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, -0.0216, -0.0151, 0.9996, -0.0151, 0.7967, 0.6109, -0.374, -0.0116, -0.025, 0.9998]\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=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -1.6342, 9.2513, 1.7607, -0.0317, -0.0171, -0.0513, -0.7453, -1.3744, 9.7709, 1.7265, -0.1099, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5260fd7922e4f1ef382537848bcf84da2136f6f04c42dde64ec9e31e3946e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e4bcb534d4aeae1f34afe99b47f73bd1560d139e461f89a2039c2647a9ce9bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b79ca267f6dc43713c6190251495b9d727e5e343b7e929ce587774e9c85b78c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrNEuS7D_7npIZwKN8NqObVzFg3m1qpG42GcqpcpXzRE0dZWIWhfRB0kWIAQY0nR13YhSnm13oMBfa3K195xt3EUd6y84bFjawcc5Slzl4OuzuEWqsa2QO4wQjVnjl2IVM5l15-swSH7yawaDNj8dLISW2IoI-9KCqqVbz-hdbPUWFNKXvqol2oncqcdcSwwfQyboRPxb4BnwqenEaDLtcEe6kxD3VWIUFD1uHv6dVn3XGMSPUCmY1lnLeYk2XkjJbv510EYzm__tHzyy63LhZaj4q-DVar5Cx455s_V08nBqpqa7vqnf5VhsKUa9n3WkD5KRi6g34w2oE1SESYhp2CYyZIsBf5RxFwX_jfN2NTj3A27IDnVAEBJ7H7YB--ZtTQQE-qV6u-TN7scoaihXt4vEK0i598lRTmeIA_uPdoKTfOh_KfGfPZ3o3dRGCSxVsTlZgVxvhHn0vFNMevhjJpW2Tt9-yx0K-fYySPo-_0vtYSSXW9Qx4tSTxgxf3Uy8K3-GzTIE_JFYpwGjRqzkioD3X_cWqooJLr7DXlARZkciHsBOMuXFBwinCG_YElMkvzAE95Dc4CTTpA3CruAy8T3wVBYVqqriUiD-ol6ArGRbM1RDev9Luq6Q8szbkv7Lq2lPyZjgXM2MVM0t6qoUSHHgrUgDH48xznvxzXv7bB1HpFD-ektYjA1KYNMpUxxOYh0Wk5cTljrzmxjSCwDVQUzybJYMmVRBsTR_TQ7aPmk--HjWJ5-WiW0cXKN1ZnlMp7rfmUpBAcQHYaeXHTAu_WXtVemg3VEu2_4IQMQmaSnP50M9q8X3kHSvj8a3l41RJlIOQTPBzBwTPTwOWg3ldOghk5m4DV2YWHr94l8T5uZOvPcpmVUa2i_KjigOYSXqnnxEljapiUa6FMRog2vnfWWtjGOgUggjc6fjhJcjsoTDATMyLmnr8kIDaPOz1jlIWI7UxjGBAHGgF-mNqt1-zJiyX9eW4M_gipwibL9Ahs2rIPjnsznUmuLX0nPGJ0LdX5ZMU0w-7I4srA9z6iJHxFCuaG4E3jbr0H1VE8oWuISnUyytsVQaMPZ20-FzcqOUtsVfJn-rRyi__4oHy5KNwcb52Hf65QxuC-7EGtcxU_43XttpLUZiTx69zLX1gzMJClf9D3VBho-WqSry9KbOe_PGC1rxDaMbYz9eWMqzByP3STPVGbCYXjMG5SpJ7cmHb-EOGMc4gIfdRkvriVZl5Jb_pktMpNwoD_10SfBv0NNP1Az59rXvA2PyfQv2Liap55KFaXn0TCNsTmdfd49qtgB-iQ4O1P2tjtlcwGauvYo_UPqhaSRp2ty5xhti6SJSkiBXpS2ly4Lpa0QuEOX2PG38bVfE2o7LFFICrLdAPU56TcEgtFXjAxVGgQQtXA_Tz0wgbNkgNYlxv5B0_8VC5t8IvnhJ3P2JeVHJfHsRWHwuKSm81m_IpwP7ml45mqJQgwY2WBC-qphIRx08za958DPg2iudnKpafkvTQMsecFYY2VbODj0ullzog9iPFFRPEZVkokIGoUEEseEDLhVZGr8590dhAlBDrF21zWEHU9aMkgEi4jAj3M5rgij3ZQoPKa07_fVntcX0Ot_oPiW-ZR-_rpLRVSpxM4D8Vh8UWqkAhZI3MNngLIpiKSQLz0MTzwwZCnNIxE2fIgM-Wx73c_cgQ5GSRcEDsTSIEabYeGF6JjYu6guEyrA7xgVVM9DJWt-tgWVOC_neMcNXkXDBalj8w1Faw6S8G4CkUmGFr8ShTRu7EjaNj3b5p27BvVy8KDflY514N_BlYWF-ISsmUbz38JolUeHb6e3wJ3j5VGr30WXYDTzj8HqOVB_lEvJ59pQ7s_qdqYlszbKymG24Y84PKmpyLR0cMxkWZJ2ANzc8tk4BSn-h7v1CqH5zc7Yfw7QYDJ-uToO9PbexvOSrUlZOKQfhToULaIK_6BJYOVjbRglQmGwZ3HvPUn7PqGnhj3mw",
  "id": "rs_087850f247bc8cee016aacd1273b1c87d0ab5171d3d26f0272",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.17,\"left_z\":0.19,\"right_x\":0.297,\"right_y\":0.001,\"right_z\":0.185},\"note\":\"The left source is the blue-and-white container in front of the red cup; the white container is to its right. I’m bringing the left gripper above the blue container to align a body grasp.\"}",
  "call_id": "call_W4wqikpVJaCJmM7kRqfshODU",
  "id": "fc_087850f247bc8cee016aacd12c1dd887d08fe615c4495310c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W4wqikpVJaCJmM7kRqfshODU",
  "output": "executing move_to over 16 steps (1.6s)",
  "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]: [-0.6277, 1.4635, 1.0031, -0.2401, -0.5171, -0.3756, 0.9996, -0.0189, 0.8017, 0.6086, -0.3843, -0.0109, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.3844 left_y=-0.1666 left_z=0.1754 left_yaw=-0.0054 left_pitch=-0.0365 left_roll=0.0172 left_gripper=0.9996 right_x=0.2953 right_y=-0.0001 right_z=0.1791 right_yaw=-0.0041 right_pitch=-0.0176 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.8308, 8.9641, 1.58, -0.3199, -0.0464, -0.022, 0.1983, -1.0325, 7.706, 1.7802, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98395a80a0b7d3f5d6d8bc78bf1ee982a116e6fc873a887200beb683b1937f45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95327407af8e81eea9c325b7b0005009e44ae823fb5d40a8b20da6e07dd48231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee12650a6709030197b6435373850fce17d125c53263ad594f4b1de7714ee047",
      "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, -0.0216, -0.0151, 0.9996, -0.0151, 0.7967, 0.6109, -0.374, -0.0116, -0.025, 0.9998]\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=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -1.6342, 9.2513, 1.7607, -0.0317, -0.0171, -0.0513, -0.7453, -1.3744, 9.7709, 1.7265, -0.1099, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNE9in3ORs1uCiT2DmG254DaexG9UqKmfcfIHACrJ0vOp_yydWyFywSoyOxG3x8q_jKxoKYXinyTuRHkhnq7NkLtAffrd0zfuH1Ka5acetu3RMah5L8OL36BOZrr2czlizrik-gWzXzyq8a5LZjIZzL5zhmf4s97tUINmGMGUQ6aCNJ1OBDzxvRysL9ushhoyfmMdUouHqOcZ3ocK1Zkej8BWGboxSC2E7QsMGDWiUtk6LW2nuSXDT5_Jbhm1JRBZP6ka4ZPA2fEGoemClKwFn36YQBTxJyrFJL_9YqRmHTcvO4KPDjYXPCahnsj6f6_6k0c_kTMh3BKciNjkQ9UYvMTLwI2NJOwmaEj_zx79kb_vSOPaPFcF1j1sQCuC3Z9l8lveJO3c-0lZMreR9UqER7t8ZHBEdRRnhY7R34IWIHShpt1el4ZuV0yLJlAVQES4u_1G7F2ygasIh6QwRMH8fR8UFWzGEYw8GsGQSyXym8WtpnvrspilUqMKIrsmixRnQfM4VJfTJFKoMDOKjByXK3zCSIWA-3_9DvUu_97Ht7A2SE5tAYnB7dBrdCp6wf5ACXUUjIbEb4bIPB7N-oa_rYyxN17gmnRfdVS9EWPqyWPfsAy10Kw5XRfpTSQA2TdQZKPMOet8taMlUHHFFWpc215pXadL44gtUEPvtTdeV3AMbrsSypO1BhbzWFJnnGaxCVvtFEc8yykOCFXGwDIqkuqHKtlcv4bo3g0AKjvRIbzJ4dQkGzb3dEQZdlTWFhsTuySSDv0ct-cxJE-zp22GRCQEvTR1qIVraoIgBmxZyo8VlLYpNWw4TTv35ASycQuujMlgxsZ6WFqHuuOOQw3kCmIJReEA8fht_NIniA0BSK_obYyCDc3caIdmECwPMCU7jPQx-DpMuKJlKGVORC3diOlqc89Kgkv2kCuP7d-7gp8yYO6-O9j4rGaR5_uGIxGDp0RepuvwYSqWhm8iLjjzWJD2TbBZC6X0d6oKirmVdBZlO4njTc1vsGJDEVyQZwxbhlrXFtAwgwEKXO6zkgU0bizY5J5ke1EWG7gxm96JIxHDbJbPUN1Ge8rc_a_LVzXuDu_xfq9VrQgCgdxOjAD7ZkDZqIUIZy-aZx3kgt_4dMgyXPBiepvBMtMm-u2_-HNUocH_TUSj7Df7lvCqtcX0Pn60BK4sbh5wXiap_MPzJWg3KTTU55OjjPVsEOl4h7yha3wZuFHmjok7-D5xfndRWpyTwO1JAL2uoZyxCaWOxsjgOLdvHD_2CJfbTgs_i4TWZsPCh1GvTfw-0fyHA_-CvzPTKU5i5ovH67M4KB0O4lUJfrrHzv4xjCeH1UZGoNVUKfYRKtXMbxS-ixn64qAHHNVTDCEBNuUZygly1fYkWdyOxQ05hRvBjtRg4lAplJ2fTARAHtGnvNbP-BrSbG1Hzrmm8Td4b-dO3B5q7KofwrD-8k9RTfQMsMAVgG4z7d3o1Q2AGHScUjHpMUBLnGGQ41LtA8-xv96P32q0xmV919tojGPP139IrQbklTD8DDvqAdk45ynP3NLMzT0XZkDWqUcDFe8z6sRSeABi6iZWdMjezIB1tqIKSQigxF8Hzi-w_dfSYiYLbV-i6xvE5Xg243XDjbovwtciIt2fHF7V7K8t4eaJ8ucXgIYo5IhJqCjCL2T7oxoe4-xVPYCwjhdaUHNv4s0wut_3Oin8XApNAM6EQA-Jqsu6cwQTcqpiGls1pItzBPe8ukHoe_KkLjCbfCqb8xdIfSiGQHlsnUHxC9djoqTEg8QTMBS4DGgAgbjohetaiaWUeSfUC4dkGzVzEC4Me5YCgYqUKSH56ZmmCPQ-9H-hHipnTfLTWfy0lvxUI23cS9jNKDzL2SZgtMpq49KlIBXlVfDZ0MdgZE1PL4J4PBnYA8bVO-fV9ZCc6a6yhPW0ps1myPDFjOMkJfZBlkUFwUsyFHIxqQZya1U-ZBog5o3P6K7WOAXB89nwxRSrMtMpIS1WHMw00AjbQ_UoRzpcPKhXz6uj2cbKrLQThTIB-3b74iZv0KipKSFv9y1N5K2_KM3D6ovTOaLSySPi9ze4lzoEWUriFCguD-1iFVcEY2UtRdKTQN3PEEN1LSQPE7DMmIWj0-JrdSDwnnvlKDpMg==",
  "id": "rs_087850f247bc8cee016aacd136e8fc87d0993b07a4eab7a45c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.135,\"left_z\":0.105},\"note\":\"The blue container is slightly left of the jaw center in the wrist view, with its open neck visible. I’m shifting left and lowering to surround the upper body rather than the rim.\"}",
  "call_id": "call_97l132YgTsp8RP2mYSuyJNey",
  "id": "fc_087850f247bc8cee016aacd13c676c87d08d6bda60b04d0600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_97l132YgTsp8RP2mYSuyJNey",
  "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]: [-0.5003, 1.5452, 0.8188, 0.1749, -0.4633, -0.2768, 0.9996, -0.0196, 0.8032, 0.6086, -0.3847, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4175 left_y=-0.1342 left_z=0.1387 left_yaw=0.0276 left_pitch=0.0708 left_roll=-0.0057 left_gripper=0.9996 right_x=0.2953 right_y=-0.0004 right_z=0.1786 right_yaw=-0.0049 right_pitch=-0.0195 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -4.6154, 4.506, 1.16, 0.2955, -0.1001, -0.0122, 0.0342, -1.0735, 7.0496, 1.7509, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed3bb2e11daee4db2f4477f6720ec35f6c4861ffcaa1d8155f8c81f57e405090",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4845c88665e2744eed5e798a6a356b73da085678e9c36d8dc35996e292220d0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7f178d43882c7e8c8a07c382082145c6aa7ee7cef9ee9a0a13cb605275d4b5",
      "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]: [-0.6277, 1.4635, 1.0031, -0.2401, -0.5171, -0.3756, 0.9996, -0.0189, 0.8017, 0.6086, -0.3843, -0.0109, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.3844 left_y=-0.1666 left_z=0.1754 left_yaw=-0.0054 left_pitch=-0.0365 left_roll=0.0172 left_gripper=0.9996 right_x=0.2953 right_y=-0.0001 right_z=0.1791 right_yaw=-0.0041 right_pitch=-0.0176 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.8308, 8.9641, 1.58, -0.3199, -0.0464, -0.022, 0.1983, -1.0325, 7.706, 1.7802, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNFKt-Uu5t2KZzaCr3-oQXsCzustSR8relCeQfAvhI8aQVUrTC7jplDdRiw8IurTMlmA8gHyJRCNK8w-tGauMAjzv3fI_-1xo3R3KuyLWc8Zxz6cEVdD5weC6GC9iE3ujltJWFtLiLbGzvyGmkvv7K7XIIyfLg84QNJRSb7U58Xcu0P_kXFZOV4JA2BJBqKdGqaS0M9tWsURnaGtQuhgjQbYDO_g9nnqCSNdogvB_n3XQ06AgjEa78x0stvEvpAnkf4bGHQf_BRaoCvtgAU3O4QFm3IOGjrQ3rMZy1tMreHvMAo__PkIqAA5taEkOk0cl-ZcQISQ6-T68RvwK6vEmb7K8tZIzfiJuXRZWzS2mR66WIQEkfir6c3qp3u_93GG8UBorTu3cR_W4q7B5ZQg1DY_EXy3dW41RFEB1ns5EYNi5h1qZVSLuE22OVGk8Kpot4vrX8VDvvZzA6aWV8oy05mW2MPCqXtPl4mSqPgMsnkpWq-DgLteDVWgnw67cz2MrdLfSaDTwCCT48Z-HHKJ0Fb0JRmm4oH9AlMU3iCDmVhs2GgHFKSMrbuMkyjxWuYjOQaSBtsWkXbSuVyVG3R3fGPIedSNZH3a9p5s3jCLX2Vp9E0tGYYxOtASfv_5ClhV3lZh5S-iXzww27Dwh4TfNRkIYMo4fK7YQ3gbyTJxp3FiDZ_0VnK9lrt1l4eS75KVL9rYU84tOX_c9H_600WSEBXRegPw-mgUnhugtDdK1oazlVqQtCyFEwEiozj1WuirF7v_ZcZgqGF0MOgK9DOO-Hq03MrArFOe7HCxCI7KIxjKu41A0xLB8PixGE5aY16Z-igxkypl3t5mjRHwTHFssUKQNgHFgRgABVveQ0kk-8YLi9fcOg6UBlXeZ8-rHE-pQumG3t1EZ0zahcvYCFwR7DLdFkalLPlLm15CciDlhLul8KdqJf0Pq9gZ-Zta8txEiHDnDsE8aHL8dSaN0fq1vkQgNRHK9vwZMaPoLwiDD4D3TfI519OBEW1_xWz_DwVwZcwLlE6GjolA2duyyqvjRa--WwlGBZ9WUsZd_vosUzZ3CwQ2MFj9qs0lkS-I4DtHyqVxk9ylTPytttDi0Kp14y3WeRjlBTcle7JA6FKD3lXjwvVUJUgcjvUepHh-qybvNVOWTnFOcrPpP98ieOxWhTDrXjEhg5ARWtRiMUdtD80vFOm-Zp6ghOHIgFIZi1vCPk5TcIZkvubL5TuyJEYgBPrEkDdM9-TYMweIlL6vsviv4W_RlZW5R-mhtygy5fxHT8gtG1Eu93KT3PRN6D2-0q4Y4SBg2STNVRO7OfC2ypc-Yqsr3cN_vNubZzn_uIUu36E6uYXkNZjEKEmyyIHJy5J530PcoSRcptK9oUPBUPkQ4UuXM6QaXehb6kvUOlP7CnXriJJCV9mKnxmCllGXzITo9UwIFZKF6lD8HGNJGsX2m13zy_K8a8e17DU057OXanz59GI1dbHaVEQP_Ua2xUoch4MN6SloVAT8RC3c4Mf1Hbyd_-2U1X7Qy1lVW5lD93l8yHoDL-8dVdJmc9oJ4UL1XKarbNg393ZdVbDKE6gW5yiGmuQI-FPM3JaR1j1yMvkg6cRoUrnAJzUPhfmHC-cqkXfnL-KxWQVvL6m1VoeQRi7APcGTQvevQvGEhoyx0hP_MpdOtcaYIsc__yh2pGZxaEJgp1AWRFXkJncFMcFTYOZiGDCnDN6oesrtN2hat_OP7GAGX5SuEho-Y5ngc8hOjpe4nVl5GRRBPtR940kEYCzI3dd-inFvI6jegnlZVN4l9QEAFVPMmaS00b06YBB0zrhMXqFzaksj3x2radWQ5_qy7FuY8Traqm81pS5J6A_kyWDZKoWjTDP63MYea9PtIRwDDB-VZSE8YYnb4Upp7cj2MGLN2pSoWbDt9lJtwS8IkAOJ7q1UqscZLqHDbDVANoJTmnmvIVY_eZTEJmGpsSwZRuedDaNUE8moahu3FVx0qCZUvyX4tW8NwD_BPafXF5fw0ucVNPWh-r8CSN2g3SYPGkLc8Vmcc91qGk49ot456X5fLY_vv_AGiYBSwroM08Nhv6ldvhx6iwlRAe824RFo8oapzV-OHx1ZVACJFZO4",
  "id": "rs_087850f247bc8cee016aacd143682887d0aa7a69c72b08fdd4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.09,\"left_z\":0.23},\"note\":\"The descent stopped above its target and the container is pressed against the left side of the gripper, so it is not yet safely between the jaws. I’m lifting clear and shifting toward the container before trying again.\"}",
  "call_id": "call_4nspZEdSbpKJNuQCcOrYIBl0",
  "id": "fc_087850f247bc8cee016aacd148f4bc87d0a4065bdb49d6c22a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4nspZEdSbpKJNuQCcOrYIBl0",
  "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]: [-0.3443, 1.4376, 1.0389, -0.1928, -0.3359, -0.2089, 0.9996, -0.02, 0.8032, 0.6086, -0.3847, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4264 left_y=-0.0872 left_z=0.202 left_yaw=0.042 left_pitch=0.004 left_roll=0.0091 left_gripper=0.9996 right_x=0.2953 right_y=-0.0005 right_z=0.1786 right_yaw=-0.0053 right_pitch=-0.0195 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.6085, 9.5111, 1.8535, -0.1148, 0.1245, -0.0122, -0.3214, -1.3333, 7.0769, 1.7558, -0.0122, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:954614fc327aa77cd918e2346c9165cf290b4fe220dedab7774ba5d03a9a0e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9605c162ecff1e23eeafa0c5dd9acfb5b8104dfd900cda822c99ef1b9a86f97f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2af26921c4831165c666e2cd0cea7759ae911f4c07efa8d3a9931cac40ee47f8",
      "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]: [-0.5003, 1.5452, 0.8188, 0.1749, -0.4633, -0.2768, 0.9996, -0.0196, 0.8032, 0.6086, -0.3847, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4175 left_y=-0.1342 left_z=0.1387 left_yaw=0.0276 left_pitch=0.0708 left_roll=-0.0057 left_gripper=0.9996 right_x=0.2953 right_y=-0.0004 right_z=0.1786 right_yaw=-0.0049 right_pitch=-0.0195 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -4.6154, 4.506, 1.16, 0.2955, -0.1001, -0.0122, 0.0342, -1.0735, 7.0496, 1.7509, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNFVcpqkgTjoW93XMfCNo_GWYfiAsIDB2qIetNl0IGyx0_NxyaIMZULnAxe0kRKL_gdTEq1d5mdpLvOUPda9e8nUGSFzI-PTy7S5f_GL5o_A1DudWjuxv6uNfglOeTbymzMdV-dt__pqBoeqWFL8_dK8-orw2gLHCmHEJ01uWctTPODGEme0qZ385N_L-3QQ5O5I90RS5w_eVQMrGreQkuXyPGa125HpD50gJakFF8YkDz2X3V90XalRMxM509cFfS8h-v1kMSlvcYgGHFGSPALLapQiAS7Oa6Td_XHmKEi0BR9nEROvo3BmZeSvZsp9Mp6HehSxWPpRKStEkXcUClH0M5G7Tf_pskzXmQ-qtoTN0cQWv1u9qT5-KutJon61xdJu4IDvRFHnijy-6VZxVfPJop0-hKew9-WemJmEZxzrjJ1-g9yK8YGhtYoBpgoNYVXpZbtgCpncj__cPBfuyf14m2JkwCsz7t2eo-B6dI_8m_B_EwMPjRwETlr7eflWk2tokvOeqBEbStqSv3SF9nh5njzxrEGffRTIb4EmkmvAxQKGihdj9WSqf-5Vjcyxb8jZgQL8dsiWgp-M9CcyqXtPhDuGHp0COMNdMhASNj-Q7AY6p9WkiqgqYUTLSQWj-vHy49Z1vPykrrs-JsGNslg_RLIV3O6bCKS-XWC8IY5zYWgIPAbDlNP5IkN1bxh6Kc_o75KbyfILdGq0bFdvNLR8InJYuzk75puDmwN3fDh7VESqOK1iCNgOtMchlJg9PJKbJX6FGZOzFO32xOm44eduRKXHtSkGz17gOGbXCFmawOTN6NkxFcInz713e09bWIQf_n6tDOBcmn7t-vE0yP5Jk3aso1mLntD8xKIVl-uOAnwn5DkyqnUjitHSVWAEXAgtUCn3ekT75IBIm4pghEP8kfmK1mZ0ecXU6aI3s06UoHMcIYLXGlt7ApQBEczzJZg5p_8cFloy0f_XIX0Q0fns0oJd7Zgh_1sM-kjeOoWMtxDMFQCwjPtgwsf_uOQVhPGLL4wgXe596a6kuPTBw0_EdViRdo7z-hld6LEqOvdwiMDlQO_zB9z5xh9u7QVUmey7ti4qAHP1LtYoG5lPoF51R2IFY4yQ403ZuGuSVSS2mJ0I_jSCJfcPnJ-wVJVacxW6ZFFDWfTCc7qi1HemF8HJ14dF0QfrQ6URtfqPk52maSeYAZLYeaFLkdDbUPao1Ma4uirbjhCjaoekA12Ke4IEN5cMcTUQRgCo_5ELNxH0XHk_cUgZgMVRHs0hL7X485fB0dETmJ861l7PNv9BgvhMcT9BOVcbyEpGUN0FPVnYNFloLmEZwya8TX08K8lhRBESekZmvhC8DMrcO9UKk0WFjC4Cvl5pdIQjWpgzeY_XivF06DiffQniPHxPz5x_8g2kgJznUnndgyivwP7IBQDWlVvWsz2ip8vVLHJONvOSApRjFFFHPLjkgjlCJHXijf9XaG7esaYEprWWrEfUdEVIJsQSkTWbv2TpmXUkpjmA6gZlYwIjLAVGWHLwsGOAtspragpFXAnBRTD2egQjqdgdas_E7Zldn-oGIFXVNCdt_D6zsHhlnxhqPbQB2W2joSFQvUf5wLiyWBgMC71xQFO6cFSWdD_EX2H80EKl9rOOCfUePzWGFXcM5-rp20wZvLWtntzadfzGEtYZ-xxedO7Fuw==",
  "id": "rs_087850f247bc8cee016aacd151aa0487d0b1d38f0da5088d6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.426,\"left_y\":-0.083,\"left_z\":0.125},\"note\":\"The open container is now centered between the jaws in the wrist view. I’m lowering vertically for a secure grasp around its body.\"}",
  "call_id": "call_xk2DrN93j0SzKk9clsJl1ueT",
  "id": "fc_087850f247bc8cee016aacd1549cd487d0a29c35ae12f57add",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xk2DrN93j0SzKk9clsJl1ueT",
  "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]: [-0.3363, 1.528, 0.8059, 0.1143, -0.3355, -0.2092, 0.9996, -0.02, 0.8043, 0.6086, -0.3847, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4233 left_y=-0.0825 left_z=0.1237 left_yaw=0.05 left_pitch=-0.0112 left_roll=0.0147 left_gripper=0.9996 right_x=0.2954 right_y=-0.0005 right_z=0.1783 right_yaw=-0.0056 right_pitch=-0.0206 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -6.4752, 6.5026, 1.7705, -0.0513, 0.0317, -0.0122, -0.1983, -1.3607, 7.0359, 1.7167, -0.0122, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9119109f96bc0c9fda080ac9a490acafd4584321caa12c05a3358dd9037c483e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef03931a9d2fdd6d8d0acd0e32bce37305060a3843c9bd2cf1442d81a750b105",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c2d9e16e247156881bfd92743263d0b3c920778e7a36851a0529ce43f9c37d",
      "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]: [-0.3443, 1.4376, 1.0389, -0.1928, -0.3359, -0.2089, 0.9996, -0.02, 0.8032, 0.6086, -0.3847, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4264 left_y=-0.0872 left_z=0.202 left_yaw=0.042 left_pitch=0.004 left_roll=0.0091 left_gripper=0.9996 right_x=0.2953 right_y=-0.0005 right_z=0.1786 right_yaw=-0.0053 right_pitch=-0.0195 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.6085, 9.5111, 1.8535, -0.1148, 0.1245, -0.0122, -0.3214, -1.3333, 7.0769, 1.7558, -0.0122, -0.0611, -0.0122]\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": "gAAAAABqrNFak4epsB4x2Hs4xQIa9r-rMAuRMfxIpa2VoCrwesHEduLQ9yNfC0428DncxOxKYhn7ETSnZqV3FFY9bqdLfms7T18UZaf1A2LkL3ZxQ5dJnRPKgA1Y47NxD1kDWJAvG2uWJAO48k_4Njch-cW2I_iV0Tx740iHxIiQuciO0TMmFb6FdKiJuvQ-SHD8D1zENOMTYgMgosHtiRjViw01-JrT28JOOrCIizpRIAFsedrQnSfgKctxdiVqs6lhYzsOgduLwtAvTBANzBfhzxagKkAGGgkmdCM8hy12lA08_3GIeC39f_fbUv-gT6JYsZL9HWrQTMTa_paAlF9hcdImuspiXA6JAPBkRI-s03rvCoz7RF8kelH8UwyDXSu7lCwJ_McwtYL08N-wqKdsfVcZK8_rBnmJrWJGXvf7SvC6r502ndUajmHHFYrZhdF8Tp5PUOhvFrAfbLXNZP92vzxpGGIb-UfGqKFugyhmJ4oq5dBBaPku1jK5MLbKyOKZInksK8CydnsLQ5Ns4ZcAQ5FDlFieOJBQNLiUFD27jmDs0PjBB1gCkyodCUzAJT9HthfnxO_8raenAH1W5HtaUmQOdMQSUkZydvsbkpyog_FxoheM9zrqfIqYrPYO3zpBLYk0T2IVKBvf-AX9gCPIxsiJnyRQj_eDOn8ngAjQofW0U5-l5LfIkAGSy-Jb7GiblKGoggWIdsKqn-E2vl_5hDfmlXWlau34I4UNHwyYQJfX_BADEdthqRfoKwR9jLkwo92zhyHGyG5pjaK1qr5Y-SHE500ASpNSNUqcygO62MK_c3NZykkWxgxvl7xTx-GjJK25Q4Jq_4M8hxMKm9b8L6wKFSBTDkruG8Q6_L9qpVgViTNhRvK5iyrzhn-jYO8fisy31atasyyWp5iSBkYcdZsLhcDt_Qqunn47GWiJ732gHeh12uRUbJSGwsi1mr-9BLpWTzZ5wST0YlR-cLS_NmUP_O3uqYEnQjOsit1jH7UgbY_TX6ntqf1Kmhxtn3Mca4uvka2VET6L0tKB3CrsuWD50X9a6za9cqUvBDxD6NEZU5X02rFOae8jtUU89V1fZ0qA06nYMM48wmdwEmbH4JzNkq63Gv011JPIZ-FB2xnMUphj1dA4PQMLBs6V_Q2Azjw84ju3CQvhS-24g6oPpuRCpfFs4r68smy3coKuiCJb5gvsZN0b0rHxyXvK4zQ85-ejI_YKWukLBHCRYgY8AtIqpwrsEakEMZ8KxkmZDK2yFn76YE9OwyK6S_-ND0VPI6KAtM97",
  "id": "rs_087850f247bc8cee016aacd1596e8887d08e1d808e9ea3a788",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The jaws are at the container’s body height and centered around it. I’m closing to secure the left container before lifting.\"}",
  "call_id": "call_Eem4eLTiw4BcMETzS6xQ6wr4",
  "id": "fc_087850f247bc8cee016aacd15a137487d086eb3de6fae63f4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Eem4eLTiw4BcMETzS6xQ6wr4",
  "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]: [-0.3351, 1.5337, 0.8055, 0.1177, -0.3359, -0.2092, 0.0123, -0.02, 0.8043, 0.6086, -0.3851, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4238 left_y=-0.0821 left_z=0.1219 left_yaw=0.0514 left_pitch=-0.0136 left_roll=0.0159 left_gripper=0.0123 right_x=0.2953 right_y=-0.0005 right_z=0.1782 right_yaw=-0.0056 right_pitch=-0.021 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.2137, 6.5709, 1.6679, -0.105, -0.022, 1.0232, -0.1983, -1.265, 7.2, 1.7216, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2516d777ad4cec3bcdeb44b6ee5428eda5732b447d842886f24ff289bc6491",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a5bbb85166709d441fba3bbc8ab132a673e50344e18f32d9e940bb8abf7ee0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7b360f8e0a0526692620e93af0c4b8d4c3c44e671de49387e1f7af50ad2876",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 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]: [-0.3363, 1.528, 0.8059, 0.1143, -0.3355, -0.2092, 0.9996, -0.02, 0.8043, 0.6086, -0.3847, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4233 left_y=-0.0825 left_z=0.1237 left_yaw=0.05 left_pitch=-0.0112 left_roll=0.0147 left_gripper=0.9996 right_x=0.2954 right_y=-0.0005 right_z=0.1783 right_yaw=-0.0056 right_pitch=-0.0206 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -6.4752, 6.5026, 1.7705, -0.0513, 0.0317, -0.0122, -0.1983, -1.3607, 7.0359, 1.7167, -0.0122, -0.0269, -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": "gAAAAABqrNFit-zre65dWzod8q19dCUz0DkPPVcSpkoPw-UsVge-hKadBM1-hMURRgoKXLsc5Aodn655TjAsLA4ld0WKG1qYI6ohMWZv4wFUJQoOqK4LeVmHXc_kajf_kzfyneoHMAZmViGPuhxyQ8LZAMlJh-M41X5BJl9ztVU326Xceqlh2w7YcZoMWoSxiBe-8YrwsKrgsshrsEqcWebdszyveUY8pU4cDxCMFEZ6kJGztQJ3O0jtftwHcU2stWSoxUNxdlBAdfKfjjEd0K7RlgbfoFMGyC2WsLTpB7DPK7vXjGifXDNG00HHsJBT6H6azEozek-sAEU6XzNqDm0kR-G-wesvBb-ooqdmTwNNR2O4OI5J1OpdNqil3qCPP67Ide5trmPoEW42HKh80bacpZ8K2X-uAiKmndzltCfosFR_D79iXWA8OwjNJM8LvfVCU3vDCvYvSD-yx2X5YU-ad5zHGIVHoarWuuzxDHD1AO-Ry-K_8iB5EBiaLF_SZt6zVj_Pj3ODZmIhbXdvupgjBXj7-IndKadNcZ0n-IK5pBZ0wrpg7HLyaUZpIQVjTUKfZdG6EL1SiSGMQOekjGR6YO8UYgOUIWCwIrfq7Sipgj_E5oKU_JHduOlzpI8IVIdBF_5RFkULz3n7K3csZ1ww4vzIvFUqwcjy5yWaYcko-5L_YnX_K-WwJOKbQbL3-e_7s1EozS0I2mkTT3_kFuEKtp5SDMMVCCrWa6SP-cd5-kkuuERfzcyX4aWObjZIcSS44GPQ6VWF3rEjm2F6mARj8l79abWanBk8WYwDYU1pgiMq26cslzCZX7ZSgyoJn7fMEZmXOgL2exB2MBKfSzTQwiay1lHMss3hSSXOEvn8G0uJHSi4NjcORvZI1DDPQ_Wbsa-qB6UUWcGIFWpiWDGJc7zJYOGXjajUSbevAb0PzfF71D53VUZ-JB_GwGKIx0Z2mgjOWUO2hBFOGcmfw6eR5QWNVKL5c8IU66UzRKzRJYYkzxrCEMgp9J2ujdGNRykMml4_J8h4UeppV0jIiRgxboo08aZXIAPgMHWcxCp3g6Hb5RZT7tjA0WfPhhrCWyybicdjGc-vVKzGD5ULeRCIZ8hmrYzxm03qfannwJ7SkLmzTp5a1kSqho3Mn89blKjUl6rUsbViGEhhNKIFK-vTheGFwi8_1JC9PWWxyW6Y2ZfoGiTa_cAoEuEsoSyQ9DwvBs4DYg_JbuqVoOu_ccw0Bm-g9jUswErr90a8c-kqSVF35dw83QByCOuJkikc7i1FK6CA-qjYfbc75NNU6wcGdC8Zp9kQazaqEp6mP8k5Ic_j2EipZxXlCzSiVjE4p0p2Nsj-SyvwRJ2L2W357FEMVAe--1oISNScK6ZCuDB7xHJrhbcNX0EqWeZQaVP3FyOmwdfVDlASPZzrLrYtB2afvEYDK-FzSr5w22b085dZy96EjjAcefS0-jTHDGyauQW70xNcx1jtvToJRAjU0yWXQOBSpZk-UNbe_tHpsfRDP_fNlqWjpqr6I8OHO01FFU9VQTViOxoc1MKHxj3vMyXNwiKpoRZYxQ==",
  "id": "rs_087850f247bc8cee016aacd15ddd0487d0b2f171361f383c93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.463,\"left_y\":-0.085,\"left_z\":0.125},\"note\":\"The gripper closed empty; the container is just beyond the fingertips and remains upright. I’m reopening and advancing four centimeters to bring its body into the jaw gap.\"}",
  "call_id": "call_9ozvRidIWzhTkC5NJKo54ccF",
  "id": "fc_087850f247bc8cee016aacd16071c087d093b96273124fb8c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9ozvRidIWzhTkC5NJKo54ccF",
  "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]: [-0.3069, 1.6634, 0.9279, 0.0948, -0.3279, -0.2085, 0.9988, -0.02, 0.8043, 0.6086, -0.3851, -0.0101, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4537 left_y=-0.0803 left_z=0.1133 left_yaw=0.073 left_pitch=-0.0433 left_roll=0.0235 left_gripper=0.9988 right_x=0.2953 right_y=-0.0005 right_z=0.1782 right_yaw=-0.0054 right_pitch=-0.021 right_roll=-0.0018 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -7.4462, 9.0188, 1.7753, 0.0269, 0.1099, -0.1343, -0.0752, -1.2786, 7.0632, 1.7216, -0.022, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424ab041158ba0126aa390f122f7b1d9a8c5e52e8a3fb38ea07a379159d798c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86c69512ae6bd0530bf5b526563e248a86d6c990552f086b5471f17fcd0cabe6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f095e6bcb9aeef738efa285ad54a257a621cb6aad110024199dc68bb1074dda0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 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]: [-0.3351, 1.5337, 0.8055, 0.1177, -0.3359, -0.2092, 0.0123, -0.02, 0.8043, 0.6086, -0.3851, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4238 left_y=-0.0821 left_z=0.1219 left_yaw=0.0514 left_pitch=-0.0136 left_roll=0.0159 left_gripper=0.0123 right_x=0.2953 right_y=-0.0005 right_z=0.1782 right_yaw=-0.0056 right_pitch=-0.021 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.2137, 6.5709, 1.6679, -0.105, -0.022, 1.0232, -0.1983, -1.265, 7.2, 1.7216, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNFt4f7lIiCMnAr6kdDEcTgGRqOQ3pDlTwbEFhN619OBDdHyjAN2p7GvA8dURHeKrBHjJSuFGMNjNM4gy_2PiDr_WasL4G9kprwDvcJbHj1qHJszMuOJO8PU_YUKmX3dSHkmwKinRcsNkycX5tfI3zhZx9sjHYIIMn8hK9dcI1RC_2DVFWGqdiNdWwvuMqjj6wr6Ef3g5mEgLKFI4IGg2NfpfQzERZCFYPSxDbL0fGmRIbE3cNdJNLuhWCq8ekm275DvLxsrEGPBEZ3TGSSz2XRMq7eZOxcClAQfgM7WG6Zom0FiicKEHq-fiJvD2CynOyxSuwLjf8JmHao4O08fBdwEtEs863tIVzvhwEwP45VP6rUFkFiIsW6RP-3Vu9woRoyawB788YPhb9-nKDfLjaD6B-CAHbgSUJJcjEigsj9zZWXaiQJEw8NKr7Z7iPyd63wjrjUwNx9KZZsK1m0h89kMSZ98X7nfiblYkJxYa4rf4xC_SF4Kcv8XsoDB0wA1xVaPS5DKyKg9N2LTbrhdEKWNqaofMJMw2Wj-PmYv3Gyf4rI95TwXP8tBzfVfNuk6iVMoR3Oq9q_L1mcLz0bbNzW0zLBA94DZFtHUPsgkitefhkk0eldSwzp911_o8PoiK7-h42W0otgWpS-3y19Cl9edjJWUxfU49VByxEVG2qn69gTsmNPjE37Zrto1A1AM57KCkHlQxVjOBGTpJerAZiGdLaxpJzQ-1O9xdoWwxpU8BDAYypiXMsU7iDzbNVakO9IS8Id2SpvXWiqLm5NtSAqTIIHrRoMVc2-lbRBjoMzt2wsXk5eC9K1zwL-YXUCt4uhHx16Ym2_h1iTVq7NqYF_fRs7dMxlYfYl0oCAGuW-5pvfSF6cAUmgK1GkvdXvcsqULFghAGg5vouugzSBrDvo5M1BWI-UxKFPGpANaohhyoScQK1CPoLoPWrKL5H3kembMjlrDOgiVgvqGjYdtv6Oks4f-1k9x-LyIrmgRoTDYlm7fDgL3YhZXK1a5ZeN2RJqmbR0umtjZeXMvWN_r1iJH2puMCZGPtraaiLt4dFPAv07KUkGtQCFRXVINi59zSyvWBAlzHov2Dn1mJIlgJt9trVLxWbM7-akSfmEOXzgneyVu2i9K-yUoIPTIa4qTk0EPJwKfVHvMPsrA2AdMjm15ZSeFGqNa5Zt0zl1_PSqUm0WYhe0IgYUUnCvr3a2nWZ7nfcGvcWI20W4JTpXytlRmAPQBBPc2ovTDIWp-NyFj1g-3dlpZov9vAkDQiUehOLImfE_ck-AOFHhczB8Qa09aIQ==",
