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]: [-0.0212, 0.8005, 0.6144, -0.382, -0.0143, -0.0296, 0.9993, -0.028, 0.8005, 0.6189, -0.387, -0.0174, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=-0.0002 left_z=0.1825 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9993 right_x=0.2961 right_y=-0.0016 right_z=0.1836 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.812, 9.6889, 1.8046, -0.149, 0.1245, -0.0904, 0.294, -1.7846, 9.4838, 1.8242, -0.1001, 0.1978, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7311fb416b166c74368f77048d573a5de27161832de23cba518294eb710abf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52e0b0d1585a091a361f3bd7eb1e9929774b81aa92304ecf3cf9229ae0ecb9c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784710460e1bac9ad611e67d970377559fe7eeeade062f0fa973a85f04516fbd",
      "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_08348a0f28bdddaa016ab41e3f6c4087d0a3c6bc635a35080e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.17,\"right_z\":0.15},\"note\":\"The blue bowl is near the back centre, the white bowl is to its left, and I can see green and yellow fruits in front of them. I’ll position the right gripper above the green fruit first.\"}",
  "call_id": "call_MGhfEHST2SjcFJQFjv6yHfPc",
  "id": "fc_08348a0f28bdddaa016ab41e43432887d0b0b1042a0c2102b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MGhfEHST2SjcFJQFjv6yHfPc",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6144, -0.387, -0.0139, -0.0307, 0.9992, 0.646, 1.454, 0.8387, -0.1238, 0.5198, 0.3416, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.18 left_yaw=-0.0004 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3614 right_y=0.1671 right_z=0.1314 right_yaw=0.0279 right_pitch=-0.0572 right_roll=-0.0491 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.7299, 7.2547, 1.7802, -0.0611, -0.0611, -0.0171, -0.2256, -6.735, 8.4855, 1.8388, 0.3101, 0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:789db74c92cafaaef40b567742fbce3be5d07f192ffd68924c2a51e2d24bf1e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888a282a9c63dedb518407b0370a01cd21fadc39b02cd5004fb4c662a70b1021",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95e10c93865016fc2dc4eff75b0aefd24b75440f4c274def3c09e2d93f1aae47",
      "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]: [-0.0212, 0.8005, 0.6144, -0.382, -0.0143, -0.0296, 0.9993, -0.028, 0.8005, 0.6189, -0.387, -0.0174, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=-0.0002 left_z=0.1825 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9993 right_x=0.2961 right_y=-0.0016 right_z=0.1836 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.812, 9.6889, 1.8046, -0.149, 0.1245, -0.0904, 0.294, -1.7846, 9.4838, 1.8242, -0.1001, 0.1978, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6144, -0.387, -0.0139, -0.0307, 0.9992, 0.646, 1.454, 0.8387, -0.1238, 0.5198, 0.3416, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.18 left_yaw=-0.0004 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3614 right_y=0.1671 right_z=0.1314 right_yaw=0.0279 right_pitch=-0.0572 right_roll=-0.0491 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.7299, 7.2547, 1.7802, -0.0611, -0.0611, -0.0171, -0.2256, -6.735, 8.4855, 1.8388, 0.3101, 0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:789db74c92cafaaef40b567742fbce3be5d07f192ffd68924c2a51e2d24bf1e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888a282a9c63dedb518407b0370a01cd21fadc39b02cd5004fb4c662a70b1021",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95e10c93865016fc2dc4eff75b0aefd24b75440f4c274def3c09e2d93f1aae47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5SPZ-rnzt4hOIj71EjwzB37b4hGzb7rzeqCBss_bu-Ti_19VJ2RU2U9vuFuXTB3LzMjDiOJmP_4NhaxGkvhItSEwDIcw6EuUnsWJs5nKajmASNxnK88LRtAVNafeueY6ekjnpSRkc4a2iK7g5gijoYn_kE1ESD_NtSWdgMgtMOu-Xq8BwQJTGNN5mDMwITMrBs43WwE3PtmJz-crO-nicW6aulhSEI5vn5sJbf3QGN-MatPFn7hQWZFrMsRmFXl_SqpeLyn7gqynyzn6-2uJpFi5HGZCq0Og2KF6l7uNVOY-t_2tpR7MbzbqcqkKFSIjJNQwkWrA6DfCUahhp6yZhZbK7SJhW-qd1ZRkjYewGjzDfADvAF17dVLYqsekHixgxNXcytJKfEVIYlPyMumsl6CrtTCM0kWi-p2uceWiRE5K3GhNvwjAz1XhSDeTLQvQSoFLlgf2Pje_g0ibWjRLLjQ5xeuo84xNwyOGCybSynNnpdIdViPkBjZASXfb_Rf0PJI8IosDC2i_IO-tQkXucHtlO4bakaojJKZQxJibMUnVDv2dukK-RLtFpuDuh-UOVWIjlAMw-dbwGDgCwu_Pj_LOi8RV-STzYfNOK1v6QkIQRYKJc8es9eqegyy7ptqVRXdUr9bT2FkY2JQ1CmxUw254jEpF2-YX1MoSOwutoRb8o0eQtvfGz7fL4t6M8yCo7TrL-jtHOAIdGcJxGJGi19X4OtNhWJ0DnUY9xwFBU4CPtYTH0ZiLvs9Rroqz1Xxfa-ikCSwO4RzzpO-fowfp4VKWe6w5lmAJ_weaIxZ_fm0lrtWLwJAWhyDRlhSBKA6FCGsFulZsBBK7I6keD7NcOM8QCRJEvl-EdmbL3WkRWwdsm4MfvxnnkwsxeyqH947KSdrycCepZdyxxN0rG9lk1pPxdVk8RbuDaSMfr74bnSBLdRxhsn3iit55qRAZ756EsjInxSj95O0wWZALmxTv78ES13xnDdhc90TruvCba70Xwx01omkEoo25bQEOJaB0i-FIgOFKBd0nFcVLVR4OKfOWu8nf6i8zgMyA7H56xVxouvhaC3MPxMFSdsfjXE6nEGp5CtJehWeXhEZaG-FyRggKqM_NmFaCV1o5FpVRQyGd3OJwn5YQd4b2fpAoZA7ffxKuKhYpxAieTJ5zH_8ukvHn9Z332SoLclNqY46WeRus0beXgS7tMJ4aZq5xyDzv3D_eo4al5kcMhcE-fe97W20XEN5vz1Bzkz6mo3AElg8TU6r2yctQRVviyzzIe5htlJtn6ZyEkv0IHXqBBk7PzkFzk1AwUO4GMUL9t9JbsulDIDLeHQFlk_mIkHVI3COh6KHr5BsLqUDZ4Lhy5qT1vYaYJh8suIDMqL5E90avIZ4wjjd8yoPjOEn_ewgA9tzyIcaO0QGtAEVqF9eN0-fW8ceLTgLI8dr1WmZE7zy-Y9CMAHesCUsQyx8Fx6NgWjEBVyCBSAyCXj7Xz5gi6pshmxKvMjqUpsPCFOmE3uWei7NMF9QFvXsly0nO60jlETf_Ye0zutguFQGC2njyNOjYsI0VE4G2x7FjKaAJNbnJ_7zTP-Lfbp_NRSmsr4-fNv-zc7LJVnliXnvH6TgUJM-AlghgNOA9Urv18FeoeHJftZidnEKo6mOzRaXqjQsJ-dgE1AkiixMUBqVlnrSFgD2M75mZ3kahUmtEBpH8bIAw5_bKtsYMJ_usmjDNekI4FHt-Kshq45JbdFDvpnL1pFQE30RxiDdZxDRJ-vVJCDcgthnjPj4VIqidUdm5_8STkRyghhrvgNhU2wljToeGYJyhnMSJCdfZsnYBTdCWo2Izlk0XOXWL2BEQqjlowQQrjHAQvbUI8jE332NDMQ3x0EH2UBJNA9YfUHxz6p2HN4NZvITAP5CfMvuQkGvVAE3QD6hctsWH_iRzhf7-FmSa1AYbE8X3IayjjvNyugG9lebtoHcoYCacn4gHVXMZPQUfdsiG9h2e4OoK7XfuVEfrbtKXM9x0a2ykChjHIcPH_NPRaFulIPXEG-reqp4x9w2RRb3fBVX_w9tVTUfUaKavtahVmUewf1CIX7HESeRXf3alX78HsS6HaIHaSD_YEUiC9guJ9EMjewLys2R5XKmiGxrtYMoFBfCq-Izdr7VZq9l7UntALbPPlPUj4KHkgTJj2ZoKHIyBuV0BeYeOUHXiVgFKFENuPo0riqr-yTlaTT_9uwWntAY3_iZKr3Pix4abhAWYv6twDCDUuOCpK4J3Yf28jLJERPwLUhWBFdGezCdR33c9tnIjGAMpwgF_mT5bAZlj3YOsDjSW3vDTAsG92-qh_LPeTqWoqlUTq0q9HE6oGqHPSN6aZxe_BvO--X10uFEeZRQjZUrE7c_Rs2sCl3FPSdPLg9ssXkpqg39gvsPXMiZrV29t77Ll_KjDvVd-Yjfly7a6aTjyciO-lJCHkoCJjD5mpMY0fR6sIByhjkB5x_YBADQk34LqeJjL5djZamBcSkgdXoA8URHTjlpnho753XvjTFjTFBaICdwobQYW8ZGEok5RcKKUp2LPC1TQ48DW7dxtLvxfjzBPLJffgpekhUV5-GzkS-F2aFSli-ks8f6egIAXwFZ5Dl1rVRvZaFyplZRqitnHtzD5QEe-ZwrmRlEMlYhhxD4e99uZeEWJ5LsofyHVFrijcFiywh9hgAq2f3dRe2Wq_NDKpzsF2Nbr4JSpyOCRit7nfw-LbCH39Q5FYBcsk7ObO_90S-IJVPId6WJ8FjUZJh62lpICJ-_Wc28DS1rl7GZiir_3yNZJOAhdCczfHI9ANOBjHJBcPrFj0Pu3ZFe9mg3PLLAp_7krit5KRNiCYaxSYPkC_U3p_TI2k=",
  "id": "rs_08348a0f28bdddaa016ab41e4e8cc887d0ab2152967cdefedc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.095,\"right_z\":0.085},\"note\":\"The green fruit is now visible low and to the right in the right wrist camera, while the gripper is obscuring it overhead. I’m shifting the jaws toward it and lowering partway before attempting a grasp.\"}",
  "call_id": "call_1Zo4FNIno32WU8MAIhyawfen",
  "id": "fc_08348a0f28bdddaa016ab41e51e3c487d08c5cd14991c4b632",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1Zo4FNIno32WU8MAIhyawfen",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6144, -0.4004, -0.0139, -0.0307, 0.9992, 0.4374, 1.3235, 0.5041, 0.0998, 0.3641, 0.2001, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1767 left_yaw=-0.0003 left_pitch=-0.0256 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3362 right_y=0.0917 right_z=0.0751 right_yaw=0.0194 right_pitch=-0.0969 right_roll=-0.0625 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.2103, 7.0222, 1.8926, -0.0611, -0.0513, -0.0122, 0.3214, -5.8051, 6.0103, 1.79, 0.0952, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2b11dbfb8bb1b66004bb23eb042ba80d7b285208fb0e789bc7746eb7ce865e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0b650561265de3cb088818583e929c08963ddc0494e407698b0aef841a6063",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3ea5bbb3ce9165ec409e5ec317bda90141dff3739aef87b6d8d3763c72a55a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6144, -0.387, -0.0139, -0.0307, 0.9992, 0.646, 1.454, 0.8387, -0.1238, 0.5198, 0.3416, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.18 left_yaw=-0.0004 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3614 right_y=0.1671 right_z=0.1314 right_yaw=0.0279 right_pitch=-0.0572 right_roll=-0.0491 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.7299, 7.2547, 1.7802, -0.0611, -0.0611, -0.0171, -0.2256, -6.735, 8.4855, 1.8388, 0.3101, 0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6144, -0.4004, -0.0139, -0.0307, 0.9992, 0.4374, 1.3235, 0.5041, 0.0998, 0.3641, 0.2001, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1767 left_yaw=-0.0003 left_pitch=-0.0256 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3362 right_y=0.0917 right_z=0.0751 right_yaw=0.0194 right_pitch=-0.0969 right_roll=-0.0625 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.2103, 7.0222, 1.8926, -0.0611, -0.0513, -0.0122, 0.3214, -5.8051, 6.0103, 1.79, 0.0952, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2b11dbfb8bb1b66004bb23eb042ba80d7b285208fb0e789bc7746eb7ce865e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0b650561265de3cb088818583e929c08963ddc0494e407698b0aef841a6063",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3ea5bbb3ce9165ec409e5ec317bda90141dff3739aef87b6d8d3763c72a55a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5YhFLSIKs7UHB4xzgZqLgmNubcclTR7q6xbde5DoZ9gZNfwTwWJ6uBXVTAIPhHSlZTe_kI6omUEPQp9sKchuqEX7C8phLX0JiAPjs0FRPxmUy-VWEvgy0DVbINaoM8DvWBlh2G286WjngMH2cx9s1OgPdAL4hT8djOi0O1is1DjGnoiuHbd2wm1L8z3nGvvCHpgHYIPpGgvV8IJoIV4mv4X0Ujl83KA3yBlcQU6DgWmDm7PH4i_VH1GeXf1n0ZI8L16uR00G0647YqzwbRh11EyLBO54t20cbFwV-bPCT9mHMarsOPd8sSwu3ZsI2bqi3bur9n_X-nCUNXNMN1vRvFQ6QRVm1wMjOHvWvz2tmx_dsTl6i8hkykSNgy9yeow7ZW4KsDZHuYECt3BSaE7KdL5iQg6R8V8Kx3wlKK8IZu7OTzRs3UvHUbQQHWsBZBmeLCs0LmcVKruBPZ87jybsCt-i2kK-YFKcTu_my0ESNKPrU1oFPjxaYED1wUkPecx_ZLjlqupGq_lJSKNR8GYg9IM6RClAkaTcu7_G21niSOS2aC7aru4Ze_JnTBfWzLbPfTo6ZrNUM3Ard9gDSllVLiI0Wx8JbY9_uBbzKencR_WsISn4getFbyaJTzigdr2ihpGmeM-jqaY6qkSTJdHspxI6jOtiw8ZiwN5SdtQnh8J5_cNAVzTKrywxqKP1rcEUQNXftMhMbcG1bHtjXgKz9HLO5O-WXVgoVWKYiPU0ksxAYFNH7LIQzHBeC1iP-NsddaTLmJ-W9xaBo7xPOvNKhFyMXaEtSYhWIugM4MVNwE9Ai6oSd2O0NphLrYDvI2_UZevFysyZIcs9PqUFoChqWl_WlUKX-96KCP1ob3Thra8g8oM8hXO2ZNsv8vHC5wVX1FLhynEJJAbxjZObGoEW8yBZnv3sPPOOJEu4nmO2GM_8NTvnJmpdvJP_Z0T5t_9XpL1lz4SibAVelYWgQkVHGsqiR3OvKFJl1sYDVXbGE2Ofhe9KJV2kEvDUT3XxLhnN5cRSHR7lnKqB4c-k2iscdfK284UpqaCj2Gvb95r-8rTAQQVnntmupfekJkjoqcARPYSqQ8rl_pbJkXjHfQw95BGkhXCb71u3y3vaKd65sdXQY2Pm36rqL3pyIN_aLTHUuvvCT0mPOAACVwYVrHSSAcFfyN40njBlHUz-i3Ow1VdW6Pzrmx_yNLXRFpyeXUxmY1UKmC4tRkwOv1rOivfdeGNj6hPvkHUTFZntkbJtlimfNN7lWXUAWF-jtj19K7gBfGkYw99RBeX_A7DTpa8S1cBYSVy7Vh9qjVWLokeg8zRW7TFQ0t-8kVPUKC0QMg6maFUkhBQkl8cjJCcwdYEwL6h_MC4zQ0aY3B2puetWF_gqbhjS3bAbLuCwzCPT0ceQsZQ7XowW4H1UqKQbeUMr5_YMqysk3aE5AwhlkYkC-UgtZ9mbZRHQndMh-PBLnosxQzLJV4aX3wbe2bZGtFixngpmzHiJFH6JkBbkeAuyYNeJ8hLtDxHaJLT_xGG3-JkeeAHQFRSl3YVwBgpcODaWJlEorXFrohRXHZgfgDiBrvZA0QReU_5rMZlmwvdtBfrr0AEisVFEjeFQqUocPw7bL7ZIRKeAdWBge9r5_yKYOC2OH7Duh88n-WYDzJTXsETZSm0AUiWJjCc_yvKP025-i07HTPKkwZgmTByzi2QlsSz_Z1mycOlUMmNDJcyswPdp3gIrYidSRZmB_L-SoO_UTO6IRthEkLCa_qXP565XrFnls56e-e1P0LMPaJjV_x1ju2mm6-IkjqSava1aJ6U1cWhg==",
  "id": "rs_08348a0f28bdddaa016ab41e563a3087d0b564534c20c5c641",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The green fruit is centred between the jaw columns in the wrist view. I’ll descend to around its mid-height so the jaws can close around it rather than over it.\"}",
  "call_id": "call_exJBSAOVCOQeAMJ83Oh3x9G3",
  "id": "fc_08348a0f28bdddaa016ab41e57759887d09c17cf0b80428fb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_exJBSAOVCOQeAMJ83Oh3x9G3",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8082, 0.6144, -0.4084, -0.0139, -0.0307, 0.9992, 0.4374, 1.5265, 0.3943, 0.3786, 0.3611, 0.1974, 0.9994]\nstate[eef_state]: left_x=0.2931 left_y=-0.0004 left_z=0.175 left_yaw=-0.0003 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9992 right_x=0.3314 right_y=0.09 right_z=0.0185 right_yaw=0.0218 right_pitch=-0.1289 right_roll=-0.0765 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.2376, 7.0085, 1.8242, -0.0562, -0.0415, -0.0122, -0.0205, -5.3949, 4.9299, 1.8535, 0.1441, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feece3faa2abaefd3a4d9c10eb34f46f2bf4136bf9255d334908150d36852e35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cef4df4950aa5f4644bc7f077148c362ca73a9320dee69fb0d7f5009dbb1f32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f432adacbe0b0523488a074bb4e984f97fef731b2a8c0c14060480a7d8ba5f",
      "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]: [-0.0212, 0.8005, 0.6144, -0.382, -0.0143, -0.0296, 0.9993, -0.028, 0.8005, 0.6189, -0.387, -0.0174, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=-0.0002 left_z=0.1825 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9993 right_x=0.2961 right_y=-0.0016 right_z=0.1836 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.812, 9.6889, 1.8046, -0.149, 0.1245, -0.0904, 0.294, -1.7846, 9.4838, 1.8242, -0.1001, 0.1978, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6144, -0.4004, -0.0139, -0.0307, 0.9992, 0.4374, 1.3235, 0.5041, 0.0998, 0.3641, 0.2001, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1767 left_yaw=-0.0003 left_pitch=-0.0256 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3362 right_y=0.0917 right_z=0.0751 right_yaw=0.0194 right_pitch=-0.0969 right_roll=-0.0625 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.2103, 7.0222, 1.8926, -0.0611, -0.0513, -0.0122, 0.3214, -5.8051, 6.0103, 1.79, 0.0952, -0.0855, -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]: [-0.0219, 0.8082, 0.6144, -0.4084, -0.0139, -0.0307, 0.9992, 0.4374, 1.5265, 0.3943, 0.3786, 0.3611, 0.1974, 0.9994]\nstate[eef_state]: left_x=0.2931 left_y=-0.0004 left_z=0.175 left_yaw=-0.0003 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9992 right_x=0.3314 right_y=0.09 right_z=0.0185 right_yaw=0.0218 right_pitch=-0.1289 right_roll=-0.0765 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.2376, 7.0085, 1.8242, -0.0562, -0.0415, -0.0122, -0.0205, -5.3949, 4.9299, 1.8535, 0.1441, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feece3faa2abaefd3a4d9c10eb34f46f2bf4136bf9255d334908150d36852e35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cef4df4950aa5f4644bc7f077148c362ca73a9320dee69fb0d7f5009dbb1f32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f432adacbe0b0523488a074bb4e984f97fef731b2a8c0c14060480a7d8ba5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5dU29c0RrdEHYHuNKe1BdAgDTHLb_XKwPo7dWzPzTQ1keF5zMEjBnailJB_LSquQBo7szQZMWYI1DAdWD6SBq9VtEUYu70q0xlIts-eEV9ZS9jQm7gyMHRU8B6QyansKCiE936kCcytxzEoOLwCeTU3xXNDCC256_xsRRHSXZR_5w8k3xsaWZFxtoeCOAM1Alq7b1M7WETFz3jEBdK8TJttBq9pQUnsVg_pvCFrVE7jdDvfCPRk39-atqXIndH-DfVdoNp7ZbkDZQLLS28__zttE9auT9nzQoPw5KpPROzq-d3xQs4FKcRSvx-n-Och36-wvzQdSntLJDjKWgl08RE53Cd5YOzmq0AcutoaW4s0NM1aV1evCJFHYzREH9ZafwzxrjXe7zbRB_7bg8uzocbJTaygidajL8Q4GJa9vp6jnJChWTO1odBuJWI9c9oZnbxd2Vw5npikmRNPWv_W6BNQxL8Ojwl2668r_ZAf6fe_UTZYAhFY8G3ECnwd0Scqk8wHUW59zjDzsEvah27WRgGMK_GG5qoN1dXQTJJIP2fPZgO-MPHYsRRwW-13sO2MAh60mRZNaYyQA1j0XesL52rWkY1n0VBl1WYKG-yaUcbS1exoQ-Dt2u2QETYlz8gzZtc8btcvA3IhCrKb25y9vfL00tOhagoIsSoq66vcA7Rn-y9HPrW4LyyOpWNCJY4c15TrYIH--tzLbCgXIS8R0a8RdpNK8_22cHjxjYoPnrOYD92D7-FWJjQTo9K-pKOKzNzITksxMQBOur-eP-5KerTPDE_Ak-RpR9IR6hah9PnyCNFzu1AFbdSYARS1x0CN2Zo7nHwsyMkVR4OK8k0xorcGyxyJPJikXWt0lszceRgjlx4-LF9U78RRsTHf-bRULIUhPw392Dhm-3ZbzyzVbNmoVl5TCqsk8f5JaTO2LThapTppVxS8oYABUQtjJSDfPh7gTq2-Wa8FuYjz52HXEqoezOdFYz5qCMzspTVNin2hZCpGHjpAbYribfT0m87pgJoE1o0DFoydezStJKnpUMIvDDGBLUmU2c4S6hH4SKFgWR-RjR50gZCMhkw0C1gj7bG3tWO5pbE1iPFPafi7KdPpCQe8mdvrcipB3gc60o1MaV924IQ4TEaewYq9zE5ZcXQpRRu_PH5R9S4NN_64ms3_YMa_z6ochWkrx9STdvk2o7RdAh-tMUdyBCgoZQ2kWH_UVcwXwezIgdNd9W6tEUykE_s3eu4jfvpOwZ9KdAPiaKrX0db5V_uahxqHefMFLgzqml5aEoOH7ytQAA3DusdvKQOH36YaovBoZ7S8286XiI=",
  "id": "rs_08348a0f28bdddaa016ab41e5c8ba087d0b47cc434d501de02",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fruit now fills the space between the lowered jaws. I’m closing the right gripper around it and will check the settled opening before lifting.\"}",
  "call_id": "call_kRICJCRKNe8QWHfpdI6Sijfk",
  "id": "fc_08348a0f28bdddaa016ab41e5cd22087d0ba55150e75f647e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kRICJCRKNe8QWHfpdI6Sijfk",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8082, 0.6144, -0.4164, -0.0139, -0.0307, 0.9992, 0.4374, 1.5265, 0.3943, 0.3771, 0.3611, 0.1932, 0.7377]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0003 left_pitch=-0.042 left_roll=0.0003 left_gripper=0.9992 right_x=0.3312 right_y=0.0899 right_z=0.0183 right_yaw=0.024 right_pitch=-0.1305 right_roll=-0.0804 right_gripper=0.7377\nstate[joint_eff]: [-0.1846, -1.0872, 7.0085, 1.7802, -0.0415, -0.0708, -0.0122, -0.1573, -5.1761, 4.8889, 1.5311, 0.1294, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58aea246acde4bd7860602588e2872dfe6edba38e9b187e71e08226c8cadfa36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80699cea4b3f984e159d8c672cc59ace59808f24aade139ca03687cfa4cf4e90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e97af218e79c3afeef9d3adb0c92b818c53ed63fcc89b5addef9661c224ce8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6144, -0.387, -0.0139, -0.0307, 0.9992, 0.646, 1.454, 0.8387, -0.1238, 0.5198, 0.3416, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.18 left_yaw=-0.0004 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3614 right_y=0.1671 right_z=0.1314 right_yaw=0.0279 right_pitch=-0.0572 right_roll=-0.0491 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.7299, 7.2547, 1.7802, -0.0611, -0.0611, -0.0171, -0.2256, -6.735, 8.4855, 1.8388, 0.3101, 0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8082, 0.6144, -0.4084, -0.0139, -0.0307, 0.9992, 0.4374, 1.5265, 0.3943, 0.3786, 0.3611, 0.1974, 0.9994]\nstate[eef_state]: left_x=0.2931 left_y=-0.0004 left_z=0.175 left_yaw=-0.0003 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9992 right_x=0.3314 right_y=0.09 right_z=0.0185 right_yaw=0.0218 right_pitch=-0.1289 right_roll=-0.0765 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.2376, 7.0085, 1.8242, -0.0562, -0.0415, -0.0122, -0.0205, -5.3949, 4.9299, 1.8535, 0.1441, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8082, 0.6144, -0.4164, -0.0139, -0.0307, 0.9992, 0.4374, 1.5265, 0.3943, 0.3771, 0.3611, 0.1932, 0.7377]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0003 left_pitch=-0.042 left_roll=0.0003 left_gripper=0.9992 right_x=0.3312 right_y=0.0899 right_z=0.0183 right_yaw=0.024 right_pitch=-0.1305 right_roll=-0.0804 right_gripper=0.7377\nstate[joint_eff]: [-0.1846, -1.0872, 7.0085, 1.7802, -0.0415, -0.0708, -0.0122, -0.1573, -5.1761, 4.8889, 1.5311, 0.1294, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58aea246acde4bd7860602588e2872dfe6edba38e9b187e71e08226c8cadfa36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80699cea4b3f984e159d8c672cc59ace59808f24aade139ca03687cfa4cf4e90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e97af218e79c3afeef9d3adb0c92b818c53ed63fcc89b5addef9661c224ce8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5ivCKO-DIfy17A1-1Y76YXf5e9ccMHm7fXwG7nJr_twc2JW95kpV4FaciQ0zUjzmyyHTqlPZaB1sat5sPQ3wWPRLjN8KLc3hS2HwrdJfbwA8Iv0WD8wjstc__Y98bfmsKj2jw4-pVzG0AMxNj4mZJpErH-RRTIuuGsZHhGbFDlwR_goUHltZGeUJ1prnP_KlBH1soZksslhV1XBTtyWGI4ItdH14Do4abjpG4dWjg9nrFC9h8hbqAZg_FIL5TW8xHL1C2kd9DvUEr_WKOIaiqI8WM05iYOH6TFxEomXsRF3iFqwyDk-cQh1DAtL1pCgjn-Ix5DRibwlVBDlm7zDEqIFhccRr5XMX1Lq9HFcEVcwBbuqBOKmOtVr6p3eXeQVa6eJiwA8E1tLt9nT7N9PTR8MCanmqujaofcx9TigZPNFWv34vz6Mh4N7iItW7MvZeRnBAFPN2CLvoFSHswnfIA07U4ehPxJdlOpQOeSnpVHD3M3CdFcaZTFU7LXrwfwvIJ0UdmRSJqKBC8m64axedu8zUS-XJ5e_aY2ceenf3fFUtP2A3caXAISA4o1RG5ofSDUCw5IMoPHzr3R62hcr076ODGIIz9umamH5qUdUC1JrLvMGBaAie2xDyz7QPqo30JA7-13Py1hCyOAoOUTv9jvyvtinXDMN1G6Vc1BD_OSMMXD1Y2OXGRJuUlShoHLqlOTXq8QDMfZ3E1pimnwNoi9CkoW4mQTrGTf6HEHaAf1-WES7HMG2cGCf4pN2U2REEpizzQLRvyzNeTwyUkWK7e6DBNMigh6itIxtw0GQKTz_Z_yGOnAk34E36xWPtHNVRtWGHq5L3HLYMiFLOVwW5r97kfegdXLpL4R8oaCT7BV_5_QMKlQzau27OmPVpOLPs167IJ1xmJZuT6Cnzwkl3SE780CW90xZ0La5NRsh4xj1DuonNwVdnw8VUQILCiKSkHBtgPqg4W5tEn6LO70GL6rdcjFBDh6xihf0BeWJWcieiaA8zP5nWC1aAmCzU6AfdA3c3tPUbb-O6SfoVGwzjLSIvQ5EumzAjDxUX7PmMUrpkRFtRaylcSN5WUAVnFmyn0Avd_S51tVSUasTOtoVGdFB0qlRNZfLD0pmcr7GK9_lF7X5BucF1n91OM-JFwZRp5NxpEXz9Kqq4_zwoZY2I0HreQeM169KM5zsGiXOqVjcVF-5Qm8cIcQRuku6-HxthVhbz6QeqyC2aA0HFm_RZXUqKLbUiNLY7foDDnYC_YPGEuthvEe9H0dETRnzQM3fg5EDtVuuS2BfMAZRsZJXWH-Jk6InFZJiHlIeTKtZ8TKM7wBKBDbCb0vOKdDwVQ1IRnG5dUL71x0dHGIIqODZxuNR7dJ48LDWKQzfWxPG2ETdFyaaI8jfLO7gXTR5ONCtRVKB79M8baZVk2oBf8MeBCYdA==",
  "id": "rs_08348a0f28bdddaa016ab41e5fa98c87d0b154e832ec9fdf91",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The right gripper has stopped partway closed, consistent with something between the jaws. I’ll lift the fruit a few centimetres and check whether it moves with the gripper.\"}",
  "call_id": "call_Ql0LKNswzQeu5vOJwJdbuK3C",
  "id": "fc_08348a0f28bdddaa016ab41e613aec87d09e1f579c03c00a4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ql0LKNswzQeu5vOJwJdbuK3C",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6144, -0.4236, -0.0139, -0.0307, 0.9992, 0.4374, 1.2846, 0.5335, -0.033, 0.35, 0.1898, 0.7377]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.172 left_yaw=-0.0003 left_pitch=-0.0488 left_roll=0.0004 left_gripper=0.9992 right_x=0.3255 right_y=0.0893 right_z=0.0754 right_yaw=0.0331 right_pitch=-0.1603 right_roll=-0.0875 right_gripper=0.7377\nstate[joint_eff]: [-0.212, -1.306, 6.9949, 1.7705, -0.0513, -0.0659, -0.0122, 0.0479, -4.9162, 8.5675, 1.6484, 0.1929, -0.0269, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7dc515de39e55c513913a0c1077d4d0469ba34367ed698d38cac2c9b02b068",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e9aa4ac25270d67feddcd65eefec5d5cbcaa2800ff43444eeca4c10382b82e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5378bfc001b0c219f4b709719511e6b4761d5864d6e00ebccb06a24047c673",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6144, -0.4004, -0.0139, -0.0307, 0.9992, 0.4374, 1.3235, 0.5041, 0.0998, 0.3641, 0.2001, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1767 left_yaw=-0.0003 left_pitch=-0.0256 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3362 right_y=0.0917 right_z=0.0751 right_yaw=0.0194 right_pitch=-0.0969 right_roll=-0.0625 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.2103, 7.0222, 1.8926, -0.0611, -0.0513, -0.0122, 0.3214, -5.8051, 6.0103, 1.79, 0.0952, -0.0855, -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]: [-0.0219, 0.8082, 0.6144, -0.4164, -0.0139, -0.0307, 0.9992, 0.4374, 1.5265, 0.3943, 0.3771, 0.3611, 0.1932, 0.7377]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0003 left_pitch=-0.042 left_roll=0.0003 left_gripper=0.9992 right_x=0.3312 right_y=0.0899 right_z=0.0183 right_yaw=0.024 right_pitch=-0.1305 right_roll=-0.0804 right_gripper=0.7377\nstate[joint_eff]: [-0.1846, -1.0872, 7.0085, 1.7802, -0.0415, -0.0708, -0.0122, -0.1573, -5.1761, 4.8889, 1.5311, 0.1294, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6144, -0.4236, -0.0139, -0.0307, 0.9992, 0.4374, 1.2846, 0.5335, -0.033, 0.35, 0.1898, 0.7377]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.172 left_yaw=-0.0003 left_pitch=-0.0488 left_roll=0.0004 left_gripper=0.9992 right_x=0.3255 right_y=0.0893 right_z=0.0754 right_yaw=0.0331 right_pitch=-0.1603 right_roll=-0.0875 right_gripper=0.7377\nstate[joint_eff]: [-0.212, -1.306, 6.9949, 1.7705, -0.0513, -0.0659, -0.0122, 0.0479, -4.9162, 8.5675, 1.6484, 0.1929, -0.0269, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7dc515de39e55c513913a0c1077d4d0469ba34367ed698d38cac2c9b02b068",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e9aa4ac25270d67feddcd65eefec5d5cbcaa2800ff43444eeca4c10382b82e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5378bfc001b0c219f4b709719511e6b4761d5864d6e00ebccb06a24047c673",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5mEuKwGWFCzA2rfH1ST1j5Hso5PN1mzgIoas-Ebxl53jjllEzuD9W715tn-kZJx3piX-kLTdkWZvo_cXuzIW5uK8A3ywAdQoAWAGZQ68YH4CS9k62BoM3rGvQ5vVUnglvZOddq8A20GJvsmt-TvCNagi6NQ609r_3NhefeG4e35JnaowkimV7ry98xY3X1AsqoWAN8L2CLYfGC1ImTeaqSR2y2Xaq4sqpt1szrxd_GvS9_UVis-fLbdhfwhqkl3mdy0I_FntknNDpsqr2Av_lul7u2p5bxuRNxjbuDu1psECe0dwhmYbxbIrt3c5ydC_g4iTgPJx3Up4hhbCDZYLomV2yUfS9lJHJT1HQmgXk1cbO020XZ7h4o7NctwEsv8WtWXhNhQ-_GbQEyCCS0XOSqc25eciJc8o8dfpzQ0ssZj8DFsmQn4-ladD4hlFeyJEvw5MKZJ7kiftVZh4gdEGxkz9LmfLvjrFFby-uj7QuBJKHSKiOiWQXGxu8fSfgX9tjgMlfqSJQKaCkrIGG-mtTDAc5oqKtNRh1H3tPYXkrxuiEn-QuslUJbg6LRWPVw1BND6NKCRDE6jYERxobeqHqTw3tJgCJWTuSdGdfYYSo7cj03-hBs_zfZDneYj3ySKMs0HKg766H-NQ8F1jvZCwo4NeUbbi1PBxoiiqAv2XSa41zQyLhP4B9fc1VnNkAHcG6RQRjUAhQq1Kj90LdWPjSBDyw-rKjj4PgtQQRQcSRs60pRjdHeZB4VXcyvYKHLWhxG2tVMCu2TWNUr-x5qCyHIjCANsG1ya-542nG90-l7jVZ4YOFvy1W4zmuZwpRcXofwb9WoKXYaeafPgoyn8luiGlKA_5W9zP2Ay42MQIzIxpSct-K8y9avxkOzpSddJpOrUn4TdumI7kogPVT0QWGVC6HSWWGGaH9dJH8gcpwyagMAIozwHPFgKSrgw2m30RvitWBA2jfKCCGDJ1PnlJz0zb-ztXieCBhg2ag9RaTOhMb7IJoN7jhu4sPW1U2y8naovgfLnUew9omsSMzVnC_k68G6no74EswKSr65qj0rfCX-31pu_2RqQl9MJo_Lt7sZk7Z7x1SE7GABFq-yXLkWUa7VeNHlWrvz2m7Ua59yjlm57VxZa6PLLE9L0XwZW2QfAkJWzezL1N3VsO7DqNGODBPyfME_XMjdyPcFpOsIPw8P8ZHXaMaEYItkI5plLD40kRoBQRsYZSUGRcQw9rfeF6L84c8TmEdbEcvfjQ70Cic_P5m2Qgaoeb7siHBQS6N9H7O8WsQ5el3Jte54HAnUZZRWY5IzP4K-3T5oNHk8y9b5ITH8BYZRj-Eb7xGqa988cwzlS0KeQbglPU-NDxpMeInqnclnDfFPY4zwIIxMJ-zkzzKQyLd_ek2bvTpIFyzcoftJgD0dNR9d-AeQ6qFSpsIPm1TgQJnXuZCN8_uk_OGA2GP2X9KShAzEh7mpe6Pi6EHtCw-0VDRRNKaUyF6dhCE8cycZz_Q-12bNoatEjbxqOpYm6fUjfsYnRE8acwWicwoYLkia9Z3dkVGOBepmB_6DoYvs7GGM6ghSJk-4mC-Mto6QN-xG0lp85hXPNymn3jgPgsSVcJsgaE5LrBez5rGWGRE1RyNl31CcKHRsAbl9EnfNBFVx7K1c0lwn5o-_KSXkmoXziO8LW2h5cMHhQPq89xGsyCD_t4tSS9CEDFHljiyzMetJ_V0DJ4PHWvaoHKCeQpZf6djATSgnkZLsWteoilFo9VTyB718RfD6aPMGQje_kldlqsxEJZps631tjA6lsiuwNhjfMkBBJOvLzmBSnW75WhmNJXV8kKM8E41mAPr6duO7cm1HMNmJN2duoEbwKvev3QLxdVZ33oY2USJknykn8_2-X-AuGvo4a0Pf7R73vHn2VJDCrJrnZf2xJMl2AqwT2vIYyqxwMl5szL5RvW3XkDOKyiPtzaoqk_8wqUlVOu-WDjnwUmtASYpFKKsscQkJ2E6LbLCMoC1GL5FSGhKUoObyGJPPUTcSMzSVfc5MuXyBVgbzqxcfkAubQg_eDZWZDOotNiIo3UzaOzj9ak9lHtn0L1SokPNPDSYFX8uAfvI7-XwGpUCrE1EwhfCXMj6BTKUe1UvSksKzPw==",
