adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": "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 80 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.",
  "role": "system"
}

{
  "content": "Goal: pour the left container into the red cup, then pour the right container into the red cup",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3775, -0.0219, -0.0154, 0.9996, -0.0154, 0.7967, 0.6109, -0.3775, -0.0128, -0.025, 0.9993]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1854 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0013 right_z=0.1829 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -1.6479, 9.388, 1.7509, -0.0562, 0.0073, -0.0562, -0.7726, -1.4291, 9.7846, 1.7411, -0.1099, 0.1001, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f9579e4d5fbaa814ed2adb0782d80bec31db93cd16503c6a1aabdc73ae06727",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39a09885150a49ec8c8f1df87d77c4713cd99e1d04973589a647407de22ac0be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14660633f49095a6b1ca71061c663c51836acff581e7115e2c6a8cb401a9a36",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrNX3SYvksBQ4MA9WgASQMJ53MAJeyp9Rk8CL-DLm6_0_h5b4F71xNEtqqPK5ZsJccpp9syMCbnR19fdmSTOV8gDywIcCAc-jM7WpBlavjd8VDnfAijg5AO2d7kQZYcMrwqy8n8V3Eg3_dNjd1CYjBv8kWYEUv_U61GR_Zh-SutbqrlwEJLM3VeakTzzYfwB3GIVyg9UizB0wfJ32Z3e4ebzf0Fu6_o6fLW-NpnTuxyv8_MO0xTDSilM9_pJMWYA9nhI2TyW577N7zAtxBbCdv031t36nV4uobFL7Lm2AdX1_Sn0CljCwuK2Pc-CFk8NmQd2JkyWUh72D4RfMTd8FijxTsgYMlhP2sa2pegBmvC--pOQ-rkzm2knlAnQGNxpmvLqEw1aS4A-Oo1w79RrjRw8fWYRolvZMIvqqWd1KFQPYCdTbLfiWdYNAfZkMu48QVWpAdQGpeizVT9sIowtajedrqPOnPlEgfkBeh_duYrW1FbRB-sCZJ0_JzOa__xxFNWZ0FyN5p_yVhFh7gkjK5EXV8H4JgLaZkxwIsOzaP3XJoIeU4b12qipRrl0pfR-P6MRaEvqmPdpuGyyZ3it8agQEABuvJO3tsUG2SclMFNWPLXNmTZwwdJTsfkiyxHIOI6YUmRj08oyzkwM5yBBiz8gdZYgz5XZo-EjWMUvpmvFYZLoBuc-KtnjAdefMbjQnG2YLQb1HlWYP7Veu5NnlJXHTkazSCraXGxhGg9OcLiU4NdSq6an-CXsS7sqRUPC-8Cmif-zyUOtZsBR3rthUyHKjlKdKSSxckvy0eOaNTTG_HKBZR6YpImFrZLi7VASER5KweLs5UGEdeYqJAFRvvx2hkrVjl9VS_iMgYQFO1ypmYO57NSB5cPZxQuy_NX0OkczMclYAWWoPOo_S6ka5FnRun9Oa16XDs6JnuuqKL92TQGOMERlEbBjXvf2LT_QdoqjFkxdVAIvDCvYDSnFj8jv-ogQK3OeH2AgFQWAIsApmfSG1Hj0PeUi8lPZB1izLqx2yyMAl_4cP537CFdo5-0OY3ahszOwS1fbUPJUvNETOpEKFEhIwJxJAmPXyRdvZ9fueBY_7EpkDjAVJuxUki2g4Yk7WoGdLyOH6HtkAYeQ_ofnQMPSHpPzC4Ks0gi_YvOaWUCx83CRFHrcMJhLONZCiuK5Y1FLdrN_GDWBN2v3OkMcpkZXXzRjJyNsfRoazKzdk0iPjQ7zAFagK7H2ECvfjKAxVDf5wBfJ3IDDZyT8hq0Q-iH8D7OCBChQvO0VylXbB-GRnD--apC0P5OMcVGAfWZ8jcv4utTIrEdpOrGqNZbAJQKmllQOBPKBkHOKTm5Wd5qqiEGZScjc29u0VZxSjsP6tBXUHWQzMsd-i-EouAHeBm3BVEsH2TEW1nKr-AjfwOL2BnCWrr67vySVrbCaQlYBIbIrNAFVkLgRKn9KlAdN2QG_E9-ZHuDCyjcyY5apBjf2xdzlxU40foLasvsnyylbds1oZQ3jqurJgY2F3G4_cOkHWDoizK2Il3KeMym6ShyIkjENwslUrvRW85bzqn1umgIdh94kDRgC0AkPbGNWn_dO7mAmJFhhlmbuGGpRJ2FFuj5y9JiRIbgKr2w5Yt1aKfC7CdRHx-64psODUPx6W69_OL2cQTNH5gHl-F6vCXcfqEC6By4N1cGT785b-IbyqIRx9VQKKLphZTOQ9uZmgut4vuWeUXQiODRcO0WlmyqwIA2PUoCqOS0xbH8j2Ivu2mwQ8tsohq6-FUACUKZ-x-bIVwP1Zf58MllhmTgPe_b-LbGoIN480oU2GgcqhiSseanDCvHZ5bfleNedm606jJOHx4N6ECglEDk1fGBK-ePIBowK6h733XitU6KRHM38KbNP881LtHJj8PktqsJ2HQIn_nXQSsQkEyAVzLLM1",
  "id": "rs_04c7a6cc40e6fd57016aacd5f0bac887d08710ca30ff57ac5e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.19,\"left_z\":0.23,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.20},\"note\":\"The two tall containers are in front of the red and blue cups; I will use the left arm for the left container first. I’m moving inward above its body with the gripper open.\"}",
  "call_id": "call_XuxaVfVffzQC39DTirkrDTY1",
  "id": "fc_04c7a6cc40e6fd57016aacd5f5558087d09892491cfed6300f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XuxaVfVffzQC39DTirkrDTY1",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6926, 1.4841, 1.1824, -0.4263, -0.569, -0.4278, 0.9996, -0.0212, 0.7986, 0.6434, -0.4374, -0.0124, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.3805 left_y=-0.1873 left_z=0.214 left_yaw=-0.0023 left_pitch=-0.0368 left_roll=0.0177 left_gripper=0.9996 right_x=0.292 right_y=-0.0004 right_z=0.1849 right_yaw=-0.0031 right_pitch=-0.0294 right_roll=-0.0037 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -6.9812, 9.4427, 1.6142, -0.3443, 0.0171, -0.0562, -0.5949, -0.6906, 10.0444, 1.6972, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b1ccad9da652b4aa27d0d4f5becad089f9275c0273c64d4b5abce5c204df92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9a94f1c362e40876104cc6457ea8740baec6168181ff01cb99e3339faad9ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a790c3aec23d6adc30fd7b996d1b8ccacddc36455ddf43ed2811bdf5e1bb7e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3775, -0.0219, -0.0154, 0.9996, -0.0154, 0.7967, 0.6109, -0.3775, -0.0128, -0.025, 0.9993]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1854 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0013 right_z=0.1829 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -1.6479, 9.388, 1.7509, -0.0562, 0.0073, -0.0562, -0.7726, -1.4291, 9.7846, 1.7411, -0.1099, 0.1001, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNYP01GzvXpH4pjYPiIcVo1X7outM1SD9DynicXEjxnfH2IYpWL08OV1pqpMcwra5B8CuXtBmyKWc_P3325Hn99L79WBI8aewqy95tgSAsQCzfh2P5Fax7SdMo0l_1a7IUEGCprd-8VCjfaFE0xHcSE7kfiPydhAO8WvpMLXZIIayq80T8mTs5jCsGMB64JPCB8uAvkMI6LB_SBucl_duDrCgy6bfN2KWy4ApG1NeoihCHrWN4GjA_l_XtRJdV3fwS3YhsDr61SooTVobohZ26Yrv1PQiYh4kom3roa0BuLwh16VLtc_emcOdUuvHJtl4e17CiG2h9qTmj0lGP8GUgWbTpf1uIS69vzq-MTzVkEKa2yEqTiyF7zVHr2sjguTB_qbRq_nRYuL00Y-WIh_TJfHY3RGEIr8XRhDsg4W3FaaUxE2AeioVrM27-BZwGXywQg-0balilsnzqMnGsJ-uc8gL4ZTFP-bXjyA7I6KisdhDqZEuI93ip3-pAJyEuB6ieV-hgJyD8LYNGcZDTzH8zFeB7MtyNaj9wNMH8GnMZfVfnnTIDVUAwU1ZI1lgPdXhbX8QMPUOjo0ZXCE8MugC8kMDsDAYKxQAY-pueSqM-KgzZuF8M8iQrkfGVBwOmYSvFIJ6weUwvpL52Fbw2D5RgA_cQc4rLCjNhhx9fqJ6Vu3hvj0cKulyXM6XpxCG2-xdav2_IxlQKqItNkjt_EOworO5NAxPFBJI2vhv_IJ8arztE8KQkSIYAXDCKntjQLbPAhwH2XqOrv5EHxYPyUg3NGy-6dgp_A5bkfC88gU0viOLZngcJojGhkN4djNWNjATGBT33bbEpFW_XT89XkRlE3gGzhplgD090Ie59LC7PJN45GBNLy9ZWw-TUhOHDfjaYjd-wVfI18sd_PEAA_kG_S_JDw_-1xTTXEAAI_07Y4XGkOSI7gXlHXix_n-nGXVCipBgeOjvNNtcwdute-y5SZC5tlQRTP0z3k62i5D_UOGIw8EDq3bwCnOk21Ente5eAg-76TjiHzdMCtrx6p4d-I-xlCgxP57BaiQYtBimTeivuSD8cQq07IqImY0Hdb5VJI78T5u1jtJ4BMS6ScZ8JbKNhKGrlLROY6BUjGG8aKsGJjFV6gLmEOIFMuLx3QacOF7gbwIqLIUJnvGAm2LnbmBp5j1uflAL2n2BoIq4h26eJ8C5bG6XzXSkFjj5g1eREKBNsclFc8xEDlJjqeyLphCB3_Vd68otsgFa77Fibl4JYdNef5ALRrI1753mqvUstL-pFj4hIKQjdLX_A8qCsG8gDhVO6vu5YlWa3c9FgzFQQdQsjWoUyyW_3q3a7cJwOkK88FP1ntF5ZG6FBbWEyMqHoSsCSSkJpmnKGvQGDgS_uTrfUXhMYH60_RVwc-LALw5QcqXSzN6JWTjQXGaeoyRheZ2BoG6XyXQ0YYZT2_-eIfzP9hR7UMXG1htLZGocBNFZhsTU8kC-zBT3tAev5qi-LfWbQ7mM5mC_XL-46z6M4F_DQMC-MmZo6eaFMaywukKdgCKhpvumMoT1dpRdrEKFpPCxqhs7qswd8hvMP_NpVsCxwptbq0h5lVu7b3pG8JycM-RFKXNn7rUCLwj-Mqb9ckMufVk5b4AInhaaMvtVurJ-5ooYGwEYMX6qT2JXmHFY2aLrdFacFeMAEJoFbYAEtVQVy3ZB6u2FS_OwhS5zXCXkThFe6DQ_LsyjwxwXWQ3q6Q4Q8YWpsqcOGX4qO5QmXXByjJtNcPjsrRGx2lr4ybfsNRQhdZ14UX-8rRZxUrbbkOKPNKnP10uSq6eBpmn45n5-NrZqGlt10BxU0HO8y9aGN1idibS1rmk5ikdb7rma_dZnubJgIonbZ6ZVpjeDw==",
  "id": "rs_04c7a6cc40e6fd57016aacd609c0f087d0b7a3501911192825",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.17,\"left_z\":0.125},\"note\":\"The left container is visible just left of the wrist-camera jaw column, with its open neck ahead of the handle. I’m shifting slightly left and forward while lowering toward a grasp around its body.\"}",
  "call_id": "call_9JJ1rZ9ifQG97ynJZJhKIMi4",
  "id": "fc_04c7a6cc40e6fd57016aacd60d821c87d0ae40f555082394c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9JJ1rZ9ifQG97ynJZJhKIMi4",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5728, 1.6512, 0.968, -0.0345, -0.4858, -0.3477, 0.9996, -0.0212, 0.7986, 0.6422, -0.437, -0.012, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.4161 left_y=-0.166 left_z=0.1183 left_yaw=0.0101 left_pitch=-0.0628 left_roll=0.0331 left_gripper=0.9996 right_x=0.2919 right_y=-0.0005 right_z=0.1844 right_yaw=-0.0034 right_pitch=-0.0301 right_roll=-0.0039 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -7.9248, 6.8308, 1.7656, -0.0904, 0.1001, -0.0122, -0.3624, -1.2239, 7.2, 1.7167, -0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:109f030373046c34a6fd86a28847d10dd4442f290cfdb16b7cfebe3943d67ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fa77aa4db6d1d51b02c7067bb66fe7f93208dc9e7087044568e3a3b5d973504",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf10fcae6f2423ea1f2d47c0905826e9296b79042d3ae8130e3c261b3cb6633a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6926, 1.4841, 1.1824, -0.4263, -0.569, -0.4278, 0.9996, -0.0212, 0.7986, 0.6434, -0.4374, -0.0124, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.3805 left_y=-0.1873 left_z=0.214 left_yaw=-0.0023 left_pitch=-0.0368 left_roll=0.0177 left_gripper=0.9996 right_x=0.292 right_y=-0.0004 right_z=0.1849 right_yaw=-0.0031 right_pitch=-0.0294 right_roll=-0.0037 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -6.9812, 9.4427, 1.6142, -0.3443, 0.0171, -0.0562, -0.5949, -0.6906, 10.0444, 1.6972, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNYX2wtv_x0Fb0r0F5hmcHS-q7KQNMiqG_pfgJ10_xUBlxbxCicrQgAmHq2xaH_sSv3fzBj7bi_umCl4W4SGZATFEM_bZYfVkTTYNTsOpo-MhsS8YoHzd6SreEQL1TcgCeoQTetCsmq2Jw9oVcW_4hWWbieSKIdaZeeOubnbBOD5IgUvKNlMhJ80Obue6uvAaC62LmenMyrAmPpo8Mn8J8tKNNeC3a_oIxX34hb3VhouDtlXzMUpv7YbAlml0eWfJrgfTJfUDpo1474RBlL8wpWrV_3UpYVM7iWAsssw6Mg9KnEycU0AhPIv-0LubRgr13k-LmlVmXWBcRvPLOWgcV1W1t67VmHX8vovIuowQmjvp88zHHfGEhlO1EsaUFSLyi84X6O89q13gQlfu-SWHMRJINq5nlMw3JAoNdZTWntV_8JzAYEF9-FhfJLTbLTGZyipUaDgre9L3wDM6Entm6WKuVBugXZIR1o3lb0e6cSUGLL-DQgcSXlgGWCwdBQxJ8zdF8KU6rDFYZQFHqbewwQdYSIRboibDsNFVQifm16xlRCBfL4cmTo8FAshpcRND7ImNUo19LcO5sbKL-aLVEZsLwZDJ5JogCjxPghsE03jMlk_ZkC8_HRWXWRPP5aVle9_4vPLBJp2QZ7IAi26jOw67GI7A4NKN8r-_ilKzlOr_Uh0cyz3ZjPCD7fjiLRSzLuaZlJdc6VamgUp1ofXUud2DxdCnpX7zRBUatrMaF6vE0mD00-wXzrDZHFB8O3408miJg_cZayt2jbwgDUJ6-9bD13jxVV9EmIasYvLW9erAg3pOwvIssiNwNCG4ZzYnL-gfBbB3KnYN2Wo8Yds302-7bP2dFYQ8PqnegaCTmha1fTQkKbJ3LVYSPaLd4MZTaC4cClHvkY2J1a0GeJ9P22o2sFZ6XdIMEicFnzUHQJdWwpWY6eCFwiF7mE71xQumfUMTPwFgrIZf9G_ytK9LSkX9Z_ekkNnIQo88JvzhFwjeZm6m55kCAmb28m0krFGwHcHVjIUI6a_OULz7VQMtUDh9Zx1ic2X8sLvhI3FnhnNYHWu7O_loIu_1hly9LmUIj4sNe1r-CaG9j0pVkzT6_o32gKqQM7-FH9Utn29UmQpY4rVe39qJAEuRjzmEfDlV49EiWuLFrE-1PaBpOCwVL0c9L1s_gL8YGML8k0QFzZFPzR46QbdHzTs7XX9TQQrx5syu-38fCPvtXNRKXsigKm_C40tQYCEf6ShYdDyeI1hfW63lBYlFeWgKVKZpR8qujYVk6wE7EegzXgYkvj9HRQX4hUWkpERZBBd1uwzPKKtO-GR0TyNtdonq9FzvN_2IVgKe6DeX3KaXmbsKcPlMP2f70tH-6DjNRGR75yQHxeYSfZE8zKnz4AZmRmeC6TFk1hFE-88a7UsG8G--UKVIRLi-RKAAAKi1Rn1WHW8d7Vhh-BHj4ZNs8JjLsFD9xbMBRi8h7uEBAyTISKgEFLqCAnjlQD-s6aorJGpmxktiDod3qwHFQN9nrQrz7uEU-iDKRmP9gvx1yCp7cUUmLh0uHEHbbNj3mAkd-mVQQoVlmgkgDveZU_7Ki6JKn8tdE70fSo6OKWQai0f8Q872omf1sCHJhSQYSwBUSoch-SMfrvPNivlTEHVXeOO2dtQQ_RpepfAStYGrERBxE68P-1ayYXd8yyTWLkZrfMQLlZZm2bzoeQe8_m2u7aJdrXFQPE5aAhPQxDAdGz-54xNK0yKOlPvGI_bYNTfDsZGDKCzqgifafIszR5QpEQLcJAvzamypl9eaQ_P5uDubG4x3btJpEMc2g==",