  "id": "rs_087850f247bc8cee016aacd16b8acc87d0aec484f8fb221bf1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The container now reaches into the open jaw gap instead of sitting beyond it. I’m closing again to check for a solid body grasp.\"}",
  "call_id": "call_aW3l8UGY1PX1F2ty1zJUhCEN",
  "id": "fc_087850f247bc8cee016aacd16c2fac87d088c42136344209aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aW3l8UGY1PX1F2ty1zJUhCEN",
  "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]: [-0.3069, 1.6634, 0.9276, 0.0917, -0.329, -0.2173, 0.0122, -0.02, 0.8043, 0.6086, -0.3847, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4532 left_y=-0.08 left_z=0.1126 left_yaw=0.0786 left_pitch=-0.0461 left_roll=0.0182 left_gripper=0.0122 right_x=0.2954 right_y=-0.0005 right_z=0.1783 right_yaw=-0.0053 right_pitch=-0.0206 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -7.9658, 6.4068, 1.6777, -0.0904, 0.0611, 1.033, -0.2256, -1.2376, 7.1043, 1.746, -0.0269, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11399ef19a5e7e998f839fa2f15c263e1b64c3dcb556741225d68056dfd3e375",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b9314f1c89f3eb71c5e047ab4ee34519506bd84347770bec693bfa739889ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a64bfac15b983d256f8318d5a7d7fb69ca7238474027d7e7a7dfaa0c26ab3d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 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]: [-0.3069, 1.6634, 0.9279, 0.0948, -0.3279, -0.2085, 0.9988, -0.02, 0.8043, 0.6086, -0.3851, -0.0101, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4537 left_y=-0.0803 left_z=0.1133 left_yaw=0.073 left_pitch=-0.0433 left_roll=0.0235 left_gripper=0.9988 right_x=0.2953 right_y=-0.0005 right_z=0.1782 right_yaw=-0.0054 right_pitch=-0.021 right_roll=-0.0018 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -7.4462, 9.0188, 1.7753, 0.0269, 0.1099, -0.1343, -0.0752, -1.2786, 7.0632, 1.7216, -0.022, -0.0757, -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": "gAAAAABqrNF1_0A9Kle9v6_BQayL3hBB2QeG-hXTJ2yn0WrFXmFxburi6Kt_7IkrZQM-50WbviiP4fbaXDQjBA5eOzxEUEIqdDzIwlZDfLQdt0ANAi1teHIlUA6aknQqcWYtbaJQmep62U8B1tyybfDX8KOO9k0HQoNn3f6ha07THpXFZ-qWXhcr7n9nMnqIbVVuazUjc_JvJ38FdTRkMKrOL_aT3zgiwU9mx07lEvcQCFMbofuyEmI2rHhP3Y0l4popuGIQHAca4a__uul1Q0NzyVJMXrQ-exenSuiBDUmHPxwVc1mJnIeiQbZ7alGuV5HnIG2P_6xNBDheLZkwXuolyskB4i6vZ161QXiiWtTbiuRu6n5hQEP8Np4gJ9aQg3Bznghv7YOY7S5YPWl0DBqf3b4bEUfZtrREY4qVm6G72ZgmV1pavjSl5X0v5mlqbowf0wMsvoQcQUcxXgwL9GYxsVpg8wjihZrxjKSsGJP-c68gHzB5unsnCh17ctcvtVp5b7_-5MS6Mcp-p7MIdP7yakqYdFCRRhyRx8wkrOWAt8p1oLmeo2XqDBU8KC9jmHQHDA-KKmv933mm9To-dUXLq_T3C7DU1R9AVKxCtkKm9WkTRRw30Sx17M9eaVUKzYl9hOmeWQAL-eQnD73X9muXaSIBBVThDd98pzJpX05keOPECidQHH_dPa3pCRHbcowweUjUYkk-isGd1MyFkOlLe5e_Vj2-3GpGrZJLsNx3EBjxkrxEyZCKORlhXo6FHhFnHMLsMKGhfckRBru_6qlyFnBaV6NoFBi1wic6hjxzLStrszr-ZWBpW7DyShyZnqyg_f3BQVMC5w7z6FUevsgr-DT0NwXwJBIFHMQ4rg6EycyIXNU9pXKdA3GS0INN8uNmjT_wlkb_OXduVe4gmQQRWK1XQBO7XF7H1Vk1y68rJernGAFA2ysM0L_DEIsw0NEWbpqwsTZEKozfI-oGnPOoXgtJnqI_r-HsS28z-ZtYiMQt2k5aUI7v_ZtcZdFyWlDGk0wauTNGro4x_b1cMqAOqjHPqdeCQyuJIAUGekg3jZ-V5t0FtUjXQAa1p3ichYP2HpGft53ick8UeISK4FeIBLMI0vRuTq6ZAH8NTi7KlG1PFdLjnSnFSS7Bd7QYdTWgzeUMS8tr1g6BjnKWFnr42FdBUwxv_bqmqZJd-S_YFl6aWVhWLYSam10Zxmljlo9SiOzG3VuFFDy2DU3oL9P003kkeCdq5vf1g-EtSmcWU6dcXwQ7DPmZOt2-idt72UjeWwzm8gXOUvlUhsDNK9mt85YbTghs2cs4DpNB5jo3Qgue_BERDp9YW92cAxzqoz4nVePZVmjZF9hJk_xorZhzG-llIrJPUHoflD7IcLlZKd0a4_X3LkjhbW6pSoqRzLed2A0_9KO7VLVJ5NxV_zXHu8TmWA0pmA6T-DCs4abYbqMvbbFFhjv32tDuMtUupyFoNeBTyDUgQClLA6E2N9Bnivr0GkdbRDr0vxPIDPoDXs7SHx89cSQ2qBoZimgywFOMEsiIFftXY5OYO03Dea4BCJBxqmDqdzHv_3CF86e5CBI89OfHtGg2_YZhmeZvKS8Es-OcaHRirEkFUXxFcWNEBmgZExNLkSdsYNsKQG1MvMPeMjoxDXqCd7YaqkGth6ray1FJVW2ps47nWqasqkkyk4ZZ0KuiQw==",
  "id": "rs_087850f247bc8cee016aacd171fa0087d0978aeef018beb1d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.25,\"left_gripper\":1.0},\"note\":\"The second close was also empty, so I’m not repeating that alignment. I’m lifting clear to reassess the container’s position from overhead before the next approach.\"}",
  "call_id": "call_2dQGaCOP8OkqV11uac4WDl9t",
  "id": "fc_087850f247bc8cee016aacd17456b087d09c763c83617fbd0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2dQGaCOP8OkqV11uac4WDl9t",
  "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]: [-0.3069, 1.5841, 1.3308, -0.4171, -0.3321, -0.2329, 0.9952, -0.02, 0.8043, 0.6086, -0.3847, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4585 left_y=-0.0811 left_z=0.2255 left_yaw=0.09 left_pitch=-0.0695 left_roll=0.0172 left_gripper=0.9952 right_x=0.2954 right_y=-0.0005 right_z=0.1783 right_yaw=-0.0051 right_pitch=-0.0206 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -10.1538, 8.8547, 1.5214, -0.1538, 0.1001, -0.0464, -0.1709, -1.0598, 7.1043, 1.7705, -0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1b7f9c4283ebb4d2b58caa75a5b5af3452560e4beafbfc3e8853a2347223323",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b32847aa9dff91bcc4c69ae777b10da7f70729f7c284b13dffb981490b65b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8543935e5e4c17395db7f34f9e3b20dbeea43bad07f5683fd1e79d2d2a22d2d2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 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]: [-0.3069, 1.6634, 0.9276, 0.0917, -0.329, -0.2173, 0.0122, -0.02, 0.8043, 0.6086, -0.3847, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4532 left_y=-0.08 left_z=0.1126 left_yaw=0.0786 left_pitch=-0.0461 left_roll=0.0182 left_gripper=0.0122 right_x=0.2954 right_y=-0.0005 right_z=0.1783 right_yaw=-0.0053 right_pitch=-0.0206 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -7.9658, 6.4068, 1.6777, -0.0904, 0.0611, 1.033, -0.2256, -1.2376, 7.1043, 1.746, -0.0269, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNGDsF4q0zLDjc5z342-Ob-3EJtTyfPUnP1fKEW-bTJC83K5SDb7X4etxyg4SRXFvoE81tIyO11s0PfYbF5D0X5tQ1z8dVAQD1T51TqAbuzt_B0tlmYMQU9gnJS5AndMy9XvDkwv3KXjVZZLSJ-ASO5JlIUaX2spia7wj0WQPePCbKfwwwd7rbqOsCalOGy3Dnfa09bYgD8-MrcKQLfY_eMg-vKmb9KlA542FGTOSavYEiboQpoe6j0yKLlEQqOBdkSvI7t-5YYY2jGKT27qwj2NphIoyR4yNwAk6mhSTfwx4P1V--n6O3WxDdPcYNXZybZCUJ_TY101ojRIGSl4v_4kO2tT0faWBOR7DeQU8n0oOROrxWwo1cNXlCOhp0Y-7_V9Zvh3IF7ys44rDikLX8KdWJkoVm7-Nr4V4hv68ddn3tOOg6Th1NxQy-mi-vioSfakBXDLWEe1k5QSzbKN8jbb7GOYjSAZQgZSjPT8sLs9UorsNgFTH-WdOsk11XQgmPxrTpg6tFYQteUtxjiy9hQs8wYnKrvoZRTX1ClzknsAsMDGuWElJTwvz4Do7ODVr1WA8LC7e_irpCegAnbCadlQOBb180StFe2IkBdOZ9TnohMqGmUkFVHnX1p_PSweqC5OM8nOSLV5rdNPsXzlSehylWkoxNAOva5HwlE7Mt1k29fl9PU0hNJTtEh6CXHJfiqa0vJgpg_iD9BnQLCwX8UCYJuX4TcUyTNLhsTGvwvLdUI-Wu10uvvTfx4EkkcfPzDBq9V6nfKnDcOOHbYp3LyKEcINaHRXpkUrpy9-KqRgM-B8A3G02GUXLkEuvvZLgCKJO2DBngb_8DTUKvYCWGnNrKvHNygzEMKhswzIZJpiNJCiV6UQl0N-4a189beiQgau97lemU4lR-OuN0UhnpMuI8TnFLNDeUKjxdXZ4uAnh_4FcmkT_nEDfNmJSK7YWKnOwwhUPSnN-H8kkPYGfbmKzIzKYzFV6D9m_u1BfyAfB1CvNCR9_JTq1nIg32pu8DdAfVdjoAR5tXm_wv_DBFpcdZcX0q1CP2EUsFif0u41rP74wZHWenRQoM4axe8GB6AZv6th558sYnefwt7WggDBDm2zzqQUDOSpE5IS_CMNQaFg5TlzZtDsxrqutPTZUimm8xI3Ta_UqeYaFucnG5o0UNNyicBf4DlUQfGOfDmALVgzCT8n_GSd1X30c0N58n73QGXxy9xx0SWbiR7fkEfyTSdMgx8wj3sJUxxTtLSDgeVq56iZE4SAAxWnlWtG-tcYXLSAX8gP5gcEBMRfTdEEq67OhAJfna6pCLgb6pc7MVpNSsrQ9x0RsF5YEhNWHIXFgm4HAQoZU25PcZiD0NSb4D0nUIpytkmOFx5pU-1DcXt0yyhTQaxHcQe9Uu33_nJymYq8cDN42vg_Th0VhAh_yx24SmTnDHkXi4UF5DzKUIHrdJtUfbt5c02qLoXbd0wWVmpLMcFuj-lM9AYXqT6PIifFwYidGkSmIjsA6sCDUxunX_lVy2ZwLou103zyoKERvyh986-hzcikv3cpU5ZBGjRf3kzW6zHAvDHDs87hsT8RcCXqr2_y0aF1L7evqeqX17F6XSIGjtRSpGwdMTP8uOsVeTlWmyLa7ylej3nXLoJE7gC7qdLgurYCNU_hgbV3qRVyOS6wifFb6xa0Ty352dIrfaHH8v-jirF1evuajhiIhCWssC7AiuK8tC5POZKVALIGMQTkVdPVecOFexUGBD9E2wWxfdGeHDNUOxzxlpjaoW_HdgrRyYCxXk6r6Of5",
  "id": "rs_087850f247bc8cee016aacd17deccc87d087282ae9c77da240",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.11,\"left_z\":0.16,\"left_pitch\":0.3},\"note\":\"The overhead and wrist views show the container farther forward than the earlier grasp points. I’m approaching its center with a modest forward tool tilt to improve reach without pressing on it.\"}",
  "call_id": "call_XrqXJFpOf90jmLk0IEig4kfp",
  "id": "fc_087850f247bc8cee016aacd18184e487d0a85cb9a388675139",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XrqXJFpOf90jmLk0IEig4kfp",
  "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]: [-0.3447, 1.8748, 1.0805, 0.4217, -0.4358, -0.1394, 0.9967, -0.02, 0.8043, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5235 left_y=-0.1049 left_z=0.1476 left_yaw=0.0987 left_pitch=0.222 left_roll=0.0262 left_gripper=0.9967 right_x=0.2953 right_y=-0.0005 right_z=0.1782 right_yaw=-0.0053 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -9.3607, 5.9419, 1.9658, -0.0855, 0.1197, 0.1441, -0.253, -1.0735, 7.2547, 1.7314, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac8f1f0b41b46d61af8057d24a9574bb48e5b148e4fdb1883f225dd26c70a16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3e5ede3d0af1c9f9cec54b622c815ab92b3f4631e32f27eb4f91d6402277a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86d1b5417a9165ff72b33be45093cee27232f1fc24f89014ba6b7011f07b146d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 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]: [-0.3069, 1.5841, 1.3308, -0.4171, -0.3321, -0.2329, 0.9952, -0.02, 0.8043, 0.6086, -0.3847, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4585 left_y=-0.0811 left_z=0.2255 left_yaw=0.09 left_pitch=-0.0695 left_roll=0.0172 left_gripper=0.9952 right_x=0.2954 right_y=-0.0005 right_z=0.1783 right_yaw=-0.0051 right_pitch=-0.0206 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -10.1538, 8.8547, 1.5214, -0.1538, 0.1001, -0.0464, -0.1709, -1.0598, 7.1043, 1.7705, -0.0122, -0.0708, -0.0122]\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": "gAAAAABqrNGLfNtv9rd-spu8FyGunK5KRECHAuSmGiLVp3St9wGZvis69q2q7HpTt-0XovlgeJvCx1-vAo5RkNk7abYS3GEewY30lnMHUDjDv32jHglcT8_huXdGsPZ3iZiExLYnFvffE3aDbzEusoR01jlNzP7U4HeK86vd7XfvoIllVeWvru5GxHPt7mDIAQfYzbgM2LPPr_H2LF8reCynO9HMM48Ws8PfreKJzpQk8DQ3tGXqTg1mO2Yz4jFxWX2cyhy20tiCWUITXeNwTS4t83tdZgs-4-A2pYG5udcGGbs3jprik-1tZ78rdBRx0Jf8c5Og2XEGGq0V3TYYj-Zcn8hy4o_9uAWr2vZqax0MsO_ZQpVFCdFDC-8iBKs9y0cdtTKiKQmR8n8HNxYsv-sIKRgmc67h6rm-LU97H0843aaOKmvmvZCIgK19RtfZuttmiykPK9vZABdrxBT6WCK5SlA1m2ofKpqvP82B2NOFfr-XFHb4EmEcMJFpxycYnZ7ocMBQWlo4P4dE-6neNDLcU5reY0p-nY_JjVuRLTjSVXOZIYyDjN8egZcBCvn6n-Gpu2tCKUbD73jGQV4yLDLM_FIygbYKU7AOPYT-hhRzWLTYI3BkUG0-DdYNQ42aRdNbObHDpKj7NNSggNj_JyU6QAgjeJthxEm_YyIL98JuJ2nhFWlS7uEtx1owpe7N-uXc7GTHi_aHE2thR6v700rZlEF4VxUxX0W-uuyWhIp39fgRwetXOwBbPgt9lBtqavhWPeC6Lo9jAbGcIl2N2Ld0Rn1OQIUIvao6-_eqy5oV2U_RdaW8k7lnZ0vdXd2zh5rkWFFuiz_6HdY2uDTu5h4KvWaAe_JxghDAOWDFgspes94--bW19KiSk7P673jldJpkBP2ttHk8J44ZwGhglC1bY8QCXFYmkNulxPYqkTvHKhHNgCKd2Pok2WMCCFD92UvUT5ug3qmBpEJImtJVQexB3rhLs705bhrjvTupSzWftSd0PYG-17PKS-laefYxz8lZHMRTvxsOoo0DxB4mymIzNygQhJkkJ5LBKkle_OnfFAg8O-yLEGYveCUX-F-I9Bq_v5pi16xs78lXtPkL2F35mlg32Vbltaor71dAI3wmKPQrvawZ7LnxPx_CTACc3BG1oeXEzdH8pwG1xAxqg9wfHF329Iib_FOfHAdXWQFEyYW1Py6o5SVweANyeMHq1CoM5oAul3gQCbQSHqlHlhv0iQKKKyu8UgBUIe1Zw5AAm9HcQhvcMb49sbqteZDt0Pn2VKVA3cPgEV6sLm8tQ1SaVpQcY4uA-aE5gFbnWmpk5Pjp6i5gTarMYg4wTzuwiR31sbiGJvtSheJqvRn8Pzs_TgGjRo4pNafnipKOCOEpQkBH2ic5THPXBRP3qjKxHwKFO5cgTgaR5zaxN6sNvB_sJaM4GgkNfKd_2D0CUWHAX7mCwp0pgdjFI2xw8B4Jpqovr6ThBTbAcuNSqvybBQqOZScTu-QDhYkWxWb1diq6ZQvuH3SaIdYyqng0pXVAy2ocFoFU_19wmYZWU-muCzN3Z5nshEJ4wBNTnBE0m_NqhAbMGnD7FHLlnPDwfZvf6NpaH5tJ-8k5c_cVsdfWKB9ldxjwu01PWJnrXdVnIq-kKpIRW-dZD_0=",
  "id": "rs_087850f247bc8cee016aacd186644887d0bab813609dc06c2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.075,\"left_z\":0.14,\"left_pitch\":0.3},\"note\":\"At this closer view, the container’s body lies to the left of the jaw center. I’m making a small leftward and forward correction to straddle it.\"}",
  "call_id": "call_AomyUpBu3CIWXuwYuhrJhnJJ",
  "id": "fc_087850f247bc8cee016aacd18965f887d0a669db1d7ebba59a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AomyUpBu3CIWXuwYuhrJhnJJ",
  "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]: [-0.2733, 1.9457, 1.0805, 0.5682, -0.4038, -0.1024, 0.9968, -0.02, 0.8055, 0.6086, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5433 left_y=-0.0765 left_z=0.1423 left_yaw=0.1301 left_pitch=0.2859 left_roll=0.0207 left_gripper=0.9968 right_x=0.2954 right_y=-0.0005 right_z=0.1779 right_yaw=-0.0051 right_pitch=-0.0221 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -9.0598, 6.8034, 1.5067, 0.3541, 0.0904, 0.0073, -0.1709, -1.306, 7.0222, 1.7363, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7298cb5344534e015b8f4f153ca67083836ea476fab4fd3978deeef69665a36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eefc6861a2419eaa35b97ddfaad634899597e054db6c66708ed0ac890cc81c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e46267d11ceccf8978ba06ebc645f0fba80035629cc3e2c2e0afa1144594bc8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 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]: [-0.3447, 1.8748, 1.0805, 0.4217, -0.4358, -0.1394, 0.9967, -0.02, 0.8043, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5235 left_y=-0.1049 left_z=0.1476 left_yaw=0.0987 left_pitch=0.222 left_roll=0.0262 left_gripper=0.9967 right_x=0.2953 right_y=-0.0005 right_z=0.1782 right_yaw=-0.0053 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -9.3607, 5.9419, 1.9658, -0.0855, 0.1197, 0.1441, -0.253, -1.0735, 7.2547, 1.7314, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNGQKMjOWGAWvZSKldgGaBmg87yZcsNcnyRtuYP9sLaMLc2vIxCke33gV_LWEysc-vepdR23aTU6Y9BD4LxA1yvlMXTmtzncayxUdJLcoSLMJwoNj0E4PSxZUNljp-6DuYP091u6Th1_R50HDxWGYKyRS9Z_6OsQJtORr6B2GImOT1FK2X0shpyRl5OSxRKLWIu5LXjt5qyFwehHDzfZnpVL9D5ZIkWx251i1gVsEMSJESt4WDx1k7z4rYYhwlut3chfW-Ee-tkGulpm_3JOp__Tz6rNEBL-GqCj1AYNpAk9It3lc5YwSOrPmW9ih4tz1Zy7Y9lKSv3D3Lbp4iaTFajDSlbj9_A8a5oTf4hQxhR6bOBFZwlAmZ8rbeNqALdtjyIjQGy_McTcEW9p4wK7lyZ0kfngJDTBjPVsGMNOaP9JxwPGjmc0ya_LmsJzuS5onugkkmkIjIbZlt2fIofnWzTWsM-NF9uwpRGJYcjQRnx7eyHCyHYpXqZnzJpe3tVR0VAopRKym8Dvuur-e8rRRC2Qk_lkydjV_J3_iw7bhuz2r2AwuZjqWHNj0uQnUPYBU8QyavWrm2lFqIu1sTnGIbvSdD2YZrJkfTawluUhFan-LP0_-_XHl7BWdgdIPJzYqCsxGbRHQPVuII5DnZgO2Y-GzbBWtIExwAVCmWQoWOj-q2Lzj_voZsCBs9URG5hIH8aPL5oONmWBkXCo9ZnHk0MzMSSlH4BxoCPAeV4JTaDdojGAL2KrH6268Cx41Dofnhn8LLBU96fXrnlMTdTnTyVe8lazM2q94z3g8pY1_NOXKrsdIZY9GFnLYRTAaOu--SV2XsA75e_hhpkdlhlsgk8RCbuYGZWLyZiEzV2bY-Zs2WPn95TBx_Nq1-Spti9WSn3Abpf70Jv1_-T0Cr-jZsA0bAtWs7sr5WbGQO0j2k5AOI15kBv1I0JB4H9FafAYU6g2GVnEA3uHi0i_1af_XrP4pTY6QTsLgBUCmTHEpE8UyAQ0A7n_OaKqQ6Xs8bg9hxzohslBLBcq803JxlOpIQ8gnPM_U7_MBVkuVOXCD5VYGRbxSR4Rgq7IGElN9sqF0593YlFhKx4Otex3FRugv51q6qOX3UJr53ArkUJ7U6Rw95eE2OutF7b8XUqj2J1Oad15NRm2tQsw0-X8aaviBw4kdEVcLEQ5AfT8nS2eGeP3HAg5LDr7fmpTc64NFx0SlntDBO4Lfe_tEh3pRTBt7GQY9Jd0q-cfB6NUHMDKRaaJNHcGMeRRqMNH9RmHC6eNWjqvxLypaSFqg5cBPo3OLng-1HRJJQzrez3pah17spWTpiOpEz1VVylNrlEZAWMm7RKkUiIL1EU83vOKkpJeLFv3XvymImH2aTa4NTtP9XfyOFVLnbknwK0kBsaJxmOfs6f6Rbp4RtxGTAFpTfe9A6ugnilRA5_9r22MEeqYcKNDqFX8SLmZCwtP3_bcP8RoIg4J",
  "id": "rs_087850f247bc8cee016aacd18d7de087d0935e3d5100aa4d59",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left container is now positioned across the open jaws at body height. I’m closing gently through the gripper controller to establish a hold.\"}",
  "call_id": "call_RdfCXlSRE2a0KS0uumPEacEN",
  "id": "fc_087850f247bc8cee016aacd18fa48087d0a0fe8ffb448b507e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RdfCXlSRE2a0KS0uumPEacEN",
  "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]: [-0.2531, 1.964, 1.0805, 0.5919, -0.3737, -0.0849, 0.0122, -0.02, 0.8051, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5474 left_y=-0.0713 left_z=0.1373 left_yaw=0.1147 left_pitch=0.2872 left_roll=0.0278 left_gripper=0.0122 right_x=0.2954 right_y=-0.0005 right_z=0.178 right_yaw=-0.0053 right_pitch=-0.0218 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.9214, 6.6393, 1.9658, 0.1099, 0.0513, 1.116, -0.1709, -1.2786, 7.0769, 1.7607, -0.0415, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b861cf00a32eda56314ce67c53f64b8cfe8c4cc0a1ebf3fa54b8dcb6592ef94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:433b5b371f9d6ced060a428f0b665acd311a19971fd45b92564b0d668a6332f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8569a43a81a059fbf3795186093198fd01bdf16304af2ccc9ebbfea633bbe9",
      "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]: [-0.2733, 1.9457, 1.0805, 0.5682, -0.4038, -0.1024, 0.9968, -0.02, 0.8055, 0.6086, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5433 left_y=-0.0765 left_z=0.1423 left_yaw=0.1301 left_pitch=0.2859 left_roll=0.0207 left_gripper=0.9968 right_x=0.2954 right_y=-0.0005 right_z=0.1779 right_yaw=-0.0051 right_pitch=-0.0221 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -9.0598, 6.8034, 1.5067, 0.3541, 0.0904, 0.0073, -0.1709, -1.306, 7.0222, 1.7363, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNGkJZKVYHsvVAGWcLvtgWwjfFoe8SaLFRebSczLlMCd0v2YfKennp_xLFa8I3xUPM9tb-1xMLl6gj02PKfF80-2xp7YTQ6dycnyfBF4xMFX0F5BFP9nkoDbTk3YjiWDehasjrspO35KwFmrT41L39jMbt2xJ689P-HQy1cLBzqeIaKd08k9k9V-mK8twdB_z4Mfg6gMwg8ydH0yHtrJu-QrVwENfdmWH8VBe0WsuNDZ6eO3EHlJJpgnkp9KIGcj0PQIfT3A4MudW2RML11Xt06HJOzrpN5JWhlBw05jwKQsR0nhtXJ9xleEEGWsLZknJQhPA4WDjs7mGHs7xFprHjgk-U_KmoB7qjA1NSovDWsT9sa2ePX3UAJlfqCSQ4a1L113kAGLBljuoRjfVM7tO47RutLuMOl89CVds865rut6geV6iTSjH1tpbPohdQNs5eH1DW5DYl0eEcPdTaaFqzSi7AOGetG-hr9L3Tdx0KpD-Zaa4FmK4bKwvox_WadxS8l0kQpGLMP1ocmElNYbYGBZDxxNX6UFN3aCPeDOm0FcJzCMrLWezbDfeh56uXlhSaRkwLJFb4SeI8thxQ0WSxbESG7bN-RgVmZdyyEL6n9Sw3TEzqr6kZPuX44A82LqL0M01wbXWQlUk9oGnmlIi3B8TB7dmqcJXkP3ynRG5s-SxUqP5Z3Rh6JeQX_pXOf1WU0ex1T-i0NK4jrqlbXUo5G3eTwZZmtY6Np3xWrglXTcD7G6W9a2woLE407r03KmJRt4DP_bSvgQQ3tktN75y_oLA2qIe9t1uPQv9M96EVb_B9XwD89zn9VtOGdWYFpyug8YdV9o0lgiX9AJ-55B2jHYmRkkxu3psM7egQ1_KDaKi-jSsjb6YDDSgWdFP4a--XpLKkRRfLTdELTD7Yhu7sXmdJTDLgKd9iJvme51gddlCO-8Ibpb_bmcTD5gfwRtr901v557uYAn1aJMPkKSF9xhmsoV_vt-YXxaD7btZcF64lKDWDYjc88uVcM3Vzn1glDJLjhTOO38pNeHdnj-qnIZPMqzqR0xlKBYq06cMKFqDAILgse0LLof0XSPizX2l43ZnhdtuKO7bT3Gol7aT_mlAAbmL2l-Uvc-yZnCDMib_NnqRiOATl2gKd2SHhrg07vCdGSW4GHiUPse5xZytD989lxOG7wMAU2RmShJZqBBu-BxeCsyEH3qfVOLuXtexuniPA9eraoNLyge9VcZ38UR5xpvg02G-K6SYtSxGvMh7C1umymKj7rrpumXSdB-zQdrUVbxzwEuuLvuAG4wDHp-EhPtaCN5k_CLr7rzs5PLsP1SZPjcmX5frr56qiTtcTv0LYXDCnqJ1B6MyDqXjZBFBSu0HPXB-JBfdH4P_xhprmXGIlick_l4CcPoUj8JI5Kw6n2BLSKjw29cM2XEp4vesk2hmEd3JAyVuuffHkz5hf1YZ_yVAfqWFgmn59QP6V5x-Q6ylzX0lqaN7TjMbK-p-hqPXwSe2JNGTCQxpC6tmqD6XFxx-LFr3P3NqzUk56e6Io5-CpgincewbgvXfY43P79XqJJvCoc8aRFl7TaxGwVlGQMlyyEJKtKH4laCjegbqKiIBK-vpXKh9BgtU_om-DvhOhcqZERoN09yh7r_2TkorjZXmO2aAbMUWs0Yp1CFQ8FPMy_S1AVRlvsmRXJWLHcM2Dl6KcXYTWUfOhBSsM3B6O__9yaWcjqISCIfalB8VHv_UMqacyVTXgQp3y2isFf97obc6FCmLZYu9s8L-TmiYxbEocAC7NAhwOngeQlX5u9ix3gRHfkhuKS2YMBNTdhqsPMdvqRNP-2il1c1WXq_tLfhklA_1KUr1K1sMmWY8b8rK7eiXoAeewxJiAr9fwDnk34LG9mNPQSu5hbBAYhZdPZVwqH6TvATTRBrGK7HYSjhpTMxb_66FxyguBidhCDvJ3jP1H9Rm1pDJ_XOZWJbi9ods7FEoZLV5gcTy8_8dn-hjNv-tHIyLxCJr_eQX5Tz9bPvvzQy6GL8-Vn5EvLBqZh3vkTM5ZnvKXX3toeGRk7ktTyihgL89ydjVwdXKGikwn1i27rZjK8bOWmhfAbOoWxRH339oH2h_gGLwfcMJLB5YH7jGqKuFwO22LMT-Gmz2mZgG0M7dzS1WF3rm1qN2UMIBLCq6abiG3rezQzRsMjx77s5om-yhsL_zLaMOkWhxYO_U5XrlNN3OozQn-zLTi5sMKmblF75fgVle9a3QmPz3gAGYoE-ZEll7HYkrJ10LXtNi8PGovAaXzZhvAS-mMggwoerVYuLztfUz3Aqd3VbD1GAxqMumpJh040jrobT3CGbKbMXuTmwO6T7xvKWn_vOBPxmjcDjtELdI9QIeFRhVmZ7JqidsATuxPaKB-sU_yfO35M_djjslG7aLNrmEgeklbLjd-cjvQ3AHxmebgBRIGEWdjcAnlttO1qj6H5bJRGKkPEcP3KXwlUo_mQkbtI_jirzeMmTVpdkUX9Npbuoa5SLC3u2s_P709k3BDtVULqDnnHltEKde9EWpcTSlRfEBncwsdbFnrOEK09BBwZtQyXMUstsKdX08GFjuwlpe1AqvXXjpM9S6qVt7serQ2CDmm8j7mELS9RyR1iHknB8p1G0j4PgDBGYb65f91gIW1U7dB14bS_wf53emSX70qULWutplkgxYVqbvFC-fSH01H1SdNffbn4ft3Tls5EWuB_LL7FqEYBttHOHLYB3gARbzK4hwKjD0pwMMidcxBu3ZgnCPhQqAXYJsboFyb8eotWM3s6T1Q563btLf-jh4PM97MTjWlxF1TmDRSQ3mAx4TMkd-QuwrCFwxRFj13p2E4BHhojEuoOYMUbRU0UoNebyBI8LPegWDoPzAwuyOBENvcmLw-NPKtR9zJgZqDFMrxzQ0FngjGZfszECNv_YsOoq7vL3vrXON99-kLixuwBgMMoJM-u3QkF0xt7ZGegAQ3Ug4-bLfuUo2yPmg6uRWkIUPBX-sGPqk4D2RLJ6DS_uS__VnqiyEx4JhipQ21hN2-gJOzIsZdubbliiqxTxBQXjxC7SWJE4GcTQvkIlBfH37w7VAdfq5K9l2eAjGCoy3ElJXGAr4KxRk2hAOjG56MAJhqwRe0yg8_vfSE1swYw3TI0yvwwnpX4Ux3vxRMpGay-NUnP0Y081dYqWK5xFBJ26e5_vLd2_YKQw8Kar-SZJFOeK2sdwBBji6VHM1CYr2Wcm5BpwBRa-3AUpNIbe407huBmTsfphRseQk1K4nH9MCBzRzSIo94-JGbu_hD6vWRqRariDlhVkoOrCmctJdP6Ey1UIUD-ndsFKOP7BBndT-4sIQugwCJ2Jb8akLjRINagckCfy8BZlskdQyuNC06SYK3gO1fGWZq0ubXy0_xy9AOIZAtf7HRk1J21M83Mjx0NhLJETwvh-PvfsocD64o7IqJ9ayvZ35ik6ZJYNkwnKzWamK24AgpBll926Qmqc--HQkhbF2cKp4nMMKf2u5GNfPrAdUi6KvB4JOHlD4nyBIwFvc_0L84bih0IfTpBnL-aaNEbtW6cDAkaWuB2apEB6uSxoE_86Auhm4y1rFgpE5IVZO6ve0-L9vrQWB5ULvz1xI1uAZBAERjP6m1fxSPwERWbva6Ss1q1KYgeG",
  "id": "rs_087850f247bc8cee016aacd195bf3c87d0801490accb8efd3c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.17,\"left_z\":0.33,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"The container slipped forward instead of being captured, and the gripper is empty. I’m lifting and moving to the side to expose its base and check whether a safe grasp remains within reach.\"}",
  "call_id": "call_BLkG9okT07aZgBksa6USufID",
  "id": "fc_087850f247bc8cee016aacd1a2d0c887d0a34da4439c7088fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BLkG9okT07aZgBksa6USufID",
  "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]: [-0.4973, 1.9228, 2.0857, -0.72, -0.5209, -0.334, 0.9969, -0.02, 0.8078, 0.6086, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5119 left_y=-0.1737 left_z=0.3408 left_yaw=0.1079 left_pitch=0.082 left_roll=-0.0278 left_gripper=0.9969 right_x=0.2955 right_y=-0.0005 right_z=0.1772 right_yaw=-0.0053 right_pitch=-0.0248 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -9.6205, 6.9402, 1.1258, -0.315, -0.0024, -0.0171, -0.2393, -1.5385, 7.1316, 1.7021, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7bb4754d0309d164a83e74a992e90344dc15147b87f939c1d26c584d933fe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:728a8113ffc21838ce7ec41f6c0f83a54a648313a4c8907a20e56beeebd374d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:636125453c09cad6dcacd0bc9e8fff12430237e819a707ba643a382126bdf1a6",