  "id": "rs_08348a0f28bdddaa016ab41e63ff5487d093bf3c9c5dbe4a4b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.245,\"right_z\":0.19},\"note\":\"The green-yellow fruit rose with the gripper, so the grasp is holding. I’m carrying it above the blue bowl, with extra height to clear the rim.\"}",
  "call_id": "call_KAvII1tVev4ThVWKWxrSGHiY",
  "id": "fc_08348a0f28bdddaa016ab41e661a8487d0a8e090691183ee63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KAvII1tVev4ThVWKWxrSGHiY",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6144, -0.4271, -0.0139, -0.0307, 0.9992, 0.6914, 1.8519, 1.5539, -0.622, 0.4942, 0.3676, 0.7397]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0003 left_pitch=-0.0568 left_roll=0.0006 left_gripper=0.9992 right_x=0.4223 right_y=0.2454 right_z=0.1717 right_yaw=0.0642 right_pitch=-0.2138 right_roll=-0.12 right_gripper=0.7397\nstate[joint_eff]: [-0.1709, -1.5111, 6.9949, 1.7021, -0.0806, -0.0513, -0.0122, -0.0068, -10.4684, 9.6205, 1.5653, 0.4371, 0.1294, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e1b5b8bd7ec11060fd3eef81052507c646819791c25fc5bae4b25af7d028b90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc9d75bed4c52c29ab19eb2c2d1757f1da3ffd12903274243a5ff9fcda628e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c78ab91a5caa1c3822b796fcf83d6c9e96bdf9104cfe2a3080d0fba71969b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8082, 0.6144, -0.4084, -0.0139, -0.0307, 0.9992, 0.4374, 1.5265, 0.3943, 0.3786, 0.3611, 0.1974, 0.9994]\nstate[eef_state]: left_x=0.2931 left_y=-0.0004 left_z=0.175 left_yaw=-0.0003 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9992 right_x=0.3314 right_y=0.09 right_z=0.0185 right_yaw=0.0218 right_pitch=-0.1289 right_roll=-0.0765 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.2376, 7.0085, 1.8242, -0.0562, -0.0415, -0.0122, -0.0205, -5.3949, 4.9299, 1.8535, 0.1441, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6144, -0.4236, -0.0139, -0.0307, 0.9992, 0.4374, 1.2846, 0.5335, -0.033, 0.35, 0.1898, 0.7377]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.172 left_yaw=-0.0003 left_pitch=-0.0488 left_roll=0.0004 left_gripper=0.9992 right_x=0.3255 right_y=0.0893 right_z=0.0754 right_yaw=0.0331 right_pitch=-0.1603 right_roll=-0.0875 right_gripper=0.7377\nstate[joint_eff]: [-0.212, -1.306, 6.9949, 1.7705, -0.0513, -0.0659, -0.0122, 0.0479, -4.9162, 8.5675, 1.6484, 0.1929, -0.0269, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6144, -0.4271, -0.0139, -0.0307, 0.9992, 0.6914, 1.8519, 1.5539, -0.622, 0.4942, 0.3676, 0.7397]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0003 left_pitch=-0.0568 left_roll=0.0006 left_gripper=0.9992 right_x=0.4223 right_y=0.2454 right_z=0.1717 right_yaw=0.0642 right_pitch=-0.2138 right_roll=-0.12 right_gripper=0.7397\nstate[joint_eff]: [-0.1709, -1.5111, 6.9949, 1.7021, -0.0806, -0.0513, -0.0122, -0.0068, -10.4684, 9.6205, 1.5653, 0.4371, 0.1294, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e1b5b8bd7ec11060fd3eef81052507c646819791c25fc5bae4b25af7d028b90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc9d75bed4c52c29ab19eb2c2d1757f1da3ffd12903274243a5ff9fcda628e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c78ab91a5caa1c3822b796fcf83d6c9e96bdf9104cfe2a3080d0fba71969b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5vR2xlovhxuuwNvjDDMExZlKLOi8A70BZW7GpdU76CK8ilwtwP4579lB11Fd9jY9Npg1K21B6jfRQguiufuyhSOpozCU8qwjJi9_kQ_Ark7kWAPDZJcTxjY_Pl2Ik5WQLw6GfOCVXsgcIP5cKs4gGE5M2O9YNkit-laq2hGQV_w-RsmOji2zEYEFZSoGuWXK5E9IVQpQJbD5-YAXfOM4116GgJV0XbVGBSwOeFNL1GBJKsF3v8VoC38f-SrBM7kpRDUKqtSqGasbvoqPCdact8VcB4vhZWplYiPyv0QmE-GxlwXYr28v_0r9-nMyhAtXb-Iq6eKPtuBETgoWwK4SFTHDJFTeqZxlRxQUa_mic_ZqCw9VbHhVXQadaDQnlsHBHuLnmShkgu7izDc12diLk_V9jlHIdIxYROV1roS3Ge54ji6l5QUEbP2R3nHrMhiS5xuCxuTm0Lm0Yl_Qlp_gtPXOj9MX_8906vP7Pj9WcKFpPu6pxgKo2EsyoWvpFYNwAOVIT0rLOngYbBqcRzXO2uRoKQBvuF3Y5aHvkyJSgOWQYWQvn0_U0zuFoSw4__pcVD9KnHww6cm-kFrIyLWjSs8PvEpSW_ji0OPJXmDPuxhkYKT-vEJjDWL8oAK54aq2jK4rH3Ni2YRCUHnJaTdxSg8FPr3_zfWKAaQKhaj2aFvkmn0b8i8CUPvCWcAWVW0PhSJ9qIXo-wTZ0xvirAKYeeDs3F0U4O0kCwtNukiUmPnSXLYnyCOs_gUrL8D88Ir0buR8OihLKUgNRD2xsOzWd6CpR-qxFlKsyFk_vnTkAakSchExy39Xb6nyO0za9L_oWtP6t-kR_W9PI9mAt6c95YZtcn-LUILoIzscbp_Vwb5dR82ElqNKBGTZ59h1jS0nY3B-U2-WRcgFC1X--5YOnbaHsm4-5iQ4GIxXuFJyAGxrWnI2h0YRVdC4BDDHWdP01J-5zBKJOvyEsD6009AY-K9Ov2fkCMDAAb7-p6LQN40Den_agKX0WTbQOHtLE97sQE70fCBmogBu_Cmk_4rIl7ZuskoUIQ65i1DKsJurdiYDOx3s330TlvEuFm5ksOW3oviPEEWwtBWJcM-KHas6_dZIWlByBgrGIgUFeB-kNSAvRZt5rR5oa7zTMO2DzM7GaAcgyR7-tJZhtbxhNyhh1v6vHP_JfSNiyGDRCy-z-iy7c0bRFFM9arNmpR4t8llPdTj_eTARvwzP_e-f6NSrF6xBAPtXyYbIGmD8Zhf_O2C2bJXwxTmEeoaBK6j8mpuWPAzwL_giVb_byZvxcVTqgqk6buBsyDiLlUykHAiobKPbJxApyWPApdKN_XjSH4FfGeKtuJyikDgKdHFW8jQIt1N_y0H0hvbMGexTkZ6tnj1Y59uCVf-9GPMqB_i42vaamWESsMm_zuImxoQPnzEYVdpaiPHx4sN1WWdBvVxMvNTVumFgjqQ-AYeJlYdcZy0c2rekb7GOmOtGIfrbh_mS8F6qeanqeaVznTacH8qs7u1f3Hu2cLjVcCnCar_EtWj2G-DoTDGUDbKEL8EXKEhYkvuU7C0hfTPAUoyA25siBUJNX96LMiMPg48DTqQpbx6q2mSIgzGtsctmh69I6qid3XvNZQaOHWsAmtBxZRER9YTxvVu4iuhOTtwvLttQnIjzv5WVNwFMrATPIR_ym9OTjHqYCz-mxhoCXXUJk8FYmEdYz4XMTikL56L7sHPm_S7MRTqlVthLZ_IdZEZR3ZZn0UvJbI6Ek-o6nYqR7pGka9l-HzuW-b-_clM_ViUwkkZf1CVDQHiX1McT--Xh53QjbnSgcuDYaOHqiws-z_Ng08mzXzbsCoLTSyN7aWE0OaImSwBrHB-zb8h02n5QXxbxEm209I1TPpzGGS0kJczxoB_k4dX7ktkw-KxFqyJvvHgRV-zqNs7ecR28Hb4LdQY6c9Y0bCLzlHLmArP-2hi1dtshI2bN-X7SRKzrnxlYijaor1rRajcATSn1GHrsD7CcgdA0s5kxtmqI36kxS7tt-pigZxhkQTNFAmFPRaOVjXFB3stLwqlUsFLiq07lRYJLoF6s1UyGgXsdFDzeJjkK8rCNtouXpW7dzhxwbbeTKVoG37c35YpW7nmArcNfwGRBrpluHaWV8n-aNF3_JDsuG3TxIcdwgiG2O9t9NIYTPiNy2E-blZVqEL9yQXFRtddorE1Opk4x7N6sw_vRqU6rH5ktUugNH7Tomu8HTlFfznkKsaoH_svyZrq2leRsWmC_aslWjFRTP5BkIaM8SFzKxmUmeOGTKnIWBh1qigLfKEvopVQH--Cxgxywsz7tS2_4UATx7LA5hoJ48Eu7Yw9lG5ffKRE6roWUUZQBZpKN1WpGoFX9uF8NB0m1Iyj-pbBC-rLzBdQP7VYYtS0PI8DzS4D6EMAP4XOVsOxGkm2yQkON8b-ExdTlvFZosd5OfViKOR2F1VyK6zD3O-jd3ljsvNauUzVVNsY9OoH74hEYFZEqaUXWxEK3npnQmRz33FQ9--ny7zzlb-1uTLbRe71qFb_kLO0cpYteg1JIYkVQZjmWfEmR1yh-kXV_gNrAbYuHmWZVqiIL3r2laCKYF3Ve4TCz8kFnAOZQXcDJ6EQvPsWuwZJ12aogyWV4FiTRP8OLk9iPTpPbKewGMiUWY6ApggHAMK5P0yUKObFDBANwn-Yo1aKph2kQTN09hIs6tsyf8JQYNrfIFL-HabN-m9gj0PQRBgK2TOnClyQ-GaXizf4bk_g2adCMKsrVQcZpFb6gF6SGeR--PIvj0fZc-8VJ8J5ltGmPB49LbqzTmA6W2S44d0",
  "id": "rs_08348a0f28bdddaa016ab41e6af4ac87d0bf2cefebb137735b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.228,\"right_z\":0.11},\"note\":\"The held fruit is over the blue bowl’s area, though the gripper hides most of the opening from above. I’ll lower it toward the bowl’s centre before releasing it.\"}",
  "call_id": "call_b7tAPL41SmfdUjPGZr2agyhu",
  "id": "fc_08348a0f28bdddaa016ab41e6e506887d09d396e66b902ea23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b7tAPL41SmfdUjPGZr2agyhu",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4313, -0.0139, -0.0311, 0.9992, 0.6521, 1.8618, 1.3067, -0.3923, 0.4553, 0.3294, 0.7397]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0001 left_pitch=-0.0622 left_roll=0.0004 left_gripper=0.9992 right_x=0.4178 right_y=0.2258 right_z=0.1012 right_yaw=0.0714 right_pitch=-0.2571 right_roll=-0.1368 right_gripper=0.7397\nstate[joint_eff]: [-0.294, -1.4291, 6.9949, 1.7265, -0.0659, -0.0806, -0.0122, -0.294, -9.8667, 6.8991, 1.6386, 0.3248, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5596de92e6d5f46dbadb46b15355a3fb243f7953153a25f0b28dde9382303dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a35ee8392264f75021da2577553ab6d0f1d8697b2ef0181bc4b336798e1d0205",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2acc6fceca57f11086ac39f351c7bf319e559c0cd83d2a994d3019f1a803281",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8082, 0.6144, -0.4164, -0.0139, -0.0307, 0.9992, 0.4374, 1.5265, 0.3943, 0.3771, 0.3611, 0.1932, 0.7377]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1734 left_yaw=-0.0003 left_pitch=-0.042 left_roll=0.0003 left_gripper=0.9992 right_x=0.3312 right_y=0.0899 right_z=0.0183 right_yaw=0.024 right_pitch=-0.1305 right_roll=-0.0804 right_gripper=0.7377\nstate[joint_eff]: [-0.1846, -1.0872, 7.0085, 1.7802, -0.0415, -0.0708, -0.0122, -0.1573, -5.1761, 4.8889, 1.5311, 0.1294, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6144, -0.4271, -0.0139, -0.0307, 0.9992, 0.6914, 1.8519, 1.5539, -0.622, 0.4942, 0.3676, 0.7397]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0003 left_pitch=-0.0568 left_roll=0.0006 left_gripper=0.9992 right_x=0.4223 right_y=0.2454 right_z=0.1717 right_yaw=0.0642 right_pitch=-0.2138 right_roll=-0.12 right_gripper=0.7397\nstate[joint_eff]: [-0.1709, -1.5111, 6.9949, 1.7021, -0.0806, -0.0513, -0.0122, -0.0068, -10.4684, 9.6205, 1.5653, 0.4371, 0.1294, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4313, -0.0139, -0.0311, 0.9992, 0.6521, 1.8618, 1.3067, -0.3923, 0.4553, 0.3294, 0.7397]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0001 left_pitch=-0.0622 left_roll=0.0004 left_gripper=0.9992 right_x=0.4178 right_y=0.2258 right_z=0.1012 right_yaw=0.0714 right_pitch=-0.2571 right_roll=-0.1368 right_gripper=0.7397\nstate[joint_eff]: [-0.294, -1.4291, 6.9949, 1.7265, -0.0659, -0.0806, -0.0122, -0.294, -9.8667, 6.8991, 1.6386, 0.3248, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5596de92e6d5f46dbadb46b15355a3fb243f7953153a25f0b28dde9382303dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a35ee8392264f75021da2577553ab6d0f1d8697b2ef0181bc4b336798e1d0205",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2acc6fceca57f11086ac39f351c7bf319e559c0cd83d2a994d3019f1a803281",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB53gJr9nvu5GoeiXx8gSpupzD-F1uFfzoqcWaYZLpT594Mf5ujRcldFnzKhY8qDmpHpj3YK2KITd7zvVV_mT9wOGLSybLWszXrg1HL67gfd2nu5286nZkYZ4x71RnaiM5qrgzP32TAO3PZppGuWshy6SWUNrsxTTQj0c-JDgvaUQ-yE59MjwcqhqWltvLZMV_6L0VavbbsxQZikl7klq2StpBw7vKNPPagEb2FZaNaa_7hTIWq_dwpnm494kij5faRpc1-0ker5TjMU173ZMlPo8EtTHeBiWrbpqhiL1niZQfYCtuDbSx8TU8dpje0qCEg_TB75g9nMoglJSLoDECmZzwl_PQHpFmz7NE6kWDDX4nmV3ZpE5OMM8UuawpiDuMnlsOCOtDo2HAsFqsBXJksiIohkfzarRogxHpzJ_D6tsP6LvRPU-A_K0eMzAiGeMKt9vhvHBgkzRSVVOrWdkk4owjAMuEclYxmYNeL2zfPWxPf3pfMD1XZtvLhtR3tfviRqRDxmAvOrAd6TVj0rq-R-62WUjvQI5HcKtB2wQXJ1D6VLhEUgpYwGYA_x-QS_LG_8fSiXIfNCfqpr3k4y-xZLKbiEh1KIg0WaEJ-UlH7kb-41XSzHfAN9yYhFL4EgwD_vzzcA8kmGoNE4cjh6k4OaZ3jSDV2VH5cbpwMtWfvqkKsqrSKMskJkO1UDnCHO7F169V7grQ_Obu5J4ofSMQyjaHZWOK8TPjmKEc9gD1nO_q2KpcHkSQk28k1QfJbi63GQU6xB3JyKb2Mc544mk0sUbpCFs0sGmWVfj6jamrFsN6CPE44c23m7WDcJdBCWPazWv1hcQH2-RcK7_lfTzupZJf5xZnSVz_hTnY9VUWs7zGrZzdGF12sMpVxUiw_7JLf9P4GM_mBbXR2bkR9pGZFjyiddM1Sbuz2A8NCzog07c-lqRlg4k2XHx7Hc18pncq6aEDI18jmeWtQhdy2ExZeB6KYw6MQJafvEXTgam6427FnLsCEAVeyeNVEWPWUZ9U2IbWv3oob-naJIFo3toVuB6IO0CX5nLUkP5Ba5y8J0vw5jDAiqbUCVCK20Zy75io6U8UL3W4JbkIZMvfq7Vvz2EoE7p6gQfhCNyZaEXM0sxjcvlQMJ_RoT1cEqoBeH5NAP0pmPe-aUVRfuoL79y5uV_VWvLzSO_FvKufmOBJf7atUdVJU3p8r_36f9CFSs-KRfR3OlYvN0r0nRmqJaqjZgMs-iSg7FO52MBPDF7hZWXra9Iaxf253rpL1xhA11us4d9i0U1SsAWw1141Jkbc91skadQlmuPOwbLSgQjc9M0q5y2MNoMYRAiBhFEWeM4fUbrcP3Zf6K35Y-xSo0KOzlv1vl2tjj-fzZBrQHtlmTjKLSQ1UySxuV3HVjJx9IIgdoFjVf2fcyLtsGMJk2BsWp2-luAP8H6Ac5EIFOkORbBKyhIV3mQCjvZQZmKaJRuQETjIa7KEDRG0gOhW-rAMQdxlUh0LwA6RUb2BXNNXjh5HyO1itX4HLFPdBNI8gDhlYnve4PnNpnGR41itD8AgtEpMNGjqcLKcRQHcHhsQZ7MiJoC4htW7DW4NNIUCTkl5e1xYqS9s6GT-ETFRN8sR2p1oDzJR9M3Xr97PcXPVujLy7AbtngP2kUewcaxX4TtnTu2iV9XmAky6EJhEVVhhP5e6lxefpKWCo6WPaABMiLO_ofZRH6TbYXbPxyYw5rCkGPml0AhScUn5x-y6HpkpZ3bYkaGIdf2B3UdShaISs7L4jgvwJGm1wFGVtQlwc4LWHWjQ_Pipgq3F0jr1Rb6FvRrifljPyfp_y-bQACLk8S6nGDr0AdO_bqDXTXxdkTF6oAB3nc3jXOcd8YwrTMGPWpLBJrCNt4gb2dLDc8kBJGkPSHKHthOItRr1ZrFu6RlSplLUNuiiogN0WBs047Sa-IjOIoUYyIW6fFOEYETtS_WcnippfWQX7VgM1AfpohkY-dzjwF-_DFubn0W2pP2PUfAweNld3K3TNMhV75t5YEYtH7-Eejk-kN-ecpwA8ioWxGtnJEM8dH0sqsWw9UliS47tyj3KAMnuWndX45Rfhjhat3BJVFSY4r_gIQbGf1Bbg7Bdi1GHMT9UNPJGsANmY-3CXYSBt54ZcN-K4-2yyPOmUB2_UpNb1DnvtbDKg5yd8d77E89RPs9EARUoW4DlCQf326_rhDZxaYf205waoSBOjvi3hfM28Ar63ZrPI592istqrZtLvY0UZaJwMmEhOjdZl3cRuipedtg_S58xIfB4KyiJSxYPnti7hzsyXywsNo",
  "id": "rs_08348a0f28bdddaa016ab41e743ea487d0923fe2ef9da984b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.175,\"right_z\":0.12},\"note\":\"At this lower height, the blue bowl’s rim appears to the right of the fruit in the wrist view, so the fruit is not centred yet. I’m shifting the gripper right over the opening before letting go.\"}",
  "call_id": "call_HRVNsfHojTpLumqlJVaKBe7c",
  "id": "fc_08348a0f28bdddaa016ab41e76844487d0968f08f473b5b856",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HRVNsfHojTpLumqlJVaKBe7c",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4339, -0.0139, -0.0307, 0.9992, 0.5213, 1.8023, 1.256, -0.4301, 0.3614, 0.2008, 0.7397]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1684 left_yaw=-0.0003 left_pitch=-0.0648 left_roll=0.0008 left_gripper=0.9992 right_x=0.422 right_y=0.1745 right_z=0.0981 right_yaw=0.0818 right_pitch=-0.3314 right_roll=-0.169 right_gripper=0.7397\nstate[joint_eff]: [-0.3487, -1.3333, 7.241, 1.7265, -0.0464, -0.0073, -0.0122, -0.3214, -12.1504, 6.612, 1.6874, 0.2369, 0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:207ff9767a315160394afdde4e80e08febc88287cf3c8845f1df03bde61260ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ef0d95f262660541496324419dec5ab3dd3b3705cf5bf88106f818f3a6e2ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:302a60efcf4e8c83fb8cec26910c9a02ca549d403ffa47e30e2781d0fb44bed3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6144, -0.4236, -0.0139, -0.0307, 0.9992, 0.4374, 1.2846, 0.5335, -0.033, 0.35, 0.1898, 0.7377]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.172 left_yaw=-0.0003 left_pitch=-0.0488 left_roll=0.0004 left_gripper=0.9992 right_x=0.3255 right_y=0.0893 right_z=0.0754 right_yaw=0.0331 right_pitch=-0.1603 right_roll=-0.0875 right_gripper=0.7377\nstate[joint_eff]: [-0.212, -1.306, 6.9949, 1.7705, -0.0513, -0.0659, -0.0122, 0.0479, -4.9162, 8.5675, 1.6484, 0.1929, -0.0269, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4313, -0.0139, -0.0311, 0.9992, 0.6521, 1.8618, 1.3067, -0.3923, 0.4553, 0.3294, 0.7397]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0001 left_pitch=-0.0622 left_roll=0.0004 left_gripper=0.9992 right_x=0.4178 right_y=0.2258 right_z=0.1012 right_yaw=0.0714 right_pitch=-0.2571 right_roll=-0.1368 right_gripper=0.7397\nstate[joint_eff]: [-0.294, -1.4291, 6.9949, 1.7265, -0.0659, -0.0806, -0.0122, -0.294, -9.8667, 6.8991, 1.6386, 0.3248, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4339, -0.0139, -0.0307, 0.9992, 0.5213, 1.8023, 1.256, -0.4301, 0.3614, 0.2008, 0.7397]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1684 left_yaw=-0.0003 left_pitch=-0.0648 left_roll=0.0008 left_gripper=0.9992 right_x=0.422 right_y=0.1745 right_z=0.0981 right_yaw=0.0818 right_pitch=-0.3314 right_roll=-0.169 right_gripper=0.7397\nstate[joint_eff]: [-0.3487, -1.3333, 7.241, 1.7265, -0.0464, -0.0073, -0.0122, -0.3214, -12.1504, 6.612, 1.6874, 0.2369, 0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:207ff9767a315160394afdde4e80e08febc88287cf3c8845f1df03bde61260ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ef0d95f262660541496324419dec5ab3dd3b3705cf5bf88106f818f3a6e2ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:302a60efcf4e8c83fb8cec26910c9a02ca549d403ffa47e30e2781d0fb44bed3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6AiZbbba_sLZWZXrcnA8Wuoi7FsbiTims-An_NNAhIefwMf5RBw3b1ZWhHgR6IpNo8bchHCnqWz53HKLPVr6z4lupo53uMkprwqqsOrq1ancUycplLiec-auhXgdCshKDanXi6-mhH-SUw0JGqNoTg-nJZ6c15M_JckpnMFxM7YIx6TkTyaTxBokw5g4ERH5f6fEePZE9hH3ubLX3Lz3PQRphleJpTwKddzxgqlCzP-S_CfGsxSq5HP0wqdz2GFNEmPmORYP9Ds4heMnA1D4jjjPC6TrYco8RFS_JU1jAjKUIoZI07QtIwddY4a1Mce-MY-TlEMu2V1m6vLeMqMnglyGUYbe38bKGLgxnaDth_zLbUUkx1CKYuXw84NGS6klapC1YmYn4yVMcInTejWCrudhjTKPwhZFVgbrYAvw7XP14qKcgdOkCDb_rdOEsKk4vMV1bCdomQgueUEpKbKmszkdeYqN_43fQpGzQ5K3TI-F2twv4M_UzWV-3iC1WE4RsxEHPaZBCejXSakkM7RHwOarYDf4OnH6ToUOmtP22xcm2SutElaWSucBz05l2DgiqRoqFJAMhqS5jCBgph8UJxk1-6gZG3hDy_-VXR-oI_zkN4uQfDEQ4rqtXljcVXhxUW3cUz9luG1Dj5g3ZmIYStb1DR54isDiyBGX5bCNvvkxQ2sqiDbE4DIlhkJYoeYe0LJENiDV7cZ7lUuUvnmQWRtIUPTBptgITECf09alzrCQm4iNMMiBXH2ZeWi9iCFP5KKNGk5r6ifL0TU6ECTZoFHvNn2AAlCHrU8Hi6ipKb4BqU50rAfcPmh3hsZp-RkNz3DRmxrmzlHnLBQqAWMB_6i3_yFCZ2tTSlFXlrGcbiIbOsbTqiRUmqdhqGacxgVzDLi2moIDnmjpqLnA9ZStcUUAUGE8pLK90-xYwfYtSBWgvB_N6YaSbbzvaAHWCHF4O1JuvsTlZC2BoRrMpDcEmD_2obtPdlHLwjs8xST1imGiHEDbEI-jdBX8AOFBLPocjr2wzDWEYB8Wpr6PSFbazr2VgnPE-OUfqHiZ5mOYHlGMhRyuyGZXrKowZ-MUG-OP952665PKJUei3FtiosAUg35_HGFUWqnHhlGgyOZIk6tFzXLWI46vFqsuJ4Q7ge2eldnkLqNm4ROS9ofVDz68HY6sfaUyq6nj1qbUSxe67K1iOiz1fTgl695GTMupGQYXc8b7Zb6stIM0b9XRe79RjpoAY5J-W7cEMfFCJN-UmZ2DJyn48wD3S7GaM3cp0_3LO8PDSLOTxGU12CyOeB9iWNzeiPgMnUwveXK6HEnzQgGqU4Eh4jQeuPtbO0uWYDVg88TbDHxtBZ5kQl1ov2vszW0ddaoEbbG8-KGymwQAJIED4NvD9deW1zofzTInDS5V8CWCZWURGqFQsdicTkwCg31uvK-sUgk1KeXJ0ZcoTE7qlm0cn0GCCnitqZL4lz1KVxOdaqFBjDsa3Xv7tfaiVqSpYGwfdcT-gxgypNISfRAYZueoMRZzPr2M2Fg6OfcsAJHrDdj65ZdOkxDUqJ9vpzM0mQjdlb_zMMjYHg7s2qol2au4qDYQ50pxaqxy18EailZPxzs0Erx0VAmJsr-DMTE4eg2Zn1xKBbbs8Wrc0FTdz-Wo8t-oPCylkNFODMRiGbUON8Dk1iMY0tFZkEmZyF5Qafjj-fa7n7zrSJq-mhxChZPeo-0nOkW5JISB5PtJaEDUwmZR5dKGbX0DVTQcrw1Y8FpWr2QzrYN8WUVqdmxWbkZId4VdZJ_R7jHfgrAmjRHxfcMOLasze4OAV1Dp3Esn9OYMbAQI_s6VQoGJ5o7m0noBaDIVW6uX94xcj8TwdOcuM6YeN4O_WuMzvZTkCPwNbv3xODPnP66yDPox3w44O3mbO_IThAxjlzuV3nwCLnY55-Tgx69kC01vvfS7ShsNk4wuY-Om5zCv8IeBG9dul06ei1fO6youh8ZGyXgqRzOexB0B6vZjclQHUk5IxLsKyfEE0Q4dy3Af_bClw2qTcrROOGw4wtDiBKr37hmPdEo8M_cdggib04m_Ja6CaG_L2tOrxv02X16l1AoONI4heg_Ej3m4wBmVNPlHD3qoT0dyeNs4M431D2Cs1y1hxYdCXoCyWWx01QZRuJAzkZrdehtOfDSNWbZRclaGazBwHYGep_diHMNvZBAW0-a0iXO9tU2vMHRyPLWxBYScTtCOuAXF1QwXwKfuwW0SEXROOd9tCDFJWSaUnBkYPmgTIBlZH_1DphHeEn5PoRJG_8v9gJY505Amo3Q5nhE41aKw76iLDyG1xQW020cunPlAqoj3f1VYbFXkMCFpf5jGG2kKN_Ll6jivDikFuXEBYPruZ7INrrWswDIYUhZZLt57iwJttJskKZsTGRRPZ4RxPZvmRS1JTWNKZzTG4fGVdioRnN_SrGmr36_I68fFj_W3HYQbLdfCSm4zOFbZZTVrQiCGplWZV9hnSH07Y4Q-41NhQKS-E1YVP8lgI2QP79pV7LHtBz29YaBUnpl7wNy5kv8WjfGIHaubYqng3ZuhJ6F-MrLGMsrhy3St2kT6F2yKAN44GdN4t8PpnK_JvQLFhtueY8MZU0fSxccQwAyBnBqqOB",
  "id": "rs_08348a0f28bdddaa016ab41e7c85a087d0b6f773e13880d787",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.19,\"right_z\":0.10},\"note\":\"The bowl now appears behind and slightly left of the held fruit; the small sideways correction brought us across its opening. I’m nudging the fruit forward and a little left to place it centrally.\"}",
  "call_id": "call_FsezUK4VRlFNhBZPvfIgMhsR",
  "id": "fc_08348a0f28bdddaa016ab41e7fe64087d0af8f828589c962ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FsezUK4VRlFNhBZPvfIgMhsR",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4423, -0.0139, -0.0307, 0.9992, 0.5213, 1.9152, 1.3834, -0.4942, 0.3492, 0.1963, 0.7397]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1667 left_yaw=-0.0003 left_pitch=-0.0732 left_roll=0.0009 left_gripper=0.9992 right_x=0.4385 right_y=0.1863 right_z=0.0862 right_yaw=0.0866 right_pitch=-0.3812 right_roll=-0.1844 right_gripper=0.7397\nstate[joint_eff]: [-0.1436, -1.0325, 7.0085, 1.7607, -0.0562, -0.0659, -0.0122, -0.4581, -9.8667, 9.347, 1.4676, 0.2222, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e900c49da71a77fc1c1d702bcaf4ebe52586a7ece6fdb61daa504a471cbb0e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8681aa359743546f9b29bf9a43ea2968b583c88aef2c382d3857cf34fea60b52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e238b1b3702baac0d98cd265564b5d09f9504e38dedfb6f582ff4ac7d3f2049f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6144, -0.4271, -0.0139, -0.0307, 0.9992, 0.6914, 1.8519, 1.5539, -0.622, 0.4942, 0.3676, 0.7397]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0003 left_pitch=-0.0568 left_roll=0.0006 left_gripper=0.9992 right_x=0.4223 right_y=0.2454 right_z=0.1717 right_yaw=0.0642 right_pitch=-0.2138 right_roll=-0.12 right_gripper=0.7397\nstate[joint_eff]: [-0.1709, -1.5111, 6.9949, 1.7021, -0.0806, -0.0513, -0.0122, -0.0068, -10.4684, 9.6205, 1.5653, 0.4371, 0.1294, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4339, -0.0139, -0.0307, 0.9992, 0.5213, 1.8023, 1.256, -0.4301, 0.3614, 0.2008, 0.7397]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1684 left_yaw=-0.0003 left_pitch=-0.0648 left_roll=0.0008 left_gripper=0.9992 right_x=0.422 right_y=0.1745 right_z=0.0981 right_yaw=0.0818 right_pitch=-0.3314 right_roll=-0.169 right_gripper=0.7397\nstate[joint_eff]: [-0.3487, -1.3333, 7.241, 1.7265, -0.0464, -0.0073, -0.0122, -0.3214, -12.1504, 6.612, 1.6874, 0.2369, 0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4423, -0.0139, -0.0307, 0.9992, 0.5213, 1.9152, 1.3834, -0.4942, 0.3492, 0.1963, 0.7397]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1667 left_yaw=-0.0003 left_pitch=-0.0732 left_roll=0.0009 left_gripper=0.9992 right_x=0.4385 right_y=0.1863 right_z=0.0862 right_yaw=0.0866 right_pitch=-0.3812 right_roll=-0.1844 right_gripper=0.7397\nstate[joint_eff]: [-0.1436, -1.0325, 7.0085, 1.7607, -0.0562, -0.0659, -0.0122, -0.4581, -9.8667, 9.347, 1.4676, 0.2222, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e900c49da71a77fc1c1d702bcaf4ebe52586a7ece6fdb61daa504a471cbb0e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8681aa359743546f9b29bf9a43ea2968b583c88aef2c382d3857cf34fea60b52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e238b1b3702baac0d98cd265564b5d09f9504e38dedfb6f582ff4ac7d3f2049f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6Edlz3TVMnW034kuUv94cvajwg9x8Vos_UPVNDmSIy4ZgzzmyQzGYnBJyg099FKjSgvaQGOQVo8WjrsWNNmyG6xZ3uCWICOZs19u3fjdWQAzqOPTA7Q6lmVI_LOSvzTwtde8Gz9468aEpkM_VomkoqoXkJ65HDFfA2Ke6B4ebMQ0kPODyQIX08jJ866XJqnvse172pmNYoHyB_SKq9UW0V4QR1PXv6KGg2Nk9q8h4GgY0LA0XHi-L7-kEJkuGpgrE3X32YUcQrFhDjNIS7u4VqS19YIV8zNsRHX60emu1nz4S4YDiJHUJT2aaMrAOqy_dcPwhPlBJxMr0Zn_j2ndB_AMg959VL7ckKzFUhCE3e0vg5sRsFcxs0dPqDI3mSOeLbJ21kveZ0K8de4UtQLPi4O7_yVNHsTD5sL9lx4q9f_ELIy00bNxx-W9iDHadFePrSRNanSenY43BDnu30-7dnz2SopZfqrTS5JYbwwhZmXj-oClddtgBqxc5bCsAkZWd9SzDiXdmdEv2UHdfSWulYo5y7WMZrNa-Gao10xrgz5f_vjde8maZEun4Ggr3MsNEaH4sK4LW7mqgKR1bXAVPclrsLjE8zZRaOux6T_dlUqnGLRK_DLHhM2ibec6_fQqsRuN5JGunVRsT_4FIHiDoyWCZAHwSNsFcU-PdrxVIOCguwxQFzNyYgmqUE_S1Ttx4pgPk55FeJpJ50Wtf8FbvJUjzgR1ibCz1ng01B7eaqhs9Nr-xx7CuHEQBLbrcxbvIPgg88kjo4fdy9RuQjaqVBcnETQZ0U8-OO22k_iNa726P2y4lg713cpBHBe0jRfU4XDbdkAxmsnkN8It43ArWuViyxROF5dTFTqDPRA4d5e5jXZ58UQXsccx9UyEKZBJrxBy8AiMIoOXEAOzyMAL9qCUHGi6mvFlOHeE8sXpXBsacoRkSl9lOXLa2hx0DMJgaYMs2-x7zhKHYXw--mIMmM5nNl7qseWSXTqTTiVPObT_j6bDVpIPuQlTj8extobRL2CBEOlL0d2rrmPZ8-yiC_iAw7uA7ftpWgFAXzppvFe4hW19AvDU0BwWsK4KcVOBz0nR7RFc7rZ3ujYifaOLAIpiH7tdyzMpGPyoRG_aKLd8xPQe6H3YqS7PuLt1cpgVNTA1dsuI0ZC-O_77ifqNAhfguLv3KHdZ0f0x-uUdwvZpUzbXbK9bI2zfMgxIfDR3LvbFsWnjkqqw3tXjW9FNme4PRBliOVHTWwFQ6YSTR-442-opw5y03W68lhetHeIvCbWtZtmwDlaPxY7ZIxiV7ODTDYJl-RBdBurt9EPXgpfacMNmUqvP-Dy0rQhmCjzPhG2QK8fHh4xF7PXuS_-TBoMg==",
