkNrmcgi5OHOAgVVj5AJ5HV2edYFQO8s0gbE7dh6uVWLT-PD-P4paRSDEjCqFXjJMxIYPfCXbtpho5rD6Ab04xeEjVl78FGEEZH_oO2DP7BwOrcPkQVeqpB7DDZ-eSwL4Vlv9T3ASnV6LQrQ2_4XGLSqoYfvHwUZYfFaSUnK03Sp8twhXgb5Qe5veijdzgCNE3v55ix-dB6_XZp2DY-kTbstoiNgpq-3Xfb0xEiDOzWE7Y4ffNGp13kuHfI3CxQeTpQ4t7APN9zAD_y35kFPOtNWjUQ7a8WallQMntgM=",
  "id": "rs_00c93f82a7f9cf82016ab44272a32487d0a1992835073ab763",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.322,\"right_gripper\":1},\"note\":\"The gripper closed to 0.01, so this was an empty close even though the fruit was laterally centered; the fingertips were still slightly short radially. I am reopening and advancing another 2 cm outward for one corrected attempt.\"}",
  "call_id": "call_qF4q6W7oBsqjnOvc42iwjolV",
  "id": "fc_00c93f82a7f9cf82016ab44274864c87d0bf11239f34983ab9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qF4q6W7oBsqjnOvc42iwjolV",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4503, -0.0139, -0.0338, 0.9987, 0.9001, 1.9282, 1.2568, -0.5804, 0.4366, 0.5831, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=0.001 left_pitch=-0.0843 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3128 right_y=0.2798 right_z=0.0355 right_yaw=0.1046 right_pitch=-0.4828 right_roll=-0.1706 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.3333, 7.2274, 1.7167, -0.0708, -0.0757, -0.0122, -0.7863, -8.5538, 8.1162, 0.9939, 0.3053, -0.0073, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c7b2a6570ab7a44b3a90d8fb6098ad9d5f3840b451a78141f4c97ceae05ed8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4140ca53b02ae96397db57f07d67b029d62791fa837b85596a36d1f45c981c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b1fbecfd9e2fb4713401ac1df1b5263d1ccb162fa4b78b1c03cf298fbe67a43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 64 changed as sent

message 68 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, 0.8154, 0.6132, -0.4469, -0.0139, -0.0338, 0.9987, 0.9829, 1.7908, 1.3857, -0.8425, 0.4828, 0.683, 0.9986]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1648 left_yaw=0.001 left_pitch=-0.0809 left_roll=-0.0016 left_gripper=0.9987 right_x=0.2862 right_y=0.2879 right_z=0.1135 right_yaw=0.1006 right_pitch=-0.4388 right_roll=-0.1418 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3197, 6.9812, 1.6972, -0.0513, -0.0464, -0.0122, 0.3487, -8.3761, 8.3897, 0.8034, 0.5055, 0.2125, -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]: [-0.0219, 0.8154, 0.6132, -0.45, -0.0139, -0.0338, 0.9987, 0.9401, 1.9041, 1.2327, -0.577, 0.4625, 0.6365, 0.0107]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3012 right_y=0.2849 right_z=0.0398 right_yaw=0.0975 right_pitch=-0.4577 right_roll=-0.156 right_gripper=0.0107\nstate[joint_eff]: [-0.1026, -1.1556, 6.9949, 1.6825, -0.0806, -0.0611, -0.0122, -0.1162, -9.6479, 5.9282, 0.8767, 0.2173, 0.0464, 0.8523]",
      "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, 0.8154, 0.6132, -0.4503, -0.0139, -0.0338, 0.9987, 0.9001, 1.9282, 1.2568, -0.5804, 0.4366, 0.5831, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=0.001 left_pitch=-0.0843 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3128 right_y=0.2798 right_z=0.0355 right_yaw=0.1046 right_pitch=-0.4828 right_roll=-0.1706 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.3333, 7.2274, 1.7167, -0.0708, -0.0757, -0.0122, -0.7863, -8.5538, 8.1162, 0.9939, 0.3053, -0.0073, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c7b2a6570ab7a44b3a90d8fb6098ad9d5f3840b451a78141f4c97ceae05ed8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4140ca53b02ae96397db57f07d67b029d62791fa837b85596a36d1f45c981c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b1fbecfd9e2fb4713401ac1df1b5263d1ccb162fa4b78b1c03cf298fbe67a43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJ6-4ImApCNOcySGVGFyXvOwghL-UqTMyctoed9nxBphk_rOfzG98budTnWelaA2oe8kRyJ2-tpAJIz8mcYL2HjzfLtw_Za1be-cg9XnorGtDZJ0C6eE5y01n8UYPW2w7gjvdh10klqIpCQSNpCM4AozjuCjm6qPWELnyZHzyILr4MHkZ1Ndcx_R2VQHPqxSN76cPE4tvPnGn9YZBoKlv96QROzIxJEj4z76FlCeYGO7DIFKW9QUjhVQ51fOKeAFRmLoqb0sv3RuPgasvjOoQZNmnTKLaSu8KGnaNYP9c7KVZQQvFcugM7XTj5d8Wra3LZN_q2b3sprQuSx2jN_i6GYk9YeE3lgO0QQWQ2S3LcqvowPSD3vK09Nbss9QQAv6WxMSgz1znmXwXAAQhyQ0alROUbMgllACmXM3Cqhn_XgARifB6dEB89-X6Nmi7CVDt4HlJVbZnkIFg7bKDAlRThJegVhqW1fJ4gfb3MhWkZ3OtNJFACzZexO64C_KRhwEbJeDeaYQrfIS2FBDi13Fm6VQYC-J4PtXpvCs2Usa60ezJKCCH4xwxIViXRthA0LJQfpScaqTCraMiCqTyQrs3WVBPJrsnisWuRJVzVvLxbzjpJkOXxqY3XKUPzO_sgk1FbnisWYEJbfz6bRnd43BtkKWAIdX5FhW7Po_RqcyCVGKSqNV3dqWYVUbsPik7C84fbdk6tdpBRnAuCBjDhKPM7DXaKsbCSkPBQuOr6gFNCU_5Mrefo-34LrlBkybn6m5WFS4Qdpt_PcPMpKGHHTX4xZRwl7rOaYzi0lFS1Y-4JbYvUx5kwy9FFwG5bXtxtCSQvbcoBdOrEkIbelYTPx6S3kouyOhfKIMH4BP3j8x9bekPdzozjgITRp7eeZV6-97MTXiZX7cDyknUv-wzd2kj0DFgsbGseEikXfT8O3Mp8MJE_vmeGe83tDZuSmsMXSAbEsYNNQ5OlAbiXuEG-73FMCXECh8oVDnDMLMcj66AR2osdAVh8a265R4cYJnuW6aC8tUm2XID2aIHHv7Zih9ymQXoWdonV7iSVPjmQUOB1F66xKgZsPfHpzQ6zoORs7iZJ_cejdBrh8SJqoFk1C_aqs_N7HkbIvR3x3EWyVgIhqDAqCeCGAzEkIB9ojEqkRZuVfaChbmFrdjpaRsaG3cOVw-9u7TBZnch0zlMyf8A0aPLaRGWiMJCxManEtMNuLyKPr3ziMNmdxfQEbovrPBiOO0FNrHmuslq5FDIKBBg2HJgmT-TzlYFPp8-G9SOVQxk420kk44gGHFjX34E_AdODhziIT3WdlHvuJg6FBEGT3vUARDJQ5qZvFyVLJUrCq-gZB",
  "id": "rs_00c93f82a7f9cf82016ab44279713c87d099dfcb8905475f0c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After the outward correction the yellow fruit sits deeper between the open fingertips and remains centered. I am closing for the corrected grasp.\"}",
  "call_id": "call_mLs7aTW5WpkweYTlaApi6nNn",
  "id": "fc_00c93f82a7f9cf82016ab44279cf9887d08b0eb90e3083d81e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mLs7aTW5WpkweYTlaApi6nNn",
  "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, 0.8188, 0.6132, -0.4679, -0.0139, -0.0338, 0.9987, 0.8993, 1.9282, 1.2583, -0.5812, 0.432, 0.5755, 0.0097]\nstate[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.1598 left_yaw=0.0011 left_pitch=-0.1053 left_roll=-0.001 left_gripper=0.9987 right_x=0.3127 right_y=0.2804 right_z=0.0356 right_yaw=0.1118 right_pitch=-0.486 right_roll=-0.1708 right_gripper=0.0097\nstate[joint_eff]: [-0.0205, -1.6342, 6.9538, 1.8291, -0.0513, -0.0269, -0.0122, -0.2393, -9.7573, 5.7094, 0.8523, 0.2564, 0.0659, 0.8083]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a119892252a53d47f6038b0faa6e492653e6a8da959139ab76d0657099d0028",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2ad82a4dd1f7a41c88a515ccf21e27c1054c16fe4cc98c1156d882abd11208",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c76209127ec6d2ae60e92d42999f642563fad05ff9fe540907c7a32111ea24",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

message 68 changed as sent

message 72 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, 0.8154, 0.6132, -0.45, -0.0139, -0.0338, 0.9987, 0.9421, 1.903, 1.2346, -0.577, 0.4664, 0.643, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3015 right_y=0.2856 right_z=0.0411 right_yaw=0.0943 right_pitch=-0.4524 right_roll=-0.1523 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.3333, 7.159, 1.7314, -0.0708, -0.0611, -0.0122, -0.4991, -8.8547, 5.6684, 1.0476, 0.188, -0.0952, -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]: [-0.0219, 0.8154, 0.6132, -0.4503, -0.0139, -0.0338, 0.9987, 0.9001, 1.9282, 1.2568, -0.5804, 0.4366, 0.5831, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=0.001 left_pitch=-0.0843 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3128 right_y=0.2798 right_z=0.0355 right_yaw=0.1046 right_pitch=-0.4828 right_roll=-0.1706 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.3333, 7.2274, 1.7167, -0.0708, -0.0757, -0.0122, -0.7863, -8.5538, 8.1162, 0.9939, 0.3053, -0.0073, -0.1636]\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]: [-0.0219, 0.8188, 0.6132, -0.4679, -0.0139, -0.0338, 0.9987, 0.8993, 1.9282, 1.2583, -0.5812, 0.432, 0.5755, 0.0097]\nstate[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.1598 left_yaw=0.0011 left_pitch=-0.1053 left_roll=-0.001 left_gripper=0.9987 right_x=0.3127 right_y=0.2804 right_z=0.0356 right_yaw=0.1118 right_pitch=-0.486 right_roll=-0.1708 right_gripper=0.0097\nstate[joint_eff]: [-0.0205, -1.6342, 6.9538, 1.8291, -0.0513, -0.0269, -0.0122, -0.2393, -9.7573, 5.7094, 0.8523, 0.2564, 0.0659, 0.8083]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a119892252a53d47f6038b0faa6e492653e6a8da959139ab76d0657099d0028",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2ad82a4dd1f7a41c88a515ccf21e27c1054c16fe4cc98c1156d882abd11208",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c76209127ec6d2ae60e92d42999f642563fad05ff9fe540907c7a32111ea24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKDN4XRU3htJZ75duzhOErm2Of_UtY6wyu0HW_4O4U4LjTPbGLBV5tSiPzzHlk1wrxWO2iLDsVqnRkUQCBY45T88A51FdQTeJuJd-faCEA4k23m2Li84SrCvTwLe5w77dKYqM_kbCakts6XJdIImmKulFUMLbNn3jO-_jpW_iyhYH9sISMOBiNW4y80vZ53HuD9lw6224Th3rhMpalDCg5l5SHarmNwb9R28HZJsg9fWsyAfg6XUiLdGCRsz2XjzTW1Ic787K_LbnqU9kbYBg5VOXuBSpySEExZc4gpFqUcNT2Lqr2DsGsyctq_KOofsrCX_M2AAnTLYZP_ftYiYJQG-5dQlPPKk81KtgMHeDRXr2ikaZfcyPqNPptj4aOOPrqPni8jECnGVwfMzR7jhCPG0iNIfwba3ISL9T3dAdbg8Q4a2V0AKqrfkXo42r1RPjqrmY0OgyD2HtvPX-pSqvQHB4THpN_KYfmgsnqGb-0ku3s1WoReRc-8Pd-zDhoWSYvfuxvlLhSj3UvkDqof8Vrrxg3DduKsHcHEqYult8xAznmdr8jTvGo_COwgDgVA67mB9s0XN5NsvKi5-XK7jCr-4zeHO9unP-OHyqw1EDWlTm1f0SmHtGN2bv9UA_axIttZ-B40pk7D_3k-bJtBlTDeEL0x4snyenMey6jZlGwP6tPRFY-AETNIzrmok8mwS8OGcqwNEMsdLCwqUvMxSP43SA5Ifpn77eNSIhJLF1XLR9q72Onb6RpRyiXNukQhiaerr_VqM0oQIqqTJqB7RFeTZaNUhl-NmKn9RxXFesETRqfO2SRqqZYA0HNrv5DYOiqAwQ91kycKcR_JxMsr6442u3KqJgoXPljXZ6xxqTgcwYUJwaA63td5agC5559SzJgNQJ_83Mn_CkFfvYudO6upowIyxPcMM-aSJ-zXJ986ChLdOAPOXaQqvNBU7tyTTHlLErBmitFHEJA_UD9Bzgf6o5-CZ27PtUXpHAC0D9avjQwxssixC4Ml54ml2QbYiY3c1y30QXW1uTQ0sFaAtISMlS72s2XrpZCH8-igGD335Vn0HoJtcmKHgDVnFD1dXqgF0CrJaXhUHcGN-cCjN7sMN4YTWb1ld6c6D54PPHUY35p7jlIfRyCu8EL7CReQUfTJge4B2D2M0CFbnE-pW5b7xSBhBKGg150nDLwLoaRM8qgn5Yt8gX7su9fykOMbWLDX4Lgxl_o9EaTA4Igs8h31MK9urF6hGUE6zyj0di8GvNEFvX1RaVEtX934qPH4Y9FypSgU_pH9--ZRhJhkEDBcXoRIZMvgSJBWOTxDfwauIP6jf2mi3NGZhQOCBlne2H1YtbPHw6_LAI1gAXakSWgHZztX_oIrQEEf4wGslqBms-IkcFGRS77-lW_3tvKfPnKbO9PNPrIvkmvnI7a-Gqezg7vdhhQ87LHTIkrB4u70a3iCBhT5imJgkJe61AmzdBMVpwlQVXWgRN4iaRRr5d19doTR2oP4cS3Biprr0J5eFdz9KC3QCHUnjtplzv58TdX1bpdpanaXImNYk21jkneBh1i9HO3PDQva8s-LKFTQrEojHjj5kRoMO02mBDyaqoQA6zaw2u4X8BRWh7EbXF_BYULAD7C82jtZQL6aBlFAy0GXTdSs9rcFOzdj6XtDeceeu-z2lScTknfvtDAQd_kVQoOylFODTvWwtMeXQUep-mX7zIYf5MXce5-l2pTet8yax4f1085XZff69FQYbBI7kBInE0dIVOdI8fHHnMxJDKxycZY6HBwc1UzfL6yDciffwb1QJRU5OKuUzhBnLRvdNP4YZGQuDkm5H4b62O_qYtMgI88TMgoWR6JEj6W6D7wqz6_8687OoZZyNrCtqFXpY6nmuedBgxqS7W2pOyDiQZv7u7zVsIYil3gHrqUJ-fgxft5l_ZQka-Fcnx0CumRQ4_z4HZOEZnEMkaPKAT6-tSolAVrReDxf2w5aC_JMHweLuP1Lqw2bEKA6ec-bROGVHNmzG3hSCxyOfXBNs7WdOkKyQds328T003FqCcgQFny5nlc3DTlBKkDQLQptRkUJ0FAljUhp6_cALt__10Ez0qZZHGmlOBV56fbyTRD_GZgTuP1uz9NGEONJ5umTRhHQCHKh38m4RwiN84qdSK0XWThw-1MFh_2mj-RkD-Y_G3Y_xxpcvO9u8sepSywiFEMiQVx8pSqctvox6p0cjg0G5Q08HThWUv-5sCyBT0VGWi7BA9rl_hXRbX3UMrb5G2fn66HNuxS2kkkS9xyGYTVnISK57OffUFY7j7K3eAgDtYTNTFwpVkIYRe2rGr-KmEHKc12lSYL7odiGjeCKL4UbKrp6ct25KD7FNbWjIHbBs7lI6wIp8iQ7yXt6Njr70WPnNXE-qui_urOa2k1BJf7cRfoJzh54kQ5V2-bf3MjR59wGs-qPc3vHQZP14gCgSKdWWaScG3vvOOEwPY7VGeXIGt7SbnWxLcFkZ_eWJZVyOvTCpweMtBrRqAi3NuHY1vvRGtF6OVfWQ3wT-ZuMhMamf9m49Y4uBdlZeIYE56UB_BWSpKD3NYiDyeP0EupPAdtMIbF-LChtRaUR48ZoKb78jEn17p09txbV9iO8qWzfJDEC0Sn8HIOBkxnlF3rWLvFmT3eeVuvc5J0W3tuD1BlNiuB5fG7OtLV14gFQSkla6qKIYApIbe5TNVnrRjxhLWCcWY-2puNF3p7n-WNaU-7gmNENjDjJkk9OT506CV_5psvBvwhGOa8sG2MX6cHPU3JlUdznBKdTnKY20ai1xsC_4pMuy6oSFa_HF4ELadXzJq70n8Xua3Zlrhya0U2e6YngJamqb83eLkVBtvgr4KAbeWPRRmYYSf--BOQWki9OebDlw8WqNl4_6gkKB2RlGsjRaHl2R5ktLG_z_6GBxXMCWWa5y3xTfx5cSXGbCZk415jt2yhliYVgFzoCVB3AhfKXm0RJ2y5NJCCeWGxiyxlct6ExEndzBJR4YnsGkaJ6tc7K6NT6dX-QWS_DFRdZ5myVb1ixDuXqHCXrvg2iuhqWWGCGTmM96nXog8C18NXL6vs8gixIDuRPrblbzAfq9MRxEBAo8ErFUgt6p4GqWgIUWonbDRfiiA9uoLvtXGwzgfKmRl7ShsNybZlZRBcVHdsnI0-Y4v_dxEO58cZIrM10nTu-xUF9IVLE2wybx-iARI-mlW9IV0_NCRxhqaOqU-RwHYFWQM_ltN9bnUnxj9UDKa19GBBnSCoiKbX64_Ak006sR2gYY6PYqm7SJ_B_HHQAv8E8Pt_T-kR4_2ELktwi4lgS2hggXfCenV-Jb1fzQs-R9nOTcuLzcm4hAkgf-XKtb69DeKfSwLrqGBHyezf3RBOuPWxsIKeo_W0cHbZpcFCWIh-qTL8FKY-u3faUaFgIeNJ8Hci5hBYA5lQjXBIx9amsaeCCiJM_gJ2rlYw4prIoYwGnttxiBcLj3XIQQqFJ3qOmwua_Etup-6dHydFVMA3ey_zOE4X7zzWB-jN73M52Gyu-d7Te2fLP84R5NkWD8emJx0tkBmD_7tv0sM7B52_RKxYwmDjoI1iy6C9FXcpUH0Gh3PN4A1yQ6e3vGLn6VknK_92uPaeeLVZ21nxI9WKQq1LVNKuLzjzvXPIpKvIp5c2IlxJ28T2AwQZ_akVqk0-N5vlxh7M2wuaw-otj_4_uetEZSiRsf29zXOhEr49IwzM2ChBJIG9vJM7vijqFH102w3ut_YGxmy6uy3o9i0ARX9A-SmztwZ6H11-YL5e_4JxkSECz62oZJRdY85GcikpnbCwM1VSL4FxeDuQz783KDCMhMQhAV0KojG3tZ24iB-5I5xClkx7ehrZjCuYnbSouYOBNi-py-DoOhBQJvDREc7699tiTXyxfZnyMqBfjlrjGsRleR1XIQmOCiK4f_NSy0bPj4OTsAqanAWF-eX6XrM5_RGApHYqx3dCDwDwApRpQHqAeRy0s_fvj7m1RuU027w_sy0k4JtnIQCZFvw6f4Em3XZkIuJHI87VIncCjgn0E2gJ9oGQUY2rAiWxMLJRkET-taM2DrY87iKaDtOjU8MGHYTbr8PnOYxqBezm-tGle7QlfbKRnmQxyK_X5kdO0M-RjuRf1QmCO2py0Ht8=",
  "id": "rs_00c93f82a7f9cf82016ab4427d3aa087d0a9cd5bd8cc2d73e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The second close was also empty; the readback reveals the wrist has sagged to about -0.49 rad pitch, so the tilted fingers are riding over the fruit instead of enclosing it. I am reopening, lifting, and explicitly restoring a vertical wrist before re-approaching.\"}",
  "call_id": "call_UFwZJTokUtKH2Y986CQDzXo6",
  "id": "fc_00c93f82a7f9cf82016ab4428276c087d0b76ecc888238ae55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UFwZJTokUtKH2Y986CQDzXo6",
  "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]: [-0.0219, 0.8192, 0.6128, -0.4755, -0.0139, -0.0338, 0.9987, 0.9958, 1.7184, 0.8711, 0.0021, 0.6956, 0.5644, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1137 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3109 right_y=0.2782 right_z=0.0755 right_yaw=0.1193 right_pitch=-0.0444 right_roll=-0.0312 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.2923, 6.9538, 1.7265, -0.0513, -0.0122, -0.0122, 0.6632, -10.0034, 5.3675, 1.5995, 0.442, -0.0073, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c51dbb6bdcb9557158372b485de8fdf4fa30ba1984691c6fb1bd1d4077115e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85432631df2a4fc90acc104b2650fbc185785d0873b66c07dc4eb263b95486a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc5549bf6951652967e2cb0acde3e1b803790772f8f07e7dda79d144fc5f64a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 72 changed as sent

message 76 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, 0.8154, 0.6132, -0.45, -0.0139, -0.0338, 0.9987, 0.9401, 1.9041, 1.2327, -0.577, 0.4625, 0.6365, 0.0107]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0839 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3012 right_y=0.2849 right_z=0.0398 right_yaw=0.0975 right_pitch=-0.4577 right_roll=-0.156 right_gripper=0.0107\nstate[joint_eff]: [-0.1026, -1.1556, 6.9949, 1.6825, -0.0806, -0.0611, -0.0122, -0.1162, -9.6479, 5.9282, 0.8767, 0.2173, 0.0464, 0.8523]",
