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, 0.617, -0.3782, -0.0223, -0.0223, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0128, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1851 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6342, 9.2786, 1.7705, -0.0269, 0.0611, -0.0562, -0.8547, -1.4427, 9.7846, 1.7021, -0.1001, 0.1148, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1117b4938564dae2664bf66aaa30c5c710c414006745e6b6b81db431f4645088",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e89f3099b0bb2c91cb2af7001c703b238ef8d8044ea39b82c22f614907abf8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97a92a4ae33d8fbcf009dd01ea3db98876c05a720bf10e5903565597500aab4b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrMSEAWQAbqnU4XdkZEslwDeOOYdc-zS94i6JPF8kXB-rSIFUZBIhrICtUWeBwOXOqvmWAfshoeLNdIgbaUW9UOYsh3VOJAz5pfpfqYkMGR-jSrUxCXKxcaZghcz27ktlLou9xcQy_kB1KxS1DboHMuHSqo3XBp2_TPL7vYXwvjN_QWzqkwpE_Nzv0PPCr2qZ9IcpwDF0fM3nv5D_iZMpyNt8K2pfKVvBZIwueEi4tsnsGjW1W-_VZ5_8TCgn2z-Ya2ziKTRx6FAGas0EHYLNOrvxqXhPkClZ8wzuUuQ1jtA-fOUS35sq4GRdNY5Glk3KbXDdPt9aWOdDg-bXna2lwbB8Gvz81XPPr-Qql5I5UZYyo__8aoUSXLT4DxE27xeGF8O77_Mb6S4ZJwf8NaEk7Q9lrHmB263nXNwpllIALOKeyEnE-dTS70dCUnVN7_pMEclH1ea7ueL7KCKHcXxsSvEqGfo3dkeRVlqz4nFIm1rXhppV7GOzdB_5Yj7vylXTww5yHGRwshj_GBBP4BSfXX4mtOSA6tUo0N2mou3JKczPgDlXt3EUwbXi7RdaByYCaDk97qOV_WUZU9bET9P4TDJuI6sz_WxVHv2KUoIndM6BzJoycxhd89OHzsrAFx6om-IYZ49UdSa67QfAhSZHjjlfM2VzOKphQU3ef8NrGUzV15RS3jWU_ir6Mn4YRExXG91bkLStC2r8zGYn6Jaypb79Pizuu30mzrnp2nEEh5mWKtPLyf3cQT6P30WvO-sscPuau9wZGffeTcmV7rVsNjFufHmNOY6ERR9mN6GR7T_ei0FgNJWy1qOhf9reIb4wpmbg5Jzkj2RgcNWyYG-jzLxUZ3A7uZDaN_GWhisO1SZ3yEuWtNZwwNfoiGj9FwbWco99wIQznKS5aGCotZCttjPR4B8RysYnSjBadp598WzTLcGDtkrhxpPXsIWNWRHUma7RQzNMNCig-JXgFEHVSHD9c5O4sxLscRbdlV0gK1ZohZrEOncblU-SloOHB8qVQgNeFlnnNGn6pQD9854bIKuBijrziQ0LUZwMH53lIxeYnHlaRLTDrr6FNVM10XQEdwkxh81p3FFETITKxheQhb1D5efMJEeRCmCKG0RSv8nAXa2teVQPY9f_GOr-CR30AwEkSdgqqFXHFlI0OrsElS2rfCXR4ecOAmlsUjVIKWlH1QwBPtvxGpzALVwLiXf3akJ5MaWEHbBgXXHlZnoA11bri7Vmzdh960qtOdpSsUt1iT0NlKTPi5bJfASjNDrpKQRgYEr-L1cktnWMtCrxIQAVNAywzkirO-RU57OG_kgaSQyOObCXzr6tINgefuuSmo5rUaPJTnAISmOHi-YVf773KKkl6CK3w7qNFf7jfBbxfeEHfYo7WzVmQm2k7yCgeeCtnY12QOj3yX7XDJmPFv6S5DbUbIKzDAlp6-YidWD23Z_QP3dzdakDwxnvtRZgfDYAsWVJHmlMn2rXu3Lndz7WOypIlGtHouDykuVfXR3VmgRd44Lh2bJHQQT4U-88Dib39OJYS0KX3CmIkY4KSRZmTg0B_UA9h8WnEW9knE14QA3WcIytmiKV-c4QSfnKsn69feqXkhKLQS9LRVWMj2sSIL1KkA7QjikbXicRn1vNruA1UhJ1mLWsxdi4Gw6akWYQrnx4MvaJUXJ9Hz87_6x0wJcD60pa7mI0s3LNsOIg8e1lYaYU7xC-GPtaSl0MzCbU1oxbbIpeaF6_IPeDs45YfrC1M-GylEjGbBYYfm8TzjkmWqh9VyhRZuoPULg5AxGCyt6I_RfbYa1EzI1yxrKBoUyeVwQ65tB665CQ7JKbWLQmZVNDGs8wEKkWsSZozzeQ",
  "id": "rs_055bcb2caedba699016aacc47e1e8487d0b67f37199be422ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.255,\"left_z\":0.22,\"left_gripper\":1,\"right_x\":0.297,\"right_y\":0,\"right_z\":0.20},\"note\":\"The two bottles stand in front of the red and blue cups; the left bottle must be poured first. I am bringing the left gripper above that bottle while keeping the right arm parked.\"}",
  "call_id": "call_3Ky53PkwyV23qvGgHZc6G4hf",
  "id": "fc_055bcb2caedba699016aacc4823d4c87d0b9696a583522e399",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3Ky53PkwyV23qvGgHZc6G4hf",
  "output": "executing move_to over 23 steps (2.3s)",
  "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]: [-0.8066, 1.6993, 1.3762, -0.4595, -0.6552, -0.5396, 0.9996, -0.0212, 0.8055, 0.6426, -0.437, -0.0124, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.3946 left_y=-0.251 left_z=0.2049 left_yaw=0.0047 left_pitch=-0.0338 left_roll=0.0109 left_gripper=0.9996 right_x=0.2924 right_y=-0.0004 right_z=0.1827 right_yaw=-0.0036 right_pitch=-0.0397 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.5402, 9.4564, 1.5214, -0.3687, 0.1343, -0.0562, -0.5265, -1.2376, 9.9214, 1.7607, -0.0855, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b413faf83f6faed012e4f7e9ed2d74472603fd3df1c1bf6571172af9f86e2aad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:280858fe0cb308ddda9f293437effc812a65a38781da01d5580b6973be022276",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b13e0883aeacbc4e765b9f37a2c204305a95bb5b644da7d286b21d03f723a13",
      "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, 0.617, -0.3782, -0.0223, -0.0223, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0128, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1851 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6342, 9.2786, 1.7705, -0.0269, 0.0611, -0.0562, -0.8547, -1.4427, 9.7846, 1.7021, -0.1001, 0.1148, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMSe2JXiBtHvTwuecAr1sg08Nu2eyaQ__Z1w4INom6CbxXJQpggKSeTguc_qq-ohltjx7O15-nMKg5wUJ-r8KAO7eJmGkjgImE_Na2lvUnP8mxUY0BWwZLQpTxb_0j647fDwSBaop8z63BrlepYfvyr45at86u3_3BDWJmuGykEKs8U15lry-QU9E6uLz1hVy0P_dBFC7hHdkJhvF1iAkPeHsqCCGgif-hIwdgv1hHnejW_Ie6hQYRjmmAOaJEj82Bujp9AwsqLkG1HC5dAiEhDmwX3bvAMnj5AyxAClUVd8k35H5cdYKco96Tv6YdH20zFm_WtieOE2dBvqSruPdbzCEQLnZBOLAGGFyBWfFjKDqGRQdckt_w07UeF-ecwjwyrQVHflcs8uJtU61ZqC64xfLqSw-gIWWgH-vl5ZVktCIV3ryBBK04IGD60ztwwp04C8asrGs9cr9AuyNtBPoGxFZwzA99eGLhdtx8xlYhfYShIU-X96ctfC9JbA4KiTM-KPgHmYHOiKVF_zjqktRTgfQLBfq0IEf-gWqPwRBPBBA5VhAqlETHjtu3cquMjE22TO3jkwe622-ZizNH2_vlDqkAfMD-9NRTy1biStPc2g5-rgUc6vx2KGirvk2fLoFLuoksthNJiCnnNeVb-fkDQn4fzNGHKyuJ5jkg_fGxH3l5xxEqbI_I5JHCKAZadJdIvGdWrQr5wAgmpY4y6_EtazOg29tyUkr7JHDj_pSw5PA0jG_YvWXRwzpzKSFIQCTo9XHzmdb_Gyx5JnB1LXoaZrz0rdmqH58ipO_y265Ew2xV8TMgwFMqIrzmpquy7i9R5j-kyllHaLpXfF0450TU5TB2dC2qcVyDLoKuwu3LL2h3gb1K6gvBSX5a88OleSahua1FJrk-MaCcljkclUjpXdMxHjMxxMpkdKbsldslc-ebykBVfiipMwmvPzOmSeUqkL4FgeXyATVufq9aDa6KsZzwK1_IxRGfrUGusYu5BkoJ7aSkeRX3XbELUBYKkRCn41n7avx3-ZHlIu5YT01uCoIqZE2sQCyX2yMC0G3a5ZO5R2-6PICNdJhB9Jo_A9dZCsX_Iqi1Ac1xDAST9mSXHOq1s2u3LdBbIuozqyR4ilz-ROlLk_II2-1cu2PzUsWue973lSBCrgbnGsXG_jVZ8ZpwGDOU-6zuBaY2St3r56w4ep6I70ddT17p2Cv0xyAaZE0DM5-31-z5R3VQoIl3mv7MwcIY3togU86CeQ2ISwegfxwcDN1nBxjGoFCWtsRVfX1qIV_UNoxPKRFBwsFfar3MKk2PVj1iiIJzy2JI7Ww0vrpgpvGC0kHB3G1yEYxnR9e4DvlMfMHLt89Hdwtwc6S9bJyxhEiFO3k14y7x9r-pVQXpc410of49QAiRddWHtT_0eWgOBIJS3FLFFYeEzr4VVlIsq-eB4Bmw9guws2JARo92IFXKP33xqhQ6fDscFdrxkQOFJ1hFjtFzWwd-H57e0QsxhH_46Y5WvUz735v8gJM4hMt7DBQencvjB0IhiupW-4uY18AZBgS3Ca944fbycf3T01eyHen7BaMlpdRY_IjAbEJ_j-zhw6Dl0AimQ7uIMH5IHeo7VUJaLrnmYxq_aXzWjTvPxceK54zv9P9m6Gosxd3J6iTYn7iWFG_SIpl-lAwUd8kDEFrnSLVvKGLq1MN6U94biVQObIGWuZhrYBmRfRzbYrjxc-i94et0b_WTudibibVA8jQM-R58jLODzitFW10VyVNvefrmH94UoCwgp-NAoOAVwnOjoSC7IchjaEoyfFEQxs8IvX2Axn_EYeDehonrXkBkXOMZD6FexxIkP8Vao4HnRCp8hr8m8l",
  "id": "rs_055bcb2caedba699016aacc49993f087d0b59f472c454d3cc6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.225,\"left_z\":0.115},\"note\":\"The left bottle is visible just left of the wrist camera’s jaw line. I am centering over its body and lowering the open jaws to a grasping height.\"}",
  "call_id": "call_GrJI8OVHiQ4niCfqT7Bq6XSV",
  "id": "fc_055bcb2caedba699016aacc49d7d2487d08901128be27279a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GrJI8OVHiQ4niCfqT7Bq6XSV",
  "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]: [-0.7128, 1.7771, 1.084, -0.0746, -0.5983, -0.4789, 0.9996, -0.0212, 0.8082, 0.6418, -0.437, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4127 left_y=-0.2205 left_z=0.1101 left_yaw=0.024 left_pitch=-0.0519 left_roll=0.0221 left_gripper=0.9996 right_x=0.2925 right_y=-0.0005 right_z=0.1817 right_yaw=-0.0039 right_pitch=-0.0431 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -9.2786, 6.5299, 1.6142, -0.1441, 0.1148, -0.0122, -0.3624, -1.306, 7.2137, 1.7314, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc15de2191b3a5757f35cb52a24ef7c97f7d0dc3a0459bff409a37b0f08abaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef924c23e685c769dda791468b48a1545e40ddc1a4d5bfd44d64110f611c38b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e743b50882513f87b56554fc71759c1bab14105bb62661c2c1637b688ed0dc07",
      "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]: [-0.8066, 1.6993, 1.3762, -0.4595, -0.6552, -0.5396, 0.9996, -0.0212, 0.8055, 0.6426, -0.437, -0.0124, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.3946 left_y=-0.251 left_z=0.2049 left_yaw=0.0047 left_pitch=-0.0338 left_roll=0.0109 left_gripper=0.9996 right_x=0.2924 right_y=-0.0004 right_z=0.1827 right_yaw=-0.0036 right_pitch=-0.0397 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.5402, 9.4564, 1.5214, -0.3687, 0.1343, -0.0562, -0.5265, -1.2376, 9.9214, 1.7607, -0.0855, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMSmBFXjNoz7gaEyY9dDGGwtT59H2g4yBgA49qo_u4NtC43QkEdzj59nokqT791cpe_mpjeps3PrqtycMLEBBj3OzAx7vdGIOkVwOSbcwL6fayO5Os6VlNnFidxyuSL7Cz9asV4IsDrbODfYS-3rKimuQr4JLWTVy3W7DY_YEb1h_OErJEew1PzgOaNGvYw3rjWJ-dOUDaUr6wvbpoCfgWXuVG-h0GWrYbaRY1Uh5CY2UhCsLTvPyAz9QU6xmZ0WQEQk7cDotO-97-L5uiijgVB7hOPAKr1mT1Dr9m5Q-X7GPnaaPJ74M3FztNDiyjfkeNl_HFCA55IUsY8vZskAXcA81-SXQx-XrW3MePJrkTivsrpEE1ehOuPuktgxUQ2PA95mCtghHoSEJWEAzFfvuHUOQ5OA7a5mrUsX-hfNl8Y2-POg7ty_PFalHkUmHAVo3ZmZJfgFwJR9kIwFl4DW0L_olfuWVoCPt4Zndc97omkDtRXjmvIUcwNrfGKTZzjYVajcXXvHpfru-dsa3jhoUWuOyZi4tJgeJAbtU3QQvcqy8SeelOfe6QlbW4ltGn3T2cxQWlVH_jHRt3Ma3Vwl6TfUBPorDlamr9H7JbrZpV1gMVj3fTNEIA8uR2MtAsKa7wYz-cHePC7y1OvXldmP3E4tgh-n-J6elKC9ee5a_YjBK8mr5PBcOglJ56wOSSdMM4oxTwVUk0QZNETVqtaN9jc9DQyL6EzGFBq_w6WFIpl3cbvCikrP4Ks_WAtEfojKbJAG-2FPtfVQhsx5t0rvpSDH7nMK6lNWmjzjfZViyNvmbyJiJRdeXywdPhc5dHZ-vcEbwBBrBusbCRW3VCb3ZkptDxLMdYgzFgP3WWbJ32R49Uzl1ozA0Zt07SV5QLvD1bbYNPAgyOhI5sKN1DrGC6ak5WgaZGspXTqOS4TJsxiZ-5Bp9q0xE-NuPxViM42vbvhbQkMjI0P030jWLGna4cThQmyDaI88NoKJza5wd7ZEGRFzbQwXwt4SFH5pXA2v-SBGHUeigdhAQWT2ChXJWdwlLzW2M3kR4v-WGTcr0vKN4Tz-6iRuo_bWqwyZe8_YFhAurL7cKGyY7pzpZGqAn0McFLHLTNBOgk_OzxypJ57I_Fn6B69i1m3v4poOU2X1S-QzCLKrSzaT9MqVfS4aRG33VJj99i2miHpt2xT8JzMe7xxAZpTGvVmPXnguBeSwM_WmF3DJVZOrJaBHYGfIetCvhcOClI4yAaBoXnntt6tmUWahzt6g2n8xuTGNY2ZAkijll7IxAsmuX02JGkMjpwtUPkiHqubVQ9xLQFQYQrWpGz6qsw_ImIKUtnTXV_NwiF_0xabQDS7nL43Gz4d1XuBewIkOrheNZMws90dAffUahlkMml3bT9C8X0TvORS6acfmFYCIjzllZtcf-QXo-mcJWeLgWvI6YkiIumhqHZtEmvarLnxSFfFUwBN2cDxnuz-svF9oERRoLHKy_qIvoDr_FyLOQ5SW55iRD4I2MxT7x8k8NF43hqozdhk47VLmsBLX4cX43aOQDS68zYiR8cVYAQ==",
  "id": "rs_055bcb2caedba699016aacc4a27b6c87d0ae99f70160317d8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_z\":0.095},\"note\":\"The bottle body is centered between the open jaws but still slightly ahead of the fingertips. I am moving forward two centimeters and slightly lower before closing.\"}",
  "call_id": "call_3tFIlKwBTA7roRsoricu2zEv",
  "id": "fc_055bcb2caedba699016aacc4a5357887d0ac26c36505b456f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3tFIlKwBTA7roRsoricu2zEv",
  "output": "executing move_to over 2 steps (0.2s)",
  "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]: [-0.6842, 1.8374, 1.095, -0.0349, -0.5919, -0.4709, 0.9996, -0.0212, 0.8082, 0.6418, -0.437, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.425 left_y=-0.2149 left_z=0.0934 left_yaw=0.0439 left_pitch=-0.0621 left_roll=0.0317 left_gripper=0.9996 right_x=0.2925 right_y=-0.0005 right_z=0.1817 right_yaw=-0.0039 right_pitch=-0.0431 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.0325, 8.841, 1.3016, 0.0122, 0.1929, -0.0122, -0.253, -1.265, 7.2, 1.7314, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c26e4942e0c4f057255547d25e1e2851e8c4afd4afe95604a3d5c49f8f97fa4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b566b40d00797cd3c2ef248c79d407362dfc9e1120ecce869ccd23605a626929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0990e081ff4daa80e9ff425711f981c0d7b84ba280f57150db56e1933cc2e089",
      "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]: [-0.7128, 1.7771, 1.084, -0.0746, -0.5983, -0.4789, 0.9996, -0.0212, 0.8082, 0.6418, -0.437, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4127 left_y=-0.2205 left_z=0.1101 left_yaw=0.024 left_pitch=-0.0519 left_roll=0.0221 left_gripper=0.9996 right_x=0.2925 right_y=-0.0005 right_z=0.1817 right_yaw=-0.0039 right_pitch=-0.0431 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -9.2786, 6.5299, 1.6142, -0.1441, 0.1148, -0.0122, -0.3624, -1.306, 7.2137, 1.7314, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bottle’s lower body now fills the jaw opening. I am closing the gripper to secure it for a short test lift.\"}",
  "call_id": "call_4RJUk1y72xnHyHLfrRWKBBhG",
  "id": "fc_055bcb2caedba699016aacc4a8852087d0b2b8bcf60ecac6aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4RJUk1y72xnHyHLfrRWKBBhG",
  "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]: [-0.6842, 1.8698, 1.0973, -0.0364, -0.5835, -0.4721, 0.0143, -0.0212, 0.8082, 0.6418, -0.4366, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4244 left_y=-0.2159 left_z=0.079 left_yaw=0.0399 left_pitch=-0.0897 left_roll=0.0473 left_gripper=0.0143 right_x=0.2926 right_y=-0.0005 right_z=0.1817 right_yaw=-0.0039 right_pitch=-0.0427 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -12.1231, 6.2154, 1.4383, -0.3199, -0.0317, 1.2283, -0.1983, -1.0598, 7.2957, 1.6777, -0.0513, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f145c26d17c5857bff72044b41b650fdc91ffac8735ec35ba695691aa84f65f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:822ccf9b74602187c439e79bd3e04f458cc4f27d500db86a867c44c7ec309d54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8975f8372b16c6df38d9b4fc05f54119483cb2640554da26f31373f81c45b24f",
      "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]: [-0.6842, 1.8374, 1.095, -0.0349, -0.5919, -0.4709, 0.9996, -0.0212, 0.8082, 0.6418, -0.437, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.425 left_y=-0.2149 left_z=0.0934 left_yaw=0.0439 left_pitch=-0.0621 left_roll=0.0317 left_gripper=0.9996 right_x=0.2925 right_y=-0.0005 right_z=0.1817 right_yaw=-0.0039 right_pitch=-0.0431 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.0325, 8.841, 1.3016, 0.0122, 0.1929, -0.0122, -0.253, -1.265, 7.2, 1.7314, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMSxmXQfH4E35i2TpwZdxaiUzjxutvYzln0E3YiV_uhXgzl8u_QO6Iv2BNniPrIkH7mlPTEXUarAdla1Dy6zfgbm0TbhdVt2j0Qb1UQuovM9NrohhUbp89dhiWuEFXE9Nmy0TodDklcSD8w8n5uAU8HO8SEiW2IJEGz0EUXT0gCAul9AeCk72P76lhhIAzSIOdtAzuDoBOGUyV-NCqu0oHMc9EIc7-5jmZ5qZq8DLL0OsT-ivKbYqL3HdhBSOfzUUdxtSkdmrbGeVABmMkwXY2pfw85hrHrFIK9xsX_pfsYgBJA_YYM3zq2wJLk033q9yNtxQ_pQkaLvbXcabr1vJd2SYTX_gkzrS6TNmpr5wxeyxeYH_SiwR1AMa-nMOiMYp3OSKjJ0uCn2kwLzZGIoQfNJ8f6GPqfPz4lm_UViZakKYAuWT0Un4niqsJcsdUKmNQafnLgLs5a0c6LZBegBgnznfbC8VdaB_KNwu0qffLE6fE-dWNBxaesAKE3Je0GP5Mtz5YKeTfNZC4VxMdS3c4_elzZwEdTxc5bZbUjHT5bwEq7d79HXJnpwikktRwv5I32HErQK3ojrpwrgM0W62oAVtdzL-fX-P8_S95X1Tk6eJv2Is7o8-ZHf8HPJxu832-D686f3hB9s5edd9GZYEKXzeCSGah8McSrAIbX77XispuAFOFZgQjO9z4bR_n1wXbcPF2Relwcw_K1nI30ThjqAkt96p22VSed3IBiALLrA-rRgLFqu4AKRq9ErwijrzXV63hYCdqHrNh-QMOk_XeN6AI4oo1n8BBWvR0-5Zyy8fWWPwQF6u7yD787xZWGLQXFz5EPVSmV2O9ircgqXBE9lR63FO0OA20SwsgEcpuN5Vu36pVOAVjZsRgN8VnU3V6BXK9KUvGPp6YKIcaUFm5AnkORs4yzvRZ7QCBnxqsU2j1PVsd5efSZj4ZEdxatITAT99L6fhMiY5ozF5c4VVTYppO59UsTTYM2de8UwGCFlBLM3Nlq3nVCZHkNrR0UdKCY_jVfaZ24cFS8D4EOKOF9DJZ8gn3B9YFnf6txyumQ9is4VKILPAzwYAsC4nfM38UTEO_uAKOIPu9CD8kBpbB7TGrRVs09GfmfbTxcjJhach1JGXJHGQUbVBL5990sNpjlMSGW2lW3Nf2dqTAPH5IT_52FjxQMae0nEuSfM6MjDoDQNzXiLTWT8bp-U0uqAKE9LuSxOFtUBtrXO-RdEbEKpRhYOqX-56c-Kvc4RARugMytN9zQG9SLjJXXFNEvjZttNZWFMaPiV40MZNuvdb5V9Oltkp4Bli4TWOLerYlNhOsRBnyVZLCSfgtMpcYtbus6u_q6cvhitLznQS5ena1k1c6HS5fA44X7aYk3wQnCFWiA145zsHtP9ZOmwBfDasAWHxKED7oUHjYyYIv6OhCTyvi2jfM224uno7gSKHcAAdEByub5a1A-HBbMVxfnPZ82CZVJ43-2ShxB7XCaoR7_1KA==",
  "id": "rs_055bcb2caedba699016aacc4ad6e0087d0b76163ee65b3dac0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.46,\"left_z\":0.1},\"note\":\"The gripper closed almost completely, so it did not capture the bottle; the bottle remains ahead of the fingertips. I am reopening and advancing to put the jaws around the body rather than in front of it.\"}",
  "call_id": "call_JRX133PMNsrfPUF3IuInTXnQ",
  "id": "fc_055bcb2caedba699016aacc4af99ec87d0a91f6fd7fc3dc690",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JRX133PMNsrfPUF3IuInTXnQ",
  "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]: [-0.6281, 1.9221, 1.2243, -0.1268, -0.5594, -0.4572, 0.995, -0.0212, 0.8082, 0.6415, -0.437, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4508 left_y=-0.2071 left_z=0.0872 left_yaw=0.0713 left_pitch=-0.1135 left_roll=0.0561 left_gripper=0.995 right_x=0.2925 right_y=-0.0005 right_z=0.1815 right_yaw=-0.0039 right_pitch=-0.0435 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -9.4154, 9.1829, 1.5409, -0.0806, 0.2857, 0.0611, -0.3761, -0.8547, 7.241, 1.7167, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b97411ec8b97a7662c11978befda4bef7277c32b4c7a074fee96461ad940b86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08514c63a8731afc40f62ef2cdc7f2876a3eb86ce609a3ac7475f2b1a9ff66da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f03edbd8bead8fd28eacd408a564dc6f0f8e1be7c6211492e01543e81733d23",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6842, 1.8698, 1.0973, -0.0364, -0.5835, -0.4721, 0.0143, -0.0212, 0.8082, 0.6418, -0.4366, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4244 left_y=-0.2159 left_z=0.079 left_yaw=0.0399 left_pitch=-0.0897 left_roll=0.0473 left_gripper=0.0143 right_x=0.2926 right_y=-0.0005 right_z=0.1817 right_yaw=-0.0039 right_pitch=-0.0427 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -12.1231, 6.2154, 1.4383, -0.3199, -0.0317, 1.2283, -0.1983, -1.0598, 7.2957, 1.6777, -0.0513, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMS3Fi6ffpI04KBcp4M6xopsA0J0pckYAWXXhNpknrsnxscYn06gB8Tpep4NNzhkMJBzRQit2CGoo7G_iEyXkpcpQJo72SA4BLZuOOQbkDv9LidJk7Kfl9R_-0n6SKNYYyqvUi0Yj59iHrxjB4sTDIdTTP_5G7upXpsVWu7OaFlADmmImSTHmtHbS7BqXkXvUa9v3d4hSVjwEjmMCbqfPiBP2t3ZzgjohbQmLirDGd3CSngr33N_uyBr6Id5x2jTyVpTN5RooYYq3Z5KqBXJDqHv176RYZjSdqs7bwGI4s6HLEezIa5LUTNWqOFQRPJJlJLx0vYc86-q9PDuOxbABHVWCbkw5mvFnRofU0LaDoaLddFdWqO2hmYiBwKqdrVpkgGXQ97punY2E10cgzPfzVErxhvYXhiAkRgcSyT2sZ25J4BqX0wa4tViDiqOWnlKITQt1pG19YaN7mnVvY7oOh9I54yGrR7ds-VdSx2kThstMdHDWPs9fJAyKh2W6wJm0juo-N8uNxrfshgImhzRGqAh9nAHqfpoT6ANB0bUWQhch2QlGcjm7-E8q4UQjs7IeoY8P7B0a0QuSh1d5Lb9OdsSOkfWKxMLs2sr9BB4O7P49Osym6d3aPaUg9sV3k-E5_HdnhREF6b54o8aWt5rsMS6yHdRFoZG96G89ahOprGzdjMfiaLRmcgcnzfxJGuiZS7166pc2-5AjAoXQLeuNSQEuaKs8Px-DhHZ9temnJUEbSDLiRICmLRDIkE5bgkVjY57pkSP3nT2aggL0sy-sejpZZt7_33btIRL3nyOjHt4Axb9aTqnGqsFpeQk0R6gyURGn-pejwzGwR47cZOjRH2-PZ6PD0FeMbZqM4OLJbk-6UUW6zQ7GDGrNZXtq3QcEZnOGJLI53jeT-KJrKt8jeQOXEYxyGa6SgLcz1WSZMGqBCU0pVUsw43RuBHUyUG4wjCE2kGgaKvNZ9PwZNOBCIszDhnSThuYp5ittSQmILbq8UGTbZPnrLgP3o-XOA6-gKbIP7vQPJczctMHxe5iZY1H5R6s4DhuqYR7oUzz9dzY5Sdtcn1pohlcFkMfSfWlhuICl7GQxjf8P4sV8LUR5QbdfHYNXOY9VNimhYW7bdhtN3ak6JR6Y85qHYLxNpJg5_JMCjc2IecOWPw_hgEhSmyKYIUfAz8o9cmkJuDc4o6SJMrQL1LeuNaZUfF-LtF3Lh3M5gAkjy0K_aNEDcpRXrJWIkw1kSHcPXJWOxXyBx7gD0TWShhjT4sU1_cRtnPaj-nQYO0acoY4K0aTR3BXxFYC0D_anQxHL1YhyLJ7vkAGQjayNS4UFid_tsvsUVEZfr3PyIcOi3QzwWN5CHnIieG5149B_B3Rsgc4m8Zq3g_Cua3KD4CATeYo9flEbjtQDculPqo1bZ8UnJ3Tn7fGMPXkV36XKv1fLu58jkJyK0oT2bY=",
  "id": "rs_055bcb2caedba699016aacc4b4f27c87d0ac9a7c2d5c270455",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.24,\"left_z\":0.105},\"note\":\"The bottle is now between the open fingers, but its center is a little to the right of the jaw line. I am making a small sideways and forward correction before the second grasp.\"}",
  "call_id": "call_vjK0rTZin84lINaI73mM3P4X",
  "id": "fc_055bcb2caedba699016aacc4b6a64487d087f7c85cc60e0eb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vjK0rTZin84lINaI73mM3P4X",
  "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]: [-0.6483, 2.0251, 1.4082, -0.2382, -0.5743, -0.4915, 0.9967, -0.0212, 0.8108, 0.6415, -0.4374, -0.0109, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4696 left_y=-0.2309 left_z=0.0918 left_yaw=0.0827 left_pitch=-0.1281 left_roll=0.0578 left_gripper=0.9967 right_x=0.2926 right_y=-0.0007 right_z=0.1807 right_yaw=-0.0049 right_pitch=-0.0466 right_roll=-0.0041 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -11.4393, 8.294, 1.4969, -0.2564, 0.188, 0.1685, -0.3487, -0.9641, 7.0222, 1.6923, -0.0269, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae94dc98c2e5f91d6cb1113af9d7a58459f4e5e15fdb36d0fbca0605d8c81f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00e52d3125d89ef1ddcf97996b7a4b7f0b7e489352ce642bd64e4a2f4446a7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e514db17dce5d7697c614d2a4ed6f9dad53e7848a591402cd4c4b506da7bf08f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6281, 1.9221, 1.2243, -0.1268, -0.5594, -0.4572, 0.995, -0.0212, 0.8082, 0.6415, -0.437, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4508 left_y=-0.2071 left_z=0.0872 left_yaw=0.0713 left_pitch=-0.1135 left_roll=0.0561 left_gripper=0.995 right_x=0.2925 right_y=-0.0005 right_z=0.1815 right_yaw=-0.0039 right_pitch=-0.0435 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -9.4154, 9.1829, 1.5409, -0.0806, 0.2857, 0.0611, -0.3761, -0.8547, 7.241, 1.7167, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s rounded base is aligned over the gap between the fingers. I am closing for the second grasp attempt.\"}",
  "call_id": "call_0emLLasHvtvT0TkpxJycv99x",
  "id": "fc_055bcb2caedba699016aacc4bb2ca087d088ecbdf51140398a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0emLLasHvtvT0TkpxJycv99x",
