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, -0.3794, -0.0216, -0.0158, 0.9996, -0.0154, 0.7967, 0.6109, -0.3779, -0.012, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6342, 9.265, 1.7558, -0.0073, -0.0122, -0.0611, -0.759, -1.4427, 9.9897, 1.8095, -0.105, 0.1001, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a717bb5189d2d334b956404b517a778a6d4755550798fc4ee85ad4f798795dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b5eac41153374f51b515afd8015a2f26dd412fb0aaea0591494b15e62d14f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a9d6932a3b07f99bedf4ef98c90fe526124f440d7b7b19b5ce8f025f0a834a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrK_qEBlY8-opkcajya7oiX-BUNocG5F9oLallGknSczWM12XapbfooswinsMEiL3IdheiNwv3WM-AOly8ckdzNgN8KldqzpGt_eu0V2bmVsidzG9DoKvrx4Lm4ED4qzSpMGlXntgIg6qMSVhw67l7tRC3U1sTTBfjwD1PnTz8uEnvOuDXmJ-fdAI2S3DtOC-qibWmALxl-9BjYxytDbebD_DWwgrAwOd8VFnjJJEmuO-J2psGCkCY9wb7UlVy32q_IIiNFsn8cq0p_aORYdTw_zrtSLqKfpUYSfnW2dYl5CEkuLTSWjBR48hIKGLTv7t4A3isDDre7UoaZ1NSDRa3LPS00TBLDQZsUVACtcrk4fBOosBgImAb6U-O_98HUyYd-tkdE5b2afoqZvHb0a6qCoU1G5KUUdygrcjIBxHWgGj9yHTAYvGTj-S7by2mtoLPx3JKPHbyYkwKAeIBJBl51og32E8V9ukcqbPUHKt6fWexpIZ5RIB7da1ZyTh0dmhfG6h4NNq7-mAAVRmKEnalhn-0zGW3l-Yw22gz5NlTjrNS0wz1Zu5QPPllE4pNU8zDqfw6IiW-LM1KWv_PqC7oopVyXig2pPw4l_dVuPbvZCtjlH_IqNgMa7sRn3xjwbuhN__nRRPVUx7rtjd6rjrCwQuScHurKkpFbsVCqNo8XvN3jos9FOZ9L2tAYXMjo7O0-6n0SAmP_IVw3nFOOj4iRB00Fvgp3ZRcTvqokv9sMwA8eJDHXZz3sLc-dav4VECPtZL9yzG5Z1exAJCnVCjat8u64RxLwgQoMqVfpNgoR7f-KxfC3XOzUkF11p26tcEzlkHTkIirrseHP3PPKt9z7Nm8G_adCsepwOoKLhpwchPpYRF14i4OWNOib0saM38gau_YP-RSkkU69h54AGKH3Fa_VyrHMKW1aEo4az20A7sWipAe0HA47jrnGzmPqX_1IKYBjIL54ET0LnYdPHudgZ7mibPfQ5CseRudqWB_f8A1GvECLYgk8ISO1dONzX2LGn9MoP1WdJ3ZtlmjAAyXzNZ2kcA3u9aHP3d3wO4YMS5ewrYcWqNzN64zQsGXbedMUfIR_7cFgvAxPy62Cy69DeZZya36P5AMxb0crvX2b-MyjMEyfwwNiuRrlgnWgIr8aksRF-V6A5aR_Sf9aKjDVHinTbzxUeS83B2zkTme0nOkMkvfzl6W8fMkQ0MCg1A_xXvHYEjLQC3g449egNJPWGBBaC6WDEFpAdKHwAW_7V9nximeaSyCWMChY5rAuBKn8lE9iLhW_zNZ4ZU5mjoh6_WFZHuqzP4I3bnrdKW8qIqkT0KjoaUOQeZ8sTla1kACvN1F5E_NGYvI-qZxTMDV5FyjhSLkeAjF132cyKYY-cvC1aMdgf6h18VPdgkeD0xyTEFw_bzEZZsZxJK7oy-JCRz--gLv4-CLiB7oK5d8BI0Ybouk3R103OLZMuIwMzmXH_GXEvCxsRc-uXb4hIKfWBsyJadq0o2vNgBRyV70kIE9pcH-i-If_qnfLfGETjJ15wXVCrQNEB_5jbqeCYuIq7aG2nbYj4t33WDaD-SiHUQ140DtLq5lVI2ih1LDTy0ZpET",
  "id": "rs_09129f6cb2aeaac3016aacafe64d2c87d090a03589b975dd5f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.20,\"left_z\":0.18,\"left_gripper\":1},\"note\":\"I see two upright containers in front of the red and blue cups. I’ll approach the left container first, keeping the right arm parked.\"}",
  "call_id": "call_TEJkJ0WtQjqlT6WSOuQjuxxH",
  "id": "fc_09129f6cb2aeaac3016aacafe9173c87d08f0662f0f8db15b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TEJkJ0WtQjqlT6WSOuQjuxxH",
  "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]: [-0.6849, 1.5803, 1.0718, -0.2226, -0.569, -0.4286, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3945 left_y=-0.1948 left_z=0.1631 left_yaw=0.0059 left_pitch=-0.0368 left_roll=0.0195 left_gripper=0.9996 right_x=0.295 right_y=0.0011 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0111 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.8838, 9.2513, 1.5702, -0.2857, 0.1001, -0.0562, -0.3077, -1.3333, 7.2547, 1.7656, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d6e6253e1fd79e21380c9aec8cae664e3335128e422ece77e93e29e2185ef8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da3ad665001fd945cd59d064d6ed3eacbce93d7cc26b608b0cae4993bc6c4d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7d4f406a138e6bc32c3f629db57a9d8d6b323c6c48a57d0bb66a79d8e48a019",
      "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, -0.3794, -0.0216, -0.0158, 0.9996, -0.0154, 0.7967, 0.6109, -0.3779, -0.012, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6342, 9.265, 1.7558, -0.0073, -0.0122, -0.0611, -0.759, -1.4427, 9.9897, 1.8095, -0.105, 0.1001, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK_9lpNx_zue4R2MA1hK-B2D3fm1c5cWqZHPAC71LRA6_3KPbHZRjHQ1akFlVq8T2Tu9nY2I_sbfvA50i5R2JyZ8S2H94QNrCxSSTfnQKP3FGhfcQ91XyftCinWeHXGxSbHt0crdonGKv0prR2Da77lBOOpCU964VFrtVQ6WAipThaZDHAwrjeV5SftKgYJOgpC6aAAhP7ezO-gzfITShOQ6laIMcaCUb7OlxJjcGH_AXubfiBCHL-wKfUCbwMHAnJDR82X_1PtpLyPorWGS8P0r-B5KQdnoX2FujTob4nSeQINx-T9yXwv4w52G_Sj9ZDPx1icsDyjuqwJMx6-aFufbtBKu8H-NBJ-BNoL16zirbobv_Fjrx4B_KSmFTzQBZyOxJacS9lGFpA1XtnN5q4f6OVfwAPDvyrpLhnXnkcvK4v9cBbtlZ-mJKMJBB1Qy7Huz5D40KAiZOCrYkV0soR4PhsySPhQZeDTEsEn2HLR8r9Za_ZYuj15pgaS38yjblMeiGjTq4m2Xk4uR4Ge0SWHwafPJAnmv6NP6vTLKgqMIr6i-epaPvbVm5XwqVE00WJJr0OI_ZRwEJ0xwKXUr4DK3TDReRIRwF5XQKK63X4TwWo_vvjclCQBdxYKz6qXhtpIIqmbahNo21s5gZICIARfI7A3mgtourD2y95ENeJbTgj7uwNrj7G_aJVlH5mdXr4VVh0kdDFtJK4cdjrweIY4W9k5Zd44n0ytFp937vJZSii8xsjHSKMm26RgzQBiBzYfYVOGrHgzr6eqRnuGcjaBidqHDvtYnb-nYKbx7GN6aFTlFsxlFXGxr9YhBuw3u3E__o02aFuFHs_nb1Sx0DzWds9Ab6mKAq3upjmWpsYvdbVrtULZMG3Zh6twkiMfBR8aOTuhW82FLDMx6SkSgik9YY3_ZKmV9KMSHSrylojLzpi83CIj1ehRfZercTVcMLzInLKYM05BEHIoSU84EdmbQpXanmjkUSd9qKx0IJFWbRz-Mcgius9MX9MfoUi_89VuEl4UMX0Ibp0NqCP_ruQzB6H5B4Hb3x44OKLb_AJea_p2v-Xwh0EM223c8lQ1LPMVnDcua8FYCQeTB-7laSF3VnweKJu_keA1rA9MjIRYTNIt6OC8EQTagz1ArsQ7Wi4RUDHkukojRmitCYLmamALqUnBYDYnOPBUhnCt0xwpQ8Yf3pIKubiw5qCFmogddKjVb1fjGtzwixo3SvymK7WLqDOO4LBbVL8ooxDW8UWdaxIe6j628LDxr-9KKdespWKnhd_5vt5hiSizvjSBjvrBPsXAhTVb1RwKDxUqzNBb8kC-jBgM0qSJ4F625uYzYimFlURoN0kC5qDK4EXonM444XBRc6RkmQBfvpESSgaOCKbQfPTNKBXX-QOWqbGZ3WvSlaTWGkz-4BS26Fezh7aChP4PsYy_F-WHppdLLAnZQk5jeTblKaHlpDzVNBMMY3PDqg_XFMh-LhNtjCIuNcGfVjMEVFA7ZsYixdrZ4sP9SpRNq1Bus33hoUYc1QsrO9GZbkV9ftQrwdbC32IqjJJddduB-mYGEIecRhEzCjSfkiM9zSmfPP22ND2q60Okmqy2z7RbNiM9FTGk7OS0JAJtXXIq5BG2NH-xqT-l-obyYerqBpDv4lWjYEyfrCfwO0n4lrMp2EzKhUIA2qvl-KUJNSUzXO9Yzh3Qazs1dHOheEl7weOxk4uFx-Vpy9MQKtbUTSGmLKovRAw_DHTw74BbQ1E1KAHNXD1p4Izwzpe0gmNCdIBd8Ca0tl-9JrITiV4F1YLkhYjWCQH7B2q-DU6IJHaO9_VlfzVEE34OBiIck5TocEBnA2VZgo42DEiUwfiIeOnF87GdEFsjw69HPEzT6xA==",
  "id": "rs_09129f6cb2aeaac3016aacaff72b0487d0a7258b362899c92e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.16,\"left_z\":0.15},\"note\":\"The left container has an open neck and a large side handle. Its neck is left of the jaw center in the wrist view, so I’m shifting toward it and forward for a neck grasp.\"}",
  "call_id": "call_Hy1RLYYHS924ngSyRGUXHZnk",
  "id": "fc_09129f6cb2aeaac3016aacaffb5d0087d0b90add0368ad7205",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Hy1RLYYHS924ngSyRGUXHZnk",
  "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]: [-0.5072, 1.6627, 1.0763, -0.1146, -0.4477, -0.3367, 0.9996, -0.0154, 0.7986, 0.6083, -0.3851, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4382 left_y=-0.1519 left_z=0.1416 left_yaw=0.0391 left_pitch=-0.0598 left_roll=0.0126 left_gripper=0.9996 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -7.0632, 8.9094, 1.7851, -0.0855, 0.3199, -0.0171, -0.294, -1.265, 7.0906, 1.7314, -0.0513, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b72733185a29a8c6aa93c3eeb34b39e1abeb8bff86a0d8989aa419d440e8a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d40a7e6e49d73d35a2028f542265a9c96285ceaac6d01f9b91d4ae441e90e23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f812cbd1fcf31c454e12219faeea5f78fde7261d45f05ae6b2cf69e5ddc5da0",
      "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]: [-0.6849, 1.5803, 1.0718, -0.2226, -0.569, -0.4286, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3945 left_y=-0.1948 left_z=0.1631 left_yaw=0.0059 left_pitch=-0.0368 left_roll=0.0195 left_gripper=0.9996 right_x=0.295 right_y=0.0011 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0111 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.8838, 9.2513, 1.5702, -0.2857, 0.1001, -0.0562, -0.3077, -1.3333, 7.2547, 1.7656, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLAEl_9IVZJVbZBctauk8akraeOP8fk9CJOV2fC-MDQCUedLD_lEJETcExybxo8TboY4-tMfaBKxuLIVroI0CnbFLk7xTS7hUwBxOjRQ2KNvyAvo9YDskgPob83ljiSi2hgtzuJHCFvM8hoIzYn3ABkP8qih6X1kC8SVIwL5HH-QUEo43EtEoEBWtcY-36Op13spPtHsPLcNQzfBOMZOtDBkgs5lSsdSW2qIcG_sI0xxi6LfDt5dcgqS7XdU8c9IAdnp-djYKm6u4De7gkwmIJtxYpZdEyrptYds83z4UqIqINCdmYBJ8IB3VWrvwLABBkiY6EWG3Gbk0nQ5pAYMfwmki3HYpPJwFTzx3n7LSSAPDEzICCyE5wuKz1BbIQiKfWshVZtlYHqWWo0n4sNpHwre2O2nq97cb8heDb0UodicfQPTMYnhFG7jTUOXEjfP1Kvyl8yCuiGTxqcoOjPj6Qd1ffpPGcDt7jdxzXFau1gfXQAK_ZGOaWYBN13ItET9cYoovZCFEMLQq3ADHVmVDkMID-C9stY43Z-p6RliCyIzXrsv7AXhDxNzxuyg2xHYZh5CGPgMelZL_BzzXt3r6HxNhe3Slb78BiwvXkTZh5sjtRQIVGFLEeocgoKLPV99ddjVtZXkrnnY4jIL-Yq8gI7R893DVfU2KvziGp00lib0AOLgPEvmd5uSh05GWFa4j859AUN5OEVf_6R0LRnyy66jzvTsPj9poV3AIQPmig6giMamSr8wkGCA7cgnHXN0Kv6c-Hf_r-XbqvfOy88AeJwE8DwrF_ZRLHDdksRRUxT7wfGsxpdh7hNWHnwkyNcHkQ_KTvWx5gkrkLbXGJIPtZTAgXqSooH6x0Er7jq0of9YNgYimf0v2gs905PTHRlcaJljpbXZcq_I82OJd6EoctAsxG6ROVBL9_UBy40ucYMJxYosf5Hb2EGMp8UxQ6rG1t7vcsemzMi-A9xFHdEingCN-zXIEvUMHczse-UbXLXsxqOXGMGXtCdblOu-OETokQhnYLM0r24U0SN2ynfBvCMUYUU2A4rEOwORPusZcrKaJva4b8HmX9wAWrYvOfKKYQnrdxl7eCvRk9xJTDaXmdYe9EBadOtvGYsBwwodRhnJ096Cryy66KvJJTW7QoQqZYxkZ891VWgNyIP0g_4Zj2Hz8Vvj4x2unCiCUu6vnNh2Z_lewhc1QaZJC7xQ9SoOTdiPYqea_zZP7Bcn-e1kABAkzGm_-dY36VXwdXpHrzqFLcI6UbnM3JFhctgvHHOvEFNA",
  "id": "rs_09129f6cb2aeaac3016aacb001824887d083f8274b0f0e3897",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now around the upper part of the left container, and the wrist view is occluded by its body. I’ll close and use the opening readback plus a short lift to check the grasp.\"}",
  "call_id": "call_NclJWbl8mxuzUAcmEaob4bHD",
  "id": "fc_09129f6cb2aeaac3016aacb002079487d085f7ed96a8f30448",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NclJWbl8mxuzUAcmEaob4bHD",
  "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]: [-0.5098, 1.6627, 1.0904, -0.0513, -0.445, -0.3397, 0.3628, -0.0154, 0.7986, 0.6083, -0.3851, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4483 left_y=-0.1595 left_z=0.1588 left_yaw=0.0349 left_pitch=0.0056 left_roll=-0.0316 left_gripper=0.3628 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0003 right_pitch=-0.0118 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.2684, 7.8974, 1.2283, -0.0757, 0.3883, 1.0281, -0.3897, -1.1009, 7.2684, 1.746, -0.0513, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3518b69cf03765bf229efba7d0f3488c9048ff911706665bcc4c4fb1d3e18a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6722cf88dfd4d8f5e9cb7a932db5bea355043fa1d97aeb200e2fdb6f8bd2c7b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e0950e62b8593ba99d62ce83abe4aa5936cc5059545e6e72c82d6d6b952506a",
      "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]: [-0.5072, 1.6627, 1.0763, -0.1146, -0.4477, -0.3367, 0.9996, -0.0154, 0.7986, 0.6083, -0.3851, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4382 left_y=-0.1519 left_z=0.1416 left_yaw=0.0391 left_pitch=-0.0598 left_roll=0.0126 left_gripper=0.9996 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -7.0632, 8.9094, 1.7851, -0.0855, 0.3199, -0.0171, -0.294, -1.265, 7.0906, 1.7314, -0.0513, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.225},\"note\":\"The gripper has stopped at an opening of about 3.4 cm, consistent with holding the container rather than closing empty. I’ll lift it a short distance to verify that it comes off the table.\"}",
  "call_id": "call_4IFvTomnB0u1PT7BuTkfq1bs",
  "id": "fc_09129f6cb2aeaac3016aacb00d49c887d0b6924ee0a8cf5ccf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4IFvTomnB0u1PT7BuTkfq1bs",
  "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]: [-0.5098, 1.6573, 1.2507, -0.2855, -0.4469, -0.3595, 0.3644, -0.0151, 0.7986, 0.6083, -0.3851, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4477 left_y=-0.1588 left_z=0.187 left_yaw=0.0478 left_pitch=-0.0524 left_roll=-0.0111 left_gripper=0.3644 right_x=0.2949 right_y=0.0012 right_z=0.1796 right_yaw=0.0007 right_pitch=-0.0118 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -11.494, 10.0171, 1.7949, -0.2076, 0.1538, 0.6422, -0.1709, -1.1282, 7.0496, 1.7558, -0.0513, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb4633cb1343312705b400d6155c813132a3738f14874489dc15584242040e7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d7e8066cc6e4003e5fd57f0d344c243d3d2f05b7657ba79eb2f12f008edaf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49d82d4f608012e8d87be6f5e3ef639ac50cd1fd3a8deabdb2f08dfce8da7710",
      "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]: [-0.5098, 1.6627, 1.0904, -0.0513, -0.445, -0.3397, 0.3628, -0.0154, 0.7986, 0.6083, -0.3851, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4483 left_y=-0.1595 left_z=0.1588 left_yaw=0.0349 left_pitch=0.0056 left_roll=-0.0316 left_gripper=0.3628 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0003 right_pitch=-0.0118 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.2684, 7.8974, 1.2283, -0.0757, 0.3883, 1.0281, -0.3897, -1.1009, 7.2684, 1.746, -0.0513, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLAUA8jYcHm7uDQubOkBFspWor18vDwyRBSN_uCn5QSvoQMkSm7aFo3CiD8n_FfydhFjCPytaKgecx2GDChXNnzhO_IuxIb2L1AHHgz-bMJiIIBtNG8F8q_VLDLuuqtKbbRhEERr01dMLnherq3kOx5HP0PfjIESNAw1RM-_Kutngx_2QR9QkIEF0kAHHhCkFJdslTy2dK3LuA31Flt6nhX6DbWE-fAmdhBtU7hq1sTPEMq9ZbA_8VKLQb_ZwxaeFTja8Q4me0nh6Z9lMpCePqBFzo0Af7ODaSF48qO6P0V3eU6xN4HcIQRa0olGzbu0_s33f9jWZG_K9QG5TCGbbxdKMRAdudn2jo4QltkgNTOA2-ziITyKbdp68bChe8TVtMjAWh4FHMbbUJ93eKLgtYfKqkRMiPXaQHKCXYPtCJ5_be3YPC7hQB16opfEvZa7ltSxMC2091ZJIARFmXM7caUz_v-PzWRSsciRI-DG8ChHywvMZzLc9LrIvfJ_J0BHX1kRScrMMsNlK9mSganLrO1TveUBGzzimDJ9i81RdR70j4IIeb1A4QPVgZnWHHEQIQentpcuSdLf23XhB2HbwnrhSTq60RPYctbohIUslGkR0FNt27N-CUUoqXt-PNyBc7kj94ytahIEU2OJCWaWEmVbS60PwtW9oIopXQu9RqfyzOVq2h3rcq1zwjK-7yAoajJ3ZwgeEP8OxDp4YthdX17lECxHI6OLZmOUNRTHuWTDcGyW45AMLT7KYAAbbmVS0O4WRNuB92uS9t1mr9jBlgKLBWbO3kj_wn9FP4e7txuf4Ne6ELZzAJHXmehJSdOUF1Rc80FsbA_8P61BSAQK-T_Oqy8GiineldPAZatGxtUN1CkRC5_hG4-XT_Mv613q7Vq4-ZIdhCcuZ56ri0WitKUizYijRX9ummw55hFT7P5Q9sv8HRpDj4RM7SLOyXbkLf3C6x7kEeG_Za_a4uPgBuvxlvvpNehcfZpYJH058nlPOofqzlb4K3_SlppPRgyE1xAVzjjPv_imTg-yYn-RhVl03bAAii1L6mvRWdqW6Rpb9_Op9SYpwxHVEL7opF8QKxqq7BWr7wPsligYvbkpgPpkQxNBMZZXtcMIcQ_Ay0_0A_XO_Yi1V6Mam5QjKSTE9RI0z9n6X1m9f7GdRa2tzezlT_IzeZ9nUAx7QeN2djeAhnKRaC2URPmhLDlWafX584eImz0wwB1Uo_SNm-H6LvYTuPdWvPTL4K6a9Fstb3DxOZS43wmhalbvxss6yhP7Q9r8Hv2Nxee6l6q7OPFVOoOZx7KLAOmsb0EUnIjRqu2nk47TmhbDXBJvp7RM3iSCCUdK1q5OqMkL2PPCD_8Huu_LA0TN8XMQk54q9z0zOER3KpVpaq_P36cPC1GJOeM1_osCgb48dDaluxpylRnUZMRQo8BII1Nj9FrPm70x4afFvE-LsZQEUlFbaFkllcFpVq2AAERmBGQg9IDkIw49aRfsrcny3Es_1vkp5aP4piNz5EpjJSsfoO7L-TRDWZ8zb72JXk5gdUhhj_8Of8AVK1BbrLXq0W4sHtDOCu-W1GnT3dmIOGKsz26M82LhY3tOwyQa3kxDMtKn9RHuawuqLOaQxKarqC2cDL_PvBtrqwC78nxOaqw2XDW7HXwjn6dTOvZA",
  "id": "rs_09129f6cb2aeaac3016aacb00fed2c87d0a451a29243972278",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_z\":0.31},\"note\":\"The container has risen with the jaws and the grasp opening is stable. I’ll raise it further, drawing slightly back from the long-reach position so its base clears the cups before transport.\"}",
  "call_id": "call_MgdOX8EELFMl1ohLbgNuHEMV",
  "id": "fc_09129f6cb2aeaac3016aacb012ac7087d08e4fe18ab61d56df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MgdOX8EELFMl1ohLbgNuHEMV",
  "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]: [-0.5297, 1.6447, 1.6581, -0.7494, -0.4492, -0.4046, 0.3636, -0.0151, 0.7986, 0.6079, -0.3851, -0.0113, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.432 left_y=-0.1599 left_z=0.2848 left_yaw=0.0555 left_pitch=-0.0887 left_roll=-0.0225 left_gripper=0.3636 right_x=0.2949 right_y=0.0011 right_z=0.1794 right_yaw=0.0003 right_pitch=-0.0122 right_roll=-0.0012 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -8.0205, 10.0308, 1.7705, -0.3736, 0.2173, 0.2466, -0.1026, -1.2923, 7.0906, 1.6972, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74cfa6eb9b43457f845a8357e859d958b4def57f07a43c87d6a3770a00b5125d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:866fee0a78cbdf2259d2c34460e8f265b6e616d740d715fa3b59a2501faa613a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c94f2013155cbb161de163b55422d730710e8552440aeff7c26e98b48d106ef",