      "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]: [-0.2531, 1.964, 1.0805, 0.5919, -0.3737, -0.0849, 0.0122, -0.02, 0.8051, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5474 left_y=-0.0713 left_z=0.1373 left_yaw=0.1147 left_pitch=0.2872 left_roll=0.0278 left_gripper=0.0122 right_x=0.2954 right_y=-0.0005 right_z=0.178 right_yaw=-0.0053 right_pitch=-0.0218 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.9214, 6.6393, 1.9658, 0.1099, 0.0513, 1.116, -0.1709, -1.2786, 7.0769, 1.7607, -0.0415, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNG4GjnLtCgcYIH7UrRUWPsdXu12z9tG5LZ_OZXUSBKkD70Dkfcu5IYsWbcqCyCmjalVKMC8QxUcjMP-Nnr-H-_FUfuFmrtZ_WFTOulEUQJd1kUXz7NaDk7-05swPS-Traq8v31wEHLOaUQlzKw_Gl0dYB73KT8nddYvv1XQESOSqM654xuV04vg6aRWGjt9nRQERdIL6JqbNpwfYG2Mz7A6PbXSXAPOFO-ZSU0oJvkj7SoHqKct9KMgU6CDIA_4KL-nkaj94CLcwhiQT3qFlmM93waZ2MsrGWDyfZDgcxAJIEQLaxBnHafussOEjIFg5CFHVkzzdp58Jo56YfDGkkvbBWRUfvahE0LxTnBEeUrwkXwfLzQ-NVQUFxOa-OMvyyLJ1hg5U8jQ7GmweK-EutGzOyyMUOqtIJNyT-U68cdfVN9a441P8QLBCSjmATx4e9Lrv6kh9Ylf-cvJCSSAvF-VxcTG5dzB4GmGuHrun2Gx2m94oKPaFtFCuXGoSevizoRdMHmz02nB5IVMsJcnjQjnSdC2b2Pln4bukltCmkthrIr01O4Huuz8maExk8WyvJWCqx0q5mE2e29EhtDQdJZdRG_k-sLJ6IppCe7STT0c9ehb47MaW2LPJzq2cyWaFyF3kLU0PcM4TMyjVuXcoOI7bXRj8dcPHTWVTHC1ZWNPMtX5UjAP-5vSqJtjH5FBGDpFmePfoulbA_CFMf9dCJQJ1O0ZsKa_ULtGTCLWfvyn70Kf57xeEIhSIGKeqdfEwJnwv9DMLXfqVrKXsNX6ycos80rYc8DJB1pUCuRSiJ_HbtQRg07cXMgMVq_18F3QBIl_Uucb8BZrSPNKyGYIai5vWhjUJ15kgZY-Ev93k6dBPnYvw7cne2TZtq1cwDMRtAcEH0D4fYcmeSfvkwxbgqNy7vu1ptmDl2gWB11HqOtuiHeaiTknP8Do8CIfJKVbMHZV6wXXKVWYpq4P69fO_XNaDN2DYpgKusHf2LMbtkQebwFk8V1Cv3F9EH0Wcc7Mgku7C5617FoN3X9HNZWQCcSEYTWghm8NXiZopUe5tu55Q13fKoMMN_dNlDFTdtTYCOq4zjP3o3cmo6nwq3_zE4XYn9OI7AqTbgNBxQzYyUTFnDgr8AB5_0YtM7HTZYoP2QM15Uj6HChRRkspLfMIdhimzarkw5kAPS7lAJlOUA_27tuCk289DaEnSrGJ8jk4v0D8d1H3J-7Q-rFHNnLw5wypnUrUyl4eGYmor4pFmRbzAARNYsNpB4YYQLWTMeM7tQN8VUUAbQO-TLhSd4GQ1f9dvz2ZEAbaZDnMOm8fzuwPw1J1cEcEg6RzFGa4wOvouRDbKhbvRgaKKEg2vD_47-a9901nGgt4dEdMUSZ825NBssJStvpK-RJ99prbl1pyCHn8MYTlJI6KwVKJmgP3ViRmOcD0X_KljTYAfsyl7G4tF8hF8USe4Gzxtyqh7TLZOnskKpBMhmlGKRjnePTDjcHBVCB7bh03fnQ2bJyOh58C0a9AlyGVOiBJmUwJMmOr0-JrTLAumVdJOK8QIrUcZDByEVkFfSeNg6QF4uwUdvimchBXpk1B3Ali4gWI1QfKw3aGZau1hA9Foiv78FHohtHH8y-E2wa-n1LAnvwB2V-I6_WQedcpnRU8glwqQZiWN-i4Vl6Ndae_Rz8_Wt7L_VkwJyp4OkPN1E-xlUmFBxOy8RIA_JqDEimllwsv-tLWrp-WJUWvw4ao5O6KBi9oO5O_AfxhXDz6OH2ctUGxgwxCr8RYxJztdP1emITr3BZS-C3ec4NnJsdXc93GmAh4Fsimz8Wk3Pv6xIM5SlymJokQF58yHwjCiy-Ley5TIi6G-xJIuCTDoxL0fuKyNGlKlC4l_wBV47ZTH0KWU5wMwarV_tD76IZH8-u3b8Iv6DDt7J9GagL_tUw-1-4JNrzP_ds51DC9szaB7X0Z7LgyuAx_dNVwXVdOrsW6hMrh3wbqr5-V-6egYSAUBKPyDsdv_QyOjZUMiOMXK1QrB7fYQhfpIyz1sKiSIfEy6Aiwm39Qb2DNfnqRrPIozew1-uaHUjfvlKfNp9Xf98IUeQYQwWK4ZeBiBe56Q-Ht9IO1Ake-PTOHxB_Yt07JkCduhBSp3GESfgvSvb2o3Ht1aTemQiGascZANSvkyFKRrZayqe2kaovcMybdzz-j0_R0UnU_2YKslkWbBuJRNNfCo76uP70hmXmEcTeHjx4OJy-JZU9IlT6NkiFp1onAjzXBcGuourtiH0lOkCwez0vrUbEY43bhbsfHHYGll_94H4ASdG7wa5dhTT6jJy_pNaI78WhzqVZ6hnXQpMDRFl4gNBEWBZPcrLDLL8O7EC4RzJkWFrNJGw6IxzQQZ-QNciPLPOHzcw4Nu7yjPlyY8XbtFsD_nWTxicQG1Phu4aaHOrH2efxJzlpdPYZjTYxa7VN4Eh1OpF5MQCrEGg_Xntqb9fKdalmmovQNTJW56lKTqPPby-zcMSS-I4cUzgHo-9IhohOItM_gYqWRJRruTrq19nWahmAPrv3CFJxqyiKcO3AFXra1stY5j9J9_TJIwcg5FpWWiWkAc8Ru7iXh2edlfIVE_y52fg9XgaQBin-yShFXjHrxUdV0cPaFlnaMg1b6jxOFE2DxgGd6EQ7aO69f7B_hE5ma9k-WEkFYQx5ZNbV78ntS9dDPGlPt0TzvB-9m0td64XISQ_IRGFaUEhE5tYnSRmnktZE2J1G_5ffgaGX4Ak3ORAhzTP6kSc34BPVDFrMe0jRARwWTd3drtjwT0FsvlAmjab_hOY1utPk3jZ0v2vKXYHob0Xf699ex1ZeFCOhzB1cHfeu9e4EyzmI4fBOQCYGHU26mEZ4bYSs9rJeJxc13vyJCAJycF6EdB1YOyBQoviChsR4HgGZqSruhhKXtpkxI3L_yCuwib0xvyFCMv_ygDKo3J0sy8yFrXFdyG1Y8O53BDEIVLhF78ses5qBvsGuOYU-5yjkxrceuS-IC9Wl7TlVXsStT3JoITn7iOgBaoUzKB5uAysEehQpbUVeIHPYtFtOL00qu2orFKHv9G2ZKVjMWjTQofHdr242qrF6b0hWAe-mLYwYSBQh0mX66XkcPOMNeX_MIIQ0siLHoqWrtqYdyYXguF-ajkMqQw3encd1DL-PVo4x_2PUkg2biu78K4-y8qHdFOEqtNoOUgHalDwBt944ACyI-3tck4otcuKQaXfG5YMJCyxhVTKg6VrgiUUeVnxDs8K9G8h7KbwH8DPhq_n2vtKjMZXwia26J6mRHwTvGMW4QyMWDc-yfYLQSczJei5FPMSQNYZj-WJn5xdfUmT1KS5OvPf87rdKTg-5_OrpgMBYL4gKNr0-FY48GhZJKuHsJdjBT74CfXoWoX1XwNYKBCVdCjC6LtXkbpg5NXhmXOSCPmLT8TtLmwvGrvlXqwqtTCss7O_rsuWsIeR03Vs39uogmXcJgTfFq5SCvrrox59gl6MzmcDZZ2KDCi0CFI-yoaT1zRQxM-G2cQ746wvWeL92coomSL4Ie1yYvtfiue8Wj336of1ALB12E9_TL0X4sTnnALTGIxVXnEoC3sRNgXvLOka52-Z_V6lNqGIZs6WaS0uqu6T8eIlqie0rJkbKlSaea_DlsTPHwL5-gEUgt4DEQY3L5kf081hw_OpKw9k6VUw_bSqQZzZu4B6_JObyToDPVFE21x_Vbs5ykETHE-NKVNxkqJMADg_7rJw==",
  "id": "rs_087850f247bc8cee016aacd1a82b7087d0b9a3b71c1a511e02",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.595,\"left_y\":-0.075,\"left_z\":0.27,\"left_pitch\":0.4},\"note\":\"The left container is now near the far edge, but its narrow upper body may still be reachable. I’m checking one high, open-jaw approach without pushing it farther along the table.\"}",
  "call_id": "call_g70cuRKIjDIXndVlb0ck2sBx",
  "id": "fc_087850f247bc8cee016aacd1b72c7487d0ab9a1ee4bb046a59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g70cuRKIjDIXndVlb0ck2sBx",
  "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]: [-0.2306, 1.9175, 1.5146, 0.1535, -0.3538, -0.1173, 0.9981, -0.02, 0.8097, 0.6086, -0.3847, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.5866 left_y=-0.0712 left_z=0.2615 left_yaw=0.1426 left_pitch=0.3249 left_roll=-0.0264 left_gripper=0.9981 right_x=0.2957 right_y=-0.0005 right_z=0.1768 right_yaw=-0.0056 right_pitch=-0.026 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -9.7436, 6.9128, 2.0781, 0.1001, 0.2466, 0.1099, -0.1573, -1.3744, 7.3231, 1.7021, -0.022, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c153ea0db46aa5ca81e4907641bf65f0402d2fef21030567f3cbea4e3f63dc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b103a40e8afb93ccef33649f924b3b931bf85a989152c7e89f22464bfd67af67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3dea096601453af89c37b4d00f3b559ad56af99effc2f39ef01fd75d9f9cda1",
      "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]: [-0.4973, 1.9228, 2.0857, -0.72, -0.5209, -0.334, 0.9969, -0.02, 0.8078, 0.6086, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5119 left_y=-0.1737 left_z=0.3408 left_yaw=0.1079 left_pitch=0.082 left_roll=-0.0278 left_gripper=0.9969 right_x=0.2955 right_y=-0.0005 right_z=0.1772 right_yaw=-0.0053 right_pitch=-0.0248 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -9.6205, 6.9402, 1.1258, -0.315, -0.0024, -0.0171, -0.2393, -1.5385, 7.1316, 1.7021, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNG-8sKJfeeJYJDTUL-mP1BBoCFGbBH3W68lL9VfzWPj8XDMSe2qCdbbswVMCZCKN0_BMaqKz0LiquO1IydLD8wCtFYlM4EFlsgnPdvSvBtdmAB9EftJRKGU3Lv-EzlEhAZhs--tMDi0qHIAQ4BfUVIdoIg6MNFdKv2rBOxvWxk8bZG5ZY7uZXcFg4TxsBA8TtKYqiqICCVm8fA1ViNPL3H_zVhs6aSVXnwwtPjbwqGOsJc5_AFl3QyqgOBqj5yc_uXO3vo6Ln_y72UDUPi28wLE_StvuSMfQBJfU1TQPaHcMf5j2NRar6IPi9vrX9UJ8VIMsSBSzuuNLkO1PRo8cM3oGTf4g7g6UZYScYJwjMkO9MFPIADXt2ULHtADMdd-hGzMKeeOYd0QVXzTZT_1udjMj5ftO1jxVsWE5A_CczcwaYaIbfA6kcWEdSkElkk5ixxrzwHGHQg02KZrPRQyID9APvEdipgcUF6zbwUKqxacpgpd5UfR4wPdrk4Ckp7tO6D2XEXoW9kUpeBsbEueukw0MPNMbyfx8QdTqh63dVrAUd1jvE4ytHwdehtmgR9D08N6Y9lSXaomy2qGIzila9AdmwwKbld520sUgkM8BOWIwblZU4CIzT1UQvc358UGDZ2_pmdWMiuz7proW-6QFuyv5NulU3NmYJnRKkgvf1DX0TPC-LifdsiZ0Ntdtea7umz67YhXLAIDdImUElcI2pf44tCIY9rVo1o2nhraDUP_fv3ccDEaIRsUUvmGpqO0v2XMzACsofSo-OA96-K1Jf53WVopuRH-v8jP2Ct7QxHcza3a3alS-drNYqYCHbiaZi1fGYfRYIb9WzzDB83JxmX_uXYSlXFXxcmxSeS09PJl8URGk8RVawBM6dNizdbRwNT4t_Uqdjgy7NzAFGSr1jmpdUm95WM0egQ3onnWAF0uhut56QRbQZTfXrXtTyCX-03t17XERXEu3Ja5rtMTPuJtlUHL1zbrCW9WmXMZB9slpUvoJ2fVVuvm8Lns6vcbawd4cKPd3Vc_wuLBubdc4VzVimp8ZNl-3HGeb9g-_36RX6b333Z-utAv9HWIK9vF_h4_Oq1NPubhUsmcWv1sM_y590NcDpWqn5yLK9WIic-UKbVc6Ycx3Ujo0MWQlPIBXCFyR69oFeiY4i8s9kuWBhn9isvb4rsr5tM5_8u1WHEre2m3lB5QxoSBz0qYeomPE1UZ5eEdBuiOKJlaODlwsqStAy0ca2xIRqOdOPk5xMitxXyaBaUrQ0jvodazD8_FhZ310Zk1LFROrUV8aCO_7KKbs0oG1xWz3Y3q5UZ7rqmjTwcC7F4Dz4bvTyQt7wUOVRxPxUfyKs0QgZAm04GHp1O1CSTiLxcKk-g-_ROSmVdPGU_Plrccaxm3SYC-krLLl4AWmvb1ItBUMGEakBU5UgriBQ==",
  "id": "rs_087850f247bc8cee016aacd1bba12c87d089e6744ffe2822c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.595,\"left_y\":-0.068,\"left_z\":0.205,\"left_pitch\":0.4},\"note\":\"The container’s neck is centered and its upper body extends between the open fingers. I’m lowering a few centimeters to grasp below the neck while keeping the far-edge approach stationary.\"}",
  "call_id": "call_ecBcsUnco46HSgFlfJHlsbUH",
  "id": "fc_087850f247bc8cee016aacd1bcfb2487d0b71975106e14a879",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ecBcsUnco46HSgFlfJHlsbUH",
  "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]: [-0.2249, 1.9968, 1.3571, 0.4049, -0.3428, -0.102, 0.9982, -0.02, 0.8101, 0.6086, -0.3847, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5908 left_y=-0.0706 left_z=0.1995 left_yaw=0.1316 left_pitch=0.3376 left_roll=-0.0188 left_gripper=0.9982 right_x=0.2958 right_y=-0.0005 right_z=0.1767 right_yaw=-0.0056 right_pitch=-0.0263 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -11.2205, 7.1043, 2.1563, -0.1099, 0.1294, -0.0024, -0.1162, -1.2923, 7.0769, 1.7167, -0.0366, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8cb07dd90db450449ed047566e09446b857e2ffd69af2da62a3404d2ab33bf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c380da0cf7f1f4be5cd9414455752b2e9242e7658a87e2828b93830f02b744fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8c71ba43d01582fffb839eeab6378ec25999b0a797796bab92e4d4d0322df6",
      "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]: [-0.2306, 1.9175, 1.5146, 0.1535, -0.3538, -0.1173, 0.9981, -0.02, 0.8097, 0.6086, -0.3847, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.5866 left_y=-0.0712 left_z=0.2615 left_yaw=0.1426 left_pitch=0.3249 left_roll=-0.0264 left_gripper=0.9981 right_x=0.2957 right_y=-0.0005 right_z=0.1768 right_yaw=-0.0056 right_pitch=-0.026 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -9.7436, 6.9128, 2.0781, 0.1001, 0.2466, 0.1099, -0.1573, -1.3744, 7.3231, 1.7021, -0.022, -0.0464, -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": "gAAAAABqrNHCFQQWU_y_EjP2jmjttM16wbflzEStm5KVFHsoxOSOPKz6jfGfyKpkPSZorT9nfwh3VJt-8KB2FlTLFvYZkGActHLdnccBAtI1kv1AqZpVXfY7i7_BnD_NmcMfVF61xjo1vRs5PPFJLa23BfBWk7_5ZYHBxj8OLHhnpAjc2kwxC0k9Kzyej0JVSsTfP-xQ5HrWP1VJbpYxBK64D5zf40G9OetqnM_0dBY4oLdk3eYxpqFxhqgoSgb_FtY7os3lOZ32K6y7k2uFqf-CVYJu06Ap8RVhpGWi_l4TXz4bqYWm09wqqmAszrQRo0Qzpkph3OBQ8lJ3QACixi86MiImossW0QhUEL6sAnFQUI1is2WvW2fH0x7n5DAx_OTe1tJdK9BAiEgpAMHzvbyoFc0ICYHxh1BM-3qANOvheYqd2fC9nlHiUBxcRDHyTaKFMLiRmtZ8FD8Fs02YZJvpznEjoKOp9jermaCnOl35h5mBA1V7Ionef4S_QfnJiSyw8CwQoK7LoJnjuVgxrSHsvy2eFxQIqGULidNOVl8u9v-PAFS7vdbA_FpNGqH2VFxoqcm5kYFE2P6F42dsxus-j_pzJzjx6HlG_1RFxjn0BRf_SQtB6XI6P51e61yPG7wK6TIv2RJSGS8ZHjFtMz9jkHyafdnnA3s6WIa9LSrf-aI45JpJVWnh46WWYpzhFBcwfFm5k2ANCiihx_y2ImT7rsxcE94jphtgvRMv7gBK2omOu-x85uJlarlLs4rRNRqAxwvtNd-j9CTUX3Ep--4rT9F91DOpkU6Tm2IE4g15fRTZHHOyZ9JgikwiZ6EHS_2Ta9c44Xas5q7VacEa7N_yZQYW926rDX2VRgYMtz8c3VK9bk8TaTTQ5YE6vPihQfcWTAYrRWPJ9FI4coMXYRGYXmtR1yD8aVRxgp83XaZ_-_ZbFAUUGpqATAnrqgTu2-Wa4GSGjfh62duiU5lTiHYBdJfz_SCsi2pmvjiIFIQ1jq-fT40Tub6rQn7fPHbxNwmg4dl33J4euo6t-XwUtk6MGUaAFY4E1yxKbGu11BoMN1P45guRHPra2uhdIO7Bg5x1PuBk8pTfx5pqJpjriuo0qszKLHfqJMvdEHzD0VAf5f699mv6uNyl_rdgzsOBJReFO7dVeePL4NCPRhZYTarN6AB_6GxLLxPI7v4QvKzanWw7QxCg-tIlZLslrYBTvk_jY88n0CB4vVJ072ugft8JT-WR9-to5fqxVP4CymB4_N0_o5OUv0LTXs-9iR_axy-w3p9BFTYV",
  "id": "rs_087850f247bc8cee016aacd1c0d5c887d08729eacfeda4c39d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The upper body remains centered in the jaw gap after the descent. I’m closing here and will check the measured opening before attempting a lift.\"}",
  "call_id": "call_9OYuC4UZ6qj5IV6clTLKoReK",
  "id": "fc_087850f247bc8cee016aacd1c1518487d096d4bef5ee8c8887",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9OYuC4UZ6qj5IV6clTLKoReK",
  "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]: [-0.2237, 2.0331, 1.3388, 0.4911, -0.3431, -0.0971, 0.2301, -0.02, 0.8101, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5954 left_y=-0.0708 left_z=0.1902 left_yaw=0.1344 left_pitch=0.3674 left_roll=-0.0253 left_gripper=0.2301 right_x=0.2957 right_y=-0.0005 right_z=0.1766 right_yaw=-0.0053 right_pitch=-0.0267 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -12.9436, 7.0359, 1.9658, -0.1587, 0.0562, 1.033, -0.1026, -1.3333, 7.0222, 1.7021, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b564e76a8de08609e8a7857070b3da16dc85283d91addbae0cae333426e446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bab48655aa10bf8ac082cae9f5fc0a1e743541a402fab42d6e68b915a5e793c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e69912811018a85edc12bbf3cd76e17211b704bc26a4b2255e918bd892d7aaeb",
      "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]: [-0.2249, 1.9968, 1.3571, 0.4049, -0.3428, -0.102, 0.9982, -0.02, 0.8101, 0.6086, -0.3847, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5908 left_y=-0.0706 left_z=0.1995 left_yaw=0.1316 left_pitch=0.3376 left_roll=-0.0188 left_gripper=0.9982 right_x=0.2958 right_y=-0.0005 right_z=0.1767 right_yaw=-0.0056 right_pitch=-0.0263 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -11.2205, 7.1043, 2.1563, -0.1099, 0.1294, -0.0024, -0.1162, -1.2923, 7.0769, 1.7167, -0.0366, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNHH6bPEqJ1GoE3hv0sBOLxDd_gWeKT6C__mjcAF905cTMOvw-VN0meIxivFZCRg4ai5uMHVvU4jWibV4dac91eKmO23J45gGHTOUHGYh9VfdeUJD8McxGDgBG2ppEkbBF2-lkawQwemaZfby4ZdAPhaxCvzhTA8lxKgmtvSROHoM1oQlEIl9ixxOZHygy3CDT_z8vQ205FAUq5WsvDE6GZenkKH-XzIGRTYcu8p7tkKK845g7plvkLf8z1rOAIfTOzlkq3XZgEVz7VIQlVC8XX7InFopHZTZAuakMxcRZYRSiazEFiZq0R7diuWb0c6VhL24tizDUGttTIGchLDT2YV2zNLVmLL2wkqRMU2pmT79xQr3qRcb5G5B0dUbkWNWdvu7qtnyMRbrhBcGwoys3Hg_ULcT-HRFlVbsVnC9TcMK0D6VARKrxAcReoIgWO0y83JSxg3SsZmREoLNCl09en4RW00SCHAi_36WXjkMN35m02XPn57EgMAokMoxESO_St4gbxBBTBOIcYjqnrWA5iZPc_CmwyaGc9TnBQ9YFkctg4Daop-t4b75Ui1z4bQwg2Ff7GqGzegDXLsAchh9HnqakScvFsXPGnmyP43Vwa75rv-rppnbgPrMlPF_O9nmAQUwLb8tUXmTTsg-HFdMU5kGLf1lbYd7VFE1NsuSJCKwkLwcO7dFRLf7chmOdcLg7m6N0M0PPiUPX_QoOyx9MamQCAhoiV4DNe3bDmnv_8FksJyVs2zPXla521l_vgduj5WV9PfVxm21SX2H7eauJAbfC0niesW2526rWilMLDFu8JX3Oj63DgJhLqxqqpZQQKFi10LgflPJwrsPP70HBCA3lrOTo7i_QX0ufkRu8appQSjZihmWRrJCjqk9sXQjzyWmQ-cmnq-w_E1CcKyEf6uFpZSOHqrI5K1y2JuwHQe-lDMZb1T30AqEx55r_ieArdxk8g0PoARUI67whgJR5EkO5OJlcz3LlGZwJHsDifVlniddzQsbycovqVth9OaxMq_VKPZxCuazQgrf1NZ_p-SbhC5Aqje11yRBBsW78nZFrSLtzl3S22EXhv6fzzns7LKZvd8cdjSUQBRUDqhduds2HfOdTz0Ch_133gY69XPK4QAr2f7fQFowwMvkHIVGNGj0xmxKfmLEiQ2AxPBTmhsSfdqvZy-pt850dwQZD0xtjIEnT5zdLGQGAmH7qVOEtW2y1yuMQLZl_i4gBMCepgkbZ6Rawj9oveKls7iLRuLMhU=",
  "id": "rs_087850f247bc8cee016aacd1c55ec887d0b43457ff2fc2d6e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.58,\"left_z\":0.26},\"note\":\"The gripper stopped at a nonempty opening of about 2.2 centimeters. I’m lifting slightly and drawing back to confirm that the container moves with the fingers.\"}",
  "call_id": "call_ZND7kWSFpuEm7Ymbg5gzA7uy",
  "id": "fc_087850f247bc8cee016aacd1c5d9d087d08e851808b03c94ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZND7kWSFpuEm7Ymbg5gzA7uy",
  "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]: [-0.2268, 1.961, 1.3865, 0.2951, -0.3435, -0.1047, 0.2329, -0.02, 0.8101, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5853 left_y=-0.0703 left_z=0.2084 left_yaw=0.1268 left_pitch=0.2958 left_roll=-0.005 left_gripper=0.2329 right_x=0.2957 right_y=-0.0005 right_z=0.1766 right_yaw=-0.0053 right_pitch=-0.0267 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -15.7744, 10.3179, 2.0391, -0.1636, 0.0415, 1.0379, -0.2393, -1.347, 7.0906, 1.7118, -0.022, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c16c97e4e8bf188b8e9b2d159575b4da4776a640bb6e275949cd87fe0278c69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a024541c8fee4d7160a19cebe36c7d3721403478474e5492b459271efb05011e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a124a34c59a9813c752ffe3585534af91a5f24c692150a20c5f82fab9152abee",
      "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]: [-0.2237, 2.0331, 1.3388, 0.4911, -0.3431, -0.0971, 0.2301, -0.02, 0.8101, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5954 left_y=-0.0708 left_z=0.1902 left_yaw=0.1344 left_pitch=0.3674 left_roll=-0.0253 left_gripper=0.2301 right_x=0.2957 right_y=-0.0005 right_z=0.1766 right_yaw=-0.0053 right_pitch=-0.0267 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -12.9436, 7.0359, 1.9658, -0.1587, 0.0562, 1.033, -0.1026, -1.3333, 7.0222, 1.7021, -0.0317, -0.0708, -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": "gAAAAABqrNHOKmx-BSK6f9cTMhU3hI9JPvXo4ZsSFbrkVO_hdSZzzA-YIrpDD1kyVESTcBab72rfeKBcCp3LZ6Sy6LysH3gSPamOZTQ_5QZSD9C7PBPdVl4RM9jUbMbHi-Dpoy_6q_4NPu4CRxGFxDRILaJjsivvpgpFzohhh5Jr2KhdKmXHbdrt29F0PdrP5RN0SyBMLRqo67zp85SdufXZ4C3NSEwnFnM8dVbAVpXceIWqgkwBqZ_0W7ozU_8lNSrhcmkpwp-co5uOJ4oOJXfkZWwd7sjnggFKz145FaZKNXbekEpe5huKbdPsXhhYdRysK0ECyhHZyl1TZJe21cd1tDh9Or1aoVx79oCtrHNsK6KvAzdL8fEsqCWyOYfbhhDdBdfNrvIT15bgfMIOAxR22vfGTg6Kezj7_gOdareA6HrFNaqUdy5NwQuQL_97FTH90Ql0kueXHYFSITL8pqkka583d36d5s9czLpP0yMkjt7q2ODDp3Z0YrMjbnL1JEntqdJXncOqrHgFuI2UcBRWk11keqINnIUtJfrhvEjl7Fq1UIyuxir8T3n1LczTxWw4U4IbKHdFXH5UvEYFuhVYsliAP9JiZaPCvX3dKrgqhMdq0a_9LU5iJeiPgTcvMjiD6kFEU9K7cwHDUXeYRU_NGN4IxSViy1MEhEPpwJhmKrLmxf3KNcHPtILnlAPUXYUzw9VpbrlRttspv4WFjNzm58S4qoeTmxEam_tAUA24FzZyfT3DC5CjCq-ocyvQjecq31MkqReVpZ_sXAODAgGBcbn8cw2WZp7LG71J38PdzGeVHgkN2RbEZyHKvmnK3ppY9FV_Gopl_gL4O4dt-BO_21Sfo_tTiwIaPdFPmdDtDvJtgLqvjEe6GG-94Vp2_zyBFYfxqDQM-Wr9XcaY3LB5TuYnw08FFrFSGU4NzSLxqws63dfw3XlKWgRSVBfTtouLrrIGXyj2s9eDq7-XZDgm833Kdn0lnJV-K_G7gL4V2EnGAKk3IZtby0NVC6DpP7Y9bdv9d_7_q3MXaB8D2gA-xOX2zV5htIDdyMg6FGnvxSlN543GZ6hR0f5j9A9zC030_pLHa4ESMHf1WgZQ8UY5FQFIMi8UDQTIWjTzq2-ylmpckYkZupZxSPGa--5AuHHPLDorlNUQLrNiMdRLGj0OsVvHkZ_bYR_FAAsvMrYVrAlQGwEjjOJPgHU6HmLmvmDzY7pNUnXtKxF31aLkZ5-M4AVXNLcaglQ_9ygvfL3LGtMnz39fI-EahjXiXK-9LJwyDNtr5r6Ug5c1G3GNVEWewBGVmEYyKJ4ESKqz8AXlKsvqVetXJJ37F_CKoGr8O0rc84l3A_bR",
  "id": "rs_087850f247bc8cee016aacd1cbf68c87d0908ef948e0e601bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.09,\"left_z\":0.32,\"left_pitch\":0.2},\"note\":\"The container stays fixed relative to the gripper, but the extended arm is sagging under the load. I’m bringing it closer to the base while lifting to gain clearance for pouring.\"}",
  "call_id": "call_d7UgD4ofeAsTGEOwQlYPP4ki",
  "id": "fc_087850f247bc8cee016aacd1ccc75887d09895a54a53f5b530",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d7UgD4ofeAsTGEOwQlYPP4ki",
  "output": "executing move_to over 8 steps (0.8s)",
  "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]: [-0.3302, 1.6577, 1.4555, -0.207, -0.416, -0.1738, 0.2348, -0.02, 0.812, 0.6086, -0.3851, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5046 left_y=-0.0937 left_z=0.2926 left_yaw=0.1116 left_pitch=0.1861 left_roll=0.0024 left_gripper=0.2348 right_x=0.2958 right_y=-0.0006 right_z=0.1761 right_yaw=-0.0056 right_pitch=-0.0286 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.7265, 9.7709, 1.8046, -0.2271, -0.0562, 1.0281, -0.294, -1.3744, 7.1453, 1.707, -0.0122, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474a049f991ff5d4865f1591d32478b580c9f02e5a0e98f02c8b35217ef23bcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf93eadecf52c9b8c234add73c24df4503f521a3de7800ff52067b4a1bfbf407",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8aba63acaaf621e9d918ebdffb93fdb53238452e835510db348ba4092bc08df",
      "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]: [-0.2268, 1.961, 1.3865, 0.2951, -0.3435, -0.1047, 0.2329, -0.02, 0.8101, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5853 left_y=-0.0703 left_z=0.2084 left_yaw=0.1268 left_pitch=0.2958 left_roll=-0.005 left_gripper=0.2329 right_x=0.2957 right_y=-0.0005 right_z=0.1766 right_yaw=-0.0053 right_pitch=-0.0267 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -15.7744, 10.3179, 2.0391, -0.1636, 0.0415, 1.0379, -0.2393, -1.347, 7.0906, 1.7118, -0.022, -0.0464, -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": "gAAAAABqrNHeTLwDCRptqhaWZUO3baUa5lP9SgTAHVBrUXaS4KD2A887oIYrJsHnI-1HjmOfm1hjr-KB-3EF2ED1jdWN-4hZSB3bY7f1CuBYG0dpcC-SOjEbds6gtIEdIKhY-VeoGvgKD1iAQHOd7J9YgffaZ0LyfXF0l3NX5NxLkJJ1bbdxEdxZAwFKND3g0i6WLTuwM2OaI2lcSKUwiUjoeY6Fsquwhsvh2rQTkqkBWqJjfRY4nsKtJ_iYZeWyNW6fKqL23Xgq0djfRieu-2IzAqVUNfEKqaypt_TqhIDmEoJ5E9xBvkkdiaFTCg4ybJOkThTlWA_CVULilrY0I8jsvlJDsNPAGStZulA3ygIYox9pt5Z5t-2kdQqQ6dBFq6x94Bo-p14cluyBHdX6NNH_KdokQr8Dy3cve1QIlUsz0Efy8CaG9WJg7yiBpGqRB_cZWRsaykT0JMs7Lm7YDacuASjVojPDryWLEU00el3R_GhEqS7rZPhA2lECkepayu1Og3venDPzGDi8SRGuhjueyhGSIhu58XtgJ5Z7rZXcdmaLUtmzbcUahxkcvJFNQtF83JLFgBEm7QDMa6lBiVbkMYMh0TSvena1BXX-r7Kt-dbwauUGeDC4qMucq2YSTKSDFZPT0OV83P9i-NyYEMv3wtpuhxErUFatB107csseT97t0j0ieMO5qfjuXf02a7i5sDzwz8lrOZjbpgqGOWX9Cu3wGnmZ_LrsT_Tno_gFMnk-JzQY150A7st0FTrGeLq95kLBYIWyo5eXA7N2M5JSE6ILTcBnfxEIE7gv2nS1uYRvmbQwdrQKD1cZ63FePHuN4CcyUNnyWZVl2_3rjpipAlfawhzH7H2riIHeyYkJNo8TqN6tf6a5E2I6hS8dk_EfiZCYWIUeVtNfaoQhPprUWr-aUrpB1laKElDH7ZClKYhx664Eie1Tsa4lY3ST-4ddFmsaHSwv2cdoAItyotgc4JE4rrvUFEzoWLqFegvTvZba3fH48-2OBYwcWmnZIaf2M3E-K0M6U2PVGOuTVI7sPYSj58FohoZdgeZhvLEBvK9t37yBakM6HLXI83f_-PYymZTbHRjc1hamq3TLLekYuYaopx6xgHmqSkekyemt3N5SjDAcTt6Uw0Em2_c8TouN2wpi_Vc-TrJawSoNBMlFX7mdSwerEqr2FWZ2SUJWq-eR-1_xaTiYyO9sdSLI00vZKGXgBTSraAy0hF91a_M9UfjFaxGcbu_-bzp0yLDoSP-7W31lxfWRa-ury6J5sf3Q4D4Y0fC5ABaA_tua1J6M88vzyA5FBTeRKmwiTmO4VTgynE-psh36wHj8cHTaF-wtkTohIohVG_5qcAtPyh533J8N5LA2XRchhcSYNDPBCj9fweIYg0k3PXbwNMUsgklidcEG9mbsxaEfAaZ0s8sG605jjaESc_LzLhMtiSJebOKx6sHIRUk57LSWJdg2_-_Ynm0yorl2QUnGHyg2pftSOOEBpy0sQFYAy_oXMnHKdD8u1U-W8e1n86_I7S5WrZqTDrtLqh004Qybz7NhwU9eLBbPoqsdrfuaDVl9t0ShChOiG9ZXCSXpCoLN0aIpMBvm9NW2RwKLHwKvoz8wQP_gk2nlsr6-IXxpgAXtlVxZW0s63_mlQLDdzLgsYrGEfOrrrt5xzsR4wBTL0WtgzRVWpBHY5OYMpXW43hIglzHtUCeoZCrBEpIp7AJehafEscrQnc0nBu_7w50HPkln6IYuhOQv8ZGwcoU71tmrnPjtVUww8iwRCAe21emX3u8ILn6EZu35CcdQ1bD_rXCUN5xfG9CPAy5ux5Um3QDWra59xGPOblt4sf48bwWtpy6B1TEvYIOck1KgGPHU-S7exi77P0Duw4QxZNhn4Vj0nWNcPpPEqVTjckQIoRmeObb6XMhQNnMLGKKsSzQtNp-MPq3svXlnmhT3kId7cmRPFM8hAnGr6J7hSPxysgmTM3AnPsZBZL4wp99KQdmOaxPPt_PQlpfiDC07KJVKeAxY07YTu1QxmnVElcegoB5W8KfwjIyhqRLsPDtgXnvPgtMnvic8pgBTnCfhU63K-D1HnKZKpvVobjJyjxnj9JRZrtGAw1Kt0FabQ1iCKmwQVwhHhjJ1gCUgEfFxCBiGuR5unvy2NmS6cblCggO_0CdV7LqYNLKZ8lKPpGRM4m6ZcGEeZljjzZE_oC6YghXPy4ZQMmbPkjhO1_wvQsyQvnZ9TpF0O2z4prpv4hCvy_dtdyipal18TYJKl4-jJ9Z0lRKWE6LoL0xSCqiFWTP9GUJa95FSg-z2-7STtSM5KEwOpcfFKaG-FntKwOnk055C7M4HhEP92dv4x44V-hQ5pQNi7RJsODAoFut7ZckxISTTCMPsMfyWPQc-du8kmCij0fGIc98tUf1gz0NywixY1DE3vZ8K51naUgj-CYmqJBV4Xs8DwoANzfcyqil8bbiqLqHw1bQycbw1SHZ8OH1V8lxVvxsQIxuY1EsDe9vqYJKhtujDwMAvzk6M7faNXBC7p9CwmsMsIpCulYKe_pvKLE_lJL9XzDsUMXKMQsqGIqloh1NlP0RznnqvW6lytxfhRH5riME2PTXnwvfu-ZNEhFGXqI_d19LNABL1ZZNnjNXFA1l51pAZOd4nne7nrIcoj2VOmocDpXW3AuoxAgfwQzumM11uPdhaMpHzb24HyMwbVJQyN39RSzGTPxNd_khlEhpfNBqFb-BJeQ2VoQ5VA57KY9v9Nh7RWTRKE4HOcckwcqFjzAS_Lf9eMEnuP4IBOZ-eOkJejII2f1uqZYCv0OWGok1lG67MmB71Ik56VWVlF9RrgHdxE8KvjUXPGdElMke3EYuWZyEuZdIGv7oodG6LkmAP7THrG89hQK7Yjp9DPL75hLZfVKOCkEKr56lM_cXZOIVbFgs8PiMhq2N0jX3ID3ZMQeyU5AdMSbn5vEJ6Gu-_dTHpNZJwfw3_gGSzqaHZEeMMyC7bkZISIy_CEMYiHedXsVqbE5jS8gdD7ji2DcTO2NCzd_XjXto6RPgYOfjkkJPOgTL101TTgCR4TiFfoEhTK0ndWLRZlV5xQJP-WNUDzwjWKiUbOXN6bGXMqd0lzVRr-YNANoyOkBbVl7g_0Y2GDec6zSg2Z8Bek_t-etVgt9gv6yHGyePMwsSAtuFFuAG9p8NSe_Ni5f3kUviLtpDEMQ3Pvo-420Zebz9h73Rn2Yg6J1WFlRXlquyHbVqs25Fif1-Iraq8q8YzdO-8IcYUSmM4TxWbxsK71TPkIkY1K47wKA3EczNAHmESvGfCfoQdeV9eKEtamX2-Dt_vC5j1JigHV1uj8W2577xogIMRX1idSO1WHPiWE2JtgJf40d1pXs8fFEeSQHk263xNbWpMmpsRkZet9gVSNd2AFe5UB4HXqKpnA-X7RQ==",
  "id": "rs_087850f247bc8cee016aacd1d0a34c87d0b3bffd4e511723a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.115,\"left_z\":0.30,\"left_roll\":0.65,\"left_pitch\":0.15},\"note\":\"The left container is securely lifted beside the red cup. I’m beginning a controlled sideways tilt, keeping its opening high while checking where the mouth moves relative to the cup.\"}",
  "call_id": "call_lR7jCx5tRFKW188ojEprSl4d",
  "id": "fc_087850f247bc8cee016aacd1dc3e3487d088262948c3651d99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lR7jCx5tRFKW188ojEprSl4d",
  "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]: [-0.4885, 1.8324, 1.6306, -0.3256, -0.8265, 0.2008, 0.2354, -0.02, 0.8139, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5081 left_y=-0.1188 left_z=0.2814 left_yaw=0.0954 left_pitch=0.117 left_roll=0.5714 left_gripper=0.2354 right_x=0.296 right_y=-0.0005 right_z=0.1756 right_yaw=-0.0053 right_pitch=-0.0305 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.3607, 10.1949, 1.7216, -0.4615, 0.2466, 0.906, -0.1846, -1.1692, 7.0632, 1.7314, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c83123e4ce9311c92e2d263abe57e88a6469c96684174d0b475d134065f8a3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a288989ea2e14422b5cf096fe48c1635dc655299ad5a588d6e810986c3b9e402",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a779ba0bee92b7057439a2f6eb4d2c7f395ae24862e65270af63afe95c64b96",