  "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]: [-0.6495, 2.0369, 1.4117, -0.2462, -0.5758, -0.5056, 0.0147, -0.0212, 0.812, 0.6415, -0.437, -0.0116, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4688 left_y=-0.2307 left_z=0.0862 left_yaw=0.0917 left_pitch=-0.1389 left_roll=0.0588 left_gripper=0.0147 right_x=0.2927 right_y=-0.0006 right_z=0.1805 right_yaw=-0.0042 right_pitch=-0.0473 right_roll=-0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -12.0137, 6.147, 1.453, -0.2759, 0.1099, 0.6911, -0.335, -1.4154, 6.9949, 1.6923, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9be08cad65e86650b147a341617f94deeab2116b19abb486c71194a9c735de3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:235afcd0ef257d9a639d63c9672c7ee603781857ddaf93a1d3d844f4bbe16109",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ec36d71ae45a203136b22106aa3144cc6ecb0c601cab47867849682cc2db6c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 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]: [-0.6483, 2.0251, 1.4082, -0.2382, -0.5743, -0.4915, 0.9967, -0.0212, 0.8108, 0.6415, -0.4374, -0.0109, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4696 left_y=-0.2309 left_z=0.0918 left_yaw=0.0827 left_pitch=-0.1281 left_roll=0.0578 left_gripper=0.9967 right_x=0.2926 right_y=-0.0007 right_z=0.1807 right_yaw=-0.0049 right_pitch=-0.0466 right_roll=-0.0041 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -11.4393, 8.294, 1.4969, -0.2564, 0.188, 0.1685, -0.3487, -0.9641, 7.0222, 1.6923, -0.0269, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMTFtXed8H6qRgifPpO921XuglMcpVOYdIZ_MpuWZjx-dURWB0EHH5gTvdC8uF7bSoanoeFiAUYXDGQE7K3FODgqdJh6nJUYsfyghQOD-C7FXUoMVR5Ko8GJD35gUNkUyfOrPmudhQqVQ91mjx9qhQNqz7oVZxDBOFfcHmwdzCg9cTasRgnfHvjYBVlpNsiFR1dn2sOCVPwQTSGKWKXQHfJOSZVpqxHgdVXDPm0gC-Ln8egBqhR2wY2Rg0xi9h1dGswpt9gNpQAQ3gxNP3w42XcHwt8vg4sxG8q3NmUWRt085W_TavR8o6cDcMj0UJZLNZfy1IzWnlZSmyQNDhFcmDuaT-u9CG3Rd5A8286m9ITZ5BiJmSe9maEb1JqF01lN8eIfrDwUWfFcGgN7bwmT9VjkgXePbaM9kD3SXayw2RpMgM9BzxlzwIy1HmHBH2qMhZ2JQpMK3juZUsAhIW1X6w3QhKVrkmDiaJB4Emg_TWmxcjKCjPb4ZbyJdCYTgA8i0YkWhn1MpSUZw6GS7F6sG70QGTz5ckrc02q8UUE7qcQ0zLsDFKZV9qNq5RgVtkP8LrNq2ptOrL87s1GDvDahpo0kD-_2EsyvTtM41MONa2reHSs810wm1oioGvmFS9zZPOfdUPYu3lJ_4Ai02XK8Am4oAXtuJIAIUK8bK0XR2DbqHvWA-_4tnF1-8oCxw5M8ULYGp7gPeO7Lz1fA4Cg0aDfmUr2D5Z4sm_rs3To_4dtSnSrGs855ct4KVmAIsyeQl6zrUMjTj15KI8NK6rV1NWFrPZErH2yozEfzlZE8LKaZVkGiP2vG_VnRiDf09scICV_91pA7DILzIH8gK1KNb5uBbw_bGFNK2AiX-OOxU-nnqqaWl9letV0CIRL-EedpfYsqG8Ff4D2bVam_4ijRm9OwxfbHhvZ7YwMip1nTK3itQKbBdKEXoBI4tWLxvgqIBFokhABK6Y9mexTnFAutB3VjHez4iB7SPxa_Q4zr7WUA2Bqomx5wt2Xp08uxJuejshco3PQu6El1ay5zWJVXn8Wgh3KMDOThFuZ1CyBmQC6wUiRQcOe44TPMoMt2SZ4yo9ymjXnoaoL_9YR6R1jeByvszFQST_4ecGjpR0I0jo8MxECb3TWIVEou9TsmRx9HoDW6-7g-WMQS78-tzz-MWeIaOfYVu1mnecH1nPCC2VOFc5-mcpmHwnRtfbFwAQtS7LSY6C0VITh3y-2AxyHsaHZrXULx56Gt7JALiqURtxvyH1jmOu5be6FkH40PQcGO7yfKgR74HFkzGDRvtNOwYHYEFAi63YIe-a0gyg3BtCrIue966hMWjc0woYuaivEqB29nCvnGJ4FuRyb-sgfwbUHQ4SjckG-c4D-aotVk44Usk2lhl7VGyf--7ROA1Y8zn0A5NQtLg78uLi3E9tPWdOCcxVyaRBixSenog8HWVPhnRmsVwkTbDlJ72A1nfY8B3MCYsxTFq7VEMfbsiI9-ulTNsG--jF-nTW3fqOoqz3Sqoc05UU4qC7TLNV_awaVinGGrQipFvywZac9DnNS91l4ImzRyOENUx9qqN0MxCA72ZgsfdEOOOkWvY1nfX21fOPmeZDUlY_dRmSNf1N3WY6z9lrMPhKIuyMq7_z1wut5FMEvITj1SCoizBEnLcBi9Oeb5bjWoH-YDoE1LHjbwpKoq4L4vQzvQYXNHEXirYEssMi64-Krbu8nLu-8hgMpj8GqxHoe5eV4wLE1pA2mM3tvVCjBJiMAyHn89T2wo_6Q-cV2JY-wGIMqZolaQDH6CHsb_gUp1cQFR84mjD-A_CCODlA==",
  "id": "rs_055bcb2caedba699016aacc4c16c2087d0b013b4c20a723260",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.43,\"left_z\":0.26},\"note\":\"The second close was also empty, and the bottle appears to have shifted forward. I am lifting away to get a clear overhead view and reassess its position rather than repeating the same grasp.\"}",
  "call_id": "call_JxFGgVlFN3AbUjGi6kS11oH4",
  "id": "fc_055bcb2caedba699016aacc4c4368487d0adfb5011a026b263",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JxFGgVlFN3AbUjGi6kS11oH4",
  "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]: [-0.7033, 1.9091, 1.8404, -0.8711, -0.5957, -0.5888, 0.9957, -0.0208, 0.8127, 0.6415, -0.437, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4354 left_y=-0.2345 left_z=0.2296 left_yaw=0.1041 left_pitch=-0.1738 left_roll=0.0549 left_gripper=0.9957 right_x=0.2928 right_y=-0.0004 right_z=0.1802 right_yaw=-0.0035 right_pitch=-0.0481 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -12.7111, 8.9915, 1.3846, -0.4371, 0.2662, 0.0171, -0.0068, -1.3744, 7.0085, 1.6777, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0bef64e781cfe4396ea9353833f79109e90c630c7a8183a384d22867cdd469",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4176b7dd4766ea77dcb2091ebf80b6768341da2b1866a1c0496ebb7a3b48d70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8999e3659043f32ac6a82806f27d79187749e948eaec6d2065436b77d7fea737",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6495, 2.0369, 1.4117, -0.2462, -0.5758, -0.5056, 0.0147, -0.0212, 0.812, 0.6415, -0.437, -0.0116, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4688 left_y=-0.2307 left_z=0.0862 left_yaw=0.0917 left_pitch=-0.1389 left_roll=0.0588 left_gripper=0.0147 right_x=0.2927 right_y=-0.0006 right_z=0.1805 right_yaw=-0.0042 right_pitch=-0.0473 right_roll=-0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -12.0137, 6.147, 1.453, -0.2759, 0.1099, 0.6911, -0.335, -1.4154, 6.9949, 1.6923, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMTMGDrXJ8Oaw2pKHca9qdwsjObvSLf9XCDC4RvIq1AEJPjXpxwifafJKH8CUVH5U3aisEq-bQIRjkZY7JRdmog17ke-Jg7Vk2wOA4PKMRvfU5lTDzSudrLWkqc8Y1mHgd2jG9ZD_8ZR99xgzBGNs_vKaDuUKN3U8tJkZcNOREQ_5uMzUpgO_UfRJ7glIRgMolBG6j3LPaYvh5E12hD_uiBGFCu-cp571D7Ac3KHm5AkJk8a8tWeV4WDhRHhs2aHLYAfR_CAnXlAkaRUM6JD-nhXk1DJzbcVf8cgpT__15fM0tNfced8P2f2Tc-uU2gnQMlPa_6pDSPM8s48blT6J4_jch58Xw5GK5ycjbutQpKmPnDIa9tIO4UOVxaskcC4Oj5Z6l5GagjflkAfsZ9Zbr_zLupj4Qc60t4LIRFeJKzQJWtj7MEMdGS-K0FfNJp1AOJt0epVnrdd0M47yl1CcFd1fAuo5qsUQYfvw9JsWl2aZGN28PG2-rxaZ04-o-5uryB_FxXNz0nShja9w74x95-cBDS008CShsvF8ID3mDTP58g_na7gmmGxtnReRTwFdFjz7FehXi_H9pYoKT0LSfErs6YL-73EDNx6Mzq15MwRsCNDIpeyqYuOzydVQVkpUFCq5tV6I74rg6sBIvelXAPfjLUQ_mARKCtxZBkfNSSRXRpoNf-iIxfanULJAFH4LbL2kOL_zvNMl8AnuPOJpxVQvzz-w67soXv0yzOQJ19135pZihURFCPilDjKlt51XlDnOvhpmyEZWbpVGncKL0hf5VNp3l-CUr0cicTG_4P9LIyBLSkha_LZUXQXLJa-rSuSi5NiJKcXJ6OVDXAVuvEPP-5cN6Ckp5BmTuwCj2nw27JLVYCNWtSxSXMU9Z4ebP5_rduIVD4VdCCl28ZKnsvHsfxkuS2p7jeKupHWICHlwJcUgdNC26XPR7gS06UgaC1n1_vdXUG_P-QJLNveAIaDsUjb69j8GFrUFeH33tzYxFXI0sMBiY2u1MwghF0-zMGu-NeKtZXdY2AHn7cRNV8CnFlh811i1uOyJHmXj4l1wrGFkjV13syg0vJT5D7lMpNUdhi4lUJvYAQoAordd9-4NxsNSqR5TlqhUCR_9xoFg5MIFT0QSgHsp9irnP5TxWMYXVscMbiKW0xPMUry_UDBu1ymdKMUXCYnY5cULcbOjbGrzLq6uvEkjhHnUDd2sSHpvJlfBWeh5Y6WcWCwJPZyJwx-KK7mN9k7XXNe2inf97OZ2XSX4SBX4SHW_9vRfYcl8PRRIon9TQxs9_ZP7GaUfUgrSDexmIY5uGYKMDt9G5LvO5624Vyv_mzGmM7XD2nyI1E1SUc1tFvYGsboURhseEx6xKfA49m__hT-SZ_BAdLLtR6A847Wd-9R21SQfU6Jt-x3VEt5XuYIeB-6v4zKCS64XVcIRYXQX4Vn6nKtkoYAOIXsVhHMahQ13BJHHs75rMEoi5jumOofNcdNcSb0vm_g6j9ypmu_HMNNQevU5nGs8EuaYOcCUn6tunM8pnsN",
  "id": "rs_055bcb2caedba699016aacc4c8576487d0b0ccd427761c9de2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.525,\"left_y\":-0.23,\"left_z\":0.19,\"left_pitch\":0.35},\"note\":\"The clear wrist view shows the left bottle upright in front of the red cup, with its body farther forward than the earlier grasps. I am reaching toward its upper body with a forward wrist tilt to improve reach.\"}",
  "call_id": "call_lZoRMuAIpBcy3Gt2T1Us7rrU",
  "id": "fc_055bcb2caedba699016aacc4cabed087d08876205d35f7990e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lZoRMuAIpBcy3Gt2T1Us7rrU",
  "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]: [-0.6315, 2.0182, 1.3788, 0.2592, -0.7612, -0.2188, 0.9968, -0.0212, 0.8158, 0.6415, -0.4366, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.5185 left_y=-0.2239 left_z=0.1787 left_yaw=0.127 left_pitch=0.2863 left_roll=0.0608 left_gripper=0.9968 right_x=0.2931 right_y=-0.0005 right_z=0.1795 right_yaw=-0.0039 right_pitch=-0.0507 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.6462, 6.7214, 1.9707, -0.0464, 0.2613, 0.105, -0.3487, -1.2103, 7.0222, 1.7216, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2033f096e4c333fb793496c6603109e426300d2df82a5324410887f03f5168e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a5b1ad880dc5069905125236ed0da68794c8c9f9daa64d5b54fef9cc8dbc2b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df55af38c2b9114ce50f305f6bf69c95573167d868391f3b54bcb2f27ec06299",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7033, 1.9091, 1.8404, -0.8711, -0.5957, -0.5888, 0.9957, -0.0208, 0.8127, 0.6415, -0.437, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4354 left_y=-0.2345 left_z=0.2296 left_yaw=0.1041 left_pitch=-0.1738 left_roll=0.0549 left_gripper=0.9957 right_x=0.2928 right_y=-0.0004 right_z=0.1802 right_yaw=-0.0035 right_pitch=-0.0481 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -12.7111, 8.9915, 1.3846, -0.4371, 0.2662, 0.0171, -0.0068, -1.3744, 7.0085, 1.6777, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMTTCCb_phVajrTaTDSH37ZR2tvpx2btqmr3uLzATqowlLEaNbBmpXFHdDeYxtjbArK_Pfh1hrKrhtnTrcewaiG4T_TzwPQKf9u6hJszfCUXZxZ3p3XRU1QE40WhGb3Mz7iZH7PvW_yFKd1H9GrfUsFpCeHnU3-S1sjyuph7bagqi6GG2IgLNAYN3aKMewRZYYrY7nepvbMb32m5cCee0j7NgXFisemupDoWS3tjuO2KsWCCBJ2OWQU8KdJtWSS1BjfsRyQDQz_St7Ykg9wPsFPUm-EwkGz_8ZC7_eECnngmRtEZPpRvpNNZzcIABJ25CJd6neWdxKmI4DNaGlT1XFBhfg7Dkqr_lTPNTyj2lXCPG24Odnh9OIvM5aJIkFKM0CYVRby6lj6xwKY3P0HV1V5QxLV5pQNaSQL-zgFoxO4oMjPHXenKYX8fjtJKLsZdHNA3c3BztDfH-wvpbGcp6m3OyU8NYJ0kwt8BRMbcrrgD3vstng3A-RNtFi83EcCHs9tJvyPYm877dLPK98nyB0e9HKcnzsF3dah3fWCySZC1T-iVfQIAddBmuvTZrGX2w9zZ7WoUL3dUTakwNovkKVUi60FibxqfvWpYDKfooOTWwU1G2RfLSvWkZ3PR_Db8iEo2CIXI4-l4xwaH_BgLH6q6HEYiVhTOdvsj2QFld8WRLLER7nASPyg-QZFgFwLTOFnqVNj-1PgPhdZq7fk3X46C_EQ-GqRy5mb9vUGfzZPvAybiKryk_JPcqqYZhduPf3xwbb7PryVFFhjl8HlxtgojPDKmQvrdjfqp-mC4E6zvWUYCM0-XFzPhN8rbBG8d-XkhcUErIN4g_QUepS8FaM8T2y_qrokVxksVZpmNqMaalM2cRy2SnCfQlC9ZFUahl8aZ0MZOngdvGyhBBBM5uMi5jX3heDtTN_vPlQawXeSA0lAynw9je-DhIuZlr2VbJSzIAPebMbkFBeQ_ThTQJx2Sv_U35aJLlstRPqac-wjsLfYHHf5Qzz-4S24vkawvpb1c4jfUsCKROUk2mlVcL89CNS640isMFvjJi9FEyeFdFQI2S7bHl76ojp7c-g-lrsJ7-PfwkHqJyEu5ms4cbEnWE2UxZbjthK1h5gk2PqjH7x5gX9MsvVrYAgs8J3t5rTTTJQQhJmTlrfff9cFRnano19_wB1U4Kma_UIm2ic27gHN6NkrkUKDbprtGPIae2NabyUYUoSftyDqFgneVvYCGLBk3KRaSB-1NDbdrn46wtxZ-_AjZU7mIZaIRmunGRJ-Q6yDEOztYfFOEDW_UZBOFfFKRtVeNn7opWsga1tDIH-QOPj8TFDRo8OY9HkK2D0gbFl6RePkz8khEFz2-0IqxNR6osqVNuerXyVw4PeRv2gg3rYyLKAJgssM0UZYsTVQL08lw9x5JJz2dFrLs82Mjvw==",
  "id": "rs_055bcb2caedba699016aacc4d0b49c87d0a9e354b8c53e7f54",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.215,\"left_gripper\":0},\"note\":\"The bottle body now extends into the fingertip region instead of ending above it. I am making a small centering correction and closing around its upper body.\"}",
  "call_id": "call_l2rqsDrSqQbe38wn4DhcxM1J",
  "id": "fc_055bcb2caedba699016aacc4d23e2887d0804ef9a866a802e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l2rqsDrSqQbe38wn4DhcxM1J",
  "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]: [-0.6174, 2.0365, 1.359, 0.276, -0.7559, -0.2199, 0.236, -0.0212, 0.8158, 0.6415, -0.4366, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.5207 left_y=-0.2167 left_z=0.1636 left_yaw=0.133 left_pitch=0.2694 left_roll=0.0734 left_gripper=0.236 right_x=0.2931 right_y=-0.0005 right_z=0.1795 right_yaw=-0.0039 right_pitch=-0.0507 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -14.2838, 5.9009, 1.6972, -0.1099, 0.0659, 1.0232, -0.3487, -1.3197, 7.0085, 1.7216, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd6660544881ae3d073a197c2c773033aa7851fc0784bb2dd37df75d103df009",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a40a50d42e201382fec16d8fadfa07aab13c9af1e8da3fa84d1d9e623016087c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c295ff5a7c622e43ecde6eb2fabaf98ec40ead66df5d9c7d3ddf36b39662e59",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6315, 2.0182, 1.3788, 0.2592, -0.7612, -0.2188, 0.9968, -0.0212, 0.8158, 0.6415, -0.4366, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.5185 left_y=-0.2239 left_z=0.1787 left_yaw=0.127 left_pitch=0.2863 left_roll=0.0608 left_gripper=0.9968 right_x=0.2931 right_y=-0.0005 right_z=0.1795 right_yaw=-0.0039 right_pitch=-0.0507 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.6462, 6.7214, 1.9707, -0.0464, 0.2613, 0.105, -0.3487, -1.2103, 7.0222, 1.7216, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMTXOcjJiFfgL33bzRGbzpfC25sB-Dnuu6HPuSCSOKX_OUb5DatcCGGXfExnH8JCJlRu20yqAfSHORqnDilrnyY3Ap6hc4GWePH-LAJd5Km1bw5NAsAUkP421ffEJ-zc28ZMQBWh1q9v_QmBCzH4FJbylxRPAaJ5lcys44-2fy3tfMJBq_lQe1Km89weU_2aKEGON-0Hztz0WAm2CK6iMa9UCHSDpASxWgq8dsxRKOLv7xrV5ag00GL2inLcEIadFKPlsEux_CQ8aA8kWmMGtROclbhRugRl6YTmjg7dHVYqxq9_4a8GT7iVrKEn9_73suw72WCo9Qta76fix9yh60Y7uJGwaV_-lLgQXIQ_ewLJD2LM7RqM24-VflFE8rrxLpZm29j_FfAoD7sQ2jidw2vzGloJt59k5nDZWAxmNiHH7v3NzmROQ8UBjCsmkwOPeP_SAEIRpjN8Z2S_i0SwVE9K315pxUrVkoSfv2fVi0itbp7vHZhomrPhvNN4vZu7NHqWxZOr4y2nntgP8tmKosiaXd59PHKOyfAF-XbDt9hvymwZFN2tW9xY033_-BBQukfLgibeHMWdh5u7uDsXYU2yfEgRWjgq3CeWKySCSTZbNKxZcQ-WMsFYnS1gPj5aDEEp1I3stNbHIAMKuKDg7JLMyeifogT_AlO1d_92LTR-S1CEng0tse_opFX7zCu0cO6yjQL-Ar9JJ2mTLek4gEQLn_eCrGUe287FbtjaA7zj6eTeileN1Od7VBMu59rpMYQhaNLNPYZCrzPk2VUcNtW9bnuJ8PrVFAQU6VityO5eeaszwmbLbw01xn0M006AmszYwyc6kbhqTlevqVrSPSZWgJ8pXmfzIWon8hIqGYo0nS4uIOV6WzmqVN1elxJu8cYuoRCkVNi8YfZGVbAHpUcBV0JKja3AVCZqzpVZUhe9nzOOTgc_mpY30hMf5cAr2PCWOS0dzeneSswzKgNpwneQYJI5CBXeF1QNkDrqdNgzvorFtEgtSPEobhZn3rCqbUIjMR12i9g5U_7onvdfabBUvEen2OHUgDQeTNxP1N1rbOkeLQgpOlrUY-4QPlNq-9U9sEg74Zysl5-D0d6W0PbJN39DH9RMo7ee9G7kwAgdggUtqWrpnI28yChuR31qaAdMAlwkiBim8hrjSpj3rcQ3JoayICUR_idflc36ja5k3fNARraIfBKEk05qm8yOBbeI_Sh_AvFKnh3tZDUaC85A4g==",
  "id": "rs_055bcb2caedba699016aacc4d6482087d081049ad64d9274dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.235},\"note\":\"The gripper has stopped at a nonempty opening, suggesting it has caught the bottle or its handle. I am lifting a few centimeters to verify that the bottle moves with it.\"}",
  "call_id": "call_f0F8UM53wn0ukNSnQKO3zxqT",
  "id": "fc_055bcb2caedba699016aacc4d6ab7487d0be3b784e5e41c170",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f0F8UM53wn0ukNSnQKO3zxqT",
  "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]: [-0.6174, 2.0285, 1.4776, 0.0528, -0.7631, -0.244, 0.2388, -0.0212, 0.8165, 0.6415, -0.4366, -0.012, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.5218 left_y=-0.2163 left_z=0.1774 left_yaw=0.1362 left_pitch=0.2025 left_roll=0.1201 left_gripper=0.2388 right_x=0.2931 right_y=-0.0005 right_z=0.1793 right_yaw=-0.0041 right_pitch=-0.0515 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -17.1829, 10.5915, 1.8437, -0.1783, 0.2515, 0.7692, -0.3077, -1.0462, 7.0632, 1.7118, -0.0708, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0925970bcae457355b6126fbd4c36630495d4f5a04c1d2675d2520cdc3025c0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a7a31933c891a788326d81b628607f6618488c19e561d8ebcf53ef8fc9123e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7700c40e6df8cec96073b5aab2687e7f40fb03d64337ca6b555df9424742ad48",
      "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]: [-0.6174, 2.0365, 1.359, 0.276, -0.7559, -0.2199, 0.236, -0.0212, 0.8158, 0.6415, -0.4366, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.5207 left_y=-0.2167 left_z=0.1636 left_yaw=0.133 left_pitch=0.2694 left_roll=0.0734 left_gripper=0.236 right_x=0.2931 right_y=-0.0005 right_z=0.1795 right_yaw=-0.0039 right_pitch=-0.0507 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -14.2838, 5.9009, 1.6972, -0.1099, 0.0659, 1.0232, -0.3487, -1.3197, 7.0085, 1.7216, -0.0562, -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": "gAAAAABqrMTc6AcYOBIjpsyzZtfVxRymv1lQXE85b_qdo0p_X0PMcbNaMl1_m-o-NfRd3RLsawcAagYgW2PV-DtgrQAHH1MHUWmYK1k6KJ768qf0nq-x6jJnvG4InH8gg7GLDvYGLD8QG2eAT1la3vlT2oXnwB36NKXirAu0ZoS_vfIDBBfmE23yL2pYo7r5AQop_hrWFwI3vwE6cs7hfGRZGUc5aQkUv9117lhxkfaacG1eHEUthHwqdoUQttwWFDIXc7Z4m2KUqb7agW6hmLyrPFc4pAG1zS3XLt_GuK7YsDuA4eWkDyA5QRuYuZMWWEbEMr45PqXYjyfRQrnlSIQRgHO83bJsl-EIzsUxQhCkp3FFDS5g8eh9huHFiVn7qvbIGU5G4PxtFpW78m91wjP9qQW26kbsWb1XKuDkdO0vf-jCR3p6knuVk9Aaoqagxc0rMr87SklRx4bkHYTJDZhEeP7iCu_3AmhPjZHwxA9ErEhlB_XjZeZUNOw0y5KLCUvBFGfO8qUONLYt-R_fOpL2gK3tB5Ca6G5H7iTHjSzDcLYVqgeEVLq4vHP2r-hRlM4Q9lwKLAjLXdcSYuMUOCAkf5nL1Xu66PesDNyREiRWYapvqc4TUSjSGf9q5Ba_XsPuKtf2x0A6ph67g_MC1FIzYD-i_b8fICHFiDKR4afWRn6xF4YQpg5YI9UbGoMkA09TH5HY2U_XXZJ_velWfuHs9aUSyHIRrz1_uqymks9D3MO9QqTyIcLyo-uaLZDJqcok6hU8Oi6p_RjHV84OSPToU0zhwstwqEvijckBuJvqNyfaZbeJSotrddYaoPMmEpsSAPoGbKz52kaL8EkhNmH_-0nPGc34rsYEZFr5znh_CEGSNApKd8mtNGA8TsQHi_1qB5SrmQwn8qKAUuOS7sYj4mKpzCI-squLE9tNVd_Vmju995yq_LndzhfoHiIIgiMPzc65JUWfEKMbB5z7crvUQwYb1MLTukjyjsnbsZ7LNuFMmaXrUlgPMvHJAKDEqNB9WV2CjlOt1hazJBZgzuV0pNvWErXB0CQLp0vScDiCj9GJTWPMjy11TbBXbxtfP5pE8wtpkEiXzvjwZq7188a2nnJ4F9hnRxskzSEnItLIGOyZuk4KEds3PasC_XqfM3voGp2qU3kg-sbXhQZHMkelg-Mwz8vxTVqRoPJo_B8OgnIvS-N3zTR79ypKI22Ibd4hz9XWKoAxc8zAuDy11Z0U1xy84TxbGZORDjbU9JStZvf9W9QzyfWdL9hsnEXP1WMI_iDqNudlZo7_UzPA5q44VoAKC5Wu-w==",
  "id": "rs_055bcb2caedba699016aacc4da2b6087d0af8c68c0ce98fb13",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_z\":0.3,\"left_pitch\":0.35},\"note\":\"The bottle moved upward slightly, but the arm did not reach the requested height at this long reach. I am bringing the held bottle closer to the base while lifting for better leverage and clearance.\"}",
  "call_id": "call_LVJ9KO9GL5EA3BFXqTF3imQL",
  "id": "fc_055bcb2caedba699016aacc4dad90487d09e9d0c8bfdb82964",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LVJ9KO9GL5EA3BFXqTF3imQL",
  "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]: [-0.627, 1.9945, 1.4956, -0.0151, -0.7639, -0.2466, 0.2418, -0.0212, 0.8165, 0.6415, -0.4366, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.5149 left_y=-0.2177 left_z=0.1911 left_yaw=0.1265 left_pitch=0.1912 left_roll=0.129 left_gripper=0.2418 right_x=0.2931 right_y=-0.0005 right_z=0.1793 right_yaw=-0.0039 right_pitch=-0.0515 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -12.6154, 7.0222, 1.8144, -0.4322, 0.0659, 0.6716, -0.3897, -1.2376, 6.9949, 1.7411, -0.0757, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0a9a9282257f2f2e889493ca13094d7af2c328487d72e4b04ff05266552f7f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2539db607a0b58adcfd4c4e9695f5de9d46964bdeb8379a00ded3beac27688f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a50ff7492e4d72f55d16677ec3b14e215fd30505e4b2a025436095890e56abfd",
      "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]: [-0.6174, 2.0285, 1.4776, 0.0528, -0.7631, -0.244, 0.2388, -0.0212, 0.8165, 0.6415, -0.4366, -0.012, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.5218 left_y=-0.2163 left_z=0.1774 left_yaw=0.1362 left_pitch=0.2025 left_roll=0.1201 left_gripper=0.2388 right_x=0.2931 right_y=-0.0005 right_z=0.1793 right_yaw=-0.0041 right_pitch=-0.0515 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -17.1829, 10.5915, 1.8437, -0.1783, 0.2515, 0.7692, -0.3077, -1.0462, 7.0632, 1.7118, -0.0708, -0.0513, -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": "gAAAAABqrMTiZITQypLV7n285mURAlcMQpkEfJ3PphPPLQqkJPoK0Bd1pD_RwVz1TfDX6A95PBj6eQOmeRzwnzNYzGS3W2z7IbU8S-ZLeJvylGWvRNzPBQpi9Fou2ijaaCkWdLRgxgdc-F_W3VI-CGYcBbwS9VhdAa_5SBbqLMrajJicxr1dtrfqKtwSDrivh4vhhAKp_Htd7aE0GVxTmm2IWEP3QECxOcN3rUxhX_lhOZ4zoC-v8MhubDEE83PFRoXz_lJGjCscemy5evEuNa3xUOzK_xMzdsChgn_ZXrWeQzRHnTXhL3KWm0RqLS9I3JfiFVq94n-EZTxy-onc7A6Nssgyv9-Iu4-vA_rim-X3hbdi_94aZIFQFGDgrXLPmA6PeumRBAFSUtA1omC3G8N1hwYdFTC2mO0pLmRQ3ngWGhfVgBqIPEoZdgV-L1mgpKFZZ2sr0_OkdLJ-Zq19HZLhwb9m-cgrGZyldfGNqYBvF4-iGY-1J-myOTI06P9CRtQHU-HGB34NoxVwTMV3tUvf1XE7MzfjevxJxNXnODm1qM9DjKBl8SuKkXlDY8FKpc51hBVHod0mh6b--74KYYHlc2nscH3010RdRaCpyUwE6WyFL8cJWHqws4AOFr4dhlaAUJpECVU5yEVmE504VCnWRNAtKwht4G3UxnRk9X_FxKtvPPzPNOoKpKtf2dWK-9A2mgW52ZlyH8t5WAuS1M01A-oc7Bqvp_vYOrbLZQBUB9sEWA7aVhNTUj1tyUw-sNyiLVmmSRiX9f_WQQVxBMuvu0KmiUqbyp8IVODjOCsrEPJz5iFe5X7suJwUJa6AVbCyNW9TAKwgJ5Wogn5Re--j08fqa7vAC7eUECUMpfRlWoSMziLohxC_XTIG40p4t9ecnWIV7ZUWlrUqj4lLBYUus4VQGTQRgqqew8hFqB118dxlpgNqPKfnqcjCGQ5mbFKIE5l-3b09WQsgokObYexFV-36rAcCBJq-Wp01iFJWxaP-Y4sE4zJQx9LUHwPcHboWXZZxD8U7BCEot5Q6Mdru96Zy_QGIlucXa1iootHsSzEdjcHt7Rluv6XQvU_8dLh1fcjDz4diGGvJ3BsVrL3SRCZSt934qWLVZ1arqYpQ-GGYiDDowhRA8LhiUqBgejbmV0Q5vVkCw9dApjjrAaTk_fCMWjyo9U5BIrVlxF88JA1Hl-eL5dr3_e4EcBW6YalG7KWx89sNgjmqyoRW8ULHQ_5LLqdGrf9HLxUHauBgcm6joIGAPhTSHyHLmCr41NejiEITgVvGJzHP-YJoG7wZo1XxhlGtgjuN8Cas10SuyyYIEXQtkXJIv1kETIPlcjje9v0uptSRporScXwxdyilYvdZZYhpgQ==",
  "id": "rs_055bcb2caedba699016aacc4df8d1887d08eb529e741c35862",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_z\":0.255,\"left_pitch\":0,\"left_y\":-0.2},\"note\":\"The arm is still lagging well behind the lift target, although the bottle remains caught. I am reducing the forward wrist tilt and choosing a closer, lower lift pose to get out of this awkward configuration.\"}",
  "call_id": "call_cCMNzBaKxuNOUgTXdYesRZAf",
  "id": "fc_055bcb2caedba699016aacc4e0ae8887d0aa575d1dee63306c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cCMNzBaKxuNOUgTXdYesRZAf",
  "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]: [-0.6811, 1.8145, 1.5944, -0.4088, -0.7326, -0.4076, 0.2439, -0.0212, 0.8185, 0.6415, -0.4366, -0.0116, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4642 left_y=-0.2196 left_z=0.2549 left_yaw=0.1218 left_pitch=0.106 left_roll=0.0491 left_gripper=0.2439 right_x=0.2932 right_y=-0.0006 right_z=0.1788 right_yaw=-0.0042 right_pitch=-0.0534 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -10.359, 8.6906, 1.5165, -0.2271, 0.2369, 0.6325, -0.0342, -1.5111, 6.9812, 1.7265, -0.0415, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f849f1ddd1e7f526f8f6c7569e5581ebbe1c72d0e3bf0ae45ae989bd72d8841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30240cfc7cf22861d6be426b4088828d5f6a6ca44792233a5d8cc5488394ff54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a1d960dbd05a02924e35ca37242acca25424db54a542ead7f736a81bad7f43b",
