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, 0.6163, -0.3798, -0.0219, -0.0261, 0.9996, -0.0154, 0.7967, 0.6109, -0.3737, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1844 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=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.3333, 1.7705, -0.0269, 0.0757, -0.0562, -0.7179, -1.4838, 9.894, 1.7411, -0.0757, 0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b212b90e235c70c1a06c4c4e710db2f0016617cdf394d6f9e42f9bbf7c5a3b91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5b40ecfcf63b515f268868bee9d7a3f52b466be02b6d47341c2d36ade1f8473",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0fadf0322f660cd6f447b200a7e87406137462342678745cdc5e1762a64c555",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrLj7N1MYE-TGd56wvWNKvrOBWs-uyt-fWX7B2pSxHKqlYKM7-RkKGvi_D8BHPQ0YOUslw8E4orlFls1VVdUwNTWhX1kRm6iKO3-K028--UgNmv3qOqGh9-rpQc7_wCE5aT2FTgq6QDDvwCvV9z294BzhUe15dmx3AzEWg3PrNfA7hPdiFzyuusLBcMAic7TXqj_mBmm1PIKYrLWUYUpFa6x_v49Ga6Ej9VQVLLCDCN-vB7ixXoF-zxSC-Zkg3cWioJBS1F13-kScFx3OksPmLOBA3LXvLCw8W0F-OfCuVNEHYMN9Xa3x6k373mGW5JnZyus6sppQsrmYvfsSx9kzpu0XuaoqObnHZtk7ME3FkThHlg9_COY5mb-3iNI72G9ypPRYWLzFdlUjlM_VexqzlrXXkLbaEsUV-IUpJGFNSzmbtuiuwawuHBiP3eX7IbwAY2TVGXCEi41elYslVRWYxw5kQPmUQIqJ4RiQfShWVXI9cTJsOcYT5XdBaKvQ7O4IjjsbcAIK0ZTX-h8cErVPud8ncRcJRQoCSjP3TNghxFEYS1GvwthWvEZaV12t2fozN_Ata52xQMISkBXJJJORxzpVx-S1cRs8p_fyMa4YXJIUk5ohIL_ZYGlzhnd9WZWb_s8GxYlkqWunetfbo7WfCiCZjn76QCL47jx3y5ntt0a3wzDzsm48mQGfeDq_n46xeNTre06k8BO6q8zLVusjzADAJ6kMpQk0xcNYcETJqRTkwAkuORtPzLhLA7W3RC7CjMrjPmvwmAMBPNJdMajRKT7VSY8vIZ2-DGr-V2U7ZgXUQTHtWqMTYYMO9hdzHgE9XMvzfgMVvKSWQe78yPhz60MCpWPBufheIAxAqi8FEWe-j17f4qh6g24_A9gQEeQ1RmCtSNBDHErn9A_a09UBGjesYtZRcf2X7PgrOc1RRYPkEm3U6Lk9z4ArRaFoMzA9rI8sRzQFpzR1Z4umVZKVsFQ12E1t7Fafrb2AFeI-63iBwq_t71AukAdTa6tPLK9epZJV7u_E-gK4sg2osCmI9RMzQyCzUfn38UvmyYoKOLKdAbjAI1BODahoomSPMHQjMlWLBxAiVS7gUKd2xjjJk7KjB5_7Ou7v7fItI54JBCpHcxFX0UVGoC71PzyvjLwCspTf-xVrrzdsTJY4Lrdzdfre1VN8dBMTe-MGEBhmf72zOz2x3gCACB7dorg16iOecdFUL4MtG279YWnME0brQEH7R426hCK5s0OfUzxHrbdNLs6KF-SNLONYOmdrNhLMfgLMnKWdJ-i3fHlkwy9DyEcMTpIfffALR1GoK-vs0IW3cG1szHk8jbdGmuvC87RHPD0oPclKAZvBz2XByT6dYXUKhMonMK_AJfO8bhq2vDaLrteDbiIIsYGltKHkiiKF5BkMmM1O35P_6849kcAiYiUe7zXW_2GGziu69F-Ga4zEEae9umZlhzXuk5wokK_BTipcfLTGAvT-22hecuN4V6dcr_2llXzxiyjhJslcWggGcVUwlcjN_UnQmUUWWUlovll79bgcOR0O5RRbeyd0IvOJ_6HUoS1x1WHCqWY5nsaMZBCRbyXtz_Wh4e-XtYPT8bU8WTvL1RE2MfYzo3DusgjvmuE303QIUGos7qvdpK4ueBZYjExzJqKm4xOQoGyMDN7WPPimRndnia26GAG9X-vk2ajzJjzrEqylrWkneAf-v5imOabH4NUnJlMW32KDGsjbePo3ldfZqNVALEvSiMBS-xkYfGLJmMkcbmwgG_YHARIOYu0wuds_Xv2GTwwIRW3bBVeaimgYt2n1yP99krwyng==",
  "id": "rs_0dee64f939ab8cd8016aacb8f5afa487d0bf3a8a7702c20212",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.19,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.2966,\"right_y\":0.0012,\"right_z\":0.19},\"note\":\"I see two bottles in front of the cups, with the red cup behind the left bottle. I’ll approach the left bottle first with the left gripper open.\"}",
  "call_id": "call_oceR5gEz689eAdSKwPitmL1l",
  "id": "fc_0dee64f939ab8cd8016aacb8f9de6087d0802b5b93a4452799",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oceR5gEz689eAdSKwPitmL1l",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6834, 1.5208, 1.0214, -0.2382, -0.5549, -0.4355, 0.9996, -0.0147, 0.7986, 0.6106, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3818 left_y=-0.1863 left_z=0.1631 left_yaw=-0.0053 left_pitch=-0.0468 left_roll=0.0189 left_gripper=0.9996 right_x=0.2942 right_y=0.0014 right_z=0.1791 right_yaw=0.0006 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.7487, 9.306, 1.7363, -0.3932, 0.0611, -0.0562, -0.3487, -1.2103, 9.3333, 1.7314, -0.0806, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4252840e28d35db9601f5e5d9b4f1ffaa1259f3c21729a757c070410558611c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:119af3c795930267324ec1befe8422941392340a689bb28e412a02b28a303532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ad73464e8c9be9ef662b8a0996cc3294fb5cbaae21b83a1d504cb4808e3299",
      "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, 0.6163, -0.3798, -0.0219, -0.0261, 0.9996, -0.0154, 0.7967, 0.6109, -0.3737, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1844 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=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.3333, 1.7705, -0.0269, 0.0757, -0.0562, -0.7179, -1.4838, 9.894, 1.7411, -0.0757, 0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLkNF_09D91vIySzu2vbqKFasWXmMhDX7PoAecVGGHRjglsvn0OAg1JnlRStkL6tt6_tsl4MJ9UAG-T-TInudEMxZ-SkofYZBwldxntLgsO0-VojS9SzL9C-NjeXjegeQPAldUoLavm3rg-tKOymFfF4bKJVoHmSHvdOaoLzN1Mtpsn6eGtyVmtaXzwyEv_JzwoqEuH_GDwW0_xNDTdfZZeUW6yMbm_VDYelAUIAz9beS91lcZ8lZ_ngThg5U5lkNcXLhWclIlz7ielWnxp6AAcqo6F85fLXhlKr1foAv_YRiB_lxUARWbFLkfRwHNwigtWKbyQc3Zs5aSQjEPjFRMeNPXCx6k-6FgAPIDvkxoUsTGkPzLOwpvxwn1WgE1ZoZc6djkFju1LB6hxx1fjJNY-F1vB_iTMb3eeInYJRS3j4YzswBPbX-8RXmgbgBpojni9OfY_x27nMYEk9ifv8lgBAjU5i7kC-3v2TVRpNMjrOaMr8CXk79WqGtRxps16qVWt5UxnnAnadw46Zyk0NF1zv_mG0Fkge92uM6vNxbpBRTw4aSbRyca8y_LG4eDYN2dsMH_Tgn5Mc4GDFwOALQPUzo98G1OJAMDrTiFT2UsHDOcAlfdcNQOXpd1Z2A6rhEP6RLM2agdx1WYCOtyNjiNbLS1oTTvi6dkR6EGrIPt6PINnEuMvaUcOz3jh9opdWrp4u8x5d2YtBUqFm_p5EzUbk9TGnBZAQUcWFtsDl-yIjPJy16fmBQC6RVISOT8hfhOq2l4YmfkSugyQTGyGkFRX8CRHZFDNMRhIydX4JiqTvJNFkFeDlmrgrTTbaAcor9_cmDnQucc1o5RxNTHWkXkXzIrqZ68lnJVnSiSdSqkOIeD3fu8h0ia88rM7xRbiRizBaSnSPuxN4zEukTvuYWveT0QM_FK7WspEUL2R56D46fhnvYfuwCIOWZ51gWgJzkrZ0YOO2FSEYXKr4j4PpSHsxI97HlF1TlKiUnO3-6wSyORUbXJuxtrVOm13XsCowCsSBUjS3dQBNAnIFIHMhvlwM0Vfv4g23g8F2JrdfAoM493RjyEtnK7tdIsAIhJjA-8M_A5LdQs2h6Pd_tltl5HsJIaI048EO7KbWvBKyDRr23n6BgkOEn4BM4i2zjMWCCy1CQmhcNJW2cAl2zdoiCNOe4yJo4xPCxhqKelcokq8MBcOXLEw0OceaU3E1RmWwG8O-GB4H-FCP66cpfKPnXHjouf96lmlHuLcPFGLPHLqetMAfQUQDFoZKGAd3oZfjVkb4tMKujPfX_7j-hOPQhvNaYPaxV2S4rFGwkB0DSE_sRN-7TwRGPEHxw0OT92BW_kkgf_w3PKLRRNzvK8K-ciFjmvS4W5QPgJVnZlvp0PrRBKC_Dc2GnW93-V8GCER-jaH93wF_r4_mnVoEs_dwr6TYGhIZ5K24EIvHAGGupABtKvZKiek3SvQUgoGyAuNf2-goxSsyzrBD5_AHlGSOmumLam4579HMNCZAWpUBSYqCpcp6g5hwlGVuiTN27yjvu5EupRoMmrTOsn8Armu5Vr_9nH84q3b3F5FTD34Py_JG4yroqbypHqiZJcIdf8zaMewS-KygUqsBL3PEhle5JjH-ltUALqoJtMgvlpbMYVG-69YwE6x6kPZt2-pMaIMpapcrycUOuZzKzmviTh3EdLKV6wu3_kdnFxUfKIesDxXJRJc=",
  "id": "rs_0dee64f939ab8cd8016aacb9092c1487d0958b17de5e38e20e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.205,\"left_z\":0.105},\"note\":\"The left container is an open, handled vessel, now centered near the jaws in the wrist view. I’ll lower toward its body and shift slightly forward and inward to grasp below the rim.\"}",
  "call_id": "call_TMPFDBO6ULmvBRTOG6gzwvsT",
  "id": "fc_0dee64f939ab8cd8016aacb90c341487d0b283c7f0d2dc05cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TMPFDBO6ULmvBRTOG6gzwvsT",
  "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]: [-0.6868, 1.6756, 0.9859, 0.0536, -0.5808, -0.4725, 0.9996, -0.0147, 0.7986, 0.6086, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4118 left_y=-0.2077 left_z=0.1357 left_yaw=0.0309 left_pitch=0.0413 left_roll=-0.065 left_gripper=0.9996 right_x=0.294 right_y=0.0014 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -5.8598, 5.0256, 1.0085, -0.0513, 0.2662, -0.0171, -0.2256, -1.2239, 7.4188, 1.7411, -0.0757, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f348e2f57ae0c270f88016ca005c81d2d851d2c8faf1b85afd4e5c1f06cf4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba3b8c03d87f325909eba72edd5ae7a7ea7f205b9a3ebb4f423b87a019145b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce509f81a535f6fde6506d6f37cf60d01c809524ebe758b8a4e738f27a707d2",
      "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]: [-0.6834, 1.5208, 1.0214, -0.2382, -0.5549, -0.4355, 0.9996, -0.0147, 0.7986, 0.6106, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3818 left_y=-0.1863 left_z=0.1631 left_yaw=-0.0053 left_pitch=-0.0468 left_roll=0.0189 left_gripper=0.9996 right_x=0.2942 right_y=0.0014 right_z=0.1791 right_yaw=0.0006 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.7487, 9.306, 1.7363, -0.3932, 0.0611, -0.0562, -0.3487, -1.2103, 9.3333, 1.7314, -0.0806, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLkTVpayiFuxD5aTZsRD_0DHbyzJ-V8e53RX_n_LNoENnAkZOruOWdK6KKBZbrCJ2a_Rnd53DtaC_qQxlNJx1RAa0qviDO7D50ZLDOfEAWbRoYfmJcVN7dwWKH_0CUyf8VW47sYbA8FHQuS09QFYLdEbDjHhDWS9_zWqVnMoBicWPzvKRFqHc9wnoLJb4uyI657jkDlk56sNeRbcoJSa2rqZYbkteuLgYRAFajpYYb4w3Z79l1mS76yPtkSN4u49xkVT-17Mv719NjI6CjmTu68nhpcvXTDrDTqEN73KaWWhA7HcZcDNzbBEkR2Jd4xmRG_RCUyJQ7IHGwcsFnOjIqL_5FjB2WCIDznaQMW_krjvK5MF2KKkeYagD4Dgd39BLQWYn4VhFe9gfddKyYtdf6LueylCANdA7oBQelfj5zMhMMPLbbVW5irFhPQIS_vOxjIkoz7MxPuLFNak-_0AvZeC5dRLVjVmtZoA7iKvadIKtFYMIC0oS_DbI1drYX1sIFdipkFkNRZgaUXcO6wvv150hQ59wExEw36_l77cDqauk16Y-opKBOSpw51VPkwH-Wlmymuma6M4X2wuXGfe33iBWlMiksEbzNHChUou2VDiF5V1Wcp7fMf9-nkaVW9D9ExsPd4XH7ADPZvWefWHPCtMBw8JdFaO6smL3jp9Unfw1LkHp97E63A4C2pFALQ3uBID3OkrS8GuU9yIC0g5LO-2yYV5gzpxTMMuPzPCU7jnZYA6xI8w6xBZTTPqERSTbg5XPvGwblJ6u2UEejH2pTwvzPKZZQ0StPvH4cA-spYZyxh2smm4rtFkVLq4yAAGhYFEogs1ib0SbkYhu0yt3jVWdFmGN_JoXXVD5NQEy9oRysHoA9b0cY9TIXaYPsPbuJ-kg93WqmIhQVGc43zvBOkOkyLSdbxLZND8nX6RXiQtK5f_7ODg6Lww8zWCQdJ7MoI9B6lCmfKbcz5PmbhaWxMoDo9ujvwe6dDwE_JHZM-SJ4M6tbNqccEWhZb13rfvHKs1yMcBHmTCWsE8Y-z10vaovP6JdAELE3PWfhO2vQ9oQBrhS7T5s1GOj3QRes4mjpW6sPntAffD6dR5i3R6syNl1bde74HUWmLNGTVsmTL-K9PuYzkyjf3NEC7DEOqzVPL8EnibwboiGJ8DpSVhXhFTDZhygb2hm7k12wS_Kni9zEcjKLZu3c1riGQ-OoQ2ztKxfPOsTgnkniMuTBIaEKR73H5KG-6Etw7SZg9-oi-bt7wHGULvVUfchZYbXA7EVQdawyH1lYhLvwCTn3DdVPLvQe1hahE1vyh85vEfKvOp8wp9KaLNtX0Etdrztb4DzwNhGRZ4RUaHGR0N0v_mmQ2zpZEgi3BhuOOgAOMrY3BihDg9NjoEGyBDN14_6lOqf-GuiqVcCwKXu3yvEEKaDoX8XWZ0cHk8Ow0nRqR68iyOHZNhDzkvAWdxGPEWOJQwyV55",
  "id": "rs_0dee64f939ab8cd8016aacb91144fc87d0bee9ab0b2e23035b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped above the requested height, suggesting the jaws have contacted the vessel. I’ll close at this height and check whether they securely hold its body before lifting.\"}",
  "call_id": "call_euLnsxNKM6yS9fsGiuuDjFJH",
  "id": "fc_0dee64f939ab8cd8016aacb912b0d487d0bf25e6e28b11bd01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_euLnsxNKM6yS9fsGiuuDjFJH",
  "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]: [-0.6849, 1.6737, 1.0107, 0.0883, -0.577, -0.532, 0.3681, -0.0147, 0.7986, 0.6086, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4198 left_y=-0.2138 left_z=0.1527 left_yaw=0.0639 left_pitch=0.0823 left_roll=-0.1601 left_gripper=0.3681 right_x=0.294 right_y=0.0014 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -7.9658, 6.8991, 0.7546, -0.105, 0.3785, 0.9744, -0.253, -1.2376, 7.0496, 1.7411, -0.0708, -0.0366, -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,$blob:60219e05f0f23eb7d69856b343bad9574c57e6eb7d7deda188c698b2cbaa1e78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9db81cc1e15da7ce8307ffcb5731040da2a3ceb69cb0b47737dacdaf1612f72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3476d1ac93b3eb4d194151010e8a1a1018a90a267e8a266d78b905617d138dd",
      "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]: [-0.6868, 1.6756, 0.9859, 0.0536, -0.5808, -0.4725, 0.9996, -0.0147, 0.7986, 0.6086, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4118 left_y=-0.2077 left_z=0.1357 left_yaw=0.0309 left_pitch=0.0413 left_roll=-0.065 left_gripper=0.9996 right_x=0.294 right_y=0.0014 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -5.8598, 5.0256, 1.0085, -0.0513, 0.2662, -0.0171, -0.2256, -1.2239, 7.4188, 1.7411, -0.0757, -0.0317, -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": "gAAAAABqrLkfOTOVu_rCZrB9n5m1cbklATw5L_Z_hjjZu2u6ukyZOf5e5Y0NpI8bHXF_f9P-SS6O291MZx1PTFKkAM5KdWXR3csK3HtP0FTEdUwsS1dGk6QGBfdzNy0Ngb_J09cxGEdmvLqEG7TuclY5p7JJ6jKxcaRMG2lghr4BHDPF3CUMXzgYEBvG8l7vbcrLhy7hLKlPq6hvV3hfbU0k7dOth7QoVSpAccPyMMZPVdA9GFtEfezSlt4Zl7MtSvUJc_qQ10ORT2Ln8Fiiu3RaLdBuStQJjP6VwDYxnG_pk8lZt5tRXOlEq4XV1EBSshH_nAcbjUjvtqXAD2N2YTrZtFKXn1wskXGyn_nEqx2A21lRlgC2TMZZLGO22WubGSrIkKRKj9-FLc7bZPMUGHockr7CE8_HeQ9sLQE-Xvc0Ottl2JbSYkXcpGpIReh_YiGhE45DLOxfNGjtv0Ts1kEX153SOxin4gOJ39UYJzsu-PHS4S3Rm8jNi21OXxajwCxRUjadRe5gEzV1C1nD8KOu5Cw6DsGibnFdTEaMhRJbjGV_xRr61MYvHx9sOv57LkXJWwqFfIspABnoB4LPAZKiy2BODA2O5MEFRPD4w_PFraFc-DAlrm2VgmT4gsQVi6HAe3sXbMFp4mYcLN0SZeYQ1ti6TO8zZr2omsus9YPe8wlIq8MCU9CohIwv0uQ6plfo_Odt6xupPsVpTzikN0kFVorXqOMS2iVbxERFxlJx8rTbfkdfEhW7lHII9jF-OJrnhz1llq_G7aS43p0gzeL_kE3oVB-aa8ZPS3A_LlkXUu0SAVvqZ8-2L2Pp-F0cNUjSNGpvmF82rNGA6VfkylG0tmhgVQj4q69zzriGJQrq94o0lK4KWjODpAJGPGXOHuLIxJ8nSIRCpxFr2yIer1sEa7pHM12FdO8NZ53fUMbc3_3I-FFhd-bS5suJ3VuT-4Kc2_N9qGUHDLBatKopllFhoFyNSMiVtPMgU1Lq6LFhzl4YEr3JAtSJeO_7KFDivYsYA9udx7EVYa4HPONSS6J5l-FoPmQYj8YTP4k8vB0PtgIomNSct--SI4hz2WUCQVfco4l9HKAyOwEd-6pyRvRhvt76-GqQPrcWoeo48YUkRZK1dts3BgfhK7HS0Ti8iJ0tkECH9jfqy30EFRuVtmQWbxFgxzkeAI5Z-zFVZYZjHe_3d4ziPENfcIF_uUnVEyFlkgKALT3UCnvLncgcy7YSl8HLTKaYSQ==",
  "id": "rs_0dee64f939ab8cd8016aacb91e02e487d08de40a7e9d7dc2e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.21,\"left_z\":0.225},\"note\":\"The gripper stopped at about 3.5 cm rather than closing empty, consistent with holding the vessel’s handle or neck. I’ll lift a short distance to verify that the vessel follows.\"}",
  "call_id": "call_rlWSN7tyvUQ2Hm5ZjwT0mRgz",
  "id": "fc_0dee64f939ab8cd8016aacb91e7cac87d0a90c58955a80d30b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rlWSN7tyvUQ2Hm5ZjwT0mRgz",
  "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]: [-0.6846, 1.615, 1.1542, -0.1501, -0.5774, -0.5514, 0.3698, -0.0147, 0.7986, 0.6086, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4169 left_y=-0.2112 left_z=0.1956 left_yaw=0.0732 left_pitch=0.0545 left_roll=-0.1523 left_gripper=0.3698 right_x=0.294 right_y=0.0014 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -10.441, 9.5795, 1.7558, -0.2613, 0.1392, 0.1734, -0.3761, -1.2239, 7.1726, 1.7509, -0.0366, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb590608fb7695c5e3c459ff62e808d320e9411cc116a0ccf1a78cf0d994a7cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b250fafba747c1102d6d0b76eeff8518f653a0d6fb83c7a0551fb885b54c67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739500d218860691fa6eb93e19083f21ca83de3e4c3cba25f35a7eccdd05c124",
      "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]: [-0.6849, 1.6737, 1.0107, 0.0883, -0.577, -0.532, 0.3681, -0.0147, 0.7986, 0.6086, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4198 left_y=-0.2138 left_z=0.1527 left_yaw=0.0639 left_pitch=0.0823 left_roll=-0.1601 left_gripper=0.3681 right_x=0.294 right_y=0.0014 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -7.9658, 6.8991, 0.7546, -0.105, 0.3785, 0.9744, -0.253, -1.2376, 7.0496, 1.7411, -0.0708, -0.0366, -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": "gAAAAABqrLks5vsYgFWVcC2ewtsF-oPcghPNGudB7ZACF2zHdySw2yiTN7Qr8bLod-JqUM6QAXWqWyRlwuzlGoSm_0S08VSKPZvZ2d_gbfDce7lt8OsUihBakUhlxinfCkLhgRSREp5NnL0sHGYk0LpD4owfWSps7Qz0zYfK8_hoD3S16rxagZcqwVMHf06zwZwbj7fDRzfgWGAeXDePmaoaXRKd_QCVqDNyyf03eyLZks_NroptaVOy2j0SwNxogqQA6ls70EMNNB93coPW2OM02CgfWj5E9mcY9yscTA2pk7sUtW7t3xJwXX_kB9T0iByTOBvnM4MPLdTg81e0G02Qrk4R90DWjVBS7tnIdbkUvGLI-cs1YpfJUPNNyB1EaOicpVvc2PRZAwGMAlxNDBUVbtjMy72veZbu16HNGT_AJyCfYtfniDJSJb3itNBzcHFEsixwITiJ-iwvEwdd6j-EarzG6xFJZf6X3FiySfIwCaT55QQnbzceaHiUu_3o6QS6hoigAz0UiL6EHv_V4BQr0jw5VEpzWrcofNGpysX5JgfmX9q49vm7bQo5rgNDHfldm4k0eE9Nj67-wXEjAwaPh7oACNfPOlNwuPOUEBhgsZZaK7dhv8zsNJ39M_8cPzT7ItFcl4BlRHULmtDZihmtkOuLQ21S1GiNmkpDBqFGGZnCOZaiAuPtqD5tXFFjCmgqcRGqk6cBtnybRGG8rGRORbcR6VxMc_UbC_R-OfeRTuAX_9gSORZnbZzjJjT1l_ax3ObIqls-weGO271jaHscO32xGYR41UNyXFwPOvaPphlnp2_2SeozOouZFa9wyK8nMWJ3UyWu3-VHkHSzqEL6PLRiAXNkPQMDl1edJXfcOMEC2gECGhr6iZ4HB9OvHD-fv466e7wBt3MFkpBJ_W8ZFtJe9iXs77OpoUS0DmIWtwENTnd-OGvm1GaQ_mWJ8NBTD1b4teTbHubAynjOc04voWE5U552daYv2pVqB9CISJbn3R9MAM7-5HxP2FduLZetazGx6rXruHH0OZl716Fmm8Ry4ev9Y3NMicVE41xSKVH2l5BS4-0DyNGzt6pWvqW90wWPO1orIUJmWo_FXway0EGnLlZI-qby7ksJJTStFmkXAqKaCHPM2h8OeDmNejf4onJXHPgg0K1WntYfNv2L4RWoZt3mGre7THwNawMaqGQxcjRcSGH9f-0y9DivSKwFBra86zykBRsepf7Ku3SWMgdE38UwdDUwAUWmwVHptU0Q6JM3MOUw4H7OLxHal_2amGrN8rtJdiT4_T00PXmBbVi3XOHRl0SYeql3DpJfupJEt0QId48Y-Xwew4Ej_uth297JfMfUWJUiPdMe8Am-8ws7gEBZB-qb1h1E859543nSj3T0TQw_a1DUDJI1kJdyQvrpTlcDYvNyB_acWxQpg8VtaNOCGQ5Mhs_XfzPx04rRcZMX8T9-skFPM5l4y0XtnINp7pW6WUGIbEA8Z9E9yR_-VKBniBCCruD63NAqyrO6--eJRW7eeYjHLXDJzQz-VzYaA4WqBoHED8R2q9rPPYOid8goZsjeQ2scF5boUZJ1tl-B2PNSerT82P1l_bhrxS3pBDA_x5lzKk13NZVcP3afAai8D7CkR-74qYaz2tYR5kkI4-kUbAo_8SgXJJHyexzNMXiI1VzGYhwgT13FmiZq4CRARotkjnXn13QTKGoXOi3uDZPyYlFRrjstuuTe_g9IV-EWJ6XV7sj_W3B6ykO1_u1FrumvgRD2rkhFfsx6GQX72YhNLEc7QOfgIXiAcXkbMdNZrMHK3_hRyHjTU8CyYfXXWCQVHS1mXb4BlSduX-br_nznMth1v52sEmI9hhVe85IBJ20ZnjXAFn8nDj_EIAeCWTvD3CwBjywS8kZDCJxG2pD1E51KASXHa0EAl6QSASgKt85utZ4dlyeTmy4JxQOPObQMkoTieo-feuwsDoOAYRlEgqKS_35D3sl16n02gE2I54x-ZONDC4Gru6pB0Ozorhl1l-WFoo4aBS78a7_iy10HbF2FsjYSvR5OKYZ_SbLj0pAFw5De7aiE2lIqxh33nIRz0OuEN1xaTwwUm0Fy3WdTzc-JKIDB6f5Emp_H00F17i2alEYMqlpfTHWG1WlVLVxm29VimKetxc3nEBSC2n--uZeCCmG9H8d8YgiVpzUursDiQxI4LWv9n03dV2xsLmAYydQIkUUujHmSatFnKuyQZUzLEfGqdaZibufaQmJ7KBKWaJzSlCft_TtrY15AEhqijt3RMp1y0wbzsEYZ56SnDCcQ6-bFpFGuSAabGOzsZVz8cIVrLu8kxn4jWC7K-A==",
  "id": "rs_0dee64f939ab8cd8016aacb923368087d088e262d7c3967ca8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_y\":-0.215,\"left_z\":0.275},\"note\":\"The left vessel rose with the gripper. I’ll carry it toward the red cup while keeping it upright and high enough for its base to clear the table and cup rim.\"}",
  "call_id": "call_hfEKb1dH8JxUcbkAqh3eBNrt",
  "id": "fc_0dee64f939ab8cd8016aacb92ab35087d0bdacf5644d7dea4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hfEKb1dH8JxUcbkAqh3eBNrt",
  "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]: [-0.5617, 1.8698, 1.7061, -0.4446, -0.495, -0.5201, 0.3712, -0.0143, 0.8024, 0.6086, -0.3923, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.499 left_y=-0.2106 left_z=0.2549 left_yaw=0.1135 left_pitch=0.028 left_roll=-0.1625 left_gripper=0.3712 right_x=0.2942 right_y=0.0015 right_z=0.1772 right_yaw=0.0008 right_pitch=-0.0267 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -10.7829, 9.2513, 1.5214, -0.0806, 0.4567, 0.1343, -0.2256, -1.5521, 7.1863, 1.7705, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7930cc77719ffd59fe58b7a55ce3f6a6f9e48671eb14df699e44046d653f3d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5fe4fe4459e64d8f01afdcab0025870cc30c860a5db3cafdcdb89b5765defd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d98eb23c2e1c120db8cfcf81a0078e9e4a62ed63bff10ff59f43bc9053d441",
      "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]: [-0.6846, 1.615, 1.1542, -0.1501, -0.5774, -0.5514, 0.3698, -0.0147, 0.7986, 0.6086, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4169 left_y=-0.2112 left_z=0.1956 left_yaw=0.0732 left_pitch=0.0545 left_roll=-0.1523 left_gripper=0.3698 right_x=0.294 right_y=0.0014 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -10.441, 9.5795, 1.7558, -0.2613, 0.1392, 0.1734, -0.3761, -1.2239, 7.1726, 1.7509, -0.0366, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLk7KsRvFTZl90zU0DtTsoSGp8Z4HLoZr5w5-hOudOjWAK9y3DsMiuYaw9kjPDP6H9KqsSYq4muDgg5UwusUb321vbDAJBxUO8tHQIq2gZ7HZ44If8DPjTphMnFTkiW988tf4PasR5rySOA5vlZ9TUF867bKL0qyomqVuZWoO60j7iwrgEOVr2--hBq5gopt8IrRfBK_WUnolxiTOKHS4t5C4ZunldTV_Z15S4Ffv8cSMWF_5GlELBJRFIwmuf7kg7pMcgazDXLTsbPK-1pp2-N4fQsQu0E_AnBdFSVw_jgmZUv0ae0ZiMbqkS0LLCmtNQOlnWJl96HZEaK-NF-gfO9xYTcVIf1bv7jUP3T9TpNUrlOnyaJTvpguRiXsmJW0DeyQT2wy275oi--2K6ceTUfoqGg3igyqDSJYa7z_il7Qh3vAZigmrX6OJ_MQ_eSVeJ5uJeISMF1enWmhrARJ_cB7EyfaSEZhsD5Hg6j7-rxg69looHGirvR4ZtHrxHsOcnPaWFIguIJJls9CqmyCDOzZos6Tc8Va29hacRXGLt7NiW-PtWSJbiEqyGIDOStIexe10cOfjaMTurB_1Wa8WPFOWXt48p7yyXF2veel8aPnfmRI-520kxrLu53Ywq4ry0bjKsVe7qWlsXmWELQOfT5IZ8UnTRSC0ebkOtINAL2QRnKWUqsFvQgJIvjSaB0thbA_qOyJ2vevd0RBQy8ni-4lbgSX8t4us9XpCIyauoBiZZBKlge_ZJKJmu02ZH5cBtIcvJk3wkuXOpRFL84PE1SkEvV056J2T8nZlxyY5WNY9xr-f2U2-WCGJwfgtV0yb6Jwky1UpqiZoVLqwWmMPy0VVKVZyDq8odv0Z64vRPRcNF_saQ6CD6CyI8__wu77--pA6NTCPAq2iNZJ8mNPPe0DcYZmWySgkGQ7swRQAenrcRFaYM0GhBDLboNHohULBh89hN6EQx3q--JS1SljWvshJ1xMBZdHezkG55A_RQYIlNFRqXkpoKzk4MelxaquVpACAp8gK6BrVLDVzLsqOIjN-rba9ZlXNr6aALPRyz732TfBSXw9CnwxYceCx130T0Jzf865xkNaoUsJRwMHsJucEUYAz3cJrJzT87BwdjugMr7yxycusxQz2jV2S8f0gqPXrMtukElj8UYVNUFLQpfWoYSBZEK-F-8Ur_GP2mNJS28D30dcnBlw8lc6lSkF0FNellT1rbaAqYrq0CQuSO2jW-Guesy7EiaJHnZ-Q0vXVr7LpZhoyu3GR-YD1vNlN6ZWZ1PicD15evsxqh7S-JJEq9Fk0sXJ92HGQSZdjW9vxSlwNAV_aWjGTcao7SFuVSWjSILqCdxnINMQB5l4nSZz_jqQG4ijyAeRcxU3urOZyHeNPCh24zmQYzVJsHzmlm1cpN3aTnvF3qjDG48SKvHYbIGSTxnHj6wZ1S7GhHRUU65Me6is_anyebVJo1wBnECg2fz_AowJTN5xgjqhZ_DAreO-dMciyzm1WqENFl2nxoAVZ5OqbtWK7t5rJfhJPtLudWry1GMNEejzV8enINPSUHpj37lYnIcFj1XvVinYJh_DkPTrWqTqOzugQo9DlkG1utQViUq3tVck-h8tFXAJ6PCrX6l9DAK2RvYgc7erl81TgOzU65kYJD0LM-9kmA8YT4IjTJoTjchE3R2_2EIt-pOlrHIutoy4YTHNwyFrEd0RjP7gJtMgc04kVidHMxW89QBIohCMSG1_qIIOxvfMAgamN0OhOdXczTMk5HNCJ0GAiush66lON9-V0J7KQAkJHQ5hoVQpKp9KO3yUdcQo2sie0hkxWJ0nqISBvi15GKVCjqJ41fZfK-lgvTR0cycsgQoiBRtr1dXzYASNgGLb167x_Nj9XDzndHeDKKwbv45fmvL1zIZUvr9b0a8eRaYq9KDelrX4IND5qZCOYZIB7jieCI1EUiRsjX9GuDaHZBMpyYlZSePbOMf8Raub9aLlRk3UBoUwAXQbkiORPovnQQ8EFKvlCBZuh77KIW9-MG20gbTrVLQeuZw-W-GGH1P82NID3ViWGs0V9wUp9raq-xbPZyXlWutFfZS--NTr9mi9o2iE5-y0_COUjr5Qy0oYsbZjg1Icz9emZqSlwmttDXq3seDNSWf0t1OE6mocRyPnGP8SeFth6HfzWs5Te5la_iAgLnzyseky32WlPoTaOvsLkn_fLk0toGXg_uK4aUoR_fREy2fh-CmC8Wb_tUiXF0mqfVr7pDF8_LLtVYuap1zJB7uLPxKSWASmj4AseA1TBHpQA8_bYTqbtyZPiyMMIaTY16NHHFQZucdGP27QWvpcD97z8GHYrG3WULtC_tf69cOObDw1h4ojAzWe4arFDYpZ1pyqq1fitTbScg0B4eqePl2y0xCaVcsteGggjCHXFeIOW98ovNUVXapYoYw-vGWNuYHynQWG7x2_rnhlJ7Pee0T9ADsnOTy8K463KY1Me8XIJPJ1fs_WTQuHckDg1UZskirIOKJK9EkVu4sWX7TSgfR-2f_R09oovWC_vOe6rdJlNm4yHx6amFGQjnJB8lg40nyyLsaETVPeXfgPr0YAxBAc4C-Y2IaR1Crgigs9nHjaNJN2znWWyo3hPsaS6CeK3Km1KoHrfsQ9vhGY6V1O19XTrZlcM0P45DsfZs9dKWB8I3jbBPRLmw26WLJsI-c2pFQuHwdePIEHkP8pBNhbyQIzIaVyXlFs9pEkRN3ObO-05l8MgTNQC4Rqh_k2",
  "id": "rs_0dee64f939ab8cd8016aacb92eca6087d0abbcfa7c83b30ea7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.215,\"left_z\":0.285,\"left_roll\":0.6},\"note\":\"The red cup is just left of the vessel’s mouth. I’ll move a little farther forward and begin tilting left, keeping the opening above the cup as I check alignment.\"}",
  "call_id": "call_rhsI2t1SRw3ED7Hwbm8W8G5g",
  "id": "fc_0dee64f939ab8cd8016aacb939f98487d0aa2ba08186e0695d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rhsI2t1SRw3ED7Hwbm8W8G5g",
  "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]: [-0.6151, 2.4737, 2.7201, -1.0233, -0.8734, -0.1173, 0.3734, -0.0147, 0.8059, 0.6086, -0.3931, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.5549 left_y=-0.2219 left_z=0.2649 left_yaw=0.1332 left_pitch=0.0238 left_roll=0.478 left_gripper=0.3734 right_x=0.2943 right_y=0.0014 right_z=0.1761 right_yaw=0.0004 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -12.9573, 6.2838, 0.8376, -0.5934, 0.5641, 0.2125, -0.1983, -1.4701, 7.0496, 1.7216, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee610d7182018847a2aa2ae1e79a9f449914203391b12e680bcc1efaaeb0fa82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:022285d0ed28b0b1430adb29e81e128324676f24f4e3aae58a22c0c7d644d570",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e99d1cb67fbf3bd834b33bfc04613a81e2bfe6c58a7cf77c8d436dc56ad7b9d",
