adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0143, -0.0296, 0.9987, -0.0193, 0.8005, 0.6182, -0.3908, -0.0238, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2955 right_y=0.0021 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.7573, 9.5658, 1.79, -0.1197, 0.1197, -0.1441, -0.5949, -1.6615, 9.3744, 1.8974, -0.022, -0.0366, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:128f30014e485265a657a9bf58040eaee275a2b6746831f159eabebf42a88b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b2e24d46bd797ae9481946025cd10791dda0266fcc64d61b89cdc19916c164c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aba1e95e73406ad7541a9b2a102907b6e0dc6bbab7563ba34b0781e1532ba91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_049767d523bfbfd7016ab44c09cc1087d0ab7feff32825ce61",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.322,\"right_y\":0.002,\"right_z\":0.06},\"note\":\"The right wrist view shows the green fruit centered on the jaw column with clear space beneath it, indicating it is just beyond the current fingertips. I will advance about 2.5 cm and descend to a mid-fruit grasp height while keeping the gripper open.\"}",
  "call_id": "call_u5xUuaZWMY3z5LHtWQeiezIU",
  "id": "fc_049767d523bfbfd7016ab44c0e030887d09870961e0300513e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u5xUuaZWMY3z5LHtWQeiezIU",
  "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, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.9986, -0.0162, 1.2007, 0.2455, 0.3401, -0.0238, -0.0196, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0103 left_roll=-0.0009 left_gripper=0.9986 right_x=0.3166 right_y=0.0027 right_z=0.0506 right_yaw=0.0068 right_pitch=-0.0419 right_roll=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3333, 7.0632, 1.7705, -0.0806, -0.0122, -0.022, -0.2667, -3.6034, 5.8462, 2.0293, -0.022, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2267e55ba2d157bcad6df8c8460af428138501c80c21da0d35f96f91ae0b1ce5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b67874b12403fdda4f7a77603cd2d5ddf89245e557d092d54a62e04ef69519b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e17981a388413398a6a406ed00708cf286a6c065ebd428bdb924fe928114732b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0143, -0.0296, 0.9987, -0.0193, 0.8005, 0.6182, -0.3908, -0.0238, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2955 right_y=0.0021 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.7573, 9.5658, 1.79, -0.1197, 0.1197, -0.1441, -0.5949, -1.6615, 9.3744, 1.8974, -0.022, -0.0366, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.9986, -0.0162, 1.2007, 0.2455, 0.3401, -0.0238, -0.0196, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0103 left_roll=-0.0009 left_gripper=0.9986 right_x=0.3166 right_y=0.0027 right_z=0.0506 right_yaw=0.0068 right_pitch=-0.0419 right_roll=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3333, 7.0632, 1.7705, -0.0806, -0.0122, -0.022, -0.2667, -3.6034, 5.8462, 2.0293, -0.022, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2267e55ba2d157bcad6df8c8460af428138501c80c21da0d35f96f91ae0b1ce5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b67874b12403fdda4f7a77603cd2d5ddf89245e557d092d54a62e04ef69519b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e17981a388413398a6a406ed00708cf286a6c065ebd428bdb924fe928114732b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEwavcMVuKF-uoEow9eIpUS9rq6hGNc5WNTvj2cMKegVKbwfTRuDBT8l8DwvB07yerTK33-y8r1QhAotwYnhav5Yza0I7KxLOnL5ymvAzug61doeKxKzbYSTo1h74E8dZIotzcl4yZY4nVDY88x-W371i6ICWwo5V-BU0hyKRYomhB_2KdpVm8n0tJESKSnrabXyFceN7Kk09pZGVeT9JAmeQPXCH7e91F_ZpCA4jlNmlJvBXIcl3E-i1gJuOrTATou3gwL9wwgzSJb2BduhVRhAKiDXcx2PVoneUkI9QAKSxTLpceBPDQP9iT0SIPDudUYZnJoDQqxvdrA2TMqZdbgCcN6zvOcVFFal9goceInbQofF_x_UYpxPN37fHoafbDJbSZYk974y3FqS6yfhqTdV4wd8ErV0_-PskJRkcbk8T2HhzYR14-VGF-iEFXoKu_174k5rm4FWoPZnR1C1b797x5KdJ9FxG1yBXIOD2XgjxV9gCjAQBXRdSz56zUivh_OGDEM3OfR33ehRLbdG9QoOnbKLJoIH8SgSaGtwa9DqUBLY6f3eVFsfTsG0oxwnX0fQdv3KmX5vTGZO5ceZRcKWMvRMKA2rxWPP9R4ENDX1o9Nu71joPtwCrLKpK7SuBYWIxrIGiJFtpYtO183dWRh0HH-WuK-HDC3X4ZROlQ0SeBspnAotEwwF1vd0KDwJXKxlSal4OM92MpbaQFM4Anu3StYSToTuLEWnQq1duCAHHBbUiGPT_2Kf0op9wvWp1bUqxbfIDwx4RGniIu82my0NAr1HGUefzvhLnn9xGJr__UFneY9dbrlf8_j5R1t80sWpA7uA3t3K2WTNtbnqFAsHlfcqJITTKy4RXurlxNmWfkgH2qpXMEsWVF5q5o0wOAi4BYYpNozxU3s_T6OurdDTtptmgFekjxLdz-u32AmEgnyFlf1CLOGa0KNzn9-WHNpUVIMirO86-Li85vmKUAQOlPl-y2cKAvaes5ZQ-_l4VvbDLcohlzI82yZjLvmLX7RVviVro5I_CyNJdEO1OKKXKQIQNNwxHpXzUT0pBj6RVYrxjhD7eZtlz6sujrePcpcWMgm5Nqbh07chllkf_sD813tvTNlyPsav6LErNtv4lQG3hGTpoqaqoDNXLeSfl2bP8f6YEkZBSttoM70aBZuhXezi0KtWEoG-Us7fvqrJ2iTj809AfKkuQsGhC4SCbozYjbCzOaVCFbBsOaG13HJ625az_tFht7azKph0BFOusoHG_IXh9HEjaKtz06hTAB2y51KoMsCW60BYHy8r6uSSieDCIL41yLWRdmrElAuZqgl6GmETNckDQtCTgbQSECj8Jol1N4po6FWZCtfxTqIPAdDj55YRiO9Xtc74v8MoBnWHmDeE2ttRNRZJkOw3aCSWKMZ4HHXxBPJrTlyR97ZIeUsQVcuP-C0p5Vgr4X5Cw_iW-diq5jG4Gv4EzhVAoIX0jaCcQprD-xkUZt4v9x3PQXm3uDbOJsN0a53K3FXgvocU3Q7rBwT67S-8x9pMjQ2qjWPmVeZkv085-U_BQVv5CltQuR1oXX-f99t4eoymxvQbYsXwAB4eQuQ4Hn6I8GAEVACZhHFqvQsMGDlv2qlZxMgxGh20N0G0Bqi7hrCntgFd4Yhjd6kVX_TerYJL3l1kqElAUzkBfrZylTP8MFAkTBGj0XAzQu9iGuLJBjSKqaCWobIS_Q2KKUElZRhEmhUBt6Ryblm9mQOSMuVzge-lcKt3PUoC-SVpcAvosOUeMbCFxZCA6Q5KeJppmBq5kYCptZAR7OIXAFzTY7HzeeP-YVZkazgI2a4uGEAPcZWvAn4FcI1L0wdVK6zCegYyeT7b_adpjr14eBKoLsSthmL3OfR9qx-J8oUOnW9n-jRn42q-twSHZZSokPvVp099MhLpH57mKXmViNvCLCiJwsQ4hHGPWBFt-_-ot8aZnnrf_JsXvQ1cy9E62gb8bniSsiu-Wwau-uFVWXu-IvVtl-mA6aPVpUxHbPA8vLJf5vKU7BtkNlBufYVO1PXg0qcYZWNaZp476ahnb7c_Dy4mwTyQLA==",
  "id": "rs_049767d523bfbfd7016ab44c17dbfc87d0b7d01f2b481e80b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.022},\"note\":\"At grasp height the green pear fills the wrist view but its center sits left of the jaw convergence column, so the current grasp would be off-center and could eject it. I will shift the right gripper about 2 cm toward its left to center the fruit before closing.\"}",
  "call_id": "call_XCQWUducu2xpWE41DpDRM6Ad",
  "id": "fc_049767d523bfbfd7016ab44c19b61887d0bbf9272a901c6de9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XCQWUducu2xpWE41DpDRM6Ad",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.804, 0.6132, -0.4007, -0.0135, -0.0307, 0.9986, 0.0959, 1.2064, 0.2455, 0.3336, 0.0383, 0.0189, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0005 left_z=0.1772 left_yaw=-0.0 left_pitch=-0.0218 left_roll=-0.0009 left_gripper=0.9986 right_x=0.3141 right_y=0.027 right_z=0.0476 right_yaw=0.0457 right_pitch=-0.0538 right_roll=-0.0098 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.3333, 7.0222, 1.8242, -0.022, -0.0269, -0.0122, -0.2256, -3.0017, 6.2427, 1.8144, 0.1538, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cb87c287f21ee224cd14362983d791bdec7da506dd1b5e51baacc5dc5844b3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156b7f68ccc5a0e0eb66d2d31028f95f9e7944c80184e3648da328b13d1fb0d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d380307741a7261b3e28e9691898adbe4e89d43451f7decaa27cbb0a82eda2e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.9986, -0.0162, 1.2007, 0.2455, 0.3401, -0.0238, -0.0196, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0103 left_roll=-0.0009 left_gripper=0.9986 right_x=0.3166 right_y=0.0027 right_z=0.0506 right_yaw=0.0068 right_pitch=-0.0419 right_roll=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3333, 7.0632, 1.7705, -0.0806, -0.0122, -0.022, -0.2667, -3.6034, 5.8462, 2.0293, -0.022, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.804, 0.6132, -0.4007, -0.0135, -0.0307, 0.9986, 0.0959, 1.2064, 0.2455, 0.3336, 0.0383, 0.0189, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0005 left_z=0.1772 left_yaw=-0.0 left_pitch=-0.0218 left_roll=-0.0009 left_gripper=0.9986 right_x=0.3141 right_y=0.027 right_z=0.0476 right_yaw=0.0457 right_pitch=-0.0538 right_roll=-0.0098 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.3333, 7.0222, 1.8242, -0.022, -0.0269, -0.0122, -0.2256, -3.0017, 6.2427, 1.8144, 0.1538, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cb87c287f21ee224cd14362983d791bdec7da506dd1b5e51baacc5dc5844b3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156b7f68ccc5a0e0eb66d2d31028f95f9e7944c80184e3648da328b13d1fb0d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d380307741a7261b3e28e9691898adbe4e89d43451f7decaa27cbb0a82eda2e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEwdSwj8fsmAb8YA2zdcJu9pT3uB3bqDw7x2wj6RYul-prk4sBbpoyNhtzvM21agy8eII2T7BTsMONlmUacTY2pxZnuzg89MCS_I4wxbiMkJI-zd9aE-gmcBAtvoeXDP48h3S_f9N76tQVTrqryNix6FzVF8lKngnGNV8NkOaPitDKTwkENe4ccg2hwtKQbLA-TaHiqS-lnvpVEAxBNkoFqFAry7uV-BBTeAkRGtcEPDlzJe2kzh8gsM4bc0y2Q-mLwwf3SMm9R2zIi_1hp2h8xoS6TGEA3mc1jsKRzCdxI_9msjB8yTL694xF-p1nlnNhI9Ulxw8zB5_Jur4RdB5uvY-daTjBk3pX9W189fmp6HHzP9Wv_6qT_-miSWCvHA79bGHyLf4_qmI1XHJbwTfxM_ag5lzQlkGd2QM22xufS4E9rvEo8V3EQEtAWLjje0xvEp2SWxW2YR3TLZA1Y1kPUMb8CJV3ZcuZgoz7yLAGb-9HpZYPsyeV8LQ9F5y2-XuNsIVBd9J7zUVaFRNM_wgZZm3umdtw_Wqsyg3TBRsaLi1w-uPfT3S1isXgNauLjkSPvA7-0XSuY9CusMcvzrHuS2itpgKW24Tav44R4VETOKvAnvcPMDwG_BfaMBq9jiOXjZY4C58QU3usje3AWxpSCqBn_Hq_drUYMT4LxetwllcOhQ3bl0h2lRcMeOQ8qfAo0slpZN4daHmYnd8AcXGzszE3WqKIrPqmTqIE5KdGRW5Pt6ceb_H2ehYwTbDIYMSZYL3kYhdpP4Tput4af1u88XwHdbwjyL2hhTQxgb1X4bKSI6Um7zSoQ2jyiWyn9QYRluaqkjthSiAPqr15H_YX84DdXcvvnmdjMdwrHEoCpT3sIck-NXgDv1YQ1V3pUUWA422Sfg79cc6kxfNWFE5sR5AYtIWR0ErDiZo7TH9i3UQrNz2gjaLKQ9H92aKfcjuDx-D8p6B2o9YlSXQzcdGSyZZDADJoHLvphhJQV7n8GaE4marvlzLxJdhvw4Kyb5s9RMhBTTZsJTUoztvVuUa3jpvBq0q8V7Yt4wlQYMcPVJ5OrxLLOl-HA9cHSivc6zj96Pde2oXM2CigKLtSBQSWQZFrCKB1_UKZhT_7Zc4D4WvCBRbHpYz_416A1dPNz2HeYZsaNahf8G0V5_R-4dkigda_QjVfNxEqk70ODoFDfoU6I7VePWdMovzN1ZfJvSOTAwTU-Tczs_XAkJIvLMm2h0wARo0OGQ4XzGFkdS_xdwqMU0Lsue5nqyiibmntv0DksxJ7kkzjA8Q-MPFkQ7ihbKOzKCGNB5W7kSMSQcKXM4m5I=",
  "id": "rs_049767d523bfbfd7016ab44c1c66ec87d0b1a3b62a53eb99b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is now centered between the two jaws at mid-body height. I will close the gripper fully to secure it, then check the settled opening before lifting.\"}",
  "call_id": "call_oP9oBi7IZZXJFQwrvzyfRWl5",
  "id": "fc_049767d523bfbfd7016ab44c1ccb0887d0ab377ba6697210c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oP9oBi7IZZXJFQwrvzyfRWl5",
  "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, 0.8051, 0.6132, -0.4088, -0.0139, -0.0307, 0.9986, 0.0956, 1.2068, 0.2455, 0.3237, 0.0399, 0.0151, 0.0096]\nstate[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1752 left_yaw=0.0003 left_pitch=-0.0309 left_roll=-0.0005 left_gripper=0.9986 right_x=0.3126 right_y=0.0265 right_z=0.0455 right_yaw=0.0461 right_pitch=-0.064 right_roll=-0.0143 right_gripper=0.0096\nstate[joint_eff]: [-0.3214, -1.4017, 7.159, 1.8339, -0.0171, -0.0269, -0.0122, -0.0479, -3.1385, 5.7231, 1.7851, -0.0073, -0.0171, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96af01e47b4e6ad94894cfa817b73317fa786b672733a347b429da92eec4d20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71579b8c08882be47bc46469415274280995baf375df91cd01db2aa9f3174583",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68c76de950c3c844a70e83fcb2c6885ea25e5bc2d22cbc0741c4aa181732773a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0143, -0.0296, 0.9987, -0.0193, 0.8005, 0.6182, -0.3908, -0.0238, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2955 right_y=0.0021 right_z=0.1825 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.7573, 9.5658, 1.79, -0.1197, 0.1197, -0.1441, -0.5949, -1.6615, 9.3744, 1.8974, -0.022, -0.0366, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.804, 0.6132, -0.4007, -0.0135, -0.0307, 0.9986, 0.0959, 1.2064, 0.2455, 0.3336, 0.0383, 0.0189, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0005 left_z=0.1772 left_yaw=-0.0 left_pitch=-0.0218 left_roll=-0.0009 left_gripper=0.9986 right_x=0.3141 right_y=0.027 right_z=0.0476 right_yaw=0.0457 right_pitch=-0.0538 right_roll=-0.0098 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.3333, 7.0222, 1.8242, -0.022, -0.0269, -0.0122, -0.2256, -3.0017, 6.2427, 1.8144, 0.1538, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6132, -0.4088, -0.0139, -0.0307, 0.9986, 0.0956, 1.2068, 0.2455, 0.3237, 0.0399, 0.0151, 0.0096]\nstate[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1752 left_yaw=0.0003 left_pitch=-0.0309 left_roll=-0.0005 left_gripper=0.9986 right_x=0.3126 right_y=0.0265 right_z=0.0455 right_yaw=0.0461 right_pitch=-0.064 right_roll=-0.0143 right_gripper=0.0096\nstate[joint_eff]: [-0.3214, -1.4017, 7.159, 1.8339, -0.0171, -0.0269, -0.0122, -0.0479, -3.1385, 5.7231, 1.7851, -0.0073, -0.0171, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96af01e47b4e6ad94894cfa817b73317fa786b672733a347b429da92eec4d20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71579b8c08882be47bc46469415274280995baf375df91cd01db2aa9f3174583",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68c76de950c3c844a70e83fcb2c6885ea25e5bc2d22cbc0741c4aa181732773a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEwh1KYnZHXKIc_q8EEhqilq2Er5uGM4IWgYp5JOWHUZ9CP6MwovG_THUpaxJTvOwGJfLfvk858RJdVJ27L9VlNOyx0aMx6hS6CuCO6aXXcH-Bg94F32mlLmKj4acyzfAdxniMHLHp0PjcXi2ScEv7hChjx3yj0mWqtu-BWtcFK26AAnW8XJmzttkcyHJk5GNDF2GGdGnL2ba2R69Sy1xJXBX34_THcZyQEjUl-Aoj6XWLyMH0x8NvypB1Xu9l8O9A4nDzquFy6Gb-7Vsn4tcbVEbbEmOHdhZwBYcO21wu1QxwjYInqJ978xVmv778Iwm_Uhde2E4JWQ3xkwRKOx9q5-V43rOHLp_qYvImEMX0EVOyEVu1E70lzGvzC1WjKKPZ5wyIEpE0WsBT14kScCFYlHNgz1ErNToneS0Qe1NCHH652xHoJ39I5qmtcDhwFSdTKKrCwYnccxm0pHqeOAeXi2l41To5FVaWITW-ayxoms9ty5WwyfhP6vafwp6nK4O3x9YY0rBd5VIcdFyFMKb7qenG7rnO4xQMK9i1l4LWZA5X_gDHS1CuMy-8OAyo8ErmrEW3qDY6MP5nTtdeNAFgOAa_tFB0in7T1qmGa0Bo8mctNNZEtpjb7QPeytNjgDlR8hb6IbOcSj96YPqya-dqWoerVvoNQXP-907_6YLJ86kCKZmKkG-vnRVuMxwVk5MzvQpxKIRkLM70oKyg48BKYyotUj_zv08WC24-NjsTHhJzUiWBU0iC1z2_qe-L7dZyYmyb-Sp7r48JIvaQ2Cd6D7nhnIu1OGq2mgtOYLRc3LOos4qxv7EOrGeBtl4gAmRlJtpi1GHFxD2k6ju_dp_mJZMfzEJ66T2P-_8RTfiB2dffsvR6e6hSWWoF8VUNblPZ07BQpncQiIzh9OFEbbwVUVaWoJTrWXMxHKt2UWqJxQCoGh0YJ5g6WDi92BilU4KV_GbyJtfY6_jfGb3E3zZLd-IdkUwhBFexxBJm4eUPu3iuDAFD3TmXcf-lm0kweF7c9kMkOxTbpcBdPHHBkzQIhOultFl3ofdg2jvXLx8ohUDGB-hmZkzQApgsUDlzNhPkj4E_V4qm-8XWUeIx2eFP-3jMIj30p6-B6TyFsByAPYjVXW5zCtleTLWw9fBxSpaPbVorqRYjyulj1Qh0wdeT1yVL7G37tKSetCAHIVRwfhKsMjwXgVnvoCqSXM-ituwp4E7rSXqaw_g_w480oM8zT6mw1CQrnO_pZhSQ_ww5Z0Tgsw1Go4eNYKks4D5Y0iXlr2OJ73z1f9fRloHk3a53fcMuLwK4ve8eqQBONt2v9w5zCkWuSbBk_AqoJL-KgCNdVFmhY-VWy-_s93I1Ukg7sWMgnj-QeFgh_gTzrCBE1NDLy0O6CyvysiiwAegoRmyaQYSqPauVtSdfziaZvrSY9Z-E3fnehCd8BFQMEdkVpuWp95MKsUqD-frEGYXu2_Vc8iw9yGebKzFvkLf4qYQwpxuQxcR6dqj0ZOMmtdwb6S2W0sjtHQdaHLX4b5-1irnOD0Z6z7xw0vk3Bxb_iuueVeaEfEmlZlkGjTGDm4MHNZVZwLvgTFyMKUCkowg1y4OTUq2rj_8yCe_PeF3XEymYDhawjSKUjQx5pDm3lT9DcUqKU=",
  "id": "rs_049767d523bfbfd7016ab44c1f933487d0a236868195553f75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.338,\"right_gripper\":1},\"note\":\"The gripper settled at 0.01, confirming the close was empty; the wrist view shows the pear just beyond the fingertip wedge rather than between the jaws. I will reopen and advance another 2.5 cm at the same height for a second, deeper grasp.\"}",
  "call_id": "call_5iGWR00ECa0fZGPV1Celu8fJ",
  "id": "fc_049767d523bfbfd7016ab44c21111887d0963f094264f57425",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5iGWR00ECa0fZGPV1Celu8fJ",
  "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, -0.4202, -0.0139, -0.0307, 0.9986, 0.0879, 1.3449, 0.3054, 0.3481, 0.028, -0.001, 0.9986]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1727 left_yaw=0.0003 left_pitch=-0.0431 left_roll=-0.0002 left_gripper=0.9986 right_x=0.3257 right_y=0.0273 right_z=0.0313 right_yaw=0.057 right_pitch=-0.1181 right_roll=-0.0218 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.3607, 7.0222, 1.8339, -0.0317, -0.0806, -0.0073, -0.7179, -3.9043, 7.3231, 1.956, -0.0122, 0.0611, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d193ed90dd408ecff9615a1c09b111e6f9ed1b06374591d892d3674f1a14e0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42075a3bd80f5374f5e38023dc37c94d4fe73ed82798b76221d1e72613fc40c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3afc048ba69a0fd84daf0493ef808dac9d414369de47acdff554b448e0778a8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.9986, -0.0162, 1.2007, 0.2455, 0.3401, -0.0238, -0.0196, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0103 left_roll=-0.0009 left_gripper=0.9986 right_x=0.3166 right_y=0.0027 right_z=0.0506 right_yaw=0.0068 right_pitch=-0.0419 right_roll=-0.0048 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3333, 7.0632, 1.7705, -0.0806, -0.0122, -0.022, -0.2667, -3.6034, 5.8462, 2.0293, -0.022, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6132, -0.4088, -0.0139, -0.0307, 0.9986, 0.0956, 1.2068, 0.2455, 0.3237, 0.0399, 0.0151, 0.0096]\nstate[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1752 left_yaw=0.0003 left_pitch=-0.0309 left_roll=-0.0005 left_gripper=0.9986 right_x=0.3126 right_y=0.0265 right_z=0.0455 right_yaw=0.0461 right_pitch=-0.064 right_roll=-0.0143 right_gripper=0.0096\nstate[joint_eff]: [-0.3214, -1.4017, 7.159, 1.8339, -0.0171, -0.0269, -0.0122, -0.0479, -3.1385, 5.7231, 1.7851, -0.0073, -0.0171, 0.7888]",
      "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, -0.4202, -0.0139, -0.0307, 0.9986, 0.0879, 1.3449, 0.3054, 0.3481, 0.028, -0.001, 0.9986]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1727 left_yaw=0.0003 left_pitch=-0.0431 left_roll=-0.0002 left_gripper=0.9986 right_x=0.3257 right_y=0.0273 right_z=0.0313 right_yaw=0.057 right_pitch=-0.1181 right_roll=-0.0218 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.3607, 7.0222, 1.8339, -0.0317, -0.0806, -0.0073, -0.7179, -3.9043, 7.3231, 1.956, -0.0122, 0.0611, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d193ed90dd408ecff9615a1c09b111e6f9ed1b06374591d892d3674f1a14e0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42075a3bd80f5374f5e38023dc37c94d4fe73ed82798b76221d1e72613fc40c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3afc048ba69a0fd84daf0493ef808dac9d414369de47acdff554b448e0778a8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEwoWmGBnqbj6lgcfk2ZlqMZQlAUcnKaMbC6mq1ZknePSKdIu3waxm-d5vKbbUBOfVj4dubsn3yhjrYzS7AwqKkCyaiMvayv1nLBQlzv0Hxfj_aQP3kKdeKZtsStQCeUFVBoCFyRBHPZ0Jd0W4iHOinVR-6zds1D-pHtzC_dksWpkLbeLQqali-lZylmxQMyV9Svqo_MgPNkMfWvlAXeH0d0miydTxt_E-mphSLSzCiwP0CZPGkRe5wlSNmFAhL2FFz-W3FbHTPn4Vl0aickGca_DfnM4bCCB2csW-8bdusCNdGyssQNdRegkyz-qiYoL5aKZxQVAdxZeTYyKhK1JTcV9tXkdvSobKyA9kbrJ5F5ShaYbf7qGBLS0Hr3thJKiDnw_Ujt7O6lnkgeE_TmiLfn7LpULjEWmJ5z61q4fr8IjNTzXr6bolKzl-OhPH3pCvbS5Slf9xZqKTkqxGPe25LHP5xsMa4ryurDwWbZ5W7Uqmsur98EwA784K-EZ8xlz2I10KnfsEm462r8k45fKmv0gk731_JmUI8w98OgVTMnkVbCt8U3VUTQ7IhV1j94t6f2rtAD5IXuzH--HXGD3Dk035mbZCUQDZWdCWL_Xfp40J77J_-qJ0bL3XYQ5-WL2qFx53cUE6soqYRBIvmUAA9thia9eL2gJaxPXP3OwV5hLwcZ-PiGFVmo03uiZSao_rLtKeX5nY4rTybdf9NYSfauIqGotnZGCcpgfMdl7b4ljN9fJZnH23PirOTi902mbqAzA4BLgmlIg__sDGah-FeqO7s4EXmRzwttw2k3_rzkRKrKpukNKbFCUkdUNAteL3m6srOEOKl9BfGEqu_tAUP50oRLxSEPLnu72kkm7BxSLadN1IOCM3hGjlvTwKSP7JzSxmL06wVESpEzp4xow1tqjuOz7Dl8PEcHFQt8oBi6KWnKx9-QoJNbHioyBDeN6ry2SnawVs5YNSzk0tYFEopba4Q8uz9wKxdeYftemDMleoWkWpi3PbMLDbqCJAHAPquPv-GwAGkvMVm1iHugIsfaKoZmLTUfomCL8gu1chHFx9d09JUcCPJllC5BbsvmLTmIF5eJJYw7MOQo6FEYmo55HN72C50-kzmeoy9tWovwWnzEtigHasdM4Hv2Lv9bgsSpmil3lRVigzsPRgQcWoFCCtMMFZOvpzg1AcwP6zA4Xof0vkqvL5k7t57-ON7hQCJGvh4qaLx1RttP2lIIlZCH6ZaTToG5N5hINSZoTnWV7y6OVNmR_Ubtwg1axej3M-y76D0zWjjjpGZcbn7-heFPiSpF5nBpy4YPy79fsrrLLBwpzv2ZJUai-xR5y1GvOI1h",
  "id": "rs_049767d523bfbfd7016ab44c26e60887d09f2617dec76a2725",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After the deeper approach, both jaw tips visibly flank the pear and its body is centered between them. I will close now and verify that the remaining gripper opening indicates a real grasp.\"}",
  "call_id": "call_W7CrOulkTQtwtGYz1PFjoIIX",
  "id": "fc_049767d523bfbfd7016ab44c27359c87d0aa0446eddbe76bb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W7CrOulkTQtwtGYz1PFjoIIX",
