adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "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, 0.8001, 0.6132, -0.3828, -0.0139, -0.0296, 0.9921, -0.0193, 0.7998, 0.6182, -0.3878, -0.0235, -0.0193, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9921 right_x=0.2958 right_y=0.002 right_z=0.1833 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.7846, 9.7162, 1.8339, -0.0855, 0.1392, -0.4615, -0.6632, -1.7299, 9.2103, 1.8486, -0.0122, 0.0269, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fbcf9f329d31aee7b278b8fc9cccd0f693bb7ba19032793513ae45b038f46ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:257045b59ab3f196d6bbd724d025a2c9329ed2df2848ef81926dd29f344bdeac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:002303bb79ce28e13bde5a16cea3ce72839a9fa5a5d1c0ab0455f39476fb3510",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnFM9ub2EebvWtflA5ozbH5O3ZfZk-amHHmCcFwXYqsMoUd-L2pJsSnLDXXYPWlImb1ztCI-oIcA7InqbXZuo4kZxifrQkWkLXsYEdC6YarvNr7xTVV_tLC8iFi8rL3ouF-ujOTNzrNV-mEoqreDkIwhYrrBoSgzyEYDTS2TE7jE-QsJKOeaNo4ahWerlMd78aoUKjHs7DR1wf3ZsvKUvCRp1rYUb0sQoDD2RIP0j0gBw03SuZ6kLlO_UIVDC-A4K6AftZgkWU9tKOFnXrH2ey5OTgF2RVMkDgmXWctXCORFxIfAqqfXEeuUX_UZ_3vzIdKtviM_MDyd6qpOH41eUUWKDg66ker61hk-Qt0hZg42HAfwUj_hDZlNaE2vxybXFq6Z1qPuwwjMRNueUIAgMGG-A-0JsqB1AY9w87vVKD9dA1pHQTDxyAmrRAkS0CXoXexrwbG67M_zTO5uIhWAlFzPAIjgZ_pnrAs0zL0jXUilOuHAAsjd6FekR92J0oLOX8taX4waFkTX6alYlpNjWKQ2UxaAhvPuH0spj2oG4wSU6A8jKm8dqeZJPDr-Z9JWiDzp2zAqbjBbG675Rw72WveO29w8PxlZauLJqnEd7xxz9zOtrkEUjRsH4RgpkRuhm05bckNCoE75D9h7IyswXptIgu4Leq70p4M7ui0kXuUyk96QLCrrWo0dDXvlAJcHPY_OYrQtffW6fHGkjuDpuy-rxCFf1F5oDTFGUgF4Ahel4fIb3Zu3juM6UML0xUcjwF9TiWABf1GdJptf9ouP8huiJQgBAy4Kdfe4IgKITI-cKtKMenk2qxs_8C381QLunBgM3j5b3szwWozDPo0hrMXrkr9Vab6yodQqp18N3QljCUoRdT1w9Ry5PJxGwdvgXG5f4Dmb1JP1q_WF3rkmMLO5NlgZCd1bfFLACbMIfiDHcbLDKJqHL6fdGO4nTS8OLWKkvpxrSWP7ANCPCWbKQu9VqwZ0eYlySCc8n1oHiwXENMdVNrQeV1AqmpHiLHpteDKiZZlyadxVRfE2mjbzdGq82Fkv7cnKsERxQm2tzIxOpnwwGXpulrVgbct4xQdmLL6Eu80E2b5V8J-HUe1QiZOxfYXO3ucMXLXpM991NcXc8rTZZ2dwhpjNZ00nOZewRdG3IKE7v_nzZ21x9uOUp6pBi4v3njg9g40V0pqEbWknWKkESxSkoyenR5y7B43pJ4neuLStdgnmCZF4MjeAT8aD_IUDBjkBQyaVh9fuB-HehgsbXyDqSm8NuwnWmidF3ZJ61vSwhlJtu2_flZVRainlt-4ff-OEk73uPA4bBM0NFkVH6bYfS72q3xXutpvM0Uqv1a1UmFq9fJT0GxSByqFFwHXyKPNOS6cK1vaz4yCt9elbUMFO_JYP7EcrVWgC9IS61J0M0v5GGoY5sgh4HHQC7hofHTry7ZuD3UHcgy93aiH-8odqvuqiwpVBephF6-bXafyDtunQ7IWcUPTtGPNBgtQMTt0XBIM71aXkdh6leBdS-Y3UcoMylUbBS8ax8ZX9Rnv76XxM4K9Gb9LoWcq3mJCwtCZRfPZB7jg8J3tYcWFwcQijmRiA57RbDVcEz19jFPoPFmpldwlyPpeCDDGnT30PvLrF79FuWo9sv9Yzir_Q3uvi4Uv5L2U_fmKibrGHJzBilI1zpDb3n_Ezhu0iziwr05G86pBmGUIV5LRNHAh_ytjJ8dGoJ4t5v-it6LtH03P8gliPwjIdD78wcq1cbmcfAbWdRMEnbrYYcNxn3DHJiASJT59vfp5Xid3lV6fLpVliCEpmXG5_HjM4qoIGMxPPD6yH6V3tK-vTIehtXSlg7Q-DMH2swnOfkOdjX0hto9SQk_uVZ0wQm00THvTjanYjDoGtoYw0FlWks1iqqO_xq47lIVQx1u4kpz3SQmx7E4YuVG3R91aDHGr5wV4YI-Ply7FanVzIixqT9Dyw-OKkIxd0a9WGK_uayWWchj-lWCYJWjFfhgJF6-lAwSlnUpot9ZYgtIEVfbk9ntPL4_aEcsjbfpTUk79Yav6M-WCqAE8H9WsyvjzAgWGL70SWFocU4FnzPczdpMl8zdohlQ_hprZH3HdaY3miJIJ6VkTo5rcQ8KDsM48EXDu7FMzR3k0LPjSHCRMQGXBXJH1lYKMFQ6_Z7dFC3wcOXIUnwyjYt72kgYlFeoREA0Z4_7whUYA18K3ZbMROB-g6qbvaAUccp5DaQzdyOV2yGAg3MYQcWU7W5rw_ADbYlogI-fwNPZgTURvxvv-tf-hHH9BEQley8ybJaIxd8FxCpw9qWuiZvo1ySzCKZkqoQWCrZocFDaVJNYl4tv_Xp041x7LppPwFZfwwh59CSSdxuhDMwolOrZqt_HQLZ4ehzeyawt5FlGSjj2cMt4EGxaN9c6WUJx5aeCZOVEzRfvwuFULYwGEqn_AuL9WOIguVo__P2RUwj5I6xxZCSHxE7WnLxTig16VMzn8FwiTH7gfNa4qecrFpIbmUzEvZLzPWSAB3REwmcU7Q_Dv-CrrQ_IC_vcDI96EGyiqlnlzcjvUgIWjGMQGmyqcYvX7NTI_x2AmhAeVmY_RxNDiRlFp3hFusGVIA4jQopvodNLifqbeqcZe8xHKHvNKQhiDaLAGCD7XvjrcYpQFSmWsdSqtq-8fqYz8gcnb0BG_vnhY5xG0eJj_EwYkkZ8NhvRdhBlspb3x3KiD9ckFfpTuyuNOOE6wi6qxsIm9yQRkkFu7h2m3fHFaQUy7ND3WHohnX8XTzbewH2DXOwH5H8xna6K2ZofMtWOiw5d3Yi9WXy--9BcSwQGYI3V7SnK1upOYlou7iasDU4HDYLzWOKr44jUXe8Q58tO0Fhnbd6-cumSoQFwoAKx7qHGrKG_eWxRxszUsLWP7ER4aDBcaUy58Lbr-MOjLHaL_0YhBnqVMiO-mAP5IBn1CAnzghJFuOUe3FFeBrlCGYyq-YFPIxjtLbgjvn0Lby76jlzSKNXIRrmyUFjpF-GLuPokvBX867epr9ny0LeoTWm9VvpdIElTm32O0OSEBGYx9ZcktVPSp6Fvy6ay_aX2wHtKAqAalpHZMB5ysldrI9HSGn2EWhzXRm-AQSqyoH1Ee0S4crJWzMEJv5qlZBafejSxIYHb_EnI-GiGzeMl2omEnuNSwEijLOWHVBPvaGA-6mdf0fL3tMAOqGmcygjFGg6-HZ19gw6q4MMDF6osWc5WcV-IUN1obTyR3s0C8UmPFnTqYfSA_G7x7RMm3aRPMRJ1-7PMw80_fcx7g8FUhe3jpSk8vFV1mO1Pl7Yn2pJ64Wd6KBISQkWbaeCE6Bh3CRzyXjYa42EBjJrBbUfXDhExd49By-JOdNJHVUDDCZ9Qagj0y-1GY_6wEpKm51A5dyuol8wDz55Erf6yQtlXHNZ36Tq6xXFrBpelNS_APl49w_63MTvF7pmMK0yQWCU7hdDgoMwhS6Hb1C2uigCtu68aoihfWM1OC53pt-ChXX5AmcBU1AU7fPz5cbEB6HjiiTNLuShKvxZBWdCgmBzKcypulKQNUdlQc-MM-BqeMhVAY5-CFntKDcfMg5EnkDLQkyjCE57CVYoXcJZrd257MvPvH2hGTpHnuaP2zB9AVN3rz2ssa8MBC3lGcA5c_P9E-NdXXtoXVn1b72PEsoHvWKXxYQsDI2Cm03YHeY1Dht2k_ethe3tB21kCG_dRHE5vEj-lmM9USW955h_kgK6JVtNkbZlSIlAn5DioletILSwL_MF933UdMny2lDdNEomtidSzNNSvYc1GpY__d_T5WLCvNhMsa8rZ0_AqNEjlngToYC72LPVi789WqZrJwujK0eYRruIKKyrPLBvlSZjySxcaF5KR2fv66MfzAMU0Xb4gAH7HRW8e7V51122qzaz-OpIWUr1tjTT-Shccxk9M--RV4HVgUV9C8AriNhbKLygEpPxZZ_BsELJCs7Z04GzqsphwP",
  "id": "rs_06274f8033187a80016ab449bda2b087d0a7870cf216383fe9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnF8JH8vevM4YvoVKgds9-1dLFgIqnpKq_yBlZHkMDXFLJrmiOKeWrtjrs1p5TZfrPgWTGIu5sqGDcNZUmk75sEj9IDzZT-G9i7gyfChi29eV-asS5QGe2sm1f9D0MkVWfEjaUsYz9huu7KI_7vel6Ddh1Ez-wxD87ttrQttNS1LiFeoLk0slsO2bYB-UYiigu61AokQbCuQ6Y8LuiCY-srZJFdMbFjo6r8nC4o5y87Jz45eDxnSO9Ej21PaQ7L8AtH-lvFb73okM2qAdvOuOg8YD3HL9S9pU5kiN89crljEPGBqRyCk6yoR-vLq7udsx4TpbRAivGHdQ2vFgqZWLMoSaQGK77LD5i6zAEsR2Dd9Vs6VgOIC8nyTwLYZshy_MlmKmkhiQqvAgAJhZftTv-kJqeogf_w1vYJgVVCyjNojauf3bvnsLixCOMvPd6ymQQ3WPsc-nQTvpYee_IbCDbjHtTPpdt-pZOnNXI_ZctwyJAJL92VSOMHjNj24ywKtxzPtWxHGVjuQFNdcvEJ8THCuTIIyAt-bT4bMQ7tyTIJq1lS8IyaD5Qih4Rfn5-VXUbIWj9bO8zVfNifEif0Z-Do7gUc_dL89PzBD_KDv17J73e0hmkG7DQdoWgjNkQI6g02Mq8kJJK1YijXq7Z5Sd90e28gNIJU3UGagGsqFQi4bHhMw2OyqX6c7R7x6DmUn0jrwra5ycPZCCs3Ez0S0APyUy7KGizILmvnOz2Y474vXSHWYE7swfeDZWCYPt0j17dKPpN34lmSUg_2eBjsB6_F0LUghO_8u_cNKoi32OhNC6De-UymGxCS8yd6KOyoTAxlQGSuwZcAJ5px1bAAQbnmiDlWW1itwh3XTP2mAQpIUtZ_PLemtZs2NKR6I24ncZ7-xo_w_7sQiX47eNwRQ4kJziMppY4Xo2k25WoZlJKJsR7S_lkLOmNgz4fqkQPLMQAWgN-KTHVBibqlYAT1uoUeyR2Xc5WNyRNtJv1zF5RvzRWs5qHO8SAw_Ffx3e2Eq425rWLRog96GwWXXd21Plj3yfB2b-YESvF_sXEoNbSmxc-Oa1nHrivzWZY_Zi38mrO3YUb_ojs_cc099eV-Hl7-M-_9f1us1Cnpfj6xApm8Bt8X9Zt1JU505HqbP-pdUB73OBCn2VDHn97SzAXn6wuNOoJ0jXPbKWiQG7UM5tMX1JhMHBuMaUE1jRFu7TlohilntGdHfzZDumjOLfltqzTvrSL6TNBqBOCGPgEZMMcbAqtKiKH6EFQlC7sH-szZsZiJcPStjMEL8X4pOgvtSqk6_mj-wJzvmWjgL03RBOmJ-66V4RMlc759w6AR6spKEHXhRwsYvhNO2xQ4fbROP4F6w9liIncysRHEhARfH7qYXSXVkGspx7UbxqJ-Zw4UnJaZybY5t0pMQhN6cC0x5YmXDwCEyrWKzHiQMIqldpfI9cLx1hDVPVGtkSNnWdcBxdG87JXO5ObWcEj8o0JlhiJ0fp8DTdMpyDHSgh9Ro9WnVT8Vjlk5yE9oyk1ObtykGzuGfX66x9-TH_FXbWcz0S1wpp-bOZbnRP46gc0B2uKmBMnQH-zZFt8zDc4d-V1l8Bj8fM2fFmbMBTY4nyWvvP0W3gtIvka5ouAbHZUrKO6HIggEF63vmje0pimaq6zBqems1yoWZn8P1ah09uo6GV1oJO2wT-GHWUBAeAuU_hVtdkGkLzU3Fg9JdOYGxN3P-svSWKz7IIYRhKOplh0iTMdqpg4K0LNVrFJ2TC4CEF4GCYjR4LIU8Mf8UXVOuGqzhWsD2OhbpOYUnxjDHwSOwpJVT_-jqyk8zTnbp2gVjTZfcICUm-tQ1hnvpMBao9fa7sP5NZ7RuGr7kKZPPxwe7KrpjmV9KtjZaHOIbmZt4ri6q5uBea8qxr-dw7TkRr2udvOCmQGhn24oqCqh2yp05Z6ZZg==",
  "id": "rs_06274f8033187a80016ab449c2c04087d095fb16e5a5b92859",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":-0.018,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"The right wrist view shows a green fruit very near the jaw column, slightly to image-right and close to the fingertip row. I am making a small outward and rightward alignment while lowering above it, keeping the gripper open.\"}",
  "call_id": "call_EbHfpRXwPa1XsDTxoEuiWTsV",
  "id": "fc_06274f8033187a80016ab449c4278487d090e84ea264e5449a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EbHfpRXwPa1XsDTxoEuiWTsV",
  "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, 0.8021, 0.6132, -0.3923, -0.0139, -0.0307, 0.9916, -0.1349, 0.9611, 0.4152, -0.065, -0.1146, -0.0803, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=-0.0004 left_z=0.1794 left_yaw=-0.0001 left_pitch=-0.0114 left_roll=-0.0007 left_gripper=0.9916 right_x=0.311 right_y=-0.0182 right_z=0.1118 right_yaw=-0.0059 right_pitch=-0.0372 right_roll=0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.265, 7.1863, 1.8486, -0.0317, -0.0366, -0.0659, -0.1709, -2.7692, 6.7761, 1.9756, -0.1929, -0.0904, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946718997276a3dba7d20bd8a109efd596e8dd45e6ae425d4361e3da1f7ec724",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61dc3096a0d99c73d52cae9e2005f39b377d1fcb55be6fdc218b5c516be4e7e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f49d040ad4ac267a0eba8298e82766e557ccaf517d614dbe7d8e2e36a29a30",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 8 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, 0.8001, 0.6132, -0.3828, -0.0139, -0.0296, 0.9921, -0.0193, 0.7998, 0.6182, -0.3878, -0.0235, -0.0193, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9921 right_x=0.2958 right_y=0.002 right_z=0.1833 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.7846, 9.7162, 1.8339, -0.0855, 0.1392, -0.4615, -0.6632, -1.7299, 9.2103, 1.8486, -0.0122, 0.0269, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3923, -0.0139, -0.0307, 0.9916, -0.1349, 0.9611, 0.4152, -0.065, -0.1146, -0.0803, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=-0.0004 left_z=0.1794 left_yaw=-0.0001 left_pitch=-0.0114 left_roll=-0.0007 left_gripper=0.9916 right_x=0.311 right_y=-0.0182 right_z=0.1118 right_yaw=-0.0059 right_pitch=-0.0372 right_roll=0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.265, 7.1863, 1.8486, -0.0317, -0.0366, -0.0659, -0.1709, -2.7692, 6.7761, 1.9756, -0.1929, -0.0904, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946718997276a3dba7d20bd8a109efd596e8dd45e6ae425d4361e3da1f7ec724",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61dc3096a0d99c73d52cae9e2005f39b377d1fcb55be6fdc218b5c516be4e7e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f49d040ad4ac267a0eba8298e82766e557ccaf517d614dbe7d8e2e36a29a30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnLaMjn3MrojyV3WIiAV1C8Ru8DwY6BkOmFwWTUbQGHthFi6wB8rbKHteAzW9HVbTAOAHq52yVuFV2iHF7NAworvsyQXkwsGZfIKcsUP_fnQjaOFGKqOnK3DlukU31lsaHQS09W9ycmVRpR15MPz5rWftIO3EK4SnSMbrncAEqd9VcUESiP2bWtj0kPgzrXRd4OimW5njHdcpTBnqZ5hIA_VUZfZtiPUcGoxgbUUonY694XjvJgUk7U-2whn3sCTK8-6CCnCj8PPsrzrLtGfOy7H8g7bQ2AhCtavA5Q9on1uFTLiX6FN3UdjDtsnjglGd8_zxm2Db9Uj5AFjOamAqPGpSSFyPbylHR799GLODAK2MAcQYlewX_f95mkDkaGblJ3XFWns8unymgqWK8Sq5wvBcxoRvZ41NZFyj9WkWxiz9kOTZ4Bga9C2Nb1_Q18dgi3UOBhvLokz9FXXQn1XAYWsJytfTKTGWIANF29ldb-ISBIcdk2QQEo7DyTMFgpGguRPor1lWDq_CCpHQpcaKx3XBRq7zh6Q7JI1u0Rgqnjwm8BoSgwYYPHQ_u8nkd6RJxUuUqNRd0SQ4LZC8VlUJxmuph8g2Ms-W4AALoIyrFIXLZZLZ4xOfLwAXJaUkC-jMpoL5x5hp83j4f-9xMxi9FTBxUz8lYHFR5Ywvq4zWJHXwI3h_gaUUkCiw2hUbPZ5bWsTQKzUDzpf0u7xD7WKhk7l7s5IQTMpHMcyB65eUT2nj95ps3ieRkcIAxzmqcY7GOYS-nmA6Qi6mx4-u-pWZ9DtBOUDNxQQ0u6B7Yllgb5YO3d37PTHdEUF25W1hsvlMCj8kNiQhiNldjo-M5mbeQlxuTb87GGcLLNXCxoLIA_YewTLIehLe9jRP7ecgeg7qCtlCZC5-mJKjF04xrfaqD1H4j_Pq-Q3V9_Vn5jKE8sgzuvV029VZ_JRE6uTD77m73Y6JI09pL-kKep2NuKUQ_2XQfAgKJlOum1XiB9BgyrRB0ojPGIRz1X0zT6gFnrubQpeomiFaAiGIoC4iqzcz7xTE6oITTkq1AmZRf7e0ILikUCvM5oQslNfAB7BLuUMTsB5MHXBXSk5EjmUycy4yCXy8-eLcffuUcaxLFVukXvhljq-3uiEfU0Qi4Kr_PMU0WPD9dX_PTV3KAz47-dxghP7BSD048Nb7ALY89yIv9kwAIumiqtRmkLHVLJGfihNFV4OHSBNIaWvkAEYfJucCbvTgm6kFfq5PCFtTLumZctXQMvKGHmvWYDOroX6NnqO9X1UzpauscoqXaw9QecAs0fdvWKszzOu8oSbbp59_MG0TzPSXUsUFPtr4PMF7O6cyG0QjMgxg1yfECNnJLBMKXJSRZb20snWMJ5qLEmBoZg-kxJZsoqF6qIQObspBtwUJ9HNL-K5DrZLBpLBXFzGkkrBgF5gC00oWgsF71Fqi-ys-OMb_iiK9Tn4rq91peYIGncWU7kcPn7XFP8GG-9xveC6V6NE2OIzs_o-h3M2aBpDzIwqijxrvgd8Y-BIx5C0x-z",
  "id": "rs_06274f8033187a80016ab449c9947c87d08a213f281e8f7d23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":-0.018,\"right_z\":0.042,\"right_gripper\":1.0},\"note\":\"The green fruit is now centered between the right gripper jaws at the fingertip row, with the blue bowl visible to its left. I am descending to about the fruit's mid-height before closing.\"}",
  "call_id": "call_g8hbnGw6tmzLQNyG0jFw7RYc",
  "id": "fc_06274f8033187a80016ab449ca63ec87d0823c9f1f05bbdb36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g8hbnGw6tmzLQNyG0jFw7RYc",
  "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, 0.8059, 0.6132, -0.4019, -0.0139, -0.0307, 0.9914, -0.1329, 1.253, 0.2161, 0.3923, -0.1181, -0.0875, 0.9993]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1764 left_yaw=-0.0001 left_pitch=-0.0248 left_roll=-0.0004 left_gripper=0.9914 right_x=0.3107 right_y=-0.0169 right_z=0.0351 right_yaw=0.0031 right_pitch=-0.0701 right_roll=0.0034 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.5521, 7.2137, 1.8291, -0.0513, -0.0415, -0.0366, 0.1709, -3.5214, 5.4359, 1.9658, -0.0415, 0.0464, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255d007fb0edf95b09ab9a3637d5ad0f65dec9707c3782610022f2aa26b8dfd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a803d3a9888d56762620e149cf6776bdbb3b7aa148ec82df8b8446782b2101",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4f3d6cdc0f1e508556767954e82b651b9233aa84c287515813ad5b17bb555f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 8 changed as sent

message 12 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3923, -0.0139, -0.0307, 0.9916, -0.1349, 0.9611, 0.4152, -0.065, -0.1146, -0.0803, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=-0.0004 left_z=0.1794 left_yaw=-0.0001 left_pitch=-0.0114 left_roll=-0.0007 left_gripper=0.9916 right_x=0.311 right_y=-0.0182 right_z=0.1118 right_yaw=-0.0059 right_pitch=-0.0372 right_roll=0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.265, 7.1863, 1.8486, -0.0317, -0.0366, -0.0659, -0.1709, -2.7692, 6.7761, 1.9756, -0.1929, -0.0904, -0.0806]",
      "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, 0.6132, -0.4019, -0.0139, -0.0307, 0.9914, -0.1329, 1.253, 0.2161, 0.3923, -0.1181, -0.0875, 0.9993]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1764 left_yaw=-0.0001 left_pitch=-0.0248 left_roll=-0.0004 left_gripper=0.9914 right_x=0.3107 right_y=-0.0169 right_z=0.0351 right_yaw=0.0031 right_pitch=-0.0701 right_roll=0.0034 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.5521, 7.2137, 1.8291, -0.0513, -0.0415, -0.0366, 0.1709, -3.5214, 5.4359, 1.9658, -0.0415, 0.0464, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255d007fb0edf95b09ab9a3637d5ad0f65dec9707c3782610022f2aa26b8dfd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a803d3a9888d56762620e149cf6776bdbb3b7aa148ec82df8b8446782b2101",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4f3d6cdc0f1e508556767954e82b651b9233aa84c287515813ad5b17bb555f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnReJFVDWUlncJ-qpu3acrZKnoCLDqRydJou32pdxxgr06hQTnhaLiZNE81d_mPoKknWk-Un6U0frzxALYkSpn3O6HS_p4zIOl-gd1Fet1eJb7ZpetFRoYBhjyxf02D4JfTRgulfQXTZX-uzSn2Eft-uFNmIJRggNuaDVIzVuOwUU-3nraIaf33E62vG3cjz5XOfgVjPZcFArJ4nfDmzA7snmJAz4wvqGThKkt8YMOjLk-i1eloUh6zOlZOQbi3MzncV7asHl99fJWQtBX0y4MqqcEONBosEDH04prIKGJE9Pxcj65uA74SozpRmYShGCQhA9O5L0mKrlEfjNslKPuJW9RYX7n61VmIhhvK_BQn_a61DBSUrzKWn5HmfY0OW18CkwvRrjJm1Hzc5ix-z-LyACBIpAXq27xVoh32FXVLzFtJWP6DWe3eoWgU4LalxumlK81Szlsv-gS5CFrbeLv5cBD92gINli3Q6qUmc9_RxBLIpNC7IqmubhimAwWKe_fvEwHnZ_uFoCjz40xvJtUpga85j9uVxm9fAkZGu68BJ26SLYsk7I7gwZk6xToF7dzjFg8r9YNfVasLcQI8ii_w8WRukas4jhtZGWEqCupiSFDHBj81dehNMsB9HUPA5A2STJEjeY1LzynMFC8zfVsvnvwUebFKt5qtmKLgV4YVcUBi_vBwUoNBaQmT0SMdQl9VmdCMCrCTtr12rCA_hKgk8Lfa5XLDtMZVKqzDCgbnLHkrfFbl6ZNralEVynDLxcEl4GPt2aeZA2d_gJPEKeogYLigZ4wy4w65px6I8Vze5KIDqgLfgZIWHuNQeNtRlBMddShikppyv_Ya6UbeOZgyPGTJeGtsLjEfz5AXrxnfZ4VvMbDShTLpp65MPuQ9Y5KDRpaTheK4_5GuCEsHpAgukT-awFo6T8cNnu90RyiLJkvBySYpwGehkh81k6Jz64TltSTHnhAwNbSH0w-EufbdtSzN8AiQ9lmndFTzNx7mDg7rzrDzFXdfmOMkQYftBdlyh1E2l_1-a59CAvrlYcWSq6hEhKpkNHU8g_GO3RlNl9x-qts4q9KY7RXRLUkMvFQHjF9kQmJ7xC8WN7kAHEQJ7NrSd-u1CzEpWONu42JtAqAivPV_8wbzZplsCN1F4Exs20qTLEZGpFaS8eUrBUeq3e1aZJKJxNE5fpOXZ7Ap1F76P8sCPtx0EIxI1g1EyLvZRvIm2mByV_TwfnblxYZ4cuLxIFeH61IOe9-IKgCJN5g=",
  "id": "rs_06274f8033187a80016ab449d11c7487d08e7598c160873e0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The green fruit fills the gap symmetrically between the jaws at the selected height. I am closing the right gripper to secure it.\"}",
  "call_id": "call_IKoI3MB0bkTRhEH87JH5VKGD",
  "id": "fc_06274f8033187a80016ab449d14ac887d0841662037f3424c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IKoI3MB0bkTRhEH87JH5VKGD",
  "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, 0.8059, 0.6132, -0.4088, -0.0139, -0.0307, 0.9914, -0.1329, 1.253, 0.2161, 0.3954, -0.1215, -0.0902, 0.693]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0001 left_pitch=-0.0317 left_roll=-0.0003 left_gripper=0.9914 right_x=0.3112 right_y=-0.0164 right_z=0.0357 right_yaw=0.0074 right_pitch=-0.0668 right_roll=0.0029 right_gripper=0.693\nstate[joint_eff]: [-0.212, -1.1966, 7.0085, 1.7851, -0.0806, -0.0611, -0.0171, -0.0752, -3.1521, 5.4222, 1.6679, -0.0415, 0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e05852c3c4c4985b18b264da10a00506cdc2b92f46544b7bf8ce218eed1ca45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df1102c97d3ec0d4949cbcaf60f8580829218a9a086545106856a9f907985ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddee68c7fa221107ca8e2bcc85288b04f95646a2e48a2659bdaa0c9b820b3036",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 12 changed as sent

message 16 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, 0.8001, 0.6132, -0.3828, -0.0139, -0.0296, 0.9921, -0.0193, 0.7998, 0.6182, -0.3878, -0.0235, -0.0193, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9921 right_x=0.2958 right_y=0.002 right_z=0.1833 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.7846, 9.7162, 1.8339, -0.0855, 0.1392, -0.4615, -0.6632, -1.7299, 9.2103, 1.8486, -0.0122, 0.0269, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4019, -0.0139, -0.0307, 0.9914, -0.1329, 1.253, 0.2161, 0.3923, -0.1181, -0.0875, 0.9993]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1764 left_yaw=-0.0001 left_pitch=-0.0248 left_roll=-0.0004 left_gripper=0.9914 right_x=0.3107 right_y=-0.0169 right_z=0.0351 right_yaw=0.0031 right_pitch=-0.0701 right_roll=0.0034 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.5521, 7.2137, 1.8291, -0.0513, -0.0415, -0.0366, 0.1709, -3.5214, 5.4359, 1.9658, -0.0415, 0.0464, -0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0139, -0.0307, 0.9914, -0.1329, 1.253, 0.2161, 0.3954, -0.1215, -0.0902, 0.693]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0001 left_pitch=-0.0317 left_roll=-0.0003 left_gripper=0.9914 right_x=0.3112 right_y=-0.0164 right_z=0.0357 right_yaw=0.0074 right_pitch=-0.0668 right_roll=0.0029 right_gripper=0.693\nstate[joint_eff]: [-0.212, -1.1966, 7.0085, 1.7851, -0.0806, -0.0611, -0.0171, -0.0752, -3.1521, 5.4222, 1.6679, -0.0415, 0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e05852c3c4c4985b18b264da10a00506cdc2b92f46544b7bf8ce218eed1ca45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df1102c97d3ec0d4949cbcaf60f8580829218a9a086545106856a9f907985ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddee68c7fa221107ca8e2bcc85288b04f95646a2e48a2659bdaa0c9b820b3036",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnWKFAAtb2lohAPsrUqQ8xMRbrcVSmo-4HrmlhmiZuBDOzRIgc6dA691DPMFjjCfSKs3Y48d3EaXIdVpqLGRwrJe4QMUdhXkiLUTjLaI_xMNyeGChmuUPx8ZYcUUCaqUDlF9wl_DvE2mQRUjCjG7LDqI4YwbcOVe4vLQ9PKSsZjnkecseEiSzJyumhrdagXHxv-8Lz1TVBIUNSvTdOC5VZMBqIZWF5IwPRYSP-x4DHJNMjJiZcoZF4uwX-TCOapB7-BRoNN_dxeH3aInOn1NdsE6z0RFtH3f8i74HL6Jh_-ztujyq7E0Fr_m8zaB1-Y2Y99_NTzBa7EgAm4efmJtL1BWHJgojZKVgM3fXo0ggrFOZSLju-io0k_OvZUkuW1mUBNjM3nW3lNdC3t9X3QZY2egouJHe57QYLiLR3QaNfF7Bn6DxXOzCuESDR_Xnx2LRZQcU7BGBcPuSCnU8JgIl9op7BMjRod_PyO9ZQD6XkT9OM6JaivvIAuXtQNgYxDrzZBa0HcfrNpUGHi9OrTY2Ze1qTQ5ck0EBVhzU-9ICB8TDETo-FE_kGgsWc6GZ_caxViudhkhaQy6f6RFbAqFBE1Js2Eiw3PsZPsH_fVWPUoHJkJd8fc7c6by0EE3ZMwFLUf-JXzQa3Vk4bgyT-qOsKjpunAJqF5fGeSpZ3FeeY9WPdFV16a5R2z2ycYNKqFH2Igb8phfb2BwTJ3P7PMDqMPX0r1IGkzQOx4SgFHlWW86WBqAj5PQRP0cDN3DahuR32CQ3SqnpFx04O3aIdZneJvEEOU0LF1oSGdlRmey0BjZwmWntjhj8Wce-OjFmSavcfVIVsL_9ptLmfu0iFSpCwH8LGWdL7dHB_98xwKj9DY_IAsgCqletemNJMe6PYORCCf7dgTEjAlYPSNtyeG4OK7Ngympc3AmMlzs3ohbw-x_-XLIlfibtXLHlLqV0dS3DtBnSTLNNOBqsQuu-vBMtQtECajqRQ8k6X-23YIIUBiTgNAl0afafgTwuDgPHUARReRIcZYNfTlMTeYu5GyvZu2ZzaLVQ6HYDbaIKk9lk-qZBV4I-ZPSfi5EjzVXIinW8VUrFxwfX2JUMYhIOvawIjHXltrnsQTxSwctt3-pTCositjgmtIM2jS5bVAHP8Rj4KruxBytlx4YlR1gyr8Q5GH99stSljvvLoSpZjm7cahAKuSaUTwT7qVzmSld22WP0UMQlRxN4jIb3sXbJg_ftDxTq3tTiIVAa7ad-2Mkk6UoCdJiWjf1cUFLuisOih-sQ6PRScwejggjLxXNtolj-awRMZwHV61ZLj2upKkIPCia8U7eYOBnjMe-n07pUxF7XJ0sZdgW59VcX4S9Yox0aV1aHXaE9SDZqrYzHGwkJPSmHimLADitrEr--9TLlPFztdT3uIlO8tB11OCnLwyBTwinEoMch4u54gqcXMwvoP8vYzPLf1BCEeRxb3R0dIEDthzb3olP1zhbC7vSY7KOMBq-kAPSyiIIc3BHc-engX-OITDrDayHj6ZBWQVOqsczXxlY0P67wsW4J3hegEPzKfRSLtQY0U6IYp-N9vjZoFEBnkKyWjjtopkM_uXZnGTnL9fGEVTs3pUYHyQhDY5voqfioesXNHCd3VSFWCZ9sMBPA6gL1O0aWY_JraPTYJFuNO1PLP2E4drBY1aBxuSVW0kdEj0lKOBz2IGeUqPgMh7VAq6RKzcD6Gn1NSP93MzdomxVl3z9VeuOgpVa9x78ivUTU4A0wrFsxCQlIomOW02z7MV1nzOuNVQzePgpC8vITMF1r9iD9BzkoO59qYn4zIIgFTOBGNFZrZ6VW8W7lD3JYjwZtQy3PqCW0kKn3aKPvN673ByfpyZObg8F5_7GIFDLogK03sSlnCwpkoeWK4VdossjDhjf92UIKxhNMLP38TsJDtDkTKJnIApdCp25lEXxcB0aye7mB-3p1GkXZ1BB7DGXUcMq8F445PwNnVp8ror_kezfyx2IpkzCuzfaos58bRHFJL5YRYwDY3DZ2Bol3v5XsdCJVjXro-t4BUGAYXZ",
  "id": "rs_06274f8033187a80016ab449d3be1487d081bec420ec1992ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The right gripper settled at 0.693, confirming a firm grasp on a roughly 6.6 cm fruit. I am lifting it well clear of the table before moving toward the blue bowl.\"}",
  "call_id": "call_k2XfPII0d1x9E3UGGujLpE5B",
  "id": "fc_06274f8033187a80016ab449d5b09c87d0b69c2564c6091818",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k2XfPII0d1x9E3UGGujLpE5B",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0139, -0.0307, 0.9913, -0.1329, 0.9485, 0.5552, -0.3016, -0.1215, -0.0921, 0.6961]\nstate[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1722 left_yaw=-0.0001 left_pitch=-0.045 left_roll=0.0 left_gripper=0.9913 right_x=0.3047 right_y=-0.0155 right_z=0.1311 right_yaw=0.0091 right_pitch=-0.1197 right_roll=0.0089 right_gripper=0.6961\nstate[joint_eff]: [-0.1573, -1.4701, 7.0085, 1.8095, -0.0269, -0.0611, -0.0171, -0.1846, -3.1658, 9.4427, 1.79, -0.0904, -0.0122, 0.5788]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0360d5e117be97776e608e86eb80d69cbef99ee7711de5180271025781da51f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a393202c2a1c15d6dc222a0c5ff31326b8d0bd81c8e45d292ba4be76e54f5d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150ae2310362a1b8a6c61c1563f8f2b81d0aff22d4d616baec4a83edc3e460fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3923, -0.0139, -0.0307, 0.9916, -0.1349, 0.9611, 0.4152, -0.065, -0.1146, -0.0803, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=-0.0004 left_z=0.1794 left_yaw=-0.0001 left_pitch=-0.0114 left_roll=-0.0007 left_gripper=0.9916 right_x=0.311 right_y=-0.0182 right_z=0.1118 right_yaw=-0.0059 right_pitch=-0.0372 right_roll=0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.265, 7.1863, 1.8486, -0.0317, -0.0366, -0.0659, -0.1709, -2.7692, 6.7761, 1.9756, -0.1929, -0.0904, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0139, -0.0307, 0.9914, -0.1329, 1.253, 0.2161, 0.3954, -0.1215, -0.0902, 0.693]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0001 left_pitch=-0.0317 left_roll=-0.0003 left_gripper=0.9914 right_x=0.3112 right_y=-0.0164 right_z=0.0357 right_yaw=0.0074 right_pitch=-0.0668 right_roll=0.0029 right_gripper=0.693\nstate[joint_eff]: [-0.212, -1.1966, 7.0085, 1.7851, -0.0806, -0.0611, -0.0171, -0.0752, -3.1521, 5.4222, 1.6679, -0.0415, 0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0139, -0.0307, 0.9913, -0.1329, 0.9485, 0.5552, -0.3016, -0.1215, -0.0921, 0.6961]\nstate[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1722 left_yaw=-0.0001 left_pitch=-0.045 left_roll=0.0 left_gripper=0.9913 right_x=0.3047 right_y=-0.0155 right_z=0.1311 right_yaw=0.0091 right_pitch=-0.1197 right_roll=0.0089 right_gripper=0.6961\nstate[joint_eff]: [-0.1573, -1.4701, 7.0085, 1.8095, -0.0269, -0.0611, -0.0171, -0.1846, -3.1658, 9.4427, 1.79, -0.0904, -0.0122, 0.5788]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0360d5e117be97776e608e86eb80d69cbef99ee7711de5180271025781da51f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a393202c2a1c15d6dc222a0c5ff31326b8d0bd81c8e45d292ba4be76e54f5d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150ae2310362a1b8a6c61c1563f8f2b81d0aff22d4d616baec4a83edc3e460fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEndSqukQNJqf8_6YZ5WT4Ztutz8eca1pQ1db1CLN-6YzAabLiDUzsLFSxW6EqkRz2W-td7AX3PHGufYOYFfmHcJa_VN1MBJsmtOSvI9XejCMR7434RWPUrNqIXuggHIvz0CZkFEudwjSJ6nviD9eTLkedjheShr4_3DSc2XGCl7WJyny_dAphKj8-HevpyNmEGUeozanttzCSmF83v5TFGvWuoq2sJ9u_cG21vq4orAdaPpgsAjWcgtoE2DApmkUBJrB1bNcFoOaQCU8ioJYgx79ykIuTDBfZ5lwZOsdosOf0CF-7Uj81SU2xQt3F-1p68TL5GWxIUmbRtBERPCg8wA2wf8IeBlCuSC19SP7qT68EKLID1OzwjMlFmsKMkrC9bFW9VyhFUA9GaG98G-Dm8L6woBopLy5Yf8by0UsJcnWH7vVuRhw9S5LahNGkX8Q4NOu_LtDia-6VTR3Lm2thjY1DQeHChQLWbEu_0pK0u-xcWVc8ZgQYystpiAtG4oVtjbAvrfmfcoAUeEGsb_AluEXnP9yczWsnOU39ZX_uYYjrVWP3KzSmFXryKumnZJL82oVsY6Fqj-ar2Qy_A3l_yDTWjTSoN7-BlU_TH-7DD6dmDTTUU-ugC_ATxqf0R62WWmmcCGX7bNfJ4a-QZEHbDpuLtq9P4o1tVehJF2ODUQ_RlYcbRce_4DzYnfux-kuS3PU2Qm3-EhrLpQXeJ7aBvMmv5lrG8thGDn3m3cZ67FS4l8eGgL2j9QmVHH5hPOGR4qTnjQxnP2XWVZ39gk71nEW9RiJ5d7_A3PjX7nNvMtZEVd8-FhujefLKmj71YuDx_kKXiJiFZ3A_zk61o2U_7wbSpFA6n3QBZTaLJV0m9g4coCf077_j6EI4bcwur1GVTXn3FeAa0jGGACEbElghrjdWhmMOqH3xoySm6lBV7lhYtaUvVl0u9agLmMP8gokPTH4f0JE0bDAD-aNZGrpOdHFwR-uOBr-I2AP_P2QFXUIeKXAJLy9e2q6ZkbHeuLP3MZ1ze7HPDpEHnpjjQi2kUfBMzA0DKO5-Sm1aGNwr4TAH-UeidV1RLIgAtFvrKmQEPLDThDFLTRgw6MqyzERsw8qaOGfsEHMEdN5sQzl55heyN_RhHxBR3Jn1RNHuoOCmqaCWfxKnkt8_ULTs75dZYp-3fvsdZqEbpStseniCkfZb2Cq1Dhek4jArBYGGFOlOodWYK8BgI-LrHD88-0ospCbOU4v63_dZRjjC1vjLSoal4mSW6IlzEsy-H2H9P0H-O6DacvdIJVGEmEBcd5Cx4NaN2rYYVtyZOZ0iObd1TW_Og9VMde6f-8TN2f-ZpwAeikZIAx1w_zKSuYU4DEkmrmQOCPBTZUOo9c-gMQNd9Jizfz9hNrLVvhVLKE3hZqsZItED_zNK0LVmJOvZx3omQcsy7JkgzPgyS_o5s8aSJ4aJ5-s2PPEWmWDlOcJdD9SPE5lzW-Jz4YxjLpAGiiWQxrKygYRSuAivAhfy9F7Yvz4RB2OGgRVm3A39DqqI7ahW34gA_Yqy6E-36p8qhRt5phFB3UG4b9t-lSOWmStfmLh-PkXKHjuDFsz8QTLMIPgHLyrEMCeiK5K7PxYG_Dwxhj7017QDl9H77d66rssaYkSlKqBqRiYVu6zJeHMl4X_s-GD6x87tZ2mp63KBgszqlja1pJururoQpXWFYRE12nC8Xr4UPe6bR1YRcOPEfyTxJddhffk6nneuPr5RiRLJ3lnUvJ5UGiVufFsdDWyrVew_gXSKllCpcr2KEX5g5HjyYCX-z8CV9PPpCYOjoyuYPLhpF22n6MQrcBBMEnunUR-SIyj0FwQqhVk2a8S6ZtMu2g6mIsLp5QUxAt1WJ-uK3zDXn2sSftDEdZ6i_PZp5_JOVHz9ozy2g6C4VNVOuPXGuVgibraLc0Zde79vvV7ugnSy_NMxmBmCcjjQdUuOITOVmjL4mRNSuyQMkrC_l_w-Uj9xV3RAVbyi9wts9ngL7U0QOqcLJ4PfcBFANHb-AcaDbImlfqb_ikB70K_jyv2n9Rk5CgmblQmxBRPgJ7-0YJVS2B_QvbWHU0sJrO6NYQYOkn2ccIDOp1-Rs9CkebbAOHOYPQUyklUt45jkaiBxguLfSu2Iki2PxjdAKH3WdKX_3jQV_KfhOXt7RD8pGFjVK_Dwm8q4Dxn_DhKHGSwxrbX-4OCaHEzFIumZ2jZU4DjU1gUuCjAnrcOuEuf8k6RoYtO0Ub-Yw3Ppk3OF1eoWQtxZu3C6Z7S-cZN93s3QbflnTAFnNXTww3Df_umkfIepwsAUCbHflJpzCm6HB3Lnm6w36EoPd1XbOQ6C5UJ5S61tg=",
  "id": "rs_06274f8033187a80016ab449d9e3ac87d0a2ccd284bd98aac3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.12,\"right_z\":0.2},\"note\":\"The fruit lifted with the grasp intact; the blue bowl is ahead and to the arm's left in the wrist view. I am carrying the fruit above the bowl center, commanding extra height to compensate for load sag.\"}",
  "call_id": "call_aMIPpjmQoDoRtQYcegGhJH6v",
  "id": "fc_06274f8033187a80016ab449dc62d087d087d041b3a73677b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aMIPpjmQoDoRtQYcegGhJH6v",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9913, 0.3759, 1.5295, 1.1782, -0.4469, 0.2428, 0.2104, 0.6991]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0001 left_pitch=-0.0534 left_roll=0.0002 left_gripper=0.9913 right_x=0.4128 right_y=0.1211 right_z=0.175 right_yaw=0.0411 right_pitch=-0.1994 right_roll=-0.0217 right_gripper=0.6991\nstate[joint_eff]: [-0.1162, -1.5932, 7.1043, 1.7509, -0.0366, -0.0562, -0.0122, -0.5812, -7.8427, 9.8667, 1.8632, 0.2564, 0.1929, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117da19de87bcdacd2ccbd8a468f2440b75866a7313a96d4210d1b49f7f9f24d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed0e51a43fc19703ed04cfa6e5051e53002b31e84859ae91466dca5068dd2cc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cf2a9b329daa5aa95d66f2a6bebf2a899ea9e3b101bb1310430188e38d5064d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 12 changed as sent