      "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]: [-0.5617, 1.8698, 1.7061, -0.4446, -0.495, -0.5201, 0.3712, -0.0143, 0.8024, 0.6086, -0.3923, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.499 left_y=-0.2106 left_z=0.2549 left_yaw=0.1135 left_pitch=0.028 left_roll=-0.1625 left_gripper=0.3712 right_x=0.2942 right_y=0.0015 right_z=0.1772 right_yaw=0.0008 right_pitch=-0.0267 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -10.7829, 9.2513, 1.5214, -0.0806, 0.4567, 0.1343, -0.2256, -1.5521, 7.1863, 1.7705, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLlJvMHISOwLX3x3SZ8CRPJhiZjoczoQocdc5RirznGsR3aWWcHoL_P7A8rNMpQK54tafcF1y0TtWC7Tz4jYK6ADCFYu5X_hW8XMreCu9m5YJXilI6uYHESDIuhMpp60yxsdg2_4y-p37ShevEUUPH75wrJhRj5A-Mt9kURk7-KIQ5RsEhaQI8-CW7vscipDdWSKVWP7214hw78O3wP1bLNeHpTCAl5OwD62apsi0ExrGdMKLngMSzlDtsjQWQWu9iMt8UlKruA043E5UNLPGrxxKSl7hKgycqkfevL4oaYL43KiMsvnXC_P4daZhzHMcU32rKh2OGN3yVOIgg-jq3xzu0iiktFDgeiaJT5xWnDNH1BRe7GN2kyqhoR3evzE5Op62FPDBC7213DRxlYSgeNNy811-GmqcZMngkCny7t2IzYoEYd11oJ5AsztHZNkYCTncbdyCuZj999K1CDX6QnfxsjO7HZWakS0u0AyltmwM4MGwAt2_LtCQdPlY-FkLtNsGoPh64wHKwSRvkwUMdCPWk3bYU4Pg6lflXIUAVrpPmRoAl2KwBy8OnwMyqVLXTlCoOT65etZd8kbjf5bMp1C3NveHVX-d94L61NWj8Y5S7piwFC-uNtZwZeSBRpucxenCdguz5PQ2FJPCpvAZsZ1DQXx73ZuuaaXwOzZHW6QzUbVgo2vm0V_dptR0GCRlpQucDLrRpg1LxlIUovcYITXhT_sgjtf5MzoecS2nT3YSSUju8-ZWS-Z75ezitNGaBlnCsok8J2oyvCFb2e236HlYPDn9JVj1w-2ek-bnohm5M8VLhkEc4YUxnyRUiK-Wg2Te-9hcHCcut7-8gYG52rTkh3TyGFMzLvFTqEfdO5a2vvtpTeWPdVSePa2h781I6TcWdsWb3FzHNLYewe6p5CqG5tRoIL37H0C8Dxr73gvAvgxmpEBIzie13nEegAXq7wMZf3aRN5PC755WZoXDIusONYKNVcGU7l1RkW-j4Wv4IyFeMiqgtSucdNjIASXWyEjQc4u5zZmxlEcqQ6nZAVZuv1ICyi4OKbDZeObOPfRt1YItTIplQavXq7ZDjdI_nYLD3csxbgRThubNCNJhIE_aD8v5gd-Vl9U0pmwCmN0FtB6n0VSq9832714TfcLVS_QoJRbLlPI97XiTptG81QKybwtrLVvo6FlyfhB9mB_G1Lyzr3TE5zOMfwcHQXYYE9LqHMn5eEj1o4BpYREzyaPdk9wzaMVhA-NgPi4imejaj1Gq78PNvFlDLGl9uWQzHue1dJvf7Gg6b4TOjPGHkkfBJaTyu1q6PR7CS7bzucb8XHg4BOG0s58oEdK0iIsjj6ZuTry_6sTulOmQhOaw37IIaQhJkmb1MdelBc93tJ_yEOFubVHbWaIiRRyj8bJC2gPSF_F1vcF6Bef8nWDvCOkKolnMCdI0iNWbyzR_GAI5KpluUroRjVCpSWArtKvWQlFaj00QkquH0M5AuOtM65PgsqMxmwa-U6IZsfR3Pk29YO-LZ6G1BpktVXM5GcT-DUbzHaeMkeBPbRGIiuovtK_FtQ0X5ZtAoLiJvZbFW5l5Fb2Aq4jaBkPAJhyIS9KxgQTmlYVTwnIAgW1RIvM7n1MXCzOWc4PxnElcowZ9A8ad9sZLnavbPcDyXtpvI-bU3a-A4MSx0Dm8QbL0BENPNqYSMGGfvUvWAaENCg3SWI-azH9tkIY9CRRtkKq30LruDyo-rh3NDK8t4fw88DCjUa9suzIBoEOl5dO22_bR4dOhSFFYZtOPA-B-m-W2l-tQfQyFfsmlpgJwXzwpu-1VsU2Rj_DyavMEGsgcgcnIypCiQVebFKRopjLDiRh63BcIfAfJ2vYohIJVMVQAzAN30zZmp1EtxyqqH7PWYFtDLanCfNaeWNgxZqGPC3V5Yxz-fYIw3nJbFZ_RN-7sAwvNpcqE_mouwPmy3G6a8KgS89q36QCXTMHVBIxE8oFYq5G2kd1RElpgMfzrwyYMfuOX5YV-BFelw9m7wAY3jAfQC8OwypPd285LSYA5zx2tKGGsO0RsQjtI-ji3aLBUBtt9UrMs5LAbDLE0-JEFEMxuPjJ5ugGdOEPpIKtIBvozPY2dDl4nIsTDMi9jMW72rKXtBZiTmA6DD1_DfUuU9UingcQQc8N9N5IjosA1gP43zgEjQAj7RQlw1-zB400r6cTF-PP39DaPk3mquaEX9sgTjqk6IYjpNAruYxno2xTB-b_YRSIPlPrY9GSiv6PT3eohKj-3xb15D2ZtOb1J8mResU86cw3GaEyLu53r9Njf3H3EQzUD8zne7Y1-6qd0EeV65_53I9iNdsl-5ivfjqPKg9RpVf-s_3zJe3MgtApB6xdadD2pvfb1cu0WNH2RhaakseFuePzrRZSaYA8XSfkEydCMJwTGszub2s_LmbGkRufW6aZDdVN4B4SlxAERCo8EktnekkIGKo61COMHFMbZkfEiKI=",
  "id": "rs_0dee64f939ab8cd8016aacb94020c887d0954d124f238226df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_roll\":-0.65,\"left_x\":0.535,\"left_y\":-0.22,\"left_z\":0.255},\"note\":\"The first tilt moved the mouth away from the red cup, so I’m reversing the tilt direction. I’ll also lower slightly to reduce the drop into the cup.\"}",
  "call_id": "call_rG8YkYsGkPkyfPgOx4hkjrod",
  "id": "fc_0dee64f939ab8cd8016aacb947a3cc87d0850d6da80eb92237",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rG8YkYsGkPkyfPgOx4hkjrod",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.466, 1.9518, 1.6512, -0.2653, -0.2676, -0.7773, 0.3743, -0.0147, 0.8082, 0.6086, -0.3923, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.5346 left_y=-0.2125 left_z=0.2131 left_yaw=0.1478 left_pitch=-0.0576 left_roll=-0.5046 left_gripper=0.3743 right_x=0.2946 right_y=0.0014 right_z=0.1756 right_yaw=0.0004 right_pitch=-0.0324 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -14.8991, 7.3368, 2.1612, 0.0269, -0.0513, 0.0904, -0.0479, -1.5111, 7.159, 1.7314, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:447d0a17eca1c3826182f8bd472055bbf824cebed1f7058e22db5e846152a333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b354a800861f8688ee58736c555d5e63a3590b0524dd51193abf9a2711221655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5850a61d92dfee9978874cce4e07ab6cee072e5a8d38cb72049adf4f5cdfca2",
      "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]: [-0.6151, 2.4737, 2.7201, -1.0233, -0.8734, -0.1173, 0.3734, -0.0147, 0.8059, 0.6086, -0.3931, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.5549 left_y=-0.2219 left_z=0.2649 left_yaw=0.1332 left_pitch=0.0238 left_roll=0.478 left_gripper=0.3734 right_x=0.2943 right_y=0.0014 right_z=0.1761 right_yaw=0.0004 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -12.9573, 6.2838, 0.8376, -0.5934, 0.5641, 0.2125, -0.1983, -1.4701, 7.0496, 1.7216, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLlWtfUAGEei89GmEEyLeq2SQ2R-GLWaiFsRpfc86utkt9QKN_v37X2lOImwBNtaF9DDSpr53eH-iQ4x6Ase87DcIHjM_UgNsGQCV3KwTgskwO9S5t5TjYZPGUP09WPSbQ1mFO6Ce_AbohZiy_BB5_zD8eHJeXOVryex8ckFVang-ddggok18cBEUPG98tL43lTUHZTAcFHM47BUk4C3LFURsL9q8V5g7ywRiDbu_dYuseRY-1-2aP5N0yLxYtfXrUHaK7jUeHBIA_I0xGUVOLVTHy3aimoLEVrmUfGgBVeE337LMB-HOzBEuw3q-eeLC-2XBzSWPXJ5fqcvedQVb4v2WEUb7o98AllBnDBA0pHm7Ffu8LbI69HvnmeVB5ne_84pye-QnExlDNw3cdaqfpRBhzpBD9HiCsVa4y_oeR8BAJUjYBQRj7PC4wc7Pv30Bn37zZx6Pl-DbceyOoY07POUa_ox5OuLXQPtYOrr01YrlayZ6FM7Z9ZWDGmI9yectIZgsGbbp6B6lDZuZqSDyHYWd4hyboGErkt4I61hCm_XZ5ETC3NcgONt7u6rR1m5rU3AbTRrIi8vTugQVPJX6K_5j4XaLFYHU8i5Sd_dUWqz9lkFogRzOlLMmFW1CzzMhmSpV9Jm5bKO7IhNC5Hc6TRiXAZ5bGdgZgEauwn6ND8t7n5Frfo2liGpiq_KZCmqjj7m2zqcR7QOJxL722eivwSGIrwNBCiDQ4RM4N_l3uCv81yRtyhE_Xpt9n6XFK-70GYZ-acAeoZdilLdifZA1E_xXFsWmJGjPXI8LojrID2UcXJOHpSwIrbiYnPUJjHQNLC_aEwmgFmbsPg_jGf0xa-7zLR9SLH1qeXeAs3g61fA-bhedVEW4iEgXPOWbXpdlqzhz4SeGxsiQ4Y5LKH_FSFWIyxBuLWvEJE5hJ1mrmwwiqetLpOlQRazkcMIvwSFDImiObBCvieroLf3l1gXMBQ-aLwg5zTs0O3TieD1uc0B7LrKvx5a9hdI9I5Gp55MJRbFb9bjR_acLKuFm_xchHT6eINT6TlMtahoK7G5aLarfuNuplUTwwMJagygdUWvZgyn3UWQpslp9El5LYW1-lUHCtEEdBG1e90LYolTox4DTjM9n3Ts1_cyBi8FmjMwVYKRWwF2sa0DXaV1sQIYmVgFsQsozLLpNGPHISz_m8WagtwhXAbiGoG8x79PIh76RwuwmGDxnhC-K4WM7YFJ3daBYpMXHTmUrB6xl0AsGA6OOhoS8qkG0JIi-_QN1T7Qm2d-0FTG62TDx4u2KRt8CQzfqVLw-ee__DofrF1arLtzD8rPAAWtqdCSJVsaF9H517N0fbItNgO37eQpX4K0712uYT4Gq-xgGu8pcCIkRCjxctC35ozrJLyoP7b9ieBvqdADka_itLyNc1D7QvFI_L9Lue_8Ug4p00mU0OQv_vas9kmBo0lhAwjGSDL312GdAACfkzNrtd2ZYfN-5Sb_5iyonWwnKYipS4Nb9ZLV1gmtD9UO5N8w0eg1MWJaHdlQB3DQaHmjXxdsOCK4QmgGlJM9nSlLaox-uaMWYCExkWX-7eAQPm2bSjBtUPaR-xThYJQiGOzWEuPuWxXXRQ6nrK3bPtpKYLuS43E39Xa4FuEvFR-ZkBeGcCStmAecjgrELoQFnITuvboxsYQ2ujT7-A2HgQmph_H50YQulNp4PJFWb3b2HWKXi-9fJBlDPjM03F3SdQ2gmLgc3eEIDp_tWhMZJ7mW0G8Rw3Dc72nUEQO7m30jwobx8UDtQ29dVBGpc9bMkQzD7bcBhakzz63f9XAiKhC_B17xpqV4qw2CLSfwQz0dtZoUTQydEed8BRshrGkPMUR-b0YiAjtEV6D4w5eaE57jEzkS2nt14BG4_inxIH0=",
  "id": "rs_0dee64f939ab8cd8016aacb94f236887d0acae5bd80c841873",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.565,\"left_y\":-0.175,\"left_z\":0.26,\"left_roll\":-1.25},\"note\":\"The vessel is now tilting toward the red cup, which is visible to its left. I’ll bring the mouth farther over the cup and increase the tilt gradually.\"}",
  "call_id": "call_cxYforTEEt5cY1cQpObDSRKa",
  "id": "fc_0dee64f939ab8cd8016aacb9547c2487d0a8a17e82e25eb0c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cxYforTEEt5cY1cQpObDSRKa",
  "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]: [-0.2756, 1.9354, 1.4731, 0.1001, 0.0799, -1.2427, 0.3747, -0.0147, 0.8082, 0.6086, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5654 left_y=-0.1708 left_z=0.216 left_yaw=0.1746 left_pitch=-0.1413 left_roll=-1.1216 left_gripper=0.3747 right_x=0.2946 right_y=0.0014 right_z=0.1756 right_yaw=0.0007 right_pitch=-0.0324 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -14.3385, 6.5709, 2.4151, 0.1294, -0.0073, 0.0317, -0.2256, -1.3333, 7.0632, 1.746, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cdf68cf1d6e2af6ae0768686f2a302ec616403757e56a74c9c17021bc5f03e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5300f623863d6dc6768a9d3678849f413efae7758e28642056e48f77488689c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c02175705a39e1990816c26d72bc5461e81a955a3239e20248c9aa64a6896ed",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrLljH5WP3_qvgGxbWf2M4zVrYHg4RwmhBiISbFqqU575DT48ZuhPRdGzBvRvKM4BaOO9iVCYMfkzBilytqBGOw1Semz8BXY6QjdIveJhl70xIYvgQ8buK2MaK7VR5Ltv2fx_Pdx_Pgz7QB2PsiWFSWheiJQg7uNNVRhMt559HXhsazQLm3MC67N1_tXMPrTu8sv2srQx3sEh7kWFq4Ts6WPA4F3HKsD3rPbB8KkjpswS2txyEBClHAMMxG7Agoe_TE76DsD4LHAfNIkhhotAtnXG20IE2pLavOn8Mv9KUn4-fePz-0a3z21sdwy2vsX0UzMICjXoNhrmnfOmcHulNtgtrJq94NY0eFkvY32cPsn-ETfP0V1sd8wrnzPU22iSBzk7MWizc1KjTBQVGA1mjxekWh2z9Lfh8ReGib16CHZuqzi_a0qzgLF2snkdmZ-lyHY473-Ua9RTX0aZ_j9xAKZfAqEHKWTDP23faoF4-xj7UEI5sbydUePjtOvZ0v3c3Nl3bkbnQXEgj67YHrqWuygCbGnjTvVUgv8nq7ANbj7KnGCeAn9pqEASpm9YkuwwuhBl8N24efQmtrARORQ5LtXEMvLsVVQRc3HS9OYaAyc8KyqSK-eNcN6SO9HXPO4terUzwsrUGsv6c6MKZgKc62No1cDo6c7uV4K6QJSqn_pQ_dzPD2cbe3hpXLn6s_KORcHdXj9NuWUWiH2Kch1FdXBr3IqC5kaFFjZq36_1KeCrHTC0sjIapXbweN8_cDcQ2O5lLqlr8fbkpB_sH7UmT7aRUOxsrhGsG0VNdFtmv98Sc_iB7hKGy3IiMZ64G_tjA6P9716kCgQhRhj-qrZaieyKF8e1y5zzSRn70Vhkr3E2SlUC40D12bekICDz-hRjXC33XFj__5-o8p4JSZXmPCYmPc8UifGBIbfDs84odqViBXCx1K-i0uhB4PgkeTimP3vtcoU6dl2HLSeM93s8g64N_16GuYuyw6qx7NnLlEebtxPLWrz8GorV7ky7MYW4qgB9N1WwiSDJRUN_irsQISSiTIUjowgdXnBSUmnPhy7lO1UXUVA5K_VwYFvZCJVJycuDVyScb8D7aLaMn7pg99dufYvqaqnOWfA4Sfqda5SHW-qtbpdf47tWMWlpMLtvpUPoUPPyCB4bp1-c8_Zv0ZaOLnwwo8YHVtrAf7AUJSfUtDguR6KuBKbTki0lHx3iaPRWbH8kSDTETrePjDhN-GLOY7kMObnqZ0BhEBQO33FwzpSXArxPLUepryv29zUJHFs-GhbWoiI0cQh955Roqw368MALizRopBsrnu65rRhpQZeFPcP-LaTpRQq8pbj7lXqbGuAEUb_cv78m3V9Q4umJsqCXB-nRcJgsIjoFLSAufV8ruNFiK5ttkvS3c7RZKl3m_WhE3PLLGjLsqXRtsIES0oN5DwTsEUsPg_k_FlTjWNBkgrGG0P93KFBE1Cgf4NHrs9R6ZPQYHR00im3L12USkQS6eEfgfAZFurWykRhqL2rbTc62m4LKG3JvZSJuavH_l7TAaNr2j9BYZB1vyyXn8dT6cmACHAQwokeYGQEnKGsPs9xQRt5ftD0CnxXRTKzEb6kQG3NMSqv9QBNHggypfe4urI6ZjKzxdMVOn2GqtL3Y3N9eTDiBjqCjsxFyd46YuenSWprtY5Rr3BsfU4RUpri5jL4bsFirGlgZLnN3e6MfzNUcBPY-3LWe7rXBiUlSO5h5DWSQiiBVWC87Gp68QOxtNJzJ26rSvgqIEPMBG5ByJIF8mykkWCaoz2tKwGRMDjxmJyrrDr0T9EFBmVfAhWtYK8LowQkj9oKsgpbCcrQWvP60hp0qBcNah-73BBU08l_oS2yG0U0fP8SI8Bw39ElSnLxy0Rj-mYF6MB6vABnCfkaxsE4ZbmZ4m_DCtMTlNUtC-Tas_Z40iZwRgIcdjz75o7omK8U41MTQQd0f_EczP-g9R-rsJvni4hHXGrznRNd5mLuhpW8gu7Bbb_hrJXOWSptbgkiwHGUTzRUSEzvfi5xa1oCTFYvQGXjEK7ttlBUH4mrQAyVX6O47D0x3nYMzogz0edKE2qxTOH9g0kQ6TkyLCrYO-6IKgD1xKdSK6hiF9eLxo31f1LNud_cYpLtJnhWsoKGFO0NnG1G2lyFffkpOUsc37gXIkugY37hZn-YWsr50ggedyuAqDbOnqHNLJqbQJ5dEwZXVLaom3H9RWeXipS3qDtqCUZ1HPMX89x-yUQ5LnatlKqhUQbM94nFK542aQ7MMFbVwSP_93RI7KUILNEAVrxtFDayYvNaWOwlsFs3reJuLGeme_3OYi9TTIbMBC5ScaYKaPVx0kdAkugoRyiCl0XC1zAWVVHOLXxAvNdDychAkGk1N-luhF9wmsx8H2kgEhsUEDHE16G4=",
  "id": "rs_0dee64f939ab8cd8016aacb959e11c87d08fc21c557e034b56",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.13,\"left_z\":0.255,\"left_roll\":-1.571,\"left_pitch\":-0.25},\"note\":\"The opening is still slightly right of the red cup. I’ll shift it left and bring the vessel close to horizontal so its contents can pour into the cup.\"}",
  "call_id": "call_5W23jai3GdRR2lBQwDulh2ny",
  "id": "fc_0dee64f939ab8cd8016aacb961889087d0b20ffc08b689000f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5W23jai3GdRR2lBQwDulh2ny",
  "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 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]: [-0.466, 1.9518, 1.6512, -0.2653, -0.2676, -0.7773, 0.3743, -0.0147, 0.8082, 0.6086, -0.3923, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.5346 left_y=-0.2125 left_z=0.2131 left_yaw=0.1478 left_pitch=-0.0576 left_roll=-0.5046 left_gripper=0.3743 right_x=0.2946 right_y=0.0014 right_z=0.1756 right_yaw=0.0004 right_pitch=-0.0324 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -14.8991, 7.3368, 2.1612, 0.0269, -0.0513, 0.0904, -0.0479, -1.5111, 7.159, 1.7314, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.13,\"left_z\":0.255,\"left_roll\":-1.57,\"left_pitch\":-0.25},\"note\":\"The requested angle was just beyond the controller’s exact limit, so no motion occurred. I’ll use an angle just inside that limit and align the opening over the red cup.\"}",
  "call_id": "call_8jF7P6YWr4sP97AkRakpKtHj",
  "id": "fc_0dee64f939ab8cd8016aacb964f02087d08a2bde01065ff188",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8jF7P6YWr4sP97AkRakpKtHj",
  "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]: [-0.1631, 1.9259, 1.4071, 0.1757, 0.2028, -1.5822, 0.3747, -0.0147, 0.8089, 0.6086, -0.3923, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.5705 left_y=-0.1263 left_z=0.2086 left_yaw=0.2154 left_pitch=-0.3133 left_roll=-1.4454 left_gripper=0.3747 right_x=0.2946 right_y=0.0014 right_z=0.1754 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -15.2821, 6.612, 2.3516, 0.1538, -0.0562, -0.0073, -0.1436, -1.3744, 7.0222, 1.7558, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3235a22c0622fc72ea81d7c8346a62a0b8cf5de0d84e071f0b9d1a23794a7826",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b2a7bf1a65c0c5e6f72683e4ac7542619b1bb0faed5261e45d5ef954048328",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:241634928289c1f1089cd49938519595a41281e75335d3a7ee078459ac9fc747",
      "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]: [-0.2756, 1.9354, 1.4731, 0.1001, 0.0799, -1.2427, 0.3747, -0.0147, 0.8082, 0.6086, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5654 left_y=-0.1708 left_z=0.216 left_yaw=0.1746 left_pitch=-0.1413 left_roll=-1.1216 left_gripper=0.3747 right_x=0.2946 right_y=0.0014 right_z=0.1756 right_yaw=0.0007 right_pitch=-0.0324 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -14.3385, 6.5709, 2.4151, 0.1294, -0.0073, 0.0317, -0.2256, -1.3333, 7.0632, 1.746, -0.0171, -0.0611, -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": "gAAAAABqrLlvhiWYQ01lYs3WOt6XpZh1_gsoS6rtq71IkDhCNofLf2AefR4hUtem4nzH1z2ptbW7DlyqktIJJeD84vBAoCy9GXKbmQknVHXOvCB_bNrSL25XX-yP7Fjkgpg13-R9ZJqXuoJLmodxFqFgdxWqeZrrNwy53ZhKsypFB04Ah8iS8tMWDNRYR7xu9fhIzcpTmWFCEPyVCOqUK8QIZx0GKtHmApW06r5ciLu01y00XgZvfhpP5sNFx4i5yvtS_ROXsOKGSieiX98Nhl6M8I5cIkHS6ORLMqq0482rRCxttKx-ctfHeVkEZYBcqObyR1i6FQzE0cw1T29DOvdtwLx1S8m3oX-Ha-K73yGLNoqbg778rWWnBF1BpmL66-DFeLElC8TQ2te0X3JugybYptkUht26UG_3rBjM1IRQwSVcqHpsUO480qEB3eS6ECbqfOKcO1yrPp8t5WzgXknZGptk6M_gz10J6SpcE7gNfrH7NCl5mpt1dlTjQ8V-wlVJPtxeZkEPlsAaP6j0gXVhdOEa37nTTyL2tbnbbLBcfjWkNM0hoF9tltbNZ98KQkZJRAwJzMDMoFSHq3As_sgMwd3aqfa4dViZbwwswKnzMIu_Lebenpm3How3ooALwcmF0gvOTKVWYvPGaob4OVUCYR-rteW76UDwQLCCpyIubbGeOj4NVkkEj7B4e2X6vdSSjPsZ-d-37zYfTzT957QsRHIaJ-UIIjWk3nDOMGp2VulnMr0a7Xfaud3YhGeKsmLJQpG58msx8F-Q1xZv99xTzFKX1B4E5F1FdmSElJvfIj07Bay1HY1NixTP3n77wsG8IVcCtIO1ELxZD51EOl7HzIPfx2IS3Ib0ru890bsP00SNlaUToLFdVOAklHkKWdrf11PHE6MzQXCxAYx_HbX3RKI7WMrVN9mIBu838AMKsRLG1hjTgH5xf1Bc4lbYfctOsDqAMI1rQeCHfhLV0GV_o8W1RHYDgQ5-miOsjq5TVB5u9Tc9bcbio0r-Qy-cKS78UicZFJhBxYZ9I550CGQsG1eyHXXaweBT6fc9OR-3AUPMj5OXrsTp_PGgsXgTeSrN5TXIlIKM_nCvBZ5K4TEyAm00zx4VMZ1cP-pf6SpEZ8jASXbxQPI3sQdoX3Y1lpDkaPp6tEPCNt9wwhVxSbfweCUSVq_XM5XfPx1q-ROMwCLdL7hyJCUPINbLfJdq5b5kCPgMa6kbzS5HTYcc-PqhBm7Ol88XVv8CHpB_mUWQdaO2nwjiqaUUSNMYTRupsYHVMWovnoAFHnXh52TfWphy9ZfWZvetAC4AksGDhcLkDuy4NfgxXqGwttGgW2L_AnuFMGAs3-F91cO0w3NgA2hMRy7enmgUgD_OCsRcFC6P_9zOMeCVFCCzY7njtP-wqi-CCsBiHqczXuHa5M7j01j_Q9noE8bIFBaqI-iGzQ4n92J0MViozn57XtMlsMYJltFwzkO_fiyUnoIOtUKqDfnnotWyZHgVkfaM2-YSQtlqr26qgwHtn3nPqDYO3no9jXAVB4SaOOnzTkkkDJGoQYI52DN3uoYV14B7KDCKA3_y8UsenMfA2yz562BeklwszCnNm2Uuwb1Zl7C7sAsEJ-9bEHxxu7unQdNtfFGIvaA0sn7qA1xS8vh7hQnZTrvvSlx15SR8OX2avOmtN4DutMSZyyPhQbilIEQKYwmWrvsCNA88IEtfSeufrCrQB3P0ztTyxBfMrDyLU7nQgSOpZRvhSBFQywqSYkGpPyOoh75lFymIvhrXkWBSbCj71fTFJTrgN2aq3OksxUdWAYQCu35GhT5fuinYtjqdacCEox3-hzg-Pucriwn0mrxgZW_94GrHBDjqm7TNjZcmByjlfBM2QsFbjH6N8Rr1chBHCYeltTVNVu21END3_17EbtTyjjSVj3VFauFMiJx4GJrzz8ayIPzV2gfbTl7rN_k-bFHh9qKdZfEd28TmbrXE9HjReMAWCch4yyZww1tWZPW6PRiQNPb_uwgQVurPD7Ry8TYOt7VOvPBtzlTbZ7d8XaCh0d1oz4U_EERGkPDH0OXifRXNxrA-rUrlwGoJEngbB1P54DMiU4abmv0=",
  "id": "rs_0dee64f939ab8cd8016aacb968999487d092b08d93983cade2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.525,\"left_z\":0.205,\"left_pitch\":-0.45,\"left_roll\":-1.57},\"note\":\"The vessel is nearly horizontal and remains secure. I’ll bring its mouth closer to the red cup’s rim and hold the pouring angle.\"}",
  "call_id": "call_4t9jDS5dpksU5CabPfPASsay",
  "id": "fc_0dee64f939ab8cd8016aacb96d8ef087d0ad82d771bb5b7f73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4t9jDS5dpksU5CabPfPASsay",
  "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]: [-0.1745, 1.8442, 1.2392, 0.1333, 0.2092, -1.7195, 0.3748, -0.0147, 0.8101, 0.6086, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5295 left_y=-0.127 left_z=0.166 left_yaw=0.2265 left_pitch=-0.506 left_roll=-1.5076 left_gripper=0.3748 right_x=0.2948 right_y=0.0014 right_z=0.1752 right_yaw=0.0007 right_pitch=-0.034 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -14.1197, 7.706, 2.1661, -0.0464, -0.0269, -0.0073, -0.3897, -1.0735, 7.0632, 1.7363, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996b17ea08a7391cb5713e0337e85dcbd1a4eb28b6962ced6600b3beed5a8c5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5e7765d6516439cb82a46c07fcfda43585cd5640b6fbc9f6cd3a1a471982d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a271daaa2957d6fbc2c77c64341f5314b9e78d13e5a058500133c017e099f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 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]: [-0.1631, 1.9259, 1.4071, 0.1757, 0.2028, -1.5822, 0.3747, -0.0147, 0.8089, 0.6086, -0.3923, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.5705 left_y=-0.1263 left_z=0.2086 left_yaw=0.2154 left_pitch=-0.3133 left_roll=-1.4454 left_gripper=0.3747 right_x=0.2946 right_y=0.0014 right_z=0.1754 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -15.2821, 6.612, 2.3516, 0.1538, -0.0562, -0.0073, -0.1436, -1.3744, 7.0222, 1.7558, -0.0366, -0.0464, -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": "gAAAAABqrLl0Qgr_BGmfAL9E-6CueOefqZ0ZOzzkdMqit40QWSHNaZ9Mkduvl6BI9Dfi1YWkU5sDnj5vy5ZrmuAFLDtgcNM3bejdoYP2gNgxonhiaCSpF5xQ9anUPxg8K-Y0f2QO6M1OqzRNpjFwoIXVjR9uUtEyJdwNsUZwfX2FXycIn_KjNNeT-IypT0YJ-MaCoA3S2Z1PWT534z_44Y851zh2kxv-WGqRtRcSFky9qUBxgXC2aDi6wv1tbmPqHpy0BRm9Szpv9DgFzQnUcKwDSTBLyT3iI1Enhp4iH-wRQY4WdOgm8PkUFugVkJXeUmLx1J8llNtmDzmhYE2Ui9WA_q4LLiO0_2z8MmcKP7WJODtVw82uEM8zPMu2N-TVNUT9eWjk8BMvBxShUZypwTZRki0hYsWZAwm6MlBDqEY8M5eWYrw9737MhdyA_vkCK206JVVS-bttUc05MuEG_JBPH2yFmmWXyB8UnBWzdsMMkZY9nnFtO6ASdJ0oCRhNUCxO5tcu0799q0Z6cDKIH24jSTN0xMrtBezhn4h1gIIE9ErU7zzFkleTuMvIK_XBE_s5mvif5SzVWIx-05VRBe9DNa-mxSgLBC-dZfy5IJzDp4pjVSZx3mDI55aG2XLBmg6OEPdDJzp5Qjde5oCqo9_3K4ntG2s0llv7e8dt32XW7FqDpkl1aE6Tr5ISUtYUWGMaU_gwiyfGq6_tQMlBWsz0h0wygUF-m_XT7vGmSdqb26khgcTTZ7_8u3enb-Ef712cIgaBvmK8-HUx2agRK0YPwEtGeJWlck2j5WrzxctQkJoPYKLSuq_E_lE8EA7asrZySo57JJprY7bCRQKNMJyiQuFRuNyZhBa3rldkj5KMHsDzN7u-VH0qP20BBt2JYNFyru3JM9JWR26utJqLrEM1MWbWrI98kYKNkrGqHceOc3TdTcERV3b4dk5Xmvm1EVpjChEsIwBvsfaictSvClQxUry8NeuAtN632qfhXRxg9dDCmsIAaNCX-YZlozSYZPZD3zQL2lgSj9iF2wLUZVYKp74sYoVAS5ddjIS4Jy0RTuNF8xAFwCXtyBzl-_pVSacFDR6AJ2EDT6EJAsYfWL3yHFD4W8IS1w6dMfcOZwIEthhwpWaNW9Iz0VqnQi15V8T555t63aEGqthBPgK9NX2WG6mA0jy5O_Ihabc3_JwWYE46S5mDi1SOBPG-V2LUsFms-ZsV8pNHOsj1Y1UENah46de1JegzY0d2tTu3nNNUH8lgVAW_iJ_N67Ucwt_DmKcB6mM48ULFXgky-ueC1vLRsrYBfGUYJYKBuNba39jZAkrKvM2j5jvI9XY69B0b3Ej7yei5PoulNA97fRlG38ZxeAmjKNAqbNqmF24bYGa-tIKMcIYMKejNrOWJmEvLW-nWkV_D8F2mWld0JAF39SPT1EIjkYVPt5BnWAkhtbKrtFpAA1VY0hD5v-6izRVlQfSikjWJNna6NRhNMqLqULrt4EE6mOc_l3vot2FRCcmm2v5yaXo4Y6MF_MgmVS18HQzc6ZEGfgU0",
  "id": "rs_0dee64f939ab8cd8016aacb971d5c487d0a726502abdc3335e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_pitch\":-0.59,\"left_roll\":-1.57,\"left_z\":0.21},\"note\":\"The vessel’s mouth is now directly above the red cup in the overhead view. I’ll hold a slightly steeper pouring angle to allow the contents to drain.\"}",
  "call_id": "call_ki3Q9s6LbhmAaCmXyeID3yIn",
  "id": "fc_0dee64f939ab8cd8016aacb97396d487d0a04f31eb84ffa74b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ki3Q9s6LbhmAaCmXyeID3yIn",
  "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]: [-0.1741, 1.8053, 1.2339, 0.1242, 0.2062, -1.7485, 0.3747, -0.0147, 0.812, 0.6086, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5253 left_y=-0.1255 left_z=0.1818 left_yaw=0.2261 left_pitch=-0.4984 left_roll=-1.5411 left_gripper=0.3747 right_x=0.2948 right_y=0.0014 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.0366 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -12.4103, 7.1863, 2.044, -0.0464, -0.1343, -0.0171, -0.253, -1.4974, 7.0632, 1.7314, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:293e38193c0b4eb9ec762679cecb000c0ef0f3147baf8bc5528d0b7c876787af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c5508bd06c5da370fc98fa650a65c86f05ec75ac05f41a6002311dbc0dd11cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24c4594f256875f70ec02238fab9b083f2f5712f67f3f6befe03d60dd2b7088f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 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]: [-0.1745, 1.8442, 1.2392, 0.1333, 0.2092, -1.7195, 0.3748, -0.0147, 0.8101, 0.6086, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5295 left_y=-0.127 left_z=0.166 left_yaw=0.2265 left_pitch=-0.506 left_roll=-1.5076 left_gripper=0.3748 right_x=0.2948 right_y=0.0014 right_z=0.1752 right_yaw=0.0007 right_pitch=-0.034 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -14.1197, 7.706, 2.1661, -0.0464, -0.0269, -0.0073, -0.3897, -1.0735, 7.0632, 1.7363, -0.0269, -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": "gAAAAABqrLl65sN1YwssMJqqDGSGP_mvHK5GxZ-f-5vCnscEBrBZmb_xEEawI0T2EXqZ5wA-Jr0yQv3kqOj1k27S-aNpgay7VN_25HZD8XuO2YIsvvGnhVsGZ5N1ardXvZETYQ423SjiMN52s8NogqR1HnS6rMuuorVzI8w1suQ-Lb8GRz6_JqIbqpmp7s0Er95OsEbDo734PO9MlSBfPhY7G_ZKcTGI98dH_vA-p0-ukOAM8TKDZ0rsE9xYftUHVyIJvoX2ZtzDIkJinqEm_S8ZV1HQpaNtSDCBdPfnQyrt3x2Kv1YODDA2rGeK6BnqJJ4vTJDc5L6ITEn4WdoVwSS733dB26X1jnRUPgFXLkvSbbqaDpSwdb0RwTGUMt2JAQoCNw3vX9HU18AC5rq_yrgYyWcmnAFB7SnIp3L9MnYc2RGt2UbWT0bm3aNng7fphKg-03eIbxh5JSjWXbaqq_1le43Ie9Dgnm_kZ3ymFfVSxl8Mi6uLQGhqhx8Kx4PWiYodhPJQRy7NOtoytbnCEKKfYte4udfiJJk_7Ul2RdMSbMYX2slqZzqdIRkKraMOznBU5q9itv4wIrMYFyZ-d-EtPRP8Zc4zgVFAWpIimJ4X4Sb_2MG9R1Tt4LI0XvInltv-GYwnKrC2jMcANpPNkuG5rKOCvb6Ut5VDhaSZX0_pjHdTZ-rlSsUp5t0LEA-4E7VLwneLQ2xz41d5E9Sx8cxox-Jcfd8Q4O8tDqjrUesc1vDqOB0iaei-aVeH7SG2A9HHBAsDV-RIBHMkrZqBbLDUkNDSIEINnYXLmTHMgM6GTD_q7gnkjroYoFuX7vWkT0vEGp8euVLmdHNBlPLGauD6s4UYi0MfuaGjxTDvGJLxN6FeugADRri-ZP2pKgij043kKOaAiv8qGaVKiKiTDLt7FrPNEet2ZTnl4cCavbRN71w4B4G4tsgmNfk2Zy8AlrCmRqK6rcS73Wllq4IwWUGI60uA2w0FKG5YD7aNqS-X_bYJVJAoF1ijp3V7GaIAfm0U4zVjxJAlwZwlc7oG9xZl2KH8qeYcY-fKVPQIIsJSCBRYvgDjCeAbzf3buKOtP6FQX3q1isVeTulZTxALeeB2flvKChMHGrVkoHiN-ruVvDyAfiUk30CBdd5tAan2idsKBs_eY5FESccWIfk4NoYMnT1_Sy8VDWK83fZfWb2DoypGhpOtAVd-HBYjRZpsrpo1w2uBKyP6yjwJvo10TgGt8UrA79OvSyFyF9MjXvZ3vC4M3_QP1lmY2bkK2g1Z5AANoKaSMqF91aV-3RdXn9t25zIuXdh_fJ1tIxhV9bx1q75eUoLv97Dd-qR7USFBeRCY-8xlSXxh7mLyfsR1si_LnOEdBA_m5FsYz3BWKFq5mZMB38uRx2GD5h3yyLOP_ZTdku8cMonP_a7UkLjSLfqAt_7CJoZEnqqdPmapl0SOltNT6Hl-xmAzaTM8wt7-ix-kKKkBkscNBP9j3J7kSWBKtB1rTo67GF1gTpChvPyjNTaBaB7JOas6ikL-_OkgrFBnLy0-rMPFntunFU6YLjXRSDVU4-EsL51zSiJQcACeCxRe5LU4FCyB8a1rjJISlHmT2xVOuhMTMbNXpeXY3WXhNh0_2t8ImUPNLVo5NDrVGgO-71hpfzhkAmPE7BlE-DPWAdnWJb_aVfYLv3kWzTgNU8XUP_eLplLEgxK82smw77F-o0OG4SImVawimsbjocp-1pQWiev9",