  "id": "rs_08348a0f28bdddaa016ab41e83c89887d0a16ef518533a5c41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The fruit is low over the blue bowl’s opening. I’m opening the jaws to deposit it, then I’ll lift clear to verify where it landed.\"}",
  "call_id": "call_IHAZ9VQcFmWgIjCLJdivd5BZ",
  "id": "fc_08348a0f28bdddaa016ab41e842f1887d0a38e77dc4a04e37b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IHAZ9VQcFmWgIjCLJdivd5BZ",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4435, -0.0139, -0.0307, 0.9992, 0.5213, 1.9152, 1.3827, -0.4984, 0.3424, 0.1905, 0.9959]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0003 left_pitch=-0.0744 left_roll=0.001 left_gripper=0.9992 right_x=0.4372 right_y=0.1868 right_z=0.0851 right_yaw=0.0947 right_pitch=-0.3887 right_roll=-0.1845 right_gripper=0.9959\nstate[joint_eff]: [-0.335, -1.265, 6.9812, 1.6679, -0.0659, -0.0708, -0.0122, -0.1709, -10.2222, 6.5162, 1.2186, 0.2027, 0.0757, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0309e06f5d7feddb238aadf2bcb9e22bfcacb442d2f4f1562ef467f1871844cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d520fbb9b4146a909f18c689edcf2c94957e9cfd4b7b23aa03a4a5f5f16281",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c436cd27759709cde64fa0ff0d629dac9d035bf2be9a64ad401cac00e43f9b6",
      "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]: [-0.0219, 0.8135, 0.6144, -0.4313, -0.0139, -0.0311, 0.9992, 0.6521, 1.8618, 1.3067, -0.3923, 0.4553, 0.3294, 0.7397]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0001 left_pitch=-0.0622 left_roll=0.0004 left_gripper=0.9992 right_x=0.4178 right_y=0.2258 right_z=0.1012 right_yaw=0.0714 right_pitch=-0.2571 right_roll=-0.1368 right_gripper=0.7397\nstate[joint_eff]: [-0.294, -1.4291, 6.9949, 1.7265, -0.0659, -0.0806, -0.0122, -0.294, -9.8667, 6.8991, 1.6386, 0.3248, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4423, -0.0139, -0.0307, 0.9992, 0.5213, 1.9152, 1.3834, -0.4942, 0.3492, 0.1963, 0.7397]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1667 left_yaw=-0.0003 left_pitch=-0.0732 left_roll=0.0009 left_gripper=0.9992 right_x=0.4385 right_y=0.1863 right_z=0.0862 right_yaw=0.0866 right_pitch=-0.3812 right_roll=-0.1844 right_gripper=0.7397\nstate[joint_eff]: [-0.1436, -1.0325, 7.0085, 1.7607, -0.0562, -0.0659, -0.0122, -0.4581, -9.8667, 9.347, 1.4676, 0.2222, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4435, -0.0139, -0.0307, 0.9992, 0.5213, 1.9152, 1.3827, -0.4984, 0.3424, 0.1905, 0.9959]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0003 left_pitch=-0.0744 left_roll=0.001 left_gripper=0.9992 right_x=0.4372 right_y=0.1868 right_z=0.0851 right_yaw=0.0947 right_pitch=-0.3887 right_roll=-0.1845 right_gripper=0.9959\nstate[joint_eff]: [-0.335, -1.265, 6.9812, 1.6679, -0.0659, -0.0708, -0.0122, -0.1709, -10.2222, 6.5162, 1.2186, 0.2027, 0.0757, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0309e06f5d7feddb238aadf2bcb9e22bfcacb442d2f4f1562ef467f1871844cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d520fbb9b4146a909f18c689edcf2c94957e9cfd4b7b23aa03a4a5f5f16281",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c436cd27759709cde64fa0ff0d629dac9d035bf2be9a64ad401cac00e43f9b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6IDel6JzX_tUH4uUFuskeNGYd-IBiM3hIMDPIt5IX20JfnluzAKfx_QmLYX8PD1PdHV4ToAAsAnnw4DkPnYYmOUDyHsVvNY3uQYMZxnjXrKXU5ZSzKMWMfeHBrEONeUnky6MFpdk0qo8ExvzxoslfKY1gFvVnOHrCG3BW4HtNQT6G0w6PowrIJSAmuRKAksdFJZFMP6PwaR5BSn_Z42aR9_3_OAmJXK_xypBRnkXjUcxGUHqfHgMhSXmKt9HGEXberS8i9Ev3IMXzpAGMQlhhwxl0dQcL24iaNxG0HNn1gr8MzNpJIyZR_gh5VKfqB3I7w0_rPi-gVLzOQCIizT5w59GMiaOI5WomM0HAeHKcy6MvU7oxRPdtoOphZmDmlgELJV1R48ri2Kean4dLsK0UDYw-vgVywbruguwnj8GXO-TxtRRMQWG2z4NcL70MZD4mF8V1TDoa8oy2yJWkA0-f-xC7oOT1gEgYsD-0W6WK4cbAVSv4jsm_fQ3vWx1wXvZggNGvHvfG8bxPaD2CCRBuF_ygm9L05AvXPDJzohXLBaVPTaSSlEfWQCH5qlG-V6xjA6OG78eD9YlR18iD1o5IbHX1s0j5VpwtzID6pbLiY0yxUWJT8BWLqQE-7nR0ONiwIiJpoAjuUCf3BpZHXB5Odr7WqTX-VYTMcFhYspL9qVauFX8GjXzvyhE57Th0i5IwY2eAJygR0zsnA8UXwx83xpldgBDBMA6i3yRRPECEZZUv_jOBFZfzrRlP6LYxbbIQGlqltyMJOJkLiudjO6Brfzq6lIP4Uzpo7EBKJpERBfU7VgMzeAVw9cHHveTo1jeswKmPmze35gY9w-PM3YMyWJPKE2C6mK0u7wPq5g_Kt49kQuKYXWLQfTuefYUrkoRGVwAPEfjaHit0AmYkymJ7MaKIiIiqQOjnMsgZOH7OWxU6fekTff7ex7jQEX9gszLOCEQDdfrfoGs7FMKubBIyBx66PCAiZmc_EkbDOXDP129HtQg4C4DEsOQ7UM2pxuy7_l79ATbFdW0yV-BQ2yxCKoDYIK5XpI40s1Np5zTV50lg23VHXm1BtmEzL3vuL9reyV-8OMVTbBreliHirwRKxdEyCpmf3vrGBJt14F0imFoL2B00Cx2mW21mG4x4ueB4CsavDcef-xYQZV5GhiEJcuHYuMjX-25WLfdzvufoGxHnpr2GomLb_O1NS4Cy70uEM9pOFW-1Y8Yh8Haa-4nFNbUzSu4W37OscObxUlccztokxCjEQHjj4XnMOBA2UKoF0koDoeZKAsw4rfQ-eD0zY55_div3Wx1ikGXxUFqnPqlJ1Bs3YVtvWVdP3U-fLuSmxAgqvw0_000ojHxvSdLbg4g52TFUi_Zo8hsiBq_iUXoRp2qclJ_lhWgx_FIC6BOQMhxM1lhLqxyvCwQai2q60k2lw2tFcFcEWnGVn5JiAlQ3iVHlrB0jw4LPzi21nWKyGvhMwT57zjckmrwiUA0V3Nwgsh-1vNbwyzRRWvOeFDB1lbcN7IW4MNFqXFdMVbET65FnLa0ddpz_KB9GOok65JoYaN-b2M_TsNrhhmSsRAY3VGQ9Q0uj1QtQIhRWuMkIlrPG8iYj6MTj73aDJCXRcIQsFkrapX-KEWUsRk9fL13uoA0Sp13cMIK8vDctdKwRIfana0Rl2LO3FYpw03veDa2WsKIn3oM2p5itkGf0ehIL9AXEKLvCgPSjxHV_MbeW9FwRK3fMCUIIXl3o1DCAtVdNln-BQplLfZYdiqG4XwkZ_jOCUsXuzaEO3kPIWOEHGf3eQ0SXMrcronIASNXGL8LgylRJ2DJMCVvmJrjeqIyObO3y-4J--6o95Q5oH8-reqJvxp4NDj3S6uHCTORdiNLKKlgxPt6S_Bsx2Gp4XqQHm6VHRkjjaNaRHbI1gXBVxLoghEL2sKG0Q9DTlvakk7FXlNrLsxj9wI0EW4l7CnscwKy0mM0Y7xCRwxrzwbXzh5rUCbATxSOG7wWTB0yUCww==",
  "id": "rs_08348a0f28bdddaa016ab41e864f4087d09259e04bc4723834",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.205,\"right_z\":0.15},\"note\":\"The green-yellow fruit is visible inside the blue bowl in the wrist camera. I’m withdrawing and moving over the next yellow fruit, which remains on the table in front of the bowls.\"}",
  "call_id": "call_XbiIebvvvX5eYuyPNvRgCYx4",
  "id": "fc_08348a0f28bdddaa016ab41e87e53487d098eff2c09976724d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XbiIebvvvX5eYuyPNvRgCYx4",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6144, -0.4496, -0.0139, -0.0307, 0.9992, 0.7326, 1.6379, 1.2942, -0.7479, 0.4229, 0.3595, 0.9966]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1651 left_yaw=-0.0003 left_pitch=-0.0812 left_roll=0.0011 left_gripper=0.9992 right_x=0.3398 right_y=0.213 right_z=0.1443 right_yaw=0.1328 right_pitch=-0.3896 right_roll=-0.1771 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.2103, 6.9812, 1.7753, -0.0366, -0.0562, -0.0171, 0.212, -9.1145, 5.641, 1.0672, 0.4615, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc001b722e6479e42362a8d84ce04eb9366cdfc498f96f447be634f85c13327",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2533899a572a3df8cd5469b66ab7dbb047c2841aa3ebd4c99ab086221f7400f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:853ab6d6a747ab3b22ca95b8569aae96d424383af92c280ed9115576d6f8e6d8",
      "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]: [-0.0219, 0.8135, 0.6144, -0.4339, -0.0139, -0.0307, 0.9992, 0.5213, 1.8023, 1.256, -0.4301, 0.3614, 0.2008, 0.7397]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1684 left_yaw=-0.0003 left_pitch=-0.0648 left_roll=0.0008 left_gripper=0.9992 right_x=0.422 right_y=0.1745 right_z=0.0981 right_yaw=0.0818 right_pitch=-0.3314 right_roll=-0.169 right_gripper=0.7397\nstate[joint_eff]: [-0.3487, -1.3333, 7.241, 1.7265, -0.0464, -0.0073, -0.0122, -0.3214, -12.1504, 6.612, 1.6874, 0.2369, 0.0757, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4435, -0.0139, -0.0307, 0.9992, 0.5213, 1.9152, 1.3827, -0.4984, 0.3424, 0.1905, 0.9959]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0003 left_pitch=-0.0744 left_roll=0.001 left_gripper=0.9992 right_x=0.4372 right_y=0.1868 right_z=0.0851 right_yaw=0.0947 right_pitch=-0.3887 right_roll=-0.1845 right_gripper=0.9959\nstate[joint_eff]: [-0.335, -1.265, 6.9812, 1.6679, -0.0659, -0.0708, -0.0122, -0.1709, -10.2222, 6.5162, 1.2186, 0.2027, 0.0757, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6144, -0.4496, -0.0139, -0.0307, 0.9992, 0.7326, 1.6379, 1.2942, -0.7479, 0.4229, 0.3595, 0.9966]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1651 left_yaw=-0.0003 left_pitch=-0.0812 left_roll=0.0011 left_gripper=0.9992 right_x=0.3398 right_y=0.213 right_z=0.1443 right_yaw=0.1328 right_pitch=-0.3896 right_roll=-0.1771 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.2103, 6.9812, 1.7753, -0.0366, -0.0562, -0.0171, 0.212, -9.1145, 5.641, 1.0672, 0.4615, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc001b722e6479e42362a8d84ce04eb9366cdfc498f96f447be634f85c13327",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2533899a572a3df8cd5469b66ab7dbb047c2841aa3ebd4c99ab086221f7400f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:853ab6d6a747ab3b22ca95b8569aae96d424383af92c280ed9115576d6f8e6d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6Nimab211AhkA5yqblY3aDBayNpylZDgQc-lttmoqIDdAJnhXzWEQx2jKIOx9ii5GBq9DBaEMR52a2XjRt7YdK6Me8xGwIrEu9hbWylwlLsGuIy2gJHlwNo3ghIxTCrTiQRsQceYV6RZ5hPPRsG0NuZF0I9rYDzt0vdoWRL72IHnO0cXLAnEGICQHa2l1opABFPnpXqSPwkvFFvXMf6NfOI15sCDaGIddNcUErajHCDof1Mddbu67upQjwHfl67dtrdkzNRWwGhtU6xFOaXhRTUL0WRoeNjpP1aiOIz-ov295JG8iNLvTuWcPMKyAIVEAzjCC1m2cbBUftPTuLdJ0ncZaNknQvGvt03CX8pR1N-cBplvXnZKSGnQkfT57O088910uZeCqeErG7xSj13LFFC8d90UzHe0LMylxDrwDRJQmodwPOiKA2vZsyV6Bl4tZ_7OHUNdwmw814D-WtmpblutX_Llo7Uvaw4CHYpeAr3k2V0rR8-E_dYWxQab7nmi1ZkUAumzTdwff_FH8al6j7ZABSyduqv9aiAtGkrbi5hx8Pv4iB6mMjAGevOT3-V-vATbSFQLlAVT9WO0DAdeF0i64vqoLW_zj7xSnxMxlhMmFa0aROH6Zybu-a5n-gwaLUwxDAsJ56NqznlG3h6jf5egAFjO777ClbKbZmv3jKBRqH8XAq1EYsKSrCYWQ0eZRxYoaUxrqnz2Au_ArPQz4X64yf4nSnWBaoJ9hfW0uhqTgURyu7jYVsY53FN6AdajQLKKRsPlzxI2gXkq7nZVZPkheG9uMVfGZNrmPv6Qus3AUIkIkvab1pAXbZ6-W9UIx83SeNAgnYXOA8F2JVbncxP0HWhpu9k06iotHPg0yITMRhsb_GmJPq7VuhPYgin0_c11Ujq8t7mC_M4q9wOOQ2butuVjWSVyvGeFyGCXoktFe89KE7uUvpf_4iOXzViuLGSdDRmQ52JPflWU9Ny4vVA7nJpOlJ85e54VDCu3fNDdPXjiq9xfTZCHeA-2jRxvT3OcE4RMPiUIIsjqT9InPWI3zfChdFkrohR-lhrF1IXrM9VnAoyURjRBwFBBxOv-cesIr9uzCTmPfPhrZMU8HG6jRnSkSv8alvDGl7oIgLk4qf8K5_XLVQojYB_swBq0a9_5H9Z43glE746tt6Rn2GUtWGVW2806QrVKELhx96BiaAML2GXo5MzNDl4MMoP1OfAWQBA-2OXMzhhBYJuZt6qNK0tKAZjBLszBzEJlpray1ztQ-8CUkCblAU3_pINXSz0EeRlTYtfd6kmvy02lIoxp5rGLAxDVFkSU8XHaDlMsLx4CTzC_tdSQzMJuXem_wWKhijeifduoY7GQ-Zo4qybOJlCaydGRkHfLZ-3--3vmyXDgneXd6Wywg6HcMtSEYrscua1AmMI-QWCwsTJLu80EuWgSQCrkXMtpC1WZQVCYQEU_aBCFgW1G_LLEErL_bZ2FWn5pD8hyXLWf8DFsQN7ZaH8RqgjH6Cq0TC_9XrqohIAXnyvxKaZmu0AtjuzY7oiksxZJ9lKEUTxXj8PawzB4txCCOm4LDqLYe1zEEb69R4A6nrjBxpFG8dSYYJk-Bem487YbkqmSD8dEYrTw5xjQGN46pfPqCcLCJXUC_p-eqNWpITb1063M23Di_7_grEQJLB9skVKo97czuVU5bu9huRM2VSp3mY8PnRcpSkxYzr_FOMNzd5FpMUFb-eKdQzkmsGCZaV_KpPlb65-Dl3XMft8su-T2sWSnvp20Z0VzXOSKRXuYNXAQ_YWKCq4Q9x-YFxOcbQKAuSW3YNG-DPahUQLp5VN6Fs4gd8HTne_vt-zQ0KrPi8SQZXd3GnuEwZCdJQbuUBbcZPEGrg8nd5BqfrW0O-1tK3N8Bw11xL9zu-UDeihvQxh8_N9wDMIGQo6KFFkCm0FqkfIE8f-owcydwbGJkMmdmLyPz4Dsv-lIw=",
  "id": "rs_08348a0f28bdddaa016ab41e8b806087d0a0b7788e7e8c28b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.26,\"right_z\":0.065},\"note\":\"The yellow fruit sits left of the right wrist camera’s jaw column, with the first fruit now clearly resting in the blue bowl. I’m shifting left and descending toward the yellow fruit’s middle.\"}",
  "call_id": "call_uV4br3N2XwD3o7Lh2DeWbLTv",
  "id": "fc_08348a0f28bdddaa016ab41e8d2ea087d0be058ad9a8d6c7df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uV4br3N2XwD3o7Lh2DeWbLTv",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6144, -0.4507, -0.0139, -0.0307, 0.9992, 0.8333, 1.816, 1.2129, -0.5694, 0.4496, 0.4362, 0.9966]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0003 left_pitch=-0.0824 left_roll=0.0011 left_gripper=0.9992 right_x=0.329 right_y=0.2533 right_z=0.0675 right_yaw=0.1485 right_pitch=-0.4316 right_roll=-0.2041 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.3333, 6.9812, 1.6728, -0.0464, -0.0464, -0.0122, 0.253, -8.4308, 5.4359, 1.0867, 0.4029, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0d7530e9ba585c3ac2b3994edfeedc5378f0a786af694edd3d840ee80dfff34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c92a76543622151846765415d3156da18f51e16480e54bcbdcdc42068fec84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cdd9053f5e112510876806b82403d36ae4b16240a37b160751e8db161ceea20",
      "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]: [-0.0219, 0.8135, 0.6144, -0.4423, -0.0139, -0.0307, 0.9992, 0.5213, 1.9152, 1.3834, -0.4942, 0.3492, 0.1963, 0.7397]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1667 left_yaw=-0.0003 left_pitch=-0.0732 left_roll=0.0009 left_gripper=0.9992 right_x=0.4385 right_y=0.1863 right_z=0.0862 right_yaw=0.0866 right_pitch=-0.3812 right_roll=-0.1844 right_gripper=0.7397\nstate[joint_eff]: [-0.1436, -1.0325, 7.0085, 1.7607, -0.0562, -0.0659, -0.0122, -0.4581, -9.8667, 9.347, 1.4676, 0.2222, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6144, -0.4496, -0.0139, -0.0307, 0.9992, 0.7326, 1.6379, 1.2942, -0.7479, 0.4229, 0.3595, 0.9966]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1651 left_yaw=-0.0003 left_pitch=-0.0812 left_roll=0.0011 left_gripper=0.9992 right_x=0.3398 right_y=0.213 right_z=0.1443 right_yaw=0.1328 right_pitch=-0.3896 right_roll=-0.1771 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.2103, 6.9812, 1.7753, -0.0366, -0.0562, -0.0171, 0.212, -9.1145, 5.641, 1.0672, 0.4615, 0.1392, 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]: [-0.0219, 0.8143, 0.6144, -0.4507, -0.0139, -0.0307, 0.9992, 0.8333, 1.816, 1.2129, -0.5694, 0.4496, 0.4362, 0.9966]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0003 left_pitch=-0.0824 left_roll=0.0011 left_gripper=0.9992 right_x=0.329 right_y=0.2533 right_z=0.0675 right_yaw=0.1485 right_pitch=-0.4316 right_roll=-0.2041 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.3333, 6.9812, 1.6728, -0.0464, -0.0464, -0.0122, 0.253, -8.4308, 5.4359, 1.0867, 0.4029, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0d7530e9ba585c3ac2b3994edfeedc5378f0a786af694edd3d840ee80dfff34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c92a76543622151846765415d3156da18f51e16480e54bcbdcdc42068fec84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cdd9053f5e112510876806b82403d36ae4b16240a37b160751e8db161ceea20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6RF9kl_MK4F_1QX6V-fvqE3OsW_d2uQ_3_g4RC8GtVp2kBzPCZppULxIX_steg6USyuB-yhb698e978aqU0CNzyk-eb1lyXRnGWASxcN9XWR0luZUUm8SJynaNhUUeMGAtr6XFv8ziYi4QuE_ujJ6Ehnqywov2kfHQNxm1qOeVLKUxun16SF0ZaX7oHNY7zDgH9CMfK-5urUUiOrJjMgIMBKvbsKTpBgrXbItvPRDdbSgMHP8ufzBsknafz7LNLBMR7ojTizI65SONYLq-Dbp-I8pJiqcQvlCNmaYPwjQTi0gwnOxLOb7huzVl7e39Am7PzymiwV3MbT1dLRS24G3u5WgWJC-RgJVmVlpTwb1d9oCMlv0aeun2UrF7WLNNOb4Nsd8QewQEJuWDPb-KsqfoXpmZADVh03oR7OHV08j0MwEqIHsB91vzrYFrq_x9ZskOG7uipQyQvY4EPEmVAIfRR2H2fLQH9cJhNi0ZmmDi3GLxF080_GRoG4yi-hZDxaxm9wZSc_fgozquagaVyklFZ8v_Or2LM1g-a9AzJz-NyPVClI5f3PEzhJHO5H8UJcbdUifOii75AX1v7lsepxwj-p6dV46A4JJCArMn0y2_h1DZ8YFVHdzXkXvDrMVm_AaWss2o-CzALIdRB8BOyXXS7gL-ZOLw51Fb8k72jb71BSW1oybG-FjZjOC4X0mJtbnIqVDtdz1gFgokfvBGCXD8xzbsvihAjD-sGyuYT6ilOsrgpWb-cCy-rko6iAg3OXwHU2P3qaoDkqEYsEuEDM5rF4KUsOHbye1awjfAvA2EKEHJ-QBrU_4lTxA3PanoenvkbRF3EB_u62OTpN_m7feMMqs77_2S12t28UCnmG-fnHzAIPqz4Sk-VJEwJTNeImM5SDzm0Si5iBjFuXgP-H0G9ALoaMSksK_kdyYxbDL_nWc5cRsTMXwEQRz-jyL3GnuEcpsIkXoLoFhDIX7zcUnP52YcLFtML2uSHuh9GUJC3dANXTPgHMleua6nFEwWUkz2EwkDcqbLqjccRkjdWMY7plUxraQYnDX4TllCHOM8z8N3L6wpCV4Pt4RNguI2-4xbF4RXTmeRAnYEfAm1drDwD7p3NrEhGxUkVKrsCXSgA_enzIkGfyt8eUyq6Gx2AxKRqLB8OgiQRUqTOwhqR1ZzLDSM6m9Zh1p7vC1ifkavvQOFz40UO7i59o0EuDd9SiGKsAQRCWkiK61SCrrTOMHGJoChuhYtIwmvIJOWMZf_xbbOnhen-nMZNuh-Aed_e1-WUjGc4N9a_NenBB_6qlN8MMUOcjRfSs9co_9yhWgPM-8PPsnKx3nfpNV6svnm1l82-YN3W1ZN4_o9YdCU2nT_aiR8Xqi6bgj9-H-eIuuUeiyGoqTmYrPGn2NwUDXuKK9J4JGu-MsKyKLndGUmsbHL_-4nUXGfU8FuWTpCP0PgOWVpbSkv4BhWKMCfDB8dcx-cjDyGMa9aWl8RGU7bmaa4jMb40n_ARtyB9Ss2hOhK4CF3FVK4Fjetto3bAw8IDda2PbqJKBj41WBQOF_1Y-u7TQ==",
  "id": "rs_08348a0f28bdddaa016ab41e8fcdac87d089374e3fa3ca2718",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.012},\"note\":\"The yellow fruit is now centred on the jaw column and fills the lower part of the wrist view. I’ll lower the jaws to table height for a side grasp.\"}",
  "call_id": "call_3ybNAND28g1ILMZfX2GcbigX",
  "id": "fc_08348a0f28bdddaa016ab41e90949887d080c9330f82ca8c6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3ybNAND28g1ILMZfX2GcbigX",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6144, -0.4519, -0.0139, -0.0307, 0.9992, 0.8349, 1.8973, 1.1076, -0.4175, 0.4477, 0.4374, 0.9966]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1646 left_yaw=-0.0003 left_pitch=-0.0835 left_roll=0.0012 left_gripper=0.9992 right_x=0.3234 right_y=0.2485 right_z=0.0161 right_yaw=0.1402 right_pitch=-0.4593 right_roll=-0.2264 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.3333, 6.9812, 1.6581, -0.0317, -0.0464, -0.0171, -0.3487, -9.1009, 5.8051, 1.0818, 0.1685, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bc95310604d85492fa6a0c12e20175bff8ffec87bd01366adca1d475e8c9a20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d209894701a6f332eae96114808a5626a209916cdd862659a97e9281c668f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2f0e37ddb6df750fcd0067c8c6f85ce620db2e59a1265dc1be17becf2071275",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6144, -0.4435, -0.0139, -0.0307, 0.9992, 0.5213, 1.9152, 1.3827, -0.4984, 0.3424, 0.1905, 0.9959]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0003 left_pitch=-0.0744 left_roll=0.001 left_gripper=0.9992 right_x=0.4372 right_y=0.1868 right_z=0.0851 right_yaw=0.0947 right_pitch=-0.3887 right_roll=-0.1845 right_gripper=0.9959\nstate[joint_eff]: [-0.335, -1.265, 6.9812, 1.6679, -0.0659, -0.0708, -0.0122, -0.1709, -10.2222, 6.5162, 1.2186, 0.2027, 0.0757, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6144, -0.4507, -0.0139, -0.0307, 0.9992, 0.8333, 1.816, 1.2129, -0.5694, 0.4496, 0.4362, 0.9966]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0003 left_pitch=-0.0824 left_roll=0.0011 left_gripper=0.9992 right_x=0.329 right_y=0.2533 right_z=0.0675 right_yaw=0.1485 right_pitch=-0.4316 right_roll=-0.2041 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.3333, 6.9812, 1.6728, -0.0464, -0.0464, -0.0122, 0.253, -8.4308, 5.4359, 1.0867, 0.4029, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6144, -0.4519, -0.0139, -0.0307, 0.9992, 0.8349, 1.8973, 1.1076, -0.4175, 0.4477, 0.4374, 0.9966]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1646 left_yaw=-0.0003 left_pitch=-0.0835 left_roll=0.0012 left_gripper=0.9992 right_x=0.3234 right_y=0.2485 right_z=0.0161 right_yaw=0.1402 right_pitch=-0.4593 right_roll=-0.2264 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.3333, 6.9812, 1.6581, -0.0317, -0.0464, -0.0171, -0.3487, -9.1009, 5.8051, 1.0818, 0.1685, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bc95310604d85492fa6a0c12e20175bff8ffec87bd01366adca1d475e8c9a20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d209894701a6f332eae96114808a5626a209916cdd862659a97e9281c668f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2f0e37ddb6df750fcd0067c8c6f85ce620db2e59a1265dc1be17becf2071275",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6VBA-8c3wjcfPMe2_FeufQpM8EMFi9xMZoyCnTCEB7-v5JzGJCMjEyKVnfsfSzuGxbdWaKj7e5LC6WgzIlXkMeDQGAjiiIl-wWWeT_1aE7cquujL3qq5RR9tTDcKfnyggBcRyEQnPc8TGUL94XL1V7NJTU_hQbNNMBReGiXRx7doiNYahBwhFG9gu3XUM7bq0zMyFPm9Lqcp7Ul_-WZ1Mr5232jU9VL6N37I1K-CorFtE-BObJMTL36mIacnLk4Pq7ZLqH6pqRBwsV0vn0g2MW-eL02PXqtd98F1U7yK0gryjf_tpXpi0f_yc-UbELfnYmyvkKx1m16v-j4wp8TlfBlMPn6mTBUOmp-cuH709pGWmBI700r2Yw3mcD5EgaDKBchsXKnERWimweXB-_McQCgb4g7_KEXwY3ulxMitJby_9vwfCH0pGWj1cSZdRoa-g6W6Yg6gWHq8sdwY1oHg9EvIrNxhdm8xTeSqV28llVnFrONBczy33LcPRvDOo_rrwXZA7_MO2pj4Fhh5-9f9j1DhkJITax0TsMBCzXNmGnxYD-4KdEGtf0G7z9s2AWnzk31TFbv4DJvr5SUO-iWKLQ0ujDQlmb9ofwNak8YWlf15GHQzbbDid-dDkndgQJo2IY1BIlYDYyhrn0BrK--XDdY4k-wxx-DqrPHWWAwRQnuufXpd1UYsq8mE9oJhlsefXSZ7MGV9sr8M29qLO_tQOowEnr19D55HUkvul0BdZWwa5Z4D0jyw5HLlar372gnnZ9YK8di2ycsXTkJX4DhhNkUNL0urjEc8yMo8e30pTFEFddy_MRXu3_vPftDU1A2u0FHkoLPMXDISUxCdf7Rn3huhv-VlUMlwMtG7u46M-LixcVUhx4fauxhzWqHH9QL3Fp-BKxEKawfzsNHr62I-H9z6hdzTyU6fz_AmRfhCeluRmy7fvV3R3yKfQnK8ePIzEBkjB-oUmyVedAXsB90bhiZmpS3uHPcEvpBW317i2qfiOx6eySoche5D3unW-Dg-nT1b5ay-jr1LzkrSNsgnsgrqhr-ekXg48zpFC6wLg1bChT_Yy07S2KPZ-Gtx_GcYhOnurRId6rLqHTZWtCJGuC6JkJ6Din98lw-33PNBXrfQNVsdT4PhDU05LEpeO7o8N4-QYHzaqyNT6OCf8v29jQ7FbxaPQO48xIVNkR6UgCKMW5BJxfW-GM1m--W2LccKnsbamWYfEHu2igYTGAQ9rxrOBjrifrRA9qnuY7jYK-5oQ=",
  "id": "rs_08348a0f28bdddaa016ab41e93ac4887d091a0f3cdc44bf3e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are down beside the centred yellow fruit. I’m closing on it, then I’ll lift to confirm the grasp.\"}",
  "call_id": "call_6V07TAoREoIuSHgyw9ArkGbm",
  "id": "fc_08348a0f28bdddaa016ab41e940b9c87d0bb0f6f0318da6a29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6V07TAoREoIuSHgyw9ArkGbm",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6144, -0.4538, -0.0139, -0.0307, 0.9992, 0.8349, 1.9106, 1.0969, -0.3698, 0.4404, 0.4301, 0.5854]\nstate[eef_state]: left_x=0.2869 left_y=-0.0002 left_z=0.1642 left_yaw=-0.0003 left_pitch=-0.0858 left_roll=0.0012 left_gripper=0.9992 right_x=0.3261 right_y=0.2532 right_z=0.0113 right_yaw=0.1569 right_pitch=-0.4462 right_roll=-0.2081 right_gripper=0.5854\nstate[joint_eff]: [-0.3214, -1.347, 6.9812, 1.7118, -0.0464, -0.0464, -0.0122, -0.212, -9.1556, 5.3949, 1.1062, 0.2418, 0.022, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56bc971628aaf31ce3684bde925150b6a4171a6ce0d378eb33e53d9367d5a7cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d75a0f532f2212e7eb777c5b019bf450e455afa4e58e5c7f97a64c9f595e2af6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3903f709417606cb544af6ee7aca55498888dab9b7b08f4b1db670d73e2b3ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6144, -0.4496, -0.0139, -0.0307, 0.9992, 0.7326, 1.6379, 1.2942, -0.7479, 0.4229, 0.3595, 0.9966]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1651 left_yaw=-0.0003 left_pitch=-0.0812 left_roll=0.0011 left_gripper=0.9992 right_x=0.3398 right_y=0.213 right_z=0.1443 right_yaw=0.1328 right_pitch=-0.3896 right_roll=-0.1771 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.2103, 6.9812, 1.7753, -0.0366, -0.0562, -0.0171, 0.212, -9.1145, 5.641, 1.0672, 0.4615, 0.1392, 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]: [-0.0219, 0.8143, 0.6144, -0.4519, -0.0139, -0.0307, 0.9992, 0.8349, 1.8973, 1.1076, -0.4175, 0.4477, 0.4374, 0.9966]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1646 left_yaw=-0.0003 left_pitch=-0.0835 left_roll=0.0012 left_gripper=0.9992 right_x=0.3234 right_y=0.2485 right_z=0.0161 right_yaw=0.1402 right_pitch=-0.4593 right_roll=-0.2264 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.3333, 6.9812, 1.6581, -0.0317, -0.0464, -0.0171, -0.3487, -9.1009, 5.8051, 1.0818, 0.1685, -0.0269, -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]: [-0.0219, 0.8146, 0.6144, -0.4538, -0.0139, -0.0307, 0.9992, 0.8349, 1.9106, 1.0969, -0.3698, 0.4404, 0.4301, 0.5854]\nstate[eef_state]: left_x=0.2869 left_y=-0.0002 left_z=0.1642 left_yaw=-0.0003 left_pitch=-0.0858 left_roll=0.0012 left_gripper=0.9992 right_x=0.3261 right_y=0.2532 right_z=0.0113 right_yaw=0.1569 right_pitch=-0.4462 right_roll=-0.2081 right_gripper=0.5854\nstate[joint_eff]: [-0.3214, -1.347, 6.9812, 1.7118, -0.0464, -0.0464, -0.0122, -0.212, -9.1556, 5.3949, 1.1062, 0.2418, 0.022, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56bc971628aaf31ce3684bde925150b6a4171a6ce0d378eb33e53d9367d5a7cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d75a0f532f2212e7eb777c5b019bf450e455afa4e58e5c7f97a64c9f595e2af6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3903f709417606cb544af6ee7aca55498888dab9b7b08f4b1db670d73e2b3ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6YkjZHyrskzhwL1HbjsbXxXtA_Y5dXGu7KJpavZ9aWEHyzdMaT8XPm3MtoQqxXWUOxIyWaO-x1Oy1AGCC7W-ny6Zu-pzzJr5piE6KiweyXAhvcSzFBuFVKS7PZ5EPkamiLcQcu_OayIvGk8E_bFI2BMWwL9_xcOl4GYKw1Ezyh2g2-swB4xvZF_dYa4QsyXTQuLmq9kPMNFA0Tp0vb29416Ot8R-T4h32wZtWJ3cZVA4CI9LAzLvj7ea-LZ4LHgXVH7_yaU781QQI9ifmzjo_bHS0WJN1_bZjrPpjMgAYPBVydbsNAt__xMDZnz-o3n0-kLGcAGkDCxjEl48X5-CS9cSWabZit3qZzy939CLikiCGWmBAJ1SCKUPZBCPFYHwM3Gyj-rh8y12rpZ93gxYTTf2Ur5PlG9SS_MCT-CvCmYIeZb14ehGH8ojRKJX8qIy4Djue2WM2XSalmpxK40U9s1Sy8Z57spep_1uDZfIgw5uak5z3pwErTg9KHU45rAOOYlcsC-YA-lwYVA_KgMbvCYXtgc0qhJt1BcanSFT1TG-lh8_Q_R0AmVHcwhTHV1VHdAY8jrYCgmXsQS4jRjlUcoZzOck8SLro7S1ZJTV6j5H1lsu4rQo_lqxwEtDuCi4Ygn1deyBVJcN7gCb6uUUWiqYVnv5QrchS4VXNaHCxcwBcwudxn8-FtpCVy6fx-QV607uE0RQFV58mMPMFWzLn1rlfB0A3iO4kvHVRKiCP1LNT9BeCMdjwFEWhkgIXTMrXi5N2oLovmf4MsKfxrurPLgiJUgcVUgD3UiwTj6fJcALz0ztvXZB8RMQd7pOd-k5s0BkzowGECJJMG4LlHEgK2iPaVGqJEYCvXZ-52oWttmxMELBx8xE7AqQ5NyaC7y8rNamS2YPY-G-xzbQjw6jQaL-vEnzGywd6UCU8bF9s1QrtDVwv1v1cvVNAa_UKNisuUACtoDC4FpXmaJuT-KdT_jdth8-N56nYRbP0vOaS3YO7appYYsieOH3YCXsR8GBo-34KAdrobKK4V56butjlLHSi2HsbrWjkX4UxqKHZHy1XovonkF9PTtGXVn1J6M99hU9jzTwB2mWBk3IFQlsBr1RO09ww0xn95YBqlvtFzsVIRom_ZFqCn5pEW3pX8qwgW_sfZHCWd0QQVfGrsC5O11zzmln6i7QgaZDFbf8Y4QWpc94XEYnf7aYdKDHFFnSOElc5FMywYdkARSAGyinOlsw==",