message 20 changed as sent

message 24 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, 0.6132, -0.4019, -0.0139, -0.0307, 0.9914, -0.1329, 1.253, 0.2161, 0.3923, -0.1181, -0.0875, 0.9993]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1764 left_yaw=-0.0001 left_pitch=-0.0248 left_roll=-0.0004 left_gripper=0.9914 right_x=0.3107 right_y=-0.0169 right_z=0.0351 right_yaw=0.0031 right_pitch=-0.0701 right_roll=0.0034 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.5521, 7.2137, 1.8291, -0.0513, -0.0415, -0.0366, 0.1709, -3.5214, 5.4359, 1.9658, -0.0415, 0.0464, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0139, -0.0307, 0.9913, -0.1329, 0.9485, 0.5552, -0.3016, -0.1215, -0.0921, 0.6961]\nstate[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1722 left_yaw=-0.0001 left_pitch=-0.045 left_roll=0.0 left_gripper=0.9913 right_x=0.3047 right_y=-0.0155 right_z=0.1311 right_yaw=0.0091 right_pitch=-0.1197 right_roll=0.0089 right_gripper=0.6961\nstate[joint_eff]: [-0.1573, -1.4701, 7.0085, 1.8095, -0.0269, -0.0611, -0.0171, -0.1846, -3.1658, 9.4427, 1.79, -0.0904, -0.0122, 0.5788]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9913, 0.3759, 1.5295, 1.1782, -0.4469, 0.2428, 0.2104, 0.6991]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0001 left_pitch=-0.0534 left_roll=0.0002 left_gripper=0.9913 right_x=0.4128 right_y=0.1211 right_z=0.175 right_yaw=0.0411 right_pitch=-0.1994 right_roll=-0.0217 right_gripper=0.6991\nstate[joint_eff]: [-0.1162, -1.5932, 7.1043, 1.7509, -0.0366, -0.0562, -0.0122, -0.5812, -7.8427, 9.8667, 1.8632, 0.2564, 0.1929, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117da19de87bcdacd2ccbd8a468f2440b75866a7313a96d4210d1b49f7f9f24d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed0e51a43fc19703ed04cfa6e5051e53002b31e84859ae91466dca5068dd2cc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cf2a9b329daa5aa95d66f2a6bebf2a899ea9e3b101bb1310430188e38d5064d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnulPiXbEr_fR6kuHm_e8tvs3Mbx3p6ytsxOVy020tVPdi6vOqOW41izxSU4pkdjIL-_G3CZWkl8UTiYoyAsSdoyqMZhZR1bpTkjEOBh7_2i5c-gycTNwpBARtjIN3Zq4XZ__HWv_BM2hAqeLuO8N3O9LcVV_zVesAPKUW687kSPuA0LNx32BkNPaamMElAttcJ1zgWy21u0Fql4StIosJDBtxkW8M95SVcAiExzkYzdnW-14Ai00t4pPQx47qSsu4mBrd1tgs7o_4esRHs6wy-iBH3fnCNdfucqrisav98ssxR44SvP_zSpJCnPrQ9C4ZIqc4mwOhGGIiEnOkdK8wHddCM0KPJfb6t1V0BUSW5QsYpiPJbzrrmpz_2xLcOlrwF-evI9scmHWLxnN6GE4RoHCT4c2_5jaSRV0ufnc1t1UMD5KOpHoCHV2BJ-8nAcvMkWo5WKGUhzHNkY96K-ZQ9hdzFJ1bzXtwC05jhNYYYRpTIRp5-v90lvCyr9vG72oDFJPWge35g1qA7O3WPLcAi55yCEMpwvnXVQLS5HEM7GlGSsTZfV3JMZauIa2BNhZB0WLvnCgpoAif8LWg0myeIQFgDO2oUox29WFc1dWqCwY_zyGALop3ltLvh1ZoIldxC9v0Efnv_rImKK5vwKX8Sf7Vkvz-zg15L_dmjDdoXbGZYgRpRLXIZU7eVI0M2GcgWUE15Zb-976vq_qpUEKgBBaleJ5FTOj_au53yUyLpdXR589GmZ2yyfvTP0VAT_exPT1eaEEye32i5QGseLUXOTUyvwf5GxqTMeqUQ5QEp3uJYN-dIcG1--KXOyWZR1ZGOBZHyc0rQJvSl96junkmD70WG35oc1vs22S2m57V7SzVhz7W3jHspNfCZBcjiJfp6bT-qJr7WY7-zmgNhryjOLF07pHWo8udnVLrxaybpcTDfUDv8jyfjNns_w5oS3qTYeYVzFnBJTSxT5761M8zRITHL0NN6DgMzjI7FnuSFT-eSU7e8QX729_noML8XOFi8Ix-rFbqFuUugPj2ifdoWkId50UyfmajMSHvga5lYda2jWjY5AC8tEwBKARz2YBwSwvuXuygQWNtNkPxJDRwdenIuxtrVaClII9YNGqoNHc7J2rCBIMwPiS89GLtqFi7owIfLnCGfzUTl8Sox4Xi9QAgWBAKYHgRa79qbSRp03ztCAJmMD6tDhcNtpKdMLWhQHsrnHG6Sk5LT7ue1Ib0PgaxepBKpTSsAFXCSJYYAUbzfFZZMo5zREk64_umCljtTklC0BhRbWTABpgOSEijTuoLHrbS1ssNfek7fNUaqiPWCLpZDh71dY9U8jvHUuRiJBM3ZtwTwwE7xBYNWpdvpgJTVr7Jzkzj0voO2-QslCAL4vyaOTgsPG1JAdeC0xS4mGx-lNI8Rduh3AXnNbSGmRfUWxOjUr6g1sxCorSEhQwSEu1R23geMe7dDLHZSpR4oZEx2XWsqzkyqSZkkVhveDvlbHB1KxBViVH-6U3OnQAyC0QrXDPUHpu9mF1JKeNvV1N9VBLNvXSK7BSiaCZf9j3SFBf06-YbsOwow6i8HTyz_d0BprW7Afdw_bIxK6DrUqTZl6JMxsXC6N0CCIx10iF23VHATFgPLaq3IAVwetuYsMfumT1RlbDGzMWC4O5IRYRnYf7gxJy06MiEe9QxAFJ1hjrMP5M0i33NryOQj06ctUCMoOELB3P-XSpEPRAPEXc3cWAhiGKOI9wyYYho4rm0aiG3vwLePOaBKnhIZT40S5-KSfLv6R480SfAVXmH50JSSIqZTsB81QFzAYbDEf9IY2Q3VhtEGLrLCUOGOck6JS3FhPLLHSp786r0BtEepvOQd8oPbijE_eTEWobmhsFJiaHfKhhYEQMUmdvlqfLXYh-ccOsbNZpCMOiUl43odPlmPfZl_acMcszPkSnL8hWQnck0BDuAPsl4uPt32fVnZVopa8txB1jonzGgG1bzWJTQUML5MfdLUObCD1iT71aTm_EkTFUo0NPxZR8rWA7DLgG8-2_vB7tYZ9v6iSn462nzMsGgywY-KyIYBs8_BbdeLOqLFyUn802kseX5v98SLxOi83CD0kmANTT6aWm_UMz5zNy1Eu6d7bHpZoHGkSSCleHyF4I6an-WDksD5koXmdVuvnuh1oZvjFa2Th3Py8WGcLqSSg5JFqe6Bd_1eYeCB1XHPFCwYLPd5ARl8ITTO_Jgr10D4JxWPpJ8ZSo9DdD4sopu-T1CApMOV9pUT_lmU3iSMzvyrGblT9OF4-kAJazW5Vjd0SKYdskqhYnv7zsirFkQ_Lpk8P7dD38q0FR9aBSDuE9h0NfYQPaT6v5niwQxY0L7qjusi6LOwmczxRayvcLvw_LCmM2owrhwmVAOMKqqaaZ9F5GbSql0__E-PhunhV3q9_QvcABrSFrbY16SzzKh4YcBoo4cDfQtqC_rzE3DWjGRlfAzBoukXuqFcEjB5JS2ZJ-BDtk3OLVe_BT7vuYejTmucIeQivqNhFdHQdOCyL5wMIkLJ0LCnyRSzDPOqW1aJJpBtgKmTjwlvYDHC6MrMTg7o_lJcvXGJzcBcUByIeP7ThJnq9B8RLIdqWMAUTj8InFuUQ4PgPLLMLP65THmHNei-6bpb-9wQVxE5l1FnWVp36GtQtI7n2Js=",
  "id": "rs_06274f8033187a80016ab449eaf95c87d0a0844a610c9ebf55",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.16,\"right_z\":0.19},\"note\":\"In the overhead view, the held fruit is offset toward the bowl's upper-right rim, leaving a visible turquoise crescent below-left. I am shifting a few centimeters toward the bowl center while maintaining clearance.\"}",
  "call_id": "call_dfXsoZy44JrC8CutKCSZe6T9",
  "id": "fc_06274f8033187a80016ab449ed903c87d0b5060a03669a5fa9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dfXsoZy44JrC8CutKCSZe6T9",
  "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, 0.8124, 0.6132, -0.4244, -0.0139, -0.0307, 0.9913, 0.5045, 1.5295, 1.1866, -0.5587, 0.3149, 0.2897, 0.7016]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0001 left_pitch=-0.0538 left_roll=0.0002 left_gripper=0.9913 right_x=0.3816 right_y=0.1523 right_z=0.1633 right_yaw=0.0564 right_pitch=-0.2732 right_roll=-0.0572 right_gripper=0.7016\nstate[joint_eff]: [-0.335, -1.3197, 6.9812, 1.707, -0.0415, -0.0513, -0.0073, 0.8957, -7.8838, 10.5641, 1.7118, 0.315, 0.1294, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc297bcd1bca15cb0f7842e3a9450276319349a446585913a017d3d9acea924",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c06b8ac9a949a05632a03598c3883f1ebe861ecbfe7f91cb81915e29a3e5cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ab522e28c3905b07041ea46fae3f071d6def1534bd6a6f29239c2065fcc300",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 16 changed as sent