      "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]: [-0.3302, 1.6577, 1.4555, -0.207, -0.416, -0.1738, 0.2348, -0.02, 0.812, 0.6086, -0.3851, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5046 left_y=-0.0937 left_z=0.2926 left_yaw=0.1116 left_pitch=0.1861 left_roll=0.0024 left_gripper=0.2348 right_x=0.2958 right_y=-0.0006 right_z=0.1761 right_yaw=-0.0056 right_pitch=-0.0286 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.7265, 9.7709, 1.8046, -0.2271, -0.0562, 1.0281, -0.294, -1.3744, 7.1453, 1.707, -0.0122, -0.0415, -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": "gAAAAABqrNHqBzr1QAGK8MSfAeeo5ttoQ1vyFsGVogOuAEBEouc-tCtfQ9WKlUf4tji7U2nbZBHOkrksFBOPzZQ5E0hjKuj6Hn8t3J5NHYtrX9Nx49omP-1MMcFv6C1dbuHEKuyd6PeX5XAUWuQhvFydydBgMYj9PwjruINn4tuoI98_htmfr77eIyvGptFACCEHbB6CVF4tuvPxwYX95Iteq2BPtl16_hyKZ8LCY01Coq2dN6QqdakzccDtSZao20fZJc-RPZYvJ1QsMKu0hE54GvIHjngVvrrGPPvXSCszlUzuh8TD9G2Ap21jOuZwl2vAtbFoM8BBIaANd0TmvszHsoglqFPGyqUYtQOMvLRniDOBuNi2PA-HlxcmGqincX1Zp4VsvI5zMJF0sxNTUQib70YGGjWPWcG4UJR6TbqnNr5Vm_jxCe_Flr0IS0tm4y2eqmSeJeFthGspkpaJAxmdNlJSJwTJKT7-9JaTWsa9DyvNgAxzRFog_DNNBI-VQIW0ASkuPN-PI4GLz59gTheenW4jMEP9r0uV1WhMBWoV42taMExgDZi6O0dMreSY62WduS-EJrNId9I01kXLpR9c0u7tYKsvOoR_Sx_GEh9qX9eDs83bsiQDgKrvLrckTrkpxsA_vAGBjKggGQdfgQ0zGut-ru8z_YZFWc8Z0v8a3hl7IVmSX6dJYDlBt0c5UFmoJpzuZuQuRZb9WIHLOmShHtiN2bNzThnO8Jhxpe7tAYFF1TGRnsYMhKmbLsOVsRTuAIwFUsMP7C-ipjWpuwqdTJjAjGIUaPuKvVGjXguyzFIhE0-ypNYLUDlkDOsRsjws3t3MwpWLYapEkOlCnwj58dm9AT3ryHYxTzAQq2tO6B8-Odj9Qe_SwYX1y_znpJnv2yUJe_5fVLRah6oLnb-ZKEuWX_M2M-e59ssKRDKO5P3cV2vCRoqk6t07Uky3iMtd41g-f9X6YjAiPIifyBTNsbGMcVaPYNldMQ_AzCEL7wWwG17upAI66ghOwtew9YUdasu613IbZ8A8D4fMFLV6fN_n0CxjVp-egLMj3VmKiFNRLlLisTAoed9AnNjqf4_7dgai0pZIPbYjjmGJuxs5hXYqz8PsEEGT9235_jFlP-GLCMurBBrvQQbV2fm2pW1zRsGWidsvLdXn7pyNJegdnn6ea6_JtB5sKori1t4GPcnaoi8vJhjGGAlCZjGp42lWutzL_ayVRX6BPjs_92x7duCwT0SN14-_DGWhY54IKGsyK4U0JKof029LEhPCfTCITQ2UMU8PdIoUZZyOy-67aoa8IB_tEf0NLva1V12fcs1RO2n1a62Vx3rrPdEEXCtN86ead-29xaW0W8HoF8_-wYckDgFQKklyAHORrL4YzQqRz8CnHbbqICOl0bpZZHsGpxuaie8PbW78TFV0I3Cq8BagOG3cd75B5kqfkrz8_LI-Nuoef11frhCBB3lQjo7pdO084Br542cVVDsxurN5AQYf6VKIq_MIs-AW9D9KKjKe3-vNqY-vCUCriqGky-xCGWmIoH0EEVvfDCSVYU-gS0PrY71fxpOi9P--D71CuGfY6Hxq2VMFYOJ7PbF001r5b87uXqFdPtEeLc-9gCk3ycw2vvkg42JCLqHfH3jkhd28R5DinWb36RT5413INsAfIGaSmmz_4Hko29GiLPEIP4i3Nb0wFh_tntet2KHLrKaVjKdp-IKL9zHur0rAAZvW4xollKI4o_aiITGCfGWzsbkpzPJsXmy1asC_cLaY4VE14HO2IhH4RVVHRyGFsQXOjjy6FDQ6xQrPj_9acgdb5dCG_ukNeSiAbOQmiOyAgvqpswXgqtbHGKbx1YpmfJjC50FatWQ3t-9oa364kan1lenpEIS27s8MQ2jmzbFcr_ewlrs9OWH7pRp_ke32PKuQeG0hvY6iRAeN0ZcRZXiAiQQkFpovYoMcWSLQUgEyXzc754MdsiY-uCDtqnDuh79-M3fRnKTDl2yd49BL4Ocqgk0UvaaCnbv4h5fCXqj21psbQnIe9WLL8gVrovPKSWLAvMKjcRB8thGP0e3031WRT7jqR34c1GnaTNMHOMUgsQAoKLMFZ12rYhbgBSE9wRys7g_ZY32LAkFar4fv7EZ4Gx6LKROsyKswrghXotT6zBou7NnJqtdsVZm82434AZ1wI6vQBrdvL2yYeTjoemAEr2VHzOxhZCY5bSFI8c6ZrCQq_nRqhx8RK7Rutj8HWhqJSU4_bnE9QchxuNkggsJDJKs-3EUIY1HfJfHrG8bbn-lOv0oed6abLJawvY4TglbqNN5_CedqvjvSg-Fgi6UjjGmUMv_xrevLGGMfxRw2LE9ZU2DzaGna6D57fMnyAY4JZ7qhbM7rtIxIFv13jynbRT3_8ITCDEMrw10HWLaLLyqO3YeF8QeuvpsJDDMKgPsNCYMBqCBz7JZwLbSRJtTMulM9CkG0GGK9wx0Yhijl_fr1HyxOT4Dzr3rtOuNZTI30K-6_S2jsF_nz9_rDtrvim71lsauN_cVd7ekJY-Q6QHa9Vlap2J0=",
  "id": "rs_087850f247bc8cee016aacd1e0f43c87d08f316b18f94f902f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.09,\"left_z\":0.24,\"left_roll\":1.15,\"left_pitch\":0.15},\"note\":\"The container’s mouth is tilting toward the red cup, and both remain clear of the table. I’m bringing the mouth lower and increasing the tilt while compensating sideways so it stays over the cup.\"}",
  "call_id": "call_FuSfln4tXsQ0QvojxhYPYuMH",
  "id": "fc_087850f247bc8cee016aacd1e8482887d08e93928db1b75e36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FuSfln4tXsQ0QvojxhYPYuMH",
  "output": "executing move_to over 8 steps (0.8s)",
  "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]: [-0.4999, 1.8698, 1.2636, 0.2798, -1.0515, 0.8215, 0.2384, -0.02, 0.8146, 0.6086, -0.3847, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4991 left_y=-0.0938 left_z=0.2237 left_yaw=0.0749 left_pitch=0.0929 left_roll=1.0935 left_gripper=0.2384 right_x=0.2961 right_y=-0.0006 right_z=0.1754 right_yaw=-0.0056 right_pitch=-0.0309 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.6342, 7.2821, 1.8926, -0.4029, 0.1197, 0.6569, -0.3487, -1.4154, 7.0632, 1.7509, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f947c0b95926d55b92ddf52ac539e15d217ebad9f6f007518c70117786a272",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc9c702891bb60a5e39906921261756931653c1e2e9c9d2fe2e7a02097726886",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17c429e5af737c244e0d6518eb8996331b2a4c35092b90808ccdbc05c3ed3e6",
      "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]: [-0.4885, 1.8324, 1.6306, -0.3256, -0.8265, 0.2008, 0.2354, -0.02, 0.8139, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5081 left_y=-0.1188 left_z=0.2814 left_yaw=0.0954 left_pitch=0.117 left_roll=0.5714 left_gripper=0.2354 right_x=0.296 right_y=-0.0005 right_z=0.1756 right_yaw=-0.0053 right_pitch=-0.0305 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.3607, 10.1949, 1.7216, -0.4615, 0.2466, 0.906, -0.1846, -1.1692, 7.0632, 1.7314, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNHzFZpeAdJHUf7nhbr6rRjKkK1q25MqelNVboUhS7PocvEUPhn8-MYewn6FYoo5pKqOUWh9bA15qGMVw9pGAUnxpGwhLMH1nhvrvtEyLUwr6v4omYWyKKcy3rz7jpyZ_blWZg3ImGCvPzUxkxQlno5La8SblNXH_pYWwfrDeHwDBPTkia6M3OYb4oSubCQGdQX9usLT4DHYeT8quuuRWxsKSEPn0qNmlXDvZSJQ31eF9woI32X6HPrgAXRmnCRCi8Q7xuB_SKDtdwtVDQXIaWZ4SsxWX4sXN0XVnFOqV4zox-_KHN7JjlM_Mi5vt5Qv96N9nC6XA4eIPTGIak8w89hMHdtO9DPh-IhP9wD2BIuy2mNiHo8WKjQBT2disTFeB-XyP9hmjpqwQRXnoKcxVP4uVHHXUegC9CTYffuMNS5OppE3204iWj-1anNUwKgKoVeylUKUP1dK2nR3qWl60onppW_QbE5v-6zU7zSN9w2EIBJJBEHo_F-gWmGEFcGsopqCgMJoTj1fKr1QR3xB56u7t82CWYQ2wUVN8VJC7mcJdlCkmh-LXVYMBuAeogDjlDY33h32k2XD4uGIJjl4ptQBnFUY8nERzWFAT3QdF8L6sQuEqtO_sH3I03rmupOq1zHiHowa-cC-VHhaPde_PWpva4zT35a5Laqv5rbOR5Rk9BPNxGoxeXqzDqL6tzqeo89Nxrp_v1XUo575r2GCOAh7jGNPfMk4WXZ-ZvoaajkyjNQSRNzMFj9ooHo9nNySAjzlZINlNSQ7atDk3FjBPpKQTOa1sXdRO5-9hmQ6-1kEBK41nroD48_0o-2wpEJg3uhNmFnPoQvFElEL1GUVm3Rsh00iCUBqi7eXTXef6aQ3teykxG6zV51kZJDSVZmRnGG6wwrhkbmSVL-DsfUOYAsD6NCWN_NA5nP3QkgW0RrFbNzKMp8eKFUL43gb_R9uZHsm98hzxV-NaTrhfPy_GoRlanP_aH06VvB1ei00mLADyvAatfltQbmyDeW_-gQv-sFIxxlrWKZD8B9vxJiX14ApdPRdfmTrm-aAXfGgBGLyHOEkX3Bv9QEeFf3Z8T1V6PcRvuRAsl9IGtBnG4uHS2aJv8XtgLumWMlh8CvrC_yte9dnKiyb4aAbKOgBL6meljsMI6VBcNggOlZa7r9qccA7D-VzPkHbnwMMsYIgWrY_8jS5ZBxtjCkrwCMOaJZbpQfc2KITMJyiDb53PhJTlvYGO6ohfpTqjZLwBYEMDpKusgrtYjaX53UmWZR6XxO_vkFE6nlYc8TTqzY7Rt2pjZIwTguBfS5jPXdqunCWnGhXmAcbpWgSuc5a7dRtk-fflE0wlNnL62h-GklMVPUTZlnBvsDAGieKsE3DZ8LekG6UasmzK3YUWn68sbsR9OkhMQ0T1xStWZAy1vml187tdxVpBCGyTFJrRQEN74uncOsTfvMvA9jvi0iShrSSWgfndB-9-wWZfm0bwzAqjshCocNPy2EKxmjwfODGRmAfjMaLf96ya5ReZVFGZk-WfM7T3_gt_n2XVdvLT6OZuBzmmBUO3SJyLebsRa5bVXGtdP6doQA4tI5T7Z85cbj7VrbqHR09qgKFgBNpGuTllcxK4ifgf5s5EcggpeSxgUBcXgs5MNHKwjqaJnBMy3HavklIeXobVPS7uokr-XGjnmz7CkLzRLfYmeAc12kvDF5en4O_7ET7FvovLXOWvn989QfGGaOxFXY-yDwn_Nrn4i1OVMwYxwP99SQ0tOxerUfNjVws4JL6kcLCnvKqKaoPu9g-EPnpZIY4hf-tpo8YWSIwxTiW2Y1o4KylqNQoMHkH10E9Oj32K0yvJSdDWSoiTqkYRPW88VGloa_mNYHwSskX7w0-2opV8SQMo_E0AFLoqG38TEyLgzrxFSsEaxmGCEUMmyKR",
  "id": "rs_087850f247bc8cee016aacd1ed18fc87d0a9e8996f7d1f16a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.115,\"left_z\":0.205,\"left_roll\":1.55,\"left_pitch\":0.15},\"note\":\"The mouth is still slightly left of the red cup in the overhead view. I’m shifting it over the opening and tipping the container nearly horizontal for the first pour.\"}",
  "call_id": "call_v3p9rlYNoHddFReZfNlZPdNm",
  "id": "fc_087850f247bc8cee016aacd1f21afc87d091894c88faefbb37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v3p9rlYNoHddFReZfNlZPdNm",
  "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]: [-0.5091, 2.2036, 1.3468, 1.0145, -1.1324, 1.5307, 0.2397, -0.02, 0.8185, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5386 left_y=-0.1133 left_z=0.2022 left_yaw=0.0719 left_pitch=0.1465 left_roll=1.4518 left_gripper=0.2397 right_x=0.2962 right_y=-0.0004 right_z=0.1743 right_yaw=-0.005 right_pitch=-0.0351 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.7436, 5.9692, 1.0916, -0.0024, 0.2906, 0.9206, -0.1983, -1.6615, 7.0632, 1.6923, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad389921f3f72a0fe9c6c9f91e9a147b9ae2dab2d957827848b0b3901b9df2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2fa1234a5471b795ddf020e51cd665d043593d4e93d11879318def56ee85e81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:675f7bdb74069dfb887c82495266a1858fab9bba12df3b2987c6c45ff883240b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrNIAMddYZP2PVCwaP_KWGSXLQQ_KJhtJBywh-a9Y5nPihBTDrs-MBOoahTJRkUvCEFxNFHbjmPVhurR0r_ye_vwbAb4CQ0kmxKDXeKwSqEy0xMDHTPc5pRl9vioVa37u_FA1G6cC36srwcNgRHT0Yl2mpHFuE_2V_TCqC9OHKy17EeQJTmHGpOF328dVotgWNuWZd0vJJkc2M8bfEFXa0RzRK2Eix8DHAp0GVqOFEiYJBifQiyGPeorVfNwqNFS8SL5qi2MyKx6ZTDcp5gZJCBKvgpvWw4db_y7GAHFei2lopNfNiS1cKYAjtnufqnZ2tkqttL7BgjmDn2ODzUdl5-wMDyGgH68XHIZ_F5eHSzLErGGOVwd0UQnhAdvWVwXi0ZPBgneE65wtCIbAtTkeOJ1NbYg8iEwzEWNu0_MP2TWbNgQaPjarmaM5jfpbOVq5AKWBHP1hqViaKoNcc26iDdg0vqno_yiTc9_iJa4zD8OOxxsc8Xmg0PcimMa92JMHX7eofxdxM77h9Xr0LyfrqCQkrYCd2ya4y6qzS6zrbgHmR6824ehf96hAPeDcgiszJ6nkWgSmD-t6qagZkc2UWLLVyvrO20YoZDgir3FfyiTECHjBUqCwMFclOHQQ7dhPoFLgV5I_RgAG8FYe3MGU5C8ovZXk_nFErBOzNsgb-32UsCN3E6bNz5m1YmaxDg4z5NbNm8VFZi_N--nMRLjGdt_OeHlvPD3PXB7vEz4kKS7GvsHPjMHRw4_2cgBsdJ3hy39DS1Z1ff0iIDOr6wjLBpUlCgN-BUIKKGHcqCbGHHyd7g3tDHoBB40YvuZYRSSSD6uf4EdRtZbipPIV0IDuqJjqV3aVxleeKM-kd1iC9UHka6HbVPW18TE3Y1Qa-SKX05JKxJ8N8oQJ6ABPe_Bv0TtlbIK8duguSra_-FRw7bWEvy_xkbr3nAqw8XAgAMDhvdTUCmHM9Op1Y3-q_yjr2bhMdDDKt_zCXTss1q70HG0KJpaery41nPGVpDGx_pF4f28VyyXo9rA9nYuh-CxLgxH__TrhjGJC-VDuxEgHRltCXDo9ZL8E0Xj-dYtOFPM6poggiQ9ts31c-F9eq3q8MHw8mWxio4BjCc2ySI4lHslbQKTGyWgsX8zMaeZ57OAkg612_CZzD3LINND-YfMChqoZ68j1yX-HUVTcN3QSGj35uJs1ex_72bPI_4C0W42h4oj2yQuQvh6qnVVKrp6JcgfUiVp4pMRF5qOuYBuapbRQ6HxCHI5u0BbgOZ9VAVjmqsk4l2G43AO03WgakAR-f-E6w7bi2coMdlUYBVgJOAie1ZRVrs7tS6XLog0uUbtstMsMwpABPM3pc_wipA0apumgBtC1XpGo_IsQc6aBIqqS7nnMfuzFFO2OqHUmyuA7NuSeox0yKLyCh_WZacVgzGKjru9B4uhfl9UJwvUgdNGrw4-jwru2iN03AlskSQoxjVGoKXw0AjW8nBnEMiwGO_znF2LxQbkzXEkps-3Ra3spuVC-U9vIhgIT88N5mD8AuHqn72BtGVCtqMbP6bLvX_YdQJqFWxJTfR-xi7RhEQmBNRNTxy962P1apipAIjQ03cczaYE7JYhHmWykvvZMQ16C4OFz_5Vop59A7ePs0OYDQgWYr2lCL9JideGHONnWvwv3OhrRaLE6oSv9ieJ_uV3R17NJL3PK87tOfLLsIhvUJtR98i6EQHSSPvPvcRxH-RmhHUaZCOiE9PhWZZxK00vEzVASsZ5MTd-0aeQDSCweT0X_2oAaY_y3TcqTSsOPkb0AWeJEK83kBzDlCeScYWZ07z6YytMgfNwASbR49kGANoGNrgdBaGTCkXZptQsu3TT8jQe_K-9BMyIhAeaTrEY9s9_T-CSMPT3zp4uHsGLC0NLE6HaY1VzZPsl3VVOnN8Z1Nztp0Qu3UULlgpd3lEA0j09dDpB9snwGqbBy351RtrOow0eBDal2VigkfNXNLwuSY-vgnq-eXqX8pJ5p_wUkLYhexTDipgJqcvZUU7pePcqZJ5-rWKiclO5DA5VffRjm65LEJHQcMIYsBG9vyuW-7uQLu3NzE0rwF-0NA3yIG_6UQ33lzpKl8LW7gY-8DwqSanc1MACsJvffUHH_a2eBgyPh1lkEw-MXpeFOjZ0CdvU3_l8lIvO-bvfeFAlmHX4T39MiTyARUWoIEsfBtxeKETcMvf1JVeqL6efWEGZkQHLlwpmlAR4L1bwuogxIMBd3PdwXPuHpSxJOitrNtzIamCkob3S5o-bl818DTuIUrwBJeIjdL01Sv2KiOIW7_sK3G7t_KzktpwZLz86B1ey0x30tkZM5DMteRv5xklHMMPv-cxdiG16R_Vf4rKMwJo0BTF9mugwTcL7-6Hx_Ozmx6Cl-3MsYoCheOVrD_-WWZbH_cMQ8JyHi8XE1YD8yGG9ki9lzcl_B95h0rBT97R9T0KoKXYZi21ZBOy-eoCFhlQjJmu_tbk6O-8sz7KCcnLCirXznWFF2qG0x2SbipWXA5aLV1cKqsuSd9vzDDfcTTbZ5UMIxD5hKUhdV6PpjkEA6vLPwQp7RbG3zbn4_lOVkAWElEpkt_fSHwyI3Rc7cElIwIq1KwFWoyxgwQLwvVBStke6RdCPWsEtfaDMU3U7zkDawH1eXnzxVPP4ooWGJZwI57ppFK_F8UwVz0YdW-HpX2eXID3iewEJ5UsPhRpIrgx1nhgSPXgnTrWUjxC46idpg8hUsga72g20KBaaskRkv",
  "id": "rs_087850f247bc8cee016aacd1f6288887d0a70b0e5bb42ca092",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.16,\"left_roll\":1.571,\"left_pitch\":-0.15,\"left_z\":0.21},\"note\":\"The container is nearly horizontal, but its neck is still a little left of the cup. I’m centering the neck over the red opening and holding a full sideways tilt to let the contents drain.\"}",
  "call_id": "call_SoxI5zfT1Xhm2mn4ztTyWvDX",
  "id": "fc_087850f247bc8cee016aacd1ff639487d0819c2be6612b5bd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SoxI5zfT1Xhm2mn4ztTyWvDX",
  "output": "target for left_roll is outside [-1.5707963267948966, 1.5707963267948966]",
  "type": "function_call_output"
}

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]: [-0.4999, 1.8698, 1.2636, 0.2798, -1.0515, 0.8215, 0.2384, -0.02, 0.8146, 0.6086, -0.3847, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4991 left_y=-0.0938 left_z=0.2237 left_yaw=0.0749 left_pitch=0.0929 left_roll=1.0935 left_gripper=0.2384 right_x=0.2961 right_y=-0.0006 right_z=0.1754 right_yaw=-0.0056 right_pitch=-0.0309 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.6342, 7.2821, 1.8926, -0.4029, 0.1197, 0.6569, -0.3487, -1.4154, 7.0632, 1.7509, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.16,\"left_roll\":1.57,\"left_pitch\":-0.15,\"left_z\":0.21},\"note\":\"The last command was rejected at the rotation limit, so nothing moved. I’m using a value just inside the limit while aligning the neck with the red cup.\"}",
  "call_id": "call_NzNDzHEtqqk1WBCqSsvvIWiF",
  "id": "fc_087850f247bc8cee016aacd2026b5c87d09a42c956e0bce27a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NzNDzHEtqqk1WBCqSsvvIWiF",
  "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]: [-0.5865, 2.2192, 1.589, 0.2775, -1.2007, 1.3392, 0.2418, -0.02, 0.8185, 0.6086, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5418 left_y=-0.158 left_z=0.1804 left_yaw=0.0718 left_pitch=-0.1655 left_roll=1.5893 left_gripper=0.2418 right_x=0.2962 right_y=-0.0005 right_z=0.1743 right_yaw=-0.0051 right_pitch=-0.0351 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -16.3214, 9.4154, 1.7363, -0.2418, 0.0806, 0.6764, -0.1983, -1.388, 7.1726, 1.707, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a389a6ebcba4be0c6b43a16126250f77aaf866e333075bd5cbbe9550f547a5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37fa9b62a86edd2f1c0fa72c047a0280e997f683cc18c59b8e353c1e73190e03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:762a54fdf8a98ba3432ca57a41f1aba6863afd7edbf364c91246e10db6a2c2a1",
      "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]: [-0.5091, 2.2036, 1.3468, 1.0145, -1.1324, 1.5307, 0.2397, -0.02, 0.8185, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5386 left_y=-0.1133 left_z=0.2022 left_yaw=0.0719 left_pitch=0.1465 left_roll=1.4518 left_gripper=0.2397 right_x=0.2962 right_y=-0.0004 right_z=0.1743 right_yaw=-0.005 right_pitch=-0.0351 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.7436, 5.9692, 1.0916, -0.0024, 0.2906, 0.9206, -0.1983, -1.6615, 7.0632, 1.6923, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNIV_ggIrO95327xh_-jyrtQR8S5yLyqk62nO_8vIMKPfKI-4Va4mQv5oHlRKbnHnE-2YRYWAvqs1DBZQ7Fh2B8bhGN0jUwq4muN6txbV2tk_RLGgf5eSXgQDtPtUrQWmFZXYpXNEqOgiURrwgj5P0RjfoN5YaQmfodeVqVFgA6RB2dKioLZluO8cBK1LZ8uVaAc882cimLywjOlc9WRGb6enIxV6OFaJPv825z4LG3NdNHSMdOqk0eJVK3XO8d4e9dTqZ1wI9fKxrtYsyUtOr6X8xRJ2CCyHXVowvHJL_eL3U6Pf9d2CCsMQLop_bm18NZmQ5tdyiiZVN61Ds0X_r7R6Oo148pB_BUOwMqPNg2H8oC-8As3pmru7jdDxTepZZj9SvBUHptm0bnnkB7dTemRvhSf7YhMT4YwXHbr5nGe7ZUJpkJI50MbaVASUcyqRdUPG2eH1t8g4p2f8IO5dZYia4CxbZ4FSMeo09AGNJ1yjEM9XK9YsDXn3-oNjwzRyKeImmPMe3aaS9MIMERjP2g4pxo7vCQISyXgTwWsrHLjsIlWLqzWTfkf6l-o97efnD9qnfMAGRcnBXhRRNu4ZcXkuTWFUxZkIH0tRuBEHvTrWiD1UbyJfdcTWcgRY4LABDGSwLFFZlfl2KQ7MDsbJQe48vHI4_chIci5-ynExmlB1KHanQ1wyxp-gTlFu0TtrOspCOt66YPQvjeBhb2sIXUaMeaRzN3EIHOCSsGZgJ9OG1iADK0ybDFadjxWbIkwOlgZYrFIHf8kIpDhB93GldnBh8bGBfNjgWEiSWFRnoqS_xr9Bd6RscH9j4SGCT9IHSMrjh25ZRfY1_CD7GfSVa3L3wVXtH0tf7OJOUZz4IGcbYuf4S9P3KTSzUWDRpRMwj4yOCNcKSxSWGHQ5HFvNn83wQ9UZm-FjftSCgrzgD7fgp04oj_oRjVJq39rJVTeXkYdZDZ-YEONkATx8VJ1IuBvnqNz2L57SWVrSBHllx4B0lijZrBgFziMyHxQupeVkQkSASx1HdUv_Fmb3ujsnjuQCXjGNa2DFiIQuMC7y_-IoRtLQd-i7Is82M_i21SShoNSwPUFypcQ5rcxpxgP1n0isdPO2oQthhela4dANhKb0m9Ou8pZdE2LatpNJblxc0EpCmtXG9DrSVFXP55ucaTe8U3OZG7NYX2DXjfAfx0IJ35v9R0mO3MEgG-67PDeYdt5F8VIHG599K1KGQ7_yt_q0Y4ZQ87OO_yx-mFGSdecN6fBS841RWqM3wj0Qvsw0CRh8o2UBVS49D5bYFL_q5OUjpHsG3diC4ABuY42cSKcIcnqPcstzExD-6xm8Y5WGbYuhuTD8zjxlGGuEUeOfySRjhtlAR-8Ly8YP7CPZWK3OuvgQMLWmew4PdXVDT0E7L1Je-6Hhu3PQSkTNhoiIEzbXS12Qu9xdvpky1P2FW1oIzz26hfOl-GNXJYSBGE9ao90BIqEKMGhPtYXiXyFHahHCqnhHHqNM5UOGZ-bWP6SYGWNPnR_FcMYU5bUP-8ocAzzDpWx2vZNmDBQp0ylupZi4N3X4v2UhvLyO0Ltg9TH0qjWIHpeUqTnX-Mh8OEXzSS5FTlER4LLDTn_eQRMUFP4EmtOgfdHVlLO7loJRZbJwzWABr0n283syUw5UVIs73g5WzqUc1EFf1cMJo9MMkuGGpHRe1aFzW-XFvgAHnNHVhDPfGthNkRCrEUDMBBXx9YhAI9jxy7edCgYae1SacIK3hE5sCyjD5JpNdeRKhAHgXIehr5oV8brX-ByGGCbjJ84dATOwsncEiK_1zkvBKFSMlJVbPt9bwL9C_iVfxK_30Gft-ipCPDjV3SonHAAnPt0TvAaZ0JLwqmmGAn-GBKrAFfqj72WqPGSiau_Eb2Fs4Y-3mlHI28x7mdOl8lgj9WVKnOv2bPEFj7qQ1iY3j5zf9UtojCbbJ-0laJk2N5dpFJulKCj0qMtDtcHcdelxvscDTBhIEKnCsbj9zcwB0D-drMq86rQ_skrMDxvUYj0c0KzM4fexq30Iz72830jjzqjRI-y_0-HCswUnCuHxe9nG7qkRE8L8XYlfQ2pasoxGk2HRuPOM9P4o-Gif3AXW9Gs_NjQ2md_BgCptIS-yGI_u2iPySwy1-AqDzrDRL-oAGK2Z_0EZaM7Yx0pVHM6rCI7qkub4-eIX57mhr_dVc5DxbJiqKJNMrco5PastthV3P_C-CUsz49HrfANSv26mSujatKX-sxUza4zoE-8TjT2UhXohRk3zyjiULSb-qMC3c3Hyrei3j4_j7c8vsE6esfpbvIKQd3AymGd2c3QxlVKQTKJfMYNg9HkCOrrZTIGThP1Uy0APP3sSuYzTmZCRHszwozbkbicRT02H1YB3RA-P6vLF-H0zDrVUeT17uBu0OuuSzMljwLOTBnDzd4AAZ_nwZcG6RLKRTbZMjlXQejy0IYde4_iW-TOTOiF5hQNWGOMLT2QQyyeSqQ_5HKpRNavtSpFgjpKvRatbH9kPNm3i_f0HZzORtb0qeUxtwHvZQ235d7evNNKBixOBAmtjYb-4ylSu8aTwfmrl6omtyoAHKe7UNtNPtXASAQ4OcQKc4uNOiaWG32hBLSPm0cQIr-2XeMlyYOFzEPud5P-_SdU7yNI9h5iAT4WbhUd5DU2nkYcot1u5iF3d4v17hBqb0t3Yrk5ae4huBRj_WtgNCOx3vqwZ7Wb_fvws5Z5Uj1IHdUuBg6DKbMIKEM8iFJQWwWAeIf55Hx0buPEEgjbVd3jX7gEKGo_t00THOh5OAW_ip1zKiuWTTm4FUKml6KjbEi4G4Iy6CLsgaRefIqc6WKtGDpyM2AnPfcSJQwCan5PZh4XcmDQ8r1gbAH8uQJ0rwl2G_3Ts3RnuM0IYdsuKOjOtsN6WOuL51fwkm3msoWA9jIfAAI4nR7qcNr9q3tYskluwTm7Ptvz6evNlTRpY6TDqQ8hj5c4A7Ax2gc6NimHdFbHAINfQyfxPLUwcrms-cyRuMU5AW5FApUU8N2YlWiJyyyi-AOUW0hIMtFHtGUToVW9lmY5TLAd5cVAjkVo8RxYcPRdfJoJzG1wLja71P3RsKqrFZDynZMoIxBXFBVgrlmpJttxJ8qR9DViDv7vetuiek-BrQeGVStwh5zbFyOFN6PFKwLjjfbpdIE1BI2ylrX_Vootyb3J-B2wma2Bs6MhMSoypbUNdV76OTD0XiycbD0eVon31dhYQ0P-uyt3ApLe5jt1FiYQ5bj0MNOlol_MV8ISejyFhpkCM_t3qei1fRCTvSupvosSg8fLH4JNC8TcLI13LdVSsbrIi8sUYl1nZvGK7iELlUe-Vn1vs3eVfngPmOu8Be-8N5ttW7RbQjRrQqZ9AYu8aprkz9_itNxBB8VRsh2dGhm8coKoIxzH_xIKZdx_s57CIkqChVLyZzWNLbfuJlQhivY0k8lWtqjyIV-M30RgOChoxrujO_ixNJdf0OCmxpK4onC-TG9kP2-J5TTP-vdGO8DtcU0cT_hCrqK3UjTj60nhEv5zkiaAXQ==",
  "id": "rs_087850f247bc8cee016aacd206bc3887d0b782ec816efd6b88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.29,\"left_roll\":0.8,\"left_pitch\":0.1,\"right_x\":0.297,\"right_y\":0.001,\"right_z\":0.185},\"note\":\"The left container has been held at a full pouring angle with its neck above the red cup. I’m rotating it back toward upright and lifting clear before returning it to the table.\"}",
  "call_id": "call_9lZTBkYbU4zA1MInYUWjBc4y",
  "id": "fc_087850f247bc8cee016aacd213ff9087d0abdedde219a222d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9lZTBkYbU4zA1MInYUWjBc4y",
  "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]: [-0.5549, 2.1315, 1.903, -0.3805, -1.0069, 0.4591, 0.2425, -0.0189, 0.828, 0.6167, -0.4152, -0.0097, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.546 left_y=-0.1586 left_z=0.2446 left_yaw=0.0736 left_pitch=0.0112 left_roll=0.9238 left_gripper=0.2425 right_x=0.2936 right_y=-0.0002 right_z=0.1692 right_yaw=-0.0048 right_pitch=-0.0668 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -16.7316, 10.0308, 1.4383, -0.1001, 0.1148, 0.3101, 0.4855, -1.1009, 10.3316, 1.6581, 0.0073, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a170977b3901ba493c73d1c302196a80163ff56536bd5a102f104bcc60c135",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c542ca068b7760a64a6d21249dacd7f8310252256dcea83845fdbd93ba8bed2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6a00916226b0de53d2e7a980a866437264a018c0ed3b5f9e561eee22a29c127",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 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]: [-0.5865, 2.2192, 1.589, 0.2775, -1.2007, 1.3392, 0.2418, -0.02, 0.8185, 0.6086, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5418 left_y=-0.158 left_z=0.1804 left_yaw=0.0718 left_pitch=-0.1655 left_roll=1.5893 left_gripper=0.2418 right_x=0.2962 right_y=-0.0005 right_z=0.1743 right_yaw=-0.0051 right_pitch=-0.0351 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -16.3214, 9.4154, 1.7363, -0.2418, 0.0806, 0.6764, -0.1983, -1.388, 7.1726, 1.707, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNIcQOW-9YNoNe8nNoblNgm8ApSywMWRRFOGLaF9b0bh6kEk0Zxt0cO3oWPn3Te5bqInfQ-fiGQdufeklTLJK6RXD_h_u1xAhZNjWbi7dQJJawYzKJ_yfz1ZIllKcACaEZgWKMEC8W_oa4DNoQahSiZnt-2-5BwrsVBXh1YhAj4YujU6pC3-1CeBwC_sNUYCt1tD-JJUgUjvIELLbd6AkrT7SGFNaNaobaBtptJOX5txqqTYp2OK7k3noUv7H6hCnTfgzdNsycUtyD65pp7QKv1nC-rG79k1WXGpVggfqsKg1j75eviD6fpaO5gzmYWAu7Pjy9SpQUxDMkYwCC2IaB0xOGzrWwVfAgn0XHYnLIEnffkL-24g8LeZtMGFT4DXKRY9zB4m_q8LnVS3aY20t2CfB0wfubnXbmfCMtjOkvtXBbMpn1kApuIdg0nEXPmwiXyj7S1AyF48hAP4T1oyij3bWR5QpQ_GJV71RjEgv_7_8xKR_lFx67ccG4XppRcMdnMG9fExc2C9qR4MEnGSsqB028cqDSHKgvR_6sXbWoAEtMRm3W-Gy4Zzz5lLT6W2O5nS7z5Ce2btG_yI3-3DqX9TaI9OWB9Of3eId5DsCXW1aydBS6P7Vwa0QzoXN9FHtkLk8d5IRnOfOBsIU8pMK2EP8eyciLVjrYw1IinEv5EwxTLUYAybwuEN7YNkDgBZkMOVqkiWbr5TU63pXSkmbvotsBirltTSSLSEPP9dW6NlwWUqYtZJfZh9sD5GV3lFdV3vRgyesY7dj6hh-dWqX1hMWQy5MVkQ7PNGJ27eMBsxP5n0RQ-8NsaGqj3WK8T1-ZoY6TmlNbgjuKFUXwnZWltKFmBJLa0yipchM_bu2IdCAImtZF6znCGWjzN2eMuzotf42O7jcuM9bmEle8F4UTFxI6TqduW-nWP2BVpthFw41HoFZ8Pkzf9tNfAlrOFfjS0gjMUOkvuW9jcLA9keNb6AUXS1T0bUD4llqLoJg0AZHJYqWscBYGCudcxUknBOZ7WjnhzRsdXbfPQHgVmdgKnItl-eDRnPeTRg0hXLz3oQhZ4b67iKZ2wTCKTaoCoTSCnMxbIQxAsGOca25xlri9pdv-moqQwVurlBi1A8V5nouBw28zoVRSS2rDpTl8xn1Xm6P_b4bKyT9G8KLjDCQe5YNBr9meUPAiALejIuly4wKdDx1utU9ECv9k2lus1EdFCnG-BSm5S1v1Jm7UgUx1OoKtA60_Q81LPP-fs2sZjOeCYl15Ifz4LTvux_xw-cl96kpMqQYCKQRWNLrnrKoWIMGuO7DFX7hes3hZLGNvcV1CWB5nEUw3mAWAxIr24DEskFn3q4XEGGgBWdF13POsDQIBD33yIifCTIl8LMp3oRC1iEz245YSFMR1IANzSpgLMFlElK9K4ST4RoCtyNyJrPXBNUMcsj0IgOxq0CFW6PF4UPHOzygG1TCAywpvNDrPauc2u_vu5PzWQRpZ7TkskvjiPrOfe-vzYzkJzQoj2SMjAxXqBPlbDSoJ49LfQ93kseTIB8UAhfjoDvmOtrwKSsQrkIgVe27zq_Yajl3g96_MM=",
  "id": "rs_087850f247bc8cee016aacd21957a887d0a9ef97543729c762",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.12,\"left_z\":0.31,\"left_roll\":0.0,\"left_pitch\":0.4},\"note\":\"The left container is rotating upright without slipping. I’m moving it to an open spot on the left side, away from the cup and the right container.\"}",
  "call_id": "call_ztAtq7YXTVP4SSlTQUnGIjgG",
  "id": "fc_087850f247bc8cee016aacd21b133887d0ad512573b10eb1ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ztAtq7YXTVP4SSlTQUnGIjgG",
  "output": "executing move_to over 16 steps (1.6s)",
  "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]: [-0.6609, 1.1397, 0.8963, -0.0402, -0.7517, -0.112, 0.2419, -0.02, 0.8314, 0.614, -0.4221, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3552 left_y=-0.1188 left_z=0.2955 left_yaw=0.0561 left_pitch=0.35 left_roll=0.092 left_gripper=0.2419 right_x=0.2924 right_y=-0.0004 right_z=0.1657 right_yaw=-0.0051 right_pitch=-0.0797 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.2325, 7.4735, 2.1709, 0.0024, -0.1099, 0.6276, -0.0068, -1.5111, 7.4188, 1.7607, -0.0366, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa2d4517f2b4e40729b800b5bea393aba4b2f59ec06d121e1e594210ec23ae58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3d2ddb8967ade3274c12a6a34e3f65a880062007c566296e5d2be300141bc9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434ef6637a7a6cde5ec0d392cea5b43ce1638a60212537e4dc64068656f534c6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 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]: [-0.5549, 2.1315, 1.903, -0.3805, -1.0069, 0.4591, 0.2425, -0.0189, 0.828, 0.6167, -0.4152, -0.0097, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.546 left_y=-0.1586 left_z=0.2446 left_yaw=0.0736 left_pitch=0.0112 left_roll=0.9238 left_gripper=0.2425 right_x=0.2936 right_y=-0.0002 right_z=0.1692 right_yaw=-0.0048 right_pitch=-0.0668 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -16.7316, 10.0308, 1.4383, -0.1001, 0.1148, 0.3101, 0.4855, -1.1009, 10.3316, 1.6581, 0.0073, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNIoxZdJuIz2Qy38rn8KYQkgets9IhY_wCdy2k76hUq-FTFhkPWLss1EMN8H2wjiikRYlrJY89dz9q8CyiOU-vEyZ3yNj06SDk_3o1rS-DwLNxf9BWsFTAYFyQOLHHVmCh1cyyQ31ytDZRHOfanu4hcyBUfnayUdVOwgwYLexR76OQ8PUamcnV_HmaX8pm8-9O3FfvvFFZfRqMH_pX5Bbdk4O4PRK_6Vzk6wM6RCxljpJH6jFfEDTYxG2Py96f9oBpiGdDtTtokAW21aySwb38bG_PGoeTcBcr55acGszc4kVfR-z6i0oqjF9d36puPQC9XVIVEKe9bH2Mu0dKkzajzCnIIi-a94pvyoK63W-6pg_yyfJ7QWL1dUhDKt9io-Bc6qAuUvZ1KZR-FOyUbbE1aRneTG3yhqFiR18OvP8m1ujE_s9BHc3tDe-IFvfZncvClkEZYsAWmRlICYEbvBr_qrfVHc3Vdqg2r9BORxMR5MOnN_364WubE3U2BdkB_xotr35Byu_CDpHEGH6dw5pDRpUplZtUSiqWiTizsXNg_R6Kch7BKKBzPVEfIKLI3ixEAHItzvtEhyHjpf1H1fRAhgiBaH6AjpVtnM4LNE2OMmt7_1QnMFdC4ez_ECMES4uRc5P8yFRJuHJGbAwTrm1bLoqFghFcMsqMCgijXl7rWhhyc4tajNkrw5enN6LNYliq9GsqllB97JHGP2udV9f-YmCq0nz6UH4HkNtEP5ZoC_ICzTNRZZAXEJVcspKQDrfxeGuBar28bNu-UPp3h3nZig7CU_kFibXZh242uHEB1xbWSGpDIgk9XAAVKrLOljyefayMSmEsolL8B2IiEoxD25V3hnb_N6MnDyRi9Cm0R8ADghJ_8pMhI9fF93aJu38sl80ICA8bxT-9F7Q2PNfvqBztQ0dUMPvAaMAamssM1bmaQV0MRPyMf9oARl3plGLloNEOu0ewexaISNGkQs63PwjyNuRxC3J-Uvh9TfW5Y_X9b1_BP-Rs7BQPNC3YMBfzRPUYtIqPLPW_XhNKWXr4AlQw1e9GqGF8sntws0fuy0QMQYa0qonj5U-iQJWLa6NIt3KRMj9hIBkpyovhbtXdYcByHzVPkQ0EjZOicNRWuFU9JxEA7cBQAez3uA4lsT09tI6BXcbG7xDqYSSzLhRNbmrXtyOgLQmvUp12XuYWiSIMwl9cd1BfrWIgddtGNSk6GnpkiHff61y2gC9jrBLzaIaTvjtU2_A-uBtUf2ycz-0Y08AdyFlJA57TOgDoNJwm-vyQcPLEjsdwv3kVwuF3tA2nmR33733d9siQfzqDMRlCqRQx9YhGj9fG7XQTLdmh9QqNDnqh4W5n1LfGgmzYTI2PH4IdWIhXCzfUn-p95x_15MPRPFKoGNRQKhKlO01S3xMbrGb2NCk3xBmey2d699WXBKvHDBcyXo6hMGfl0-baC7dhzK7m0Tak1lK2XjpcUzafWuI3k2Gh-7VCw_51p1v1wvdPZMXJL69KhN0kfgnpuieTbUspCwePXwt7HsFGKJKyEt7ifxWIQ4gmYoyl8-6QAz2T86_D3FIOsZ0hoj8OpsHAPhIn7yLkmGlLnuWZfFUpdmm1Cg_8NY9zjTWJ5grjGpubaGWx0LYmPhrqCUhe9HZLHFETFSCJf0sgD_BIqli-TW9zu95uJKO7iqCy-NmL8_mqkaCn9YaSc1ZDy2ExFJhQ3ZKsly4Cky6SLaip9CuWoocQywAgTZQz0dx_-oTaJg8VhnD6-FcaVjUGJ0btorc58DmIBr2hh3uCXK7T79GpPb6g7f0LSNGnxFurYsWEnHen4oW-1Ex26vYwGZdfzY2OpTPcn-r3Q5SYJIjlKQsMjLqrOpYZT3wIBRMvLjXA==",