  "id": "rs_04c7a6cc40e6fd57016aacd612799c87d08bcd67761803a9b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.16,\"left_z\":0.115},\"note\":\"The bottle’s lower body is still just ahead of the fingertips in the wrist view. I’m advancing three centimetres and centering it between the open jaws before closing.\"}",
  "call_id": "call_YLlQAAQe7KeR2LR45mmN1Co2",
  "id": "fc_04c7a6cc40e6fd57016aacd6160a5c87d0b7b98c8dbd277390",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YLlQAAQe7KeR2LR45mmN1Co2",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5034, 1.7531, 1.0267, -0.0292, -0.4442, -0.3214, 0.9996, -0.0212, 0.7986, 0.6422, -0.437, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4396 left_y=-0.1513 left_z=0.0965 left_yaw=0.0345 left_pitch=-0.1103 left_roll=0.0506 left_gripper=0.9996 right_x=0.2919 right_y=-0.0005 right_z=0.1844 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.9641, 9.2239, 1.7265, -0.1099, 0.1929, -0.0122, -0.3761, -1.1829, 7.0085, 1.7167, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fccf4aa8499b7cf3b5f1c1038164ee224d9725cf207cf178ac9f01d434528012",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52ffb52c8f3b41eae69dd4574ed9db183b43c75522df40b95de33faa188f4b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7536a451955100159cb8d29f9bf35ecece3c7949788311c5d7eb930de45c4225",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5728, 1.6512, 0.968, -0.0345, -0.4858, -0.3477, 0.9996, -0.0212, 0.7986, 0.6422, -0.437, -0.012, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.4161 left_y=-0.166 left_z=0.1183 left_yaw=0.0101 left_pitch=-0.0628 left_roll=0.0331 left_gripper=0.9996 right_x=0.2919 right_y=-0.0005 right_z=0.1844 right_yaw=-0.0034 right_pitch=-0.0301 right_roll=-0.0039 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -7.9248, 6.8308, 1.7656, -0.0904, 0.1001, -0.0122, -0.3624, -1.2239, 7.2, 1.7167, -0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left container now fills the space between the jaws at body height. I’m closing the gripper to secure it for a short test lift.\"}",
  "call_id": "call_YOhLcrvPfhKveXBeNT6BRHuR",
  "id": "fc_04c7a6cc40e6fd57016aacd61af08487d0b719f507e9ec09ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YOhLcrvPfhKveXBeNT6BRHuR",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5034, 1.7531, 1.0271, -0.0292, -0.4438, -0.3099, 0.0105, -0.0212, 0.7986, 0.6422, -0.437, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4397 left_y=-0.1514 left_z=0.0966 left_yaw=0.028 left_pitch=-0.1105 left_roll=0.0592 left_gripper=0.0105 right_x=0.2919 right_y=-0.0005 right_z=0.1844 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -8.9504, 9.0598, 1.7118, -0.0708, 0.0806, 0.8718, -0.1299, -1.2513, 7.1726, 1.6874, -0.0757, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a6d3bb2b1e5a0121860b107961f6e8a6187af78a010076629896fc602846cce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:763ce30acf9a0cf350fce6abc459b02c6c3fb1405260c6b1939d04778ea989cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da2aa3d5efd7355d7792cd43092e8be02c52778719e4aebc1ee03d01f6f7fbd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5034, 1.7531, 1.0267, -0.0292, -0.4442, -0.3214, 0.9996, -0.0212, 0.7986, 0.6422, -0.437, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4396 left_y=-0.1513 left_z=0.0965 left_yaw=0.0345 left_pitch=-0.1103 left_roll=0.0506 left_gripper=0.9996 right_x=0.2919 right_y=-0.0005 right_z=0.1844 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.9641, 9.2239, 1.7265, -0.1099, 0.1929, -0.0122, -0.3761, -1.1829, 7.0085, 1.7167, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNYkZnSGLK2SheyB0CMVmVFbo-D1yx6DqvmeN30F5qA7vm7O38_L4ZtdD54vnrUnvZ_Z_Qvl7pO4JQhzgL2SFZREBMhhOpAWgXZPHLpFB5vprfBag-L8YwU6hilwZNzXYv8xk0zw4Q2vBh5Js9qXz5iRi_8XcxPloY5TzGVVLc7nojxC2-Wm09MBKHWLw5EUwRqwix-qxQ2CA_OamwVaOl0MYpsOgJ1KG0-yy8AeCjMsB5EhZU4JIaUJup3fUVGq-Gs4LOn90__bgcWDKqCPXXkXM-_VOGcfb7_HQwzZHOsyrJL_WU4e9RoMr78e-aPIpPkB6-KaXjFQ_nMxXehnLblZyrIgMMxo2gAf8jyzZo2KrCn1hSVyqQwOo4F2i5FW4evPCzzpDddE-oP6oBa1VnWKTQXkOjAOac9gZTU6B1iIed9w0zUWnampDkOuDtVkwhKCnMNpfHXXgqlAs1ql_yAChhdX1XUxSMC0zjWH3e5HwIK8jmWfHPiKB_r9AczFXsUDpBEFDIsbY_PiVV5y56Ll04yiY_QFAqk9k5pPeFGaCeK5RO4Fx2N7BCkzT7BMB92XLWIZylZZXtxS8EKnUloVE3MIzB_9H10KtSyfreGKS4Ka0fZ3Xn0pHNgBwtj3-PYUZq2nUZe4-GXFbInCq4mWctLCC8TVfCGyg-qfK0jOxfPk60Gwg5GxMTQpksLPGVtf64mZLXZawSWxVC60ez3dxb7O6BrX9ZCJ25oBaovhvtb8iB4wsSif1LSi3Uo-qJa03bgE26v5cH7YxCd1M1tD8LdsaxTL-8hMuTyXbK9hMGMLMMmdXaYnlUN2zAW0RckGzBC5_shtJxfP7axfsW2YTD13rx8MQQ5ckBAWuTpsF7hzg8ZTWmP9sWvZjSNbRgPEn60BqFJrheNeNp0gMaZPaMl-gw52F_FNu-U2-f8V3-QzcGYCLjvPMiv1vBETcRLYzljfjugYTzO7qt-h0zc2B0BpY-eZNRQ44HlTGiaaBLCU3SJC2L4QaeA2Vlb32wSvZCSCXE8NYhPznwOckUIupZg-bm31muwYJCVVfNQT3QyI1mk4YE7Tx9Yc8NGLy-cUPIyRknY4-Ky4iXfpCY2jpZXy8lgHvSvUci2ZL8Dv8ngiaj5zqtxe0_2f4k9Xql6Td1Z_rpsmiYDj75Lt0k3ouCAHZGIJghFnYFI5pXLPHC85J10EcDr1wZ1F4t2zYU3GFGgsgVkLkkd5sJ0TDYSLpBRD7km3l5l4dS5BMoI9nNA2-DJ_I4DbRTyQkNBIigbWGesPQrA4Ny6wCiigVZg-e71WOn5vsZ229ThXHr61DhuRnQWk1h18HpZqwMXbSGLk-108IKe6O4-w7rf__KpvPQ==",
  "id": "rs_04c7a6cc40e6fd57016aacd621b2e487d0badffc72cefcac4f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.48,\"left_y\":-0.16,\"left_z\":0.115},\"note\":\"The gripper closed almost completely, indicating it missed behind the bottle rather than grasping it. I’m reopening and advancing four centimetres so the jaws reach farther around the body.\"}",
  "call_id": "call_wX4scY3s6Rkyww2neLFX9bij",
  "id": "fc_04c7a6cc40e6fd57016aacd623091087d0ad4c817d47bdcef7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wX4scY3s6Rkyww2neLFX9bij",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4759, 1.8538, 1.203, -0.1226, -0.4362, -0.3042, 0.9952, -0.0212, 0.7986, 0.6422, -0.437, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4712 left_y=-0.1548 left_z=0.1041 left_yaw=0.0475 left_pitch=-0.1292 left_roll=0.0684 left_gripper=0.9952 right_x=0.2919 right_y=-0.0005 right_z=0.1844 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [0.4581, -8.9094, 9.2376, 1.5214, -0.0611, 0.1294, -0.0415, -0.253, -1.1966, 7.0222, 1.7314, -0.0757, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6698b68838a43361e85bad9bf63141ecce399815dcb79487a653f7a610c57f67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2514858bcd4d57f5f99eb92dd052f239b6d3f405b1ed8936937b1ed9bb5f3d75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fae3b3c9fa8336fffb2dd54a0b159ed78f253f4c4788fef66d2d46a9ed17d0c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5034, 1.7531, 1.0271, -0.0292, -0.4438, -0.3099, 0.0105, -0.0212, 0.7986, 0.6422, -0.437, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4397 left_y=-0.1514 left_z=0.0966 left_yaw=0.028 left_pitch=-0.1105 left_roll=0.0592 left_gripper=0.0105 right_x=0.2919 right_y=-0.0005 right_z=0.1844 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -8.9504, 9.0598, 1.7118, -0.0708, 0.0806, 0.8718, -0.1299, -1.2513, 7.1726, 1.6874, -0.0757, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle now extends down between the visible jaw tips. I’m closing again at this corrected position and checking the jaw opening before lifting.\"}",
  "call_id": "call_uET4vkV2n9rq2zYIC7hnOcfD",
  "id": "fc_04c7a6cc40e6fd57016aacd62764b487d0a0de87aebb68e368",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uET4vkV2n9rq2zYIC7hnOcfD",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4736, 1.8591, 1.206, -0.1368, -0.437, -0.3103, 0.01, -0.0212, 0.7986, 0.6422, -0.437, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4702 left_y=-0.1529 left_z=0.1006 left_yaw=0.0548 left_pitch=-0.1429 left_roll=0.0724 left_gripper=0.01 right_x=0.2919 right_y=-0.0005 right_z=0.1844 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -10.0034, 6.2154, 1.6288, -0.1685, 0.0513, 0.8816, -0.2256, -1.0598, 7.0222, 1.7021, -0.0806, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03a14eb021347fa2d2bf524e909d7e01ae90f584c0059b9334c52884c54b74fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74ecf7e47700ddc360189ff1bc00978a05bc22fb9a7ab30308addc29f22bb4ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0e7ac1a1692bfeb655ac1ad336d7f05fe221233d3223ca7af522e7e8dd282c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4759, 1.8538, 1.203, -0.1226, -0.4362, -0.3042, 0.9952, -0.0212, 0.7986, 0.6422, -0.437, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4712 left_y=-0.1548 left_z=0.1041 left_yaw=0.0475 left_pitch=-0.1292 left_roll=0.0684 left_gripper=0.9952 right_x=0.2919 right_y=-0.0005 right_z=0.1844 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [0.4581, -8.9094, 9.2376, 1.5214, -0.0611, 0.1294, -0.0415, -0.253, -1.1966, 7.0222, 1.7314, -0.0757, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNYyB01GlKBUsYAPk6-whBQ50wdWaFuMuIN5wTUPoaIeOjWkwmnE98jMyFMgpY5MchzKMXhSBjHuSdGrpXsJN6ABe46c7Us4CFjB-Z3obQniqgeoLotJNqrmaBUJ1evda6okyJkrItemrT35j8lZ65-xoMrNEQT4q6x20uN-iBnosg4ZLlQUxth8gbJG5z8GkqLjKetHs2SrQ_-seNEMpBgavaa4HefiMW22XY2Ee0FI80DikPa1wxFTyqupriMy1FXoZMiZAEDDhLoxKTsJLYxwgwRUEVECOeGINRvgmf37oUtAdEiI2fBV9gX3fDF9yKj-yiTeqiW0PVCb_8tWD0x8jwX3segHGyPaJLFds5d7WIn4FrfpUdPJfRKef1mDrKfs8nQn9LokRzY3dnpFush6hYmiFqh-5vCkFW87w0pgzXOPq1NT6pPl8i0soh4rleMhvrcomL4awn8DZsd4-Ye7P5jObVDjYW74n6bGdXXgRmSxD9qEwT0ZoU4M8nBiWKIXx6NdGis9Zw1vbKeBiLym59g6wPj2FBDUwJegMJE98-ag3-9EXGpQLpi2C4uX9Xa89jxK7ZQr5OHH5kleVk0OIwqk0xP5QgTYwYzodZ6h5fHaInbJPm0ixhbg_wrnnTtxc364htin8V1m3KNitbv-z-Xv8dfojy2Fpdv75kU9Eh02Hqm9LYtTgrN4OGdgDQp17lIHNjWxI1YZmVd4WxHxHYxbA0FELVV5yFtinrrn4qhAhNI0o4ianwkFztCMNgZwCCvgvJotZ6vFhqHhd5kCN-qnt_O9qZQOdd1APEzjU_czSWNDn_skON72mqo_ac_U8AmMc-qRenrXLd_42avLjH6Q0VTADBeBuddCrnv5V8Ix1RJzdszZ1q1ybgDXMYae7TI_AUij-jdYUOswdtzA8chFYu5Maa0x8FwwSHqzU6ggc7SiAPOm1N0rpEHIGNDV4gk9XTRtDr9HdStO1CXFtRM2A-uYhheHvTcqXTd_7LA02EImN3LIhIbMC5BTdzcmPTQqic_XGlAQiO1-pye477EdqOPXFdU_4eVNyJvsKeWpcWasjfL5IuXHRzuX-BZYKi5atIVUaPao_QVomeERhOvNzr4XCbEgqfw_DourYXWG6YMzpnpIN8k42V8FVMOIriZSeEdn_1zIqIZWCjufKaDSvwpT-5yD14o98D20c3s45uqkxsqpRRuNgcgiwQhKdmEvPf8n3FNUm583zG3DfuZNRLe2tzBPc92DbYwJUY0gfQMr1Pv0jG_6G-XzNM-5WhQ8kI4Pj-cSE2fi_1Ns3ghDBoEaOdBNZcoe9kO9jFGlOMvJoxJlvMtMc5PQia-_cPMoDpSZURKmVXwruhKiG9hvC8gzPRhO4x2WCDHuVSZ5lg_1JvdtsbIBznLDia_EDAjN1lVdmAJyXDjnxnJOZAcSv0do4n4qHYZuu7KFeQA3eqfPn9DOnI32L_OgYBP4TEIQBrZvPDcvkSL0BzpCEMP3CIRXXG3tuYMvqaHmME3BjLi2bNVevkvvkvpfq-AiPE7xIjxICf0-pFp2bn46G_NPvP9GyVk95KnKOCu42AE0JWfCv_TBnyA63kv5UEuTgGesIZCsVvgrLxWn6YGyMpfwQ1JiSM7o6R0EBnhcXk23yLQek62EinPOdFi4Pm5uepnQ8voZ1r_Y-27MwUSf4xS_tLlfRxPrr00nhzpYMKr6ZD0qOdpcaliEWvY6cPI980GkPlIAw-Q3AH0ZIgqqczU6-2yyng6ipdALcvcJ4qRy_w0B7fQX8Rpe_60cWINTIgQ3m5CfjeTM38fZxhTzSUdZOQy4isiItdFX5evpfKbxb79Jt3w320UYp2BNc9f30mxhBPHzXqywuk2r4NqYbAr_Qsob2R37i2-UPgvv1pCSOXRlCwKf3bW7R_q7hTm6kim9eBaQ5V85ga-dB8Qhhh20H4jw2pWeSIOVU-_gSYc2KGwx8RIi9m_z7kDSQLyzsGTcD8jrW3gYCnqpbgJhrE63IvNXKgoS40Bw-wRxw4Yjf-6rtSG8gqIQ7aWYTElQIUmhtYa0ROJmOOvP9dgvIg==",