message 24 changed as sent

message 28 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, 0.6132, -0.4088, -0.0139, -0.0307, 0.9914, -0.1329, 1.253, 0.2161, 0.3954, -0.1215, -0.0902, 0.693]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0001 left_pitch=-0.0317 left_roll=-0.0003 left_gripper=0.9914 right_x=0.3112 right_y=-0.0164 right_z=0.0357 right_yaw=0.0074 right_pitch=-0.0668 right_roll=0.0029 right_gripper=0.693\nstate[joint_eff]: [-0.212, -1.1966, 7.0085, 1.7851, -0.0806, -0.0611, -0.0171, -0.0752, -3.1521, 5.4222, 1.6679, -0.0415, 0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9913, 0.3759, 1.5295, 1.1782, -0.4469, 0.2428, 0.2104, 0.6991]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0001 left_pitch=-0.0534 left_roll=0.0002 left_gripper=0.9913 right_x=0.4128 right_y=0.1211 right_z=0.175 right_yaw=0.0411 right_pitch=-0.1994 right_roll=-0.0217 right_gripper=0.6991\nstate[joint_eff]: [-0.1162, -1.5932, 7.1043, 1.7509, -0.0366, -0.0562, -0.0122, -0.5812, -7.8427, 9.8667, 1.8632, 0.2564, 0.1929, 0.6374]",
      "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, 0.6132, -0.4244, -0.0139, -0.0307, 0.9913, 0.5045, 1.5295, 1.1866, -0.5587, 0.3149, 0.2897, 0.7016]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0001 left_pitch=-0.0538 left_roll=0.0002 left_gripper=0.9913 right_x=0.3816 right_y=0.1523 right_z=0.1633 right_yaw=0.0564 right_pitch=-0.2732 right_roll=-0.0572 right_gripper=0.7016\nstate[joint_eff]: [-0.335, -1.3197, 6.9812, 1.707, -0.0415, -0.0513, -0.0073, 0.8957, -7.8838, 10.5641, 1.7118, 0.315, 0.1294, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc297bcd1bca15cb0f7842e3a9450276319349a446585913a017d3d9acea924",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c06b8ac9a949a05632a03598c3883f1ebe861ecbfe7f91cb81915e29a3e5cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ab522e28c3905b07041ea46fae3f071d6def1534bd6a6f29239c2065fcc300",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEn1vqdCos77PjhsRRhaJyk-J0JNmXW0Kqga5AdUnGBRwKU7RCqQYXRkK7Hkdknr3gDYsDshPWUpYwfocMbuL_cngbuRmBeoTSUSFMhMlI6agM5UVOc2sepMrk4zahfUMekvAqDEWqctuA22Gwcj-aZMBvEzGdVfY7VHvCD55VciNTKZc2EbrmPUgqM47kbTJOMCP8nyE7iK0n3p0DABKAq9iY-FdXiEwFsWZTRGamSj1BqsxlacfQ-ql3xNIed0o8ZRSeQgvY-bXqVAPfMBHBYjga9u5EpZwEaSDjtHjV0vhnuUYhR1Qoub0j9GszvC7IsA92G8b-P_201RNVUluE0nTvL3eZZm0KGI4ysGYZpBAs03beY1v4NLr8-diUQHKv5XU9D57dcYfse54J_DdAi_48V6pYyoh6YeqxHgQ-wFTpUKpxeOfx_PPH22VnC0xNM7_o5tOgZrLfdOydQJpttQmhED45s3V_PnUeoeEyypBqEF-aVwliDqPfSq_5rv9tbEmZCS3XGNyMEguJHI5-bpS3YS_Y-pKo2IIESJly5wKP-Z9A707SoniFGsfXEnc5F6I1oXr1ktoiA6sHILklYf6MSnUR766BfQWZwD2F8aYP_yrgrGjC3xnqgvOw9i4LRCXxWHYUbzhEOTtRC3y2NIGwQhsZidRfX9h4fjQcq0cgJZdUEgSS2j4udTbtsTvd2a1pUEdCv8yxfz44RPTjmbnscQRMK9VUE4gU0r6xswyf6fTsZPDpm25tWXctC1aa8OK1MUQonQV-6PCtHac-CBo4w9ZKRX45G5QFtRbV08AHfjUGrF2N-Yp6_HsPRIoSv5o5pYV6CJjt093Bn0nj0j-Fb418pHQag2wl6REKr4DSRuz50yj7yaJoXmSAhrWJRUdEKheg6xXoWybnvcyOY6OHBRvsGq9C43TTyeFDDRR_3j-07hRMTzu1hJKr-rbeadZe6OOEXQc-CtWdzMJA8cID26jZQtET3GhuNB56KJ-Se_bV-7QUXByyCH4FfwZdNMLd4z4BP-A3qgKO9SfaLlQPCjiVw7jFEo_eeH_UB1vpjgUHsgjCO-lukQkcV-0sWfhcK_Er-q3iHvB0ydKMuWVczDC7D6jZwnHRMTmoPOtWYhd7bpty107tG67Tv7inE36_PRtRZ7ckAEOq_aN3XI_qVS_wBd4BCuVzYNNMYUJ3SIK79e9CUB3FayNNizxjIYNx1xkxJWXLRrOEAJvw42AiDWRV5XzwIDi7FnxWY1hMB0lC6JokXaTRXpM2U9DBLISSDwJN4G9ULaQ8isC8JNp2iskWCj6j-AKB7VZEYD4jn25mALPu9xowec1G_orQPrGEQW-L8m7AT4mzkjce5OBcjNBhqjeB-GPzjP4ycMzNno19WkQiRSAm-4EBDVTq4Q4Ho9zhRx_3PXFKGi1JmdZof4xf8bG5B0_NZDMlHsxL_xo0blX7p-TnBr_V10ks1jNA_Qync-dOspmyCBW5IQodc4h2PWs8eK0Y8ljEHTR0JhNBxjJvEXWXOYXV3oF5EdCkEj85C5LcD3NHz8-x-mRZ1OE4piO2rIVCYUK2yvBuB1gsHeFIyb0ujQyyy2hfPDQvl1DXrqIhVIZg2XoVFdgZmtd_Skol_reWCVYeCOkVXMHKXtacGDkCwGkCto4Ibpv5OdaRwuDHra648yeUbI4eTUF-aufSuZa0oevVGc9Aw0oipRC4lru_Zlb0i-pC1Nl8qqcd0EBtwxzpAPYb9r113RK8P2GaDKuLSnl63FNO69_FujcwW-v_abCnrEfkfdZ9AReYz0ENLrWv6vV5qUXJkoYr0-qW-j16hcoYvsmp6RBhcT9_NWApx83nWK4-tixsNWeDxN1-zkURBMC7Pe-T48g6mt0cyvyQz3r9Uk2TWfm9mUAlmhgj068RrFRuM1QyVDVHbIK3wrXjnUJEFrr5okfO3To1cnPnueY3mDszfbxOjWByFPuKEdoj0EvM9s8vhuxsWmGgWA3Lz_YfUPIsy9feMsbTNcvyBnI1bw0s8NYWf_myjovHyvPyASaSUa5XKBxDsAD7xUnaFoAP-Hv-FPqV6Cn1qpKYmKxkjDSgAz_VMG8F2tHXgJTc5am-6kIKfrOJOZr664qgW7Yfq0cElaYg-WO9ERLx7zXt3uJFCehx4jKwQzcGxe_XR5NfjQ8hty7XVljEHFpztD6jaLSZOwPGdSpx9bhGH_-IIiHBO-dlJGYuvrc1WnBYyoA1zB-TUvyp8_Ro1C0pditb8YhDOFBw1ZHhMltZAuniP3J7d0a21kagwbMHylyWH-N_WTcjto2kSJcckqppd9UHctIBfUv5pCjkAcYMYEvhutWpEbwVeSgAFmdUiZtbbFxB96Y8RU_p8IxfV8xqUoeeQi-QdGNDYIpHwDcc5EKkt9dSZ7Q79J7wsWCGTU1QR-a0SOPCkx3qC5n_AQY2uJpPRdZfkDKLfS9ydhSG0plBSxY9O970zSlcCDIFPJKOU_nyGXrN0eM6RDhzKaqaOS2dDKoPet9J5E1E7ZEqvmv1AyUKqvZaGX4m-oFqbcumx0179dCdAq4-q2-OGiN1HTIK62gLtZDcm8R2_aOZE4wh5n15KujrzY4VKNM4zCUob7AhOzhKBaHMrh5vyNTNc3d0ryHOFD7_B4lWUcDbmoJeq0cF1khSP1mz4Gs5qGTHi0bpuihSRu8Fh9RTrL-XMkxZwP0XJGGOXjfX3QZ_Whn4nbTL9kW9qE37N7olXbFaR8rSGFOXbWSrM5Xyx0F4Rc-O7BlIcThcTA1TwEW4MiWFg8_2CCS7XXBGp_4hmE4EzHZFsWW9ABFKtO6CpQzLonhmHnHGrd3Q6WAleo9xwDWslKnhHNDC6RJsDQ_pDIkFKbm0p5djbs7_P9ZhukAe--wUlHyBKUkrVhz96WLGN0qmQNNIe4wNoq4oKrRHd5u2lVbw_2mT-_hXlOTTwUwoXMss9Vqg==",
  "id": "rs_06274f8033187a80016ab449f1c2b487d0a4d6fb9abc41882d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.12,\"right_z\":0.19},\"note\":\"The wrist view now exposes the blue bowl just beyond and to image-right of the held fruit, showing that the last shift went slightly too far inward and left. I am correcting outward and right to center the fruit over the bowl.\"}",
  "call_id": "call_qm2dQkqtiMpzEV5TYMV992RN",
  "id": "fc_06274f8033187a80016ab449f5019487d0a5e48258f0e20870",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qm2dQkqtiMpzEV5TYMV992RN",
  "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, 0.8124, 0.6132, -0.4248, -0.0139, -0.0307, 0.9913, 0.5255, 1.5295, 1.2072, -0.5705, 0.3214, 0.3008, 0.701]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=0.0002 left_gripper=0.9913 right_x=0.3805 right_y=0.1603 right_z=0.1701 right_yaw=0.067 right_pitch=-0.2628 right_roll=-0.0503 right_gripper=0.701\nstate[joint_eff]: [-0.1709, -1.1556, 7.0632, 1.7167, -0.0806, -0.0757, -0.0122, -0.294, -7.8017, 9.1829, 1.5995, 0.3248, 0.2076, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7ca760a9711965713433a412aba0037471dc3a137c0a8d377b56ccf0713dac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec875b9190111afa40b2f859ebbf5de65cec90d7b13f67cb9c6fd14594ce524",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca05082b70ef8b1f3d234354aa3e8c51d6ae382601781fb54e81b5cf0f080b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0139, -0.0307, 0.9913, -0.1329, 0.9485, 0.5552, -0.3016, -0.1215, -0.0921, 0.6961]\nstate[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1722 left_yaw=-0.0001 left_pitch=-0.045 left_roll=0.0 left_gripper=0.9913 right_x=0.3047 right_y=-0.0155 right_z=0.1311 right_yaw=0.0091 right_pitch=-0.1197 right_roll=0.0089 right_gripper=0.6961\nstate[joint_eff]: [-0.1573, -1.4701, 7.0085, 1.8095, -0.0269, -0.0611, -0.0171, -0.1846, -3.1658, 9.4427, 1.79, -0.0904, -0.0122, 0.5788]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.0307, 0.9913, 0.5045, 1.5295, 1.1866, -0.5587, 0.3149, 0.2897, 0.7016]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0001 left_pitch=-0.0538 left_roll=0.0002 left_gripper=0.9913 right_x=0.3816 right_y=0.1523 right_z=0.1633 right_yaw=0.0564 right_pitch=-0.2732 right_roll=-0.0572 right_gripper=0.7016\nstate[joint_eff]: [-0.335, -1.3197, 6.9812, 1.707, -0.0415, -0.0513, -0.0073, 0.8957, -7.8838, 10.5641, 1.7118, 0.315, 0.1294, 0.5739]\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, 0.8124, 0.6132, -0.4248, -0.0139, -0.0307, 0.9913, 0.5255, 1.5295, 1.2072, -0.5705, 0.3214, 0.3008, 0.701]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=0.0002 left_gripper=0.9913 right_x=0.3805 right_y=0.1603 right_z=0.1701 right_yaw=0.067 right_pitch=-0.2628 right_roll=-0.0503 right_gripper=0.701\nstate[joint_eff]: [-0.1709, -1.1556, 7.0632, 1.7167, -0.0806, -0.0757, -0.0122, -0.294, -7.8017, 9.1829, 1.5995, 0.3248, 0.2076, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7ca760a9711965713433a412aba0037471dc3a137c0a8d377b56ccf0713dac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec875b9190111afa40b2f859ebbf5de65cec90d7b13f67cb9c6fd14594ce524",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca05082b70ef8b1f3d234354aa3e8c51d6ae382601781fb54e81b5cf0f080b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_06274f8033187a80016ab449f6fbbc87d0a0c351b6194530f2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.1,\"right_z\":0.22},\"note\":\"The prior tiny correction did not track—the readback stayed near x=0.38, y=0.16—and the bowl remains to image-right of the fruit. I am raising slightly and making a clearer rightward correction to avoid an awkward loaded pose before placement.\"}",
  "call_id": "call_aftcL47DiWrNDlmUiRdwbAoL",
  "id": "fc_06274f8033187a80016ab449facf4887d0952f5e1ffa9d1fc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aftcL47DiWrNDlmUiRdwbAoL",
  "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, 0.6132, -0.4313, -0.0135, -0.0307, 0.9913, 0.5255, 1.5295, 1.2072, -0.5743, 0.3214, 0.3069, 0.7017]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1682 left_yaw=-0.0004 left_pitch=-0.0626 left_roll=0.0002 left_gripper=0.9913 right_x=0.3799 right_y=0.1599 right_z=0.1695 right_yaw=0.0631 right_pitch=-0.2661 right_roll=-0.0478 right_gripper=0.7017\nstate[joint_eff]: [-0.0889, -1.4974, 6.9949, 1.746, -0.0415, -0.0317, -0.0122, -0.4444, -7.9111, 8.8821, 1.6825, 0.2955, 0.1001, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0161e165c974e74ce688316daed67b3812dd4e59aace69063d74efcc279a0f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3204472d6b45136ded662774ef5a532e916025956845bc77e5bcdc30ba771b17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b27d3e4a0608c3cd805002813d903147175811d639bd2d4de225c69c3ca8a562",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0307, 0.9913, 0.3759, 1.5295, 1.1782, -0.4469, 0.2428, 0.2104, 0.6991]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0001 left_pitch=-0.0534 left_roll=0.0002 left_gripper=0.9913 right_x=0.4128 right_y=0.1211 right_z=0.175 right_yaw=0.0411 right_pitch=-0.1994 right_roll=-0.0217 right_gripper=0.6991\nstate[joint_eff]: [-0.1162, -1.5932, 7.1043, 1.7509, -0.0366, -0.0562, -0.0122, -0.5812, -7.8427, 9.8667, 1.8632, 0.2564, 0.1929, 0.6374]",
      "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, 0.6132, -0.4248, -0.0139, -0.0307, 0.9913, 0.5255, 1.5295, 1.2072, -0.5705, 0.3214, 0.3008, 0.701]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=0.0002 left_gripper=0.9913 right_x=0.3805 right_y=0.1603 right_z=0.1701 right_yaw=0.067 right_pitch=-0.2628 right_roll=-0.0503 right_gripper=0.701\nstate[joint_eff]: [-0.1709, -1.1556, 7.0632, 1.7167, -0.0806, -0.0757, -0.0122, -0.294, -7.8017, 9.1829, 1.5995, 0.3248, 0.2076, 0.6422]\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, 0.8143, 0.6132, -0.4313, -0.0135, -0.0307, 0.9913, 0.5255, 1.5295, 1.2072, -0.5743, 0.3214, 0.3069, 0.7017]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1682 left_yaw=-0.0004 left_pitch=-0.0626 left_roll=0.0002 left_gripper=0.9913 right_x=0.3799 right_y=0.1599 right_z=0.1695 right_yaw=0.0631 right_pitch=-0.2661 right_roll=-0.0478 right_gripper=0.7017\nstate[joint_eff]: [-0.0889, -1.4974, 6.9949, 1.746, -0.0415, -0.0317, -0.0122, -0.4444, -7.9111, 8.8821, 1.6825, 0.2955, 0.1001, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0161e165c974e74ce688316daed67b3812dd4e59aace69063d74efcc279a0f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3204472d6b45136ded662774ef5a532e916025956845bc77e5bcdc30ba771b17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b27d3e4a0608c3cd805002813d903147175811d639bd2d4de225c69c3ca8a562",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoBJLQv9TTaqR4_ZfkWE-7o76QnLSPZLTlhucdDCvbOPlpiJEAW8Ghfd8_1kTWqXgTjR5EINhQzMhXnOMdZzv9bEU2VAhzTd3ZirErE8rC6I3UQUNX4Y-L-QUKbAymIjNSd6VPR5kDytBcXVqvkfEKie2kf4ylbHPMx5OfuEvxTyGfSzZdDCax09-XeyMvNzbGn8PfTvbVieIxZyjKfZoXI66pWtZdJLmKjKP2W4-RPgXBgBayAbzQu752W2QGVCbrtf0cZsoGyU1aCEvJM6QN7HZnPapMBvJgr02cNNRUKiouOlPmBZG-UpqPedENDVW7hnsCrbjFiuPbPKr0hXneRauWJFZCof-xl3nheaQoqV01TKzOCQ8fxkDfvT1Cw-4EtnnFPoi73Sm69vysdraSsroKO76J-w0djCfd6TnSJKInQRqQT1POdKtNf91tbqIoX_3C8H07H10fjkG6qPF4DLnL3JpwMoD4gXnbHUzVtt_xFdH5A-PI-8isBhOKNMLlnSq_9FYwginsiljAcacQSC_R0h_Ey2qctzxWqkAIjqc5SVnAVHzZtrBjdpRXyAHnVtBz0GxkX0XhwmLd8m7hkfxctrAsRJs-la1_kBoHE4v3InYhEC4LOdSrO4VzJK0PvcyRyDtBtqC1qXyEcmDD2643U7wmKJhY_XxGwe2L78YrGSHpRcUIdYWQ7Asusp-E2KZk2EinxgSpG52yvX5CuSrxm5s_puq_FBCl5dyI3tYKmG5zkmJPXgabNtc5YJW3MjidoIxXFMYv5BjfbHKieHb5PcMeihl_rMftWtymK8-PNnTwRUCCEaNfyX_4yGTbasCAayZm5sOre9syvorjNqH3HMd3uscu00CPe-yoX0JThEt9OAPlF07pcAfCzIbpkiivyYEGudWCFNtQSUdiI2JCyoFa6388hflFaA9Pd0vWvSo8MV0ZIE1OYyY6OdX1xycsY2saxfEwfYm6aD7cPlfQ5-3GOxQ_rimrMoZpwAkoeLJq1SKgUT2wqCHm6KuqWCyPxD6ZQgQQ3R-sqSLZNTHvXElZeBgQTQuZCSOClRpCZ4Nwdiu717xtIxR2cICCZmbKOlB8wqSaCGetw1mqVrY9qB0MM3RvNCiEjk6s8k4Cuuzx8-Dn5_9YiLnwamBu1P5LihahP01t7ZmKKsH6ZmLZKIi3xSFb4x261nqkegDug4UaViRyAKbprGOrNuJC676erDFeLXOyPhJ1TSQ8mR9Sg1hEb6h1-hDxRq4Ep11CNeFYrJLmqFdZJh2O02-1QzZuURTUcnQLnoxcRbFYh-Oi0Kx5HprVp-6qPiVbZRuXXooCyIEKZxOmyKESAkHrzlQ1wwQssx5qPHueeJXRUJ6E670wrvASTPj2Z-pLbIYf10ipzKtxKyM5GwwpS0oUMOFDY7kBvXZ9iLrRU0QrdpxNmYk10zJd2pTjkTKGsudXYXPfoD3_TilZHUmS6_CoJzyYfqjxB0nMzXzOqo5q-7rIjjFiDgmfmQx5kGdrbewCqX6W_J5Euu5LN3t4rO_c3ZFl17VLlt2k4_Zt8v2Fq1yh2dPBBKbDwkAXoyLBXupk8vXS5jdEkLNdh3ma_sJH0Uw-jWkNbU-h_AVov8hOGAE6iU9n5Ipst0Eh2ONVBAMYBQ7iLJI8ynXvDEySLyYZZY2KbtlsTWiU0bYz8JUymU_zjF7ZJdDfpSyEa-HVL51-l6xWWv9xiaGZpRhtcAMhL7yPUmmr7M5aUwaLKjNZe38p5SxO7FCgjV3Dy9mfLfVSFwGNKgNvs1NNHgMHW7ZX6qt8g01T2ND64CTeBdQyILev44WGx_hViXWpFW0nvP76-_fiFSwH9bgAbw4xXQVwqY7EodO-Tmo8Kb43fjDlqZB3g6rQW3qvdxRNOvoBTT3ZMKpeY30JDjoT70Y7iMmPb9fJxh0MoD7VQyqdVwkCbtRRlWul5QvhS0X0NJ5TiYPxtgUHvtCWrvjU-xMWL3ec6sj0775LMlm4cOA-HA7a37NGN_svqxjvEQIiCrHLKzTj_0nA9z1oNDyJXUZPO1HPGY8PsFJw58apdBnsE1FfZ0hyYZE39Rf14UONmIA4fiwQ_WKvYklF7jSSHEMAhoK78Qw73XRoAboXBDW6-zetV7nLqDQpk-ItDoFrAyM7ec8PtsbJSM7uvwW1SiCvr7ratA_fV3HWcqK7L7n_OZTQvzZagwEanm8hNulyfmte0_LJRzg3b3w4vdOmpcNNL-Ns9Ux7oS0hqykFvvmu-LEE_5gGCIX-E9VKX1VMeji3Arec-yy2_TbZKi2JnJYftO0-0wrN4MP3oDTNQ05IupqrT_HBsECGMK2l0-azKC-QbJJs3uloLcvk-7dsmbf5l849_pFwhjSbVpf2qSEUh8HO6RFObAibIPuOB3-j8PcSfoXE4P4msMnEXayO1Abrr_mWk-O0_Fj3HX0a2hhAVkHCoqInAFMheOqBh568WQ1bMquI96E4s4yY12h3c0cX-4C9esSD_rgdPW4Ht_7KdikrPYYWxTDKOj1-bJPJb6E4ifhgiHsCkXkeWz_kkDTAgrkF6HpG17bhrvVx3QQ8klBPj-bnSYrf2B5PA_wdEahwni51_kXkLeTKYTnfaAxYi0tbjcYpJkMz3kyxI6ITXdkkP-YOuTKFkhu43sSWTcnHAifKBGFICSaIVfafS_Qq4tC7CbBcckyx14Hyc56pgjiExdeczJ79m2eVBf--AUmMJYBvMIMjPEssAOSxIKT2MOzlpjDDmknKH97pPsK9I81dLib6saXhEIpemBAjxYi2KJihC8nnYxXhaZUBBaclOZXNWYEr4g5u69tyDmSPWrt0Bven8Vkq3t7nkpE8EPffYOM_L63MgxGXHJMHcdPP4gZD7BdJdPgP9HHXLj0383jUdt-lRmKanm5bIh8nZyB-0vqk--78hB6Xejrllsfr8JqYzLEDbMXzWOopuG5NHoG2U1XJz7VVYuC6fC-Hy0jzEK0L6SGhxw4-uiADLZz6azzQ9KVW3mCFcWigxBlFNOKprHDlZ9PTX79Lxk5TmTywgceI=",
  "id": "rs_06274f8033187a80016ab449fda5c487d0ac4e3724f4b66289",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The loaded arm is not tracking lateral or upward corrections, but the overhead view shows the fruit substantially overlapping the blue bowl. I am descending vertically toward the bowl so the fruit can be supported before release.\"}",
  "call_id": "call_E2zkUTyVyaV5v5BouJlw1EX9",
  "id": "fc_06274f8033187a80016ab44a00deb887d086a04202780ece69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E2zkUTyVyaV5v5BouJlw1EX9",
  "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, 0.6132, -0.4343, -0.0139, -0.0307, 0.9913, 0.5255, 1.6051, 0.9615, -0.3534, 0.313, 0.3038, 0.7014]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1676 left_yaw=-0.0001 left_pitch=-0.0656 left_roll=0.0005 left_gripper=0.9913 right_x=0.3631 right_y=0.1518 right_z=0.077 right_yaw=0.0571 right_pitch=-0.359 right_roll=-0.0907 right_gripper=0.7014\nstate[joint_eff]: [-0.212, -1.1692, 7.241, 1.6874, -0.0562, -0.0806, -0.0073, -0.2393, -6.8171, 6.8308, 1.8779, 0.1441, -0.0464, 0.232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3a9ebe48e65f23afa30110c15bc54d61676f6026320dc3975b9220349a5085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d676c023a2fa1a122b02732b952e01b3828c1f2503cb43f7e05df82ff9d51f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e621b194b10f1450fc2f21b7cffa50381ee1dce2aecbfd906c5a1508a15ef731",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.0307, 0.9913, 0.5045, 1.5295, 1.1866, -0.5587, 0.3149, 0.2897, 0.7016]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0001 left_pitch=-0.0538 left_roll=0.0002 left_gripper=0.9913 right_x=0.3816 right_y=0.1523 right_z=0.1633 right_yaw=0.0564 right_pitch=-0.2732 right_roll=-0.0572 right_gripper=0.7016\nstate[joint_eff]: [-0.335, -1.3197, 6.9812, 1.707, -0.0415, -0.0513, -0.0073, 0.8957, -7.8838, 10.5641, 1.7118, 0.315, 0.1294, 0.5739]\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, 0.6132, -0.4313, -0.0135, -0.0307, 0.9913, 0.5255, 1.5295, 1.2072, -0.5743, 0.3214, 0.3069, 0.7017]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1682 left_yaw=-0.0004 left_pitch=-0.0626 left_roll=0.0002 left_gripper=0.9913 right_x=0.3799 right_y=0.1599 right_z=0.1695 right_yaw=0.0631 right_pitch=-0.2661 right_roll=-0.0478 right_gripper=0.7017\nstate[joint_eff]: [-0.0889, -1.4974, 6.9949, 1.746, -0.0415, -0.0317, -0.0122, -0.4444, -7.9111, 8.8821, 1.6825, 0.2955, 0.1001, 0.6374]\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, 0.8143, 0.6132, -0.4343, -0.0139, -0.0307, 0.9913, 0.5255, 1.6051, 0.9615, -0.3534, 0.313, 0.3038, 0.7014]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1676 left_yaw=-0.0001 left_pitch=-0.0656 left_roll=0.0005 left_gripper=0.9913 right_x=0.3631 right_y=0.1518 right_z=0.077 right_yaw=0.0571 right_pitch=-0.359 right_roll=-0.0907 right_gripper=0.7014\nstate[joint_eff]: [-0.212, -1.1692, 7.241, 1.6874, -0.0562, -0.0806, -0.0073, -0.2393, -6.8171, 6.8308, 1.8779, 0.1441, -0.0464, 0.232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3a9ebe48e65f23afa30110c15bc54d61676f6026320dc3975b9220349a5085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d676c023a2fa1a122b02732b952e01b3828c1f2503cb43f7e05df82ff9d51f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e621b194b10f1450fc2f21b7cffa50381ee1dce2aecbfd906c5a1508a15ef731",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoIiVkCSTeFjApyZqvXVK7KwzwhCU7dvTEcB-l7B79ay3lccjB8aBDe4T9k7IazG-tYbSVBCaQaJNUwe8Lc7HvzNNnZAJpHWXFgaq6bjXasTkwyc4Ji-d1Utdq4P1Ee8Hxl-avKt94rLHDorhLWIq3Yk777A9RQ_MhkCwGC6HeRATWXKIcqhZxrel2vpfKU8ML8J0UCzn7k9vs43p4892w_mBb1Mexj0O6X6w3zh-2d9F8aBTvLXguTAVSVz9TyQ3sSiXQKcyH30ZctS0H8JopKdl1cvWx06hH7W50A3Q6aABescWPQIV4qd5ng1EfY3y7nKg3ygvhQqwkL1_kDvqPNZ3d5xPnzvZhEUkw0gehi3jp_xRjf2BEOGYsFbx8B5UHOHs7EQEBINXmJQ9FtwTu4hm-l0s8ysyyr5VD9w_ee4Qcd5G2asZ_-Iy5qTt90CpuW-1pqSsDMs_Q_bO9rU-rETGueT48hoSa_m38hOuNF0H1f9FAfynnyKVhOgJlIOiXazbeEnQHzsUwlY4mTrlXH7N3Fii_a7jHYEsNZLYDJdFvMwglEqv1Y7v30yyJm7uyufla5Z6iKWuDibt5-G_nfYmjS6hpKoDjg-1AbIUj99hKjfUmpeLDMGj42B0mJoUqW7z9PNoWEnr0qI77SQbFqGwh6PHDuOKbdKKhJ2gdr6smAKLvepq414QI4VY0bl3FPXZA4SgCsiLNpOzpZ_rUBgfgNZz0TsoT1O0scA4-bGQ_9eTilFasR2V40ieC1CkQb8mHP55uKpfPXOAwWFD0rS5ZBhYvzl-KKlDYijPSzJJFDlgpBdTshCJ4Ara5GxPIGw0rLXpVZ_Y0VnFLsarBz0DXIcGCI0ZGzi97WCPfK59v3oBFdxAEZzpi8Iu6KPJ8JDyz02EI-8J30v7MoUCJdxf2vrod50uyRyWDTAZdABeMUVb-yE6JtrDB57PiXEkFGC_LyCrz9wZP_40vN_6uWcPIzx4L9b9i2IxvKophcXwmXoT06cmMXuS4kyR381Ro2cVrwGlBrpU0jPJoLxVerSSILrSq3MJtRpG45mggTcDYidowQ2pi3odpeWh8nayubfm-ZRgzROduUyoSFV0e9eCfXFbPfjicxAAYFWaElOUi_qNTp85KyGIM6x_0bett12gB9jmqP26t_e6mRV6LJeWntB0f_ZIMovArXdacs1UiJRVX0dc7DTiuB0lZKujWZsWo-pw2jyNc2oYsbiYfvkJhVoPkupN4s693LoQORtw8EwSiyYjUBVPoQEUextCO6rhCidVIE-XT8qh5mgE6mm_jg0fZTmzWU9lYtJ21GwgWkjRYET55ZmrXYJzWuB7wEmmB0_CFTlgERRI8dpnq_Vt-iHuvERPrgZEfO405_nu4ieQgpEjS7lLZdSpllW0jBMIWZkzlEFH2d4JxyW4olixN9lfKhjRONsz_ZueNQpfMcxGk0PEaUYLXkPfOr1TsD46nSr5JcAzG1Mcln3XNCQGDqez5Ukwn2_EtfYzMcnx2MR57H-nWlK9fVX2AhAXO4uqtZFDm5w6ZcT3iBFVOWaHtu9ctT4GS_i_RznhXSe1PfkM-mEjKvVkcR74JqwZbozpSJ5jreNwi5ZrgtSugOATy-GnGSE_vTOg3yLn2I-10YfrDUid4oAWMsGu-qYFbA67NJKvk0Q4CDljfpk6HHxL4C9jV4sih5dzkvfUxceP_zEf8LvO0vXIIYS5ybUq1lme59UFYlzgkBKHI9QCC9UFI2AH-soOGGGCm4-h-bBD79dm7870wRQcd_cxjf6qLIjjbvlljJvIQ0le6o86b3QhX5mnWOpPVIofX1n4DdzBIaKQ8qWRsqDjA_pCt4rBNWB8p9UBm34r8wlLB0yrD8feO0yAtwqBjlkYpgChbkVekCkYhmxTCPd1AT-IChVhrsK04GJsl1nVLrS1yD-BTLnfUi-BuHc7wMn-oFnKxtVCdczoQOIqGHBp895o_oRmpudmWWGzZ35J1v9jmTrbyn37zA6JAqip4iD4UTNepBYZ0Jd1otKcSsJsWwOaei538Oj3-OMtryDMahOmAwjoFO-yATcdkGDWagbOYQ60OVWl1pcAxx2uQwfKQlst3rdjpHwkHCJLECWOp-kWOXfqzcUodpCQ_yA3Oj6iFAoKpHwgwUy5BIxhkMYHVD3oUTgWFz2dpFTXChLF-SsFF7CbFPcVIW0BhwkuZymklvKMXJCts_ri0nHDpBklfFSx3nOS03fVyBhfv2R7YahFaGy5JqxBR_64LXYtSDKyXeHVl71Mu9Cuy4EvAy8L-nvWtcR6IFIaoQ_apzsXHGmGi4HsKCe8C2-T7GD6EWexM787uLCxBCSt63mooTM_wWI3JfgnSlIFo3Al1-KWdbjxzkH9BThtcVt2xKD5XThO3cN6u525d7n80WkIjuWQtd20fjv9UEwcZbOsnpc67uFAoUwBbYoG-5MVMZcQFkLhsIVzVLs2mKKaBA8t2M-lDNhJeOoLRrKyLa59F0u6c0u4gGzr0aHvmSAvegdDKkSX1x78nJpMoNcAzOQuEZzODsYtuVuERDFkHrBfKjsuJQertVBMwtFvbCzEyQIQbKcJwWnCPHnuALJPjxe9lqxsmLzxOuH-S1Lqkhqxv0BGHyYkn6zKdAwpDLIs3byKOyS3NhuwZqJFU=",
  "id": "rs_06274f8033187a80016ab44a045dc487d091b5bf09188cbb41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.05,\"right_z\":0.25},\"note\":\"The descent confirms the fruit is still in front of the bowl rather than over its center, and the arm has sagged into an awkward loaded posture. I am retreating closer to the base and raising, where the arm has more leverage, before making a fresh bowl approach.\"}",
  "call_id": "call_kN4J1sD0HZ9O3nB0oSk6ybQo",
  "id": "fc_06274f8033187a80016ab44a076ad487d0bef27e61b393b751",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kN4J1sD0HZ9O3nB0oSk6ybQo",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8181, 0.6132, -0.4423, -0.0139, -0.0307, 0.9913, 0.3305, 1.055, 1.1942, -1.1027, 0.2096, 0.1501, 0.7028]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.165 left_yaw=-0.0001 left_pitch=-0.0774 left_roll=0.0007 left_gripper=0.9913 right_x=0.2592 right_y=0.0539 right_z=0.2358 right_yaw=0.0432 right_pitch=-0.3659 right_roll=-0.0903 right_gripper=0.7028\nstate[joint_eff]: [-0.2256, -1.4701, 7.0906, 1.7509, -0.0611, -0.0708, -0.0073, -0.1846, -3.0564, 8.5538, 1.453, 0.0855, 0.0073, 0.6081]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c7f2d99fb72318725a7dda6dfb66978535807d6f8d663d9875853f0a130916",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1b5ed914074b1906fbfbeab4c85fecb082c2e6bf4e2b64a400f10ffeb45b4e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6537d005083a1fd6484000478400f8c1a85fc9bcd7790c670817f7e770a71ab8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0139, -0.0307, 0.9913, 0.5255, 1.5295, 1.2072, -0.5705, 0.3214, 0.3008, 0.701]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.17 left_yaw=-0.0001 left_pitch=-0.0542 left_roll=0.0002 left_gripper=0.9913 right_x=0.3805 right_y=0.1603 right_z=0.1701 right_yaw=0.067 right_pitch=-0.2628 right_roll=-0.0503 right_gripper=0.701\nstate[joint_eff]: [-0.1709, -1.1556, 7.0632, 1.7167, -0.0806, -0.0757, -0.0122, -0.294, -7.8017, 9.1829, 1.5995, 0.3248, 0.2076, 0.6422]\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, 0.6132, -0.4343, -0.0139, -0.0307, 0.9913, 0.5255, 1.6051, 0.9615, -0.3534, 0.313, 0.3038, 0.7014]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1676 left_yaw=-0.0001 left_pitch=-0.0656 left_roll=0.0005 left_gripper=0.9913 right_x=0.3631 right_y=0.1518 right_z=0.077 right_yaw=0.0571 right_pitch=-0.359 right_roll=-0.0907 right_gripper=0.7014\nstate[joint_eff]: [-0.212, -1.1692, 7.241, 1.6874, -0.0562, -0.0806, -0.0073, -0.2393, -6.8171, 6.8308, 1.8779, 0.1441, -0.0464, 0.232]\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, 0.8181, 0.6132, -0.4423, -0.0139, -0.0307, 0.9913, 0.3305, 1.055, 1.1942, -1.1027, 0.2096, 0.1501, 0.7028]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.165 left_yaw=-0.0001 left_pitch=-0.0774 left_roll=0.0007 left_gripper=0.9913 right_x=0.2592 right_y=0.0539 right_z=0.2358 right_yaw=0.0432 right_pitch=-0.3659 right_roll=-0.0903 right_gripper=0.7028\nstate[joint_eff]: [-0.2256, -1.4701, 7.0906, 1.7509, -0.0611, -0.0708, -0.0073, -0.1846, -3.0564, 8.5538, 1.453, 0.0855, 0.0073, 0.6081]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c7f2d99fb72318725a7dda6dfb66978535807d6f8d663d9875853f0a130916",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1b5ed914074b1906fbfbeab4c85fecb082c2e6bf4e2b64a400f10ffeb45b4e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6537d005083a1fd6484000478400f8c1a85fc9bcd7790c670817f7e770a71ab8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoOuNdtvUGxgEZcL2vvWyUP0gzOk0PUx4mvWveSHxj9qs51ziwRRVrAVoYoa4c2T4Qo-YqB0FkOqENZ0Hpu3dkkqL_G4rryRUvyWVrIyVbCXUz2rqSeZ5V_AYKdzOQU5KExdT4nVHkEeGNwPpmuCm0dQQllyGs2pYepDu5jB6KwM0ArRsSUMozs31RYpG0ZEZFyQPUfB-urAXPZdAtT5bBMSrN0RVTBTcdSYY6SUmRfXQmZ1eccs5c6hoZ-jjuJ3EzGH4IbM6ppQ28kKySze_j7L1vNwzRvdQDzsK9zViBo165Uu020n4fSiwzmwA_0n5VaJw4ZfrpSOU9RE4Mn25FMyQHROqB8rE7rOp26u5Je3AP5F6lIhht-m8U5C8iJ9pKGqGlbuCSsc3oS_lNfiqwqWKJgweDD5SwmVDiWldPBWLiOkgeviFTJ8wuH4Ub80WlVDSNMzhpx03dbYy1-zyAirYpLoqnjdpgL8xGVWJdMlY7uO_pJnjJxT1GTqhuSiADlhMp6JUb1pmzUrnWpympFP-0alMqJoxBnbwBW_eb221QuKJQTYFIpC2WbKOEK7YGDPQjkb9QG-l8Zjkn3Jk8fbpeYGPRa6GBQYFJARnN-UuIsO15hD_z55sOIvZaSqeXUDtM1q6OR2a6mAmTzuU5aHpr5ljN-X5runU4qAQw48ZaXG2s6ez_D2hH42ruOFkTnDv8eqDWlcMYE9k5nk1KkAkCfVnLKrVgFevwt8qJLqEEpEzQh0n14XmyXT9dPAmwu6PFdVW-uBOM0HXz7EGMGrt4UmRkMYQf3KoKMcDanFc6_8GCM9NWq2gBV7qUEAO_gdg9x4xmT3NM6hPhWYab_rsEGqp05kQGWUKjE-o_IhEru17n6CTEL_AFWjTevRwO7or8CHBgwskPaNL_qAAJzp2ThvAwMQvvYzztON3AkL4mBClHCigywvjzwJdoKlu3k2u5tDR4Ad9h0fgpgI6ir5ZrhP2QLkJ40qS7bjuVT8Pbov1Dri0yy4k4_PX0i3Jt8dZOOSnbmXAI6Vq8F7OwhCv1TJFTrsEZ20eAHVcutPp7xiGv3MfJFv8MuzRbQhLHKsseZZ8BhUP6c143r8vFEg02RqDelQCFm_0lGS8TGZZoeu54lOaNEAEU9EljYmNLU4UEjJCt8YkdJJQ7Oc9Dmr-4p2UTWwIlHu6oM0eUCrcp-zDfys7mU6IRwC-OwJkgiYyeYVT3c1jy7hj9rbRevCZdJTKWh8Zzh8kAmAQuxs75_q_tkw4rt824CaYGpoBpYedvuDLSuBLVBLj_sNPZTeENnFpxhnh8bLS7EzrZNck4a7vfRaOUris-mL59Oc3_OoEfCtffRnD7KX5QJb2ge5NKC7FvC_K91gRjemMYLq36SX8h2oBw_nEqthXgBpOhYvPN0Xz8Th2xO-m7sUSh-pOTfa7bUEDWVQ_s62eOeDbkG1RQ8_bAQYF1c6DTlO5GefsVSS-NdAglvCdZn-MgiyJkxStArrBWTbSs2Ro_8PG59mr6pEtSL1rBncZZXX1paaz-qxT8nLyazGgYXy92YmzGPN4HetS_eBtOAB_tYTn0XK0B-Tkud_QKL844hPhFHWj0OZiDrYt3ZZfa1jATSNpJhz9qzCowlOHX7qjbeOpME6dN-HbF6cjQRaTeqtO_E957jDmfVnfvryDaO3tTMzpcxdfroPjq2gkM4yvP0gZGW_KvKKyCUsw0jwcmqXxycaPx7xLdzCplyEk81RctyiStU2NsahZo-CKx8L-msg_LsggyoTFxRgpNBQ92QJV-1rZYF4Bcr7A60hSHh2634QFWEhHuC1DDFP5CUMa2zIwD-uH2Os4cNv6xa9_p3t27X8USXNZ6z5kJ26UaYqZ1GhAsr5Nx_XAxyVqAoHlkw08cuT3d1A_SKIFMRW8A1YfiJzkweR__HgKgxHRNjl-FT8l4CwvtBnp7ySSyyKEfBxjH8TClg1LlOu7zaaY1AF--4mAy-3-nBIQ2LM1qZy9x-GA==",
  "id": "rs_06274f8033187a80016ab44a0c0d9887d0b7362e7d5076c6ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.1,\"right_z\":0.25},\"note\":\"The retreat succeeded and the arm is now high and stable; the wrist view clearly shows the blue bowl ahead and slightly left of the held fruit. I am approaching the bowl center from this better-leveraged high pose.\"}",
  "call_id": "call_qYUns6fGUxOiQtVaGxGidCm6",
  "id": "fc_06274f8033187a80016ab44a0d918c87d09dacaae3c9ff9d5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qYUns6fGUxOiQtVaGxGidCm6",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8234, 0.6132, -0.4503, -0.0139, -0.0307, 0.9913, 0.3328, 1.5703, 1.5829, -1.0634, 0.2043, 0.1303, 0.706]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.162 left_yaw=-0.0001 left_pitch=-0.0908 left_roll=0.001 left_gripper=0.9913 right_x=0.3743 right_y=0.0953 right_z=0.2283 right_yaw=0.0512 right_pitch=-0.452 right_roll=-0.1243 right_gripper=0.706\nstate[joint_eff]: [-0.3214, -1.812, 6.9675, 1.7118, -0.022, -0.0415, -0.0073, 0.0068, -7.4051, 8.6222, 1.4774, 0.1099, 0.188, 0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c35224ae6ce48d93000a55bb9039041aeb53516af6c2959b56e4667081c4dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c4f35e954cda22d814791e8938b583189315b5df4565ff22066b8b6489102a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f118834b2dc8f1f0fe9bed9dae7aa48ee757e59c98d5ac372335a8e64c02893",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4313, -0.0135, -0.0307, 0.9913, 0.5255, 1.5295, 1.2072, -0.5743, 0.3214, 0.3069, 0.7017]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1682 left_yaw=-0.0004 left_pitch=-0.0626 left_roll=0.0002 left_gripper=0.9913 right_x=0.3799 right_y=0.1599 right_z=0.1695 right_yaw=0.0631 right_pitch=-0.2661 right_roll=-0.0478 right_gripper=0.7017\nstate[joint_eff]: [-0.0889, -1.4974, 6.9949, 1.746, -0.0415, -0.0317, -0.0122, -0.4444, -7.9111, 8.8821, 1.6825, 0.2955, 0.1001, 0.6374]\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, 0.8181, 0.6132, -0.4423, -0.0139, -0.0307, 0.9913, 0.3305, 1.055, 1.1942, -1.1027, 0.2096, 0.1501, 0.7028]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.165 left_yaw=-0.0001 left_pitch=-0.0774 left_roll=0.0007 left_gripper=0.9913 right_x=0.2592 right_y=0.0539 right_z=0.2358 right_yaw=0.0432 right_pitch=-0.3659 right_roll=-0.0903 right_gripper=0.7028\nstate[joint_eff]: [-0.2256, -1.4701, 7.0906, 1.7509, -0.0611, -0.0708, -0.0073, -0.1846, -3.0564, 8.5538, 1.453, 0.0855, 0.0073, 0.6081]\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, 0.8234, 0.6132, -0.4503, -0.0139, -0.0307, 0.9913, 0.3328, 1.5703, 1.5829, -1.0634, 0.2043, 0.1303, 0.706]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.162 left_yaw=-0.0001 left_pitch=-0.0908 left_roll=0.001 left_gripper=0.9913 right_x=0.3743 right_y=0.0953 right_z=0.2283 right_yaw=0.0512 right_pitch=-0.452 right_roll=-0.1243 right_gripper=0.706\nstate[joint_eff]: [-0.3214, -1.812, 6.9675, 1.7118, -0.022, -0.0415, -0.0073, 0.0068, -7.4051, 8.6222, 1.4774, 0.1099, 0.188, 0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c35224ae6ce48d93000a55bb9039041aeb53516af6c2959b56e4667081c4dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c4f35e954cda22d814791e8938b583189315b5df4565ff22066b8b6489102a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f118834b2dc8f1f0fe9bed9dae7aa48ee757e59c98d5ac372335a8e64c02893",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoTi1xbqvGhiDCbkHKsJxh0fL3bwZg6fZvlvs1VhTULDDJRuE0SKUMG8HoBn2OFhv5eVQcC6Chw7hyUyupH580NLsqF6dv2_VJKtf4YrkEtL4sBB7cevwkng9f3nsMpPsfnjcko9jKC1mxHfa8uGJNDIT3MrLFFHQOCeEUGGwngGYdjriAz9wQ1GnqS4OIDd0H9QH6ZwjeFzez3C1lAPvbtikv2W-7RftKki-FK1xfDcK2TBhDXjIheU21tFzJmJgT4vf_5kT7881yK08nA7Ba_v6ixzNiM91KahW3u6NRZgHNtddbzPxxV0aq47iCbSAcPlvEMXoR5fyCHTAziqNmeJ7GZ38KB_j-yaT7-AP1A-JDvAjWuqgJ_JeutN_wFdlF92IMaDHmfpNAyBRtb2_pNPlTIAKw0J4xJBmGOhkQEHxSAGna8bOpz9yWSb7ihgt5jQEjQnPGzQBktGHPormRxHO1Vj4ag0Z28ANi4h-FZe6YomLs_MJ6UdSurWXq48jV9SJMjLpsLoW9AwWik2TtIph2wdLQTBoIvWYkOYxiTF23ep5A7zozlRWWcD2iLV3P51ujkcn9g_vVM9XT3MRcc0XHLQFD0gHR5yUhUPE6qB_XdYMPbGCpYySzmpB7u1_aaWUQYC2544t9AgLjI4svWiG8VoMleqlWTek2PvaUqDXYnBRfIRDWQLeelfenToRxvdnE60tVbdXQkfUccfquKwtnaQvlWkKQiJY2XIRFrYO2f_5Q7aT1L4hZIM0ZNvUT2R1jxbMZFiHXsjgJ70E4vSpLRUMbbEvnJ8BCfbTu0_pOHaMdr6J0Mp_3RJvRL3YSONHP_CXvkriF8hfhya7txYq5H3WjRXeWsmPwH1oddR_4DiKVr-cjpKn_U0ao4XyQTg_8eQUxdyEivNFubFPE27RKf2k3lWTzmx98G4eb2r1l6wm5OOspu5yldJVLQndcUprtT9Vni08lDrO8i7irpThzt5Xv0-kr5C78dL3stTGuEc9QjBdullpTdv5pnpH_AUBwk8wFg7uRY6ULzgNjmdI2c6D3YzWPkBFALYqcZW7GLPmegY-KeHZQzFYqcXHfcLOFnX1Ewo4hpvzExZIcNmh8Yb_HePPiInBqWav87VRBAYM_FovEkX5Uc2S1bywYCCozKbIXhrLhkF-KhGaECI8VSTgeoxr-BXf4V4vl0vW4whiKoSGuxAqZTYILXdgZ_rFlurSqx0rwmtnUwzvYk8j9fGQxP_Ohfgh5yrDfSCqPS9TpJbZtRYXcUqFbJ-8_435-XkHxwj4kTXP6IdbBPqpgWPRyuJL1b6bOIChb1KwjUMMSX0K5-8AhbR_Ry5WBSqPpWe_it_6GW7r-mf8yPzBHrC3KdXomGImH9-c2cVJNaSxVwjgE1P-14rf7BTHGLdKPS_paVLcmPq84tygyazG0JT8Hfc6bRnP7UyexJ3iMTAaNckU79J9YibJhr_tBMb3x6BqTg01myJoCFf2xzZ6UTqTf9VurZddS4wHXpEruD7izUQ7ReJ6v9iZoNjWozCWw4MaIhEEJzKjIGtrc4E8Zqd6ovXNJet2AEfEx63Dt4rPmjR_2nUz6apwOHvDmHXkHjEDM4953ZtpwMsKk1mSAqVVktBhQkSxyCvG5Sx-pZloK5rUjFeRuTalfpW4P_FgHIfONAqR3BizG1mBCzsPXxiW6CXO2rKb2dhwT88WqdmtnlyfUNemTEOd3UDykKHkXs9fR60HV6dR4pbHbS0GodtaIJmfdHrlPWyZJsB7rvi-5Ovlx_nD2DPv2jIVVoupHUsGt9CFWgxbJSEMEi-lMm2mUm8Zrwb8iSeFKY-HPOlp9BAZIZHOKe3UtQtDPmhCFY0iPuGKC5zsSa0lMzBVbSm-aNwXSh_TkW16CivAwq5yP0UEYHf5jPzJmy7VXbDhiSEgkLmEnNINxjM7SGLUVUVMQy9dxZ5CUrTmkpZFIJip8dEKQt5t4nSSwZFDzaikwBYygK3YZpYdIpBTI1M9iKfstV0effPvQhrh73vKcB1Ex2_Rq6GBNS2rcpyKf4frUZPthZI9a8TOUL4d7evgBziM9kGriaImSTLOUUvq8=",
  "id": "rs_06274f8033187a80016ab44a10443087d081627873fe6aaf4d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.135,\"right_z\":0.24},\"note\":\"From the high approach, the blue bowl is now directly ahead but still a little to the held fruit's image-left. I am making a modest outward-left correction to put the fruit over the bowl center.\"}",
  "call_id": "call_UDcxWUjaIVFF8ppoWaneLSUn",
  "id": "fc_06274f8033187a80016ab44a12507c87d08f102287109f4c33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UDcxWUjaIVFF8ppoWaneLSUn",
  "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, 0.8253, 0.6132, -0.4538, -0.0135, -0.0307, 0.9913, 0.4049, 1.7954, 1.8332, -1.153, 0.2157, 0.152, 0.7089]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1608 left_yaw=-0.0004 left_pitch=-0.0961 left_roll=0.0009 left_gripper=0.9913 right_x=0.4069 right_y=0.1372 right_z=0.2208 right_yaw=0.0899 right_pitch=-0.5092 right_roll=-0.1444 right_gripper=0.7089\nstate[joint_eff]: [-0.2393, -1.5658, 7.0085, 1.6386, -0.0415, -0.0317, -0.0073, -0.8274, -10.6598, 8.6085, 1.0672, 0.3492, 0.2418, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc00c4ebe53de980e4bf88c2003114edee8aa78f7313655534f49d7c079c67de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4509b88628fe157541912a8a498f8f3f1b52bd0a0c1a064a9f3e0f8094086d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c389eda0f4953b3b2b244095e0a1dbd5d868256564cfa7e08799d0de9c6707",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4343, -0.0139, -0.0307, 0.9913, 0.5255, 1.6051, 0.9615, -0.3534, 0.313, 0.3038, 0.7014]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1676 left_yaw=-0.0001 left_pitch=-0.0656 left_roll=0.0005 left_gripper=0.9913 right_x=0.3631 right_y=0.1518 right_z=0.077 right_yaw=0.0571 right_pitch=-0.359 right_roll=-0.0907 right_gripper=0.7014\nstate[joint_eff]: [-0.212, -1.1692, 7.241, 1.6874, -0.0562, -0.0806, -0.0073, -0.2393, -6.8171, 6.8308, 1.8779, 0.1441, -0.0464, 0.232]\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, 0.8234, 0.6132, -0.4503, -0.0139, -0.0307, 0.9913, 0.3328, 1.5703, 1.5829, -1.0634, 0.2043, 0.1303, 0.706]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.162 left_yaw=-0.0001 left_pitch=-0.0908 left_roll=0.001 left_gripper=0.9913 right_x=0.3743 right_y=0.0953 right_z=0.2283 right_yaw=0.0512 right_pitch=-0.452 right_roll=-0.1243 right_gripper=0.706\nstate[joint_eff]: [-0.3214, -1.812, 6.9675, 1.7118, -0.022, -0.0415, -0.0073, 0.0068, -7.4051, 8.6222, 1.4774, 0.1099, 0.188, 0.3248]",
      "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, 0.8253, 0.6132, -0.4538, -0.0135, -0.0307, 0.9913, 0.4049, 1.7954, 1.8332, -1.153, 0.2157, 0.152, 0.7089]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1608 left_yaw=-0.0004 left_pitch=-0.0961 left_roll=0.0009 left_gripper=0.9913 right_x=0.4069 right_y=0.1372 right_z=0.2208 right_yaw=0.0899 right_pitch=-0.5092 right_roll=-0.1444 right_gripper=0.7089\nstate[joint_eff]: [-0.2393, -1.5658, 7.0085, 1.6386, -0.0415, -0.0317, -0.0073, -0.8274, -10.6598, 8.6085, 1.0672, 0.3492, 0.2418, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc00c4ebe53de980e4bf88c2003114edee8aa78f7313655534f49d7c079c67de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4509b88628fe157541912a8a498f8f3f1b52bd0a0c1a064a9f3e0f8094086d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c389eda0f4953b3b2b244095e0a1dbd5d868256564cfa7e08799d0de9c6707",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoWs3Qq_A6GYHrK2LYh5PGKJNZS8AX85lo1O73kUy-Q1F_LLE9l8NtHLNPqSeVLnU9gmThmbfXapVZkzTjSFcC-uqwcV0PA5w9YV_7s2CDMPys-vUpy5dmCaSPM4kjSmcxUDRDbrK0ymu2ljxpqvdhNL0UZrrazse_eWXYrv70zogxt61gh0_aQYbk5N2Vt5TSU49tSLUKkAGkPeRA_W5xnjsSFRKNotH5b8lIGEYDze9Gvp7CFNZk0jFhZG8bhcTGkZGNkaDRmAuWvZk4rxydy2tac7yqqWOpToSzemQ4fOQAYjDkR3yJFTNF314T2oYFoEqr2OpaDywP_pOaMkcEDnZlhUZ3omHz_HcS5grrfKZQ3gSZXHvn5pl8UhVz8m4KCf9ZGtyoYoqPx1fyXQktxQOxv08HWkho5i3oagqmzLjxqoIjyl_NNFhWQYkIYDgMBzTKDQUI0viXYMY_WhkZXCFvWrOsEXlT7ovdjz9_QYv647y1S85ceWc2ItfZV-kuTryNTQkW8Ob1-fNz0IvwFqOUH3TRP6fyqxXz2fKGY64WnI_KEY9vzf6ukxnowDAzCO_wbOMNbcvl61nEsbiBurTx47wIcVb8E5hwdOalFYOryN52DXtiIYgTkpBrAIc4Bcx3e2mt4IqfBjgkPR1EbJDEghcAP1cdkYCN2mY9h_FIhacs97wrHFwkF3ErEkfAshcXo95m26QpuSmH9Q1dGWpLroM1aYhJiiRiszx0MyslOCCpW0x8ZqTIwJ7Mkl7rWD9cBe8eDH5TSXIhhK4sshJ-BL4qu0YeqEpo8uds53V1woQshxAV6LodlTl_yVxuhUHNYgpCryGAK-EFTKFrqdScEE48xK16ce2w1P_NYtXXDbrTsR7X4CEufam38ngSizU8lCXRGF2Xg8tSbMvpyGfO3G7TNLACpZ4FsnL265SU3vdqiZCQbs4A2IqB6rCpfFc4DZUwWj778jCuk9RSNxR89qkFhB_GeawZYOpTa6ykkxaZZZ_ptfNBdnCSnZpm86IFTeoRaxoG8nasFKFOb4pVMdpSKzVf3XUeuJEi6pH-FhUozMhwVwGAIX_TzOhwmOF7LeLRSWofizI0jn2W-4ZRnwqMX0jPTQ3nwzZFpwiywvQLgHGGsdKta-hMQARISDRj_VKy1kM3BeXi607ZSx8lsMTadPW7WluxoEHA28kvpqxkM1W4GgjtWbTQ4HaqJc7OMVFGc4AWchs1YPTf4DRCGfN4I69rqQCUKnD5ZytUgP4au6vTa5AcXJQv6pjEODXZeuzaoA_nDezvMQhYRuzulGcq25k96aiglBTAgXvILrlNsGOI91kk5O-VF9sPGjs3cMXcYTUfrbqHc7qt8rFhQqLRnuQce25RXuTv5Fn5w3MWWRjC_CEDMqDufI4gU1Pq53yMcvaXo9ehuSxiq5RrU9kgcK_lBjPmrva5C-c2q2agTx_vz5-bp-7zrNqUXd8emjo-I-5-p5AH21_ab8FTVK6OCI-l0NsjKIOQmQC5rtyBVEa1XjaFHzXLYKlO1tfc4Y2EvEMsQW4CqTD9tXXO2nkb58UUSKvkoMEogcu4mvueTuuEbxmeHo2m33xON7DZIjI4dYJvA6CFVzm_hE3lgHFEjrasq6XRDrbyLUPZkH0NQ1I5fKGNT0XL3YWkMpr4udc_vqnHC75MhuQWQdpNybmBZIrZa7DS6rXBoDnD2Dpu2cb8aytZXf6bGP4PRPd3xuEhyFasTlQ1chsfe8H-PvsBLOlM3cnAgyqNXLnkDKWdoXrVJkEjV42YggwEahJ3-Pf9B9ohLsKprZYaI0QxbGyiJtzmS1XGX25SPlYU2BPY0QB3o1ws9mAwTB8qpUShr7TJwXf9BktmJlj1eBZ5_LjWHkBpbY_9o2BtvzpeKOwVxS-cImquMgJ6S9-FshbCdSs90TlRLEH9Jd_fIjeQTjBw_9fQAJUCmgPePBXZ7ztioO3RSBo7tluGXKq5AYb0n7151XZ1zcaV5FOTf302uYTcdUEHrO7zsZJvraJCkvKeADV9FcoeMCOkZFCPPTpqJU-UN7P9LsmnGs4HH-TyOjsC8MN3JdZyOEemC800=",
  "id": "rs_06274f8033187a80016ab44a14608887d08ece61422e2c1c7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.15,\"right_z\":0.13},\"note\":\"The bowl and fruit now overlap closely in the wrist view, with only a small residual offset. I am descending while nudging slightly outward-left so the fruit enters the bowl rather than catching the near rim.\"}",
  "call_id": "call_Z5B4LUNgoxzrTRFdj2hVaCg1",
  "id": "fc_06274f8033187a80016ab44a1624b887d0b65bc4dbcc62d4a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z5B4LUNgoxzrTRFdj2hVaCg1",
  "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, 0.8265, 0.6132, -0.4683, -0.0139, -0.0307, 0.9913, 0.4038, 1.816, 1.8488, -1.1763, 0.2157, 0.1684, 0.7109]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0 left_pitch=-0.1118 left_roll=0.0015 left_gripper=0.9913 right_x=0.4066 right_y=0.1365 right_z=0.2154 right_yaw=0.0735 right_pitch=-0.5348 right_roll=-0.1459 right_gripper=0.7109\nstate[joint_eff]: [-0.1162, -1.265, 7.1863, 1.8193, -0.0611, -0.0513, -0.0073, -0.2393, -10.6735, 9.3333, 1.2381, 0.2662, 0.2222, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c891c26151774a1b6c7305a4adefafd989cacab443167af8b1ae7e3911b837",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6201cf5bd3f35cbb4f69fc2d4a4c7a28da8f6b98a571914dcaeff2d530caa7a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06688a672c21a84ec4e0fc010fb6ff48b26b92cd2eae2dccd2c0ceb4a6c74396",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8181, 0.6132, -0.4423, -0.0139, -0.0307, 0.9913, 0.3305, 1.055, 1.1942, -1.1027, 0.2096, 0.1501, 0.7028]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.165 left_yaw=-0.0001 left_pitch=-0.0774 left_roll=0.0007 left_gripper=0.9913 right_x=0.2592 right_y=0.0539 right_z=0.2358 right_yaw=0.0432 right_pitch=-0.3659 right_roll=-0.0903 right_gripper=0.7028\nstate[joint_eff]: [-0.2256, -1.4701, 7.0906, 1.7509, -0.0611, -0.0708, -0.0073, -0.1846, -3.0564, 8.5538, 1.453, 0.0855, 0.0073, 0.6081]\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, 0.8253, 0.6132, -0.4538, -0.0135, -0.0307, 0.9913, 0.4049, 1.7954, 1.8332, -1.153, 0.2157, 0.152, 0.7089]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1608 left_yaw=-0.0004 left_pitch=-0.0961 left_roll=0.0009 left_gripper=0.9913 right_x=0.4069 right_y=0.1372 right_z=0.2208 right_yaw=0.0899 right_pitch=-0.5092 right_roll=-0.1444 right_gripper=0.7089\nstate[joint_eff]: [-0.2393, -1.5658, 7.0085, 1.6386, -0.0415, -0.0317, -0.0073, -0.8274, -10.6598, 8.6085, 1.0672, 0.3492, 0.2418, 0.2906]\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, 0.8265, 0.6132, -0.4683, -0.0139, -0.0307, 0.9913, 0.4038, 1.816, 1.8488, -1.1763, 0.2157, 0.1684, 0.7109]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0 left_pitch=-0.1118 left_roll=0.0015 left_gripper=0.9913 right_x=0.4066 right_y=0.1365 right_z=0.2154 right_yaw=0.0735 right_pitch=-0.5348 right_roll=-0.1459 right_gripper=0.7109\nstate[joint_eff]: [-0.1162, -1.265, 7.1863, 1.8193, -0.0611, -0.0513, -0.0073, -0.2393, -10.6735, 9.3333, 1.2381, 0.2662, 0.2222, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c891c26151774a1b6c7305a4adefafd989cacab443167af8b1ae7e3911b837",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6201cf5bd3f35cbb4f69fc2d4a4c7a28da8f6b98a571914dcaeff2d530caa7a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06688a672c21a84ec4e0fc010fb6ff48b26b92cd2eae2dccd2c0ceb4a6c74396",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoflkp46yG4IB3gW-GsEHoEonAK6XAyR05Y1-doFMDoY7zJJMbOSqeZVJvVgfpUDCZykX5Y_KkIQilY_4-lPHW9fCn5gN9plTqGPFTJGRouNh4SalK5WzFrcX7LY8VmEiZcSKgrVC3ByKPNls0V6dX85oDJXm2d_w5nH2P5y_wdaAZ3Ru_w15B0imB-FrIKb-yShT5hDzkYnzTGamPrTes0QnMTIi-eLCvHci7gVSDN7ahVtmdpriyv1QohJq1L9Ikz2ZjmDbeZ6DElLiCk7AAunRXV1BnVi1z4fkGgIze9h4a-2Ecp2A3G4Kp-RSjxnq4rmso9NE9WVh59LusbW2AM0VT7UgLgZt7gAkw986wW9uh416T0ilALhRPLBid1WgeQUCadFf5PiiPUqQtsRH8IHRylnTmJSJ2UPAfwIWu5JYEd2ACHstNv1hS8k0GU_kVFfGykWaCCMmtUghzYI2ecrY8NZWYLrpA3mGED5wxL3XDUX8fwn7OgfldR5prJdVLrAoNbIWf4bWf8PgnZPTDMlcyi3XLDp_hTLrSWwaGeiOf91jxIUnm0KhqYGS4MtS-699mteTmL8N8yiuIgzrMqWWSAvCOLIyr_4BVQ7Y-ZtN809VD1LKrI5T49ikGSbIRTqk9pVpo45_zAKRmQuycQHyL2Uiyiy9SajBe4SC5Os4NvKUnHV6mImdFKVuowedXKydZQtJC1fFtz0OzWZJzDhkEvzMtU_mS7vctqq1qoZUaj-YRQWzrBwkEWPo1sJAF3m8B6ATifA0oykrr0u2234Vm7PmfrULR346aBVGH3MCBScFQTf4LUsk6iMovbu790Fsvd3_7Hwxdjmby4yVKpF5QQKB4N0FRmqpn2GFuNAdmznHl_hPUADfFO_whxU3VgbEqmd40KYWOlbfLYvE0cIpiqwaVcBwxeQt-ivxVLkWretqEaCvMu0-UsS2tRgmI_bYfg2SxrFOAphWUlMh-gCK_5P-UlmyNKZ96erPwMEBI3Dd6ZJic1TJ7uJfEK8KM4VLzK6rOfZgCSCtdWFDy7QhV2BY_tjOC1QdpDq8eDTYAcVnT3EEJGwUYc56vTSgxHD3HRTZZ4S6Wf6efEHWk_FApAs7juX9o7fMeCWG046J5-wGzaC-BT6lO_kaKFkFBI_cL3v1kPex2cfEYwbw_IlP4sNkkUWUTrqfdaIolqT1D9abA2KelFg-iDBXzqba8h4IJvQYaWgQcUymNFeDPvz9U2NsQ_7kippMH1o3ZO51AxTbELM6IvOMAfY5_VlS7KMm56gt7mDG82WKINZoFsx0j-qo4MVfl3N8WY1LFiLWDo92cBPicTVzhR7cG6eswDp1LZzWrt1Cr6ou6S8KgF3jKtAXo8F7K9cOgf08_QXNhoYEbHNlLZdlNGljA3HlDTD3wE-6C2oVRcPP9H-ENPhJx8tEVgM8H4y_W7E-DrPFmqcZ-ip04-nPT2NxkkciDqvtwiPPeq2KM08uwcYFnATyNrO5E2n5r0TAR0eTVX0c35au0reN2N9gcRmiV-WXlJkld8pNd5OsJZF3Oja4PGHJzs3Ju301lWUW1sdehZGiI2IXhBxJI8TnATkggKrg9BfXgGF1EYLC3mdNd2qwZDEBBP92colwHqiXEll0M8YAHtu2ypznBYrwiXEc_o7f5lJTcxbtHALjBa5J-oGl6rgbzVQ5thGp-5XOjixw_tTOKEQdORgECnVoEIwz0vBTmT1o3wdZNWphpPOLFCeC23DBkikD5hmPsgGMie-Atq_97X0q5A1ldVGGjABgYru-YyXHSpjPihG3PR53BS_DXUOsvfLgUZVbRrLPSzcONxtgnzFkt-HTV10JQSjIp27WpWoPyHGaFbzR7VcScsGqGWyBM4NG2d6XsJ3PofuhzuHIkTD4zNzo1Szb9BhzWOB1MVjieFuQ0WV5LAhwzF2n0az5KQ5dtppgeJZc9_FjKZ2BUgf3wSXv-CWM4UemcuRgQURixdxZ5U7rbZ6Ajpzhj8UqeI-Gh1bMGZFc6SNy1hnktQu-euGxf4gTOJnbK8nEuabX0iEqrdnVPdHnRCFf-CjWfhRbH53Gsh1ozRjKoFHR8SUrSHkrs_oWIyrC1PDnv4-2KnFhHUNJsjodMxpBkva5SSMDYlfiOr1HWfkyTfUv5o38GAmyFyHN-FjZH1mdlqyKWz7lz55pvuTGT1Fb8tCOdLXVLyoiOf3uaAl7PGSpawnaJa2XLOP49dzfjw3iFeVdRRvvDTyEOugJkaAd6gSx1FGpgTnkvXq8sjYC_e4Uy3mRXq2Z-PYCznNF6paxdwzvAHYupFDmQ1Wz2Etz9aJqVlHLv_QZV0PnYdGCos8NVVWdw-QyHuSMbtThKFU_BDmX9cvDKRkSq3yhyXuhUAwpJioLGjxBb3-kJh4nY-qONvYoCWJtoz-TtjIFy2uiGlPHeLv2elV1cnXrCGBiqKUushmrbLv60vJOk05WVvGYu37AXCBs84JILlACEyw6kouIgTKzAOsETZBmfsDqvb1QfPR20CARy6jnWYeGL0d7a7Zn34NTzP5-4iEicaeSqmpqtmjyDuqbQujS56AgNsSNs9Tu9_A4Fc4j473x0iSlrGOdfO7MeHnU-WDUxQyOmoVGOEm8hQoPSvP9kKi3aP6jvKHQ8l13-rnZZ_25TT5yWaXrdCEQLzt192DwPw-23_D068akpX1rSeitj2ti7UaK0TFwiz50CsLjSbp4tpUVf5oC08YP2SWm9YMG69N6KoIZSh70NycozUTCW_lWPunDhnvLjbsQCqb98m9JDgrPH2SyUC3oRIJtYmWHlcERcOykImQTsUWXetxz7NoE_c65xTG3Iqmx8v_v_WUXV6ZlCuwSrV3HiKhYWhtE_eSPWTFFsJEFQqcpQUV9ge4a2DA1hmmr5gHDwxys_n8SPy57BOIqR9GWsHfh8jg2pP7AJx0R21rDoupQH74ki5FJNYniE3VJaga3wl5pCdv6GGAMGLgrgnu-Ok79UUCTJ-BeqncGQDvmsv21dr_gQJB5aM_VxW2Nl1Gm36eWyKNV5fQz93qhJpgfUcmlBObOaQZGltQrYyboN02WWJaaBq58vOV_aLPamS03Dp6dAFQz88s2qN02EtyRqSMjx_pQ_czj8MjmgcB2waWbXiRJU130gcy2PJ42QFbMgsOGoCUgp853lgFwDGIIWpwm1L-SyxnFPEFmP3AXSZUBIfoRsYvxDSVL8lQuY9f7Mqv-_bMe2Lvpu0teT_AlFNIH1DXb7COY7R3PPZTRIYhBvjnYbj-7eJgFo1hrh7mt4BbaDgYDCvQwvTbke6yjFIPSWh_djvSg3ugU-s_NTZgaYGGWAKvUjDJ7yMd2USgUtkRrXCswPBOgXTVLFHQhaaeGSx68sv1eyT8kfRqrhObZuN_CsvsJ7p6W8zZG3ZGJHt3TSoPMuepWkctPyVSwDjZSskAnVa51Q5tyLu5LFdNLg5oRWGPMoE2KVS6zW_Lnns4IjapzH3FU9Y6dO0n-WLPEflVBaJWZhl23wcFaNjW9H0FHfVwCya54-pcR7YSsF1rLw--0u9LkzpI81kNbbGMz58f7BF10gVs83om3IhIfraGVyraUjPGx8CBW1fonBr2xRtl92ayjpl4Z5BhMORlQsIv15-VgIyFEfPR6Q3HpspauzUnGX0JKSGiBUJMhoxtEPOVt_yyqW1PUkwfxIumb6qKtSvFKxYrkhYKY8tciUUMr-3ALC82Fx8ygyAiJ_i2UScOuKVw19yuLOBBoDYyz3Me4HnEG4qsJiC89DjY_aruq_sh_7WLKDB4rdkIXmtGe9Cmzzn4LjNM1HKPDLKhTo0LECVysYaRWrkVTLG0-IA0YLyWUR-FZZr227QA5f89tt5sByMeNIH63H0A0aEZ1aOEo1uBMqI953RJ7EW0vX8wLjg8JZTRR9ChLkzBN--TBVrSQ6S3uXXrvIT_7E9oBO3AXHY2tcOzyEGhHy5ugPqkVPaaWbmBEEjRb7DUTEH0SdgXLSb6o1NndckwhkzyRJJaYy2_f7hmP4CwgYN67vDC2TQsrBqVtm58txIh9715LX3LTGj7RDR8iQmNkjC9wvp7ksIoXoPzNcdPDEMzda-0c_CRRG11f-hum5mA-2V5S6sO3yf0Ig=",
  "id": "rs_06274f8033187a80016ab44a187f9887d0aaee86902b9cd321",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEofIBy6V72LMkRwYJH_iUb3akbsBS1YMHaMqkFX4jLOl5QM3_ZlKwPUEjYXsXb1iVfMnesjXcM9vjdQKkF9NrXfaEUm8Lk5txCWVgQV6YUvMbgfdIWqm7btJ9UFQNdIw54-hGXfTkODuXPAAsywIahv7JHFdN8mmO_PmqPCiM5ee0blvzlvv1XhbVc1lgaFkkUIxDMXd9WzkJU68qQLBB3FtUKqnKC2ZQMhL3hP-ffHiICalKWnLw3OLggv6WXuitAPSvewBk-Xk7JmlvLGEeX4jBjoPpClPTCHPFIEFixtzPscPri8JfGHUYF7SseSiI9w7P3mFTCIeJqSONwAIij9GAFO4Vs9S9UbSDcRXXw_B-y_FNg9svaYsdi85m5KD2eYd2ImqxNbgJTnyGzJCKSAQFUVZTx3AX30L-T2X7Fa1Un8B0p-bAMWoeGXMN_XFak0GbbJZQvBUBadOc7b4mZRERMXpBQCYMr-igMJbNTrYhDfWKHJnqCUhhNXbXZr5PogyScuA01h_FiGYcieAQW7sIj2TpIKHQG7wuqzEk1ObroYuwZGyBTIWEmEb4mmMrOWFHJgGydoXMqP1OGOMoVWiOiaipvnSsE8v0P6aEZwANk2xUTHBypj8yFt3sOcRfT1cCwv_gdzxs3LcFluD24bfwWLsLsZwwNZyzOLjgUsUQAr2-o6BY1kweLpsCAQOwFhWJyYwMtXX1aXINbkJ1ob-UMdbAnkl2xSmHmErZKPDTVDqCWQOZBOiWVwhz405r3OE1Z6CMZKk-_D5cx0Ml0iZRcP_Y9lR2sRHMdVCtUXvsy-LYtew4hiWMw0DUHT8PnXytT67u1M59MJ0gg5xQqm1yaF2C6Qct1H13CKuzdizmllYFAR6UuG1NhFWTc9z61g4IGAibf7e5Ncz2FB_Ut5ZHv3L2bYK1Sf72PvwTztF6mPUoyPt1ggwNjOH83DsYpQ_PZI3D0l94b7kbcgQMiBxI-mHSmo2hND_ca9gfhl-IUCjd6CHJeh5DtKhEy-obPc7syQwX2d7scfVHWZ90uDK8Pnl8PmNHQGFTaFYWuIA5RL4aJ-6yLikGqc_-ZUvJUQmH8C4bQCxmqPyja8sZpzQg2ae5iC61NX2EdcAtHbuhkwXVGjCH8pAVNB4aXD9kqkZxqpm3CUNgHAa3dkdU82uWBGj2DbtiYMh4H31ssGtisrJ7R4qidym-CbwxC9GMl2qhw1nqCZszT-wUuC9usddaBQlCX8uJ7CZKoqrWGcv1fhvtsCQga_LVeQq5Es_TkaM5Y87jQkaF9LGpmmxiXgU70nFmo5KjSPvH-GyzF-RhNMvKggy1M7rhlveJdOrK8z",
  "id": "rs_06274f8033187a80016ab44a1eb62487d080718e2a9e8bc86b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.14,\"right_z\":0.24,\"right_pitch\":-0.2},\"note\":\"The extended arm is stalled with the wrist pitched down about -0.53 rad, which is limiting both descent and outward tracking. I am first restoring a less drooped wrist angle at the same lateral position and high clearance to regain control authority.\"}",
  "call_id": "call_2K6obNaFtOqwV0KxMNERB4UL",
  "id": "fc_06274f8033187a80016ab44a1ee82887d0a54fc279e0c9cf5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2K6obNaFtOqwV0KxMNERB4UL",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.4755, -0.0139, -0.0307, 0.9913, 0.461, 1.599, 1.4673, -0.8192, 0.3195, 0.1558, 0.7132]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1553 left_yaw=0.0 left_pitch=-0.1228 left_roll=0.0017 left_gripper=0.9913 right_x=0.396 right_y=0.1387 right_z=0.2098 right_yaw=0.0781 right_pitch=-0.3241 right_roll=-0.1723 right_gripper=0.7132\nstate[joint_eff]: [-0.0752, -1.3744, 6.9538, 1.7411, -0.0513, -0.0708, -0.0122, 0.335, -10.5504, 7.0359, 1.8632, 0.3199, -0.0415, 0.2222]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d332d6780f7d7bf67e527adac5edbb717d2ece0d0fe4779d45b97bcc91f4883d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb153b52c848853155a18864bcd907061573283c20c7549ec246390afacf661",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbb33de351a5730891c327b13318dc9225b498e3c1663abace091b22b3ddcdda",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 61 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, 0.8234, 0.6132, -0.4503, -0.0139, -0.0307, 0.9913, 0.3328, 1.5703, 1.5829, -1.0634, 0.2043, 0.1303, 0.706]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.162 left_yaw=-0.0001 left_pitch=-0.0908 left_roll=0.001 left_gripper=0.9913 right_x=0.3743 right_y=0.0953 right_z=0.2283 right_yaw=0.0512 right_pitch=-0.452 right_roll=-0.1243 right_gripper=0.706\nstate[joint_eff]: [-0.3214, -1.812, 6.9675, 1.7118, -0.022, -0.0415, -0.0073, 0.0068, -7.4051, 8.6222, 1.4774, 0.1099, 0.188, 0.3248]",
      "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, 0.8265, 0.6132, -0.4683, -0.0139, -0.0307, 0.9913, 0.4038, 1.816, 1.8488, -1.1763, 0.2157, 0.1684, 0.7109]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0 left_pitch=-0.1118 left_roll=0.0015 left_gripper=0.9913 right_x=0.4066 right_y=0.1365 right_z=0.2154 right_yaw=0.0735 right_pitch=-0.5348 right_roll=-0.1459 right_gripper=0.7109\nstate[joint_eff]: [-0.1162, -1.265, 7.1863, 1.8193, -0.0611, -0.0513, -0.0073, -0.2393, -10.6735, 9.3333, 1.2381, 0.2662, 0.2222, 0.2027]\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, 0.8303, 0.6132, -0.4755, -0.0139, -0.0307, 0.9913, 0.461, 1.599, 1.4673, -0.8192, 0.3195, 0.1558, 0.7132]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1553 left_yaw=0.0 left_pitch=-0.1228 left_roll=0.0017 left_gripper=0.9913 right_x=0.396 right_y=0.1387 right_z=0.2098 right_yaw=0.0781 right_pitch=-0.3241 right_roll=-0.1723 right_gripper=0.7132\nstate[joint_eff]: [-0.0752, -1.3744, 6.9538, 1.7411, -0.0513, -0.0708, -0.0122, 0.335, -10.5504, 7.0359, 1.8632, 0.3199, -0.0415, 0.2222]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d332d6780f7d7bf67e527adac5edbb717d2ece0d0fe4779d45b97bcc91f4883d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb153b52c848853155a18864bcd907061573283c20c7549ec246390afacf661",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbb33de351a5730891c327b13318dc9225b498e3c1663abace091b22b3ddcdda",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEokAdswEUPQxW7_svOtfwapcVnL7_uABvGJ9_m7Cfwr0EuM31s_qJNmx24-o-_HygKnKqSwXo-bKvOzYwVWm2Cxj0aF68eThoN_R1ZyT81Ja0trMGS5k02IMjCw8i3AkTMVHbpBHvF3Jks82J685Bfk1w5HA7n6HCleq576HLvS9nCU5Vemn6Mzc_mtfhVQi0pExxWHUekKXToD9kXduywL_PVhblKPlIXyNtg94C6FWdio4Hrm978MxJag8Gg6xXCvQ1Jrbn2Q0hPwDreEvwiu52YQHZ08r42Gg9wyljT6tFSSHOrt_2sy4_Fx7EC2_ptzlqCxR9GjBiiqqbbeX4aRmNZY1YTbs4o1l_HbBtATpENQc_1GGWhpzt2KmUrpKA1XTtIQbjNaUswiuIsz6FIYe59tax3ikBdONtNJ6s558sJnT8C6MFv_VpZVe0xnCj2JY8Z5Mu7TG--rvLWM19vu4DzTJ7_nBVHeAvs8MPOLqtb9-ublcDhh8ImZBEJRnDf0Beb19PoX4O11aucIEF0PaalKPZH5fi2PZGdVegAM_GL-1ytghxBRgU_ShN5Ok9U4pM4D_Sm8PrGz_bIv2riDrZjiQKB3yVFXhNsJAeRVhVpGlCKT_gh0UHGSkGU0JPp_36gRJFiQ2K1jMtwFevObVdLHmVAflSP8iXxMhVR8DV07d7EJyJtmn7QFbMpgJGJ1Ph9DKkrkuXBx_vOvhY8uSo5nytpmhsTCJRTmOjwokmD5liyFhdTaQhAc8ipTXhzDoUsSn0oOmDRoc6BNObABr7-5xTqwaYzol4PDHuRxzfFhgKnXmYC22fYuQ9xaAxta8x3OQNqt9XFwr7mvFAGw6UgZYiT1wkKLfilCvWXrfBTQKMT4ZFEtZ8skbgA0PcKJNcgkBFTTH53e2wCtIPqcdSHqj0H75zimJAAONpXZUznogC8EPWJPIs1muOdIxUrEBpMPjRW4a3Xd-tEA69WtNlBOzt4VwN2XU8OgS6FOPaPVmwDNfeDFi8EYUO6AivBUt181FZrYk3IdJ98K5KH1ZlIVZg9gMIXtt60mgPgzZI4g3vhofgPyES9TIYfaCc0UBpfXNFXCiGmCpWqcQ4B0WJ9rwNnSKJQ3us1gs05gjywqbiQgXQMLZjYy0TacnRzKcGEPHT3FKQHgOP9t4h4Rgrr22TO03guRFs8z66v7ROlSRLdTi1dlkVYt9wXEQ-jFMuhdour3xRxvL3Gt0KoH5rHHY-_knxc3CIWfJkmXeTCAjyBXSwujj4dLTRmy4oX0fME7geFJkiU322xGABL2xqi0uAPbTzclW8C4cC8D9ENiYFk896bvAWBzjr0UdHmUeucNyHQ77VfcjowzKSiVY8zRQOFsOt0DzcXfnfpteZ-XtcDn9noekyuN8uCX70H7",
  "id": "rs_06274f8033187a80016ab44a22a0e887d081deb4b3e9caebe0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.14,\"right_z\":0.23,\"right_pitch\":0.0},\"note\":\"Correcting the wrist pitch worked: it rose from about -0.53 to -0.32 rad and the bowl is now horizontally centered behind the fruit. I am continuing to a neutral wrist while advancing the grasp point over the bowl.\"}",
  "call_id": "call_dottFqeXHrkakGYnttakL3yK",
  "id": "fc_06274f8033187a80016ab44a2316fc87d09b1d7f82d9d0e83e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dottFqeXHrkakGYnttakL3yK",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8314, 0.6132, -0.4759, -0.0139, -0.0307, 0.9913, 0.4637, 1.5574, 1.235, -0.4423, 0.3744, 0.0692, 0.7152]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1549 left_yaw=0.0 left_pitch=-0.1243 left_roll=0.0018 left_gripper=0.9913 right_x=0.4183 right_y=0.1409 right_z=0.1931 right_yaw=0.0991 right_pitch=-0.1437 right_roll=-0.2043 right_gripper=0.7152\nstate[joint_eff]: [-0.1709, -1.5248, 6.9538, 1.6386, -0.0366, -0.0513, -0.0122, -0.4444, -10.5368, 7.4051, 2.1758, 0.4176, 0.105, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f57b1ffabe0f5cdb53a48254edd5fc276ef0d96acdf49d51432edcdad527de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609fbfc1c27bab9ceb31f5b09bb8a1230393f6b89edaf8ac8a81569498ae4045",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047b05e8813397eb295bf8686336cd863fcb359969872412961a216bd8b79dfb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 61 changed as sent