      "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]: [-0.5098, 1.6573, 1.2507, -0.2855, -0.4469, -0.3595, 0.3644, -0.0151, 0.7986, 0.6083, -0.3851, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4477 left_y=-0.1588 left_z=0.187 left_yaw=0.0478 left_pitch=-0.0524 left_roll=-0.0111 left_gripper=0.3644 right_x=0.2949 right_y=0.0012 right_z=0.1796 right_yaw=0.0007 right_pitch=-0.0118 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -11.494, 10.0171, 1.7949, -0.2076, 0.1538, 0.6422, -0.1709, -1.1282, 7.0496, 1.7558, -0.0513, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLAfbbeWaGpwQoB54W5XMwzKg1jhoIqAXEpZgH97vFkzRmrjXDNekuszSU-qIqlm78d6UZsfYLJlrd__PWrDcBNP3LdhPLp_OX92RkINR9-pZC3sV0SDXSCegS6f8EVYPkARjURRBkmFRUthiNL13kspjvp2dE2Ae3rIPLNXpZ1pU1BYzCwMDuTnZX1e7_W3TJIe-G_Nx14X-VYpOG6zD0dKmbWNRPsGg1zj7DYJC8loZMsatnzra31UPafOaZU5LDHtTEdIyj4SP8oLBMT5VIF0k1kXi5XtRI5GQxK2GLdwmNyxhdk266UNb3KNAfHy7ACtyoje53kBz3L3C5zLY6Z86Wt9p9tW-FMuw1fzgNmzcEc1D6Ftac6lKzGsAXbAWqX90Nojx6UXKcVpEiqmeqvd9UNNK-MWIcwewKbeo5VyK6_19WAK3DKgw7yEYlJ5tFYIPPRlYfV2SEW1jiQ0DAsudKyG1iUvpZnSLImpp2Fl3tUfIotWw1vxmdLZNB1YFIjqNdMytL6QdLzbRw_YEyPFPceyfmfmSkN1WdpQkYgzgaH4VNqC_bO4wuQ7qMT5o-z_pyNJq05Srk6bejm5Ec_UgPWnhchEHAsvhz2mBk8C7MqxdWCEkIO35FvxS2M9RyqR48EauGPF_vt_pM4_3n2zaKQxyL8ljognMLlrivPUSGAKuCF6S-szsEfJNbpcE562moLDpihk2j8PEno1kNVZ403WCOShc3iSBnCOnSqeWXwanr-kbI0Rc_SC-eWqmB7huBoWncUAzsXe8UH27apqPTTftFv3bFyG8iOW6YNk2CNNA3fK6_FZdDfLJsbPnrhJ6T8G9AcQI8xHZ3o23z_vdB1cNqm8ZYqBcIt1U07o1tX56wd69E9Cjfblm38T7W3pyNBpIGkuPc2LbzFuCOAJNSR3I_kcvOP9NOntmtkSUr-dwVDoTeQisdadlSHUezKK7FMo8K_6_7lnBiv-YG59b4cKcYPlJ6nhGRpTKg2lOc5wkb4iZ_xRREtcCZnzgoNl6rJnQGu6VuMrnh-ZTyL_0s4aGbzhzECc5JdVZbtaCiiOMWM2ep1XMzL8nrJD4J6EOZWw-xoXS_1WdHP4AqUWxqSDxCZAhDHXUffADIufIXz4C-TPJqjVRsTzUF4T8hBUa2mElNh6fEnlm0gNIT_0bbbjE85waUKzPu9CkFZArWkS-oN0_dcFsUlF0CuWIhHMn5GA0UW7dx1Zn5n4Zkvbqmt59oCd3uEV0zp9jxxL64GS4IRiW3roAjsbIpup8XRRCm98q84wIELbF_9Zal9MlbhMr3tfChUfr0TFOjzaza7PDSfsrv6jRHhnExXUd0MpDgSSRbOql8N2zrXAX80ai0BMQqCmTA4NZbuEfnLPC_6LCemcR4becgzSYDSmftswxrmFhmmvyvnjg9n8Q_sijwPIdJhziSWiUnYuVNowXT1vfXg7xcELZ1spZyybV44L_xy-fxc2EyPHqlmnYqeizhDt-25gh04UqGoQAcYRP_8JyDVm3Amv4xh8PwBcDPn4A3TIVSBiPihVkQzA7a5nz7wQf-u19fqe4tOOeCfWz3nmMQSdbFeQ9jnzl_SBcuAwluDbOvr0WtLCzwWFX5nIQNzDp7z4-MM91HY2dgF6KBaQi_1d2PnHgROf_kNUgJqkxbiLZsGFmIM3YOjYhZq_afs2knIHTBDTZViAPUbU3dcpeJG4STcMsdwfiQ1iGkCREeqnF9z5lfglotuGAEbcrPIG-pR_FOefrsABMfeD2imaGVoeE-56p8yuxh4-q5EEUByatHdrINSeaUvy2kaFkyiSZmiUE475GoglfW_hc2FoGZBAB25-Xuj1XUlSr6cG1Zcv2d8x3ybafyNTnc9IratZHyc51yBtsI5xqZl5cJRXpeqEbT8bTRd6maVakGyJbQVwacFXnO90b-FA2MFmGYna7IiLylSJ_bGYHBjm_1uelznXMrBV9MP4g1NipOXj2WmE1viTKoJH2Q9z28VKwSbleL2C2Lr2C5paYV_YJUSB7BlbzYdfmDx-DF1k-FxLMm9OLa81WqA8nUaAbvWiVg3ynAdVRqWh0Pl2504idCOcpMeTTIwR4fwjRyna3LUORqbsOKsPlBrO073rXegDlSGre02yF5DwooJqfd30qcDv2x-oc2OqBL4ayT7nK8yNbWNMWyk7LMe6Gcb51mm32IpBogkbkzxAUghRPZeJcsk=",
  "id": "rs_09129f6cb2aeaac3016aacb0189bf487d0ac0d1fe7cf89b234",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.23,\"left_z\":0.34},\"note\":\"The left container is securely suspended. I’ll move it toward the red cup, staying high and keeping clear of the untouched right container.\"}",
  "call_id": "call_U1zkf2PjBuAxHK9TmgWWi6AB",
  "id": "fc_09129f6cb2aeaac3016aacb01d99d887d080878d1b5a0269ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U1zkf2PjBuAxHK9TmgWWi6AB",
  "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]: [-0.5591, 2.373, 2.7335, -1.2648, -0.4683, -0.4648, 0.3668, -0.0151, 0.8013, 0.6079, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5178 left_y=-0.2257 left_z=0.2592 left_yaw=0.0885 left_pitch=-0.2174 left_roll=0.0412 left_gripper=0.3668 right_x=0.295 right_y=0.0012 right_z=0.1787 right_yaw=0.0007 right_pitch=-0.0149 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.7043, -12.9846, 6.612, 0.9988, -0.2759, 0.3004, 0.3199, -0.2803, -1.4974, 7.0632, 1.6874, -0.0513, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:374c5c5c393fb1206b7245482ef0d24f5873e072c60ee4612e600f7e8780cec7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9c2e8c69a844ba414abf4f9188997ad071e406d6d3d1685c085c3b44b7e26bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2af457578719734d32a25632d292e4195f8dcab8c94e901821b00e15b7d8098",
      "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]: [-0.5297, 1.6447, 1.6581, -0.7494, -0.4492, -0.4046, 0.3636, -0.0151, 0.7986, 0.6079, -0.3851, -0.0113, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.432 left_y=-0.1599 left_z=0.2848 left_yaw=0.0555 left_pitch=-0.0887 left_roll=-0.0225 left_gripper=0.3636 right_x=0.2949 right_y=0.0011 right_z=0.1794 right_yaw=0.0003 right_pitch=-0.0122 right_roll=-0.0012 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -8.0205, 10.0308, 1.7705, -0.3736, 0.2173, 0.2466, -0.1026, -1.2923, 7.0906, 1.6972, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLAqIlmt0yJnbzeFVoO5fc4F0-w6ix7wWWh54fSUMa5wyTNDiT5jHl6t5DWRyj-2UYRaPmXZfLA2eqYmCy4_C_7I-0y_kHkY2oV-mvriyVyWJdCFtb5f7if0EThVfCnuF_sk2SEhLKaLm2_g-cODANsXAC-9lCcn57NHV388xTVa_Oq9y-XYj3juAx-sFhcxqRWsJbVMpKAfuPe6FKsIPS6oI5mG_S1BmqEffmU0-0_QA6laSigLa7tlKkKfHHyB0wjEPQGqeccY3G44ZYvze0wkKji0QgUmup8z6zQX9etJshxunNiwMOM9CTzx6kTLzdYSiIlkETZ2cpau5GoXQfGLNjL8gtAZDX0oUh5YCEdz9T4U49AixsU2HpT-gP6_UDaxc4ZyekuV2PIM-OhSOrERokHkLsRABUcdsGzfFSkw2smZY7zyEaHfnj45SjJ59cegx9V1k9rWPyJ2T57wJkTXqcnclbozW--BVX3SUSw7B_khuqobksLWF_tO1xLfnHnVVPQopsKtKqV0qHhhQdA2jit6s9JwY_BcAEhofif268ZjUmJGbKz0AJSwMkDoqDpiWZREj7W0Mympv2AzRj409xaz05mTEuB_rT5UTE6mfcqq0vuXN4lEtpkmsefq5R7v5qBSrlYstpsBJHf2V-_CDoR7AZsVWvx1hdjsr515ibKcPEH1SSaEN9cnTGYyheXKFlBeeoOoMtedWLMobaamBm16uAUOaXroviPvon_pr7sFtHHNK8TUCj4CfWbyysxbVssGkQskanHzJV0uOuCf9hlIfKCQ7t_zgAZwt4Ys_JUD1bBrQHmHqGDsEr8pqaxwpHTrClhj7VsFA7Nb8_9BoUhA_av8vFmJjn_A8E7nIx1koXpk6MNqfPIOW2lfLYCMHXws5xfInkwOxy9wBqgPszxROkyikhZRMZ9p9VTIgm_rk8Id1HCjAhHm-4N63PhomZ2BFOjBW4Xxu-iL368aQL9MtmgCdpPd65nJPAIp-bLxzs1jH0-Yjh8dtVdnOHG2x7RTdUA6ir4tONEqIIYJr_VmP-BXCAZ9HCYnK0ElwzcO3Y2Jccsl4e09gj12xMnoCeCQR2YWtyO2Y8g96ZcaEeuW8VsrInw_PzcyKA4ZO7_dN4idL-tRYs_hOpXc4EPT7jwzjlXfjWVowa7Rdu3LqjNC4KNz05A2GHSjtOwKQJIquOmBBERG0w6QTRxb0Kp_UzQ2S4Df3LZLm1XFsxWTu_JPNXI4VZ4XMcAGVrpYdOSf9gpo58lxWVBYoZBuiJXK9JL9snBXmW1HIgwZBRrzQN0wG8mPib9wZvzJvMQJOzfyu3JOhwob6Nx3cj8a0NroavtBA7-ecZzQUY8xT1hHcjmIcVjfXwVsXkI1wwu_QcRhAVoFqVkYTcGNWwlccuBDo9Sdmb5FsjoJhxqlM96dvB2VZaNuW4OZY5sJC1akvdqQSNEeYe4C3aeOvAgaG4hDXotSfMVqCAXs5hjnU3HPZVMn6vctJgC3fbuWHrmbmuSyrqT9qfPenZdogvmimR7jIa96VL_XM7FkwMzJFO8iyKXsn1VDGdBiXFeWY98tqD2hil6E15fWJ85gj-nxWtKLFglEy19Zuxp4Si2u1D6DeGClDK9pRkulfS-sKvl9fbzRm0GnGYW_euXFj7-ArRJ7kR4h1G3MirDuvg8vqQNc0F_pj0uzY6cc1oY-3Lg4iVdP56KgFnxFFGJArwZUHNcUTrnVhhdSfjdrNFQ2rgJMznn2DWHbFpK_JIh7rSAUSEGgB-SUcCCUIiZOMfxRWL7xSmJnJoR-zkknOIBUoL22i9VWXXuS04mo7kW90GMEXZjhyJiRHm8Q1l3N59kLi2nRg7YP4kttOdyI8JtVAv8hIZYp7TFpSsRtwZ0a-MSemaWhq6R2h1v99tSSiewRSv-FfZ0ojb9fCjwZdz5oDpqa2ANc9469JtkN7cmX151vhwotX87RSuEATQIlvAI7fOU1hrZgFQksqyRGU_cYQ4Y17CaI8fVVS6jAo1AooVEFwxvr2dtiiaVTqF1cbBFouqRSm1KZ4TGv8KqA3LKSHvUF1sCUKdtkX50dY-RUVvjbyjQJTc0xLcCzdhQGkj6SfbDExd0qL1AO1qYxJUD3N9mMEzlFDkzJXlgVBYapwevj4D6wSIyfLrumu2GZh1VcfVlm5V8TS9ikFkAk4zIPCnK97iYeHvZOYueKmaRcDzjEjWoVCQdl24J6ABpTkIP_d_k9bY5fpwqWUFNfuXJN16B5Am60pavLE3LwwLfocf-55iEl8yuN2lQDu9Q5643r7Yo-MZWbO4KdoVB19hnQJEEh6OTjQpV_06xeshMnQWRD3sAoRWMf1RtQvO2On4KBYLJMDCYgw7U-vFCQw3hrgXb7dj-KBh5T3e3zhjqEapJMyZPBKM0zNUe5ojGessAionlAvs8aX7Eo0x9UZIXK2UU6A_50ljOGnJ70v-lh_tYsnISofo6D4GZmfOYuQBen8xk3MTQedUXZljTYMfJ737bdCLVq-LFRQjPvLhxZLzSIQeeXtUuHzAuB-Vj7OfMEwvOidQ4fmGxpVqMKx9Ofmf-du-il5fFi_ybu0bnY4eLdtaQtKHD8i2NMZg8wTbqMvCh4uoE2-lja6osTfhX1UUevOD98vBQjU3h9Jm23Yjuh3Jw=",
  "id": "rs_09129f6cb2aeaac3016aacb0210fb487d0a5dc37cc274ede08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.205,\"left_z\":0.27,\"left_roll\":0.5,\"left_pitch\":0.15},\"note\":\"The extended arm is sagging below the requested height, so I’m using a slightly closer pouring pose. I’ll begin a shallow tilt and check the container’s mouth against the red cup before tipping farther.\"}",
  "call_id": "call_QbiuXqqqn0d0DPmty4UG3OSo",
  "id": "fc_09129f6cb2aeaac3016aacb0283d0887d08467fd16d7c2e158",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QbiuXqqqn0d0DPmty4UG3OSo",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5861, 2.5813, 3.1249, -1.4586, -0.5587, -0.4168, 0.3686, -0.0151, 0.8032, 0.6079, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5173 left_y=-0.2268 left_z=0.2563 left_yaw=0.1037 left_pitch=-0.1841 left_roll=0.1407 left_gripper=0.3686 right_x=0.2952 right_y=0.0012 right_z=0.1782 right_yaw=0.0007 right_pitch=-0.0168 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -13.7094, 6.3385, 1.6386, -0.5055, 0.3541, 0.1783, -0.1573, -1.4017, 7.1043, 1.7167, -0.0464, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41fa9eb6139c8f3ef748cecd40d5ceaad7956aff9fc68568baed1b50664fb7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:072db680f9ab7c0db7fff7ffd1dd5e394d8bfaa6ddc0cfcb390cf55fb00c0fca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc7fef0ee921404662bc9d8e6cd4b3db7361c02137dd96368d563a91da5d0104",
      "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]: [-0.5591, 2.373, 2.7335, -1.2648, -0.4683, -0.4648, 0.3668, -0.0151, 0.8013, 0.6079, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5178 left_y=-0.2257 left_z=0.2592 left_yaw=0.0885 left_pitch=-0.2174 left_roll=0.0412 left_gripper=0.3668 right_x=0.295 right_y=0.0012 right_z=0.1787 right_yaw=0.0007 right_pitch=-0.0149 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.7043, -12.9846, 6.612, 0.9988, -0.2759, 0.3004, 0.3199, -0.2803, -1.4974, 7.0632, 1.6874, -0.0513, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLAw5oC5jMcTkaTXMkXblaCRL52-3ad0rGoDOihvkW7agVu-LeCjbFbbQ5DB3w3ePYkYsLwE6jVYRYhQH-H2F0vFoTXI9jcN6i73oZR6ypathKAgpGg86P4Ajpygoz_oRUUuPjJgdLcYSHncerCPuiF5pEuWnB0OqxKtY_QMB6e_kHNdsdftmfNoptbPEzECAGsLHKtU1-vwF1qqt8CNot6iFCcQaSspedFvm5GUfZ6_T14E9Hq-fDtCj0SZf8amnSid0lP8Ahcir8l7eIILbDcTUn1ouNvyDV_ymuX7nLeKS7Ucx_1jLmdUqVJjJFNTPdLBjSN0jwTY9gIlAaBvQgj4Sc3vtdmAlXctyQ1aI61V1WqhE8Z6RLP8vUU9xa_rS2Z6lX77xsyKV1MsYNMqJzzKUznUsIh6dFwM6H6Ezb-yAOcpBct7m-hD7HsoK-g_LBhUUFvCDIywrErdrgec_SsosPBKwcDMmAVVhwNJsDAoR6sMbIeaW2UEfuqEVIiR9gJZEtd4pbwgGgrz21JAt5wuqS9XDAa-eRxEVTnxJczJBNd-mer_R9g3RiW8ROEb6SzOfWkH57uFdaBsf4YE93CpDm9mG-utL-UBTorcojQwImG8osPsMXttVtyvxo5esIb5NICFFUGuUtXdE292lUQGkl5bNTf_Z8G1hwaGc0Vrfqaaxfe0IKLIvP_fEJSya99Xl2dgcss6Ukjmlo8I-y0CmGg8DDMtPHeKMo9EKS5bDbS8vcxUFgWB5KZyfIaVTkwSiXjKeR3k81ahvidrXoOgRChx4pzKp1CT2mZ-2nuZPLVqnQxbNbuILeUy_XOCMeyJZKPsbozMuztbykiv_c_wVEMSVxLAhZjjnhSYrjHABF3QoJB8SrGGI3DsG5RpRySIouhsD6k9LligrKvVweqSDThcBTsvuHTiHIBmsH-Y7RRndprX6gRVOZlhFiCBPvGlq4Xi1J03KHHqmaGJdONIhPArRiRwL3MtAGx205x3QDhMV-zP7ugRoY74d2t4b18X_2-zUs0x9M7XoxCsyIfcqABtA3bQzqAM5YcpTdIcvmM787tx_oiZKOYDZhSUQtZlI_Z6M8vI5aluiOJsgGMV0EFpUGkThFmvoTQXQDyN9ny0ZtDb15KW9-v-VDGK1EAwxd0cQ2EK0QfQ4nv8obqu9QvNHGE0_ZgoLvFf2mbznwQMGK7Pnnz0RcMCZ71-psZMME01UZsZV-gyJycedhrZV4fD0nyZivpYrSCE-n1WxYt4PncHHYxVlZRwQbodImWOXgs4Wjz_uMCPVGp4BC6ITA==",
  "id": "rs_09129f6cb2aeaac3016aacb02d618087d09e5b2c2bde129557",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.2,\"left_z\":0.27,\"left_roll\":0.5,\"left_pitch\":0},\"note\":\"The last tilt barely tracked, indicating a reach or joint-limit problem rather than a usable pouring pose. I’ll bring the container closer while preserving the shallow tilt to recover room for wrist rotation.\"}",
  "call_id": "call_rdKFMxTeoGVtdpDHJ1IIhmwA",
  "id": "fc_09129f6cb2aeaac3016aacb02e5d1487d09d9e40a878c36884",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rdKFMxTeoGVtdpDHJ1IIhmwA",
  "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]: [-0.7364, 2.5851, 3.1249, -1.5463, -0.8589, -0.3134, 0.3701, -0.0151, 0.8032, 0.6079, -0.3851, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4795 left_y=-0.2493 left_z=0.2722 left_yaw=0.1072 left_pitch=-0.0954 left_roll=0.4632 left_gripper=0.3701 right_x=0.2952 right_y=0.0011 right_z=0.1782 right_yaw=0.0004 right_pitch=-0.0168 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-1.1419, -17.2786, 6.1333, 1.2527, -0.6227, 0.2418, 0.1538, -0.1983, -1.3333, 7.0359, 1.7314, -0.0171, -0.0659, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a979b0908c1e841c579959e332a6fc1d00ad7cf6a33b2643723778225b7b0d27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:409c83b416fddb6e1baa0cd8b657c27a071c92f26152af7513e9cae0422f2290",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fedec6a91aaa90fe1fdd478208977e3590d1b6f4a38512e9f7d547e94815416",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 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]: [-0.5861, 2.5813, 3.1249, -1.4586, -0.5587, -0.4168, 0.3686, -0.0151, 0.8032, 0.6079, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5173 left_y=-0.2268 left_z=0.2563 left_yaw=0.1037 left_pitch=-0.1841 left_roll=0.1407 left_gripper=0.3686 right_x=0.2952 right_y=0.0012 right_z=0.1782 right_yaw=0.0007 right_pitch=-0.0168 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -13.7094, 6.3385, 1.6386, -0.5055, 0.3541, 0.1783, -0.1573, -1.4017, 7.1043, 1.7167, -0.0464, -0.0611, -0.0073]\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": "gAAAAABqrLA6nb1WKlyQmAwNOnHbHLLngKP1QYKGYpRBk11fYv6-BFg_gU3BgzLH2c-0qJBav8mu9PbJ8hEX6krTFa6qNUdKFoA9XmUpie3l_Dw2YOeFAsmYHLzTddCLGzjzfHkKuOhy1dXZUsCqNld0gXTncXhtulJ5RYudvy5uT0nyuAdDbhsvDNSDh1O9WgMEcMJyuNO_k4wUq5wXI1L8mPwqQVGRcgRFaNtg1CwcUjlezdpmgYYGKu9rD6FWHhXse6EP7wBnnc5Po-F7drChTqYeXGWEWMa5IgDJYGFnFmHCQNmbx4LO60sZc0fpyMciVHtO5GyVILlQEjTanGH-3oDAUu0D8spNqCozHQP5ivDi2Fa-UyjVDlk1Bz_tNKjep0ffkpno0gx2nJO1aMyxdt1Lswj08nwHt-_ZbM-0i6b_EUc3JplBQDeuvv5FmdeRLOSjZKktmSXOyDn3ZlqGAti4BdI8CDmkJ_qBL0YGarm_bmDr3WpZN_o-DNdt5r8fRst-zoIsSga8d8Zu9uUnNHyhEZMmJOnb1Si1HnZ-Oyg5AkrtFTHP7iEl0kIK3M5ZsC3NLDeAaLfHmOiTeAtHFIrQT_0u5FfuFn1pKPNdd_8uGSOZcnN5ScgO_BV3pWnaOKIKIO3rfuLxMvFi-C_FnfQ7bsY7A1H1GtP9XlcHkKE8579SYXL9Bo6vci0zo8465UJlilt_Fka1NG51Ti5od-nWYH0QzODDTNa6cyaZv1VGJFByWvuB_97T_7VeWp0Ohamtm3vDrhvXmea6AaGb8jlBGz9ovsV3zz4ROXoOseXKZS0j-R4EWsMEbeEhT2dSLpD70LSrzoLN2XcgIfRnYlP4aMYA6eh2iBmMtDMrdJteLmbLsqCdxb5pNhoHtgGRtjyG6v9uSCJBTSPk_94tFE7cgKoURNlO-CiQCw0xoqRRzWJLORVaK_oJ0FAlzSLW-td8AljCmLPAvZiMZ9xu8Uxh961dRmX4HOqBS4ec9r_TsPYVZpeqjvgz1FRKmUgjUdTHIYZ4KmZuIWbOoyODJgYOIWyMzgbzwQPs0UWvMDtB_a7cpq_l6SO1PEnM-3Wkn5Xsj8CkF7HYg5C4-YERAVi3CJOqed-9HND1_tE2vk4WlGS4PjhUWattK2JeUZfhPUe5_b5AhOr6q_OnQZI-rFCfVysOLinLQRdtsxYoLBl7ixzTamUCxpkR19NCfSGtYzZoYlV8GCsK1_I7vHwB9bc2itGsT6Q_pu2EeID_AQeSFEou7C4VxQqP0gdnhIUZUCE_3gKC0DyPFOHHrLEFPQSgdChbKQ4yMEeJ4ICDbDeIIX52FHGTLfjEESZ4uJzuTcx8kdKhi7rJCkLdCNsgGD5Y2th3y3ELH7VljjqKkQn_rUln3oVI6XUgW4XY9h4LRTSKWvNa7zbB6elu9AAQmFfWezTqOZig99R2duCWdwngZn1XWLaRUOEeI9Ya07Bl-5_9y02Q26DpUoKv5YEI5sq4ZWwDIJam5LSBGvZLcC1b-TUrEprVdGC1yHq_p74BK0Hp7A99cf0CMz84QA7DUAs4fbOvcYx9rVxozGkBSTCLjq4EPRpApivjRLaHGVqmbNBaSGlctioWTs_QYsX8JNnYCB07uv7RD5HvED-bUGU-KxPMocTHn5mXmAqFqQLYirO5a7g4xlp4WjJ9O2eMzF3y59e91y-kTZtwKcKR1pIvvHuJ5DjpTISgHJPy89TtQaP3e8vqmdpXy_Tub5C0oPbolpjO5ozExNwaAs5yPgNpEXBn9fhWF2avbqZBye6XoE6YW3kWaOR1EtwjX3AqeLPLUPi6yCGytKWVsTcNFF6fyXsLE-re1HyQB5HhMDOvf5gzThcuW6x0lavwgwvoJnMyGWC9dZS1zHtgK4-yKnWSXsqrNxx0IPx3p33Qz6csGh-_vE5VQjXin3jNWr3OrInB6iyj3X9CdJkAk75MpGQZT6pekWXCbZSGM1kEZR2X1E8yRKjatTNRBd9fI2N9MvhGDtPjOQ==",