  "id": "rs_04c7a6cc40e6fd57016aacd62c779c87d086b82526e372d13f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.16,\"left_z\":0.26,\"left_gripper\":1},\"note\":\"The second close was also empty; the overhead view shows the jaws are still behind the broad bottle body. I’m lifting open jaws to approach the narrower upper section instead of repeating the low grasp.\"}",
  "call_id": "call_qX5IY3gqs1GTtzo27DYPe8LB",
  "id": "fc_04c7a6cc40e6fd57016aacd6310e8c87d089ee0696a6f007fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qX5IY3gqs1GTtzo27DYPe8LB",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4755, 1.8462, 1.7844, -0.7212, -0.4366, -0.3298, 0.9954, -0.0212, 0.7986, 0.6422, -0.437, -0.0116, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.4832 left_y=-0.1608 left_z=0.2486 left_yaw=0.0625 left_pitch=-0.1363 left_roll=0.0536 left_gripper=0.9954 right_x=0.2919 right_y=-0.0005 right_z=0.1844 right_yaw=-0.0037 right_pitch=-0.0301 right_roll=-0.0041 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -9.1556, 8.9504, 1.3407, -0.2515, 0.1099, -0.1636, -0.3487, -1.2239, 7.0632, 1.7314, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0a62b461a9c2c56ca5ce590d04fb49ed69ab8cbc9755703888601c4e85c2ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bdc7a059e76919989300988b8ecc3db601d2bdd1fc2a02057cdbd2af2827086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4353f276e8f4d4d0b3e5d7b21a7868567b791684f094ebe3e7d16422c3b953c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4736, 1.8591, 1.206, -0.1368, -0.437, -0.3103, 0.01, -0.0212, 0.7986, 0.6422, -0.437, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4702 left_y=-0.1529 left_z=0.1006 left_yaw=0.0548 left_pitch=-0.1429 left_roll=0.0724 left_gripper=0.01 right_x=0.2919 right_y=-0.0005 right_z=0.1844 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -10.0034, 6.2154, 1.6288, -0.1685, 0.0513, 0.8816, -0.2256, -1.0598, 7.0222, 1.7021, -0.0806, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNY7ZkIa-NR3SbolRQMQlbjXNwuy2FRVUOo_mAQfjJyFs66M4v-JXZOa7xo-HAy8Y_Wy0cUcTMgfG3-GWctYHZtjqC--p-vR5MqEB4JEis5I7h87fpvRBAYjvYpQHlOc94vfM4MR4Hfk_i3WI3MOIQagKDV4IX21cDNWDFsLo8wP9-fUa4WjCotfvV2ZosrAqSbMD3NVwN__RlEuep4658t1dMRzq0IioFKsHiJ3j2SDYyvgSi9cfgU6kpy-7cUiF97Ey9tv89tpBSan6ENsmmbspUgiVRCCzzpOJophOsNlqaqmWsDkdkYPh5axNvA727Z7F6SUeOOaJIfIazoFjlDezCnNVt8YQ5AEmaUH3v1d_qjF3-DNMfuUr1gC855ODtro-W7NR4WKkvc43WQWXxecwNVDt7R7TW6ZoP9-sF6iu0y0GVjunA5ADe1PSACJBO-2MrNFZN-LRGUc8vaqdzkX94G1S7uXG0CpngT7CfHAjx4TwSsEo_243HOdIwO4tEiWlclDwVB1oOWo7MkaxWUG0LOSJzMr10IyUG4lAEG3wWBW8-J864OcXSE0u4RArgn_hsCJobV6TSe_fzXDPfOci3ZqWCEvxBFCdUle1L8X4TJTODWfps6K3iP_mFtQ78i6VufdRweTeOn_SJkzWX288j4ap4Qf0icL3E1yJaqqqqmeO6gXInETWlatQ63AGg1A57kZxd64YYby6f4WkNfbbcozMkQ8F7JL8sxV8mXAIgphMNz3WEafG_26digFJ0is7jUcB9yf7rY2lfGYLf-mh47AMJRTi08ODs7OJ2PxjSLlvZubmHJb6N4zL3NlsNBi8u4tCUHSjoMjv-modXsJXc5ft8Pqgdo1sHWFovx9BCMzqEk-WYQm8D5blDkUflO6Ld0vNC-2UIVZCYJ9J97DNtAnFJYdtUlkVhvJ4f_QUzfMxeliDCWq8WLVEsiDgtkysxDViaCdPrm0yg-bIsqSsvQkp2tzGoyOuMD9bxG9fGADq5juYqZlwq4XFHB_uNGCKMxdhcZHWoG2b2PsuHWjD1NDF1nRf_cU8p0EYc9NtVYgMlmQvwE1dDW11jeLj_cEjDCb0V6o2-Ilgpf0ogFGrLTwRyKw7JXDVyaAsXAIXUYG49WpYwVDoqTE-cifOov588V2G4KgPXglsPc9TYTMF1tsD7vETVCac-htBBJPwiPNZ5MoRfg4VnkLNFrVTIkncWv4Aplgy0HLcSCCm08q935o_NNO7tLOieiJU2bICrMTL02gWQBIUx-CaM28Q-jQ1MFWMZdEmtBkIP0-d61dhPvV26PD3zatwvxrc9SdAVSm__fXIRILe-GaaRF8Pf9ro_VCrAKXn0RtfJBYOpczxyO9GArE-V59xbLVOhmuBi4hGkzOb4PQA5ffubL8dk7FTYPCkhoM4ZHwOTUlOnc_lBabmvhcsgD5l6FFwgajkOjFHp_TpnjDQm7a1MKo9Y5kyTM5-QK5P9xNOuWF7MukRHkBLt6JHP6aRYxnGxoyjbjL4-3b0MNCXnTBAExFwMOcNwyjJs8GxCbTKrzKgZafJoX99wpjJQhVHyOKoj2VbjVJdchm5TPH7CAUtR_DF78y",
  "id": "rs_04c7a6cc40e6fd57016aacd637734487d08880510b69ec1a19",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.555,\"left_y\":-0.16,\"left_z\":0.245},\"note\":\"From above, the container’s open neck and side handle are clearly visible, while the jaws remain behind it. I’m moving forward at upper-body height to position the jaws around the narrow neck area.\"}",
  "call_id": "call_KeTJlqjqqcLPPBqizQM7AEza",
  "id": "fc_04c7a6cc40e6fd57016aacd63a038487d0ba97f0582ab815de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KeTJlqjqqcLPPBqizQM7AEza",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4038, 2.1277, 2.1216, -0.8131, -0.3931, -0.3061, 0.9967, -0.0212, 0.8024, 0.6418, -0.437, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.5468 left_y=-0.1562 left_z=0.2243 left_yaw=0.0897 left_pitch=-0.1841 left_roll=0.0622 left_gripper=0.9967 right_x=0.2921 right_y=-0.0005 right_z=0.1832 right_yaw=-0.0036 right_pitch=-0.0343 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [0.1573, -12.5333, 8.8274, 1.5214, -0.1441, 0.232, 0.1245, -0.3761, -1.5248, 7.0496, 1.6874, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4643a0bc5e482b732ac90b44ffdc7a295755b068c219c54e334f625e93da54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05760e3e6163e2a57484456209624c8402093a28efaff6981e0e706f6cd508c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f94a1f9c76f286aad039bcba619684cb89f98825baa218a4bbc88fd371da586",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4755, 1.8462, 1.7844, -0.7212, -0.4366, -0.3298, 0.9954, -0.0212, 0.7986, 0.6422, -0.437, -0.0116, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.4832 left_y=-0.1608 left_z=0.2486 left_yaw=0.0625 left_pitch=-0.1363 left_roll=0.0536 left_gripper=0.9954 right_x=0.2919 right_y=-0.0005 right_z=0.1844 right_yaw=-0.0037 right_pitch=-0.0301 right_roll=-0.0041 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -9.1556, 8.9504, 1.3407, -0.2515, 0.1099, -0.1636, -0.3487, -1.2239, 7.0632, 1.7314, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNZAU2TfqHgC5Mr57gpGubYshYvy-Ci6ExJmEBCu1J_w9Yq7zuHxhaH6aIICzAg38fFy6GUeSZTuWLEXZ3zhhDMPCe8IlvW3QBXr2-0DZ2Yoko13zM3omHSsjndLadbaxE0F4h5qXQBaiW5pqBigrbstkUvOJ3mD8oYLMvJynkHeFjaunn6V8Yg4DEndP29km-oIyflfqIhvBoAKi_GnwEjEGuxVMRHvDFvzjZIhHvKaBAK3qSYnGgHWEQSz9e7h-b9gvyw-ITFgAL7f6na0CRQ7nsw8EpF6X7sMusEsJmNBvmdg6IzxFH8-2ujBqGaTsUxp6bkIv8xtRlPXtH8kusDInMt0lJuvPVNT6megwO7_bCuQNAz-DdbkOIS22_kQPaIQGpNCUfgJ5ygGfK_FNhswW_cZtEOZFQ9uhpnUamddmouLEXNSjq_a9nEyjWkeqeYGe7RkkehDWB5yO1xGT9uwJnWMerf0S_14vbyhpQ0SG1f71e_ZohcB24lVAtaFo8mrhAmLL1cF7G6UHmdH1ysWjLLp9LukEnHe3me-_CndSpCMleqqPACqCJ0dHe0pHW2x9Jf2TdDfi70wXB9xPuEduPTFYozGsceRvM6EwQ2pgkF0UWjZgIrKGC6pmuVTVu650Cx7RIHCdBWyZ4HN14d8ZvCd-ps_dcAYAKQcVphobEahb-L8E0ZFrP9g_l998QspamwcLjKudSYmJYEKljp7YaHsFJ8Xn_qw70SB2QuUEMIdQ4G5oBle_NYA15OOaNAyPGqubyQJ6ACsWDf2V6FX17crzCz2kLaMWJM9W3WaUpKvtbXeLy52MZhgGvi3C8-fF_2Obb_3yzFmkVCiuzlW3aTNgirtIPgsFgk79_TPJ5z81_QMok9HyRfJV0XOuKfdvKaSeAOH1gH99e-m8SWGOmtMciOpF5BNuuwvZfIYOqD3MjbmJ5hfKAa10Z9yB-UVRc5FjpLjPi-YZP4hS4OJtmF4v9W1IdJH4ooMzY3-ISBQe3t6-XXFpowNB3XP5fcreJS7V9f8BlsjZeen0H6qQz7kRxhg_e3bPsF2NmGZljkc0XcvhTPxrEnIbVWjMGPiQEt79UBePwzenXpDTX50Zq1ikTs2XJ5Huzyb_nhQaqZ2Z-xyMsf7hUAaMkWCis6Dd7gggodcNrZrmMuKG1PXuLnWXUOwxdORYQNrJzuOXBMgv0vlcxc_Gz3gwgvdXO0U-aCdjiWzRE_6e9Jj5alxLinAZaPw0VodrnfqyYbK5O1dgfTNqYE6UuMMxRz5jFZm321XYHhdADYkHLS80J2gs4Npvf9l0G8f1_M3ItGFzjwdlC1KmQGOBY8ImR28zi1T",
  "id": "rs_04c7a6cc40e6fd57016aacd63e9dac87d0aa9f5082d7a3ce84",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.185,\"left_x\":0.55},\"note\":\"The neck is now centered at the bottom of the wrist image, directly under the gripper. I’m lowering a few centimetres to surround the neck rather than the wide body.\"}",
  "call_id": "call_vqunbCTRVPwCG4P9ZZbhlt0Y",
  "id": "fc_04c7a6cc40e6fd57016aacd63f3afc87d0a18efb0403e06f68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vqunbCTRVPwCG4P9ZZbhlt0Y",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4004, 2.1204, 1.9656, -0.709, -0.3916, -0.3038, 0.9968, -0.0212, 0.804, 0.6418, -0.4366, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.5442 left_y=-0.1532 left_z=0.1813 left_yaw=0.0951 left_pitch=-0.2241 left_roll=0.0845 left_gripper=0.9968 right_x=0.2923 right_y=-0.0005 right_z=0.1829 right_yaw=-0.0036 right_pitch=-0.0355 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -12.9162, 7.7333, 1.8242, -0.2369, -0.0366, -0.0024, -0.3761, -1.0462, 6.9812, 1.746, -0.0464, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e18024547a2adfcc5d1bad4f3512f88fa6785b3e22616031e9e00246c1c3ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03c6ec3011a190d9bec401be3a813094f13e4d541273cb916f6f64ab2db0a15e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d625d06e7e0ddce25348ee3ec3c7a237cfc611f81370daaff321074311a18e5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4038, 2.1277, 2.1216, -0.8131, -0.3931, -0.3061, 0.9967, -0.0212, 0.8024, 0.6418, -0.437, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.5468 left_y=-0.1562 left_z=0.2243 left_yaw=0.0897 left_pitch=-0.1841 left_roll=0.0622 left_gripper=0.9967 right_x=0.2921 right_y=-0.0005 right_z=0.1832 right_yaw=-0.0036 right_pitch=-0.0343 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [0.1573, -12.5333, 8.8274, 1.5214, -0.1441, 0.232, 0.1245, -0.3761, -1.5248, 7.0496, 1.6874, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open neck remains centered between the jaw columns at the new height. I’m closing to test this upper-section grasp.\"}",
  "call_id": "call_O0aHyBls5FV2ZgAEuQTIfPbk",
  "id": "fc_04c7a6cc40e6fd57016aacd6426b6087d09d1a32bb2642112f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O0aHyBls5FV2ZgAEuQTIfPbk",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4004, 2.1326, 1.9411, -0.6872, -0.392, -0.3141, 0.6788, -0.0212, 0.8043, 0.6418, -0.4366, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.5448 left_y=-0.1534 left_z=0.1682 left_yaw=0.1027 left_pitch=-0.2365 left_roll=0.0847 left_gripper=0.6788 right_x=0.2923 right_y=-0.0005 right_z=0.1828 right_yaw=-0.0036 right_pitch=-0.0359 right_roll=-0.0034 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -13.3538, 8.7179, 1.1648, -0.2418, 0.0611, 0.8278, -0.2256, -1.0598, 7.1726, 1.7167, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ecf07d52cf73f825bd6949d5d37c7a9b35836060b9c350298b3582226b058b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2b6a322618c1df8ed23ef8d3501503bacc3625bdf4de943f8c1f42763615a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1027ec92bbb9ea686ef6c6a74aa094cf5c08e539a1b32ccd4e2dbd28e5e150b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4004, 2.1204, 1.9656, -0.709, -0.3916, -0.3038, 0.9968, -0.0212, 0.804, 0.6418, -0.4366, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.5442 left_y=-0.1532 left_z=0.1813 left_yaw=0.0951 left_pitch=-0.2241 left_roll=0.0845 left_gripper=0.9968 right_x=0.2923 right_y=-0.0005 right_z=0.1829 right_yaw=-0.0036 right_pitch=-0.0355 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -12.9162, 7.7333, 1.8242, -0.2369, -0.0366, -0.0024, -0.3761, -1.0462, 6.9812, 1.746, -0.0464, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_z\":0.26},\"note\":\"The jaws stopped at about 6.4 centimetres, consistent with holding the container. I’m lifting it gently and drawing slightly inward to verify that it moves securely.\"}",