      "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, 0.8188, 0.6132, -0.4679, -0.0139, -0.0338, 0.9987, 0.8993, 1.9282, 1.2583, -0.5812, 0.432, 0.5755, 0.0097]\nstate[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.1598 left_yaw=0.0011 left_pitch=-0.1053 left_roll=-0.001 left_gripper=0.9987 right_x=0.3127 right_y=0.2804 right_z=0.0356 right_yaw=0.1118 right_pitch=-0.486 right_roll=-0.1708 right_gripper=0.0097\nstate[joint_eff]: [-0.0205, -1.6342, 6.9538, 1.8291, -0.0513, -0.0269, -0.0122, -0.2393, -9.7573, 5.7094, 0.8523, 0.2564, 0.0659, 0.8083]\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]: [-0.0219, 0.8192, 0.6128, -0.4755, -0.0139, -0.0338, 0.9987, 0.9958, 1.7184, 0.8711, 0.0021, 0.6956, 0.5644, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1137 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3109 right_y=0.2782 right_z=0.0755 right_yaw=0.1193 right_pitch=-0.0444 right_roll=-0.0312 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.2923, 6.9538, 1.7265, -0.0513, -0.0122, -0.0122, 0.6632, -10.0034, 5.3675, 1.5995, 0.442, -0.0073, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c51dbb6bdcb9557158372b485de8fdf4fa30ba1984691c6fb1bd1d4077115e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85432631df2a4fc90acc104b2650fbc185785d0873b66c07dc4eb263b95486a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc5549bf6951652967e2cb0acde3e1b803790772f8f07e7dda79d144fc5f64a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKPmuJCxpLvzG-Dqrz-0c7YCTCK2a_QWqyeaVAMX4IbpY3K_9s3Sc6fZqXzkjyk1v18bGOf-2H-_uT3jVVBrDUAQvGtc9aw_doLVoNQIXgCdYUnMq6OPDY4LfPxab2PhEMKK0eCueeQqchdaczu7nHrjrsZmAHC-_RdmQ2u7PBQRGBOfdMciKYiM0XkJGyIIt9cITD1FQUIVRK5-3LifYRG2hDcRbPNt6isHjSbEyIGFEw_5z-LGfoppurmbOyYLoT7Pgb8TBqbKdluEf0pFNGwhrDlrz3Im_ztjtthC3MhBnU-7ZPEl-O5J-xGp42s7doEJr-efAC-a66NmY-UTRaDKSWvbUcrn0JCh7Y6rhizWuZIhTyPa2aUKQ65tVYiQZU8a7_518sq3pVVhrih9olNTcZoN1W5grnEiGGaYHARVoPs6-vWgQhaYErCVEeatjbVeUi9aGXjmXvUVeldcgR7zgUAzlTBhF1-Y0eTFgIv7f0UOHBsE81XlwnUYNu7X74zmd75t39zEs1uoHUqtFsQIce-IfPcyTCfDTvgFgKmaFVycEXNqwVxrQ0lNyEnwit3ICGO-6-m4FXrpDj_gArpWV_p9uiV5VRDt0djTimERBVqn2rjjIukOHhEnlDcRvFlH-qteyWnoI5bGtK5NLkGptrpgQ8XqD-QduoG3g78qKbuysCDZKTp_xWjFnlAWBKXwz__FGr4ERxKFEnDppJOIUPkp7riwvQ6duJtNcMwIaKUsCAPXjyHjVRu_UX0PQDvP_qT0uYMA771WNn9vxaJIR62WBkx0cx2MfIk-YiVuojR0iwPIkcpJBvYe_PzypSpL1g038nrnG3Yr1o8qzMwUMfEmw8Bei0j-CJfjJNisHLSZXvY3cX9y1sf3e4cDfYORGn-NjSLIi2P2bc_qWlYeTYPD9RI5GCrHYzqC5vIfqQqdQJYx8Pn_QTf5eFOOcYbrjIBGoDlOtRcv0unNnW6XQhamLIvxzQjP1O9rzv8nrgBi_mOeagGQ5Ft46BZhAK3RuLkNFTKVp_jquJfbSuvPPUs7DdT4O27_UnsXZvU9N_pxVDBFjUy1aZk7BOodIe-7dP9ycY___43h72WUFnVxYKWgZDCgpUcfMKqUVZHfFjiuSKDHISF4Es8IPgioYf7l19HZ7_iJ2ZRUxR2cWAO9h1M4xwXzMzYSuRJVCuqi_mn6ozllXsmIjTIxQCoCGQK9uqfEg4at2aeJk460LPjLD-NcYOa-gUBlUYaZaSe4JDuvvXMSeWE-idpVENahv1uJNItd_CNjKkbPQBS3ruHmT7YfDRYTeJziVG25ndsVfgX7nfOTtwKlUSXAv4anD-DSyVGYnNGchPfxR9ai0vU_hbPjx43FX17tYrg6eaNjLY=",
  "id": "rs_00c93f82a7f9cf82016ab4428e676c87d09ac7826d5dd1c43e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The wrist is now nearly vertical and the yellow fruit is centered just ahead of the fingertips; the earlier failure was therefore an orientation problem rather than lateral alignment. I am advancing 2 cm and descending with the vertical tool for a proper side grasp.\"}",
  "call_id": "call_ZJPa1PniK6r3wW3oAvmLKlZE",
  "id": "fc_00c93f82a7f9cf82016ab4428ede2087d0bc2ddf46d293ced9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZJPa1PniK6r3wW3oAvmLKlZE",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.952, 1.8992, 0.7868, 0.3275, 0.672, 0.511, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1141 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3273 right_y=0.2762 right_z=0.0217 right_yaw=0.1222 right_pitch=-0.0185 right_roll=-0.0185 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.3333, 7.1043, 1.663, -0.0464, -0.0562, -0.0122, -0.1846, -8.4718, 5.2034, 1.7167, 0.2271, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a6c1a5d437705de9eebfc51ec5f2486c6aedf4f3b1ab88fe4bd0cddb6a3236f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4a8698ed4ab0b571a8e9603602cbcc95447bfdcf6db4887fceb1dd3c0f2dff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39610e09d49b79d3168e555108f8d34d2db0a7e750fbeaa17f820c907ca68c00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 68 changed as sent

message 76 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]: [-0.0219, 0.8154, 0.6132, -0.4503, -0.0139, -0.0338, 0.9987, 0.9001, 1.9282, 1.2568, -0.5804, 0.4366, 0.5831, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=0.001 left_pitch=-0.0843 left_roll=-0.0015 left_gripper=0.9987 right_x=0.3128 right_y=0.2798 right_z=0.0355 right_yaw=0.1046 right_pitch=-0.4828 right_roll=-0.1706 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.3333, 7.2274, 1.7167, -0.0708, -0.0757, -0.0122, -0.7863, -8.5538, 8.1162, 0.9939, 0.3053, -0.0073, -0.1636]\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]: [-0.0219, 0.8192, 0.6128, -0.4755, -0.0139, -0.0338, 0.9987, 0.9958, 1.7184, 0.8711, 0.0021, 0.6956, 0.5644, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1137 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3109 right_y=0.2782 right_z=0.0755 right_yaw=0.1193 right_pitch=-0.0444 right_roll=-0.0312 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.2923, 6.9538, 1.7265, -0.0513, -0.0122, -0.0122, 0.6632, -10.0034, 5.3675, 1.5995, 0.442, -0.0073, -0.1636]",
      "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, 0.8192, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.952, 1.8992, 0.7868, 0.3275, 0.672, 0.511, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1141 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3273 right_y=0.2762 right_z=0.0217 right_yaw=0.1222 right_pitch=-0.0185 right_roll=-0.0185 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.3333, 7.1043, 1.663, -0.0464, -0.0562, -0.0122, -0.1846, -8.4718, 5.2034, 1.7167, 0.2271, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a6c1a5d437705de9eebfc51ec5f2486c6aedf4f3b1ab88fe4bd0cddb6a3236f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4a8698ed4ab0b571a8e9603602cbcc95447bfdcf6db4887fceb1dd3c0f2dff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39610e09d49b79d3168e555108f8d34d2db0a7e750fbeaa17f820c907ca68c00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKUApNMwxpS8Bo8x49bJdO6YdtVpyx2MMeASPju2fCqhwDW9-a-CRvygyi4xONaru2v7w_mUWiOLwG29t0Ulmg0iqzPFNApzWMGX48rIhgBaqJbsgJ-hCoMG6SigWHYO8oL5WwQI3RJFWRLbUm74daG-283EVDRGKCJp_PPk6sppsaWL3t103N_JaM1IHQ_QSXA5kNSD94mXOE2inZnFhClXX45FRvRQRqkRGG1mhrAIWiLRwerNHw0LIHgIVge3bJVP6EZEaXHA1NNoacT_Jn1EJq5ZYB6HGFQS6icyWvFj6ooyoLoC7vnL7AHkxuKZS5911_z_r-g3ElI9NdbjI5N0WjewKVX4aGqM6RUa_BkhjlK33ShehrGJp_BPy3o1vaz_avboGweo9zXRHOzDvfL1J2JjgL8p_c8oEB1TgsqSKdzgAsKWaaiL17dZz2kGyCvIdFRBpdG9OgzELp0RyJliYCgIjpHGWyDKCvpMMGURrYAELsdRu9C1K77ikL6R-AlxCq569sO3tz5qfElIUDZ5O3IIPxbr3MlC2MmqOZh26hkomriKtR7EOD0tjsJQxAkLRQjEOWXj_xGPKEeUtTXYzDq9f6fVN0DD45g188cb3vWvo_O8Et6Gbl0Ye0ZjkHe5cgNIYBGYej2w9JhHCSKz0dmEz9KleYRea2JPlex4F0xbIAQqTugPtphunCmw22vulGE5KiKtredx_RUhz9l3qOmdfOWLil_UoQflhiBeijkK8U6wNpvh7EEHPIHq3JddKLnyUYnDiGXiAld2E5rPKvKv0b7OtVT5aVa2yEq5I9IzkP61SBBllWXImw5tipS6G8elMKXZzQn01uFhGgnWo-J0Ik4c0eM_pJ4M7eeRZ6eOp6nHqjWnY4yKZl1v1DQYfAkBsFRMkGaDm0Ta38GRBFGdAKx3wN8G3u1pJpTivZuRi2BMNOSXIlAxdc_fXerSGllo0_iK2TY4jHE2maEAGkdbHN3xyEXr_eVfBD_EZEgqzekjA_wGlKxqXn_4A4Kz6nbx_j71h7md5UI7pfDSTrxRSwkjzF-gB2TULA0E0ln-esHQ5cfEZnHbkTz0EO3TeeloeZoAwe3XreNvPF0XSv9ZTFv2CetBlDxv9SlG5QvVKX4in2XkXSzuyCpDXxHtEDzs4nu5jDEaIWdpTMORV5_lxf8qo5gLPWoxCa8zRkFvBwNZv5G_UBqGJQIiSIkAyio7enpHvVaBJTxrhOTp7V_GEA-pn2r0_9ELm-fdZ11ZJcMMFi7_DTTJLhfiBoR",
  "id": "rs_00c93f82a7f9cf82016ab442930de487d0bfd81925a2217d6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"With the wrist vertical, the fruit has moved below the wrist camera exactly as expected when it is between the fingertips. I am closing now for the corrected grasp.\"}",
  "call_id": "call_NwDX806C1ds9oC4zJ2EYkMCR",
  "id": "fc_00c93f82a7f9cf82016ab4429372d887d09ff19293002fd863",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NwDX806C1ds9oC4zJ2EYkMCR",
  "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, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9987, 0.9516, 1.898, 0.7868, 0.3443, 0.6804, 0.5037, 0.4215]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0011 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3294 right_y=0.2769 right_z=0.0252 right_yaw=0.1198 right_pitch=-0.0021 right_roll=-0.0153 right_gripper=0.4215\nstate[joint_eff]: [-0.0479, -1.3333, 7.0769, 1.663, -0.022, -0.0562, -0.0122, -0.335, -8.5402, 5.053, 1.2527, 0.1245, -0.0073, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a608b104792d0d9b3542726c19e356a99104b4d000385db3f001aa54be900613",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b88865df0fc25f09afadf4556c6213773f9c1af09bed349147316a5395fea45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f77d8ee21098b743ca83b480ffc230b319a459ba55d0b462284e09353e0798",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 72 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]: [-0.0219, 0.8188, 0.6132, -0.4679, -0.0139, -0.0338, 0.9987, 0.8993, 1.9282, 1.2583, -0.5812, 0.432, 0.5755, 0.0097]\nstate[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.1598 left_yaw=0.0011 left_pitch=-0.1053 left_roll=-0.001 left_gripper=0.9987 right_x=0.3127 right_y=0.2804 right_z=0.0356 right_yaw=0.1118 right_pitch=-0.486 right_roll=-0.1708 right_gripper=0.0097\nstate[joint_eff]: [-0.0205, -1.6342, 6.9538, 1.8291, -0.0513, -0.0269, -0.0122, -0.2393, -9.7573, 5.7094, 0.8523, 0.2564, 0.0659, 0.8083]\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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.952, 1.8992, 0.7868, 0.3275, 0.672, 0.511, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1141 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3273 right_y=0.2762 right_z=0.0217 right_yaw=0.1222 right_pitch=-0.0185 right_roll=-0.0185 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.3333, 7.1043, 1.663, -0.0464, -0.0562, -0.0122, -0.1846, -8.4718, 5.2034, 1.7167, 0.2271, -0.0757, -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, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9987, 0.9516, 1.898, 0.7868, 0.3443, 0.6804, 0.5037, 0.4215]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0011 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3294 right_y=0.2769 right_z=0.0252 right_yaw=0.1198 right_pitch=-0.0021 right_roll=-0.0153 right_gripper=0.4215\nstate[joint_eff]: [-0.0479, -1.3333, 7.0769, 1.663, -0.022, -0.0562, -0.0122, -0.335, -8.5402, 5.053, 1.2527, 0.1245, -0.0073, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a608b104792d0d9b3542726c19e356a99104b4d000385db3f001aa54be900613",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b88865df0fc25f09afadf4556c6213773f9c1af09bed349147316a5395fea45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f77d8ee21098b743ca83b480ffc230b319a459ba55d0b462284e09353e0798",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKZZfltGgLDFKLLAPArQ0_2gnRyI4iUeW0CRG-BALVq0nGsL3hPE8zEcl9PHQ8xMRaBlFHshoTdj4-_qM5-9JPUIO7UZIKIXY7iuzPTVnTsdnY-QkmN2qHJNYh7Hkp3DeFqEqQ8g4qctJGZn4ICYbyPJhvDRa-iuw1_wa0_AiQxEly3L3n3_dcQiLOMU_amI4IJ4B6Bo8URS-mE-7feFqLXo8SynNSjlatGP9HUke52hdaRI4mYCILX9V9mNbNumTDJ9PmlOJFOmE46wr77CSl7crJzw-nT05Jsobp5wsUpIRuhmneIavXsFNXpktMVEK1YmWKDDhi8t36L83YD_3b5LYCj3rPikEM1ZqecIS3QQzEPbW7kvlzbR8I3GI_Ls_Mnz2UR9rM7nFNSyRPnuwa6fRYw-s82GDer6cQ9Hv68WP_ms16Ie36qKRuVWx5WzwggH7mC3N9tntfFDpoDwgy2ELqx0BNYgDmEIBEIHCVnFhcjK6WV1rSKYjRMEFXHsrcqAMacZ3AxNq_QbF0nB-Kc4lBB2KE5gOjSbSrIGhE1E7z6u2wbF5YNwxsGxPM2Xgj738Ezsz7JKM8nwTHG96WjorJVToNromwwikyZJR-_X1rxFMUsCchTrwVM15hVkrmiDeJg-BiEIUoOZab5P4NLXlf1aogBmb1OicUAQnyel-PR4U0_H4qxfjeH8a0UZ1kai8-S29OynPKR5t2uE9s53MBxsJph7MzENfOsQUhMEEBfZZQTq_Njc99WPPVkx7kUPsT2gXbRp4OJDbphOfjNVPggL6XvxEUoGFc3IjRUfLlL0WN9xTObUOXymxrfB8BWwPqVDzgiD6_qJ7jIvXgWld37rNAmK_Od9uZAjdHTTv16W7c-XFhDLJ3ujBGSGi2a1h5Cph4ahhwgQou6Ee6FvgP7A0bTRbQmRq-tIJT3UQvAg5amzCoVy4t61Csydg2pLzGj7iJfEBkS6Jjg8_FXO_NNIY71oo4GP_BMxy-M9RXTHFgR5ldWOSefsbwyv3YtVMZ2PVh__f_zpbscbz_QS2qKoRVz8ub09vbehl-01ajGYPiY2WHSWdxBpEz9iTau152AYytvZixNdvnG-yEOEDNyW2RrB8qlDrpWXqxEozqAgmUbHkU1gx5TBhBE-esKOR4qRqfVHKDv7xjNvTSq0ZyvQiVJtX2DhEC9Pc1MRXTYnEubcO1YwxxWqBFY4kM_Vr5_xUWwBWGOhFYkUpdZdFnRZx8TTZ1kkd5qkop6TAT4xZdHEFsyGmxb_mpavKnLaG3c3-ldzUkGsmDZPlX73r7to4VRv3yZDaPlNwkSLMw6PmbziUwCFtLCAuoHiPFli4lX0wc1lGhIvkyXZSNudRBKQWy6nWHqoqNPNm7S1LYhbPMNhCV0hZBHHeDkPxukTR-QT3LAI3w_hbXQrtqxBtIL7F-r5pCsP3qWt2xIVZ9jop3mivRoVir9Zx-4CP4_TFrtKBaf3i3cpNmR0lqxJfCHnGtAic4WrMkK6I3I_58_J1HiHC_kDIZtFm-MEX0GhmgthXsUTDZKMrRbBiPh56xImXAknX6kVZTwFd5jpjGayo0YHaqcij4tB6Hi44pa",
  "id": "rs_00c93f82a7f9cf82016ab44297cd5087d09bf10e4d9c4544a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.16,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper now holds at 0.42, confirming the yellow fruit is securely grasped. I am carrying it high to the blue bowl center using the bowl coordinates established during the first placement.\"}",
  "call_id": "call_3Bf2Te1z1n45IenSIfTX0np6",
  "id": "fc_00c93f82a7f9cf82016ab44298ac9887d096da8cdd0a0e8800",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3Bf2Te1z1n45IenSIfTX0np6",
  "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, 0.8192, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.5549, 1.3682, 0.8234, -0.1066, 0.3786, 0.2268, 0.4233]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1141 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3673 right_y=0.1551 right_z=0.1531 right_yaw=0.1065 right_pitch=-0.0309 right_roll=-0.0204 right_gripper=0.4233\nstate[joint_eff]: [-0.0479, -1.1282, 7.0769, 1.663, -0.0806, -0.0464, -0.0122, -0.0205, -6.6667, 9.3744, 1.6435, -0.0269, 0.0513, 0.1783]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d288c5d637ffdd84d11ba8a66d057cec1dd4d3d0f90332f1421e24858aa35a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f4087b5b681e77fe423ad3b36d7beb4dabb0e8e161a7611c5aa7f0a758a6267",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6025da85a8b467fa1422c39a8fb948336e50d7710532f5d8727a6dfcee6622b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 76 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]: [-0.0219, 0.8192, 0.6128, -0.4755, -0.0139, -0.0338, 0.9987, 0.9958, 1.7184, 0.8711, 0.0021, 0.6956, 0.5644, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1137 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3109 right_y=0.2782 right_z=0.0755 right_yaw=0.1193 right_pitch=-0.0444 right_roll=-0.0312 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.2923, 6.9538, 1.7265, -0.0513, -0.0122, -0.0122, 0.6632, -10.0034, 5.3675, 1.5995, 0.442, -0.0073, -0.1636]",
      "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, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9987, 0.9516, 1.898, 0.7868, 0.3443, 0.6804, 0.5037, 0.4215]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0011 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3294 right_y=0.2769 right_z=0.0252 right_yaw=0.1198 right_pitch=-0.0021 right_roll=-0.0153 right_gripper=0.4215\nstate[joint_eff]: [-0.0479, -1.3333, 7.0769, 1.663, -0.022, -0.0562, -0.0122, -0.335, -8.5402, 5.053, 1.2527, 0.1245, -0.0073, 1.0085]",
