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]: [-0.0219, 0.8001, 0.6144, -0.3874, -0.0143, -0.0257, 0.9906, -0.0227, 0.8005, 0.6182, -0.3939, -0.0238, -0.0193, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0004 left_z=0.1815 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2951 right_y=0.0011 right_z=0.1818 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.7162, 9.4838, 1.9121, -0.1197, 0.0659, -0.5446, -0.2667, -1.4291, 9.3744, 1.8974, -0.0562, 0.0317, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625bb29713206fec1124d28a86d9fb38c71d3fa96b7c1a557b6c5a4c680f79fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9df0ec5259a065d75a070abd3db5e4b7ed9680d45a1ce0bd33adbee2b0464913",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575eea9664ec0fcfca48d76b38ce547e9d67a5ccca5e8f059fbdb86179f02c3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_0e9c7659fc9f7f72016ab4513d2d7c87d09caa99f903f29728",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.03,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"I see two fruits near the blue bowl: a green pear-like fruit on the right and a yellow fruit on the left; the large white bowl is farther left. I’ll first bring the right gripper above the green fruit with a small forward-and-left correction while staying high.\"}",
  "call_id": "call_YmvM9lwtlNMGH6GFFCu7E1di",
  "id": "fc_0e9c7659fc9f7f72016ab45142117887d096bf54cb64fafcf9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YmvM9lwtlNMGH6GFFCu7E1di",
  "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, 0.8021, 0.6147, -0.3985, -0.0139, -0.0265, 0.9899, 0.1486, 0.952, 0.5884, -0.2504, 0.1005, 0.0448, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1789 left_yaw=0.0001 left_pitch=-0.0126 left_roll=-0.0006 left_gripper=0.9899 right_x=0.3168 right_y=0.0331 right_z=0.1545 right_yaw=0.0321 right_pitch=-0.0344 right_roll=-0.0182 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.265, 7.2137, 1.8584, -0.0513, -0.0366, -0.0806, -0.1709, -2.9197, 6.2974, 2.0928, 0.1392, 0.2173, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e7fe7456e9b6afe8dfcc64048278dd03540478b4ede32ca960102a80a93b2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f1039d381d36a12311add7b167b32dc111cf579112e040a32d899f2dfc2dcbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99d61ece87abbb681babf7c27128b8fe301f35b0192b5b61fa2dab46be6e9e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6144, -0.3874, -0.0143, -0.0257, 0.9906, -0.0227, 0.8005, 0.6182, -0.3939, -0.0238, -0.0193, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0004 left_z=0.1815 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2951 right_y=0.0011 right_z=0.1818 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.7162, 9.4838, 1.9121, -0.1197, 0.0659, -0.5446, -0.2667, -1.4291, 9.3744, 1.8974, -0.0562, 0.0317, -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]: [-0.0219, 0.8021, 0.6147, -0.3985, -0.0139, -0.0265, 0.9899, 0.1486, 0.952, 0.5884, -0.2504, 0.1005, 0.0448, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1789 left_yaw=0.0001 left_pitch=-0.0126 left_roll=-0.0006 left_gripper=0.9899 right_x=0.3168 right_y=0.0331 right_z=0.1545 right_yaw=0.0321 right_pitch=-0.0344 right_roll=-0.0182 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.265, 7.2137, 1.8584, -0.0513, -0.0366, -0.0806, -0.1709, -2.9197, 6.2974, 2.0928, 0.1392, 0.2173, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e7fe7456e9b6afe8dfcc64048278dd03540478b4ede32ca960102a80a93b2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f1039d381d36a12311add7b167b32dc111cf579112e040a32d899f2dfc2dcbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99d61ece87abbb681babf7c27128b8fe301f35b0192b5b61fa2dab46be6e9e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFFI4zCuv_XMYa7mobUhEX2UNKQb5VXHH81vko1YZN5aob0Z-pBR5zH6gnRro9014Jnt6FeeeitW2Zq5BRWWUlgUcfNEzGZd7Gut7hMy8pT27obSB2K1PFK1Ewprp9TkRBtv9lR7BzD2Vvix2vGuD3uQ3kA8RdPLEIPZtPHEjvExZQgmuoLW7nHk_zm6wVJHpQbF1DaCTDw3GSawJMojG7rHUTi7j6blgETSiC_hR1C8KZgnhAmRkZlqsu3k2oNOFofg1O2tWd1MdjtRpsdPrFKbh9_hsLiQh3QQdy4dSj3jOK9dh4khBIUoFLhEDgsEcE1_suatPNBLTtmhfgedJdBpNhr-XpH83JEgzsck4OZj962mmEFyGoyFk0zAa22OcU2Wn20O_I443NtHBTo79X3RRNyVvgpRbEHxAiIAuLIC5VyTGI-vj82ebEC-uKjwb6T4rg05-dr8_1K1VKIfPtzJxfYEU1_mQCmpKq2i8KOSR6Q8TEfwqCxWEaILvxXnxK8hQ0j8-c5gEIV_FToGcCee8n7fZ1UMmYoOme4WkHzwyxvmWXqXrrw9YJw3N4GMT1eVEeZ2g_86T9KKOd-XzziGHy84r13ybj-j7P5wEr6HJR9ZnAfWaeeV6KYVbRMHTqiHKJtGcqHkkXA7Y-g74CM6vWTgYCEBgGdnIR3HSzCBOJC7gU3_tEoQipT5lQaC7I24ig9WSVp8zSbyM6bftBnphXH4CN9QAmcIlPblcZRFqBMx32TLJuosF2INSDr3x8KPMyqzUp5iaBCGBnkZSreqsdLYrKqintlotUSThpJd6k_Rz86bv_5DFhedT8LevkPX5okSyULv7zODggZ3_udbGXwuj4f0n_x0HzpPs6iPOWrXzjmcx3XsFwHJ2jm8yLWgp3LrDdlGWPQnlOj9hvp3cUtoKK5e889qZ-pYNjRoA47ip4yYxy4IriNvm6t2cr_ljvnOYSyGoQKXyODXejFSDtnpVqjWimFQemkZbbrEXMERQHL_S-u1mgFSVLTaG5JR_IDIdAvF7NCUnfQoMqYtYM3AwB1aSr-sat9ZxrojFmNRwfjrN6_PJEoW5wxH3tXCnG4CrpieHohk17-TN5AbJLEqqhBSxkbbLATBIcHXZsKYa9LeK7YCnUhKfXxQFyIUL7oiGB9-AfdjFx52f09D_gk_OqSpeFqGjd52BWV7R6JehH2EKFgVvr70pd5BAsqFe7B1SPoOJmWDQYxRlXEmwX8yJIEjEUKRnllhw3X9tw7ynhVthq_AIpKmJxiA_S6tHwVZ6RFCR41hAT6z_5XVhfM9M0swqN1me3d7vFfzfQx2cPcqcyOeYyjQ1LbNuJf_x7F9xCg1fqfewT5SWUI94imTAeGgz4yU6vWfK7-5G05KIdeYKmDQTqLpUPD9aN1wXPGXXNhDBn-PBEiPbv7AKiVCA3p0M4dOVxPH2EPOs22xrGFLtPGAWe4P589VCgjbd-DrElWk6dc2bJ8b88HfUrhCrFhkVnUNX94KkZc1OFSWsb2cIzDhjHcyd332aGrSyfrcdjoGYu1h34CZPJMHukelhTZBh3znGwiAR_CHJzsrLzw2IYGQXKosZvFo9QTAkGC4YngnJBYtEJzV68L_6LMihe8fmdgYQ6QD09EUyUH3xAZrgcRvFNrbMJGa8pl6fmS6ghxe6Nc2ghAYDqb2RZHxsXwUC_YIsJvSLNAfXZ-xB7kp8bWDT7vh1Pel02SENOtqTCgKLc-3doz-7HofEVZ09AcJzDCnV2MSXM76JKnGS5FeqRY8Fo-Q-p-BdnS7-XHa6Cys5pSdfnzpdDU0D-oTgMusyEiLQWPioggA8Q5DHok2ySFLc1rvkZV2v4WGiO_FSTadDlVPOiYbXpJ2az6xtTyCXL7R8f9-oKr8PXCC1EIB9_c2MBvm8CJtwuZISL5WxqRo7OoKpqxvwdrrt04B5NyVjQUMDPMRr6oM7fdOqrT91-Baqz53I6-zt-rYvMwnfOdAmKMefO_vYaNAgw==",
  "id": "rs_0e9c7659fc9f7f72016ab451460b3c87d0ba7f5b9034d85a08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.317,\"right_y\":0.033,\"right_z\":0.045,\"right_gripper\":1.0},\"note\":\"The green fruit is now centered on the right wrist camera’s jaw column and fills the lower center, indicating good lateral and radial alignment. I’ll descend to grasp around its mid-height without changing the alignment.\"}",
  "call_id": "call_Xef7yQYE8xU9QCotBrIvSCJ6",
  "id": "fc_0e9c7659fc9f7f72016ab4514775ec87d0971232b3b7090619",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xef7yQYE8xU9QCotBrIvSCJ6",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6147, -0.408, -0.0135, -0.0265, 0.9898, 0.1486, 1.2537, 0.2359, 0.3687, 0.0963, 0.0406, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1761 left_yaw=-0.0002 left_pitch=-0.0252 left_roll=-0.0005 left_gripper=0.9898 right_x=0.312 right_y=0.0331 right_z=0.0374 right_yaw=0.0377 right_pitch=-0.0696 right_roll=-0.0232 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.5521, 7.0496, 1.8437, -0.0415, -0.0269, -0.0269, -0.335, -3.6034, 5.6821, 1.9902, 0.0171, -0.0366, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a2dc12ee2227c3ae92745851985c97ae1f001b64c21f91c6cf8b0250694b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040b83a1e2a380debcd53f3665d5af55078e2f8a9cdaf141d396df322d0608b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcf631e015a12cc128194ef5dc2a6ffb85a776c1d9726b1f90cb0e22e4395956",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.3985, -0.0139, -0.0265, 0.9899, 0.1486, 0.952, 0.5884, -0.2504, 0.1005, 0.0448, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1789 left_yaw=0.0001 left_pitch=-0.0126 left_roll=-0.0006 left_gripper=0.9899 right_x=0.3168 right_y=0.0331 right_z=0.1545 right_yaw=0.0321 right_pitch=-0.0344 right_roll=-0.0182 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.265, 7.2137, 1.8584, -0.0513, -0.0366, -0.0806, -0.1709, -2.9197, 6.2974, 2.0928, 0.1392, 0.2173, -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]: [-0.0219, 0.8051, 0.6147, -0.408, -0.0135, -0.0265, 0.9898, 0.1486, 1.2537, 0.2359, 0.3687, 0.0963, 0.0406, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1761 left_yaw=-0.0002 left_pitch=-0.0252 left_roll=-0.0005 left_gripper=0.9898 right_x=0.312 right_y=0.0331 right_z=0.0374 right_yaw=0.0377 right_pitch=-0.0696 right_roll=-0.0232 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.5521, 7.0496, 1.8437, -0.0415, -0.0269, -0.0269, -0.335, -3.6034, 5.6821, 1.9902, 0.0171, -0.0366, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a2dc12ee2227c3ae92745851985c97ae1f001b64c21f91c6cf8b0250694b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040b83a1e2a380debcd53f3665d5af55078e2f8a9cdaf141d396df322d0608b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcf631e015a12cc128194ef5dc2a6ffb85a776c1d9726b1f90cb0e22e4395956",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFFSbYj8nF5146lo1lRo12xlG7vj-7rvs3nAQ6eLzm-V1fFXH_t36v_kobho-AVaBRI3fJUm26jHppYOHdI3m5j6IMt9B9NClkPJorkJdVGum2dxUkboStNw0jFG9RIP3tFUjfSrmm_cVFzDENz0fury0YeLVSYyGLJ5FY3ZRcVjh2UTFbRE6KW3Z_TII7Msjwn1rXKn5op6Z9zcXq7BfflQWO2jK2JgDgICXESeIsx_s64MJs4XwzdOcqNAZw72u_KrgL2NDu6YiDR6llvS2oqTIb7hOgzdZwqTcTPj3bc9STSheHCabWw5looGDllMQvXNW9n8vS9GVfaXDYaMf8AWwA7l_zK2sG5VsRQ1zGO35EPNTRYfYdp1sJL3WtiMlSpH76T0itEx5Aq9vnkwHJ_pNndPzzcv_lHSRsjwPfdP2S3HrRoDSmkp3FIJecVpaKw1KQ1dERz3DT3jyStESp71HHrnzqjtr_oEFmEiEj5lKkKqOFcPBC5li6qhDZn0Fj-ccSDOlBsIxMK8wqdfpPXrywf5GZ9mgvrtX16jUaXE0Uog4LHJzEK-8AZYFTwcnOfQdZ6TONIl3nZWXJZzKLLCfCkG3lyDg3xNHEDpThq2YyaTB_N-aJcE-6J4s_LwIV42GaC64ij8RpDwRFEmDhMW-6Yd044Edlp7GvnSLI3L0j9cjYgNl4zjepLdAfos9lh0uXtpgKsv58od6Pb5OGEFTXGSDqviYvirTAjndWeJGS5NA8BPyR5Ya8728POcZIfcRmzx2_e-Fack0_noE3qaC_4Xj43noNgIuuyAri2bfGQzOSOZjwZolg0qfBkmuPGobhj28AWMWNvfRIvJcWv3uCYloHVNHpEme1ch5fVBcSF_WC2Ma4gGCFMa29xhUWRltPaq0GL676wjoAIibYHELeBA6Jwk2gQQvtLd5Mx4rtDlfymuNtO7Xi6qDoO30ElNdVXVz6UVNi-x-azP_iYT_XcuUcwxHibUwymDZu3RLTIRW6fX-z0hk5OOqhc9yPQsbmqejaUEGxyQwRr7v0MjmGwlQWjioH7IpyNO3nwNMejb4qQfvWtshiJzP-DzrkEbAfgMaWAkMIatbuauaye7tnxDcID8z78WF3up64RZAN522kzcQXIC0QoWIeUSLz7o1y2wPuUXQJzZquHNmp-WZ7Vehp2lRdpVJ9zYx_vC6wpFO4sRAlYw78oBGxbDEYLPbfVdTNt4SDvKWzSTKK6VWC_0UzodBd9LnI2jXIKBgthuQ1Cb0zTRPciZN8P5ziT7FjpdKeJsbebYeBsOdFMwNWsv8dBMXdsfVTTpnnqLsI2esG8TSIsKaDl_Irla4u-qOuxyRhx3fctTYQk5gs8wcw==",
  "id": "rs_0e9c7659fc9f7f72016ab45150d4f487d0a6cddf123d2dd9a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"At grasp height the pear is centered between the open jaws, with its widest body spanning roughly half the gripper stroke. I’ll close to a moderate width to secure it without squeezing the rounded fruit excessively.\"}",
  "call_id": "call_5PXWwNmCUP9PBDJqudrt3dRP",
  "id": "fc_0e9c7659fc9f7f72016ab451514e0c87d08964d075dfc46001",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5PXWwNmCUP9PBDJqudrt3dRP",
  "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, 0.8059, 0.6147, -0.4156, -0.0139, -0.0265, 0.9898, 0.1486, 1.2541, 0.2359, 0.3637, 0.0925, 0.0406, 0.3544]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1743 left_yaw=0.0001 left_pitch=-0.0336 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3112 right_y=0.0337 right_z=0.0363 right_yaw=0.0408 right_pitch=-0.0751 right_roll=-0.0214 right_gripper=0.3544\nstate[joint_eff]: [-0.1573, -1.306, 7.0085, 1.8291, -0.0269, -0.0562, -0.0171, -0.1709, -3.0564, 5.4769, 1.7021, 0.0317, -0.0366, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb72e915a21a360398b14ab612fe93ce198d6aeadcc0555cb4629779541e632",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7789e164f4c03db9049e911b59f93fa0e76874ef8fcef548e917cd442be720c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f99c24ed515e4cf0b353cff2c2eea4d62582078531a2ca5f456bdb79dc37b4dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6144, -0.3874, -0.0143, -0.0257, 0.9906, -0.0227, 0.8005, 0.6182, -0.3939, -0.0238, -0.0193, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0004 left_z=0.1815 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2951 right_y=0.0011 right_z=0.1818 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.7162, 9.4838, 1.9121, -0.1197, 0.0659, -0.5446, -0.2667, -1.4291, 9.3744, 1.8974, -0.0562, 0.0317, -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]: [-0.0219, 0.8051, 0.6147, -0.408, -0.0135, -0.0265, 0.9898, 0.1486, 1.2537, 0.2359, 0.3687, 0.0963, 0.0406, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1761 left_yaw=-0.0002 left_pitch=-0.0252 left_roll=-0.0005 left_gripper=0.9898 right_x=0.312 right_y=0.0331 right_z=0.0374 right_yaw=0.0377 right_pitch=-0.0696 right_roll=-0.0232 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.5521, 7.0496, 1.8437, -0.0415, -0.0269, -0.0269, -0.335, -3.6034, 5.6821, 1.9902, 0.0171, -0.0366, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4156, -0.0139, -0.0265, 0.9898, 0.1486, 1.2541, 0.2359, 0.3637, 0.0925, 0.0406, 0.3544]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1743 left_yaw=0.0001 left_pitch=-0.0336 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3112 right_y=0.0337 right_z=0.0363 right_yaw=0.0408 right_pitch=-0.0751 right_roll=-0.0214 right_gripper=0.3544\nstate[joint_eff]: [-0.1573, -1.306, 7.0085, 1.8291, -0.0269, -0.0562, -0.0171, -0.1709, -3.0564, 5.4769, 1.7021, 0.0317, -0.0366, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb72e915a21a360398b14ab612fe93ce198d6aeadcc0555cb4629779541e632",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7789e164f4c03db9049e911b59f93fa0e76874ef8fcef548e917cd442be720c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f99c24ed515e4cf0b353cff2c2eea4d62582078531a2ca5f456bdb79dc37b4dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFFWce4WgmKl1dnztBc7MGtJDd1W-xEqihYTmdpd3U51svocTw_Y3OWdDiAdP4Cj12oTzhwvdArCTmBvzZRvn91QsyRUsCiXbBgyZh6SkLXl3tKNLvatTcToB7Ar239jCiTwp6nvWPeBXoc6wvWjUxMefRf58mHhWwJ3ppJiq2roL4ZdipXO2JJJA3TcZtCoUvMGBwo1ezdGHEqcMb4_UvQcrOacr9BaCyTXe_6f1BoUMP7UAm9OhYe_mCJhngxeGwzc4kdJtFaAXvwAJ7WrObjIjRLmer9-4SC5B9B4ztX-rFQpm2D4p9RZeEprIkAX-8KVFKtXJ2xuB2uQe54DvbVjiTl3hSQ22otKYiyZI1TNXq9h0IjZe_DmwS9gW1qQ8WT46U4n3BOzqEd6qeq3y57HRoNU9YIeZsotaAPPxsCAX_JBMLy-vsFB36XbgmmiW34rZZ3pjOMC6XzA_Vo-ZI4Ja2P0iz9VejkQKTQUPeycz0KUphO3TiiH-eNG8E7bcduo40xSspaP6tBjlfLMvaoyQzMPddgHRZn6jwp6_XGhoVqBv8FiP2PGgrsIb94ZmkQY7elefGvxjWwwgeXrKYxxe1S7yIPGVf_dD7rrqRstdgfKLyE9iN2MgHds5HG7YZykPnVNHtVZudaoZ7inGTUIHmwf81SMzI74kmFEQHtCKTyuLjSQCZW7BgNA-J-GKUV0dly2UKzWErQi06ySZkNI9W9O6UCzNkk-7h9oZUr3pGkXO-IpzUjvD1p0Hqg0AlNWW1XPhPPEWqb7xFOpZFSCBerdj5DKLhxS8wX_0A5QGXO_lwHpZ9g6mUg53mh4rX2sRqupgaYnQwFpP5NxnHUH2WQTuvDJlu-1QsCxnvJDQKnjObxlOgioKarU5EejqJbxHjx3HhLQ3MdsXLysmmz4SKxsTIbL4-TYccfU58M7mxz3Jwvp4qhtcSTpjoLIpVqyhdQ_UuH3s1BQi6Yw3mKNEm6JJaCc3dbusz3l47izMJleWHpUQll6gxPXrq25S3MSlsvlRmM6hElcJLPFTpNTSQXWWW7NT0xqfVBxkfPNaC0iSwdRYgOFVIyDhQsU_ubjttcWFRNn0H4q50ggCMYraVEAeWaKf9nQ0YJJjVt0lYRr2BfMvWNSz6nOs3WVUBkKvwUfH5EG6c59nMxfYb6ICkvh8baoHXDidkQ-JfEZmez3kak9Yp1HYJNQp8fcgvaWfkIX_DZtG8tIj4NE7USeofBnbTtVk9cSGBQTB8w8jutab86IDOi3fEKoDyvciyyeYpMGIOJvUtwdzLiiFRHHs5YYxRm9Fv8iwq5yPbaMUCT4q5gYrRWIhKT8KIxHusojMwq-RLd2u0OM0ZxgGf0j6GG4D8vOegCdymwhTI_pZ6c_32usj2HTUhJGx_3fxrQiN2Vi901EvQ8g_FmSYn4fwSKW6q2wy29_w1crZ1ZN3OggbjvvHLzINib47ccHHXAovpKUVcUxgdcvXCPD7oSzXvWvmuSaUvT3BtLhg3bUQp6hYW1tRuPGjCBYFCZ7JG38OcLVg3pmFbO-PQtU4qU2K9HFT5vRcBqpKRtcQPvr4GO8dM_NbkNwEqo3FZqoOiPAKaM0vQbIttDEQKaoEBYyv9fyCvbv4ALtmlL5negJQz9p0cQOiGNCXzjFna-20IrJmnCjwC2GvXh9aq7dx5iOgMWeZAYLqWzPvaJrtnsV6XocecC57QTcNgCzGhpsRw0WapBszzNbodK6MnThDgEBb7-zLuHbms6lnyh4x3cWcUP5VMvtV6XmTOTcyfKt_ctQuWaLuxF8avZDUxN96JDwvrxu9plBJQpFzFY0EQpz_yyhzMwX9VDkcCFKIYxwFC3p0cqoWyJFQ_gRNYofMnj9s4aNLw1BEr4crweJlo1Xa1pyG2cHfR5fWdMwlv5l10t9DJeoUY5YWzErmu1vVaTVxl8eHLKJrkIR4AykLhySg-8Y5QhmHzVrVEdsQL9IOBrG3QqsAqGpRHpkwLKalCmmYxRCPsPud7Efx6JC90-R0r_L5wGSs75dvofxOpTiD_3fB9wouoeIOYDvkHFcHL82QZNMuvL6d-gNzIcTOYcn-mwtJVswTRRD5BobflxukohCYoVZpTdyzCqMixW21_1Vr4e2mzbntHFMRCKxFklc6V5a-FOIIZOiPR0IYbZaoHFWMalqy06YPd00Td1A97pFwpzhp-yCjVo-pTAkdGG0XY-HqNRnM-WZRmSXY7silo1yVZrTT2f6d4sqBACpUa08ZKUelBWjkALcnbpdGoAC1h7Qv5BEBMwYEbwqOACcttSzytZYDYjN91WEaES03GPgkg==",
  "id": "rs_0e9c7659fc9f7f72016ab45153ac1887d0af7b7cf3dc16123b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The moderate close reached its commanded width without clear contact, though the pear remains centered between the fingertips. I’ll close fully now that alignment is good, then use the settled opening and a lift to verify the grasp.\"}",
  "call_id": "call_oRJfirCsdzwBey2i4u6eFQHq",
  "id": "fc_0e9c7659fc9f7f72016ab45155c95087d094e31919cb72e7ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oRJfirCsdzwBey2i4u6eFQHq",
  "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, 0.8059, 0.6147, -0.4236, -0.0139, -0.0269, 0.9897, 0.1486, 1.2541, 0.2359, 0.3618, 0.0921, 0.0372, 0.0087]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1727 left_yaw=0.0003 left_pitch=-0.0416 left_roll=-0.0002 left_gripper=0.9897 right_x=0.3109 right_y=0.0337 right_z=0.0359 right_yaw=0.043 right_pitch=-0.0771 right_roll=-0.0242 right_gripper=0.0087\nstate[joint_eff]: [-0.335, -0.9915, 7.1043, 1.7705, -0.0269, -0.0562, -0.0171, -0.2256, -3.2889, 5.4769, 1.6972, 0.0024, -0.0024, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69499c094030b9e7c3337f5fc348840325e0049f9d10dc01a53d7893e19d9e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6abe7e194dfa703091b70810736c1714f500daf0e80f500cf2267acf14a50853",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9712af7b52b3d0ed611e32a6db79bb557bee2290d0d5bd9cc1a4f0b5db4b183",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.3985, -0.0139, -0.0265, 0.9899, 0.1486, 0.952, 0.5884, -0.2504, 0.1005, 0.0448, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1789 left_yaw=0.0001 left_pitch=-0.0126 left_roll=-0.0006 left_gripper=0.9899 right_x=0.3168 right_y=0.0331 right_z=0.1545 right_yaw=0.0321 right_pitch=-0.0344 right_roll=-0.0182 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.265, 7.2137, 1.8584, -0.0513, -0.0366, -0.0806, -0.1709, -2.9197, 6.2974, 2.0928, 0.1392, 0.2173, -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]: [-0.0219, 0.8059, 0.6147, -0.4156, -0.0139, -0.0265, 0.9898, 0.1486, 1.2541, 0.2359, 0.3637, 0.0925, 0.0406, 0.3544]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1743 left_yaw=0.0001 left_pitch=-0.0336 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3112 right_y=0.0337 right_z=0.0363 right_yaw=0.0408 right_pitch=-0.0751 right_roll=-0.0214 right_gripper=0.3544\nstate[joint_eff]: [-0.1573, -1.306, 7.0085, 1.8291, -0.0269, -0.0562, -0.0171, -0.1709, -3.0564, 5.4769, 1.7021, 0.0317, -0.0366, 0.1978]",
      "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, 0.8059, 0.6147, -0.4236, -0.0139, -0.0269, 0.9897, 0.1486, 1.2541, 0.2359, 0.3618, 0.0921, 0.0372, 0.0087]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1727 left_yaw=0.0003 left_pitch=-0.0416 left_roll=-0.0002 left_gripper=0.9897 right_x=0.3109 right_y=0.0337 right_z=0.0359 right_yaw=0.043 right_pitch=-0.0771 right_roll=-0.0242 right_gripper=0.0087\nstate[joint_eff]: [-0.335, -0.9915, 7.1043, 1.7705, -0.0269, -0.0562, -0.0171, -0.2256, -3.2889, 5.4769, 1.6972, 0.0024, -0.0024, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69499c094030b9e7c3337f5fc348840325e0049f9d10dc01a53d7893e19d9e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6abe7e194dfa703091b70810736c1714f500daf0e80f500cf2267acf14a50853",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9712af7b52b3d0ed611e32a6db79bb557bee2290d0d5bd9cc1a4f0b5db4b183",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFFa6fPKoSqS3vf95gBrVkmlwft7A5kHHwzD2Z32UNYReUofv2e8OiLu5B6KGw7A6h1MiMVMW3t8CFKFM41i5x6_N7TG1n6IoXzQiAgZSFbP87Am6Xgi3FtJwDfHojkyp8PDOGmJr8VmL6uLYRG_CQlfe84fBePiq--SnDTHtuC2zjGMpk06xYEWYnuFnKIrHuf6a1gaqiJ0GfqOBBf0dEDvlWWV5TtJj36SnIchU6F5kN4z7rfy8cHLOxYK7rhkdz0AaDZBE0zBvyyhodSBhMoKKlAuYzj2Op9uuDnNow06xXVg_8TSbX8r-92vLZJAa_t2fPEhgsayfPKOWeE7_1jf486U1FpwHZ67C-ae_NNRQ5fjoXxa2WSYV6T2IUjJZUdGgCOj5_KTR6K9WeULIWPLTL44lVfSaLX0XZ5ljVy5ddy0CZt4s_PnONucND15mZjrJkvCV4YX4ZfFRZ102B0z-aq3nzMrkHRY1qEDooyNRzIwqpGzNBKZ6kjxnj1OZ_u2Uqkv1-PSgBg0i-dPLB7oYnaTQ1qVvumH3KU5hbBwLa2f-fDe8NmHXraXuPbcBOtW2xodwYXOQLFkVyGJ7E3GDkhC7h_9wLOo-NSKDW4EL5XRK00OYkm3JbCDFSDmuFc04casVX1J1okZXK4SIEu6iLVwbgyDntfWYNOzrokS5C4EPZk27TsryEbKbBMJVP8Qq7ibMKPMPosv3hJbFsCqqSmUJY5BB7tQWCHXc1WIfV4wS-xiyBdDVC-S2NBIbVRKfOWMAPdJ6UgXXceuFR-eJI8Mwv-2_C4OV7VwIwSZfKjllylVwbmcKyhfd6w8zrtmdiZL7_QXzj7p3ihXt9q4-Vz3Nm9kvux8QzX5iI7B_JlS7KHCMaQyWe7sn3hFoxiANCCEbaluXDvQ55vLe6QBcwwWrndSb-C_OzbiHuNHTTHWyFjfzcvSILWAcd64mRW9FV_DYl2LXoKUVbJDct5v1eaygVT7L1VH8mScwtqDR7ajAYjT3e67t067yuLiEcn0Fdvh_JpdydNPJa1YKkldsrTwcsf2bvjbWxxUilBprmU8L339JWx_fis5K_UEV2hNNTeQZ9xEdtju3isMZ66qmLaeudzbIeO3b6JacqF0-upXkOziJXDTXWsXoq22JOzL8ubQwJSecXqiI4wg5uFVL4U_G_9kw3um0aYeZxzFqDYQlW48mW6ihT1XIwX3fs-1wWl4vJozzI_XLYYlNFQ7J94WaECO8lQTxeFHLC7z5Wp3SS3U6BedNA0zDGgmAgYAMnR1p2n7PXxn6cfeI7oM7SBk4EW3Wd1YRmqIbv0EQh9TV9kFjMi7NRep_upkKn6E7TMOClyhe4i59CGNcbup09pcuGWu5XNfUWBxXg7b2jFeH6rTqAtFTn_4d2OlMhI6QqxgQXg0IprqL0TttqS8WTHW03a7BbdOTRroXpfxmRjFWWPeDBXJklMJ-KF2II2Cz2ljipNGcSozwQ-PtQP2xcDSt20Z957rplF97-40wXgd-dJzPTIMOOw29xCoQ_N9cK3dh8znrIpOlv9ye8JGqZjyX3r-DhgNVa7fSujftj7oX0s0M325qNCSlvC7G1bv3f_6Dbr2G81w1O-qjaPoMX7-RownQx59vvGOsGq-gIaq1wo6jAsT05q4gT3quU7G0uqr-Uo5fKgMIi1t3WIcfVVqktIQYofsjIaW0UuG1QOe1PgdtrnDUh5L2ftpMjjNLAO1I8jYNfXwDBtphBt0Penu574BPkkWYYyhqRJDDK-n0CPK1tYOOLYpc-4rkqgr7_pl2XrGxOuXl2Cfzl-yU0SfXfQI3ZLKOWwGXtLT6W5IlpXzWhpB7blYmP4e1ONqb9ilRhEIxV8wGw9SbYxXFtfgnwwxXlY7jCaSK2t-5yj6bNAbpc9FBqbNWxR-K5Ei2l4Hjwxyx0_ERY_ybAHfXulghcXd7aWuzBSMPS-D6lc6rOK93tBcSWC3oJG2tF6kZ7ZVG_MRCuStwi51SwBs5Coj2651hbUp6WpvLtlT9_d_EQmegVHmcLCtj_I-kfYeuTYVhcoeG5HwpFAUgHTzMVda6jV9uzCDydtyoKSWawVhBKjHxoAsVwqbziU-47A_c_TaXKwkGfhN8uRVsQ_Lie-OVy5uqxl4MuR-sNKfnEgw4PpnTb10LRYyk8FrTipefns634hhtc8mYqGy0LYSskkGvbh4vSahGNgAgEOMOs06L8Y5dVKHDEMEXXaKGKC9TzOfSLYWHWxh7QY13KHvQLseicmN9UIsu6NRcYA0ONTCTLyCts3gswmRJ5H9o3hSFuXN5xKveifQb0vb12TnCxdSsq-yyj_gRWpCdqIbhqg=",
  "id": "rs_0e9c7659fc9f7f72016ab45157f8ec87d0b98f4b77b2118353",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.10,\"right_gripper\":1.0},\"note\":\"The gripper closed empty at 0.009, and the pear is still visible in the wrist camera, so the fingertips stopped just short of it radially. I’ll reopen and lift clear before advancing for a corrected second attempt.\"}",
  "call_id": "call_y9sShMFLFoE2CRK4O3sb9We8",
  "id": "fc_0e9c7659fc9f7f72016ab4515a170487d0aed4b6ecd584bb89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y9sShMFLFoE2CRK4O3sb9We8",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4248, -0.0139, -0.0269, 0.9897, 0.1486, 1.0294, 0.3954, -0.0536, 0.0891, 0.033, 0.9982]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1724 left_yaw=0.0003 left_pitch=-0.0431 left_roll=-0.0002 left_gripper=0.9897 right_x=0.3055 right_y=0.0335 right_z=0.0855 right_yaw=0.0476 right_pitch=-0.1084 right_roll=-0.0288 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -1.3197, 7.0359, 1.6777, -0.0415, -0.0562, -0.0122, -0.1162, -3.412, 8.9641, 1.6728, 0.0708, 0.0073, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e634708e627b17178061627c36beb8f0eb2b34d23cd77de914abfe4ff7c842b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e540bf02ad742bd6cbcc6001f1754fbfd624a99dd734c72530b4e976925f35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b43101c74e6e58c037da5f55d25fe62da18e4a66d6795e26cf6a355bec7525d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6147, -0.408, -0.0135, -0.0265, 0.9898, 0.1486, 1.2537, 0.2359, 0.3687, 0.0963, 0.0406, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1761 left_yaw=-0.0002 left_pitch=-0.0252 left_roll=-0.0005 left_gripper=0.9898 right_x=0.312 right_y=0.0331 right_z=0.0374 right_yaw=0.0377 right_pitch=-0.0696 right_roll=-0.0232 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.5521, 7.0496, 1.8437, -0.0415, -0.0269, -0.0269, -0.335, -3.6034, 5.6821, 1.9902, 0.0171, -0.0366, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4236, -0.0139, -0.0269, 0.9897, 0.1486, 1.2541, 0.2359, 0.3618, 0.0921, 0.0372, 0.0087]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1727 left_yaw=0.0003 left_pitch=-0.0416 left_roll=-0.0002 left_gripper=0.9897 right_x=0.3109 right_y=0.0337 right_z=0.0359 right_yaw=0.043 right_pitch=-0.0771 right_roll=-0.0242 right_gripper=0.0087\nstate[joint_eff]: [-0.335, -0.9915, 7.1043, 1.7705, -0.0269, -0.0562, -0.0171, -0.2256, -3.2889, 5.4769, 1.6972, 0.0024, -0.0024, 0.6618]",
      "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, 0.8062, 0.6147, -0.4248, -0.0139, -0.0269, 0.9897, 0.1486, 1.0294, 0.3954, -0.0536, 0.0891, 0.033, 0.9982]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1724 left_yaw=0.0003 left_pitch=-0.0431 left_roll=-0.0002 left_gripper=0.9897 right_x=0.3055 right_y=0.0335 right_z=0.0855 right_yaw=0.0476 right_pitch=-0.1084 right_roll=-0.0288 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -1.3197, 7.0359, 1.6777, -0.0415, -0.0562, -0.0122, -0.1162, -3.412, 8.9641, 1.6728, 0.0708, 0.0073, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e634708e627b17178061627c36beb8f0eb2b34d23cd77de914abfe4ff7c842b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e540bf02ad742bd6cbcc6001f1754fbfd624a99dd734c72530b4e976925f35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b43101c74e6e58c037da5f55d25fe62da18e4a66d6795e26cf6a355bec7525d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFFeJrJxMkvd0oo4Sk1r0TvKVUK_5ekPUq9xySi1Fp907HfNMTdXOLxeuAgZrjEY2usbJJpaCJesNiQTaMg1uUxJCyH8zU3wkosLY78DHTKuwQD4woUYH37rzwx_W968CKEI9RoIUUr9GoCpBvdD5_s-WnaKSVx-ELHuZAYrZ7QcdRtFml3en2FoGzRlUgzlN156B_4G3FrKRXRKjHxhqK_1REyVDOfSTrr8PRTVYoUNUN2OcPZhusK4OHwojky0gOtSDTtBTfnAonwGw0bx77wuDVEf6i5GKRRnHEcJAfVP3uZ0Wy-kKR2FzNnpHY6mv3FsjePbzOCyc7tMHBKplyUHhvingvRvsqHdJWqk9Cunp0TQOd2aVqXmYbnJgkTb3ti-21NsceEw8KKwbew3RK2r7sxHQ47XaYS6QYPhJ4wxg7GnXjB3z3uAf55cSQFuqnMMEFSbrBUJn8DM3OUz-M2R0KVFmmgXOSCTFlqCNeUmRWfc8X9vQJ8gTkZIeR9IWrAfW0Gn76Qtz93jxVzgSqLpoqMznSUkrjHZDeLGD8sXn30y8e-kXd8IPI02Euka5UVOgm1TCtXctodziRNFpMjngp_aV30KTXbdhRk22L47iwBWO6cSXlYgakdIod0QwB3JEn5I0kyDTi8Fs-HDo2YGNOfOPulFE5FKfSxQIYGULGujHfuom-_UjxTMPJNbQNUF_OANm5mhIp5FGiIgLoIFF3M5Ngwah_vkwdT9jBGsDX_OUAB8yHkyK-9OyiwD5kkgoL14UkZGMFHAnE9Ngl3kAfwcKVAQrC7BairUzHTgZPxgUNeiDqTFIKzekc2v1ifYanIWcT6cxs9pqqwpQPWrxG-aqD8KGnxbxafVL07uwZepvRZl_IQaB0KhTP5OXK2XlNi4n_H2VyFII2mWQAnB0L5EvD89fi7zUgA3Xq8A7ENCYclNHP8IID7d2_6qPLnCn3anxyIz-VlLCaAPf-IbHxzg-U61M36C28LrLyxuC0CtxyYZLUClT_4G7lJK1FNuxZPuNsQnwXRwIMaATr2E3hqt_aa8OL9gfrqmFbYiKoRjNmX_Nmnqd_fN8_osZ6k3Pyk9n4Sn2cZgfeRIeZZq4yG5Stm1GF2B7tbrIMO3JrJl_C0FSJV3mOEEdunYkUrz3gA4Se7GJZORAuwgUITcyGVZEhKIC3qabr1GW8WnbbINPlR-vUKvabMZujtZ1gcczqHydjRLPPGXsBIDNl_t5g3itr76XAX6tgGQG1nVgMzFFU5_ySzobhP846ZkMeUHd_GU9zQPNSTk42VS3ElAqcpo7wucMaR93QpGq-jpWNz-g5OyyXU--klmyePT1kIakZvnF8jN2RVIKzoo1pNJ4N_fDjUTrizgFVDqVSCtQcGVD8sNe1IWDoC43lsxNONu1Cj1YyC7GKvZj1LyY4mxiO2PWf3vS9cuHF7tGWihAX2TbB93MoKKCbeRuEEgWkuXj6EgJFYgB6x_9umqKc93Ng==",