  "id": "rs_09129f6cb2aeaac3016aacb03529b487d0adee35e83b20da6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.18,\"left_z\":0.23,\"left_roll\":0.5,\"left_pitch\":-0.3},\"note\":\"The arm is still not reaching the requested position, although the wrist tilt is responding. I’ll lower and retract the held container slightly and change pitch to move away from the constrained posture.\"}",
  "call_id": "call_ZqBaLjXrOaSqHxYX8ptKlFAg",
  "id": "fc_09129f6cb2aeaac3016aacb0391ee087d080877236e779b224",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZqBaLjXrOaSqHxYX8ptKlFAg",
  "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]: [-0.7055, 1.8622, 2.1944, -1.211, -0.7471, -0.3511, 0.3724, -0.0151, 0.8062, 0.6079, -0.3847, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4116 left_y=-0.1882 left_z=0.3479 left_yaw=0.0784 left_pitch=-0.066 left_roll=0.2773 left_gripper=0.3724 right_x=0.2954 right_y=0.0012 right_z=0.1774 right_yaw=0.0007 right_pitch=-0.0195 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.853, 3.8632, 1.9902, -0.1734, 0.0904, 0.2173, -0.1983, -1.3607, 7.0906, 1.7607, -0.0464, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec4035c64483fd8614cf7b317cf0e662a8c1634dd06bbe782427fdf8a8c16c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1edc5c2173c088911fdc6a51e0ff0851910124045eba5fc0018b130eabc72434",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aff8554876dea65bd0a0ffeefda1bb3929fb11cbf5733640e8f00da3b8cdf11",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 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]: [-0.7364, 2.5851, 3.1249, -1.5463, -0.8589, -0.3134, 0.3701, -0.0151, 0.8032, 0.6079, -0.3851, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4795 left_y=-0.2493 left_z=0.2722 left_yaw=0.1072 left_pitch=-0.0954 left_roll=0.4632 left_gripper=0.3701 right_x=0.2952 right_y=0.0011 right_z=0.1782 right_yaw=0.0004 right_pitch=-0.0168 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-1.1419, -17.2786, 6.1333, 1.2527, -0.6227, 0.2418, 0.1538, -0.1983, -1.3333, 7.0359, 1.7314, -0.0171, -0.0659, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLBAbcodvfQB6TAabiA3K4ZEzjfxAFQCMNLiXCVCFqq7ecFLAvKCIV2wnwpaj0dpOR6UydQQP_94WYIHOTkvksYStexlIUZz_WdDNL4tkTbt1m6MHf9UlevZ9W3uTWTwQjZcaf2vIjkcSCDtyvvozD_s6py7w-w3bFfjjcJ22t_NSY28j2KkinrJWrnRA4pM3PUHFPm76NH0fCxUbuBrwnhjgVYqsJXHiV68-wvW1Mi5mbhosgM5uuqtGEwkahwPV6Bb9R_wiD8fVbt7O5_630ZlvJy1fdT77U7nYK1BBtNRSWfOI1QhTdHCf3itPd6Mt19mHJFv5-jakzDyaFkhL8JVOkoSfkMbad98wSgT0OaoHEf0z2RCWmTlvQOljRP7cHuffM_an9sFKscME72RHrIcjABOLeMBxW5zSZp8KVNhV3At4rMb7PGVa3Ioao_P1ObfWjylj7uwTocFIzMfq6LH1dCi1cD4LnIpNgYtVDUUYFVbDfiZlmMCXfaUy8fDGAehMiRg6utgXZy23414vtPEH40KReksDaPLW_ZPruNf217hCnrwsLrq4IoRBlep1uCSl5mjKErstcP2bftZIN97AQCqaTATK4bYgomy-Jpsgl8si0MzwT0xDYZZHefXszePKp4cotSWProxv5I8baiS2_1M00-A9_D-VBQ-hMjlMC2aAoBLoBVRvJzKf5BYTzjvHWa8DfhLcUGghXiaSaEVvWfjL_x7yeDc7RYMw3pZn5-C76uZluS3TQR_E067uvKUC0ERBi8QQ3V9BzgaPceZxan4OIJ8X77PG8qDvb7irs2capyLrIKKPqf4mwopLs3QPVIxbL2AoMakZpHQo7E2i1i02rTW_3QsYQrGniNPRT85y4eLWR2fwEfsVh7vP0iWY_0SMCh5-JuQG0LhIDNWYtJa8_tSqKEnXBG_HK97aPJB3-EJ--8vvxHG4xd10-Z6SfQbhYUcStzyUehV4bkQ7NYXNwFmha0BfJf073FdIj-7cBVUGhI_hteOb0deqTihzGY_JI1peu69vhb7ye1vee0-JElsLDoGEDmM0ejA_fFWUHtlQWi302y2d9xxkIke5uab9URmNhY5sfDLSrGZNKzpbnYzDCcc7qRyepQOdnj_V3ZmYGbXyFCajjRnGWmAdPIL3yDLdYjeD_s5KrKah_TOPD0OtPYK-8g8NmXxeiWKIK8IzPm7dM9G8dWgOsYvmRwI4mlm6GJM5-TJIkZl12paIGCr3CoGusRjoIRXd3Qzp7thuSp-GuYl7eQQP9NYwyECpwT6ZAY4c9x1wP1k0M3Z_hWtXUsn8qvFEKGNyeoUvax9oj14a2DfgmKcQd0-gWo-DNSbBdYIxI8W-YtlPbwLwQ2BXS7C9VMUCkwZMhM=",
  "id": "rs_09129f6cb2aeaac3016aacb03d1a7c87d0b4e3ec66209dff95",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.22,\"left_z\":0.27,\"left_roll\":0.8,\"left_pitch\":-0.1},\"note\":\"The arm has come out of the extended posture, and the red cup is partially visible beneath the held container. I’ll reposition closer above it and increase the tilt gradually.\"}",
  "call_id": "call_4Y6g9dpCToMcXng2GEUEAShX",
  "id": "fc_09129f6cb2aeaac3016aacb03e75c487d08d9f26cfd5b08a82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4Y6g9dpCToMcXng2GEUEAShX",
  "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]: [-0.7689, 1.9881, 2.1292, -1.2137, -0.881, -0.2684, 0.3737, -0.0151, 0.8089, 0.6079, -0.3855, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4194 left_y=-0.2112 left_z=0.2871 left_yaw=0.0723 left_pitch=-0.137 left_roll=0.5612 left_gripper=0.3737 right_x=0.2955 right_y=0.0012 right_z=0.1765 right_yaw=0.0007 right_pitch=-0.0229 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -11.6991, 6.188, 1.3358, -0.779, 0.3248, 0.1245, -0.2256, -1.4838, 7.0632, 1.7216, -0.0171, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f4eb3648e3f451e5dd898aa879538c804909763d88177815bd2c07762c589f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268f0ecddeb82d623239ecda341c3c068dec2b48e6197151f468b1023584cc05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a9bd3d99d8cf42e0f198064cfc263da421d40513d022de6b8883dd11eb25fcf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 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]: [-0.7055, 1.8622, 2.1944, -1.211, -0.7471, -0.3511, 0.3724, -0.0151, 0.8062, 0.6079, -0.3847, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4116 left_y=-0.1882 left_z=0.3479 left_yaw=0.0784 left_pitch=-0.066 left_roll=0.2773 left_gripper=0.3724 right_x=0.2954 right_y=0.0012 right_z=0.1774 right_yaw=0.0007 right_pitch=-0.0195 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.853, 3.8632, 1.9902, -0.1734, 0.0904, 0.2173, -0.1983, -1.3607, 7.0906, 1.7607, -0.0464, -0.0757, -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": "gAAAAABqrLBGwE8gskHLypolJggkQM-yyfNJQyumkzKO2IQuTnlGN7d_D6coZU09fep5JBQlL9d59VidCmBzFYqA4ZjMqu6X7aCadrncoHjdXdtAxo6ZZ7bhxeb-2r0SxSYHLbvU0edpwy2bwgihNCrABX2-nEXykd5VVQ9VUErW26BWed_UGnLJgkv2uZZyN84WcNHckSeK6fDBW-e4OawfIeM3XRkc0NSW8BAS7gmemnnM7vM8hjY5DELn9kCOFZDpXiqdNgAfDcOWT6Vj_cH3eWUX_xtgUcN3x9Q60pu6lhgz4lamSnokWf95PRX0UC37R3JAAAKcdCmfH9upF2y-MEvtDtwxpzebF--Cp2z4YRP4g67EyMyLDFU_MJq_MzAVHYpApFwmGdZK1QwCz2Rr0W2sm-bZE6cnuzikLsxk2pvj1BfSjF_igDs-eaFZYLtlj0653hk_uPT9OCO1h1kf7aOhlBVjP1kYamWowmrmpVmg-Bq2zJGeMnV35y_VJOFjodpGR23vC4gdLXMmC0xfDGo5aDaGvx-svgTqIWwOrFGlj4yUdCYC7R0miQeqIwipCApCTg0iQgPBHdGtXfeQgjuBd3wcx_zREnHWmzG4BgnPsxxlI1h1P4KukJCRk23TeB6zB-PKRJMe4a9As79Nh_ZJJBRX8uPTjIzwxe1LEkXWmK13c5KWwzo22Wwap4w2YgqLsSbCCvojjH1VQEBOsbCJy_IHQbbsghUpzr7CKlcKrFwXZtoVSfiFJN3FFaxBtUTU3MJ57W905TPNJ_EoObZsgU7tjoQqdSbC8ftR4BqTseNVi0lt54JhEII1x2Qfkcsr7OK2hnrHrB0IRGG6cZpjl8s3zaJ6ly0_EU3mmcprPmYNO4D5vcQhDEsUrRJ4sv9qAfY2hNiiuBQ7CL8aycYI7RhSDcgMxGa5Rntuk9QQDH6PjL0R4hb8V67KipSS7KUZ3G-oJpzdWhQAR0oqEhP-J4wAHPclN5uy-6zJ_WwJ2Rd8OIJLghs47rJ8awP_0Qt-qH1Zw1FFbAacVFOd9E83dm4d1YCRUJtduBct8SRipZ8srQDVXPAXjW5874tboqFgJWH-xPZQbRQdjnOqKpRutD_dBoW3Jm6ZLGVlbcWUM0Zvfgfy1YyeWOzL9Cunnw1VDk2q57Dv2W9mMxEJwvmo1XfKbsBzgrlMV_WcfqL4A4HMLNSgPpR2uML0Za3X71wTegK1JAMVXD8AC7gqyQlv043-y5tyTIgF9wRo-CytaZBkY8_cJZ3JZo6hGoxE2HStDVVRW96jvvmWsdNp5m-mmqiSiw==",
  "id": "rs_09129f6cb2aeaac3016aacb044982c87d09ad402a9f75cf552",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.215,\"left_z\":0.255,\"left_roll\":1.2},\"note\":\"The bottle remains stable in the grasp as the tilt increases. I’ll advance slightly toward the red cup and bring the bottle nearer horizontal, keeping its mouth above the receiving area.\"}",
  "call_id": "call_4ivxFjYH50vjsVvr3fUTaekI",
  "id": "fc_09129f6cb2aeaac3016aacb04530ac87d0a14e36c148c1662d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4ivxFjYH50vjsVvr3fUTaekI",
  "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]: [-0.7685, 2.0422, 2.1208, -1.129, -0.9936, -0.1806, 0.374, -0.0151, 0.8093, 0.6079, -0.3859, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4377 left_y=-0.2122 left_z=0.2819 left_yaw=0.0948 left_pitch=-0.076 left_roll=0.6798 left_gripper=0.374 right_x=0.2955 right_y=0.0012 right_z=0.1763 right_yaw=0.0007 right_pitch=-0.0237 right_roll=-0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.7453, -4.5333, 2.906, 0.9353, -0.6471, 0.4469, 0.0171, -0.1846, -1.306, 7.2137, 1.7216, -0.0366, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecd10f6c1fa2d1d28b978d9df59896fbc2b5afab4ffb00158758f6badea7ebf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7097679575d8fe1aba0c669e01f3d7c6dbd0c02fff9dad39553c3948ce35ebf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcff62308846308ade61eb522d76bb73cb6c42dba2a9f0eb80568a5843f15240",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 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]: [-0.7689, 1.9881, 2.1292, -1.2137, -0.881, -0.2684, 0.3737, -0.0151, 0.8089, 0.6079, -0.3855, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4194 left_y=-0.2112 left_z=0.2871 left_yaw=0.0723 left_pitch=-0.137 left_roll=0.5612 left_gripper=0.3737 right_x=0.2955 right_y=0.0012 right_z=0.1765 right_yaw=0.0007 right_pitch=-0.0229 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -11.6991, 6.188, 1.3358, -0.779, 0.3248, 0.1245, -0.2256, -1.4838, 7.0632, 1.7216, -0.0171, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLBMWgY5O9LVBuBtdk6G7pwUZaQfk_Qc6Eho0V4g3V020utyuqMwHym13ANiRfBmLCDAcIBwoXWxq8sVJT-pMJI8W2GQ3B9maHrhDxRouOJMcZ8may8alI1IgNwWB_R1Pl8GW3OXgZabwUmmXMxQLLn6RC5mgoAOPN-_rXRLCjYK0uZLYRCJq0fNKVQOmZq4lBSNRyitEmE1Lfn-39t4STYSkqImfxLS7M2hcDoKGjVJp4eYOeTKU8klr28uoakamxPIyiozU5UESqjrlTnLKWYSRe4hMu8ScROyuIoi28V7zVGG-Ph4Z_L287Mf6dYviZuCQycz0kPNN109IEZHiv6Jlpk5Q24Yqr2El1HC3JA2-V22hZEiLlyz2YP1RhKwnOtOVCZve9OSw_b7ecPawufqqScWc300FXgkLv573MOfq3LxFWOJ3pMfceQwL1PcaGm44qJHqUvdsz37FYHLn36hnxFfChjmozQlTVrekWLcRvkH5L9rWk9XAqewQeZu6Ns2SJ8XPxNkt1aFwJTt7SBfv__KmPbaU_mVdO0ywPznjTvyg5NB4JqRhnw2HoqVCAc-imPJFJUcsaNuymJz9mHI-8dhh_Ns-7u8Z8rLlLesauiYf2XNFkjib5Y3AXk07Q0yNHzs8Ds5gNB1fuLvnueXTKpUz0iVUu1kxG5tueSou-rIWfx2ZDqEg5lmXmae9-UCED_s1wTaL4Mn7UUnNv1hk6CZmb0d_-dXWJ_bzdGY_DM0iwCph3-tj0ifAUSHSKJTKbh4BR3sC2uXPEqa15FUkLjqah3FgPKFAMb5dFd5zg6YEUlYaNv6qk-00seeWWd4SBMFCVa4DNAMX5k8hPcK8ZUD9tIs7gpQDTLYC_Vgc97d-i-ZAN_8FwgCcoZHi2HB6XVcreosz7r9eTnbV5Ub2IWdbBpCWfvRjM1wDzCsmyobJRp56Q2T94ANP1bwLfU55_I5xWwHuh93fEkaAeL2SRvipdaQzWtrLJ5dd2WPHEC-fx99zzdXyH1lwyWLi2eHLnEMr84iW0UdmH75-Q8xl5oHPJI6QtNwgiNQIROZ8eJEKT4mtCx-GE_WvB1Fl5vImY1OiOshXcIjd41TEbPiGLY1x6xlxjDEhQTrRYHP67YSGidRIhgyQ1Xsufc7YI-SQi-vYahEYI9o6KDx4EnDl1MNzd1Pupa6tl_3ZJCN9m8vg2Vu4BhPfGbDBQ9KpewhdtuVx1vGKiPXci0BW8isO1mrMorIAGJVieleOUOGmcWQ4HJH29aPrC3yrneHvb-t6_URx8szsPz64Ryo3EHoXW2Iv05iqt_MobarLcSbyCdvuRjwhAlqYBJ5TwqVJvyl-j-mZCLXN-LnLCDMYaAjfQ==",
  "id": "rs_09129f6cb2aeaac3016aacb049304487d0846465089729b8dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.21,\"left_z\":0.26,\"left_roll\":1.57,\"left_pitch\":-0.3},\"note\":\"The measured roll is still well short of the requested angle, and the bottle mouth remains tilted upward. I’ll continue the rotation in a controlled step so the mouth can tip down toward the red cup.\"}",
  "call_id": "call_oRgOFnfDmoebh5zdyhKAQJDZ",
  "id": "fc_09129f6cb2aeaac3016aacb049b3f487d09d1ef3bee590e781",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oRgOFnfDmoebh5zdyhKAQJDZ",
  "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]: [-0.7822, 2.2444, 2.1407, -1.1938, -1.2293, 0.424, 0.3752, -0.0151, 0.812, 0.6079, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4528 left_y=-0.2102 left_z=0.2283 left_yaw=0.0973 left_pitch=-0.3552 left_roll=1.5048 left_gripper=0.3752 right_x=0.2957 right_y=0.0012 right_z=0.1757 right_yaw=0.0007 right_pitch=-0.0256 right_roll=-0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -16.0615, 6.8718, 1.0574, -1.0623, 0.3199, 0.1197, -0.1983, -1.5248, 7.0359, 1.7167, -0.0464, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81c0b6e99e520d2a646e13f99022e140ffda6d32b5b7d47008bb0ee4adf74720",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10065810c2abdc8115133d86b638d7ca5f3db5c0b8f5f512c6bd45e6184604b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be081de7854ac3d1935075f0143a37c9aa7104df892eeb3620c1ca8df84621f5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 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]: [-0.7685, 2.0422, 2.1208, -1.129, -0.9936, -0.1806, 0.374, -0.0151, 0.8093, 0.6079, -0.3859, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4377 left_y=-0.2122 left_z=0.2819 left_yaw=0.0948 left_pitch=-0.076 left_roll=0.6798 left_gripper=0.374 right_x=0.2955 right_y=0.0012 right_z=0.1763 right_yaw=0.0007 right_pitch=-0.0237 right_roll=-0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.7453, -4.5333, 2.906, 0.9353, -0.6471, 0.4469, 0.0171, -0.1846, -1.306, 7.2137, 1.7216, -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": "gAAAAABqrLBbT4YUNogFVETFT5rX_ZNG16cO1DDKSSQHnYX-hAZtvjRJNp4iURxt7PDYzhHlRZcDv5mQmRhHm-NCkdox5heEqo1mFYu2nNNPyDIFjVNT0rWyvqSJRaEq_bzJoO7-Oimz2PF8N4XNTYTQNMI6BE6WDOn5gHqK6q_F5M9e6lJ-f4j29Ntjse8DnRuGD7nYtT4ntLe_efoCuvlMtBFiBfVkN-rCpWwse1CkPpwDlK1Eee9jNtWCYga5Zy64g3uUtXEIs1xLMDSLYonHLz_0PAgYV0w4YTBNG10Nc157mS--x00GiDo43FHM7lFIaeuk-b6zWujMsQukX7g8memb4zAy1u41zUg-Zi7dDs5X5HHuLXY40K-Mv-wnHOWeBR0dzyhkOM6CRrLknZqEMawZtdgeg-4uSvxpi7_v1uHqgb-FmQL4ucps5MB0yhUy5InLiOT_h4Ln1uiQ1It04BJazuOsyFlWn7-ZS-0EmIx2yBgpgEpdlat7euF4u87jWk51sto3d-HcfWPk4-vFsaOvRSaHY9VKwTt_1oXr05NOkrTbebMZJWo0QxL1tybalxj8iPPpsvF9DSAjEAAAtB19wcPOQ2PJ8tjiICYnlmg5MgSQMr2x_oBQEYjXD_9-libdYI7is3_xqg5VVkSNnMXaj8JhEEXNOdDj1bJnEB3eW_qzOz-jZ128gIX9VmdvXty9H124vNwx86err5LJ904M0UNfuliOX-fjZWUIIBgbuv4HKXsJluDM2MVTk9w9Qf8if2xBx8WstzY62pBDCeqCSpVI9VjtuhsdbZZY_cCc58etwpnil84NdFxiU6nJoLKsySPwIx9fOtqF92nLDvbxo9Ujd-hVkuLja1lmQJZd-D0LccX5Sb3UkwfIwyAqQVEAFu7Zb3zQNIzuGftHyMS4pV-2hXAS1pZmn6PQj4ySNopkTStzVwogduSny9mMnFViVhsK8GCEzbeofsfLhBb1Ic2iYZxZhgmigQ1IL5kA2Q6utF0JkWSXWeBb3luZKBFHH_uQKm_LUW3Qfbi5rjLFlRDNGzJUOpbCXGmMeU6SE1V3yafADpeCELAycD3c6Icd652-6pPoXCJu4yfhwZwTsUv-t-O2ljxD7QyT9feZLTpk7A40LfZSYLsaZSXiZSM2v4qLF9Q_Gs4hKIUNiTa7lEOP-Je6AcNczHzxtmXBs6WkSgvywck4qVFa21RbZNMsDX_lTDcP-rVkIMngZy4qrN8OQAlhQF0B9U1ZiqjcMTHvJ1K4DehhJJ7Ogc9MLndtLznO7fYAt3ICcg4VNDcLona0zSWQN7iUzgrlKaggZLzvjZ_0hfKbZ-JBYGCCtXMPFIj6Vok_4E17HtNFG7eml_xnaBeGYFBjqsjvrGXtNHgjVTta0cPvrTwKbyDCUU0AK5oYLt64QFEoA6pjrB-kLML3OFdRyTAXZVShU7MpQs5RcdFK9D1a-RTA_jK3negg0plPbvQlkO4PD9K7Ur5XStHIn78paeRZTui7EuvpBs9JPP0UbZf9JE7_krAi0KPo3-gXFwFaNlfkaQu2GIgqwkqS0yZYjZ0D_6vYlTN_HniHpyjiNzQ5Nz7NGDDtuHcSUR1mC7_6UupTf-5i_hDOGU7xWq22kDmGL5cWB0o1oBoJUqXCnj843488CWA5oFpRg3hrYcOZqpqNjXLyQvpcgRudu0_fx1Pnu0RdR7vMFLmNof_znIErJd-b-SSzwL64NfLzrdGws0UMJgKIUR3FoiK2oShqPVBhWJYenZq5z-MXRQXRkQaNaTtwSFsCdcWhZ0eWj6TWIAlKZs_ng44wzHMAgCiSIpWrSuwckzaJJz-qD3S6PcSjozBbTRU1Dxa-tLOttub9Plz90R0UQ8xQh6dxrNjQen22uJIixUICoHHZkmVQIqK0M4b_3K5l-0L0od-5XWCHcdFwYbRpYiagydJjBGqmvobfCsChnDEBVXRFv15syQFTwqz-YkVPUygJeec0KNPQntaTXAGVVmJu8v7u2q5hxjRlA0yRC-ORE5xZAvMLRWcYRMg5NRWbPcTRR7NXVd22UQnIMYBsyLjB5VtUVOsijEfYq_mwEJekSU-OKQYNZ4fwBeA1FmEJ0SgqTD8EcAVnIRsBTmwP84pvgbKjgNaizx2rJsOZrepO9OrFDvCd_Sx1O7aK7R_ycYBdp9XplAYntWyqeRVLK1kidxBFsv-KaY4-Bk_IfPTMdpjwRPvQzcAWZEl3q_JN3nZID2OiqC34EvDcRRo1YXOTBQnyRhlZOyekxPdd_pfIFESWuO_-kVm6hnszLwiRsa04DpJDWOZ8q-NZyPzViCX6bJ0kSAD38r3r-16zYlFfnLaArPSUQGj8yRgo5k5zOuAajY6GEwmqNvgyAQFhBx9l3qFP8Ux_hiGdNNnbReBtwX6Hl8K9Cc-aU_KH_8_Fxts7x1teGNuPXew--VI2CU_LsAphN4QDpthXEXFVN97H8L92bcoX1Nr1E-OSCm4tjvvR78txxMIcBVq-6fTb9EY3HQnViTQuGQ3ub_FWRbnY8Vt9zTZwLnPi0GMHRiHgeUfaJOjt9Samg-aALJYUSGGs1lIhGQStkzHo-vkBkTJLXUxY1Cd5cikvo1_R3JVCX3bre1cfDlQgfPxrTkJhsuAd-7qTa4EQZScDXp5tqBIYr39ZHICpEckMKoFPn9z8vkr85VHhSLQB1aif9A4257ajCpdt17ES1-Nw4Ujfe88W_8ts1_tsvYE7aogOb5usWbbMi_4drDKoYQGt9W1OI7qz85Tg6uR4ubAICe0mImEV25hAfpTqaGX5RbjBo1O3rI-SmO8BtDrVJFFkzGkbFMdRrfizosYQnnoWUet_Jgf459bVWH52F5pIEkXumcp_Ys3RWrpDvSLUV3tks5KEbRnGCt8mSZkrjlcUzZscenc7UUFG1iqTtxoL05mPkVs02XwMn9pIPVqj6s8y0CdEpFLDkPlDmKXWTIFUCtiw9vSo9CKfHnewC8zSKwtgEmWPPPRnP30Crq1UaGtiwy3r70CcMkQSBd-3n0YIgKkLCIF7zQMgst0YEqXEpv_Y42qwbixPPTMjd_vmJcMrsQuGDt_TinD3SQG0pCb4Gabz2lkpur_FOgVBPz7wlnJpKGeVrgpDBQcrXp4Fj6jeM0Qm8lzl3GBJ76Y-vlbS9YyARPOnV5uYh7FM0D9lGlhQPzCVoMIjLMGIFldYArL4TnDqyLVH9OyuHzlhgqtgG7NrCxu89fh2FdhQhBJlakaYX40Uhr0R_56D-thrnya4davNOiIG0f31kRaeiKHLSOy84Qa-dWN47PxpuBeZjVt7xudoJ23cESnIeFhL_zjcbbyq9L5PZ3jQSYnecv04Ym43ryw5YQr5_ylg_inMXTVYRxGgd6WQsUBkiLNSsTgJE-TY-Vv2uqhu8nuJq7eZjdKJr4cPlemJy2g=",