      "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, 0.8192, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.5549, 1.3682, 0.8234, -0.1066, 0.3786, 0.2268, 0.4233]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1141 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3673 right_y=0.1551 right_z=0.1531 right_yaw=0.1065 right_pitch=-0.0309 right_roll=-0.0204 right_gripper=0.4233\nstate[joint_eff]: [-0.0479, -1.1282, 7.0769, 1.663, -0.0806, -0.0464, -0.0122, -0.0205, -6.6667, 9.3744, 1.6435, -0.0269, 0.0513, 0.1783]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d288c5d637ffdd84d11ba8a66d057cec1dd4d3d0f90332f1421e24858aa35a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f4087b5b681e77fe423ad3b36d7beb4dabb0e8e161a7611c5aa7f0a758a6267",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6025da85a8b467fa1422c39a8fb948336e50d7710532f5d8727a6dfcee6622b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKdZ_m5btXeB8XEYw-r0M4ikmToRqd_uB7rhfay8Itz4CvfWyeIIJN99MElfA7QKM-wLZNupW1tco3P8mV-v8C1X5d0VqPiiCSPkgl2KUbqwUlPJabYZvAFSfaz5iEDjptRb9xslurUIIbp04eInwEZJmb8H-8w-MJbsycQsLA1DsjyVtFgMh3UEIpauJtiASvLGHRZETCGz5D2U2e_HllguqRKfCc7wuec3u62F9SaQckSKsMKkJykUOXYf4QKu8_9BEsul5VDSuXZJkun3FEFfkykJU1xksAx0MdV6KjjNScVSXTrUgpIV0uFzQPzN2IaXzogBaPrUjaJERUR-mHiwzn-JRU2VNPa6pgbRGrOOnXsiZuolhvVBe19Plxs84PFqh5DHsuUC3fvggrmxqNYH8Z71TFsLbRcnEsNZ_q9SFCZ14v30PHJpbnDRPTXvIOSUyl4nK7ZbB3k8gHgQ9ZzKF3snFSa-robO24dWiZouYhivJh8DrfJvbINYog1hmG2Emj0gR8g65ZSD1BhouNKNwsWVIKloW6vwqjvV0yqFatFPhFoR5Q5fwxb48B1fhFI0igd5YdXmkWN5-MDxzt1z1Pfd6b6vVJyjEkc5S8dj2cPFKP8ELogS6FK2Gz4GAZFbwgZ4XvCbNi5H3fuQucCwD_-58pIXlmAa-Z6YXL6zZIKR9P9Km9TknSn1bfGB-nNcaJXf2cyruWaJcWj1f5Ue4_kHhWeCuJGBG3bj4pWmXIXTqPIpPleBubRKiWCGXl1aTxO7zFe45Bvu8FuAoWKr7mGjTwuBkq7mt5Z0oEtIlaltx_IbXPOhqY-vE7t5DLiZ8tJPBjIysBNBDLcPYMEWbvoJggqrOIaekiC7BcUatm7zxSvYuD8GVk_AhwsiNQ_UjIRznkUJttspt-4wkXRM8yufJiiWH8sTtrzOc-Vk_M_t7PiCfUmvsc8LRQlRTLeuV9ZxI6ifwZPY2hEim4ML0X7lg1sfhXCOupGEJxNOaNmE0IWDFRitEckvGOQL2sqiAOj5WiKC7jWM-NjU_VHj7gclwsOPkpZKOKU8iUjfUTUO9WXg3wGlvfnuPT4GQ9kuA_GLScpdfLA3UF9Njm9o-fREinrhVb7xfFnP2gE76dHxdONfTQp2it5dKs6S5sdx0oSXnyHnFr7F1zh8UCEtOaNW5k6iOGgZ74byUmbbhgn6lGQp6nSU5Es7j3eRd6qCGD112YI_JYoZFUQHUDg-5cI5zEXj2HqYWC2zwmTax6dDnmy_ZnS9UrLo0UV73VIk0Gby5UBa3n0mYuPAXnuZg==",
  "id": "rs_00c93f82a7f9cf82016ab4429c339887d09f9a20260bf86142",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The held yellow fruit is centered over the blue bowl, which already contains the first pear. I am opening the gripper to place the second and apparently final fruit into the bowl.\"}",
  "call_id": "call_McFxRfsXrGnQZ2nBp27dSzU7",
  "id": "fc_00c93f82a7f9cf82016ab4429c735887d0b4e01ec7de0a4860",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_McFxRfsXrGnQZ2nBp27dSzU7",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9987, 0.5541, 1.367, 0.8253, -0.1261, 0.3649, 0.2184, 0.9955]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0011 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3648 right_y=0.1558 right_z=0.1502 right_yaw=0.1211 right_pitch=-0.0494 right_roll=-0.0267 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.1692, 6.9538, 1.6337, -0.0611, -0.0611, -0.0122, -0.0068, -5.4906, 6.612, 1.79, 0.1978, 0.0855, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f92117b30473b9ea9ac970c863e7bb4cc4646d5deb0c0d8f7e933703ea52d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b4e1957ffd58b9027ec494c1839d3b69e14323a2083864362f6bb0deb1adfa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e942c4970bb2c70a9009c888241dfc8d48814807d67b5818b7f7e91e65c2cc8f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.952, 1.8992, 0.7868, 0.3275, 0.672, 0.511, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1141 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3273 right_y=0.2762 right_z=0.0217 right_yaw=0.1222 right_pitch=-0.0185 right_roll=-0.0185 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.3333, 7.1043, 1.663, -0.0464, -0.0562, -0.0122, -0.1846, -8.4718, 5.2034, 1.7167, 0.2271, -0.0757, -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, 0.8192, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.5549, 1.3682, 0.8234, -0.1066, 0.3786, 0.2268, 0.4233]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1141 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3673 right_y=0.1551 right_z=0.1531 right_yaw=0.1065 right_pitch=-0.0309 right_roll=-0.0204 right_gripper=0.4233\nstate[joint_eff]: [-0.0479, -1.1282, 7.0769, 1.663, -0.0806, -0.0464, -0.0122, -0.0205, -6.6667, 9.3744, 1.6435, -0.0269, 0.0513, 0.1783]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9987, 0.5541, 1.367, 0.8253, -0.1261, 0.3649, 0.2184, 0.9955]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0011 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3648 right_y=0.1558 right_z=0.1502 right_yaw=0.1211 right_pitch=-0.0494 right_roll=-0.0267 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.1692, 6.9538, 1.6337, -0.0611, -0.0611, -0.0122, -0.0068, -5.4906, 6.612, 1.79, 0.1978, 0.0855, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f92117b30473b9ea9ac970c863e7bb4cc4646d5deb0c0d8f7e933703ea52d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b4e1957ffd58b9027ec494c1839d3b69e14323a2083864362f6bb0deb1adfa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e942c4970bb2c70a9009c888241dfc8d48814807d67b5818b7f7e91e65c2cc8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKhyFlsRTiczKzF-xmc1TTwtOJwJJoejxaRIZhFKyFxi1uOCwNkeXquxZBQCxYyaQBL3A4YO151cxGrkFVRkfJOUv92DZlFfa6psxquhwlwP_yuuGphoJHRhn_fW8rx9wfIwqn9qOFyqvc-mkpblRLzqhQmLmCRqOoIwiGNxkZ3dmYcNE7YHI6ddBuQsOVGnF2y9WvVFLWVQXUhzmAEbKA7FgK8NWZspSipjL2iHJ_XTVaAv__YjSkq7nKegcsnIBkeH4ALvU0tQ5QiB3ITjsDZV-VUM6qBDKI6xLQ9mRoVdTwRH9HUzXrHD1JoUUOU88GgzP0hwEXMiWnF4UnFf_KEP1Caoz9s_zfakVET_Qp-VFbQN-J_2S0Wv3KjjhhOmFa6C6J-0b63tuf348j7o6dSzsduQ2Icsw-DqPv4_ZmjAda2Tiss7odPAqoaakHFPeuVfEWwZxq1x6gjfBm5ZrJbdtlyPeifCG7mWWdPSX68elN3ZKpeuoQu8kbBCP8MFjG3oQ-IBGbOCS2gK5SgvQZywa6JzgARRao_eF5742x0v3sfIoBZ2asdlUc8pA4pusoOYs-Tj1Pgv85gF7N5IVM56KJ84__C61wH7PrlioZ3wzFpkrNfje-l2_X-M_iRRIdlGgLmHXU7moogQjmtKM01YdY74tlvG3tiA6qiD1UNg7zvQkPGebcL4JbsAVEeEvhk7dNo6oUuO927t3hd12RouRZeOGRPEWf1xHa5_aYylbuyH9toWGwBbfR36IPU4iLoClQK5X_jo-6YKcuQhLBkJhiBAVMMEEqn6Y9tIgyI0ambe-OPzVvVZyy0pyrzYRpzrE5ckfl2u3PE0pDFteslHNMIIKqLKHje3sAqL3gu0v3ATgduuf24W5CqNtCVt5cdwd5It_MxAmIEHH_NnlW5vUT1ODQnbk6-WNgkADHMuI8vDDuydXocFrsgV57C4SWesieVLHPHLEmJgxJxmhsJlYHGGoNZUP2O_t-0ZN_S8DT1MhPeMLpVzgZZ0Hhvo8dcM4XGOB7DcEN1K6YmQG0cFwKow21hcjHD-Gnju89VP-wgnHU_Gmz4Y5yOndp4YJWeIKxGAuMVa0gWikk3TTnqo-pGreKvZgTK-_ZoqEpeA3oTUyl00bBOPHHH6wevnX7QCSaWkhkF5xCLWq-BAjbt_Ep348Ai0gV19YAGtytjdbI0GCc2WFVbk0frmAA63v828uTxrkrIPrXcDp9p5HZtBhjdQtkp4Lj2ItiZf9iZZPNNzeTj4i8OrWuRp1N6WhJbZAyednKpyzmvllOpycElk4vMih6YSfite7ERYqR8MWr_sEvHsbd4sacJ21esFd2Ps30jfMVtD581ure37fpSLNh1_1Nni0xGHHWtDuY-VQoUcLp902SMDpOMT22JcwlCfOiCnt-2OUFNVEqIxGVXkk0qUGSc1RJ287rdv013vB-Cam2f0Tn9q7mSUfVccR76KyhLVHCjCTspnK5sqOWEfNu6qzjIrMR8k76jo3UotyeT0K-H66f-evs28kt8-ETesDlm65z-jIgTZpv3GkBVWOYLhP4Sd32nZlLq4EOLLNQ0ytEXmeIDIJzs48gWqYYUJqVxkfxCxClg2M_Z5fd8zsbI9U6NINcCiA5-KQibQDR6aGGwlugCc16lZNEUia_kcRJeBJ8qCpuWst24s_WFMuM9kuJiasCjSABIGKHjGoMuU5rTCg3FudpsoHdpazZtS55z9_6kpiF6rfGmwwSzjhalU3bgI_fxu_nMHRLHeSKRGE3qT9H-MqoecC-MtQ8_L2EYxoFL5fBDXV5v_t_wEx29ABZ67_eBppKUx5HLkQDjWG2QB0dqYRgpNuMKaDrubH3n4_KuQFSiI-DCHapPw-kJjuJRr6Ec_Q0Vr5OhIWdb28KsAHFpA4Gy8vgaOxXo7NlDgQAXf1M3AMaXHxuXFthfni625zq0SL9rw8DvnR-1-os5begEwkAimS8dNcPX0tzRz3-X7uRknzNfKr6Gd8UYOgsML2lMbpTkwBNdBCtsOFl5pezdBHUpDdgCvZvU-oArky7NqVE_taWrztkR2bwKloYPsY6DWwzvU3d6BbcoR-PWu97QBpCCK11BykImvHZGhKL9KH3yZKTOWrcu67zLdBo__rxz5hZQAbHrPOKoQ6FVgN69L0mfmKOowZc9tBDCrZ6tAVwpS381FpevhAsuOR3r1cqt5lROC_ZSWlsbK6xh15j4b1M4ewOxB7Z2cHIrPzybXHfXsxmQiANKCRJ0TPwdeV8-zXCzW75_hjs8-zRCz6MtsbVI01sSSuBjtbUWQOmvQRUpmPY36DtPWUZotsiUU5TGgRfkujfKgRrZLBIU2HZsHTJSi2kXcJAM",
  "id": "rs_00c93f82a7f9cf82016ab4429ecdb887d097fefb8a75fe467b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.055,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both fruits are now settled in the blue bowl and no fruit remains on the tabletop. The right gripper is already centered around the bowl, so I am lowering its open jaws to the bowl's sidewall height to grasp the bowl itself.\"}",
  "call_id": "call_qGn86HjOFOEmODdUab2NIL3Q",
  "id": "fc_00c93f82a7f9cf82016ab442a0e60487d09044e2d5ac03c8b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qGn86HjOFOEmODdUab2NIL3Q",
  "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, 0.8192, 0.6128, -0.4767, -0.0139, -0.0338, 0.9987, 0.5541, 1.5795, 0.5587, 0.366, 0.3614, 0.2165, 0.9964]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=0.0011 left_pitch=-0.1148 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3612 right_y=0.1542 right_z=0.0553 right_yaw=0.1252 right_pitch=-0.0385 right_roll=-0.0209 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.1145, 7.2137, 1.5995, -0.0562, -0.0611, -0.0122, -0.4308, -6.4068, 5.1077, 1.9267, 0.0464, -0.0171, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fded9ef63d46b0647f9b9419303bcf7d006bca15fa5d6eb61474f7a52d6ada64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d67556174afb97b00dacafb33fb310c1e8ddbda986ee39325e24734cf80cb08e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa0390b2975f2266ba3eeaee9a285f9709eb3d92bf72fb0c62fa0ac536aada4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9987, 0.9516, 1.898, 0.7868, 0.3443, 0.6804, 0.5037, 0.4215]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0011 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3294 right_y=0.2769 right_z=0.0252 right_yaw=0.1198 right_pitch=-0.0021 right_roll=-0.0153 right_gripper=0.4215\nstate[joint_eff]: [-0.0479, -1.3333, 7.0769, 1.663, -0.022, -0.0562, -0.0122, -0.335, -8.5402, 5.053, 1.2527, 0.1245, -0.0073, 1.0085]",
      "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, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9987, 0.5541, 1.367, 0.8253, -0.1261, 0.3649, 0.2184, 0.9955]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0011 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3648 right_y=0.1558 right_z=0.1502 right_yaw=0.1211 right_pitch=-0.0494 right_roll=-0.0267 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.1692, 6.9538, 1.6337, -0.0611, -0.0611, -0.0122, -0.0068, -5.4906, 6.612, 1.79, 0.1978, 0.0855, 0.0659]",
      "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, 0.8192, 0.6128, -0.4767, -0.0139, -0.0338, 0.9987, 0.5541, 1.5795, 0.5587, 0.366, 0.3614, 0.2165, 0.9964]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=0.0011 left_pitch=-0.1148 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3612 right_y=0.1542 right_z=0.0553 right_yaw=0.1252 right_pitch=-0.0385 right_roll=-0.0209 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.1145, 7.2137, 1.5995, -0.0562, -0.0611, -0.0122, -0.4308, -6.4068, 5.1077, 1.9267, 0.0464, -0.0171, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fded9ef63d46b0647f9b9419303bcf7d006bca15fa5d6eb61474f7a52d6ada64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d67556174afb97b00dacafb33fb310c1e8ddbda986ee39325e24734cf80cb08e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa0390b2975f2266ba3eeaee9a285f9709eb3d92bf72fb0c62fa0ac536aada4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_00c93f82a7f9cf82016ab442a61a5487d0b0b060ff6bcd9631",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingertips now straddle the blue bowl's outer sidewalls at mid-height, with the fruit centered clear of the fingers. I am closing to clamp the bowl securely for lifting and pouring.\"}",
  "call_id": "call_CsSU5S8obYV6FS7AgZJVML0R",
  "id": "fc_00c93f82a7f9cf82016ab442a688f087d0aa8a89f1f384a69c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CsSU5S8obYV6FS7AgZJVML0R",
  "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, 0.8192, 0.6128, -0.4763, -0.0135, -0.0338, 0.9987, 0.5541, 1.5932, 0.5415, 0.3725, 0.3603, 0.2161, 0.6128]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0008 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9987 right_x=0.3564 right_y=0.1515 right_z=0.0453 right_yaw=0.1258 right_pitch=-0.061 right_roll=-0.0308 right_gripper=0.6128\nstate[joint_eff]: [-0.1299, -1.3197, 7.2274, 1.6484, -0.0269, -0.0317, -0.0122, -0.0479, -7.3094, 6.6667, 1.5458, 0.0855, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54811d79543aae5df3d3c38474a84360c7bb4d75b21fd14e2dd1b2b1f748bb14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9cf0beae6c52e582e478ab234332bed3dfed0f936796150f0409bcfcac3d675",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f8a03d0848ccc183dd8161d07a25ae78e10c119e838cefc6e0c2028b1d9bb0f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0139, -0.0338, 0.9987, 0.5549, 1.3682, 0.8234, -0.1066, 0.3786, 0.2268, 0.4233]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0011 left_pitch=-0.1141 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3673 right_y=0.1551 right_z=0.1531 right_yaw=0.1065 right_pitch=-0.0309 right_roll=-0.0204 right_gripper=0.4233\nstate[joint_eff]: [-0.0479, -1.1282, 7.0769, 1.663, -0.0806, -0.0464, -0.0122, -0.0205, -6.6667, 9.3744, 1.6435, -0.0269, 0.0513, 0.1783]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4767, -0.0139, -0.0338, 0.9987, 0.5541, 1.5795, 0.5587, 0.366, 0.3614, 0.2165, 0.9964]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=0.0011 left_pitch=-0.1148 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3612 right_y=0.1542 right_z=0.0553 right_yaw=0.1252 right_pitch=-0.0385 right_roll=-0.0209 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.1145, 7.2137, 1.5995, -0.0562, -0.0611, -0.0122, -0.4308, -6.4068, 5.1077, 1.9267, 0.0464, -0.0171, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0338, 0.9987, 0.5541, 1.5932, 0.5415, 0.3725, 0.3603, 0.2161, 0.6128]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0008 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9987 right_x=0.3564 right_y=0.1515 right_z=0.0453 right_yaw=0.1258 right_pitch=-0.061 right_roll=-0.0308 right_gripper=0.6128\nstate[joint_eff]: [-0.1299, -1.3197, 7.2274, 1.6484, -0.0269, -0.0317, -0.0122, -0.0479, -7.3094, 6.6667, 1.5458, 0.0855, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54811d79543aae5df3d3c38474a84360c7bb4d75b21fd14e2dd1b2b1f748bb14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9cf0beae6c52e582e478ab234332bed3dfed0f936796150f0409bcfcac3d675",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f8a03d0848ccc183dd8161d07a25ae78e10c119e838cefc6e0c2028b1d9bb0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_00c93f82a7f9cf82016ab442a9403c87d09fac847e94e07418",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_gripper\":1},\"note\":\"The 0.61 close and wrist view show the jaws contacted the large pear inside the bowl rather than the bowl, whose diameter exceeds the gripper span. I am releasing and lifting; I will instead pinch a single rim of the blue bowl between one inner and one outer finger.\"}",
  "call_id": "call_bJJK5MmHWIX9r39UBjy0ArSF",