  "call_id": "call_WoBiS89nzD1dtYkibVI5egT9",
  "id": "fc_04c7a6cc40e6fd57016aacd646852487d082f4271bf7421765",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WoBiS89nzD1dtYkibVI5egT9",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4191, 2.1399, 2.2543, -1.005, -0.3923, -0.3412, 0.6475, -0.0212, 0.8062, 0.6418, -0.4366, -0.0116, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.5273 left_y=-0.157 left_z=0.2407 left_yaw=0.1004 left_pitch=-0.2454 left_roll=0.0714 left_gripper=0.6475 right_x=0.2924 right_y=-0.0005 right_z=0.1823 right_yaw=-0.0039 right_pitch=-0.0378 right_roll=-0.0036 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -12.3556, 8.8274, 1.453, -0.3834, 0.0904, 1.0379, -0.0342, -1.4427, 7.0496, 1.7607, -0.022, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f5208be069fe26f3e278d80c62abf230884b2f53bd445704a0def98343765a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e8db0567ac1b4d252400b9392659ff4edcae6e443c8f67e515e2b703ad0ceec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c04ddc96196fbc97b569b396d7060bfdff4cc30d8006f5df624b02689180c1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4004, 2.1326, 1.9411, -0.6872, -0.392, -0.3141, 0.6788, -0.0212, 0.8043, 0.6418, -0.4366, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.5448 left_y=-0.1534 left_z=0.1682 left_yaw=0.1027 left_pitch=-0.2365 left_roll=0.0847 left_gripper=0.6788 right_x=0.2923 right_y=-0.0005 right_z=0.1828 right_yaw=-0.0036 right_pitch=-0.0359 right_roll=-0.0034 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -13.3538, 8.7179, 1.1648, -0.2418, 0.0611, 0.8278, -0.2256, -1.0598, 7.1726, 1.7167, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNZZYoPTw2pHhC3p9PAZRPnTYEmN9qkOTOkFg8igBhcgu9ZgvhvmaCIYXYxxV3X8uL-YuMLbC8gX03TjtWz378zjxnGk_po_s-QgmRcy9tjfwOwhtIYPBnCWWkZn3Teum72R6P2Xzdo6Hi7jFC2rxVtxjrqd5gqpUY9M3IH18H6bD4ZJg1SUYF3kKL_BbOH4-v0XRCRFZzXuczi4BrPZhiGmZIkt6hLCkIUHwYSPbZ1OYTDezg9zJOiiqeJy4LYvjAL21UAuwRo1sPqONsYIvgwKGdO3KdGZrGFpz9QG0o0irpMBoH5VfKbdUSb6I_0cpwBYLaQo2wWoZaPCtO25w_W2ppUW3cW-R367dUO0Q8YVgy00ikdVOkDW9yAkG75y8DfE_aLhcz2hIrGARmL9a6xNLD5vriLLuVLrb0Jut62hLYntyz0SLpKZCZqptulkm8yVM8aUTdcTwwu3wZG_1bgCyfVP8Mkty_9PKQNZlATNkqzMcmOTX47toc5hl5Vt0uJgURQJJysEyMTYaQxYPgdzjlfjTYv2EFjhCC-gJQ9EU37juNRlzzSlxQT-VwHevHxZ196EH8yho5T1OEwCkNOAGrBhrB0S_rgS3i9ofGJ1F2ec3ryLIq-488GnwUSvt59wTwBePFzEGrD64ZH5HQptfDDRUnZDMRVyt0EQNXrOtBzCRmVBbwVnC4TcxvPJpHmLBn1BTWzeUdZ972k3TpUH1XIsdJB8glvF1Czk4CoPVK7p1e1a89DqyVUph4abNWm5UfX87WeDzjGial1YScyZhQUDW-KIBUzdA4pS4aLf6Aa5_7UB_rsanD53GtW-VahG-lXmVnRnUiEtsGiMPl2jXJNBn7nrW3cN4qWO2GbG2uqRvQASYlVKj3V7XEdGZl3yZ2n38cI_RLMlp4qNIzxJ9CtnpJHWxeLEdKP3bSl82aEDs7ectg968easDgu2ZUxvy51OcUGSI2-hwEenF_P9HtY_M_fbPJKb2311SBoPWSJkGlmyXu2fdj7tP9Ede8hb_NOyKcaX3PrkH379EHF6ZowI0hfRaW8rd3cYmTD5I_uqBlYUwz5ESwtzU8xYztEHiTEwoGbWhm-PmRVb0Clm84ZH_C2lC3wJkK7zAYVcU0e02kN3Gpts8QYzR6d1Z_15f9NvG3MnCxhb_azcynnnz-lpgVZMrC67Zr85djRcahBdU8IiAy47lZAx3jPT8D7xRsEdXZfON1i4poMIumlys47MK02nt72e0G7NiYb1Xt6mprvConftx2TGbBGgcNl10i7xKgxCShhEBt7BHSAFHafkd4n8bOlMZwmiQZOXgsc9MIkhNelsyKL6zMfsVn8q04ImyZ0kYT52XVdnPNgoyCI2gBt64ozK67qv6wrHWI70euQ752YWFEAPVOt3ytPCytceYGAPqFdYWUIQrAUNt9CG9TVW57V0iNfAq1y-zNGcBvMU023glofOGCg7XMwoVAgLENSMxSovUXlBd6FQXipSgdSBsvg9a8Qq3r2tgnqfwFXXrKgTQHSJptRqajqw4V7M3yxeNsfV86M6wYsQTjaOKjIZv8hZqc5OE8P3lgdgC8kimlQ3otiK3Pcmzr8aZm3iFNf1qeqlFJeWvgZvChEdCxMj_EAJYyyj_SpaCUw-fXHzGby8JzeOg2TRnz5REHSDXbq3tHzw2IIj4RILM40booeW25NDu1L-H_TPElNWQ0zFVgp-vWN3TDZ_nmsjZ9U2kn1HzCmeKFTnNKGcJuNqePMOO-byuTi7_FPE-zZmE61lvyM70UDXKnnZG7ScZV1Z9YzOggViWL3FaHYDb8H3cbvorPmHVBp-u7WfQlOs2TC-6d-k8BOO4HFWOCccGy8HrhO8eD0gCn0a5ehgxTCAjCsxmdgSxiDJeO71DvPXM5VGnW-mhYV1qi5_7U7himRfXbhubXUYq7fxR5E-CJeJMtf-5qHhOvvLsljt83ISHQxClrXlGv_9-wRH5OPVWKiunmShRkevfUIJ3N0r9KmNHbcY7gt_Wpilo3o3lWAjRu9wme3Jyjo20rlSzhIx4GZWdD2SfPsUA9Oi2iF9dpTKT9PZWv9_iBbJws9mh5msTgs1iRZM97lG2PbbjifJMFfYEelzkSNmNN4UJztclNELtFWb43YPz6CZZwYo5_odK-8whVBwvaknFIIjPTHV3ohg0EjdVeQq9XJXKJYnsUs1gXSz_U7yIhJq0kqN4shvvR3lwN2KJymkg0iTgVrGjhu6jGNSVIfQ22reti3mRI54owUhGKqKgTb2z6AaEKU6Z5_aIbg-Pp75dRnqJEGfdAmSpN292XvjqinbZ846vNc9N0saS-XtlLjgFxGTc08yHC80xyP7hRMugJO5ZawfECHmy6Fi6NgST6D8Knz9DMhWpxa00-BErwP9u1X-F7hb6xaCZOkFR_nupwdoNOxiazJUH2eATQWq8OvJm25Tx9hfByKJB1kZWIplT5l2dKgGNlrU7e4eXcUe5BOrmBxf_A2RbSxIGlByyoN2wS2bjLUkPh7FkGH_-9Jox9xVNIdBp6kv2P_Ol58nbnO6nUDEBdIhClRuxzXrGX0H5lNtxWxwfyt8-SarR0wtEWMz-1cYKQ_3T8ZypqA-BOzkTHzMe6_OrXPDA1HDfU5FCie6FK2RYgW4QYhigxUscj_eQj7akTk_oDd03i2YZUT8ethnH7Z9LPiZCp7gh4TGLO3TeNabUf8CiQzouSIJYOe6SSqzohLFWPyFmIRfm-coCeH7yeVqD12iczNeB9oC1DuTO9dUx1BNfx4ISEK6OQFT4eJA0fdzi7VoWb72d5ZHBnUDGS3B8t-n68j0rVchpxPOlSjNjggTYWx09K8jSRAeU-x4kdIBNB_24nF-6gvTJ4xp10jbHdz3j1q58pWX4QbzXOJ3Q9ilTo9-GAzgovZL8rdXDVaq4PZS4i78s7vrvqHUoioECXBJIviJtjM8Hm4Q3zjUbZyR13bUFUzmh7chAlFShgABcdvZGRfD_7h5_AN-C6z7lxpd72rnnFbWGE_HnZXUbiMpzU9L1KQjVMLM_kdJBEnzj83jI0rkhTauVlsaFV6b8hl4VcON9WzaEssmjMHYbk8Bqe7hOuR-zR0t-jA7fEBrlRwhv-QaHPuCoJCvzetyPRQw7WbsUH49DGtoC-suXN0SdrxPVn59Sx5U3PeIoFzjlSVGGTMaE7GhN3STldGU7plDIZXVOOJLBrdwIE90-FwH2K5i9x1kLqZt66SlzUh8TqXwB90HydgRR6XVxdFCFdsa3F1dzwx4WLOQDMbBlmnuXa3yQq4mTOD_3DNd8hcK8NsBF7hM9G-7085X33YnvrtGy7WOhLfcCoSQTjDD22M1MJa5v0JUSt4xVNXdUkZLJYwxv4V5YpM61XzzD4bbwJK5Gz_kJJSdHdHW2TT7H1E8ZmRHM914Y0et6YlXI3no3vHV1-SCtwrp2I8DK1eyapVGtOZ-BxbTBj6KWkjdctHQ6yPEfvJC5oMc0cAB4WhWhaGtugiKjgOjrGw4e_DHjLYVmlXgqfbtGSxsMdUplF2bTQUVu5qZIgDRUIeIl6Gbb7v14RwkNWOlJ8aB6rWsO4iHmzq2MOhy6bzJrw==",
  "id": "rs_04c7a6cc40e6fd57016aacd64a38f887d08534ff695744b272",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.59,\"left_y\":-0.16,\"left_z\":0.31,\"left_pitch\":0.3},\"note\":\"The left container has lifted off the table and remains held. I’m carrying it higher and forward toward the red cup, keeping it upright enough not to pour yet.\"}",
  "call_id": "call_hy09uUSLMfxV6a4WcqaetnaW",
  "id": "fc_04c7a6cc40e6fd57016aacd657fe9487d0b1d7afd5b7fb5e88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hy09uUSLMfxV6a4WcqaetnaW",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4221, 2.1086, 1.9312, -0.2863, -0.5373, -0.1337, 0.6495, -0.0212, 0.8082, 0.6418, -0.4366, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.5909 left_y=-0.1623 left_z=0.2555 left_yaw=0.0953 left_pitch=0.1599 left_roll=0.1119 left_gripper=0.6495 right_x=0.2926 right_y=-0.0005 right_z=0.1817 right_yaw=-0.0036 right_pitch=-0.0397 right_roll=-0.0034 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -17.0872, 6.735, 2.293, -0.1832, 0.2027, 0.1929, -0.3897, -1.4291, 6.9949, 1.7118, -0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7346a798ee684c1e72856d5c1164be6b6f6aaba807885dec1888dd254e400b00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff4b4f1bee477fb506b0f4f9010e446bead91dae03721d1a8c5b17e9773ee58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4caaccff03a198a14bdc040e6f135eadab1b25253b001db65973c29e088bc34f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4191, 2.1399, 2.2543, -1.005, -0.3923, -0.3412, 0.6475, -0.0212, 0.8062, 0.6418, -0.4366, -0.0116, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.5273 left_y=-0.157 left_z=0.2407 left_yaw=0.1004 left_pitch=-0.2454 left_roll=0.0714 left_gripper=0.6475 right_x=0.2924 right_y=-0.0005 right_z=0.1823 right_yaw=-0.0039 right_pitch=-0.0378 right_roll=-0.0036 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -12.3556, 8.8274, 1.453, -0.3834, 0.0904, 1.0379, -0.0342, -1.4427, 7.0496, 1.7607, -0.022, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNZkAfncaHS8EoFOJmArwMKcJ_Wr4h1znZC4eQu7NoGycRewWQ8tKURUjKTqp52dOY4D1ERXw9Svxi5DTVMkqgrL1OJcwKayEpoWhhSUXssH6NBT017Xrmia9yNueEMlGyGrN_Flb60k-GwmomFLLEV-PbQNExoxIPjsZ8X1ZddPC9CTktt7WzR2_XvMPJ49V5viTV6dq9l_Vzy-mvEBWEmkGSqYEH13Epx65dsdhYAUuHYt3wEtF7rY5G8X2a7TAbri8z15SUEy-YHewd1uKgNM7QVBTByNPC-4H4x3Fyl8XnkTtLq5Yh6cYp50HLxd4a2Ohib920deE7Z9EQBfw6Ithxagd5jHkF0O8jsumvVvljomnyslxTSngfzKB7hbsi5ja8wpj6jAUOPBVzmw6hyXt2r0b8pWz-FWJS1qs2bnsxuvXAWk-9vfHArXo79x8YmLhQaBJmbYoetOc3MMQc3fectlqX5XpZxe1ty_qJpYhbbie0-zesJLwdXlO4Exa0uLb8vquMGHW7M-ma4KFrWKtHNEY8f8hCWYpOxXTzsiBgiOU2slLqe3Nc5BqlQ1VEqqWdVRUsdPb2XvPlI9JyhpH_cKb8l2qmwZ_vS2qQMaAPTI_b9H-j-phuU9mEU0bLuVWM3_mGe_P5EXidnlo8IYnqyYrQFdI47lnpY7kNhZuJhPZ-S16mA8FjG_B-6EwMLqGOb2gwAHG3g22ciUDToufP_eqBRT-t5CYf3KCbnpyobtw3_TkM0IUzNNrBqaUFg2TjEx2Jgd6X0jgjF1tTl9tjFYGYDJZhje6c6Csc9jX0bjmrv1_obvBYBtg1NDOs5fztdZLiJZEFMLmwe2cBYH3m6qokKn_IFv4YVWdTbnhcYBTPR3QDD40Z9g0W_srMnPoUYjIdgPgx1yTAsPYHcQIntCsOFD6Rn52etgXCve71utwttNd7QYMRjriN4rkOXtqxKAuLljzPs8b5ncrU9f7mj1XXrLd80gGZHxDUx_cl9D491D-2DIrp1BPsu-49BCAXhxcMFZfooz-KtqFMYw_zBFEBy6Zhaw4fHvU-cpnlQ5zr6zocyAkWeEj8c-cquHOCRa6njuAs7W07pCVSoTw8V59q7dHEaIfL21-nsSQa5GECrIufT1cmH63BTyyKUC9ohzeBdafBHKzall49kHJzHtTNj5PqrMqFz6BYt4MmiJtgX2nf41OUIBf29riazIBpNVeDjDUmor7hY2pF-Jn447SaqyNEBEcD5s1867mmnCYXB7WXCXraVRrLyHq4AMSPlFy_dtgtOxb1mAAWMB6YC5vLKYY5MKfGWiTiUCVthsNrV3uGKXkAlZf3FppLliIXLOW_em3dpsX_k8oo7kBSR7JdLTdHTj7yKHR451Uoaw0gyLuMWbb5ds0JbGtjf_8mmxb5OyYpLtqnwVVzWZ-pX5LLF9hA_Q1fzS_eM7Bq0tX7Bc5I3BF8Kal9QOeEfBDfwWnUA2uBmVXkI3MRnbYcCdX5CjaVEngO9vaNBuZJghupGhcz-3MtEVm6MUAv1WW-H9oNx5COM91H6Ovq2WSTt6ys3-2TwA4fO2dy8zJT9m-ChZTvZkOO3fZ83FXOdI8h2MicJ1hOmOPcMi0hIlA-cppWPTkcp8R2d65dWBob_CjuPwCPtM389HTyFCTyWj6d2tSRzbyS6xvE2RRngiwg1UA3Atc-MyYkwN4slhqwFpf6nnID2DOesRHFT3WBrcrUeUPFf3JJBeJlmKDSqivNicEBKcms5_agMvqTDQIeMBzo9SHrQUONwPaOoDJvmZO4vpPuEdBRIv_IUhp-hnkoUMQpFYPY62jMaDWAH4RCA_4N-OBCeMULKe7ECQWZpGv4V3xW0L5EdCWmMdiFi_7F6j6Addq8c5KbBQQ5L9A8vtfqFXn0aZq-Y7Q7ZNPR5oT3TcBwq9eoSjLsiF8swYpyRfm-7aMQbvYlz8wng_74RbMf45LjNxKVbyxe815dxsvUMf4eq-rV6yzHDIcOUi1i6ydhB63Dz2k_w_-mxGrkIOe9S27AnlrpIgfuEYbVqC8leQMOZM6t-2GnZb8R2cI2NArVON4EaHd3FdiWgefaQqOrE1TDIRPfsqTBQG3bLhRb3w_e3pm2OjYypWJZG5h9ts_wgPs3Kv8KDI4eMRuRY=",