  "id": "rs_08348a0f28bdddaa016ab41e97289887d0b59b889f84a5c6c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The gripper settled around a fruit-sized width rather than closing empty. I’m lifting the yellow fruit to make sure it comes off the table.\"}",
  "call_id": "call_nRL3lFHaMgyU3LJW3hk5QLlC",
  "id": "fc_08348a0f28bdddaa016ab41e975e6887d0aef34a3aadf1983a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nRL3lFHaMgyU3LJW3hk5QLlC",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6144, -0.4679, -0.0139, -0.0307, 0.9992, 0.8356, 1.8137, 1.2633, -0.6353, 0.4328, 0.4267, 0.5859]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1614 left_yaw=-0.0002 left_pitch=-0.0999 left_roll=0.0015 left_gripper=0.9992 right_x=0.3274 right_y=0.2569 right_z=0.0778 right_yaw=0.1645 right_pitch=-0.4528 right_roll=-0.2056 right_gripper=0.5859\nstate[joint_eff]: [-0.335, -1.306, 6.9812, 1.8242, -0.0562, -0.0464, -0.0122, -0.1573, -10.7145, 7.8017, 0.8278, 0.2613, 0.0122, 0.6667]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f5cb2c041c5103df060ecb8c96e4b48cac05e875823d7588ed1ee8c75d883f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fc27822abac62d6134a859b44a6a07cb8775408bfbde990d74e777f9a003954",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5954e6a296e17417913339fe1c8442c3474c45211c5ecb634185d4b3bb74532f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6144, -0.4507, -0.0139, -0.0307, 0.9992, 0.8333, 1.816, 1.2129, -0.5694, 0.4496, 0.4362, 0.9966]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1649 left_yaw=-0.0003 left_pitch=-0.0824 left_roll=0.0011 left_gripper=0.9992 right_x=0.329 right_y=0.2533 right_z=0.0675 right_yaw=0.1485 right_pitch=-0.4316 right_roll=-0.2041 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.3333, 6.9812, 1.6728, -0.0464, -0.0464, -0.0122, 0.253, -8.4308, 5.4359, 1.0867, 0.4029, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6144, -0.4538, -0.0139, -0.0307, 0.9992, 0.8349, 1.9106, 1.0969, -0.3698, 0.4404, 0.4301, 0.5854]\nstate[eef_state]: left_x=0.2869 left_y=-0.0002 left_z=0.1642 left_yaw=-0.0003 left_pitch=-0.0858 left_roll=0.0012 left_gripper=0.9992 right_x=0.3261 right_y=0.2532 right_z=0.0113 right_yaw=0.1569 right_pitch=-0.4462 right_roll=-0.2081 right_gripper=0.5854\nstate[joint_eff]: [-0.3214, -1.347, 6.9812, 1.7118, -0.0464, -0.0464, -0.0122, -0.212, -9.1556, 5.3949, 1.1062, 0.2418, 0.022, 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]: [-0.0219, 0.8146, 0.6144, -0.4679, -0.0139, -0.0307, 0.9992, 0.8356, 1.8137, 1.2633, -0.6353, 0.4328, 0.4267, 0.5859]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1614 left_yaw=-0.0002 left_pitch=-0.0999 left_roll=0.0015 left_gripper=0.9992 right_x=0.3274 right_y=0.2569 right_z=0.0778 right_yaw=0.1645 right_pitch=-0.4528 right_roll=-0.2056 right_gripper=0.5859\nstate[joint_eff]: [-0.335, -1.306, 6.9812, 1.8242, -0.0562, -0.0464, -0.0122, -0.1573, -10.7145, 7.8017, 0.8278, 0.2613, 0.0122, 0.6667]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f5cb2c041c5103df060ecb8c96e4b48cac05e875823d7588ed1ee8c75d883f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fc27822abac62d6134a859b44a6a07cb8775408bfbde990d74e777f9a003954",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5954e6a296e17417913339fe1c8442c3474c45211c5ecb634185d4b3bb74532f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6c2QvTpN7AQdYP1gfEMULLFpAcJ8zVSVVZLmxVanPwtgRlKzWFhl_NhBhd7-qnJWibr1q6h8c7YtjWYn328KUcbnHm7ncw6KHYacL-H3Y1pabGALoKtXiiAFKVqXnbCbkaW89Yjb1N_5BTxtRi6TO-TYiORITelEOn00asYfmRMojBFf_aV3yZNW6iJpA6zpu4hvlMYMbZk-zijmRtZW4A8C5zlAh1xlctn2wtg6RQcjEVfYFSVf_b9-ydbxf-XB24GJAwLSFw0ZNbT9Ioy7MuDJBykfaw0F-n-C5e2QL4EBrUDzdpCROehHiuYbDZmLSTAJaMSlYatmmlmTgduK8pMg-CqzTpapAbofgmWpgPhYCQP29VKCn4VtnhZcRq5AJow1zfIJP6ZNzLur_Ikhk6nHrrlg-v00OQnU6FM11PiVm2IR94ulfilU7soJt3kmmSc6eHGq7RyVAt9MGodtRmELfSm0L-fl_W7XjQYpvUg2i9b5F1Kz6Ae7dMGfWwyeJnR1vo2452SG4vYOYOqyKqPv5BZAJAruezchk4qY_35L0xHW2WR8MK2YGYc1Pud52fI3yIaDoWBdP2sSrEynKqR2GR5FP_gYV8JYnKAzQf7pxqEY0ar3h4mRmv9IgaLZeM9uYZu3Zt4x2OUbmuFpNDXDR7RmVSA3MWdEGGVl10R4M9IDHHMwdZJ8O6lup_pW0hgHDkcKE4ZPqSdVKdgDshcB3BRiNyUN80uR-OBVBukCeTPTgJmgG5yywjeFEKd_TB1_ot3b4Um_nizos_8lFoHeDLPiFbprumYPHL-PxKm8lVrVYLmzDqfUR43NVAxmMAauo-7BiRDbvdyyM-akKDjzyvDqM1Qi3Jo-8NjFhN0HEpZa-1feiOFArl0ogmoMa6vmsFBK1a7PTlvZ3hBr6ssHJSaVWnxWxT6dJcaDDXs9lpf1eBGSfhMLQPq4YmJmjPL8PUKe_ijKOwmu9dva-UGUxnIvs0AnfdQ3BdobqTwNOnRkSGuyxUXKY-xWjtlqW_4MRQ3zah3NabUO0XB_E1rWuJ26hbhxrK96sOhtzfHKbUd0VPJusTBn_myUQE69HJiG4_g21JGwSNPD2GROIaODruefgtokhwa0C-EC8V6qyJOBsBFnwqkEKeWfdSg8qWTJv4IbGex5uMigX5FGK_v2DVR7dt_-R-qdvtDvgCAZ79mxdGJoCMZg7uodZvdquyw-okms3s0LnKOAcZAasl6PyqDAChpBNwpwntnIPa0PMhkci9-rBESTXcVx8auTZjKPntUVeySQ2WjVRcU1cJVT--TyKy207gHKo4Q6FvdTJLLpF1PdX8yJSffOIJWgdTy_x04l11EMOYk8GDvqDEFXuLFHPu_TGcRGji6WELKCN1NBNSYQflrHcgHcmVX2BMn5LPEJ_rh44-iCdTX8viTbk1y8HRpUt9Kn7TGytHZ_Wx31L_mf4o54bzdmHK3hEumz0tuCzYYhtPm2D1994x1RqpIDW4Ig5aqROKPO4oqoN8RoJPix4wpXPuM3VJoxKq2wEBaFeDI8co5O3ZnEGUeYjZQ8uoYysrACBdEJYgP6PirbjXE0p2w_9PKqtCwHrJADmQ0ieE8w6yYAIe2djw2n5-Bv2JMaaKIDYzi_NhGr1fY_FYFg9UuvAOT1r7tS1sfk_WN_N-e-cm9j1WXtHnwCT7V_3PLbR1obGrLh7JFQXJ01QPCCvtOFsNN_LeoYUoXfM6dJ7AB6-YrnQ_LhiXvxcgZPmqe-Elb_V6jjDRTTNcIygnSqbqc7MDyGTZqA4XW5EZb6WCknvqTXA8SiJOX-DlIa0z3gbuf-naCrQDWFfEKYCkKAkqj0Dw4-Wnwcwy0_XScWT2SgJfHGL4WXMk3-6B4ambt9-68gVR9NOn3QbYjs83B-rlSLMrO5i5FwSV5LgwzREhokjppiPAUKJSLRoik6NBZVOhR2gneYyP1VngweiUnP52P0IG_CJ4I6hF-0vFvIZbP_stqvqnXio2pYMFCfo2BaHBzgKuO0QvVbZYVOCxmsi3XjGNT8LPTkdqR19PuBE0v8_cOP86K3NFAgDW2mh6MTkV_cKzjrrH5t4nlU8-YxO2RHQ6ECFHw5HSpSnlSYErt8kTp1ohRFqvJj7Jz_dTeJsBWactMFhvdsx9d-2LGj22ICNCAFuzFnVZbB1zXpiqnobudLtlLxD_1wACeJT41lQDuSoZdydnu-MURHUfKLfh6yg9pRrUc1Eq0-kXO2ii1oCSNwPg2pLpbQaa9re4aOir_pkzRoZvrOo=",
  "id": "rs_08348a0f28bdddaa016ab41e99968887d0bb12730c8b723628",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.215,\"right_z\":0.15},\"note\":\"The yellow fruit rose with the jaws, and the first fruit remains in the blue bowl. I’m carrying the yellow fruit over the open side of the bowl, high enough to clear the fruit already inside.\"}",
  "call_id": "call_BN6gXD1TNwMd7Q6EqjJRKD8H",
  "id": "fc_08348a0f28bdddaa016ab41e9c111c87d0824ebeaeee6ec0b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BN6gXD1TNwMd7Q6EqjJRKD8H",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6144, -0.4759, -0.0139, -0.0307, 0.9992, 0.5591, 2.0006, 1.7626, -0.8646, 0.3153, 0.1635, 0.5885]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0002 left_pitch=-0.1121 left_roll=0.0018 left_gripper=0.9992 right_x=0.4422 right_y=0.2163 right_z=0.1402 right_yaw=0.158 right_pitch=-0.4669 right_roll=-0.2086 right_gripper=0.5885\nstate[joint_eff]: [-0.0889, -1.6479, 6.9675, 1.6825, -0.0806, -0.0171, -0.0122, -0.3487, -10.7282, 8.1573, 0.9792, 0.1245, 0.1245, 0.2613]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03488e8d700f9474430d88d1de07c40d5b4553c74aa2358459fe92b64fea4eee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e51539ec141061620e1263de599d90a341bfd65f4169a765c35b259d8b2147",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c3e39e34fa61d8297f98b5d81a37b3871bddca5f9f4203c1a3c8f8ccaef8af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6144, -0.4519, -0.0139, -0.0307, 0.9992, 0.8349, 1.8973, 1.1076, -0.4175, 0.4477, 0.4374, 0.9966]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1646 left_yaw=-0.0003 left_pitch=-0.0835 left_roll=0.0012 left_gripper=0.9992 right_x=0.3234 right_y=0.2485 right_z=0.0161 right_yaw=0.1402 right_pitch=-0.4593 right_roll=-0.2264 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.3333, 6.9812, 1.6581, -0.0317, -0.0464, -0.0171, -0.3487, -9.1009, 5.8051, 1.0818, 0.1685, -0.0269, -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]: [-0.0219, 0.8146, 0.6144, -0.4679, -0.0139, -0.0307, 0.9992, 0.8356, 1.8137, 1.2633, -0.6353, 0.4328, 0.4267, 0.5859]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1614 left_yaw=-0.0002 left_pitch=-0.0999 left_roll=0.0015 left_gripper=0.9992 right_x=0.3274 right_y=0.2569 right_z=0.0778 right_yaw=0.1645 right_pitch=-0.4528 right_roll=-0.2056 right_gripper=0.5859\nstate[joint_eff]: [-0.335, -1.306, 6.9812, 1.8242, -0.0562, -0.0464, -0.0122, -0.1573, -10.7145, 7.8017, 0.8278, 0.2613, 0.0122, 0.6667]\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]: [-0.0219, 0.8188, 0.6144, -0.4759, -0.0139, -0.0307, 0.9992, 0.5591, 2.0006, 1.7626, -0.8646, 0.3153, 0.1635, 0.5885]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0002 left_pitch=-0.1121 left_roll=0.0018 left_gripper=0.9992 right_x=0.4422 right_y=0.2163 right_z=0.1402 right_yaw=0.158 right_pitch=-0.4669 right_roll=-0.2086 right_gripper=0.5885\nstate[joint_eff]: [-0.0889, -1.6479, 6.9675, 1.6825, -0.0806, -0.0171, -0.0122, -0.3487, -10.7282, 8.1573, 0.9792, 0.1245, 0.1245, 0.2613]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03488e8d700f9474430d88d1de07c40d5b4553c74aa2358459fe92b64fea4eee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e51539ec141061620e1263de599d90a341bfd65f4169a765c35b259d8b2147",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c3e39e34fa61d8297f98b5d81a37b3871bddca5f9f4203c1a3c8f8ccaef8af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6gPudCaE3lsueag4rMbg5vXR6OMZHXW-HEaCBYqfXAWxOGJxAI7dLZl2jplG0GHFItQd4McHEk3gkpv13mCN36PXsMjUzPAmaYPlqvbmtXcjT1kR3hjFhoEkY5-vUcQhCuhEI1mnFHuRf66N6B-hCRAhWlCXgR7tZf_11fhELhjvc146jL4X_JFVMCbWOqoZw4Y2oY9s7VyUztz2iG54BiMQCDVLkcyI1iHp4If-Qu8ljt75xMjznYZod5LrtQCF99ZIYky21oQnkPC4A7lzfN9KPuDhPxp8nsZSPrGFSlgKz2He-vGbmcC5vAevoO2h88mk6z-pzkHkl5cC2-PBUGIddUca_RzKkkW9fRcecYMTdpKcnGEJ1k5OUC9fzTUja0XHioXGVAtC8TMEIBVtu9ZBKOBe6O-MhjrhNvF_LESVEw3AFJ75daaA_gNV0h7VMmQ7kAnVbJp4OhcERW375yhz_j-WQ3lxokqF07VjEj5bQXGJYM13zzLhMwAv56ovn_srO_XvED6ew05AGHR7xq5oRCEJ6AqU-qdid99IgskUZe-x_K-b1nYJNhmluw_z98bUR5EunsTcx33ctv1KIE8rzSTxGv8-Dg_AHJszfJ4M5f5GDzFhV0e2KrdSR_QihyEMGHNDzHXo5c34P0enu0-ojEDsNSrWDXs5ipUlsWtVUBwFT_N9MIR8htmcOshp0kxPFpdmNJJG1Ni8ojt6UEqI-JUYDqI76j882ZO8OtnD3DpV7E73u5bFBKq8G6hP_d63c-JJhLtLzi1oiLXsfmmoZWICaab_1T4rE1uFzQQ3UjQg-a2oycuywhChMYEW3GjYbPh7ugbYk1TjKIXFSEDiDAdhpqR6sM4LvlRHIcf7Qd0fu1X68zSYGf4EWipffaObAVNbXKlBD7oVCdlcqviVwUHFZKKnlXDzmSzS2VtfXVxyhjtgk9bBT6wiGy2YIYEtNK3Qb5UJ1Hp5jSi_IaWuqbTgT89VGFWoQPFHKdDOkTTxk6c1E8ISDGLWsgEYE4kN-RC-iFBKo0S3_3nzcMsVclBjAHv2Oc2jqLu1ANljIOWc74Zo7sQyWOyghLeh0dmt3lqg_ktIMIw5l8vQHEEHsU8Uq-SjB2ffp3dqnN_oaYXik23z8xd2FXbKikJSKtUDaxvg8cfESg536e6j5ElrrkX-oprWriTBIwxkT5FMaksw5WVVfYKzY4x2KvSmC4naIDU1BhGV8QmmlFVtmTGsF_yJYVr-VHGhv89aCdEZBWKslrGwwXBThs9yoJY5Rds3lzRonJQ6sKSLuboRXrG8Iot-GIgrWBJVCm7ww-XcQnRT66BpLBemzO4tm5rnIknjE2_yOpFRgYa7m4tEYLLCJED6zR0GTNch6_iH9qkJDePV-EXqhjSIAYMhz8J74Mh5neCJlyJke7K4md26mjnfCORdWIXKu2qLKl-8_qo4ju3Z_5i4o271bZmqJ-zFsDhAA_XRJj9mYe0ugjROTjYnA4ClnOf9ymHAK6bXH5648S7tX2bwcdjOeFWLLQaPo2Zbqe_UmXn5ZCDrWj8ahnMDHF4Kj9W_cwdb0Tw1AgnLG8GrgHIMCSsSIrFtRGmt14c06e7akeej6nBxxHr3FbLQveWx1Vfr6Zng3pxUy1acf5B_OzjD6x9ETgjZKQgqz-omv55PyGOPZxAupT_lOPEGo0Z68FwfWPMgLJfBaM_jJmrCGuQqRtrz8h-07jW_GEHGiCggnHDq_cRhGm3CDEXew9UtggjWO_munJkMsJw2j0WcdbK0kw-gmL1KLFJAW64LULu1FrbW_OAT0aRpGw3h8gnYumnFsyxIvQ1q_aLybi7irEMrbEfz0DLBibj9kxmJ8ww75zMHaoBijcrPp-kuy7-6tkXdsvaXMW3bs7f53rKfc0x0W3268y0jGA9jHf74MytVf3AFaM7ls7vhJ6agOb2wPKPj3iPjvRnI4jCKcPTbTJ-fEN1ER9qQChF-wQPRvogrIpWbOF42_QhowI-umEfmjWjh2-wBNIeVP6_59jv5jc9IApsrDQBXmTvErd_mgVw50ewQB_NLIVKXKF0g==",
  "id": "rs_08348a0f28bdddaa016ab41e9ef33487d0a0624a13b61953fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The yellow fruit is above the blue bowl, with the first fruit underneath. I’m lowering it a little so it lands inside the bowl rather than dropping from carry height.\"}",
  "call_id": "call_e18ceneodmfTpHNdiyRTJvJ3",
  "id": "fc_08348a0f28bdddaa016ab41ea0580887d0ba6a4a501f4f2180",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e18ceneodmfTpHNdiyRTJvJ3",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6144, -0.4763, -0.0139, -0.0307, 0.9992, 0.5529, 1.998, 1.7035, -0.8143, 0.3126, 0.1486, 0.5907]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0002 left_pitch=-0.1129 left_roll=0.0018 left_gripper=0.9992 right_x=0.4414 right_y=0.2128 right_z=0.1255 right_yaw=0.1618 right_pitch=-0.4753 right_roll=-0.2174 right_gripper=0.5907\nstate[joint_eff]: [-0.253, -1.1419, 6.9538, 1.6874, -0.0464, -0.0269, -0.0122, 0.5402, -10.0308, 5.9692, 1.3455, 0.1245, 0.0904, 0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c30e6cf9bb879e70572a28e1c53cb83b5fdad66417b1732d56696b323d96e91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543434257fb1b343800f12d680bd8db66b6f8c4e104d96327fef45b618a0b8cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:905bfc1971165ec66f6a5100e4b8e4a3ac70bfc639e382b8655cc68dad956152",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6144, -0.4538, -0.0139, -0.0307, 0.9992, 0.8349, 1.9106, 1.0969, -0.3698, 0.4404, 0.4301, 0.5854]\nstate[eef_state]: left_x=0.2869 left_y=-0.0002 left_z=0.1642 left_yaw=-0.0003 left_pitch=-0.0858 left_roll=0.0012 left_gripper=0.9992 right_x=0.3261 right_y=0.2532 right_z=0.0113 right_yaw=0.1569 right_pitch=-0.4462 right_roll=-0.2081 right_gripper=0.5854\nstate[joint_eff]: [-0.3214, -1.347, 6.9812, 1.7118, -0.0464, -0.0464, -0.0122, -0.212, -9.1556, 5.3949, 1.1062, 0.2418, 0.022, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6144, -0.4759, -0.0139, -0.0307, 0.9992, 0.5591, 2.0006, 1.7626, -0.8646, 0.3153, 0.1635, 0.5885]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0002 left_pitch=-0.1121 left_roll=0.0018 left_gripper=0.9992 right_x=0.4422 right_y=0.2163 right_z=0.1402 right_yaw=0.158 right_pitch=-0.4669 right_roll=-0.2086 right_gripper=0.5885\nstate[joint_eff]: [-0.0889, -1.6479, 6.9675, 1.6825, -0.0806, -0.0171, -0.0122, -0.3487, -10.7282, 8.1573, 0.9792, 0.1245, 0.1245, 0.2613]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6144, -0.4763, -0.0139, -0.0307, 0.9992, 0.5529, 1.998, 1.7035, -0.8143, 0.3126, 0.1486, 0.5907]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0002 left_pitch=-0.1129 left_roll=0.0018 left_gripper=0.9992 right_x=0.4414 right_y=0.2128 right_z=0.1255 right_yaw=0.1618 right_pitch=-0.4753 right_roll=-0.2174 right_gripper=0.5907\nstate[joint_eff]: [-0.253, -1.1419, 6.9538, 1.6874, -0.0464, -0.0269, -0.0122, 0.5402, -10.0308, 5.9692, 1.3455, 0.1245, 0.0904, 0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c30e6cf9bb879e70572a28e1c53cb83b5fdad66417b1732d56696b323d96e91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543434257fb1b343800f12d680bd8db66b6f8c4e104d96327fef45b618a0b8cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:905bfc1971165ec66f6a5100e4b8e4a3ac70bfc639e382b8655cc68dad956152",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6jrXdzrEddRsGAKrpIW-OYAOuPiNpvLnQ31ikoYLC3rGl1HDGuuKWq-Oess3h_XT_PG-Q9lt8lvkWATJgLNNhGnDphGaFdIbYOYtECHsZ9J7hckEBYjh5_cJMPNsTAL8rs2RKEkVD8tk_Gulkl1fXph1cVq4WcW2Y45t2t3GMwjleQZ72qAMSVNIK8kJBSPRy0JZwtF2EfSSOMAZ5vnW0rdMQqewehy1LxERCNSBzq5gMzTVNf7B7lZ9fj-SUUWbFhhuCN_Nege5VhRLEg3rzuRgJozvvJgYderkBSh1Mr3C5zhnx2jiZsfeKTj4aWYJ-FqRVo0b1sjUPxQ-2uQg0OEPiciXNSktCvLh6M6IEQWzHMzfGtX3uuT43keNYae7uJuFSb5HxuoFrs0za0eNCLMGkzq-AFXKOKgUr2cgbFpbR3OE15eMDKmvEiCUBWY9weZKkta0TrpoUkrfMyIlgcmXYej1P27fCXfF-xBnEwu0-xQtbSqtHPGXAWlZgykhxt5EBRUPJEP02BpeY2jC3tXyx0zn-7Tbof0XlGR4-7r25WMN6INzHp6NPdk__blYo1gDvHfZSgT8MGjbR18_XWLdpN6zxUiJssTWqUliXOTIfI6mOc4z3ImtUaVF87a-auz-U-3g-VQvODrgRnHJkGS2pb7Tho4CmExIBcO1zyjG6bNZxhyH6ZzflWvhVP_7fUxsIaKyKtbioqBBhv_Yg8FBjwue0Q2Etx3v74sL5dwEckNsLTA5BY6CINY290Jz8GxGU-yPbNNr2wrLl_e2aI7e7a5yniA-7v9o2pecfRVHwhghFZMv4pWNfGMqfda0Q1-a3MI9qq4T9QbupqNHN0f4oizNHp2iQi_eJ6K1FczvHxZenob4nVzzTJvZpdeyut1Y2jNsSMKOWHbl5VmwFhyfbiUEolGuCUymZ2aWu1SKdYCExWoDVxNKjm578XKylR0PwdFQITGMogqFCk25gUlYHOF944qS5mIxfLNx4mHOFevVe5ojVT91tWTRoFfPK7ftrdb02Dj207fNGMeK9_GvEKWH16WfeHXI6A32JSGQhiK1R0feGAmKer1U1cEiCjMahl63ayrCmJficYPuhvQka9KVJCMONGgfLNi1qKDUd83PzzKIRDK76Ope8XDMxiN9Wv-MJcptHXqdVQlzKXMF55QWaEq3rIgCMIlD48mGCE-xxt2IF3FwxxHtkDT2trWlhOTUva152p7iXEnup3kuOT-kQXixq54SpXgzcWA7ZEC5de-k3eRBd_1ZnZRLw6LyOlVtqrIVg39YBU1LIUIQlHTnNX7EFPzd8XDASubDiGV_OlPYBGDBIf7S40GeUHLYqU2bct4BYAkXpewKV55-ewe4g2FjsJuWuhzYvcxVAOeYn3x__0ZHMj_kY3s_R5Oxo6_Oq-Bn3_c1ySeirhrA==",
  "id": "rs_08348a0f28bdddaa016ab41ea206c087d0873e565b8618a4b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is low over the blue bowl’s interior. I’m releasing it there, then I’ll clear the gripper to check the bowl and remaining table objects.\"}",
  "call_id": "call_zpZo9eF2llhp3p5laF1KUAGa",
  "id": "fc_08348a0f28bdddaa016ab41ea291cc87d0a14740f7620e1578",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zpZo9eF2llhp3p5laF1KUAGa",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6144, -0.4763, -0.0139, -0.0307, 0.9992, 0.5571, 2.0216, 1.6432, -0.778, 0.3088, 0.1478, 0.9959]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0002 left_pitch=-0.1129 left_roll=0.0018 left_gripper=0.9992 right_x=0.4346 right_y=0.2117 right_z=0.0968 right_yaw=0.1598 right_pitch=-0.5207 right_roll=-0.235 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -1.347, 6.9538, 1.6386, -0.0464, -0.0269, -0.0122, -0.0752, -12.1778, 7.4188, 1.3114, 0.2076, 0.1001, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8482a37cee59857e558717b94cbb388351b336c7af94f43afd509a840eb26c6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d9ac9fa9d26f23868fcc569334d868056177e8b2f827579c12deeb6481bb107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47d44f652302f10027d121bf8e1983c1d8f5ab01cf6038faadc7a97c3dd30585",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6144, -0.4679, -0.0139, -0.0307, 0.9992, 0.8356, 1.8137, 1.2633, -0.6353, 0.4328, 0.4267, 0.5859]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1614 left_yaw=-0.0002 left_pitch=-0.0999 left_roll=0.0015 left_gripper=0.9992 right_x=0.3274 right_y=0.2569 right_z=0.0778 right_yaw=0.1645 right_pitch=-0.4528 right_roll=-0.2056 right_gripper=0.5859\nstate[joint_eff]: [-0.335, -1.306, 6.9812, 1.8242, -0.0562, -0.0464, -0.0122, -0.1573, -10.7145, 7.8017, 0.8278, 0.2613, 0.0122, 0.6667]\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]: [-0.0219, 0.8192, 0.6144, -0.4763, -0.0139, -0.0307, 0.9992, 0.5529, 1.998, 1.7035, -0.8143, 0.3126, 0.1486, 0.5907]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0002 left_pitch=-0.1129 left_roll=0.0018 left_gripper=0.9992 right_x=0.4414 right_y=0.2128 right_z=0.1255 right_yaw=0.1618 right_pitch=-0.4753 right_roll=-0.2174 right_gripper=0.5907\nstate[joint_eff]: [-0.253, -1.1419, 6.9538, 1.6874, -0.0464, -0.0269, -0.0122, 0.5402, -10.0308, 5.9692, 1.3455, 0.1245, 0.0904, 0.2222]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6144, -0.4763, -0.0139, -0.0307, 0.9992, 0.5571, 2.0216, 1.6432, -0.778, 0.3088, 0.1478, 0.9959]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0002 left_pitch=-0.1129 left_roll=0.0018 left_gripper=0.9992 right_x=0.4346 right_y=0.2117 right_z=0.0968 right_yaw=0.1598 right_pitch=-0.5207 right_roll=-0.235 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -1.347, 6.9538, 1.6386, -0.0464, -0.0269, -0.0122, -0.0752, -12.1778, 7.4188, 1.3114, 0.2076, 0.1001, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8482a37cee59857e558717b94cbb388351b336c7af94f43afd509a840eb26c6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d9ac9fa9d26f23868fcc569334d868056177e8b2f827579c12deeb6481bb107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47d44f652302f10027d121bf8e1983c1d8f5ab01cf6038faadc7a97c3dd30585",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6oM4ziTqEi8Sv0eVXtIFOuBFCQhhHe8W6PFFZVlRSDqhVC1XntQCwpYRjb0H-EkBJMcbBTRRog-VOiXb1TZRwIoiU4i0ALueV0HVXC9EfgooYxgG1IGotw335GguZv9IWzGJs5u7LpZnAghhw00FNt6jq0sowGghLKswhF1lyI0n-7q-ljqTOLaELgxgMI5dkHiapUWv_hNAKdTO2fMwIgBs9SE95H70X1IBQJOKuFoDuMGJegMzhF2yzrsgLbZh3w87_QZcA6RaHT8tzPPwCiKNu28F1TPJJ6W2Sj5-ZjU2IjcOimCl4drEoUm8GtqT5H-MuAfnoE83j70uYGC9vc84xr6cH7sVVRD0UBdfSmVI8dZQuON_guHMoH9DTMf8WOHp5dqCdAg9nJBHuzDRH2U1Lq9UBrgwVlWKj9s1-sJvYO0zTq4LVbgPWHF2RIxC3PDqIG26kd7DXB2kqiDGKZr2J4_bUa-57WUGgoYROIFcoyLjV-INylA3gYwO1V_iwiIEBp99IB_bO7Run7vrNEMgWWoR9n9ZH3UTbT_xsNn3BVLlc_G4T_TidRrrGBInODAZGrUTwcDByuWp606ukd7_yJ-4mBxWwKM9NKXND3zWqXi7AS5FDMmUzW7u6lIOTGHmVTKB-ou09HJ_24vBtuAAUhdfqZ5lbIU9f7Jrgu2WuPXbOk-kDFEtpMDpKmJwZFhXVNaZhNpQNL94mik_WhtaNA7jrQ3RcKvhyAl4i-caYTBiK5bZ1Hou1Jb6jSCmvwQ0XFjlxWeh7x7XVf1xdce-mcbO6Q0NQT5uO3JhBDeUlKpA3J9Fir6OUJJ1oiqxSXkux1_YjqpQL1vT04fr7blBV7aaYR_Du9sEB6ZbNOGDzsPfX4F7y-moTuvaGnyvhl84SNQFQ9OUQys6TyOkkHIsvzvvmB1R8MjDoROG8NdJQOGuPRrDZ0jaxWYLkrM7_77QgD3eYAqTpT99yDtYunQ-tgYX6xhSPenno4ST3DVlNJTwYzk4_QlbAozMsuVQnUXtdG1x5JgX-FPgUDSnYwIS9smq70kFuJKL-9Z8aI-6xQlwEQXI6rB-41AtIIy0C-XKNLWKLVp2CQzE_VO0BNouP8oB4Ng9_AfL8VifHlAZSjbA17FhsbRXsQMwCgXsfi7Wzue8fE8Lf4adBa8Y4a_uhZ74oEdUC0jy0e2nisq93xBi0QUiZXiz7NuEF9frOR40RFohwGIkaEz2NvOM83xb98Np8Q6OtK8NT87Uos9UI_3CoC8PdTZkCQ8w-GYgF8v4gpvadfDE6U4JB_y0GF5y8wqAgzOK6rieRr-blyE9iBH-zKIA-CRT9tOq_Lz7C3Ud6N253crE9bke0lZcF-35qpfVPylzNZgw3HgMKk1fFBIcTO0N3rxzmOSV2qY0cT-I-SxfHqyfb_p59pdSWEmmGlP9d_ibMApYd-U3CeMB0uh-8Hc_TDmaq5RM0Zy7OoKBefvm9DPTF7Y92LJI0Lj5YEtUQg-ttunclq8gMvS7uQ2ggkbvvMagN6Ob1AhrWHE5JbaGB-HQGxpG-MKKsdMREANQUoR5kO8RExO4fFdAWt1QQlFJD6lKjgVgGfYP9qDEtDR-HeOSY6q-BbW7m8174RutJMeTCar6duK63wOjZodd3I--lTNO0BkPKMOEiuA9Upl0qx2TXztwN6Sm9jkZIrYT4FTqHvMvLWwP2xih0ovNQLy4jMYJsHGdAPgQENHzSDN8Y9JwEGrHGqlWQRC9KHYp8LHfKQuUstqg9E9Rg7ueB6n-J24vVpGgSKPLqFfdEa7rwuiXCdbgiezHU34JCTf5Jo7tykbuKFbGaZfNfcRrHNnWUMV5HFaodcluYX_jD8d08Rp-KCVVNVKjNgwN4PeuasdxFVbgXaaTeJAkdVSQxzqXQRvxejdFh5lnV5kEh63qa1OJurIHPl86-mKcNyb7-TJseen9EmJ7zAD2HLW4Is9PKPyZ9Ar4ycssITZ_yYCCRTqWW6DIFrFjV1loZsx-AX_N36kCy8bZVPoM1Z7wraUx6rXQ2x0lu5yrDU-xzhWAt35wCWbBKtR2qkswrXKiMvjLxyL3tBTEIsT_i1jw2fVD2ijl5wfNwz6x5A4b7Gs-piEd5cNbZ1mz-eOztYkx7T_LbRkI9m5-7Cy_kALIYAQ9SLmcABNsGfl11r3sogDVvEFImse4-lcGzyo9Mm46fqYcbKKLkNM2Vsil9MPZQhkc_wvD1MAMtArLuKTjaooYIABv2u_IQ7yiTljdBZ3MhhASO6SpL-ZaLVegBXstsnllE-00OG1EajlJun",
  "id": "rs_08348a0f28bdddaa016ab41ea5880c87d085ba209da25684d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.19,\"left_x\":0.32,\"left_y\":-0.26,\"left_z\":0.15},\"note\":\"Both bright fruits are in the blue bowl. A small dark fruit-like object remains beside the white bowl, so I’m parking the right arm and bringing the left gripper above it.\"}",
  "call_id": "call_YmaVuiMQNISk1XwZdZGZgEwr",