  "id": "rs_0dee64f939ab8cd8016aacb9769ffc87d0b18cf477ebb21a05",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.255,\"left_roll\":-0.7,\"left_pitch\":-0.2},\"note\":\"The left vessel has been held at the pouring angle over the red cup; the contents themselves are not clearly visible. I’ll lift and return it toward upright before setting it down.\"}",
  "call_id": "call_8jYcFpdg12JvZvnXdgbqyqHI",
  "id": "fc_0dee64f939ab8cd8016aacb978b8c887d0849a858c600e2603",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8jYcFpdg12JvZvnXdgbqyqHI",
  "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]: [-0.2562, 1.8435, 1.6554, -0.281, 0.0135, -1.3773, 0.3747, -0.0147, 0.8158, 0.6086, -0.3931, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5452 left_y=-0.1416 left_z=0.268 left_yaw=0.3029 left_pitch=-0.2866 left_roll=-1.1521 left_gripper=0.3747 right_x=0.295 right_y=0.0014 right_z=0.1734 right_yaw=0.001 right_pitch=-0.0408 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -10.947, 7.1316, 1.3309, -0.0611, 0.1978, -0.0122, -0.1299, -1.5932, 7.1863, 1.7314, -0.0562, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cddd39fd202e0e2451351de02c923601bb608baae270c28b96a7c4bde872707",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc24494d769bd0e7e1460694209289e6a05ec446fe7ade091c5b456176b39404",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa1ec4944893dd7f3c3331aa839c5eee25ba6d990f7720377e7f3ef4fa25adc4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 48 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]: [-0.1741, 1.8053, 1.2339, 0.1242, 0.2062, -1.7485, 0.3747, -0.0147, 0.812, 0.6086, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5253 left_y=-0.1255 left_z=0.1818 left_yaw=0.2261 left_pitch=-0.4984 left_roll=-1.5411 left_gripper=0.3747 right_x=0.2948 right_y=0.0014 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.0366 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -12.4103, 7.1863, 2.044, -0.0464, -0.1343, -0.0171, -0.253, -1.4974, 7.0632, 1.7314, -0.0513, -0.0562, -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": "gAAAAABqrLl_VGupmhQc17C6zrw--DiYfuWh0BTBZSr4FW8PLA6W7B8wAyDXDVB1m4o9OWXNyIdjpwugsvHGkQ_zBs3-6pSVCUkvspzm8ZDogclFfvScQZq9cUQMiiUHn8c3i4xehtGdYPP69xo03c9BFe1py5pU1VpiO0bwA7LFwUUAYJpExSR1JYu5m3tjgD809QsHredN5hxrP8gFX8C6CrbuqYae46tdkfX6TCyWCoz0FT1xgOl5QbqW-FKxScsim9h01dXMRvDJJxWYVkI9v5QGgzfZqF0DReGdF0b3arP8f0oIakW1-ryALQAnXZ5cpSJtn7pcfiTIR7V-KZrodJGxOrcAWeVkr25havS4IeABl0uCqkFS_4MfaqdT3AT9FIT0P9eIuNssMR35ncHjbNvK37wf7V5DVrkGBxCoiSKMi8sjfHAaA1SVAtdMsd9aDnSKRW5lEy43MuASUE1VhRn-XuJeNL7_X0RHRQ0zYtiku9_A9rOHYQ3v944dTdHooTfokfgROtWBEluA-SDsMaJQXhCdbjEexBIjgJHwwUYXMLEncKHtG6GURrBpHvtGik4kykQlK6aXJYy0jqeScI7N_7SCe0wdVSwNuJHe6RiLelaIKaebSwTsx5zICL7dMSKYevwICpLyb37yEYvuwRAKWiibD28W2mNHRtomgxZkCBskm7x5rsQ-8MjmWuOBJaga2hU2p45CFvF4CaI1ynFUH7S8fkPqq3cOY9jA7Zz9H9sP1TvB65Z8heZF0d_QlTGntdS8cC9hb_a_8cZ23f3lGK-OOKMSzLXGUDlR42UDfuVZvVtMQ_rFA9eC_Xd7OtxBYCtCKOIdf6qLGhvenMBWaLA9CcsGkBLT4NpTe6ItjKuqCLwgDzYEYqYIMDNlrQsqChch8ODDjdj17_KzkybC5ofSw7brpxzXpRhMUJykqldapTj5F2dxQHpBTHgQiLa2HvfxbxtAj0BHsFgJZARY05VtNAygI64Vr6YicYRy0C__uwqH566N70fR4mCllMYzlxyvCAZ_I0Kv384OB4m3yEQl5tuzu0btVl3tYzXVOh8cVSmyx6_xqGN47hQYyhV1JBymATwG87LjzCy87q8BnZ4IJouLyC1_fLdsPdY63HT3GUNnf80bgf7NTFlyJX3YtI-_Yxm5rqh2mLDO2IWeH18zjNJRygnaZK3Br6Y7O5HZLb5r_Qrt9YaEASi1KG1i4vNHH0jglXq4BcVwDPtCBdwmNtlnnXW-AJY1o430gwNA9cRByUG9fDu3U6-rkzfHJhJcchySx_vM6p502lHDRPrBO9CXfOn7rHhHid1G74HhKmbSYS9zNc_lHaICd7DYMC-o",
  "id": "rs_0dee64f939ab8cd8016aacb97d5ba487d09cd31a17994767fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.21,\"left_z\":0.275,\"left_roll\":0,\"left_pitch\":0},\"note\":\"The vessel is clear of the red cup but has not yet fully returned upright. I’ll move back toward its original spot while completing the upright rotation.\"}",
  "call_id": "call_XHZDA6MtC96pT1rGLdpPveBG",
  "id": "fc_0dee64f939ab8cd8016aacb97e026087d0b00a6a4844c665e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XHZDA6MtC96pT1rGLdpPveBG",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7391, 1.8271, 1.7824, -0.8539, -0.7326, -0.8204, 0.3748, -0.0147, 0.8165, 0.6086, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4218 left_y=-0.2198 left_z=0.2589 left_yaw=0.2778 left_pitch=-0.0608 left_roll=-0.0893 left_gripper=0.3748 right_x=0.2951 right_y=0.0014 right_z=0.1733 right_yaw=0.0007 right_pitch=-0.0412 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5538, 9.9077, 1.2039, -0.6618, 0.2711, -0.0073, -0.0752, -1.4291, 7.0496, 1.7021, -0.0317, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e47db3c82833726c673d252fa451b499bd2aa162e1ac798be5b8900411e6d9dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08fbb8ad95475194e5773eb45321cdaf0058e97b10c8a7e85cb81046f53a7ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc1db91914784054b237ad1107045c22742bb10214cdf821caf503d73ad67cb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 52 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]: [-0.2562, 1.8435, 1.6554, -0.281, 0.0135, -1.3773, 0.3747, -0.0147, 0.8158, 0.6086, -0.3931, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5452 left_y=-0.1416 left_z=0.268 left_yaw=0.3029 left_pitch=-0.2866 left_roll=-1.1521 left_gripper=0.3747 right_x=0.295 right_y=0.0014 right_z=0.1734 right_yaw=0.001 right_pitch=-0.0408 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -10.947, 7.1316, 1.3309, -0.0611, 0.1978, -0.0122, -0.1299, -1.5932, 7.1863, 1.7314, -0.0562, -0.0708, -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": "gAAAAABqrLmDIkJ5KG7wHyKqM3zVKPiKNoJAcbS3q5Y21t1Dx_qjAdciNqv94biBcpSSGMCgM4HxGZ372QExfWiLIObNIAdQFD65KhlUd5ydFt2bV66F4RCx1oDm4PfYoMm3-bLF3lj9JN9fF-TZz5hX_Z-bTfsJ4fEU4Zcxtf4FZ9rEQSNnrTvhnPxs3ImTnG99RoL6Q5OnDoXSa4uHGQXVDyugMZzyxgawbayPVAi7mw1dNWVjAVd5YMAQg7h0m4ScxzxEHd_SnSSAvN9JzEZys3BdKsN1-m02gyRho08kTnf26yJBN7L3d5E8cBgwsrZxYQ7MNH9FSjghasgLpSYktZmJHi6-Jr__sxUsv3S4bUq-B88BbV3nIeoNITcGbvddGUfxMjpDNclrIvrqirKf9d8blF1Dmi417O2GvyLJ53sveIl-4eCt21qYRcqxgSupQ01ZPOYkw6t0GjlaFWe1Z3cRIkickYBnHa0T5_bxSRdAAwJM3bmGaZGL4IoiapsU_DLNyrJjuRAdGyK-OzBz2Om8gZYxhHAG5A32SbxB4CGn7iDcrieN7uRwA9thxJlwohc_j_OP-cxxukPpNgasc71-yntU-9MbwHNWyorZL3qicHFalhcbB308Exwo4ToSrmLXL3b-2sY5xsoSUqIFSYX0bWHt5QnfFq03aYK_YbRTnlXymneGm82FnOO1VtfryHHMr1qsCFa685oTLmIkO5ZhfDKdVnXwG0ya0s2K69_JHNJE41KQFZvtp2UkDbdUSZY8l6Dy0_vZaonXvLzFgCdJIXz6OXlvKXrDygRYNaU1YTuH6v83CLDOT0o2Rlb50vBOc7B9m4xdc84NL-CUUEBFUiZNZdcfamcEVIA2ZDJraI8l58p2gR_tKK3V8E9wKK6vz-bLEHTt5mYE5i0zqYA9s0j9qqwUiChqo9H1bR9XDAOJYeYdT6WCIBeCzsvANrTIr_suvfJmHAq06EQ_XnRTb72u5mn3qvKPz7LW3MpM0oRZpJW9tA2cn8LRZxCwhg0Y2IIWQB4JXHcGe4GirLYg0ydDEozSBoGritz0SnRBXrgx5Gh64yi5o53fEkc9ZPOcwF41lBk045pn2s0AqtGlMv5LuuypNrV7WIC5UjBCD5fzSu2BLlPIw9SgOigo82UV-BS-ycW1E8TFeXJecmXI-9IH-HbXFWKSXNObXYjxfQfA_7NTkb7-7zAi5a1B3OPrLA9qtNy9PVnT6rtMsA6cdV-jLb6FUEMm1r-4NKPV4QpIqnhd_De5MMPV_rXfAZJZ4Y5MyMngV6XfC1LH3ZGw4P8ZYaW7O3T4b2tO0Ktbw_5SKZRG2yas-4pWUTm_TtkFqjP4py0EJy09l5qIqpPhYLjJeg==",
  "id": "rs_0dee64f939ab8cd8016aacb9827d4887d0bd9ae9c107fc071d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.135,\"left_yaw\":0,\"left_roll\":0,\"left_pitch\":0},\"note\":\"The left vessel is upright above its original area. I’ll lower it until its base meets the table, then release it.\"}",
  "call_id": "call_TGaDGiyWl1rPNXUtwdHT341i",
  "id": "fc_0dee64f939ab8cd8016aacb983133887d0a7426a1b173785bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TGaDGiyWl1rPNXUtwdHT341i",
  "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]: [-0.6918, 1.7237, 1.1526, -0.0875, -0.6598, -0.4854, 0.3748, -0.0147, 0.8185, 0.6086, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4292 left_y=-0.2103 left_z=0.1628 left_yaw=0.0934 left_pitch=0.0572 left_roll=-0.0261 left_gripper=0.3748 right_x=0.2952 right_y=0.0014 right_z=0.1728 right_yaw=0.0007 right_pitch=-0.0427 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -7.4872, 4.2188, 0.4029, 0.569, -0.0317, -0.0171, -0.2256, -1.3744, 7.1863, 1.7411, -0.0366, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4fa5d939e07119fde27f84c3be91831df7e560e09778cde8844f2e373127ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7db1821519b0d4919e56a52ed7bfea667c6668ae81388829d196a78bd154a01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a48605e8843c908711a55de1d4a4a159ffed1e937b6c62a0fde49e47adb6fa6c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 56 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]: [-0.7391, 1.8271, 1.7824, -0.8539, -0.7326, -0.8204, 0.3748, -0.0147, 0.8165, 0.6086, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4218 left_y=-0.2198 left_z=0.2589 left_yaw=0.2778 left_pitch=-0.0608 left_roll=-0.0893 left_gripper=0.3748 right_x=0.2951 right_y=0.0014 right_z=0.1733 right_yaw=0.0007 right_pitch=-0.0412 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5538, 9.9077, 1.2039, -0.6618, 0.2711, -0.0073, -0.0752, -1.4291, 7.0496, 1.7021, -0.0317, -0.0171, -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": "gAAAAABqrLmHnWoMJu4yif5pl_P2mekAnOiEXhiimHu4sPU1vBspUeI_VNLF2YTuUufZZ0gr7p9q1_DYWeCkDmt0j7969tb8q1Ab8X0_CPbVSorMIWid_ttrc4DiXQCdR3HFrDZ9B4G6tI1wIYP_EjAyhLIhHQigUKaj8H-_V7yyp7_vScoZ2hFuRMlMf4nb2uFTu1ludxetRVv-fAot_XQmS3CJV0TwixJBFvN5yLXVCY7H9JGMI2coRe3N-Ttpo3t3Xybg32JaiKfys1KrDBHuQadM2-Kbk9mwxdhLdsnF5a9H_4f6L6xnw2gXj7OdF5Eij_6K_yXtKlzIywFx9Xiqg0AwY3S2-uF2Vg3vwN4oUDIeQfiYXhpnBI9VKcvX-U_ufl7PoFRBdUZN9w01XI7yVqVTK_39hC3M8p20WizXsYCM-NcGRoB3xRkj9epBpKndHH5XJ1UOnTOlj_vMAiImm6BkFJnghXsUB9PsEi7T4AUePQAUcZ7Ama35J9Epl5dPRSoemOc0oZZTQ6UXjxLABfEiwt6xk49jwvwpt8JH6ioq2FdPQjef7rgSXq7RtDcISdt8rAmIm3T60m0bHnohKnTKZ5v8rkEvp4u1k9Xe33FF6QGS9chzi0G49xqI1IYYO7Rz9avStf-O60v6WLaRXV0_1OIoY8dEgn9bKYLjTy0tqVFLe5BxrXOFSy_3oQWrAJCK-4r5qLkLeolonRlcT8jSG0hdoIY_NK4RXY1vlhAOUgl5AkQAMd_Nh_pP7vMOhCJ-FNvVxDqyHwNJSg-Dk6TJ85TAdl_e_SPZ0rhm5U35MoE85N0rXj7EJOBXaO_7QTyTTKJRn_cfD7qHWgpY3zvoiXlUDb7oPhi-oCrITTZhm4QGcTI81xgRmKMcEbZJrpD1Z1XHzx9fD8rLPKDmfbojv44svPbfCy2p4F94M4fegvNOpuUn4EhkXZlRE467WlZW5o2XhV9nu_jd2fIjZl-9JzM3Hl_rvKajZfeR9Nvvdc1JjWWRX6fobDV7pkwjZzGqbu6Rp50eXWP0SsoNgy5kFdf0vLQAmwNzH6SWJohKEyajfBBqmHMace3yQ-cxygD3NOmkhXLTzvmYCllr6S-Chnrzt_XTlaMISW65m9zsmUcSEs2-hQbldERp8dx_hfYD6zhuKfkfcPYYMD1j4-Y3v8VD5soKFx8H_ulgt39N_TjQ4IJpC6d2nBYbnA4rdhlJAmU9",
  "id": "rs_0dee64f939ab8cd8016aacb9862cdc87d0862756d680fa627a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent stopped short and the vessel appears supported by the table. I’ll open the gripper to leave it standing.\"}",
  "call_id": "call_OZvlEWyphs0OqfbFWDLc9dLT",
  "id": "fc_0dee64f939ab8cd8016aacb986720887d093b16281df61851e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OZvlEWyphs0OqfbFWDLc9dLT",
  "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]: [-0.6865, 1.7245, 1.1275, -0.0875, -0.6506, -0.4885, 0.9955, -0.0147, 0.8185, 0.6086, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4259 left_y=-0.2061 left_z=0.1517 left_yaw=0.0925 left_pitch=0.0347 left_roll=-0.0145 left_gripper=0.9955 right_x=0.2952 right_y=0.0014 right_z=0.1728 right_yaw=0.0007 right_pitch=-0.0427 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -8.6769, 8.7179, 1.5458, -0.3687, 0.0269, -0.1734, -0.0889, -1.4017, 7.0359, 1.7705, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e265c347de852ebd37bba75e6cd0518a3067fed7232da25f6b6883a34b8dddc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b66350b363f6e6b40b3776c11036d3c116e8873956ebd48bf002f587eaa902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cfcd507c41eeeed1303b1d8f1cb996a4538b6c7e656b0c3e9b8b1d970680b4b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 60 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]: [-0.6918, 1.7237, 1.1526, -0.0875, -0.6598, -0.4854, 0.3748, -0.0147, 0.8185, 0.6086, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4292 left_y=-0.2103 left_z=0.1628 left_yaw=0.0934 left_pitch=0.0572 left_roll=-0.0261 left_gripper=0.3748 right_x=0.2952 right_y=0.0014 right_z=0.1728 right_yaw=0.0007 right_pitch=-0.0427 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -7.4872, 4.2188, 0.4029, 0.569, -0.0317, -0.0171, -0.2256, -1.3744, 7.1863, 1.7411, -0.0366, -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": "gAAAAABqrLmOMsmlrlQmTkTUNYiKB4mPBZ6ro2wLiWND75h55uiNELW9UQw0o95oAnBr6kCnLBSZEYHe3wwr3Xx2OBGrbjM0YN07Wqy-GyjukeBSlyuT6x-7eanOgUvn__08dZAW53phj_iwaOyA2PjMq27WRleyZ-O2oPM_IW_jJUjlty7mAcMcRENkKbx4VuzLoaXBI0gTN25ws8IzF9romu-UfFxnaPZhCLI3gjyv2bDaKbl9bhhKoGuCcolW0Q0QfdKGWrRRg43jfYeyW-o2Y1ENtyNAF4UOy7bXqCZP309XPrHh86LCHrhHBfMpBucko6tYMyvLHYacyZiNIN3iV4YwThh1U3NyhNpgJQvhE1jpCB65Bv9RUTishlg6Ow_fkBamzb64y87DBmpEAXz81BHqO5pvtoDUXeykpzEYevo3RICP_WtEg2XEHArqAEelhNp2Vz5I12HEWeBSZU2ROtV1fqkXrpxJOPA5x8m8y1H7E5wAvzI94CzrkDo1P-ITtcQW_ktMDAKaINxzGDKe_q3PiEyQV5ujuFfoQQ4wmv4W5shIZzTEbfpvPYU9WQhsSQGXci802xDKYAmRhGVnvSrIuqSiglO574XoMWteOL12XnZmcP5kmpZ7fTpepF64ENDOsINNYWmjb9oS1HJwDCkAwjyuBLKtl6J51HtcQKmEz0YIQlkCNEAVKybWsjxozzLAeRHDxyMAGtaBzB2kRbZeFuScDZTevh4bf9gSFWDO-LCq1BN6K5rtjWtHvvjd57YWfL1dc9WQnen55QdD_r299cG_3ZJBbvN2G5waKTUobJfeg1N3x328m3noa6imy5McGQyJt8PAoQNmH7_rFVokrTqWeo7pSLR95hv_SV0HpzWdJVX88bVqhrA-CSFwzGPJrRu-9qdNPk2hJT3XYQ-4RG5C_yQU1BkC2zSMLN-c1FzZwdM2j4CDesc32RgKO4kOJYmxRwD_atAvtrK7dijuwJ6P_Z5QPGz6pnYAzlVRFbkegmPhZjPX5nfsSpX3PfxGuz-j77TaApbHOYfWKduA67m4rq3RS3h6gWSKXg-a7U9m104N96sZmfRiSjAW-5lVD94gBlC7prnxY4S0gmo7CDn3nMnMbHYGEcOcQTEamqhgdb-cc8aMjQcni7b9fKIE7WYb3YpV54LPmIfUu61MxTB3GsOhSISS9JgJcKe8-ouKDH25_f2R27cm_cshNH16L-tVdfiZ1sVrAuMAdLPsDfrZMjrbCiSyMOwBizQpFFCJZ1gM0sdTkCYf_sNsG973Xkv_U5XxQz4zpafuhFFrrCZyJ0tyLXYxmRjg7q7ojxXRKnLijrKqg70Gf_sGrK6hFHhZmuQ05Xqy4-4jgaDBm0cVIp_hWjUKYE2PJGiWbJue6d_v8Red5oZcHeRtKqLHVga1deK6BUdNhNfL6mH9NW-HLIqr3V2e64Et6MyzEWV0azj_NB5bXQ-_HI65nzGnHp9VUiU62-O1Fq1spqupBqUJ1Kn-nmzQT9HLUgZwzW0nsOERdtUhsNgcHSFK1hSidkKWRpxF7r1dXn6C4Idsfv0Nxyy43MqliCNLu3LdkNza3e2Fpwcz-WkH4pQsslnbx8P-J3kThAsk82WTQYBjHEZ8sp4Nj1WmDcnrWeWnvnd3MESzTg4044gypV0kWQZNc4ZVxy5ZQNJ_0CDuLISKhdX3MmjmWPZmX71_RaIC8XSbt6btIzSKwitmz1ioUuPZcTHyZevB0VVTWDNLZid9nZ4NF9QDNtZXdcqgbOKyMr2f1EQRUmIVXpA3VRo2jVr14kG9pX73epUFcvGNR6yb6QKAnObEfA0ULYZEISeo8PmAnISYMYFLQlQNrp84NxpWEj5m_93uZeD1E7tgHfA__jdGCrp9cDvq4OiFspeRLbeyKpMyo4ib_OP_brbhSzQ4NNl0afPcAsnjHOjz6wQbcgEUt7NclOPHMaWbgArhY8Xx4JJ5szkGm6ihMm41ibzrF0igU6-7bowgx7Oh4HDmEimGtg==",
  "id": "rs_0dee64f939ab8cd8016aacb98a130487d08ac13d8130ec16f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.285,\"right_z\":0.19},\"note\":\"The left vessel tipped onto its side when released rather than staying upright. I’ll lift clear without dragging it and check the space before approaching the right vessel.\"}",
  "call_id": "call_6HylKWNARUpt6t2MQ56oR8jA",
  "id": "fc_0dee64f939ab8cd8016aacb98d977887d0843633a92e082177",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6HylKWNARUpt6t2MQ56oR8jA",
  "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]: [-0.6857, 1.6966, 1.5562, -0.5632, -0.6506, -0.5133, 0.9968, -0.0143, 0.8249, 0.643, -0.4484, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4298 left_y=-0.2088 left_z=0.2629 left_yaw=0.1061 left_pitch=0.0211 left_roll=-0.0224 left_gripper=0.9968 right_x=0.2921 right_y=0.0015 right_z=0.1753 right_yaw=0.0013 right_pitch=-0.0709 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -10.0034, 9.265, 1.5214, -0.2662, 0.1978, 0.1245, -0.1162, -1.2513, 10.1949, 1.619, -0.0513, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639ded48dfa48a4bc183608c3afc3c04981d5086d607a945580cfc4fc9245a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29bd424bc481d61a9a446954c04afa0ba04eaefb334354b9c622b0affbcc0036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33a7777ea69be7632f0298c8e4084e8117a5ad261991701bc411b4aeaf20e9fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 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]: [-0.6865, 1.7245, 1.1275, -0.0875, -0.6506, -0.4885, 0.9955, -0.0147, 0.8185, 0.6086, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4259 left_y=-0.2061 left_z=0.1517 left_yaw=0.0925 left_pitch=0.0347 left_roll=-0.0145 left_gripper=0.9955 right_x=0.2952 right_y=0.0014 right_z=0.1728 right_yaw=0.0007 right_pitch=-0.0427 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -8.6769, 8.7179, 1.5458, -0.3687, 0.0269, -0.1734, -0.0889, -1.4017, 7.0359, 1.7705, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLmXOOeWKJfTyv34qiMg41QsTGaaigd7o-Hv7rbSb8Mvx7SfqcUXKiazAxmg-nR4HMc_jBWhgtDNtqSDt3qIls_XTbPPlu9kFHaTSxK3xOgId8D6UsSTvXOnHyOQKmzk1roXKUbeqimH_0pGbABwnHM0tcgCKyIl2ppE2AbWmmulFfyvdxKnj7dcoo6GwVIPJR0YvJEFJ6X4o3PJDPNBVAXm7tkMw1v0TxQHTdZ23Q_hdsu3B2zPjUhiS1nDLgvpgPee4a7YuRE8-Stmv5Wgc40RUBgJhZVcZAain6D8tRhMgL5655Y7moH9lE9eD8eoii4zu3zOp9frx5NZb8E7rfO49nzECD7yJqF4tcxUmBoZRWRGGnlYjrOamoun6eLNhvzBiZqP78uBwABCxjFDvR8oBlgSfQfyg9Ju8wM5qCBcdXK_17P54-trRBNV6uZLh0T7II8p0Ilrq3S6g1ims1bHhqU08FoNXvhhe7NkRPpG0aS23RVTQV_reMWxqM21l0lygqMHSveAqRpcAhPe2M_U9AUhmhlUIrmusSbhCYHq390F_lJlijk5wE-5akSfzK9A1BV7KNOFhepHIMS-SctBMdZaO0HIi5DPC59ftMOB_F3TzfamqDKZp6HfpasjzjE1DCQTsq1Rxn-Gg2wDvcEw90-r0F2MvkjYumZ9f8J6YH3j9YJJp8I3A7MTrr6e8b2E_KBL5SDFCxgMbZTWrs6SZWU9OBtdXtk3b0tBEeeNrFfvp9tbzUBO5zLG1PK2sffkIkg7X78XbC_5lRuto0fZy2iZIhLAFj3WQMXn_iEpIFjI9MGnqPQyc--Xmj1_loFSaQJJEskuw6RByfC2LzGJEEyoGMAlIJxDjFZUuyx0WfLb_M9TS22QQbaBpSGESiPYCTjRvHFdklk1Uvg5LWCjq2zP2jQ35uIYgpkyO7k7uKKwYTACNm6GqZnRIJ4B7WwtnlbdUcSONz_UrL1EUbq3Fx7eqzBqkVixL2-ZrEzwF2OrYCao-dpSRTfcTP3ecy1efN7RBqEDnpuOsCn7t2Cv0RmhaDKRzLBW5ipn4ZpHP1MYcbEQ48obKHQSVnqmiQbKvEhJ5xaVZInJ7sI7dA547m50E1EuH9rfg3dc_ZLZ5IFGCDmmfvkzjee5LS6Lv_umYgVY7hOeR8dw1FU_K8xjNOYSgZ9hWuIXC7A2iWc48rWvAtLxqFDuSItpGJutKgwSqlKldeLlIbtEnXGrda3_HUJy2KnFTU1wUDFVYtdt24ndoXlIk2vUb7E6C8f66C8KHRLro-rTOJhvKppsLUquB3m1W020e2D4vkuKw1xgP6j4fSNs5bG3y5PgcbORAJE39T30A1g0MA7z9aZ7nGIKHTcXU-__ZSipETfn8PKbowuAF9UTXeHzitNecpMkyGiRQLyAMuHMxUsD6ngBk6-UZk5U2HwZAJn8RsCpWPXSKOLJrYMy8mTof4Y2dte8lEsPPRrYPgCq0YL4WORJ-59aLhPlOmlrDRf3zRjbC4XJq5NdQOKo7g8Esy5Du4kXA8-OdN5T9EhvP1kokAfE--HS_c5o7hGL1-GXDUi6wS0q81wP3haQY1v-BAALRhp_lpj38OEqjw2koaPXwPZ3VRY4-_2pF6GS1oomEFcx0naQSpS0W22VWZRh4COEk82pchHXvMEx4VarnmCg84X_ISsJ2RguufHmtVSbNtYNJzHcwrxfw9Tllp3KWiEscUx5a1WEuToGQ56LN_DJAxUeGunca9qKqKXfNb0lwNcluFlz4gzjCJnHkh6J_Kls-SA8FdaKX_QUYoSC0fBZvHOIkovQZdBMyOXhnzOFlkV2owAOfdkLkrQ0G9SiE_b7NjnLwfKj87WWHcaNWltMhnXf-p57ix7IuiBgRSKR43ncY9jlEnN1mByuYb_7ATLaITKlCZhRxBz1b6h2xXujTOk6fdSkwGENRSU7mpbp4OiC4ODtyA_N4PBs2Z4bZLwYj14BBkqt",
  "id": "rs_0dee64f939ab8cd8016aacb991a20c87d08a1f5415c9f81bb3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.205,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left vessel is resting on its side and the red cup remains upright. I’ll park the left arm out of the way before handling the right vessel.\"}",
  "call_id": "call_qjbQFHsQYvdFWmGD9HAtXxRc",
  "id": "fc_0dee64f939ab8cd8016aacb9965a4487d0ac3611f1cf344b4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qjbQFHsQYvdFWmGD9HAtXxRc",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0589, 0.8215, 0.7116, -0.4465, -0.1085, -0.0891, 0.9969, -0.0147, 0.828, 0.6441, -0.4591, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2999 left_y=0.0051 left_z=0.2085 left_yaw=0.0671 left_pitch=0.0093 left_roll=-0.008 left_gripper=0.9969 right_x=0.2909 right_y=0.0015 right_z=0.1729 right_yaw=0.001 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -1.4974, 6.8444, 1.79, 0.0611, 0.105, 0.0024, -0.3624, -1.4427, 6.9128, 1.7998, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdbffa0ca64dbb59aa7d682dced7bcbe2fd86e57221fc6a02794ff03ba802e79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca1fa61f4973fb19991309611c4867b8882da0eb4101b5d11be55fc6b37e7ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a18440777abc035596772ab7153ae725e50aa3ac2e56c30df5778b179e5273d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 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]: [-0.6857, 1.6966, 1.5562, -0.5632, -0.6506, -0.5133, 0.9968, -0.0143, 0.8249, 0.643, -0.4484, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4298 left_y=-0.2088 left_z=0.2629 left_yaw=0.1061 left_pitch=0.0211 left_roll=-0.0224 left_gripper=0.9968 right_x=0.2921 right_y=0.0015 right_z=0.1753 right_yaw=0.0013 right_pitch=-0.0709 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -10.0034, 9.265, 1.5214, -0.2662, 0.1978, 0.1245, -0.1162, -1.2513, 10.1949, 1.619, -0.0513, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLmf6ncHirW1szgDQyi-LlcCwZ-8yc30w-MdfqI6mdAuDSjD32WFMslsqgpYX8ZEelMOS-jG7-meCd7yyQNTJD4HDdNaZI79cX4cPUbmbm5hmJwsFcgdiCtIUhixZQHayyxQaW1uux51ekodfkyKx61RUbfKueiwZ4H_nZGfPo508sAKCxd2FEZZUgtgDG8RFuF3K1n6T_uur2wBdRFFHhrv2zeqO_KS-ZHgYcTFcwF9ISwm_lZ3N2arZGuJiqbzkwg93q6xC4KIR53EnG3vLbqj9XOYgEmFoDiKiNYTRG5XAkbJDAdbjLijxj1QK4vTdDaWFIWZTV3lwLJMkBpix8LrpVslXJvNMrPElmqMe0VQ7bKd2-LC0eW8ZEgkPHCgDvLFmeGQnDXxT2c74p36WHtcEx_tvgjmkYBx0zEsfBRTCGyt1lZvu7tprnd9zLsv9gSy2HK9DSJACqjbjtzGztJovfiI2rMhO3hU0TEP74TuARsEp_OPKlSCLLl3ka7TtJ9DTRMD04y2yaWyhVEZRsjHK6gddNG_tUQlaQYy7Z6o5qBW6OKYp3KLc7T7PFkaovypbtJtB2RfJNNlEDe7xIMIcVBaxViQ4Pd5eRPBh7m-_Jg55Sh9EF79BFQumQtgdcdJEYP_3Cq4NMvduQHKupYQbXNXtESO_TIkb3C6fR-6t1eGz3rVeTDkXZ15OD7kypbrvc8UPEzKsupnmcM3P1aGFhrj7RUuldvs55gS-9Jb0Rc69l3bz1YFNDwlbAsNKpNvDHQr4T7X1lrOiAWvpn6Zohzj4pUlpkB5UmxGIrJQbuZmywoFY-4h7T3c6Yihxoa7xRCmvhP0szq1QnD8G2FRfmTjn2I57khCto5AEQtmxv5Y3Vq34lHvNSEvtVARUgsl2K6wd4sFJCe8ZHR5FIyePoFwrO04FhD9nRbpJwwx5QhqvzokbmXeixu-xXxhAOEHkJimtTSy22txCDnwRUw4aYaTY2ru0WT1zrqcpTN5xjoDQ_jWEFJuOmbOBaB_1hvA9W3NMETyJwgpb8h_us5OosCtQ7FT4bifQ9vaf4qG3HPftgQNyLfbQ-oLiKM586xOylluaDP33QNkAUu2_6qg_mUdqz5EYRJl7yw6B47-QZpfwHO2gWTeuWygIXBbXpikzyOhFEZFQHU0_EFgElpCEOQkMKHRBQNTlmYWNhr5uKAE8kBNITcq-_ESRhGrPWf_ndKZCzKFAeBZYYCGANGRT3z3hN27ZrEcqmiddwtzx7RIbOhdDDmp79WiVlxS5vKgxg3E84mOzgR-Eys5bY-rZKbAn4WkguwKdoI6wHs3UEOB3z7gy6Y68rLgGxMcIW0sFJDMTy_ylPOZ_HUro2F1CgXz1JNou5bNofgPK7JhDmU2C4vZBJi5tmcBqSoXB4lBPsexBRIbpnmHuXpaMo7s7kzzH9cCdgi9Zajz_e7WrjyiqQkrx2n9OIQ6M1HoC6Nfs1SYUXCZirP1f4eznABEgXXUFMr9oJFR-jQO-Iate-TZXp9LDKVUnlmB1BysqB7Yd3IWlKw1_j0wMBhswLCYsfQkLI7VdL6R5zSGHWQxzvGQkwuNyGeWjW6I91yk8u1FOYUDJYkSIX9hpnVr50SaZQ==",
  "id": "rs_0dee64f939ab8cd8016aacb99c473487d087e46f8548c501a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.205,\"right_z\":0.20,\"right_gripper\":1},\"note\":\"I’ll now approach the upright right vessel, aiming the open right gripper around its upper body or neck.\"}",