  "id": "rs_09129f6cb2aeaac3016aacb04e970087d0a70c78e23214d4e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.19,\"left_z\":0.23,\"left_yaw\":0.7,\"left_roll\":1.57,\"left_pitch\":-0.3},\"note\":\"The container is now nearly horizontal, but its mouth appears short of the red cup in the wrist view. I’ll turn the pouring direction forward and advance the mouth toward the cup opening.\"}",
  "call_id": "call_CtY2CRn2jhjg403QNJw0ijOH",
  "id": "fc_09129f6cb2aeaac3016aacb059c64087d081a97584a349c2ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CtY2CRn2jhjg403QNJw0ijOH",
  "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]: [-0.4427, 2.4866, 2.3585, -1.4937, -1.2701, 0.0498, 0.3773, -0.0147, 0.8177, 0.6075, -0.3847, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5017 left_y=-0.0472 left_z=0.179 left_yaw=0.5548 left_pitch=-0.315 left_roll=1.4949 left_gripper=0.3773 right_x=0.2961 right_y=0.0012 right_z=0.1741 right_yaw=0.0007 right_pitch=-0.0313 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-2.7829, -12.8342, 6.0103, -0.0073, -0.9158, -0.0073, 0.2076, -0.2667, -1.347, 7.0359, 1.7411, -0.0659, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:facfc8c9a19fd0fe0127142f24fbd60ca8bc4ce652b14c897eeb13072b62d80d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6fe257925cca0bc0b67615e72fdc5c756f7d817726c174fc91a118a3519636e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a499a8e5ba78c9bf780313bcf8def2c31482a4bf9bce69f320a2ff5f8935ca2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 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]: [-0.7822, 2.2444, 2.1407, -1.1938, -1.2293, 0.424, 0.3752, -0.0151, 0.812, 0.6079, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4528 left_y=-0.2102 left_z=0.2283 left_yaw=0.0973 left_pitch=-0.3552 left_roll=1.5048 left_gripper=0.3752 right_x=0.2957 right_y=0.0012 right_z=0.1757 right_yaw=0.0007 right_pitch=-0.0256 right_roll=-0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -16.0615, 6.8718, 1.0574, -1.0623, 0.3199, 0.1197, -0.1983, -1.5248, 7.0359, 1.7167, -0.0464, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLBheD0ks-lCqbE2-ItvlE7wpTAxWIEjyTRq8BPdc36WOq2MV2wBbqZrPorj7yH9ux56IIlbfHm0QrwaJV-niDrpO9dLuuQVb2C9OG_QFuqcMQ8e6p3DR171Upj5N3UaGxRcR1TWnQkmbDZv7h-6r1uAdz4KbxqlvmSH1sxGgNLmWOmWpeAnKU1iXjaWVAUvsJfOE5e1W4JcPvPyzC3bGNR9L2fs-FN8NIejJn5Zou9ocg-W-HUO6dtKmCdS4RKSzn0jjAZXAb14JDngg0gOJyJHau7Nd1fPYfn5ItcYr1mYlo93IOcsARkLR16FBTfbq7gKsWvl_ltyU1671lGyTxyBLzduH9IqtL2xVqmu_62u97iF6ipjDPvXhDibqbg6ga-543TWVpSkoOOYXhEWxXQKD_k9nFd7dIsWqBOL_4-0296dcH2pX6PawihacxSwRjlSCCJG1WpA7ipcVi6-vvAlhivXo-nswtuoxEPrp5ldm46L-kuZ3iidmhJNFAP7ZvdoUywr9S5zxuDB3hW3Efnoez1PQsQkEqJ-YU9TZSsesKhhjIDoqy0WAb7HW0f6ABlzw3TjptTr3wO-NA3rTAwroqM3ujXpiN7K3_OOojOPlS82TIYAvazYdrxNmrPOK1LpjNq0_aleqsh6bNXWK_N_130dqDxMMT2MvJjZhELLV8CWyR2HFZrnxvtMcfeJpoGPdNz4T2hwP6pJihnSIvLwi7iCLoM4G1ubRthijjm5gP0gEDN0RAiXlWUYx3RlgHztzieeqBTt1faJEPlPh46OxOSD0AkW2FvIQAmL70PXkhMU0_bCvLcjR1EXzF5l3F5rNXbAPCIHi1bsNaisg3tXNVu_ob8xkNSVuJVnUq3-M1_vi6BMMBhEwzQ__G7p_wQodYge4K0RoDrq2ygUffMgeG5nqGYTYrTz7kzKAG7uyMr6wFZyTZ-hmfE9ejHihqUWuxwJUaHRcjAp370V5VMGsi6Z3iWjWtSah2fSQTx-H-pUAQ5dygKItLNNkH5mJG5KTpqXe_6wELF0cC9lXsPp8BSBmA8WjZfg1veMv9VYfVDLYqFVMVoiFLCfgrIGkZLQ9wv4paWOay-Ua03TZjvBbYE30UtCwyZM3WDXHLNAU66BTgeT6BVyHJ-gXz29oaehVg1TGJd3IiQ0JHaBuxwjs_bykvXHbWAT_Pgvcj7FxKmS1SLYNa-dEo0K5Z1OnhYYV2VtSyIMHecONrU0jDO3GlUcpWiyDgxW1ZexCXXFHLwQ2ZAQaMyiwC946cKMd8clNWN1upUCxUT6Qx-vs_odOuFhv8fxIvaQ2aDXgNY6_RzjqIeg9PszpCfqiREB3tCrZ2xGuC_BHhwLmR41W4TBW_XRZ1WZvGs0SPBOqyGxva2eVXXH5eHmJiuBv4jzVm-1JMJbC7_3mw1UpL7Xn93k8LggV3jeP83-bM3J5M9hyRsUA6PC4NjQbzmIMNzWjjsVx2ig3QR8JMV__WSyYL97JA==",
  "id": "rs_09129f6cb2aeaac3016aacb05de6f487d09c89374da888253e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.27,\"left_z\":0.25,\"left_yaw\":0.7,\"left_roll\":1.57,\"left_pitch\":-0.25},\"note\":\"The yaw change caused a large position error: the mouth moved left of the red cup. I’ll correct the lateral alignment and regain a little height before continuing the pour.\"}",
  "call_id": "call_Aj4y9Gtvg0FCViYfKc6A5C2W",
  "id": "fc_09129f6cb2aeaac3016aacb05f887c87d0bf1974a9c89c7b91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Aj4y9Gtvg0FCViYfKc6A5C2W",
  "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]: [-0.4412, 2.5473, 2.4062, -1.5593, -1.3029, -0.041, 0.3785, -0.0147, 0.8185, 0.6067, -0.3855, -0.0116, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.5032 left_y=-0.0453 left_z=0.1691 left_yaw=0.5822 left_pitch=-0.2809 left_roll=1.5067 left_gripper=0.3785 right_x=0.2959 right_y=0.0013 right_z=0.1733 right_yaw=0.0013 right_pitch=-0.0336 right_roll=-0.001 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -12.7521, 8.3214, 0.0122, -1.0672, 0.1538, 0.1294, -0.212, -1.2239, 7.1043, 1.6972, -0.0366, -0.0806, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c4200ae5d631149659d948935391d7dba459a685e03cdfb195ca1421e5c0d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e64c3decfaab5e36600a5df575978eeb4cb2b41165d188b39323ca8339ad8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98283c8a041b8861bfbef2ee45f7ff36570e32ecf806bb6da068708f1d09d914",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 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]: [-0.4427, 2.4866, 2.3585, -1.4937, -1.2701, 0.0498, 0.3773, -0.0147, 0.8177, 0.6075, -0.3847, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5017 left_y=-0.0472 left_z=0.179 left_yaw=0.5548 left_pitch=-0.315 left_roll=1.4949 left_gripper=0.3773 right_x=0.2961 right_y=0.0012 right_z=0.1741 right_yaw=0.0007 right_pitch=-0.0313 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-2.7829, -12.8342, 6.0103, -0.0073, -0.9158, -0.0073, 0.2076, -0.2667, -1.347, 7.0359, 1.7411, -0.0659, -0.0269, -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": "gAAAAABqrLBnyH9V85_Un3yMhBde4XyK6Iu6NurdYhf-VPhabot6SffrobZ10iIJk0sQzoWPlZnpknJ6TACRmPLiuDyQ9kKBQcU0N2WJ-ghvWwWsbdBEJAKI_2gCsB-unAfWsFcqNV3rqDaTw_3N1bDmczn3HrdEvQXG2aEtT4TSD8sMfoC-yk7O1bKYSiLsNEI6vzZpujEURqIgiWRsdA0dHAW1vKBjxfHup_0g1JM08E85k1CcceElCdmlfU-q_3iR9DTIkaslwhmaQaOvwCjgamUoS1GVZDaPQTo7OMFRy0X-tx02byjO3Q9kEL6I1Kg02rtCPAcZkflBAVQoZNVD9KGn1FtPF2OZNGr9Xcj7Jh68RE20REHr_s6s9G0K0rm4DnbOv2kCrfaDB0PmLk5lvc65gQwLTtVytlbGccfk-PXzpvAIckKyFr9j34TNCK8iu0OcgmGOUzK-eip1KEJ5yUAzt7LkOFs0cBIQtlPqDGJzU_q2-JqUh5WjXOx983foLihHeUHkIO8XCSRcVEexYlQRErlmMV-LlbDaB0GuRZ3q2iB-UWpPQlWthcl5P37vfAxsbb57Zzts0vnkCUm5Q3JMXyfazRw1vLpEzKT7uLz-pyRCXO_6T9QR0poiWv08Vw8_swI1bMVhPUy14NRvCfigo88vOHhmKrPvlkTgXR4SFopFkVbvVwJFfiB6zaDdXG8uRIf9IkIF8ueGXD8d9h_iHN0BMhQobeesjVVt1PxGiH3KB4IzBJGMPlz1LEiMQJgCd7AV83Ko6S-zIFDpmpVwHTapmO3MS4tvxjHUknwOLAt2XiY4MjPDX47NRh5eq10n89PQT6uL7AwFyPXhqj3uz4wRXbpJAmpN_AAr_LaiSu2DsXThraabw0P8wNDEP4IAoESbft-4UoU9ZQkVLfs8sAxmT5iSXks3V8hQjkzH1AoCtwfLwB24QooLiFftie-_cwo0CVkNKIeUUMElrVmi6Uu-UJNBcaPMis8VcAX60WhcDUXK1VoMMTHqJT7gz-t-nkhkLk4EGMRrJ1Hes4f36wRabOSHMAhpI1F91xh1pJTr2ALrSTRHJC0WqAJtPJcDYGdLREjmN6DD4RvFp02lXnCRyKFiJPimXzf3KaspEkk4DZkF9_l7F0Jsv2Xl5oTWMhu2yrTy-mwN9Dcaq_UTh3kU9MmdxERuWl302EAdcYZ3bact8CUacN0Qe8RYNNEWZ75G0x7GeYyPIy6gJI86SI1qVrGO88wRUuxKkWyG_kiN_4t9X31WRd705F5VdbNIQa8MVHsBJfS1wTOcT7o3_qCWixrRYzLTVxZbMs4TC9ydwj4=",
  "id": "rs_09129f6cb2aeaac3016aacb064dffc87d0aec8517290086dc9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.22,\"left_z\":0.25,\"left_yaw\":0,\"left_roll\":1.4,\"left_pitch\":-0.15},\"note\":\"The turned pose is not tracking the lateral correction, so I won’t force it. I’ll return to the previously reachable wrist direction, then align over the red cup using that posture.\"}",
  "call_id": "call_6MQ8D6F2naVfYeqxqWXA03JA",
  "id": "fc_09129f6cb2aeaac3016aacb0659e9887d0ab41355c3a7b20a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6MQ8D6F2naVfYeqxqWXA03JA",
  "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]: [-0.7937, 2.0823, 1.755, -0.6479, -1.2785, 0.6102, 0.38, -0.0147, 0.823, 0.6067, -0.3851, -0.0116, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4516 left_y=-0.2128 left_z=0.2202 left_yaw=0.0352 left_pitch=-0.2077 left_roll=1.4379 left_gripper=0.38 right_x=0.2963 right_y=0.0013 right_z=0.1722 right_yaw=0.0013 right_pitch=-0.0378 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -14.6667, 7.0085, 1.3309, -0.5397, 0.2466, 0.1441, -0.1983, -1.7846, 7.0359, 1.7363, -0.0317, -0.0757, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42322c8a834758e8f3430a04113a059b019f6edba23de10f8e2fb7f5bff2e92b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f6346bb9eabfae54bc94ed32a1e1a7effc28ba6fd9934576a2c2e1c7274d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ebc466f5aee4510d5d54e120b6a4e2cfebe75e12c5eb9c1a8d7b177bf25aa4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 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]: [-0.4412, 2.5473, 2.4062, -1.5593, -1.3029, -0.041, 0.3785, -0.0147, 0.8185, 0.6067, -0.3855, -0.0116, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.5032 left_y=-0.0453 left_z=0.1691 left_yaw=0.5822 left_pitch=-0.2809 left_roll=1.5067 left_gripper=0.3785 right_x=0.2959 right_y=0.0013 right_z=0.1733 right_yaw=0.0013 right_pitch=-0.0336 right_roll=-0.001 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -12.7521, 8.3214, 0.0122, -1.0672, 0.1538, 0.1294, -0.212, -1.2239, 7.1043, 1.6972, -0.0366, -0.0806, -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": "gAAAAABqrLBvU5PwgOsu3_7dgnDtncyRl1NAe-6nE0TNyulEyLIF3kYS4tYn-WdcoQkfL7rdbsASF8GGMWVyHjcRjtuGsXWh3JIx6RL5nRR78Vd4PnuXont-AkYmjf590Igt069Qd0DzWHNF6y-FJNa1bHx36FRBBdpsNRCROWZ8vhAOOp-ONxae0v-hnw65ehb1ROB72WqL78r8To1M4BQpTVxZl3R4llSo3pBHe7TKfLAx_v767xDfdrJjnIKBpPKORfTT6rXJixxFxKUsyID1BRFG__U4iz-B1Ikzz2sZ0H_IdfynEMRCtpLXNU1GP1AKU-CwHRveBAs9y4owXzqYfnCm72ZwDfwiH7bwmwb0W45gwPLR01OUL5J25YuE4M9V8elI-G6DpYC84uF9tWfHK-E5RKK-DT6P6HtluNXIWSbhK6WcheQo8Sf061VXoutepQw2nv0VnPaZHFoFJoEQO5yHBSAsYJkQUjTk3GFQfM9TwZSbU5lM5dZXEvLWDFwvWE3_pMcD1znTm2HUe32Fm1bxls2aB6asRy8I0fUySO3BiBSjiAqaVAYImYCAATgwpYc9JSgDfGA4Tj7-Jgcgyi81opX--RlfiiZKRBmZNcYbklvb5PXWMQPr44YLoeoyn2i-989BZ5DzqZIHXDy_hKBJDmN_IfJ1622Te_khfylsVTxFosf2owptc7vZtVFQ4IJcOIzuI7Immr6efBUAj2QQ0Dp1tcFpTffq-chGX8AYy_77SGqRjZSLS-GCe3g1-s4U2yY25BwZShnxp9GJ2rHV6utHJJk99wMEhQwvrAHq0RC7jvVrHe67OaDueVoIcZM2BUE6d26ua-Jj3EDSPzMIyKSlVRWuW8lpRHhdMsZzVBLfQmR2VF5S-fwDEKwa3Ib4-TbOA7UrhcYz4PnRqEbI8qpzCJW-LU0YW1d2w8yj9DVI5RVO1_39ULDws4ZItGzE1-SZoryjUmad4qOvZU75PMCT5wVCmYZRpFX71iJh-lUyQuNyOG4nhcqTHPLXTA6s_6l8WxibQq7KF7e6mwg82rru62bDufloil-LiWU3Mj2NDsYNvKIc1BbuCOPemwk-Xj7ZcPSKY0Us4dcUfCW1nGOg59VCXqBVUFJZABOGgLeJ5L2-EuLqkSzmYLUHq1DOcB08Z1egG_w4kJyYsr4e4iMhhneza-YDn-ypgnwWhptk3JdvjOsND88q9FFPiGIZWyTkqKRJ3FzpJoQ7j5altreW-nv-ED2en86bL3FD_L5ZQEAU6UUwg1u_93els1zu3chFpvE4UtJvzubgm-ngKEmloP-_zLn1i13A2diSJKnp9eovzbixACUv-zE8pyQGnQ1An__mHNQXtbcyZ0I69xMPmzbvcnFpcPavMphXlC6UCPCs9AQnE0YN_R5cxhGeYAuEgCJk2RdaoDLfcmQ9Faoo22K-MzSG_-XdVc9u0e7HJTlAjh5jhM41hIwU94x6Wo5azzSq9yNu7kgvyvaIPHtRwH6oQkYU6qM6MzroPZ3Hl8g8PeIQWmRiv19FBVVyRzv8Y710qjNZCJbnUfq284XlKNSdpJHDznpzRib9ZCTzFV-n_NIVnL_4zL2qcUc6NAMLeAAYm0eGs9Cq7GS9-62D-VriVOi5_C2q_B-1gSGgeN59jvh7ZTfEl-f23R82wF0S-iCSQ5J2-LJHEfAlrvLdhH4GQQmveDlf8N5ntDv7QUEBmm-XqMtIGNm2c1R1Ym2vD9lckkF4hRvxAGusVACJ-ECXoplj4-FKspWzJAZlBSjmwxHysSwqBa854zXD3aZloGCrzYcCH1yOZX-anCfEBUkf8RiFHH-fciW1QY9wtsBIOFG-KOrqM24c3PzK-TbjMEAPblhy5RUdPBPkp4vQ_KTPLZKAs23faYf9ycOJiK6UOGNpFXQg1-uFDaZm6jekb_09f8kKJ0LOH0G1wNJgNS6_6p_i5cSVJJ3f6OMyZ412Z_3sEB-oVKhkcZakz-xQ",
  "id": "rs_09129f6cb2aeaac3016aacb06a4e1c87d090f886658d6a5399",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.2,\"left_z\":0.23,\"left_roll\":1.57,\"left_pitch\":-0.15},\"note\":\"The red cup is visible just beyond the container’s mouth, and the zero-yaw posture is tracking again. I’ll advance the mouth over the cup and complete the sideways tilt.\"}",
  "call_id": "call_JMfu1dAilPF7m068AOn7hCPs",
  "id": "fc_09129f6cb2aeaac3016aacb06dff4487d0bbc855ea79ab2888",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JMfu1dAilPF7m068AOn7hCPs",
  "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]: [-0.6724, 2.186, 1.726, -0.1032, -1.2716, 1.1366, 0.3816, -0.0147, 0.8249, 0.6067, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5157 left_y=-0.1902 left_z=0.2075 left_yaw=0.0747 left_pitch=-0.1988 left_roll=1.58 left_gripper=0.3816 right_x=0.2964 right_y=0.0013 right_z=0.1716 right_yaw=0.0011 right_pitch=-0.0397 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.3214, -12.0, 10.3863, 1.707, -0.0366, 0.3834, 0.149, -0.1573, -1.306, 7.0496, 1.7509, -0.0611, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:090f646861d0d1f3f4dd7b5bc6cfc27b37bd1bbfa414a0e70b6c7f3cfa48bf2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c0b0384eb7f77471e32f3c7d63a0d294302212ab5cc58429949bc952ce3e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:944e384ac9721f68afa758bcc50b08a4c66f3d2faaa9561ec4cce7b2bcef03c7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrLB-uoXpI5UZzW2wN5hQ-I3S2uSxcRS9cA7XZ_u_HZgYLzd8mEDf29HFFTqI8kyXPqKbF9Buf3lPhomNv2LsUjG8vFGMOpGkuUCgMlg7R0UuvuwGBlVA2f3l9DcUXQizF-vfdb1nvFRZDKmEn1FRW8ZoQF4uETkd48XsJpXEYcWDf4NPTF5lJvf1XF02CyKZyxTK7jHNldWig5eML8vsuzN5cnhLA9WgoaQXB0FcUBrDAkBiaKVIMxHG2hM89is_Xg3JvgAz5iYpgNcSlEo0oz9lRSEl8F0flfior8hhDaexy_98AJt5iLF9uIoVBx26GuLOxq8GSEhmGT4nO4Kruw9u6eW9Ve9kl20jMocLPo0sTO720kf7V1aeiY6jJ-ggr32HIgpOeraiz3R7F8rSyGONBhBkFTghET-K6oPUHrNA82jZuFLa9CmSYxwfAIwmXyhHSFmLvVgeHIA46bAvi54bXUDAKFPMx8RNennJjbn_F_gbc-1Q-qxpFyh7R1Pb_UFVHb2JrqoKyf77O9TWFe2LiEnR6S_gIA_NSanDFUwQkSJqDgJULsoe9XVObfs7Od7TnDTjon619AYpPmpzpCz4wZk570TsVFIHatDxsELGui7JE0H66gNRMfLCsc_TavLGVjjokZjWa6D6eWjZrZSApSlQ7t5iDt_7bxKmx5gW1Tu5eaJbfxyPDcz81fbVF4kRYOWgS8UxTtnnrHna5TSggBIs6y9CuJnwPUmKIVKlqDOl9RtJM-fUleWks6I-DLMLcPCKO_VYzJcfRAeGgpp_4Sn0DuQo_9J_QFooc2NphJdbo2iKvOKpt8izEQUj4KDVB4HG-WhkRjEIkYY9t5N3TktO3Dh77ixXI9Gq1nfW2XzQayLEmSllhOeTjYMiQZ4Wzi6LkWvTR757sI-yL8xes9P2uXNlDmfOgeFMb_0gD3dfSD8-EOFPUwsj6FmH3O5D5N6gfCgHUs0jTOIXzb7foWgq4Ehf-uNUqj2lYiiYQnqE5nSUQ3-zUKARoRsmCava6dKIh3hQNs1qptfzqfju_SfISMiPR3nlIkFB8sZKaREOdB0OF8fOMNQ8EV-n41-oCVeotGHqjmZOUbZhrm0OtAgzR4XqUU2DPKTZJM3bCcutea0ESqzle8W8-FEHPNhnfO-K-OB3ft3B5XFyjhf_qQkhTwgH5yNashU_VgGV_SIK_O8QaUFV9dIVYjVlgKRxSnXluJvSiomrQeHTux-dcIkqDjJ_tfrGkxeb1HU8e83lcfp4mbqILT7RTdM0sqSBiIuhg7vLg6lvRGLrwFZJsmiU7IPg__Hkob7t-xb6cSzCKWLvJDqKnTRmOazBO0XkCMKBqj9gTMOiqLkgvZ0FWNLHwFe8ASkT92NjvxVkOzz8Ax3-bTlioDHRjr7PBaAaLxvHjnk-64bItXLofP3DVZeXhvxrsLwF_pH5USUNtlMQUwYbzTsxplUTRWeY0ab4HT3QU3UDehmrXrG7OupMhCwmgWDvRJ6y_QNissie6nu47tLkhgWj4MsCzpvcM_OT4SHzOe6Z5Lp4HsMwoqn1BBN7kbLUcxxeBGYkuHATNTtMVZ8WeoIMoH_Ru6qxoiBmSr6f6A_ThElzIdiMq8frG02whO6KmsVz1rC8_Xu0gdlwxMVrvms0RN9R1lliAA5lw73gQK_fjl685oqwAjo97OfcxU4BbWXQ8IP-Wn7-R-gcQwQBa4M8sJAamxAD6j6ksmAyVOcdLXyZUUW-kVpY3uLepNGW49KLHN61g8AV9blnAD_bZ6yOCbNVKCBEbPadScc6d_r_tYEzkTBm5_MvI0eJMiI6Vxhw4Pc05Cqh_YdFbZtGI1XuuFE-fb-z1Di6OPTUx1A5HbJcIthStbGKowrJ79o8d9auGXqDwBDQCwAiQKcDOMfbxEFxj0B0VEUUjDni_ioaZq8d-EBX1wJneguRSUdkN83B15Z289NaV5H0T-LTYght8WTEkQwKlG53jfEwBpD--Aa2wVF3lE8Fxyp77mVNFutHdihTtY037ffvmXJ-WiDp36q4WzYZv-aMAsdgOYr_edQqhl4I2OR1PB90NwmZZxxfNin2fWt5bPGo5gtIq5HqI8hsPo_bOywKa5jhBShOwimA6MpdRaFNQG6zZwsridfXYpyWYOSZjRVE7eia8irdNnQsMfnq-tz6F9eDsOxKMvPBklSrr9NWpnZRhciawquDhqgVvVlV8wL_3_Zvwgj3VvsAfqPLzrpvZDdV1cotp-5ru2tDgveww88aTtYYkRNJMufFKfy0CLnve2cG37h6_8c89-PJ5uAHKaI7LinR0HUhWxkCM5mmsIZ4nNIY-_13yOiu-1FPF8jVEXrYeAoNswUDunjTA9VZXssVA0aVF70X3Ro4zSa_V2UdjCw5RiRwBOV802zb_ihzk9CX-pWmDesfgCRuSjHKs8Orr9W01L5cQLZlneah2sa5UaoLaIEvazmePDtFAGQlTIEhxc14fwKNL9d0rlvBrDSbfJ88MtzO5hRTrw2T9e5-vHI1Vm90VZms28Kaq7aN8p_cSxvRHwWd_jTAtkvI5rq59aYHheULR0YP15ZzUsn4Oqo8IkfIEUL_rbhoul2pv0vw5Y_zLnR-is_2TABBI1Mg2tejTZFoFX-_KrUToA==",