  "id": "fc_08348a0f28bdddaa016ab41ea7875087d08533cf010be97b12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YmaVuiMQNISk1XwZdZGZgEwr",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9565, 1.6012, 1.1042, -0.4858, -0.6624, -0.7422, 0.9992, 0.046, 1.2171, 1.1503, -0.9928, 0.0952, -0.2913, 0.9966]\nstate[eef_state]: left_x=0.3154 left_y=-0.2525 left_z=0.1377 left_yaw=-0.0123 left_pitch=-0.1475 left_roll=0.0191 left_gripper=0.9992 right_x=0.2976 right_y=0.0005 right_z=0.1888 right_yaw=0.1262 right_pitch=-0.5134 right_roll=-0.2387 right_gripper=0.9966\nstate[joint_eff]: [-0.6359, -7.4598, 8.6085, 1.1893, -0.6081, -0.1001, -0.0122, -0.3214, -4.7932, 5.8872, 1.2283, -0.0562, -0.0904, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f2ad5c435f8015f2917d82a6f96276af148dcbdb21912f24522ed7afcce333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:038d6767e8431b7aba2fe35742432324cb3d5c1197fc7293188d27865c6931f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35136a2b95fb1715d67244ddb2ae57b4cff1c33d5469abea3e606ee914fba009",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6144, -0.4759, -0.0139, -0.0307, 0.9992, 0.5591, 2.0006, 1.7626, -0.8646, 0.3153, 0.1635, 0.5885]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0002 left_pitch=-0.1121 left_roll=0.0018 left_gripper=0.9992 right_x=0.4422 right_y=0.2163 right_z=0.1402 right_yaw=0.158 right_pitch=-0.4669 right_roll=-0.2086 right_gripper=0.5885\nstate[joint_eff]: [-0.0889, -1.6479, 6.9675, 1.6825, -0.0806, -0.0171, -0.0122, -0.3487, -10.7282, 8.1573, 0.9792, 0.1245, 0.1245, 0.2613]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6144, -0.4763, -0.0139, -0.0307, 0.9992, 0.5571, 2.0216, 1.6432, -0.778, 0.3088, 0.1478, 0.9959]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0002 left_pitch=-0.1129 left_roll=0.0018 left_gripper=0.9992 right_x=0.4346 right_y=0.2117 right_z=0.0968 right_yaw=0.1598 right_pitch=-0.5207 right_roll=-0.235 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -1.347, 6.9538, 1.6386, -0.0464, -0.0269, -0.0122, -0.0752, -12.1778, 7.4188, 1.3114, 0.2076, 0.1001, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9565, 1.6012, 1.1042, -0.4858, -0.6624, -0.7422, 0.9992, 0.046, 1.2171, 1.1503, -0.9928, 0.0952, -0.2913, 0.9966]\nstate[eef_state]: left_x=0.3154 left_y=-0.2525 left_z=0.1377 left_yaw=-0.0123 left_pitch=-0.1475 left_roll=0.0191 left_gripper=0.9992 right_x=0.2976 right_y=0.0005 right_z=0.1888 right_yaw=0.1262 right_pitch=-0.5134 right_roll=-0.2387 right_gripper=0.9966\nstate[joint_eff]: [-0.6359, -7.4598, 8.6085, 1.1893, -0.6081, -0.1001, -0.0122, -0.3214, -4.7932, 5.8872, 1.2283, -0.0562, -0.0904, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f2ad5c435f8015f2917d82a6f96276af148dcbdb21912f24522ed7afcce333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:038d6767e8431b7aba2fe35742432324cb3d5c1197fc7293188d27865c6931f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35136a2b95fb1715d67244ddb2ae57b4cff1c33d5469abea3e606ee914fba009",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6tHMRCjYbqMd9vUz9AhUSRwNoEbMAYjQhwm0uoZxPZq_j_V6NuzfpB4NGPGSrWcWMYFy06cAeVT0jC-JcoqAWopGcGJv1V2hEmRMVnWoWmnblM_iNsP0zdT55ZWovhv97lunRZ73a20IM0hsAU9Jo8RP8rbPi3XFmCqNZUeBaSXcfWERujKmR0yxuOBUKjPvKUGAj0u4gVSQf2zWRy6hJqmiDPcTndXNW12moNmXI6Cu0y7QvzrhHrKQtlRLQlUzEMZxeRg5dY1koQ6qcmjKznU64A4eVa9E9CzX28-3TDkMFkYgeuxOjUmRMSswsBVm1ct0EX6wUKc5zQ0-jRSHjSa15gfLjsKf7qM59n3FIQ36Qgq4Y7EqHicCQ1lgiYZNEAYBR37UogDsgEPIxxb6GqpAk_o_qWnGjkRWPQc_AmkU_7FpPO6oCqVnAa5PCmcBFwcz2VDjiGwpQbtOKyTosXo0csS8K31ea9PLwpAq82GqtwDt8jKdadCs_PTftzY9ie8NIpNELiqP1PlSyXQaPh73X9otNymhbVVqEsNvtyc541Zd6CKgBQ8yBId7ZPJBwP7TrHsQa_10YeMc7zvq2rak8JyxyEN8K3Vecw_rFBMVoCNc-CYvVPm25z8wGw6hC7CPdamvvmkLLIOj3rKzSt_8aLeKt2FNmzAVKTAsdpioMGkTtCSIdvTBk2swBWRtPc6AniLJ30Zxq9GyHohpThbynv9W3O76t443Bw9LPM2mgO3l3IwrMqxZwY-pAminq3uh7mmV_6fsyAZ2lXgQuHez9Bgg_ciCRqsIMD8IvaIZhzesTkWSX3u5gN1IYKxUYx2JBJnxC9cOmPqEm4eF1ZBtxLYn96LW4r8_yeFqffqLX20_6xoohtOorLqGMQGotYWGDW6mMBSVhcaIbV4t00w7sU9A_mglbVgyBRk0GNoGrxg8AwOl9dYFGs2qEeXwWzJfEOry8Q7rthkysS2XkvskiBTymET_eMN1kBhmoGbN9mh5u6NuNAVoK8FvalhB_tt4mnWgL1MbC5F1O3QN4NtA277kKKE922qs0RUc4ix0m7SOYlDJ9Mx4zl5guJgkNCpAvLqWZIs_8XKEHn4A0hWDntaeKLbYshyqCvmHuCZPXzM4NKX5Ff6LeBI35j8aVrTrp91WzoznzpnjK_z83SLcdGLez5HZCkn8_fCgXOAQJGJhr9suO4rQVlLRox4ynvzF4E4UK4KQ_Xctbw_AeIVDD4o9rXKz7dSqFjF8YubdbDdQmUwmHyMT1kEbPyQ3mdNCzUsd1004d5l8LvlL-I7AYM03W_9qX0oeGEkS1tVQMcNXnqVC0XCDH1H8gT5iK2ZVzBxjt4gUQrSq1YZzV40FTSrGLjYm_OoBlf7BvvYGnX80XllxIiRkMO5JXFz2NePG75yOOk60R1Ryq4f-7lFQD5NTcB0snb1__MFAFQagCK2V2gHGPNgGCh3upJiWZMieuT64Z4SHwUih7Pv9j7OEdHFUF1yGRmLFTaRyShrzqZ7-n_v4aPp4LTK_Udy_kKK9PRG2eXJLZIFqpkrIcQmNUZJLQV3jKOzH-gbqytYQ6vWrYKTwqPmW11UH6eE6hkfbVc53vq6J0gmuc5WkVJxr3uw8B8DJnIFz66_8Cl_58sN0qjA3tAeASu2amISQqmIffrmXrNWBDOJbREoZWR0nt3Lz_wucZGZqN4mB24KOchyvcR1LnwedZnw-imzG1AF_q8I3rjpH9AEkHVvLBVgg==",
  "id": "rs_08348a0f28bdddaa016ab41eabb31487d0bfdc617a79e720a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The dark fruit is centred near the bottom of the left wrist view, directly between the approaching jaws. I’ll lower the left gripper to its middle before closing.\"}",
  "call_id": "call_xMOcwappdqrCQHDC9wbnLQGn",
  "id": "fc_08348a0f28bdddaa016ab41ead0ab087d0b8a0ccd98166fd44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xMOcwappdqrCQHDC9wbnLQGn",
  "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]: [-0.9581, 1.8023, 0.8585, -0.0952, -0.6579, -0.7521, 0.9991, 0.0448, 1.2201, 1.1473, -1.0119, 0.0845, -0.3107, 0.9966]\nstate[eef_state]: left_x=0.3094 left_y=-0.2461 left_z=0.025 left_yaw=-0.0036 left_pitch=-0.1832 left_roll=0.0556 left_gripper=0.9991 right_x=0.2932 right_y=0.0018 right_z=0.1845 right_yaw=0.1486 right_pitch=-0.5402 right_roll=-0.2357 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -7.8427, 4.9846, 1.453, -0.3541, 0.0611, -0.0171, -0.1162, -4.1641, 6.5983, 1.3162, 0.1099, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cdebd33b249f2679cc1a6c08a02de1735046ddbc07d466173ff7abaabb43717",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ce2b3fdd9cc2c14f56268fd641fe80159f74263c6d53be2338c11f496e8df5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b01e3e016540cf5c206a039f7e5f0af9690202055d1a4b54e4212fb09d92c92",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6144, -0.4763, -0.0139, -0.0307, 0.9992, 0.5529, 1.998, 1.7035, -0.8143, 0.3126, 0.1486, 0.5907]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0002 left_pitch=-0.1129 left_roll=0.0018 left_gripper=0.9992 right_x=0.4414 right_y=0.2128 right_z=0.1255 right_yaw=0.1618 right_pitch=-0.4753 right_roll=-0.2174 right_gripper=0.5907\nstate[joint_eff]: [-0.253, -1.1419, 6.9538, 1.6874, -0.0464, -0.0269, -0.0122, 0.5402, -10.0308, 5.9692, 1.3455, 0.1245, 0.0904, 0.2222]",
      "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]: [-0.9565, 1.6012, 1.1042, -0.4858, -0.6624, -0.7422, 0.9992, 0.046, 1.2171, 1.1503, -0.9928, 0.0952, -0.2913, 0.9966]\nstate[eef_state]: left_x=0.3154 left_y=-0.2525 left_z=0.1377 left_yaw=-0.0123 left_pitch=-0.1475 left_roll=0.0191 left_gripper=0.9992 right_x=0.2976 right_y=0.0005 right_z=0.1888 right_yaw=0.1262 right_pitch=-0.5134 right_roll=-0.2387 right_gripper=0.9966\nstate[joint_eff]: [-0.6359, -7.4598, 8.6085, 1.1893, -0.6081, -0.1001, -0.0122, -0.3214, -4.7932, 5.8872, 1.2283, -0.0562, -0.0904, 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]: [-0.9581, 1.8023, 0.8585, -0.0952, -0.6579, -0.7521, 0.9991, 0.0448, 1.2201, 1.1473, -1.0119, 0.0845, -0.3107, 0.9966]\nstate[eef_state]: left_x=0.3094 left_y=-0.2461 left_z=0.025 left_yaw=-0.0036 left_pitch=-0.1832 left_roll=0.0556 left_gripper=0.9991 right_x=0.2932 right_y=0.0018 right_z=0.1845 right_yaw=0.1486 right_pitch=-0.5402 right_roll=-0.2357 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -7.8427, 4.9846, 1.453, -0.3541, 0.0611, -0.0171, -0.1162, -4.1641, 6.5983, 1.3162, 0.1099, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cdebd33b249f2679cc1a6c08a02de1735046ddbc07d466173ff7abaabb43717",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ce2b3fdd9cc2c14f56268fd641fe80159f74263c6d53be2338c11f496e8df5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b01e3e016540cf5c206a039f7e5f0af9690202055d1a4b54e4212fb09d92c92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6zT-j6TOHknDrIyPp3iuq91FpLgDU7Go78gvbtlVXwlqlVlCDhlbK8r2L7Ae8P7o0lW-1u8DMSXwF-q3V2GubbCgsVvUHhkH_W2bjUEouZYJAMpewIOf_nn6RuDQTF9CHBB3fgBd9I6wOB9aFcQxs-b6UZhUtz9zbT_XIN8aZ7-wTP6Q-t2IWTQy6Lm10KQuMDcNz_se_um5yXwYkJG58J1AZh3-mXrdGliG2oWrP0hdYLRBSwCiaRRhw5Obi34SYkW5vcz-eo9-YliK-UdhkL18lb8dbpCLZYjKaAQHV4OwTaG2buAAlkD6ICJKsEWdx55mNMstB-bJsj4ueYP5xQeBgctWRk1Fmm-5fQ5l6Lgfl2I6nqox9OtgZxEKLPClUjGM_DfqRkU7FKZgkUpuV7O6Q6oQoo8T8__KoHq6MqNa8ebzJgmlcZaCPs2ccy66S3EFpAJIYvqaPDYROob-eMTjV-H2z0IVgnaZ8Mz4vDC8k7ZLfGQjDPBbWz_9ZjPqFWDYaAubauuXWYHoxKLt-2xIGp0w0CI1MUuNPU9XJaEcxbtk1p4n4EXhuDGgZPu6AnKu25EnjXu27jP2bNls0WfrypKwgijlERpPcB_VVJKUbRMAYV2WJSZbBksZMmcU72kwHds5ji6_HAAtG4fgZXkh4fg7z8N7N2gEmtW1UM9UNLpP79_qLG2QuSc8s-3E5bGRgkl4IOfgHnhdyUwyb-lcWYtVv8qz2uujEUwPMEyY0JSZyH6flZi6S_uFPobHhCaDhCU9YTAQadO9swNwXhXqSVbcUwBCp2_iA9QOoXWJXISel2Yhz7N8t8FNM9K_ezE1gCBYRa5BhjgdpBdXRqNvGXV97geRWZ8AcHY4r7TcQ1p5JO65eCRPA_HcGPvx-4yzxGeJGb7VSjfWJ5R64yuoSDEiuwyfl-hjitJlyLVyKMVvrYBUzoz43fhcRrTgAJ1sQAhEFINEugzMW1vvf3S8B2GaGuFwJ6FoKYqU_Pt-gCa0TYLYLp6ZZ_ljnVnBLKfor16nBwUlTZB2RLXwZd1phhQEOtiNi3leeT97pPX0jKXfXXVN9qEv0C1HZU5ci7q5skGb4u3MCQHBx6KWYyeCou85fJtp-fQoNQ2bodFUr813QXi4OTDQUfFpaG6qI8L6FJneuA1Za7VA9mEsRpj0V_dHHKmn3joEQlNXLw4gBW7ik_53_DOwaGvcP8qFrD-7PZ3Fk3S70CBt7St6z38v9VQ3Gy_WDpR1uVHDEkMlOTpUesPA-p9qyUniiO8oBvZMEPsVbm65ui_3xDin0vcb6qrB2Yth32AIEh3dR4k89V1vcEjIN1Rlyk7tuQDtBy6ib_XcCGDphl5wTWdVz2PtotFnj42AI9iZu46v__pZZ4c9DVsa-dVKUTgIbFxpnY9XmnkpIHVuo1MPOzB6CVq8WtYlRrSYP5lYKy7QrKHTX583GRk-p5j7pfcB97slPjAdjNM4MENO39Imp_zYwDS8mh803o83i62syTP40uGeK3Df5-VwfLDekynqzCihU1GuZ-NdseX_MFTGw_SikoCA6NcP7UPTIvWYU8_AR9eDxde5ZNhUgIYT27kigk78hrBrKnV6kWVwDsaRdLH8qvUtydJ5t8TOLMrfVBDmfVoD23peZ1r40LJJSwQEI9fOsQ4Mzfa6ZjP_2UirHUIsGyIIDPh6EsJc-8IaDvVrNHvA0eTF80RaYENL0AUb5tmQ0rGkYLRIxkiKG6DDiLcoMlmi2dJ-UV_taZyVifmA6OO4OVv1kZe6k5Caq45s2c0C10lDfvzyzY3Q2g9QYtx752M60kQapL3o31wHebSip2C-IqQcNgQ0sSZak0Wc4nc5YxKkRboMB6Dt2HKJdeZODmbx70G2rpxQc2ACXpD-PQPIo_NqIBf_GZS_wJZZSn8yDaOe1bJozDLhapV_AAg0uN9Fu86EtvDtGA3YjRGBCRsdqLHSxnv8xdGbbM72eWDX3BJ7iglXpih0-FztqB0FghHxn2dE6HYU4uOnX4JDRm2RPeKAhMRfo4yMEGvHh8OIHf5aRNuUWBDfd3E7SHeFQc-hI_athR8g4T3PhKVHs6qVTnlZ-_hwe1vv-Uyu9A0e4-iwGFQMiJw_dfB1t_AhLkI0q8H4tW_9skSYXTcagadtlOD3HUilUDkHOwNrawpap7DZsA5xccVbL3sdgniVsPvb5mh2ZbkkxicAF8xT4j_N7qYLANUQ0y2Xg3gJGS4UUeEnjYQz7JWcep8Yembpiwc2tokjIrvVSrRQVxtdK6sL6nPPGXcYLgdzdGtgbCDsh5BTgywjYV3_zZvgiCiIXEZHzrhIsqpAPUyElhyqil9Sg=",
  "id": "rs_08348a0f28bdddaa016ab41eafc8bc87d0923fc0414579f126",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.215,\"left_z\":0.025},\"note\":\"At grasp height the dark fruit sits left of the left jaw column, rather than centred. I’m making a small sideways correction so closing the jaws will not push the rounded fruit away.\"}",
  "call_id": "call_ioUelKfsrOTla2tZgxz8MUKt",
  "id": "fc_08348a0f28bdddaa016ab41eb2432c87d08a5cab66669389f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ioUelKfsrOTla2tZgxz8MUKt",
  "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]: [-0.9073, 1.7546, 0.757, -0.0322, -0.6353, -0.717, 0.9991, 0.0444, 1.2201, 1.1473, -1.0149, 0.0841, -0.3145, 0.9966]\nstate[eef_state]: left_x=0.3076 left_y=-0.2175 left_z=0.0164 left_yaw=0.0128 left_pitch=-0.1943 left_roll=0.0624 left_gripper=0.9991 right_x=0.2925 right_y=0.0017 right_z=0.1841 right_yaw=0.1512 right_pitch=-0.5437 right_roll=-0.2369 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -8.9231, 5.7641, 1.3846, -0.2076, 0.1099, -0.0122, -0.1846, -3.9316, 6.3385, 1.1453, -0.0024, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff0aebe5b5b0078816efd892670031934a5fdd7443cd7e579dc8a9a744c053f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba29537dedd56ddc6cd336ae257a154fd1e5a9af6473409271ec55673b567357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284b921636df0be1ff7035bb309b98b6f16b79543b3158a5db60202d776a002f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6144, -0.4763, -0.0139, -0.0307, 0.9992, 0.5571, 2.0216, 1.6432, -0.778, 0.3088, 0.1478, 0.9959]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0002 left_pitch=-0.1129 left_roll=0.0018 left_gripper=0.9992 right_x=0.4346 right_y=0.2117 right_z=0.0968 right_yaw=0.1598 right_pitch=-0.5207 right_roll=-0.235 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -1.347, 6.9538, 1.6386, -0.0464, -0.0269, -0.0122, -0.0752, -12.1778, 7.4188, 1.3114, 0.2076, 0.1001, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9581, 1.8023, 0.8585, -0.0952, -0.6579, -0.7521, 0.9991, 0.0448, 1.2201, 1.1473, -1.0119, 0.0845, -0.3107, 0.9966]\nstate[eef_state]: left_x=0.3094 left_y=-0.2461 left_z=0.025 left_yaw=-0.0036 left_pitch=-0.1832 left_roll=0.0556 left_gripper=0.9991 right_x=0.2932 right_y=0.0018 right_z=0.1845 right_yaw=0.1486 right_pitch=-0.5402 right_roll=-0.2357 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -7.8427, 4.9846, 1.453, -0.3541, 0.0611, -0.0171, -0.1162, -4.1641, 6.5983, 1.3162, 0.1099, 0.1294, -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]: [-0.9073, 1.7546, 0.757, -0.0322, -0.6353, -0.717, 0.9991, 0.0444, 1.2201, 1.1473, -1.0149, 0.0841, -0.3145, 0.9966]\nstate[eef_state]: left_x=0.3076 left_y=-0.2175 left_z=0.0164 left_yaw=0.0128 left_pitch=-0.1943 left_roll=0.0624 left_gripper=0.9991 right_x=0.2925 right_y=0.0017 right_z=0.1841 right_yaw=0.1512 right_pitch=-0.5437 right_roll=-0.2369 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -8.9231, 5.7641, 1.3846, -0.2076, 0.1099, -0.0122, -0.1846, -3.9316, 6.3385, 1.1453, -0.0024, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff0aebe5b5b0078816efd892670031934a5fdd7443cd7e579dc8a9a744c053f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba29537dedd56ddc6cd336ae257a154fd1e5a9af6473409271ec55673b567357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284b921636df0be1ff7035bb309b98b6f16b79543b3158a5db60202d776a002f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB61a21Ls2pLkUkFYVU96c6oOrj5JHAPZMYnXqBTr17c6aEG_psy6h9uXp8bTtJ2mrGCgcCaBXNJ6uyGr89FABV0y4W6kix2VOR12VnARNALyePKnHlMyYbexAhLyzJZP2nDHjY0sXirypMgXpGYRHTJd_j_KuivqqgUyG-wUXPwM8SjEPPikUPyAbF-7Hn0RTlr5j4OBRm-mU3o4gPC7EDrzofoO6tXut9HYPst8jG7eJjIbeWd14_DTGAtmOf1wz4lTUoDpKC7t6tdQE3WQg7phlFEmJLdhEMCC997yIgVdqns0boUFF-U79XvQaCEs4OUdZYMn9eA_wRyuKXgnx2C6Wei49LZiMcSpfDv11KMUVQsK0WA7Ub3ctP1E-6lUs1WnQ3yyObNFm3c58u2_gM9BrtQCsDZ4z5HGvp3DVtAXIFZx3Je9iID2XWL75qWSM_ag6mWFBAh9pEbiCWprWnOSaDvJa0GU_1vnskU4JH9ISK3xyKWQwRLmbLTVnbb_a3Vwb-APwy1BdvECmCr486YphTjfE9agLX8bMclAag-duIfKVAKV909D5W5mlCaEFSPAHedpEVUHz4KG0JZk1h_bPwda0gRoDzJz2dOLjc_zlEsBNV5seGUB4FWIHuiPVgXYlf4bb_lC8RjzdF3HnSmZBwzrCzBP0mbiw9nhogC6TiT_tjoS8P2aUBgpH1HkCFuTLJyuEUmyDU93GyFghrBNI9weuVdkwNtO1q4y_acMVa4dl8SVwcWA5P-ufd5IMnpG0AN5y9Ihpk3lhAVaPlaYkFjNxCJWkn9xeA1ALPU6KcU6u_xAA0yP-p0jK78jZnrhApJ0PynJMKnPQ8U9i7gL8tZRnhFFWIwneUNX_rNdxSpTUqd8cDxybezH62biiw1H5ZajzODngZ69bzd1r113GMNvMXlz9R5DwA0HgRrVzUSZ_4651X8E55MmIjAWnXmjmWHtLbtoKz8gL47fyvweq1xqInx_WeH60mPy9piTjZIyYk3rSTxGiE9nyMFTlI5C-gDwNOTsT_gCp7NQ_DW_RnLOstA2GIEInzLqrBm_7POgyGS79YmT2arVowllSJo1YpjrEyOtIZ9en0bcWBK5AdC1zk3X8r_3QZLVA4Ds9wmCzkH5cLUxmZ5HcI0PkT85WnAefCuo7OJc2Ha4FUdayer60k0BoCXl7iPv_XjFqNUPrsi1ZvElikTV0jwDvklpBHKBcCnNbKjJFajWNgQFQ==",
  "id": "rs_08348a0f28bdddaa016ab41eb4673087d0a0604aae55259c34",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit is now centred between the left jaws at table height. I’m closing around it and will check the grip by lifting.\"}",
  "call_id": "call_56jbeyq0OqTqBGjnHBfzFHIk",
  "id": "fc_08348a0f28bdddaa016ab41eb4850087d09e377c52331a984b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_56jbeyq0OqTqBGjnHBfzFHIk",
  "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]: [-0.8944, 1.7405, 0.7448, -0.0368, -0.6281, -0.696, 0.5261, 0.0444, 1.2201, 1.1473, -1.0149, 0.0841, -0.3149, 0.9966]\nstate[eef_state]: left_x=0.3075 left_y=-0.2115 left_z=0.0165 left_yaw=0.0103 left_pitch=-0.2016 left_roll=0.0761 left_gripper=0.5261 right_x=0.2925 right_y=0.0017 right_z=0.1841 right_yaw=0.1514 right_pitch=-0.5438 right_roll=-0.2371 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -9.265, 4.9709, 1.2234, -0.2906, 0.0757, 1.0281, -0.1573, -3.9043, 6.3521, 1.1306, 0.0073, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7cd84ffe19ad100dd26819cfcf1cc17d7e7d979c91051f3bddef59e3e92659c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79077954691e4b2b039ecf3b932946ca0a38509c0e4c79299ab74a72eaf6061",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edb922053d1c07806074aaeed185857c218f58cc48dce30b136eb6aca1e63b2e",
      "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 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9565, 1.6012, 1.1042, -0.4858, -0.6624, -0.7422, 0.9992, 0.046, 1.2171, 1.1503, -0.9928, 0.0952, -0.2913, 0.9966]\nstate[eef_state]: left_x=0.3154 left_y=-0.2525 left_z=0.1377 left_yaw=-0.0123 left_pitch=-0.1475 left_roll=0.0191 left_gripper=0.9992 right_x=0.2976 right_y=0.0005 right_z=0.1888 right_yaw=0.1262 right_pitch=-0.5134 right_roll=-0.2387 right_gripper=0.9966\nstate[joint_eff]: [-0.6359, -7.4598, 8.6085, 1.1893, -0.6081, -0.1001, -0.0122, -0.3214, -4.7932, 5.8872, 1.2283, -0.0562, -0.0904, 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]: [-0.9073, 1.7546, 0.757, -0.0322, -0.6353, -0.717, 0.9991, 0.0444, 1.2201, 1.1473, -1.0149, 0.0841, -0.3145, 0.9966]\nstate[eef_state]: left_x=0.3076 left_y=-0.2175 left_z=0.0164 left_yaw=0.0128 left_pitch=-0.1943 left_roll=0.0624 left_gripper=0.9991 right_x=0.2925 right_y=0.0017 right_z=0.1841 right_yaw=0.1512 right_pitch=-0.5437 right_roll=-0.2369 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -8.9231, 5.7641, 1.3846, -0.2076, 0.1099, -0.0122, -0.1846, -3.9316, 6.3385, 1.1453, -0.0024, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8944, 1.7405, 0.7448, -0.0368, -0.6281, -0.696, 0.5261, 0.0444, 1.2201, 1.1473, -1.0149, 0.0841, -0.3149, 0.9966]\nstate[eef_state]: left_x=0.3075 left_y=-0.2115 left_z=0.0165 left_yaw=0.0103 left_pitch=-0.2016 left_roll=0.0761 left_gripper=0.5261 right_x=0.2925 right_y=0.0017 right_z=0.1841 right_yaw=0.1514 right_pitch=-0.5438 right_roll=-0.2371 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -9.265, 4.9709, 1.2234, -0.2906, 0.0757, 1.0281, -0.1573, -3.9043, 6.3521, 1.1306, 0.0073, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7cd84ffe19ad100dd26819cfcf1cc17d7e7d979c91051f3bddef59e3e92659c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79077954691e4b2b039ecf3b932946ca0a38509c0e4c79299ab74a72eaf6061",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edb922053d1c07806074aaeed185857c218f58cc48dce30b136eb6aca1e63b2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB63jU5esasqKJ1srWawqkUvxQ6Ic-WpF8Il2F58bj4pVfjRlRkMQmvWOL1H8Vm3OSSwNbznNTYozMx7rsHa8s3k5H3X-WOA2ixT0Sx5MvCrfXGDjv2-FMdUHJ3JUow-1KitW5bL-d3GQL3gBfIGkGC03ztuURK4eT5zUr0XfUe0e6g6O5hm9wrofyuOs6Lf7RlhgMCsbOE7lA1DarzJGu3xOSLzI0f-meRwPVL32UDONg_CGP0pQDcpot1GxJijYXM53OHhbYwrtm3zr24DTtozKG5yhrxjT3BZChun0K_Gu-rTwrlE9FIlsHP5aeW9Md2vuskV7pg9ENHH-OeyPi4sVYLLPZCm9v6KrYCkap-pyCzKjl5FOi4PtdVba7FU1nhycY8yuqJcsSaO41bcW2vdc5poSSPT7qLRVUzc3Bz-hSmVw51VX_B9hNvftM5yXkh95X0NIkpdOmX5ym4K1d93OLWqTvgj8xJAqwGaY4KUADq4YJFtiKF-Dge-jEldwkCJTjkT5UBRQa1paLJmgKhRlLmW-MxVCTKCqadbfuJqdTl4dPnkNDDAtk83K305huX3Oy897kawBRYjZ-8Jcqye2cgY4Wq2-ksRHlRCKa-TzxqUtWmtWnbIgQXJQwZjEKj_TLHWAMEgumISdRFwOubhiVHw6rXVpcY6CinsmfhsYoFz8VL5tcEbGUA6o60mbJ77JFQkwta4MRtijzQFdn8Sy-PGcXFbxnUvhJvkJw_DMph0LrHhWl-2Ba6vsyAaeva7Bl53PMJe2SA5nfdAU4_T2mjDy47utO5LRcRIoQ2lA8PbHelPMuC4c1UAkiWkiOIQb_U1uPtBwODTCqwpgYtqS0xonGw_nqnykC0IHFtHswWEItd4iYzTpf_WlE5Ijqvw5W9rr_42sBvn0s3sbGX6S_YWI0Au4T5I0rlxZ-gSkMujLnCCdbHvB7eGEyqNnqYIa3naxBAZ8UFN8g50y8isaLAJhXKTs017U9qmLroKfYWPlhv4Lu_CVbM7ILD4Ev8MbzCNKgJN9gYwuj1OtV3nWT5HCRgvRbqx23Fya5wfF-KQVGcsObfwIECmEULs_HFGxQ2Cmk4fF1h5iH2YEAfndl91q-1udfznJEoXyiE2StpxoKOR2XxHC-gq9J_7EP66sh1HV8Rs3bFhDrhuawtudt1AYCmWx47pmf2RfOM37ZwKaFCcCKFBNaG5pij1m3ilbZy3y8gLmAVXpEiz7veMHE1scOmVs3aLiXU1ym1piT5D3-zdOxsdH53NPgK3vdrw",
  "id": "rs_08348a0f28bdddaa016ab41eb71a2487d0ae2025addc436b37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.115},\"note\":\"The left gripper stopped at about the dark fruit’s width. I’m lifting it clear to confirm it is securely held before carrying it to the blue bowl.\"}",
  "call_id": "call_wPf8sYsBx51MENsUhNloNCME",
  "id": "fc_08348a0f28bdddaa016ab41eb7418487d098cfd494f8cbdf3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wPf8sYsBx51MENsUhNloNCME",
  "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]: [-0.8944, 1.5578, 0.9306, -0.4156, -0.6128, -0.7048, 0.5294, 0.0448, 1.2201, 1.1473, -1.0153, 0.0841, -0.3149, 0.9966]\nstate[eef_state]: left_x=0.3063 left_y=-0.2135 left_z=0.0956 left_yaw=0.0073 left_pitch=-0.218 left_roll=0.0696 left_gripper=0.5294 right_x=0.2924 right_y=0.0019 right_z=0.1841 right_yaw=0.1518 right_pitch=-0.5442 right_roll=-0.2371 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -8.5812, 8.4718, 1.1697, -0.525, 0.0415, 1.0379, -0.1983, -3.9043, 6.3658, 1.1453, 0.0024, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:852b6b131306baaf17a95017209cfa3a58c32de6a4d0934eae65f946e748ae66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f642cd185110bc7af552e0b7ecb3e84847b3793a032df3cd5069d0c85788654b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15c11c87f768125782a9d31098ea357cec2138b9f499264a89e026059b443e2",
      "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 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9581, 1.8023, 0.8585, -0.0952, -0.6579, -0.7521, 0.9991, 0.0448, 1.2201, 1.1473, -1.0119, 0.0845, -0.3107, 0.9966]\nstate[eef_state]: left_x=0.3094 left_y=-0.2461 left_z=0.025 left_yaw=-0.0036 left_pitch=-0.1832 left_roll=0.0556 left_gripper=0.9991 right_x=0.2932 right_y=0.0018 right_z=0.1845 right_yaw=0.1486 right_pitch=-0.5402 right_roll=-0.2357 right_gripper=0.9966\nstate[joint_eff]: [0.1026, -7.8427, 4.9846, 1.453, -0.3541, 0.0611, -0.0171, -0.1162, -4.1641, 6.5983, 1.3162, 0.1099, 0.1294, -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]: [-0.8944, 1.7405, 0.7448, -0.0368, -0.6281, -0.696, 0.5261, 0.0444, 1.2201, 1.1473, -1.0149, 0.0841, -0.3149, 0.9966]\nstate[eef_state]: left_x=0.3075 left_y=-0.2115 left_z=0.0165 left_yaw=0.0103 left_pitch=-0.2016 left_roll=0.0761 left_gripper=0.5261 right_x=0.2925 right_y=0.0017 right_z=0.1841 right_yaw=0.1514 right_pitch=-0.5438 right_roll=-0.2371 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -9.265, 4.9709, 1.2234, -0.2906, 0.0757, 1.0281, -0.1573, -3.9043, 6.3521, 1.1306, 0.0073, -0.0513, -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]: [-0.8944, 1.5578, 0.9306, -0.4156, -0.6128, -0.7048, 0.5294, 0.0448, 1.2201, 1.1473, -1.0153, 0.0841, -0.3149, 0.9966]\nstate[eef_state]: left_x=0.3063 left_y=-0.2135 left_z=0.0956 left_yaw=0.0073 left_pitch=-0.218 left_roll=0.0696 left_gripper=0.5294 right_x=0.2924 right_y=0.0019 right_z=0.1841 right_yaw=0.1518 right_pitch=-0.5442 right_roll=-0.2371 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -8.5812, 8.4718, 1.1697, -0.525, 0.0415, 1.0379, -0.1983, -3.9043, 6.3658, 1.1453, 0.0024, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:852b6b131306baaf17a95017209cfa3a58c32de6a4d0934eae65f946e748ae66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f642cd185110bc7af552e0b7ecb3e84847b3793a032df3cd5069d0c85788654b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15c11c87f768125782a9d31098ea357cec2138b9f499264a89e026059b443e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6_G4X3kCKGOBSesjImffywjUqm0wb3Ekbknz79KxbzSh-XJqcPkDxDqiQNmWzpx43Ay_OiEzqkUsdEOR79RFB8-7jc0o6p0mCeubhJaF4Tv2ejwT4k5uq-1cfIqGEHEmr-ElKll8qDuZbWSBTcceA72n-cM_u_JrYc22ka0zgPN0eqgO2NpC8YpvWtzedJx-Y1CpGcGUq9fUrcLpO0QRzCw3B9Qlae2IwqxrTF94Pue4-7xNq0_R4P3rBkbS0WoLiOY0nYMupNQ00MLnJc9exQ-PlzMwRfYDih57BODDB7H451HDFkhv2Ty7QM6bscUvJKHq8HK9iSpjSq67oQj0nc_NwKEm9Nq2S_EeyCF05ZMSr2qGc-vVR3kbduzT-8_h3K6RH1LxSu-eDWpoimpFsPwAfup0SraZ61j0rYxiZnNTWLEDSGDzPTqFqjiRYeNgZzCbvjYGpslrhLcSiir2vG0thXd3q0o1LSDg_igAxllKx1gNiCY-ZnrIaR6xtlILJZ-_l65D-b2Myd4LWiTK34-_3AlFbEtaVKD9pwJDpQz9oaGLxwrME6jJZKRskwQjq3IeEMxiN38ss4kQ0AReS2X_Mw8vHbOhSM_GLTCMkju73Qx3ZJhQHcUKAsosqRahGJSeXCGByiQto9e3-rT-vWuW9Cx_GNUbbaGiU-ITtPqhe0NIs3U2pps3Ae0qNEMCRcAxXm8etliGWDdBxcTV4GqKjWG5J-hElEHILo2nC9VHrgZ1TeqBo7a6-pYPj5OixBwrMiojtGhitTOoN_7P-8FjklCQjIsvGX0SwScWhKPr1k1Smvgf8bdKNmOhjSMQJT3sqcjg7z8OyMV6Bdew2rgRVpS3CpCs8lp8C4DNpHkDmf_XECo0o_rOEb_X14N3FktpMrXVKcEh9gwy6QTRTHR8PEiPRnpLfSsaGaHc05px1fBEAFpHtHbVwILXm_HAgH3htyAX2LTrqFPGU2deYGi9TK3dE7nsmkz4Wf10tPUUxTzXu1U11ng5rlkk6wEuhejjpG0gr_IWloiwj_T_-95XwTuiXCYZL0OawKz_ZQe0Cehas9SNxAD3RE7CIJRSWOKVCMS928Hsf_u7CwEwUG2dLQOm6j5BxLpNSRr5f51BM5RW1Tak68teEEgbwS2DrMOp48eDoqsTwF-TdlnAm9CkJ5pTKb6gy3y37SBXTNP1hi2FwY4zegeoj0osZ9lgEBXnlUq4RANPg358QlGhDX947vzDMv97ccz-PR6kffZHCMK5yZ5xM-mgnQcNmcTICj_h-31M9Dc0RZO11OX600lp6zAooqhx-9R-JLXbj8KA3EYlCcIRb47Ip108alRssknXbFS3dil7gHCH4Z9GFTLORnBxSQDPtBiq8SrUfYAHJxEN6Q7iGlRGKA9k3HYWUH-fkNgya2J2Xhq7HIKomgxuFfQtjan5UsLVLe6JBQMxSqndeHxFqToVCIo_JAmQs0InX49vyjbjRyhEQNjkHHkL0OemritujLyIUFiY_gf5BEOOqIjdQSe4RHkmjPedHNbO9v-_b9-k5qHUrpBKizGOZJ9jH0yL0vBLzXzk1tWJA8LbJSh_CzxRP70aWSW7duxxXhWK75VoBRU3USFTk2h1eju6vesYgjbRsP8YHFsx7HxdprzDQ6AokbI5PFdpkojs6bAWMjTPTYkT50SXiKvg8gAozg1-_USyUTEBXSxP2zVPqyN7zVWPQmVViCVxII4aQMfh4JWCRtTiyR8dW0e6mZHp7HFQbp2jUWXNkyODQ5tDpgdtgn65fPrnRUrlcGtCzvBoIMYwN49idJrcrnF3nyZeh0Cjl6-G6ayihHYi7LJylU9LiWSR40FA95tXNpE8DO_ylF3eVZClGrrSHhuB-RwXZdfZsJdd3naCgrlHfG_vuWenBXIQ3Iubj5vA7IzpNlU2g372iQ3JZDGL6F8_Gp2603W7FFO9KNCaLAUABF4KFxjQAtVedGY2ggRvn63NgYO8Q2WfV55p90nn3vvcYyKxXCknXL3hyMiOeNiOoMdwvfoHHfGg5IeiMSNPqZ_VvsyWXfNzM5yCtKdM_0J9unb-ALlmmfTK4wIPsgWTT1jpMwZUX6tPGxntcy6skWtwhsOjWbicrqaomvmiJMydnp_oFfGgsInDhG4D70uSeF-wjbHCoi-ENhyAc4Bw3S34ovuNgp5zaf5A6bq-el3dZgqUtkDI1txCJA8LaSJtsPRyspY4eb5FP7RhjriQCBMMo_TCnPLkeYGQGqP6OjiclCuMKD4NI3XKYfVsAjce9r2m0TxgwnUZeE76rKsRSDt7JqRTc8TVOd01YO8suGV40ObHkosh8CK6vkrhMQaTEGCjbLNSzXHu3b22eJV0hgtyJenGWdLVph69JAuKPzI1eQ0x1rAUWGx2OVNRTEm0rBqyOl-NQLg_iiaiu2YtAAclUt8h2aL8xcYBX5DYF3lw_ms-VPbxC_yjn4Nd4-6iqxCGbm751PcNY8SZRxHOK0Bw5QuYpddQi3fnOVOYpi7k-QQhUp1pkwFZLJOpOsuOEg7M1kVCH3us4bpjNPtpq_UKYt9fh40x-vo0Xvp0bihClSlUOlwOAW2hpsKWRpMHYDvzJtRe6Vl_1nAW8QsuZJXTKBgEmPlwc0OFXzeoPlSxvwWWMGihBcwIMyquUQDzboMX4plO8GGvLbMC5MIEuxS-Ku5bhsglnuAN5zxXbb3ABrrSRF2I7IVeS91XnpxaKu3NrB4p12JVrBk1N58QiHKnkxKAtzTgscEkw5UV50abJeGo6ws352CXDmHuXwys3nMu_dWBNT_XkQfPV2mYut4sKxUfh0LvwfsYNwDVbtmUjoPsTQ63wxwYnTdZCTq1Wc813Jk8tSIqnKOciZ5Sua2QTaMklJe4w3hoo3NCytRWYt3kQdAq5S2RA88nIF6mPNZiOIr6hYfkw9CLd3vDdJtbBQcGSOk0ltZQhk2O4DRO1puhfPCgcIWgQ9heDdod6wCtdY4CXcDbFHEHOaIJlaeoHIVS2rkpGlytpIrjQxQb6R7xmJlwrPhT744JkhBN5LXtS0sR3_sPNX2lmhZ7MkbF7ZkySmAmB-FT5HKjFoDWLifAPv6lbOZq0bl3TkKFsf_2XHov3TKCxwi1bbCBU8iZF_RMy_BkVwgAWR2c18YMbBjNkOGpFeSAS451KzOZIbyiOPTlKiv_eR30LGwe2knQSoRco13SEpQtO1pPVOrVvzG9S0zNNDCuOjvh_Cj6Vqdy79mE-tLIKV0DMm0k0DgR_ztzR98XAu0lzTjEWg_bvJmFc6pdKMONydoUyiy3_101RowRhvroEhpKjTK2XWFCRsGu4tdvqEiyfvX6T25SETx9eV5Cmka5XlYhRITtz6JiUf4a69Xsn5XnqEx0X49MY8i8PHIOcEzA4m0j6-AontaBsBLgpZJQm_lI7ov0InQDuXdanqq9IUGUFnTm_nXsLyXidj3uu-HosBE9pTFheS84-9cESjJ29oqR__6EHxN8wExK42rBZOrqP10byqbUEcEbWUCH9PVmZ775KlPGaOu7UH1e5Gyl21htMExvzyrP2u9EwgP90VaPFPXa4Jn6Jx8gL0v2pIuIz6GxwE4OqpcwVJn-6U-4o_8XmEOn0tPkpQg9q25myl0TjsFiWE9gcZ5Qp7P2qxewsyyTzzpg==",