  "id": "rs_0e9c7659fc9f7f72016ab4515d29bc87d08be76b074e49294a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.033,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"With the gripper reopened and raised, the pear is centered but clearly beyond the fingertip grasp point, confirming the first attempt was radially short. I’ll advance about 3.5 cm while remaining above it.\"}",
  "call_id": "call_K2wdHHVrTJKCFqpLsTKrBRgx",
  "id": "fc_0e9c7659fc9f7f72016ab4515db09c87d0b5dfe0da19b11e68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K2wdHHVrTJKCFqpLsTKrBRgx",
  "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, 0.8104, 0.6147, -0.4282, -0.0139, -0.0265, 0.9897, 0.1268, 1.182, 0.506, -0.0692, 0.07, 0.0139, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1705 left_yaw=0.0001 left_pitch=-0.0507 left_roll=0.0003 left_gripper=0.9897 right_x=0.3282 right_y=0.033 right_z=0.0829 right_yaw=0.0517 right_pitch=-0.1672 right_roll=-0.0359 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -1.6342, 6.9675, 1.7118, -0.0611, -0.0415, -0.0122, -0.6359, -3.6991, 8.5402, 1.9219, -0.0122, -0.0122, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f160be4aef7fbc12f69547f100d313f904cf509fde0d8745741b2c1bc6c33a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec4d2ead918920abbcc003ff3ec89124d90dec3ab97466e4a9417efd377c236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:132ca4c158899b4e55a9367ed7a291ae060b5d5809a02b12c4ac2a3f7a2909c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4156, -0.0139, -0.0265, 0.9898, 0.1486, 1.2541, 0.2359, 0.3637, 0.0925, 0.0406, 0.3544]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1743 left_yaw=0.0001 left_pitch=-0.0336 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3112 right_y=0.0337 right_z=0.0363 right_yaw=0.0408 right_pitch=-0.0751 right_roll=-0.0214 right_gripper=0.3544\nstate[joint_eff]: [-0.1573, -1.306, 7.0085, 1.8291, -0.0269, -0.0562, -0.0171, -0.1709, -3.0564, 5.4769, 1.7021, 0.0317, -0.0366, 0.1978]",
      "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, 0.8062, 0.6147, -0.4248, -0.0139, -0.0269, 0.9897, 0.1486, 1.0294, 0.3954, -0.0536, 0.0891, 0.033, 0.9982]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1724 left_yaw=0.0003 left_pitch=-0.0431 left_roll=-0.0002 left_gripper=0.9897 right_x=0.3055 right_y=0.0335 right_z=0.0855 right_yaw=0.0476 right_pitch=-0.1084 right_roll=-0.0288 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -1.3197, 7.0359, 1.6777, -0.0415, -0.0562, -0.0122, -0.1162, -3.412, 8.9641, 1.6728, 0.0708, 0.0073, -0.0415]\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, 0.8104, 0.6147, -0.4282, -0.0139, -0.0265, 0.9897, 0.1268, 1.182, 0.506, -0.0692, 0.07, 0.0139, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1705 left_yaw=0.0001 left_pitch=-0.0507 left_roll=0.0003 left_gripper=0.9897 right_x=0.3282 right_y=0.033 right_z=0.0829 right_yaw=0.0517 right_pitch=-0.1672 right_roll=-0.0359 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -1.6342, 6.9675, 1.7118, -0.0611, -0.0415, -0.0122, -0.6359, -3.6991, 8.5402, 1.9219, -0.0122, -0.0122, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f160be4aef7fbc12f69547f100d313f904cf509fde0d8745741b2c1bc6c33a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec4d2ead918920abbcc003ff3ec89124d90dec3ab97466e4a9417efd377c236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:132ca4c158899b4e55a9367ed7a291ae060b5d5809a02b12c4ac2a3f7a2909c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFFi6KvLcFUKXL9h7xP7cNK9NzcdFTD6JX8gec_tUQqzNsigBUc96kXUySIMv-oLAOxvwphExuFmk907u2cq4Mb7bRTegbLMo37Ew9HXZuPqQKS7nHJQNqrHFl0AB4fw3fMIKKKtLqhg6h7Cb58sWox10NX-1Vyd-zS-zchauDU-5P1cQCdxKAnIl8fqf87L0xc0bUubSpAHar14tEL1k_3XWenl3eEZV7YsUMD4YLK-CdHWsJ0WfxYCFZ1iXtrFk34clT9fJoWj3uvxha_irZF4T1FA12e6jqWLdt6-NjoKeJmpfA3l5S_Gz-fwrEIfzmQj86V8lRHaNNSlIAl2gyFzV9kpyx-G2iutOubP6jAmaC9PRlWDQxUnv1w0M4uliOKfuwDoeUcv72V17SgcrztI2uk_4n3BStLvRy7A9dRRwKrfluZEbbWRmwuhviieozh2jAePQ3_w5ELRTvPaCn00CvhZH46dgmKxN8f3VvvQEIbUdF-3X37toT5jPVpRiAfCrIRlj6j777uCy0GQJryETTVOgPV92TOyyDwLdqOKEQL_U7ZYBERpb9cPOtV_F6K3kFymysm4bcyI7bkLZXP6EFifvOeK_WocowMlTYE_8Su9BdsEL9FptpIGqdaDiiXEgr1ENCLnbZDW9aKXFUodylZfTI5tjVkulf8YHIVAoBXuiqtq923dhuGJ8Pj70z5qZAmhuHomjec63Y-3RZV64BWAantCHqAi7-xzPMy9iWZAi6F1B6JwRwktxRo82sHKkMXVstZADzYIvKUtPpKSwYEDTOpdv04SFZaZ2UEhl-chrhMQJDZXTd9KWGoaKedIbPc_JEW_8gJO6unyL1ffzNfZDNnoAp5SWCm-CBA2Y8gInWO-EjmSvuIBiA8ebPO1Sh7k2T2iPv0iP9RIDAV54aVWRDOVXnoP4Et_AygHgkK_9w0doLPqvAUG94HZTHzzFVGMJU2edpWUQz0A8RKTNI46CpTYE0uYPXDGt9ychFxLGeVn3tHmArJXA4nUDEBBL69Fyv-kZ4aiNJI5ZMozC7Ds2yKFy2vi99p2TPjnUDLD5hn1ba-de3DgPrdO7szKTggyDy-IWc44GxH-J75ydUWvB24SjGeG6wW1eVSHy0Mv_UQpoDxMhxc-G2yU1iyvmMyQJLB6WDKouChtfHIMhjxLr79oi85zFqqc2FoZnFf8BRK7ZRvlfwKJGdcj2uyQnsf56izSFl-UxBWchohZmUztea1DwFO_Q26wHkegAUYmXiB_b0IaQm9HKIChPme3eFnTazrpZE1Y6ueKxK3Dfte9bxLO-hoWGI5F9YjGLpXaLguVu_67Z4WHz1pDOrQW8ke2nFd7U0Gr-wV_6YSfK0Va9NBSjdJyQaaujAArOg6iOIk4IY0B0hy71dAy9bwlmY7PJybenXztcRhXA6uGd-hwHoeO4h9Lz8YrDoRMOhJ5Lu3jBIyUZY0sWp1spN70uTBa-BxWe28m-bkS7aQ-Xg==",
  "id": "rs_0e9c7659fc9f7f72016ab45160f1c087d0b0215ccc13f07365",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.328,\"right_y\":0.033,\"right_z\":0.035,\"right_gripper\":1.0},\"note\":\"After the forward correction, the pear now fills the lower wrist view between the fingertips, so its center is at the grasp point. I’ll descend vertically at this corrected radial position.\"}",
  "call_id": "call_t6z9CopM9VRET0mrEduayCID",
  "id": "fc_0e9c7659fc9f7f72016ab4516189f487d08c2334052c6bd86d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t6z9CopM9VRET0mrEduayCID",
  "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, 0.812, 0.6147, -0.4316, -0.0139, -0.0265, 0.9897, 0.128, 1.343, 0.3782, 0.1844, 0.0696, 0.0143, 0.9986]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1694 left_yaw=0.0001 left_pitch=-0.0557 left_roll=0.0004 left_gripper=0.9897 right_x=0.3228 right_y=0.0328 right_z=0.0289 right_yaw=0.0525 right_pitch=-0.2022 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4427, 6.9812, 1.7118, -0.0611, -0.022, -0.0073, -0.3214, -4.4786, 5.559, 1.8828, -0.0073, -0.0073, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da1b0fb0128ce3787681621021c7d194190107aea6f42829fa82a54edfc1e32b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce255b5fa9e8ea0a334675412d571bf56e40b48eed8a165d8fbbe2f82878242b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb15672cb3adfa8e4e7b4215f86241d94d9cf56b0e0a4142a7756919cf450cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4236, -0.0139, -0.0269, 0.9897, 0.1486, 1.2541, 0.2359, 0.3618, 0.0921, 0.0372, 0.0087]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1727 left_yaw=0.0003 left_pitch=-0.0416 left_roll=-0.0002 left_gripper=0.9897 right_x=0.3109 right_y=0.0337 right_z=0.0359 right_yaw=0.043 right_pitch=-0.0771 right_roll=-0.0242 right_gripper=0.0087\nstate[joint_eff]: [-0.335, -0.9915, 7.1043, 1.7705, -0.0269, -0.0562, -0.0171, -0.2256, -3.2889, 5.4769, 1.6972, 0.0024, -0.0024, 0.6618]",
      "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, 0.8104, 0.6147, -0.4282, -0.0139, -0.0265, 0.9897, 0.1268, 1.182, 0.506, -0.0692, 0.07, 0.0139, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1705 left_yaw=0.0001 left_pitch=-0.0507 left_roll=0.0003 left_gripper=0.9897 right_x=0.3282 right_y=0.033 right_z=0.0829 right_yaw=0.0517 right_pitch=-0.1672 right_roll=-0.0359 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -1.6342, 6.9675, 1.7118, -0.0611, -0.0415, -0.0122, -0.6359, -3.6991, 8.5402, 1.9219, -0.0122, -0.0122, -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, 0.812, 0.6147, -0.4316, -0.0139, -0.0265, 0.9897, 0.128, 1.343, 0.3782, 0.1844, 0.0696, 0.0143, 0.9986]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1694 left_yaw=0.0001 left_pitch=-0.0557 left_roll=0.0004 left_gripper=0.9897 right_x=0.3228 right_y=0.0328 right_z=0.0289 right_yaw=0.0525 right_pitch=-0.2022 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4427, 6.9812, 1.7118, -0.0611, -0.022, -0.0073, -0.3214, -4.4786, 5.559, 1.8828, -0.0073, -0.0073, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da1b0fb0128ce3787681621021c7d194190107aea6f42829fa82a54edfc1e32b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce255b5fa9e8ea0a334675412d571bf56e40b48eed8a165d8fbbe2f82878242b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb15672cb3adfa8e4e7b4215f86241d94d9cf56b0e0a4142a7756919cf450cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0e9c7659fc9f7f72016ab45166279c87d0984bcb54a524bb53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pear is now very close and centered squarely between the fingertips at table height. I’ll close fully and then verify by the residual jaw opening and a lift.\"}",
  "call_id": "call_cHRTtps0yThDNobIK4Sg2XxU",
  "id": "fc_0e9c7659fc9f7f72016ab45166527087d087809a4813bf860f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cHRTtps0yThDNobIK4Sg2XxU",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6147, -0.4339, -0.0135, -0.0269, 0.9897, 0.128, 1.343, 0.3782, 0.1757, 0.0666, 0.0143, 0.0085]\nstate[eef_state]: left_x=0.2898 left_y=-0.0004 left_z=0.1689 left_yaw=0.0 left_pitch=-0.0584 left_roll=-0.0001 left_gripper=0.9897 right_x=0.3213 right_y=0.0331 right_z=0.0273 right_yaw=0.055 right_pitch=-0.2111 right_roll=-0.0365 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -1.3744, 7.0906, 1.6874, -0.0513, -0.0806, -0.0122, -0.1026, -4.1915, 5.559, 1.5897, 0.0513, -0.0317, 0.6764]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ff9254949f53a19ea574f089e37dec0e025e7ed481363d45f6c2afef89692a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda88efd1d575c83a73131ccc315ca54127cfbe9f22d11f4788a5d71bb91e95f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9acd48c9751901f56c52ec7240cb21f71debd3b6e718353ad68c2f9426053b00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6147, -0.4248, -0.0139, -0.0269, 0.9897, 0.1486, 1.0294, 0.3954, -0.0536, 0.0891, 0.033, 0.9982]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1724 left_yaw=0.0003 left_pitch=-0.0431 left_roll=-0.0002 left_gripper=0.9897 right_x=0.3055 right_y=0.0335 right_z=0.0855 right_yaw=0.0476 right_pitch=-0.1084 right_roll=-0.0288 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -1.3197, 7.0359, 1.6777, -0.0415, -0.0562, -0.0122, -0.1162, -3.412, 8.9641, 1.6728, 0.0708, 0.0073, -0.0415]\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, 0.812, 0.6147, -0.4316, -0.0139, -0.0265, 0.9897, 0.128, 1.343, 0.3782, 0.1844, 0.0696, 0.0143, 0.9986]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1694 left_yaw=0.0001 left_pitch=-0.0557 left_roll=0.0004 left_gripper=0.9897 right_x=0.3228 right_y=0.0328 right_z=0.0289 right_yaw=0.0525 right_pitch=-0.2022 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4427, 6.9812, 1.7118, -0.0611, -0.022, -0.0073, -0.3214, -4.4786, 5.559, 1.8828, -0.0073, -0.0073, -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, 0.8124, 0.6147, -0.4339, -0.0135, -0.0269, 0.9897, 0.128, 1.343, 0.3782, 0.1757, 0.0666, 0.0143, 0.0085]\nstate[eef_state]: left_x=0.2898 left_y=-0.0004 left_z=0.1689 left_yaw=0.0 left_pitch=-0.0584 left_roll=-0.0001 left_gripper=0.9897 right_x=0.3213 right_y=0.0331 right_z=0.0273 right_yaw=0.055 right_pitch=-0.2111 right_roll=-0.0365 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -1.3744, 7.0906, 1.6874, -0.0513, -0.0806, -0.0122, -0.1026, -4.1915, 5.559, 1.5897, 0.0513, -0.0317, 0.6764]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ff9254949f53a19ea574f089e37dec0e025e7ed481363d45f6c2afef89692a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda88efd1d575c83a73131ccc315ca54127cfbe9f22d11f4788a5d71bb91e95f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9acd48c9751901f56c52ec7240cb21f71debd3b6e718353ad68c2f9426053b00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFFtLZqswvi8rqNx6Kn1USDSRWsRs7byNLIJNrsF6rmfc1addvF_cDNFd_1v242CwSyr1XuJOVyLa0K0NdRd-xp-daXzpy8B8AM46naYhGQ31e-lVFYJLEVsHtGC9xXLqHkC5aE38AoHcDPJ3niQS52pY2WaFJbZjqyhbXu0j2K4PbCxN24pNgYKXR2kSd06QjgPG5wl3OKJ0W8Nk8In_zBcVZgUZv-JWC1DZe2RLn47aGgcX-wc32h2rnm3TRprioR-Nb6bJF-GQUU1A2XPO9PiaPuk5SQLjYl8pQUuEsVB1cCdIKxtcVTu4mhjf7jBqLM9_GPwLU_deuO2XN7WKVBBJ0LZ92O_p_OCZm2xT47LBlaesBQOCcSevRGGnCJzCMhlE1mfzc4XbyQLnE9XilBQMECxQA8FDpGip2quZulKUonfYYNtl3bySJ2TTvqHR69dn-Ek5NjBK_WihAqV1-3KpLTTXqM-5k-fGjiVrebpSFtYVp1g_bf2gdFP221RPn5dgct-HwAH-xVo2PJrlcN5YpkYdgYZt_5EPfIxBRzZ7mfW_rt_uOXm2KhDEfdx43MBHyfXQ2tiRR2A12bKRcsHy3yYMBzzsu7lE4gobVa0uAno7OQo-MnhYYaqwKTTRRhEhMT2T8LR4OYArmmK3sDurKaCO1eOSzjvKuUD6L1V32JxUg2-edkWLY6vPsdNvDOfVSytmh-IC7DFEDv1TYTrK-ZG04YOFj_HA8iJ6975RJa37KqtI_YDjYw_5B3pS9y4YWZBRp9QtGrWvBpHr4_7w5hNpE1TLsAJq7KYaRSOOMKppFaKOGpSE-OCRnh3hM5DIa3HVdVhTs9sKwEVmg7dCrJQATrWy1MlSYmO36AHXKhf9pUGtp2VoWqs3Wmms9pET-7L8id0oPZJ0Xaflk9dqaS9wlEhU-YXCp-38O4C5YaB_YeD6ITZsfOMPgH1vAbLU9qY6lwQ5R5pqLcGYscenQa4gKomkkW-xj43oI6KNcRHHivXDRiaoMSrHBtsCkRk3wJkTLpVYE6K8y7eVne3JBtZw4wMtyfOnvCYo79e4tJ2dRuOJnTJEk91y8Cah0nvtudRBeuDNU9KTFx97LQuB5xj9K-IrVgLa4MUSPCauFLCp4_-3PKPesrrx28_iArRUllbgNqg5l25CJFV5xV1zMSw7RoBs6hd_lFzUIN5SKiBe0GE4tCer2-F0imNHZ5bIZ0T_SZR51L5y0qsxfhqRxU5T2UuhsAeTarRY9QkxDvQqNYg1MSZZfGSFulCrfVf2tJ5E2Fr6G7nXovXafZRJpGJZ273ChdC8GeOiLbr9QNReARTMPL-hpVrrsIEMDIy4jlOUtf3CAqyVji_ELkyNwZohliQxnnEaxsbR8TRciD4cLdt6mOjie9yMD1BWS7Dool2OTOMHSbtceFh_9XMiwKGPRrbTS4GgMFpuhjHM0TZc2wj_bd8OI_6B3BtRThsX-ZXexRhrGSp4uA4j-kdsUBUbtgFz0YkezfD6Mf-QvNXMaeam355f2K_klBccHjC6txipxMIlglEz93qTZ6UYI_vUqQ4BmvM9lOVf4YrDGrVAOQCJsIr9yT1GvUbbSbTmYm5xZWA5-9p5j_0w3EYsIlJkyQVLlH7h6gTt1xr0Rewan9K7yWIDetvAx1bTJ2rRQFvEgq6w6js8uGJ5REFfNTBUglyDGVpYDQwjHHpt0OfdmXcFWBnWINpX--W_tiwdPboAz3YmSa14E0_qJjyCg6yFQUNKd9t6Xsqf4vuX_2-ta1RfFIij0bOAxm_mtn5CjUViAr8OvIRY-GgNVLEewVHwB9jiChT3iZbbWghX8-KSJGZpFTXHJlToSHVmJ_5gDk4SWPvsrCJ5x09RWT6nIwbw7Cj5R2o8tRX8QP-hFN7sWtNEciV0O6D2PduKFeiZQWIk9ClVVP2M3YZXBUpl5hl8BkJAGZ_NWSK4zp_yfRIb78KSTNFAfa6UG2ey1Tu30Xg1Ixr2VvQx2yOj4lqCN0cTR56JujPY6zQ04w7bHsDaHXE5zSSJU4qxbylTBZyKyt8vO5iIYvBtk2OH7R_OUUk2zFhSzCrj5lOwQN6E424ZMtZ6QwblKBTIuRdlxPP7g41ccE0ikigZJ3gVMhKuQojtVjgjFQESqvYf9x5dBewMSrqIvU9CzyiLar1Cl7x8Y8MqyE-NmOsEYwmubQnuAbHbpcUKMp0qADEG-6Sr6jkfLt0d4keXr4tD9R9fUfC9vHvUjX3AvUB4FtgGVhPVVvebdfInwAiTnIXuv08kf0-Bdy0I1j4Ma-WnPcqNyNifXMpst7ClhXJbrJgrHzJtTrd1nOORCtRLbqW9UDAuRLtpJGeWnvDOtavKiZeNJ7U2uXoVr5VQDn9WMtmGuisCTmoIH63kVJ2xAU6mIhGh9Ey5KZKms80BhxCjxoW3G7wj--pvnrOH6NOoPW6tsnUOo6v6TmIgagftqJ7JsxME4sxhErbY-ApelY7Cu6hO4n2DiMrorbeXOeQi7dBQq8VTbjyI43uRKPmFhkipAdApS4TvvG6CtJEfZLFRXfzHFsjascAmcbZjw14qVEmNwhq3jd3OqOLRbJK8mxRtETg8bvxnPyEHWQmoWMpToHFTjMtqf2ClE3u5OLDWAdFZn0Ys0JnN1poE6qLTXxM8zKxm_r7_I3ucd36HuSWB8bSKHgFi7G4Bta-SbYaUyuN6J6POil84HFYDnt69Zb_tW9tuudfjK8gzXqvyYPBVdeJRJXiLNTp26cTp1xfizCpLYVq3MH8zXaGNUZHkEIk5-VS1MJ8G8QF9Pnce9N42z1a6FBptH6Dk2RHqTeh8Jtz19AZwmZ63SAC_-wUCr4M9mNmxaFI4iR9fBAsdamlGGwW1Yksb8GiAmqJyE7Rpd0FhuAe5-4LiykOhIbvYB_4GBxmfIhaerXg8cj0EOxFCft8AoVdfQ8KHpXkyynM7t5A8LgfdiV4ACYy6d0NmJ3RfXSRfC06XPIv5GndFFywu9C1NHLlH-cC_3G0B3TL0jKz6RLKOJ5aWjtcPsqiO7a04wxCbT-rOIzA5WLBr9uTBXEhoUAsTjSaNcLnb_H_67ShpSIRNJacAAT1aUoj6ZZw7rHIY0E=",
  "id": "rs_0e9c7659fc9f7f72016ab4516924b887d08fcc1db7baea3aaa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.322,\"right_y\":0.05,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"The second full close also read empty; the pear shifted slightly left in the wrist view as its rounded body slipped away. I’ll reopen, lift, and move the grasp point a little toward the pear’s left side, then target the narrower upper neck rather than the tapered lower body.\"}",
  "call_id": "call_Sr0iLn3HxAlS3V0AXO6IseHJ",
  "id": "fc_0e9c7659fc9f7f72016ab4516cc3e487d09880eed7abde7d6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Sr0iLn3HxAlS3V0AXO6IseHJ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6147, -0.4351, -0.0135, -0.0265, 0.9897, 0.2077, 1.1484, 0.638, -0.3145, 0.1081, 0.0525, 0.9985]\nstate[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1685 left_yaw=-0.0002 left_pitch=-0.0599 left_roll=0.0002 left_gripper=0.9897 right_x=0.3179 right_y=0.0512 right_z=0.1051 right_yaw=0.0769 right_pitch=-0.243 right_roll=-0.0437 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.347, 6.9812, 1.707, -0.0415, -0.0513, -0.0073, 0.1299, -4.547, 8.8684, 1.4823, 0.1538, 0.2173, -0.0708]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8723a20581cc1d1501aa6cb09a84aaacf77e4142c7dc9f0b307d0d163adc76f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50457c467479877288d49ca804c0943246a096c78a34432bd92ddbead38b20f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d48db090c1cd5879f41ee32bff4dbcd4df82733fea9f246a517de313ecd2d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8104, 0.6147, -0.4282, -0.0139, -0.0265, 0.9897, 0.1268, 1.182, 0.506, -0.0692, 0.07, 0.0139, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1705 left_yaw=0.0001 left_pitch=-0.0507 left_roll=0.0003 left_gripper=0.9897 right_x=0.3282 right_y=0.033 right_z=0.0829 right_yaw=0.0517 right_pitch=-0.1672 right_roll=-0.0359 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -1.6342, 6.9675, 1.7118, -0.0611, -0.0415, -0.0122, -0.6359, -3.6991, 8.5402, 1.9219, -0.0122, -0.0122, -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, 0.8124, 0.6147, -0.4339, -0.0135, -0.0269, 0.9897, 0.128, 1.343, 0.3782, 0.1757, 0.0666, 0.0143, 0.0085]\nstate[eef_state]: left_x=0.2898 left_y=-0.0004 left_z=0.1689 left_yaw=0.0 left_pitch=-0.0584 left_roll=-0.0001 left_gripper=0.9897 right_x=0.3213 right_y=0.0331 right_z=0.0273 right_yaw=0.055 right_pitch=-0.2111 right_roll=-0.0365 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -1.3744, 7.0906, 1.6874, -0.0513, -0.0806, -0.0122, -0.1026, -4.1915, 5.559, 1.5897, 0.0513, -0.0317, 0.6764]\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, 0.8127, 0.6147, -0.4351, -0.0135, -0.0265, 0.9897, 0.2077, 1.1484, 0.638, -0.3145, 0.1081, 0.0525, 0.9985]\nstate[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1685 left_yaw=-0.0002 left_pitch=-0.0599 left_roll=0.0002 left_gripper=0.9897 right_x=0.3179 right_y=0.0512 right_z=0.1051 right_yaw=0.0769 right_pitch=-0.243 right_roll=-0.0437 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.347, 6.9812, 1.707, -0.0415, -0.0513, -0.0073, 0.1299, -4.547, 8.8684, 1.4823, 0.1538, 0.2173, -0.0708]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8723a20581cc1d1501aa6cb09a84aaacf77e4142c7dc9f0b307d0d163adc76f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50457c467479877288d49ca804c0943246a096c78a34432bd92ddbead38b20f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d48db090c1cd5879f41ee32bff4dbcd4df82733fea9f246a517de313ecd2d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFFyxQvfpeYwdjOpV1TNQeGuiZNsao-W2G4fIP-sx15CTOIqvsSTLv5wNiXNu4tt1mSDIiAO-qCZmJY9ha65_3w9SytUGVeb-PRXTQUDOmVyQEmckLLVXoxuqMJ_LyCSHb-2gmkM6wlpBp4vgGsFWBrikA_As2j1B3f1H-VpRSTch2fBagsuiA6EsMP3G4Bl7BEbea1Do9oLlNnWLUBqlMnEllGE1iOrZaq5k8KIwvqV28Br2gl2zDnEyEEJ4pRKXHGtOSTSYtgF5ojMrktZLRp-L02Ozh47mftuXQ_4xC7CoHg1vzdxA7s5HKiqhFYxL7XEpoLdIcxvt2Va7ZHLrd70kIVlupWlFnwDR9HIWjRJItF2tNuU0apu9teuuEwQd2imDDRm7wKpvWY5erzGjzb-MH0Q3ctZPfDSVYDLPN1DUuHovlCDWrmoGouvFKBHnxs_9_y37X2BPZljxfpKXu3Fn9Di2sOmISAu2kZhSTjPvxae7M9bxnXnQEjA6Atz5t6pRc-ibN-4MDFef8a3hhT7o0QYdg1envrd-aDUxgQ7AXLGyyXlvVEGdUppYa64LmAXfLzBgIE-Jr0Re7GD3xGIgSFELwvCJ90U3o59lQAO_q0RxHv83bioU8B7BEsDj0Z8gV_Tpr9E802-L9GsXx03jyX_tfjivhlKtNdQfIrgfH36XKUwlQ7O1YWcj4w0R8ur3yxHTIsBZrquU9B4r4xXQZJ8N11wuY480_qigBuQqnsnl9I7yjfsDlkgxV7neU3Nmm0jQzjfzxk4gbHhyb7EIWP6jMdbogP25Sb5SIs0LbgJoIjfnaUPq4g9alt5gDQUoFXH_wgYcbPVwPuPLaorFAs0Z3fssbw2NlG0KxXuWAmeVuwWlZ7n442zkn7oSC_550A-YZ2fnUjBgOh0DAWqTRoILnCgaEbVDpl_pR8m62QnEKCeV7Y4DnWnN5pJ7oQGV1OVmg46GEGXprJ3_vdMwcaR5H41pwVgAVnNpFkkEPrNXxswvj-4FDSHT_jV5F3sDuiSubQvrSd3_ah5arb44szqnU_Dbuu06h3daBpmtqI86NFBVR6We98HglEDgR3a_22mXQfI_qgLSlPuq-8PM1Vwt0n_L9jn4Ezpzwulavp5OrScsYyyTcY1KJ5AKgCqcAnO4RzbyiGGrr6_Hp7qx_MVuLBx-59sbGElJEBOyeS3lNdIM1J7nqpc5cRHwYZhSvCHzAV9PN_hNW6xFw5Hi0I6T4J8w2cTgqKMT3rVFmAYzTRDu3Q0Uyn1L8Fl1tpn7SqQCCJ7CMo2vXuUt2sUQ5prUdhjMN27aEnxVzMl4WGeYUOzYXrQnLxlZCAcSvWzgrk5Hi8KnhBW8oyNaWt4tEFu5DmTEJtj93oLKZkOlpS-T9kRqf8IxzJXrfVGu1QQxJqkL3DobptzdTNqqaAMh-OzIXhKnwkZDqckxhY4sf8j93jUls61aFJ6GH4I1V1cvO0Pp5mdhjPOsKaBNpyT8F_yk_awtuDDtsd0qRoJs5-ckfvHgLMYREDIqM4lmjjUXIXwQiwVjA2w8izjd0WxinNSh4krzsNTILvw49PZnQOieHAo8FBo6NTwGcs8vyzeA0dQNhgp9ZYfhdgWClPwKlJUrit2Q3cAKZ16xijh6qI=",
  "id": "rs_0e9c7659fc9f7f72016ab4517069b087d08aa89198b8798a70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.318,\"right_y\":0.05,\"right_z\":0.07,\"right_gripper\":1.0},\"note\":\"The raised view shows the pear’s narrow upper body centered between the jaws and the stem projecting to the right. I’ll descend only to the upper-neck height, keeping the safer corrected lateral alignment.\"}",
  "call_id": "call_M71pYwWa2rQNHMhWmzvBpK7w",
  "id": "fc_0e9c7659fc9f7f72016ab45171867487d08488a8763e2e5ac4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M71pYwWa2rQNHMhWmzvBpK7w",
  "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, 0.8127, 0.6147, -0.4423, -0.0135, -0.0265, 0.9897, 0.2058, 1.2148, 0.5266, -0.1745, 0.0998, 0.0437, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1671 left_yaw=-0.0002 left_pitch=-0.0671 left_roll=0.0004 left_gripper=0.9897 right_x=0.3115 right_y=0.0507 right_z=0.0636 right_yaw=0.0859 right_pitch=-0.2815 right_roll=-0.0482 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.2786, 7.0085, 1.7607, -0.0317, -0.0073, -0.0073, -0.4991, -3.9316, 6.2017, 1.7998, 0.0171, -0.0269, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c27a2287dc774259dbc74b223d098af045d7ca958c073513b0b5a2f594b92b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e2df3059cd6f0c8d6283283b5e2b0bcd07886d15f571b9c95db4748ec1600c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16661d5d3b54ecbef487c85bc26d054114052004bd7370d8ff9bcacccec12989",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.812, 0.6147, -0.4316, -0.0139, -0.0265, 0.9897, 0.128, 1.343, 0.3782, 0.1844, 0.0696, 0.0143, 0.9986]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1694 left_yaw=0.0001 left_pitch=-0.0557 left_roll=0.0004 left_gripper=0.9897 right_x=0.3228 right_y=0.0328 right_z=0.0289 right_yaw=0.0525 right_pitch=-0.2022 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4427, 6.9812, 1.7118, -0.0611, -0.022, -0.0073, -0.3214, -4.4786, 5.559, 1.8828, -0.0073, -0.0073, -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, 0.8127, 0.6147, -0.4351, -0.0135, -0.0265, 0.9897, 0.2077, 1.1484, 0.638, -0.3145, 0.1081, 0.0525, 0.9985]\nstate[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1685 left_yaw=-0.0002 left_pitch=-0.0599 left_roll=0.0002 left_gripper=0.9897 right_x=0.3179 right_y=0.0512 right_z=0.1051 right_yaw=0.0769 right_pitch=-0.243 right_roll=-0.0437 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.347, 6.9812, 1.707, -0.0415, -0.0513, -0.0073, 0.1299, -4.547, 8.8684, 1.4823, 0.1538, 0.2173, -0.0708]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6147, -0.4423, -0.0135, -0.0265, 0.9897, 0.2058, 1.2148, 0.5266, -0.1745, 0.0998, 0.0437, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1671 left_yaw=-0.0002 left_pitch=-0.0671 left_roll=0.0004 left_gripper=0.9897 right_x=0.3115 right_y=0.0507 right_z=0.0636 right_yaw=0.0859 right_pitch=-0.2815 right_roll=-0.0482 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.2786, 7.0085, 1.7607, -0.0317, -0.0073, -0.0073, -0.4991, -3.9316, 6.2017, 1.7998, 0.0171, -0.0269, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c27a2287dc774259dbc74b223d098af045d7ca958c073513b0b5a2f594b92b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e2df3059cd6f0c8d6283283b5e2b0bcd07886d15f571b9c95db4748ec1600c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16661d5d3b54ecbef487c85bc26d054114052004bd7370d8ff9bcacccec12989",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFF6yX6oFflCQQFwtJ6ozgK819MClH6zg--GlI9yI0T2bMunAzCR-SkKJcTUV4fBAFIUhTjdlQx1-bTWK8YotVeKOSPhLfjnFbw3NKLughDGVhdRUbjc4ErhmGCpL8UGTb4902fo0d0l7XdGW7NZf9OMnGrvR_hw5S_BPmN1XuAckgbAmFOSRCAFfGebjqRWzm87GQNcS55x1EdP1cw-D0tKq8xDimGR3phFRSaDMcAvBTBsqJULe6RRLEPj6IDiz_qyqonfZPezuw34Hw8uccA3PU4UhSP-FE8N17wAERg9sPueM_nHtS4k9GvRqtRjbmqWAY6GV_2G_BqdQF_PCgatb1IZ9Ug-5zsX3CciwG-D_yS8YY1gdDbuSGh-pjpHzIOfl4P1BolwaDs6LGnAm-VMhbaF6OOPyeXJ3ykVX3oxSokA1Yqoep_v8Wb3So_Eg5TFY8mdPL_L7TEsO_jQAQ_WS18nP17-yr5d-GWeP8ldUaMZ9rLMf_eiomObgigOBu778B9yuYlKjlMJnS2-Z3XfcL-LjYdmlLXBi4iOxjXNy9HW9OgDUk2Uy1bMloTW3CvT0ilLFpZH9s6ZT6JxxUun3D0C9TlSkdHEFFisiU7MH0tWbDAAgcCoF5jSKCRrIcACUnx98kYXXe0Oel6A6-0cb4DmzDhsO2JUDIGNCI7lZk9z1iwyvYQENF_uXy01_bSPK7CnNelAR7RQ1Mh9BOJ2ivLZfpnfK2k7qszRzjyuyd1qdfXo0dpTVwGt1Uht2Jt8zo-l4LbxhPVrliLhw03QJ7dq_Vc6O9qdrZohzULw_2f6G5io3NvcvoUuy-f66isXkvMuMQwStYSKXB_Zo4s_EJcysplFMmDDU9ak0YzF55i7d0gFT-KjCQKHVB5F2m6FayCEm-efIg0WLvurwlHa5VzCIujo9NiCDX7cFV8hxw41bTJFpaZxlrIwW_9nbyzS1UNIbxgV2PanppSQoGGj8z4wkc_Sg_4rTlmJGnJ09JGrNevM5VymuTkc5Y-5gvkSESbA00YSEA9bIHlH8--pbrGSPspbacbPH2407D9NJfUvv0bpB0U8AmN9sezo5PGtxIv71N8G26OQCbahj0HoKSObUoIoV8kasQVK_C7gZ3XyyZfWsIhqTkLjqvvv3WZM_jjDe7U8kn9Z7LeltNFNYQBBE5f2TnFQFDFb1q6ItC6poJhhNdwIepuJ4jHAgR-ViSRixBPxAI1vA4QlYmcclB1zwzMrdbsaAPYnuraZL068RV2udZxuwWse6syT7bNuO4VIbiY4Xca1gBZvcXLRzACtbveGwg2SNiXVrdQqCw33tm4nNsD3d_WnqNrrNSG7901QU6naKCATckC8rk-hBWT1LXJ6ifE_INkuxRHFQS4hmBcOulbkmbml72-9GqTUUf3UWv_3V6ZUQ5TR1fdoan9hMGY_P-_3k3296adiEXAl-vIGGUQoN9rIdYfzbiR6vnzS31woy8qrjBH3ejwel1e0817sGkHUEH-Za2pFvuO-ZVPJu7RBsuGcuzwzrwVjm6LhtBcoMx065a9KXkr1iz1vqxoTUNFj7I-UMdo-RC-c6t3JqO-lfKcqRvF1NPeVNT9xXzaysOxu0DDb3RH8lwzm0q7dFI1RrncgcOQftCAZJ1kBVYowK6dx-I2YDhj6d1M6aa56kC9HbkqSMEJVvQ-TLSANraQZMbBAfh3Dhr3ZgdTT7uirphpyxCbqKHXo-MEQ_v1miM1nGjRSD7-r7L7GNmwJ-OS60z2sEJrWH3R5HKiQYhyXKZNWayhfmBKjSri16Ewt8y3TuyBPkk8pJ9WeC6-jeEVh45OZYtwT-y2lAarjO1R7r2s-KBw5xyqsFzcjH9aczyy3qwrv-fp4ROvEct60ldm-2ChtUjg_-1YKSEMpA-vfRq-dCM96m9uVz-3fSzrCGDtq6R7YVwcb21DGdIluRn7luD6TQz-CqvaH7jIeRdhjDc3OehvWg62s-VttogyCxuo5aTZzNZLHL2gOYW9srfHhd2F3MTrjS8ZoPROcKqBvZe8fyLB8ZSo74uqMd_LKfQ7kC6ASxt62SNTjbFJdwwOxZWr20e-e9H0=",