message 65 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, 0.8253, 0.6132, -0.4538, -0.0135, -0.0307, 0.9913, 0.4049, 1.7954, 1.8332, -1.153, 0.2157, 0.152, 0.7089]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1608 left_yaw=-0.0004 left_pitch=-0.0961 left_roll=0.0009 left_gripper=0.9913 right_x=0.4069 right_y=0.1372 right_z=0.2208 right_yaw=0.0899 right_pitch=-0.5092 right_roll=-0.1444 right_gripper=0.7089\nstate[joint_eff]: [-0.2393, -1.5658, 7.0085, 1.6386, -0.0415, -0.0317, -0.0073, -0.8274, -10.6598, 8.6085, 1.0672, 0.3492, 0.2418, 0.2906]\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, 0.8303, 0.6132, -0.4755, -0.0139, -0.0307, 0.9913, 0.461, 1.599, 1.4673, -0.8192, 0.3195, 0.1558, 0.7132]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1553 left_yaw=0.0 left_pitch=-0.1228 left_roll=0.0017 left_gripper=0.9913 right_x=0.396 right_y=0.1387 right_z=0.2098 right_yaw=0.0781 right_pitch=-0.3241 right_roll=-0.1723 right_gripper=0.7132\nstate[joint_eff]: [-0.0752, -1.3744, 6.9538, 1.7411, -0.0513, -0.0708, -0.0122, 0.335, -10.5504, 7.0359, 1.8632, 0.3199, -0.0415, 0.2222]\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, 0.8314, 0.6132, -0.4759, -0.0139, -0.0307, 0.9913, 0.4637, 1.5574, 1.235, -0.4423, 0.3744, 0.0692, 0.7152]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1549 left_yaw=0.0 left_pitch=-0.1243 left_roll=0.0018 left_gripper=0.9913 right_x=0.4183 right_y=0.1409 right_z=0.1931 right_yaw=0.0991 right_pitch=-0.1437 right_roll=-0.2043 right_gripper=0.7152\nstate[joint_eff]: [-0.1709, -1.5248, 6.9538, 1.6386, -0.0366, -0.0513, -0.0122, -0.4444, -10.5368, 7.4051, 2.1758, 0.4176, 0.105, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f57b1ffabe0f5cdb53a48254edd5fc276ef0d96acdf49d51432edcdad527de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609fbfc1c27bab9ceb31f5b09bb8a1230393f6b89edaf8ac8a81569498ae4045",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047b05e8813397eb295bf8686336cd863fcb359969872412961a216bd8b79dfb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoozkywGQJkHFVE0IwFUNfuI2K0T3RS92vPHF_9KyTD_tTIxrNVORTsctt9cDXtCAClkL11ppRhR7ZUrixLvNiG7g0hdN7WzmxjyddZcSInkc6XKofC-of1_jIfBHYY51YJgdpQIQDnwESkiJ8_ZvczmcdX6PnafvARnzibZSY_tqoBpNxoyM250rN5x7fYn_5oAy9SOjCvrw4ubW-nijWoIQTHVJhXobW4reGXW3PICl7gS9kACwHTRFUGlHyrHkhDWJOm-zYu-Pfbnp2cdCUt0TQj7vChoDV_slkuUrby4TTKhuWEhHYmhsdAIYZTKLrqMoawPQ1ltNyI181hfRzkQ6Ha-uQYkoa1nTdRoWzU2f_GvYT6K_iOezLN8l214ia2nLsNjVW9oIlkbIcI8bR9sjOmzvnxi4XEV16HscdAuvM7hBKSiYpGaKNOIyCdh_5Iv7HvuCQdomPKCZ6oYOvQ9V2zVvtTVcORPK1yWGWTsz79C--pZF7-UQPeQDta4hkOz_7Tx_MN8_GvZ5xJuAonxJXAbrwtiB7fHTlYjI2X5Djnk-IT0uFrAmeyoif2N52n7UfsaEJtYtQveQm6ve8Cjib67wVNH-weEuZTcLNI_20fa8rnz7yiKyMgCnBEHUL15Err618tsDSjlKWRFW1fltMu2C80cov6mUVrrZ5op7_0JHSphxIJbOcKGSw2y4M3uvDndaBaoQdJ1fOxJVk03Z3btCGG0XegUvxotJeEGsC09ezjgE_bUFZZT2x7T9KseYZSuocvTag9nza6zpJshsu6dhUUxspRRPEMC3ME8A8LcH_0CzP7kn_pO0-FYZ9mXoexuxOu736UveMRfmLKc2S4qnP2zGasZNPXbW-LDdcSHJZwEY9uM3PDSRwS9hhh_gpJuT9QblhMwbd11JvCZE2BusZEJtcJRNLYpveDsPTUZnz1rL37yNMSHYlHvxxv6_c4ycDebrUbt6fm21ioIiVcU81W7aj42VXtCZ47TI5IMgqEpE4Np0iRJWbec5kLLHW7wY0IITbuLUheE7ifbyM9HUm7VH3IcSR99a6KkIp3UsdP5CRNCm52BiW_dbBKJPLnrqSx9k570z3m1BxSXNvjbi00ANmDcdXzzes8WVTYlG1lqOzjlTUw36uqYUmc4cKlfka_iS9Vwpl1Ebpz9m-KqB_T3Iw3_6a8XMXdY1ylEeGg_wml_vGvMK_ByiUUDhMjqrWmoSnwooMZbrzS5HFihtiu5ovZjM6GyL_3BvARkdmn1Ou1Vm2lcLDc6sdZ_9f_K_r1Or8Scc9X0IhzwKjRQb-3_rpGfhw5dTQNeIXeAvPVd3eQdLDRL5djmxGXmUEiwN239tCIlzOtmx1efcLFuLuSda4KynI7LDVCOhw2LjQgOYOtAfX-Nh-l6VFMOxu6RDTidQMrDLDPU5wEOxfRy_qu3VAf0eNhm8YvQZbUDVhg3Wa3Tknzkh61BuOO",
  "id": "rs_06274f8033187a80016ab44a26d11887d0b64d0bb7cca65669",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.14,\"right_z\":0.11,\"right_pitch\":0.0},\"note\":\"With the wrist nearly neutral, the bowl has disappeared directly behind the centered fruit and is occluded beneath it in the overhead view, indicating good alignment. I am descending vertically into the bowl while maintaining the corrected wrist posture.\"}",
  "call_id": "call_6OGfrFniJFiJYMGHTPJB6XTG",
  "id": "fc_06274f8033187a80016ab44a275ac087d09b181b78c9081cff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6OGfrFniJFiJYMGHTPJB6XTG",
  "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, 0.8322, 0.6132, -0.477, -0.0139, -0.0307, 0.9913, 0.4629, 1.6436, 0.8787, 0.0059, 0.3862, 0.033, 0.7166]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1545 left_yaw=0.0 left_pitch=-0.1262 left_roll=0.0018 left_gripper=0.9913 right_x=0.4103 right_y=0.1344 right_z=0.0883 right_yaw=0.1083 right_pitch=-0.1395 right_roll=-0.2378 right_gripper=0.7166\nstate[joint_eff]: [-0.1709, -1.4974, 6.9402, 1.6386, -0.0317, -0.0757, -0.0122, -0.4171, -7.5145, 6.5983, 2.0635, 0.2369, -0.0806, 0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ecafe5a39727d0e788fdd4cd3d287f8f979a6ea6b15323d21ae69d294e9383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14c9e6792fc1097461777108067a6b63155245b87b5a1c423a0d75aa3f7c2d28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2f6791a6027b630784871c5695f7ea0033840e573fd77598909af1fb5f4d0c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 65 changed as sent

message 69 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, 0.8265, 0.6132, -0.4683, -0.0139, -0.0307, 0.9913, 0.4038, 1.816, 1.8488, -1.1763, 0.2157, 0.1684, 0.7109]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0 left_pitch=-0.1118 left_roll=0.0015 left_gripper=0.9913 right_x=0.4066 right_y=0.1365 right_z=0.2154 right_yaw=0.0735 right_pitch=-0.5348 right_roll=-0.1459 right_gripper=0.7109\nstate[joint_eff]: [-0.1162, -1.265, 7.1863, 1.8193, -0.0611, -0.0513, -0.0073, -0.2393, -10.6735, 9.3333, 1.2381, 0.2662, 0.2222, 0.2027]\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, 0.8314, 0.6132, -0.4759, -0.0139, -0.0307, 0.9913, 0.4637, 1.5574, 1.235, -0.4423, 0.3744, 0.0692, 0.7152]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1549 left_yaw=0.0 left_pitch=-0.1243 left_roll=0.0018 left_gripper=0.9913 right_x=0.4183 right_y=0.1409 right_z=0.1931 right_yaw=0.0991 right_pitch=-0.1437 right_roll=-0.2043 right_gripper=0.7152\nstate[joint_eff]: [-0.1709, -1.5248, 6.9538, 1.6386, -0.0366, -0.0513, -0.0122, -0.4444, -10.5368, 7.4051, 2.1758, 0.4176, 0.105, 0.1978]\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, 0.8322, 0.6132, -0.477, -0.0139, -0.0307, 0.9913, 0.4629, 1.6436, 0.8787, 0.0059, 0.3862, 0.033, 0.7166]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1545 left_yaw=0.0 left_pitch=-0.1262 left_roll=0.0018 left_gripper=0.9913 right_x=0.4103 right_y=0.1344 right_z=0.0883 right_yaw=0.1083 right_pitch=-0.1395 right_roll=-0.2378 right_gripper=0.7166\nstate[joint_eff]: [-0.1709, -1.4974, 6.9402, 1.6386, -0.0317, -0.0757, -0.0122, -0.4171, -7.5145, 6.5983, 2.0635, 0.2369, -0.0806, 0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ecafe5a39727d0e788fdd4cd3d287f8f979a6ea6b15323d21ae69d294e9383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14c9e6792fc1097461777108067a6b63155245b87b5a1c423a0d75aa3f7c2d28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2f6791a6027b630784871c5695f7ea0033840e573fd77598909af1fb5f4d0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEor-LlCKWxYvqrI-I6MzYi3uIj4xkpuNXIv6c7oYhhbev2z8ql6UXVghDNOH8mQW8Ye9ZgAx-sdAW1enhEGI66mQLP8cvluJEBEsn9T2kHNuU5Y4zx4iIWZrQsWv7nRK9a2-_QdpxVTEBxZh-XFh21KSmacKxSXLn5EcrtGmClzanfLrMn2hdigLyYTapPfWC7O55Fp-WyU4snmV0Audelaagc5ord9cF1ho30UeEMndFsl1J5FE5IlJA02RhzVTPDc4urkUX70y6KySyzzK8K_4jSnNTQiTWC8H2fUL5n0K053jOulS9HkJ_ixoYPzUI1zvC1RQNPHFqz8HUOMX2dpDSCmRsBFxXkHnDDZgy20OQmYWX85b4JBP3NT6CyfWxfhnp0sS7lHADC6nJsEg_wXfuNwHMvZ-TNcZH-2vCYwVppVtYhn44vyUpl9fM9JT8kziuaxpDTtlHrb6rcGY3KLDQXC5qDljjSISmNe1OhNZzGYsB1DTW6E7DlL5nSaNETrue3ERKVIOy0FXAvTfAz08YcUnVOYAr_QPyrp0BYiOJ4wMgt1u3fuM4sQnWfBaBLFb3pPJcwdxnRa3Vkq8zo5-Mp1opi0JSgt-ahBfzE2DUkrq6KPZTeoIxDi--4GScHnb6M02bvV84Qn4JhmY3UHHbgqS7Z8WSkVj_3a-4anMmYVJ8dbWddkANALLzO1dk7QAz2km0GWFdngDcGVt724eKmQn90oE8zh8HHvePMN9TlEmwj5Tfjqmcnv-j20A0MRcCxWPhR3bl5ZlI81RDcMtiFYp-MfaHrF7ccNNU_r8gPgftlBEfugOIuEhhacG5wPjeUwsJUKm1M4SZt4zCY2lzFv8WlXgw7TgJ8psYUpPCFEkO_4fjhq_MGr6plbs4vhDp6qOJqKXvhaXDE_zC4yr4aS_Ju_iFpRAj_0Hf5Z9te1m1YxQyKlcKETdluVGQiBwDZNJmGyPDlsOThLEfyrPCdgAzim3MNydfeCitboDPDgcc9feOOJo1nhPBm8MnfM_z9S38n3DUMyEUfJLH06IXd_vXz6l4pwiD0uvfWeFQM2cXhzYm7gZYvKGyMZ-r8tZI1hQC_yyPzWtM0DeDM_g91myTBvIR6-65Z8ACIb2MZocb_ycYXzIDizJ1b504zYPD4j_mzug1CNSlOHKroz392D41lCxyO6iEh3M-PtOlIJKUuMz2haSbmXI5TGZp_mdvA6f9VyMgaZfljosQZ0e4fxbMra2uca2YkZFnLptQ_nX2Tzma4CRoMQjdvjz2371yalONjoA9T3eC5h7B9nVuSO18jithRKbJB9fRjL8NEgntccwL3NgxaL88d4iqy3s13W46egQMCSgsHamHWCv220l8V5mXdTPJNLCj4K2NdjsrAEK0WSAH7sEvF_uH9P3OR6qIRe_4NC2194NKIPRsArzRGk5dJXFL2AwrTbP8C6DpoYLhGfRImxfa0TkiYUqsb3Yd85ybgpX5E09grMYiemRafswOBQRYqN64zqR_g=",
  "id": "rs_06274f8033187a80016ab44a2a848487d0b641bc305c495f08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The fruit is now down at bowl-rim height with the blue rim wrapping closely around its right side, so it is supported by the bowl rather than hanging free. I am opening the gripper to let it settle inside.\"}",
  "call_id": "call_QQD50eLSFnD6ZmbBN8nAgQKZ",
  "id": "fc_06274f8033187a80016ab44a2b050487d08152a8e0ebf63d1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QQD50eLSFnD6ZmbBN8nAgQKZ",
  "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, 0.8322, 0.6132, -0.477, -0.0139, -0.0307, 0.9913, 0.4629, 1.6615, 0.8627, 0.0463, 0.3885, 0.025, 0.9955]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1545 left_yaw=0.0 left_pitch=-0.1262 left_roll=0.0018 left_gripper=0.9913 right_x=0.4116 right_y=0.1346 right_z=0.0817 right_yaw=0.111 right_pitch=-0.1338 right_roll=-0.2431 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.3197, 6.9538, 1.619, -0.0562, -0.0122, -0.0122, -0.0342, -9.1145, 7.6513, 1.58, 0.0904, 0.0659, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ce3a58b75b72e319a6379635f99d61026e3a6e23603e63cc235bb15c2e57dfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5441b7665740816684532b3a7ca012b6918d2f9ba88136b54807016cd1b3b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c16fa15f040e8daa269a7af8b4fc636d1525d36215735fed272f39641be702a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 61 changed as sent

message 69 changed as sent

message 73 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, 0.8303, 0.6132, -0.4755, -0.0139, -0.0307, 0.9913, 0.461, 1.599, 1.4673, -0.8192, 0.3195, 0.1558, 0.7132]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1553 left_yaw=0.0 left_pitch=-0.1228 left_roll=0.0017 left_gripper=0.9913 right_x=0.396 right_y=0.1387 right_z=0.2098 right_yaw=0.0781 right_pitch=-0.3241 right_roll=-0.1723 right_gripper=0.7132\nstate[joint_eff]: [-0.0752, -1.3744, 6.9538, 1.7411, -0.0513, -0.0708, -0.0122, 0.335, -10.5504, 7.0359, 1.8632, 0.3199, -0.0415, 0.2222]\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, 0.8322, 0.6132, -0.477, -0.0139, -0.0307, 0.9913, 0.4629, 1.6436, 0.8787, 0.0059, 0.3862, 0.033, 0.7166]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1545 left_yaw=0.0 left_pitch=-0.1262 left_roll=0.0018 left_gripper=0.9913 right_x=0.4103 right_y=0.1344 right_z=0.0883 right_yaw=0.1083 right_pitch=-0.1395 right_roll=-0.2378 right_gripper=0.7166\nstate[joint_eff]: [-0.1709, -1.4974, 6.9402, 1.6386, -0.0317, -0.0757, -0.0122, -0.4171, -7.5145, 6.5983, 2.0635, 0.2369, -0.0806, 0.1392]\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, 0.8322, 0.6132, -0.477, -0.0139, -0.0307, 0.9913, 0.4629, 1.6615, 0.8627, 0.0463, 0.3885, 0.025, 0.9955]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1545 left_yaw=0.0 left_pitch=-0.1262 left_roll=0.0018 left_gripper=0.9913 right_x=0.4116 right_y=0.1346 right_z=0.0817 right_yaw=0.111 right_pitch=-0.1338 right_roll=-0.2431 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.3197, 6.9538, 1.619, -0.0562, -0.0122, -0.0122, -0.0342, -9.1145, 7.6513, 1.58, 0.0904, 0.0659, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ce3a58b75b72e319a6379635f99d61026e3a6e23603e63cc235bb15c2e57dfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5441b7665740816684532b3a7ca012b6918d2f9ba88136b54807016cd1b3b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c16fa15f040e8daa269a7af8b4fc636d1525d36215735fed272f39641be702a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEovJtZ3vBw_BFnqeBZYbN3qdfKbUnJ0JapOke9VGyKJLpenacT_9kiv1Z8YFNBLxHIQlCzD-djEpfz9K2DjhUMKFqcXm6PWlJZqiLrmjntD99r37PuITX0HWi36CH_CglZQsuv-K7SXzXQSpjgIZPMKZwHKnAMczCzOXcVrs5bGlCzqGbKpagw21cbdNrQDfiwXOopdI1Amjt91AMpzFvJyzejCD07MRVWPHpfHjvyZIDfZyvbIqLBoQO5I1XPxfKaxYM6qeIMF9g0vfrOlBtFO79eiB9ncObDOligQmobN_OYQTrbAModhxwKE496wFLZJVHyMcoddBCFXHl16oSXFJTM2m2ogyXQj5qCXJasMao3_7NwrbZzJw3EA6-350eTd0PMIr1FhX9IxuU_y9bhKbD1Znqpvgp3APRCQeO3GL7YX6oieX8fuqV5B6rSrTHnkV6tRU1IqIuvLmuekPWdomxAF4WQs1pDtk2k46UM_cIwQyd-M7U1Ti0H-0kGJSmzpIpSG2kjd3BDn4Gy-GkAo5MhPab2_yiWJgzXrwNCCmHse2whyvbjuwzA5-HhnZ7L9JH1EcfyfKYaEfYrxfKeiI_SeYdlYX-xEX5RnI2V-NJ7Dix90VEZSxMAfZLJsUdEvE9bs9WaVu_-KyicxMz-XWzP52p-bxmTBtyg5j1YHkgVcbmjHH9D15vFdWn8TzZxS87dPhfgeBxQdL71BE8LVLFHFwouoisrjua3nvOUHy61i9x9ut1O4Nqj96qcazY4PWfT8vZj3ZAr7jN1W93aUCEeOcVRtrz-fjWJ7SswNyDXbxU_0zygOGxm-WYUfTrbTH7SMTOvox2jrNGnEt82qzI7_qCWvBH45Y3x8f5d4Q7EVeFnyhXJHNShjV68repx6wG092L0d5vXOdW0Cy54O9qxC3wbM3XXysO8fApACOvYVgN7H0KWKvcHOpusgp489sV0Vz8l17E2cEGjZDBTaKJlGfpe48XpSTpDF8hyezWUrm5sdhvVN4RE0HAtzAMu1K8GfFwgIZbgbiIMDgVI8CvUq2W4Q7KFmldZs8-GVBM6ytzLBUcGg5rymSCVUiEslg8IoZwMCpN6ILUEwDBa0BphhaL6FERfJvP-uhUghEQRjfEtWpq-DJHJgmwJy_1t8pE_6sMUzTXeUOX2lb3qixHe2UMxf1iEkJVAwKLyJ5l8QeV4uzxxosHXmUJV35Is9bS6gcTG39otFPasdZvgW9lbAQvxRJ4T_DldbLY01yxkJgi4J1B349tTFg1c7B8j0g9MpKWA4J6fR75XKM2Vhefeyr897NjcMKywPd-Icaea05PRL-7QYehuA3N-QqVvhZnngbSDkaZ7wNcSjwkWShkvB-HboCgobd7SJ9T3okS-rLeboa9aIy1z1411JhrxzZeqC-u9YeEhmB3-2Cs2NwRkR57rkvK3P5Iqik3t9WIELicmsP567ssag5W6hSmplX42NQJNNFUl7KuZZbJeK8Kujcje4sAnfyBb_7u2vfIvSEi8YBtRTQXZIlZNINEBgt-6oxONkYoC-3bcgI1HCrJg-yITVcr51P30B5CD9R2DY_1fi9l9Jrm4sIyZa59e57_bOeYOFHijzoy3-QdmbPEy99-yvYELsqVh8Xj_nvkdkvpvNOFubKEG4FwxJm4rFPywqPqlueCHD42zMsSQlYkFvgv0dEOornj_EW58EJ8EVvWMgLC87IC_tRbanoi19cReH9K9PfEl5VxK4E8cNLjrfEZr6lmVj918L8ULOrKT4tMRpDOUGWclbpopIsimgA8z-67NmZ7jfLjDA0uixQdHxxNEseNIhQ3MTmDBmmKRiNynoB74YwHW5P8fmSnAAUQxvxpoIT79fHtjKwxhZ76flv4peGcEUhL1ynIaEzX-mTyMFI-rB2lYXdrZlPrRaYX8CC9NzOS_YmIqCAQ-t7-0tSkQJsHEcuXzcmE1H_8246WjabDxjAbM5AyHtxQyethxfvkQ0oIEqhGr1Zvi9AHzUDUviIyxFGQMPgCgjcyhEpXgwYvDkp5-ak5XU2vFy7OA10aXpn0QQJvtsN3ck0NGEjX7Zu0nacH4eSdPubquxhyGsODKOkONOlW07oQXshSjW6iXw1VS_6irq5INY3saD11-sdxfwl3LTGkXQJfoInAeZh5Nvw989SjcbI14mquJMe1loaUxtf4p5wKyZSg==",
  "id": "rs_06274f8033187a80016ab44a2d489c87d0b70e66702b63e361",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.2,\"right_z\":0.16,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The open-jaw wrist view clearly shows the green fruit resting inside the blue bowl. I am lifting away and moving toward the remaining yellow fruit, while restoring a neutral wrist for the next grasp.\"}",
  "call_id": "call_iDEYkwbY5pyPFN6y9W1mXWVZ",
  "id": "fc_06274f8033187a80016ab44a2f0f7487d0a22f9d0386bc29a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iDEYkwbY5pyPFN6y9W1mXWVZ",
  "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, 0.8322, 0.6132, -0.4808, -0.0139, -0.0303, 0.9913, 0.5011, 1.6329, 0.8513, 0.0051, 0.3889, 0.0555, 0.9986]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1538 left_yaw=-0.0002 left_pitch=-0.1301 left_roll=0.0022 left_gripper=0.9913 right_x=0.3981 right_y=0.1458 right_z=0.082 right_yaw=0.1314 right_pitch=-0.1526 right_roll=-0.2286 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.4291, 7.1316, 1.6679, -0.0366, -0.022, -0.0122, -0.1436, -9.4154, 5.6957, 1.6337, 0.2173, 0.1734, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0248fe1f4b78aab0200a19595f070da0ac0519b5c40d01cf0d365fa190cf5a35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283291f7ece2d7e1c0dbc91ee1bceee17e11c1cb0f1628bf8983514127efed11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ead94fff23b9048a39d98a69404991542c5b31499439e3bcc277c150956ecf8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 65 changed as sent

message 73 changed as sent

message 77 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, 0.8314, 0.6132, -0.4759, -0.0139, -0.0307, 0.9913, 0.4637, 1.5574, 1.235, -0.4423, 0.3744, 0.0692, 0.7152]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1549 left_yaw=0.0 left_pitch=-0.1243 left_roll=0.0018 left_gripper=0.9913 right_x=0.4183 right_y=0.1409 right_z=0.1931 right_yaw=0.0991 right_pitch=-0.1437 right_roll=-0.2043 right_gripper=0.7152\nstate[joint_eff]: [-0.1709, -1.5248, 6.9538, 1.6386, -0.0366, -0.0513, -0.0122, -0.4444, -10.5368, 7.4051, 2.1758, 0.4176, 0.105, 0.1978]\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, 0.8322, 0.6132, -0.477, -0.0139, -0.0307, 0.9913, 0.4629, 1.6615, 0.8627, 0.0463, 0.3885, 0.025, 0.9955]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1545 left_yaw=0.0 left_pitch=-0.1262 left_roll=0.0018 left_gripper=0.9913 right_x=0.4116 right_y=0.1346 right_z=0.0817 right_yaw=0.111 right_pitch=-0.1338 right_roll=-0.2431 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.3197, 6.9538, 1.619, -0.0562, -0.0122, -0.0122, -0.0342, -9.1145, 7.6513, 1.58, 0.0904, 0.0659, -0.0317]\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, 0.8322, 0.6132, -0.4808, -0.0139, -0.0303, 0.9913, 0.5011, 1.6329, 0.8513, 0.0051, 0.3889, 0.0555, 0.9986]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1538 left_yaw=-0.0002 left_pitch=-0.1301 left_roll=0.0022 left_gripper=0.9913 right_x=0.3981 right_y=0.1458 right_z=0.082 right_yaw=0.1314 right_pitch=-0.1526 right_roll=-0.2286 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.4291, 7.1316, 1.6679, -0.0366, -0.022, -0.0122, -0.1436, -9.4154, 5.6957, 1.6337, 0.2173, 0.1734, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0248fe1f4b78aab0200a19595f070da0ac0519b5c40d01cf0d365fa190cf5a35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283291f7ece2d7e1c0dbc91ee1bceee17e11c1cb0f1628bf8983514127efed11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ead94fff23b9048a39d98a69404991542c5b31499439e3bcc277c150956ecf8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEo3W3QV32kf1JXJ4U9oTsOPFcFHvRKJiVLbBije8GxetwyTnnta8DIENlnNPG2hfs1bALnwHjBABdgSFD82GfXD-23gwEEwmI5giCmz8Cp6q7n7gmo8a-64jU00LUa-RGQO2qId6dJedK_oKRehUzg15PavaDp3YiNX146RV7oKecVZm9VMf8qe0MkLPeuMAPAb-3DORzN5bo83TdBRLCln3vNWozKupqRR0io1pFg06kCkLNP9blka8Bwe50C5UJrq9NoQ-EA_7MxLPeZyg3lhHc-pr3LVIZqb40XamEaQJD1fPzNyaAdjtTQQEc50krDtMAzW7LK3IJOyYOfI6nyQ2Sw0TUqefSNxbkyvlwm3P-b2F7S_17DluqttATQQUCdzTgWXqIZZQ6CUsJ_YK1X7LVc3ex7x1bAYwWyhljkElQLOYO5sFEu1a_Ipp6sfFznN7bBWW9YlOhtBuEeqsGtAaji7aN8YKZOfVgxsRtSCkhvTWaQsaULx9DhEDtF3btiTF7UEoTeByMV5V4MvzbBUcUOCfnbDRhnnao6IDyRd6nPuRyRqNKFl1vxDTXEKc-xO9O_UWIGWkiK8_dXCWnzKXuBVi69qboT00q8bBsw6_yrzft2COSnJUZ3Ja4tIR2hrCKbWpDSLPLx0yL1UARWyRfFHZrtZ5xdPZsbMSwHW8cvydAtA1VOfHvgBT_PGILa-r3hl7RyqKo1WJVdTvoIxsntyqhvI9sjl0NgnMIBH_Fjx8Pcmt7_WD5cPbxqN9CUPGPslLAj00fqTEp8_rfxdXiRg4pBrAUl3zNxhHh6zeujSKidtFVBrBMyI3lI2_ZVKRKK555FTiETH10-CnqSRgj3wcmbzW1uMtAgr5zy-jkUiRCl3lkmuzl6nzxTB2b4YEjZJNatNJmLqiburdDoEYmLy-a2Zcy6lFK3Tg7EWlSiYB0KZeTRczjvbG7MLm1Z8rL28Gy99-zqUEsy4kurfv6rHn7-RcPKNHb1KlfYSmPIjC1lM9-B1ZKiLB5jVtxrXBLuZo1rgKDj4U4WIdJONIZFb8YDaihlMIMGvoOw107f-Q4AwgIul5FqFW1rzc210vpNVp2j3UbYmZfkktWRQQ91MU94euVqlzYvm4_GaTzkAzQNk7q40RrDI_iraOJAiEOXlGrSbRg0jqHQNaeuePvpD2AGf3ti_v8_sSEKTbIPGLilvntoyx6f1f7bHc2tGHnOSY2I4efQb4f5kj7M3ZGhxuLCzwhZE_zync2p3I6i06mB9F_jLIlIZP_GPX9gTN7n27z9cQQ70DtOWf_hPNZYA_-nfpRfzEmvL6C0pNNOpvfdWhd1Kwd8KT260SE3eCKEEZZ9rH6-fizycqqIIUI_YvIL4ITVPqHpEC_ugY08=",
  "id": "rs_06274f8033187a80016ab44a35ac2487d092f39a449021b940",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.1,\"right_z\":0.25,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The arm did not lift cleanly from the low extended bowl pose; the readback remains near the rim. I am using the proven close-to-base, high retreat to regain leverage before approaching the yellow fruit.\"}",
  "call_id": "call_85K0IxpIS1yscbdNkfYb5Ma8",
  "id": "fc_06274f8033187a80016ab44a36348087d09d22149f1377ad94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_85K0IxpIS1yscbdNkfYb5Ma8",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4911, -0.0139, -0.0311, 0.9913, 0.6224, 0.8265, 0.8555, -0.6632, 0.3882, 0.2348, 0.9985]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1514 left_yaw=0.0003 left_pitch=-0.1423 left_roll=0.0019 left_gripper=0.9913 right_x=0.2584 right_y=0.1075 right_z=0.235 right_yaw=0.1616 right_pitch=-0.0113 right_roll=-0.0273 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.2923, 6.9265, 1.7314, -0.0806, -0.0659, -0.0073, 0.294, -1.6205, 9.5521, 1.8632, 0.188, 0.1392, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0753c5ef6b2355dbb5094f4c06377349088b3296de0496737568c7335dd30c4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e9fcc292a012ddde17c814cfd4ab4ea2d09024d87714444e5c74dac588ac38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d4671a705d2feda26ab7ed7402e54ce057bc9c219aa58755d6d77f97420c818",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 69 changed as sent