  "id": "fc_00c93f82a7f9cf82016ab442ae224087d0865f581753441f09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bJJK5MmHWIX9r39UBjy0ArSF",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0135, -0.0338, 0.9987, 0.5541, 1.3937, 0.7033, -0.009, 0.3511, 0.2153, 0.6044]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0008 left_pitch=-0.1141 left_roll=-0.001 left_gripper=0.9987 right_x=0.3543 right_y=0.152 right_z=0.1103 right_yaw=0.1331 right_pitch=-0.0819 right_roll=-0.0344 right_gripper=0.6044\nstate[joint_eff]: [-0.1299, -1.2376, 6.9675, 1.6435, -0.0366, -0.0562, -0.0122, -0.3624, -7.2, 8.9368, 1.7851, 0.2173, -0.0562, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7831254797d2af2647639fbc52ad7e20eeeeba0b5bcbb001fa6fc7b1a0f4d1e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ecabe4fb2db991217bf0c4f4e6bbb4f03bffff59c54f97f5b9256b2fc66fbba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9894c133a68d575810d409d8d452df1825844a9df0d613a483173e87e9959657",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9987, 0.5541, 1.367, 0.8253, -0.1261, 0.3649, 0.2184, 0.9955]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0011 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3648 right_y=0.1558 right_z=0.1502 right_yaw=0.1211 right_pitch=-0.0494 right_roll=-0.0267 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.1692, 6.9538, 1.6337, -0.0611, -0.0611, -0.0122, -0.0068, -5.4906, 6.612, 1.79, 0.1978, 0.0855, 0.0659]",
      "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, 0.8192, 0.6128, -0.4763, -0.0135, -0.0338, 0.9987, 0.5541, 1.5932, 0.5415, 0.3725, 0.3603, 0.2161, 0.6128]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0008 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9987 right_x=0.3564 right_y=0.1515 right_z=0.0453 right_yaw=0.1258 right_pitch=-0.061 right_roll=-0.0308 right_gripper=0.6128\nstate[joint_eff]: [-0.1299, -1.3197, 7.2274, 1.6484, -0.0269, -0.0317, -0.0122, -0.0479, -7.3094, 6.6667, 1.5458, 0.0855, -0.0513, 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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0135, -0.0338, 0.9987, 0.5541, 1.3937, 0.7033, -0.009, 0.3511, 0.2153, 0.6044]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0008 left_pitch=-0.1141 left_roll=-0.001 left_gripper=0.9987 right_x=0.3543 right_y=0.152 right_z=0.1103 right_yaw=0.1331 right_pitch=-0.0819 right_roll=-0.0344 right_gripper=0.6044\nstate[joint_eff]: [-0.1299, -1.2376, 6.9675, 1.6435, -0.0366, -0.0562, -0.0122, -0.3624, -7.2, 8.9368, 1.7851, 0.2173, -0.0562, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7831254797d2af2647639fbc52ad7e20eeeeba0b5bcbb001fa6fc7b1a0f4d1e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ecabe4fb2db991217bf0c4f4e6bbb4f03bffff59c54f97f5b9256b2fc66fbba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9894c133a68d575810d409d8d452df1825844a9df0d613a483173e87e9959657",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKy_VHusAvtvLeO8ex1xEVXfUPa1dN6SZCGKtXWMgCiY1xKMvenlVoSK-Qkxi-cjjpO7BV0Eeo8dcIyHUH65mPJRNYPvSZQsDF1lO0s1WcVPMNgdFQfa8w8wprLxjirZtJWdASFOw6b-MikZe2tWhY5RVX3jC7MMWM7ZvPKxCGXmhC9NgmgGGYQl9jjQZtsqByYPlvFpzRt3jOw6e2KCiG_K6XRXdisVW1t6Mrhk8cGqY_mDFDnZ_3oP0PxlW7LETnkC_9ieaabjczsTNVP9JbqTwDQ-cpWyF-PDL3gasET1n-lkGZeFBw41o9qXbp27F4N96YxIwZcTnruOnw9IjsDyW-bDfrmJd0JF48pA9kWILfu2vW5XXKpbokr7MwvKMqg2ry6a9LnMHm4wpm-yn3ozLh_BiCrreE-3YGnap3qJ0qwBjA2A9OnaNdvUgMFoXGJ0H_pi9oPPLxPd-aKThthPl2RdZyFHy7cI4FdHNV7aCPHroDSVlkT-DV9a5ZPpdbH_3A88q2St3Yrgpod7e_pqCuFiwKEfNbA7sYYDPqXB5uNRQXoDwSTf5_OkCBUJ2jwFBkKo1LHHEG9IHnW6hH1oYvQsMuvIqZkFhfr61fOgKdluzwcOr-NKLmbsQVgzxme1bAFa8k-o4V7aJTYYCT3u5YInQBuMZzJ_sI35JsP5rwMzXbILjI-y4rTAoSD8ExfRsFua4vY6JZbvILYmjTc-WjeUy3IFvok60Y3T_4C5NpyGLr8Pxkp4uEUG5fd146x406DvCfqU6unhcYI__h_msS9GEwbHWe8zdLp7YefL9KLazA8hv1e7ncSUjUfwQr1bFdomtJTe6Jb1I8vRT8Q-kXmDNLGyur7PVsSfyFWLsoxcyYrNFgqEf-cTOG2hKn6d5PBS7XL50v1GQ2arxUi8_xizK5tRL9gJJI1LVEh1TxaAj8fNqAEQZghfR1BF14SG1yAoWXl5Zdc_-FCIWZ-TsNvzL7aoRTFHEQkX3-mPS-3aOySpG_Omif5Ag43v7eDhgsEhcAlK8DBQlemx7ABmiraIZkdSZh_D_MhPid_YnVIUW9tAV6hMOveFBobnXIDfq36-h8XYLDQGVlFSYvUJS1_exl6xOXfGf53LFHKZIHqNBwd0iNLavFHRX90DoYAR8vIXcEOJTuAfPuK2apR4YrOY2cHqA-k3zjjDe0V1boSuveFpNraB9XuxmbfYR1X5w6YylqLBX2NNp_8W12BKzYfMlKSiJvD5ZzuV6Bvq14bxhKLAm36YsOdGUeIqQ8fJverAVISL3Xb9eC1nGSkj4kr6rb8m26xkKrSPdY5Asg67bYstnryOekSNl2p_5BmKi5pipxJX9B3NVvgO3N4QZXob5RA_O2KhEocAR22PJbiSl5xSsGd_WkM-1SUadhsLKiV3ZRkE9tP7ChoUijGqTcDf3RYH9N7LZQp8TaTffRlVtUvyyoKeczUYMkrSF1ubcthDUtHWrw0_OdIa_kwKg==",
  "id": "rs_00c93f82a7f9cf82016ab442b148d887d0b914763f128f7e2d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The lift succeeded but the gripper did not reopen, and the pear remains visibly clamped; the previous combined command was step-limited. I am holding position and completing the opening so the pear drops back into the blue bowl.\"}",
  "call_id": "call_wcHkc9tZbgVa1NXXDI1E1m1z",
  "id": "fc_00c93f82a7f9cf82016ab442b1dc0887d0992f799bbfafa058",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wcHkc9tZbgVa1NXXDI1E1m1z",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0338, 0.9987, 0.5545, 1.3899, 0.7078, -0.0475, 0.3428, 0.2085, 0.9955]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0008 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9987 right_x=0.3498 right_y=0.151 right_z=0.1064 right_yaw=0.1428 right_pitch=-0.1118 right_roll=-0.047 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6093, -0.0464, -0.0464, -0.0122, -0.0479, -5.1487, 6.0923, 1.9267, 0.1783, 0.022, -0.1197]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5059cbf17e10b1a67b98bdcbeac69095fd5739f0ceea2cf177ea0959539bec20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ab76abe256aa0cde0d9e557d6673bfbb10e17f3d3b77dbc474a10f631983f9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2426b0be13109677652880fe527c30eb431f6c059e25de720652b77734d6325",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0219, 0.8192, 0.6128, -0.4767, -0.0139, -0.0338, 0.9987, 0.5541, 1.5795, 0.5587, 0.366, 0.3614, 0.2165, 0.9964]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1578 left_yaw=0.0011 left_pitch=-0.1148 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3612 right_y=0.1542 right_z=0.0553 right_yaw=0.1252 right_pitch=-0.0385 right_roll=-0.0209 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.1145, 7.2137, 1.5995, -0.0562, -0.0611, -0.0122, -0.4308, -6.4068, 5.1077, 1.9267, 0.0464, -0.0171, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0135, -0.0338, 0.9987, 0.5541, 1.3937, 0.7033, -0.009, 0.3511, 0.2153, 0.6044]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0008 left_pitch=-0.1141 left_roll=-0.001 left_gripper=0.9987 right_x=0.3543 right_y=0.152 right_z=0.1103 right_yaw=0.1331 right_pitch=-0.0819 right_roll=-0.0344 right_gripper=0.6044\nstate[joint_eff]: [-0.1299, -1.2376, 6.9675, 1.6435, -0.0366, -0.0562, -0.0122, -0.3624, -7.2, 8.9368, 1.7851, 0.2173, -0.0562, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0338, 0.9987, 0.5545, 1.3899, 0.7078, -0.0475, 0.3428, 0.2085, 0.9955]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0008 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9987 right_x=0.3498 right_y=0.151 right_z=0.1064 right_yaw=0.1428 right_pitch=-0.1118 right_roll=-0.047 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6093, -0.0464, -0.0464, -0.0122, -0.0479, -5.1487, 6.0923, 1.9267, 0.1783, 0.022, -0.1197]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5059cbf17e10b1a67b98bdcbeac69095fd5739f0ceea2cf177ea0959539bec20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ab76abe256aa0cde0d9e557d6673bfbb10e17f3d3b77dbc474a10f631983f9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2426b0be13109677652880fe527c30eb431f6c059e25de720652b77734d6325",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEK3T4Hbah3fE3n1gMOU1hAnzuVL0zY03VqZpVvxakbvuf_HoQSQX0HilPyVahMkLNgPK5SSk-Wqq86sOnoTN9baBgxMwRYpTqxPfGZYB_VGubrjfYsBOBQLFKL6VCxKp8ypFnFjFpaj5r39gviREoTiNKHGu0Bhewws1vR43URTmGbYvKoH8uu3or5OFsc76e0xf9bPbWuddEUnL3WQazEW6Pdaw0X8BqO11k4g_I5NUwha1uH9KnYL_tzY7ulszC6kbAo_CGSJbVdl8drB4IghRvpqGslDThaSEXeCpabkDO37D1hcUpZ3TweRWDdxP4iElmexcb5nqmlBjVbodpi2gK0fCnDZjOR8NgXGJuDArkC4K4roNE3L0Up3SuuFZdfUDVNKw1m8RvKix7wGCs25mkDvkqCh_U_24M4QxSqt5Azpz3zEEIRhUi-Ppt-oKAOMJo8y-_S9X4K7rYTlhvXbCE2fOCcX7TNiXmTqc9C3a0GpXytSMiop8_0qIdCkuirP9GRTmqOEWuy88UbCinRyb9zP_DHdzLZzQO7LGVBNAa-I3nO9bfDvjdNEhU568P1g4B-rJRw1bXLHsCC_OvCNRFP0chfivnOi2y3j0t1divQEf2qIT49taAspk0InIrtnzombJyVYgRF8_W7BeLQ4JSYY98W9iSNQBak4t-Ffp8tG3iEkzB7zOBUqFODF8C7mEDgP1w0-1JI8j_wbIxndh3TaCoxhL7teK4NctDZP2ToeIcRTREvyWUrlk2uKJdbhxmN_LnT66Qqc3C4FdOjiYpy8HXeLe0X8_l01ekMz9MTQUxhL_9QP9wAksxCZ6AbIzX8MN5bTlMNph-NlIXetXfEY7RlW4QzGZyg5y9VFJeHhUHsZoSNeFJ1hmRJbV1HLebF0WN5oV5DZwN3BiSUqgSwl_j94ORxRUWB6L3i1TfOqK2HTndRW95iQoau3UuSlpR3yQpiDxJd5aS8n4wevfgTXOdD4-1F-KjYAkRvEC18thhFnL2w6vwlCOQCA9ahneBRqa-60gW93YAcOmHHej7TYcldlTssnGTUfEmAe9jpycdKkpcg3hKbR2Q7tHcnXoYAxkBKuapYmaq87BtcDTgqaPixUCuzL9eYP6L2IF1Gw0kJBH9ebUr0prfIF_YNHDWM8GB_uPAd8Vk5vaiaSpCaSRZF1kR06UG-oG_crrOWPcqafVM8xJxK6lM3HWZy17OGRU5r64q0G2vO6orPIVGnjhymccf1Hvnef9o9hwlzc7tutW6GdJOtTcXe29vk70HU2cxdAzNV5_-9-hIqsLCKYRjhHw8zSXWJPdujFIKBhYFmz0iKFOmMdxdqroAe4hfGPmXsuKNVP4FYH7fR5NCnYlB330leXJzYO2T4mW0cCfu51g4nZ8Z3U8SnT4wFSQ_3oyuier_GyvGtUIF6EFUA7JIvJAFHsq_CCMH2VN9xOUHpb0SvkvVmTvdYaT47gDAxvK69JyyGBVxRN_SOOskqL7RorCsyAHvcOWsDmfismmQxxb-L3YMICCQVNRWxnpWTvyv_II-yVKEXBy6c-Fho6mtJ3Z-VrxgUoYsyDMwCqUxanjvGz1VjRuIw5C6CU56wH49MdyDdyTufT-GoS3BdE4oDhNqUG2__354bvOY_Pasb-MRTUAmsXacokGLOSWLp1PjgYbs644mtu55mlnFv-piHCHsNZ1URb4nKttda7Kx8l86FBBbrLNQus0ftmrUGHQbNJk0NiDbhpd9Gqg8ZogoGI8MKRdJTKHkBjCUm00RcPz-Gh0JfnvgH7F9tOeRzBhMtJ3RADBnSOgaJm3UPuWnUCS9c598UsX8eKnoIRcHb20LO3hOCrIRhbku7hysEjhuJ2sHSGyEtFNl0mqqW78IVISSWTXn8mtLq8sYAc7Rptm7sYsVlVzRH4F83WXCyWgs-Un0K-_-cFDa92S0QBu4MWBaKeHatAxK0EF67rhEDpkx9nsOK8vqjL-tgArwIQxMoAgfD5l4cKGkLxkUE3Q2Pww-2JjXHlBvBnJq53x4nrCnXkY0pUa6KV-TiNsXM5Yxafc-ZNqJLXvk8QWJeBnypRnSHZKYayjurPTFMvKTg3Pirs44pyClukkph8goY6APbtbDybfEwxmE3ZOEtaHW_XHbSbgurMz-Ki4egIaelYWBfh2wyrQ7_4RWeSNCrBbCNmD3VqG8Ll1NFsY0TM6EsX-HICd53GuIC4Ada4grhMknE6Z1_KZeAPQoD1ljNXw72r28NxaDoGsXj4k0PwhBIJYfYJJVmEHdlHbnoykmhw8DO1Dv8bmoN2fP8GxdGfiR6612HvpVA4t6TrsI1wHp19sUUu_sIXnLsDi9rwbI1HRGWaciBnXGDoOjuySgZfrcVVgf-K4Je0Jel8QJ2tqvpZQfV-M159elgqknbaUImO3qwav3SIdLuUYDdE3bpVW4b0i9YtRsq2H4nyHw==",
  "id": "rs_00c93f82a7f9cf82016ab442b4847087d09155dfee11493191",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.21,\"right_z\":0.1,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The pear has dropped back into the blue bowl, now fully visible below. I am offsetting the gripper about one bowl radius to the left so its center lies over the near side rim, preparing to pinch that rim rather than span the bowl.\"}",
  "call_id": "call_CNvoe345Ug7CBwXRpjOEsU0y",
  "id": "fc_00c93f82a7f9cf82016ab442b698f487d09216c4d74f8bd6f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CNvoe345Ug7CBwXRpjOEsU0y",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4767, -0.0139, -0.0338, 0.9987, 0.7277, 1.5219, 0.7078, 0.0959, 0.4458, 0.2905, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.158 left_yaw=0.0011 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3409 right_y=0.2064 right_z=0.0879 right_yaw=0.1895 right_pitch=-0.0684 right_roll=-0.0375 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.1009, 6.9675, 1.6435, -0.0171, -0.0171, -0.0122, 0.253, -6.0786, 6.612, 1.7705, 0.3541, 0.2369, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0506fb6c6c0fe2c137e0674b1c804574810c88fb636c3036fb6e0e74c46c6cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9a983c8754140cbd677b4933210d8fba3e785f8ee55c3f55f7f9b906f0f2083",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eaa406f2b4c1c89560f7dfed147dbe5145ba8d65961c547621e22462a59437c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0338, 0.9987, 0.5541, 1.5932, 0.5415, 0.3725, 0.3603, 0.2161, 0.6128]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0008 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9987 right_x=0.3564 right_y=0.1515 right_z=0.0453 right_yaw=0.1258 right_pitch=-0.061 right_roll=-0.0308 right_gripper=0.6128\nstate[joint_eff]: [-0.1299, -1.3197, 7.2274, 1.6484, -0.0269, -0.0317, -0.0122, -0.0479, -7.3094, 6.6667, 1.5458, 0.0855, -0.0513, 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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0338, 0.9987, 0.5545, 1.3899, 0.7078, -0.0475, 0.3428, 0.2085, 0.9955]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0008 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9987 right_x=0.3498 right_y=0.151 right_z=0.1064 right_yaw=0.1428 right_pitch=-0.1118 right_roll=-0.047 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6093, -0.0464, -0.0464, -0.0122, -0.0479, -5.1487, 6.0923, 1.9267, 0.1783, 0.022, -0.1197]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4767, -0.0139, -0.0338, 0.9987, 0.7277, 1.5219, 0.7078, 0.0959, 0.4458, 0.2905, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.158 left_yaw=0.0011 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3409 right_y=0.2064 right_z=0.0879 right_yaw=0.1895 right_pitch=-0.0684 right_roll=-0.0375 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.1009, 6.9675, 1.6435, -0.0171, -0.0171, -0.0122, 0.253, -6.0786, 6.612, 1.7705, 0.3541, 0.2369, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0506fb6c6c0fe2c137e0674b1c804574810c88fb636c3036fb6e0e74c46c6cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9a983c8754140cbd677b4933210d8fba3e785f8ee55c3f55f7f9b906f0f2083",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eaa406f2b4c1c89560f7dfed147dbe5145ba8d65961c547621e22462a59437c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEK9uVjQvPDUrzeC5hZZw8-o5UHgr8RPvoPa8Fd2T3iC7WjZoKDfbmkswZaeyxV0YVcoJWK7aP5SVf4err9wlDikZdLdEU0KfeBL7A8_aOwv2rEuBg9m6485M4hgK4NVIRApkonQ-bm2vHhAKJpYDS-SxOn3A0w0Z-z1PmyZofTzhnJMQcNt7R4ysp9vj9B8IzetUBySBscG7xiCaRCLArNG7OLqbJV-rNDVCqeEZwmgTV5RRzBY71ND3MaMMn6Ijp9mX8M4Ez81VcepXXk8ChdZAm9VlnLjW4l03XIXU_XPtd57TIs0VgKhz_kfmd7QoMWpQPHGIQ45tdhu-hIS32F7iy8EEAG3JHuMNeMl2-n8ijkFNsdTiXcb89JKZ1ZQD0HT0V2lKVhzJvz74_97OpqYG09J6roZLs7zzfEfBFwxfXg9vota9c_oJ2JHefd9EoVxehKndujoR5ESvrX0Y2K4z9mx2ZNmdeYVL_m9KDP0ngaKlmoC9lKWR6ovtEKJnK2Bt9CprYxb9y2-bEZkLRT9V8QO8wFqULjFu1damXr0zkzYqBXHmi6Gdv1fb6gF1G4LOV4QxjJGrsml1HEYO3K4Vx8hWotuOOoKUpD0SidR3VwXBrraW9GWqeJQbdAktyMV1CgOXnGComb1zD-RY9USJ8gbUzcfbFPlrE6Zq61jN3C8qzOrrhxPGtpj285BIBkQURisaDi5NBmUUqsh5UhHipPPW4D-SNNppLCHjKS0Qo2fsGUag6XqYM25OY7XTtTSVEfzXH8wUCe7jqW0FbuMDwW_hwEXP-_T41LxClffeJldZUdkF55e1d_35_OHrt3VfEq2A9X8ZnGqcHIosbE8X_JSJvDNtvq9BNIEfEbjerPZH5bdyTXlvjs2AWotxeeqhadAi1ax_hMGsnQwCH1EJF1fNY44nKNULNZntDXh5DakeE5xrCltkYlQ2EsAa6uAtyTmg6npHMKodAtThs2O_8SZ1m4ma1iQQDXUfhzaP0SPYWcEmlTomNUQmccagWluBxePbJr_i2yRJ2D1pCH_kUTp8t-J5MmfZfuIE8HyaxSK3ifEN6jsAuNlkLHgsjvYRRym8WrOSw2KnNX1OFM8sFzeFK_jqkM3KDi9okgEGyqG9QNZoqF4vm2G3rDKHnQFb1lhL4yIHGMIhbU63GbonWWCSol7JPWJGSkGS3HuQem6as1Js__7sdGquJ-Gz7wv42i6qzia76aXcL2Fgta19HygIgHP3jbYbcqlTdICRZTHwx3v4ANI5F1gnzSjsvFr1-9rd3J3sasOjrNbGId-LzqNgyrlZCs32F4vfc79bsAFjC5evOSlIhIUb94PLgfHla8UQicif9ZIrF6o6V69xbKaszFZZAHBa6Ie8Yf0-8jT5BXLQe2AGzDyINaR3ZjCxykrO2nrOmA6Go02VdJWHmWyK-3U-YNwfZJFLE-mRItvvscW3oZ7zmi5jse5FLp0YlAST44KjgB4UF-p5fufBKjmcW_Izng6x_RbYRDY8YxWaQ6yxag5gim209NC2ZP86X98Hqyiz0LQ0ew_S7ApDfzG9iibybHO6VMW6nXToq4hyYm8IlpL1WYBNPGsemkXaiEYbymQzV_ZSdILb7o5y_S_YlMi9nnixKc1ylJ4hTZ0TlfmC0w8URxLe_8C0MQBy-avvErcg6B5ZLjzBvI9s-pYUjHCvjEGYs8if1I08_4mTsBFtYbBzjbbR_bbgDGjm6zdlA4_WPDZj5shPCymfamRuTmRcURGaMFDjEF0-Yr94-Hf-0IiJK0iw0zm4MTt9oqLsChgiPHdorBNKQjJHTiymuaJm5Ncj8KDIvCeKWdDCsl9PAN_SGzlHM_CUzmrAQSNPxyS6qYD_fiMs7IvvTcB7XboLu053nrw9XVfvtPS9IjGIxecbzb0ktHZ6lxTfMwoTBMq8JjbKjOzDDl_QpDFI7h8EDRASjNX4zN7WUqImgYqpv8sJT496RxQHrXxIv0juK-CWV4rGOHZUrpVM7BczZj75-6lh_00K24nUHsNWAQ-hOXMyadSpgdbGmpM2fR5SMJrvfOBc_RaDMjQmt4x9b05tbDrXptR9nCTSzHbdBXju9KWggzsO1MCaN5k7zyMDS8-Lvy9XnjuIZtEHBD7lEpkxlfwKanoi2cqoiDn_BKxpZ61ExaPXGEj2hYi6kYWsJ1kUO-0WjsIyg-g1xja25pQsy6wcGc02Lxfq5zppx2_pA2RXon8DgLLwmFecJf2z8Xo4EXSARiA8e5HFBQIoS9nXjDwwZZEXFbLm_X_8k1iGcWsVuymfyLKkgibf8tkYIEJ5tS8qCM1vj8vyuwzADygNBSbDKrWs5QaYUVg2CTE0Pea2BlPoxuszm8SkX2TOIanY8fUKt7-nyVp0je-otDjyJ7D-dTDAMsYPy8kKko2moo32EnodzFH-Gy7GAyJ0KUOoSeX0kA0wrYi8efwYvND4q8mrVzuj1QoMd5PboU2PFviM8_tf8xAlZPo1HwqijgkLFPP-d_NnasZxdT9Wiuq_5hDnVpA6UEoOzKEZGiwtYFeA9hM7o73WI2z6t6HOkB3GQC2L1pBbVW2Fe2gx2bYaRONKgBKiuzHP5zXWoxOI-SYJX4R_GWGNXVkGMzTDuL1rSrwEL8mNe0Z6s0iop030CNu9xkmiyzBYu4=",