  "id": "rs_04c7a6cc40e6fd57016aacd65d530c87d09d8547ac2274059c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_y\":-0.20,\"left_z\":0.31,\"left_yaw\":0.8,\"left_pitch\":0},\"note\":\"The red cup is just beyond the held container. I’m rotating the container in a raised position so the available wrist roll can tip its mouth forward over the cup.\"}",
  "call_id": "call_Tr8VxYJ1KCdEGIug0CxZv7Zl",
  "id": "fc_04c7a6cc40e6fd57016aacd66331f487d096d5094ff1f58e6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Tr8VxYJ1KCdEGIug0CxZv7Zl",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5835, 2.5359, 2.7605, -1.0142, -0.9539, -0.8795, 0.6514, -0.0212, 0.8139, 0.6415, -0.4358, -0.012, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.5687 left_y=-0.1984 left_z=0.2532 left_yaw=0.6184 left_pitch=0.1277 left_roll=-0.1732 left_gripper=0.6514 right_x=0.293 right_y=-0.0005 right_z=0.1802 right_yaw=-0.0034 right_pitch=-0.045 right_roll=-0.0036 right_gripper=0.9993\nstate[joint_eff]: [2.4821, -17.1829, 8.335, 1.3748, -0.6667, -0.0269, 0.1832, -0.253, -1.3607, 7.0085, 1.7802, -0.0611, -0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e02b971dadbd452f207e009a01ed322cccc772461efa02254155435fc6433d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbe7b3b308bd076be2620dd6112954f6a701b06b7ee8a47a202e9a4e13861499",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f9b89f491272acb7cf780c54a08993f06502ce567045d799e937dc93eca830",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4221, 2.1086, 1.9312, -0.2863, -0.5373, -0.1337, 0.6495, -0.0212, 0.8082, 0.6418, -0.4366, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.5909 left_y=-0.1623 left_z=0.2555 left_yaw=0.0953 left_pitch=0.1599 left_roll=0.1119 left_gripper=0.6495 right_x=0.2926 right_y=-0.0005 right_z=0.1817 right_yaw=-0.0036 right_pitch=-0.0397 right_roll=-0.0034 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -17.0872, 6.735, 2.293, -0.1832, 0.2027, 0.1929, -0.3897, -1.4291, 6.9949, 1.7118, -0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNZph1Zx-OepJ-dAQmnsgjsfw0hzSJLaMGMgvv9kiKazHXIM3kGH3yWEp4oT3rPlvgEBGFhCGxfkX1ppPC38Ap9jf8H2mvtWz-oHhuA14XdKpV0JeGyE7OQs8WTNwYrUdZJhUpDln6_JGGc54QLSBrw2g-wQ-kCJwfMXemuZhXpq0hZPCbEZVYfMCHC2Xom2M5hBC7UNVKVjKj0R-G0R3lh2GjZjwnfaE1mSHXyxQn5QFRUh5ernOgc8sU14ToQ7wHlKonLczNVXDGQ_RdF59HZyRQoKLf5cyXLoNpvBgt4EnKyU_n9EO5pyaOlC6f09jE0GMltyYhpzf2_o9hlrym549uVtpYUfqbfXpmWGHCyrbHq1DSkq4oGtzRDjJt7Dj5ct4LiXLKTlhhhTrSvLMukJXxUXW3m2XFQy3fZswwoXfMEcn8BUsiZUKgfVoMXCW-VTDrktWIC0jHL5YKn7603acXaG3b4--T9VZ7QOdZM2BzkdFSVJ7255cj1-a4QHV76D6Eni_EKYEJWWK6cXG8P3t-4IbuN58AwJuHaaZTCSS60yVqXQrLRJ9_y6VdyvtSQf7Fwd-_E79f0-EWyeExrcmgCleG2rJtkb7TNeQ0C7rRMta2-HMcVd_n_z7xXMVMkQDgESmTfgqQ8dZJI2qxhrdM3Is7WF1tSMz4TBBEHoy3j7MTAVAAbddDS1jg_3ac-_bOfYYMjimRnj_qwnzRDhqFc1cTkZAQXx9fWF8vnIWDpp0sdVndNpTtUaTNoEiHpogLPIX8SZvgLh8Ymin3WB1Z8BqDa57n-yQyHczMJLb2BUeO42gopfzPr8UZs8jc6oiTOfzv7Wu4CbUr-3nZkHcmavojKbspkvUSuuD_oYDvU7UHhRvu_Yv0rO1PhseKA7_MJN18CFE_M1izKUGB_bNvnQUD4zzCitZpVsYE9Khyl2bJM1wVi0O8j6ZoZ62jTVChXggTbFxttSBfN4B91FZf49WVCIkezuaXSiqlX9edVd2i85ytwF4jBszS4MmatgROHlAxfIQocCZuanSjsblEVkg_8rD-dUVxTfrDoCetRXhS1uPga1ex4K08JMCyAWaYr6kGO34Nzw2b7cEaFdeS0-8rXoB3YuJONA9HY6C8kcjog49GnGFVb3dh0KdrJorkvmZqhjkw-3vHR6vQcsYZhnTUzsCYvFsLZWrUCgC_OwAWy207265GpsG-7cKQXsBBzbn8mBUzhayZeu31_UBETe-BeyxO_4k2_FW-mFC8yZnmQC5p-mBdzIJONxZAXrlijbzLjlxMQhO6D6uRTzgg==",
  "id": "rs_04c7a6cc40e6fd57016aacd6676a0887d0b9abf62021ff4621",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.21,\"left_z\":0.31,\"left_yaw\":1.57,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The arm is short of its commanded height at this long reach. I’m drawing it back slightly while completing the quarter-turn, giving the wrist more room before the pour.\"}",
  "call_id": "call_t0KEAGbiqCsnpBNDtD8xFhwI",
  "id": "fc_04c7a6cc40e6fd57016aacd668262c87d08e75a0fb097288b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t0KEAGbiqCsnpBNDtD8xFhwI",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5911, 2.6053, 2.878, -1.5032, -1.0485, -1.2842, 0.6536, -0.0212, 0.8146, 0.6415, -0.4366, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.5186 left_y=-0.1594 left_z=0.2217 left_yaw=0.8361 left_pitch=0.0672 left_roll=-0.0876 left_gripper=0.6536 right_x=0.293 right_y=-0.0005 right_z=0.1798 right_yaw=-0.0036 right_pitch=-0.0465 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -14.2017, 7.2137, 0.6325, -0.8523, -0.1197, 0.2271, -0.0752, -1.0051, 7.159, 1.7265, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe4810e56152487ff420502b6d139b18afb9e916eed13635f95f454bd8272db8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b10f34c4b44263dbf6b67d724b1df0458f68395c1ff388167fc660bf4d497cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18600ee58c7cafd1c5509ae257fafa29d63a8581adaaf2c6b808a4eebffca745",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5835, 2.5359, 2.7605, -1.0142, -0.9539, -0.8795, 0.6514, -0.0212, 0.8139, 0.6415, -0.4358, -0.012, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.5687 left_y=-0.1984 left_z=0.2532 left_yaw=0.6184 left_pitch=0.1277 left_roll=-0.1732 left_gripper=0.6514 right_x=0.293 right_y=-0.0005 right_z=0.1802 right_yaw=-0.0034 right_pitch=-0.045 right_roll=-0.0036 right_gripper=0.9993\nstate[joint_eff]: [2.4821, -17.1829, 8.335, 1.3748, -0.6667, -0.0269, 0.1832, -0.253, -1.3607, 7.0085, 1.7802, -0.0611, -0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNZy8PPXzD2sm5PYjFoIfeLrppUkXid4gd_Isn8mAyeSFXqgg4PF-3bXCwqKtvEj61NfAprTbSvTm0CatY5OQEf6O9xNKEXoyeEuqzwOx3tDqldNPp4wxXLePDR3st6KerXPRzaeHBF3irEU1ReOdQ0qorETXeGJ-y6ccCw0xT9EkAss0S5PuSGGcPLmAAcBFtsTEa3NSLhmIkruFSKDFQFWp1ff-b1jafCpKnOo5Z2uveVtj6d0Vo5XNiAUsg5PKleW5kuv20QWoue2QijiLbbggxA9RnHaejROHgCZ4Bp0Y_NK909Bj7WSXEemk20dMXJT5Whl39xl8-bpPJozbtWrXomqe9USDgxNxD-TcXj7rpxWf8Grt-OWjNxwpg0PyPdOufS01w4voASvq6ea8BcNIOCcrVPjOkzutIbvThlt1VwxyDhHOSAo3yWbdjCnPGqP-kfje7tPSAqAAaQGbpKCUc5YlsTKGxfrP25-JCzKOWct64WhBsiQCR6QwM9zVUzHpA5PQKbibZtN0-USJpGBPX1NrBtSEULiSmKDY_wNWnv7JwoCPL61qTHw-Qv7YxQ2-9FtnQhgNUmTG8Fyp4EWag3jYeaYMeq9whCxciC2pxomIi0FcMETaC6Zj76gD2G41VDk2dGg_SxHhK05SUgUSVBKk-7vvc6a_AndxfeqL5rYNaUTpQCYcrfWs2IexptEyrDbFsqN1QyUY0b7zZz8wzzXZ5OcUFUBGYIuIiv72nfiMzlRzzl4_jZGE2lBCOneAJ8UMiJnDUF10ygsOzg6VKq1K12vFKJVxZ1tsx0H9YETo1QRW5YjpUobJoCaH5E7iRQO-D1wY_Mzv27e93-eDWz2xkheC4mUINUWjTBKhypG__BUo7kNMIY5lrvmJO1WuoC39C6tR1XOON5fE_X1iOejv4tGba2-KO1I593f7rNx-v5BRNWgxujZcsfGBc4k7hkRFyUVnhhDt2Jp19HPlbVQIudAeBC2ypf2ZsTt_25WqRKwtOHXi7KjUX5D--GH5Th6DaIQ_V7JYQeVn-N3lVKkPcQqksg0NTYYnIAuaHMDINbw--WgfjHR3uIc6gZ0xO9txPsgZBp4V5hb54mDqiy4zZifTmkRPzFn_yH7w4XZMeFEST3rwcpwoWihEIhpd0bC2AgQTeIs9oJdBn2QIfNeXIPGZEiFVdF6_vpnoepwsqeYBMAuNV25RLnXk-E9eYLO1QSXt5eNrfMu5JKlkHN8Oo0noZqI8DvJj80-pMBj270ZMbKSmu1mkuOHqpm8-q5I3GMRLJq5HYebInuDyVf8Sz2TZL4EH9BNdwGNE3F76129EqsiXYm5kzu0NTYNhGNCN5MpGGF4zMmJwGm9vYtoVfMkrhX4hrM-wqNueFFnNVUztGs1nMpqI5pFjVyUCzVBD4CdIziqGn5-8Cz-CgLymmNGzzA4212PFSpCif6L9fQTNaNE-p_Nbum_aZeAQkrU3AIz7RHm7xyWZck_a0c9jT_4Ts29S-zniyyODG8tpnkxCfDd6JZZ_TIXHavxHoVp7JAz1ORttZnxMfVEqe7HlScpMg_TOpLiI4Yi2Ckbk9IKJ1sss2zPi7rinQ9S35vWwIrEL6nSiTpWQhX2ibbwZXbQMO_t9rHbJ6evUshqkuFTy9faJNkn_OFdunMtBFc0wk9ModHLvJp9bQJL5t3iYvbgty0EUdv01U7LAPSjuQwMK9SqdBZPsb_3FKRQ9YKc6yUIcC8E5CS7FyznEyZLMZjAu3kTE1__0lopRECZLmIhqp0hjtP382OkiStvkGLsB2F9e63_BOeqZ2t77xv4Aqnw-_MyojxwyW9DIVzDXeSxd-MhNjnlnj_oya4LGn3zuZ-L0gEedsB0Ph9dN4rF6ybBzcDiYruxJC1ZnmuM1SWv2zVISJ8LjXP0svHzSFQzPSOw077iwdNKt9paR3Z5GaXPdUCA4Gb34-1mtxyWtq3Rv0uv0j8RPew4CFY5y9TbFuOxd9WbNx1Kfr8pifZIH9vPPsQZLxEdaQLZ-5YfG1uTMGdhGlaNQUNbZsFFWwfkI4Wh4v-pgbMwahLPNUZ86L2uai8jVnqOYxdKLAd8_IMUXGIf64n3vB6LPq8FURr3YcvFri5xmJ4aaUi38X0R7-vKkk709q621M18_mMU8lSMdTHSlCAXaJsFbP4_pW98S9mUSW3fqlDtESMliGEZAbCsPY61HsD-B5E6WuE14DxSgOWEP9gawjn7fV66AGvq6iF_QAyrfUyA62eAy_C8wFO3guIlTeKAa9n8K8V4oe91VKEjNcKjQ6aRW4tS-yS5Rt_MgSW0ROksFiUETxa5ifbzRtNWw2AMv2cwbNq4wVdjEzu0BgzLQJwLZBvi",
  "id": "rs_04c7a6cc40e6fd57016aacd66c167087d0aaaaa93ad8e639fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_y\":-0.12,\"left_z\":0.29,\"left_yaw\":0.8,\"left_pitch\":-0.3,\"left_roll\":0.7},\"note\":\"The red cup is visible beyond and to the right of the bottle mouth in the wrist view. I’m bringing the mouth toward it and beginning a controlled tilt, while keeping the bottle clear of the cup rim.\"}",
  "call_id": "call_OJImsy6Ax2rt2NyRyJMJgwMz",
  "id": "fc_04c7a6cc40e6fd57016aacd6711cb087d0adf4ffce244a8d03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OJImsy6Ax2rt2NyRyJMJgwMz",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3607, 2.4382, 2.4432, -1.5566, -0.87, -0.7227, 0.655, -0.0212, 0.8165, 0.6415, -0.4366, -0.0116, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4881 left_y=-0.036 left_z=0.1602 left_yaw=0.772 left_pitch=-0.2791 left_roll=0.6213 left_gripper=0.655 right_x=0.2931 right_y=-0.0006 right_z=0.1793 right_yaw=-0.0039 right_pitch=-0.0485 right_roll=-0.0034 right_gripper=0.9993\nstate[joint_eff]: [1.1966, -17.812, 4.9026, 0.2027, -0.6862, 0.2564, 0.1294, -0.1299, -1.5248, 6.9949, 1.7314, -0.0269, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c16c4b1c5c7036f897028926fa55b51f4c78903e2b5db775d97e9121ae139b14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af2bebeac26c935860acf96dd428ce8a09aa331c5b104288f8d9e71d1b40d4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b22043cabb51a0122e965f100e8cb54a2c3bb8904d234b90f0951127b44d00",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5911, 2.6053, 2.878, -1.5032, -1.0485, -1.2842, 0.6536, -0.0212, 0.8146, 0.6415, -0.4366, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.5186 left_y=-0.1594 left_z=0.2217 left_yaw=0.8361 left_pitch=0.0672 left_roll=-0.0876 left_gripper=0.6536 right_x=0.293 right_y=-0.0005 right_z=0.1798 right_yaw=-0.0036 right_pitch=-0.0465 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -14.2017, 7.2137, 0.6325, -0.8523, -0.1197, 0.2271, -0.0752, -1.0051, 7.159, 1.7265, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNZ4I5lAQBSGuEReiTFXDIL13m3ZmVIru3MPZxI_rsVQ_1IWtyUWRPpBsy4AVAmpAMGb0-b8KcZdmasbBuQhURCI3UiMklmXkQbkfsKGmZ2Z6chXB_dgELIq7IDddNNTv7ruX9aGs_6I5-WRki-m6xMjYad9jgvQ9fgWyTD5s7a2RTaUz0NlTBMTlR66Qn4woXWrU5LmtSbYkCz9QQ1-5XK2BGo5OKHp6iL0RZbsEeBN264qo5oW3e72FI5rwGhyu3l6Hu7uULTsInZpDWa74EL5N7mpA9nCvzjNF3OQBadQ2fcZrhyd7caVIHdTIa_E2ypS6rXezmH9oY_R5Yw3wzXQYST6UhOpKPqxg2OskLde47n019MBJ9RpxaQ3c7XbcoD4G-3nUpMjSDhPSsTOi2V3PBExUlojbFlRdOtlMyrDJMXyC8MNZi_dEiW__rmj92ohXUyBJvhIAn0hbpf6r6UAzSrHCia5nnOiAmDm8C2Co7WUzkmFWHM-Ngk-CB9mIYQ15xwT4eWz9xf5aGrFMn5uZcmZdXUgnMSJ427b73i_lTYGwAEUaFes1rRzc8Dim4EpVUfkFeZQWrguzxlQ3Iv0pSBAQmmk2C0LPB3Gr1DZqx9sAQlR_fCte_zQcoRGDu7B0OZkstzbhL2QdXHypqVNGeOCh3EpJFYV_H63iIb63XJG2w2cwXsj0FdBR3vWlljYSocJFbEUxMCys1GZ-Fih3yYhZrjO-JJuOf0NerLIYEf2b4ZiQS33YeTdv5Sl_EpDt_ovk5FtFUUkZDf9HVyQClH34yIr8GzGZVXX9XBRz8pavuZ44eXfoTxHAWXsdk848XqtEa5MHEMp1DCpFqtPlIWcCU3NvWiPZ9xp09xigj0lDVTIn_4OenooQZd5J4Yv2Ef02bLZPI9mK7X863_pU5RHN_xxOFUaoYvCb2TwHANN6fV5f657huQjHkbYhiM5nYyjz5QdT-GDBLDrJVH8_cDC_4p8f3Ei0IwvetuEcrYKwRdTRpsYxlImfRDZvhURxVVcydyQQ-OJuBJwZ-c2p1_ZZPeIr41oVTPLldHP3mqhSa6xQ57iRwUZpwZ1OYrCiGSK0DVrAI_DDO4rzTtOl-x5-RH-ZC6zgD0mmhiZty-fdtninQ-rzSPvejSqKKb8yh25cU4CdAh6aElIWjyVCN9ddI8kO8KCcdwSgWgDQvf9YiDS45gVQrPNwsMFmzC66Ks_VdoueY8Ka-6p-OM-C9FzJ4so0_GrE8aJ0EywrMkPnxNXZ_rZy0ogmirCrBXiQCekREMrhs2hEd4YJK4rJ9VKNg-rLJbTUMZ2U3UMLQJlRsherSLBVSMvD5wo4ZmgtBUp1l4d3Li8d8DNxa7C9TXmtFN-pfDMYPpoo9pc66c=",