  "call_id": "call_z82lCRY6BHD6w4g3aEdpulWP",
  "id": "fc_0dee64f939ab8cd8016aacb99e6bd887d09fdd12273229bcb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z82lCRY6BHD6w4g3aEdpulWP",
  "output": "executing move_to over 17 steps (1.7s)",
  "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]: [-0.0605, 0.8284, 0.7048, -0.4549, -0.1047, -0.0898, 0.9969, 0.6056, 1.6592, 1.2972, -0.4099, 0.4454, 0.3611, 0.9998]\nstate[eef_state]: left_x=0.2987 left_y=0.004 left_z=0.2017 left_yaw=0.0627 left_pitch=-0.0129 left_roll=-0.0079 left_gripper=0.9969 right_x=0.418 right_y=0.2012 right_z=0.1844 right_yaw=0.0337 right_pitch=-0.1217 right_roll=-0.0218 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.9487, 7.706, 1.79, -0.1148, -0.0317, -0.0122, 0.4444, -8.7453, 9.0188, 1.4139, 0.525, 0.2808, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0996baf23d50e1c7236059d1dc69446d4ddc4e31fcf66cfe2b38c101a798264",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:886fcc174e99cc49b136fb31c38a9a01c598065b3dfb6bc32e53ad0ab24b614c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34bc0a04523975bc9d56ff07894817e4f736e2c06c6ee24a1dbe5087a06266f2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 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]: [-0.0589, 0.8215, 0.7116, -0.4465, -0.1085, -0.0891, 0.9969, -0.0147, 0.828, 0.6441, -0.4591, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2999 left_y=0.0051 left_z=0.2085 left_yaw=0.0671 left_pitch=0.0093 left_roll=-0.008 left_gripper=0.9969 right_x=0.2909 right_y=0.0015 right_z=0.1729 right_yaw=0.001 right_pitch=-0.0835 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -1.4974, 6.8444, 1.79, 0.0611, 0.105, 0.0024, -0.3624, -1.4427, 6.9128, 1.7998, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLmoUqqMqYKqUm3sgCIIX-bA1vEIdFjRs_8lqLBW5PgEZjRzrwJmHuV6vVazEcgxQH-PjzTDn6SDOdDhv-JSPndbcy_zckmUnOkzDq0aqevBJF9EedKtI3ylpBaV4OiJy4FQBj3LCO-aHZtg1HTwlQlE4YR7cYcmBMR-03c2r05XczXSrbghGVc-NFEJkBfp49yqoC14vtizf0fJ3XJjER6IqMhwLOeuUPyPBrTEcZGRpctpiKcuPwqcDr4kMg_pPCd130kAF1VGWeuWHx2-pxjKruZmd184W2aOlOiZxC0so4uipbQ07IT92hJ6JjH87YXaCTGV2pW4BUJa0VZrLn2tlEaAjnwWcyx3GAvT85XnEs6d4w2wNwiBvwbtoAHmweLLnN8obiDwKMQuvmtyLXjboT9yeSyaSSROnS1qFJ15qmaU8Dnos3e9WsHq2F9tyIcm45TH9w63YhlhCsriMm-bZHGc5FLluEO3QY30AmC0SGfJ6F_gAYObuDgUIOCVkd3cP-VrG9gvFG_V6Dp-RG7IPwKxnFlWlnocoB8gkBWtltAsg95yawJGqFPhYY3Veij2VvO-LHrqPeMqiG0cL2CyXX3CnHs4msV8Fw6oh9fYzXogTDWvFRkBUu118z-_S7XA3FMwVSzC3y9eyE6gRQCHAT_9tgrhF6RJKB8t44VAKyzNF8VpP5FzgANd01ZIIIsKO8wjLf_VAQGWrhU-is3t5wBn0Nm_meqJL7ia6VXco9ejfibBB5WusgHoMbJdMZFf-o9eIykR-Yrdu-q00EopLrYaskLRcHb5ZZGb4bNHW-WeFg46YQCP6AapCIGqNq0wnf3xjZMO1AHqDIddwYEQ1ZfmhiuzHd58oPg56S8jJg7Cr1NodIjzPwl8VBq7S-DTuwkd1lkTIrBkC4U3hCXY59w2oM1ZJlQCj16TbezVNhnLZZHJsUXpRwRHVsHJ8oFT2uLSDZd-Sw2dZ-c6GpY-xAYZLZeS9AUwbltkMzw8RSzfU0xO8ygVtTNrpSZF4YaiihTaGfYEW4GqBBl0mgwBy3495psBoozS_DtouJ2PMOqxgcRX1OC5DBMmb81Ql9aUEKs3__LGadcLka0ciacawPYXKzETlOwvw3692XKHzxdqyc3JTToICrH1rv8h0sQs31Dn6rk2-sXlLNZli_foIFySFgSAULw8m4_6BUdNAm66zGK5Rn8iivprGAWvOp8rqeUrrO6uBWB2q7yH4P3Br7paDaSM5ZpRtuFyXGsOZ3owxwjOAovHToRrI3_yfor4gaKLQYXjuCr0yUxe8LblmaQlb_uDnlrRVLi8fQX9J3L_5mdfzCIXZtA2DEocn1CCTi4TiAfnwdIut9CjKsqMaYHe_rXnwGEe1a3kJZ7FVNleGBMiyhpZlAEsT41P1PkLpAVyv8fUtFtwXEsb1G8ir1sT-1NaFmS1KW4cXuEgjxH7a2xb3LyarEO3uf8k85J8r48FQ-oa5HlcPYXfhQRsIwejT9Mug-OlBJfb3NG7wgWg0n_U3YEI9GDTbzdlvoBayHBAOzrcGrBz5HvmqiAddeQescIYcC8kzvdtfA6aUBJajrgjwxYD4h9aVAPzGIfx2imZ35E4JTYO8eEjUJImwhKdehObnGgcauBN43YR_oo1WL5-57nv5ynMZC8hTKjRGQ5VGFyd9ksYOE1Y8kqNxurC27lZhctlb1yapv3DB8J3vZ4ffvN70hSHl7qJmN79eHn4qNs8l1jXWzjcFwJnwZ9t2qyqMOBaeHCXhpHY0pw_NDIUfCfrxAGJmH2wAdHt",
  "id": "rs_0dee64f939ab8cd8016aacb9a4969487d08c666cbdb420a9e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.205,\"right_z\":0.15},\"note\":\"The right vessel’s body is centered in the wrist view, with its narrow neck farther forward. I’ll advance a few centimeters and lower to grasp near the neck.\"}",
  "call_id": "call_iQmG0Y1GO3y3d8U2zFkYVDat",
  "id": "fc_0dee64f939ab8cd8016aacb9a6ef6c87d0a04d31c14b2dde35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iQmG0Y1GO3y3d8U2zFkYVDat",
  "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]: [-0.0605, 0.8303, 0.7048, -0.4553, -0.1047, -0.0898, 0.9969, 0.577, 1.7618, 1.3136, -0.3256, 0.4297, 0.3382, 0.9997]\nstate[eef_state]: left_x=0.2989 left_y=0.004 left_z=0.201 left_yaw=0.0627 left_pitch=-0.0152 left_roll=-0.0077 left_gripper=0.9969 right_x=0.4422 right_y=0.2042 right_z=0.158 right_yaw=0.0296 right_pitch=-0.1294 right_roll=-0.0313 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.5521, 7.0359, 1.6874, -0.0806, -0.0611, -0.0122, -0.3897, -8.7863, 6.147, 1.5995, 0.0904, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83001389162c95d4a608491d5c64b875fec4d68b6b87514d35e8367115f859c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cda379201b6ee11d173953f62cc4ddf01ed16e17b9a79b2696edade20c77f33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e4aaf39791307b14de7c43a452894886ea2095ac294413f2f7b7683adcda82d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 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]: [-0.0605, 0.8284, 0.7048, -0.4549, -0.1047, -0.0898, 0.9969, 0.6056, 1.6592, 1.2972, -0.4099, 0.4454, 0.3611, 0.9998]\nstate[eef_state]: left_x=0.2987 left_y=0.004 left_z=0.2017 left_yaw=0.0627 left_pitch=-0.0129 left_roll=-0.0079 left_gripper=0.9969 right_x=0.418 right_y=0.2012 right_z=0.1844 right_yaw=0.0337 right_pitch=-0.1217 right_roll=-0.0218 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.9487, 7.706, 1.79, -0.1148, -0.0317, -0.0122, 0.4444, -8.7453, 9.0188, 1.4139, 0.525, 0.2808, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLmrKd70It34sIUVtNHJ14575TQ23K8Tw-dXO3yVlvT83uPiKuqHtau7fSsTx0U-9PNQB8CX0XyXd9vj_8xPyMu6Se3Jd9_iYkzG6RDOTrqMDlXFvXH9GVPuOM3yjWifgyyHvMOqJK-hC-3llbz8cLx_mQ8cQatpFecD_21k_JNihg4bwloKRZulBUIzax0rp9zldpIqdvb5CZnwZR94fbVDLrczbSSKuQtrHUDKk96xdM6m5lRbt-dWYC9OJO7VrieF0GeTv0ZtNWm_z4QkRq6qAvszs2yh9Rj2L-A72ApSFjwNRZuBIcpmr-Z6Gld2BP_p4Onp_FZRkScHRubpwGFNbAohLkkwxXgT9k34PX2gCYkRSh6ReLAguiao7A2x43GoPnWuGgJgwiWAbXJwaBBkvT4lFdldYCoc8VyR0JM-Gfn9xG73bN7uFrsUyYRTD_rmEkaGz8hG4BA1OQLCxzgVY3FJ6RLnfsMNFFuVciQH0jvjtc3PVqAX7B2CnSdS5GqdfUFdz10Dkls8wxAIhtp5Ba-obCovrgAXfAoArw4f3WLvkvs5mHMQS3DruGPsdi_wV2e0-O0cJto_wgPV5OsF23mbSD4qgoSi42qZ78zd6z67v2rG0HUseJ89JuG0OepAzYPG41Y6XJWWKr-wp4iszBdzRY3JySDcAV8PATq2hD2K9-uuRDVxhrRZFUahIyDOy6GM_WY8GK8-tznfgHc76a4N4QGTgw4D8oDwiHWQOgXqEe5og1a0HTpNgmRFhYX7lix4naJqZXSwbASZBSf1s3JBAqoRHT7SXLW2Sh4Q7GnaDMnIzjxer_4wEHtI5OLcKIpLHWvWHRK7FEKW7pf9XN19XI8EN_LmzPuSysPCg7bYhYzKrMDrMTxh8unW__NDO-YTi36r5JPPKtjW30AMvgn2L1zrW1rqXWIWAVTnu-UOj5FdIgsSdvcnFxKGW-4LKRzLWLpcFs8lAhojelXQF7wEnMDr0MiuKVf0HBQ3EQAXSFDUfHBMJxlbcqXKsr5TwmIJRQZOZqvB0J0DqPjGyf4JgA2DsnCHftkETR5tMm-x6sLEnXBjX9RPjFPsl9mB-Jn9P0-2vb8CR0JJnFX_-jg_ABB2C2lItCZUudhas0aXUOzbSn8t1h7XymaEYino4-aR2VFKlUS6-_Ymy1BEoKq1rDqCUejFsXIkaNMZY_lm-a7KMMvCpsp3wBIESMT9UuqVbZY6F2Y84P549jYXp1Uv3w6aJQPmLB6E34wC6hW0X7gFJdCM_kVwnZq1B9AtUQDi2wkCFS9uX8817ppnlw==",
  "id": "rs_0dee64f939ab8cd8016aacb9aa11ec87d09dcbd19652dff765",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are positioned around the vessel’s upper section. I’ll close and check the resulting jaw gap before lifting.\"}",
  "call_id": "call_NBeqZgUreHCbYz6fa9ZemfWb",
  "id": "fc_0dee64f939ab8cd8016aacb9aacc4087d0867edb11e374035a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NBeqZgUreHCbYz6fa9ZemfWb",
  "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]: [-0.0605, 0.8303, 0.7048, -0.4553, -0.1047, -0.0895, 0.9969, 0.5701, 1.7992, 1.3006, -0.3233, 0.411, 0.3332, 0.0157]\nstate[eef_state]: left_x=0.2989 left_y=0.004 left_z=0.201 left_yaw=0.0625 left_pitch=-0.0152 left_roll=-0.0073 left_gripper=0.9969 right_x=0.4417 right_y=0.2036 right_z=0.1349 right_yaw=0.0364 right_pitch=-0.1776 right_roll=-0.0485 right_gripper=0.0157\nstate[joint_eff]: [-0.1709, -1.4427, 7.1316, 1.7363, -0.0757, -0.022, -0.0122, 0.4991, -12.3145, 7.8017, 1.4139, 0.3199, -0.0611, 1.199]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ceeb0ac4fe3eaaed58f523681ff5c8ee5b7bca7e28f3545e607db28dbf58b30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98ea8d8bb51323a482ce2819e6f980db5f1d33ac1776c138095db5921fec86f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b50df7362a016d7a2897877d1479f7af9a5fcb082e24a6e820fc92037b583b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 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]: [-0.0605, 0.8303, 0.7048, -0.4553, -0.1047, -0.0898, 0.9969, 0.577, 1.7618, 1.3136, -0.3256, 0.4297, 0.3382, 0.9997]\nstate[eef_state]: left_x=0.2989 left_y=0.004 left_z=0.201 left_yaw=0.0627 left_pitch=-0.0152 left_roll=-0.0077 left_gripper=0.9969 right_x=0.4422 right_y=0.2042 right_z=0.158 right_yaw=0.0296 right_pitch=-0.1294 right_roll=-0.0313 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.5521, 7.0359, 1.6874, -0.0806, -0.0611, -0.0122, -0.3897, -8.7863, 6.147, 1.5995, 0.0904, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLmw8GYyK15PNMfvcDOoV6uDX9qfmnYHf_E1f9LGooyW9lMd9Bq14_HYOqFOJBL4G5tys8QMmf1-cqOASgnh34jQWGEx_hltNYoGrQlE8gKzCgOkXZSfrXz37eqCKLdF0sdmXmWG0H9LRT4iOPlVt1XLp1E0iiaNRab072JjPjB_3ZIRqnYGMXiWRT2i83x4TgT-TSopmMaks1VdadNXEJ_ih0XuQb2mFmqIOTCs8QsCEcdmnOUy-LZWuvuZXY8VeocqxPZcAiY0T_5NXk78MRvNDwP9XXxyXjDOIwLlU2e73i8WBl0W5ScRfOV2r3ef0gXRIhYtulrdnBdRfP_Zf6rqvsIchwCTClvLgQn8_e0EsdPP2O1f66V3Ycm2ZEHVQiAJUAm5SXawrIH2tRDTkfUuDjZpSRCUoMgQ7pSxGa07gpgblXr9pSqq5KTGGh_uWDUKMNcyycXA7yEf7ap265DsdOPSxdmKTLO2GRf3C_tOCKblnw32NaTw5MkSP9pbyFkrzF54h23Zl9ODW85LILsoTPZei_JQCvLH6kEAhjlqgfTVv7P5gFC8duiAMeYtU0U2M9aBXocwoqxawwWBQ5_08N5nJcgRpWHuz_3_r7kU2jRpL-B5w1doA180AG5q7y7W2CJcaEkyKdr9R3KRpJnzz7u6Dx4XFir135QrpZLE5jM5RID2JF714fe26XJu6aH1IrvdgSoJSsbR6zxhpEKOxAk6-MYHbQqi6ZwueA7Xr1AM1IfjePlSil8Q5ozrhqBFbmjoEG0SNHGM0y9lPqA52WgW1gSKZ3HzO3W4Ed7WC7gLTR8LAujgMkS34o4dRYbLMA97-3AT-kHzRxbXv97ewS8XHCWuao8cJ3qR0n1TB75MWWBnYSM7aPv1ghDfU0RlRfggJrZUChgGR3E4_6d4oa9i5_9Oxw8MvXCyLzyh8jQNOqZh-6K1fy2oJwDbE_HCbJxyoYlD0fEX1rzeTd25V0-AqCvTPGha63f2BE0N141qlQ9JHirjaZC8HcMugU7GQ40pLeQ8CpAAV-OSGK2tfsPIMwasF78rEflhBt3TGQsMc2IsjY4XiMSPOOGtUBhyPkVeU1LhChl2Wiq85dK_I0LPTVYqsN2tg5GAKS83aE395ZORQ3jmzla93vTl2xhXacUK1yBsBz-LzJvnv8Db_q9COGxiOvYvHFvCi051ZbDWy4rs0YFR2UJq0wLtzxGbhhMwVn5PKMqV8ECAEuc02q7F13bY_7Z8iDAAh7IoRgRG3vEUt3ehXiXDvkDFRv2WBml9pMWwsfHVT2j9A0oHjyxvZ_HjJehwTYshThmTvSE=",
  "id": "rs_0dee64f939ab8cd8016aacb9ae5a4c87d089c03f8fdf31ab7c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.21,\"right_x\":0.47},\"note\":\"The gripper closed almost completely, so this was an empty grasp behind the vessel. I’ll reopen, lift slightly, and advance toward the neck for one corrected attempt.\"}",
  "call_id": "call_HwXdsNaGKzvSXh14zOly5M6Z",
  "id": "fc_0dee64f939ab8cd8016aacb9aefdd087d0ae799c59b76d5cdb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HwXdsNaGKzvSXh14zOly5M6Z",
  "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]: [-0.0605, 0.8303, 0.7048, -0.4553, -0.1047, -0.0898, 0.9969, 0.5388, 1.8519, 1.6279, -0.5949, 0.3805, 0.2924, 0.9952]\nstate[eef_state]: left_x=0.2989 left_y=0.004 left_z=0.201 left_yaw=0.0627 left_pitch=-0.0152 left_roll=-0.0077 left_gripper=0.9969 right_x=0.4656 right_y=0.2061 right_z=0.1989 right_yaw=0.0517 right_pitch=-0.187 right_roll=-0.0578 right_gripper=0.9952\nstate[joint_eff]: [-0.1299, -1.4154, 7.159, 1.7265, -0.0611, -0.0415, -0.0122, -0.9094, -9.0051, 9.7026, 1.2039, 0.1636, 0.0757, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6e0fe7de7d531f7cebdae0310adad0c71c5b4502a7e168597127848c5e484e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f474c4870e74a49bc9d36b2cfb7d810b34f2db0be430fafef60e137c1912c46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a925abb444ac934f50d2144ec965e6e125116ce1cc7c65691ce2961eb3e22991",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 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]: [-0.0605, 0.8303, 0.7048, -0.4553, -0.1047, -0.0895, 0.9969, 0.5701, 1.7992, 1.3006, -0.3233, 0.411, 0.3332, 0.0157]\nstate[eef_state]: left_x=0.2989 left_y=0.004 left_z=0.201 left_yaw=0.0625 left_pitch=-0.0152 left_roll=-0.0073 left_gripper=0.9969 right_x=0.4417 right_y=0.2036 right_z=0.1349 right_yaw=0.0364 right_pitch=-0.1776 right_roll=-0.0485 right_gripper=0.0157\nstate[joint_eff]: [-0.1709, -1.4427, 7.1316, 1.7363, -0.0757, -0.022, -0.0122, 0.4991, -12.3145, 7.8017, 1.4139, 0.3199, -0.0611, 1.199]\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": "gAAAAABqrLm6OFnWiHX9VobUX8mwyrB3i12-jkVnH9uReFlr-RSmlqIvj1lSY1Ynm0F8lvh_pjw5X996zVhAfEd8UaWQYXTQbQ_WEIinQukNrgEmPlQFnJLDSItV7BaKiQBFkl5peVVuhE0pYqQcMsXII_bq5juI-6Zv7Fdc9AviPS88LQjvjreue33Upd7u-RIh2A6tjICm0xi25yZtKVoHTemqnq5gL5IJQBi3DsmOkVUx0RCBXyOCiHA7VdWig1mP8mcDgroHoxTbTfSLpV1D-KG5Q1NlUQkEknIupRKU_gSr6H2xbDK36W7W2t2NczQjcuQZ6xdH29ayqpsTdxuaXII82rNMdyvPfcEBFXq-TJ6o4bzUWWHSQ09vjnD4cwpdgS-PesZuRiIVCQUuz6vkviF0IJk4uoThZ0hp9hprTvo0f2t4OIa2fxKAqFKgStQF2JXDIVRv3py9AK1zrRfLr-4Dl2XXjY0P1UHqv01xzIMqdSt4h0Sc24Vi58j3MeJY6LPkSNgtbnccpo1zme4XlVlcnPhyOyh6Ff4-EDCZ4faCpFw4EWw84rgLvIrTyBpwR3CoYDCc9PecykVbFSiH-T_tUfaCmug5BXZB8-gzTiqWSGPYonYHmyfcZtuPaGD-phQ_rS56LTieTkVv0-8SUMHz1SUZnL4HrBKAMXQKRU_yfKnDiUoh62rOIRaPACge-CGxw1gjkjra5wUB8gq6cvZB32WgJLIOGvvp0oseecJGn4xzuODfH8909mLN6AQ1KPYaynlnEOSFF4CbJ7dzW2c_9lFReqLr4GMqDyeMnZz8aAAD-j-9TNCVsYOH7kumxn2FAazQYhqlQKLQjHDDYLQokREXc80wKZxJqYeda6svhuFnNJmYVpazweu3E0SN569U9BRSxUJQ5x1XhQG7dxx5AVct4nAHE_6Zpqh3iiDW-okuwVigX6N5pYiIk2KbXmpltYyRIW6TFaJ7YkNo-LCFYCxO61LTyUE8XFE-9WlYdqgi0ukbqpStTabMvL7cUNDqnr6mvKWNTszPsuH2cnIX_jHo-vPcT_Wyp3ZZ44fDMiXgl64cgQpL_S4I0mgNZ3YTbJ-RcTRCYLTxwEsINxzlkrhY7pzM2kZrJNgWXLzOBdZWAOSOkfZ1YRt5AiPrTfhHiXCNjp3KESrfYv-3k99e_6_E3sfQTy0er1eG0sQPKmE-iJZ1RZ-BNlD-dlvYb2rm3If5c1eI1y24yYZAz7sbp-KTzkqEGMIWSHhJUrTTSjdZHtAtYOICPHR6F2N9sEZdBRdvs9hJTULCpvV7-WyOZG6JvwTaSg_OoBQEutoxIBv-xgA4igveTkeoqgCVa_m2D2iDmkdtQEUyI1rCnwFNNT8WP1x2bfD_2-vV0UM-PbQkzc7xMCNb_vPNmB_ZGe5vZ1HsgDigOGrwryLkE6ii8vjvQ8xR1mablV3lMq_wXn2C8AVj-omOGY26aIz2YO0LP6jp8uBPxHHn-iKW0YMgerS2eVJ070j37cXdATRMs-s-TBI78jA4o8oy2jqNay_0gj9xtyWR2C_ZPOj3ucLb2tTCBtbgL748ZboQ-na-WTWJsJDviUNLU1voxcXGJye1Tsmt9F9J3A5eEddIE3gZ38OkxJ0gKqnWoMRe23n9uNHcOsI28L-9RdLZywC5T4ZCGFFX5D0GFjQcVX0_1m4qQ81f7RjKL0x1TuGTDwHVFmc7lzZogWR02dHAq2LURSM8PdGHop8WvBfo9ys5ZIm77gI-Cpp6_7RQ5Qi2d-LKB9hZIA6-EM65V7Dti9vWSrVQ3O2NzQrIPZvUpncUpuHHUteMCzDfhtUZuiP3hTOESCn31hK5XIkYc7UzchtFSwPnpNL3X5Tz1SIGyZKj0alWV7qsak3RPC4rOJywYSEYxVTtqQpTSf4AzXQWoEa3NtC9_QwPqTrHZwJfAuWiEQLIjBwrElzu1Hyi0QWE2aMOpYYM2K945Xqj1VmsbMQZDE1S7W-hJmU9TNjXYoic_RYFD4FpeciCtsQvMM8kZZ7i9N47UvsiHr35iiWqN68F1lzoM9KUt4Os4RQU0VgKq3RMZU4es3zxHacLhxsRoaO4nurxlkRxkVBYZE8hXmMwNZb5rzQR5vM9yeZkaukKfBoducZBeKZ8Tmo_xXIBzXOZ5kXfG0lXU-MhIIsb91JgZX82pHJf2iA5ME-Ynp84an544VxPYWHOgHzhJOVBJe0CxFXvZVOMacZPJCCC7VBqTAXYHuSOLFJEBqYhdHwk9y_YZxQPFnzC0lsJA0JNKn_1mO5Dq7qV7op4_HcWtcfKjuD9TCYYxAUvBIIQ-SbSpEv-AtQA4U1_sZ0vF0mAOcV73hJ4J4o=",
  "id": "rs_0dee64f939ab8cd8016aacb9b394fc87d0995fbedcbf35b264",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.215,\"right_z\":0.18},\"note\":\"The open mouth is now clearly visible, but the wrist view shows the vessel still forward of the fingertips. I’ll advance farther so the jaws surround the upper body rather than closing behind it.\"}",
  "call_id": "call_r6o7lL4B7PRn2Rn1BhjWTA5c",
  "id": "fc_0dee64f939ab8cd8016aacb9b92fac87d0b312d38cb467831e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r6o7lL4B7PRn2Rn1BhjWTA5c",
  "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]: [-0.0605, 0.8322, 0.7048, -0.4557, -0.1047, -0.0895, 0.9969, 0.5098, 2.0258, 1.7691, -0.5869, 0.3729, 0.2573, 0.9963]\nstate[eef_state]: left_x=0.299 left_y=0.004 left_z=0.2004 left_yaw=0.0625 left_pitch=-0.0175 left_roll=-0.0071 left_gripper=0.9969 right_x=0.5047 right_y=0.2126 right_z=0.1698 right_yaw=0.0456 right_pitch=-0.2131 right_roll=-0.0903 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.4291, 6.9949, 1.7411, -0.0708, -0.0171, -0.0122, -0.8, -11.3983, 8.841, 1.1697, -0.0806, 0.0464, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1b3b2ca5f981453aacaff20bde24d0db65c2627e9b3e5fc4ffd779ac8cdbf35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43a2de5568dc381fe014ed1c7b56744841f49ced9ef2dfc706f896f14160de3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2b32859f30aaaa2b3dd3191cdd572344a17a7c59cdf40669941b164ec41164c",
      "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]: [-0.0605, 0.8303, 0.7048, -0.4553, -0.1047, -0.0898, 0.9969, 0.5388, 1.8519, 1.6279, -0.5949, 0.3805, 0.2924, 0.9952]\nstate[eef_state]: left_x=0.2989 left_y=0.004 left_z=0.201 left_yaw=0.0627 left_pitch=-0.0152 left_roll=-0.0077 left_gripper=0.9969 right_x=0.4656 right_y=0.2061 right_z=0.1989 right_yaw=0.0517 right_pitch=-0.187 right_roll=-0.0578 right_gripper=0.9952\nstate[joint_eff]: [-0.1299, -1.4154, 7.159, 1.7265, -0.0611, -0.0415, -0.0122, -0.9094, -9.0051, 9.7026, 1.2039, 0.1636, 0.0757, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLnBFLiHZgtSIgmgWHL8UWbHEj5JEAoMT0HnSXX5q-rf_HXIsXiVCTBcZtSA6Yg6OJIlgPOEuTv4OygfJJIWoGaUw5dYUuTTuIm-n-8wa2HjxmCIHEVV6FvFl7kDHwUNeP5g-JwOs3TIDmsOL3KRfj-w-STf7iOXwFYfXW4OmeR6nR_5VDjGzcE5qmK89dDVtO9nA0w9gSa2duwdEEUl7H3_3Oprl1IxZoxDyHrvTzr_VYXEg6acn-TzbRJkuiFTMYNTatVvCHSW2mL51-7afc7DYCb4JL2RAmrGWaKPCt4GXG1we-f-7rWNPDCixHTn1VFACGNIZ9mkgXP_uDC7KR5LDU1a86SqxgQuX7rTpkoHmgPqS_PWs9nw6cjevASwgigyhYTSO2i4xsItsXZuGT67qq8LnN01H2lAS0SlxQGywwBNz12__wL6-MgAxb67Q6aPZWJRDtIU9MPbLpJdHZLSB_RVlZRsgmAoFRRk6H2-7b4SEWM08AN30e_6Jacqpt9VMONGqvh_2zoeYJVR-gBjBAYR6wZeJ1vWQvpYvA71n-E8x7a_u9gb_7DqdVu_nYauTpU50dIO53-9I3VO_dxTYSeuJyX5PwFRgYM3aHz2Jb9cTr19UoXv2bhWLqiSvpq3bDS1ozybscp2-FhIL44YufkvnbYrRjNyLIMb1bMurYQ2lSTlkXbMYarBC3YRcf4-b8O4jtdpPfxqmUxXEdz5sKfslkzfP08KbDxFGCSQQLu-WJ9MZ6dJjc_mPzF2eY36ZMuSbxFG6GjMUFXcT2EG6vpCa2zFhZOTLqpT9ZleARqlQRbKEyCb_mS3okeGMXy6KY2ewMRHRMo-4TlUnXlWkfzIe8jwf4gGYIc2WuA2jZe7n2x3mStZNgUOAFKBPOvPARCmW_cNjZInQIjLCubvdSYNsPSYoE9S7lEZkI0SBcw8jsuDqpkWKarSzIpMlAi07tTPDjaqixPZxpccesycjj8q2rsSEClmBUOXkKozFOlAXZukiYRu8WmlO_b8I9WHyB_ryEf420v-Gsii6ay0lq_jmmFslIPvXnLhAu1iyuJc6pfBVYp5bMYHhLMM2gQbCbSygbiimTGp-QVobJcJWMMejXXfatKLsT9D0IfvKzxWbxiI-R1Bz1rk60WO_AShjiPQTqh-os0fw0PGDJW5KS1IGyI_Cc0ohSC-DRBPzqB-zYnSjlO3Lc_hTG6FOf6lastA3SolLfJAXRcjNaQ44S8AODkMLwT1HXyxjpbB2occh6bBAn2NF4zC8E2AZocCP3q9QwTwCxe9sy5eE7u9deOm3eMn1txDdpVNa6fbx1D6AEGOitvuQYfM1LTrWVhqT5CA5W4pC4LcGFAUJiUqqbAoFHQ21apG2i0pcyN-qcu03hiCvMdAT91PIOc-2DeRNVOdyFMP9ZItACNHNdsRB6jeyY_8r8lmRa_-f373RS3fCbNiB8Zx6om1H-qtUC_u8Z5q1w5axmgBdXkcGm4dUgBHjrSQaf6yGqKFw3htZBUG-3rH1E9bWpNvigULKCjFmCPRtv3l7YXLdT-6oRBT4n28L9tx05RJC7ptoMKDLmLMoZpReNznMMk5xdU3qCZyA5B9F8cEBojeEGFJ-sC-L7oUNyGNOphv3HvIwRI4qSGlaViepVhHomlpzzXOzrd_3wBw8vmn_Zq_7ayzlr0pedTNay19_phpjgUyCrwpGH3zjGOT8FsLiZdfCtoENfEeW_XcRobb8vJ-hVxzynKPPFjjk5coN0eetbjYuf-_EYrTwBrYlx06zYwQngqLhBeRr6TY1OhJ-sidJT1UDCaCgQ==",
  "id": "rs_0dee64f939ab8cd8016aacb9bcd76487d0a8357698fb072f98",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now straddle the vessel near its handle and upper body. I’ll close for the corrected grasp and verify the jaw spacing.\"}",
  "call_id": "call_ZYSmhcoBk1Lfrd42cibfFJfq",
  "id": "fc_0dee64f939ab8cd8016aacb9c0440c87d0a24aa424d8dbd1c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZYSmhcoBk1Lfrd42cibfFJfq",
  "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]: [-0.0605, 0.8322, 0.7048, -0.4557, -0.1047, -0.0898, 0.9969, 0.5014, 2.0369, 1.7889, -0.5831, 0.3531, 0.2512, 0.0187]\nstate[eef_state]: left_x=0.299 left_y=0.004 left_z=0.2004 left_yaw=0.0628 left_pitch=-0.0175 left_roll=-0.0074 left_gripper=0.9969 right_x=0.5098 right_y=0.2139 right_z=0.1718 right_yaw=0.0578 right_pitch=-0.2085 right_roll=-0.0756 right_gripper=0.0187\nstate[joint_eff]: [0.0068, -1.306, 6.9949, 1.7167, -0.1001, -0.0708, -0.0122, -0.4991, -11.3026, 8.759, 1.453, 0.0806, 0.0659, 0.862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a175ae8ead93e73bf932e9cc5f3125f1a6918f17177d94e397b0705418505e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ef07aa4f10b2d20001e58c96aa24b902adec2e46aecde6cf16a0b9ad8c4d8aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31159b36dde522bb200624f8479b38676657e59762c5cee9284202c41d03b104",
      "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]: [-0.0605, 0.8322, 0.7048, -0.4557, -0.1047, -0.0895, 0.9969, 0.5098, 2.0258, 1.7691, -0.5869, 0.3729, 0.2573, 0.9963]\nstate[eef_state]: left_x=0.299 left_y=0.004 left_z=0.2004 left_yaw=0.0625 left_pitch=-0.0175 left_roll=-0.0071 left_gripper=0.9969 right_x=0.5047 right_y=0.2126 right_z=0.1698 right_yaw=0.0456 right_pitch=-0.2131 right_roll=-0.0903 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.4291, 6.9949, 1.7411, -0.0708, -0.0171, -0.0122, -0.8, -11.3983, 8.841, 1.1697, -0.0806, 0.0464, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLnJWQkSknhT0ZvnGmChQlhYTiFjWM1tbhgl8GJtj_rmVrtQi81pAbBqxRbm_u6cMhAkEpTa934UFeLsww5G1fhkjUhOqH4fHK6fnfIfrh5NBldMfWZERI1EkrWmVvpWNpHW9ZZuuwQJJUHACVN2BZScXOFzszYaYbYbOhEKnpQsAcS3L-FUU5_Pvw01Gq5s0JBmCxfqkdSqkfe--dUFLNENuMMC2wSJ6OBRSPV-1kcu4ftxYHAAiaHRLNBNha7mx8tDGp-ktBEroE9kO49pogUKJVsS76fHvVQWfcQ1ow31DSDNKDODLF9pcbn1dkgJ_xmyGbauXLfxb59n_-A0TVaSl3Nlsw2mvLLWMoT4jLBggwAptaldjeQpZk8N_v9y9epA71_Frb04YPdyAowTl6FVrG1GuTe48K7HcD447dp8wioRxHuTsRYXtRbgSv-DHWZOTev-gih0L4-gkikUWSQ68VGo9i3myM0XrBU-VWYEQXTa36nAWQxzZ52QVDFbxbD7muSnXrkRAmwA-moLt4l6-OuPDjHpa50eutVehhRg2sWOKk4WNY4-nxcoF40SMlj6ye05AfpwnalQbAqKN2W1uuVGbJMarzXh1he3npRg8_zzCWfhnnD1yMYC4agW3zxC-KbIm-aP_9wxjXg__1xjH6zlL49VN4pfr__2UV-lgx2E1ZuGZSjfFM-hIcIZZyn4zJAqL5xgebMBKMWIeSpBhCKl6pPMZXL2LKQPY0kjamcbmvujiZ90xcgKdNGO2IKjsp2l4HsNWoXR4dsmWqDLaizfnYp1ylgFyl8OarbY0UYuL-DR0ngsf8OcPkSu2WVzUwwP53ekJsk17UBlaVbcYoqZCU_xwAoHj-GYQc4n_HM43qmECk2d1RM2cP2dHx1FUYexhAYvEgenKJLN7M_mBD76SPP9sJl5766DQmLAj-HJuT0ePYFQkyFh_d9DqbxTYZJF1NXuVYn5VlZTr7NSwLy6vHbkouj9AigjXmXUaEs3xO_g8_x1nx8NtZb__Ly6_-Z-1VdSN9bHr9a2oTvtOlaZFXsLW5RDrbLEzqTvsc7iFDmLb4MHoQbaL6ik9juR_ACBI2v4sGLb15V-0lXR_tT0iD428_jPQSlpm9PH56ZXbwhyJFEeTNaRF5LajKtRrevFX7gQlK21mgqTb0IxWE1U7i-wARnH71jTs_LiVHpEqT_hqLR3v_zkhsiT-CBaGY6jW0QhhHchT695CSTnoxG3KZXs4d8Gzuy4gUsW9JZdL53QbJVjZ-1ES_CxsaeSd54kMgrqfrLFR0eftq2lNBfZO1UsuG4MLBvODKxPLHIcf64KBVB1LxQcNuu4WtRZycxNgNeS0SKwC2Akp8quUqrYagb3ea4tR0H8BpvUg0j39lhrX41K2wsyZzwJ1KmuncNXUeywP61THad2QkVrCR1od-EfAFZPqQgwoG5d8VDH_SLopzpZu40g2FGOntTRGOY1YqyDrEizx7nLt2q6psPCGKBlS9edzjtpSdIPrDqp22l3elSQD38T_pyoYHTsbcFxiPKOZEW-yh0PMSAlhvHPTykm-LWPVx28R1dJi3CE0SRP9Xy2hzvIHo5RXfBtbQIpG8c3CGX5VfUl6FHIwlcBGd5CWwZaD1LEeRvLp0gAK_OAveIXWeNjTdXHeGJx06rLvH4KleKPBxL2qQWqFmr7w7TRUiqy6XywvzymGoqcTZz5shmH8aj_fv1Z6PlpDM7MY565HFy-R-zJfl58gRV-xRHmY74B2rDY75lcvgwY7mbim4cCecum-xDnbKj0mL-fUEK8V-Yh772by6RXj22JQ1E8EbPb93dJt4m8yn2XaF6w7p4SpQutLda7i1CYxKn8C8gEP0tz-OBcwTGomVHrrNqknRX9U7ioQZaEKdx1Z4NPPSKkCaSprCP0UNvqt9lzpbEu6uuwx5hcpBkohsmKr2EjCAg9l0G07ApE-n8=",
  "id": "rs_0dee64f939ab8cd8016aacb9c47f6887d08f510869365bcd18",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.43,\"right_y\":0.13,\"right_z\":0.31},\"note\":\"The second close was also empty and nudged the vessel forward. I’ll lift and move aside to re-establish its position from the overhead view instead of repeating the same approach.\"}",