  "id": "rs_00c93f82a7f9cf82016ab442b9bc2c87d0899e86f4c9adc225",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.21,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The offset places the blue bowl's left rim near the jaw column, although the small yellow fruit was jostled out onto the table and will need returning. I am advancing slightly and lowering to rim height so one finger is inside and the other outside that rim.\"}",
  "call_id": "call_aOd2ECyk9g3jRAVEhSQLB9Xy",
  "id": "fc_00c93f82a7f9cf82016ab442bc9fe887d09050de20a167f99f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aOd2ECyk9g3jRAVEhSQLB9Xy",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.477, -0.0135, -0.0334, 0.9987, 0.7006, 1.6985, 0.6453, 0.3599, 0.4316, 0.2771, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1574 left_yaw=0.0006 left_pitch=-0.1167 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3545 right_y=0.2069 right_z=0.0434 right_yaw=0.1816 right_pitch=-0.0519 right_roll=-0.0279 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.4291, 6.9538, 1.6337, -0.0171, -0.0122, -0.0122, -0.4171, -8.3077, 4.465, 1.8388, 0.1734, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c39c971aab9c05917cb24bcdcd812c764a19ea8d70fb7ce812f535666d3073c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7710c8ece4b6f8863393f3a9ac9f69749596f0c9b40626175c0fc734e64762b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cfbee2f172774e2e20a12c245ba389e0263d35acf07758d76630fe3743da1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0135, -0.0338, 0.9987, 0.5541, 1.3937, 0.7033, -0.009, 0.3511, 0.2153, 0.6044]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0008 left_pitch=-0.1141 left_roll=-0.001 left_gripper=0.9987 right_x=0.3543 right_y=0.152 right_z=0.1103 right_yaw=0.1331 right_pitch=-0.0819 right_roll=-0.0344 right_gripper=0.6044\nstate[joint_eff]: [-0.1299, -1.2376, 6.9675, 1.6435, -0.0366, -0.0562, -0.0122, -0.3624, -7.2, 8.9368, 1.7851, 0.2173, -0.0562, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8192, 0.6132, -0.4767, -0.0139, -0.0338, 0.9987, 0.7277, 1.5219, 0.7078, 0.0959, 0.4458, 0.2905, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.158 left_yaw=0.0011 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3409 right_y=0.2064 right_z=0.0879 right_yaw=0.1895 right_pitch=-0.0684 right_roll=-0.0375 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.1009, 6.9675, 1.6435, -0.0171, -0.0171, -0.0122, 0.253, -6.0786, 6.612, 1.7705, 0.3541, 0.2369, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.477, -0.0135, -0.0334, 0.9987, 0.7006, 1.6985, 0.6453, 0.3599, 0.4316, 0.2771, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1574 left_yaw=0.0006 left_pitch=-0.1167 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3545 right_y=0.2069 right_z=0.0434 right_yaw=0.1816 right_pitch=-0.0519 right_roll=-0.0279 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.4291, 6.9538, 1.6337, -0.0171, -0.0122, -0.0122, -0.4171, -8.3077, 4.465, 1.8388, 0.1734, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c39c971aab9c05917cb24bcdcd812c764a19ea8d70fb7ce812f535666d3073c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7710c8ece4b6f8863393f3a9ac9f69749596f0c9b40626175c0fc734e64762b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cfbee2f172774e2e20a12c245ba389e0263d35acf07758d76630fe3743da1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELAZisG2Z33twl1iIQLDd9J9NZP1bbXHva6L9XPv9uy4xpQnAFl50Xk2w504z8ymlxTh40w_5-0baKh88Wmfas0q7wVLgXnNIg7PYDZyLMa-1PsC1gRer8sgwF_-OJ-E95_2DsGvi2G-R-RiR5rq46BtsiTEuiif-hZMBzVlx_AqLYVwGujtpPK2x555Lrs1rhsE1QPUGAEB5cZplFneakQ28nP_uQ8bbA0gy14VGB7qXHoVG3g88ymf80SwB9f6UAz9iwvQ11MigtiwkQPwpbuWRKZ0f7KyyQeQ6nrwhfN9W_9b-1wH00HaU_kVsDGBxmx883ArnUvuONRaDMDIHnJH1RcIWLDXO3_beSHBz9r2RN8gBDc60oyRtGwXKAS_UGNQsHVuxrMDobCSns0IFlBSmKzmxVgZNj3U5qPLlNQ2EK8QwO16AFkzncReXzMxyjBskRV2F75HOG5lWYh1Px_EMee6gtp5BsvKVyRmq5YnhecEjkdkLQdq3v3xb11GvA_kMAwAfIwPM2UUGR4pqYmGCtQCaPKXqbBNghX_w8dKLEP9Qunik4MXqD7E9GcX6-AsimDdCLYFbFNjvYu0HgAaSxNDMGjd5H3yvlX2SDaezOEOXao4qbWGt24rdtYzCxm7Fp0Gc71KiOE9tvAqZpT9A-hHbefbD9W5LfkCAeiIgMwCNuwcJrIH7pXnke5ybxaU2A8_nTKGqTZmhSoTUfN9PFakSOc7YzcdJBUDOf4ie3bXIlU2oh0BN12x_cuqQ5LkyZZTXItzqldkHhS1pLSAHDgI9sQDWndic_AjgLX0crpN2l3mrSuDoDWZ29Dykew7hhY18iroe1dpiFyHzCaYicSc8EbR2VpmC3Voy5VTbymK4eb_nVQ-uxS8GgxQ0pNE8IHmAJOW_EEmfePWZBuGanJoLGeTxdN_njd_515HxvG3l8Q2WqOum6aoDmT_GSBdONhPaTEkznBE2iuu23DekhCQL0WnxT7cZCFttd90FAVur_ImsPS0ACmQjhqxng0PnTp389FSDb7QNyjbITSGFFNxmAw5zid36qhv7mro1TE1k2pcMIHfQ0-fUYlRK61JlF938Ap_adAqAQ_waTZ0EOIens2rVYyYryzYF9lTe9Al6ONVEnhgFi6VaK4AcEak1lkWcAdjoPuFe69W7gj3YF5FLpQrgMg2Qg8FoAG0xOoHe1nruvEw4mviBmr0RwFhzhA_a5LhffXr4ox6Sr4D_E73k1WqXIeqIz1dj-dg8dFcu4DDmJO_rbQBoojyWjxQwRxpP5xiyl7mnuPWHdXcKI0bxK1EXkAkChFDTbU3iBbKpdvdKwHk6ev5z615q6yTuiJsvpCm-e4oCJpSiSnihBzDsdvaEQP7XMonNkFgtClHCElZ-fQlFNnYxIconLZQYp7eL7OoOpd4LJT7JUkwo2et76ePDmMnf6IlbTdzCDs_s6MzT3n4c8KHDA6eNpTkfO1CS0pttpdUiIDqvZJBHakHejxXdFnLYKdcNxV-hqWOpRZr9HKVxovz4fzYdB_8fP4SZQWqjLscCxdIkCNcF4J-XiZ7ftB_WGgm76p5GmlM6g2jDUb045naJhEXgaKd73cBxjtERoDE-g2bUwOxSGPsk3ozS4t4gkUanR6l-mhfdfik863jZ0PAko9dGQZTeG8B_Q7kd9REd8xEN34fm2X0lqCi1u6k8XKLmdvyqoRjhe9oTss4zJdVxgHks7TS9fCpuuCNsu0PCzaS3V4tJyczb-Cfzh8WkrfNZS3J_R-XfOFjG9YJ-XzY9itJui-MXj8QaQnaSF4YR_QV-oA2EvwKBpkhl5i-5JAKvE0zfM=",
  "id": "rs_00c93f82a7f9cf82016ab442befba887d096a2534b905cb1e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At this lower pose the blue rim runs directly through the jaw center, with one open finger outside the bowl and the other inside. I am closing to pinch the rim itself.\"}",
  "call_id": "call_9EJ8ijPgE7b4PWaZ14ibMtcg",
  "id": "fc_00c93f82a7f9cf82016ab442c009cc87d0bdf7c1fd2d35c8cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9EJ8ijPgE7b4PWaZ14ibMtcg",
  "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, 0.8211, 0.6128, -0.4767, -0.0135, -0.0338, 0.9987, 0.6983, 1.7123, 0.6292, 0.3614, 0.4385, 0.2611, 0.0422]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1573 left_yaw=0.0008 left_pitch=-0.1167 left_roll=-0.001 left_gripper=0.9987 right_x=0.3506 right_y=0.2011 right_z=0.0333 right_yaw=0.1816 right_pitch=-0.0746 right_roll=-0.0587 right_gripper=0.0422\nstate[joint_eff]: [-0.2393, -1.3197, 6.9538, 1.6142, -0.0317, -0.0513, -0.0122, 0.1299, -7.8017, 6.4615, 1.5751, 0.0024, 0.1685, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bebc0041a2504a72d828b909fc84f01ffcbc213573d47e72f1f3890f4b14ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6fbda88a9e7af9344a87b1325518322e34ec88b6a6ee801b497c02305274c4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7049e919c75e271f71ed2ded6c5a362619ff451157347b8fb00a4604d3369d65",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0338, 0.9987, 0.5545, 1.3899, 0.7078, -0.0475, 0.3428, 0.2085, 0.9955]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0008 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9987 right_x=0.3498 right_y=0.151 right_z=0.1064 right_yaw=0.1428 right_pitch=-0.1118 right_roll=-0.047 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6093, -0.0464, -0.0464, -0.0122, -0.0479, -5.1487, 6.0923, 1.9267, 0.1783, 0.022, -0.1197]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.477, -0.0135, -0.0334, 0.9987, 0.7006, 1.6985, 0.6453, 0.3599, 0.4316, 0.2771, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1574 left_yaw=0.0006 left_pitch=-0.1167 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3545 right_y=0.2069 right_z=0.0434 right_yaw=0.1816 right_pitch=-0.0519 right_roll=-0.0279 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.4291, 6.9538, 1.6337, -0.0171, -0.0122, -0.0122, -0.4171, -8.3077, 4.465, 1.8388, 0.1734, -0.0904, -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, 0.8211, 0.6128, -0.4767, -0.0135, -0.0338, 0.9987, 0.6983, 1.7123, 0.6292, 0.3614, 0.4385, 0.2611, 0.0422]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1573 left_yaw=0.0008 left_pitch=-0.1167 left_roll=-0.001 left_gripper=0.9987 right_x=0.3506 right_y=0.2011 right_z=0.0333 right_yaw=0.1816 right_pitch=-0.0746 right_roll=-0.0587 right_gripper=0.0422\nstate[joint_eff]: [-0.2393, -1.3197, 6.9538, 1.6142, -0.0317, -0.0513, -0.0122, 0.1299, -7.8017, 6.4615, 1.5751, 0.0024, 0.1685, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bebc0041a2504a72d828b909fc84f01ffcbc213573d47e72f1f3890f4b14ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6fbda88a9e7af9344a87b1325518322e34ec88b6a6ee801b497c02305274c4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7049e919c75e271f71ed2ded6c5a362619ff451157347b8fb00a4604d3369d65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELEiTyfBCK9T3DB90CMdStDCEbVnMhR6o7R8JvOOx574GvXrNGcf1XFZ1MuRD8zfmsPKDlN4wUNgjT1SSbxuVxCVqfnWpURSpX6SwE3qZZQQ851zXrsro01qQa-uzTRf5vaQiCBQ3AZgjt6PKWt7yE5noAaJu-J1IFe960SD7WVXPJP5T_3J2PaVBOguKMMa2nvLT7G1XsQ-2xAFPTZoSz2DgVHuapLlqPKG4CAyBPl7QA4HKUOcnG-J094WpKhrUKXxIjntzCZud_KOYfpdf6fCLOiJ3p25MPOh_-7afShFOoqhJiMCh7-z61d2nIp9w3LrnHn2FADF0BNZBCIrRIbOQJ39ybQwbo1CUTKbOXcSmrKINW_7pZy_zjXtuzXBd9XekfcVoM-EV_ODe4mGnY0wzGm0JbyeBbAgZDEKwKgnXu1Bfp5uzmEV2ubGvVmcCOWPeQnOkp91eFRdVXnkIBS4rumO_zqkECc2xsSSgMhwDjraIEUA7XsajYOmWfbrHsCKws5kL3rOyAqGHvu1oi8HpRCgCL_hsQntJbN00R8lxq02U16WiD4uLb2XLolqjjMQxyFOxJVwI9Kk6W9meII-aPLIIy076cV6gdzg2jAf4e8KqDHNAos8CuaZNdZZFU2_Tj0h__tUeb4YPUF6VLoVpUHNfTHa4MPZLeipwleECEjv8KVEiimwY90GqMcxv_ecGDYnGd2_2r6lhhHjxP-vA51rk8QCu9vSS_YxzBqHEO2HHjXzAaAmaFWAXl4grtyhhelhArKzJtIweHrviuZBeF4rOC8Ikn63ZC6_OGS-JL7-vMMlqS1lGlsT9fXmv0w0VFkXw0YKM1fvNdqFydej5bWH8_wQ7fRnu6dEDra_mbIOqH-x7lycUgZMrtwE7lLtsqccPc5igxcCz3dwqz2Z7Luszzv_BAGhWXw_mpcVIBNdwm4caXiX8YpJpVxr2wnZoZDxuvbfsUbPOpMRlgWsEZJWNFDtvynTwHgXPVgXMFu_-aMczrygk9wCEWqPgleG1JKvnuQBQlHI2wQpbEi0UQ53oqd0RzgTKDja1oZf31SR8c3bEWkO9fCgwQonfj2wdk_kM2PFmgnLgvhJ_S-HoZNxQsnOmzX8Rsp0KjSTblosZFwQt8M5006QjM5wHGQfEK7g12YdNQfHieHbS1_Lp0mGX0J2Myr-sbQV7vX-eqdCEbQ3JPohn7Z1wFHvMrMtQieTDJl5IL83dIx1aI5RRnGcaTsO19auT6XI2L-T-ifc3QI5YElcVTt0tFBvmI-6Jd1HRWVJR95Q0G6M4EGwMXPRsqDW4ZnoWgzXy5Ri_I_CTHemj9fIe4y9fKULPc8EMmPxsf7BN5GQm1MvKZ1rV9N48cO2DQ3EryFZLCq3Ra26gnEYS4lONZsi651hV11JU_G_ydnmDFJgQGnhWZEPw==",
  "id": "rs_00c93f82a7f9cf82016ab442c2c39c87d0bc62495847c74720",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The gripper settled at 0.042, consistent with pinching the thin bowl rim rather than an empty close. I am lifting the rim to test the hold and begin raising the blue bowl for pouring.\"}",
  "call_id": "call_IuL8fyWS5JhgxdVb0QBwU7kE",
  "id": "fc_00c93f82a7f9cf82016ab442c3532087d0ace5aa3457715eb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IuL8fyWS5JhgxdVb0QBwU7kE",
  "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, 0.8238, 0.6128, -0.4763, -0.0135, -0.0338, 0.9987, 0.6983, 1.491, 0.8028, -0.0597, 0.4213, 0.2577, 0.0435]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1567 left_yaw=0.0008 left_pitch=-0.119 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3474 right_y=0.202 right_z=0.1088 right_yaw=0.1959 right_pitch=-0.1033 right_roll=-0.0643 right_gripper=0.0435\nstate[joint_eff]: [-0.0479, -1.3607, 7.241, 1.6435, -0.0122, -0.0757, -0.0122, -0.1573, -7.8154, 8.8137, 1.6239, 0.2955, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e743aa2ae71fe46351d8dbf949bf4202fb560bc29ab178e9de6b45942c11ad4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38323c2de850652ff954037a1cabae168f08ac366d82db98bd8dba6a73509e94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4e47fe4382fd02e8846c9488ceac15fd20cf2cfabb60a1b8e7e6df2addfd8d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0219, 0.8192, 0.6132, -0.4767, -0.0139, -0.0338, 0.9987, 0.7277, 1.5219, 0.7078, 0.0959, 0.4458, 0.2905, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.158 left_yaw=0.0011 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3409 right_y=0.2064 right_z=0.0879 right_yaw=0.1895 right_pitch=-0.0684 right_roll=-0.0375 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.1009, 6.9675, 1.6435, -0.0171, -0.0171, -0.0122, 0.253, -6.0786, 6.612, 1.7705, 0.3541, 0.2369, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6128, -0.4767, -0.0135, -0.0338, 0.9987, 0.6983, 1.7123, 0.6292, 0.3614, 0.4385, 0.2611, 0.0422]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1573 left_yaw=0.0008 left_pitch=-0.1167 left_roll=-0.001 left_gripper=0.9987 right_x=0.3506 right_y=0.2011 right_z=0.0333 right_yaw=0.1816 right_pitch=-0.0746 right_roll=-0.0587 right_gripper=0.0422\nstate[joint_eff]: [-0.2393, -1.3197, 6.9538, 1.6142, -0.0317, -0.0513, -0.0122, 0.1299, -7.8017, 6.4615, 1.5751, 0.0024, 0.1685, 1.0085]",
      "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, 0.8238, 0.6128, -0.4763, -0.0135, -0.0338, 0.9987, 0.6983, 1.491, 0.8028, -0.0597, 0.4213, 0.2577, 0.0435]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1567 left_yaw=0.0008 left_pitch=-0.119 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3474 right_y=0.202 right_z=0.1088 right_yaw=0.1959 right_pitch=-0.1033 right_roll=-0.0643 right_gripper=0.0435\nstate[joint_eff]: [-0.0479, -1.3607, 7.241, 1.6435, -0.0122, -0.0757, -0.0122, -0.1573, -7.8154, 8.8137, 1.6239, 0.2955, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e743aa2ae71fe46351d8dbf949bf4202fb560bc29ab178e9de6b45942c11ad4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38323c2de850652ff954037a1cabae168f08ac366d82db98bd8dba6a73509e94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4e47fe4382fd02e8846c9488ceac15fd20cf2cfabb60a1b8e7e6df2addfd8d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELI7e9EdPC8l_VHhxUyuSs4wuZWEOB_TDERZykZX9o6gzvnowRjcForOVl4H0vMOYNxP_r3vB1Ljqz4aH6i8M6zbbeHQthSJ0SvK6fR8wfYf2Eif998zJQKPaAuDy-b_FT11I4QElmhAYTEf0JaFvs_YHxAzn0VuqAIQeWqYHtqRaRbqvplCMeQGh1eJOkrgukCpK6Our1K-oigsmRcGRjn7hxBOO1Ho-Zs6WCh29pXVdFevuDgp9wmYpYqVqjFoF7WxBt2naYVG4vODF3DJXNyNmU-_857ZTSfdj-4JVZ51G9rFZu0y2u7zVLtryt1bCkm8zFOQV2LHftOr07JgTbmQFGc3rqyJDPdOfkDm51AXmd9_u3N2wGdA-2mtpsKNgswTAmnJffywo4iK_E1UL1wMYMNPOKT9XoNmFanT8p6G2pbitD4EBAbLB-2l9zLNL09CxSfITeu2Y1QzBUxXDK8dpSEDistl9jyPrU2W9V3KysKy3OmeBPjSwnPSDId_inEy-xAhHDjDwYQtgaAFicSrJKwV4Vk9GRhLDBnuQQlux0llsbJc7PseA4EIGuEFgTDCapKSeSGYuMA-t5_JoqXOZ1QZPurSq2bZcrILKoB9jYlf-59rgwZidPUTzpKXBM9bzFFjnhRb3HOztJax_43Pv_SIOTyDrcO-f40801l4wLd31Ex0AQxy7DkO_Abk2y0FVbXETzcfUCWVWI7c0Lp6OqfhGcndOB6I8DoOZTg_XVoQINndI1QiYr7_8P3ZESA2__Jqf0iEoCuRlfZBian9H0GmBGPciso1cH_9wyLcscENW8o5bosEjt8jh9aZ6C59N8HA6ijgWDHkv4vqMSaewALeUKOp24ugscmT9rm2h8JcuOOfCNILE75VlFqCUr7330UhQo0rg802T3D4OLXo1dZ7N1hQaR84eRwmqlChaHWfy92RQpfeynUfXLLCivQ85Bby9SPpqXVmhhZCtKNDSlDN9V43lrSUPs_YiIT2ppdkhjQPByMHb3a4deWCtHr7lZsiu0opay2U8ePpFjln72RB1-jSDOpUt9rda1AoqxpCPTp9Yeazh40wXU0EwQHzfeNHsR4OV2KqJroxTzoAzqEwmQkN4C_BwzXRp7GmsCqW-vETl8APw25VM4CSr7vVSAZ7kGPsytN1bsBKbFOvvbvq7SGTHujDVvV2k7uuKPjtHN8QEiToatHuAcUCKvDA73OfsScQQ6CCfwIAJwOMpCePlTnFxill1sz1nGBQCMz8sndiIIAxaeOdBcq5StQ_39TZ0KyssaQnrUapLnVeVFj_5wp26Tnm1IWH23_INiCIomb9GCvzQUovdzZZpmoN2GU1dKl0KQ7KbyA6pb3P21WVqWDvfHEF9rhephgOebestnMLg7GDp-vMcLpcBtD9rP5WFO1QVmrh-s8enhJwxMSPqCm8otXK0Mv1TAK0SuP-wUxQaprwGpkB1fDwSrekhiGWTnLvdtOAudP_NZP0OJelRKI8QHlQZqyqFI4QbtVZ5R8nazuCTb9gXLT6H6PXRBh8NFLo9_bp3LWIY79S1tjHenb6vVU0G9A9uc2KgLnQQ5d00XD-1AWqogLdm26oyb8t8KQVg_Urv60fE2A9P0SSUWySKVV7MU2afga5w6SjUR8IXGIo83YfR-YiXYv4U5ka-x5iHhdRKe00nNeH4aARX33KsHHYr52J6Z3AohTrQ-ScTD5YnHQ8ZVLALFPYxrrqA_x9lyRbwylcFsL2MRjC0r9X1TIzyK7a7rfB3JOskDM1mIhOleucPIRA4w9I-nF-rTkjq6D4gFKTXvXKnzjkDMrfaHIOXyGB9rMR4WmqpJGgGzmbuNOebHFy32WDfHihyDo_8TCwXIosM9ddnY-SoA_FSSe4ovkyW_sa_P0sh3YAgsuZSi5Pz6Kl8NwhnFzAIw7sbv-Nqnry2opCyjeZZfGQm65Z0b3jOfRVgxSyEbV7Yjr62Arnf2iAWVBywOF6fvwmI7g62_ErqgYElwaV2hnC9Ib-yv4Cl0J4VNexd8Nb7W3Go9u4Zg0T5Cnjwwlnf-VzajTE9cNfkp8Q2xOBd9XuV08j0x39KwTxRz-pEz_S8vxI2walw4UVa5WOhyZ4DNCLgjJORgYMuU3ymtbC6PU2JWBMbXmQLyD7Fu1eghj80O8WSfbQtH8wLCwIu99JeN0E8HIUpyd34O0ArvTDCnGGjmhfbDhC68uFggvqqzqaeJ9YfqV3RpVb8iujhEwWgDjKTG6H1hZ1Meck-FQVjSI-063KUSnvAIuNukoXTF6_4eloVOYAxS51G_cc1qWnAkSpsUhfuUkJsxtAfBPJGCmBHMyE-6vxYNHjHGPpRYuFc2jp8RSuH3yEa4q",