  "id": "rs_04c7a6cc40e6fd57016aacd675d0d087d09e37a9eadee166ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.16,\"left_z\":0.3,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The tilted pose moved much lower and farther sideways than requested, so the mouth is not reliably over the cup. I’m returning the container upright and retracting to a safer pose before attempting a different pouring alignment.\"}",
  "call_id": "call_lcN9atEMBA2t5f5rUhNikhlT",
  "id": "fc_04c7a6cc40e6fd57016aacd677093487d08b065b5b3c6c1112",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lcN9atEMBA2t5f5rUhNikhlT",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5053, 1.6691, 1.6474, -0.6907, -0.4984, -0.3286, 0.6564, -0.0212, 0.8204, 0.6415, -0.4366, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4475 left_y=-0.147 left_z=0.2823 left_yaw=0.0773 left_pitch=-0.0543 left_roll=0.0526 left_gripper=0.6564 right_x=0.2934 right_y=-0.0005 right_z=0.1782 right_yaw=-0.0036 right_pitch=-0.0523 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -8.7863, 6.106, 1.7802, -0.1245, 0.1783, 0.1343, -0.3077, -1.5111, 7.1179, 1.6923, -0.0415, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae2e33cdb421465236f5c50523ee44786f4e377f832e48d21a54699cce31c5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71c6dcbb8fc73d5bdaa183e0126952fb94fe4011010d258a3e264cd7b2c8dfd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9317d29e664aebfcf8764a3a808221b57791f3fda45c9d0784ba94614756731",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3607, 2.4382, 2.4432, -1.5566, -0.87, -0.7227, 0.655, -0.0212, 0.8165, 0.6415, -0.4366, -0.0116, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4881 left_y=-0.036 left_z=0.1602 left_yaw=0.772 left_pitch=-0.2791 left_roll=0.6213 left_gripper=0.655 right_x=0.2931 right_y=-0.0006 right_z=0.1793 right_yaw=-0.0039 right_pitch=-0.0485 right_roll=-0.0034 right_gripper=0.9993\nstate[joint_eff]: [1.1966, -17.812, 4.9026, 0.2027, -0.6862, 0.2564, 0.1294, -0.1299, -1.5248, 6.9949, 1.7314, -0.0269, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNaF1xuGAahLV91fwfrGMwo9WG-f2jXbLDsmIjcCKW6WGoJGNMEkZexPmnnMcXeqBl2sf4r6GGhNdyn6jjx0bdvFM4UWw0rbmHoCBcx2V_VzL81MvCyZC2fwUqGfldI_odaBlqWdFKZHXPqAunbGqU7E65rylEYvsSX2RwbY4QrcMnjy9gRnF2HkFBEsAqstTA1cOFdVN8BagCOgp-6YjMO2WaCjzpR4tc4hK2QVhSnyLl2Mf_3BGzow0_V-Dt9QYE1gQYKIXMx66t6YiatE-3kpV-rpM1SAi9FxpeOnaGVqw3H9oWVOqf8ZEhOrjJupcBDGt35Ri5Gf4GQsmVk9VkA--KcTdK37MC7srZxKbyd39rTCRraLNo_-exb_9vBYokZLIUxZp6heHyPnANFQmsshMULE_6hSxA85GleIx8yLGmq6hfU4zIHZjaFghNBaDDcwPug3q41VwqDNQGglcAO9YSxfm-FUEHkJPaBrufbe64rAC1ZQ3rM4m_IS8ebrGMs6krVy4US2FnipwUvL_652qUo6akoWGZ08Jx43__akagw9whoGE0H92QyPe1i5-CmDJ9ZbwY5c21bnStgXsqUVBwF2cKHV1W7Uos4EevrjrCCcU9StJUp7Vsg43fks3r29TYw6EVcDY6i-GE8nUE0A-CODyYC2NusmUPuit2w-WK4gCYH5f411yb_iMSlvWnpHyr8O5rERdKkiebciod_wa1dZ46U-po90X_lALmnopIZKhKdRS3cE5P0XWmznnMjXiE06mfQpschYeSMltjXE9b1tKrithO46CO7POwgeaTC0h1u3g3xfWR56JB5N9eOL2VpoYEYqf_srfSVxygt5n0dHUMtD68ozu7n8P1YRgLGT_FBghGvC-gYfRjj_ohqeiWDcjaQqLE_nsRSjDgKVSggNHV8WtVbq0l529j6_YXcdsf1I7utCbpUK64c6iojoL_JQhzju62XP3AaV-AczLita3Q3mLEpzJMoV3CG_8kiu2MVZOm1_b4esCwIsEw2rivnwNC5AwyztjAtscWW-vpvTZA42KzgHL6Uoq7_zk-afEv5OESKNaL6cKxS_V2zw-qBgkP7NCudZpVGIxvYHUmEal0f6lP8bQ0j4vBqk79M8NGNhY6D5z63WXbG7P8O7cdU0pN1_DgjLYGadAA7H2Y6jWsaf373gV79T7huom8WRK1yt4WsJ7toSq-Ov-tBla6hSIfEP_tfPaNc4y_Slo7W1vOXP6kaYP0H2lpS1LcGcRN6a07nTr_TnfkOsG_pwviiqCmwdCmU0G-48FBudPvAVsHoFb21qxv1ysJBPybxiWP7Q80n2JpWS4MIFPWgsDMj0u8xVMGtSNcJd6HEne4f9ET58aABdsjLGMPeebQIKzj2jmMxyNClq3Nrym3FNHpb35jx0q4aqiSIMOqvq1284-Obz2c_h8C1op5ySUqyoptLz6dyqx92D4QnCA0tc9I2EADJS2LBubHqYgfEq7YBvRS3xHtp48Id0QmuRHJg3sklIMqUScDMviJ1PE56EI8Hk_PYPg7TCPYkf1TW-BGEj4M4QiY3a9sbTajbY6ckPnZEMI8rAnw5mWB-gZWwpf4p9KnsNKWrwucUwkqKtM5cWecLQZ6QBV6QpvAhM4DevwQpUpPQ0w7Z6nKTRiTugJuiTcLyHlzdyBTWpjgniQ4c9wsG4dPsen_6AMScwf1FLDThoIVMjvrTaOwtc5lANz_wdzZWjOc_h4RmBb5PvnvSLaZt0rN989ISyG8l9HS8Pt6Xu0STEpdv73Z2r0bK41NszisXEpPQqTo7-6-dedwGa0lA3n6z-SoFETAdQgZh8vSuG1uOsHR9T_qkwZR37zpwgL33Rs_cxuRGKMa6FQxyn6UEH5pL32GdgsVW5zBj9wT18tJe-dYs8lHviDSWTmmriuZ4AVZ01QYMT9uQIA0ziYl_lemEvpcHk6w21mxDD9qPY_1l96OVLo4DRfzXY5LOiryWD6jsShaGFAy-BP7SF6UxT5YLdn3gRjbWQfMpdJc9VYfo8JL-2Cn-3jZLpQTf1BpgMaxxVJ06cBBqbl772uZwprhic6gsdjlexWkqs2L02ioEXkEHyqjFK6yAP9cQuZpP4mlz1Qr25QNlPg_LZFr9HrO7RMakuLM3JPv6qBZrE9Y1rDPAn7WIQpyMUYtqFITHbye5jWvJfFxYUuKvCuhO-vaLnEyCCb1mnB7k4RyoAFz3RFo5hxULM7ytV-Rw6a1_NutMJ757TnLlHeVk9qOHuViaESxncHKoRzbbLtnl4qxN4Wd37vDN89vd9nKX8zrUxFz6nJUx3cAT-eDmNqe-uWXnDog9QzEP6dpigGCSE_G10pbYZapNl9gOWHipebNPkqEwTnz4w7O4c5nsOR_Yt4TJKmgljLsYHTTglDjr1F9DJpdFU9bgFlktL8ClnRvYXVTEOVuMcfVrtZQ==",
  "id": "rs_04c7a6cc40e6fd57016aacd67b9b1c87d0a75a2187ee62efa4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.16,\"left_z\":0.3,\"left_yaw\":-1.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2},\"note\":\"The bottle is upright and secure again, and the red cup remains behind its mouth. I’m turning the opposite way at this shorter reach to avoid the wrist limit encountered during the first alignment.\"}",
  "call_id": "call_Jdwn7FxXS9YnDYUxOPoU2SgC",
  "id": "fc_04c7a6cc40e6fd57016aacd6831c3887d0a3c70efcde0f724b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jdwn7FxXS9YnDYUxOPoU2SgC",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.07, 1.9285, 2.0216, -0.9558, 0.701, 0.6285, 0.6592, -0.0208, 0.8436, 0.6994, -0.4988, -0.0116, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.4753 left_y=-0.1439 left_z=0.2862 left_yaw=-0.9827 left_pitch=-0.0608 left_roll=-0.0129 left_gripper=0.6592 right_x=0.2932 right_y=-0.0005 right_z=0.1856 right_yaw=-0.0033 right_pitch=-0.0797 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [0.1436, -11.0701, 7.2, 0.7106, 0.652, 0.2271, 0.2808, -0.0752, -1.2239, 10.0171, 1.746, -0.0073, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1b1f4ec631fd729abe4e95ad4ef07d84b9b152c5a98adbaf32ebfa5b1e8c2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdaacb262078b7b0a3aaa2bf83075284cc5134e49856df7e25b7d6b78118c106",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24379396672de6f928c885645f7c7fd0b239240e71ff20f7eead9a5f0ec5d392",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5053, 1.6691, 1.6474, -0.6907, -0.4984, -0.3286, 0.6564, -0.0212, 0.8204, 0.6415, -0.4366, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4475 left_y=-0.147 left_z=0.2823 left_yaw=0.0773 left_pitch=-0.0543 left_roll=0.0526 left_gripper=0.6564 right_x=0.2934 right_y=-0.0005 right_z=0.1782 right_yaw=-0.0036 right_pitch=-0.0523 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -8.7863, 6.106, 1.7802, -0.1245, 0.1783, 0.1343, -0.3077, -1.5111, 7.1179, 1.6923, -0.0415, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNaTAbGHu9qwYSgx1wEuWlrqkhmd-JGHqLZxnp8zbCKpDq9FQ9BZDktiL8P-WMlk-6WeS3aYVx3jPo2KQFsp18OOXYiS4R0-f8J8SLD8pj9hdSpIlhFWid3pgfhnFkrIDzbp60WYWaoiRrKZRR4QaoSLxuQI16lSpMDSa1OgI7g-Bi4lQHzawlgk3QrMIQjLDXOt3Z_UckBmCi0M9U5ZlaSe5rY-zGzr0f-nXskje5ldV51wBYNb9xlYYEUhE82m-N2zNZfhaBNVERf-vwLBiu9SQIcTw-QX8QNwjT45m7rFI1c6H3XPp4IAHxJOaKdCULyq2nDklHgdae1DUroXnUyC6Mf7iej0DaJwZ4OBlJRXOuAl4ZHB0zsHeJwVASW-o-vxeyO5ZXwZ0MjGtfL0jAzZKJ-6YbHQgAOazf9yPWOetok5U7czvyEATYgqofPnB4mruelcustft_Gb6iF_-ATM5NaK95Lq85FK67VTrzXQ2xHX4VBWwJJIXwvq24bEWXkQ1Omf3wmdXIJ34OV_9Qno8ZbF1OhVPYLU0JjN2vP32AZond5j1EBMLDKsRpvKrdCZqu2MzZcZ0RaY_wfYC6UAT8asI_QXlPe5QbOBsFAmtkyejrK2e4z4p9_mKvCqyC0zRGaOfmfn4lPviy1lugcvaPuFcOOLV2R6KNsSnFl5AULI-PBDcDCpnkI38G0ICVYVCLzodmzbhXnJpbAa7fQPRvBFZznLMfxnhL_5YyygA2SVoVS773pxPENQOzGXIzmkf8mv9HsSTqazh8ZvxrEZHQg1jReSyqlxFyy9u-SzTdsFGSPMgC7Wv0I_gkVyruouHg35lP0Siw5W-VlUQeZKv6_tgayfx3SjEEgmolv0NMGDsjVf9uQz2UxqReP2U6O0jz6JwfEmNRdDV8mxNcCRUERHUDDx8KDl7Sm9G7s_rEuKc2pCxIglBCz33JTmlsVeazZq4XZFrzPgDM59HYuAnd-FF0cm4CpFSCykQyJYDTOnCImYpYgcLgyfkFSzW6dZCxH7jIxPrU0Da_c50HSDV54Vq2pYhobrsKj4y_lCZ34VAZtaMfJCXBF8lGcbYfk0IOXcjgon7QQqryasPp4UeE744pNc2iMYS2Je2830B4FYuBXijB8-4nXcxXmw1JiDnJUXVOzh_y-AaLcBfCscYMaElvgyi3ZzYYpWazbeV2XuZbWs6oYpaMqYhP6er2JbuxSlsBUrLIeye67ommYP5tFLD1J7WlPZWUntz3EFlKJSWK3nTXyU1nNavMe5U65XVXrAG5hPTg_JuXDzDtNG538Ul67hyzuGXfH0FdSppNbfOzmeB_u45IUY6zMSxZL49oKwCqamzfRqQ5Jv4uXbZpr65QybVdjnXlysCU7jGy1DDg84m9Xj_peNizT_Xo95TeeLADfLU2unqJ2sr5hQkHmTc2KPjdEUFaQwTS7O8_Xa4qY3BqMjxwTDCvu8ljzOaQMYSBN31PIMwJolw4hzS5pLybISDo-0l7xGv8aXhqX1-aG868LV3WWq4J0AJwnQugMiWVnkK23iTU60QM8fz7CFYTeKFgy_AGxLcbLP2eLavyYFYWGc3wIKwN4r4KrkX48dX5gnWPNbPXJRVsiTfbX-ZvqiG--3yOz1vAq5ccDDFI_1GzA11ZAGSU4h8mA6ukMSm9aKXX5tVcny4wu5CWB57JOimGEJKruhaaGg3fv_SJ4c09ybxMTP_XdHas31kzDpqj_2QUlLfyiqRpFZruO6J3zdqWli8suT6QYMgUHs4HbEMFh4WJqnz-yroCcwZKy_MwtKQwvo_xRgm7uXpDBi_8DJfLVXfiBWNklpUzu0AbFWs0Izn0bZ_EYeYsw8fs8n8yEOHan1zISTJV768iKfUc1exvxbGWq1aPryGHyGB_67ESTYI4Tr-V6RNWMiYFdI9acxBotaiuf0j96s_MlmNjzQl7Uy-Uwx6_caMhjMGsAuEanoJgjKPhkrjBexZdAm6d427MbzUdaIJPO1B6IbexaEyQ-pUSQUOLAhqPEtecfvfYJ0wTxur2HU7-HegF1QjfgH4VbXvLjkePmo3Y-NhWE16Wv_ZgkpUfVPLeoNfC-ukt6Uz_74WMhpdQusoi0wrUy2kOUuOyQSreck1_0TSqiOC2-NkfU-nP5E2nLppsViMDlm-loC7Hi4pKWKdOK53WldidaOAbUe1vbbh4APmePpjTB9UdvKsTr9agD2fdSvWNWd6SuHzPd34S0n9j4-wwJHRAf_Or0INp1OAXFCN-hbLdRrsLnAZw9SbucemJsr-ZEX1v58cutLMVspVmL8G6kTRDU49OS43HFFTdKK-W9d3dOtu0peAWt98wZOP684idlgGJNknzCIBaA6-mTPtYi0mJjp7HRE5cG__rdigJ19Nv-dofLimSrbOeCQpHfQKzK3sz4bfz5ndqalRDqEFCvzr4q-60lmTWdEKXXul3L2yEUQBCuwAByg0LtQTbiw5wjWMFJ5zH1IVU9KKNaxBqlEAS0LC4LjN8iIN98dUns9WxTk8NOe2gYu70cOHkhkyVnLqEnSm0BnkgCHgwlPxaYFtDuhDRgg8YN-M7dwVzZ_rF3fbe6ue9QMcSX3fmbqZA-0cpzCtGFJ2BMStb_48VPylOaZNL-4I51hN5zUzaAZ7KR8hFx0u2eU8FpUmrEYVSYhBXy_O0Skxyqr",
  "id": "rs_04c7a6cc40e6fd57016aacd68866f487d086d0ce24d7fe8493",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.12,\"left_z\":0.33,\"left_yaw\":-1.57,\"left_roll\":-0.5,\"left_pitch\":0},\"note\":\"The opposite rotation tracks much better. I’m moving toward the red cup while starting a shallow forward tilt, using the bottle’s neck to reach ahead of the gripper.\"}",
  "call_id": "call_N8iUYzrwQKsBmLm8TBJNYhhr",
