adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.7994, 0.6144, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6201, -0.387, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0023 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=-0.0001 right_z=0.1844 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -1.5521, 9.7573, 1.7802, -0.1441, 0.1587, -0.0855, -0.294, -1.6205, 9.306, 1.8339, -0.1001, -0.0659, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69115c5e09b8e34c2d8c4c28759c266492360f3dd788f0fbeb1320dbe8da1ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3838c8b7188b54e37bb198ef862c06f3a21bf993aec833fcf780129de3bbb248",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d20d2894ed15c5af083c25952a5a4c9372baeca6cf03acaf1a1c5d9615425df1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_0f25f6a47bd5a543016ab41a24621087d09a2a3e7ca84a0190",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.12,\"right_z\":0.15},\"note\":\"The overhead view shows three fruits beside the blue bowl and a large white bowl farther left. I’ll bring the right gripper above the green fruit first, keeping it open while I check alignment.\"}",
  "call_id": "call_shOMBLErZLk3jy3d3oF0GH55",
  "id": "fc_0f25f6a47bd5a543016ab41a284a4887d0aa71dd7d48a25eb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_shOMBLErZLk3jy3d3oF0GH55",
  "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]: [-0.0296, 0.8021, 0.6147, -0.3973, -0.0135, -0.0307, 0.9993, 0.4862, 1.3323, 0.7238, -0.0788, 0.382, 0.2527, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=-0.0027 left_z=0.1791 left_yaw=-0.0012 left_pitch=-0.0176 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3597 right_y=0.1197 right_z=0.1294 right_yaw=0.032 right_pitch=-0.0637 right_roll=-0.0346 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.4838, 7.2, 1.9121, -0.0317, -0.0562, -0.0171, -0.0752, -4.9983, 9.1009, 1.9219, 0.359, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d9bf8b25175eeb8809818d988f4eed25b534a30bbc7ee66141485da1a4cb64a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4579f179760923e0c204fe56a394e1db61a631821cd16c88318fb1195587c5f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec44adf56d1b3a1b2ae98125faafc053e5aef4fcc4c3cfc6cbf29fce86678598",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.7994, 0.6144, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6201, -0.387, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0023 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=-0.0001 right_z=0.1844 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -1.5521, 9.7573, 1.7802, -0.1441, 0.1587, -0.0855, -0.294, -1.6205, 9.306, 1.8339, -0.1001, -0.0659, -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]: [-0.0296, 0.8021, 0.6147, -0.3973, -0.0135, -0.0307, 0.9993, 0.4862, 1.3323, 0.7238, -0.0788, 0.382, 0.2527, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=-0.0027 left_z=0.1791 left_yaw=-0.0012 left_pitch=-0.0176 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3597 right_y=0.1197 right_z=0.1294 right_yaw=0.032 right_pitch=-0.0637 right_roll=-0.0346 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.4838, 7.2, 1.9121, -0.0317, -0.0562, -0.0171, -0.0752, -4.9983, 9.1009, 1.9219, 0.359, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d9bf8b25175eeb8809818d988f4eed25b534a30bbc7ee66141485da1a4cb64a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4579f179760923e0c204fe56a394e1db61a631821cd16c88318fb1195587c5f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec44adf56d1b3a1b2ae98125faafc053e5aef4fcc4c3cfc6cbf29fce86678598",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBo2qq86eRV3MV2Rl4Ch8PKmzC663HGPg7_99ItVtt4HTy5pLO2WkHawLkcemGhgkg6BHwiN5MPjEezEvgIpiku4gpkiON8_3cRU9b8yobOzfmfnmiCC3J375865jTgwzWACtqudFOEn1DG1_aGUFTSNVrP0ADYrgfqQxqhGyUgX3ikS_OxqH6BIalmQlhEKGgLe27wwpNHYBTUCfhs44fU0lntPT0RnNhO64kIL-FU6m47RNr4v0aA_bO1xdPlZ3VmP8eBwlP1dWuGanneRzIo-14SDZHMcf2CAJBu6E4rDFMibjXsb2Pl6fU2PN0gg_M5pZA6mBXMtq76UfV1PzzEufRpjKYxPGiS8pr1czJXortNZiYHBztzGfD6aTZwUKf8a3JxYaMac9hRIdjjY17DSrXFlxNglin_UbLau6OKor2ZizIjgM0mGQLIQ_AymHZ5-xqvmZxB5Lzb1VP-dp8wfWg-VaHbvgJIM5eFt1gxf0-yUaR5wRQK7M1fNMPcjqOBw6EUYT4UoIWdO2zwcjD9N7PtBIGFLlF1yQ-b6nLEuSnMVkgK1oDvB4dkTDLn82tngp78afRgTfc_c6DcPcMbT-FFz6wNcqvRVDE9xG_2LG3kvSRmss1-M82HEpkSZL6qLrz1mxKz_d4H4Q96nQzDMIMCGWhxjcPTDkdbmd4igTntCXoMT7SB_LgtFmH4zCdWwA4w0KSZS4wxDjW1krMzTUEWFysn1PfKfscbmlgTUA921718ie0T-klE3tZEVFpWZmZvE1KnHyHvFHOvBEEc6fZFRvp3Fa7UnVlrIrawrR2dG6ve2j6xtOXZoUQV9hcjsS7GF0bVcN3zr8iAG4jeH5pu8ABLB2dJb0MYufKgflie_fQFRe_MbejoEo7z00-ro7D9AiFKDc5qvKQpzlqiVFL6WfSil0qWueu-pygl8bt-dAztmC0qdME68-2w4085v0Nh3dQhHLKegOy62KkmiuH_1idbttnsJjGbCG1XvHTIZWSmoXdlKm5diOT9HRfeyhdL7LsDOdGszlwZVC_YCAjC2XHeg0gNCbx1ELMxjdoT5tuoQUJkPSKtQUzIwTR0byySG9sn2c5YCJFow6LCEuW5rktD6R2uyAJZXZVFJKPBfPS9TGJUhEvFQWmkZzzXTNHO211R5zoo3PZWeFmQMER5k3UBF_19ez6rDkDJ3uC1fRreruEScI5RgbbpFteNvTT3rIHav1gF15tYURetr7NmlSpslqQI59uxFUF0RipM8K1gLGhNTui9DWhq8OtjfA5UpfvZrehPmMMEUYICHgGJPeIRi3neAsfo16roUaa0tR7bhPCabzqNle9jIX5u8T0WP7E-dvqfvJ6GH1MdtLFAd3yEi1E2KtSrj-kpqCxks44hida0C-6BLhiMEpPb8TCkwzppZ2MrlraKYLhJfLnOjHGuxFhm9Fhqf6ssOFFozp-wvkwp92EH8zP0MuPMZyhzD1b5xiwvxN_Uwr99vyL7FVrQ5NfH0-g8OgyXKROEVsFnJNFQGBVclwkyYJ1Y_Fxgj82OQvKUBqoxIa_Z9-burgQi9hTPCLfFyWuZjOO665acD0rK3O2cQVhjBxi4950N0lNSLa2squeE2PC2mgHftUdXGEtkZFcEPJe9Ng_JW8ZNAk_g_geWXWE7j_yq_tK2aBBFH42z619YI_TsK2glW34o8s-KF0to6aRHRgwhTvhA5sk40CZ9_bT9vA4mfqsAFCCaMW3DEaP-1ucN5WjE_UzrvlFDH-Nbvv3WdjcbHitjZ6piGxgI4MvyLTDhreKSvBM3WhrwLNvNR-KpM4YMtN5MoChLyUIszFQGPVCYwjvmJEiVjNCorvHnvOffAAURotar0DH6jf3dYksK6cZbRZhmexIC8BQCy3zvKM26blOHygF6O3rr9Rrg-EW9sS1S98xPBRyVJrqqfjfp4AibYVsDE9Kvg4a9QGnOxD1ry-uSLRTtV37ymwg875romcgXlq6Ee8kMfY0JF_UaphmIFGb5pOSSUtfdBfJ762r1e4Kw_-8uEE-tsIhslTiV4HFjtHmZ46s_7Rdx85p_UcMP1yY0Znm4F2sEf5sh4V-eGKgqjtcS58Y-6Bk-3gDSP11eoni_v-gTQIxb8U3NkdcZauxlgnwGGjmwqnLmaZJMiehEmd-Bcukj9UWp7AAycohFPUwsoz_qsJTzPXSrkzbgJVsP977ViMtYu8E7mCfIVQCPklpOsoDX8S16FXDpvVa7PgOT7zerpNLHVUNXBS0KfPyX-BWsZ4xbW_a70AkLesNWh-Lq31KI1swPVNFrlQV_HsmR63PDsa1oD7ay_IG6_QH5d0mCSjXJkKdhFtqJOr9nkWl_tyP6N1fRxa2Nd07wtDSKyRI13cww-nO8eBSrLMMmk47vdq7E6cz_VBJbgtqVLifx2emgrOIpmMwA3-QdC_QGYPEGQ-yDGfVL27GHYAxlThBXRU2zkjxobvhPUtR8-kKORZIPS4ToCG_7HDGc8aDPNLThXgmqme0KvZuQOS-98AhuTgMtqIbE7lMvg006oWPkRurKYdjBzvxzHWFdt2cWfj5IGV5xqhbRfUbqXnWs9Mq-yYevm-rtGOAcGif1H-TUXBY6Gb08VgEELZ_txhFDzfOvJm5b5tYB7vYe7mzIt9swtggvnwL7pYGwXkHYFHK5Lzrdh30LXSE95YKjQOVQVwJqljAFC-TMEC4L7JLcRk7I2kLE42J1xtC0=",
  "id": "rs_0f25f6a47bd5a543016ab41a32e6b087d082a811cb0b5038ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.085,\"right_z\":0.11},\"note\":\"The green fruit is visible to the right of the right gripper’s jaw column, while the blue bowl is farther ahead. I’ll shift the gripper right and slightly forward to center over the fruit before descending.\"}",
  "call_id": "call_au1ba9hBuO0ySl2Ht5hKOTcO",
  "id": "fc_0f25f6a47bd5a543016ab41a35953087d083fc81a84cb21677",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_au1ba9hBuO0ySl2Ht5hKOTcO",
  "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]: [-0.0296, 0.8021, 0.6147, -0.4023, -0.0139, -0.0311, 0.9993, 0.3317, 1.3674, 0.6605, 0.0238, 0.2638, 0.1558, 0.9993]\nstate[eef_state]: left_x=0.2936 left_y=-0.0026 left_z=0.1781 left_yaw=-0.0006 left_pitch=-0.0225 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3719 right_y=0.0832 right_z=0.1054 right_yaw=0.0267 right_pitch=-0.0897 right_roll=-0.0411 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.0735, 7.0085, 1.7998, -0.0415, -0.0659, -0.0122, -0.1026, -5.2308, 6.2701, 1.8779, 0.0269, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cfda2ddbcf9c0696c986dea9dbf1dfe9d0619e46a9c271679d0baad0b81b9c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89dfeb7dda75e281fe0793e34bf7f2a49dd2967c50e3b96e4f31ed87cb86cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7007ff36d4387be3bc568d8ee15718f2afded722a8307b9d72445b920c819c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0296, 0.8021, 0.6147, -0.3973, -0.0135, -0.0307, 0.9993, 0.4862, 1.3323, 0.7238, -0.0788, 0.382, 0.2527, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=-0.0027 left_z=0.1791 left_yaw=-0.0012 left_pitch=-0.0176 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3597 right_y=0.1197 right_z=0.1294 right_yaw=0.032 right_pitch=-0.0637 right_roll=-0.0346 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.4838, 7.2, 1.9121, -0.0317, -0.0562, -0.0171, -0.0752, -4.9983, 9.1009, 1.9219, 0.359, 0.1832, -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]: [-0.0296, 0.8021, 0.6147, -0.4023, -0.0139, -0.0311, 0.9993, 0.3317, 1.3674, 0.6605, 0.0238, 0.2638, 0.1558, 0.9993]\nstate[eef_state]: left_x=0.2936 left_y=-0.0026 left_z=0.1781 left_yaw=-0.0006 left_pitch=-0.0225 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3719 right_y=0.0832 right_z=0.1054 right_yaw=0.0267 right_pitch=-0.0897 right_roll=-0.0411 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.0735, 7.0085, 1.7998, -0.0415, -0.0659, -0.0122, -0.1026, -5.2308, 6.2701, 1.8779, 0.0269, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cfda2ddbcf9c0696c986dea9dbf1dfe9d0619e46a9c271679d0baad0b81b9c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89dfeb7dda75e281fe0793e34bf7f2a49dd2967c50e3b96e4f31ed87cb86cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7007ff36d4387be3bc568d8ee15718f2afded722a8307b9d72445b920c819c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBo6NbBnxHYnRwHplo2Krp__li-Ty5ZHon-_GOkR9pvoHybSxEQpQjrm-P92F-jdJm1RprXqQfBtluX_CcO_XGAJ9_QXYpHSQYVrZ3zezPm_At-3hMqc2ZFO1icvbx4_vClIPL0HkMlIMWQYyqJUQh-_JFjDJzxHOMXiemE8E6lKhI2Lyo74e1qV3H6ezJipBTuQhOCyLRcvUVCLHDN0kLBCqq6WFIf2ax6EPbvwWdDXwVfXUy8sBcuEY_5YSJieiYTKuVakWng3uOl0f3fFWQttM8hyv2WH61Rf-H6t3mwWIGH0bpaB5SQ9GGYEhCmJ-VZMaX-_fGPvEfBvZliKUuyo6TMeOUpaRvsVUAQ4ky8ByZwm0woyEWDwApHzHnglRYetUWbdENKHjsC2q4F0ctOKFxnYrfZX_0v0nt0ADB3NAaJ9-ab3EdNSc8ua5LFRGLUuUJC4QRm0CLprLbGez0YNVGgiJL4KQIh4iKYHFQg1k9TvlGh3SwjGn1ZWZuzpznl86ufF11YCLksKjG9ScPwWhfE4m-vbhMdjQurUrf-Ar0vPfuLqtLNVpdQBZnEYO2oj6ennO589L_dcQbRnDJm0nV701C8OSeVgz-voJjwniKDHSZBkSdagEhXk2h2RJnU4Wry4LfgNjclcCp5uWPtJt2-_Fx-OutB5zZ7HY1_vgfizwVPKYghM-fmDdTKgY-Ls9r468TMqAoRpabjjm0l0mntc9dtvFg8OILNiHAT4AVm9jYfb12MWg1jgSAzNH-_iG66_PbrZXsNjxb7rCxgyQB5-5b13nHQZN1Np49iK_SoW6C9rUXn1kdRKwRPFmgkOPDRRYdj7TsZSBvUlLm-QtRf0LdJxSc6Kckto9oZxwbNwx5fpzgsAM3iTWTmJEwot2QHN_tJwCW1Sjagv84u58IVDUdVOZz3j_HLyMbiwg01nnk29qDbbAxkCJWMDZKhW67khB7YRcKY1e6wKCYoHHKTneCDff3irm1Khy2ucHzCu3n4shzAHcfechyPeeTZeGOYcROhG9yRlLaUl_T0naqf2dOFUxmyCbYSi_ZTS52L2E8HA4zvQgeBX19MRUOj-ol92EXJNf3t4kuMn3b5w3AP-f0WJZBCaq8qlw2KeYtYEhFykAKnEWPKvFcuojG5vRboJLHmvtRnDu0BX9Q7wtc84Y1MxhkqC2PdBhQfEnGOHH7WDpM0_KGAIz8ZQ2BuVuFZq6FPUlspkodTq6jR2NsfzUGnNdiUsTkmhao4GfU5AULM04kTd22mgxIzVe265a8wBMZc9lNRa5Ic2nrkAwp9yd1pNHOx48dbdel9jp7KHRh4OXyCNVDa7aCHl5uCP4lewCrYnrH-I8oDMm4DVM2AoA3CaQSxuHpvAJmb7RSCh8w3YSybdGiTCogHXuuGFhdfLrRNMRNhW7aqB3OmXVkw98KeBdYOQD7XGNvsHwSlxP0VCzuqCkvzY-ksK4rqquB_luO-rlnWNQqIl06hhyPflGZiy95iJ0QH9flCABpdFzDavzkz6qwFkg5fOxzi8IFmuDnHDNDEp9-eQPdLZmXG8wYdp2PfszlyKuuNuYmX0LQSK28Z4En6If2rZ9pBCtflvVAeDGRWbDOtLzHrIMVnkFgfjkRfS1ufSAlKgXgG8kd14dfg9suN9aMLJkVyu0kDNJjNHUo-C0uTJPiICUNzYGc2kncefDM99VtXehOq64QfOfNRFhcLceCMwRiR7rYIL2NX4vT2dITkZDbBInS6hQWaa3MBuGaL_ld8RGlQ=",
  "id": "rs_0f25f6a47bd5a543016ab41a3881c087d0bc5e70ed8aa48be2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.391,\"right_y\":0.073,\"right_z\":0.028},\"note\":\"The green fruit is nearly centered between the right jaws but still sits a little behind and to their right. I’ll make a small forward-right correction and lower the open gripper to its mid-height.\"}",
  "call_id": "call_5HhGvyTceTF50aPH4yShLnkz",
  "id": "fc_0f25f6a47bd5a543016ab41a399d9087d0b597410b8e51ccc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5HhGvyTceTF50aPH4yShLnkz",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0292, 0.8059, 0.6147, -0.4084, -0.0139, -0.0311, 0.9993, 0.2726, 1.6798, 0.5484, 0.4164, 0.2115, 0.1188, 0.9993]\nstate[eef_state]: left_x=0.293 left_y=-0.0025 left_z=0.1758 left_yaw=-0.0003 left_pitch=-0.0324 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3853 right_y=0.0729 right_z=0.0192 right_yaw=0.0301 right_pitch=-0.1305 right_roll=-0.0463 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.6205, 7.0085, 1.7949, -0.0366, -0.0708, -0.0171, -0.1436, -7.2, 4.9709, 1.9267, 0.1001, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b025812cd4204c4cd19be2cd3dd5e7b099d99c0b489ce245d92dd2096c70935",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab18e278fecaf217185cb196d05f107d8d555d65e1054801f93bfd79b84abbb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6d05edfd926b256b42aca67080c994ce51f3fb3063918c86ddb6f67d64fef7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.7994, 0.6144, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6201, -0.387, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0023 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=-0.0001 right_z=0.1844 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -1.5521, 9.7573, 1.7802, -0.1441, 0.1587, -0.0855, -0.294, -1.6205, 9.306, 1.8339, -0.1001, -0.0659, -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]: [-0.0296, 0.8021, 0.6147, -0.4023, -0.0139, -0.0311, 0.9993, 0.3317, 1.3674, 0.6605, 0.0238, 0.2638, 0.1558, 0.9993]\nstate[eef_state]: left_x=0.2936 left_y=-0.0026 left_z=0.1781 left_yaw=-0.0006 left_pitch=-0.0225 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3719 right_y=0.0832 right_z=0.1054 right_yaw=0.0267 right_pitch=-0.0897 right_roll=-0.0411 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.0735, 7.0085, 1.7998, -0.0415, -0.0659, -0.0122, -0.1026, -5.2308, 6.2701, 1.8779, 0.0269, -0.105, -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]: [-0.0292, 0.8059, 0.6147, -0.4084, -0.0139, -0.0311, 0.9993, 0.2726, 1.6798, 0.5484, 0.4164, 0.2115, 0.1188, 0.9993]\nstate[eef_state]: left_x=0.293 left_y=-0.0025 left_z=0.1758 left_yaw=-0.0003 left_pitch=-0.0324 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3853 right_y=0.0729 right_z=0.0192 right_yaw=0.0301 right_pitch=-0.1305 right_roll=-0.0463 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.6205, 7.0085, 1.7949, -0.0366, -0.0708, -0.0171, -0.1436, -7.2, 4.9709, 1.9267, 0.1001, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b025812cd4204c4cd19be2cd3dd5e7b099d99c0b489ce245d92dd2096c70935",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab18e278fecaf217185cb196d05f107d8d555d65e1054801f93bfd79b84abbb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6d05edfd926b256b42aca67080c994ce51f3fb3063918c86ddb6f67d64fef7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpBZaOBBpHTJd6bStKwYBALM2bS-h7LyJxDTcjSsCppkvjb-uHFy96joi9wuo0JWZoI8MDyyFSpplIdkEMkEOgvO4Dk5CcawWKURmO-Yqi7PnEnhT1tttG8H-suYJvVjTiIdbEg0By2GpNbVKa6OebivPzePs2lEeDVkIpZhfGz0YibTbuOUzUx2v3R_eMoqA-GpOrx4nFF4Fm2KPR7Q0xHOvzoyqpOHy5x7H_FQcVmusL51BSeAXufsmUehgVjc2RO8QQeJiYilTSzBi8nclSVMqJ7ZbLkwkN1HweGGsvI-L9Ea8Gq2gdzKaty5RQEEdX1OaxEPUq1_GFvUKx2azLR4tSJvq4j2wiu9oHEbS9ACdoH-AO-80yvRv0rTC8MnZ0LoEKEauMRF_JlxnLjjqCJhiXgyvtCXTbCFPQhV5FHba8lO7DyX2hVZhB6hGjE8dk1et4bDGoK6Sdr0IF5EuyJgEULTqDN_Bel97P2wODaB1cROIdZJ4W3D8zueIJ2KrJJE-7m1qSGzRGA_qFwRmdKMhSTfPl3Cr2LcQ3LDmugeZxxmEbFHB15GGdkD66DIuVL8HjVTiDjY8IwMR6DSzDOMqxQy-9JBITnvgWT_so17ym3z1CptS5P89fFxYq2CbHOHKtcKaea6Ygdk7Y0AmNwFUP-rxyU-zq64cYsAPnmBFzIUBAZXyOBP3aJAUT5J4BDXzBJ31IMsDyf6Oe-MFncuFUUkEBCBJ7t0nnvLB0Jhx_nJQ2-MdpEV7g1OwWQfGkXHFXaMD2znQF7hOPXxgPwfN7xhWTi0ZevZrJWBD3W0TWQmN1voJQ3giEfIHKI7wlNPWJIENWEsp8eBoh8pVxp_EiKLp0gywZasIpQOZstKz9bP7WclQ-axP6xtt9EcM3-z-GBV25OxgJwPtUQ2E8MheZzIvajUH3rMvLVx9Jyu3En4DLauGzhLKQ_vpMyqsm7dJR0gdK-PV_YTINcTnYtM3xHThvKMHo55fGxYP6a2oR3k1kUPTXktxr4ZqAco7z0YoBRz8Br6TWy8ycCaxBvcxTcwOtV0383vtV1asR23Jm-IAkV8wx2HHW-KDOOd_BfJiAoJVeQ8vwogxqoiqfX4PiBzryfA37eidkhtkIqjHDK4Sfx_kPkG3MLCUvndlLAwDdsHLD1w5qP3iEUh3f1Gn66Snf4zV3aA5a5QQbNuvTAlFnYBXC_1n4SV2Tflh_5H42aep9GKvd5OClSToA9xkfo3aRRy1dnEbWcUbeGLgxU7awwDXys7Akvb6DPpTu3cvnntZLwtjtZ1racRAMr0QAp3weAYa62q4knTYK4fdkKw7QKOjVD3_PfUKZNJnsTgoEXepuiPH5QBT9FId_cZKYmf6AlrnsbUrUgb00R2sdHZjDw08CfIs46Faqb0AMG",
  "id": "rs_0f25f6a47bd5a543016ab41a403cc087d0a7fcfb4984b73b38",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit now fills the space between the right gripper’s open jaws, with the fingertips down near its sides. I’ll close on it and check the gripper reading before lifting.\"}",
  "call_id": "call_YukEolNa6t5Sx4f5VZHSkDGN",
  "id": "fc_0f25f6a47bd5a543016ab41a40c21c87d0a1eb52ef97b228c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YukEolNa6t5Sx4f5VZHSkDGN",
  "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]: [-0.0296, 0.8062, 0.6147, -0.4164, -0.0139, -0.0311, 0.9993, 0.2726, 1.6798, 0.5484, 0.4191, 0.2077, 0.112, 0.7522]\nstate[eef_state]: left_x=0.2919 left_y=-0.0026 left_z=0.1741 left_yaw=-0.0006 left_pitch=-0.0408 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3856 right_y=0.0737 right_z=0.0196 right_yaw=0.0371 right_pitch=-0.1287 right_roll=-0.0485 right_gripper=0.7522\nstate[joint_eff]: [-0.3624, -1.3197, 7.2, 1.7998, -0.0562, -0.0757, -0.0122, -0.1026, -6.5299, 4.9436, 1.5604, 0.0757, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2262f8b7da25373bbd14f166f0138434fa9d866fc4daea778c63f900885f523",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ec860263693ee09bed454218af63c5d495d7f0917ccdeabef7ae0249ee0955",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8662665c9256ed8655ffe9c604c31b66b432a1f766d5766a98cc2dcb4979a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0296, 0.8021, 0.6147, -0.3973, -0.0135, -0.0307, 0.9993, 0.4862, 1.3323, 0.7238, -0.0788, 0.382, 0.2527, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=-0.0027 left_z=0.1791 left_yaw=-0.0012 left_pitch=-0.0176 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3597 right_y=0.1197 right_z=0.1294 right_yaw=0.032 right_pitch=-0.0637 right_roll=-0.0346 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.4838, 7.2, 1.9121, -0.0317, -0.0562, -0.0171, -0.0752, -4.9983, 9.1009, 1.9219, 0.359, 0.1832, -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]: [-0.0292, 0.8059, 0.6147, -0.4084, -0.0139, -0.0311, 0.9993, 0.2726, 1.6798, 0.5484, 0.4164, 0.2115, 0.1188, 0.9993]\nstate[eef_state]: left_x=0.293 left_y=-0.0025 left_z=0.1758 left_yaw=-0.0003 left_pitch=-0.0324 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3853 right_y=0.0729 right_z=0.0192 right_yaw=0.0301 right_pitch=-0.1305 right_roll=-0.0463 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.6205, 7.0085, 1.7949, -0.0366, -0.0708, -0.0171, -0.1436, -7.2, 4.9709, 1.9267, 0.1001, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0296, 0.8062, 0.6147, -0.4164, -0.0139, -0.0311, 0.9993, 0.2726, 1.6798, 0.5484, 0.4191, 0.2077, 0.112, 0.7522]\nstate[eef_state]: left_x=0.2919 left_y=-0.0026 left_z=0.1741 left_yaw=-0.0006 left_pitch=-0.0408 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3856 right_y=0.0737 right_z=0.0196 right_yaw=0.0371 right_pitch=-0.1287 right_roll=-0.0485 right_gripper=0.7522\nstate[joint_eff]: [-0.3624, -1.3197, 7.2, 1.7998, -0.0562, -0.0757, -0.0122, -0.1026, -6.5299, 4.9436, 1.5604, 0.0757, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2262f8b7da25373bbd14f166f0138434fa9d866fc4daea778c63f900885f523",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ec860263693ee09bed454218af63c5d495d7f0917ccdeabef7ae0249ee0955",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8662665c9256ed8655ffe9c604c31b66b432a1f766d5766a98cc2dcb4979a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpFnrszlp8nd_eOA7Cli41abzr2CGrO1EOeLoOI_JQBXrQqWhp1-KMNI2h5r6Ptmph9ncmUWUCtQHzDgL-kiVaU7NBjRkopGC9X9JNuRQ4n6JimASbBXn9uwUNfBbonZ4LFOzqHLT8sEri_WrsAAD4_7bfGVxmkNg11nXXp-zaMngwNNa-KnpaIYjUuniouH2ijozoY_LJYSltddE1IKlO96HGu_mJtZ5NVlCh8g51T8mzqfH81ZlTK4KKCYnlqKG0HYGq5GFq8FMFSryxt0fKYItPWWdcxWXXaf16_MdjqWJP0YUVgXOC8RNDU9bt-1Rvy8yrci-momvZXPtyGEYaYfT6b0qB0WGbFi6W6MpKyzN4cW0QgHIXACq0F354yDuIwDTLrvwDB0ArznoCtQFEcHhfvastW5ZDUes1ZZAsbtezbJeEucuDKjIt22EFx-ls-8FW2627qK4rI-Xb2-Hd0XD3N2diMAVedLbWpLk9ODjNlImNS1WwGIjq_T2xviQ-EGZC4UGoPkl0137hxk2QiGt92hUwVjRjxbnjRM2se3cBawxdk0-Y-FWL09TWOzFdbohYsBLWvJCCA_SkQRyyy4Q3FgN_j4ilEPzh4HbAVYTgMfUzUsPzhJoBNaqkC8eY5yKZCBJgln7Ar1YZDeePUphyt7xU9P6GFENYqSzkYlE8NPGqMMBBe6rfetuzt1D8ZT6RYlCFYt-dNzflhsEzVjppp3bu2Hb-RdvClRNp00RofODcE-2R_ut6dqGrM7wmMnTeNc97Nmt95LoD6z8t-YyH27h716lp3A2YprVdo6qjhP_G8D4XDv4PgRVhiDswmNz6KAm6XNf2mRpZLZbY10W3uGHApNJB-sqhMD4q670FDUdkoFGzCQJ-msKt9FupaiaPpOx7--9PFS_l7xHNXJKfRLzWRdIEdyF0o-Wv90NNovTGMOeApjscx6HYlq2H66sQM3igqvrAIQy9wBDuP8umkPmaIdIiFw3yG0jQziqcg42i4swWaW0kBqQDzTAh-UACYnQjix4LWv_qbpxbyUhZ4aWLWJTNYKRScyQAmIMAH3vLkDBv9VDv7jb3oea4dSlzQ0NGmJNLkmAeEPa-xttL8PPwikN1J-qzE5wfpuOWjJTHl_xTpWKZlT_dYfJ2K-ntJ_Qm92ywl_AZA_L-ds0Tb8wbuhHINXLY3D3_kYotR0FeDe_1m-b23_ahGZ7LJeD42FMy2azIOMC2UYBshhEY_VhXBUX_MUCiiFJw2PPArGqeiVz8D6hqe7P42tP8bv-nNUaw9K4-QZ4pXEgWRZD9geCH5TVQX4Q_RyXj88zX_J_rfoW2iP73oa6AYMXrGxaXGofPmS4zn94YPcq3zEfIYB3CDEBhJPvBZJ-lF_mlezQ524sSf9tzUbjgfR1KuZs9FxEDalquiKeHBySargCUDbao5-AUPdyINVbzfnQBvAc57VPNbTR6p4ij3Sga-4E01wYFctBuuhYDwWtWIGsj2MsxH3gpvgbtth08V1qc=",
  "id": "rs_0f25f6a47bd5a543016ab41a439fdc87d085d3c93d7cf443b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The right gripper stopped at a substantial width rather than closing empty, so it may have the green fruit. I’ll lift it clear of the table to confirm the fruit moves with the jaws.\"}",
  "call_id": "call_ZNEBEau3uNDucj6QLJZDoMhc",
  "id": "fc_0f25f6a47bd5a543016ab41a44446487d090b92efc14b1d8ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZNEBEau3uNDucj6QLJZDoMhc",
  "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]: [-0.0292, 0.8062, 0.6147, -0.4232, -0.0139, -0.0311, 0.9993, 0.2729, 1.4414, 0.7017, -0.0212, 0.2039, 0.1112, 0.7522]\nstate[eef_state]: left_x=0.2909 left_y=-0.0024 left_z=0.1727 left_yaw=-0.0002 left_pitch=-0.0477 left_roll=-0.0001 left_gripper=0.9993 right_x=0.378 right_y=0.0724 right_z=0.0855 right_yaw=0.0394 right_pitch=-0.1764 right_roll=-0.0579 right_gripper=0.7522\nstate[joint_eff]: [-0.1709, -1.1419, 7.0085, 1.7411, -0.0415, -0.0806, -0.0122, -0.0479, -7.0632, 8.6359, 1.8046, 0.0855, -0.0659, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa93d1c0b18836848e65a0b63c75909f1153f62681b1c30207283ea109f70777",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ba90b429a225b925101f07220db3e11ff30c9289e892a3a932d5b413abda0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcbb6df8f13e95aba503455a51e9e6f788415349a4d953226439aa936dbeab7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0296, 0.8021, 0.6147, -0.4023, -0.0139, -0.0311, 0.9993, 0.3317, 1.3674, 0.6605, 0.0238, 0.2638, 0.1558, 0.9993]\nstate[eef_state]: left_x=0.2936 left_y=-0.0026 left_z=0.1781 left_yaw=-0.0006 left_pitch=-0.0225 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3719 right_y=0.0832 right_z=0.1054 right_yaw=0.0267 right_pitch=-0.0897 right_roll=-0.0411 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.0735, 7.0085, 1.7998, -0.0415, -0.0659, -0.0122, -0.1026, -5.2308, 6.2701, 1.8779, 0.0269, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0296, 0.8062, 0.6147, -0.4164, -0.0139, -0.0311, 0.9993, 0.2726, 1.6798, 0.5484, 0.4191, 0.2077, 0.112, 0.7522]\nstate[eef_state]: left_x=0.2919 left_y=-0.0026 left_z=0.1741 left_yaw=-0.0006 left_pitch=-0.0408 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3856 right_y=0.0737 right_z=0.0196 right_yaw=0.0371 right_pitch=-0.1287 right_roll=-0.0485 right_gripper=0.7522\nstate[joint_eff]: [-0.3624, -1.3197, 7.2, 1.7998, -0.0562, -0.0757, -0.0122, -0.1026, -6.5299, 4.9436, 1.5604, 0.0757, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0292, 0.8062, 0.6147, -0.4232, -0.0139, -0.0311, 0.9993, 0.2729, 1.4414, 0.7017, -0.0212, 0.2039, 0.1112, 0.7522]\nstate[eef_state]: left_x=0.2909 left_y=-0.0024 left_z=0.1727 left_yaw=-0.0002 left_pitch=-0.0477 left_roll=-0.0001 left_gripper=0.9993 right_x=0.378 right_y=0.0724 right_z=0.0855 right_yaw=0.0394 right_pitch=-0.1764 right_roll=-0.0579 right_gripper=0.7522\nstate[joint_eff]: [-0.1709, -1.1419, 7.0085, 1.7411, -0.0415, -0.0806, -0.0122, -0.0479, -7.0632, 8.6359, 1.8046, 0.0855, -0.0659, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa93d1c0b18836848e65a0b63c75909f1153f62681b1c30207283ea109f70777",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ba90b429a225b925101f07220db3e11ff30c9289e892a3a932d5b413abda0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcbb6df8f13e95aba503455a51e9e6f788415349a4d953226439aa936dbeab7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpLGDs1jFI8dIzJvg3dYGj2zJjRUjHQODD263i9dhUJkXH1wzM74rgCvlwKJ3vamXLcwcHYbcxg35P53j4bQNs6UU-ji_5r979eVDPU85miPT_TSFtQ2jhJgg2CSb_iL-PkgWyjIE39NzaXdt7yYy0dldL_yoGs35ocMezWwR6I44rAokjIGPZ-Pn4nahZvWS88E4g1aqiD3itysI4McWv3bbLjgmPpdjAmAiHpcbhHNChbCHomN0Xzh8FanLJS-TXj-B7FI4qZKoKtazqVac3WJpTZSS2kw9WKb8YGTuA2JEcdDrE-ajG19GlEg8VnKe6YqB8Xhzbpq6Vl_U4Mb4fwjeZb77EVYawzpgvX_4meuoIYbDlkDu7be3jycCPBd3moNcHdgbBmeaKw7O0WtPnusTGz4qBB9X6uvpIOL6edRAt-h7jas97QjMseu5y9j6GZjwC5U3blIV5Klc2CUQAmu0gwpiIsAcbssFTbBkLTjpQXidZk3eMDnNYPhid5uKRJBH9AnlMqsse8X0QnEjfodf7Fj14zmrDi2rU9Y3pAO8_RHDxht1WqyANdqq2z6RqpllnhiXKn4cv_bZUU8q_tVL23qq9gAPlOl46-hihC-Imy1EJI6vz2jJQE9SMOMZVre7ncEgVMURPRFWuyRSn4CuKoADAWMmXupaP715O2Nk6Ri8zqlXxUVG2z4WICdcgtZTs506bGwMKOUQv0x1h6B6X-DOQnetDKbxDnbsdoH9C82qitMqtSHxfjHfYiW2tMaICT5xl9CccYWe15JLyauCnAgRpj_v8UkurACHOb0MFYac40LF1U6ALWOJ2BuwsgH-DS0gFwcwU026mdRmxNp5Y_ypjfdN81W6fHIsyp5v1xcVw9rOCB_Jrpg505vk439i0h1PwNKCNxKzrG4zONCJfsh_hOLz7srjgn0SKFOFMIoAd7hcAtY_WKA78wtG8f_ZtkWKYMmjpbIgSJnscmiRubR8uEfbxHwxnhrH2Sckec7VI24OLVZeZ5ZkFM0ZChF6iHmup1vGsrk4hjBfmoI0NqdnMLImc0ndAUrZNOrgoK5g5xKxCfmiLeUkOLpHAj9mMa9iBG7igGYa5ksfMA52HMMbHePf-RlmFHCg0uofPCkajwTLw54KB-e4kig9pqQby_mZywNK4eLBo8aQOZi2DM1J_uff76kEIbTmUK8Ye4gSWDxEjoA0ynZYwBe7KePebawUsUgGBv97ioShxqIS7AmXsdBOhoBsm_qTiD0-Wmyob7Hh2wIQQiUctMaiH0xSpDLko2FWQnjNf0xwzjHT2xmi6VVeMuiVLbALYb5WRdhBtFwflFBxP8wTtMJeDVcvH-vlXqnLt2DhYhs0QL1-XoN4qT3cS6uCPZtkAXM-XfkMX9vXXyJGI3DPAdH3t4uhMaRy_pHAry8ADu26HqoqSQFB9vhhtbfORlyy3ys2oR2Xcxvab0OZUHFyKM29x2deKr-d-gNRery61EJbLRjKNEp7lVgq4r7dj0EbeBb-vRXkgQuUt1XHJ1B5BH_x5WP2T2ibpfKUSs0052BZ99z-9a7XWzGObVktYSV46ScP0lxARnOt1ivwU_ssB3vE9EwcfNMjMRBTV3K9nsSLMSFBPhfs-3_DOcllaGB_QbmELudI_Hr_JUHhcCj74AkJWf8wsOYx5AM3PLTv64DjpM7vM9ePdBCwAUffQRGGTHuNo_zdQZKON4oK6MgZjkhkBFjxCUDhs_LVrMa81Ah7puJ5KYRg2MCof0zvKl8G9Yfvf05U1-4Iq935tVeALAc4DuTHOHczjRvoj5xBR2qof8oPxr6Qn86A6iaLde-Xl5Tdgg5KRUpcjGXFhRBVpSPKzkZElrmZnTo6AvRZAgUddDcP8W6mWl-QA16bWiX06uiDqpj9-ukcziD1PSw-uStG61RoUqu1lkJGz3hlyFtSuM1Rns4UCrXr-dGeisbjPhfA_nL36p-Kjny6l9KwSw1ERKy78kYP2iQ8qo4C7FuNlbtRq7-BvYtGsu8cvZCOI8QPwXgnDrxsVPlAbf3DAiFMby4gM9HlQyJr464uHk36VMtQhuO1G3t_eLOLLm8iX96NGUJ1fdX9UEJD9AMrvsTWSzgSZnL787LyEX0jE80buaMW22xzUxebq5lWqesgx2XXlZ-pDPlfxmMHHgJzM0EY6e8FY0hIrBoIU2FwS8zxn92zzR7M8POGYOwR5WIlPOJfcYDrAcKHqmOyLU1xjpy9Wg1IEddrMjWyjyVTMYssAWFiMUT6RLgC3SWeB1isvTPjzmwsqXkgGXOCjq_T32jyz6vw9-1-NenRaR2AGKdCfvVoEOUDORtCLnX7GZq3FTJn7KtiCrf4YXgDMBLE4UKhGmyBjyDeFBPV_YO7Pm1IArBGE4e0pb1WeKoIkuFsnWQKjwIFse-RzCXlbAzGB_BEhZkhrDjRAMWkbHTNZ73ONhXelMzvA91fU1F6rjcZ8bZadGSQq9UWZRTgQ2y5CEqTajpjxIMfZX__kKtfzUogKps1OQnxbQwuq7d48kk-G1YK_IEpjz83Rnt3HoaLNqiQYlic08vSQb_ZS1ob2DomEtqkVTG4R8pp2NybUs3souAHIfzHpT0U9wwnYOqPpS0ey1qFE7I5wzfEXiIH7dhsHAM75Gg9HKFB5tACFmZgVaRLGHfsk0mkc8nByTpwMPmt_vUTu74XnAJQvMQxb03T7cnfQujFGgVF4RZAHEL3bAsazyqkLy_QRhv4gwIqvxKAVaYCRDr9VMtAsuqNHmh57uwnba6EfJw16UGDXMvjk2JLg51VbLwxAL9-GqOx5Zwivk35dcLm0X6spx8xz8UZQjbHbSM3_ygVEa1AjlyuPtVbc7LODG4N6_ktaB4dKNdhHtKrTvadntGmz5yqiI4kRxukq5xoluYKwZFNq9FW47c9OSiE1kY1EGjEqw6fWQ5k3DaZDOqTCbRpGYtGIMn_KWDd-daeUJobJbQtx_ac466D06Q6vFpbcJdmUBy0HUpupZ9qd37pPokfTAGAsxlMslSNZRerJbFWuKVsB7PRsyvMEgsmgiXnOX829eNun5qBtJbx5EQq93S-P9QkeXJuhQkNUnGjdfKtT_5qOBpJ6_NvGPCpW70q00bWvr3eZpxofMR9yKPT_5-ypVqVZQpnYLaGyDpwQMnYm3LyaYV9EIswI=",
  "id": "rs_0f25f6a47bd5a543016ab41a4745cc87d0a9cd891de2401844",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.458,\"right_y\":0.155,\"right_z\":0.205},\"note\":\"The overhead view shows the green fruit moving with the raised right gripper; the other two fruits remain on the table. I’ll carry it high over the blue bowl, then lower it for release.\"}",
  "call_id": "call_C1Qu9kHlhOqvqYLRKOdJrrfJ",
  "id": "fc_0f25f6a47bd5a543016ab41a4aa01887d0a4fe886987139c55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C1Qu9kHlhOqvqYLRKOdJrrfJ",
  "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]: [-0.0292, 0.8085, 0.6147, -0.424, -0.0139, -0.0311, 0.9993, 0.4358, 1.7332, 1.4658, -0.5545, 0.2951, 0.1982, 0.7522]\nstate[eef_state]: left_x=0.291 left_y=-0.0024 left_z=0.1719 left_yaw=-0.0002 left_pitch=-0.0507 left_roll=-0.0 left_gripper=0.9993 right_x=0.4532 right_y=0.1583 right_z=0.1907 right_yaw=0.0749 right_pitch=-0.2125 right_roll=-0.0751 right_gripper=0.7522\nstate[joint_eff]: [0.0068, -1.5111, 6.9949, 1.7167, -0.0464, -0.0806, -0.0122, -0.1436, -9.2786, 9.4291, 1.6288, 0.3687, 0.1636, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef1e2808fff0de716f9bdfb1d51553c700bb1588a857c62c90328652aa9a2821",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b147d0fb6a56a14b7fad61d4481148aa72a1b74221ad51e0d2e8f54a136c8c88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6e47b46bd6ebf5bba7dc29639f34dd18905a2d5687a836cb0c9c75d57490c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0292, 0.8059, 0.6147, -0.4084, -0.0139, -0.0311, 0.9993, 0.2726, 1.6798, 0.5484, 0.4164, 0.2115, 0.1188, 0.9993]\nstate[eef_state]: left_x=0.293 left_y=-0.0025 left_z=0.1758 left_yaw=-0.0003 left_pitch=-0.0324 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3853 right_y=0.0729 right_z=0.0192 right_yaw=0.0301 right_pitch=-0.1305 right_roll=-0.0463 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.6205, 7.0085, 1.7949, -0.0366, -0.0708, -0.0171, -0.1436, -7.2, 4.9709, 1.9267, 0.1001, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0292, 0.8062, 0.6147, -0.4232, -0.0139, -0.0311, 0.9993, 0.2729, 1.4414, 0.7017, -0.0212, 0.2039, 0.1112, 0.7522]\nstate[eef_state]: left_x=0.2909 left_y=-0.0024 left_z=0.1727 left_yaw=-0.0002 left_pitch=-0.0477 left_roll=-0.0001 left_gripper=0.9993 right_x=0.378 right_y=0.0724 right_z=0.0855 right_yaw=0.0394 right_pitch=-0.1764 right_roll=-0.0579 right_gripper=0.7522\nstate[joint_eff]: [-0.1709, -1.1419, 7.0085, 1.7411, -0.0415, -0.0806, -0.0122, -0.0479, -7.0632, 8.6359, 1.8046, 0.0855, -0.0659, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0292, 0.8085, 0.6147, -0.424, -0.0139, -0.0311, 0.9993, 0.4358, 1.7332, 1.4658, -0.5545, 0.2951, 0.1982, 0.7522]\nstate[eef_state]: left_x=0.291 left_y=-0.0024 left_z=0.1719 left_yaw=-0.0002 left_pitch=-0.0507 left_roll=-0.0 left_gripper=0.9993 right_x=0.4532 right_y=0.1583 right_z=0.1907 right_yaw=0.0749 right_pitch=-0.2125 right_roll=-0.0751 right_gripper=0.7522\nstate[joint_eff]: [0.0068, -1.5111, 6.9949, 1.7167, -0.0464, -0.0806, -0.0122, -0.1436, -9.2786, 9.4291, 1.6288, 0.3687, 0.1636, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef1e2808fff0de716f9bdfb1d51553c700bb1588a857c62c90328652aa9a2821",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b147d0fb6a56a14b7fad61d4481148aa72a1b74221ad51e0d2e8f54a136c8c88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6e47b46bd6ebf5bba7dc29639f34dd18905a2d5687a836cb0c9c75d57490c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpPuFzffAphQyC1t8yeqosAGfeWuLt0veSX-ulriYzPQa2YXGyDHguyVsNyD7GqubjfEDxgUrbrl7k9Ln7NauQsMhwdgpey_1NDXG539rqj88p_4qKChtWj7kjHzAtmG20gm4hhiGpa4osOo0NKR-ZfpsP5quYXFz8-M2odOxl-t7Z5AG_bo1zUB3HCBpO08kMCMNGozdcCmZSR7D32s_qQUVw9Cd-sfKqBkoOFa8VgmlRIjwVVTGuDOf2JmweRL6g3kxNM3H_dv--a8HW8NRCijLKIHv4AaEY5cabHkh4RoRwH4Bm9_D0jEK66suSQkOPK4LTP41IsPLD0JHd2xZi6iJ_BHJvw_ju8ZhhZJxKOAWuQF74mb1YrNAEyxz95zOF4iBZWA79Mnfka9J4k39XG0vCQFb1_XqmR4q1NT0IS7IQefqwfsaVNhqRdBM97_gGAd8hOPL6lSzY38AF_mZhqXXAWV-WeYR1cVTVx3kqe5PCwnAJKNtVHBi4DBv6qlLYUEiJxIpnh0ulm6HFfzw6C8Iv58MJmkfU_VhrBsxI0wiLb-S4K5oV9ZrFCUa3r1yRKAFI7TkkMn-Ba93IElMd_9ZdhkpW2hwkvsTSMVhyzBzP82xKR_4GUxpC_cTx3nbau0CDSI7q3b6NYXq-Tv-roKvitTmVbOHvfPDRawo4f-_k7B5rUuI-VwEWX-8gPnqFLeSmcxbfFw6LzhbEc0I24j3TMj0nI52a5yYBw61FEIThskyQlVHJ549r_obXZWD0g_8sInV8biagrRI-ENkPljaZtZUGBj7IRY1prYP6JN67SZnMLP7FMq73it2ywqxBkLrdM-qDYdFHgPQzY8ZZTYtA01wPnsP8GKJ1vCaIpf4IgDecBB7GkoQcggcJEUoWobSoYk6f2pKsdvk5uxpcoHHNIE337--aC39cTLw8TN8H2xRYU_pKhQLM1WRv1UHw25quCIpMTLmjmDfFkoHgWCcaUclCP---94ZjQ0XC1P71AgVa-qJIHi9e6hgBMnZF9-Au7V4UXAy0UO-or313S7HANP5htMm3A7-62S1GkmTlvtUY8cRxt14n824bIjNSxfpYcWVLIc6djRssUz_or-gzvfR4vjrQ7_sOVnc0FGiPuOWnz3duX7pvXWnRWfBZRDCysDXHs45DjPQTh_LibaAQZrWsuaNar42TvleSNtyPqs11zrTgT3FCNmnUk_cVd0Rd1z3i-8BQaRxNBKHPIz-Ye-c6uEu45rVzqle1k81f00RDZfZAnMC2r0ulBsj_ha6Ip0irdvrwrhPO05FUNypJg2LdgHTXOsy5ZnW_jJEO1L3Pi2yLjpEAP01CW_c6BHvDgXGkxiDBHMfm__zBBhL2euswTl_9vF2_tOS2Dwwbb9CSSd88e1cVsYPgUj2Su-mtrvzY-tRwi4JHZif8RKACxBlkU1W02j5zxGrhyNW9tw1cM4EMe-fzWa2geVvXRmyVzLK32rrX5DxN5x1o14hyGWOUm1-19DNl2xw6MZ25PGPATkETIrNkIFpLm9_VjbP_5S0QEhhVf7a2e5UjqLL0106OdhhTq8SpOPppvkaNDkRMxe4Qm_Z-UoRZdLI6TvJhrQb0wZXVaUq3z66KdJOT7mpDJZniT9jkxbmvW7UTS0wl2tOuZW-yWh8PhloZvYuDhp3iZOH_JodbpuJDzoA==",
  "id": "rs_0f25f6a47bd5a543016ab41a4e1b4087d0bfc813ca84a15dfc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.112},\"note\":\"The carried fruit is above the blue bowl in the overhead view. I’ll lower it toward the bowl’s interior while keeping the jaws closed, so it has only a short drop when released.\"}",
  "call_id": "call_8PQgBU0aneqzGYisOzQOxBxl",
  "id": "fc_0f25f6a47bd5a543016ab41a4f0ca087d09f24f8e67bb31304",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8PQgBU0aneqzGYisOzQOxBxl",
  "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]: [-0.0303, 0.8116, 0.6147, -0.4309, -0.0139, -0.0307, 0.9993, 0.4358, 1.7901, 1.2114, -0.2878, 0.2909, 0.1913, 0.7595]\nstate[eef_state]: left_x=0.2901 left_y=-0.0028 left_z=0.1697 left_yaw=-0.0016 left_pitch=-0.0606 left_roll=0.0006 left_gripper=0.9993 right_x=0.4462 right_y=0.1559 right_z=0.1037 right_yaw=0.0785 right_pitch=-0.2558 right_roll=-0.0931 right_gripper=0.7595\nstate[joint_eff]: [-0.2393, -1.4564, 7.0085, 1.7753, -0.0513, -0.0464, -0.0122, -0.0889, -9.5111, 6.5709, 1.8046, 0.1587, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d260f6180d009db25a00ea84965cb8996dff4e8068ed823d985a82f46e34033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a9be5719f5252bd09edb90632a094d4d9e29e4d8419d93056cda82d51524df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b37011d6994da762cfb2ae91579d0e2069530f8c05ddc477b7fda7ac2fec71cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0296, 0.8062, 0.6147, -0.4164, -0.0139, -0.0311, 0.9993, 0.2726, 1.6798, 0.5484, 0.4191, 0.2077, 0.112, 0.7522]\nstate[eef_state]: left_x=0.2919 left_y=-0.0026 left_z=0.1741 left_yaw=-0.0006 left_pitch=-0.0408 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3856 right_y=0.0737 right_z=0.0196 right_yaw=0.0371 right_pitch=-0.1287 right_roll=-0.0485 right_gripper=0.7522\nstate[joint_eff]: [-0.3624, -1.3197, 7.2, 1.7998, -0.0562, -0.0757, -0.0122, -0.1026, -6.5299, 4.9436, 1.5604, 0.0757, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0292, 0.8085, 0.6147, -0.424, -0.0139, -0.0311, 0.9993, 0.4358, 1.7332, 1.4658, -0.5545, 0.2951, 0.1982, 0.7522]\nstate[eef_state]: left_x=0.291 left_y=-0.0024 left_z=0.1719 left_yaw=-0.0002 left_pitch=-0.0507 left_roll=-0.0 left_gripper=0.9993 right_x=0.4532 right_y=0.1583 right_z=0.1907 right_yaw=0.0749 right_pitch=-0.2125 right_roll=-0.0751 right_gripper=0.7522\nstate[joint_eff]: [0.0068, -1.5111, 6.9949, 1.7167, -0.0464, -0.0806, -0.0122, -0.1436, -9.2786, 9.4291, 1.6288, 0.3687, 0.1636, 1.033]\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]: [-0.0303, 0.8116, 0.6147, -0.4309, -0.0139, -0.0307, 0.9993, 0.4358, 1.7901, 1.2114, -0.2878, 0.2909, 0.1913, 0.7595]\nstate[eef_state]: left_x=0.2901 left_y=-0.0028 left_z=0.1697 left_yaw=-0.0016 left_pitch=-0.0606 left_roll=0.0006 left_gripper=0.9993 right_x=0.4462 right_y=0.1559 right_z=0.1037 right_yaw=0.0785 right_pitch=-0.2558 right_roll=-0.0931 right_gripper=0.7595\nstate[joint_eff]: [-0.2393, -1.4564, 7.0085, 1.7753, -0.0513, -0.0464, -0.0122, -0.0889, -9.5111, 6.5709, 1.8046, 0.1587, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d260f6180d009db25a00ea84965cb8996dff4e8068ed823d985a82f46e34033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a9be5719f5252bd09edb90632a094d4d9e29e4d8419d93056cda82d51524df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b37011d6994da762cfb2ae91579d0e2069530f8c05ddc477b7fda7ac2fec71cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpYmwJ2IoOe8qxj1YVIlIr1muEX3Or1n83bIjsMBCg1QfTKp0__jph00ongcAD7kkQQwCmvE2XitYty2Prb44CZnRpJTrqJdtXrpKUt14Mpa6u0GwX-4wM8KH1f02hmSf82jnRs81cTzm9-07_LpSfPYDzW_NqTbANMei28ywnC6iaxGAnhp3eEjgcOw9lEeOEvkxXMAB491Vb6n0LBnKaYNyBpXU3vJvcZe_Fiyhagzk1W7Pnpmqihk5PZTgr3ax3-j8zOpKNtJUlYmXD2orF8oIY0xj8Dc4rry4n_-hkE2_qICS_u7Cp6p3PuukS7SQTFMHQSbjFqpuUJ3HZ9NotbgvNQOWmbSaRDImITbafJIrJn1NNm0QRmjUUhlSNGUnThmNhf2dCCiUn5w-ITsB3L-kQApZ5oi8zgQMxIlG9njvwsZfSuYlgkFbukN5JyN1HlCWPUaJ9hNs8H2lxh1NEbVc-XmK9gq-Yysw9zFOezCx352Noz552DJLxWomqUXVCtlsp_9IwX7kgCqUaYpF_shptp43a8WSlzmFYBFO3hwFdpqE9Wqq3sqRfa2EO1sxmLkuCCXUaKoG4cwjtcLZqNiLfhuE4VSaovHkZj5xTT1ECaH10-uzziS2XjTCF9fngG7iQiVLp7fq0SQfn2o1K6iaEdIyzddYZWA2cDANye4aLWD80TIGXkYb0LqvmpjELVFjExxbdZF7UMueqlrHHHLnx0MCBiCFCiYyRaJq0IjvRTyd_YhbfBrBKxlTTynwxJgSeoW-PCXmWa4ec3KWJOyWSxg_whJB5HUzxfC0nNNGhobvDY27GVInjiGZDxmTvzmT5rbpsZHKepw5x51qo01cWA4DHvCdx_Yb5bflXVjp63lEgs1QHsADZqULPLMLB61G2RVooE9_98oWtbctmv7YppQ5sPDvGzsHAXzdXLHbS0-2eCETTToe2vs7cO4medhnXKI58k4OL1DseBAjOXCwpqtTgUc871WfPh0MShhUacvspQpqj1DsZt3PBy-F_2LzCa8I7tgYzr41kpXXYCjAV2pWx6T9XiFenZjhuTyGSMqks1uvnMpITXObRBW4egw1IwY74x8kRg3JkBkAaqCrbUooBm4ImEBjyick2IYzhyFm_LdPVP2R0oHZJX0YTN9N6pCSGs1YNrj3QARoQmyVpdnQR5RRqCG_1_7vUnDoIKaZYfEbpftaO4PwWrSCCfWMI6ePDYf7MYDpYspCEQTNy5-0gvhM75cG6gCnJpCn8FaK3QB13HbWRatige4F1d",
  "id": "rs_0f25f6a47bd5a543016ab41a57067c87d09f01c19c131c0064",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue bowl is directly beneath the fruit in the right wrist view, and the fruit is low over its opening. I’ll open the gripper to deposit it.\"}",
  "call_id": "call_y3HHcLy3CLU4W0XP2v7iP3cx",
  "id": "fc_0f25f6a47bd5a543016ab41a575a4087d0a3af0a0d2b97de7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y3HHcLy3CLU4W0XP2v7iP3cx",
  "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]: [-0.0303, 0.812, 0.6147, -0.4309, -0.0139, -0.0311, 0.9993, 0.4358, 1.7901, 1.2114, -0.2932, 0.2909, 0.1841, 0.9958]\nstate[eef_state]: left_x=0.2902 left_y=-0.0028 left_z=0.1696 left_yaw=-0.0014 left_pitch=-0.061 left_roll=0.0003 left_gripper=0.9993 right_x=0.4454 right_y=0.1555 right_z=0.1029 right_yaw=0.082 right_pitch=-0.2611 right_roll=-0.1002 right_gripper=0.9958\nstate[joint_eff]: [0.0068, -0.9368, 6.9812, 1.6679, -0.0513, -0.0708, -0.0122, -0.3214, -9.2786, 6.5026, 1.4579, 0.0611, 0.1392, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80ca1ca7b86cd8ca767f7c889548d9bef7b0806799082dea71e42af84e038f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0459ec40e39a88b02dc9eff04561d2f45f4ef021fcd1e265b0b2c5cb7aa8087",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab4f8edc35de009070db2d817761016af50cd4816d8320a342eaf42c592851f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0292, 0.8062, 0.6147, -0.4232, -0.0139, -0.0311, 0.9993, 0.2729, 1.4414, 0.7017, -0.0212, 0.2039, 0.1112, 0.7522]\nstate[eef_state]: left_x=0.2909 left_y=-0.0024 left_z=0.1727 left_yaw=-0.0002 left_pitch=-0.0477 left_roll=-0.0001 left_gripper=0.9993 right_x=0.378 right_y=0.0724 right_z=0.0855 right_yaw=0.0394 right_pitch=-0.1764 right_roll=-0.0579 right_gripper=0.7522\nstate[joint_eff]: [-0.1709, -1.1419, 7.0085, 1.7411, -0.0415, -0.0806, -0.0122, -0.0479, -7.0632, 8.6359, 1.8046, 0.0855, -0.0659, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8116, 0.6147, -0.4309, -0.0139, -0.0307, 0.9993, 0.4358, 1.7901, 1.2114, -0.2878, 0.2909, 0.1913, 0.7595]\nstate[eef_state]: left_x=0.2901 left_y=-0.0028 left_z=0.1697 left_yaw=-0.0016 left_pitch=-0.0606 left_roll=0.0006 left_gripper=0.9993 right_x=0.4462 right_y=0.1559 right_z=0.1037 right_yaw=0.0785 right_pitch=-0.2558 right_roll=-0.0931 right_gripper=0.7595\nstate[joint_eff]: [-0.2393, -1.4564, 7.0085, 1.7753, -0.0513, -0.0464, -0.0122, -0.0889, -9.5111, 6.5709, 1.8046, 0.1587, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.812, 0.6147, -0.4309, -0.0139, -0.0311, 0.9993, 0.4358, 1.7901, 1.2114, -0.2932, 0.2909, 0.1841, 0.9958]\nstate[eef_state]: left_x=0.2902 left_y=-0.0028 left_z=0.1696 left_yaw=-0.0014 left_pitch=-0.061 left_roll=0.0003 left_gripper=0.9993 right_x=0.4454 right_y=0.1555 right_z=0.1029 right_yaw=0.082 right_pitch=-0.2611 right_roll=-0.1002 right_gripper=0.9958\nstate[joint_eff]: [0.0068, -0.9368, 6.9812, 1.6679, -0.0513, -0.0708, -0.0122, -0.3214, -9.2786, 6.5026, 1.4579, 0.0611, 0.1392, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80ca1ca7b86cd8ca767f7c889548d9bef7b0806799082dea71e42af84e038f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0459ec40e39a88b02dc9eff04561d2f45f4ef021fcd1e265b0b2c5cb7aa8087",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab4f8edc35de009070db2d817761016af50cd4816d8320a342eaf42c592851f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpcNL_A6mJEe1phPBqm54kGMmMk5_sz51NAe5i9UTkHLBV8LRgifQOPi0ExjtuTktUA2g9jZN0NTQMIFhLqwYEogsSZNOOY7HQ12LajrA8OIYttimR1lMTpbYpolnl4qeuewq10HCfNrVuczZ9h0305isMEDfqMP1XYL6Fw--pclZfEYi_qYS9TK4etVRR2pLdpIYmo4ksCJ5QAgdgqoF3hKmCOPlXOAyuk8HOkteYBYQ2xZTKMYjRigUrQPv2GJG670XlZEVYDv9irbYaAzD2geXzKVO3qY4M0_j3fx5oFD0ODkwOr8aGWD3_rVxxchjlA7_90cJHCFUQ7KJqKuvj0CUaxcBJaCHcykZNX5C9mWbZ2Glv6w6ulLiFntWlXsplSPC0UxI9FgeIq5ffcjsFhzmXDEDmUFWuZ29EIc8pboPPkpmPCrhdo3z-61f4TcIglKgUE5WA_0Ws3Dynhodi8CncqIUc5QWMTQ14wiNeg3uk0HUkVdMqN-txnAlbEDrcCCQMzR-2bk5DhrqXsWmMgOxLSOm_vVDcl-99To7z4Heqbu6OpH5J_QShQw9VzrQKvwwEZpiHGlmpm6Rx0NLhbUQxbhab4pBWlJ0IxNKO8iY0F74DiWUSXKxF2guo0uBRqleUqmo9qNjnCtEHrb56syzAtgHcd88_uXu9y1AbqD0ULeGC4i0yTLJBbnR5NoCC-e7z0k5IQQnnALj9Jhj87E0s19ibJuEVsebpfu6HB4DxSCaxMjrp3m0E1sT0Gzm56p4RFqzaWgi5ifDTpDJ_K1tW1w3I4J36U2oRUM-Bq2jNXwtKQ7HjJIM6yFKSoSrJqzp7BF2dYgVtouxPwI6ob5AtLkZb8lRKd8dT0CGhvxvKn2PyCKdkZe_Nwc0wF9lUTu8ZblpqWqc4yhxScwYxqyQasHtVO1k2G6-pkIWF9oAubrfBRJBfqvvGB6Ob0oFpTVdM1QuHh4b1Bd3lJv5bV8-n9kzA1gTnDREEEEdfvRJzWeIyWk12xVAlcnnXJv8TNPg4nWFtVrF-AABcsPwoQ5D6v4Xd-udmeHk6hX2mZ0Bi5Wecfm6EN9mJZgseVT5xY1cjBHlC7-4wN0yf9nSoZuuCjj_L_YMZXAJeSeIOo8xe2bE5DUIlgALZr8CmVdzuiPrpiLoK4oL-9VzFdXb8rxEpUhFUJlXE_7v-8Cz2ZXaPA_11z5ZQpwIEl5k5H0f0f6KOfA_S2N5SyNvBfxsWSd0ERNy-4GduFICoNqzUCwmDaOjmxocfz8qOqFjszeZD68USFSLrmQsYH067pKhQZtYpWkFx-6tU63bvvfa48w2ubB6cVVj0iFnFx0yBj9jY2UN9j6LUUcY7qDB-w2RFi4-beUAUeHW1-siFAtpEwM-tUpC8SfDNRqlLzPqXCtc9Qb3e2UYIJzpeYn3H_nREUQNd9v9wIHC6ajcQ6sovHbmglCdnoaj2qaqbDbM98md-UEDkBvqurUdyS9Qag1jeHQLcCRaLVEfmQIM9ROG049LkyNcHFqb-Q50ypRne-qWFQzi7opvnp4CE_zX7JBZOVyAzJXX0xPHWYy1xIRHG6SLzgsOyFAt88NawF3_5LpLm7zj6FAkkZlFnFvayxk3STuTpu2bMP2YI1_LHy0iELzcm-dz0DtfKwwt9Lk_qWp2MCQXLL4Q3mqcnlAQ5wDwQ7e9laNCVXSboUZt0qqI5UWIRfdUvzCpj0dakKB0MzXyUciYIQpFTcmAeP3fKsojCv3RGnmc0mZz1YQMQXUNk7ICxptNcg2HQUu-tAwia3YJ13l-MNW0oVHqzD7XvVLchaoCjINdKqvvpYdwoa7h7JETjRpVQd6UzfxZrt20Nd3G3Hj0ZVRQx4L-IVj3ApkN7DawJSvk7jiSoVSwroRQynI_StpayfeYFX_4dpUNuejNNqfkCNCLw8ROhZ0VMmuoXfru-DDn9mQ4X_Qcv4UkAMf4enTTIkLpKko7bMD2BBu0Mi0BoQYMT0gUa3d0Qo7JSzcFERtF4f-vvuq0I9ztu9gT0QUC-6hpvyXD8G3gyBPvdSCw5Bxpw7-0a6KggaHD6it9TW1KfyvkUdbFYn3rsuWSpv-pU_YEL0M-SNiYOB1ooRBkrPhcv0NakDJnw4z039ZO2LySO13DYwExYxEbeA8J-I1JKAbSjq0rEQPHxt53sZcS6N3ZUkJ1kisx1m-w14_w==",
  "id": "rs_0f25f6a47bd5a543016ab41a59680487d096b0ca2df99db4b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185,\"left_x\":0.356,\"left_y\":-0.215,\"left_z\":0.132},\"note\":\"The green fruit is resting inside the blue bowl; the dark fruit and small yellow fruit remain on the table. I’ll park the right arm clear of the bowl while bringing the left gripper over the dark fruit.\"}",
  "call_id": "call_BJizkLq7oYNoXdp00oskUI7B",
  "id": "fc_0f25f6a47bd5a543016ab41a5b594087d0bc1291f07849963a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BJizkLq7oYNoXdp00oskUI7B",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7868, 1.549, 0.9134, -0.2146, -0.5777, -0.5392, 0.9993, -0.0063, 1.0222, 0.8894, -0.6769, 0.0212, -0.1249, 0.9965]\nstate[eef_state]: left_x=0.3469 left_y=-0.2062 left_z=0.1151 left_yaw=-0.0162 left_pitch=-0.1137 left_roll=0.0307 left_gripper=0.9993 right_x=0.3033 right_y=-0.0021 right_z=0.1858 right_yaw=0.0457 right_pitch=-0.2475 right_roll=-0.103 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -7.3094, 8.7316, 1.5995, -0.5788, 0.0562, -0.0171, -0.1983, -2.8239, 6.5709, 1.6239, -0.1197, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88ca913e51fd1404cde7568b961c7974e6abd846bd2cd17cf351c14224702a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9e697414c9890026b304ebada3836d36246119b81b65639c89a5621b00ead1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a43124cb210807456d3947b4850e4f363dce02ce149daa0a1f6f1825f366da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0292, 0.8085, 0.6147, -0.424, -0.0139, -0.0311, 0.9993, 0.4358, 1.7332, 1.4658, -0.5545, 0.2951, 0.1982, 0.7522]\nstate[eef_state]: left_x=0.291 left_y=-0.0024 left_z=0.1719 left_yaw=-0.0002 left_pitch=-0.0507 left_roll=-0.0 left_gripper=0.9993 right_x=0.4532 right_y=0.1583 right_z=0.1907 right_yaw=0.0749 right_pitch=-0.2125 right_roll=-0.0751 right_gripper=0.7522\nstate[joint_eff]: [0.0068, -1.5111, 6.9949, 1.7167, -0.0464, -0.0806, -0.0122, -0.1436, -9.2786, 9.4291, 1.6288, 0.3687, 0.1636, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.812, 0.6147, -0.4309, -0.0139, -0.0311, 0.9993, 0.4358, 1.7901, 1.2114, -0.2932, 0.2909, 0.1841, 0.9958]\nstate[eef_state]: left_x=0.2902 left_y=-0.0028 left_z=0.1696 left_yaw=-0.0014 left_pitch=-0.061 left_roll=0.0003 left_gripper=0.9993 right_x=0.4454 right_y=0.1555 right_z=0.1029 right_yaw=0.082 right_pitch=-0.2611 right_roll=-0.1002 right_gripper=0.9958\nstate[joint_eff]: [0.0068, -0.9368, 6.9812, 1.6679, -0.0513, -0.0708, -0.0122, -0.3214, -9.2786, 6.5026, 1.4579, 0.0611, 0.1392, -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]: [-0.7868, 1.549, 0.9134, -0.2146, -0.5777, -0.5392, 0.9993, -0.0063, 1.0222, 0.8894, -0.6769, 0.0212, -0.1249, 0.9965]\nstate[eef_state]: left_x=0.3469 left_y=-0.2062 left_z=0.1151 left_yaw=-0.0162 left_pitch=-0.1137 left_roll=0.0307 left_gripper=0.9993 right_x=0.3033 right_y=-0.0021 right_z=0.1858 right_yaw=0.0457 right_pitch=-0.2475 right_roll=-0.103 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -7.3094, 8.7316, 1.5995, -0.5788, 0.0562, -0.0171, -0.1983, -2.8239, 6.5709, 1.6239, -0.1197, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88ca913e51fd1404cde7568b961c7974e6abd846bd2cd17cf351c14224702a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9e697414c9890026b304ebada3836d36246119b81b65639c89a5621b00ead1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a43124cb210807456d3947b4850e4f363dce02ce149daa0a1f6f1825f366da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0f25f6a47bd5a543016ab41a633c2c87d087c8e4b0be61ccd8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.208,\"left_z\":0.027},\"note\":\"The dark fruit is centered in the left wrist view, but it sits just short of the fingertips. I’ll advance slightly and lower the open left gripper alongside it.\"}",
  "call_id": "call_4G8DTvjeAe2GkzpeiB4tcUPe",
  "id": "fc_0f25f6a47bd5a543016ab41a651fbc87d087344c07e20f7272",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4G8DTvjeAe2GkzpeiB4tcUPe",
  "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]: [-0.7349, 1.8156, 0.8188, 0.099, -0.5453, -0.511, 0.9993, -0.0086, 1.0248, 0.8894, -0.7044, 0.0067, -0.1421, 0.9966]\nstate[eef_state]: left_x=0.3645 left_y=-0.2011 left_z=0.0222 left_yaw=0.0016 left_pitch=-0.166 left_roll=0.067 left_gripper=0.9993 right_x=0.2986 right_y=-0.0002 right_z=0.1804 right_yaw=0.0661 right_pitch=-0.2779 right_roll=-0.1021 right_gripper=0.9966\nstate[joint_eff]: [0.5538, -8.1709, 4.8889, 1.6337, -0.2808, 0.1587, -0.0122, 0.1573, -2.865, 6.8034, 1.7656, 0.1294, 0.1685, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6493f88ef0dfe232da4b708dd43e44853aef07a1e931e276c497889e869e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304185f4f407b09d6c7a3e369941ef5a663aa61bc944f12b674e7a3bf80cb241",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf5898f7471fe7444f10219eb07090b6f37645a5e1f39eb83d5da6e150458b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8116, 0.6147, -0.4309, -0.0139, -0.0307, 0.9993, 0.4358, 1.7901, 1.2114, -0.2878, 0.2909, 0.1913, 0.7595]\nstate[eef_state]: left_x=0.2901 left_y=-0.0028 left_z=0.1697 left_yaw=-0.0016 left_pitch=-0.0606 left_roll=0.0006 left_gripper=0.9993 right_x=0.4462 right_y=0.1559 right_z=0.1037 right_yaw=0.0785 right_pitch=-0.2558 right_roll=-0.0931 right_gripper=0.7595\nstate[joint_eff]: [-0.2393, -1.4564, 7.0085, 1.7753, -0.0513, -0.0464, -0.0122, -0.0889, -9.5111, 6.5709, 1.8046, 0.1587, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7868, 1.549, 0.9134, -0.2146, -0.5777, -0.5392, 0.9993, -0.0063, 1.0222, 0.8894, -0.6769, 0.0212, -0.1249, 0.9965]\nstate[eef_state]: left_x=0.3469 left_y=-0.2062 left_z=0.1151 left_yaw=-0.0162 left_pitch=-0.1137 left_roll=0.0307 left_gripper=0.9993 right_x=0.3033 right_y=-0.0021 right_z=0.1858 right_yaw=0.0457 right_pitch=-0.2475 right_roll=-0.103 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -7.3094, 8.7316, 1.5995, -0.5788, 0.0562, -0.0171, -0.1983, -2.8239, 6.5709, 1.6239, -0.1197, -0.0806, 0.0611]",
      "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]: [-0.7349, 1.8156, 0.8188, 0.099, -0.5453, -0.511, 0.9993, -0.0086, 1.0248, 0.8894, -0.7044, 0.0067, -0.1421, 0.9966]\nstate[eef_state]: left_x=0.3645 left_y=-0.2011 left_z=0.0222 left_yaw=0.0016 left_pitch=-0.166 left_roll=0.067 left_gripper=0.9993 right_x=0.2986 right_y=-0.0002 right_z=0.1804 right_yaw=0.0661 right_pitch=-0.2779 right_roll=-0.1021 right_gripper=0.9966\nstate[joint_eff]: [0.5538, -8.1709, 4.8889, 1.6337, -0.2808, 0.1587, -0.0122, 0.1573, -2.865, 6.8034, 1.7656, 0.1294, 0.1685, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6493f88ef0dfe232da4b708dd43e44853aef07a1e931e276c497889e869e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304185f4f407b09d6c7a3e369941ef5a663aa61bc944f12b674e7a3bf80cb241",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf5898f7471fe7444f10219eb07090b6f37645a5e1f39eb83d5da6e150458b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpp4l95kLiwyayMqaBijg4t5KWfynhMST2uemUHjkErCL2ZfB0kkq3DP2uYgK2xzp_Z1bN2bLVp0-UFm6w6br-mT2vb9xM79DTmkSFXYrVq4BHH51PrQr2XI9f_nCRsBBuaAj82CQ0RrsqDi7l0A9gFxOADaGZ8HEgpV2K5TtQugNFpF8GJrjf3q7bGPgRhDYX-aIh1PIwzNAq6CeG-ACamyEA670totiK_g_P4Aam0PcmFki-KrodFYj-GayRZL3IrTQFfDfmMGA_Mrz1cE0wsHNLoXSHD4MB1boc7zXyvGjxnDre875_so_ZGE4oSn22jIaAIFnlHML96m9pptHPVKCXMFnXPZni2tJSPShEWSSCzT9SyTyIvAWo8B2sjoRY6H7Z6zpOyvfWpy__xO5ZcKY7_S16bFrYhQWK2jwwm1lMmxFRWHoI4zMiZWK3WbM6aVfINXXFn-M0CloNntrYbNXoLYy4n5i4EAOuOaLjXt4J6rLqDaHeAIo9MXm0kF3BPB9vdXmFbGDShVO4bj-wbIiJsCZyBEtbFPZORBtv4bOjLjDRv2m9lEOO9kJ3mrglJ7h3zmqgqctPIxhfsqhjkwrsOFpZ4gI0XC0zHZy3vTyYBhLQIOlhfycKPkoeQsSG2A9OjEXBTknavFpvfE7NuM4c-MHYllmbyxR4qIB0iND1xnJd1-NQopNwnBB8UiBItvvulhlW3bFoLQTfnUgLZT2oxbO4-hyO4Qx_aOhJM9bRL7mAOGiABKAUylXcJ8Ydyw-gbhoI0Qe1VWf5PpRjQJN4_qFgdgz1q4TzLm32TCPV9Kz-8OyVsxKrxbtFZT-2v15f5l2bmHUxaZjivYXNUxHcw74C3JSTTe1v0pEo2aMAFEXZHQOb946dR5aw6U_E9c_dQwnVg6sM3GkEeO7wcdfSYG-a-m0vOuTmDASXVt4ANlvgWjgoo2Fv5fvpC1yaqR51JjL_OrgdH1Zy648whHmWnXZErIJASy0GAJA9ol3aSi3R9kLKRB8sFy2ASWDOrsfQ1vF1KlG-zk0NZRJwqJKVygZbGgU_GNapYnjM-DKpTFXbDSyp39paKujQF4NOrCrtqa2EN3qNwN6XCXhlJTurCBQKVznU4u47oMPPxrDW3XnPM48fMeb2KmA6dYzbkEe30DqPzasg6KNirqmhaqKAnLwplPOdupIQhLukjBRpSnyt2uTG8azyKwH9_sJn0oqtk4Pbbh18wWizY_H90EwKwMjuAQEtPZmkJXTDdGrcABlwAwKt2nZH_oi414w-edNgLHOHIrDek-mcz2utA-dHWWv1uubpVYTpCWCAXka47aY6gZPCC59xqqK2ZgSren3OGxUA93_Y8kbjUUmleSH7Urr1XNZPNfrrlAQ1KOVxAnCx-N1CPnlbrc8r3Onj1",
  "id": "rs_0f25f6a47bd5a543016ab41a67832087d0a791408e9e016303",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit is now framed between the left jaws at table level. I’ll close the gripper on it, then use the settled jaw width and a lift to verify the grasp.\"}",
  "call_id": "call_1zKHc1zLhVfUNxFQGiyDbDS6",
  "id": "fc_0f25f6a47bd5a543016ab41a686ff487d0b2e368528698a9c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1zKHc1zLhVfUNxFQGiyDbDS6",
  "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]: [-0.7334, 1.8389, 0.8131, 0.1093, -0.5388, -0.514, 0.5378, -0.0086, 1.0248, 0.8894, -0.709, 0.0055, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.3626 left_y=-0.1999 left_z=0.0124 left_yaw=0.0023 left_pitch=-0.1832 left_roll=0.0736 left_gripper=0.5378 right_x=0.2977 right_y=0.0001 right_z=0.1797 right_yaw=0.0676 right_pitch=-0.2824 right_roll=-0.1013 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -10.1812, 5.5726, 1.243, -0.315, 0.0122, 1.0281, -0.0068, -2.6462, 6.7487, 1.5263, 0.0024, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2acaaa31ac65812707381f669e8c14bccb023b4f1a7761f128e41f47f3e2196f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6cd35327d11c9b226bbf221c5d867fe75f92af82a71412f5d4ade5d4acb144",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c050e731c135069d17a1289195784d3296160cef4773801ae3c7f09cee2c6ac0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.812, 0.6147, -0.4309, -0.0139, -0.0311, 0.9993, 0.4358, 1.7901, 1.2114, -0.2932, 0.2909, 0.1841, 0.9958]\nstate[eef_state]: left_x=0.2902 left_y=-0.0028 left_z=0.1696 left_yaw=-0.0014 left_pitch=-0.061 left_roll=0.0003 left_gripper=0.9993 right_x=0.4454 right_y=0.1555 right_z=0.1029 right_yaw=0.082 right_pitch=-0.2611 right_roll=-0.1002 right_gripper=0.9958\nstate[joint_eff]: [0.0068, -0.9368, 6.9812, 1.6679, -0.0513, -0.0708, -0.0122, -0.3214, -9.2786, 6.5026, 1.4579, 0.0611, 0.1392, -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]: [-0.7349, 1.8156, 0.8188, 0.099, -0.5453, -0.511, 0.9993, -0.0086, 1.0248, 0.8894, -0.7044, 0.0067, -0.1421, 0.9966]\nstate[eef_state]: left_x=0.3645 left_y=-0.2011 left_z=0.0222 left_yaw=0.0016 left_pitch=-0.166 left_roll=0.067 left_gripper=0.9993 right_x=0.2986 right_y=-0.0002 right_z=0.1804 right_yaw=0.0661 right_pitch=-0.2779 right_roll=-0.1021 right_gripper=0.9966\nstate[joint_eff]: [0.5538, -8.1709, 4.8889, 1.6337, -0.2808, 0.1587, -0.0122, 0.1573, -2.865, 6.8034, 1.7656, 0.1294, 0.1685, -0.0073]\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]: [-0.7334, 1.8389, 0.8131, 0.1093, -0.5388, -0.514, 0.5378, -0.0086, 1.0248, 0.8894, -0.709, 0.0055, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.3626 left_y=-0.1999 left_z=0.0124 left_yaw=0.0023 left_pitch=-0.1832 left_roll=0.0736 left_gripper=0.5378 right_x=0.2977 right_y=0.0001 right_z=0.1797 right_yaw=0.0676 right_pitch=-0.2824 right_roll=-0.1013 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -10.1812, 5.5726, 1.243, -0.315, 0.0122, 1.0281, -0.0068, -2.6462, 6.7487, 1.5263, 0.0024, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2acaaa31ac65812707381f669e8c14bccb023b4f1a7761f128e41f47f3e2196f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6cd35327d11c9b226bbf221c5d867fe75f92af82a71412f5d4ade5d4acb144",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c050e731c135069d17a1289195784d3296160cef4773801ae3c7f09cee2c6ac0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBps08WtRjak6FhGelG02S7QLWBt6kFOCjtDlL9F3nYe8cKJ6U-9h42zAUtJfBAlBqnY41bRh0YN4esQ-7q-EGf-QPMexxFASmWPZeFavWufekxhlWt6vTyBlGYEM1l2-YDZw8alo1w04ROMUBJKHctmc5ySOqWA1KqGGt_Ps07mlEv43PGoc7bNI2ttDfjZiro7xOJVl-AgNxiCEC96kjRv1fY0sWPdqzbHxXeEY14n-b01U1dR9U5_cYBB0Wih9cpyMhGNIq8OdMBwCpG8qAL7GOEbujZHZM7QJfg3jGoQjw_vYBizeh8TWZN_9YWih0bKRH1zeVjVoGv9A3mCKvoq1AM4TVMIvmMoLNbIBVil_Ed-M8mAKw9QwiXUmwf64Jrgj4KWUIPcdolizmseOscvJ5x6yCIo-qgoEsjUqsn1d9apregmdXqkeJ_T27yxCwixsizzoP-dFhbLipCc-cQii1DGzeeXMxJ3qsOCScR63QpCHh6xW4IxHdYq3rox1l3brKtrlqG7GHJDI9JoVA6iA2nYGXnN15t574WzPfH7rVWT8GkK1PNBehn6JIFaVAVn8SfGTbAANSYC6sBpvlSu-X_qf3nvyhBp0OmSuoeW08HIVI_69vy5lvIo2h8MiV0DnMFQuons_onx8LXvnOSsw4f5HbWb4Zd1kUDruR8DiuTWktwKnd0fJAGNE2hCFXjgXWXXTD4ujeTKLa5_gihuR7fvchOUuxFepXnLlqdb552ABpJz510ht8u7EcoBXGFG4VPsJz0cuprw0lq9NZqwlmq8-0eZ2DymTK54HBeqlHILBD2A2_XDqr42gQqj9MFSPRVju3SVJ-2c0xSvGe4iiKqI7bpabnDSb1beijI2mdBWYAMzGA0d_CP53gNkFkDDc0FGpYVqsofXtL1dKcPPA-Tim7qVgbnujlsp9lJ6uFocAWSI4vAXFP63Ia-psfnu_B8SDCXNsxqf_Hi-2YN7m4MCMRhkvrkMj_Jf_81KI7Mv6Pv2tbp9ZnMX76MQc9zivHzNebnq_0ZpF3VoNrJx4K8gSK8Jiis6wkS8gqjaqpQPHnvnelHEzdT0pGdu6N9m_WZI3s2qPeaOjEYFwZP3NpTZtziwGFPbYKNtKy38gLD-xBZHVYMd_QTf4D07T1srOliDMxSWP9do-W8bpi7VB3Xn-d8vB0pKOZne8oZbS5P1MypFNEIcoATl-ac5UKyxv8LXXK07rl86SsP8uEClNQ==",
  "id": "rs_0f25f6a47bd5a543016ab41a6b29a087d08b1be8ded136faec",
  "summary": [],
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{
  "arguments": "{\"targets\":{\"left_z\":0.115},\"note\":\"The left jaws stopped around the dark fruit’s width rather than closing empty. I’ll lift it clear of the table and check that it follows the gripper.\"}",
  "call_id": "call_q1elX6ohEdwwFdjWmVq7oZ0Y",
  "id": "fc_0f25f6a47bd5a543016ab41a6b78c887d0bee3c2c4d35b7f73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q1elX6ohEdwwFdjWmVq7oZ0Y",
  "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]: [-0.7334, 1.6444, 0.9886, -0.2668, -0.5381, -0.5247, 0.5392, -0.0086, 1.0248, 0.8894, -0.7094, 0.0059, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.3632 left_y=-0.2006 left_z=0.0968 left_yaw=0.0084 left_pitch=-0.1878 left_roll=0.0694 left_gripper=0.5392 right_x=0.2976 right_y=-0.0 right_z=0.1796 right_yaw=0.0673 right_pitch=-0.2828 right_roll=-0.1016 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -9.3607, 8.4855, 1.3504, -0.3248, 0.0904, 0.9939, -0.0479, -2.4957, 6.9675, 1.4335, -0.0269, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7176a39ab520a4babd0163e64ecedb99ef82a1c24590e0e8743dc890824f5210",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423d1a1d10fa20433c50ff3de639f0adc4b7b204177a73c6c940b88a1c763a05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:915e93a4956fa4f95fef045d74719c93bf9a952e6afb394d97f54c607140967c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7868, 1.549, 0.9134, -0.2146, -0.5777, -0.5392, 0.9993, -0.0063, 1.0222, 0.8894, -0.6769, 0.0212, -0.1249, 0.9965]\nstate[eef_state]: left_x=0.3469 left_y=-0.2062 left_z=0.1151 left_yaw=-0.0162 left_pitch=-0.1137 left_roll=0.0307 left_gripper=0.9993 right_x=0.3033 right_y=-0.0021 right_z=0.1858 right_yaw=0.0457 right_pitch=-0.2475 right_roll=-0.103 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -7.3094, 8.7316, 1.5995, -0.5788, 0.0562, -0.0171, -0.1983, -2.8239, 6.5709, 1.6239, -0.1197, -0.0806, 0.0611]",
      "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]: [-0.7334, 1.8389, 0.8131, 0.1093, -0.5388, -0.514, 0.5378, -0.0086, 1.0248, 0.8894, -0.709, 0.0055, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.3626 left_y=-0.1999 left_z=0.0124 left_yaw=0.0023 left_pitch=-0.1832 left_roll=0.0736 left_gripper=0.5378 right_x=0.2977 right_y=0.0001 right_z=0.1797 right_yaw=0.0676 right_pitch=-0.2824 right_roll=-0.1013 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -10.1812, 5.5726, 1.243, -0.315, 0.0122, 1.0281, -0.0068, -2.6462, 6.7487, 1.5263, 0.0024, -0.0513, -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]: [-0.7334, 1.6444, 0.9886, -0.2668, -0.5381, -0.5247, 0.5392, -0.0086, 1.0248, 0.8894, -0.7094, 0.0059, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.3632 left_y=-0.2006 left_z=0.0968 left_yaw=0.0084 left_pitch=-0.1878 left_roll=0.0694 left_gripper=0.5392 right_x=0.2976 right_y=-0.0 right_z=0.1796 right_yaw=0.0673 right_pitch=-0.2828 right_roll=-0.1016 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -9.3607, 8.4855, 1.3504, -0.3248, 0.0904, 0.9939, -0.0479, -2.4957, 6.9675, 1.4335, -0.0269, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7176a39ab520a4babd0163e64ecedb99ef82a1c24590e0e8743dc890824f5210",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423d1a1d10fa20433c50ff3de639f0adc4b7b204177a73c6c940b88a1c763a05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:915e93a4956fa4f95fef045d74719c93bf9a952e6afb394d97f54c607140967c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBp0FiX-MkjUkewZc8C2rakmQ_C-SKVDN6BeApCC59yYUkwHMNkop7a5DwiyM3nsbL2t-5l5eDqz9IaFD7RNk9VreAeEcufJcx75DNtXAV2NEXXFoIemCvLvci-4QAdEvFhFHTfTB6ERZowaxPAPjbRhxUqHSYuKKansdEcobNcLN1n2UmYk0YOUO6ULxfWKXhi0rNFDbYauvHkEAElhFqsDUGde2SOOAFMDWNToNXb0LBFToL_4LirFVLvZSjU8T8wgnIpOrELL4oPDQ3R6xYGg87YAnOQuWrEUoMyarJMO9aBAx8ks9952AyXFnPjvqI7a9NbhWWsTM5CuMOvBcLM6_Q8xG8_F7RPzlcTaW25xWzR5xcrnZ9P07F5bttAkwI0y0zBebS4q8WR6Re8A86rxsQIpSNxMSo8rjnjjeA9BQgjWq0kcfE_Agm0qbLlw7WisBVPuqJ6_dgr83Ar7gnOA840jqvGlQimYRXkbNSEkKHZm7Rtwfva1GoX1n_1fUYZc6z2QkdEP8iTwGeQSpv_4QWgjbG808dOFmfhzc8wKu5xciCUIsXZVtQuwrPBpMe8g7XTafOS9S8yNW793D8krtjGJj0wrYpDuKcUkA1CWUfoJnj_RLDxarQBn5t5S8z15xEdn1boYNCSiyYMaGxWePkPIzoltSuIdAjckisKjzPy51RzBfss-MN5tX-lSduwLadYeWJqW4LG29356KywyEQVLV5VXW33xDJS8oNbFJo5gkPmI17jB4JFJoWHL6aVoElP4P1cNr8O8lQsvmVhM4_TWVB7aGhCyarQ1B-u8M_6Pehn63kIKXTmzsjfdshuQPAX35uqBuR_cTEW6877maeHP4eaBXkuwXNihWWywB9heLkMTPGloOt4lMRFwn4s3A8-8KX7R1TqDW21ZU7ok0F9JrRKAfb3EqC0EsCY_l5VpwzMvxGeRKwvqUSEAq9nIZPBfRJIBdjhbeQVzUs6CotHx2yo_SScy8ViXiM7F3XdpcwLqkqpw3aQPsx9BudjQoCacfa2aao5EZ_WaHplVD6J1L49O_rOiVqhrX8x6qpH07-WQdXM4tLtEBL_xy0Y-2GZnUWZtE-1U0U7Q5vQpyllbUQjiAjmc14Nv10wt9EkzO32ltFMdUyK9lUx8oqrWPt-YMC-niQTBPi3yGvVB65yMQdDibiK_4hyUGB6N-UNKff8P0no2rislbBroHUKO5fi3B4cXeRDXbkM_bauzG7xfIHqkJR3S8MdE0oQq0e9nhmQcPbALAB4IGD2ZloY6GWzLU82vSk2-rr_A5IWdkT9_TCIrKTngJomhnoSdi5uD2r8G-PoojuPZYX_D8ygbXlc7DfeLpxcqKpV1qQDKkEgDWwDMKO74zHQiJeAhawWN3x8GrECk3AHqtx58jtW9T4rhX2OpLARLKOgIoQ5jbKEb9IB5exVXsXDrgEXgHg6S8nAn3p7zqGE0DIvOhNyUTaRWv-ZTm2IcLGklY5pGeYJ1pR1wVC9dwQoNyWM7Mw5PSaYSLVxMJhQvfZMNDSS8jSJ4jYmUT-ou17lO2_KxHOePS0KuOeQQfqIgofLbkVOSWiS5Xhc-AGXC-yAy405w275frUs9gujhTrz9ENGUBso6i6AFefHTeTrXSg_jxdmzKo0d21oq_lW8ufK9Tio-leOBVjZxTDQMUPA19Z7yjyk4bkN-sHwHy-NnTtv2GGhB_jFDz9XCv_Rdqu3IIo5Q0XhhM0DY9rfsdtU1FMArfP34Jvbl3b8X-KPmxnzZM24k4rYnWFIdbcJTeaFCcmLZgUSGZIoQLfVp0aYBJJVWgCS3OIdNNOcmkOkrrufhP4NQEKPswWCbDFDONPbJVtDG8GvcaMkghThm_rv1-I-pUR9CMPa4de8JFPw6xEZm6I_yJPdJOyEqXBCd0OKwk4WFjSc85jPRh_pGCM1sfgsgBaBwlBo_YweZ4hMfeb6NZgYb1tYq0zWJ1Dqe0kPegkqn--3HBizo7aX9Utf4DWGU59PFB3Jzm_ERaoDcBAHtVyg2wZnbvbJ7y7Jg8PFF7K7GdNaP7Uus4prZCTR69w_OzDH0wXpXQrnUeFpFuwNMaVaDXdmjO1tQdF1JH-ajUjfCo1mViqWcVQcTiIEUwyWOLCJisGsgZIkFbTCYeBFbTwSaJvXrYFnlw5165BDkJ5hgJeHVx-uGJUl8osMQZm_f3bgwbQ9hNdGE8zxkR9QzOx3qMpWZZuWnRCHMrKhDJjpLxiztn3ysunYtW3uS4CTKO5iGLsbbTbTiGxaXf2me_-FRjTEGHPypoQJAR8r6bJM5XE0R_KyVvSFwr9dL__ZWHJv6X99IjbAcYFnwigOlOE50-3e86l5zeJlSxHpje77i3B2ULMbOS7JxvwWG46CWM5EXtuqAVauT6sDPi8ZCNToSMQjcq6u52KCZHxVIB9JBDL1cwUZjrYohFy6f8M6z2DEzOU3tBDq1gXMdsZAHSk66i2iKGdpK0BijKAw6GEMiuU2mmAUVp55Jsgwp_3mTRJXeMd2KzgQgNCo_y6Ik86xVqn2BLr1ThVFCQPeAZOZYajvfi0cM-p2s6_BfUzMNc14_2nT00INvUE_OrItM2yb6-JgoX9h8x9jSryOMcCeUV5TGmSimsBvnJ_-mql4QN4Goqw8lkAthwawOg2q0cjLQ1iLAugV9g2xoitsb7coR2sIrmVxKpLam-53nIgJbKYdSsXYcwKXjRKMvBl_ZNVh-DqbyH6xgqny9RBGw2nKg5dD9L6cJPGClV_tPH1uwHiKv6U-Te7l-M35VCL_C9XuUW129NrjrEwu_AOuoouD6at4LXPMHuJanTuF2yMh3e6cVfrgtkIFN5bd2qadsGAGGfGTPYP_HFMPQGEfLPoljL85uNIZG71iiBVQRlIjDenIl3mXhMY_frhxHYM58sWPf9EiOUNgMM_crYmNX9Ln_riMbmiIJsCnZyoUgubL9M0iP3NgXFlGToxjWB2GcIZK14U4POwyZM-jso9Zp39zex79V6Ormb74ht7tewdYdrXI7n-TO1pltwg46mBh-Xf4sqPoS3FGimmG7ubZl_6_UuiFY2PXZcC8d4aOM_f5AjqN0ak8kNR4IRGgTUuFnaX5LQPdutydYDTM_4BjmlRiBxpqdGGZ56qmKBEUheHooUFyoqrEA9YlxQbbPb4IQpZh2CpbkqpzO6ETN_Z82GGDRJRLSJ__GHnFqgW541gmHsYyRBOfqUKRYHpFnQSwicHox9GguStV0SPJkZSw9NHXJ57BqrJ_4Z4xoroOgPAI3ZsKlsBlQ4gtVFKabf451H_xgDqGueEVIbZSbionOTA5IqXJNAyO1TOEHNNVjWyLPRriBG0MNTIQBNPd4ghMhFxXKiynEAg-X0ls3UArqdF_7aDkP01OUbKCGiGNvvpSZUavWxPDPMDhAzCUGpNTuJGQHJMjvwItYtxeDqfnmITnjuyCZXcVTXHmyP3t3OW38OnRFYKdlr_3J5hZixi8tkHWYVXIAjGFuZONP6U-365HnK3G8VnzfNOnugOSeSjlOzSjGHj73FHMOE0TS9vq6RndR7gCkaYVGOI00OzS7JDoGnAMc9pG6xSzsDMRt712-sOtpTjX8g80Lx6Uy9pFLU3ztAVZA2-5aLbhOhWyYFsDS5FJpC4kFGGAXRzERLFcYDVlZ2MnqUgXSKO9rlYlR-5NjvLVSfBy-rmHamNbajBDR",
  "id": "rs_0f25f6a47bd5a543016ab41a6e52bc87d09929dd8fe0642d57",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBp0LYbLhW8sh-yIyTqe_QYJY4UpCqM7jlte7XIkJX3sLYw595Cz4z8i1ZbNMGwu5hkiPNbLCbLhtNaUsH2ty5fedPe_qbRUiZZdQnjkbEHpW4RM9BWj_pvKsPkK_j9TgMnKuEmSpwXIisi8LbQwwKgG0pA-Zj5pFzgCJZnlDkcDmgXZy5D4KPDqOgRD9NBpVzaAWgqo7U1TCqzkGWcJzqGR-FofEu6khk6wjYjMpbzWOtiql_t6nZbCvt4cQ2fVk2C4sv6UROgP8eAdFO6lyq84I4Tu45pAnRcIGEIxF-MRJIiW_Z5T0EYPQ5t0DHLWgYFtyUFc6PHAsKTBEmIQWa-B-uu4umat7PgFMv53nT8d16slcTIv6UIe3u2GDx_vjsiev8x-CoI-GozLMTCvoRb7O8EDqWFDwDn_JeLylx8GykPPi4iCK1G_KORo-EYCUq4hT-Tqgt2LN4q0yblrsBTDkoYtXYgZLqyViQTFbDZj8BY0GFdbX6c69yfKcKaFj1B9LjNRBNJEhW54TNORPLGYyAE4xvFvS8cfIKX0llvinMu27Zlv3eUR6Q9yQlQuomtDADdXbBVp8TpQgpMhh9ZUBERc447Uboffdl-BAlLF1ebVkTLAdc1_LLCttHcYJQg6F8qBUaY1rg8S2gRPetikVhbJ8q_Yi-4xyPQL_-OisQz5f9j_072NHO5OI3FSBnoGMTSBYT_TR2nFERuKJmQdWAUwTntgcvMNQ49iYpOioSGmTtbIsvGTUQibIfTCg-Q2FAodpyL8K9xcnrFz2eGK8Hg2uFsylWCeG7po209AedTAULPYFqObRzbn9Qo6P74LJpQ7FMLGVRA6zjNRWhnEL25L9QO1lWYvKyQsGu93oiaPwISwXIAii2WHdum_de7Ot6sXyjDkHmbFY03a3O1_qGLLNVfFQ2SXeYsl0T_H9QQC02S4gl3KBvQQDXaHRzjy374jIvRy9FQXJqZjISIhyp6mbaaVxrlwwtQim8yrlbefOY3AuJq_IvMj9J2aWPxGMrVPcq_HaNa7RlaKldVPLE-LvknflYmCU9RVZqepkslSFVyv7oluQdtGIJ1KsoQr0HuG4uvimmN3Jh6ipVeFRXRuqJBb6FQQkKRiaRBMNyLJEeCUQLHC6wrVyYO4eVBUlAOlm4DNvB5He_9KQNFSmeSxOlUBeJ9gFuCX6r4uMqih6PFM2i0MGuOlCLk3qomggsL4RPepOSRGuQeG_hJGvrxarxXRRzZtui6ahkgyIbyla1DpD7EUIlWQSqWRbbaNeiIW0QkDnnzK88YOXVoLU3cga6_8dTdxKBYkxjg5fUKtMyZctu82Lrhsjcc4HkHSgyYF-77sYVk-DNXg8AxJxg==",
  "id": "rs_0f25f6a47bd5a543016ab41a736fe887d095c1e61eb6b0ba7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.305,\"left_z\":0.14},\"note\":\"The dark fruit lifted with the left gripper. The blue bowl is beyond the left arm’s safe sideways range, so I’ll set the fruit near the table center where the right arm can pick it up and carry it into the bowl.\"}",
  "call_id": "call_jy5PXBqyKiSh5PTzYizXs1jD",
  "id": "fc_0f25f6a47bd5a543016ab41a73ccb087d0867236b2655160df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jy5PXBqyKiSh5PTzYizXs1jD",
  "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]: [-0.9283, 1.879, 1.438, -0.5999, -0.6201, -0.7204, 0.5385, -0.0086, 1.0248, 0.8894, -0.7097, 0.0055, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.3579 left_y=-0.3009 left_z=0.1289 left_yaw=-0.0065 left_pitch=-0.2121 left_roll=0.0617 left_gripper=0.5385 right_x=0.2976 right_y=0.0001 right_z=0.1796 right_yaw=0.0676 right_pitch=-0.2832 right_roll=-0.1013 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -9.3744, 8.7453, 1.0427, -0.5836, 0.0317, 0.6667, -0.0342, -2.5504, 6.7487, 1.4481, -0.022, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565d1845e00e2f082054d7b0b875211eef4d24e1dbd2bcb8a9fe4d6f5a9f5e3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:712b6ac3ab9fce6755901436203f22ee7a19d26f6b9ad1473352f58f560eff77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3afff539696235b1e7c5a7be87e11bdf1ed09088f1a6e33b629a3f512560df05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 55 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]: [-0.7349, 1.8156, 0.8188, 0.099, -0.5453, -0.511, 0.9993, -0.0086, 1.0248, 0.8894, -0.7044, 0.0067, -0.1421, 0.9966]\nstate[eef_state]: left_x=0.3645 left_y=-0.2011 left_z=0.0222 left_yaw=0.0016 left_pitch=-0.166 left_roll=0.067 left_gripper=0.9993 right_x=0.2986 right_y=-0.0002 right_z=0.1804 right_yaw=0.0661 right_pitch=-0.2779 right_roll=-0.1021 right_gripper=0.9966\nstate[joint_eff]: [0.5538, -8.1709, 4.8889, 1.6337, -0.2808, 0.1587, -0.0122, 0.1573, -2.865, 6.8034, 1.7656, 0.1294, 0.1685, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7334, 1.6444, 0.9886, -0.2668, -0.5381, -0.5247, 0.5392, -0.0086, 1.0248, 0.8894, -0.7094, 0.0059, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.3632 left_y=-0.2006 left_z=0.0968 left_yaw=0.0084 left_pitch=-0.1878 left_roll=0.0694 left_gripper=0.5392 right_x=0.2976 right_y=-0.0 right_z=0.1796 right_yaw=0.0673 right_pitch=-0.2828 right_roll=-0.1016 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -9.3607, 8.4855, 1.3504, -0.3248, 0.0904, 0.9939, -0.0479, -2.4957, 6.9675, 1.4335, -0.0269, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9283, 1.879, 1.438, -0.5999, -0.6201, -0.7204, 0.5385, -0.0086, 1.0248, 0.8894, -0.7097, 0.0055, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.3579 left_y=-0.3009 left_z=0.1289 left_yaw=-0.0065 left_pitch=-0.2121 left_roll=0.0617 left_gripper=0.5385 right_x=0.2976 right_y=0.0001 right_z=0.1796 right_yaw=0.0676 right_pitch=-0.2832 right_roll=-0.1013 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -9.3744, 8.7453, 1.0427, -0.5836, 0.0317, 0.6667, -0.0342, -2.5504, 6.7487, 1.4481, -0.022, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565d1845e00e2f082054d7b0b875211eef4d24e1dbd2bcb8a9fe4d6f5a9f5e3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:712b6ac3ab9fce6755901436203f22ee7a19d26f6b9ad1473352f58f560eff77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3afff539696235b1e7c5a7be87e11bdf1ed09088f1a6e33b629a3f512560df05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBp50fCfstTSBhOTccusY8-Eov0W2H3vz_5A08IHKQF3mVV7e-HA8xw5iePXPcMmXLsVAqg8MFWdue0IrQHJAPSNz6zBRx3kADhElOCVjA1N7qJyl3056pbMmf1xC4O97yjnxfWfVuxu1Wu46GpCJ5mSOVDtJTxR0Dga9lrf5EaLi009W1wHf8Pg-YIzLwlCTHpISDYGS_3lhpYhopCiYfm4jHKzDgC6I7byg-IpFp76k2_qemj8SxfNpaL4oFiANSINC-dNd1vTYy3gt-vWJS5Zu3idwU0WShoNPFKtBQhuaiFz16fhZXfhDQcKWjaqeT_K9FmVnwss90hNwEKS5V-PzQqHLh4l4v9GI0Xt3-R06sCcWhSeYAf6gNys8W-HN1Ue_GXPC3dwRotxCzkwbf6vVhssojbhU3EKp5JKajUZ3QHhU-47yZCpHav67jT4tryoxfMJngNIfoKag13JgD0eKFF3CcL5w1slBNj5uQ1XwVeoo2f7LZ9A4AJPpFlk398OMoTP780Aq6btaKLcYQMlDv3tXxGqowTA871pfHsj4fzFJFjwE-YBfQbccFFRicQ6L2fY8V0X94znsUSVDKCPWgzB-rN596Aefqw0wRGGszTQbT0OYJ7VQI1AiLxdlqYzEXGS33GTaYY0vQGth5B1olHNP5o_JbIDEOltkbMVVo_5JoOoJ-NJuxBKxw2oMEBABnDmMn0Tymd0Q54SM8N3Zthvlx9Zq1cL2irMYMfUuHwxgzh2emAkW7Y4fxiSy-sbUUakL4Z4NnStN4UNCAHuj9NyPs7ScHqelL3WT2LUMfznLzpYWQr4xsrqjFt_aovoCJyK5hc115T5NkRETJuwhdC6xSdx01SH2qdgo6stcr2qJVwVbgf7PiagzSyiu8DKAhwvvAE2cAmucnizP1KToTop7jNCBsVa3tvjpMCnVnh1tHrh9XH7KB8alqUoMtsMeuVBu6fCYcwO-lQUda1xp7FsfDYQxsex1Gp72JyKVN4k8QPiKkW0c1qmiVgpQSuEOZCk-uciGff0sp2r123tlkbD9K0y5s7DC7lCPCC7mhbFYjfohiML_anArK4z6-QRbhXdnAh-kZ_ThGXA5BYKFvlZcRYx74KN1Ud7RXJ5zzjcGwy_BDOxp2RRdzaWhdfbfcqw_9gbKEJb49XnmrU-s9E7g9Sym72NHeNLiDsc44bk27Efaxl_P72aDZdbfJUars7IE34TrP8pac3HFPgiqNBwqsBOgIP59c6cb-wIbeb7D98OLkS-6fY31K_BplxrnaqnmbFLnZ0QDARukIwgDxa5sCyDKNsua720oIfkpAzJhIN-VOGbcVuvQb_6B0Dn0l1HUYIQyEb1EqMaKuXqHwQSz8USWaLqTI1jf8QkpWuFT6H6rbeP27gwNh44QxC9wjpgpEpsTijvil32vVQqYL81s6YXyjTapGXdevJglaQ=",
  "id": "rs_0f25f6a47bd5a543016ab41a786d0c87d0b564a18fbcba82ca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.033},\"note\":\"The left gripper is holding the dark fruit over a clear patch near the center, just left of the yellow fruit. I’ll lower it onto the tabletop for a safe pickup by the right arm.\"}",
  "call_id": "call_GijgmPYO6JLRxvXbp9TEJvAK",
  "id": "fc_0f25f6a47bd5a543016ab41a79140087d08cc0c569da77ada1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GijgmPYO6JLRxvXbp9TEJvAK",
  "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]: [-0.9318, 1.9987, 1.2312, -0.3172, -0.6121, -0.7296, 0.5414, -0.0086, 1.0248, 0.8894, -0.7128, 0.0055, -0.1432, 0.9965]\nstate[eef_state]: left_x=0.3514 left_y=-0.2967 left_z=0.0356 left_yaw=-0.0017 left_pitch=-0.2438 left_roll=0.0868 left_gripper=0.5414 right_x=0.297 right_y=0.0001 right_z=0.1791 right_yaw=0.0679 right_pitch=-0.2863 right_roll=-0.1013 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -9.7436, 5.6821, 1.2332, -0.3492, 0.0708, 0.8181, -0.0205, -2.3863, 6.9675, 1.4969, -0.0073, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ceb01eac8e57d44a45adc5040d4f66ce5e62def8862ee33517ec423c5d58cc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1027c165461f29d135af14d7d434367a2e9a2fce0652dae55ee71033623e3507",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd8ab7f312fb92bb5302a83b0a2cdcc20c953e7d5d53cae9d8698b4d211dc7b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 55 changed as sent