  "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, -0.424, -0.0139, -0.0307, 0.9986, 0.0879, 1.3449, 0.3035, 0.3389, 0.025, -0.0082, 0.0095]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1719 left_yaw=0.0003 left_pitch=-0.0469 left_roll=-0.0001 left_gripper=0.9986 right_x=0.3236 right_y=0.0277 right_z=0.0289 right_yaw=0.0635 right_pitch=-0.1292 right_roll=-0.0258 right_gripper=0.0095\nstate[joint_eff]: [-0.0615, -1.3197, 7.1453, 1.7705, -0.0757, -0.0806, -0.0122, -0.1983, -3.9726, 5.6137, 1.6874, 0.0171, 0.0513, 0.7985]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7daac9db554e709a5b0856adf4e607ef08a33e31661600256ae0bc3a123e504",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f05fe35b616a6b01b164a79e5281140d15d1403a2a24b0077bd51aa61ccbc02c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:085ebed8488f02e538fb894c18de1b5bdc827529b2567c68e7416d74cd6d155b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.804, 0.6132, -0.4007, -0.0135, -0.0307, 0.9986, 0.0959, 1.2064, 0.2455, 0.3336, 0.0383, 0.0189, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0005 left_z=0.1772 left_yaw=-0.0 left_pitch=-0.0218 left_roll=-0.0009 left_gripper=0.9986 right_x=0.3141 right_y=0.027 right_z=0.0476 right_yaw=0.0457 right_pitch=-0.0538 right_roll=-0.0098 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.3333, 7.0222, 1.8242, -0.022, -0.0269, -0.0122, -0.2256, -3.0017, 6.2427, 1.8144, 0.1538, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4202, -0.0139, -0.0307, 0.9986, 0.0879, 1.3449, 0.3054, 0.3481, 0.028, -0.001, 0.9986]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1727 left_yaw=0.0003 left_pitch=-0.0431 left_roll=-0.0002 left_gripper=0.9986 right_x=0.3257 right_y=0.0273 right_z=0.0313 right_yaw=0.057 right_pitch=-0.1181 right_roll=-0.0218 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.3607, 7.0222, 1.8339, -0.0317, -0.0806, -0.0073, -0.7179, -3.9043, 7.3231, 1.956, -0.0122, 0.0611, -0.1587]\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, 0.8059, 0.6132, -0.424, -0.0139, -0.0307, 0.9986, 0.0879, 1.3449, 0.3035, 0.3389, 0.025, -0.0082, 0.0095]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1719 left_yaw=0.0003 left_pitch=-0.0469 left_roll=-0.0001 left_gripper=0.9986 right_x=0.3236 right_y=0.0277 right_z=0.0289 right_yaw=0.0635 right_pitch=-0.1292 right_roll=-0.0258 right_gripper=0.0095\nstate[joint_eff]: [-0.0615, -1.3197, 7.1453, 1.7705, -0.0757, -0.0806, -0.0122, -0.1983, -3.9726, 5.6137, 1.6874, 0.0171, 0.0513, 0.7985]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7daac9db554e709a5b0856adf4e607ef08a33e31661600256ae0bc3a123e504",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f05fe35b616a6b01b164a79e5281140d15d1403a2a24b0077bd51aa61ccbc02c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:085ebed8488f02e538fb894c18de1b5bdc827529b2567c68e7416d74cd6d155b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEwspx6h1XdGZMI4_2oAbIBZaD2CVI7aT3VjhiiqtfIu0i6XBgyjfDkjZP4SaMhlKFXLmQ1WYPie9k7lDx1KwL9DpZqSw3BSnBHJGrGZFH2sFSLb-dS8SgBVxhmT3WYC72QmGhGi4ekzbsKnetptZ5D2dQiSD4Kk7RdBFbkSoZCVyiQ_seTpiPfu7RPfL_Vh3Bjztb7qeylOReqyUtPu9k-Ep7NnxQkSmIJfw5ZcRs7sJnFjh8wCLolSTOwHIUwcNljqNH74w7riUe7aArT11hQqVPBlHuZekY3SrzoT9TW-dSS0yGa22O-z3YvvA93e3BLxJAr5fkgViP1v48jy9_8JU4DK_PSpfvDFTTuboMjatI5nN4kghaOIEDDps06CZTKL5pyxC88BzEEWmxF8pegsGyk-OL4_3EiWJ5dRxLbIxxQuaa8L1yzsQFcE8DnbLHJMmx46h_QTfDD6iOahTKRuvP6WodZLNkHjIVzyE9ZE5V1aT-m0dw7Da_bxp6rosJ_9Zl8VM6T5jV-R05fkG0dUeE8ECrOX-MAixD1aO3dqmo7rLCLQBRGF_vaXxEwktfC3Zr60Et26beOgvF1S2F5ocvA9T8x1BGRgSf0egdntT0-UfbqTTJ3nCoO5OtuqoQunSBjcu9_tXfI6JT5QGeoDgE_T5RyKY7eXQNKDeM9FDPLZCC8P0pCb-C3mXJGZ_xNjCeSuHpfXob-ZlCfu_o3IciTauZxQ3NBGThlceLIoU1w94U0aV_jtSoVVwaWbFsQ8yZJxVO3D70AgG3POkzl1GzaH3rkEmnM0n6GLZKl96KO3DrJ28n9FJzQ1nDJciMqBGF0UfAOzS7722YLp6MsEtD__rGSynFR7ChjMmpCVosu0BTucZOV0l5qZsBEtbwm5i6TaG6mFehakBqaYhnlNxsjrdil-bzBSxUfuZcemZeRLSN9GFTJqpUR0KZu4__5M_TbMdHit0gW0ThYv3leBU3fxtlnx7YvCGvdEGYpozDtnHAFyFgin3NDP8izAKIDViWPOOhUb8zY_kf6mysz6t9-dOnCR_5iEux4pB_k5xYAEWbOrI-b_4HvY6cSf7MCxKU3iMnhrsvRkDdplDCs5w0pkB6K_pnFsa2g9QXwLT0p74hCU3OJYySIW4DptPcfa5BMUe4cHaXqfdwe8-3Pior2JfvEJ4CPLlfuNdksdd2sjhsXXZAOXwlUNpfymkIC64pN5-4_D2kor9itUdKwu_3K8YF59NrNvuiGnSwKg_xMm-V7CWXGUiwHgLuuYiHw-wq1p7QIHGaEWpJC0hjvvfWkzuj5SLXSdZG42G059OjL544Awk_aeC9nlGworgyBZSupzp57AtqeAMG9yt2s7NFrHXJZ70SLQyg6sxpFNiyzQ2sZAR_mQRvJ9fB_9demfnaTaPVXauyUISeHhTJrf6LL2xKihl73UVuOb-qZt4jLuU3KPSSf1Fi3pqxlokg03GFBmKf5JhE2LjemXnnsNfA4fTc6rgs9KUjDfyx8QYNgDu6ObswjVjji0oflOUfU1ef2u5oMRJEF2ia1Wgpan7XLXFgJlAUfKxhomDWBQdRhrttkpCVfC5sEM2SSWX-ujAY1TJEvaTaCAwzziWAGJW0GqaEF5wmzkrJgAYgJEjkNf0X4GnnijZcvnnh3htbV5iFVe0ItErGBCVFZCQ6iIAHkAU4SfQSGyXvH6DeiIB-oan9lcy_E3AEyW4VOfBZLhw-mJPcvKCSM3lqZQh_svQ_k7UZdL87siP5hDmCR-AMiOyUmfUywEJn8LG7kAy9S4COmlpMQLdJG6tWA5JFXjRLy1P35yCICvtobDbQBkk-0KXxa3h5KbyFMSIo5WG2zIPV4WitZu7fZ0A11tW8IkXJGsQeMJdW_yCuY0X4hx92Vesm8v4QlUqRvuvbD0UI7S4z7x12DS84HqC_tNrMu9Sw==",
  "id": "rs_049767d523bfbfd7016ab44c2a175087d0a817418df952e6c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_z\":0.055,\"right_gripper\":1},\"note\":\"The second close also settled empty; the image after closing shows the jaws meeting below the pear, so the camera perspective still made it look deeper than it was. I will reopen, lift slightly to avoid dragging, and advance another 3.5 cm toward the pear.\"}",
  "call_id": "call_NOZC0B4bwFKt2LijEvOa6Abw",
  "id": "fc_049767d523bfbfd7016ab44c2b531087d09318ff11bd595ff9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NOZC0B4bwFKt2LijEvOa6Abw",
  "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, -0.4263, -0.0139, -0.0307, 0.9986, 0.0792, 1.4014, 0.4572, 0.2108, 0.0132, -0.0273, 0.9972]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1715 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9986 right_x=0.3499 right_y=0.029 right_z=0.044 right_yaw=0.0751 right_pitch=-0.1604 right_roll=-0.0329 right_gripper=0.9972\nstate[joint_eff]: [0.0479, -1.0325, 6.9949, 1.7265, -0.0757, -0.0757, -0.0122, -0.759, -4.3282, 7.9521, 1.6679, -0.0024, 0.0952, -0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca2119472886e3e6c27d0039a1bb3a029b5c774d2af91e6635ad5bc60fc041d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc8003b9050c7d6d7304e7f65fdf5f8d69775fb3876a3fe2402079b3f661214",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49138e437fa7b27902af73fe067ca79a1e3282ade55ac010af5809c5459f2550",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6132, -0.4088, -0.0139, -0.0307, 0.9986, 0.0956, 1.2068, 0.2455, 0.3237, 0.0399, 0.0151, 0.0096]\nstate[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1752 left_yaw=0.0003 left_pitch=-0.0309 left_roll=-0.0005 left_gripper=0.9986 right_x=0.3126 right_y=0.0265 right_z=0.0455 right_yaw=0.0461 right_pitch=-0.064 right_roll=-0.0143 right_gripper=0.0096\nstate[joint_eff]: [-0.3214, -1.4017, 7.159, 1.8339, -0.0171, -0.0269, -0.0122, -0.0479, -3.1385, 5.7231, 1.7851, -0.0073, -0.0171, 0.7888]",
      "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, -0.424, -0.0139, -0.0307, 0.9986, 0.0879, 1.3449, 0.3035, 0.3389, 0.025, -0.0082, 0.0095]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1719 left_yaw=0.0003 left_pitch=-0.0469 left_roll=-0.0001 left_gripper=0.9986 right_x=0.3236 right_y=0.0277 right_z=0.0289 right_yaw=0.0635 right_pitch=-0.1292 right_roll=-0.0258 right_gripper=0.0095\nstate[joint_eff]: [-0.0615, -1.3197, 7.1453, 1.7705, -0.0757, -0.0806, -0.0122, -0.1983, -3.9726, 5.6137, 1.6874, 0.0171, 0.0513, 0.7985]\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, 0.8059, 0.6132, -0.4263, -0.0139, -0.0307, 0.9986, 0.0792, 1.4014, 0.4572, 0.2108, 0.0132, -0.0273, 0.9972]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1715 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9986 right_x=0.3499 right_y=0.029 right_z=0.044 right_yaw=0.0751 right_pitch=-0.1604 right_roll=-0.0329 right_gripper=0.9972\nstate[joint_eff]: [0.0479, -1.0325, 6.9949, 1.7265, -0.0757, -0.0757, -0.0122, -0.759, -4.3282, 7.9521, 1.6679, -0.0024, 0.0952, -0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca2119472886e3e6c27d0039a1bb3a029b5c774d2af91e6635ad5bc60fc041d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc8003b9050c7d6d7304e7f65fdf5f8d69775fb3876a3fe2402079b3f661214",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49138e437fa7b27902af73fe067ca79a1e3282ade55ac010af5809c5459f2550",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEwvRuW2njyQGxorHva0zSTD85ZPzBOxP8v0NbHWi5efSDypGViaXErSxL-ihAKQNvVYVBykGHKKi__j0r9aWq7oYjooeby1Y88fyUXwAGuQ95bQECW9Lggq9OoowIHpWCi38ocoM-Dkbiw9YJYGCi_UnWP5hVag7ZPHAtdDhCID6_AhgZX1FTk7plNX4zgBUZoyMgKBAhha6_mcziqRc0amaXTXaegkPic5vKUpZYPsgbEwxKSH6KvalF5TE5XZ1898V_v1SFMsMoc8ffxOSUOl7wMZEe7sH7945NkzfOiA2pAbzo5i0Qpnr4-XVcnNeORJvDGVGzQJv5b18AAVh3oiP_UWHMz97LqPHAEQL5fZCswR_IWjpXYlW9IQQyJ7cEk0hB_J2IJZ30A2Y6xl5wu13EjwX4FO71sOBbBuUDnj28qoTu5Dz7rYfbnnkBM2qfrkMOxRtooXBCBMTn80w8Y3-_w_JeDcX8bxaSkBeZQIrdtViKdTJg6StonazVXI-NEgmFZcF15FMxYomiO-8L1bwxsc0kQd6x9H7a9zoae9fD0Fqol66OROngyDu3SdXuGmIgqMd1iuHCAIOZmMm56r6KK6cIMraVoBEPXmH4E7_-dDTn6bVco0BBCBdixxDEvLVkz3JG8_7Jm1yx34HZXihMafNIBfouYHUp1RfiaHOmfkGQPX1utgssq1jmokHnAmGWe0WA7Py1GZBZuhYGFdbq0PYlOCALM-PsyU2MvjbD13QOXzGgl3OamoulXfk6lQTHELSxcyuHdII-cTofTN0E4oZL5dUgpR7j76iXKAf0wMHLRj5JWtcTBq4Q5WRCr_-jkbLYUk-Fzd-ftWUJwFr08-QA06uds0gEzv8IRuq1w7PhTRb1YWj5BgB0Nihjm4rul8IMY-mWGID1kAQ_ri6MkjsR31miy8YZu53_0u85sEemxOH2yNocziR9v_UQiFMzPuq8JRHGx_Lq6Id812I9TZb5s4N8tqeoMgaHRVvkQSpgs8mxGFYRClO0lQO2W34EkZIY-vCq3h07JSzA8ejZZTJ-DBgIgZOWNsCHMDKBxuueVE8educZFxsbFCE11yxHW1yB43iFeJPw94zD3YqllxPanPTDQOUO53YADGFmdVQgyfh734lSWz4Bny8p_yRno3h2BB6Epdg5f4FkcSRl004sQzo7xkcozd8sbI0YRzaWY5qhcv1v8TYiBDXTL9jZw9xjab9zFVEp15ggkbbhDnfcxNSyIcAmiFrN1F8RQ86euOvCpRno5azQbOuegkLOkaysC1FyToWHloCQ1hesXhqcktitQ-hvYmqp5EbeWr9U3qbeacF7ijQj53UxF3DHzFVWoF4y7tWqKMoNaz0Q==",
  "id": "rs_049767d523bfbfd7016ab44c2e1ac487d0921fe9321dee4cdb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The latest approach places the pear body clearly between the separated jaw tips rather than beyond them. I will close for the grasp and inspect the final jaw spacing.\"}",
  "call_id": "call_BJQNODJiJLdiUvwy34EXfo0D",
  "id": "fc_049767d523bfbfd7016ab44c2e797487d0a05fb37624177093",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BJQNODJiJLdiUvwy34EXfo0D",
  "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, -0.4274, -0.0139, -0.0307, 0.9986, 0.0769, 1.4029, 0.4606, 0.2035, 0.0097, -0.0345, 0.0094]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1712 left_yaw=0.0003 left_pitch=-0.0504 left_roll=-0.0 left_gripper=0.9986 right_x=0.3498 right_y=0.0288 right_z=0.0434 right_yaw=0.0798 right_pitch=-0.1658 right_roll=-0.036 right_gripper=0.0094\nstate[joint_eff]: [-0.1709, -1.2513, 6.9949, 1.6777, -0.0415, -0.0562, -0.0122, 0.1162, -4.9162, 5.7778, 1.6435, 0.0122, 0.0806, 0.8181]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d5911be7fb40808db4a1db1038700b40f4a55147dfcbea302d3c50b589ad47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8438c90d1ce3fa9a3dc680ff3df92e1620bc1397d97630397e7c0b7e19eb1b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d225447cb20d90e5f873afb6b8b9f669224719c48904fe1dc0621f23b13e48cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4202, -0.0139, -0.0307, 0.9986, 0.0879, 1.3449, 0.3054, 0.3481, 0.028, -0.001, 0.9986]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1727 left_yaw=0.0003 left_pitch=-0.0431 left_roll=-0.0002 left_gripper=0.9986 right_x=0.3257 right_y=0.0273 right_z=0.0313 right_yaw=0.057 right_pitch=-0.1181 right_roll=-0.0218 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.3607, 7.0222, 1.8339, -0.0317, -0.0806, -0.0073, -0.7179, -3.9043, 7.3231, 1.956, -0.0122, 0.0611, -0.1587]\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, 0.8059, 0.6132, -0.4263, -0.0139, -0.0307, 0.9986, 0.0792, 1.4014, 0.4572, 0.2108, 0.0132, -0.0273, 0.9972]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1715 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9986 right_x=0.3499 right_y=0.029 right_z=0.044 right_yaw=0.0751 right_pitch=-0.1604 right_roll=-0.0329 right_gripper=0.9972\nstate[joint_eff]: [0.0479, -1.0325, 6.9949, 1.7265, -0.0757, -0.0757, -0.0122, -0.759, -4.3282, 7.9521, 1.6679, -0.0024, 0.0952, -0.0757]\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, 0.8059, 0.6132, -0.4274, -0.0139, -0.0307, 0.9986, 0.0769, 1.4029, 0.4606, 0.2035, 0.0097, -0.0345, 0.0094]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1712 left_yaw=0.0003 left_pitch=-0.0504 left_roll=-0.0 left_gripper=0.9986 right_x=0.3498 right_y=0.0288 right_z=0.0434 right_yaw=0.0798 right_pitch=-0.1658 right_roll=-0.036 right_gripper=0.0094\nstate[joint_eff]: [-0.1709, -1.2513, 6.9949, 1.6777, -0.0415, -0.0562, -0.0122, 0.1162, -4.9162, 5.7778, 1.6435, 0.0122, 0.0806, 0.8181]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d5911be7fb40808db4a1db1038700b40f4a55147dfcbea302d3c50b589ad47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8438c90d1ce3fa9a3dc680ff3df92e1620bc1397d97630397e7c0b7e19eb1b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d225447cb20d90e5f873afb6b8b9f669224719c48904fe1dc0621f23b13e48cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEwzlImRNyft9cwuftOWhIUsR_qVmDqN9OQAnZPZytM0xKml1ygL4TCEBOW7C4wbUoMgXxFjEKRzKnkK2Wc37tFnXuztkhi2NXAj4yxw0ktr2-TPsyzlQlDGd72qIRYL7OvN7ENG3kGqFpo-MW8C6-XR-u7jkmcuNOvHUGLVBCzlddGDO4Wnf_o3QX08OAvAXKcZqIa7DK-tYyz7mEd2EvRaWz3yGdt_HKhy9c7cWpTH_7r9W8kdioZChhw8pPyvkkVlfRiBfeeycKauncaBUr3Yrt_fQybB46QLewcsE2TRjGFWbWHZvJuYiEhP_HguqaADV9l25a2EM_bahectERhMDRGxbXd1zE3yiR8ZAFjHzC9hfbnksUEHE8hILJJmDxe4G2nk8RJdoQe2FYdiNaVk_FokFkVKBl7BwJ5cBej5nzNsmCt6LGxpPJ6D2tA4KCy2S5sffbWocjASq9NORFFBo_YTRlNO1G1875WcvboP9JoOPslkhHSfrdp0Her8PIx7mmOA52GAut70ppXkEG1el3IUlDsycAcNWG1aKA0IqcSYshTosW6tvh7yO92uwteDzoAjvHMNqAl0Kh1cL72dMurbP-vURiB62d299ipbiVEa9KGzqmlNMKwogrCen7amBZ0XRmn2YtEG5-kmIToo00M40qrSw0Qx2H5duqHZNK4gxb3xjd1trq7j1Nm5oAi3ju1SF1RZWi3tLK4vWQYxI0ob22iz3RaR0LgxL8IEXTeS-XS7aFiwmftPs5fc0nSM8DhbdcsW3CzcbnVhaNTmAc7S51N5Z-qUHlRSI5biycHOwSxLCjRNGgG-JFXp3x7lgcU4UlLy9Yr3y1v53LKMj4SOn3bRZZTTEY5b_rlrpZdtYSItKFbO8gU_ZE641qPOL8NtFgkUa-lx67LbF6GmvYZhed9IDFTV1aQpDx3oXmj_ZGth96HN8dFdnHDBNkEkXf_UQVHwm9YZ15NsM2k-TeSi5Lq4sFCGEfEr0CqMIiAd887_38Zo2n24qDb5oRz5sjyL21DQUu1ictw2faWRJBL2GAXbxu6yMXEgyKSaSBAADjgGN20qjLQPR9ugkAyd2Mq-3hZVad5bGe9mceWC6PTMBkdNA9cU_jLC7EVRw9m5sBH4GIYzIJj8EMjZiSE-TM2B0lgqR_8w5WzLEOn5S7QXM3uridBb9vkc1dsGwVaVyhYc-QcKSacVzLjJHATjSIgubDa1GJDh2pPaC6vjqOZp4RBo6PZ_c6CtnSdIJufRLiaXuoycil4qs0jak-nP5BC4T3qheZeIyhgqRwOZmW8fdlTYpbiJvaSAFgtHwk00axXc3HDzLYbPSrWkPafQrwQh6j50nGo34JaTOdJITvXP5vaAJdSAsd_Z-8MJcTFiTIYBrPyEUFFuw6e7V_gwyK-Q9nIxmwIaIeuJVfdHGBlsUkmPeLDOCbRD2hoT3mPIj91mhtz9pP-HplQ1Snnfumtc4ld7GwWi3kUIh4Ew7lYE7NDDbZNeZN_u7Y94RNGAqWy4ozgmiwqj-OOtco5SXEtv6EZu6gA33bMsNvuck2DJuQ088Zawn8jgfWLUeD7VlV4FZxWNpT8ZrwcHZzzzOp3FcP78_VtLW6sttahqSHcsfr5qN9y6cGLaWrf87xHu-pVJBAMu4Ad2r-nDxO8s3hSonwUIHQaX07E32sE0_7B88nFV_VgRZJIfWhINHFA3XqNa7XBAxaqTfCN_KNFeTxPVKmjtsmA2BFmRUWuBCe3F5igmRhzXCWsRLBsUrqU1att-uRtT9HVj4JBm2WfocD5titYtbqgAeN1WjsbfiG4TIkHa70C5-UhjLKdEPnaBFxaHGofYp5u7tf-TNP3l3icKEUlegjhFJ3bS90KXV8sy806WEiyIaKlEgKIzQ9XVNXlT_IWnjezbjx9dMRq3KyYtQcYwCGlQtGrZ7COJQYotyXU2-_-ixeJjdKXCRtCMLnR9FF0t4RNYBYwitSdTbQkqkg0tzyh4hgfnG0WLPCzHQYMVnyC__fbwkWq08Ugvc5Oqxij86rjiQWHsjwLm25H0vtj_eGFN0h0YNv0KO_5yKrvd5wiGgnwQvhMBg8HkTDDb14_L5q83xbgnkPrtYGq8zBhY6D9G5e5gp8RHdoadKoVM4vcg9sU2Ex6ZrqmQ4hX7j1kVqTGW50CFe4x2dw189ZZJyKG0jpgW9wmtavrJCSv56hT-zeRBIT9kUkw=",
  "id": "rs_049767d523bfbfd7016ab44c3122f887d0815572d6beaeaa75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_z\":0.065,\"right_gripper\":1},\"note\":\"The jaws again closed together below the pear, proving that at this wrist angle an object can remain visible between the fingers while still lying beyond the actual grasp point. I will reopen, lift slightly, and move 3.5 cm farther forward so the pear reaches the true fingertip line near the bottom edge.\"}",
  "call_id": "call_Rvo4YcRQkbsnIJF32sJeP5MA",
  "id": "fc_049767d523bfbfd7016ab44c32dd9087d09364b852b052aae8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rvo4YcRQkbsnIJF32sJeP5MA",
  "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, -0.4316, -0.0139, -0.0307, 0.9986, 0.0738, 1.4776, 0.6041, 0.0963, -0.0025, -0.054, 0.9985]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1704 left_yaw=0.0003 left_pitch=-0.0545 left_roll=0.0 left_gripper=0.9986 right_x=0.3734 right_y=0.0316 right_z=0.0527 right_yaw=0.098 right_pitch=-0.2045 right_roll=-0.0413 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -0.9778, 7.1863, 1.7021, -0.0464, -0.0464, -0.0073, -0.9094, -5.1624, 8.2667, 1.7607, 0.0269, 0.0659, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36acea8575441819fa1fe0418930dcd760f137d065507ccc57f427224e02bd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99f85f70cad6430e9224cbb71377d47f959734ae89bc02012b42da0f4b810624",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ea09b6a447c4289a2756560a1ce5d9fab1113fd9cc393c253b03b12f951105",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.424, -0.0139, -0.0307, 0.9986, 0.0879, 1.3449, 0.3035, 0.3389, 0.025, -0.0082, 0.0095]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1719 left_yaw=0.0003 left_pitch=-0.0469 left_roll=-0.0001 left_gripper=0.9986 right_x=0.3236 right_y=0.0277 right_z=0.0289 right_yaw=0.0635 right_pitch=-0.1292 right_roll=-0.0258 right_gripper=0.0095\nstate[joint_eff]: [-0.0615, -1.3197, 7.1453, 1.7705, -0.0757, -0.0806, -0.0122, -0.1983, -3.9726, 5.6137, 1.6874, 0.0171, 0.0513, 0.7985]\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, 0.8059, 0.6132, -0.4274, -0.0139, -0.0307, 0.9986, 0.0769, 1.4029, 0.4606, 0.2035, 0.0097, -0.0345, 0.0094]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1712 left_yaw=0.0003 left_pitch=-0.0504 left_roll=-0.0 left_gripper=0.9986 right_x=0.3498 right_y=0.0288 right_z=0.0434 right_yaw=0.0798 right_pitch=-0.1658 right_roll=-0.036 right_gripper=0.0094\nstate[joint_eff]: [-0.1709, -1.2513, 6.9949, 1.6777, -0.0415, -0.0562, -0.0122, 0.1162, -4.9162, 5.7778, 1.6435, 0.0122, 0.0806, 0.8181]\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, 0.8059, 0.6132, -0.4316, -0.0139, -0.0307, 0.9986, 0.0738, 1.4776, 0.6041, 0.0963, -0.0025, -0.054, 0.9985]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1704 left_yaw=0.0003 left_pitch=-0.0545 left_roll=0.0 left_gripper=0.9986 right_x=0.3734 right_y=0.0316 right_z=0.0527 right_yaw=0.098 right_pitch=-0.2045 right_roll=-0.0413 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -0.9778, 7.1863, 1.7021, -0.0464, -0.0464, -0.0073, -0.9094, -5.1624, 8.2667, 1.7607, 0.0269, 0.0659, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36acea8575441819fa1fe0418930dcd760f137d065507ccc57f427224e02bd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99f85f70cad6430e9224cbb71377d47f959734ae89bc02012b42da0f4b810624",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ea09b6a447c4289a2756560a1ce5d9fab1113fd9cc393c253b03b12f951105",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEw3bLeT89Rj9pmX2fT44pLz6vR2vJ3GSO4GArcgmQhjdQKkWKRePBOm2KJnYjrN-ELMGhKAzgzRIkroj3MSdSO73g7xTJXhGcQzrNUy7qUmpvki-_LefLOP1aYY4E74CQQR_BA1zCT6JCY1RHsnl8xZ6nJ7pYT_2zr7yEyPcNRbmAVNP9L3EICfXEfrNIOg7Tc3V46gY7K0k_9hCoCcyIDPvU6itH9tMUDIkase0Ng7npP2wu6NYuCI3uQRDEgfIyF7rphwqtYMzZFDEqfoPh_kzD8Zs6xQcJbTKFvqV49FyK9--Wq3Mweo2ZDkEvxthdGVxlTNQaf2UKH3GFb2E_YSxyBnenEbEAEDZDKqOYjI2nlDBNlWE_CLtzGvoXmwsOCFZnPk79ibE9Okkm-ov-EodTy6fiDFM2hfOlBrmWZFiaX7VQRvBEVRvrS7__pSgGsV_QVDBSFGmMgS1fiJu1xBwynKlTw3G297n9Rp9mawLqghXAgiltOjO9zzbD6if_ucM_WHm24-gYkETLwHkQsxSj0y03cOx8G6DR8pN-VpPrpJf7Bj3Nb5d-KJZQAJCiX5rfJ7e1ZX_Fp81b8QlNLZbv5gZXtuRvH3C9FM5bN3VYpL9C-Ts1B772r24hYuOkwXo_1LybCoWRdlgMTTrh28DBS9L5eFxTk3aB1wA3K5moTJaj_NkLVfUVsLjI-UC4Z9cZmevh6w9oC0OVPjfvmYrRVmcAlysfweO8n19Ruxqa-tb0ftcBi1cmeKhrny_WV4sXKjpZYfmm3N9FUHhdBIKYJwuyENdJmwWRkUSLV8aFyDouITrwTs_1S_Je5YwVsfIRLf8y0DhP7RZkUn2Vwt-MRS_VBH0_WYvHlEvPf-_Mfz_nYPD6uvE6YyiSYQeaBBPaFBl8LZ9R50x1y9StUPKDeXFnz_-xVHML8kSwLlYB0Q9RtxNt5VJlyctgtF18KgMLeLGYox8S5lfr5F4vuH4KUYbIuVHUbCrK2BekSp8faFQDlPI_G37sdq-j5eGFHUoDjaVvqhzycg1tugaCVoip_AdAKYIiajUaUuFJzjvaD53_FSbKYXXasE-OrctWfcF-nvH-XWcOxr5RNcwasvn_MMTsHqSQ6ru17_zLq3vZ8zeuP9jwn7_aELL8oUF6DLK_tbuNEyeuC4IRDX_ux1aH6qF5XUUajeQxngxWfE32H8Ce9_fUV8giDb-SnQgX0xY8wAEw3ZQ2fiGJPjns2B2QjlIKGQrJBJDujv0BEnPMIYoqwzfwFM5oV-bMmHMy3F",
  "id": "rs_049767d523bfbfd7016ab44c3614e487d0bd289f609573428a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear now extends to the bottom of the wrist image at the fingertip line, with a jaw on each side; this is the first approach that reaches the true grasp point. I will close and verify the opening.\"}",
  "call_id": "call_VCLf6TyqY5t5c9ZHHLtM7eKz",
  "id": "fc_049767d523bfbfd7016ab44c3640b487d0a7f0a25fb8c19b7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VCLf6TyqY5t5c9ZHHLtM7eKz",
  "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, -0.4324, -0.0135, -0.0307, 0.9986, 0.0731, 1.4792, 0.6094, 0.0841, -0.0017, -0.0612, 0.0095]\nstate[eef_state]: left_x=0.2894 left_y=-0.0004 left_z=0.1702 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0002 left_gripper=0.9986 right_x=0.3729 right_y=0.0312 right_z=0.052 right_yaw=0.1006 right_pitch=-0.213 right_roll=-0.0469 right_gripper=0.0095\nstate[joint_eff]: [-0.1573, -1.1009, 6.9949, 1.6874, -0.0464, -0.0757, -0.0122, 0.0615, -5.9009, 5.5863, 1.6777, -0.022, 0.0415, 0.8181]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7354355882a94026c7c7928155acc59ee4827d171850839c74b93735d0f6c8bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f12d129c4e92bccdab8bdd6be3ba908c99ed141569896a92a8bff3897906ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3510d8329b3397815a66f46cf2481670ac140d62ebe3d2f19298c586d31df4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4263, -0.0139, -0.0307, 0.9986, 0.0792, 1.4014, 0.4572, 0.2108, 0.0132, -0.0273, 0.9972]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1715 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9986 right_x=0.3499 right_y=0.029 right_z=0.044 right_yaw=0.0751 right_pitch=-0.1604 right_roll=-0.0329 right_gripper=0.9972\nstate[joint_eff]: [0.0479, -1.0325, 6.9949, 1.7265, -0.0757, -0.0757, -0.0122, -0.759, -4.3282, 7.9521, 1.6679, -0.0024, 0.0952, -0.0757]\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, 0.8059, 0.6132, -0.4316, -0.0139, -0.0307, 0.9986, 0.0738, 1.4776, 0.6041, 0.0963, -0.0025, -0.054, 0.9985]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1704 left_yaw=0.0003 left_pitch=-0.0545 left_roll=0.0 left_gripper=0.9986 right_x=0.3734 right_y=0.0316 right_z=0.0527 right_yaw=0.098 right_pitch=-0.2045 right_roll=-0.0413 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -0.9778, 7.1863, 1.7021, -0.0464, -0.0464, -0.0073, -0.9094, -5.1624, 8.2667, 1.7607, 0.0269, 0.0659, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4324, -0.0135, -0.0307, 0.9986, 0.0731, 1.4792, 0.6094, 0.0841, -0.0017, -0.0612, 0.0095]\nstate[eef_state]: left_x=0.2894 left_y=-0.0004 left_z=0.1702 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0002 left_gripper=0.9986 right_x=0.3729 right_y=0.0312 right_z=0.052 right_yaw=0.1006 right_pitch=-0.213 right_roll=-0.0469 right_gripper=0.0095\nstate[joint_eff]: [-0.1573, -1.1009, 6.9949, 1.6874, -0.0464, -0.0757, -0.0122, 0.0615, -5.9009, 5.5863, 1.6777, -0.022, 0.0415, 0.8181]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7354355882a94026c7c7928155acc59ee4827d171850839c74b93735d0f6c8bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f12d129c4e92bccdab8bdd6be3ba908c99ed141569896a92a8bff3897906ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3510d8329b3397815a66f46cf2481670ac140d62ebe3d2f19298c586d31df4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEw7JwmChPpfnKRl6ojIvMF9cyeslwqJr6k66UQCMrr3JlX4jTVOdgfoaQPRrqljZSu4A_15JVIdJFCUwlOlHmOn7WTiwX1aoKHoyK-6mlHnm__qk324FHNvhaWMCWbmsJvTJApfw5lE4T1ajFFirfmfuljIvoLFvlaURtc29m9VWOa31ohnceZpXLGXlgWHh5GrN6UtqNkskhsMVB7LbsWADne2JJLfpMMh--DdA1aO0YlEbt4d1dDDGinMEoZBUFs_S37lAhifWH9lcs4ODvBYz9tRnpsuZm-Dx3wAAX9zCvy6E6vMEHb1pcqPmuFGiKkWdAiqXZW3z7N3K6X6RvPA_Ox7TTqk7aiy69SI1yzh9hH42UB8tf8uYI33Di2yeVsMcPJCrEi-rW5F0dfXzDck2lW_o2RvoWyVspe-_HOHJA9QiqsO9RwQpPmzQBFsFTWftjTteox3MZdFP038zsRpskzLZuxzPwmejghmAfylTneOCBLolm-ziQpULGuQIlkQWbVNIzAoL7qy_64Z0hkU1Q3theGh_LujXWq-JIVYhLvWOyUap9wRU0xetQlPU8z5G6GcI8-E00E5zJgp0-s27Ux_4dKqbXQi6O1mJjvlgpV7KZ_yrq4zUzA7RlBdffjhHWdfJUiPutg2JU8lmk8riMrE_wfA3AOrAi9pAcAXL1LszDesp1p5PMQ0QS8sGz6muEHwTTkuTslnnPMgsw4sEq6Wao-1tV7ORTcVEcYMenvbYz4phdLOVoK9Bi5fBMs8qBzTkhrkxOq2da6W8YQAhJVj5oYmMYlBVyeM6azCME-voqIC6bThwAX6Hgwmo_ME7fYOnh9-FpgHsY44Fk_TITUJOD53qTzbIKO8NXccZcQms0vPo4rKhK1aEMWOAPJpu5jhfEmBe136CdGZEJN-TW6H6e4egpojjCfKi07MZHHjXUd7nZICRF_qKV_4G7ihOfLQF4hVRYmooEGLhmJUe3-ze5LNtkauqSMGb_ckdwx9u5NVltq_XOLnkU9Ns_PEiOn7KiOzXGbj0Pv8mHqU33t384fvOeDIJHHO2bN5Uryi2Bs1fywswveUzi96dW0ybFN1RLW2oqLyQWQskvO-X4JDizVXOkVQhKpeZZqIl7ver9ItlQO2ctDlhXN0f3PjKjCzIsOSFUw9E6UFl4x9NyfsG_XkaHnDV-pL_A7uVsYwfw2zw2jWuGvE0g7WNfS5gjnnRP6IFgPhZypanzrQBIiAEu9rUcgvcTEkoInIYSNAeRWMBVssEw5pmsvJnq5CgqoDNBRDcSkEniGEikWOz-41ar0EnYN7ECsOvw-Aa70eaAQ9k-qK3KmK8oIMl3ySvzTCMiLYn-EsytG73o6NkS9yRn5RLFqPfZey1jB7XpdzPHnN2kgYlIym4KcToC7AcuwMEoBOMkF21BJ0dxzGZ73RCtMLTPdfrg_kDJuAFNKJM3gd8nPVRRHV7zd56lIutLGK1A5exumUoFp5_rt0dnWvfiXZHkXYasUadxBrhLWU3lKrLHe8-Oy4VkmT5Qihujbn9q1FF6YiSTmGsxSPbb9NGeS4zchuBK8WuINFkfgRAApuN7K3DQKAhnBsWJ27jJWwufdqy9nb6d6CFtDpVg==",