  "id": "fc_04c7a6cc40e6fd57016aacd69228b887d0a712257d5c6d8bb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N8iUYzrwQKsBmLm8TBJNYhhr",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1589, 2.3028, 2.265, -1.5402, 1.0172, 1.0164, 0.6599, -0.0212, 0.8486, 0.6983, -0.5037, -0.0116, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.4134 left_y=-0.2148 left_z=0.1963 left_yaw=-1.4536 left_pitch=-0.0612 left_roll=-0.4711 left_gripper=0.6599 right_x=0.2927 right_y=-0.0006 right_z=0.1828 right_yaw=-0.0036 right_pitch=-0.0908 right_roll=-0.003 right_gripper=0.9993\nstate[joint_eff]: [0.0205, -15.7607, 6.8991, 0.3346, 0.8474, 0.1245, 0.0611, -0.1983, -1.9487, 7.159, 1.7802, -0.022, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5384612d1575dd3206c9c90ef531aa3f28bc422e6778b25e8f83229534a0910a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8317e1d5522ead8442f78a3c8dc409fbba7394022736dd2cbc031cea5603c6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bad148fb94cdf3992f7234b6caf276500f1ec37310fef864d198a94487793c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.07, 1.9285, 2.0216, -0.9558, 0.701, 0.6285, 0.6592, -0.0208, 0.8436, 0.6994, -0.4988, -0.0116, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.4753 left_y=-0.1439 left_z=0.2862 left_yaw=-0.9827 left_pitch=-0.0608 left_roll=-0.0129 left_gripper=0.6592 right_x=0.2932 right_y=-0.0005 right_z=0.1856 right_yaw=-0.0033 right_pitch=-0.0797 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [0.1436, -11.0701, 7.2, 0.7106, 0.652, 0.2271, 0.2808, -0.0752, -1.2239, 10.0171, 1.746, -0.0073, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNaobyQy3XQm-QGM2GFfFvrS1sSuCfLn0Zs7mv8t5Grsi_8-4RqBKHcx-OelC7UZI3IyDVnwMacLjS3DliwvhqSeZ5K3YVDt3rehQPUj4SMaI-8vpIVQ64OTXiroP5Kekc_h89S2vmfqk63-uL1i1xwCKommdKqrPrmwMU3WyJ5yTQiXv_uHfI6EkcPWjaCeIDNygSNty1IJPBruXorZIz19NlNPsVXfGyg1wXKNEFljmSAteGytIL1MjAY9Eu4gKJPNIgU4pHgrt4YrmQldDW6eZVZcd-1gHJYg6m85eZoTO6veYKsS7dom1-NvT4E8FcHE5eQun7uMM5B049710dyHLIcXlXRP0ZvH0duKILQjR1oYlI-eq30woQ0R43QtHt4IS9QZJqiilHn61MgdpefkfgLquGNP8OtMpIwwnzk28NBzS8lskrHDF_G84goqgBr8fb16dj_EUOvqmS79KrqC3l8UXXA-_4eW82LaoVOVWa7OAdpLj5v-e67sHd_F9p8-y3Dz6jUVAeeSeFF5pihKoDhG2Ma_8Ht4XE9QrUMgF71p3T--Itjnr2T__lmS0ysxKzf2YAhr-xkpkF7lJZIKbKFIqflELr98c_P85Rm6mCtjBf3CTZe71mP_jLdgUkaG0f4aEd7-qsnkW54FF58kmBhOlGpAOK43Mmx46Wgl8ooy3cyTXgPQx1ZA6y6v2Z4rlmjTW_p_3on9NMMagaL0sFdMcrZpZUte__IkpbpbsuCo8AM8HeS6YQo77-uOKLBHc8gPBOaGJEdWTKRVz2ZCjnLG86GLkr6StStjOHXve11MaEow9DUVgU5VAdt_4m5I7PZwdiaoHe5_jEbF2mbMecbrG_KbeisI9vCYbLCjLkO1wTrwKoZesmbX9EitYuqkyFxnBdP_y08IVcCQjTPr_c_nNAqx4uE5uWQUXwCdwU9j8QShP29Sd3ocXbYE02sWmsrbeK6JIGhjoohlPwuLDIKuSy1K8Is3SSMEXxK4nKfOWBGK9jsggahC4OCHpOePZMViUrjWnGYDtfGiy8ingLMaFa-0D3sjwYTd2jQ9RcIcjIn1F7jU-hp9keW2fuQ77WQmkXP6GceCdgZoNOVzVgiDh_L8Y03XDMWlQT7Xxha6lepKzSUf2r0dfTq3QovJ2N41Db7g7lVpoolyWQNJlIWa7fOT6Z3JvVd_dQoSbnl-1WyAESIdF-YIfQPzD0vd_MlfS8ezFy2ZWPTMaGEzvVYs-I441RlKhouksW5rWOs8rTJ5fz2DSpQPBF-yvL0QXN-boiH6_buLZFEUCObxeSfaNRyRRq5KR0dO6rE1YZl3jqtcZW_xvu9BYWyIlKO3IKLokySUJBI8TnHxKT_gqg3KCbhJMVIcqPq_fxEx72vwu0Qg2LIkizI6pgA4rr40k3M-vSNJK2D9mXhKYJ00JeqklUGhGIpAR_EAA2wGC8po_4upecUsg3aTIslUpjvd3l8Xt5Wmuy-nLHgrEHDQ7-Jzs8lGOv_LyWJZdIPKzce-K95_zR53zPwLn3ahbiceiqt2O4qdpb9qCKP9-7GMVegoumZQFoj3V5A-PYXNsJBHcYS7PzfZsB4wLvheyya1gCTgvD5m24dyinv3oolgDU2Z6FJ84gXqrn5tagTqdYB4Vb1gqiljip_nUT22kLT-1XShlXHVCJod4TVqmi9KB2RPwlPWdrWLwgYWKg_KF1QPPDyHZ15pg9DMuPNRb8rZShGDAHtbNlVg5Ldos9hMIStSNsiDAiC40KFktWnnmWqJip8zaR5sV-sftYbbltK0K50f4XuL1rCX5bVCd2uhsrl2RcWHhx_0X6Po6hOIL65H8NMkZzkBPmN6_3J9FZyeujRdEg1GkumdqMrxRDEu10yxxVU2UeA9zlM4kMfBuQkH2lUS7fpdi1FUi5clXX4DRupIZnQCBPYCE-Ik1nRmuoadjqIgZZJQqKEnIkwbtJH-Nof7F6zJZvCIlW30yhv4ABr7xJjqMkRK866bgq2kyBAE1DOLrk0QALZ0RT3RRSULDrO9Vo08hfhyGSTL2IKrrtvlW81NetUSmHFUmcVsQQFzT5T1sKLUIiZGtaIvyhJuDqx7bfb9PWumeT5D1tvTHpfkl2VLuJH_3jrqb3XYVF1zFacuOhN31Ne_7H6vfs5J4bxkjlCv7pWLDSpG_HyIqIs09oVBNKy79WstIneddhTsk3Gzr-TWi9m7htMEuuvGq4MEqf-naaeDNRIz1DHYx76VZMRqQFqgQWvwTHCHeZx3EGrRfxgrfqyhXSEndSOiZC_fNBkrSKw5pv0Aa984Hos8D2dWxWbahlRlliHIiQSD5wRr8qMY_3g8OXSc6tT7m6otSh7dG6j11KIjuv402WC5N3pU-6CwloEr5cNzMC7R7IZ5THmnIi4M-eNFkaPtoK_Oa_iUG30QefXdpzcPqYDCFmDFfFCS5mP03U5PhkB7PAwmILAUkTVol7xr_F_M91ODkT4wxbZGVfSbY8gwS4ci37RYCysvaAeTBzJqX0eaOfNFw43CQ-yFFqUWZsVYoUA-95ZrfujypL2kjXWp158rWfiYSBhGsz6oUV86Xt33heWrYprxnXyuSgW8aPcX3CYm3BwWIRMW50GaH6Wg_gnn8XNssofhuzCIP8UVYWRgKXnRvbxnU1cejvm80NJUTmxy2bmNEGXZRNzDAFWmvLJmwMhKurt7L_BKfWgApLuUtqBESVwrC-jBunG_5Z9f_TKzB4piUyEybQTelu1naSqc3EOdVY_4qemWDX9II17YyXW1pM9b5gQSUelCwF5BwGHjFMeKdSbq5NB2crnFW5d5fsalcI3EhpLQ4eFkIOWjF3uTWFDurP0fH87XlAnQpwRPp0RzoofP32XINqu6d8YxlaPVvkqnxHdh8Ftz72t3gBMOKD7RWbGvhIRTJyLk8LFQZ841rbGzIugMiFgs576nJHtcmTFOlpS8v6bh18A53eCa0ezonTh3ooehhZhBs-ifDBaVciOnLUw6FaKFsWFPPuK_y4NKLnMT81X7uqeZPKmDaISud9vKvw0ttHcabkujKyyFgJO17wKUFjuWcfdgaJI4HV7irwBhovsLA0ebwIxKVDdXehJ9pwuVJ3mHCTFFFFraKePWsCbXH3lbDHkiPzamKE3Ao1TA7ntOfM0yhZV5sw5U2GhTss348oif39dCq966x9DyemU1vNA0crXPsmvKV__xy-xc1YQnBiPWlc548XzWuClExYdwk5EFo7tmVdyR76mLEMjBjURWYeDk9_2uhD7gt85wI--c324wFIkAIYiNQ4uzgzvysPvs8qasMTiIpcL87mbAykTZslh3Jhc_AicLpe4ip_fdA_WbZIRV4NjR9SXFl98GY_iAL5RX2IvqPeb7SXhcyoCXDjn9aN0TiRn0VAsy3qmb_KUgaEnbxIEM9PnxmkDjxfPvYfavQYSYysoI19bKsWspmyDHnCqlsnWq73wM2E6ReZ2xDQQevKUxcKOyDoh0fAv4pPMKDF-qzbFh_hG2ZuETWMnQ3eODtIsr3WENxMbLuXfaxe1Ebp7gt1zaLuBirKiJN6R5Drn4BdJyVuu1s-Y2Fy4iPBC1_ruf-IL5v7VHMofrcpwxv4IZ8tOKI7i0Eyd4u-DPmBx55fBMpKVGxI0LtY2pLOII9utBvICacexob_vR4Ezp9AmJ_8DebO2wwthr0FT7lmlEFkjfOfMxIV0H5NqzxNMFsLKLyBApyXVCFHQi_u5wEr05GL_YcDNaCejSzXJJ32c0LU7SM6U1wHB5RgJ6lXCEjmb5aOKw6zBXOC2bk4GEk1B8GYfLcdnSYqQ8Eu8QuUFvuDlElsPfZwiwhbQAttQbRvtdxcBcJB3S5-8jgmJ-IlEQSGu_zVp80w_fgRE5maaawDHFZ5Hi2BDFX-3jHg3Y63bLuG3XzXJUQXB7wd8SxBdXflb4sbCBZIZdRO7sFfVmK8s5QriR_6apO_1N-EQD07SiVHU31rllc5SbTds0dq-b0-eqcS5DIowJId8WJ1j4-z3fPSQhOMlylqv2NjOW0VKi_a0xlclXcuqo5LgqO6-1KAhKc0TGxo9AyfNj1TXd7GlJcS_PaWHzQZ1btsIBNgCeSlc_hprILZ5fAHtprNbqSAYpk0Y755Rt9CG2R3GlO2JSjW5bfaMInz6ZGFyAjY0-MdgxOpTKGxnPGr8BcmITly_Mym_Kvo0=",
  "id": "rs_04c7a6cc40e6fd57016aacd696713087d089b79bf57e7373a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.16,\"left_z\":0.3,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The wrist again reaches its limit before the bottle mouth can get over the red cup, which is near the far edge of the table. I’m returning upright so I can set the container down safely rather than pour outside the cup.\"}",
  "call_id": "call_szLx9YVs18n2QHElaVOo7MrB",
  "id": "fc_04c7a6cc40e6fd57016aacd6a5f95c87d0a4c10c63d2058587",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_szLx9YVs18n2QHElaVOo7MrB",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 2.2963, 2.4252, -1.5631, 0.9871, 0.8738, 0.66, -0.0212, 0.8513, 0.6975, -0.5045, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4421 left_y=-0.1746 left_z=0.2348 left_yaw=-1.2829 left_pitch=-0.0777 left_roll=-0.4409 left_gripper=0.66 right_x=0.2927 right_y=-0.0005 right_z=0.1816 right_yaw=-0.0035 right_pitch=-0.095 right_roll=-0.0024 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -13.3812, 6.3658, 0.3834, 0.6667, -0.0317, 0.0024, -0.2393, -1.7436, 6.9949, 1.6777, -0.0513, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5300dd46f5bf2feba88142029e980ab8ccb66a767c822323ec237effefe7a82f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31544aed875ced9d78c71f27a3e76915d36f86742eb20b581ccc935df13ca09d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67d85ef0878e1f8c0dab9b3ad5e681e6469c036a41c139aeda00a0da04c0083",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1589, 2.3028, 2.265, -1.5402, 1.0172, 1.0164, 0.6599, -0.0212, 0.8486, 0.6983, -0.5037, -0.0116, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.4134 left_y=-0.2148 left_z=0.1963 left_yaw=-1.4536 left_pitch=-0.0612 left_roll=-0.4711 left_gripper=0.6599 right_x=0.2927 right_y=-0.0006 right_z=0.1828 right_yaw=-0.0036 right_pitch=-0.0908 right_roll=-0.003 right_gripper=0.9993\nstate[joint_eff]: [0.0205, -15.7607, 6.8991, 0.3346, 0.8474, 0.1245, 0.0611, -0.1983, -1.9487, 7.159, 1.7802, -0.022, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNasml_LE58SMRyn0hLW9t8elGSOKK33dSVyIDM8YKWL3vnU5mDUOTlvC662cfckq5UVUcFr1FuzaEO8WvLswPn9XKFakcZPWgwA_h5j3e4MkES6dzR2nFdKMR9xQwclENV_WciZGHW91vYLCJcZfVG8sVRteaNSFpSbQve-cBkvdOtRsdpvpwWKNdAEOaiwJ5hDgIws2CcBH_0Yuwc5w9Bcdg27k0GJyagdpV9-EfJVU41la1evHcfCBSz_jytzQ6LOpRD3evV5lF_ELozqh_iAl3_5dHNQCJmCi_fCSUclvUnqpkPczg44XNTOnR64kQfpdmumvUSzrmprybNWKTL3bbbQrH1IKBoJlAZGHnjXkiBmPff74bADBcceglY9a9bTK01Acpe9cujxfWBKG5tx0pETIMUkzIokE62mB5Oky-fER6lnmjCdzfoPH3qlrGmPeDZLU5Ur1s4m_biqN2mvDRULoVV3VWVKFOSFWEguuNzq5aHbrxaLU7gg3XkZ6Kl2RtIocreuy-SMk-2eI5CKKpJwHDMkyzU5DNXNTTLrf3_461MRrkeh9AHQ_-rsJtqjKiUpCKNVHzjgrE9W4N-htLIUnDUa_YZC-CKjevc_HMIxFybVw1TadcjEBYgzLPdLjYP52y-1jEMhL7Rcm011O4_tzvs5D9jprqkr0sFryJ6UjPsSV2hshHDtWToGhqFcXJNZ0k17ESjJuXr8uE3S5VAZ_RudmUhlkGYPdvVsqkDQPGQ8JTU1YZDlDUYNMNMyra7E0pNCVcXjguGQrpcNIV5yxXKx1OOv5nFximNAfXz7VEtl99WxObUKLOlgmtHhtoxtz_yj_s30l86LaHmhTBC8axRNfI8fmLRwRFtjI-vDE7To0GhctoKT_c2dmdCotcbUPaOY242xtIwcOBMOUS7-2xgO9n4LizdCLBePnxWDR__6YU1dC8wmJlZitZmhDVpMQ49A6NWO55s9MQ8goKsXL18x-rnygtdnL8nOdPrLMHpwBHFcKmcPHKQTZihUOVfFuD-ySm3ybc0xlzRuzTxmlT_a6EpegEQOaIqAN5u0MM-1E2AOiSTRmcHciAPJz_IP2hv7gfEeKYa--norTSGALXF4ZGQ-yho0NHrFYJkx0ZJBTFY8QDrMaG34I8TFxosle9YpmWjf_8lwGPv6wQ4DRdGCd5Sxja4ZDiVDtsX8oY8YdNr4dA4IyoSgf5hTmtGwJsj_fjEjSY3N-jW_Wf7wDuaBtQ5BZaT4Tfxenep1O7_t6h0jea9gStraxhq3",
  "id": "rs_04c7a6cc40e6fd57016aacd6aab53487d09a9fb5c301559580",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.15,\"left_z\":0.29,\"left_yaw\":-0.7,\"left_roll\":0,\"left_pitch\":0},\"note\":\"The readback shows the wrist has not yet straightened fully. I’m retracting farther and undoing the rotation in a smaller step to recover an upright placement pose.\"}",
  "call_id": "call_abczRoUQh2W8VEXFqX0uvjdh",