  "id": "rs_09129f6cb2aeaac3016aacb073c31487d09a967b4bfa848cf1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.185,\"left_z\":0.195,\"left_roll\":1.571,\"left_pitch\":0.15},\"note\":\"The mouth is now above the red-cup area. I’ll lower it slightly and adjust the final pouring angle, holding the container sideways so its contents can drain into the cup.\"}",
  "call_id": "call_zKFITgP19kOvrYi4HtKwO3N0",
  "id": "fc_09129f6cb2aeaac3016aacb07c3c8887d0b5f4485bd3009eea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zKFITgP19kOvrYi4HtKwO3N0",
  "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 61 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]: [-0.7937, 2.0823, 1.755, -0.6479, -1.2785, 0.6102, 0.38, -0.0147, 0.823, 0.6067, -0.3851, -0.0116, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4516 left_y=-0.2128 left_z=0.2202 left_yaw=0.0352 left_pitch=-0.2077 left_roll=1.4379 left_gripper=0.38 right_x=0.2963 right_y=0.0013 right_z=0.1722 right_yaw=0.0013 right_pitch=-0.0378 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -14.6667, 7.0085, 1.3309, -0.5397, 0.2466, 0.1441, -0.1983, -1.7846, 7.0359, 1.7363, -0.0317, -0.0757, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.185,\"left_z\":0.195,\"left_roll\":1.57,\"left_pitch\":0.15},\"note\":\"The previous command was rejected because the roll limit is slightly below 1.571 radians. I’m using the allowed limit for the small lowering and final pouring-angle adjustment.\"}",
  "call_id": "call_IrdOYmMWY5My6UUCSrfwzjs2",
  "id": "fc_09129f6cb2aeaac3016aacb07f7ea487d081170e57da1eae3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IrdOYmMWY5My6UUCSrfwzjs2",
  "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]: [-0.6445, 2.4104, 1.5444, 1.1347, -1.2766, 1.8271, 0.383, -0.0147, 0.8257, 0.6067, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.534 left_y=-0.1854 left_z=0.1731 left_yaw=0.0802 left_pitch=0.0586 left_roll=1.6125 left_gripper=0.383 right_x=0.2964 right_y=0.0013 right_z=0.1714 right_yaw=0.0011 right_pitch=-0.0404 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.3214, -13.1624, 8.6085, 1.7509, 0.2711, 0.0513, 0.1392, -0.1573, -1.4974, 7.1453, 1.6777, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78442ad42b00adaab76b025745385cb79287035ebb7645450db4f1952e9e8a15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81287dffbd2a6687a880b756cc8ad1fe13cca29a2d316d25702a87899aecee86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6373cbbcaaa575d2c9656df850438f13ce86abda3956abafb95873d91907077d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 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]: [-0.6724, 2.186, 1.726, -0.1032, -1.2716, 1.1366, 0.3816, -0.0147, 0.8249, 0.6067, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5157 left_y=-0.1902 left_z=0.2075 left_yaw=0.0747 left_pitch=-0.1988 left_roll=1.58 left_gripper=0.3816 right_x=0.2964 right_y=0.0013 right_z=0.1716 right_yaw=0.0011 right_pitch=-0.0397 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.3214, -12.0, 10.3863, 1.707, -0.0366, 0.3834, 0.149, -0.1573, -1.306, 7.0496, 1.7509, -0.0611, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLCJSCxZZ1jnFty31LsNB-a919SE3OTvo9dT94XzvNy4-oMNYuda8aWXQ8ipYsmRVVcUJ9NuEvDVy1gBarq4zFnpLkocDMefzrj08M03pDE6K9YBRYOxaFBRXfG1bjmowikfnv5_Wnnn_AWLo6IlCtI12R1JAlk-bfZE6yaDidaJD7TrMU4pEATdvLamBjbp69iAVWj8EXGGrk2vZVN2TOfDN--J5Z-bL-_2yc1YTkJISayhzoEM8SYdisEMG5jPw_MO4QzOmkWgq9YOqCnJISL06Fc-4TYwEW3S0O-Pp71k_cngQ43whNGP23sH4AwfWE1M8DFwSYKnq1uLGj685VIW1TiId_BcK-AnDrXnH4BXXLfg-26gFKiAxKkAEzIPC2oC8NPkx-XMkjP775Ztf3KOOHi1s7iiorOG2T1ThZyETiavNIVjivziL5kOmOw0E5oVj0e5juXXvrslFoAPcHuc-oN7WfG-VLZOetWAfnnqTHPjIEONt_veW0uKFLsESd9U3Dkb1xFGm8Gfy1YRl6Cdp_0T9Eg30y2ORc0g_8-gw5EZaAf3J1v8f9DhzXHBF3Z8lGKZ2g6rPcTMxnrcLPmRUoBZrc2euFTC9KwhLwCJj0d-fCkfEDgO_JqrbQ5VPQnkpYvhtZJwAGQAHcNyIEfHYyS8B3QUlWFXkILWZ2_hf7qUWK8rzYBAMTwCl6Pcqp45ape2XTaDWQZQI5pR2_9k3vTt3ab-iq-n0DbTVJ0G_olQuny7TzKZ6hlN2aOObnrQtCR2FHOiwM0nYhmgmCHx5NuMrNLU_vzh69DLQjRyqGLJokZ9klyGMKHsvFz3e_G3zGJHoqCA03_2v8M8WwDQH1u0jxehVRJFI_HjlvCHQC4wyb770g_D2epf76TTA-g-CMGzjc-HMWSjAIzv5qojKoJs3gM6ymPsf2TnzhTFWlnFPWMhABEjBcWmUUSwoIc64KSG8UhVc5C87yXgDXwBa4ToWgZUrM3jPDluYa2KxzkACb1o21DT4aECFbcBYvqmnYb68sR8IBbkDmWqXDxKjGH7YtxHn4nNpEhl--Nv99gMKm9XEzBo0zcjRXJPjyOUP1WdrCcxDtYf5VTvS6OX_oLWYDjtzq4srkicfeHedFGkNzPBxKAB-3d1_nFioPUQ8mFH-ba6oghHqYnL8oX1LFRDE2oOdzBeQ53iAI0uU7ZqNYLjOjw_b9y8t4JEe3UMnH0jVmKqV5RVrfUFBKe6gq35EDSW3c7kTmnjjFI-ELSsnCVlu-X0pwLKPOmikl4Uq2qkgAO4wj6YiJcxP39Kh6h8Xecc0A3kL22Lb_IrqORNxss0M6rLOljzV3GcvfbJ0PqkCIT_HfHtS3h2UhJIx5zh4QF48z9WAOz3fq_bx_-DuOF2byT6dPWJZk1toXSk9IqP1it6Y4KpT2JoMdeuxhbFwKysaO632RVaHwny9rOw1N-f_eqVNrAntTrspsTpZiNMHSIfvDkXaxDgT-2dZTRkBxo0AUmdp-YieXxp9umFQq-3sHErRbN1TqGy1xVliRepBPQO-NLu0I2NIdnOdGYNg4O8OT4x8qYMAQYX_0hdLSUOMnsNK6eW-Ib5Rd_dkboJ9hjuxM2dOY9trFCtBiPoy-6RwrpN3ELxMZAkqcmX-4ge4mn7vuqpanz0Q2C_9n4KSe7CfTNEHndX0Oa0a2CBjy0M2aGFjDRGjrsAHBF_mQGjO4TV_Tnugv4oodiGtTJ92DrMH7kcwAAqly0gPw==",
  "id": "rs_09129f6cb2aeaac3016aacb085a2e887d0b8f2c3fa53dfff20",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.001,\"right_z\":0.185,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"I’ll hold the left container in its pouring position briefly while restoring the idle arm’s parked height. The stream and cup interior are occluded, so I cannot confirm how much has transferred.\"}",
  "call_id": "call_szM04yGR7F1gmVbMSV5MtpUO",
  "id": "fc_09129f6cb2aeaac3016aacb088231887d08186fec0203bf660",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_szM04yGR7F1gmVbMSV5MtpUO",
  "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]: [-0.6437, 2.426, 1.544, 1.1606, -1.2797, 1.8153, 0.3836, -0.0147, 0.8165, 0.6067, -0.3855, -0.0113, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5338 left_y=-0.1845 left_z=0.1678 left_yaw=0.0841 left_pitch=0.0718 left_roll=1.5953 left_gripper=0.3836 right_x=0.2958 right_y=0.0012 right_z=0.1739 right_yaw=0.0009 right_pitch=-0.0317 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -16.4991, 5.3812, 1.0916, 0.0513, -0.1197, 0.0464, -0.2803, -2.2496, 8.1846, 1.7167, -0.0415, -0.0659, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb28460f49fc95a1f792dda8b57598891b578a550737a4f84bd28bf9173c02a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c1a4b5bf8f821608bf4a36f13751aca27a2cd1979c4c765f68f2caf2c835fba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8e8c507e8c849210bff290881c086c78f1a9028b6b7fd9a79fd08736b7de62",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 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]: [-0.6445, 2.4104, 1.5444, 1.1347, -1.2766, 1.8271, 0.383, -0.0147, 0.8257, 0.6067, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.534 left_y=-0.1854 left_z=0.1731 left_yaw=0.0802 left_pitch=0.0586 left_roll=1.6125 left_gripper=0.383 right_x=0.2964 right_y=0.0013 right_z=0.1714 right_yaw=0.0011 right_pitch=-0.0404 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.3214, -13.1624, 8.6085, 1.7509, 0.2711, 0.0513, 0.1392, -0.1573, -1.4974, 7.1453, 1.6777, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLCObMmoiRrxA1Znufo3m0xQ2cHfRY5ojYKB6LalPIhycOWLACbqg2THF8AOv2CN5wWX71es7hftGw0ipT3iojyDRqe_HFeTiR65ZP417tqcqSFak0tbr23Tbf3RbOOiPyJigDpqNHoHAgtrV2MmGMyd3W2PTaejfFg1FSc6a_ZEYXC2iq3REPhMCkBTkcNDvY9p-cEzv9YlYFXE6CVtii-zaGc34PHXxLqp1wWlhcYFaPwmu-OsbJ_k_IIl0u6hYu90W55nu6fGd6YvgQgjUFZcmEYOEJV-M61QMRuJj2xDAPdc7QbsU36TU5aqTiuIpIWE-htUndbINmyv15l9fy3c2gcsU8jimJqPdCVGeMry2ZeSc30LhVghpI5k0CwfuhAgWXVSIxRdo7unNDapHi-mKeCJ5VgP2AgQqzARlNqR2BQ0OSQDzpvqDPoqNophQCuT67E136U-vFJJZ727LRupPZ6zPTm35U3ILZeq6U57LYWy5spgNLDyHesCIDUwOfXyD_IPcGbvms2crx45KnFfOIMX9eJ7I8dqiioWYIzyDOEHHwlOcLz3pcGBe3QoDWotpxhzShx3-rg3fbtuou-6d3aMebraIAqEWGrnAat2Mr-YrnyjB4_7E36hvXvRwVfURoNggmAAzF2UDaiAuGT7puxNmWrWl-EugwaYFD7svAco9it5IgRM1zHWR3-sp7oq69flZTGbh3uDkiHvMe50f6-nKWD6QNiIWlTGqUjmc-pBhezqpy04dK9RtAi-IKxRRaeftrD8aKlsZaHdn2RT3AMhZzUA8NRXdUyzOPfGG_O6SWF3qg0BC1QBQRR8RR00x3HoDXn_n7RbJp_ozWt2_HnBb9Poxru8-ULILFf45tJvDsMdohoRrm_TObGOqeKupZD0Me64oWNxV_VJwMuNL_8LvSCz8kD1kdxpKoWSZ79KWXe8524HyKINDhktA2FHIoOQU0iz56LsTvSnjFxXSu-atUCoya-LMGRuQ0hBDP5cH1SnFw4dmQE8dTXdgDphoPHge4RGrJdho9_0vME21w3LJF5yLF2OKXEHRKNlLBpAmSdouavnVIM5faOgIs57Nqp0H_wpNKQGeOiVrnsS93GRZaHD3VwdYXbJUufyrjVu2rJWK1gSnbgZ6tEe7jgRkHfKRL-WNnPf8SJ7p4W1Nyd72cRgL17ot6m9X9AA7x19NRft24-uT9F77CgjsekbffaXs8UUEepQEvLJgsno9vzlcPBsS2QSKXDv_vDHz1cq6PSoPLPR97_ga3YZZa14e1cBe4TLgO1rNFL8oWWybVzZMsb-gsNg3lEnWtqPleg=",
  "id": "rs_09129f6cb2aeaac3016aacb08b820c87d0b5abe9d4821744cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.16,\"left_z\":0.27,\"left_roll\":0.6,\"left_pitch\":0},\"note\":\"The first container has been held at the pouring angle. I’ll turn it back upright while lifting away from the red cup, then return it to its original side before handling the right container.\"}",
  "call_id": "call_LfWPxwO4IawVZIDaFRE2m1Zh",
  "id": "fc_09129f6cb2aeaac3016aacb08c57ac87d08ec395c809e6e55d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LfWPxwO4IawVZIDaFRE2m1Zh",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6506, 1.8481, 1.6337, -0.5976, -0.9565, 0.0853, 0.3837, -0.0151, 0.8204, 0.6067, -0.3855, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4578 left_y=-0.1626 left_z=0.2478 left_yaw=0.0726 left_pitch=-0.0212 left_roll=0.7088 left_gripper=0.3837 right_x=0.2961 right_y=0.0011 right_z=0.1728 right_yaw=0.0004 right_pitch=-0.0355 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -12.0957, 10.1128, 1.3455, -0.3834, -0.1099, 0.0024, -0.3214, -1.6479, 7.1043, 1.6923, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c34fcc16d5185737c92f0c2ed5d7bb273a45b6b1878353cee3d1ed66a6125e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91a237234a3ba1b25f33fe0b99168eccd2a577a7c35dda2f8242303db898124",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71b2c6d2a0493364677df49d7fc9149d2fbee4e4ccf9e77f2552f10543360eae",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 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]: [-0.6437, 2.426, 1.544, 1.1606, -1.2797, 1.8153, 0.3836, -0.0147, 0.8165, 0.6067, -0.3855, -0.0113, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5338 left_y=-0.1845 left_z=0.1678 left_yaw=0.0841 left_pitch=0.0718 left_roll=1.5953 left_gripper=0.3836 right_x=0.2958 right_y=0.0012 right_z=0.1739 right_yaw=0.0009 right_pitch=-0.0317 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -16.4991, 5.3812, 1.0916, 0.0513, -0.1197, 0.0464, -0.2803, -2.2496, 8.1846, 1.7167, -0.0415, -0.0659, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLCTzaLdcKqQYinNtZHXJ3EtyJKRC6qDJq79D_P_fifHVvhO8j_j09tl1KQ58FRMcoyL_2guk2so1WrpsKBlma0Q5KCxy9MDxApctZI5rK-n0qZUkQTkzG1NrOtpV3dnBxV7urHMvhNr6QHCmgeG6UYtVJudaWSyhoPkHcrRkNS7ndy2L4-q-qbJjlW3QWwaaayKJLcNCXlTP4NqvLvr1lyNZuPGLldwZyHvnGyiCe8ZGu-vKzmNMy8UcZf_f-3FApvEnC54aHBSMHcxw2NAnb2czHLTTIt8e6R5CvLnzRwdHN4C6d-Z4H3Xcaon6fIDkNiCPA6vxRzlm0RvvAse83qnpOItrdaibvgUsS6VJEYQLTOzlW-T_tv_soHzBG0X-ou5Ichg6nK6zshXuvqmmFGxa70kJuX5mRedHuKlEfG2GDTnRhp5cGvjrBBv04khWw1GLgGp5TLdJCIijovcmLCLCHDT5DwlwF1O5aBahBIMMKK4pahnUUO2F0Q3Bs95ltjCwWv3c-W70Ltjcrs5IuJhJBEJEvHHw3pZYiuOmr7emCsshk8J9Brct1qvIuY7ufE0aBSWkgOL86H6aJlV0zc4Bcq5dcF7oR7SNbvbjR9b_jhXDza83oLRdZsP9sTyUYPA5N5KFbEe6OmmVA97iLJ6or9fj8ChKa9idYnlS3-UeE5WH4hEeuIlMgvSj5ezbctw_Q2HwisUJnJ2uyyjRTvPDi97-P_jXwwv3fRh4ie4JCPborXQCXKsD4888pa-p0uAvE8W9pvW9BYiz2ICd-Do1nVrHOOYIaxfjiHptOXh_EcANsIgZyX69F9H2DKSE3BFbXqXGx1RJ6p5-_wKu5d4lOQVt0uMqtnrYLL6eyl486JS_tY_W3DCYv5s1hS4aK_VpJTXhVFA0zrYPJy-iIn-LgeRDhdWCs1hECiN5qbLxM79IlqS7UQHo6OithSksTY77CTX1DNHwTFO_vyqQZsAtdrEX5lpHhm9k5DobM72G9nz6JMKbXvisDyhVWq9eYfTnVi2Qmexr_OaYN2Uq53dKQCoALaTejhFwe1KtgqvonU9364FXvdxkjSLBcte_wD_YQdBNJeN4CyNXviM1L0FUNsZAFYLx1za5XOXYAbMp0zhXdv0XOeAlh5aqZ_UVEwURyHfNMQlRdYe9o8i2PnXdnNKY8ETEgBklhjf4QxkgBK45euK1gCGgRUzZpJdm7WEXDhyrPv-yDndxmE3P7cMz2yI_lMfRfg0Xao4w7B1u1MN9Rp60Y0EiTrxNgwJF_OfSWeVLa5hWmkX-qPN158NWw==",
  "id": "rs_09129f6cb2aeaac3016aacb0918a9487d09bb2c29351ace297",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.16,\"left_z\":0.215,\"left_roll\":0},\"note\":\"The left container is moving clear of the cups. I’ll finish bringing it upright above its original placement area.\"}",
  "call_id": "call_IFnn7FnQQXsNFTLlUbsOEunZ",
  "id": "fc_09129f6cb2aeaac3016aacb09259a087d0a6ad20aa3f390ff8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IFnn7FnQQXsNFTLlUbsOEunZ",
  "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]: [-0.561, 1.6371, 1.2839, -0.4232, -0.5644, -0.3351, 0.3837, -0.0151, 0.8211, 0.6067, -0.3851, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4287 left_y=-0.1535 left_z=0.1934 left_yaw=0.0784 left_pitch=-0.0785 left_roll=0.1214 left_gripper=0.3837 right_x=0.2962 right_y=0.0011 right_z=0.1727 right_yaw=0.0004 right_pitch=-0.0359 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.7966, 7.788, 1.9512, -0.2613, -0.1001, -0.0122, -0.1573, -1.3333, 7.0359, 1.7118, -0.0513, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f88218ff3525f58ca561eb5315fa21e4ec293649630e6a33765fd349b5e7e01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da15da101d5e2a9e0a5bca889936b3a8ee46735612d03b7fb754b5d5eb4d0d63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a629daa303e19583cc36128c5bf0697345983482eff3bd54734f368ae30e6a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 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]: [-0.6506, 1.8481, 1.6337, -0.5976, -0.9565, 0.0853, 0.3837, -0.0151, 0.8204, 0.6067, -0.3855, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4578 left_y=-0.1626 left_z=0.2478 left_yaw=0.0726 left_pitch=-0.0212 left_roll=0.7088 left_gripper=0.3837 right_x=0.2961 right_y=0.0011 right_z=0.1728 right_yaw=0.0004 right_pitch=-0.0355 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -12.0957, 10.1128, 1.3455, -0.3834, -0.1099, 0.0024, -0.3214, -1.6479, 7.1043, 1.6923, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLCb3pE3NGgjyWwh5vo7wA4-wJtjP8aNKXryubbss-zlVXcwMLGH6qbkbW0CUYHbP02Ilp1ABc8ve3XMyPR2HKARy2A5d0fpfg-DzpJq3wWCL8yeoyR8NqmY0FivQlqFtlX1jL3fxhp4lQV6xSw3YEtdGLDIY3xlLKfmwvnutoh673OrB75PW9_m2mGeuLvZmcg_-Aj4bqfyUh9sp69dDcxZCp8j2KNPEjYDMhTcQ40ib8T7fMXWYC24C5kNsFz15ckt7PgK--KdszQedKW92aNwdPTAnx4VCe1JEfQgYkTTTHkwWJEkaE3KU7Oy_rN3Eiwd5p6R-eNp5jEaXhluf35vSEGKm8pEar5VuPVERVyOLNqjBDzBoezPj0k5yi1GARpzxJFoc-OGXCCknYoNx8gtWQioPmbxnLP8sfFRjWvnXgicsWYmr_8_FDiwDEJrmg3WmRuv06kw3EweE5GZCUL7_6jsER7J8WODnunOwh0qkIUX18MD0XI77rW7Q81t80Sl14Cc0W3SmQzXAp0I0R7gprwJwmtqT3-YBuTrNETXOPVMqj2RG02Xh-XGkYBdZdq2pqTiziEa9oPtyBMPjHTTMrO6F-Ir954Wi5sdecVd34hP9d4KZ6zDB08gEXs8lD8_AUubIFrA0FvXkTYwNL7Dx-Aeisjt76ForpUeUmfV06VBDa0wjr8jwXYaf7znmUfe5j7wfM0MtIjJnqOKchwtdceytNRDAlRZsaZUD-c4nOavg5B2wJbX038uDBxtAiyn1GSYYaFHY_QAhiJWRRyCQK0cOHEvzPc3TYgr94Nba5_gNCx4nJ0eHDCjq2RaRNATK6-9X4H7fIQDj-iiCnJwTgjRY7H7KiG7RlYG53KbWyJCfn1BeJzFz2phjl0hFr4DQfZMQZo2gMABhHLKR-YIrHvx3FON8ClxBmRruaNw4K7lNE22UMzR7vlw21QUiZH0RsCU62LboOgyDdkaO4g7FEQLySE_jh6P9mwBjSurlrVpqxGz2s0coeU3LNkufM4SUed0TNzGAT0yvc8csqDUZhbjbNpuJp5rDu4f6QekgUig2NpfW80u5LQEKkTvaEHfKH_zoidgYNKgPG3oZr6zUdx9l7zKqCfdc5iDaplX3RaSgnAqbZCxuSUm_eEXv6J2oLHNXZiLwSumw6R09eQCK4ilcnNUyiMT8H_y0Yfkjicd-ZyL4BgWYQ_nUwomcyCM7Y28v5gB9KH88u8ec2eShFbe2CqfjMf_GNEtQftjWXSMJF89tFIX2IwYJ-JUpMjN9ywMQ5GIkOH8yHH2_1hAhTdY9Jlpb8mopsw4CiS8aqbzWALv0X6J7lOi6bMdKgk_3tkBP2Q_Ew_WxIu7DDqYhEaCqH8l1GE91rYCfBHnNKq2JDWPNdo6Dsf7DziwcuUDG-dnRGrcTUwteWqeS7uNvfktsSu6SbIyFycPW1BGqI11I7zJzj8k8655e3dGfTXHxhp67QRvooijsi2GAS3XDYKRm7KF6I2UnH5KkL7zHFmBnh5Hsm2V2Ne0okg4FLiYvOU_bzzPdjEvepblPCvmLx83gV-ymeV0tNXWG87Shr7eHrlOGiYiBV9_ZwK6DCNpiFlXy-yLyafNWbGab6UzrGc1oNnnBc6efPSTuwJ5rt7CSG7OqVnwFeX02CG8Wweg",