  "id": "rs_08348a0f28bdddaa016ab41eb9bbc487d086cb0fdce80b0883",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.392,\"left_z\":0.18},\"note\":\"The dark fruit rose with the left gripper. I’m bringing it to the reachable left side of the blue bowl, above the other fruits; the left arm’s sideways limit prevents approaching the bowl from directly over its centre.\"}",
  "call_id": "call_gQVWEkoWElbEm9pBFNpPlnnQ",
  "id": "fc_08348a0f28bdddaa016ab41ebe5bc887d081b786bd30384907",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gQVWEkoWElbEm9pBFNpPlnnQ",
  "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]: [-0.897, 2.5313, 2.6049, -1.1141, -0.609, -0.7231, 0.5328, 0.0444, 1.2213, 1.1473, -1.0203, 0.0841, -0.3149, 0.9966]\nstate[eef_state]: left_x=0.4468 left_y=-0.3919 left_z=0.1559 left_yaw=0.0119 left_pitch=-0.2186 left_roll=0.0524 left_gripper=0.5328 right_x=0.2914 right_y=0.0017 right_z=0.1832 right_yaw=0.1518 right_pitch=-0.5502 right_roll=-0.2363 right_gripper=0.9966\nstate[joint_eff]: [-0.6632, -14.5299, 6.694, 0.2662, -0.4274, 0.1197, 0.6374, -0.3487, -3.959, 6.3385, 1.1648, 0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10add93700165e2fd0c79f97f91d05e974416a696ed28386d8863de54c98b105",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22544eedfd22223fb7ef223801eea62d6793421728b27424f6b97497b626cbac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05ebd1daf72c1133eb059bd7551dfcd3d54e8d092119bbc1113c9f48e72fb0e9",
      "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 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9073, 1.7546, 0.757, -0.0322, -0.6353, -0.717, 0.9991, 0.0444, 1.2201, 1.1473, -1.0149, 0.0841, -0.3145, 0.9966]\nstate[eef_state]: left_x=0.3076 left_y=-0.2175 left_z=0.0164 left_yaw=0.0128 left_pitch=-0.1943 left_roll=0.0624 left_gripper=0.9991 right_x=0.2925 right_y=0.0017 right_z=0.1841 right_yaw=0.1512 right_pitch=-0.5437 right_roll=-0.2369 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -8.9231, 5.7641, 1.3846, -0.2076, 0.1099, -0.0122, -0.1846, -3.9316, 6.3385, 1.1453, -0.0024, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8944, 1.5578, 0.9306, -0.4156, -0.6128, -0.7048, 0.5294, 0.0448, 1.2201, 1.1473, -1.0153, 0.0841, -0.3149, 0.9966]\nstate[eef_state]: left_x=0.3063 left_y=-0.2135 left_z=0.0956 left_yaw=0.0073 left_pitch=-0.218 left_roll=0.0696 left_gripper=0.5294 right_x=0.2924 right_y=0.0019 right_z=0.1841 right_yaw=0.1518 right_pitch=-0.5442 right_roll=-0.2371 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -8.5812, 8.4718, 1.1697, -0.525, 0.0415, 1.0379, -0.1983, -3.9043, 6.3658, 1.1453, 0.0024, -0.0415, -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]: [-0.897, 2.5313, 2.6049, -1.1141, -0.609, -0.7231, 0.5328, 0.0444, 1.2213, 1.1473, -1.0203, 0.0841, -0.3149, 0.9966]\nstate[eef_state]: left_x=0.4468 left_y=-0.3919 left_z=0.1559 left_yaw=0.0119 left_pitch=-0.2186 left_roll=0.0524 left_gripper=0.5328 right_x=0.2914 right_y=0.0017 right_z=0.1832 right_yaw=0.1518 right_pitch=-0.5502 right_roll=-0.2363 right_gripper=0.9966\nstate[joint_eff]: [-0.6632, -14.5299, 6.694, 0.2662, -0.4274, 0.1197, 0.6374, -0.3487, -3.959, 6.3385, 1.1648, 0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10add93700165e2fd0c79f97f91d05e974416a696ed28386d8863de54c98b105",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22544eedfd22223fb7ef223801eea62d6793421728b27424f6b97497b626cbac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05ebd1daf72c1133eb059bd7551dfcd3d54e8d092119bbc1113c9f48e72fb0e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7KuvjaRFFfmWKRnCmtAVw1OVXUi0ths5iwbS_cB8B6ir3dRdPolh9AxKxzT3BAN7jUlY0GF7ZSEhw1DOecWncZq1vKORGrEPAshjh9Ppny4A8v74sFKkGSXhG0H0_LmGsNWLawua3oJ9Jm1YSE3IwS6lehNy4DN0PupQNMHMv5EnZId3rIQIgsx32Jo5qxQgqrBl0n_khLuhePqmGldlpuq13iqxNLD5h-IifxE4utaRBAxBPK5PO9MSocnyUnq94X8VgrbdlvuLosP7oatHapZRs8Qnq1c5QAkWWy_GgNZWOev3cBGES0jfLDQNjHj9oFQW4dTpumWqUAe1vBilLHrksu5WZBomdYQiIJAmaTix37Ke-SMmzCpGmIzWZwpiOJSSO9_RdBXO6AJQKvPkG6CgK0AsVsfN6-lLUDlIimQo4P1uZVCkD4OZVLm0w0eJ4YIkOjoTYkvlII9fIHO6UVENv70coHWU2hpc9zc6qy4_8WB9DJYajpkatxJ0iR1X8lHXCxAEbDfZhGhScMTdYUEm2Ub8_i3KpDqF6FoaSkem7zCsE7r1OPeENj54USP1Ua51IjFwfRKPCQV_Md6Dj3IzhWQArrc8DFk8cEAo-oJ8cyAbSo3Xd12BtQZBvRn_-Y0BP5cjX-8EIQEqPb3s1skvfXDojkJwwj2N1HibQOFyM3HLhu8GlyK1SCfzRKHwtqnKYtqp4KRM6k0SxeIz6qNDM3jEJo8FJDLRfo6qSIdgTfSQiLVeC4ZZaEWWtVt17HQqnZK8_SBsHf43HyjfR0Bi-MlhYhByJyamYHrxiBIaREENlzWNcV1OfdvMB86YfcbSJ_dBYc-I6NS5WIyP-ETKhXU9pkT57eCoRVEhpDRKu0KXtG2vK20uanbfT2257nMvAyz5Vk_QAi1vxdq4kdINocmNfCGXh4dTwkNBF-cHo5GHHt2onmnZ2YZtIeq8wBaeFpOFxPJDoKNahGzjpnC1qmHtTTC2La8TdtOmcm3AKYCEeSIkcBd2x8n-xoxIBl59fqSkDQKdp2v3Oh3ALpyfsRcTS5Kqa8LuXlsQ5ygpSB2G68dkh_xASff63g3TJdxMV00QVnJEzRxPq1JL5TTFTREnmRevA_W8C58fg36N_uKnfbL9iZk1MLX-9wHNfDFglEZ6C06dI5gKDj39aPMb9D76SUwbM62CWaUnB5gtOmeqpggl8XOHUkdhLLT51LbnB1Ln3k4n3BdwfYujhiSnvcAQhzm4pSnq8IFFjSxQiqe89LQji7Sp5v2-g3GKKsqNXVoPFgx5PO_zYCodvwnZN7kgYbM0O5MjaVTcQizj5fl0PQHcSxcyTP7Ssp-BdDw5s_XCtFALNsA9EGbx4_cZs2Ux0ydY-LJS4qj6pBgHaW0_pq1zgg2V224IBH2gBTAk2-Oe481S5EC-zyVhLSUgSa8JXwN9iSTqdTeBMBqOq-6a37Znvt6--lkM94EzLDbiaFhvQUYYbvzB12s-eqOtlulzX5q79HsQWMxorc6MSuZKzLiftkzlXifVOgkONR3CI3ewTwTfFyspggxBFEvQCbf_dgaraFJzXCmuclsdSP5WrFUqSBHVCdrhUp_QWtUbaE1jz_4GOi6ePzI7vlwqUh6vcX43oyv23TriHe8pk72-sTT10QWccL5ilzCJDgBpm-fZnlclC63TqluV6YuoXg-5OKhcO1xjtoH_fALwSdgSNgynX47A0Gy7T6e3jyFct4XDMLUrrgza_giAF2hGHlgbUsgvAtqpIwvO-RklzDfykFCN5Q7Z4NloiyBcwldJQlYHgsXO1bgrdCoIqlnqBzokp7Udm5DkrfuzdF55yHxfLQrYjpvrYsxEjC7Bl9su1z-pkHT-RatX4HFc7u0UpuBqr2vBP7Q9HcYz1yRnq6_VQZPVQvf274Qnhr-Zpap2yaFufIN4Af72wwl-dQMdlRjqb8jsq6SOVN4udH9ide-Z6-mLHPvIo3iTXVJMS3DKT99FKZ-gDmePqXiaRxHYNt0pO6l9D2LvvJAO64qhugAJpjZCdW7u4m9XBwzsFKPMiRbEXeO66SyH6XNWwsbwVq5BY3rxTEyOTii5vxzqVh8-pVv25aGPjNQ8BctmQEkNVxKFZm8g-nwzCXwcDm77p0EloOITHP-HHhORNTKpY4YlFh0W99fgFcG-tzwKZym7MUCSJBr5YPfgmi5HvlviQq7RIOlWhF20fzLFyTmyEx1zHLjkFpiOjOmO-_8BSOk1pLLpYfgoLldBe1UKE0jzflKsINz6upUtnVRNl8IDqpNelPxvulVR5FqS-4uQdAC1gNJwaRZ557iJyZXpylxataylR9kN6r-nLXxEn5JjV9ALowZeU5b9jSvrUV02S4Ltzghk6tizp3NvET1KGDBX0tV85pBHc0EkcZRD4MEDzkeQPRrc1Di8qKCz2-cs1WzC2G0coK8hw4my7RvwxYLS-_xEPRTEMWXxLl4DIDH0ymo9T-J1Or6aDyBy_MhFm50bS30wUlavttphem-NU-e-e2-k7_YDV610Q7W8ft5mMlS0qpn1RNfGWLK4clPFdZem5OFFDgP2gBRyN3JrU4jutra4XEuzCcXrqj0XEbR84iQuZ6hRnk-QE05k-U_O-ZQSjmWQ0Nz0NS8UFbLh7vutkStPXzSLXLCn0KyIwR54tQoUt1Z-Zc0DNTpfAL7DNcteiihQxHS7hpM161BjEgjJtyJSE5zEXdD5a2qoco68ud38SxqyE_zX3p83CnzoLTJi8bcQRNBwcHyxcMA-0aXv15g-qwz09T_AAZSDjRy3mg_SJyCLbq6C02L3IHzFkCc6MHV_47HmORnq13QTXNfkGXtADHqf_W5b3kZiNhRirCTNmWkdy5ckKCt0r8RCj1beH8jzLtyYb4664LTzstBr5BS3cYzSyjkI2K3Cqh5-5m0ZUT6e6O425MWklBginHiEKdO-fYin1Mz2XW5JFBpS0YnQ1Ol4KjNhJdIrezLLHhMrGKqGBE_D7qhdd8prqwSIM8EhJsMGzQSnLcjNadfx6fwlwE8I_FKnxfHk5TPwVO4Rl3oQ1AOB7Aey9AEqoHC_aHePFfn6Mz_t9DaiT-aPKAMP4YXooeV2IORIXl5DdY6Yorr6LP2tdrVxRpNDx56e2UmsoFJMsJRlg2_ZrIeRqr4tMKFFPqCuZI-wWQiShej172EytKO2h2aSOsT5uV8CdFhocswn1erNx0k-yTMMGHEDeI6ooCsa0Tnwu35NvoZOmZorV5IlW-2BqPWZriE3SF1ZlGG1VxhxrXctunEiuNaak83_yH-gG3km-jHXZ0IKOXRZUPCY2d21uM9RmFwp7le2RDxWwph3xXSRMECpss4pFQ0D3F0eH33XaoA-jmPteWDqp8BoytZVWR54MMGswBDtSOYZ_enS5gu_29oni_2T3x8fvQOIdhpRwcxsQXyFMH2aZtiPmGoAvjXbTRP4mPCouhQfwiEnM3qd2DBe34iY8d5PVtnRzSvFV_jHLidCYJskC8glGeAVAclLlJuLu2P2mFVxLysrcgHgptJB3ZICKLsEJuFN8DvaSPpu-INur6-d-4YmsFN6qwWxsQR-WdxEJtNc8ykGQ2NMmMqZW9lVEpDyHSLgynB5VpaHhNAX5hlBQyY-NyJheDlpoaIVyNOGlqDOXkQqQTLHaz7xQ53pZB1mpt7vKfWCjs8f7AxrjkmXH_iTNPjO6um_HSjPoHMmlQKIvsVB6S8bPPOOrMbyW0u3Wi4fRvVD9tONYnWK9aiE_Cr3XT8K-aIg0uMy_8yd1ZTYdVA-iAahReyYQaonXoMwHxuGNnBUcTI4_fnKYQdYpOJ7KOzjEO7D1i",
  "id": "rs_08348a0f28bdddaa016ab41ec34c2c87d09fa3f17705236a08",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7KOSwuFKWsu-VdxB5i1q-ujW1WjcvDI8anjSKhdU0zpltDdyLDLThO1QbSWP0WhFngcDd-exnm2WfMmoPkGj9qGZHjIf35hIWbDbYUW59EQy6hur6pi5vzwGi3jJlh5EM0EQJPasjUF-4AAMhSEPXGXh0TRjY54jKMt8qQFmOGR3LDHC5TpD3WvRBSrfIpzJtbEApErH_lZeCmR2dKxzLNpNDqnSJNaS5Zk89BcONnvaqN9wBB0hXxzJHJQ13w8T1grFJ6y6YOmEMnzxpxn_tywfIT3_-vlZiaZ3BPqflCnNO1Ovzb9jbrICb9lwa3Kh1rNKbsT-pRm7cpLaCt-Qj6lYmikUvFFSgD6kNSTm4DIP_znwPP-ZUrgqe_7Vb1guLV5pC_lbdbJyxvRTDrwSosg9FqF87msRL59zfzYc-o1O6iW-8LUMqSwucBtzTGmoH6C4Awtqj90mpi3OzAzypoGnHIeQ3bQ7Wh2DZK7KEG2Up7uQHj0b5xUNdJUxkBRYCOUuFR8NhWRAPLkwI9tab7A3uaxubSfV8FFRZGBG3_S2PWtGXV_iB24MWjD0nqSrSdhbukr3z10IbnX0KTm8yFCODpgji_ICf7AG5PUb9YU6lVsiWgToQkJGMCVeJJ0OzYsjN0jR8EDO1B5pZ3a0tFaAkg8K6UDA0HlZtEfs8OTVMdGuzVF3ZT8AUeQD3rJ4Ew2f3Y0L4E1-2-JTgLFfVjM1WjR2JgrHl8j3xj281Yr7lT_6xKdus0Rnum0TesWvJJ8xWMWT5DHKCi4nk2GmsQ_s3xOFzIXIeM0IZXXKprYsYQaXGh2F801_XSS29c2qd-BgJDxMdQTqnr2Mz4YAVRox8VBvUyGd0RjetqFegBBeCb9_jsCJQNi3xm4NSM2dy_jrmVQ8u9eKP8rC54B-6TX_RJ10odKoSlkSdCXaIj97Ur045WVuTXAukFunvV0HkjQzpJXplhwrHygNozlbOIPrXFoTCsZZNeeNaAqIzjCT73F7DVM9LKDX0uRVqMjCZM06d4ZqhFH8W08d5EOCA_LMD6KjqbjfbfIzpvH8ADxWkMXePX4pC-4Iu4IHLXxVz20hMfKmjB4ZAOuWrwst49oIb1YzVgpc7DoPLcgSv_EEBLHVvnKccKnyqU7MuezaM7PCeLoOTehM168Klva_mm9NCisthkbUmKOm1d1BN2JsZcnL_YmrL_eXnIlK-Sw0gs4cQnhJdC_7Z6ZeEWvHts71Fbgskcd7CJGxkkWS0ZwPYk9c7W_uNd4Z1u4LP-t0iEZPWNLm1VNli9AA2J3QyU36L052IgQvmJ_feDO2mz9mF_Nhm5GdnpHayeAHNOZbSmuZ0tJCOyZe0222fox1--Jw==",
  "id": "rs_08348a0f28bdddaa016ab41ec934e887d0bb7e7ef2aba0cf39",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.4,\"left_z\":0.108},\"note\":\"The dark fruit is just left of the blue bowl’s opening, while the yellow fruit is visible inside. I’m lowering at the left arm’s reach limit and slightly forward, aiming to settle the dark fruit against the inner left rim rather than dropping it from above.\"}",
  "call_id": "call_n97Aw87wha4w86M7QNIWjK09",
  "id": "fc_08348a0f28bdddaa016ab41ec9792087d0a700f19e5366865d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n97Aw87wha4w86M7QNIWjK09",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8921, 2.5755, 2.4737, -1.0245, -0.6018, -0.7231, 0.5354, 0.0448, 1.2213, 1.1473, -1.0199, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4481 left_y=-0.3906 left_z=0.0938 left_yaw=0.0297 left_pitch=-0.276 left_roll=0.1186 left_gripper=0.5354 right_x=0.2915 right_y=0.0018 right_z=0.1833 right_yaw=0.1524 right_pitch=-0.5499 right_roll=-0.2366 right_gripper=0.9966\nstate[joint_eff]: [0.5128, -15.8838, 6.653, 1.2283, -0.3687, 0.0513, 0.6618, -0.0889, -3.9043, 6.4752, 1.1013, -0.0317, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5ea2ada6a8501328149c5bde31037b5326e405ab4e91e8597ea8c81e943ac2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:096b36ca67022c8d5ce327c3c16f097398c5e7899da06b6e10cc8ba617a66f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b75c99d426cf2fade2b123a4a2584b5a92d30ddd99e65d84f4b73351a415db",
      "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 90 changed as sent

message 98 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8944, 1.7405, 0.7448, -0.0368, -0.6281, -0.696, 0.5261, 0.0444, 1.2201, 1.1473, -1.0149, 0.0841, -0.3149, 0.9966]\nstate[eef_state]: left_x=0.3075 left_y=-0.2115 left_z=0.0165 left_yaw=0.0103 left_pitch=-0.2016 left_roll=0.0761 left_gripper=0.5261 right_x=0.2925 right_y=0.0017 right_z=0.1841 right_yaw=0.1514 right_pitch=-0.5438 right_roll=-0.2371 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -9.265, 4.9709, 1.2234, -0.2906, 0.0757, 1.0281, -0.1573, -3.9043, 6.3521, 1.1306, 0.0073, -0.0513, -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]: [-0.897, 2.5313, 2.6049, -1.1141, -0.609, -0.7231, 0.5328, 0.0444, 1.2213, 1.1473, -1.0203, 0.0841, -0.3149, 0.9966]\nstate[eef_state]: left_x=0.4468 left_y=-0.3919 left_z=0.1559 left_yaw=0.0119 left_pitch=-0.2186 left_roll=0.0524 left_gripper=0.5328 right_x=0.2914 right_y=0.0017 right_z=0.1832 right_yaw=0.1518 right_pitch=-0.5502 right_roll=-0.2363 right_gripper=0.9966\nstate[joint_eff]: [-0.6632, -14.5299, 6.694, 0.2662, -0.4274, 0.1197, 0.6374, -0.3487, -3.959, 6.3385, 1.1648, 0.0415, -0.0269, -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]: [-0.8921, 2.5755, 2.4737, -1.0245, -0.6018, -0.7231, 0.5354, 0.0448, 1.2213, 1.1473, -1.0199, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4481 left_y=-0.3906 left_z=0.0938 left_yaw=0.0297 left_pitch=-0.276 left_roll=0.1186 left_gripper=0.5354 right_x=0.2915 right_y=0.0018 right_z=0.1833 right_yaw=0.1524 right_pitch=-0.5499 right_roll=-0.2366 right_gripper=0.9966\nstate[joint_eff]: [0.5128, -15.8838, 6.653, 1.2283, -0.3687, 0.0513, 0.6618, -0.0889, -3.9043, 6.4752, 1.1013, -0.0317, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5ea2ada6a8501328149c5bde31037b5326e405ab4e91e8597ea8c81e943ac2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:096b36ca67022c8d5ce327c3c16f097398c5e7899da06b6e10cc8ba617a66f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b75c99d426cf2fade2b123a4a2584b5a92d30ddd99e65d84f4b73351a415db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7PUBv0Rw4bCBWQ6HPpRN9HZGItCHdaw8dpC0B2k3JN38w8_RuXdEOizJqPSZxduPd6zYWaZzMOLvSGjepKe6nzD-7pUoRrNZ2UbI6HvzejSGSn2E9MsSJXOALmVAdvbC_iAxNA4f99OPhN9hgBY57VF59A-12qWTKyVtWdsQrJbtunCEA5CHObV9nqXGE1pH5RNZuZmzww_HQ9-sAc06WtU88OM2htxayil0HwxvDSLQUcfejUNxpvv5IupnU5YCTVfBNsmBiC04vva78hL4Zuxvv77f4eC5MH5bh9LqoOQ98C2qlmbewvw2wBSAd2ksr8_bqX8VdLAZzl2VO8yOu4NnC5Q5Ho2v2gHCClL6SHtjlB5of7UatbMHMQNIJfshuBCJEgdhJj73Mu2noCMynt3smBQr93pQsRRIQ2Uz6ZCA6bLj-9xzKV1L_bAPM92L0KrDuWKu-MwoH9HzAqT6YzM9if0p2pNAw7UJwL2Sa8UpcL-CHBlh92rWz7eJz9oTZnUmqzX7tvOcxXEQXsmOahQIBuhFHkgfrwB0inoaqKMljM04nfG8NjNDOMsksg5v0VA5pNP5jiepyFT4F3FOGPQ5H3npchYucD1FVf0ULwsiXMOlLaMwInR5RcCbAN-ND6JjvzzF8BdQr_hh3kwdWHZBN1weakN2-obKmCbznUMY3bUZiAQ0yv9TR4BxoBTURmUlmTJCihSD9vF4pwliTalNCCAyzGwh1WY0tQfZx6ZWmaxzzEg2F4CmifwGYa6V7z7_7JDkj0_i5s_rZNo0ObfO4eSSHH6r6AnIMl0hBwBEHhOolPSlhCGJ3fT01YHUJA7E-oNQhierZoBowltv9_2u0Poukg5-GsClVGdFT3sHKxpkgiDK5pkRSYNoTyQ_lMxNvM5pSBDquDcDyYIX9ucLqSvPa3qEH7VztDf-zu0jtGmfRu32xvvWlaGqR7yJ5kAz-BGnE6mHtMra4CV6YuwMg-YHKrT-_ALyl_-uhWU9JR5EdRZLqvpOrAN7SCRWppBQKA6sCi9ufKBVuauTgidIRPJhwhK98HxaN-2JNMRl9Z7jDgc2goetGiS_Hf2iN0WA8DrYwdignFnDR1mm8uB-qDmIjIUeDIjF75abPhp_ewkCr_8R5oqEfS0zG3hJCl9w-4GdySrRAAB284qHH7CA0hzjf16Wc3CcG8tw7a6Ar6W80D-tqJn5Wi68MvF08JME8AEdJFPW6k_FcFuc5IFCSobk4dotdb4RCvHKpfqSLChUYTX23qZXSANqB_IHyR6eApMo06a_iOZO46mnDbl1ZTp0qd_i_PWolImyVlQGdD_lPbq5eAaFiLe_wZ2bvcjrnGq37AiQyeScvaCmaR9EUpl2RyIqmotfk1RHHSgOdfbULwbIjYHJGLlA6CPKlbLDQ3_-SpVwxsbGyrhhvCzFVA2IjXqpp_zquh8TjWXPGmVa-WNm8Bu4U3TxR_y8dXWD2f5s0ZqoaJMmfopyLpyLQOllccl0Ud9lIcUjbrClz6UyKbwXOFF2EBab3N4qJ3XAzV7RzqbimrTesex62GwngtePmP1xolTQZDvxv9LwPPr1szeDiFspqXDdRrM6fAdC_ucLC57CrflXU2Tco1o6ObDldTJ6vPdswriCYnaIDB5t1E4bNkK2MYSLH90moAwMmJzqe27wZwgxlsoI3sEyTXv8358aRDae-suGdTDaxMTUzPx56EzYDcBnQqOOpzQnc7BLOpa-n_UdN2Yz-G6qoqbgzdCIxYcnLqzxs2LUyjoBI6yXnoxyUSaMbbYA8xBWW_9o1pZN1rTxR918IT5p_Ua5T1BxdTX5Bgci1cOB4d34ovgUs3uO3oOsJYKdmyQvT9gkuy5Kws6pBI0OUD7fSp8I7uLT0haA5aDZaYJHAwljnS6GdWClaZETj5M6BS4kERDZ6c_ApRp1HOOUlH0HutNwbOuU7-qx1-XIUmCM7khvd5eephOr9gRaxhluN3JhoF8e6J8c32fzy_emGUTyTY36T76mK-cDXq6hyESAdi3CGyv2A59rPvH4DgKqlDD64L7IVi6prezhN-19GETWAbP-Afbf39Q5ANJBzjVwEb84-g4IFZg5uRGgE3MI4nkWMFe4vl8G8uPwQPmAcCGXVgyTUpC4LrK93XnwqQ7JYdS91YEbZtoNCwxiI9nmnR5zNgYSoIrdZXTf9DFNdSRH8uIbrwRD_U2y4ocNNfDYCqbw9-LoZiV3h3vgnWiWgC2hLuUbsVB603NURW6_lH9HAcchaUbnUrfRfsOGpMtBDIZgEvmf4-a3K8A2M52O93dQiOFG7m2GIyftyd9aHwcXAiCQg3cb3LOuiGgdrTEc8YTx9XuOMTY4_c5yVV8rgC9Q_f-aOaOeFPTcEl0N7SVGaxik3FzHlrCK-PAmrtdpIQYKu9mDh68f31NEg7PowW6SIJSXTTheQDE_MN2pPOYENDomptAPJm3JiWQIb6UgUHJ7tGkfBptDQufTPvI2xvIjqY1CrnQdkLoTYhWcFqzsmZZYTcmrYrb2VvzAI1IiL4q4Shq4j_DI0FjzDHcF45nngpywGOo6mIcb-fGDNjAQ==",
  "id": "rs_08348a0f28bdddaa016ab41ecc23a887d0b76c434b67a289d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is at the near-left rim of the blue bowl, as far across as this arm can reach. I’m releasing it gently and will move away to see whether it settles inside.\"}",
  "call_id": "call_0FiqkgTVxGuuhWoeaMPBEL1K",
  "id": "fc_08348a0f28bdddaa016ab41ece778487d0a27589bbb709572f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0FiqkgTVxGuuhWoeaMPBEL1K",
  "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]: [-0.8906, 2.5755, 2.4691, -1.0172, -0.6018, -0.7307, 0.9953, 0.0448, 1.2213, 1.1473, -1.0199, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4491 left_y=-0.3904 left_z=0.0929 left_yaw=0.0349 left_pitch=-0.274 left_roll=0.1111 left_gripper=0.9953 right_x=0.2915 right_y=0.0018 right_z=0.1833 right_yaw=0.1524 right_pitch=-0.5499 right_roll=-0.2366 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -14.8855, 6.8308, 0.9597, -0.3541, 0.0317, -0.149, -0.1162, -3.6718, 6.3795, 1.1258, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46e5253db2d177b0e434f7cc992b4217e7024eba077867ce27d16c561462a87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f4ab35aa4426179e359c0f68c5795bc9a3b8c098c8002529f0858a8fa4a444f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc44a8a05e146c4bb9c4db74158e02db63c39209d42ef634683e165ff0ef29c7",
      "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 94 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8944, 1.5578, 0.9306, -0.4156, -0.6128, -0.7048, 0.5294, 0.0448, 1.2201, 1.1473, -1.0153, 0.0841, -0.3149, 0.9966]\nstate[eef_state]: left_x=0.3063 left_y=-0.2135 left_z=0.0956 left_yaw=0.0073 left_pitch=-0.218 left_roll=0.0696 left_gripper=0.5294 right_x=0.2924 right_y=0.0019 right_z=0.1841 right_yaw=0.1518 right_pitch=-0.5442 right_roll=-0.2371 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -8.5812, 8.4718, 1.1697, -0.525, 0.0415, 1.0379, -0.1983, -3.9043, 6.3658, 1.1453, 0.0024, -0.0415, -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]: [-0.8921, 2.5755, 2.4737, -1.0245, -0.6018, -0.7231, 0.5354, 0.0448, 1.2213, 1.1473, -1.0199, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4481 left_y=-0.3906 left_z=0.0938 left_yaw=0.0297 left_pitch=-0.276 left_roll=0.1186 left_gripper=0.5354 right_x=0.2915 right_y=0.0018 right_z=0.1833 right_yaw=0.1524 right_pitch=-0.5499 right_roll=-0.2366 right_gripper=0.9966\nstate[joint_eff]: [0.5128, -15.8838, 6.653, 1.2283, -0.3687, 0.0513, 0.6618, -0.0889, -3.9043, 6.4752, 1.1013, -0.0317, -0.0757, -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]: [-0.8906, 2.5755, 2.4691, -1.0172, -0.6018, -0.7307, 0.9953, 0.0448, 1.2213, 1.1473, -1.0199, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4491 left_y=-0.3904 left_z=0.0929 left_yaw=0.0349 left_pitch=-0.274 left_roll=0.1111 left_gripper=0.9953 right_x=0.2915 right_y=0.0018 right_z=0.1833 right_yaw=0.1524 right_pitch=-0.5499 right_roll=-0.2366 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -14.8855, 6.8308, 0.9597, -0.3541, 0.0317, -0.149, -0.1162, -3.6718, 6.3795, 1.1258, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46e5253db2d177b0e434f7cc992b4217e7024eba077867ce27d16c561462a87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f4ab35aa4426179e359c0f68c5795bc9a3b8c098c8002529f0858a8fa4a444f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc44a8a05e146c4bb9c4db74158e02db63c39209d42ef634683e165ff0ef29c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7SvdGDUUAlLBNZekuObMgv4QG0JXJp7u2ogjAGL4OGsU3xi0-ReaHa2AXPIF9VNh7yoj26ZL7zHO0PUAg1B7ayb7KANyAMuTHG3kz3gPSTjwBWrm-O5NjzOY7O52nbkkPk6yZmxX0lXalJMJ1F-LWr2Vo4QMTAzqyvaX1IPDZ7oJVh570BpyIOYXGkDcFftMalc_u3WyRkm4hizPGJ9IvjT1lUyGje-oeNrsW84UiR9GgNtaT_B7FMWP7XXiGA3OA7exliBveg5meAx-SHAsZX5ney4zDeb9qItDmqUjErDT8jI3DGJP-05S5zezHXEdXYSdp2-4detp_t4SMuzGghEMk4eDf4VwLdM0rEICtKaFK9bZDzmYOTNqHZ2YpAinAqOWJC6D06NoeLnMuHFYqq31jhxfsCif_OTbfe7LwVCjMOfXr1QaOMH4PoJdGnLgKqssCK4UbGGeN58r4r9PQBvynmVSndt9clOX_cYqOV9p4yVpEUPQiEJkqyfGTBd_21fXedd-k717di7pB-80iv-zz4T7OSwcTVVm8dSLn_jIpauLCWYe2UiC-n67Fzdh4xnFGBac8HqXhpgcmcCURRlNl559t2UNG_ygsLXfMnquUNRbzqrwiyTYMJLQXUN2Q4quPir9bfBAa_R3DUQNWSC_c1FyviI6xM6R-K3iy2VXQLaRVBZw9Im4z0GMlDsnvSPIO6f6mPwYBOLckHl0qPvnoQm5B_-j5mc2bnWhIqBI042dTpc3pBnvwpglYhF_9fq4Df21xf8tfT7_XBTbLssw9sgWbO6ST6iL62ShOzuwWoLU-JqLXEfQRtAtSehi9U9CbO5onzsCxxghGjwQXbzUrqMeRtc_3FVBGmsI42V4M_hQ_lnZSP7MXzNomTAvrhJzdVKY6Q5ozUbKVRNtpd1zdKwM7cxKDxlNFhHY4xxoulAO3gbx1_R9buXo_gkSW0Z7mdM-7UUZ5ODw_W8JmJvPG3kAJIcBpKj_GSbHb9zuKPDp6kYOJ78PEUlxiCPm0ojT2Y__TWk71-C5NKaTdlLNQ03HmPIY8buJATqFK8k5qjqgcwuM1cgCHjjUDl-5zS8oWTA3GH_BrfLmF6FSeulDOkbRnlfX2bGjsBtpRs5QBuPB-82yXp3txhO13nDZYh79DjLX39NEg9SgkJE41HTl52_I0tLfUx7vyXR7RQ9vfzXcBLYxuY-lzT1L5lQ6H-QkjKxO3Dl16ALTu-egMZfu66CpnrpqNGMrvFv501H7JvCJuSVNfVJp3ZJg6kKhDQaht0X1PB2Iz69-LqNOUIaYYMTfJoXX0bozSzUQCPQzIpMXvO8laXwUZvJRCgbzcqFzvnn6gQpDqPv_-Fqc_syMUQPSC-QHS4dJ8rGxYrKK2_2lHuQRSJJwb3ckLJulXJ7DhfDdPZElwoR5yXaQQw6UuNcTzHuwkWBD0HyOCc66aBxaTMl4pQ2OC3qPnjufcG7srkJ4bAmzvclZegxHfC2nIYA9pGN8dvSCBQpSenjtrCGj6K1GvShoV5jQKHhxVzTY8a-BqDVwdAg6gUBaavstLmGoxYWufia3gnjlyEuOe2qpkmGop5DwONn33wLYmb3R1o3oTOKh8_R5DcA2yFwWjfs8ZZkVZRtxOfnDhJBGwOne4Kx8dOGIEDEEMXa1l33g4j8ZTqH5qvbshpNQKGDJ1nMnnNSjtTi3ajohGMRpV7SYwYBzGOZSBhbK2appnKmlaMDzLYFFyysgWz0SAKPA==",
  "id": "rs_08348a0f28bdddaa016ab41ed08dd087d080c42bacc127ca6b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.08,\"left_z\":0.18},\"note\":\"The dark fruit is resting against the bowl’s left/front edge, but the left arm blocks the overhead view. I’m withdrawing the left gripper to check whether it stayed in the bowl before attempting the final pour.\"}",
  "call_id": "call_UuUcCx7lRtuUVobOSv9c8ixd",
  "id": "fc_08348a0f28bdddaa016ab41ed1aaa487d090fec682988a335f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UuUcCx7lRtuUVobOSv9c8ixd",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.532, 1.1461, 0.9604, -0.7563, -0.4278, -0.4068, 0.9962, 0.0448, 1.2232, 1.1473, -1.0225, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.2966 left_y=-0.0853 left_z=0.1797 left_yaw=0.0586 left_pitch=-0.2617 left_roll=0.0941 left_gripper=0.9962 right_x=0.2911 right_y=0.0019 right_z=0.1824 right_yaw=0.1531 right_pitch=-0.5544 right_roll=-0.2356 right_gripper=0.9966\nstate[joint_eff]: [0.253, -4.1231, 6.2701, 1.3748, -0.1636, 0.1245, 0.0806, -0.0068, -3.959, 6.3658, 1.16, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f899300004d77eeedeb5a4b768ddd524067034f924ba04c047e3055c7afd74df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d19c662f9c8f90d5fe6c7fa22c9d9b812113b19fb3c1cbf4b1166fcf28917850",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6837b8674af38fdb491f199957716a179c74b7a44b7e43688a9b5609ab8ebb4",