message 77 changed as sent

message 81 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, 0.8322, 0.6132, -0.477, -0.0139, -0.0307, 0.9913, 0.4629, 1.6436, 0.8787, 0.0059, 0.3862, 0.033, 0.7166]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1545 left_yaw=0.0 left_pitch=-0.1262 left_roll=0.0018 left_gripper=0.9913 right_x=0.4103 right_y=0.1344 right_z=0.0883 right_yaw=0.1083 right_pitch=-0.1395 right_roll=-0.2378 right_gripper=0.7166\nstate[joint_eff]: [-0.1709, -1.4974, 6.9402, 1.6386, -0.0317, -0.0757, -0.0122, -0.4171, -7.5145, 6.5983, 2.0635, 0.2369, -0.0806, 0.1392]\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, 0.8322, 0.6132, -0.4808, -0.0139, -0.0303, 0.9913, 0.5011, 1.6329, 0.8513, 0.0051, 0.3889, 0.0555, 0.9986]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1538 left_yaw=-0.0002 left_pitch=-0.1301 left_roll=0.0022 left_gripper=0.9913 right_x=0.3981 right_y=0.1458 right_z=0.082 right_yaw=0.1314 right_pitch=-0.1526 right_roll=-0.2286 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.4291, 7.1316, 1.6679, -0.0366, -0.022, -0.0122, -0.1436, -9.4154, 5.6957, 1.6337, 0.2173, 0.1734, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4911, -0.0139, -0.0311, 0.9913, 0.6224, 0.8265, 0.8555, -0.6632, 0.3882, 0.2348, 0.9985]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1514 left_yaw=0.0003 left_pitch=-0.1423 left_roll=0.0019 left_gripper=0.9913 right_x=0.2584 right_y=0.1075 right_z=0.235 right_yaw=0.1616 right_pitch=-0.0113 right_roll=-0.0273 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.2923, 6.9265, 1.7314, -0.0806, -0.0659, -0.0073, 0.294, -1.6205, 9.5521, 1.8632, 0.188, 0.1392, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0753c5ef6b2355dbb5094f4c06377349088b3296de0496737568c7335dd30c4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e9fcc292a012ddde17c814cfd4ab4ea2d09024d87714444e5c74dac588ac38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d4671a705d2feda26ab7ed7402e54ce057bc9c219aa58755d6d77f97420c818",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEo96djBMHCjCNW9i_iPnFYD1Tp2v9o5Sg092itIwlA3fBQlXa7kGayDNuj6zDy7P4i79qGByYEs6TqfGdQXo1eSUlCA6aqXD5H13Ehp-esk8pm3XWx6DhcYVFgAPnshMT-SG2keysC04Dk2KqZf-mzRleTfpTUDGyjHyemgDJ1gyq2R9L9J72gzlqEbcYz2MuMd6D1auiFyh5vebGhee6iFrlC1NyIa_E_kcb60fvVCrVMK29HhpFVnVk5xekG2F_3mMF-pkS55faVq8Y7aYUzIgSnTLg4A_0NoHkKvoTqwkrsA3rPtAVEIgRXXGMnNjM457V3mj4b4uRkIYzFgxWTwsycaWT0DXxtseSL46ABpl0thPJFDhbHCmH6r58l-JaTqLqcC4S-mJRapQtJwIuvmA8vYj-CzAra0q3mjDShNymLQTTRXEM5UNRe5aUdwbGdphCDmiWCHvkdJ2IMYMrAnpyPxUbxNAEkq87SayJES2LzCfOTtSzL0bA6XqbID9s86t568yY3yqGJmSoxZuv5k2zeG9vfLWUERuhc28OxU5FD9nqYva0c0Y4zTGzUqEGtrigvTHggk3QhlUDyHkUDXrMnzp3ISnG12N9g7GUiXi9-4T7vgTsnX39nSkZxnibJMZc8X059YiCX0fGGUEaijDB6R8LAK_CANBoM43FdEKuF21pm1mGWF96570QObEkTtLdTjxjRTkbpzOKRuuKpRu6K7Y9mrzbgv9Oj-au6iClTGJY9hFjdcGDsFMxxQ7Au0ueNVSsp0oJb3TfddYbcnwwW0q8QkpbjM1OpFhELbCMgdHgFs29BjW6jAlBRhLxlmQ7zODko05-LTU4Jtn8tmP3-R-5Cl-J8TV2tB1eLleu1i3FfTf4kE8XEaOMKLCN7CAWEZC8O8_xu3h4UNOKDopT5OpytDe2DtD5eLAyITNSjA1MP-CpakeZV1vDYi47EkMeq_c76bau-veaDxwTeL7j60rdEScm5Ip4MxDBuCavVDgHlwijEH-IpzDsSfhZ1GQxU-oX0btyG2SnrvF-Mpacm25NYoVEhHw77jnG8loCAFFdB-BMySpbNvCVISX4uCFIW7-7WCCXz4bXm4xTqX7S-F7Uch7LNlqZZjSG9Gu-GREob2Y2vijc3CVc3EtzVZxci6BsO9e0i4pxbygSnZxyoIxGu_9Nl3VE7AZXCX8c2sEkUKi2pDNaJdf4BSW-5eE_nC1qS9RjhlP8as8dXcSRM_P1JeLpnw_YAalVD5LFNUUys2pebRvAu8igkwS0WWH94cO7pP0Ovl0g6kbZAl37xhJlKPUJ8216yjj8oYI412N1pRb9hq88yOZ1-GwNsp39oijD5zEm1nDXTc9zIh0aTciW8DLCeye9HqJV3_p3PNe4tpvpVvvvF16Q53vB6lfMP1npLatS99HKfnHLlWiiIWHsn14odnGsuh-KCqPcqjGfWTNVFnVT1IN8mZZwByHe1GSELD_DtyfRW9S4yyLSJLpVpDB2u7t8RK_TGiaGckU3q5S4IWUNK9qmY6OFO75_bict1xX7oD75TNd0osDuM5mAlLhQb3sdr3fAQk4DnxjzzdKnQyvEgibHezvW59FrFhLDGBW9PTuNZjL-wl3ndiapAzyDT3oHMRbOwpzbI0x08KJRWOyUaPGkskk0lo4EvCzj3y2a4ruXlLcFVxBW1XGsnptTxFl8HsASUOibEHlY--Ax5cJLMDD0OGGo1aUF-q1aTee4ujOqIhgXuMAvzqWZ6AoYHJ_scpsrLt1bSsH-jkCpVlvt4QaGKNTbNh5oQ9Gx-q6ohZvFwwaGm28vdgqMtbenIWS0TFS-Lr4cJzvI7ZPz9rYkidVZ9bphXM9xJ4LJ5OISK5TDge60YRolgspPcBhC39lj2vLCCvHdjFtkG7BHa2p2au04TLtRrDFNrNj4a9Xu7fK-JofxxWfLbo0Dv9f-TI8sU0L2S3553GyCjl9sTb9WPDjaKshmAuXj_Iu21ZQ_witFPicJcwfNlXPW7euS9uqqREa9qhiQfxyiINL0v-zAqPOAJRDadzPJpu2wZs66zGzudxPRGTjg==",
  "id": "rs_06274f8033187a80016ab44a39d3e087d08c7c483a42c98baf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.17,\"right_z\":0.13,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"From the recovered high pose, the yellow fruit is near the fingertip row and clearly to image-left, while the green fruit remains in the blue bowl. I am moving slightly outward and left while lowering above the yellow fruit.\"}",
  "call_id": "call_UDzV8JfYFvhWqtPsmlBRqaBP",
  "id": "fc_06274f8033187a80016ab44a3bdde487d0a023bafa086f70e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UDzV8JfYFvhWqtPsmlBRqaBP",
  "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, 0.8387, 0.6132, -0.4942, -0.0139, -0.0307, 0.9913, 0.8013, 1.095, 0.5629, -0.2295, 0.4942, 0.3431, 0.9986]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1496 left_yaw=0.0001 left_pitch=-0.1499 left_roll=0.0023 left_gripper=0.9913 right_x=0.2691 right_y=0.1625 right_z=0.1185 right_yaw=0.1945 right_pitch=-0.0845 right_roll=-0.0624 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.7983, 6.9265, 1.6239, -0.0806, -0.0415, -0.0122, 0.1709, -4.1641, 6.6393, 1.7363, 0.4322, 0.2125, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63944e6c5a8bafd52402913b41e1f19cd17c39c3a44574fdbafb31e1a926d85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6e1a9508189a3a442bc9c2ae28c93487b171a3f6982498ef8f310406fd41cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:273dbfefc9ffd79d4a2685133d42aa15e31545ac276769be9fd4336c6c5d7959",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 73 changed as sent

message 81 changed as sent

message 85 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, 0.8322, 0.6132, -0.477, -0.0139, -0.0307, 0.9913, 0.4629, 1.6615, 0.8627, 0.0463, 0.3885, 0.025, 0.9955]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1545 left_yaw=0.0 left_pitch=-0.1262 left_roll=0.0018 left_gripper=0.9913 right_x=0.4116 right_y=0.1346 right_z=0.0817 right_yaw=0.111 right_pitch=-0.1338 right_roll=-0.2431 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.3197, 6.9538, 1.619, -0.0562, -0.0122, -0.0122, -0.0342, -9.1145, 7.6513, 1.58, 0.0904, 0.0659, -0.0317]\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, 0.8341, 0.6132, -0.4911, -0.0139, -0.0311, 0.9913, 0.6224, 0.8265, 0.8555, -0.6632, 0.3882, 0.2348, 0.9985]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1514 left_yaw=0.0003 left_pitch=-0.1423 left_roll=0.0019 left_gripper=0.9913 right_x=0.2584 right_y=0.1075 right_z=0.235 right_yaw=0.1616 right_pitch=-0.0113 right_roll=-0.0273 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.2923, 6.9265, 1.7314, -0.0806, -0.0659, -0.0073, 0.294, -1.6205, 9.5521, 1.8632, 0.188, 0.1392, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8387, 0.6132, -0.4942, -0.0139, -0.0307, 0.9913, 0.8013, 1.095, 0.5629, -0.2295, 0.4942, 0.3431, 0.9986]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1496 left_yaw=0.0001 left_pitch=-0.1499 left_roll=0.0023 left_gripper=0.9913 right_x=0.2691 right_y=0.1625 right_z=0.1185 right_yaw=0.1945 right_pitch=-0.0845 right_roll=-0.0624 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.7983, 6.9265, 1.6239, -0.0806, -0.0415, -0.0122, 0.1709, -4.1641, 6.6393, 1.7363, 0.4322, 0.2125, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63944e6c5a8bafd52402913b41e1f19cd17c39c3a44574fdbafb31e1a926d85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6e1a9508189a3a442bc9c2ae28c93487b171a3f6982498ef8f310406fd41cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:273dbfefc9ffd79d4a2685133d42aa15e31545ac276769be9fd4336c6c5d7959",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpBexm8PgHAgtBB-dPuPT4TV6Y7l6xtUl10GqAfFYLPb4VA9gpgjTdxqvYjoA9yUjDpIyO5Fiu9Iiapmsu9x6LDKM8mP7cdBbPmmft_DxP3m7v-xs3SFS1rwX5WhOIRET7QlcjfsoqbbygrQHGsOTvPIt2Ctl6NCWMLCqfVQFwswB-4L6VZnbh24ZIxVKRjYukGMhGLe7y98phHpASNvjMU5aYcm7FE_p1HwDp0NvPEBJroHNM9CqAYKaRnN_5Eiy993L6HM4VYDvhMXZV4xO7h91qGoOW-trj8O67zF8pqjMgcMoohOnns6uYPPFRWTLlFWBcwyjVzDoZztWGThiZCEhBqWKCcQGY-rSSE3vEnXsE4om-SOUYVo-usO1Jb7jthk9gYUkFl221PLOrwc5mYIbeb4DOs5bvY--bj_FDxHtgPdraykWOxstkXVm1T44tWaGQ4cgHut6SiRgKXmTZrzMc842iKD4aOLLWpG3c4xKdDY4RqN3URd5ktFqVVzkMU-TmRyKHuyqHmGlVw-CR1QqoeHb-urA5SL8Cm2MGY7Koidkly7A7LFnoC4Zqvz6p12PQElD0pt_TS7oIC8OuKiPBSzdNmJjPWHCrFC3F3Buia3F-mt70Biq7RFvahRUg5JsuR95o-JzjqVru1zOztuILUbGAU9IQeu-0FxUYyDzV8MZVk0RdkWE-VnO6ybRWUgivyXh4I31jOsxqCfz0mRhX8MzQ_Ca7qzv0mB6HTNeaBNZNSARdZrDwk4AYK7r1mLNSGMQQKMA4lG3py3KgH46Zmx7VY7G_R4AR-mmfOtSult0JgL4s4FbSWTD1azkaDO5Vb38TWDDbbQTCQxCVh3guwAh0ztM4oc6MFDX4mDhT4vlS0rweme-X09HXs5EKj8E4GLOEXaohYpbP9PXMWywrwH9ylLQOpwQdFUOrvnHi9BhnGtBaH_zDF7mjhwFlvWxqWqrE-AueHicni19vCYtSdm6GwVYx3vX7EdkH_Wfok1jLpaTuASGCYyTYBliJXMjco_55C4C9V8LoZSNXZmxV-sz-BKa9y7o9dJVgi8oXCHVY82B1bPXZuhXMI5TxMVA56GjXq9a6sFILVKpw1PeAdj1clKZtpZIRQV0bXDEx37JCkjLr4cYz82s7JRWRXpio5sS7W3pXTsWVCi-PN8bH3zbWJXj32bHZV1ioen2LVcTmodJAos3umwSmeD25R0bNyK4TdxPIHFaKOskg65OsawQ6YCSTA3hEZTq4yfqEeoZDLweC02FXJ0Y_RYbtqC03Tt9gPnTNAw7ySIAXehnTuKQuWL9C4V6YRBiPTY_l_3utrE4phisHjxcfD680wr5hrdVX9XsOjONK1-e0PLXUWJQ-tKOAIpD7-8sHjqvweI_IFczLY912Hr2JddjFm5-vk4bKxJUq3vNzvkbIoJlq9L4pUAIE4QfuJeqoH4nOIcTkkBLYZcZR6MEkn7rhhsRKS_Ias-pt8t-PsIb6s0_KJcCQmdXiMDdiMBt62_GkwZRntO_g5QWx8-1JtN6PAiXvGD0Fh9aa3cWBQneEYP1vZo-CrKoWMtDcDno2TMW76vhc4pmL7C3PApL46rNs5FtY_dqq9H29zJzRfANFaVN0CLiJqdcdefNZ_-BxHfm2cVB513dLY_-ZyI6kN_G_qq5hkxl9z2nqCKyuF9FRh_-RcD0qvfKNItLlj2LapsibIhR1YER2UND41qCGbkKZPNsiWC7s_eTU5xAD5qxDoAu012MxZPP3f-cMAS6p7P57BuRQ1KIIMGB_6nXHu_KTkowTVn12DCUdVbOMIGV7zHErvmx60p0GMKJB4tVLEAhUyCn1asfJC0p1I7IROcQZz4dwA5PIbJn1btC8bIxdhgpRIAvkg-2ZYc1Jbs0ZMWz4=",
  "id": "rs_06274f8033187a80016ab44a3ed6a087d0b85d18ab8d44c0a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.19,\"right_z\":0.04,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The yellow fruit is fully visible left of the jaw column with clear space below it, so it is still a few centimeters short of the fingertips. I am advancing outward, shifting left, and descending to its mid-height for a centered grasp.\"}",
  "call_id": "call_ZuZUmBg7FFEAjjlfLpVOCN5g",
  "id": "fc_06274f8033187a80016ab44a40282887d0932a523b2b49ed08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZuZUmBg7FFEAjjlfLpVOCN5g",
  "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, 0.8413, 0.6132, -0.495, -0.0135, -0.0307, 0.9913, 0.7898, 1.5082, 0.4011, 0.321, 0.4774, 0.3481, 0.9986]\nstate[eef_state]: left_x=0.2814 left_y=-0.0002 left_z=0.1488 left_yaw=-0.0002 left_pitch=-0.1533 left_roll=0.0021 left_gripper=0.9913 right_x=0.2854 right_y=0.1778 right_z=0.0227 right_yaw=0.192 right_pitch=-0.1111 right_roll=-0.0626 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.6615, 6.9265, 1.5702, -0.022, -0.0611, -0.0122, -0.4034, -6.3658, 4.6017, 1.6581, 0.3443, -0.149, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd6d3eb3701e3f105edc57bd07c283ee834ca667d1b92ca1d1f2c7c5794cc53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:413ee8912ef72bcbe1f1e2812c5387e4b84c4286625a5f0a60060880ff0cfb46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f252a8eaa3bf9b156142c5871745443f80fcc12bd22bf666f391a054b86b163",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 77 changed as sent

message 85 changed as sent

message 89 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, 0.8322, 0.6132, -0.4808, -0.0139, -0.0303, 0.9913, 0.5011, 1.6329, 0.8513, 0.0051, 0.3889, 0.0555, 0.9986]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1538 left_yaw=-0.0002 left_pitch=-0.1301 left_roll=0.0022 left_gripper=0.9913 right_x=0.3981 right_y=0.1458 right_z=0.082 right_yaw=0.1314 right_pitch=-0.1526 right_roll=-0.2286 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.4291, 7.1316, 1.6679, -0.0366, -0.022, -0.0122, -0.1436, -9.4154, 5.6957, 1.6337, 0.2173, 0.1734, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8387, 0.6132, -0.4942, -0.0139, -0.0307, 0.9913, 0.8013, 1.095, 0.5629, -0.2295, 0.4942, 0.3431, 0.9986]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1496 left_yaw=0.0001 left_pitch=-0.1499 left_roll=0.0023 left_gripper=0.9913 right_x=0.2691 right_y=0.1625 right_z=0.1185 right_yaw=0.1945 right_pitch=-0.0845 right_roll=-0.0624 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.7983, 6.9265, 1.6239, -0.0806, -0.0415, -0.0122, 0.1709, -4.1641, 6.6393, 1.7363, 0.4322, 0.2125, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8413, 0.6132, -0.495, -0.0135, -0.0307, 0.9913, 0.7898, 1.5082, 0.4011, 0.321, 0.4774, 0.3481, 0.9986]\nstate[eef_state]: left_x=0.2814 left_y=-0.0002 left_z=0.1488 left_yaw=-0.0002 left_pitch=-0.1533 left_roll=0.0021 left_gripper=0.9913 right_x=0.2854 right_y=0.1778 right_z=0.0227 right_yaw=0.192 right_pitch=-0.1111 right_roll=-0.0626 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.6615, 6.9265, 1.5702, -0.022, -0.0611, -0.0122, -0.4034, -6.3658, 4.6017, 1.6581, 0.3443, -0.149, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd6d3eb3701e3f105edc57bd07c283ee834ca667d1b92ca1d1f2c7c5794cc53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:413ee8912ef72bcbe1f1e2812c5387e4b84c4286625a5f0a60060880ff0cfb46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f252a8eaa3bf9b156142c5871745443f80fcc12bd22bf666f391a054b86b163",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpEJgBlbulKZIcMnt68_-AO0_4Nie3vRL2oZaU15J3KSH04CqDcu8QZ-43_V4IOoVvXVzFck_Ehm9dw0C31MI_BLT3ryt5qDhvIcmNP17He4DGeDSm4gJ6l9o4-epwWTgcRVSwnfTbc4qYqnhMZFld_9rdNjdCjo7RGDib_zPhuH4XH1IebqpCRZIfG461w5j0DjYBYXG1d4krmSnNFjM-E-Ni3JyVRx8DyKpC6Wl9kkStv-lQQFSqv6WbawlXbblWtXGd3QbZASqajCzLqs4rVLU_ObcwiwOdqK1kKHzgChTBJBVzCQzhaL_I-qq9RRONRgi_ilnUX6k9Q6u5NfbDdNZ6beIT5EBbOrdX_dGV1nccrudKnOuI3hCNX5BToDV7ZzL5FXZoyAlli2_Auz0mYVVngSrl2L9To0xhhTWt3WwGMdsMDis9nZR_0wZWQrQAsf-Z_68qPXDAmQFEV9370fH_pgL-Qj7MbFAa2a1ObMDFp16eO80aD3vENtIeTEhQblnjb2FZEJu7rbd8FM262Q0yjHgryYGFvvcw5jkZq1p0-KXLkJRBuajM6ROAxhT5LAl9un2hs_KjcKrEeRNog5sJkMAKG0oE_2qrLy2wwYl_MSLoC93nL8cgyzlGz1EDrUTVsO39uLXMTald2cADZ4tqvxWsaOF2nk4ZNVJkhH58vu1cJaPlj3Sz7ZMdEuH2PGKiLTYQlcQfVbb4L7wmyr8V-hNj9htwyM9QZv_TobaA0j-Z0X10Nr8gnnHe-OqbNJ3dpz9GbMEJKyMTAo3zurI5SGD7Onrcn71Ud5wqETIUuYz31gozn205mcEXewJIT_Ba_S2PV1gDeeO1-ir0ZZBDFOPpMbtR0HtI3HltNhIhmyt_aCb2KzkJBnBUKbdb4L7jFXE8VeQXV_KPZDWbIklIkwDTBl-c4ughSXepAkcSfIVVwrTnMFxUc6ZzRcCHptqb9RzK8n0OkIhg-rDNflSEGn55C-auJvMWLh8sSDumPqwvZwRAFU8DmgJTDGDCDGp8ig1EIHPxlyZNEu0trEp9IfN1xA5xIVfmJBFXBJfyWpMGotKwFRkdANDGym68Y7Tb8gpzam-wAnc53y5qPyfAT7TOVk1Fll8gZac6gGYh7zQsrlXG5YalBC9cBtfv-wH2VHeAroSC-o4iVCSW-XUGAwWHr5i4y_X0M5G44mx5yFw9xay4cD1ULYsLDPwKfZL37gURcImXOzN5eb3g3a9J1dBk0wFMaFIdkgaqWFssrnz2H5pwsztvAQmaCC5DpWCktHYUYF6PQklPOFxLm3FBOHmj6QwvBiN6ODLk6S3cUoEZwVVv6L1d4GgIpBIhV_Y_L1xyzeaZP9iC2PEpczdD8GKhxnIY7rbN4bQjqFIO5CCJhzOQJYbgLxkQWser7BnsCsRJqm9x_vP0Jfxg3zas9Iw5MDE8B_ajbz0OpE0YYPFgcItGW9WhzLanQaVRuvsUXP5PLnrqIb2o_CalVsw==",
  "id": "rs_06274f8033187a80016ab44a43451c87d080ca9fd8ac189b7c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height the yellow fruit is now centered between the open jaws, with its long axis fitting within the gripper opening. I am closing to grasp it.\"}",
  "call_id": "call_d6RPpXB8HcJQvgBkHuSStqnJ",
  "id": "fc_06274f8033187a80016ab44a44024887d0afc605823f8dd139",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d6RPpXB8HcJQvgBkHuSStqnJ",
  "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, 0.8417, 0.6132, -0.4946, -0.0139, -0.0307, 0.9913, 0.7891, 1.5219, 0.3935, 0.3161, 0.474, 0.3416, 0.0101]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1487 left_yaw=0.0001 left_pitch=-0.1533 left_roll=0.0024 left_gripper=0.9913 right_x=0.2819 right_y=0.1747 right_z=0.0151 right_yaw=0.1956 right_pitch=-0.1345 right_roll=-0.0805 right_gripper=0.0101\nstate[joint_eff]: [-0.3624, -1.4701, 7.0359, 1.5897, -0.0171, -0.022, -0.0073, -0.0205, -6.2291, 5.5726, 1.5116, 0.2173, 0.0659, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08bcee914ccb68d5573cc174c2ecf250340138e8d757295cf472282b90119c22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac8d4ca82e9fd6d338006710c43d58ca72c83ca98d612fc50358e9d5180390f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7bbb6e9036de112fcc3cab46a3ab5a30e76d225b536fddf00e04305ee60830",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 81 changed as sent

message 89 changed as sent

message 93 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, 0.8341, 0.6132, -0.4911, -0.0139, -0.0311, 0.9913, 0.6224, 0.8265, 0.8555, -0.6632, 0.3882, 0.2348, 0.9985]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1514 left_yaw=0.0003 left_pitch=-0.1423 left_roll=0.0019 left_gripper=0.9913 right_x=0.2584 right_y=0.1075 right_z=0.235 right_yaw=0.1616 right_pitch=-0.0113 right_roll=-0.0273 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.2923, 6.9265, 1.7314, -0.0806, -0.0659, -0.0073, 0.294, -1.6205, 9.5521, 1.8632, 0.188, 0.1392, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8413, 0.6132, -0.495, -0.0135, -0.0307, 0.9913, 0.7898, 1.5082, 0.4011, 0.321, 0.4774, 0.3481, 0.9986]\nstate[eef_state]: left_x=0.2814 left_y=-0.0002 left_z=0.1488 left_yaw=-0.0002 left_pitch=-0.1533 left_roll=0.0021 left_gripper=0.9913 right_x=0.2854 right_y=0.1778 right_z=0.0227 right_yaw=0.192 right_pitch=-0.1111 right_roll=-0.0626 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.6615, 6.9265, 1.5702, -0.022, -0.0611, -0.0122, -0.4034, -6.3658, 4.6017, 1.6581, 0.3443, -0.149, -0.1636]\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, 0.8417, 0.6132, -0.4946, -0.0139, -0.0307, 0.9913, 0.7891, 1.5219, 0.3935, 0.3161, 0.474, 0.3416, 0.0101]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1487 left_yaw=0.0001 left_pitch=-0.1533 left_roll=0.0024 left_gripper=0.9913 right_x=0.2819 right_y=0.1747 right_z=0.0151 right_yaw=0.1956 right_pitch=-0.1345 right_roll=-0.0805 right_gripper=0.0101\nstate[joint_eff]: [-0.3624, -1.4701, 7.0359, 1.5897, -0.0171, -0.022, -0.0073, -0.0205, -6.2291, 5.5726, 1.5116, 0.2173, 0.0659, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08bcee914ccb68d5573cc174c2ecf250340138e8d757295cf472282b90119c22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac8d4ca82e9fd6d338006710c43d58ca72c83ca98d612fc50358e9d5180390f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7bbb6e9036de112fcc3cab46a3ab5a30e76d225b536fddf00e04305ee60830",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpJ_PGR_cGZHAL4ojDlVDd9JK8bQ1XFazEokre50syZJnNwpgfc7wQJvE8iZJ4W1FmtW2hdUTAkqlQbWskjXdqePnchnmbyI8F4pmIdJqvMyZUBOrtclfaF8lhTmu1qhoPs4ZA0yoDnA740ELvPSl8U3HhpjdAxpZY0yW5L8ly0OLpQXDCpooHYRGWOFzL-lxKem3Kr3xd-ArjmMq2udgmkrJ525P0d9oc4VbIoHJJocZ2kpGG62ZHNcB32nGOgdZQykf72_zbqLRBH_OysdhGM_fn1D39oTC0l-iSpgCAF8tzZ8UnQwy3i5mpmQ9RrHqagBDR4yobfZSm-0DZ8jSaqM1C-FffBFPR_Nxgib7hGuulPGzSZIacewztyPHl6qTeyjoXylsTkUJazzIJDnifwyJzZ-6yaoZEWAXy5uSGFPptwPiCtXZfM6VeJn4sjVJi-lPNeRgeHWd0IjfKFD8mYhexcpgvIflY3qbPzzLH9LxDMh8MnFI-FU0aZX9DA-2toIhwbutrA1CDJSab_ZzBr4ddX7Y20XweJw4vOfQ8898tmr_AsG7wj71YZIqHRHlGBbrsjllvSooIuQdI-_dPigGa8CLUBwYIHBHQxVekWbQpnovygvdsTDUAmkVtUY3mIVtHq3fgfeR11xTw966D2RWNpzEa3MRZGsqoX2E80zW8xZYSrw3CTpa4OJlbdyUYMB5aeSo0ZO72ot99kxpR75tUfpOmYzH04uTOZFjnsvgj7sV0f8a1VXWUlmOKG2RLHGUyli3aE5xLgMFa_KJOOC6MdFoFwEVAfHmOiK4aMVQ_HaD1yDn0Uu6J_QYtymWkTBTjVVb_5rQIBbKCiiC9VF-HUX3G52NAAV16s9DJyaNp6djJDhCCOZN-z0EeBVkxZl0Fuu9ot84j64KnBI7xc5vd9pwLxejR6UyX-dCZG0RVto3vCtdb9-3U6CSDr8LvNHiS_z8R0iH4h_XolG0-vlJkwE_OITce43ZEZT8s0P56YFYqpUwHYNEj7K19rleUk39UNLEwaRpRMM4fYHRFRSYSHayvKwhXa34entmL1uPSXhGsTVr0Hvpu6t1DPOoAfQPjnLtHnyL4piGrK4WFIxv8qo1juZ3IW0vpCJaA_OJv4FuGCBssQ5txhWEEY65WdSEVwkIpZLh679ETracQN-j4M58jRwTshrR9QiV-vELNU5u5VCZCMBXnLZ0G2Sk3F0taGQQB5OAiVC98acFmGO_8LeSq48DXFoneVDX1gsAYLYfe6oMYISsm4KBqUydbUIJQ8YofpGhdDLzaOT8a8pn_UiYnTc-xnhTIE30IhlHHVVLzHolzBF145j5P2d_RmY1nFzfnC_c49Yb3EzIKZrvNflY8Slc8e7cIosdl-oFefq8J9c3v04mWpL-l1IiuyyRh_17JqgPdBM3p8LBYYJKQedH-BincZrd_kbeCablql_d8Y1Ex77Zmr1GUt6Y3Pum1fUAxYhacno2Aa9ytNgYUlCeBJ2VFNC89om2wMYHNxrNNkOx66ReDihzN7MtrFTVwrtT3hIIeiHKxdJFvwFtXBkN9xPGlcNxKZTI3AWwcZmboHrcI83re0N1U9ERlG6kNugA7gBEltR7hcdae9TcNgdw5FtmYn9iJCiUkcntRvoXwLd8fUbq61BD5FNbO99funBXVa1Z9HghbK4D9yq9g-t-ms8W6olqPgGkqijsWgo5UehIfhlRgJPaT13bxkif7NID20XvYm5ryI_3ymZqrdVUWhm5TDYYXSKuZQ12S2nNKymbKqW3ze2f1HdS_ZOG34N95OdnyeWqs3cQbmDBaKdfP3a5RdjoF838wQo4XGP6ikI32rSF-Ix7gszasoIX8qDhLq1JZGQli_-yxOyGKQHdIVs59bPNF4Xw7T0vficQU_qxxcagJ2T4A5GLSzJsFlMFz7BeRcu-0skxPIlQkZOi4Y9JTGIGZJvXfhNTN2O6mZJOy9PZGAiR_44WCdBddTbbv5OZaKr4dwxDOwFYcrpB_eCNWG0tyu-csTQg0-aNThVqx_ryIVvucsUjZuQC6O8YMvIlfL6lPTiQQW76EMD8DeEz01ONtousRWw3ShvqOLEGM_C7KALFfxjLoSFefiPXlk1odrXQSnpG0mCBavsr8F0UHHo8iTmUgrjOU=",
  "id": "rs_06274f8033187a80016ab44a46cadc87d0a0f0ca7fbe5e70a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.175,\"right_z\":0.025,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The gripper settled at 0.01, confirming the first close was empty; the fruit is still fully visible ahead of the fingertip row. I am reopening and advancing about 3 cm outward for the single allowed retry, keeping the same lateral alignment.\"}",
  "call_id": "call_GONunlmTA2w5nUzmlU6YJBln",
  "id": "fc_06274f8033187a80016ab44a48c3a487d0b6a18aa8a6c948cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GONunlmTA2w5nUzmlU6YJBln",
  "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, 0.8417, 0.6132, -0.4946, -0.0139, -0.0307, 0.9913, 0.6968, 1.6135, 0.3668, 0.5648, 0.4076, 0.2749, 0.9955]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1487 left_yaw=0.0001 left_pitch=-0.1533 left_roll=0.0024 left_gripper=0.9913 right_x=0.3084 right_y=0.1715 right_z=0.0164 right_yaw=0.198 right_pitch=-0.0479 right_roll=-0.0267 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -1.2923, 7.3094, 1.6239, -0.0513, -0.0659, -0.0073, -0.4855, -4.8479, 4.2872, 1.9121, 0.1538, 0.0708, -0.0855]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d92d39e0ed2895e7bf15998ca17bf966c150784c0a182d5395b6c777095cb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ae6ea1fb4cf9ce4d7ef8ac62e6a32661ac2ab0b411cbf330eca9987c4d6c134",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e101045de42fc5b8e8a1b1c326a0b34440d50585f79c5be7f3cae6a65d6425cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 85 changed as sent