message 59 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]: [-0.7334, 1.8389, 0.8131, 0.1093, -0.5388, -0.514, 0.5378, -0.0086, 1.0248, 0.8894, -0.709, 0.0055, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.3626 left_y=-0.1999 left_z=0.0124 left_yaw=0.0023 left_pitch=-0.1832 left_roll=0.0736 left_gripper=0.5378 right_x=0.2977 right_y=0.0001 right_z=0.1797 right_yaw=0.0676 right_pitch=-0.2824 right_roll=-0.1013 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -10.1812, 5.5726, 1.243, -0.315, 0.0122, 1.0281, -0.0068, -2.6462, 6.7487, 1.5263, 0.0024, -0.0513, -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]: [-0.9283, 1.879, 1.438, -0.5999, -0.6201, -0.7204, 0.5385, -0.0086, 1.0248, 0.8894, -0.7097, 0.0055, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.3579 left_y=-0.3009 left_z=0.1289 left_yaw=-0.0065 left_pitch=-0.2121 left_roll=0.0617 left_gripper=0.5385 right_x=0.2976 right_y=0.0001 right_z=0.1796 right_yaw=0.0676 right_pitch=-0.2832 right_roll=-0.1013 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -9.3744, 8.7453, 1.0427, -0.5836, 0.0317, 0.6667, -0.0342, -2.5504, 6.7487, 1.4481, -0.022, 0.0073, -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]: [-0.9318, 1.9987, 1.2312, -0.3172, -0.6121, -0.7296, 0.5414, -0.0086, 1.0248, 0.8894, -0.7128, 0.0055, -0.1432, 0.9965]\nstate[eef_state]: left_x=0.3514 left_y=-0.2967 left_z=0.0356 left_yaw=-0.0017 left_pitch=-0.2438 left_roll=0.0868 left_gripper=0.5414 right_x=0.297 right_y=0.0001 right_z=0.1791 right_yaw=0.0679 right_pitch=-0.2863 right_roll=-0.1013 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -9.7436, 5.6821, 1.2332, -0.3492, 0.0708, 0.8181, -0.0205, -2.3863, 6.9675, 1.4969, -0.0073, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ceb01eac8e57d44a45adc5040d4f66ce5e62def8862ee33517ec423c5d58cc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1027c165461f29d135af14d7d434367a2e9a2fce0652dae55ee71033623e3507",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd8ab7f312fb92bb5302a83b0a2cdcc20c953e7d5d53cae9d8698b4d211dc7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqBzuMI0YH4xEBsqIbgXU81-i65Z9uWzcsI5XTZArG5jTpnXK5V4rs0uS-QqTqBDdzhSlpj2ag80mUk00ga7lLmzgSHbMnrkRPhAn-1ZIsNNq8HoJLvQILVP-039Wq-LSKfMSljQ6GhHjq0IMeyeFBVBVAwe69aSNUZoSFSwafUbK51Dy98uLZZggMpNlBH8UQV_kw5PLtL85O9YXt5hc5jqMHz0vkVj3x7Aujn9XsIT5Bn6ePFWf4PWJ2f6osbXsPC43T6qz_cG3_aMIbKHq3rp5j8l98PGmajOqf066PgwF8VJVakUTpa6Hwhz2YFZuwHIaTsGvzRDwybe4XXGct2Pt9kvNZHKBXexur-ytXtlCCARC9sRz_lcoi40sk7Q2G-fBBnOvEuvNmmRh24iQpdJlxmL8njKXgrHU8qNO4Wovgju-O5AFj2NVJQGuP2hpNNbyDTSJOGoKWrs0fMg11w48slUMiCFVpi0X2yRTdJo-gcXL8tXBANqjMkai3sh5zcR4sVIGLvdLcm9Cx_gOC1negSGb5NEAD_lpjG0IZLwkV6dcptEXd71ZYSSdgpVDQSJ-rB-dRdDAYpN1CNsygufC-8W6dXyTf8ATZuWvRwPQD2Bz5x5vUAuUd8ynIz010422V7ZuUQ8OzxRE93vZjnxjppo573hs1i0WEoE87MSORZKtkLSqU9RSThdervyMB9-_KgCw10uTZagpcHfEQbdVFAE9hqsiH82LRZqtKK7kGCUGcvSfeQHoKWb1JEphAngqycDeLND8W6zdGNrVIoZJ7ETZBQhzsAyyOdeKmPIY0iFLdsKxzMrJHjzkuYd296xmC4ucqpd1uMsr1b3ZTKVlAfY8V9ti_SHH1WMdJ-8E5nhZIQwwptlePRhhrtfhZB4OaCwCy8Id7oWN-CxalI0BFUkgNAs5bmwcnjOXUHAZ6-pbaBKukQ8K9kXUbVeMt6LR7tvvKx95s_ZB6fKLrjSPWNazQ_sSlQFRFg_uIrPEqy-5pnjRhroYN9LMfKbsPTh3jkokMntt6GPZDglRZb4MdZgEXcWpADt8xmSZOwPkiKIwBuRJacIq9c3GWZMruNwMRDZfmjlmSezefyfCpTNVL7-9bDzTDeb_SRRv7Nodf2PzIncAFvOCTpI1OsSwXqSG8ckKuMjxfxfZPUSjAJ2MN6XBXgNdt8_JTLVgcwICM8FvMQDLW77Iw9PP5kNGYX6qCx74jhOIFqnmeWKWFsnun1RCkijAj8KqAhTjjNY-vFHVQ--7HKJC_68qZLj9o-MKEk5jckhPFStS54LVTkMfzn1VgMw3rDPwBnnNyhqkpBszS8gJcdZ0Xp5q6EK_u0yVz-sjX_NZLfmDP2Hq2N0UB92MGc5VbNanScpyPwUoUR5uDrqjMQCFyLwrUgp2wHMh2iPX6ZPqlc_aBigSrR7hxwYoVo50ybglPM2kQciSsUu5jofo5Cvh5Qs5wF4cwnqCbXbMqtQIUS92MwqAp1lsO_poHff0CIsjCcWcHnvO6fIS3jY2MFiAvD0qEXQS4LDWlg5udi8FgZ20oQ6RafGj0xeY8iSpdnTOGmpQ6jPV45mvIBHXNGJBdlLN69hH4eToifLcWWem_1ClEnO-Z6O2u9eLoH-s6sucMuF3G4UYkrudOqCFu-SN9nw3ioWLFsxDOP1Z6s-Rp6uEPKwo8rh3Nji8PfHucFzMiJIYfAB5NywiMXMIqr1ddlPpli9120TL_9-xXca4d8Qp6ywFUL8jnj-TVQ2Jmk4ElOhoKbz18sBThE5LWsOwtUIznD-tLI",
  "id": "rs_0f25f6a47bd5a543016ab41a7cf39c87d0993e3e3ec39be9d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.16},\"note\":\"The dark fruit has reached the tabletop beside the yellow fruit. I’ll release it and raise the left gripper before the right arm enters the center workspace.\"}",
  "call_id": "call_XjIHt86vVQPOQhCgll86IaRx",
  "id": "fc_0f25f6a47bd5a543016ab41a7f451c87d09213d6ca03a429b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XjIHt86vVQPOQhCgll86IaRx",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9298, 1.8992, 1.5173, -0.7254, -0.6094, -0.7422, 0.9971, -0.0086, 1.0294, 0.8894, -0.7246, 0.0055, -0.1432, 0.9966]\nstate[eef_state]: left_x=0.3535 left_y=-0.2988 left_z=0.1342 left_yaw=0.0103 left_pitch=-0.2586 left_roll=0.0952 left_gripper=0.9971 right_x=0.2951 right_y=0.0001 right_z=0.1759 right_yaw=0.0683 right_pitch=-0.3026 right_roll=-0.1 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -12.9436, 8.4991, 1.0037, -0.3199, 0.1001, -0.105, 0.0068, -2.6735, 6.9265, 1.5507, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602b6b116a6f759c67a13b3299d3b1adbdd693009c0561860d9a11c187400c83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3744d53cab3e69e1ca50ca1d6ec15c873dc1922ed80d06dd5f9192b416b00fa1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f10011ffeb86664127ef45b739284aba9882a7f18f2bfac16f3e11e58689071",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 59 changed as sent