  "call_id": "call_qwo09qiFdSsr14RAsXsU6pUQ",
  "id": "fc_0dee64f939ab8cd8016aacb9c7b9e487d087b3fb166f00542d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qwo09qiFdSsr14RAsXsU6pUQ",
  "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]: [-0.0605, 0.8322, 0.7048, -0.4557, -0.1047, -0.0898, 0.9969, 0.4023, 1.7424, 1.8557, -0.9489, 0.2832, 0.1719, 0.9946]\nstate[eef_state]: left_x=0.299 left_y=0.004 left_z=0.2004 left_yaw=0.0628 left_pitch=-0.0175 left_roll=-0.0074 left_gripper=0.9969 right_x=0.4435 right_y=0.139 right_z=0.2818 right_yaw=0.0589 right_pitch=-0.236 right_roll=-0.0862 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -1.265, 6.9812, 1.6874, -0.0757, -0.0562, -0.0122, -0.5265, -11.3026, 9.5111, 1.3748, 0.1783, 0.1245, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d67b47e7a67ef1fef22ad9eb26ee93dd03a56198715d2a33faa6b774222657",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de12ee0b4e9a6b51af8228e30e8d18328fd4ad0a0287aae02d5aa39099fdbe40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3eacdbdbb5661eb256f6115e050e880459b6738b107883f28a082bf7f36bbc",
      "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]: [-0.0605, 0.8322, 0.7048, -0.4557, -0.1047, -0.0898, 0.9969, 0.5014, 2.0369, 1.7889, -0.5831, 0.3531, 0.2512, 0.0187]\nstate[eef_state]: left_x=0.299 left_y=0.004 left_z=0.2004 left_yaw=0.0628 left_pitch=-0.0175 left_roll=-0.0074 left_gripper=0.9969 right_x=0.5098 right_y=0.2139 right_z=0.1718 right_yaw=0.0578 right_pitch=-0.2085 right_roll=-0.0756 right_gripper=0.0187\nstate[joint_eff]: [0.0068, -1.306, 6.9949, 1.7167, -0.1001, -0.0708, -0.0122, -0.4991, -11.3026, 8.759, 1.453, 0.0806, 0.0659, 0.862]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLnXZR2hKABu1tKFqzKlhn18HJ5g8uxQ1SPXWUB2lTNrw-vZZ8GsLI1JngeW5eXiSa-Z5u5CieeT8A4dYe4PzAg5xl_WCXq-qyKVNqrHY0I0vwi1BIWQD4cUnIFMwx_IJZEklPScSHeU342mGcbCjcp_wc0-vzhn5luHyUqecgIMS6PYJzsSWJUXqJej5Anp_hLwjXUbK0c6d6JxSrSNZ3SToFVqTSugLEoOIYj36z4lHn6njHfJIgDvo0xgvYRbwPWSOUT8Jk1tXrM_NiaJn0JeHg9NN7FmkjeAtqea1u3rDCv00UNtFqfSeI3HEmtVf5P2hEv1Nn_uRZPwsWqBC7xdlo4GMbWKUs82KFHNuFQqfz_XRFilu4ZFWFiTSPW1HAVEwKn9YniQr8DwajT7Kmua0wdWld_Jv6PBm_Qw2nTnBe3KjYMDGowGpuBwTnbo0GdOQJeVDMzHCFSmokZWQNu-OTmvDMfa8KV00WaH_oiqhOc7hbwRD7vFn1LaKmL_o1HF48aF5nHGT944Km6WFfFdhfi5xXA4SBT67ldlVrO87c2iSlTQyW2Yf7x-tqBVJzjEXGzvD7QqK77INkHRU8yCo5GwGLAbah9G2oh4o1_q9id_ct-07__npqGKAIpYwQR-_Vnszi8U0j-bHUCa0Hyg6LMGpCyBiHIefhS5yjuWhs6XPS_th0E-tveEMVgmGUZBFWszBDnJ1IxJp5ceVEWLw26Q0y7vMuySfS8ct54SLXvyfagIot1sZOAnWmzkhaIaXGN7mTf-QEaGmBTsFy25pQGaeWuVlZZIuW8TiXF10YlV10QYYa-kz1pGyQsbfzx2EGl51jqO_4y_GnO5k5ERp-m9sXEVTLjo6jOb6Jb-P1wUTvKtILfaeba0ALZ3Di-88UVO4VxjN_sCfozR3E0lAkrEQSDJFnwDkuJ_Xf7IPWopbK5IdPcA-wuusuzXFkQPirZojRIHbRdZHiaKo9uybrqaXCkUfZ-Rh5MNdsldYFx2t6WEjm6K3k0yhH2SUCGQNgUh46WZ3lRJhep-T2z4cBP9Yeycth1tAEHlPCyAZWs4GWVFwFu4iDy4ETL0eHqzqvqj9QscUnSKod1V_R48u_oeUzVDa3Q4uRVaw3ZuzMI-0el_QqL39cZ3Inm2LgxLD21yrOUxfgy0CHXooMA9b4eVE-sEQIsQpzVgl0bPOZ1fqsf-58IZh-gr3UMUCTJ2KNlzKR12BHEPaF20rUIRXpnk5KkVUDlRqVOrajo62Iz8UDImDl_uyDDTKHPuDmbTcqx_-9I_ORkdCCZWXq944BbzTsy1fPQpozKsZ_L9Xagfzqyb8A5rqfw2GFPDwl0-2EOOgwku09T_cqFB1Pfs4mCMRk2BxmVXL7MeoU_gBUeVz93SxOGwQCsQqXxDPPJWYJIZtEqFnrCbrchjjS98avX-4iUn3hFLRWuZkn1oAuLRTC-BYdBwuvkOLeFBiwyaRw9kE_BT3Dz_-OXKLDvvpebIMZX2olVRVEBE4CnVDmruAHqK97noRN6dedIyEfCfUAumblFpCEvLoWZ94MEmUb0skTehl73Y4rFxHB4Kgr2mw1rVoxEtfyQteieNAj8pIiAKesaHY3bbOVA2QKx9vZthHKIN8B58NOon5zCTC8gjRuZQnErHWgAj5m2v_KhT81mour6wJQ8zXjXeKz6dEgiaYCH3akj_1Tx2nZDDDIbZjFKl7pgU3W76mFo9iZYHcZxe9Vv2722dzgQi6MNuAgt4ImGPJse791Irlb3aOWH7s7L7lUvyjYlXIBoWWeclMFBs0-I2GJaNdbdNitdnbt_tTQEfNsbof4eWlrgKcChQ72ACth5gItroRhh4aQBTeeMym6_Ni7Blkb1TlCImxDql0yfM8BLipFm-Syvz0FEjqxSxNqwGMo5SJs8Pu_9MoL8_ktxHAyXqa55FmHTcvhmOkNuNUgChYg4Rh79RbH7jqhgka4Gu4hDDXCZPA8E8MTysNuLJxQktEu-rIjuRwXTN8c5qQ1AasTKkdX7-PMs4O7sYMs-EO8J9qAKhUQweMdpsM4tJpJDjU5FNrTUyMtyV1YgpLMDN_33lpXNiYXAUd1FLqGIKUaNcvI5gRGF9LoR7piW3N8A-bJw1EnmvcQP_I3L_PCafeqvgrM11y44=",
  "id": "rs_0dee64f939ab8cd8016aacb9cfc61487d0a92ae793a82f0e3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.58,\"right_y\":0.235,\"right_z\":0.26,\"right_pitch\":0.2},\"note\":\"With the arm moved aside, I can see the vessel’s open neck well forward of the earlier grasp locations. I’ll approach the narrower neck at a higher grasp height, avoiding the broad body that was being pushed.\"}",
  "call_id": "call_4euRJcyqMrlADYfxoAN8VTIu",
  "id": "fc_0dee64f939ab8cd8016aacb9d502c887d0a39454e5090862ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4euRJcyqMrlADYfxoAN8VTIu",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0605, 0.8333, 0.7048, -0.4553, -0.1047, -0.0898, 0.9969, 0.4984, 2.1078, 1.8931, -0.2962, 0.437, 0.0921, 0.9962]\nstate[eef_state]: left_x=0.2991 left_y=0.004 left_z=0.2002 left_yaw=0.0628 left_pitch=-0.0182 left_roll=-0.0073 left_gripper=0.9969 right_x=0.5682 right_y=0.2282 right_z=0.2329 right_yaw=0.0782 right_pitch=0.096 right_roll=-0.1196 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.5385, 7.159, 1.7216, -0.0952, -0.0806, -0.0122, 0.5402, -11.9043, 9.9077, 1.9121, 0.2857, 0.0659, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32fca1e1da5e1558ce39dc65c144dcacc1f61a67535d98fc505eddb7b9ecef8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:951347aa6b4a92f096b64e150596d81eb65da6d85f4b62bf69f9ed0da22e29e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa59ba0dd32224b490b644ee7f0fab1cdd1070b05b8aab7103d8f48b572d9878",
      "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]: [-0.0605, 0.8322, 0.7048, -0.4557, -0.1047, -0.0898, 0.9969, 0.4023, 1.7424, 1.8557, -0.9489, 0.2832, 0.1719, 0.9946]\nstate[eef_state]: left_x=0.299 left_y=0.004 left_z=0.2004 left_yaw=0.0628 left_pitch=-0.0175 left_roll=-0.0074 left_gripper=0.9969 right_x=0.4435 right_y=0.139 right_z=0.2818 right_yaw=0.0589 right_pitch=-0.236 right_roll=-0.0862 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -1.265, 6.9812, 1.6874, -0.0757, -0.0562, -0.0122, -0.5265, -11.3026, 9.5111, 1.3748, 0.1783, 0.1245, -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": "gAAAAABqrLnhiFDraATEuD-g-ojXSAZTW30YuUXuHusVoiVg59S_r5c3P-6PV0ewBS2lFBpPIc-D8B1hLqz41NlAMsYFalXCS-RyqqZVKL5K5US8baa2XvmO7NDPqqsKc2fAQeo4Yi6dZ7dy_8iuGe-PXFVr55k_5TJiiqbHQigbh3N0MSpUy6kX4XFTsZsStvgpLpFVeyQn8aQIl1DtxlwLFZOmsA73IosgwvfJ8UG7HgLBb1Ifp2sb8dwHulHOrVJEqyG36c8X2bULPlSG535qrHVdku833n2etzL6VU4rcYEjEQdqnAIaUXbNpGk6VX-O0ptYRS0Eaj3M6jERKiJD052ejA9LSOaTa21CCluVDbclWBftlp8q0PuuRd0399B7VjZ_LThxEfZywcR7MtPfKYHkU9NC3nUHu-pH3X4bUZsccZNTjIiQclaGfvAixy-0PNNMM_1dJjQUM-xRljtagA3qC69Zjx904QjlSb4-qQ948s8yJ6VzHbJBW9aAppsupzmnyofWMDkbgsrpgR1T6OAabfMETc2R3yN8ao-v6I6GGPxl6FkUrewKouhe2-3cydYhZSfywnMWumE5mpprn5D3JTtR1JgOcrUNH-G3_v5PHNtFbHFI_Kd00WkrPUEzbAGwEkcftHxM_xwcj38ezfsSUL4rTtW90XEunViiTDhDs0oZSBVlU7QZ8_v9mlDDJ2yiKQs3dciBPBidLz5BPt6F_UqR9RFEGOFrevMNVusFYJjx7maVdsvwLFUElcHO6rVUXfwUkMR5ZWBqQBLEd1R9fcLvAi65js0l9mSjyPjBLJ6jz2mkA_P3uwFYrRgX9FD7fAn5IvFrgY_uYGc1X9UxeEt6qb2YGuEE2fHPtYUM7OAz6qPaIBs7qNRQzrB6s3y8Cbf307Ly1E0XWhpBhN_kq0t-cRV02srJ3gI4n78aq01HE5tBdBeaBHpEsfphdqGsbT17BJvElE6IfxtLA56O-a-WWq_Djmw8iPnLfoAzv9dHwGy_EEv-9OvqVyW90zOUW_LyEV3mfOrNNpYJoFlRD1_Y87ATzWQJFORcq8A3O8mTWZ4XR2inqBQoQ4u5WBim15ShYX7-XocLHC8sYvvfnFtcIymO3GubwfpTB2-ZEVpdSdlsjSVrf0JK7iXvReq8Tv-Yr8REVjb32kAoZrk78LiYBFj0I_OhuKEQHMAhAOnrjQXKjSztXlhdTiDJjGkUp8okUtJLxmJqWoJRFnndcw3DPcD50qoXatgJJeVHIhc8o00oQy0g_8V9GvErZLRefDLg84AmzibNmgiXDI-A2J0_mQhIVgtAMNSEzmuUq50xpQSJDlt1px3NKwclkDF8cPzTwNGY3xSxruIQiN5FV16ffEP2EMjhB8ufjOrEZndOsnWZswN-WhnmSLXywo_KwYF9UBxjjnpC0vZpOVOtVS8SZBc6C2tB8YMs_d3Ku_SQTKojd9HCmpVzarELPDdcscn9C51r7Pb8WvVFkxoVG02VfICJgJo11UuUSDPm1FXGxro=",
  "id": "rs_0dee64f939ab8cd8016aacb9ddac4487d09c571e20bcd857aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.595,\"right_y\":0.21,\"right_z\":0.245,\"right_pitch\":0.2},\"note\":\"The neck is now close to the fingertips but offset to the right in the wrist image. I’ll make a small sideways and forward adjustment to center the neck between the jaws.\"}",
  "call_id": "call_v55Q0TKkM8Q4c7scqQSTj3Oy",
  "id": "fc_0dee64f939ab8cd8016aacb9dfd81c87d091e37607c0c5b01b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v55Q0TKkM8Q4c7scqQSTj3Oy",
  "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]: [-0.0605, 0.8333, 0.7048, -0.4553, -0.1047, -0.0895, 0.9969, 0.4534, 2.1269, 1.8744, -0.2031, 0.4068, 0.0387, 0.9964]\nstate[eef_state]: left_x=0.2991 left_y=0.004 left_z=0.2002 left_yaw=0.0625 left_pitch=-0.0183 left_roll=-0.007 left_gripper=0.9969 right_x=0.5867 right_y=0.2121 right_z=0.2311 right_yaw=0.0842 right_pitch=0.1381 right_roll=-0.1337 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.0462, 7.159, 1.6923, -0.0952, -0.0317, -0.0122, -0.4444, -12.465, 7.3231, 2.2393, 0.1245, -0.0317, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcbd6b4a33478928ae6bcf4c49bf4557d4d159d1c8400351454562a621cafeb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7253698b56975547195649a74f6192a1ed2746f05c3d94157b080263a3dded6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b5ebc022c8b9f66fa7ec4de926d67ea98c3eeb1fac3b28dabd7ba39d89a60e",
      "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]: [-0.0605, 0.8333, 0.7048, -0.4553, -0.1047, -0.0898, 0.9969, 0.4984, 2.1078, 1.8931, -0.2962, 0.437, 0.0921, 0.9962]\nstate[eef_state]: left_x=0.2991 left_y=0.004 left_z=0.2002 left_yaw=0.0628 left_pitch=-0.0182 left_roll=-0.0073 left_gripper=0.9969 right_x=0.5682 right_y=0.2282 right_z=0.2329 right_yaw=0.0782 right_pitch=0.096 right_roll=-0.1196 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.5385, 7.159, 1.7216, -0.0952, -0.0806, -0.0122, 0.5402, -11.9043, 9.9077, 1.9121, 0.2857, 0.0659, 0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLnlPzFMjmvDZ5ksrayYYl284DL3KS-kpr5p9mC1Lw2pYHDCdFBis52HyBPwKjWtqUpOpOhFQ6rlTXX5oeP8B7FcESa49uKkmPtE6EcXuheWUVAM6mTtumR1y4gCg_auJMrD-IRbv4kji_DxcdErAzBTmVn_TMx2h5dyhWjXGo64H0sAsZmFX0yuXzdWjhQsdnHtrsy1X_WWIbEvw8_U6qWmP6HwMKQFBpf8Rk79JPt9_wCG1o1Lfe702nTxLx24cvumTDefWjcKCUt6h-AvbeMq0AHidBmsX32vbBhOVsP4vk6gHX30hXrS-InrTC1fMB-72xBcZtu8fNZeQ8TTTv7x1kEAzFNFvrPnH_7QfZN--rl-HvkU4TBtc8h8EjYePf1XR3SVhtrvI6Uf4M9uEr7DZchkNqT9XfEeT8Wonb5U6dDUFMIINAt1HvCKyH23kNhiynDm96a-jwkwz6RvUTgaNin0LeW-pEAM5spkzpBMH19M_R7rkkzn8od3qfk5wqPhDGPt8vdyScKbdsOUTjmUBnxm5MCj_58EX7zJHu6yYRRjdv_hZea18DLUHRk8h5Kc_fvdpzebIdepgmuZmZnktoAWjO3lIEpqMte4ok3BHAQ7Dl1JxdLclcWlXYILYAoELgS4Be1t9q_5aFOxC5hkRuGb5glbKNWwjgcsvDuV4nqSY-dTkqK5y9nJ2dUFqpiglVCEaCGdX5z3Izqn0i3RIzEdCxPwdXdNtax8O1PtEE4cE6ELQwJeYvXewW03y2y_uAuC5x-9lXlFfqal9T3Kw97o6M2mVeapMQUmA36IyO-x4W7jYOfLD01ZocbJgBplIxm4sOqSXwX9UG_btUDfea5D0f9k7OEBW8nNHvhn4jLqJCCYtFPLcJtMO5N_kQE98VyCYzNLtv192nF5V78QIvW_p0KHxV1fiF9O1iRNqq9Dr_PPwQlE7s2XFHbsrUfx_eZ6kqbbmLV6RURrGurTlEe_Y_HSiPVrfiKrU0knpqdUFI7MWq0Hi0a_-voM-kgtBawfyJ4KnXxwF8HbwUepnPW3aYl2A92FH4kJfvMns9JJdFzCUSGRNJOfi8X4Dw0cQZJRBF_Jvq0DE2QBQGBEJU1LlwNdO5QmQ6yzUCA_nK2swRa_1Zp9VBRBiEzg5XEVAVZkMIG-M82FmhcxURt_n9Re0yJPKYmBDu5BcTstE4Sq89wgeX-FBB5vjBjVAkAisYSkkjzcR5LHmOgIQjJkYpipyD-8D07sOEQdit41_1k9iIMZNd2T91ZoKjULfPR5RaBET94tzSvjBq2TllJClz8a-btJS44ihRjKCL9cPpZs4jVOngQqzLEch6Q7mABX",
  "id": "rs_0dee64f939ab8cd8016aacb9e404e487d0b25c616f6ac4869a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The neck is now centered at the jaw line, unlike the earlier empty attempts. I’ll close around it and check for a substantial remaining jaw gap.\"}",
  "call_id": "call_aYafRqB3Po4MIXLwVFk6KdcZ",
  "id": "fc_0dee64f939ab8cd8016aacb9e4af0c87d096f184a1e9435453",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aYafRqB3Po4MIXLwVFk6KdcZ",
  "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]: [-0.0605, 0.8371, 0.7048, -0.4557, -0.1047, -0.0898, 0.9969, 0.4511, 2.1223, 1.8843, -0.1303, 0.3965, 0.0437, 0.3952]\nstate[eef_state]: left_x=0.2994 left_y=0.004 left_z=0.1991 left_yaw=0.0628 left_pitch=-0.0224 left_roll=-0.0068 left_gripper=0.9969 right_x=0.5935 right_y=0.2157 right_z=0.2537 right_yaw=0.0823 right_pitch=0.2184 right_roll=-0.0931 right_gripper=0.3952\nstate[joint_eff]: [-0.0615, -1.1966, 7.0222, 1.6923, -0.0513, -0.0659, -0.0122, -0.1983, -12.1641, 6.3248, 1.0867, 0.1587, -0.1197, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82da799ed0414f62a62e380d7132756637b64ad68c529d7f39885284dc46368e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567c56c7eec0174303a51c115e59bd2eef42e1083263454ef6ebed8763585107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd4399b4c54a66d967de102cbca5a0fc404224cd3eb33c14bf82069251aec8cc",
      "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]: [-0.0605, 0.8333, 0.7048, -0.4553, -0.1047, -0.0895, 0.9969, 0.4534, 2.1269, 1.8744, -0.2031, 0.4068, 0.0387, 0.9964]\nstate[eef_state]: left_x=0.2991 left_y=0.004 left_z=0.2002 left_yaw=0.0625 left_pitch=-0.0183 left_roll=-0.007 left_gripper=0.9969 right_x=0.5867 right_y=0.2121 right_z=0.2311 right_yaw=0.0842 right_pitch=0.1381 right_roll=-0.1337 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.0462, 7.159, 1.6923, -0.0952, -0.0317, -0.0122, -0.4444, -12.465, 7.3231, 2.2393, 0.1245, -0.0317, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLnqj8PigdVYF-oBayReuIQOPodsVwJ5qym4xDEkB0cr83Z-t7eC4puLtc7QI8kVmF4TA6L4ghMO20Eph77RM1nKwFYUubNgZVCZkSvt6mBCnDefNsZQf3OcrprHSF4IsFbe0oDGEuzcAxbxw0g2GdgjP3KPGFMBl1Z0ZoTQOjbydpS8JFRWK51enJC2YzDOYTulJZnLUpOKUnOmBxO9zEEITw_ArKZpAZhtIUWu1C_eMQKXYjSvkLqFTx_yQFEEbCHYGdg-MNS-X410YbcBj2zFkDWE29UpeYYg5WI7YLTBAHSlTNu5GFqJ7QClPPKhhYgEX5QLfeHPk0RBA3GWQuxLD1BCg0JGW6PFLeoq7d1RvapshHkywyoF4N1bGUGOjscx6Ln-O4BOPeAkSUGDwASNyeMHV1O60p2m0McqlT-TSHTM73xGM5bjq_orvBcRNX2SnA1Ak9ZZKZ9SFs_ywcieBoB9kEVewGE0KvuVg0vLmKh9pKzi44gjoOXdVaRp00IE2KJ6aBFv1wno1B3MGKqvHeJa7ePzWSmQERymoBQ8Fr4M1vjV5ditwcxAF0-iCAJocqbx5TLqU5x5c0UgjTSR0_YGhOHlfnv3aGi6ZPyvDbTPzt4AFUtl0PAxFyvNpdsO4Pa3TFC_cP2lBfBjkSiUB6THRiQ1N1tEFk1iHpixN8TZhPrwCn26ZgQTyDPUCbeu-Pep88jU8FP1hXxsE_IZqg3gwXZXxWSNxBbyRotMiKhC9ti1FElOZTMcRj-oaZ1yOj0VGF4rkFXIOF_RyGxmZiQ4B_OD8hRaipZ063aZWIMbDQFB2K4Ra2lOsRaopehQHGVRSP1nbh5bo2mrTbrh-67gLgFrwumdJkpsyEQpA184YlN5nVO-2f7IO0EAQC_29cVTu1JsPOvvO1Mn7-ylDL7s1_DmsM4cKTdSzBSar5kGiA_bpV7NXnZMcwT7ktk15rIKP-GYrSWzuIHu6LGeGmTNRIGKM6bbX0U6vlvrjAm2oPSASX7-6z3Zczm2K85V92K_8_BnAdJvl_MwTODt3yP1ZBh85ccs7sdV9Z4XgWxnQpelGB07fUptWbGJnYXF4DjKf9PxL4EtWZiSi3ux7-PZHVGzLxlQsAyMTvGV9IjehRBfHVoSJWDPWupaKZZCzIFEkstTETy8USc3spJRvQ_W8Ixonjlmocky-csbcqXu_z8_SwEX2IMflhlo8lJ51nn5xeTWjNHVtGUTJVXxIg==",
  "id": "rs_0dee64f939ab8cd8016aacb9e8e23887d0923e9c424ac8e07b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.215,\"right_z\":0.32},\"note\":\"The gripper retained a roughly 3.8 cm gap, consistent with holding the neck. I’ll lift and draw the vessel slightly back to verify the grasp and gain clearance.\"}",
  "call_id": "call_sgR9CdxpcMN4dz0OMWTEWThY",
  "id": "fc_0dee64f939ab8cd8016aacb9e94c4c87d09a6cf28735c83205",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sgR9CdxpcMN4dz0OMWTEWThY",
  "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]: [-0.0605, 0.8371, 0.7048, -0.4553, -0.1047, -0.0898, 0.9969, 0.4751, 2.0918, 1.9377, -0.3073, 0.4042, 0.0448, 0.3968]\nstate[eef_state]: left_x=0.2995 left_y=0.004 left_z=0.1991 left_yaw=0.0628 left_pitch=-0.022 left_roll=-0.0068 left_gripper=0.9969 right_x=0.5735 right_y=0.221 right_z=0.2593 right_yaw=0.1052 right_pitch=0.1328 right_roll=-0.1291 right_gripper=0.3968\nstate[joint_eff]: [-0.0889, -1.4838, 6.9812, 1.7167, -0.1099, -0.0611, -0.0122, 0.4581, -18.0444, 11.2752, 1.8144, 0.3199, 0.1001, 0.7009]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3638619e7f9633a4343a3217ab5e931377470140a50950490bf1c6c4e1186db2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ddca9c3d45be5980d1f6d3708bb5393f1359a127ff8723f2c3bf0231fd812d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b864b253ac332408b697d8c1c008607443eec09abf2d460d5b64286b673071",
      "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]: [-0.0605, 0.8371, 0.7048, -0.4557, -0.1047, -0.0898, 0.9969, 0.4511, 2.1223, 1.8843, -0.1303, 0.3965, 0.0437, 0.3952]\nstate[eef_state]: left_x=0.2994 left_y=0.004 left_z=0.1991 left_yaw=0.0628 left_pitch=-0.0224 left_roll=-0.0068 left_gripper=0.9969 right_x=0.5935 right_y=0.2157 right_z=0.2537 right_yaw=0.0823 right_pitch=0.2184 right_roll=-0.0931 right_gripper=0.3952\nstate[joint_eff]: [-0.0615, -1.1966, 7.0222, 1.6923, -0.0513, -0.0659, -0.0122, -0.1983, -12.1641, 6.3248, 1.0867, 0.1587, -0.1197, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLnvn2qu7h9cLd_MK97s9h-F1SS8W_Ed0A-52lHMlzWgJ4sx3FMrQSqLmcTAH7pU7ii4Kw-aqV6kup580n5ScKl_xKOH_x6GhelOgi52a3IDg655nf2rjQ13_0pTAlyAx3hVJWL7oPkxZcZ8W-J1lzzBGE3CTekeG9y78YGUuq85FbRH3s4NSXJIL_CxqWBv8c3hnRiV_Zd0Z0INcc1n6pqKqLNFp3K2zl0SRiycZR1k8N_AzkxUbZCwFOs8bDz7Ok0ezxLPj2ihY0J1A3eF5IQ4c6RZqb5l8c0lFZCp0U99gVwFR9twst4pE3PhjTxA__UcSDT14HX6Mq9ZYmncQ4cyD9QVxmEB1bZEmrHSqGQyxwzMpETK_w_bAH5GpVPPUp6ny7w5W80IAkJTJN9fbwLozICxFe2cwvk9dAtMgZkqlyFfSZkBcV-Bl1-H30xxjyPpYs_8IykOmZnWE82U633tBygjkhHvfkZGSvE3QfXXmsE1wScjtBR5vsnaeptN7Q2pOaQ_njCK3X7FRiw6SENI2FpMtNNyj_N1iRK59g3RPfUwa2sYk1tpZONR227et55j-ZhRxYidGO-canLjwEEvvTOI5Zw716u7KSXW9qIj241lGyIiJCYYtYXY6_P1skq7hEzcUSnBo5034zNRfI-lLn2v-aRBhPNe9GKkJzk557mo9z8CrmYdDedPylLEMLgDoqbNXyd4rLqUZkyEKQp50f0Ls2iKgj7IG_8LzJCuPR4IjyrS_9SIqKwYwz8KaezcxrAqzXGNV9zf2EPox3U6vQhWNweTd1EHcOYrOcqzY9M-P_FwMhgaq3gDuGIadE7ut51yebJN183zd-uC7GVyubNIs-EInAnVWK3DN-mWR5PGp4Mvb4OIizRSek3Yp8la2NrawrC8ZrgPZJXYwiaVvTlhrFjdclwdxdES6Mj8clEJmYJuoeBS7nv3KlSz8RDMZNX6nq82N7iKDNIKpHqmhCxsJfj6eyQYk2V6O0RnrpeOuZIcfEGPraZjsXjZGIIPbiLqd82SB_2-SV_pIuubPM-BDfVHdxpMY5G2cgZrYZya6ckNqo6dj-mrzPT3wBPk1fqVL1JJ_6AJ3qmT63P3Rok_lWtfx4jeHpH79GSLor2sZurn0UPLeuFYPyg1NOPSKrPhKp5XLOMnmG7IjrdQ980tbaPj0xRz7uu4pDkpOoXvM0bAM3GbWNmmIRpK0CXEXlFM0TraXRErFAGW30BgHFgm8AQKSYeoacyasbvYPAwgawvBkvvhtIRoM41oLIFi0OFzmTcgGr51PUnOJ7iRQQ==",
  "id": "rs_0dee64f939ab8cd8016aacb9ed643487d0929c6c0413006a7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.22,\"right_z\":0.33,\"right_pitch\":0.1},\"note\":\"The neck is held, but the arm could not achieve the requested lift at this long reach. I’ll shorten the reach while lifting so the vessel can clear the table more comfortably.\"}",
  "call_id": "call_wpTCD239okqA3MLIK7Q9foUH",
  "id": "fc_0dee64f939ab8cd8016aacb9ee253487d0b1582782672db61a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wpTCD239okqA3MLIK7Q9foUH",
  "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]: [-0.0605, 0.8379, 0.7048, -0.4553, -0.1047, -0.0898, 0.9969, 0.5716, 1.8671, 1.8645, -0.5404, 0.461, 0.0917, 0.3981]\nstate[eef_state]: left_x=0.2995 left_y=0.004 left_z=0.1989 left_yaw=0.0628 left_pitch=-0.0228 left_roll=-0.0067 left_gripper=0.9969 right_x=0.4929 right_y=0.2279 right_z=0.306 right_yaw=0.1329 right_pitch=0.0719 right_roll=-0.1443 right_gripper=0.3981\nstate[joint_eff]: [-0.0615, -1.347, 7.0769, 1.7411, -0.0562, -0.0464, -0.0073, 0.4991, -12.7658, 7.9521, 1.7802, 0.1978, 0.2076, 0.3297]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dee08bc498e633eebcd71b96fb3af3dd5875e803a352b40c4f4de632a1903157",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29939124abe5762b71b20c3d3a160b74839181bfd9122b841360e13a81a28f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25cfad15d9492564a8975e1070464827d06bbfe2be8ebfe83c84747b9e6bbd67",
      "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]: [-0.0605, 0.8371, 0.7048, -0.4553, -0.1047, -0.0898, 0.9969, 0.4751, 2.0918, 1.9377, -0.3073, 0.4042, 0.0448, 0.3968]\nstate[eef_state]: left_x=0.2995 left_y=0.004 left_z=0.1991 left_yaw=0.0628 left_pitch=-0.022 left_roll=-0.0068 left_gripper=0.9969 right_x=0.5735 right_y=0.221 right_z=0.2593 right_yaw=0.1052 right_pitch=0.1328 right_roll=-0.1291 right_gripper=0.3968\nstate[joint_eff]: [-0.0889, -1.4838, 6.9812, 1.7167, -0.1099, -0.0611, -0.0122, 0.4581, -18.0444, 11.2752, 1.8144, 0.3199, 0.1001, 0.7009]\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": "gAAAAABqrLn_dVWuvfZn3j4scxJJmygypVo-UOEtaAdO2827NwmKqPnlPnFcsy6sTkJlOF3vK5jt8YSIxSyEvespRCU7B41n0L5KXq_mFa7l4Sl5tgAXQy4TjDoCDLc3sbCg4nnhu1tt0ispTsl-60_i-aD6KprqntycVYfT1gZ0xPQkmkwypJFbPy-dmwqwUb7ULQzBr-eH26wThjBE7mfkZTYaBh-Ya8KjvL-_GufnMge1nJWdgj-fxy9EAKUhCLUOMlDgwYBR6Gn8vEa2J7xQkSFk1W5uxcVn_39rWrj7IyvMhltekV11qz6Dfc9Gv588TlNUjCaABMm14lLBgZoun1i2t_4PCgF0S0Rj_yEKdKLlPGU0WPJN9qrqjxlSzbVHUA6vuleV3ZLszFwfYWJr3BjYFmBFifVmGBCKmH7t1emQ80EtykAZ3edyUcQlclM_NX8pVVH48HMgXK_Qra0HhN5w8vdngfcwwV0YdfNqIE2hEHuEA1UGHG55tWqJX8dSYcPElP2_hUH55_LRYYDDlUVFhuwmMH9jNK_AR9g7LoMTFweR4Fo13ySnFQnmw2TsWjrkM7-DRy0elmdWoPc3syZlxHoHpmG8w1rTmRe7JzphCYx073qcd77btjxWoB6HI8DP_r8k_3KEn8OCyFE3tWP3rd5n9S_zR6rn4SErghX7XOd7HKr3sTPytC-E4NMGFlyA8bdNY0ia-AE3GW1UOSXenNnU7fpKFeTMN3lBH1nnPXnkEzGhGzgeqvxXem0iEm65T5YCkEwPep_286kYQWDaA6xgCf0MlpTnhLoaO8Ty6LSlxsL8qf2C3Rj6OZtiESBvH4iHzrZZ6JW6uAhqFbL0ykdos9kqfaROd2cXPDOxAP9-jYzlNO_0XpcLcNBZTnPaBremjsS0yQoV5KsrDPqGvdCimxuUJcVvEG_J2_1yeZ1Mldtxmi0K0Jlg5EK-iwROu5NUbvGTJhETHErdDw_T1wW241GXsjCXnUb25eOcDqORkW4HTSm9lx2JWCAhG8TAwxLdGTAIebV1NFLd6tzKPNzNMCMbE_K1ypkL1Njz7qh3Df1pDIzDCq-q0_fSVsNWM-60zOCuWAx3UZRueObvKxU1wKvJ0M4IXtCXdhStdQmCFTOV8juuZTD-govGHR-oHc8ODcr1wVHjNQjtjqRUReHiEPmA-DnuBS2EqQVHqQJqOewB2zsekVcm9OWNRUduIUqyUDL0DNp6V22Nji8QCGY_Vg9YqL7AX2GpEWjLWgpWaoGPUaSzAvQWMilfZNfbL6_p_5rBoFYcahKCMfHWVvm1YatV3LLsMbRycHajSRgHz5AZ9VMZ2z02NtOpp__qVDUun-om8oX23M44z-vP6aHru89RRCD7a5K_CJescOz4UjfZLF9Btndnx3TdKTAabALmJl8KWR39JuFfPMq4dADZJaFUp9HOztLxN1eNnYvMKKVjKh1SLUSb84wADVRdzsC3Ftu_0b5hAkQStsDEbDuGIpiE2u9kCdY7HsU4CExozrL4bO04ZsWjr8G1pCXPvVJaBlFNvKEb59ZxtITf8EjRt-wno1DWvmbxDbSBQdQtU3ckE1KYGSR_nJ-VX34_tCAvv2KxfRN90kc_q4eF2vpq0e118dpP16h4_cK1dn2ia1fRM4EXP2wIJII_Vd4fxQD6pvuP4NqDDZ-MNYIa3EVOX3mBU-tZce3j-VVFXf-h8jB-wTID1943Qsw8o6XVoCIoy0X-9hgu78ROr7vQwu09epBDzVpARSjyDeRvoKQdfs3kcTTTldq6dQeJd6xP21qzUCw9OY35VJw7S446jLUya6QD_07l0amp4U2X5f0ByoA5kIrgMjH8_OglPo5_KYd7E5_2vRTxw_Th7_1ADqXD1go4LnOA3FIZ1CfvUtPx39OfvA1C2ADwjPVeINhOkpZsojr2OQgR5hDYgisOhBhL-8uypjHCIpdCOighikmoe_ChUCSv7nJwz4Ue5SGa-5UCXtyuOnTM1FkODr6Tk57s9NtTa88pq9JqpRfFUITNOKfVLWQdDGsp73ff1HqA6pMZTnPF-SuZXVfPa7D9jNWfYQxb2q6HR6iwlQYFMNLiyimrIxaj-ztrSg7McZJ_gvCOv6xIDBt93TQpyp_Fio-lmG8KoT2kox7HnnlQWiA48ZbHGimPY2IbM-hn9-GMkdJCllg3abthYJl__4_-BKNIMIRKwyUPD_MICOGomuJpIDrtaopT1eHTIqohT8xabjYCNFP1Pd91BtnvpfF_Lii1tD9-PmZkCoK_AgMdRnxwKVTDKPX5YTFmzD4H_dI0A21FF9QOTwSnTAHUjQanx3AhIbL9zmKs3IYE303nx86I6LDSLTbrRemQn4-v_bRxTiF0by5Ym5XV9TPzcyA8MjB3bkfeE-6ZBVFWJFT533gwuxqOJLRR39G2wmIFKc6XTMlsDmamwLiA9V7XK_zCRcYl40Wd59EgGBQoCuy56I8rxLIFd5ZQ-RePUE3M7lJ1z6GIjCLd69VJuxbcmtG-W04T4rdzk2DJjdEtB4Fn2w-NHzg2Qv_HWKwhl2XzzyqVtbYPzcacwezTy7bd4ycPXFvV7XZz-Dj0txIMFxcWAa4nN3ziFrG_VL3zZ6Z-yl7uJTCOhXEnEhDNeDBrx7Jw38AbVbDQd4Owd8F6wfj4ZLJ3v30X1hg8ei3-KaAAESm_FXpRNIuZ-msN3nJFYNaXjt2C8giJwI94QocU_fUsR5uJkh-6LNgKerc7TzpTnR1-R5VfQuRKnoPbvzBq6yKnPzhjh0wAb_1oebpo2C6OCl1PUAtfCagVAuavWezRToCbvEykShqWYaDGhidEtBWeEJsAJAjDE30Es0B-J9I2sRAbc4wMWd8NS15AnvuZR5veIViaNZ2UlZ0eg2cF7wsUnxv3vbEBVD5AwFovc0J7DqR7oeIaoOQf7q0sg2SnOr7dsl-SI-963O_gzaNiD42qu8xb8FiJa-mufkFpdJk0iKhLBtnilpb_an2SB7lhzmy8yNXZ7U2AzpPUTwzqZj8_JxMch01oIcn3jHvpqQgbSYYj1uXbgfKzOKbbz3vrcmMJRFy5GW5vw3IcOSJjYOKIGBUZ243qxXsS6tMT_PV4LeKruGwlB_BYw2tXz8gVKRTnbneLSqCKy05dQnUz6ou2MxlG2aT7LwhASqO53OQ4C1ZFdi6CxXcvbvmOF1tta-NPB4Dj3wPFwoWf5dVeKdubZV3e9Mlq_XfYdQA-o3XHOjgvhouWPQ3em7vN_637h1-XBZ-zHMI_CWzL_2ihnKDdEzqEarH5qgomagWV2AYP8qrTtcFB6FDPC3UmdSA3gvyy6B6xHuWpuDvhL05EKbGaNw-ZGX6VNa_Fo4FEvYJK-sV-8aqHc9OzFiI28tgMVC5ACDnEgq7HXayMsnhcvyd-DzysKPG5ieUzn6wmtSASd0Hx0bWtfkzX8xFFogOALtR7nBrb6RiWyJM-EV41TAakjgWE2RGU2dCEyFu5X5xK_8_siKQLU_-GIqOYcBkveyIEgAiWRs-TzvBTPqRZ9CoaGA1RA5SdeLwy8T3KT8SLgchjVV3Q1UYKS1SJsBk7fL9SuK1jrsftLaWktlOHXDRu547KwzN_MQ_2QnjaFAXn5fKd_PKzLDs8sOwBAdazKy-hgf1f",