      "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]: [-0.627, 1.9945, 1.4956, -0.0151, -0.7639, -0.2466, 0.2418, -0.0212, 0.8165, 0.6415, -0.4366, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.5149 left_y=-0.2177 left_z=0.1911 left_yaw=0.1265 left_pitch=0.1912 left_roll=0.129 left_gripper=0.2418 right_x=0.2931 right_y=-0.0005 right_z=0.1793 right_yaw=-0.0039 right_pitch=-0.0515 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -12.6154, 7.0222, 1.8144, -0.4322, 0.0659, 0.6716, -0.3897, -1.2376, 6.9949, 1.7411, -0.0757, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMTtQ16BRsjL9m5l2sXp3Ii4HbNFe_owYul08V4CcqW7lt_6NEchaD17W6w_Bvu7Uq-1sg3TbeJNkQ8tLYDc1guc6W8RVkOAgUTLKbDBHeXVWw56w5i488u9HHJSUBjTqi3BZETmmbjp0tHg7PCvPm13BrOOHyp58X7_NnPihuudRUOuUeOK2jxUy1bRQ2yOUgNrZUAn6ugkqENVPewqEj6FJWI-8UbjVcQ7YGi9UTVo-KfrP0CIMrj1vOcphZDmnDOlbVRZfDvbBCbbrVV-Va5p2B0acgoCQYvGxpOtotpludfxzZeSmO0qYuTRXWc64V-YScUXml5H5VMQDd_tOM9yF-yCe78WUS9k2WrjiCd2F2KqfXQEoUf3Q7vrfmfPcmW23jcXuhamxWZxPcDsjr4H-Dnfuw7EnQOxS-CZymTh7iVgPvO2vmYTqj_9ClXt7d_fEzIvisTBFyhuhJSpDysmP2rNhmFGZdeFEqd6Iqm1pb0jzaCPCDJ2e03tvFUWkKZhwP-_SqGO-__mYzRdScKbRYiVhsZcFCpU9EXp2DydvmOPIHgQ65DgPVjvx1dbUDHudzIThSuxLQj00lJcZh4aM3fhQQpST2u7zFtJEVHW2nKsMndhHj3k06l2fsPOAIp5FtKyOSjYrrY01ryQT_3I5VIGgVjDBNOg6G0KQ3rhc-lKSaPl7fIWnCtbNbDFpVqdL8tnBd366rP1NvVNTZu3Vj9eph8esB47z28tNH951yqlvownWCY6apWeVhrvzC4gpGIqxXsTyrrfKK1dpYXK6xupsOGeXbIsP5sYIBDcB2-6i_J-HpzMtKiXFtC2MKLwwZh7Z4QCVzL6Ak1jI4VhGiIjs3JCBRMx2jNvYk7Rx8Y56L_Sz4D1moddI-ZnE1XinlfbcKaONGNO1vlRAJ4GKkShaBdDCq96w_riSWmFb4h0__KdICvcVu71I1hE3qNHxeZP0F5YlfnekaUykxkO1r3PxiImWB_Pzf3dLmF7q5zp1bniTIk_SwOA5j8fVt-E9agNVdsW-kCMvmzWqcC1hUuyHo6CQEM1JSbQiOFVUxZR35y51PRC-7wen5Xu0CErCbLKbpF7TpW581sq6SKsQ_sywiKXd0XNlbb4cz2Wp2eL0F2sIRBjanIkSSYg9ShOAjqZ-7rsYU1siIZWXzP5c1epGA1KBD31t5Kav5S4Bs-InRjwSnoqJUnsFbEpRyTGPd-CjwD876fQU3PiiGtTTA6z1Kl-Vg3G4wkMcVNdL3NN3dCsvQfY8E5eLirM6lh_B50glznjNtxZhVAjVY6KVFy66XkkGZZxN6KoihFdZhntoMr1HVPhcXcCOd9Q_ZQoG67XNTw66qeQMq19CfRMWyHo-HjAtM6z6jm_rVBGxY5o72J9hOn5jN5rgYXmm6KZxcJHr0UnAZFvSov4e8DMXs7yMoxHd5RsgwKqIlNS7kUzwF4RkfS21WBKcDgIcuXvkzWZVYRaoMEff5XfVpVWs5qoztOhGLYEM-tczYR3uvxOJho39owXuYi_tu_FJq3UmV3Z_H8tsMfUzAuRpb5hjn4hn1ETpRmO3QLdvTnVbBb8WszMQBRljqUyjuw-l-FY7gnzvaU5SWgKcpthbnUqVhQ2GvgaBcwJA7lwPFAz03RAIrKrQyUKjurSL-YgIAboGnNnFxkU13j8yO7Sk5d_MbQ_ERxFUUBTQ6n5fsjCH0ReaaAsFbnYQjcgAv60i2jDko0bfHDph0RWpzouc5bOzUiTCljmZMOKHKUKke1yT4PwrklUQIQQ20MlvYFgdOJS1ggnzpSFbxtE4MLy3gGU0m5zBUyEv3KXXuSJVTsjqQ62Jhu3po0YUX8bK_ooI4atXB2ysNCwWWaFHq7NaS03J6vc19DYaMrX9wnQGUKZwUqcG0RuptR94qwdxdeUhVhWn6vt6PYj4kL62k5vohHjodKmX0TuiefTx8eTzzvwbXKEQtr7xUf2yBrWDwlfx0qU7hsfPuUElx2rL6gT9U8N4zXrzgzT5zztYlBDr5jsITfRIVtyKm2ItNyItByG5mDDqmQSofezIfLNjMs8pRSceUQLee72X7EVnZSQUyDsZ726kTUYimuMiyAK8mkKIQRKRcaXSIsnhvfRx-dDmrCCUAId1Lw3uK7kaH46AchaJXpdW-tO38t1Tf3Gy4t81BPnUpfHoc-A7gufwcmc3rr5GHd4L8acgEVvccFqIl_dXSvbeWGFivU2es_3mdHj2qNScHSmI7aU9v2ezeFIdCFsJQ==",
  "id": "rs_055bcb2caedba699016aacc4e588dc87d0a4ac5d3a0031d37b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.18,\"left_z\":0.32,\"left_pitch\":0},\"note\":\"The bottle is visibly lifted and the red cup is to its right and farther forward. I am raising the bottle clear of the other container and positioning it on the left side of the red cup for pouring.\"}",
  "call_id": "call_lXAc6RzJ0aQNXV2CY7XRVkXh",
  "id": "fc_055bcb2caedba699016aacc4ec0d3487d0b51c86694ffd3442",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lXAc6RzJ0aQNXV2CY7XRVkXh",
  "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]: [-0.5468, 1.9209, 2.0106, -0.7929, -0.6155, -0.4301, 0.2444, -0.0212, 0.8211, 0.6415, -0.4366, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4929 left_y=-0.1765 left_z=0.3032 left_yaw=0.1759 left_pitch=0.0029 left_roll=0.0284 left_gripper=0.2444 right_x=0.2934 right_y=-0.0005 right_z=0.178 right_yaw=-0.0039 right_pitch=-0.0561 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -10.3726, 8.5128, 1.3651, -0.1343, 0.4371, 0.7399, -0.2667, -1.5795, 7.0085, 1.663, -0.0366, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3331edb672b39ddd00b90eed1e0e5ef04c01cbd82f66ad01f86fbaa524f2de10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a658ca00945f268b4cd60313ea14ef0f0262730b7c86623c2e048d11d317d25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b541eb1e9d2b6d5e0c6b1ab559169ed269dc1610adb2ea75c20a421a56cc3d29",
      "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]: [-0.6811, 1.8145, 1.5944, -0.4088, -0.7326, -0.4076, 0.2439, -0.0212, 0.8185, 0.6415, -0.4366, -0.0116, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4642 left_y=-0.2196 left_z=0.2549 left_yaw=0.1218 left_pitch=0.106 left_roll=0.0491 left_gripper=0.2439 right_x=0.2932 right_y=-0.0006 right_z=0.1788 right_yaw=-0.0042 right_pitch=-0.0534 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -10.359, 8.6906, 1.5165, -0.2271, 0.2369, 0.6325, -0.0342, -1.5111, 6.9812, 1.7265, -0.0415, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMT3-aUsMw84e_wmAn1HOUECpqkB8LGXKv55TgioO3fDK9R-dv8UQUzZg1pNRuTatm6AiEPBt1F6Vsk-r9-yxyFqfMPD_MtO0LY4HX8Ywm8p7LXIq0h0ererX0c4bWTbHKjuDAZEfdy21-bas0z1y0Hj5uCSHPWek0O9G-f7ODHOHZtMHxewVRAQKQ-fEgjwLJby5C1dbF9KrPoohVcKL-HTMyflMPROSoOXq5U5A4TCgdeJ6jIyNiiBQfsVSkEmYJVRtPkI6U4XvpYWhfo8E1NhazQrda_juL43QWFsJrH5UXVdfuV-jdmJXEVIycE5yD4Yx-YpeKEYdTvoCxMPP6FRa5NtU066jSg_DUES_jSy8Doi-QhDvf4tEU5Fwp7_ajjPbXDB40r2-tjC-CoZ29ag-o5IOSIUW-pujp-GyUQBX0U9rOi_Jq2UFJwPl7vfRYhstFmJVb1VuLKeIpMD7i5_yJ92Wg09__1iGFj5yvaA3BH3I53PXi-AL-4rnZ-3oUmW9mRIVoKEUMAuOTAZZdDF_xQtNdjizPUTxdZs43xqw4hx0Xt2pJXuZNh7BneaWxDZwKChvMfWALMfnhDtcTFbeHdXZQFmq9JHkRAFMeaC-QSnGQunXUrHhL1E4ejBdsLIlMseoEBSNIMwK9MvX_UGs_nAzRCWVQaxydDC_rAepHUDvLwDUebobcaxd_tFuS9AAsTghaN04Hv0vgfPnlnNGlE6bx0qP7KBrx5pc90BBcxfzvg4Gvu2V5_UHY-p1XcT4MuBfsRbBsXlAmVU57Cdc6LMulzZ5UzC3b_o4Nhpr4qhstbBRsEhxnDbk0FuHkeWETWhRQ4vRuyb2xahgdeChQ5Fs0ZEVSnsWpWA6k25GMTq_mNdZNd1j9W-LhZERPcZRl75SusGdY2e21CcmiI2ASlANl3wnk3LhwiEKV1seAeH0NJq-hGvTuN_ZMBClwQA7_mvH67LMhSRjNGWi1VqW4w-v-uKtyO6I8z6pk35eGfrqf2J71suTCVa22beq40ABP7bk_6bZqIBGRJVdRPAQjr11fAkGhqWiyk8aOhupvNKR7uRCfMcr8RakdewBRiKYe9MY1e54IsvAF0VoLkUc6ZxmOoYuAQju4EwzQ3wfN-VZw4sTdgRTv9qt1RIwQZws2pez3nIEzCcZdzM1r2Krpjgl0JX1ciZg8XXSduJFod-3--EPz6SD0VQIRXom8ra0avxwbdPOJheuQvvcUYEsz3qD6SGh4VEmmR7d6BreRzO98s1tCc06cz2ITJXlKxdQE9b-yZWlaq25buFEBxLxkUjKBjL1Dj6TD1d9rjzZFIIAuS-bANM5_8Y0etQl7CUrA2xuIu5E1i8Wl1B_dL1KTnLkrK4dMYaU247-w9cnnSPZKHbfGK4q3sciGB8MJqDjjsIcmLR0jvr2plBxVgUYL3qAQFEvGDQ7JVwscB2oHkCuw2J0oJXRhecIepqblRqhAlxqHDmpzIkMwoY15K1x9vC95kBvGJheIx-ELBpYP1xgSx4FB3v0BHOPVoYkOFQu6fEKCQT_FMwu_fZuhReXvKBYZiLvvAniscAusMLLKbuj57TLKbs_3Elo_mOuoZC4Y9gLReJOns9l1LrwfQVIXeXJuH4cC14CRJpaGcdxN2sB3mT6YjHIor0vpsq073neSZIhI97dGbMlNGEo5H2jYBsG6IqOhs2S_4dxT3VSag0ZqVblol2KFsCv0n_tpBHl6_kzajwn7m6pgcdeZ-ML8bv2f1IhN-QG4d-Lh0UuDq_tvQDN9FmCAmK-si7UoqbL6mlfir-oqUVAMBYafBecYnxL34yOarpH-vFG97rCf5qSUJgRg_1ECAvx-RJXZTxVFxhWQZRG8Bil8mGljkacbmb07OuAQP9K8wjvoBQu_jYl1zPDFvVVjedt60ZS8MNBySTwuJe5re6NEI3pEgC8_fwHGww-COt_HNsn6GA2WaINgGUAWgqDp2cqwGVWAyuOOKgfnkvjxHTYLJhsb_VX2rV4YRMeLGhMUxOQ-F5-ZFVUIh2qaIakbr7CPG_BaRm5amsnnAR-lXnbrQZQd76-kYtXaOordt74AeZw1ywxhk=",
  "id": "rs_055bcb2caedba699016aacc4f0422c87d09368a7975a8b30d5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.21,\"left_z\":0.295,\"left_pitch\":0.45,\"left_roll\":-0.65},\"note\":\"The red cup is clear and the bottle is securely suspended to its left. I am moving the bottle mouth toward the cup while beginning a controlled forward-and-right tilt.\"}",
  "call_id": "call_N1PsC4gH6BnL7TVNqXWFr4Sz",
  "id": "fc_055bcb2caedba699016aacc4f56eb487d0a5bde5b2aef1af68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N1PsC4gH6BnL7TVNqXWFr4Sz",
  "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]: [-0.4633, 1.8851, 1.4353, -0.2283, -0.374, -0.5732, 0.243, -0.0208, 0.8211, 0.6415, -0.4366, -0.0124, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.5055 left_y=-0.1764 left_z=0.1636 left_yaw=0.1436 left_pitch=-0.079 left_roll=-0.2265 left_gripper=0.243 right_x=0.2934 right_y=-0.0003 right_z=0.178 right_yaw=-0.0032 right_pitch=-0.0561 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -9.5248, 5.8872, 1.2186, 0.2271, -0.1392, 0.3785, 0.0068, -1.4291, 7.0085, 1.6435, -0.0171, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c872d51c570831344ac5b393beeaedb91dc2600c72e4b7b1812703171f852f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe541ff9b424f0830c38cc304d57f69550a06174a6f39438f92b747179beb0f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1abbf5eef3766fe97d64f1517833226036fa336f337784736c2a9bc84f21c7f9",
      "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]: [-0.5468, 1.9209, 2.0106, -0.7929, -0.6155, -0.4301, 0.2444, -0.0212, 0.8211, 0.6415, -0.4366, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4929 left_y=-0.1765 left_z=0.3032 left_yaw=0.1759 left_pitch=0.0029 left_roll=0.0284 left_gripper=0.2444 right_x=0.2934 right_y=-0.0005 right_z=0.178 right_yaw=-0.0039 right_pitch=-0.0561 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -10.3726, 8.5128, 1.3651, -0.1343, 0.4371, 0.7399, -0.2667, -1.5795, 7.0085, 1.663, -0.0366, -0.0708, -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": "gAAAAABqrMUBmobgM0F-__ELlg1soEWmmF5J8Ir8_qJj5rgGXc6VpO55uhbQZZrzMx6OwtPFsyhXJbJtKijX7SVK_41eDr16fJW02dcPf9ox7EidtNKj6KblXwFR-_zt8sss8Scq3RBrz0A1Lkli0s6cZw1IdJxNz9ITBJ7cnfEkfIfEVmIGg5cTrIjrlD-XkmP2ocWQ85xqDPdiifln9Mm1H0zJgVP5jqoMTNk3upKQev0GbYWKD-k1-YyXgIzygWugFwEPK5gUhzjRfcYK9ctTUcegRiggeOVED8vExLlyhIESNntI4HR3du6dxvipVLvUNHpI7-aCCJ6ZLjiIGIfJpPkqBjOeYFzA3SU-FM2fJPQ3V6YwoDfAkTh4x3ITTJIkxY79-X8ajNcj1ckkMepYlTOwFU80ERcFALcobpX84Tz69FdUT6IaApsVrhbELVvTdhsLy85UzQzMr_eIv3TcXGI3LE2qrDknN0YykVJGUCqEg5gUG8e2iumB_qxTyFBN-YNKieeXdqdXazpM5RZybzkjl92YRg50k0o4I_NPvWavXNOqls4xtA-fsVMBeYJENhYvXiDikXIN2dl9vA-n2TpSXCDrSieFmYnYh1wdWA3ptrmrGVc5Xb7JrAT7HtwhwW1AxHFeN3nz4W_IkJHFE98My3g0jJi-z5luvpaoEHf2eG86D5DSseebCjZCoL3CJnu3rLsxBLR5fr8u8HhDlclS3hODjFC86nnVydg5sxahIStq90gi1wQ1eJqmc-v_dzwgSY_dOHxhNwFOzTOo5HrTwoVNoVtsYQkVAGRSP_HI-13dIdtMR0gk8TAyE5FoILwmrPvWaUH6J11B_jYhRLzHvzH0e656ysZZc2MKDdP9PPH0sK4WcmRJPejeXFmkgz7zGn4Xt-i8QSgqItk73O868bfFz-VydWjFrxeizDuz5CoJ6Ux0R0mMB2vurWmrwHGdJCsnQ-hqgD6R1b5H5woPHI6Eo-3UUP-0I_CHCo7blnxGz1lVH2ajGhI5uAvbxyg7kCzxItHTfCnV6hNZ8A8-TM3sakGMi2coEnuzPoVodCn4BCz13UOwswGaJ7_PMuBmXHxK8fgm63_DOFTp_dnbEMB8JhvFJe8OcZ3zc0u8bGi6bE1F4q_YLWFTr1UYLORNubtR1NtJsiHghfefqfO-dn0VOLIMsw-Pt-ucI2FDOy2BifqmtlU6k8rAZ4MLuiMkZkOixkikIxFM0kRxAzB5NEDWMmUAGxRoO1z7j96oxbWX7FsRVRxWnRIbfKhu7aVFrzc8RIlEOYB2S5XMAmYjNohGXy0MqOeKQuIOhcGK_4QvYRLTqBbXWKEZ-Uo8AKbtRcqCZ4VL9lYF0aPAc6ZVJC-kXg==",
  "id": "rs_055bcb2caedba699016aacc4fe587487d0b65723350be6be5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.18,\"left_z\":0.32,\"left_pitch\":0,\"left_roll\":-0.65},\"note\":\"The combined reach and tilt was not tracked, and the bottle dropped lower than intended. I am pulling back and lifting while keeping only the sideways tilt to restore safe clearance.\"}",
  "call_id": "call_8GWL7dG0QNngXuCMJf0VJKl2",
  "id": "fc_055bcb2caedba699016aacc4ff934c87d09309680fbf3f43c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8GWL7dG0QNngXuCMJf0VJKl2",
  "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]: [-0.4942, 1.7668, 1.1271, 0.3084, -0.4568, -0.4633, 0.2469, -0.0208, 0.8276, 0.6415, -0.4366, -0.012, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.4966 left_y=-0.175 left_z=0.1987 left_yaw=0.1427 left_pitch=0.2414 left_roll=-0.2979 left_gripper=0.2469 right_x=0.2938 right_y=-0.0004 right_z=0.1763 right_yaw=-0.0037 right_pitch=-0.0626 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.8906, 7.4462, 2.2784, -0.1441, 0.2222, 0.4029, -0.0479, -1.9214, 7.2137, 1.7021, -0.0659, -0.0513, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c476fe11b51e70b93d1784e2b4464d0cff8352d7a0bb0dfd3031feb86e160e07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c71c763678463a68139ca2f614efdfa3b4389b92552e7d61be362acbfa49f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11c0f413c563af99dbe357b1a646f5fa167f0d585205efe48794ce24c8735320",
      "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]: [-0.4633, 1.8851, 1.4353, -0.2283, -0.374, -0.5732, 0.243, -0.0208, 0.8211, 0.6415, -0.4366, -0.0124, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.5055 left_y=-0.1764 left_z=0.1636 left_yaw=0.1436 left_pitch=-0.079 left_roll=-0.2265 left_gripper=0.243 right_x=0.2934 right_y=-0.0003 right_z=0.178 right_yaw=-0.0032 right_pitch=-0.0561 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -9.5248, 5.8872, 1.2186, 0.2271, -0.1392, 0.3785, 0.0068, -1.4291, 7.0085, 1.6435, -0.0171, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMUIg_pB_LsU9ObmZMlX6hBrrcAtkfkmTE_WPUo8A6es_aik_uk4SX95rzpRyHa0INtpXAwZhtfQQx0Loj5kmGbZax9nl0ZOHA2rWPVy1q-XLKY3HUhVd2IV4-pNvt26nLb2ltgPlKgAAu0Bg0arREZieBD0lnjFkEyE7ExuoAisdJBIxvovDqx4n1yxGVqtqNwmKTz7fuZt3FJG0lo5xPX5v-ZaYZIDLJeYx-u4TAv_WgC1RbEl-g2era_xwnF9xW0J7NrfpGiMLUA-8UaptXNTms6G30bpox1gnwZ9nseCG9X2T5PvFEdn4u84By3HWXd-6UxadJIFhBwWIHB_Fja_skkxLizKGTcaNeC6JVYQev0ffohM-Vol8ChJVeOR-vG6WxQweFsUQtqr8aM0PKa_dn2s7unWufFO-CFDi4xqe-NPKhOQZWLGfFmqsZ_y0jnDcJUjVmMf3PYVoJ9yuFJenKcJUfLAdeCDVBJQHGAeTkXHXO1U1UKIBQ-R2TKa3xh1baNOBsfSCTr87hUG56KnEaYbkhWQRmPVQLCf6HW8tKmJzMVxOtYtsaHjrnejfEbKWLOymboDH7Cq67dIbsXnutF023qKMHlyHUzmP8vQcBAOeSko9KvgVK6mZYG3pYbSDR0te8DiKHSQzuckXCYfPg881h5kEv31lHiEyMW4iw8QZbhybhFo9KhKplLffU1Y9W5rkFLnQjq7oodK4JsRD3jQrR7UXW2JHY5O0rQIKDDYwfvVmuBKcWHDiz77dLOKQx64A-XJpGkRHpieGg7vEj5jN0Y1bvtt_fB8-JnZ5ThdeMr2H78UA8Ar5P6vFwm6So6rw2X5WMhbN_Bu0jlInO2GePaDq4m_4MNmfaB5BeLgWa8rXPa1ki4NiRASJ5ePQV7xM9qVaXCUjci-nqffrKlAB3zBy4gLVYc18sYYkF7jp4REqww9yrpeQoXIY8xiLuyjHfUl0B3mXuY1ANS-2sK7E8UIbh5cigepqXaqVPoor-lsb-TnaxOS-ahWzCpIDVfdG9t0SsFVHh9nJHal4H8buiTxDDEYPmfKkKxtMbjB0buWw4cc4KHFHfDrB7jk574lNKpgPJ18PqmpZzcpFlU6XKuHuWEb1K5uEqsrVe-Gz14KvE_raq9o57NfzzjkW663OBEuhpJT_nV9koKOsUlcC1D3CA1kC8KaYTu4WhAYxofydreoGZgcq-tmfzu-ArtcV77lQa6vQ4J0pYPyzVP6TrSRuD4v6vfnvYbsB4rebJyu-79H6ryobFxePgYK_UuR2PZbvnHYUsDdmWqre5bWUUD8hjpR_qhe7GY6WHxpMABrFkJJiwhnSvYkwDFDGIm_apz1yzwLaqOzEmCsdBDZ4cb7gFLQ9ie-waiTQ8Cy8bBK0SGBCbc7GtBgYgTOUwdsQ5YeMU8Q_MmfnhLGJyYplo4EHYLVisPAdUYWFUq6pwNdXiyYGTYTSKX9-LUz2UpTnjV9Y7K6wz0_i2Q8b2FIrGgw1eclg9zv91v-N-e_i7ieUT2o2ziIeI_QbCSqxEGzUpZQBxun3qmQH14O5uKNnsrEdRs5syE7MUjyURI=",
  "id": "rs_055bcb2caedba699016aacc50479a087d0a1b058fd866a2402",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.18,\"left_z\":0.35,\"left_roll\":0,\"left_pitch\":0},\"note\":\"The arm is still unable to achieve the requested pouring pose at this reach. I am returning the bottle upright and drawing it closer to create room for the wrist to rotate safely.\"}",
  "call_id": "call_nAkwkjPD24woFfgCEKA2Dxtc",
  "id": "fc_055bcb2caedba699016aacc506cb6c87d09b4d33ca8ffa607b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nAkwkjPD24woFfgCEKA2Dxtc",
  "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]: [-0.7181, 1.6222, 1.7927, -0.8692, -0.6716, -0.5823, 0.249, -0.0208, 0.8303, 0.6415, -0.4366, -0.012, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=-0.1938 left_z=0.3425 left_yaw=0.1279 left_pitch=0.0306 left_roll=-0.0796 left_gripper=0.249 right_x=0.294 right_y=-0.0004 right_z=0.1755 right_yaw=-0.0037 right_pitch=-0.0652 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.0906, 8.0615, 1.3455, -0.4469, 0.2125, 0.2027, -0.0752, -1.6889, 7.1863, 1.7216, -0.0317, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c221cd0e611c6ba3cb6404085ca4b5c05b18c99a114a80e6457dd5846b59181b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25743f6f8cf5aa2ec386f8a6732071487524cbdfef165efc891c3d5e752a82c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7dae18422f6cd05b69097509b8f9acc7a3ea364b08a0e271bbeeb20e78d6314",
      "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]: [-0.4942, 1.7668, 1.1271, 0.3084, -0.4568, -0.4633, 0.2469, -0.0208, 0.8276, 0.6415, -0.4366, -0.012, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.4966 left_y=-0.175 left_z=0.1987 left_yaw=0.1427 left_pitch=0.2414 left_roll=-0.2979 left_gripper=0.2469 right_x=0.2938 right_y=-0.0004 right_z=0.1763 right_yaw=-0.0037 right_pitch=-0.0626 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.8906, 7.4462, 2.2784, -0.1441, 0.2222, 0.4029, -0.0479, -1.9214, 7.2137, 1.7021, -0.0659, -0.0513, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMUPCalEouwoZYVaWymbGmkNnSqva4z4Fb_74TP4vJFJ9W9yKMJu8YgcTxMFhNOaT0m4RwmgCZO8kKZ892GR8ztENWcCi5JVRlW37R3KMaHJnS3GNeOCR28T7UzLA5iWhHQYP4ek07h4JuhUcSbN6DzEatpijBWgN-PXf7qbvXFIBHUVd1iB5mNNFiXr5zpk8tS7_AoY9HTN9S1Xj54vozTibdU8x0NzfbSaVN2_ImbP2N6-UXAe7uHNPJGMSaxhLDhA5j7z-wN1_tiQ_u_Py5WivN_mVIcNuPaX2YH0csHra98adv5tbHzlxi0fSuN9yX50PE3cYd-ws3yYR6Z2rveQRx5zVkyauRTMXxMSa3Qxabol2_K6B2flLC1sI54mxSDX8O-u9Lcq6Y8cv00v4HwKn8lmbCk_YQrrsUPE_sPOlUH3G12UpNVeWk2kpzRnD_2fCY7Y58dJq67I-f4-uaGE4H4PGvGcdI7Rvo9eYZFgSWqqEUJnS0ewLfxAvHxU5YuqnQ2EmErLwu8xn8j-Py6-dBaRuz4GHNLQRka-vtSPnBYVjASyLTAct-VPJq2JcudEigvyHUhvvTJm2S01f-yKAypSgdt4olwX8qsyQvJWPXp1dc9zHT2UHB4p-WPZUiRhZmflg0tC_n--rU3Dq5UxCrE3hDN4JvNNOtyLVP3fZiHo6sNz8Qd6sNQPkFs-coar2IdnU3F1zs2sFweQazJBQh3URpCHta63WUotkrFx1UXDAa-rqZFTpnivAtLh7Fk8T10MWMDl8HM7mSZm0EEfVlyJ7KOoFA-dsO8Pqry3DeSR3FeFKb7PwcLCyAmDLyMgaLug6jVGMC3KwKLa85H2xiWzSyWTrpMQtMDlipYVYjEKnYaxbqAMtPOe_johCKCIzCRAgWbq9DHBSzZe9kJ7JYl7mCpQkuKiYgl3WbkHEoOdqjW12HQ9trHndgdx9C98zoKj9Ga6Sp1jHFMuUwR7n7fFsv1kVg5D7OwlKWG8fk2Z04k5yaHV0u8lKAvQdeL8kfETTIn2tlKsOYn7hWrHrKb70txikbe0VeVmtT4Y2QLzKkqifqaL0whS3n5vM1Unj0cKEycqiyFkR4lvxpVHVT3Z9Hvbwx7EyqQDdUs6fePxQgH4pavk5jr63pn9Z68kbq-_bwFDGA0YLiOYByG76QZmdtwgKcPrWyOPVQZwWr8ggZYwQuwTFWeNkgNkiMNz4bkejFBijxVNGQUNqAt6hn7WwSY3YYorXnOruSnRP_Zpb-YEyntBeYZxS2oT9MNDl-1Aab4--SMBJZtJ2yZjqjAhiMxLxvCnxdaFem2lLpb4-uoiV0aYqvByk61oJqqW25Cj8R5qE3AvE3ofqlU9lnO-ubK03cJEhjzRhFpRUqMcG-YpWXyGI5ur1sgmJ4YpibyjkiJekEzDHO0VzdLzg30Yx3b-Alf8Zle29myrIOBxN_4AYTW_7BlW4dfY2Gi9LFb2ic8ndwoJO9OC6K_YH7AulM9DodOHLD6bOopsL4cZPe9HJTL0QmDzdkpUH2FTdg2z5PtOjUcMfT5f5cP9RJ0xaAJn3OL_x5DYPEIqW0zicAFA4rgsv6w8Fe7kinfMkKDoxVxiX8e-Sg3h-ubP1w1yVi7moHKdyWXHnpchAwtPLWNY4prnpiUaKGj8wPIFXdQg_9TKcNYuELe-uRvQgfLWbLAR60m5nIWY0u4HFYarusyajTS1n1Kct7BtPyh7HCM2fw_nL1V1DcVgwYvIJbjX9KqPsfZpYKdhoXk3DIex1sRQaSq-4jJHPQjpqsyxWsp5IrSt3ZwlJBiSndasDYgpqoK1nVLm93wmtqxKN7c=",
  "id": "rs_055bcb2caedba699016aacc50af7e087d0a1e71d1aa6c45422",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.33,\"right_z\":0.19,\"right_gripper\":1},\"note\":\"The left bottle is upright and secure, but the red cup is too far forward for a reliable pouring pose. I am bringing the right gripper toward the red cup so I can move it into a safer, closer pouring position.\"}",
  "call_id": "call_QB0XRd9ueqhWwXqoXsSLHJ9J",
  "id": "fc_055bcb2caedba699016aacc50e431487d08125969b24d8d57f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QB0XRd9ueqhWwXqoXsSLHJ9J",
  "output": "executing move_to over 28 steps (2.8s)",
  "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]: [-0.717, 1.6306, 1.787, -0.8997, -0.6662, -0.6003, 0.2511, 0.6811, 2.3974, 2.3302, -0.6617, 0.5198, 0.4061, 0.9997]\nstate[eef_state]: left_x=0.3925 left_y=-0.1925 left_z=0.3317 left_yaw=0.1341 left_pitch=-0.0021 left_roll=-0.0638 left_gripper=0.2511 right_x=0.542 right_y=0.331 right_z=0.1856 right_yaw=0.0235 right_pitch=-0.0562 right_roll=0.0056 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -8.253, 6.9128, 1.7265, -0.3736, 0.1392, 0.2076, 0.4718, -14.8444, 8.253, 0.7839, 0.3785, 0.232, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93c80043727b15687d78e880802b705d845e6767866aa5e4144f4dddcf4c8ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad80591bbdf1d1e0a0cc77f604536852b4e246ed1c7906119b4e00bb0405c3a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6792b4451e36504b4ec69eb0c53206a544eb70d6676945f5fd04cd31a5a14b46",
      "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]: [-0.7181, 1.6222, 1.7927, -0.8692, -0.6716, -0.5823, 0.249, -0.0208, 0.8303, 0.6415, -0.4366, -0.012, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=-0.1938 left_z=0.3425 left_yaw=0.1279 left_pitch=0.0306 left_roll=-0.0796 left_gripper=0.249 right_x=0.294 right_y=-0.0004 right_z=0.1755 right_yaw=-0.0037 right_pitch=-0.0652 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.0906, 8.0615, 1.3455, -0.4469, 0.2125, 0.2027, -0.0752, -1.6889, 7.1863, 1.7216, -0.0317, -0.022, -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": "gAAAAABqrMUbHdQPmb60hI2X2_ETSYnXZETmodPLfkC1Z5m3PiS_Vnb1CYypamw6Ywt4xSfJ8swcQuMzEPYXNv0TaTSHrNo7VPMzrtSZ-TAvIl9-NJIHzil5f7J2qK1JSiBUyWHknLXa3cuSgFFtjrMwzZR42n--uO-Op2DAxFuCimJaLK8SDhVxW6cD524RMYn0opwPgrb2vJ74pqKSWY416JIkMGpahBGLtZ_JAEuRdmOlSz2K3LQT4syKxcsUwS9k7am76SpT74czjgaml_yTjIdPqGwiIiRMSkln-18c5yf9sin8f29xE6lcuUNYHfLmjoLIYnx4rXSRoQPzC_pIZ3LRtspUp01d0bHXEHlF2oaE5JFT3HJu33l0FJa5KksTHE_8eH0aDnKtqkbPnrw57l21Jm2RhR6ErjKIxHPxeIR18duJPtsf3ISR4G8CvO8MTGWMeDmyjtSiRm5fKoTCK9gC-hNwqa7KMSH_7p9V7xg9EcX8mr5LJMpBZRB1MNRc2NDVVl_Tjzixk3R_NjgMiURBQFpgSbny-KDOUvEWLprkN7WGGR2-RHvQ_GupTBpPeU13MOtkSL0to1LlvyYVcxExmHQRonh4bU1_GEN4uwm50MhynFMC5HzLkBCFzO-LiuiEXWx5MR7nC9I1BRW1SU0oid3SO-8Ub_KW8s0mLHcPE_kHQd80NmGp5HaNoochSFM6bBl8jX_WDdnn9fOG-oc8o-PfWUwon5COWUKWBPHDwJUU2W3FIC0wWlvJrDmEJCoPjL0nipljBTtmnQwt-sKpxHuLFI9EW4L_NhjcMrXBM8UUs9p1kiJo2SxAz3jitbPWX4UCPa2o-5_pCxd_hTjlPkPqvZuz11JYnaM6n9_opb1diOYTBSZMrTUEcjeHmhwaRLmcKIrrUXPoTSx4wH1TQcsW65Avqj1j6LgdH91DHv8OC-f8M3GKsmP05g_GN_PQHZV9c3ujjpKFkBQxG5wXAZbY8LUPishVzSGMzgb6VPkoJBDIQwlerEokJ8-ayRca6f93ZFNuxFfWTM9rRNrA22uH4pTWe28FxnBn2Wwu8HyYJCqQ0DgKRZJbO1zqtiAMzfh1p6intpvXtdIsw4Nezl7vjoSmg5DQaUS_9O0yOaq-G9NadXbisYsqWazlUVklg5zwqFt_ow5UB3zowYab-1JqfvfmwJoUxWYAxXOSX-iWBC7obFyTbjXy8uhBXK0HmVbCOGd_Uq052I4-BQQgpUx7SoDjwcuT2RxxxkY7UL3t8KMGxkMnZ_naIcyQEn3wPdlpUg2xwAuLslIOwJVOLYRl1-m-Qy8KND3QanhSUTqdpWq5tfFsZ8cYTAgzl3mmk6di1mXeefHPgpqTLdP5seZXYFQ7MX4h2UZYgPHAi1hHGT_Kn45GxX_8j4FXPuyOsLRX7YUuemfMV69NU19cG5iOqVcq9sN8xc0mllK2EEkzm_bi_tvMhxLiYABi6j-KucQ_46Qp0pcNeZRCsAAsLJbZzsa2UaTwFe72ZaoogtC7NZIw_-t7AEaWQXxdXpCQtaQkfoHB4V4w5RwFKwSt4ezd3Doh-iJp90xQDHCay7FrgF1Gi7S-eulhCnSAPezpZSM3KYU1S3HYgxfVsJSxVBgI81B3OUABlfYZqpYzseVIggrxDVUjM9hpTsoNKE27HSJA",