message 93 changed as sent

message 97 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, 0.8387, 0.6132, -0.4942, -0.0139, -0.0307, 0.9913, 0.8013, 1.095, 0.5629, -0.2295, 0.4942, 0.3431, 0.9986]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1496 left_yaw=0.0001 left_pitch=-0.1499 left_roll=0.0023 left_gripper=0.9913 right_x=0.2691 right_y=0.1625 right_z=0.1185 right_yaw=0.1945 right_pitch=-0.0845 right_roll=-0.0624 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.7983, 6.9265, 1.6239, -0.0806, -0.0415, -0.0122, 0.1709, -4.1641, 6.6393, 1.7363, 0.4322, 0.2125, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8417, 0.6132, -0.4946, -0.0139, -0.0307, 0.9913, 0.7891, 1.5219, 0.3935, 0.3161, 0.474, 0.3416, 0.0101]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1487 left_yaw=0.0001 left_pitch=-0.1533 left_roll=0.0024 left_gripper=0.9913 right_x=0.2819 right_y=0.1747 right_z=0.0151 right_yaw=0.1956 right_pitch=-0.1345 right_roll=-0.0805 right_gripper=0.0101\nstate[joint_eff]: [-0.3624, -1.4701, 7.0359, 1.5897, -0.0171, -0.022, -0.0073, -0.0205, -6.2291, 5.5726, 1.5116, 0.2173, 0.0659, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8417, 0.6132, -0.4946, -0.0139, -0.0307, 0.9913, 0.6968, 1.6135, 0.3668, 0.5648, 0.4076, 0.2749, 0.9955]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1487 left_yaw=0.0001 left_pitch=-0.1533 left_roll=0.0024 left_gripper=0.9913 right_x=0.3084 right_y=0.1715 right_z=0.0164 right_yaw=0.198 right_pitch=-0.0479 right_roll=-0.0267 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -1.2923, 7.3094, 1.6239, -0.0513, -0.0659, -0.0073, -0.4855, -4.8479, 4.2872, 1.9121, 0.1538, 0.0708, -0.0855]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d92d39e0ed2895e7bf15998ca17bf966c150784c0a182d5395b6c777095cb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ae6ea1fb4cf9ce4d7ef8ac62e6a32661ac2ab0b411cbf330eca9987c4d6c134",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e101045de42fc5b8e8a1b1c326a0b34440d50585f79c5be7f3cae6a65d6425cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpNIk2aDVSt2b61niuX3fHGW-w_ZqNUijl0qD2_YjTENhBzlbviK5gVQT-QG23NqNjoZkRdEesnQYinbYHiR8RUvbpFcv23RfbHzviRR1FD42R0tEFUD82NsWChewskAY4TCrof1FFPK6UReByNd05gghT8PMQfBHi2b4UOMoDh8aR-y8ngL17Rgj7C8pP7s3JnxjmZ9hpIz-feJ7Z_tsf8BIOho8RaHyl6HjJe8wK4fw-yFg6Rl-RstVbmkEaXLiRsGu47Cl_iEWO0ae2PiguzLECRoD4qmG1-VDi9or6qHKaZP-RQThdf1pAbkO7h7qgIPZ5vtyFWibk5QSG1twKjXu9mTvyhDwIQOKp65egvnJg_Sm-j45EAPjppBQNeDJzio3TxiEfPfsl-tqd_0GpdyUBx-PlKqAQGydK-hvnvbDrQJOUFoIzQEvqebTk0r4SQaDrjZxaTOBur_FSQoLS7w4FQsusrr7FqMjnhV2JPQTvWqWo-texDb-3GpkDPjO7ca2cKFWtDmZtxmaDdJQNlockDIF8HDMHP3O4mafFS-i57WgTl_K3hZAhJVlM48yUve6YlZJftHaORF0O5zHAHBU_PjoMgIzRMtg-dTdxUVWMapxC1tnyMajltg1BWb3PBd9jAD_9qybW_FFJEBm2XXD2jseRDM3VscVwdAqKj26GtpDdDeUKihkvXv_QcB3Me6Bw72HzevEi1KfNYZoZIRtvzt_HBLkMXF4oAE8aMlmxWyM6kPWKQFQVHgw0RMq0XQkh4aDWeHy5YccKCLpEloFIf60LxLOWgUl_nKRcASBp47oxiK3IEeYoDbuJGFIsRe07DVoWrYklWzmgOtD9RofSkdfhvQSseQsHAtpiOpoi7_Nlz1Po0c0yf8DVhJEZMRxLHDSUG_DxeQmQiXFcy-U8nAPxlV5ak43n2oRWrxhEm7c8tLWC75GcB9MA_QljxZePh2aENSexTl5dkhHd37X5JdCwPVprQ0cYtRnlwNgNLqrvPP1z1ZSRYSeOc4FkMVBYdFvB-uHSyt4d129-TrF-B-R0XoHoKiivrHFPs1MpI85bDy2K8Eq6dZM0iCBKFbiMTuGuELnx-5DWNgf8TLl8WlqpaNGiIF8hkl_jLckrCLg18Z6sUMBT1gOQ5skHq1wPom5Rphr1iXLM4yAo3iTKpPccNFaXrExfRiXrT42_e30hnT_KJuFSp8Cd8KPwVng3EYAXs4wzK7Mav7tUyNgIe1DEGH_mSUBPqCEGH1E0=",
  "id": "rs_06274f8033187a80016ab44a4d1ae087d0b31e292c523ddb03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the outward adjustment, the yellow fruit is now at the fingertip row and visibly bracketed by both jaws. I am closing for the retry grasp.\"}",
  "call_id": "call_wMtcmpJGljhoO1tGFjZWHVEd",
  "id": "fc_06274f8033187a80016ab44a4d557487d0979b7e2a41eea5a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wMtcmpJGljhoO1tGFjZWHVEd",
  "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, 0.8452, 0.6132, -0.4946, -0.0139, -0.0307, 0.9913, 0.6964, 1.6176, 0.3668, 0.5564, 0.403, 0.2695, 0.0106]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1478 left_yaw=0.0001 left_pitch=-0.1568 left_roll=0.0025 left_gripper=0.9913 right_x=0.307 right_y=0.171 right_z=0.0133 right_yaw=0.2039 right_pitch=-0.0604 right_roll=-0.0345 right_gripper=0.0106\nstate[joint_eff]: [0.0889, -1.7436, 6.9675, 1.5946, -0.0611, -0.0659, -0.0122, -0.1299, -5.8872, 4.3966, 1.6874, 0.1392, 0.022, 0.7692]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8021f0069f754a8c7347144481e4a36cba91d96448fe2d275546048b1b8f779",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3561232df8c8e6e08057e7b277f3ab5bc83b29cbeb0a8577a7272395a12092db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d60f7a5fae7d8431b3d5ee56150678ab1ec5df1095bb610ecd700e14b9d3e177",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8413, 0.6132, -0.495, -0.0135, -0.0307, 0.9913, 0.7898, 1.5082, 0.4011, 0.321, 0.4774, 0.3481, 0.9986]\nstate[eef_state]: left_x=0.2814 left_y=-0.0002 left_z=0.1488 left_yaw=-0.0002 left_pitch=-0.1533 left_roll=0.0021 left_gripper=0.9913 right_x=0.2854 right_y=0.1778 right_z=0.0227 right_yaw=0.192 right_pitch=-0.1111 right_roll=-0.0626 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.6615, 6.9265, 1.5702, -0.022, -0.0611, -0.0122, -0.4034, -6.3658, 4.6017, 1.6581, 0.3443, -0.149, -0.1636]\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, 0.8417, 0.6132, -0.4946, -0.0139, -0.0307, 0.9913, 0.6968, 1.6135, 0.3668, 0.5648, 0.4076, 0.2749, 0.9955]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1487 left_yaw=0.0001 left_pitch=-0.1533 left_roll=0.0024 left_gripper=0.9913 right_x=0.3084 right_y=0.1715 right_z=0.0164 right_yaw=0.198 right_pitch=-0.0479 right_roll=-0.0267 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -1.2923, 7.3094, 1.6239, -0.0513, -0.0659, -0.0073, -0.4855, -4.8479, 4.2872, 1.9121, 0.1538, 0.0708, -0.0855]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6132, -0.4946, -0.0139, -0.0307, 0.9913, 0.6964, 1.6176, 0.3668, 0.5564, 0.403, 0.2695, 0.0106]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1478 left_yaw=0.0001 left_pitch=-0.1568 left_roll=0.0025 left_gripper=0.9913 right_x=0.307 right_y=0.171 right_z=0.0133 right_yaw=0.2039 right_pitch=-0.0604 right_roll=-0.0345 right_gripper=0.0106\nstate[joint_eff]: [0.0889, -1.7436, 6.9675, 1.5946, -0.0611, -0.0659, -0.0122, -0.1299, -5.8872, 4.3966, 1.6874, 0.1392, 0.022, 0.7692]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8021f0069f754a8c7347144481e4a36cba91d96448fe2d275546048b1b8f779",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3561232df8c8e6e08057e7b277f3ab5bc83b29cbeb0a8577a7272395a12092db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d60f7a5fae7d8431b3d5ee56150678ab1ec5df1095bb610ecd700e14b9d3e177",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpV4EzynoPNaxHfown5b8AZvwc0sdqu2V3f4pNRqg_8NQ0uilFdv0XMDXGt-qyLjQMYI1JhYtxwmFdcSVzEU5StCF-Lv95TPTCdu8k56hp9r51vjj-M8cV4YeWmuwOZaMaf0crv9Mg2X3_06j-eiEQ0JAjeasPz3oYU7fMv8QL_u6xQ7Wh1S6cFY4x2zoh1pLhucpDdeXCkss6ziy-MZuoU6PEhw-49gejiUiN13QnxLBi89mbpDwdSC2x0R_FotHB9baVRsNy97e4j3C_R24rujwyC7Oj-TS_tBH__kKkSIZBodxvu4nWm5QMc_W99ZVF90FcyP2X5WjYDvaHlxyJS9PfHB9lnWpmsxWt296b2FxcyFP0BKo_cT0qTP_kl34LAu8YmFMFrYHg7l3uFsbRRX6TMXnPW3U6JM1cXlgV-1pCHZVszeGcxQyLsbHOu9FN2vXFye78VEQK8bIomSnMpJgOJ4znuSVxliWGbs6JKTDamR8Zb1dtzt2GWe-I_99N8BKMS52hoJT8yRXDXxyDbOG6fW7cywIb0FlEKf9g0_mp13BKgikwTYSmohFcbyjLipSvRtGg7xJn40lhf8xN0z5n4Fyhw9B8PQQ8RE5gxroPXla-ldQ_TapdhnRmC8K_F3Onps6CnQaVflvx4BMbnI00innLXCz6l4uDx9v7nrn2ngSUP4Sr1uCA_b1sW5A818ifyQLvaoae13BVd6mL4gqkVhqzuS-tRiQvpxJvAJ7z5073epgUrTEWug5cEc_urlSpbewxXDL46XjmKuBxr1smZ-ru5vyAAgqvR-xHQI8PmgdVwE_-6UyRCZ7JWn7RCLsyL8wcBHZV9cyi4q5BMkDWrzbaDTokuh2XfgwOt_Szcm2M2zWNMah-e4IlUUPqmYaaXPTp3B0qNvXF-glZgu2Pl1NFxaebmP04s3KfqTSHAf1MhWD5UM9yAMqiJuTtSDByZSGouZT52wDYMtjt5xUpppWYSYSul8pHTWfqOjIsSlUotfPollafmQOl7uPBDSi8VRcwt_PfnsbHFws4ZUmr92-PsqmPtVIfknwTy8LhxGt5yu1tDin_054xp-HHiqKrCth0GvOeMs6vf9OJZJf6XfgqdPmuQl1XoXfCpF6Fz4tZPHX137pT7PDmC2eKKSFGJmZD048Jr4sh3xTr940cvOg_6GLnsgKe-mkd2kelItFGxnxYPJhPFTBhNBjU-SGEZ9FdJ3UkjqeozDEV9_QIxVxGQS1zmbswR5b0hsGyIp2D535bFs8uuoM41GrMFlvVesFFCeduqeTN3WUUSHhwvpJEvzFMg-kOsFU3_W0BTwd-HGovR3EUzx_s70L0DKBYR1gpgVDaAp2_VbY8SQu9nXabaB7YXPyCcO7Wm1-ZMBRMVihwtPWDwVB9BVrk_afeCeZ6eP5ymulUNvohN0zxPMjfb6dGSuyL35U35-Vh2JrnefZe9VjxOZvRRokgtuJ0JNZnLt6qH0QZrz3w3odKylFSTPlylV4RhIMkX_11agPRgM3TDU4FkSigbDlxhMn6v0z8aMao9K6kmMk76oqLkz_M6OYhrhkfTrpm0LcbprWNXqJNXImiz8xGL9o_K39aB5dC4kupgf4fY_DlKLHqWvXSszg90kO57YbUEWBcejs-0slRTX2NWxJnosZoSrKKW4q2gpG5NQXun7PkBQMg9bqUFURvLNwdeo6HEwQ11HcfDtirSxdwBNmEynLYfDVuES1HnPGIIeSjE1QdlQjnCbvKCa3yQRoWx_2___XwvKaR_GoWBoBBIAPHBvJba5tcGKA6eebj4PtFx_-KtbwMIh2raB_eDqgUnpy6BaV24QwJ2eGjrkCb41a0suSGxJ50afSTUagcjsskyyR_L2AC1MmSz4Zx9ysjjDs-wA8L5DLmjmQVlmLaB7G6VEJIJAdkLvAx7v3EbW0y5xTQM_bRDnCFk9oVe_IdAskR3PzY3kRp7UoO_3XS-6YLnHMw2LzsHA07BPgU8Ix4P3-Tz4Q-HZYbtPV0C-4jxbg1nXdeCWDRE6pktMQTvarMkby-94lO5c7bF_GC0U7PcZ6bcTSY4qOvIPjZwZgrFRNh-5jLkfAZKHHxa1syN7XC3khfPEFfdgzKLP0uP8vnyggbQWcy71zTxwTZ7oj_FotAZJkXPgsr5AJubwMqqxI_NLprG_KokPTnHXZWKId_CDtCmu0TDcOUpmppgPZ0WXuYT9s8D6A5oVjJJRbKFTiosFThzhi6NcAhHJyKfhH2ihoanv1kegKiID7JA3LuqZfzOKi_cc-I7vV7WFVQc6EBtVZn1d86OCrTwjpYN9fomyBXPljsG2Aq4xwRFRwGJwjI_vu2M_FLQwZxBC18H3df0azuTk5P_mDV8waUozUP2JiXw4Tm1dgERXvIFENq8eic4lwwA7V6VE5nv3SlARRpqvAdMfYVp8DRylbHSdu0F74CwCyAZJmMkGGWjAICN_OYuEsIUPZ0-jpOlaNRKM900vjIooyqEciOaDNe7a1JGBNCkhf-xy4XTzYx6RGimcpXzAawz52EQiA6XrudLOUtoEr1CC9diZHx0r1Rg1jsBNYvSuY8EjH6HpjRv_-cT5lWGwszcYq7gbtQ6evMzxk-qfxRg7mqsQ3erbSnD6uyKBRdNFyN1TZcRgaX4aQGKpsry85wgNsk9CYkyx_ZZopxlPXtLiwswrAKkvrzKpi1hwnJgQPPAYeogZ7GhgZzj0XvZCMfs6zxgC22SMEzbTQYNlBAEK3Mi4nI7cnh3JDU6n491qO626T_TrTUGqOSUZYoE-xV9niiyQx6j235Dw63wSV7JMzysD80q3twddZDBO3hw6ig7w2VAAe9p8mKFf13T_BbE4V8l6apHTZ1G8nKsDB13_DBABgZt_ZcGBkRHDovKrTGCShVvWkXoYjycgeoykQV2VH42c5dpP34nIFxZqIq8C8tCzznIJ1ndT9bBuQswuVz0JjPyE0o9oAq63faHEHg5wNjlBrBRvSg8ID8a847ou9vsXVVK_OxYPU0vhlZXW-9u-lXViFTiiCNNqf0y2m8YBhdewHXs3SqOPFkF0lPvgpJGS1eUFeV8M3fB8C-a381j1_3GtvQmZ8Axuk_hnsqCzxH5b9-ZqOCvH7RXsoVPTAGntKDDAXeZjilqbYyQPC4c5yNm_5BDvgKSENGDAtKx7e9QH6H0MAoeuV92ylPi",
  "id": "rs_06274f8033187a80016ab44a507fa887d0a1a3483acfbfc751",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.15,\"right_z\":0.025,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The second close is also empty because the smooth yellow fruit squirts forward, but it now sits directly between the closed fingertip and the nearby bowl. I am using the closed gripper as a low pusher, moving the upright fruit diagonally toward the blue bowl in a small controlled step.\"}",
  "call_id": "call_0yW56pMOX30S7uswD5Jxf3xo",
  "id": "fc_06274f8033187a80016ab44a54153c87d08c72425848566eed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0yW56pMOX30S7uswD5Jxf3xo",
  "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, 0.8463, 0.6132, -0.495, -0.0139, -0.0307, 0.9913, 0.5251, 1.6676, 0.3836, 0.6144, 0.2909, 0.1883, 0.0081]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1475 left_yaw=0.0001 left_pitch=-0.1583 left_roll=0.0025 left_gripper=0.9913 right_x=0.3352 right_y=0.1398 right_z=0.0083 right_yaw=0.1684 right_pitch=-0.0677 right_roll=-0.0254 right_gripper=0.0081\nstate[joint_eff]: [-0.0615, -1.5521, 6.9265, 1.5653, -0.0415, -0.0562, -0.0122, -0.3761, -5.5179, 6.4342, 2.1172, 0.1148, -0.0415, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ef75fe19ace8934c8b3ad47d142a1e7bd0979dcbe40dc73e213cf78e5cec1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c58d96f9fed148ec987dec7024d409a4f3c3ab9db0b6616642f5ba55eb59ae90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc10e7d2216a14cba4f59833f0e40972fa583f9e8271f1e450bc2a90ada2bee7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8417, 0.6132, -0.4946, -0.0139, -0.0307, 0.9913, 0.7891, 1.5219, 0.3935, 0.3161, 0.474, 0.3416, 0.0101]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1487 left_yaw=0.0001 left_pitch=-0.1533 left_roll=0.0024 left_gripper=0.9913 right_x=0.2819 right_y=0.1747 right_z=0.0151 right_yaw=0.1956 right_pitch=-0.1345 right_roll=-0.0805 right_gripper=0.0101\nstate[joint_eff]: [-0.3624, -1.4701, 7.0359, 1.5897, -0.0171, -0.022, -0.0073, -0.0205, -6.2291, 5.5726, 1.5116, 0.2173, 0.0659, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6132, -0.4946, -0.0139, -0.0307, 0.9913, 0.6964, 1.6176, 0.3668, 0.5564, 0.403, 0.2695, 0.0106]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1478 left_yaw=0.0001 left_pitch=-0.1568 left_roll=0.0025 left_gripper=0.9913 right_x=0.307 right_y=0.171 right_z=0.0133 right_yaw=0.2039 right_pitch=-0.0604 right_roll=-0.0345 right_gripper=0.0106\nstate[joint_eff]: [0.0889, -1.7436, 6.9675, 1.5946, -0.0611, -0.0659, -0.0122, -0.1299, -5.8872, 4.3966, 1.6874, 0.1392, 0.022, 0.7692]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6132, -0.495, -0.0139, -0.0307, 0.9913, 0.5251, 1.6676, 0.3836, 0.6144, 0.2909, 0.1883, 0.0081]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1475 left_yaw=0.0001 left_pitch=-0.1583 left_roll=0.0025 left_gripper=0.9913 right_x=0.3352 right_y=0.1398 right_z=0.0083 right_yaw=0.1684 right_pitch=-0.0677 right_roll=-0.0254 right_gripper=0.0081\nstate[joint_eff]: [-0.0615, -1.5521, 6.9265, 1.5653, -0.0415, -0.0562, -0.0122, -0.3761, -5.5179, 6.4342, 2.1172, 0.1148, -0.0415, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ef75fe19ace8934c8b3ad47d142a1e7bd0979dcbe40dc73e213cf78e5cec1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c58d96f9fed148ec987dec7024d409a4f3c3ab9db0b6616642f5ba55eb59ae90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc10e7d2216a14cba4f59833f0e40972fa583f9e8271f1e450bc2a90ada2bee7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpaCsgqZZNaYBXhGxf_O2Y6O-DrC_uvwCx4gYh3DNqSNwOFMP0fTwnxGHzRZ6KUB2jt9yk_KpKQ05oXx7hjFwiqYYAVZWAFMrOp9aCXpRX3Icbo0hTww-Q_IFw0YxD70iZvNnNXWInIOx7nj_gK_ZuH31oDakeI89gxg0cPEstl7Lyus5zid0egJQQsqnS1RUd3dKJUNEQ86vFCYqb45PJYjPI6H0cPGcYuVYr3ageRFvz7g3ka0WqN9XqV-3_57wsorZI48iidYKAJ5IcC2On7f7nJGQSgUNcF5xkhcBeaSojLZfS7osN-ixpkoEalJHT0n3s9dEwxpJdw1_gAICr-1H1lq2fIR5QRd-4PZfb3glSOGsVzZ1tn4B_BVfAy-fATptmngbhp2gCTWNicuRVYrFG2vqV5M8A9EuDWvaQfPCviMr6PGW6uWZ4aZqHDwycG5xgzyW8z3NFCoTmqTVmExfQtinWbSxxFKZNe22JSEGeBm5eHeG5fYtMdKU2qqgcMiThbADHAm0S-fW6-gRb5zU1X4BSGvKVDXJYP44GvrIbYFEsYSLwRCVryDrnMC4Eab_Yqt8_2Rq7Hybnw81WUDW37mb0RX9e5idt1SlZopSVZPjBpVt2o3nNsFeffGMeWSAE2IWEdq71mT4V74uVRjwERgoae1MN6aNP5Z4nrzoBaVRyUgF0VXDIkLPs-m70mJgrl-VulkC54NSASB8V-CV4OVxpgYbEcqCtj3-ft6JNkDzD7z3d522sVqbKZOZ3FlmuihsCAQ3piZ3kr3UGE9xDkkYCx_fOsceDMxzk3NfC0JdzkILGQLoe8tyBQs79NdVwY_p1G_V1HJ8pmTFwk0qjnzCxNcDfsK5y8J8hGgmzcfgJ1FpqmfL5MRQHHAUr6C1dq5eKLtKq9wRfGNTTsWbj48jTJoAXKSzlwMO7gH5S0hg1eKxT-QWjQ15h-0YpeqmqD5XuE2ZypOWIfENou8mpuD9C1a3_PcmY5JikkSv5pJwuN4JTCei5Eb_31FrmThQ2Zw_RG0AzEAY8kdVBEhguEeZfAzlrTjGBdxvCr-qcS-LUvtMDXtB7VzkJUVTqPXZN-XUB7U3-ICqGzEnhLdmNkF4HLAjnqWcPzp800ETnyAN64mO8u_TICi4KOTb1KquKIAR4klRD8K52W-HnFbLYTEOlAGoWBoiVjIMd5GywXPDR9Y1F3pXkRc_tNrpgjEcxapynzJFOz_P31GUnwskMI7H8SdIm07rBs05LxH6AI_EykE3c4Io2FcMmy7RNbPyyJjs28Eu3fx7MIarqtUWBq9mkc8_RtkTtqPfMFnCiNCjAI1eCKzNyYvM09VY1kgqrkTJf9EW_7UqZQHv_b9R07AX-t35iKGM5J02pEuS8IPR4d4d50VOb_4xaac_YEYBbVGJu-qa2eKXWkE9ii71OCdcnUHcHMI6Izrv4SeC8jvDoZQil1RuuM4JB09VBhOxQcexRBM3ljENQxa6_51IoYlfz9NxcnRvOozAvOWZrp_Bbq0KBzS5QWNvk0zganiq4dhNbiWMs5-5UMM_CcTf2scP9OCtpvq7d1QGM-8OcMWBIaqv4oYj6S2g2YFsZyfVv7XAJ3bSyRvjyXdCrvSE-EiB6PAKqsYAdQRMDuzYTzUFhpyKBJc9oqFjAr3Q7B0f-0P3kSH6TRjsb3z8PW_g==",
  "id": "rs_06274f8033187a80016ab44a57a66887d086d8dde17fef3897",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.1,\"right_z\":0.02,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The low push worked: the yellow fruit rolled to the bowl's near-left rim and remains upright, with the fingertip still behind it. I am continuing diagonally toward the bowl center so it climbs past the rim beside the green fruit.\"}",
  "call_id": "call_eDZCdIQVVbzF3M8cnEr60NZv",
  "id": "fc_06274f8033187a80016ab44a58e44487d08b09ac2325f56111",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eDZCdIQVVbzF3M8cnEr60NZv",
  "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, 0.8463, 0.6132, -0.4946, -0.0139, -0.0311, 0.9913, 0.3134, 1.7069, 0.3943, 0.6739, 0.1452, 0.0887, 0.0081]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1475 left_yaw=0.0003 left_pitch=-0.1579 left_roll=0.0022 left_gripper=0.9913 right_x=0.3617 right_y=0.0941 right_z=0.0062 right_yaw=0.1323 right_pitch=-0.0618 right_roll=-0.0119 right_gripper=0.0081\nstate[joint_eff]: [-0.0342, -1.4701, 6.9402, 1.6093, -0.0855, -0.0757, -0.0073, -0.1162, -5.641, 6.3385, 2.0928, -0.022, -0.0366, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6510498de6096a293fc584bdcbc76b5084db89e644c8a34f75f045765743058",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ae2bdfc5394832b511a9e5cb2292c87eda12762e1b86d6a9b23e8879afb354",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3748d016f43280a49467a335064bd1cec4d4416064c86fbe31099e819bd62b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8417, 0.6132, -0.4946, -0.0139, -0.0307, 0.9913, 0.6968, 1.6135, 0.3668, 0.5648, 0.4076, 0.2749, 0.9955]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1487 left_yaw=0.0001 left_pitch=-0.1533 left_roll=0.0024 left_gripper=0.9913 right_x=0.3084 right_y=0.1715 right_z=0.0164 right_yaw=0.198 right_pitch=-0.0479 right_roll=-0.0267 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -1.2923, 7.3094, 1.6239, -0.0513, -0.0659, -0.0073, -0.4855, -4.8479, 4.2872, 1.9121, 0.1538, 0.0708, -0.0855]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6132, -0.495, -0.0139, -0.0307, 0.9913, 0.5251, 1.6676, 0.3836, 0.6144, 0.2909, 0.1883, 0.0081]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1475 left_yaw=0.0001 left_pitch=-0.1583 left_roll=0.0025 left_gripper=0.9913 right_x=0.3352 right_y=0.1398 right_z=0.0083 right_yaw=0.1684 right_pitch=-0.0677 right_roll=-0.0254 right_gripper=0.0081\nstate[joint_eff]: [-0.0615, -1.5521, 6.9265, 1.5653, -0.0415, -0.0562, -0.0122, -0.3761, -5.5179, 6.4342, 2.1172, 0.1148, -0.0415, 0.8474]",
      "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, 0.8463, 0.6132, -0.4946, -0.0139, -0.0311, 0.9913, 0.3134, 1.7069, 0.3943, 0.6739, 0.1452, 0.0887, 0.0081]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1475 left_yaw=0.0003 left_pitch=-0.1579 left_roll=0.0022 left_gripper=0.9913 right_x=0.3617 right_y=0.0941 right_z=0.0062 right_yaw=0.1323 right_pitch=-0.0618 right_roll=-0.0119 right_gripper=0.0081\nstate[joint_eff]: [-0.0342, -1.4701, 6.9402, 1.6093, -0.0855, -0.0757, -0.0073, -0.1162, -5.641, 6.3385, 2.0928, -0.022, -0.0366, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6510498de6096a293fc584bdcbc76b5084db89e644c8a34f75f045765743058",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ae2bdfc5394832b511a9e5cb2292c87eda12762e1b86d6a9b23e8879afb354",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3748d016f43280a49467a335064bd1cec4d4416064c86fbe31099e819bd62b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEphGltvP312H4Dl8_frvtWdXfe6QWYB1ZVAPUFS9zp7_uaEczF89zTqXJh6QS1dddMtsK3dm584_r4J5kzlurnydYykzh9yThZ4VHAGtS9kW_TJFWQk9FRDxw4Msoxb4EwcIlBkSgxMSJJ7KhZ1YFIHh0g8EXE35cCNmylNOcyy88YTaffgC9ytDznVi7cx502c7JR0FrLv6SgiV2MN1SgZVcfFUJVfNDqAgxFiK3lnzb6N49CNEZmKq3b8Z6Ah6UUaMFqWQhWhaN9BEcQLWLWhNWBXCdoEP7G6T6H7oci10T6v0LF3dZeQ0aoISiJIVassJumNnDccQdxda3Bb39KPMgRb-3CBN8zgv76qll7ggaI5GHlp_VYxYGhFhU-0XViMY9GMBx5ITNHXA2V83PzanAgUdogUttdK7HccTQicSDCfBr0lch4wPFbU4I84gfWMcd-AwqLsnpaAn_B8kfYdi_GWz92C_1SWFBq1cdBCNZFOhZhCjv34a87HN3sCLFwA_7Ws07cyWbIoJSaukLg4DI66uRL1h_GDHR_uPKsBuuaA7Ojgh4aWORNimwXonInrDE17qJAEmeebjTd5FuSMTlu-Z7PfwDa7PDfZpfKu7IIArcdRJYRig-7yjE9jyXfSLKyEux-ovgSs0ZdO5CDX7kJv2pWcu3Ztd03e_wQ5zEq3mMFc7tK9AeF_s4tdDsiIjjGz_MYlxTUH55YV-Vv8O7bAaBdKMlUFTiBeeYbNN5u1MRpHfiy_Ycxz8O0xMB4KIBKqZlUd9NK250eOxz5Q416hyxzNhM4A24FT_suzaSZFpbksuNC9ZpP_1h8ApqwC6qCXwKH0TNfsxu0vs-DRJjNxFbIBoFUPbCQ4Ik8Ycw4uNYh4gSG4JMQLhY0Tfq0NOx-BUGKgo-UjOmfyA-bU5EDtzuPnghQlLvdmmUsKaeE0YbZS0O9OQsQ27Kmz-PS6uP6Uq8wQ4ZaU_IeNkzL3cBJIee27T5LYChjFs3rVkerr7QoCGeIiGbLyEsjR42WiSQ-QqJshLnAgxZX_mhGrFM2rkYK8YfByzjQlMA98h16cMzRZrc-IctF7rQ7tI9I8l_k7sIP8y0-mNRDuGXCqklmNMRgku-_N1Y_nEFFodfjmdi8JipTPhNDAIcFkYRVQDkUHzBSGfPiTqRXU5BRWtfU3a3y9QYfbenDpKn4CawgwZyEA2HB4Un943bFr0cK87yKpAAwsa5kjoOYJEa8Xsvfba8csQ7Jvg0CFmzYdZIQC70Eh8H7txIWiukvWcew0Wo70oK9KQrOd2PlXWQ-AjmyH4go_l1J27MTRgmdWg5SnBG39mE4wZ18I8v_AuEWTID8EL28vF6xvMZHdf1OJB28K6RS8JNqaAk_HRFfYsHSJFCu03rpY08zRDW7UcwmP-Vu4NQo9DieZXDpILWsP0Fgs0gBEeGUXyHk2Y9BNOZlLxxKCtU-S2NDaQpOQaj_-ixCCCnTZSEIeOzRn1BPDV8Vxjj8ciw5ojUHkOp3romwyqxEAfqyU5AJ3IAGC-FXogUVwCGiN0kcxV07v1bPJr20eGaS71ZNt3sftmHwewOjbgVnKSqhIBoJvElrR34vs4sa-XyQRQEVqZwLTlK9H6ODm6Zh9UfoClME-tifplkWgvmiCfF1edeiGGJiv1VWkY5wf8CybvZ4bQNtQ62q9i20jq68OxgTkEdYgDLgaY0GvewMtXPUSXC_kST1rjQMeOTqlMdRMpgucW9a3vUS4Auv_eEWzSCKAjvtV7heGtvJY1GtjGPTrq63-X7xkxZn6hZlrMRnrdynGcpf1oaKicGEBCvRKuetEgsNXDspc3fHQtOMkOgjdcqN9ByXrcnY3QJCiMw5-hfEp3od3DjOs9ZI3Nfd6KzTWaYIFWRpNA_BaEE2l40xJ9WO5OHzrUrgtI1ndQqCv7ZO4NUS6YWyrWp-ildOF3pFTo9V-0KcujFuxAjUSVLp1jlGwyVVyHgENkFIvoXpPq5Ji5w377X_X8crk7KukN7n9m9qFpo1HXfnSPNlQ_tXRaBtSb7E-OYGft5NFXxXtBtE89OKs25E--9grAyPCx5bn62HSYupBZwMp4itJEg3Q10cbGQsnso5li_233kCsVAn8t5a4Z4Pm0ZYVZiIsqdJzT-ZY9seST-n7OFoFOnORoQOqeoIY3R4NgV4_NyBDqHgUwpjTPWyNGmkJno-ZUvjDxQDLMOeUnNuIMlAPtye2eVZzdXYSWhyC3Cdzojdbd0_t-dxs1Go1VAkotMA0F-J0G8Mwr6u_z4oOGqv_iaLQLxILBnh3Ubekm1nIIj8CcTu2tc1ACbRTy6Ir82JHrMmWbv9def0Cva0gYSWXaq9q-4vGD3z4FmJNt3Jydtj8xUyRQgzw5JsEuoPLC9xf-TondH5PJKW_2esT5impFi3cUzdRdGV5S8yqLsECukcfAcFAnyTO_FptnQgNnIGtrtpXfsUkeEFKFgyClSjU_3Y5CbNNvySkhSeciTPM-TtF1uYKXRP6B76HhgKZpQLBq-9icPOlt6ERPMCKjs6FgvytBUrs9AggPdMd3CQFZuaB29rbG1f6ahOm5pLsf_atwe-xBmJu3z5iY7P1Eew3M2bwJofIlFOG_jzQC-_tRmHGhsx8vviozJ3IF-gKnQNdYD6t6MIS39trRQAS1u8vc5w4JjrbK3t2D_81IHnfOBmeBUMQLuamZkNyCZspCgH5_I3zWO5y2aaFVVVcssh_Rn3mq7bM6gTqLNQZGdlQc5ONvJik5srkoa8jkArr-ndkCdBXzHL8rFudpiHCgCYf0vbi7Oz_mmd6dPG9iZYpNQ4cgkUK4D1IWh0MycOrfDDeM8eCHfKcKzQxZo8VdtZwGPtvnllMOxnVyXYOXqdVfrTHl7ij2Bf0MUSE97b5AmnNIBOqFMb7ovaNQ5K2aUjH6h90yxY8A9WlZG7PlLyCCcfyf5KeZSY2k-tbcixaUvfH5MWuU8XGMTTo8iaejBMeCtclPc8pCqiLsPHLXIB3MSU9vIMubeIgb66mCEbUtsWHTVgmtYVM0dyArnc=",
  "id": "rs_06274f8033187a80016ab44a5bf36c87d0b96dab928cb2a8a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.18,\"right_z\":0.1,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"That diagonal motion moved the bowl rather than the yellow fruit; the yellow fruit remains outside at the lower-left of the wrist view. I am lifting and repositioning behind the fruit from the base side for a better centered push or grasp.\"}",
  "call_id": "call_6lzNMKkuhPdgnicX9SfolsJ1",
  "id": "fc_06274f8033187a80016ab44a5f8cac87d0a25f59f89d48d13b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6lzNMKkuhPdgnicX9SfolsJ1",
  "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, 0.8467, 0.6132, -0.4942, -0.0139, -0.0303, 0.9913, 0.2974, 1.7138, 0.395, 0.6918, 0.099, 0.0589, 0.9954]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1475 left_yaw=-0.0001 left_pitch=-0.1579 left_roll=0.0028 left_gripper=0.9913 right_x=0.3636 right_y=0.0969 right_z=0.0069 right_yaw=0.1712 right_pitch=-0.0542 right_roll=-0.0072 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -1.4564, 6.9675, 1.5995, -0.0562, -0.0171, -0.0073, -0.1709, -6.065, 6.0239, 2.0635, 0.0122, 0.0171, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a961df2bf54a8ca245c006c47b959ec29c2cb77a737dd869d662ffc719089c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9178a1a47c85ab59c8f54ca864140a6edc7da5d20fb3fd3895e64178de2554c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f164b3984e48354978e168976f2731a5641a34c055dc7303ec8e823fdd9249fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6132, -0.4946, -0.0139, -0.0307, 0.9913, 0.6964, 1.6176, 0.3668, 0.5564, 0.403, 0.2695, 0.0106]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1478 left_yaw=0.0001 left_pitch=-0.1568 left_roll=0.0025 left_gripper=0.9913 right_x=0.307 right_y=0.171 right_z=0.0133 right_yaw=0.2039 right_pitch=-0.0604 right_roll=-0.0345 right_gripper=0.0106\nstate[joint_eff]: [0.0889, -1.7436, 6.9675, 1.5946, -0.0611, -0.0659, -0.0122, -0.1299, -5.8872, 4.3966, 1.6874, 0.1392, 0.022, 0.7692]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6132, -0.4946, -0.0139, -0.0311, 0.9913, 0.3134, 1.7069, 0.3943, 0.6739, 0.1452, 0.0887, 0.0081]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1475 left_yaw=0.0003 left_pitch=-0.1579 left_roll=0.0022 left_gripper=0.9913 right_x=0.3617 right_y=0.0941 right_z=0.0062 right_yaw=0.1323 right_pitch=-0.0618 right_roll=-0.0119 right_gripper=0.0081\nstate[joint_eff]: [-0.0342, -1.4701, 6.9402, 1.6093, -0.0855, -0.0757, -0.0073, -0.1162, -5.641, 6.3385, 2.0928, -0.022, -0.0366, 0.8425]",
      "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, 0.8467, 0.6132, -0.4942, -0.0139, -0.0303, 0.9913, 0.2974, 1.7138, 0.395, 0.6918, 0.099, 0.0589, 0.9954]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1475 left_yaw=-0.0001 left_pitch=-0.1579 left_roll=0.0028 left_gripper=0.9913 right_x=0.3636 right_y=0.0969 right_z=0.0069 right_yaw=0.1712 right_pitch=-0.0542 right_roll=-0.0072 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -1.4564, 6.9675, 1.5995, -0.0562, -0.0171, -0.0073, -0.1709, -6.065, 6.0239, 2.0635, 0.0122, 0.0171, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a961df2bf54a8ca245c006c47b959ec29c2cb77a737dd869d662ffc719089c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9178a1a47c85ab59c8f54ca864140a6edc7da5d20fb3fd3895e64178de2554c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f164b3984e48354978e168976f2731a5641a34c055dc7303ec8e823fdd9249fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpl0IcCT5RTBAUWBbKOVUGKSoxbBCxhv2_Hc5cZaPW60gKxVOisM9rN519quaHqojX0XRcMXKvIF9X6lbmGt2PS4JuiwCRr7DOkvDf6IawFzr_pSFvpKsKFaXf1pqcaIHOyRAtPNHXbLLO70g6CjJyV6JCHCMENjZ34Z1ZwH__fcZT1rCyz6cfv4HA9MzVxXcSufpEYJGbNPpAd9tW9D52ZXkDsxlVxx1Mm0ayNfd4iUQ65XemIFXNX1NvR2QoJgKc6L8dERhzj9cS2Ml7VJhhIUTlPRyEvNwB8gTOoIHqoJoXE0alUdHUud9mOKZ2c58RGUlvyR7m4BQZM_WkufuYBWT7UkGyeWSBOnzaMxJl8Y1YH88xI0kXTjuoSsdKH-ijs2zrPqPp_lAzd8m8d6AQDQK4a7EgqSCrzZob4PE4Qc5vPthQ_4ZRaFOXWGZmiBaEaMcqmN7ThXMWJsTd64MfxPnkzrbdZMNshQtju6uArWh3sPhkNBYnXjRFEbqrkG09V_s3Eic2ZlgGbZw9djyxjtfARuX5LVWC6Ct1o5vgPu6j5qzM55ONRDfWTrFZfA9KtzlRe69rBnDrIUa0NdQ0ipo5_eslg_St3rSzR2EN9XriM1SKWEtii0k8KbvY8PVFFCtA-26FQACMyXzIfuhcf1aFC8A6ta-BjTF5c5aN3w2xjOBNSESPzNv-jRSTLrs_d0Mgdf1ZPT-skTKx0QG3GjaoSSW3JL9CZfVPl8FdJe372j-plrifSPTgi1inZfD7VBqd_B4--VDNEyoYURM2vPBADcktz5m9fh1G_G6u8p-y4R7GFdv_sWiJbZnRM6XXC12qRz9iLNU6TX8FmhAHgca1MQAouZRNUnG33c1CZ-C17LhHe2INuRmFe6rfyo44xZDjGitFKpWiL1I0000HmxPmL-CmNUMgFOGrV6dm_8JmIb40JPMj5gO_uRnT13G7Q5QY_0RsPoyQ9DsS0BiGPeO9AHTwN2AbdtuaTnDWom85lvefWvbwKxRQmc702rBDiW6veasMoX2-550hGixSK8xrtFB-AxRy3zqG6qjrUIFQf_ma9-KfGBxK2Dly7mxMn9PF3Dm-LgFVqjwMZMj5q6k5R3YJOmu9FDyPeZ6xkVxPjMgEzkoGcvuD1r26nwtcVWJk5k50F32WrloWN1jKbO0zFwD63M7b6tLKgLs5XRV2CKMtg2H0X8aqMlATcGFY5WVVYF-KNk9x866kBrIjnofAv9rSjHGYN0-sDFbCdpoMZUVLp-ehmH3-IsYXaY52V16QmyztN9hhtU8NEtWZPYQ==",
  "id": "rs_06274f8033187a80016ab44a645dd087d081bb66067467e59b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.1,\"right_z\":0.22,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The low extended pose again failed to lift, so the arm is still beside the bowl. I am retreating closer to the base and upward, which previously restored full tracking.\"}",
  "call_id": "call_5ChAW3JeOFx1SMh6BBICo5Xr",
  "id": "fc_06274f8033187a80016ab44a64a4d087d0a742e4ee000c7971",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5ChAW3JeOFx1SMh6BBICo5Xr",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0227, 0.8516, 0.6128, -0.5014, -0.0139, -0.0307, 0.9913, 0.7273, 0.6643, 0.7136, -0.6579, 0.4057, 0.2703, 0.9986]\nstate[eef_state]: left_x=0.2806 left_y=-0.0003 left_z=0.1447 left_yaw=-0.0006 left_pitch=-0.1705 left_roll=0.0028 left_gripper=0.9913 right_x=0.2267 right_y=0.1133 right_z=0.214 right_yaw=0.2331 right_pitch=0.016 right_roll=0.0053 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.7846, 6.9402, 1.7021, -0.0269, -0.0073, -0.0073, 0.1299, -0.5538, 8.4581, 1.5751, 0.3883, 0.1978, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0603935319ce5ce6fc3c261edcc0a58c8702857e213671fa1eca0be5527c819",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3805e5f1d399aa296532c160b8adf84cb4773c87f9f9128001151192f7b73b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4463fd22dda6f7f9b1cf6c1b6df170b7b112de03462f53a1267e8d13b93bea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6132, -0.495, -0.0139, -0.0307, 0.9913, 0.5251, 1.6676, 0.3836, 0.6144, 0.2909, 0.1883, 0.0081]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1475 left_yaw=0.0001 left_pitch=-0.1583 left_roll=0.0025 left_gripper=0.9913 right_x=0.3352 right_y=0.1398 right_z=0.0083 right_yaw=0.1684 right_pitch=-0.0677 right_roll=-0.0254 right_gripper=0.0081\nstate[joint_eff]: [-0.0615, -1.5521, 6.9265, 1.5653, -0.0415, -0.0562, -0.0122, -0.3761, -5.5179, 6.4342, 2.1172, 0.1148, -0.0415, 0.8474]",
      "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, 0.8467, 0.6132, -0.4942, -0.0139, -0.0303, 0.9913, 0.2974, 1.7138, 0.395, 0.6918, 0.099, 0.0589, 0.9954]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1475 left_yaw=-0.0001 left_pitch=-0.1579 left_roll=0.0028 left_gripper=0.9913 right_x=0.3636 right_y=0.0969 right_z=0.0069 right_yaw=0.1712 right_pitch=-0.0542 right_roll=-0.0072 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -1.4564, 6.9675, 1.5995, -0.0562, -0.0171, -0.0073, -0.1709, -6.065, 6.0239, 2.0635, 0.0122, 0.0171, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0227, 0.8516, 0.6128, -0.5014, -0.0139, -0.0307, 0.9913, 0.7273, 0.6643, 0.7136, -0.6579, 0.4057, 0.2703, 0.9986]\nstate[eef_state]: left_x=0.2806 left_y=-0.0003 left_z=0.1447 left_yaw=-0.0006 left_pitch=-0.1705 left_roll=0.0028 left_gripper=0.9913 right_x=0.2267 right_y=0.1133 right_z=0.214 right_yaw=0.2331 right_pitch=0.016 right_roll=0.0053 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.7846, 6.9402, 1.7021, -0.0269, -0.0073, -0.0073, 0.1299, -0.5538, 8.4581, 1.5751, 0.3883, 0.1978, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0603935319ce5ce6fc3c261edcc0a58c8702857e213671fa1eca0be5527c819",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3805e5f1d399aa296532c160b8adf84cb4773c87f9f9128001151192f7b73b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4463fd22dda6f7f9b1cf6c1b6df170b7b112de03462f53a1267e8d13b93bea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpq-RYfIY5U0h-T0ueRTlNLBIQGmW1OdohiNn_Zax_Ppz7tFVqMrFJzjTJLn1w9pb_7IeYjPHwaFP7XSbsJRTdY-gb-UjJUC36M5gh1RQ9gBpCiDyUH5es2Ar1928rejvc84RImO7UmG3f9TChVbFsq29FQOWPZCZmvySxQ3v4p6xvTXGS4TfMYcsEzfXBKzoWrFSRDtymv2pG6lxdNqO2IogsuwLWkdF1MO4VCN-2NA19bMdHy5UOC07pL13imd8W6xBdL-vKGT5Tjpuzp-I-kKpM6c5Zx2u54-zrU5Nn1hSAGp1gxgEYRymtHKRlVivY6Ixd2ksGrtyRYcyLcXDUcqaXJQuGjxsE30l9S3xcQXXEybFwfwc5xoilpQMGCHc97NJi_MwoFzd_04tvrwfqtC7hhZlslYR2iIjqVUqd7rN2wZmacfohRSNJ9pihbxyM5LGoy9NKLx85cSHXORmbVVCteEfHrMPyqQqtr64V30-5GUx0Q-mr_B9ySL-NNHtZKbDp6CB43oA0WVHSCg8swOF97zuKReddY7xdYPO9WrZNr1IxSjlnWxx9AYSA8WA0qDv2m2y7cZz3PjVPZ0II6CwAAiAMdpae_41SzLjF6J_xcujY8W5D8nba4s7sEUrEXwbGTe-WcGrxRHcuGRYvHk-s2Xd9m5xPNTazu0oc84lCzamGVbZ5xwW40QAjLP4p716cms3OsfM2XpsclkJ0seOseIySPjyXkbRiIKR0524EmRtLMNuJUbAUozfJFBHd5haPfZjG0tE0UYsVkUTDt3UfJ7JiokzC28HD4vOlzJNcm-wXM6e85DpRf0MHCZH5V_sLjMhC5Bk7aI9GqaYcVwCkQC18HwJsj-yW-D4aLQPuvYHT0Y_LEJPsTf85f7llbsztxGBo9p5_j6bIBm8tXZ_1fOHv6TQGBbccfWTFUBzL0jIpP_IxSNGFFhC9uIDSWUijKjpdQeCLIgfS61vRxkYveq3Wghsgi3Z6go4fJciKzDdhPudFwAu3rMph_jRHNC8_S-oNbrp0ZEsaCpu2cOSbPki_RFm3lhnp-cD-XSFRbc6toVDwzcpVVKxcXYlJRuy5MqxRIYOo3lezS8OatneDgddSdRov8ZpoELlQwFeitKHzwqCcMlMfy6fOv21JFdRMzsIWff6K7ciO4zSc5xcHex-Eyi6GuAY2Qi0pgHdkTeIwo5XmcaZ7cbTCCfvhKD4IaXp1OFlrgygsTgs2B0b3qnQ2EuxhLX-KeSeSVrQNA39GzMmGIOnPDBPS3Wpfvy8OOSR4sBQ0zhuRGlUk9mg8cEduMD7k9tndCupOUh-8ggYfiNaQ02Kw8RgnKMJEnQtzaRruWJbho_CwER6RWTDbzGwwA3FrBibveJbPyEZcVixxCJEbqAmS6L0R-EgXvDoV4vb3i7ezsSHYOiRVbqPYyYDLK4tpAVCQ0_5T8UkZ_bqsM_RqlENayeLF5F_UxnHekvmYrgwwB-T2ORi50KnNNtSiF00UdAWxMf0DY2aZvzSDv1j1u1Zg55HDNY7sKvJ72RNI83SEQ4zZ6vNIhWKozSm3YSVouLV_Lzpz3CDge5NRT93JKAWsTIAVUoP6UnQ5qRmo14ymtl_nWZnaeSE7rlcxXNahLqLVMvY7OK_eAogRg6L14jA_SRdNZ5m_S6H7b1_kk7gChQSjEhAZc1naQZMxWMZ9IHZf1NmnC62-j6__pKThP4dh7bMhYp50KpVc2wEdvkeYv-_3c5bUFkBy58nMksKss8Mca1TLNzeWOqEvZaBX2rWqWPwJUtRk88ISrMBowejHFbM86jQw6a2QaFtYFw9j_eSGNCkYDo8lqSM_uUXAZr72KfxAq2Rh2ZE2bjuJi9iqT5_lD568Js6e158DBY0titirXi8BcqEpSuRdLUgkkS2rTrQ_byefksyfbzvQNhDEgL41X1vFUYk13rRvfLPWtEb5Pt9Ty6M-7oHEYIOc2jtOAA4IhnQAn0FS6SpaOIcHGdjRNMQLb2s0WdeJkQslGzSdWcHg4oG22KCx3js99Ynzlq1bteoWYN-uyYmsvH_6BrEOAThHvAuildoOVZw5GuY49_BtyNqP9L6L_wwjLN5uez37GXVp5NcLj1YWEz_IftbMoClvOUIJ3zwlGeeFCGhXvrDYAW1XkAp34RssPiq6E0fZ-iYL2KXzka12KaezUbUZM1IL59kM0wCWt0xuoUW61P22mC6BNySY_D2VWJ450nbHObpLUzX8_k1VlyFS-VBSSmFi3nFz06TVxMxgISBhwf7ofvOk=",
  "id": "rs_06274f8033187a80016ab44a682f4887d0be18aa8b761eceb9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.255,\"right_y\":0.205,\"right_z\":0.08,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"From the recovered pose, the yellow fruit is clearly left and just ahead of the fingertips, while the blue bowl with the green fruit is farther outward. I am descending behind the yellow fruit with a leftward alignment, preparing to push it along the direct line to the bowl.\"}",
  "call_id": "call_gRBNI1wnsb5E7lntb2AMaYLK",
  "id": "fc_06274f8033187a80016ab44a69e79487d0a57eb95b394fb98a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gRBNI1wnsb5E7lntb2AMaYLK",
  "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]: [-0.0227, 0.8577, 0.6128, -0.5152, -0.0139, -0.0303, 0.9913, 0.968, 1.2434, 0.432, 0.0006, 0.5686, 0.4202, 0.9986]\nstate[eef_state]: left_x=0.2785 left_y=-0.0003 left_z=0.1407 left_yaw=-0.0007 left_pitch=-0.1903 left_roll=0.0035 left_gripper=0.9913 right_x=0.2445 right_y=0.1937 right_z=0.067 right_yaw=0.2608 right_pitch=-0.0891 right_roll=-0.0731 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.812, 6.8581, 1.7753, -0.022, -0.0269, -0.0122, 0.2256, -5.1077, 5.4359, 1.6923, 0.4567, 0.0806, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2321079fa1e36473459d8df12b16071635c86a786af4d50dd79435659e8a6221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67adac836c373fea25df39c2e8c64eb0286d8e1495676ce8ccc95eee6a771ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d68b370791a2e4a4759c4894027980f35f4afe384f638df9c3a0394cc17eefc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6132, -0.4946, -0.0139, -0.0311, 0.9913, 0.3134, 1.7069, 0.3943, 0.6739, 0.1452, 0.0887, 0.0081]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1475 left_yaw=0.0003 left_pitch=-0.1579 left_roll=0.0022 left_gripper=0.9913 right_x=0.3617 right_y=0.0941 right_z=0.0062 right_yaw=0.1323 right_pitch=-0.0618 right_roll=-0.0119 right_gripper=0.0081\nstate[joint_eff]: [-0.0342, -1.4701, 6.9402, 1.6093, -0.0855, -0.0757, -0.0073, -0.1162, -5.641, 6.3385, 2.0928, -0.022, -0.0366, 0.8425]",
      "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]: [-0.0227, 0.8516, 0.6128, -0.5014, -0.0139, -0.0307, 0.9913, 0.7273, 0.6643, 0.7136, -0.6579, 0.4057, 0.2703, 0.9986]\nstate[eef_state]: left_x=0.2806 left_y=-0.0003 left_z=0.1447 left_yaw=-0.0006 left_pitch=-0.1705 left_roll=0.0028 left_gripper=0.9913 right_x=0.2267 right_y=0.1133 right_z=0.214 right_yaw=0.2331 right_pitch=0.016 right_roll=0.0053 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.7846, 6.9402, 1.7021, -0.0269, -0.0073, -0.0073, 0.1299, -0.5538, 8.4581, 1.5751, 0.3883, 0.1978, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0227, 0.8577, 0.6128, -0.5152, -0.0139, -0.0303, 0.9913, 0.968, 1.2434, 0.432, 0.0006, 0.5686, 0.4202, 0.9986]\nstate[eef_state]: left_x=0.2785 left_y=-0.0003 left_z=0.1407 left_yaw=-0.0007 left_pitch=-0.1903 left_roll=0.0035 left_gripper=0.9913 right_x=0.2445 right_y=0.1937 right_z=0.067 right_yaw=0.2608 right_pitch=-0.0891 right_roll=-0.0731 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.812, 6.8581, 1.7753, -0.022, -0.0269, -0.0122, 0.2256, -5.1077, 5.4359, 1.6923, 0.4567, 0.0806, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2321079fa1e36473459d8df12b16071635c86a786af4d50dd79435659e8a6221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67adac836c373fea25df39c2e8c64eb0286d8e1495676ce8ccc95eee6a771ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d68b370791a2e4a4759c4894027980f35f4afe384f638df9c3a0394cc17eefc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpvsLePPAilXx_D6S67Lo0IBX8UiZkf_SplafLFMrAFX6u5Dt8hpP_B4y0hrPlG9pVlol8cRMLBHc4jM9mg-bO4Ul_UbHLKbptdv_VhGOr2jgARw_T4sYXZ9Kyre6PS-aUc0ONW5KTdDfKUX6fmzlrtbh2rIEtFI6InNCm8OUoExmba2sf1vmfKDBfaeb5VuRLtQdgA6yL6XoYAZqzyjlso6FwLNxn4r5ChXCFWEyzWD-4amKdtJH1koN8Qx4Wb5CqHqDhYxQTxrvv6mZng1CyHERd5N0Cv-6IWbzUb2RDPBbBGmnE8IhnptGWkxHEzI9O1NpXVrfdqmnTSVBcQWTByvKTWHVddS-cR5Di9SRPtY_oPHj3rvY-oGGsRVKUbh5oVG02sje0Pbf4qAgUt86-KNQWF65R_XtlRbi6yv6kuau_wvKcyYgCAAXc7oL8RQ5H0zbGanPw0NFU6-bgtQA6AukRHTnJwl6ZOqYuF7TGjGoSjryq8YYdDD39RGIzKFMccQUe-AWDUkzlUemHRfOf7aQOA21nHC8R5SxhddQ6_Cwuf62COAL37OpVXx9hHtwVJP0uMf_epkS3Kr62hPq-S_ZqNahcXlxCdsgxRTIlf0lM75BkOEYC62ZHlTiwGG9phjs0y59wWtQ373NXCIsmRJu0Fkqzx2evFRek8yGGqCUAAwL4JptWTMmfgrrmLSWyOaOhTrPt4K56myzea1UbyO_xKzcEr2L4OlgBjSFpNg1nylzfcv9szfP9S8QsUQsfITUhYZWBA9Iv9qYdj0CvX_-Id8l3ZJkhpvmr0YHAEsCjggY6uo5bQTmi_4pIsP_NDceXcd-K381MaJBM3V2dgdhvRyNy9xyLY7tBbcj4umbOGkinYX3yzqSYTfuqvOJQVOaAZ6GH5At3QZntFdQCxAwhBmIKgIlCUFdXtN-IgQUKPHDKUdymzm4Q8btG1rNZ_HBJlx-8gHcGRHBfHAQHo9k8A3lSTtCGRhnoWXJoSLVKgIDt5Yxit_3EJkBI_82rlR9sUFxm_akciAXbC7rvS4dxLAedMErSBq3NSxa_Efj0e9UctmghtVDKn1cZqBQBRWK3I3ottUCkROZKrJOQXedRlV0cDTe0hHD7QvhkpmIjIQTnaJdoJ54eMcrB-K-DIEdl-PZUWuYfwPpMmeVc-qkwdlWr5_bbE7kqk9rBx_1ClOd_dUUH44a-Lw-r02S06_nA_FnbB1W0nL03imYRaDDwlapqcOlmcpJgl4x86SAKy-yMgojioqjQUpZJyHSTY3BHcR02YdEwSg68MtBkpE6fULnQ9PmlYovOBDfOTHTtpw8Fv3QCK3L0k_CK_tpM0xX6oWII9rdLtTDF97LTF2c8JLnSx1_CXqKZjbKcWK7yvOhF06fDXfmev4FQqFBKjI9BboavInrTx0q7B20dK2loblDuGQQi4_DNBUrkUbngbJ2_TbYm7-c4ez2iB77yDEA2ohnzPH5XY2HNw9tvqxV5PRicsg1MoIFsXyKk8YLO7Z5_tIvMcJzKapfRM39bYvuDQ_0uplQAwc2_Nk8lJclHkcMzcjx8HnwIwsdMboNOEiVoXaXe2nmWUGrbumUzd_tTbhUWylAyLBYdIa8FVhlv7NRUeA7maPvXC7Af-kNNnCVvAbqnOVEXYFfB2TJZLMvnxAQ8h_eC8QUweGOP7uEJJOzrrnXR3RhUKKTOx4-18C2oKfOfAM9gdmjixOGK8lfARh6xT_eXne9T8T3Q7NZLf7grW27tghIdb-4xlF7j689IXXP8Sr8qnDKQN5GN8MTOBy-qHOEntFT7p9fjx_mJi6sdS2erO1CX5jAY1HETZaQwBuBN-AMtnguYa0_lB",
  "id": "rs_06274f8033187a80016ab44a6ce51487d0a1ae69617fd22ad1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.225,\"right_z\":0.025,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The yellow fruit is now close and upright but still about 3 cm left of the jaw column, with its base short of the fingertip row. I am making the final leftward/outward alignment and lowering to mid-height.\"}",
  "call_id": "call_Gd0XEwPncMXFb8Xwn58a94xL",
  "id": "fc_06274f8033187a80016ab44a6e186087d0a6c74f81d32b33b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gd0XEwPncMXFb8Xwn58a94xL",
  "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, 0.8623, 0.6128, -0.5205, -0.0139, -0.0307, 0.9913, 0.9417, 1.594, 0.4099, 0.3695, 0.5522, 0.4091, 0.9986]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1385 left_yaw=0.0003 left_pitch=-0.2002 left_roll=0.0035 left_gripper=0.9913 right_x=0.2635 right_y=0.2107 right_z=0.0114 right_yaw=0.2523 right_pitch=-0.1 right_roll=-0.0751 right_gripper=0.9986\nstate[joint_eff]: [0.1026, -1.6752, 6.9265, 1.7705, -0.0611, -0.0317, -0.0073, -0.2393, -9.0735, 4.041, 1.9072, 0.4371, -0.0317, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417e3ddda1337aca2674df347558008d6e1a4e388e4b9aeeda234aba5f72d3d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aee5ffee2b5914b004c6c670740f2bf9b0dbbdd82ccbf59c0d65c09b0402201",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ba71cf4886a162f07b39a0ae947b60f54b1bfd2de883cf0566a6ec6a9ba5101",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 113 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]: [-0.0219, 0.8467, 0.6132, -0.4942, -0.0139, -0.0303, 0.9913, 0.2974, 1.7138, 0.395, 0.6918, 0.099, 0.0589, 0.9954]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1475 left_yaw=-0.0001 left_pitch=-0.1579 left_roll=0.0028 left_gripper=0.9913 right_x=0.3636 right_y=0.0969 right_z=0.0069 right_yaw=0.1712 right_pitch=-0.0542 right_roll=-0.0072 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -1.4564, 6.9675, 1.5995, -0.0562, -0.0171, -0.0073, -0.1709, -6.065, 6.0239, 2.0635, 0.0122, 0.0171, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0227, 0.8577, 0.6128, -0.5152, -0.0139, -0.0303, 0.9913, 0.968, 1.2434, 0.432, 0.0006, 0.5686, 0.4202, 0.9986]\nstate[eef_state]: left_x=0.2785 left_y=-0.0003 left_z=0.1407 left_yaw=-0.0007 left_pitch=-0.1903 left_roll=0.0035 left_gripper=0.9913 right_x=0.2445 right_y=0.1937 right_z=0.067 right_yaw=0.2608 right_pitch=-0.0891 right_roll=-0.0731 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.812, 6.8581, 1.7753, -0.022, -0.0269, -0.0122, 0.2256, -5.1077, 5.4359, 1.6923, 0.4567, 0.0806, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8623, 0.6128, -0.5205, -0.0139, -0.0307, 0.9913, 0.9417, 1.594, 0.4099, 0.3695, 0.5522, 0.4091, 0.9986]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1385 left_yaw=0.0003 left_pitch=-0.2002 left_roll=0.0035 left_gripper=0.9913 right_x=0.2635 right_y=0.2107 right_z=0.0114 right_yaw=0.2523 right_pitch=-0.1 right_roll=-0.0751 right_gripper=0.9986\nstate[joint_eff]: [0.1026, -1.6752, 6.9265, 1.7705, -0.0611, -0.0317, -0.0073, -0.2393, -9.0735, 4.041, 1.9072, 0.4371, -0.0317, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417e3ddda1337aca2674df347558008d6e1a4e388e4b9aeeda234aba5f72d3d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aee5ffee2b5914b004c6c670740f2bf9b0dbbdd82ccbf59c0d65c09b0402201",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ba71cf4886a162f07b39a0ae947b60f54b1bfd2de883cf0566a6ec6a9ba5101",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpyZ8vBi8RUSBpNHzrbX7TqVw75RuilRv9ANulfOZA8hpCvKSqzxYRI8SJi8ZnsS0k-qFmGmXv2OZbqvr9eSdC7mWaA_p-wixAsNDEeVKTN816qpRvqBRUtgAYw-4lcuynW8435Jg0jocQPE9BA2T9cDjbDqN-mXnjnXUw52MGi52MTHD-Q1bCw77v2V7acETBZEUTPp__hvdRFC2VnEfjSIvGDTzlojPhQTsjd-6io7UXTg6JdzrUNhGavCNVI88tSvV5D80esN0lZoBvFQ2YlNSNFhG0XCOS2DnqWeYeJmpf8uerSnubRd9wh9Igoxk02psgEvnpyDY2Vd6Q5ODgvawXo2cvOC4J3Dox_03K-MOCc0hQzukizBTPGkV7ZqQYj9UXZ0xxEJDtqzowZffloTANG9Xxp6jUYjSl3SFX-vPmeNYlVCyT2LSOC53ClXdwx4KqMe5Z5r-503FHSSDB2GiBDuIWvOJ2Nry_HKESz49lxSVOJRmUda2B_pKZbqVDKG0TVW-MzHldnXn521uP7cFiEtkl_SD5hGvJGHcSwl3MHD4VCim2KY46ihtMLN5xPVq6jPB0oBvaI2MUadmxa5SidEmeOWSDIV5OB1jSQ5-ohSPaGryk_xrOpaTmgclxUFObJDZeJYKUHqqILBJH0VZ14jzwjOsvnKk0nJAYtWWQqjtxxmXWAHHi9wts_Oxwe61nU8ZLAqVkNxn7sd30ld1QtYmJDtmN3Yp2IpTO8uRP55Z6mD494zpNDqWuG1oN5ojQsFChxVt9uUE3F8SkMTv8evVmiCwYUkgD9yILIFJBic11ByCvaqeR-aBrj34weluqJfqmue-7N3ftrzW5DdjNrQ8a3UnuXIq_Yu3R4tPgtvnmKGiJWMVNbfYTaKP0RSoY5v94Wzvsfvwniyh3BA86eZ5YKOqTf6P2O6tj2lEiXVNVThUwNVLDv-vJy8238T7gsJ_-vT_7tJbdjoOmSizuU_Oxa-eMDV43R11wgAq2npinzY7DPCAr3ecz-LGoMitWAsNs8SAMSxk6KvQHOWJ5jagjXtPzhnzS04e0xWGljCFuwKWbl9FUsEypdZ6gzy34c9x0bsBJyxACKUcNWY60HJeDxcPF7e419gYlwKBX6OqhyVcTWUtzblDBPhmAaa3cFIB68kZTcnVlojHHQpXeKYYSlFTh0UYC6bimWnjhDp0NVl5BmAlPeXbXjeoVZjZ_V8BMd_cBkUpNV-T-zinUOD25lMnAGa6pMgaL5NfT99RoVPx5VNkCAknGLGKmXLY8mYLhc58i_wdWLICUYHkDUEzQe60W8YgwQ_uzyiQdNvEmfrI7detWvveL7_FHG4fYDzcXA2OvgFixZ6V-JmEzobxNOnbxr0rI13hqd_ocEqE-CYkJxT4EbzNnF9cE3uTBoYoObjZ7YY5rtw0CexBgHHXzU-BA8BjaxYtBmIoxsrtM9Rw12O85MlR7l6tKmRGWVsZAws1xq76XvWOBRU0GetHY30faqAqgKOUPzPYkpwV_Z8NTmIVHADebqZ6LrQVl_vJphh8vTDWREZgEYmuN0loJUUyq5_EM0NIzbBbeSsUwJAyjiA0P2mYThKumhJpdt7CiFAt5-qov5F2EaiAotWwBulSsq6D2qnCD74uA=",
  "id": "rs_06274f8033187a80016ab44a7086f087d0bd9d83b911edaf77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.25,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"At grasp height the fruit is still clearly left of center because the short move under-tracked laterally. I am shifting another 4 cm left while holding height so the jaws surround it symmetrically before applying a partial close.\"}",
  "call_id": "call_qd6AmJ8jytNH6RmHuCRLVFiZ",
  "id": "fc_06274f8033187a80016ab44a71c78087d0b624e52b744bf526",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qd6AmJ8jytNH6RmHuCRLVFiZ",
  "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]: [-0.0227, 0.8631, 0.6128, -0.5205, -0.0139, -0.0307, 0.9913, 0.9668, 1.6363, 0.4084, 0.4416, 0.5697, 0.4011, 0.9986]\nstate[eef_state]: left_x=0.2777 left_y=-0.0003 left_z=0.1383 left_yaw=-0.0005 left_pitch=-0.201 left_roll=0.0035 left_gripper=0.9913 right_x=0.2633 right_y=0.2202 right_z=0.0101 right_yaw=0.2703 right_pitch=-0.0705 right_roll=-0.0731 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.4564, 6.8581, 1.5751, -0.0366, -0.0366, -0.0122, -0.1983, -5.6684, 5.7094, 1.4383, 0.3639, 0.0562, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732f3a202d548fc83dc3f69440695f940eb20e694035d0d2a4e7bd2120f8ce15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecd0bc537c6dbd66c76779bda2a065630896365ae0ead693029bf859715b501",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4873deabf66f2e4af8ede4d5d74362d28bdfe61740f0e619faf2d181bc2d299f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 117 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]: [-0.0227, 0.8516, 0.6128, -0.5014, -0.0139, -0.0307, 0.9913, 0.7273, 0.6643, 0.7136, -0.6579, 0.4057, 0.2703, 0.9986]\nstate[eef_state]: left_x=0.2806 left_y=-0.0003 left_z=0.1447 left_yaw=-0.0006 left_pitch=-0.1705 left_roll=0.0028 left_gripper=0.9913 right_x=0.2267 right_y=0.1133 right_z=0.214 right_yaw=0.2331 right_pitch=0.016 right_roll=0.0053 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.7846, 6.9402, 1.7021, -0.0269, -0.0073, -0.0073, 0.1299, -0.5538, 8.4581, 1.5751, 0.3883, 0.1978, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8623, 0.6128, -0.5205, -0.0139, -0.0307, 0.9913, 0.9417, 1.594, 0.4099, 0.3695, 0.5522, 0.4091, 0.9986]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1385 left_yaw=0.0003 left_pitch=-0.2002 left_roll=0.0035 left_gripper=0.9913 right_x=0.2635 right_y=0.2107 right_z=0.0114 right_yaw=0.2523 right_pitch=-0.1 right_roll=-0.0751 right_gripper=0.9986\nstate[joint_eff]: [0.1026, -1.6752, 6.9265, 1.7705, -0.0611, -0.0317, -0.0073, -0.2393, -9.0735, 4.041, 1.9072, 0.4371, -0.0317, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0227, 0.8631, 0.6128, -0.5205, -0.0139, -0.0307, 0.9913, 0.9668, 1.6363, 0.4084, 0.4416, 0.5697, 0.4011, 0.9986]\nstate[eef_state]: left_x=0.2777 left_y=-0.0003 left_z=0.1383 left_yaw=-0.0005 left_pitch=-0.201 left_roll=0.0035 left_gripper=0.9913 right_x=0.2633 right_y=0.2202 right_z=0.0101 right_yaw=0.2703 right_pitch=-0.0705 right_roll=-0.0731 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.4564, 6.8581, 1.5751, -0.0366, -0.0366, -0.0122, -0.1983, -5.6684, 5.7094, 1.4383, 0.3639, 0.0562, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732f3a202d548fc83dc3f69440695f940eb20e694035d0d2a4e7bd2120f8ce15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecd0bc537c6dbd66c76779bda2a065630896365ae0ead693029bf859715b501",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4873deabf66f2e4af8ede4d5d74362d28bdfe61740f0e619faf2d181bc2d299f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEp3cHPmH3P_OIIZ--o4-74nknQKJmrn4-6kKYbDMNl8rVSBiONo_lEMHIZSnqJjf9R0Rdl5r0Bnl4MGw8yMx4yfM5HJdoMcTUdUmDzvMltNljch4YKdabRKX61cOQZMbp7RAdiFT_qRRRojBknnL2r_W82ePommtqnz_0LJVL8QHhRFaQi9MLegvSFn1ASoiosDOiXgSPHpsnj0FuX9KFWAcaN8olQKS52zx0Dci740gSSSUM_eEidv8WeKpEEVVLAtKyHxa5V9hzZvwJWfrwhZWseiWKwVg-SafSqwDPvMFT0fTmdaMVHW0Syq56uFUVNMDytij9EgGfhZ88fvNtaG7GDP_F6Wyc5cTUICzBAoHSwKMq1x3j1BmyeOBSh4M0DiLjG3M9w2RUR9PARj3NSud7mpIqn12X90r0AgdTsGRQvfYOc1dzj2RrJmtaTOCzC3couRRiRQa3B2fSXPTnHsnVUMk8WBd3kx2MjMXt2mA7c8iZ0DuaMoP0X7qcZfoaqpZnZ0b_jLUm_k7jb6nWvi8vajjpEaEgt9V4ofVtzuflKDNnKhgSQ-jDFWXjP1sbo6wO9vWEFw5JwuhOTyMu0m_tNPhW3MEJ6IYBOL5OXgJsv2AbUYgnpaPjCVE--cAY8lafQSS4FoqiTOiaQ6cVV9KUruao38rGIuNRELvJkU8AQNhRY4bioOHoEIhrXtmTsXnkkrz4zwYjbMHQ-gDZkZvo5J5Kg8GgBCCy5SjDfuuKGa9UIm2JAODLLg0WirtFB7PaG8QgWmk2HyOrMxQdxm4AHhy6IpCs4fCJNWbkU3zxd_2Ln0KurMn8jeL6GWwArMagy9ig50hZF-4qYPJxXGyg4nxanNsGzLcHaA6R_S68DbDhg7PEKasTn-DSQcKWgX9-kNscv7WX6olIFa-A9YTcnuUT7L2LE-EAMFPoCnv-sBvMZr7KCnXwORGTNjM6W3GZea5gJKE--1Eyy0ffw-ePw2udWxf7aQxF1ZkIMLWLn0qB_U02SNdXzc6NYV7bqniJHZcUjBU60aNK1ibdf-kGMJhFCyS0w4X4QBJS-mN6wslWgfFyTe5KYEJ6cjyx4-kdRWHq664tUe9ZISc4gW4jzBg6-8fUSf6IAIKjbwQgmpuL1hWKK5re5zwDk2ImkEeR_ODQ028gSWBM8J3GAq3Ww9FP0vEeJ9Bor_xYRsve4PeMt9wPYmSSa-zUL2IerwLNU0-p_yIOdVwVCvchF2Z_eVdu2ZDlF36p5QzrHzCvnTbqpHpUF0PUQL1Uwo4zVumq635hC3UPBejMOblqhR3WwAm_XJUfxOT0nawedS8qj1Kl81ZxWucwCjRdQapTYqVuPVA1cPUzoqHw4LyjEbqsu4NZM5bLG9zh-pyp1B5ttPes-XinQqg9FajW5AYrC9TFCGrxu6r9Wd2KLS4VGV-kwZa7vaV3g_kyGAOMfE2BR_TSvCft1-_q7P16ndFXxxueUNgiTVe-xfoohRUk4NEeISAasBxmjc4ZLIHpO4JbfuRpttW9RuCtW5dqZn8LG8UEMQiD1795IrGJQV7eQKKN93pZML029sv_ROnQeuyiK1JYtQjgVTQdxAD820kxZW9DmDOd50VfH9d1ttz2qFiC-qlNv2OMNYHkl4dAmTyI-jIpfFHCIOC3dmmEQ-LKuc16gnyd1jnc1jxLxRHdVHbpdh7x_PJ45l1c0429McBrbgMMupq7MBLBJbwfBw5FO779Bqa--xG82ZdwmymAtZ46Uka0XoCB3OBhEaE6fvb4ujvl9R4AJ7rVYGj5368xznQ6lZOrf5BWfJm6ZwC8OfMykqboQcorjHthbLLtajkQ2aJVax3d-vsPnqtz1M96t67JA4ilANJ3f_PCXgigB5LDZ_Xgh1ixA-ktIpqqw17vupPyGzOTzqRj7k68y5SUDKTvu96X6sh6ZirBLr0CyqLi6eXMkZ9fmaZMEJaSUcJh4X-E0__wQiHC_p1xzW7lV5RTL_Zyg_m3Io8yx7taY6Qc2SinGcUwIRolhIn7mRbTP2-QbM--cJ_RBuxuU5s1V6x45MN-GhHI8fsvpZU8an_71K8Pfa4s3Ty_iQ4LmvDxVHwf7KJhvAOBnLKJH69_mhKO55LN1S15DEmFXtDxFABkXkIYk3PbdHswSWSLmotKUHtJQjiRVZWLwAad2KFEVw",
  "id": "rs_06274f8033187a80016ab44a74982487d0aedb995914dfe53f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.28,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The lateral adjustment moved the fruit closer to center, from far-left to only about 2–3 cm left of the jaw column. I am continuing the same leftward translation to center it fully before closing.\"}",
  "call_id": "call_euJmtrIi0bA6FaFkQvznetVK",
  "id": "fc_06274f8033187a80016ab44a7693e887d0aab47c77c9ee061e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_euJmtrIi0bA6FaFkQvznetVK",
  "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]: [-0.0227, 0.8665, 0.6128, -0.5278, -0.0139, -0.0307, 0.9913, 0.9668, 1.6363, 0.4084, 0.4248, 0.572, 0.4015, 0.9986]\nstate[eef_state]: left_x=0.2766 left_y=-0.0002 left_z=0.1362 left_yaw=-0.0004 left_pitch=-0.2117 left_roll=0.0037 left_gripper=0.9913 right_x=0.262 right_y=0.2177 right_z=0.0077 right_yaw=0.2676 right_pitch=-0.0823 right_roll=-0.0849 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.4017, 6.8581, 1.5849, -0.0366, -0.0464, -0.0122, 0.0615, -5.4496, 5.6274, 1.4823, 0.3297, 0.0708, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434a8b50c0276c28a7fb0d5f2653b3eeb31d1e86cda6435fcd74dd1810a8c2f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783bc8087d61d80e964d79e09b8c1f221ed51286eead4b4dfca7a54534bdf9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2956429c5a37b748d3dbe0eea31f752c5584915acace46fc56a0bd025140829",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0227, 0.8577, 0.6128, -0.5152, -0.0139, -0.0303, 0.9913, 0.968, 1.2434, 0.432, 0.0006, 0.5686, 0.4202, 0.9986]\nstate[eef_state]: left_x=0.2785 left_y=-0.0003 left_z=0.1407 left_yaw=-0.0007 left_pitch=-0.1903 left_roll=0.0035 left_gripper=0.9913 right_x=0.2445 right_y=0.1937 right_z=0.067 right_yaw=0.2608 right_pitch=-0.0891 right_roll=-0.0731 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.812, 6.8581, 1.7753, -0.022, -0.0269, -0.0122, 0.2256, -5.1077, 5.4359, 1.6923, 0.4567, 0.0806, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0227, 0.8631, 0.6128, -0.5205, -0.0139, -0.0307, 0.9913, 0.9668, 1.6363, 0.4084, 0.4416, 0.5697, 0.4011, 0.9986]\nstate[eef_state]: left_x=0.2777 left_y=-0.0003 left_z=0.1383 left_yaw=-0.0005 left_pitch=-0.201 left_roll=0.0035 left_gripper=0.9913 right_x=0.2633 right_y=0.2202 right_z=0.0101 right_yaw=0.2703 right_pitch=-0.0705 right_roll=-0.0731 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.4564, 6.8581, 1.5751, -0.0366, -0.0366, -0.0122, -0.1983, -5.6684, 5.7094, 1.4383, 0.3639, 0.0562, -0.1636]\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]: [-0.0227, 0.8665, 0.6128, -0.5278, -0.0139, -0.0307, 0.9913, 0.9668, 1.6363, 0.4084, 0.4248, 0.572, 0.4015, 0.9986]\nstate[eef_state]: left_x=0.2766 left_y=-0.0002 left_z=0.1362 left_yaw=-0.0004 left_pitch=-0.2117 left_roll=0.0037 left_gripper=0.9913 right_x=0.262 right_y=0.2177 right_z=0.0077 right_yaw=0.2676 right_pitch=-0.0823 right_roll=-0.0849 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.4017, 6.8581, 1.5849, -0.0366, -0.0464, -0.0122, 0.0615, -5.4496, 5.6274, 1.4823, 0.3297, 0.0708, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434a8b50c0276c28a7fb0d5f2653b3eeb31d1e86cda6435fcd74dd1810a8c2f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783bc8087d61d80e964d79e09b8c1f221ed51286eead4b4dfca7a54534bdf9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2956429c5a37b748d3dbe0eea31f752c5584915acace46fc56a0bd025140829",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "id": "rs_06274f8033187a80016ab44a797f2087d0a553fab0706c767a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqCJMtFb1X8FDSI9aah0V3ahKZoIklyA_ZTlwqbYHDmPWRmVSHKP1wKXVU9j11y6CTOuk6eEJ4G9qhwCrvm_D5FOhSdlDdt-hh_hsh8T4ectX06JdxZBy4PZkQaDIGXpsZRe3HecC1BwAHFuesVVo-VQ_pTaoZpLX3Gp0Ak2VifbNdESCwywbSPB1LL1pYdbfrzwh4wBv5fXyamKD9UCaSb39qcBgWrhGRMdLsIgBxgFsQYI4k7fvVrSVt-jEr-jqX1xYF5JusJC6hv-K705pqIFpXA6GL4rXu488wlsBFvre-UQssrvgWQ31dL_3qhiH08X_aNm8qYSgPUYTeO6ENuHX51BHeM48H9kGMpHEgeHAvwVRPnHsvC5H46WuiOG3DxdMk_aiiZwFJu-4mzrCJeP5jFQEbXQfGvEHPODK0aNVJHGsxi5glgkgUYEKs16TNlvZ0kMyvrdNumjQZeC-0e_7uqYnc9Mrn0rqk7Jm9Vpo6iglHuZ0ITlIlIGOxFfsEWsvC1_Mcc61h0TZM5Dzh7MtADBEJ9O4zqwj2nCOm40fOH7eqbFau_jtu91SCUvzKXKyd0zgy1_8LXA2UWVO6bm1fGpz5hSz_KcrftujYkL5haj0rdbhv8XpCD5IwxXnMquJdHjYr5UAIDxMvwp-E_vT6Jsq6sbZi_q0u1BL-kYdm2AN_iJ_sl5j5hoi7cvDiYs2oV6V7cKQ2qbtp0GvIPMpU_M9plVqEYwLV4afI3YjKhOB-Vb-1MS1P5kv98r48D_y3REzfIHdaDKTRnNn1hbLAf0kcu0p7VtOk3j_isPL50pGkO1eT1dIyZxDSxdi65WtZAp-8gkk7asmB4do55ze2LpBkEfck6LaNbFremBh5Q72EKeta367EYReY7WMBdXHlcus4shIe_AJpKDu11Oic_6QdLENiC--0TrpcoyufX5pQRUqQM7b8oK6AfEqQ3MCxWXStvuRjr-Rk5WCKdI4DBl5UD1dm59OiWwJr3EdZjgZ-Ikrk9HiA8C0xisxVsYo2Qo3T3Etei3wEH7zqPX_uK7K6QQFhhNn8Os71LuRZ4NKx2aFv71Ogclx3_wF7zlu1cdRKBOtsTTgL33LbJkkJDAhfDB5WWabN5LlK13Oy7yGLSkNa0ok7REQS62AlY1Zk8eXefJJve5_cQk7E9oX4b2yTl1eP6f3XUEE5IfdW27JSDmEzDiTjPJ3IumLXDWH_PXK43qALLV7bPcULFNWbAFHNOK9Q5z0K5WJ6JOjdT1f4cL50FM6TAUFum0vxrLKbQdrIwnnY3c0HprHanABHYa9vr2DZc-4aY_8ca4f-UHPBO3IGfbnC_4E3ZPqGU4t4TowVachotpSddgYfXaImvPBCmi0423zM2xrTKA66wPNw2mL0KGeS_M1eceFeUc9RFQTSA0gRevu64DqOZuWekmwAl7X3zNVELXh89U_90X3OSOb_8ajbplwmkeGJmubVsFF5uFyKqk7iNXWzPKxNbT-6ioX3SnDgN4sAmJYH1_QjShsJ5o66m_Kz5OrQ7RpbIeeoXn8bh5ZjfR1jGsmQ1i9Lu2bJLIvTHpZaqxWAyp26UWAutojhYiLvZ4LiciwDcxewNT8gHTmyU12aQRbwn0u9y8BNtLe2QMNNsQCrk8luWZuDOqAHQG9nOExsPaGdf321gsIW4UyctTnX7j0oKbExtxoKGfiiAm4gVXe_M7psul60jhjWIh__9tRTiakxspKNi9tueSGeKNgBgjCZxQZ11TQ_brZY924gqXYe8ZrPkIZ3uSexQ1UyB7b3hg8A0YUbzzxuK0fpkmSLoIjjJdyB3Xh0t6HlwaiFGgr3GEDFZLngX3QFSrSPjElKDbziOiv9AU1WpPGSR-Lrl0itlUyt2im6_r6cSZs9e52hl6zmJMuCIU-hTKsHyb-4uGk7E7tV6nWJgG1yMA46CPHAeH3d5Xn0U--q0ceTUhaFOC6ymOM8QySfK2ULAUBtWH-DuBCpP_m2t5AxTFdkRFjn9ABMytIHftJjCow9SCYZwZxuXWWbOjkKwbGFXyI91STve1ZcjcYuMMiYstpXMN0bon3ux6VW_73oR3uFLT8BIYqLF9vfDcHrVLCcjUHPG4V_YMba958_xJjwmHBWEK50l9qtVop1QwOkjX0Tdeadeb3x1kpH7iznIjTzIi-CIF3oMWacSmMoweObKrOple1foFbkLK99TGl1rUL6n5o3gPdzy7FWdeQPUKBJzvqExhSZ_1Th8KlCSEBuyZ7hpo9TX4-ZuLVvPBZ5VwtAovu4Fg7aXJ4f-kASMDUFS9-Xd42Arqd7xcpclIxBPYYOYAbldoTCSvtxrJHeVH1pxl841aLfeBNSLeyY6YwtIUNRUeEpsVJ4w0wMMeUMQCyBIohQwJOkZZKbatBQ_8wqWRt0xTbRHUsjN6SMtw62BzThbsXErPKBtRpvfZVyDtm05oH6c0_VypnHj06M3LM4D9srEYjwlCzx0Na0n5sA7W2CAzwHYxsU19Sae1Yr3PbY2TGjY3ccAWKCnsWhQ44vjehGFtNLCeYASpzEk1JvhDw7btkiBoF0NmpWzvcl4VETUpy3PSSci9LFupxfC0nkqPReJ1iuhIpHnG74m1ZoWZoiY5A_3XBUTWYEsEcwJdyxUh0qcDV5WUYcybZskOBDSZACuKJEIl8ROH0VeZWFla9gRV5bHCom-OuJRkoWOBYWGcxEQf9PHM9o36Y33oLuxVNY=",
  "id": "rs_06274f8033187a80016ab44a7e1c4487d0969227a5f5e33783",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.22,\"right_z\":0.15,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0,\"left_x\":0.32,\"left_y\":-0.26,\"left_z\":0.13,\"left_gripper\":1.0},\"note\":\"The right arm is stalled at table height, so I am lifting it to a base-side position directly behind the yellow fruit for a straight push toward the bowl. In parallel, the left arm is moving above the remaining dark fruit on the left, with wide separation between the arms.\"}",
  "call_id": "call_r89A9jSBYF2Dzufo8Ssdy5a1",
  "id": "fc_06274f8033187a80016ab44a80ddf087d0bd689c8f776e8276",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r89A9jSBYF2Dzufo8Ssdy5a1",
  "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]: [-0.9272, 1.6489, 1.1347, -0.5446, -0.5777, -0.7662, 0.992, 1.1412, 1.1107, 0.6147, -0.3103, 0.6773, 0.5426, 0.0093]\nstate[eef_state]: left_x=0.3142 left_y=-0.2521 left_z=0.117 left_yaw=-0.0103 left_pitch=-0.2491 left_roll=0.0192 left_gripper=0.992 right_x=0.2185 right_y=0.2196 right_z=0.135 right_yaw=0.2897 right_pitch=-0.0281 right_roll=-0.0266 right_gripper=0.0093\nstate[joint_eff]: [-0.6906, -7.788, 8.8137, 1.1355, -0.5934, -0.0464, -0.4567, 0.3214, -4.1915, 8.7316, 1.4481, 0.3883, 0.1441, 0.9158]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad72077d8811a014018cb7aa951017f082887509524f256aa398aa4697812c34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d89caf2da04a482d46c5f7d9088157524e8788ac036641c5903d3e417d525f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5900c50bd302297be2cdfc4dd7c42decd7fd2592f6b66e91889d2ceda148a8b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 125 changed as sent