  "id": "rs_0e9c7659fc9f7f72016ab4517732cc87d080f5516daca05b9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.035,\"right_z\":0.075,\"right_gripper\":1.0},\"note\":\"At the neck height the pear appears right of the jaw column and still slightly beyond the fingertip point, so closing here would again miss or deflect it. I’ll correct about 1.5 cm rightward and 2–3 cm forward while keeping the jaws open.\"}",
  "call_id": "call_ar2wTCTaGj7Nrg46wG63RDul",
  "id": "fc_0e9c7659fc9f7f72016ab45178ea4487d0ae9ffdd60a4cc066",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ar2wTCTaGj7Nrg46wG63RDul",
  "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, 0.8135, 0.6147, -0.4469, -0.0139, -0.0265, 0.9897, 0.1165, 1.3075, 0.6075, -0.2024, 0.0471, -0.02, 0.9986]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.166 left_yaw=0.0002 left_pitch=-0.0725 left_roll=0.0008 left_gripper=0.9897 right_x=0.3285 right_y=0.0337 right_z=0.0616 right_yaw=0.0781 right_pitch=-0.3257 right_roll=-0.0516 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -0.7863, 6.9949, 1.7265, -0.0464, -0.022, -0.0122, -0.294, -4.3145, 8.4444, 1.5214, -0.0806, -0.0317, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a445312dc89ddcd08248589a39b3a20cd62c1def35bc615d415e51bd1a5b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7741472bdc7c7387ae4c3eef966b73a874f539d7135aa237544fa933328597",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15412b69034b117341b96d3821eba90a0c63a4a05bd1a95247b880ab4fb344d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6147, -0.4339, -0.0135, -0.0269, 0.9897, 0.128, 1.343, 0.3782, 0.1757, 0.0666, 0.0143, 0.0085]\nstate[eef_state]: left_x=0.2898 left_y=-0.0004 left_z=0.1689 left_yaw=0.0 left_pitch=-0.0584 left_roll=-0.0001 left_gripper=0.9897 right_x=0.3213 right_y=0.0331 right_z=0.0273 right_yaw=0.055 right_pitch=-0.2111 right_roll=-0.0365 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -1.3744, 7.0906, 1.6874, -0.0513, -0.0806, -0.0122, -0.1026, -4.1915, 5.559, 1.5897, 0.0513, -0.0317, 0.6764]\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, 0.8127, 0.6147, -0.4423, -0.0135, -0.0265, 0.9897, 0.2058, 1.2148, 0.5266, -0.1745, 0.0998, 0.0437, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1671 left_yaw=-0.0002 left_pitch=-0.0671 left_roll=0.0004 left_gripper=0.9897 right_x=0.3115 right_y=0.0507 right_z=0.0636 right_yaw=0.0859 right_pitch=-0.2815 right_roll=-0.0482 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.2786, 7.0085, 1.7607, -0.0317, -0.0073, -0.0073, -0.4991, -3.9316, 6.2017, 1.7998, 0.0171, -0.0269, -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, 0.8135, 0.6147, -0.4469, -0.0139, -0.0265, 0.9897, 0.1165, 1.3075, 0.6075, -0.2024, 0.0471, -0.02, 0.9986]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.166 left_yaw=0.0002 left_pitch=-0.0725 left_roll=0.0008 left_gripper=0.9897 right_x=0.3285 right_y=0.0337 right_z=0.0616 right_yaw=0.0781 right_pitch=-0.3257 right_roll=-0.0516 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -0.7863, 6.9949, 1.7265, -0.0464, -0.022, -0.0122, -0.294, -4.3145, 8.4444, 1.5214, -0.0806, -0.0317, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a445312dc89ddcd08248589a39b3a20cd62c1def35bc615d415e51bd1a5b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7741472bdc7c7387ae4c3eef966b73a874f539d7135aa237544fa933328597",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15412b69034b117341b96d3821eba90a0c63a4a05bd1a95247b880ab4fb344d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFF9olbSLTgMYH7NxUPlrDdoP9TedXeguMw77Ii6AZPVIr36EzHr62O8Pvn5dhYqruJZTvn7H7CtgUjKgI0BbuGW_d2bpNrXxzP6hIh3fvbFLkW4EBr_1KO684Lc904WNciD9Gc6bD3IZTkq0FlI6910yweDA8DicOaexrAnHIf0bcX0vt3IAL3_rW3lxxUpHm8Ta-d3NMK-bIY7aiJ-35-hnQnzNSa5u9KIcfI1epXpOOMgDCis4ywnRgVK73PrkaQSU9OupAUO5M8AlYzcZFg5QaV1MSrlPDKjluDd72S5HBNY6YDmlEPZwx_3gJhHGfmjWGPKpqiiXFRsK0wrO3XXBsy5-_2IYPoUjgLjADiNA1M8m3YnpSXeHJztcxhtJG_zCrucB34jPQMrFfaEJPwSCh7HAGjHiCQPbBERDzsKyvh4AjFXTIdc39Eovd6zfcnOl1xoMrqs2SLOdy_TLXyIzY3SgOXDnx3J8lo7tOYEZxBHG1ylhdUq1mHg2CKtEeBJwq0aDFbkcFomFN35Ahu-uLayymxYgJwxz13yb22gdFGOinYXpQP7CnFT7U9rKT8eBcJ-BwxSLRAte3xyTnOp3nzj-5ZRxbzWh7lgTsWPiqaqA_iJefiYsjzFK_8ZfeahFmnkCEF0Tv7QKTnDUxaBktvwG4rhdniahXVq-VoBs6joOiSAXOWzc91iFIsdSRf4zkX8MwQBYUqMfEgwjY9IBzhdL3FMp4keynVA6ZZaBEUdCmdiLQ2sQlYx7kn4R5Y_xyw1lBMJDmDJoYbix1Jjg6OCJpWGd2nwjna6D6g6T_GDO6MaFadR2I2yf-cJxcl0M5nwSGu9i7yzwlXKMzK1LQqZoCKV0D9zHqfuZ2eSJrwSUB-6pvCnK61igDrFiWduI64hO3-UGbkXzobjmQirTzK5V6e7VxsPpaZjLO_y4EqwErXYr5mIDIrpZ_jsVIuKJvANsx28d5gv5LRR2ePus-g_T6IrzNTjJpkeZqaJ7RAOnRXJ0X0Svd2PwgPn6Pweb4yecy8VSvEzaVcPVH2vrT_5eNrWjPz2Bf7P8EutCA9Xpuldpp3df5EO60iNoPJSApXYEQ1bK7NlR0I3-u5-SJWOpscbGG8mBM3elX5izVUVBln7bE8MqzgMX9hhKQSzX68xtARALBWAkBeiVW3A4NYj23ljuavwJOK1rdXg4ZaTrAE6bYWiYiZBBJEFeyEb-phwNyBMAIFs4DNLX8wI7r1VZhw9DzglKZAUJdAemh938VbMrIHwLrXx5j83eFLj84lq6TIPsXBrH90U-6Qc10hBFoFpw-NcI7HoHC--pyDoYNi7cT-FVCRMo0HslAKuSMkVDmm6oG9dzoUxU0LNEd7UfngY3APgZHnI8Qj8CnhyTRNmBTqxk8a8OF75hfmxThymS0IXEfnEN-1k4gzrYb17AoYqFKo2fZ5E1hjzAXfENqXlOXQ5QYhMIv5xrrFoz8PT2YdayHQpXU1HABP5CA==",
  "id": "rs_0e9c7659fc9f7f72016ab4517bda7887d0a5eabec98a27d79f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The correction has centered the pear on the jaw column, and its upper body now reaches the fingertip line. I’ll close around the narrower neck from this well-centered position.\"}",
  "call_id": "call_szkGrWaFJ69PMStAbkOVWb1M",
  "id": "fc_0e9c7659fc9f7f72016ab4517c88f887d0b02692bda78a7b30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_szkGrWaFJ69PMStAbkOVWb1M",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.45, -0.0135, -0.0265, 0.9897, 0.1158, 1.3075, 0.6102, -0.21, 0.0444, -0.0269, 0.0091]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1654 left_yaw=-0.0002 left_pitch=-0.0755 left_roll=0.0006 left_gripper=0.9897 right_x=0.3278 right_y=0.0338 right_z=0.0614 right_yaw=0.0836 right_pitch=-0.3309 right_roll=-0.054 right_gripper=0.0091\nstate[joint_eff]: [-0.2256, -1.3197, 6.9675, 1.7021, -0.0415, -0.0611, -0.0073, -0.1162, -4.5607, 6.0103, 1.4921, 0.022, 0.0269, 0.4127]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2b81b3cb300a81898ede30ceddb583e00edb09495339edd1e5f6174fef4ab77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc5b241caa0c2c058cd95d8a094a4ac9a65442d74741bdeb116a3912097030c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e13b29c81af80af8ba6f192ad1b4312c77087b4ad42c8807ddc2df12e7558c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6147, -0.4351, -0.0135, -0.0265, 0.9897, 0.2077, 1.1484, 0.638, -0.3145, 0.1081, 0.0525, 0.9985]\nstate[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1685 left_yaw=-0.0002 left_pitch=-0.0599 left_roll=0.0002 left_gripper=0.9897 right_x=0.3179 right_y=0.0512 right_z=0.1051 right_yaw=0.0769 right_pitch=-0.243 right_roll=-0.0437 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.347, 6.9812, 1.707, -0.0415, -0.0513, -0.0073, 0.1299, -4.547, 8.8684, 1.4823, 0.1538, 0.2173, -0.0708]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4469, -0.0139, -0.0265, 0.9897, 0.1165, 1.3075, 0.6075, -0.2024, 0.0471, -0.02, 0.9986]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.166 left_yaw=0.0002 left_pitch=-0.0725 left_roll=0.0008 left_gripper=0.9897 right_x=0.3285 right_y=0.0337 right_z=0.0616 right_yaw=0.0781 right_pitch=-0.3257 right_roll=-0.0516 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -0.7863, 6.9949, 1.7265, -0.0464, -0.022, -0.0122, -0.294, -4.3145, 8.4444, 1.5214, -0.0806, -0.0317, -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, 0.8135, 0.6147, -0.45, -0.0135, -0.0265, 0.9897, 0.1158, 1.3075, 0.6102, -0.21, 0.0444, -0.0269, 0.0091]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1654 left_yaw=-0.0002 left_pitch=-0.0755 left_roll=0.0006 left_gripper=0.9897 right_x=0.3278 right_y=0.0338 right_z=0.0614 right_yaw=0.0836 right_pitch=-0.3309 right_roll=-0.054 right_gripper=0.0091\nstate[joint_eff]: [-0.2256, -1.3197, 6.9675, 1.7021, -0.0415, -0.0611, -0.0073, -0.1162, -4.5607, 6.0103, 1.4921, 0.022, 0.0269, 0.4127]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2b81b3cb300a81898ede30ceddb583e00edb09495339edd1e5f6174fef4ab77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc5b241caa0c2c058cd95d8a094a4ac9a65442d74741bdeb116a3912097030c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e13b29c81af80af8ba6f192ad1b4312c77087b4ad42c8807ddc2df12e7558c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGBO0FNp5JqWENpXz1sWp0RJ89HBdkzhli3xW9eGwQtpn5AhHHDQmEeYfrvcVqpTuXq63-uaLjW7bb2bV4qW8nhUP2wUPptTZR5BYPOOzSRDFzDNvmjyjSjfZt35nJ_n8s4PAME3XGBdxntv5RMQxsfiK-w7L7EGg2O49GAMyxHx3qtG02FLfXcQiTB00SAfbZU_i2kQ5XUo3OTppJnbBlXkvfns7YWhAFv7WDOZlGlRGP_BMswaqvNhxTZnVvt9yOHJVJJEQ1yD3V5E6SPg83oTu8cOpdvakEkV2v7VkXjdeejxIt0Tg7a_mVAm1ndUe-XCimj2sDKT3_UEjfakYetBzQ73p2sbMakFo_R78Jlew1gLQzFX2NowwAX_Dv1HBaMGEd93yHPM7Ru4cjGcW6gmEFl65JFZaPnFeKvu9_1y5erHlKWTcuV5hUf0Cn-zV7mIqGxnOJKx8vZGHMRhKL3yJ-KIK0SYBzN-oiyCTitLIdfBmKYn9ULwJaG7As9xElW2DfJ9Aw7Nt8_jDR0mfA98OrJmLNTCwTM-OeE2bIJAa1DVxH-Nzqjo9aJYncV4CC9_pIBFjZbTrrXFHnO-4N92Sl28R9x5uiBh8k2l9zryLYESuLgVCMcznVLRRd8movjNrh-y5ApCz3CQKaCg5pyiEnaK0WrWJTYt9RZudLgfz7HmYmXcAwHHtCnBd0MojcL9kovY7gVGmEO72XaaUk9j7BC9wgGd8uTzLBBJ5V7ZI7Tmg-JCNpCvnYJCNlP9pRY-bT-hAwZX_PAU5Qgm9Lvpl6c64gqgsBAnvCAyFf-Hvt9Dz2723fHQFNEFzx3MLfqYAcJoIDlTGPkF8f-6LSkxczxBb4pLxpXEUzLvEYDUitk-rnbooX4n6lG29r2JaHjgPhfiN7NSHIigCk6O48ATqR9oD27L4WGmuRsz89Zg7ld9PSoR4xZCM_Oc8lrmzIyN2GkMozJonMSDggOLMOtvsNOPRF9ZH0L7ZPjZNtH7IPpRHVMu5v3cr1PHmc5kyiFhKjIjWE_99kPKq0CO_W9WZCTO51ZY_cb5AcLY8O2GmiLuB2j6HloTYHwfb27sTHbCY4KQHst8YqCNWnwABg9nVGH58740plbgMSWLrDZGH-yvERyjtI03SgYwLyIXPipl73sMdbcLEHnbFYCv9NAB-N76Ed2vcWahfNp9eWrGfmj-iKGgDwWaunc27P4bxyx6TO0emRXX5BcCGvBN3ij9vofGi9xbDYrc-ZGzsIUnItozeIAkHdDAf7SlxTPmEfK0PNfPAC-re_La-4CGF93ppBidqiQhqTXKqSRHww1kDwC4Gprsy8u7cQ4t3vZQpQa4T4CvOspY8li39Cv1TMO12koWi5663UnW99Eq3KcwYDgeaFin2HYLPWmJcvlY5S6lKje7xwv38GHXV9gUV1Xm48-aBF3et5W3WqAzrsS84VxYB1p4w4-TYoTyHDbozrv0b1t7AqXJlHMtEWJMFAC_9J7CRIhuXCZ0bHhrvP1TV0aTo7-FzfhD4hygd24039jfLINv3sOTw4slicWPlN_G45vhs-J2MVu5xJpTyCtfBi87M-V24Zf1F-kdY7G67VnN-nLiRfVoolLj7RcHVeqi9Babjoa0BOE2qaw63bWhMG0bqUPCOw4P1kg8iWMpNeoPieSuq_SVUn0Y3aBrM_1q-Am0ZiHeL3xvl4wbDrtQfU=",
  "id": "rs_0e9c7659fc9f7f72016ab4517f5dc487d0bde61b0cc7aceae1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.034,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"The closed jaws are visibly touching the near face of the pear, but the 0.009 reading confirms they still meet in front of it rather than around it. I’ll reopen, lift slightly, and advance another 3 cm so the grasp point passes around the neck.\"}",
  "call_id": "call_ADBFNzI5sE1eyHqeHJys3ZyO",
  "id": "fc_0e9c7659fc9f7f72016ab451803ddc87d093a25f40040e0bf5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ADBFNzI5sE1eyHqeHJys3ZyO",
  "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, 0.815, 0.6147, -0.4591, -0.0139, -0.0269, 0.9897, 0.1047, 1.3727, 0.7975, -0.3653, 0.0288, -0.0498, 0.9986]\nstate[eef_state]: left_x=0.2861 left_y=-0.0002 left_z=0.1632 left_yaw=0.0004 left_pitch=-0.0862 left_roll=0.0008 left_gripper=0.9897 right_x=0.3499 right_y=0.0353 right_z=0.0888 right_yaw=0.0995 right_pitch=-0.3649 right_roll=-0.0561 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -1.4564, 7.1043, 1.7558, -0.0708, -0.0415, -0.0122, -0.1162, -4.9162, 9.2239, 1.4872, 0.0611, 0.0806, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14670fe0150a44072333f9d5d83f7fabac79528831b1aa06bc4dfb7a3068e55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2702cf27134ae7bce789611b89b50a5dae831ed823a471ba08ee80f7b0e37191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5aa6847e86e432ee41577b423c9c66e7664c1715e8fd8a3e8a772bd861ca24a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6147, -0.4423, -0.0135, -0.0265, 0.9897, 0.2058, 1.2148, 0.5266, -0.1745, 0.0998, 0.0437, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1671 left_yaw=-0.0002 left_pitch=-0.0671 left_roll=0.0004 left_gripper=0.9897 right_x=0.3115 right_y=0.0507 right_z=0.0636 right_yaw=0.0859 right_pitch=-0.2815 right_roll=-0.0482 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.2786, 7.0085, 1.7607, -0.0317, -0.0073, -0.0073, -0.4991, -3.9316, 6.2017, 1.7998, 0.0171, -0.0269, -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, 0.8135, 0.6147, -0.45, -0.0135, -0.0265, 0.9897, 0.1158, 1.3075, 0.6102, -0.21, 0.0444, -0.0269, 0.0091]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1654 left_yaw=-0.0002 left_pitch=-0.0755 left_roll=0.0006 left_gripper=0.9897 right_x=0.3278 right_y=0.0338 right_z=0.0614 right_yaw=0.0836 right_pitch=-0.3309 right_roll=-0.054 right_gripper=0.0091\nstate[joint_eff]: [-0.2256, -1.3197, 6.9675, 1.7021, -0.0415, -0.0611, -0.0073, -0.1162, -4.5607, 6.0103, 1.4921, 0.022, 0.0269, 0.4127]\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, 0.815, 0.6147, -0.4591, -0.0139, -0.0269, 0.9897, 0.1047, 1.3727, 0.7975, -0.3653, 0.0288, -0.0498, 0.9986]\nstate[eef_state]: left_x=0.2861 left_y=-0.0002 left_z=0.1632 left_yaw=0.0004 left_pitch=-0.0862 left_roll=0.0008 left_gripper=0.9897 right_x=0.3499 right_y=0.0353 right_z=0.0888 right_yaw=0.0995 right_pitch=-0.3649 right_roll=-0.0561 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -1.4564, 7.1043, 1.7558, -0.0708, -0.0415, -0.0122, -0.1162, -4.9162, 9.2239, 1.4872, 0.0611, 0.0806, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14670fe0150a44072333f9d5d83f7fabac79528831b1aa06bc4dfb7a3068e55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2702cf27134ae7bce789611b89b50a5dae831ed823a471ba08ee80f7b0e37191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5aa6847e86e432ee41577b423c9c66e7664c1715e8fd8a3e8a772bd861ca24a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGGqATHaLOUQk6EWljsJDkziI95ecqJLJzYARc8FPih0mZDTgx5aEwdHDaAXKJms8B_ElShhqaV9I_dhU-jukmolquQTUt4nkY_GPhWPgTN-9g38ci-IF44rdMSpVJaVgsqMdKUEEczvczaR9eiVBUipacM2oQIFTDeIfYhTrIcdTVR-V1FaU6h5lHERJoFcjjitUCAE6PuNdTnZq0s5xvqGM1n66dCJySOrbPyb9iOgtPKbHZlQxNBHVrjzr0kzKk3Z46m4YkgBJAk34g6FxQ5qvPlUUtQomTlqZADNlLx1X5w6IABh5_CiOc0OboJSFBwxkrk6RZJXAcL3vp2iZBkxt5c3I7XKoWRrt7IRYutYieFZ5cKbE4QbYO9DGOLp2Lq_lKvRwMWDg3mXfMcID3XfcmYSaFTtkgF9FHrLeAvk3f3Oz8Z91H6qeGym8NTUoq8y0u81JmJDTRQJPyMgB9JTKOikcpj3f_IT9e7rg01bu-hEBHoFeWrw2r-U_O_UnCtEfdV3_VGf_N5ACMgqaZyWRhSDLOaHNnCPd6UU30uOywnvt7qWFWw6JDW4HLyl20bUJBQb6lU6FI0A2p1OAJkmL07y_3Sw6akrGA1cP4gSwy7VnaacYPiYl3o54mim1VXHJAuHU8L6zMoMyG7OzCIW15LBoxNs7fUA496JV2HDxRC9ERCpUrPIoImCgeEeqexDNyMXNBymgGUhEZaAi7TDUMHfHnd9u5tnhQW9muVOGawXAbczaySCSNl26HqUq2c1OG-B2kmldQAXdOfrp9e-vicARBInrjGgqw-_ximw0hOzJ2s6iCuU2zICzznvUODkTBFfEaiRkD64YM_99vL-X_IKFoCDttLvqZC6mW01yhiRWrIHexoAFQacvqWeEjrcJx2ctF37n3WRd52gWk1lJcy2zg26_cgvdLFQqMXA5KdqmHMv_alBtRG8ZEz4ligUED-DV_WMJ_PFfTBXcUSbnlTvVc298fkCe4JmWXF_7OxAfte1GcQnOOTx6KWGF92F_ZgHWTthlxSCk7LnOir2LonfLxBLzv2gFaytrivzMXyt580q_R_dXCCW6vD6Mcmyj9Ph_Mlts9u0fQ6f08fzyqZJvbLfUYv0GH6Z9eWUrEFV-MJPeJRaS3PbPKLgaycjdgr9jWc5W-LmkcHDA3fldtZCR9cfOHdLxIHCbtd5CSrVUFrjKeEWtx8aBFN3MF8UGbhFaZvENOEAudGv60jvRSY2M8oOsqiLLtFWWHLwkv41ES4p5Y03-FuEzrCLEBsbttumtuhCQ28xKU798aBpVBdvMIjnmGDOPggGAszOt1KfFszXrrvgkjOppoB1kjyBXp-iDLr73HLFG8-6LnFB98YsQG7kONzmUcHaL0vjfGw9ZnP_Um_4-Jj4rjoXbH-bOOqnVxz89Tmaf119T5emOMFbRbSjnPKZ_JA6mlYRm9RQJZwh0KpTbavurplAQF4zP1M3hIUwxTC8BlzTxrZ0tXsQvtdP-Pe5piGaGeK4T4W2E8dlie1gw1qeUTtodpu9uONmxtJrlCT27Yuj4XQ5WL08bTW-W6xCVHCs6U7hEz0i2CAiNO9TXB_s3JP0yv5RcMaoyggXmYx99yfCWij8PNMAA2vbsZ8LwDadIWf_QgrIsRC54xH93dSvgCORDk9SQqoRSFOiPlWN56ipWs0gkrS1t1hl17m41JiTzj_9RqL99zrDUwGb6FhOkmrGqMAXcXPj72Sw_sVZ1FavbmhnSBkYBq_f25gYI0CWlq3icZ_cVZQ1ElGCdNGenjgaXL6",
  "id": "rs_0e9c7659fc9f7f72016ab4518479dc87d0a64de969fd52beb1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the extra advance, the open fingertips visibly straddle the pear on both sides rather than stopping in front of it. I’ll close from this higher, deeper position to capture the fruit.\"}",
  "call_id": "call_QZ5kRNsP1HgJisvpwrssMuTE",
  "id": "fc_0e9c7659fc9f7f72016ab45185a38487d08d9ba2c3b8ee1ae2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QZ5kRNsP1HgJisvpwrssMuTE",
  "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, 0.6147, -0.4686, -0.0139, -0.0269, 0.9897, 0.1047, 1.3739, 0.7994, -0.3721, 0.0284, -0.0536, 0.0088]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1612 left_yaw=0.0004 left_pitch=-0.0961 left_roll=0.001 left_gripper=0.9897 right_x=0.349 right_y=0.0352 right_z=0.0881 right_yaw=0.1021 right_pitch=-0.3711 right_roll=-0.0582 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -1.1556, 6.9538, 1.7558, -0.0513, -0.022, -0.0073, -0.1846, -5.4085, 6.3248, 1.4432, 0.0317, 0.0024, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f0984223c5fe649f69ae16d757f026a6b2a437bcafd12f8ddca2d0872c25df2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f4b3821843e6076a6119fc63c8945814035b4be52f56750375d1e99eeead71d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f49b261d5e31802a6a12c3020e65e11426d2d182e4ddffea4ca5bc9c54bbb6d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4469, -0.0139, -0.0265, 0.9897, 0.1165, 1.3075, 0.6075, -0.2024, 0.0471, -0.02, 0.9986]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.166 left_yaw=0.0002 left_pitch=-0.0725 left_roll=0.0008 left_gripper=0.9897 right_x=0.3285 right_y=0.0337 right_z=0.0616 right_yaw=0.0781 right_pitch=-0.3257 right_roll=-0.0516 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -0.7863, 6.9949, 1.7265, -0.0464, -0.022, -0.0122, -0.294, -4.3145, 8.4444, 1.5214, -0.0806, -0.0317, -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, 0.815, 0.6147, -0.4591, -0.0139, -0.0269, 0.9897, 0.1047, 1.3727, 0.7975, -0.3653, 0.0288, -0.0498, 0.9986]\nstate[eef_state]: left_x=0.2861 left_y=-0.0002 left_z=0.1632 left_yaw=0.0004 left_pitch=-0.0862 left_roll=0.0008 left_gripper=0.9897 right_x=0.3499 right_y=0.0353 right_z=0.0888 right_yaw=0.0995 right_pitch=-0.3649 right_roll=-0.0561 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -1.4564, 7.1043, 1.7558, -0.0708, -0.0415, -0.0122, -0.1162, -4.9162, 9.2239, 1.4872, 0.0611, 0.0806, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4686, -0.0139, -0.0269, 0.9897, 0.1047, 1.3739, 0.7994, -0.3721, 0.0284, -0.0536, 0.0088]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1612 left_yaw=0.0004 left_pitch=-0.0961 left_roll=0.001 left_gripper=0.9897 right_x=0.349 right_y=0.0352 right_z=0.0881 right_yaw=0.1021 right_pitch=-0.3711 right_roll=-0.0582 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -1.1556, 6.9538, 1.7558, -0.0513, -0.022, -0.0073, -0.1846, -5.4085, 6.3248, 1.4432, 0.0317, 0.0024, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f0984223c5fe649f69ae16d757f026a6b2a437bcafd12f8ddca2d0872c25df2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f4b3821843e6076a6119fc63c8945814035b4be52f56750375d1e99eeead71d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f49b261d5e31802a6a12c3020e65e11426d2d182e4ddffea4ca5bc9c54bbb6d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGMGMZZ5Au0TiEV_N-jFV2I18AAEdN3P507DjEwkUZRT5F5GtDTJDO9_UjTaplcVbBP42u1T88Ze0pmXZGS4YY7lAHwZfZMCVYucjGIyP7BvwhvRb1bjiKPiYiA0KEG265tT_BJ2zwtsM8n75UgQXgIsSMcu-QW9CHQb3rmOHzahvoWSeVYZG0sQbQnkdNWMlrJi2dFamG3mrsbI1ze8uihLaF_k54ImiIH-GQWA8Nd2KuUPaI19x3PBxTtzawCz1aG9g5TAb7FoU9DwbchqSW0MrePFpOAcswknCpMvKVNuLqu9TffwykDvjcXlbrbcZSw_8c7bpEzbrVAUhbFlJk0p1uAcab2PjBSGXnCRKPA1oTFnMi3KaDkwXQNpz1MO_1eQ5Vgj-oWB0UIlyW4_Nzg2bdBRfLy7XIIBqgYtsDzWzPN_f7hv4NGvF8FBFJLIUva3RYzRaI3OAXhlRlDqFm2Uedh7U_-9EQGdyFJMrsraNl3CDfTFAZgQTcbTKzH9DgENz0cvIUsjFsnYi7JeGo4zpMkMIrMf67miV3uBp6wMUuWfh87wFD0nHJxSdAn8JXz0ojvNGzvM2nUj8yCCtVEJtfiq0M8tL2lA0pAboHEL5AhcVi4DsyLN7wLD5e2AkrCI3-FfRpyMCU9HoUlnG25KhgR6za17DXFmCd4VSVTuV6cDxq3O4dHSVcuLRvakfzuda4rZkRIuO8aNE_xbR81TBBYk7xa5XPmrjlLW3c3zgq91SHFhrGL00g15FVwnvRrZjTPMlaZSHaUFYT7jkK6gVHs1jVBMaNaupS2RHabwdPoWI-MPpLFq4ESLXQGeoXjAGMuReigx4NSi3G73ZjxDqDsn2xLI-D8oSNvrhoxub1UyNItp4ARHPqNyoa0VFmAjFZnsS3H_qMGbdgqcF1rxD-7qBGdW0cquINNI1p_QbnHlFSFVsH4P3QMRwOSI_ta2byb4slFd6gSDw5vHl2sdcm2kh_AAOC5om6uK-cnlMM6m8wmuj1KQfWyYaUuE-D3HG2YN_rZhEhbju9KrK-3tLXgytumEHy29bHal0qvexb7HmG66iTm2qAwNvVr6TKjh8TmXSwGPSVL_qyPNk3EdED5PVf5z1Bk-ZGgY4TDPl57LYPrkp4fadQZcf15dy4R6W8UezFboNQfhc1ykdqjCFI784-UVE_RVSRoIZVEnJpkWehoGLksOlMkLJGqceSXDSE2RylaKINBj7BJPWs1sJblWy1C2rqYacvIACxV06OMeh0CYU1bhNe3IGDmnO62hGN44v2-dQAwhGcfLq37EoXuTSOhyk4CbzOkUtQfCRQxg_qXcpZ6G7YS9roufrgmA5FAs6tOBCglMAeKZY3rjAeyL4joyQZdghITDn70Kk6fACYWhqphiVQ48Hic8Ufe243rEbxr8LmCOVEzr5kP1BBVgmD_KoyTEc1-9sGVFRK-d1zEKymM7sEdqfmpTQMPbSbWNurIl8JWrjSKtZyDkOExi0JpFRZTma1VltBj7XsZxBm4bak5GnHcyn5QBcSQanvSVH88xenlsFOgNeYM90JyXW4fYmMSIEV2xbNO-gsThrhuI106crXzCdUpFXc2cM5zXzpwFubqYO12DOaQBBZcGyQedJV2RCFI2TtpPp8O3iZxHwllsEMUniCopNmR-dC43r54f2y1c8R3s3sog_Q64_zF5XKNCgzGW8yO8-slgeHDWJVzqlnalYwzb8fkvktPNgnSLwvONBTOElnJ7psOVmz0nZFxVrIB4_BesGskjSa_HOUBl7HfxKYX_w2XaBNj0E-rh6q31gWlhoF3jBtpftbRv1ZC92Cby7KQCyvQMUNpVYGzEKBxGYo7BRIFSBmyT6veKHHCk1wLh6FZp8o1GMtvnOYAz40nMPH8zqoM8gecllEb1AizCYJVgP8Wk-eSOV73CBMN1p74S19pQGsTP09pjnfyuKBCUJ9kF50inuRPAeMdh4muPeohJD1Fiwc-kv8_z-D_uwJjbDoBXA==",
  "id": "rs_0e9c7659fc9f7f72016ab45188dd2887d09dbd6c7f72cc4bb9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.035,\"right_z\":0.11,\"right_gripper\":1.0},\"note\":\"The jaws again met at 0.009 while the pear remained beyond them, so the wrist-camera geometry requires more forward offset than it appeared. I’ll reopen and advance another 4 cm at a safe height; the pear is still well within the right arm’s table-contact reach.\"}",
  "call_id": "call_WGY0gyu5eAM8BviDYiRUD1os",
  "id": "fc_0e9c7659fc9f7f72016ab4518b9c5087d08bf10fe20c823335",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WGY0gyu5eAM8BviDYiRUD1os",
  "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, 0.6147, -0.4759, -0.0135, -0.0265, 0.9897, 0.094, 1.5066, 0.9768, -0.4652, 0.0208, -0.0799, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1598 left_yaw=-0.0001 left_pitch=-0.1034 left_roll=0.0012 left_gripper=0.9897 right_x=0.3774 right_y=0.0355 right_z=0.0966 right_yaw=0.1141 right_pitch=-0.4202 right_roll=-0.067 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.306, 6.9265, 1.7167, -0.0269, -0.0366, -0.0073, -0.759, -6.3658, 9.0872, 1.5507, -0.0464, 0.0708, -0.1636]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d49c5a102d18df45254c63173a1ecbd44a60f1e54642e0f07577fca0d1866996",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa9578b06faba6e3fed2feae15c20988ec03a5c884db2298a71182e357c64a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54201f4233df80f8f5914ad45f3f195fcb59c28b68e4e753eb9eb291d38bb9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.45, -0.0135, -0.0265, 0.9897, 0.1158, 1.3075, 0.6102, -0.21, 0.0444, -0.0269, 0.0091]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1654 left_yaw=-0.0002 left_pitch=-0.0755 left_roll=0.0006 left_gripper=0.9897 right_x=0.3278 right_y=0.0338 right_z=0.0614 right_yaw=0.0836 right_pitch=-0.3309 right_roll=-0.054 right_gripper=0.0091\nstate[joint_eff]: [-0.2256, -1.3197, 6.9675, 1.7021, -0.0415, -0.0611, -0.0073, -0.1162, -4.5607, 6.0103, 1.4921, 0.022, 0.0269, 0.4127]\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, 0.8154, 0.6147, -0.4686, -0.0139, -0.0269, 0.9897, 0.1047, 1.3739, 0.7994, -0.3721, 0.0284, -0.0536, 0.0088]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1612 left_yaw=0.0004 left_pitch=-0.0961 left_roll=0.001 left_gripper=0.9897 right_x=0.349 right_y=0.0352 right_z=0.0881 right_yaw=0.1021 right_pitch=-0.3711 right_roll=-0.0582 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -1.1556, 6.9538, 1.7558, -0.0513, -0.022, -0.0073, -0.1846, -5.4085, 6.3248, 1.4432, 0.0317, 0.0024, 0.6618]\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, 0.8154, 0.6147, -0.4759, -0.0135, -0.0265, 0.9897, 0.094, 1.5066, 0.9768, -0.4652, 0.0208, -0.0799, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1598 left_yaw=-0.0001 left_pitch=-0.1034 left_roll=0.0012 left_gripper=0.9897 right_x=0.3774 right_y=0.0355 right_z=0.0966 right_yaw=0.1141 right_pitch=-0.4202 right_roll=-0.067 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.306, 6.9265, 1.7167, -0.0269, -0.0366, -0.0073, -0.759, -6.3658, 9.0872, 1.5507, -0.0464, 0.0708, -0.1636]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d49c5a102d18df45254c63173a1ecbd44a60f1e54642e0f07577fca0d1866996",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa9578b06faba6e3fed2feae15c20988ec03a5c884db2298a71182e357c64a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54201f4233df80f8f5914ad45f3f195fcb59c28b68e4e753eb9eb291d38bb9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGU0LWaKQmzCYes11FFvvVLLmgOiehcpXamCtBdjSK8PVus8NLLrnDf4bUeCpenkul5VyFXqMvcWkVnPLlCN_foHIhr9BosaUkQVoPVe613h4doQOY5b_j70i67jphjfNOKz8_PijssAhShVREeCh9Ow4OcbfKExXude80wv5R4IS6wlTYNm9S4EYpOKx0A3O-9fNZCl74WYaWQGs4YI1POaTyC8j0CYrtwxrkDNbO2ijmDqUuGX0OqQm4TcCoUMqaoozLrKginsKpqmJbAkCGGVRikmQVsZp-WhgA1tL7bPTtZg9rn6aTtxZR9DFYUNBIlpn7BOEvZgOVLSPWwHu2n8UxJ2C8SoMowValW77yDFjOW-7S1Hp0MRmXy7HvSMS5msIi1OQDk5gofTqMnP1kbTQBhPpoaup2CK7IGuqSxUaNO3q83IMaELJPnpveKBh_haSpuZhSU_Q_lk-7xsB-nhbnp6k9d0_iaXvynGyNVRPgxd1zPZEmrmedgSQym4tzAPvGXBY4et_BWdKRRNrriFjsl3trfrldn82y3RiTNfVBhsRTU_kpPVI2UiroqQs7DsmcrsU5tIxfIjmyULkWbSuybjFkPGjLdMae1fcGJFwvFyfgQ0qlKb6nXrw7x14mCyeAMfR-hy9aEfqukOTsg05CUuaqQnVbpFemaXTLKXwKQK521TqVO6WJX8mFgLlGwPibOPmf8XZAL1Aip_KMjYjFqK1ADZJwUMRg-hspVmuT4FebokQuvUZuQUGkT8F4_yE-3Ygl4hCSf-YVHMQA-HkuI7r8sF2UKKOMvyfx_uddU_B4x3SEVNfOh4fTza5aiZNH126SITjiuXMpPXBNTFK3HbPnmBTPV5CerYIGuCGoZtlClsFN3Rr3aBOHaAmforBWhnratj-cm4GMl9TwKlRolQCV3M3E81WBykVWdVd0W52p_4lPlnuzO90LXnYtnZmxwK5WELRhZshn3w7HLWmhL40Ut1pZq2rzc-H1xTWaVAyHoK246tJ9oJZLPIx1c1D_AWdgCzgpbeHHzWK1yc1og2BboOiJiA4bD5SZMYsnLVZBmqRltki8fbb4u_n6WYUC2w3gkaJMUU_O1Od4FZHHKwoGxaylk9dI7ib-jH8jM88WIFEOOHbVBYDbdGvpefOGh5KZWw9SOq5Nn1sG2drJv6pvrSKiJtb8mfpaZUqEhq_fTRSZ4BTtRRBBzomGn3PUReCEm0kYiPX4a5J7k9geHHCZrOPJBzRoCVQwarENYN-6GDyHLQChPOgM47FZjS1hKmQpcgwjS7ylKj73ABf0USz2PM8jqO9jBAYAK4wYLd--UKIlIJjwT95eHjQdYvXf6fcXGQjkxRTm50B7i2ko-dZf6hisSjGkZtmA4TmrvvHtG6o8ce1h71-arX0n7rS9WvD1u3dO94L6sDUWwTwJaFGbmr1NdvqC87WBPZDONNXK1tq6-0zUJQpZvnfqizxKGz4myNL7Bcf569R_ApDqdpctibGYl1f-51udoj1xGB1VgXtpigbUYPFZuWSE_O_nE_7UqxLrqVEsUXcYFVOdU0xtLAbPHVZQIgwh-ZthKQCgFmtO8MEIZorxtdZyVdjNqAa1yp75oUlW_Z7o42-8uey-Iw6qG2rqf15nvre9PtFDQiOQP4FsGuY2ZH7Yq1qcxSX9RKpMSRWNvczYtgdkWNeMCkVqdHMFNIDhPO7RufiFvCrva25Gzgz4Yw6l_lo1nnFDdKNiMDjaiHNv2YLKU2PtysVik9462vEtMmNenFWZR6BuqpYZgQSNnJ0s8vCJB9ZYSp-VKj3uCaG96ak2WHH2HNiky9MpnvF_tnCWN6CV8-HD6yrLSqs3S1Kf9JnSRgkrCEtw5ca7xxL3GoX0c4yWk3OYqlsaQ5LAjNW6YkUu7Ocy3YmdFlYRXowrrmPoYGJB-wK-bdZmfydbgfBjMW6IE4nRI3a9scJEM7Q0IgDYZDyyb4H4xBiMj5U6IXGXULXQ3kSYNMxsffIi-A9G09w7OGQZRce5irW7X36H7O8F14HL3jm-Epkb-4n_kYywk8-KiiFikQIpkeNoy9iM4R48_8RxpTcBq_ubgoPoBmWxHS8WXWGdNyfYWBhhtKb_YsYspnUQTERTMp3aX988EEXEWJWl1ZdmPXCgO0-SLJ9Ytrk363LXPka6fAY7gAe0xEL96xmUU-NxhxUaNFx9qNWj16QfLLBHCBBFuWEaWwETzAF4pGhL5Qi7JWErUOAwyvrhA067YdGSe4u3fsw==",