  "id": "rs_0dee64f939ab8cd8016aacb9f2057087d0be52ddccddd2c58a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.09,\"right_z\":0.33},\"note\":\"The right vessel is now lifted securely. The red cup lies beyond the right arm’s sideways reach, so I’ll hold the vessel clear while the left arm moves the same red cup slightly toward the middle.\"}",
  "call_id": "call_JB31lbjVi9lHleTQoIfOtDF7",
  "id": "fc_0dee64f939ab8cd8016aacb9fdf77c87d0ab85a17f9ec87b79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JB31lbjVi9lHleTQoIfOtDF7",
  "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]: [-0.0605, 0.8387, 0.7048, -0.4553, -0.1047, -0.0898, 0.9969, 0.3275, 1.3666, 1.3972, -0.5705, 0.2588, -0.0265, 0.4009]\nstate[eef_state]: left_x=0.2996 left_y=0.004 left_z=0.1987 left_yaw=0.0628 left_pitch=-0.0235 left_roll=-0.0066 left_gripper=0.9969 right_x=0.4075 right_y=0.0945 right_z=0.3143 right_yaw=0.1192 right_pitch=0.0324 right_roll=-0.148 right_gripper=0.4009\nstate[joint_eff]: [-0.0889, -1.4017, 7.1726, 1.7167, -0.1001, -0.0562, -0.0122, -0.212, -7.3231, 7.3231, 2.0586, 0.0757, -0.0708, 0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ddd762b65e7a98461f719194fdef7bb17e650f6f436051995a27500c921cfe5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbac9175781482fdc0c597d383a2ba98ada2bd3dc6defa4839d9c7375339b9db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e89e4493823503f1a9559538142e86d0cf220255c2c98ce5089e559dfc682d57",
      "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]: [-0.0605, 0.8379, 0.7048, -0.4553, -0.1047, -0.0898, 0.9969, 0.5716, 1.8671, 1.8645, -0.5404, 0.461, 0.0917, 0.3981]\nstate[eef_state]: left_x=0.2995 left_y=0.004 left_z=0.1989 left_yaw=0.0628 left_pitch=-0.0228 left_roll=-0.0067 left_gripper=0.9969 right_x=0.4929 right_y=0.2279 right_z=0.306 right_yaw=0.1329 right_pitch=0.0719 right_roll=-0.1443 right_gripper=0.3981\nstate[joint_eff]: [-0.0615, -1.347, 7.0769, 1.7411, -0.0562, -0.0464, -0.0073, 0.4991, -12.7658, 7.9521, 1.7802, 0.1978, 0.2076, 0.3297]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLoE3aQVTOvxm0kW7z3V5kDjtn1ueZYZu0X4iYkroqWBkMAGI7pfCVGedMWwojSF_3hsf8Z5y4lviMJ7D8pX9vPLyr1R8lOWbOiaxXNa5e-gm2z2iuxT7FpeOdu8OAqPg7IUKPIuRLIiJxE6y-49a8LfmIJaWdO7uXGVOCPXubJpT7YAyVPd5rm0tUrSlUEHRPmisN32yTl1DnAPuO2YAqOy8T0E2vqWGZKowpg9_jJfuFDvvfu253rxs2TSCaJrz4_sRtDat07zTL7pLcbV64LdOhK3IU6EfSa1pGCRoLEec1C7m0r2vG50p71WHfEmqGeB8lmvlSKkSKob08XWq2r6EPS5O4BztqeeCsl-UPM1z91JLkKRwlAp5kPqoni00XF-zo6wZSKJyh7Uiuweotm-lcZghYEv7Uc_XKaXFQGbdeCuiDQEdxlxkJrbEQavyBEyBfY9f8J7YtAAJPl_Ks2X0hTvHZZJSuctrjPElAUJ1ZZhUxEb5dutvvhIqE-ecP-PbppZYxm3jLYOsTO7fAs0oYX15QO6chlU_qSTFvNAGO3_yXQtb0qNkzvk5Y03FAv0f2nbhlBhGOJ9V6UcjnR5TwkwrOCGaOsMJ4qXs_76FnapxU1vqbcSgp_UMqkwqD1DmFFDx--6v5qz7__8OiPjdad6c7X5FTXzHNwcl7qaQ3oyOfuKZDb2Z7j_RD_nfcKSk8NHdpUiZTaExYk9W0_AOEwmJ_V-VIuNhbVagMj_sPERl_uzfwZsaO7Z8OJxNBGsHNL_JyDojSTaEU6U9_vp_Hf0gzV4Z8lpjeF76zcYsVUKmaHPJkRGyeDbnWHT3mvMsN8HJuQNTx-6sHdDvhGAzRcd1xmItiYAUfCR6qbsS9fUFOKVfQDe4__b5FDi1DgZjWHvLKxnRSQSUKq3O0Dkb3IzTecDwEH9XisrCY3HZiYETZ3i8scUGnCkGUf1YarScXrhDbXCm2aRFHd0J9ZU-xWM-Z9qlnCAbaM7N31Fd4usk_X0fnL1R5PH-YGP_CsjyZsz-UbRQsNhQ32_4tYd7srsSyRFA99IEyktQqVJ7R6JcxbBirj7GLd4bFNdDpyqIiH0s2yyxPHTSZ9suqMALjNiBmFWSPaiI7AZJMxtxlWJ2HDYAx8hCMoGww3Tm_zJGnu54XJUejF9SeTc8q_4cEjROJKABAX0210DCHriz_exckzcOXLkdnXSVwBzZgcysPL-iP7zeQzHzJ8f-3WAJQ==",
  "id": "rs_0dee64f939ab8cd8016aacba02a6f087d09ec33a16c4ed4b6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.145,\"left_z\":0.19,\"left_gripper\":1},\"note\":\"The right vessel is held safely off to the side. I’ll approach the red cup with the left gripper, keeping above the bottle lying nearby.\"}",
  "call_id": "call_Jysb4XJUOUoV6pvLfg8T4HdO",
  "id": "fc_0dee64f939ab8cd8016aacba033e2c87d0b00fb3340762b7b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jysb4XJUOUoV6pvLfg8T4HdO",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3767, 1.9259, 1.5265, -0.2928, -0.3676, -0.3008, 0.9988, 0.3244, 1.3792, 1.3918, -0.5873, 0.2417, -0.0418, 0.403]\nstate[eef_state]: left_x=0.5285 left_y=-0.1369 left_z=0.1697 left_yaw=0.0798 left_pitch=-0.0761 left_roll=0.0003 left_gripper=0.9988 right_x=0.4075 right_y=0.0962 right_z=0.3031 right_yaw=0.1387 right_pitch=-0.0046 right_roll=-0.159 right_gripper=0.403\nstate[joint_eff]: [-0.6632, -11.2479, 9.1145, 1.6972, -0.1929, 0.1538, -0.1294, 0.1436, -6.653, 7.2, 1.873, 0.1734, 0.0806, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4b14481b2c4a17d500f9806a710fce6062e58cb6f7c3a3357d937207dfbc952",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96418ab67dcf5e102bd89c8a667e5dff312efdbde92d14b813b856f47fdd5c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81829a0aa58f698f608e86d6a2aab8d56ca35ad251d9c99f9bffb5a2de973f08",
      "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]: [-0.0605, 0.8387, 0.7048, -0.4553, -0.1047, -0.0898, 0.9969, 0.3275, 1.3666, 1.3972, -0.5705, 0.2588, -0.0265, 0.4009]\nstate[eef_state]: left_x=0.2996 left_y=0.004 left_z=0.1987 left_yaw=0.0628 left_pitch=-0.0235 left_roll=-0.0066 left_gripper=0.9969 right_x=0.4075 right_y=0.0945 right_z=0.3143 right_yaw=0.1192 right_pitch=0.0324 right_roll=-0.148 right_gripper=0.4009\nstate[joint_eff]: [-0.0889, -1.4017, 7.1726, 1.7167, -0.1001, -0.0562, -0.0122, -0.212, -7.3231, 7.3231, 2.0586, 0.0757, -0.0708, 0.2808]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLoKBR0r3YNPhHA5lHL7eOCEhp3xRURz9KNAbjw6yF2TrhqBgqwg4iGeMsicfT0t_FIqnnjLihTFR76fOvbU-uP7dcbW0GbLAEbL8ESDs4911LEcAZ57cnKzD_26UHMEKNnBGIZUJdz-88c0JNEs-cH7krhS-GcZOfsFQJy5ps7F0E2lj1aluNTpCUPrAXMSm3untPsQ_VopiFfM9m0BUMJpfRnlK3FqLrIm4vMCmadIjrr1xvcOJILWtgXOxZq5Ka0SPYI26AyNftFPUsbWO0FerR_hlokKgpVkxvSunWnxqrIo2tIXRQJI-ZvHE2pQz7VCKvL6CFATtGoFoJhsjDwEQB292IbZyH3tD-f7MEEuCw_iygrMGf56HiyvSt6WUumPc3t2DgXeFWUardq0oXJk5lc15EA0rb55Jk52jM3bMQTop68SEeGLko8BCYrcJtd9mK9uWzAaSvEno6P_lPoy8DXTpaw7Bj4IobrYKxVtZgWZcYwWyGUzP_Jm3zDWgHdrYepUvRophCeDiZQ5XsOfjfdcwX-wvkIhkBLAu7DzlUPEovThTDDzSBJfF1MqzTzBICUQoR-dirBCOZTakFdPn83VuAxnUNy8tvxuAFHJoKSUheHrhbke6MMrzPZq9LXncwJ4kSdz8OZuNnv5A2_ibZA3rBWBdTf4-X55OUNuPpqMbi7OpiL6YKP6LGJuo-ZQMvocP6PCigaaYA6fKURd2eXMAnfwnBF1NX7KZLd533AUy8goyn6t3TUfTjsSGwSuvAUp3JI1rvs5Z6MzvfewFweMXth9POeGJHcKYSI-IjlWllWpSsezx4YaTNBTttKjcUMDaYa5pvl3IwsJHq7iHMD1ye3_U89leUnw0FIWD_L_iclocfwlTK3gtFnOh0va66y5FGGXITfYDjt3fw7c4S101VcDsV8oUTDX1aoAtaUGvNEElfH7rMIDz1KW_XDJCAaHgcViU0-vupKhVI4znbFHLcwFZRea_-_-EioS6CbCMqwzvABFipS1zyTxG0MP0yzwfG2bMVIsRwBcxEF4DVHS6NTe2xuUSCcicYN8LsOqCmBK4bmuSMxETwEr_BAd_b7FCAjbvtjgSSa4Ubp96VZNAyzkE6A_BKNf9h2L4AjKmNzcj8MasbOv00E1VqfDfBbYLfTwxhtQzJYd3r_2b7iW2M2fkRjUu-l8i-nhD1-wvpi0qDZtEoHj28fQKSz_1KEi37uUIxzZPomlfE-xB1N2BWSxaB61crGAT74J2qYINDRaEnMCNSZQO-itb2soLuCCIMES9s2uwsPb1mH-nip3wnY3-vyQOJbEg7suNdyq_1rrvE3fLv32MQ0M0lLZsoZdxproQT9wxXgoAI_jAL6z7VMaNdeY2cgy-52EwwJWV_lqDK5wnndKhgxiPiUVsM-lIjnkguJgJ3VLftnNr783_UkCKdK3r0GhOefD19GeereNU4njv0kfO6mxOjp1",
  "id": "rs_0dee64f939ab8cd8016aacba08a45887d087a0ea025bbb6503",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.575,\"left_y\":-0.145,\"left_z\":0.095,\"left_pitch\":0.15},\"note\":\"The red cup is centered ahead of the fingertips. I’ll advance and lower around its upper wall, avoiding its handle on the right.\"}",
  "call_id": "call_6smg0CxEHTgHOXsCq2yOOaqo",
  "id": "fc_0dee64f939ab8cd8016aacba09b6d487d0aa7ff4e09db539ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6smg0CxEHTgHOXsCq2yOOaqo",
  "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]: [-0.3717, 2.1262, 1.3724, 0.2642, -0.4248, -0.2592, 0.9984, 0.3241, 1.3811, 1.3918, -0.5938, 0.234, -0.046, 0.4053]\nstate[eef_state]: left_x=0.5709 left_y=-0.1406 left_z=0.1039 left_yaw=0.1116 left_pitch=0.1191 left_roll=-0.0271 left_gripper=0.9984 right_x=0.4069 right_y=0.0972 right_z=0.3008 right_yaw=0.1469 right_pitch=-0.014 right_roll=-0.1599 right_gripper=0.4053\nstate[joint_eff]: [-0.1709, -9.935, 5.2855, 1.453, -0.0317, 0.4469, -0.0562, -0.1026, -5.9419, 6.7897, 1.7509, 0.1538, -0.0073, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58aad2ba24c80596e45e3d5be90e8ffe8e27227b2a4a41e39b0b98c9b1268b72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb594375e2be0ec199b45dc27947041c944df3ba13fb6ea9ee7692e587d2103",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c9f728c1ff4972d60db1778ecbbb549ecc66499a52469d94fe95a55791f721",
      "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]: [-0.3767, 1.9259, 1.5265, -0.2928, -0.3676, -0.3008, 0.9988, 0.3244, 1.3792, 1.3918, -0.5873, 0.2417, -0.0418, 0.403]\nstate[eef_state]: left_x=0.5285 left_y=-0.1369 left_z=0.1697 left_yaw=0.0798 left_pitch=-0.0761 left_roll=0.0003 left_gripper=0.9988 right_x=0.4075 right_y=0.0962 right_z=0.3031 right_yaw=0.1387 right_pitch=-0.0046 right_roll=-0.159 right_gripper=0.403\nstate[joint_eff]: [-0.6632, -11.2479, 9.1145, 1.6972, -0.1929, 0.1538, -0.1294, 0.1436, -6.653, 7.2, 1.873, 0.1734, 0.0806, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLoQfjCYzoWhtN3FwZa3TLogopP4MNjdt5wC0j3_KBR_8uXmFtjL3nqCcGJkrVbTT5ocluoEBq_wGITu-t5fBCnVH88F_ZSs4gUlrw6blwlWq8pfPaYAIngVUV-34tQXQHLwVGCVf66F-Gu3t9sXsSVRq-MRBYzyVm3Mv-RDAInAXx04mwve7yfmu6Dq4HfHUqDQ1Dgu0jq8lrKzfYOoePpm1xw9CLzZpoC6H3hZgH2oaqs72MfTOn2ODeQQtbQQqLeiHHo9Fp7R6YADotdci6cdMec7BAPTLmX9LvnTjYTxNrH6jtRCtEUKEyv-yiwLFsi9yKVsGSxpjMM1CeNS0JbZgvc05W3yy09S2aRFoKbFppLOnDbTi3YHzadf7huCD0RhBN8L5rLV6KOQ_Cq-Mil4WvyRmKd3sy7Phl6ApIZFhocrmOvCQHVVy1R_7-GoujQFrkUjHc__OmE6rICSTI-CbBIRDHEJcwcuIQlAZamfHDzvwN7bIaqDvRB7LDQLIRMvYC8DhrCLieC4e20x3d3rPudb7RczRPYo-wZJUmlg-RkhZ6JRnFwKjRE9ZBa3vShCZMjDqsKOAA2U8UWXvDQGlV-O7Z8PDgkdMNFNI8gFC9eI6emZWYz9OKPNOy0ctgoMxyfdu4NqJADlAnSRJGOkCZrTo-uHXkA_q_x5SkUsOswbT5AxNuWnFKa9jZ4kIL4bNLTC0KiOH9h_Z96a7yKJwOzSnJ-A9CMQlEapJXGmfJPq7p2YwcpaCedFRL1OxYrqzFhv449rDGIO2f-pyLzPJAmZKLcaHUNmG5AH76mB-YG9oQAIhSC6kUCquT4d1IU8cFW1BYybSi2dhuTLC4yqYoUbQvWlyX6hsERbKcCnm21C4j6Hsq7ZTbBbVkQUrijG7QDcwXxe_tOp0rL2vLcPO8nuWvUlDv32f-WB5Ko7eHyYxDUuU0-JgiuhkmecxnD0U40dX5eYesSUa6naYvW5Tcx3HO5N8YDlYFH7uvqEvWSu34Cr5f7Z4Sm_nLMh6gFMePIe6d41fZf-u0nLeMdujMV5Spd8Exz5-29F3TqUpITBAM_vzG7bzz8WMq1l8wQIp-iVP31n2fsLDZM11hxpnSxS0QDy_IjTBN9jff9PrBX29nEuYYGoJlI4Rb4Mkes-ohA4KO0nupGgNpq7xAvw9Pd5hoAuuAjrbkUmIfQhjB5ExPz_Hd3IFAGkDNlAfe5_QQ-G6SkoG7SWfY0FNearNgsPc1mObwfFpGZH0fYeerUDBW6hLVAxsdn_2gT18Ot25pJ6P6A0hCVmwGa_xIDgy1HzMYGvWCuzLX8cvjsP_dPPMIPgqq-eZJanyPIMpQ4zJwEO3Dh4dkpv8hs658WA9BlQfGABIywoDo-QC7jaxBgSaOuVth3SVQtusRPxzu75",
  "id": "rs_0dee64f939ab8cd8016aacba0dbe4087d0adb2be7e636e6dc7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.595,\"left_y\":-0.13,\"left_z\":0.09,\"left_gripper\":0.65},\"note\":\"The cup is slightly left of the jaw centerline. I’ll make a small correction and close gently around its wall rather than squeezing it fully.\"}",
  "call_id": "call_RTEbFIXSgkhHwLth3tBZZ8CA",
  "id": "fc_0dee64f939ab8cd8016aacba0f4a0487d08b91fbfd360097bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RTEbFIXSgkhHwLth3tBZZ8CA",
  "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]: [-0.3313, 2.1887, 1.4227, 0.2993, -0.4202, -0.2646, 0.6543, 0.3241, 1.3815, 1.3918, -0.5941, 0.2302, -0.046, 0.4072]\nstate[eef_state]: left_x=0.59 left_y=-0.123 left_z=0.0967 left_yaw=0.1525 left_pitch=0.1383 left_roll=-0.0446 left_gripper=0.6543 right_x=0.4068 right_y=0.0979 right_z=0.3005 right_yaw=0.1501 right_pitch=-0.0151 right_roll=-0.158 right_gripper=0.4072\nstate[joint_eff]: [-0.4308, -10.7145, 8.8821, 1.5263, 0.2222, 0.2076, -0.0317, -0.0889, -5.7231, 6.8991, 1.7216, 0.0806, -0.022, 0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4143b52c584c6b1f4ff79b90576bd0cf62cb5f9244a8e51acb9720ad25025db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b9ac757aaeb90bf4f23d9fcb93834e304941e74457d2855272cc628b10bc758",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80bd45349005861a81f2b7cc61ce0cf5bc401b9419e284f1b62791cbbe046e78",
      "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]: [-0.3717, 2.1262, 1.3724, 0.2642, -0.4248, -0.2592, 0.9984, 0.3241, 1.3811, 1.3918, -0.5938, 0.234, -0.046, 0.4053]\nstate[eef_state]: left_x=0.5709 left_y=-0.1406 left_z=0.1039 left_yaw=0.1116 left_pitch=0.1191 left_roll=-0.0271 left_gripper=0.9984 right_x=0.4069 right_y=0.0972 right_z=0.3008 right_yaw=0.1469 right_pitch=-0.014 right_roll=-0.1599 right_gripper=0.4053\nstate[joint_eff]: [-0.1709, -9.935, 5.2855, 1.453, -0.0317, 0.4469, -0.0562, -0.1026, -5.9419, 6.7897, 1.7509, 0.1538, -0.0073, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLobeA6M43sHzT-fnzCsV_4matMgc9FIk1QUOHphpAAyeUZE7zyTg66GSi4N9eHbgBJ8_-ijY75-xsvtSS5kKcsTpieZQoR8pjU1ktkfeuWKsHbnjK9cwbxHrZat6noyyCIsOniIuG_asaxPge_F4Ndtnnnn_XClg1e-GFXYIb751_LKwr_ddyoKaEaRGHu4f-EghRIMSS3HoekbjMXM5kqQL5koGeJlzx_ikJcvlfiwbTLDSs0etYzciriEqwMxxTeB3mas4F7E4LfVLxRj6JTts6kMLU5ioz33t2xU_zoNXVtLycUbfN7Ea94XLvu3CPEO-Fgc34QdLoOLuW-1tclN-KTx_0EnxgQfOM4gROuBPeEb-aRSBfHLg1NxJub6yYXQH1DfUvBAbfcBOnbW8jKHa1-AA2s_6C1zRKVM__IZ8QE14GGgbQZXXHCcVJ85hCiIVTpxgpUJxT5EyYTLvwsTCbaCJMJgUlEdyO2yIt10mxAwqJDjpv3l4imGwetOTxbPocDILpYaLGyXMqq1Vrgewhk-d7U-8hg5FTFa3xO5o5vS7CU_eA6b8t9NUMYXPUsgnZSbGra-GqVghpierOc6BXbVfgziRZF-0TJ5mo-n-sW21JjVCekVkIT0CRDP-fWn0unzQoxNv8SYkkH8T3Mi4gDELwK2goqpDCFE-lhYhUP1AwGeZVDDJKbz-YbUlLeh68OMz5PzurJ1LvvSEPKazlcAglWQVPqgjm2cVAhaZfPrNUEG0L5Lk037smtkG6hciIwKxqR58EHLapmVl6mCauPCQo9cAAsH4wbxI9BPDTy3D2Fz87UNDjD7DOBzC805TZTMEkhOLq7ihkdH3CnMWrxvwVM-rcvgfwfZpJP1MZCtrCOU3goc317P1bRW3NQVgzCC92zXQ62xH24qVod1e8xl-TYBmspn1FXIQJW3OMpIcUm-L-w8C7rNQ8wL5F0vztgpXMyCfik_hP_ZfFUiCS8McEVUpDf-X9CjFJeBaCWm-MrEbSOF_3YE9Hz1dAsCNx5qeJ46p0fg7BPmc7jMVljJVaHgCp8fNiactQ8nG5HcgzlKvob6xGu4lIt1qAEA9lpOBmfOF6glIVTK8U6EcrqQIXGin-gyBtOt_3H-el_Dk1wjFgkHAzPHdAzc08wia8fVP1Ace6qugYPGARlyGyz9p1PHsiLiw38bz-jHUo9cr5N99Wq4cowftVtL02nP98-BrsVDZhdR3YHsFju5wQPNlvO3luQ3I7VY1Lr7mU15g9cibZdMEOJshI5gRyq-Jt0ZFjXGqekRTPSd4tLAheDek4kdSkGyYK1imhrGn3vk0f-Jh4CmTIeBc54pb7xFkr1YQXdFc-sBGcwIkhFd6NN7STG2yGNnM4PKhmMf_tVHGDEUmiFh-eQmDVQlDyk7oWf6UQDFEhqxTK7wWaYRDXpSeyc7IjRLgtycWQBoZYmTJLnrfazy62WjcOPiVDZOz-DRdsL_BxK-siZ_B2uhsOMwKszKXL0n2BPWT33biRd0bE6Ohi8GR-9eTa-B22HhSWalLTdOae3NdWkKWAugz0kGFp5CcPMb94paK4jwawQFqSCEidpUG4UD1MwUPj4iaG_PbKlg1KZfFAmRqC1152JwdV6SaAQBCe0o0j1EFyZrLtljfXNM0VUUpXvBLU5t_l9_N-DhK4LhSP1qvyZstJbF70O-YAEgaGdFS9008QUMoNtBjJGIdtsRMup-5bgLp3Cdbwf0IKzUYc70FSMi4Lg1pEqOPGn8OnyClHY4aYjfcDDuSbRcrY3_D2l9LzbyD4xES-JaqM7CdwKu2DnhQzCy4bQ5VkCubaR9C976w_ScprOPCodjyAQ-Jw4nArq4iH_4stRF_3FlEwBY3-uoTMVoxpq6kk4oH3b2g3rwziZjEKwhB--02RAeF1nsFCTJ7eJlIjumpFfSoqTv4iUmHHRVLvuKbO4-D5MiDxF3PMFFw-qKo7-Y-qWY2ijkpSkcJwB54CbC1eexTHPWBVZTMckwRZ5Np1Lfdf6MKIIQDLFdw8ms_ARtGQkyZSZbNAXLJesvPKI4FuTu36010SgYE1qwH0kUvCGctYkS4wSJ-forrEo-h1xYoBA8S32rofDioL6TjfbLbXj_9EYetFnP9bDgTnVhH6LnXLxQKQeCJ6FlkYJxLqh4ezP432QZVZlcoctw_MVlrmuOyRydjzBZOA==",
  "id": "rs_0dee64f939ab8cd8016aacba13920087d0850fbbdf42a47466",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.598,\"left_z\":0.065,\"left_pitch\":0.3,\"left_gripper\":0.15},\"note\":\"The cup turned slightly, bringing its handle toward the gripper. I’ll lower to the handle and close around it, staying within the arm’s forward reach limit.\"}",
  "call_id": "call_6OB68YoYPctq8ytxB4v9RNcu",
  "id": "fc_0dee64f939ab8cd8016aacba1a5c4887d0a7b5728ccb00a71d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6OB68YoYPctq8ytxB4v9RNcu",
  "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]: [-0.3264, 2.2032, 1.4326, 0.284, -0.4191, -0.2596, 0.1947, 0.3241, 1.3815, 1.3918, -0.5941, 0.2298, -0.046, 0.4088]\nstate[eef_state]: left_x=0.591 left_y=-0.1204 left_z=0.0893 left_yaw=0.1526 left_pitch=0.1205 left_roll=-0.0313 left_gripper=0.1947 right_x=0.4068 right_y=0.098 right_z=0.3005 right_yaw=0.1505 right_pitch=-0.0151 right_roll=-0.1578 right_gripper=0.4088\nstate[joint_eff]: [-0.6222, -11.2615, 8.3624, 1.6728, 0.1587, 0.1587, 1.1551, -0.0615, -5.5863, 6.7761, 1.707, 0.0171, -0.0611, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b15495de9f3cb71a4d88c192dfe094d3866bce109cb2d0caa1f12e3dd1d02d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba2ac0a4ef9dc77d85fa35e15b2f25d2e690d64c3b6c5671e197965d118a73c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e692e0985545ec2ed0568038f2c82b9ed718fdc72c4b766b51e0e5682e9a73",
      "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]: [-0.3313, 2.1887, 1.4227, 0.2993, -0.4202, -0.2646, 0.6543, 0.3241, 1.3815, 1.3918, -0.5941, 0.2302, -0.046, 0.4072]\nstate[eef_state]: left_x=0.59 left_y=-0.123 left_z=0.0967 left_yaw=0.1525 left_pitch=0.1383 left_roll=-0.0446 left_gripper=0.6543 right_x=0.4068 right_y=0.0979 right_z=0.3005 right_yaw=0.1501 right_pitch=-0.0151 right_roll=-0.158 right_gripper=0.4072\nstate[joint_eff]: [-0.4308, -10.7145, 8.8821, 1.5263, 0.2222, 0.2076, -0.0317, -0.0889, -5.7231, 6.8991, 1.7216, 0.0806, -0.022, 0.188]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLofW3Xq3HsIUTTagLR5Yd2wRP1F1j6q2GUYDjDyvhMMxHZ-0uR7zFLRl70vg339_U8ntdwEjPGghVBWnlvPrMfGXWiLj8HPxZM7NW4n-HAY2Qi-N7GpiOpZvGIv-njPo1sQTat6NarlP--JdLNCLupqPjnAFytOwvVXt1jxFkmJRSaqA0we8cPuNShIWwrbkDx-fFGxyC0dM7smeDXm_Sozi4B4TTlrLhWSUaEs30yB_Q_A3_w83Ur8S5nRbjGFi_tptkiekcP8X1j2fb_PXHIPgRv57iDCcDfHPwM9LCsxsMvM2_sFjkegt5aOuIDikvgjdxVe2fdJB4TfP9xYBrV-shsmtGYSJd3pCFBTb-1V-VuZRHnAb2M4vhJWrHpWGfUXHPMscXWIR9_QNLlCTVR6wrTX7cjRwrikyvflLghcxAgW9aYNLKE1PitqqPRZXRSbWgix8y3giq46wSAgAB5t0DEmhwDXkme2igrnRfbqa6vMS063lNbpSAlyA8JHfctpheINpv6ajF_nS98apTx9p3ix3DJd18VvdenW7NYdk7dkeXiPENL-GGoDD7URDnUCMNmLBP9vYaE3PzyDYzdAkLk_94FwqyZbYpZ0uK5NTS-3Hnf1r5B6LOzOiI6S3utTfRfjhqsxE0U0u4ykA1XMX5HHFQRUWGUO62iKy0C6v0NNsgkVn2WKIr93xBbRuuFVjz6rsUMopQ7YrNTY--7cPLUyOex1gQRXHTa-pMfxqPRiNvvIkGhNlOCDSLcnc_q-34yKFfbq76K79LYl1bQBoVd2QbXBkLXDw7CxeLRqUBocHyGWJQiXG02l6NhVGAiC9pRs22z20lwW3ADjjsctVE12oPIOxVp8qP3gJMoP2w7rAwrKpVk6xPn_5uF4sLXyLKQwADOTwNiTiMdVQpPj2dBsx5QKvr2tyMQlcl2DDHzCHToDVaaUTPQd2VDmFOht37EYXodJiGwNJiSWPRD8WHci3bgqWyRbxfq1wRr4VUao7ub435B1pCXFlDl_RRYJ16dGlIT2T4yVyXhKSPbBCgnWNScdBecXhvytU3MsZ9LlcTF7YTVMwBAVBL9Duw7m_R-d1WGPQ_r_JKkjk2Z2VTAIrl9ZGvwMmw8KbDfde96ILmHAIbv5-35fOAALKgrrNb2aOyYxhAbOSZBRdA5zz8I7T7L4J57RIA0pfsskJExXmKKMzposVDzO_pZNHw9P",
  "id": "rs_0dee64f939ab8cd8016aacba1e25b087d0b630609fa46d175d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_z\":0.18,\"left_pitch\":0.15},\"note\":\"The jaws stopped on the handle rather than closing empty. I’ll lift the cup a few centimeters and draw it back to verify the hold while keeping it upright.\"}",
  "call_id": "call_d9ZMeZSoZ5CsR7bPuxsaXnU7",
  "id": "fc_0dee64f939ab8cd8016aacba1e6d5487d0b10a2beca6fdac60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d9ZMeZSoZ5CsR7bPuxsaXnU7",
  "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]: [-0.3367, 2.1395, 1.3945, 0.2043, -0.4316, -0.263, 0.198, 0.3241, 1.383, 1.3918, -0.5938, 0.2295, -0.046, 0.4103]\nstate[eef_state]: left_x=0.5737 left_y=-0.1187 left_z=0.0939 left_yaw=0.1521 left_pitch=0.0754 left_roll=-0.0036 left_gripper=0.198 right_x=0.4071 right_y=0.0981 right_z=0.3 right_yaw=0.1508 right_pitch=-0.0163 right_roll=-0.1578 right_gripper=0.4103\nstate[joint_eff]: [-1.4838, -17.894, 7.1316, 2.42, -0.2711, -0.0611, 1.0281, -0.1299, -5.7915, 6.8171, 1.7656, 0.0122, -0.0269, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0fd4effe2c4b0cfb3f7ca14962554f97dd2c7d14a3c684c7cceee2796a0edcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c25e8d139671bef8db203f8a72ab243ac337d3ecfa8621c74fc04cf056d8495",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aef085103b061eec8ffa15cbd7b146a4e92474f235dbf3363569e6d6fced3dd",
      "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]: [-0.3264, 2.2032, 1.4326, 0.284, -0.4191, -0.2596, 0.1947, 0.3241, 1.3815, 1.3918, -0.5941, 0.2298, -0.046, 0.4088]\nstate[eef_state]: left_x=0.591 left_y=-0.1204 left_z=0.0893 left_yaw=0.1526 left_pitch=0.1205 left_roll=-0.0313 left_gripper=0.1947 right_x=0.4068 right_y=0.098 right_z=0.3005 right_yaw=0.1505 right_pitch=-0.0151 right_roll=-0.1578 right_gripper=0.4088\nstate[joint_eff]: [-0.6222, -11.2615, 8.3624, 1.6728, 0.1587, 0.1587, 1.1551, -0.0615, -5.5863, 6.7761, 1.707, 0.0171, -0.0611, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLonBxUNIQnEBbFap0K4-F5oSUjA8nDQOkCO8IKU8Hw1xuY88k35SZtLLCUP1KwfUm_4RRbcF39bUOyjhTHKw9uPh8TJ5x57FnQi3zcgrzeLeqEEk2lRwAiKBHUSwpe-TwrBBCM-tqRt_KGRtGYUeDr-B8a-X2wdm4xAw44RLNtcIuqACOWm4IdNQsPSx8w2jytZi27slSjzyVCcF3hrMzrklaWkkgmhJeSdltKReOLpOpz9yzAGgknmBmmhiIWwK2zuGjZ03R9eTiAwqdW8_eZ3ipi91-Kkb8sryQBrMuptVFgtN109Tsu49sczh9WHLuD0LTrRNsOCiBKJGBEfTPIZJa75ywXJZa5rg8PQfAh0Ed3Qgw9jyHvGnBiVPTtM8SY8v5vsx8Q8wHC91lx-Gt4cONlugFrNXEkU4JdkDICPoFS_wzdEBaWA_YOlySYlqB-1ofmiZIcWmYz7TyqryUgbghKrWyaOIgrw_WlHodZKwatb_BBj6Z4OSMXPWgshf8yAJIqFXl7I6dWuVJjp7N0Clllk7aKUv1TUwzVGxUhrSYA4jOJ7vk7oy6r1HTkIhvd2lDhT1GZP6Z469vTFjYGi8beHIIlpyfKObIrtsK1nqnUdhv_2TXJbMHDXVD3s5pFsb2hMBdC8Q3JnUGVG-fdWNnRSWBahYCXQOuKRgHL0wrWl2PLXSakdv1qh-7jllchu0lGZYuF_BoOc6X-B4x_qCgkDwFb_dGeKlyISTBxZk94JAe-bd8srw0mzmv4kOppB-n6gNXTxR8MT_ggFuvj8jRjBbxvcYkF66GVm9fNvyiOiXVJB0he3dbwYcaBVIpJLKetK6hCJchclxrPZ7FzNcPKe1alQP8EdfjZHyuO3bWXVS5n0zxI1sBqZOuCQtaSxWL-LMusnturYUcZsYKz8IEnehCD9iO_jzp7yFWFLmI_hHYj7CFPYDAzrpqTYumrJUeboFsMyoQMh5C8f0wiqMiU-XtNSvxo1YKXbeKikED6qHitXGhVpZWPDedUM_SgFXl4ZqYVhwGStZ7-dewYfwSRMidXaolSEQ0tMdo09EWRv8h1NOSOhKd6MHypnlezuutCiaVw2NL7LY2CP7dNy3T38b9Sf4njdw-ac2yE_z2Qyulet8hCknLYyaqu4JTZhiSRwVMJ0CJy40HJJ8MAYpXoCFvDi1GhbBvazxFi4AYm-T7YL7zBFosNCfUXwTHL3jtGzJJV46f0CqZXHnFpYHdNMOC4Y7a63wCrDq8wFtBJDZrONyyhZlEEIGeT2AOP6Ijd6qKKWIxfLEPIKJVRvWP8kGqUfiSc6pNvKchog6qZ5zbP2e8YcqfPjThwk50Bq1qRHZBlItEiG_4c1PhUEcVQYht8eUEap0INrdwOWxq8yDroXspXZQG4YhzVe7D-JfwMkaACm0S_fard7-dydX4fB9wnkBRiYiSZwuF7JkVIPAfnyBrrQ5sKhPdgl24YrOIbe3Ohk_051Bj77V7sY-K2GFk9QSo_uqSEFT8puY3mxbohSxy-ng6xpr44S7CQkqveHpApWjzfurbZu8oK_EJvA5SQQJbVMo-kWgKdGm3E2VT15ztPGPS8RfVBjQR9KP5He8x9xwzYvGvrVacUKi_vWl-Ir7KgIrRf9nZXEny7NqpgnvvTJAEiqBZoYPKp8UdNaK1jon7bu--te5nrnwRXvsWiUbutW-quLRzFFrGGPu-zKdqD0cPi5ajqvoJtujF7rgjo7nuuqFU1iM4BzDCXicrNI1aq52KFMFQNNratazCmUmHaBkgEtUzp6nsaMchWFN52BhFvPeruQmU439pmkL3h5OWVeV6iO6BLG4_c=",
  "id": "rs_0dee64f939ab8cd8016aacba22b8bc87d09b97c9d783791ac0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_z\":0.205,\"left_pitch\":0.05},\"note\":\"The cup remains held, but the long-reach lift stalled. I’ll shorten the reach substantially while raising it, rather than forcing the same pose.\"}",
  "call_id": "call_MZz9cy8pZ80f7XLccXYopQbX",