  "id": "rs_087850f247bc8cee016aacd22356b887d0a6d785c0eb32463c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The left container is upright over a clear table area. I’m lowering it until its base is supported before opening the gripper.\"}",
  "call_id": "call_kMynNNypL1dIirhWpPgw5cNq",
  "id": "fc_087850f247bc8cee016aacd22728e087d08b6b3dffcab8dd73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kMynNNypL1dIirhWpPgw5cNq",
  "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]: [-0.6643, 1.2465, 0.5537, 0.3321, -0.7414, -0.1196, 0.2424, -0.02, 0.8314, 0.614, -0.4225, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3516 left_y=-0.1193 left_z=0.1814 left_yaw=0.0313 left_pitch=0.2898 left_roll=0.1343 left_gripper=0.2424 right_x=0.2924 right_y=-0.0004 right_z=0.1656 right_yaw=-0.0053 right_pitch=-0.0801 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -4.1641, 6.6393, 1.9316, -0.1734, 0.0171, 0.6081, -0.1983, -1.4701, 7.1043, 1.6484, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca403b205ebf5c909f2f8ee9fdcd31a8d8f5ee626dd2d43dc1f37aac63461f65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8aa307333590f7862425e556937a249b7f25e01a78d623aed7eb57a8898749a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0dc33b6c32b81151cef09b1baddfdaa2855844e1cea6f8db144ba629e7d1878",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 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]: [-0.6609, 1.1397, 0.8963, -0.0402, -0.7517, -0.112, 0.2419, -0.02, 0.8314, 0.614, -0.4221, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3552 left_y=-0.1188 left_z=0.2955 left_yaw=0.0561 left_pitch=0.35 left_roll=0.092 left_gripper=0.2419 right_x=0.2924 right_y=-0.0004 right_z=0.1657 right_yaw=-0.0051 right_pitch=-0.0797 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.2325, 7.4735, 2.1709, 0.0024, -0.1099, 0.6276, -0.0068, -1.5111, 7.4188, 1.7607, -0.0366, -0.0366, -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": "gAAAAABqrNIsbVqTYy6PjQgbNllPDoJWstBTHE7fWDPeCsqzjRXM1Tu79liVGmcjakQgWpxnmMgtDPe5AW9cuZYUEMY40INgHjvuIWE5c1LWnakXMSNDOHgJNdWGLngqRNNS0oufukp3rPw37YyW7bxQvIg6kwWFGuJsvvlFb2nk0jXkh-frxNWpuJ2ZjkffPnMAonQcGu1Jnvk_9FiwdWyc0vImu5f1SFlNqTtgCIB0-gCGJVqs4D_cY_6BjraEHssQd5UA40zv_fCxBFL56PQFYg1bxPsKMWSH17r0nSJB9Nf5obpEqGnzCiYND9Ttm9CqgjNw0XjcKog3IN8CyKOPhBGIqLWec17N2oazgbRPCaYdmRl7Apbc4Dg6WU55mO7D-sRRpO1UKVEEatf0A5fxMeTvHdHG9x9wUBUhvsOAnJ-BUcS0ZifZJdkEwrWUpsseLMU5Q5irTSimGsjkxS_Vy_o-R2hW82VammzcEQHPV5oD1ht0SmNYb2T5iRP79hXNMxBJku9K8gJRePR0WTZtVu_BxaXTHOzTg-eB4hLnv1azJbNJc2QGU4m5MksJg0AiMyCk2TehlZ42U_FraNShlvXYQi8mk8207X9DSTKjXBYd2RUm_MxdJAH_fBtlRXrJQGmdufYlo-IAlIbqjutSYt1RXQpKK9jjuzQr9LtuGzZsyKqHTPeZ5HjsPb_t4sBUKeOO2b66leug069cg1HHDnACkYaO2SBcBkMCISAaWGLSKCOaR19UWWdFJl6RIBtOWOdajl21UrN9nAmbjIj0dgsROvR2B9u8B6oE7lZLMZLQdccu8N3hUfhaTZt4eDavb2T-h_f_cu5E5CRZFp_f26m5n7pOfYTGHIAOMOVkfOu-YOvio9EjxlZSe2XelpvHr6rf_Av1tTBHPTsH0SHaEiGZn7PAjP4yQ_4q1U1cWeKpZgrrR8tqUpR7CDIP6_pNsezfPHmeiz1xiMPFmkvcu9fHYKdXPc5HJ3B1sR5WsMiOiRbYpeErCVBl-gD9ki8aF43VAFi3tK_NpC6lDW2bkc7evlVPWH70VE7nXCz4uksBkAPsMtKf9AbV6qrtBy6FW4bapi_pkB1EJfP5gGVnnM2-_u6S8yzqmZM1M5W_yq475uxd9iwtAfUEiVKUH7TFwpLOFYBhmE71nx5LMkD5nHPPJXhcJcjRSEiebPWbFqm3LgmYL_to8a8LgdfjtPdP5g-2T0kn94HB-6f3I8XIKVKD0tkSIf9_u8azq2pRr7d3O4nWKMWtQM6nlIXWGc0BTo-7ptIeERU5VlavTLw_ar7cI5r2Zg==",
  "id": "rs_087850f247bc8cee016aacd22b4fd487d0b116a85f4cb4cbd8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The left container is back at table height in its original area. I’m releasing it upright before moving on to the right container.\"}",
  "call_id": "call_MWyzjbHEzrLWokUa5jNHB7Li",
  "id": "fc_087850f247bc8cee016aacd22bc9d887d0a1f2e3d341f47b7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MWyzjbHEzrLWokUa5jNHB7Li",
  "output": "executing move_to over 8 steps (0.8s)",
  "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]: [-0.6643, 1.2568, 0.5339, 0.3298, -0.7395, -0.1169, 0.9955, -0.02, 0.8314, 0.614, -0.4225, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3491 left_y=-0.1176 left_z=0.1694 left_yaw=0.0224 left_pitch=0.2641 left_roll=0.1579 left_gripper=0.9955 right_x=0.2924 right_y=-0.0004 right_z=0.1656 right_yaw=-0.0053 right_pitch=-0.0801 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.094, 8.2393, 1.7509, -0.1734, -0.0904, -0.1538, -0.1573, -1.3333, 7.0496, 1.6435, -0.0513, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b635d3ba1236dae7f47b0b661cd956725af79cc33fd96736f6370976f4781c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5236ce3b98a63856853cec82b59f0511b0a211d64793837af0875dac66a74bce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df9bdca52864981e116a05e07796cf6e7c299f9e54de305a337193803805fd5c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 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]: [-0.6643, 1.2465, 0.5537, 0.3321, -0.7414, -0.1196, 0.2424, -0.02, 0.8314, 0.614, -0.4225, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3516 left_y=-0.1193 left_z=0.1814 left_yaw=0.0313 left_pitch=0.2898 left_roll=0.1343 left_gripper=0.2424 right_x=0.2924 right_y=-0.0004 right_z=0.1656 right_yaw=-0.0053 right_pitch=-0.0801 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -4.1641, 6.6393, 1.9316, -0.1734, 0.0171, 0.6081, -0.1983, -1.4701, 7.1043, 1.6484, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNIyEmNtQ_8B_6jduwwtD486QhPWRDPoyJw8DcfdYYfcpG-fW4T5RhBB7_IYsTwVV6Bc5-vslrwLF9vjU9ETksBQcHPf3EO1ETh_BSCa5aS21PJ3U6dqGWu_LVgkrXVlA2KI4plj4zTK4_6i-2W6siCON19RRXn3FJii1zvJlOesAoR-PawhsIP1RhadHi9u1CufEDVCwiR6Fz2cSDLI5qzYpDZQZDX5ixkoqKkSI0zQxRe_9-1uJUzZXnaRU8OTCrwgqxuLil2FHNCQDdavMDzquxA-2oE5U-cEXrJaqKYxTlnZSxCUAP-yqQ_e2WKOwJu0mPEntALu8bFpvjxST9pHPMh7POl7Yv2JunTlXEp9pAJqNTsHJoG2ErAN5Qg5DgTQ5sSbXxrBFAtJmasv_t5eXgUxh-P_otHDRpN6fTBXiUqkiYwDQuAqFx6SkGtMlYxM4tA6f7IVG2LxxGHhQ3YYlPRYJJtewQSgANze7OUKSVtWEw2rzENhqgYoOPxD4cyHYVusnGHQN4Vg8uelG-WxzkI8EdqeI77kNOOlNcgbStXgBS9XmvzN7GofRTIzchx9mpX6hTrQd2PN454dT-aeV0O3UnVazPAEO7jlWrLVfdukCrAH1EXwUFfDLxRAoQSBNZxB4w9gAfGEBffck66w21jc-sfj1T3Pa_7TeCMdj1G5BH2xHEtBvhO5_JdjDn_kPHgTMVPNex3gCuazrX6IWx62ff1JxyLgJwIUhDOJgJAmXfnP6w09GCbGLLI8eflH2qRk_I_bDvohk9Lo90hnFVF5tv4va1xu0Ky1DB_rKePjjS56CZ6DmCOfID7ZCliZmZ7JkvIUJaCT0ov_EyYeXmYaNkteMm_jKLxd0bhw7-bYj_YgLz4ZGhHYO_szVnL4RHT8Wmb5GMQLd62BAGPq-ypH9uxeD5T89WHFhbycx_-xPluPft88SkkrNov-m7UirWntJp3CIi9xgR50CZT1utihVeHKhtUtRvfNTEQo6kuJW3M632NJEM78ebS4khETthkxa5tMsG5TcdE4qlOZNZO0fB-xGtCF4F2efYlS0gO39Ri-fNJvnIBkmMNNuxUDDTl9nUWIirnabR0elF4WkSYosJ8ArnjpWTueOcN4thD62Ai-p07ktfbJOOjdYWvX3AjaZcF3mICsSpI6vMCIVcapS-5Wum-YhABlK0cST_vt7DVZjVdllVupwm2hFQlyWW6xr_tkIJLS3TuD7qMQD_lncdjrRh5vESK5kk0E8w0ZRvTB6bf5zSIazKKO3FkeCjvmSTRkb6M_Vj1fTp1FKS5Q2otevW8_wRkY_U6GRzg=",
  "id": "rs_087850f247bc8cee016aacd230250487d08a5c73e036784d0b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.32,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The container has settled slightly to the left after release. I’m lifting the open fingers straight clear so it can stand without contact.\"}",
  "call_id": "call_qTFHnrZZOGRf6BFdWjPaEmYY",
  "id": "fc_087850f247bc8cee016aacd230f8b487d09eec26b5c4b99168",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qTFHnrZZOGRf6BFdWjPaEmYY",
  "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]: [-0.5705, 1.2636, 1.3449, -0.6659, -0.5236, -0.3305, 0.9967, -0.02, 0.8314, 0.6136, -0.4229, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3574 left_y=-0.1201 left_z=0.3204 left_yaw=0.0339 left_pitch=0.0602 left_roll=-0.0079 left_gripper=0.9967 right_x=0.2923 right_y=-0.0005 right_z=0.1654 right_yaw=-0.0056 right_pitch=-0.0809 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -4.5333, 7.9111, 1.3602, -0.1441, -0.022, 0.1197, -0.253, -1.0325, 7.0085, 1.6874, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e67f7ee3cbeff95cc93ff6373376bc5e622c648aa6c67cf63b10b1fdcc51053b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fcd3b54c5555c68c1bdab9d7aff033099f253a80516ea3dc8ce14934db19454",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:413007bbb11faf58a669dea6a6e51049775db3bbaa908031f2dab956cd06512f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 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]: [-0.6643, 1.2568, 0.5339, 0.3298, -0.7395, -0.1169, 0.9955, -0.02, 0.8314, 0.614, -0.4225, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3491 left_y=-0.1176 left_z=0.1694 left_yaw=0.0224 left_pitch=0.2641 left_roll=0.1579 left_gripper=0.9955 right_x=0.2924 right_y=-0.0004 right_z=0.1656 right_yaw=-0.0053 right_pitch=-0.0801 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.094, 8.2393, 1.7509, -0.1734, -0.0904, -0.1538, -0.1573, -1.3333, 7.0496, 1.6435, -0.0513, -0.0464, -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": "gAAAAABqrNI-aLvP02CA9NXD5ryarmPzB76RZuU3u3dqDB3bhBtcrogqXrT3RhTJGUZDi86RPtkrgNM-BRgOhrlkHmYxdeej2WvyGSMZj0ko7iOt4Y5hNEZkqfRJyNXEDFqqXRodMBcnGHa8wGbYFT8QHmdeIesuYksAvVAes41nGgbUZ28DZM_KzjQGnYzzaukJtDuJ8EaAJFXSnPxJylNbV7qcYlQdPK84Jh8VBvn-dohUN7hsQEx4yPXlRnH4dlNaEsHH8P00cUs1oIi2TmcyLREgdzlc2pSYKyJWmwtS4z6JqSbAfZJQQHE3GKan0tJIx2K0IfQqiASYg5erBPge2DVbx4Owp2iakXk-3oqME5wRPGuRA7-XITfuTgu5EzQ9h7NVvWvlFRjA7mlN76EiHgkzzJ1MJdBJc8c9O7oJHKwfLTE3CzqFrDiu93F0zf1TxxMQmK36jOMXmJ59K7qcRAsPA13ysnnBkEGFhTuhyvGd0JLC3EpBr1uw0s0xSLqbNFYsoGZi4Hfw9Pj0Fwqzg96Y406AIMM5Fw1HjmowT7bx5BjywidhfsMF6_UVm9Gs6QGRk6PkBW3mrVbb7fW42z0kAhMOIh7goSvgK8XbsEYkEdiAPfPwFX1tfqalTtJJ6GiVCLFHm4llv1eX0atg95O_cmDZPP1eOW-ET3NLWon3m-XpWJbEEOm_trKZFAF8B83d6Ha4cb52zh8RPN4x2ESVJSOpgUNdSqLG7C3wUIDNuDeLw0Hf--wXrTqjgfttELtmfTx46eyuWsgfbgpmbHTlgWVXTGx8nMmHomqPnIavbRBHookuqLJ3eiU1Zc7VYJH4QsLt1ESTlih_2MsD8g4XCg9FWNKIKkb7wqAVXsKtxBL764T3XUcRDEKzVDR3B9PG_vBn1i2YGAyebcFN7bSJL8GgpobnNuLkhc1m8Itu-loB4ellmrUEFA3LA3W8f0mUWBnxHJol1Ne6S_pBdCafRA386k3w1l7r21VbXHeioUiK7pWS6YiklQ_NFTsAz3Sonx7JN53BdSL2FvkUL5GowHbDJ8c3oRsEH8ia-zRTfjBXmCgyWmTjskf1HGRjouPOhimijELIaQptJ8QLe28UatnEqxrlkUbLAju0sE5C-W9nQdm1nGSnYQrZBR_WBH0v6vPj5kbj_p85yql_ku_01zM6mYE_X6vcpY0CCahG6-QgSal5qpmx44wiL-rGf-XCa5Py6p0vEAsCV8tMihZ3Ng1KnKYMebz_4oFjYIeT6jRCHm6BYjRO37B6AcHHKwpX_RuDmyL_y3KdDaGSlgpX1ue14UpBKwyXtZDokZXqapAzsetmVEcuYDVH7DoTUwIxvI37jG9xzdzdGz--a288hYfaDppUr8Mre-KraTSStTePY_S28BEZlYxmBarqlXdYZ_8lCWJC968Elzp-mHo4gdmVBJkeGtb-Hs9kx3k4EkH29qy-eGW_yIbyySIAh1xF0s0WDz_GBxFoG3_azHvTgZofx6Rp2Yd1K2fEIEkYyo370jNf1O-XKiyoWZg7-p7CZjnX47vAYaEtzseZV2cGXOoJCgov07KBfNNa33eTApj-vs3qeBvAZXQh2nfAySgRtlsqcT-E6CWZMl64uZFhm3Kmaw4FzrBA_hDokSx1FkdgFgJ3dvY6Ib2o1rkNp9XZ0OqtLRY-hDTSiLECiBXQfdLFx0oBupOd69KDboc5TJHunGuZhdImKycBWwae5yzkhQk9GQk8FkFvXHbr_BIu9BiZE-zX4xkYzSu4tbH2YwrozD1S9o_w3r3UeOFStte3pbJcL40ppSFYA50EOSstGhP2rPysenzfr97ywYQGvQ2LYiR7Tul5Ee5ef9LsTtJa1a5e48Riob2WlX5EKgj1Pn5IE2VU3ONvCmcLJdDfVm-5MrhxMjdw5BJ3BOYtfW6pcjvYYI0xU5a6val1To4xrWDpGyK4eOZZigU4uYUJGYeIZe_uZebtYJ47dYKwPeq6P8Y8IcDAuHQlYStN48t75QRWDJbm4p-mO_OvOsDK_VfTY29CcIDrzsg3ID9VpG1UaStgOjBFOeOyqJ9KlXWC_C4HQS0khMtw1uYUkTBfxAtprS0XiqCajcQB0yGgH2mBBbjfnvnbrjnCANmw2QCwO5mMVmkLUZJMKZpAQpiaRVxHgorp-VgRPVmG6FCg8nXteTIPwBj_xtcvtRM6frntM1LIldEJKON9zcNhDgHfHhfhoaQ4_O71DeNURFycxRD-v4u604GYsK4BbiBHhHUOMyrn2rPl-LTIS4HGA29dOKJoqmtxOt39K-wEA9lk4U-KQ0eGhS9J22PuTFzZVNDn0EyWpw_1x-ZDVnqyaGRfahPKm3Gq18gbk7YEVMb1A1PveIgUwaMIyhBXqVj4hI4d3ZbwsQO6NGQ5oUTBt9b8zEDrZA1NbdGTJqmJKsUD1HicY--VnOSEuyt_Jafj4Wr0zflsp6pJFLkvJ_gQ9jGGPqV-wqKRQSx3UgxfSmXieL7I2_MdijosVluQELh_Apr9gt9i42bKBuMiyROaVlmUod50T9w=",
  "id": "rs_087850f247bc8cee016aacd235ab5887d0922893203dd0ef2c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":0.001,\"left_z\":0.185,\"right_x\":0.4,\"right_y\":0.285,\"right_z\":0.31},\"note\":\"The left container is standing again, and the right white container is still untouched. I’m parking the left arm and bringing the right gripper above the white container for the second pour.\"}",
  "call_id": "call_tHQmtL3JcOGLDdD04od9aNuQ",
  "id": "fc_087850f247bc8cee016aacd23d24e887d085e1266c6ab0fab7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tHQmtL3JcOGLDdD04od9aNuQ",
  "output": "executing move_to over 24 steps (2.4s)",
  "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]: [-0.0696, 0.7723, 0.5697, -0.3225, -0.1188, -0.0769, 0.9968, 0.8177, 1.9003, 2.0544, -0.9764, 0.6022, 0.5331, 0.9997]\nstate[eef_state]: left_x=0.2965 left_y=0.0039 left_z=0.1828 left_yaw=0.0649 left_pitch=0.0375 left_roll=-0.0056 left_gripper=0.9968 right_x=0.4022 right_y=0.288 right_z=0.3008 right_yaw=0.027 right_pitch=-0.0885 right_roll=0.0027 right_gripper=0.9997\nstate[joint_eff]: [0.212, -1.4838, 6.7624, 2.0781, 0.0659, 0.1197, 0.0073, 0.5675, -10.4274, 8.0342, 0.8376, 0.5885, 0.2662, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6dfef53c1e3f52da8baef537591c4801293cd14da6a8fd437466077c7e80d0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1748906db884b119f8e47907891c2f0ff0f73f7adc5731b00b1efaefb3b5fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8519272f241e17a41e59aef37056bb5c36d94931fd6b745c24f3784bd1b1047d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 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]: [-0.5705, 1.2636, 1.3449, -0.6659, -0.5236, -0.3305, 0.9967, -0.02, 0.8314, 0.6136, -0.4229, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3574 left_y=-0.1201 left_z=0.3204 left_yaw=0.0339 left_pitch=0.0602 left_roll=-0.0079 left_gripper=0.9967 right_x=0.2923 right_y=-0.0005 right_z=0.1654 right_yaw=-0.0056 right_pitch=-0.0809 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -4.5333, 7.9111, 1.3602, -0.1441, -0.022, 0.1197, -0.253, -1.0325, 7.0085, 1.6874, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNJJUjA4zJJyv8iqGhc8v5mrobLZyXpKumKoKw8_5LMIKS0YxCkceGm46waKBlUpGce_Orn4lnX5WwjFYbFxoi9eT-SBNwj-i8PTCcDfK-ge17Jx8ITECjXvBIF6VlAsqb-y82yQ93t6VQp6PGsf7afqKOTbeBV9ixjmZ27f4gN6XFf4Yp138wIrm0c9fkFnseSyopf8vWfwEtajOvXNyVTMRXPATAI5_eTgEVBWGMzswIbeDUOlG0hijTWRQJ9qQ5LT1tvKN3Hft4Ue6MrPJ_j5ttnVUIKJs6auT8VtsDccLnCoHFygwNh1KlZnY4sccq6hEzKAl2JuQltOFfN2PaYPGoLvD6Is3XMtNPeBqQ9ldqbB48XgsO7iOM7-rcRbJFTi1NYpzqETfbSchlz45MhhgbzLc5QYjhj3SDDtGeY2S5i0FaZVkI6DlqyP-iq2Glh2ywBwoSa40pDvfzchW8QO_IBjuHW-A7FelzzIOk_E_S2Em0o9LXZ3hAkQ2NyzS38m8K9h61HO-1w4K_T9fNuNYLXJEwlskVLegx7lrlWxW7TdKPCfEXWZXqz0-cak23Nwn-hnshKYQuj1fRX0FWC4YJbet1sIRMaXVAC-PR0qRjfDFC00bI0Uv9j-LXYTcwUaPwacw-f9FSEVhcHLwOUlI7-oUeeuWTv1jvG0AZfnCga4oweduRppfC50gtOh_efgFyauI-8RERNV-sdINw8THBJ0FimF1eGekl23aWX-aOVSbCR9u2Vc2lvO2ok8Jf8JtmGOaZGpaxJybzJdSeobG6tTmBxBG6H7m4KKH-JdqF301vzhmQ0st3C1Qa7Eo5Vpk5-r2iJKd6C-YWMcej3a5buHUeFj5Pe2Hq9pTyBpOaWNLjmF8GKZN2RiyIYKXXAyrAuwEpcfvcUomWsGwaFGUpgsJwXBDR4yDf1lCchepGBkzOts2pxr11LJC_0Zz3m7gDu-xR7vmeIUH8czccQfJnANSbPjv0Zn2uuDIo0x7HvcrZIO9guG6eBVY_9P1S68VkzTC0Li0xhFIhW8HhkmsPLIR7l6rNmTqXe9sQ5tjnnPtpmHaEKhp9FbWzhkcsPzUgf723WrPP4GSRPU-ZGwmJlI2UUHr6E8Md91th654yAw93sfAzB--p5zonpuAmLQtfnLOnn5fgkFRoTcQr6fYy8RzETNpfflMHuzGlWJbXaItwlHsEnWRX8UVqNsf4hHd4HZuVIAOpaebf6ed9u7P_zE1lI6Rmo4vAESCxADdjly-cJ50dHf1wW5iThdlj-CBh8Z8q3IyS9h1k9-DZJIAOa8YBiogfLveaNz177y7p3sPBzWJEtRCP1SSDJbRz5X3sP_MarBW-hGrXBpO5P0Afv5MLWqWO1xK7v_l5Aq_xyZoELA-3uDIRxA8ZTc40i_qwbM5UO1nV9famCWLjOfKovIZoRUIClcZioAsW0lViqxIl-xh_REg4pmULKKWV54oEzrMzJfCay901cgLjEvG-MepoFwLokkx9ijD8BnO0LOcyBUiW_GkXPrJe0vXOo1UkNEH7pg-S2WLi5wVlBK94_gx6CrhYi8yhsU4H59ENwUerNCpcyTOUaaLEmaTFS5hk3SAGaKVbxb1f1t7kH_xl_o_TRHmgQhPSanNWX2hTYn4am6Yb7YKR_44QV5_sD-5oiHsuPYc2YRu6T-0OfSyx72svxiN7ly-Ck9Fc0f8PTN0BxpdxNAaTsFKlmi7Av82rKkMzxzJUPbTlVFXEstDdJBv1AeUBHkW-NHhuiOVpUhaKRFr6RCHwsA4JYKBiErLORU9dU05eQhQfO2WicOqsVbX9vuTx_yXkpWkZ5DrGRRqRYc2A6qGCLnUzNkCSOAtSDauk7qt0ccMbgI4ueGjvlyFWcKYvhK9hF-7RQzhv_3nmhiQFKGkLLIlQoxq349r76w8_wA3yRJnrDmzVO7FRPzAmwgZqncnK_FcvPmeI5BzlFe76xZiZbLetWtkL8zOZ6o7_xuKTovrYbons88QsfaunrFxb-FdFmn-79klYuhaHVu7RiIyVsitmhqmLGb5AO1mCchzigrpMw-xR5ayvnRxcESgxQ-7HIZVSs38r3T9O9LmVBJoaVwOkD5JV-D",
  "id": "rs_087850f247bc8cee016aacd243ffdc87d0b89cfbd9b0fee0a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.30,\"right_z\":0.19},\"note\":\"The white container’s neck is centered in the wrist camera but lies just beyond the fingertips. I’m advancing above it and lowering toward its upper body with the jaws open.\"}",
  "call_id": "call_EbXilZVChVopckpuzV9LSb3R",
  "id": "fc_087850f247bc8cee016aacd2484ff887d0916c360a79f0e9fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EbXilZVChVopckpuzV9LSb3R",
  "output": "executing move_to over 8 steps (0.8s)",
  "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]: [-0.0689, 0.7776, 0.5591, -0.3237, -0.1116, -0.0711, 0.9968, 0.7631, 1.9667, 1.7348, -0.5816, 0.5655, 0.4824, 0.9997]\nstate[eef_state]: left_x=0.2955 left_y=0.0029 left_z=0.1761 left_yaw=0.0564 left_pitch=0.02 left_roll=-0.0021 left_gripper=0.9968 right_x=0.4421 right_y=0.2969 right_z=0.1985 right_yaw=0.027 right_pitch=-0.1008 right_roll=-0.0123 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -1.4838, 8.0479, 1.7802, -0.1343, -0.0952, -0.0122, -0.9094, -9.4154, 5.9829, 1.1502, 0.2076, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b546d3442342c2a5554b0de35153edd27f5ed4b7375cf72f7aaa15336c7a92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c4f8e29b821252b5c55deaa4a2ff2bb2fed40f6a41e8c0b28b6ea2c7929875c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60ffa5d76c213b948d8b257e8d00e2eaf58f6954081c00ad8928be85d6cb0a73",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 112 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]: [-0.0696, 0.7723, 0.5697, -0.3225, -0.1188, -0.0769, 0.9968, 0.8177, 1.9003, 2.0544, -0.9764, 0.6022, 0.5331, 0.9997]\nstate[eef_state]: left_x=0.2965 left_y=0.0039 left_z=0.1828 left_yaw=0.0649 left_pitch=0.0375 left_roll=-0.0056 left_gripper=0.9968 right_x=0.4022 right_y=0.288 right_z=0.3008 right_yaw=0.027 right_pitch=-0.0885 right_roll=0.0027 right_gripper=0.9997\nstate[joint_eff]: [0.212, -1.4838, 6.7624, 2.0781, 0.0659, 0.1197, 0.0073, 0.5675, -10.4274, 8.0342, 0.8376, 0.5885, 0.2662, -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": "gAAAAABqrNJPsA3Nu-RrOMhFoZnXBeFCOHGS6fbKM3BscFzgjrphWQ6TUGXtIxPYY2T-7tw5J-pFITc4VVgCC1L20OJHZNCaVyYizuylp6nCz0oEQ4ogVR5z97HcZbqlyrE4kkhyNsZzAgcH1uy1rh3Ax5JDeHlI_45Bzww8KTVwR3VEBNsa-DQ0tWbXA5Z30-XPaJnP9RmXBnHhaqsh4GdbWIPtpGORVIg3X2Hq6P8kae59S3cmD9nWuFFbeKFPSl1yThVD6pLCzu3UtB0N7ClHpOdTOwF6Z6UgP9YKTzhJ_IJgZXysM54z04qlf23vjy7tef2N9ESuVP9xbVKsL2TZrtwYwRaMRTXrA2hgSh4HuOyEZPnBc5TbJzV4msxJVSfpC7TawgyrYl6YM_qjneLecEpfvVSEKscL_rAhsAWQ-oz-CDjMnn9_XMOnFP28HXvFpd3NmsszgptvsRrOlAq76qNsrEy4j6O5VHuYKWIuT1r62OnL9LCEpk0IKTIZFPOH-iY58Zymy8RSbhKVDyJbgx8rr-JPnhSMvTdkX_b3SJGJ_M8M0hQ2KrBlK8opkvAsJt_pc_EXq9Ne6TDvIJBoSiWoEmU_ipOXWmjdtSf9gEGTC53jLZLvDfQr1NJG1kBZn6pCbYmSEtfnMfbv-tzlOgYYOm-AWqPZRmRPFa8esXFD5EOrph4L4LhsOaBI4x3A0_vps9B7UEC-bdpfWMS05Re_p3DLjc_oQ64RMXXUPIglunlr1kR5jHKXJ7X-LoT5fJKidhzsvxFxTKoaU74QD60g8bW9nQBrbBerysd_L6UJwUYb7WxHlHFAbnKJcJEix8ujLVtcu_oRIAE1O_fGrYtaeadkckgB95PP2PsMG_4nOZOjR8buk7CiJGBEUfd4blbBVUoaJp_yzUBf_7ReIRzvhNZuk_H00q8UCOAXIPg9YhoNG7ifkchw6K98BYff-I29wDGB6lfJJBVxJTA9ALiZv9SKpXbRxZkia9U_VVv2-treoYRCUn3MtHo5DhGU40flrsgWWjqYenIrJx1K9s2P0Vza5-Gzk2K1jgm8oQHo0HiydHOSp2HQxdFvp9_WmAUiDis5Wp4359YaMsqH13zBRa2G0FJCh0xRT9ljiPB-x8m6Voo-IJZ5tDlz3I63NPXZZZrXYrNkg0ieFSsZ-LyQm9dAeRNhVbMiXC30ktl4DSMQNmSI0K6aSWEBFXvX19Pkh-KRkjC9XIP9qnfcgQsiQ23yvNbSLG3Wwhvcc8rTYeOTWEnau8iLy53ZzfDeWkVnx1dbdMEAGTjrOwzN_hyHzkSn-Kdxrsa7jyuBQlxWzCn6uUkJUYArJVhmaK6T8aZZbo2E5yQMOlViIVk9sZoD1tbTpA1DhqykhZheEUMaDQ7AOq61YD_VpzlG0leLDqhDp_C5Tpl0lBaRH88CpEnbVHKYMtA8xrbXeQ8h0n9Zs-ev3tMB53b_3JRKt5VispxHnPTHkzDwSDgGXrpU5u8ElRu7EpoimvQlcoXRiWyHgCag6WSR2veSB_V3W7soSsRqp9XuV40rNIury_8kNTfRbH2GFLPpE9tLGJaZSFWEjfhXtoQ=",
  "id": "rs_087850f247bc8cee016aacd24bfce887d0901a0f24d9df7cc2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The open fingers are aligned on either side of the white container. I’m lowering vertically to get below its shoulder for a body grasp.\"}",
  "call_id": "call_OvQ2Tnj1QrtsbAFJupFYbV6a",
  "id": "fc_087850f247bc8cee016aacd24e34b487d0ab13bc596dc9c354",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OvQ2Tnj1QrtsbAFJupFYbV6a",
  "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]: [-0.0689, 0.778, 0.5591, -0.3241, -0.1116, -0.0708, 0.9968, 0.7647, 1.9503, 1.5349, -0.2218, 0.6315, 0.4522, 0.9997]\nstate[eef_state]: left_x=0.2955 left_y=0.0029 left_z=0.1759 left_yaw=0.0562 left_pitch=0.0193 left_roll=-0.0017 left_gripper=0.9968 right_x=0.4574 right_y=0.2992 right_z=0.1869 right_yaw=-0.0031 right_pitch=0.0581 right_roll=0.0508 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -1.1692, 7.2274, 1.7753, -0.0855, -0.0122, -0.0073, -0.1846, -5.6, 2.4274, 0.3736, -0.6569, 0.4078, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c865b7949fc9ef3a2ca1a8e16d36570dedfdb7fa082256a9b4827439c57a1eea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c264ea468e490d715e6017065e3898c925e0e4656eb32b11acaaf432fa0ef83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2603727e8b7ac06fba00b6c013e428aeb84d7de5481c5413be3dcdd4ebe74d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 116 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, 0.7776, 0.5591, -0.3237, -0.1116, -0.0711, 0.9968, 0.7631, 1.9667, 1.7348, -0.5816, 0.5655, 0.4824, 0.9997]\nstate[eef_state]: left_x=0.2955 left_y=0.0029 left_z=0.1761 left_yaw=0.0564 left_pitch=0.02 left_roll=-0.0021 left_gripper=0.9968 right_x=0.4421 right_y=0.2969 right_z=0.1985 right_yaw=0.027 right_pitch=-0.1008 right_roll=-0.0123 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -1.4838, 8.0479, 1.7802, -0.1343, -0.0952, -0.0122, -0.9094, -9.4154, 5.9829, 1.1502, 0.2076, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNJaE3kWdy4DwaMxqKBE56Nx7rayrcBDSFOnxWQV8aQo7JMbrRUssbB_vHvnbbIPIowluJRGG2W_NHae1mJqV198dSKqHCs6bQWFAbKy5eNXUvRIYGAmurKhAdwpyH2a4pG3g3im3kUSRuHMIjbaEdqsu7ngIQr90tAWv3_WKV7Uvw5uQfYYgmNLFJVSY-6Gva3Dv2NpLTXDgnzRvZIH7g_KkLsLhiCil-c2X_OLu2JPYdgaUvtDiqllaxg1ZuWfpw_NBCcpJmDPi0OyoEGTj3J_AnLIWnfuQwiVu-D_sNw4P-j3OXefIC0R1r1sizrUF2lN62l5qM33cwiqfyQBR_zHB4-oXLsIn1KyJlqVfT0w4CcmBKKLZuInIoV-cRFhWskYyzad0ATXnWg1Pn8khy50_WnhZJzeYXZ5SPsnDv6MKXBM9BivTWLI9nYFfZrSfIxS1XXQN1T5aWD59B15tmhlHivqKZrSOjp-ojk6UyW2ZzT7myqDoFXZApra_Ciln5dT-4B2BjYSpRur8_7RNCwuMiUO3xPWJCpIJvGwGyIa8z3vpIpiyjUXO1Ul-WdaeV6pxsSkuAb6m9PclRuBzmhfcIXIboEud12gfl0LYHjkVt15xsiWEKQtIZbEwRC7iCCUe86oCsZ1tFEwrWiGLwHKmTe_uwtMkZDKSSWl-RG5LQm7BRI_GEuYd0XjNMyH5epHNwSeZc9B6kRxvnQWRw1-wHWknqkQi5V7xBBND4iqrRQl0yi0rTOQqtGPi7k8OkRXRiZze92D9DuuHoH8zWtSO60i2IYke4-XnmFeZTw8NSueKUp3Z6zBx4M5g3_Q9tK507d67DI27aBaJ6Bu3PJcL8Iuw8FyOYrZrz5o-RE9S8IlGuiFAmD3XAFXEk1YvV0lSYAK-v3bBMB06V3TTRmueovxf4HQN38YCSJ6corykaz8jl7qwJsRvGN7hU2Xlwln9ebVqkf-y65DJfouHKrAV5eo-1JtSrM2W2of_qDCXc7s5Rr9KwQ4slSzJrpxUHnKV8Lh7N9GuyjZ2CJn5obF5gQGm7OxQso2RF9gmg1aDvjG_qPHE73pOBSwfqcBZEQpr9IJ6a7rDEetn28fJD26ebWGS6sIKXPNLhjukhmvmy8hECMTBEwEC7b4pHDtK9hUJ32bpU3U3M18KTE6V3QlWU1Qf5JljQkOuHtEmu7j5B7DlTsI6OCCl3U4kE36BM-0ez_6RDbRhoCKMfe-Kwp5SuywdeYbZkPmJRVmZC9gcuKXClDMPlaiX6nRgR2w_TLjKFgRxrj3CrIbWT6BVw7Dc4WBFpOXdHJ3RCc7ELS6UxU3raHEeSBfuIxK3hm3eG9K0Ws2UnGY11gcGOuXeA7HqiJnF0habpUkWP8OqgEMOwBhw407oULmdTCJduwPP2tp2jMQC3Vb8xLDZblH9gOYB6-EpsnzdHIZH9M0iTkPJq18XGh0LbGV8dRb-HQaV9ILvfcfLwMYocfhSJOwQC6bieoDsAXr7a242AjwWsp1MIke109e-I3jn6JDXxiOMiB0PPcjfNoFgD_kiSYcsJH4fAVY33Cl7p7aQmAhKsNLowSUkN-mGGZ0B69t5iFGHCrSJrAJlyWt6gnrmAWqpbMDLqtSj-O1YXrXQL6nOx-bUQMY6Ehz6R5tgOAF1GO36B8NgTDlcL9TyO5vDhUtGhE6oCUpJgxogiUxaicSdWuq86zwlX1xw6Js8T8O9Bobz16Unk6tJ5qL8xxYsex_0Mhf0WaSuPPtHzIA4CH8V-y5uKa8QTAtsWrkFeJHejnBo_yQRpcDIZikt1lrPaC54nUN4tbViHYV3YmT1pFLU99CRgjUze0ndqdBEXA6QXtUpMSfAe1fuQfhlmTkLjvQrZ3xxCWq4Nl9s01w2wMoZyy3gd2NY7XuoUonXtc8YCXY3cp4MSaIz8gECzjzUGqKOducUKzmTI6V1ZXQxF5xRBytQqP3UySdsv7o2xxcS31_vfxGKtSzG0v-OgeDkfp_qO6fjWiXg3UnYNGXOFf-sGjsnq6FgRHBytnVskBpNFUzfY9y1OL-WvPCcHLVAoQnm5tPEsNRUtGceILh7COs61A_MRyJJkAYNQaGTFb0cJ47egYoYc9RTDTsRw0H2pnCUhBqX-FJCwb3LLRhPtQALPdp857i66n5M5rpMH4oj5WNVYBTJ5w95v1V2_O3_K1f0mtyBnpArTID5UCU-M43cwBXSD2kWAL74dMThq3_J8oU0pJH1TpXx1I0Q_oyNuQS4TDiXkEvKz3pkLivTPUl6ANNgmb5EJUvxSomGki3F_Xdyuapw2tJFbt4XX735dmFtNmDhCw2X-CZkNKbX5pHHQN2Ujjh2DTvHRdDjF0AIJ1nVawKS965P-pAUWJGaWj4olsbbCIvrSb0x5RosEuJ9P0sVQq29911NmoKSfJFEkuINraEJgXKjQk-UekEyPXpUo2NJOvGDf_JtwSf9wVBcPzBTq64E4uS1FUlYEZmnX10-t9rDVq6HyRfz7TJAi186LxkzMZKVtGWQPNXNTWgkRgTHDc=",