  "id": "rs_0e9c7659fc9f7f72016ab4519181b887d08f25e48868b2c164",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.377,\"right_y\":0.035,\"right_z\":0.045,\"right_gripper\":1.0},\"note\":\"The extra advance now places the pear deep between the open finger lines, but the grasp point is still about 10 cm high—above the fruit’s body. I’ll descend vertically to mid-body height at this corrected forward position before closing.\"}",
  "call_id": "call_hN7HkXvpIIROVC6lSEUKnqVW",
  "id": "fc_0e9c7659fc9f7f72016ab45193bcb487d0953e8389536c86bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hN7HkXvpIIROVC6lSEUKnqVW",
  "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, 0.8154, 0.6147, -0.4763, -0.0135, -0.0269, 0.9897, 0.0944, 1.5864, 0.8383, -0.2699, 0.0212, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1598 left_yaw=0.0001 left_pitch=-0.1038 left_roll=0.0009 left_gripper=0.9897 right_x=0.3724 right_y=0.0351 right_z=0.0435 right_yaw=0.1187 right_pitch=-0.4434 right_roll=-0.0711 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.2239, 7.1043, 1.6484, -0.0171, -0.0611, -0.0122, -0.1983, -6.3248, 5.6547, 1.536, -0.0708, 0.0415, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43f2b0710b061c980fb77734d133b9aa39e4029c3412e233767b981725406185",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afe841ac2eea0eb16f1614e5d346abdfd7137f9ebbd8f059c5e53c9335567dc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a9a22e8be211c827277c9881be9f3eab247d2802a4f30acea457372f61d42a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6147, -0.4591, -0.0139, -0.0269, 0.9897, 0.1047, 1.3727, 0.7975, -0.3653, 0.0288, -0.0498, 0.9986]\nstate[eef_state]: left_x=0.2861 left_y=-0.0002 left_z=0.1632 left_yaw=0.0004 left_pitch=-0.0862 left_roll=0.0008 left_gripper=0.9897 right_x=0.3499 right_y=0.0353 right_z=0.0888 right_yaw=0.0995 right_pitch=-0.3649 right_roll=-0.0561 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -1.4564, 7.1043, 1.7558, -0.0708, -0.0415, -0.0122, -0.1162, -4.9162, 9.2239, 1.4872, 0.0611, 0.0806, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4759, -0.0135, -0.0265, 0.9897, 0.094, 1.5066, 0.9768, -0.4652, 0.0208, -0.0799, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1598 left_yaw=-0.0001 left_pitch=-0.1034 left_roll=0.0012 left_gripper=0.9897 right_x=0.3774 right_y=0.0355 right_z=0.0966 right_yaw=0.1141 right_pitch=-0.4202 right_roll=-0.067 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.306, 6.9265, 1.7167, -0.0269, -0.0366, -0.0073, -0.759, -6.3658, 9.0872, 1.5507, -0.0464, 0.0708, -0.1636]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4763, -0.0135, -0.0269, 0.9897, 0.0944, 1.5864, 0.8383, -0.2699, 0.0212, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1598 left_yaw=0.0001 left_pitch=-0.1038 left_roll=0.0009 left_gripper=0.9897 right_x=0.3724 right_y=0.0351 right_z=0.0435 right_yaw=0.1187 right_pitch=-0.4434 right_roll=-0.0711 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.2239, 7.1043, 1.6484, -0.0171, -0.0611, -0.0122, -0.1983, -6.3248, 5.6547, 1.536, -0.0708, 0.0415, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43f2b0710b061c980fb77734d133b9aa39e4029c3412e233767b981725406185",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afe841ac2eea0eb16f1614e5d346abdfd7137f9ebbd8f059c5e53c9335567dc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a9a22e8be211c827277c9881be9f3eab247d2802a4f30acea457372f61d42a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGZJvQDFrNaIy8So2JUuYQhrhCs3T1tCeh0O9btJkmZL1oZQn7W4h8oKEor-KwGv-Wh0jmuDw1uLUUMVGhffM4VWz_s7X2qYA-9aqfDfk4CTYkDwGlWSB1LAVlYZO05qoRZjPc9dX29KZBYd256F9izCKsm1AyCAkZz7B9OmWUVSfK0yzEoxD40d-TtmZd4ZM09YLLO6rpwxNb8DHg6EEi5GS15WDayYep5WwTzwcr9u7tYT4lzH4qM1IWvrUG0v5kEeuuS6xJWNmXSiOT5-KGK2euvWMvpuWiujOecakcYe1fUeUpfEXhELlxx9OyTQibf2mfvEmue98rCXXE226XcgR56dAfdNru2eAVqnSqLom5-7muD8Q6PdDx3rJvmX5vv1k2YnpephdGyVmXyivip0P_PP39Uk-6TkLNv92RuItdRTldN3GjPUv-ZNILw_BXiDkxPMWK5Tl5g69K0CVxym9jGWvK_9kjFXgMCYT-2JLq6rh9hKBcKCJNy47VydrSq_kLbhaN2kkaKolR3pXNpdypFRJxEc0hPCmYGK_bNf92_E4IqRa6bQNDuq616kSBvGL-oz8qQq64YdF87_jAmuhhpXX8iWt9w8qai2DvHtQ0WAbjQJh78lLbX1vIfjwHb7PoexNFtBON4tcjlUzHIv6tF-a4PKR5jHvOVzepI0rX99gCKVz0hrxLEAqLh3pzQhiQjfNFbGvXru5uMiJ7Vn-oVElLHZNRogk7AVMzEb-JU5ng1nT1y_umfUwUIXbByX62G6Ampev0OoGTDqGwEcfkhj3wwO_kAxCVQE_kRly99p-h-egt6d3mZjElPKxcXI4QzEOKjKXtbrpkm6KhlWfFR5GeK5zPZneYIXhwWppWUqtSRWc5GddOdfUVTL7-yg6E1Gx7JkQVhsJSOGfcY_swggONQNlpSWElHp91DabbMl4h8ZKCM-hMOkJhF2saRwNjP5hKDKjqXyi7-XePLQ5z5DFkP2g1hp-Mn5qFnpF5-g7GD1hYDQqs32Dzo0KzH6uArL6yyODGUHLw6Jytz8mFw4tjvYImIDbgG22Yn6xVZ81cIED-TlhaL-xlz5rt0r_L8_5DVkxnzOozZmwnGDGFYlymGX_6-VhUljUx593Ye_cIeRl_Pykf0LjWOhGOr3bOrUlpwA_RHiWDLnSsc6Bm_COIcaWF9QJ7F66AuppcR9x5gl-7zI9oZIILe_go08iIyg17Sn2-MuTg2l8c-56vw0-31bs8Zw1jNABlZKd_0OHmk_FB68n11-9qrAmsJSZrW6gUxQwL4fIlfuRcKi9_xNliWzrunYTPFYPtioHY=",
  "id": "rs_0e9c7659fc9f7f72016ab451984d8887d0b5b61be4a1098700",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lower height the pear now fills the gap between the left and right fingertips, showing that the grasp point is finally around its body rather than in front of or above it. I’ll close and check for a nonzero settled opening.\"}",
  "call_id": "call_nDXTSdp4xU3s8jepGNPG5Deu",
  "id": "fc_0e9c7659fc9f7f72016ab45198c21087d0bd2660caf92707f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nDXTSdp4xU3s8jepGNPG5Deu",
  "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, 0.6147, -0.4763, -0.0135, -0.0269, 0.9897, 0.0952, 1.5772, 0.8459, -0.2211, 0.0059, -0.091, 0.419]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1598 left_yaw=0.0001 left_pitch=-0.1038 left_roll=0.0009 left_gripper=0.9897 right_x=0.3852 right_y=0.0393 right_z=0.0561 right_yaw=0.1347 right_pitch=-0.3775 right_roll=-0.0618 right_gripper=0.419\nstate[joint_eff]: [-0.0068, -1.1692, 7.0496, 1.6435, -0.0464, -0.0464, -0.0073, -0.4171, -6.1744, 5.6547, 0.8083, 0.1197, 0.0073, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a42b1eb781ca6cedb31542c8bb7bb30f89e54ea356a7af7a1468a1d8d3c852",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43547f2e190332f7022c23cf7c91fdf0cf87256689dcf9086008b181c2824dc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134fed5be681411a36837f489aff29722fa35563a045042cab0d6d79b0078fb0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4686, -0.0139, -0.0269, 0.9897, 0.1047, 1.3739, 0.7994, -0.3721, 0.0284, -0.0536, 0.0088]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1612 left_yaw=0.0004 left_pitch=-0.0961 left_roll=0.001 left_gripper=0.9897 right_x=0.349 right_y=0.0352 right_z=0.0881 right_yaw=0.1021 right_pitch=-0.3711 right_roll=-0.0582 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -1.1556, 6.9538, 1.7558, -0.0513, -0.022, -0.0073, -0.1846, -5.4085, 6.3248, 1.4432, 0.0317, 0.0024, 0.6618]\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, 0.8154, 0.6147, -0.4763, -0.0135, -0.0269, 0.9897, 0.0944, 1.5864, 0.8383, -0.2699, 0.0212, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1598 left_yaw=0.0001 left_pitch=-0.1038 left_roll=0.0009 left_gripper=0.9897 right_x=0.3724 right_y=0.0351 right_z=0.0435 right_yaw=0.1187 right_pitch=-0.4434 right_roll=-0.0711 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.2239, 7.1043, 1.6484, -0.0171, -0.0611, -0.0122, -0.1983, -6.3248, 5.6547, 1.536, -0.0708, 0.0415, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4763, -0.0135, -0.0269, 0.9897, 0.0952, 1.5772, 0.8459, -0.2211, 0.0059, -0.091, 0.419]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1598 left_yaw=0.0001 left_pitch=-0.1038 left_roll=0.0009 left_gripper=0.9897 right_x=0.3852 right_y=0.0393 right_z=0.0561 right_yaw=0.1347 right_pitch=-0.3775 right_roll=-0.0618 right_gripper=0.419\nstate[joint_eff]: [-0.0068, -1.1692, 7.0496, 1.6435, -0.0464, -0.0464, -0.0073, -0.4171, -6.1744, 5.6547, 0.8083, 0.1197, 0.0073, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a42b1eb781ca6cedb31542c8bb7bb30f89e54ea356a7af7a1468a1d8d3c852",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43547f2e190332f7022c23cf7c91fdf0cf87256689dcf9086008b181c2824dc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134fed5be681411a36837f489aff29722fa35563a045042cab0d6d79b0078fb0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGk8FWggXBIpR2RsDLbeBIFxMOw0N3HmQuqkoDi1pUxCXpgO-4iDVNiu2evsiz0IuK-7QQKvBVzqYZDYB9W8EbKeLrjLrp_FY0HviqJrwDScO35HZdiyysw5Fwf0e4ywpN6cSwyrJKn8qRUFx8Iv-Wg7v6XnwwSohqtNl9FAxeQdZvo28k0aaQSgPFC4kD59Se67IinhqySwbc-RF_7Vrp4Uu0DunrhmRnOGaTjBl0Q151--S59jfeEmUWcrQ0PKswVNoObWX2LdssEyF5snR_hbEf3xbE6F9pDrDvGpdXauK9sbssIuU5TZzbPB9Vlgy-rkVrb0Woq60T1jemtmBQQ9gJt5nL3Hc4cER9BwSAuk1-ku12F872xIPXCqLsyZIaA1kZSNYVrVkNiKDfAEp4XdQdDkjn8kfBjMeT91MgZ1-I2LaYcazDe7DumIJb4-HTyLYbQMdQKUiG-0I16hJGHEsYv7bO4JakuyVApo-ONYAgyfz2TQUd9qk8qObLn8FCKTppsxU72Pk0brlChER-7L8j1q4JhtjtLo7dq0yDdgKrHjtLrkZrPevTJvOF76DW0EGrxEI9yZosI2uUNbATzMjpTgbTk0PJ8SFe1kWnW2LBlJ5UCGFXhs2Fq-WENSYTgR8s7jPtcXhjJxOVdpuoGST5mUoMgfiXA7D7msEDgOf3_76SEE1Y8vqyyrmhM84q-hp9WXhYHqCfDZOZKtBTQThCcqeSn1Ed3CG7epn-gTU2ncIigIsrF1aToG63QA5RDYHKMWjoyTTJEFywAKbUjgXs7OCm5HaIGQY7PcqO9f-PxV6KbzStiMDG8DQ3eJLLL-Bujf8ibaHyuUyGemkbdHLT5n6F6gQB4HDPqPCnzt2kRsL2RPhpEgkMelIPakFNXMyHUCTr3Knnap8tTYi5X3ifUsiaqsL66IwjPrixE8tKDhglSGqp46rjvrhz_EvSiiCSwFc_r9-82C4uAxSbuIfb9m0kW5CHskdbpI_BuVyyWdt9O8tvIKGhBq8mTgECs19IZbY4GEqL-anPzvohSoHYNLDNugBc1vnBohGACgAqphjoontCwXnxmGhV3KVvL14w7_xb6LeDqFenrMaNWN4of9dxHajvKzguTu8r1iC3p7uccgY5t7M0A7j0pZNpvqShhDco2dl_0qe8ASxpSw58jaUNo8TE1ApzSwVD9CB5gb66XyaWlxtnpLRl7wwuGLwXWHj40eV3XR8-DRlBf_IEWgneC8_OGK_E7REcWIkt5wnsAhexgQxDNuZbqiWtc6XUCy40O4AxQN542EH9dttpsLrMew27wwfhAaPrSXZdBuVqqCvpRJBKrHb-nDjQfnfyRr1y9pwobCdpa5NYT1PKSluXtz4z6CAKayqi0UjYKTbQhK7R4-lxY1Mih5bosHvt-MWgVoVsbhpen1KI65kh5bR-_WJgY9T7PQdAJXLpoFDJULpOyw3eXYKXG5yQJ_k56KLaHv0pxwN6Zk1B5My5jp4HtJa7komffPKEqdFfzRCchMwVYcX_vEZi62Jt38oGBw2_ZLtgGybuduQsW1Agcx1kXOkwMDAL5zTJE5yexNWRAVqa2hRSM-diKP-V8mCC3EJJ7w1pDPyXSyDZhbjGhrB1xRFnK5OJQ4xuu3hb1jSO8aON4kqFuaUS_gUjGmuKtChxjQmqT8mWpVMdKsD9eRyp7D5ilpajcCJwFPDEuV4bfGvv-KberlbhDl2CT-XmFyhBC8V_ufXx9lYkltSjsa-3EVrr6iaGZfS17N-GZgH-x-7XHSKyAER6YXcUZs_-dsBHqq8ew-yPG9wbkLIwHkJpaZekKAM4ENHYtJE7jX-9m9NSNmhgmkLdZrYqc0CU5z8pfi9e6cb6QGuJnFjY7-r6oRcxpm8ajYfQsGUZdlBFhe-3FuA4Mt8T4rfOZ9yB5rGgbTlkLLnK8rGpyciJA9E59R9XudM60FargW6Rcjzf5YOC-RrXaNcisR0pdwarP86jyk7SEdLP6HJxq2Ns1AtEjz_IDJh6WgDV1d_P6mgRI2qBYOEHKng8OnATJ81DKbdNL3IUZTNOi4mzoftrEY2P3kIyZAbxJmexU06rC-83CtmyxPOfRcTOu4wCfDMwf31bCnx47bg11bBNAWdn4h-WBSC9FxYc1Mce1lu4tBvZWLRaZ1TOx9xHeDMVf5i2xrbV6ShEbeNe602y6biLC8lEyVH4yKcUzDWffHdhRciJRqj-4ou6_ACICGbRGgmqarYjlkcaQW_t1MclfswOqlCxXigmxfF_2sDl5I2xWgC7M6jmHflvkTtak4nsSlZkDIwwe-ghKhaL1m8c_WavWcyAR3_kw3Upol831O2posGE_muRupcnuJq86pwn4cK0wzfsz7VflTGPTdPdzWuBC5QOx0OBkQjMnHnOdm05I5bewk1R1w-xgJ11v34s3hW3Io6MLAc5LIDnbHG2JSV24H0oqpzGFPbzYTVo1oWtMLnAqa_bQvFePwMPUTnCsgjBYhhMhJ6qFHMfz4pd_d8jFuirvDQpSQF4tHZnLPJlyWc6RuDVKt4iXbAlCM0usylLjPNM0Uu9wvPo-wgfjoEa81G_LMOChWjMVBBmJqRWtyXt5HIw453hK9AcjqRN4E7NOywY1bno4GNhrIHJi3xlTBl9wKQYvc3oWusl-Wzzd2ZlOJa8-qU2w7gI56sjHkZuO1WyoaghLOtbiBb4mI3DPL4G5kNG2t6OUaMOzKkuXdyftq6BRMBCnbUsAiHxmJWDJQUAlCnPmXv7942pdN3-iMB9TmJ60-gPLBvhy06eE70jBUZ6u1IJvP2kdOkomfXKTXY3MGHRtZP04_pSYzrq7SJhDuY4qCsOIITUW6ZCXFYcZrJGD4dpG6STPwxvo8tTNnuP23Om_gacFEYvHByq-9wBxRmnasv4qX9XSF5I6do9OBO8JCx2W9lhSJGnJXM74ABlA9aJzAWyLMdai29rpkHrtFNuZpts4CS7NaiYb96qOmiVcl4QJfKg4HLNoqacktQZU_dWidjbytMpcGwnCthlUWYZiANi7tQLm2l_6QlvRcDP-hlPSNr0AYSv8",
  "id": "rs_0e9c7659fc9f7f72016ab4519f2b7487d0ae7f7ee64eae5899",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.18,\"right_z\":0.2,\"right_gripper\":0.419},\"note\":\"The gripper settled at 0.419 and the pear moved with the arm, confirming a secure grasp. I’ll carry it high toward the blue bowl, which is inward toward the table center and slightly closer to the bases.\"}",
  "call_id": "call_EUadGGGY5gZqxaKaZwZiPxjz",
  "id": "fc_0e9c7659fc9f7f72016ab451a32f5c87d0bfc5e03587d98b17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EUadGGGY5gZqxaKaZwZiPxjz",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4767, -0.0135, -0.0269, 0.9897, 0.6174, 1.4834, 1.3148, -0.8574, 0.2657, 0.2958, 0.4192]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1597 left_yaw=0.0001 left_pitch=-0.1041 left_roll=0.0009 left_gripper=0.9897 right_x=0.3291 right_y=0.1812 right_z=0.1875 right_yaw=0.1921 right_pitch=-0.3961 right_roll=-0.0692 right_gripper=0.4192\nstate[joint_eff]: [-0.0889, -1.3197, 6.9949, 1.6484, -0.0415, -0.0659, -0.0122, 0.1436, -5.6821, 8.5402, 1.2625, 0.2711, 0.2515, 0.7643]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2181a25a958dede0a6099b36bf46b4aaf8ff96e50d0157d46bc8f8c6546d8f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae63b764c7282a695e0cf5957c8e9803e494bc463b887ba49e23f55489d7e0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:172889a1e121df0fc32579d4fd640f858e1a960511a53db336f658423877f2aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4759, -0.0135, -0.0265, 0.9897, 0.094, 1.5066, 0.9768, -0.4652, 0.0208, -0.0799, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1598 left_yaw=-0.0001 left_pitch=-0.1034 left_roll=0.0012 left_gripper=0.9897 right_x=0.3774 right_y=0.0355 right_z=0.0966 right_yaw=0.1141 right_pitch=-0.4202 right_roll=-0.067 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.306, 6.9265, 1.7167, -0.0269, -0.0366, -0.0073, -0.759, -6.3658, 9.0872, 1.5507, -0.0464, 0.0708, -0.1636]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4763, -0.0135, -0.0269, 0.9897, 0.0952, 1.5772, 0.8459, -0.2211, 0.0059, -0.091, 0.419]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1598 left_yaw=0.0001 left_pitch=-0.1038 left_roll=0.0009 left_gripper=0.9897 right_x=0.3852 right_y=0.0393 right_z=0.0561 right_yaw=0.1347 right_pitch=-0.3775 right_roll=-0.0618 right_gripper=0.419\nstate[joint_eff]: [-0.0068, -1.1692, 7.0496, 1.6435, -0.0464, -0.0464, -0.0073, -0.4171, -6.1744, 5.6547, 0.8083, 0.1197, 0.0073, 1.033]\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, 0.8154, 0.6147, -0.4767, -0.0135, -0.0269, 0.9897, 0.6174, 1.4834, 1.3148, -0.8574, 0.2657, 0.2958, 0.4192]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1597 left_yaw=0.0001 left_pitch=-0.1041 left_roll=0.0009 left_gripper=0.9897 right_x=0.3291 right_y=0.1812 right_z=0.1875 right_yaw=0.1921 right_pitch=-0.3961 right_roll=-0.0692 right_gripper=0.4192\nstate[joint_eff]: [-0.0889, -1.3197, 6.9949, 1.6484, -0.0415, -0.0659, -0.0122, 0.1436, -5.6821, 8.5402, 1.2625, 0.2711, 0.2515, 0.7643]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2181a25a958dede0a6099b36bf46b4aaf8ff96e50d0157d46bc8f8c6546d8f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae63b764c7282a695e0cf5957c8e9803e494bc463b887ba49e23f55489d7e0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:172889a1e121df0fc32579d4fd640f858e1a960511a53db336f658423877f2aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGp9b_gnNZLphQcGeuuPhk9V3AMF-y6bHoLjgQyBoxYyV_xRcXVU4_Ej4maQ6ZPOEHykkFt1LKRtgn9qZrG1QGOJyEi_-D4FlH9Qmn7VhtfcQDZownIDG-nElIi_G9-YDmOGHlwBzsyV954KI6kgbxlCCWizFoLL5bX9xMwDRFI6KTNU2Yy80miwWl_L8QVMR_piGMr3v8DzFoDwR7qAnW1e97T0q-jdaeLtPvhHaNXK2ssyW5onBy1MGen00T4B5V13mcbdncTedw7l6R-8na7Pe8bAl3F6-wn5FJ8NruH0GIU6RniSDU3dQrBrwkgnh5537A3CutVxTKeBwkKYr87fl-7PgQD9te67-D5NzXPyZDkYPl6e0e2H0JsrOtYZDb_rbrDuByVM4G1GrDvOmE6WZzRZIRUvXD-a5ppXVEId7-CoJrFBmheQM-eJXm5EhdIyvZJ0TzDWtvFdBPYIti4u2wj5V5FIvN9Solfh3OYvLr9sXBrOjjqO8vc7Y4E2rWX8wl2Kw0KQUeXK3bqAbDlNaf2UNhTQES8ANAY3-D4M166R-m7S0bR-mjMYdErR95H-sS1qrOno0AX4kP_Gh0jL3lIrvMOSGLGN6h5R9YEtZvYU3p6bjPVeVwSL8PLIOZRMTjQWgTqzYy_ESteblbA_YnKfJ2tQk4e6Q4e7AslX0SRUCGENU_N-JMqWnuB8An6AV8USGg0oLtElsJIboL_kbNWCNtrU-cm2csCjML3fLSvmAsewRXgYsN5HnMUC-sgBX65CrK-7O1_QsSSCM0cfkqNDs3GnRwLeGu_NMb13e5_2UqHs4goB6ZhIbzFgKToTkfPlQTZsJCNETfIgt_QKCLqcwMgoYnA9Ask5JEtHaJYfeZQEHtqLzgWe6l-lD8gVkRi68JEmRp19osPxQM_l1TeCbl-C3ALAlTGXt8nhMmEJk9juDJDta2ooBfmqViqUAmS67vlWWJGLj6TPw98oNAi342oJn4zk1YVXNxJq6xw1LdKe1qORe5lMlrLYjKvarcKwo3NIV1qJClGVasu3qL2MSQsHs85DINCLGu44jVrgfgamfJ7OP8wbGTn5paEkn6ro7IrarjzPa6Nx_mQ3xOUPazokK8K4I8AImaI6gF9FQKpfBdO7zARDbHQx0OqIg3KxKnScHe2QxYJTVGNruHcXDtq6H7Ur-hu2D4Kh1kGuYsAENbYnP8-VpWAQQB8rov0cuHScDJd7gLfR2GTajHkRck7iMU30Mo6zGa2KSR5RoJEEBbxQOSgkmOzG5yHtbNWVfoPb2IHBw4q6YcQBz-NFZAgh-MEu-ijqhRa741htnl0_WKPnf4zJE8caFqDZ2l6vnAthkwdBg3owLZAQ1nek6MNCbMAT5P0Xd6yusXT6y5J07wZAuiBy1TIttMcIXwEUROGydX4WRktCiM3HLXxq8J6uWqHDaPC0m1hk6fB1PFtVGwo52BqQZbGDWcc-Yw3aj7Y4KccOnFmS1wXshSooh7az_sGGHHPiCEaknZ4AQpamlZ_CPoyUFgtKzCjs50MwSX2ygKCNLQ5Zb-zz_tnM10QHWDn2mG6XgsArr-EF_EFhv13UczwiZ74I1NLC3I686PHl_NRI9fYPP9I6y-_PXw1nuTDDDpkXv00nrXXf4CNBpIq_CEpOamCNkDRq30D1OuxRKsRlDkMQH4lwV0UEW1JP1abfndWpTD0MSeEI_zdhZviVEyorcU6_IHP-BEhGO0OJjV_9oZ5rI6HDd9W3cdZdtHwKEURyzb6fJJvw3I5THwvtLBtw74BHvf18kqyB4kA0p8MglbBByx5_M4ZWmh2APi_ohVa7hCDdQGIEJ5zCVsMzT4OrPOTcCskbve52noq2t6uM_QZTHgRY-1x9-K7-pvJlWWiK72VdNA6rfNqckDbP5A34hpyX2ABvOX-1eieazlKtHgivLAOZ0yaDvVvxtgy1cQv1IU-dASnI-yk2m7qQTi5Y1WVdKev6lXH0ip4SzLvk7oH8b5kK08ROjeA8lp7pDsrbzAir-7UbIEapqLCGGf33K-FArSArs42yl81i1Dd_iQ1yVYqpmn9QyoCEKo4q7glczEQREMYvS-f_MFkTVi4cDxUqLpZExDRxFGKcZFSSLY7WjhBAFwD9pj26yIkyllgQ7PATrWyiVVp6uufTOOnu2yNZDjeCrTa3mEX0lIYLo-_ay3Bp1fvr_K-Ev26EnrR09QGjaW8Rh_mpgYIPHydibMpsp909RK5qpMLKn0QBNhwaac3IUlAsxoGcm4VQwuBgyr3GkXigCR-wlg0jqM-_XXeZAz8qxnxxrxXtl_8ICkZt_yC7Ekf3lAzsydRq_l9f3H4E_IyA7Ne0walENB5Q5SsOJ1XvsKiXSat_Yk9HBRSXFpaV0U8Gbwj_nSQfjrDcHd4QXHg2dMy66SwAr27VaRUgAOhI2-1vGS-fm8WVmI-eo2TRA==",
  "id": "rs_0e9c7659fc9f7f72016ab451a644c087d0abfc418b278cb7c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.27,\"right_z\":0.2,\"right_gripper\":0.419},\"note\":\"From the carry pose the blue bowl appears well left of the jaw column in the wrist view, while the pear remains secure. I’ll shift about 9 cm inward and slightly forward so the bowl center comes beneath the grasp point.\"}",
  "call_id": "call_zAtI8PBCLRy7MNXnTUfQXvm9",
  "id": "fc_0e9c7659fc9f7f72016ab451a8a87887d0a3e78f1dbc432f5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zAtI8PBCLRy7MNXnTUfQXvm9",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6147, -0.4854, -0.0135, -0.0265, 0.9897, 0.7784, 1.7729, 1.6463, -0.9844, 0.3214, 0.4091, 0.4189]\nstate[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1571 left_yaw=-0.0001 left_pitch=-0.1163 left_roll=0.0015 left_gripper=0.9897 right_x=0.3421 right_y=0.2641 right_z=0.1863 right_yaw=0.2216 right_pitch=-0.4438 right_roll=-0.0928 right_gripper=0.4189\nstate[joint_eff]: [-0.2667, -1.5111, 6.9265, 1.7411, -0.0073, -0.0171, -0.0073, 0.335, -8.8684, 8.8137, 1.1111, 0.2808, 0.1929, 0.8571]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478521041637e5b956e6e1bec0b48224b87541708f264a208f362aabde84408e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975f1af3ddec04ab47957edc83e75b42288ba14a8a56bc26f1425f2be962660b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ce37ab570925b796d2762cdb0ebe32ed36275c87f105d669334e0e07ab361d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 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, 0.6147, -0.4763, -0.0135, -0.0269, 0.9897, 0.0944, 1.5864, 0.8383, -0.2699, 0.0212, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1598 left_yaw=0.0001 left_pitch=-0.1038 left_roll=0.0009 left_gripper=0.9897 right_x=0.3724 right_y=0.0351 right_z=0.0435 right_yaw=0.1187 right_pitch=-0.4434 right_roll=-0.0711 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.2239, 7.1043, 1.6484, -0.0171, -0.0611, -0.0122, -0.1983, -6.3248, 5.6547, 1.536, -0.0708, 0.0415, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4767, -0.0135, -0.0269, 0.9897, 0.6174, 1.4834, 1.3148, -0.8574, 0.2657, 0.2958, 0.4192]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1597 left_yaw=0.0001 left_pitch=-0.1041 left_roll=0.0009 left_gripper=0.9897 right_x=0.3291 right_y=0.1812 right_z=0.1875 right_yaw=0.1921 right_pitch=-0.3961 right_roll=-0.0692 right_gripper=0.4192\nstate[joint_eff]: [-0.0889, -1.3197, 6.9949, 1.6484, -0.0415, -0.0659, -0.0122, 0.1436, -5.6821, 8.5402, 1.2625, 0.2711, 0.2515, 0.7643]\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, 0.8188, 0.6147, -0.4854, -0.0135, -0.0265, 0.9897, 0.7784, 1.7729, 1.6463, -0.9844, 0.3214, 0.4091, 0.4189]\nstate[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1571 left_yaw=-0.0001 left_pitch=-0.1163 left_roll=0.0015 left_gripper=0.9897 right_x=0.3421 right_y=0.2641 right_z=0.1863 right_yaw=0.2216 right_pitch=-0.4438 right_roll=-0.0928 right_gripper=0.4189\nstate[joint_eff]: [-0.2667, -1.5111, 6.9265, 1.7411, -0.0073, -0.0171, -0.0073, 0.335, -8.8684, 8.8137, 1.1111, 0.2808, 0.1929, 0.8571]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478521041637e5b956e6e1bec0b48224b87541708f264a208f362aabde84408e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975f1af3ddec04ab47957edc83e75b42288ba14a8a56bc26f1425f2be962660b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ce37ab570925b796d2762cdb0ebe32ed36275c87f105d669334e0e07ab361d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGwpQ0O2N6PyCRQ6LH4MFCERveEjw5RCZ6miO9zL551pfQHMjvSzFWz_ajMYz7zgQI0YcVJEMFpmiC6wYatQL6uWYQaJVn29AJ57VBx3cPKfEFCcCTGMH-IVrgglOdQ9woVdbkmhtGAWyzwAjF41jyOuJCGRs3GqoBN2WURmIRJH_Pkd8IHV0fVrd3KP_QGQ5zpqZp9ymVS-2DR0vcddvFvUwPUtkCAiwvfONyDBiThwPc27nAPtcp6VwiT0FAZCd4ZTJPoJek6N-2Bt82Ez9khM4nmyvYvv7T8AF8ltNErso3_5NTjaoNUfjO873B5vGmieh42xWoxhHYu1HVav91VSwFU4o-Fph7tJg6XVWeAHrhLDHUwAmoKMF8GfyPfUtzKQMo5bAMuE70sI5AS1VJ0fz6QuWlulOUtWVRwSyxM8xmL-3UPxPnke51qh2PjCwDpIImVwIojSwXj4hicElBc85X1FrpV49qs30TjDW6eGCoo4uChAH_TCIubEL6Vf9X6ZCrjxuDmnv13Dn_goAgbOjPEdyksgNNbXWHeoBdhgNngwATQ0-QWylX9P9R1Z10v-IvbNgiPcyYg80YbiuSNRTlAGST0CLEbSTLohHoO0HR6ChUbdL-NSub-78OT2GGJBkSujMERzy8VNdgraB4Tknx7tzlXLD66DVx-z6MONmFG43SKs9vik4LCzx8yaxtWR9z_KJInr79kfakMOYkyZxXOqdx9AdAG_3XsWEeM7zndj0bA8GubZPtIWEpAA9SrEtkODv8f0szTEImlVnIpqmumzGVSVnBHlIDKtaUpFTVjwCjytm1b-YjqLrqmxZbBVTs2Qcx5wSYYExzj8iP9Y1UCbfuXAAQs9TuA1gPanM203b-G-VXx7LBGWzkijX9sIxVh2Z7bNE4H5G4LvzreliUpUHIQr5-wO8LGCVSzLIj073gfBjDBsgIlKGHTUh9X_xMJJ1DHrKfsOTWNlZhXWYIGC5hd7FHB7k74n4Zf8ceVl-ytfefoCEHKFuKdjMtIBvTs58rJd8WSQHh66DXoYOYhlFLqw3MbALT9Pzr2niABLjJOLinW-Yp0EU5y1o4cMcXHNCARrs96anE-duvvtwq6rk0IqKLILETOpRLqEtnMGhbONHdNxGkh4DWBTgJss3i5x1NEaOdBYIRntoZdoYZPH94tY3bcFQ-abdNo2Ij9Ooswh5tHtQGQaCt3-eRfTIjgaeawm7VecsRRdqWfJwslMsc4UKytrV4U9c1fXavgcSmEe9s_tTSVCqO-5mSpAp-RrUtzumDXwSubYa9jxZ1ja6Qgn_D76cJnqrSE8aGplrYV3w3mhmx8_9esQXVu1GWzABBlRkvLRA1oSwTYuDngZ-B9nbEz0wky3_G3KmCm6DqQK1CZcXXRG4PjdMAj6FDYrrDjYz7p7_bWRhVQN8BJqOrM7Jnt6g4wRT4MCj0-AZKTK4dSej5xwwzgJzzyASOo6JlYuf1cOgxo3NHHfxrl9M7bpoFMBNGQ7sJva_GssyhVKNMcVX_aVjr3CfiaQy9R6g6PrsV-Jn8uoD0zbemdNxUu2VYvXniYToKGHvDc1wWx05mb3B-z0eGn9pSNb93Ne5NePifOz_oFq6hTweDqlx56E57jmIeeWgVVcmu6mZjgqVlVwQWAtHQy6qL5qdheBCN3bTUBLcv-Uc0ZHF1AQzxC1XE6rpbJzt74AqHtvosnGHne5S8sB0I9OysgHJwyGd-S_Ar0U1w5OOPLiGIC4gZafvzyrGM7X6tR68C8CuSHquj0LE1x7x-83HpiNO1Jlbefij0Z0B1k2ne9uEtBzggrDFV93wRoZqFUBqHp3XxphAPXUQDKxTs0uoVb9Qx4XIbX3FXjYu2h0pF7Dr3heDXSVFNKoBH1c9xuyyJljVxyju71Zw0lOLxz7YULfk0N19xWEIV4lTXToRSyaU6v6UKS4u2DsovFftt5JvQfycAHdTWaMhU8V4WhHdKtM7Ov9ZUskmGMTAPfvC7teSJKKrMxLd2GcC4_yTPkt7WifzRmcnqtcoGob8zrILKoKkGeMC_L6RT_y0foLt8ZCh78KB39SfcBJtODHsZ2ah3peZhzjx4BPEQEDhxxkmHVkfECeR-Pm_yEyA6uVGjzFAtOF22VxmUtyebZPWzHJbU1WDm0wHDhdz76wJKgmP0tX9OuZy2p1iM4QfIfA5-M0-qUeTH9VZ-GkSj01IBCLZ_XlEq8igU4RC940pU2uRxxbGIFLC_Pe3yIt2WAV4PbA1IJ0Z-bvMNZ6kq0McY8sPfQeatx1iEAYgfoFmyMaK2MTU3PLMaezLulOUs4ol_Z9k8UlkU4fmawtzDicp-Pt60frqGNKgwKU7-rXRxhv6AedfJAwBy7QlVQX7NyvV8h7rqWUC1Cjq70RRJWoFiwph9w_R9WOyCxN03fpUVgENnOZsY8emEv7l64mFJtOgCudjw55dbRg2CnzXPtF7bQL4U=",
  "id": "rs_0e9c7659fc9f7f72016ab451ab642c87d0b42be4748b4ed29c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.342,\"right_y\":0.264,\"right_z\":0.085,\"right_gripper\":0.419},\"note\":\"The overhead view shows the held pear directly above the blue bowl even though the close wrist view is mostly occluded by the fruit. I’ll descend into the bowl while keeping the grasp closed.\"}",
  "call_id": "call_feGNIqJvGjonH73zksRN1PIw",
  "id": "fc_0e9c7659fc9f7f72016ab451af0d9c87d0a7e78b467dfc395d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_feGNIqJvGjonH73zksRN1PIw",
  "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, 0.82, 0.6147, -0.4915, -0.0139, -0.0269, 0.9897, 0.7788, 1.7943, 1.2964, -0.6685, 0.3134, 0.4084, 0.4218]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.1236 left_roll=0.0016 left_gripper=0.9897 right_x=0.3319 right_y=0.256 right_z=0.0864 right_yaw=0.214 right_pitch=-0.4945 right_roll=-0.1193 right_gripper=0.4218\nstate[joint_eff]: [-0.1026, -1.2513, 6.9265, 1.6581, -0.0513, -0.0708, -0.0122, -0.2256, -8.0615, 6.4889, 1.2527, 0.2125, -0.0513, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9611305f3703845bde3b6b5e5a4d587c8eb8c9edca1d3c3d68c66b49988dd5dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63bbbcd9072ecfcca6010a94c2292e8ebd43bfc2736ee21141f1bc109313a0ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb567d0b7ff3de15e132541d1ff7f427771e2a13c5ee60ac2fdbf4999305bec",
      "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 70 changed as sent