  "id": "rs_049767d523bfbfd7016ab44c3921f487d0b091cdcf511cbdb2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_z\":0.065,\"right_gripper\":1},\"note\":\"The gripper still closed empty, and the closed-jaw wedge is contacting the near face of the pear rather than enclosing it. I will reopen and advance about 3.5 cm more while staying slightly raised, using the top view to remain on the pear’s line.\"}",
  "call_id": "call_nScMx317unfaQTn2VQC1juJ0",
  "id": "fc_049767d523bfbfd7016ab44c39f30887d0a431b7d7829f2cd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nScMx317unfaQTn2VQC1juJ0",
  "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, -0.4358, -0.0135, -0.0307, 0.9986, 0.0689, 1.5841, 0.746, 0.0078, -0.0132, -0.0814, 0.9986]\nstate[eef_state]: left_x=0.2889 left_y=-0.0004 left_z=0.1696 left_yaw=0.0 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9986 right_x=0.3971 right_y=0.0333 right_z=0.052 right_yaw=0.118 right_pitch=-0.2577 right_roll=-0.051 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.1145, 7.0085, 1.6923, -0.0317, -0.022, -0.0073, -0.7863, -5.9145, 8.7316, 1.6777, -0.0122, 0.1148, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad875d8271fe78e3ca9b6504d2b6974198e44f2f0a7f8f0a4860f14a69042fda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d93d570d984d97e545bd8282852809727a0a19a8601be0f7f93bd2eab709744",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29687120b4376558c8169b4033db4d86024d5e69d4d08d68e5a1ff83daae9fb0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4274, -0.0139, -0.0307, 0.9986, 0.0769, 1.4029, 0.4606, 0.2035, 0.0097, -0.0345, 0.0094]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1712 left_yaw=0.0003 left_pitch=-0.0504 left_roll=-0.0 left_gripper=0.9986 right_x=0.3498 right_y=0.0288 right_z=0.0434 right_yaw=0.0798 right_pitch=-0.1658 right_roll=-0.036 right_gripper=0.0094\nstate[joint_eff]: [-0.1709, -1.2513, 6.9949, 1.6777, -0.0415, -0.0562, -0.0122, 0.1162, -4.9162, 5.7778, 1.6435, 0.0122, 0.0806, 0.8181]\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, 0.8059, 0.6132, -0.4324, -0.0135, -0.0307, 0.9986, 0.0731, 1.4792, 0.6094, 0.0841, -0.0017, -0.0612, 0.0095]\nstate[eef_state]: left_x=0.2894 left_y=-0.0004 left_z=0.1702 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0002 left_gripper=0.9986 right_x=0.3729 right_y=0.0312 right_z=0.052 right_yaw=0.1006 right_pitch=-0.213 right_roll=-0.0469 right_gripper=0.0095\nstate[joint_eff]: [-0.1573, -1.1009, 6.9949, 1.6874, -0.0464, -0.0757, -0.0122, 0.0615, -5.9009, 5.5863, 1.6777, -0.022, 0.0415, 0.8181]\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, 0.8059, 0.6132, -0.4358, -0.0135, -0.0307, 0.9986, 0.0689, 1.5841, 0.746, 0.0078, -0.0132, -0.0814, 0.9986]\nstate[eef_state]: left_x=0.2889 left_y=-0.0004 left_z=0.1696 left_yaw=0.0 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9986 right_x=0.3971 right_y=0.0333 right_z=0.052 right_yaw=0.118 right_pitch=-0.2577 right_roll=-0.051 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.1145, 7.0085, 1.6923, -0.0317, -0.022, -0.0073, -0.7863, -5.9145, 8.7316, 1.6777, -0.0122, 0.1148, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad875d8271fe78e3ca9b6504d2b6974198e44f2f0a7f8f0a4860f14a69042fda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d93d570d984d97e545bd8282852809727a0a19a8601be0f7f93bd2eab709744",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29687120b4376558c8169b4033db4d86024d5e69d4d08d68e5a1ff83daae9fb0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEw_mkF5-WSCJoPq2aUPcKMGnx5jb3sDLUPsBwLVyrcODhdpfGzQbU99B1LhT79DRiZ7EIsZm5UMWZm8LY7i7zZ_6zke7npwhnMJbgReJu_8LYdT3GlOyKNk4dDWL8u6sV5f-CNmAcaPXFqNJ9dGRv_EYv8eXS4rfPdmqlIXYiyqeMRGIXMEmwPEg1myXkrocHo9QaDx0tFuGp0jyApr2iKZg_R5N_L9zmRN40yG0pwlYsQN0AyMs8BiB2NbaLapevwuVzxiGRws-JCDFjCmKrVfUzf-ScY2vmz_VsTWrPqQK8QtoiaM6Jt29_qWP2eMVzrnAnQmMbq_PQsZpUYWzS2kFZCOYKdv5Q7IYQa1I-aKLPNau8a77-Z3TzI8HTBYLWFtZn31e-zjck7SDSI6ZJdDWAAcVhEr7V1uDp1N75KB1o90Z78aQe62Lgz7WRNBhj1i1wJgMyTQfrwnvDX-D9hMuXGlVsUtevSx-4yguZYJMsgN7E-UVYU_I66CKyNeqRannd2K1PZhzuXSxl7t_dtqgMD19qEd_QiRbCVv5pD5l-gGD9ORUmHOKKzJ8AnHV5rIfIlI0O7AtYMB7bRD4w7vPptNsK9dAJ1P1yuc50FFBcyMDSuigIVekk3bGTViQIWRV2GJTylHH1Y9of68-e5epVIrCaazrhQSpSgyQ5KYGjotL9aJ3c2Uh5zcgaIxHBdtHnFlqU5yh6im0PEzLpTSXuQqYXF9Eqbpp0HRusW9TUtN-9GeJWigUVQ9uzufvQuNrgbo0WmcO75go8zPmOGqCf7O7zx9-ZRfb4h2tYzQAec5--1_Rn4Jv_Sj1gFf-kFCNNmAZ0cXKXAzRyhlEksm3IvGdClu4hwTHl4YX6JhNlUpkgo_88lY9vUaVnGMPL2FmoRVFfz2YjbpToRNPGIVa2YR078tsJcou0r2sJNr7BsdhvPjrme4hlruxcPjX47tSfTPWZl_po-fOPRqGi9i06LsalJsCEj0k23UEEeoI046zKvU7YvBcoCDc6pHfB32Y7w3ND1pQknbwZ27fxoTmnsyRMMKOKP5Y3Bbmtp9UNqAmQrrN_7fSNEzKkXybnSm39SGzIP-zJptqKL3HOuuMXBNKw5jTwqXYs7M-XGt_UMQMf4PVXTMfVPa3GNEjCYMfmhV4oSgNnJlsi2oX4KrUyW-2WbI_Xo7ZZNtMb2gv12fkDAYnNf0-X_pMY71YiwXgvAiBOkq3kyAmmswUCC67S8FM9u8O7S-AciCfAYEHyvlET7vKYllTrMzaKO2L02oqWTL74swatV-sZHTDOqf3O6U2N3lBeeQ1sZrzpsgAbEGLOE8HuN94BHC2KCBlXfw",
  "id": "rs_049767d523bfbfd7016ab44c3e4a4c87d09608fe407501da3c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"Now the jaws visibly straddle the pear’s lower body at the bottom edge, rather than meeting in front of it. I will close at this position and check for the expected substantial remaining opening.\"}",
  "call_id": "call_D24Q4yN3iWKh4Dhwg0EXc5FH",
  "id": "fc_049767d523bfbfd7016ab44c3e934887d09ef96c99765f9b9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D24Q4yN3iWKh4Dhwg0EXc5FH",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4427, -0.0139, -0.0307, 0.9986, 0.0692, 1.5841, 0.7467, -0.0055, -0.0158, -0.0883, 0.0097]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1681 left_yaw=0.0003 left_pitch=-0.066 left_roll=0.0003 left_gripper=0.9986 right_x=0.3949 right_y=0.0338 right_z=0.0501 right_yaw=0.1247 right_pitch=-0.2703 right_roll=-0.053 right_gripper=0.0097\nstate[joint_eff]: [0.0479, -1.1145, 6.9949, 1.8388, -0.0317, -0.0269, -0.0122, -0.0889, -6.6256, 6.1607, 1.6484, -0.0269, 0.0513, 0.7155]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e486d3d59fb21e8a2e5dd58262859fb8fcc36fcdb712dd9c9c55eb5e16c9959c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf6dfaf37366c65c2f2139351a3a5ea71a49761ae26eb6816d5ac9e91a97448b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea8a8a61fafb9bd3cd50ec8282d4421e659c65cdb1bdf02b6db62ec1322e924",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4316, -0.0139, -0.0307, 0.9986, 0.0738, 1.4776, 0.6041, 0.0963, -0.0025, -0.054, 0.9985]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1704 left_yaw=0.0003 left_pitch=-0.0545 left_roll=0.0 left_gripper=0.9986 right_x=0.3734 right_y=0.0316 right_z=0.0527 right_yaw=0.098 right_pitch=-0.2045 right_roll=-0.0413 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -0.9778, 7.1863, 1.7021, -0.0464, -0.0464, -0.0073, -0.9094, -5.1624, 8.2667, 1.7607, 0.0269, 0.0659, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4358, -0.0135, -0.0307, 0.9986, 0.0689, 1.5841, 0.746, 0.0078, -0.0132, -0.0814, 0.9986]\nstate[eef_state]: left_x=0.2889 left_y=-0.0004 left_z=0.1696 left_yaw=0.0 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9986 right_x=0.3971 right_y=0.0333 right_z=0.052 right_yaw=0.118 right_pitch=-0.2577 right_roll=-0.051 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.1145, 7.0085, 1.6923, -0.0317, -0.022, -0.0073, -0.7863, -5.9145, 8.7316, 1.6777, -0.0122, 0.1148, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4427, -0.0139, -0.0307, 0.9986, 0.0692, 1.5841, 0.7467, -0.0055, -0.0158, -0.0883, 0.0097]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1681 left_yaw=0.0003 left_pitch=-0.066 left_roll=0.0003 left_gripper=0.9986 right_x=0.3949 right_y=0.0338 right_z=0.0501 right_yaw=0.1247 right_pitch=-0.2703 right_roll=-0.053 right_gripper=0.0097\nstate[joint_eff]: [0.0479, -1.1145, 6.9949, 1.8388, -0.0317, -0.0269, -0.0122, -0.0889, -6.6256, 6.1607, 1.6484, -0.0269, 0.0513, 0.7155]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e486d3d59fb21e8a2e5dd58262859fb8fcc36fcdb712dd9c9c55eb5e16c9959c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf6dfaf37366c65c2f2139351a3a5ea71a49761ae26eb6816d5ac9e91a97448b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea8a8a61fafb9bd3cd50ec8282d4421e659c65cdb1bdf02b6db62ec1322e924",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtExDsjKxcOLTarw_nVxH3mC_KXtX0qMZgE7_FXsPAW_Fc63cYTQ8Hu9xB5RH4cwSbkHG2MlStHZaeVka5ahzbhn4LZ6nwyIhh_DX0cF3X-OjlMWEq2Z-y_8-St7LjDdatTswzIq4bdPGiVr8u-gXclQJc2MPALUGJPkF_LEpY-vAryERl4Z2qeZ865rhr3ff2BC2BHt6jJ1poS4SzrvBLrpEDTPpW9ByvtJWnx-64Q7kaeJoHivOfsEbn8Z0k1jIAoCzR70pDDHP5VLRHKB4PRO1xzLphsQXPVwEV2HSfFI1AJJIghXQs1rVu4FwZedrfoqPrO3FK_eMGpwEkqhjnSwOgcbE0xIZHuFKccj-vX4mvy5yxAIxQzbFtfn0jFZH4XY6yi-uQjWCOFqoxfCeXy5dqOXNAy0jjZWfo_N3nmK5f0cDCUr91ymDFxXHJfefhy1P353TEx6JFDLi7RgznNNQvHt2VisFUBgi2iYBwiNzyJEAGW7YeGBPhQR25o8aXbLfzr0YDYCOeFzcYBnIlmhnFCGxFIV8pojplmtHzT95MY6tJNj9oMiNcOUVjtWb_zPd8o2oLxFrItzAKRNWBuUaQc6kMsghWKoAcK-dq4VaMMRZcbS68FkcQld967cWqcrpaWKwuGwX6D_cj5mtFPZ3ZUd02vhzkSCudoDD9N_qBCdtlvzs3G7svdd138UvwibPpnGKzhlvwahtAhc65EzyCOQhHW6fXNno3XeinyRjt7CqQ7SdFzzSJ3EOjZqAunB4CIHHpsJrJAMATc00wuWhfC-0IZNjAtbboF40Zp1MFxMnVksK3I0TA4I3hIQXJ8bBXMTDMw2A12NzUVGZ95YOBk6wisxEgfbwI0c1F1zx7o5OmGYXUqA5d18DunmBVzPrutB2TzO_352QvUp93Vsmf1pmYL5ZKsZlABOS2cgZRXd9Wsi58j6GR2VMZR8JXfe4mLqhYw9LMRnpMdhsaZYnXf-TCCEu3Pkr6qW3LjYR-C9jk3JQw8ch1x3mWJjLsZ_JwVRuAzAwwDFoyHp7tPyVreFrovls-NDLYCnpwfUE2SEbU2kPThrmX60AP1TROVJMqXYM0FHZQibHu2oFmpC2X7hjWF3y4kjw7k_AfjiIXMGr-JRwXqn2b2hXXzDHC3NS0-KNiS4wiD1oaHHT1O_OztZqf_NSgPaMD87X3NPQ8x1swAfqaRmgaPTdJTvC-rlnBIFjsILWuUPno3Rmy2OTRQ2nYmk5w0uxkoIGtNL9NJPJO_Cjdj7QHxojWYKiMGDVIR07uXZmafl5cW1U-JnIE7fg1fcFicixHjJywSaHG58So0MYp2Rfyrv2JRIdiXgLCwzNgh4o-Qgdfm0BVK4LwLnfGQQqPbwiqM0PZZKSmsqafhTrCIyml4xyAbdFDYeb6KMDXnAFdHGR5Sbkqy24S-jGsfX9pAnIutiURoZFQcbxDVAM3N16LrbYNFvHnUq0I2tAkEOyCg7Y3-REZzcuaNChXyRZi8SaVuPtLSKM-wqRWSAaLAC7zyRxhFGY80462q9GMe7jmwxmS0u7afq2CS1tdr5Bvr_N7q6nJ0XFLBaGufxBzCLOl1rkLM6yAwIyeE7aXByV2eL_rDsSwU7-rStdhn84Xd7IGXwVfJybchwbr8kZKQY0haPETrAhyB2kpCSdrBHK6K6ZoXArYS5ZFCG8ouEsa6uiA53fMby9oSnThp4dDDb5NjbK7Gg3jklDxSJZcI4Dlm1xL1ed_0xBYMNRlhVUS8mTIiGx01BCFFbkBTXMh0DBRxliZRAmh-5EPMrKgY4aK_GHC8ofrUzla6LfC4DakNc_zk_aKjU53oBdto35KlxZ_LcBf9AkAmP7tXcytkOxLeNhwLgh8mIu9ywJrZD1AdhLw4lE6faePQg=",
  "id": "rs_049767d523bfbfd7016ab44c41588487d0a717e7d63b2915bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_z\":0.065,\"right_gripper\":1},\"note\":\"The closed jaws are still visible in front of the pear, so despite the apparent overlap the fruit has not yet crossed the grasp point; the wrist camera must look much farther past the fingers at this pose. I will reopen and advance about 5 cm, which is consistent with the pear’s overhead position near x≈0.44 m.\"}",
  "call_id": "call_r3FBZd6BxsexQTh7sp0o3jNA",
  "id": "fc_049767d523bfbfd7016ab44c42b99087d09e807a0bdcfa322e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r3FBZd6BxsexQTh7sp0o3jNA",
  "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, 0.807, 0.6132, -0.4496, -0.0139, -0.0307, 0.9986, 0.065, 1.7458, 0.9676, -0.1146, -0.0242, -0.1165, 0.9986]\nstate[eef_state]: left_x=0.2869 left_y=-0.0002 left_z=0.1665 left_yaw=0.0004 left_pitch=-0.0736 left_roll=0.0005 left_gripper=0.9986 right_x=0.4359 right_y=0.0363 right_z=0.0507 right_yaw=0.1449 right_pitch=-0.3204 right_roll=-0.0619 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3333, 6.9812, 1.746, -0.0513, -0.0269, -0.0122, -0.9368, -8.0889, 8.6222, 1.58, -0.0415, 0.1587, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8221720fb8ca9486b22675fe5c09ba87225c496a20cb872b3c3359af550fed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79adff04e00e41c43a2112ca180010fd093be676ed5bfa31fa919bec9daec251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5416d9ddfba8db2823a5f6fb50c078e8667d4ef2407d811ad16efd17aaefd0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4324, -0.0135, -0.0307, 0.9986, 0.0731, 1.4792, 0.6094, 0.0841, -0.0017, -0.0612, 0.0095]\nstate[eef_state]: left_x=0.2894 left_y=-0.0004 left_z=0.1702 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0002 left_gripper=0.9986 right_x=0.3729 right_y=0.0312 right_z=0.052 right_yaw=0.1006 right_pitch=-0.213 right_roll=-0.0469 right_gripper=0.0095\nstate[joint_eff]: [-0.1573, -1.1009, 6.9949, 1.6874, -0.0464, -0.0757, -0.0122, 0.0615, -5.9009, 5.5863, 1.6777, -0.022, 0.0415, 0.8181]\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, 0.8062, 0.6132, -0.4427, -0.0139, -0.0307, 0.9986, 0.0692, 1.5841, 0.7467, -0.0055, -0.0158, -0.0883, 0.0097]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1681 left_yaw=0.0003 left_pitch=-0.066 left_roll=0.0003 left_gripper=0.9986 right_x=0.3949 right_y=0.0338 right_z=0.0501 right_yaw=0.1247 right_pitch=-0.2703 right_roll=-0.053 right_gripper=0.0097\nstate[joint_eff]: [0.0479, -1.1145, 6.9949, 1.8388, -0.0317, -0.0269, -0.0122, -0.0889, -6.6256, 6.1607, 1.6484, -0.0269, 0.0513, 0.7155]\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, 0.807, 0.6132, -0.4496, -0.0139, -0.0307, 0.9986, 0.065, 1.7458, 0.9676, -0.1146, -0.0242, -0.1165, 0.9986]\nstate[eef_state]: left_x=0.2869 left_y=-0.0002 left_z=0.1665 left_yaw=0.0004 left_pitch=-0.0736 left_roll=0.0005 left_gripper=0.9986 right_x=0.4359 right_y=0.0363 right_z=0.0507 right_yaw=0.1449 right_pitch=-0.3204 right_roll=-0.0619 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3333, 6.9812, 1.746, -0.0513, -0.0269, -0.0122, -0.9368, -8.0889, 8.6222, 1.58, -0.0415, 0.1587, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8221720fb8ca9486b22675fe5c09ba87225c496a20cb872b3c3359af550fed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79adff04e00e41c43a2112ca180010fd093be676ed5bfa31fa919bec9daec251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5416d9ddfba8db2823a5f6fb50c078e8667d4ef2407d811ad16efd17aaefd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtExIq8uQ7v3ZySZ16OcCLW75kUCH-1cn0oOVoT1pJAS9osfAeBfXIhrbj_kDjEGtJCCJ235_guKXXuZpepK73gprm_wKnWrV8FO9Q0UfrGDETCTWPpuCmghGr_XOZo4AxO6RI_bqXFPoWHAO8A5Qum86o8Q2uuZlOEKDC08SU7tpyhHZY-06UWAblfhKiXZyCPUvsvASE49ITaxbb0qC7Rjc-OiGvRLE5E1B3x4eXzskHkJ8fk2mBUQ3kkpPDVUAbZnUmZq_tukBICWB7lN7U-ZibaCTM5M7NfAJq-rQGa2oIit0nHX4md4YF28CqK9t3RoEA0qzt5-8eHSaRm0qjaiTw02ut1WTdVPvfR64TX4TDSBUBOH65qoGS1Z2ywIrwohbn5DmVlXWrWSmQTppWxoguoqxH0L5K3stQnAIQX611Ha-xqxExZ5wicVw97gbppbsa354o2zxlKkV0WzdiSdhgwuBdK2FS5k4FwRGPlyAI_jg6xWO_U31qWc26bZFIqDFR2ILFC9eqTVDa156zE6-LJsOMmPuLM3X1rX2l79CcgR4gXX4jUPKwVslMuV0NwT5Q1e74KhVcvUGI5pSg7ypx0vsW_it3bpYtWHzF7-sW_DFbB3beaZ02zhi6QLCkU7hCSy94dgdN6oJ0Zke90Dr9-4oekkJLrlJpLeH2BIp3aCC_ZA37ugUv6S0zawuYfW-pAcEToHg6E4gTI_tur0kd3GX9Y85rHMAbkXjFNtNCGM3qzEV0W3EKvsy-W4iYvJbxD9jlgWnqfrNOOkra-OGwzG2dEsG1LYgVD6ltw1bPytNDG0pbyyGKnFFcHbX4KIk5ofxRTAAiXI5-gsx4brdYU6O8BsxvZTBnqCJ45oVaAdUjUmXBae4ExXD1B0-yJUlzIrDZKJTldFqrtOBhUDkBKU_cBCKjJfPRC1EW0l_BjcnWK_oOPP1zUyCizPUxCsi3dwYWi2T8P051SO0iIZ85flZbXKlZmzQpMMhYjav8F2Tr_Sy6taojl6XMRo8HZCilUfi85OHAaba8uH2FVu_nTtAmSWbWk-U-VzVhYuZsKBZ8R6K1aGAeeGSbx7j0bZCSD83MhiSNWecWvKEoDmAfPcSLUQQZGxENqm95iI3B6V7KyH5nlE1jCVZm_lQHtC8zg3x70AlzS_MHLXPoQeNrwpbcvKW_nCb4KR-4iecN63JuVlmo96UBJUzUcwmH8mSXimuvojHe9ekNLvoqv0JhHO3KhxwvAAAw935A8TWp7fYdM2RvLzTq_SLc3u5b8e9cW1O0U0Vhcx1LC4SPPy-1D9jUNrOTql9wxKMT01o474OubkaUMZPrQ_8L44d4hT_yDnAGnNdfP0kA-WH8jWPx3huRtLxyMMewLoLB1GF3b4=",
  "id": "rs_049767d523bfbfd7016ab44c47ab2487d0ad611d6d8b672a92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear now occupies the bottom edge and the two jaw tips are clearly on opposite sides of its body, indicating it has finally reached the grasp point. I will close and expect a large nonzero settled opening if secured.\"}",
  "call_id": "call_SSMflrHljMKmUx0eLCCLD2n1",
  "id": "fc_049767d523bfbfd7016ab44c480b8c87d0af0b8ba1cfb712ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SSMflrHljMKmUx0eLCCLD2n1",
  "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, 0.807, 0.6132, -0.45, -0.0135, -0.0307, 0.9986, 0.0673, 1.7428, 0.9676, -0.1028, -0.0391, -0.1249, 0.4721]\nstate[eef_state]: left_x=0.2869 left_y=-0.0003 left_z=0.1664 left_yaw=0.0 left_pitch=-0.074 left_roll=0.0002 left_gripper=0.9986 right_x=0.438 right_y=0.0401 right_z=0.0539 right_yaw=0.1647 right_pitch=-0.3047 right_roll=-0.0568 right_gripper=0.4721\nstate[joint_eff]: [-0.1983, -1.2786, 7.0906, 1.6923, -0.0464, -0.0415, -0.0122, -0.5128, -8.1026, 6.1197, 1.2723, 0.0952, 0.0415, 0.6813]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01e6394f9781590ce021b5c0e4755327e7083dfff1d5b44b29716d845faf32b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0b90e66917c1c93740dd7f8906436fb7719a35e88acc3aad06e6af9052fe74b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3ab7dd0f7d25ed6f42adf566246e43a4715da2d321c17b567f97da17197268",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4358, -0.0135, -0.0307, 0.9986, 0.0689, 1.5841, 0.746, 0.0078, -0.0132, -0.0814, 0.9986]\nstate[eef_state]: left_x=0.2889 left_y=-0.0004 left_z=0.1696 left_yaw=0.0 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9986 right_x=0.3971 right_y=0.0333 right_z=0.052 right_yaw=0.118 right_pitch=-0.2577 right_roll=-0.051 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.1145, 7.0085, 1.6923, -0.0317, -0.022, -0.0073, -0.7863, -5.9145, 8.7316, 1.6777, -0.0122, 0.1148, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4496, -0.0139, -0.0307, 0.9986, 0.065, 1.7458, 0.9676, -0.1146, -0.0242, -0.1165, 0.9986]\nstate[eef_state]: left_x=0.2869 left_y=-0.0002 left_z=0.1665 left_yaw=0.0004 left_pitch=-0.0736 left_roll=0.0005 left_gripper=0.9986 right_x=0.4359 right_y=0.0363 right_z=0.0507 right_yaw=0.1449 right_pitch=-0.3204 right_roll=-0.0619 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3333, 6.9812, 1.746, -0.0513, -0.0269, -0.0122, -0.9368, -8.0889, 8.6222, 1.58, -0.0415, 0.1587, -0.1587]\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, 0.807, 0.6132, -0.45, -0.0135, -0.0307, 0.9986, 0.0673, 1.7428, 0.9676, -0.1028, -0.0391, -0.1249, 0.4721]\nstate[eef_state]: left_x=0.2869 left_y=-0.0003 left_z=0.1664 left_yaw=0.0 left_pitch=-0.074 left_roll=0.0002 left_gripper=0.9986 right_x=0.438 right_y=0.0401 right_z=0.0539 right_yaw=0.1647 right_pitch=-0.3047 right_roll=-0.0568 right_gripper=0.4721\nstate[joint_eff]: [-0.1983, -1.2786, 7.0906, 1.6923, -0.0464, -0.0415, -0.0122, -0.5128, -8.1026, 6.1197, 1.2723, 0.0952, 0.0415, 0.6813]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01e6394f9781590ce021b5c0e4755327e7083dfff1d5b44b29716d845faf32b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0b90e66917c1c93740dd7f8906436fb7719a35e88acc3aad06e6af9052fe74b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3ab7dd0f7d25ed6f42adf566246e43a4715da2d321c17b567f97da17197268",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtExN3xvg2V4H18S3Ag6Qfpe1bHdb7QqXNorQjapZtH5BOmmQh9EF6ci_LwG4P5WT_vZBYEfjMZoZbo_tjq98O5CpbpR8EoJdy3EeANJ8t0wE34nhIu3egIz5ACRmHuk2QCtu2sXiIhFr_D6vRPFOfU9y8Hsl2GK_dV7JD4gApETXZgEfBKmaOuPlhkpPE8oJnXevWHI9RYeo3eHN_pXiJgpohW4WBIR5l4Wg08sy0dVB7DUJTjIf7O3z2kvK9VjbivjMya_Xi6_P7tlgz-TOXtYXjKcT1yZdXsdpI3TcM6Lvlj0_biFEiNnDecYnQr0NVTmEeuVskz2m0BaABtfJt4A0NG4azsG8WKNV_ktMZfcAwoiKy6jAffmuvn7kqVnNz7ObVyGKLzTanaS6GD2zasDQGt3LBAtIR2vTMTuJunvgWiceE6U6EN5Ng3xBmJp7auhhxC-hYY4nDA6nO79-9_R7i1iGejc39dGq7KcREEUeFQtaHNtBzxcV4_ixS-1USuyhvbvC06bR8V_Q6_c3gO9cnpbaeSmd2vMcFQkBgh8u3T1ItsmSdUghJkM2jVJabtAcgozA8XhV-4pNwHY4lHuDmZZb3_Dmi-XB58VWl6lkg_6BDmCMzah5bRGhTFSHsHms9rW1nPY7I8kQ_CPmhJlqrlvEnoeHLPo4Y7ifcyYp-BuXMxbZhx5lOvIZRamSWNfZ-_I10Gd0bcxW8CgmS6AtLRVWo8wlVdnRDrWRXr5daISYeHA___eo6YUKZhMOdUxzb3r2pX_0pOEY7l_AUO4HeZZd5YHryJTNWmTwZ09_o3J2vxprIKXbs0vovGUYrvr887vpLZ22at6Lv6I-IeLoFGRu8Gd9OIWJRHPpTWtXKJURuc5zuLRvlxZ1QXxsSur_3voB0qtiqYn5Oi_jLUsv2TcsnlMntDzo9uhR6r0s4zwBuOU3JNbCGO55hi07asQwYWkxyDfh0Ub_K09V-zqECxDXZDs0Cw2OlX1ZovQpYdpwgZinNyFYVNGYrGKvuvnx9335CTxExBZT3kNudCc84Y3duYmNCxYt5HnKBPqrSA08xR4NAvPe_im8No6RHV_j6JegD6bJd8OL4WsTQT9IDgs55T6FWh-Hb3V8kN4aWpM_NBEvXVjwmInX2YbJ5H0PIw3iMvdxx42ggFXKx2neEC2CIRa4DUkCFpN9KsOiGe96dsQeUET0p6TiSpFV2a4zZQ_BLBGxblDXFqLwzfNSdUiNwfD4Zw5AKuu4JMU6oq9SHfPJ8p0LwtTymah3XqGXOY9BCb8sFm5VNGuv8px2eJFDYDu0nj34Jts872eEFrOzjaHB8HXlELx94-FyPPzLLAWvlcCiA0FHgnKa3y2l8yvxvjNMoiAWlJerfAm8Yc4YuUgjIsWQgZdqxBBoW4MHcw9DpKKp6zdkWzIj3LcQN5qK86B07vDHyctXzOK6TH5dRUW2-0eD9jCacWbOgX0rdtBU63GHlEgDwqSQnL7AVLgjvLrYd8pqtfZdyNt28s97u664MwVttgPgO8_f_RiquqPpNBL6T5xpKwQBYJEsVygHzGhb_ItP3eO7oxD2AXlUkAvhK_9KTUd_t7FWe6_McMHQnP6Qv8PI8SCZpECAsTR-Q86on4ssF3BD4VXb-XYCfktPkQE5m0jWjmaRDCvHG8eEEbZz-yHCrPjrFPR2Cg-lNS-W-7HfkRVTIvvDntZoaey1XWWKF_KYyTQQHdT2Ns42h9I3XFDZLezli0veSX1yBhLPt73IqaBXdrGPIa0NMYEBf8ImS6B-IyvWRTARuwlKyGWzkSHjJ69443b6pA==",
  "id": "rs_049767d523bfbfd7016ab44c4b109087d09caaee6172774e62",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.13,\"right_z\":0.2},\"note\":\"The gripper settled at 0.47, confirming a firm pear grasp. I will lift it well clear of the table and move diagonally left/forward to hover above the blue bowl’s center.\"}",