  "id": "rs_087850f247bc8cee016aacd2526cb087d0a7c95859136cd253",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_z\":0.27},\"note\":\"The descent stopped on the container’s shoulder, well above the requested height. I’m lifting off and moving toward its narrow neck instead of forcing the wide body between the jaws.\"}",
  "call_id": "call_WKfvGL8V4aLX51WsQM1cz2mg",
  "id": "fc_087850f247bc8cee016aacd25973b887d08cf581e1ba23a97d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WKfvGL8V4aLX51WsQM1cz2mg",
  "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]: [-0.0689, 0.778, 0.5591, -0.3244, -0.1116, -0.0708, 0.9968, 0.7795, 1.9335, 1.5116, -0.1978, 0.6472, 0.4713, 0.9997]\nstate[eef_state]: left_x=0.2954 left_y=0.0029 left_z=0.1758 left_yaw=0.0562 left_pitch=0.0189 left_roll=-0.0016 left_gripper=0.9968 right_x=0.4519 right_y=0.3019 right_z=0.1908 right_yaw=-0.0114 right_pitch=0.0765 right_roll=0.0734 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -1.0598, 7.0632, 1.7705, -0.0952, -0.0562, -0.0122, 0.3214, -11.7675, 5.641, 0.9255, -0.0122, 0.2027, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6862065f5a7b4a10317d369a6af9ae55cc0d4a72cf168dfee3369fd9d686247e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb7b6d5bd919e0f5254d4824f2a20a9190cb92689e690a915f5fc9e54165a194",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdbecf4f804f0362db6722193bbfd818cb872b581b8d824e0993bce20812c68",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 120 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, 0.778, 0.5591, -0.3241, -0.1116, -0.0708, 0.9968, 0.7647, 1.9503, 1.5349, -0.2218, 0.6315, 0.4522, 0.9997]\nstate[eef_state]: left_x=0.2955 left_y=0.0029 left_z=0.1759 left_yaw=0.0562 left_pitch=0.0193 left_roll=-0.0017 left_gripper=0.9968 right_x=0.4574 right_y=0.2992 right_z=0.1869 right_yaw=-0.0031 right_pitch=0.0581 right_roll=0.0508 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -1.1692, 7.2274, 1.7753, -0.0855, -0.0122, -0.0073, -0.1846, -5.6, 2.4274, 0.3736, -0.6569, 0.4078, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNJgPYOzROxGil_wyeJnT-Ids6GRbJ3gj4wKzROeFRMY-3K5lH5UsPhKzzQZBgJZJ1bbNk5woEgfcKAu4MgLG14TxMBer4xvNlTwTPfuwmEJnneQGCTxQeEoquL6vHfHDyMjF3Rsfww5johoUbDOl3Zb8X5JOQnotH-dJI2Dh248x5dag61A5MhJOVySpK49DnNW46z6pWZD5mPM04LCB4LX6-Pd-BK2sFKgPQvIS4LTJJpC55RZE4dBo3Uh6YBBaW1e1gJWTqWPLfbX5zX9YCl63RND6BNqmyGy0ZIgpYLJoZf1PW3LNQYblEl0d1OBrcXxRiYvUoHMyArVk9S4QMH-Xm7_GXGzUUYGBoNT1bIVjS2Ccubr4X75SrmS994vsFNXB7LzlspOW4MbN0dnT6FDQ-bIX-Pzz0i215FgC-04eXPnAxhzaNDBENQx1rZ2QiM8u_79Cmvyy_rzLXZWXZuPsAwzNvwoxOR-n6sDgX-ynom70FKT4Bup8xLofV76jaH8fh9G6UmIspRjKHNI_MzSuGqq26gKlT81YpaTqAYEaUHNhGUCB3AE3hrTi8Ci0KrnKUMGzYUBWuzuAhZZ8Fs-vZ2fKLEfbKvbLf5rgEXaNjKJZD39FGXVOT6odFbQcKqOQvyv-JmN_jExofH70xhUa7E08eTPa6p9MkUj_nXsXDKiavo_tqBCsi9AVeMk-IPxYyYdTAlhl1UlCY3amdjecS0qlKWZZweb3DYAmwY0MFig1W96Bg1xwHE8spDh73mbK1bjC5TWgCzyDhZlJunroM6rLSQo5b0JJkqNgDhKfWsP5RNwEOoxzzWVq5CjRnxeB7k9ZTRCSeDOUtPR6cmw1C3IHldRtyxB0NrZgJSsziFieeo8S5ohNoIFVnLynVgx5g7g8oIeuIItvuTiNXpkZPJqFUMPYh9G4xad05EneGfDFdPLkRR2Z6lYENNuq8NjTqmi-uR5jqWG1dYi4iqAH5fSk5kfeaoI-7YJJKjccEK9PhePofLouRmp5mSVfqdJ7oRClyozfR-Y2nIUhXVKEVoK0eIGJw5FZ8GZLqSAjrhEkFpji5M6XgQHQIw485tzHJ4wL_hqRQ1J7VPSzVaTfiDhhE3HhJ68_XQKmTtyV0CvjBSBuwo7W55oYV0eoHrV1YoaGrdW_2aKr1vRqTRfMQI8noCyLnUJY6Hhxn0z4Fmf5qfUTmoj1uBl1zS3Xm5uFy6oN9N4oPujGLMId_fYmORc74Uk0hos0qrrg3SQFoD-XxJujgxhjALT6gkoGgmghew1j2RWBzEPSmUmRBdA08ICB85JCyNZFWoetSgqwRc=",
  "id": "rs_087850f247bc8cee016aacd25dc99487d0982f129238fd77c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.27,\"right_z\":0.36,\"right_pitch\":0.2},\"note\":\"The arm barely moved on the last retreat, so I’m changing to a higher, slightly less extended pose to free it from the shoulder contact.\"}",
  "call_id": "call_BBrWUiAcEiY10m2bz9SbV5Ub",
  "id": "fc_087850f247bc8cee016aacd25e885487d0874bda7bf7299f20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BBrWUiAcEiY10m2bz9SbV5Ub",
  "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]: [-0.0685, 0.7799, 0.5591, -0.3264, -0.1112, -0.0708, 0.9968, 0.8349, 1.6859, 1.7679, -0.5041, 0.7139, 0.4175, 0.9997]\nstate[eef_state]: left_x=0.2953 left_y=0.003 left_z=0.1749 left_yaw=0.0563 left_pitch=0.0151 left_roll=-0.0013 left_gripper=0.9968 right_x=0.4023 right_y=0.2772 right_z=0.3709 right_yaw=-0.0047 right_pitch=0.2394 right_roll=0.1457 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -1.3197, 7.1179, 1.7509, -0.0757, -0.0269, -0.0073, -0.0068, -6.7214, 6.9538, 1.2674, 0.2662, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02050904da6c79e7ad4f22ba886c0fa0734db9d813e79a2ae1cf2196d9d06db8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d964fb89b1871194fdcbd58cefeb4c6dc6b915905d962d06e097ea5e7bc43358",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:368c1dc055a787bfb1fff356f207883e08b64083ffce900ccd7a91de8bd5d6c5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 124 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, 0.778, 0.5591, -0.3244, -0.1116, -0.0708, 0.9968, 0.7795, 1.9335, 1.5116, -0.1978, 0.6472, 0.4713, 0.9997]\nstate[eef_state]: left_x=0.2954 left_y=0.0029 left_z=0.1758 left_yaw=0.0562 left_pitch=0.0189 left_roll=-0.0016 left_gripper=0.9968 right_x=0.4519 right_y=0.3019 right_z=0.1908 right_yaw=-0.0114 right_pitch=0.0765 right_roll=0.0734 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -1.0598, 7.0632, 1.7705, -0.0952, -0.0562, -0.0122, 0.3214, -11.7675, 5.641, 0.9255, -0.0122, 0.2027, -0.0073]\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": "gAAAAABqrNJnW8o8PiMapdPjckIZOAAB7J2baZ4HgIKv-Isv5rSRukux_u4m0_BL-Fm9SIrYLBvJWIF70G_F9NEd_XR_Wgj0LS14hZe69qUDJmcr-6e2nIB4KydKWKFbDC5AuhpNftLiki7nutLM-cNp1BtVX4wZMD2BgreCJgq6e6e9-A5fsABdsMOYKIL-rySQ7pZkysbP3Zl8cCo9o6A65SRJdElhW9MsVcl_A3aAlm-mXhdV6uM1fxDXnf7HulswPMDz9WYJYqumYdwzSSUQ1XcIFv_-MZgZ_GBEvby7_JD3kgg0x-AC0yxJNPmWefxr7pLmmgawCVTLI85wDKW3_stlW7C5Z7XFqtEyTOv1PTZUTm5UI0A7igVB9jN9aeFIlcu9MQt8ov79Z03j9fsTzc7QrriHFSnesBOYecIJw8KMAvg-k410_sQjIbmr7wh7LSGsFB5Q6khSa1Xk7JE8ammDGY1mB157eGHGJOELhs0SWv4JRfhmGqAyOcerCECBhM3QymGblKnQ1v1FMsteM80C2xGpeWZeUXz3aqgOEvIV4ssOBqVTg8HQZ-ew6O-D43bLwhjamVOmrdo3awGS23_8pYf6HZ_UN0tv3ahT312OoL4jQVS3-ytHhZd9zT78YSVGkXyI4uq6ToFp81UC3M75nAN4Kv5clKsyh2JPj4I0R9S0hi5FiStT3MJTE5ttJwM4RVJ6MANRXq4RT6QwiFPl5Xa2NhV-a499GGE5NoqHkhxAqrO4OXp-4v_JjFJwCXTvgw8lSC6lbLE6g9-W-uSxHk_SV5H6dKJprbwz-52hDq2um3C7UGdGIH9e_3PQtCXgrt6MAPqVrNcp6Tl3bhLz0lY67HxgYSHPMcXiJxXYVV98tLefuYJsSHoBUZ9PsvAvw7JgIxY8oRPTIJrWTuyqr5Z5UPEvp5RGtA02Q1DSmiOSVty1u2_wnPAsYQCbZyrAlmglMEFGZOJX40kbMCdfOLX5TeBJp7WTqXh7MIlAKP1kc8sDq5i73pUm-UTVqWIIaDVpHl94Nx7JWH7Ejyizw_SY80MhEbhexlnWHFJdyRLgGRQjCGo1JcAhN3CKFQTKjBnm4ue09or0IwRuAOqEbRYEp71K35EU8Xh1_lcrO_TQeuvsvK0lfinNXAGm1JWQkgqyCr1kjRW2SK7xmJOFle24vCoiOza1RFI6aLXbDbNRPiQ7bMkfXAERAoE4Kk5NnwRXUxWxkRARrwzQk3rUKvrwg93J_mJ6UHCYd6KLmc8l_VTZrq_u4Ij3BqZw6Ereq6pMYREiYiEdpG1lF30QGTgsXd3iNKXCxaEgattIUuejT-S0I1uSFhO_u_Nsqsg7v6PgXZ15K8VHDwlXcPSY3SMrEzJ0GxN3AZ9MhSl2ojjQoz-OLhY2253FdfocttunVGjY2BiXvE3YSbeJIuOn2cZj9TtExx0BjLxFH01JjEtU32ZcQDGcCMUJxC-B4DYl5r2ZcfRE_9Ey14iw7GGnwim0xV1EXFmPwaHWk-Lk0O0gunZHYrYIWJyv_QI5jh04MVTikLm0Db_H8_ziFx1r2AQvRmseWc5CO_CHrBOqoVfeY-mO1tfgYI3Hbegu_WARJeFYuxA55Ve4nDILYEDLvYYXng==",
  "id": "rs_087850f247bc8cee016aacd2634c7c87d0b18b21bb7a2bb12f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.28,\"right_z\":0.24,\"right_pitch\":0.2},\"note\":\"The gripper is clear, with the narrow opening centered directly below it. I’m descending at this corrected position to surround the neck rather than the broad shoulder.\"}",
  "call_id": "call_ZCkAbncLWWD3C8l2cMnr0NX1",
  "id": "fc_087850f247bc8cee016aacd265c92487d0b1b933c617ff37d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZCkAbncLWWD3C8l2cMnr0NX1",
  "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]: [-0.0689, 0.7799, 0.5591, -0.3271, -0.1116, -0.0711, 0.9968, 0.8341, 1.6669, 1.2739, -0.136, 0.6956, 0.4393, 0.9997]\nstate[eef_state]: left_x=0.2952 left_y=0.003 left_z=0.1747 left_yaw=0.0564 left_pitch=0.0143 left_roll=-0.0014 left_gripper=0.9968 right_x=0.3986 right_y=0.2762 right_z=0.2328 right_yaw=0.0139 right_pitch=0.1597 right_roll=0.0918 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -1.1282, 7.0632, 1.7802, -0.105, -0.0708, -0.0122, 0.4444, -8.7863, 7.1043, 1.9023, 0.2466, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b0c51a5aadcb18f12f7209fc3996beecc6ec7af016227507f263c9dc5b6b65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49880e9a6d37e93838f33a595c779dc5721313e7a21d82f01fbc22059b61732e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67e0c7dd4e8663415ebcc6196701a15f8caf4b78a06c9953bf11df48c982abdb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 128 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]: [-0.0685, 0.7799, 0.5591, -0.3264, -0.1112, -0.0708, 0.9968, 0.8349, 1.6859, 1.7679, -0.5041, 0.7139, 0.4175, 0.9997]\nstate[eef_state]: left_x=0.2953 left_y=0.003 left_z=0.1749 left_yaw=0.0563 left_pitch=0.0151 left_roll=-0.0013 left_gripper=0.9968 right_x=0.4023 right_y=0.2772 right_z=0.3709 right_yaw=-0.0047 right_pitch=0.2394 right_roll=0.1457 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -1.3197, 7.1179, 1.7509, -0.0757, -0.0269, -0.0073, -0.0068, -6.7214, 6.9538, 1.2674, 0.2662, -0.0513, -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": "gAAAAABqrNJyFEVIdTvkEXL6xKArKvR0V0giXKtcXA8qm7BS8ysELs6Yhg-HSid1Y9EZ95uvV6TtR9G-9QJec0FYmkB8X7ijH2gMMMBQGxLmNXoGpGwgmgZKh04OOzuV2fPFyJnmyYQJpaTbM0DsT0LRG_uBcHU_ivE9zXChOjVZqG5E5H-3VQ3gmLaigAaY2GJ8z160UUiVC0THWRp9CjXLk3TQTyGTvRRFJE1cE5DzYLHlTkfh2K7iHL8nt9Zt4K1YvmMOBYDpk_izGbUUGt8m00xXnRLIRO0ykGW_onxwbnXfEGljxXE22-UOI4-wr664XJEnzZel_6OVUuQSJYWynLAcVoEiiKHR5SH1vZgfZ4n5QpWUrO45VIml-U94RXaMnNki5dFgFUwv62OHUdNQf9j3UJs5ubyFKHSxMlCwGBIVh2tymSfh-Z9SIvOK-s_UKaZBOSrwOPd4a-U02MCGrsaabXuVv9jPJwn9sl8f2i9QMlNVJt0i9MgysahcdzUriVAAmZK_cQp3Rksf3dyRAZ58IKTytgCnWAobv99S2mzYVBPkwCNtOExOXlakf7mLM6fb1qHpZPl-luC1oi5McU7AOa_4KjoQ8eGNOz8oB8_STgN-ockps5AbkoXOiJ-VqOeprA5VbjEHl9WGrz2mYPsZzsjcGx-jE0UT5e2JSGyy5y5DqrOiLIWgN3uLMgaEwTHX-9vPBQyDcAx1Rr1akd-nU48SF6qjt5bK_F-6ZyoNzn61i6E7Y4xgEnO5o_hmHujUZh9ULN4U7b5gPYl09XwxKGSdNbDsnJdxGa9pG2fob9Yjf4L-TKTwMOEeRt7LAUpuxstYfUKCHPuhSyl3vFtrTuBuDxruKGxvP7DuwVJPq92gb6Rd75jmubWPn6kx7n68HyvNTU_QiN9bUAphxvMP2VSqJXWq3eUcrQ1TiiY-YyiDoVFC2lA_PieRRnvDTObuccXS_pBmHAy8x9VxXvTrc4WAx001k9Dvp-5Esnq9lADRsnjkMjp1WW2WYAj5rArs2sQwV96tIcMKZIZESzNth4GF4JJeDAGTZPALn-alK07ALPnjzOUmE4uZnkndaC5dO-mjVKZJubbRmQHpJVv6eou8K5RFQ3p2sMWMWOB0YOncwUAe4Tz054bph2miGikTifBiIFuNNfRlnvcJ8KfreAQY14olxaEvjpfqoHMiRQ_zCBscwXqBvPjS6L0KBdbt-Ydd1LMN0vNNzbYIASny95MVEKM0wQzuk7pfBRRROrqvtMz_-YQCqSjAfN3doLGLqt_nWTI-E1pDdCFj3fO8-g26pC9fjsqlg2e2XavDq3Q4lq0ptoIm8l0RcKcpRfeK4ApeQ5egbGnAeUtaoAO3woBDVID2IIbMM7PG_oPRQT8hmw4bssiD79Jxuki69d2l36YU9kqUo1G6XgczqPEiibxUFKOTZCtwV8sAu-0I9T5EYbHA4mdNTkQ55CS-l1lFamLx_gA9wPaboiIBG3S8viDyD1Iy9Cga1YTEYubB9g9Xlo18L7Odtxtk_ugB_LRv4BoNr5dNEpWY4ChbcUUD4X5Vbl57tJJSKfUveqAv202TPnn_seOkvrNSO8OjG-z6Z189BVsu27nx4m7C0Q6Hi7lpdEe8881zj6sh-Mt27Cx6crJ8mk-lfEAcwgwi-m-XQgIZEgyzu_zuR5VrKwfSYXUv1n1xU_GwHS9uyTCj2A51a_9GhULtvbrwTMhMUHR_7alnK8-l6Vg0xOAAhOgP71--xtZNvVTFyfwvymAyww0XOBl2mfvWhdOMhNDgt78oMYyvC0Rles6OJJc_3_MBG6l7jH1t7sgVv5pDNwznPNp6IHVTFxvsOTmNHKOVjSxF7sVMLAUFkMjVjiHIsOvetO4Zmm9JbkGmb5Ydtt4UuhaeJwthCZ6UFP76xvoQRoyBjdWuzOG5gcCO8bSp_judCas6IWdgUrKVeFEIEOYDxhUrrcGzUr_vp5Tn5us5P6vfXP1DMoBWsaQnehDR9D10JR1Sip4Q6IVvjhQsHnV24ZhwcT50Iqc9cFNKEPGTgKLO7zj-ZotYTjSFnYgVGc2beIEF0-2qaYT73W-w4fTs3dFq_cpiGShO6bVr-DHGKpohhDtO3d0P_zRSJ6YWzNWeZaN4cGVw9DYcNZJwJfsFn7Ia1UcT75FF-7mToIH0DoQTUtjIvN2E7TQqAVlM5vln3wLkzEtViQk-A1tyhVc1Rstn7yZlm3qniFGolUXm56XRZ5sxCQPU1YbT1PcM3kOVnaje1sVf1hy78VdEdciPmysghrMDmWBja9fdlFglawjLeZLjTC8fZjPmfSzmPd1C8w32eg==",
  "id": "rs_087850f247bc8cee016aacd26a450887d09da679a86565f332",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.288,\"right_z\":0.235},\"note\":\"The narrow neck sits a few centimeters beyond the fingertips in the close wrist view. I’m sliding the open jaws forward at this height to encircle it without descending onto the body.\"}",
  "call_id": "call_6ZlKwCRSPaHRX7pVbV2va1D6",
  "id": "fc_087850f247bc8cee016aacd270cb0087d0a7d9a294742be989",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6ZlKwCRSPaHRX7pVbV2va1D6",
  "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]: [-0.0689, 0.7826, 0.5591, -0.3275, -0.1116, -0.0708, 0.9968, 0.807, 1.7596, 1.3594, -0.1291, 0.6659, 0.4221, 0.9997]\nstate[eef_state]: left_x=0.2953 left_y=0.0029 left_z=0.1739 left_yaw=0.0562 left_pitch=0.0113 left_roll=-0.0007 left_gripper=0.9968 right_x=0.4214 right_y=0.2875 right_z=0.2258 right_yaw=0.0201 right_pitch=0.1494 right_roll=0.0861 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.0188, 7.0769, 1.7265, -0.105, -0.0513, -0.0073, -0.7453, -9.3744, 9.347, 1.5507, 0.1929, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1674e01c7e4217cf408adccef1bff0b47d41b5b08175c29ca1be8829ef95d71e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:997ca68ebafba4fc851cd41e86f524d798dce4b6601f8a7bc136d849fe0acad6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e7e0597e5d249035cd2f1471459e0c571b65ae954a508172d11a7190a9ba28",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 132 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, 0.7799, 0.5591, -0.3271, -0.1116, -0.0711, 0.9968, 0.8341, 1.6669, 1.2739, -0.136, 0.6956, 0.4393, 0.9997]\nstate[eef_state]: left_x=0.2952 left_y=0.003 left_z=0.1747 left_yaw=0.0564 left_pitch=0.0143 left_roll=-0.0014 left_gripper=0.9968 right_x=0.3986 right_y=0.2762 right_z=0.2328 right_yaw=0.0139 right_pitch=0.1597 right_roll=0.0918 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -1.1282, 7.0632, 1.7802, -0.105, -0.0708, -0.0122, 0.4444, -8.7863, 7.1043, 1.9023, 0.2466, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNJ3EcSiQdyJY0aIgjz3KF3FijSGQqeZ_2bWheLZ7q2DqT5jAD6wocL1q9oGRuDOvDUosYU3qbshfqLiRp0NQKUsvBPsZDGBB3hBvTGrx8Zq2zWT1hFAoEC49yKGLzkxV7o7ODdC5YRr9l2SsLPNeGP8AtU0qayf35W17J8TNfPMS-PLl75wq0ol5pjGOQTy2P4K536fmEcKmwObJgJhKTOAi-I7fGMNdhzGF8Uwk6tjW-KuTwzWIwK36D5rn5_4ZQGtxcIvNcWv6Va97lQc-fNeeZPqLmDxGO_lx17ydTuppO8NkefjclAKVcDNGNjEp7r3-WMwTG3WI6WF2a-Tw6Gzgv2gG73lMqPnGmQk_tHwJP2DCtQsXgA8kY1ffSHOl9Y1dNUNlyZI--ZrdhHs22ea7unQwtdOfJl3ip7PAkkgHvq45rxKAxvLNIWj6TTfrhVADAAGUyvqyAqLFhA3YwoVCB5y42cxj32AkzIJurobR93auehafgry0dTt3lWnW6TlT1SPj5lHge2dsKR3XxlzhaC0mnGV0nthZ5JPPSdmKQOeQge5AhciXcjqRYURzXTPRivW5gzYTqlLE4Mvklc4UXCaSgeCLZJT3bcYIt3MAY1LfHNqiTLQdRlpeYuQKDYocLMACiu8a1-_gPG8rUwIWfl1D-aP61dO3QE5KNjdSnH8yJKR-p6UBMrtO6aMiOo2vPWRhHAQK_qn-vgmDh8l1i1zR-QrXEhiczushCzEgC63R-l-GmAKnCIa1XubWMyHtAn5KHQEIiAzwAnEbdK9hKbNc6DglesVaeNdxJr5-qU7LvnlYYMQ7o_83B-Da8Gzkq6OCdzSIPMGq4mWfed6KITGb25RTg9pLlWxgfUYRIzvbDlJkEOzfUTh-M3PzljK3DwSUSVDZusaxPcfcNN4e2H2KKIGYjPNcWVt-DMDh4anxK8U7F5n4c684WpwSDTkKhRjUiYMwA-ceRHs1esRuZAA3bZzyz2zQ7r2rm80QM5JxOAfBh8CH9eTc5nmzfcy-7zVEvpk64IRyd544DTr35bzZ89sQrU4untzNpQHHupJKuO1DYAYMeonN4D_vgsxlNQxcayl8iuZSbOGV05JumSKyPjK3bnRpcamKbj8qe2gCQCOfGbYsh7LcDWbu6Mytp7bA3M7xSKdw8eiXzxjt0MPqe8-CJa49rWIb6uAXJYAEYF9dVde7mtToeGMWwuY1fbmn0JtBFE7MJPg_cL1JUdS2xD-NqfE61qYLRvBtPOgOPoT5yOeF6rAaTrUJxvobJ_PENygmDWSnNdbQiirPZgL7xkEk4zM0pHk4RkjUUl1XtmoFSb4OH9xnP53Y6k1u_opqgb2wNdvLVp_e8FIm0lb8yUCTalfW95h2gnXr80ilcpdRBOfoCBix5OSJxImbooCsj7YeHz9z71WSQEovw==",
  "id": "rs_087850f247bc8cee016aacd27506c487d0bbde1f6cad5d301d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.28,\"right_z\":0.235},\"note\":\"The opening has moved into the jaw column but is still just ahead of the grasp point. I’m making one small forward correction to place the fingers around the neck.\"}",
  "call_id": "call_TnLffmhWiUbf7NTnw7F4uhEY",
  "id": "fc_087850f247bc8cee016aacd27675b487d09026a26e94bca3d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TnLffmhWiUbf7NTnw7F4uhEY",
  "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]: [-0.0689, 0.7837, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.7902, 1.779, 1.3739, -0.1452, 0.6422, 0.4099, 0.9997]\nstate[eef_state]: left_x=0.2955 left_y=0.0029 left_z=0.1737 left_yaw=0.0559 left_pitch=0.0105 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4272 right_y=0.2861 right_z=0.2184 right_yaw=0.031 right_pitch=0.1264 right_roll=0.0689 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.2103, 7.1043, 1.7411, -0.0562, -0.022, -0.0073, -0.7726, -9.7573, 8.2393, 1.7509, 0.1441, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a2355442a165d65c2b82cc02dc4e69ac51fbc388fd343ef5cc709319b7c47f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c602286d323d83a657533dda468ce917be1731f4e468a81d841a6b6b35410f56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a680626cbca7381e2f671c7c7e36b1abcabc113817949dad61f10d78f011d5e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 136 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, 0.7826, 0.5591, -0.3275, -0.1116, -0.0708, 0.9968, 0.807, 1.7596, 1.3594, -0.1291, 0.6659, 0.4221, 0.9997]\nstate[eef_state]: left_x=0.2953 left_y=0.0029 left_z=0.1739 left_yaw=0.0562 left_pitch=0.0113 left_roll=-0.0007 left_gripper=0.9968 right_x=0.4214 right_y=0.2875 right_z=0.2258 right_yaw=0.0201 right_pitch=0.1494 right_roll=0.0861 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.0188, 7.0769, 1.7265, -0.105, -0.0513, -0.0073, -0.7453, -9.3744, 9.347, 1.5507, 0.1929, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNJ-SVtrKsH1Skdt596ZsGicPBXwk7iovc1Hjfj1mjENlVsre2FYm4y8JSbaeAMs3m6O1W6KI4KVQeL988Js2tlQmFauk_AuAyc_k2R9s6p5wZmfvGmILuW1WjJUGm4B1rmRpHMOEtpWEIGLHNxh1oRHjT5dRGBy_zdPDDeCEfxRxRxAuw8-jXCgMmpnfvIZTIZeOeMzbEPhoWcTrZqDgFmygzexx7Fic_hTU5LPzyViCQm9R59k7mfnZ5j97n2yfcRqkY4kC8-0ZgatpE-TRKJjDuk3nF5IOnoT1Jly05RSqR0b-FhQMZ_uFUWmYZjwewECj0D-OIXETaILsY-9e4jqgRzEqz_Irf1IvM_WsBAx1hT7W5JPE_u1gGPEx8KDfwktsV8evAQUV5EEwIC8J_4iYzWPVkjsOpgG0-Vi6RC7-KjWNcML2FQcW5Ff4MU9G0BmLAnckxItrL1A-BZYnC5ZafPrtMh8GIkGXeag6YNo9RFry8O13oze68mL_WJ5WGZDCUqiwrSmfpxpxoqj2_xBQRCut_ju_XKhKMQHFstQWSoRGvlWngIsTNs7SAjav-ICNcVEonum8H8ucodo5P91s7kV9VDMAFgyxmZAYNchOCoW_HQ5MT50yqZQr-yUMq_PIcP0Ul99EINt4jgftWQJ1JucTpNOhBHZ3hQaHAcDCH-GCAKRmWd9W3yLFUPZnjZ5gx_Zih3nibnOTzJHNkni_YEl-4PoKur2zfe8ixEBJsjMemymZL2D28fiyKeNCyOcdHKV382sK8mNVvWkq0X5BDv7iMJlkE4SoWaaRamr4bDNpDXwpGKqkkLybKymS_QacePllKUuyxHnjdqgj9htIsQuFv4J6GFIY_owsIlMoqhcZ9sQ4j1Ruvs3lxiMzGBDz-10bgZuowj5Cao5kdKloFXMvv4U3koiBN2vPmjTPUIutFRX0AyxYxPYgIq7GcNue786NQ7RmohJspNxjZreHOl7PUbybkSmZgOWrX2zyR7UGBePlWE9QADvbBZdmUK4KrZe-j_LBP-AZGhzna1qvOBs9aAbNABhMzTIMkxR6dwRgBuRUY3Xnz9p4MujUpMm4wwBwaJrZ3HnOBSuea4dSHCaYe8glgzfUqoFfgDnhWvC4nQc5b12Bhx0CR6nMnkAyb9g1V3cytbsMnPHjuudyB8y_mBjSOr946XUK3XgijfrRoKu1Ik1TqzSm6ANIjFO0dpMqv3QEyYXDUnlxpoBiK_d71H_u_9ak0CKY997uZwS5mEpM8mVGPiFu25jYwH5kJlJ3cm2rvCO5Aq2CBpd4rFgjEo90v_RypEwem9Wp7teOUfJIbxYGpX4QmZpWfJ6H_jekhSeTZBPQhqgZO5yEJKHSeb1jtvNY2x-gONmQgdS3FLU8wK8fmMh_f_AkDIblPYEqzAGhzJbLMaXs4eM40zsjZ3pauvXo30Plq3Pcz-joT6-awH7XMqWsYdSy8Xt",
  "id": "rs_087850f247bc8cee016aacd27ba01087d0bba1633fd1f628fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The neck is centered between the fingers at the current reachable pose. I’m closing and will use the measured jaw opening to verify whether it is captured.\"}",
  "call_id": "call_k8fYWXYf4MsQXeUCL0DWj0Qi",
  "id": "fc_087850f247bc8cee016aacd27d51f887d0acad890011b32025",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k8fYWXYf4MsQXeUCL0DWj0Qi",
  "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, 0.7864, 0.5591, -0.3271, -0.1116, -0.0708, 0.9968, 0.7879, 1.771, 1.393, -0.0772, 0.6605, 0.3969, 0.4005]\nstate[eef_state]: left_x=0.2956 left_y=0.0029 left_z=0.1729 left_yaw=0.0562 left_pitch=0.0079 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4345 right_y=0.2882 right_z=0.2441 right_yaw=0.0097 right_pitch=0.2015 right_roll=0.1172 right_gripper=0.4005\nstate[joint_eff]: [-0.1709, -1.4154, 7.1043, 1.7656, -0.105, -0.0562, -0.0073, -0.1573, -8.8137, 5.4769, 1.0037, -0.0708, 0.0806, 0.9548]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9281d74b5e343dc130b97534a4dc40d14bde52f810b1d5d313507a29a3594b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63606af44e9258ab236ecaa37d7b5da4d403658cb52b35d139e200bcc0cda029",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a18159b670345e5ea1c2432c4b5811ee7c960c4989d674ff1ccd2991384d94ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 140 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, 0.7837, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.7902, 1.779, 1.3739, -0.1452, 0.6422, 0.4099, 0.9997]\nstate[eef_state]: left_x=0.2955 left_y=0.0029 left_z=0.1737 left_yaw=0.0559 left_pitch=0.0105 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4272 right_y=0.2861 right_z=0.2184 right_yaw=0.031 right_pitch=0.1264 right_roll=0.0689 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.2103, 7.1043, 1.7411, -0.0562, -0.022, -0.0073, -0.7726, -9.7573, 8.2393, 1.7509, 0.1441, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNKEjP7cJ3GQFmiHR8qHM2QfOSTpeaQQL2UuY_z_cD4OPvSFbrtflu1hHsHJFLMCTOihAheCjqqB_RotPNy3yEPDbWY9gLkUOk6yy9fZ-WBJhW3dOh3YI5ll3lZYmWmWp63JY58b7-WBLt2fNbCJGdN4qAEWK_BDxgYKhRk1Ci9w6XWUNhMVywjyGLZWy3zTOFogiRuxwMBTkYVxu2UkxEiSTwy63ROPAWtqHLIO-nfOuW9OtHam3BRgfyG8PyP-gqskUiDGm_FJYcYiJgJoghtBS5n3MB5FvXuG7tz5lth_wiqMuGWaaJK4ELtPb9LNpmpL4xdjNspFwc_G8uplEiuLSVRvw1vSSHTTh2Hz8MZ4iLLpgVhoF9gEp2KBhYQS7ls6NyMAlC3gyaPJZI7H_at1GAvLfHrIfwh-_hnCm5vcyXJA9-gGa6R5c51BWPAXew5e_Uq-O862FSpCvjg67wUwM1MDKPOtT9oUtkeGZ2l9Jw3EYfT17pajKlQq7lluqtMo7f0KT06loR_cdAO5Bbnpsdgb0-5JyZLWWa1zkWncW03T4jHItY3xnxsIWKraBiqk7mhSJqLlt1fek-bdYUQhxzLuWUsNpod2phEEqWRo0XVJOkDTRytBTc4VBPCZsgrGjJScHC-1D-p9dL9WPUUTZPSq-r5Shhs1yTrBinL9ugnym7ITAaGWPMCbg8PBqP7VZy2jr_AKzkXBHGdODQJkfm4QH5tXsV-AL3bT7iouhjx7OK_nAsQZ65NCPGfHN9lLTCRq_fwyX8Bl_Ge2XBg9UYAiqTAQNUQ3Dh597Ds8XOTvHT9xODUeSdq-EgXiHBZpyR8D7fmM3HzQfl3IQR-QVt8RDRFoAETX3wNZ9RqpNORZlrFnnd0lCuuYaxktla1qtGzGUJJHlBkM86SHEIE6qpPXgo1bYlLFbgrwskVLBbzZpbcTveEczXiRuIxgOZ-O9pDD9mQPej6soZiIiPlGQYsQXDOmHGXmfFkDN4K6eYrWMQ7wJuvr2qiOpTzWAjJ6qDqcCCTPbEhkF35mkqNUb4GsB7oBXNvcbfiLYo81wM2-9lu8blpbCpZqY4VHp3Lj44W49WLgXg1LAInCYBtDBS8eXub74SEmcmVcge9L-TDpASnQj3NL-ept_lyaU6QUzQIzvrKsXIsZZwn8Z_-CYy_ArkYeRenJ8-44lfMGewSZhSCIuf0itQ13q6Au-ny0x5vYMVc1ZJiSXlimLSMJ_RmlUQubKU3DWZmF6of5qKTkkplecJ8GOF1zhk3zG2WIx-9L6icZmVbZ81N8Rx6GZGxkpKF0NabKs2ruC7FpSRodhP4PgVii_5d6ts2UTRJwYlaLbmgtUzNCDrwUw6SA9A==",
  "id": "rs_087850f247bc8cee016aacd28235f087d0acde3aa8cac17c50",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.26,\"right_z\":0.31},\"note\":\"The jaws stopped at about 3.8 centimeters, consistent with holding the neck. I’m lifting and drawing inward to confirm the right container comes with the gripper.\"}",
  "call_id": "call_mtZHqDNALrzIIAxjlgUqWli7",
  "id": "fc_087850f247bc8cee016aacd283427087d0853a3ce43773a50e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mtZHqDNALrzIIAxjlgUqWli7",