message 78 changed as sent

message 82 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, 0.6147, -0.4763, -0.0135, -0.0269, 0.9897, 0.0952, 1.5772, 0.8459, -0.2211, 0.0059, -0.091, 0.419]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1598 left_yaw=0.0001 left_pitch=-0.1038 left_roll=0.0009 left_gripper=0.9897 right_x=0.3852 right_y=0.0393 right_z=0.0561 right_yaw=0.1347 right_pitch=-0.3775 right_roll=-0.0618 right_gripper=0.419\nstate[joint_eff]: [-0.0068, -1.1692, 7.0496, 1.6435, -0.0464, -0.0464, -0.0073, -0.4171, -6.1744, 5.6547, 0.8083, 0.1197, 0.0073, 1.033]\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, 0.8188, 0.6147, -0.4854, -0.0135, -0.0265, 0.9897, 0.7784, 1.7729, 1.6463, -0.9844, 0.3214, 0.4091, 0.4189]\nstate[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1571 left_yaw=-0.0001 left_pitch=-0.1163 left_roll=0.0015 left_gripper=0.9897 right_x=0.3421 right_y=0.2641 right_z=0.1863 right_yaw=0.2216 right_pitch=-0.4438 right_roll=-0.0928 right_gripper=0.4189\nstate[joint_eff]: [-0.2667, -1.5111, 6.9265, 1.7411, -0.0073, -0.0171, -0.0073, 0.335, -8.8684, 8.8137, 1.1111, 0.2808, 0.1929, 0.8571]",
      "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, 0.82, 0.6147, -0.4915, -0.0139, -0.0269, 0.9897, 0.7788, 1.7943, 1.2964, -0.6685, 0.3134, 0.4084, 0.4218]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.1236 left_roll=0.0016 left_gripper=0.9897 right_x=0.3319 right_y=0.256 right_z=0.0864 right_yaw=0.214 right_pitch=-0.4945 right_roll=-0.1193 right_gripper=0.4218\nstate[joint_eff]: [-0.1026, -1.2513, 6.9265, 1.6581, -0.0513, -0.0708, -0.0122, -0.2256, -8.0615, 6.4889, 1.2527, 0.2125, -0.0513, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9611305f3703845bde3b6b5e5a4d587c8eb8c9edca1d3c3d68c66b49988dd5dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63bbbcd9072ecfcca6010a94c2292e8ebd43bfc2736ee21141f1bc109313a0ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb567d0b7ff3de15e132541d1ff7f427771e2a13c5ee60ac2fdbf4999305bec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGy2Jf9nRKApD65JPGByGyEZ8GSamgGI0SXv-Va8eTD_MW3OhXR63JxhebvhQGMAglBrBAX6XeqIxOZBq_P8NosmjSCVMJa6GFIGXY8yDGXFyGP8lk84WC1f0h_2gaVeaP5-UUu_yx3m83DLjJ3CgfANlad4L3SydO5-TsddSTAMS7vEwnVGJmEMtQ49Bx_qEtcE7e2F9ZusKbfDsojzyG76WMph5sptFRHwFbx2-d6pLGqf9c3hNEdtYK7XPrtWFXHG38KVnvuBLPDTUu4A3KJDwQzvfeEZszfP9Ul5LsKLYAkh7xPp7qJKYJqIv3OMnC31gG9oO-2Iykmb697pDy97NO-GMdDR1lWdwgQseHTD0BGFKEMOzv37lV84svS83PG1vL3ufjg2GI-zdXXWWDN9thhx78c1SsxYnLwVBjGTNFXpIc41Gii2GGMF3vzcgCdm8e8LDfrIO_3Pwyjq9DNDfIpwpSurKAEUXKeGVM8p9DvA_bMkWl3cxgDnx6-S3PVnqHUWViTIzUq6NEyBce6yb22-vNQqOIma1sr5ShQqtXG3Ay1DziiP-JJq5twG9DjuMivGhI_Hd3zqcF6yxV3i6mEpph4k6N_6yMjKh8RlGf_xkCb355VHnlvPtDA1H_peUurGsN_uHqDCAuPaKzbhwfBQFSk056xqzLimz0Bw1T1uegVXOh2NSIIEIQkxIKwiSv7XzAXiEOJG28zicOK4-8t9nvndvAHgaBmclf1wwfl3g8eEaVTauBv3m8hkpB_Qp1KGjjZ6EypzLSX0BfS40A1ln-qu9hM2Qou57EJMxylgrx0J4tyoULM_7SNFDdtBaRStYUlmhc7ko8m75xms0DAv-W_77eWGl11Ra1k0gtIBeWDPmWh4DzNpyJjB74eEHryTUrQ503vHYXLcmdfSLwxWKPQtbPlJij0MJeKYumZDvXFjVHC_XGqxvHSSooIms4jX4Vsf2osGadx0yJCllbtcErJdw_bnAa6yHSoMqAmgLlfQx7VQ86ND3jzWBapFQcYFrCRK-xmCBURx7MU8vfMvFUHEgZZXtfauTiz1zxxpGVGAuhWNmuHrhIq6rd2XLOD6IaVXILL7v6fWpveZ4XxUilL9-lzIBQtTpif9Rq2iL_6eilgNkBy0UU-08t9PGA-17OiGGyqc9rXR6ZeNVcoQqUJWuE3N_uH4Mis2cHGy882qzmjtBHMo0qYO7bEdaLFyCjcpST9aMzyLAHklm9b1wKsFYhIakNFNM9w8dg=",
  "id": "rs_0e9c7659fc9f7f72016ab451b1ff3c87d0bb4dd26f54feef49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The blue rim is visible around the pear and the overhead view shows the gripper lowered into the bowl. I’ll release the pear into the blue bowl.\"}",
  "call_id": "call_iqfTETD0GVWgfzsI8ojeX76q",
  "id": "fc_0e9c7659fc9f7f72016ab451b2210887d09184af32dc640eab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iqfTETD0GVWgfzsI8ojeX76q",
  "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, 0.82, 0.6147, -0.4919, -0.0139, -0.0265, 0.9897, 0.7795, 1.8141, 1.277, -0.6735, 0.3099, 0.4011, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1556 left_yaw=0.0003 left_pitch=-0.124 left_roll=0.0019 left_gripper=0.9897 right_x=0.326 right_y=0.2515 right_z=0.0715 right_yaw=0.2086 right_pitch=-0.534 right_roll=-0.1474 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.306, 6.9128, 1.6532, -0.0269, -0.022, -0.0073, -0.1436, -10.6735, 7.8564, 0.9499, 0.1587, 0.0269, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:778d2d2d5a78516eea4cd145e33b3e7490899523a904170c37c13bf068ce63f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6bcb2c5f05cac8481d48e21b4d45f257e4de5d2dbc106b133aafd80dc3577d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b09d45bb9d46584897bb9ef5064a79863747e33ceccdfacdd57a03f6b99e294",
      "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 74 changed as sent

message 82 changed as sent

message 86 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, 0.6147, -0.4767, -0.0135, -0.0269, 0.9897, 0.6174, 1.4834, 1.3148, -0.8574, 0.2657, 0.2958, 0.4192]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1597 left_yaw=0.0001 left_pitch=-0.1041 left_roll=0.0009 left_gripper=0.9897 right_x=0.3291 right_y=0.1812 right_z=0.1875 right_yaw=0.1921 right_pitch=-0.3961 right_roll=-0.0692 right_gripper=0.4192\nstate[joint_eff]: [-0.0889, -1.3197, 6.9949, 1.6484, -0.0415, -0.0659, -0.0122, 0.1436, -5.6821, 8.5402, 1.2625, 0.2711, 0.2515, 0.7643]\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, 0.82, 0.6147, -0.4915, -0.0139, -0.0269, 0.9897, 0.7788, 1.7943, 1.2964, -0.6685, 0.3134, 0.4084, 0.4218]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.1236 left_roll=0.0016 left_gripper=0.9897 right_x=0.3319 right_y=0.256 right_z=0.0864 right_yaw=0.214 right_pitch=-0.4945 right_roll=-0.1193 right_gripper=0.4218\nstate[joint_eff]: [-0.1026, -1.2513, 6.9265, 1.6581, -0.0513, -0.0708, -0.0122, -0.2256, -8.0615, 6.4889, 1.2527, 0.2125, -0.0513, 0.5983]",
      "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, 0.82, 0.6147, -0.4919, -0.0139, -0.0265, 0.9897, 0.7795, 1.8141, 1.277, -0.6735, 0.3099, 0.4011, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1556 left_yaw=0.0003 left_pitch=-0.124 left_roll=0.0019 left_gripper=0.9897 right_x=0.326 right_y=0.2515 right_z=0.0715 right_yaw=0.2086 right_pitch=-0.534 right_roll=-0.1474 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.306, 6.9128, 1.6532, -0.0269, -0.022, -0.0073, -0.1436, -10.6735, 7.8564, 0.9499, 0.1587, 0.0269, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:778d2d2d5a78516eea4cd145e33b3e7490899523a904170c37c13bf068ce63f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6bcb2c5f05cac8481d48e21b4d45f257e4de5d2dbc106b133aafd80dc3577d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b09d45bb9d46584897bb9ef5064a79863747e33ceccdfacdd57a03f6b99e294",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFG3O4OljzT7UdSgAHYPnEEd9lOOYcj79yMqw-7wHH-y66l4IBx4OBJa0Qh0ZNjb0shn-1n05S3SqmKwsY4TF_TGNPt_fec-TLIL1vrlvwuYY18DOKsfVqcsy3CLY0C_L3whDuDakZb5OO6yPaNbULn34oW1rp9Aud_fySJO01sJfSJQxSLG9ry2BQzF0b28DkbIWdGIKmjNG1U1vSD-9Y41vftMonjVj1K56_tgK2djm_vhb62-5b59tIk-DDNHG3Oar3jks0Ls_3PoiCCRp5pdGIX4f_WNwFu-WkfUJp7WBMEwz5pv1Id4RGcXiLwh20h_fduDKqBy2O5gbVHHbJVaZfn0nYsCvJ8pF5kOE9iXjMMFmeVPy1QE1ZilRHzi3WQQWJCMOEHURGOJ3UKxeT3QSxLkbfLZOqrEdDlAptC_8pMPLFrRaVPnfnRnQPPb1PsKQ2yYJFu4eo4rcdK89I4TxxvqIC8vTyAuQeICFBcJnzd07glmw9O8XxKqw8N2laRkr1PiD19KTobIDE3hT5GUJCeu_6wdufk0kM6lJIUnFo7Pdbvd49nhRwENB6vsJXph33pqnOu21H1UQpoyv9I0w6a4mDj-Xs93vrW7JBFC7XYigdbnDVC2ZZjW-2VmoxCRdSlzm0rDVwOchw3v9vjLeCWJhkxzdHkzQu3bsLZzyOpqVRHfTwMBKSy1gmudMGuVlDODcoMldjmN56gYJdw-leZ90RWyyUBVEbEqm6121ZJwhAjn54v_mGZBN0qhWYk_85bWXbGwKPNfk24LOB2uOfzzUvPDkAIsN09CZZ1BKL5QPRTmx3Vwk8EKf8hVRENqa0Tmj7rymIVkH2zROBpxvFMkRywqaA9_XQGga7pf6zTq-fBFoxf8rgUJiriO8zaCHRt3CPKuM79f2zLfZBkNXdSbNW_Dqx5Yb1OyMH3D6XIPZEbfpEBh9w1Jg_unINigyQh6bi1QisEEHzuHUdh9AEG5nxRVcFAOPkx4wy9IRtwXEgqbtPgM3d4sqQdODj_h20YZcnrLYMji_cIrDe9nCgxRUvUMoyFg5tuxAnUx5f5yRk8Cq9XeLoNBmh4UplRI6KdoEvU5RoUQOBboZn3SABmYIdyRSY1VJ-7WUafpXM0tUxqdAEYs_8Clp-eoPWouaeATb5AyuA7N_ADyPFMDtTh4qb4HG9eTIFrPR5fANVdasOUfTqAnmp-PEZnA-h9Pl2bKrDCQKIPz6-UonopEkjDGRL7F5xQJHkWXqUrV9jWktjugXOCVs2VZDJ2kbmLtSN9U9GgkOlPKuBWMUenJbhadIsG8mpwGSD4ec8GpEqXYGb4Y-fNUnVDdZvNb2LcZqgDxOtTQ1iIdIAjQqlteUL_z-gdkHMRMdBZhCWyKISBOsndliOv7CE_RHPduClMwvM9AVha8j9lYIygA7wPcz9c4hcnChIEYqtLrtEjKlOlTp7_ZPB-xyF9TrKFXEyLfMRgHOTnTOm3in3colD-XXBI_rMqCtfwp6iA5KaM2aoFP0J4dg3SVQ4QmtaBEIghbA_Hz_vnJdpoGnkSVJAbOJMA_gPAr9ivL59hs9HgRMYH3QwttKf3VRPoUZ38Q8fKIBLlVuyVRfKcpdgPNU4oh2MJzVJECRXHc83Cs6yk6UA1sMCW7b61EZ2kngfvhPVtjXCjR_A5e1uSekkbjPKeK7uZQIOYvcDyAFEVRpqMvDHZrVe05QaQR1YGTb-ENq98zeA5rBUCv6l_k8OxsQt8PtmMTdFp24LCql2mcic0UMFZ191AccGOjF_1KW3bz_w3k_7gV1TOgXRxX2zyIZR3Xhx_9uLWlPkeGB_7E9C88xLWEZua1ZmQhvC1p-UZlcwHejK4nq1x-MtHZ9nVLTXZK3iWYezDVOumvDDnZ9y1tjz8jQyOXi7llsXMi4o8aCMada_Iw5M8AOF_jiLvjWQ5O-EJ9BmmquZCoBaIHP_g7ha9X4RXfUr0l5q3sK6DeHSWdybz-N0xK1A7gPqcWzSjNSv2UvINbtvMwoHHoI-9-jIJVOJ6tjq5lQXTRNG26rdymVTwus__NPhb-2Q7bhi2rmAaQL6RntudSJUHLS_AQUjlPeSWqhZUraCK1e5na0NxnNtxfQ4gzlmUEqWe4fssO11H9MlawOfoI6O7XSfZPIUi_xpg0xetZC0vJn0Z74fV-_qAfdX9EhWB2mPTll-fIR8vOEtJPQCmVm3N2nUc9Zi199W6GHTERv9QbExO2gboIrvzfr-_8j8xUzd5kk8PnjGT4qDDm1iOQtrisTvyIxEI65r5QGeXEHkSwbhCwhWCkarU5PT1S9SrvUk8ROekT4zDebOlaKFMxoMh4Gu5S4Pcb5crapQwasy40Q27PCQm2pl52fHZQmYadyxtAY8iG1Z_lEcT4VmPvtteOz5JIcuyKEbtaNZrvCwfSJTvN9xzXBRAJjLG3aTrrhJxNPlyAfpVl6EeNPA2GugGXK_iY3HSFez5tyvfcrGXgpje4wTmeHL0jsVxUEliFHjtrUDW3pMfe9zrec50Xmw5QpNFCEaB55Ma6CxIfYaD_Nuk5aMZq",
  "id": "rs_0e9c7659fc9f7f72016ab451b44e4c87d0b4774904b4fa8446",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"left_x\":0.34,\"left_y\":-0.29,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The pear is visibly resting in the blue bowl, while the remaining yellow fruit sits to the bowl’s left. I’ll retract the right arm and bring the left arm high above the yellow fruit, which is better positioned in the left arm’s workspace.\"}",
  "call_id": "call_qg5Am38vD4maWgjWL6ta5eqC",
  "id": "fc_0e9c7659fc9f7f72016ab451b6bf5487d0871059bcad1d0f5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qg5Am38vD4maWgjWL6ta5eqC",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9546, 1.7309, 1.2949, -0.5591, -0.6514, -0.7517, 0.9905, -0.0143, 1.2591, 1.1126, -1.005, -0.0059, -0.3046, 0.9986]\nstate[eef_state]: left_x=0.3354 left_y=-0.2822 left_z=0.1471 left_yaw=-0.0079 left_pitch=-0.1571 left_roll=0.013 left_gripper=0.9905 right_x=0.2906 right_y=0.0005 right_z=0.1617 right_yaw=0.1799 right_pitch=-0.5855 right_roll=-0.1428 right_gripper=0.9986\nstate[joint_eff]: [-0.6496, -8.3487, 8.8, 1.0916, -0.5788, 0.0171, -0.5153, -0.2256, -5.7641, 9.306, 1.1648, -0.1832, -0.022, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e58706854e2b3c1a20847da6e6f7d64f7947331318de5cac86b21ec31b60cbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ebc3921e385eb01f29b593a8ad2a512f0087e0d4b6d2105b19b36ce7b40c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee99afe28d090692d45ed9296170983040e19322d2df0859a9ab9872a0a8301",
      "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 78 changed as sent

message 86 changed as sent

message 90 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, 0.6147, -0.4854, -0.0135, -0.0265, 0.9897, 0.7784, 1.7729, 1.6463, -0.9844, 0.3214, 0.4091, 0.4189]\nstate[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1571 left_yaw=-0.0001 left_pitch=-0.1163 left_roll=0.0015 left_gripper=0.9897 right_x=0.3421 right_y=0.2641 right_z=0.1863 right_yaw=0.2216 right_pitch=-0.4438 right_roll=-0.0928 right_gripper=0.4189\nstate[joint_eff]: [-0.2667, -1.5111, 6.9265, 1.7411, -0.0073, -0.0171, -0.0073, 0.335, -8.8684, 8.8137, 1.1111, 0.2808, 0.1929, 0.8571]",
      "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, 0.82, 0.6147, -0.4919, -0.0139, -0.0265, 0.9897, 0.7795, 1.8141, 1.277, -0.6735, 0.3099, 0.4011, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1556 left_yaw=0.0003 left_pitch=-0.124 left_roll=0.0019 left_gripper=0.9897 right_x=0.326 right_y=0.2515 right_z=0.0715 right_yaw=0.2086 right_pitch=-0.534 right_roll=-0.1474 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.306, 6.9128, 1.6532, -0.0269, -0.022, -0.0073, -0.1436, -10.6735, 7.8564, 0.9499, 0.1587, 0.0269, -0.0952]",
      "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]: [-0.9546, 1.7309, 1.2949, -0.5591, -0.6514, -0.7517, 0.9905, -0.0143, 1.2591, 1.1126, -1.005, -0.0059, -0.3046, 0.9986]\nstate[eef_state]: left_x=0.3354 left_y=-0.2822 left_z=0.1471 left_yaw=-0.0079 left_pitch=-0.1571 left_roll=0.013 left_gripper=0.9905 right_x=0.2906 right_y=0.0005 right_z=0.1617 right_yaw=0.1799 right_pitch=-0.5855 right_roll=-0.1428 right_gripper=0.9986\nstate[joint_eff]: [-0.6496, -8.3487, 8.8, 1.0916, -0.5788, 0.0171, -0.5153, -0.2256, -5.7641, 9.306, 1.1648, -0.1832, -0.022, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e58706854e2b3c1a20847da6e6f7d64f7947331318de5cac86b21ec31b60cbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ebc3921e385eb01f29b593a8ad2a512f0087e0d4b6d2105b19b36ce7b40c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee99afe28d090692d45ed9296170983040e19322d2df0859a9ab9872a0a8301",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFG_xFrS6Dw5sxwWYG9v50-gSFpczqdLyQj0aqcKvOBGcrF3zeVyUzQusQlEaesBdxkvbxw7RabuTSA7JaLCCWH_VnJX-DaFS0956HhLZGl-DXtbWyr66R-AXVosRpTHtI298GAjFG9gS6y8dkXUmY-45VVnv8c4_iZv231puUSs3Bc7bQDQmM0frScJ8oCsUhvaDRd1crUZCEbXSSF5l4X-jBsfZKTzKB7Mxc2BC20hKtIFipU7pS3idY1zr0cKmJocuI455kdxM8GktYgyFAXJteE74J3k8r0pDDNVLXQS65C9qkXIDUyWzBn5cYvW3kiA7rpj1pQBtSdL8dO5bxT1qmF7ODmhqXgJRrriU39o34YFzjRwFx0kTdXK5jKY16MofM6WRAOyAoWe6JyE-et43YIw-Xkb6xNjw33EGNIVtZ_3QW-lnTSYaNV-kl43Zq2CBr7y0fMqUpaNDCpw302GMG9OEIKTL9Ngn_4jtOgrzweJiojHU9MTxATR9zIdFkzSlUSayv9wjo8eBfE5CNIGb96pN2jUgfc7PVcMMqfFroUCX2JIrZynMEVzBP61RAvigzu6RR98AqJiMXQWofp96qJVYmsLBMY5q1XpwZKnDQ6yyXMWBdy29mg49CdXLX-kdsb028V4ZwQ2LpSg4aH08HFtkRE97CI8qOkYGmLSxRGq2BKF4ENOhB0QvcI0FFft-PPusGQp6on_4vv1zjzwliq_DjiXbCLO35w0IdTTDa0uiRRp0pbkctsYqrr1wKhrnDfnmLtytTPXIqINw3uVpD_hL-Hwo7so1SlOosd57ohpF3fIaL9mrCKe32vDiJSD_Hgz-au9611SwRQrss4Nf55amf9xSRJCVSH_9I-PDweN_Pn812Ib5hckfiVtLT22jwA0uvIn8zIEDrMghl4hKjusFqZfHu59sywSAu2TI8qE6vKkXT6jM_PsRWYFniki28HMw3DWJ969tpkbfULgZ42gD884pWCTvhQbcubqNRJF9pHPA8Mb52LpBLwTTUx97iQb37lG8nCEJ2O_zVLCnI3beW2NelLC5WQKh5-eo2jl8zP2abgK9U0c4CSnGnqEnQpzff6Swfbjn8kgqy1tUbheaywufo0v_PVFA7MPfL1_muYRRHWC7Ya75tlLdj6KMxDJNiSYBGWKSF3-NP_1kZr5l_OKVKBmV15J5w8Og7SyM_0IRus23g-ZGCPeKeV6MJSNiTki3s6hLpzo4DA8Eg1zLByanrVYqRC2H1HqEuj17faRaIZoDGiQDpjM6LOx7vRCdAYvyjLh0jx6mdwfN03w9Rl1o0OP13cst7NzqVe7Ae0LZ8jSiGzt7oxgVcpbm4JKZ_QPdu8KKI114ewQk8w9V2ArjXZkRfK2Ye9mcGB88BkaK6CcgAAh_PUhBQYTpjYbfeIWTtGYYle51MtUUW_6FVvkIGqko8F3aECgqG7lB60mg8Et2MmXxP0Mq1u0pp0nbIyLAkDoE-0V_ubXqqG8jPRChulxu7w3KbDY1pWVafjPLgXFvK7mzp1Bg8YokAbOKu3upvvXXaijh_Rbscr906VR3PcX8Igcz1tgvuiVd84mfTWXN_mCUDKdbOARa7DD-fHcFaHuuZ5ghz4geonFXgQgsBc04NOqgiYSrLGd0MU9tY-OLERd6yS4ZdTQubh1xDECOI_nVzILev9LYuDPvt0I9O_5RvN3TKhP1ueO3iTTsScx6F0pc0Ix24MHWU3KeSLEXBsj9WGTkChDzXTub75b4VMEiLgpauOG938sp--nzrScBMIrZ9oSiwCJj1BGVoYolfvHLHh1qCyGmQlvA1VdgZKIMxGPBDKLkxTTbucxJdbAMzC5z7RHgeEDGOaztyFJZork2D0qYTdZHofIrguv_NW0MFKlkGFudGhXaI7hJrCZ6MGyDGi3ZizwhvIP4rem_7qZSQsC_ERLpGBLg84z-zs1TM6K7Lfx1Fg4cWRpahLn8fidEZGysDo-Pm44Rw53fkiRst5zGalxnKj5OVeR-IhLGJnG_cxVhAtJ-icg2gb7Qy1-BJZriHt1uNc0uK-olloKXvLkyfDLZ8H0aZ0vlh8lmxM9sf6CijqXDJ7CliQbm1-faznj76f5DzocPy-NH6MTQHZVRLCEUw_Gu6kGGxwd-G2ROoOWqRrJ68QYnmPPsFMsz3w0Qads8W2KvrACb71-BGjan6JCXdXBNIBT_HL-1ykrqz97SNwKeWsrrMHT-uwOGzCi-0tUwQVg0TyVc3Epsrd4fz5old051dEu8eDOzhMnwimzNVdNMuiJFchqPe-51Uwx_GBojgG0mwyjS_23c6CVnFLANd7FzMPGnEihp7h7puaB8m-R9M4_lPfyDvzGXg682D4mJrxk5Ig3yYq8I4dhFB1LmgFj4_KSRpeOtkOCgfyy1OBqKFa9c94rqRhDqlPMcysEIlQdC_gEmrV9KkZV9K7EYg72lg-zV3I_uF7Ywx0okoUtrg99bmvW_LHnLx57z1aSDZEB-wFxwgPx1QDIKWoS2qkplBVU-zse7_CUFqRxdCZc4wfYw7uVReO5uRHBdz03j9_6E5gl7LdB_6iUAnaXPjj1N6LS3sNiaCAKLNoO4TUw8XYAiin-WV2sIwy7HUaAkk1_3_vtZXXfCOjnN8TmfjBsa-jsOgQi7HOfiwHn9MhzYqB0fU2dE2Vwl1ABbsVW0yLVXGdoEygR6OFVjQwTo_NGPUtmhDrQtrPq6IT9ZOz0-JnXT5Vo9EtoTv-8qFU3hgga0jkI13vgDMWGzDMPQI80iwMcQCWAODFC_rqmAo2vVtChjfEE7zlBRX7WeVn5",
  "id": "rs_0e9c7659fc9f7f72016ab451bb745887d0a370a3436d7c1fb1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.24,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The left wrist view reveals the yellow fruit at the lower-left of the jaw column and also a dark round fruit just behind it, so there are three fruits total. I’ll first shift the left gripper about 4 cm toward the yellow fruit while staying high.\"}",
  "call_id": "call_GQGQm5d5svUgLsQvYuRupsfz",
  "id": "fc_0e9c7659fc9f7f72016ab451be582c87d0970351f4edcc9f02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GQGQm5d5svUgLsQvYuRupsfz",
  "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]: [-0.8825, 1.6279, 1.1919, -0.556, -0.6189, -0.7044, 0.9905, -0.0132, 1.2591, 1.1179, -1.0149, -0.0124, -0.3222, 0.9986]\nstate[eef_state]: left_x=0.3357 left_y=-0.2412 left_z=0.1475 left_yaw=0.0173 left_pitch=-0.1773 left_roll=0.0293 left_gripper=0.9905 right_x=0.2894 right_y=0.002 right_z=0.1626 right_yaw=0.1996 right_pitch=-0.5901 right_roll=-0.1432 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -9.1282, 6.4752, 1.3358, -0.232, 0.0855, -0.6276, -0.4034, -4.2188, 5.9282, 1.1062, 0.022, 0.1441, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c98d81fc93f55b77bd7ea3345d9c0dd2ca1142a16d781701d184f0f1eac6b85d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b35eb3f5ea4268e5c0788b66133bb5354ff3f0e6038491ccc2e6976a2be12d01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85a0aa93d749013672d9b9d19004a16330c7944f8f986a8ad0d166ed6924e40",
      "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 82 changed as sent

message 90 changed as sent

message 94 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, 0.82, 0.6147, -0.4915, -0.0139, -0.0269, 0.9897, 0.7788, 1.7943, 1.2964, -0.6685, 0.3134, 0.4084, 0.4218]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.1236 left_roll=0.0016 left_gripper=0.9897 right_x=0.3319 right_y=0.256 right_z=0.0864 right_yaw=0.214 right_pitch=-0.4945 right_roll=-0.1193 right_gripper=0.4218\nstate[joint_eff]: [-0.1026, -1.2513, 6.9265, 1.6581, -0.0513, -0.0708, -0.0122, -0.2256, -8.0615, 6.4889, 1.2527, 0.2125, -0.0513, 0.5983]",
      "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]: [-0.9546, 1.7309, 1.2949, -0.5591, -0.6514, -0.7517, 0.9905, -0.0143, 1.2591, 1.1126, -1.005, -0.0059, -0.3046, 0.9986]\nstate[eef_state]: left_x=0.3354 left_y=-0.2822 left_z=0.1471 left_yaw=-0.0079 left_pitch=-0.1571 left_roll=0.013 left_gripper=0.9905 right_x=0.2906 right_y=0.0005 right_z=0.1617 right_yaw=0.1799 right_pitch=-0.5855 right_roll=-0.1428 right_gripper=0.9986\nstate[joint_eff]: [-0.6496, -8.3487, 8.8, 1.0916, -0.5788, 0.0171, -0.5153, -0.2256, -5.7641, 9.306, 1.1648, -0.1832, -0.022, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8825, 1.6279, 1.1919, -0.556, -0.6189, -0.7044, 0.9905, -0.0132, 1.2591, 1.1179, -1.0149, -0.0124, -0.3222, 0.9986]\nstate[eef_state]: left_x=0.3357 left_y=-0.2412 left_z=0.1475 left_yaw=0.0173 left_pitch=-0.1773 left_roll=0.0293 left_gripper=0.9905 right_x=0.2894 right_y=0.002 right_z=0.1626 right_yaw=0.1996 right_pitch=-0.5901 right_roll=-0.1432 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -9.1282, 6.4752, 1.3358, -0.232, 0.0855, -0.6276, -0.4034, -4.2188, 5.9282, 1.1062, 0.022, 0.1441, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c98d81fc93f55b77bd7ea3345d9c0dd2ca1142a16d781701d184f0f1eac6b85d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b35eb3f5ea4268e5c0788b66133bb5354ff3f0e6038491ccc2e6976a2be12d01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85a0aa93d749013672d9b9d19004a16330c7944f8f986a8ad0d166ed6924e40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHEU0rsLu_ISXwvFmpyWO4shKcopKAny2iRwemIguMiCbcyguEnpBz9F6_kATS3QBobFsG2QcZxfLtUlHbPhLwp5FqJJ6SXybAaf0bfI-gLaL5-_zIsyrrwc3-2pQPmSSS87mb-YaFTByLlwf4ImfM2TTZY_PbYlWHvXpYa70MkwcIDHedjeue4aDDmqpBMRf0Cs_oc1sA1h1kjiiUxnKqo3rgtRxVpvEbWSvUn1YN6rPtDm33pCbdhP_l76TQx63gJLkaCS5nKUYPa8OAM-e0pZCeKgUN2K1sYU0qd3DsNFNi3uQWdObbybl0GlEOFL1ftyL73jErwPp1Q4mYOHZJF6yLgSZPUS7-mRLzhxLG43mXOQwoXc03wKG9K5gi8z9Lkcsig28B6vGdRv1KVl7HalGaFCKn6n9BaUyrRyb2cB_4Cn_Cab23SR5sqnIl8H4L7yqjxS5Xai5zBgDPQel0IiNDfpqz0efN3jA8oqKzorJu0XIcuGmQORmiw-yn2zg6Zu5-mD8mRR3vhLxeWqxylmVQruCDoFlR_J5F9gcR8m3-npyh7sn27G-a9081NpESZlrn7cZUCQ9CHhQyG5VFYAdPjWUpywy-bHlA4IQi2ve9kbn7cXNXE0MZ1VFoM2qYD902NLLS_fq2--JFQ92xjNOXsvD-tSJIb6MbhdvQlh2vOdcAT3kLFnU2D4bPPMfvuPs53srPvRlEqEYwsTh6qhlj5X5Tqq9Dr_CbVt69pKxIrbejdXx5qlgOVT7ftvj3iVf8JD6t7okjnxiVIS0mCj812oNXUM45alIlxPd-ZD0yyDwCpnWsuu3yypKeKVZlpKTc1VKp8WHqg3ASy2WNlLRYnR2dD-Zla1OHFxnBCjAFAgyeAit9kn-hVfEZoepa5vG_YpqQmbhp5jKICGh4QoTR6g6BO-SCElafMcpxhtizXj0LH2TAGpUg8LqHgq9dVOG0uGbRNhC4A8lTf0TT31Ik5gfISdkjKUq1cnBYgE259E7736A6RXCixmjhFdXhSuGuqGjyRrmNIyalIMIUcJCZFB2MSQgcHXAhbkYSm-YMrrydutaHZlm7cOHt8xuY7YWQrZfiHudR-CbXlBKP908_Z6wP581MGHKUDouuIvxEypmlMyTCkkSEAoNwP3fTog921uN_WWI3N2juG9BjFXzUX2AM649jPGc2hoOHeyeIkC_DrKjvzOnEX0kzJemQN8zw_NPSVKk91-nYNlaxxoomna96Aa_iFiLwZPxK_epOJ1hMXJegUeDCAbLLwGuGBbBMpP5xdxeeT2CrzjPfolZLUjEeXnKpWspVGDDUwn092OKxfTfsdhl9ceIGd00n93kDVkKqpJQKBLfNnbu_oqx8rAR4NgcuEdR9PSJ5_TIdKiRIYvtr1R_ZRxprMJ7x3geJOfoTsGKzjv4mGkDM2dKuWgQ_C4w5xMM0bfy4yCtMPWuNEFfPvYKvcHtz3KneoYhFgOp0A-fReLtsn-fH8Nav1-8_S4npCDqe2_5dcd3I=",
  "id": "rs_0e9c7659fc9f7f72016ab451c10b8487d08978f6f36b278cf0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.241,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The yellow fruit is now centered on the jaw column at the bottom of the wrist view. I’ll descend vertically to its mid-height before closing.\"}",
  "call_id": "call_gVvz7wScIw3UotDMnNmkVUji",
  "id": "fc_0e9c7659fc9f7f72016ab451c2c43487d0b27f8404d2c3c65e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gVvz7wScIw3UotDMnNmkVUji",
  "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]: [-0.8795, 1.7775, 0.9382, -0.1993, -0.6106, -0.704, 0.9906, -0.0132, 1.2594, 1.1168, -1.0157, -0.0132, -0.3229, 0.9986]\nstate[eef_state]: left_x=0.3304 left_y=-0.2348 left_z=0.0432 left_yaw=0.022 left_pitch=-0.2118 left_roll=0.0622 left_gripper=0.9906 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2012 right_pitch=-0.5922 right_roll=-0.1421 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -7.7744, 5.3128, 1.2674, -0.3736, -0.0611, -0.6032, -0.0205, -4.2598, 6.4068, 1.0085, -0.0513, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1876f1e2b78a0b1a4938d843825372bd96efe4146c165d79234411857821ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:711fc25fc63d57492a085ce52e9252a4c3ba6032234c26382c755fdf3c79e1b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a143a1ac519473e1947d4e236500c6925d7c18febbbb11bfc774a09411d606f",
      "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 86 changed as sent