  "id": "rs_09129f6cb2aeaac3016aacb097e4a087d0bd861736c01cf3e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.16,\"left_z\":0.145,\"left_roll\":0,\"left_pitch\":0},\"note\":\"The container is nearly upright over the table. I’ll lower it gently to its resting height before opening the gripper.\"}",
  "call_id": "call_ROlQ4CxxQDNRHy8878Ti9xFy",
  "id": "fc_09129f6cb2aeaac3016aacb09a495887d0bb81d14016fb5aac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ROlQ4CxxQDNRHy8878Ti9xFy",
  "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]: [-0.5617, 1.6283, 1.0721, -0.1051, -0.5556, -0.3759, 0.3838, -0.0147, 0.8211, 0.6067, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4314 left_y=-0.1572 left_z=0.1621 left_yaw=0.0902 left_pitch=0.0118 left_roll=0.0136 left_gripper=0.3838 right_x=0.2962 right_y=0.0013 right_z=0.1727 right_yaw=0.0011 right_pitch=-0.0359 right_roll=-0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -5.9829, 5.0256, 0.8327, 0.0464, -0.1343, 0.0024, -0.1573, -1.0051, 7.0496, 1.7265, -0.0269, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:093e3e34e93cdbb6d05fa8bf75e9501e3a3b40f59204dec28f9b446f643b7976",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a837d4286010685e70c0ab56dcadad7bbe250779805ccef9044d28ddbc883f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87574698442e2487e19064224a8d4570e08d72b5cce3098cb359ceb4c4aa45da",
      "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]: [-0.561, 1.6371, 1.2839, -0.4232, -0.5644, -0.3351, 0.3837, -0.0151, 0.8211, 0.6067, -0.3851, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4287 left_y=-0.1535 left_z=0.1934 left_yaw=0.0784 left_pitch=-0.0785 left_roll=0.1214 left_gripper=0.3837 right_x=0.2962 right_y=0.0011 right_z=0.1727 right_yaw=0.0004 right_pitch=-0.0359 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.7966, 7.788, 1.9512, -0.2613, -0.1001, -0.0122, -0.1573, -1.3333, 7.0359, 1.7118, -0.0513, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The downward motion stopped near the container’s original support height, consistent with it resting on the table. I’ll release it now.\"}",
  "call_id": "call_NonLn4quhdmLvZB5iqReVpFN",
  "id": "fc_09129f6cb2aeaac3016aacb09d212487d0a9e3e70c7c100625",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NonLn4quhdmLvZB5iqReVpFN",
  "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]: [-0.5613, 1.6447, 1.0355, -0.0402, -0.5411, -0.3893, 0.9955, -0.0143, 0.8211, 0.6067, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4324 left_y=-0.1602 left_z=0.1505 left_yaw=0.0864 left_pitch=0.0159 left_roll=-0.012 left_gripper=0.9955 right_x=0.2962 right_y=0.0014 right_z=0.1727 right_yaw=0.0014 right_pitch=-0.0359 right_roll=-0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -7.8291, 6.0786, 1.5018, -0.1832, 0.0513, -0.2515, -0.0615, -1.4017, 7.0359, 1.7216, -0.0464, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c11e6ba15d86ef11ecc3ea4e3fa4f2d1060a8c9a236e4c66cf6c6f4355f79f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7bbde11aae3b19f94893b4a3342312370ab7d5bd5163d043cf96a394f01106",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba1c3637cbc02d1223adab6509eec17e271f2b8cb485f93414d6b1d3fbb91ee",
      "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]: [-0.5617, 1.6283, 1.0721, -0.1051, -0.5556, -0.3759, 0.3838, -0.0147, 0.8211, 0.6067, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4314 left_y=-0.1572 left_z=0.1621 left_yaw=0.0902 left_pitch=0.0118 left_roll=0.0136 left_gripper=0.3838 right_x=0.2962 right_y=0.0013 right_z=0.1727 right_yaw=0.0011 right_pitch=-0.0359 right_roll=-0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -5.9829, 5.0256, 0.8327, 0.0464, -0.1343, 0.0024, -0.1573, -1.0051, 7.0496, 1.7265, -0.0269, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLCjPsNPeeRuN2Uu_NfFU-bzQBhO_Rssj_emMzFRxFudgTxjfP-X-vpWCiSWwOuqS_TqSpXo1kZq0rTM-OFB8DHc5AyebBD-HtvdEpwwpKtpQoFHNpfLGrSJtd91DUvG4bh-1x7IkdA3OQzUQ1HoHkoT68xdObCINnLEBy1dv1MVhmXiOcMV9xyl5toXWnwRmLP9pO7jB3PhBBnOQlBewbAar4c1YNPWUbEFYyLz3QjE8mwd8rCZWvrGxc6_hq1gtRUSUf6HciICSOmanKlnlQk4tV_t2gFg9AVKNli3amqok40sYVOHJldVlcLN8rjmPNhvTHMHpzo_6ClborOsZ4PjCY3UZagdopkXcBDM4GHEx_ZNxR5N2u4w2L7_L22wXxb2TVmld1_DcHBstjCJBDg4b4V-7j8xk6NJi71vJ5l1SAxQ2EWc4ytdLsn2ub8e4cTKLiwTIBVJULcOFDAzmOOiF9AKWGy7wIeULff01ZQvRL-N8FAAcfv5JiCcejgavqGRobRUVxQDT2wBKHFVlkl7dl6C-eqSoYAqABU8A2_qGt3Wbuang1sbEB6KpUnk37QWn2ohKpS6B8FzZcnDOLRXDfs4ObNv9X1YANJc8-BOGcrrXFzJBA9jJhJSbffeisk0YWoR1nwEMWNeFH6hWJ_HnB330Jex7LFBe1YqFN1O0NjhSq3IwiL_IGTZCWP5qWv6F_KgjdqS4uSjUpV2Kd7gx2It31gzZS2hvXsX5h7mTEprSsyqhepfc7HtJou66pBrgZuZJPHNvyh3ahGzm2RYCPxCTqN9JDhf-dPDVQ6pBfLuR36rcVBpmgicIcfSu1tPjpYpU6MeCMOpHHY9kWWcinQZ5xwrF_stUMQ4mgCNSVV32EActGJMnMY2OxHPUomxAJafH9hONUTH86p0EiLMtFB9ZDKscNiC4-teKKIsJ0-XTjcExPXfVjgkx5mmZvnNa_Nro1QaeqA6W3uxCP2JCpkY1bTXGxTNt56z1rR5aeHDVH-hLl4V6SCzv_uqqJAUSEsm43WGyF-ycoWxp3DUJSeU07jqFfZqf6rOp4xPjXw2vTVbC26AQsp5t86AePuMSzZYVla13GwN4UuuJu2Y3-typinWiP8DpRryd8NeFRv7_vX00rtVaVC9rMcS1kEVX8HnLOf-4XbQHTt48Ipjhu71MwA7uqm8gqlrocB3tYVJtXQAbBmFpS-iFBfUODgxRz013wrts_zcOdduiT6uUKPWhT5qAl-yk7bIXM5D9A4IWcGsLtkpuoPFqVlPQU6rrg-TMKR0TdPd71KWOD4ta4gKr5LCiP_E3C9c5bQ0P8MBh8E_mCkSsBSnz1RqJRYcWj4QhHJgRqtsPq_2mjyAgtqfmnzLJNarvpLuXQjcReoaBQhegClEMpFktRCDthCnHJGDdUMYpoGfY9Nna0XLI8HcVDJZtiKBpVHWDoafxUe-e5RjL64A2pGbxrAXhmeL",
  "id": "rs_09129f6cb2aeaac3016aacb0a0ea7887d08471e84d95d42a2c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.25,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left container has been released, and I’ll lift and park the left arm away from it. This will also clear the overhead view before approaching the right container.\"}",
  "call_id": "call_RwfYkF9INmmmSnb96HF661Jx",
  "id": "fc_09129f6cb2aeaac3016aacb0a216a487d0982401806ab6a12c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RwfYkF9INmmmSnb96HF661Jx",
  "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]: [-0.0574, 0.8623, 0.8509, -0.5556, -0.1043, -0.0761, 0.9968, -0.0143, 0.8249, 0.6067, -0.3916, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3021 left_y=0.0047 left_z=0.2378 left_yaw=0.0639 left_pitch=-0.0028 left_roll=-0.0064 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.1703 right_yaw=0.0014 right_pitch=-0.0462 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -1.9761, 10.4957, 1.8681, 0.0757, 0.1294, 0.1197, -0.0479, -1.7299, 7.0496, 1.7851, -0.0611, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639559dedfc6a5812ee7c540f31c38a30ecf970266092e10c6875ab3b5bfaedd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471b15f84580b783e5ba6d3332511488b39c6b555372cf2e5b48f3f87469e5de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84b3a08d7ee6905e2c0d178a38c78e680067e32536649adf21a14a6bbe6c1d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 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]: [-0.5613, 1.6447, 1.0355, -0.0402, -0.5411, -0.3893, 0.9955, -0.0143, 0.8211, 0.6067, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4324 left_y=-0.1602 left_z=0.1505 left_yaw=0.0864 left_pitch=0.0159 left_roll=-0.012 left_gripper=0.9955 right_x=0.2962 right_y=0.0014 right_z=0.1727 right_yaw=0.0014 right_pitch=-0.0359 right_roll=-0.0006 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -7.8291, 6.0786, 1.5018, -0.1832, 0.0513, -0.2515, -0.0615, -1.4017, 7.0359, 1.7216, -0.0464, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLCuTUaQzRPK2BRYbtq7mJe_G-lmqLZD7FSkLXjhb_YEG9h276ZdRh0JWRAiyVNuoEAC2JEDJQQui8dYR7cdwuTtiJwVeDPRWFrke8XJMDDnu-swRq-b91IUpo1hgN9Ppfmm1PFsW5t5nhne6SM9yb6jIGFAX_Xg2_05cqVsBZk97gg5IvyZFS3k0QGEdF6Gv17JHZTkMkNroe94mQmDMZVTJN_GSTcr3MDiw6u8A3AXIoE3hjmwqzSMMDobVw29wpq0vaBHjwRd_WWEofpQxBPKXcYIYmhojC7TckWoW49UfQ8IuX_VNAEIhs-K3w49_6candxqLfVmKHDIeplTHton-QtZcH57YBGgjpiCwSUmfj_0NV-YQmlgxCV1YV4c5McKO8uteA1dfgZMF65auLefLzNktNQOrPC-rXvRH5Uzi4N8Fh5za7WJmvA6u5mgFtnbuovJua5uwVtXTg6_DSxkMsFEP4leyXBQw-NOtzjietht00wm3f-Dvbk9EmtoJGuVceBYfIDB0nU6B7-8wZ1Y1o8z3cAgxnZVeZPOEJ2ZSl5reKxNKPLvH1e1a55zC8d_PXFWPVNNIhWox5OpIIZIqUyIomJuQT_jJk--9aCt6QD8cInxEkWNl2yY0RfnFwT5oBUAoW1cfm_uKquT3D0zr638slwPgMzlD6-xIFUSMhwTKRuBubxwjG7ZpK0J4zhJkvHb7OQyZkTrN2U0iFp-Nl4u-JtApXo3zwnsG3BIu_JA6nDruv6_gJ9WOe4ZVTuTygDZ0cEWPS1VU-Fs0Tc1tkw1FapcgLylZcc3ThTAKAYUE-5uReUslv9ejKMqkW24dth6y3Q88_hcID5-UobBReo6CPfK0Ags09TyiNRkTUXFlFbYgZsiClitWmYgeyAQHUoqsOHuR_1Kws8sCTWo36F9-HYrojTGJ7Hy9vHxZJDm8nhZ-fpXXNqBOUjjxvBQMMPPVTR5MHWcVq5EQ9HoKOW1Y_V9pmbEEW-D7lW6s1GqY78mC5PFKliE-AbTYqTA5C_h5mVyuVJ1196vqMnl2nr5e3hAzK29oM-GPdB5iw9i3tjZ59Yc6UbWmj4-Ers2ZO4UmgIElLIRMTw12VriYjRAbyLoFO86rABHhj1GtR2la525NqHYUkQGkrilBjP73Tn7KJdPuZ-Kl76x09HFdt0W4zwMvHO_I7PNE1csDHXWr7UGJI1XbWJGFs9qbpuzRBuMO3WnUQKcUYCT1zBaEaUc3vDKCAvk7kg3fnZUyqj31gSE7vPg5U71fKZ-Z5VSqZHwCoSRA_RFXVTVIMZDEZxMfgvl6jsXEEpj-KU8W0Opoc2KMjyNxBNusjNL_rN_BLUTFaZjjUwaxswpc0oKaH0JtyEWNyCeGkIgk42W9SceYD7rdtNQ0JMXJCT4Xvg6wtkkk5qy4BOUJ0GtI4eYWO-D-plfWn_3e-m8LKTY0VByHExHT9Ff7MqqH9x6zPYcSccMg0rVgCC4wo913RACIQB2AA31hLRkmHiB22_WgwcxizTnWThVUo9yvtkUCkSLe8pIVoeUCufzjop86nlp0xyj1jQtUkqFXq0iQNHtIPpfaGtknS_kZoPb6Zci9sUZgqhZ0sDyQAg4SJmuei1ctIOsCR12oNd08sD1KAS65r3AmFuxEYUZEe9P7rao0XaE46rBMao0eIUwvpzj2RwFwRYRe0WLUSHxtVu2m00tPS9GV3LZhaw60xYZtduX83MfxXZX_qTRBiveOIubJrBCJEFG1XY9aB5BELYqo0BXv9Ao6EWeY5YDLMsFnOoM8-hUoxPOCXOYoHs_qGk-2mIayjpbUsT9KoWr7NEiINJ9piDKNeTfv1T2xb_ndsvbk21r-c7mj1lS-chQYo4dN7kQzlEL_UrYjjufzrjTm4dpKDs-D8ZbYATiLvhPWyUn8to60aYPqsFBKvNxvHmlEcifpekjtyS2mOPY3fus-WyxwLTt5RsRIZyxUoLZHJlinPif",
  "id": "rs_09129f6cb2aeaac3016aacb0a7fd6c87d0a0b270befbb35d48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.13,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The left container is clear of the red cup, though it has settled on its side. I’ll now approach the upright right container’s narrow upper section for the second pour.\"}",
  "call_id": "call_I7Hj0kvaZRaMfKNYMSFJYO8L",
  "id": "fc_09129f6cb2aeaac3016aacb0ac5e0887d0a336117792baddf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I7Hj0kvaZRaMfKNYMSFJYO8L",
  "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]: [-0.0574, 0.8696, 0.8558, -0.5785, -0.0971, -0.0788, 0.9968, 0.5373, 1.2518, 0.8257, -0.3145, 0.3962, 0.2749, 0.9997]\nstate[eef_state]: left_x=0.3003 left_y=0.0035 left_z=0.2332 left_yaw=0.0593 left_pitch=-0.0282 left_roll=-0.0096 left_gripper=0.9968 right_x=0.3399 right_y=0.1273 right_z=0.1589 right_yaw=0.0479 right_pitch=-0.1088 right_roll=-0.0365 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -2.1265, 6.4342, 1.9902, -0.1343, -0.0464, -0.0024, 0.1983, -5.1897, 9.6205, 1.7363, 0.2955, 0.2369, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a83ff8d14cc4da1767bd1c5ceefd834ceda730686dc432021775f058dd5150c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d12a336fb342441ea8e60724de01ca791b688df4cca72c1d5b3c597b7db7e29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c2cce4ea178c06def3721b650d6cb9d95e8af811667af9ddef765b7a1e3dfd9",
      "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]: [-0.0574, 0.8623, 0.8509, -0.5556, -0.1043, -0.0761, 0.9968, -0.0143, 0.8249, 0.6067, -0.3916, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3021 left_y=0.0047 left_z=0.2378 left_yaw=0.0639 left_pitch=-0.0028 left_roll=-0.0064 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.1703 right_yaw=0.0014 right_pitch=-0.0462 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -1.9761, 10.4957, 1.8681, 0.0757, 0.1294, 0.1197, -0.0479, -1.7299, 7.0496, 1.7851, -0.0611, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLCzbcG8tg_GSp3_5zSIlEPOJCA3l3srKODMfNKbmwi8NjOM-QmEadGP1RiP18Dhn1BpdJQMqWRtGUO_9sHdZxUQtJtj2Mm_RT8qbw_NPNUOz3_bJmozx_ZkV7-LD4KUHo8pOOMUuOpdBzRgJO7CSXAUf_eWeaeueFmRRVwROpkmNY36AkmF7HmCTz9ZlC3ZBBgrpXoSdTsItJ16__Q2ez5x-TOHCKuVDPchJM_rqdLlGosq8Ag3YWf2j_yyxhvq65tEIo6gyDgaF-_IfMdFHdnKiNkThxrbnAlPlyX1yb-YeLj1c1CWKEuVyzKkeoVh7pFAu-57hrGFPxznQJDN_mENBemXMx3J7eymceVAMYglqLl5fO5zGk54sRM55cj-lNBGzC8JVNoCy7leIhKB7IWBQxVuKK9dXYQbpzdzBL-s-oniCPTs_vwBbFi-js_2zVnhXAKnlt8_mQNvrFeb8syCUC8KDhtJYn0VAJ9Cc_Lzsdsi1Nbv_QK6XOoHSjz3azOA3E2HBth-De2ow5wR1W23HJmDagKPJh0c9e0JlT-sxi2QzUcVZDL_JFhQQR1CjgNe8mv44UiI_zEsfwdvXiWz7Vp8Gk8gjQNLzoO8pAwBeo0MbKFv60K0gNfh4Cm6vO5v2Y4XPTR-5lKMb6qQbu38Q0YOUdS5KWq7xi3J2W39NTs7cgJPSLzahHDUQeaxiunqAh5OwZrEzSvEGK042XYJzD69oRwJpRbEFpNKnsVsaQEVJWp8Tn7MJZrcNz_wOkkVAHAeRVuM6D-oGQD1c0xv--Xfu0ySgfRm0-oL7IxNgnuvb1KmUzR8rAupIhHdt0PWB_CmcKBT3S3pq_tV4nqkppKi9qkg1E3zOzvUN47Kb6_TB0F9BUaKZJVtb0w2EiaYNvsXKgmN2TYwM55HF-Dr8wB36wXIP_kKRWeM--NGjnLaXKq3T7rxsYIN8rQIRSzc6-E-Cdace6JMMzsN1bAHQSDjsPHEwtaGnuZKuYHOJvPFX104d02SRZpBdeiDpNOnMNZ7zgE2lkx_sNzD-qb6ED29VkjVfh1pNGkUe3bUdYX2j-vGUXQHsuAc_PtyjjLCz5hpwmPwQ1Xj2bSe13NeZ4-5nv9I9IzUiq4HrNPcWSEIMzl49SFGOebHIVqD57m-2inrUQHySf5vH3T2LORW_VlkoHvJMQZeLsqdZAXFDfBajKz_xNC2yZDEE3cLGofQj1v8HH7YhjwGTS7E9UTFWywrC4icO6P5Cays1SApQMnY-pekyARrjMFSf89PEPPA3K8iDtg5eY5pSklI_NXVyeVenXc9LD8Nhj4wrkNLuNzXSNSqUPKUZVBJ-3indhvob1cAHterX0JUID5rTVbZO_Vspjf1fotDHwTKVtJ51vs4DBkHwSNNFTaGDLUxA6ygCR2ztKBaACEuOeuwSCTM9iOoyeUO1dkpKPXvRH57PFnmpPWQ7u3o7iuzcoVx-dl1gRQhz6_pbsXoGPvSB0Ftb0qUxF9xOAEDMx_g614Ou9c-pG3uCiGJtRMlRZW861Un4G-uglsusICWnvzVLkqUeJxGnkxKTkFHfpY-UKJB2_E75r0Ope2CKcmu6s1uzaSI",
  "id": "rs_09129f6cb2aeaac3016aacb0b1079887d0aa45409cde17726d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.29},\"note\":\"The right container shifted sideways during the approach, so the jaws were beside its body rather than above its neck. I’ll raise clear before making any further lateral correction.\"}",
  "call_id": "call_LtpzLoQDNgooSnr50McPXNRe",
  "id": "fc_09129f6cb2aeaac3016aacb0b2b7a487d0b802d3f6f3feb3ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LtpzLoQDNgooSnr50McPXNRe",