  "id": "rs_055bcb2caedba699016aacc517540887d0a3a86c6b0885cd2f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.35,\"right_z\":0.095,\"right_pitch\":0.3},\"note\":\"The red cup’s handle faces the robot and is left of the right gripper’s centerline. I am reaching toward that handle, which is closer than the cup body, and lowering to grasp it.\"}",
  "call_id": "call_exTAEquOInhNsnAqvON2pIp6",
  "id": "fc_055bcb2caedba699016aacc51a10f087d0b10be4c0e60a9ef0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_exTAEquOInhNsnAqvON2pIp6",
  "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]: [-0.717, 1.6306, 1.787, -0.9035, -0.6659, -0.6041, 0.2522, 0.6853, 2.5511, 1.9526, 0.1806, 0.6022, 0.2047, 0.9997]\nstate[eef_state]: left_x=0.3921 left_y=-0.1923 left_z=0.3311 left_yaw=0.1358 left_pitch=-0.0049 left_roll=-0.0643 left_gripper=0.2522 right_x=0.582 right_y=0.3511 right_z=0.0832 right_yaw=0.0538 right_pitch=0.219 right_roll=-0.0229 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -7.5692, 6.3658, 1.5067, -0.2857, 0.0073, 0.105, -0.4855, -14.4342, 6.9949, 2.0781, 0.3736, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59fa52829751ed5996618923dc864f9284a57f49057700a87a609674e0fbff47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a6ada51168c6b04eff309f687156e706c4fa71b8710a1283427f4a5a5bdd0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8016eaa62e2ffe6df4ef20b1146966aca3334fe648ae6df26f98718e654ff5",
      "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]: [-0.717, 1.6306, 1.787, -0.8997, -0.6662, -0.6003, 0.2511, 0.6811, 2.3974, 2.3302, -0.6617, 0.5198, 0.4061, 0.9997]\nstate[eef_state]: left_x=0.3925 left_y=-0.1925 left_z=0.3317 left_yaw=0.1341 left_pitch=-0.0021 left_roll=-0.0638 left_gripper=0.2511 right_x=0.542 right_y=0.331 right_z=0.1856 right_yaw=0.0235 right_pitch=-0.0562 right_roll=0.0056 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -8.253, 6.9128, 1.7265, -0.3736, 0.1392, 0.2076, 0.4718, -14.8444, 8.253, 0.7839, 0.3785, 0.232, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMUgNl5QDQbAA0Z3sW2_mAaH0q1_drGPuBga0BF80pBlx_-lExqqtp4tM-Nww4jgq05aVgMCrL-27OOmAo7uxb9QbUX0vJhdmaSof_48cJSfuCA63aHKfBaJRiJGwr5dcF0dGX0aku2WoisReyFsFw7uQGH_ZlZ2pNQUpgHSIpy665354WuaIMW_1EM8FqIW-pSGDRJZ0FBqR_eQKsEX8i8-KkVkjNMQFUInRQvD2xC9nFsvdDcM7aaTlb_sIAhNVyxkyaIr4QYap9m_AuTVFBDmP6I_niezw-QgobQ5HGWS4YT8Msnaim0gCubxM7794hhNgIdPNYOenUgkfffA6vOLj-Q4kPI1nZ8KPpgYpSNO8ru9b0TnYTmfVyM4calZID4x5_xaz5aacJU0QNos1RwKWG4YuWr9eHDpHng0ApcF70mafYzKPPx-TFl9NdKw2VeFStr3j7vUXIPnCW0-P-2M2I6eDWYLloHG_EOTa_AzEHLziBy5nzc5C4pLBiYilN88sMRYkW9SaeFU9wW4C1eTJj4W_4NQXrSMDjVMSf7XjSKMO9oTNXCy27brm7ibeg19K_--Qyvg4Y1CBpiUAjTpK1iXE9EpjeTqA1ZJKlko8c5RM2YeFJViBMIXksF7DWplOtqo6rhfXEgAA1A1EWK_ySgCe2Af7t4r-YINzGB0PsBF7gL4YKLxn2lK7lxxpe4Vc3c8bkybALiN8w-xwUwWv9BacHySw_xOph4V-65QZncLCrUxpiyY_bJWcWVtW5x3YMskBMvx8MWCUUKQIdcZxLGLCNcHT34FZVOA6YwnqxHCE3GCr_-h56yAEulZm-t9o6xVHe40SNA2WcBpmgHZefR1K-fWBqykzzOiIQmGDCBLiJN_HFqJDKICs4eSAzG7bh1G-ccAj029exDNhWxD_qffdiENxD-MGkYpLk6YxsrAIQUUnv8yKTVnB9hBwkjrkPnME3e7kcyBQ7snb54WsOOvZ1O-g-r02MfK0Occ413X_a1JyRM4xVe9Sjb2ehTfTDW-boIktD955B5Up9pUqjbYKqjywpKphJhsEJ6yPDs7KMItvqllSNsSME55Ml3cfmYTFw1klBCzoGnL9RWAqM9_yNoWAK6l_S2lJwZmjrII8okl5HOBMJvuaRz9BnIGpGn1FD5WCHkhnZ2xuC6mpAVc2hon-1yM3NIYp1ouc2Xs0H5nGisJoUbm1D8l22YaLxxd95LpsAMq9SckaIpr3g==",
  "id": "rs_055bcb2caedba699016aacc51f239887d0b17ba045a3244139",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The red handle now runs between the fingertips. I am closing around it so the cup can be moved without disturbing the nearby blue cup.\"}",
  "call_id": "call_VrKlXI3jizjtGEUwSi6E8H5U",
  "id": "fc_055bcb2caedba699016aacc51f827887d0a28969e0ab0f1d78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VrKlXI3jizjtGEUwSi6E8H5U",
  "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]: [-0.717, 1.631, 1.787, -0.9039, -0.6659, -0.6079, 0.2525, 0.6853, 2.5752, 1.9465, 0.1684, 0.5915, 0.2012, 0.2088]\nstate[eef_state]: left_x=0.3921 left_y=-0.1923 left_z=0.3309 left_yaw=0.1379 left_pitch=-0.0056 left_roll=-0.0669 left_gripper=0.2525 right_x=0.5792 right_y=0.3509 right_z=0.062 right_yaw=0.0696 right_pitch=0.1819 right_roll=-0.0477 right_gripper=0.2088\nstate[joint_eff]: [-0.294, -7.2684, 6.2564, 1.4579, -0.3248, 0.022, 0.0171, -0.1573, -17.0462, 7.159, 1.8095, 0.1978, 0.022, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cc1afaf2cd08518d701b1b6bbe81dc42b11071ccf4a13e400999d53edbb4350",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d502c625ef1d15e0259787304ef061f429b7d2cd5249539d1c01a16e75b7aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aafdeed0fafbb1b7ddb9769125236b450d10337d3254097a5cae6b1dbc3a5455",
      "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]: [-0.717, 1.6306, 1.787, -0.9035, -0.6659, -0.6041, 0.2522, 0.6853, 2.5511, 1.9526, 0.1806, 0.6022, 0.2047, 0.9997]\nstate[eef_state]: left_x=0.3921 left_y=-0.1923 left_z=0.3311 left_yaw=0.1358 left_pitch=-0.0049 left_roll=-0.0643 left_gripper=0.2522 right_x=0.582 right_y=0.3511 right_z=0.0832 right_yaw=0.0538 right_pitch=0.219 right_roll=-0.0229 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -7.5692, 6.3658, 1.5067, -0.2857, 0.0073, 0.105, -0.4855, -14.4342, 6.9949, 2.0781, 0.3736, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_z\":0.16},\"note\":\"The gripper has a nonempty hold on the red handle. I am lifting the cup a short distance and drawing it back to confirm it is secure.\"}",
  "call_id": "call_D4erirQYVOeP6zjcGNWSwsbz",
  "id": "fc_055bcb2caedba699016aacc523799887d0a4bc69194a3c0648",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D4erirQYVOeP6zjcGNWSwsbz",
  "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]: [-0.717, 1.6306, 1.787, -0.9039, -0.6659, -0.6147, 0.2526, 0.7128, 2.4229, 1.9175, -0.0391, 0.5953, 0.2028, 0.2122]\nstate[eef_state]: left_x=0.392 left_y=-0.1922 left_z=0.331 left_yaw=0.1415 left_pitch=-0.0055 left_roll=-0.073 left_gripper=0.2526 right_x=0.5522 right_y=0.3511 right_z=0.1078 right_yaw=0.1003 right_pitch=0.1141 right_roll=-0.0969 right_gripper=0.2122\nstate[joint_eff]: [-0.0342, -7.3504, 6.5436, 1.4676, -0.3248, 0.0562, -0.0073, 0.6359, -18.5368, 8.7316, 1.8584, 0.3394, 0.1441, 0.6276]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77fafff89339d75b37ff2933ea4da701aeabffa1a76dec24f4dcfb1593abb32f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef4ddbdc04adce7d0cdb80035e46889444491d5e5365a3a40aba71c56efc1c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ef028993a2df8ce9a12bf7e4fca60be8ae15e718a89df87aead525eaa99a463",
      "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]: [-0.717, 1.631, 1.787, -0.9039, -0.6659, -0.6079, 0.2525, 0.6853, 2.5752, 1.9465, 0.1684, 0.5915, 0.2012, 0.2088]\nstate[eef_state]: left_x=0.3921 left_y=-0.1923 left_z=0.3309 left_yaw=0.1379 left_pitch=-0.0056 left_roll=-0.0669 left_gripper=0.2525 right_x=0.5792 right_y=0.3509 right_z=0.062 right_yaw=0.0696 right_pitch=0.1819 right_roll=-0.0477 right_gripper=0.2088\nstate[joint_eff]: [-0.294, -7.2684, 6.2564, 1.4579, -0.3248, 0.022, 0.0171, -0.1573, -17.0462, 7.159, 1.8095, 0.1978, 0.022, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMUqZbPLzCrqxozf83BgFL9ABuX1GOf31W-rgCZH3BM3A6WBYUl23W2oH5v8at60DT-tDnCu6BbyJFdFzmiigkWVh-Oa8XWHWQK7y5W4ZrPVSbuhEfXZwuNDmVK3yYPmuR6PjTSfCX8Yb7_Vk2bgGum74nhBTxtQMWGpPVjqw3ffGEbQI4tn0VZjyvZK1JxugUzRD-7eigywT9QmgEOWK2kcbB8X8DN03pMgwFqhCBDf_r7ou6xaKCMachQw4OUmEcKYTbFsg5xbUc4W6kRyb-br8XC_K-mHu3Bz574CDaJlgGRVBDcW8Y94IAk47QzrLLKssQ0PWbgg3N913LUchGz9QC2ygsjDA0te9MKHYubK_FBhHrNHrVAe8S3t5_ogmZ9YqWxQ3W4r6fsrN0fQhqhBIscTPoY10t68XbJKJ3oHh34G_M2VQUjtbqGgf4MQd8venUDgmHkMH3_77TbegKvH0j9urE1uSfXDFN8Yb4QJ3CXLhtqAfCrcwY49W3RQrjsbv2YPzT1caTjZCpCNgqnx_NvNHdfamUILZfKtu_elXNf31ApID2wAeu6gY3FDF9Bz7HdZ1fEE0LSEHl2f73EapTjBkNoBdnKM240EEUjmr14d66CMDnv4WpizzypJCQZPD1tRF1WNj8leEX62e5vF9l2ZoojapJqcK8kk70BbXbAHTRnEiNUX44RpHbCTze-ToMjx-_wDdKWvuj7Hsy7T4hYXdsnTCfNJ6ZhsflW3ja_WnH-755vODCou3QU9Kb_ZZ4NaNmeqVxD3PghAmx7oLvT0U7e1bi0MnnmxxPRRyCnSaSR2IeDUa2ZzwXM0yAxZsouwooG2wTO1e0MmupSWcg7QaPbFFutOYIlJYBFkKsybIy8JuRF8O2uxlF8pMsp_6oPkDTgsiPnF0D-tcdxr32kkzJQdfbd4GOwA_PaDUU9x6MeiR6eJHdOdRP2b_euFx_EL0PVzbDMKzuNqySut0saoKLu6OvYAMLBY-03UOw_32QNWVsMnJNqC0OWBgMojORfm08-LL-Ife0v0GOSRAWCEkAJmOsrR-gCJIlWl0bagKtmXv54Ko1RuvQZI-fDu9WPDey1vuM_KntixZvXBZkLg60-1-V2T0jTh8zU8OxWgKWkmIm0n2v7sjG20EEkftLyYi1kXRbMqXdsPlCbtB7olGNSNSR4KmGLxJSdjRkFKPYefroTfkKk0CRodOgT_E2sxEIkD-i4vGnBXhPnCh8MZjEwP7x-W9PkMK1Fr_VimRP_PsBBWAOeJWI-qsVftIH6U3T9u7bRCmga52szZbg==",
  "id": "rs_055bcb2caedba699016aacc527aec887d0b62a5fcccfd7c9f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.32,\"right_z\":0.15,\"right_pitch\":0},\"note\":\"The red cup is moving with the right gripper. I am carrying it closer to the bases, keeping it upright and below the raised left bottle.\"}",
  "call_id": "call_DBx3Dht0wuxpFdRxbAxlGish",
  "id": "fc_055bcb2caedba699016aacc528941487d08b00c2baccb125d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DBx3Dht0wuxpFdRxbAxlGish",
  "output": "executing move_to over 14 steps (1.4s)",
  "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]: [-0.717, 1.6306, 1.787, -0.9043, -0.6655, -0.6224, 0.2526, 0.9142, 1.9244, 1.3479, -0.2276, 0.6785, 0.408, 0.2123]\nstate[eef_state]: left_x=0.392 left_y=-0.1922 left_z=0.3309 left_yaw=0.1453 left_pitch=-0.0062 left_roll=-0.0793 left_gripper=0.2526 right_x=0.3863 right_y=0.3255 right_z=0.1271 right_yaw=0.1347 right_pitch=-0.0401 right_roll=-0.1251 right_gripper=0.2123\nstate[joint_eff]: [-0.3487, -7.5692, 6.2974, 1.5116, -0.315, 0.0269, -0.0171, 0.6222, -13.3949, 6.694, 1.6093, 0.5983, 0.1294, 0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc2935322e9b3d938e9d29a6407b28560294e742fa551d557487aaf103820a3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307fc9346c95db7613b8f521f9ddc8547cc02cf49cc371008df654572e79c5cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad8aa269b46a09fc02dcfb514a25cbf030d415067cd04b38c95adf426ee15fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 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]: [-0.717, 1.6306, 1.787, -0.9039, -0.6659, -0.6147, 0.2526, 0.7128, 2.4229, 1.9175, -0.0391, 0.5953, 0.2028, 0.2122]\nstate[eef_state]: left_x=0.392 left_y=-0.1922 left_z=0.331 left_yaw=0.1415 left_pitch=-0.0055 left_roll=-0.073 left_gripper=0.2526 right_x=0.5522 right_y=0.3511 right_z=0.1078 right_yaw=0.1003 right_pitch=0.1141 right_roll=-0.0969 right_gripper=0.2122\nstate[joint_eff]: [-0.0342, -7.3504, 6.5436, 1.4676, -0.3248, 0.0562, -0.0073, 0.6359, -18.5368, 8.7316, 1.8584, 0.3394, 0.1441, 0.6276]\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": "gAAAAABqrMUvOqP7-a0bFXYu5EDTNpY-tB7yGYPw_rSLCh5cPitrUQb9lhywLwzsVj87z036fsTsI3JZd2VRimVjIEQSRPjnpxA56HAK0Oy3jMqm_nG6knMlpDVelPCblHEdUxmSTe587v-ZVYNAxprduswIcmV2nbMcsNwAIFs5JXDitPqaqe9U5WD4CkdJLygHKtZ5hF07zcXyerjk5o0rlndUMn69n07oJeivRC7qSMUAcfhgSQyHa19CoGOyFNIgamjNWZXEYn02rGhcTIAR1gzroBXauz_3j7Koxb3AYyP7aQEC6q7wia3yo_qQJO_FwNY8VdpmFtp8jEawMjCQSD-8_ENPpjallo20w8dh8kxzPgdO4Y-ay79vip1N24fjZdTRJJ3yG4OmNBH2XNx0BOMpsECWQ08_Ft7Tu7FzI93XfeuPGoe48KbTCSmwQPQ5HOzPZWtC0c2q5QkaAujoupTObw4yhH8y1TcHnkSt4FyQEuMzmWgT5X9_i3K0G7dYePhNhLm7B81WtKX-iT-kErlOgticoqpwzrnCuZ1B1oijyPR4NfK9wK2OuCAffNbxmm4GRCid8I7SjHldvxh4rMY-EjIXB0_WVzRhV6_YhC5hbCZmtI4U_ScMJ5BreMkOmIgM2oF4Y4oDOuFzYLOlZcIZGS5uTAh9FuQGkOis27qKvtn8mJott0U2y6qMk3p22jds6goK5s2x1rCnY9jmYffqSXq3dlhoHYMPz8mjI54Tla9L_mS_I0ETus7poyvvRouADYtPemS01556tCoWs6kiyuw05qRNdJsbUak4Qph2uvLez45TNlhCLcC7Ngcboqx46zfOphznfTznpvw-Ra7gS37JlIaNaGOTb196vvwr3K-SfU2HNLGbO7gOeRucMFWSqAlKKb0G9-4qGwSOEe-EW7R1KNaCIOCxseX5SyTjCIXFk5txXeuZL7Xbxqapui2_p-zAX4BN0Ybq8HLi8Fd4h2yWz1QKTtHAlZQrs1nHcdGHM4FCmiyB44usZe5fah8nlz_Efvld34Gd4j9IMSNlUS9MyBuR5ZmQh02J27e8Sqvhnyfovf8Y4ASuLRZoO4nOXC4U394khqCw7-VemNnZEXf9WlcdCuy7zmcxtSVGocs5kQYvMI_a1COQ3e6_YSdb9RF4AfQJmPjj8bVqBJ6PvJvanLamNkNUyJEYmeohWd9iGgJ5vYuK5kTT00GM48bW7YxZiv9waZWUjL7LnxanJPYol4KVGR07L0oWw0pa0lDmjtJZhWr7RHzPOhdxF322B0N0pWDpux0F-ZkxJ4S8X-ab0gZy5coZv1634COnmgvaew0Y6Px_XJ9v7zNY170gcGgf",
  "id": "rs_055bcb2caedba699016aacc52da6a887d0b0b8f805ba13e14f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The red cup is now in the nearer center of the table. I am lowering it onto the tabletop before releasing its handle.\"}",
  "call_id": "call_EP3DwsdoPoHEfzvpgBbjoYiq",
  "id": "fc_055bcb2caedba699016aacc52e8b4c87d0bbf2119c09c8a3c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EP3DwsdoPoHEfzvpgBbjoYiq",
  "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]: [-0.717, 1.6306, 1.787, -0.9043, -0.6651, -0.6292, 0.2526, 0.9161, 2.0037, 1.2449, -0.1089, 0.6621, 0.4088, 0.2119]\nstate[eef_state]: left_x=0.392 left_y=-0.1923 left_z=0.3309 left_yaw=0.1486 left_pitch=-0.0067 left_roll=-0.0853 left_gripper=0.2526 right_x=0.3788 right_y=0.321 right_z=0.067 right_yaw=0.1448 right_pitch=-0.094 right_roll=-0.1605 right_gripper=0.2119\nstate[joint_eff]: [-0.1846, -7.3641, 6.2564, 1.4628, -0.2857, 0.0171, -0.0171, -0.4855, -11.3436, 6.8991, 1.79, 0.3443, 0.0073, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5472ec3ae92a02d8cef9a1745a9529b341407733de2dacae48b5289bdd6d7a56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f3f4ad5e490b4f03f42483e9c8203607fa719a880f7e757d149f4628eccab6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c66be510c9fe08c02e63568d7553c5e82d1670dc2311fb2b8066ba00dcf8e26f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 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]: [-0.717, 1.6306, 1.787, -0.9043, -0.6655, -0.6224, 0.2526, 0.9142, 1.9244, 1.3479, -0.2276, 0.6785, 0.408, 0.2123]\nstate[eef_state]: left_x=0.392 left_y=-0.1922 left_z=0.3309 left_yaw=0.1453 left_pitch=-0.0062 left_roll=-0.0793 left_gripper=0.2526 right_x=0.3863 right_y=0.3255 right_z=0.1271 right_yaw=0.1347 right_pitch=-0.0401 right_roll=-0.1251 right_gripper=0.2123\nstate[joint_eff]: [-0.3487, -7.5692, 6.2974, 1.5116, -0.315, 0.0269, -0.0171, 0.6222, -13.3949, 6.694, 1.6093, 0.5983, 0.1294, 0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The red cup is resting at table height in the new position. I am opening the gripper to leave it there for both pours.\"}",
  "call_id": "call_WqExG0MqUhcKEufWyoIborS4",
  "id": "fc_055bcb2caedba699016aacc5326dac87d0b5a36064724640c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WqExG0MqUhcKEufWyoIborS4",
  "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]: [-0.717, 1.6306, 1.787, -0.9039, -0.6544, -0.63, 0.2526, 0.9161, 2.0182, 1.2324, -0.0963, 0.6498, 0.4015, 0.9951]\nstate[eef_state]: left_x=0.3917 left_y=-0.194 left_z=0.3302 left_yaw=0.1411 left_pitch=-0.012 left_roll=-0.091 left_gripper=0.2526 right_x=0.3765 right_y=0.3208 right_z=0.0565 right_yaw=0.1561 right_pitch=-0.1116 right_roll=-0.1696 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -7.4462, 6.4752, 1.4579, -0.3541, -0.0415, -0.0171, -0.253, -11.6855, 6.9812, 1.1209, 0.3346, 0.0171, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c619ddf5138a940743d9ceb81a92c4b507d3d066123dfa612a7e33bb0000ba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931baf82dd5eaa39dc6755381ed32e4d1b309aa3e71d2b8cdb21db43a4dd46e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1a7f2aeacdb5978028ed2cf41362d57df183b47b44a15203d92b851d86feac",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 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]: [-0.717, 1.6306, 1.787, -0.9043, -0.6651, -0.6292, 0.2526, 0.9161, 2.0037, 1.2449, -0.1089, 0.6621, 0.4088, 0.2119]\nstate[eef_state]: left_x=0.392 left_y=-0.1923 left_z=0.3309 left_yaw=0.1486 left_pitch=-0.0067 left_roll=-0.0853 left_gripper=0.2526 right_x=0.3788 right_y=0.321 right_z=0.067 right_yaw=0.1448 right_pitch=-0.094 right_roll=-0.1605 right_gripper=0.2119\nstate[joint_eff]: [-0.1846, -7.3641, 6.2564, 1.4628, -0.2857, 0.0171, -0.0171, -0.4855, -11.3436, 6.8991, 1.79, 0.3443, 0.0073, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The red cup remains upright after release. I am parking the right arm out of the pouring area so the left bottle can tip without an arm-to-arm collision.\"}",
  "call_id": "call_ZwWMBSFRAJZTnWIQm5JsVgWH",
  "id": "fc_055bcb2caedba699016aacc5362edc87d08d1b0fecc6818a6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZwWMBSFRAJZTnWIQm5JsVgWH",
  "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]: [-0.717, 1.631, 1.787, -0.9043, -0.6506, -0.6376, 0.2526, -0.1459, 0.8639, 0.7368, -0.474, -0.1928, -0.1558, 0.9963]\nstate[eef_state]: left_x=0.3915 left_y=-0.1946 left_z=0.3297 left_yaw=0.1424 left_pitch=-0.0148 left_roll=-0.0985 left_gripper=0.2526 right_x=0.3023 right_y=-0.0066 right_z=0.2037 right_yaw=0.0907 right_pitch=-0.0282 right_roll=-0.0059 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -7.5009, 6.2838, 1.4481, -0.3004, 0.0904, -0.0171, -0.1299, -2.0581, 10.0855, 1.6679, -0.188, -0.0513, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0649355b5f2eb5d420e7dd7189975c13386b073d7e3935add167b1244e2908fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af873a63eaa326cac0b7960bb6e74bb415e4a611e57a2c7f4b4597bf9d3c296a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b08470bcab6ecdd0de898658c8ba3d3bef291c55a254467d9248f990b1302af",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 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]: [-0.717, 1.6306, 1.787, -0.9039, -0.6544, -0.63, 0.2526, 0.9161, 2.0182, 1.2324, -0.0963, 0.6498, 0.4015, 0.9951]\nstate[eef_state]: left_x=0.3917 left_y=-0.194 left_z=0.3302 left_yaw=0.1411 left_pitch=-0.012 left_roll=-0.091 left_gripper=0.2526 right_x=0.3765 right_y=0.3208 right_z=0.0565 right_yaw=0.1561 right_pitch=-0.1116 right_roll=-0.1696 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -7.4462, 6.4752, 1.4579, -0.3541, -0.0415, -0.0171, -0.253, -11.6855, 6.9812, 1.1209, 0.3346, 0.0171, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMU_M3GO0oxAOvpsyn_-PH0mYkwlkrW0w3a1lc2t6Q3TknzyVhvoQWWhw2I0sHcGbTVURAuGA_diRa8YJdrfpGam802VAxY_T2x4kk1WFSa2q4OVDBLWnw8bipXk3o13nugJ3SLKa_CQi6Uj0_7eLrLyYzw-j3yQ8VS7o2M2wcekx6rvdgN0j9lusXF9JzWbWzA2mh1EbxLqSd6IPUc66xDa2rqUQxoLSZn2GXnM-iZKruQq6sIkvEvlDy13kLU6QQOlsP1UXbCSbbjcT9epDfsY7hRFTZ7RWqEJ5a_CrHTzQAinZtyByJImhcxQjkPpWgYrTr1xuQ6O7ZRVc3mn-97n4eHG6uHk0uHQkcgJq9PT0kiKEC7Y64wGVweHoA9xa0K025D7lncoeW-WKsZIkQlw9e10rBBMs85IF-B0xpk-Fj4iCWSGhSclvSynqtOsbDiSgBH-27p6GL7AFPalJ6HW4M0ccFqj_BMtX9CfCgX-sV36Wk5CtAVmRIwx2TzzixxB0vezxxa0guTPrFtBIQagyMavzJYxzq7g-e3CbRpnmepe5j5PernkEDSqg31H0IB-JcW-v9SL-ZYUOG2EtxhhELgFGI2WkcDGg1wwf1wXeYVBfp-Vz30hheAmvRmZWWPzs7GwSc8IFbasOp1-45eTgjFNzvfawSPfdpdUwt3LqB2BUIGBnhMRQ026l6XSzRMl0p3GxuBdK32clKrYkGqn07pkwTAUbDrNoOy6RurQ8IGAathImHDaXg0a4729U98r3lMlMeAIvxd8eJGFK7LRXf4cpmptsLhjaL4YhsRZJiHtkDCCj1DhW3MKXVlEM_6xf-NRbZ6xnGzrEwmdD8HyKItUPkDrZctabSXYXlvvOWADRxXgpH17TNPXNV2jGYptjededKmvVqkSu9VGpFHrEORgMsyu-LXjw8Uu5Si2ojMitN6Q_tX3QJF0SJ18b3Lbb2K2vhIEMGBhhTdU0yEcc5YwxLGGc5Z1z0ODDnAYGFFaUaGvyQvk8mbSKMfX8Nb6A4xvxWyienqbBccR8L44lKjrGSBeT22LaJXNLnNI635cLw1hOkREyBzi8AcxN-62z8lV0VYMHstO_jD4gbD_LkTna8q3YL4yZQyYAcbJkiLh-3ZRHDWgP1RKI27IvTXhxwLeya8ALaq2CGSfQndJgrid-wC9RrfDXiD00yXR9R0JAl5aPB8e6LhBRqsZ-kZw38QQBTPAd_ZEngoyRNECDSAVYQyDkVSBIFAKi9mEr9Ja5_mXp8EuTag0MMgPZZCCyuulL76ZQGhFJ5G2EbCcxsmNl0msInAHORqji85rSPk9ERGT8oBeyl7Kep13gxE2tA9IPvkgEPHZw-N8TkgqjY_Q2Sc0WCtYiQn94bqCkgYVTRzb5MNaAkK3uxcFA69F33n9hFHk4ZLi9840h5TEjKTI4SCgAEwMNtv3utObsoz8CYf8R_I9WR7Z-KhxiIRq42Jv5LdVSrXFzabzqO6vAsyp-Y3b02vW0UD5tvFw1Iue30TlEiUDCOYkyuiCn3AP0EvoLqxpTF-Xv9fpl7aUNugQlroiaKf8YkEClnwhelyRM3IkJ2d33QvUnbs0Zzzes1ytf54OIbB2mRu8U1LbOQ==",
  "id": "rs_055bcb2caedba699016aacc53bf31c87d096242044f091a9de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.22,\"left_z\":0.28,\"left_pitch\":0,\"left_roll\":-0.7},\"note\":\"The red cup is now close enough for a compact pouring motion. I am lowering the held bottle slightly and tilting its mouth toward the cup on its right.\"}",
  "call_id": "call_uFvOUpU5pjNG5979gzgwMVJA",
  "id": "fc_055bcb2caedba699016aacc53dcc3887d0ad2165841d55e5ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uFvOUpU5pjNG5979gzgwMVJA",