message 94 changed as sent

message 98 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, 0.82, 0.6147, -0.4919, -0.0139, -0.0265, 0.9897, 0.7795, 1.8141, 1.277, -0.6735, 0.3099, 0.4011, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1556 left_yaw=0.0003 left_pitch=-0.124 left_roll=0.0019 left_gripper=0.9897 right_x=0.326 right_y=0.2515 right_z=0.0715 right_yaw=0.2086 right_pitch=-0.534 right_roll=-0.1474 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.306, 6.9128, 1.6532, -0.0269, -0.022, -0.0073, -0.1436, -10.6735, 7.8564, 0.9499, 0.1587, 0.0269, -0.0952]",
      "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]: [-0.8825, 1.6279, 1.1919, -0.556, -0.6189, -0.7044, 0.9905, -0.0132, 1.2591, 1.1179, -1.0149, -0.0124, -0.3222, 0.9986]\nstate[eef_state]: left_x=0.3357 left_y=-0.2412 left_z=0.1475 left_yaw=0.0173 left_pitch=-0.1773 left_roll=0.0293 left_gripper=0.9905 right_x=0.2894 right_y=0.002 right_z=0.1626 right_yaw=0.1996 right_pitch=-0.5901 right_roll=-0.1432 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -9.1282, 6.4752, 1.3358, -0.232, 0.0855, -0.6276, -0.4034, -4.2188, 5.9282, 1.1062, 0.022, 0.1441, -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]: [-0.8795, 1.7775, 0.9382, -0.1993, -0.6106, -0.704, 0.9906, -0.0132, 1.2594, 1.1168, -1.0157, -0.0132, -0.3229, 0.9986]\nstate[eef_state]: left_x=0.3304 left_y=-0.2348 left_z=0.0432 left_yaw=0.022 left_pitch=-0.2118 left_roll=0.0622 left_gripper=0.9906 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2012 right_pitch=-0.5922 right_roll=-0.1421 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -7.7744, 5.3128, 1.2674, -0.3736, -0.0611, -0.6032, -0.0205, -4.2598, 6.4068, 1.0085, -0.0513, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1876f1e2b78a0b1a4938d843825372bd96efe4146c165d79234411857821ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:711fc25fc63d57492a085ce52e9252a4c3ba6032234c26382c755fdf3c79e1b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a143a1ac519473e1947d4e236500c6925d7c18febbbb11bfc774a09411d606f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHHknX0PT-_6h3rOimRxQl2Dg5UzK-9O3kM7AjHjSimJ3eBgG3niawMxBK8vIonl_o3KGKwrx-gRuwv4GjTz0w-ffecAazOhJ1awlTsMpQjrSHZmfZxMYsLjg2kAR6ErkVJlboDBXkQ8579qMFvepJJMbTKxJQfHn8f16C_K4Hi0sryLirU0VXQmp84Bv-y-AyUDksC0QCWJPxBfya-Bm8121kydQI_ELlC7d1qWBER7v96aO88g0Hyzo66v24JGR7K2gEvGRHySH127YkYU0wNAAQD-WqNwvz9N6VGlusH5LVsYOny9i-IW_BtSveom5L7yHjN5wXiwHTulJ_YgGluc6L6UDBqdILUZuCLoqgGIhjHKuzA4weMCughVZ4ptpLg03X_EJcWkEZHdc7zrYkto5jnoEL4UxXfZLh9roiXRWpHmEa57GJt5tBKpR4Iypk3YDTI7kanSnyWxYR0cV69trNLRAQHZ-C3O5VCgaypym1sJV0swd0Zob5a67LMcDBmO_2h6311IEksiCktBpLpwWzmEPJv-9becVt21pE2mFtFvVcH1HIdtmEYLLfN3DlYD4qp3SnshLVo9aIfAjRedNJsK8jQNqgP1MnENFM5BYZDfrGmkFtcD5iJXwZXRwEjNQFX_tcOkRzGdmQh2aGyuEJcywb3uqtMgc6hxuce09sAavMah2ydYnORo5tSai24cwlPHlqzau3F9EByT1wfEexlfHuyqP3vhP4Nd5q4nIUAHK2-K2eSkQ9j9TUi_noVJvzMNpECmse6BqPo_-LDpXSnxEtt5-w282QWp5j6nJZ1nWyjgY0SVgz2zceEg-sh0CzdPSd4pbS0XoUa76l9csDJ6lz69OEvK5q-11ZIMkU3yenYwFEiqy4hhIa9EQsIiL5duIJzFXL4akD2JE42qox6_vOnTFFj-9F1awHPQB3M4oiSLmVJp-QNWCCFnverxGVfP8fDsSaWKwClThbsrCoUpJ2BTplc5LAlQwJ0xPF89PolKyxBxCysGJv7qZM2H3YFZF6szq5ZBLV2bkvjDMatF-JAyvvgJCRpGffK-lrWhTgspQnSDEWil49XT5kOxB4PRxxHhaREv8SJzM4eUCjhdILGzjoEB1vGBnO9kgpLRZ639vuNsEIxLcAYzKlNlc6tT74kCeRYI1D728WDbH6Y0sZKMHZgEsUFqjvTO6jXL70Ta7SM76Fwf7uhO291gnXMJjornavPY6tkGQqFJQH3xx2RCZ84smwSUdBXv9U=",
  "id": "rs_0e9c7659fc9f7f72016ab451c6fc1087d09526632db6500bed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At grasp height the yellow fruit is centered between the open fingertips, with the dark fruit safely behind it. I’ll close fully and verify the residual opening.\"}",
  "call_id": "call_aFLjRNy1SMdaOVkxtgFZJNkH",
  "id": "fc_0e9c7659fc9f7f72016ab451c72cb087d0ae186afa0666c71b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aFLjRNy1SMdaOVkxtgFZJNkH",
  "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]: [-0.8791, 1.8008, 0.9207, -0.2005, -0.609, -0.7063, 0.0096, -0.0132, 1.2594, 1.1168, -1.0153, -0.0132, -0.3229, 0.9986]\nstate[eef_state]: left_x=0.3253 left_y=-0.2288 left_z=0.0289 left_yaw=0.0303 left_pitch=-0.2387 left_roll=0.0936 left_gripper=0.0096 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2011 right_pitch=-0.5918 right_roll=-0.1422 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -10.1675, 6.8171, 1.0769, -0.3297, 0.0024, 0.6911, -0.0205, -4.1915, 6.3521, 1.0232, -0.0757, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efc14ea6b6a6b3ca4e191cd0d208f3200957b90691a0840d97786d75b0efa57c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3545896b549678767e7525ebf2a649530f586f007527b8ec4bd34cc54d499033",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff29cb3e274c8bc4dfa77a473df901360ac1ac5b28b111857dd20c6dfc3136f",
      "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 90 changed as sent

message 98 changed as sent

message 102 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]: [-0.9546, 1.7309, 1.2949, -0.5591, -0.6514, -0.7517, 0.9905, -0.0143, 1.2591, 1.1126, -1.005, -0.0059, -0.3046, 0.9986]\nstate[eef_state]: left_x=0.3354 left_y=-0.2822 left_z=0.1471 left_yaw=-0.0079 left_pitch=-0.1571 left_roll=0.013 left_gripper=0.9905 right_x=0.2906 right_y=0.0005 right_z=0.1617 right_yaw=0.1799 right_pitch=-0.5855 right_roll=-0.1428 right_gripper=0.9986\nstate[joint_eff]: [-0.6496, -8.3487, 8.8, 1.0916, -0.5788, 0.0171, -0.5153, -0.2256, -5.7641, 9.306, 1.1648, -0.1832, -0.022, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8795, 1.7775, 0.9382, -0.1993, -0.6106, -0.704, 0.9906, -0.0132, 1.2594, 1.1168, -1.0157, -0.0132, -0.3229, 0.9986]\nstate[eef_state]: left_x=0.3304 left_y=-0.2348 left_z=0.0432 left_yaw=0.022 left_pitch=-0.2118 left_roll=0.0622 left_gripper=0.9906 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2012 right_pitch=-0.5922 right_roll=-0.1421 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -7.7744, 5.3128, 1.2674, -0.3736, -0.0611, -0.6032, -0.0205, -4.2598, 6.4068, 1.0085, -0.0513, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8791, 1.8008, 0.9207, -0.2005, -0.609, -0.7063, 0.0096, -0.0132, 1.2594, 1.1168, -1.0153, -0.0132, -0.3229, 0.9986]\nstate[eef_state]: left_x=0.3253 left_y=-0.2288 left_z=0.0289 left_yaw=0.0303 left_pitch=-0.2387 left_roll=0.0936 left_gripper=0.0096 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2011 right_pitch=-0.5918 right_roll=-0.1422 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -10.1675, 6.8171, 1.0769, -0.3297, 0.0024, 0.6911, -0.0205, -4.1915, 6.3521, 1.0232, -0.0757, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efc14ea6b6a6b3ca4e191cd0d208f3200957b90691a0840d97786d75b0efa57c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3545896b549678767e7525ebf2a649530f586f007527b8ec4bd34cc54d499033",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff29cb3e274c8bc4dfa77a473df901360ac1ac5b28b111857dd20c6dfc3136f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHLLTyom1addGCvagZzvh81ztvbF74ro3KZWg61Dktk2nINmdJWr25pdKyrleAxo6EU8QmJNIKuTlQivWQkhnKlDZQPuY54jWdA4BVxPgol2Dk15bJW7YYU25gIUqcDTn_7JXGiUnJGnmF1HV-Me5kKjWmHY6Rvodxc01GWsO3B08XCjmiU8Jl1GSSeiXvwBGSxfgF5jmMP4ApeAAStj3qKk44Ag_5oz67lyiGVffyD14ceu11kDXcCul5SG_Cyq8-3LcVWJ1MsC2B3LzPOhWR4GaVZTRaHNh2IIEQqszyWHrcm5Jwyhy3Ft2YKv8gn_tFTg6j9XGbNeaSjKTF_7P30kHOe3D-VswWMDRZTMpbuLxHVziKG1q7dP3NbSVG5ivF_MaTnhF3CUK5InrZ_iS7CWRpTHKZU-H1Rehwn3JRP1wDZcbPG7bLWJe5oJ03jJ0yYO4ephZRRl7E9fYx1VmABIRzbYQm8F72HuPpAkeTegQQtDin3t3E83p_Tg7Gn6ltjizUCAz1Vw2-2Ac-_nkz8Z24NcOWbqdarXB1nTX74xWT4PYpyPTNHZfdd2wBK4DpjUj3oi5uT2kIggs34g-s_r0otU9wem9pny2wnx_09R0MIkH_jD49hx0ngQ36xJhGT3evfiRpRyXxe-I5s_MynkFndXKdfobWTNz9_BXBUNhshXR-LVnDt6HSH6v6r08j--3lpPWTse0Kw5LgxFJTXCziJOgQSRf3ko3vVwMfW7txGIhJprfI9kAuJTGjjZw0lF2pR78RDfvYvRJK7WYMd-8_9ZJktvCDL7Ik3fyglkgPjLZl2DBb858EuhQ_VPdVW5QAD_IRbe1jS0YOE9oDynmNYdkpkwpNXlg2IG9YQb_REcgqtQiyVJlLj0fUhZugcv0rNVkwI2pZskG3v5iZlDU5Yvbd5Nlf_hz8kMgJvWSyvGLOIcBf99Hx9aBuppWbGCXdxa34kHDqfunyjsMD8pMed98PJyaRWUvSFD2HbMMYi5noYCo7lNKdU6mUWo-Voy2M1rd0RN5wNTigskAByQ34_IzLxHfL59LX1bMIIJclhmcVNECViY40Z871f_9uXN-bzViMF0K6jrfeFah78RHLlLTs7d_jxFuy3qXTum8mLYdcCuxtnkiJthIsjjQEAGiUeF579F7_DPlVrOM8cmg3jJs1grMRP5t_fegZ-6C-M4qQEP_oLmlFQU1yi-V4MgGCae1LA6R3uAGDMVlc4F8D5WnyjO3bvZnpoBlrFCgPZTrpifI0t8DQPpK8GpBLN0o7I_mfxIpujmiOsjWrEFdPSrzpOam-W-DD6scoRpzrDQ9K9UITuOxSyHdVsP4-Z4GcaGRofFpzqmACu27t_ohschlkJEQyudnzzyY-icXmM8zkTZtsHpsYoqfq3b6cCO66hvSEiGA3VNnPp-YiHm420DhMS9YEdtIfqjYdi7zHBhQUJ4MZ__7sRD3a9oKEMAkHb1dDpwapChahn8b3Oti3mnmboE8hMaXXpggaFVG9LT-FVZPKBG5UiaSae8TXRV65uMzk8GbmFD_Swzm3UPOqs5Z2Pz4Ely5SejX8TXmTMyik6NfH4oe9ghqoeGJdedYy0lUFXGdyhAzV0eLKsQh0TCX7yqw_S1Oq0UEKdnNmS77VVEa8ak28Hciz0SEKpiI-7b1AE9aMshnJbK5D-KM_yyp5x1GFR0_eguJ3HnjZdqFFzsSOwYrbiYvTAExscSK06T2pX0zgUv6GEw4cThX4y1K6jAHfi_BiKtjCfa3Twutcj_3_H5oMuv1cd1HmWdFaw7d7ZlYb4_x-f0srUbPN6hQdzKa20ZNLD7oDhzc3ZaCAEnucLyUahYr8KseWhiIhM3HcLXTIBgXNso7Nml3WNJJs4cXmrRIW33YJywKYZUOApynhpwvxIqZjMIJmKAZeILHIQy9GQo6W62I48GpXcUa9ew6ozZMcxkR34sdRA8y5Q77Q_dDT15CmrbM80",
  "id": "rs_0e9c7659fc9f7f72016ab451c9b1ec87d093d9b2e6af873912",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The left gripper closed empty at 0.010; the yellow fruit left the wrist view while the dark fruit remained, so it was likely nudged rather than grasped. I’ll reopen and lift straight up to clear the overhead view and relocate it.\"}",
  "call_id": "call_xl4tcJ1xLQRKGkdQ3nx8oHPQ",
  "id": "fc_0e9c7659fc9f7f72016ab451caf19087d088c5d2c3f98c005d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xl4tcJ1xLQRKGkdQ3nx8oHPQ",
  "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]: [-0.8795, 1.6539, 1.1919, -0.6403, -0.6056, -0.7155, 0.9908, -0.0132, 1.2594, 1.1168, -1.0153, -0.0132, -0.3229, 0.9986]\nstate[eef_state]: left_x=0.3258 left_y=-0.2303 left_z=0.1276 left_yaw=0.0373 left_pitch=-0.254 left_roll=0.103 left_gripper=0.9908 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2011 right_pitch=-0.5918 right_roll=-0.1422 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -9.8803, 8.9094, 0.9988, -0.4029, 0.0562, -0.7985, -0.253, -4.1231, 6.4205, 1.0427, -0.0708, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee9e73daabc5aea1efc0962d99ab7ef4742bf146aa959a2c655987a4adc9660",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36711f1a12542288b06fa8280bd54f911f76919c604485f1f57ff823fac5f7b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50eab422c77d1b531fd77f53c2ba4ab358b7d32a519f6509c0696bc92f8b0971",
      "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 94 changed as sent

message 102 changed as sent

message 106 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]: [-0.8825, 1.6279, 1.1919, -0.556, -0.6189, -0.7044, 0.9905, -0.0132, 1.2591, 1.1179, -1.0149, -0.0124, -0.3222, 0.9986]\nstate[eef_state]: left_x=0.3357 left_y=-0.2412 left_z=0.1475 left_yaw=0.0173 left_pitch=-0.1773 left_roll=0.0293 left_gripper=0.9905 right_x=0.2894 right_y=0.002 right_z=0.1626 right_yaw=0.1996 right_pitch=-0.5901 right_roll=-0.1432 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -9.1282, 6.4752, 1.3358, -0.232, 0.0855, -0.6276, -0.4034, -4.2188, 5.9282, 1.1062, 0.022, 0.1441, -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]: [-0.8791, 1.8008, 0.9207, -0.2005, -0.609, -0.7063, 0.0096, -0.0132, 1.2594, 1.1168, -1.0153, -0.0132, -0.3229, 0.9986]\nstate[eef_state]: left_x=0.3253 left_y=-0.2288 left_z=0.0289 left_yaw=0.0303 left_pitch=-0.2387 left_roll=0.0936 left_gripper=0.0096 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2011 right_pitch=-0.5918 right_roll=-0.1422 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -10.1675, 6.8171, 1.0769, -0.3297, 0.0024, 0.6911, -0.0205, -4.1915, 6.3521, 1.0232, -0.0757, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8795, 1.6539, 1.1919, -0.6403, -0.6056, -0.7155, 0.9908, -0.0132, 1.2594, 1.1168, -1.0153, -0.0132, -0.3229, 0.9986]\nstate[eef_state]: left_x=0.3258 left_y=-0.2303 left_z=0.1276 left_yaw=0.0373 left_pitch=-0.254 left_roll=0.103 left_gripper=0.9908 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2011 right_pitch=-0.5918 right_roll=-0.1422 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -9.8803, 8.9094, 0.9988, -0.4029, 0.0562, -0.7985, -0.253, -4.1231, 6.4205, 1.0427, -0.0708, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee9e73daabc5aea1efc0962d99ab7ef4742bf146aa959a2c655987a4adc9660",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36711f1a12542288b06fa8280bd54f911f76919c604485f1f57ff823fac5f7b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50eab422c77d1b531fd77f53c2ba4ab358b7d32a519f6509c0696bc92f8b0971",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHQq_wwTX2zLcoWVB8p0eALhaOLUza1JBxySxcISoN1y8o2swXFGNO4hxDTHhZIZP0nnf1mw5auv00k_ViD7fwLKRp1Q_WCipJNfMx_QDuNOyyLeRlrDyAk25_3b183UvscVIk7TN-c_z7hoEXjhfsbiR9ZqDD7j0WBdny_qjrYW-CwfsRwBWkOMmwuPHNBCRc9alc1VWDjy2GyB8DScMvjltN7CWWPXHUlFA9rHsKVeDtYGufQK4DFTrLn9X_uEHfOHRcqD5OS4MbF8Ai24R_XDl07RZ9O2LIm5krCnsTkg4ZapwIYAduDqSCJs5k0k5V7oWbMSvIHBfnvSj5yIDm7pxqCpOj3BORsFOUNF2U8k14pRQxdiuI1Jq8SXCbHYWa1DObJXcNxu1OGf5mmp7-Bq41vkHdi2f6D3jbzYfOU3Jo9WGlPHrMK-QJM3mFIDzRmJuhIfNuE8ZJohn-9pxKGocg1uAIHETLJV7dJ5y8BA1nV4zdVmiDdhKy2e9eo9aenX9rR4wpmq_OcAyzHi5ZFZX3Xapm2kVUfrM4cuSKOgo1rNOf0aJ38B9ZqJbwU5acBZJGTDbZIVY7mcwyS2dugTVyRCGDEORBv5VqPwbw7z5zUKjRFfGPtgfL8AgEVOM3qc_wMZRGJzuNwBQ-0qgz6T-Qi1GcfsYpbQwAkwSolihYxAQ24TxxdzW70f6q-2VULes6E0yZKyEMRAatxydFPuya5pALuoyI2GnEpVB04B0DuSw9DdHTRna8xdSKuC4PaKIHk60qGdneU9jkIPZ8AhMVezV54HMTw2wSWG5dV32M-tLCzXlbR0RIb_EJU6sKCbRmYpkEPa_W8l9m4anEHG1v11piown8fkID2bUhw7FB67rSAwZJlkceK8BloqxDSV3LLcDQBeEkTBnsR7HBkE2BKQZLS8yaLQTbPckrtPnvyL9iwgCnPOxy2DJXp9wIyIb-I_s0AOvqRbqoDDkjd9k8vI_FjrDhJryYhlmK4rHSkPEu4D-HThEq8hI9WYE6pbp6E5OT8-iSoyj6EIlwpE9_642y4EQUYfRaqZ_wm_HRGso8EHStQ7YoDOhoHHIOizBgRVXzWli1mxWhuQB10SqPkfI9fUeTiJfKaFOqn7SB7y2ma5AS3NY-sI292JSzmajlfH4uXDvErdO3icrb-89aVH2xFTT_WXEbb2zbThOcOAFHwrlj3HfiG1_ksyLstCoHzYtRF65cANKgf3lZp160aROYHO8YpqP4oM2ZmL_1twOOktJ1avTmkDkrs5sxVmpR5l0nHZeNUJfs8LtdoRjg4hNAL0Fisa7VcYAEazYSmB4NtyE26RZ--JTK9KG3QZ5gyanvhtfSe_H0SfxrRuNG1NnDTc1O35pBPQeJzUxoCAWYwZUl3ds--mu5OSkkY_ckRVqeL0cmsYTnB0EMV96wX4bVw2__965_m18UAsvLssrLyIKdGAsMlWP950bkm-9E6yeuIJejCeTSGO_JGzIJI51xKtZEl2CBx2tr2mrfovR3KxstdmCNVJRDHPzp59o5F0rRgeVnAcZagzHjKThGQGmk8I3L-62OAQdVdIgczGZhnjwmytYV2mIlFId6Sv_E2Ky3t4KMz2ckacdmyVKQYK8E_V52H0WIdOL1Twki81wsPv47QQfDf1lM3m9MQ4i6a3yJLyunp9aTsPWUD1rlijD26anry19fFWSM5cNxe84ob6jFF4R0LtG2jy1N5wstpiVVJPHchd0Yq9Tu1crd6wn8spOpGTcaIgv6xRKA=",
  "id": "rs_0e9c7659fc9f7f72016ab451cded6c87d096297fd3eaa5dc06",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.23,\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"The lifted view shows the yellow fruit directly on the jaw column but a few centimetres toward the base, while the dark fruit remains behind it. I’ll shift the open gripper about 3 cm inward toward the base before descending again.\"}",
  "call_id": "call_rF8HrmYpW2FI1QKQ6y92lzJP",
  "id": "fc_0e9c7659fc9f7f72016ab451cf2e0c87d0b3c4f541c16820b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rF8HrmYpW2FI1QKQ6y92lzJP",
  "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]: [-0.9405, 1.6287, 1.1793, -0.7139, -0.6136, -0.7662, 0.9906, -0.0132, 1.2594, 1.1168, -1.0157, -0.0132, -0.3233, 0.9986]\nstate[eef_state]: left_x=0.3013 left_y=-0.2344 left_z=0.1264 left_yaw=0.0228 left_pitch=-0.2812 left_roll=0.1234 left_gripper=0.9906 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2014 right_pitch=-0.5922 right_roll=-0.1423 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -10.5778, 6.4342, 0.9304, -0.6129, -0.0904, -0.5201, -0.0342, -4.1778, 6.3385, 0.9988, -0.0855, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e7708dfa111b9a7502b174b7db14cbc784b2677de63f2e983e1b8b929c2522",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e993a345046936c3838ebe2812082de1554a7b83c9e65ec5751139ad8a5ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e746980b2d95676a98602c000e8cde3b9bc4eafdf4730adc9f98fca2f577a12",
      "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 98 changed as sent

message 106 changed as sent

message 110 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]: [-0.8795, 1.7775, 0.9382, -0.1993, -0.6106, -0.704, 0.9906, -0.0132, 1.2594, 1.1168, -1.0157, -0.0132, -0.3229, 0.9986]\nstate[eef_state]: left_x=0.3304 left_y=-0.2348 left_z=0.0432 left_yaw=0.022 left_pitch=-0.2118 left_roll=0.0622 left_gripper=0.9906 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2012 right_pitch=-0.5922 right_roll=-0.1421 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -7.7744, 5.3128, 1.2674, -0.3736, -0.0611, -0.6032, -0.0205, -4.2598, 6.4068, 1.0085, -0.0513, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8795, 1.6539, 1.1919, -0.6403, -0.6056, -0.7155, 0.9908, -0.0132, 1.2594, 1.1168, -1.0153, -0.0132, -0.3229, 0.9986]\nstate[eef_state]: left_x=0.3258 left_y=-0.2303 left_z=0.1276 left_yaw=0.0373 left_pitch=-0.254 left_roll=0.103 left_gripper=0.9908 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2011 right_pitch=-0.5918 right_roll=-0.1422 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -9.8803, 8.9094, 0.9988, -0.4029, 0.0562, -0.7985, -0.253, -4.1231, 6.4205, 1.0427, -0.0708, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9405, 1.6287, 1.1793, -0.7139, -0.6136, -0.7662, 0.9906, -0.0132, 1.2594, 1.1168, -1.0157, -0.0132, -0.3233, 0.9986]\nstate[eef_state]: left_x=0.3013 left_y=-0.2344 left_z=0.1264 left_yaw=0.0228 left_pitch=-0.2812 left_roll=0.1234 left_gripper=0.9906 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2014 right_pitch=-0.5922 right_roll=-0.1423 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -10.5778, 6.4342, 0.9304, -0.6129, -0.0904, -0.5201, -0.0342, -4.1778, 6.3385, 0.9988, -0.0855, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e7708dfa111b9a7502b174b7db14cbc784b2677de63f2e983e1b8b929c2522",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e993a345046936c3838ebe2812082de1554a7b83c9e65ec5751139ad8a5ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e746980b2d95676a98602c000e8cde3b9bc4eafdf4730adc9f98fca2f577a12",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHSj5oD5kDZDkZbDih5IMVBUkAjTlDiLgIu25GCJfI5DI9o7F5MlgvekIef43zd_m3bJjW5FfEU35_7Ri-4w9DUo9Ga3VGTSgDcTbQ3ywT0laaAjXSU0c50TpxehkieltBwCX9-yYp6FFncdpEW-8kcXcEziKL-G21ogCjRBNWOfF1xPiVjF4umotLIGxnXH8f_nQZro91HrMrvl8rAFDyH2YLEQZTL68SDk6iVdjeHWDQQya4vjb0P0baSnj13izT20DHTKEIEygqlAnZJ1s8N3f1bEjDdJEdUUgQpo9OdaaEACGpdSmFWMdS5gt6DDkpVuDKx4sAhnjX_5fByWpkwxNrJW3ztZ498wZH5Z7RB04M7B5GYhnymgiVgwNMtbJU4xZh1zc6qOJ_cUkH39CagRXOijECedg96uUSgfl31wnhEAhSC_0PoaO4LqJdZ84fBHcWTK9C-N0RXvUINVbVre8mfbmu6D8DWivCXwj8RhhmTaeCSowVkOi-ukC06wGeWtN5UM5TlGviTSwNiB-_gc9qrcxetVzMVg0AEDBdLEmeMi_Fwvn3jIPYZUjIAioW4u8XuIxk9d5T5sMZH2i-V6-5qzrcs6o9d78U8ITAWNqrkxbfoqmpUuWf1kaqI-tRYG11s9UAir0XOsGjCRrbkYw0yengLMoMKqCP07IFnE5lleXQv8G2rE8mJgNvRPVhaambOxSWXrCot4jVLAGJkzhtE-JrE1Nt1gSCIk0SGhUgAzbcI88-ZZmjIzFflZ3CM7UmUA0kWSxlUPObEliYHS6w9La6y-65pKV8ea555O1yXDTwOajxAgiF0lm2T68J_rBj0K8SZuVZR1KS2WCoH_floqF1eU10Rxy3vfW9bbAKaP5FI8c82SiQeHCaUWzi8JuaAdNex5FrfBzU0PANLXb4OD4kT3g7diL0aUOH7NaoCsRUEPtcWGhFDOI9X0LjPdAH81yDxdrbwcEQ9OZy-hklQju_nKcL-vLTaaTzDVOl1LI1m-45GA6ECfE7kf9R2kV4bzN12_pBHPN4xWIf4DjZdWWlNNQ-mehsLZCAsAc5M2j_cMnsophETnVDYikIzZetp74bkq-odeNW_hMFmiG8r7Wx-s_mld2pKKIUVs8TlaUMfRhagoZz6HGmQhh9O1rt8FPq01EZhf34Wz-jL1csysLllxA7FSycNly_eRMnPDSZI0T6avjl0Xua8JDdRi2neTyZK4W0JUfhOgAqr0nXd8k9BNg6bSPC6uVOnfDl5cjIbelPjkmkiv3Cf8yg3B1njyqxE36O9x3qY7wBBW2jWgQUBBstfdqWdS4U2pvQnIFLuNYzQ5UJt8ujlqNrYoK4Ts2lSr8ivKTYSoLK71A==",
  "id": "rs_0e9c7659fc9f7f72016ab451d1a16887d0858dd339d2206bad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.301,\"left_y\":-0.234,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The inward correction brings the yellow fruit fully into view on the jaw column with the fingertips aligned around its sides. I’ll descend at this corrected radial position.\"}",
  "call_id": "call_biYI4idIJnW9AXNpM0yl96uS",
  "id": "fc_0e9c7659fc9f7f72016ab451d2003087d0aac7ab444d205a8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_biYI4idIJnW9AXNpM0yl96uS",
  "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]: [-0.9581, 1.6032, 1.1755, -0.7307, -0.614, -0.7944, 0.9905, -0.0132, 1.2594, 1.1168, -1.0157, -0.0128, -0.3233, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=-0.2358 left_z=0.1325 left_yaw=0.0201 left_pitch=-0.2765 left_roll=0.1 left_gripper=0.9905 right_x=0.2891 right_y=0.002 right_z=0.162 right_yaw=0.201 right_pitch=-0.5923 right_roll=-0.1427 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -8.8274, 6.3248, 0.8083, -0.5934, -0.0952, -0.6276, -0.1846, -4.2325, 6.3932, 1.0427, -0.0171, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:add253643ff484f6863f4067f10fcf8067b9ec88ca571463768af0cf4362b147",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962f33c0c0b4b0c6e09ce76579e93886ffe36e83b5d7270dfa76a5057d9173af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0709264f4200b9d8eadea6a35c5dd04dde25d94215788a991c89fac0ccd6eac",
      "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 102 changed as sent

message 110 changed as sent

message 114 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]: [-0.8791, 1.8008, 0.9207, -0.2005, -0.609, -0.7063, 0.0096, -0.0132, 1.2594, 1.1168, -1.0153, -0.0132, -0.3229, 0.9986]\nstate[eef_state]: left_x=0.3253 left_y=-0.2288 left_z=0.0289 left_yaw=0.0303 left_pitch=-0.2387 left_roll=0.0936 left_gripper=0.0096 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2011 right_pitch=-0.5918 right_roll=-0.1422 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -10.1675, 6.8171, 1.0769, -0.3297, 0.0024, 0.6911, -0.0205, -4.1915, 6.3521, 1.0232, -0.0757, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9405, 1.6287, 1.1793, -0.7139, -0.6136, -0.7662, 0.9906, -0.0132, 1.2594, 1.1168, -1.0157, -0.0132, -0.3233, 0.9986]\nstate[eef_state]: left_x=0.3013 left_y=-0.2344 left_z=0.1264 left_yaw=0.0228 left_pitch=-0.2812 left_roll=0.1234 left_gripper=0.9906 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2014 right_pitch=-0.5922 right_roll=-0.1423 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -10.5778, 6.4342, 0.9304, -0.6129, -0.0904, -0.5201, -0.0342, -4.1778, 6.3385, 0.9988, -0.0855, -0.0708, -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]: [-0.9581, 1.6032, 1.1755, -0.7307, -0.614, -0.7944, 0.9905, -0.0132, 1.2594, 1.1168, -1.0157, -0.0128, -0.3233, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=-0.2358 left_z=0.1325 left_yaw=0.0201 left_pitch=-0.2765 left_roll=0.1 left_gripper=0.9905 right_x=0.2891 right_y=0.002 right_z=0.162 right_yaw=0.201 right_pitch=-0.5923 right_roll=-0.1427 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -8.8274, 6.3248, 0.8083, -0.5934, -0.0952, -0.6276, -0.1846, -4.2325, 6.3932, 1.0427, -0.0171, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:add253643ff484f6863f4067f10fcf8067b9ec88ca571463768af0cf4362b147",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962f33c0c0b4b0c6e09ce76579e93886ffe36e83b5d7270dfa76a5057d9173af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0709264f4200b9d8eadea6a35c5dd04dde25d94215788a991c89fac0ccd6eac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHXVg0tPK_H83NpSvG9rIqi_YCsxC1khva8RJSyue885XwmHVvmUucOH-qefw_EdxQqQOByobQq9AgV86NTgVawp_ooipo_aCfq6BB6vCyLrnnOp6SoXyfZkQbqesVe8Ogv6A-XGiN3r9P2GOBGggSehUhZo_bXHl6GlECPfk5jWbQPZgJI6LgREx8K55z3DyU7jHZDOP-rGSQH4tD4RWb074yvCv8Xi68oNO-gjT3waVa7IoHzKsFzP-eEJK65KluPVgKMKe17BiVgmaqCzynKguH5V87Eg3fu1UzlNW50jj1B2XJwjanIb9ZUYIxDiCrPepborwRo9EtJpqlwym_caFXtkVE4TH4m3VUW7el8-jhigTt05nhMz_QS-r-M_Lcpb-vfKypLc9_Eisi5jBSOGyng2MPCtfQ8vJU_9MHiQbJdYSsO2dnGzvy3dKxWz7Eunm76XtU7Q0668jfWgEreo7TMNgFYqlwqmFuTSwYd69pRNSoQrdT6WQWxGX6n85LYx2pAto-grSG-bsduBLYBm8ogZJZwgxNbnMBtSrXVf_bcePeBxuhAO9ut3RDFMmOjuu_XGtWa_5G7mDbxrAmD6lG0kv6ZG-RAxBQWVf00WKQrNZ6c7zhVnWIqbvVH7PtVD1Qd4Kyd4Cj8ZKFYa7sZJ8jN_2SMCVt2S8ZPPnSKEcCT93kAv9Olr2uAV2XFVqixJ4KJ3KYkJ1t-dsjrPTEEYoAPq78LjwM_uQCCGEkPjRqYolAZaCOjg3SDQ310sCKcojelKGDJM6bIi65X9PPU-xGxluxbuk6-Pz7TOPhLlxhMNfLuruw9iyGIZWuxtwfXsr28nMtTqjiQaglb0F_wFp8SDf6dN6nd-SYzbNt0_AEp0N5MGzommi3Zg4jqgzWXfCHsPUxZBxOlfr0lEUQUW8n5msED9fmKI9rW9zhrP0vtx9mJJS-CkuGZ0gq3T7I9of8hCSBPOfXrb2TvrEyU8VdJywrHwdcq3Zl8rFXMD1pC_etlLhLUMZSiz0nUgD7U7lGzcTe5OuF8USvTjEbVdGrwS231IdaXxXRLMGdEPyBBLg2q_6crSJFGIQJ7ch2etWacPz72Z0o2i6nTAQJoY_K_jF-GZaZu4SPqkBr6RSF1zXn5vL3dzQPBWyAku_7YJMX7ZX7T6tgMH7JoxLQK_GW6Xs8HVvoePNBi6K27z4Ph1gb3l_VxRRzzWvu0TLrLRiwTW7_a4dkyqS_unN2Mm3oAzamQmEtXQIOZfBjTdh0uIseR4BgjUnCTZWub0ohv-fnbCPtG17Te5eAT9GkRboTWI225Ftc6UsQWDljenawpRxfPxxuWYEQteje_wxV0DxzNrh9G4ruu0BN6HKmvFtGYYeStRnt0yeQV2r8vDVjUo35UAHlhbOtSpsePS9BemBxHoGo3p9nc-x1CdwyPTplDa1KG8YO9nW6AtXS0943OpqRmf0hUJaj611-UiTOILr-8tSclY6h_AP5aMXNt0TPWLUh_l7CviuHo1uyCLujLxhLu_MV8aTOyRFUIx95ZxZf5hkF5W1cJ6mV2LNx3W_Z64y4St9UranBq6_CZKTQzLyLLZgH_zzcZG7lzbdGxhIJ_8ISl1nqj8o_0bHoKqmgVzz4ZnZ0VJdoDQkxLpWsoPnUwtcf36z57oeLRwSyAlW1_ha_cwm9aYywoEDcMyZOph3ynCb-dg7jRFvjnYC-EpKfuY6S70pkWBVSdcoUtVj21K28bfrlqslVo_qecznZb71E_xId5sC63MO1AbFzotFD7bzuUO-GIUSTrnXM40gkek42GGG8eHxrxQYPxmJJwhAh97M4Eam07U70MtWdXK2Dp5ywptRzZEdsgRRJKvibxmeriyxEUhvYmDrJ44SrWCQI9XnBL41trDzLXcvGI6E56wGzpWn6f3KaS1UqGatfnZarMDML3-IjmqgKiqLAscrP8tr7SOgE0DCiSrvOJrfs3pCmKZG8bXTLAuDA4u7eoIg2trjVC_IFebRGhisJ-gytfDRs7hatxPUhVcRu1WBrWFnETw21R2b7QnKLzoT4dWYSR-lG-m1A5zcRdIPTLK6ZAPAHquPlVzjCU39_O8U9IGR572nnOwY_nFRfJ_R7u5oXODCVeQO7lLoZQ30QCpiLXpLzmoQiG-aWZTLA7gRu3ADuLhiG1fWfHFG4psJIwI3uB4CNpCnUrewdzYebRPFzOl1bgAONLpPzwTYMUzhwvIi2EjjQGJ92jVhPS0LswqseL9NomiyMqq7dByLanS2wiurfP_WpYUzomrztk2Vg-SG8GzWRgjeH6vZyw-S6CbGKiqvB5Cyqmf2s8nXH_de9PFH2tbQ36ULSjxAxS4jtAKr33q39-Ivrkul3HtT0w-rK-DGYDF9YCVfexKv2mFSoTHHeo0M7S6B8k3YE=",
  "id": "rs_0e9c7659fc9f7f72016ab451d45a8c87d0b12dd5647068ac29",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.234,\"left_z\":0.09,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The left arm did not track the descent and remained at 13 cm, indicating an awkward folded configuration rather than contact. I’ll slightly extend it, restore the neutral wrist orientation, and use an intermediate height so the IK can unfold before the next descent.\"}",
  "call_id": "call_N4VRJcvFipGq4nik5RebpicM",
  "id": "fc_0e9c7659fc9f7f72016ab451d6a76487d087ff6d99300c69d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N4VRJcvFipGq4nik5RebpicM",
  "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]: [-0.9558, 1.6047, 0.8124, -0.1543, -0.7151, -0.6956, 0.9905, -0.0132, 1.2606, 1.1168, -1.0225, -0.0128, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3067 left_y=-0.2273 left_z=0.0786 left_yaw=-0.0048 left_pitch=-0.0869 left_roll=0.0476 left_gripper=0.9905 right_x=0.2876 right_y=0.0021 right_z=0.161 right_yaw=0.2039 right_pitch=-0.6003 right_roll=-0.1419 right_gripper=0.9986\nstate[joint_eff]: [0.4034, -5.8051, 5.6, 1.3504, -0.6374, 0.1685, -0.5348, -0.3077, -4.1641, 6.3111, 1.1062, -0.0366, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ece3f3e89f9a70e2117bd4cb0d00be7223e0d4448d7907796e68bdbb37cf8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa27af931d2812db01bab147f4e1819a3d6d7edca90b9c4f7597af9008c2860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4745218546832b06170b3858a675908dcc0c315f261de5f9ffd19a5b70f2ebc",
      "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 106 changed as sent