message 63 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]: [-0.7334, 1.6444, 0.9886, -0.2668, -0.5381, -0.5247, 0.5392, -0.0086, 1.0248, 0.8894, -0.7094, 0.0059, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.3632 left_y=-0.2006 left_z=0.0968 left_yaw=0.0084 left_pitch=-0.1878 left_roll=0.0694 left_gripper=0.5392 right_x=0.2976 right_y=-0.0 right_z=0.1796 right_yaw=0.0673 right_pitch=-0.2828 right_roll=-0.1016 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -9.3607, 8.4855, 1.3504, -0.3248, 0.0904, 0.9939, -0.0479, -2.4957, 6.9675, 1.4335, -0.0269, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9318, 1.9987, 1.2312, -0.3172, -0.6121, -0.7296, 0.5414, -0.0086, 1.0248, 0.8894, -0.7128, 0.0055, -0.1432, 0.9965]\nstate[eef_state]: left_x=0.3514 left_y=-0.2967 left_z=0.0356 left_yaw=-0.0017 left_pitch=-0.2438 left_roll=0.0868 left_gripper=0.5414 right_x=0.297 right_y=0.0001 right_z=0.1791 right_yaw=0.0679 right_pitch=-0.2863 right_roll=-0.1013 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -9.7436, 5.6821, 1.2332, -0.3492, 0.0708, 0.8181, -0.0205, -2.3863, 6.9675, 1.4969, -0.0073, -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]: [-0.9298, 1.8992, 1.5173, -0.7254, -0.6094, -0.7422, 0.9971, -0.0086, 1.0294, 0.8894, -0.7246, 0.0055, -0.1432, 0.9966]\nstate[eef_state]: left_x=0.3535 left_y=-0.2988 left_z=0.1342 left_yaw=0.0103 left_pitch=-0.2586 left_roll=0.0952 left_gripper=0.9971 right_x=0.2951 right_y=0.0001 right_z=0.1759 right_yaw=0.0683 right_pitch=-0.3026 right_roll=-0.1 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -12.9436, 8.4991, 1.0037, -0.3199, 0.1001, -0.105, 0.0068, -2.6735, 6.9265, 1.5507, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602b6b116a6f759c67a13b3299d3b1adbdd693009c0561860d9a11c187400c83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3744d53cab3e69e1ca50ca1d6ec15c873dc1922ed80d06dd5f9192b416b00fa1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f10011ffeb86664127ef45b739284aba9882a7f18f2bfac16f3e11e58689071",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqEXZqnkePldY274mP1LaOq9Q2HepfC5jWCdpRU5ZhCQ6oYKhX75cypRvZruBH2eIpg4oemA72PqE76rewRY7Cx4kUWcBD8PxX9BaOw7s-SGR2DrhqB8SMqpWYask9UT7JWVK9WAaVU4NDqPku7XMgRK_1b2c8eznx7aYkdxXfjOXejvApNnwBd0jfRF_8Ahiedj7K6skGD1f9yxuAeSSC0wCXgX2COQsKq953R2wnnIQxYKFQpbxlRzCcztvnVFGPxNlsWgp1ethZ0pA8ARHKVeDFgNSV2L1agBlWUumncMTC40_oWnwysJQVZTW2UR2-Eu4w75sH-UQKkExD9zfmliuRbidWm2b6jV9Xt47WKSR8R_fgLR6qzztV1bHVtAkKjkF8rwk9SZOMX0ta9D_XAliBWExgJa2bZL_d7p_k2C6M058oqJmYQDDqAZX7Hv6Wvn4n-il5o8lYphDE3erJILXQCeCHQpDuvsR7-GMffLHwMAm53xF_WiNaxmql9LG77bdZYy2e5EmYyK7m6N-QiyypVQDeuG_3qdiljzMKSUjWsAIc6vjuAakmOwTllY0_U1J4wIeKRRR_t1PZUsUPL1Tk3Pou6DPgUs72w8lW1VP-4DLwMuQEjhRIvlWqhOF2ZYAyiycKGI0FnX3MoHZkerOMUat5jmvY8daKpzk16aGuVW7y0xGBI1mn2uldlzf6Oi2ltIZCxZFooOmR6_daq9Ra_8IbDs0qKdtQYBiBy0p7WqiFh4rSkg_7hXQxDGoOxgOyO1G0KluqGwvP7szQZrSrusubBhHz3QkBw5lpbzLmTVWJNenQEwOrtuVa271cmkRRAZQQ3yoVgEGJ05joE6VBqoxZxTSPlnpzsLV2vOEI0tEbb4nV-v-1nlXW0HPEToFM77Ac8dFb6U8r84pXO0uobQ7GU4uYxPw4TTYMxRL8aaSLKuPIXtz1GcJOiYPWkFe6SqCS03X5Z_R7fMJlge3Sw8ntyLI5Zot2pq8RyuzU941FdicXB2uO9bgV1rv3IQYJExtVszqWXw8SVA0CGhNfMXr-o2cZ6MTz8s7Tw98ZUIJfn3JNEz5RhR7ud3Uud2JddUiYjWf1WTqnFj7Q4THC2rQqD98KxXaI7kjgEG6S2Ew5mgDj3CV9ytz1uyjk3m0qcUIIUCdRyAydXGBN-mB7FAPEEarPXHSi3v_FMjdZhzLb3NDb88ntCTMVegBm6J7_dmebDJUC78UsnCZZ8W7rHwz2gcXfGgJ8UlEhl3YFiWRSXno_D1rX6HCdhrxELdFsezakkAL2IMaCXoitGQdV7DzCpqAfHhk5vC0_ZpMOrG5ilOWz9QD9rXRTX89Hgzi793THTms-8ND8tpl1IVRLGRfEL1HKZOB48adyLj_46n7urFxqEOQ4OcAAsXql6SeS-D5eLSOftKn-vSYGeqUZhoNb_aQTv49zC2QTpmAb2btRe2dTCByQDfIPm1SUg5_-BkUv7amSXu7J820dr6UPt_58MasiWqVPMp4VeL0DC4ZhUP81WpolK3Q9WksUXKqEabWyQocQ0rB3Ob9fcUdUsoHsKxE_Xz_EXabgmq_pBkkm4NLrKlgeLNwzGbyPz1DSENX5VfP4beoJbr1u82u9GrXZuIddN2L4v75Km96tfuYUiFeF3PpKao50h3PaaFNTwWqb3O4VNAqKHSncjTA==",
  "id": "rs_0f25f6a47bd5a543016ab41a82f63c87d081f04188865c3aba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185,\"right_x\":0.356,\"right_y\":0.35,\"right_z\":0.135},\"note\":\"The dark fruit is now clearly on the table beside the yellow fruit, and the left gripper is empty. I’ll park the left arm and bring the open right gripper above the dark fruit.\"}",
  "call_id": "call_mw3g45Igr66UvtJd11D7OzWx",
  "id": "fc_0f25f6a47bd5a543016ab41a83bab887d0ab2ac2c470ef8587",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mw3g45Igr66UvtJd11D7OzWx",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "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]: [-0.0944, 1.0248, 0.8944, -0.7071, -0.1432, -0.0532, 0.9977, 0.955, 2.046, 1.7325, -0.8291, 0.5365, 0.6586, 0.9966]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1834 left_yaw=0.0606 left_pitch=-0.2611 left_roll=0.0902 left_gripper=0.9977 right_x=0.3506 right_y=0.3454 right_z=0.1265 right_yaw=0.099 right_pitch=-0.3376 right_roll=-0.1192 right_gripper=0.9966\nstate[joint_eff]: [0.3761, -3.6991, 6.3521, 1.5995, 0.0171, 0.149, 0.0464, 0.4991, -11.1248, 7.8974, 0.9451, 0.5055, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef778717c20defde2c103f9f67af72e630f9ec93fa46177fceeef78cf46a535",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5197d0cb6046a20e26c7dd641782f023275499ed30b9c861332213dfa5244b63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b4800b9db96027d164bbb9160d8030f1bc67ae4dcab6641dc97b334bfa37c5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 63 changed as sent