  "id": "fc_04c7a6cc40e6fd57016aacd6ab65f887d08e6587ac81d93bf9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_abczRoUQh2W8VEXFqX0uvjdh",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2134, 1.3499, 1.5181, -0.8124, 0.5205, 0.3435, 0.6612, -0.0212, 0.857, 0.6968, -0.5056, -0.0116, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.346 left_y=-0.1612 left_z=0.3358 left_yaw=-0.8356 left_pitch=0.0106 left_roll=-0.0103 left_gripper=0.6612 right_x=0.2928 right_y=-0.0006 right_z=0.1794 right_yaw=-0.0038 right_pitch=-0.1026 right_roll=-0.0025 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -1.5521, 6.5436, 2.381, 0.0708, -0.0904, 0.1197, -0.1846, -1.8393, 7.2684, 1.6532, -0.0317, -0.022, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:106bd4a425021396395b084e88d94a351db6b4d22e520dcf43a93987699560cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004b30c79beeb8c1acacdba95fcc4c9354e93592defc41508f55f56d96687817",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6581ba92ac89e499388c9f25dfbcc0ba2ebf1be5c3763dce40df46e1d25e5f6c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 2.2963, 2.4252, -1.5631, 0.9871, 0.8738, 0.66, -0.0212, 0.8513, 0.6975, -0.5045, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4421 left_y=-0.1746 left_z=0.2348 left_yaw=-1.2829 left_pitch=-0.0777 left_roll=-0.4409 left_gripper=0.66 right_x=0.2927 right_y=-0.0005 right_z=0.1816 right_yaw=-0.0035 right_pitch=-0.095 right_roll=-0.0024 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -13.3812, 6.3658, 0.3834, 0.6667, -0.0317, 0.0024, -0.2393, -1.7436, 6.9949, 1.6777, -0.0513, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNay9lb2gNRx-S4MPrGR_3C1JC2-r0rdBvH1MJX-09JYa2Oc17ey1ZBLco81apxU-ZtrDfDvTwskR7GwY1qD49K4vGhqPv1kpgju41Xvqyk12rGtXkQtySYXVPLpDaRI2-nzRW0EycLuYppjOnfVjxRnepYEoFG3ll4Z8gmzP-E7XdfBQw2xsvmWLafFx2JDi4VnwAudWJsC44b-76jYugDjf_q6QMeIOqrcu3PcrrBGIyih-TebQ9GuaqOBgi7inIG6EqF6LjFNGpUpZgE13bM6oS4wUb9jHdW-a7RuXaxBoq-CRRzPrWGjZbvGhuRGwBvR3qZPv4_H2oI15SUZkdOJVP7iPCPactJv5VHMqD1DVEQcEi_sZN5wAHU-3K8Map3s7KnQm1safDalLwSrfL8SS8f1fxszlDHTn3nf-b8HSHJXoXZwu4Br9ZE9juVEoyuQktqdCpyS_XqnkZNJwrCZlBAnhl_HJ-qN2L4a6p--QuymTxTW_HDShYZ-ZjcOck5ldQAPyhtTCTRPZqBqUc-XIT4_6EJDW5prArPr5WWHWn2MWv9JMmbh7b-ahh9m9ufwWhMZ6pNNCocbB9OYn2xDh0uE-AR0taHZr6nESvulj6tsR-9gIgYh__98L-Tu_ARPcP_Q7LmymxXLr-98Ya4Vw19byEi4CN9ZUM_63WrQ4VQ-L8G7nw8QqDKGOihkiN0gBV1RDjVPIR1DN7hqT2Cu7vZBJS5Ta9K5AQaOumJ1yk28xjSEePF-4CntpYwinovB3YHc6PwtXj12DwY0vmgXczo-cUeGa-_2pF22JTgIUGrGjeDbgp4vU6BE7DmLxBnNcRH_dV1X6wKfs08VWluE96ks4BYY6Zw_IisXN6xFXa5ZH2TZEx2OKn7OqmPozg_hDG7bv02O4UdPxUSa0q2qkbwg0W3GVXeu3txptX07PkG7rxnm25B27F3-cPimoAwxueMFChLP1MyE-Fpo_9OEkGDQHKt937wm4XfZP9_4LAf9rw9tWy8TPN790gtwrhBcWJW70CPbjR2cuaHJUDO4JmlrX5RfKhoeWw1y9dbAgMfgK89yedGXlab7-RzOckLg42IXxXijv6RA16C_LymjQNrm6yLIltmxFR1UL1zDJg4AmRj55VZEwJOCXFaj98jtwPXJX8LiyA1QaIXVtZ7yEKfWnffaGfnFPtta8HFAsHZLuTx5ylHBxg0AgX40Jj2cm1JAq7a5AAZW3CCjkTtjHjem_2sp_A27sBkwn6EE75uVvCWz1krFli0Fag4Q3zg8JDkT40XO4tL3zlgwnBAXB-6Up6SKTIH2qLpAyM4-te5Njh0M2UP-6kSByVHJWkqu1nNPU0wvst2DKpYSAgzJP6SZlozgzImfRsC2jw5XceSacI1OyzwZpWJ8TfjtKfatNn0okQVlChcb5CScCP4f2V6Lsh1GzNfEZ8PVynw1jQ4=",
  "id": "rs_04c7a6cc40e6fd57016aacd6afd98087d09a71457a5fcc8b06",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0.23,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The container is upright again at the shorter reach. I’m lowering it toward a clear area in front of its original position, away from the other container.\"}",
  "call_id": "call_az0WgtakL4al86AYslr2rRX6",
  "id": "fc_04c7a6cc40e6fd57016aacd6b1332487d085f9705598ac7f2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_az0WgtakL4al86AYslr2rRX6",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5694, 1.4277, 1.1809, -0.4252, -0.3202, -0.2253, 0.6629, -0.0212, 0.8585, 0.6964, -0.5053, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.3863 left_y=-0.177 left_z=0.2238 left_yaw=-0.1867 left_pitch=-0.0738 left_roll=0.0172 left_gripper=0.6629 right_x=0.2929 right_y=-0.0005 right_z=0.1789 right_yaw=-0.0035 right_pitch=-0.1041 right_roll=-0.0022 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -6.188, 6.8855, 1.6825, -0.3443, -0.0659, 0.1636, -0.3761, -1.6068, 6.9812, 1.619, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977b86376ea1b7d01dbaae972cbb3e951a02a0b90f654b728473bf0fffb43871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd7409ef742e7535ee12812aebe915df3eeae9435b68ae60da8e37d7663fec9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11a07a91fe5e60b88a61a651a71019b302b44abcb33f1f2b68499a0a8981694c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2134, 1.3499, 1.5181, -0.8124, 0.5205, 0.3435, 0.6612, -0.0212, 0.857, 0.6968, -0.5056, -0.0116, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.346 left_y=-0.1612 left_z=0.3358 left_yaw=-0.8356 left_pitch=0.0106 left_roll=-0.0103 left_gripper=0.6612 right_x=0.2928 right_y=-0.0006 right_z=0.1794 right_yaw=-0.0038 right_pitch=-0.1026 right_roll=-0.0025 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -1.5521, 6.5436, 2.381, 0.0708, -0.0904, 0.1197, -0.1846, -1.8393, 7.2684, 1.6532, -0.0317, -0.022, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNa3gXapLCOh8RDIoWQ49IGi9AY7PKuI15qE3FanzrgnDGU_5NzSuWHO2xRd6XuqezRNwS9tw9cP-oSTex5_5R6sxQVo3DO61MZfV9Zx5v0gUKrm-uxafSMiKXzWe7fOTCqtn6Eeb84Y9zVmmltORPafnGX_0SNn6dN5xpU8MqGLdSbz-VkqbPCMjre8Ej8bdcFNirph5yf8pPWg9zNL6QszhKG7jwAyfEEW7dEUyTbbYOvy7u910tyr_5-aRt29DCIZoE7QZxLhQDmHAtcJ1AuCSkDg6E81m1OqloyejZu7tepz84BRH8uo7Euf9qOu3tZ1HCdIoY0urrgUNL02R0cSzNDl4BpkXWq_7xJ9I_2SrokK5YFTssTn_igq7wk4mUfmoqwmCrr78FzhRIxWhkbHXqQjfC7Ncvw7h9WphijVGbhiR1y-mcWPGvTEnmh8p33nW2Mw6SWrod9dSi2O-wYwk0N-nn1FkVl1t5da2hGbY4kKCmaYAGw0g4EXjtoQtoSEcg-mLJ0_GW27h20WfcLIdt5klqINsAYbmhTAydr1rJj1yokCsyefjROMSJQ2QEwT78ngQaHh6vIZf1zs4zDNRCK6y3rwqWg1l4vRYhe9gkPZUJQjkLOWTJ6tamPRMWV5rfezNpTFLnTTa3uSq8fhOd3B-67I5D2OHaAGZ7XKDyMO1-G9ZAIQumUXrrB143x9SDWfQNQo4JLD8SCYDJ817aNdEZfc0OSr-H_4WMfVlB1ROUrDes0WetpHC-YWRRroHsC_vZzMBgGpycwripyLm9gV-HMhmkv5NZMAQte7n6YhN0PDNYrif4lYMsb38RSMwxyXrsMvgvcUm93Q1T3lVanWyJ2-vwMkqzXgdDeY8JDpB5-aZGQt06ViLeMcg95KfhxDOgDDSOnswHrExVYaCUjPvm8BaNa926aR8CyPKBLyaYZSHod7pdI2J30Yd3iw8KFqK9AoQKhFUE8sa-KdHFDzjkGiSduP6YBGLN3VTxmPGjx9x6TSgaOVHxo7Ckbai3OeoOPmAZh9x6lLWZsK9TBWBjkagLBXg5RCHl8WkW4Bv7VvO7kEYyX_y5kbZFyTcQOcRm-BkpfcLrfSV0hOcAMk09Aek-lX5oSbRtwiwiAy4ZkIIUEzaVV_5LNSAOfHepfXgZ-wL6HnJXGAaCoM3FGfcdRKvUSR_G7GC3-OXxYLoZJLn9-6zhGjouQ3WooRcAoNa0fUlDbvabaOQb-VhkvFhPBvjOuF0Px3VxOBaY7lrB2HZMXkqqnK5z5e7E-4",
  "id": "rs_04c7a6cc40e6fd57016aacd6b5ac3487d09a5eb7d9e78747d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0.15,\"left_yaw\":0},\"note\":\"The bottle is above a clear patch of table and still upright. I’m lowering until its base rests on the tabletop before releasing it.\"}",
  "call_id": "call_DBMKQB4JcOY3VoMRVJggWPa0",
  "id": "fc_04c7a6cc40e6fd57016aacd6b6536887d09c8fed0bb5575397",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DBMKQB4JcOY3VoMRVJggWPa0",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5777, 1.5074, 1.0271, -0.2138, -0.453, -0.3294, 0.6644, -0.0208, 0.8604, 0.6964, -0.5045, -0.0113, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.3996 left_y=-0.164 left_z=0.1692 left_yaw=-0.0313 left_pitch=-0.0545 left_roll=0.0174 left_gripper=0.6644 right_x=0.2931 right_y=-0.0005 right_z=0.1786 right_yaw=-0.0038 right_pitch=-0.1053 right_roll=-0.0027 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -4.6154, 4.6701, 1.2186, -0.1685, -0.2027, 0.1441, -0.1162, -1.7162, 6.9538, 1.6532, -0.0122, -0.0611, -0.0171]\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,$blob:f311e1a8c6e76ffebf3429fe32bdc1d193a3674454ddeb09b2b7bddd17f842a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a6b7f413aecded09a5a3a4b32f760ce972ef95dcd741c17d811137a72e8ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7404879836b7071503582f619b239c467602cbd6968e6418b6c8186ed462a868",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5694, 1.4277, 1.1809, -0.4252, -0.3202, -0.2253, 0.6629, -0.0212, 0.8585, 0.6964, -0.5053, -0.012, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.3863 left_y=-0.177 left_z=0.2238 left_yaw=-0.1867 left_pitch=-0.0738 left_roll=0.0172 left_gripper=0.6629 right_x=0.2929 right_y=-0.0005 right_z=0.1789 right_yaw=-0.0035 right_pitch=-0.1041 right_roll=-0.0022 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -6.188, 6.8855, 1.6825, -0.3443, -0.0659, 0.1636, -0.3761, -1.6068, 6.9812, 1.619, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent stopped above the target with the bottle base on the table, indicating support. I’m opening the jaws to leave the container standing safely.\"}",
  "call_id": "call_5TKRr2cMDF7fxzpMTJKI0Tai",
  "id": "fc_04c7a6cc40e6fd57016aacd6ba206887d08ceb9396dad95cb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5TKRr2cMDF7fxzpMTJKI0Tai",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5777, 1.5375, 0.9981, -0.1783, -0.4679, -0.3557, 0.9955, -0.0212, 0.8604, 0.6964, -0.5045, -0.0116, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.4006 left_y=-0.1618 left_z=0.1519 left_yaw=-0.0047 left_pitch=-0.069 left_roll=0.0167 left_gripper=0.9955 right_x=0.2931 right_y=-0.0006 right_z=0.1786 right_yaw=-0.0038 right_pitch=-0.1053 right_roll=-0.0025 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -6.612, 6.3932, 1.6777, -0.2173, 0.0073, -0.1636, -0.0752, -1.4564, 6.9265, 1.6581, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:992832e331a08570da38fa1cf3a185666083fd45f8d7d9d40587191f5765dc9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b467e6ef74c55c7db09850d5e740f6324d6446fd83b6f3489ce4ca3982a34aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0596ca2a29d155c1a3ce818d6b87b15f85b8f3fb8d51675c8a9d349e14cf4e75",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5777, 1.5074, 1.0271, -0.2138, -0.453, -0.3294, 0.6644, -0.0208, 0.8604, 0.6964, -0.5045, -0.0113, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.3996 left_y=-0.164 left_z=0.1692 left_yaw=-0.0313 left_pitch=-0.0545 left_roll=0.0174 left_gripper=0.6644 right_x=0.2931 right_y=-0.0005 right_z=0.1786 right_yaw=-0.0038 right_pitch=-0.1053 right_roll=-0.0027 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -4.6154, 4.6701, 1.2186, -0.1685, -0.2027, 0.1441, -0.1162, -1.7162, 6.9538, 1.6532, -0.0122, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.25,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.22},\"note\":\"The left container is released and standing in front of its original location. I’m withdrawing the arm and parking both grippers clear of the containers.\"}",
  "call_id": "call_QOYySfht4BUiq1GBSomSi2AC",
  "id": "fc_04c7a6cc40e6fd57016aacd6bd74cc87d0a9d5a5e7adeae61d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QOYySfht4BUiq1GBSomSi2AC",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0544, 0.8833, 0.857, -0.5522, -0.0944, -0.0662, 0.9967, -0.0208, 0.8978, 0.8368, -0.6399, -0.0101, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.3057 left_y=0.0036 left_z=0.2353 left_yaw=0.0532 left_pitch=-0.0171 left_roll=-0.0026 left_gripper=0.9967 right_x=0.2923 right_y=-0.0007 right_z=0.2044 right_yaw=-0.0045 right_pitch=-0.1377 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -2.1402, 10.1538, 1.7705, 0.0562, 0.0611, 0.1148, 0.1846, -1.2923, 9.6615, 1.6484, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbec14daac97aef3f5a4fa4b9a05ffbc9f2a4cf34f40c648b89d56f3d4eafd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e096ee64d96b535ae68148cbcc6bef0fd148ccea2491151e38a7260a769d274",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d17e0b1d61ee43d2cc264f6982e4c0bc488bc94a3bc387afe8483309cfe09889",
      "type": "input_image"
    }
  ],
  "role": "user"
}