  "id": "fc_0dee64f939ab8cd8016aacba262c0887d0baf5cff106631716",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MZz9cy8pZ80f7XLccXYopQbX",
  "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]: [-0.4164, 1.7317, 1.2716, -0.1246, -0.4732, -0.3161, 0.198, 0.3241, 1.3861, 1.3918, -0.5945, 0.2256, -0.0463, 0.411]\nstate[eef_state]: left_x=0.4896 left_y=-0.1246 left_z=0.1923 left_yaw=0.1334 left_pitch=0.0485 left_roll=-0.0091 left_gripper=0.198 right_x=0.4075 right_y=0.099 right_z=0.2985 right_yaw=0.1542 right_pitch=-0.0205 right_roll=-0.1566 right_gripper=0.411\nstate[joint_eff]: [-0.253, -10.5915, 7.0222, 1.8193, -0.398, -0.1441, 1.033, -0.0479, -6.0786, 6.7897, 1.7216, 0.0952, -0.0611, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc1823f76aaf50de809526c39950af29616739167464eefd364ed40dc588e4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf82d0dc1f6e1678bd04d11931d59cb5e0d53761643a18135bebeb8f618f5799",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:758e50590663857329f3834993ca94b893b126c2b517d4a6803e1e1d789ed405",
      "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]: [-0.3367, 2.1395, 1.3945, 0.2043, -0.4316, -0.263, 0.198, 0.3241, 1.383, 1.3918, -0.5938, 0.2295, -0.046, 0.4103]\nstate[eef_state]: left_x=0.5737 left_y=-0.1187 left_z=0.0939 left_yaw=0.1521 left_pitch=0.0754 left_roll=-0.0036 left_gripper=0.198 right_x=0.4071 right_y=0.0981 right_z=0.3 right_yaw=0.1508 right_pitch=-0.0163 right_roll=-0.1578 right_gripper=0.4103\nstate[joint_eff]: [-1.4838, -17.894, 7.1316, 2.42, -0.2711, -0.0611, 1.0281, -0.1299, -5.7915, 6.8171, 1.7656, 0.0122, -0.0269, 0.149]\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": "gAAAAABqrLosfBbMcYQTWanVQ8hbz82IUuY0AapUznx53PwoZaWeEWLtCfJkeKq38RhSQvxKeBO6xYSq4osUeSCpjrNE6WqnyHbfbU8-TOdNk8OQ3TATdH2gz-tNiDD23ZbnW_VW9DPxM3-bGbeMnLJWLSBo-IFaeKJyNSs92rKQO-ofzA6w8SlafqsScYT2rJPoiRnp9Ke1H2hsv7--SlvcmdeGhperIyLOkZz7_wll7S9cjEJTV6XSqLursWRSsEdhjzkKy25t0W-uiv2KulIQTnxq9xcvXInf7rqMdJ0K5ucXnGA-rgIRndQzI_u5hx7yxRi0D1peTjMsQ9kcyycpV3VY82FRsKIftR09aWUP72ZwT1NmhnSaO9wV2UfTCIVV9KmmZbl04Kyu1AQF64msxZsfIW3U_AgGlbNFabtp7kIWlDaHlSoKofJQdZqp8dpK668-0Q1Vg4SBCJn4__qdH-sQ_xinSVbmrrTpVMW5Jf7DYMs96OybBrwhfuiBjZuxwtp3MnBW37if7s8mDLS8v63LoteMEelJXMiEjb043BGF_UvJPoafRAKn96YyghkkeqaG-1-qlZhwLzJdzxRSNhV_7oO9k52pQUpStTlnfidq4hlKLLXa5O3GGmWXsBDqeLazycZmEnZVS7LwxIYwasJTOvNdSr0q7vsGETwgJd2Li7BuxJvAQiKBDdGIO4TUt3V9gAcjTBr-Ncfjf6nYe75TzpxSmgl8x3j--7S93p40ruiMOtchuwW_2cgUaxo5SOoBTs2iIjN6Tt1M834evqXootCOMT_mx-Nnyi-dJi0WgPcGme36AWmVSEddUbJ_5YhrmPXxvSQDYUsGpd-ot5-fCdskDIUoLKK3Vkg8_-8RqAF82p0mC7VNUHftobuLhiRUs839McnJXTtMQRhoRQ0KjnfAaDEtIagSbETHvpfevQUmIbChwwFIY6297Rn_PwQbwGy5nRhUZgShWIAYSvnf9Z48ihzkwZb98d1Nh8gChX8eXUp4sXD4ZYHdi0bOMVORhqkBAbzQUxbdgnd5i6HgvZKlGS6TzF4D-MPQCWFoLRnHBzwOIqnkQpqhFw61umuyW57PlVYIL95_dWnZjuc74rRYdm41v3w49pMEMuzjfyYOrVQpv-N6lWIW2q3Gze_v-rs3vkXJSMmbJH4x2cTv59-GaGmHDBOdASXao3ChnjzYYGuJa1WsZ75EgvubZ7TY8xi3MUws2oYLdBT3yxueuIpNky3PHDpmPVg9JJCy8BfN-m0K1Rz0GzDOipMDwCT3cLtoPKzSxEfDnhyxx3TgLUmwUKi7E8DVfuFV0Nls7f32twbbZ7waMmQMNo2LBtVLckYcjs8bLCs9a5sCF13KxrNkThsF73KLH7hfWuIpvHseJJMakyHqGPDT1TxIt5JzYc9Fbs2-jRP6RncevWEbZ1ATn489THimSyuzfWhxQkB0-Y8=",
  "id": "rs_0dee64f939ab8cd8016aacba2a6ac487d08c93e1018768e78e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.3,\"left_z\":0.21},\"note\":\"The red cup lifted successfully and is upright. I’ll carry it toward the center, where the right arm can pour into it without exceeding its sideways limit.\"}",
  "call_id": "call_Yb3HEdMtKklKcRMClnqt9KkM",
  "id": "fc_0dee64f939ab8cd8016aacba2bb9f487d0bdf25d6dac2901f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Yb3HEdMtKklKcRMClnqt9KkM",
  "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]: [-0.8371, 1.9888, 1.6829, -0.5095, -0.7795, -0.6521, 0.198, 0.3241, 1.3861, 1.3918, -0.5945, 0.2226, -0.046, 0.4122]\nstate[eef_state]: left_x=0.4385 left_y=-0.2956 left_z=0.1943 left_yaw=0.1198 left_pitch=0.0177 left_roll=0.0013 left_gripper=0.198 right_x=0.4074 right_y=0.0995 right_z=0.2985 right_yaw=0.1565 right_pitch=-0.0207 right_roll=-0.1547 right_gripper=0.4122\nstate[joint_eff]: [-0.3214, -11.0291, 9.6342, 1.4286, -0.5641, 0.149, 1.033, -0.2393, -5.8188, 6.7897, 1.6777, 0.0562, -0.0513, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bce2bcc834360f1ce2e6724c8bb254244348b1cb18a6c10cd2f6cb0bf08a35f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f79cf06503253b87eb64c89089e7cda33edf122ed8cffdf1066d64aae3d854cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:724c8df82de5cd1bf54aa88e1b076de46aa6279f78d6fb9c1937fafe3c6fd63f",
      "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]: [-0.4164, 1.7317, 1.2716, -0.1246, -0.4732, -0.3161, 0.198, 0.3241, 1.3861, 1.3918, -0.5945, 0.2256, -0.0463, 0.411]\nstate[eef_state]: left_x=0.4896 left_y=-0.1246 left_z=0.1923 left_yaw=0.1334 left_pitch=0.0485 left_roll=-0.0091 left_gripper=0.198 right_x=0.4075 right_y=0.099 right_z=0.2985 right_yaw=0.1542 right_pitch=-0.0205 right_roll=-0.1566 right_gripper=0.411\nstate[joint_eff]: [-0.253, -10.5915, 7.0222, 1.8193, -0.398, -0.1441, 1.033, -0.0479, -6.0786, 6.7897, 1.7216, 0.0952, -0.0611, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLoz2UhXxYU84NDU4WHLwc4ew6BLAtMkiA1WAmi0XZcrv_mPPHd5PmsTGUxAIYcVwkJqiWFq-nmktPJ9anEDFxuyzfs0HIDPzzf1hRtiVPJRiaH8ZzypU4-Ew4KKJfyW4brL5n8Gc5ArmdLz5amQNO5OxbfQCUls1jl0IA2uVc1vMm8otY_sYvxjfRNl_jPmYvJsdA78sNhe-mioQfnhAIHPprsqBHv0qKN_EWsz4qGAUdM9FncK16qxKAEGaq1AU6wCCyKEgj0pRXg8VRbnvclFr0AQCfoFdwT7arz0wMGYJIqlul5V5z6rhg74Bb8IiV2qH51nooI1CmNpbS3pePqBLizh0YHruxIEs0y_-Q_oWaY-iRzFbBcchoiDNlVvTbIb_lDnY_wa1Nnlr4zowb2539Z29zzg0URQ95_DVHknV-hN9btQ4NaiPLdkeHYj3CPTrZuroSQ-sEtFXvTfXDXMcIRm4AIPL05iCJ7kBj_2HwVyJ6rsKsdgRWWpO7GhnovKCPwFtkrxiY9dlNBn2-hsv6Vihr6MGs1SdV4T2FrSyrKjEn3fbF8CMW6fCZmw_YNPNbJ1YDPZidBFXivHXud3knLZxq2Z2yoRt4t4DQiLTpnytOPidrbS05OzUeDdwhhiLgNpIneS0P8nzB18nq3DnGgCz78Zp70zjsKsaNeQvCKOz_Osb7ryuwcu5lWCnw9mCoxULT0MkQybjjLHdUG83CDoIDldl9RL0kzIG4KhBMYHvtxTyNP4cCJ0FexdVGGzWn0AO9_q820IDQWoA8vZN57XnQ3a45sxGpAo6WlKh4VsyNMazYs4gG1-Z4wIocSOv3NjNqlYwUn5gXevqoyOTqBFKScYN1HS8lijSE73iUm-LW15JwqMaU_1j_qj6LMkfTOGKzg6m7blypoc7i-tNDzJ0t4-Vza6CX0T7rZFvD4V1_QLjG2qk2h2SZcoVxjrGGVREkVT5RTKefWnue2ZsjgGTbv6wCbbUwR2uDYUu0qqBWlwlrzZS3j4wDn7P1fj_JWJR5IA73fe6uZORz6HvQjL9juaoSAE8oxGt-VkgVO2tQF9J25tIC-ah6x8UfC64RSdob0OsdwO0mDPeO5dpI_reGSnJCd8kFOuoqdF6u9fg8BWYX0JNrkHnEAAGQp2wvqEtprLWMe0BBmSY97Sk5Lr1gKXjcXUpMAzHsv3OagTLXdufFzSz-uTYgixz9ZVafmMpjGrDNayDXlqfLcvMOJhKtSOgzCgoso9qr5rDLCE-ZVve-dwxrdFJT69L2Ai7mbMByE5SHK5qQmRW0z7q-KU3z7ZRJMqFQhmtrlag25ugSQsfOMHP4-p8GCXa5zyfVaZH7HmOWZlfeyr8DVzaRmhzOWl9JTZ0WBY1EnUJuRuLzpPMX7sQ1mqg8n3EDvi_ChWCi9K6o2wNJCctMm79BydXD7tehakvqJ1qphI6WvfpnhI-WEh6I3PO8EHDbOc-pAy8oFgyumFxNdB2LAybkuBc3mjLjPwvIOWWwO_VPGE-8y71amwNbJJUoM1xC6YihIborZdfz_6Ovk288q9FiOfxPhyMUTtzZZKtnOo1AxZbrmDliMqJ1jbt3jX7d_A",
  "id": "rs_0dee64f939ab8cd8016aacba30d8dc87d084b99b025dc5d13c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The red cup is above a clear central patch of table, in front of the blue cup. I’ll lower it upright until its base is supported.\"}",
  "call_id": "call_bytk9Up7BbxU3L6U0MImne6P",
  "id": "fc_0dee64f939ab8cd8016aacba327ed087d08e919afee6ce885e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bytk9Up7BbxU3L6U0MImne6P",
  "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]: [-0.841, 2.0315, 1.4487, -0.0696, -0.8482, -0.6426, 0.2057, 0.3241, 1.3861, 1.3918, -0.5945, 0.2222, -0.046, 0.413]\nstate[eef_state]: left_x=0.4505 left_y=-0.2995 left_z=0.1504 left_yaw=0.1711 left_pitch=0.1464 left_roll=-0.1006 left_gripper=0.2057 right_x=0.4074 right_y=0.0996 right_z=0.2985 right_yaw=0.1569 right_pitch=-0.0207 right_roll=-0.1544 right_gripper=0.413\nstate[joint_eff]: [0.253, -6.9402, 4.4923, 1.0525, -0.5641, -0.0317, 1.033, -0.1162, -5.8188, 6.8444, 1.7118, 0.0415, -0.0366, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd534f542365d3dd7b2b6765254bf37aa58d756afa5b3750a7ef8bbb16dfed05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d450ba6a160669e5cea946056454f5b440d5379967ab8127a7ff5d46127568",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bcb1c1b09724f28ca699e8f137ebb3b863f6b5f181eb017f8182827d91eea38",
      "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]: [-0.8371, 1.9888, 1.6829, -0.5095, -0.7795, -0.6521, 0.198, 0.3241, 1.3861, 1.3918, -0.5945, 0.2226, -0.046, 0.4122]\nstate[eef_state]: left_x=0.4385 left_y=-0.2956 left_z=0.1943 left_yaw=0.1198 left_pitch=0.0177 left_roll=0.0013 left_gripper=0.198 right_x=0.4074 right_y=0.0995 right_z=0.2985 right_yaw=0.1565 right_pitch=-0.0207 right_roll=-0.1547 right_gripper=0.4122\nstate[joint_eff]: [-0.3214, -11.0291, 9.6342, 1.4286, -0.5641, 0.149, 1.033, -0.2393, -5.8188, 6.7897, 1.6777, 0.0562, -0.0513, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLo3mgAVeMWVpUZ4s7Q8oqmVw47Mu8gbfFM7jjKtKBb4KyFfVChEtr3DfzciEeHbU-Bea0IPIG0rF7JGrovrxjNmQ6x0PNTFCzUzHAlfqMB54SDEsd5MkqSGxycdT6WuHpBGdp4WopPBGq4xklXP950QcT4NTbWVafscVuixPEMceWNamgpOKxgJ70PJaRf6j1ksMm-ZWLhMAgiD2Z0NKAIPLnqqaIm2ff3Mx96-GT9eYuFi_aR1ivd-a6bHbxjwNqr7JOaS2i7ncy5yI-XJCI4E4JQ2G-dYl2ohD_-r2Bz58iMO8nqkrKjxOWkspZkwE0HwvJPIZWBHzL-8XNRKIAYAbgcp-_uiNO_7qR3lBtrUyTSYVB7IgcldKCVB3AA0l_U-dzYI_hLKQehKEnZM0w5HJEthkSRYa-KFAl249mv9GNRsCnedZfOuAVN53CyhUKCUJBoidCA8ByV-2q1aOPdvBrBh1rC7kYRE7ZeVrtqKHFXcL5Cl48WgHytJU1yDwi29_Ts_7w8Q54xJqMnHLj862jnj_hAxQGwaA-1Y9Wbsoa2MAhXLkQRzL04-BSm8X1IlIBaeVwRb_QYBwrAOXU4FmOffAHkEnbVedTnXCXdEw_ji98I7fBDaJuO8qfnf9L8F42issV964zxYBLo26R3ZuEmFeg5LToAoLcjUxaQkuoUpwFsO77H7K1JWy6Fct4OfQJerKPBzi79Q9V-FF8G6jIPigt4DD1FahZZ4ESW2eLn5N9PbDCyhtuVu5gkW7G8pViBWbxaCZdqGq-770eEkTbRutwZ5Q0cXrNLFmmobF7GfWu7GU5cIwpnqJiS6zxySa9yio3kIq1QQYebtlv3URtwbE1yja2x2yZGkslKX1N6Fn7t6R7u5MlZUpguf-rJllmAZyB229czGaCki6QnAxl5KVVFh8tZAUndR_f0Zxe_lcdDV5Pj3ectR3Faia5Lml0UOUtFW0-rC0tBNPkwboYmQzBS18i_gtbwWmeMPRJjhspELAAI3mKT1llNMIBmlYlaImKhiwJixIwnKS_1XqUw6byA3yKUWnyY-ClOoflmU_oWuFNh8raFBHqXLNrnze33OmQqpu0-xhktO4veqCb-DDHStr0DueMeq1X0DM_CaHcQfmln_evsfGpiJEOrnCLHmZVMgwSyHBCqC03owJs5Zwqg6wwzWyeKVf1EX6nRv_DkfDbO2FonSRbTx94LPW8UMr4LsXL90g7pFTmV6Hqn5BQoBrlOhaGFRcxvFN22P8WBAlfUoF4x67grncMlo59liwx-BUIQMA8XkgLv-Dr_fZxqwOuYPyO2RylGxebc=",
  "id": "rs_0dee64f939ab8cd8016aacba36399c87d0b57b9af41f4f100a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The cup’s base has reached the table, stopping the descent above the target height. I’ll release its handle without pressing farther down.\"}",
  "call_id": "call_1AJ4WKADmXiA890JtWpnUO9M",
  "id": "fc_0dee64f939ab8cd8016aacba36e6c087d0bb0249362787a966",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1AJ4WKADmXiA890JtWpnUO9M",
  "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]: [-0.8402, 2.0605, 1.4246, -0.0841, -0.8387, -0.659, 0.9936, 0.3241, 1.388, 1.3918, -0.5945, 0.2222, -0.046, 0.4139]\nstate[eef_state]: left_x=0.4465 left_y=-0.2961 left_z=0.1238 left_yaw=0.1665 left_pitch=0.1048 left_roll=-0.0612 left_gripper=0.9936 right_x=0.4077 right_y=0.0997 right_z=0.2977 right_yaw=0.1569 right_pitch=-0.0226 right_roll=-0.1548 right_gripper=0.4139\nstate[joint_eff]: [-0.1709, -13.8051, 8.4855, 1.6484, -0.4274, 0.1294, 0.0855, -0.1709, -5.9556, 6.8308, 1.6825, 0.022, -0.0122, 0.0757]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7612fff08455b1828ff3ed89ad0c38db403b2dde0c7d99920ca49205f71b39ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b87d8208016ba7ee6aac6bc23ffbee1701d39e05d6178ebdff9def6fd50df79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a14efb809a9b1032366edb46467a07b277b3c60deaec36f45c92fd76d35e44",
      "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]: [-0.841, 2.0315, 1.4487, -0.0696, -0.8482, -0.6426, 0.2057, 0.3241, 1.3861, 1.3918, -0.5945, 0.2222, -0.046, 0.413]\nstate[eef_state]: left_x=0.4505 left_y=-0.2995 left_z=0.1504 left_yaw=0.1711 left_pitch=0.1464 left_roll=-0.1006 left_gripper=0.2057 right_x=0.4074 right_y=0.0996 right_z=0.2985 right_yaw=0.1569 right_pitch=-0.0207 right_roll=-0.1544 right_gripper=0.413\nstate[joint_eff]: [0.253, -6.9402, 4.4923, 1.0525, -0.5641, -0.0317, 1.033, -0.1162, -5.8188, 6.8444, 1.7118, 0.0415, -0.0366, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLo85WhYLbMT-5jbfILEwzAfLRbiRhusCpc0W6ESncF7lfCKeqdbd72V-Bh7vGLgXqypIIg6Y8RkZmBOAt6GggZizO5p7tLg-8ngUIhwJpn4HY_MmRVVo9pbOwB9Qmvv2idySnzSNy64CXpo9X4VLZ68HsVvX6_Q-ZZ1sxirDRXvlJBuACJJZ9PeqQlqSZ_dLtEuvJOVAK80XWMFDHTAyqc4TMeJpbiKmkxPZtdxxkxZR7sEezKf2iOOnwOjFZBzgXXtENFLGqy-7V-LeMcYAJ6fAASpGGsuA4fvrRW203lTnJt--E5j9MvsxXnVTXqsvjOQqDMKzVQq_us9O4fvuz-zMqDntYO3Y-mnf4H-8lu0DGOzuIT6lhAYTaitcnSSteuViOJhHlr7g9kaCiS96PHf5zjoc5c8NYHt6r54SzZBuHSczGP90lhhaGomIaF2pBcsT7U936wqkqq6f25jWPgrAJuQ4uJRgrEYlXpm7VgzScfRvXAkK-6ofROSGXajXdxcwHT5OHy5J87oV7hjYOpkItbenqwLERWxNi_0FMhizEzcSCgDt61bn99_Vab2b0wq5nkA_RSYfNEdbzKfG1QYoyEzgUrTLo9RZMgfdBDoUsHFGMDJag3JFqdylu7mHMcJGpp7Jha30RgTJ0_aEt6LIICfzHR2K5SNWZzcSx2zK-BZq69talWbH6yj8OwiKgcJp9v2DfEahDhBT9AU2cTCggmFJJ9iupDgL4kZMu0JzGBlBUN3WxxZRJALvYaHvNci7JxZyqSTMH0XmxqUnYBEDSmetGBntYXqng6cX2-Nio00aUKrRJ9xzBgYIJ2rhGIXY_-N-XOCcmY08I9e41Pawxxuzscp_ZO8UaEziWVCVHmBnUeCLIkauWLR0GWiRe78Y541e1ZYnsYkCcfKyAteN-NPlgBbiM33WWkxuYnW-IpkO8G0G518740YBsRqN8eEnEBaxCau8MF-yycB_67gd9eIFRV1Bai3PBbD3N8XBeLrcI9TlJCCOWJxiRUwKvRG5wkyLUHh_TXxXU_VuVzSreyLIcNnddNOO3x4S457E5bteOcGYtNIto--R4kQMOmEw0EmsylAkTXJ6ajUboQaZrgeuORcKmvqPRVUI5R-jHER6I1a2jiDZbmp8zeB5go8B7qPfP_w6x69ZejqHyoEy5MDlHK_TImOJsAIzPSBNvh-5xklAvRq1Cw8iDRvZerc2iw8xwYBWT9YQ8JXXNrm1cZqvIczulD0M0DJ5viDTfyAOGSSXQbQTM6HBrGDmoBB7-OwQ5WfJ3JNP23qOyl7GICMA0tzjf1pV6wlKCDIFatJmq6NcNCkbAQhTtEHbOxp",
  "id": "rs_0dee64f939ab8cd8016aacba3abaec87d08c3a25ae911cb21d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.28},\"note\":\"The red cup is standing on the table in its new position. I’ll lift the left gripper clear of its handle before moving the arm away.\"}",
  "call_id": "call_9Zd19IqUOPD9Gv20whxofr1h",
  "id": "fc_0dee64f939ab8cd8016aacba3bb82087d0af6c31bb96912d18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9Zd19IqUOPD9Gv20whxofr1h",
  "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]: [-0.8402, 2.0266, 1.9121, -0.6308, -0.8383, -0.6903, 0.9934, 0.3241, 1.388, 1.3918, -0.5945, 0.2222, -0.0463, 0.4146]\nstate[eef_state]: left_x=0.4507 left_y=-0.3009 left_z=0.2532 left_yaw=0.1808 left_pitch=0.0903 left_roll=-0.068 left_gripper=0.9934 right_x=0.4077 right_y=0.0997 right_z=0.2977 right_yaw=0.1571 right_pitch=-0.0227 right_roll=-0.1551 right_gripper=0.4146\nstate[joint_eff]: [-0.1162, -13.5453, 9.2376, 1.4432, -0.3101, 0.3199, -0.0269, -0.1162, -5.8325, 7.0085, 1.6728, 0.0464, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b6328ca4ebee0314467ee3ba509f49e444e2ab3765a7090888d4a094d837584",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334409a1e873341031b80b12643e56e55bf01b194832c55061afc2420bc97ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3ae9597a6b421b6aa879c360fe9d8ef6600ad3c4681ecdb46e4a051e1456db",
      "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]: [-0.8402, 2.0605, 1.4246, -0.0841, -0.8387, -0.659, 0.9936, 0.3241, 1.388, 1.3918, -0.5945, 0.2222, -0.046, 0.4139]\nstate[eef_state]: left_x=0.4465 left_y=-0.2961 left_z=0.1238 left_yaw=0.1665 left_pitch=0.1048 left_roll=-0.0612 left_gripper=0.9936 right_x=0.4077 right_y=0.0997 right_z=0.2977 right_yaw=0.1569 right_pitch=-0.0226 right_roll=-0.1548 right_gripper=0.4139\nstate[joint_eff]: [-0.1709, -13.8051, 8.4855, 1.6484, -0.4274, 0.1294, 0.0855, -0.1709, -5.9556, 6.8308, 1.6825, 0.022, -0.0122, 0.0757]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.205,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The left gripper is clear. I’ll park it so the right vessel has an unobstructed path to the red cup.\"}",
  "call_id": "call_3YNkdpnrKd65xyQHhvdC2wOT",
  "id": "fc_0dee64f939ab8cd8016aacba3fda8c87d0b6dc9f5362fb9fbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3YNkdpnrKd65xyQHhvdC2wOT",
  "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]: [-0.0608, 0.8192, 0.7097, -0.4377, -0.1127, -0.0929, 0.9933, 0.3233, 1.3918, 1.3918, -0.5949, 0.2222, -0.0463, 0.4157]\nstate[eef_state]: left_x=0.3006 left_y=0.0052 left_z=0.2101 left_yaw=0.0708 left_pitch=0.0186 left_roll=-0.0103 left_gripper=0.9933 right_x=0.4084 right_y=0.0996 right_z=0.2961 right_yaw=0.1563 right_pitch=-0.0268 right_roll=-0.1558 right_gripper=0.4157\nstate[joint_eff]: [0.0752, -1.6068, 6.735, 1.6484, 0.0269, 0.1001, -0.0171, -0.1026, -6.147, 6.8444, 1.6874, 0.0366, -0.0415, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2761cd9cf5f7e60543102cc85735543eae93ea35ec6f2c2a7449a2c97ff9278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32e63a7e4a6db2f4daa06b89c82de056ea8ab4c673c8865ddc272b1a1a06b985",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a736b45f54367ef1ebd0b73056f0b3dcd179344395098477f3e0bc6858f0b417",
      "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]: [-0.8402, 2.0266, 1.9121, -0.6308, -0.8383, -0.6903, 0.9934, 0.3241, 1.388, 1.3918, -0.5945, 0.2222, -0.0463, 0.4146]\nstate[eef_state]: left_x=0.4507 left_y=-0.3009 left_z=0.2532 left_yaw=0.1808 left_pitch=0.0903 left_roll=-0.068 left_gripper=0.9934 right_x=0.4077 right_y=0.0997 right_z=0.2977 right_yaw=0.1571 right_pitch=-0.0227 right_roll=-0.1551 right_gripper=0.4146\nstate[joint_eff]: [-0.1162, -13.5453, 9.2376, 1.4432, -0.3101, 0.3199, -0.0269, -0.1162, -5.8325, 7.0085, 1.6728, 0.0464, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLpLRG-1yDqn47ve9fX8ZAvyab7pKrfHbTVfnIMH3nLIKbtpbgIQWct8i-QepxRlLte-J9ubPjkid1dpVuO5uCyjbSwoIPhq_dl5yglpKCzA3yh60eQVhe3RlyyX1OVGP3Hho1nC2qPOaUXmVlx3cu6WbXkk3nHI0ECR1-wHRPClBAqdRKnUbNvHXcN5gZXPbGN4qDfVofQpWzlm38mPqjlwzkRdPMTf8ILZBJfmHmJ4qqVBmrX6sgMfULPxwu-qfPGA8rO0oOqDu2Hitz-p1EtxUb0c1bOzcfOxMfX_an-K-CDNrdhyRwvnmbVoxC8KdRoesZXKkLwG45aDROxL5gkctcCl56iHIIap3W59KPyVbady9rQIrqYNS8ZjjnZ_6XJqCEKFtU1qKROHfSaxAyb1xrVLBY6uZDd1LYvDBNi4zdgS8FZ8yiOpW5rX5Yvy_BqY-7QnXyhjXv-_6EDbDbsZ7cAqMErs9-H8qgg8u2Awe7FAlXAc_VnGxEChjQsaAzZxXNQ_00SqWeFjCZ6QKqHQeYXie31DVUzy7VPlgniYcNJqvmzfoUM1CL2-iJNWvqiewdibeXN5iNmZy4NFE3kN8WplZPoPPq6zhXAn2hUmK31BOtfzEjiV1gRSglDy-Ew7lOqIqakU0t_3Vg1y2LOZxoH4mAMcatZLX0ffC2jtHciK4gTmuShKiB0UPqBSkFj0wMjBCW7y9XKjiEyLlDVfY2vs-yJvXIDwZP6P3_-2l-1kjf79rlBgGhY_rnAqguPETSdgaL8UmA349YTY8sWWts5tbhJNYIf4juRI-EWAsk1Kh9unwwqSt_h9-UGS-SshowcWBH5KN0KxOdP2JB8HdTv4AB9w63GdY5xXCyZlcHuUDZGfIh_Baqal1sLOCKD0MakI-82m3DDs5F8kb92qsoN2mfwHnI5Y6N8oTjSrtLh9T69v-CK7-bWlC7QK21xgOcNdcyl4rHp4g9YJqxGEKnHM_xfR9BMmGGnt8i0yKezaKMf1IsgFSthJ6fLC_B6rsbj0tsmb-fETqmkzQpIbZePIIY2cxaUZVatLHeEUnv7mBpkebAHazHQP3toGbmtQEbOLLkSTjObjSXgN7eMEjeASBwMih0dMkmV4J8G6Td0KnrFYSSGTHgwYzBWlC_ftPXxYPrnnx-XbMeE9OFqwwWbKHCBPMGmzJuU7Yr2aCs0vtzVTXL9Ci1GcimDgMGnN8zQNPZ4aFJfMhqjoDODetbLDM7wgSZSykKAj0jdtziWw3tODl5PpEB9CmtjQLSoL0CMJh9gqD2SzIsxyowq5dOUhXsDMq029DUi_UJB65KsBmnpZZ8_JyJkXiokQeiLhVioR1cOhMZNpJ_LPVXSSIL6xW5su5R0VXcMe0X0VBT66Oha598AegHo8VD0Qr-Bp7UIGAv7HEIAxBXzB69c4i5KzSHpsbfBL760O6EhWAkO7j8AflPoTDaCxDWXtqso-cjhx1huHWjYqoAFCxU5vvNVY3Xry9xbLY1RyZOKsSeGqBVl4SdzXKhOQm1Di_CANf8b9-VaKPWGrWlOwdKX4NCGFN35IEtjgGNyZLLpJEf2buuWT9ZEunOrEPq2P8Jw0CmojgvKSq-P9DiCzDP9YOpMUH-Ce5XWC-KE-q2GT28SEEExyOUgBHmz7muVtdM5Fo_4i1cw5UHefVD3GIqGngghyqxFHdM4w3vP2jAHukMjmgUuCil1rmlpSzIQEpr68f8e5c_kE0OQ422JCGL7he4uMcALhnVDoRb-BhniMEzNN5OxUqM6bLU___nU1PC3E-g_XwXSug0QsvN_pGXKc8qAZ5uOHjbaOLbsZBk2JEwVNlBnfqcIRBmki9Jy-amuxfgHLa0FwzMJIYAcM6Kv1WOWFmNFpDUaJAB209meu46fwQAzCoDx9XUPqD-FeLZhqEDKUVDvLO72U_AIdYTB0Gt8A4UXBlMIO-Zg3lE5QTEtXHeH_9W32ZyYlVVaIwgAcw9u9DDhRlhfpjfeCVMufZg==",
  "id": "rs_0dee64f939ab8cd8016aacba4645f087d09b7042b142caac93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.32,\"right_z\":0.33,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The red cup is now within the right arm’s reach. I’ll carry the right vessel above and slightly beside it, keeping the vessel upright until the mouth is aligned.\"}",
  "call_id": "call_hAZt0ZxHK01RHhtJIkwpuHvP",
  "id": "fc_0dee64f939ab8cd8016aacba49ce1887d0a48e8e964d8c8cc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hAZt0ZxHK01RHhtJIkwpuHvP",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0624, 0.8246, 0.7048, -0.4507, -0.1051, -0.0902, 0.9933, 0.6983, 2.2921, 2.6598, -0.997, 0.4377, 0.2737, 0.4158]\nstate[eef_state]: left_x=0.299 left_y=0.0035 left_z=0.2036 left_yaw=0.0614 left_pitch=-0.005 left_roll=-0.0091 left_gripper=0.9933 right_x=0.4958 right_y=0.3231 right_z=0.3191 right_yaw=0.1837 right_pitch=-0.0029 right_roll=-0.0148 right_gripper=0.4158\nstate[joint_eff]: [-0.212, -1.812, 7.3915, 1.8681, -0.1392, -0.0562, -0.0122, 0.335, -11.4256, 5.9692, 0.5934, 0.2369, 0.1832, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a104ec77481c079edec1e748cc50a38fc0bfa921d8c59c2f4713abbaf7d1fc0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf273401c0c15227cb54238e308029e92192ebf839861e746a1e4f3bb304d38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b3761f2f9c6507fd15d89f4e5f435606f9af2eef021480b61fd9ae6a2c203b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 167 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]: [-0.0608, 0.8192, 0.7097, -0.4377, -0.1127, -0.0929, 0.9933, 0.3233, 1.3918, 1.3918, -0.5949, 0.2222, -0.0463, 0.4157]\nstate[eef_state]: left_x=0.3006 left_y=0.0052 left_z=0.2101 left_yaw=0.0708 left_pitch=0.0186 left_roll=-0.0103 left_gripper=0.9933 right_x=0.4084 right_y=0.0996 right_z=0.2961 right_yaw=0.1563 right_pitch=-0.0268 right_roll=-0.1558 right_gripper=0.4157\nstate[joint_eff]: [0.0752, -1.6068, 6.735, 1.6484, 0.0269, 0.1001, -0.0171, -0.1026, -6.147, 6.8444, 1.6874, 0.0366, -0.0415, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLpWTAgtujbALqd8HwgDke55xSk-4GcJJN9UQgTSY-X8aw_wvXUAsNFBX5pgk63pscL9XCv3S9T5_0FxqClW80wnayu59D-tu8PivzTqykRgDM0oydVQl5dRhGOCFWfSXsoKubB7KJUpXeVlZKvokEWUPr5SBj6O7kC26NyhGBHBAWUxnsPAiMbPoSa5qebSzr3mk_ypbgg5hc17vvdbEZr5bI0DtXlfa2YiWtmNwoIyOVCnr1oyY43oAfMM7yXe_fnXBV9ejR6BL6hBPQv5wnQHvFzUw3nNdvScODBtsCpBTCd5IVMy0r0WeNMb6DvIw2fp-rgn6d86bpRMACryWgyqljMXfnzG-W_g0FHPC14GKSS1lqUNdtmhK-Z5T6rJ1q2I7FhZ98Cgt5cxFUbowc36a34Ma8tLUjxb0AdqrTQYsyGx2LkLKcG9gGXaHnCc-wU71SzG3gUNtB5dBDaqK00s-mpoHQSFM3qndmMhyp8tIjsSDlabBEeXWdH_9GNG9iT9-oXDCuFSAHX9JNrLeZdlTuA60CI3ZDxeuZo_A7VuV9BBXXwEXPwrjjNYruDlLZzeUZ_9z-wd0q0rVdyxz4aDwwO6W6sydUtYNYLT8Qf-6o6c3GTI5um75Zx_wE-oEUhUC0831bGR-1FyuvgTDkdUlP7H0OPuJqatqMV1ID7b3zalNV_oNR4Z_tJe_9FeNiohaP2RUWwcltJ9MkelRzb2SUzCXmhlLdzmGJsm9dfhiTjJKRICZDRl0VMLBqlalaeOty8j9_42xsh5DXAIvGKBOAdsrCIfK2W5nYez37gLoRO3_TMGU2Np45spa2jlCWrNIHGlRStXKNLzzHbjBavDxjTDMejHKmZdiCfWIPaYNZZl4hCtnUypuQOsc2G8mM10wgFTyLCfR-bHlporTYFFLM5kFFfCkqLv_1DWCfBzhu4IVj0It_Z5XZZHw1eKs_1hGLQUHiT9Hbdbw2zHhacsSmJGhmPF1e_udTHDJPmx_Lo_etjQiWtgTazco4pzukDzoYMMxPVtGyvOuLcAKjAH1wGk5-sKBmWoJAHExc8YjtJI0NEcNAmIh-k326fnD0GV60yYu_zjgSterMDEXd8PNvuLp8Q-SvJrN35vP7NiHk1qpwoslI_5JqK-xw3wghbba72ldKnnOGglTr4WMSY0yqcfzfHWZtslcCGDlgOVYLdiJ3Bk9UEl8rvVXdNRJPSk-THUrV1YyNbne9VBsFo8DgW4rqUC1Wels73peIT4qEvHJlwNCRGCzvygJLoK-nCCnDJ3a_HKPh68zwihWWSJIKfcw-tueEW5BeJvera5HbY2BkhzSikSbqa3onGvOYLlVIpqn7UreGFm2B18O6WVJaQrfTidCuIiJDPnop3FuXaU8rJ2wLDZI_2RatIEym4z8lpnLi8753A4JDkSJFrY-GDxaUYafznNW6dHLai2SGcK1rK98Qab9iyZBEmlNi3n7QmZ2KoqKh78_G6j3O9heSzt-JWA2-WzhYXPVUYt41rlrKsN7ZWcnJwrsWwcOYgRd1y4JQTrAwwu7xY3eMT2-pfnTo_jwZFHoLlPxx0dV4xfVglGmUGylogdvntMsZhWraimxmsIK5q4BN1WGb071_rYfotlmH9-dadu-MgW5C-GWWfz5A7ZeQsEvnki-KUJLTxQTAAUr0Smc8pgMGyKNW8PPTW_OsQs_kVo0OziyihgJsrfw-Tkxr4EPrcjIYMSiViKXBkxzeVaUgtKZnwc1b7Ig1fBAMbqglu-u74t9fbWLz7gT97y1YG18PkLjFoA1Thc1mxnbwSgVkGRHyYmOK3s1yFV1dP-fL34ZwU6V5QXoueEs5a76KtHJubDENQQZ4oNVBXCrpIJ-a_-iM0lNs0bgqSRMWYIID1MkpSvjLncZwuIFh3WCqktXfv1hGoM09-XiaMdysj7mzVwV9LAQAXFp4dGP4sS9Hx4eZpkGXAjrZYB6Z4w10xyDfTlGXHL0lTQzWQvzOkfJtgzei-56jF1dks63JcMgKsTxpf92P1AmXOeZCEAkXlfldubE-6YESCKnvAdfP6TOYzcWtNkPMZqUZU3N5_Qt6jhpZ8pVAdj-GuG5hjfa3atUkN0EFis4ZMpRpEHLWKskwVjFVOUeYrJub9zCHTrhAyI4C34nDnbFYOAvET_xcySDEjkdtVJ",