message 67 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]: [-0.9283, 1.879, 1.438, -0.5999, -0.6201, -0.7204, 0.5385, -0.0086, 1.0248, 0.8894, -0.7097, 0.0055, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.3579 left_y=-0.3009 left_z=0.1289 left_yaw=-0.0065 left_pitch=-0.2121 left_roll=0.0617 left_gripper=0.5385 right_x=0.2976 right_y=0.0001 right_z=0.1796 right_yaw=0.0676 right_pitch=-0.2832 right_roll=-0.1013 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -9.3744, 8.7453, 1.0427, -0.5836, 0.0317, 0.6667, -0.0342, -2.5504, 6.7487, 1.4481, -0.022, 0.0073, -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]: [-0.9298, 1.8992, 1.5173, -0.7254, -0.6094, -0.7422, 0.9971, -0.0086, 1.0294, 0.8894, -0.7246, 0.0055, -0.1432, 0.9966]\nstate[eef_state]: left_x=0.3535 left_y=-0.2988 left_z=0.1342 left_yaw=0.0103 left_pitch=-0.2586 left_roll=0.0952 left_gripper=0.9971 right_x=0.2951 right_y=0.0001 right_z=0.1759 right_yaw=0.0683 right_pitch=-0.3026 right_roll=-0.1 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -12.9436, 8.4991, 1.0037, -0.3199, 0.1001, -0.105, 0.0068, -2.6735, 6.9265, 1.5507, -0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0944, 1.0248, 0.8944, -0.7071, -0.1432, -0.0532, 0.9977, 0.955, 2.046, 1.7325, -0.8291, 0.5365, 0.6586, 0.9966]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1834 left_yaw=0.0606 left_pitch=-0.2611 left_roll=0.0902 left_gripper=0.9977 right_x=0.3506 right_y=0.3454 right_z=0.1265 right_yaw=0.099 right_pitch=-0.3376 right_roll=-0.1192 right_gripper=0.9966\nstate[joint_eff]: [0.3761, -3.6991, 6.3521, 1.5995, 0.0171, 0.149, 0.0464, 0.4991, -11.1248, 7.8974, 0.9451, 0.5055, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef778717c20defde2c103f9f67af72e630f9ec93fa46177fceeef78cf46a535",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5197d0cb6046a20e26c7dd641782f023275499ed30b9c861332213dfa5244b63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b4800b9db96027d164bbb9160d8030f1bc67ae4dcab6641dc97b334bfa37c5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqK_XcrgVykGGCU9zgzwVB9P37A-xHbs0a0naWFaBIH9ANWdfMgtCQp31XNB2-Sgc2gnA2Wrdn1zq0cNCDICg9SB4ueS4Vxl7aL7m-0KIFWTqkNf0DXM8L97d5Xc2Z7JAoyebqlsaBD1v19W3gKyXoCbI_Aa1t1b6LE_yuPx0DwEzrNdkTy2BpX4jD8CtyfoEIuJWnYJco0xmyYB1kZPFokZGhdll2VHuPI1d84pf4Cr2NMUVaEnTsqzjZ1PX-flk3UX03A5PW3VcEflFha5QtvPBjF3q1b_kD5uHG9XhP-9Gk7IhCBfmm0RCyIeAmoJ5ZKbCFNIqhHHcSRainevf2y9-lgIZKXu35rk3c2izIknMT7uRUWw_mCUSVVpR4rfZpirOuaQ-B_-SbcuTtUZCE23Y6wfDaJY9csl-9hcOOkpYCp_t8i_kFT4faXpiDc57T77wD0Pmcc1pJRleLPABTUKgwsnwCrJM_xdtUI91Xq6szVYR13LQ_BdSSTV4OluET_eiYFs6aWK2jYOm7k6ywi8lwG-il3W62Vzig5mNtJRkDASbH1KHvkn1zEnrd3uBwUwGshhG3YZLcfaoWmxTxLhNid563H6yCrJif8TZDbW7lJ6jqpeC4eatsJDCmPo6Q2SpyrWD7c9qV2EHPeC77idDygVtlKgnIZXLtQxVQh5bSlD900Km-vzoKYveOkJsERfuBLlPnaUQcQii2UwrKwii_qc8Y-kcJxz4S84RVuxngEq43A21dJ1o5XUDiy6mtjEnLwTrwzQRdnTPU25XZ3dvmrmgJETUYn1vrY0l26qIBO0egdk45h8IZl5uHD-ElHix_SdMKindFZ3Pz7mVQ4c5ROXpKgsbVjrQR2bHDtugT6LWLIud9_vj1w46rLisb2f-AdlzysuV9_uORvLzlZM4R4kY8OpYsUpz4RF-vh8_N8yHxKmL1e96GBPfb_PfXAura-_hpS5onHWWUwQYlNMZt37UlPSI_sy3A8DbOoW5bOsDcTkr6bo-aO5TrYZ5uaRwZf2m3FV0vLUanr4NlFlv9gQPu9z2-sjAjcQ5eifSoenzcMHBsCvftKNBjB3grZ28dWBSmznVHu7ekTK-ewnR8_lBwLqGOkUFF3SKsVvFtFx3cYLpM_SJWXS0ylytmoPOMZIA09w-8dCA0IOkd5EbfhS5g3dqF2kn46X9s3Ib-AeAsNdcefb0IYpgrzI4X-6Tz166L1pkIaO_68JllC8oaqrd9cnTJ0hCblBBPQCThH641dNtm5dfVc0QigOQozBZxghSBqy56pZTrTd1nv1yjl_srfOaLdL3z5g0aK70_1NK4gYDPiJDIqsWFLlCY_CI6TYzIQCOO8i2DG9Kw77gPaPKzuN9NgOv8lNGu2X5SI-jl4QmnnJwPdRWjCPaH6I1uo7VxdC-UC20mBxDMOG1JQr8XY8Hoo-5jjyVaAfTLlzmwelV-FY1WHhRQ4iCbBJdH5nDzOdER0vlpFpBg9LtR-lMBX7XPuvAfWlTdTQrL60rIe3FUurWDoRDTtu7eYg_LCZbvhCGGCdcC04BW9W7gzFn5d5bF10L67n--26hRTep5j4qIB5dFV9cfWcMU3PN13VucI-NAEkfFYOXh0OxYDd2r-CIq26mNIMntkHnX1eEho9GclXChWPFsX33romk9fu5Oss6sJOh1ADqY9GXAmaUxmWnh7SMRZf_P-WBjl6Pj6QkIupODybCgxT0bSJ4LiBPQ-U5R-E22loNAld8Tn5GnSQd1vcRd3RutvPzbT7A5OB2ePTSYabOqCWwNC5UXwUldnH_0c5P_-7sljcB9YSi_Uhr8RNnSyCwM0x0GMPXtvbq8o7KQ4crhMvuaqJWBlzGtCdIhCYQ7urldf23ezx-8QpgluJGMqOfMism3C4xx2vGyUUU4Cem_K1ggJCpXO36uaG-BvCNpxc5u-n3ScNUeY9w61pOB74wlFqeO9KT1iOcub72SJIpXbxIr7n1TCXdHKwlT5T-INB5P0hB4B5OUmU_Zsuk8QAxtabWNL1IvzB3occ_kn0_d7IbRCUIUuiOWHJafKCuC892q7u_zQdY3xNq--WhOshswW164sVZflV_ElPufocJnNdRet8RP3-Ajz1xfB_tQKjpNKlbeeXRhc9I2sGsoM8ric1S3e17yNd4RaVFRrGgN_ekJweYspe99_6hnqkvzdV0_h9YqCsFUmHP7rvlWU5cZRLQ4=",
  "id": "rs_0f25f6a47bd5a543016ab41a8873c887d0b7f8bc8c447e36dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.372,\"right_y\":0.351,\"right_z\":0.028,\"right_gripper\":0.78},\"note\":\"The dark fruit is nearly centered in the right wrist view, with the yellow fruit close beside it. I’ll narrow the open jaws slightly to avoid the yellow fruit, then lower onto the dark one.\"}",
  "call_id": "call_2OZ9jA9qkl3prMpRMPCyurhZ",
  "id": "fc_0f25f6a47bd5a543016ab41a8a3ae887d0958939a4270d04a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2OZ9jA9qkl3prMpRMPCyurhZ",
  "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]: [-0.0921, 1.0267, 0.8936, -0.7151, -0.1383, -0.0521, 0.9977, 0.9253, 2.1826, 1.5784, -0.556, 0.5201, 0.6281, 0.7816]\nstate[eef_state]: left_x=0.2976 left_y=0.0006 left_z=0.1812 left_yaw=0.0584 left_pitch=-0.2723 left_roll=0.0889 left_gripper=0.9977 right_x=0.3659 right_y=0.3459 right_z=0.0336 right_yaw=0.092 right_pitch=-0.3627 right_roll=-0.1424 right_gripper=0.7816\nstate[joint_eff]: [-0.3487, -2.6051, 6.9265, 1.5018, -0.1538, -0.0562, -0.0122, -0.2667, -11.5897, 5.7641, 0.9451, 0.2662, -0.0708, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a07d4dbd54d508b4dd20813fa6d20cc18c83da48b3188a2d9899ca0911aef58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ffb57934d034a0f7fc721995c9d8203e5488fdceae386d385dfc4bd8483e76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aad1071b1a0419b3222a29f7dd99937c28bcd4cb8cdb3c8343df8fff1005990",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9318, 1.9987, 1.2312, -0.3172, -0.6121, -0.7296, 0.5414, -0.0086, 1.0248, 0.8894, -0.7128, 0.0055, -0.1432, 0.9965]\nstate[eef_state]: left_x=0.3514 left_y=-0.2967 left_z=0.0356 left_yaw=-0.0017 left_pitch=-0.2438 left_roll=0.0868 left_gripper=0.5414 right_x=0.297 right_y=0.0001 right_z=0.1791 right_yaw=0.0679 right_pitch=-0.2863 right_roll=-0.1013 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -9.7436, 5.6821, 1.2332, -0.3492, 0.0708, 0.8181, -0.0205, -2.3863, 6.9675, 1.4969, -0.0073, -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]: [-0.0944, 1.0248, 0.8944, -0.7071, -0.1432, -0.0532, 0.9977, 0.955, 2.046, 1.7325, -0.8291, 0.5365, 0.6586, 0.9966]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1834 left_yaw=0.0606 left_pitch=-0.2611 left_roll=0.0902 left_gripper=0.9977 right_x=0.3506 right_y=0.3454 right_z=0.1265 right_yaw=0.099 right_pitch=-0.3376 right_roll=-0.1192 right_gripper=0.9966\nstate[joint_eff]: [0.3761, -3.6991, 6.3521, 1.5995, 0.0171, 0.149, 0.0464, 0.4991, -11.1248, 7.8974, 0.9451, 0.5055, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0267, 0.8936, -0.7151, -0.1383, -0.0521, 0.9977, 0.9253, 2.1826, 1.5784, -0.556, 0.5201, 0.6281, 0.7816]\nstate[eef_state]: left_x=0.2976 left_y=0.0006 left_z=0.1812 left_yaw=0.0584 left_pitch=-0.2723 left_roll=0.0889 left_gripper=0.9977 right_x=0.3659 right_y=0.3459 right_z=0.0336 right_yaw=0.092 right_pitch=-0.3627 right_roll=-0.1424 right_gripper=0.7816\nstate[joint_eff]: [-0.3487, -2.6051, 6.9265, 1.5018, -0.1538, -0.0562, -0.0122, -0.2667, -11.5897, 5.7641, 0.9451, 0.2662, -0.0708, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a07d4dbd54d508b4dd20813fa6d20cc18c83da48b3188a2d9899ca0911aef58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ffb57934d034a0f7fc721995c9d8203e5488fdceae386d385dfc4bd8483e76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aad1071b1a0419b3222a29f7dd99937c28bcd4cb8cdb3c8343df8fff1005990",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0f25f6a47bd5a543016ab41a8d850887d08dfad63a1bd18764",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.328,\"right_x\":0.374,\"right_z\":0.027},\"note\":\"At pickup height the dark fruit appears a little to the right of the narrowed right jaws. I’ll make a small rightward correction before closing, avoiding the nearby yellow fruit.\"}",
  "call_id": "call_7w7YMEr0w6GvqAfAZUUFMLju",
  "id": "fc_0f25f6a47bd5a543016ab41a8ec68887d0adae2d139ba8e5ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7w7YMEr0w6GvqAfAZUUFMLju",
  "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]: [-0.0921, 1.0267, 0.8936, -0.7151, -0.141, -0.0521, 0.9978, 0.9108, 2.1853, 1.5307, -0.4942, 0.5079, 0.6052, 0.7811]\nstate[eef_state]: left_x=0.2976 left_y=0.001 left_z=0.1812 left_yaw=0.0607 left_pitch=-0.272 left_roll=0.091 left_gripper=0.9978 right_x=0.3685 right_y=0.3405 right_z=0.0215 right_yaw=0.1015 right_pitch=-0.3648 right_roll=-0.1399 right_gripper=0.7811\nstate[joint_eff]: [-0.0342, -2.6051, 6.7214, 1.4237, -0.1099, -0.0513, -0.0073, -1.3607, -13.9145, 5.7504, 1.1306, 0.3297, -0.0269, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:420a7b974254ef957d1fe4f7e990db8f7f3c77620553f486fec8b18bfb15394a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c391b0091dd0a462b11400dc88b3f16dbb397373bdd4446563a4f7ef23ac64dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb08c8fef1d65c5b9280dbc77d8d0e6fe91f13e7a00a372b4cc1518cd30a3c30",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9298, 1.8992, 1.5173, -0.7254, -0.6094, -0.7422, 0.9971, -0.0086, 1.0294, 0.8894, -0.7246, 0.0055, -0.1432, 0.9966]\nstate[eef_state]: left_x=0.3535 left_y=-0.2988 left_z=0.1342 left_yaw=0.0103 left_pitch=-0.2586 left_roll=0.0952 left_gripper=0.9971 right_x=0.2951 right_y=0.0001 right_z=0.1759 right_yaw=0.0683 right_pitch=-0.3026 right_roll=-0.1 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -12.9436, 8.4991, 1.0037, -0.3199, 0.1001, -0.105, 0.0068, -2.6735, 6.9265, 1.5507, -0.0122, -0.0562, -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]: [-0.0921, 1.0267, 0.8936, -0.7151, -0.1383, -0.0521, 0.9977, 0.9253, 2.1826, 1.5784, -0.556, 0.5201, 0.6281, 0.7816]\nstate[eef_state]: left_x=0.2976 left_y=0.0006 left_z=0.1812 left_yaw=0.0584 left_pitch=-0.2723 left_roll=0.0889 left_gripper=0.9977 right_x=0.3659 right_y=0.3459 right_z=0.0336 right_yaw=0.092 right_pitch=-0.3627 right_roll=-0.1424 right_gripper=0.7816\nstate[joint_eff]: [-0.3487, -2.6051, 6.9265, 1.5018, -0.1538, -0.0562, -0.0122, -0.2667, -11.5897, 5.7641, 0.9451, 0.2662, -0.0708, 0.0513]",
      "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]: [-0.0921, 1.0267, 0.8936, -0.7151, -0.141, -0.0521, 0.9978, 0.9108, 2.1853, 1.5307, -0.4942, 0.5079, 0.6052, 0.7811]\nstate[eef_state]: left_x=0.2976 left_y=0.001 left_z=0.1812 left_yaw=0.0607 left_pitch=-0.272 left_roll=0.091 left_gripper=0.9978 right_x=0.3685 right_y=0.3405 right_z=0.0215 right_yaw=0.1015 right_pitch=-0.3648 right_roll=-0.1399 right_gripper=0.7811\nstate[joint_eff]: [-0.0342, -2.6051, 6.7214, 1.4237, -0.1099, -0.0513, -0.0073, -1.3607, -13.9145, 5.7504, 1.1306, 0.3297, -0.0269, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:420a7b974254ef957d1fe4f7e990db8f7f3c77620553f486fec8b18bfb15394a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c391b0091dd0a462b11400dc88b3f16dbb397373bdd4446563a4f7ef23ac64dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb08c8fef1d65c5b9280dbc77d8d0e6fe91f13e7a00a372b4cc1518cd30a3c30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqSkO2iHtMe-n-NXTJpx7gQh0FYynicHJzE6YoCtX5s77Ony1w8kLHmOsxSdvS-sy7QR855YywAcqxAMEy2pzsglLjz4EZ3TReOpyoPwj0VNbxnhLagYKitZhvmOgGDx2e5eG2w-_Nu6Ox92bK0wxYi3HA8KIBkBpVNPFvKdlzmtDTsXVmYTcm9UoQVStz0hc9wmjwDEZ6uS0jeypgXyUsV0SGZJr4s1yD53azi46DjYrFFLrfjGsDjqC9YETzj5DJet6f56YhZ9CVnk-sabEtWSj7XUso0q-se6H9-PqG3_A0j_19POhpEKmUUJ-LwP_48gwnbp6kHGBW_o3ugG7kX4rKsed5gikjGQiwo3jlh2vWt3eE8xK1NUCMobEDkzWrvzconG0UYfHsYJEVDq005l-XgoZHc7hPAdBxC9ZToSu_y_9rbC61_1atJin8edQ26VncY0y7F69cwkkyCMmd84qqIOJZLNHrEhVmiaqdRVYEO48czZLnXmDw7qQkQo7KKa6nSDMlaeejGOq1xBUzoXCxny06fRs5GR4Mx7kzcSKadOXl-ypV_cCa6LLlb2i4vMlLZdHCdUDJvWxt1jdu9mGBlDJLvge23pHpkaRspoXOsZpIAai4yGPejem8hF8Wvz13UXli7FnjUpOUvlemeAXbFfjxobEQtBH-mJ-d-Ss-I-ZQd3zyP0h8jDZxy1SDqs1ftm1ML_pH7MDM32nJU3DYA9nUBwRiHjHOo6C6sxDdM737j6-N70r2-7kGv1B14xBFAVVtUP78g_rmD9NjYpw8EcncqJEbwQanFGsvIgoAWFgEZJCQSwFo-qUNz58F86nyT9ebhfRcyJY6kYq1cSXAEF2qB9u2ePKLT1g0ID40_RYx8LF3uhjZ8ml-ndNIvv3MwqgXb7bGtGD0cLlfGpb6RDw83_nLfqCGSvyh7B0bbyoOnQiv_KwXBCqv-GNTKbBOdHFyvPEnxcQfaGGqAmymyCidckS5RmF_FcitEbohNyRWOTKu-f-zHG2a-kxT2wNuoL_J4k8Wl6lzTVDY81NvBJztCOragc9tZ_G0jTLAIV-K2g5W4jr0fqpPLEAAU2c4yGY3DGzZ0-hC-k9u_SQyX0wGhLHhN0ydSUeoxPyg4EmUXI-SSecZmHmVPBpoZF_cbZ8Dj2BO13ubgq3wn1RoMVFDY0qeqBrsWDdeenew-d8ZV3bOedGjFcA2iEIGlZ4MATjD1ONdCInvXll0ewHXWAfCt_L-wqD-p-qDOQM4ms7mIpztvqV_BUPmoMQe1c1LGRVMmqrV3iTF7BaButcxQKQXDLJLwkvAZylfxo2I=",
  "id": "rs_0f25f6a47bd5a543016ab41a90f62887d0a204fd23dc5eda81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The dark fruit is at the base of the right jaw opening, with the yellow fruit outside on the right. I’ll close on the dark fruit and check whether the jaws stop at its width.\"}",
  "call_id": "call_ofgkXEI2SAoQqi2mc7Vi7hkr",
  "id": "fc_0f25f6a47bd5a543016ab41a9169f087d0a67a8d9eaa14a92b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ofgkXEI2SAoQqi2mc7Vi7hkr",
  "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]: [-0.0921, 1.0267, 0.8936, -0.7174, -0.141, -0.0521, 0.9977, 0.8814, 2.1765, 1.5009, -0.4938, 0.4999, 0.5831, 0.0084]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1808 left_yaw=0.0608 left_pitch=-0.2743 left_roll=0.0913 left_gripper=0.9977 right_x=0.3723 right_y=0.3241 right_z=0.0156 right_yaw=0.0841 right_pitch=-0.3863 right_roll=-0.1645 right_gripper=0.0084\nstate[joint_eff]: [-0.0889, -2.441, 6.7214, 1.4481, -0.1294, -0.0611, -0.0171, 0.0615, -13.4632, 6.065, 0.9988, 0.315, -0.0122, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b3e13ab5b3c0a5ab5adffadbdd6d83921e75dfe9598b3fae0837529add93ba8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd5f43bd0ec57cebc56ffb170b7d1b186bf81b00b71d8e7d28de40e7a75ffdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:852fb7b48782b18f3dcfa1df92be994a8c68aa867f27df3d5f26c13c15d83b30",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0944, 1.0248, 0.8944, -0.7071, -0.1432, -0.0532, 0.9977, 0.955, 2.046, 1.7325, -0.8291, 0.5365, 0.6586, 0.9966]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1834 left_yaw=0.0606 left_pitch=-0.2611 left_roll=0.0902 left_gripper=0.9977 right_x=0.3506 right_y=0.3454 right_z=0.1265 right_yaw=0.099 right_pitch=-0.3376 right_roll=-0.1192 right_gripper=0.9966\nstate[joint_eff]: [0.3761, -3.6991, 6.3521, 1.5995, 0.0171, 0.149, 0.0464, 0.4991, -11.1248, 7.8974, 0.9451, 0.5055, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0267, 0.8936, -0.7151, -0.141, -0.0521, 0.9978, 0.9108, 2.1853, 1.5307, -0.4942, 0.5079, 0.6052, 0.7811]\nstate[eef_state]: left_x=0.2976 left_y=0.001 left_z=0.1812 left_yaw=0.0607 left_pitch=-0.272 left_roll=0.091 left_gripper=0.9978 right_x=0.3685 right_y=0.3405 right_z=0.0215 right_yaw=0.1015 right_pitch=-0.3648 right_roll=-0.1399 right_gripper=0.7811\nstate[joint_eff]: [-0.0342, -2.6051, 6.7214, 1.4237, -0.1099, -0.0513, -0.0073, -1.3607, -13.9145, 5.7504, 1.1306, 0.3297, -0.0269, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0267, 0.8936, -0.7174, -0.141, -0.0521, 0.9977, 0.8814, 2.1765, 1.5009, -0.4938, 0.4999, 0.5831, 0.0084]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1808 left_yaw=0.0608 left_pitch=-0.2743 left_roll=0.0913 left_gripper=0.9977 right_x=0.3723 right_y=0.3241 right_z=0.0156 right_yaw=0.0841 right_pitch=-0.3863 right_roll=-0.1645 right_gripper=0.0084\nstate[joint_eff]: [-0.0889, -2.441, 6.7214, 1.4481, -0.1294, -0.0611, -0.0171, 0.0615, -13.4632, 6.065, 0.9988, 0.315, -0.0122, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b3e13ab5b3c0a5ab5adffadbdd6d83921e75dfe9598b3fae0837529add93ba8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd5f43bd0ec57cebc56ffb170b7d1b186bf81b00b71d8e7d28de40e7a75ffdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:852fb7b48782b18f3dcfa1df92be994a8c68aa867f27df3d5f26c13c15d83b30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqWjyZRAAzQk-ZR7ckYZ5Anuqd62K4hLjNo7kzVbDgMDNUqJSfFohL2_VSo_Etbs9Cn4qCAssrWFQWyzdhs2EnYj4A2XOLOEUz4ICAPvs-sNnGCEGfNJOli6miwJMohSnsV6e5NsTV0dnq9MhXpRM5ElEjwkrfiO3jgTCJfuKEL9P7hpGc5qMpK62tzqfWy7mrWpx3gm-flK6nvLolM1wlCVlSiPG9Lg4J_5fxwrsFQ5v8H9K0r4H6_FxbEHNlMB7Xo1JpOJMbkMRYlkP84X307WqtrQUtjgghpC0Rtp_pay9NsS72j_Aj4k09QApnF7mPbMmSQvT92ssf4AuvSiJI8QQplbnXLGdt6vjboN6paJyWf7AyopkCTJdCVoFiJbflaGHYg4P3NSmCfLBBByjYuNaiVrGGk2uqMUiN3Z_XHs1o_ZT3eHcFQmg69Eaid5oqmdEteIvq2RDqtw13QBuf8mnqHUyagi_6UPszxkmsZeHDLqKts-nyI2Hv5WELW0qyYReK2ZW7aaruSuN8V59oeYWBc92JmfCCDBlvj3KVPTtj21PSiZSb4G67HNhZPmlswWDShrNc7xORcOJvMUVTEn3-r1yfff7p9v-h2hPNwBWXkYOyYNirFRT_clX3e9f7vLLFOLs6_9tkMSVu6iqmuiDOWj-cA28kC1MuscAduuoD0KTSzCV3rP3bu1paVyGX44FHFHjlL9JtBz4S3dIRERJi1TKBeSE-_BLQHRWNC31eySZ-4_S5hwxAm3-hA0Bla93WEUCysKbd3N7NDS3wFtiU3cMy8QgUwh7GxzJ8_ePPf71F9yaH-LEyUSuhyJ_Wz2UhvtNgXTn_uJ-bl-rU_ATbUdzGFtEPfgYMHnFwq4bfi00538KeyUs9FN3wR8c7eZo6YNZsH9phDmmt0tCi_KLKaGCIH__wEB0L8HgSxswBGZDD_Z_T8b8sp2j0jkuT8uPDqd5yu-8CiCzBE2pvG7X3vrt-Oh5gd03ZkQaZn8FHhoV2n5UPcX-zjneO0Fygo0EHGNY_FVH7XC4jajGVNCtkxTDxuTwHMEu5Yd6W1uMNmNhH1Jq-MV_M5WCkceQJt62qiPQGsOZTcu_dQkJiQCS4vuGBUNjbwCp6yW99z_ZJuBRY0aEQVrcK3W-93emdo_RX_mNIZq7F_-uSAxUvgWFRP9h1oHtzh77cXf6S6P7f-fpuhSXkXJwLPt1bg9MrHJ2gXwdbxnL21RDr5RGNCbd9tzQcds8kzHCPtfhKQwL35F2_jS1eVFueI_oUodAIewMzKxqgExHWC1j52ojf_01BBY_LMmIJomLpfmCywZgY7jbzaJfAJHBFb5NJ5w-eo9mWuOqW_ck9xUYZBhcMI9z4LswNklVyBVoK5Uayp3TLrkxmC4ziMxd7wn0tOF8f-cGQZfh3rBqFFlaqPFvEA2N1FXplX4ImbkwFN9osL3H3Pih2eDulx0c817sm8EUKXMHQBt39fT9RA4ylXvhJV6-fVHziz3dDmKMNzVVyw4AE3ICjnc7V9y4mCkfcBOqQWjPOVLSYW6d7WIdtf-qH8k-9_K6KogHSDD53Ri5IEA1s2zCuBJZo40ViQf3G_jSYSg5nFob3vHymG_PTl08BTO46VqIPp7EZnNUHtVkhGiZjoMwEPJZh629Uo5UIbWeIjxEknDN8FVYAJC-uK3zq7W5FiQFRK927teD61893a07e1D_kT8h-VgrPHKAyl3AU5Tprz2dBa7r7Fve1oERh2Q3cfA5GAn3YatDFd7dP1hF34uV-92bU0mwx_tfQQG5YFsxr-6y-z1chd5bcw0ZprRQ5vIEIY6rYOVxLmd7Ix6l-jk26nsyYnyTE6tTvg9RnSPAWiqAl4GRXZaSggE8kzkv3g9LGHvaGQwFmV3wdCgzpO1e7VqKp9Ab4_KD8uWoLVo3tUxqh4Lipgc7m7YNUlwUADxStniYDhpx1e11e4vMU_eTdUOwbOWqaF4AKrLskEDVY74j3PP8ep69VWfkS7LV0ofyM1mfj8h5_8qd__pjJnf4VOsUau_xaIM-z99nlCZERe1cWcEsUYWTAhUga2kafzDpN-ws1cSg21VcXRbBJdXTU_xpsB5mb3o0bRwo8deu1MmgBlN-VcM3X2TT3FmIl9omVIY6I_y7-E1R1HnMnxnCZeUq6w1KsrgrNpYyi2izOZL11UvQ0DMEKmDVf_fGeNysWSANOUDItXZjy8IY3GpUMdQfNq0T7Gxbw-UBzw5JmLbUI-Zz-opI9F2F46KNqAbZ99yHytxRXbzphYt4o7BADX_b0HxqyckLGTdD8MeqWEC1zzr8BsGmXx3jRbZrBGPezgfa8kuH6ej5e2N_8=",
  "id": "rs_0f25f6a47bd5a543016ab41a93ee2887d08275de10496d9f01",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.397,\"right_y\":0.327,\"right_z\":0.035},\"note\":\"The right gripper closed completely, so it missed the dark fruit. I’ll reopen and try one pickup slightly farther forward, as the fruit was low in the wrist image.\"}",
  "call_id": "call_yI8EkK9EU75auoyE3Y4h9sa2",
  "id": "fc_0f25f6a47bd5a543016ab41a96091c87d0ae120acbeb1a22ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yI8EkK9EU75auoyE3Y4h9sa2",
  "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]: [-0.0921, 1.0267, 0.8936, -0.7185, -0.141, -0.0521, 0.9978, 0.8497, 2.1906, 1.61, -0.5846, 0.4736, 0.5339, 0.9954]\nstate[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1807 left_yaw=0.0609 left_pitch=-0.2754 left_roll=0.0915 left_gripper=0.9978 right_x=0.3884 right_y=0.3253 right_z=0.034 right_yaw=0.0994 right_pitch=-0.4047 right_roll=-0.1732 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -2.5368, 6.8855, 1.5018, -0.1343, -0.0415, -0.0073, -0.6222, -10.441, 8.2393, 1.1306, 0.2515, 0.1441, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc9d3c38f87e5d695220acfb2746b541d1c7834091a03acf08837aeaf13122d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbae32c56e0fecc4e093a03f1c178d6b493aac4472b18cfd314ceae3772e5065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c053b513410acc7eaf2e7466e83144dd468cc4f24277cb7d730a22842294f508",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0267, 0.8936, -0.7151, -0.1383, -0.0521, 0.9977, 0.9253, 2.1826, 1.5784, -0.556, 0.5201, 0.6281, 0.7816]\nstate[eef_state]: left_x=0.2976 left_y=0.0006 left_z=0.1812 left_yaw=0.0584 left_pitch=-0.2723 left_roll=0.0889 left_gripper=0.9977 right_x=0.3659 right_y=0.3459 right_z=0.0336 right_yaw=0.092 right_pitch=-0.3627 right_roll=-0.1424 right_gripper=0.7816\nstate[joint_eff]: [-0.3487, -2.6051, 6.9265, 1.5018, -0.1538, -0.0562, -0.0122, -0.2667, -11.5897, 5.7641, 0.9451, 0.2662, -0.0708, 0.0513]",
      "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]: [-0.0921, 1.0267, 0.8936, -0.7174, -0.141, -0.0521, 0.9977, 0.8814, 2.1765, 1.5009, -0.4938, 0.4999, 0.5831, 0.0084]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1808 left_yaw=0.0608 left_pitch=-0.2743 left_roll=0.0913 left_gripper=0.9977 right_x=0.3723 right_y=0.3241 right_z=0.0156 right_yaw=0.0841 right_pitch=-0.3863 right_roll=-0.1645 right_gripper=0.0084\nstate[joint_eff]: [-0.0889, -2.441, 6.7214, 1.4481, -0.1294, -0.0611, -0.0171, 0.0615, -13.4632, 6.065, 0.9988, 0.315, -0.0122, 0.6813]",
      "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]: [-0.0921, 1.0267, 0.8936, -0.7185, -0.141, -0.0521, 0.9978, 0.8497, 2.1906, 1.61, -0.5846, 0.4736, 0.5339, 0.9954]\nstate[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1807 left_yaw=0.0609 left_pitch=-0.2754 left_roll=0.0915 left_gripper=0.9978 right_x=0.3884 right_y=0.3253 right_z=0.034 right_yaw=0.0994 right_pitch=-0.4047 right_roll=-0.1732 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -2.5368, 6.8855, 1.5018, -0.1343, -0.0415, -0.0073, -0.6222, -10.441, 8.2393, 1.1306, 0.2515, 0.1441, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc9d3c38f87e5d695220acfb2746b541d1c7834091a03acf08837aeaf13122d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbae32c56e0fecc4e093a03f1c178d6b493aac4472b18cfd314ceae3772e5065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c053b513410acc7eaf2e7466e83144dd468cc4f24277cb7d730a22842294f508",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqa1Z7QjgxtWwLpFKUbDKG93bh48APgh5RynW32Ii8Nl6WUruPA9scX6KwYHWRj504iubuJaW2VkotX85JaL-grRhRy1VVFcl9P7lz1fKVQIgCJoY56XMas-WR0Qw2ILpwPprtaGCizVXQLtL7wVJA1SSF40TTavp1w22_N8zVbbTx5qwT82iRx0SnknSc_bQi06PrThxUeGIBPuHFy1sRijxxAoNG-ALkojih_QWo4u_OHpj3esqn9NZIQuX1tUrEZI6FzwRYmH9r5MIvpEQaROHcn5nU6vDoxwu2a5MLyco6it5EhzrayYq3BFOz_pNiOtaO03soe81MqAtXz2Z9wX3ZBXFGOh0ILoG6ZLtfatOfAoiX4TYkj_DFN5IXxR63JC46hRh08zYsxfKTkDnGG6BxD0dKVbEL_XXZPd15DCFLLyf1mB2aFic1B8VG0Em4C6YolHL8lZP8iihlAZU5O4j7lAAaobuLxBl-ZS4vXXGT66QZCkaraUfkGaEa8MHXEdlz3zAa7RI0jVe3Q9Lm-ZtX6t6XPGabWF8lgSLfbhVB2mBRWL0mCimoUFAZ-5CzQhmtLlwyJQ2Hy-a7EZYLvgTLtT9yqCodinxgk8dccEG-jGo0aBAZISaQFykFivoiGsy7hjDmoN2s4x__Kl3eh60BHX8z2GJyyP1t86kev0D1aLrCEQg1BXsTo4RtpGUjKM2qiMB2P2BRCDrHAqJ6Co3JI6PM0Ub-BZ8PvzpQmCmTMo9-K4E8RQM619gucolJxt9qNJxxi36nOn50o5kQfHngBnOBq4oCVq_PZpcJ4vTchFTw_KBTvKZxfM0QUFvl-otPeXi5R_xW5HtLZ6VqTL5LGomus4R98XjEif45eUTx_JOIM7t3v13nuYOd2bsnBb4j-5OvxCF0iDfhBD-yfno4ZffLjtKgD2DzXN8eXwtzuOS7p2vi2a5irJpm_HbB7cs10Od_kLmwLGRc-n7YMdwmCQGe2xV71uK1un3iHKsxJuP47fkytFS2BJyFPuoCP4TR2lfqKQ-Ze0jMiI210-haAOyJD6GyIoS0I6v2YFK8CZRZwe9S5gF7HBMNeLrrm6J0lft14-aZXacL7XDPhNQEMSWkrxzyMPDOwCtok6hElsoJAGHs5f-BDSHoEQuNj7AqTMlQYOZCLz1LcHWP94_--KZ6crE3vNkbKsRl7Y-yAmXlgJ2KuYf3YFzdFkpzgo8IFSE0l_Ac-6qfrm0QSDNguK-kjBre6Mvp62r7dYVw9DRrZQ6cOzXvIxw52QNCpq4OphWoKqTsSInCeZtU2t2zBdZcxJrBWa7ohPrnHZvtiNU9p-f4dXoM22rcgz-7B5N5hzB9UA_U1LdCD1v66CahM4e8TkOH3QrI9Kgyj5mLPUVH3zI3lTY4GyTOFvAtcxesq1xp305KzUQHbPw9jszKZte8hM_cyu7ANm9sljKYQf1TCxTda0OxNMKWaA_XvL9SaUgOcynefJDjU8crFeMlxkoCOudD2QUQdJFwUtkHKTn_heWYdU3OtVzF0N87uImRq4FVjvz7JVTdX92WuCYA3z1Lq8LlYrxCQ_r6dIJdSy5EzLLmAE1MMccTgCK7h2__R-9TDcycciFmIMU6XEvWRMYhnuh2Ftgfh1gmu04J4nueZF-5TJOHc5Fj37EC0DwPIWyiDFG03OEkRCCOn72EkUKZBLCCbXk0YmbVxWaE=",
  "id": "rs_0f25f6a47bd5a543016ab41a98b4e087d09147db6a97259d69",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_x\":0.367,\"right_y\":0.35},\"note\":\"With the right gripper reopened, the dark fruit is hidden under the low wrist camera, so a second blind close would be unreliable. I’ll raise and back off slightly to locate it again before retrying.\"}",
  "call_id": "call_tSmaPtbiXiM5KWKBDjesm53Y",
  "id": "fc_0f25f6a47bd5a543016ab41a99804887d0a78ecaf713487bcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tSmaPtbiXiM5KWKBDjesm53Y",
  "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]: [-0.0921, 1.0264, 0.8936, -0.7185, -0.141, -0.0521, 0.9977, 0.9234, 2.1841, 1.8721, -0.8902, 0.4759, 0.5743, 0.9965]\nstate[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1808 left_yaw=0.0608 left_pitch=-0.275 left_roll=0.0915 left_gripper=0.9977 right_x=0.3665 right_y=0.3564 right_z=0.0981 right_yaw=0.1369 right_pitch=-0.426 right_roll=-0.1782 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -2.6325, 6.8991, 1.4823, -0.0757, -0.0366, -0.0171, -0.1436, -14.106, 8.1026, 0.9988, 0.4127, 0.2125, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b81add10bc26160b27dc5fb106b9b14c8e978998f9af3d8cedfbcc10b15ddf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20466d15f697ab1d024a9640feb317228c0702ecb650580e7b41b82fe69c6258",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ecb2ffa54b4c0ecac264b0f141c212c854976e8936424d53b9fd5cb154d9947",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0267, 0.8936, -0.7151, -0.141, -0.0521, 0.9978, 0.9108, 2.1853, 1.5307, -0.4942, 0.5079, 0.6052, 0.7811]\nstate[eef_state]: left_x=0.2976 left_y=0.001 left_z=0.1812 left_yaw=0.0607 left_pitch=-0.272 left_roll=0.091 left_gripper=0.9978 right_x=0.3685 right_y=0.3405 right_z=0.0215 right_yaw=0.1015 right_pitch=-0.3648 right_roll=-0.1399 right_gripper=0.7811\nstate[joint_eff]: [-0.0342, -2.6051, 6.7214, 1.4237, -0.1099, -0.0513, -0.0073, -1.3607, -13.9145, 5.7504, 1.1306, 0.3297, -0.0269, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0267, 0.8936, -0.7185, -0.141, -0.0521, 0.9978, 0.8497, 2.1906, 1.61, -0.5846, 0.4736, 0.5339, 0.9954]\nstate[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1807 left_yaw=0.0609 left_pitch=-0.2754 left_roll=0.0915 left_gripper=0.9978 right_x=0.3884 right_y=0.3253 right_z=0.034 right_yaw=0.0994 right_pitch=-0.4047 right_roll=-0.1732 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -2.5368, 6.8855, 1.5018, -0.1343, -0.0415, -0.0073, -0.6222, -10.441, 8.2393, 1.1306, 0.2515, 0.1441, -0.0904]\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]: [-0.0921, 1.0264, 0.8936, -0.7185, -0.141, -0.0521, 0.9977, 0.9234, 2.1841, 1.8721, -0.8902, 0.4759, 0.5743, 0.9965]\nstate[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1808 left_yaw=0.0608 left_pitch=-0.275 left_roll=0.0915 left_gripper=0.9977 right_x=0.3665 right_y=0.3564 right_z=0.0981 right_yaw=0.1369 right_pitch=-0.426 right_roll=-0.1782 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -2.6325, 6.8991, 1.4823, -0.0757, -0.0366, -0.0171, -0.1436, -14.106, 8.1026, 0.9988, 0.4127, 0.2125, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b81add10bc26160b27dc5fb106b9b14c8e978998f9af3d8cedfbcc10b15ddf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20466d15f697ab1d024a9640feb317228c0702ecb650580e7b41b82fe69c6258",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ecb2ffa54b4c0ecac264b0f141c212c854976e8936424d53b9fd5cb154d9947",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqjP4-sdZhYc0ezRAeOtboBGuEXBPhTEXNtXaR33qMi43y-y4d-WZIhO0ed7B2t6Jsm_j-saty1K-XVmMD1qEnDInUz59eV-zKKSrL8YJ5X8RimdamRWWkWoImjXhnNTCjOaAwn1V-rsOnPuUw2lZ53hJDb2oKfR9_CJmGeTIEH6UMAACiqc5lgEL2Sg-cxkHp0wjYxBo45JS-9UeHkGVBIf9f1JOSFjjGWGlkktpnnCOk314ilq5qYhEgVhaHKWk6bScgK5S_iDcYUgxeXz0_FnMISJydrcd1bLn8xSzF5xGP0V__OQ_zSApC6Xxghi5pcJ12WdsJZZ4WRhTw9ZZUYRSyWkv4gpAOZ4W0SPhkS8zml_rKY8d2Ey2T5mq7uJTLAuZMhHpoRmxRgXLpbSrmHeZjVyv_sb9uqmx-LxteVv8WH4lKfpYv_U9aclP-kLM5VwInZOzE2kq65oM7zBpF4SM9MW8bs759HcW1izhpmnbEJtwKCKiulKOKEKj8O_SNVqZ6zu3GF48J_qiIi_WCjadd6XFKGyOklDNdB2WNS8_hdwVbXs_i9eu-v6_llMnGOqKtk5d8Ez9UQDSyU_D1p1yRIQI9oYCHNJFEg_973dcqca7MdtC4-jRHp6dQvo2jEbxwyLdQTc76MWa0qrQ7QopU78wJecluuWbW6GeMASqFeUN1tubAnPd8WyXfhWXxlOpWQGKzU65d2ozrI2v5Ao23CLZiVHOr3wcilPB3i6s1MIawuEx2ue3fZX5qCHHf3NXfXus3-slC9_ZqMLwGu3_5ufkM-u8YzIU9KlY_WJr2pM662xu1nJ1zhWqnliayRIUckSpxIuufsIBSbLUI8EGsdCDvZfkS1SClNRx_7m5rHOFZ_TpumR_HzOB7hMB5xijNZTguJ3Rd3cftUegdAjOxJfjy834uQUrWvW33JaYPLj1AEgayWw5qxtrwx0bzA90dRQzTLqjzPKEFCJ8QPqIWbcHI53RDc6Z32JsOlSZXT_tQwEvhvGIFSQoPg7oMWlDzNGm0saoXbvGbclwrGFSsW-_iKUqRojyUSogYJADW8ugXZZi1rxST-1_1w60wA-KijG30zHy9IWbpGzxlAqnD02JO7fbV6Vobll9scUmzH_vh0SeYOhCwZdZ8lZFukOad7vE-5Uk1ZphrQ_mzpRtu8q3r0jnas1UbeAaTtHZRi4nCx97ijIjQNNXSjxXGF-puUpQpkyrLGKsRaiAN-IhWbGT9G2fVBsMUhxTIEVus85FpeRO-Gl8xSzWX9xk85TLP8U-UWQ9emMPc62aMlRI0nzws_W_OnldUlnK4lUP_7sT5t5hoGQpwiZlU60w497auz13dKJjmAYfZtFaIyJySs2D_aUeg3grUCXbOFFsJkfj2AXnL8vZleNkiFIyIWHocEXQfde2vXdVDTlsr5vXeTI9SxEgYyG87L6G2jemEWIrTYg2dviHZolxwZ5iuCHJWR3WAaBlZYvxtKkKSPPA48FoNTfLmFIm2bNwFcY-a8FpQMxBMsvB9XT7xDN74zMwx6NffG08OwUjYF0gVCd6LmdonQnc9A1sRgi6qoAyZogX8kA_rgtOaPXkzMUBzXscDkUMkuH3q_uM2m9AnF9xaYNlUrb5i4WYnP0pS4F-nSB42E3CRCmA85Inlx5aheWqvhbgZ6WDvIBNxRw_Moh2xbWNe-2YQzH9MFRgSZUas6b3XuYiIJixMnI97eC-APgu-li-c9XFRTQLTylNWqFsy9eDYB2zE6AxOIY7SWeq_X30_3OZGM5pKEeJvgiW5qT5CjD8M4HsDQ04E7mdfvPwK511aSAtDOgeE7WTvHZl__e53FloqT8GyzCpzKHd8eaOgYMMDa0z2uW-SupFozpadh4oU1n6qD0AUCCd7GxIzFgplTn7z2P9J5XVVO_ycRFf9ck9ULsQCMZmiCoafd8PJrGCIn73BBlaC1PuQj1NnP9nfk0Wq2O5n6vD3nWFwaxn06PXrxwR3ck52dXEdu3E7A0tfAKGOkqMUEDW3_33WOxF7rYP615IM8zA4I3umygwG9B6oOC32TmuJFcLi6BZW6HMYqiCEy69DzyVuUhMp8pSdm-euEtpmTv-72CSKn5Q8pNP83_9jBVb8uV5Av4w_cG9UOKBHrlAhXjak_D071lEH-ENwkpznjyHzXprESD0ND9BXaW4dPxFEpYaxv9Py1sEFBH3bDoTD2CdkmvMe5uXN6iAhwFMqULkEXmKedrR2e4RFDjhgw6YrvwxQqtzPkpYtA4ONJOHVYWBg0CGL0kiU_AdlosaVJb50GRycDjEcX8Jm9zLmH9LkkQJbAbJufF7e3_NR35N-dVIjEInYPoJS9Dgo5-8MvIglGWv3HSqYz_lBdm8TkHdKIfB-U-JgAMcdYzfwHMaWNUxJ8YK34N328atPMf3sxL7vD2K8xyUoP2OEs0h3ZvQs3rLQPRdPHN2biUnRMjcrH_0ZOx3H1qZUEbSimfFLegRDzV95NmrhccYAMKOEdhd0v75IX47sMlfhlz1fj99ep8KyjSj8aekvt0Rzl51OBp0yPtEvJ1Lka3M_Bj4GboHkI6Xq4DuiuDgj8jwnp6x9WshA0xm_twqq7BU4IEJBHx8Vu9_HSzqcFNE_08l1LtTdwy_SjJkJ0Nnw9PH41kQ8njW8j1TCycbQaXeCjda5F2OEaZwi82DlizwTyBDGXaTHQWts92rLPH3bWxwcejWVtDhuplh6EddtwCz-pHztocIYutYiFDtFn1cxs2fjB5x8d8TGH_h7_1C0dF0aPU4YReemfc3YjH2gVFkVuund6iAuKehWYLYXhEWIw3RA5eLYyVW5eckIKvXU_t5ctkAAvNrXpSjWUGBumCd4V_ST1DjazCZTpmekpcU9MR0ETW9YmvskatlkgxtzECvh6QbPapyvEGJMmtst31fDPk5TwiWQyv3x9bhsZWfxkWp2Uec7glEaw77Z_66t3QoyvTwccmyr-leYB7i7LPuiDgRqeeji7ZOt8O73XthHOIKbpf3prHZWlAayPufW8Ldp0NzfeDieu3eVse9uoXCFYDo71elGPK9nPGGsqrKjiAXTuSCBnal8A5x1cfu56VRAL37kHNC-oS1JjZvm3sLUgm8sndji7l9JH3QVeDswBR490RDHEhjbw5QM3O9tiy4nAkd4QPdCIP1eXnj30qjwOx48TCc6Tzh91lnLqJqGb-KygBOb-fBdBjC6xnPX3GFqRtTG-0o3A4jXjGXwhVz8POhVzs1Jrj2LBOsJXJhskcRHkCuJ-94e1nyS9W24FmqemaDLoLnT8YguqQqgXtqOxvRmh21Rbb_VbFFWRNm0SXqt-dh7pbCbfhz47EqeEa7EPZOIzMs_gItlk9xwmxFsfKHFg2YbCIwKTMl1-8VVls1FEYG3GKwN8pJ6YSVvb4KxwBOGXSYFJDBFSnbo7BpxR7ebxb8tBOWD7kmJR6YffOooDSr6U9LO95CIdJiJWVCGTcGuzob9olaezxqAJP0Eu5WqnPIAYoyvBp7DUVWuuDYgqMkSXq2fMzbWAJ4YZGV63UAyOTEIACKeZuKUujp5yn_zNlrAqCXnnvbJjpjhjF7-QEaR9NegJXd8F97lB376O-aS17gV3FFTcYE6Fl76G254DQhVeAjyGZDVg633zq3dZT4ajnozwMadAm9fhJBYAaatOkfvQjd0nLFE0vU5Z4yezBMtSyuLm5LCRyApoXZFneRMKFcqdQhDWc8ULqCTXYBNXKAeQc5jJYrzrEoBk5KOR8QFstVoy9QPNaDdsXw0-gnjye7aH7I_D3k_RA75a2yUpKPFaHp1FOcOrJiH0nbTPbdApSAwDBNA7A_71DxKnOhki_naHW-G3D65EoBdYL0245vbzeZPZ9FDxn1cGOIXgEOLGMdbW",
  "id": "rs_0f25f6a47bd5a543016ab41a9bef9487d0970265c0695965c8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqjKjE4V4lIoEIbrrAVfcvmRJBs7oWMx29NjxmQ2jv7Qoi_wF7A-vmNZibXP-CkwsjHfTUxifqabmEhu9hP44P6GYh3PfJMZfEHpWxFGZ673AUME2s2e5raJji7qiDfi4Gg6nCzJ5xpmJxL_ydgEFJbisRRJu8ffCPVfNsVx6DCLl43KA3uBBjl16X-vQbwXYQrjjh4RDXBW-wF7-1FVhllj7gchwC0yf3RR72AxZtNWsfuxb6aaUDbir1168sMipwkgcgmLJ88g6A3EmdzxMWFAfDk4ZCOLRw5B17IDRUriLxf74cX8d3bozdkyih6BosAbI7iXZN1sZKQFenguqyzQoqOWbJex7Jdc15xDq6lQlc4GM49FA9pWzmsNZ9fuGzx1gIbCNFRcyqD0ngxVfFXGzLaqMag63tQr7cdm8FQ8MD0s44eYZEYEVain7wlX_sUstWbO0uGKa97vxLTFshGni3PGDnhOWtGRPROMNvbVyIwqtkLqyJ-oTXd82jyYubMtw85OaiUIjUdMGuEommz5fixcWLdiR-vwDBg-6V_j1Co3nulqhwuWd_Ps2-ldl7SVUox3s0ou1HTQ04VdSNmqpdpi19UQ0xL75cVKEFlMzncTEYzETSLBKNMf8Pfv1tfmllgVW9dNoeXguIsry-2MyLAhOE_9pn7xe9220FxeTdAwfRXnKISBjLWn6pWt4RICNjgOcGszuw-K61IfUYNSMns09ewxibIO8kaVRN95yo9G3XJGQbQDA5XCi1nnU_4HhVQdfKQi7M0KdVZFlU3vqmIy9Z4Oip9kzBXgaLwuQ1eW2VlikQSzCeGVijIQKV6UQVFvCBvAQq0dfFLq4LgTMp-n-zxWAt4hujbQdljnsX9RaVy_n8SQ-0R9wby1janbPgBNSnHCkZ9CWe5sCQud7l1UJF6r3KbhVcjqNn32Ia_zCY-Kd9fCMgjtGeveRF6Nzd9MG0-Gkwjappzvc8aSiD8Fye1CYtIeODRchM3sNcZoWbwsLjtmv4qNWHWAhV1Fa-WsqKEgxuYWLmfFFF67fGL84ONTJsyu94Sjx1vLeOgr2mjG3dym0k002byPdAFhY4bmWNXDY-wWqV9NDY-AY-S1lfLcxuz3caZ4HvgV8sHXPWEes-ntcUxUkqXgaTO1yWCvOR81y1jYhlha9AGL7_kzIMGzXPCYlwSKkTLA3Vt8V5usUgqBV5zM0lmkz_SZTsIGhnczDWd18pjDCi8kgGVhRancdkcXirnhSrl556h8qtvS99ac6oRb93dUabPRM52MiVEOfQ_po5mgCyavGwinTBcQBjIQhIlPH4zUAQr9FnllBpVyRvmB5GAaciBZ_GqbP5jWUqO0eh274_qf2wI7hgxCUCovrCy3c_LXzW926SA0LMk5UcB2ZGgUgeSrBMKFiRf1Iv75o1U8QhmWKPtRPmC5Tiif70LosVlQwXShYjizG8Yc92wk08AYMbNJCWChvZ9r4QPsXajIioLrYAs19788puJnl8Sw0LI7wOU9vTWLRmH9sWzhEgpg5Gy6rcP1fNQgNdspcV8EN1HNdAARb34awTZGKtB2vopHHkZWMweYMHmaHYPF4hPOPBe-0xh_RjYJCGV4Xmxsdm4n-4850DeKhafQctpUkQzIvFPqfSg6gX9AIWQUEpKexJg-OWC5fdvMRdzebt1d1lM6ranWx5iWBeyKTGQ1G1ShG8T_mZpSwoWIvZZVEoNFClTYhCfDQkdaQr2vJvgO9rLOU6ZtD8bLIG7Hf4Hwp08b2qfEMsP8jwX1WmbzkmsSWW1zuaFL86aVacbsuAGpnfHuYAbgc6n92vmZfQsIa7NYrzl0th_1wKwi5ZhxZWmJXObW-DgcfpNksAqRgHJuZA7L2J2u07Z56UDg6hwBOod5amqMWZYehKEA7ngKXgwV3IRRA6fcKcxSgm4CjY0pPuGAf3bN3tAWCSu64u_JJrrcPg6GZ0g-RsEwbL_b1OTmKzGViv-2AIHzyTXGy_ybnmRy2A6FJ87fanOlzYYhr6xrMj5szZgOuubUKTY5WmusoPDoCOi6pduLJXDS24Rq2aGScL8Bjb9o1YH_6WcJkC8FgPeZZjScTrFsYQ8q2Yyqyg5MsgVQS82hFZlqsDRz38EZkFfxNifwsCrPrcCbBOA9X_5obLkdreYZP0JwUJVAovV4Ks_Nly_7rY6tdsXG4P4-iVeG88Aoq8VASezU88ZekKfDOzhlUhy6UdwC39puewdQ8PG-4JF7-BdouhdO4TSxGXnLLw3AuHF9EvajyvG7H_8r40h-_isZtvvXD1lQPHy",
  "id": "rs_0f25f6a47bd5a543016ab41aa0b6b487d0bb865cd1656b610f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.372,\"right_y\":0.357,\"right_z\":0.052,\"right_gripper\":0.73},\"note\":\"The raised wrist view shows the dark fruit centered near the right jaw column, with the yellow fruit safely to the side. I’ll descend at this centered position, keeping the jaws narrower than before and stopping higher on the fruit.\"}",
  "call_id": "call_rwXxN6KtPTMbyyl43yOgetHL",
  "id": "fc_0f25f6a47bd5a543016ab41aa2bb0487d08890f7700cefef42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rwXxN6KtPTMbyyl43yOgetHL",
  "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]: [-0.0921, 1.0267, 0.8936, -0.7219, -0.141, -0.0525, 0.9978, 0.9184, 2.2059, 1.7779, -0.8093, 0.4706, 0.5755, 0.7343]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1801 left_yaw=0.0612 left_pitch=-0.2788 left_roll=0.0918 left_gripper=0.9978 right_x=0.3636 right_y=0.3499 right_z=0.0626 right_yaw=0.123 right_pitch=-0.4541 right_roll=-0.2012 right_gripper=0.7343\nstate[joint_eff]: [-0.1162, -2.6325, 6.8991, 1.4432, -0.1148, -0.0562, -0.0122, -0.5128, -11.3709, 6.6256, 1.1502, 0.2906, -0.1245, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be39f9aaa161630a3ebaaa7d9e577bd57937e163dd2d303aaadc160b77283de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abdd8875444bcfe605777ad9a9dd6f669bbcdbcb9bfb3cf31818923be4b5ba04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86856dedbb5de1a8e661f447d3b5f12bef2a232e02ec2120839bc2aa81d2423c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 87 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0267, 0.8936, -0.7174, -0.141, -0.0521, 0.9977, 0.8814, 2.1765, 1.5009, -0.4938, 0.4999, 0.5831, 0.0084]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1808 left_yaw=0.0608 left_pitch=-0.2743 left_roll=0.0913 left_gripper=0.9977 right_x=0.3723 right_y=0.3241 right_z=0.0156 right_yaw=0.0841 right_pitch=-0.3863 right_roll=-0.1645 right_gripper=0.0084\nstate[joint_eff]: [-0.0889, -2.441, 6.7214, 1.4481, -0.1294, -0.0611, -0.0171, 0.0615, -13.4632, 6.065, 0.9988, 0.315, -0.0122, 0.6813]",
      "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]: [-0.0921, 1.0264, 0.8936, -0.7185, -0.141, -0.0521, 0.9977, 0.9234, 2.1841, 1.8721, -0.8902, 0.4759, 0.5743, 0.9965]\nstate[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1808 left_yaw=0.0608 left_pitch=-0.275 left_roll=0.0915 left_gripper=0.9977 right_x=0.3665 right_y=0.3564 right_z=0.0981 right_yaw=0.1369 right_pitch=-0.426 right_roll=-0.1782 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -2.6325, 6.8991, 1.4823, -0.0757, -0.0366, -0.0171, -0.1436, -14.106, 8.1026, 0.9988, 0.4127, 0.2125, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0267, 0.8936, -0.7219, -0.141, -0.0525, 0.9978, 0.9184, 2.2059, 1.7779, -0.8093, 0.4706, 0.5755, 0.7343]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1801 left_yaw=0.0612 left_pitch=-0.2788 left_roll=0.0918 left_gripper=0.9978 right_x=0.3636 right_y=0.3499 right_z=0.0626 right_yaw=0.123 right_pitch=-0.4541 right_roll=-0.2012 right_gripper=0.7343\nstate[joint_eff]: [-0.1162, -2.6325, 6.8991, 1.4432, -0.1148, -0.0562, -0.0122, -0.5128, -11.3709, 6.6256, 1.1502, 0.2906, -0.1245, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be39f9aaa161630a3ebaaa7d9e577bd57937e163dd2d303aaadc160b77283de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abdd8875444bcfe605777ad9a9dd6f669bbcdbcb9bfb3cf31818923be4b5ba04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86856dedbb5de1a8e661f447d3b5f12bef2a232e02ec2120839bc2aa81d2423c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqmTzCJ1i5y0-zADDVqc3k7KjWWue0tbi_J9mlvSKPTpRoRCUcMCvTTmAsEsjxLnRWDTcQ-95WooQVLjl8AAa9o6ztqFEwxK4GRPsySlcL0uuTnNXyooGXeIXln-id0NYte1Zn1X3qg6lrzQir0cgGG_1oUcdOYLZF92sXGmRPcvO_jh8fzbx0sk-WXE2jvE5_kP6OC7jHUY-QNRcimdyB2-5055aYMjw8BnSSlwo5bXrxmpo-LoWJmGiNh1VYTp1HOVXJbl6qLaJtkoh6WPUOXsCar2Fzuu5XIPhU69FXB1Q_Y4q_jzopb5_HOUwVg2mF3ONjIPPguZO2bQVbx5u3lPWrM-Yn6kIODshN243-VYnK5TDniMWWQYYbVpQ1iSh22XkyT8Id5bX8CCibys2uwO8fiWKMaCIhLIKh2N19Ck6LlexaH2A8denik5uED9FaIso3VaZHuYWvhkbqELDGq-W4OvYi_m43ekjZrEQ2Xfs_xkHZNNQKPSENEp07xcEDy8RemkQ34GLNp_Ltp7gCmN74SYcuT5_luoZx1vIGUgQWwAGryOC7gmcgfh256m1p4DiDbIBikA_81FDsfT5SWaxRuwMox1m0Sgbed9qGdeA8YshujxZCpjUvUVK40Ds1au-3-_gzbREX9qEwn326bZ3S2MjrraXWq2R1GwF8oy-_GefaRXyMm_a5tV_Lei3ktVlhXu8tAESgLh1BBp0PWycQNCCh_GmGt792-sksrtkixV2A4LaeXzrAiQcIZM33Wg0Tk-h5FKA_dwTj-yoWmG2exEHUV-nDME6s_aNwNyn9-qEfhajMldOnZ1eP6KFVgf-AOCqu8X75eEIHnViYDnk4iZ7nux8W3Hdf0kjU904HL6C0dd-0sMOlhObT_RAvGi_KPRGJV2Ob3WDALGdbempYqWUZHUl4Pve9B_ZS55yd--qc4dDvI8Em0YVenrOsWDTNPmmFrZpZcgIdbCNFPvEpo9Hpxg8cBdOrabs6N8mO80WrDROIqRSvSZPfyW5TNH_-6nMfAqEW6Twy7rYrYlREFU5lVZMOc-b_tEMXHaKalyLuTstv62OnYVpWaixkr_jgHbkkHgYiQN1QEU7NVADocHlI38HH-3E1aLxqU0SlYO6yBLAS-c38uQQ35-VNfRA4ZN7hF1TVpFdgPYTYTT1Dc6uwm4-gutyPeQJDD7bjVwDN6SliHzhHPU814-XcSjJiGaN7WB9odDeyn6bfDmBsirecbx9E2KNsLzK-58zcU_abArNmg1Qb41RI7ZLnKNAJ7wTifLJeWkDRP7eekC8GxSkMV-xxGZRvlJHtE-n2A7N1L8_M71GvV2XL5z5W8vOXhy0c3ux9HcpP8qlxQ8TbL5dnkC2M5XMswOKTcVUBigCPxgC9E9cbAajCBnEIdVHZ91UTwieVOWkWkjsThHI2L11Yq1vozXrU8-5pZbQgkRG1XapCyRfXCyg9VdbWRrAHXxxCe2KPwpCofytQYcCkO8iAzLABU5YVRh4ZBWrXMozsTb-NabDsfdkEARwJAh7dtP2UCuXN_hKPzUpjqJa8wWUWc4K7kgIJfP8ge6ULrBhRChQCwqwgrOZ3NPmRg",
  "id": "rs_0f25f6a47bd5a543016ab41aa4ea4c87d09890b294b10e5b0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.384,\"right_y\":0.351,\"right_z\":0.044,\"right_gripper\":0},\"note\":\"The dark fruit remains centered at the bottom of the right wrist view, and the yellow fruit is outside the narrowed jaws. I’ll advance the last centimeter and close at the fruit’s mid-height.\"}",
  "call_id": "call_7IBbOEzu4sL0WpndUGbF8xOJ",
  "id": "fc_0f25f6a47bd5a543016ab41aa57d7087d0b5b666c95d42095e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7IBbOEzu4sL0WpndUGbF8xOJ",
  "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]: [-0.0921, 1.0286, 0.8936, -0.7219, -0.141, -0.0521, 0.9978, 0.918, 2.2421, 1.7565, -0.8032, 0.466, 0.5606, 0.0089]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1796 left_yaw=0.0611 left_pitch=-0.2807 left_roll=0.0924 left_gripper=0.9978 right_x=0.3592 right_y=0.345 right_z=0.0387 right_yaw=0.1153 right_pitch=-0.495 right_roll=-0.2479 right_gripper=0.0089\nstate[joint_eff]: [-0.0615, -2.7966, 6.8034, 1.4481, -0.1343, -0.0171, -0.0171, -0.4034, -14.7897, 8.0479, 0.8083, 0.2955, 0.0855, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a667755e48e0f10b94cda5d4e0f22a59c83ab0f06911d5639c3aeed097eb4ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b9d373fb3f2cffad4e6d05303f87b5169e190d0c763d69c929030f2bbbfb7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a102a2599b5c8ba90683dd4ad8f8bd9488fca3304e6344f56ea1884d67514622",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0267, 0.8936, -0.7185, -0.141, -0.0521, 0.9978, 0.8497, 2.1906, 1.61, -0.5846, 0.4736, 0.5339, 0.9954]\nstate[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1807 left_yaw=0.0609 left_pitch=-0.2754 left_roll=0.0915 left_gripper=0.9978 right_x=0.3884 right_y=0.3253 right_z=0.034 right_yaw=0.0994 right_pitch=-0.4047 right_roll=-0.1732 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -2.5368, 6.8855, 1.5018, -0.1343, -0.0415, -0.0073, -0.6222, -10.441, 8.2393, 1.1306, 0.2515, 0.1441, -0.0904]\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]: [-0.0921, 1.0267, 0.8936, -0.7219, -0.141, -0.0525, 0.9978, 0.9184, 2.2059, 1.7779, -0.8093, 0.4706, 0.5755, 0.7343]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1801 left_yaw=0.0612 left_pitch=-0.2788 left_roll=0.0918 left_gripper=0.9978 right_x=0.3636 right_y=0.3499 right_z=0.0626 right_yaw=0.123 right_pitch=-0.4541 right_roll=-0.2012 right_gripper=0.7343\nstate[joint_eff]: [-0.1162, -2.6325, 6.8991, 1.4432, -0.1148, -0.0562, -0.0122, -0.5128, -11.3709, 6.6256, 1.1502, 0.2906, -0.1245, -0.0269]\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]: [-0.0921, 1.0286, 0.8936, -0.7219, -0.141, -0.0521, 0.9978, 0.918, 2.2421, 1.7565, -0.8032, 0.466, 0.5606, 0.0089]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1796 left_yaw=0.0611 left_pitch=-0.2807 left_roll=0.0924 left_gripper=0.9978 right_x=0.3592 right_y=0.345 right_z=0.0387 right_yaw=0.1153 right_pitch=-0.495 right_roll=-0.2479 right_gripper=0.0089\nstate[joint_eff]: [-0.0615, -2.7966, 6.8034, 1.4481, -0.1343, -0.0171, -0.0171, -0.4034, -14.7897, 8.0479, 0.8083, 0.2955, 0.0855, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a667755e48e0f10b94cda5d4e0f22a59c83ab0f06911d5639c3aeed097eb4ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b9d373fb3f2cffad4e6d05303f87b5169e190d0c763d69c929030f2bbbfb7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a102a2599b5c8ba90683dd4ad8f8bd9488fca3304e6344f56ea1884d67514622",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "content": [],
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  "id": "rs_0f25f6a47bd5a543016ab41aa8590887d0978842d16805d1e7",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBquOtn9XKeHxZuULwdr_GigylYu07Qt9Fig7m-NiFiAxlywyXDzKg5YrADoGQVgEX_PNSyzvMFJzzkWqZHmQgcCC70LPwlvnu5hovfIWLVObokabzfhjc7VWRuMG_skdYOu17wZEfocYyUVGqUGH0jeHtNYfNipZl-FR1nkzGBn9zgVZFxuHBeT3oIr5OiGJOY8gNbw09SK7SV02u_7KgB3tXicD5GcrEdch1_v2f9Ono7bAB7xe52M2WczgT-tOF_jFCzgFw_3zeCCnnHTdIYOgwZsygmuwNpHcF1nqII_Le6JTn0UwKn6iI-nXc6qKclMR1bCyQy_corgPBNzCkeYcJr7wfKuuARNwwePIy4rDhCYldM3xfAm_rhUJM8Ih1wu_hPVlQksGjm8YK1sSv28dHhu3UPmvbthMIV4i90abFAc6GJIXcYR5WVbcZ95mp-mJZA4UgcV5rKEAhf1_6Yi_R2uhnJqWhaA7954qUfndVS0d_Ij0uQmqwApvxhL-1Dg9E2ArOaF3pm0P5po8VPXHlOImGDwUxmhRBMoTCo9wAnxLapKSNEoaLIoah_U7-vokzvTRtDSx8Aj8VYJuzyMUwQHUK6W2ItvzY2HQ5q-Q-70yGhcYH8DHXWPgLO3E6tI7S-yPN4g5ngYOYuNSLAm4x-SRw4jF_DXOtIPlqQipAGy6bAf7myxXfpj9fYKwE9Aunl30CsBcE2c8qEHvWiRNxQq0iz3CWDmDkIi7naV2IvHd0jQCRH-MvXDoeribpLV2MMHUyaGEMShjNR2WzsbDRaagSmlpQzlR5R5pNMWNyselEb_m63SFwIRE6cIHZp_vPuIPW854mxhn6ce2mkg5PwN-4iBNoSSDfm3XIgiF1RPSr8iIIgaz_R1-l4KvIeR0ynJ1hk5ScqmH_kB3HCgdIUGTz2NwjqU_yg6YeXmoQXJt9vUBp_IwcxsdFXNQ3kVRMDRwDVJ4-m90DnoAKAudDDsLMRQp2ITm08Rt_Ujz4MNxAEw5cwBNbXOXDsE0q0E8fecyt8Ec6xzCHBG-Gwz5AAiRqjGgp0Lzs6lsHGeBh9vv93FGHni71tJ5ZFgIJLUJxlL5Xx5a65bdoGG5ipZRgpFp2ooeyrTNbe8PAl9ILZZptBLT-Mgl7kkeweV67xmH6rD1XZtYcJbdM4U3k1eTQ5-QJovt4yNuhu-9Jf3Jftf-5x9BFovr5VxtDUaMeeNGxL1GexX7IbItUt9vnYbrxvDxBHkpyAUneSqB7kkfzQx-05Pn4sufA5EbDWwyWknpdKdk0jimkzpLVcs8gtBpuKFv_lENmPqHl5RjFIqyXDzWgI7dZe87EmBdjcHLskJo_dGPjaBPwiCZnM7sKxvuQ9NwUq7lE4pA69PgObQOzFVAj06Iz0u7HII_ePESK_F7JSFJzjs3TyYJOT9kPvWc4lLQ5jMdQ4jL4X27Npr615OqhjSgrShnUIBeB7iFRcTZjq059MGJfmBr6NWxDHDo5XO6DWg9bMDMkx_bzEoQzzlMZODpC4eCpW_ImyApMBG6wg0GNPpbDBSoO00XfhopM4MXn-fHbnRQVzSACsvokD_uqfFueEfBFNOqzm9JCqcF_zgtbRIO5RfYtb5ktj-lVSmZQM_HUXEM3wmgoGSzid_2F78Uq5Jh8Vd6MVFL5ew8Usd0m-p-SrOxGPD3ZYZLVLFQGqw_LgPV8y8I-ycAMk=",
  "id": "rs_0f25f6a47bd5a543016ab41aacaa1c87d0bc5badd2c9e61943",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.37,\"right_y\":0.255,\"right_z\":0.12},\"note\":\"The right jaws closed empty again on the dark fruit, and the readback shows the arm cannot quite reach forward at this low, far-left pose. I’ll switch to the nearby yellow fruit, which is comfortably inside the right arm’s reach, then return to the dark fruit with a different handoff position.\"}",
  "call_id": "call_JIRMK0FbGm50g0oSjzqAu578",
  "id": "fc_0f25f6a47bd5a543016ab41aad7d8487d087cc47568c346a03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JIRMK0FbGm50g0oSjzqAu578",
  "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]: [-0.0921, 1.0286, 0.8936, -0.7231, -0.141, -0.0521, 0.9977, 0.7685, 1.969, 1.6081, -0.8738, 0.4156, 0.4068, 0.9954]\nstate[eef_state]: left_x=0.2962 left_y=0.0012 left_z=0.1794 left_yaw=0.0611 left_pitch=-0.2818 left_roll=0.0925 left_gripper=0.9977 right_x=0.37 right_y=0.2634 right_z=0.1064 right_yaw=0.1116 right_pitch=-0.5073 right_roll=-0.2519 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -2.6598, 6.7761, 1.4286, -0.1245, -0.0513, -0.0171, -0.8957, -12.9162, 5.8325, 1.033, 0.2369, 0.0073, 0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a08a8b2b0098b24da32b379f298d2256a8d9ea19daadd46168871e7b6fb822f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc24272c21d198e206e0abca722f8c8ad7660dd7c050f162d3335b4fdee1dc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b81dc6dd9168d3db44c37ac30d0de2e23e41e6613a04e9b5e7f054b694e8e00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 96 changed as sent