  "call_id": "call_3lmqPtyaefwpXF7RwbV8Q1L0",
  "id": "fc_049767d523bfbfd7016ab44c4c9da487d0bb7a2489a52a2cc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3lmqPtyaefwpXF7RwbV8Q1L0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4614, -0.0135, -0.0307, 0.9986, 0.2779, 1.9591, 1.8233, -0.7982, 0.075, 0.0044, 0.4711]\nstate[eef_state]: left_x=0.2855 left_y=-0.0003 left_z=0.1628 left_yaw=0.0001 left_pitch=-0.0908 left_roll=0.0006 left_gripper=0.9986 right_x=0.5 right_y=0.1326 right_z=0.1848 right_yaw=0.1999 right_pitch=-0.3584 right_roll=-0.0666 right_gripper=0.4711\nstate[joint_eff]: [-0.1299, -1.6889, 7.1726, 1.7753, -0.0513, -0.0269, -0.0122, -0.5265, -10.6051, 8.8684, 1.58, 0.1685, 0.2857, -0.1197]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977c2549ab15466a3dc9febf8e5d220c96ea3986349228182f02839aa39f4540",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8345fdde261d140d70309db72e14d35c175b0d2f8f024590f2c5b5f43fdcff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfeadb90bfc9b197c6a2c25ddef2ed38aee801cfde46fd2f9a384f1bcbea56a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4427, -0.0139, -0.0307, 0.9986, 0.0692, 1.5841, 0.7467, -0.0055, -0.0158, -0.0883, 0.0097]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1681 left_yaw=0.0003 left_pitch=-0.066 left_roll=0.0003 left_gripper=0.9986 right_x=0.3949 right_y=0.0338 right_z=0.0501 right_yaw=0.1247 right_pitch=-0.2703 right_roll=-0.053 right_gripper=0.0097\nstate[joint_eff]: [0.0479, -1.1145, 6.9949, 1.8388, -0.0317, -0.0269, -0.0122, -0.0889, -6.6256, 6.1607, 1.6484, -0.0269, 0.0513, 0.7155]\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, 0.807, 0.6132, -0.45, -0.0135, -0.0307, 0.9986, 0.0673, 1.7428, 0.9676, -0.1028, -0.0391, -0.1249, 0.4721]\nstate[eef_state]: left_x=0.2869 left_y=-0.0003 left_z=0.1664 left_yaw=0.0 left_pitch=-0.074 left_roll=0.0002 left_gripper=0.9986 right_x=0.438 right_y=0.0401 right_z=0.0539 right_yaw=0.1647 right_pitch=-0.3047 right_roll=-0.0568 right_gripper=0.4721\nstate[joint_eff]: [-0.1983, -1.2786, 7.0906, 1.6923, -0.0464, -0.0415, -0.0122, -0.5128, -8.1026, 6.1197, 1.2723, 0.0952, 0.0415, 0.6813]\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, 0.8124, 0.6132, -0.4614, -0.0135, -0.0307, 0.9986, 0.2779, 1.9591, 1.8233, -0.7982, 0.075, 0.0044, 0.4711]\nstate[eef_state]: left_x=0.2855 left_y=-0.0003 left_z=0.1628 left_yaw=0.0001 left_pitch=-0.0908 left_roll=0.0006 left_gripper=0.9986 right_x=0.5 right_y=0.1326 right_z=0.1848 right_yaw=0.1999 right_pitch=-0.3584 right_roll=-0.0666 right_gripper=0.4711\nstate[joint_eff]: [-0.1299, -1.6889, 7.1726, 1.7753, -0.0513, -0.0269, -0.0122, -0.5265, -10.6051, 8.8684, 1.58, 0.1685, 0.2857, -0.1197]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977c2549ab15466a3dc9febf8e5d220c96ea3986349228182f02839aa39f4540",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8345fdde261d140d70309db72e14d35c175b0d2f8f024590f2c5b5f43fdcff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfeadb90bfc9b197c6a2c25ddef2ed38aee801cfde46fd2f9a384f1bcbea56a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtExWYPypx2BJho7JAFsk_MhENZ8PzaIKruhvHAG6WJHWJoqYbbjPOFWdBW7UkGSjqD-F0a4OMfSouYd5VnnlM-lxh6EhAUSlS2hgjE87wdNPxn3uPaLiVCzWstHSxf4DBSWbJxaUpqwJwdbjRm8aSNfSnSb9iF41_3IsgWdxnKW6o3CZg02PLn2zGpBrbHdWGvGFIDBJk9yVNivgXm6U2xzZPbFVFuWwJg_umqc4sj8xusHAcksKGXpJi-nlrg3TPgHk4Y72v_jDm1zmLIDvGl0UNSOvcFJ9XZKXx5dUmrb_QujejRX7ANItJo_Dw9zONQoBcrNV4itUNt6x2Lrxa6kXsuJRE-Yt1oBQyQgLMyHtkBeLDfvgVUWPS-vikNRGIP3qe2Uq0Wtwj4OhV1EGmzN3rARirECXN-ZmsDnAllWhdFhUrjJdU2RKsLodAnunHiRBppgzXhbohipOdRF5SweHSjPd8pwnzEF2MYBgMbMmtdP7KnKEd8rYuZgIuCuPUjwb4DdpfV67l1XELuKJhafo5dOtmN7BAo-7-qWksW8GRn5hUTJzZ1PTXG-OlNd1BjzcuPl8AivO3YfbpZnyB-rODL0xrzeMxZsuWPQVRB3Sj0ZKyLr2l-GDBv5FdyjsXoFI14n3igjHY1ZkVij7r05D20qENsr7VavMS5g4pN5sesR8LB2UucP_9j9yjsyoSKJ4hOasByddarmu3LtdQJzLZ_nzeuUYCbWmpe9GvQwW1swX2Al3QkdH6pTxZFiKgZExxhoJ1FOCX-OlxJYBc-ynNL_iw0uYj_2Ce1eSi0T3LjDnnyBrspsgwa41xWTMM031myNunYcAMGftxgmalKhz_JiQ1YmWsIf2AF-C6TS0S_LaltA8--74ntY9cPJH7npTJO4HqdyqXAFtZ_2ET6jpzJsD4B_bmyHMX1XXKEskiM8yf2HhcXDR-p0Wc8RKM6N-GI15M_3sgoSTqUSWU14HoDCF9DipjMIJywQo3l_mMRrUXbVJF9FAkMBJYfqN95HFSpsOyn58aVnC1gOM0oRdtAbZPa13xtL7dwc7Fh3lVhVXZnq2CnDbg5iv_oJqc2zvL_2XxWMD_TDXT2SqtxS2cKM163V436Rdc7mkZamfddmKm7MoknE6h8KMdoWaG-9eWbjHXPMEH18oOZPaokBrHkvJVLfzjIX83Qq_tDK9ERyKOHG35-6Bl4q2E-j4FKk_eiIW_x_cdBYyDGRGU22Z_l0u9NvL4KaiRRYHNVJQKEHnOgzJJ-rLOAzVEIuHJBBPjDZ2hsbdWk6QaukYQBfG8tJpNc98hdZAgB-82iJ4rkDV8dnQmaYBQeKiaGTqZLdoJGMR-Cw1SRHuzK3SM7oh0xDwpwLa9rsDCdWzRq4lbQZZS199rpNctrMJ46sBrfuXVbZFb-i3U2-N8w6yT9OSY3Iiw3QmLqWZrVso-qlPf0qHPAOu6hHLsPbXavMDa9b1GhQsVAOf3lsuuXpZKn6gmfScXlWX0hsNV99j3Zj_RnH8WO1e1WFUgv_OGr_GFT8LqXKpJRMDPC6t4u_VU66BIQ==",
  "id": "rs_049767d523bfbfd7016ab44c54373c87d0a8687445ce99ea06",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.19,\"right_z\":0.2},\"note\":\"The lifted pear is level with the blue bowl but remains about 5–6 cm to its image-right. I will shift the right gripper leftward over the bowl center while maintaining clearance.\"}",
  "call_id": "call_OHof8fOokaNTUw7bAs7DEy34",
  "id": "fc_049767d523bfbfd7016ab44c55822087d0afaec99761eebfe9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OHof8fOokaNTUw7bAs7DEy34",
  "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, 0.8143, 0.6132, -0.4694, -0.0139, -0.0307, 0.9986, 0.4088, 2.0537, 1.9999, -0.9401, 0.1383, 0.0875, 0.471]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.1607 left_yaw=0.0004 left_pitch=-0.1007 left_roll=0.0011 left_gripper=0.9986 right_x=0.4892 right_y=0.1893 right_z=0.1873 right_yaw=0.222 right_pitch=-0.4083 right_roll=-0.079 right_gripper=0.471\nstate[joint_eff]: [-0.0479, -1.2103, 7.1863, 1.7411, -0.0464, -0.022, -0.0122, -0.4171, -10.7419, 9.4838, 1.4823, 0.1783, 0.1783, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9994eb8c1d74adf8b75477b78dc51d5da9910a44d27783e697a3ed9ee4d02e62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b108fe68651d292b164e478caf4d49a0219a667bd15f363659b8f60350710326",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7486a168a33eb03f2a2747a99b3663be47567854417d8ec9480df2a82ecd11e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4496, -0.0139, -0.0307, 0.9986, 0.065, 1.7458, 0.9676, -0.1146, -0.0242, -0.1165, 0.9986]\nstate[eef_state]: left_x=0.2869 left_y=-0.0002 left_z=0.1665 left_yaw=0.0004 left_pitch=-0.0736 left_roll=0.0005 left_gripper=0.9986 right_x=0.4359 right_y=0.0363 right_z=0.0507 right_yaw=0.1449 right_pitch=-0.3204 right_roll=-0.0619 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3333, 6.9812, 1.746, -0.0513, -0.0269, -0.0122, -0.9368, -8.0889, 8.6222, 1.58, -0.0415, 0.1587, -0.1587]\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, -0.4614, -0.0135, -0.0307, 0.9986, 0.2779, 1.9591, 1.8233, -0.7982, 0.075, 0.0044, 0.4711]\nstate[eef_state]: left_x=0.2855 left_y=-0.0003 left_z=0.1628 left_yaw=0.0001 left_pitch=-0.0908 left_roll=0.0006 left_gripper=0.9986 right_x=0.5 right_y=0.1326 right_z=0.1848 right_yaw=0.1999 right_pitch=-0.3584 right_roll=-0.0666 right_gripper=0.4711\nstate[joint_eff]: [-0.1299, -1.6889, 7.1726, 1.7753, -0.0513, -0.0269, -0.0122, -0.5265, -10.6051, 8.8684, 1.58, 0.1685, 0.2857, -0.1197]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4694, -0.0139, -0.0307, 0.9986, 0.4088, 2.0537, 1.9999, -0.9401, 0.1383, 0.0875, 0.471]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.1607 left_yaw=0.0004 left_pitch=-0.1007 left_roll=0.0011 left_gripper=0.9986 right_x=0.4892 right_y=0.1893 right_z=0.1873 right_yaw=0.222 right_pitch=-0.4083 right_roll=-0.079 right_gripper=0.471\nstate[joint_eff]: [-0.0479, -1.2103, 7.1863, 1.7411, -0.0464, -0.022, -0.0122, -0.4171, -10.7419, 9.4838, 1.4823, 0.1783, 0.1783, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9994eb8c1d74adf8b75477b78dc51d5da9910a44d27783e697a3ed9ee4d02e62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b108fe68651d292b164e478caf4d49a0219a667bd15f363659b8f60350710326",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7486a168a33eb03f2a2747a99b3663be47567854417d8ec9480df2a82ecd11e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtExaCguhWgTHqisZMEItThck8jvwrRqH4V5T63RwqUqYbRU9QocTE17f6HVf1RaJgNAmtEHkzCG8MU5Gm0T5134VbrE-q3YTL8Bht3KXY_zHCvOSs3oJDJmDOxju5AmJKKrpXtH_KNxKbExHzJbtP1piI3NBJ2Si7gb1a6OghUWXAZYmegUyzFyYm_QgVGlMVNzc205saOKUKAA8xpZK7zrqR_5GDhGpKGyBc8zVZt40VIEkrnwmyy3vRVlgu_PAcL0_BxrIVIh_wjQSq9eLlmXyWXwTzSCUcRZxAljVJ0NhAlta5qA1SC_32AyARIyvLQLS-cfcp2CEIfWI-UBHEKeJRLcL42k-8otUJGii3bTxkRm_Xi6yEAloiJvzUIISZFCnqaqx8ucHtkFb2bGH0ickjInNcOu1MK67QeYbIBwbcu46GsuMBuCOkRb-rNE5bH1eeqPpu3KVoSiohRtB8WXq3GusC9R87vqp1Nne4inhB0AcjSF_dtduUlDLyP73WLaTWZy89GeOm2BtZFwC7obnhyosH6Ih7F7_rZvJFyAQlg_URcoxI5jo0P22ZsK3cR9EQhF5i9V1D0zjUXvif7ts8IGOi0UYSdiDdvRfFkx5G_tdbo9csSIQX73iP_fOt49Kq5Z7iMCOpJjeJNc5B0Ojcu8cw5l3sm74lCcP7JimN-oX9Bnus1pa_xfVx8nloE6AR2ymn6ffTxUI95c4QkyauF7apj1twi7tfsAt0FL1vKdAX5iySpMpYXf-VZnaFcf4ip1r1tb_6F6GCXtF5DRKskZLlhJOgx_PeqVDm78mqTIoApDomhvAk00qe39B1m9mRsQ2ameytNoTf3_ATlMGYie1-PHB9WdC_MrUDg-jYfBY8RQRWiC_9LO6HEFFYm5vFWVPHZ7uLfWtDY1MQMQFfhj1p-7evJSeBDVPjeztGT_wfTGhgTAxlNjFgORp5IQsK8aO3NgBtEPmS6DPljIW7M52k0p5Q9Esv71kUu_FNjaNrOv7ELcbqc0f1snCw8B8h1Uuv0HkUZnS9z32OZRGrUMdguIvv2i-ul8ZNwUPQ2ngxRCDtVfh-Cj1rvtBUARFDrIgWV8Xcdfqbzdpktom4IVluJeXJ7rzTesVwTEKeizo8eSsUpsujlgSUaScFaB_xo5CVuZwfNwZtl--_zNU8MUcJNmpeW0Mc4kZh1ILQH25oq-rcWuqTrziQZBGtUUsaQ-q0feTcTUwZPWneNrLSHURiAF9ZhimuiErko4KLA7avI2vO_ZMb-0Sv2Vb6f6QBI06vfoG2d0FE9X61QeSOFPoyL2RtBADwe-Vhu3VBk8oSUClv15VFlP6MAmuZGGw0HgUYheTAOoS2edIn9LKA2Xaj4__ZvG6PdloGU0yj0ZC_eAdi7DsPzyu1XiSHBc9tppY5ubNvVj288S5J4RKNc0unphMyxwYB3UtixaGZDDAjBNu_z8dZAtRO2kn8Yr_R5wODUJ-lyr_crmaFFm3rGFzNZ9HMtplfp2QwKASk7yNK0-6W1zr6gc9pj3FCRcYpK0jAtMcVOeEg2E_efI06g==",
  "id": "rs_049767d523bfbfd7016ab44c593bf087d0a67a9cd3ea347e45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.25},\"note\":\"The overhead view still places the held pear slightly to the bowl’s right, and the wrist view shows the bowl well left of the load. I will make a second 6 cm leftward correction before lowering.\"}",
  "call_id": "call_tQwmGYrN1bFIy2JLtc4I5fg5",
  "id": "fc_049767d523bfbfd7016ab44c5a17e087d0a571b7052eff9183",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tQwmGYrN1bFIy2JLtc4I5fg5",
  "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, -0.4759, -0.0139, -0.0307, 0.9986, 0.5331, 2.2032, 2.2131, -1.0634, 0.1875, 0.1696, 0.471]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1595 left_yaw=0.0004 left_pitch=-0.1072 left_roll=0.0012 left_gripper=0.9986 right_x=0.4808 right_y=0.2496 right_z=0.1758 right_yaw=0.2467 right_pitch=-0.4531 right_roll=-0.0908 right_gripper=0.471\nstate[joint_eff]: [-0.0068, -1.306, 6.9675, 1.7021, -0.0562, -0.0366, -0.0122, -0.3487, -12.2051, 8.7316, 1.3065, 0.2173, 0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78dda8f77c2e12d8662eca1a432da25282488f2317a24802867b64647b342e6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfc578e092d72dd8359afc60fa4c53776a84c5a9ed4e57640d812bae5e11067a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c11be340817b6ea22cc0cf8bf01a6daef9b23d802ea10363ccf2cd033e4baa1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.45, -0.0135, -0.0307, 0.9986, 0.0673, 1.7428, 0.9676, -0.1028, -0.0391, -0.1249, 0.4721]\nstate[eef_state]: left_x=0.2869 left_y=-0.0003 left_z=0.1664 left_yaw=0.0 left_pitch=-0.074 left_roll=0.0002 left_gripper=0.9986 right_x=0.438 right_y=0.0401 right_z=0.0539 right_yaw=0.1647 right_pitch=-0.3047 right_roll=-0.0568 right_gripper=0.4721\nstate[joint_eff]: [-0.1983, -1.2786, 7.0906, 1.6923, -0.0464, -0.0415, -0.0122, -0.5128, -8.1026, 6.1197, 1.2723, 0.0952, 0.0415, 0.6813]\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, 0.8143, 0.6132, -0.4694, -0.0139, -0.0307, 0.9986, 0.4088, 2.0537, 1.9999, -0.9401, 0.1383, 0.0875, 0.471]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.1607 left_yaw=0.0004 left_pitch=-0.1007 left_roll=0.0011 left_gripper=0.9986 right_x=0.4892 right_y=0.1893 right_z=0.1873 right_yaw=0.222 right_pitch=-0.4083 right_roll=-0.079 right_gripper=0.471\nstate[joint_eff]: [-0.0479, -1.2103, 7.1863, 1.7411, -0.0464, -0.022, -0.0122, -0.4171, -10.7419, 9.4838, 1.4823, 0.1783, 0.1783, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4759, -0.0139, -0.0307, 0.9986, 0.5331, 2.2032, 2.2131, -1.0634, 0.1875, 0.1696, 0.471]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1595 left_yaw=0.0004 left_pitch=-0.1072 left_roll=0.0012 left_gripper=0.9986 right_x=0.4808 right_y=0.2496 right_z=0.1758 right_yaw=0.2467 right_pitch=-0.4531 right_roll=-0.0908 right_gripper=0.471\nstate[joint_eff]: [-0.0068, -1.306, 6.9675, 1.7021, -0.0562, -0.0366, -0.0122, -0.3487, -12.2051, 8.7316, 1.3065, 0.2173, 0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78dda8f77c2e12d8662eca1a432da25282488f2317a24802867b64647b342e6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfc578e092d72dd8359afc60fa4c53776a84c5a9ed4e57640d812bae5e11067a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c11be340817b6ea22cc0cf8bf01a6daef9b23d802ea10363ccf2cd033e4baa1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtExjG4oI4fUQIgLML3tgbWr_l5WiqxOPx8U_TfPZOO1zlrn7wvUQsShOQq7vipNkplZEXmQiGxvwN1xvk6jpplccmvFeQrS1iQDXJt80O2Mj8VhgvUkpcTv9x3xTEq9JhK3PQAl_3CdlZ6k6ikLxv67n6Q11T0p046ns0Y76GsY0yDbWngSOshuz2u3edIAndEkHjkT41x3jv7yBZ9BE3XF3tycPrINKOJYRru28ltYo732321GNm2SFR8XuVtTEtcbMzfYXuQ4sCWC-uoj3ZpuYCWo3edPXYizWthr2_3bpxEOPBM-HFL_hZujXRHZQIh7E9ln9aYtgD_f4geRERaGF0y9TbOje_GgFTocP4iGAKZEYr2scoxyJ_awC2TH7gNi0fDnhV96Ij90Tri1FtfLMtTdIH1Y_Zi_bWZ_qheeFb5dlr5LAnnV3pJX97VRlWAEW4rFb7yi2rBB7IMJr1RwUTqX0RL7qsHs8TxoGQ8gB3KEmxL4_krZqpiZHHKa1DhxBgixnrpzg3Ak9kPfU8Mk45hJfWbKO4JeZ_-oXpIRYkmIcUm0hCOtCbC7t642PrdtERJJNQ3cTSi-PQH0FpGwlOGj-2MhUpHCXTBO5pSjtkNDowfVnM38bCfc605boMWgrSZfXDBfrqL8ReCf1jxI-0xDOQPn6aozZORVOhWy6fbGtibl89g5G1KtW0VPHpfsy1Q_zaoHd-VxW_DKOT0R2F4rIRIZaFHkCS7nQlLU9UZMvTXhkBPwirv5hC-ZjauBoaVkgTvxw9KQK0MNXAESUyZJ8ABAqB1gw4-a1rPMOQrtV9rHzxO2U1mr6E_cJH_9IM-iHgm1z28FiMJcvBjmHoy7PL2tzcAi-ZpMbrtJUiClhfq77-m3F_xoQ7atjfVgxZKrkbMUi1EEzmqLT-w9rG1Mx-FHZVxnuNb1fbMlnnoi1qEuDJkYnp_GcWBHfjdr6r2AyqJ9vFAqFdRxfRyV1ogH5NOaIFv7T6I838kWyI2TkQM8ppH6mobH2yVNyvdBZiYkfjhV76qBpS6B6CVHvwsSHFJXjRqWZPS6i1eAVn0CsNKAIqDvaU-0ouX6QjOf04ZU9dMTEcbmPZaUYZZU9zl_dr2SHQOI91MLyr-8SwQ-rOoljy8I9keExvQde4R6RkM0m97ObZtMIxFOaSJHNfm89IMGDhqOYFF9nvZucZws3pyPy94gx20nv0gAzCDIOcdfW5bfJzDLk4g__pG-ADAA8u0U9FwnJi5fnVU22SNv5GRmq851B8VrLp3l-JgJP7J-mjeVBAnKnbMr0BDpB_-Cq3svcjJ5P-LM4D7mh7T5JKZC44oUFv4yVObSTVRtdYaNJtSyDMxq1CcdVQmV0byo35-VKOgoHI8XcNlQjdWcTcBCJfEOH4NesUBPXXtsSDbHyfvJcZQHRpSPYFFUs3w9QEezmj6rtg6GqrW0JLg8CFiCBaNBBxXlp9YGajzW7abk1I-SnCF-w5z0l9Jdl-thZUqriV0ADBSfa4NpmuJ48s440iA3HHKwk74Zf2q_paF91wWGsYTpD_M0MhQG--9MmSZhaQFaynVoNdEpFlpnHo8L4brIvjOMiliyQ2KNsCBsK_Q7V3Mz7Qlz8Pu11GapVvF0f5cZMzf5IpCIz-ngBsRdItUlEt2JILHIs8S-td1su8-jiNIFQmeA9EXbo8ONgc5g_K0hfZLvqS47qiMLOn_vO0_vFjig2nychEZKjwmjb9KQrybWfA5hZLtW3CTKzmqFSmzBBRSP21634bsr4Y9VEHkl150uunCrrLievoo0PkXogBtvbmR4azM5J4zb6g-RMVv6LjhnAXolUnDFeiU4YQRtjS_rEMjuU_gE9-VTTPLHyqaDZ5IRoNx4FDmsI7cuzJoNdBzm_g52vx7MRGHnWdUgZHG4oKbke-WRl5cnebYmHNBnYAh1tNLJyIpCA334Yf0b4HGWXoZ0iU6H61SYYCL_RymNWYnqszH1xpqpa4jbuk_2VyrYCjMsrH2URLuxID3_DHnveDB_a83HJNg8aAotrM_FIrHfN4Q818_Bb_8rIxhFKoL5RhlfEfrlwVaQN_mZJ1Og5ZhPanrDOnOFgB47m64wXfdfFbWDBrb8ON6cBrMv7Lwr4LC56Ta0vftgOX3QnnyILbXj3j_baF1gibYyKKRBzORmvoXuN7VOBFLCrjaddOWfESBDv2IegZF03y5UJ4FztM9cwOXdZB04sqT_4PFIy4gd5Z6tz39z8jdUNqC78phP_dAx3885WQ6gdg0HPOai_W5ANXFrFxdk5lzwx-D44ytW_giezB0zKKCGVXuDTMGU1DhMsJ2JIPgvumMFQbVROc7_oXJek6GI0nvHuku24jujX2lLytGeo0mWggitVdpZXcUcHFM2RSFW8EAt2p6SNJtuCAnOIl7NAKm2zy1QYtwhogPnriga6sdxwPgKZLZR1s46TBpMtGmUYByt0NBPozIp3dp7RlBdZEc-tF4Qp_9a5_gpUZiUtqe97VC8Xk7NHmRx_5TanMIvzIDFyr5zb815S3CBSbmkiE0-nPFAF02cgfBP1wtVVmzMunJy_B3cdrHoLCIifwKmwXqkHySX6ykHvxt7XPl25gwez9KNsEQyMrAhEETRnrs1QFA6Fdtk6zKSjwaWrQfyWispKAKkfTuv18u6yijmZbjnS4IDxMG_MOQUOjlkTSgWkBkbvns-rDRrmn4k4aYjMHPupIc8YOikq0H0euWBhV13_jRjIBiaN8wvh0ooyuHavOTqZbXMRMQcM2E1Qk7V5uqBccg9EgyA0NFohnNZyXRV5jqzb79SYGQrJ1ozQ7tr7O3mVRDnd4wqTAHnAD4RX61U57fi_IRbmLDpap5ojzP9YJmryF-az5LnkgUYY3Lkd5Sx05fRJNg7sBBiYWKhKhs310ZQ51ANG2NZJYOfRddB1O2pNSpDxdehveerKVz9VVFZyblsH2U9ZzpwaQhX1bZKs9BJnZEY4_7maU8aIdO8b6Yok5sT7afjJ4X-n16hZH6r3954GukSYsl2XFdTkOJsPb1S6nLBlzIWXvcBVjyLOAidbi1I6uU_dw2gi8P4NhYwY4JaThD99Fcw0R5q-TH69VHle7Qa91pl9Mx6OJeaCnyGEjs52mwLVBNsm5xri2xOTaGLJdecYeNt0jpJ6QUypP_r-Ru4mj_Ucc1Axs3aJOR8gUTmBVsIPjSVsTlo0QEtO-MjHbxvBEU7_6KGSFiNcssvTUGXAoBc2I5F_WwPuVLD4RGyxaACnal7-AIvyPnM41Vp9cct63Yoa3TjXfOvhjZa5Nw4QURmlpCSX0YKAsb4-eudmzQcHXxtatSNETWQnST66O_7k2Q==",
  "id": "rs_049767d523bfbfd7016ab44c5efb9c87d0a31112bd5a034d51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.32,\"right_z\":0.19},\"note\":\"The top view indicates the carried green fruit is still near the bowl’s right rim rather than over its interior. I will shift another 7 cm toward the table center, keeping it high, to align the load with the bowl’s middle.\"}",
  "call_id": "call_ANqE2qzS1186Z5EY7qzbxvzJ",
  "id": "fc_049767d523bfbfd7016ab44c63079487d0a8020aa425cdac18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ANqE2qzS1186Z5EY7qzbxvzJ",
  "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, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9986, 0.6582, 2.5282, 2.7361, -1.3621, 0.2317, 0.255, 0.471]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0004 left_pitch=-0.1091 left_roll=0.0013 left_gripper=0.9986 right_x=0.4665 right_y=0.314 right_z=0.1521 right_yaw=0.2614 right_pitch=-0.5306 right_roll=-0.1243 right_gripper=0.471\nstate[joint_eff]: [-0.2256, -1.2513, 6.9538, 1.663, -0.0415, -0.0269, -0.0122, -0.5675, -17.9487, 5.6547, 1.3114, 0.2173, 0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb81cdcd626926b9b5e1f7d54e1d0200cc58d424d98f29e347c12d199d199913",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6da1cfc2e55edec87c6a25dd5916c86ca2900518b72b757f2257b79f6e376beb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4453ba23cef95d85d290eec9be1b849e697da733675ec3835494b1c580c48be4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4614, -0.0135, -0.0307, 0.9986, 0.2779, 1.9591, 1.8233, -0.7982, 0.075, 0.0044, 0.4711]\nstate[eef_state]: left_x=0.2855 left_y=-0.0003 left_z=0.1628 left_yaw=0.0001 left_pitch=-0.0908 left_roll=0.0006 left_gripper=0.9986 right_x=0.5 right_y=0.1326 right_z=0.1848 right_yaw=0.1999 right_pitch=-0.3584 right_roll=-0.0666 right_gripper=0.4711\nstate[joint_eff]: [-0.1299, -1.6889, 7.1726, 1.7753, -0.0513, -0.0269, -0.0122, -0.5265, -10.6051, 8.8684, 1.58, 0.1685, 0.2857, -0.1197]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4759, -0.0139, -0.0307, 0.9986, 0.5331, 2.2032, 2.2131, -1.0634, 0.1875, 0.1696, 0.471]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1595 left_yaw=0.0004 left_pitch=-0.1072 left_roll=0.0012 left_gripper=0.9986 right_x=0.4808 right_y=0.2496 right_z=0.1758 right_yaw=0.2467 right_pitch=-0.4531 right_roll=-0.0908 right_gripper=0.471\nstate[joint_eff]: [-0.0068, -1.306, 6.9675, 1.7021, -0.0562, -0.0366, -0.0122, -0.3487, -12.2051, 8.7316, 1.3065, 0.2173, 0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9986, 0.6582, 2.5282, 2.7361, -1.3621, 0.2317, 0.255, 0.471]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0004 left_pitch=-0.1091 left_roll=0.0013 left_gripper=0.9986 right_x=0.4665 right_y=0.314 right_z=0.1521 right_yaw=0.2614 right_pitch=-0.5306 right_roll=-0.1243 right_gripper=0.471\nstate[joint_eff]: [-0.2256, -1.2513, 6.9538, 1.663, -0.0415, -0.0269, -0.0122, -0.5675, -17.9487, 5.6547, 1.3114, 0.2173, 0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb81cdcd626926b9b5e1f7d54e1d0200cc58d424d98f29e347c12d199d199913",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6da1cfc2e55edec87c6a25dd5916c86ca2900518b72b757f2257b79f6e376beb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4453ba23cef95d85d290eec9be1b849e697da733675ec3835494b1c580c48be4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_049767d523bfbfd7016ab44c67cac087d0a895d0067ba876ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.39,\"right_z\":0.18},\"note\":\"The carried pear is now forward-right of the blue bowl in the overhead view. I will move the gripper about 5 cm back and 7 cm farther left, near the right arm’s safe cross-table limit, to center it over the bowl.\"}",
  "call_id": "call_MKYHG4ZoQTLmuCe77jFz7s0f",