message 133 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8623, 0.6128, -0.5205, -0.0139, -0.0307, 0.9913, 0.9417, 1.594, 0.4099, 0.3695, 0.5522, 0.4091, 0.9986]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1385 left_yaw=0.0003 left_pitch=-0.2002 left_roll=0.0035 left_gripper=0.9913 right_x=0.2635 right_y=0.2107 right_z=0.0114 right_yaw=0.2523 right_pitch=-0.1 right_roll=-0.0751 right_gripper=0.9986\nstate[joint_eff]: [0.1026, -1.6752, 6.9265, 1.7705, -0.0611, -0.0317, -0.0073, -0.2393, -9.0735, 4.041, 1.9072, 0.4371, -0.0317, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0227, 0.8665, 0.6128, -0.5278, -0.0139, -0.0307, 0.9913, 0.9668, 1.6363, 0.4084, 0.4248, 0.572, 0.4015, 0.9986]\nstate[eef_state]: left_x=0.2766 left_y=-0.0002 left_z=0.1362 left_yaw=-0.0004 left_pitch=-0.2117 left_roll=0.0037 left_gripper=0.9913 right_x=0.262 right_y=0.2177 right_z=0.0077 right_yaw=0.2676 right_pitch=-0.0823 right_roll=-0.0849 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.4017, 6.8581, 1.5849, -0.0366, -0.0464, -0.0122, 0.0615, -5.4496, 5.6274, 1.4823, 0.3297, 0.0708, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9272, 1.6489, 1.1347, -0.5446, -0.5777, -0.7662, 0.992, 1.1412, 1.1107, 0.6147, -0.3103, 0.6773, 0.5426, 0.0093]\nstate[eef_state]: left_x=0.3142 left_y=-0.2521 left_z=0.117 left_yaw=-0.0103 left_pitch=-0.2491 left_roll=0.0192 left_gripper=0.992 right_x=0.2185 right_y=0.2196 right_z=0.135 right_yaw=0.2897 right_pitch=-0.0281 right_roll=-0.0266 right_gripper=0.0093\nstate[joint_eff]: [-0.6906, -7.788, 8.8137, 1.1355, -0.5934, -0.0464, -0.4567, 0.3214, -4.1915, 8.7316, 1.4481, 0.3883, 0.1441, 0.9158]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad72077d8811a014018cb7aa951017f082887509524f256aa398aa4697812c34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d89caf2da04a482d46c5f7d9088157524e8788ac036641c5903d3e417d525f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5900c50bd302297be2cdfc4dd7c42decd7fd2592f6b66e91889d2ceda148a8b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqKzpgP9h-TgvcGtShohL3k1C3dKYWuFwLNyKrnx_5qhbnLCd-yz7rpHtNcX8JQRKy43K6r098Jf40VDfqobqTH5JKARETxak3iFvdlYzuNs4GJ3iCihLPiRTlATLTiCVgq2koozHWdNhTxJyHD3vZy6dww1exQEPvVr8ITVKYqjfaTpce1JILXUvS93hCO8zsfoZiSjWZNlxwly5wICLzjJaGM1Oex_2dwo4_rAQtNrjQASjGkt839OJudJTB0Oz77A-iasmAa6MSxkrZnm8RLnr1PgF9OFPpQHiWk7Vtg-ikFAOQDwvOAAUdCLwVg7jjOY2PjMhjmQTPskeEfVq3jQg1TDfGGlOoem4ejjTidXxrLQ4QWe3-DVCgdlIbLuqtCylQwKBrO-HaUK-_iGBMmHZ5KtO6S5gPbo_KAUfzvt6aVVQHYzwWIyh2MvDnaDQFeuurN_ra51ScFjSyqh8LtfE33zVSXZ3olXdvgxVgyurkbTK6DZPsSATj4G1Y5F0OzuqDqHmAgI8-vhIsV_n-lj333TzJJ8rMr-joI66-w0FIESqxWwhMV8VxEXPlChd96VHe5cGzrR8o0HINnoJGVNQpXMZgaNGq8twpbeRaTPmVlPg93xCGquBZ4WOX4GdfVfdOvvrRjCSqsipa-akmXdScDbTBymYJrHtpyy2zK6IUunCndjy9y6CSEwZ6MDGy_jVcmsbEIwfLYF_o2ngNACTNuolYlDuoTLCjfJJeoA_jcLuwRwKjbYVRWmjLnHm05j6OPku9s0tDIZQiYOoKBVzoDlaA4mxFxRa4xjJUlTqnA6p9OZVcv7a7mDaD8QVUUhIS-ZswtX6kFyaLEt1aQkY2eR320l-QQf3bcw5Gx9d5sYgmBLFEaqm5R-TTZ-jLVsMvPaVsE2AWQKqtLr-qn-nykIg-vhWDeRa_C_xLMTdoLqVgIiZmpi817O2RdL3rfpi9mL3eOtQIagEf_hameVzg9u5f426LLtn1U9RVADLNdiwurji8RPh1faNYW_suDHeKXro3myukr3uVHOpJsW9AB1KwhG3MX4KQ8imKqyWS4BT2tshL9R15N1YQtzXev7fwyd9HPDO0P4Qd2JzQfGYIdVplkC8xwhe3ngkebNFyIxNlIubFjoFO_vngYGcijzgkgNXm6UA_clffajYD2ML7XHZwJAWvLf1H1NshXqpypbZxzeLZtCfy-yc8FnbeO3ToJQ6DZReKTMhWm5dJdMIeuaDUnokVv_2xMwpqptZZ8rdnFB05Z0C1nfAwBSayIc20zZFcmQEMa3vq46m1nUMntAqPMMFSR9NeXyx9u43BOtGePkdsMLJSM4Oppo10ahGuk37_s22dlk6kUhvaT_d6z1ofmNEoNeWgY1o55lRwR1L9imo96gOWWoKPFXPfAK06VnwuQIj619wrUqvuCbPZmxqhI8SiAJ9nLiE8vRF6qZlGuJhtcY34STrBJmldrwWhY66FhAhZyokStSnQeKZAyYCy486t10N0X2sdQ1yoPHJQduH8ftPESWo5G59jdpomAE2TPtVkoY71Eedg2n5HMygyVjyPrWgrBZHNJ_BuWxZZ-bBK8THnLK0e9aaMuLaD4tJ3VVj9l6GIzJ4Y-EReMHRrcx9SZnNd7o8tTj7eG81fCu2eBff-0jVxe7EvWcGWCmXAybMCE8BhVluqQvCRno140wYrGBVRq1oqTH11n6XtFjM0KnooDEzVJF8YncioH6UW2DTiddycTNQjyNYIgFdR0TvDKY1vUcpDF5iF3Z57pAoRq-EsQxTs1_bSNlkccg-t4wW8bhFYzim53Nu-Jz8f4CSxFLEu26XcwTQev52yDBVzvN7g6jWVMoaNNDYqVj8QLeeGpfyKbumihG3D5hAA5_M71AiyS0Crd-xu0NK9n5zADALs2oVWzH4cCcOJXsBW-utRnA9Gr4GV2uX4IKRW9Mcpqrj0Q8OMnx7QO3It2DHACxwJ1MXqZZmoXMsGYwoxHXdU5LqMKW7pCPUB_KxLrwwAZKs8pP9WjHUBOiGZR9ap2IE_-THGcS_VmNvXv-EPCaihgb99YLAWxsug_dGR5YDO8Gwm5JzaC518-UsIFSqaF0YiZCnU4jRLjPID8YumQccaUlAEZpp5RFv35MOsaWgBOV4XAUaU93JdLBJjh-hox7U5nyMLaw6hIrCDLIxyT1clO1ODl8IiyQHPKpM8Ef0ZtI2dOk0a1bmCNdEOyv83I5pUAv-BpMjS1",
  "id": "rs_06274f8033187a80016ab44a867d7887d0a27aa2bd5769b0c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.14,\"right_z\":0.025,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0,\"left_x\":0.29,\"left_y\":-0.22,\"left_z\":0.03,\"left_gripper\":1.0},\"note\":\"The right wrist now shows the yellow fruit directly ahead with the blue bowl beyond-right, so I am making one continuous low push along that line. The left wrist shows the dark fruit just left of the jaws, so I am simultaneously centering and descending around it while keeping the arms in separate regions.\"}",
  "call_id": "call_tIn31LaH61oWFSQJHh4ArnVm",
  "id": "fc_06274f8033187a80016ab44a889b7c87d0acab5c931a05f342",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tIn31LaH61oWFSQJHh4ArnVm",
  "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]: [-0.9298, 1.6592, 0.7719, -0.1978, -0.5694, -0.775, 0.9922, 0.347, 1.8065, 0.572, 0.5766, 0.0566, 0.0322, 0.0086]\nstate[eef_state]: left_x=0.2865 left_y=-0.2188 left_z=0.0295 left_yaw=-0.0077 left_pitch=-0.2708 left_roll=0.0301 left_gripper=0.9922 right_x=0.3918 right_y=0.1348 right_z=0.0067 right_yaw=0.2707 right_pitch=-0.0874 right_roll=-0.0065 right_gripper=0.0086\nstate[joint_eff]: [-0.0342, -6.7487, 5.5043, 1.2723, -0.3297, 0.0122, -0.7888, -0.2393, -8.0752, 6.0239, 2.0684, 0.0269, -0.1197, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5855ca6b95fa37d323895ae65761e1e111ac842590353ec770ad3e28a4a8a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3be722e7febe7c68293963bc7de37ba58af25c3703b08a1beebbf1361084a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0bea70e54baa6217a13fe0a442383f5deab85698b6cc3ed33d37c80addb3841",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 129 changed as sent

message 138 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0227, 0.8631, 0.6128, -0.5205, -0.0139, -0.0307, 0.9913, 0.9668, 1.6363, 0.4084, 0.4416, 0.5697, 0.4011, 0.9986]\nstate[eef_state]: left_x=0.2777 left_y=-0.0003 left_z=0.1383 left_yaw=-0.0005 left_pitch=-0.201 left_roll=0.0035 left_gripper=0.9913 right_x=0.2633 right_y=0.2202 right_z=0.0101 right_yaw=0.2703 right_pitch=-0.0705 right_roll=-0.0731 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.4564, 6.8581, 1.5751, -0.0366, -0.0366, -0.0122, -0.1983, -5.6684, 5.7094, 1.4383, 0.3639, 0.0562, -0.1636]\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]: [-0.9272, 1.6489, 1.1347, -0.5446, -0.5777, -0.7662, 0.992, 1.1412, 1.1107, 0.6147, -0.3103, 0.6773, 0.5426, 0.0093]\nstate[eef_state]: left_x=0.3142 left_y=-0.2521 left_z=0.117 left_yaw=-0.0103 left_pitch=-0.2491 left_roll=0.0192 left_gripper=0.992 right_x=0.2185 right_y=0.2196 right_z=0.135 right_yaw=0.2897 right_pitch=-0.0281 right_roll=-0.0266 right_gripper=0.0093\nstate[joint_eff]: [-0.6906, -7.788, 8.8137, 1.1355, -0.5934, -0.0464, -0.4567, 0.3214, -4.1915, 8.7316, 1.4481, 0.3883, 0.1441, 0.9158]\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]: [-0.9298, 1.6592, 0.7719, -0.1978, -0.5694, -0.775, 0.9922, 0.347, 1.8065, 0.572, 0.5766, 0.0566, 0.0322, 0.0086]\nstate[eef_state]: left_x=0.2865 left_y=-0.2188 left_z=0.0295 left_yaw=-0.0077 left_pitch=-0.2708 left_roll=0.0301 left_gripper=0.9922 right_x=0.3918 right_y=0.1348 right_z=0.0067 right_yaw=0.2707 right_pitch=-0.0874 right_roll=-0.0065 right_gripper=0.0086\nstate[joint_eff]: [-0.0342, -6.7487, 5.5043, 1.2723, -0.3297, 0.0122, -0.7888, -0.2393, -8.0752, 6.0239, 2.0684, 0.0269, -0.1197, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5855ca6b95fa37d323895ae65761e1e111ac842590353ec770ad3e28a4a8a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3be722e7febe7c68293963bc7de37ba58af25c3703b08a1beebbf1361084a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0bea70e54baa6217a13fe0a442383f5deab85698b6cc3ed33d37c80addb3841",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_06274f8033187a80016ab44a8d548087d084b9a940c2832abe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.19,\"left_z\":0.03,\"left_gripper\":0.5},\"note\":\"The yellow fruit is now visibly inside the blue bowl. The dark fruit is at grasp height but about 3 cm left and slightly ahead of the left jaw column, so I am making that final alignment while closing only to a fruit-sized width to avoid squeezing the rounded fruit out.\"}",
  "call_id": "call_eo1C9LLLMHETDoY3sGWZoaP6",
  "id": "fc_06274f8033187a80016ab44a91154487d093e270a918168264",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eo1C9LLLMHETDoY3sGWZoaP6",
  "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]: [-0.8101, 1.6585, 0.7345, -0.1459, -0.5171, -0.68, 0.5057, 0.3447, 1.8252, 0.577, 0.5774, 0.0452, 0.0177, 0.0086]\nstate[eef_state]: left_x=0.3044 left_y=-0.188 left_z=0.0196 left_yaw=0.022 left_pitch=-0.2982 left_roll=0.0522 left_gripper=0.5057 right_x=0.3914 right_y=0.1358 right_z=0.0011 right_yaw=0.2858 right_pitch=-0.1008 right_roll=-0.0118 right_gripper=0.0086\nstate[joint_eff]: [0.4034, -9.3333, 4.9846, 1.3309, -0.2759, 0.0904, 0.0317, -0.212, -8.9915, 4.2872, 1.6337, 0.0806, 0.0659, 0.8913]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a667157853933352d9981c34dc18aa5f9d289538112986af34364e0e9c40d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f53e1e9f6b665bb4755700b767d0b1ce7870a80342efd1a13117607f2385d26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581c48691985f122b939ca07ed91fd9cbb308d62a117a036bdeba9865a2ae4ca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 133 changed as sent