message 101 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]: [-0.0921, 1.0264, 0.8936, -0.7185, -0.141, -0.0521, 0.9977, 0.9234, 2.1841, 1.8721, -0.8902, 0.4759, 0.5743, 0.9965]\nstate[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1808 left_yaw=0.0608 left_pitch=-0.275 left_roll=0.0915 left_gripper=0.9977 right_x=0.3665 right_y=0.3564 right_z=0.0981 right_yaw=0.1369 right_pitch=-0.426 right_roll=-0.1782 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -2.6325, 6.8991, 1.4823, -0.0757, -0.0366, -0.0171, -0.1436, -14.106, 8.1026, 0.9988, 0.4127, 0.2125, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0286, 0.8936, -0.7219, -0.141, -0.0521, 0.9978, 0.918, 2.2421, 1.7565, -0.8032, 0.466, 0.5606, 0.0089]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1796 left_yaw=0.0611 left_pitch=-0.2807 left_roll=0.0924 left_gripper=0.9978 right_x=0.3592 right_y=0.345 right_z=0.0387 right_yaw=0.1153 right_pitch=-0.495 right_roll=-0.2479 right_gripper=0.0089\nstate[joint_eff]: [-0.0615, -2.7966, 6.8034, 1.4481, -0.1343, -0.0171, -0.0171, -0.4034, -14.7897, 8.0479, 0.8083, 0.2955, 0.0855, 0.696]",
      "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]: [-0.0921, 1.0286, 0.8936, -0.7231, -0.141, -0.0521, 0.9977, 0.7685, 1.969, 1.6081, -0.8738, 0.4156, 0.4068, 0.9954]\nstate[eef_state]: left_x=0.2962 left_y=0.0012 left_z=0.1794 left_yaw=0.0611 left_pitch=-0.2818 left_roll=0.0925 left_gripper=0.9977 right_x=0.37 right_y=0.2634 right_z=0.1064 right_yaw=0.1116 right_pitch=-0.5073 right_roll=-0.2519 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -2.6598, 6.7761, 1.4286, -0.1245, -0.0513, -0.0171, -0.8957, -12.9162, 5.8325, 1.033, 0.2369, 0.0073, 0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a08a8b2b0098b24da32b379f298d2256a8d9ea19daadd46168871e7b6fb822f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc24272c21d198e206e0abca722f8c8ad7660dd7c050f162d3335b4fdee1dc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b81dc6dd9168d3db44c37ac30d0de2e23e41e6613a04e9b5e7f054b694e8e00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqzLeBF4P4opu1hzAWt1rFjzBBzZz62AbtIrZZKAkG6-7cgGqLeKPzvAQkIvo0WbSuCtb2LHh2czg1a9ZCtAXCPw4rfXIHnZtQCcxfSch8FkQ---ntWeIo4mc30pCp1Hnz6K6tg4LPSrjuSIpwQD3zDhDqkK4eHrx_-ErQA5pxxWW5Uv4qS0yrJ53Vr5lZBWd3Tj4U0RafTJ59m5qD52_rTb_X7aRHDl6ZerYuXqOhz7kz1DCXUETB3jzhoCqTHjaZQjirj6QFXhiyGsPi8YYsF4j5fAweJ2uE3FHTUFDVcabse1RZP55kilJKN1DeEOsnalQ1_hL84dAdkO2ocD0cPwycYaqojds4eG02OHpfCi4UbXSCFU4POGb6a3tg8UFtKvJIvrGfOfhWeGtb1vhr0FhzNlqw_cNw5_mgxetkgQ1Y-pZA-bQDpOkvelrvW4Ix_5iZ9LTUUcaRCOcTk-a71cpeJmPbFaXTDIPdExshSCiLZZYhtvyvvsz5EEYm00DKzf1Tp6enuXMYEPv7t26VmIYUZrMH2BIwQ3Eh9QuN15KNGsfA82aINOAPrU9HAg7Y6hW_19Ll9TemlxXg1xTi0njD3Sek50eubDDKMQqLlldjOuTBRB9ufKQhBdmLhzlDycClBAQyZbw733VEJf_Mz_LViZdkQ_i22c7qpXwxyCS54XvUKYvohWhkXlSJ02O5NNzIXi5web1vft9DPkkEMBQwtWCw0w5S6eYVY5Swsw94y8b4K9f2eHXRUOKppStGKM-rnfey3XnatulfGyp9BfWaWbC_82iP1OWxdAwDms73YVaZT9dHIsvUP4p4GnjjoUk7vQMv0bjDNEOfvtcUuqprSLPBp9qUZWTI5MRP3Xl7WikaAfACb3bOqNPedYUv9qJ7J84CqhG_HLOwVZRi1rn1PlJSSNMXQ14HrVzBpdJWdcwWks9pHtaBv2MrxM56udgOFXPMhJBvubk4ZylFo9FgFUsVrZV0DQ30X9cUmPeA_FllW8J5bkY42io5Mfbr_8rXnNiJEx0SJcrspRLeJGeNNvCkxZJNw3zA1dx1kxvflybU3KisIrmn8ZVWDrnuSHSPP-eiicnaC9iHTg3m0D_PCunpaFS6PKrCyNvPc8pVwniBi4uN9a2Xr0dC6d2IMH0x7faw5lR3mUzXnqJRA4CRNpKMu5mgFYsgKytTxaZXwPHX4BogstTtMInxW3QDNlDe0P1TKQeyrjLhyN7RqABj8cPaErEHp-u7tnyCDFSw1Y_sfcvWn9xhdBjle-AhCdviCQO89dHlAZdcgH8O_xa5WMzap68jvieI3hOWiIoB4uH_eOW2Pdgh_BgvGNOQCM4LcuSAD2qHn5STtTUP0-R4qB1o_dyhGj1buhiM9fn51rl53Uk3-UzFHUa-2WTS607YASmZ9p2bbgcPfE52gu9pKzWJJoPxv1F28NyNLk8LjHrhJNS8-73VJpgxbq22DnJtR91JITc8l9WAQUJMJhTAlmlxE2y6Yr-Ho9ADo-QU6W-d3HN0HMk8_a92P8vGClBjiZfSsvVlKqARXsKb-ZnSOleBkTnLNIDrPolH3sJy9g57dmVp0uMwTAT0fk1a6SRbGyWWrsAVvHdQ-JMURO2N7c2APL04lQYRPKYqOvfTmQzeYKmEHFLZBzTgY9LFiXEAzHX1-k-LhIDBX1fSeUQ==",
  "id": "rs_0f25f6a47bd5a543016ab41ab0a84087d0a59030229612d225",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.392,\"right_y\":0.253,\"right_z\":0.034},\"note\":\"The yellow fruit is centered ahead of the right gripper, with the blue bowl behind it. I’ll move the fingertips a little forward and lower beside the fruit before grasping.\"}",
  "call_id": "call_A9OTHMjZsp3ajlQ3vUmPU6Kd",
  "id": "fc_0f25f6a47bd5a543016ab41ab271f887d08c613f4f7d7ae671",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A9OTHMjZsp3ajlQ3vUmPU6Kd",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0286, 0.8936, -0.7227, -0.141, -0.0521, 0.9977, 0.7158, 2.059, 1.4586, -0.6758, 0.3973, 0.3614, 0.9965]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1795 left_yaw=0.0611 left_pitch=-0.2814 left_roll=0.0925 left_gripper=0.9977 right_x=0.3801 right_y=0.2447 right_z=0.0335 right_yaw=0.0853 right_pitch=-0.5575 right_roll=-0.2892 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -2.6598, 6.7761, 1.4481, -0.1294, -0.0269, -0.0073, -0.3761, -10.6735, 6.147, 1.1258, 0.2369, -0.022, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26dd02661e44cda5cfb6a02b27a31d7dcfc39b659bfeae31df0577ff2367d5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb21752822abb22b2b81d975ec0acbf1e7efcc69fd1929d16e256641086175b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df164842e3dd6a51b15979c579051f1f980e36a85d5adca438fa6f476388595",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 92 changed as sent