  "id": "fc_049767d523bfbfd7016ab44c6b1c4887d0bf2cd17a039bd3cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MKYHG4ZoQTLmuCe77jFz7s0f",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.477, -0.0139, -0.0307, 0.9986, 0.7364, 2.6614, 3.0322, -1.5566, 0.2504, 0.3069, 0.471]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1589 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0013 left_gripper=0.9986 right_x=0.4354 right_y=0.3405 right_z=0.1552 right_yaw=0.2825 right_pitch=-0.5491 right_roll=-0.1309 right_gripper=0.471\nstate[joint_eff]: [-0.0615, -1.306, 7.1726, 1.663, -0.0269, -0.0806, -0.0122, -0.294, -13.3949, 7.2137, 1.072, 0.2076, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77d9784fbfc1dfac2357a719d5fca650eedc6da0469cc7b7e69508a52995ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd52d2846e90273899c60ce0cb9ed692c6afd437420580cacd3a23bac0626b90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fde672990e729fbe463a1a817fa373371cc77b7f5ef572d3de2965ad015456d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4694, -0.0139, -0.0307, 0.9986, 0.4088, 2.0537, 1.9999, -0.9401, 0.1383, 0.0875, 0.471]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.1607 left_yaw=0.0004 left_pitch=-0.1007 left_roll=0.0011 left_gripper=0.9986 right_x=0.4892 right_y=0.1893 right_z=0.1873 right_yaw=0.222 right_pitch=-0.4083 right_roll=-0.079 right_gripper=0.471\nstate[joint_eff]: [-0.0479, -1.2103, 7.1863, 1.7411, -0.0464, -0.022, -0.0122, -0.4171, -10.7419, 9.4838, 1.4823, 0.1783, 0.1783, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9986, 0.6582, 2.5282, 2.7361, -1.3621, 0.2317, 0.255, 0.471]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0004 left_pitch=-0.1091 left_roll=0.0013 left_gripper=0.9986 right_x=0.4665 right_y=0.314 right_z=0.1521 right_yaw=0.2614 right_pitch=-0.5306 right_roll=-0.1243 right_gripper=0.471\nstate[joint_eff]: [-0.2256, -1.2513, 6.9538, 1.663, -0.0415, -0.0269, -0.0122, -0.5675, -17.9487, 5.6547, 1.3114, 0.2173, 0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.477, -0.0139, -0.0307, 0.9986, 0.7364, 2.6614, 3.0322, -1.5566, 0.2504, 0.3069, 0.471]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1589 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0013 left_gripper=0.9986 right_x=0.4354 right_y=0.3405 right_z=0.1552 right_yaw=0.2825 right_pitch=-0.5491 right_roll=-0.1309 right_gripper=0.471\nstate[joint_eff]: [-0.0615, -1.306, 7.1726, 1.663, -0.0269, -0.0806, -0.0122, -0.294, -13.3949, 7.2137, 1.072, 0.2076, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77d9784fbfc1dfac2357a719d5fca650eedc6da0469cc7b7e69508a52995ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd52d2846e90273899c60ce0cb9ed692c6afd437420580cacd3a23bac0626b90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fde672990e729fbe463a1a817fa373371cc77b7f5ef572d3de2965ad015456d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtExvnephOC2_YzffyKf-vWWRxwQR19dPrFFmzDLo4-Q20wOhqXp_iboiLBsrmV5SquEArZ23qc3E17j0312Hbz7RS007lkUJAapH0i-xfKU7yCXDkZoOvYZzcLZW9HNLpw5SMTeS1liIEvyVrYWq8d9I9fp1nmfX2QH3qAoMd0AuPaw-TmGkBuzjfzCAj5nNeEhsIyFWQ6u2bG-_0sR8iTBeTk5umq-WgWSm48zdbUBA_CTw0fZF_y_7Z9FMeXtP7wfAjT1hK1dcW_QxFJS_EVNrOnrFiA_fW8r2wE6m1d0dfugIoYc86NJbqVLpbVLihf2tK1aezYNG9S0k46E3wcSz1cAXCKhIwqogUFNPJ_PyCb-8Fi2_OFbxMwuRvHJwkN9I2ubeP-e26OD1Est4tRPo3uOSZRP-5UBF0crVXCpOhnVwUS6d4dytlMX0pLjFYhqWLK0K-PvQY1Knh6zyJAeKPw7nczetbZVd2IlUwWzXsfjObNlB6ubqK5CDqBaYVn1UDEuaId0mTSbV52ZohW3PNH4KeKd-SmNFv7QSolzkd6SyY2W62SGKr3z2tMB3mb43afbyAFxYLjaqKiJGypdZVD6neWCjkOQ8Zu4DKNCtjekNJhKDJhmU2A12Ds53YQZ-MsMu1fCcBdK-t6bL5nSapo8zRYv102Z26flSRXcYn6FNwzhCbR4oZZ82uZJxlqrP9AJiqXGnsCswAXHfeQAYlvaXIMac4xtRg6zk66payhEz0qLI14F8IBV1obSHY_59w3SOKcjhW4tHcutZV9sj7hGrs3hngHt3O08pdakKKwsOganN3ig5RA-jwq_jtFkGZMQB5Kp74FyOIyRX5IsauswZrw9axpKartYHWD4dnYU2hkFiSupJoiLVK_52eNIj2ziFFpp6Tc-Z4W0mOQrBwcyBWme-MZto5o8lnm9qwODSMgu-KWjV9zbaCpS4PX9oY5gZMz80bV92O_5eFQKVXQ9lz-003oL7-b37xL-f1xm0xsHYB9iWAnlncgZ6mVjaaHVmTbAoeWgyIc_PeHe6mBPrSkHIoeU5YxPYZmcrjGz7NOz0HmJX3nv3xdu2jLI9WbTfKGjjvQbd93YLidcJrVj7aHry6w9UVwGeJgeMEzdP5GYeEWSApA3y1V-hvv7gmN5ML_SETfIQ0DCOYPS5f_LQYf8JOQpjacX8o4ZgOr5TzjJEGeiX4h2GWKwoOHy7f1X8fgDP6Doa93h4YTyIH9umXHwlNYcwjZ3ijzZJrFqGkdOvskyr3frMnP6Ap0GpjAXdIG9Knd3FNxPlUvFm8pbZFu8ndMW7R7Ei5iMa2-RfPl2vsTzOZ4MTPVZ-NMssga08VePt26vsMvp8uaMpOmTWEd5oUG0l6YrExnCTZW4IRWJ2-S2MYFHMgFNYJPhHW2GLvD7y03uvquak84OP8tif5sC4LNb-tnwEplgjb9PbHQN5o3Qy2DAcx2tRekVmdRyj6X64__3YT-P4govqDCBgH1gp90euvUbib1UI7NZWW96k-GVzemK_5FK8q5l5ZW5xGTrcchxjHRm516qLY7nyF7-dtpTYmN2MnMPol4sQDnvoHgQ1EcBK3qPJ6-_m",
  "id": "rs_049767d523bfbfd7016ab44c6d85dc87d0864245d8ffa14fc6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.4,\"right_z\":0.13},\"note\":\"The pear remains just above and right of the bowl, while the right arm is nearing its cross-table reach. I will retract 4.5 cm and use the maximum safe leftward target while lowering toward the bowl interior.\"}",
  "call_id": "call_L9vPCHLds9AnXkhFI6Hdfk7E",
  "id": "fc_049767d523bfbfd7016ab44c6e6d1887d08bf620989619ae89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L9vPCHLds9AnXkhFI6Hdfk7E",
  "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, 0.8181, 0.6132, -0.4839, -0.0139, -0.0307, 0.9986, 0.7349, 2.6617, 3.0322, -1.5684, 0.2508, 0.3073, 0.471]\nstate[eef_state]: left_x=0.2822 left_y=-0.0001 left_z=0.1569 left_yaw=0.0005 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9986 right_x=0.434 right_y=0.338 right_z=0.154 right_yaw=0.2771 right_pitch=-0.5599 right_roll=-0.1374 right_gripper=0.471\nstate[joint_eff]: [-0.1846, -1.5385, 6.9402, 1.6728, -0.022, -0.0757, -0.0122, -0.1709, -13.3949, 6.9812, 1.1013, 0.1978, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:755216250f90be94e61f9354b918562e81eb96ceb9a201b13fa0f2f7fa85f962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1c127737b6fd66d20aeb1a731bad061414d83a823df7a6d333862fca471671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11c6a37143751edf459a5612c295286a9d7bbb4f6f6453053f2cf2a8579732f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4759, -0.0139, -0.0307, 0.9986, 0.5331, 2.2032, 2.2131, -1.0634, 0.1875, 0.1696, 0.471]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1595 left_yaw=0.0004 left_pitch=-0.1072 left_roll=0.0012 left_gripper=0.9986 right_x=0.4808 right_y=0.2496 right_z=0.1758 right_yaw=0.2467 right_pitch=-0.4531 right_roll=-0.0908 right_gripper=0.471\nstate[joint_eff]: [-0.0068, -1.306, 6.9675, 1.7021, -0.0562, -0.0366, -0.0122, -0.3487, -12.2051, 8.7316, 1.3065, 0.2173, 0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.477, -0.0139, -0.0307, 0.9986, 0.7364, 2.6614, 3.0322, -1.5566, 0.2504, 0.3069, 0.471]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1589 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0013 left_gripper=0.9986 right_x=0.4354 right_y=0.3405 right_z=0.1552 right_yaw=0.2825 right_pitch=-0.5491 right_roll=-0.1309 right_gripper=0.471\nstate[joint_eff]: [-0.0615, -1.306, 7.1726, 1.663, -0.0269, -0.0806, -0.0122, -0.294, -13.3949, 7.2137, 1.072, 0.2076, 0.1783, -0.0171]\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, 0.8181, 0.6132, -0.4839, -0.0139, -0.0307, 0.9986, 0.7349, 2.6617, 3.0322, -1.5684, 0.2508, 0.3073, 0.471]\nstate[eef_state]: left_x=0.2822 left_y=-0.0001 left_z=0.1569 left_yaw=0.0005 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9986 right_x=0.434 right_y=0.338 right_z=0.154 right_yaw=0.2771 right_pitch=-0.5599 right_roll=-0.1374 right_gripper=0.471\nstate[joint_eff]: [-0.1846, -1.5385, 6.9402, 1.6728, -0.022, -0.0757, -0.0122, -0.1709, -13.3949, 6.9812, 1.1013, 0.1978, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:755216250f90be94e61f9354b918562e81eb96ceb9a201b13fa0f2f7fa85f962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1c127737b6fd66d20aeb1a731bad061414d83a823df7a6d333862fca471671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11c6a37143751edf459a5612c295286a9d7bbb4f6f6453053f2cf2a8579732f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEx07T-BixCiqAkyVr0M9cSjlNQkubg-7_E2L8iowON2t1gwUQbOISt_G3q1EnI_d1iGDvoFhTWY6NCUjDTYKvzF3GjQp8ZjaMMpY2YXMOshck4abnmobkfJM02JQiI3mKWt_OIGl-uAEvJlcT6botCskCBfIp6efO0WAXOym-fLP0HKdBdM_DKHEi-0x6eV4mUVvSZ3wOh0c56XWpklJr3Dv82Hm2B4yxHxF1Hu3mMAXuEQDIrtYhkVHEDTLcfuOTLqQihgA5XWyvcfryuFr7Gvf60-eZHkQs2_PoXGj7HiiA6VPd3RoNaZsTAARQprQWx0EGfuOAoLo9GX73FR-N9jm6UW_GkjQV3yY6KtYeNigCf8GB20TypfLq6Z5yPBJhe8jZ0BLeOl7a7t-qlzBtrvpCO6NpMAKkx0bk0NnyxiWszalewTqHvu5axgmhrYNmjtEOEzHhBFpMQ917MjTUtv9d7VPFZLs-JADSCPbNYpdbgXweWDgiV1LXUW7iIZsDrPRdvOjjV_l7HDvQAfiRM65WtjRPTpDZZZCb6YQx4F7JB-27drhuuFGZFQOBNlewT1MWfdHEeb6NddhDtDwsBnUP0dAaKPgykXPSsBlaI4Uyx2HZ0jnT75R7i0eSw8fCX_-xg_dyMp4buJhBn5VxPgouhg_JJ4D3dliE_ElEgrO5d_V0XnAtnnGA-ChksTPYp0ElarDcNeSqi9Lq-bL0DxUQ4ZXxHVYisju8KjrUoA7RrJIaIJEORZ2ySAD9SFfH1kIOpwclfuSycSFedFlAfyKU8UtdVA4MoAoMLgsIRU2pwN0DdZxqwhMl_i-bsptcCxjKyNjup6Ptx6nBQVe1ffxvzxJL3kDDTesTIt7RYug6hu2OV2uClkFD0fUi8zvpMpgcG_FyjfvbiFLSu1HMlj0UKkVbbUIB9LXJdcWfCiCSjAMIgFG63ZsZp8ZUXgNAgbLmBUQez55M__c7II5_EB12tR1GUcVR__BjMEIR25Bo4Ej5AF0L9B21kS-XW7b1ITpBjQyoLkpRvmgOpFCxTDroygSwP0zwju8EDkHydB7hm8ReQ_Cg0R-Q_QBcCgkpe-2smBk2TRyqZyeWL3TF_oTDyvUc1sEeFBg04DlW31vuXn1HbjyHraeEx-QmsqEqvjgUzsSyKgDc961egm-AmLez5OpeptxwhYeTyln5AfOEDnOz3HjPRBlZ18IBR7eVc8Zc4WUO2WO5YZBXyWeoyrJ-aXhlN1Ti5i5rDq3ieST14zppnMChxmzX8ZfxKzsOQrDIYyiCDCabKxYNG9hvk6Z13Rvkfy7xn-UysYU0bAl2kBvrd5iCZA4rh4e1p4_qfICKHKFLnhm91GNxRzRJ9FUY8U_S-hjGJHBj6gssuo0rOdNSoQ16dUhMjYUprJ768XpeSzwNFovHkJy_WY-2xNvZH6pTMjlMC0-1hqSN9IeFcYIhOhal_JBm6ekKHPtLkDcGGPBEexhJYQ0zey7GgVSGKXALVRjjHNhTdIkmzGr2BRg55iFfeWdZmpv2trGffQF4SZNaKvP5fjs3NXjdpUeMG4xjfFgKhgO0A33TPQsQ8-yyz9j7GSD_r0lYFecgYxpEmtbq_HzTTmRxkzdOy6BII_J9zJqY2NU3h7QgkFiq7IbePdQ5jsM1YjbPi0KDpR0ZMfIOshj9MEBc4ttNSyyOG6lrYs2l0LKFPkeBcvO5NiToBT0hlX-P4mrEPvQq8B4Q5NiCj_YZFugpo5XkK4JBVd41uNzH6cHk2U2wX4m8XonQ-rB1WbYK4CKwFYySZ69V-BRmsVmC73ylMzxUT4vBaD2OP1bUlHAlnpi6o1GyrpbRJcuz5h3b_oOQSfBzO_Fmy9kVUib7trDNn9i-LtvjS2EF8r-KSyCczBQ_PSRWpUQMR-tvWrO-prB1mt4Ln24rc4TxHrRRIFQNgnq8s_c1_EJLMC6ZxRzVxmTXr5Y0MV3WQOwNHy2YVk68E0BPvM8jBJyIkEUn-O_ttb-L-oQfCkrgbu-8RTGyfFp_Ixw8si-JnD8xBTTehYeerlii3i51-b8bUPPcooc9H4s8P6Mhic5iuwJGdzsDb83cUICVzxZcdPJskKkTvV1GHj9gyh_VdUrITQqcO0ZPZAiA5gs_0H6uBqQd1BI_dq9EDgv6rlwVPBHxXmwBK-331mpIkwhq_yfqze_fK41C6T8Q8K--LLYs1efc-DYYoSHSSU8JBBYmn4fcqlglpIV933Bf6GayyhzstMQLaIXXOqio5HSfdkVwMI-iF5h2zRp6ORXJVclarX7nUcVDVi0CEqS0AD5vmBujivytbIo_0-7Pu0GDztLWxjpKNWYwC2wUM3Sp4pdIGaT3MzbSx7CeQzG5hjM-4J8Y_EKge1LOqrW0OeT2ea0Xu5eKHp31KrUIXDuJI5-Ma1nOO_-8SzNQogd6hKdv54t3j_tv1jfnwDWD139NRGLHZfh1YgL6KJ7BYaEwtx5ZU9meBKYsmFNAMiG3nyBx6wSHdhwYGTZuEKQ7sixNo03I75sr9Q7EX0MP4N_CnGyB3ifBdKsTR1ryLHns00yV9THHvHZ4zUNR74-wJCFVmVk3w1zq79Aw5z0ys8__nABp1g7IWJaKu8M9frDCcqQpPcACssq04fzE_wXxEgO4nUOsHuNFPqy1yMd19fzepQ6ugIQOCvpnJ4clfMhCnyX3jkGX1Bieg-d8DAV1B0DREx9k_eyh1LyUwp6xAQHt7GqRpymhFGu3GbZ7zSGBOgExwLnaCnaIdabGtdpzPXa8I2EiIKLmjZlJqOzchfs_LZfasLhY4PKkFeALf_IcJUdNk1ffjECe0chIb3LEnjxI252uw6KWKFcBpnSmZag5A70SjKsYRH1hqqRXqHX_0eNfNUItJToCbZnGxg2NeUYkxjjghx-BsBjUW_tWks3Eo=",
  "id": "rs_049767d523bfbfd7016ab44c70c49887d09ca7f490151216fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.3,\"right_z\":0.28},\"note\":\"The last target did not track—the right arm is at an awkward cross-table singularity while holding the pear. I will first raise and fold it back to a reachable pose, preserving the grasp, before making a new bowl approach.\"}",
  "call_id": "call_VXt793au8eaWqYj3jrYyeGdH",
  "id": "fc_049767d523bfbfd7016ab44c73a28487d0bb81d3b849f673a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VXt793au8eaWqYj3jrYyeGdH",
  "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, 0.82, 0.6132, -0.4915, -0.0135, -0.0307, 0.9986, 0.8845, 2.0476, 2.3276, -1.5646, 0.2916, 0.4328, 0.471]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.155 left_yaw=0.0002 left_pitch=-0.1285 left_roll=0.0015 left_gripper=0.9986 right_x=0.3074 right_y=0.3008 right_z=0.2425 right_yaw=0.2817 right_pitch=-0.6058 right_roll=-0.1689 right_gripper=0.471\nstate[joint_eff]: [-0.335, -1.4974, 6.9812, 1.7216, -0.0171, -0.0415, -0.0122, 0.4855, -12.8068, 6.0376, 1.0232, 0.2711, 0.2418, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c7ac32281ee0d09b8b77c8aa92da942c78e88fe09ddbaaf42a74a29fe4e6b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66bddec92b94371c14c06097c9ab8d3c8d5e7a9efc4fe1437569bc0ae69c8385",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdb4895f7b9722107d313fce9b44ddcf20cbc4c8223f122a739b4cef81886487",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9986, 0.6582, 2.5282, 2.7361, -1.3621, 0.2317, 0.255, 0.471]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0004 left_pitch=-0.1091 left_roll=0.0013 left_gripper=0.9986 right_x=0.4665 right_y=0.314 right_z=0.1521 right_yaw=0.2614 right_pitch=-0.5306 right_roll=-0.1243 right_gripper=0.471\nstate[joint_eff]: [-0.2256, -1.2513, 6.9538, 1.663, -0.0415, -0.0269, -0.0122, -0.5675, -17.9487, 5.6547, 1.3114, 0.2173, 0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8181, 0.6132, -0.4839, -0.0139, -0.0307, 0.9986, 0.7349, 2.6617, 3.0322, -1.5684, 0.2508, 0.3073, 0.471]\nstate[eef_state]: left_x=0.2822 left_y=-0.0001 left_z=0.1569 left_yaw=0.0005 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9986 right_x=0.434 right_y=0.338 right_z=0.154 right_yaw=0.2771 right_pitch=-0.5599 right_roll=-0.1374 right_gripper=0.471\nstate[joint_eff]: [-0.1846, -1.5385, 6.9402, 1.6728, -0.022, -0.0757, -0.0122, -0.1709, -13.3949, 6.9812, 1.1013, 0.1978, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6132, -0.4915, -0.0135, -0.0307, 0.9986, 0.8845, 2.0476, 2.3276, -1.5646, 0.2916, 0.4328, 0.471]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.155 left_yaw=0.0002 left_pitch=-0.1285 left_roll=0.0015 left_gripper=0.9986 right_x=0.3074 right_y=0.3008 right_z=0.2425 right_yaw=0.2817 right_pitch=-0.6058 right_roll=-0.1689 right_gripper=0.471\nstate[joint_eff]: [-0.335, -1.4974, 6.9812, 1.7216, -0.0171, -0.0415, -0.0122, 0.4855, -12.8068, 6.0376, 1.0232, 0.2711, 0.2418, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c7ac32281ee0d09b8b77c8aa92da942c78e88fe09ddbaaf42a74a29fe4e6b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66bddec92b94371c14c06097c9ab8d3c8d5e7a9efc4fe1437569bc0ae69c8385",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdb4895f7b9722107d313fce9b44ddcf20cbc4c8223f122a739b4cef81886487",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEyAH9TsNCEbpCO6h7BaMqKNCNxt9rK8ftTuOQIXyBuSgqtMkrsVnQnIl0eCUJ8KwtW-KPdQXNvdmAjWH42t3zim4u7wJ-YqJorVc67zuAlrtfah-SYg0HLBCI75zTx7GjdTQ9FM5sLCQf24XYvNQ55hVCmt6rtX7JGm5UrC5Eyta07TiAT9UHzIcf9BlKRuuLfkqUGTG4v5TA6bQsuaB790RhAXquOu2zh3a4YGT3SjVpHS6t1aaYJMJm6Bi3u9VtELW1V-nbHQvPd3vYi6QoCSJ4rJLbRE7gl8zeCMXwj0kePkScSiwzYrOwwkRq472r1H-XWYzEiYIhr0V_5wGCcq7nbpZDJ0s-4Vxij7dK7EIHblzeMlRn5lUKTy0La-TOxZBl2_sQmQVuY2r-P5Vm7r1S3TI-X6X16jiJKIK8nENRhfRb8BtmI2Wca1FRJmKjIMVDn60ichZmRDgfOLbO8P1u6_4--DCREKO6IwUSduw2s4QRHUPnnrKCl6vCCYVOaBxhyOp6K5onQPmJXLtDEUx7uq53HU5LC6C2mZUlVzgsVSqyEEG5MuQPIT6xdyjElTqEg6CYxfOQJ5X7syvtJZn1T5HmxIABY7SZlRpaO31eGSMPACZlfTOL30PNmxISnqUGTmq-Y0SIOW-oK9wWTepf7VABWrlNJVLD3o9EQorcfpBvd-Wj5N6t9ZD-pRHUcsyJvLZtw8PhaoPhFBNh0UqqiJvHSvy0awkiu6Rz4o1mQ5V97rz1tl4-hRr5HM6OVgRNVlMlC90F66G3EbA80LzwPyEVV1m4HjUmfowe1NQGvdXq0QM7PaYR2f5XfOOHKTFBeUqBctmDBP2ObEoMUpKPCB3l7Ytk5IUG61twQgP_QOw4a7_8YjPexHrrMFM9I56KJfWmydnNrVKmq6xa32_SdLgjlSLkONl69jDRa7j1c8AlSE3h4iwUvfKIZ3aNzYtr5dp2ZNfgEu30wWoersb6LirH-ZWgaker5wrt4_WOQMaTisd79UlSNbqCu8z5FcknVqz9OPfQtDIUuL33ruMSRnI4lHdgRg5VDYudcCpOPILRCeYjQPwi2o6SzKHFxhtF0G8IraXFaKJ_DlkHockp7ZNcPeFBgV_je59EWfswEjOPGhx7YfnGC4HmUJg0sZclDlGai1IQzjWZyD6pjXGq4Dg-621kracx0UgB0UPLWRaW6UDBPT5pkCefJvgzNPn4XL17T7W55VL3tOKnLM791jdnsCt2HL92NRuSqpX__93pDG7LJnrcIm9VQN4bAN8FCCstxxq8I1_dlwadvvCrDF54hpujKLhmIIisjbZz5OwyIBBX3BjuI5DYdD7Fb8v5flnIgS1PZTZv02jdE_8vO7N2hUPKlF-bqKpg5Lpd4Lrasi4g3ugY1YW_vsVaACwR_0sVgQ0vG_RakOycqC6EvQWgxbVVH4RsrPS7HYeCXu0zAUwH_0jHvpBllIpuPMp8H2X8x6mpKDUnX_seoh3_YHd8gmjdpzVjNHpcP9mE95OGZSMQ3cmaR9pk2Hhpi7Oi2nfMgGreP5vd8Wmwj-IKf3_sytwyjIjOkwEmjv9k9wr6FUOs1x_X6oEGLKD2KCxfCApolNnAxsRqO2mDi-3IPm8ak8tWZudMDz7whulgP_dvMqK2sTySgescJjVeNCzThkaylfZ2jPm_fl6elg47FHcFRJ0k3gNmeLrBlHhpv2Gr-SPOkpX1uLfQt1uMonBx6prTnPNh17BR8iOguE-CMU2sfHH_eJguF3IaHwfpUFKJ116rVUCXM4ROwszYgJ4Fg0QXtOjWihonCeZsGUPQFASQTGOQINRs8JE-HqiIImqxoCEUdviKdu39Rrw9C0anTUyRQorNeMjlvNS7NxgFw69tnnDvW42vM7DhmEhP46NfsUPHKrXTSZDCoFLpVDyhtBatsxtMB1zZkgVIlImowN8g390yCDjccs46qoVEjgq3M3WE8WkwPR1WEPiU1c_xayF5nZ8sYLjMS8lkrYOkIdteIEu9sf8IHhb9KGXMLW8zOHV0ZqA0OOMASECLPAQtXeKlv-zW2wBXkuSeS4tumQIIbXAA8iemEjO7jz1y5G98jkxEQjb-iXIQ8j1LV_hp-R0ZW5Yn-wDt2htZoYoV4mRSFVxW6IJK-aiG3E56D9QnZzbW0kJdhVU25t9c9MZaceTTamBBUVCVIVnRKHbyrQpsL25MFZh2W3joMl6U9hGJrq0n8sKzLNyJog3bDXLK_bNvvxSyVLIKFlnyfeqkea0kJ_UkhIWJEvGfyiDq8joja2bUh0K0iMOLYPg4YvUFUcL6LoHElafGzy2YQNDvzPjKq6mHveSddc7PbdEuPhRYCxZ3Mae22ni0KZYtMlbFnFesQGxQ4FIf7TkBn_us6dOzQbqrsmvoKan74ZcRgcDG73eU5QhtNn73tJmDoTYoQTpbPF1o0wLzoSpiAYRQhf_jGhIJ19i_10-rpiYQgp7Wyi8NG8w4voXXf6Dvk_u_g4hgRgOc4UyMvew_WOMLfJJGyZW0PtB_-fl9gfQaatgfdUDzmBZjP1GGnra5gXW2A6jRrMju8EzPmkP68jjDko7ITRmoH4Le-kI0J0l9cNMYdb4pukIcWOvxnyZ9B-ImiskiF6znn7NgV3X-xjiQZrWpz7cdknFUoPDZUCSakXj5jMmsD1MyMYqaiMHVS8q-msEX97Msk0eDgA74vDI4i16XhxYZUEDCNWNIXxbeifSsfOxobcV0tIXTYtpCWYWw_XhnzG3aXMNPHE2EkFZ6pEKGc56gtSaOoNzNwlyIY1nQr4oF6bR4OiWlSTFerTBwqXwh9uV20SNLW2q2d4tLb_sjBFenen8M9qJjfp-ogBy-ARJaDBKMW7O2dXhT-dESIo6QP4wP9nksRtTssVu8SsE00ERGkVr88tBcZsdWuuffByImiWNYETWnW2x1_bH3c4IPw_JdU9qemofcne8w3OkZAxZw7zmhBYcqHhX7svIeWl_R1PNSMcFsT1EofJHvHQtV8wsTRz3KL4st4p02menDxBux1eHOo1zr81uLTohh-1zqD37JF8ulcBH4Ys_U5Iucxle0PPJOr7wpUNKK7UsCkyJDHcIFFBHrvfei49c7XbcMEl-ButK3ODppyf1DmMptdpTKRInWEK08ofZdubSmqztNLErZGm1JuwpzIH54vntfb_MRYG5iuh5c_NlHVbgd3RlTgL-pSedfsQnQ2L3KAXDkRxQ4jZqp_VXCsJbLP1k3ylOzE6T8QcnPbgrCFT_FXQ3Btr74MVwWp2ZW__UcSpiwaQOhwaLhYoPIxQTcKbnB0pixzVJk3Qt8befBL1U-jQim7NQ9Ye2dqx1xKWPY6nX8IMtPTwKC5ONpOk2NMqVPZEAAhg5quaxuT7pXer3JqYYtJk3lkAZ0L4FKFisCxkWa2BOKfMoEqkuRkO8w3knzHgAg2YODkA7Ork3c67Dj1UVBX8YeYcVUSKjBVNVdt5u25vW8EHnzJxA7Pp7-Bx2zbIwAxSoiAy0gmcBOBL0alJ0S23xozqbibuUToV9QT0FYu23Hl1_94LSBzGEvCojt26sZPsdfmZsXEGfh0QPAuAw9Nh16bvCoxiLUr2LnxcLYml-cu4SmQBw71PFLzSKi42FmYlLygHs5W0vD7K4VPtoMLPsTJxf8F_Gj3EwTuM-4ujcAVVTdINEHGEVfX_mwh9OBOlV9jZHNeR_76sSUflKoRhP7tL0XJmYTcein9BhdsWgTuWv2WDdGnJqqiOh3kRAiXnALIDQ4fa1sx2fmPRSXwTn_ELCKsds4wqGg3mM6wngnLaD63c2T_HK6Xla8TJwb37prpTvJPkckekacnNA0Vf0FmrOty0vhgwL1YBfZHkRjn3E3ux_uI_7TI1hAN8b67-ZX1yx32rrLq-Occg8n7RT4bP21CnDEvuimBGTjkFc4bvPIbyIITvrGt07TtcKZV7r99X_BCQ",
  "id": "rs_049767d523bfbfd7016ab44c770fd087d0b3d3acdfef33820d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEyAt-AtiE7zivhBXPJ60FiKob08H1gE3GArM9nKM2rJVQ2zyWFDOwRrMXBnu7UT_xvTCiq9lLmKA6cdv9wMORCh5RD8eElSNzjxlKV3h2IlK0TMw1nmL1jjpKWYoJsxbsIMKT5Yc1ea1nbuwSIroDD5jG15sHKgBfiLpZIQz9tD3NZ4WyMBVKXEfJw8UJ116u6Nm3fPKU16um-mbO78A04VDDlQFftmtYUvXDI2oHbeLVQ4b1rpGXgkgjqFnb1WqMeifQB1xWQNi8xQRvE3AmwDjdqqiTwDVlRA115GPQ66suw_1FrBue7IICTb6cKNZNc2wHSRP0632muGRNwViSZPodHUhxtliMk925gC7D6i7pKCVUj_o_0vczdZKhtsBQS-38O3Ilbb3QrmugEv5taIfs21rF_27bPn32JQ_zAQ-FgTZLUJZxxFotVT2g_hEjSk8o01lN4VFHwqLGmklak8uCUO2GcJnfy72BJiFyiAvg9LqZBTK9rYav6JETHOwIhRIPFIqFQpfuPtQ-2imamYidj6wetYPs7CNZCxg21xoEDR7iP8cfcBArSbEWm8kIGexgi3gw682G6KOTLRJlEal3B7T0xWyXGkZBRONxk9EzG24uFIdrI2pPdcml9trifKVQQLjicZBE-6huGqRYSkWC0rNLB-n-WqeeD64KMjITQu_a6g5xwYuUxbc2xM9yB4r8cLeeTenGgb73gYvN4oUFgoIiV08FwuRhpRcb3EfqdoeA4f8dA-w2p8VBtDwm1XBGfBqhIxTulo7nwzXTUL_ZhaM2VWAW_DA-lr-zeC5jQmMfGqKJ-0vNOeYeE3di2KiW8LDQtzEoSqZh907RcYYeAhtBYh04ZkM7RKwWQNI0QTjhpET9XSLsZi0SVMGdmRJYZSAiae92yBzdtK7EuBi0tEsm_zziQdSHrsjFN-OIu6kxm-h53S6fs3b9KfHyd9R2ctlrNi7HNNiaiijzUX6r6GcGs4ZFpKCXDSqunXYXtlhBonEvoB_9BEJkAP-tiIOWilFE9-s8RVRnKDC-v66IsepaNu-17XgBoiMXzotPGKmYD6xOuNG7cn72KXzQfVMATA-ZMUs4c7Hx6DhKjaJ-TQca-v3u6aJAGJQvvJMfd0A-kq3YsxHUbfTNHbu6jUSlFQloqb7Xgdc86b-KEO0xkkM1P3PfXyYYP7u_NEpx6N2ip2nkABInP947yDp7mbQoFsBNr_lWayfILJeyJU_0ePbdQgdRFdob-7dJH4knAXiOj4xoH2B2EBpJyySdYaxoKEChuHFWrCIRfMdOYBXqgOWUNjuE9Fy8qaeloJPTnkUu_CNNiqbGrewdc3_iNKEnNSUU7fk4OI33QMCAMxjoVd4K-ACjwrEgfiozp9Co6fY72EdefEkU0YDk8fRKS9MRIMkZl3jPpn1YFiFNIjFQv5PivsP1q42OISYyARUQ8bcFWboeDasWLb3IlDdJkJTr8LdP_J6ENAOySJkHpz75aT-WFGe97rl9UQ2YlRgdFWS45DvEN7nsc-_bfT2838-Gk9i_DUcpAF7jsb8xluI2ItH06W9YShlbcW9V9-d_fWqbAmppZO5m1ZLPWHHiFVthCtTct4JweFPN54sdEH2Nl0Syrz1PsJKAQcgksZMX6aOyj2kHOtwkb5rr5d81CBWENSCVhVy2Edse_lgZHGrBKFip7p9zeeNtNzJeBujfmA5qZaY7aGoRCSFDsJoFYPDOMPf8orRYfx_H2c0E9onYOIiN7hKR-Ow4mu-t7daxYP9-qGG21R5QIh0kOaZZ7aKgBngEiLd4ar9DId9IqR3tNZxebdB6-uDrLbOMHdM3FxuDkTiHDv8deMfSqKaBfO2BzxrT5loeAq1iZHCpDg4vjE_2lFly890cudMhmHAyzHx16DWGYx72mNqKkO_yEoaDKqcGjuIWvbEBu3XsGGDTB1CTLz8Vm76NHBZLKBb1LKf5VQjPtECx8Glx2wPWC3FK8NE1k_erdrsCxRHgqahO3sR7xtMtxHe4yGOatXMTweBbbAb6g4jgZRSwdUCRos7n0pmaY2wej85ZdHnmUcZ8yd8X82CuYLVQ8hG5jsAMyXFIPNTRmcMGvAWQ-i3RzRIYAzAdId2fxnguDcSM5QxlR6KjJZCMcWDNdAzTTRMlwrkGnpqkGnZefjsdoWI5b6D6huCnAC3um-Lo2Tq570xS_399Tf8vtPOdMPdV7B6VHhuNw-kKhVJV_mMGWhphdOF3sFlcVlB6UgSg7mEifmDUw6_IGCVEfnzuFCjV7zgGZjMofm_SpMUI26m2vKMnWAjNTs2-Q8tSyXCPpUSILielpHoBtzJKu_17vdZZR-gK6aF64Gv3c4Dg9quaGavRvtaZyRkxuwOGh15XuHWXEEDoGjgbmyFKqNuZh-RVaabr1kKxPo72-_zUph-V6Fhq0ErrfRpmraEbUoE-f7rDt4CSYWe-tXhfhYkLoAZP4IxyKf80WZZD6QrnBh3mctEeQsLZwe35GJq3v-pxOnBAJTCCI4TCVfBADzUGp-Ixk5GloOUVP-PFAnZ9GrNNikN5ni_BLNg6VbgOoYH7zO1TFeuIfy3Jezig5tDB_3kLh-ig4XXSljMp0oj5rjWnq1igNv4fNJ1666ilauBKCv-k9YDN3YlMGXDPbrh2wyV0omLgGhVbDfiJV2bpSDy3kiXhq7dR8wWrb6uE8bopF5zw88rsl8GvLZzeC-rA_ac66ib6PzGT1Dh0UsAlFSaM8944hNmRzxXqqKW4w_Bhns6vQu_6mjh0ChydXwJVnoYhX9StFXLhqm9WNGWS1MbwJoH5OXD_hhbtJ5wYqZXqpgeVhqmx_StXYWdh1op96lyw8wSAu27hAPbLI0Kj0ru7iYQB1WdK7eMmcM8thRK1mqA7TWLxsHJI09RMbUkiywq24wZG457f_BD8kqxrR9m1aCEbmUXEmY6E_LrBBOvRMnhuSjSDSM944g0w17J_vzzj37PxGcwwxMOrQGhkWYbx86N02t9U06G0MnP7nl2Kyop_TZDA==",
  "id": "rs_049767d523bfbfd7016ab44c7c023487d0b09abb3d1e894803",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.002,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The right wrist view now clearly shows the green pear resting on the table just to the blue bowl’s right, so it slipped during the awkward cross-table move even though the jaw opening remained fixed. I will reopen and return the right arm to a neutral high pose before re-grasping fruits with calibrated table coordinates.\"}",
  "call_id": "call_SAcNcLbDLsKMdzoHdAmMOg7Q",