  "id": "rs_00c93f82a7f9cf82016ab442c5ef4087d09cfef4c32e1e1130",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.37,\"left_z\":0.12,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The blue bowl rose with the rim, confirming the right gripper has it securely; one pear remains inside while the yellow fruit lies on the table below. I am keeping the right arm fixed and sending the left arm to hover over that yellow fruit so it can be returned before the pour.\"}",
  "call_id": "call_m8QdkiufCXxSgqLDLz0nrazg",
  "id": "fc_00c93f82a7f9cf82016ab442c7ce3487d0b7cf2d67c3c6835d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m8QdkiufCXxSgqLDLz0nrazg",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "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]: [-1.0592, 1.9373, 1.3476, -0.5247, -0.8444, -0.8558, 0.9987, 0.5995, 1.496, 0.7841, -0.1242, 0.4023, 0.2619, 0.0464]\nstate[eef_state]: left_x=0.3308 left_y=-0.3121 left_z=0.104 left_yaw=0.0594 left_pitch=-0.0753 left_roll=0.1247 left_gripper=0.9987 right_x=0.3515 right_y=0.1608 right_z=0.0882 right_yaw=0.1038 right_pitch=-0.187 right_roll=-0.0916 right_gripper=0.0464\nstate[joint_eff]: [-5.4632, -4.7932, 13.7231, 2.3077, -0.5836, -0.0415, -0.1441, 8.4308, -6.6667, 7.9795, 2.2247, 0.3394, -0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc6fd304490b4dc0f5dfe429bcbca8fb0c5ee38adf55b68b5caffc339f0d2b7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86124f6abaa28bf80618a849e19ba5e0f29a7b9b4e444b3245f187b39eeabe3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a323fa3b59c3c3ec4e883f4f4534cf05dd8602ff445e4769c7b3278646f58b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0219, 0.8211, 0.6132, -0.477, -0.0135, -0.0334, 0.9987, 0.7006, 1.6985, 0.6453, 0.3599, 0.4316, 0.2771, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1574 left_yaw=0.0006 left_pitch=-0.1167 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3545 right_y=0.2069 right_z=0.0434 right_yaw=0.1816 right_pitch=-0.0519 right_roll=-0.0279 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.4291, 6.9538, 1.6337, -0.0171, -0.0122, -0.0122, -0.4171, -8.3077, 4.465, 1.8388, 0.1734, -0.0904, -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, 0.8238, 0.6128, -0.4763, -0.0135, -0.0338, 0.9987, 0.6983, 1.491, 0.8028, -0.0597, 0.4213, 0.2577, 0.0435]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1567 left_yaw=0.0008 left_pitch=-0.119 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3474 right_y=0.202 right_z=0.1088 right_yaw=0.1959 right_pitch=-0.1033 right_roll=-0.0643 right_gripper=0.0435\nstate[joint_eff]: [-0.0479, -1.3607, 7.241, 1.6435, -0.0122, -0.0757, -0.0122, -0.1573, -7.8154, 8.8137, 1.6239, 0.2955, -0.0122, 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]: [-1.0592, 1.9373, 1.3476, -0.5247, -0.8444, -0.8558, 0.9987, 0.5995, 1.496, 0.7841, -0.1242, 0.4023, 0.2619, 0.0464]\nstate[eef_state]: left_x=0.3308 left_y=-0.3121 left_z=0.104 left_yaw=0.0594 left_pitch=-0.0753 left_roll=0.1247 left_gripper=0.9987 right_x=0.3515 right_y=0.1608 right_z=0.0882 right_yaw=0.1038 right_pitch=-0.187 right_roll=-0.0916 right_gripper=0.0464\nstate[joint_eff]: [-5.4632, -4.7932, 13.7231, 2.3077, -0.5836, -0.0415, -0.1441, 8.4308, -6.6667, 7.9795, 2.2247, 0.3394, -0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc6fd304490b4dc0f5dfe429bcbca8fb0c5ee38adf55b68b5caffc339f0d2b7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86124f6abaa28bf80618a849e19ba5e0f29a7b9b4e444b3245f187b39eeabe3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a323fa3b59c3c3ec4e883f4f4534cf05dd8602ff445e4769c7b3278646f58b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELQCiLBsUA8WDoAJuQK19gtRyivH-zg8rM7RTtrl9LfL7tYGU-ss025XtQEHqXFqqveI40gtjWwtJjNNlBiOe4eU-W66wELs94oVOksRuxQhSW9aA9GnD7-zEsFwLdP3biaChKpDVuCiHbnUoXnTZWgRHH7sXO0mbPHtO_igXCg5vHFAmLERbrfVmT7eg3AZujp96xAc04IRYj64w7KkrfaLNdRJuO0nRLhjBrd16l7wf3N3S-r3MzOXmAIjMma-y_kS6EQkhhSNQVdJJ62qWcuWUe1VX4ohnAU6IHNuoAXzcCZoY4Jm6GYGxj4O6IFqpNFp3ZLPJUQpi92qYmJosAeOqKQLUVZes1cDd-TCcnSMF8SKyfFkmQdE95x-VChFQ_HEBjszWXkeS-lHobWO0tgykpGYT_2jgwkKKb_tGtt729bf9V_BXVHU_GTNFmJuzzR7N4ER_iuyugIoa6_oE9mqrSgG2sX_Ef7XxO0GLZiyfbhbRw6EMFY_oSBckYThPEcsO1MBZJE_1bmRO7ujg_nD5DGMKuHG2tkhAj6ekhSfH7rj1LUS2HKAUqmDI5iOw8B4sgtJGNLDsFf-snDGama8xqLHZVDkThcaMjvm9ZWUMa1p4EqcVcMauRyabMXewq6RX69E2isHzOMbSbNxtPUgWYH7ZTN4ZxOv--1pa20K1Xbahlaz2O0lSqR6IyQZih5-wyhPEKlLwpml5acukpWAMIK3_ZQgbpshaSVeI6AxTMP3AFs4obQMnGVOXENAXQWuq9ThK0Zs94QVehF7nqpArgf60IcoTqaI3D0tl5gLxd-faJagI6mR0ZrlCddLUxEY18mpo1RyDmemhForNJYytalyhAouS1bLD2xWnHUZVtQAU-6p0Z3J9l7qSOt-9Yn3usjpjFaHcTMHCi3-545qJoFshPPTa06NA3QsuXtcIDGSKlqe7zB7_1Yrd5NbOQrZoJRPA98_kRpMMhzP93Kc1G7W_DQAsnqChJmtWArzFf_bJKHXDv-gmijbmC461OES0DH6aBXTc1YBTKJ3-bFzaWCPvLi7_t18xjraAnzpdlcJYEfypMFDulFnsoy-hAw5dzCoYR7EMaGc_uY3b61ZGt5eiOxk4o5TCYA3rGeV1BFUCBTZR6ILCkGKThTA5G7e7M7kNKm9G40lzNNcxY3e2Ky49sVOt-bqmoqGyJxgGBes3yflLLgzF7itW8rtH9Bg5MIBQ7-3-aZgEaIJk6DidPJsZdJ3VBeZ3NizjIWxDYHs1gFwIF2LRZwp_1ivtoI-gnahGaQB4jddlirf2yT0khGi610yQ9jhrO8GMHitS6QhXPVI70nZyYHpCsC5Oo_pPCus2p8wxf2eTpB06nStm7QFt3fZyTy8beLczsL3Qa1ReTCk8N-MjZX_p_h28YgGR7Uth4TAXS1h5n1f7K7hn3V5lWOPrIwKaWfyB39d3jk1aLqkMvDGKndsvF40T8e5HA8InxP0ipYGKZEck_NuFYsCEl0ikNxRIMtcmh7wqIrNrJEdTmKnDDuWQr3rA-DjVElsrvzuU9HrJR_AU0vGcnmBhxcWnYSeMJFUJEFM0hzadpDaX2xBEaZyUHIAQTr6vHljZjDCBwovFKKBqL-3U-v7PgKQzaEw5rKhTfyZuTrUlpcdbJOY2QX88AMwKhf-ePxwnIa_OItO8wBMcGWmBBF6h55E8PGwQXenLRaawRnSv9P5FR67mm8nhZLS2e4JgkJAqgut4dpFhmzwUHpHqF0MsKB3FwHhdkrBD7KZjt04jC-lcNweaniXU5yQp9zY6RsSIWq0DWKtSV1i97WH2fKSUrz49akTimwCVQV_j6EIpILss8VBn33M5UkPsjJwt7jn2BMpZEc7gUjnr6YACG6aZzUFKwRsSHb-YZMDNcXXjSECkBKpmbfQAmN1oxfqGvDj3OFvqYpS25SPzHtJgUtKTK7cCC3AVf-rWcaCQFIFbyN9nzYEG_DIdioE8Tzj0l6NiyoH6rqsWapu8QwvaANxcmt5YEHXjQNs4Ag2ZcJLmqIXb-1S4E7vW7BGMcwSZ1K5wXUT7U2XLgBvgU7GVGkV6XFugVtZswgId1iJbmb70v2K5dlB9EXuc03Ro1hSjmoYcB68n5m5MaCZsfHAyGvbz3ed9YtTYK_UO2KUCiYNITKxehlGa2Ex3tYcjLgGz8rNeKNcAJqGaDA1yHwbR8Xkih4ITuGxlCopDJ5SgM=",
  "id": "rs_00c93f82a7f9cf82016ab442cd68b087d0b10a8fd2c9d39723",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The left approach was blocked before reaching the fence-side fruit and brought the arms too close together, while the right rim grasp remains intact. I am immediately parking the left arm to clear the workspace; the right arm will finish the remaining pickup and pour.\"}",
  "call_id": "call_qsca0dEmXX6mt0cI1s8s4iUg",
  "id": "fc_00c93f82a7f9cf82016ab442cf5d3887d0816d9d58ecb826b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qsca0dEmXX6mt0cI1s8s4iUg",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.1108, 0.8104, 0.6033, -0.3721, -0.1951, -0.152, 0.9987, 0.6003, 1.499, 0.7746, -0.1516, 0.384, 0.2615, 0.0478]\nstate[eef_state]: left_x=0.2964 left_y=0.0051 left_z=0.1786 left_yaw=0.128 left_pitch=0.0012 left_roll=-0.0043 left_gripper=0.9987 right_x=0.344 right_y=0.1596 right_z=0.0784 right_yaw=0.1154 right_pitch=-0.2289 right_roll=-0.0987 right_gripper=0.0478\nstate[joint_eff]: [0.0479, -1.7846, 7.3094, 1.746, 0.1343, 0.1978, -0.1441, -0.0752, -6.4889, 6.9265, 1.6825, 0.2808, -0.022, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845db16caba6a5e59cd686d2f67efe375ec44bf362b91abb1191dd32c9aa2c90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980215d7565b2684f0d2208dc2a89bb450409c02a5258b308078db1152df383c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb35e275d234156b4f71b8307f8f9c585a92cba5f22d1873a4366d1efc540232",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0219, 0.8211, 0.6128, -0.4767, -0.0135, -0.0338, 0.9987, 0.6983, 1.7123, 0.6292, 0.3614, 0.4385, 0.2611, 0.0422]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1573 left_yaw=0.0008 left_pitch=-0.1167 left_roll=-0.001 left_gripper=0.9987 right_x=0.3506 right_y=0.2011 right_z=0.0333 right_yaw=0.1816 right_pitch=-0.0746 right_roll=-0.0587 right_gripper=0.0422\nstate[joint_eff]: [-0.2393, -1.3197, 6.9538, 1.6142, -0.0317, -0.0513, -0.0122, 0.1299, -7.8017, 6.4615, 1.5751, 0.0024, 0.1685, 1.0085]",
      "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]: [-1.0592, 1.9373, 1.3476, -0.5247, -0.8444, -0.8558, 0.9987, 0.5995, 1.496, 0.7841, -0.1242, 0.4023, 0.2619, 0.0464]\nstate[eef_state]: left_x=0.3308 left_y=-0.3121 left_z=0.104 left_yaw=0.0594 left_pitch=-0.0753 left_roll=0.1247 left_gripper=0.9987 right_x=0.3515 right_y=0.1608 right_z=0.0882 right_yaw=0.1038 right_pitch=-0.187 right_roll=-0.0916 right_gripper=0.0464\nstate[joint_eff]: [-5.4632, -4.7932, 13.7231, 2.3077, -0.5836, -0.0415, -0.1441, 8.4308, -6.6667, 7.9795, 2.2247, 0.3394, -0.0855, 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]: [-0.1108, 0.8104, 0.6033, -0.3721, -0.1951, -0.152, 0.9987, 0.6003, 1.499, 0.7746, -0.1516, 0.384, 0.2615, 0.0478]\nstate[eef_state]: left_x=0.2964 left_y=0.0051 left_z=0.1786 left_yaw=0.128 left_pitch=0.0012 left_roll=-0.0043 left_gripper=0.9987 right_x=0.344 right_y=0.1596 right_z=0.0784 right_yaw=0.1154 right_pitch=-0.2289 right_roll=-0.0987 right_gripper=0.0478\nstate[joint_eff]: [0.0479, -1.7846, 7.3094, 1.746, 0.1343, 0.1978, -0.1441, -0.0752, -6.4889, 6.9265, 1.6825, 0.2808, -0.022, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845db16caba6a5e59cd686d2f67efe375ec44bf362b91abb1191dd32c9aa2c90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980215d7565b2684f0d2208dc2a89bb450409c02a5258b308078db1152df383c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb35e275d234156b4f71b8307f8f9c585a92cba5f22d1873a4366d1efc540232",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELZtPsiZpgUTFqgqT5hh_rQB5i4-RJPs2wUlEWE9ygI_U0fPTdTugMfXk3vApF76N_yVtRuBrLYb6HKyATOYvB3bfDwpiX7flgam2FXCmEcJu2H5WRk3vZyEKVkGQ6pV6deLdF_KMkERZxnH2vgbmf558d86n2mpoNSW7CMXP0CkSTfVWMAIsPpJOJkZIgNudSq0oiEznB4fWg5XPKNa_4a7-7Q66tDlWX9KbTwzrZS-sqt1rSH7yFfLq96vG_3YKEvD5hGClI9ZCXJjTgPpzURF573s71TwFXSwmLHZtrscNBptUrpBtsWuwseiYRYXatvN_5DLc_lVFa1iErf517f1J_SyzF502YGLD9Qx4DsijIJak1VXh6nK64zy6N_VNfHH7NAC1szWUKvxzHvrJ28w9zyV-MGBSC0PfILcI3Udiivnuo70LY2Gvo8DbKmkAXe3R_AAp4pIrYNVXSf0QUcJqH7ix4ZPzzUKbPe_xRDA6Lcdn3aj9J_UsmQ7Mfev-BXMnw0PmfwLH2ORF9sqI0hwlrMPt-a7AXXveV1Y8V4bVdFNA6sscA5-WSnZcWdOTRhmmd3XG39EPyN-2tNzMNDPUMAqTSb6MrdEFjZAcRvmS_k_3hKYLfWFOgLclZLkT6O7-KW6RiYib5yknRV0utD6LvvBq45NNdfm7E7MGdL6t5L8KmyY6FqIealj2ISpoO_NfbaIDIXQn_hkjKtz58HBdDInHNlH_g-x7P4qghCo2Cj7Y6TFVZ5UFkUSN03F5xG0HtYZtiefpWu9YfjuaeNOs2JmuPW-aK1g4l4RA2lH7rcIg8sbTGjLp6o36amvY8g7tmlh9pJe0JJvmXA1P95uMPAdXLkRkJNkgOENXA9Sb25xp5gpLKrfi5-UE31cSsoKcN2kQPF_E5KIeBYhrtlvsXQTh2n7CHrFHjAf9_-0BQfQfvRg4xC0js48gHxh9pCaSjYpDEGvWwFbGtQRZ46V08w3yI-8MzC98LQ3RsPn9JDruUKA6wthpGB2oRUheTrQmmG7agtgP5t1Bb9kLjyeE82RAXVvZUQRkJFjvL5jSokrOyYq_WcdFGGdSl967U1HbWmI5swDBt8f6PauiqHaBmFhrwKE2B5f-ZscS0rD1AMm2EpZrMBo5--XilJHWevCLgBDuSf16nonLigl0OImhR0nP31p4W3038Y_ka6MdNAWht8p43DjrJFEGnf6-Jy9qi-1KksBxGKCpceQvSb1qB1vsJ0ErCEK69Ilv9x_rehCFA0etKVfR36Q-Kac4kXuzX5Y2HlyQ8IENvR5ULi3yw5IKL-2hYoFUBp-_nngERN8-hBYYh0iLp5hLDV3t3Ge4Q60a_f3-p920ABBQ0e0Q3uo8KMlaC57y4dNr7Fi9eoFKuCsyf5--9ipaixYOtrhvBCgKENh_tixicwAKjo_bIchzpZraY6JuJioDoWLwc8llN9F0pRmq2IXNUHH7nB4iA1JW5NguyvKBeBv4x_kRMvtkg--lEmuSmvn3uBFXOcf2Ht93MA2yQZLQ1LC3kfGJ2A_kT38FB4c0pzSzRuw1xli5wBwz6TFyUDryVVnYBCkv6uXB2I-2OLnx49YgDvhF28WA8l0reaPiQLyt8lYk-cO3g7qVR40609eC2T1doNtyiGp-nSxJw3TXEjl5HrHZLpq0m1BU-fr35_3lIKY_-zSMu9aO5vFEDgqVVhokfnrNUYQcu1cZMCeOme5V1_wn5i5mLES8iLS07xd_8Tcqbz0vqT66wMxrxTI1iwoLNZN-odUypvzFa6HPMSG3WR-Hvrc7lv4misQt9YeTzjRjkGVIO4OQP-8ez61UrVu9fRm9A2aFC4A1RmTaIKn1y09o5z_QJqpwJ7nX3lbunG206PDjNO-yoxxdyxE-osc-cmrcVjDgH5b2i9gJJ3dXX37wYKuc4u4TgsIwvX0t_Xl3ULYf_QH_be5W1Tm5h4rDK1ypg28Im0rrlMlbv1gO_2LINjiS2XWEe2v6GPDCf25SsykQ4V60iBFrnPFIrcri9SUI2w653T7ZhX2Rwe21XDTf4bVlZSsATzFPtwSy2Q8StHWw3RA0yuoBsnRRfDpfEBXq3bvyo2_GCRnfcqLT_-ffCYRrUeLQ9TMKp7iFG4fl9RFMGzk207l6pbwroXZPE3CExdnffqwyBKGjwx_t6a-OqgAvILboTmE-QFekqc_H0mPGxwXeq0awazUXhqZ9f0UKomjxh8jPXOtKuM_Zqz0hrlRul228Ny8qkbwb2SND4ELC68m1wd966fSYeld7vsOEX4o3wdla6wWQrV-k9j-PP9RaDdrwXBQcxeoa0T4Gi3wSQKT-6c3VFSiiRwt98yUIweAGoKZtkKaM21V72nlW-EcTSVu7dg3znxH_ShxtMz6tktya89Ja2ZIcF4PNUIbxRGGZ5oOmofC96tZ4kT61C87WbbKduh8kE6vfmjfgdY3NmuEqv24vhP856x53mvj9Q0lE_6BWXI9lSWI0TFZh83-GIK3l6Jq-HU6kkK8DfTgbkR-fVKlGutqRgohFBwCQaSTyS_NyZ5XF5RU6eojxMt0zJ-M_do4mXn3KyS0WxAEZyJ4WUbJoDRzM0aZuRsjwiZB3A2hQjckMAEeZV_DnV4PhGMXCqOguL6vwYry9RGhkfH19qbrFUIXZisFdO1VNBDl0ADuhVJsl1iuXCx7T9ppA0BMgXJirKvtsdSPqDG-j0-6Q_ifmoNNJBtxmjDLcSslgc6CByegl2HuW-TDKhiUpaDMrbi1GjdDBKhfDAr6Sl99ro8ne69W6CIVc7TIIVi8GwOy0Q-vBJMIOwKzKpKgejin5K_925LxTkggBjmpIQZNiSLZv2NERub3TJn5duslZWgAv_jb4TkaSbe0HBUF9RzTADe8-nOEXx8lQ==",
  "id": "rs_00c93f82a7f9cf82016ab442d4b8d887d09f65e6922321d850",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.34,\"right_z\":0.24,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left arm is safely parked and the right gripper still holds the blue bowl by its rim with the pear inside. Since the yellow fruit has already been placed in the blue bowl once but was jostled out, I am first carrying the blue bowl over the large white bowl to pour its current contents, then I will transfer the yellow fruit directly to the destination.\"}",
  "call_id": "call_kRvxUXtINORO676TpQI8GAiV",
  "id": "fc_00c93f82a7f9cf82016ab442d8241887d0a3da0cc19489c883",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kRvxUXtINORO676TpQI8GAiV",