      "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 98 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.897, 2.5313, 2.6049, -1.1141, -0.609, -0.7231, 0.5328, 0.0444, 1.2213, 1.1473, -1.0203, 0.0841, -0.3149, 0.9966]\nstate[eef_state]: left_x=0.4468 left_y=-0.3919 left_z=0.1559 left_yaw=0.0119 left_pitch=-0.2186 left_roll=0.0524 left_gripper=0.5328 right_x=0.2914 right_y=0.0017 right_z=0.1832 right_yaw=0.1518 right_pitch=-0.5502 right_roll=-0.2363 right_gripper=0.9966\nstate[joint_eff]: [-0.6632, -14.5299, 6.694, 0.2662, -0.4274, 0.1197, 0.6374, -0.3487, -3.959, 6.3385, 1.1648, 0.0415, -0.0269, -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]: [-0.8906, 2.5755, 2.4691, -1.0172, -0.6018, -0.7307, 0.9953, 0.0448, 1.2213, 1.1473, -1.0199, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4491 left_y=-0.3904 left_z=0.0929 left_yaw=0.0349 left_pitch=-0.274 left_roll=0.1111 left_gripper=0.9953 right_x=0.2915 right_y=0.0018 right_z=0.1833 right_yaw=0.1524 right_pitch=-0.5499 right_roll=-0.2366 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -14.8855, 6.8308, 0.9597, -0.3541, 0.0317, -0.149, -0.1162, -3.6718, 6.3795, 1.1258, -0.0317, -0.0464, -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]: [-0.532, 1.1461, 0.9604, -0.7563, -0.4278, -0.4068, 0.9962, 0.0448, 1.2232, 1.1473, -1.0225, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.2966 left_y=-0.0853 left_z=0.1797 left_yaw=0.0586 left_pitch=-0.2617 left_roll=0.0941 left_gripper=0.9962 right_x=0.2911 right_y=0.0019 right_z=0.1824 right_yaw=0.1531 right_pitch=-0.5544 right_roll=-0.2356 right_gripper=0.9966\nstate[joint_eff]: [0.253, -4.1231, 6.2701, 1.3748, -0.1636, 0.1245, 0.0806, -0.0068, -3.959, 6.3658, 1.16, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f899300004d77eeedeb5a4b768ddd524067034f924ba04c047e3055c7afd74df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d19c662f9c8f90d5fe6c7fa22c9d9b812113b19fb3c1cbf4b1166fcf28917850",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6837b8674af38fdb491f199957716a179c74b7a44b7e43688a9b5609ab8ebb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7fN2RREynySavrcSLp4NuYK8dutKo2OBMXV01NyDAHv_rGiK4WERTCNv2k3erVp_hH_veFF9XvpwQZcJzQC08dV44hyfKMEzpySd1Xbxa0fsWx4iZIUn_HmaGz4E5MRECU7Zp_TING38qPeuyjP11Vbxc4BZXWL3Ay-ULCH82JaS_G58nkMaqorH5DtCkbVSkxY4JcHOtplUiL06btE71XO3GAb6hNyrn9Z3zquryXe8cwmnDyf4qP4xeY3M_DImKwM7MnzEmT16v464w_k_yuXJ9RKD08CT4kpzQ9hpEV2uZ4orad9iL2i4aWWN-4cBYpCXpSGGHjavR63uuirxyUxPsU9xPSLw7SQ3b_fzV2_nshRhRipAN50wzi67s_HqH2q7t_SyyI7B4JYDX7dysSO3G6VyKVbGLOfL3iwPL-O4RBHvJyeLlL_4g1Lb3XsrYN1SDykJ7k_cQsuNA_zl6pcWatB1q0AtwCfpcKuTRaPiKp02B3JdFJNQHXC2f4686mPHcZZDLoXVK-Mz7JQw1XOXk_bdcvviiQ_7RgJvnQuJOYIpNDR1CDF6x-OTX805eWlvB-Z6VR50asS8IFQ0ZYTBurQL-M4jgWPo6Bt_hz1BSX7hFGRVphScyQqnuEg0ZoiFzX5beZ55OF8AVWxE9sgt82WGs3UFm0VkUHkii6Pjl8Pmk8a-q6k_SBziJCGewwKh6AD7PBAFkZe5Pc8vFzBflAgScrYAeDBK0OZpJgEp-C4BZoFXW-jHXuKI88sUkCahwdSp7kUzOmBnD4JuwZot_giCcTT1GS98rxcLxg6ol51ogNylI_jzQrFa4LZyt95PtIAfzqqV1hHw1B3mwpA-e7HblO5rHuC-F1NqR2aL_QUABQq-46de_ezObYU32Ehdi4-FF7sx8FfTQXLZZweDKhrA0W3_JWM6XpH46iH393lf_vnncsH0GfFdkQKsMmn_z_7UODiCYmTdTuGMAa0uAjVPT-qzl6oM0SeGNku3i9742pT2-SeiYZTP30mqwAfkg4aoHhUbmZs1TQyzxx2IR1XXCuGcseKrujdmr206EOmVLMiZ4JGyGA7_Eaj4jF3t2yjEIH4U0P3YbP1zsF8T9NK4yf1MzTQSmIJRwVWmAEciMJZbpxLLSBsSj8AWe5-fZuwLBsalNL7VEpdxYuoGLeBZrKhE8tB28VtRhSuBmztIU4iLuxWMU9bWe0M_9QNDtu50SJiYrFo_RNuRqJbqjgIZ1cxjs5OZL0Xyb1G3B0onocTZJYxCJf2i1QM4GsXvtClgH8cUI9V5x-RkhuI-Q0-og4tJbuTnLHU8egnfvfP5mS0M3zWrQY4eBr8NfY7z-27jt7lYjs7PVFcsaKjCzAfdgjUs-BSE5y8ru_WtIHAvQ1f7mo7atdAk1zsFvG0wxI8NW964lTrSqhnDrkE83VktwHg91AEijL84sQoOQqlaoDQjjw-e-pNO89vG_-cCzOT08nagyyb8c_UzFDhm987c9cmB52aKFzxr4InzTLxbVNwvjjHturFqZyhb3fuupAqB6HHGr9d-Gq1B0UlHOcsssVGZE2ro_0lVjWqz9LDz9w6nY763J1ikWGHHnEHQck3cunVTYZeI86Y4opzTWmSrcLsCtDDofaiE5cBaHJrXRixyX6_cNn0oovmhtKlrs4RiaPHO9S6rhLcoZMVM_6XK-NONOpHpb4oRoOn6vxa5nyn_0M6mtK4d10g6Y6tXyJAA_rQUQvr4bzCObZbHbGTTIk4NNct3HvBo-Bizv_xkYK-KhoRsfR-MKkqmeZLomF3rGZ3XXJooqBgaDRP0ZIWpz4F4ll1Ew_kd-lAjt7jr4qx5w0uQSTQgFp9gPFXDXUkz1cfw_NbXoA98s37umXcYOcthdmUdcQKQfCIhqmmpAbapF0RSdLGLpt8SsODLGtPfkx1Me560z8cWoDX2ioy0m_qpSx3r84_KDT5h0k3WzcvoNjjhVuudBaHzKZyRvfZMTFV5KX83TkX6jlmwdbhL3IIp_1idSoO9qtLUdy6bD9rNu-knS-JScfPYJRAESd_S-KynyDZNY9tWQK55Bv8J9erBMA5IFRAHfuKHDMB_rp952V5eJ3bxhxZ5KkI6WrUG1zqrls342OX1q1FH5kRA1LdgS713fCIFVShW1jBeO-HcmKy3Ob2QNBWZVouscheZEcHymXyeCHU3jWCDrKvKCz2DGFD4yHKuf6ipiWXiOl8RqYWfAc6yIN9H61hsyAsa45PeZQ5EWhc_HX957otc_UXSpiLzUDWdbzJSQlFrupESZfWBiUCBRsQovfZ_WuW0-Ahn--OkoxlGlC_Q0T3EkC1HA_ig6oPv-b-tmdix1UZ-W-RtHAjQTkiE_JRTOzORDJJQBpv6SE8iX_5EC_2gMxYcB6SljppoFLAZAkYKEKb_KCK7e1taPAauJoAeVY52Zdfj0IzXUAsb9HyYEnu5uXw82BLOFjMAYRsUZrNWR7jz6CIYkiRsy5idiR0aYZL-6QreJtJvFeMmMm65DL7bFoDxVlkWsXaPk1jwqVEuXAyakwQpj8pHyFDiwcm15nFvhUK2GaMvkdJvna1tHBJPOiBzQof_FowV052YEkIMmscLbDDW3NsYZtcED2IWewc_BII8aU8VE97yR5nNJFuLhBLGLXks1fSgrnnVCL1yDlwk3uX7MK7f0eqmIHbezg_r27navu0H15Eni-eRhclhGUuG8FZb_UodKRZez7Q00aVUlpSTvEykLlDOXhSiXJCvFm9McIKrAqI4enijXlJyhttJuf_uVTlXlrtogydnuIObOT90Q3B1NEdjAGdL261o1VESDd9GMkIp3_Twnp_aosK_opuoTLMoQEvYwfv_TwD0gQ23XxKsZQrUIxl4hXDdwC_YnubAvhln9iKnD8hX-wJMNhVhqpQwy_4yiQ0Yr-SnSyghlR0LHukAoD0He_R5HWWLbuArYn0o9l2_v1f6R-J-ZCVpQa2VOXFx6NseZlk_1Rkdi8P8ETHsaCLzjTAC-bknuvtOiH5Wxsu5zCU8rN9VD-hpaflAtKqQn_SFXRC04cCrPuHXGv6wMyGcwFtI1qevd_IcXlo5plKFHZijU17RM37q_SILm94jqrhtgiaCWDFhGF8MFMkfRTsa5SnLC9A6V-0DYDObZsUyfDpA8c0p8iogQrhKg2ZzEgcdAFCZnE2iVjFUGV7RLU_q2ouZKOZ1R6ni3xHRM9D7TaeU5pBWQQm2Q_zcKtydADy36FaW-qCLj9Yvsl9aTd0TglTgR8zzgpdAR1dGVufAioDde179fr9utnK0vVGcRMK8FLQa1F8QZfRnJjtH2qVYPekpJk1vXSIRxhZkec463QZj9tVHwG2NWXCPghvT6ndJ-VwysBq2hcFhdT5UgB40lhSnfm-1-cqpDtzPgoziogGpSKw1_-r4cHu2GN2-NGetm8V_C-JeJmnZ_-qXBbwCbPK4wSYQVZvoq21_umX3YufRJL_SdrlpXdZQLnfzfR8uHrF0PXIxQiR1TqXbcZwbJT9iM4x0TSfVlaII80JldGX7qq8gGGtUuQeZnnnkqCNHv5FtIgql-7QRry8sU-y6FY4apMNswPXM5g9DG84ZQf2LvF7RXn9DwxiLuGWSfvPlkItppVJdpSH9dae24c8GuizkUTd3PqLw5oHguQnn8HHu3yPTRCT1lvFE5pSWxE1kJtlxh-tXsp2OgNtacg",
  "id": "rs_08348a0f28bdddaa016ab41ed664a487d0b458de34f8022683",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7f60eVGyCu32FI5Y_5_8ej8UiQIiCVuduF1TPQNxJoVFRdsm5v9nDMmpd4vDPvpsgkN6NVoqfuZ7G4B1k51irwcnKZAgNQx3Y9EMK6VEKcJ1NoJZ9VAMstFKU5xz4SoMN5NKAHeykq3THd8vN1Hhoue9ZyUGGdp_jml5XPbMjHt-BJGADLCK8VRzq77IZIjBiBLnnw5QNgioboEnaKnsBVIVJJR0_QbcWVgSer0xuEUej8k2mVEItp0TBZmeYRlFWNhew7q4dQLdEN3UMbHJnX724e77d3AehE4P8MUDYA5aw4acicQW_P8B--jLsnfovVWtOeNKz691DikZHE1OP4Qi3eOOQb2J87FpL9pN30TW9CjRxL63gqPuT8RPDP7sZm7gjF9vh9ixzNH4lEqBKKzVk5D3x05ZzX9t8gQNMTaUkbjS422gDZ3G6x_EIuWSRYniTDkJPFonZKnBCAo-mfuzfaI17fi3pgnEz8ISULO0PCezzoOvztS3Q_THbpr8RKbFIV0Dze13dzPVmpVJW6vTdD0W-LTWW8gw6_izyARlG3WfQdPVryT5fEYrrAzUZSGwffZyWyR_khbpYdxWu5-nd0p3_bO_CIw9s7boeIoRGzzJbLwlkXR0bfcq_DlzPgIbsG5TRV5TMw6fNd-8OmcgbNoIviwH5oRv027yGR4Ttg888QQqZn2rzi_i9k-sLWtIXf5nzLTxms6ZRTg0SIkUf61aq24BJ729pblIE8xonqGYnnKEokDfmu1-9fzvjifcHyNSmcIcI568b7VbQ-FtbXM6XB1gI2Gg7b1_Px0P_lr9__h-5anLqWpOgew1FtyLj9Cgct-KnZA5w3E8j778OIp5GBbzg4uLegF7Ouo0MhuxLJ-xY5HhbC-ek5xUxVZy5ukSpJ1F3ATEITgk7YXtiH_PsUp4DDDxj9U5Es29OxsvgJHWaNcoj79GUWqT9ZZ670-FdhsjGb7DO1LUz6bx3CqSovN6fkVYe05k3pRnE0f1RqIsm_XTuWOSQDpl-UiBbMs6v93UpTfuNiqptHGAyCL3cjTiVUMuj7gtSnkWCUA2i2MO73xNifrCTwI0jRlQCP7BxFzHYa6_V8gD4ak53QAPo6m8mpt6I9wE8adyrD70F9uBdbD576BoVZlJQ7xQa_vLU5CzszN_CAFOSX-HxrUlnOrIVT4Z-Vc43cMzJUFd9Tf0TvPLnz_7DvpexLcm_K5X57Vh6nRhCcYIfpo2JyKGvdDK6MWt_BKn8bqLUli2fIKnDkqcRTvsb4rhzypmiDETKD8eviCirY-Ct6JFEpWqv4s5TOXJI8bgDJ6By8YZs13oE31KfELLUuQyhWH7NjNps12HN_A5EWHKzYhrdoFzSZDBQzuamfoMXtzVE2LQwGJUlo5hh3JDxyDUVQ03aw_zUDgmZbHpWi6jneKKwbpZGCcGV9c60i34c5TvTP-p9bNuihO-bL2YPM1eew3IwNVWTS0gfDQxWVVqTq5cYgIPkAcD8binpVLioHp1Aan6LoPWiCBeYoEPOOB3crF-pZHlC_BQyQ_F2mtnzORHCCXX0qV2Sgf5ZiqAIaxbf-GWXP2dPogQcNxpVeKQdYwfhKZg0XsTh6zsO1OalUMe8x5Hbu26XB8k6D51OaED5yAPTMWXVT5AC8wveDZKoQ9YuDRL9itltA7GXjX41zQUhRScbqXGxVMwAq0Ea0duNd-h32VwdpWbklU8gR7hHKcIRxH9pakOCOjOM7FeJJXlg8EGjOtwpuN8TyUKVMg7UsWWWAZzNCt3LIVoMPoR3Yk4Dp0fbEx-01huOQdvYWQPjvO5aD4aYGCvsO_R9N8v3ow2jl7cuTWIMX6ewqlzJnUGXJA9cDziaBksJIIabF5BJLdD91L_LqrgwBLJq1EzYkBTM16BUHvLqiO98-qAbv_j-SXsDZ29n3GppvACkToTTLD_rR5nMAqu56NZv3tUcOeAf_aSmcy_-aQj8KiBXzLr-qaktZAW2Hqb1nLuwUxKbA0xwNM88HTBEHqeCosTlkljkcLHUl4pen3JCd6NrV9oNx8Zcfer8Vsts7PpEA4PvbISMdzu49-hCLYIIJT-sMysnoUdN2BT9pUVOt552nIVsbrDG5BOmpUZvsR32vquI7mKv7RM3HcFUzu_0NXBnkWL7Y1ZKItCkhFh43sA8HcTahuiRAVeCIdZj9GNEEi_jhOjlGX9heNrOpZadeB-Nsg9mjwseYP45kvU7tXP0PJ6sXplAlGJSy5C7466iP04m1Nmyy2XjNvWVQdFerCM4BI3NWS6qU3_GTcEykAsZVltOLh2j62MZDhknObyaoZD3lAIEZ4AoaH5YwEV2RQhrAUyJpwNqGwm9_-jqQciX4lTbZFTaPEHYyYsv-lWpHNe87scVqHa_nylNBFcxLhQKS-QK-n7BuN8BfXGCdnnMCPkEOfoTH6Yi1wAFVDLK5Of0wM6j4l0nXi8hST5-5tepEowsic50_kImhjMg4bvaw783NTBo2bF5cGL2PKr2efjRE3ahwWFkUXe883OaTNEQ2Utf-jYZOX5hFpW44wxXYYdw2CKej8oXOoIftfvEynQV6V8Oa-j9wkK2nrT3Y5sjqh5rWQFEHpLxO367g2GUHXlTCgEYBnJTErTMgqwSRBM2I9rUVbfIGpCraAVtQFeh7Bt5beNEjGk-GaTzbk03ycs6EQSYBFeirSFffzNmuacN5a4VzE5M5GjWNhybUOfnxFMyQx6Is5JHCWqu-JQ0iTKXjodQ8yMBtlPG_PNThBwFUU97T7dR-bdL_W6d37xAC6s1T5N22UwJN9RDJBuhjZ3PQ-0aoi-srd68jNoW3Ux8maQNc1Ea9WN162QicgkIJG8fOJJTZO-2xB43aV0Y9ofHSlmo7l3RURlToOMDquulRVJEkDNNkyarTuHgIcyE0fa9B0UNfjw-OgN7znwI4mxzl6aWG7052Kl68KpGG9ElA2acg-0-HghfJO893r37Yionaxm6MmxbAPlhdG2i8b-NJDylKvqP8o_l_frNSoQt4UzGCaMxAG-npWw3XsIuUQVJWPf7n9Gwf2M1f4DJp2Cb8yDZBei2QvRGUDO0NIFYBBl-cL8NQTS3Cng6CarDqDR5K-5i-S4KeQkm3YuQtLJBUOzdrKV4XNfSDHSFsXk-RdwWE_u73UxxpOj9w5OJcfutHC2BA_LhCJ8aq-iKYR8jQklirKHocSPlaE0IDOYa_xImce0FnRr-c33MTVSvrYoUAOWtr25_GT_SIuUxPvYBvRshwK5ie4xsO_ukRIo4TjkkydEvBWrMTA7bre2SJxzcB9U_64gwBkzaHZaalrpPinH2K_zB7-_gfAuwEQccIvu-HXdqlsA9RfUsjcXRDGGfexFaoC5-jSSm8wBlXzHkxjEwrfKVZbv4Dtris_QBIvoW4vqdcB8LmXVsUqji5bh_Mwr_XOjQNwKgxTVYGhrwYhQH8nmOe8W8PeLHVrhVzKJKVUoy0YduuySbqw6NJwrt6uhA2x8XBgIDvSgYyDuCGy_JbDAPP02ovVWXRYQ==",
  "id": "rs_08348a0f28bdddaa016ab41edaefa087d0a4e24876cc14e127",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.37,\"left_z\":0.095,\"left_yaw\":0},\"note\":\"The overhead view shows the dark fruit at the left edge of the blue bowl and the two brighter fruits inside it. I’ll approach the bowl’s near-left rim with the left gripper, which can carry it over the white bowl.\"}",
  "call_id": "call_FCK1hxKI8zcUjA5zmSMtUCuv",
  "id": "fc_08348a0f28bdddaa016ab41edf215487d09266ff94c1ea5e5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FCK1hxKI8zcUjA5zmSMtUCuv",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9215, 2.2677, 1.8893, -0.7532, -0.5922, -0.7425, 0.9963, 0.0444, 1.2232, 1.1473, -1.0229, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4027 left_y=-0.3614 left_z=0.0837 left_yaw=0.0068 left_pitch=-0.285 left_roll=0.1042 left_gripper=0.9963 right_x=0.291 right_y=0.0017 right_z=0.1824 right_yaw=0.1527 right_pitch=-0.5548 right_roll=-0.2355 right_gripper=0.9966\nstate[joint_eff]: [-0.9368, -13.6, 8.6222, 0.9206, -0.3297, -0.0073, -0.0073, -0.335, -3.9316, 6.3248, 1.0867, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479baa977881317a80e1a0d396289a4f17d3c517ffadc3b9cb73e5a38694a25a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98eb76bceaae600f6cae4f304edb1410aa011943e1ddc7fc9bda9aa229ee472",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef3d3e784cbe799898117ca4c5070e6d61bcb704737f7aa39261e800b141bb3d",
      "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 103 changed as sent

message 111 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8921, 2.5755, 2.4737, -1.0245, -0.6018, -0.7231, 0.5354, 0.0448, 1.2213, 1.1473, -1.0199, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4481 left_y=-0.3906 left_z=0.0938 left_yaw=0.0297 left_pitch=-0.276 left_roll=0.1186 left_gripper=0.5354 right_x=0.2915 right_y=0.0018 right_z=0.1833 right_yaw=0.1524 right_pitch=-0.5499 right_roll=-0.2366 right_gripper=0.9966\nstate[joint_eff]: [0.5128, -15.8838, 6.653, 1.2283, -0.3687, 0.0513, 0.6618, -0.0889, -3.9043, 6.4752, 1.1013, -0.0317, -0.0757, -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]: [-0.532, 1.1461, 0.9604, -0.7563, -0.4278, -0.4068, 0.9962, 0.0448, 1.2232, 1.1473, -1.0225, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.2966 left_y=-0.0853 left_z=0.1797 left_yaw=0.0586 left_pitch=-0.2617 left_roll=0.0941 left_gripper=0.9962 right_x=0.2911 right_y=0.0019 right_z=0.1824 right_yaw=0.1531 right_pitch=-0.5544 right_roll=-0.2356 right_gripper=0.9966\nstate[joint_eff]: [0.253, -4.1231, 6.2701, 1.3748, -0.1636, 0.1245, 0.0806, -0.0068, -3.959, 6.3658, 1.16, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9215, 2.2677, 1.8893, -0.7532, -0.5922, -0.7425, 0.9963, 0.0444, 1.2232, 1.1473, -1.0229, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4027 left_y=-0.3614 left_z=0.0837 left_yaw=0.0068 left_pitch=-0.285 left_roll=0.1042 left_gripper=0.9963 right_x=0.291 right_y=0.0017 right_z=0.1824 right_yaw=0.1527 right_pitch=-0.5548 right_roll=-0.2355 right_gripper=0.9966\nstate[joint_eff]: [-0.9368, -13.6, 8.6222, 0.9206, -0.3297, -0.0073, -0.0073, -0.335, -3.9316, 6.3248, 1.0867, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479baa977881317a80e1a0d396289a4f17d3c517ffadc3b9cb73e5a38694a25a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98eb76bceaae600f6cae4f304edb1410aa011943e1ddc7fc9bda9aa229ee472",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef3d3e784cbe799898117ca4c5070e6d61bcb704737f7aa39261e800b141bb3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7pLhPTDo-kM0xNRQVLMeXilPNFhh9Mf77codMVYR6PvTVB-cylzd8r-8S2a_bqALarxP2021K4Lx5LT18e-QYtKpX3zcfwo8B1WlYs3vrq7wEMI4pkbfByY3wthBEaZdDk4F9ZKblIApiN0ucBhhyomVGLDiZ55_9NXXAtathO4MuUkcVuwA1ryoMJY9zxtaNnEi98nd9RA0XiJBVURei2cite8ETV-iGxFUuCYOvXCp2-5xUvphCts3mZ5Texc4tDB220bVSccVJQ0T5dzEu6yP-TyB2pw8TcG0murtIdx2l5mZ93qo8qHfsixD2Ne62mNERbkHecUba1kg4i_7oKbDNTJMV2Tc8CjZ9y2HY8QmHr7DuoXojdZ5_6GnLmeZDbR2vgYQftuyOLEzA3-rWdfz9B8zPDrVmdx8ia3hplCLbQYm9-r3J2Q9HvXr441ITCdyJMjls8clECSBnzpMKZaht4SsnJvd3lQdAIwq22cEaFMadTP_2MxW5SrIaXFs3OCTB3Ilv1mbS4fzifN1d6Czt44eIDXgkrV6p1AUyJuRY7WIt2JmFXDhaZ8sFVsSOaeYRakTwrTK3fHehibzD3-ea7AhTIOwJXqI49C2y7YEHDMIHzNwJpGegVcQknghY4dPb431L2IrGc8aQMo5thq65TFl1cc7NARL5rlEIqVpjGHP0CG3pwDlcO_eXkyumeNvW19eOJpsmaig6yUB4G0N9lt-thiXkxaqHTZyM9RhxxbHQHWQhiawo0f6l9A5OCOzV_4pzKNaVfQzTybDmsZvojqTovxdvdYyV9febDoFoFuWOPi2gs6RgQvk-25L-WnBhxuBOdsnakTi0tyPGryS5wr9Aovp590UFhIomsWvBwa_oHGsEp5FyeQgmA0LF4kjEYjE6AJRHXqDmhOiH57DWJSJtUnxB3PJ1SkYT4MtaKT8b68KslW5_ObSs41Ngy687PsETj1y8PDWGysSSSCaxT6XnLczMsx-tlcVD5TnrbyTnTOgeDIl1_iCiyxx19u7T-tY2qPKIws8awQlsp27e7woPpcJ294zEvGUZhFrt6lX4XJ_Ys7QYVxgcOdyoVJ6pzCWTReRuFBiV8RZC8tRv1qwgoWxdb7SDOAIG-0pzhr_b8X-Ud2d9fWpzR7ZMxHwmsbtuek_7u2zl5ugfSCNpyS_afCKqC-N2euCzkNJCow-kPLXKmLTthbewrjShT3PpbytbVYgErYtgWAUTheJXaklEo73PzgX0qoRr-6oQmbWUXNadvTAmW8dFKRRpyBwlOrUOf5MPEe48cXDVl4Vxtsw1jr4PibHRO4f3sacLCdxt1K_c508dQRFWSgCTXvM-TgA0Gq4DbdBHRsc3Wb6COGgt92OvXNFO4_QUFwLs1AqhAbac4F8YwIC0YvXI5rIjGiVZp0Zlle3Al6Fmz8hcICauk_gx94GHt0irT-mYd0ov_DUy1PhL-AtiLWzKZw0rC3n7gUeYG7XLLFNEEXCvu8F1ieCWjNZotWhvQh88zeMncJqsPTmxSxDrmhw6AagCdXDMjUMFXVPIKvVxNDx6R0-mOXC0KbsUs-K1Y_7PWhG0bfQW8uS2pJAHO0mA9VO6Ln56Y-rjEOEcbSyPRz-uV1Bk324tSZm8FObGgjQI-_Ydvb6laJKvD6BNf13EauGvSmwPBWXvozIayWXNfgDiuQSmTjFpkIKyTisX8Wd0NjqXc-5dOUoPN00OUoPRyEzUqPhHC1GTWFz5U2rdzHd0gLSDAiC0MIrKW1cd3nBuHLBoO2Okn8bmzzpRAE8I4DXZ5buK5tydQlxLYYcvhoq89N7N1iGndG5YAM_CoTQHVzWhZDsCAxOe6aiESSZUjzIfE-8S1rfvYVctR8EqlKB8xN1BoqXqpPq3x9kF4fRkEVS0nQvaIe_EsiNvhpBbg0DIt-UvhgKCWQ3sA_EhIQ58ynJYrH6H6b4EeudzXf_9Be3xUdQvYxeREqbpMaOsgiSTYK4YgePsHjwEgbIjnbrGK19NXuB6u6Oz-0lkGvm889AVjM426-_004DP6ef_tVTtYK5ODxlc0gdmvsIBbZ2b0T4WvUEbtNnoMPvLZQGEjJTAggcIfaxXCuiE_NY2nVNTMVSedAJyX43DVSYEqIg5FH2w2O9ai4JIu8i6xcEtGoWlAkSPp5LZNTtFNqy-0HZDMGJKCbHtBRgkbUlgm8CwmAAfWc6SjfgsRunTsK3WxGy4SJYgL-XzFaI-7PeF8FcT2ijTSBQkSk8gY6MVfbvymHzrUrMEi33ycAz7p_CSTJSirZmA3d4re05s2anb4iYQAL4PjH0-xx542kpaYl2efpKvBIyL610GAbLtN_8W0397wLT38-y61jDd5LbRGOkKl2UdnEC5mPnpM_E4DndvivVwravfZv8CUZpjaw3ToRUVc1L20_HJtofAxCeACcteJxW5Oth6DB7CY10jsSlvaRxPvQVxZ1DRbQmKQjHIiKzHlaAVodtj_b6BTpR64paF6Ckr1DsMukclqy3BOj2NSSRs-IzkDBiUiM8AXdB5ZenrAhkeKtcwtkPa7zMA5zaQjya4PZLEcq96ds3eQK_q751zkHPdjSZQ2p4eiX3V5_cYUxrMKbOvBeb4Lzyt_JiZ_4ZtjJimeddpWNXJ5hGvYVMy1QWLRFyVTBxgIt0BZcTrzwxCOq6zNaczr-26TpODtiXB3rlbqrjHBfUExS0g9VwmL3hFoQc97kQ2x_w_us8w1Oyt5V-ZQkQyEJgASyi8W8KsjxlX56VJkhs03n3FEe62Zh7vFcIuzxHtJ6FwdH9q1_dviI80SZjiIzp5747W7lBPXv8NH6-EmzNEM_UWWeGRfW7dFvswJCEo0f3iRbap3a07WglFQtLnG8auVTnWBCRBehprnYXBV0bB80OR9poGhLndkO-2pKElBbS0dTVl32YBGw1OLX1_D1X8zyFNph32MSvwUXeyqhgEgWSkn1uqc9P3H4SCs_nhzZfJysAo7W9YT9DsQC_ZV5P0YJfEf9vVpCTj5a3FRsQ-S68E6G4fh_AEg14m2bJQ0t_nXBbb_g6EDcvg6_SaH0ccUfAZnryknDuBMopn-BgZP4w1HDXMRy3dNkJ2vM0Ns7vNP6bFKwIE8-yldnntNU0zPMNm1wOHp5eC_2HU-QZZKjYsWhE39pqxT9u7vQKa6UEROCaXx42sjXE-g81FD8_zLXY7GLp4NK0qUptZlx1gwZVGS8qvXOKE1ar6HRWqWfgUOYq1ecMWg2pidSg3tS3mLkVavltOzDY_gdZnDFoKYQlt9eBz9sRDdiBIpNAZkMfOEeQnOaW09HBhZCvC5DkacHtmUVZmCLaH8cwPW7AGcb16dPiTTAz4AcHHWIzwZ9z-nOC7aycgy6L2y-syoRIyeULabPIABrpUuKfge8etZktGkv5qRsXcJocjWhh4YD5yUnCdZVwjR2ddxViMHtMEKgIC5IRZhpmrBQgw5p-r_ulwB450RluoRopLSQDF8L0Qp7M9rujS-JXYihyAZqLXd4AD8sgmZ39Uty93IVurkOw==",
  "id": "rs_08348a0f28bdddaa016ab41ee4274c87d0a98471e5c5a6afbb",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7puATPBHtR4WzNAjm0cs_ehtSPcC8dWJge_K_tKjjAxrZ8xfIojhGcEMewSyylm3Q2VANkCkMSTrTfJYeQU7F01vci78jR2T86fNUP1nEDZd9I2_PVI5lA1dTkPAs5E0CIf5hRRzpmwyIbcfgLapzVmWfDk9Ipl3uhGILLjmVwkohiY0r_YITudQyX9Oxc6a0MXmubg-TxqZr-0KvoFouykxF3V-s1xzegA9KubEPoHUGCMYE_9dzhdz5PmEQhdL5EjxDQtAY0ujuiPIZfcBn-0UVVGmg4c9QBjPhkjBYZB3kHfAz0Z_2p9ejLXjHCoYTvkmXKusYmXLeIVsUUNTCqR6aLdYF1PH-zq8vND5NIqUUp7KSzR7HaNVWKhmtwUxxcbBn082lF2wdHBsCTVxC-p6hr6J3fJY43NaI2jVlXcl9JaVAyGyyHJYuCLZm5G5Eg2w0d5FfUWD-uecim2wfXpkDIJ5qbgmXJ0AVUcsxDntIIUOZXviO7CHC5FfBKg4MyyDKfOBLLoftNZjwcO3Ak9H56Dfe6mqs_MmqKnUawkNtJTrBTJDQmJLAHSy93ICQzwX5GdhS05P2PhjN4N71Iex3TjdZkrJqr9wXjApZIsltTsoTWJ6HcNisd7_SUjkoYlZ5tqwqkcCPhZJjwmGMpc5LLisvWcNGe3cW6ViYpW-6cji2YIsVdUUothnqCHOfAy12TMVcsPSecl2T0FL8RKz0Jcz4tXJcnxoCA5CZVQ8AaW96Uc9fHipeAUBQ__pY9E5Y1IPWUw_qQEkvE3pnNeaA0CTykffrQisjZaL4UOS_9GgXInYGQGHXk0pOjfi8aKsC__3Xxu6QMumppjrEyzx9zrwnxxBdEpuoqxw48a7cx3y94mewgmCnLaUWqAgWKJrrhf-eKRvFIWHWc_sLpWFJ8OENeLMbSOXNBxUo5wZfwNivFL_xP5-9o98LQLKLXKteCQYpM7gmGKLCHyl_VbC9pUCK5UdLBcnIoWxTuXceiUGUS_s-9_56VFlw1xfB3J6-YUXv2VJkTNfISqzVL7_hvzoJ8OH8OTY2A8hXCFy62gtWib877UNg2YW-aI6dZuLTeXGWtgcUx7INdVniyY-IVg9BiRG4RLSNUxqHyxA0O9c3c847gtmf7XTGPw1yKwxcRezaXGmxDqPbOMKrz9v3Bdi4yyAoTntwThvLqwkYtQ72V5fG0Ug5Ews4qqZmB9a3WukdD174m6WaYIYelL3G62QDvT6d6rWbID4Zt-XPeyUV93x9SN1eyPKx30qUHSQPpBk4_MSjuwCYJWB3phvahwb86KFuE7hxWNxPRYtk=",
  "id": "rs_08348a0f28bdddaa016ab41ee8619887d08767c703ccedda5e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.34,\"left_z\":0.055},\"note\":\"The left wrist view shows all three fruits clustered in the blue bowl, but the jaws are still behind its near rim. I’m advancing toward the near-left lip and shifting slightly outward to avoid pinching a fruit.\"}",
  "call_id": "call_qoEGnI9t81g8EVIxZafZxE80",
  "id": "fc_08348a0f28bdddaa016ab41ee8c4c087d0a026ee61c83b86d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qoEGnI9t81g8EVIxZafZxE80",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8307, 2.3169, 1.8923, -0.667, -0.5533, -0.6796, 0.9963, 0.0448, 1.2232, 1.1465, -1.0233, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4412 left_y=-0.3401 left_z=0.0642 left_yaw=0.0295 left_pitch=-0.2902 left_roll=0.092 left_gripper=0.9963 right_x=0.2908 right_y=0.0018 right_z=0.1821 right_yaw=0.1528 right_pitch=-0.556 right_roll=-0.2358 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -11.7949, 6.0513, 1.1453, -0.2808, 0.1538, -0.0122, -0.0615, -3.8769, 6.4068, 1.116, 0.0122, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6fa45199cb6fa7800474569ac9213f244b824cb104b0ecfd145e8dc3842860",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72fa149c4e0ec8450db4a21f820cbbe7b025dcba6e113e8ce13315c150a5006",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c3d3cd3f6a84381586965d8fabbbc43337305581977df35919fcfff7e5ede6",
      "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 107 changed as sent

message 116 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]: [-0.8906, 2.5755, 2.4691, -1.0172, -0.6018, -0.7307, 0.9953, 0.0448, 1.2213, 1.1473, -1.0199, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4491 left_y=-0.3904 left_z=0.0929 left_yaw=0.0349 left_pitch=-0.274 left_roll=0.1111 left_gripper=0.9953 right_x=0.2915 right_y=0.0018 right_z=0.1833 right_yaw=0.1524 right_pitch=-0.5499 right_roll=-0.2366 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -14.8855, 6.8308, 0.9597, -0.3541, 0.0317, -0.149, -0.1162, -3.6718, 6.3795, 1.1258, -0.0317, -0.0464, -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]: [-0.9215, 2.2677, 1.8893, -0.7532, -0.5922, -0.7425, 0.9963, 0.0444, 1.2232, 1.1473, -1.0229, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4027 left_y=-0.3614 left_z=0.0837 left_yaw=0.0068 left_pitch=-0.285 left_roll=0.1042 left_gripper=0.9963 right_x=0.291 right_y=0.0017 right_z=0.1824 right_yaw=0.1527 right_pitch=-0.5548 right_roll=-0.2355 right_gripper=0.9966\nstate[joint_eff]: [-0.9368, -13.6, 8.6222, 0.9206, -0.3297, -0.0073, -0.0073, -0.335, -3.9316, 6.3248, 1.0867, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8307, 2.3169, 1.8923, -0.667, -0.5533, -0.6796, 0.9963, 0.0448, 1.2232, 1.1465, -1.0233, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4412 left_y=-0.3401 left_z=0.0642 left_yaw=0.0295 left_pitch=-0.2902 left_roll=0.092 left_gripper=0.9963 right_x=0.2908 right_y=0.0018 right_z=0.1821 right_yaw=0.1528 right_pitch=-0.556 right_roll=-0.2358 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -11.7949, 6.0513, 1.1453, -0.2808, 0.1538, -0.0122, -0.0615, -3.8769, 6.4068, 1.116, 0.0122, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6fa45199cb6fa7800474569ac9213f244b824cb104b0ecfd145e8dc3842860",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72fa149c4e0ec8450db4a21f820cbbe7b025dcba6e113e8ce13315c150a5006",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c3d3cd3f6a84381586965d8fabbbc43337305581977df35919fcfff7e5ede6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7wBGDKQNiVvoNq8f61Y1Tnoh-hOfS2AgpYp8hZBuNXAIwrt0tWhWcZvjuwcpyCoolCLCwJnEZgZ_5eKzvkrt60TdQTGR-tIYWxv2jXJ0UHodXaPl7wya_RQWY8Va4ROdiv-RFSFDc6gax3wK66FJueM9mnVel1SU2bsgLYTjJRAqTquN2-i7uy3seZnUeA_m9Wv-Uww-87bfvhSs7nYkhM4gCSIQyjspB4s7dzPpVfQ-J_Gef4FzA71FuIy7g_H9Dt8raD_i0USrgeW2cM7tKbOGcPTwtwgLJGFM7z-DIyTAsKoixrw-dJiaRVV8JqPDWYG8eDvVy0icQHl1PuykgsKKPGvLmzYrzNqMOC8QmLHPVvhuyZPvdlQrDnJfAQE6HZ92usLdp1G3XyZmG5In0cUUf3smyQjIv6cHkf83qe8hxwIxcFocSFv5R2Nvq_9F_XBzxcafQ3pWmOZh6UtBAoDoW-cDB6mMJIhOkNENX5GJ3LTFNmMl-jsgkDAfqSHSPU_mXeKayCa2OzgWO6222rO0_yQ8QztMry7rnepIzAybRe0ABuP7a3hRAzl-PJ5osZ1Bx1tmDfjJaRBkW9c38ebSTShjMzpxGED8XMosId262dNUAuDyG_BdpvBUWwoAlSIf7T5jbRj7U56hidUJHCvU4zCZZa24a3bz05BiY0MTX1czy8JPbLKGP3wsyZFWaBugMwg4FqpaZcITApwtBvkKArwP3dSBCqmqQLwwamHp9yRVgVMoQoEOBb92pWMHuL7F8VCSlwK2KHAqnApwJ-ZFq9jPTVXJx1yJa2aKI1T7MvC5bCpXAr4ZRY1rPa9OKeMiHCIz4-EGJDrymkUjG5iP7u_qJcYj1JYFOPWthXh-YlQ7s_yfZjcc-S_LktoKmYNDP45uP0jnvT5E9wUHFm4HWN5cPCfu3sltyO2-ZzW9FmqmIXu9PG3WVy6QZ3zAP52WFIyQhxK4Yx-EojtuVMHtO5-ePBg71dUAN82YBVYq9KI_Z-pwhJskwZySAtaa0suqMgpV5VxcQZfun5wgl7XdvqN7G1B0YjYqJDQ87ARs1n55cGEtzum57_uo-sgN1dlWvwdizBWsylBdW3RE7OFlzfQC5wR3TdECeZYBb1-weVa7sdV41Mdw9PUtEvI_1uARSKiiy0do4yKicYzv1C26pSZKFGXh9rbSXawNzXcY2QQCXs8Wpmbythatfj5_yDJTE-dfZLGsA6odE9FYy-UClpJ31bDam3WFbz7eLzx7PQ8MNyplbF2XLKJ7qZwH5Lbo_zSJE-elepEfygeBYCiEXEjoeQfINcQgrQ83sw5eYgvchU9rL9Btp8QhIvkt65BZLzyCYWR-iqUc7RS49c8eacGHn5324uOGEFEWC-EIIcyU4MpupL9OlrTYUPv8UXZqxHfcOuJOGh3hQ_epQZ89BR9Se3DaLfTbtEiHA4zOCGDw1sUDXr4SANDIZdlOw-xZp3FjPRG8GnGaJytcY0Gk9oKh9yl50CYPUpUUhEpR8nry_fHL4Y6J0u0NYPkGFwe17G7HEt6PMMVV6uNk1C0asQqER7RQ_4fXl-_uymp8pe0wlT3kfGQIOa_dTV7aWupTByVSNWJinq3IwQ9gkI3DzHIZhg5A8SNJCqpyGXukZFsUFDjNQ7eO9Oc1qRT5GwNq7nvFJjs7iCM5GXjXGWr6FkwsoLIOpFtDORqDSQwWV4i2AdwgW8Zwp2LlURWpRQVt069CidXVKVvjTNFr2DZRGUNeY7dYvxeb31QV4WXjcK6Pt31A08VFUHlnmkBBONB0CErRGUW4kyeE9A2wrTHOZyXFzC5h4ZynrQWn6hr1Qfmo2xRjcof3laM0LcTHf3PrHHd22LzqudLElh1mfqz_sicBZwetFLopNbmEVwvaykVxJQebqq_Es7C_dDEAdjh3Vx6BErUyZFrHzJNDm7mBIgytbbV8fLdrUrpubuBqX48QB79GkminieXnnsxuOIp22pktdUAjv_8ExWshxS17qUZNAXutUThvcOF_p55XD7Gxw0nh9MSw2qqgxxJI4h23VY16BKugqtkFMjquUg5dLKaS-o7lnm_2lP9ACFokd-71dLkZhYkhf0i0SKD_XMKBi5_PMMc4HeC_1kvmX2LG5wSQaZxejljxwsCybCMi9mFd_-nlI3DNVSHYaLYEZAFe1wJ_r5gCDOVQyVIHUOqw6bonZaLslkNwypwYnS4_00uX3VviOosBjkikP1haU84QPbn_pUd7dJYIAWFFjbenRAAn4RPpgvwV-ThRpIqCRovA_-D1oEEox0k2CQ67oA2hIrPWrO2q4fyMnXXHlTg6GC6PNMv9Rrg_k69LOwD806QvqHbOMKM4TaoZcGZeYXOMUdJWl_hG1Cf1rgdf-dHMuCqv50fZhGgR_8rV1LoqZnISD_ZlZYFhiXhJxSTsymkUSCVpL9i7FZZNIqrfLzeE_kIQ7RGC7zl1zXHalgKZxkvjkunF1pwvPZWFiLnECElrU8Bd0qzoj2m6KgdlV8smNjjKe08P0VMVwXjyQaDtluGU-sB2gsWJ0TqpVM3QvzOwjtiChI0kUwONOcBa3P3b9bMdo6jENOXTmHbQ8DgZsKoVsyG0jG0L9bpBGMB5uXKoMcxb_L2P-JaUQgpRyRn8eTYSJfKP_tiHzGnzfpYY4=",