  "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]: [-0.6788, 1.4532, 1.243, -0.3805, -0.4267, -0.9321, 0.2526, -0.1497, 0.8665, 0.7414, -0.4965, -0.1986, -0.1753, 0.9963]\nstate[eef_state]: left_x=0.3852 left_y=-0.2122 left_z=0.2533 left_yaw=0.1452 left_pitch=-0.0626 left_roll=-0.553 left_gripper=0.2526 right_x=0.2999 right_y=-0.0064 right_z=0.2006 right_yaw=0.1022 right_pitch=-0.0475 right_roll=-0.0138 right_gripper=0.9963\nstate[joint_eff]: [0.3214, -8.5675, 7.5419, 2.1563, -0.1245, -0.0024, -0.0073, 0.1846, -1.853, 6.5846, 1.873, -0.0415, 0.1245, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170745333b82312c6205c36faffb0d2455747d55f1d6ac99c9d0a8080163cbd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02556935b68abd624c39872a2f2f35ad348adb203836393a88ab1d96672ebf2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdbc62dd5d1095521c24ca13c9910dd216fad416a63eb55d581a3e648d8d75aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 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]: [-0.717, 1.631, 1.787, -0.9043, -0.6506, -0.6376, 0.2526, -0.1459, 0.8639, 0.7368, -0.474, -0.1928, -0.1558, 0.9963]\nstate[eef_state]: left_x=0.3915 left_y=-0.1946 left_z=0.3297 left_yaw=0.1424 left_pitch=-0.0148 left_roll=-0.0985 left_gripper=0.2526 right_x=0.3023 right_y=-0.0066 right_z=0.2037 right_yaw=0.0907 right_pitch=-0.0282 right_roll=-0.0059 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -7.5009, 6.2838, 1.4481, -0.3004, 0.0904, -0.0171, -0.1299, -2.0581, 10.0855, 1.6679, -0.188, -0.0513, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMVJVO093oJpzisXsb6nF4pkGSR_bq0kYt5tDuA6odelyjoev2SYFFJrN_KSGtbhjpSrfdtGOHoSmsgZ2Eb8HxmEEn4XKrCpe4JpSQPLtTy0hGr61g4_UuzOp7Z7uOEheGUJf1u3ZoNuZOnv7d8U2ESqjH_i4RlcHOW3eXd8KuUc1IT06id6Mv-d2k9SAmSXudYy-ZVBpWykEJZYym11ExqvT64GrhbOVj559Gk8Z-wkY_bWxpcv57__UeiLltGlCyxKq3AgbTrHhsryKFRhH1Pef5sotG3EyeiQXFXstQ_54Bb8UXYGVvm5B8Ryk1JuojwZ9QATwmOgXT8FyNR2NASSaP-4XZxIW8xytWQ3XlgRoB_pwtl9JMiITD4qSmLhI1JPmml9cZp7wivoxK4JAKOtoqZ2oOY_4R0KBGArqDwrAB_ROOvE79nVnu3fxW_I54sYMrOv-G_aaVyNolElr1bNJ5kMb1Lti_RQ1cCyTzurFpL1OqzCMPMrDz0gQVCteLKrOruuBjH9V7HEOiorWJCmhvwKFZ6gAsrgRFuY5u3DlJX9MO8OhNqBjcoMKLOKOeGmkrfYyEmPXRdvOxUb8orexPriNxlyHh5KLaxcWnN34FRkHG7_Q_mMcCff5PqCOMrl8nEnaL16vMBawQ-3ATLO9OOAVgxf79Ft6hAlPMCecvo3fP1VUpvPDAXq9F_T2noDrUsw_9QF6FohhFe9RWZxMeErN8oQ4Tj_opbQ5VDiZuGKI85InSzWD3euZcsYICfvS3zys2cjnMYwSaakt1dvCtxXrX9vFNEqqPMzDhzLq98QLUIvdlFXB8_5Y3thN-aeliBTQ8u595gVfWZ-HIDs_NJDpjJlW8upLfZRejU6HGAxAruCC_VZ3j1TcEn7NqhwZWcAN7P4m1l8tOYQIhjAuvTr5uP7LNpR3BiggNrMclqfGMy361xHoGHkzu9VLoUY7KHVipKB0jE3ulEZL6SJdAspFdAhSlGFLU6Ue40fkdKXZjbgzO0X8PO2Ot1kjAJXH9i19X4t4ll_yTCEshPu79kQ14x8Pmio0FbsUF-5QEUEJL5B_lgmd_Zv1bZSl5Ym9hTrax7x7qpvM_3A9lXtHKgNwmHAS18lai07XvNsKUyuAulam10kY6Jq8GNBEghr9mVvjUjZenaRc3bLp3YjOZFaUXd-WcjR99QK9ccBuLK639ZCtdIJzt8dBrg7igxE4dKSkASHGtK7lt8D60geHTRjQeday3EHhQlI5jkRY5eJz4XhaOcDVlFgH1XRbxUqZZNoMkqOYlnxkUPqAk63GV31YpYRNIY9bLfxJR_L393ZRIvyjbFJNG42TG-afX_g3LnyZpfW_ykpdufwp-B2T_1UUbp3fimrRZSpx-4J4ITcRXg5qUU6IHUH9WupjbabHUeTCyCek0eo0Npmx5jiFEloUgU7V8wJAq9sqCSY6wUze1qslC1Hf8fwDfFF2nCKJCD19H56sXh_iBYRknHFv9t0KdmUsWp5mZAEJQ5Q7wW4gUycmrly9Y0XX9m8R1c38_2ePgoNj5OBH1E3HUi3lkwH02HGtP6BoJ0Hak2gx0VivbSIRrMr0F5vdDq7MPmaWB0fwRa6MrXiZycSvh4Pi2q5OkE30EyuBwJDmPehRgfSdbbmvQUeY4_mYDtfWCvaZ1Th3rzKjKC95x3uiGsJBFHpb_GaCgXE6GB1CZ2llPXU7HvqFjT5AkG4xC-qlFFPVt0tR0Z98RvYWA4kOA8XnjC3U_vLs-nOmCYJiC0iSGjNbQYvrM4pt7C4yv94s0z9mzoi48HVacW2AZ90dNop6gJzZJjZ2SX_Fz8B0_l9g5IcAGlqnDw2-z9G4fKCXvBK4ht0UB1BI25D3Mb6PG4W1npQURrmIsWyLiDK1OlV9_9vO_dpiGlZhC65BlVkOAqGxp-nf1Tt92ac-t5xVo55cWJCO1mAyuEyVbxVoHyHoJcZ0AiqEMdv_qicfR1Rs_CUiViLgH-birq8qj0V-OpkKAuoJPqcvxzcfm1gqJDxdWOlEP59U--npLlfBkO8NFlixzM_W_bAOOEkkNINv_XqfgbNhLIc32edtfl9qDeSt4pG_Qr1fNh5FFm9lqCT6cnIX6pVEcm9OU_rLcJGJoI_glyAUCfYHo9JZ9qIA_L0C1lqdekrP197kuZLZxqAdKQcWokGUduKnHSBAswx_IXp1iirFVJ3ag_bUa5BLHjF4k5RPnbRAOvoWpID16sWa0obBejTsvgIRALNXjI4m5FGglRLTjB0XoIwKXv7RTZKw31FqjU8-qAwUCsddlqKneJtkR8E71uPlIpLUzvAFis79s8KFNsXU53yw7rWZw6Tyigu2BTROC-kMSfUw0ayfBvujZL_3iS7uSLtwTy3KZ8ZUiG8B5OzmbQTlkj4mMw8Mz13bm-7tS6ZbJeROwPsolZuqJhRz-woajrT-NemLU9jS7Xi2CRZ7hP5NuMHbAF7ffH2qBdxOaaa8X79dwv6KVne",
  "id": "rs_055bcb2caedba699016aacc541a27487d086272ff4de97c17d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.255,\"left_z\":0.3,\"left_roll\":-1.25},\"note\":\"The bottle’s mouth is still left of and nearer the robot than the red cup. I am advancing and shifting it right while increasing the tilt, aiming the mouth over the cup opening.\"}",
  "call_id": "call_rrMwgz5H6hyXzqcbDhKLfQfi",
  "id": "fc_055bcb2caedba699016aacc547fc4087d09a09f8763165cb86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rrMwgz5H6hyXzqcbDhKLfQfi",
  "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]: [-0.6048, 1.5589, 1.2175, -0.02, -0.226, -1.3296, 0.2526, -0.1497, 0.8669, 0.7414, -0.4976, -0.1989, -0.1795, 0.9964]\nstate[eef_state]: left_x=0.4314 left_y=-0.2457 left_z=0.265 left_yaw=0.1633 left_pitch=-0.1227 left_roll=-1.1072 left_gripper=0.2526 right_x=0.2998 right_y=-0.0063 right_z=0.2003 right_yaw=0.1048 right_pitch=-0.049 right_roll=-0.0166 right_gripper=0.9964\nstate[joint_eff]: [0.2803, -7.3231, 9.5385, 2.2002, 0.0659, 0.022, -0.0073, -0.0615, -1.6615, 7.1043, 1.7118, -0.105, 0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5bb1c41a33c43e458f28aa4cd507d5c6526779df5a90bd2bcbc38f7bf08e54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05edf905947345f6712132d10913ffe2679dc25cbd08e1f5e56bf1b5d7b5dcaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:577fc646c82178e53d7dbc6399a69a137e488dda170c8320706478fb959e7f6c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 101 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]: [-0.6788, 1.4532, 1.243, -0.3805, -0.4267, -0.9321, 0.2526, -0.1497, 0.8665, 0.7414, -0.4965, -0.1986, -0.1753, 0.9963]\nstate[eef_state]: left_x=0.3852 left_y=-0.2122 left_z=0.2533 left_yaw=0.1452 left_pitch=-0.0626 left_roll=-0.553 left_gripper=0.2526 right_x=0.2999 right_y=-0.0064 right_z=0.2006 right_yaw=0.1022 right_pitch=-0.0475 right_roll=-0.0138 right_gripper=0.9963\nstate[joint_eff]: [0.3214, -8.5675, 7.5419, 2.1563, -0.1245, -0.0024, -0.0073, 0.1846, -1.853, 6.5846, 1.873, -0.0415, 0.1245, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMVUvVqmQGjeV7WpHMQg4dyTvCOQgsjwSxlQ9DyTgv_ngzVYzbJGZR51NTUpKWMaZjASVRmEVUILWlocgntt-YlAb1HBsUzX1rcGYuMj1S_ynEGnXG0v9s9uWcEnTxSk8i5B4seT1QpAxEff06y85tB7mggzBxf3mMWJvqC3gUxGzSkDAqHGFsMLZIl81lb7YekzE7rQyuzFWDBgWqDaOckGBK9g5HsRVMqk7gUZhesYf52bZzMGLliCn6WtW-rYzJbBQm3s-tm6e6bpW1LEtUHOb3BVPKM4jXQDarkVgITOTgpt_m1AoDqYMm99Pa8A1MD-h5XGDxg3c_-wP4fc1A0wENI_VxW7RRB63srB1i94sBUqa_u-urSvPEoQJzKGGKiUEgy8yIA3UWxM3wCHilBDccof1f0RZ8tb7MgNCC5gyjCQ818Lxe83f5zdv8RR8RXcjKMDbm8v6nk4wXaYH3pMM8_-u5TG6-Vrx5L83DgOam1C_x9_8XNFVdJBRzUQW9yd8uQZ1xcri9jJI604A8ltv5uGbvOQnLPbKrEwMsGJOeB4UxXXJMizU_olM8h0KvOTMfYpvvvZHbclRZEZ0bVGPCSyr-rEjLkDZh7qdc2jVXPtJaqlvFRIpqAMMGv83-O-HmdD-SlVMDs0i2vmTNR8XxjA0eDuDFx9BIWarWeLmnS8vYGyF-RjfMyf7N3i59_buR8ynKK9mDWLi1shLxv7oYrUoYIiEuq1CqG8VWTcA6IQmG1rVkPZncGKfPGVeyD93a48C_Dw-GZbbErrB1P01nxooY4pkz6mFv6h6T5J0ThAKF9JkK-fWEfpIZz7yoJ43fjDWoZhOPkwVtCtLgBb1Om9VIgmN8KfMMeEUtL6RnOqEjjLqgX9evw40GIP8QfnBrySmfNDgx9y3EVCwbtvJJ-5WRNghNQoY01aunV_NB5YUx9EZESgBTiiGxO3aef8BIB0ykTuSlW71UC_QJgKVyJqpQf6xb4VLL26FF2jb80UrNbkcsWAkdW_25LmOXovS0nv-A9cn5ZPBdNRm-WfVpEH-uWCZkQ2esDfTQpPZUO9DnnW6ipKr23wbeKFcBuKRvKOB_GZJpVviC79dIUESMxbsQxjyfqUQOeYJDdyuo67xQyobjEAJ-r9MgcX_UrKE2jvcNzade9zKagYY47NK1ntbOiope9bgciUajffI60oUD4xySeUUU74AXGBCv_LhZGAqpGLG4fDT6jLlqyD1Bjvoec2lWjzzSzJVCn5ooV9s4TBUV4o4xYhwEuJJWqF2sOVyyikZZDf83q_oj2Hagw9jeg3z2M1Yy_R44iTiCMYCZLbGL83NHZx35I05qHsWcGwpYEYV0AZkwS7ugcKYF9rQNsizveuA54MBQojwLqfet0PMy4XfugtZiSCuayA0p98O1HWitgt_DuupdrQV5q3Ki22yyZbYnbapHOVgaLYkb_NTzRnyWGwz2Q-NxQuWBSXgTOPpPwkoN5gPL8GKyKYA58Px2AaJ9wXj2mMHy4DHrwCxIiUZERFr8oYPE_R3lpbd6m7d4L21gZ312q_BjJ7sWxMd4wPV_pV_YddkQn3_hzNi6E6U8ybNqYp01L5zsmPOWA0HcEb6_93pNkR7A60GhTUdzTxj73rP2T8kkosDL7sWgU5RE0qaqBvIwljad8dS5UK5FZyY9NIQTxaHyji8pEQG9Be8p15qjBpAgcG-FEg_vqTGNeuAs3M-i0K2HA91DDybKC23C8CbiB_y-RQsWXoruDYJ4EcyujdGCr85J4C9gDXDS3I3BJ2Edr_xF1bh9WbD3rDmI3-W3lUN8XT7MeMRiBGiyQIEnkZAaubde4eQ6O5PoE9mM3X-VRnIDoddqe_rNkYz7zOpyqH9qXCnSAZnp4Z38kbjm54WPcJuSx_8Jh-Q9zK5FGa62zGruAoAtYSloskX4b9NX50r1dY1WOLC-1-ZW95qtz09EXMfV1fnnHo146bMe8qJ6CnA7holdDqqN98vOZKuhO-n01x8Ds4fynrqJPWg4bLN5UfDmioRaXg4pKppVYovKhSzPLo8HPzwhjK7WP1qN1KyvlkbiI3ZkbVy7nln6ZKGU924p7atVQh5F3yYFyZ9B5fYZtzfvBhczkLlcF-Ii3yCrgiMSAx15vgeZ-E4Z3CNG6n1cGdrRNqhJkKAnoV4otgtwjBfTt_RFAojD4BuIGTDGTj7bYvT1yYxQLmXB0TItiUNTnvRh6gzVxHO3T1109A8cY15-WP3_o30nGGLbGSwLz9aXReLZSh_dJdaLz648YegCnVckuuraGVxgWL3sZwn7TlZE08mrA308hzUu8NUzyljBa-Rf-dLGoTe4RZBxTCSVkjJ7kzBQdomGy4urKUAkVqK3IDAowjNPjTztep1Lab-SC-wbtIsZY6DHMBYgT7OB27RPdwdyGOKclXT9zrCk9n_PPLPvZWT6-ZngL3R_CnL9dbJOFQLggLqZWY3RHINf_Bx1L2pn2ARFQOfhjnzeFfGfVrm6VprLUczVvaJL6vFrc1lo-zfOI0PyrP7_ahyOxB_VcFixVAnMHQuh4bXnH6iKTDEUqsABd3cagLlg==",
  "id": "rs_055bcb2caedba699016aacc54ce86487d0bad9e0424540717f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.3,\"left_roll\":0},\"note\":\"The overhead view shows that this wrist rotation moved the bottle’s opening away from the cup, so the tilt direction needs reversing. I am returning it upright before tilting the other way.\"}",
  "call_id": "call_brQU6qhafOcmqaIkJyDPo49x",
  "id": "fc_055bcb2caedba699016aacc552b27c87d0a693da6521fdce6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_brQU6qhafOcmqaIkJyDPo49x",
  "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]: [-0.7452, 1.8194, 1.9408, -1.0443, -0.6033, -0.7815, 0.2526, -0.1497, 0.8669, 0.7414, -0.498, -0.1993, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.4019 left_y=-0.2295 left_z=0.2853 left_yaw=0.1688 left_pitch=-0.1594 left_roll=-0.1002 left_gripper=0.2526 right_x=0.2997 right_y=-0.0062 right_z=0.2003 right_yaw=0.1053 right_pitch=-0.0493 right_roll=-0.0166 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -9.1009, 9.1282, 1.2527, -0.6374, 0.3883, -0.0122, -0.1709, -1.6479, 7.1453, 1.6581, -0.1343, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4937288ae38bdd58c5d51c9da52e28ae6cf801505c960c12cdf08af25b3dfd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d77a11ea594a21b1070b325f3e8ab6c0124bd7550d243a628743235ba947c7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf1b3e2b03b73069a5f6eeea5f263a029948400e6d471d5cee351235db777c5c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 105 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]: [-0.6048, 1.5589, 1.2175, -0.02, -0.226, -1.3296, 0.2526, -0.1497, 0.8669, 0.7414, -0.4976, -0.1989, -0.1795, 0.9964]\nstate[eef_state]: left_x=0.4314 left_y=-0.2457 left_z=0.265 left_yaw=0.1633 left_pitch=-0.1227 left_roll=-1.1072 left_gripper=0.2526 right_x=0.2998 right_y=-0.0063 right_z=0.2003 right_yaw=0.1048 right_pitch=-0.049 right_roll=-0.0166 right_gripper=0.9964\nstate[joint_eff]: [0.2803, -7.3231, 9.5385, 2.2002, 0.0659, 0.022, -0.0073, -0.0615, -1.6615, 7.1043, 1.7118, -0.105, 0.0122, -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": "gAAAAABqrMVav9fGAWFaulSGGaYNEgY4FNNYrBVBk8KNzqlYfxTWbR6nGlEsd02SytY_JJDMkjPglJnBzRzwrlZmYvgjIs6L39dZHO4dfDgTvvRvwbQkeDCEC7i6LCPtyY1sSz7GlXgdReuHE64bnIOtQQbxIc-uEizMrvr40p7JNGDRGPg4sxVsJh5qcgAH5vzex6POmB3ee73F3Yebjx8d_tOmIBbLMYfeG_P1h_YwMUtiUvRBfv36ZceNJdjs2TLL993RbMBRdBCz9TZMkrQejIMRNGh9iUf79sSNkIZ4ZV_yyGWE6knW2d5KlC6MPff5ZDYZHKQJL5zyMr8WjBzIPcRug44qAjVcftNbdH7I_JVTLPpfdH13kMj-e8OowV8U2qZOvli8gsxKeBBJ7XrUC-UGDA0gZp3W0VbYAGr0YZomiD_cILu3dq6xBVDlehG1IStJGupVw3Eb8zDKLCfY8oJKKCMuS1Us69w2RxXJEJr0ImozD62KvCT4gb6fi4CLXBvQvqodSnJf3ftYmd9gazsKLeU3tPIhZuDM2y3SbGyvO_PwnKR3VfzuJZwcxxGGl6QZ3aFvtCfCBSQyFdHvsVVrfKPQr5wUbYwe6QhFwIBlzQvlYK3HUF-coExx5CDT9TbTsGBL_1dNMfB-RAZ2S2XqS0C8n0VlfTweBdYJlS6PyVY1fscGPvBF1i7_tnZHwXW1hTdX7r1upIXD29L-z6B5B18pvj1SQVjWLF01XlRkVGgaDjycUxZkqb-yxbTSBYwwjdwGTyMScFspPq5xFf8dqsf-DwWzEjf6NcWK4w46hd_RLxx4NkPIIbVl2f3ofhZcc1QEKtSAKgAt_HiNllxImpBqQwf4bg4-9Z_FlOaxq5Gg9vGH7DAyHhUjyI8QK93CGXYvLJx6jIbUdkId04WHStU4C3vZbcAgaizPcmQzg80KyaAHgep7S5uTET1MkiDxS1b928NW3NDjBGoaG6uR3HwdBEgSrIChZm5QuSt9RXio7OvyapEywpn_zRvGMPAZADZq_k6n4AVRXrQM7mxOfjqkXhwnDxggaBNswX9JrdsviDoY6Q3km46HSBFihmzVPlnorgVmTB2ZeiIL6-u6rjNTQQ349nO5UZ0Etxh9BmMcw4YNAYPxdDqq8UwG6718A6kO4lc2PV3_3ge3K5Alk_G8tK4gWaY-xTJ9TBK8PRoGTtUieS6PmdQFwUSJGNmzrrSsZg9ukdAGU6MxCJL5p8vhRJvU7rm8LK88DCD6iaGc6Dn9qLv7RxW7UHa88DZIr-6HpMQK0-oA0gaahqL7tAG1hqrP-UhtMsCX1qyEMFp0GUiVZj3LAvRFJKa3qAI2a1WTjuQ_u-Tw9KmE15bHnBAMvw==",
  "id": "rs_055bcb2caedba699016aacc557a27087d091b1353f6ee9c195",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.23,\"left_z\":0.29,\"left_roll\":0.75},\"note\":\"The bottle is upright again beside the red cup. I am testing the opposite tilt direction in a moderate step while keeping its opening above cup height.\"}",
  "call_id": "call_lt5Lwr4pAMLqPjYxwavj3T7C",
  "id": "fc_055bcb2caedba699016aacc5594a5887d0bfdcff1c91253c42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lt5Lwr4pAMLqPjYxwavj3T7C",
  "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]: [-0.8215, 2.2066, 2.4535, -1.5745, -0.9184, -0.5026, 0.2526, -0.1497, 0.8696, 0.7414, -0.498, -0.1993, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.4066 left_y=-0.2258 left_z=0.2705 left_yaw=0.1737 left_pitch=-0.1979 left_roll=0.6122 left_gripper=0.2526 right_x=0.3 right_y=-0.0063 right_z=0.1995 right_yaw=0.1053 right_pitch=-0.0519 right_roll=-0.016 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -11.1111, 4.6701, 0.8376, -1.0379, 0.4762, -0.0122, -0.1026, -1.894, 7.1453, 1.6679, -0.1343, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a0eae920cb0933d8d6eb934cc5caf3f33d10420a924624443c059e0f22a9b59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727b4d349025d906bf12c64da47a1c7cd185385955d3109f4b8f09f4e2fbe972",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81985bb0fed4f0ca23d7dca24e818c6a749319c6be07d73f9749a1a38edfb644",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 109 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]: [-0.7452, 1.8194, 1.9408, -1.0443, -0.6033, -0.7815, 0.2526, -0.1497, 0.8669, 0.7414, -0.498, -0.1993, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.4019 left_y=-0.2295 left_z=0.2853 left_yaw=0.1688 left_pitch=-0.1594 left_roll=-0.1002 left_gripper=0.2526 right_x=0.2997 right_y=-0.0062 right_z=0.2003 right_yaw=0.1053 right_pitch=-0.0493 right_roll=-0.0166 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -9.1009, 9.1282, 1.2527, -0.6374, 0.3883, -0.0122, -0.1709, -1.6479, 7.1453, 1.6581, -0.1343, -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": "gAAAAABqrMVoDAhf6gi7o-TCahlmxiy2A95T0gmH9vBtZ6z0aEkPQ4hvWcbNn_t30z53UVSa1IdMn5AKqtO9BENr_B5IKUFDHAqUgR_PCt8Lcf0iNixgAgpZKvnibAXD9U6qGKHrw2y30ZvpH6kzXBSK48fwgXGcRDyO-sMvP-4PyDvCsprt4L9rdCbyL2esFfSNOfkboF8lbUf1yagHqt-nBc9egUf3jxot8iapyzVLogo3fjhFSLGFiyBciXBfxafq2eq5D2nd4tvnk7CFvnmvIM63R_QwaVM7nFErsWzr9ey_GRBJrzoaHCdcJtEfEkEGQyDBYl6OzBAyX9Cd2c-2Brue5YrjSTVs0yysTB3JFgFvvfj2JlphSxKwoJyorSQO1bPmWU7mtD2WXO-rlI4tjcBTtprrK0a5PEuI0p1b_PEjUnCdi1-fGJejVkCiTl4B9OT7gGLZpyeUiPrO1BhPkDAUvqIe2yvgBMSB9hk3eaXlOx9xMg7pnoQQg8yvhI2izpl0B3sy1kqQXDtVWUz75luKWzxA8eemWwxizxMSkD-2k3QNe6epov-RGpVZJ1g9Du9qxvqeuGDvBPdsHK5DQ1jI1NVFSphF10HII-1zlrhk35YtjLcWh50qZEkTmvtaLOG0uRiqeeXiEJYvm4jjYVQ5befanf66l9xE-ejQfRPjlARNzDX3QPFK2yG6Phm6QyiZ1idPP2Y4LNznYR2SIKvLrYuIA4gXhGqI3YLI_hfsIdMf4RniOol9mjxLb6AkqRf5F_DhAvhcBJTqHdUDs3Mix6aEi1TM0AEh4g-SV96Xani8h0aUus-HuPJEZrb6sVmg4Ds1TT2tuPqUyhZ0QdCPezYzrvhrNqUtZLnMoPbr5jFGPakUKx7-uxzUgPuH0aiZep8ZB_0dWF_JLqt7vUpZQAuBe1N_WJCH0GyHb-KUqAwlmaVRo32BHcjDVKPvzNIzi3HoGutyWQW_Y4RCQFi5el1sZyWwF10Mq8Ld6_DSQnnSaC-7XI6eHpz-G66i1GVOC_2XXLbwhTvmPV9TzaAuBEFi5NfmKSYhAErRcHlNDa6oaWTyNcwPMzokAJKkqu_xeMKQAYiLdOA99-UGspv9uNHbHAuSsUqcqM7bT6fleTwnOkaOgXDng_MSSssfcoRMH3Y93tF92QIFFlX27hnBL4vMo0nW6SrfOB9TOK3XBz4xpK6FS58bAyM_HbkLrRiMpLMv1RRW-8J0pXqXn40IVH0RepOVCPQRx7YMAjM3vcEr2ZbO3QW6XQxv-IUvOukkFuubYhv_erwVCKTC5vsgHyoK-XvUe1l3-btDFjGq-o6Ba_B7Qex6FQ6Xkjmdidgz3PkweaBYIo5RMzMHrAHgBru5latyvYwlHMlo7rzutTBBXubZ7-GsY0xyEvjqj4Z1C2bbITrB5FIbzLmfT9KA-3e_GWQdgyh7hgjxiJrNH2RpHWwLnUXqkOBd0il99MiNH-OUSaKAUWUbCSMPXwWcY5C5pQtAyERx1_QYft8WeLBC8lA9SKcj2ejWCHsgDhAU_QSglzrOiRkl1hNhODampDEc3ALKgK7NimtA1fqONdzdwCNJR21oyIsxw4PEboXkG1ctsWbfvg9UDls0PcoOOTrsw7hEb9R9AE7YzhNnRRx7EPK04Fh6tCXdXCYbSmjxjaW6FSWO9g0P_tegZdChZnSmwO_g37YqVmYyV-J2a342MlSYD5znh2zIjvtFcE7ql9gxzyclIpU4pDpB4MbZzntD72atdyWPNyVfDELsqAvyyjdl-Sd-FdThzMybqnpv2ZFtrIlsjQOaUMgmCnVSbAoSD40jGwwHBu9OJiP6fOxhhNEZsVACzsZo_QaJE3rHXzFO4S8rekYB_gF2hRUDd91OWFlAPpUUmat1BfOoJuCxgjAiNRu1ygGCV3b4vm9EP9tU6y7fIbBQsceM6BclVq_TvA8QbiK1vgqiwY4EFt71MjJY4gF-JoLlLPSfusDhgjTEXkfavw1RPQrpd1AzISfQkI9L_BbTNFbJ4N0gxkpm_v46vGlxLCJjvmoBbA_bEZM1_IkMjHwXFh7tz-turfchFNoMG0nnNJA52q1xc9fR8zwjDoLMCIltijfPmyoyJOEE6g3JERlUHPSl4nmNBFIAZcWbuKfk3fElJzjU2rdmOBjwpmgUBCbV5rfHvxzW-myoq_-DxA-AMi0c6xYOB_ov2jbZmMYiuWZDrm5T-671FXSkeSHtGqxZIXMBgsVj7Z_QHVPlUiAhzwkmMZ3tzXFWE-E3xU2in7q7GZVVaEKLH_5_FV1RU3GjxIFabL0d8QX-6Bnkgkq1M_FH1d5Iej6UavnikyS4dapYryzfcsvO1K-GgXy-AR4Tu2JV1UAo2Tpyxj7RCalTByftNbVTb-iXGyTEvS6AO_V6FHM6mqHhT-FfPIFkzDgFXK3hesVOGmMgYs2tRMzjOxFOfuKs7v1FpOcJAbqy8SVXG4B4aswl91NSr3V9hAb7xmBVpYL0ODIRz_Y9QMWzxQLp2EVDB3R3aqSIjP30ghM5Sja2tEn0ZH8wZvXXZNkqkbxFmrZRtZ-1-9Bxq53UiEliI_ozKe1B4ZivWGph5MY0OneFKXhEc9nMjPb7zuzTxP80VXVQF7F_BxW82UgCPIRuJgtgrjjbVJPO5Omtm2pERb44Y9ast-Ismh7-_wMdrW8HnDmuK1D_XblFkU4LquDsWp0jIsX0bR7BFZz16ygD9_wn5-fh9LGHm9TNPtnQwsOydSCmemvKB2Aolmh_bgrEvhw7Db0Gkze_pq-RQtPeSM4gY0Jxwfk4PWtWFpu5zBnYEeiUArvFGkKnZUApD-cJZtqAieD0ZbXZlMFn90Kr4GM4KAljSi2hxKOXN5OgfBGM3vciQ_CHI59Qfdpue-ussq-6P7TuA_qxktz5K6GrKfxgDpC8ufuMSTwLrvqLzWXLJtdCUEjdJOoH2ACejmLoqo1FPsxtw4uCpdmV8Cl7pfvRp9vrIMLR9PhbY7Eav2kDDnhuv9IY3FRv_2K9pIDCwEok5Y0PRtAv9ZA8VHGp5N0JEtIrqwufVNpACEGIYzGcXrIn_OFeB03vOOE-Qs3Xqb6-9LB-5ECsezKV7GjYZeJrzgGFpNw=",
  "id": "rs_055bcb2caedba699016aacc55d9e8887d0b474038b6393553d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_roll\":1.4,\"left_pitch\":0.3,\"left_x\":0.42,\"left_y\":-0.23,\"left_z\":0.26},\"note\":\"This tilt brings the bottle toward the cup rather than away from it. I am increasing the angle gradually and adding a small forward tip to bring the opening down toward the red cup.\"}",
  "call_id": "call_Xrer0L72DkIHWHqez1rta6w6",
  "id": "fc_055bcb2caedba699016aacc566878887d0b365aecabac2ee6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xrer0L72DkIHWHqez1rta6w6",
  "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]: [-0.8425, 2.3577, 2.2189, -1.5551, -1.5101, -0.4797, 0.2526, -0.1497, 0.8696, 0.7414, -0.498, -0.1989, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.4323 left_y=-0.2144 left_z=0.2439 left_yaw=0.206 left_pitch=0.1234 left_roll=1.242 left_gripper=0.2526 right_x=0.3 right_y=-0.0063 right_z=0.1995 right_yaw=0.105 right_pitch=-0.0519 right_roll=-0.0162 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -11.7949, 8.6906, -0.0464, -1.0818, 0.2759, -0.0122, -0.0068, -1.4427, 6.9402, 1.7167, -0.1001, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ef1daa5b0990cd0e15a23a975be0232865cfef8bcaff290ddd8b1022dea37e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0233489edb10397523edd67109fc7e516eeef43dd628173abaf1558942e6aa3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecfe19a1f9a896a38882c1dca8b52c2299036171d51f8cc6b32a49a8c9ac4431",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrMVwAEhKXd1gwJFr_VBgcJUMLY0TdFzuBVoq6jZqcL8PrkWfVpGU9YuzrB_xQce8TS1m6DnVCecx0B_SmeuwWenhBaog1-Ll2KQOFWROzQZMeQxcQsUdpAzZM3vX7RcVc_XVi_cWr3vgKH2oamjYqOczH0bEKRYdBjv-Jccm8XdKdK88uZlq2Nekmd0nHHvzUMYhxn1I1tANUaSOMKghHJKZLxT2_0dcKX1l9rVP7vzYFr-HanuQ6g4Lo2wFlB3z2rdjgEgcisRQYSRHvURjx_Jnq6OpYE70D6GT11TA_yJkYGUnDlBMxuNP9WF9bG8jVllOuxiiZlWnQrJS5ie68ES904NP1y8s95Bd0X0K21vgLEztX9003nes6qFTnxpSz3qX8Tb7tXgR0v041rLWN9_iJFw7r4udRKxj1MUPdBaBViD1BIDoTaHypwGcm9mjyyzuC42uO-KBnpUcsQn5yOE6LpdltbGIW_EkiII430hkIpx2u9xQvHXdDX-hoRcagYwohrJlAN0TXAMdB04SPfwjV_VqkjRatgVieo23bA17THrOyhLXFF8KBAZnyGVKUnk_YbaWsbx7jacy-ktKC3eemcJAPgKDekz0mBAuO7Q46GY4-g20Lq16xMjLGL0-NVyJaqwpSfKY9VAPqBuIZPOCi7WhEOgUXq_jkjlHqEzLHXkoxLPW5kn7iAstI3hIf7gYtt7Ju7TBkxJl4rKQvDmdfanLspz9v9F-Ih54mkf2fpzGV7mf5nzaH9zrauM0rP8c24PJ5LOwQzRYC5j5nZXxvlINRa8Tv43kRX6BZ1gUuhWFlNcJp-WOTk4V7MGFSR8Hqqwkw2Hq8CQnQN5amGKK8_sYvXfPYPFyI0sRHM9bmVlD6SiTeBjKEBnajKWMkor-KKPCyiNtuin20rte4IBut9It8-SU-tDlMA3UpCKoptZy1zQtuSwEQfn4EUSWZKB0h1QROI-aWyfuDIr5oCC13bFzAtGSRfofONLgP-td7xwlt_30E7NaDxiR-e1_erxz-eLLWl0heG5pzg1k6zkjD0J3zp9OC6bamqYiOwgJwpq8XGyeN5IA2rCp30Lfg9g4JCw9CO5IuInSFoUezHeU5HpNvBofYzlciEAT6gN4xZbzzM1LC_jy0lr9NYxxmR7x1tHgpv1y1x2RGEF5er2ko2PB84YflfuY2oP6iBZtfcu48K1BDvVT7zXj7H9KyBbSKNDCh8WjfXTsKvXdSN72nhhj4U09xF1m-sfRFSfJ28pZyrhI4MYyD6DMyiyGHgooj7d_39HqBlejrRa7DhrlklWJjL9UiDIrQ8_tPyDEI9Adl30V1ksPmV_YvKTcUcM1tLCouFvkgkzU-XvOXgOKfX0AadVuOOTZlrujLHKjb7hwHpTdHTqpGIfdiEC_YGa7rWXFWB89f2UC8cWe8L-5IJoYuyrXlCVGLHGurOZ-M0qSiwluiN_5nnOyNZIwFEbpAj3iFG_NPpGDC0wgOaDRuCMqq0KjcK3hPP0ZQkuPfAZficx1m3rIMugWm-8C-ISIVagrGagvyTk8j56yGZuhSqs6eFVmlUdRzCpupEfUp95amAggXgeIgK0QmWAH68a_W51juxkhgyifDdxjjpOXkhTc0xdlygzY0V1P_fP4d4IbTPHQon8GZs54IAfQBT1hjTJ9AvIPRzD9fwhNHavnjO8SsInHo-3DMkLy7BYugH4QwalrMkAm8jtQTlSw-Mjb",
  "id": "rs_055bcb2caedba699016aacc56c566087d0a964909a4b3017ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_roll\":1.571,\"left_pitch\":0.6,\"left_z\":0.21,\"left_y\":-0.245},\"note\":\"The left bottle is nearly horizontal, with its neck above the red cup area. I am bringing the opening closer to the cup and increasing the downward angle for the first pour.\"}",
  "call_id": "call_8BkNBlTKExbqjqu7Elo61Z2W",
  "id": "fc_055bcb2caedba699016aacc56f5f9887d0a6cade6bc55b1e16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8BkNBlTKExbqjqu7Elo61Z2W",
  "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 113 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]: [-0.8215, 2.2066, 2.4535, -1.5745, -0.9184, -0.5026, 0.2526, -0.1497, 0.8696, 0.7414, -0.498, -0.1993, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.4066 left_y=-0.2258 left_z=0.2705 left_yaw=0.1737 left_pitch=-0.1979 left_roll=0.6122 left_gripper=0.2526 right_x=0.3 right_y=-0.0063 right_z=0.1995 right_yaw=0.1053 right_pitch=-0.0519 right_roll=-0.016 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -11.1111, 4.6701, 0.8376, -1.0379, 0.4762, -0.0122, -0.1026, -1.894, 7.1453, 1.6679, -0.1343, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_roll\":1.57,\"left_pitch\":0.6,\"left_z\":0.21,\"left_y\":-0.245},\"note\":\"The requested roll was just outside the exact wrist limit, so no motion occurred. I am using a value within that limit to lower and tip the left bottle over the red cup.\"}",
  "call_id": "call_qYceV4L77w1UPhzhm1Eb6vyU",
  "id": "fc_055bcb2caedba699016aacc574134887d0ac3e4e0effbbd77c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qYceV4L77w1UPhzhm1Eb6vyU",