  "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]: [-0.1093, 0.8131, 0.6033, -0.3843, -0.1905, -0.1535, 0.9987, 0.8108, 2.0266, 1.8549, -0.5888, 0.5274, 0.3782, 0.0477]\nstate[eef_state]: left_x=0.2949 left_y=0.0049 left_z=0.1753 left_yaw=0.1266 left_pitch=-0.0139 left_roll=-0.0045 left_gripper=0.9987 right_x=0.4403 right_y=0.3394 right_z=0.2129 right_yaw=0.1602 right_pitch=-0.0708 right_roll=-0.0363 right_gripper=0.0477\nstate[joint_eff]: [-0.3897, -1.5658, 7.2, 1.8242, -0.1538, -0.0122, -0.022, -0.0342, -12.041, 8.9915, 1.5897, 0.6227, 0.1783, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010379d37ccb335c3eb22273e8c5f5a60d52cfc09c7ec6338058cdfb28aff304",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9656a6a0eaead67dff28e843522b2a42d84aabe6f469231c71d6ca1cfcfa49e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7bd0445f4b3e319a689c2d815a6460f4b76eb29069eb159117f6433f69b2fee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0219, 0.8238, 0.6128, -0.4763, -0.0135, -0.0338, 0.9987, 0.6983, 1.491, 0.8028, -0.0597, 0.4213, 0.2577, 0.0435]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1567 left_yaw=0.0008 left_pitch=-0.119 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3474 right_y=0.202 right_z=0.1088 right_yaw=0.1959 right_pitch=-0.1033 right_roll=-0.0643 right_gripper=0.0435\nstate[joint_eff]: [-0.0479, -1.3607, 7.241, 1.6435, -0.0122, -0.0757, -0.0122, -0.1573, -7.8154, 8.8137, 1.6239, 0.2955, -0.0122, 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]: [-0.1108, 0.8104, 0.6033, -0.3721, -0.1951, -0.152, 0.9987, 0.6003, 1.499, 0.7746, -0.1516, 0.384, 0.2615, 0.0478]\nstate[eef_state]: left_x=0.2964 left_y=0.0051 left_z=0.1786 left_yaw=0.128 left_pitch=0.0012 left_roll=-0.0043 left_gripper=0.9987 right_x=0.344 right_y=0.1596 right_z=0.0784 right_yaw=0.1154 right_pitch=-0.2289 right_roll=-0.0987 right_gripper=0.0478\nstate[joint_eff]: [0.0479, -1.7846, 7.3094, 1.746, 0.1343, 0.1978, -0.1441, -0.0752, -6.4889, 6.9265, 1.6825, 0.2808, -0.022, 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]: [-0.1093, 0.8131, 0.6033, -0.3843, -0.1905, -0.1535, 0.9987, 0.8108, 2.0266, 1.8549, -0.5888, 0.5274, 0.3782, 0.0477]\nstate[eef_state]: left_x=0.2949 left_y=0.0049 left_z=0.1753 left_yaw=0.1266 left_pitch=-0.0139 left_roll=-0.0045 left_gripper=0.9987 right_x=0.4403 right_y=0.3394 right_z=0.2129 right_yaw=0.1602 right_pitch=-0.0708 right_roll=-0.0363 right_gripper=0.0477\nstate[joint_eff]: [-0.3897, -1.5658, 7.2, 1.8242, -0.1538, -0.0122, -0.022, -0.0342, -12.041, 8.9915, 1.5897, 0.6227, 0.1783, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010379d37ccb335c3eb22273e8c5f5a60d52cfc09c7ec6338058cdfb28aff304",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9656a6a0eaead67dff28e843522b2a42d84aabe6f469231c71d6ca1cfcfa49e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7bd0445f4b3e319a689c2d815a6460f4b76eb29069eb159117f6433f69b2fee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELf7YNiiA4Z7WCYws-CmIO1gA4UDWwfLPB6HOXW0ssyv1EBnfohj2XULQ6bYJQcPLlmCNSy3xa0Vax0NjwTaSSbLwV4WIPIgHaPlHSxQozNmj0yostk3ilBonlg0vBOKZ1mSXV5jqkS-o91mY074fW6JViP_6E1l553qXLhIZ2eeOSh329CPm3uKMaXzFkHtUlzbbsuR8liIvyy5_dtcLJMvcbfToZsDEiXWwt6qr5MRdk5pkhFRftgmjNc0bP8KFD6a0UO-oLz-gqj0yZ-vVWvKuwhMtHFpot_rKLA38fZstZsgKwtYUpIs1Nm1ZoKdyidj2UjHXhn7yTN_EokHzffcF0GkfXUCgaHmmnRa2oZnKXZnyrIsdodI9KmkbBwYCbOG5c2MtpK2XzTH5ugIbvVIJB3mqTJOT_-PtNaCSnJnJ_N0gQemRDumdNYjoGhegXYibQdYlexR0Gt3UDNmkSEScgCxe3aU14aWy6IhY7bXkVNyoGTHYrzwY6Q6XVYBlO3KP0oqYi9edm2aF0wO1INJy8DIVJoX97BDV9kHP_56QhhWPOIDJ8kOuFjNuQ9xvp7ru4GArzf40s5kVI2uyffNzmRThaKLxceIIeozqH4bQDBhYF12y4jTkiyQRSIwcayA0u4u0SVZCizPyUXSEYZc2pNuzwpRmLGE1M4eTQ0frBm3SFqCp6a_GIyuTx8DyG3wD_M-SI4QflDdttK49A9dDEBssSY7d1a46bmWiBdzfbNXaqn-S05U_WIMxC2a7AfKSgaIMgXtAkdNKKatMtU6c9dr45asnJmnH1RkEhozfiicG11cJfqfiMuHZv2d4xF67Z9xKuI2qgkcC3NKU0JKyPLwpnTmE-vvof9rAB90aWdsfYHBKpfha7Jw6HlkKLSbB_98ahRZIOgFCcqTuC6RZWX_1xan9t7ahR6ovHWzAfP6qEixj_UguN497TikrgzSEuobdJh-L4nbjonbWghTLcOjK496zI8gwazR7QXInIMBT9r51zM0lsDkHw6AaQzdqBc5Ql9wrOQ6GREZA-eJXZhiQEPg3OLd997VHWYbIpgghWc5HhBoo_oJkdOOajqtLc5Yzzc-Hf7HY8ntUomzT20nQisqvVyyPfcJpVhwBGlNM7nvJdkSM486Dz-NHkT2wuLw9uW2i8vAdneMDNtUem0oJuG00LS-avFAwsZcQ7n2ZveHOxdBVDFJ3_lMdLYmIatEkkmI_dacDvcMKIDI7izyiwurRD-lImQAJrnbRN0sjG6aT94wWJcWy1tqPLH6qWZVAt-SfpWZTZA3i4mnVxlFdsqxrh5AYhHq6TyA1M6kUQf9UbhU-Iz66x1GMV5OVYHNCGo8XlxVmE7m5aDW4OgGWJIWOOVTbygcaiHHXwHz3dzQRwRawUMc76-y3P35cBI5-aJ-AIWtCnY9LpVg_tST4waDlUINwGuwISRKEYkBfd8ymWEUziIzjQWQQG_KBG3sTOSC3NR-bUfnAz6D3tDvOkeW7WAY_UF8buAb5Y3F9FO5rzIScc_1m9uQPTwycxrfZsrS4teXqk-Z7vxqd4sgXh-tXY9vvdSpdrKlk06eAKIYkEriklieGmsqmp8DAOQtYGb6jrDVRjvsXZdqgvI3HO5hF5JmnC2wu24H1g0YEurMgURxVa4AXNkBEiX_RDsls6SFQgOvQktK_Zky3qQX5ReHwYCWIlkjY2JRGrB1cZiXd8A2LkmSRmFVAfxgZL3fDQa6SGPDlEHCrph9jeEO7PENT21l0Bne5T7vBlZB_ZTmlskx6R3V1IpKPhQ8yrqBxvVDfP0SZqaOuoB7u7G5AJlA63gjH3QeJqLoHzCzf-esTMZsH7NqgGeG-inl7tjTWtz9DtMP7yIrMFY1ruREXhcxhUMt8I-cpk7qqiA7zKjSgTBSISZMt8rI9x0iI0h5GSMzanHZs8MvHMhN7Y0zKzUpO9hOOLYaoQQgKfh7njM0yp73ezDA1gCNnIxZcM0iBbyKsj8B2K5Qrn4GT6JwyVxsrvZ4UPZEtg1z-Xx3IO2vHPIa6Tglxz-oe0dpLvBUm50kUZXvMZS2IFXqGSOSM8RkAOEHODQFvZbsbcmz4Dc6r8Ko2i_S_LhnbYInLIaMVohhmMH3JK4WDlHlvj9SPvTaHKJFyqHpUwjfXw93YFAvmCgLJaZnoNG3l6m80XW2hJsVZjBet4yJaVM80Y3b9AXeIQAh25UQhVIu77wFSehmDhZig0xViGe9X3Wm-WoI73cwPXkV2QlhNJKJmTrqTTjebiZDEwOThucVPwpBKkAXIO1b0RbDSqvaiS_",
  "id": "rs_00c93f82a7f9cf82016ab442dc21e487d09912ca42355887c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_roll\":0.8,\"right_z\":0.24},\"note\":\"The blue bowl is now immediately to the right of and above the white bowl, with the pear still inside and the gripper pinching the blue bowl's left rim. I am beginning a controlled positive roll toward the white bowl to tip the pear across the adjacent rims.\"}",
  "call_id": "call_6jXrWJMbvsbBOzCwCF5LTIPq",
  "id": "fc_00c93f82a7f9cf82016ab442de231487d089a41a9ba7c12332",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6jXrWJMbvsbBOzCwCF5LTIPq",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1093, 0.8131, 0.6033, -0.3855, -0.1905, -0.1543, 0.9987, 0.6781, 1.8656, 1.486, -0.252, 0.091, 0.8436, 0.0477]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.175 left_yaw=0.127 left_pitch=-0.015 left_roll=-0.0049 left_gripper=0.9987 right_x=0.4324 right_y=0.3323 right_z=0.1845 right_yaw=0.1631 right_pitch=-0.1927 right_roll=0.6333 right_gripper=0.0477\nstate[joint_eff]: [-0.253, -1.2513, 7.0359, 1.7509, -0.1148, -0.0708, -0.0122, -0.5675, -14.6803, 7.8701, 2.5372, 0.0317, 0.2076, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cec3e75a69948d720e01429bbe5866d9fa6d8de3d9f82042b3a8255de3653ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e097c1c8eaef671a895c74a0f0d34755fec39253ce0febb65420f561be3c0bbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7346999c1e13152daa6f11d3d97190bdd6be1cd2c32aafbd1f0d6f9227cd3236",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-1.0592, 1.9373, 1.3476, -0.5247, -0.8444, -0.8558, 0.9987, 0.5995, 1.496, 0.7841, -0.1242, 0.4023, 0.2619, 0.0464]\nstate[eef_state]: left_x=0.3308 left_y=-0.3121 left_z=0.104 left_yaw=0.0594 left_pitch=-0.0753 left_roll=0.1247 left_gripper=0.9987 right_x=0.3515 right_y=0.1608 right_z=0.0882 right_yaw=0.1038 right_pitch=-0.187 right_roll=-0.0916 right_gripper=0.0464\nstate[joint_eff]: [-5.4632, -4.7932, 13.7231, 2.3077, -0.5836, -0.0415, -0.1441, 8.4308, -6.6667, 7.9795, 2.2247, 0.3394, -0.0855, 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]: [-0.1093, 0.8131, 0.6033, -0.3843, -0.1905, -0.1535, 0.9987, 0.8108, 2.0266, 1.8549, -0.5888, 0.5274, 0.3782, 0.0477]\nstate[eef_state]: left_x=0.2949 left_y=0.0049 left_z=0.1753 left_yaw=0.1266 left_pitch=-0.0139 left_roll=-0.0045 left_gripper=0.9987 right_x=0.4403 right_y=0.3394 right_z=0.2129 right_yaw=0.1602 right_pitch=-0.0708 right_roll=-0.0363 right_gripper=0.0477\nstate[joint_eff]: [-0.3897, -1.5658, 7.2, 1.8242, -0.1538, -0.0122, -0.022, -0.0342, -12.041, 8.9915, 1.5897, 0.6227, 0.1783, 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]: [-0.1093, 0.8131, 0.6033, -0.3855, -0.1905, -0.1543, 0.9987, 0.6781, 1.8656, 1.486, -0.252, 0.091, 0.8436, 0.0477]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.175 left_yaw=0.127 left_pitch=-0.015 left_roll=-0.0049 left_gripper=0.9987 right_x=0.4324 right_y=0.3323 right_z=0.1845 right_yaw=0.1631 right_pitch=-0.1927 right_roll=0.6333 right_gripper=0.0477\nstate[joint_eff]: [-0.253, -1.2513, 7.0359, 1.7509, -0.1148, -0.0708, -0.0122, -0.5675, -14.6803, 7.8701, 2.5372, 0.0317, 0.2076, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cec3e75a69948d720e01429bbe5866d9fa6d8de3d9f82042b3a8255de3653ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e097c1c8eaef671a895c74a0f0d34755fec39253ce0febb65420f561be3c0bbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7346999c1e13152daa6f11d3d97190bdd6be1cd2c32aafbd1f0d6f9227cd3236",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELivH3vqTPKzRJYd4nRjHX8sOs1n6higAANOnofOlHQDysy1HMrOyJh7nCF5dax5r1Xp2pSWiTSxLw3CnHqbi5spMqZZN-zD6aJxa827AE6C1KwZ9LfZ_0CwHaoMgqlQlxjmEPI4yKAOwrkxOXRq-F8s4EfEFSxX92mS_naMyb-_uGDxRf_dMlVmx_fxV0LX2G0WyUhOCytFt7LbVP61z56ftjh3FKSDL5760mNM2TYeVmKPoui20NVBUE13eWiPMPy_k6yjh2akzR6TOuPj74vCcjwOtpmxLwMdC0bgBxlJrcTbPwBqxsUeEIrT3OG44y31jy-FHu35Sip0XdwtEOsSJ6YLZU2SZ3WPUB0xmFZT0mvCEjh4w194lfb4g9jBhhmveLjvLH4uVueSwy0fCppmC2A2LLDHGyDatct9vr5kNYgF9MyaRuIjOdMJz5sKoxFNSunz2dGmZFQPznA7oc8J-PXGdxV_bcg1zd8CXSpNcPJdEHXPf2Ne0P-D6DopLLn62XjDfif0rvHs5qKYYcMtL4miABih1ZxuvWVjhOvxFhTRtjpWL7aQXq41oakTjLzSklY8QUjApWn5ympLG-AF02uv_Ca-F6WnKnMDY1k-kuYhH3BQFyDmj1fI-0ENNwPWOIfkkDKvmpIzOzg-nhZ5V01J6VM-ptQETucgnwTTvBKXuHNcqspDJtiMD5qohsm_8PkToTXr6VUUzfURWLJJczXmD-deFp2KZlDgor_gNVTbRc15ErVLThOY5YzKHi2j2aSI7WolQ_jexUmVadK5QhmakcIGxF_dyyhWbLWjFf_2mr7HM1_Ch_gVLPOGNaGmCSFnusR1TGcR95P8oOMxrPqtAu46Drz3_qDwwvnpw0Wzi-C8--k5sohsNySVE3nxkqH3aICLA96HUB5-zToN_DM_n9voHZJZWaUM8S27H642szOQsG8CCJwaQM4aUAVPqB4RBCASgwSVJ1cfwQhYO3AjMBTvsLZ6a2iGUwFet7uzVz-esNXELxG-AwhHpe2hp4tPI-v-J5RO1UO8BPZov4RjQI2bedNLV2l_EVjrjhGLqx_6KRGc4t17kQ-o_fwog-BJvPp9ruwBiGRiV2swUgraCE5nxZQYZWnkkB6Yi5L2Y-oxRz_nLYCMOb6O2NIz9j0Wp1g4xpYcM7J4iX7d8ljQSUpiYjEe9fjHCiE67Ij9_8K66QZHex7KywvDZTTXgFImCtpSyJ5Ca0knYY1UWgcdv7YArQB-U9-dCk4JvRo6Joj-6zrcz18E_YCc0nxavGjqye0PUUK_L2GYi6Rx6FNvjQ2P8aNc1jx02HDXQpYkl_3xYd8pNAcDs4zJCfeMZSrwh8c3XQP_ouvi3nDA351wRpK0C7721MfN4Qh8YIKiI6l75z-yunn9Nad3OsDDXqV6nGc9k-yguZHv6FvvcfhjXqzfQHZ_dmp8VtCshs=",
  "id": "rs_00c93f82a7f9cf82016ab442e17ef887d080f5f3d131b63a00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_roll\":1.5,\"right_z\":0.25},\"note\":\"At about 0.63 rad roll the blue bowl has started tilting toward the white bowl but the pear remains against its lower interior. I am increasing the roll close to 90 degrees, keeping the rims adjacent so gravity carries the pear into the white bowl.\"}",
  "call_id": "call_QkS1HmCd9hgo2EJdoJmY15DM",
  "id": "fc_00c93f82a7f9cf82016ab442e21c1c87d0b430e6dabec00ec3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QkS1HmCd9hgo2EJdoJmY15DM",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1093, 0.8131, 0.6033, -0.3855, -0.1902, -0.1539, 0.9987, 0.6121, 1.7855, 1.1976, 0.1982, -0.1329, 1.475, 0.0484]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.175 left_yaw=0.1264 left_pitch=-0.015 left_roll=-0.0048 left_gripper=0.9987 right_x=0.4268 right_y=0.3326 right_z=0.1911 right_yaw=0.1555 right_pitch=-0.3114 right_roll=1.341 right_gripper=0.0484\nstate[joint_eff]: [-0.0889, -1.388, 7.0222, 1.7021, -0.1245, -0.0415, -0.0122, -0.841, -13.6957, 7.7197, 2.6789, -0.0269, 0.1148, 0.9255]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5521c0019c8baac8d7d72f008a625c60af9d5576be7a21b140759259299f9541",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ec6bf4081b27848052a8103c6a6c67cc1b5e02a90d4902c31d378e44ecbdbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941050efcde5a5272e88ee9336684125d53bf6e2f4f3bbcdd1cf5d8aa152e255",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.1108, 0.8104, 0.6033, -0.3721, -0.1951, -0.152, 0.9987, 0.6003, 1.499, 0.7746, -0.1516, 0.384, 0.2615, 0.0478]\nstate[eef_state]: left_x=0.2964 left_y=0.0051 left_z=0.1786 left_yaw=0.128 left_pitch=0.0012 left_roll=-0.0043 left_gripper=0.9987 right_x=0.344 right_y=0.1596 right_z=0.0784 right_yaw=0.1154 right_pitch=-0.2289 right_roll=-0.0987 right_gripper=0.0478\nstate[joint_eff]: [0.0479, -1.7846, 7.3094, 1.746, 0.1343, 0.1978, -0.1441, -0.0752, -6.4889, 6.9265, 1.6825, 0.2808, -0.022, 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": [],
  "encrypted_content": "gAAAAABqtELoka4F3xTBsT8M5EK5ek7boIZYrbiAle6RnzM0zgKDSXf3WOEbBCCeMAKFHO90qs1odMgXmGEdvJHwPdXfR4gJ2nV_g-sQkISXmo0dnn68-V-DMHNENMhwBVN9D1bvbBCFpZrZ63X3XFisr_mm-fsChIGIYNV0tlWKQLVE7EEX1ZA8IOigYoq1oNvGjpPHpuCMVda20av96eJWpFzP9NYVcOG2gEOUDRyWhihUJwgxZB062yLRdgpnEQRJA-LhnVfetDqhGit8dvXiBQUM_8aqBXp1Xxi2fpxmCv2tcf9YMT9WggW73d59ioPJ1HULPPHiNM6eCIAZlHic0TDUEba4QJBh7N5LV-t32JrRKA2VuYxtCvX0ABQdJndkjS7u4tIsc0yMPFntaIFO8KpygEd-B9NAnE6vA5FyZ24Kdtj4my5GSLwLifyCf67o4JG-nHHhM-VysPASkbVauDjvUidAFjJa2qbVL4fPtQwDWfd4YDCeqqL5sdKy21nly8uqtGetLLgJDmpfeKt7KgznzAbLdDIQEyP6WzrHlKJ5v55oyFANkON4zGrAg4ONppU_FcrKvfEx7-AwG67bMrc6kiR3KKspYKjYqbfKsmTndYLt1QrHN63xi47l5X0xGw9iHT184tFIUKpi98zEvjmiqb6fptNoTy5l2V0_75wSEsnc-XdqIh5Sx7dOMQnPnhnw9fUwruqm9901wGJ05SlFnnk6884ate7RIhbrpSxQnVnkzBLBzUs7qEytcqYkTSsLE6D_8ylhzaDByqxazoRspcvJCTT6GaBtPEzdUOPIa6CJXHAjWX3IlMIcv6iNPDCo5jK_K-Dr_hm36kzFBOfYghBsPnCJ_bbTQ8Q1RIsPaa5nm-Z75XqOZp1mADUIkY3nXWB4dGh5-Xy6hvMplhYF3UjBKahJ8Ol7EjSSXppN_IMyzaCNDI6rKCKvRI0-Y5miTy4S20pTMa27AEK-eE6x42icw2pdSEgnVqm0kqZE6WJ-MUKY6K-ljAij8OISvzrMVUAkKvFHTCNym_ZTsGAwX3i3oIditwA3GlFBrRm3gPREZoYAeLGL5kobXxncUt7ydJ_7meYlpb0LupiKDH4_eAJpX5TssUSYWNFaWpGRFCoIBcEdmP2q9JoFupI25l4FX6fNnPoCqaa8QlTcAjXX32Wv3eoJvvZbd5vtDFPHMsgeDwIkm-yHpHBDCYQ6L3mToCnFiweeiBCK3Jke1BjZDHoE535sOB_NMGFbJODiHm3h8lsTbo4LOQ1ZcxrsoOFYrbeDGSiyRsn5f8LVXKhmfsnT3PnwoJXURMf3zTeDiqcQCHXW3Pck7Mj5yzs_uEVkWXFqwQQMNpGanCd9hywZL6CWuiOIvZmtx2hUuWXVKQ87pkXVfabJgN-wRJA7eVYWYe2XzFlRAccaUHzlLDw0x38Sc8VIZB8zguJdFxRmT0xFGAu0FGXYi3LV_gH3YMgrJHmEplPWFSxqu1Wf9fllN8lJcBzDEXaH9FcKZJOQbG53jkvZYtA_zkD3ATthGjJi6cf3l91UrcdW0p8tK39WLnLTPCiLs-yXzpdnfjZtxIr4YNDZqK_vaVToNKo2uycOOZoc1uNQ-ldMsY8Cit3B3r7haXee5IZiPj5H9a_1u8nyp7t7DeyvbCWXjOdMS6k7nFr7iftV-37YPgjsJYBRxMWzW0IG3K1-3ddCJ2ka7_ZP5u9vCg8KHHS-zDytF73SgSnhtC1_qbu9exDmYP2SgbrxSoW9ryA_tJYIlvQHVvp-Udu3c0f6U8V2-EOwOdvJ77fdt_ELLJnwtkWyZjingxa-lt44fg24goXruT49ubabCoK8_BSakcu4BhA1DbgdBguCSgJWSvMVoCz11UflG4jFIE_4qTVlhD73TsKw2WyociTVOgmBhvrMelAsIRoEs5VM-GimC9lOCww1cq04zTWhdQgnFCLK03VW4k-yGatUEr9vU93vCEFnbHyse040OGkCDSprmnV2PPZ79sVLHqDBtpItMFfpfYert-IRv2fG33Cs3-1a5dIhUrw6vqQfvF7ZdOWKp6FkkavhQX2C7cGNpkhN3socsLpjXICBLPO76D2I3sIMFaReWiX78Cr7atYxmEGqDTCHjRFvqW6Cf4bAy1nKADIKmhcyw-S-yuY4wGG86IpMWUd1hE_M5LR4WUas2S0DSbgmzoH79ENoTjXKJq70eeFde5XsfwuHaZp44NsLfMkgnLCbTL1mtTVGb6BUOPnjhzgGKBX70_2Qo4LEJFzuh3wf7pmX0S1NyKUwXbg=",
  "id": "rs_00c93f82a7f9cf82016ab442e5c8b887d0998a3a24d24568d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_roll\":1.571,\"right_pitch\":0,\"right_y\":0.35,\"right_z\":0.26},\"note\":\"The blue bowl is nearly on its side with its opening facing the white bowl, but the pear is still resting against the lower wall. I am completing the roll to the limit, leveling pitch, and nudging the blue rim slightly farther over the white bowl to clear the pear.\"}",
  "call_id": "call_f5D7Sqf1o1HqgsVyIii3UoIZ",
  "id": "fc_00c93f82a7f9cf82016ab442e8009487d0875a83c1602f6bf1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f5D7Sqf1o1HqgsVyIii3UoIZ",
  "output": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "target for right_roll is outside [-1.5707963267948966, 1.5707963267948966]",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 140 changed as sent

message 144 changed as sent