  "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]: [-0.0689, 0.7891, 0.5591, -0.3271, -0.1116, -0.0708, 0.9968, 0.8257, 1.6051, 1.3945, -0.2867, 0.6731, 0.4076, 0.4016]\nstate[eef_state]: left_x=0.2958 left_y=0.0029 left_z=0.1722 left_yaw=0.0562 left_pitch=0.0052 left_roll=0.0001 left_gripper=0.9968 right_x=0.3931 right_y=0.2691 right_z=0.2842 right_yaw=0.0369 right_pitch=0.1752 right_roll=0.0931 right_gripper=0.4016\nstate[joint_eff]: [-0.0752, -1.4427, 7.3094, 1.7118, -0.1001, -0.0073, -0.0073, 0.6085, -9.4838, 10.3726, 1.7656, 0.4567, 0.1343, 0.6862]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbabcb4317a1607d1803cf12b7f7536042b2ab6b2a369f0f30b159232d47409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156040ae092aecacea4516bd90d6f1892e7ee4c07a2e6f11d2f29a047f5f679c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1f51c1246dce0043d0b1485cc06b67f5bde09fc0e00bbe105265ce96a551ca",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 144 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, 0.7864, 0.5591, -0.3271, -0.1116, -0.0708, 0.9968, 0.7879, 1.771, 1.393, -0.0772, 0.6605, 0.3969, 0.4005]\nstate[eef_state]: left_x=0.2956 left_y=0.0029 left_z=0.1729 left_yaw=0.0562 left_pitch=0.0079 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4345 right_y=0.2882 right_z=0.2441 right_yaw=0.0097 right_pitch=0.2015 right_roll=0.1172 right_gripper=0.4005\nstate[joint_eff]: [-0.1709, -1.4154, 7.1043, 1.7656, -0.105, -0.0562, -0.0073, -0.1573, -8.8137, 5.4769, 1.0037, -0.0708, 0.0806, 0.9548]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNKW2Rw8Sf1tP0Xn5TOiPj7L9KTGfN890HNLZ-OIrh0P9wNiCdX0cG0GxHtK5ZbrHdkfTw2KyLsJ87qx2O7fH-piNP8fmqE59So0_QT-cHEdNZCg81RmcleKN0sOi3gIcliU_ne5Eqdo39VVsVnLHpuGK3gVVzHrN17SnwyG8OD3jcA8_c-lGBYkeYEiB9l7BSmP_TSbOdwLpkoQC9OW95laPwXBwCmE3L3zszOGocg2pc6uWCqAkwtVFExQOiisMcZ7ouCliHD3sgAgITj5SZ6_i1xWGswkJ24wIfU_8Pk2oQZHUIEuvLt0HnHR7CA4lZQuTqCTdkG_j2V7Ic0ShkdmFqz8qL8udCJHNtCqhViWjxc5WFcEe7-5jG3-aRwR-RUPS72obmm7dC7OGuHvo25Yj6kivTDfFX7S39PcqYdNLkMCwKolz3-in7tQmZkHfKdRbe4Vb9GPAQtIJB9GouC4fIblu8uO9Bmn5MLc5SodpRKi_WtZbjKSjW_rwDcfbykiTvCcGtliQWDHIoDpbfh-yYAnm3MZHojpmJcegLFBT5omKP4HfJJ1oXsOsLgLl7eIpV134LH6lVglxhFR6Lc2TogOkuBMOHA7b5UF3xmh3ER_OzIbMKapkBQHu_FWM1K5lb4WBe3a5j2HCg-bpS_VCIe_B6xrc-twgiXvJEkTHhoH3KFquPneutgcPQ3c18jjbOVzyO_2uJ20owsUM8Tynkz9L4jYCOaBPbuTqjxNdL1jPKxkq69fASrOhcASKOs0xOCQhv7hYsnu246d4kqasdAqfw6mPrUqf1Bf1XuoeQccmHQuP8qyoHt8NofcGCVjT1vwiHZg1uKi7_Qg-JZzzdV1Ani-P_EgSTTB855TcSliT8yQjelPREpv11JmmjWW1TP7xPEtZtTpiLbMVVEvmZFb7dGDXuU8ZxZ6LpYYZMt1vdBv2txjaTJq9rKPouCwOmhQ_HVMl3gR5a9Kabr0MQdeRNMqVV_5jpRU38_N-AWvemoxrxaLnUJQj4nm1XRKayvWHli11dTEanEJNDtoHOGT0LN0N0QqR0GRgj4hqUlZRFrsjOjESWQtUkYygRmEknTtcx3UuZ3EEcsbGMmgalOFGstuLtwLTMCC7fLBlCfF6Yf-uXrTTp_CA2TsgsF0XxvbxDRz8BSAxl02IfuB4P6OuB5KiHpBfzJZow4_HSuMgIbilX3HW3ooN-110y1K_ZMNR8FVewk4TpAGZ5ujmX6CphX2eRAdy2_PLttlY6vjbinKWfHFa6Ej1QTyfCMn24RgUuNUjV2joftZPnbkv23_GKYm12jOni44PHT7ySg4v0ryplQqoPrQmRcZdV97GdM6FSaXwYcRQNBkhbuTPsn4pHr49H36WMKZ7-ISutOlQcNb130YNgkqSn7qcxSwBzy1J-MwscSZvlsQabhFqvQhrwuthozLMn6u2QNdVOt7ImTlfUuDMFzLmg1A3crTN4fnLpRiDJM0uFC3CVXPHCRR0p0e-vEwKmZQ7rT4BJWGTsteNenOjUiysJ2Xs6qctdMh3xbRz82hff0LKmRIgm6e21HD0DFBtm80r-4xTotZkeHvu0hN2m8USP78YNK98XC_XMqzsTSpgk7q7lxWmQH1l5nvmTofygpU6HnCB367S5ClfwM96PhCkQ99Q82J8fn_KmHdYKRSHBCXzd3Ckcrn9TuuhOq2IgXLuFF-DEZFOVz1Wl3h6tlH_zm_5lguPCYt0azyBDLRlfiPxQfxFcd5dTvkN3nAhXvFW7WbphKdehOKqUNnht_ciSmH8VnG7Y1hXQVTf_MCIfkkGGffoC9qiY6HZIA3CVPupkPakkxzSc-AKbUKnVCvvzm8JfFQADxlL46PVPSM7ffGVy0giI2sO9NR43lSqrg416q9L7-ar4sMsISKM5FsdDAIKKILK3DKbeKmKIn9CcdFpgtIItcZlu-GNidssafOZN9BU4hiBS8PFAKGfV8jM10Za3gTAuVnrmsR7FJSdMDHE74oQnRc5WYT82nkIGhwAc9EJ9xRQqfFDJWSBQQA2EiWNKtXOY8Dd9aomCbe1Zzq-hq4TnqSTbjCQWXvHzVRW2RUu1wUT3VN_f0A7U0mgGU8GmZNjN6SPW0guICvZussIW0TpbM5bgBVfwT_p5dV4ym_xjs2H39p1f9dbgv5jqLk9l-8zs2uZDhjySOQDduXYoOvjc50cdf6HzfifN2fGcft-2sfSZwhSvQ5MBoSAV7tFY7hwuWO9DPBj47OkcthLGoUGHear92xWWUY4ujQbxMSRU7eLnPUhs3JA_q0fmW2BKfPRFEKLK5Ef8rC0cxTtc018iCYJGpQj8tSSUbDurP8V_PZyBKwwLPmGT9m0o4bPSTP2Pk9YS7zlkFTsv859kJhyaoKb95Mhp7FOI6Maqdmp_z3zwO751aX2DAwtZ6R-_ykrplyTZoMElhWDoII5dn2vADbxJzbp9LqZPq9U49VMHT_-oirtAXAg7AaGEmFM6f_m3b7JbRcN1fk71WQvErc4oqNFVcMA20BPGyw9XQDy9wWqfuQ6hJ_DTZl6hHUY3C3M5fW4dTjmSdN93Dl8bGQlEopoD27qGmXEHM1p_Tn6uQlIC5aqqQi8uoFzPCTJ_sVvi5JLjcT4WymoNfrDW5ePs55MG6MmCbtYVbn3-X_z3NnABWqs-SEAWkRPuQwF1T-psbfSlBq1WHTVasKFOqBM4fIvVwZk_OtJnERrF8wyph-AmPFfY1-PEdwP-73ASXTyAxFCzOSGC085k9E07kHh3kK8sLhhfJdwcmTTw4KAH48yJg7Ic4TkQ5-Z21uCqpNcF85mIzJXheAU-hFwVjlxwZ_7JvCprtYFuO9qyWjBoeMuyAeMvI1VNRX4RgPa0gTLnGYcLdlTHFCUlYbsQPPXR5zO5khi9NHMjWTrqCswFW3mughSyTc03g4GjnwtrGiB-WOZB9E1lljy6ovbIbZZFI57mR-sTqmrnJub4gvlMNNTwGVbQegUAJyL8_NJ_9UaUHuIzHHNvmB0B7xm_yHztzAQCmLDdqzTaeLNspnI8CyURsSaPW1iQj44hjzaRM6to3ABd2EHU2mZwzKwbbxz7j3h8FFS6ee95vPOPCsn8qp6kH_gOjUhWmuwdIctOMglUtcbhSihaRIuqG8J_pB_TT1w6cf3oBPUmQSIhhfmKbzEzfXaNVJn-I8upe16AlHOhu8h0juMAfv3dGShDwgrVrlYrztXlRf_08OB_7xw2FpRGelQ6NUDQ_rXUIH241NX147C84kQk0OgRsKo-yGOrztEki_CMO0kRztZT_LjgCn6_ENHgRo7bNkMuiuC9psOkmPizj8QLvv0E8QjY3TxuG_wumNFcHmsGHIcFif8xf5P9oqmsNIWKOyKhtfert-VS_lv52h9nnBZu4sFnTosUiYSWjSK2hCNuefgb5mlfej0mjL6d2YL0spNbLNFK39ttm8DGPR6An0ccmqA6bKuFkWMQPliYUza_ZAP_l5r3fX2Bu0vAzPujJRxpfQQSr4fQKcAC_dgheShCcFfP98mYnn6JWgOHk4G59tAuxcmC6l5i4OnZW2dKBUBmCbVq1yc8nGaqNpjSze4culGBk-jRUnzqFrObrrr5lUwJ4_ZB3FjYgUjv-dRkomgoUt1cAVRcEwKzopLzFc9d-V0NUl24m21Aa76CaryXX9WF79Cd5Ah_nizfyj3iLqAoyQT0Z5Vn3hhQH8h0EnDGMZgmA_--d7F36dsxegqw94eFsUOOI=",
  "id": "rs_087850f247bc8cee016aacd28731d887d088dbaa5ea8ce77ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.35,\"right_z\":0.34,\"right_pitch\":0.4},\"note\":\"The right container is lifted securely. I’m carrying it toward the red cup at a safe height, with a forward tilt of the tool to improve reach near the center of the table.\"}",
  "call_id": "call_8q3p7AzeO887TZzmgof9cdIB",
  "id": "fc_087850f247bc8cee016aacd294cfa887d09b498d42e9005840",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8q3p7AzeO887TZzmgof9cdIB",
  "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]: [-0.0689, 0.7891, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.828, 1.5757, 1.3964, -0.3508, 0.6773, 0.411, 0.4012]\nstate[eef_state]: left_x=0.2958 left_y=0.0028 left_z=0.1722 left_yaw=0.0559 left_pitch=0.0052 left_roll=-0.0001 left_gripper=0.9968 right_x=0.3849 right_y=0.2608 right_z=0.2865 right_yaw=0.0378 right_pitch=0.1535 right_roll=0.0712 right_gripper=0.4012\nstate[joint_eff]: [-0.0752, -1.2239, 7.0496, 1.746, -0.0806, -0.0464, -0.0073, 0.1983, -8.5265, 9.7162, 1.746, 0.4078, 0.0464, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ffc78a7723a2d1d383516955b95963fa58e7ba59dcf95d4535e0c95f070aa7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47c09f12a6c6bd1ac700b882a921fec94bcf3fc908026931554b8ee07a6a9a24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd3612ada046e33a629957aeb1c67450f40cfb432c7504a7c35cfddce4c501a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 148 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, 0.7891, 0.5591, -0.3271, -0.1116, -0.0708, 0.9968, 0.8257, 1.6051, 1.3945, -0.2867, 0.6731, 0.4076, 0.4016]\nstate[eef_state]: left_x=0.2958 left_y=0.0029 left_z=0.1722 left_yaw=0.0562 left_pitch=0.0052 left_roll=0.0001 left_gripper=0.9968 right_x=0.3931 right_y=0.2691 right_z=0.2842 right_yaw=0.0369 right_pitch=0.1752 right_roll=0.0931 right_gripper=0.4016\nstate[joint_eff]: [-0.0752, -1.4427, 7.3094, 1.7118, -0.1001, -0.0073, -0.0073, 0.6085, -9.4838, 10.3726, 1.7656, 0.4567, 0.1343, 0.6862]\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": "gAAAAABqrNKcUrFsk8TVgeAyE6OWhoSTVcRqmsHGlV19H81hloh3vaxsIFom8HN2qyCY15YXlF50cb6yrcob7XTegA93rj-O-8fp45sdpdCnZK5Agiqickjmxd9gmHv79brTUER3z4yq62yi5edZ52CeJoNsr2a-YvQMRU1-jr6y12tpr83F9rVRN1rqg83AEiot6OiHIywncMuUmPuYVUvHpvUnpWoyqjpvufWsIoHtSUuqHz7EPk89ea-GGlv5z3RyyQCR6cDbKkqW-DNVQCqqEBHUx56fs7paPqF3yUtoh14t0CCP5mgGRGO7h2IUJSFQLj8TfPjEKaZoAufeyz_1oXIdhKFEY1mMpYRv66H_ZbRH8cXbs1IxnIHYxmO0rOpk-T5oja-Eci9pg7SqZBu8PDmaoUHocesYx3w7n8VEthgLZjEwHu7JC3p4E48o0v6kskoJConqBl--xub1AD2Of-AYxCOO_g6Qq_GEUaoNZcg-ixXrN4YRzDaX6YWD5q-WFiemli9Nz95b1ql2rIgRNMBzCQ1QPwasBEw351KE3S4w3fy2ma6ycWfMg2qCpgNKqhkIGRaN1gjX5ZnnoAkd3hc2ogruAgsP1gN3njKuHSrkm1Balwp5UeV1HUdTXpssJ7Jk1d1rUGjjaYqKF-by7BtzUGb3bQchQbTETDRwylHGwA1onkZbIhrSUJokMrsEosK-8sA6WGC4afyP3mt8ONPB-XWE-FXjQQ_XlLgwDIvYucej2zCGUexAcCHvCL8iCWRSZR7MaXUt1TR_TL2dVsX-lSzLRaYbkYk7MfFINXwAEoRT-JWTfu-FKiOYwhkDO6ogHc__vyUAVlEajjEGy6B-h4u54hysweAoJl6Axev9crxszGKIJ1jqNfENjIlen9MAlG3peoHriFz830HBf5bkRn9LxCRhWqfjQEtNrKj6Gnn4cF_3SnH87bYvsCFT8WB-dTX9Ra-NO9yPIBRUq5bUVLn2iMP7Jq0ASNvHSxa3EvVpgHli9Pr6u4iyvHatTuFCEc0j6fn_B4zhQU5RIIECaQhAzzugARTKDqfmB5giY-TwDRKBZ0hXC0erl8GgczQJCPQPwl6ZHSstkU4SQ6NTvGKHD1aVWkKLflgwauwJFuhsunQtfiHAslqaBVWW7-gD3YOlaNwWAOpbr86AHPUm1jx3nn2K2H8SqyBlhzzQcoAc6dQzPWRtHARsGAATWETMgW9Tuj2nSE8KkDqosHr_aaIAMWAbqnax71F5nStd0s28JPapOMe0DQSGKMEZFEsDxoN_",
  "id": "rs_087850f247bc8cee016aacd29979a887d0ac1255e613451d8e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.33,\"right_z\":0.26,\"right_pitch\":0.5},\"note\":\"The farther, higher carry pose was not reachable, and the arm stayed back. I’m choosing a lower, closer approach with more forward tool tilt while maintaining clearance under the container.\"}",
  "call_id": "call_Q0iuKDvDAlys0LfoO02OlWHc",
  "id": "fc_087850f247bc8cee016aacd29a201487d0bddf96060b2fd94e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q0iuKDvDAlys0LfoO02OlWHc",
  "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]: [-0.0689, 0.7948, 0.5591, -0.3271, -0.1116, -0.0708, 0.9968, 0.8169, 1.9381, 1.3895, 0.4133, 0.7311, 0.1257, 0.4015]\nstate[eef_state]: left_x=0.2961 left_y=0.0029 left_z=0.1706 left_yaw=0.0562 left_pitch=-0.0004 left_roll=0.0008 left_gripper=0.9968 right_x=0.4634 right_y=0.3265 right_z=0.2549 right_yaw=0.0515 right_pitch=0.4585 right_roll=0.0579 right_gripper=0.4015\nstate[joint_eff]: [-0.0889, -1.6889, 7.0906, 1.707, -0.1001, -0.0562, -0.0073, -0.4444, -9.3197, 8.2803, 1.4725, 0.0806, -0.0317, 0.7302]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5e235fb254ca7ac8d7b75fc63dc6fd827cf072401ccbbf2f3b5007836a0205",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9cc57b493ff5fb8c7837341e6862f0927cb53239d20cc49ec28bc7464e4e3a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a11b082349fca67d3795fab82efa887517393012a67d950ba1d6e7fa1c67e15",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 152 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, 0.7891, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.828, 1.5757, 1.3964, -0.3508, 0.6773, 0.411, 0.4012]\nstate[eef_state]: left_x=0.2958 left_y=0.0028 left_z=0.1722 left_yaw=0.0559 left_pitch=0.0052 left_roll=-0.0001 left_gripper=0.9968 right_x=0.3849 right_y=0.2608 right_z=0.2865 right_yaw=0.0378 right_pitch=0.1535 right_roll=0.0712 right_gripper=0.4012\nstate[joint_eff]: [-0.0752, -1.2239, 7.0496, 1.746, -0.0806, -0.0464, -0.0073, 0.1983, -8.5265, 9.7162, 1.746, 0.4078, 0.0464, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNKkyhn8Expk8dReQ6jKbG02q0zwsz-hFFahqbTohgbKHeMx-bc63O4cOl9G8QcusyhJGKjZJXXsn150cJOxRbuI8TB5epgJGBwTrAUbwH0WUVNqWR-2r07zsao5FyLQAln0AhJFibWP2xK9mcNw9CrzvCaA-wVt_5_XNAYqAgC8HVSyYZeOWfa36t87ZXzIEayCz7JDHq8aDmz0sXZ0Dx7sQ6xvjbpZ1odci9pFtpmCqY-lcwFPEMQFvblFxwtIH_QOp69VYx0ZcF4_SRq7Qtbcyh9bo7p75CG9aKrHpHMoNiGMVhyIrzDuAbsU4A9sgfD4Hg_q41qzefABxNNCmc1YANtTPXl2NFDxAjLVkxTtU_5QPw0EI61i2f8G8vgrC2h6X3DsIlpplZlzXx77Hk5EDlQyIetUsHabtzYx1EKgXpbTVK-aSsHdMNils8x4Cwlo8RYVVxISLTpLeQSbksRluGy_zpgklVoXEd1XusCe8KdMRrvKlwQEgyqEBMVsAYi3gvN2JL7aGZ_-IuouVVzLGD3dw7XHt5ls9ej46GOtCe5RyDW-lYK4YFtrcthbtJ_A1FOuDn2-AXCLSxfuS6IbfwBBpoVEdvXV7CS3gLWtQB7d-l6Pri0PZNdv6gi2SOtoCaln8YQnkt6yDLWazTMlby5Ye1covy9cldFARksgQU0vOGSgALyH6mlUv_wtGHzisjVOwL43dHUcYFkltzEw0FoyRdecuIycYkq0tAOgAgD8_SB4MjHRMLH8TOX26lslt8ifbK2bHq1EnJuK2R5qWtqzusv_uP_LadLCQkuqXt637LbxL64JL1F-Pvcpqmp8Sfu-SW__pve5AVOcmF_roQcE1l8ZKduB4iVntxBmufuAsxL8pPzHv79ez4icqZ4necldOKJnJeHQotOHhpfnemjR24wBy3Jk9sNyqRmA7Hjhf_B_0_BSszDBCWwRKaevAxV2DGCWxce9_3QUgYVjs-8uSALlTHVW_4yKPozY-wTZ-HGGFuj489s2Dnnixpl-7KlAQ5Lt2AwRiEhIqxTeQVk72Q6CehY1m1CXg88DCMvxbwTKNSYk1nFU5TrbQx9MXZ4y5S-LSwOWDDPUitXg1hOzMWo672LPWzfH9pD22ra2ybR-k3IWfeJuHJLzaqcaBEwFX0Hv9n9J-1G6zkkpYo-03p4_hjx-TMYDsB5bbgUHGIoLE7uUzs2Ny8HjXWBY91cMkE4S9Cj2PNLrBwPLp_A8O3BdoeD6Ld1YOMPH78xKlfaDgtXbKkJi_F03_0TYluetjHkPis0-Y2SXcaOxJCBEH3BR8HMsXC9s8983iCLOJntf6R2eBU6Ny-9EavroYB3ECm-1JL8GYsOvvCSLMDip1T8hpS5fZervHmbi2xPQlkEPGYLlFES2DV33AQBsA0FXzZPt3EAx9keUHS6BzmTTbVt_ft98dDLpO535PCUc8vBoHsem_r1SJodrHmja8AS2cmq0zal-LNJAcQseN8VypZ7Zm9HNqlT0utftC_MSQjp04V83KzQEm8eRuxo3ZiLz9mnWlA-MOLmnbPneJDKd1k8aG2C4Z7ZcimWEkp98eTXKSCq7zu2xIFXr7c0RJGlBX0-MPjWreEfBWKHJR0nrna9LTHWuPbAJE_jSkM_hx86YowhzExD610E6l3dJ",
  "id": "rs_087850f247bc8cee016aacd29fd39487d0b8ce96af0e0f67cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.375,\"right_z\":0.23,\"right_roll\":-0.7,\"right_pitch\":0.5},\"note\":\"The red cup is now just ahead and to the left of the held opening. I’m moving the neck closer and starting the sideways tilt toward the cup for the second pour.\"}",
  "call_id": "call_M36xe0MzRTc3JlXXaoXwBU9u",
  "id": "fc_087850f247bc8cee016aacd2a26d9087d0b10bff7fd5f86979",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M36xe0MzRTc3JlXXaoXwBU9u",
  "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, 0.7982, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.8711, 2.4947, 2.0235, 0.5068, 1.111, -0.6113, 0.4031]\nstate[eef_state]: left_x=0.2963 left_y=0.0028 left_z=0.1697 left_yaw=0.0559 left_pitch=-0.0039 left_roll=0.001 left_gripper=0.9968 right_x=0.5208 right_y=0.3784 right_z=0.219 right_yaw=0.0857 right_pitch=0.4803 right_roll=-0.645 right_gripper=0.4031\nstate[joint_eff]: [-0.1983, -1.4838, 7.0769, 1.6972, -0.0415, -0.0562, -0.0122, 0.0479, -14.7761, 8.6496, 1.6679, 0.359, 0.1148, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c59a462c7718a03646068833a3e1b180a5fceb9b5295b33640dfb1ab3b1c29c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e517f6d54cc06a87d02e1f4a2716e8075f513e6572becc602472961e515b0c05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:614a6c37ad9d92dbfd731c1f33d329ad6ce5ef55651bb420ec4429b03a4f304d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 156 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, 0.7948, 0.5591, -0.3271, -0.1116, -0.0708, 0.9968, 0.8169, 1.9381, 1.3895, 0.4133, 0.7311, 0.1257, 0.4015]\nstate[eef_state]: left_x=0.2961 left_y=0.0029 left_z=0.1706 left_yaw=0.0562 left_pitch=-0.0004 left_roll=0.0008 left_gripper=0.9968 right_x=0.4634 right_y=0.3265 right_z=0.2549 right_yaw=0.0515 right_pitch=0.4585 right_roll=0.0579 right_gripper=0.4015\nstate[joint_eff]: [-0.0889, -1.6889, 7.0906, 1.707, -0.1001, -0.0562, -0.0073, -0.4444, -9.3197, 8.2803, 1.4725, 0.0806, -0.0317, 0.7302]\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": "gAAAAABqrNKrgG0yuKYWGAJ9wq2EbcsK5PTLHtdu7DD2ut_UxHuQuAysUtzHknQA6o270rZHOYVhvwnh_2mOamx6ao2FxC8c2cLbChQpYQIwaIBjUlY0F8AdoiBFh2--9YGMn1nig6PIa9FT2nZHFHLsUaZUQaEbamTZTLIeww4bQtRlB-U8LPke0FvKKnoCdyqmaZOeiqAv2CT-b3WkAgp6n7zCWPcPncaiMOktVXc96lk6Fddt2ZdkaIvG36Zhg1ZzYjol60EGouaCbnHpMJLguz82Xyta23vOBOPLMIlASt3RX01-rTf210knN12cRvl6dgw5yqcXU6Cd-PA2cEIpXlTj6ewTacfu9a7rpzsANy1kQlfOZRJKkSrKIjAJCdY1ZTljdGfomcSKW7bQBWjDG8wKCT3oeF9fmsAh9dGWY-m5Vxgi_S6WtTepY8ofo6S9P6sr77gOgNKXUEYbH1_a_CaQtSlUSviDcj9gPiwO-4LzELJvjU3poaYSG7vTe8p_yrl32DPL8hkqHnsJ9G1rw5hnJReTZViPxLcHZi3A8R5PE7N4wEO-rOy7ZP2cU-O29C4s1etrYxYzSST23qqG1sKn6cAVtQdC5V_VWyT10v5ioHacaGHhwCmNiEPw4IRWQX_m9L0R_VIZVtScGw7ySjGkpgAZpXgbU_1bytoOH0owoB67o61fNTUYjwm2CNmI_su1lAmEiLu-SO__fAGGLY1yvdrIyr6QPi4HHOQ3VRNWRasYOlDjYSQ6kpCpo53w81VBI_PhvSVXBoATZovCfk3Vz-1sfQXcBXTZpqRLP-wPihOpTEzmgzdsGgvQ_bqLVOWAwVaBFRPD6QxewcC4JdXXnlKwK1B19nrNk_bg3bB6USpYKqNwAik0Q9A_hn4ChSW3VOcmDmKIOmNGH2Rb_ePIf75RwK0eh9CT97BaG3KMxJehjl_FRhWzBypU2ItI2I8qNcc0LW_xHpsXAWMH7rGR6f8KOgqhCaqC2yltLw7YO_P48y6jZ8UbtST3I7uxPSK-3X9cN0JTqfr1t3UZ6UlyvqXK5nmTy0bTxjczd6Iof0MM9I9QRa3yDGuy0lKX_rlEMRxk-YmrUDCWjYee_5LoS0E-I2jCrNXycgtJLpZhcuSSNOnKo63sLN0a-Dhr9lozkREuh6b_Z4ChmazLGsnDNpjYyXeaHfi7pZRawFAKdQxFTQbJBOC-XHfhteowb5oyNIECosUaNqvzBN0e7KYOCriSlrXfpoGnQEBAPz8I6XMat8ho4Yk5QzG7hq_9c-u53akJcshORjb42kBZXzuRg9_BdECoA_p0n9Ks1s11bnV7hGsWAIBzRrPsAxwnfdTJDvfmaBtkEMZzF4IkYvO02kK_XotZ26qV6lfPZWgj1Ik6-Ijff2ypfMbXGI0lz555Mqi8tgeuap4dKghQ1NSg9EBNzFTUlWqBYT5RlAYxCrb0NjCR75kNFo8KzhUS-0qHAkagOfi6tzk9xmk7gs-haTRMAfwIP4OeatCvNAcOISEfshOcVVRCqP8uRHRz8AjJSzVF8itZB3NluBYUxeFrXAD7SieLg7iCIAuG_hFPCY4csgq5ZzwliJlLZBG7lXqSBTGhBlUh2-qiaHpGczl9nVd0k0J39kLymEsZk8iCMoVuCAs=",
  "id": "rs_087850f247bc8cee016aacd2a7671487d0b0bef7a49a24f989",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_roll\":-1.3,\"right_z\":0.235,\"right_pitch\":0.35},\"note\":\"The white container’s neck is positioned over the red cup in the overhead view. I’m increasing the tilt while holding that position so the contents flow into the cup.\"}",
  "call_id": "call_XpwP8whUIhgtdNRj3AdghfIf",
  "id": "fc_087850f247bc8cee016aacd2a9a36c87d086272322eb67f99e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XpwP8whUIhgtdNRj3AdghfIf",
  "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]: [-0.0689, 0.7986, 0.5591, -0.3271, -0.1116, -0.0708, 0.9968, 0.8825, 2.8552, 2.5038, 0.8059, 1.2842, -1.5948, 0.4065]\nstate[eef_state]: left_x=0.2963 left_y=0.0029 left_z=0.1696 left_yaw=0.0562 left_pitch=-0.0042 left_roll=0.0013 left_gripper=0.9968 right_x=0.5296 right_y=0.3829 right_z=0.2118 right_yaw=0.1062 right_pitch=0.3306 right_roll=-1.2634 right_gripper=0.4065\nstate[joint_eff]: [-0.1573, -1.2923, 7.1726, 1.707, -0.0855, -0.0171, -0.0073, 0.6906, -16.2667, 9.2103, 1.5946, -0.0952, -0.1587, 0.3492]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f63e1a9da62cfb4421f89a2e58c50b2efb045bf8a873b5c4e90f929d1c4d10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a05bb0f72f3c10baf3668869c825707952085da659dd6cba49ed342d46a6b755",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36967c81275c1226ea574ca10a4fd9c0528233a8509b23dcd3a5576c4de30feb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 160 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, 0.7982, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.8711, 2.4947, 2.0235, 0.5068, 1.111, -0.6113, 0.4031]\nstate[eef_state]: left_x=0.2963 left_y=0.0028 left_z=0.1697 left_yaw=0.0559 left_pitch=-0.0039 left_roll=0.001 left_gripper=0.9968 right_x=0.5208 right_y=0.3784 right_z=0.219 right_yaw=0.0857 right_pitch=0.4803 right_roll=-0.645 right_gripper=0.4031\nstate[joint_eff]: [-0.1983, -1.4838, 7.0769, 1.6972, -0.0415, -0.0562, -0.0122, 0.0479, -14.7761, 8.6496, 1.6679, 0.359, 0.1148, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNKxMAuoQZl2fKUtxL2xxZKQi-_CbEUQnlxionRhhQ0so--HTQ8dQvXZ-HC-kdB6O3MFQNFH-uhF-n-VVdVs9OPlhyUijgOCYmUaurJqD8crMIGLTEjpDTrxr3jmDtJp0cGuSwzOFhfxgGoW3fM8XwOR5OayykMUxaQ0j5s5OF31ir3-dAWHlmJE1dDRZbsnr2rtL5Bnw1-Qabp7aLANCkjzdpCpS_14peVbx-1hGNFtHTJf7QFTN5PzVsK9-FDYcBhHcbmxRlK3b80q4goLBl0FNqd2mDcl7ytkbq03j2rP0GxC3GF9KQVytZfMPJU3kwCRAAlyv09SsexKvuz_QcU1gTzxhTwG3ofWQzanyH7J_2My9JH07VwadyV79L5u1diawErtgWBcKTGGFEnmSLlAry6y4-Qf2fSPiOEOr4c6FmLSrSzTagieGaVa_Xl5d4NLsuXf8J7GbH3-GtyQB-qsBY7UqC8DGecZWxImdJuh7tKWe93rdOx7qYdcrfP55rYxQ3oJ4Aq5vDSsocpM0mJ4WcZ7h3OOXzQ57YXZ6f7cwQC1JcmuBpWhgW4ClvlEbjGL0ByguARPxF0Dn_xtcFgi_RTo60_xrFNxCMcLLcwUXX87sGxMxwcunYNgNlJPGvNWTO9zHEBt-oHwVR3GH2v1lnlAeTy0waJLuStdyPn2FYenn3C_Xl2I_WWWxSCyLgtfuK8JYex43RSnLNEvR6kffaE6KFVadq5DQVTYLT7c4pvjjyOC9tKymPI99i_WpFPq3kxIfyZdRT-3xsIbYCM9g-7a8BZeprWWrqWFFVFa6T6LQum7EeiRTUFNnIofDicNgKOsxwbhhWXyDtJ5j1_cakCo3DeUEVqf_xnQkd8KHTlDzVtDbg0Y4Kna1HEwlGt8ZhpTegUozMbaP2RPHckRkES359jcgAl0UWn9E1NB227UIagBq-Y7QcekMkxqs91zuIE08-H4TDRhqsbi6j9Cn1dW5XQVbrrgvFbEX7xT6llvoGmRYdsWEAEQX-_j_CeVExPHcEkYTsD8Kp8c6b5RjnJ--ASPWLNhIzww61w6fL0_iEDludTj3gjbyHIFYxRXEuTGx34jCwOopC85dlftj7Yfwg0BOf752GZNGXczu_4iT_4yp8V_D6WmOES6-TBP0fXf9OGS-n6iBvvEePEqcsuSTrKTKeh2HdDa6KB96YQPBv_Lm5CC5dmyH4ZiZyWYPBHMO7zen6BWJad__0EXHmxi0yJ8uwYuA6A54mhP5t81IAGbR1PB0JswkwCAJ5pGRS2L3_sBlaFtJadkOC_rXexprAFqVhNE8iw0gIuS_NUDPDz3-TnPyejwMZBfjjTIEcaSgGVAc3hvPvYEpTh29_HLXQOAXMLsRYHzUXedET5-UoIk6TLsWelfxk82ZdawHlMAusRqdBMVXFmbW0wiBAnGdOikrQ8KWdJrbb4LPwuA-NI7iWN4W2nLJXxHYiQaQeE8Ds9Yh9touzvO1Ti9-YODq6FO06FX2DDysnEzwZqTbjQt1DveZ_WO0fCi-nrMPyn0DmEvMEU0kBI13KFW5WuCpCkpFi5TAPV3bHQv1MT4zI4gBGA5W3ujiUighTY02vTBXmwrfjNj478he3Qdow==",
  "id": "rs_087850f247bc8cee016aacd2ae457487d095ea3cb8b27bf11d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_roll\":-1.57,\"right_pitch\":0.25,\"right_x\":0.535,\"right_y\":0.385,\"right_z\":0.235},\"note\":\"The container is nearly horizontal with its neck at the red cup’s rim. I’m adding the final small tilt and holding the pour position to drain it.\"}",
  "call_id": "call_9Okv3nx3mu1wSv5wJieorU1u",
  "id": "fc_087850f247bc8cee016aacd2b08d8487d0bbad949dac984986",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9Okv3nx3mu1wSv5wJieorU1u",
  "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]: [-0.0685, 0.8005, 0.5591, -0.3271, -0.1112, -0.0711, 0.9968, 0.8719, 3.1149, 2.9246, 0.8021, 1.2732, -1.9995, 0.4089]\nstate[eef_state]: left_x=0.2964 left_y=0.0029 left_z=0.1691 left_yaw=0.0565 left_pitch=-0.0061 left_roll=0.001 left_gripper=0.9968 right_x=0.5357 right_y=0.3805 right_z=0.2021 right_yaw=0.1148 right_pitch=0.2372 right_roll=-1.5092 right_gripper=0.4089\nstate[joint_eff]: [-0.0889, -1.388, 7.0496, 1.7314, -0.0708, -0.0464, -0.0073, -1.5932, -20.2462, 5.9556, 1.1941, -0.5055, -0.0464, 0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e76ed28b5e124cc7fce16df6382159ac18c4f1297126eb65337fcb19e108595",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49fe8c4c2feaa59e51346e7e8937f8b88c5ace40d356074d46c0c4bc5ff0ebdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13012d119b8dededb20747e2d7b7c07220bf62b1dba17e81c242fa05a5ffaa7c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 164 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, 0.7986, 0.5591, -0.3271, -0.1116, -0.0708, 0.9968, 0.8825, 2.8552, 2.5038, 0.8059, 1.2842, -1.5948, 0.4065]\nstate[eef_state]: left_x=0.2963 left_y=0.0029 left_z=0.1696 left_yaw=0.0562 left_pitch=-0.0042 left_roll=0.0013 left_gripper=0.9968 right_x=0.5296 right_y=0.3829 right_z=0.2118 right_yaw=0.1062 right_pitch=0.3306 right_roll=-1.2634 right_gripper=0.4065\nstate[joint_eff]: [-0.1573, -1.2923, 7.1726, 1.707, -0.0855, -0.0171, -0.0073, 0.6906, -16.2667, 9.2103, 1.5946, -0.0952, -0.1587, 0.3492]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNK2OS1X19cOxu9KPx5qoD6MJr6bp4ld9z5xhogDh7fH4Ps1Wh5uFefGUHB7nC074of-07uW1lMLRgrfXpEVkap1FOsxk4Po-a8X5fCdiuH5E4siizym8WSkaSDgG2qvNZbGfuyPP1lMnS7YpicWAipMrgyESqQ85JdMyEh_c5LzEdEwnmjEzxL3MVelBI53FB2hz0C-EDCKs1j53RJ6NLhVYTbnlEqfFNfsF8D_D8IqePgOgGTrux711e_F2Gxr3Fbd_u765JzA3xQo8Drzpf8mgI4fCMO12GixdXGssdCguStjLzjWe1S_3MoUM2IzT623ItZTpjFnJxddJ6_fF-Yaj8NdvhjfG9dgzQnQoigDlpMGc_3qR4D4liSM4qXfSttsw33yByzBY1WbgHfQjfz-5nmav_qWw_rOWQKLDcW82YmNqlx7O9CqSLmmJGEtdo30KxiBvxGCfnfQ_hVORV9cK-6Cf3l0q1vhqewJe_m_r9LwvK1tiKeCSpFhIC_2X3ZgbHSfYBzAl379ExsN0X42bVB3jRliZK8QqLF1Fapt79MxkC8p2EPeAR2yhIT23-Zj7m0E8ZxZvQJYdl3lJKJy8DyFiip-htKejtLD4qqOjTvS6v0mRvLizMhn5Dg9T4Eoh3JsXnx4wcSwtPH654PaI_mskLHlLJQHTAtYQdX7QhGdjlQvuB4IRSbiJildXNrbegB4CUHvk327rcvt_-o8VcUMPpVzUqZfU2hHBRfgwLyzO6W8V9ymwQHh1BexaSujDxO9CSK1OeQ7u-XkXHQ8HLULyJDTWFBfAkkGIszjGVC_-z6Y8qWUypGDwfAJkRirnKxS_tT5c2Za7g_tnwcDngneZRdxkrRjsxtnnYqvjFD2uXkHPWHDMiwOVGyslOglU_8rAM9FjoPWNDZJKLxBrTE-CfJ-Mu-rMocrlT_nFx3xLDYyRl2Z3AF2Obe8rmo_-bvq88hpREHPoNPzlANevpAdYEd0kjEjT8GmzNOG7QEObZ7GYqFqQwjq4PgDlBXMApgIdS-wSAmcHDoahvI66BbcxjMagOCCiMpctEaxYM1kw1xbrqwixNI52BQQAyJtb9GkOzwgcca5DS6uZrluS0OYF3KSnoYh8pEzcWgnl-Dab109UMxjWmxwonyJ0beYacoIm5UsdiwgGXGwbNCrQkBXqOtqTLiZaXzEPBKMzGRVR4oNmJluDIEeR_erSQB-WV_QDr2f2Ai8DehtMGtxD3RfNe-lKJI7iQpw_2iOafwZSONj1p6GkMEyBY8jHXgmT-kCPaLLZ8VQHHBz8Ksp0-AXe6fKR7XMFIbwGGkRUl2YYzWzTioCFwyQtmp3zlXJ",
  "id": "rs_087850f247bc8cee016aacd2b4934087d080c9d400ce2daacc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.34,\"right_z\":0.27,\"right_roll\":-0.85,\"right_pitch\":0.3},\"note\":\"The right container has been held at the final pouring angle over the red cup. I’m rotating it back upward and drawing away from the rim before setting it down.\"}",
  "call_id": "call_5ioaK2BpgJPyFyHrf178WhHg",
  "id": "fc_087850f247bc8cee016aacd2b5510087d0a717d2e1172b75ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5ioaK2BpgJPyFyHrf178WhHg",