  "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]: [-0.7513, 2.5145, 2.3089, -1.4689, -1.5333, -0.4599, 0.2527, -0.1497, 0.8696, 0.7414, -0.4984, -0.1993, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.472 left_y=-0.1945 left_z=0.1996 left_yaw=0.292 left_pitch=0.1431 left_roll=1.254 left_gripper=0.2527 right_x=0.2999 right_y=-0.0062 right_z=0.1994 right_yaw=0.1053 right_pitch=-0.0523 right_roll=-0.0159 right_gripper=0.9964\nstate[joint_eff]: [0.1709, -12.7248, 8.7453, 0.1636, -0.9597, 0.315, -0.0122, -0.0479, -1.5932, 7.1179, 1.6728, -0.1294, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77459e9972fd5cb2610cca9f94809b5acbb64fc8ef3c5499905d9bee4aabf6d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26abd1d0cd859b866b9fd90f94da0e173c1777e5f6b4c63255e0285bcc7357ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7865a1c1edb6dc57ff66a24e5dd21e4426ac716787ba73474a83771fc7b95f4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 117 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]: [-0.8425, 2.3577, 2.2189, -1.5551, -1.5101, -0.4797, 0.2526, -0.1497, 0.8696, 0.7414, -0.498, -0.1989, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.4323 left_y=-0.2144 left_z=0.2439 left_yaw=0.206 left_pitch=0.1234 left_roll=1.242 left_gripper=0.2526 right_x=0.3 right_y=-0.0063 right_z=0.1995 right_yaw=0.105 right_pitch=-0.0519 right_roll=-0.0162 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -11.7949, 8.6906, -0.0464, -1.0818, 0.2759, -0.0122, -0.0068, -1.4427, 6.9402, 1.7167, -0.1001, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMWB0TVAHsYAmH-8CSOUVIbx4c5vZ9j898m0Zv2O0biVTytnCGxUoAmkRq2lfPTS0i9vzoVrvypybjYaOpmOq1GnkuTfJle2yirSgCey5ySpBZzjM4OWovNd5LQ_zwt8p7WXXuaj2Kf9_rfOfPtVeikFmbDEso7rbbpa_PiWHq5D0kGQRdNKmAyFTsRv_GQ7mM_pViQ0gKZFdpKdsA5m3-zzqaK5pewndgXhO9KdPdhBNkFQKu5fnEmEib5BfrK-GeTWHdjmslUrPVhlJG6USbD7c4eCxJUgpjxdeNmf7rnotHKuPDYxA3quMBlVOwq0EfhFkmVSl1voq15qwGVJaJ8oyxXuBS0_xKC99ARdBfhqcvpmG2ZyvtxijKm9L1Et08MSkFuvDROGPN88Cx2WoFftrga0sdRK3Srh57ZhcbyAg5VrdPByuRntDxvTj1pVlLfx3VeUTWg5lmTpFCHaEwq920Yk9oj9KRwsKhumuFCXn05angCzFdiZipi15tiKL4NiWgI45vVFceE2AZbuJhEx6gQm1fOjEkRnXUUUh80-ANFq7V-D2Yy-M68dmarW2RcCy4mskf-Z_A29URvTtlw6TPHnM8eVaNTx7x0judz7ZJ7b1_epIpnbz1kIl6HjkdwsRXa0WKZaaiopVxTs4m6K3KIxL2mkxcfRDWJzD7Y5ibnuQXV2WrRwLurux1Z6JJ3rNTZgVgRYJXUz7VgodBAVPyGIlW9_K1_gMeiXPWtlktTGxtgcEsqWE7yWndvyark3GrQBfwB8F91mC_bvgClDG_u7pbhKEU0AeYZzNOxO_I6DpenSaxp8qyu_XqWWRpqTeM5hdXFoVJBgn964JeI_GXYo3HQO3P6i5PIUx1VSrAyL-SAH0IVryFv-OTzAMl580TMhwz4-a9pI5H_Jqm6WyCIu0aNwIdAdbnIalTh7qroiDTjXR4aYPHIS9tV6rYOaqqqLsC0_SMpW6CDHBboK_boDB2WNBJLMfZTySafFSfcVXlCnm8N0YsyQeAnAOkIrH-U9Bx4-vFiAyZqoZaoVmtckXNGzFoiq3ucZxFxDbx2aUTNl3nbsiJ9ImTpzOhMa88RCqH2Qz0uA_3aSoa8JeZlAuMWSgqh9-dRVtDkRfk5T9ugN6MSCsxgd8TjYGkKzSdyUOOo8VKI-mj7nZSMDcC0HFmHGsqnKdqkS7L-57AgvVsI0PYUV4KcmEBo8WguGVsalfIA410-dD0wUWLm9Hk_-IbilGxuEQatG2lXYDqzhiNs8IGWwfLd40PLOB7WZrTDxqtz6Rmf4ekfDchNor5TEdi2yg9k6mCIOrhCujeevJv8NzEJauOjXCfinTn_hBQhm1tOJeCBsL7oi6KUicmIgCW9NaVryZzbB9I5rstLXEK0XtCTAlQ1U6rwCipEI_XCEdCUHn3qBLQrJBaCcnBdC_zSRkUNkrlP1RWRd4Mf0HN0FVR502HDtaYUIOiHDe0_oOdF6IWQf1xgF91-MRzdG7tGUsoutuOFN8orqCRIjG4Tg3cIDq8-KAPjWihAq8sPwyG2C9IGK1r4yaFy5eZmmSCPVUFqGktzb_xoODgQaUjVzjdiSkS4ghhdIDDAdi0LSPOsg1UUaBRxv6GG1yyCu3D5COYA4Jdc5uiFzMPxvS7gGL7e6TqxE1ozgAHi-BFfVYm9jgA0UqvOPvjKhO6toKryotazEah_aBq4hv_V2VQ5aMS4t5J8_gTTvqsD4ElOKizYBS57-ruOgQKOswtNLl5_9BsstSVu5fSmS0qOMdA0SRmywaTuufqZJuDp7pCwXfbZWh8uoZKLcaEncXB7cRRXEX9_rmd8DU_D5dpETfxBWynq8YSlAvF2Z2-GryY9ALJZu6vCSpWldch9wUy6Xo4G9UP0Sne-4f-K4o85cMQawyTptxUa13W7_x3J-76c-n8wbpQpmPB05fXj3gJijbUE9c5IaGMY_bbAmptsgHhlPQUJbIpZOJedaSAWxE2wQHZpGbqC_glHy1ioDsH5TOx4LCnUH3rbRNq2DfWC79Ag9jLuFIBZNHF0C_WvmUCsnTR8t-QKjjnOfNG0oN6fgIDJH7xy6ZQ6jmmcIZo_LpcWlYAoRcYc7p_ksXyqo1aFtt5W1ZGnkn8RV4jdFfvssApsfFyguNp6miulScDU1vhyqfnk08FRheSP72RsSP3Iwm5kQgXUQVOoN-z__V8tO6hIeQE6rjjH2NM7VLKIbtVRRzxe0dq0RDuqtmOTk3zcihdjARywcWJa3vPHlSDj0f5T5RUN6zNrF_X3EfCx8OTWoEEh7pIs3hTQ2LZFIdNbyVrxK8gMf8X7C-d4snKC06AhE0oi7H7wsBrMv6V1lZK_jNqsZkLM1D8xaatQvC532EkORL0ZJqQ6X643P-cHMZR6-YqAYBns4fM3vvh2-x-G0qL3dbwHHoek4j6u-mDoRe6TSb5jKLuTp9MNtXA==",
  "id": "rs_055bcb2caedba699016aacc578cb3487d08ca1467a4862afdf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.25,\"left_z\":0.25,\"left_yaw\":0.8,\"left_pitch\":0.25,\"left_roll\":1.5},\"note\":\"The wrist is not reaching the full pouring angle, so I cannot yet confirm a pour. I am changing the wrist heading and shortening the reach to avoid the rotation limit while keeping the bottle above the cup.\"}",
  "call_id": "call_MQrCCDjzjaFkHotlxnWP9pTa",
  "id": "fc_055bcb2caedba699016aacc57fa8d087d0b3c1bfddf89ea94c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MQrCCDjzjaFkHotlxnWP9pTa",
  "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]: [-0.3347, 2.5179, 2.3486, -1.5066, -1.5337, -0.3302, 0.2526, -0.1497, 0.8734, 0.7414, -0.4999, -0.1989, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.5103 left_y=0.0132 left_z=0.208 left_yaw=0.6913 left_pitch=0.0759 left_roll=1.3673 left_gripper=0.2526 right_x=0.3 right_y=-0.0063 right_z=0.1981 right_yaw=0.1051 right_pitch=-0.0575 right_roll=-0.0147 right_gripper=0.9964\nstate[joint_eff]: [-1.8803, -19.6171, 6.2291, 0.2955, -0.8913, 0.0562, -0.0171, -0.0752, -1.6342, 6.9538, 1.6972, -0.0855, -0.0464, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43f0ac0c3b6bd1e1e7e74ddf58d4bf6a5bde33db44eb7efa558eb8ba70a061d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91751b4c32133bc865f681395c2e7239e0a507d96f1d4f30c642896f1f7b03b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e13cd2ae63948d3dea2ee69ee97eee8d527caa178defb8717321b722131a13",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 123 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]: [-0.7513, 2.5145, 2.3089, -1.4689, -1.5333, -0.4599, 0.2527, -0.1497, 0.8696, 0.7414, -0.4984, -0.1993, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.472 left_y=-0.1945 left_z=0.1996 left_yaw=0.292 left_pitch=0.1431 left_roll=1.254 left_gripper=0.2527 right_x=0.2999 right_y=-0.0062 right_z=0.1994 right_yaw=0.1053 right_pitch=-0.0523 right_roll=-0.0159 right_gripper=0.9964\nstate[joint_eff]: [0.1709, -12.7248, 8.7453, 0.1636, -0.9597, 0.315, -0.0122, -0.0479, -1.5932, 7.1179, 1.6728, -0.1294, -0.0415, -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": "gAAAAABqrMWLJsgkoWjvRvXcze4jwxXAbcETQ0MT9sv_xXkDrNvkF1FMNvL9benVcm-d26aeHVGQPqRg1k_77EbfP-kkWbszLbuppTjb4I_8jPfxz4QxaCRAnQq7dtVpKQAzJ0XkOtHVvEMRSf7uTxAfK5HOPigqGclxUMIIQ1VMLNYq1btadLj577nXqMOruAeKzh5btn9nTpEY5sx3-Ji446H5OZm81VfdqSYJRCjQzTLTD0at9ko6IMRKAXon-n24x4KNI6-NW3MCiw0r4xVPyKGKfrcP5O_C6v5cGyLplziZ9_LUU9KWIqXCXMUNL6RV5qwh2UrnKWAh4b0YpsVhXH1tm8b-WanbVtBP0t5ODwk8rtYyznJZVj_Oap852w796D9b64tL_IdDiIw3mC45rJioJ_WyZ_sqURB7zxX-mKOHnk7b0sFTNFCVwVyDpghv9Fto2vH0bwKk3AjzzKFBsbJr25b6_jZnj7G7KE4rwkTzwK3-rGxc4Af5G3Nqtguo0oEpo0cF_5T-FtV_4jKftkcohwHV4ulACTRpQ9-eUmB9vZFQCJ4sDdjMyfjpEL-vlUg3Dtcv-CXvNNtxz-n5-O2QEcsC4lrgEI-_rqeeqssJ31v5VZWCuOXcD6pOf-fgkkZLy9zdFiVuGVWjRmmAa_uawadlm5pvKHEZU1mgJfTgkHSvYQ9x3aSfUx-WMjmbemLYtUz6PylOyIpxpwF8HVmWbrFLS6_sZt4FBg8CcB4uWs5-w_WWIhaAlnn8idAeD16xNZx8aQ90wARSkjWVDTVaupr9p-ySXElZ4WXIXkI6aiK8DllfXDejTF9LiuXra__a6z02y1pK1J7x4pdBo7CGTbOHzIAHi05iq8HZer4MTfhgeTlXPZFcyZQ5l00WA6bOrYN-fJYAenTR4XJY43fiA9z5vPhQoLOzStBE4vS4OLGAs713Sdnez9H4MBDUN4z4jU6uDqn9Tl76APE2bLTlj5y0oO-IKQsAa6pcJ-dajh7J9O7bahwZPSaA6Y94p-fsPC-5q0aE5MvmsjsClCkDy-tCUgg30MR5LRKJoygqfvn9g0KoyhPxwVH9FTjEqEdCJfHXwEDzTgfwQqrxwg8arGln-YnqoQT0AnX-eE_lptXJKPlLXBqVala1TF7mklVovIN3VBD4W0doMZuyQgiv-S0vGLdY_5wwQTxtICz8mjuxXdH0cXW8p1M8ltKTdV5LjXnxzQ1sk-gdWpNVqXaK0OkSMzHFLpwPvaMW_nmtlALOnW9jwQMU-buCSldMZ5AXXCQfeP1EprhIBip_aeXN_e3AgM2gjUeP1ICG8XU-qxTD8ZDQyuLfZzBu7-zasZERay3EMKPfLfZuEWd_t3HjDOC29xlO5Ps4LycD-TR9mJZEW0bbKlbUthK_WMmCZ3_DeEv7oS2v7MwE8Us-pXkV_RFZjcFe-9ECzmEcijTn3WZhpT_BXIswFLB-bWwnuS57XiWHXH6EHIooWq_xWVZB9LRpE8N5eYbGjrFtPNasmbkzmqI3PLCkb4WKXAaS9GdF1oFS1ZRS5lcVx8h_BtCJw1fTKXqwpNVFd4gwmJMZffcJv-iZwElMqJ-cD333Ff5gTD8w2wvIR0sbCpbtew7rXan1QSZr1BbgitvELjsboOdE3P3f43364Oy1BAtXhNgENSL4oqxIw2Pnse7s83N-qA3Nl7UYXsFCn5ojg2u04CaI1oAaMB38tT_YwSGuRniU5xI5MRA7AHNdmQDUjsQqb_9HzjxugJJdIaglwmQzawtzPV0q9bH9xuu22Fd7N4motJuhDIqME4JNfSkCGfPKNPxyrJ3xmLSyBjHcL3WrCAVPRz22usLTVFD14FcWefmI4_mrI61_Z3E3V5ONpufWEwJ6CgljpM3Bl4cvJlEafdYDn-aZCbrF_nukx_cndN1xsuCCscPqRcRXfvzQXs3bVqtx0RqXnVw9285KsXc9wqqxnX3K7V0O64VaDY9tkAYZVgHYHtUfWUGB5Y8CU-SnqTJuW8fXQfqvOCleT1_oF4q0bphoD4_sDuLIGzNX3eSpj1uKJVv8W0Sy00r9-YoGaMLDtIhk2SDHK_-c8HLs7i95AOWWjiPS7kUqKwLdZPfjhzutRsgk_kB_0Tu1WDigv9D8GmHQ-P3poRJF_oOiTNcwohbe8D8tXD1eT_oegk-Bt42BLKMi4WKKZfkvAGTpcahATxKUtACky69e1b3HxS-MLXaj7MrGQyphOg21daabsO_IV-Yfd7CaJk3ys1NL2RPJu2-IDgreQGlfAS38qA1RXKTeCDeOyL6dpU8xrpHuKa38qzMYi18NbCCRW71n5V-ZtA2CpSeJvMmnNuLFNgnWT0BegF5OlzSNz8D8QPc3S3RQ0WKJlZ20TpjcvOKrlq9RkqYV_PRD6JMIwMZz71LCeC3gZHAcTcghUVYkl_Ln9A7XCGA7d2VRKNNQz1RQG2BO9LqZWktXmZy5aLWYrY4x1lLlgf_h3l6FGouP1U3u3lGEHP1GMhHsK26lup3YPVFtnA6q26MTIECogfBk5vKVwr4U63mR_fbtcATfDKoMbr2zspUHmwux2vEl-Qz4kX6OdZJMOEBDvkGzqyzq6QjRqrE=",
  "id": "rs_055bcb2caedba699016aacc583acf887d0b366ccc4f9e7bf42",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.3,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The heading change caused a large sideways tracking error and moved the bottle away from the cup. I am stopping that approach and returning the bottle upright to a safer central pose.\"}",
  "call_id": "call_kqPKJz1eAtfOHnKHPWx6BgrH",
  "id": "fc_055bcb2caedba699016aacc589787087d0959117ff12c72edf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kqPKJz1eAtfOHnKHPWx6BgrH",
  "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]: [-0.6884, 1.6089, 1.5814, -0.7349, -0.6407, -0.3946, 0.2539, -0.1497, 0.8772, 0.7414, -0.5049, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.4013 left_y=-0.1887 left_z=0.283 left_yaw=0.0351 left_pitch=-0.0318 left_roll=0.11 left_gripper=0.2539 right_x=0.2996 right_y=-0.0062 right_z=0.196 right_yaw=0.1058 right_pitch=-0.0659 right_roll=-0.0126 right_gripper=0.9964\nstate[joint_eff]: [0.3897, -10.0718, 7.2684, 1.7998, -0.3785, -0.0659, 0.1245, -0.1983, -1.7846, 6.9402, 1.7265, -0.1294, -0.0513, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e0f4b3c161c4a4c971049be083a234d96a3bb1e1bddaaa962e78132c89aa173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db849ccdfefeb9c1e38cdddadca07f64eac5672f763a281d407840c34db655e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52888b80fb5bbf186f2c2367a989e28fd0067137737e120ebdd9077975d0506",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 127 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]: [-0.3347, 2.5179, 2.3486, -1.5066, -1.5337, -0.3302, 0.2526, -0.1497, 0.8734, 0.7414, -0.4999, -0.1989, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.5103 left_y=0.0132 left_z=0.208 left_yaw=0.6913 left_pitch=0.0759 left_roll=1.3673 left_gripper=0.2526 right_x=0.3 right_y=-0.0063 right_z=0.1981 right_yaw=0.1051 right_pitch=-0.0575 right_roll=-0.0147 right_gripper=0.9964\nstate[joint_eff]: [-1.8803, -19.6171, 6.2291, 0.2955, -0.8913, 0.0562, -0.0171, -0.0752, -1.6342, 6.9538, 1.6972, -0.0855, -0.0464, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMWRuxWiEi9OibEswIjhtELeFL70iU0xPwbfQwxcDxRdiAP0LtV4g5IP2G7MXeJJVY9l-GK0W4EAtaqNQRBsEVGB0dLTKhbzgiG7-labh9sTQ4uAxbRU_XZFj0xcJhl642PC78mqJ_WVRjJawnB0zuXN-EpIdJD6m-w3KWPklckJw_VR2meF31FfDYJ1ZNuRNVEYWdpeyjb3_M4TrGCmF4Euut-vLN143M2Iw3sjOVeSYHuIoq2LGsRTT45Y7NS3e2IOerI9ibs9Gb0VcRiM48Y-16gDWfg9bdDCtdr9Sw99dkrzUPR8rk19Juu2hd45XjMzGTFdo3SwMK-evHn4nWYfKO2Psufj86pAkG6lKtGTrrK9fmCD3K2Gu-qgRsvVTRtSuFrmGM9JQlQPxPaxMy-Zw4HcJDBilkoeUMZHD5ztqQ0RNvbZztbcecY-elTA_qLOFsyiEcjooc8VN3b53xRUxagQBPAEbYDR9Gles7uMtSY3_eFvpN4WkBmXxgOdhURCjmkQLUV77CeS6VqkTc2YOcUCt9AbWNtFFVJifD3risgb4SZiCi54otyYn33C3QsTSQ0Qchad_uFM7tddcshNkIGKOLVnZyH0hlItIV3ztpnmTRAF-0yLASj_qd9VKYKYfBcnoe1kKnFCz7AVSG-HJgfUES-1mY4-zLqH5HUhK0JjiBXBFLcKLBrqfWgEgax9AhiXKJ5LODsohYK3g4vHAd5zJWtG4W_P5QkvTYiLSIaQ_EAPaesPctF49SFT2sQ1McmagyMiKSwSlKdtgsaBLRzYc0Dz85x485WFLWaxCBAQXQhfIV_Fd409YC_-UCMYDIl9KZrIrzpNyienmqp88bQvFhXrLFjfHe5Yp9c1TqrLzpkH1h7E09carolW4D6RlwcEVjP4uy_tAaxiaRuGW44LMu8uLKEG4rCdw2CoMfujoMNCkEiMDKQjIS_bfJyHsG9EAwBX4OPTkWBArRp2a9VbXzd2gHMJ0tUiA15UCn84Nx7HBiYMu50Bi3hA2a0XSKgppk2yvYodT0SzW8TDlTIIJ0aBXl9E68HiyI-_8VBwGXQ7-oXRp-eFKwoHSzH51XoGB0U3A2ZESKTcAqtI3M9fjwNZAdXYTfH_B0je3uojN7Fde9B6YKGiijqoLS7UUsycVd94rT_sW1StV4wtvLCvKbEtnWcl-QKjJMoWlvU-busqnOEiK2_LzHb1JW62G84pPgLC_TGBxkrgMBSxzeJU_FD8JZL7Im0ciMBec6iLlw0NJQcJ4mEIxQW9ucGiL8jVtm__WXg77SuyNH7soA==",
  "id": "rs_055bcb2caedba699016aacc58ecc4887d09475db9d619e4a91",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":-0.9,\"left_x\":0.38,\"left_y\":-0.23,\"left_z\":0.3},\"note\":\"The bottle is upright again and clear of the cup. I am rotating the upright bottle to a different heading first, which may allow the wrist to achieve the needed tipping angle without hitting its joint limit.\"}",
  "call_id": "call_El2bZQMQWMC5SqL0U1Hqq360",
  "id": "fc_055bcb2caedba699016aacc58f76f487d08529b6ce67325ee4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_El2bZQMQWMC5SqL0U1Hqq360",
  "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]: [-0.4381, 1.5105, 1.4651, -0.6655, 0.1299, 0.1875, 0.2555, -0.1497, 0.8772, 0.7414, -0.5049, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.388 left_y=-0.2031 left_z=0.2645 left_yaw=-0.6614 left_pitch=-0.1459 left_roll=0.0643 left_gripper=0.2555 right_x=0.2996 right_y=-0.0062 right_z=0.196 right_yaw=0.1058 right_pitch=-0.0659 right_roll=-0.0126 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -6.7214, 11.0564, 2.0781, 0.232, 0.2711, 0.1587, 0.0615, -1.6342, 7.0632, 1.6581, -0.1099, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5dcbf1cd05e779a885366f8f472b5fd60dd1d653032bf2e0a94ae841d221092",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2de56312a76565a558d87bce5cf038be9d01042fd62bdd2d73bea9b6576ddac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54bf7a257f869910c85a955dacd085c809c4c52d79642559d55bf08a81d0c0ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 131 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]: [-0.6884, 1.6089, 1.5814, -0.7349, -0.6407, -0.3946, 0.2539, -0.1497, 0.8772, 0.7414, -0.5049, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.4013 left_y=-0.1887 left_z=0.283 left_yaw=0.0351 left_pitch=-0.0318 left_roll=0.11 left_gripper=0.2539 right_x=0.2996 right_y=-0.0062 right_z=0.196 right_yaw=0.1058 right_pitch=-0.0659 right_roll=-0.0126 right_gripper=0.9964\nstate[joint_eff]: [0.3897, -10.0718, 7.2684, 1.7998, -0.3785, -0.0659, 0.1245, -0.1983, -1.7846, 6.9402, 1.7265, -0.1294, -0.0513, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMWVSqiT2Wzqh5qCWM8OvLFBWGPJHAgOyTLR3wh66zFhC9EU0II_RjvRH2kRayVtUVCh_2zqVtyiinGMW911hPEGUsvyualY2L7ORDbwbqjherIwQywGao-K5Obr0Jnn1QD-AM62NmDQLAsFFTaoHWzQ6stDdgZNGeR2pCSnqrseU3H1NzpdGYehmoQfoGMk411oluk7-v3e1kCV8eA-CdtdJnHxf8GzE0a0H4dVF2kWcwXGW3-01kp_mQr7NambXX5PKm6EUQ54My_TNAGQIv2iY5KNvZLkFTBawMevnd6YQu6SQoMWZ40kYsp1KtKXY6HUqWxsygTZXtHWUCo1Da0s-1k4Sz7W5nOOJk_rUkUvLXBKe9jvyehzktpD9aLeDBdiNnluZU8umpIpulpCVGu8R06Kv0M0iZzuWkgRRZoZ7TTRwu4sfHK1gD-HvIA3-k3XPrERv5JW5BWc2dbkJ7Au6d0sT2vvH1LmJTOXTJV-q1-enKzuru_BrgZh0FbPrggzlSAp_PdOKCDbbwdsfJULi61oWjtObOxnIRFpn6XV7Ov7iTlWhwiL8ewUiPnc94be1TpCdoymFc6Gwe0_jhDjGLTE_eDzwk0d50baV79ePP-_ZX-_F0BIpUQCrU8tL_eVqFeib4jrkUFpPO0u4VSWPnhy21p6ORvqzSQYaMwzTnsqJnmuGNh1QEUfKmVh3cCdowEUaj311lNNF5VN2-pnzt0dNKEnyJh67AevnHYdoAeL0S7hwVsB7AlPX_8lmlqcIENb97FUfFRyc7U1XGwNtybMyTMgJzozk3VYNwJutGuSdfGqNNu-uR6MAyV9yGX67wJlxCcSnuptftDdMWBV6eTSLy6dDXCXHlcOuG-wwJ6HxTr7TKKwAI-1HetHaaiR4hX3CT2VeKfZtXzStO2cZTtF9FbjkeRue2Kwc480Zol282gSKWVSvRYqfKpuQcZThu_YbqNFTQlg5sRwzBL2XszTJvBxyry4UHWW1u3fmD-uc7O_O1g99CA9bpxr3KV6k0GhJWwaAQ1L6h3N2WNyqhqujgtokC9lH1xOhVJY88FRzTC3JbiXSVtOuYOCnzWLvMRtyq2insemq7nGIz54-Awvao0WSgvwgS7HR7t_re7JX3NXhZKxXxSlESIGzDuFfCgRpCB7-XDTmoI5X3YmTJU7znlxZjS96J3M_B1VQ5bbBC6pe1brWS2pYQvdYsv8",
  "id": "rs_055bcb2caedba699016aacc593e58087d0b950bd2e7cfe36d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_roll\":1.2,\"left_yaw\":-0.9,\"left_x\":0.4,\"left_y\":-0.26,\"left_z\":0.3,\"left_pitch\":0},\"note\":\"The new heading leaves more wrist rotation available. I am tipping the left bottle toward the red cup again, watching the opening and the actual wrist angle.\"}",
  "call_id": "call_umHUirMDce2eYIaXiDGQCbuH",
  "id": "fc_055bcb2caedba699016aacc594728c87d0b48b0dae2ea0758c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_umHUirMDce2eYIaXiDGQCbuH",
  "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]: [-0.7261, 1.4754, 1.0924, -0.247, -0.1818, 0.6186, 0.2568, -0.1497, 0.8806, 0.7414, -0.5056, -0.1989, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.3538 left_y=-0.2667 left_z=0.1954 left_yaw=-0.8883 left_pitch=-0.1818 left_roll=0.6045 left_gripper=0.2568 right_x=0.2998 right_y=-0.0063 right_z=0.1949 right_yaw=0.1053 right_pitch=-0.07 right_roll=-0.0115 right_gripper=0.9964\nstate[joint_eff]: [1.6068, -8.1983, 9.1829, 2.8352, -0.3394, 0.149, 0.1245, -0.0615, -2.0308, 7.159, 1.6581, -0.0904, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adcb532626cd91db2ddb2cffbd1c59154e7a702a7f2a544c2bd895c99e6372d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea31d84d51158e62d035599036a3ad88d799fb665eb6f2aa6cbf74277807afd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376699a0472390abe2e13939eef503a8cbe9d3aa0674715afb98d4b86c69af03",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 135 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]: [-0.4381, 1.5105, 1.4651, -0.6655, 0.1299, 0.1875, 0.2555, -0.1497, 0.8772, 0.7414, -0.5049, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.388 left_y=-0.2031 left_z=0.2645 left_yaw=-0.6614 left_pitch=-0.1459 left_roll=0.0643 left_gripper=0.2555 right_x=0.2996 right_y=-0.0062 right_z=0.196 right_yaw=0.1058 right_pitch=-0.0659 right_roll=-0.0126 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -6.7214, 11.0564, 2.0781, 0.232, 0.2711, 0.1587, 0.0615, -1.6342, 7.0632, 1.6581, -0.1099, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMWgaca5UxN7uJ7K0D5jc1If0zYfp4VpeLFM1whcBLBfOsuHBIn5aX_jY_tdWQ2-_US8q_mWelFpYPxXZ1S5j_MGKlH1QtO9l1kO3OFXSZkmigYxHcApJf06KQ5v9kUzj2TsaOUjH_fTUiz7dKfaouKEWYVPKEJx-9588Mcb5xfEJrznZwuTyWCSMlZb7nyGlDOSYcQDEERsQVgKY73QXn39eZITFZLtRxDRAX00d1Ln7D4ejlRYTCEkKvjwhIBUbzfIPZ9QpW5zeiHNT_PfajmBKxQvUaZZr_t_KtFP3VGW6pICzW_vW8bbPpAVsHQ6HCF8VNlgiR_A7bIlqfTAPT4TYWXcym6RTdZAcTJAsb0LN29dOAObsASJjBhNKvInS1-JkSrm1rL3HNCJlQ3ptivSwT3Dp8z4KKo0sEn0NsigCQ53LB-3KdR96f1ZnFgwXdkVG-Cq6mF5mGve3mIO-rPfZlkAPiMRe4OJYEE7O4Bvj4Tev1MNiIu4yFeWgWdDqTX51A8Jh1UCOi2P78GDMaSRkOlkM8RLt41dZXLVyLYkKvRlRdW2QAtNxTbN64tc501yOztQ_mt91S7OUbuRnrLUneJn4MHp0u5rRuXheI-OPYqKrBvTCPZkib4b37De1P6oLRw4m81emOFo-lrs5S2MLYTcxC9L3rh55GtiOpIMUz32LwVeUEJsv4ftvMuGS_eIm-F6c2kuzB7UmTe3Lfb-E7GaQZ-nYz950djxmSSzOUQ45aGmgoWusiNz9HssUKlPj20HbtnfplsQb4BN-TKD92NbsBKhW6gBUHs8KfSTglNHusbGKNNd7_uw7VCAarv65TCjki6DpWJGf9NdoVS4CAxxi3AxClxbEnHLYFClIStofdxMi8kWfSbXSMv5Za-y2atvr6ZzNWLuXCdhqlOqlaYynSBE6Q0GdDIrf6zeEYSEciFuuYIrgcd__LCqZX106XK5nLDPF7y330o93i6lGfWNeYZpf2AiplH8U3b_JJXZH_tD1tv9vQG50VIAq9U7eLxQjRTkklys74GcGx-v7gs5DOg4GNeqFxdJ_VriaHdL6pZBQegt2T4hvLC6LBDCWPaMMyXNxJDzbSjelq-74w1y9gky7GgIaZ6LfjNt3BJPsyaoLHQvz_IN0ZUPktdP0e1-9GwxAwAu1w47lkzdSoXYCDSIGY0LrgAWqi7vqCmdVxIcaB2CtZYctj4aQZXqZTc3Sn0D1ZNs2EjPBNsHtZD_TUXuNgAoE7yQucN2Iud_psVF7OgrPGcFSorLgpTNBK9dFHOxsLru9BZnzvLadnLD4m2LQD8KEJXZT_1_9l9G213PDt9RRu_ltkHpYB_VlC8ae5T2cf1WCQXa-Kw9RhZT2LfuqtKoxa41lrhA-ul4v9_x_kxcrXQfYQFW8rxVVMeK3I-6B02NF9_oAS9yE80PRXqM3LnO9INKNQQCT3latk_pss3_aIWRlbVjHlNQjp4MEW5pOl5YGl48G5JYbEHvvZWfJWdEX1YMt6VxfuRDk3L48ul7SjRebUa1AY4f4JpGU6f1qcyB_skzoPoM-NEbhG5lwt-ioPf0py1b8EHy6wNiYcexOYJdLRGG-BKFjsnSCkmdLiEhSyyC_5X3facn5bwTXZV-YTsU2kH5XcnVeJNiYFjb4BcFydMzfUjMxqU46C0KGjOOanLPR9chfbcA_X9jQj5sZiulc8MEZVEcsMrS5OwlSnuaT7LHwo4mfPU-tyW5Ln-hP6cMG2XK1UN1Y9ECaE4QKCk6iG8a0qGWRhNeAVCsHqNxGU-rShhTsGQwqDok83O6uUMC6uizckzTrieLCSWpK5jbudpPGE483t1YhrYa3ais4thlDDnMGBdRC_-PM8TsFULKFuFghtA8bP7LMTAH8h4uKhxf7IoJqzev8w8yg4ZWjirAbyRGx7lbZFfzXvozgJ0_0gxaCiZVgfC_H3ftdarTxoyNdVgLZ6kvvzYqJxjI6Eap_wO4mJn-3SXXy5EX7HGbTuQa1TL5COEC8HAQAj_sQ3o2YsWog0j2i2sylpsOxNUAf_Up6NFFBa_GT_4yXDNR3fOg-GjcWgZAEKdZMtRw03C0ZC6HW16fR9oB0RmYVWbxrdtRwVwawyTwg9tsuZk0EGtLduQG321WrbuZ4fL1zURbqJhx4rXYFTcMS39tiNg9fJI7p1WJd_w9YBgeP6Q0PYL2oh3frdCFjs8aNuAxezaYIYQ=",
  "id": "rs_055bcb2caedba699016aacc599944887d0b97d35ab7661dec0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.3,\"left_z\":0.35,\"left_roll\":1.5,\"left_pitch\":-0.3},\"note\":\"The bottle opening is still left of the red cup, and the achieved tilt is smaller than requested. I am moving the opening right and up while using a different pitch to help the wrist complete the tilt.\"}",
  "call_id": "call_vz3tstl749AdvDZiNzBYt5o0",
  "id": "fc_055bcb2caedba699016aacc59eee8c87d096ba445f98e5c5b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vz3tstl749AdvDZiNzBYt5o0",