message 101 changed as sent

message 105 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]: [-0.0921, 1.0267, 0.8936, -0.7219, -0.141, -0.0525, 0.9978, 0.9184, 2.2059, 1.7779, -0.8093, 0.4706, 0.5755, 0.7343]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1801 left_yaw=0.0612 left_pitch=-0.2788 left_roll=0.0918 left_gripper=0.9978 right_x=0.3636 right_y=0.3499 right_z=0.0626 right_yaw=0.123 right_pitch=-0.4541 right_roll=-0.2012 right_gripper=0.7343\nstate[joint_eff]: [-0.1162, -2.6325, 6.8991, 1.4432, -0.1148, -0.0562, -0.0122, -0.5128, -11.3709, 6.6256, 1.1502, 0.2906, -0.1245, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0286, 0.8936, -0.7231, -0.141, -0.0521, 0.9977, 0.7685, 1.969, 1.6081, -0.8738, 0.4156, 0.4068, 0.9954]\nstate[eef_state]: left_x=0.2962 left_y=0.0012 left_z=0.1794 left_yaw=0.0611 left_pitch=-0.2818 left_roll=0.0925 left_gripper=0.9977 right_x=0.37 right_y=0.2634 right_z=0.1064 right_yaw=0.1116 right_pitch=-0.5073 right_roll=-0.2519 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -2.6598, 6.7761, 1.4286, -0.1245, -0.0513, -0.0171, -0.8957, -12.9162, 5.8325, 1.033, 0.2369, 0.0073, 0.0073]\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]: [-0.0921, 1.0286, 0.8936, -0.7227, -0.141, -0.0521, 0.9977, 0.7158, 2.059, 1.4586, -0.6758, 0.3973, 0.3614, 0.9965]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1795 left_yaw=0.0611 left_pitch=-0.2814 left_roll=0.0925 left_gripper=0.9977 right_x=0.3801 right_y=0.2447 right_z=0.0335 right_yaw=0.0853 right_pitch=-0.5575 right_roll=-0.2892 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -2.6598, 6.7761, 1.4481, -0.1294, -0.0269, -0.0073, -0.3761, -10.6735, 6.147, 1.1258, 0.2369, -0.022, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26dd02661e44cda5cfb6a02b27a31d7dcfc39b659bfeae31df0577ff2367d5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb21752822abb22b2b81d975ec0acbf1e7efcc69fd1929d16e256641086175b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df164842e3dd6a51b15979c579051f1f980e36a85d5adca438fa6f476388595",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBq1fWyXYX6dre7J35opOjymdjxnoahjcR16my6zlybX9aMXQ_roBc_ChPJc_2b332WDo1owAeX38WDZDCErC6UIR5aXsiD2N0lv6Yf--qtsUHpHr2LaJTlxkvvLhMGKDFIOlSTnLfAWm92ZqSrLSllRC5OG_V_Ve-f0wOGINbsmGA0zCSsMY-_r_HMJkMrpMEnDyBLxOuYFEFWb-BaCSo-ZIBTZid79sSw2pQ8sK6gFnDDQypOUvnOZnD-t-29OJ5v0kbWNV_YxAz4leEOZtKdv7VHN0XlewVYPQYQrohnifrnE2IHj47xwpB4wXyYbDwqPxqKBQCzigV0IO4u7DPU1e8CDbByGZn2Us4bs3iurQbm4JTJv6YV44OM0RXzVCqkPe5dtwjwmCHCU54XTxtg6ypT9fJVdTF5HdfU7HvLjgR6MWsQTAyyHfyiFr8tpskcW7O9b0nn01ncmYuIrxHeovJ350MNVR5atwOJZPrMFhRKyeyhNGYKJtrsuE5Uvxyc3YkHiHm4_mLxnWfIqlWFEmCE43HZI_OzNBw-TCyg4k9xtwC2hlWyKGoRYiqd3_zEJu7_3WMcw9L7qRt4Tk7fJLbk_wkYr0klMr_B32W_a1HFyhDzEPDJUC14oqdbkLawZQsYffVYlwUX_Zu-WCf4R-pXIGkY_VgbRoH3P4bYAjVHwSECzJf3BcAoXInj33024-K77p8cGBEJKqBDMsqg-XHWvMbJz_Ei7YmVsnXL_D-AGtHfjB1f02AZuqPC82aDe6YVNRVH3LpJ9KQ4SyyDC2wByMZ62ix8op5HRgRh9kiEI_dgoz0Dw7bSvl72xUR-TrMvaATs6JhDomAo863zq7J0_M2rg4Bh5Kn-73BMwAxddqmj_WfFrIBXNTYJEbPhp4p4-YJiZ82PLdAGcw-f5ZPSdohEwA1r4KPAtmwl399ysvMQjEq4B7jvy5dBs-gT3l5ajmFCe6kuAXrCLBD-5_4UolxrBTqd92V13HrzEwN07RS1jHNBMRvoujNGpsK-La-rY9kDZvJUueJl2IUuCkY3BeC0WH-MTMDYHcva7VuBz6lUl2QMfd1yweTS2mkzs5EzJ52maWzZMF_ReO-zkeME2Llw44mW37KqXa9_DRKnRb0Y3vkCf8FdlsshDgsM4w7kdF8XQoo1dfBZlHyCVO-0tcq-JT3nk9InfautAlhJUJswWtCcHLxwXRXIjZoM144zmPYTowy2jo-BDRFWZipGaaAHq08bVNqSk8WqwS7k=",
  "id": "rs_0f25f6a47bd5a543016ab41ab5259c87d097d0635644d2e071",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit now sits between the right jaws at table height. I’ll close around it and verify the jaw width.\"}",
  "call_id": "call_UuepiURosMEtuAIOPKo3aZ4h",
  "id": "fc_0f25f6a47bd5a543016ab41ab5630487d0b4cf4f9c58c7aa31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UuepiURosMEtuAIOPKo3aZ4h",
  "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]: [-0.0921, 1.0286, 0.8936, -0.7227, -0.141, -0.0521, 0.9978, 0.7151, 2.0686, 1.4513, -0.6174, 0.3916, 0.3317, 0.3812]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1795 left_yaw=0.0611 left_pitch=-0.2814 left_roll=0.0925 left_gripper=0.9978 right_x=0.3873 right_y=0.2517 right_z=0.0309 right_yaw=0.1214 right_pitch=-0.5311 right_roll=-0.2719 right_gripper=0.3812\nstate[joint_eff]: [-0.0479, -2.5778, 6.735, 1.4042, -0.0855, -0.0513, -0.0122, -0.3897, -11.2615, 6.2291, 1.0476, 0.232, 0.1441, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:429b1d9baa2dba1ff8db166680279bddda19b31e4e07c6e847b897f6bb5c983f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e926543584c8868174b1259b0243765349f1b39d2cad5a365b3e1340be9aec53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd40360b3810d92a740cf18fdb47071e1f1ec3dfbecfccb2cd3d1f054dcaa44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 96 changed as sent

message 105 changed as sent

message 109 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]: [-0.0921, 1.0286, 0.8936, -0.7219, -0.141, -0.0521, 0.9978, 0.918, 2.2421, 1.7565, -0.8032, 0.466, 0.5606, 0.0089]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1796 left_yaw=0.0611 left_pitch=-0.2807 left_roll=0.0924 left_gripper=0.9978 right_x=0.3592 right_y=0.345 right_z=0.0387 right_yaw=0.1153 right_pitch=-0.495 right_roll=-0.2479 right_gripper=0.0089\nstate[joint_eff]: [-0.0615, -2.7966, 6.8034, 1.4481, -0.1343, -0.0171, -0.0171, -0.4034, -14.7897, 8.0479, 0.8083, 0.2955, 0.0855, 0.696]",
      "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]: [-0.0921, 1.0286, 0.8936, -0.7227, -0.141, -0.0521, 0.9977, 0.7158, 2.059, 1.4586, -0.6758, 0.3973, 0.3614, 0.9965]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1795 left_yaw=0.0611 left_pitch=-0.2814 left_roll=0.0925 left_gripper=0.9977 right_x=0.3801 right_y=0.2447 right_z=0.0335 right_yaw=0.0853 right_pitch=-0.5575 right_roll=-0.2892 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -2.6598, 6.7761, 1.4481, -0.1294, -0.0269, -0.0073, -0.3761, -10.6735, 6.147, 1.1258, 0.2369, -0.022, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0286, 0.8936, -0.7227, -0.141, -0.0521, 0.9978, 0.7151, 2.0686, 1.4513, -0.6174, 0.3916, 0.3317, 0.3812]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1795 left_yaw=0.0611 left_pitch=-0.2814 left_roll=0.0925 left_gripper=0.9978 right_x=0.3873 right_y=0.2517 right_z=0.0309 right_yaw=0.1214 right_pitch=-0.5311 right_roll=-0.2719 right_gripper=0.3812\nstate[joint_eff]: [-0.0479, -2.5778, 6.735, 1.4042, -0.0855, -0.0513, -0.0122, -0.3897, -11.2615, 6.2291, 1.0476, 0.232, 0.1441, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:429b1d9baa2dba1ff8db166680279bddda19b31e4e07c6e847b897f6bb5c983f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e926543584c8868174b1259b0243765349f1b39d2cad5a365b3e1340be9aec53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd40360b3810d92a740cf18fdb47071e1f1ec3dfbecfccb2cd3d1f054dcaa44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBq_Vt4QK17I13GFWiGgJBfgmbsrbX_Xa0Kck0-KmWERFwjr4cn9ILJesseL7OV9E7-TJ4POq3jKvE_-jRIlAzImlQO1lbLbf3o5zNlXunJbScgLspP57IgX-oRStIw-cV7oyPMbUnHP3sLTSJKD_6BFJb0URipE0j0On7XxsFVttPNxIS-YhbONmZ4U7i7roCnuMfvx2jlD-Rzik3xuj7Ks3Kb6wFLEBQ8yVHd1EqUUdq0ABKqoUf6yot4fNIJlnLyV1w_JwKPqt-UxxhohJlqmEe194B6u_h53TqeEqCFlv9qNjCVlyrFX6RwkDAyHQEJrUZAHNPn4kQqo8tKqeDK14spIm1oeXe_DWBpugVUDVEBmN0gs2SKNPuqOyuSrIDdFJWrZ_nGj65To0nRpEAiT8ygEKxkJKuam-FMNQWdCtw4bz2aSdIPLxo0l57zG-peoG2U48lLqdAGsYZjR3XRYMJa--_QqIEXE7BMgdRzIOOz2-FdbqTKwLf3JUj-TrdoqrbkumaWLDRMcnr_VZAMllxCLjD1Tc3OXzJzGdV9hEt5vStiBUx9WYjwCZ-hczsS1rkAB6ZmVJ8j-NrqmkbwYGeX-YYx2b_XimFvq-k4PrL9YVO1GGC_TXEHk2y24bU8FRAqdCtKUIxj243lqZh3kd-Vw_id1I_B6zUpitTA-kEMivV-JCRuteDeXyUJU9cUZlaZ9fnCGFIApN4qUkedZhCKorGzspwux5QimQywJoAv2lp9l7BCZ46t1zHCCjV80Jfegh94PuGBhcsnHqL4Y8yDmNfxGbaTtxutT78CPORrDVCCDUQ5W7Je4X9RsnSVmx0H3bb5cUt9yHsQYtkfyIio5LJxVVFE4iZzlHdVAu2fBVM_E6biT-EKs4UMdcm7W3ytJ5_5Zn__O2EsMdMIiNi6FvTA1QLctjpLQieN93DjtgIi4RsxXH5WvR69TNF-2X4OoZd1t_zpgJwp5r-OCFc3izMfO9xjDpqFoJCAk0vYZEDG5GPmDVAJOHQQHzaU8mVr5vux948Cn2lSbPm6V-IGWlynz-k61eN-yxMv--G69oQlWxBE59yr9yt8iqrlBux66-xs7IBxh4hTvbeeJdeCT-VciVt1uRzhdHKKmifnCxPCtfcv_wC73Q3svYSRHTh2zuSiTzDMaEKnkp9lF0Q-38akWB8A8dke6BxZCljKmDJBO_bS9xo6hs3KuSShqjVfy2zdDji1-sQSJkblPSVJ5gop5X7zTdApsa4WBx7XOA4CdVtUdvv8KBzRtlK3bkLr_4P5lB5FFToKxHRFdPmJaigtGDDAsjtXzSy8z9f1rFxaT4wWRuB_FyutTlHjqC7eBSeBBePS_e0kruxEp2seLEAsUdtZDKiIhA7OvfU_1UG06LSe7YCDdKpVNJ38-Um8Nm_k8cNYRdZ-tgNhuV-T3sIRjd1hb1S7oyM-Cp4BPXim3q4ACDhCF5ifWcY6paxt9IdmK19fN52cR8OEIfdLLUJX4L5SS5fzu2Kvam1Lt-oxBJqT437mO1d7g1dLm",
  "id": "rs_0f25f6a47bd5a543016ab41abcfbf087d08563052bc9e6d35f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.156,\"right_z\":0.19},\"note\":\"The right gripper stopped around the yellow fruit’s width. I’ll lift it and carry it above the blue bowl, checking that it stays in the jaws.\"}",
  "call_id": "call_LcuS6vt3JUYzYJzgvBHkxquo",
  "id": "fc_0f25f6a47bd5a543016ab41abe798087d09409a8c0e5d66c35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LcuS6vt3JUYzYJzgvBHkxquo",
  "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]: [-0.0921, 1.0306, 0.8936, -0.7288, -0.141, -0.0525, 0.9978, 0.4435, 1.9957, 1.9221, -1.0748, 0.2897, 0.0685, 0.383]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.178 left_yaw=0.0617 left_pitch=-0.2893 left_roll=0.0935 left_gripper=0.9978 right_x=0.4497 right_y=0.1617 right_z=0.1762 right_yaw=0.1183 right_pitch=-0.5341 right_roll=-0.2708 right_gripper=0.383\nstate[joint_eff]: [-0.2256, -2.7692, 6.8308, 1.5311, -0.1001, -0.0757, -0.0171, -0.335, -10.8513, 7.9385, 1.0281, 0.0855, 0.1392, 0.1783]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94162a2126cc8324bde066beaa0531f5bd9c3b7b8e8756499ffbc3d5c375b9fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070a74f6b302b3168cd358ae3142ef73c91b2dc0f065d3885ebf1ca882b9f6ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffdbeec9419e2d760ecb14eb38c41425ae2c0184388793c6f1de8c019c19b11b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 101 changed as sent

message 109 changed as sent

message 113 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]: [-0.0921, 1.0286, 0.8936, -0.7231, -0.141, -0.0521, 0.9977, 0.7685, 1.969, 1.6081, -0.8738, 0.4156, 0.4068, 0.9954]\nstate[eef_state]: left_x=0.2962 left_y=0.0012 left_z=0.1794 left_yaw=0.0611 left_pitch=-0.2818 left_roll=0.0925 left_gripper=0.9977 right_x=0.37 right_y=0.2634 right_z=0.1064 right_yaw=0.1116 right_pitch=-0.5073 right_roll=-0.2519 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -2.6598, 6.7761, 1.4286, -0.1245, -0.0513, -0.0171, -0.8957, -12.9162, 5.8325, 1.033, 0.2369, 0.0073, 0.0073]\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]: [-0.0921, 1.0286, 0.8936, -0.7227, -0.141, -0.0521, 0.9978, 0.7151, 2.0686, 1.4513, -0.6174, 0.3916, 0.3317, 0.3812]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1795 left_yaw=0.0611 left_pitch=-0.2814 left_roll=0.0925 left_gripper=0.9978 right_x=0.3873 right_y=0.2517 right_z=0.0309 right_yaw=0.1214 right_pitch=-0.5311 right_roll=-0.2719 right_gripper=0.3812\nstate[joint_eff]: [-0.0479, -2.5778, 6.735, 1.4042, -0.0855, -0.0513, -0.0122, -0.3897, -11.2615, 6.2291, 1.0476, 0.232, 0.1441, 0.7497]",
      "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]: [-0.0921, 1.0306, 0.8936, -0.7288, -0.141, -0.0525, 0.9978, 0.4435, 1.9957, 1.9221, -1.0748, 0.2897, 0.0685, 0.383]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.178 left_yaw=0.0617 left_pitch=-0.2893 left_roll=0.0935 left_gripper=0.9978 right_x=0.4497 right_y=0.1617 right_z=0.1762 right_yaw=0.1183 right_pitch=-0.5341 right_roll=-0.2708 right_gripper=0.383\nstate[joint_eff]: [-0.2256, -2.7692, 6.8308, 1.5311, -0.1001, -0.0757, -0.0171, -0.335, -10.8513, 7.9385, 1.0281, 0.0855, 0.1392, 0.1783]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94162a2126cc8324bde066beaa0531f5bd9c3b7b8e8756499ffbc3d5c375b9fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070a74f6b302b3168cd358ae3142ef73c91b2dc0f065d3885ebf1ca882b9f6ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffdbeec9419e2d760ecb14eb38c41425ae2c0184388793c6f1de8c019c19b11b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrCYzCbMklA-Y4wMrVYQS5k3Wk6JJm8ueVLJz1WI1fD7OG4BVxeO7Fnhq8UuJXec_RPH8JEc2Ru0yKtqt-NOSJXhb53zsh3YngnJZcfZgxjgyHGeRSml3q1KWzwEMYRAdxAL7hb9QFVU8jV_vIHLwFpP93Xyc2nH5kulCxT49Iv8R0-fAuR2lWXcFD4YJ9uxCvD_5s3QSvQqiF1muV2tOfuBPU-quP67yp5X90VI4rxClXCZFEhoGn-SPufZWLerg5QoFKtfBo6qp4i3TmUVNE6ioHsuAWkD6kz_rypdfSJLkLofZrIz60JrSQjHUSUDc5z-mOmDV_hl4a6AfqxEaoN14RWOcDden4j1oFReqvtQn4Vm_Hl9prCcJuZ0I5StyLuEDHusPJX73bT0sZ0T20AMY6F52EAFYOx8lLrv-11NvM5ptRU9r3V3wEs5fWuva4DQQZgafsGo1y6QroMbiU4MKhyLkeVPOqzqWuFsh7QSMk6jeGqBNRlWiVZiy7r9rPrrL1YWOsEtVH_sjcRjOYIeVJ2uiV9LNqkPNmWqQ2XUqeeCkFOVNo5dEezy9Wgd_CG0qBMg-yGcA4CGXg-hJvt6zOg5cPhQUGhrDKdXTget_m5EOaTez5LAwCfLl3CmTKFYgRPKdm6veEs8O-10cIv-MYGPYGlR-ZwjL9lJBwdKBdYQTfsvkNd4sqhppF9qw7hQEJ7177TgZ-hawraQUfeikoClGuRszGQW7i3MTD0eCfTybL54TAr3SF42vRrnGTdtIf7lNCtNsyW_ZtRMF6dNTlbfC9dGZYBHUfm6sPtrpjxEJLwOPyA3CZY_r5aYFeE1CW6ZIlPDggrs0Cq_2sXy2gOfnvy2K1a1ZQjJR4kl0daaLliO1-e0keG_owHQvjZd6Qt19bQk1YYJHpeOmE_zOTQTueSIWO-duwXw56mMCw15CldNIxITkwX-A-mObdgQQQWsDGlWM9V2YSPIsUsnaMGQwISk-KbJFEukt1EEyl5QbPnX0Za_2PSjnFH9k2PXogd7P9UoGuVnvBqdJ6yf2BzgqlHf4qjedOwE-rwdpwomFSavFGKwYqQRvwDRY8qEumgeOCpGyCZ3ipNtqpQQSUusH0c1RbM3XNgkLbphI8YXAvyE4DHvM1I_5W7hFL6vO2x5DDc6JjqL6op9d2PSGxKf-mbLXFgjGBFhe6GzJ3j4f7hz0R45Z5qEsK4eEKWoPNOmS8w_Se2hfVwK6sdEldNYYyu1qckVov01tu9AuqeIqJz2VAqvjN_koM6iEn3",
  "id": "rs_0f25f6a47bd5a543016ab41ac1ae0c87d0914bbd54df788bbc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.113},\"note\":\"The yellow fruit has moved with the right gripper and is over the blue bowl, where the green fruit is already resting. I’ll lower it into the opening for a short release.\"}",
  "call_id": "call_1nzX2pWVyYn5qUYnSUyGcFrI",
  "id": "fc_0f25f6a47bd5a543016ab41ac1eacc87d093cbe0c2ff46b007",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1nzX2pWVyYn5qUYnSUyGcFrI",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0309, 0.8936, -0.73, -0.141, -0.0525, 0.9978, 0.4431, 1.9842, 1.6676, -0.9016, 0.2825, 0.0525, 0.3844]\nstate[eef_state]: left_x=0.2951 left_y=0.0013 left_z=0.1777 left_yaw=0.0618 left_pitch=-0.2908 left_roll=0.0937 left_gripper=0.9978 right_x=0.4354 right_y=0.1561 right_z=0.1097 right_yaw=0.1203 right_pitch=-0.6049 right_roll=-0.2979 right_gripper=0.3844\nstate[joint_eff]: [-0.1299, -2.7009, 6.7214, 1.4188, -0.1197, -0.0269, -0.0171, -0.2667, -10.4547, 6.7487, 1.1746, 0.188, 0.105, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603214f2a21a0449d6de09bb9ef81d9717ad64cb088ee185db12d05c5e4a8254",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:babddf5947b13d9766d14372e42ceb9d4942f5238591f0d4460f011bb14ebdd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d69328b0d259b4ac8a02ef8e9ef584d4b05ec873066c609f420c0c0e9560ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 105 changed as sent

message 113 changed as sent

message 117 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]: [-0.0921, 1.0286, 0.8936, -0.7227, -0.141, -0.0521, 0.9977, 0.7158, 2.059, 1.4586, -0.6758, 0.3973, 0.3614, 0.9965]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1795 left_yaw=0.0611 left_pitch=-0.2814 left_roll=0.0925 left_gripper=0.9977 right_x=0.3801 right_y=0.2447 right_z=0.0335 right_yaw=0.0853 right_pitch=-0.5575 right_roll=-0.2892 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -2.6598, 6.7761, 1.4481, -0.1294, -0.0269, -0.0073, -0.3761, -10.6735, 6.147, 1.1258, 0.2369, -0.022, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0306, 0.8936, -0.7288, -0.141, -0.0525, 0.9978, 0.4435, 1.9957, 1.9221, -1.0748, 0.2897, 0.0685, 0.383]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.178 left_yaw=0.0617 left_pitch=-0.2893 left_roll=0.0935 left_gripper=0.9978 right_x=0.4497 right_y=0.1617 right_z=0.1762 right_yaw=0.1183 right_pitch=-0.5341 right_roll=-0.2708 right_gripper=0.383\nstate[joint_eff]: [-0.2256, -2.7692, 6.8308, 1.5311, -0.1001, -0.0757, -0.0171, -0.335, -10.8513, 7.9385, 1.0281, 0.0855, 0.1392, 0.1783]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0309, 0.8936, -0.73, -0.141, -0.0525, 0.9978, 0.4431, 1.9842, 1.6676, -0.9016, 0.2825, 0.0525, 0.3844]\nstate[eef_state]: left_x=0.2951 left_y=0.0013 left_z=0.1777 left_yaw=0.0618 left_pitch=-0.2908 left_roll=0.0937 left_gripper=0.9978 right_x=0.4354 right_y=0.1561 right_z=0.1097 right_yaw=0.1203 right_pitch=-0.6049 right_roll=-0.2979 right_gripper=0.3844\nstate[joint_eff]: [-0.1299, -2.7009, 6.7214, 1.4188, -0.1197, -0.0269, -0.0171, -0.2667, -10.4547, 6.7487, 1.1746, 0.188, 0.105, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603214f2a21a0449d6de09bb9ef81d9717ad64cb088ee185db12d05c5e4a8254",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:babddf5947b13d9766d14372e42ceb9d4942f5238591f0d4460f011bb14ebdd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d69328b0d259b4ac8a02ef8e9ef584d4b05ec873066c609f420c0c0e9560ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrGTFIjkQIlNIC5s2-WKtEQwabJqg687XjyVxDfER1hoHwc-dYK-CHIBWLw_Cj1WlOiwFme2P_Ss_HlMtwGn720YkxtyVA3iaHJZV2SNGAKSPf-5rFqQvkVatEbpPS8JqwwtIj1kE5IelTUKNgVEnLRxDbhK9T_qb7d_TnvHmrUjXsM3rbkViWy0t5v7JSA4LAvrRvQhveRb5Y2NE9a7RikXPS136SCS_rMvS0QG7FvXywP4U2klMqvZUCU1XdQ0R1ekBlVLbjdVJAPYbxpXqdOClETW5ARme6o0STHFYOYTwKBWWbH5r9Z6UDCH_MOdXOEWp4EeXosDgDGG4bKsO6FxsmqscIbqGiApHv66oBCD_j76reaEIzjsYbQbngV5tH_MTHGw2qPOtxu_K2MVUQmvgPbVf9BJmxw1z5PK-QQaMozbzrSihHtxTIj4iK58jS6GBCxwcKM5F8A7WvypEVpaSWzazzDVavWdie1AOLADYuuplyrSMnBJm3NojMRa98EIsYoVJBi9MtQDmoTvVAKwPOOc4ttKp3hwTogfauQ1S_M5SkSZQCZTRGUoWWXnfl1RTmglYysj26qVhjmlzHZQ661McgZjJOVWnluaXGP9YTAoNoRwLauCGzmycG-MNEm0McOSgdQqYmAxolMpM5yHfp1TJZDSCt9pSE0AtVMVYJ4dpBvgapNS2iwrUQhm1Ju-3pF_296h9cPf_rloEbnS9sOgpElmdvcxXhOlCjnWDG1gsG6U_Zdn_H6lndcKrE2DQyrDdENK3felhQIezVrUFS45vS1kKyjOndYqCciW9H34RJnRVOB4DeEvinC9dvL1NMCO_ftDN4OwPPo_ZvLAZY7EepIE8ZNL9snyZMzk3ZWXDtzDuh3-QNmb07J0joU9iXQn44p6zCx2mJfZTAZ3ZjGifS-KqqntbPYCZUyIaW_Txr3zo-LiNwo9oCeoFyenuTxcpU8ZM0D4orog_nzIX2kwGnVdHZM23BAThh2Hi0szSIbWq9FMhdqfEM-YqaOycba27LAZe5KRoxXxuHVR-v4gORc0HxW866R4xrx2Ty8qDW8MMRV-IL2CQAhJnTkDONSMJRv0lMgljLEtqpqZyYzvqtZtvGzoP0EoThI9myl4xKDla4KV23wjxe-B3ggvXla9bUODRHaCsLK6CzjhdkrGJZf0b2ADXWY6fvH0_zuWAqgxGM7N6onGWH1vSmUz2afOFKzehQ7bexS0Faqr2QPNC48H4pwd_XgGY9b1IMrnurlcrLzn5Bn3mpGIjUxBgAS9_dIb55rDshZmZ1jQQ1pkXBpLDvpdxK2ylICGVpHUCUrLJszfAUdA47Q-UfqlfOqJSGrYPaxhUZHdZLi2HEnMWD_qkm_KIs1eIEV1sFCk9svoSdeT_FR18YFKar0EZQS18_oOf72VkALnxj8fwT1dX0GnHNoK29yXJ7OZ1phAbo_4IOi2VpSGIXWTw8YU-swS7MWcxQilVlEtJfBJ14v7zWtnwZn_C9K6-N3kbo4Ww00w_H6C-rtOpvmkAM1JOAddKijQ8zp_erIM1VfAdB5CQNiRZKs3loczXpGuGWbRaxX1Os--pQ-0Xqm0-ygExl4oKed3o9b48eZq8dfRbOD9C1U7Ku0V6NmmiTrQfSzfriVNbiE7N0J0U8ri7rCNjnK0D5Qu3Sy-XlVqwajn_8gQkwpRWrQ7GQk6revNjyUrWpDYMv07TqJk--2fqdldU9Pk32qnuAA59lrwP3ca0ve6xPCGp7SwwMiBEATc-Emn7mipc1Po5_FZzYvg6p9PUDUVuXDZJ_sQVAIZfje3lr5KKMVMvIP0ecD-QqvRnRwp5ucOSt3IsGnAc9pc0y0BpixK_L_lFVDTHbuxvUYAJDshgUjNC4hG18EEp5is2I=",
  "id": "rs_0f25f6a47bd5a543016ab41ac4269487d08ad070973f501aa8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.456,\"right_z\":0.098,\"right_gripper\":1},\"note\":\"The yellow fruit is just inside the near edge of the blue bowl in the wrist view. I’ll ease it slightly toward the bowl center and open the jaws to deposit it beside the green fruit.\"}",
  "call_id": "call_SNZpd9IFjqkrQ7LWpOxnmi3C",
  "id": "fc_0f25f6a47bd5a543016ab41ac54fcc87d0b0876e929f05cf91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SNZpd9IFjqkrQ7LWpOxnmi3C",
  "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]: [-0.0921, 1.0313, 0.8936, -0.7296, -0.1406, -0.0525, 0.9978, 0.4278, 2.0464, 1.6913, -0.8902, 0.2745, 0.025, 0.9958]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1776 left_yaw=0.0614 left_pitch=-0.2909 left_roll=0.0934 left_gripper=0.9978 right_x=0.4443 right_y=0.1539 right_z=0.0904 right_yaw=0.1242 right_pitch=-0.6374 right_roll=-0.3124 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -2.5368, 6.7077, 1.4579, -0.0904, -0.0464, -0.0171, -0.7043, -9.8803, 9.2786, 1.0085, 0.1636, 0.0464, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f58983add543ab3d682efb46e6399238f1cbb7a5535178bec447449f3227a815",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1964021369ee5b54fde9806452b5b29c615e01b9a14205e12ac957a02ce7f1e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18786095be608851cb4abf42ddd52e00148b227451e4f6e3de471a62931c1d6f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 109 changed as sent

message 117 changed as sent

message 121 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]: [-0.0921, 1.0286, 0.8936, -0.7227, -0.141, -0.0521, 0.9978, 0.7151, 2.0686, 1.4513, -0.6174, 0.3916, 0.3317, 0.3812]\nstate[eef_state]: left_x=0.2963 left_y=0.0012 left_z=0.1795 left_yaw=0.0611 left_pitch=-0.2814 left_roll=0.0925 left_gripper=0.9978 right_x=0.3873 right_y=0.2517 right_z=0.0309 right_yaw=0.1214 right_pitch=-0.5311 right_roll=-0.2719 right_gripper=0.3812\nstate[joint_eff]: [-0.0479, -2.5778, 6.735, 1.4042, -0.0855, -0.0513, -0.0122, -0.3897, -11.2615, 6.2291, 1.0476, 0.232, 0.1441, 0.7497]",
      "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]: [-0.0921, 1.0309, 0.8936, -0.73, -0.141, -0.0525, 0.9978, 0.4431, 1.9842, 1.6676, -0.9016, 0.2825, 0.0525, 0.3844]\nstate[eef_state]: left_x=0.2951 left_y=0.0013 left_z=0.1777 left_yaw=0.0618 left_pitch=-0.2908 left_roll=0.0937 left_gripper=0.9978 right_x=0.4354 right_y=0.1561 right_z=0.1097 right_yaw=0.1203 right_pitch=-0.6049 right_roll=-0.2979 right_gripper=0.3844\nstate[joint_eff]: [-0.1299, -2.7009, 6.7214, 1.4188, -0.1197, -0.0269, -0.0171, -0.2667, -10.4547, 6.7487, 1.1746, 0.188, 0.105, 0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0313, 0.8936, -0.7296, -0.1406, -0.0525, 0.9978, 0.4278, 2.0464, 1.6913, -0.8902, 0.2745, 0.025, 0.9958]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1776 left_yaw=0.0614 left_pitch=-0.2909 left_roll=0.0934 left_gripper=0.9978 right_x=0.4443 right_y=0.1539 right_z=0.0904 right_yaw=0.1242 right_pitch=-0.6374 right_roll=-0.3124 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -2.5368, 6.7077, 1.4579, -0.0904, -0.0464, -0.0171, -0.7043, -9.8803, 9.2786, 1.0085, 0.1636, 0.0464, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f58983add543ab3d682efb46e6399238f1cbb7a5535178bec447449f3227a815",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1964021369ee5b54fde9806452b5b29c615e01b9a14205e12ac957a02ce7f1e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18786095be608851cb4abf42ddd52e00148b227451e4f6e3de471a62931c1d6f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0f25f6a47bd5a543016ab41ac806ec87d0bde524f9108c79e1",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrPbQqlkU6AfI2piNA5I42ztJwjjqlor3bi6utR_sgodzd62oLRVHyfdyTHcFsO628CoF_4O8cfLFMXBAchZGH2olJTo_co8xSXGctKTPB8K2X2OyrmrbH-yUfT2YDeHcplxAxS8SYQJrhpWgZKwOWFNZSX0yJxG_k-ZfspOuifqFI61iFQMjUTwaCZuixUm-TUzzah4Mrl0khh9Fm4dOLd7a8YqyHVvnXJasX0Ny_p6PxANUoyrYlqzsU273lkRsGIVAMSF9Sbmv9xBikGRyxyEXfSQoFxWu8jt8DQedxiZnlkdHhUrSqsKRf7JBfpKFqeqGHkNM9fVwi6fgL5Wca9dN9oYlCiBeRJLQT31ytqEgVI0kYeyBKuEsdy8VFTWVRjfxZlKK0MUEJglfp7Z8kCqX3IZhD_tC9JMqp3SXXDf9j6BdlIu_K1b3mwcpqhThzzK0RRQ7tJ6i4TSpAKr0y-cH7Oy-FKCY3E9gNJULRiaZWjYL8118HVJy8f1qD-o6f9gCaOA3918-AO8ZZFUmTp_esCVeUe5rcvlDUgIYsZyJ9HAis3VGL-lmaIG22bYgv5LfADgAnGMQsNrB2ZDNp06Rg75xjddDaafy7qjArk05iqh9I6lx1j0L_t_LZ4goQ6oxNAwezJLn2j6mTrepzlmWt2FP5EB0wJn55fMXS3pgj2SfaMCUIxEk1bnMfLxqk5R4z10FpHJEhIs0l4s66VbS1C4YuiHWJkLnpG2kCjDk5ikjmjs11EwsGq2ubOhLXMISAo0w3_ZvnlQ1H5E_nlc8NtKvxJFli5RtnaNQW24BhIuMx7Bw36w9GE4Ua4Iry3fh_uvkiEzkGrzxSU_sFTdKwmFLgOiu_2tsGHdOIifrPwTGgEvuO12VhdXc0iK2yNYmq-_Ks4IfPO4xXcsOJVeGzLIpxf7uDRaDPIEVzwwSMMMJtD44taS8BMXE4F8ezESsdE-ev8-Z_0ISrZvi6fHPJqYKMAw1Bna8dPYH9ALnxZBbyc0oNPRfyl5AODj3zRAe_PBLP8w6WQbO59ShSb2b8VyUfoVTldvvDRbxNHHT3c5LFtazL-5vARnSdlQV8z1VpW7SBd9LPsMh32TuFr96-zVoiaJ2_-CtYM5TmZxgcOJHvD1LmvQicT9Z07a6RH2vLUe4wwsA8b0pZafDoC-Ozkc3ZerfCos23d_6OI8M7owMOlDQGG1UQrFQPDCJFLLkYgUB5V5BSR7sb4qvOHK1ciEyVx1CNTK_911UVgKOJidLoHc0htBrMVghN-fVncEI3nVccwQN1v2ao3gJy-9DTnujFXKM8vwymeg2-rMSTfaKZvkGkkXWCAqlUL__xzL7sQgXzfkjztoNAILai8dnrU8M5uzpRDkImhihwz5FrvyVzTK8DynGpcx787XuPNri5y3cXnORXx4SgFZWg8Dfm1yeUdbW1HnxXQHeXEBSkLMU9P_UbhJ4ZT4Z88FDbyEM42aLi8qo8ymsnk3SujSDWq2cuNc9frd7D5JE_OPJJTXLXecdqUocmVdoF1HOR3aKIPUR-AX9aI1qxlXHzn93q55vuLd_gqQpjgYiRYV_o994JEAnEGCBTFZs4twMvcVe-G6eWEuuW-p6Soy57tjrR3hyvHDbwLDG7PrsgqNKk5ogomfLosJmc9sD5su80y7YAjo7NNbdF58lSmQ_M8TwCe7Oj8VZ1PdkWbPsOTU6-TV_261zxDCjs_s7O2ZWh1KmVBOru2jpEOxYn7LR3teQa9Sf3dxwSvrLI7_r_K9kaPQxr_RFFaaUamnxnVYIAUfdYqr3AatzRXJuDfq9mLX2q3SBw7oxACR_P-qWE3QQ0m7goaUlhlvxzWbYpDKa28G3nr69D7veVOcV6Qa30Jv5oV_bbR5CL8_tAi8JzshkvtZDlE4e-0jVBA_He6u3S6W15-EjmUoO97pW-nTkrExC9DnAoD3G9VSGP3akqcxyk0yVtB5IaATSn-bv_ktO8OJguqwRxTrAf_e8HqRnFlE-CBDp4UxRg1yuv-oZnIV4jvVxTYgjVfN5D_SCfB1DRmBq39DXInPIvlMax_7X5cY7oEVmghjDodGBQPa512Y3z43_Qq9YYtq4NYGus3vJYV6V6vH4C6w1OqP-uNU6cx3uW1kALvhx283QUmGd5yZj8Mzs-QJ0UwrUQmETMJWteuAnUB9axV58HapzhyQ5V2UzHi47OYK15pEAR7-NGvB1NDj18vHDqjBVlkqKcm1F9i5LT_CMSodLrZ2-Scb-Q4na8dXnjTwLWnAUdpKryDMus=",
  "id": "rs_0f25f6a47bd5a543016ab41acc6a0887d098fffe5e93a2f185",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.347,\"right_z\":0.135},\"note\":\"Both the green and yellow fruits are in the blue bowl. The dark fruit remains on the table closer to the robot than my earlier right-hand grasp attempts, so I’ll approach it from a shorter forward reach rather than trying to stretch farther.\"}",
  "call_id": "call_gepVIG0ccunBbkGu6qOx3MLE",
  "id": "fc_0f25f6a47bd5a543016ab41ace43d887d0a265e4b83fb93059",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gepVIG0ccunBbkGu6qOx3MLE",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0359, 0.8936, -0.7372, -0.141, -0.0525, 0.9977, 0.9714, 2.2013, 2.101, -1.2781, 0.4126, 0.5434, 0.9965]\nstate[eef_state]: left_x=0.2941 left_y=0.0014 left_z=0.1752 left_yaw=0.0623 left_pitch=-0.3029 left_roll=0.0957 left_gripper=0.9977 right_x=0.3204 right_y=0.3498 right_z=0.1329 right_yaw=0.1746 right_pitch=-0.5971 right_roll=-0.2898 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -2.8513, 6.735, 1.5116, -0.0952, -0.0659, -0.0122, 0.2393, -11.5761, 6.9949, 0.3101, 0.3639, 0.2515, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a93afd1bbfc081ee3ed5bdf15c0ddc68649ee232e6d2bfa053ae624bf6d2620",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9cd8471be7ed3a8573ac23a0eb7e8837270aa4a8d5d25c4e6921f3839af09ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324e8eefcfd7be497934fbcc8de448f1814a969474ebfc9ee6097c65e1610b77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 113 changed as sent