  "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]: [-0.0574, 0.8696, 0.8555, -0.5842, -0.0967, -0.0792, 0.9968, 0.5411, 1.2823, 1.3254, -0.767, 0.3885, 0.2668, 0.9997]\nstate[eef_state]: left_x=0.2995 left_y=0.0035 left_z=0.2319 left_yaw=0.0592 left_pitch=-0.0343 left_roll=-0.0094 left_gripper=0.9968 right_x=0.3431 right_y=0.1323 right_z=0.2811 right_yaw=0.063 right_pitch=-0.0965 right_roll=-0.0304 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -1.5385, 6.8718, 1.8046, -0.0659, -0.0317, -0.0122, -0.4171, -4.041, 8.5812, 1.3114, 0.2027, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1e4ad1aeb84eb86ee1ce31b0d1a96c4c9f9ed8a31fce2df955e31e57bd00d78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7bc6c3317c17dcacdac5d1826c1bb9a7d62dfcb46596dfa630ab4e9ecb96ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af4f20b1bd9b47ccdd20549de3e3de3273c49f99cd3e9c64fc778b6cdef97e1d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 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]: [-0.0574, 0.8696, 0.8558, -0.5785, -0.0971, -0.0788, 0.9968, 0.5373, 1.2518, 0.8257, -0.3145, 0.3962, 0.2749, 0.9997]\nstate[eef_state]: left_x=0.3003 left_y=0.0035 left_z=0.2332 left_yaw=0.0593 left_pitch=-0.0282 left_roll=-0.0096 left_gripper=0.9968 right_x=0.3399 right_y=0.1273 right_z=0.1589 right_yaw=0.0479 right_pitch=-0.1088 right_roll=-0.0365 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -2.1265, 6.4342, 1.9902, -0.1343, -0.0464, -0.0024, 0.1983, -5.1897, 9.6205, 1.7363, 0.2955, 0.2369, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLC5sJFTczcvf4icpOddmX5pPvkSc6l_eYM7kuspQBV6DVqyz_P48jrhbtRSk5UlHEvbVnQW25oKW2RA1xG25Q3qA491N1OC-ToTxlmpqO1FyQRZryOQEHwChDJvBho_4xbES7ZudCa72vi51oY76d06kZ0gE-lB6Rr9ovRGqwT0h1JJhQMRS9OJjm5zPxmqLIlnKygE1JYcQKqb6PF0bXOUwEZaC0TlZ783UhvIpixmA0O_a-F8H3684ia-DOCY5hPxK9qt-ve-bZxGq873jPRFmkMFuI5zUacexDO_NBe3YkPBz7W5xBGo8rRJDno7FeOruZTFRUonNxaGRQJkW0mAbkrqyw9orwO8fmrlpO4qS7wWWjO_X-RcOpNMAhGaM7AeGen0VVhBkdj1_PI9cJzHy_-5V0M7wx1ZIGxQagK6LLJw_Br7KoKVSA106GEG8IIZWrSRbRC6CPpLWh1o_Wzo9IotZDWJXNcPuCC2I2eKr53vmADbcOe84mPVY7MWelPvrIxFW9KtjeWPAyRfE8a64bEXtUgM7bO4wsFDXwKSiJ0W3bIQz_0JXzy4iKDYsPFTkiyswTk8CNFGEsfCT2a1J0l2Nc8u84Thh3-mJJvBJtTO4Izyg8AcutYzOMOWS6x7ITeGtx2T33nzVjDLincgPgXHsLLFQbGhoikZjlbCwG_gKb5bmHczbf1AP-1n9wdZnsWaUHE7nGw0fw72wOveiC0nHOciiIiIuRCd43nxmQEPjHAiEC-e7D_8S7yWkpy_2AI0R4V8dKyUbIx_Rbzghef-xWhvwRuiOKhipZbS_LcEPd_RJGhblRtxFzXpmv-HhXD0xucCWfNRdrxKvoKiMMd_ceQpU-Ni7qwJk4TPJizMMgE02UKkSnM-1JFW33Q_F-ofBmdss0Gfe3tU3x-C5CteZesd9ZkPXKD3KQzTx4No3_KB-lIue5SW3nCUfkCy70_C0QAqvAIUkPL22CPYAp2VyWOgLKoJDRWS4VkfbdxgHdUxddxQmEJdfrePDZakXOhGeP6KXhuXUkjhCNMqx3OWIj5itzIRIqSHBe1H4W168Ed_cePQ9B6YE6l1V1i3JDw4WYpcc8KsyL1TMBNs8YUy3TDkXuS2nKBplvHmDWApoyvGaxWZg69pAK6BKCQsVJ9aF8fmbODyqu7KU3T5s2M1ciponA5r6w22jFKB_ZYjYpptWTl3OsoxXTaplBm8mLHJVNIwMgVIH3NY4LT3oTk-cHIGZCqqii3Wie0SEoRHLauGtMZ5HLX3kCZlmfGil6tSXagS1FNcRuoT8KbZk-lbMi1QWn-d57S4CDf6I5g=",
  "id": "rs_09129f6cb2aeaac3016aacb0b6dc4c87d0bf489180e19a6a8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.255,\"right_z\":0.27},\"note\":\"From above, the right container’s neck is well left of the jaw center. I’ll shift over the neck while staying above the handle and body.\"}",
  "call_id": "call_UPsadrkNHb8icO1MzxLnpnSh",
  "id": "fc_09129f6cb2aeaac3016aacb0b824a887d0b48c2703020564b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UPsadrkNHb8icO1MzxLnpnSh",
  "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]: [-0.0574, 0.8707, 0.8555, -0.5877, -0.0967, -0.0792, 0.9968, 0.804, 1.6615, 1.6054, -0.8104, 0.5503, 0.4461, 0.9997]\nstate[eef_state]: left_x=0.2992 left_y=0.0035 left_z=0.2309 left_yaw=0.0592 left_pitch=-0.0389 left_roll=-0.0089 left_gripper=0.9968 right_x=0.3656 right_y=0.2515 right_z=0.2531 right_yaw=0.0941 right_pitch=-0.1451 right_roll=-0.0673 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.6615, 7.0085, 1.7363, -0.0562, -0.0269, -0.0073, 0.253, -8.3487, 9.0462, 1.4774, 0.5201, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779e3a064f6e53d5efdca32dde649e8e0decb34a0580faecfda814bf6ff8e1d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929f6f878609e317b69db77e27b246cd5196f64b6359d93e10951c3eb23ef133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:393c8419eec1b12dbbdc9a62b6dcb2bdc6e202c26af8cbb03c4f3e8f75985a27",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 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]: [-0.0574, 0.8696, 0.8555, -0.5842, -0.0967, -0.0792, 0.9968, 0.5411, 1.2823, 1.3254, -0.767, 0.3885, 0.2668, 0.9997]\nstate[eef_state]: left_x=0.2995 left_y=0.0035 left_z=0.2319 left_yaw=0.0592 left_pitch=-0.0343 left_roll=-0.0094 left_gripper=0.9968 right_x=0.3431 right_y=0.1323 right_z=0.2811 right_yaw=0.063 right_pitch=-0.0965 right_roll=-0.0304 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -1.5385, 6.8718, 1.8046, -0.0659, -0.0317, -0.0122, -0.4171, -4.041, 8.5812, 1.3114, 0.2027, 0.0269, -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": "gAAAAABqrLDAKEUPHkqsv05G-epk9hH8NtEClub-8YaikGIFfHJ59EpBSB2DE19gKhVt0KOUak08cJrFomxHB7LyvXkRWX_zXg0lD53QuqTt27jAo_Uqu-mzsha-4y08xxh7Tngme7nDFeKOd3xsB8j6Rc2955Px1atdo82hCp96XmVm1qTJzweXeIMMOTqFr6cFwXIeXssYYaDbIP5mp6-dtX69ziHM7riwtwpC46cgx84gCkSXnLe-ceRY_faWiqTaw2I9nhNNa4eEZl1Qjn2lUbg10N1g1mbouOZblzhQTbxedB3CrpSgyhd8IUlfpNSQL2IhqLSImBc0F0qNMtGJ8SFT5wL1D_busLfnlPTOozapS1wRP2iUxAdRvbtUTQb8BbQtHIWMjmiB0p_ZZU68vPanxkwfHttoKHpvpGfpTSo_qLvh7o-2G9x5I_bW-_FWQF1WCW3hZDLGfohb1XTYx6oBSTrdOVPEXbol4I7eWJU1dmXmB6GwygB6Q6D77vGKUdVJBEaMWmY4_yCJpYaU8gwUZnOUd_mgbgupUkFwPD2qemcbai_fo8YyKZzXo2sfsdopVPOz2AxZy8QZuyhAOKMgh0mwEA1KU8iYMr4PTheC3t2TLd9I68QfLXjzDHNLWHIK1QNtwfvLs9kdfdbMxBJaTi2XytScYR-6AJ4Fk7DMKlFisyZ3Sn7H9JM2rOTo_gVazYwii2tg3zlfEu5BVDo15lVUwBV9JbWsXlFsJi43TTiZRVxvLN0WLUWWLWJCc0Cbfg2xVrw94FT-LzavDkCWhY-Qy1ZPCoZS3uSwCKUkQABZI8Vq8PVbsXY1WgQZbEqkcRIK-GGzbueu6l2ltk5vGHrS4WIHRnm9JjMksVEaGkxzQBxTkx237TzI6sb2xP4bGZba7CONtoul1A_cHmDsEdpkytOHW0YAsAdLESgsnlLqvDWX5Fmtb35BahuOEFvPmYE1KcBFZBZ2ycV1vvRdo5XWEAYFm-pbv2xOTnqdtZfBmbWUhaWKPdE43ZwlriX-TXVc4Oe6CE4D6tlkGfn6lvWHIKbbICE1pWGNmU3MPizugf2NPCg8CQBlUJffi4Sej4F3C0MEKJH6hK_z5kcCOyVBIPSpZQzhA6K38_GoYnXsm3-j3gT5dfoPm9teQFREWHTbh0BvagrbmmWKUzxBNICeHpH4a8tb0cpQp8v3rr7hP1mkua96NmuyO-DCCyZ_zzB9YBNg1ddrpGO4wHguBJia42esSeccvmWNVuN7-VYJwfnO_dbruSTN80_nJyqVWUhi-Jih1iTAzcrcbrTUTEuqC1JZv3cSxpRqr0ZP7ilqndjbfLDKEGkMACEIO6xnwP7ko5ev2zAuy3U2uFwy2y5v-w5sU6NX-7xPQo8w1R373XE07b0KrhM1mizUqTnFgUwak8J56pOuDoBvVEy-l-aaSxE8VbeALDNUvBpzcDsK-ccl6OMth3gwU49y0qlCnLfj",
  "id": "rs_09129f6cb2aeaac3016aacb0bdb62887d0bccc08810260df38",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.245,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The neck is now near the jaw center in the wrist image. I’ll make a small forward correction and descend around its narrow section.\"}",
  "call_id": "call_OxEC7muofuBJLHnRJyOVHno1",
  "id": "fc_09129f6cb2aeaac3016aacb0bf357487d088f162bcabc65a14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OxEC7muofuBJLHnRJyOVHno1",
  "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]: [-0.0574, 0.8734, 0.8555, -0.5903, -0.0971, -0.0792, 0.9968, 0.7727, 1.6173, 1.1469, -0.2672, 0.5613, 0.3916, 0.9997]\nstate[eef_state]: left_x=0.2991 left_y=0.0036 left_z=0.2296 left_yaw=0.0596 left_pitch=-0.0441 left_roll=-0.0081 left_gripper=0.9968 right_x=0.3785 right_y=0.2427 right_z=0.1706 right_yaw=0.0916 right_pitch=-0.0425 right_roll=-0.0338 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -1.6752, 6.8718, 1.7705, -0.0708, -0.0171, -0.0073, -0.7043, -7.7197, 6.2154, 1.1209, 0.0171, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c87fa08af3471714a86e82334f66216d859b96d0dfdb76a0f814006f6bebc15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae7d0d3a13793e918a200025cc9e5b20a4b87adcb4f08304a3fd8239d7c6b26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c23b6b8fbc0e4a92497f21fde3584d211457609e3b012f43e36846c4d154483",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 106 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]: [-0.0574, 0.8707, 0.8555, -0.5877, -0.0967, -0.0792, 0.9968, 0.804, 1.6615, 1.6054, -0.8104, 0.5503, 0.4461, 0.9997]\nstate[eef_state]: left_x=0.2992 left_y=0.0035 left_z=0.2309 left_yaw=0.0592 left_pitch=-0.0389 left_roll=-0.0089 left_gripper=0.9968 right_x=0.3656 right_y=0.2515 right_z=0.2531 right_yaw=0.0941 right_pitch=-0.1451 right_roll=-0.0673 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.6615, 7.0085, 1.7363, -0.0562, -0.0269, -0.0073, 0.253, -8.3487, 9.0462, 1.4774, 0.5201, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLDIvaEaVxA51rt0OpB3aKOcqxhDZDhFKkC8ocJvr4ryzrU-ey4T1ukA7gE2AxC-S4fDuc1_G8M2IfYRduj6lVB2ReZF7xw2bGXQzISyWDyGtgSKoQNGzJFT-o6dcmM5rbcAxou7dz03iiDtwcoCkkm9QYieGRCWxcSWiK-cgW9mhuSGgJmIla8GI6UGP-zgSe47bwZGZgqSI7PthFCDPB5cRLhJ4uezbYJdfK7EM7eyazFdb0hZQ5h5y2RKL3A3r1jb7As3ZcDYvWT7vnFU26yxLRuK8fBLZF1kOccIbAsrYnnQcvGQkU9Rcl4mVmn5AApRBzMyB6VCAc7iWcxQhtrjwhGMxhvOBeYxnrRjWX3QPnQtEvy94X07VGY48ZhBZuZpaOCPtl8wtFNHgpHZ62KJMSSoSrNxVLZCw5GCZ5xWdxhS22MULF78jwXpyq-OeItWRh2iXS82jU1TUma7BjmXyTY5XIysOt3bJDxh3o_8Sh2FnvVC-umlloiVdUHXUFi-JYB_6Qymmm2nKQy_vdDqFXerSoTsbwrmJf7zhFcJFQkLEIpaODw9pHqXAOZLZu0gW8qfw9gFNFN4pp8Hf_3COo7Tnar8_lcntMcxUjAqwJSC-VS8GpfvYiYwykhlO-bvi1K570DU0FZg1q7y6a3BbsZ2MEeLxx--iWcNdhX7OEr94cmCOH988tu_EblAg1OCW1DNu-NM4V9r1CzrO80PV89dyuMszCI0WCDCMIK41YHKgjClfctYkeZxvB2jMwREIe_QfGeCTzxcMDVNlHAAeB625RN1y5dBdxu8p1TkPm-vXSiE0OALyVHukZilAvW9mVd-zAsc0dEw4dKir1ZkCKlJIQ2ww-HRmxc9mdTkgIMz_p7pmlXCTw48WM1voHMFhfeodqlNqnUuFT4QmfF5ARfabp5MOayVB3gAreWkUfAnx1JME-PnCLbx3xtpt4otsDw0EiRMIgTTOdcGadCwZGXrUSkm6Vbcp5dGsta0a9hUtJo5qJ3m9Cq3_pb1Xg8WmL9aKAYXiGFVR7cyG4h1jBz6vMmaVm9xyANEl6M70DgNUYWfm_wuxxVk8Hy5U50kRwwLKvNrNV6_g59Ey9K6knCVvkibcpQPeLsUG8FNx3V0wnMQYJhp_2CnsU5eT7bHO_BGJVkFML_gC0tPQ-l_yfXHqpD3d-hEFP0KsX4pzJpawgD2UHhikGyJ_tdwpg8Evds04PazQW7pYlH2yUmQG0yOOowiTUTkoZ-yxjmuSjvFPqraZqdl_MzN9GUeUjDTzS5lL3Ey6P8owIKN91RkdX83LA8BWnUXSObCFmYB4JKwJCXR3JjP7psegBWm_9VwXKrdZFbIgoQwPhgJnZSArMvQRFHBGfSfSiKFy42VOAk-Yv9mQFHtACoU4noRimx8sGWccpZgJgkkE6_c4lvsyJXvak2E3UD-hiXuS-0_ZPd_71nL_57hr_sRcWZK7rEWd0b-UvMNVzmDRZdjnorGASRtH8K09533-V98I2DmawRHVZXhJa3g-PTxff0wN63GLPdNFjplhs4HiMi0fy6KdEVwkVBslFNh5Q524_WidYEauWLJiBJJzxHNUs452m37KiGMRMVIyAdX8huerEkhW2V--eLFWGhY2pE9dhzuyYhiW8CG6dJFwHnGDqi64JWT9Qj0U_9h68KmuM6eGyVqheFhuwFYooM2lOz0iCevauolTaa477eNT7XuVlBeMCbprExRxGXIjm9J1e_tEpR78DlJjX_qYRwgDSnI31nANpZoVoTdFV1sbXtNjt51GhRtUbdD1sewUsCuuNmIFawOCfcMgLLe_WmvvFbGA3P-C47LzQv_QR8w1ZSsX0WpFTX4-xUt1tFmO3YyeOLbBpx9EBqdhSNzPQCpvR1z07zL-Tsi2dYoYl01PZ-H2wRWR21afc4NrlFok-MbBW2JiOAsklAOaFSOhLe_WpXJM-Bn2VF3gnClRIV9KZ3VoGXveFNHozauQRG1o5rLceENq-tjlCzDiAdAmoCnpFLLsz5FH7IuQwxQ5tzSVTAEUresexMt4tRpspzrDSSV4evPB1sxdseOAB9kc8ImCS3VvzC20js5S5oHxtm5MCFRko_xtaKr",
  "id": "rs_09129f6cb2aeaac3016aacb0c2d19887d0a3447c45d034097e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The upper container now fills the wrist view, with the neck just beyond the fingers. I’ll close gently through the controller and check whether the jaws capture a solid narrow section.\"}",
  "call_id": "call_YYOGGyKNMtE64kiyWIaHKtyy",
  "id": "fc_09129f6cb2aeaac3016aacb0c74df887d0b9d963cc95cd99c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YYOGGyKNMtE64kiyWIaHKtyy",
  "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]: [-0.0574, 0.8753, 0.8555, -0.5903, -0.0967, -0.0792, 0.9968, 0.7712, 1.6165, 1.1362, -0.2012, 0.5571, 0.382, 0.7558]\nstate[eef_state]: left_x=0.2993 left_y=0.0035 left_z=0.2291 left_yaw=0.0592 left_pitch=-0.0461 left_roll=-0.0081 left_gripper=0.9968 right_x=0.3839 right_y=0.2479 right_z=0.1773 right_yaw=0.0992 right_pitch=-0.0006 right_roll=-0.0045 right_gripper=0.7558\nstate[joint_eff]: [-0.1162, -1.7709, 6.8308, 1.7314, -0.0952, -0.0269, -0.0073, 0.0342, -7.5692, 7.6376, 0.8718, 0.1587, 0.0366, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83688dcaf08887610c82ecda4b369b9f249b2e2c62335d1e788f53581c31675b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:631fd7f5347ce859b5d498fe0f5e3d5180e9ec192edaaebb07ebd1d153f8261a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de275ae42e574cff7f3cf60354cdee46f54291c8ebcae286448ee2222f5cf2f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 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]: [-0.0574, 0.8734, 0.8555, -0.5903, -0.0971, -0.0792, 0.9968, 0.7727, 1.6173, 1.1469, -0.2672, 0.5613, 0.3916, 0.9997]\nstate[eef_state]: left_x=0.2991 left_y=0.0036 left_z=0.2296 left_yaw=0.0596 left_pitch=-0.0441 left_roll=-0.0081 left_gripper=0.9968 right_x=0.3785 right_y=0.2427 right_z=0.1706 right_yaw=0.0916 right_pitch=-0.0425 right_roll=-0.0338 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -1.6752, 6.8718, 1.7705, -0.0708, -0.0171, -0.0073, -0.7043, -7.7197, 6.2154, 1.1209, 0.0171, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLDOO26P65torBuybjbD4tDHSyj2BfE7neHRE1zitv-73xk94PJ7MCUaTQssXUNd-_bHdYiLG1jPuAnaSN-UmUkXcU4-4U_5wumSo3mzK3M0LM9frgmlk8zvCDTJWV7YsAE2QTaVsK1sKcgfRr2iohr4nLSFfi2jBCMANhpK8-m8mDvp8Fr5TIuIFYMvaeEFLr3aBRsVNyWbjHKXkvA8wVANd2A_VjabK5YFYVca8Ei2jiM5QQSg1YKohvl9QqKfmeujqfFIExpq0c859FIzY8aQ7ZtxQQgviMb0lBpGyacUjE4-Md6wyNXBYQhINSrr0fqLqpVzs7loyZXuj_2dQ7DhYRDzAHKY3XV3kCu99wTgeCfptVG3Bcke_iQZHLnxjVbjArvWYgbksvtgPuq-Mc6zutH-Cg9Q565MdeKKLLgDLCSJDb9MNowMPe6GddHPdaNWXvtfLHCq9tImm5anFKfij0ovJXyWtK0Nyva4a011suWOfoOeZvK833T4bvRcLVeDBKw7MyOQxt7r8ioZ_0lJB7ReWtEuNHWith5RYk7PeOoOP7fPf9RTBdOXS83muwbUFLoGFvySsD8l3DX7Wxrpzsy2zQq-Nya3T0R42vAuAquUcLPONY-QTtFG19t3fpwFmo5jjylUTL0bMeXsEqUsn2uoGitKG-5B3XgrT_ETFxoTDGN7n5qwjt_rQUR2uFNQi02Z7xwDjlZtxa2nGayXOhzDnSgOOYblBs92Uh_jV3g3RfZLdiw6UULLq-rfWM_rycTKlYBIcP7MuqZh23VXTVX2EUGXY1SpFiEZ_-IaCUgBxfhohSxXAttF-4FdAn6aLkXaAzFomtcICTRRSxDCaxlgOfCYeMfeEN2xfLe7afi85mPRrkBdD1hdeAxmYi3w7NaE5roAytux8eUeuCCwB8UaCttOQl2QLFlJ69Vs50FaXvvjoXYTUJmfi3_t1pgTEA0K6Xpg_M5_Qfx83bxviW2yuvllLQ0axMz3BbhzflivqWtuohj8tiHntLW5VkGS58N4Ru0wVlesSugKT-e4J8v8nyvy9trx8ZnTU60ZNoGVt_GT7BTBXUJ2O8RvT_WAqncfidGAWJwCuh9NN5_Kjb5aDSwOGOhNFVdcviQHvkUjOPzlcQMi8fWadfTmFvtgmOq_oNT874M47pqeMIWhOtjoWHPnfdqeehrzhnBEVqvMXQAndFvZSmg9sWqBgW7buvlswAmSaM4NE3cGcn4yuoknbUCLaV1NWjuMD9bUZHF5GoYeF6omBlQJdRlf1HMs",
  "id": "rs_09129f6cb2aeaac3016aacb0cc0b8c87d0b87010ef2fd61961",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.235},\"note\":\"The jaws stopped at about 7.2 cm, so this is a body or shoulder grasp rather than an empty close. I’ll lift a few centimeters and verify that the right container follows securely.\"}",
  "call_id": "call_J2FIcEEeWJMLZQT8lujHKzMe",
  "id": "fc_09129f6cb2aeaac3016aacb0cc97d887d081114494e6dd717f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J2FIcEEeWJMLZQT8lujHKzMe",
  "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]: [-0.0578, 0.8772, 0.8555, -0.5911, -0.0967, -0.0792, 0.9968, 0.7708, 1.6146, 1.2827, -0.3775, 0.5396, 0.3779, 0.6751]\nstate[eef_state]: left_x=0.2995 left_y=0.0034 left_z=0.2284 left_yaw=0.0589 left_pitch=-0.0487 left_roll=-0.0078 left_gripper=0.9968 right_x=0.3843 right_y=0.2517 right_z=0.2084 right_yaw=0.1144 right_pitch=-0.0295 right_roll=-0.0163 right_gripper=0.6751\nstate[joint_eff]: [-0.1983, -1.7709, 6.8308, 1.7411, -0.0904, -0.0269, -0.0073, -0.3487, -9.7846, 9.7983, 1.6288, 0.2857, 0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f897548218b1cd2ab756fc4a8679a3d1088bc3b63460c98443a813ed56c2361d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05d861638199f8af5c8c4a73c83eb063e1be69a8f7842f66c2ca8e7f2a95eba8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47c1db1f5ad25a8dc1ff3c1a86ef841e256691249d8d30504697789228961454",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 114 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]: [-0.0574, 0.8753, 0.8555, -0.5903, -0.0967, -0.0792, 0.9968, 0.7712, 1.6165, 1.1362, -0.2012, 0.5571, 0.382, 0.7558]\nstate[eef_state]: left_x=0.2993 left_y=0.0035 left_z=0.2291 left_yaw=0.0592 left_pitch=-0.0461 left_roll=-0.0081 left_gripper=0.9968 right_x=0.3839 right_y=0.2479 right_z=0.1773 right_yaw=0.0992 right_pitch=-0.0006 right_roll=-0.0045 right_gripper=0.7558\nstate[joint_eff]: [-0.1162, -1.7709, 6.8308, 1.7314, -0.0952, -0.0269, -0.0073, 0.0342, -7.5692, 7.6376, 0.8718, 0.1587, 0.0366, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLDVURCzUsAo7SLgsz1HgmpF-kks0Qi3kmqHd00vrn_1Z_yHg6k-q0zCfdnysyrdOjjQ6mHM-Yz23WQ8vkhkM2wAsWTV2CKezYdn2FnlPvO3lHwsSPxQ-PmnsnHHY0rAaglOMdI-ILLbGubHPjzhX6SuLXQnsKLM3Dfw-x7r4_tBHhP4lwZqX_HxwvSFfAr_PQESCZxEcxLaZVW7sAC5Kamsc8SLSiLbrrD3VV2R8Mn-uuSaIiEnkDLR3pFDG6NlRanL4303sB4kNb4MYE1xxbb9hl3jBY3MwRIdQHIxPr82-Bn8QRn-gy6s04mcK2WnvQKjBg-CL6PNRTxZfo05Y9Gz-431AMicvHoAAV8b04uKky-YRS3-NGfU9V12b3ktRuXa6owQuwwU6rUjNtYUvS_qPJxsb-OZlnkeyItK9V-0NKsh9Fojxq--M-3k7VK43X_0ejGHGwarnpBmngb0tCej7KiRtbhgAJwFzlr3br_GzA3RW_HMEAeeSPUQmSfPyWIaW6OSw0ahk3vh9LWlSZWmSAXIuVmV5EzWwYd6Wnv2CWP59z5wLjIZ8L01MVPJHfQBIV1n-rLKavL2UM6ok3Yv9bRZjJcsBoZ0L09sS1YVjSXTrU5DEVIx3KkjEr8gEgjwElmXQTn0yxTNJkDURDI6MVqN1bs17dY9WoLjjpPWtHyR8IPmj8NbDvXcjFHqRQRRLvVAG0yyFM5J0fNxX-sMNgrKO907mpBybVZXXZ2o2bONbd78xo5v5B8qVHLfustV74e-u62GoXzigbi1AkOYfbasYPIIM8_rH5kJZWhRx09GNymMHug_67w4eVmF3xDP9Cnj23ieKTWY5sve-IaHUO-_84AUeZ6UVtpUlurDwQXDzCpOu9j9UM3vzasWIVCda_zWhv5A1fuYoJFHIPFKhjxtlYkSG--Y4ggmJqpWvTSuKN4VAMe2kvNNnzWtODjCwOaHsqOOKujHF-EYxQZUz221zTA4BnOsHl1_kEWh8T6qKngynF5PWYVO69hJlgQSMrySdksZl3DJF2zQWULloHwVw_1WA-jJQhMfE7aAuj4of_jFKUWKDAWUVZjhJth8FNo2d0pUF8Zb4SVlHOggOAjBkJXQTa12leWZNI6RmV6pQv6clnz8XlxsmfiAdktnIxpJDoh5tt1uv9iGG9VvuBeaQVp3E7h1fmcHZMganr0W0bIv77yHyugxFgy3wF1Kxlv2zTiHheUokUNDDvc2mvx-HIEvFmUII5K9Dq2Axpu2TETprh-iFytZh13PW0lMHR5xD-MN2xRIF-VJvNqWjZCLN46aUwHPFVe0HDK9ZZaSIgUfHhFdHJhk8961jT2-SK0EaP-1NzhzRVLMKiVKXucAtdMRC9sHANOss2RkN0GYXSP3YSu-1gUudnPd31IG8OOiDzpPLqp74ITROZvWwC3km96gC2w4CsadvOIcLTa58ZeQctbiZbYVt_6vx0z7ysvKoG6IXpvCAfiOrZSDbMQjiQYBOObFdPDhQR3WNt7wXsdSG2197qSDmqOXF3hG4Eu_wvmDpHQLEbtoEj_wgHe9NRBpKtT6QHrrfa8ghnDPMTIrYrTAAFRyC-xArj3WgL-irCe8myjdcrNioZ4IqqlvR54aflA7nhJ1enagDlPRlrssH_FB6oQVOsttzd6m",