message 114 changed as sent

message 118 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]: [-0.8795, 1.6539, 1.1919, -0.6403, -0.6056, -0.7155, 0.9908, -0.0132, 1.2594, 1.1168, -1.0153, -0.0132, -0.3229, 0.9986]\nstate[eef_state]: left_x=0.3258 left_y=-0.2303 left_z=0.1276 left_yaw=0.0373 left_pitch=-0.254 left_roll=0.103 left_gripper=0.9908 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2011 right_pitch=-0.5918 right_roll=-0.1422 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -9.8803, 8.9094, 0.9988, -0.4029, 0.0562, -0.7985, -0.253, -4.1231, 6.4205, 1.0427, -0.0708, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9581, 1.6032, 1.1755, -0.7307, -0.614, -0.7944, 0.9905, -0.0132, 1.2594, 1.1168, -1.0157, -0.0128, -0.3233, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=-0.2358 left_z=0.1325 left_yaw=0.0201 left_pitch=-0.2765 left_roll=0.1 left_gripper=0.9905 right_x=0.2891 right_y=0.002 right_z=0.162 right_yaw=0.201 right_pitch=-0.5923 right_roll=-0.1427 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -8.8274, 6.3248, 0.8083, -0.5934, -0.0952, -0.6276, -0.1846, -4.2325, 6.3932, 1.0427, -0.0171, -0.0659, -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]: [-0.9558, 1.6047, 0.8124, -0.1543, -0.7151, -0.6956, 0.9905, -0.0132, 1.2606, 1.1168, -1.0225, -0.0128, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3067 left_y=-0.2273 left_z=0.0786 left_yaw=-0.0048 left_pitch=-0.0869 left_roll=0.0476 left_gripper=0.9905 right_x=0.2876 right_y=0.0021 right_z=0.161 right_yaw=0.2039 right_pitch=-0.6003 right_roll=-0.1419 right_gripper=0.9986\nstate[joint_eff]: [0.4034, -5.8051, 5.6, 1.3504, -0.6374, 0.1685, -0.5348, -0.3077, -4.1641, 6.3111, 1.1062, -0.0366, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ece3f3e89f9a70e2117bd4cb0d00be7223e0d4448d7907796e68bdbb37cf8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa27af931d2812db01bab147f4e1819a3d6d7edca90b9c4f7597af9008c2860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4745218546832b06170b3858a675908dcc0c315f261de5f9ffd19a5b70f2ebc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHboYAKrY9XMsTuVsUyuLPeL2Iurdt7x8jiKkPROMwpy3xGE88296uAtaF5mjN1S4DxYEmsGHtj4b693BFRkPkHLkSeMvqWAN5G9ccJWDbJ8QXza8bBprWrm7QDEvMUEGYKGOL-kQWjt7j4u4iQ8KDc7zYtorj5FD4ANBeBVssk-jkhZDW6IAE_PG3XosHd6QpM1fu0HZPKYZYixiBYQaO0PbccYvjJOPO24CObVEi9h5BbGvBdIzLE-YCPMFpWPbblRM3yYtFQzi5ykWnwNks8Dd9IS_AoKk_X_tLtBHDHDsAxSip4H1WGIYBjbukbneT_KfYZjy59SP4N3tEyRa2IUX537hz6bJcoFptI8FyOm_FqzxKX5yo3vTILmIVkzO7VSZO2haWoT79UTZqLUmR3N2fmMn0bk_fYULq1_i66Yffkv0SICMS3GcKft5k79y2K1j7PkS6l32ALfIRl-6-Qviw0QVoGPe34hU5qtFoI4wiBBNp-Q09BZdLCzR93md0uS-2nRz8RaROUrClPQ-hEsjV4Ga5i2BRQad1jI9XQ1J2Y1oVl06u-DTmPU1zwmXi1qjn9hgMicD9PCQfa2uRzNEnE24XWapU1sjYEG04dgJhiM_McZ145Eqvd5TSC9amthqRY1i8ItaVzVsCvmuM0G3UmmOU8wC1uiu5amw5e4YANleX84apMUnJ__Ot2f18Td2Sh38971eJ_HXlAxb7m6bKMMcNePx0SysheFz7uPO8E3XQAstgCssK2EgxXJuJptiUjzt_-Z3C3wEEY8-QG_RI2bIXq_WgVYHP69_5NNnckg8uZjIJEfWHqVevxs2pOSNAzzCEzhl611io5OSydh-I36iTTZL30zKSWd_V0uUK72OeicKH-kGCWQ5WTP6WybyX1730CCALz9WPsSoT61Q5fq4PhXhQEtVs-zsBkXrkIR7axScn_0dnq3318UgkUvqX8VjAabkCeEDJ1UUeSbGmRv3WAm8BEubAciQF-Pe5L9RY8OJ28zUWBWan8SCkbZPNlWkO3XJ-z157uCvi4mjiZc7gNZnVAfKtM91D-sgd-gOlvycZ_uozZ1cdssb6-FL8OtR87xHsTLiPBp-uSi87gOfVxYtmk-8CirSDYB8a9j9GNVdCkfwUaENaCoKmD8MdTqyPnNzyRARMFxWH5RhhLDLdEvJtnDF9mX-vONajQ7J-Luxy305aqrCqt8fITv2TrhJMxFCLGx1T8wPAZneQHk3igw8FsaIniOWkShiuWBAYfW1QgkP71nub_1gvBy-9hWTBbJ81H6MaD0QsgTMcOFC6dbL-YrA11_41MUf2eE9N3CA2_7FzcNKT3Emgt",
  "id": "rs_0e9c7659fc9f7f72016ab451da36d887d09e8e1138b85b8ea7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.307,\"left_y\":-0.227,\"left_z\":0.04,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The neutral-orientation move successfully unfolded the left arm to 8 cm, and the yellow fruit is centered directly between the fingertips. I’ll continue the final short descent to mid-fruit height.\"}",
  "call_id": "call_lXt4dLXFQYmGfky6VoETXYIq",
  "id": "fc_0e9c7659fc9f7f72016ab451da811487d0900634ef8a06bb34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lXt4dLXFQYmGfky6VoETXYIq",
  "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]: [-0.9672, 1.6932, 0.6788, 0.1108, -0.7467, -0.6804, 0.9905, -0.0132, 1.2606, 1.1168, -1.0229, -0.0132, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3039 left_y=-0.2231 left_z=0.0409 left_yaw=-0.0068 left_pitch=-0.0416 left_roll=0.0392 left_gripper=0.9905 right_x=0.2875 right_y=0.0021 right_z=0.161 right_yaw=0.2044 right_pitch=-0.6006 right_roll=-0.1414 right_gripper=0.9986\nstate[joint_eff]: [-0.4308, -7.5966, 5.7915, 1.6679, -0.4811, -0.0171, -0.6081, 0.0479, -4.2188, 6.4889, 1.0281, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5de6dedbbc5a7ae8086a82b0eda750b216419ffdadb784cc761c08afd5ac70b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda445b36ece9cf92007bff755a2160e4caf1c62e0e4cff7bbf2fc23352dc418",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98b5e454692b762b775066a09e9b998a727c5b6502c41289eb5b35ba82965fe9",
      "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 110 changed as sent

message 118 changed as sent

message 122 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]: [-0.9405, 1.6287, 1.1793, -0.7139, -0.6136, -0.7662, 0.9906, -0.0132, 1.2594, 1.1168, -1.0157, -0.0132, -0.3233, 0.9986]\nstate[eef_state]: left_x=0.3013 left_y=-0.2344 left_z=0.1264 left_yaw=0.0228 left_pitch=-0.2812 left_roll=0.1234 left_gripper=0.9906 right_x=0.2891 right_y=0.0021 right_z=0.162 right_yaw=0.2014 right_pitch=-0.5922 right_roll=-0.1423 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -10.5778, 6.4342, 0.9304, -0.6129, -0.0904, -0.5201, -0.0342, -4.1778, 6.3385, 0.9988, -0.0855, -0.0708, -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]: [-0.9558, 1.6047, 0.8124, -0.1543, -0.7151, -0.6956, 0.9905, -0.0132, 1.2606, 1.1168, -1.0225, -0.0128, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3067 left_y=-0.2273 left_z=0.0786 left_yaw=-0.0048 left_pitch=-0.0869 left_roll=0.0476 left_gripper=0.9905 right_x=0.2876 right_y=0.0021 right_z=0.161 right_yaw=0.2039 right_pitch=-0.6003 right_roll=-0.1419 right_gripper=0.9986\nstate[joint_eff]: [0.4034, -5.8051, 5.6, 1.3504, -0.6374, 0.1685, -0.5348, -0.3077, -4.1641, 6.3111, 1.1062, -0.0366, -0.0171, -0.0171]\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]: [-0.9672, 1.6932, 0.6788, 0.1108, -0.7467, -0.6804, 0.9905, -0.0132, 1.2606, 1.1168, -1.0229, -0.0132, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3039 left_y=-0.2231 left_z=0.0409 left_yaw=-0.0068 left_pitch=-0.0416 left_roll=0.0392 left_gripper=0.9905 right_x=0.2875 right_y=0.0021 right_z=0.161 right_yaw=0.2044 right_pitch=-0.6006 right_roll=-0.1414 right_gripper=0.9986\nstate[joint_eff]: [-0.4308, -7.5966, 5.7915, 1.6679, -0.4811, -0.0171, -0.6081, 0.0479, -4.2188, 6.4889, 1.0281, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5de6dedbbc5a7ae8086a82b0eda750b216419ffdadb784cc761c08afd5ac70b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda445b36ece9cf92007bff755a2160e4caf1c62e0e4cff7bbf2fc23352dc418",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98b5e454692b762b775066a09e9b998a727c5b6502c41289eb5b35ba82965fe9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHeIn_coogDFlD8NpFPjgKltHVbkbZxckI1XILF62u-eEG4VsY4gSpF80S0rSqjWScFpqpeAseSgSaKPnkt5xt7Vi03C5C15YNZIK22gGOCIB1-iCyqpD1zBM1qJ8F-Dxdy0BzUztTQqLNUzn8qjP6_2II8gzKWmAylCLXLyHVPZyB5jPLobIDKgDx8vSiNoCnEmU5I1bWHelPWSanrSHwbcHQSuysquHIatyHUyGWfEn2bewofcbzmJkxeQmENHL1JfYSIsU0shHyIQYaGWlkebXAPFVrKpsKT5-M0xq_94VuiVEoSEJAe71ZUkWBZHh4gtTXfAnNlFSEyDKfeY7bOVr6bQ3p9lQSTfhBMDrOq7U58oa0tnQDa3MKdSzaAQ0F_QE-_SBPLTbdlAxRfW3Fou8a9vHvqXVQ2Cfwl3ufdrgCp1HBtgM4kSXq_wK_PQIiKQAguycjpCGN3bXpo2fNT381jRt-Gqhh109aanrDdeHezIZnQeJYYFjUNwBi3dve8lEuQGMqiuv7OwWl6WTxzYBs62A4_ndFFGbZa1LgPNrSRtTZlBPkToPaId-78WP6_1Z-0d2gDKPKdW3WleWyL-td50m8Qb29GPyVQDJUCNrFsUP3xJg_fsqhnGV4NmOFVEmLLIgRQAMOLsEJVdpE1ybUX3JvZ7tWUEbKus7T6crYiGsv4s_ZaAQs1RP6Grdw39nPG8GYh4WmKzBS0KZnHhQWgkSUqDgQbY6TCU2Hx5RoAhEGTOcIelWihtrxPQ1cnUVHaa_joVBHsMczhxNkvJkb12iZdj90GMYzl4B1ml4o4519QqbfL3jkFwOh-ElhPbNq8z-losxTQyCAyxeM3o02FeB5DCpWsEPFhiCYSI6QLE5lNBK1j4gMgpT7KSmGm9FmqfWRvl7RNGrd_ppp_EXjxoW47015u5NufM7jB5Fncuuac_2kkLqAxiU1F3-MCRZjWms44C7XnVqjjxQpYB5mYp-WfK5y4WZ3fIjEhJC3GM_u-KviwcpE1BGW2FxvrmYzXcXq1NCQiadwjUNrHsLgEARqAILGX8OYA5F8cWb6PNj0JAgLQUav8lnHfCmWhMba0YQOi0SC_mWSjxbYtMjt683Pqh8XZz7u8jkd2cH8aRmKTCKBKfuNzFVtcCmOYP0QF_uLHHmXvarCeBcYyhSe88V2VoReZceynoe_mEAfzbu9Zt-fFD4Q7n9Mph23cVWopkkn8lZLn1sypxHwCElHJUl8lCdubVozWSxJ_AZ3p-GQdeG9iTZDjN0_h6U-s",
  "id": "rs_0e9c7659fc9f7f72016ab451dd299087d0880a36b0959360e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left arm reached 4.1 cm as commanded, with the yellow fruit centered at the fingertip line. I’ll close now and verify the grasp by the settled opening.\"}",
  "call_id": "call_0ang0fqWLNWlFNUvzVYQkcZr",
  "id": "fc_0e9c7659fc9f7f72016ab451dd4a7c87d083f231a0781de152",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0ang0fqWLNWlFNUvzVYQkcZr",
  "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]: [-0.9691, 1.7298, 0.6453, 0.2062, -0.749, -0.6857, 0.3223, -0.0132, 1.2606, 1.1168, -1.0225, -0.0132, -0.3256, 0.9986]\nstate[eef_state]: left_x=0.304 left_y=-0.224 left_z=0.0307 left_yaw=-0.005 left_pitch=-0.0257 left_roll=0.0152 left_gripper=0.3223 right_x=0.2876 right_y=0.0021 right_z=0.161 right_yaw=0.2041 right_pitch=-0.6002 right_roll=-0.1413 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -8.1026, 5.5863, 1.4188, -0.5299, -0.0171, 1.0232, -0.1026, -4.2598, 6.3932, 1.0037, -0.0904, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612688f332f99b1058adeaa77dfed1998157a2888569ccf8cf4cb52294cb0f87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb9655f0e71bdfff56b6fc5a77789c9098be78bd4e6bd023d673981d232bf476",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5826ffb8f49423f9475a3dab5f712d65f8c3c06924782ad9717aef5c1f22a317",
      "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 114 changed as sent

message 122 changed as sent

message 126 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]: [-0.9581, 1.6032, 1.1755, -0.7307, -0.614, -0.7944, 0.9905, -0.0132, 1.2594, 1.1168, -1.0157, -0.0128, -0.3233, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=-0.2358 left_z=0.1325 left_yaw=0.0201 left_pitch=-0.2765 left_roll=0.1 left_gripper=0.9905 right_x=0.2891 right_y=0.002 right_z=0.162 right_yaw=0.201 right_pitch=-0.5923 right_roll=-0.1427 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -8.8274, 6.3248, 0.8083, -0.5934, -0.0952, -0.6276, -0.1846, -4.2325, 6.3932, 1.0427, -0.0171, -0.0659, -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]: [-0.9672, 1.6932, 0.6788, 0.1108, -0.7467, -0.6804, 0.9905, -0.0132, 1.2606, 1.1168, -1.0229, -0.0132, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3039 left_y=-0.2231 left_z=0.0409 left_yaw=-0.0068 left_pitch=-0.0416 left_roll=0.0392 left_gripper=0.9905 right_x=0.2875 right_y=0.0021 right_z=0.161 right_yaw=0.2044 right_pitch=-0.6006 right_roll=-0.1414 right_gripper=0.9986\nstate[joint_eff]: [-0.4308, -7.5966, 5.7915, 1.6679, -0.4811, -0.0171, -0.6081, 0.0479, -4.2188, 6.4889, 1.0281, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 1.7298, 0.6453, 0.2062, -0.749, -0.6857, 0.3223, -0.0132, 1.2606, 1.1168, -1.0225, -0.0132, -0.3256, 0.9986]\nstate[eef_state]: left_x=0.304 left_y=-0.224 left_z=0.0307 left_yaw=-0.005 left_pitch=-0.0257 left_roll=0.0152 left_gripper=0.3223 right_x=0.2876 right_y=0.0021 right_z=0.161 right_yaw=0.2041 right_pitch=-0.6002 right_roll=-0.1413 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -8.1026, 5.5863, 1.4188, -0.5299, -0.0171, 1.0232, -0.1026, -4.2598, 6.3932, 1.0037, -0.0904, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612688f332f99b1058adeaa77dfed1998157a2888569ccf8cf4cb52294cb0f87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb9655f0e71bdfff56b6fc5a77789c9098be78bd4e6bd023d673981d232bf476",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5826ffb8f49423f9475a3dab5f712d65f8c3c06924782ad9717aef5c1f22a317",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHjQwCS9ieyozUINVcTIDaTkt0xNhzS1FXbe15HryS7WKKKmoZGsIAyKJ3TkqDRxm75hTvnnOb1leqBRj6L2z5XXgQJJ21c2RZM2meUNYUje6qmP2O9A6ly-sBrU8dkCmpFS3meaS33NhYHvncPFa8Bg_djAGoNntkRJbV6KVl3sl4u44sT15Q2KNxnIToSBkylku7zerK7mzSUySzIvCWH1TfeL_e_hkrQFoKvXLWEH1VV5N0iGOzxFByRSVneXgkKMMlwMGpF03LYZURIFgN9jYZKL70Amlmur-dTzc3ENRu0P4e9gFd6I2H98wIxkkgVhzboZoNktYahpQqYZRJzKmAAPjAYj31CVuLKJtTlTimLf3Puan1OArIr1R8_i2SboiC5OL0q7VsYEm40-cOEKQ1dC41DShPXdwRX2y2MiR2pruNhhGCJdI-h7lJZ9oRwKacvyr1rCyaG1uBYKA3zwbHsYJ2dUHH1C7QhcWsvacOXhQPBploSmFxY9gFGOcJ67MdMbBiuQbPdvbubDYtUriOaz3ws7I3Mv5cXJHhtKYSP5k6J7oQgpcsXAJytdUcUMkxC9gH7x0FWYFnpBMuHIr4a3CjCL-KMYR-euiCRHp76p3CfNmva4ZzZcCT0nbBij5UjBmXWAs3ziY-cMSVdE61KuNmrcipZjqRmuBWtX1r6WZYKRYZ56TWX63GIeMpE__FNyG3OzBM_qnT5HjUq-3ErzzCCZkQ73R4WiFme2iRgpE1881EINIWYmGMAluCgE68AHPaSO7-3qIMrW8yyPaDxdQxDDI-jPls0_M7xVtZp7h1QBjZMrgMSNUrB3KacUKR9JHvKlLX5M5UH9gUMUox7S0CaH5M5IucxYjyv450BkAOuK-nJ2rtODzW8osoUeOhhSmTImakOfZER3MYgo7qWVnUEcBn2YUp4htbdkzqO4u99tZgBOPyGXYsxOLXJfIqXXScSXBXLKb1ClMGpen5bOINcQEq7ZpSHoG145Io1_xMSa4zPQTLbcmISl4a5u2n2sg4UYn7FcHjY0nEW-0nLYEbd0q8WTYBe6iqpKO1UN00puQJ3l1dCIKhEsBZk6UWaT6LG5BpECis6qncORtqatRQ-lKMmsNYr_l5FejJEyqPG0zNUHIYKvTd_83kB3WxvKBLvLcRhjgSEM1iFLUzTRP48iKQSpCL8T6HOa0OrxqX2Fmc4Qzx61YRak5EPBh-MHgsh17SOqyOCsObMMxCMXj6zcHm1ADxh80vnMQZ7O2ypyY-_eufuYs54q-woslZaWjA1xgAXhosYN98pNs01ZzAoLjzmzxbPnzeQgnx6zfT1nw9w6qSni9SkmKkCWbq2I0FSfPZNrshbWK1kuL-zNeTT-E3WmRmgFZNZsXjnFQn1H62FexqiVadHDz5-ho0-nudrs0ZRJN-7kTtbPJpNWlotl_-AuRpqkDoNpWLDr_4eVjX-BrrxHHJqCyi2OFsSMsCJ0CarjB49Z_4r9BvkQ5XSXFy3DqUlAx1zF-JgXAr1MQlwUbJWBS6ot63jjTb2MJ9_hGY8bJYuqGvKODharn5ogmahnLAJe6zjY1cLG07OWJvvtQ4dvI2YKmUI6jCTq6jvpe9Z11QxCgZQYNZh_qyzL4Nm9NY7nxm1KEIRxGOSq8H0MyPcRRxe-foQd7_sAFrxAZE-9jSRjPu5uOyg_Z84JiB2QFR3Uj8C1HJjbpK-MkXwVd7ZvGs8mm4rdK10QtobYrRHei7Bf67ijfJNQmtBQb0z6NQ_qYdHG6nxSlsUMyiq6BKPQ0Oqc7VZxkCmIG73bS5C_iZpXycc9E1byxCJVYZcHgDBUjsCZKuTjAmt_VxLBseeqo2NaZiAZpxwGcxo7I-f9bBGAtXgCNRyxxig3IePee7jPiVzZejc1jDkgsqGBjSR1hqEwq-YVULqouQt0vcONYV3fTkVLsExoD_9dg8v8gg6xp2yx_hO5iXINdjMhcijzHwTySUIKdG22Ta04ykw5gyGdW7cmjE4tc9ZD8ZYsMEWOezfGnnls4a0qDthaFqvKrMvgaFg",
  "id": "rs_0e9c7659fc9f7f72016ab451e0744487d0b5808763a1183a9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.35,\"left_z\":0.19,\"left_gripper\":0.322},\"note\":\"The gripper settled at 0.322 with the yellow fruit held between the jaws, confirming a secure grasp. I’ll carry it high and rightward over the blue bowl while the right arm remains parked.\"}",
  "call_id": "call_OvtEIjRXnEgR7eeWJ6NejzLy",
  "id": "fc_0e9c7659fc9f7f72016ab451e2ad0087d0b823ec09b196ad21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OvtEIjRXnEgR7eeWJ6NejzLy",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0866, 1.8801, 1.536, -0.6033, -0.8024, -0.831, 0.3227, -0.0132, 1.2606, 1.1168, -1.0229, -0.0128, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3315 left_y=-0.3497 left_z=0.1809 left_yaw=-0.0088 left_pitch=-0.0267 left_roll=-0.0239 left_gripper=0.3227 right_x=0.2875 right_y=0.0021 right_z=0.161 right_yaw=0.204 right_pitch=-0.6007 right_roll=-0.1418 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -9.4017, 8.1162, 0.989, -0.6081, 0.0464, 0.7009, -0.3624, -4.2325, 6.5709, 1.0574, -0.0122, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e917ced28e38ffd4b7fe2317d61e128be6674763f5ef2d5ef63e5298fbbddbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84d217997c01990c7effce290f4aeebfd049c35aa075ed620e79d86d449871c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b96d19cc412efe1b44e432948e812fd02c0f50557cfd6b0360775785a2d5f13",
      "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 118 changed as sent

message 126 changed as sent

message 130 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]: [-0.9558, 1.6047, 0.8124, -0.1543, -0.7151, -0.6956, 0.9905, -0.0132, 1.2606, 1.1168, -1.0225, -0.0128, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3067 left_y=-0.2273 left_z=0.0786 left_yaw=-0.0048 left_pitch=-0.0869 left_roll=0.0476 left_gripper=0.9905 right_x=0.2876 right_y=0.0021 right_z=0.161 right_yaw=0.2039 right_pitch=-0.6003 right_roll=-0.1419 right_gripper=0.9986\nstate[joint_eff]: [0.4034, -5.8051, 5.6, 1.3504, -0.6374, 0.1685, -0.5348, -0.3077, -4.1641, 6.3111, 1.1062, -0.0366, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 1.7298, 0.6453, 0.2062, -0.749, -0.6857, 0.3223, -0.0132, 1.2606, 1.1168, -1.0225, -0.0132, -0.3256, 0.9986]\nstate[eef_state]: left_x=0.304 left_y=-0.224 left_z=0.0307 left_yaw=-0.005 left_pitch=-0.0257 left_roll=0.0152 left_gripper=0.3223 right_x=0.2876 right_y=0.0021 right_z=0.161 right_yaw=0.2041 right_pitch=-0.6002 right_roll=-0.1413 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -8.1026, 5.5863, 1.4188, -0.5299, -0.0171, 1.0232, -0.1026, -4.2598, 6.3932, 1.0037, -0.0904, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0866, 1.8801, 1.536, -0.6033, -0.8024, -0.831, 0.3227, -0.0132, 1.2606, 1.1168, -1.0229, -0.0128, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3315 left_y=-0.3497 left_z=0.1809 left_yaw=-0.0088 left_pitch=-0.0267 left_roll=-0.0239 left_gripper=0.3227 right_x=0.2875 right_y=0.0021 right_z=0.161 right_yaw=0.204 right_pitch=-0.6007 right_roll=-0.1418 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -9.4017, 8.1162, 0.989, -0.6081, 0.0464, 0.7009, -0.3624, -4.2325, 6.5709, 1.0574, -0.0122, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e917ced28e38ffd4b7fe2317d61e128be6674763f5ef2d5ef63e5298fbbddbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84d217997c01990c7effce290f4aeebfd049c35aa075ed620e79d86d449871c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b96d19cc412efe1b44e432948e812fd02c0f50557cfd6b0360775785a2d5f13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHnjyBckFGMqWe_gLN_Pd9dCp6pthSU5rArU3GeLsgkieCLNvJye4wb4xkw0SXPwr8tI8uHv92o8UT51dg_JYj-kKExsBSoIFMjvDGmU0OQZJgMAFW6yyQhRU6hFDBLbWyp2Vlc3U1zoS88mJ4WkaDkpJ2s3Tqq_FrxsJhcW9WcbYYrAHQPyT4f0Lls1aoxxQti2P7Q2m5wg73c8xbyZAD2lszCuOJGJwQ4lzypvDvWt1MjWJ0LCAopbb1zJwv8XprMKu9XucJc8W0JskjMO5eCXGcrWCWfVAowH1HwYx2LnDXf55rzqvaluGrItU8j8GrerQwkPhLRgRPF6TwuDHafbmC_2RL9tGIcuDRTwZF1mxx9hC2Teic4-w8pUkAcld_YAwf1pFnYHAolCHpgscVak_Ywk8Ff6OrEMX6ZLHim47boNIhvQBjn4R2m6c-OAO_Jx2yHkNuQQ4ag30aVNE6Hb2MYGK4L9qemfI2-Q-CIdFvfUopxMNw2qpzVY4YSVhQG2h_fLEWsxGklsHrjKyCEZFMwn_N0FV3xziPhSJWqpIOF6C2BKEEK-rs7Ogazzs5B3tHkBex-oj0QOwtraTn8UwoOS7WhwV-IqMoOXA2CPyRmrZR83lZ-OPua7whNrWnOWfjkfgc4BTKWUWhWSpqx3CZ3Bxc4j2nbUkd-nJB9NLsA0oUqMIuXzEJq8O8u0d5wwR3XzUNfQjolMiCSCHFLi17zcREsQJSwwFHB-cZ4QMtZvHkKZcYpBn07OFcQc1FzIitBW70pSrkQ4e_IjAx0oPRHu79mHuUySek_qWYEJxgDzA7ebdFuBR2C0E8xXcuoPirddprkdTnU_T__UZc_Z66mu5osqpEZeXQhMH_0x045ywPrB-1K4j5QpvOFM0wLdhtngYFzM2bpwlWhq4jxDAw0dQ8-ZPBA55ImVgtQCPV-riDB1d5C6v0x46asTpRRIhpM4-v2kK2hG6kOHzR5Hbl2Z--8SIX-BwjuG2JPvGTTw7GaG4dGuiixbTZK_RtzxGEtAtp8x10hWALmnBpNxs23-tjiR6xPr53OEWiW26UtYsDPGXMuYbcqJoUGHFKM7L6M1wChR2RBWqfBUU7nfP2SDuw9RCwaEyJElDPCNKSmx8Gr9rYR-MTA_2nOUYQVR6yd08Y4wdilLbdFsNFY-gEGI2-zHLGmyJ7bJcMu6kKrdxcdx7LBVQWglHuM-ev2zv150G-MmSUqNl88BFVdV2Xz6Zs1ymYm6BZ0i4Jb9zmyvs7Wc2YorzktJsmAsQLKOIZ750V07gwYQhXLuAg-M3OJ3DGsxhBkkGVHRYMpI9ZFFeyNasJCtGLCgzUx2678",
  "id": "rs_0e9c7659fc9f7f72016ab451e6114c87d09198de758800ad76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.332,\"left_y\":-0.35,\"left_z\":0.09,\"left_gripper\":0.322},\"note\":\"The blue bowl is centered beneath the held yellow fruit in the left wrist view, and the pear is already visible inside. I’ll lower the yellow fruit into the bowl before release.\"}",
  "call_id": "call_7HIOjmVbLhCRGRDFXKFilbdt",
  "id": "fc_0e9c7659fc9f7f72016ab451e6708087d084b82caa269f00be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7HIOjmVbLhCRGRDFXKFilbdt",
  "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]: [-1.087, 1.9602, 1.3079, -0.3447, -0.7929, -0.8352, 0.3214, -0.0132, 1.2606, 1.1168, -1.0225, -0.0132, -0.326, 0.9986]\nstate[eef_state]: left_x=0.327 left_y=-0.3441 left_z=0.0924 left_yaw=-0.0106 left_pitch=-0.0572 left_roll=0.0126 left_gripper=0.3214 right_x=0.2876 right_y=0.0021 right_z=0.161 right_yaw=0.2043 right_pitch=-0.6003 right_roll=-0.1415 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -9.2513, 5.7094, 1.3162, -0.4762, 0.0024, 0.4078, -0.0889, -4.2598, 6.2974, 1.0183, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514c87a655272fcc61774c3bef9e1327d9706702c8b898c63ae703c57df06329",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d6d64c29073f6452bd2057c543bbdd08d34acdb7ebd776732014433be74c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1976155fb3b22d89cd85ab0f782322c2d74c2f0c756db7c51005f187a3d228",
      "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 122 changed as sent

message 130 changed as sent

message 134 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]: [-0.9672, 1.6932, 0.6788, 0.1108, -0.7467, -0.6804, 0.9905, -0.0132, 1.2606, 1.1168, -1.0229, -0.0132, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3039 left_y=-0.2231 left_z=0.0409 left_yaw=-0.0068 left_pitch=-0.0416 left_roll=0.0392 left_gripper=0.9905 right_x=0.2875 right_y=0.0021 right_z=0.161 right_yaw=0.2044 right_pitch=-0.6006 right_roll=-0.1414 right_gripper=0.9986\nstate[joint_eff]: [-0.4308, -7.5966, 5.7915, 1.6679, -0.4811, -0.0171, -0.6081, 0.0479, -4.2188, 6.4889, 1.0281, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0866, 1.8801, 1.536, -0.6033, -0.8024, -0.831, 0.3227, -0.0132, 1.2606, 1.1168, -1.0229, -0.0128, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3315 left_y=-0.3497 left_z=0.1809 left_yaw=-0.0088 left_pitch=-0.0267 left_roll=-0.0239 left_gripper=0.3227 right_x=0.2875 right_y=0.0021 right_z=0.161 right_yaw=0.204 right_pitch=-0.6007 right_roll=-0.1418 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -9.4017, 8.1162, 0.989, -0.6081, 0.0464, 0.7009, -0.3624, -4.2325, 6.5709, 1.0574, -0.0122, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.9602, 1.3079, -0.3447, -0.7929, -0.8352, 0.3214, -0.0132, 1.2606, 1.1168, -1.0225, -0.0132, -0.326, 0.9986]\nstate[eef_state]: left_x=0.327 left_y=-0.3441 left_z=0.0924 left_yaw=-0.0106 left_pitch=-0.0572 left_roll=0.0126 left_gripper=0.3214 right_x=0.2876 right_y=0.0021 right_z=0.161 right_yaw=0.2043 right_pitch=-0.6003 right_roll=-0.1415 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -9.2513, 5.7094, 1.3162, -0.4762, 0.0024, 0.4078, -0.0889, -4.2598, 6.2974, 1.0183, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514c87a655272fcc61774c3bef9e1327d9706702c8b898c63ae703c57df06329",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d6d64c29073f6452bd2057c543bbdd08d34acdb7ebd776732014433be74c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1976155fb3b22d89cd85ab0f782322c2d74c2f0c756db7c51005f187a3d228",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHqMqk9I0171ZhPG0m8cDZSWx2lWEZqJ2gqk1i9S_NJmx5gyCcqY0HQu0-qCePUqQ5KeXvSBtM1m7HnIos7F46T1K8iKLpBV0ryoqEb9cimkQeSmbxMboF4-1z6I0StRJm2d6nfZveH_opTxk5kO3vFMM9fGxsXdoz4v1qkXSRqP2rjj0vEaaoXv9jXiSxBjaSnDRYiPBZxA-Fzjr8Gv1d6I5bChBkDLLcbMhjlttVvRMJiSVuYIPr8RX3m3jAn9E_P6L6CwtsrG98Rm0Xf4bBna63gcC7c26_DHM6pEFOCyjJ3lmmuxVtS3GzSZmWHRjztTM7oKRTuo3o5C3iigVkVPrBh7FvtcnB_2h2j7UHnncdyXKSt9MVeCT_HzY53NYqQiNHd7LiU2ZE2FNN-nTEpoDZ7Dj_2JBWk4gzX1PnC8-CZlBt7tPNpxDqwC2TCI0PhVtR4WNxSrGHp6n4rpltVTXAfQX0TGZQzc5k15c5JmAB6z8dZRXZMOyEJx9gr-g-hChFmGBFjqPK7D5MaLSNrivzF0IekXsebTg_MKYt0-Ec8FOs-auM6spzrmv_BbFSCjv8wli3wbhnI8D5hqJx448C1N73qJzm3MnwgMVEOIjAuU8yVpI0ziLXL49Rrg33jKN6vRBxpmj6MtX4vZTcMyDHcIL0f4zEoYdLtKGYYMRGPcdk4qvfiQW2BZi6YrPiuUVXsgK5zEwevl3OuGRJ3oKe-EhDyuBCtJFXo29c-HuhEbfP1HZdCVbKfe5yXipldkXB3t1ieDjeMB0lmAYxL83B7x4xo9Mv0dtFUk3OC4H78iUkH1KdmT_9Pn33vtEjZsSbaapWlc-3-1bb2misJPcWas2SXaj0lnJS3yRjomQcwQym7fSnj73YVOQPS9yLcNOLAQP_rY4T0ZQ-ljmLJV6mI6i4Kmbsjf7yPmMP6OqS7dWPOpBXihp2BaZMelY7mhC87p8pfK7BHGXIRY_Lvkl200SL_m9qPTV50UXypkSoWZZ5aQwPYrC_QXX9SQ5mIjEzVER4vOLVjIFjoCC2TcQYqww1U5DS7TL5XpLukcVyJ4OHz_6dpgaQdIBHKrpitMRgOm-DrhcCwPuCXLDpexUpUxelGn6HIoTVeCTBUNMBKzhs7slI7GwOpqRXSWici3CS-p8HnwEvL-xSGe68a0k9xHXXKLVTtswWpabImlVSYPPRwxZB_ta8BClI3oAZ7QL0IWhUbDMNelUBNFIR-zYb_Z2Bcbk4PCVfd18bowyc=",
  "id": "rs_0e9c7659fc9f7f72016ab451e911ec87d0bf5c94ac1b1ccd9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The held yellow fruit is now inside the blue rim beside the pear. I’ll open the gripper to release it.\"}",
  "call_id": "call_1NY2iebbUJf1fDTTjYanaYRg",
  "id": "fc_0e9c7659fc9f7f72016ab451e94ddc87d08bae129269201cf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1NY2iebbUJf1fDTTjYanaYRg",
  "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]: [-1.087, 1.9789, 1.2903, -0.3439, -0.7925, -0.8391, 0.9906, -0.0113, 1.2659, 1.1152, -1.0302, -0.0135, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3246 left_y=-0.3396 left_z=0.0785 left_yaw=-0.0067 left_pitch=-0.0742 left_roll=0.0407 left_gripper=0.9906 right_x=0.2857 right_y=0.0028 right_z=0.1583 right_yaw=0.2088 right_pitch=-0.6143 right_roll=-0.1372 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -11.7128, 7.4188, 1.1502, -0.4029, -0.0269, -0.8767, -0.2256, -4.6838, 6.7077, 1.0672, -0.0904, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8608961a187f971bbe3313d01e6e96fe90cbe76fb79234398a789b9a9920a02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e339ea064a705e15a7b8737018fa06a6c0b13f2798a755f408ac06efaf67fd8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34983387ad2c47d3afaf7f6faacd0fa4e836d2ce5fbd87264a1ba8f7de8c35cb",
      "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 126 changed as sent