  "id": "rs_08348a0f28bdddaa016ab41eec8abc87d088042ed10b262e66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.3,\"left_z\":0.055},\"note\":\"The near-left bowl wall is directly at the jaw column, but the dark fruit is close to it. I’m moving the gripper slightly outside the bowl so one finger can enter and the other can catch the rim without squeezing the fruit.\"}",
  "call_id": "call_LhHFAqLe07Xzm7vYT0zjXkPw",
  "id": "fc_08348a0f28bdddaa016ab41eef232c87d081caf62e3fa7a994",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LhHFAqLe07Xzm7vYT0zjXkPw",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8101, 2.3165, 1.8488, -0.6014, -0.5499, -0.6712, 0.9963, 0.0448, 1.2232, 1.1465, -1.0233, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4493 left_y=-0.333 left_z=0.0557 left_yaw=0.0382 left_pitch=-0.2781 left_roll=0.078 left_gripper=0.9963 right_x=0.2908 right_y=0.0018 right_z=0.1821 right_yaw=0.1532 right_pitch=-0.5559 right_roll=-0.2354 right_gripper=0.9966\nstate[joint_eff]: [-0.8684, -15.8974, 4.7521, 0.8718, -0.2711, 0.0122, -0.0122, -0.0205, -3.9043, 6.3658, 1.0965, 0.0073, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbfcd603ee80aa3677e0ea44b06dbc764ae2de64c7eed28d5cef83e49cb505a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf830b6467c0abd1218d769aa663690774456608e80b04cb4a46c1b4fd210d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14b9cc4219a6d079e312c3dd640ab94643d8801afcd5e71692d9d89db424a92",
      "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 111 changed as sent

message 121 changed as sent

message 125 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]: [-0.532, 1.1461, 0.9604, -0.7563, -0.4278, -0.4068, 0.9962, 0.0448, 1.2232, 1.1473, -1.0225, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.2966 left_y=-0.0853 left_z=0.1797 left_yaw=0.0586 left_pitch=-0.2617 left_roll=0.0941 left_gripper=0.9962 right_x=0.2911 right_y=0.0019 right_z=0.1824 right_yaw=0.1531 right_pitch=-0.5544 right_roll=-0.2356 right_gripper=0.9966\nstate[joint_eff]: [0.253, -4.1231, 6.2701, 1.3748, -0.1636, 0.1245, 0.0806, -0.0068, -3.959, 6.3658, 1.16, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8307, 2.3169, 1.8923, -0.667, -0.5533, -0.6796, 0.9963, 0.0448, 1.2232, 1.1465, -1.0233, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4412 left_y=-0.3401 left_z=0.0642 left_yaw=0.0295 left_pitch=-0.2902 left_roll=0.092 left_gripper=0.9963 right_x=0.2908 right_y=0.0018 right_z=0.1821 right_yaw=0.1528 right_pitch=-0.556 right_roll=-0.2358 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -11.7949, 6.0513, 1.1453, -0.2808, 0.1538, -0.0122, -0.0615, -3.8769, 6.4068, 1.116, 0.0122, -0.0708, -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]: [-0.8101, 2.3165, 1.8488, -0.6014, -0.5499, -0.6712, 0.9963, 0.0448, 1.2232, 1.1465, -1.0233, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4493 left_y=-0.333 left_z=0.0557 left_yaw=0.0382 left_pitch=-0.2781 left_roll=0.078 left_gripper=0.9963 right_x=0.2908 right_y=0.0018 right_z=0.1821 right_yaw=0.1532 right_pitch=-0.5559 right_roll=-0.2354 right_gripper=0.9966\nstate[joint_eff]: [-0.8684, -15.8974, 4.7521, 0.8718, -0.2711, 0.0122, -0.0122, -0.0205, -3.9043, 6.3658, 1.0965, 0.0073, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbfcd603ee80aa3677e0ea44b06dbc764ae2de64c7eed28d5cef83e49cb505a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf830b6467c0abd1218d769aa663690774456608e80b04cb4a46c1b4fd210d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14b9cc4219a6d079e312c3dd640ab94643d8801afcd5e71692d9d89db424a92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB70ivRWGe-4JIa7afor2sFMCap3rVRq65lQ2D7iXQm97YctYu-sRffWUFnwaIFdkAjtBKxa8RTUK9pltVfLF30jrvpWaae54W3e_aoxaSOUqA9TMcTdOpIJ_B-N8AasQVnhj8pmvitB9EcIGj4jsyE_-M2zRvXEtXILfsiPGqi0NNRCr1I8tTFVcyxV3yMIZBLT5lUf2Wa7zswl1nLyPNTDBCcoBn9aBYjjqeXwJcknVD42NqeXyaGGwapbjQmo1Mas3lYKwPN0ieKsCWkqGQbWc-kIcQcr8X5mbEdptX2GlMQwer3Osq7FdZd1AEr7W51kQK11L2TIY50XmYPLRxtH1OnRKascMFBeDIQ1sysgqbEYmFS4HpcSkTv-XKenl9KKNyZSMuNKxKcNrTssY0LPH2BbSx7iXi4R6fPckyM0NggSqCWF62PZ5t5BSx_ON2lfy7FvpQOWmnIsB1jAENakpYGMLMMaQgtz7c3svTZPIreetDMixRUXffnqCawIt5ol9dnolyu3cwP-fEuH-cHK3EwU2n-7FrXYIUIwwsop5PYbeCuXkAjGTGhaXsP-U8y46NdseKA86JnTGnqK5CclTdqkAEglAwDIcUgw22q7LVaY7trS7uGvHK14Jiqt7wLBxqXMSKxl-Em7b-QHgU06vJ1H2hUvyz4T8JVAKaiSk9Xxve0d8pMlO8GT6oAPDbRt0jBCyPUm6Oi4iIOzRoUMmX5JAdBEeXGXdQWzVdYgeSvRhxy6-v5CeVPeU7xR2rBSt-Aj5brHQ83rpq3wCQBKk2sa6Ewb8EXzleAyNwdDRaaAqVusDU7wXNOGM-HXEguILibw_Iu4n-uFvm8BJ92mK1m9RjzXKHyeWI_g4-98KZ5Ps0Z4qsUTIEQvVGiJC8uKUNLYb8lEwiBserAoPPacRosaVDFEd6DSeuRqVcWnHLEQiPIufJwRCJNCHgNIn69KOWdH_GnzLsB9pru8uPB3c9gYA4fOQDB3nQsni0UNkoVywd68pXRiXB8Zezps8FmUYE1aqxITM01yDfDirgv87IJTt2yosV6gmnzOdSZHtLoGTlbYpzP5hmUEHNfg86lV88GKjZPn0dZhSJlYSgx1r7U1NnT03TThmZTreEQ7utoMrbv8N_jlA9nA224_ZksJrqNI-ZR_bXAjrtxRrMqB_LCU4HAyA4Ws70yu3OUtqTm6aikd3S5O_I5kp_NF4Ma5oycTqZ2MWPIKS0OzZh-VJrt2cyD1auokOlYT7yzdEFsXgz9IckMdws2OBnz4Z6fnr_Vq3g7WhS8QRLijWa3v1C9rt2mM6AvElfBUQ26h34k73fOCzzhlGtlKjfoX5MGntdqVUYwj0zNmYaSw1SCIVq6_hx_53foDWhH2Mhj3nOB2u8w8zC2ODY9Cb8WRNkSVFrROzP51jgb9L5JY36YUcYulNJtwaZEv8vWdPoYu4_YMFEfGvZktyLt7rA2ArABuw5rB1oBZ4qZhB1LK35U3KQN3RZjMysQprMA9qJUu_fg5Aq-lCTiGcbBfi0AxEn-PlaUg7Ru872djGW_vVYCL36kKvmh7oorw9Xkm38zjVaSWwDh4ipN_wqd6vOR5jL36PmgbQ8MbzvDmsPmfzNMLsIVimB84FrVRlgqD5Yedeb3YSyDrBCX00zDClYm4Ly5JV3Jw7NM92qMv_6F1ChblhCFsXKM-NjMjIcfRfiRttKGUdJDM7trB46xA3ClRX7E-Jojt6y_YiiOuC1nQMi37ksfZxej3QMcg1p6l9gVaRsSp9vpEUtr3t0d4H8fJanJ1ONwtJDcN4rbLpL7jw0Ulsh-kBP9X29T7XRazj8jjW9MOLt1QTyezdtX55WIt9KPUuhgsGOuqV_GlxEqQUaJTpj6VPwyrjbff6v_EVruJtci5cuS6hz7ExaoDfljPnacf2xOnJfgmUFKLP4hS9xfFGopgE0HVC1uLJIBM8oJWmJK1SIQ20olXDxR9Jgh7amEaksgf9LQyPnI6_s6_Q8HZ4BmqC9CIUg59F86aU4aEcb61lHP74lhfM8iZ6gurMxZOJNmuupMYCdfvF0IcMio-5F3g89SxG5O9N_AvLib0JNtvNvZ4lQmj1LngXlxLskZP",
  "id": "rs_08348a0f28bdddaa016ab41ef1964c87d0bb4e22bf36113753",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"One jaw is outside the blue bowl and the other is over its interior at the near-left wall. I’m closing on the rim and will test whether the bowl—not a fruit—moves when I lift.\"}",
  "call_id": "call_eY3b18czPlqjk1Nh2sjG6uNA",
  "id": "fc_08348a0f28bdddaa016ab41ef3a1a487d0979abae5ed16addf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eY3b18czPlqjk1Nh2sjG6uNA",
  "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]: [-0.8127, 2.315, 1.8423, -0.6052, -0.5392, -0.6777, 0.5156, 0.0441, 1.2259, 1.1465, -1.0302, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.446 left_y=-0.3339 left_z=0.053 left_yaw=0.0342 left_pitch=-0.2907 left_roll=0.0739 left_gripper=0.5156 right_x=0.2894 right_y=0.0016 right_z=0.1806 right_yaw=0.1531 right_pitch=-0.5654 right_roll=-0.2342 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -13.2171, 6.9675, 1.0965, -0.3834, -0.0073, 1.0232, 0.0615, -3.9453, 6.3658, 1.1355, -0.022, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1211268396f66a083809c9f94767808f79b814809bc9a5a32aa98f6a2ef4865d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d77639c7a8d3340942c8d0799ff43f6d0de0c7a7fa684d692105cc42e9809bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d648c5935c6a73d49934105f18a0635696627c56fb4944b6bb3edeb218eee506",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 125 changed as sent

message 129 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]: [-0.9215, 2.2677, 1.8893, -0.7532, -0.5922, -0.7425, 0.9963, 0.0444, 1.2232, 1.1473, -1.0229, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4027 left_y=-0.3614 left_z=0.0837 left_yaw=0.0068 left_pitch=-0.285 left_roll=0.1042 left_gripper=0.9963 right_x=0.291 right_y=0.0017 right_z=0.1824 right_yaw=0.1527 right_pitch=-0.5548 right_roll=-0.2355 right_gripper=0.9966\nstate[joint_eff]: [-0.9368, -13.6, 8.6222, 0.9206, -0.3297, -0.0073, -0.0073, -0.335, -3.9316, 6.3248, 1.0867, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8101, 2.3165, 1.8488, -0.6014, -0.5499, -0.6712, 0.9963, 0.0448, 1.2232, 1.1465, -1.0233, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4493 left_y=-0.333 left_z=0.0557 left_yaw=0.0382 left_pitch=-0.2781 left_roll=0.078 left_gripper=0.9963 right_x=0.2908 right_y=0.0018 right_z=0.1821 right_yaw=0.1532 right_pitch=-0.5559 right_roll=-0.2354 right_gripper=0.9966\nstate[joint_eff]: [-0.8684, -15.8974, 4.7521, 0.8718, -0.2711, 0.0122, -0.0122, -0.0205, -3.9043, 6.3658, 1.0965, 0.0073, -0.0317, -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]: [-0.8127, 2.315, 1.8423, -0.6052, -0.5392, -0.6777, 0.5156, 0.0441, 1.2259, 1.1465, -1.0302, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.446 left_y=-0.3339 left_z=0.053 left_yaw=0.0342 left_pitch=-0.2907 left_roll=0.0739 left_gripper=0.5156 right_x=0.2894 right_y=0.0016 right_z=0.1806 right_yaw=0.1531 right_pitch=-0.5654 right_roll=-0.2342 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -13.2171, 6.9675, 1.0965, -0.3834, -0.0073, 1.0232, 0.0615, -3.9453, 6.3658, 1.1355, -0.022, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1211268396f66a083809c9f94767808f79b814809bc9a5a32aa98f6a2ef4865d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d77639c7a8d3340942c8d0799ff43f6d0de0c7a7fa684d692105cc42e9809bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d648c5935c6a73d49934105f18a0635696627c56fb4944b6bb3edeb218eee506",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB74MB1hFIsDds4LBUs5Nq9DCV1dkXG-fo1aq2F0B1SmMmnKDQcJUZz0L7dS0OqMe7VthsAMi6r4DBjDTdicCVlJtDyVdkmXGUytB7D9Idvx8z7vOHrXIJPMyg22aSa-6Shmyvr6ezjHexDN1IZzflnp0HGCzQQWEMBnbcZrXgjjSAsjX5wi68XzqnRqcOOYP06ozy4x7pFSSHzwqmPS7dz5qK5WZVHsQNAP62uWO-icIyrDrIn_2Y8wEyujobceew5XQokk_JeXPfTEJKt-tmzbnqIgd92xVthqSR_RHiEOdKDUmfpgjXkEc1_9unq9xGlqE79hHNY2zligifXCcka71q72T-xbAk5ZAKR5knu5Gt-YWBlL7gkYgudcbQky8kgFZ6kE9r-G4yT8at5FiMphe9CICepUPTY-r0Icuh2udZdnn5KH1ZHhTgse5qpS_lXdaceNfDx3WDWyVWxU9ksxjdrcm0xC9_lk5eEV32lAV4P3M8HTc23pe2HSBcPov5gQAniANZApmhu-DDZ3jbJHfVEMv064eXq2252xZyB0m6LfbLDKMVJ0wl0tDsAQtYdFO69B0xMC38llnQFMMUmg5IMSQCSqRTdzsrVx2ekdEbE7F1FYf-I6yuZI7wC4bWDFly5JgqT7bUF7_3zQ2cXktFYnUgzkeMR2MWQSj88wZjTApZKYzTebaHOOyVakzIIXJQ9EzlojJYEYHyuY9b6ena4ssMJH9IJv5vDG37mhVO8Xv3PJrlYO-cqNnhaoIsKY7AVrjyQbhqFV1pK-YbrFWGDM1vBRbfrCrRn4JxAkE3TovBgpB-dt9BR_jAZWWTeDQqp-oe_oDctD9mvGwrUnlDQtmETkJg0Jwo120AtbFTHo1UKxMXlAr3-CiUQfiWobCuDMN-VqNAhCliAwk8hR2OzRKwDj8ubKv5GADTrp7vqTLE_q7l0Yhh4iIgo-tFRBitPni5qJW41XmjE4uzdR08l4utH_U4udo69Pzfj00391kJF-itDeQ1I1gjP77ZHTsd7MyHOgjvgn9d98XPi_RC-OLCEL5zkFKun47pbLCrQ02H1-lK18v17Vs53r44kQVYVESuCf068pvbp5B8Nxweryv3pexbZOe3tCV0Jteng_ENdYTjK6kFZKUhc7uUdIB44E3a6vPbHSpFPqSTeQkUFhfNAcs_gFu8IulVUW-HUEn8DgImwniHJVpAiZcR5LtlmKxipXjh8vdtcklQ_lwwIrj6TsJMT3z4jStGpyrsp0FksnIfEaCVcRivDhCZKfYJBqn3bPqgNat0xuRsEGp9-Gh2czt4M-qw6iNSRmG1HkASglm4tXsLCCMQLIO1E8bvKCgn1Qftcf28rsHkGK3b2txxwPH6S3SCx4iGgiUPuB1gPHUZTUlss3mN_kLGghDsmv33Az_3MwWgiYMcCvBUDn-LpONPmQookzgd5GIQJLRVn-WOUTd7bIP3EnccCVDLF77C7havVUNoQuOov69z5A3A-DdBID6TdHLZzC7-XCE8P_T07wenOyZ8lDiu1l6f-NKU6mvb-lbEPzfXP3Arc5lw2yX-ld4nY75jVcQVhcHUt1yH3Adk3FiFXD15qokFDw_Ria6zz1LhLrtaBVGv6ThtIdLkgZ6E9eGHCso3k2vCq8gEzNVUA0I12SXv_aFdljzo-aJqtQWK0ZZ4SI-Y_U-q0gGMddTkc8wBJn70M=",
  "id": "rs_08348a0f28bdddaa016ab41ef77b3887d098077c37fb013b56",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The gripper stopped at a substantial opening, which may mean it caught the bowl wall or pressed against its contents. I’m lifting slowly to see whether the blue bowl itself rises.\"}",
  "call_id": "call_N4LetvJ2HEgJAGZ1fv7fEe6H",
  "id": "fc_08348a0f28bdddaa016ab41ef841cc87d088e8d22e8dae37c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N4LetvJ2HEgJAGZ1fv7fEe6H",
  "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]: [-0.812, 2.315, 2.0899, -0.873, -0.5308, -0.6819, 0.5159, 0.0437, 1.2259, 1.1465, -1.0306, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4475 left_y=-0.3368 left_z=0.1121 left_yaw=0.0366 left_pitch=-0.3095 left_roll=0.0818 left_gripper=0.5159 right_x=0.2893 right_y=0.0014 right_z=0.1806 right_yaw=0.1523 right_pitch=-0.5658 right_roll=-0.2345 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -15.7333, 8.8957, 1.16, -0.4078, 0.022, 0.7204, -0.212, -3.8496, 6.3658, 1.1062, 0.0073, -0.0611, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e233d2f277e1ff5c5f70f0b727be7b127e203f1ef86f980a10eaca5622408f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8ee7a2923c754d90d3b64cc2e3b29bfa6d248266ef959672c763c8a6d04c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41892617aaf39ef2763760c987302ed442b330b4f72984919a3dd29567842484",
      "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 129 changed as sent

message 133 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]: [-0.8307, 2.3169, 1.8923, -0.667, -0.5533, -0.6796, 0.9963, 0.0448, 1.2232, 1.1465, -1.0233, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4412 left_y=-0.3401 left_z=0.0642 left_yaw=0.0295 left_pitch=-0.2902 left_roll=0.092 left_gripper=0.9963 right_x=0.2908 right_y=0.0018 right_z=0.1821 right_yaw=0.1528 right_pitch=-0.556 right_roll=-0.2358 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -11.7949, 6.0513, 1.1453, -0.2808, 0.1538, -0.0122, -0.0615, -3.8769, 6.4068, 1.116, 0.0122, -0.0708, -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]: [-0.8127, 2.315, 1.8423, -0.6052, -0.5392, -0.6777, 0.5156, 0.0441, 1.2259, 1.1465, -1.0302, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.446 left_y=-0.3339 left_z=0.053 left_yaw=0.0342 left_pitch=-0.2907 left_roll=0.0739 left_gripper=0.5156 right_x=0.2894 right_y=0.0016 right_z=0.1806 right_yaw=0.1531 right_pitch=-0.5654 right_roll=-0.2342 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -13.2171, 6.9675, 1.0965, -0.3834, -0.0073, 1.0232, 0.0615, -3.9453, 6.3658, 1.1355, -0.022, -0.0757, -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]: [-0.812, 2.315, 2.0899, -0.873, -0.5308, -0.6819, 0.5159, 0.0437, 1.2259, 1.1465, -1.0306, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4475 left_y=-0.3368 left_z=0.1121 left_yaw=0.0366 left_pitch=-0.3095 left_roll=0.0818 left_gripper=0.5159 right_x=0.2893 right_y=0.0014 right_z=0.1806 right_yaw=0.1523 right_pitch=-0.5658 right_roll=-0.2345 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -15.7333, 8.8957, 1.16, -0.4078, 0.022, 0.7204, -0.212, -3.8496, 6.3658, 1.1062, 0.0073, -0.0611, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e233d2f277e1ff5c5f70f0b727be7b127e203f1ef86f980a10eaca5622408f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8ee7a2923c754d90d3b64cc2e3b29bfa6d248266ef959672c763c8a6d04c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41892617aaf39ef2763760c987302ed442b330b4f72984919a3dd29567842484",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7-SbB8us-5UwvskesKMG33QXK5eZd646A5xiNXa_r85a8alzRvTyfWXUhj2ivQp9M9bXLjFWqTLBPKvobP6zQDfghAv-MJX-EFGxxtETePwk4r9DE-vCspsqB8EQiNUNkdFoxl2Yj0EqZg-7esKGHRyKyw3XuxmNR4co4TDDB7OflVIfq75nwkxNUl3eqx-8X-45leKhOhH2R95UAxoOyTsAOLPltpsanoaOEKUutCOGkGXt6fPI7483MGDyGTXNsWK2SqSyOxnzDycTrhgiUWiYwDIUer0sZ-3cGbyARqxzH7MRw47QyIK9dye2mq-kdJS1juZp05sKKNfL469RR6qe_Ng4Suv-0qDFlVEDt_DtP6ZK6JEHJsMerGuGm8syiAWUvewjeq7Q8X1YKAAhQ2Y6_nL3XatXwcaNkfNY4FfxAA7CfP4d3s7bTBYWc7o4Jp509pRA6tgobNvmw153pVCdjF0YQ54X-9-EzlD17rU3zeGpexddk0o1ciZJuaBMxUXa5aAmZ0B7TdFrUgXgByIaSK3VbF0wfJOdP8MAENuFqP-BwKidjvQXU7Vu7ULe6RmSOdrxV_uiGWxXJkTBV3PhaStjmb_EPX2oxLT-JQJDD0iXwO8LI8HdeIckQHYwJvV0mSBGDQ-4QEjFp0uffFDvz-t-JrIx8y0IwOCP5ff6kEBlRVr9YO8vO3zg_zpJRW20pHC_gZ8uKUAjVnWZ3xnAJ8IPXG1G-4VziAcX5f1clPHehuNOJN1v0ovI3aZnDhZKhZfcLxJRzBiqVLa7y_JqfeV5Sky_AApXPQYjp1BSi-B7fdgrQl9teiP-CbPLWlrX56K7S3kJu0LojPdhvxSP3dPr58IUtY4FibGEquiQdPil6XRXyzTGNti0Rutn-AkPvnl0yK3LwTxHX-ij4R57E0FvwPO2wN0-i112PYUOXiBTAwFgznWV-_KAhKgb37aGBN4yRuchjMswLtw__-IMrzm2WTRpCeBeiV7e2I-6Rvp6kUCRgbE5zkBZ8rnt9E5AyWLGRrY-kR9rifzLA9bVeHzXgJKmDvPzUZdzaBfavUx2HZ2jRXYxQWlSpZ-qdVcHRHYbrDx3CnKxgXLJF8Xu-nLJ3KRAmT6GjQGc_JkxwZ2wUQ7QxxNk3QOp48Hf8xXptFwt2Jvbe3c0RPQ9zl4Tsymz7u0jRyiL2NAFN-Wim60OS-fqLjy_KfToWw3T0y_X0QlGzVSuO8KlWMZkTMonqWl1Gra-M7-CG3f7rey7ZA43qayclX3BZcP5-1dl9dcJkWjQyyRhdPeMM0CYcVq40t1lXZpzIIB8sXrcVryqMsNcVDOSQ7G1YzMKUsmv4Y6AqmNRYQnqbThPZr5IFzbthMCry2xhjwv258Ivzpgzt-9pe11MlSzcvseZlJkpdWee1pivb7RpqoS4JzGh_GxV6AvwUcM5Riijcw3ynKem02I-C-MVfSgXrlO-YJ3PNqyyE8Vn3JrGDcOheB2AjndzPcxM54k3xlczyCAxj8T6J0PiU-POM87knUGPCIhe05V71VvnoBc3JH-kBoLpwB_Jij8ddY7nOcCllvqeMIiqSNy8ivG-aRn3AfI1lYrtjHXn3a39ff536lwZom-zuzK8pZ4kf9hSTW1nodUmQR2rhLaRuyVq85VhEvO6n1e8R9Iuf0utV2siJ_odrlw0h-0QD19XoP3xQrq_g62Gb_zSfCBdj6P0CK9YRMLw-IDAOcWz2i2WBuY_uN8-RnJdDauNOEk8XwEkJuOK7DSoWNSJuE3T769iEx0RaGmrwsaP6AI_oIa5yQ8yg6Ip24iHxoqij-NA7OpKW4j-ZKl8I4qqq_HQDkxLnpE9bZtFKu2yaRc2KhNkcoJO8FHmS3xPRC0o3AcLIgo0DzncRXvMnTYqRXAm3rxEDKP49qJ8vVgD4TZxzRJZaTrFlQPLSL_d0Axgk9sjhngnppJK5CSE1opCj1aPfqFSyAjxo_Zkdlvo7b0PugnRW1dA3Br0cVr4zTpLFhSN3Kx1pkbu1J4BkqMwVQAe_25rXuoToMa-cnnBeGIri_f2uZZz9c6PlFj8cRrsEhHlr8OIX6H_kmHl_KexctE-bh9QqUFV2ctyL5siCxChLfVzjOnTIkYlgQE6KTNkjekukzGAVSTic4noVdqO2LftEn0tgFIXM0BE6Tx45IYmshSYwJcoG8DVqPt9ZnlKUkyijyEIoPTmZo3XBrPG9ndiSd5pAY7leIEraZNZ-aCXGnHgRVhMChCRMP3EVaj3aLO0fVaJWlW3BlcCyxxycWn-Jyq3xt0Ua94wAslF8clPkCbUzrU55RYF3bnAYZQOG-ZK1uPCyZzOixEd61s3wo2lCYEK5OE_mFTO-Xp9MeFMWQ1dr4lWC2vpCxXxfSGpmq-V1o9VaCOeb1jwKqVzYdKGiTdijFVa-AS7qZoGvqfRN_G0s--Sh5_nKHud3IF1qODtiZQ4glc_0nF-9LJU0dv632Kfb-K0BQv7do2dTwLgAAyNfr1PXm7tUwHgV0QpFla8rb7uiWABDkSXU7fbSvV_MjOpt3ey0fRN6VgqlBiZE30CPB6QIseS9XtigmHhnjZMPseSCu7VFlM7tDfchmcQ5WW1Wmj6STIia3DbDu9MtdxVxjVyjE4_BlhB2OWKQNh1CO5ix0WTSX-MVuOUi9N70ood0ppuq_1QJFZmpe",
  "id": "rs_08348a0f28bdddaa016ab41efac3d887d0bf1d88732b3f6d17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.095},\"note\":\"The blue bowl stayed on the table; the left gripper caught the yellow fruit instead of the rim. I’m setting it back down inside the bowl, then I’ll try the bowl from its clearer right-hand side.\"}",
  "call_id": "call_fmaNmMtdcTPynC4nHrifqNqO",
  "id": "fc_08348a0f28bdddaa016ab41efd991887d08fe5c5f880ccf66d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fmaNmMtdcTPynC4nHrifqNqO",
  "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]: [-0.812, 2.3169, 2.0338, -0.8379, -0.5304, -0.6849, 0.9948, 0.0437, 1.2259, 1.1465, -1.0309, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4444 left_y=-0.3336 left_z=0.0949 left_yaw=0.0437 left_pitch=-0.3247 left_roll=0.0976 left_gripper=0.9948 right_x=0.2893 right_y=0.0014 right_z=0.1805 right_yaw=0.1524 right_pitch=-0.5662 right_roll=-0.2345 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -13.4632, 6.147, 1.1697, -0.3492, 0.0415, -0.0366, -0.1709, -3.9316, 6.4205, 1.0525, 0.0269, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4158e526da2cccab1d0114552d4fd5147767fb3cfee87f3311420a0974f4b399",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a658458c3a49594950ea3976a1590eb20ce03ff33f757c4e973d2ef7284ca58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5d924eae49349301f507473406982cdc28bace49671dd61eec9a25b71473e44",
      "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 125 changed as sent

message 133 changed as sent

message 137 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]: [-0.8101, 2.3165, 1.8488, -0.6014, -0.5499, -0.6712, 0.9963, 0.0448, 1.2232, 1.1465, -1.0233, 0.0837, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4493 left_y=-0.333 left_z=0.0557 left_yaw=0.0382 left_pitch=-0.2781 left_roll=0.078 left_gripper=0.9963 right_x=0.2908 right_y=0.0018 right_z=0.1821 right_yaw=0.1532 right_pitch=-0.5559 right_roll=-0.2354 right_gripper=0.9966\nstate[joint_eff]: [-0.8684, -15.8974, 4.7521, 0.8718, -0.2711, 0.0122, -0.0122, -0.0205, -3.9043, 6.3658, 1.0965, 0.0073, -0.0317, -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]: [-0.812, 2.315, 2.0899, -0.873, -0.5308, -0.6819, 0.5159, 0.0437, 1.2259, 1.1465, -1.0306, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4475 left_y=-0.3368 left_z=0.1121 left_yaw=0.0366 left_pitch=-0.3095 left_roll=0.0818 left_gripper=0.5159 right_x=0.2893 right_y=0.0014 right_z=0.1806 right_yaw=0.1523 right_pitch=-0.5658 right_roll=-0.2345 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -15.7333, 8.8957, 1.16, -0.4078, 0.022, 0.7204, -0.212, -3.8496, 6.3658, 1.1062, 0.0073, -0.0611, -0.0073]\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]: [-0.812, 2.3169, 2.0338, -0.8379, -0.5304, -0.6849, 0.9948, 0.0437, 1.2259, 1.1465, -1.0309, 0.0841, -0.3153, 0.9966]\nstate[eef_state]: left_x=0.4444 left_y=-0.3336 left_z=0.0949 left_yaw=0.0437 left_pitch=-0.3247 left_roll=0.0976 left_gripper=0.9948 right_x=0.2893 right_y=0.0014 right_z=0.1805 right_yaw=0.1524 right_pitch=-0.5662 right_roll=-0.2345 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -13.4632, 6.147, 1.1697, -0.3492, 0.0415, -0.0366, -0.1709, -3.9316, 6.4205, 1.0525, 0.0269, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4158e526da2cccab1d0114552d4fd5147767fb3cfee87f3311420a0974f4b399",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a658458c3a49594950ea3976a1590eb20ce03ff33f757c4e973d2ef7284ca58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5d924eae49349301f507473406982cdc28bace49671dd61eec9a25b71473e44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8COfTEvPakNCuUk1C8FkMzSg5zTgtNLUbJ-OQU9BNcen8deV-cjSoPgRsj7wizVoP1zwabKVE8iijoIs4R7PcsibcshjNnIrbwvKn21JjGPr1SMH_Z0amHzH2CG6o_jvmBfYY1jSRvHhoYo9jWtd5mIxmoMySKmbTeo0jqbDBvzm8tZlYlOB7gF_-p_fc3NQBvOFUDvrtXRBSdFOf8wYKP6DBOc9BIOrvDWqvfkfiIa9XIC-CUoOSubpG1TnvI9zDmfVk1Gll_SAyoEb4aFt1SrUGlLOxo4gESqr7hqLvZuY3HIe9JrTRh2u7d3gfdigQ-yxvphrfJnYxyQnVqAmBoo8bxKU_Fj9-v3YaNzTfd-QZBoU8YxXQSRMKSjjAPDYj72INDg9o_JoXWS-vet2QdwEQwX3qOUKO6razRukOaHwWUPn88IQbBRxRKR-eP8jQ1QpeTCvcU7eWZWJFp-ya8LgBq0kEpfgqK3LGlqG3tQVwDh9M4jrrJVAn2Y51PBVqLde4sf11Uk_Dr3_pIrpONPwwqK8uFW2Nv2LnMVUM-lqK9yBijDZzglVrxjxMc5vEOTdS9N_JlVqJhoAC9iUAKA4uvN0wKH3RiUYHM5IZmSmu3X-EUNOu7tJNgqUcsgz8AszmHylb62w1JPFP0D1Ku1EVL3bpwS-_vuKuor1vXM1zwCXNGAiiety1IWLYiVO4JIhSTb8uCHDRUELNF291zMvgQuYI5p99lCflIA08HLSzftbwkbzuGJAcluw9i-X7jx5m5CfAVI8aSrSU8ftvYazx7EEYZlBhvscDbwGNE10SgL2yrQeaIpVg-8B60c_XERcgmVykH3pHIhDnadAz3tgtL1x1sguGbKh8m-jyGXs1iCHv9Z2zPiUuewESijSWk8JuDndrZx4S7EvSYECqB1MGTaAczB5aAgkziUrBYQKmGWYSRAro8vghDcgRFBcDUcxcDEVehee35miv8f4fYbTVc9UggLuVmp-E9fixJWMXxkQRNkqwMPzWtQ3ioTm68NM-3Ms60nPafPAu57Xtzsvn-KdNU8f-ooAalaDJnOqIbt4WBhkfS3NGeNm1v52PD0gJfexgFyvy2k8ErmiblV-W4NRIpfZTjj756vph8a8Bn_14M16Y4lP-Er_TxgBrHUKEu0m4hjzW0RR2bLCmpFYddQNsdzliXLLYP0QyBu1Mf8Amx26x2BQPy3uxTka4sPuv9Ge18XL1OVfcY0g6IPrWXRldNa-LRZWdGb0cW_H1jliYv5pggBhaCp9VaDRvvpArTdlJwcrepU9cwuAxsajRRjXAM0qNI8kCC4shOKQpz7gFf6q0TZzEHmC_PAiZivwzbzBbf7iIu1KXwnMgAtvtHGrynYOoSjWP64HIYpYuzGWsJLXXRtTj0OeQA4zLkJXq44K9o0ByQ-Da-cGrZ2nocBaVMEEycvNi4WGFf8zEL0sqKQaRHbh52sZNKIzq2URxFYBEpukbWLtOKRf8rDbb7nI_behFGLfw_AZsFJJ_JGuVq8hZuHRsIsfMgt7KttEKC17bSiFNFTayKlwg3Hw==",
  "id": "rs_08348a0f28bdddaa016ab41f008fa887d08f5a7c402d6cc495",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.06,\"left_z\":0.18,\"right_x\":0.43,\"right_y\":0.105,\"right_z\":0.055,\"right_roll\":0,\"right_pitch\":0},\"note\":\"The yellow fruit is back in the blue bowl, and the dark and green fruits remain beside it. I’m parking the left arm and positioning the right gripper just outside the bowl’s right wall to grasp the bowl itself.\"}",
  "call_id": "call_TvX5ycm54JfaEdr7vPySBUmm",
  "id": "fc_08348a0f28bdddaa016ab41f011a7887d0a4010aa372bd8f15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TvX5ycm54JfaEdr7vPySBUmm",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.4229, 1.1397, 0.9802, -0.7967, -0.3462, -0.3477, 0.9962, 0.2745, 1.7245, 0.6792, 0.3744, 0.0963, 0.0196, 0.9966]\nstate[eef_state]: left_x=0.2972 left_y=-0.0641 left_z=0.1793 left_yaw=0.0725 left_pitch=-0.3107 left_roll=0.083 left_gripper=0.9962 right_x=0.4156 right_y=0.1031 right_z=0.0383 right_yaw=0.1781 right_pitch=-0.0991 right_roll=-0.0261 right_gripper=0.9966\nstate[joint_eff]: [0.0342, -3.7675, 6.5573, 1.3993, -0.0415, 0.1001, 0.1197, 0.0479, -7.8427, 5.1897, 2.0733, 0.188, 0.2515, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f50c9df92b9673c591116150ba3fb6e7ef01a37c24256da2ddc14ade1b2345",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e8049a8ac0dc03117dbfae6ecf3c6f9f4c0134fc503a7d88067ede04c94011",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f4592a61b66f21ade431b83cc06f5a20c92a8ef7d49be37d7cc966784229f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}