  "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]: [-0.0689, 0.8005, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.8497, 3.1081, 2.899, 0.7975, 1.2526, -2.0697, 0.4108]\nstate[eef_state]: left_x=0.2964 left_y=0.0028 left_z=0.1691 left_yaw=0.0559 left_pitch=-0.0061 left_roll=0.0013 left_gripper=0.9968 right_x=0.5462 right_y=0.3728 right_z=0.1988 right_yaw=0.1157 right_pitch=0.1907 right_roll=-1.5937 right_gripper=0.4108\nstate[joint_eff]: [-0.1983, -1.2786, 7.0769, 1.7167, -0.0904, -0.0464, -0.0073, 0.0615, -20.3009, 6.5573, 1.2479, -0.4518, -0.2955, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a2285eed49b1f3a8d42700335c2563176b3e113bfe25afda84f584abdf983c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c11b34dd8b44ac8d9d74afc0990947b77684410ea856aa9eec5f2becfc62b07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82352ba25c204ac8fab1bf6527768dbfd15955efb293d51d5a6d7120084b3313",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 168 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]: [-0.0685, 0.8005, 0.5591, -0.3271, -0.1112, -0.0711, 0.9968, 0.8719, 3.1149, 2.9246, 0.8021, 1.2732, -1.9995, 0.4089]\nstate[eef_state]: left_x=0.2964 left_y=0.0029 left_z=0.1691 left_yaw=0.0565 left_pitch=-0.0061 left_roll=0.001 left_gripper=0.9968 right_x=0.5357 right_y=0.3805 right_z=0.2021 right_yaw=0.1148 right_pitch=0.2372 right_roll=-1.5092 right_gripper=0.4089\nstate[joint_eff]: [-0.0889, -1.388, 7.0496, 1.7314, -0.0708, -0.0464, -0.0073, -1.5932, -20.2462, 5.9556, 1.1941, -0.5055, -0.0464, 0.2418]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNK9UOC1csqE8BnaMEVHZqotT5hUwSmMj5QWoTYYenFaTGypg9AmgvjjGe7FbIUIMRMAZhG4y4-KIBC1CvXf3Y5V2TrrRnGMQG02vD42yS0vEzZfg4fBmjeXL2zGI7LLy_ksh-_wHo-1wkKMlLWd3M-J84n-TzoMMGnATBEAf3qdvE4c8dTaNg1UN0W6Iso6a-yi8VdfidnqITX3NutZALvXO_gEtBU1ey2vHS0lyHTeL8NecKfkkP_qQT36la-yuGZuGUfG29H98jUKPTGBisSdXbrbHF9MEm4a5FCbC9DLJ18-BkMOj0qKvcq1-A1F9x3CuXeFYQkNKJXw7t9c337fy1Lwk_IyQHoTV-dr6k8czuH1MUvEkmM6rYWgFyJSYJucd36XVn-YSmGNxcqMJq32RJwZIqzL9gv0bLWAAlY15gBbvYpN4s6CJidk4IKGxDmdvgdY0AB4orQLBp3NMgNwh9ZVCtxNuU3CvdvbcsyDJ6CCXQtRY-Dl0EUN9GRI1P38Kn9ACDJ82mMQ024WSOzzsyTZW9-GehYNb5vtmpwza0FM7KQFtcZ9UAlfvUmKyTfANado4iZkESU5eRCkA8xKJubv3j6O4ULjxlZNqJdiB5_JsQ72CFxCjnyjujfQa67TxEO-ve9lOLMPQXipqzjnUWw8Ks7q4xDhtMdjOflq8r9DMyRNg6P0JrWhd1pe2N-icyPmxlw4XZmjGd-M9xHQDtQbvYKEEu_Zd8qmofuzEwa5dDH4OuBlak3EKJTPcu8xXk31kK3PfWG3lIe6eKNxOT9GTITluR8vvMNz-1CQ9pyUQ2jeOGPYH7fsZkab5XdnVHKJy2Z9A33-H9uDZOprqcAo4_za096etU1x9h0t3HghfaUFuBkkOk1SpgHd3vSb-qAwdGGvXGv_kQAfpCjA6GenOAJDr-EjgdCcai5EaQqOiGLxZsimhTcNZ7ewEwPE9hUZcz8ugYphLO7pey9MGeBRfUl8gH_enBpHq0-ydSeJHCjp6mH2R6eG9pRabpE5C4wu2AGixzM4DU_pBs4iUHogCkEZtiilGsLX4CCSph9FGTqQprKLeuLQ2ymDQNK0kTKW56gWZaC8iYkGvkgt5EUnw8wZ0BbCidTf4maDNH-nde-8nsqNqqRiXdVLeZIhMMiV0hGySca5wG5bJOiCvnow97B7tZoSLE-57RlDSAMZFffWBnnHixs0rDwg-npUW677ohrSOMU0yjfe3hQeu-s5ny_BgazwHW09umLtVHTVLZDY78Md5ow2JoY9sipMuJqFyOP39YouDWLKGiqtMA==",
  "id": "rs_087850f247bc8cee016aacd2baed1c87d0ad3e5730ff77110d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.35,\"right_z\":0.21,\"right_roll\":-1.3,\"right_pitch\":0.5},\"note\":\"The arm did not follow the larger return motion at this extended posture. I’m using a smaller rotation and lower, closer target to move away from that joint limit safely.\"}",
  "call_id": "call_m1hRs7u6Tll3iL5eiLtFDBKn",
  "id": "fc_087850f247bc8cee016aacd2bb907487d0a055c002f2c24b7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m1hRs7u6Tll3iL5eiLtFDBKn",
  "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]: [-0.0689, 0.804, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.8562, 2.9059, 2.2387, 1.3373, 1.2083, -1.9362, 0.4123]\nstate[eef_state]: left_x=0.2966 left_y=0.0028 left_z=0.1681 left_yaw=0.0559 left_pitch=-0.0095 left_roll=0.0018 left_gripper=0.9968 right_x=0.5222 right_y=0.3554 right_z=0.1521 right_yaw=0.1449 right_pitch=0.34 right_roll=-1.4438 right_gripper=0.4123\nstate[joint_eff]: [-0.0342, -1.5385, 7.1726, 1.7509, -0.0611, -0.0464, -0.0073, 0.6222, -21.6, 6.3521, 1.5409, -0.5592, 0.0415, 0.149]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283d0f8de0afc668b95d864e27f9451845c24ba8acb09af307444e10c0cd93b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b3a7af9de61ee3d1a673731e22e6b3c11c9992a86db350098336e6981938ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f32522ede8bfd191b7fe0f2e31f59712fc9c39e531de6a6d89d7f0f481c1440",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 172 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, 0.8005, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.8497, 3.1081, 2.899, 0.7975, 1.2526, -2.0697, 0.4108]\nstate[eef_state]: left_x=0.2964 left_y=0.0028 left_z=0.1691 left_yaw=0.0559 left_pitch=-0.0061 left_roll=0.0013 left_gripper=0.9968 right_x=0.5462 right_y=0.3728 right_z=0.1988 right_yaw=0.1157 right_pitch=0.1907 right_roll=-1.5937 right_gripper=0.4108\nstate[joint_eff]: [-0.1983, -1.2786, 7.0769, 1.7167, -0.0904, -0.0464, -0.0073, 0.0615, -20.3009, 6.5573, 1.2479, -0.4518, -0.2955, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNLFgENXcqxzqDiQBB5_p1CP-0ls4e0B5AGSSq_xKwE_c1Nfh3N9CO-kW1awtLNgKSyblyaELW2-CYZ6rzBfmXRUGZQnL9CfpaYeTz4BVae26lC-8KOzsYX1Sy1N1nN_MEymsO_sj5YbHD4cNejuUu5ljZfp0Y7wX2e62av-RkGp3pZH1Zo91s7wNTKEk2CEVroqCHbanUjD2exCz2LYLcxyWVl8Jf0KSntSmxlHFpcOnztW_s_sZ9s-3EC-tThNpaqPnSetaPlwvsasIcv2BZmpDz7U-1FChGcVZNMJ9AZ9vrxkgfLxbgGkp5anU-2PxTBNjXwknZAXLJDiuy1jj5xWbg7tCl8BsdFFAFua8skQs3IvyfG8xBjtmkts9Jq9H5oo8g4jRmlejsjjNzWKzPQbnohTSQ_pbQ13SGd6O_1YszX1mhO3BryOQ9v5zkAYV4PTKzMu12_socYSpiTVMDiL4hbdFcvS7xtg0tm2ce5g5kgObGCxMLGHwqxyDO3TgsNeeEXVSGpuRsaZoqWN1mHk54V7w_wTi1eQi-pHe1PZ83hPWHpC6n9QiupA6BVKCfHEaX_IUdVm2tcgSq8r9FeZObIgJASxNjaf2d4D-2D8CxyxhFQVmPHkkx6qtTn-beYvkJhsk951fHT_SvaGNvkfxHgpJxv7PrCdXVfarX0y8nKgUK6xi_cms7tgQW4yCvgQYqtZ75Uttpie7FK1QcfTxXV2R33bKP6YTbZ-1GhxVNyne3qMTPhPBsFeq5rtSewo7onu1Unm8Azu3NkXQ0SjMKPU3vC8_OH2jb_hcgRD5DmujWIPR8dGK9xs6PNPZEarLM6vnTnaNVX0EKNIbnIbi-IIMh-O6oGH138FVniJiDZl8haz58X3fNfmsijNHd71ZiuqhFtY4ZyCp1Y_JO0XGlvZWz8LxdmQ1B0PKmb_BOATSCM2rlZTWWsmgwImJuVbun8PN4HWfmobNN70CIqNU7YtLHpT-nUBMBcc_8fnFGJ0vuti8ktYQbxpmKPU-nh0CfvvjjlRaYOT3RHzNwVgx10x7rilsB9BTcsNnAuDKN4HHuXjHckB7fxAPNRadckau4QRTKEjPUvYiBLMLWdqGqUtouJ4Fx-GFFwFIxYSZDaRB3C1x3bRBBJUSrfEyokMNNBzDiAsrlrHMdifGSjmh2uM1ELPc8kS4v0mkKcxpfa2jQrw5gCbsDbqcjjMFl9vNB8LCq7qR0CoLcGRNWQdiVjKRmIkDcA5OiHEjhAyOV728QupjUoTu4Eq7QHBCO1KWdeUutDjDI3X3BcfaLOFzx28ECKruj-mFIOo3DS9FKWlhUvI6gAVmyI8BBjix6n27rvEHqJV7lL00CybqewAUu5L5YulRKpuyavJ2woQ_O7qHfC8ktZZ8pR3PpUVAz0Ofk0WOi-fTHHeRHwY7Sph5g==",
  "id": "rs_087850f247bc8cee016aacd2c17b4487d0861878f0e0659568",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.27,\"right_z\":0.3,\"right_roll\":-0.9,\"right_pitch\":0.5},\"note\":\"The smaller move freed the arm, but it sagged lower than requested. I’m retracting substantially and lifting while partially uprighting the container to restore clearance.\"}",
  "call_id": "call_gah8ZirLrx0xeGUIUcmin8Pg",
  "id": "fc_087850f247bc8cee016aacd2c324dc87d09765303f8385084e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gah8ZirLrx0xeGUIUcmin8Pg",
  "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, 0.8097, 0.5591, -0.3271, -0.1116, -0.0708, 0.9968, 0.8673, 2.0041, 1.2991, 0.9852, 1.1652, -1.15, 0.4145]\nstate[eef_state]: left_x=0.2969 left_y=0.0028 left_z=0.1665 left_yaw=0.0562 left_pitch=-0.0152 left_roll=0.0027 left_gripper=0.9968 right_x=0.4387 right_y=0.2717 right_z=0.2776 right_yaw=0.1568 right_pitch=0.4448 right_roll=-1.0065 right_gripper=0.4145\nstate[joint_eff]: [-0.1846, -1.853, 7.241, 1.6923, -0.1001, -0.0366, -0.0122, 0.8274, -13.3265, 6.8991, 1.5751, -0.3053, 0.0904, 0.2173]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:615a20d554089b1e2f91fca8196591928a1ffbeab9f7895ada9aca67f9e53476",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31846106189d4afa969e0aef5df54cf5fe1b0a9e217e6b6408f27b56db0c2f33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3806032e55e69db1b062cb212b612b905ec84c9a7fd561d59c5e0d6f6c05640",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 176 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, 0.804, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.8562, 2.9059, 2.2387, 1.3373, 1.2083, -1.9362, 0.4123]\nstate[eef_state]: left_x=0.2966 left_y=0.0028 left_z=0.1681 left_yaw=0.0559 left_pitch=-0.0095 left_roll=0.0018 left_gripper=0.9968 right_x=0.5222 right_y=0.3554 right_z=0.1521 right_yaw=0.1449 right_pitch=0.34 right_roll=-1.4438 right_gripper=0.4123\nstate[joint_eff]: [-0.0342, -1.5385, 7.1726, 1.7509, -0.0611, -0.0464, -0.0073, 0.6222, -21.6, 6.3521, 1.5409, -0.5592, 0.0415, 0.149]\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": "gAAAAABqrNLKyIIurZmdStGXxCv5wqc_j-pK1vPguBnFIDM8nMicGlyVTI0lBOTzwsF5tuCG_MxTV_D2FpysAf8P-MAsHEGqgBMRc4ptIHMwMkr25Pgb3q9GrGAaX4DILdW6m0H3ydYnQS4VTRLMZ_T-xpc0sz4slejWhNaudutWddSyvN4fpJAuOAP-Wg-TAhsdHzfb2G2t75h6aMwcIBL4jHSLCf7XnPPnXKEDDZ5mSVI1m4A6J8m943j9KJGQtsm6m7KVVFMFWREPEDyWJrxOL9ywTI02pg0uYcayykaN8pYzGIksD32F09dXe8a11Y9luR9mWISy4W77EgBdtcic1RGqsf1SI8p6i29kaNmYg7puhI4nWyYlrR3MY0y08i_QAmRNOEU_cH3ak6leLAcvRUo2_cFxHgskdo1v2Q580MMvMja-PYA6k32TsM974d80erufFi6S4Ck3EXZurcuwSFfDvRnrlm3EZBC1NeO1uoRmiG6RS_f_PQ0qtkRr8-ZkXeZqyDVSODYrnuT8FaXOWlDg4WuHna4qvvMApeoUHda6jiatno7AQfSj1rR6CtKLnvd97h1UyeziV7Yc5oiFL5-oN0viGQGvHDUGSEI6cEHJIeKe9fNaX8AVe0zruEawnKvShL1Wz-e8MT_WLDnX4JUm0LyWOUOKp7gwJ-GROVBQyMLVo-DkL7cVQwBw71YLA7YzkWS8INBPoA5QNJThX-lJm1bH3WWyCHf8Xu9MZD8ugGIzhFnSQuIoBepyysqKYmVLRVxUSmMBAhBpcgEaa1W3YuO3Xquw1OqOWkw8nhteTGrkNt6OxnQVxZZLSNYCJcF3dWb0FxNaxLAC5QjLEeaDd_gKYWmRAxZMvM0COrvmlWQKVnivEt0JIbll3fX1pri5ZbD8eKVOTt405HnoYawqEpMI4jf-8UH2l1TRXM-jfo48E8AIVVh0Dj7fbgtgAPMt3R8mGD8DyRvrppIe4YPLxaoCzAUvUvcOfEZapFvX7NWsHOiPfvPMUxNCyUQLckfNUIzQZqBqSWLxfDShUNPEV-32QUfWXqDIcgB5sNox258ZFmeqbOraFoUGFbGyznHqpr1eh8tvjIw7uWZ7TIiAc7VNUgtwYyqMWck3x-G0k7ZQdvqGBhBqNepifAVMfOkkbYP80EuR3PqBBx103E9M-knEYBlqEPF0XcJdjbhbbN6oDGaQcGUQAb2Twdjkd3us9uen0EB9NYN1EjSlc9a1tWhfwxWVKB0jKmFSRyxdZ6oqh6yBO88eM0QNKIG15q5gFEvm54lTtvsAxr32hQSKX1jtaV0RmHVC7DKMnmeGAYF0WlI=",
  "id": "rs_087850f247bc8cee016aacd2c839d487d09aca7445b32fe31e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.28,\"right_z\":0.32,\"right_roll\":0.0,\"right_pitch\":0.2},\"note\":\"The arm has recovered clearance and the container remains secure. I’m returning it fully upright over its original side of the table.\"}",
  "call_id": "call_nc603FTX1YKSNhHseKXeTCq9",
  "id": "fc_087850f247bc8cee016aacd2c8fe7087d099ad9e3022a13f5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nc603FTX1YKSNhHseKXeTCq9",
  "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]: [-0.0689, 0.8108, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.8211, 1.6707, 1.4799, -0.3141, 0.654, 0.1524, 0.4159]\nstate[eef_state]: left_x=0.297 left_y=0.0028 left_z=0.1662 left_yaw=0.0559 left_pitch=-0.0164 left_roll=0.0026 left_gripper=0.9968 right_x=0.4048 right_y=0.2823 right_z=0.2856 right_yaw=0.1859 right_pitch=0.1597 right_roll=-0.1444 right_gripper=0.4159\nstate[joint_eff]: [-0.0752, -1.1692, 7.0769, 1.7216, -0.0659, -0.0269, -0.0073, -0.7726, -11.3573, 11.2342, 1.7118, 0.2662, 0.1441, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bced6e5af289765ecfadb34b2bfa3f1b31c9722931e580bedab44e3dcd71b31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db4916e6dd024678530f0856556f07d856df485905148c0421545f678bf98fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab031c59d26c4d5eb3382386d4b89a72aad170ba3d8fa84cc8fb3daf3f91993",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 180 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, 0.8097, 0.5591, -0.3271, -0.1116, -0.0708, 0.9968, 0.8673, 2.0041, 1.2991, 0.9852, 1.1652, -1.15, 0.4145]\nstate[eef_state]: left_x=0.2969 left_y=0.0028 left_z=0.1665 left_yaw=0.0562 left_pitch=-0.0152 left_roll=0.0027 left_gripper=0.9968 right_x=0.4387 right_y=0.2717 right_z=0.2776 right_yaw=0.1568 right_pitch=0.4448 right_roll=-1.0065 right_gripper=0.4145\nstate[joint_eff]: [-0.1846, -1.853, 7.241, 1.6923, -0.1001, -0.0366, -0.0122, 0.8274, -13.3265, 6.8991, 1.5751, -0.3053, 0.0904, 0.2173]\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": "gAAAAABqrNLStVkjalGbWn7ad_-em-VTWA0o-k5VXaG3_PTdqJMNG3yJpbBiOx6L_lBoKCacpJnSgig7Q_bH5xDvSCYVNrJBHUBsWLAaCRp4PvIROcJNvZ1bfkSxp537Iy_jpStjU7NjS1sfJcvaUbe_D33Ayc8gx1tjkaX5Kw7mdy4pZ-devwpC4D0_M_l1N1utC4U_IcrDXbB4EbeQkv29W_BgqM_0RAjzu1DU8YavFudPfx00zrMKIbGvh9HreaJBGYmBqYQi0GKGeEeR0bU92bZhXUwT0Hug8xlYaQyhuL9q_jU93PAHG5tVYOfcaBM7Sc0zmZ2DygQSUC2yYLUHtxQ--8FCkb04sppfqEv3XEAekND8DRD5ErpWqQtQls1rWQws95Ok4gSaBBFsnnHuUJNSOnV6ZByGr9rne8g2suk1nkjNBe7f4e1VViydVd3mvfMj9ZTpv_qkAFv2V_TtCAcL4b1kQTGshStEdiJmUWwpVRkW85WHWwZFpYmYx-O04z_CL8rfKJEBkDsd6pDxe1809UamLKv15_8jiChjgGGkQ1QKfLxjSOodyt_Jr2GUqcO7RLhzgtc3Te74u72Wbk6W0FVJwRITl16zX03DRIbt0am6jLnecyomMms2q_Z4hHPbTp2Vik8h7f7uPg_AmPTvQBE2hVFkGtY40B_sctUpJKAU73UPKLnBaa2u3DZgoGFqQV0pfKiIe3n9sGl1REkiMnMOw5OnGhxZCx3Xi9-AGikNREmUYTzj-PRzS_Xy3JY1PUJcrzsvj_AS5_RIqMgbDFbdLmkv1374K-km3N5iZ9Id0pc1q4Ptrz2_I8SfEJ8SGTID--p9glAHyjf5iG-tdMKjVxjrOXsseKyPIXBil2y1oqEM661j2EywWW579vRISN3GbJIBUz6G8AUzA57ynHYVVIoiXyq_v61rCRjdp7hpcn5nUOxhxjblvo97134Q-9jZDRzd_IaNucHJLAPN3v2gpNeGs31-QExqsJJ3Z7bJ4WcNGTHixo0cIx-lhMetPwM70ug2xraJrCTXufeou-h_aZ5sJtAh5JalaK2NdL1fVf_RlwYKqh_ei67bcfgn8E51L0tXZ-MenoSXtSbU8stkXNCE4-Aa7Y_NYSi7qlqcpceEswmQItSsOvPVlqPhbdznIL6nhfbj_bXpDORUNglTJK4gvwTxtm1upkBQJmYwYpaBlWzomGdZ0_N8KJVPV9EfJKwgIT8qQXRCFjgyre2KqqsKbw2bZVlVQIKw-u9_0LgIaNG8u08wW3vStq0d9kyyhbYm7hu1BwJ4Iq5PhnwO6D8qw3zJoHEBgshnxfm-6QVE6LY9FultjybVxZXL41xC8abWoFgqdw2NTUL5GKBQHbrBStTdGg9eEEHOkWq8Z-BtLgOYLA095HptcLdTaBV6qf8fS1KL18x06qJhBf-OdTvxq0wmsXgspuO_xMNjOWVW2bn9poP6geO2DNqcypY8UZaO18SuS6Cei00dSdsNs7f15pTXpnaypZ2qbUWrTTo=",
  "id": "rs_087850f247bc8cee016aacd2ceb8ac87d0b1669d8a439ae498",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.23,\"right_roll\":0.1,\"right_pitch\":0.2},\"note\":\"The white container is upright above its starting area. I’m lowering its base to the table and correcting the remaining slight sideways lean before release.\"}",
  "call_id": "call_oX7qiiVfiTqniHwWnibqeHAX",
  "id": "fc_087850f247bc8cee016aacd2d093c487d0b6d81754a0f88ad5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oX7qiiVfiTqniHwWnibqeHAX",
  "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]: [-0.0689, 0.8127, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.7773, 1.6142, 1.2041, 0.0048, 0.5545, 0.2523, 0.4179]\nstate[eef_state]: left_x=0.2971 left_y=0.0028 left_z=0.1657 left_yaw=0.0559 left_pitch=-0.0182 left_roll=0.0029 left_gripper=0.9968 right_x=0.4068 right_y=0.2748 right_z=0.2464 right_yaw=0.1596 right_pitch=0.2174 right_roll=0.0459 right_gripper=0.4179\nstate[joint_eff]: [-0.2667, -1.4974, 7.0769, 1.746, -0.105, -0.0269, -0.0073, -0.1846, -6.9402, 5.641, 0.7692, -0.3687, 0.0855, 0.2027]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57694d58ebce99b6ff42a220ef68a8be7a666a01549441b76ba151b4bf6dbf9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f4d72d04968e6d3706527aea3fef8fbffc85cb962f25a59643f27472a0aa3b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:728c2cbec34f2b8143910d5090f374d1b087f66bf7ae9e00678ad3c93348e85d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 184 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, 0.8108, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.8211, 1.6707, 1.4799, -0.3141, 0.654, 0.1524, 0.4159]\nstate[eef_state]: left_x=0.297 left_y=0.0028 left_z=0.1662 left_yaw=0.0559 left_pitch=-0.0164 left_roll=0.0026 left_gripper=0.9968 right_x=0.4048 right_y=0.2823 right_z=0.2856 right_yaw=0.1859 right_pitch=0.1597 right_roll=-0.1444 right_gripper=0.4159\nstate[joint_eff]: [-0.0752, -1.1692, 7.0769, 1.7216, -0.0659, -0.0269, -0.0073, -0.7726, -11.3573, 11.2342, 1.7118, 0.2662, 0.1441, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNLWZrHOQcuAilsSTYNGHYGkk2fPKoTmS4x9smbeqJx8_OwXc2brgq57_I0v8J2FdkZMVxovYhbfDZWA1T9O8dVgX675uzHI8IqdKVnsUQEV_7-_ZAoS_l7366fRJ8Okwt_lD1DqzkUwEUKF5Z5NNfPk5CYUGarftGrmiSmcf76ReZTA1k3PiVKtlIbyxkYrgQsdaGfcJBd_1SBFEyIIEf5I1W-gTqP_lnSi1Q8fSpJsywHl7Igo4-XDyaYN6uYr9UkzJQRFlKbZ1D5qqJuGr8b1TBCibG5df62rn5YfvLDmUuS7PxuiVb9pyJtRSFwLChK6E1DslJpUBWIvJ4AsceLewXeNOf1ENW7KEizmNe9QB3eeiKJm7Culb1CSvHN2MF7uFivQG4tv6ft7KU106-Ujy3aKCgKSUr5DPG86DQnTe8q9C7DbDs1--5YcL9XBIZDdSQSuiLhc4xuF_efTriE3_ITKcFaP59vI-pBw3EmKM3VV8XC3VW2HSItekdjXovhIOHKPmKM5EiP9JUEOs9eFTzZV-NxpVDSimMFA8Gavle_f91L97L7fGH-Iimu3qNdSSWfiaUnacZIxwg3RfZErx1Ux1_SwcGR60fkRmbRHVruz-rvTkL0plSpsY5GMBfso02TGMNNYmwXbFihoiH5gYCHxj8qxAsD4P_dv19zJ4I0_noCefItTF97PZW-JcaQHUkwbBYoMvuO8ZWgL51QxeFTNOzeJek8h67b2h42JIh80HEXc6y-LBjkOhOj1uGfBWjYCAV0mJ36b-33Se96HLO523Gib99XrrYDrRX-knlpfMdkY5GJN3xcNCsRc15hZ3Ub_1W4WzBEWpGDFfJA02brhxqSs3ZLGYOq3SuK8tgFrcxDqzFYc1_P4zLBtp9exHSGSEtZzNtVKiR5P8RcY3IyKVHrno73Q2ScmhZ_-g-RkTxcw7wXXv0HUsGphgYJhZThT7kS76Ulxg6Ap5yyjNEEtR4dK4palnImRVynEK46EXl3ZqWcIS1YhRcHH-6jIDgHIfCEK0Cy3ztPDTpo_EsXQrlCFRc1D-x5or_7EOem95hCENZwzfzvuf2VMr_X4k9CSaSP-9JjI-ZqNuy1Rh2SPjlnY9Aqg1Deo9I2dJGS4r2DkAYDKhnWKKt-Xc2RXKxDydpvoI1HPFBwPUPvOwPb9_CjICNXDfP6efmJF_d58nR40S17rE1Aoebh88OYmvAqyfyMO6OwiXJyzAHrkXw==",
  "id": "rs_087850f247bc8cee016aacd2d5148887d093ebb9c49b336afd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The descent stopped with the container supported by the table. I’m opening the fingers to leave it standing upright.\"}",
  "call_id": "call_sVeLukr1v9ijVSOwPpcFNMV4",
  "id": "fc_087850f247bc8cee016aacd2d57a0087d0a3257c186634bbc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sVeLukr1v9ijVSOwPpcFNMV4",
  "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]: [-0.0689, 0.8127, 0.5591, -0.3271, -0.1116, -0.0708, 0.9968, 0.7719, 1.6176, 1.158, 0.0528, 0.4873, 0.2817, 0.9949]\nstate[eef_state]: left_x=0.2971 left_y=0.0028 left_z=0.1657 left_yaw=0.0562 left_pitch=-0.0182 left_roll=0.0031 left_gripper=0.9968 right_x=0.4038 right_y=0.2826 right_z=0.2315 right_yaw=0.1956 right_pitch=0.2002 right_roll=0.0956 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -1.3197, 7.0496, 1.7363, -0.0952, -0.0562, -0.0073, 0.0068, -7.5966, 7.0222, 1.7802, 0.1636, 0.0415, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf6d2aeaa1aa9bc47b43be22921baf38189f3c4329373af5c55e0f90b9ea5ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:420be404f01b9b969235b2cfc42be1c63f01b8888f617c6e3ba1fb3091f2cf1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9bc1e737e7df537597bd0c3301fa43805cdbb82f93325898e38d1f5893d30a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 188 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, 0.8127, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.7773, 1.6142, 1.2041, 0.0048, 0.5545, 0.2523, 0.4179]\nstate[eef_state]: left_x=0.2971 left_y=0.0028 left_z=0.1657 left_yaw=0.0559 left_pitch=-0.0182 left_roll=0.0029 left_gripper=0.9968 right_x=0.4068 right_y=0.2748 right_z=0.2464 right_yaw=0.1596 right_pitch=0.2174 right_roll=0.0459 right_gripper=0.4179\nstate[joint_eff]: [-0.2667, -1.4974, 7.0769, 1.746, -0.105, -0.0269, -0.0073, -0.1846, -6.9402, 5.641, 0.7692, -0.3687, 0.0855, 0.2027]\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": "gAAAAABqrNLb0pi4e6qa8yPxSpynekwDQ-_Osvk46WmJo95WeO4M12asfy6IEx8PHISlnAVBRfr_xm6iaO1V6CSpbdmUgPblMtwSq0OQyA3DKjBcNUBXkYfMfZ59nEc6moicQzYdZOzhs3eum2PBlZpuxHTQL2gUmxLWc2BqyclK8LwmyNy9wDsCeLBggIbQ1wDYkCdaty1uZ1uT9gvqtev2EpK0DwIbytiioXxhZuvB4zQbsrnpcRKM9d_tTlcMgK_nDyeRg0ubeaWKFPsQToUDJY_LLjtYDwD-ULSszcMdghyzQfQPAX3oQpW1B0BSUCk7SZ4aUmW17za6JsmYgbEARHVAAoUvpRO54FqjsVktMiypIYbEgH7TA6tMnPDTAyY1mRFO6mGvLS6nRZ6sh39MeOe5M2tAf943Nz8y02POp_nad_G7LlV58NtxOeBDNtjHry-Q0pADkHjrMfPFqAHYHdotIDQ1J-zl1oh0s2lVkCVgShAmsKBz77nL2FVqt3qGNiWD2MUPjUycyRGKwwgtBdraRUfqEKxlLiA5k3uLeFqe1l4mhBco0IA3gbLuR5wFi4dmwjiycKfmXoSvln3zD8OELIlbf2TeKldeMurX5RTgcUDG6I5zzaVqmSGgnh-iP7tc8FkNwU_b73GV9khDWdeDD48g3X-JU_tK30R_pEBRwj5S7gs4Zsai30Le6ZreyQSSAwnI_sejFH3vrmN5E3fHxQak-gqI89Z_NpYvNp_Jih96GPmBHn_b_kzJW9XYsxctK2nUAs_heun3WAGvErT4Jo-L92dCbA0DQNtFkn7_o2KhnSPNIwWdETjrTKG6U2973MXRR-Q1H89MUZc8SmVjwNu1hwlDk_zI2yewWns8OAOhD-08pnZD_jZo6D4mlZXBlhnegp8zBVaRa4K9Eo1Y8GG6ASykkKQrgO7mKHC92pi3016xVkZE9pRS5z_AbZuBZwuTQJP_qOqcMgJslWSCJGsVyBWqgmRefjnB8qnXEp5zxQ0K0qwcRSQx44ESaxlhmRV8NPLTsRqHNzU5Ze-DwrkIYB-jsqTRYt1GiG0wW-rCouiBxoQqxcSWUEpgmAlNjovABMT8N-mv-GsHG4FSvE1j_u0-YX_jXbS1KDjrA7A3PyvRE2QbZU5sTUOo_QsmZs6q1B3nkbiRTV0JE-adPmNC_3ho3SXZ1FJmoLSwBvaAbkha1Sz4LDHFsumobsP-Bu6WcxFzpe0nXc0ViMnKrE5bHle_RYvQc45BQZwCTlfFvbCBh9cdp0r8uwEYLrYHDcyYhls-ecGRIWnaSNTbKlAgCg==",
  "id": "rs_087850f247bc8cee016aacd2d9dc5c87d0bf25c199aa340658",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.36,\"right_roll\":0.0,\"right_pitch\":0.0},\"note\":\"The right container is released and standing. I’m lifting the open gripper clear of its neck before parking the arm.\"}",
  "call_id": "call_lhZthtoZhIAitXKre1sVz4lx",
  "id": "fc_087850f247bc8cee016aacd2da835887d0998eaaaa499d98c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lhZthtoZhIAitXKre1sVz4lx",
  "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]: [-0.0689, 0.8154, 0.5591, -0.3271, -0.1112, -0.0708, 0.9968, 0.7719, 1.813, 1.869, -0.532, 0.4671, 0.2943, 0.9963]\nstate[eef_state]: left_x=0.2973 left_y=0.0027 left_z=0.165 left_yaw=0.0559 left_pitch=-0.0209 left_roll=0.0032 left_gripper=0.9968 right_x=0.4308 right_y=0.3133 right_z=0.3378 right_yaw=0.2122 right_pitch=0.1367 right_roll=0.0771 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.6068, 7.0496, 1.7216, -0.0513, -0.0415, -0.0073, -0.3077, -9.0735, 6.8308, 0.9499, 0.2369, 0.1245, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e67acd8543a7b8e87e22e75261f5d8822f70c2a1423c9cd9ecd18472b4307c58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2409d35a761c4defb7f1e9fb267f52cf136bf2b73990a479ce4e9495759626",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe4a001c3faa17ab8bf7312c9a80cf0191a233c931ecc41fb42c0ec7284742e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 192 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, 0.8127, 0.5591, -0.3271, -0.1116, -0.0708, 0.9968, 0.7719, 1.6176, 1.158, 0.0528, 0.4873, 0.2817, 0.9949]\nstate[eef_state]: left_x=0.2971 left_y=0.0028 left_z=0.1657 left_yaw=0.0562 left_pitch=-0.0182 left_roll=0.0031 left_gripper=0.9968 right_x=0.4038 right_y=0.2826 right_z=0.2315 right_yaw=0.1956 right_pitch=0.2002 right_roll=0.0956 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -1.3197, 7.0496, 1.7363, -0.0952, -0.0562, -0.0073, 0.0068, -7.5966, 7.0222, 1.7802, 0.1636, 0.0415, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.297,\"right_y\":0.001,\"right_z\":0.185,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"left_x\":0.297,\"left_y\":0.001,\"left_z\":0.2},\"note\":\"Both containers are upright, and the red cup remains in place after the two pouring motions. I’m parking the arms to leave the tabletop unobstructed.\"}",
  "call_id": "call_BLqrIVmMFgNwPgqcofHCgxMi",
  "id": "fc_087850f247bc8cee016aacd2df0fc887d08d37b18e3f3bd0c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BLqrIVmMFgNwPgqcofHCgxMi",
  "output": "executing move_to over 27 steps (2.7s)",
  "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]: [-0.0753, 0.8268, 0.6651, -0.4484, -0.112, -0.0753, 0.9968, 0.0063, 0.8154, 0.6266, -0.3759, 0.0395, 0.0097, 0.9964]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1854 left_yaw=0.0526 left_pitch=-0.0473 left_roll=0.0032 left_gripper=0.9968 right_x=0.2994 right_y=-0.0015 right_z=0.1853 right_yaw=-0.0404 right_pitch=-0.0045 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.6359, -1.2786, 10.3179, 1.663, -0.1685, -0.0757, -0.0073, -0.1846, -1.6889, 7.2821, 1.9023, -0.105, -0.0708, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 452):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f97d4963e2408aab0334e9575ad340275eaffc8de6afd9d0e2c5bd3e44aeb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 452):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806f4375fabad883356f2d69c08baed8b1182fd4d612e08dbb3898d4bdd9e72e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 452):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09991f78268985f0e1579e2029e46e6b87a15e00bf2b7300148e9193abad6532",
      "type": "input_image"
    }
  ],
  "role": "user"
}