message 142 changed as sent

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0227, 0.8665, 0.6128, -0.5278, -0.0139, -0.0307, 0.9913, 0.9668, 1.6363, 0.4084, 0.4248, 0.572, 0.4015, 0.9986]\nstate[eef_state]: left_x=0.2766 left_y=-0.0002 left_z=0.1362 left_yaw=-0.0004 left_pitch=-0.2117 left_roll=0.0037 left_gripper=0.9913 right_x=0.262 right_y=0.2177 right_z=0.0077 right_yaw=0.2676 right_pitch=-0.0823 right_roll=-0.0849 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.4017, 6.8581, 1.5849, -0.0366, -0.0464, -0.0122, 0.0615, -5.4496, 5.6274, 1.4823, 0.3297, 0.0708, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9298, 1.6592, 0.7719, -0.1978, -0.5694, -0.775, 0.9922, 0.347, 1.8065, 0.572, 0.5766, 0.0566, 0.0322, 0.0086]\nstate[eef_state]: left_x=0.2865 left_y=-0.2188 left_z=0.0295 left_yaw=-0.0077 left_pitch=-0.2708 left_roll=0.0301 left_gripper=0.9922 right_x=0.3918 right_y=0.1348 right_z=0.0067 right_yaw=0.2707 right_pitch=-0.0874 right_roll=-0.0065 right_gripper=0.0086\nstate[joint_eff]: [-0.0342, -6.7487, 5.5043, 1.2723, -0.3297, 0.0122, -0.7888, -0.2393, -8.0752, 6.0239, 2.0684, 0.0269, -0.1197, 0.8864]",
      "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, 1.6585, 0.7345, -0.1459, -0.5171, -0.68, 0.5057, 0.3447, 1.8252, 0.577, 0.5774, 0.0452, 0.0177, 0.0086]\nstate[eef_state]: left_x=0.3044 left_y=-0.188 left_z=0.0196 left_yaw=0.022 left_pitch=-0.2982 left_roll=0.0522 left_gripper=0.5057 right_x=0.3914 right_y=0.1358 right_z=0.0011 right_yaw=0.2858 right_pitch=-0.1008 right_roll=-0.0118 right_gripper=0.0086\nstate[joint_eff]: [0.4034, -9.3333, 4.9846, 1.3309, -0.2759, 0.0904, 0.0317, -0.212, -8.9915, 4.2872, 1.6337, 0.0806, 0.0659, 0.8913]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a667157853933352d9981c34dc18aa5f9d289538112986af34364e0e9c40d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f53e1e9f6b665bb4755700b767d0b1ce7870a80342efd1a13117607f2385d26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581c48691985f122b939ca07ed91fd9cbb308d62a117a036bdeba9865a2ae4ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqdDzfsn3XvylJceivR1j63TOtzpMcKrHHCzq6cJzAVZKDuXFKzr6fcXRjV9JbLK2Qpu0Zcy1RnAno3QLeoJWCaeudr_vz3KFm5VddUTbxhXrSIPikrSh_hZ19in6985ujCw0AsSIYcdnAUspBnlNfNP-krEJQk5dmOlzVzd-F_SdCQfyx92yp_ErykVtAQ0IoSZi4R1ZmwlgE9rcERVsB-gQL2wB1efMuw41ivJvZhGioBpviUQ6uio6T-se98anh9WSOCUAyVUf6Pp8lB4koUdFsSig4wBhCrVZVInDN2JY-XxXKQYG97Ts0bzcgbpbGN3vIK3A4OaBOAixGTIl86M80xFsT7AycuzpQGGLZj6-I5YPabjyLIPsNVu6dLq5cA9FuA5eV1CpZ3KsMaFOuLS42S0IXuEo7tUjtwtS9yjcKpE8CXhFVOjzJ1KuLm6X3UC5Hv_8YPV6aXBlFr6CtFQiYY9988x5Ag90OMsltkNfcBOIP5cgI_1-ShNAtfNK078T63OVuRxCPKXzFpbOQcZrql8O0iRF1A4iDaHX8OKYWVXX_0quA9jjRnoHYr8j3HwcvvrX5m25Nx1ADXMBcdn39_YhHb-TTtUz3t5YDAZnjuhCLG_sQPRcihiJyk4Yy58UhF2pY3KVJpWo4_-yixKg58oc9yNIacXfGjnKkLUPCGJp4dOpT5kIQ3okqXq22hjQPzORqfu2_D4hzdxjVXl4A4WD6l9UOTFju6-jHDG75g-i7UDAyJROrvDsTOsCX3utVWoqbwGfII_CMFc-P50tqtGax6jnLLefmmSBkI5hQHqyHPsVX3-bZRwTXU-c6T0SeiYtDtzSCfeKE4wPhNSKfabEzWpBnOQRs4-nhsZMmIfSrXZ4aNX_GLAHZTS2rVuGH8sN4QFPBE5SwxMDIU7YYWo5N5OZ-P5Zx8EeQbFinzgiE8iyOahW4ngM-3jTyoIKCywZz75s8k-Gwhkg_3WBQu9Lg0QuaNLc8lAbU1c8SNm-C3Hjmg3GTQ8H0XOkrjBDvX0Kx2YjTyJIi51Oa7mNKmYCWEvBb2VwQpHeso2DIpy_eNs6lid02cFp_idAzunWsmoAuBk6Yyp_wHmO2vy51glJ5UYjjRroeXu5thKpaCE9hJHH8h0wZY-TVB7y1zrMe9Ns-zXz7hqH_E6JOf_H55KvknJuyO4QAfueHuj0qNkC69i6OOLBkJRFAak3YOag3H36a1orehFeOaMQI4efD1DEh6QCuI2W82wF43IpNi8Pr_c_LhprziqV-BJ11Yb7vJ2r0q3hdDXIVqiwaLI2K9IPPuBSrcaX90M01WbvwnL718Qo2xXH-U6tPRyUAMKmTWAICBG_oEYo4phLNDgpGH2oYBsvNJdl27n5-9a3avtEgdbroUCK4Wn1BJpmwbM0W43mGtb5k11wHttjwed6cLJPYMqqlBNFM3scUn9h0ss01VpxULsSEpwfv4OGWSxPJavYwim0pZkKN5t6Kjfox9iiPsRlz7zYFI0oK39xRGt_5f0j18lUVOfUaC7fCSMGaXskuw-HazUfDcqyQHpdYgOJ7aQTCesMsUKTXtWr4EOLI1LHtBD1cIEnSqFel1ftJX0lP_54JMA7AGxzsycsXMz4m7Qpo2318N6G7BslfbNwv0HuQaVx9DxEmil6HgWA5VtBDVG1DWPmcBRffOt5wY691wjaGHv_Y9_FhdbFX8-BQD3MJ_ygu7by8Qk8vOuHAPQ2HWljB0zMuNQA-qe-e9OuSzqTdwxNq4-xiU7XIf_gJNjk_LhSSGONsRKK_Sw3EZnEyPMzi4Z8kmtm_SHHDR-VEkt0tcegcuYmmHoqtXy5wkgxSMOeV7rNJr4Zh6phMvyIgS5Mkg6_qWpTpCx6JxZZU1Hd148JwwlGiQJVfkUpgaqngXTzNCC3pwbRCJEt20eGs4xDBOV_tkHqHtCnG5414Ki4HdqK8G8PnCZVgHKLbzwUknK_7ixjO9vZG-3HawBL-mBKQVAoTo5PWOPposBQmteDqErGMEksW0bH0oc_6L6ujgxDrA5xYwMLuwOQCLgtZ4O4q-T9K8DQWMJ4ZkChLqZ3juNvmZmSeLnfcIQy4fu65vYnp8RCCYwPpg5pyp46iEi5qQgaV7Lxiyup8ScDyK_fAS0bYjxNgxTixgHZvdu0qzdxq5ZW-9u_GA-7Q0-vXzCN67kaYCCtmNqZ53hyPNlwiGWafVb49H9yuOLYfeunpWv5FjJP4UgwbDNyiCauc0cDWSnQTad_00Z4rvN9fmQDNWp4_DHSIjz4YT9-6QU4c_rQWDIi_4ChWzlm1Ik0D4r4tbOLC7scUD7sptMuxVQsyp_BTMYhGcs6kTHuHHNtpUhgVWO0DyBPBKfwsSB-6u0y_w91i2uO5NXw23_eD298AsZowOZa3Liqp6fMIfGaU0Rw2UIcwCmi2O6EYNUHS4Vp1kWHz_-F0D-WjVlSkklBOEQgLY5237h5zcQAsZMfKcY5cmF4gIefS9UmFXpnGn1A3Q4BD2MdGCx-kjx5hz0-rjxOQM3FK6gtDU8Iz4sh_aZi18Ti4YSqCXqzQwEAMKQr1Y69Ef6igWoXHY0CfMPTk1DcSmMD6U1XRxUVw_8q_Jenmn25fl3gfzFWfLPSpWwjJafWpdje95uwSYMo7bBOsqEB_MUHQDds-w_MHlmYOi1uwNY_4AsSvX0N3IJhip2T8WpMN2J_6DOliAUDK43jSEiyMPnlMZINWkO88CLXw_ViYnVhxHZGWAmbqoC8i3QWFeo9mxm0o4NcsTlKu5pObzm6CHZnGzScDiqgzHaxCtv8AVcuFjwERjC1lGhgP3D5YshHrEdspOIeFAIaieWPRkKMNPTFKDzRRZRvQ40kiyejas-9v9DXRCyBeug-mxXtg0na5RXomED6Euphwn42TjGqxacyZb_YuHmWyih1XpZSbULqDuUltygCSG0shY6mxdYzL8kh4sJ_wtVQljHuUEhgYtIO0ZZck5E7O2hZLw1NU5kN1sP3tQRp7cAod6bZYvl2kr5WioDY-3JmxD6ua7dyvBqRcB9tnqy_U8yvDKNbeUqjKlTwqXigGuqhtnHwupzmKRDU7xnjizdj1VBQ47Ks2vuw9k3C9lwb0dDZ5uDsgQfZLky_3sIlZ9TquiNqG_FGpkRHDx435voFZr9-PR39KQV682rZjV4w9zDl6WXN4w37oN3i3paHO1aS-_3ae78yffO5YAEZpqvAf7YESLms4HOqN4ECoY_h5yVMC_vHPuAsrZEdc-kxtNbpxTv1Hv_0SUWjjNgCQbf1xBoi8MhIvoPaNpT-odqf5C-XbPsMvHQnbc4zw0Dcit2BerbTL-UgzYD2b2bLOhyjmEcx6sX_VMBo3VPcGIsU4PZNZngSUkZ-n3hnzD-ealoPVAXHnkuzbg5vI-0Fq1elO45rKRFTRSfRM7XmHZ1Kd-31jMwI3w9SFtSFGNt_agEDPqVNKhOA61_RfnDA8Y3MhyESd8PvfU8gvjvmicUQWikWavpy1lLiId0Hpg6NDWFlnaX2oGbP7x5v-fnYVKY4LceMe6oxWnaxYe_HPLH8DrPSitZyo2iBS-Tl72gKHXTse96YdfLFLatbQ_o-RgziA78IFl8AI9iX6F5_OsBw_UnI32kxaA7NWhhQz_f44Ri75ZDNXRyDbbmNhCoW87OFSH953TdEsAyXyxda1IE51MZvUi24L4FKlsX1o5elLFNjQmRUV_VN5153TsPl_V3mnr_uysmtrPQeTrvBynv0hveimU0wjGtLTOCIZqAYJ1rsjXUubeDn1BBCyQ6E0yw1_mgfcuyroAe-42v4zA7ABcQCOX5mNpIRHphVyR-I_Eb7aVgMSZeXALWm_AkefLNu3NmaWu4tCOKYSU9VzYsoHRHlj3KmJ5QcYiX9Asq9ipBlK7PQqaJnGOtR98fvUWM_NkD4Y9L-HSj2X4ig-qckPy98Y8yvlSNO-5bCVaQ56hj-a0wHPnG1-AoXnVLkovE-wKm0PImdBLUcu8G057FEwo_BDnoWGAtMdQ00tibrYKrYaABcVMkodJhUzidA==",
  "id": "rs_06274f8033187a80016ab44a94d11087d08c6446a43081b0ca",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqdctELL-7NJJ8f43-NsTdDrvuS06FEMxkoL7YOmdIV4VS802Q-NvbTzuQFV-teT7qOCqwFm1WTm40LeQXCAS_HheqUD4Pwd2IOxEezDdfIiuUvephJgFRNGUTj4FVsNIA0HWD7ZCs2rXx6XFcvBwuFy86SFdothiL2uXP_vMa6TJAANOTWpOv6LkW9LFgCa2MqDe0UqLiDuxQUUNRCg3FuNCc5clQFibXkV-xqaUwVeYNq0Y8lePK6itNcZebHE1PMMan_52jjaqNB8cpbi8bIDZiCFRWSfWY21S7AveNmCpkG0CZV7FZvCJiF2_y__f3tOE8HC03L-GeEP1_S_PYN3DJ0wM1Or6leBef5ug682wic8rzEEgUl5RZQaARKrC3P09Bgc1EpObop8NJCDFFmfZqj5-bm288y8DgRw4Z99t4Y6RbLJymS6rpWze73dQ7THoP5v8_nsyI-D496hlR2KTvR0VlgBZGCazGSVw_T4YhWQ_H3f44wVYrCVAEWyOooHtm76cDCI1Qrtcdux0ie3N0RBjnr3owjDiOJ9dEXPlnHKZfC-b3A75sQarXzFGGkMMrghbrcAjIrmHYF9KFBLoNJj7RSr_1behtC1hN5H1lCUbnw2werVOb0JVOklkhAMBuUwhoTXbAWS2Jv_FGhpoTUJK9zWMgMTWms7CqyLTHOCBwU9swbsl9ItwD8_P3WE4MphSoKb4c9NUbneEisH4rrcxagTlamBDVrscCztCVkPEnLKLBuRUq56dgGpHwz-z7vfhBEg6xGWSUcVl6qFAl6eTROI9QHQ3WoIb1IWa4QWTM6_hy8jofuMp-WfY8x0aXwgM8qhPZafAiL7rHo1qqXqvH-LuLEeRbR_uZ8p6CeX04t5dpfzlObAcQOesYbWCb_rzWXOvbAcOQSitXhomq_Da0mogI50QTxxi_fuEHOSjX2OPnRvfiCjV6KVo24vzBfT19UlxpFhBDYyo4Uz1lWh_WcVtBfoQdm9FmoOP4GGztIbrEvIACETU1qyWTLVTb8h4DLVBZLI3ycbT6Pc5AD5Tia_7g6jcFgPzwGG1o6PEWFImN2BcaR7y0BYnVOpdRJlMjn0-EvYefQUVC9yun12NkNnVNtv4DMOE9ZhB4XqMoNORbynGAsQ8CcleKfGJu6-8spVaiLDmr7x7N8ibH2tK-3jRtZ-usoYLKVR_WaBj4nuYA7_NjMs2HkwzJYqfUIwIDlQVtkIM740sXoCQux8bODNCgiR7Kn_DZtxfAzoVMaadUWQwyxNHO6I1S8dz4b3Xu6S925EcLyjx4KauVBRes6Z2TpEFTQcPPwIu0pDMhRW8jQ6BT58AHTTjgTwkGNTMZdy8KvrDlfrSgZ8_gB9kalzIIDMLFBRm8WoB9_9-WqaCq0YZ-1SC6Ntcue0BqcC3pLhUgKfhcTScjmFto0oSlxtMGgbggrKJnboy71VJUG-PKSbyHHJCo4hqgABDLbM_1oXRVyLvuWw9VL3BaTZOIfy2I38TmHy5ZY5c2yVQha61ePPS_nHsqN3yOl1v3ib0BgErYiPeIC3Vtox53YIrJN120NFpHvALSgRokzHrOYPGdZRUZCiJYxtHrCLs6hTd8vRwzu1o5a_JYy_3_hXk74Y3XmsTVJ2ybVBMu56b6-3yVwWHHB7h6wlEqhItacJvzViUBTIDoHhkDkGikAXCTw-c2lNrvE7MNKcCC_AcjAAM4ery87jAemBGtkZeaDsbMdYOi26IuTr3e8Dd3U-XcWMWLVTxLT4IYWmLd3G8Jh0EGgxo0V9HScLh90zzFZpxKrOoHwfuyz-NIVBes0Bt7F-2vgxvopoUTo_J94_LC9lrhqghBjPo8BJw6eHoe6DrugbaOZYYQpqAJ3OZVX9CpyyBH9C2LS6wZhdsypohL6_eoOnwEydY_RK9UXf5TzVYDvbxBLT4wr7MfMzJUqPJgk4ajEmGIOgKJ2G-D9YSBJOfE4CybLplpZw-_AatSRWSzWlV3iPmYmxorZFQW88IVFYPSp1ZM0UyYWa99L1O0OcVGfcp3ljqY9aoWToizrYRdK6BUBsJr1f3-BpiR5o5zSk4bAsPFSzNLEJnRwj4Z1eCIJxeOq5b0jWv3pAMw5N5HQ0MoLjvPIe6JsHTxAlwi5TavnjwSi6z2F3qe7n2oUFLcQP7fYX1TrxCjzobs1jQRfCBJXYsBL2HCTL0cIXQMheztaMXQwhN51NVSoSGiMk3jSJzwrVbv6spREKILkmGh35rMdA0D4FR6aafVyX9c4Ibb7p2XIbktNumKZ5HQRIrnehxrA5nvvSO4NFdII5aqeaZcDx0CMg_O1aAJl2-ZUr4hLuAFG2Y5EkmlQ9224EEQ7VyODZXfzDWI3NL2snNnRRHFxCDjmWvGMew==",
  "id": "rs_06274f8033187a80016ab44a9a817487d0a32ee5b3390f0b62",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"left_gripper\":0.5,\"right_x\":0.42,\"right_y\":0.14,\"right_z\":0.05,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The dark fruit is bracketed firmly at the commanded half-width, but the blue bowl is beyond the left arm's lateral bound. I am lifting the fruit while opening and positioning the right gripper around the blue bowl so the bowl can be brought under the left arm.\"}",
  "call_id": "call_5TaKzY6ArkQApfX1qhEGkBjn",
  "id": "fc_06274f8033187a80016ab44a9cb82887d0b9dfcc6d3aaf2cdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5TaKzY6ArkQApfX1qhEGkBjn",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7967, 1.6363, 0.7269, -0.1246, -0.4995, -0.6579, 0.5019, 0.3298, 1.7813, 0.6415, 0.506, 0.0204, 0.0063, 0.9955]\nstate[eef_state]: left_x=0.3079 left_y=-0.1888 left_z=0.0256 left_yaw=0.0032 left_pitch=-0.2851 left_roll=0.0291 left_gripper=0.5019 right_x=0.4077 right_y=0.1395 right_z=0.0267 right_yaw=0.2983 right_pitch=-0.0645 right_roll=-0.0041 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -6.9402, 5.5043, 1.3455, -0.2613, 0.1245, 0.1783, -0.5265, -10.0034, 7.1043, 1.9072, 0.0415, 0.022, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f2ab648394c9b8f011381fe047bbed959afe8e61b9cd5e21b68831f66b7fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ffa889f4682c4ed7987d0085d2656aaa09fd6eae9ec47f4b781331f2ed92efe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d0ca1a4ca747bb39bc2215371dbc8286aac3e4b202f9e714599c5118970141",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 138 changed as sent

message 146 changed as sent

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9272, 1.6489, 1.1347, -0.5446, -0.5777, -0.7662, 0.992, 1.1412, 1.1107, 0.6147, -0.3103, 0.6773, 0.5426, 0.0093]\nstate[eef_state]: left_x=0.3142 left_y=-0.2521 left_z=0.117 left_yaw=-0.0103 left_pitch=-0.2491 left_roll=0.0192 left_gripper=0.992 right_x=0.2185 right_y=0.2196 right_z=0.135 right_yaw=0.2897 right_pitch=-0.0281 right_roll=-0.0266 right_gripper=0.0093\nstate[joint_eff]: [-0.6906, -7.788, 8.8137, 1.1355, -0.5934, -0.0464, -0.4567, 0.3214, -4.1915, 8.7316, 1.4481, 0.3883, 0.1441, 0.9158]\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]: [-0.8101, 1.6585, 0.7345, -0.1459, -0.5171, -0.68, 0.5057, 0.3447, 1.8252, 0.577, 0.5774, 0.0452, 0.0177, 0.0086]\nstate[eef_state]: left_x=0.3044 left_y=-0.188 left_z=0.0196 left_yaw=0.022 left_pitch=-0.2982 left_roll=0.0522 left_gripper=0.5057 right_x=0.3914 right_y=0.1358 right_z=0.0011 right_yaw=0.2858 right_pitch=-0.1008 right_roll=-0.0118 right_gripper=0.0086\nstate[joint_eff]: [0.4034, -9.3333, 4.9846, 1.3309, -0.2759, 0.0904, 0.0317, -0.212, -8.9915, 4.2872, 1.6337, 0.0806, 0.0659, 0.8913]\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]: [-0.7967, 1.6363, 0.7269, -0.1246, -0.4995, -0.6579, 0.5019, 0.3298, 1.7813, 0.6415, 0.506, 0.0204, 0.0063, 0.9955]\nstate[eef_state]: left_x=0.3079 left_y=-0.1888 left_z=0.0256 left_yaw=0.0032 left_pitch=-0.2851 left_roll=0.0291 left_gripper=0.5019 right_x=0.4077 right_y=0.1395 right_z=0.0267 right_yaw=0.2983 right_pitch=-0.0645 right_roll=-0.0041 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -6.9402, 5.5043, 1.3455, -0.2613, 0.1245, 0.1783, -0.5265, -10.0034, 7.1043, 1.9072, 0.0415, 0.022, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f2ab648394c9b8f011381fe047bbed959afe8e61b9cd5e21b68831f66b7fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ffa889f4682c4ed7987d0085d2656aaa09fd6eae9ec47f4b781331f2ed92efe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d0ca1a4ca747bb39bc2215371dbc8286aac3e4b202f9e714599c5118970141",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEql3PS_STirSM8W_t7zIpCD77WPmM11g2B1jE9vVh4QD6RzaGzqdbJDCPr97SWTEgaY0WWewn-wEh3ogw_TLrezsykrjEOdukr7KH_wbFwaoHDroo2yekCb4ULNXSYUqNgaQZO6c7nRNe8ELv9jX-L6aefqBLRzp3KO0iOpRkhe_vQifHIt0_Eti5qHSzoRZYx39CpS5qFq_OpKp3rsYD95WgENDk_QPs-IpuVUVfMVpKWqY2vchrGZE7YJl2mXFrAJCFNWPLRz-FnDDWan3TiX_X4r3uz4-pyi4CIBnVkX9nCZ_1yTSOWthtfHAlT2yjdD92uQa4OMsVv7RkMyltXEieanDMePhZeJvYtFk36YFUHgOC1DbUJsWo7w7bFN_ekigXMLmH_XNgSB4uAwAmHkcBgvY3whHQEfgVbYkePJ225nhmEHQ4MiPqwYFoozQ2M_0SmLAdPoAe_Yb5619qnhDneVHFoIJrakm1xN1ny6tbeQXibeneyk44raZNbleY2tPjxy0zIKgw28iuV0CeZB1rdkgYYxUwTfwB6ExUX-LLJw_ySjUwcfZAGoKj4GNKWy0IYhmuRgS257hyNpf82klibdyicAJGYIOJ_LpDbfYcDHBEDq7mFY8HGWUULS4PMm1r5sVlvCAgt4rykZLP2b0KAvbodn28JvfvHtUy0_oj-fLQvy1hZZoCdeY91hKA_ecc6iG497cGy2PbnZySmoywi4s5GnI9Ho-b_ykIR15Yc13QQ2SVPaKhfW30oINRJcujdEsLTW-oEq7mNN1QTsLEHIfOtK4vTPl4FxCL_8esy3YlDL4dkV3QHu6X9A-nbsULE34w85OABpvz07RC8czqw5ME7K6F6J51RsRJ3k_xbI4d33B6PTRcSKmIQGvKGnT04uh_gbpo7qizb3tRTdUQqzDx5e5oonRVdkhz76cStMsmj6EZTHUsmMr-1JlCMUKYICiIUsh_JEmq4Q3YjhmBPNBmFYaOXAi9FcvpmX-jeelQnHSyBqLNNGGilkdJ6tu8Pu1D4I-cXznIeauaNcaq3LWeeMGzj7mEUlxHu9CuHmqIOmV9OgLKcv3UDIXJCBT3kdacZqrwRZ50UldOx2SpaIhOaWOzSel9QTDJooaP71Qm0aCO33H4SHV3K-emGcZCSyulVYWch06BKG7XwmQjOZmM3h59uEShV0LqU-EHIQLE4Z1C0mLEXExYK0b_8HaF-HK6lBdUfdyQWDq79e-qXenn-N7jdRZh0pzr_oa1ps0K92OhmwtF0PcAa04tY1tdURrlKynU2PR-5p-XM6sZoi0iGrKDYgtbxH7Kya0hXGtowvEL7Oal7G-u8ODJg6zmIAbgbCjhv41-42DFAWTM4fFt0_eGmjA0jIixhKl-F5-F8nsZdQ-mjzwoCEsI6cVWKKVmZgPFiqJiXCvRAhhXsBY3s2tDM64rjKHzjjSwkPB7dcxkQNDEGTEQXbCBdQ-2uG-nVgKplWTkNFmC8jef4ETIKjYncnC27Rb0GBGEO5kZSNt3X4t4k8F4E0_PhTkp4IanOxUutQBUpmQTnQ85cdu3aq7leoGNNpn8me3hb6o9P34ZFDrcQuqkkAHaJYHpO5s-hnU3gET9QkcYoHSAQIL4c1gqc55mQHkAyEkJAyBT-V3lhaBq-NgCndGR_0EngjkW83LsNW4QwRQU1GYyNXKenWL0PYtgSeZWFa-ARlCnfgv8f0LoUEW2K_IiMfjt0oQBEGEMpDcDVJk8Pn8Oto3hAeGm89TYUC1u45PV1asC5bt-wy-P9NkFiWLjScGslKRiby3WI4NkbrvZv_c4vsLd1J8Q-EdEJjWrDgzf9KgwXGudJHUnfS42IaNoHh9beoCjfMMx8kCzYBIZMJpLa-D8SZGUSHYxSfscSs6vUdI42DbgQmUCUHZ2ABJZpzvqZcrbI9vhKH64KZiHtwqJK-nah67BeKpQrMJ12hMVsxEQwXs2SR-KYrixwIvAsPPMfdBzmd00f0WNlo1AD28a17UKyOZ4B274r3TD-PsJl5P99K8q6VbIpYU265jmRdEFJ-pjPj4NO87gczC3h17mCImqjMH5gv1UlUqfeBJwTm0qAQPWcvZQ46a_wnvfjnYJLPPnpEVAZaX4oPHwfm77lT7JyDvYhgh48Ys6IAxVM4gaK5FrxHtCg-D3qe4nJ4rfSDo_NfplQmD1957kjOvw==",
  "id": "rs_06274f8033187a80016ab44aa2bfec87d0867f0d86bce1478f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.2,\"left_y\":-0.18,\"left_z\":0.22,\"left_gripper\":0.5,\"right_x\":0.42,\"right_y\":0.07,\"right_z\":0.05,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The dark fruit remains held, but the left arm again failed to lift from the low extended pose, so I am retreating it close to its base and high for leverage. The blue bowl is to image-right of the right jaw column, so I am also correcting the open right gripper toward its center.\"}",
  "call_id": "call_zq9PkfvfSNJ18fIgzKOADbq6",
  "id": "fc_06274f8033187a80016ab44aa4c44887d0b8ecfc529f2517fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zq9PkfvfSNJ18fIgzKOADbq6",
  "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]: [-1.1397, 1.2484, 1.1774, -1.137, -0.6079, -1.0096, 0.5019, 0.0883, 1.7317, 0.609, 0.4919, -0.1776, -0.1226, 0.9986]\nstate[eef_state]: left_x=0.2041 left_y=-0.1937 left_z=0.2039 left_yaw=-0.033 left_pitch=-0.3051 left_roll=-0.0018 left_gripper=0.5019 right_x=0.415 right_y=0.0717 right_z=0.0341 right_yaw=0.293 right_pitch=-0.0502 right_roll=0.0076 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -4.7521, 8.1846, 0.8571, -0.6911, -0.0269, 0.1734, -0.4444, -9.4701, 5.1077, 1.8632, -0.0806, -0.0659, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3933e366ce50a38951a235ba5fbd740b2473fef5a0e62ebcc8f65729c5ca3fa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da54ec4d82f66d5d19d5eb5230d7ebbe65efa32c78e4c77bd7431470249b0bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4270e28a45a94881b141e4780c60131787bdf7425969aa0f02b5219d8692746",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 142 changed as sent

message 151 changed as sent

message 155 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9298, 1.6592, 0.7719, -0.1978, -0.5694, -0.775, 0.9922, 0.347, 1.8065, 0.572, 0.5766, 0.0566, 0.0322, 0.0086]\nstate[eef_state]: left_x=0.2865 left_y=-0.2188 left_z=0.0295 left_yaw=-0.0077 left_pitch=-0.2708 left_roll=0.0301 left_gripper=0.9922 right_x=0.3918 right_y=0.1348 right_z=0.0067 right_yaw=0.2707 right_pitch=-0.0874 right_roll=-0.0065 right_gripper=0.0086\nstate[joint_eff]: [-0.0342, -6.7487, 5.5043, 1.2723, -0.3297, 0.0122, -0.7888, -0.2393, -8.0752, 6.0239, 2.0684, 0.0269, -0.1197, 0.8864]",
      "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]: [-0.7967, 1.6363, 0.7269, -0.1246, -0.4995, -0.6579, 0.5019, 0.3298, 1.7813, 0.6415, 0.506, 0.0204, 0.0063, 0.9955]\nstate[eef_state]: left_x=0.3079 left_y=-0.1888 left_z=0.0256 left_yaw=0.0032 left_pitch=-0.2851 left_roll=0.0291 left_gripper=0.5019 right_x=0.4077 right_y=0.1395 right_z=0.0267 right_yaw=0.2983 right_pitch=-0.0645 right_roll=-0.0041 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -6.9402, 5.5043, 1.3455, -0.2613, 0.1245, 0.1783, -0.5265, -10.0034, 7.1043, 1.9072, 0.0415, 0.022, 0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1397, 1.2484, 1.1774, -1.137, -0.6079, -1.0096, 0.5019, 0.0883, 1.7317, 0.609, 0.4919, -0.1776, -0.1226, 0.9986]\nstate[eef_state]: left_x=0.2041 left_y=-0.1937 left_z=0.2039 left_yaw=-0.033 left_pitch=-0.3051 left_roll=-0.0018 left_gripper=0.5019 right_x=0.415 right_y=0.0717 right_z=0.0341 right_yaw=0.293 right_pitch=-0.0502 right_roll=0.0076 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -4.7521, 8.1846, 0.8571, -0.6911, -0.0269, 0.1734, -0.4444, -9.4701, 5.1077, 1.8632, -0.0806, -0.0659, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3933e366ce50a38951a235ba5fbd740b2473fef5a0e62ebcc8f65729c5ca3fa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da54ec4d82f66d5d19d5eb5230d7ebbe65efa32c78e4c77bd7431470249b0bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4270e28a45a94881b141e4780c60131787bdf7425969aa0f02b5219d8692746",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_06274f8033187a80016ab44aa97afc87d09fca97da1f550d3c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_06274f8033187a80016ab44aae560087d0956022ed3f79b182",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.18,\"left_z\":0.025,\"left_gripper\":0.35,\"right_x\":0.415,\"right_y\":0.072,\"right_z\":0.035,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The lift revealed the dark fruit was not actually captured, but it is now centered in the left wrist view; I am descending and closing to a measured fruit-sized width. The right gripper is simultaneously centered around the blue bowl and is closing on its rim.\"}",
  "call_id": "call_SZSEsmWulM35xQBNgL25NSSh",
  "id": "fc_06274f8033187a80016ab44ab13c5087d09acab040c4a73f67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SZSEsmWulM35xQBNgL25NSSh",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7666, 1.5707, 0.6884, -0.2161, -0.448, -0.6525, 0.3515, 0.086, 1.7386, 0.5766, 0.564, -0.1886, -0.1318, 0.0096]\nstate[eef_state]: left_x=0.2906 left_y=-0.1686 left_z=0.0209 left_yaw=0.01 left_pitch=-0.3626 left_roll=0.0473 left_gripper=0.3515 right_x=0.4133 right_y=0.0725 right_z=0.0344 right_yaw=0.3047 right_pitch=-0.0167 right_roll=-0.0006 right_gripper=0.0096\nstate[joint_eff]: [0.2803, -6.6803, 5.3265, 1.2869, -0.1636, 0.105, 0.0806, 0.0889, -6.147, 4.3556, 2.0879, -0.0073, 0.0806, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b65866ac28cacb8b57fa91a43351dfb98ca073345a3c727660ecfb2563f0615",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c95c79637967e6bf26a5e088c52bec6d45b9cf8f4556cc5a55f2e05febb0dfb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92dbdd654f14952b523411fe51d539f84f98ef2903453cdc5d38660fbdfa90b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 146 changed as sent

message 155 changed as sent

message 160 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, 1.6585, 0.7345, -0.1459, -0.5171, -0.68, 0.5057, 0.3447, 1.8252, 0.577, 0.5774, 0.0452, 0.0177, 0.0086]\nstate[eef_state]: left_x=0.3044 left_y=-0.188 left_z=0.0196 left_yaw=0.022 left_pitch=-0.2982 left_roll=0.0522 left_gripper=0.5057 right_x=0.3914 right_y=0.1358 right_z=0.0011 right_yaw=0.2858 right_pitch=-0.1008 right_roll=-0.0118 right_gripper=0.0086\nstate[joint_eff]: [0.4034, -9.3333, 4.9846, 1.3309, -0.2759, 0.0904, 0.0317, -0.212, -8.9915, 4.2872, 1.6337, 0.0806, 0.0659, 0.8913]\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]: [-1.1397, 1.2484, 1.1774, -1.137, -0.6079, -1.0096, 0.5019, 0.0883, 1.7317, 0.609, 0.4919, -0.1776, -0.1226, 0.9986]\nstate[eef_state]: left_x=0.2041 left_y=-0.1937 left_z=0.2039 left_yaw=-0.033 left_pitch=-0.3051 left_roll=-0.0018 left_gripper=0.5019 right_x=0.415 right_y=0.0717 right_z=0.0341 right_yaw=0.293 right_pitch=-0.0502 right_roll=0.0076 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -4.7521, 8.1846, 0.8571, -0.6911, -0.0269, 0.1734, -0.4444, -9.4701, 5.1077, 1.8632, -0.0806, -0.0659, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7666, 1.5707, 0.6884, -0.2161, -0.448, -0.6525, 0.3515, 0.086, 1.7386, 0.5766, 0.564, -0.1886, -0.1318, 0.0096]\nstate[eef_state]: left_x=0.2906 left_y=-0.1686 left_z=0.0209 left_yaw=0.01 left_pitch=-0.3626 left_roll=0.0473 left_gripper=0.3515 right_x=0.4133 right_y=0.0725 right_z=0.0344 right_yaw=0.3047 right_pitch=-0.0167 right_roll=-0.0006 right_gripper=0.0096\nstate[joint_eff]: [0.2803, -6.6803, 5.3265, 1.2869, -0.1636, 0.105, 0.0806, 0.0889, -6.147, 4.3556, 2.0879, -0.0073, 0.0806, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b65866ac28cacb8b57fa91a43351dfb98ca073345a3c727660ecfb2563f0615",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c95c79637967e6bf26a5e088c52bec6d45b9cf8f4556cc5a55f2e05febb0dfb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92dbdd654f14952b523411fe51d539f84f98ef2903453cdc5d38660fbdfa90b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_06274f8033187a80016ab44ab5e6a087d08653e71a42b24f12",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_06274f8033187a80016ab44abaea3c87d08f8796c0e051814a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErDM776hwAOZl6xkPRcbcEAE78iDDrBf1EVMJLleLRG9VEhom2srxh0I9lZ6nB_JsiZm4b9NTDWDye_dE2waCW9kkG5XR1XILwwm0qONc91sPD94Nqe0IJERpZnbEmbhiHuW1Ll1cHeA_ScgHu76DVy_WTAFBvQGur_KjQgLk5TFs6sZyoyfbNvx0PMUH0WO172M1vbh5NYQw5Jbr3_XN2bm07UoXVY_-2xr-EMmgRYjtEvzqPv-nBqRkEwO2TMgVV19A7HR5QZxHaFQiN5hh1t2TORnjV83ArlKrAcXTzL3XLQCtdndEPBNKw8J6ZzH87kiX_hfnFRRfrZP3v6kRaroYC_MXXncZhooSD1lxHf_v92gm5m3x-i5l_fGlbeiz0KTb8poB94L6pnxkGgacUHziORV_cXW5GwMqEua8RRlK56zE-PhNKONrqn0TcT-L_VdygTDUsc8GpdSrDV4Y5_n9B2idLaiI_RN7Dgxy3q3jdF_Hbqt3R1qp8NrtqZ748j-WHHhr8IhDjR6qrgDuua6NBn10VtA7KvzZuqX0IgdV-OMX-hUYFgxTugYQx1TJqPkrnzr8FKBhTku4MWhIKlK5fB3mds0_VH_FGB-7-1uXXBRalZJmAvwy-YIvPufpJG0uRN3GjozCAsHDwpj6X85-Cq7OpoLWU09OFg_wJ7rcSmORca70xNonjAgn-mshRjkUChDwWZQ-_3vsiHg0PDDCmXO8O-9s1Cm-2KSR4nUDbAhtzq5xRPut0oZ3_0cCug5sVnHDEXfsoYwtLMwJDzYXvTi7ZUb9Xj13Jkti7joY712YSOLRGUNBp2sodtdyhFL6rQ3pB5Ho---BKu2i1iuXxW3EkSvQc-t6Ztxp2ud4q2B2x9rC5I3WTaNx1HIS7WTCrM_VfiMTWL4mQgRGJm-DuSENPN5iRUTenGGUOfcwMbFtA830jzPCXHB0CkpnzMdkyqejjkH8yQNc4rsBsnVTBsFmHagxA3dCQbPyxSK9mQ4GZHjQmKa8llqvhly1m0GTscCDcMn1jSbX07qk27NZUk7YV1gcwf9_vFoQPpejjNOoNPScyd4ynwhh2IcnJXjS3MZny7jBlQP0UymXeBlbYqhSQroJgp8gCdnEgAFW9O0ABExVMjJTS_TburIEoSs-Rso-_P19GtMXlVEuhAymwwW6HAdD-UYmmH8c7TEvu6t91Qg9pkSRHnZGHtpeehyfNrf6-e8x84kV_mkO0Ieu7EMgmwp-ToYA5fSSB8Q06S_lV2j_oQDdA1Vfc6yTVae2qzjvZKP80oJW90SvurdBAjwTgEB9QeJNjyN7Y3w3fao_8_yN8bd1B3lzLNUrWLJ-_FD4dZXnzezC9zVhWgDErT5ED6KcZoT4I4dMOi5Eqq2hW__L2U4m8V-duIC0JaYkW_fop_Kx1EfdWQqJ_NR_f2bkF5WsmaSI9rwAcMwL3WR0zQAxMoicCervRCRf1awYd5MGtTocxZFHLudIQno66FPEiJxlKYZ2YGycPzgCi4dZXQfFuF6bhJfTvztD42vsZDiX3Hz5pPpHT6zVfoQBoy2kHR0lQ4SEFUQVkJIXTLnd2Kilc6zcqzAVFr8E3njiubE_wf84Yrr6ilSKWHDzCpuvD066Z09B7m-l_R_E-V_vWj3Qnm_mI84La_V3VJK5QMQaL_cPpIBax0x1jyn2vbPfJmB4dmXpZR4Xi_qnFjDXHMBbRm0TTBapqfxoBu_8tvYg2HuFiypxJaOZ5ncxxekko_3XF4ZlehzULSDap5aUgoxR_sbT-SVdMaH1eS",
  "id": "rs_06274f8033187a80016ab44ac0557c87d0953f6022aa4d912e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.11,\"left_z\":0.025,\"left_gripper\":0.35,\"right_x\":0.44,\"right_y\":0.38,\"right_z\":0.03,\"right_gripper\":0.0},\"note\":\"Neither object is clamped, but both are directly in front of the low fingertips. I am making a final coordinated push: the left gripper drives the dark fruit into the large white bowl, while the right gripper slides the loaded blue bowl left into the white bowl so rim contact can tip its two fruits across.\"}",
  "call_id": "call_mXT2KYu8TDPSxGepi6C3lc9G",
  "id": "fc_06274f8033187a80016ab44ac17e4487d0a3f145a3f35e07bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mXT2KYu8TDPSxGepi6C3lc9G",
  "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]: [-0.3588, 1.8515, 0.9859, -0.1829, -0.2451, -0.3096, 0.3515, 0.828, 2.2456, 1.3659, 0.2207, 0.3897, 0.2661, 0.0081]\nstate[eef_state]: left_x=0.4078 left_y=-0.1033 left_z=0.0089 left_yaw=0.0458 left_pitch=-0.4307 left_roll=0.0676 left_gripper=0.3515 right_x=0.4337 right_y=0.3784 right_z=0.0248 right_yaw=0.3488 right_pitch=-0.0329 right_roll=-0.0133 right_gripper=0.0081\nstate[joint_eff]: [0.4581, -7.9521, 8.7179, 1.6337, -0.0464, 0.3492, 0.1343, 0.0068, -12.1231, 7.4325, 1.7021, 0.486, 0.2173, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747f7102aae0d5a3fae25588c587793c95ebb349e68acac345d99ebba5c44107",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa931d9e39f3dda97c234bcc02821862a77416f99e6888a5e92f92c7dc3f32c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b944007e89ee963cb566b61c6b6e85c69d4a13c0d2222a938022337f2b0c292",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}