  "id": "rs_0dee64f939ab8cd8016aacba4f62cc87d0b0233a54f617fe77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.35,\"right_z\":0.295,\"right_roll\":-0.7,\"right_pitch\":-0.15},\"note\":\"The vessel is beside the red cup with clearance above its rim. I’ll begin tilting its mouth toward the cup and move slightly forward to align the pour.\"}",
  "call_id": "call_WZC9qLr48t6PabHSdmg5w8Kj",
  "id": "fc_0dee64f939ab8cd8016aacba54cfc887d0b5e72ba84a1c122d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WZC9qLr48t6PabHSdmg5w8Kj",
  "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]: [-0.0624, 0.8265, 0.7048, -0.4526, -0.1047, -0.0902, 0.9933, 0.7208, 2.5519, 2.9036, -1.2377, 0.5426, 0.1337, 0.4158]\nstate[eef_state]: left_x=0.2989 left_y=0.0034 left_z=0.2027 left_yaw=0.061 left_pitch=-0.0088 left_roll=-0.0088 left_gripper=0.9933 right_x=0.5002 right_y=0.3228 right_z=0.2282 right_yaw=0.1838 right_pitch=-0.2015 right_roll=-0.3181 right_gripper=0.4158\nstate[joint_eff]: [-0.0889, -1.5521, 7.0085, 1.7509, -0.0708, -0.0806, -0.0122, 0.335, -15.2547, 7.788, 1.16, 0.4274, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 429):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed78f7a6f2eba9b721f7870ca0e066ac7802f418f40bedd2d942731181e5b574",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 429):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:792231d9eecf3125362d2d9ec00d96d6ef7991f05d8307d2737a7a4fd319d993",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 429):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283f3b2c83e8147b2f05a7ab3c347c97828da5a93c1d21dbbbde9d339d99629d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 171 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]: [-0.0624, 0.8246, 0.7048, -0.4507, -0.1051, -0.0902, 0.9933, 0.6983, 2.2921, 2.6598, -0.997, 0.4377, 0.2737, 0.4158]\nstate[eef_state]: left_x=0.299 left_y=0.0035 left_z=0.2036 left_yaw=0.0614 left_pitch=-0.005 left_roll=-0.0091 left_gripper=0.9933 right_x=0.4958 right_y=0.3231 right_z=0.3191 right_yaw=0.1837 right_pitch=-0.0029 right_roll=-0.0148 right_gripper=0.4158\nstate[joint_eff]: [-0.212, -1.812, 7.3915, 1.8681, -0.1392, -0.0562, -0.0122, 0.335, -11.4256, 5.9692, 0.5934, 0.2369, 0.1832, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLpdJreKB7ztiUSKqpGodbfVlgvVSsG_OHPrEOJxCFX7g0ekrN6q41YEnkT2_UvO5sLWXEMwM7dWwIfUlc-FYRQTGzn5wLG5k4DARSTxwfpD0odwa7TFuz0Clbb7I5Th25KH1qqKiKnPUuy8Au0Xut9rmGhT9isjjyRbrzrVh2RNClVb6ApMxaTjXN5qetqB3f6gEuIupsjz6spaW3Nz73dmGRgnBUY5i3MtpClX3TUE5CAnXc4UIIxIIJOdATQZwpgrl6OnXKknz4mK0Q1uaEb7MzDSDw0hDawELos5XAc3vP0s4eNk1CTTLM9hJ7eDTj1F7YkxfqksaZzzbGeULlHlRJ97cdbzjt1a-6Irbf7bTceitQYP-EItCpJapcrZ03OYjx_4VlgHt1LotvDBUYUCRKlDkny2U9oiDqNiykkmej1Lz_todnKj7PovIRvTqfU-cC1OWF6q2Pf24RVTUaXyOXWRAEFy_3FNwBjnAHpdlASpak4eC0K9BA4eGvnrIhecuMuLa6cqT3fmCBxYMvxVcd7VmxKrw3CBAsT_QYA_5Ngoys6KY1PMzNQ439nMu0Ku_x79RqeKngIpvwSDL6cESsHVZx3TFzcIsHH0BHqXd3rh9VoocEv5uU78_gFcvz50BF80X7EhsbcxX_8T20owd7p3rqMdz25i5D-b1d_cswEAdfv8mSnZGMx8F6bKJFxU6VTqCOSU8fqyj0df2f7t-Vaq7q4sYxdjjLUaX9jej_G9IeK3sFMLNNqUMHSJDpcvXbNoRdjEVPS9GfY_3QRNFJb5zmXOujzUfVUxABFLQIUEZJ_bnWofM3ptw61H5DpXNPa4o_ameGmCEJReinDhbhfbLq-YNZLmllQep03rLgvJnEGSGgJQmxBpYxybkANNQApgSXnwYObKgRuU0qYFeebpFT-kspvSHxkukrIZ-3XbvdWVZ33xgDzKdWiyL7KEUFLyP8CftomZ76NINNQ7a0W7W2f5ZZgkMJbOm0hsQuwYeKHCwRh46lngIaKTzjPrefjzVCqn4Igxxfhies7rbIgYb_W-GRViAm-Jj0SKJZZwUOzBepADXYMQ3SN21ahpEL8pdP6Cp8j3ohgRs_NYZ4eRZqivi9ae2ztk6db-NfeqVP1nFbNXY0_fQ2umbNhI-ZYPjeNEXeVeajJnsSsI1sFrq_6nxrRH2scVNbON3Oh0OcOXGe0mqzpA9t1fJ0-Owk__VE0LRaPuBQAT9uX_83SNvC66QRrTsVVlAERR-1VT6NwmCn58QUJjuDTD7-NnoEX84cy05Uwbv-XWEmkCVlbr7R0x31bBzWGr-VC_AxO9fEDULK7b5vwx6PZ0zzmcVwnZLXrdtYensm73HU5LXiPfUz6KdWL-WyKtWKyuxvdbdaF5AHcowKfKMmHk8i_31ibQnwf57YwbXLZNoVHhak0LPTglsVh-lKH3r2NdOw_H-LZtB3sz-f6fU3mFefQZ3zP84-7lldYBsEeDNJikn1hVCucbu7m2k9Z2MafU0VVa32UfZlXdOYglBsePgyRUizRuOnQOMttVbAcWWWS8KBIHZxlVaJQT41wTqamyrLXOW1raY9bmviCLPu7k1VRfFA3J4k6o2jQzsOZeI2EAZeT59Kf_TzdVB38_HaAiMFqDuKxHh5h4uodOkP7n_1zusw0Ye22eo-A7FcuQzhipICRr_mnBMyOcfVd1nsKZnY-KxatXdLCP3t6F-pk5e6aWBzHAj5OhCJ3NxiUe9Ih9OITZcncvxx5ks3ZqikYG4qjYNpPHCQnAkcPQAun5uVr86PVyE7qDZXXB4qwojFdGOawWo2oxHSb8GyZvxWYjPaF4DbI2IdiV2Au2GNWFhI7CQ5nwpBTyNlNhhGbHP6wg8A==",
  "id": "rs_0dee64f939ab8cd8016aacba5911d487d0bbbd070b5202d7df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.345,\"right_z\":0.275,\"right_roll\":-1.2,\"right_pitch\":-0.15},\"note\":\"The vessel has tipped toward the red cup, but the arm is short of its commanded position at this reach. I’ll shorten the reach slightly and deepen the pouring tilt while keeping the mouth over the cup.\"}",
  "call_id": "call_7YfAC5x10oqnr6olEmvtSBwf",
  "id": "fc_0dee64f939ab8cd8016aacba5c268487d09e88185d8449e3f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7YfAC5x10oqnr6olEmvtSBwf",
  "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]: [-0.0624, 0.8284, 0.7048, -0.4553, -0.1047, -0.0902, 0.9933, 0.8375, 2.6575, 3.0344, -1.2903, 0.9138, -0.2749, 0.4158]\nstate[eef_state]: left_x=0.2987 left_y=0.0034 left_z=0.2016 left_yaw=0.061 left_pitch=-0.0133 left_roll=-0.0082 left_gripper=0.9933 right_x=0.4815 right_y=0.3309 right_z=0.2401 right_yaw=0.1996 right_pitch=-0.1864 right_roll=-0.8932 right_gripper=0.4158\nstate[joint_eff]: [-0.1299, -1.5795, 6.9812, 1.7314, -0.0806, -0.0757, -0.0122, 0.1709, -14.0786, 7.9248, 0.9841, 0.6374, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca258b624f16d14d1c9bade0d7da68bc31f545e2dfa1748b645fcde12984fe89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34291c0ee813a027fcbf0e7f9a56e781a2bd1d3d914775f7608510de23322412",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:522e4d8e19a22089b0957b4d1efe61b9007d18595cd8e9f07c5aa64b30b9d600",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 175 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]: [-0.0624, 0.8265, 0.7048, -0.4526, -0.1047, -0.0902, 0.9933, 0.7208, 2.5519, 2.9036, -1.2377, 0.5426, 0.1337, 0.4158]\nstate[eef_state]: left_x=0.2989 left_y=0.0034 left_z=0.2027 left_yaw=0.061 left_pitch=-0.0088 left_roll=-0.0088 left_gripper=0.9933 right_x=0.5002 right_y=0.3228 right_z=0.2282 right_yaw=0.1838 right_pitch=-0.2015 right_roll=-0.3181 right_gripper=0.4158\nstate[joint_eff]: [-0.0889, -1.5521, 7.0085, 1.7509, -0.0708, -0.0806, -0.0122, 0.335, -15.2547, 7.788, 1.16, 0.4274, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLpuBT3-TOwDvZLc4caoxnsMoPlISkPQVOAXomy8OtMDArWb0nQxV5lQQXDLRfhNzKGTf4S4CE3SdoJ78FhQVo6UGICtKvcVM16MUaAZGlJ5pXwrp3rMpICS_wgOs6N0p0hIFdcf6FSYVLABi8LtavVJjSXIIGX3sjfw-86Gh25vmUY9QhgMwhhS8458zo2hKcM99dIn3GTfDLiiqkWborKr-lyK1QtQqcTa5sFqSBzRUDEc3aY7ejUf4mVRgsup6rsqZVCNBgKulPLH_R3KvXUMIvTa__NO3mHFOu_WbM7Y6M1ANpK-4362ttffSMB1Du2FRReP267PT22ft7AG_-FjeFGoa_PCl2tnJMNwJ6OsxZOPbfOk2tDTa2vP8TwLOV0w-r02LxvXW7s2_-KeZLDW1Fr2pM6L94AVe6WErV8liK3gPu6xP2D52COGDSSgZf0OnB5Pa7cw-3SRzyJuJD7_zia9xWksGi4yB8pbSknXKH1Rwa5wozWyKZ2y5yAWDCBNxZEXlIcLqz2K0c6x5siBP5vVLfBvc_ZmZtFYImM67eFtxwSrbsR8D6UjvuteQH9EFLxknCdDxNlge9E_UwuxaKJiit2c77WJNVI2ELuXNcG9bkLZbNhYD9MNij7vXDJiRj9qyko4yVXCiuxX5oPw-lqnCzvSze8Q4TFJAsF0kmnxv_DqADMmp71Z1JclQVQnZAmIR6droF9A80X23T9qFl9lw9zZcSYkbTjrf9BhM8UYsTybwkKYWGZUa4ytTg7EBg28SJm42L4LgHYTd1iqYgN9HrSKnpAwKOkA7sKhtak-_geO4QCVWH-wVu2C_zBXsDQjiipEEKFHmWNvke5VXhX4xtM58bbHx6fDCQ-0SWuH43Edsjlg9pZXQeUsngaqstQw40G4spgQJTVAug9qMizBgX_rP8iOAdbWDMlG5uo4HwNkhDedaCluusUFdPx7PhBkxkRqCLWVtGsf8wnBSRO9fI_LwbOdnfdV_sBWFhb000iMQKccmnk7zU4eYwxeFjnd66H44G3T49QJLWCrxuI_BIzjO_KN1tdZOI_WIqyp0410vZzh5j2TUGGKC8JMgBn12jFUHo2dd5DXXVFSrv9TJ5i47TCVFOYmqo3WXJqQOBlIvlzndHrRxuD7iV8UtBOPoefH8OuQvI_Cckt6OAaAq7Coan7jr-570LpcTmrYytiBgck-mO1tfZE1oZDuWoMvcVA7y6RG_7c2-rHSVkDZvRBgzomUJDtyFfwq_yb8I2H9_ZTK32KTrzf4Nc3IreS6q5rxn5LOzJsVGkIz_XwM4CiK2xejaEwBTQYSQ0R553wU8irC0V4dfp7DkOZC0znFy8KIz2OZnEx0yi_uDuGcrp6NE3kjAAITY7XGknf9T2ufDpKZKy5UrS2R-N7TMHR6wTQGWiSsGSdXSO7thZ8DjMwjFAe4EsUAloEHEkrbchHNDxpgDpti2cl39qQjXzs3Mz-3wpHZWcBDQ22vogVbap_pUp816EPO1jdPkdUFNV0Pxgn6AHehIDvzU-e402eyNHCYhApwgVtxCF_eaJrFmnzJW7L2Bwb8tBQOsreoZFdCR0zzAgfq_XKmNOzCE1DoVuw8VKfUCSryzt-2GcWMX-chROyNPBB7GUc4SA_v6G1EZSpmhw1HcE6Q9Xo0fv1vV5no5jVecsHkW1ObCvX6eCaSmZ1-poZfY7NTugCrLD_bD6l7ShZJMfxWI-pvnO8evPSRiJmvgdJk7OHVnZHpbDVf-aBRMFYcEl1QfH6Xh7SnI4ocQF0lOLlgzXgyIRoXW6cFSXV3kZcr6StEf62uvXM30Z1nfwNj3CyQjDmuVlMkZkWveWrhjCcvhveKRQpbBu5zC7pKMOoG0jGyltSTskk50kF0habjb7e-oakjnOQ_3Zeq3Wcjn9i5JiEeCpnOrHxdpf0S02kDALNZjHhniG7hhczvnD2G-hnHb0iiQpSgD6-FEtvo77HhyR8MDfrKdQxwnU5tgBDXwyp5DNbJSa2saVbgfP5HqDxp-lhKmgig9gNNJG4OrOk9oaDBrYlpPXx53XjsWcvkC8xSqXgT_MTsKf07ld17U5ineGzZ9Ji_N78I05jvHm7-I8Qo06C919EC0MNGYAlvG2MiWr6DQkFD9W2lHP2QILdrLZFMR1KUTny_OritDXzCFz2SeHn1rfbeR3SvKPL1TSsCkQmpP5mX1VPW5QwDFK-5EgwDowrvkxx_I8zHAWLHJkwueio-P2Al9SCWmMyS2UdaHF_W4HWbkHVSLdawWhprkKftvq_3tT5fJ95DQAoiedJQECcCE_s04_wdFiqRd_AuCCFAoVj8Qi83RRybJlrnj1TpX4S764_3dud-0nFZlq-ZAtu7Z5ibsaouggNSw--854gDk-lwayVXqasCfeYncffT1InCK5QEZeVurs0h2u3X3bU6FGwH8m-MHrKAt-sdEKUCqKb6-49PFSuoQmswheftW_eSj1NarGaHm5BcWLNklibvO6HVXJh8zPPrg7C9An4PR_eFp6PGQ7vCvYNsLJ6CL72ECU5tmBgPfeS8nkRPJj3x-w-Oujcu8W7Gk5AqoKNoaqWXI0jjxQxtqaSrg7EIvkP3-Oo7b8RWrzIw47S1CK_n3es8l5g0MENsCW_7rRU3OV7njJBjNeSfU1PPwSMGN14XtDLWBcWfc-OqqxQjnqVMt_ndOqHAQ1LzqOFOH6OynksOysCiSnJsn_F8zbEdxcfSUdiFCZongB6-Gn3k0F9YRi0VeeDxIVFMMRUlSiUgONE74MWPEHhy2HcQVKDtIeBI_pVFepek0Jpmt-JgDgxwP2Vse0DIDYePoMUT_aWcpeVM66SPVPbmv3jqCO5ZfASdG47QXe-VeTgV69iEverMvosMMlDuoQaxJy6-p2hq_Ao0VT24yaTOJd8YUy6hXEjEwN0UPYWPHkZALWstg8TRoL8wjc4uqx1tCrdXLjKePgI1Hh40pqRd2aSLH0PYilef9lEDmr9S0jS7YisDwaeLs6C_EnVx4PDjegz4ijITL-8PIME73TTZnQ3KfnxJLnn9ZsY2ear_LVULEhZjwmVE4-D1pxxA2kasja1QnXZXGROutWSHRFOF1UK0PoxlA-2BlDn-eEpzbO-MzQfxJrJGXK7x-kDeeT_SAA0rTv5OuE_QBb9XVeYedDoW0Uh2RRQtrvKGa9aTsOAAE0emqYjcHoGoBHEiAm-69eZ3dH_DkVMUHm9UwmLD4GsWh7cNXSnkSFsGEHMTogzbpZJIhEQdKldTlqnMnoH0nfa0jpAqBxpQ6Pg_vxmPUjjRK-T2ScaBBKC2lbOa3V62ItrHWSyXzPb_smlFQyLI1iXkTrtq_kRddjLm4eJdJrbvCB7s2-vwnqBgmhp9KE5PqUqEdUXtHZd3YKQBKVrpiuN94rZrMSTtu-eVWBRhY3ASekpBtU0FAz8MFsc9rbux04OHq6PD2ckLFHXp4YnFbrcvhCPdepd3HMPEMFzzd5JPRA_pyb4m5wWUmpIvpcYPVTseEYEKqNetCR7TtuWQoIQaTPMC7b8MLbod1IucQv4XhYAGvV6unFBfJ5-NFQ8AStUw5qxCLPFgeaJ-W0FbtstuOesTAVh3r_ptryDzw1FAD8dcBstZJLHbfosPwsVGPP06YDX-aCBQDietmHCLmRuR7XDqq8e8H5RMwV2cF2-udOiPkKabhjw1YVrA4kx8U2aZLKqkHEpD_kW0AFAyYbMLuLTBw1JaPVGJ5psbsarVhJlb1uC3X4EDzZQTHGweORbEIhEF43QYUCtbIGGFqM2fgbn-Z0jidWBA8GfgACJZHN-LV4aTC-9P7YMWx6CP_BFmhf7cd6Sr2QdTcv868DKmiUkeWJzCDAPS4EmhCkwQL50SDGxKrMd1MnX5OpXAUZHoL8hR6lS7CwlLShhEKmPKgtD59UKc5-iU8yCRM9Gxgascj3bKTtTFMpt_nRJy2J-Ky7uKa9HbhPgyfo2jdzpaIuNe48zoZXWER8zQoBgBjufJVFoA8ifunQq9ei2kNXPNW4k7UkGaZx-QmqDLTJ45V-C-0X9sRCXXkgmrPFH9kX0LBqKdAu_Mlyf-_haiyjyvQNhdr3HTqqzsxqXax1SVs6tsRDsTtozmCk1S3stqZ8DdfIcpZzhAOkJL0_vVcdBUQRbG7D-APZYOWr8_dB-mGdlhCL0GGQSDZ9kghJGnWVWVN6C9vECdxH0MNRgi0a6s8T1z-drRTi7d6Z_j4-ZRwLTFB8X2L_Ig-v1cHZ7YBN-IvtiV80t0BDM371Zs3dCSa2ayQyJ48EwAblrZt1uWHFQjF90W9LmbRJjrRZXJ1BdyHu9KvlQP81iiAcn9eQ8UXV6GNP2labMLhsvOt_BJcZFMB8dBCzyJR6sOWLFtNrQ=",
  "id": "rs_0dee64f939ab8cd8016aacba60d6f887d0879577faa957a7b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_roll\":-1.4,\"right_x\":0.475,\"right_y\":0.34,\"right_z\":0.27},\"note\":\"The vessel’s body appears farther right than expected, so I need to verify that it has not slipped during the tilt. I’ll maintain the pouring pose and reapply the grasp before moving away.\"}",
  "call_id": "call_mxTKpms8pNUMmG5xpclwiVyL",
  "id": "fc_0dee64f939ab8cd8016aacba6ccd9c87d0ac3bf9df64fdf1ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mxTKpms8pNUMmG5xpclwiVyL",
  "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]: [-0.0624, 0.8284, 0.7048, -0.4553, -0.1047, -0.0898, 0.9933, 0.8375, 2.6575, 3.0379, -1.2984, 0.9157, -0.2855, 0.0193]\nstate[eef_state]: left_x=0.2987 left_y=0.0034 left_z=0.2016 left_yaw=0.0608 left_pitch=-0.0133 left_roll=-0.0079 left_gripper=0.9933 right_x=0.4808 right_y=0.3298 right_z=0.2405 right_yaw=0.2012 right_pitch=-0.1936 right_roll=-0.9056 right_gripper=0.0193\nstate[joint_eff]: [-0.0205, -1.1556, 7.1179, 1.7216, -0.0562, -0.0562, -0.0073, 0.2256, -14.065, 7.6239, 1.0476, 0.6276, 0.0171, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428f3bd5a49696075aaf1d2587f7b45f9689fb8048caa5a985d4843dba9d17f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93f12b8d2303786c1cabf81160a0586daf167add384d206db0821becf453fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094d9a24488ccc6035b9efc5ab87d2aa94145ba7c0df0efcf7485a4e5780363c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 179 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]: [-0.0624, 0.8284, 0.7048, -0.4553, -0.1047, -0.0902, 0.9933, 0.8375, 2.6575, 3.0344, -1.2903, 0.9138, -0.2749, 0.4158]\nstate[eef_state]: left_x=0.2987 left_y=0.0034 left_z=0.2016 left_yaw=0.061 left_pitch=-0.0133 left_roll=-0.0082 left_gripper=0.9933 right_x=0.4815 right_y=0.3309 right_z=0.2401 right_yaw=0.1996 right_pitch=-0.1864 right_roll=-0.8932 right_gripper=0.4158\nstate[joint_eff]: [-0.1299, -1.5795, 6.9812, 1.7314, -0.0806, -0.0757, -0.0122, 0.1709, -14.0786, 7.9248, 0.9841, 0.6374, -0.022, -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": "gAAAAABqrLp_HiYXdlm6VfMUksdcb1u-imPE_0n767c23VKwfn8kpj5esLZNZ8zgZXXs7fs-NXm2TUrF6-wC-zTK-eLe_xwZwjK5sfEygJBcHFi6bPR_NmBEqn1dBqEvLo7b9g5Bpl9A3u3nSr5sl05Zjb9Mj_VwgubUeUlzzb0HX4TOU9GroBJgrdKQrAPQVR71v_7hyUydsviCXGA2jdyuMz27d-YNqW3adzSmtv82rre9w_OmgQMJwnd-1Ev73tX-QwWqMpwJ-ioLI822RjkcsrzutyJIhOIzYwmZ-sj2xjivAnljTFAspGDR1KEIa_Mo6EUQxyzIs3ZjntfkZJhEXc_HgELQFgNec1dk3bYpG8hibJOACnTeQUaP7-7gtLy6t4YSW96I03mLdiJJcvXh67wGV545p0enuUpICwdAaAylR44KDj8u86Lag2scw6aHAjxOLBjssBpnO3tF1NyYN5aXBjcVMhOz8Nvn-FO4hRnQHucO44Mn833qnNDJIoX0O5x0MANE7OdvqFMLweBQijCOGug2s7u8HF7RFjLa7S21RzwxffvEd2sC9rF09EB7CgccDjbCmQ_AKi1-uhcXHQ2al9dApnFiMJpadCr8KUqe4VM9IX9MbZyE6SD_IaQ4EQy4VyiEgo7_sidLPAW13HPr0opX1eIs4Iu4GzruPBK5PtZW7Zu2G8j_RrChCYd1kgN3NCVERY38JWjkRSmJJK2tTaiZsnbt0gvsQOWHA-g4ReEcJjdQm0cYxf0U1cpgjeDNhF61WAzX0jrvDo5_76haOuRifpFCh4Bb2RM7HuTnJHJTQjeu85zLxAP3SThK9nxrsbEI4tfX03WrqKq4AacqU91tK5sXAuWRT_oPKMmUUePkpKJOD8VgvfTuOOF4bf50gzXeKAoF7kbgRZMLIuVGQ6_f0U-dnaUmdszdQSbqiwXAVS2UYIdfGs2EMhYGIOcpHg0rRFtsJGbkqqsf94Q-CHztz1DuwYlvfZHqwtBUwfBsu3d0bTeIlrtSAEE12sIY87ePDn0GZeaHSbt24UhYF81dtS0FMD7osP9d4BUFkPZfFOuFJQzizxoER71T0aw2TFlzmHA1Ps4C883kvL-joo5QQg5_LTok59ZF6sbHKJcjScoXQTwTOHRsDUYVdo-Kxwz2mLZnZbwC26zOYhwGrRoODLXEGxrxSRH-qhWOKJ298YIyQ2OKSHxi20Glv8PDkowCSIrrPjn1fQBOnFNuA7u_c_Ob3MUydhy-JvmDSnj7tIu7kg0YnS_NnGapwYwMSmq-s0j_1GYvCB9BxKFDO1ZOwFoGg4MRGB29q9Pj7qiQJUsPlIjQvN6bVOEjTz94TEtZa-D6u3wWufXtjKtGycQtX9I2-xPmIRW1lfCiiZQEZ-B0OmbohDyZ-n56AJyqbFEmXLTXxcNwmpDSiqc3aL0b0SUnuLiYLOMNubvOD3_hjkc2FysUKE3FJbbc8amMuZPnCLzGuz44JP7mMdglZwqPQrPzY1g4dJ_cJk9LbLJ8L0TnvUs-LQ4otFD6EQDqMNOEn1wA2gmPUefcDfz6U3xikpk-xr9YbvEpDhZWcIaYc8Jyzboos_A7GUObPBtk_q000GCekeIRCUUDVgnNFt1IKTK3FI5Vf1_-uyzdr4H4ih1Es062mX3EXJrH-tmEp5xRVNmLKM0iyCLROG58CviWzXsDJWeTYTt-vEr8N1dmu8QG94uYU7ByC78oNKNBBIIH2S4r7EWvZt6CvRmaj_P-vOkCtu6nVqBFtsxcQPGzognqDixDXf4s-fZLphzBq28WmX880lY1zj0RiOXBcUPeSyJP5KDczImCmbIiXZf8Lw4y1R_9jqan9UU7R7S5yQFN5vOBetqx017r3I8n-WJ8xJpUetwYgetopaZ2bYCnlLPU92r2_gQR_IuGNdLIrnrLL_BG6FRuux-hHPk9sGFzkZ2nPKWdIgXH-jdAcFU810hMA30g1wTkvSIGYMeBjk7CptKkFRhen1C20xM73Sdi-mAchh2_hI-1_lNMLH3UidG0VTDs5rDxdhqIE5kLxpBJN-gpXUGgc3Mq3M6zwJB2040vpLrJdn9qxYE6FDLDzYlmPRHAHojfZ_uDrdplB2Vren81J3JmsVSQN7ihzZUJ7Twb2bSSuU3iRcwMoNZIwdK_N7KUVBJu3lzOAOyac5raGNJyUEM0G17wKhgRD6x1uJbIkBuRgk1UhO66tL8zOgoXVN_-s1SmeFEQMe_Hty7d7gQy6QMpFeqcMg4pH4w1StdJfHJaBy4F0wVX5bQf4pFrteCBlDGzfBKTrL_oakWuLS4xSeN1IJSjVy3u8mdnzC1z4mQFwc3SPWc0CfUsqJBjw_Q3DOJzPsu2tsf8x49UhnARN2IbK3tuWuRkl_uHF3wV1end873_dcG39LfBU1GynCYI6eVyLLsVi-zxgMvom4pcQYIVbzaL3ANu85hNr4OjqPQqmxSUJ5dY9_IxTlTuzhmPO5ECuuQ9jdcoyVuEKA2pXAcmwLdApKOiMsN1FL0Q9ZvBMs6hnIMrfsjd487BrI7wiCNFP5fp6tPL41PDOTODpkZcdcHgV0-k_CjG3fXk15CY0U_qHA2_u8LB7Tm8jzPY9UxpRjP83Gdm8BF-3ZMhm0kWuQ5n6dAQ9kj-ULsNfHVllbrJoia4CcO622Mu3EQEWGx8cXALsU_zTo6Ta8h179YAcc5tvBNsdTcIPH-zMOBF919Hn5Ki181kEtL3UgRRRn0uWMumUKXctCuTeiX2pIvuk_niuj1CaxEr3AWoNNHoH5zE4YKR8Z-ScoMjrimGy1w8wzvRC--u1BzZCxEJJrPU_xJuDsiJsE3oZ__7ubbZV4-x2vsyyFJwDxg3fK8T3Nacu-rlQitU5gC318FPvonpvMDkkoTgtT3RYMWNWbqzwyJK2VdEZYvZS-XzSGNIKB-GRIpyuJmvqy4Cmad9tWlGqwFsGmlHr5MeWIJKBWQKIbDG9CinMw-N2yYW_kjUoqNiYaeCL3jBHvTd8Fh9FEmv0kpAAs5t_lnPEIo1wMbopOvZOgxz3YDNWtYeelqyXO0FYFNINO2c3YME7wD3FVkawrDJBa2qedaFz_j6DDLxfhAqPJ7jyB7wr70TyL5LCGGy3CZyBKFTi1RDJMTEWa3vKss-FanuUQdzgFYeET5NXAEUg9-N57DySMFxoxG82k6KKVkVeHWCf9YY7QJnoOfRVE165qZPoXkIj-Az5PkuJDKRFIin59Wktm0aoUaQtkxO6SV9ShA5zxxNhRfzBNkqegoQQz-AFHGIIIuctJDYSztDtEnMEXi9m3gKaojm5Cqw-ZANF9p0GU7r_xQwuMilOmuJ9kTmiE5-YIDG6ksyeNRUYHny8LLfDr39DHeHF01BaJgskkxpCLeJRsWWghlFI5_iPficBr0xgR1b2lGpfhdWHkgd2UFYx-458mXJS2KlHx6rWtJCOayzcaHIH43OR-Y6SYSFTbvMrq5Qh9Z6m6DwFUDUu8YRve7a5aqtq0VOvwz4OK_AqyBJvqFRKT5IzU3OOBSPRYY-kx27EHUUcAvW86vY_zNS4Nd8cFnjdwZDyuMKccFpE6BD-4bugYUFqif84y3S15QYNrw5STv1ftE8nVP1Jcyia_q9bGkup7sjaCKYPasIfRdMocVM9bJN4HFsKWqVtVyKV1m_937g_UoAACIYkcym4pxXODbOuasT4rymI-ABApp4",
  "id": "rs_0dee64f939ab8cd8016aacba72113c87d08893d91ae3e291b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.16,\"right_z\":0.34,\"right_roll\":0,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The gripper closed empty, confirming that the right vessel slipped out and is lying on the table. I’ll move the arm clear; I cannot confirm a successful pour into the red cup.\"}",
  "call_id": "call_6ggQDUORrEG9CSC6LneQq9RW",
  "id": "fc_0dee64f939ab8cd8016aacba7cf65c87d0a6b822d188c0f106",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6ggQDUORrEG9CSC6LneQq9RW",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0624, 0.8284, 0.7048, -0.4557, -0.1047, -0.0898, 0.9933, 0.5274, 2.225, 3.1168, -1.5433, 0.3283, 0.1257, 0.9966]\nstate[eef_state]: left_x=0.2987 left_y=0.0034 left_z=0.2015 left_yaw=0.0608 left_pitch=-0.0137 left_roll=-0.0079 left_gripper=0.9933 right_x=0.4387 right_y=0.1938 right_z=0.4061 right_yaw=0.1805 right_pitch=-0.0545 right_roll=-0.0879 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.4017, 7.0222, 1.6972, -0.1001, -0.0513, -0.0122, -0.253, -12.0684, 5.5179, 1.5018, 0.0366, 0.2125, 0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 463):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77bde35c33bb0f8042ae8843e72ab1cc7ebd0d0b0791895273fbe714b1964c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 463):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:269915ac4e2204face79606c2ca1d91b3466e4509c02c4312d403e1a6f5e7474",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 463):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74bbaaedaf7d2e13ee731bc202c1813538c4347996411874bf955ff5b9ca1d87",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 183 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]: [-0.0624, 0.8284, 0.7048, -0.4553, -0.1047, -0.0898, 0.9933, 0.8375, 2.6575, 3.0379, -1.2984, 0.9157, -0.2855, 0.0193]\nstate[eef_state]: left_x=0.2987 left_y=0.0034 left_z=0.2016 left_yaw=0.0608 left_pitch=-0.0133 left_roll=-0.0079 left_gripper=0.9933 right_x=0.4808 right_y=0.3298 right_z=0.2405 right_yaw=0.2012 right_pitch=-0.1936 right_roll=-0.9056 right_gripper=0.0193\nstate[joint_eff]: [-0.0205, -1.1556, 7.1179, 1.7216, -0.0562, -0.0562, -0.0073, 0.2256, -14.065, 7.6239, 1.0476, 0.6276, 0.0171, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLqET76H3SXu0wnADdb8EkZv1XUWWdeZ__-dmQc18NDj-90D4yOPnLwKBIRJz8BakaeIJQT7ps7YWD5f_cjOPkrosNEiChD879oIJgXtHwisvRV7bSR0jaj8iY81umaASArj2iTXX3ZCCtDMiXt9rkskdxk5Eu3eWnyixhJmjN75EfdwvPLTpL1MktFZNR0KElE5-9yBiMtVFKi-Re29OMjWKV29oQzjJ7MpCoVz2mS0zS-gJnoRaZGwJ_L-pNVAqby9jicSRwUdVCgwjKbVZJFr9TrODTxJK3BQyIrGAYJbnFal-kSs66i6JYTfws03lw7YsraE88PXKGmTTbRgE34ZRyy4_yAHfDfz1iRBJ-MGKhUR-EbdG9K-uMXPEre_VKbZuEc2T0OIbhB9kY9c5zhTSmBvxHZ279WgZQxoVInF4mxKpsGQ1WU-11o2GPotVcWZ4hNKm2XfPW49b7scJAbsPAc1XEZOZAgcvbdPgbQ8xhQWaYtxRcGF6Kw7HcOP74XPL5gD2W1cRx4WHbsO5YV8YAQ06wTme27pRbqEhh2Z6Z8zImBXMBL7ZY8rwrVXDfKBiJV8t8VD_KJwO3z6uaSrjlQyxvwyurbqMqZ03fy0nBozepVETh7NLoSOuBTjIo0rQshBcF-Doxr8rehesEb23oRcq-xTghsQz-I4-VcF9I-n7dqi2CyefG1PdOx15sgsSq9O7j4cM9mSEr7NMZGkl4Ly4fLdQR212udwQ28K9N47JwrTFir0cHHBS0-laPnn7DCiKG9rQk1128CmOBeOiSzB57Cb0_8p2oU8_0Eu0SPpr_duOGUg11QCZ0U75sr87GJCZIlL10rRyFE2IaEatEzBaJza4v53bwy4REQsexERKf0bUNAvqu0KX2JER1YtEtxjBgCdbAQrbqg5eMWPnKFkciqqBWLwuPYM4QbufFKiY4oCrHbUh-Qy2gnzq4wYfpiYvIbfOh0qKe1a9fENVY3RyEFLzUjGbDSf7ab_LjhZa3-BFFhuVCVc3OufB_8G-z53SXTaYip2_zAcP1XNbjmzTHP76inmPXjJaHORl15b3V9bANKwdvOfGlT9wykXMvLeZoa2OggaJo6JdGegrE5avYiBLYwbLfLUhI78vh192oa2mOeGoIpon1nWor7iDUy0GUJUDAc1dbY635qJ_0EG-fboWxUCpW8H_NVxOOwDy7sux251Ul0EvpQBPFwPp2VWkI0gUSpmC7TCdKVYsR4s0bqfcOv8FDfP9MlheWxggB8QN2dWG8Lw1dEQvS2DAIWMSJS5lPoHC3iHdK0PmA==",
  "id": "rs_0dee64f939ab8cd8016aacba82662887d0927ce8f960ca3d7a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.21,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both vessels are resting on their sides, and the red cup remains upright in the center. I’ll park the right arm away from the objects before stopping.\"}",
  "call_id": "call_RVieCoNouRMpIXeGnK5EAspX",
  "id": "fc_0dee64f939ab8cd8016aacba830c6087d0a741b8b9b8a3fe2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RVieCoNouRMpIXeGnK5EAspX",
  "output": "executing move_to over 17 steps (1.7s)",
  "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]: [-0.0624, 0.8303, 0.7048, -0.4553, -0.1047, -0.0902, 0.9933, 0.0021, 1.0111, 1.9549, -0.8017, 0.041, 0.0051, 0.9975]\nstate[eef_state]: left_x=0.2989 left_y=0.0034 left_z=0.201 left_yaw=0.061 left_pitch=-0.0152 left_roll=-0.008 left_gripper=0.9933 right_x=0.2194 right_y=-0.0032 right_z=0.6046 right_yaw=-0.0515 right_pitch=0.7013 right_roll=0.024 right_gripper=0.9975\nstate[joint_eff]: [-0.0615, -1.5795, 6.9812, 1.746, -0.0659, -0.0464, -0.0122, -0.1436, 4.5744, 3.0974, 2.7766, -0.2076, -0.0611, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 480):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:173ce1a80a85a0699a346fde2796f0e3cae8df9aa876f9b8e62df12e6b5acf6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 480):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93608b43ce14592a73aa38d6f7b1232378e3006cda27fa18f8628c819a130e63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 480):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53e98b2fb0b68015952f04f07faa9a6f076a45841158eb1eaf9c2db6d4606571",
      "type": "input_image"
    }
  ],
  "role": "user"
}