  "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]: [-0.7792, 1.66, 1.5406, -0.3702, -0.4503, 1.3911, 0.2573, -0.1497, 0.8818, 0.7414, -0.5049, -0.1989, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.4097 left_y=-0.2915 left_z=0.2978 left_yaw=-0.8916 left_pitch=-0.4032 left_roll=1.3723 left_gripper=0.2573 right_x=0.3 right_y=-0.0063 right_z=0.1948 right_yaw=0.1055 right_pitch=-0.0704 right_roll=-0.0117 right_gripper=0.9964\nstate[joint_eff]: [0.212, -8.4718, 11.2889, 2.7033, -0.1587, 0.3004, 0.0415, -0.1983, -1.7299, 6.9675, 1.619, -0.0855, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 409):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56cad48bb41486d66bb467a3c89aef3ec11b0928f01c2196d0512fdef13f49a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 409):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e595a3fbb1c75ddff9fab84388d722cb8b75b3988d83f738e5962791566ca6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 409):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac84b654329d7f0bd60c70651f969e6c5a0c1290afce49c69b86b45edaaaa68",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 139 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]: [-0.7261, 1.4754, 1.0924, -0.247, -0.1818, 0.6186, 0.2568, -0.1497, 0.8806, 0.7414, -0.5056, -0.1989, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.3538 left_y=-0.2667 left_z=0.1954 left_yaw=-0.8883 left_pitch=-0.1818 left_roll=0.6045 left_gripper=0.2568 right_x=0.2998 right_y=-0.0063 right_z=0.1949 right_yaw=0.1053 right_pitch=-0.07 right_roll=-0.0115 right_gripper=0.9964\nstate[joint_eff]: [1.6068, -8.1983, 9.1829, 2.8352, -0.3394, 0.149, 0.1245, -0.0615, -2.0308, 7.159, 1.6581, -0.0904, -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": "gAAAAABqrMWtdeHrgnlZ1ZYoLU7AZNsexWuxL1fmIXbkwzCpwBt23mG8gNGyX3Oc5mCFiIJ3LUzUdcLi6xXxTiR7Z-YmJzRdmEU_JwA8NtmoPkB5ouHn4NaNxG_HOt6npdoXvqbhQc7FF-YVNQcAE4VR5iy6iahSytKAy7ep-38-2z4D0nQ6_T7dOktuoWCLf_tYs-eEkOzhfNyGQ6dS2FoQ04A5sRy0yHCzQRavjPYuI5I2N2Eyi24ZuXc7xWlNuaOI_UnYVpDquWKCUyyFPpK9Gl-UeXJy23EamITttdcEfHqY5PWNn6n9ww9rZdI7xM2_5VM7T3PAYHNKSH9rGulo9AofOuj8YLh_0TkA3Oiq--u71LQPXiEh3fGfNaZh92QsOX2LZnpFuQdfXzUOLBrC-ljFwGbjYdKMEk5wbRkgUfEQqJ6rv-uj_Zc-j5HzYFmYIgJ5wXo6_YxtMHTCpdC4nf41UC_v8GkuG_Krj5mmPobZoDV_rRlROtkxG1z1S2Tts45tOlG-5ddIQoAsDWNzcV_VpB1wdpdrMSvKYzOV0MmL_l8oloZNbvfuQ1lZYNZr16nS025XoXfYdm6KBcbyW63L9DAX0B6IQS7U6DrzsjYwPNRh2mWn3XBbzWlRtMTGXKMTtVxlKJuVMhXTQck9SeIp5kDRNHjEXPu6CZIt7R7Az_9dv4Wl846u3ifyiJts2yuUuC5vKkvhvA0lPXEeg5-EeZtkDfa2vmwCw_oJBJTn--677xBeYsT-VoxyqBs1DqqkXwk7319ryQzRPZUTJSbryOllNudxmRqIhkcc8QrWLqhHlhDb6nYerL9-w4HQXQc9BgU5WwxmnNDnqvf9nJAYUUbclRpVr4gbMLdU-Hwos7fTbyn-Ak63gWnOeAjT9t_Mow188j_8YCHxXL4BmSCbyHXi6KINH09LljNVvbgUXQ05OTbP4tiSmuuhCx5Bi8inV2_wf5fn8gbr1sWAJcOntXOJ6KU3Iou8RiYTncnJI9GKV7hW3cWhN-dqO50pwJW0wbXSHtsUSYhU8X_iXFK5jUkirkngu4SXghS4YMFeTJy9qp2b1bU-Ax5XZJ7L4VGbHk4CWUWkHX2Bi3KbvHD4cWgoMSUDx-ODBMOUp1FPdEGXkJwuSx4d-xyf1tcU8Xe4ZFR-vi0zxeWBEE8mgnXLjCyvtDATUQ05cEPOZJAMdNdhUNSo5EpikMoUsIQzDi9btGxdPz9GrVV_Ec3dp7s2PG58IBriWvbpYgQ3oqnrYJceZ7TFoa6U6hqDS5eLwKIgxgnbV1k24fg_uPb04joSr_UzCBYbqu4Mqcm5KF0PdGM4ju2Jq3fhkgxdU2eAN2iglon0p-poSdrzU3H2AM-uv-08o4Tl0tc2lzbuelqdObn8L_MI7_JYJCed1rbT_y4CG47-LxRHUD6D3FyvNp-mc5yx94E0LFjZm1R86kvN7ncr2zoIRIOdLqLmgpL7emEbLyCTaUW_NJlOD0C0qUJn0qw5y3O-lZ1yjkN0FYqlwNcBEjRI7ZGfvZHOdfNKiwrpmd_zxb0dcBjRM0fbKIUC5Y-Topj6rgSMgmtJSSfLlL03UV5KaEgEd_HMa-80bKJ_5ZelkpsVSAlUGHVoF-yKphaiVSHz1_ZDsinf8FmFNjZl_sNRBNbC4YZMOPpmAk7CzzCzrTjObYSoJY9qqhYvkxQcJ_vKHqVkKTVtByz1jfLbG-jb1V22BbrHteDhZJYmbfS9GMGhSPo0Ceph8SgLt0Gasljjk5yQQ50U_CrEBPVivfb89NtevW63AEbfFTJ4NcrgHf9vA_dD45TJy7c5g0jBvI3-CQ4sfdm3-B0TLukQlK4CXuCIyK4RZ_aF3K-Ea8O7GR_kxdaf3wnwW1lMlpb7DVWZWSA9vrFNBGrkEHqJ2XN2c9AwKxpcRpKBG_iasJx-s7QneBOug6KNgDt0uPZItOXgu9cS4QubR50i7xq6pccGcHiHMFQPCHcTfddAoPTh_OUc99XmV4R1GYBN9JxN0P4ulYL4bpjaKE9bBksN3xWH6AGq1VbMXcSf1LSsek8mvA05LjmE57vT0ngYjKuMJV2deOySNYvj_wHxBsTCtjG-d_L07QpWr-k-yFEvSdcUCpWRJOhJRRzFR5Yl1YpC9Hocx9u5sdeZwLCaN7SRx1DXYrS2ukZnRUnqVyectOJTebD_z06hMt8U_PVZzR4bSNdZG_ZlXHl-r9-qiNfdW6K_iT7BqaqwRzbFjq7sNaXji6p09y34FCpGl_twikw1k1uMbXeJqALHZPoK6so7BRR7F68OyzNOtXKOyCM-4pUFSbjOYHQ7xJiF-WE3DStI-D73hM3kWHafz3y2frtAV_eyf4fPQO9gTOULjBiByJcmN_uug77QP-IBdFXDgQhWI3WqySK6H5oArfNfjXDHzIFIntT2ahv4C28ry56jk_l4RKEPw4D4OwzgejoQJpGWQg7KE44sHudIUqLXxsRPBpkH3lGBdlQMvSw8zPKjWn4vc_hxxCpuVm0HcdRqCAwd3BhJ44zaCntmFhbr5x5erwSfxqjL3sYIBV1EdHSS93glQ3GkcuKx4ffWrO5k4UhPi1GKHjcmaFXxmXniLzyjML5izsIXkKV8TPUX0EoOqAQ5hT4PMAgky3oT2r0gcZhnxF9q3-O6yaJpxIOgcxAWF0WwFVk_sCCPniz1S7411zzLTnnKPvuT5pqymiYWJBqVLlid5mc-GxNA7tNiebDIU6Tg_LdeGyapf3Xtl1Um7Ns6",
  "id": "rs_055bcb2caedba699016aacc5a489f087d09ade4ac3c9117f6d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.26,\"left_z\":0.22,\"left_roll\":1.57,\"left_pitch\":-0.6},\"note\":\"The wrist is now reaching a much larger tilt. I am lowering the tilted bottle toward the red cup and making a final small position correction for a controlled pour.\"}",
  "call_id": "call_S65QRHRzHat2ySHgrzBXub15",
  "id": "fc_055bcb2caedba699016aacc5ac426487d0a6c78dbcc67ac468",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S65QRHRzHat2ySHgrzBXub15",
  "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]: [-0.7994, 1.5536, 1.1439, -0.2455, -0.4728, 1.5761, 0.2574, -0.1497, 0.8825, 0.7414, -0.5045, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.3701 left_y=-0.2601 left_z=0.195 left_yaw=-0.9098 left_pitch=-0.6666 left_roll=1.5151 left_gripper=0.2574 right_x=0.3001 right_y=-0.0063 right_z=0.1946 right_yaw=0.1058 right_pitch=-0.0707 right_roll=-0.0114 right_gripper=0.9964\nstate[joint_eff]: [-0.7043, -9.9624, 7.8427, 2.0293, -0.3736, 0.1001, -0.0024, -0.0479, -1.8393, 7.0359, 1.6972, -0.105, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209f67b17c267a1851dedcbc76e808a89076f942285fa5585cbf99f434b245d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77b935b2bcce65e4f1e08acdb70104e49d6d2cd42a1f4c450e76a9196d03997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:761b3aa3f722e749ee06a3456212d4834aab86c62f4e4402adc3e8d479349f55",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 143 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]: [-0.7792, 1.66, 1.5406, -0.3702, -0.4503, 1.3911, 0.2573, -0.1497, 0.8818, 0.7414, -0.5049, -0.1989, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.4097 left_y=-0.2915 left_z=0.2978 left_yaw=-0.8916 left_pitch=-0.4032 left_roll=1.3723 left_gripper=0.2573 right_x=0.3 right_y=-0.0063 right_z=0.1948 right_yaw=0.1055 right_pitch=-0.0704 right_roll=-0.0117 right_gripper=0.9964\nstate[joint_eff]: [0.212, -8.4718, 11.2889, 2.7033, -0.1587, 0.3004, 0.0415, -0.1983, -1.7299, 6.9675, 1.619, -0.0855, -0.0659, -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": "gAAAAABqrMW7Dv_lav7UNxZXqXQ2RqQy4Jjvm2rWXjGRRBvE4OuM2aSLEGSluo0yrIEgPKglPT6JadHkg88tFVlcfXpBastNh_ns3auOUDkhvHiMQe7ri6WIXz9Se8xjUm1zwcofhhqT0ZoISA2uI449ehrBAuohv7AaxFtBAZu3e-4uec5OHOYdX9Q9nHkxtzej3vUiMMnJ7TmMraVQtQSkNKSbT5wT_ZXxhAKUxpnmKVhOvWjDTbXnJy5FZdFtaXGF1rQWgfcf4ro1xKK7KyCWidXE2iR12oo1-_NjQcDeJ4NS0nhS5a1lDJ8dp9Gs8p38rZs24GBoRX5nnuZzHVh97ECu8RvMYOVUSisRRr9B4o9OkfjXH2rC7W0QZ_CQgFJSnJ4g1SAzfhNLdDzL0jDOhNoiRcbwKXr8BKbautyoBIQIAgFarASyVQQgmbjeF6kdd6reCI77wG3ZeMBvmLg-_J5nHnPUDg95sMCv_frWvCjxlOoWAQxKODCU8KszEXKJqlNoAP5kIn5QI8oVitncDfXkT737WYRJffKetJppzLshw_aU8SzrgdCl-pr_5Xf6MFD5c_SpvFYOEPiUSQyk7CrJm17NHfcmcXtg1AX70Yg4Z5jO1BOg263HhMy7yV82rtsbUO9nvcaGur_cpiuS9nF4pip0Uo9yO6wXN1-_Q7Jx_0BDsLhtOiw9KCXimYbaDhcN8sZu8Fm2GzH9HCNaRTGOev4fkzyKVIRrYVrp71RZ6PycZJG8nG2mnP_9tLirXDQlbmL3v4FwikRRb49z-nBRyZcrQP83Pbviy4n1lV8ng3xZ0Dwog5HZImdiKuwDPPZkfISiAIhzB8A8ZGjb2QmzGsfUoV0rn1RwUMxAxTCoiMtSITi7Yko_cvGLxBCEfkCX3EDEf4qg4GHSG9KgjYgtXRofSv4ea-stnsLgi9ZX2U1LELjZ2Ch0Y70b1byh6s0wi31Jh6fM_VeieRQ3gjUcuJdq06SoF2JKbJp-90Bsk8lGbadsrXEBNMOTjzkFb8IYYjdNzGlSYltk9S0kVKWb1nREmiaD-f0LNaNerzoNGv7acYNBajDEMoE3MTzs4nrEBbul-5Of-VD2thTk3XcV6E39wwn-qDMJXMMgkVYiZNDgozEKetyP3E1Ajafb9k9zwUVJDXUlxbcU-mcVIWmbI2tJPXIZ1k4Zn5ZBCFJZeVXH4IncWL1czo-5b-Bl-kwo4UQJeVPMH_2m5JQUgK7N929JcV-dvx0Wt-jSoHBn-oST5mJTM2Mvlli2BG7drlcflW6Ln4fVqUsnl9_6TSDXVw9gIYdDqYOszi4BklKFJZ78pR7fvWHPW7Z7jsfxoksEr-eopKbWFyN1BfyzKsSVm9tigNOJrRzuTbvzKMAjUO_-pganLCGQsZHT7Lpy6HVhivY-9YK3k7qh8Epi7taIn2KqUkBWFVnKFwcdMKelkYjlhKQCYIJnF6rxv2OZ5Wj8F31Cek8sAj1eS2-cPYU_KzRJ7C_KTS0QngjMh8cIwDG5FwdRrxwv1Dm-DnTg4ozt1pgWHwI-ct-Dtv9HauO8p8R3cLTKuMqnFytdVM30Ns0UWz8SJgeXe352uCRstm_dA4OVG-L-KISUnz4qhqqYAsgri5NAZW_T5N6r6XuYFnRE4H5AZmwEZtVEBkKJ08rtKRJZQlbF5icvIdR9fxhRheR4GHk9A60TOSeaSvvHefBroVfmWbgmVGxz2NmkxZE3NlUdXW-S8sUv2_8tUgZIrEF--gJkqkToFs7h0EKjjAffwggusAZNY255EYtioKOgviTlvKxQMFQbDBjrmNhipnXCbLv8YauSK6h9kJgkK-CjwbJQWoR42MgxInL-3U3Wm7u3oG9_vyUuDgsKxi8gt6_L38s1oUCWv4-Hy40N8XjZekkjTz-Mz8EAzBZkKiqAlFXLwslXMrRDj8FzhA-TNIUmyM0OE976RDDOuVq9huWcbLeY8cGBzya4ml4ACRwquz7YYFbppMBundWrdwUOCqbSB1EtKM1BjzVWnRnAUhhikxkQEyCVmOiiKUSv81Mb7eInSeImwQCAX5_-ApOoxtD2RYEPscWlZw40fn9DAspdcCg63SMf2er38x_QQaQwpye6HHsPbEdE-jhrZQd6rb55bHuRIfU5gndTGicg3V1lFGlBa-EWESlVLlVXcQ8WwRnsiaPTZ8veIvRtnPcNs9cy88SuD_JuYjx4W2M3KfGqO7652Xd-mPDwtFB_vj-OX81pBxON7oBnMceXiX4j5igiQK6acr363H6LEBsSETLeOPYZr0vqBAXCGSNXxRjNxB9u8nkYoNiiJTPyLJgke-_b29bLMpspsawiaAJTIuNm6SuGKq92HTpox0cbCmvFJcdzm-bMdI-Awv6cy_kSlN31kf16L58HElghqu07NRi3bS-dDg92MzjJKCxIoyvTfhQenppOVhJ87WoJQu7snA4Ywrnf1XY_9686nvcFyzt3z5OT5DiMeKrkjLlIjHfQ9uUlQAjNt5xPsOpm83Tzc7WifDomSTrvpR4R5ki_HP84NWXG7nwlIJJKtozLIvjfllxGgk2SLMpA8HRnNJsRkOkhh2jbcbnTp-cih7uqvNKI8ST0CwRGplk1XUYqmIWW0fk7q4lj5qU4YT-m2ErmaLfg7f6h0H9z0qonSLTfchNmoKTQDCuq1EVccFYagSb3qWNI8eG8aDKt6xi8TEDQehNdiEjd1jHiKvfrzguna9k6sd1Bp_uvNaLzzPEoWHfUiua8u1ObshnmrClI4e_SxzhK9wXindq18v6dQDhmewi1hGvtZKH15BFgfiaPEFzPXhsvgWDUAXI4AlQyL3Oow9Kk4ZXANQEKlcyVGgJbSQYbtbssIEyY3KpexHbtpHCxFop60Zmv3Gc6t9Pq_LPH3PVywnc-5LmEPCv5IlFHVxzSeHTMB4bWfDAGDPJSZXx1fwBGsspWIpWbHWCTTuSu5ALuAYTHk5HzXzKz0JmRqlJcy-AQSs2Vn9mBoBPNBc3O-uCppY1jgJeDQJisEYgbYdMiKWw2-6U1_oIdJbnh9ead_IIrRLog5ufTklxfNJYoz4_-vtCQZ8QwZwqxWtqcmGHv5DcHaZcV-oqCy7scEPeE0ps=",
  "id": "rs_055bcb2caedba699016aacc5b15be487d091709963de171ac5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_pitch\":0,\"left_z\":0.26,\"left_x\":0.34,\"left_y\":-0.29},\"note\":\"The bottle’s neck is still higher and farther forward than the cup. I am adjusting the forward tilt and drawing the bottle back so its opening can move down over the cup rather than away from it.\"}",
  "call_id": "call_PIlxkc2BqQhhRQgGyqJ3tIq8",
  "id": "fc_055bcb2caedba699016aacc5ba289887d082a9d91a10759c5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PIlxkc2BqQhhRQgGyqJ3tIq8",
  "output": "executing move_to over 23 steps (2.3s)",
  "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]: [-0.9295, 1.4658, 0.7765, 0.5678, -0.5697, 1.5028, 0.2574, -0.1497, 0.8837, 0.7414, -0.5045, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.3407 left_y=-0.2911 left_z=0.2388 left_yaw=-0.9189 left_pitch=-0.0969 left_roll=1.5215 left_gripper=0.2574 right_x=0.3002 right_y=-0.0063 right_z=0.1943 right_yaw=0.1059 right_pitch=-0.0718 right_roll=-0.0111 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -7.1316, 6.7624, 2.0928, -0.1392, -0.0659, -0.0122, -0.0615, -1.853, 6.9402, 1.6825, -0.1148, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 439):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db0f740e56afed5ea4e2a4ec9133072accd328ad4ee234e6308d72869ebea36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 439):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3be4a71ddfa9803d24a683bb348c5f1462e0af6a4f7a7cfea4a60cd7353f7038",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 439):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff563e896eef987fbbc17eb4d708854c9f0d13f0c06556f71b75cf0968e6a0af",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 147 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]: [-0.7994, 1.5536, 1.1439, -0.2455, -0.4728, 1.5761, 0.2574, -0.1497, 0.8825, 0.7414, -0.5045, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.3701 left_y=-0.2601 left_z=0.195 left_yaw=-0.9098 left_pitch=-0.6666 left_roll=1.5151 left_gripper=0.2574 right_x=0.3001 right_y=-0.0063 right_z=0.1946 right_yaw=0.1058 right_pitch=-0.0707 right_roll=-0.0114 right_gripper=0.9964\nstate[joint_eff]: [-0.7043, -9.9624, 7.8427, 2.0293, -0.3736, 0.1001, -0.0024, -0.0479, -1.8393, 7.0359, 1.6972, -0.105, -0.0659, -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": "gAAAAABqrMXK1vhNnoz4VrdIJZnk6Oc73CS8vxbE7RpfAQjjMTYHU06Unj3l-EF9PG7eG2oA84CwKnG0kwSrmtUSO2YrRVl3bbL4H3cPQv154ADnPv13hhdK1llyET-ooGXDRnN6q0ynZScwJ1DxlDvfibzHej0Gt2ObYuVhgFNdYZTBXjLJlk3Ar_jYlFYbtDd92dXYPsnSrah2emFRkHax7I77YXKewAzB0O91tJyN6ARolLwhBkHzqGLcteNcjmeQCGzM4QRob2UKceVJAqbkOF3aEWMVsSWbfzhCSB1Xkb20-vCHnNW4QIQI_tIiekXBfe5SWRY10-JN2u2tdvmiUheJjenebzHvSgrfVOKFJ_1kRSCp3TxgIgzJIbJxY5Q4FieKuWzQFqsv48KQgmoR0W6Yg26SyhoAagRLbQV0KLJVLyNo86pS65KDI3Czzp5e7Y6fdApibyzkUnYgOo7Tj0lJLVerAyc5VxfaDSntebtqWtvSmUiGoj7D_l8JyB5UtFhwDOJSMcrsxXl6vS7GrRPEfcXfsYAinaPkHN3IIGVlsTzrkfgXDe5a7jNe_fpLVAU8ChKahfC7wR2eTMX0XoWt9XCUgDqWx23-uD72UtEcQ3hNUUfKa3Weo7kT_d8irBMGYMs7_UuVGRLJb73uPQtNuc5KlMs3J3Skm2TcrflvyPQlEaTV-Sb21nYL_g4cHofOfE-ezHf9Y2j09UwUicG3dfpM-nrrCFa5WySxKjZClUJG43voAk0MlXveITts4BAO7OuM13gwBxYRlxjnln0rCU98kyPyzmJZx-sh2WAo4cZo3tuhvVeqAq10sr3vwxOpdlemGJ0krRxvnzLKWSFsCntscf2Xe3jCcq-IOn0lEd5cfZLbpAV8knJJm8KrSNwuLvzOjdMYcRRDLmukChiWi573BB208XZweMv_v_P0YOKAcI1pjd-_DLUxd0WcHRFp8YnkKBDorBTuIaTd_zwpCHwWN1eKNWUXarUnbopzG4S0KabbnOcphjW36sQ_KplvHErYm738VuawPAYfQUIHPnerh47NNFJbGkGf6u7bNqnBLtQt4alVjci_WxgHNb3G3IXKBW5PytdQnhvGxkjW9gaIWbfKO_JN6w1qmA1tfQpN0f81ZGEgGdi0ihA0JO1WRUy_34YY-WFYDPNFOls-UuLPg24z8SDcVLiHDeEopb4MHQsPAJpVEIhWYsWIIABL6XJpODBY-oxOXbBYeyMqBrqtW8DBMipcJxY1TNPNxAUggdTe9vJ5Cwy7ty3ITHRbiZSj2OZuoRSI1tPKlAchbpAdlfWjJXh6L96k-Ct3eToSVP_s9U2BAdD2Ai_7d-ybZvyMg2cALSLf4klX5xJNXKc4RfS9SW41p_yyB4DLqqFNqdf9Z4p_FIewXhSXiufRhx9jbrod9ni_AmwrHYNkioACbbJLpvDCrFlG2-hs6IYxRU9sPvAizZEJ6Zr40SUJZ_AzNlXeKYKbPiC4b-3v9Wlk5AW9bR4VMMi0w1vWn1r5MQZsu3JYWUOqFdZc4JZv6mGs-0ae9xnXfWBJsQvr_bbe-uwkpRhW8hprT-zK4nji4OOAK37cm4f6jocZv2QQE9t1O1Kj76bqaiAGAqzX5IrMQRSHsjwOZcINfKcVt3SChrPVbuQuyZZkKxHCsawbJi3VKNVZpgMj-pHZYf7KdW6fvdFRelr1jbIVmaQSQd9i1rSTjhOSjbL4KO0_dZhhQck04lRirtK6aL_5wTpi8mushABIILXaxG3Oa39R2Iaa_1nCUxN5nGxrMRnd-VVzukek13H-Ugwf2Yr-0kz36l-VpV2UbcQm2LvaX4MHIH-3qMnqU8qmx9rWr3Kx8gAdQmkb6zVU6hY6fSa_F0vGHhvDaLAThPowbV9gTFwu2U3EwEJ3oNsDl7hQF2Nve0q7HIRhg90utWEbfUuEIem__HVqAE8ox2uGzQIKfdx6D9B7u5Ph8p-typSdfVoDBnNDpd8BOZhLF11gpRh-fRQ2lFkbaop_MQkPSuFuDh1_Vuf4LeHybna-3A41ZDkjgyFzn0HuNXyxGAvnSGozrCTDKDcPmCZ0KIkw-jcR6LEXNKGxgox6ZSbLKAxb7CLuutAcT_s9-HNgOMdBPph--F3dpI3voxXCE_rQGZAgy-EyDkm2PDfYySMBMszaDAXHV_ZhcY61G9QisRvDi2wbeTMLB9Yv4lUuiYcd0IHhwgQ2NfoDYo1qfk3B60MtklsH_aywwPgCTOuTj3sncK-FFBylN_U6tSQ2HyBtQq_yVBygUAaRwAcjIU9zo4KgoXuQrW8JNpfXocbuZwrj5DegA-HaxnMLPlRTt5pTKnlgamzxndnYF_FIO0jYWFL6GCe60h6Nf8Q6n2Jn2x6VxwxkbIOk6WGJu5sETmvPOCnugxMxK70TEHlmMc6P-PtDJUAqwN4bOIPSLjM3apYjkJWIw1iLJBuSXE3ozzOXk3_S-55ehOPBzRqHBksaBO0Kg7g2PWb2qD0s7PDf9N6aEd1hgxPCR1vOWkNVrSld2Y9dXuCy77wKpWN2tYH0MEoHdDrMHk_5auNfVyaBrRC2y8PlhsUaXpFvAfSv1LA0QbiHxCFFtZTcw-gS58jIGgzwKoHjgMxWnA8LnfkW6Ik0FXz-5JiM8cXDO16IXjkpYtp2GKLt6BdLZTmhElJ4MrLkf5NHYsO6A2QEC8X_4-ZqGfK2j8TU4uYkCgsnFyRyrw62bH7kz672UU7VRT1rYztswCYEikS8vCBSsh3O1PMxXi_I7OAXAWuEpEOARUZYgIyi0a2GXE9O3m6YAGW3cIp5LTrIr_j6reMSiMy4Xs3ipWN36t3YKQyo4PnsKWJp3w1MBCLfADe1IOE=",
  "id": "rs_055bcb2caedba699016aacc5bfce0087d097dd05ddaa109128",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.37,\"left_z\":0.24,\"left_pitch\":0.5,\"left_roll\":1.57},\"note\":\"The bottle extends forward and left from the grasp, so its mouth remains beyond the cup. I am moving the grasp back and right while tipping the neck downward to place the mouth over the red opening.\"}",
  "call_id": "call_VGoddclIqEAnJbNtqXj0Xk1z",
  "id": "fc_055bcb2caedba699016aacc5c8814887d084f2f0f02e822186",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VGoddclIqEAnJbNtqXj0Xk1z",
  "output": "executing move_to over 20 steps (2.0s)",
  "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]: [-1.1973, 1.9209, 0.8902, 1.5421, -0.8154, 1.6958, 0.2574, -0.1497, 0.8837, 0.7414, -0.5045, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.2891 left_y=-0.3755 left_z=0.2747 left_yaw=-0.9127 left_pitch=0.4156 left_roll=1.5458 left_gripper=0.2574 right_x=0.3002 right_y=-0.0063 right_z=0.1943 right_yaw=0.1059 right_pitch=-0.0718 right_roll=-0.0111 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -8.9231, 8.1709, 1.5604, 0.3101, 0.2857, -0.0073, -0.1709, -1.7436, 6.9402, 1.6825, -0.1343, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba375110ee752ae0e5e78ad978d381382012bc21affc9ef3a707168d9508608",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3553c678be70c22f00861b7f979e400337f2909bdb84ab74fb4e8e8a91d7b19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88b8480c082400bcc92e8f6a694ef50d8f80117c2de178d570d49101a9d165dd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 151 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]: [-0.9295, 1.4658, 0.7765, 0.5678, -0.5697, 1.5028, 0.2574, -0.1497, 0.8837, 0.7414, -0.5045, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.3407 left_y=-0.2911 left_z=0.2388 left_yaw=-0.9189 left_pitch=-0.0969 left_roll=1.5215 left_gripper=0.2574 right_x=0.3002 right_y=-0.0063 right_z=0.1943 right_yaw=0.1059 right_pitch=-0.0718 right_roll=-0.0111 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -7.1316, 6.7624, 2.0928, -0.1392, -0.0659, -0.0122, -0.0615, -1.853, 6.9402, 1.6825, -0.1148, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMXpAKW8qKrAQCNHvAuSZArBpnge_ZrWScQCj6BDfs0od0FKz0nbHmzFRcqs2drD69g7aduwuNcdDjGNlXEneR-NDZUUXWp3FuHnO0R8IoJbC1NPIPAPZAT_5Zo6Oeq8zzdimQ_UXAYF1DQa5AuSMsJ69wUE91fY2ZgP_A42FNYx59jbVNkyk5fPOY69x2iiMHl9o59A0bcVOtnGqSqNpOm_IYA-Zdqi3gyIHR9swNSERl21h30puvzvVo3wgZ6j6ZDtuMwEHxAnJj5swfrjFH5mTHGyNAAKPEu4NWH_Dckhg2SShWWjWnr-mKwYHJoX-xx5tWUFr-VifR_80Egwn91AyOg1fZ4Fq_eoqXuCs4GjxVD95ByoyX4oBLtJ7YITMtpPZQfv_5QjYVWFPCw61muDaigRt-qjwF3F2TDqjP1w60h8aA0DkuT3nHSiTUXIHRMzAtiJ1wULpU3yTF5PF3-_mCWHrFH5CkuAbYkrietpQWcyJfSSH6PKpuhrj28QkspLWMXl6YLC7szGVi4Y9noMuNxOgq8Rc4gnRk4zb6W4v2a8dzyPHNixxU1DNC8nSinJXscuyEfZ5jZKtNRnMlFNQnt12yNL0Eq8X5KhsmZJWJ4WZ1UMTkn250QWXVg6EGRLPMOLMxGVqLBzJuo6nC6X7f7q5sfNH0gi0hQnyd8tPMF54KwFP19gMSpZLIKTqUprtAa7y2D40SFSsSm2V9idc6mJ04Gk7X_Re2Ui7pZUM-OtUlhrxi4-rd-0SO-C_OFHHRmRgTjRdbaQ2LE9VEU02M_TxUkASpfWIsWDMd8MFl9EddtSm7FmKVzfdhOiVv4dKcsWZ4ZYLE0YZRG6Ts0mhVdlrkzhEE0BN26ESxsx0sYqkJ4TYuepBgYzsVK5rFzEN0GfCjQGTIenoN2-R94zcZ11XGqNhu4QVWuILpJDGcN69-6ivQmS0lbj2cGoxvn_KsRFwpbdsZ-NkLHa1Xj_tUYrksTbXeqznFv-dyKnr5dZFo7F70fKefo2KxbRBypI4AH2TPe4R9gV7RYkSIRAO-w2s8nH1Pmlh3X-7NCVY0d7M-FIA_YRcjyBVOemBiS7TXHg5dF1ZyTB-K4q-0Vz1IMGjpgor17v2pmsJBXvYCbjUWLnnurtQeKdBTkX1Q8B4K3b7ld8IH8tWj7iJ3OAaR3qwGrOjoORBOEWhr3qovK2N7mXNGBah9zxcdgT60W58PLvJMSFZaQOUigbxj01dO8hOrIXuUU_JOCbAWKinMqkQN7u_tqV7fWR-cuL6ixo6S-QTfdpEfkE8n1FGNwNgMHHKJBAsWNHyaJCtcy5BDvVo1q6e9N0JkmJbiN0CC_m1IJIeony62X-OYuewbDSss-amLB71ruAErhSDGgiCGHLrHNxTjXpG5FQbDXxzAITL-Cte_NHRBuO5BVM_vHoeATgB2P2lVm31EkYbbJjkZ_bxJ5sE3iXIskwLguBRcllBYF9yoPbvlDTiHCTRNMFi7JKE4b5yGo8kW9IreX0I1HzesIY5Zvt4Ey-Pj_QnONvsG45FdsvJ9v7mx0JLVRqxsv27mYLk5jPxKskzFGAq6I7y3dIk6AnKICqE5ntgOJzzWRFO3s_qfSRoxSYPp_bp2jERcPU8KOPYa886oK4p5y9KWWGhNysptun9cdUHj8iGWk2HFKhDa1TfIgaC-FIK09S2rE90lSz-8Ob8Ar04KfdDpxS4Fh6a6V_sPvIGMX3Zsci5zsqyxgOSSsM_oH9Q63sg5L7O0AK4KblCa--bHXBYHVkqQwNjt6r9SJdY3ZBIev5YwPgmyMriTzEPS0e8uxjCRVXDOUJ3bUA_ChUe-D7nt6wofTWiUeQxsZ_WWUQilZe-ZTBAmBr9HtXBCKBwF_tsZMo9STYKIIqO3z3ilaq_VgyVfDMPU7qYM_hW9JwnLxICNbYPRY3CKqYJsUQqN4EvSzREAfWiYfhb_PjZdIWz4SCy_0gRv-JoMbv7KoEeB8kp1AmZGOE7TO86OTC4qqKuMyV6EJBqOkQknf5KyQaOKBuH9pVpb_2hiT7NTO3DBgCcqh6D-PWxZFNw-KDfWq2pJd-aHevR3Qi3-lDjzBBsoMvmVGATZTjUoTSenJZCBSD7qevA2MhTl7jz5qLjozNpBmXzeP0qSu7oXKQJHHRohXbcHtpXBX4Q82Lo99NVZG4QAdLYBHYTXeBagOiSWOyrWl2ZLi8472bo4OsR6wxC03XrJ7h2hFIfPn0V9oIq8N6PRVUZYb5dgc32fjkvSihsgl8sCyPsAmqxdmjw3eOiyNe7smepCsGZb3qWLbLG2wDZwyBfdtN2Fqesl9WESb-jqIYy1I6AKDHI98xFGC4D13Rniosc9MByLJ3Gv4KsRpGT0PyqPBHjN9_krAYB8be0s131wAwTKbpK98AHNYQJGvjU9FaWdajrEpptBOxlPE7CblfHI-3fruXELa4WOldOegxDHxLOGmMXBGP9f5zFAiC88xLl5Gyz0_3tLNpK_dgPkuuhWYAMlgIq9syx_vxDMG45ruRORUlyzlTZ7LiOFFsptl8gGDevqwBWzNH_1aRy_Vl56Q01WUWt_-CEl8qWYfjXyy3qky2g8paTva18DmuDghZaDth8f76ftRjfkyL5APd2ZRCeNyGlaSVHpLZW4engZI43mCkfZ8vlZ8_yphF_AZXTQQ-VprW8TdBwFYa4JRHsrdd9dvtnUCNJra4Ul0EmYK9CqXGvdFDVL1ED1GUnDBfKyORIY2UOg1lOJ66HGgB9PJfuAnJyD1iDFaC-eSNc8dNt5zmhREDI0ua3gLrFDd6d6m5XLWpuLsTQEFAPF2A611gS4D4ssiJ5eonr0NmWgBAV_iJetIgQICmCmXbE8b5mePJlbjltDDqz4c7CL-Vvj1kwMpEfkYohsdNR3kNd0eMxftq4queIK5UAHSlwf-y8yJcjQ5h5zY0NA9AWIzewL82tlW1gT0iFk04Dsp9eaMUo59jVN6tmCUd1Rt5jatX6dGSyXXVT-h6EfkL9NN8UwKi70w1Mm-Qpu5mIQNwB-fj7dLbQzhN_8rOf0eByX6F3IbccKQSCYBDLTdKx6HKZ-e9NC1jPnnMdB0XT62slNGmdQTzQwdIIXtNWq3J2WiF2GGUjbsuvu8g1QRJRVM4FC4XkeI1EuNobqMzG_5Y4tDVYta3QU9qn3LYH2xCkdDWIZzFtFx0YRruSEhZQWl3gJUhPyVwt7ygmpxmcwyx_L2wtVyUMzIU-SpkbwlmaVw3uykblF71xuTyDwA2heF_epZSCK12wxqnGkwiWYE0fz5SAtwUFNRLFqiZrOuE57xrJqvgXDzuURbZZhjMtYXPIZovV2GxlBURyCMfTk0vE7iuXsWwiNsk6rqRTrNbp4l78pfI-YpyrkVgCl41N4mG4T_DAqsJ5b1C9YGr3q0nHRla9puadbTeE99km1j2Rx-tT7AKGRRreu_xDtxKMWRafjXqO6z6RPGKZyBn1c1OZacElkOVd3dn9L61GZYEsPm2mXj-Cv2MtqiYo5mqGKkLJV6zCMlYWdCpMv9hORcYitCVr1wHfjXNUfJ26gsV0Doa8yCYmErpy8pH49-UK1rjH6vEXE7e3NH8ky296XhjiSnSCMMjvYiBjwAp190fXH5MA1rGC-vu7Nx19PPc-AvipaRnmcQgaoyp9_kKW_Sa414j1QFfy29a8DBrGL0AaJ6iE7Mh--lkjzSkXZdRHOVIad4kA3iBTAN6U3XwJRQhH56RuJ787RwUZh-TlDo-vqm_uQFYXUqAih0ju_iy-ObOyKXev1BYCZzSFYcjNRMJ0hxAUtK-CoEhfiw7xkgN_O0m3ov3r8RBY3PS_UWwjfqVOyeeye9wq8dQUgvT-mJFWiFDlbYlhRFD8sAHVFnvX-1ssXjp4sAQgMYNd_x22A81iVuMp8-96VnXC38LgthJ1C8nKux2GS5qxGcSxy94gtheCuXFbmZi4moiiC12VHDRJcvGdHNFmpMvKP-7chaqGo33-9jXmhvmN_geC3kL5jKixTGWJF3_jGO5u6AvE7jz8gws7oajLHOta4I_0iZ1wQQAZyDGmE49Ndzjrk3L8V6086lVhBIxAZ-C",