message 134 changed as sent

message 138 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]: [-0.9691, 1.7298, 0.6453, 0.2062, -0.749, -0.6857, 0.3223, -0.0132, 1.2606, 1.1168, -1.0225, -0.0132, -0.3256, 0.9986]\nstate[eef_state]: left_x=0.304 left_y=-0.224 left_z=0.0307 left_yaw=-0.005 left_pitch=-0.0257 left_roll=0.0152 left_gripper=0.3223 right_x=0.2876 right_y=0.0021 right_z=0.161 right_yaw=0.2041 right_pitch=-0.6002 right_roll=-0.1413 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -8.1026, 5.5863, 1.4188, -0.5299, -0.0171, 1.0232, -0.1026, -4.2598, 6.3932, 1.0037, -0.0904, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.9602, 1.3079, -0.3447, -0.7929, -0.8352, 0.3214, -0.0132, 1.2606, 1.1168, -1.0225, -0.0132, -0.326, 0.9986]\nstate[eef_state]: left_x=0.327 left_y=-0.3441 left_z=0.0924 left_yaw=-0.0106 left_pitch=-0.0572 left_roll=0.0126 left_gripper=0.3214 right_x=0.2876 right_y=0.0021 right_z=0.161 right_yaw=0.2043 right_pitch=-0.6003 right_roll=-0.1415 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -9.2513, 5.7094, 1.3162, -0.4762, 0.0024, 0.4078, -0.0889, -4.2598, 6.2974, 1.0183, -0.0659, -0.0464, -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]: [-1.087, 1.9789, 1.2903, -0.3439, -0.7925, -0.8391, 0.9906, -0.0113, 1.2659, 1.1152, -1.0302, -0.0135, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3246 left_y=-0.3396 left_z=0.0785 left_yaw=-0.0067 left_pitch=-0.0742 left_roll=0.0407 left_gripper=0.9906 right_x=0.2857 right_y=0.0028 right_z=0.1583 right_yaw=0.2088 right_pitch=-0.6143 right_roll=-0.1372 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -11.7128, 7.4188, 1.1502, -0.4029, -0.0269, -0.8767, -0.2256, -4.6838, 6.7077, 1.0672, -0.0904, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8608961a187f971bbe3313d01e6e96fe90cbe76fb79234398a789b9a9920a02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e339ea064a705e15a7b8737018fa06a6c0b13f2798a755f408ac06efaf67fd8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34983387ad2c47d3afaf7f6faacd0fa4e836d2ce5fbd87264a1ba8f7de8c35cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHu_NIe0ODE9RQsJc04LFdzmAG2bi8aquecwUK2sUbXcmrW4zL9ZZmRB8yUVvLu3Bs4LyAwzhbE3w-g6W9s8TRKMjMAYvknVllaK-4HPkjrEJuWq86RBwPGPjFKk2xjFMZWSgtffzn34x73EGmKqLEEYexBnoR4Ph9oqnDtoWTmjSKORa7EOaX31XT8xQsONpYYTeRbBpl23wnQbZjtm0yxgK7Ai-ByXMNMpGCzSAcxlr3ox7Evb-_xyE0auaPxyunHpH-vUmVFXfauXoNW8VVBQvep9iP6FlVKMGgaIiEPf92TgUrfMU6ck9CXTTi-zptHSfF188W7Iy85UhCFEizfpggWpd9YA2jedxl_ALdihtWo2XpVEtPd3DezLS_npcwst1iQgSFtzKnFJgB3yp_7m-S3v2LzNKLeZgSpVrF9PdIJ-IOQPGblVZ_g4VZ8pyqw4G5t--KLDL8bbdPNY1egrdl6lcG-wzxeNrbqAf_nni2S6uzXpVZ235Tzo9z2HfMQM3QTJV18aVBSP0ebfbxkY7V6mVidtbZcNJEc7l7_rev3ba8ObyRvJaSIz2BVDvVXiTmdrN48Ztxch4RZsqmck0IkVuzT8_v3j8_erjBLtoMvVkSHR8IdvHSKF0L1Si8ZslLCMb3Y-fiKEJHY2pYFjH4jKcMYl2yoZ6SGtXXwI09RGzys9TjB3bL0edirPm1Nj7YCdKy-TCBdGPKOzgBD98GGoXyNumeDeQeT92Hx4wvxxVN6lhzNp-BLu6AD-DxcZSSTYHg3pq4LsUNDje-ZapwBkCTi0-Pl2si8g1ofJF8j6qlaaM0GBBqgDI8z8x4CUlGFz9w4cPrKtPykLhrMYqls-xuwHPQ-0CkojiRb9u3bLTKpmoeSiYDPcUIMg0C60taCd1vyU6wy3Q50Ey1OThzdgve1ngUM7MxlC6lq2KHnbLA65_xAxBhX52bszf3QemMl12FOKdTdX0azOwfRmp6XioLCI5SIgUwwqALVuinRxLINQBTurX7kjuM5ZQSVkHP_Y0eXwbHpa9-nchvDKVixXTgvimuHIRMSLJBbTs0poTlRIl3MvUMaORJUsd1dhjXeV4s6440MjV_gIvjyiedsVIGOogOIHeMA0By4l-gtmXPDNVNNBdPZ8KTxJfSDedPQbnl6uHpJRjzhP0EGTe0sTZwCOCnt576YKHu1h324cl7bBu9-jCO6ZMuZ6WzOcQnt-reIrTGmyuR-guneIxf7faGR3_lzap7Da9tUuj-Cu5nESmg4oT5FtEY4A7JQlnEWCe4Otut8SWYVOJLJtAk-xFlyfoBM2zAWTTEu0B4BAeBEptHB4FIdZU8AiAKLzt4f-AIdrl7VQl3YYc5Q6aV1EXQfMnw4epo_cYP0IyF9LULytXYBJ3rLUhlqrEAiGdB5H_AisvIkIpP0lwXSeNCb1chWtdZ6WBIK8gQiS8o4XD2ZH8Z0YUjbQRVzn27_kUT78RunHdkn1ClW2znbfVpHR6gN-dD8cKbyqjmMkSkBW0Hl4by_9Swk1BvpeVIMX7GnzC7MG5cTuujEBdCPu21jqL0ogQ-ERaJehezMU4F8SVPKOw7Xm9MuKWjqUzSt3XyqWlgZTbEfF3QCYr7Mwcca_LSz8yYd9gEp3hiDoMhLbErGqBWVelQKzWu64LANpm3XWg2u9JPB5dAby4Gt_H5JQWgkH-uZfgMyOG5MAKAiuFUExHyNPup1jgZriKFCnwaf9SryDKjbFOtYJoK7BF8m8A5hZ77b62B_9BkwfB_7CwXUD8QOgXUuik76Aumy7WSTU-pj_fBdDto-NAthVA251wOWUqPy6tNdVIRjJWB0EsPpQhiW8FjLbNNZXWHbPam5lwFHF6rGctOlniV1OXu_uvYRF1TYDXgBcksm559Vo-KJN4eA-SRzNcA0eK1rPVLXWF395GuY8_OF50grVQgd4jkhCww6cCcSNvbj2tal9BuYT9aaFQ0hMvlpAelGtkPs47-hyCIak489foR4REYwxJr3oF-FLDfExOi6GlLUwIF2BOFhqpd7NPY51YTqfYjUKvlfIJIFDroPk9bhhOb4IXnaWffrmRrMRBc19QjW3Zy_yvUGvN5IgcxP1oPu",
  "id": "rs_0e9c7659fc9f7f72016ab451ebfa9c87d0995239f0ccefa23a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.22,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"Both the pear and yellow fruit are visibly resting in the blue bowl. The remaining dark fruit sits left and slightly farther forward, so I’ll raise and shift the left gripper above it for the final pickup.\"}",
  "call_id": "call_diKFfx3h7KsA48DrRUAzxpt1",
  "id": "fc_0e9c7659fc9f7f72016ab451edbd3887d08bdd1d43bf72c24a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_diKFfx3h7KsA48DrRUAzxpt1",
  "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]: [-0.8162, 1.599, 1.1065, -0.3603, -0.6441, -0.5884, 0.9905, -0.0132, 1.2602, 1.1011, -1.0218, -0.0162, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3613 left_y=-0.2241 left_z=0.1539 left_yaw=0.0236 left_pitch=-0.0733 left_roll=0.0246 left_gripper=0.9905 right_x=0.2845 right_y=0.0027 right_z=0.1558 right_yaw=0.2096 right_pitch=-0.6138 right_roll=-0.1343 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -8.6496, 5.9556, 1.3944, -0.188, 0.2759, -0.5055, -0.1709, -4.7521, 6.3385, 1.0672, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac2d71cb2d425581e39ef3a4f6af68fa73abe711d5e38c66ea4c9a31a7ca90f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478256f1617bc96b86a5a5b92412ea5d1f7d0b12e12055142780b7a773ad89c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e7dbc803ba14b447c4b398cc30c369134662efa13c7b61030ac141fd3df8b1",
      "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 130 changed as sent

message 138 changed as sent

message 142 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]: [-1.0866, 1.8801, 1.536, -0.6033, -0.8024, -0.831, 0.3227, -0.0132, 1.2606, 1.1168, -1.0229, -0.0128, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3315 left_y=-0.3497 left_z=0.1809 left_yaw=-0.0088 left_pitch=-0.0267 left_roll=-0.0239 left_gripper=0.3227 right_x=0.2875 right_y=0.0021 right_z=0.161 right_yaw=0.204 right_pitch=-0.6007 right_roll=-0.1418 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -9.4017, 8.1162, 0.989, -0.6081, 0.0464, 0.7009, -0.3624, -4.2325, 6.5709, 1.0574, -0.0122, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.9789, 1.2903, -0.3439, -0.7925, -0.8391, 0.9906, -0.0113, 1.2659, 1.1152, -1.0302, -0.0135, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3246 left_y=-0.3396 left_z=0.0785 left_yaw=-0.0067 left_pitch=-0.0742 left_roll=0.0407 left_gripper=0.9906 right_x=0.2857 right_y=0.0028 right_z=0.1583 right_yaw=0.2088 right_pitch=-0.6143 right_roll=-0.1372 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -11.7128, 7.4188, 1.1502, -0.4029, -0.0269, -0.8767, -0.2256, -4.6838, 6.7077, 1.0672, -0.0904, -0.0659, -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]: [-0.8162, 1.599, 1.1065, -0.3603, -0.6441, -0.5884, 0.9905, -0.0132, 1.2602, 1.1011, -1.0218, -0.0162, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3613 left_y=-0.2241 left_z=0.1539 left_yaw=0.0236 left_pitch=-0.0733 left_roll=0.0246 left_gripper=0.9905 right_x=0.2845 right_y=0.0027 right_z=0.1558 right_yaw=0.2096 right_pitch=-0.6138 right_roll=-0.1343 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -8.6496, 5.9556, 1.3944, -0.188, 0.2759, -0.5055, -0.1709, -4.7521, 6.3385, 1.0672, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac2d71cb2d425581e39ef3a4f6af68fa73abe711d5e38c66ea4c9a31a7ca90f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478256f1617bc96b86a5a5b92412ea5d1f7d0b12e12055142780b7a773ad89c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e7dbc803ba14b447c4b398cc30c369134662efa13c7b61030ac141fd3df8b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHzgmY2gDCg0KUapp0cOjjqL-nVmp2R86m7fcBpmKGZdoICcPxv-zssOHAmGhJyIjO7alCZ8DLFNjNsnq3977-ViFRozQElcA64bmSn__L73e8hsEBVcBu8XZU65zQOcmR__16XXhVUou8Nhfzs4XEsELSfvmTKeXAhOaH3Ssm3odY3iHrKfx0T1scXs-m5qjLtxrLeTdEwUoQBUldCAmkuSEAiaZqhaD7llG_Nw4PcuXWB437hznIc-PCtig0pjlMj4jclCwcUaEyt1jXirSoaoNLtj5cClSMOOk4HLsFnVByIUDA8UsZ1BKyYrJo7fAHuWm3q_JGrOiK8zM_MKJtFrQq8i9wEAayrZFHahDfQ9PRIXEzaTlEfZuMDrd-d74MxNHirgVEqAZGkpjVW-M6u3PWIU3QxjfVhEBTn9BpOAXlM0vT2lm2_XEaCx89WevoAM2jRtkQbeXmlyJcM57yqrmOBPdJ7kaJpai3NBHhCV5koieEexwJDcBn2tDXmooUyGXEsd_JyLnAoDqy829E_gZzvZhbJYFEN6JxE-b7y4yoR8CFzqtUzBt_Ph9HMZsEcFMI0KBzsxQq13_ll3N4i-STuZrAFc-ybeyGhdCQttJ47Y7aNJX3XD3kRoYKRtIztTKaBMbHR_KjMnQcfbJe4WTPGog63gRxVGKFNMMdIk2Gyqtl0y47Btth4yaFrpig_DFNte_dvr3rC5ddIUOyajT6rzg3s4LyEccPrk8csMAZoOpFlTYL06Qkfa1lsQA1ZQ1Vjayxl3tI8pMF2iIyRCDpDttnYx-7WBNZRZ1Zb66gfITx1PM32Ssm6JnW_Xag2FFr-cJq5HdGyAUG698tMb7-8K_PTsodcXt50Waslz3Nyb8Ed-jfj758iu1aqtAhRBnI3x_9p0G1NERkZ7yYKkb_xweotWdqmy6I9gLklCcu1KKX1eT4la9bF-p-3-TmR1yJJpWceDNiKMCecW2psxP44ECw0lVnwx_U4-tAkEEJ_SQ-gVyZ9Ij30r869uNqH5KixfHKwraKIkLMPiuSxlG-CIMDqlnePl66QGiG3c2-snuRCZ6W06NP7bWJh27nj6r5Ll4fAmB_j7ZOFEYdDVMPquXnjgTnc5XNsC2GJfk4UhoFibRcDJog1w7QSImHZ99QGP9iCSh2hKhwDGmtD8jRHyWhL61EN5TmYpuI8X6pPQErIPuPwRwetSprD2mY7VLpPhayUyWyAEP0ML5T2Bh98sGIr-ajqmUDQsLf9qeXK_8Anyfa5MSNzYsxLOXVZ0ysBPDCyKgWBQ3RC65unTxixwB_WxGiRzom5hGvsXywPJ9Yj6UqX8D51SYP6GuS8hIhVxMXPtZ7MzgerUnrOe4fLX4MwTPWTEDrl0h_hMQJpOVJoKpUbJ4h6AqYsZXDljnTDqQLaUqUJbJY8ZhOLpw==",
  "id": "rs_0e9c7659fc9f7f72016ab451f1703487d0b100b22b7641f9af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.361,\"left_y\":-0.224,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The dark round fruit is now centered between the open fingertips at the bottom of the wrist view. I’ll descend vertically to its mid-height, maintaining this alignment.\"}",
  "call_id": "call_7TuLKOG0y4IzpmkcS98akmuS",
  "id": "fc_0e9c7659fc9f7f72016ab451f1f4c087d0a4ae50914e94e4f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7TuLKOG0y4IzpmkcS98akmuS",
  "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]: [-0.812, 1.7657, 0.8825, 0.0937, -0.7101, -0.5659, 0.9905, -0.0132, 1.2602, 1.1, -1.0187, -0.0166, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3729 left_y=-0.2207 left_z=0.0751 left_yaw=0.0601 left_pitch=0.0045 left_roll=0.027 left_gripper=0.9905 right_x=0.285 right_y=0.0028 right_z=0.1557 right_yaw=0.2097 right_pitch=-0.6118 right_roll=-0.1344 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -4.7385, 2.9607, 0.7155, 0.5934, -0.2955, -0.6129, -0.5128, -5.1761, 5.3402, 1.1111, -0.0659, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b33e8d5ed1dbd818d4925eec887a106d1d3c216e5638b3c0b9643b065baf0946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37499101f8da789040e48388933de59978f08c3a486789eb3b7a403b133f63e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6760af8c2e4e69377727457241e953cd8c6b7f3e6d7d8c32db8017ac5b50bfb9",
      "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 134 changed as sent

message 142 changed as sent

message 146 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]: [-1.087, 1.9602, 1.3079, -0.3447, -0.7929, -0.8352, 0.3214, -0.0132, 1.2606, 1.1168, -1.0225, -0.0132, -0.326, 0.9986]\nstate[eef_state]: left_x=0.327 left_y=-0.3441 left_z=0.0924 left_yaw=-0.0106 left_pitch=-0.0572 left_roll=0.0126 left_gripper=0.3214 right_x=0.2876 right_y=0.0021 right_z=0.161 right_yaw=0.2043 right_pitch=-0.6003 right_roll=-0.1415 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -9.2513, 5.7094, 1.3162, -0.4762, 0.0024, 0.4078, -0.0889, -4.2598, 6.2974, 1.0183, -0.0659, -0.0464, -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]: [-0.8162, 1.599, 1.1065, -0.3603, -0.6441, -0.5884, 0.9905, -0.0132, 1.2602, 1.1011, -1.0218, -0.0162, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3613 left_y=-0.2241 left_z=0.1539 left_yaw=0.0236 left_pitch=-0.0733 left_roll=0.0246 left_gripper=0.9905 right_x=0.2845 right_y=0.0027 right_z=0.1558 right_yaw=0.2096 right_pitch=-0.6138 right_roll=-0.1343 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -8.6496, 5.9556, 1.3944, -0.188, 0.2759, -0.5055, -0.1709, -4.7521, 6.3385, 1.0672, -0.0806, -0.0513, -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]: [-0.812, 1.7657, 0.8825, 0.0937, -0.7101, -0.5659, 0.9905, -0.0132, 1.2602, 1.1, -1.0187, -0.0166, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3729 left_y=-0.2207 left_z=0.0751 left_yaw=0.0601 left_pitch=0.0045 left_roll=0.027 left_gripper=0.9905 right_x=0.285 right_y=0.0028 right_z=0.1557 right_yaw=0.2097 right_pitch=-0.6118 right_roll=-0.1344 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -4.7385, 2.9607, 0.7155, 0.5934, -0.2955, -0.6129, -0.5128, -5.1761, 5.3402, 1.1111, -0.0659, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b33e8d5ed1dbd818d4925eec887a106d1d3c216e5638b3c0b9643b065baf0946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37499101f8da789040e48388933de59978f08c3a486789eb3b7a403b133f63e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6760af8c2e4e69377727457241e953cd8c6b7f3e6d7d8c32db8017ac5b50bfb9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFH3bDXT6abDVLeaEBiy2IlnwqW5FppknZRWMEwWGX2iG0GMBFOzun73FBigUzCo7iVUROJj7TVtR6Q4dk-8a75-RiU4rfqGQUwq-m6UjuclHfi-H-4SDVlKmD0VmS8d83hkyAjStf4oBElINYiUCq0Fk2LBkfEAqmBVUBdf6HFPQS7HHZR3dgC03iBP_X2wC1Q4uicY78dqAsZY3ypZsUHdq66B3XI40xLyVpEsfuIzrfBtNFVyTJftkI4T_n8EfP5CJ3mINbxtnRq4lJzZtlDmXtyIijmLz4dPA3rBmc-QEp_XNRWDc_I818zCmoN2GC6oaL3gzLfCXyROQGZF0Etcx7rWkJDzD5wpvgszW9Bvt2Hjq03IrnsOweLBuLDs-oByg0BbKl2NtGgeOYMlPlg8BaTfJMxKufPXu7J5h957d-bK7r2kOFJYgqIfeakIrjyQgPSqaOVdgP8x8hc5eZ2OwGuTkKA63SXNqquOt-cI9BATuO2Tda9FFedJCR6oWq9ffoP5YFPxSjEa8xGh9FKIlYxlIe92FrmWMApVai2BKbClvLfdkLrtrShFo6nPwGjsTb9DYdLnuavKH3roAzHxd5UuXz09KQFxaw2E4I4y9Zf2LNksDjJPgvNYgyXiR2Ec-hVKd5xSKuLNprEaZF2iLzhToVmXkm5D6Bzeyb1z8rQ35BrPzFnLO2QoXNW1MkJIXGxIDoecF_JA_hValKW3y5OyCzIfpyHWKTqRt8L2RA6sCXXBlrr8WY3g9-LSGpa0ghvY4iGAxPEgzyOmkmuJk1BnpZHd1ZBPGGGgj6OhfIL-ORpP5GiOsr0SBo9Q7dJpg9bbbDWCVyDxKfpD-oYLyttTfTHQHbRgcWnBg9PSKcZ3sanlYQRfV95mj-Pkv3Q-EE0ARi8mAbz7Y3oR9G35ZKTAYF0wCR8A7C7-9E1X74w9WFUETFg08ys4g82fIhkB_ZLjWJroc-LoQp2n2EKhLPCM4NzBe-5q7i_H60BRToFOJRKYHgkJCtMKPuPwIXQdK-2Oa29xiGV5xzSs-kWpB5jCy_fJLkCdNwtSMFvdpt7_csYw0gYkwhSDDlRkEtPSnPkwmXpSl7E1X6gOecHLIXJ-i4woP_UPSVrQnlDugus5LXJ4S6DtY0BPtLbyj16VoCMKnxqE_r0D8LMDfZIBti6NM1ufGaAVIkb2urIWp3UvUATDWsfiI82oYbRkYI-VmifaRAk8FxgprpxSDEW0BKD7UD59L7-AASyE0HAJLtyqIedcQtMpcwcjsyRDi6SeZxZVa0vZi-P1mLcDKAF89J7PxF8UsMXuLuV_dc9_Ys5Oyzeyt25Cim0YLRwbH5SrtVGvjmfzd-41KPJxVGcLkx5cnQylCEnqRZt6J8J07FG03N-1E0xRbIy1nBQN7OQmw9koR4eM4Y0xS4Z3YeBb_Puwk_YHho9fbHDJinL_rXxZ9j5refAZ1l9DvyEgV8yCUIbIbb9vI1ygx6TaOsUEKM4wsafH_S2U4eF2ZjUuVBzaC1a_mMpg6m-P1bIL9f5FBUS_LYyK-pK4vhpbqio3HB4xtBkrGI9xDtj9xAxjP-zCR6hntGJ1PE6fPMxwpXfqoymcHr32MkW6z4jH852yD8KUzLHIxbbhz-WzxRj7dOB_7OBNzeLAl9mSO5W0P8jx-T7EXgWY2mA9CiDp3bMnAFjgzMI3oVO7JUJzwhATuWPBOkhdRmk-sakwiBPlDmhmsrEBzSbT35kFaRKiH5lLyrQmciXwf80kBz3QBgAWP11oMk00hmTEI3-PGwRifHCxNk7YfHRCVO10r87qAKrntunyKQ0V-9soRk_YvJ6XAF40qIzUx2YL9XSnjWVfFYE3RBkB2aSquX8NIvCfKM1mHA==",
  "id": "rs_0e9c7659fc9f7f72016ab451f4fe3c87d0be244563499a018d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.373,\"left_y\":-0.24,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The descent stopped around 7.5 cm as the rounded fruit filled the fingertip gap, and its center is slightly right of the jaw column. I’ll make a small rightward centering correction and lower only another 1.5 cm before closing.\"}",
  "call_id": "call_gXSeb1fAoBHpFWZHM8HHKjAu",
  "id": "fc_0e9c7659fc9f7f72016ab451f67a1087d083319834254cdff5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gXSeb1fAoBHpFWZHM8HHKjAu",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8249, 1.8091, 0.9047, 0.1543, -0.7528, -0.5724, 0.9905, -0.0132, 1.2602, 1.1, -1.0187, -0.0166, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3808 left_y=-0.2289 left_z=0.0775 left_yaw=0.0816 left_pitch=0.0524 left_roll=0.0097 left_gripper=0.9905 right_x=0.285 right_y=0.0028 right_z=0.1557 right_yaw=0.2097 right_pitch=-0.6118 right_roll=-0.1344 right_gripper=0.9986\nstate[joint_eff]: [-1.7026, -6.147, 5.8462, 1.0183, 0.4322, -0.3297, -0.6032, -0.5128, -4.9846, 5.5179, 1.1355, -0.0904, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:121965e0ff763e0fa9febcf2f0aa400b9438d8b77c81f9a90891dbe59e56541a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b67f4d5c3154fa2ecf12bb5ad3611fd037f038608175106c06c31518dae32f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a286845ca7f61f1e6aa6a12a2f0b8d612344de2af674f41151c84934981ba2ef",
      "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 138 changed as sent

message 146 changed as sent

message 150 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]: [-1.087, 1.9789, 1.2903, -0.3439, -0.7925, -0.8391, 0.9906, -0.0113, 1.2659, 1.1152, -1.0302, -0.0135, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3246 left_y=-0.3396 left_z=0.0785 left_yaw=-0.0067 left_pitch=-0.0742 left_roll=0.0407 left_gripper=0.9906 right_x=0.2857 right_y=0.0028 right_z=0.1583 right_yaw=0.2088 right_pitch=-0.6143 right_roll=-0.1372 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -11.7128, 7.4188, 1.1502, -0.4029, -0.0269, -0.8767, -0.2256, -4.6838, 6.7077, 1.0672, -0.0904, -0.0659, -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]: [-0.812, 1.7657, 0.8825, 0.0937, -0.7101, -0.5659, 0.9905, -0.0132, 1.2602, 1.1, -1.0187, -0.0166, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3729 left_y=-0.2207 left_z=0.0751 left_yaw=0.0601 left_pitch=0.0045 left_roll=0.027 left_gripper=0.9905 right_x=0.285 right_y=0.0028 right_z=0.1557 right_yaw=0.2097 right_pitch=-0.6118 right_roll=-0.1344 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -4.7385, 2.9607, 0.7155, 0.5934, -0.2955, -0.6129, -0.5128, -5.1761, 5.3402, 1.1111, -0.0659, -0.0415, -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]: [-0.8249, 1.8091, 0.9047, 0.1543, -0.7528, -0.5724, 0.9905, -0.0132, 1.2602, 1.1, -1.0187, -0.0166, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3808 left_y=-0.2289 left_z=0.0775 left_yaw=0.0816 left_pitch=0.0524 left_roll=0.0097 left_gripper=0.9905 right_x=0.285 right_y=0.0028 right_z=0.1557 right_yaw=0.2097 right_pitch=-0.6118 right_roll=-0.1344 right_gripper=0.9986\nstate[joint_eff]: [-1.7026, -6.147, 5.8462, 1.0183, 0.4322, -0.3297, -0.6032, -0.5128, -4.9846, 5.5179, 1.1355, -0.0904, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:121965e0ff763e0fa9febcf2f0aa400b9438d8b77c81f9a90891dbe59e56541a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b67f4d5c3154fa2ecf12bb5ad3611fd037f038608175106c06c31518dae32f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a286845ca7f61f1e6aa6a12a2f0b8d612344de2af674f41151c84934981ba2ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFH63JY02ct4ld5Cl1X37X64R8-QEiRmqg4aDeT8Dag85xXz92F6yzgxEC8tKJTMS1aw2-bZv4-uPqzSti5F_fz9JxB3eOt6SmEUCAijg8CCch9WOPEe3_GVazCdmFszJ_Q-9kBS_cUf9kujtwZO7xIk29OPJ0bJFCTLuFeWU6vaou4W7FTTTQ0KZmTpuMIRHRAmIcE0VpHADMdwHPg7YhTf8Xr-Szls-nnanJ5Wwgs2V-Q_UMuyVYXhL-CdgIjetww0Ax_JEDUNqHSNM3K3gI5NWUo2yFud4yozI7_XIh2c9qJBzFKANexKNWjNT4f68mUg01zgrYEMjJAdJemtK2NaAB3YD6EkONDYVdCxGHhk7wArfo-_S-tqYDxMpYyVAiUGn9ainK7qPZBkpAweGxGSoojPCxLuMMu3qwu217m6WNPMhWqvmrJbUh87vs3EZz8lOtC89-VREej_ImlwgGI-dULqE7k7ba6nxeEOH3e9KnXl0WCFL0NRRG9zdkzrEisMY-tCuNNfzk7rApi25wj6FMi2JAe2fB_ISsPVS2PTIUrzomOk1QiEjo9z7ff2v2uxGo2cyAHHvjKbQK3I4X5-kvv3V802rdLg30m0qvUavEAS2jKBtCDaCBbRu5MasqYaUJtb-VNWHFAKQK3CB6JldpHrRtA07QDTHewYvZupsAMITk7tuQbQNDgrG0nq1mGmzbUEsUNT8P0qWjJXMtlxAUzjMLnS8SR0eatv3XACds7xjOZM9w9gxOtz63DXTqvS9kgKYlrEOvxrxXMdEy9i2weGak4Xq3QGA-CJsUwoVc6YgjFX02AXsZQP_7kyo2MHiu4OaOtirn9P9GiyIvWn-wZWOPY4jhFFblZQfHFgN7vh9Brf4f8K6edDclFqYa3kTnHSyFZ5GZy2pSH9YXiUJOXfBkk3fQEdZsaYYJinHGsQlUUNzeX51VJt_edxk8H2MqtWP4OdCfKwyEOWTFgfnVW8vpILQNr50ezuHQC-a93lgEieSXTLY3JEOYN2btYF5KTpklMeZH3LZIA-91VL4xZXq25kCrqYtDv6ADN9XmstKsw12Ti3Kh86eNTE2Ggc7H9Vs4VhXbka43oy7oY0lOlvY_ZZ4rDtsn2Dmq_jfyYRStXTZHY5AEfmBOYtScoMjXKDigNrUQOadl9Xl5v7SOqawhlT2jASgyobA1fHB6ulDTIeUAQICXs2Ybh6_ctWr6VDMs-h98_jyPg76FjeJnxY6qhVbkioELNpT_5oRl6Xip7ASxeQ4iQZDsqCgzQEb_uMRLJD3DtQsKFGz-rCuAmCIZUHPsaGDY7nHTTgoEjFdH8bV7lS9DkHe_KHGbidNI5Py2fwZPmHCeZr_fkHiR7v_pUHUfnP0r466MyInkTbNxl0jeDUTVWV_kut_yf4O3EZ9fjbEq7GGWxQSAAIRqUV_SIXuIVQCT6Gyupuhp-ojtNs6licbE_2UJoas1uV",
  "id": "rs_0e9c7659fc9f7f72016ab451f8bb1c87d087b4d58199ccff89",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The dark fruit is now enclosed between the fingertip lines near the center, and the arm’s short tracking suggests it is already lightly contacting the fruit. I’ll close from this position and verify the residual opening.\"}",
  "call_id": "call_pT5u7MjtHgvZDeqF8tZnBkYm",
  "id": "fc_0e9c7659fc9f7f72016ab451f950d487d0ac7dbfc79b15589a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pT5u7MjtHgvZDeqF8tZnBkYm",
  "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]: [-0.8478, 1.845, 0.9287, 0.1337, -0.7635, -0.6025, 0.009, -0.0132, 1.2602, 1.1, -1.018, -0.0162, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3778 left_y=-0.2381 left_z=0.069 left_yaw=0.0814 left_pitch=0.0386 left_roll=0.0139 left_gripper=0.009 right_x=0.2851 right_y=0.0027 right_z=0.1557 right_yaw=0.2092 right_pitch=-0.6112 right_roll=-0.135 right_gripper=0.9986\nstate[joint_eff]: [-0.4308, -8.212, 5.6547, 1.37, -0.3053, -0.0562, 0.6667, -0.253, -5.012, 5.3949, 1.0623, -0.1001, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e67feaf32dedae5799c4fa8f1786370f80b662365ca7eefdb9d12d91ace703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ad4c69e044e3dfffeca6457fd2d6f4ce9fa937f3bfd9c84b4194d721a9c3258",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1482fb4b4397e7eb0475a2ee4357b3b99a312e7304d12d4b3e33c56687c262c",
      "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 142 changed as sent

message 150 changed as sent

message 154 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]: [-0.8162, 1.599, 1.1065, -0.3603, -0.6441, -0.5884, 0.9905, -0.0132, 1.2602, 1.1011, -1.0218, -0.0162, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3613 left_y=-0.2241 left_z=0.1539 left_yaw=0.0236 left_pitch=-0.0733 left_roll=0.0246 left_gripper=0.9905 right_x=0.2845 right_y=0.0027 right_z=0.1558 right_yaw=0.2096 right_pitch=-0.6138 right_roll=-0.1343 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -8.6496, 5.9556, 1.3944, -0.188, 0.2759, -0.5055, -0.1709, -4.7521, 6.3385, 1.0672, -0.0806, -0.0513, -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]: [-0.8249, 1.8091, 0.9047, 0.1543, -0.7528, -0.5724, 0.9905, -0.0132, 1.2602, 1.1, -1.0187, -0.0166, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3808 left_y=-0.2289 left_z=0.0775 left_yaw=0.0816 left_pitch=0.0524 left_roll=0.0097 left_gripper=0.9905 right_x=0.285 right_y=0.0028 right_z=0.1557 right_yaw=0.2097 right_pitch=-0.6118 right_roll=-0.1344 right_gripper=0.9986\nstate[joint_eff]: [-1.7026, -6.147, 5.8462, 1.0183, 0.4322, -0.3297, -0.6032, -0.5128, -4.9846, 5.5179, 1.1355, -0.0904, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8478, 1.845, 0.9287, 0.1337, -0.7635, -0.6025, 0.009, -0.0132, 1.2602, 1.1, -1.018, -0.0162, -0.326, 0.9986]\nstate[eef_state]: left_x=0.3778 left_y=-0.2381 left_z=0.069 left_yaw=0.0814 left_pitch=0.0386 left_roll=0.0139 left_gripper=0.009 right_x=0.2851 right_y=0.0027 right_z=0.1557 right_yaw=0.2092 right_pitch=-0.6112 right_roll=-0.135 right_gripper=0.9986\nstate[joint_eff]: [-0.4308, -8.212, 5.6547, 1.37, -0.3053, -0.0562, 0.6667, -0.253, -5.012, 5.3949, 1.0623, -0.1001, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e67feaf32dedae5799c4fa8f1786370f80b662365ca7eefdb9d12d91ace703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ad4c69e044e3dfffeca6457fd2d6f4ce9fa937f3bfd9c84b4194d721a9c3258",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1482fb4b4397e7eb0475a2ee4357b3b99a312e7304d12d4b3e33c56687c262c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0e9c7659fc9f7f72016ab451fc3a5c87d0897811043b2aa4ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.22,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The gripper closed empty and the dark fruit disappeared from the close view, indicating it was nudged rather than held. I’ll reopen and lift clear to relocate it from the overhead view.\"}",
  "call_id": "call_R2yt6euN1hBexI49XvxGmu7Z",
  "id": "fc_0e9c7659fc9f7f72016ab451febd1887d08bd030faa75bf1fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R2yt6euN1hBexI49XvxGmu7Z",
  "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]: [-0.8955, 1.5639, 0.9623, -0.2298, -0.7795, -0.659, 0.9906, -0.0132, 1.2602, 1.1, -1.0183, -0.0166, -0.326, 0.9986]\nstate[eef_state]: left_x=0.341 left_y=-0.2215 left_z=0.1423 left_yaw=0.0741 left_pitch=0.0198 left_roll=0.012 left_gripper=0.9906 right_x=0.285 right_y=0.0028 right_z=0.1557 right_yaw=0.2096 right_pitch=-0.6115 right_roll=-0.1345 right_gripper=0.9986\nstate[joint_eff]: [-0.6906, -8.0479, 9.2786, 1.2821, -0.5592, -0.0122, -0.9109, -0.2256, -4.9983, 5.8598, 1.1258, -0.0904, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fef2418a8488e1d4233dc91024d1331a84c475c9f3d4dcd7581d23ce2afc854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e89e9b17af8aa7752205c72c19fcc81f48604c8faee44075ec9011f339e2fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf003b5cf5bf70dbffdacf4e016e496749d00bebc632e63ac4af1cec0e7cdb2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}