  "id": "fc_049767d523bfbfd7016ab44c7fa50087d08cce51a37ae0b3bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SAcNcLbDLsKMdzoHdAmMOg7Q",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8246, 0.6132, -0.4938, -0.0139, -0.0307, 0.9986, 0.009, 0.8234, 0.7044, -0.5255, 0.0353, 0.0189, 0.9985]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1534 left_yaw=0.0005 left_pitch=-0.1354 left_roll=0.0019 left_gripper=0.9986 right_x=0.2882 right_y=-0.0001 right_z=0.1881 right_yaw=-0.0387 right_pitch=-0.071 right_roll=-0.0089 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.7162, 6.9538, 1.7021, -0.0513, -0.0513, -0.0122, -0.3077, -1.7983, 6.7761, 2.1856, -0.0415, -0.0659, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a6defbd4c71df4a0651b756b5e86f6cf89b02cd70ad8e99bb89da49910a4c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a84eea0c97f6746991dcc5a0b2a6f07029732e6688b94b47bcc9b1c1d3ecb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c4d7693e3027afb7414fdaeba48c19b29cad27b8dc73f18b9f6c76168e3ea4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.477, -0.0139, -0.0307, 0.9986, 0.7364, 2.6614, 3.0322, -1.5566, 0.2504, 0.3069, 0.471]\nstate[eef_state]: left_x=0.2832 left_y=-0.0002 left_z=0.1589 left_yaw=0.0004 left_pitch=-0.1095 left_roll=0.0013 left_gripper=0.9986 right_x=0.4354 right_y=0.3405 right_z=0.1552 right_yaw=0.2825 right_pitch=-0.5491 right_roll=-0.1309 right_gripper=0.471\nstate[joint_eff]: [-0.0615, -1.306, 7.1726, 1.663, -0.0269, -0.0806, -0.0122, -0.294, -13.3949, 7.2137, 1.072, 0.2076, 0.1783, -0.0171]\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, 0.82, 0.6132, -0.4915, -0.0135, -0.0307, 0.9986, 0.8845, 2.0476, 2.3276, -1.5646, 0.2916, 0.4328, 0.471]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.155 left_yaw=0.0002 left_pitch=-0.1285 left_roll=0.0015 left_gripper=0.9986 right_x=0.3074 right_y=0.3008 right_z=0.2425 right_yaw=0.2817 right_pitch=-0.6058 right_roll=-0.1689 right_gripper=0.471\nstate[joint_eff]: [-0.335, -1.4974, 6.9812, 1.7216, -0.0171, -0.0415, -0.0122, 0.4855, -12.8068, 6.0376, 1.0232, 0.2711, 0.2418, -0.0073]\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]: [-0.0219, 0.8246, 0.6132, -0.4938, -0.0139, -0.0307, 0.9986, 0.009, 0.8234, 0.7044, -0.5255, 0.0353, 0.0189, 0.9985]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1534 left_yaw=0.0005 left_pitch=-0.1354 left_roll=0.0019 left_gripper=0.9986 right_x=0.2882 right_y=-0.0001 right_z=0.1881 right_yaw=-0.0387 right_pitch=-0.071 right_roll=-0.0089 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.7162, 6.9538, 1.7021, -0.0513, -0.0513, -0.0122, -0.3077, -1.7983, 6.7761, 2.1856, -0.0415, -0.0659, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a6defbd4c71df4a0651b756b5e86f6cf89b02cd70ad8e99bb89da49910a4c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a84eea0c97f6746991dcc5a0b2a6f07029732e6688b94b47bcc9b1c1d3ecb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c4d7693e3027afb7414fdaeba48c19b29cad27b8dc73f18b9f6c76168e3ea4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEyIkFj6rv2D2VdnvZvsf4HxZQfxnnMBmN8TQVtFq6WbdtrqLviAt6586R-toLadINmoH8UjN27FKnNBlODCe3QtjVRXnpCjoR1cTkuEztf3vp3xhTFTklnsxmm0JbbpcheEoLUleCwc8ZMIJW--nU1GXGgiM4-Cx24X_X_tY9RMXjtwZx8FZi0E8ifCO8LaosRoR1x9KV2r6m4upOUTX-NQGz10jp6rawST2cA4ClWdcS6Gm3peDQijJMlhYR5HvZSvP-TMqAZ2upskijwAYIBtOJ5v_Hoqm-jblyRC-K0mPhxPJfmOxqvYjbx4sefmsZ_qWFF5cK_BI6tARhcT2ciqz0wna358ZvcHyWpcfIKxrVxRbpZvnSBoXkNNHzscphDuSIvnzy-B6U19k46k6J1Fg_YLdyatGu3_Hib6JPix-g7MC18YElgZJA9P4D6dy4KfcEHI5MaAtv-FfVhNztDHcwTQQ7pAgHJYlCGxASrVmXeRO58lxnU5iMZwEjmjUIedgbPbqJmTZXzNIb3YVC7DPihJSMelJ7gLfJf97xwzJj3pOQqg5wZ6sFQJLRQASWvzhGbZsVemP7WtcC-ZGYFe2ItPWrMnbOS4YH4M3o8CjPcoWYLdAh-lZP5uCLV5eIq2gf5LQT3iAVClNkizHpeTsZH8-zs6PGcoQRbe14aLUJWuSR5BazU2sVHvZ_eL1U1TA5W5aGFFpVol0F4G162CN2eJh0Bvk1n_6-kIiLhF9uppwoA7ReirL09gzACTPn2lihnmgDX1xdm0-0_SyzlkU3mlxu1wTwqCFXI36E5FKkth4mMBoOuvaGFfkjkAeptCK4tHlD9xddVz53-Ky17SokGLe390i9J7ZXiRUjth_rRAbK2xYdTIt5BlBvLE__skpY3YIrPO86Mo4InhXfI6TQ6D8lHfqru6G5XfEsPiRSVPpewUWM6xjgPCU_hYhuDi7XOzs_OWqEofctRMthA-qHADltCJe19VlLTLIVoTKvN73YaSjMuzO_l3-Qnj2WVFRHgE7j2Qqh2jhGe1IlgaUGV3_PgY85wWOVKoZPT9-G7IOuIjQMvQRpaW_XkXYtZjlQ8EVv-cIGo30gknZmFhBX_GC6SSYOiTVA5NSWcii2JKT8Eg_HnfS9NQYUGA1TLfiByoz0ACZ0O1YiASWdBDkz8v8Rjvz19CZ2JwHxn-ZayXQSleN2USi8OCfvxw6-N-SehFJH8jSVCrtJcayaCqHhfOiBgIY5xv9ZFts2N-8qj5tolsSMlPQhAYyymrZs2ihBkmGMejqCp8kWN3b504iWPWSrAGRQZPwl-LmRQ329lbevOdQSeiVw-DGjNBM4WeAmb6BhL7W5GnMqz_9pr0pxZJWRqaXO688tjJGYAQqfnMghBMRE2Bl9i7YlLxjW6OT3CDJJ5p3vvC-17eyxHf38Oe8Cc9sIOKGsOepAELhxqwtEkncDFg3DxkxelWScTzRKknZ10xyrshYg3H_39j02Imklv9QTjHEqbH_DUdTMIeHs-TiUxtiSQ5Eve4FL00qAWNano027yp8i8iYba4ssQ-20f5KIlV0Ua5eSHH_b_9Kk1O30sJq8fKSODG4hzbl5V_yQW43rsBTLDwN4tTUpI8NE1HE77cWFCVAf4z1XsIMWDzbKVFXv8YxNuywg9v8gCbks-m5BpWxJQEqACee13axqYiGczcXyp-0163fVVTm3RHBlb8MchweD7X570hP3PURa5mNBCnjGgWrrWZC-WsUvazg1jaYbB2-g-cqX6NpAP9gqkrLaugeHcpuVTKYGNqGtJmqVGcOg87fQGizQj8PlQpE7zoy_LZfRtFFrNoT6ZStvNPgAN6MV2nrL0xbq8JZamIPqplE7_59oJL6vYl6ExQItTjkLS_ZVqJe_y6LhAJG4HzeDYd5zYVLRscZuYQkqclTbE_2lazPog5EsW7JZ687cB12lpHuhYVCleNeR922a44UxEXt3kqsERf_htmtEwWFaM5N5BFp_PuSM4jt70TJe-3CDzgkFhl19LwuVXnyIcYgq6JoV3gwGlIfERbYQcfV2yUHsInV06k7ER-bRuKF1-p37u_IhOLfmparvFv7vlI9G3j_ko1wQ91Lz45HYezqa_b8iU1qF0gdlvY2H9fvTSnxVWcxOilbyVjb2UpEaWGYFmNX4YjhS_dCZaaYRs3VeVqKZ9-UDEVi0wBa6UHz05rJm75LoXf6cppBf868t30iwWvqmp9bNThw61YQLdc_SoGeU6wovaLcVzviuKr9vkzspSPIgqnu4q4mZyRSIzqBbDrDhCegwKpJY5rIO9qj5BBwRXgcIZPk76u0tV6EzTrcRSRryKz1VqfB8kdI_erFbDzLqfeEgyhdUD3b1pwtUQOBEjUciIMvIZxYILToKHwqpO7uVc8CeLUXsWNkFydfOMUXqdBnz34rPG9ss3Q1_nAmb2SBkG3oZIO5PDyc_WKY64bwQcr9vk81JaIHmN5OHUlJkt8L1t1Xjl2YMHtyZH-pcQnZJ1X3258uuHvSmeIBMvMsfTcaj4lkjDfnjQCLDCDs_NJ18hMCefNJP3HrrbVU1gnr3nqYiC8IYkKnCqxDw1TISRwU3w=",
  "id": "rs_049767d523bfbfd7016ab44c84afc487d0868464f24ee6cc77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.1,\"right_z\":0.06},\"note\":\"From the neutral wrist view the green pear is centered laterally but far beyond the fingertips, beside the blue bowl. Using the earlier successful grasp calibration and its new overhead position, I will approach near x=0.48 m, y=0.10 m at mid-body height.\"}",
  "call_id": "call_nuBz3qg0IHW1p3zjmt7mkEW5",
  "id": "fc_049767d523bfbfd7016ab44c87c28887d0977f99540eeca009",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nuBz3qg0IHW1p3zjmt7mkEW5",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8299, 0.6132, -0.4961, -0.0139, -0.0307, 0.9986, 0.2882, 1.8603, 0.9463, 0.1696, 0.2367, 0.1658, 0.9986]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1515 left_yaw=0.0005 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9986 right_x=0.4617 right_y=0.0974 right_z=0.0439 right_yaw=-0.0107 right_pitch=-0.1462 right_roll=-0.0391 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.7846, 6.9265, 1.6484, -0.0513, -0.0366, -0.0122, 0.2803, -9.6479, 7.241, 1.79, 0.3004, 0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422623cb3380c006e6f50d52f47afe01bde0135f97f9dae232cf3608a54dc774",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ade3abfb28571f14c73425ce7113627778a03e36d43394c3f9334dcf20b895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df578c5b4bf18eed8b1402db76150f3817a9f7c7fd43c4995b18720fd8923aff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 87 changed as sent

message 91 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, -0.4839, -0.0139, -0.0307, 0.9986, 0.7349, 2.6617, 3.0322, -1.5684, 0.2508, 0.3073, 0.471]\nstate[eef_state]: left_x=0.2822 left_y=-0.0001 left_z=0.1569 left_yaw=0.0005 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9986 right_x=0.434 right_y=0.338 right_z=0.154 right_yaw=0.2771 right_pitch=-0.5599 right_roll=-0.1374 right_gripper=0.471\nstate[joint_eff]: [-0.1846, -1.5385, 6.9402, 1.6728, -0.022, -0.0757, -0.0122, -0.1709, -13.3949, 6.9812, 1.1013, 0.1978, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8246, 0.6132, -0.4938, -0.0139, -0.0307, 0.9986, 0.009, 0.8234, 0.7044, -0.5255, 0.0353, 0.0189, 0.9985]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1534 left_yaw=0.0005 left_pitch=-0.1354 left_roll=0.0019 left_gripper=0.9986 right_x=0.2882 right_y=-0.0001 right_z=0.1881 right_yaw=-0.0387 right_pitch=-0.071 right_roll=-0.0089 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.7162, 6.9538, 1.7021, -0.0513, -0.0513, -0.0122, -0.3077, -1.7983, 6.7761, 2.1856, -0.0415, -0.0659, -0.022]\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, 0.8299, 0.6132, -0.4961, -0.0139, -0.0307, 0.9986, 0.2882, 1.8603, 0.9463, 0.1696, 0.2367, 0.1658, 0.9986]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1515 left_yaw=0.0005 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9986 right_x=0.4617 right_y=0.0974 right_z=0.0439 right_yaw=-0.0107 right_pitch=-0.1462 right_roll=-0.0391 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.7846, 6.9265, 1.6484, -0.0513, -0.0366, -0.0122, 0.2803, -9.6479, 7.241, 1.79, 0.3004, 0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422623cb3380c006e6f50d52f47afe01bde0135f97f9dae232cf3608a54dc774",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ade3abfb28571f14c73425ce7113627778a03e36d43394c3f9334dcf20b895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df578c5b4bf18eed8b1402db76150f3817a9f7c7fd43c4995b18720fd8923aff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEyNHK6ORrJd7wrCzIZCbDJRqJKo1PfqRBtQbDgrENPzCvg6STexofiDyZKi7XYucPBD5nZl8VnZN6bFghZ4F9irkKE3MRFKIqnhUEJuWo_SfR-wgOkRorsjE4V-774qhW2jFlyo327I1DXDcm3SW6M-EVjo2HNCeNznKrzzHDGyJR95g2SmTrX6I6celKTEr04vh8ZN2mEntXnQdjwM_d54XbJZRRlMOVBoQfDT2XoqdG6HfMMArVmvoYKe_JzXxK96PVxlBAi-1XsTpj4noJzjGWxefDgSvtxkASvDxniEFe1EJYRohOWkeZfFuxMFA9nsKr9c3J9zJyg6QEQ1X1a8NXvJgw_TZbEP0hLZcTqGMz-A4EvjNPnJCIUaeGVCGWOwMsBHkS9oCzo4zNdH61PaviHpxbdO2dQn10ReMYlKgifwMcP67_uAKNN3vbnX_d4gaLwDAbIDIAvjRrq5Xm1n5Uj33KL9GHsWv1EXoy3C6P9qz1MOgQvkXV8XeLM9hYNlXaErC9QlCpW3s11cHJtDVbgr6S7347mM6gF4J4b_EmqcVAsfnodu9sZuVshlNhD8KpyapN1WYXNpgS4FlqnLI4FVXGKUf07BGVqnWef7G04riCxjdeAGyigHkOwAzNrQqWKv4CvxOt8OgwJSuA4V5YgUqT91uisDALdtOZTv_fS4HveWpx6BfQUwdpjzKRRfqg7EJf-AgHPxbENEkVv93Gq6gKHpAU_DZjiSGKiLIIH4REL6O-omUzQvDR6qcGpRgkMnAQd2BxAsoVv5iodIR3n-0DM1ueZG1orgBv2wIxJXYJO3H0ZBZb0UeYN-JA6JxJFGyXHX9dtaNffEYAWePrknYwjoHKNRRJ8Po-_kup3mZDLb7d_5rn6JB-vrX4iS5O92iJ6SAAI0y1q_Lat96gHh3ROy1_cmRG6stbCr7SyLPofRJOKpxlx4i73YxvB4Ib9v1K12bmG0ehQwH_urBoxwTfMCc4hg6o1DSpo3iq_RkHjP2J2sZX9QXVHuIVjKcMwhj5JsW8ATaR6xJV8-7d8bysUeI17OBK77OawwvJuie2Bxik2OEsEGXJHX5ER7XKrAPlR22TxU4AAAwo7Ps8mdhWob7V2LXCroFNbtyjTKWdXQmEFfnefy1Hk5SXIjUpkFnTEU_b0-J2zcJdHaeyyEOx40OdLIUXl5TqrBqdpTy2IGhI9tdiXAVDU0c3Pmqo4KNltuM012OyR2ohLAehZGSRsPlFAhAP1kXIxNpXFC-dLWoyiwiJKcwxGfW-wp8GNK3Bq3IN6GEIvI6aWSh548NIomwTVVbRmfXPr1NWSOL11kT5h20tFElH4s6TJQg9M6H3hJZrCt_-snVkX5ynB17f9vum1apQw_kmrMJqVCJ_9XZs1trrZxIof1J1dt8l6QDmdDjvzn0qX_J9bsZ1KN4zX6U6eWkouDO2fAhoM=",
  "id": "rs_049767d523bfbfd7016ab44c8bb12087d08f635310ca1dc724",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.09,\"right_gripper\":0},\"note\":\"The approach is accurate: the pear’s lower body sits at the bottom edge between both jaw tips, slightly right of center. I will make a tiny rightward correction while closing to secure it.\"}",
  "call_id": "call_scdiTcwHTDj1ZPb5AcdfR20w",
  "id": "fc_049767d523bfbfd7016ab44c8c30b087d0be1515c53858e89d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_scdiTcwHTDj1ZPb5AcdfR20w",
  "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, 0.8303, 0.6132, -0.4957, -0.0139, -0.0307, 0.9986, 0.2729, 1.8736, 0.9485, 0.1753, 0.2085, 0.1539, 0.0395]\nstate[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.1515 left_yaw=0.0005 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9986 right_x=0.4634 right_y=0.0955 right_z=0.039 right_yaw=0.0038 right_pitch=-0.1569 right_roll=-0.0309 right_gripper=0.0395\nstate[joint_eff]: [0.0479, -1.4291, 6.9402, 1.5849, -0.0855, -0.0317, -0.0122, -0.4718, -9.9624, 4.8479, 1.4335, 0.2857, 0.0366, 1.1844]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13cc297fe83d6520d7593dfb0cf799b6cbdd6332d8a798b3446e443652297a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd6ac36eeed5ec216624a286802f39796fc98dc0e64e7d3db843180ae559703",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac5be7179b6d3d0e8b3e565a6d8d80e94bffa5842aaf0e596cb0a6565e02b2ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6132, -0.4915, -0.0135, -0.0307, 0.9986, 0.8845, 2.0476, 2.3276, -1.5646, 0.2916, 0.4328, 0.471]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.155 left_yaw=0.0002 left_pitch=-0.1285 left_roll=0.0015 left_gripper=0.9986 right_x=0.3074 right_y=0.3008 right_z=0.2425 right_yaw=0.2817 right_pitch=-0.6058 right_roll=-0.1689 right_gripper=0.471\nstate[joint_eff]: [-0.335, -1.4974, 6.9812, 1.7216, -0.0171, -0.0415, -0.0122, 0.4855, -12.8068, 6.0376, 1.0232, 0.2711, 0.2418, -0.0073]\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, 0.8299, 0.6132, -0.4961, -0.0139, -0.0307, 0.9986, 0.2882, 1.8603, 0.9463, 0.1696, 0.2367, 0.1658, 0.9986]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1515 left_yaw=0.0005 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9986 right_x=0.4617 right_y=0.0974 right_z=0.0439 right_yaw=-0.0107 right_pitch=-0.1462 right_roll=-0.0391 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.7846, 6.9265, 1.6484, -0.0513, -0.0366, -0.0122, 0.2803, -9.6479, 7.241, 1.79, 0.3004, 0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.4957, -0.0139, -0.0307, 0.9986, 0.2729, 1.8736, 0.9485, 0.1753, 0.2085, 0.1539, 0.0395]\nstate[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.1515 left_yaw=0.0005 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9986 right_x=0.4634 right_y=0.0955 right_z=0.039 right_yaw=0.0038 right_pitch=-0.1569 right_roll=-0.0309 right_gripper=0.0395\nstate[joint_eff]: [0.0479, -1.4291, 6.9402, 1.5849, -0.0855, -0.0317, -0.0122, -0.4718, -9.9624, 4.8479, 1.4335, 0.2857, 0.0366, 1.1844]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13cc297fe83d6520d7593dfb0cf799b6cbdd6332d8a798b3446e443652297a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd6ac36eeed5ec216624a286802f39796fc98dc0e64e7d3db843180ae559703",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac5be7179b6d3d0e8b3e565a6d8d80e94bffa5842aaf0e596cb0a6565e02b2ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEyQwJq-BrYkqLom0VprXkhr1I-8HZja2U25tLNiIVH7VsUg9HaADAORCyql-a7743QGmcpLBo4UaCAOzMT8xs58VY5iXVAqW0ervwhuYB8aHMEYESDrIk86X5zI6aAV0v_ZnBqAj3NT6Q4_Zt1CwYIv1f0ubMb0IqPW6rOe_-H7LtidA_i8-z3j1B_nvGYsDdyCdJU-wEEjAcFUwr19TSkfY-8kYwf3dHCbj2WozaHi1ykL-9v4gYyXpyT4nH1EztGLyV5PviWEDEG-A2oR84c6H9v0kt09dz9UHwbVmkbFTW1-mo0MDCWqOH3suFBvyG_hRJ3jQSglCjl0RL9IS1x-PzWZ3JZEqSogPhg8HxGmx-aVVzpr5Dt0Yo5dPLm3bjdgHnbGiwyk8QhH8_NHK_-cO6YpVxSe4YngTRsQ4cAh9bCt7OsZ4ElmMyCqNo8uS6vTwYmlDT9jLFfgDZNNxwTR-GuCpoNlPh3riw_fJLPpynF2nZY1zVOiQQ9TkOgqmtNep1mxQMskRQ5fGnduzvRzh26vBrbAd3DS3cglcjBtqKrCvZpX8wnovYdmkSVHaGk5SYkHrM8b550R74338Bn6uchp8imwUPIaETQyQ24junH_7PUkAvh41UEt2kM1FaafbZ7-ShbBCjHWOaUfc8FQ8mouv9NJWBLSEfBKOKm4OjbLdRxAEkEXUCJW_gZzh_s6jTBe19ka6K7_rxR7oiH4VerkYcp2xcHSgJIK8ekDYu8-cJ1QtoQlN50drqzr99ZyNO6CyTrxG0_J592lVKeifps6n0nDWduNRWV3YsWN2xGNCOS8GADg9BsYEZlJeQe9QsPCwvpOr8c7AfEnoMWKEOBfluIusLxKZCZ41nNGRePylzPlvjhI8Nqnrrhg7WuVwob6fOr-DbUIA-_sPF0NILLk5l54NdU6uQUSiCwCXcHip0tjSMl8dhUC4OeRN2pw91VDN_4xan6Hhamgzr-Z5hXC5Xq3U7MDV1wJYF8UUIGLlgfis9NkFYFS2SV_IN6z6cdxF6YJfcUdryvbWvtergK_EJTbhUiJJasbyyPZfQX7uAyA-EncqXKSFqgbCv9WYJM0NGMoOxie1BE_saFVUwOsXWwPcRv_FRMeus8mtKYXAUx-ffoZyZUQQCDNKyLHWV6bsZm3VCIhdQ_EzmdN70QlL7Ti3w3mGeaSzgccXJpC2nVgcaMC0016C8WJqrSENHD6l0ng4GH7R6ovsyTgiovFVhTL4Msx8FPSeq8LizQuI-tDI3N89lVgp67sEEOP1gstOGCuoR78nJda_Q6EbCYj2ziDgFhcFowTGnV8BTDkh171TNfwoS_nxrMSf1cG9jjAo_m32Wc3X-tmOjPZBQEsACU4uHCmQr-wl7aOzTLH4Lv24lNb7itHBEjEjZ4xnKvP8zHp5SCsdjUuoghi-rSqhFHeKdRMr6ChOvPZQrQsJQQF6ef-fKpZpcBxT33MkTtBUEE8mLkCCJ0lkNJxUth_RJKNHZCzC-qT9NoZkr5Upri4LYm72Lo-31jKK5BM",
  "id": "rs_049767d523bfbfd7016ab44c8f11c087d08ab0ac4dcd749f9b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The gripper stopped at the 0.04 threshold, possibly holding the pear by its narrow stem or edge. I will lift about 10 cm to test whether the pear moves with the arm before transporting it.\"}",
  "call_id": "call_f9DAqqfhJ5yhNaJgmgaSROgz",
  "id": "fc_049767d523bfbfd7016ab44c8fb53887d091c172deea8cf429",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f9DAqqfhJ5yhNaJgmgaSROgz",
  "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, 0.8303, 0.6132, -0.4976, -0.0139, -0.0307, 0.9986, 0.2729, 1.7279, 1.1316, -0.1928, 0.205, 0.1459, 0.0396]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1512 left_yaw=0.0005 left_pitch=-0.1449 left_roll=0.0021 left_gripper=0.9986 right_x=0.4604 right_y=0.0952 right_z=0.1125 right_yaw=0.0092 right_pitch=-0.1955 right_roll=-0.045 right_gripper=0.0396\nstate[joint_eff]: [-0.0752, -1.388, 6.9538, 1.5946, -0.0611, -0.0708, -0.0122, -0.3487, -10.9744, 9.0462, 1.8046, 0.105, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c72e1124191a5f77b0028de256a03b5c6f12c6cf43513fd02433f57d61f524",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e01440ed72f5bd6068b2b67155f15f7176cbbc5cd32b824e30394e0ffe1a44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ad8639c642460a17b5c96ca0f915ec8c5927ffd4d48360c9ceff082b192c42",
      "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 87 changed as sent

message 95 changed as sent

message 99 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, 0.8246, 0.6132, -0.4938, -0.0139, -0.0307, 0.9986, 0.009, 0.8234, 0.7044, -0.5255, 0.0353, 0.0189, 0.9985]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1534 left_yaw=0.0005 left_pitch=-0.1354 left_roll=0.0019 left_gripper=0.9986 right_x=0.2882 right_y=-0.0001 right_z=0.1881 right_yaw=-0.0387 right_pitch=-0.071 right_roll=-0.0089 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.7162, 6.9538, 1.7021, -0.0513, -0.0513, -0.0122, -0.3077, -1.7983, 6.7761, 2.1856, -0.0415, -0.0659, -0.022]\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, -0.4957, -0.0139, -0.0307, 0.9986, 0.2729, 1.8736, 0.9485, 0.1753, 0.2085, 0.1539, 0.0395]\nstate[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.1515 left_yaw=0.0005 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9986 right_x=0.4634 right_y=0.0955 right_z=0.039 right_yaw=0.0038 right_pitch=-0.1569 right_roll=-0.0309 right_gripper=0.0395\nstate[joint_eff]: [0.0479, -1.4291, 6.9402, 1.5849, -0.0855, -0.0317, -0.0122, -0.4718, -9.9624, 4.8479, 1.4335, 0.2857, 0.0366, 1.1844]\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, -0.4976, -0.0139, -0.0307, 0.9986, 0.2729, 1.7279, 1.1316, -0.1928, 0.205, 0.1459, 0.0396]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1512 left_yaw=0.0005 left_pitch=-0.1449 left_roll=0.0021 left_gripper=0.9986 right_x=0.4604 right_y=0.0952 right_z=0.1125 right_yaw=0.0092 right_pitch=-0.1955 right_roll=-0.045 right_gripper=0.0396\nstate[joint_eff]: [-0.0752, -1.388, 6.9538, 1.5946, -0.0611, -0.0708, -0.0122, -0.3487, -10.9744, 9.0462, 1.8046, 0.105, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c72e1124191a5f77b0028de256a03b5c6f12c6cf43513fd02433f57d61f524",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e01440ed72f5bd6068b2b67155f15f7176cbbc5cd32b824e30394e0ffe1a44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ad8639c642460a17b5c96ca0f915ec8c5927ffd4d48360c9ceff082b192c42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEyVaYwhvLf1c5icbqCwly9wLd1Mh7SQVRkoIGae1dHgM1LTn2LgXuJ_8OfG7qKCowXG47yN4TLfBIsShBiP6bdaoTVxrInTq40BvbPc2s4rteGMT4NJx_rst9g8BulHc4B5lGDypXA03r0jnaYu6CBZSPGgA5GJmy9va9IGJTyhVtLftT_A7YTJQc8bDd21PPYJ81lqgqYu6uu6qh57dymQNj_TcBB4NRoT9cnPPAWFA3BUS1Dnpc6MaktFOnoh2KGrY_qlEhO4Wle3WIqIiGMyCGHijKhRCbm8jMIPZ2l5tAay02qhuZPRzZQvayBMHGcxW7wGd31QA9EcbEN2xIwNc63UhOzSOEwVA_klQcqOAQoG72ApCOCAmaZUGt8H1MpqTd2MKsSTjgez-sZKIup6pWBAu_IXt9Ifn0YrurPbuICewo0XxGaw-9OXI9l6CeWQDd6DdWueExSOtKGtsaXccTn8Xh7owvRRu9O5zlgVktzdPopBsE-bw4ZrrCHAeyODbniM3GBi2LewK1klb9DF6OTWMwxFq47Bdw7OFQo0hc_7abj2mKDI1mGIvzJfGKkAsHrMKr6UdHkuGhfQgNeN_bVq2lc1QZcH_warK1iOHgfVdIYeHV4PvFnKTeauc213Q-vXZPwTZqgk5ySCgmrhUH6td4K6iHVlq5xOBlYURI1fbgm4on2IazO-vbAUQRVhpinDde-Jf6Nt7_wLc2oAozPoIOcSKiYVD5JC7HpwVCshngJInXhyEybJEU19HfDqpZHk6Zj7qv669kpr9LYn6y7sj-REEAxTKeIjKl_GCdhk2xQNK97d8xedJeMOjG5xL9XH_KSMpqGm6GKE7fdgIw84Ii7dVlzIghDdg9QmsN3JA-frk0vDn6FeaLrwSosHDxvpO9nBwnrO36F5cXp4r7vRXdfcq-5v2BylA4XGj1hFV73jRo4jB8MyXjPGZsiLkHPhf5EbQpt_hB4d7A7nJsFuKBR81e2sWjFnGkxjtXn4qXWFBYJ1saZIjdam91ha3TaYQ-GePoDHm5eJ4ZSW_Za72LFsRD1lA3_8xLBpojXO4Hsz6H6m7yZ4gyUtHocdqj-aQD7psrShyW0jm4ntskHgNebj1gjyU6n-2xBgALo089hkg3g-yS2_ALlnJ-xab6PjGCS7hiLs9z_NHVQdFQHpxsaTbqsjjfbcg6ZKELBBEopSysYMjCIhNynn_IQRcUkcxyHONjV9Vs1q5xm_-ZTeG7ouHpBKFOi_lKYStdxxVxrYETslAb3uoT5P7wscO-55G-vLkbLpDRjNUwRiQEvpiJAi5YzUc-oEj6RDa4EI32nxgRlLSlx--b4VY8fe8aJ0tWwYw8jcdCVIxH1B_hsMOOSTo3OezR153DtD9nnVIui5f4LLxKUadOPyp85LBgWOuE5YXPLPgDG5oqO9M56w14gGk8E0m15d25jaGbpqkGxzZGaSaaIMF8CApc1KhJ0uRwgEjql_ulvarwpZ5pNV5znqhiIZ2ZwjvtF0BUQOs8KvEgzSsH65JNCl5Zoe4yDakAZrJ7xgvLqM8NkaBeo1NMKSLRxWi4FpjvWEevlg5DjCxiBJ8_kxmHD1cdzswUPhTh-MGiSvuvzUJTOBKoQJudqt91rS3GZrfGfNRpcO1qRnB9clhEOHX7iF1SP1obZVeszAfhei48zdVqwDrgw83-KNBvcquzbgKdE7eMLOlfDbwJsAiyJOykNdYgdWTY9wOjWhgyOMjWJ-puSJN6u2qpy8xXr97vkf6BOEaxdYsMLfrAFrE_RL9HO3gzYw99HW2mU9sizS5EYcW5M0yA==",
  "id": "rs_049767d523bfbfd7016ab44c9304d487d0af9bfea59b89828f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.08,\"right_z\":0.045,\"right_gripper\":1},\"note\":\"The pear stayed on the table in the wrist view during the lift, so the borderline 0.04 reading was an empty close just short of it. I will reopen, descend, and advance to the table-contact reach limit with a small rightward correction for a deeper body grasp.\"}",
  "call_id": "call_9Qk70S8EXIecpWvoC9PNb2gp",
  "id": "fc_049767d523bfbfd7016ab44c94657087d08637f37c616287c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9Qk70S8EXIecpWvoC9PNb2gp",
  "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, 0.8322, 0.6132, -0.4988, -0.0139, -0.0307, 0.9986, 0.2184, 1.9217, 1.1, -0.0044, 0.1574, 0.0944, 0.9955]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1504 left_yaw=0.0005 left_pitch=-0.148 left_roll=0.0021 left_gripper=0.9986 right_x=0.481 right_y=0.0821 right_z=0.0417 right_yaw=0.0218 right_pitch=-0.2404 right_roll=-0.0564 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.4838, 6.9402, 1.6044, -0.0513, -0.0757, -0.0073, -0.7179, -9.1282, 5.6547, 1.8584, 0.0904, 0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1bd591379d13ed92c0a7a252f40ee2464235e94fbbd6cdb47060e120004e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e8a7c78f03c1b729df5298908d5891daf0563f1d70aba0ed3f0086d45ef15a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f45e072a19d190f02a2b361e4418d5e0f9d1a71351ae58d1ef4bbd02888ba9",