  "id": "rs_055bcb2caedba699016aacc5cf23b087d0a4d1b817f71bd4db",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrMXp8c1OpVa_6JeJUXAoIlS7S8zg_lylb5B195u4Z9hLtY9eBCM2NrYeGeOMFeFYR1-3CWUrZtV1ammcQKLgPHMhvVwHMOQu-_8x1nf_2puenxvB-gD8oSoiIWTK219GaKT55O0vX9MLDgWj5wTQzZtE93BbNbqjbbbFE0AdBkcBzYlxBU0_jn13rIkTEkD8F8h24bHFNvoFchP4AGf4RJk_PrBXeD-Y4Mp6QRk5U6785MRE4Rp6E0sqaNyQL4qRBA5x5zsuAshEOqEDj9PJ2wXEZoW5lSuzjiRQlVoOUnkA5fYbgsIJOE6ufwlvWiyl79u01iRgm-cGAyurmgBV3PWKeR5DHnqA60t3rl9g-Yt97GblStp0M5jQzed33jlse0YY0UYjjl40_QAIRm_imVNSOg4LC8hBx9XRCOJo1ysn3X5qtlTO0j_WcetXq5-MkPcL-17O_aVUmT7kKbhetQQcjpI-9VgOQemaOClW1fh6QIKB6XzY0qfk9vN9LRwIN0Tc5h48f6SRws_FxqY0PqCbx2Y1BGb6wtakF_prbJasHxPkhLku5ZXLnc8TpaEC9-bj5ITNQZsDKijtN2iTsL9Kr4MeKCK8hWpZh9vidkySd31g2IMl68cRGJSsm6JnApEGSdhCz6vPj0Zm8Nc_K4E_gVnpNCDUHTLD9Zz9eT1x-8YLElG9f1hOsPZxoLpC-34RKAB_Grq94WmXTgO72OsS8cYhu05OwAzOcuRnvEjQNAo7WV0gZW7awqeAyJ8YNMzd927rwBvwnPxqLBPIKD5TcaSfiyC0uklbgBNKH88C5uaOuvWwCMOdRNqogUqnWxMqNVJFOajuTC2cqS4HhWTQLMVZMXwga3kOmQY0iXLnaeBdERseGiM_xurYsLqfjsJakqVstiCYr5Aj8if8hm3AWQRUASxh0H_r7vJDp8Opue0mi2heNUEgNlBgXZFG8utPVkD_wrywzGCkEFskztmrPpCu2wRih7yV_CCzz0WaIErU7dEteXlQr1qlUeGIUpPFOz_sMXpFVHJ4aZo9UBbU37t6LvuoxfDEDjv4wTYyqzY3tns8k6otmqW39YUxLquIJa1YtncU2WvyY7AAzF0b1ZeUSAnfKLfC3fPAJF12SpJJCG2HvycClhs5wDbwf88cqiLFPAkvbe8ni73wZCCX0Pq9bsMuJBEUL3b-qR7ooUcPq-Stfu_Tgpg005YX7E26UGQIjlbp8M_NU8q0WHVroLmHz-8HvinGBQKbV3nd_17KldovLBLy4bDA4Dwml-g33C9WyP6LRjtz9_BR75pO_hwi1tiYPhnTiQ59upsi22G4txMRT-o7ydXxkPuNcPf8OwJC62kCm3YA0ncsNoL0GvzS2CCPmgvsENHkYVJ6hEuKbtYSSXU8xfKfLQMHzV_OfOEVcdb7gLFVZo63E4LX7ToxOkn685K6oytAuMrtFXSI_4NXQkyI705jqyzdZF9LhItmmjriysZZdbZvdvgARvXcxlJYZzX1ZtwQuQYG3j6waYhIqApxCSnTpD41JUQg8EtlrAsu3xetFeSvhznAeNZ7W61rZ9AjfrAo3DwPBuDWMGdqFQHda8IG4XGnfRpVntMZYNTf4mfBecmTqtRfx1_0dz7Z6RFl6dPGxkcZfTERAE4qGaBzh9nmPi5oJ5ct-D0rc5HhY1TZSf1qiDDDT3Y3x187v5639VF1qt21Jr-FGFNp51kuuerJ5o_q0D7EkYokN8WykYeIWURbUvwvPQiAGNuvRsaCj6mt6MW6dYb72l0L_7oahncIzions5y9Kk2AqgNvzo1-OWz9xfFB0HaL3MC47wmYz7Ku4oRfyiT7xumNCoXHE2EcV8CiE6FObRMSkADYqPaKppLZL-kxbgYFe35CZAP8c9gRk3A6umNzDyTDpu2VOewWspgYAsNf3xYEXq2QV2YMgcAQQQBBSMmeCb6wYeFH_pjlF0P94FPFIhbYNrutv8fRm8nwaWoGkBLZkkmHayPUug1mslhMnBjTjNPR3fJ4L_W5_Ex0f_C7VxPY9hVt5507-uwNeA3eIpGzUIf9hN0wasuVtQaRwFcShQ9lu9ZRWMr4Q2lmm9dTf1_U0HfavyHyCZMhOXPPftKLineJXCLWsG86FpP8VT9o0whyDpM2dYg8BDi8x8qsPV-qtQ_JH6T8miFKj3Ib1XNQU50leNVCM83lNGniQszrtUeCsoEad-9NntrLRrHvXUbMHTyAExFb21slEg50qQcCay0YxssgxzgExgjZjkhbdh4b2W4VYQsUX1tVV4prYBq9XvwRP_H1aLyYf251xYLNmsXzg7kS9oBzp1QOuFBKMTADTK5qITuZR2W-SRez5tnQQ1vtvY-B6iX1nUw-aiQZT4QtldpOrsAhEvLdQujJtZs-GFjz6I_skcQQL7dyLTvZOn2-q9W_1K_bZV3YUbNyf_gKSGihBOgAtEvcj5sniORveG3LlmoN_zkNdv7PJVClGlGqNBOojoyJOJhEtDpkStJ7-GJx1K2-De6GmeU9z87BKXKbS1PrspmQcKsNNWOmGzD4T7EAsNEJxyhhWYV-oBGMMcWF8s7U06OhzR-YTZbni983UQBJx90I9wcFvYOpJMsZhpvWl_6AhoPlS_c856rbYBvjIdBsMwRnMzgAbEwQqjnPzzsBrtjxWjDa_NCfOlQbCojatZ4lcvn2vNwlPMi-IL1Ka52nXChsEMYUjO4p0IrXM6XPHFI1tYU1iGLzYih_O8X9i1QqDx429IuyepOb6KTRaszYipNxqYyzHAoL6m5pMvFrZk3ZH_RYtduR3NWlJl_QL1WwrV2gJ9ac0un3a3ksRm7PbH2XCqlakuR70r23akHO4LbJK1bgE22Te5P8WgNBQvxE83JgGjFtuBn5IcThioEaYa3mL_lQP9PfZTxX9nelrgZ94b6tH86sdi2PgE2kvfHTbkL6Rnyiueq399v_zFa3kjXq7WY7CBeusXfiUKUjkIry7rKwKk1Ny0wEk_P7wB_spGXi404h8F2FAJjZ0jOcvaH9JaLP0C_mj0TqhQ2uv2a12N_eIY5NDP74XpG7NDQmmfsCtlcTEts7QGu5M4kYc4Hcfy33E8iqf3tvslknWhHumLCW2zH760FRJMW5f3ZYvkh4cQr3lGstI7-1Pwu1gfYsX_bLpT8zOkvG9SyIzjRnEBh1_oeEVtu8S_uyJSPcQUURsInKEm2Durr-Up9_WDTafA-MjhkHz8Jdi8xlnwt87QJvsAjbTHUp_72WZxvi9ZCBqdVTu4PzVY2y7H3S3S1EIpSwAdl2iA9e7GK7BBsvmBNcwXu3yn6pkRfElpQdg3AGrIVZtSYyOB1KV3c3QJ_EY4c-_N91DNhIirH6E9We2sTfz4j4VfFSG952pAYXbi8GyQeoJAMZ6KcYywDGiPeWXE55AFPSRww_TAGG41kpA4EDedUwF58cchq7I0n3Snry",
  "id": "rs_055bcb2caedba699016aacc5dc7cd087d0b47fb5c595935734",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.235,\"left_y\":-0.37,\"left_z\":0.16,\"left_pitch\":0.6,\"left_roll\":1.57},\"note\":\"The bottle mouth is close to the cup laterally but remains too high and forward. I am lowering and drawing it back in a controlled step, keeping the maximum available tip angle.\"}",
  "call_id": "call_xlilwjxZla8TCZkTaVzMFb4h",
  "id": "fc_055bcb2caedba699016aacc5e79cec87d0b494ae16a78f443b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xlilwjxZla8TCZkTaVzMFb4h",
  "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]: [-1.161, 2.1212, 1.1488, 1.5707, -0.8021, 1.6749, 0.2574, -0.1497, 0.8837, 0.7414, -0.5053, -0.1993, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.3211 left_y=-0.4116 left_z=0.2775 left_yaw=-0.8786 left_pitch=0.5122 left_roll=1.5082 left_gripper=0.2574 right_x=0.3001 right_y=-0.0063 right_z=0.1942 right_yaw=0.1057 right_pitch=-0.0726 right_roll=-0.0106 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -10.7829, 6.9402, 1.2869, 0.5153, 0.0659, -0.0171, -0.0342, -1.7436, 6.9538, 1.663, -0.1099, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 467):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad4c0b37e4142b9e824f01dfb087256dbfa40cf5165edc0a884cb9277673f6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 467):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a610d31101db8da2f7e7083b351f0734c35ac868ef9efb8b7ee8301a8e7009f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 467):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b301a95a176e970bb92afe7c5a2151faee49b43ddf50ed7028c853f2ae4fa4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 155 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]: [-1.1973, 1.9209, 0.8902, 1.5421, -0.8154, 1.6958, 0.2574, -0.1497, 0.8837, 0.7414, -0.5045, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.2891 left_y=-0.3755 left_z=0.2747 left_yaw=-0.9127 left_pitch=0.4156 left_roll=1.5458 left_gripper=0.2574 right_x=0.3002 right_y=-0.0063 right_z=0.1943 right_yaw=0.1059 right_pitch=-0.0718 right_roll=-0.0111 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -8.9231, 8.1709, 1.5604, 0.3101, 0.2857, -0.0073, -0.1709, -1.7436, 6.9402, 1.6825, -0.1343, -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": "gAAAAABqrMXxdHTJanCUU_OWLPisAf--TbYE7DYe5ZuB-RtZOYg-7KAfQuMtw9NgIi7kbVQvNSxp_zdhyTf1vlGJC03FrHKC6TbAWLCCqSG8fZKVXL-KaWFJ8Nl9SwDJpoe9AgN5hfxKUS_mLB8OfKghktKTGwZo73O_ql1fqRBNXf1QIDIm4Q_uQrQnL71c5O5srbwdLSGP7Yz2_H8ejsazqALQ-KG34RrN2wqNKLtmm14g-Me8WhQ1xK2vn2LLOKKhibyRjhB_p9rajgZVkUyIiMsS5IcGArF2jXGQGTK3jeQZCSohT5Kds0jJSfjhExmcYTQXuHgj53KLx09AXprQUDtAKHfnZChDjlih-WXxcxuwK_YFP6b4OMFXE9qyAS2pb3umlq_Hq1e9SW78zOrlUnOy9ZMI_9D0i6PdiFpBH7Z9MQMy86-ffXTJLX9aN2rr39mVlguI2b_9bsZUHqfMyCHn3-VvwiWMLDmUA2mK4-PKwCdzEdt5B117uktXGDUOJ-EYbaysYnE10rxabZf9Kl6AaoE961zj4i4Yy3zsbiILsj3tD9ZQSHveBF0VS2Kq2EF8SPYjKK77oajq3BKFG-l9c6qXHjJhTdCshwe8xYigjgosRZ5v8xyqR-8ufxiadb6levHND41GdUVCtXVv23jKDPzz3HRvCxN0bN1fXkZTnmOAvDNKH7dQZLOijiswVGK9fWUq1i6xhDE67qn398A6pwpVy6qbl7v6_CDMpCVvUKV3UF4DCSZH8KVBB4dcqo_dalgBjEzcUb4lONbl-w8d8h4KgH4CYa7aBved1kiX2xcEPBW4NkAegFtTvJKUiRBEZV2E947-82S5aO7DbGmITVmJThq6BMHRPGUyCwwLQ7GTvkrZhTzsZqrIXJ_yekB_3OxEAmxUWjjJoAKxKP9zh4FrF4E0uTssVI-1XMQPjc-oNdGGUTvfjIgxkzIrFw2081Vepqee5ytaW7gZ6XxgBYWR-XBd9NgGsXvKfgR2kxmDBC2CkqLknvJW-yynip3Gg9UO9vSxPOPBrUpJOfFHImuJM3yX15-cRf2DOwGbxwZIqWkJA2vDWVRnI50AxZS-yffPTlbBbfApU6Ct43T_HmkIcqd8MdaZ1lRIhHDAifKayb4wFYj71TQPopKI4uZCBK09lmTUEGKfOKPJ_A2LNUB-QfXVB-lTohMkSYyC7L5rVB807HHu-0MqWBVAh0je3D-SzF7Ta9MTzOGRVZckWzHRgbikK7Qv0AHHlwSE-EMjBJiJx3tzzn7epgJBQOxtT1w7al9GYytCg2I_tej9rBYEDVQhIAMm-a_L93l2rG23lpS6c8GCT-kOaVbcdNsCBC5suXysTihkPQaN4wB3pZ0w6mP2LhDlloyaT5buTRLgIKSlnkwvEjLN4e2EWbZDTM8DWhO_5RV7k53wAN9cRiHgrgtUKFLOwFdnbUe-6-F3Ja6FkPo2li5s-NAJko8fk21MRKjcJlYSiFu_JdCbkORaFPshe5smmPz5EWQeCytPpXQ4M3xxjxIeStbb063FEZbZw-u2iQK2kcUvxYrYKBdPpa7Ch6c0q_eFhJ4xINXkUSpXHApysj2ey-irQBqsaKn6YBna8qrpMZJzSR8toqbQxCBQtA6gubS4a3qjRmiJrTJW5NBon9QG5gWrRXqelmG8vQnwf3EUd9PjJVy-OrM5mw==",
  "id": "rs_055bcb2caedba699016aacc5ec5f2087d0ac8611abbcdce34b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.3,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The wrist has reached a joint limit again and is moving away from the requested placement; I cannot reliably align a pour. I am returning the container upright before putting it down safely.\"}",
  "call_id": "call_X3h4Y4B3Z3Uferfbkw0uDzF5",
  "id": "fc_055bcb2caedba699016aacc5ef5d4c87d0bceb9cd1f6fddcf0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X3h4Y4B3Z3Uferfbkw0uDzF5",
  "output": "executing move_to over 20 steps (2.0s)",
  "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]: [-0.7002, 1.6096, 1.5486, -0.643, -0.6182, -0.3382, 0.2574, -0.1497, 0.8864, 0.7414, -0.5049, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.4061 left_y=-0.2036 left_z=0.2824 left_yaw=-0.024 left_pitch=-0.0004 left_roll=0.1082 left_gripper=0.2574 right_x=0.3004 right_y=-0.0063 right_z=0.1935 right_yaw=0.1059 right_pitch=-0.0748 right_roll=-0.0103 right_gripper=0.9964\nstate[joint_eff]: [0.0752, -10.1402, 9.5111, 1.5849, -0.1343, 0.022, -0.0122, -0.1983, -2.0171, 7.0496, 1.6337, -0.1245, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 487):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18882a15dcd5c16aad79ad5617a34d9befb7b441ed8b0aef5727bf3f6cabd950",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 487):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:016f6a7e9568e8df41dc9962e71daca2ec0bc7c80023f5509ff0bbddd11a9aa5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 487):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f9950712590ce4cd13ecc77869d2b0c1b59c58b4ac76c3f8bee4672f13cbb7",
      "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]: [-1.161, 2.1212, 1.1488, 1.5707, -0.8021, 1.6749, 0.2574, -0.1497, 0.8837, 0.7414, -0.5053, -0.1993, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.3211 left_y=-0.4116 left_z=0.2775 left_yaw=-0.8786 left_pitch=0.5122 left_roll=1.5082 left_gripper=0.2574 right_x=0.3001 right_y=-0.0063 right_z=0.1942 right_yaw=0.1057 right_pitch=-0.0726 right_roll=-0.0106 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -10.7829, 6.9402, 1.2869, 0.5153, 0.0659, -0.0171, -0.0342, -1.7436, 6.9538, 1.663, -0.1099, -0.0415, -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": "gAAAAABqrMX5wc0SnXYQM93rHFlwm3zpYgBaAt3AmhouVQUdxcK1gG88KZKuRqxwwWNb_VjVG7E0Ss6DxyAn0N0z0KPIBiazs6W4mXKh-N0P7QIlORZtQyVx5DuGau6KPU0aZIfXGjM73KY9hPxyfRVFdjVCQnk2iAcSVUXb2jW5fgHFX0EPAl_8lHYsfvkjB3HsSjVgvNbjWh3xxelIA8vc0pF7qQKqVEvTwyCktY298jLefyMvaxzd00GTNeBEztbYvMxRLkQw_P3epv3pBwMTXnKi-Aku6F88JnPJ78dKpmm9rxwHQFD3oKvE2DZ2EYiH68umeAJr1675mv8PWNq22bBgCEpzutKOYhP-pnndhbZ6C8o1mhwUOk7rF5aC_-bfEFcGvm6Vu5om6C4Piwf1qVICjKieJBtpWQ3lm5CG9zx0A9rjQJKEsZVsnRXyxaSZx-Z1qfWThkTzAu8ejcZoH8YPLP3xPsQmp116ODChM5Qohf8g4Vydt0gDZxmPxUYnGEc6P1iyEhqMeJvNhymqyKl7XMaAJN95aQcq5FybHkB9dHnXALLQNSVHJhq0HyqdmOBoQV8tGwwOfPHdSbAHI0IMyPub5tuIWnB2x906QXbclOC_C4pbv8jwI_3AnsI_QYaWszRB5UFOH2uw-CuD-1kusWFnWG-1KhPnd37pe6GBmPDHVubNAD8DBTz3_e_ygnRcJ8IfNcZts-bKf5CVbWFFJJ4yu2Jif4-G8l4A5vrDqa42il7oSb0EgQ4wHzn52tGYKWNNDDsoYZxi0wnlL2rs7tOj8sZOiDvfNYXQCn8GN3qaDCaJlI-fT-4AKHdEJTFMFjyFblejKDgnaeBRu0ukDh-wktfH4WNYzylcNvbBzz9phfdbhaJneAgDXtid-KDwzHNkB7DmYzBnQ4j9IMg70QdeOTRZXEJf79BUd8MEqM7_tQbWeMzq_9KoFZ76b5dmw5hsiWLQmZmN25R3PnrEGJIHABHqoZ0rS2m4NhPypbEVYUrzyrw8jm8RqECGWP6CSstxZN5XBw52Wl5qNKA3WSaVOEPem_ZsHamWRSZTjvO9Xo5xNimoDZ75dm9hWBpYdlJwnvvSN1PaKFfpnMzqGNFDB2cyF4Tb5c9curnNwHg_YScpsv-1l3x_fgBN8ADT-d8f_KeLkoko7pEDYecReluWW-YZlveLKFoIRfBqtsuviOwfmCnC-uSyFpgAeLHjUlLtcxOnIEpiuduIi5X4GoymypMpM7Jwko4omnjm9GWiBDfU3pbWSIwXCwOTfCx19V-jWfeOKKv-wo5uD3vkfCvUtkLEqfoGbMPzxQdqBenD_GtrFNurWpYElZVPSSdg7LJmZHOFDr0f4wzHKZdKUfkvizjLS1hqLJWqLg1uR_maEzfVESR8srk_p2Ve1Pb7NmYMT0DsmsgUzZSoIkvQpmGTE7Zs7g3t60akjg04DmS3jwcV8qvgRxA4Xu_tuMnHipQ_vKdSnzUPE6BRkio_IftRHgixJUDsWqVSgODfuiVFlS1O_QypV2_FK3KiQzUbx4cq",
  "id": "rs_055bcb2caedba699016aacc5f55de887d0805d58b8f6c1f295",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.17,\"left_z\":0.18,\"left_pitch\":0.3},\"note\":\"The held container is upright, and there is clear table space to the left of the red cup. I am lowering it there while restoring the wrist angle used for its grasp.\"}",
  "call_id": "call_4LiMinGZAzpZuIb2zpZy1F96",
  "id": "fc_055bcb2caedba699016aacc5f7814487d098aa820682c4f4d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4LiMinGZAzpZuIb2zpZy1F96",
  "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]: [-0.6952, 1.4887, 0.7341, 0.2771, -0.6823, -0.1631, 0.2574, -0.1497, 0.8883, 0.7414, -0.5049, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.3825 left_y=-0.1693 left_z=0.156 left_yaw=-0.048 left_pitch=0.1874 left_roll=0.154 left_gripper=0.2574 right_x=0.3005 right_y=-0.0063 right_z=0.193 right_yaw=0.106 right_pitch=-0.0766 right_roll=-0.0098 right_gripper=0.9964\nstate[joint_eff]: [0.1846, -6.5436, 7.3094, 2.2784, -0.3785, 0.2711, -0.0122, -0.1709, -1.8256, 6.9402, 1.6288, -0.1245, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 498):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b513e4967a96c246880a02777aa593eaf862ee91c3b4cb560a7cb5f5272e9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 498):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d4543fd672e12c512043e35829555ae386e5999205932e6167ff3123fe1b0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 498):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96203bc8bc1474fcaf19f2a8b8220ca1c3fe48a5f58e8a85c558ae8c67b4f24",
      "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]: [-0.7002, 1.6096, 1.5486, -0.643, -0.6182, -0.3382, 0.2574, -0.1497, 0.8864, 0.7414, -0.5049, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.4061 left_y=-0.2036 left_z=0.2824 left_yaw=-0.024 left_pitch=-0.0004 left_roll=0.1082 left_gripper=0.2574 right_x=0.3004 right_y=-0.0063 right_z=0.1935 right_yaw=0.1059 right_pitch=-0.0748 right_roll=-0.0103 right_gripper=0.9964\nstate[joint_eff]: [0.0752, -10.1402, 9.5111, 1.5849, -0.1343, 0.022, -0.0122, -0.1983, -2.0171, 7.0496, 1.6337, -0.1245, -0.0659, -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": "gAAAAABqrMX_bmEjjnt3s8EiEtwQ6g5YH5OUbIcpOHtB3mYJIqaDznXgVQy8bhUvgTerdqUZi9TkXRTrikgSMZOYjjWJPT_ndYW-xe5M_XBTrM4v0_Y2G3iMf32ILzE9s0J405sgnm2ADTW9fLwWJZzEGZwtpdHDZsWll0gC6Xj6MiRrIpHDvmvzo7JK2EsT4OHlySDNh2L5ls6iuKGwhgokLAOF2LTBfdaMQoRrlsOucnO53ydR_Hqm6gzofHeLva-LN3x4TOz_EOCzLm3JYf_m2Z9cuM7Rsx3nn6_lDsIcgeHNnTZ9EUpXeyn7MstvuuNrkEXfMfYysslaOizthBKy5mLLDFygqCHQKwSUxmxIUsMjKL--00DQkwlAUXApD2n5YK09gKfwIYFX7Zw2JIL2paRUaMt5IX7YOEShYM0dK__o_wQOjcnpCQp_EXE9Kajq6n64VlfK_a7tNKuPkp9_GkHoJjtDdpbl52QVblIWGCQ0QxF98R6n2MX98pwAO6CchVAFnqW6O_KrnQH_gF3FHzSUS7EBFvIIyof6_mVAjkmxVuWU8sDkPlxonxe0QTaqShMRhYhVgCGnXZGTXpfS1n_4C-Q-UsjBjICy6sVTu60A1vf3xCRcHwxlSqEZTXSaQqHosfrC_dNdeJGlhg6XVjTmyAJN3-TNkZu_mkS0bENDo-ssRceZl8GE4ck6y4YBN0CwdlocESX2r9XQHo5aMM4M5ZeanITgLZSzlDw1huUUQHSTkFH-qzSbqqf7d-2OIow_EG_S0oRR8STzOilrie1eNN4GFo0DKr70LvLozJuZK6ZbYhF65ZRUtHUs6apC6dsDcoqNznPNF1pDkNWNl5Q7VW6NXvBby989AI9mzjqu53fseWimyDSoolv0051BDCmW6AQZ25WlRU3UKQczugDWYyx4zvJ_61iOYVlU6v67iTxtP5hUe_feOsWvoAFWfawMC_ghTV865PzwnrPrh3rpfMAsABEp_x1vgtg6YOhSOgBKFMKJVCaO0BVorqWxhXLVcSK9_MQPqnSC_meVsFd90EnkmKAOEiwRnoG6AiSY4hUckoRWBBd26QRPSE5dB9C-ZHcI663YvEwbUEbuEeyO2PCZifCUD86eVxrFrriPZJdigdiizOv9cgGFBXZmdNXpb2BwM2emJVQh2Yw8rVnVCQIZzi0L0p2NeLAmkPU7bzgxfGnXomIj52FEb1BUm33Hl6Z1JZJWbtDR5fxEwYjrXh1y3fq77Li-7vhqR77xZ64rp3ku9TvOOgsmL8RqM1DjWQy0fSq5SJxnKc2fJrTfjztvXokmQ6PbQlWC-mRzcyaUVMzWVXgsF97MlhQ7FpZ6wyLWd2-AUI3JEGdvUGX6QuwieyZB90_8EyWSERPSSbvMv57kPYPYkCh9Z_upjN1vzEKFtorYw1-zE5bx2-9GzcACrZWV8__VF5r80gSF0ZSIjasyzm7P9jOU4NV6eZ0b84UsidIEhVjLQ0SWqlvxYcINwJSowLebPYqjmtmUwWtkmhskB6Kw7eFPcE9m7mdw3qYm",
  "id": "rs_055bcb2caedba699016aacc5fce75487d08fb12578a1ad47f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The container is close to the tabletop beside the cup. I am lowering it a final short distance to make sure its base is supported before opening the fingers.\"}",
  "call_id": "call_TIHA2LBXkPNq0Kf8aI15qgXF",
  "id": "fc_055bcb2caedba699016aacc5fea13487d09a225a6dfb2f67cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TIHA2LBXkPNq0Kf8aI15qgXF",
  "output": "executing move_to over 2 steps (0.2s)",
  "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]: [-0.6945, 1.5204, 0.6983, 0.4088, -0.691, -0.1539, 0.2574, -0.1497, 0.8883, 0.7414, -0.5045, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.3867 left_y=-0.1709 left_z=0.1544 left_yaw=-0.0364 left_pitch=0.2399 left_roll=0.126 left_gripper=0.2574 right_x=0.3006 right_y=-0.0063 right_z=0.1931 right_yaw=0.1059 right_pitch=-0.0763 right_roll=-0.0099 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -4.9162, 4.9026, 1.6825, -0.2125, 0.0269, -0.0122, -0.0205, -1.7983, 6.9265, 1.663, -0.105, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 500):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e2a692236dceac36f052d7033095959727fe9a9bbfb55a93bb016601ca7ede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 500):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce60755a2e3c7c96d41ab7ae0d24ccf9a007cf66ecdb48e0a39f488f548535d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 500):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1093d44d9f32b7de3d291a709dd39d32223ada13a1236e29e59dedcefa6c9148",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 168 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6952, 1.4887, 0.7341, 0.2771, -0.6823, -0.1631, 0.2574, -0.1497, 0.8883, 0.7414, -0.5049, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.3825 left_y=-0.1693 left_z=0.156 left_yaw=-0.048 left_pitch=0.1874 left_roll=0.154 left_gripper=0.2574 right_x=0.3005 right_y=-0.0063 right_z=0.193 right_yaw=0.106 right_pitch=-0.0766 right_roll=-0.0098 right_gripper=0.9964\nstate[joint_eff]: [0.1846, -6.5436, 7.3094, 2.2784, -0.3785, 0.2711, -0.0122, -0.1709, -1.8256, 6.9402, 1.6288, -0.1245, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent has stopped with the container supported on the table. I am releasing it rather than continuing to force the arm downward.\"}",
  "call_id": "call_HGQMUWopwEgZa5nUUG4s4rhV",
  "id": "fc_055bcb2caedba699016aacc602251487d0b9f37c976a95c214",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HGQMUWopwEgZa5nUUG4s4rhV",
  "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]: [-0.696, 1.5482, 0.6788, 0.4065, -0.6884, -0.157, 0.9956, -0.1497, 0.8902, 0.7414, -0.5045, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.3835 left_y=-0.1695 left_z=0.1355 left_yaw=-0.0453 left_pitch=0.2001 left_roll=0.1531 left_gripper=0.9956 right_x=0.3007 right_y=-0.0064 right_z=0.1925 right_yaw=0.106 right_pitch=-0.0781 right_roll=-0.0094 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -8.7179, 7.5829, 1.6874, -0.2564, -0.0464, -0.2173, -0.0889, -1.8803, 6.9675, 1.6728, -0.1197, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 508):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5689c378e366a4a6c2e6517b40b0b57172d90e9c85909fac5189301a4cfed27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 508):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a96ceb8cd9ef57c64c5c6fa4c58464254353bc648dd327821e71e2980112916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 508):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b95bf66a799253437364e0678010cd016f1f914213fdd1a5853469726f6d079d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 172 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6945, 1.5204, 0.6983, 0.4088, -0.691, -0.1539, 0.2574, -0.1497, 0.8883, 0.7414, -0.5045, -0.1993, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.3867 left_y=-0.1709 left_z=0.1544 left_yaw=-0.0364 left_pitch=0.2399 left_roll=0.126 left_gripper=0.2574 right_x=0.3006 right_y=-0.0063 right_z=0.1931 right_yaw=0.1059 right_pitch=-0.0763 right_roll=-0.0099 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -4.9162, 4.9026, 1.6825, -0.2125, 0.0269, -0.0122, -0.0205, -1.7983, 6.9265, 1.663, -0.105, -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": "gAAAAABqrMYJAectJEphCuIgiEpkemXe9gKsEvRVWzXY4MNlj8qi1ED2Qb5V4GwY5iYW9r7uMiSL5v5z-AYI1OVOBqrJdFuXZCopd7Xf7DsewbofmvipafIyDLaXMO2IUswyOsFXwNvdsxmz9_BNL1oQo3ab7qO4dsu3N7yRClMkmhN-arZJ4JJTEaGuJr5yY9taR_1b-cF02uxrZyZMpL6xDLyOTm4LYCkVktxcPMlq7ec-ASiXLQp3_AKjSqsp-eY4vKknifDhMhzjLPPCbbpOnTctrDWC41qnubz1qrwz-7vAklRyix__kP6iUoauUMVieqQUpD6XHyRzq0c1XPt4Ru6k837JGNrNcTDwn4V1tnppP1vd4WYVYhdt0CoelWzKH4p4AMOB5l-l-DnFZqADEOarMu1BSm22zrRKPaiYFyGSP3aUqcGnMPiAX3g9FY6jlK45fHd3oJnLHCXH0Frzje7sGzlrSxQ2dN8_En67XSGVnxbBwLPv1fM0DMoOPu29Viaa_ygFjgXwsOkpX1Q-Hsqa7CvFk8Zey6NjqMGGh5unxjYLTIFD5bzB04ke6jN5jPa_7fPvIHN2vzs5XoUmwQ5MSru1Ihrh6SybipmSVFqu1GtAKgiqFSqRvPPbmqs6I-jTLFFTPUksvvhUcK4O2ApBuPVzaZ6lOBAjN5RQ5si-bXYz1lsw1tXed22SeoKXUqwhuIxB02Vm1J1NZziabxAqoRX1UU2pFune-j4-EcloKN7tgujIUL68S5lVu2jOr7eOSt_oIVUGTKBV0no6pEraDtoayVWOzirKkF549e491Ortune_qnb6SZ-si0POtXpvqnCrXSsFmj5et_mGoZ7RRqPG7I4sbHgEwGt4tpy4Sd9mugQlVORrGx-9EfWQAJlLuf2mpFXFpfNC5asImHo4ew1-LXIZDR5bUoeHp-QHUFWtLGm-eal0CN3gQYoy3zILaoXu57wEkoPAXPDbSpc14Imc3bQEdtpJs24Au-HFAFIrPUO54MH3n3AfEAZZnL0dW4Dhya84NsMHNEvKBscSufz4V40r_BL6N2BYbfQzizRLC3ocdKiEqATwqfeSf6WfCI4NZ3z7kdGo04SRQDHAQCT_AGK5RKwPWl5RCrtJCkrJQCTl7_4RfNHJIeKIqskrrhuu-wXYbP7YgWTYxnNLU-R88wjRgtMl1rZ1CWFTFX0Y5HJszQE1UNzpMN0GpUXXB5gkGTgi6ZjqM1eoFi1X4ja9ffbPTZng0I0pH_lrNF2J9fcj_M8nPVqbgrZ3eR-bBD3L9bHSZIH49sZ-_Xb7XUjNO6Gqom6vI6z9ZkclkPDEgoaSFdlT7Y4MxykJjpyyzhcLNgAr3DYZ_OfRsdSaKoRh4xL8mR7NfnW4PtuaVKiZlw1vviseozKepxwsz4x05Xn_hAQmw3u2UbfuHz_dthTrMUwGwxn38V29pjVDt-B2cPKiojeA0KDn1UlOKRTX9PNB",
  "id": "rs_055bcb2caedba699016aacc606162887d08d0126324cfabcc6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.28,\"left_x\":0.29,\"left_y\":0,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22},\"note\":\"The released container is standing beside the red cup; the other container is lying farther back on the table. I am withdrawing both grippers to leave the objects undisturbed and end the attempt safely.\"}",
  "call_id": "call_JyOcOXSkxxrJpDWKrFNFjo23",
  "id": "fc_055bcb2caedba699016aacc6071c0487d09e6e331008f0ce71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JyOcOXSkxxrJpDWKrFNFjo23",
  "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]: [-0.0601, 0.8749, 0.9764, -0.6529, -0.112, -0.0708, 0.9968, -0.1177, 0.8982, 0.8104, -0.5941, -0.1833, -0.1757, 0.9964]\nstate[eef_state]: left_x=0.2987 left_y=0.0054 left_z=0.2706 left_yaw=0.0608 left_pitch=0.012 left_roll=0.0054 left_gripper=0.9968 right_x=0.2964 right_y=0.001 right_z=0.2033 right_yaw=0.1228 right_pitch=-0.1082 right_roll=-0.0084 right_gripper=0.9964\nstate[joint_eff]: [0.1026, -2.3179, 8.9915, 1.7265, 0.022, 0.1832, 0.1148, 0.5128, -1.4291, 10.6735, 1.5458, 0.0366, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 524):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb411ae701cdf23a5c20e30b33440705e3f28da7a1bed5b7605d5e89e287804e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 524):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce3cc3f499a5eda060936a415353596f3a3940da4fb08624f6fbb87da26152d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 524):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3c0ee532fe6318c222daf92e97ca9c0e3b58401f1f6b10bb7ec34c6b64b8fd",
      "type": "input_image"
    }
  ],
  "role": "user"
}