message 121 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]: [-0.0921, 1.0306, 0.8936, -0.7288, -0.141, -0.0525, 0.9978, 0.4435, 1.9957, 1.9221, -1.0748, 0.2897, 0.0685, 0.383]\nstate[eef_state]: left_x=0.2953 left_y=0.0012 left_z=0.178 left_yaw=0.0617 left_pitch=-0.2893 left_roll=0.0935 left_gripper=0.9978 right_x=0.4497 right_y=0.1617 right_z=0.1762 right_yaw=0.1183 right_pitch=-0.5341 right_roll=-0.2708 right_gripper=0.383\nstate[joint_eff]: [-0.2256, -2.7692, 6.8308, 1.5311, -0.1001, -0.0757, -0.0171, -0.335, -10.8513, 7.9385, 1.0281, 0.0855, 0.1392, 0.1783]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0313, 0.8936, -0.7296, -0.1406, -0.0525, 0.9978, 0.4278, 2.0464, 1.6913, -0.8902, 0.2745, 0.025, 0.9958]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1776 left_yaw=0.0614 left_pitch=-0.2909 left_roll=0.0934 left_gripper=0.9978 right_x=0.4443 right_y=0.1539 right_z=0.0904 right_yaw=0.1242 right_pitch=-0.6374 right_roll=-0.3124 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -2.5368, 6.7077, 1.4579, -0.0904, -0.0464, -0.0171, -0.7043, -9.8803, 9.2786, 1.0085, 0.1636, 0.0464, 0.0024]\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]: [-0.0921, 1.0359, 0.8936, -0.7372, -0.141, -0.0525, 0.9977, 0.9714, 2.2013, 2.101, -1.2781, 0.4126, 0.5434, 0.9965]\nstate[eef_state]: left_x=0.2941 left_y=0.0014 left_z=0.1752 left_yaw=0.0623 left_pitch=-0.3029 left_roll=0.0957 left_gripper=0.9977 right_x=0.3204 right_y=0.3498 right_z=0.1329 right_yaw=0.1746 right_pitch=-0.5971 right_roll=-0.2898 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -2.8513, 6.735, 1.5116, -0.0952, -0.0659, -0.0122, 0.2393, -11.5761, 6.9949, 0.3101, 0.3639, 0.2515, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a93afd1bbfc081ee3ed5bdf15c0ddc68649ee232e6d2bfa053ae624bf6d2620",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9cd8471be7ed3a8573ac23a0eb7e8837270aa4a8d5d25c4e6921f3839af09ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324e8eefcfd7be497934fbcc8de448f1814a969474ebfc9ee6097c65e1610b77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrU0dzRK5sajl4GjLqIRyqzwWCUF5iQZD3ue-6tN_kD0wW38Ltm82c4UkCnGwz02Xbp-NM0zPcEHWLSAdpQ0NaRqXYYo7vF_oZu0JYbja6t2-xWXmI2y63tR29DCk3V9mkny27bS1SAZPm1Cr8SM9X5uD2R3hE6c_FNXcia0bA_YV7EFCFv5fWmlxshrXM6JPLBKB49LR0lcTjxpzuFmjAeJqfXlpOZh4_iM5ye1bSyfUHxUHCV63yUAGLOhaZPVSyZWtt8S81dGgVXnch6MIgjXfG4SSPthjdfsNJLPCH2UH7wYtxfSOkZPWUeS2kyYV9EAXyX2Q6nBW8Pca5CLtSSt-d1MEQZsEePRwxtwkqLmdhqNMaTC4z2Eo9QYtaVRwW1axM8DqQYWWy2IUuruh46Pd9ZIDy3XgrDx0KNof8wwEfH4d5Ea7EcU_6pJwvnmotx3Xb6m2O3CHBMHQ5_lANyWnYmpBfNhJtTDni-FwT-wkh018zdEV_sX5cHzAmtUpWBt3P4RHxG73kLpPRMv_kbrR1Zp3onNw3tbLu_12zIb3JlwoC_trppm_I1X7RVUqzEo-gQEkMgkwX91P-Z-itaglVkpNqosEFDtX7gXn7FXEmQogiCANxPG_F1Up1FfFRMKt8gSHumJXtCQTTEGc1tQ6ut2cF6ulvHxByIWdwJuqrCqtvinZD1JesVDQ_Xiol8R7VwxoEHAPI5Slqgk21mPCRbm_Mvux5w_7bavRcKubiWrlOteJQsACRNDzFcnAHM60OHJ308205au38N_t0snZwKMYWqSDhXP05b5toS-LgF6QmK-CIN0FNlIf7OGGM8vPGSv_KRRSgxoOSpKxgg4zOVV9GRRPwPpLQi-DJbdeQuy1SMroZgXsHcC0ENfTAPM3PXVa2-uAYKvN-rma-LaBVOPl7_NOTBIr_r2g0qU-kIvJA6Qat_o7c6XGoW-BlauKrfwAZKmz6dL8OpDLbO56UDXGzIldNTo-xprFYEdvhNzw9_lncTLskhP36iwyec0i0f3t-DXXtKimIyDADZOvDVVBDnw7i78VhnvSdRLQGiFug5QmP9gUCU9ZNTT_ipyUT1rHedvyinDS2eDwm5rzTZ-UgNYnEcIuyhvDUbn3E4zeGtkqWq9tpP6d47-Rtz5xQIOY-NV-vAotiu0IhRIQeiBA45AjWTgUZbHMVcpfALcqHpxoJJSb8O6XKAQWz1wmMr8QtUbk7HWmbhf1cTZLCqF4OHJEtI5p1fpe1neBnhDSGovicI1AnCR2JWABb2sgpfwO68gxXykJYS2Ks0fq3lJy622LUVujcC6ERsNgr7FIjKqiYxFQ_ywvoGdnNJSnG1PIOa3Kpxv0Zd6EhJJqRHVXoVSHmEW_vdq1ql4yL62qIJR0mP7onL1C1kvAP-CbNczZKy1hAL1oJbg8bNLqNBv765jZ6D5mmioqnq8q9BxtOW3j2DMthyDstHT83BNLTKIjaSKqBh7F5Mk01OvRZVljT1Hg02HyY1iGnu_3WriHGXa-LyGgef4KcotONGxKVSeUYqXgbS_8VuXhAafqBs4EZYricq-gdVPuiZ5CSsjOP1HBfcSwyTwhb4yR4qlmh84R4h6tRtwjQEp_L-9WG2AuTOHS5giaNPfgGCgiJMohq1n5h27BkVZ7b2YolqAA5k3oBga7LUow7RonZ4C00RlK6peS--ZOYQhdBQ6xb9-xeLGQrVIhHy_W6cBniuq-UtxdxM7tAz4FQY23qH8Z0i1RRgOdjr_LxAw4fqBTqGeGFChPxuq2DUh1x5OuZsxiq5D0LZ0ns2Kaptxdu3A6nMyfFa4bJ0m2RGD0MAuwNR501nVjBH1bljA_Q7eHXYAa45dIELBBsAfXcdYdrEsnLmdVODoBHEUlxY6beuNx9VVkcpRSVn0_1uWXLmipm7NopjhfvZm0PIxzrbSLwVzSWKzh3Z2d4gIZSao89lI_h9ZQHbhY6OFMJ7TBBccc-xi03MTM2Oy29nbMqca0JKI1Bz5bPhciq1ONn9krhrX4g=",
  "id": "rs_0f25f6a47bd5a543016ab41ad2431887d0aa24a28de2a6b46f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.321,\"right_y\":0.348,\"right_z\":0.046,\"right_gripper\":0.73},\"note\":\"The dark fruit is centered ahead of the right jaws from this shorter approach; the earlier attempts were too far forward. I’ll lower almost straight down with the jaws pre-narrowed to its size.\"}",
  "call_id": "call_CVis6ZPU0xXLTFpQbPRpB7nZ",
  "id": "fc_0f25f6a47bd5a543016ab41ad3e0b087d0988fc64b73e9603d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CVis6ZPU0xXLTFpQbPRpB7nZ",
  "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]: [-0.0921, 1.0359, 0.8936, -0.7376, -0.141, -0.0521, 0.9977, 0.9684, 2.1925, 1.7828, -1.0084, 0.4065, 0.5388, 0.7327]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1751 left_yaw=0.0621 left_pitch=-0.3033 left_roll=0.096 left_gripper=0.9977 right_x=0.3139 right_y=0.3395 right_z=0.0546 right_yaw=0.1583 right_pitch=-0.6298 right_roll=-0.3219 right_gripper=0.7327\nstate[joint_eff]: [-0.0068, -2.6735, 6.7214, 1.3944, -0.1245, -0.0562, -0.0073, -0.1162, -10.7829, 5.8872, 0.696, 0.3053, -0.0073, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9f5456939ef31145c56b559a3977125b26106ad6144a39de0c8f29777d56e48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31baf15794aeaa8d142c09d1ca266bdac02d201e374142ebfa3fe1c97e6baf77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:277fea99b792a3a08aa86a0ba4bf606253d7a669e65cdc961ac29d2ebf6a3a93",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 117 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]: [-0.0921, 1.0309, 0.8936, -0.73, -0.141, -0.0525, 0.9978, 0.4431, 1.9842, 1.6676, -0.9016, 0.2825, 0.0525, 0.3844]\nstate[eef_state]: left_x=0.2951 left_y=0.0013 left_z=0.1777 left_yaw=0.0618 left_pitch=-0.2908 left_roll=0.0937 left_gripper=0.9978 right_x=0.4354 right_y=0.1561 right_z=0.1097 right_yaw=0.1203 right_pitch=-0.6049 right_roll=-0.2979 right_gripper=0.3844\nstate[joint_eff]: [-0.1299, -2.7009, 6.7214, 1.4188, -0.1197, -0.0269, -0.0171, -0.2667, -10.4547, 6.7487, 1.1746, 0.188, 0.105, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0359, 0.8936, -0.7372, -0.141, -0.0525, 0.9977, 0.9714, 2.2013, 2.101, -1.2781, 0.4126, 0.5434, 0.9965]\nstate[eef_state]: left_x=0.2941 left_y=0.0014 left_z=0.1752 left_yaw=0.0623 left_pitch=-0.3029 left_roll=0.0957 left_gripper=0.9977 right_x=0.3204 right_y=0.3498 right_z=0.1329 right_yaw=0.1746 right_pitch=-0.5971 right_roll=-0.2898 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -2.8513, 6.735, 1.5116, -0.0952, -0.0659, -0.0122, 0.2393, -11.5761, 6.9949, 0.3101, 0.3639, 0.2515, 0.0611]",
      "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]: [-0.0921, 1.0359, 0.8936, -0.7376, -0.141, -0.0521, 0.9977, 0.9684, 2.1925, 1.7828, -1.0084, 0.4065, 0.5388, 0.7327]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1751 left_yaw=0.0621 left_pitch=-0.3033 left_roll=0.096 left_gripper=0.9977 right_x=0.3139 right_y=0.3395 right_z=0.0546 right_yaw=0.1583 right_pitch=-0.6298 right_roll=-0.3219 right_gripper=0.7327\nstate[joint_eff]: [-0.0068, -2.6735, 6.7214, 1.3944, -0.1245, -0.0562, -0.0073, -0.1162, -10.7829, 5.8872, 0.696, 0.3053, -0.0073, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9f5456939ef31145c56b559a3977125b26106ad6144a39de0c8f29777d56e48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31baf15794aeaa8d142c09d1ca266bdac02d201e374142ebfa3fe1c97e6baf77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:277fea99b792a3a08aa86a0ba4bf606253d7a669e65cdc961ac29d2ebf6a3a93",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrXgTcHPfROY9d-rfdicLgahm733hq9J5WE27a8hDg-IT44a0MNfQ13v4xBczxTLXwzKOxYJX_LoTdfPOcFiZjHyMKNBpLPnwxX3jcHI33m03rmHYnnDqmHyzM-j7OW3kcSVq3WCY_Fv9c61W_PwzjQwFcxQFGF_NP3U5u8tbyi2oH_xUFVkSw3orw8pQ9ZOE4RKJvWfhaaOEFVYvaizz2PojwYVU13zheEBrSQK2nO8qtYQ56Ptr5g4Q2wXg3Ar5Bpx01SexywORkZ6csMnFa7pc0DMAmqsae6V4SaSiuBRk1FIvlw4ElhkYMBMSow0CDeN2AtZNbkmAj3kpWNvAKXFISUG6RmvVgF89hbfEOT2oS2Bk7xdCovvuKMV8h42CPESajwJ8_bdaViwvTSk4do8sqq9NvdiCb0I-BAN9TUDv6GpMgzVUdgohuUA5Up0XJZfOQ4zXEXIvUcnbMk2N_8alnkxTpYLnz-ZGBQb2lt8r-Ed91bVNuEe17PUSW11NpniCHwrqLpruUXrph7rL0TKLcy31RZcEFQiYSUGScSy3ea8LtrQOXEiNgtrGLY9ofIL5pS6WPEK606668SOexUxuAaWeHkFnbY65uMfxHX2adaXRUYDyLWCQ51HSQ748-xUDFV-vD9T-QZrdIm9jH-Xo5fjowtho1mWeBh21q6Z_7lqsODIS7v8Yqcm4wKzMD8aFYzSRdcRToh6my4EJQ4u3c7GejLj26Oeo_bnZ430q7N4mjQg6iNjcHfR01_2vUvRl3VX8jAeawCPceUskRXUWS7Khgsb_221jh48lILLLwYja9yyJ9ff6nTESQ3KabLXeaqSJ2NZ_adLdwTvpdAo0zrc67SWFTWlToY1crk-xxdPj5wCDT1vftOUwFq06x3MAFCotu5uSO5KE5N2D5ijAyyl7SleQxwYcwsErszSfnPdfNAfppFmZN7Wn46n1-8d1VppV8OFcYbyeTZzqBtaiAdiVRlMAis9BLxoedFEkXZcEUveqijF8Zu5qR8xbROd7WR9tqPsLZiO01_B1kf7CRdOinFyRLVg54Uo-WzblwWP1EOk16-jJEeRnINpU8g_zknxOyxnGcLloteLNEKdOi7jsnFkA9TVP3QMgI01ltrwKA6zfsuN2ZPZr9oFpmUhBKAP5XMChxTekUHqxlitTpIfktv-XbHhmC9cdhf12VE-OrvS8fo0UmR5dEhekaKQP4mO1ckZB2Zn5ZH5tGK1S-OumT18xbZzkmvgFVe1GalchEkptoni2of6TsN8ccT",
  "id": "rs_0f25f6a47bd5a543016ab41ad65c8c87d0aa3b83a2916f66f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The dark fruit now fills the narrowed jaw opening at mid-height, rather than sitting beyond the fingertips. I’ll close and check whether the jaws stop on it.\"}",
  "call_id": "call_1UDDBKe1s5gm1CT5vJ1wY3zp",
  "id": "fc_0f25f6a47bd5a543016ab41ad6984887d0a077d074537a8741",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1UDDBKe1s5gm1CT5vJ1wY3zp",
  "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]: [-0.0921, 1.0359, 0.8936, -0.7376, -0.141, -0.0525, 0.9977, 0.9722, 2.2009, 1.7542, -0.9688, 0.4149, 0.5388, 0.0089]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1751 left_yaw=0.0624 left_pitch=-0.3033 left_roll=0.0958 left_gripper=0.9977 right_x=0.314 right_y=0.3404 right_z=0.0448 right_yaw=0.1581 right_pitch=-0.6219 right_roll=-0.3265 right_gripper=0.0089\nstate[joint_eff]: [-0.1983, -2.6872, 6.9265, 1.3895, -0.105, -0.0757, -0.0073, -0.0342, -13.9829, 5.2718, 0.5495, 0.3443, 0.0269, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dab612c0a45eac540ff55be9a846a2fc380aa9754a925a1971f246cbeb553e03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7b283484c32589738171c8b8275902a0d66fb201ba671dcf455b9b340522dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd306202547ee6f4de809a212aaaf04670453ec0c1de4e813fc2aa8a79118e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 121 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]: [-0.0921, 1.0313, 0.8936, -0.7296, -0.1406, -0.0525, 0.9978, 0.4278, 2.0464, 1.6913, -0.8902, 0.2745, 0.025, 0.9958]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1776 left_yaw=0.0614 left_pitch=-0.2909 left_roll=0.0934 left_gripper=0.9978 right_x=0.4443 right_y=0.1539 right_z=0.0904 right_yaw=0.1242 right_pitch=-0.6374 right_roll=-0.3124 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -2.5368, 6.7077, 1.4579, -0.0904, -0.0464, -0.0171, -0.7043, -9.8803, 9.2786, 1.0085, 0.1636, 0.0464, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0359, 0.8936, -0.7376, -0.141, -0.0521, 0.9977, 0.9684, 2.1925, 1.7828, -1.0084, 0.4065, 0.5388, 0.7327]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1751 left_yaw=0.0621 left_pitch=-0.3033 left_roll=0.096 left_gripper=0.9977 right_x=0.3139 right_y=0.3395 right_z=0.0546 right_yaw=0.1583 right_pitch=-0.6298 right_roll=-0.3219 right_gripper=0.7327\nstate[joint_eff]: [-0.0068, -2.6735, 6.7214, 1.3944, -0.1245, -0.0562, -0.0073, -0.1162, -10.7829, 5.8872, 0.696, 0.3053, -0.0073, 0.0366]",
      "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]: [-0.0921, 1.0359, 0.8936, -0.7376, -0.141, -0.0525, 0.9977, 0.9722, 2.2009, 1.7542, -0.9688, 0.4149, 0.5388, 0.0089]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1751 left_yaw=0.0624 left_pitch=-0.3033 left_roll=0.0958 left_gripper=0.9977 right_x=0.314 right_y=0.3404 right_z=0.0448 right_yaw=0.1581 right_pitch=-0.6219 right_roll=-0.3265 right_gripper=0.0089\nstate[joint_eff]: [-0.1983, -2.6872, 6.9265, 1.3895, -0.105, -0.0757, -0.0073, -0.0342, -13.9829, 5.2718, 0.5495, 0.3443, 0.0269, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dab612c0a45eac540ff55be9a846a2fc380aa9754a925a1971f246cbeb553e03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7b283484c32589738171c8b8275902a0d66fb201ba671dcf455b9b340522dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd306202547ee6f4de809a212aaaf04670453ec0c1de4e813fc2aa8a79118e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0f25f6a47bd5a543016ab41ad93f0487d0aa9f229b01ee2d78",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrfPGhB0vMLG4eVj6X1qB9KkDxF4yPY0YX8qq1q0_CITL5cRIDQz4Yz9IpP5SF0fxvv66ikkRylMpQZEgf2hDPhbJ9LL7y7iTsIeYgycchBTlCURxTmRNG-cvSYe3sCTabagXGO3sX0Vq7Ph4Aklp3DoneZMoGb0yTctt_SH2c4nuYm5GKA_R6tlE9GAE0vMgoXEPFScsoTW8j643jlAke6ly72IospUL-UkCNt9obgzeZso8ttp__2rc9WK3WlTvMLe3EAnmTBQJ9SZNY4dZxhUg1i7iz79_cLCQFLZjD7x3aWdnzooeXCnci-TpfN9d6cmO_BYCCZkffHQQS5RccjZXCYdyRB6_cRp3HrAe03W6xIYHxrxA4B-OwUef0m5qYZKlufV29S2k5NP8O0_8cz5QdOCM2s_yE4Zv7iV4oASplSDHwIc7XUzv7wlDjx1Sl2Aq9wPztIC9GYTawEx9lvs7GNE39feZCbxNGvSWyh_-c9rprOwvybgfaMRDRA88P0Zt1t-TYQ68ToPgCl8hRmAzaowPxmgCTBCwBVdwcwTEIZdnoosuMKRhHWxOACuSp_Ppj4xBAwXQ17U7g2MvaTqtJDfVxL7J2ncKWt045ZnxTNtYo3bNloUTG6OSl4bGP81zcOzUpnmc0ZCQjsBak3lJkDXLcxPoXfTvlU-XOmD7hJ-MeawfvwyKvpJFdQMJUzZYJ6FZKKk6Z8EMwocZtNDP8ghvhGOS9oWfCUmuyFSUd5ArN0Pvj3Sd7pxSAEOCv00PB2hbkraygVy9pce5qIdcbtMHtQ-UmD8CHPxAM8WXzqqFKhnVDfoWRQV6Vr1Os3dgpCdNC09uG5xDW8vGI_SvANqla2XpQY5_lxH6mReG9bAPvRR1qTf0Kk9toNgCQT4zvGGLgXgvw7KEi7GzJjpdKwOcriLewcVFdD6TKFvWhoJiae3WRXOlXz6ixYu6c75bT4_T9nI1GtEj-eNQeiWCmK-veySv1wiCVpkKsj1vMZDNX_b_OPnammNdwu4PMY4DYt9LSd5T2wBXVh2LFhuzf7PfqjAh0fxfBnosa2Q8A8QHP9OPQ3aRBqfYHqKkn90RGhs1zisUl-M-aaButpBNjp2Om7ypyQJovvX3xh1sOwDv5AWxKAoJH0-ITtfneU54lFD02A4FyGMbvdOZsnwZPyEZ-TxrbOgpjplpp_qdO-80uwhTAKGR3jMDesfRcGxnKARdOp4_ub63YIVf-_sDxBiVT1G8QSlgC5c-9Jsu8Af7vpEluNYQ74_dx5H6qElpVxHjo9bBl4_L0I9xLAeB5sL4l6lCCr4URLQ7irqf3nTneOBRMx0S8Fj0VC7gS0oM6Sf6fb4ofCLKyjC7fFE2rReNLIC_nTL7EnGYwWr8m5JuVzmcUN2Bxv4X1A2kWL9-5uQhonEYk-Qp-rL28FsU8ICnj1iAVgxT8hPrQS0SBM37vOA8Ei3o4ZJZVkU2flyyMPaSLe2iUfZtQL39WqOpgKucrFs-c0ZUYYsWgD70MWKii0jV-f_n8sFO7f73h_3oq4cHw3DiURS8S-kLw0nNWlelnF2zqV167WoE69TQSDLOyZhkcv6tPuwxqwiugKTJkA5SYvQP4OjhS4BCnaFnxhlX82-ooi1r5Dr7bN05fpO5ZiTOvhJhgrJUgDGx84Kq-Q07Dkb8KGWyBS3G0b-k6zZb33jYfHNQKbV_sR6v9708tBB8Jr_K_ZCIO-6gpZxoBVDsV3Hwv2GWAM39ADhlb9jMHvDJvtQ4Aw4b9XrhE=",
  "id": "rs_0f25f6a47bd5a543016ab41addae3887d084a4523706e62bf9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.68,\"right_x\":0.338,\"right_y\":0.341,\"right_z\":0.052},\"note\":\"The gripper closed empty while the dark fruit remained just beyond the jaw tips. I’ll reopen to a controlled width and advance about two centimeters, keeping the fruit centered for one more grasp.\"}",
  "call_id": "call_MNOOaT0B715rQAsUmhmswPds",
  "id": "fc_0f25f6a47bd5a543016ab41adead1087d0a905c5f6339eaf24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MNOOaT0B715rQAsUmhmswPds",
  "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]: [-0.0921, 1.0359, 0.8936, -0.7372, -0.141, -0.0521, 0.9978, 0.9394, 2.2139, 1.8069, -0.9806, 0.4145, 0.4934, 0.6755]\nstate[eef_state]: left_x=0.2941 left_y=0.0014 left_z=0.1752 left_yaw=0.0621 left_pitch=-0.3029 left_roll=0.096 left_gripper=0.9978 right_x=0.3314 right_y=0.3388 right_z=0.0536 right_yaw=0.1678 right_pitch=-0.6105 right_roll=-0.3239 right_gripper=0.6755\nstate[joint_eff]: [-0.0752, -2.7009, 6.7624, 1.4628, -0.1197, -0.0659, -0.0073, -0.4991, -10.2496, 7.747, 0.5885, 0.2906, 0.0855, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d104301f0d9cd453f682c4275c029040cd49125e01265f055767fb01633b51b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1779fc35179ec0b3c9dadb30cb8d4e0540d526d788bed277eecb04c1ab4cb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e615ba927c18a9a9aa9dcdccb23625f60455dbb1f3dc05538a4fdbc26c0e40",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

message 134 changed as sent

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0359, 0.8936, -0.7372, -0.141, -0.0525, 0.9977, 0.9714, 2.2013, 2.101, -1.2781, 0.4126, 0.5434, 0.9965]\nstate[eef_state]: left_x=0.2941 left_y=0.0014 left_z=0.1752 left_yaw=0.0623 left_pitch=-0.3029 left_roll=0.0957 left_gripper=0.9977 right_x=0.3204 right_y=0.3498 right_z=0.1329 right_yaw=0.1746 right_pitch=-0.5971 right_roll=-0.2898 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -2.8513, 6.735, 1.5116, -0.0952, -0.0659, -0.0122, 0.2393, -11.5761, 6.9949, 0.3101, 0.3639, 0.2515, 0.0611]",
      "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]: [-0.0921, 1.0359, 0.8936, -0.7376, -0.141, -0.0525, 0.9977, 0.9722, 2.2009, 1.7542, -0.9688, 0.4149, 0.5388, 0.0089]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1751 left_yaw=0.0624 left_pitch=-0.3033 left_roll=0.0958 left_gripper=0.9977 right_x=0.314 right_y=0.3404 right_z=0.0448 right_yaw=0.1581 right_pitch=-0.6219 right_roll=-0.3265 right_gripper=0.0089\nstate[joint_eff]: [-0.1983, -2.6872, 6.9265, 1.3895, -0.105, -0.0757, -0.0073, -0.0342, -13.9829, 5.2718, 0.5495, 0.3443, 0.0269, 0.7057]",
      "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]: [-0.0921, 1.0359, 0.8936, -0.7372, -0.141, -0.0521, 0.9978, 0.9394, 2.2139, 1.8069, -0.9806, 0.4145, 0.4934, 0.6755]\nstate[eef_state]: left_x=0.2941 left_y=0.0014 left_z=0.1752 left_yaw=0.0621 left_pitch=-0.3029 left_roll=0.096 left_gripper=0.9978 right_x=0.3314 right_y=0.3388 right_z=0.0536 right_yaw=0.1678 right_pitch=-0.6105 right_roll=-0.3239 right_gripper=0.6755\nstate[joint_eff]: [-0.0752, -2.7009, 6.7624, 1.4628, -0.1197, -0.0659, -0.0073, -0.4991, -10.2496, 7.747, 0.5885, 0.2906, 0.0855, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d104301f0d9cd453f682c4275c029040cd49125e01265f055767fb01633b51b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1779fc35179ec0b3c9dadb30cb8d4e0540d526d788bed277eecb04c1ab4cb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e615ba927c18a9a9aa9dcdccb23625f60455dbb1f3dc05538a4fdbc26c0e40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBriLUV22KvGbaDGk1Vo_R7nDl-IwYnksa5Jy0GDyMLuQ5Dn8fa5hQU92JwOCz4Phu3-WPI0L3p0QiolRyAg5WjA8z7iXiA_7-9eSgKxgWXoMnBZhgArWW2EnpVQH4NpVeoj7UKU4UtHAUDPjpS8FwIdnOkZNu3pnPkjXasTMlD5kk1lYQCRnKfCPxDJhQlx_aRKH_fRinXDoahugvbcFDF3Me5YtIcKcG5FfABph3arjMlH98Hk0oG0BNWydaDNu7g81mXzlFhTVuwnEPJV1QqtjUbBI2yJECiQTu9d3yvc4Hti_klBmJxHLZY6Gz806qMPCToJEQYU0sH9jHQ7xl1XXAb2XDlfQPijnfTf8Yho0t9SXcUzOAuGD_kTQ5ZDRiThayeRgoYfKgRThZEfiQCJWCvtFoCJv0r_4F8c__QTVX7B-OcFc31iBUdiiuA_VjsKrM7stYiV_LtbGgabrAfY8kzjBjLqtDy5p8_UVqAJLfmfQ6CR8XnKM9Nf2HKleNUwdyLcofC3g-9DTKNOROT4C8eJN0C3jet-sXfia3Dz_34SSL-rHhOQP_oYc523Mm6CmzWkhMXJHurUjAQiyXZFcojc2RyO8nR7r0te7p6hRxeuM6LifJIM1rC9WUWjx_mD3zG-bXMQOplt2O2mRIB70c-uA01uKxH1rbm9H2fTO422snr5_he4Uaw60tLtQ6MUlrTmm9Jq-nN9yIOAukennJriMQgcqU8pHTSViv6B0noqq9pTRk147m7aV41GCr6OxYK3MOUUBW2kxALECFEZOZjw2POcKLk0EGgJv40YYKQcrQ5RTgXFtOFvM-NZaHmivwWVYiu_dgvxQejATwaPquR8ylS7Tlc9KSfoBqYUoq00lzgyq5i3tXugjHD-MHCnoutZlf82hIcaethTwYtJeiBe5-0ZqZKaYPpacZsoEWXRDE-LgnN07VWAXqH4Z45vpEu12q2xndXCj3HP7Ry2juJryTldRrw_3o76HfDSP7ooo6EuYWC-UgVGX5mLaqnIlLR0IufGYBNDoNkW9ai7_t4CHlP3jy8OcSXB3TruNt56DxVE-tnLa6Q-n7ok_S56S1WkhomNer8tdky1hVMC1TPqFfIqUu2TCiVX_5kYm1aSWJOgLK_dWGbfeQW9XYJ4waGA4dnxQQ1Pxj_8DqCLBcQoHLn07rW4a8cVhQ_rtluTx6ykVK_yzDwNMJp7_e6aouMWaLErXQtFZZXGU7oE36DcWN4grTEZNLD0pagcHHvzqOjMeRb384WDNNQP1xdNXpbkgtHZZlq64CRRxDg4b9A5X6MzV_vKOWC26J6nrh8=",
  "id": "rs_0f25f6a47bd5a543016ab41ae1d3a487d0ae8a889cd6e63561",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After the forward adjustment the dark fruit is visibly between the right jaws rather than beyond them. I’ll close once more and check the settled width.\"}",
  "call_id": "call_fnZKLgQllTGHw4fqQMDec32b",
  "id": "fc_0f25f6a47bd5a543016ab41ae23d8087d0ac672c6754d589bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fnZKLgQllTGHw4fqQMDec32b",
  "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]: [-0.0921, 1.0359, 0.8936, -0.7376, -0.141, -0.0521, 0.9977, 0.9394, 2.2227, 1.7996, -0.9752, 0.4145, 0.4885, 0.0089]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1751 left_yaw=0.0621 left_pitch=-0.3033 left_roll=0.096 left_gripper=0.9977 right_x=0.3307 right_y=0.3378 right_z=0.0478 right_yaw=0.1656 right_pitch=-0.619 right_roll=-0.3354 right_gripper=0.0089\nstate[joint_eff]: [-0.0889, -2.6325, 6.735, 1.3944, -0.1001, -0.0415, -0.0171, 0.0479, -13.2855, 5.4085, 0.7595, 0.2857, 0.0122, 0.6862]\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,$blob:ec5a095c1284b8ddf08a9282dd173ca19f6369eec922a67a8d1eeb6453a2e03f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca30296a7e3d5ff8c118e2b05b41a6d1df0f9e25c75e630b79807270ff26c27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44e87c368d2d719c081eb366f81ab005036a905034f3ab741415f7b2bc444162",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 130 changed as sent

message 139 changed as sent

message 143 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]: [-0.0921, 1.0359, 0.8936, -0.7376, -0.141, -0.0521, 0.9977, 0.9684, 2.1925, 1.7828, -1.0084, 0.4065, 0.5388, 0.7327]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1751 left_yaw=0.0621 left_pitch=-0.3033 left_roll=0.096 left_gripper=0.9977 right_x=0.3139 right_y=0.3395 right_z=0.0546 right_yaw=0.1583 right_pitch=-0.6298 right_roll=-0.3219 right_gripper=0.7327\nstate[joint_eff]: [-0.0068, -2.6735, 6.7214, 1.3944, -0.1245, -0.0562, -0.0073, -0.1162, -10.7829, 5.8872, 0.696, 0.3053, -0.0073, 0.0366]",
      "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]: [-0.0921, 1.0359, 0.8936, -0.7372, -0.141, -0.0521, 0.9978, 0.9394, 2.2139, 1.8069, -0.9806, 0.4145, 0.4934, 0.6755]\nstate[eef_state]: left_x=0.2941 left_y=0.0014 left_z=0.1752 left_yaw=0.0621 left_pitch=-0.3029 left_roll=0.096 left_gripper=0.9978 right_x=0.3314 right_y=0.3388 right_z=0.0536 right_yaw=0.1678 right_pitch=-0.6105 right_roll=-0.3239 right_gripper=0.6755\nstate[joint_eff]: [-0.0752, -2.7009, 6.7624, 1.4628, -0.1197, -0.0659, -0.0073, -0.4991, -10.2496, 7.747, 0.5885, 0.2906, 0.0855, -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]: [-0.0921, 1.0359, 0.8936, -0.7376, -0.141, -0.0521, 0.9977, 0.9394, 2.2227, 1.7996, -0.9752, 0.4145, 0.4885, 0.0089]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1751 left_yaw=0.0621 left_pitch=-0.3033 left_roll=0.096 left_gripper=0.9977 right_x=0.3307 right_y=0.3378 right_z=0.0478 right_yaw=0.1656 right_pitch=-0.619 right_roll=-0.3354 right_gripper=0.0089\nstate[joint_eff]: [-0.0889, -2.6325, 6.735, 1.3944, -0.1001, -0.0415, -0.0171, 0.0479, -13.2855, 5.4085, 0.7595, 0.2857, 0.0122, 0.6862]\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,$blob:ec5a095c1284b8ddf08a9282dd173ca19f6369eec922a67a8d1eeb6453a2e03f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca30296a7e3d5ff8c118e2b05b41a6d1df0f9e25c75e630b79807270ff26c27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44e87c368d2d719c081eb366f81ab005036a905034f3ab741415f7b2bc444162",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrvSTos1pD8r-M7nPd9bA6XG_7jIlTMhcMWQxfGxvXfelhhp8_ZYzF96AC49CLF2Vk7bsnbPoxcLPzmFk0y9qXBfvP8B9T-EpHrL35O14e7mbtWeCCY8Iq18jyhuoOGjsdpmalny6-bBrrHj_nPY3bHYOYfk-VPSPxZCd5MrpUGE6JPEjkyoDKyYQoHV900OZuBx7xgflTis0CxnaB2VxJaNLB-zeIar7lQsg9eNqJgabDzOI1u9TDhZpCSpLGhvUnz1qalgRcwXfGiLB9n-KChTI-3qiqEGkGGnQ0EBbVQjYNrxcFQB1BbfBRE8tiBPxbVHOGmL61Zk212nzkGdCxFcOg_7jVDalWtlkY-1cz9STugQACz46h5S9M_kLEOykjUczBdYFAmTeMpiuCx6o9tjn8AFJ_mSRKfve5aXbty0AcePZd-jG0uVJazmyrAoNTPtI0qvOuFf4mvThkRMo9fhK81yoKzFzS9zq748EEWf80unsCHLxqEhcwYpiHC_SO4Q5tmtaUnJLLJc-ioFKoq1fSCrNoo3wvnT3wUP90mFdhdE6YEEuB0sttfEvlRHtGp8uMsBW9TnALEDjSiwz-6W8MPZEh5qTY8axfjYUtRwvApT5VR8h3CiR-B4-hmppePNE47NHSs4iN5QarFHkWrBXcrVYsZCNjPRms9kGdEp5RdrMYmQcw5tcHYpSK_A4tY2YeMstT3eVCqxwddy4lpjVSVJufBJweypQCXzzUlrip6Qhp8MOucusI3GUnTavlZ5VuWZopaQTWRz6G76B2xLNxH07rbLIcHsB8-GfmdtV4T9jqsMdaSqK7Dobk59sk0S9KY5vCSfUomNGWfTmUa2fcWPhQ70DO3N5ktNMnSNcWhtdIywhcITz4AxUX2rqT-vNe5z43BcURR_GZB1lrluf7QqpFiz2MuU9kDTdUzh-IZ_IIifZV4Oxe0nWwZP9ATSOzGbnpR28h7PKx1WiH4SHF5tQdTS-sKYBJo2lQj5VF_KlerWIljlWdFggKS6rWmSGS1bDfaqLv4AU_VS1QF-0iKhOUk74StNnTykhMO1cv78fvKTBOkzEGJYLxHoz1yx39QZ3mouwo7-bQZYniW1wZXTr_IdmdwDIYl7t7IDRg_wLqNQkhi_lMuUP2Mdnxb4Z94XvBXEnbvLxDyqDoYKsdqqefZWWS0lgeyjjKQ4c4s_Xo3pEoolfk26-2dW5dfSwntdOXkmh8cs98bQit1p2c8ag1C9uh2VCu0tG_vOyae7ibNYQUWHRi_cO-WSrljzn-73K2RDfbjryrbo92ytUmlGrwvbLK35xDPX3yxnH5Gd1HxI1l7U-o_y8O6SpxOByROrfW6ej4IRVOecZESGGFLCw2agz_Jm3Um7bquYl1AlE8YITEZDADZUggR79XJm6_QEyQNxmACVBtK0lI83f-_K7pi89MDUWYRjDRxHrP2TP7mTSZvYqN96nYnkygDQd4z-a3h3lMMZPoy_CZHcU1aNjfndiWsXy1NbKyaoBm7C-XpUvWO7RolhpQzLO-kSs0G9ap9CCxr70sOTpf3b40CPcEzNBjmicx1AWFTyLITUTJf01H2DlWtnbBjkCQ_O9q1lgHaSaGZ33unV5hSM53BgMuSilBRICCn7ggqI7WNDUxatk4J7WwPhlpyYSbKI3Lnp7qvnLaUvVgTIQ8ysNMTwUlsHjP_E1XeUM4odMeEp6RK1FDNNpyX_E2RY92UZRfmWEj8DWfnGRM8A5vT0HU63AK-QazBFsid1nDkE4y7dOfdHEKZ8GjpKigq6VxArB_v5octPhsXG5HKSlWj59j8vo8ZLa6mUux85z1H_nTEtMnzDmVEpVvjKcCmN89NNfzu6h4nB-bBpBS5Q7W0dn657c8BAsGUrwkr7u1zFkdPFmO_y1NN0tRcxgUJv00A9nXoH7WZRWoGhEcB4iLVblh0JCU6-Y_8gKx4pE8plxvOwARbE1V32d5fxcMoZWsBH9-WXClxNUxkNbFOHCDidL0AAJmmp1SCSkoHxesT5q4gpMvs34isXuzaInzwuEMcbbII9QpTQMKv9DgKgva-fZCXUdlpZHeNpV1FiOku2MpQCMfk2ATetwhVENJyVhNfSN1EAd4LVLKInjvuR_h2mdGqYa1dlzfIUi3LuFT22NRB4MCmIWIuTQH0b2kDaUroEbcln0U2Mc-MHICorQjjL_g7NgA4GwmTQF1rMysGcGctzeoOSmS-5Jja1KhOaZULwBrwXwKB5JOS4Zb-Q7bxAhhw85w_AaDGK5l8LBYNZNmgfj424UW6Jiya_qU6CaHDbYwK0UQCYzaHhIbqnnxlvCfk_yJm1I1mpQpLDqdTjCTHPSoX8cfcGQY6SyyOJBU03pMiAHYu_Q9xr8umEiUkPF_dHhYFV8DetZBNgBFhvWQRzPXwXWbe6Lu3hgeufEOjVnsgHQlf_FonrD5BMTxgpjBXv8eGw3-fsQu7GtZHpWw3sf3TUiPfGZekU9l5QcvyVMRNiTaxBExFvnKZkIpZfpc782lygmOvWdy2J6QsN4x-lVZkfWy91DcSKpB0WqC7o1haYBja7HaIQLIMM0nqHOdEZjo2hFi432aZOCoxv_UIUYknfTjYu-VGfzkmMpgvLOkKx35hpDfcGvU336IOBCr5vBFXBAFJliKalZ-h1IkkkeS9OFGAAuXO7dFTz05n8culjMVYRodyNpdBOMhAvRWO5PSj5TITn4eoMOSsAKIqnOyNYAzGUTeIe6RuvJnm2yH5rE7SyOcbWAix4RWd5YdVSNUisvKZcM9EZSvXIY89_FvcGRiWyBT6qrru6LVLFmKG0m1iTX2JgphlnCdSPmW8VQ6S1M9T-vXfQRjhsy8cJGyxoKuJsWNpbMUNs-uJd1BEec9_5OSFDjE-EAjEAKWaICMH5mpqVt5SxKFXJSXSYBZypYWsrQF_gg3G8_FJB3k66m3Ec6yM6WOShugAJisstBfi9H9UOA6opOe8nsHpU_qn605tcsdEi7lmSKUmIQz-1g2cxRWNPi7v03mTAD3tGlMRAYA72BAXDGtKO6dYdhhxYhbQYuXhRU3wZBSqzwUWhzg-_lD7WLu_zNfJ8MhJjbKXe-B-CSlJm7w7_n5DPl1irtonKFoZCILKlyXsoiN1Me9J14Hc6F6KzV1albCBpYTpmew2Gwxp7TB0ZTQ-M-Lhm6EspOabDlR-7smhdgBvykFCO3pR1YzeqwxgdxMFuk7nhBxQ-R0-mj6FjSGV5a0vf_4_LYkk5_PSUM3XiyBTnn3pHclkha-MXHJJyuwEc278RSWVVABHqeBcRw2-IK9ET19QNFXgWQyNITSB1v1a5uH0zxUXFS1XgzifXk6srUTCkB3gKZYR2KpqSx5em7hkjCFg-8N3Kte89aG4M1u6aHTA-5-sFLWvdYzpUDbMlJSPVpPOoZuHr-C5PCo1uNzPXLmZ_7vuZdazugmDgQpiY9Aej6i4th7vnfZefF0HgigyCQG2v0efJ5xGcDHtoM6ds6Z1wOY29lwfNL4yVWaFFfykfRRrUijInH4E4Xo-yN7V-3Crgft4FjurPmTItygBOD02CqT91PvRuWgFP1BDB8HWKY4HflKzYAs75q6B6EaqUcvtH5pDl2PGswdSAydHTig6caiBqG5Pd3INgxXYL82SsifH9nQEo8iOHc1TmuvE_Pl_mtbPyhMdkR8YUOmwy0qK0hOxz2_TiAal6HPw-lB9HYxckWFMlRMzttcC8tD_4DqyZtf_UM-WeAxmvunCoe5ob_bOrAov8KvYP8IfiF-hf2Fka6uVQhdiYs8hGNZOu6HkkVj4E-_9FsBgBg38PsIRVnJSmdKI9QzsaE75r7RiXbsU1kmNUZp1uh4X3xwrp6lVfVU1izG1XOYnc0YlePZB7fM1PjIpzKppjWYsrhFfE3uCCy4Le4aL3g==",
  "id": "rs_0f25f6a47bd5a543016ab41ae5141087d09d78c1d65f1237dd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_0f25f6a47bd5a543016ab41ae8e9f487d0afdf7996e8e71b33",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrv1GEy1L6cbbd3NM71mmb-_NCfrj0cs_pWYfqYcAr_F3DmIMku1VjkJLw2DFD9IFjDN-rVy_TCbIR6b8HPlpKNhNRPElexHl6wkm4Y-RACRuvJb0gRVesQSIsBLcUz20hEfHaZyWMaB5qmGOOdLv7iNjlMdFyUt49S6HZ41QZe1siWhqQi-q9HmnZXAJTDMQSPBn27n_KgEPVgPSrpMG9MC4R4CLkrbU0RB2L5c25Hsp9Ui1ow49V77EjKYehiZbwckdWoxbQiAyOFfH7KUgucwBaVSwj2GdG-pGf-OhOfqdJlxgdkgA34vR3hMNEfMFF3rCghQX7lX_vD5QPQo4Z3Gk60ydr1fx61venmqEfwdRqwyioBnjng6UCTBYr-QX_F2HyognPoapa6fpi7QCyLEb4yS_fNrPTqGqinbq_UGcH-2SV-wdh7s7F2mAakcl2DlhF3cYdVgIEZOKkZIK89qmWgvEWAkxSX_FhGY8DsW-CkmrotSZ0E31e4l1n8Guk9zuizk9toAwmiO4PjzyZfWEIfmGp4K-IKpZjzyBwAs5L0XELJEz9J4JyJD47mVnk08YfNfNesGXdsDEPXVFFmJNDSj1Z1cP81l0-K_aoTyoNffxBRz19HcutKpt-ClzYtRUDtu5-qRpHsGRE1Iy8eYsO9cemu4a8-4hN1Yk5-T9eSdlkXxstdMueCMutPxle_7Nm5UuFNdTrPRSoANm3QjP7KMKkNHmSm3Z6ZstQAT8YaqiGfnpm3t56Sbwpx6UppvjWBanvyfft508KVGzI5lKaUUeTAbq244jtoxehG3d4bJCCbkXixRqZ-Xz9UvvuJ3BA27v2a44rUV5T2mZbHgrbFsq-50retSPm6uUEbVwTE1M2bZ9DLvj7KoVSw2eez2YbIf131M1t9AgJGLKODhqz-NSkdoxYnEeomb9Y3mqhNYGH2fnTT8s6H2QclT_VahJj0IhctMbCkkoow0BpT8Ak22DLK-EOIZgtN2MVL-4H8E5FKX46PFO93yB8K0NYjcB53oGXLHrfm7YyzPJ8qsjs1xLmhLQA4BvDjx_yIFNEjhDrCSMbps3G3aL-o4xtVnGMXJ84B5pWJ2Gvv9uSVPIs6ABCgH9g6LEZPjg5M8haHARvvcTS51t5m6gYYrgffqTvxP-jjtbnbL4teAuriH8_4g79rnX6ktCRTYyMTgT0z_Dk--ovxBVSq-85PfdKYzfjj87QwgEIhfBEbuyB_dEpro0InXUs9PjTuVUzkGm4PIqAS1d1xyA8keGp4y6GDNWs1nt9pJ2mfd8NYRGaOxqXG6RQnhiimbVW2-l6HM-TSeFjD-K4sENZ6gztzTWwOmEMCGP7s9OQRCw15zDquROPKn5F92eG86Md_6nNybxLgNvwXP_g_OHJiGaTcbsRU9uyMb039o0kQ8B-OI-OHxbHGBfch32eetn4yMqR4z09hvc-MBhoDPL8Rvph8ydPGS8Dsd8s8O1Pmdkkk_2Qm6pOCTV6sqhkWbvrYUWZO8uoh1KDRXUnrRVs6b7MfIBqoRIIH5Xvopob-3iEXEnSIzgd2_eUekKfziTVNrmFDmps979Tpa-ZFKElaQhQRDAHVp1vc3oBKNQ-abdLJaZKC_jDRiqlFWAbrbbhGJjGf7leKjixCXRTGQuLUbogHlsDlfGBJSh9iL6Yz_YbOxWSvqW6YAM1xCBmgIOFtMA5V6Gg3EXKvMoW8URrmlOAkHMcZCEqbe6Q4lqECZ3VPF8FyI1Slxgfy9nfyqYl6kWfH6xB5sKXuYhTEgegyuOljPbbdLxZW4Ez6iFufQnRRdnUKUolkh3t0r2DHzQXHGkvJJ41a74yjpDlewjvjZ61WfzfhEw2_RA9ATF70xP4osRI9SP32wdL1IH42eDKhiIrATTGkgdlhx3Wn2IHE36IYPRu78Mhwql6ulwwVHBzaKgn5eIu0qwGP84Mp-pWnRJegi-0IYNccjEpH79C1Xvlmemrw2kSjvxl_FLYljX8BXtgWeC9l6Y2-WjDz2eVJQHATgEOVx3uCiUQGgj-o4mUUt5-Bcj3JAgUY3ICI1FSS1ZXSHx0gFBiGODPejmPxluCq2qtWZ3UuqANwyrxQSyGcmuBNZ9dfTWe6yY2vsWpMzpBkIOHYRo84dnw5aEhbqmPDtCoTN-Rqwmc6Cv6AKDARXqKNwrdTmSizwJkzjw9ECa-tWQ==",
  "id": "rs_0f25f6a47bd5a543016ab41aed5e2c87d09190b918a6fee6c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.448,\"right_y\":0.155,\"right_z\":0.145},\"note\":\"The dark fruit is still on the table: repeated right-hand closes at this position have been empty, so I won’t keep making the same unsafe attempt. I’ll move to the blue bowl to see whether I can safely pour the two fruits already inside into the white bowl.\"}",
  "call_id": "call_CYGBfmmlUp8KhvC64g1xGVo8",
  "id": "fc_0f25f6a47bd5a543016ab41aee984087d08507c130f8e6b652",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CYGBfmmlUp8KhvC64g1xGVo8",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0378, 0.8936, -0.738, -0.141, -0.0525, 0.9977, 0.4458, 2.0438, 1.8038, -1.026, 0.2909, -0.009, 0.997]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1745 left_yaw=0.0625 left_pitch=-0.3055 left_roll=0.0961 left_gripper=0.9977 right_x=0.4392 right_y=0.1577 right_z=0.119 right_yaw=0.1426 right_pitch=-0.6585 right_roll=-0.3545 right_gripper=0.997\nstate[joint_eff]: [-0.2803, -2.7419, 6.7487, 1.3797, -0.1148, -0.0708, -0.0073, -0.294, -13.6, 8.6769, 0.8816, 0.1832, 0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eabccbf3c8ad4eb6409558ca7509c885fd426534ae1eca8d284fb635c4dbcad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e73c005ce98125bea879f59e333e9cf3d7d452300ea675add7b65110b9ef7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c7cde4ac8c82c5e2bcd5e9e4cdcf2cbbb565efb7e91d35fa6be04605d6d67e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 134 changed as sent