message 147 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]: [-0.1093, 0.8131, 0.6033, -0.3855, -0.1905, -0.1543, 0.9987, 0.6781, 1.8656, 1.486, -0.252, 0.091, 0.8436, 0.0477]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.175 left_yaw=0.127 left_pitch=-0.015 left_roll=-0.0049 left_gripper=0.9987 right_x=0.4324 right_y=0.3323 right_z=0.1845 right_yaw=0.1631 right_pitch=-0.1927 right_roll=0.6333 right_gripper=0.0477\nstate[joint_eff]: [-0.253, -1.2513, 7.0359, 1.7509, -0.1148, -0.0708, -0.0122, -0.5675, -14.6803, 7.8701, 2.5372, 0.0317, 0.2076, 1.0085]\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]: [-0.1093, 0.8131, 0.6033, -0.3855, -0.1902, -0.1539, 0.9987, 0.6121, 1.7855, 1.1976, 0.1982, -0.1329, 1.475, 0.0484]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.175 left_yaw=0.1264 left_pitch=-0.015 left_roll=-0.0048 left_gripper=0.9987 right_x=0.4268 right_y=0.3326 right_z=0.1911 right_yaw=0.1555 right_pitch=-0.3114 right_roll=1.341 right_gripper=0.0484\nstate[joint_eff]: [-0.0889, -1.388, 7.0222, 1.7021, -0.1245, -0.0415, -0.0122, -0.841, -13.6957, 7.7197, 2.6789, -0.0269, 0.1148, 0.9255]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5521c0019c8baac8d7d72f008a625c60af9d5576be7a21b140759259299f9541",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ec6bf4081b27848052a8103c6a6c67cc1b5e02a90d4902c31d378e44ecbdbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941050efcde5a5272e88ee9336684125d53bf6e2f4f3bbcdd1cf5d8aa152e255",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "call_id": "call_f5D7Sqf1o1HqgsVyIii3UoIZ",
  "output": [
    {
      "text": "target for right_roll is outside [-1.5707963267948966, 1.5707963267948966]",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELru35Jk6UqXJe-W6rm5vCaJXulxXMg4BQli7nsyQyfkXrs6QDSMELWjQsjVanJLW44zjBEWPj9_5EizskRe4j7li_YlsCdW5xgSEubHMDDVrE1QbK-qiGTUx0kS1BF2YXGV6TPHpa_NsMW_W9eTXblMUP6mQTogIN5OPosw7hqHvp4i9i9VI-0D_cvOPL91KlWS8Kn1QmSlsxo1wnJUI5zyubnf_asHcmSGFV1Zn7BP6q-Dbtflg0yhLOCcw9L7LQlPytdG9HSP1VAJLab4O5-z7uusvcxt-9JgskMWqSEIgib7VDmYQ-jepL2_Y8zhrKSQHGsBQIuVHB8Dl-oyGmqc2YhLLi78wkKHzJUfFvQ_3-FSI6dr9i5EoiKIOdtCHEAOwlV5cPC3y0FRZt8UjJjt8nmAwtpR9a4m2XvMm663MIVoJJl6NhvyZzbRldLCeQDuN7s5Qzaz35_3PYHHEjtFQKt2ZiR29i2dseUIoJY3tdMXIRJY9GIVDjAbiYE_UseV0sfEeTm_dhWrjQ4sW-GsQk-FuS0urs-guJ-wthCucaSfZzZ6tTUK4WjmZpkm35pkRUpNiESnBbadf370LB2w4vxjeJrbFh-adQD0mNZ3XVCOXzSEFBnTkO0MjvTupeBEDYBcG7hfyAsGdx8v42F4ISP7R7t-4XCCpTBhJYG_5TbUQUuiBt48TzZFQJtv2-s8uP5BxtvUWMQocLevBATCPeBq1Vrsn_Yrz4zNiQk8V4q6LTib-1XCKsBKJhMNMJo1IlJlBxN_ywWz0jNEfezyTUXCQ8q4y6x24c-RGuW8egpujY4nmQGwfbRJq_i7RJP5YXKUW8T33aY-xViWvXiK8w81ERBtGUG4ijdGqlEjl3HjwjjC4eSGfm_f1tIlL5nBI5J44eZJEzE-yM8QOUe50h-VoYxPrnnqtp9MyrHDx0y75zMGEZjKTGwfPp0THNEcwzDH2iyVOIBVKeYS2Qz91iRST7YhcJ6h4PQCvf_njydTXxW7JfFRFFKQWbWlnZIdQGTsUM8ak4_sZyo3Y04C1R8iMlmc4b2IFp5GN9nuME0EQ4ioJKMiqlDhH6RihnQBdkt4C_aENhhHB8vISHjn7soYqeLxj8zHvLFGhfghj4fWO625x9UvdpJhtj-8UgVfiXiQyRbxvdRJnnteTAz7vXx9J_rt87xTLVAs_pUPrXaniQYNKiPlmxPge_vAMBVE4xgBDP_TnopiuUs3NKu4A==",
  "id": "rs_00c93f82a7f9cf82016ab442ea610c87d0b4c8d717b334382f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_roll\":1.57,\"right_pitch\":0,\"right_y\":0.35,\"right_z\":0.26},\"note\":\"The blue bowl is nearly on its side with its opening facing the white bowl, but the pear is still resting against the lower wall. I am completing the roll to the allowed limit, leveling pitch, and nudging the blue rim slightly farther over the white bowl to clear the pear.\"}",
  "call_id": "call_HFZvLAaUvQJu2kzIYSh3Qs1z",
  "id": "fc_00c93f82a7f9cf82016ab442ea7e2c87d0bfdc334ef7d3b189",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HFZvLAaUvQJu2kzIYSh3Qs1z",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1093, 0.8143, 0.6033, -0.3859, -0.1902, -0.157, 0.9987, 0.6586, 1.7824, 1.1053, 0.5869, -0.0799, 1.5307, 0.0515]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.1746 left_yaw=0.1281 left_pitch=-0.0165 left_roll=-0.007 left_gripper=0.9987 right_x=0.4237 right_y=0.3503 right_z=0.2415 right_yaw=0.1697 right_pitch=-0.0684 right_roll=1.5141 right_gripper=0.0515\nstate[joint_eff]: [-0.253, -1.388, 7.1863, 1.6874, -0.0855, -0.0024, -0.0122, 0.2667, -8.1709, 6.5709, 2.5079, 0.105, 0.1636, 0.5885]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d03939c6aef91bcce8c43764bd3c4cb6790cbb40ef05663c997dea2ca66ce1e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c797a37810c5453b6e9d9494992e6b52c9a72ae27a0c1bdc55364de5e1e3aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad5102508e3a97f15647e8454b9425a2cfbf6477074687c7193e9e10c34c37e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 136 changed as sent

message 144 changed as sent

message 151 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]: [-0.1093, 0.8131, 0.6033, -0.3843, -0.1905, -0.1535, 0.9987, 0.8108, 2.0266, 1.8549, -0.5888, 0.5274, 0.3782, 0.0477]\nstate[eef_state]: left_x=0.2949 left_y=0.0049 left_z=0.1753 left_yaw=0.1266 left_pitch=-0.0139 left_roll=-0.0045 left_gripper=0.9987 right_x=0.4403 right_y=0.3394 right_z=0.2129 right_yaw=0.1602 right_pitch=-0.0708 right_roll=-0.0363 right_gripper=0.0477\nstate[joint_eff]: [-0.3897, -1.5658, 7.2, 1.8242, -0.1538, -0.0122, -0.022, -0.0342, -12.041, 8.9915, 1.5897, 0.6227, 0.1783, 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]: [-0.1093, 0.8131, 0.6033, -0.3855, -0.1902, -0.1539, 0.9987, 0.6121, 1.7855, 1.1976, 0.1982, -0.1329, 1.475, 0.0484]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.175 left_yaw=0.1264 left_pitch=-0.015 left_roll=-0.0048 left_gripper=0.9987 right_x=0.4268 right_y=0.3326 right_z=0.1911 right_yaw=0.1555 right_pitch=-0.3114 right_roll=1.341 right_gripper=0.0484\nstate[joint_eff]: [-0.0889, -1.388, 7.0222, 1.7021, -0.1245, -0.0415, -0.0122, -0.841, -13.6957, 7.7197, 2.6789, -0.0269, 0.1148, 0.9255]\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]: [-0.1093, 0.8143, 0.6033, -0.3859, -0.1902, -0.157, 0.9987, 0.6586, 1.7824, 1.1053, 0.5869, -0.0799, 1.5307, 0.0515]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.1746 left_yaw=0.1281 left_pitch=-0.0165 left_roll=-0.007 left_gripper=0.9987 right_x=0.4237 right_y=0.3503 right_z=0.2415 right_yaw=0.1697 right_pitch=-0.0684 right_roll=1.5141 right_gripper=0.0515\nstate[joint_eff]: [-0.253, -1.388, 7.1863, 1.6874, -0.0855, -0.0024, -0.0122, 0.2667, -8.1709, 6.5709, 2.5079, 0.105, 0.1636, 0.5885]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d03939c6aef91bcce8c43764bd3c4cb6790cbb40ef05663c997dea2ca66ce1e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c797a37810c5453b6e9d9494992e6b52c9a72ae27a0c1bdc55364de5e1e3aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad5102508e3a97f15647e8454b9425a2cfbf6477074687c7193e9e10c34c37e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "id": "rs_00c93f82a7f9cf82016ab442ede89887d09ea3f6b69171c5b5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_00c93f82a7f9cf82016ab442f2890c87d0b32585d25d48b72b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEL5qs-5kvCoqkgn9P9ppTXMLKXYm5XsL4tZ2CMr_TcCDtF2HiJdPIRjPPIXVBt-a5YFYoYUPwIEenXKEHsOr7g8dw6PFAo-URyl9SGbi7TTImX9Vqnx5NaQwfLzyAFu8oPhvUIqilVrTj-gwxr017rYIFb0XNmzE3FRrQVCe6Z3qbzKrZTZ5LmWHkUbGOf7992TnbYPnby3xGMeD-7T4pdxfzZuSri2z9kQz9tk_fCat4PEUL9bNnv7E8s2MAEDluMlU82tlMLSzfrHiEm465Dy56hkvKxNmzGi0lIEicaJ3qX2mfVuBMPky2WqialL2GReY-U_ueFEaUVC81WcUrapIYgZO1OeAReDxQAWAtp7GbNvsHx-pggMwQHlrrklrSzRCspi54Ymn3_TgQS0YYt9_hROlHEX4gtXlN3cfW8nCW8-lI9il6HunYdvfJz1o6GqwuWxdEHTV5uZRP22H6Vl4ix2HOByseTUlHYNcUNOWkqNhxWyCZm2FqxMj5CK8PsTb5JUHtmlD3g2Ow-EdVoteQtiTxjM4_x3NQbgxkbiJEx7sFn5UlFPvmzL0oaFLbqg7_95zbe9JdzsZH1otCy0WKG3v8i8w6VYaOkArF4_w8LU5_pDM6PFUtMbHlE24EWXx_nLMLUrw6K9c8M618zt9Hvs1TxQlsySbao5ZuBbE6LyFN7veNyoclHOGDCLq8FGap7ds84KTsBMXsmiApAISYUUs27FiluuIAA1MuBSIAsMHtnRwhXOtG5FDbdJirirGgoq3WLGc90Zicp4F47Ydmu1Z4IiCfij30vGmkNkfHagz4f-DO4QW0JFrvpfEFyICXqhtcckmygSfYa5KfHzu66I3ROyg7Nme4bdSiW_O-gAC_8tlM1qvt7B_mde_OzCDQ4vHzpA791KRHZ1OW-cb04fu1inTi11q5lfGVC0Ew_YdZ1e6tchBpIWb9ts_9vulZOyI9HhW7gMWH4xGk241ViuRGD1lPuHE0Y5sxOT8QNsAZfAjOly1dMz5g5w-f4UCVtSV9kwiNvYMtexejI5dEWKm-7_hfZ9-AD6rxRUGJEyikIm-7wVBcogXzC4wtcwztO6spaMVwV-o1yuNQeQ8sutxhnmHkxxTFmZcbbSrUcVL0oJ9L1rZODmPBD-rWcH-8A0KmSIf_YBOaYq0JvkEKJuuz_957YtxygV7hMO-EZadBQwTmAFx6B1TvzWsGd280P6hFELudmdlK1MGkSbBtyhdDpu66MWm5fm3ZvVfg_8bDwsyI1W5LKqVJw7V2Vfp2ZHEkJ01SF2rLk461VzrMkaMkMDCV8y--1yB9n61ru4GabC7L3lPOEou0CK3nIvjP_KkBAZv6FJM2OAR81Vey6D-Ceb7OyEIwEScOi9JOP5XCMBtC5E2OTlwWP6FdYfa6vAxksRXHOyQQC9cgwKjQ==",
  "id": "rs_00c93f82a7f9cf82016ab442f7ce3887d08f2e0875fa9b4e5d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.28,\"right_z\":0.08,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The blue bowl is now visibly empty, but the pear missed the white bowl and both fruits are on the tabletop. I am releasing the empty blue bowl and immediately returning the right gripper to the known yellow-fruit position for recovery into the white bowl.\"}",
  "call_id": "call_EJtWvO4tXURN5EPuxoJqfSpM",
  "id": "fc_00c93f82a7f9cf82016ab442f8246887d0ad636d1902912df0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EJtWvO4tXURN5EPuxoJqfSpM",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1093, 0.8143, 0.6033, -0.3859, -0.1902, -0.157, 0.9987, 0.9264, 1.7039, 0.852, 0.1585, 0.5507, 0.503, 0.9973]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.1746 left_yaw=0.1281 left_pitch=-0.0165 left_roll=-0.007 left_gripper=0.9987 right_x=0.3301 right_y=0.2915 right_z=0.088 right_yaw=0.1926 right_pitch=-0.011 right_roll=0.0972 right_gripper=0.9973\nstate[joint_eff]: [-0.2667, -1.3607, 7.0085, 1.7216, -0.0757, -0.0317, -0.0122, 0.2256, -6.694, 5.2444, 1.6337, 0.5348, -0.0464, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25455bb9e27f50461b083b93399afc10ecfdeee9fa4288dae3300a00e458eb85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cedc92783a4fc6f8dc5fc49a8f1aa59f40263b4a674e494f03f445d5d77676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aee17fd1835cedef9488630e2f93b9a161e49ecebb29bcfbb7025c9aac53e80",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 140 changed as sent

message 151 changed as sent

message 157 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]: [-0.1093, 0.8131, 0.6033, -0.3855, -0.1905, -0.1543, 0.9987, 0.6781, 1.8656, 1.486, -0.252, 0.091, 0.8436, 0.0477]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.175 left_yaw=0.127 left_pitch=-0.015 left_roll=-0.0049 left_gripper=0.9987 right_x=0.4324 right_y=0.3323 right_z=0.1845 right_yaw=0.1631 right_pitch=-0.1927 right_roll=0.6333 right_gripper=0.0477\nstate[joint_eff]: [-0.253, -1.2513, 7.0359, 1.7509, -0.1148, -0.0708, -0.0122, -0.5675, -14.6803, 7.8701, 2.5372, 0.0317, 0.2076, 1.0085]\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]: [-0.1093, 0.8143, 0.6033, -0.3859, -0.1902, -0.157, 0.9987, 0.6586, 1.7824, 1.1053, 0.5869, -0.0799, 1.5307, 0.0515]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.1746 left_yaw=0.1281 left_pitch=-0.0165 left_roll=-0.007 left_gripper=0.9987 right_x=0.4237 right_y=0.3503 right_z=0.2415 right_yaw=0.1697 right_pitch=-0.0684 right_roll=1.5141 right_gripper=0.0515\nstate[joint_eff]: [-0.253, -1.388, 7.1863, 1.6874, -0.0855, -0.0024, -0.0122, 0.2667, -8.1709, 6.5709, 2.5079, 0.105, 0.1636, 0.5885]\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]: [-0.1093, 0.8143, 0.6033, -0.3859, -0.1902, -0.157, 0.9987, 0.9264, 1.7039, 0.852, 0.1585, 0.5507, 0.503, 0.9973]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.1746 left_yaw=0.1281 left_pitch=-0.0165 left_roll=-0.007 left_gripper=0.9987 right_x=0.3301 right_y=0.2915 right_z=0.088 right_yaw=0.1926 right_pitch=-0.011 right_roll=0.0972 right_gripper=0.9973\nstate[joint_eff]: [-0.2667, -1.3607, 7.0085, 1.7216, -0.0757, -0.0317, -0.0122, 0.2256, -6.694, 5.2444, 1.6337, 0.5348, -0.0464, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25455bb9e27f50461b083b93399afc10ecfdeee9fa4288dae3300a00e458eb85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cedc92783a4fc6f8dc5fc49a8f1aa59f40263b4a674e494f03f445d5d77676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aee17fd1835cedef9488630e2f93b9a161e49ecebb29bcfbb7025c9aac53e80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEL-_gdiyHsLKr425JRbziIAcZ-7q0Kq7tSY-yPCxWn_nRSRVuE-hGjoMrlU3EQ6a3pTgkJB8acQUa_svokY5Fhli1V5lkzwE157HZcywFVuZa_0QtzHfAtH2T-y6W4UaQfCjWjVCbukdKYLrF8tkEUYw3ViKTJqSS-aZa8U6DjHi2baP7oYZQ_i9y5H7DDSAW5QhuxhVxZAoKFesVrUHC9GzEukdg1NnFmJVr10IiLr2xRM72IDckgZgcliY4tI0hZjGIf6-0OKU8amRLaKLcumKoTBMNTOM-z3aBc0XAEKJyAsWH28nN17TjJJC_UtZFeXSP-nne3_hA0DuNRj35jr_6Bv9iArj3CuzFUI3SqR6sLVdJtJJIrUS7zpdGdlhYgD4leiDxCIW3LSPEVkoVz8aOVbqszpGXWLmfs2qe0XD0bYlVvja_0dmRpWLR-1Z27LciZbtA4uyx208V93m_l6YU3HY1svBQxLrCiL9LPLA5MW5N3275v4yCMVx0WzdIozCCBToU5CuOTm1GgP70tGFD7LBAY0J8tP8LO6plXq-BXCGxrYXQxjzVTIwXTMGmx7ZwaK0tWvJsB_6NfbmB1MSX6vw9s2OH9Ia1XhW9tlSLhjbQOhQnh0e6hVoXUAoRzsO4T-losMdxaIRu6FJkWXIpTMx--zDKAC-69SnOY-uRZpnOarjDOQ6jUZO4M3mX4F9IMQrH19tnQuFLZysKKP83-bLyc2vZfwVzPYdwSERUDV--hW1GYlRpQ9UrNXlItAq2VnHW2fzegP9_T0P4GDCoQWatzR2XjZAvFreH606pBT73Eb8TwUUsWgIQUlQqpAKCh-3cOwfFAS88WPtv0cm3moEYEJ6cwfOi1CWMvGyKoixRwv1wki-bqS9udC2dnIcoVB9VyjKI3vxpxpLLu8DxX_bYbbNRqByP9ZG6aJVytyiYXZSRN3V43l8k9TKfANpomLAGFmrhYWQXzRvG-KLJNg8yrnpvPy1A5fJpqIYPH1AHT5ne2PjDdFU_zcWZtNMbfaGo3u8xs7WKogKVMFJFYzmHfz0Kw3LU2cJo51sqYe8rYxW19qMQw7Lax7bXF5ay1aHB1p4n2gyoWgQL5vzCYODhZF5vVyZUHPxBRuiPHiCMA-n5XtAXKpFGHLyoGTHrJs2FFhZGdLRhFDoAqnPZvoWkPratiZIIyzQ2q1cQEGpRVQJU86QV-DrNnX8yRPI8DB9DooBAxAh_dIPkgsPZ5Xr63F_H_Hj-z1JovnKOGemR1Khf0OPY0dlZwETY5L53sUBrANVz5xG_NaOiH31UfUybPn6j1LjFgtmzwhp2TkyzDN-5wYtFnil-jk0lGMrxug_1WQM2Nh5PMb9BKx5Psvb7mZin3mTXo-tCAgLPXfm_DOP_qyNsr0tJFiNDADo9Q6nCKedct6RObFudfw9LaL5FX3S7PSE0yiXzSJFvTVg2Cz4qLhllOkqYROvHB4",
  "id": "rs_00c93f82a7f9cf82016ab442fc7fa887d08d004b7a00b0e0ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.28,\"right_z\":0.022,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The open right gripper is directly over the small yellow fruit in the overhead view, and it is below the wrist camera as expected at the grasp point. I am descending vertically and closing around it in one deliberate pickup motion.\"}",
  "call_id": "call_Dd7QF1uuuO9fPzNpGnQKeV4e",
  "id": "fc_00c93f82a7f9cf82016ab442fd285c87d08fd197ba03f75853",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Dd7QF1uuuO9fPzNpGnQKeV4e",
  "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]: [-0.1093, 0.8143, 0.6033, -0.3859, -0.1902, -0.1574, 0.9987, 0.9291, 1.882, 0.7525, 0.3923, 0.58, 0.44, 0.0104]\nstate[eef_state]: left_x=0.2948 left_y=0.0049 left_z=0.1746 left_yaw=0.1283 left_pitch=-0.0165 left_roll=-0.0073 left_gripper=0.9987 right_x=0.3267 right_y=0.2815 right_z=0.0211 right_yaw=0.206 right_pitch=-0.0294 right_roll=0.0012 right_gripper=0.0104\nstate[joint_eff]: [-0.1846, -1.3333, 7.1316, 1.6874, -0.105, -0.0415, -0.0122, -0.3487, -7.9248, 4.3419, 1.7265, 0.398, -0.1099, 0.8278]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f874c7c4911f394de7600452bd55d7bf929ff9cbd22f079206048ec34a96f2bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33bd7ef9943b45ff97a5d26e67c2c498576ea3c6479f9092d7328a891fb6df08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5767bae47105441acc359ac01b4cff930e2c50d027c61f0cc7f89f18d64c8ed0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}