      "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 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8299, 0.6132, -0.4961, -0.0139, -0.0307, 0.9986, 0.2882, 1.8603, 0.9463, 0.1696, 0.2367, 0.1658, 0.9986]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1515 left_yaw=0.0005 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9986 right_x=0.4617 right_y=0.0974 right_z=0.0439 right_yaw=-0.0107 right_pitch=-0.1462 right_roll=-0.0391 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.7846, 6.9265, 1.6484, -0.0513, -0.0366, -0.0122, 0.2803, -9.6479, 7.241, 1.79, 0.3004, 0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.4976, -0.0139, -0.0307, 0.9986, 0.2729, 1.7279, 1.1316, -0.1928, 0.205, 0.1459, 0.0396]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1512 left_yaw=0.0005 left_pitch=-0.1449 left_roll=0.0021 left_gripper=0.9986 right_x=0.4604 right_y=0.0952 right_z=0.1125 right_yaw=0.0092 right_pitch=-0.1955 right_roll=-0.045 right_gripper=0.0396\nstate[joint_eff]: [-0.0752, -1.388, 6.9538, 1.5946, -0.0611, -0.0708, -0.0122, -0.3487, -10.9744, 9.0462, 1.8046, 0.105, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4988, -0.0139, -0.0307, 0.9986, 0.2184, 1.9217, 1.1, -0.0044, 0.1574, 0.0944, 0.9955]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1504 left_yaw=0.0005 left_pitch=-0.148 left_roll=0.0021 left_gripper=0.9986 right_x=0.481 right_y=0.0821 right_z=0.0417 right_yaw=0.0218 right_pitch=-0.2404 right_roll=-0.0564 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.4838, 6.9402, 1.6044, -0.0513, -0.0757, -0.0073, -0.7179, -9.1282, 5.6547, 1.8584, 0.0904, 0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1bd591379d13ed92c0a7a252f40ee2464235e94fbbd6cdb47060e120004e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e8a7c78f03c1b729df5298908d5891daf0563f1d70aba0ed3f0086d45ef15a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f45e072a19d190f02a2b361e4418d5e0f9d1a71351ae58d1ef4bbd02888ba9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEyZdKxyIkBZ1pVBZlX1tof2bMlqXkn6G2ckIhCd7a4iyGVQATqb5QLRqTNUHVUhvbdTczvaEzCTbksEykFfEeqLgdlu4M08WsRXpKVD8SZuOeTduHnpo-88GjOnRQ4J-bEwjxx31e8JJBKEDJdkq3Z1k1Oc33fr5Wmy8dLxJaGrm5LgJREPSZeRUzgb-ZAiX6N9SDfeeoW90yU9qVSHdTXxtgQd0ltA0QNbZcB6zTkEG3QgE3f_uitBIkt4MtYStMjGFNtTXhQbRAvT3yI2ByoH4aFrOvLTEx-rS_SmDMhpWptfbKwrOUWNm0AEWbZsOpAPgw1R1PBWBUsJWXuap6ZVQf_UXemBQVBEnFFxiPN98yMVbKCJsaJ1lG9XQs2cY5TLVcmB8pvzLVRUEFtYvyu-P8wTP2XXoGVwhl42mZ4KW01a4TUUmPTsE6MaMEBabAsZ6b3XsPVUVuJzPAINKNGazvGTThfHawjqr_lwhY08IHcTr2hVF3iUwGYRRrHXyHFcuyaPVdPuAlK8SCv-Di07oFuxNhldsKu-autQoMMZYVc0Ds5sePuTW2rHwFvJSWCOve4GWyj0K3bkhfuzTfTQu6uIZLu4y-THVDEf8pjBHzAalt3gDi3SSwMwA2yOvRwIackxkaK1Nptp-2hcDAXrh5uzKYaDFqmpsLT1cczogBxI97ZsU-enviSpcz73D9-29BoiNcCzSlZ63K7RusYdS8WdjslKeeb1DjuVQYoQz3Vq5xN4ZsErvU66l5shHHSw1JO0qzpq7Xfl3penV33bI9jOWrRAkSVb25HmE21ulF721i-6LYlNyDJREx_nzLCE9_gBbjF74vZbgcCpqNwTE4wmv4zQsMECxXUPlvKVyRbdpdFW_1AtcMF-vStvl9Dmr51J_vbX9xpn76w09mBwbtVCm9YJCXkaqXp9geyYOkiWOodyhNE0tCf5ZBSpM0rbZ_aikJrkrDqW6m-d5SWE1ieiLHyKctBoodvrTJIrEg0H2d67BozN0EPEVmbAvFbFH_HGW8N0gUAyqj0bJrtkKm25zWQdKVvI8PFBT2UPSQ9kOUoIX1DKwBo3Kcr0kdY2A-9E1nF6MajxIRV5OX7z-fJ1U38MPINfMtu2qjyC2zsIi10hq4gT83JCigJjXzZbzpqPKveiVhszpTG62Yp8urLBRPkkH8duU1JgAEyRL5n9VqIY5y1swSPd0GU58Qw5WuhzmGqqJ2-3_4T2gKXb03rq93VCG-v11pSVCfb39e-fC7AtxMzSMJLWO0anh2aHeU1WBtTz3GA_vUlXPOaa4o8GKAap5-MX-ysNo20Me8v2bv16MtI45M1HDzXBekMgxDDV5Aope1rsYERZlfbTTq567en9-5hJLv7WpGUu7GGI1XYEzKYJd6sUcynMg3Ml",
  "id": "rs_049767d523bfbfd7016ab44c978ec087d0a6dab706e9623fe8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At the reach-limit approach the pear’s broad body now extends into the fingertip line and is clearly between the open jaws. I will close on the body and verify a large retained opening.\"}",
  "call_id": "call_x19qWMOSJ1zXnyVMPQwre8yu",
  "id": "fc_049767d523bfbfd7016ab44c98126087d08de973e9d7d9e316",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x19qWMOSJ1zXnyVMPQwre8yu",
  "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, 0.8322, 0.6132, -0.4988, -0.0135, -0.0307, 0.9986, 0.2188, 1.9278, 1.1004, 0.0032, 0.1429, 0.094, 0.0213]\nstate[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1504 left_yaw=0.0002 left_pitch=-0.148 left_roll=0.0019 left_gripper=0.9986 right_x=0.4817 right_y=0.085 right_z=0.04 right_yaw=0.0349 right_pitch=-0.2406 right_roll=-0.0456 right_gripper=0.0213\nstate[joint_eff]: [-0.3624, -1.2376, 6.9265, 1.6142, -0.022, -0.0659, -0.0122, -0.1983, -10.0034, 5.9966, 1.2723, 0.2662, -0.0269, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922663f0673eeb48df157593528e63dc5725489dadad2a98d4f3b4a26ec80300",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01908e94ef944f8c8b4806997cf5e0ad65202409d004934d0b4a6c3ff678e89f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:619fcbca11270bfe598f067d4c060b45f73e9630aeb9ef2e519bc1c10e005007",
      "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 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.4957, -0.0139, -0.0307, 0.9986, 0.2729, 1.8736, 0.9485, 0.1753, 0.2085, 0.1539, 0.0395]\nstate[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.1515 left_yaw=0.0005 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9986 right_x=0.4634 right_y=0.0955 right_z=0.039 right_yaw=0.0038 right_pitch=-0.1569 right_roll=-0.0309 right_gripper=0.0395\nstate[joint_eff]: [0.0479, -1.4291, 6.9402, 1.5849, -0.0855, -0.0317, -0.0122, -0.4718, -9.9624, 4.8479, 1.4335, 0.2857, 0.0366, 1.1844]\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, -0.4988, -0.0139, -0.0307, 0.9986, 0.2184, 1.9217, 1.1, -0.0044, 0.1574, 0.0944, 0.9955]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1504 left_yaw=0.0005 left_pitch=-0.148 left_roll=0.0021 left_gripper=0.9986 right_x=0.481 right_y=0.0821 right_z=0.0417 right_yaw=0.0218 right_pitch=-0.2404 right_roll=-0.0564 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.4838, 6.9402, 1.6044, -0.0513, -0.0757, -0.0073, -0.7179, -9.1282, 5.6547, 1.8584, 0.0904, 0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4988, -0.0135, -0.0307, 0.9986, 0.2188, 1.9278, 1.1004, 0.0032, 0.1429, 0.094, 0.0213]\nstate[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1504 left_yaw=0.0002 left_pitch=-0.148 left_roll=0.0019 left_gripper=0.9986 right_x=0.4817 right_y=0.085 right_z=0.04 right_yaw=0.0349 right_pitch=-0.2406 right_roll=-0.0456 right_gripper=0.0213\nstate[joint_eff]: [-0.3624, -1.2376, 6.9265, 1.6142, -0.022, -0.0659, -0.0122, -0.1983, -10.0034, 5.9966, 1.2723, 0.2662, -0.0269, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922663f0673eeb48df157593528e63dc5725489dadad2a98d4f3b4a26ec80300",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01908e94ef944f8c8b4806997cf5e0ad65202409d004934d0b4a6c3ff678e89f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:619fcbca11270bfe598f067d4c060b45f73e9630aeb9ef2e519bc1c10e005007",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEyd-7BUgY1vdqtC90nfaGrIkxw665ip3yJszHA54uz-_hfw7JDLSOjHal__dapjywUfvWPIYbG-HnvAZ9WhdJKs1J0kA6QYXQoBQaDK7N8JaUpN742m_hAFwIRlbncQCuJVeO8xdqJGNOMtDiXDJkzChluce2lRY3MDo7NlOJ3oz2mtcVPpxobgxzQy6OSslXtVeqTXHsdpF9Vakcm6BrlOE-kQPaJVMKuCVQJZfOxBuHKjnxpfIBArT3w-PgyUuSelnYw6FcAkhjpRBiY6o-_TKlNt7_lfjafIcd1b_mVItyVPoQr9m8VEorz60M5u0nvxAzeY-eOrqNk6uP4Pl73uHuVFyLkUIpnZW4DVv08WHrqAUFy5wDJdh6W9_q_3cfiLdlQtgL2yxQ7AjM00XI4tf17O0bgXMqriTKtBkDClmnBylDY9Lv99cyZoHX-K9JO9vBApoMo-QKUmJliKiu35dREQRf_bb3tK-G2rx1IWK4End-CZWXNG4IZqjtSbJyR21byo6LuYHUEMNyG9GRxq6AcXaeZIwCOkn8mUqlbXQyGYkmgADBe7SSDCMyRgDY5ta19ypZRfVfz8lTcLm5e0wnHff0499E_NURP0NydmwuoIevdsw65qMkCmbufWZ2kK0rhJgZooFUcG1FUhYi6bsT0BCDXMs6puhT3khAkjIOSMGS-tAQPFypYTYGisjEBhAKAxVG0Hnz11fvynKOLLaCSdSpqq7DdZGmx1RzloU7hOLXMLqFSMTQmtocx7VcSghZCjyqnUN7HuVgCNNSoWvyszdR1gqtuFnh35pgurpbZBJazsTA8STHEMg3wy_DyKpacBSLZHUy4A2HKkmBMJ1lHKTH1EGMZIMQfU3VjzXgvaEHN8vgfzzG-43ZQRXHwM1uF7n0vTwOGaqnCFaAyhFuxgn-0e4Fx72yoaS49SFabE29MmdTomQQOapFgPurU4boLGUL7RIdxPIUfCXhfnMBPmEJrmSHPW8e1Ei8q8HAVibHWaVsCUlF59fiuHEx4CMAOzaGpww5P7xX7Ch8F5x5FLi22YdqnkaqH2mLHjvluM1Q6SyW5OBVULwhZxQ2DOI0mYymbEjIJUIRX-xT0mgXoFFg9CFZAh10yoJuSoqRlEdC1Biyjp5jeiFUYlkJXLDdA8OPkE4SNdDQLDEbo7n49adIjRNB_PWhpGAQKCOk-RDHmJ7LBmBsaq4bO2Xyr2b9deRLtVO5fWdhUylP9y8S5SkdBeZ_zOB1H1gT5m9pjYJjnjbo0AP8KnyzVoFSWr7d7sVXK4jpKFy0kCjOTLOE7p5bt77EoWNnqr-oSWSo05nQn-i97ezt2O6S_4oJt0O8pIbGoHdC5zMv6YjOxQteL7_RJ7a6GO8WZbhLsV4X7Iyke6RsJDw0FEZVBppBX94djcQlq3G7hAFq3njRScX8bMVYACWBYScnGIGUpR5dB-ryJlcGYUtlfXsjaIhLVxJwoWmlVhfGmF8f-_P-z8-W8AUdcwctgwROz0hZvojtTKp87OI3p5rdYdLz8Myy3EgzQqjmmHZwI-IZ_lCxBxvk1u1712bY4i0D-3kV6oQQ-oMDoz8H0WBqwoxbjqXCPpGU1n0UPbY2fvVa1bQL9PSPvG2K_p7axa7_OWxqcxA7SnfOcBgAF25bQE9vf8dXPpzHkHqLncGeVz3ujArJqcfSh0JHNiyqdhRrwHMOEiciaohEoTSopMOzA3aUDrtqLG569GmLiM0nmEkEdl5ye0OlbsVkPzuJaauHHgHuZm5Bu08ZdQcqQkSayY0fVKJ7aTxKdZDep0eKgc-qZ_oW5ji5pdP5h4ypG4IQeskssoYgAZHycpHeazFwBlrQ6uzHfFOAl_lgGDWpre-2xXrdOk7A7UDqThbAQbxcSV-BtfYlT1PmfOwa56YHlpont3p_9LBUn1EcoqwkwwtRK4XZYxhBM4ibk6_PBEG5tQ3xqoRScdT257AkwaU-bu7AG2cwhyNUC2EzdjX1oW061CgQ3o5nMnIacH-Ex0x2t8FNPoW8YVBrg8W9VttxpW7AyAy92S6SaCClHri73fSP078Meh8yiiyZ89sNU75VSaq7MMG8dA78DiDRn4QT_iGNqU1TzmwvxppTyTFlo-apJQEeDI8Fx--E5Q8Yu1YB6NrmB6-0az5yzljj6j9erKDjyRIZ_nL-fb0URPrfPuJjyhRt3NbM1d5Jl6OMCq8qhdiRS-gQU=",
  "id": "rs_049767d523bfbfd7016ab44c9b225487d0ad7371679ee9a9ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.17,\"right_gripper\":1},\"note\":\"The pear is just beyond the grasp point at the right arm’s x-limit, but the blue bowl is immediately to its left. Rather than repeat an unreachable grasp, I will reopen and sweep left at table height to nudge the upright pear over the adjacent bowl rim.\"}",
  "call_id": "call_ohXn0kHfsbpoYLOMzJBoITSB",
  "id": "fc_049767d523bfbfd7016ab44c9d098087d0bc197c0bc45bd3bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ohXn0kHfsbpoYLOMzJBoITSB",
  "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, 0.8322, 0.6132, -0.4995, -0.0135, -0.0307, 0.9986, 0.4221, 2.0079, 1.2198, -0.0807, 0.2565, 0.2199, 0.9954]\nstate[eef_state]: left_x=0.2803 left_y=-0.0002 left_z=0.1503 left_yaw=0.0002 left_pitch=-0.1488 left_roll=0.0019 left_gripper=0.9986 right_x=0.4755 right_y=0.1683 right_z=0.0359 right_yaw=0.0684 right_pitch=-0.2585 right_roll=-0.0541 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -1.3333, 7.1316, 1.5897, -0.0122, -0.0464, -0.0073, 0.212, -9.5932, 8.0615, 1.4286, 0.2222, 0.2515, 0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfbf6e85b1c340604032de2bfdbd4c3024632bda92b7a5aa18781b0573adb474",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:885a5e4be3beeddc9a86ac5ac89355522dbee90bacbb0b3c6098e42dac4e770a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8522442c32b902e9465daf4ccdcf1846f835eba83f3c65d15a7b3c3f010cf5e",
      "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 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.4976, -0.0139, -0.0307, 0.9986, 0.2729, 1.7279, 1.1316, -0.1928, 0.205, 0.1459, 0.0396]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1512 left_yaw=0.0005 left_pitch=-0.1449 left_roll=0.0021 left_gripper=0.9986 right_x=0.4604 right_y=0.0952 right_z=0.1125 right_yaw=0.0092 right_pitch=-0.1955 right_roll=-0.045 right_gripper=0.0396\nstate[joint_eff]: [-0.0752, -1.388, 6.9538, 1.5946, -0.0611, -0.0708, -0.0122, -0.3487, -10.9744, 9.0462, 1.8046, 0.105, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4988, -0.0135, -0.0307, 0.9986, 0.2188, 1.9278, 1.1004, 0.0032, 0.1429, 0.094, 0.0213]\nstate[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1504 left_yaw=0.0002 left_pitch=-0.148 left_roll=0.0019 left_gripper=0.9986 right_x=0.4817 right_y=0.085 right_z=0.04 right_yaw=0.0349 right_pitch=-0.2406 right_roll=-0.0456 right_gripper=0.0213\nstate[joint_eff]: [-0.3624, -1.2376, 6.9265, 1.6142, -0.022, -0.0659, -0.0122, -0.1983, -10.0034, 5.9966, 1.2723, 0.2662, -0.0269, 0.9646]\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, 0.8322, 0.6132, -0.4995, -0.0135, -0.0307, 0.9986, 0.4221, 2.0079, 1.2198, -0.0807, 0.2565, 0.2199, 0.9954]\nstate[eef_state]: left_x=0.2803 left_y=-0.0002 left_z=0.1503 left_yaw=0.0002 left_pitch=-0.1488 left_roll=0.0019 left_gripper=0.9986 right_x=0.4755 right_y=0.1683 right_z=0.0359 right_yaw=0.0684 right_pitch=-0.2585 right_roll=-0.0541 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -1.3333, 7.1316, 1.5897, -0.0122, -0.0464, -0.0073, 0.212, -9.5932, 8.0615, 1.4286, 0.2222, 0.2515, 0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfbf6e85b1c340604032de2bfdbd4c3024632bda92b7a5aa18781b0573adb474",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:885a5e4be3beeddc9a86ac5ac89355522dbee90bacbb0b3c6098e42dac4e770a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8522442c32b902e9465daf4ccdcf1846f835eba83f3c65d15a7b3c3f010cf5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEyisHx-RmBiCoxjePV6wBnLZAiKxhSufn_u8cT9oEjmYt5yPMmH3L0D3Ee6zkDWrg9TgpbmUY8lcsZS8QEi-tE2089i341Pt8kaPWMjCoyjexX1OvCOwQ1mKvJkZMuR0rpL6kuqHDKpZIagZ7DoZiH7vLuK7frEoD6APCuCXpZtEfWqznhfMd32sOdd8jSP1_Boc_noZDHj2Wsu0jgllP9ikvD_7xAmFmSOVqKNuehVCZpTJEart35Oh9DLLVTJ-ZwCCgLDi2XhLUOvIoKCMKlsh21Zyc_GGkMRJVg2olzDVoYbS1KEe3aMC0Pw2qrgmYJnao3Tyi3odD2vFjlOKWPPWrqE-5vLJZR-97J7fGMhigVlIRknNqx65I0VFSva0rUiUTua1guBYOLsnb9ly64ATim51Eh5WbAzjNQdlgrSZrJ53nqSZmviBczWMglUgkM7b1vfeImca1JpFun_oYUXWYMoFe-lTU8_gecYtplTnZUAwOPWMmDS0d6cl-7Gkc4TnmsXMxreO7eDPmViUe_2ZV7NR16H3qUVEcKLyA6wwYFH6b2-CJ8nMzCjkAhqQ3rKXlSzXwzMofJG0Ndm_OjMGUss1N5hmzGQgh8abO3tLz5IdbdL7PL0A8-AOra36lab2xSE3m6Klkg79ByND0f54b8Ss2rnYoib1qdt4AWn3N44x6qtXZqXbomSkm5Ki3-GpOLDvB9zn4dS8-6jhMfT2oWJBgGJa8v8UJwTNdB3OK2lEoPasi-UAVo82zKwCy8_jSvchDcjhNdbIlBRWGyvgQiRJNGh42NziFKCGA9t5wZqnaKfdjnO0xNrrTghtWWPmwQiONPiWv16ICRPKnLi5XdfYBzyAvgvkGomwqCX0TKeowMsSaHpdtLDRkIz62QBBFhAhGQPHxQKoQ5nYDM9nCoEIrr5uln8xqCdL_-R9tTCoTUdgkxkH9n_4j8PrVj_2lXETVVPZ1P-vS_aoCOI64cRtmhABxJUGr4KoH5ztP-XbJqvYrTGxaF0VMAVmE_bjZ6oFZTwSIJweTMdrAJN-cvBfbsJEdL0-Rj4g6AwiS8Y1om7J9l56NA4_ljXgQ1MU5UnywkdQLqf1ZyW-PQsRnrecpjF2ZmGnKwTiZ-zr9HNLzcnP7rSVHUtJZtwQX4T9wAsvKJ6fwSFsQvoJ4rqNBEiphnjFDW7gNvDk0K9V-o2XkmRdcei_j-gKnGCb4uqF4cSRhOaA15-35V925M-rAVERBfUWO8atmtf8wdJokbw-8khucYFNHckYtXXF_dmw2w6EZJKTJKnf9RNHCriXMYwVp3ceHXUfMFtkLjt0J5D2V0UlTa6cCLzuTe52CoJQCOqZsttcYa8N_2mXrIhb_MqmBGPQz4UG3_UOg5VeuO5tC9k1oLMGknku7BBppf4VhjittOJDlmOr_ZOPiFmf-_E8fXK8AeK9RI3Hr11blBplSxK2y67MQ5Ff_xVbPkHzNTqvZj7QdNbDLgf9GUPYjXH_9PuBpK5EkRcTDtEU6ev4hYpzF_md7tENT2f0LK74UPO862KoiVmh3SNjVACk1WZodK_rV9TpqRm4w_IGjed_kxc4cN1vTrZfA5nGdh6QgI9Wnwjg4GnJSW8Sp5LVo4UPbcyowru1fT50WZ95px3w3aucI91K_vURjawREYqPwJr4z8gFmuxSo0OB46SWEL458LtsfE3hXuMt477HxvMbm3rlEJlfPv5v4Lv2AJtWlnGZSEX79LKZmrefplx0A==",
  "id": "rs_049767d523bfbfd7016ab44ca04b8887d0af83907195f0f2dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.27},\"note\":\"The sweep brought the open gripper alongside both the pear and bowl, but the pear remains on the bowl’s right side. I will continue the controlled leftward sweep another 10 cm to push it across the rim into the bowl.\"}",
  "call_id": "call_lombPEtU8Amx9L3vASCAvtnU",
  "id": "fc_049767d523bfbfd7016ab44ca1733087d0a610481d8e8c046b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lombPEtU8Amx9L3vASCAvtnU",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.5026, -0.0135, -0.0307, 0.9986, 0.6239, 2.175, 1.4849, -0.2379, 0.3599, 0.3538, 0.9964]\nstate[eef_state]: left_x=0.2798 left_y=-0.0002 left_z=0.1497 left_yaw=0.0002 left_pitch=-0.1518 left_roll=0.002 left_gripper=0.9986 right_x=0.4711 right_y=0.2669 right_z=0.0313 right_yaw=0.1036 right_pitch=-0.2746 right_roll=-0.0633 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.2239, 7.0085, 1.619, -0.0415, -0.0611, -0.0122, 0.212, -11.3026, 7.9932, 1.16, 0.3248, 0.2173, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc2e817f705af7d7159e95ea0b5cab485eda175e5db9728852728b8ca502626b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16dd77c0798d82dbcc0f9b641a45ffe922c8d674d49cc875d9e5b883dc98f0f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95450de7772483499d4af22a7f1e7fd2e6d99d6cff7f659e879d96a07f53701b",
      "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 103 changed as sent

message 111 changed as sent

message 115 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, -0.4988, -0.0139, -0.0307, 0.9986, 0.2184, 1.9217, 1.1, -0.0044, 0.1574, 0.0944, 0.9955]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1504 left_yaw=0.0005 left_pitch=-0.148 left_roll=0.0021 left_gripper=0.9986 right_x=0.481 right_y=0.0821 right_z=0.0417 right_yaw=0.0218 right_pitch=-0.2404 right_roll=-0.0564 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.4838, 6.9402, 1.6044, -0.0513, -0.0757, -0.0073, -0.7179, -9.1282, 5.6547, 1.8584, 0.0904, 0.1441, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4995, -0.0135, -0.0307, 0.9986, 0.4221, 2.0079, 1.2198, -0.0807, 0.2565, 0.2199, 0.9954]\nstate[eef_state]: left_x=0.2803 left_y=-0.0002 left_z=0.1503 left_yaw=0.0002 left_pitch=-0.1488 left_roll=0.0019 left_gripper=0.9986 right_x=0.4755 right_y=0.1683 right_z=0.0359 right_yaw=0.0684 right_pitch=-0.2585 right_roll=-0.0541 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -1.3333, 7.1316, 1.5897, -0.0122, -0.0464, -0.0073, 0.212, -9.5932, 8.0615, 1.4286, 0.2222, 0.2515, 0.022]\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, 0.8322, 0.6132, -0.5026, -0.0135, -0.0307, 0.9986, 0.6239, 2.175, 1.4849, -0.2379, 0.3599, 0.3538, 0.9964]\nstate[eef_state]: left_x=0.2798 left_y=-0.0002 left_z=0.1497 left_yaw=0.0002 left_pitch=-0.1518 left_roll=0.002 left_gripper=0.9986 right_x=0.4711 right_y=0.2669 right_z=0.0313 right_yaw=0.1036 right_pitch=-0.2746 right_roll=-0.0633 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.2239, 7.0085, 1.619, -0.0415, -0.0611, -0.0122, 0.212, -11.3026, 7.9932, 1.16, 0.3248, 0.2173, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc2e817f705af7d7159e95ea0b5cab485eda175e5db9728852728b8ca502626b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16dd77c0798d82dbcc0f9b641a45ffe922c8d674d49cc875d9e5b883dc98f0f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95450de7772483499d4af22a7f1e7fd2e6d99d6cff7f659e879d96a07f53701b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_049767d523bfbfd7016ab44ca4caa487d0b7e08ae472bf4a7e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEyvXJKeVEonegVe69klpHakFPrvlcZM3Pb1v7K2pR-lwg4Nb_R4p3P72QkiXVZjjH1aVsXenCOIgAgcQTDjoNVQXTpTVlRl_jQlRSwn5MlaA5XH8SahU1zsMwwdFJf4Vd09znt_0uFXvMvWZqiv6OGpUX6EggGQu1m_LHJgxlYwVmT3a72vaZD65q6ZcFP_FCHsIt7ItnGj5fDmm73scbFGYRadeqd9-iHLwaUIAN5l7_bC52O8etsjZPnK0hSDb2Q6WDRgePMQwclWtPqMYYhPXVIEUp4xTBCvEa3L5zsbBU1fDHvMLKlXvfQ-VFfyntyZ1o__5sWhHQaZhKs5JUotfc9-RVTyoPDfJoEI_pwvzituLtyl18DAYflUmJOL9w_FzAgSdjc4qXqicpUknXqnjJWCBziUm-DrXzLzH-WHrxV1AuUnVWjBL3x3fkm29JTF9qwwzolHoXZKuznEkU6MvzAdduJFOpcXE6AvMlKXNAtvWrJXdgzww5u3dkELBkXLpAbPUmGuxKMdc_LMpby-egdKyonXunthjC2-nZpBIL6PxNRGPxpT0zx-UKVx-e_xWedtnAInH9KzArMRjXU0JAUgO5m7jJT2Ao92kCa4BVxWGMv23VWCJmDeXWxqXhLQf0cebb4qrk-414tj77c0kdFHrvAQKeeGxDy4KsISnG4Kr9FOV0mqmxl0GtdghxA97nZmIXFQ_oJrUOaA3Dr5ZCtxnLzVcVNoGKdUQnbA7uftPFsj4HBA5PbPWrTfmBS0ez5bI-5Vcr9qyrhVyBzk2VgAxpi40TRWy7RT1DCOe-pEiPHh1Mzu9xhEqCKEdzHomL3xUIEJkp_1XxcTsFfpqFyoW7fUdJc0K5BUrze0cFt6j842jPQ5eXbC1TjQXDHAoIIeD4OVEaARAm5mUzz58bF2cXxX3gfnrf2ybcrOlXHstIWcQio9pY64e93gXYF9y9ORAP2E9flfXiSd-qsDbU4P9uDTtm3J6p_hPVn59WKLpN1sqESDXq9daIkQXbzDpUpOhR7WA7Sisors9HKK03YnUnA-HHR2kJKi3VfdEPqChJJNfgZagRUWFvTVe4VqdBRIQTGzcNcPZCJKevXpvvaPv5A74cm_uZhk8D07nTOP0w-VX_h4m3UIselunzP4El7-qxDgSYGY30x343m0l1FUe7t7ksH7dmMFZE_AbIEuO80WFUw2PkhCTIjM-e7UMsRuItc84CO8ZPqjgZ23XRn_CQK8NwpeYwn8YujoU5MnRSEkbZWetLpitmwL_EMfA15QPDNr2HAZ5NSdsv0W0WaNmtBNZHBVTk-l3ciFns2ZDMZcHiCUonFDzacbKrFHw6wFeFAckeh5XLU-8P59dmF8yxJ72r6lupPUeSA-GLvYoL8XbN3RLvynvOIUCrlkgScn9dsVdq-7KncV9V0u-Oxa741eBQGwU7AVl6qmc9l0OynZSQyHy3k3XTSIx7MeIRpDfMuPjXLn_N9-cuAPCg6TGzkBAcNHRBhdY9PJJQ3kY3AR5H1n_lOnzlB_7bv23R3MUdW1FhTugQ93eDYQ3AnCtVXLWp9h8WuDtAbqTx3ii3wOJDDJcksaz_gJWEcgIZYbhxD66-kqjg1uepEkjqGnv2IMaylWU4vN9QJz9v9Ol_u3vWgY8Tga_XGqw3I9gjulniZzqJWS9FDL7aJXKxhFMIfznCnD9uuH-tVpZ1p9CLhiTJ35_VbZ56C9HT92sfpmcZPauE25Kn6Fma4ahtyhI2BhfNUGSdJzbLMQAPqMK8c5q88ywzBtyUr5gdcwXtNgpwUn2-K9xxI2OPtD3OLTGXnImgXWmiG8fs1LJKv8sJlfPgTgfb7Pg0-IkNy37aLby-2DWl37vQ_Y5DmBGCTDlI4dgsXgmctBL5-hv4RV8cWT_lm5SccIQyCS1EmPFCGgcx1qS5mJ-HtovvTrWELRRpHSvbIkg_n13HUaAbDCgFWYKvL_2qZm_ozmZWvYLU4mDDUdyCIYctOo7KTU_uKlVNAOtqG8bIkci-1q0TkcMbbDVhnjKwUI-DCvIcH_RNOOCsbGQ8LR-IyUKisJl63IfTBQEoJoKVftGcOgKdGb_B1ezTsEoF6VOZGj3mghxYc1Smh34XQDXCDaAzhkPrC0esfUriRxDlIlz-2fjhnduoMkzIMdN-jfKaDSqnOLR6zAnPlMEgxqww1mo6a-uC0zJTkLJM2OfFZYHAOqAZuYxiMvz9fgmQDIsWmqw65wZku_BUg8mZYojCZS0TqbA1uATOQidPX_P45SaFNZhwq7H0FBX5k-cpEYR1DCY-sUI72HTViUr2PSBhuQsmUNOjYKGYUrP2sgvU3y85T-vrV5VWIr2NQ67qU0ePxVkgiDyamZGCavQyKoI1O6XfRhk8ys-BHqky-w4GNBLDRN21ug02Dw9Mp2UavJh33a6X0EUxOzqQlYa6tP_wC9NJL7MVDoc6NSaOsh8mwmAvhPLOHih4U-HCNCn0kuQXlu4--kw969vDTmx6KZSJ7qlb6ET2wz9sf8iKbb9q4-jyLl9wKkhQHNbdN6L15Z5fqXInGWWc1yJxo2LHK2k4xCya82fmHPGLb70oIG_u-T3f_kTOReDnSFvDoxUOv6b1-XK0ZOXC9nsREWjlcTcaYiCYi0gRmAGXsK5rD-m3n8Nyb_4tXX_v7wHOBRMSQ9B-26T7WPYpK-ibEFIOzpy_k1tRH-WIGg6XN7erpaP0L3Yr4vNT1iCFhmCXVRaz8SwImgazB_9kWxyjS6JOSewO4LYyJQ5BHfBQ3hJS0bl5uCbMar0pIgnw8RDZSVg7Q0GhpPrhJWwhXKGHzycrlnVoa7V_yOPlfIADzK5wu9sUaE2L1nq1ZNkrEFk3Blh21Mg37Me2mHvav7rJBH9wQbed4p7L4v8IoiRPNFgjWlDmK1LcULvmmjkrZtNOitHwnHP5tHQBrLERJ4Po8rFV-Mjk2qqYo823OEquIDgGbc1RtJahhctcyLwlMTMgtHpiJwALvJagyqfGhHxqBoPBd4bq8AriD4MC4oplaANlgg8ZVP0T_UvHQa5adNzZ5mt6bAhoM3J_UIdDBHJyiEFZoMim53WUFeJgxuPtA5FLBbcS3YWbsEyUHGKBtTrJtV1HrbKd9eIDyJjcTiPIRg7RAWOUYIb4RbUvYxYBSWymRNAW86IbJkR18sFjiF1AzgQzhHcC1gWVTDrfneRAt9_1mgjcwZp5rwmQgErK3DMxbY-DAgfGObBNQKDmwT8TZJBUuCO7BQC8EDVfwScG3UC8LxRL8UbAlcM0VnVwrHrmXFqsBswjplDfKz9hfGcwRDYDGRH34N0MAQQh412WJTKrqYzDEoBTi9JOs6TEF8eA7CNH-ZJLlniQpeZg3B1Nhlud-tZfbYDZFjlm_95oDrXxg3UOKIMHAyMkB93Q6drv4W3FIkPJIUsas=",
  "id": "rs_049767d523bfbfd7016ab44caa305c87d083aa9f4dec49ddcf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.09,\"right_z\":-0.015},\"note\":\"The lateral sweeps missed because the pear sits slightly farther forward than the gripper’s actual x≈0.47 m. I will make one firm table-level approach at the allowed x limit and below-table contact height to gain the last centimeter of forward reach before deciding whether it is physically recoverable.\"}",
  "call_id": "call_QpBxd1zA27LOWaGBf1FYXo4C",
  "id": "fc_049767d523bfbfd7016ab44cade77487d0aa426f0e2320abf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QpBxd1zA27LOWaGBf1FYXo4C",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8368, 0.6132, -0.5129, -0.0139, -0.0307, 0.9986, 0.2321, 2.0846, 1.1297, 0.1761, 0.0792, 0.0647, 0.9965]\nstate[eef_state]: left_x=0.2783 left_y=-0.0001 left_z=0.1467 left_yaw=0.0006 left_pitch=-0.1667 left_roll=0.0026 left_gripper=0.9986 right_x=0.5041 right_y=0.1085 right_z=0.0038 right_yaw=0.1206 right_pitch=-0.2026 right_roll=-0.0134 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.7709, 6.9128, 1.7118, -0.0317, -0.0171, -0.0122, -0.9778, -10.4957, 3.8222, 0.9499, 0.3883, -0.2906, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8fa17da1002cc4158b792583008621209be81000f118510ad887336b699dacf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:232174e73a77b97764e9aa3f122ee97ffa1401c08eb2a28ad53fa890d52362ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13736c8ae3b57ccf13202d72512f59d0ee93e8709b649eb6b2aa5ae10259173",