message 143 changed as sent

message 149 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0359, 0.8936, -0.7376, -0.141, -0.0525, 0.9977, 0.9722, 2.2009, 1.7542, -0.9688, 0.4149, 0.5388, 0.0089]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1751 left_yaw=0.0624 left_pitch=-0.3033 left_roll=0.0958 left_gripper=0.9977 right_x=0.314 right_y=0.3404 right_z=0.0448 right_yaw=0.1581 right_pitch=-0.6219 right_roll=-0.3265 right_gripper=0.0089\nstate[joint_eff]: [-0.1983, -2.6872, 6.9265, 1.3895, -0.105, -0.0757, -0.0073, -0.0342, -13.9829, 5.2718, 0.5495, 0.3443, 0.0269, 0.7057]",
      "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]: [-0.0921, 1.0359, 0.8936, -0.7376, -0.141, -0.0521, 0.9977, 0.9394, 2.2227, 1.7996, -0.9752, 0.4145, 0.4885, 0.0089]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1751 left_yaw=0.0621 left_pitch=-0.3033 left_roll=0.096 left_gripper=0.9977 right_x=0.3307 right_y=0.3378 right_z=0.0478 right_yaw=0.1656 right_pitch=-0.619 right_roll=-0.3354 right_gripper=0.0089\nstate[joint_eff]: [-0.0889, -2.6325, 6.735, 1.3944, -0.1001, -0.0415, -0.0171, 0.0479, -13.2855, 5.4085, 0.7595, 0.2857, 0.0122, 0.6862]\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]: [-0.0921, 1.0378, 0.8936, -0.738, -0.141, -0.0525, 0.9977, 0.4458, 2.0438, 1.8038, -1.026, 0.2909, -0.009, 0.997]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1745 left_yaw=0.0625 left_pitch=-0.3055 left_roll=0.0961 left_gripper=0.9977 right_x=0.4392 right_y=0.1577 right_z=0.119 right_yaw=0.1426 right_pitch=-0.6585 right_roll=-0.3545 right_gripper=0.997\nstate[joint_eff]: [-0.2803, -2.7419, 6.7487, 1.3797, -0.1148, -0.0708, -0.0073, -0.294, -13.6, 8.6769, 0.8816, 0.1832, 0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eabccbf3c8ad4eb6409558ca7509c885fd426534ae1eca8d284fb635c4dbcad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e73c005ce98125bea879f59e333e9cf3d7d452300ea675add7b65110b9ef7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c7cde4ac8c82c5e2bcd5e9e4cdcf2cbbb565efb7e91d35fa6be04605d6d67e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBr1thD7VQj9ylR7WTVx8SHiqsN4pXUlomlGfr8MgWq5s0qXUPBaS2wE87pX7UiHkV-7JK44rOHike5NCW7WbvXim5b10LAMR4dq3P9TwnDwH0BucB_9M7_W1YN5YomxO80Sc-sFyuljpDtlMrLWJFYS3pQ2kvpVs8LofmaPwAfTodvKjP4DP6bLTc2X7JreMfOQMMxNj5jDSIiIBdXepv1GNR-jwhodVrQYL--FkgP-rbdle3mMWz2XlzrmpJBjvnbk1p7wGAHxRidWoRw6Xz2a_Fmh1MCYtD4Lwzrhjj1uG3veDPSsGAqFVq2Qt4cBIUnJNZibrjsdZwrpLo714nxe2EoO6IAOFvKRVVzUGGo_K9PelRlfrMCmN3gAoYeT9nAoWsBgnYUIquEoLgwPxlBskCVyOu0_EVsLAmZOF4mVaktIJ2E-mE22PONHZuVSUDq0Xs88gNJDGwDaW8Cr4mGeNRG9TfQ4KOURmjhu_wCwzvIbk37_jZS1s7D-wPMnkq47hIIun1auWYgGTgagxMEOGpmR38Uki7WoUucmteetprzFM4L-wD-GyxpXIoLU56YJ5UZzAm3DnAytBgMgYR5mjVAJeZT3BqX1XXbt1ag_YqVRFhOeD5hNV7oARgyqd23rCi0LdXZgoqSxi_z70rrdI3VawwV7eIzOTZ_cechkOT6sq1VvdzP0PAODMpmmA1WGu_Vwr0PM6MBQBz41YS4Z9QCj_GE2pFoW7xGzrDHfmz22up9SRpXsDRbsxqB4EfPuQ0wGl-IsDj4_HrnQpgSqg9Pzqbj_TAmR8sMNsWAPdjC_wq6I9leQmD8Nhs5bINsR-Yz_C_Tx9V8GPI7gWLMnE1N2_3rTLy8JxywA6HiblpUgCAH8wfGg6d1luuu69vBF923WS2bVLrpPXv2xr9JPSQZCbNKqV_hnO-m6Ek_7O0WW6v-Qz9w1H0jA04S0LLqgdiLgRm6QcZ47bpk19RPX_b0w4rMwyGC_lTg7-rjogws33uF6ug6oOSJUsg_2JVY8oSMwQMh_FfeKOhODkKC4DG114iIcyjSSYoaYomcBeB6Eo9vSV2w0dR4NoabOwlgLwnu0OvIcgoxM-QdtwEEsnmTvT2-8zJVbLsNKQ9su1JDn3FtS-JKV8cd2QND-MPVvckcQIAwPNYQNVMAL0TzCG1fimyKNLSNKeSsz5dXI7HeA6RYwHw716fISAZBbL7zEjBMte_UHfuUMRdKVjqnqW8FqNxFVY68YuZJrvH1m68Izht_wivh0YuFIeKiaYb7PXn1EEkXKpkfkeoah2T5uBwCMaBfixH2O4uF99vtQXr0b55xngsaLbu4GAolQGr8BcKqlLyqsTzLlqHeMqOdi7UClsNqdj6jr_qJXYUn6gHs5bQmTGFy6Se8-7eeuI9nj4W6y9hHJcPpOO8ggJSNpDXOJkbOH3qNN78mfo19Yr4PqoJfWKUbuoV0zuGCimAo_S2ygOGz6XanenOCZ308U0hcM2MtnUt03adWhZxC-jwdAwhg8wyOGj64yAAovUcb4AWRDYLgVj4bMO11qhZisjuSE8ha0PWBdmpnrWKFotE6nJs2jC2MbmsBTpMmIr4_JUq082EQTI-fYwCC9u14U28OLhiiCkXpfdSaZBi0HY1zglo_fTy_2ftOPbbSwZeCq83O0My7Q4IrRFmJMuSHZ5BE6rR4UZIhoy5ev1d3AaMf7zFVhITSZ2SJho0ZdbCWbyOWuoJArRaeQeRkbByUsKK1M84Yi0SOc9AGpumYc_0NmSM8MXwBoshBgMxBbhuuD9SO2bpIPBUoaVeV7_nTIrFKaQdMy6Z0dySUcetyLLdL2GZkjSvDWyushs9o03b5AzGTCqxhbc4COB_8qr0CQ-rv5PZOyHrUwL4iTkVyRxZNGOPnP7o5SM6MOHaKgl2_iLQGYVvgRK5HmujVxBGnW5NDjCsjzCdc_0y4_4R_XZmd2mY7ufgb6pFfXxshY3b5GlAXEziUKUNv7eQ_JuS3oUdEN3ANRFRcpsVIAk4L0sztU-5kLJuGI6iFNduCXEaFG_BiPF9zdOCUbCjf5TpJkP5htqPi23yXPaRr9vuFOkjVP17cHYOXxROJ5oNzeHkUN3Ey7Dp7Bo-SJ628r4oyPVSKucEWLMsOVN-k3f16mwLDrpcFLEd2Ayv1gCMtsh73r5je8M6C533I0FMpJpFXpJsN9C04zDzmPKl16qfDETs-fHZkqKYjOyLjqFRWT5OdBsRZ-TlBOR3MQ8sPITBKMcwLJM_T7cZ5mGpZVvKiHzUfWHJWVs33r5NuXMvDPVixJjOR8sPP5VTYPQXlOHrB1ps0UMlvGb2OQjQAU77bpJ31UUmptCl6DqYwzEPEqNUX2",
  "id": "rs_0f25f6a47bd5a543016ab41af248e487d0b5830c660eb3375c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.461,\"right_y\":0.155,\"right_z\":0.024,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right wrist view clearly shows the green and yellow fruits resting in the blue bowl; the dark fruit is still outside it. I’ll lower the open jaws around the bowl’s narrower lower wall, then test whether it can be lifted without spilling.\"}",
  "call_id": "call_9VvFiQRDaIN62bo72yluX1IO",
  "id": "fc_0f25f6a47bd5a543016ab41af4ab4087d0adc0392346a65538",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9VvFiQRDaIN62bo72yluX1IO",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-0.0921, 1.0416, 0.8936, -0.7376, -0.141, -0.0521, 0.9977, 0.4488, 1.9652, 0.902, 0.4065, 0.3832, 0.2165, 0.9978]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1736 left_yaw=0.0624 left_pitch=-0.3089 left_roll=0.0969 left_gripper=0.9977 right_x=0.4581 right_y=0.1513 right_z=0.0281 right_yaw=0.0138 right_pitch=-0.0367 right_roll=-0.0517 right_gripper=0.9978\nstate[joint_eff]: [-0.0615, -2.8103, 6.694, 1.3748, -0.1099, -0.0024, -0.0073, 0.2256, -7.5419, 4.6701, 1.536, -0.1245, 0.3394, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455ec712c461495cf098454f1599806d803e8665634dffb12d5aeedc9b221685",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d2526e4ad1fe72a356cc7088b370935e7ae27ed3cc558c6c6793c346826ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45786a67cdb672b11bdc416a153ce18bec4383364c1a49acefe7828b74cb7ca9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 139 changed as sent

message 149 changed as sent

message 153 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0359, 0.8936, -0.7372, -0.141, -0.0521, 0.9978, 0.9394, 2.2139, 1.8069, -0.9806, 0.4145, 0.4934, 0.6755]\nstate[eef_state]: left_x=0.2941 left_y=0.0014 left_z=0.1752 left_yaw=0.0621 left_pitch=-0.3029 left_roll=0.096 left_gripper=0.9978 right_x=0.3314 right_y=0.3388 right_z=0.0536 right_yaw=0.1678 right_pitch=-0.6105 right_roll=-0.3239 right_gripper=0.6755\nstate[joint_eff]: [-0.0752, -2.7009, 6.7624, 1.4628, -0.1197, -0.0659, -0.0073, -0.4991, -10.2496, 7.747, 0.5885, 0.2906, 0.0855, -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]: [-0.0921, 1.0378, 0.8936, -0.738, -0.141, -0.0525, 0.9977, 0.4458, 2.0438, 1.8038, -1.026, 0.2909, -0.009, 0.997]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1745 left_yaw=0.0625 left_pitch=-0.3055 left_roll=0.0961 left_gripper=0.9977 right_x=0.4392 right_y=0.1577 right_z=0.119 right_yaw=0.1426 right_pitch=-0.6585 right_roll=-0.3545 right_gripper=0.997\nstate[joint_eff]: [-0.2803, -2.7419, 6.7487, 1.3797, -0.1148, -0.0708, -0.0073, -0.294, -13.6, 8.6769, 0.8816, 0.1832, 0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0416, 0.8936, -0.7376, -0.141, -0.0521, 0.9977, 0.4488, 1.9652, 0.902, 0.4065, 0.3832, 0.2165, 0.9978]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1736 left_yaw=0.0624 left_pitch=-0.3089 left_roll=0.0969 left_gripper=0.9977 right_x=0.4581 right_y=0.1513 right_z=0.0281 right_yaw=0.0138 right_pitch=-0.0367 right_roll=-0.0517 right_gripper=0.9978\nstate[joint_eff]: [-0.0615, -2.8103, 6.694, 1.3748, -0.1099, -0.0024, -0.0073, 0.2256, -7.5419, 4.6701, 1.536, -0.1245, 0.3394, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455ec712c461495cf098454f1599806d803e8665634dffb12d5aeedc9b221685",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d2526e4ad1fe72a356cc7088b370935e7ae27ed3cc558c6c6793c346826ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45786a67cdb672b11bdc416a153ce18bec4383364c1a49acefe7828b74cb7ca9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBr7rzRS4v4C1vsx3tMUDuCw2dY_czPRhzjo8lXWdCMbmlc5MPVW0NPlQ4CdrD2OVv7V7Li_paFLNNYkEQ75cSgXKs8Z3S_vPa8NnyAxuib4wbSjuePlnlGRDK47g2UWIK5lLjaVgYDnxwXeckKThAAJIx6ZTbRliTEfVjSfDpoCDjVlF3x53WAflOV6RN6Coe_CMGusQKTmaa1s9GFWZEqqd847Gre2GmACH0fpRtgMjBm6wjF3mImdSHSAMoYt7uoerRfgClZK77kITS5Oeb4EEM_bVK9wBUgSFuZrPTSc1ok3Ks5h97upGyhOEN-oMZYhJNWKrMKZRadAv5IirHcQnfdVEknXEjzEho0g8jkXct6Uzw3W8AnAMHDkkcVNJC36kkSPTZqx9ATn2SEWNt4pB_M8g8YZZsz5CvMmaET5tGrCF--2rEuXGt9Z4VYUQMMvmnvkeZlwTlDgtgvyOjWvVWzxQ_Cw2naG4IjmqKj61sPQS2-iFuLwBWJgOvS3bYofX5jYo--FVhihSoNAyiMiQLqV8LfX40OFgWWt-Z14GEgBRZ5bZhf7XIVoT_LLBl3mK3eLjwabjtSYTvPSCXEuKuhUcVMKTL8QghntLZE3jQXk4H8Pu4iwwUYVKAh1i67fjTjF5xytBDk3Bsh8S1USN5zo8QNVFhU-vmrY0iekjKlwl7fVqSdSwuU2uTa0FmD0vw9qtGl81F-Y4xPb2TbYsHcLC2vRGguaRdMetbJSjcPhbUtPb70StBmT-tnCxWAPMEmacFMOZz5i6lOU6Dg-jM9PU3lIpBueHRgNlqQdwDbKvrlC9mUdGzwuCDFx8afGSfjB63R_iUVWdueozIWAskUaU7aejSYu8EPhtoQsfBb7_6EY8tNzIl0SxwVlNxfP-1pLLwMZJm5V8bLGTBDUZSIBwonRcMIDE2wKOBod42aFouxoqf1i5_qlTzD_2Rur5T5qd3SfdjO7LFXhq0h0Wk0rd84d-7p4GlpsMwFENEVWvqQnSkNT-YKTaOd1Pdn2NtfOfB_5aHSor682SRMY78vybbszrRtzW7fB542kebWQHm_IspOHppY8vJbmFGLi6-7INcEtRtZrXctUHcdcZRpYzCQEkv2fkDn9AwQPfIAzX2hB0cBUsFxVgBosZVvLmnUwW2lDH_VFY7Vr2dOpWsigwCDbU_pQItvrdgl2UAk8kOLYUCoih0NeDxWa2fYRRE8dYV78sW1H0P88DAO3dKaFse8f3JtcvPaAgRQPj76nT-ZUXB4eD1POHOeBpCpAZJrkNHDwD8nvl7hEm9d9QUwfnrV7JLn4xbYpeKmANM4te3HXIk-a4ivNxb2E956G_sNLTBljirewWFZat9AWbGxY4DnUryARHJU_qEQlKkUk1Bzw0-sefZ4y1lEVYLI827nn5SphlfurUPMysjkHCYNdmSooYCr_306_tDv2ENOZIKvrrA3go4MK5IN0Fz2iaT_7OIlXRFOMpFa0AAZVpcqoWk5IAJdN-bB07SEE4fIZjq-swDW0pgzQnQzHBT_sdevU-3VWNSWeWYt602IfKduC09issgqznraoogkI1wt5J3Qv2tfb3KAYUQlgCFshZZuQp8MGCkT_BbSDUS2tUk9a2IiZM_kb8zaBdTYcG0QfLlPz16iMEXToglu74O_Z7bg4EE7e55Qaw7s0GzEW5xylfWxWY1cYdUtKp-Lm-sqoJOyKXyIwCzVH-QYZi0fQAsNnzTCx1__1fdlK3A80MKtwIFxjv1Np5D1Khv9BdRI=",
  "id": "rs_0f25f6a47bd5a543016ab41af901cc87d0afa2fa52c4e6ca33",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At low height the bowl’s outer wall is between the right gripper’s jaws, with the two fruits visible above it. I’ll close gently and use the settled jaw width and a short lift to determine whether the bowl is actually secured.\"}",
  "call_id": "call_QU9BaSnJX2FZB0FlxMnl1SiL",
  "id": "fc_0f25f6a47bd5a543016ab41afa2a7887d0b40243c263faf24f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QU9BaSnJX2FZB0FlxMnl1SiL",
  "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]: [-0.0921, 1.0416, 0.8936, -0.7376, -0.141, -0.0521, 0.9978, 0.4488, 1.9713, 0.894, 0.4183, 0.3843, 0.2096, 0.4923]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1736 left_yaw=0.0624 left_pitch=-0.3089 left_roll=0.0969 left_gripper=0.9978 right_x=0.4568 right_y=0.1504 right_z=0.0247 right_yaw=0.0165 right_pitch=-0.0387 right_roll=-0.0589 right_gripper=0.4923\nstate[joint_eff]: [-0.212, -2.7556, 7.0496, 1.3895, -0.1392, -0.0317, -0.0073, -0.1983, -10.0171, 5.8325, 1.4921, 0.0415, 0.0122, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab553033df26982f55701a22179d0673c1a1a872111212ad1232aca418d02aa2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480ceff3b4ef11f49d9f518be3fcf0d0b203b129e1bfddbbec2f8b4b224b9d11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fadaa45c2d9245b328eefce446db2c18c9fff872a94b257e6d21429411ee95b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 143 changed as sent

message 153 changed as sent

message 157 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0359, 0.8936, -0.7376, -0.141, -0.0521, 0.9977, 0.9394, 2.2227, 1.7996, -0.9752, 0.4145, 0.4885, 0.0089]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1751 left_yaw=0.0621 left_pitch=-0.3033 left_roll=0.096 left_gripper=0.9977 right_x=0.3307 right_y=0.3378 right_z=0.0478 right_yaw=0.1656 right_pitch=-0.619 right_roll=-0.3354 right_gripper=0.0089\nstate[joint_eff]: [-0.0889, -2.6325, 6.735, 1.3944, -0.1001, -0.0415, -0.0171, 0.0479, -13.2855, 5.4085, 0.7595, 0.2857, 0.0122, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0416, 0.8936, -0.7376, -0.141, -0.0521, 0.9977, 0.4488, 1.9652, 0.902, 0.4065, 0.3832, 0.2165, 0.9978]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1736 left_yaw=0.0624 left_pitch=-0.3089 left_roll=0.0969 left_gripper=0.9977 right_x=0.4581 right_y=0.1513 right_z=0.0281 right_yaw=0.0138 right_pitch=-0.0367 right_roll=-0.0517 right_gripper=0.9978\nstate[joint_eff]: [-0.0615, -2.8103, 6.694, 1.3748, -0.1099, -0.0024, -0.0073, 0.2256, -7.5419, 4.6701, 1.536, -0.1245, 0.3394, 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]: [-0.0921, 1.0416, 0.8936, -0.7376, -0.141, -0.0521, 0.9978, 0.4488, 1.9713, 0.894, 0.4183, 0.3843, 0.2096, 0.4923]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1736 left_yaw=0.0624 left_pitch=-0.3089 left_roll=0.0969 left_gripper=0.9978 right_x=0.4568 right_y=0.1504 right_z=0.0247 right_yaw=0.0165 right_pitch=-0.0387 right_roll=-0.0589 right_gripper=0.4923\nstate[joint_eff]: [-0.212, -2.7556, 7.0496, 1.3895, -0.1392, -0.0317, -0.0073, -0.1983, -10.0171, 5.8325, 1.4921, 0.0415, 0.0122, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab553033df26982f55701a22179d0673c1a1a872111212ad1232aca418d02aa2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480ceff3b4ef11f49d9f518be3fcf0d0b203b129e1bfddbbec2f8b4b224b9d11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fadaa45c2d9245b328eefce446db2c18c9fff872a94b257e6d21429411ee95b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBr-j4xWZAxDPG0CEJCa_rda5nPlMfXo6duqstrMfb58EaHk7JkMBPM26D-3vbajcvsR1aDr6bz8DGi38lSQAHMOTbARf2MRUXTLi7aentr8y6SfohSosunFw_zr88dy3vgqyG_RFmh1FT73BR6GbY3vkdpnAwL0x3B3sRu2ttBVvIyNmUUN0Br1_iRw7rw9FH2x9CqbkQy5UhCc2WPTAHrDe9LFvgLzvLnvUqneml5blVv0XW6sGlng1wrIMqEwGFu4iM-jsS1nykG9aG-jueOSValRti-C4E4o_4fFoA3M5NKFIfi2Mr6T1ruZ2KDMtUPiN5iqDmKNGFMPiAqhtauUB0mGRmiLGMi8bL8VNIv8IRQAS0y0DcjlaWuGszKwfJ8nnPpKDR1OsKF6xH9o1pGsdhsdkmrveW8ZZSVDwNSwrXvO9tyXjQUkUmtwi11xRidwvn7FMugel7gOOoPXOaTTlNKDmmauy8JhOp2l8cjvVJMltamcmGmQXs9ODcGce3Wuq8GCFYaw_K9oYx6yxPIwVFsgQkgEyo7WgF6Q45Kx8mShzIjkjTErgmDKJ6fSrDo0xm86rNjJqA6a1tXoETvS4hJ_oM5sdzxRBE_PRJkA_-PPLnAuYI_OxlHeGz_f377pDAmFSj7BbW6A_9N4_Kg40Y7h5BkBjShA-fLSC5fJKEk3tx5St_ffolElSEk-HPbTu2F52UXpYAhAhOZIqJAs9asYl2D7FxqvwDdrpuFBOnbaAOxB6FHm6aRBJdueR4nQnPjU9JmbbGB11a6kd1n8d0G2lzHaCL58r7cERAL4_ae23DMf7o0h8j4rBm8uyYi5xuyek4bYG4NVHkyh9SAgmW3DJ-DZmXYChV7FTIYJH9LtfbAmG5dnxwQkURmI7XOuLkGbd6jwknId3iwtTytM6FsgYMp3NlScbEWtsXRhqd0IA7ZCP0-w-mpoEakd7KjMlaUKSLKiVmZFp6YPn7a3FhKGy126TEAyF-qN-ut2rL3vB8s0CLQBZbXFqoZYT5qJu4hlP7UIqj4rd2xpQrkforTXnK3fUFXqOluRTdxxYTPDFAEed_t2WSoyWi7rtkYdsO5Wd90PHtT4GmPCWvGJKpDUi-ELAkT2i3sno0XUZTG7GJlZ_KW9lTcjIG2S9sx0iQ5QZZTLEvER72GBctxwCA8rOCY_fUZMlsRLfbvKRNH3EAQin7TdQvQ_hhFdIpEI9zuytbDu1ld2wQ_jJw_b1pNGV1iF9U820RNP8xqKXk5e8VF3vAEiCANGuimYYbj0W8kZ4WxJ68xprmcRkvTEm1KgTM88-zbYTKrB84Q0VWMXEmuBb5bZgSzoq2NN1DLG7LvLNFyeNj5h7xaWwtHM-4xDCvDZEYsWbEh2k62M0G_th7-XtQW7VOKXoVnndd5YB8d4k_vSnhetg8hSa-nC4Kkp08ox0_u64Pshtvn0030hzlLlQ5g2aCkB_HkverDafeuTL4p3igNUoS9wjxkN3nPT_eZjRDA-xxtJtCfXyXZFyGiqYCaCL9VgZ5Q1Xrgu5iL1CdgrY1_fEYiFpVhEDh2Yr-DwV_QyBFk7o9P1-aqstN6MptjfTW8lgzS0M-3iz194Bny6CwJuO1iVSlw4AhTeUly7f7Ft-Ddk3W2Gavo=",
  "id": "rs_0f25f6a47bd5a543016ab41afd3db487d08938bfc4b986f1b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.139},\"note\":\"The right gripper stopped at a nonempty width around the bowl’s lower side. I’ll lift a few centimeters and confirm in the overhead view that the bowl—and not just a fruit—moves with it.\"}",
  "call_id": "call_dzLONFEb4SbhP5JzXqDHxQBE",
  "id": "fc_0f25f6a47bd5a543016ab41afe167487d0827aba5362296d58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dzLONFEb4SbhP5JzXqDHxQBE",
  "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]: [-0.0921, 1.0416, 0.8936, -0.738, -0.141, -0.0521, 0.9977, 0.4496, 1.75, 1.0622, 0.0032, 0.3801, 0.2012, 0.4937]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1735 left_yaw=0.0624 left_pitch=-0.3093 left_roll=0.097 left_gripper=0.9977 right_x=0.4556 right_y=0.151 right_z=0.1147 right_yaw=0.0246 right_pitch=-0.0634 right_roll=-0.074 right_gripper=0.4937\nstate[joint_eff]: [-0.0752, -2.5368, 6.694, 1.3846, -0.1294, -0.0513, -0.0171, -0.2667, -11.1795, 8.7179, 1.7656, 0.1636, 0.0269, 0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edf6bed65119b80132f6fb77e3a1c74643b34f55cff650326a791d63bd449188",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e09591279eb77883c087d84347db313c27e6a7a814a78afec143b49ed0d6299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4467f68d5989990d0d9e7682191731984b0e7a8a85f9505f8aa04a74c8b94b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 149 changed as sent

message 157 changed as sent

message 161 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]: [-0.0921, 1.0378, 0.8936, -0.738, -0.141, -0.0525, 0.9977, 0.4458, 2.0438, 1.8038, -1.026, 0.2909, -0.009, 0.997]\nstate[eef_state]: left_x=0.294 left_y=0.0014 left_z=0.1745 left_yaw=0.0625 left_pitch=-0.3055 left_roll=0.0961 left_gripper=0.9977 right_x=0.4392 right_y=0.1577 right_z=0.119 right_yaw=0.1426 right_pitch=-0.6585 right_roll=-0.3545 right_gripper=0.997\nstate[joint_eff]: [-0.2803, -2.7419, 6.7487, 1.3797, -0.1148, -0.0708, -0.0073, -0.294, -13.6, 8.6769, 0.8816, 0.1832, 0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0921, 1.0416, 0.8936, -0.7376, -0.141, -0.0521, 0.9978, 0.4488, 1.9713, 0.894, 0.4183, 0.3843, 0.2096, 0.4923]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1736 left_yaw=0.0624 left_pitch=-0.3089 left_roll=0.0969 left_gripper=0.9978 right_x=0.4568 right_y=0.1504 right_z=0.0247 right_yaw=0.0165 right_pitch=-0.0387 right_roll=-0.0589 right_gripper=0.4923\nstate[joint_eff]: [-0.212, -2.7556, 7.0496, 1.3895, -0.1392, -0.0317, -0.0073, -0.1983, -10.0171, 5.8325, 1.4921, 0.0415, 0.0122, 0.9646]",
      "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]: [-0.0921, 1.0416, 0.8936, -0.738, -0.141, -0.0521, 0.9977, 0.4496, 1.75, 1.0622, 0.0032, 0.3801, 0.2012, 0.4937]\nstate[eef_state]: left_x=0.2943 left_y=0.0013 left_z=0.1735 left_yaw=0.0624 left_pitch=-0.3093 left_roll=0.097 left_gripper=0.9977 right_x=0.4556 right_y=0.151 right_z=0.1147 right_yaw=0.0246 right_pitch=-0.0634 right_roll=-0.074 right_gripper=0.4937\nstate[joint_eff]: [-0.0752, -2.5368, 6.694, 1.3846, -0.1294, -0.0513, -0.0171, -0.2667, -11.1795, 8.7179, 1.7656, 0.1636, 0.0269, 0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edf6bed65119b80132f6fb77e3a1c74643b34f55cff650326a791d63bd449188",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e09591279eb77883c087d84347db313c27e6a7a814a78afec143b49ed0d6299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4467f68d5989990d0d9e7682191731984b0e7a8a85f9505f8aa04a74c8b94b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBsFLhH7F_Uura8dpcVRbou_dNXWbOD-32Y1qW15EeJZ0kt2VABtW-Rz-pc01c1S2Fczg5_FzEQmX1VPaVuogpmFLEUj3uFvwLfIe9Szp02jrOwBcUZknlWoCsa8BcIV0ZfM-TAxoqkpGIFfnfg9LN5XWu3EbnIrwfZ9ZbgEZllaqQijQrVrr6UiHf0-r2COHfVUdKDpwS9_eg6A2FgghW_tROT--lbp_pV7xzpU2X_gZhunrwPC_KR20VaaimI1iNnILJZCfTx_fbDoV-zZpjJwuB2PlPA-AqsIwhny89pj6vhlmQo5rwc5NgAJryd8CQOODHGcg1QO-dWkuNe9CdHiGSVcKzW97dB9xLJXPIMNAJG7sJe0pTjltkI5QvSVJJjUBxYxFcNjFNpt2rkfNmo0VniJfQ-RyfXJAgSbatH2aLsWDFiuK7hwgfuxrl9D9-uXnjDDf3GyQWjtQus5u9H5Cg29BGKZpaz4-JPHVRcW363rJvtD8V6dlfch-D1lE9wC-O9jOtTEe_45DQ0Lbsx8XP7e3LWpkIxdaykhHPOTTBrPJezVIarmcS_lElb2W4ectssjeAyGHonWcmSoM9kEz5Z73WuBpcj9RW-0uTPuJl0K6-C0yRggJ_3iaoPB5APuf3VQUqJ-Z1D4cCEMUlDV1kkwPQCebmhnwGuu1ePAO8C_o-YIymvYYmnA3cjCo7kFy5PlYcO7rd8Fg9ZBF7wrvV50eFs11EtWWYRIBkQCTOGmtI5UAbuK3F2PoWJrGMqExOyUxE1NNh-Gb1-7_Onr0oaSeqknTarrrLZ_bOHvUjovVwXKdo_j3IqpFK_J8ItVGXakAma8Yo9uQGb5T0KmrwDBJrqNqWQ-uCmag894RkSwJUC6EvvZrlOQeGrYWy4rTwQ8fanXO4M3h14OP4GrSP2fyyG0XpTOhz70KjHVzNWcEJ7ZVzR4DV9x2PGUAzBcGOBOGHkdXPqnXFA9HExwK2TP6XWwk55wMUkjnhSdGdteFIalrtNXTkBJJtTk939iCaKfiRLbxa0bg08GOyp9X4BTqy65TIA5jZoZ-cjNDuTkbyxEoF3LH2T6YnaCdT8ulkKoQ7C8YadVVia9UBeDlkNctF1ComwDSQWjuxR3AicoVHAa6KCSwUWJf0T7MLksZwCbKCPGD-bfvXMfKhSWNWeYv-w8b8zsa5qxRJzAMf-GqPVXxGWDi1DcPxebs__s6BaNYCFXnS9_bTOpFwPHdcd79ugHaNPw4c3-fracaufi1mFaOYlVCCsxSMRkp5V7_INxtFKBdXrP5l2HNcE9Oo6WKBSExuv1F8aYXPJ7jvET-_951yq3bVmadWjynH-C7r3U8RenE1L7HtXghLbRC8TjYAYazneFEj1h1WyMYOZR5XqTUgpSrXlzv6_P15WhjvIKDuGVNcS-1zfteMI85p9jtsD5FlYyzmQRtNQHLFTIelDJtyoKl2e1oRwuv-R5jdlgzfu_75--yHTryOwclM6JFO0W9n0ISlizYngAFsvKm8PYbd2_wbMyuOBnImR6Lr6075p_bVSOju0_ZKEOZbFppVjMJiCBb_YU0D5jioaJd5jdei74NNtOGrzxKyV9GxVAXCFtm9DMiy-WVA9Ojdygtf49cCSTN6sWDJe9_EngJeDbpmpzYBb4gjVcA8YQxFKIZgS5qFAlZTMzf_q1oW4htlduUboYqz25gpOV7ZnFARYevdXBQGWatAjU-DeD70tirB9lFa0BShD6bn8rLW6wOKcjIiT6i_S5sDQZ7DocviILhSmOYGDEh3Yytd7tKorcFw4Xe6LfBFQB9vOiNDB6NYKX-pVSkag66DvO7ib_uAyc_Q1DzTJt7gNEsimRe-l5tx4i69pgGeMwOjis0ILeR4yOKtwUTW1IFHQV_2cKwY-ADIhWOdU0-kdxctevSFE4MEOcQUIdH186iYOoUmoWMjQ3BNeZ8iK8c7IVQvQPwrLAH-8NlQr_tFlYyyC-zahLFSSJD5AmTza1GnvRmxII-y_KTKhMV-DjSkWyb9BGDRpg5uR783czyVTY-OYC1EpIEtx385fo6ZCbQpXcw5CM-B3wPJB5P8Eve5xvMPr-cSz-GcCLBilUgZcNRXrmJbXznEShy1fBITvP0FJbK6eLtY-bKl2-ovXAq42UstlB6kdJVRyROjreYAtbKoEGkHeDnUnCuGX03YYvCcBMbHveMkXtu1IBapAA1Es-zrf41RCBI99Ms88b3ecukvMkeJMMDly9A3l3_kumjEmNx1lwLr2WY5PwhI3cFm4V9RYTc5nAZ7VtDA_ZxUQUwuYRZfADcxqnVZ9XQ9EWqWmLQOTcV8LH22iHUqLRLJN2LKhgT6brNuUhZhayruL-gvRRUtgEMSuUs58aE458UnuNaEXgL4tdEktIvUL0Ef3GklQu-uGsqzX9pPnZBqmxh90HSO9bOoRe-Q8mHCDfkZBTiuUKWXXeisKg6yg93sDFTEJU7Wx42qlCGCEGU7el9C-ItCWzJ3Y21RMxTIU-JxA4TuPktIppErLzp9KjbOC5hi7Yx-9HK0k64SNRbTGnBuB2mfztkUdKmoPdM_xYYB0IdMkgnNnlMCIcN0YdNRXuh7Z6ScVbOlb6H4sZCvkVT5P_VnZ73agMFtXTxwByBPJUB_50EjevrmH4kDXGdwV4ojIcoA9D9cZKOTvnHbyyAIMgitZ6moIsi4LjeuW8m2f-nax4trXes6aLXkWzojFQuCn1Sm12LbaP7eKakX0WXwrwKM-TmFLWw-P36cxq1wL8iZjyfqu8bS7qGWMQj_m0h9tjsNhJxk0ogt77zMofkzbh_2r9hCXpY7h_I3CKCIz2GLG3EuIDcrthyBPEIaV1Nb-UrzpAojJCnzS_unwwZi9IqR1UsOAjoMiykUerX9IKpWeaitySTUQNtR6R6OTcVsn6hNW1wDPtC54I3lTOHJl64jt_P0UIKERzy_zcXTwVqOF2FG9fXEqDsPqAtIJt32yu6bR70vNOzdzyvSZjKVRdxUSrExYun3r_J5nP_my87irKuOFUKJMlcTRD_OgIbGdm1mOlYT51C24Fsxh8iegnYlpfjWUEXSBtU0iq1SjoCeDcaO3vWMEBByTqlN0MXgI5KA-j_Uxg9eqajn23_lI7ITDWfjrua7UvyMk5FdJv4g==",
  "id": "rs_0f25f6a47bd5a543016ab41b014bd487d09c8e73cd0a841c8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.097,\"right_gripper\":1},\"note\":\"The lift revealed that the blue bowl stayed on the table while a yellow fruit remained in the gripper; the jaw width had not proved a bowl grasp. I’ll put the fruit back into the blue bowl rather than carry it toward the white bowl loose.\"}",
  "call_id": "call_4XLUjGpnh3aLA8FWrSHESxto",
  "id": "fc_0f25f6a47bd5a543016ab41b043f5087d0a54debc1db940cc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4XLUjGpnh3aLA8FWrSHESxto",
  "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]: [-0.0921, 1.0473, 0.8936, -0.738, -0.141, -0.0521, 0.9977, 0.4488, 1.7657, 1.0344, 0.0296, 0.3801, 0.1944, 0.9959]\nstate[eef_state]: left_x=0.2946 left_y=0.0013 left_z=0.1719 left_yaw=0.0627 left_pitch=-0.315 left_roll=0.0979 left_gripper=0.9977 right_x=0.4525 right_y=0.1492 right_z=0.1011 right_yaw=0.027 right_pitch=-0.0793 right_roll=-0.0866 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -3.0291, 6.9949, 1.3651, -0.1343, -0.0464, -0.0073, -0.0752, -7.3094, 5.4222, 1.8388, 0.0904, 0.0366, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:014436f69057ada3c9d017b1ae447b720cb8af090464d5dfd0ab1a5757d4c9af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e892e3f225efcdbd2148b39cea994258746d520f67b1afeeb3301d1b10e4e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:242b92acf2698ac798251c8d64d87cbcaf4799334aa52612b3ae502ea3610e00",
      "type": "input_image"
    },
    {
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        "mode": "explicit"
      },
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      "type": "input_text"
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  ],
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}