      "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 107 changed as sent

message 115 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4988, -0.0135, -0.0307, 0.9986, 0.2188, 1.9278, 1.1004, 0.0032, 0.1429, 0.094, 0.0213]\nstate[eef_state]: left_x=0.2805 left_y=-0.0002 left_z=0.1504 left_yaw=0.0002 left_pitch=-0.148 left_roll=0.0019 left_gripper=0.9986 right_x=0.4817 right_y=0.085 right_z=0.04 right_yaw=0.0349 right_pitch=-0.2406 right_roll=-0.0456 right_gripper=0.0213\nstate[joint_eff]: [-0.3624, -1.2376, 6.9265, 1.6142, -0.022, -0.0659, -0.0122, -0.1983, -10.0034, 5.9966, 1.2723, 0.2662, -0.0269, 0.9646]\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, 0.8322, 0.6132, -0.5026, -0.0135, -0.0307, 0.9986, 0.6239, 2.175, 1.4849, -0.2379, 0.3599, 0.3538, 0.9964]\nstate[eef_state]: left_x=0.2798 left_y=-0.0002 left_z=0.1497 left_yaw=0.0002 left_pitch=-0.1518 left_roll=0.002 left_gripper=0.9986 right_x=0.4711 right_y=0.2669 right_z=0.0313 right_yaw=0.1036 right_pitch=-0.2746 right_roll=-0.0633 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.2239, 7.0085, 1.619, -0.0415, -0.0611, -0.0122, 0.212, -11.3026, 7.9932, 1.16, 0.3248, 0.2173, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8368, 0.6132, -0.5129, -0.0139, -0.0307, 0.9986, 0.2321, 2.0846, 1.1297, 0.1761, 0.0792, 0.0647, 0.9965]\nstate[eef_state]: left_x=0.2783 left_y=-0.0001 left_z=0.1467 left_yaw=0.0006 left_pitch=-0.1667 left_roll=0.0026 left_gripper=0.9986 right_x=0.5041 right_y=0.1085 right_z=0.0038 right_yaw=0.1206 right_pitch=-0.2026 right_roll=-0.0134 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.7709, 6.9128, 1.7118, -0.0317, -0.0171, -0.0122, -0.9778, -10.4957, 3.8222, 0.9499, 0.3883, -0.2906, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8fa17da1002cc4158b792583008621209be81000f118510ad887336b699dacf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:232174e73a77b97764e9aa3f122ee97ffa1401c08eb2a28ad53fa890d52362ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13736c8ae3b57ccf13202d72512f59d0ee93e8709b649eb6b2aa5ae10259173",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEy0BWBPc-PNsdyPbqGvBPGvGpy6kUMQkZasjSD0yhRTOfp2cxuWiSr06ZdnEGqB1PXPXqHYSUEInzNiPEYhjlHFr0ESIvLIwaDYQfhrcNsK5YQ4DlYQE-rLWteElzm5vv-RyF0ZWSKXtyvLZJ6XpZiDsA5wRX3nSBhYzvdoGi9wWVMzej1NkoAFxXI22MEyNNT2Sw-WWMXx1Kt76HA5Y5yLAwHv65IAYl4xktme5A5mzPMpw5vGm6Srul2TdezY9FxjjVZ_GWPX4pbZGWzS4h1inLx9eTe1y7trEScm-YJrxcdia-dLj7EcnoLilfUeHgBnPTiBpv6SUBQG67-Fzm9JG42Pu8k7SAj8MkjMTKkpNjO4bCmVrcF2XFU1g5ywg1uohS4dB31i2YRHmgm0gagYPm1Mu6F8XYi67fU2s_8M0DRaFa4O8orFcyZY43cQNYg85jYlrBO66ey6-Okbkfsn76Sa3cWvXe8AcT-7YtwpMmLGJGM_1ShimiiN3PfOtuBLn4y337XuMklTl_gQDlLUQ1ZB5GSFJBC7tkW0xvMdUkQiBCmJq4pSJc9GsaumgZiI8Zjrl5Yf8LR30SuK_eKDafFBKCEnmxO6Au0XGNyfaL9E6dcx8CNcMu5Pi8RevJwido7ZIluyauMx-vfyiI_se-IACif6aCdtMbd4vTHrvJPBdnjaanu_S27wQpaBPxkmt3fSNqgmxgRL-Z96pgSm8rLrsVBcZcCUfmq2DVY55octP20cXuGBPa7MDXmpjn7d9J2ouSWc_b7gdcvIcfXaHzi-GFVUXyM_uhvHVBs1qWLLGva-guB-Movnx-mzqpvjR52Qn07Gax6kevxX5_ND54iUDlxrZuxNua49AeUZtzHoaoQYJWwm-koLPEYW5av5tmyhXOFGgE-yTyNpF2jkYiKjLH4XyNXAm65-4vN1GdUGWaKlhVDp24VIT7hXWXaJjukzYD2OSKf36XYZZ5pYbaH5O6I8GhKDq3E6LQIiRQVWzGeOHU-5HWzmMhQ2ESOvWfS5XIcAYf1DwfXOwAH73DkMRjTCoL8PuuWBB6aFGWVvvZRF7cHGJlYqbIylE1OvysAVMXEFtLcPIoM9KKtSuKtddeEBz3fGLrVoS1AJ-Z-st0l913ESHPq6teTpBmeg04UAZo3wawCWN1u1x7fWWKsXCIUU87-r3TePjy9xzoleCvo7gnEBKqHN3brI6k5S85ikBSPqjkW4f0WWIdEkfnDCNh9ln_hsjVXqqBfLa4lciAxOrXr3IZg8A0C-tfSJ_peRBOs8kiez6NzzKPfF40oM-en-SOHadLaqfsHftK3fea9owdADhDfw8Xtklar3CCn2sIcY2OUsfYjLo4ctoILGmjUxxiP4m-SCu0M-N3fOOVkRNMLajt2xoTXyLSulJvHjYKJWxPvbP_aFZaTruf2iffAxS259ziJLLK9-bBsHwo5RO9FjjwcOeqS_bhoCGCaXgZD6uAF8St5BolwUFr_JODRie7zIXopnZQIVqkfS86hd0j6sss4hNVRGVdCLWnj_uRbLCa0t2WwdPUspJaEI18HVLgRZtVbwwLA7n5RtgQfgevQpKrX_8HXFVP8le1qvs1KeYDiZTOAlB2kew0tbG81_poJZFVMRfAIPpifxyiIAC4xy1M-bcEYB5d3y",
  "id": "rs_049767d523bfbfd7016ab44cb254e087d0be146f8a4a91889d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.055,\"right_gripper\":0},\"note\":\"The firm x-limit approach finally reaches the pear: its body is at the fingertip line, but shifted to the wrist image’s right. I will move about 5 cm rightward and close, aiming to capture the broad lower body.\"}",
  "call_id": "call_yP7OPjeqTrPpzDeG1cx2vEmE",
  "id": "fc_049767d523bfbfd7016ab44cb3dba487d0adbbadf7f85243e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yP7OPjeqTrPpzDeG1cx2vEmE",
  "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, 0.8379, 0.6132, -0.519, -0.0139, -0.0307, 0.9986, 0.1173, 2.0392, 1.1072, 0.2829, -0.075, 0.0082, 0.031]\nstate[eef_state]: left_x=0.2773 left_y=-0.0 left_z=0.1452 left_yaw=0.0006 left_pitch=-0.1739 left_roll=0.0027 left_gripper=0.9986 right_x=0.5241 right_y=0.0787 right_z=0.038 right_yaw=0.1683 right_pitch=-0.0753 right_roll=0.0492 right_gripper=0.031\nstate[joint_eff]: [-0.0479, -1.3744, 6.8991, 1.6337, -0.0513, -0.0366, -0.0122, -1.8803, -8.7043, 4.0547, 0.5397, 0.9939, -0.5153, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0a1f94661d89938aaff13df96b6a823bdbab75108995d17d71d3ba0504169c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6137d985263f40601429dbef23c67d84865350fe02f30a5061f65e590136599f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d3a64e2061e1fde34ee6e71658c9d85111ae4871dfe27d9ea531b8e879c054",
      "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 111 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4995, -0.0135, -0.0307, 0.9986, 0.4221, 2.0079, 1.2198, -0.0807, 0.2565, 0.2199, 0.9954]\nstate[eef_state]: left_x=0.2803 left_y=-0.0002 left_z=0.1503 left_yaw=0.0002 left_pitch=-0.1488 left_roll=0.0019 left_gripper=0.9986 right_x=0.4755 right_y=0.1683 right_z=0.0359 right_yaw=0.0684 right_pitch=-0.2585 right_roll=-0.0541 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -1.3333, 7.1316, 1.5897, -0.0122, -0.0464, -0.0073, 0.212, -9.5932, 8.0615, 1.4286, 0.2222, 0.2515, 0.022]\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, 0.8368, 0.6132, -0.5129, -0.0139, -0.0307, 0.9986, 0.2321, 2.0846, 1.1297, 0.1761, 0.0792, 0.0647, 0.9965]\nstate[eef_state]: left_x=0.2783 left_y=-0.0001 left_z=0.1467 left_yaw=0.0006 left_pitch=-0.1667 left_roll=0.0026 left_gripper=0.9986 right_x=0.5041 right_y=0.1085 right_z=0.0038 right_yaw=0.1206 right_pitch=-0.2026 right_roll=-0.0134 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.7709, 6.9128, 1.7118, -0.0317, -0.0171, -0.0122, -0.9778, -10.4957, 3.8222, 0.9499, 0.3883, -0.2906, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6132, -0.519, -0.0139, -0.0307, 0.9986, 0.1173, 2.0392, 1.1072, 0.2829, -0.075, 0.0082, 0.031]\nstate[eef_state]: left_x=0.2773 left_y=-0.0 left_z=0.1452 left_yaw=0.0006 left_pitch=-0.1739 left_roll=0.0027 left_gripper=0.9986 right_x=0.5241 right_y=0.0787 right_z=0.038 right_yaw=0.1683 right_pitch=-0.0753 right_roll=0.0492 right_gripper=0.031\nstate[joint_eff]: [-0.0479, -1.3744, 6.8991, 1.6337, -0.0513, -0.0366, -0.0122, -1.8803, -8.7043, 4.0547, 0.5397, 0.9939, -0.5153, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0a1f94661d89938aaff13df96b6a823bdbab75108995d17d71d3ba0504169c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6137d985263f40601429dbef23c67d84865350fe02f30a5061f65e590136599f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d3a64e2061e1fde34ee6e71658c9d85111ae4871dfe27d9ea531b8e879c054",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEy54ALfUTcHQe0_x5mNpzXEM-LvOAaMQwICgoq9Xsy4v-lamt6mDWYIZEhl7hJilSMXfVN7N7ubQ6IPd4PtsHM5HTZ2Rpw0zRvQuU_51wi4slEsWwFH0mclV7se-eCkAVt7di5wBH-Q_c7tyHpzEji9-XmSjqflFaOLBIXGMhgR2TNImRb9V0EBnhwyp26_NzrLTxpLDCYLuthiv_M0Tc1-h31ZjjUqxOjCYKhTDFOzkOIg14g7YE0w8qoinhDviuqeZvkTfgV5jXAQENt2kyjDQjROe5BcExfBqaX7qjn7gmn6a68jDW-7MoCS_RhD6lYqzRH3lt9WE5Bnghu-tjpHj9mASsgrz9bOUqtTaqblFH5fQjV3IbarqshYhh4ObVHkpYPFrU8vydr2rAUk2f1g1ztYN9RkLpkugCI9LCXfFYhUsgJzU1X5H9FwoByokn-SGhPH7iqptLPcXSd4YNMpDcumf78XTtpBqQVRQcqB8ZLKa7OYte15SRZb2dDlqssh9p8325-qZOdqlYHFZy2v7RiROM_WacvL6P_oySFvcOI2lIQV9J_s2cjQ5lvBqSb8aUA6BJEfw7avagJlX7r2kIhbhU1Viff5iDRIxEAbXM7Q_ENzc4NRiVTCH7Ii1exLfOPFCI2FU4YpN764pUNZXJdTGXR8i8OB27C6_vuirMhBHHnIlLGbX07wwDKkK1ill-oWJfMF1f9Gb9RkOW4cgnVh9YJGpA5XQOsZc-zrUjZDpXL-j_XSFOZ3w9T8Ctef0VCPjYbb3TKNMUE5YZewIqoczHN6Vy9L2rh1_95_X8RvC6M_VR1GGY4zTOCZ5HEDISh7NqeQFcz73t5fmPp9a1e_pmaNsIOQuJ_yp8DuQZZWHzTRLo5hETLFmW_H1dliwYEONyypHpH2H-o6QYcloSmiLOrllN_-iJtyrjFJO3N_ApK1FKIFsZArou7y8HGMh2erZjIC7CBLE-ikgc2mcTWBYFqH4MPXgv9HlbSM2lXZbZnucmpET1z-dsWU-vHK9592qJHgwtd-9W5fZf6XUaOyX2-4x438F9EO0ApLuYuIFEicrBkgokgXAH4D4FCbBqk6m75aoTQVmI-RF7Dbm2VRXiYM_hWWx2AtC3WIdeANuiN5evxZ91pSaPh6zg1xJk6mOu00Ppr6ZxwXtAJe_2z70GQpip4opijk5u_Ox6Wy7zhHjh5wOBjHGIROxugf9m6_U--sA6k7rfXrzTs9-DjnvrpJCTm3wlxHmsB1YUvjRtPsavc8gZPLUVy7aLbMTgTnsPNsR__b2WniUtmDEg1v65reExJHMUdtLmdGtO4GbWQ2zBZhxgRXejeJf5iDVXV85Nkx2-5rYkBMRINVR1OYS3p85ia6EkiiTJ2TDZDnK2xpkhXKGB1qb0gMNrxMojq92AkbHsjAMaXA4CyRSKsMBVNaPaM72tsLOvfq2iv4FR3cbbzouBA-tLIHp5paPgSiBSGJWx2HJjnWh_uZhRMMS0JWtJKVRqZw0Tf4fZSK0beRSQ6LVcpAP5t3vJm54tye__2YZRdqdaNB40IIM01GFDHP__x1bYfYUVuJVcPT1exDX0CRHnxhd-PZ5yKPJIq26Kje168ug-EMSwFXgP4AtxobaMDDhwCX1ZGAY6X14jW-WBJJNACzermUpowkxNeyXkJ6TzUhxfeIvt_Xa_rKIQDQTxU-TFh3O2r6tj3FmB9S_lQFZM6jFmmQUABGeblVLhI5z9_lQ5reRU8VGxoBTX3Q0ghZXIiio3Rn5yAwOhY16A4Ay2EVVxnlsSOr7lFC2TBe4iQBQCUu1yCPv6naS_9yQtq0aXqPwT17mrp4ULYjaPaUnr8m7QKYIOgYLE18o6BYLKC0-r39CMebyChDfRVlwHk5ntfz42k17ySOKEj11ibhmh7taDfOteLNwCRSyrUsPbYQPIaPxAU8DxoFVrJQ9oHnOaY6hQm2DaAirOkJYYB_PbHIfzZVNdk1QbwyPXcnEvZI95LwHwTCBKrUmCwTUrkbbR8kw7P1ZJE=",
  "id": "rs_049767d523bfbfd7016ab44cb6a80487d09714b3a3c04641fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.524,\"right_y\":0.18,\"right_z\":0.04,\"right_gripper\":1},\"note\":\"The close was empty, but this contact-level pose has pushed the pear directly against the blue bowl’s right rim and achieved x≈0.52 m. I will reopen and sweep left at this same forward depth so the jaw body nudges the pear into the bowl.\"}",
  "call_id": "call_6wg4EuxaGpWpRFtWMkiiQCMK",
  "id": "fc_049767d523bfbfd7016ab44cb858cc87d09a7875baf244778a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6wg4EuxaGpWpRFtWMkiiQCMK",
  "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, 0.8387, 0.6132, -0.5205, -0.0135, -0.0307, 0.9986, 0.3546, 2.0987, 1.2068, 0.2253, 0.0891, 0.1291, 0.9955]\nstate[eef_state]: left_x=0.2771 left_y=-0.0001 left_z=0.1448 left_yaw=0.0003 left_pitch=-0.1762 left_roll=0.0025 left_gripper=0.9986 right_x=0.5172 right_y=0.1785 right_z=0.0351 right_yaw=0.2015 right_pitch=-0.0916 right_roll=0.044 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.4564, 6.8991, 1.5897, -0.0269, -0.0757, -0.0122, 0.2803, -10.4274, 7.9932, 1.7411, 0.1587, 0.2027, -0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08888ef9ef73d0c9ed2f1ae7b99f2413a450076b8319255571b83734cc32bff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9217327d50e973537124ab067373b08a9ca041e23d01a5efbda2b52763f73da8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f874dd298bd444fba644f7fd0dcb7ecb46f15e10dc08dc95a75596aa557ae869",
      "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 115 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.5026, -0.0135, -0.0307, 0.9986, 0.6239, 2.175, 1.4849, -0.2379, 0.3599, 0.3538, 0.9964]\nstate[eef_state]: left_x=0.2798 left_y=-0.0002 left_z=0.1497 left_yaw=0.0002 left_pitch=-0.1518 left_roll=0.002 left_gripper=0.9986 right_x=0.4711 right_y=0.2669 right_z=0.0313 right_yaw=0.1036 right_pitch=-0.2746 right_roll=-0.0633 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.2239, 7.0085, 1.619, -0.0415, -0.0611, -0.0122, 0.212, -11.3026, 7.9932, 1.16, 0.3248, 0.2173, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6132, -0.519, -0.0139, -0.0307, 0.9986, 0.1173, 2.0392, 1.1072, 0.2829, -0.075, 0.0082, 0.031]\nstate[eef_state]: left_x=0.2773 left_y=-0.0 left_z=0.1452 left_yaw=0.0006 left_pitch=-0.1739 left_roll=0.0027 left_gripper=0.9986 right_x=0.5241 right_y=0.0787 right_z=0.038 right_yaw=0.1683 right_pitch=-0.0753 right_roll=0.0492 right_gripper=0.031\nstate[joint_eff]: [-0.0479, -1.3744, 6.8991, 1.6337, -0.0513, -0.0366, -0.0122, -1.8803, -8.7043, 4.0547, 0.5397, 0.9939, -0.5153, 0.7399]\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, 0.8387, 0.6132, -0.5205, -0.0135, -0.0307, 0.9986, 0.3546, 2.0987, 1.2068, 0.2253, 0.0891, 0.1291, 0.9955]\nstate[eef_state]: left_x=0.2771 left_y=-0.0001 left_z=0.1448 left_yaw=0.0003 left_pitch=-0.1762 left_roll=0.0025 left_gripper=0.9986 right_x=0.5172 right_y=0.1785 right_z=0.0351 right_yaw=0.2015 right_pitch=-0.0916 right_roll=0.044 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.4564, 6.8991, 1.5897, -0.0269, -0.0757, -0.0122, 0.2803, -10.4274, 7.9932, 1.7411, 0.1587, 0.2027, -0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08888ef9ef73d0c9ed2f1ae7b99f2413a450076b8319255571b83734cc32bff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9217327d50e973537124ab067373b08a9ca041e23d01a5efbda2b52763f73da8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f874dd298bd444fba644f7fd0dcb7ecb46f15e10dc08dc95a75596aa557ae869",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEy_WNpCaiG5PMjQ3HXsRJ3S0XXsoww6EkF_wx_rfvXTo8Rg6vl41AO2RmSs4TLDZrgu18CfXlrCKdWfoEPUshsIXgl75L-v_JHNmK4bU_rAj73j-0y6bkjfx1bNL7mdRjfgZBRz4F_ZnhNucUytlCX_pnUI6nyhj_51LsfY-T1E3FScYN5YBHx5OxJ18BNIf75IBjXtxzXC5Wh1acdAEggyiHT5mZ0xZXot3Qo08cKxocCZNivhl2QqwO2W2X-i_nIYJz2pgOscMPag1y2axlu8neC24dEGasqTqAALETgk-v449eySGmd_iafK5ug64CZ0d4by3ICO9n9mdAoTzvZUR-VsvnH3eTzdyssOBXWbweRicuyqXdASU7hAeis187Gq7VvGhk5F6lNH914rMO6nBnQW4t7e788BMSzMmupO4N1vYIvx1ZEqElfVFdPQFtsHdtPPM1te3XLEAg8atO-CXftLBNh_poLxJfCPwl_ZUiDFUyA-6LxjT53tXyY84RtcQnOOT5yKNA6dW7R_OWtHrvWdTmsxBbDY13koHDmnB59oqmc1jhOwWvM5rL5ISMYFSCaIuYsyOByhrKASE92h_e50mU4Fookow8k1puSh6QynyA3uLPbEiCtl4QcryBD_6zrTM85QZ_vJxLoqeH7Aw08ApbtlPK0eBlxIgahCrcCkQLFhODz0IPEfncTTcZizaVeVhyNDvq_2nQKQ3InMxCN-w7Z1Mk2xBk_LW5MCLeb-I9-Hh_LLwq8NFRgIsFjqbSlCT_CgPP4BvPfRCU5ffhy9ST9aOEhaCYDZw3dpgbrdnw09Nt1p6jcdpeW62D8xbtUsspk-ziLL0gp10LH0jATefsjNvattXnhFX6XzXp0jTRwJGCSV4Q6nzjvj_24B1aPeg5w8IRR2OzIVr5x8RxSHcZGJBeqa9po1GzsRwh6kofnLe0SDs5BEgGd0kmfjCkWu4veKYGFXy9QNCA3FmTbymVfiYepbfIc5dENuA2m6o5vg3P6hmB0OpuEjPCEPMP0i4Bw8QXsTtheOxjPe8pmEi1rLl2r4g7djPfuOPxgkZkXJqit53bx2r_nywfruZeYlC73BPlY7EigjLziZd-zOb7GBBQpdMgEAnLjk38NPHU_IW3a7XA1LTvGT28X9tw9DKx0UDnho7qq2F8FR4NB7pHyiN30LTOkdEB5E-2WckduyzS-eYJYN6Mbt0N4de65YdzzklfxTQ8Jy4lPm4aO6XuK-dX2AbVDChjkvAmsrm-sGS_TQ93cuAM3NQgD5rYxDxJiR2ax9zAQE2fCfsScWspsQVKn0_rBx52odmLJuHjkSLGdtonhfbF7lMdMcP4pkGS4ZwJXwnwBtZlZAiw6hjxHPjfIKWnpkEs7R_-O8TdeGglTogm5CYVd1a3KPLKQMpLB5TzwcrbKD4XxzTqFmmKBwdJnZ3xKpaVbgpsTLePQNuvn7ZGUacQdn5QZwUmjsynVeorGQ8HArPvgzNydLGGUZc-UOiL1HfauOEPBYlL53KNn2k8yoXQIcA1yrX-9onVMUvan3Y0htBl1UyEw0UYNGKwnJtxILN29wQ5UNojn6aO6sm_Gw3nVJGiCZiKxj-sZ6QHVmPIK-cHgqdv1KK6aeJBEMyDUElFvuKPHIX_neIZs10fBFYR2QdV9MjAkBSejWR9OAhau173AOzo_2jQT796V2_22HdyJSYF9hIZtKEl_hMmpl9S8hKjVYTrZo2Lct165eEE_dJjusuYpNDNuCfD-YD64DsnMUGs--A4lBZafHphZm1DRMhFaJA9QRkrBPBazYwXYQABT7oWKWenzjC409ElcLZLrChRxWswt_r37zYjr7DOm5tseKyYmPR-AgZ0CfjyydwHBdOgX2lHaJzsuSkTIEi0af9TzB7C2iH1MUEVBYq_iemhkXkL9zvDe3pOtPiKT1jo7SAeePbIyBPyGWQ8_0pNRAZV_h7QWT8QV4SVcrejCg9jclXe5kHYbfRtJbxOwGqZFI6oPHgkam4gjTU_BhrslFZ3drXVazG974xcC4wxEWDxjhgUVCWLToTa-84-1yC8qIHILGrmkKMzpFDHo4vnjP_4Fy34_awWu0yASnMwhYxUELPynGOzsQmqZDwZuePzQM5CbcZCg0yrs9hT_m1iHIoW36vgB2bLcwrx9A4pLScxbt",
  "id": "rs_049767d523bfbfd7016ab44cbbd19c87d0a1110b3c8fd2e5b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.57,\"right_y\":0.11,\"right_z\":0.045},\"note\":\"The leftward sweep slid the pear forward along the bowl’s outer rim instead of over it. I will place the open gripper just beyond the pear and slightly right, preparing to pull it backward across the rim into the bowl.\"}",
  "call_id": "call_IKU199HFx5eMckcotJqXrGQa",
  "id": "fc_049767d523bfbfd7016ab44cbe419887d088526c0f8d10b79c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IKU199HFx5eMckcotJqXrGQa",
  "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, -0.522, -0.0139, -0.0303, 0.9986, 0.1783, 2.1635, 1.3556, 0.1291, -0.0422, 0.025, 0.9964]\nstate[eef_state]: left_x=0.2769 left_y=-0.0 left_z=0.1438 left_yaw=0.0005 left_pitch=-0.1804 left_roll=0.0032 left_gripper=0.9986 right_x=0.5611 right_y=0.1124 right_z=0.0407 right_yaw=0.1926 right_pitch=-0.1062 right_roll=0.0432 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.6205, 6.8991, 1.5897, -0.0269, 0.022, -0.0122, -0.7316, -11.0838, 8.1573, 1.6386, 0.0513, 0.0122, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940741954cb30e28a9a8254f6da0ed2aa7cf426fc0a649a20e46f0e88f5f4815",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752c9c4a2973a7986917a4c780f6ee11f43666b328df19ea64f369f6320e7327",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89c13bcc9dc0a95e9b96d6e036b02bd5be7df5fd9bf00144574f524f89452f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8368, 0.6132, -0.5129, -0.0139, -0.0307, 0.9986, 0.2321, 2.0846, 1.1297, 0.1761, 0.0792, 0.0647, 0.9965]\nstate[eef_state]: left_x=0.2783 left_y=-0.0001 left_z=0.1467 left_yaw=0.0006 left_pitch=-0.1667 left_roll=0.0026 left_gripper=0.9986 right_x=0.5041 right_y=0.1085 right_z=0.0038 right_yaw=0.1206 right_pitch=-0.2026 right_roll=-0.0134 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.7709, 6.9128, 1.7118, -0.0317, -0.0171, -0.0122, -0.9778, -10.4957, 3.8222, 0.9499, 0.3883, -0.2906, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8387, 0.6132, -0.5205, -0.0135, -0.0307, 0.9986, 0.3546, 2.0987, 1.2068, 0.2253, 0.0891, 0.1291, 0.9955]\nstate[eef_state]: left_x=0.2771 left_y=-0.0001 left_z=0.1448 left_yaw=0.0003 left_pitch=-0.1762 left_roll=0.0025 left_gripper=0.9986 right_x=0.5172 right_y=0.1785 right_z=0.0351 right_yaw=0.2015 right_pitch=-0.0916 right_roll=0.044 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.4564, 6.8991, 1.5897, -0.0269, -0.0757, -0.0122, 0.2803, -10.4274, 7.9932, 1.7411, 0.1587, 0.2027, -0.0464]\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, 0.8413, 0.6132, -0.522, -0.0139, -0.0303, 0.9986, 0.1783, 2.1635, 1.3556, 0.1291, -0.0422, 0.025, 0.9964]\nstate[eef_state]: left_x=0.2769 left_y=-0.0 left_z=0.1438 left_yaw=0.0005 left_pitch=-0.1804 left_roll=0.0032 left_gripper=0.9986 right_x=0.5611 right_y=0.1124 right_z=0.0407 right_yaw=0.1926 right_pitch=-0.1062 right_roll=0.0432 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.6205, 6.8991, 1.5897, -0.0269, 0.022, -0.0122, -0.7316, -11.0838, 8.1573, 1.6386, 0.0513, 0.0122, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940741954cb30e28a9a8254f6da0ed2aa7cf426fc0a649a20e46f0e88f5f4815",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752c9c4a2973a7986917a4c780f6ee11f43666b328df19ea64f369f6320e7327",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89c13bcc9dc0a95e9b96d6e036b02bd5be7df5fd9bf00144574f524f89452f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEzEl_jl359GO8SFqdyaN3DxNhQW5q7Bdln8cVcSBIEy08u4u_bKRY56ke9Wqgcy0wQfgRPx8kCDHjThZk4TpHLRJi9Hukcc_DWDnKbvEXO5KorH-JV99-We9bOlKkkHZ5mIk8_THeEk91CER0goBOpsK_v9QoSCTjwCgTYeQCvH3D2Fu9vNi8B7yBU6p3Xb2UovlpFiTksZ_DxZy0j-Awjya0m4DSGHFNlZ7tWWDyNWCaQPKejU9zpy-1V2O7p0_O-1TY685r50pUpsRzZO-iQsM6Tgy1rI9vuUvgFbio2jJSm3muWb_8YELE3SNV4vKeP5K3h6lsyUbWY30gA0rHEio9xt7CUf84Ua71uasVpEsuPG2IpY7JvNRX9TJEjhPmCYkAX34bpfKow6Li30vkLuGU67PoA9d3TOaRKYuSYnitn0_dSC3OZ40n5xcMYcP2OwWiQJUP7Mizbm0moWGpvtHIOdyI6B9xqGcND5k_spgwVxs8rZ-H4DG217ohrBEpPiiW7oyo-Bfd5H2n4I3V8lKMQKK2R8QZP-ixABtoA_x8azXvvVRyDJAwt0mjXv6WJW_Pdo5JwR_xFGDBY1HIjPwUoQm2mkapWIDygZ01jepNQkbyUS5mSOBfY9A1SEnp1F1Rr0RdHIMOX48bmN9U1AclM4CzAFCE1_unY6GX9wF1lz-s1bTmpDuNwMIQe9BVV91_DBC3WMR1umsgYpHIZ2gl80g0ChOulM-ZSCgB1oaxpouVIGlOndkVem01tuak62PaHqdHiED0lPtD5Gm0JaMSLzMhEgfSAaApEzSe4hpHASMYEYihwUwuiRfSh9qWr35yXNSob3c3agwc4gIZhUT_npdj4IDRcO0MzpTyYWU1h06qJzoJNxrn8Yy_zkQFwy6OfW60LBmmXA-wxRsCvGy1mCDYwTv4gOVU7KNGRSR50sF9PzaKtg1uyssW3jyVPgidfpZPlAriuSlIsxylBsYLLXHeIoawjIOyoVB5gPk4CVEBkGwtnE7i9PzIXIgG3xeOuQBDKCdAH4tV9RW681_LeJg0suqV2bpF4W1OQCDHKVHSMVAiQLzgDZlQX_DvySSIRj2yodCexvRMj5Dh7vWUu1dR1aDq3xqT71aSjzt2yGN2h5tSRfWV_u6-uOcImAx8O7ZRvgdsmWp3T0Tz4Sj8YQqpkmPSwWaEn3FUiiBiCVI-tIrxHq7zKp8R1uKuyxBF3YXp25WuYvK80T8h2tQfOP1p8C2CsMg0KLZ1P4ZZKAAYEa7Nu8Gf_tZVSnn9oLmoU6JHCmzDcAAmzjPKPstK8L3CldxuOsTDgQAzS1SjINkULB5qScUSjWYVuQmyyoV42yhPM5-Fng1_EV6Tf5ocA_F-uw8ZMpoKOdJR5aKQDXL73UGtGtmtOesRdEJNNOagXf0i9FJg2IAN8R9Op2zxgRRZf377VKpPfuFyKvRkrEPZ4CiTBTf_qs7apCLHiOpY7Cu8ylwKeFy0eC8ogUAw==",
  "id": "rs_049767d523bfbfd7016ab44cc2a70887d09de2e0b162621265",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"From the beyond-rim pose, the pear’s broad body now reaches the fingertip line between the jaws, with the blue bowl immediately to its left. I will close for a body grasp so it can be placed into the bowl rather than pushed again.\"}",
  "call_id": "call_eRVXNfkSJ97nVaCOIjlnwwzH",
  "id": "fc_049767d523bfbfd7016ab44cc326c087d0862771478a16f89a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eRVXNfkSJ97nVaCOIjlnwwzH",
  "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, 0.8413, 0.6132, -0.5209, -0.0139, -0.0307, 0.9986, 0.1768, 2.1712, 1.3621, 0.1234, -0.0654, 0.0254, 0.0402]\nstate[eef_state]: left_x=0.2771 left_y=-0.0 left_z=0.144 left_yaw=0.0007 left_pitch=-0.1793 left_roll=0.0029 left_gripper=0.9986 right_x=0.5608 right_y=0.1156 right_z=0.0381 right_yaw=0.2106 right_pitch=-0.1127 right_roll=0.0584 right_gripper=0.0402\nstate[joint_eff]: [-0.1162, -1.4291, 6.9128, 1.6044, -0.0464, -0.0171, -0.0122, 0.0889, -12.3282, 6.1197, 1.4872, 0.3492, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7a9e6381231b9ce2187f840d28196025a68748517a9f43b637b5c5430346f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de48c815bec313a87de136d7a26e2b211a2547d325aac6cab8f165be8a35397a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4b6b9f64b721abd4739d591480d2c21b345cf58618cd19ab61e465d72c647ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}