  "id": "rs_09129f6cb2aeaac3016aacb0d18d4487d0a67ab766a7780511",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.29,\"right_z\":0.31,\"right_roll\":-0.4},\"note\":\"The right container has lifted and remains held. I’ll raise it clear and start tipping its mouth toward the red cup on its left, leaving the blue cup untouched.\"}",
  "call_id": "call_DoQ3mwPRyn99JLgqi5ZOsnfK",
  "id": "fc_09129f6cb2aeaac3016aacb0d45ea487d09e6624b605d28683",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DoQ3mwPRyn99JLgqi5ZOsnfK",
  "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]: [-0.0574, 0.8791, 0.8555, -0.5915, -0.0967, -0.0792, 0.9968, 0.828, 2.0022, 2.1223, -0.894, 0.7162, 0.1837, 0.6776]\nstate[eef_state]: left_x=0.2996 left_y=0.0035 left_z=0.2278 left_yaw=0.0593 left_pitch=-0.051 left_roll=-0.0075 left_gripper=0.9968 right_x=0.429 right_y=0.3011 right_z=0.2988 right_yaw=0.1401 right_pitch=-0.0226 right_roll=-0.3115 right_gripper=0.6776\nstate[joint_eff]: [-0.2256, -1.6479, 6.8308, 1.7167, -0.0708, -0.0513, -0.0073, 0.6632, -11.2479, 7.8838, 0.7595, 0.6813, 0.1197, 0.2466]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e4f90df1c44c3fa0d86987a6efea393894488afc55f0799c948f0e992d529b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8e324c2954ebb1e9579c77e75269a793ca9b6759b30b78b23ae8ccaa66c43c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc5a8e8c9382e4edc18dd15157fc6e055a6d83e6ca3c10bc3a75ad5808c52ff5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 118 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]: [-0.0578, 0.8772, 0.8555, -0.5911, -0.0967, -0.0792, 0.9968, 0.7708, 1.6146, 1.2827, -0.3775, 0.5396, 0.3779, 0.6751]\nstate[eef_state]: left_x=0.2995 left_y=0.0034 left_z=0.2284 left_yaw=0.0589 left_pitch=-0.0487 left_roll=-0.0078 left_gripper=0.9968 right_x=0.3843 right_y=0.2517 right_z=0.2084 right_yaw=0.1144 right_pitch=-0.0295 right_roll=-0.0163 right_gripper=0.6751\nstate[joint_eff]: [-0.1983, -1.7709, 6.8308, 1.7411, -0.0904, -0.0269, -0.0073, -0.3487, -9.7846, 9.7983, 1.6288, 0.2857, 0.0464, 1.0281]\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": "gAAAAABqrLDbnnTO5XHwQv-rbk_v9TskeDTxr8p2mPvLlSZUQDmAYOw63uglUa8ADQJhZhEquxlWMhhCTOEilE1iBGkPYpXqbvEsSl_BlQ9gWYGJ6ZV-nGXuSxdN72HvFCq-4GN3SA2wS9oA825hDnY0d_9WqbiV_Acy3UeqP5qxNswvFejKQ-f68o6OERKq3VHDpm01tUybeoEoUSXf3fA3nVZ3i85VH6-_XLuflpcfV4dw7PIIUyouVBPH12OmS3EkM7PyLU0DjIEuyQXb8uNgmi25c1DvAg4bFKKGWjEi4-NtUvp3bh6dN2VsJqDkVQJS9CRQXF_oKchELebKLWjnCJ0-JDdlz8JotNYG5WlnfgaMzeZaHnJ-SPeVGVY1aZOb6WJYjo9UBQn9DIKBiXNYNvPKkJjvtMnq-ENJVQMbo2g5RXUm5xlFbbSTPq6bvD47BoUH5-dDhb7r2ZXVMc82Y85-FAmP9vG8qen7dQ8PXS0mjaLP-Al8cumAs10oTiWqwTBZN5Denyh0TTkETXJEPi29lnV4FaFEL2BWVieGn595kzEg__H8aYso16md06fQ58gUWlssKcjLezzZ0QtgZACci39fjNxELon8ir4DWaoFMY_yaXfKn0QEMwn1eA6oCJgv8g2gnFfpaJqmbgh6VfuQWYG0EcVax_wA-gj_x-A_Z7VJ7GtRNHAB_T-vN2hEdHUntKsD4HT9X41xQNVZCjqRV3GAOMQoOrI158JkWw7liUwu87U8OEZyQ82mdwv0XTQ62LUu_eGiu41RHS0t1AfDo9fM38rYpY0_dEYTMMYKKZELJF5td6nkXMJsYK6DR-zEzAoaxNm2BLoZP14otQ7UJwwoz3Iu-7ezpzM9Ytu6kJm61pUIMxIksIOxAySWw1f7NQKEnx6o4mIrOkDgyzzKIYyswfq-YErh31Ro5MtkU_a8_4eAhB8eQzUV5cxGtMyk6zs5oPIY4SPyheXh4AdVVArLSOZAWKjuWSFeQbZDoTGUsJMkIFkNfwh_3q201mRe4zog0oYyP-cKI1o_QIrUM4po1yhpRvwIqf6sjm7eNLaFnhQJrIf-8OzofzKY8OgXAWcoKBD45xGvy-STBEACkpYbGS47F40iPa72gjBvBGoVLMYomzPEk_VJV-Kw4xTFmm2-Bb7yrOjif-PIqhpXsv6K1c7M1Yin1R7d63AnHWW8dkad7wiQEEuOjkIQf3MZt5Ga58YUQdPeSMLjkcq2UXsRQGgB9vL4UX7niLWvps_ziW3eJ1mb5-nJuaAveaqyB0A8JxVRiE6K6rBW6g6jF0CrXZeP9_bEf35dH4nJs7PjQEnn2eK65Ly7PsF5hl4lUHWsiXI6fTRj6zlDfwVl6SFPx0YRB1SVsYShvlSGkghNSzUx76jYL_pQJm_gmkY1g_WvK1YSgNtc_KZyXwHtX_tpPTGI32zzFRy7R7jPq1bh6OyqgVNWHAAYTz9sByfBusVoShtGbJ5oR6T2oBLMVEP-sOWW5WI1qbVAf8RdirrtTVMpwrHQ1Uz9RKFFnDANlEue-ovign8yRNRonEvB85LVgdUKjxzB8lO8-pQs-ulU5zc=",
  "id": "rs_09129f6cb2aeaac3016aacb0d8120c87d0967749b895f3abc1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.28,\"right_z\":0.28,\"right_roll\":-0.95},\"note\":\"The red cup is visible to the left of the raised bottle mouth. I’ll advance toward it and increase the leftward tilt while keeping the mouth above the rim.\"}",
  "call_id": "call_M5bs3iycZ6FfnNNFUoK8tCh4",
  "id": "fc_09129f6cb2aeaac3016aacb0da91dc87d08a52277f1b9a4947",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M5bs3iycZ6FfnNNFUoK8tCh4",
  "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]: [-0.0574, 0.8803, 0.8555, -0.5919, -0.0967, -0.0792, 0.9969, 0.7906, 2.17, 2.1601, -0.7345, 0.9482, -0.3649, 0.6805]\nstate[eef_state]: left_x=0.2997 left_y=0.0035 left_z=0.2274 left_yaw=0.0593 left_pitch=-0.0525 left_roll=-0.0073 left_gripper=0.9969 right_x=0.4806 right_y=0.2867 right_z=0.2704 right_yaw=0.1703 right_pitch=-0.0656 right_roll=-0.8778 right_gripper=0.6805\nstate[joint_eff]: [-0.0479, -1.5932, 6.8308, 1.7314, -0.0904, -0.0415, -0.0073, -0.6906, -11.4667, 6.3385, 1.6386, 0.6422, 0.022, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dab991b36b1ae1f386b1c03d5c25ab5d0c7a96a02dcb22c34cf8f9af182b554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdd3660e6c9be0755a473e486a6c97db9a33d905be0664455e8121ce4531c5c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6b9c9fa5afae237d86d317d1f2a163fd289b41315f65d44fdb71e2b1234ada",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 122 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]: [-0.0574, 0.8791, 0.8555, -0.5915, -0.0967, -0.0792, 0.9968, 0.828, 2.0022, 2.1223, -0.894, 0.7162, 0.1837, 0.6776]\nstate[eef_state]: left_x=0.2996 left_y=0.0035 left_z=0.2278 left_yaw=0.0593 left_pitch=-0.051 left_roll=-0.0075 left_gripper=0.9968 right_x=0.429 right_y=0.3011 right_z=0.2988 right_yaw=0.1401 right_pitch=-0.0226 right_roll=-0.3115 right_gripper=0.6776\nstate[joint_eff]: [-0.2256, -1.6479, 6.8308, 1.7167, -0.0708, -0.0513, -0.0073, 0.6632, -11.2479, 7.8838, 0.7595, 0.6813, 0.1197, 0.2466]\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": "gAAAAABqrLDkTCmpjsgAZKzTGqX8aRym7IORAnF2BKV-l4tHaMrdlJy9VVOWsw5WHEG_wc8tAyh75tUfkh7rTsz78P63zBASxq5yUwdiiwML4qR0UwD--cEfecM0O0oKrTAoOEfSnz8uZ_5K_UwNhRjKB7rWPMM6JCWpCYmPhlkpMlCdZHPzlsClu_pObgdZ6hDPHCg7ig0TMOzQOYRb_EfqlLqBlb76L7uOzdhtKOmVshmbw-U7ZYCopXRZnrw8-UxbA_KyA3cC7EfeZJjVIq_gkLtM0HeSE5rgdpRwhxqnVfoS8DazOlPEy4YzqdCcZM52ApXMFectfgJ6q7k5P8vYGElz1F16eDCvsw0gLczoH2zHCF5F8rQC5DvMwuVWO8FAb8RGQLmdej8RFk_zs6__KNya52sB61mGQxBIZOwGMfxhkNagZuKyrYC0yAFkDLgB2t1baGfkO43OWEcSvAJXlFHxNBkGYXDQymQWoAs3JzCIssnwZp4DnvlT7trV2iIQqiVH_7KSYCDJNHF_IytKPtVUhKcaKkGOloHB9M3_3cf1FAm10tEAdFg0wyA_Y9e-9wzbmAreIIca7b14WEUNXr76t5HbKE4HgPEj3oqE73hZs7Bbr03uAzUYdpg3K7HxFwrMYrpQolO2H4Ub4XINjW54Fr8NLpkSPWQFlWLa18tHP3g_pyklpOi_33hZpClQ6IbFzS1pQOxZav_yU9Dw_RcqzxC2JB-1L4pRlW11fSLWG7l7MwUXCkuaAYBk9FXCwm3w8oWAHOWANh8Ri4G1la_HbrHBoXeCYzMQleq-zcnUPj5PHxsSvZe4ZupyYZlgniC1xzVhIp9cjuUeWVC0P1s60gsJvGAbh3r2H1_s2C7FV4Poo-QaI0Kf8q9Tt8VI7f-2sNW21Ce4PWAvAsbfCKteJXfMAs8UBJvq8Rn-JtzX0yDO75aCwjgDISPvs5c2SKoE7PHMOl-4xYebPh34_Eh480Mmz4MtkrK-gz2gS-ZNAwi8gaD3JQS0FbdKvm4Sl6lsnw-E3SBNcVjSkd_EoVbQaNF3S89Npo8GMJ_Oj5p0k-4B3rWlnAfCsLdGW0XnduHN6nCBqqJdUV1eqkMrhBEKfVtZSikOy36TTS-qcxhKV30AwBTkV36K6OfMsJKaRs0YjjbrWZCsqOLTjcxygsqsPWSX5QP-1bRpym1G_KB8O_gtGGRDQfbUusZ0pvRx_T6P_nUeSdMl8TSMCowCwR8Y9HDmW7UvJBXxxJL5kBL5pn599bFjcFkkjAuJe_m_dQRN4JksHa-fNQ-eSXtzsDmloTmZVfc-kCe213OzPcZgM31vyFJnBRUr6CSJdOTas9cDGlTPAkK35Xfu5zBnksrP6orX_jLFL6n0-Co8_g1k8xTL-v_FlSV_SYV2pv4LNLp3FzFjdqc83lD77_Nhky9NCzdGU05YIZQ5QISZidY3ulJYWjXtSDTH7BgXdLeiPqMGk_G7UeXGiTZrcB1TLiUACnKolFycn9gJA-peWG4Bq4Lnk9gISm6YcbS0sDY_LXmaMLvpIStk6A8I_4ydAF6p1xH2G8uBIwgbfEyUN2M-WXOnntjnq4kExBBK_W3kfxa6MCfoLpCREvn93bRCz6p_ERm--IUksbOQnwPQ4Xa8pdP8_59C_2iMpuYNKkBNz5MSXvAvyjL8jRqHXF98W190cQVTcAxGZBz53YSk9r2A8vPHugL84rn9XABUMhxDfPDtn0PVHiBdnZJHDs6EE0by0z71ZrJoZVHXLE2PwR_YWmhYIuTaCV5-0mg-s1PdqTVR-ZAk0VKeV7CVXd9HV47arzalXQ2Zj4DzwJIv869Xq6RA2EVeHUgWdgWvx71ksAw65T_81cXEutjQyC3jXRzXtnDjWnoH2d8kNTU1-CS0Hn0IPmlTS2u4jxjQ66AFcgLVK3KwLKozjH_ZCAfOQGO_5LLGhMN9yQbDH6g82pWQhlO7g09UVV1VAu-mdpmDtaa2j5Hf4obFbUwn94NeFkrfo-PnnZT-KulRrEotGUaPYnNDjG3NNMPYiirDR4qYjuR8xCLWyve9iQRsQJvTg5yeH3AuwlAz7kiPbFTDJBjed2RDiCGYplo8ndww-qY9oV9iYNz8",
  "id": "rs_09129f6cb2aeaac3016aacb0de2b7087d0ae8110ebc236e724",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.34,\"right_z\":0.225,\"right_roll\":-1.4},\"note\":\"The mouth still appears right of the red cup. I’ll shift the whole container toward the center and lower it slightly as the bottle approaches horizontal.\"}",
  "call_id": "call_MvA30HHBBAiDlS8dIIzN9JYy",
  "id": "fc_09129f6cb2aeaac3016aacb0e29c3887d09de4a394cb9b6d0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MvA30HHBBAiDlS8dIIzN9JYy",
  "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]: [-0.0574, 0.881, 0.8555, -0.5915, -0.0967, -0.0795, 0.9969, 0.8494, 2.4168, 2.1612, -0.3313, 1.1446, -0.9314, 0.6825]\nstate[eef_state]: left_x=0.2998 left_y=0.0034 left_z=0.2272 left_yaw=0.0595 left_pitch=-0.0529 left_roll=-0.0076 left_gripper=0.9969 right_x=0.5072 right_y=0.3385 right_z=0.204 right_yaw=0.2056 right_pitch=-0.1367 right_roll=-1.3522 right_gripper=0.6825\nstate[joint_eff]: [-0.0205, -1.7162, 6.8444, 1.7216, -0.0659, -0.0562, -0.0171, 0.6632, -14.065, 7.0769, 1.6923, 0.7302, 0.0659, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d7ed487d065dfab32eff96ba9aff25e39586186009ebf041d4b4d98192b4aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc5edc7bdd5a9438e39a4fd2efebc996fee55fb1d88f5aa6145ecaac980dbab2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0977d4d4da14aa7464a3182cbac5afc104c1ca1776e9ca2a7dedbc62eee05d2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 126 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]: [-0.0574, 0.8803, 0.8555, -0.5919, -0.0967, -0.0792, 0.9969, 0.7906, 2.17, 2.1601, -0.7345, 0.9482, -0.3649, 0.6805]\nstate[eef_state]: left_x=0.2997 left_y=0.0035 left_z=0.2274 left_yaw=0.0593 left_pitch=-0.0525 left_roll=-0.0073 left_gripper=0.9969 right_x=0.4806 right_y=0.2867 right_z=0.2704 right_yaw=0.1703 right_pitch=-0.0656 right_roll=-0.8778 right_gripper=0.6805\nstate[joint_eff]: [-0.0479, -1.5932, 6.8308, 1.7314, -0.0904, -0.0415, -0.0073, -0.6906, -11.4667, 6.3385, 1.6386, 0.6422, 0.022, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLDy-PNYCxEvPgWExODMSpoGp257XU-iv7CkET-WjR5KbjCbO9QT_pPGF3DWKkHVdmuyUOcsxstBP-ViNb18eWhx-awREdQljzDm__tlqvBlTYOMo3SPFE_dCex4DtE9fcBlHVl6YO3i9FS-Kswyh7dHAlNB2Q2Yh8hffytK-ywJvMMGsSKnCc1BxvLqvUseVEIqdVwZxp1r76yL1NpTSg8QtAZR7sLRXAinaXQrYGqMAhsFT38xUSlq5GX3CKiKbP68tmNzAMOP14Ywno-Ng9YxvRRges9XNVXOervJ5ooU1fUrnlOY3sSqRUjHCO34w0m2olC3U8ZkF08wX3kAFSveACxcSUs_LQuD3ijjzYVnt33moLBpnY5ztEse_gGa0WOZqGCAyXdAVlAkeKr-l-sy-UHVi7MMxfymA0nrgs1a42hBba9YQJM-41TW2rsfSSpxaHDobYmSoicCd9P2LQ3m_qr7zCriDVxtSfNgC3_EWN8MdohcyxnjaqWw4j9wyKqh9JMenddGb1vaJufb6-jxL8pUQirDdhiXA0olGZVkjMBYSiuYLZh_MNojuW5UM8bm6eV-M0SuKOBJfsH6k7_NJG6vxULvd4Dtg9p-xop5qwS3LhJ37wUEseUS6GrM11P28jJBPFLzcptVqfWsouPjjMFJH8jgKku52PKxe7oOYZV8Qxcd7Wa0WH0ElFvoW_a43KjxqygBL__ddHE-rVJHMVA_184EH3kABCx2tqdbmnG_M15zHdiSVOzC_EVGdK7BdXH4x5W4C7PTpQyeftfXngK8QGL6szyxtG0f4JLnY6CLFbAsinO5iMEo2FAjyOwzlkyfxLOmrqU_cSU2ddf1Kq1KeCU_kIhlAX8TUNgTY35MV43ResU4G7bhcBeZHyAgAwzj_po6J8PjDd-jX4tuV82rs08c6tFCWmZJRaZy101grranSTEAcUPwS566fniafkYFYfUjYCQpHcNNfJFEzq2tR45IiBXxqOM5Mv6bCYli9OxKNhLyjv8vGHEHBRc15T6PN1aRA4-XFbGfFEMSqcfPXBN4WUAH53IXlam0FiN3Fv3UOt2u7jli39dDt1KI46V7CBHQqi58lWHnCQHhnOzUQQ64yzJD2S7_dOtTF6-MYqRz8IcRyT_dBCOFbptvEIFQuP12OH9s1aNnt1ylVYWaE4XHPrO2z30gzninq7ZjY1QyhDLTpU5Glk_4lV9uZ9rM92ComhIh17MYdpphG3YkDIBUQMCTboXH3C3zWtvoUiWe6zh9xTzuSdBeFL75XpZlUT7THX3r_K0OCQZFq79Ex_uCDty1A07kQJ4wvrym32wo_AF44DlPZ_0zbv6NqjbMC5j5XSqRqXOw4QhDQOX93O4qqQzYJOfzxbf_xjvc98NpJ1r7_OuzXkPJk8rZ1Iuwo2P_2UYVVc14amZv_3oJT-6jRwTyQn_Uw3TPEejH3TP7TwpGF94U5tygWvB8aofy3SSoSbuoKzxL13gJYrYqz8aw2J-z50GqrRB-YFasZYfMDsXGTWudsFY4DiE0rqbMQ6sHQ2gy3qiE8Duh4iLKIPMmNnc4m0reITFwj1LvQE6-PVermnjYIHiCJ_a69rM4PccmFGJsBpSlari7TsP1CXvxsJrVfpuUaRxT0Gy_ZETufSrpSHhKdV8t1dn4ES6pcmiMWSktr1f15-CwqCvw1uJz29T2OPPSkauoViOmlKUU2PsCaHPqsP3sqtKeJAIozQId5oh2ehh6V8N-bqgB4OV2UFEsMjS85I7fedx_77tybes7jPunc21GL6yAPBOrDHs7zfBOLbvZZ6fzNvb7gt1yE0-EdkufkepULlRGen9R1J9-za4DxxJ1W0LUbX9U71vOhvQDUIR3jBOoMKzPWd9GCSTBpyNLgmnFknIICrOQi3iLRCgtTHeGDh4trnSJD84zMP4twqcHVwocwZptNtcCvjGYJDliOju19-Xxs4C-io1i0Y-9rGCPgl_B7iwomLb8-limLoTH23V7GjBUTBaufT-TNoJyR0TkiX-i5fDsGezrM77Tqx-i9FnmySMY7C9THolzxQLapH1vIrIvAySTCyMAlGVbHh9a7x8iptPDun4uzy1xr28xM2T7B6bC0Fa03e66viN1RpOe_6J7GQih13t1VhztKhwm8llRg34Br_QWUBQqxCG6hfaQkDMnjwqAYsfDNQjfZb4MzeAz93KmVjQcqFWGdZYF7HiTeKFX5cePYRkG3xEbU6Su3P7ppc8O0x1E34NTnjXH4oXkKYmKKQuX1z0JFvIxCsYtT3SVCzu5JlG-m5t0Gh18CJvK8J3WfuV0IbwpxoMd9e02K6mTRHkRpSxQZI9XEDIpHwN6BSXZumoW574BMoU_bPKasnYbWlitSVDygpSWd33HhbHIg_6pjFTZPorHqxXia29mqqCKPDguzowtO4bGAjohLXlqRY62cCgdGCHhZvAt6ELsYQI7ADMT9BuumRsqAGKVvLsncnNwAPGDZAVAI6z-4G5A9ZaZpCl6RoDIXi2uSsqkhs-t3Vf_j4GJjgmlvzQAZXI5za5fGp1mtb7EbHuY1ifgGY3-icQxHonVH_3Dj8A-lG_mW0Bdqu4plxtxMbIPQcD9ypDaX6Qe1z_hSicJ9YcOYeTPIjCO3FQXAoC9nz1gVgn6FhD4ncEw2ut7hpNFouo_aYRnFNrWmctmy-HID0uoCOp7cukkrOKw3uowcd-XRWuPomy_-HRMDOB_5etmpgNAtvtJFGbogCb8ipUOJLtxdIDtHWObFdJ1ybPLNtUPdxvygfwthKFZpe1ya1zJLQ_z0XCTsHGH4-Bt8iqMRY3KFMbRvo2sV7hObwkFj01L46Wq2gbgWjczshVNw1ptsnAINDZ-IYlnB3xZISipfmWCxhb3hfyG-yr5olJ-wFxbBl4ZXqo8_GsVTI8x2lGsOX1qkMh6zFBHZjgsiOURn05qEuqlRV2rzRMC3oNB5W2UYrNPJMErYcm2Rrhc58uQBiKda9QcRepBD5OdOgoV5Dasz9HWDKkfPgT4aAvFmkm9GK7yZgqXbwwwpO5jNROUO1cVJZ4Pi4N4otzHRVxvFPMJPlz-aRUhYg86RABgZyHaeCFO5Okim-BW8jA=",
  "id": "rs_09129f6cb2aeaac3016aacb0e6092087d09e6b916098c604e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.29,\"right_z\":0.195,\"right_roll\":-1.57,\"right_pitch\":0.15},\"note\":\"The bottle is nearly horizontal above the receiving area. I’ll make a small alignment correction and reach the final pouring angle over the red cup.\"}",
  "call_id": "call_x7CWlcMplQbi6uFTyboRMkoe",
  "id": "fc_09129f6cb2aeaac3016aacb0f0caa487d0ab6d2d185e29f302",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x7CWlcMplQbi6uFTyboRMkoe",
  "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]: [-0.0574, 0.8825, 0.8555, -0.5915, -0.0967, -0.0792, 0.9969, 0.7628, 2.4451, 1.7058, 0.8593, 1.1114, -1.6794, 0.6844]\nstate[eef_state]: left_x=0.3 left_y=0.0034 left_z=0.2268 left_yaw=0.0593 left_pitch=-0.0544 left_roll=-0.0071 left_gripper=0.9969 right_x=0.5346 right_y=0.2969 right_z=0.1787 right_yaw=0.2129 right_pitch=0.0526 right_roll=-1.585 right_gripper=0.6844\nstate[joint_eff]: [-0.1436, -1.812, 6.8171, 1.707, -0.0562, -0.0269, -0.0171, -0.7863, -13.2991, 5.8188, 1.9658, -0.1441, 0.0366, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67fdde1023f991c8db0fcc5acbd362f6d272121b8573f6ff2027e6321b228e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49d4b4547d24c91e2f0325e11f124b48f562ce3f40d30aa721e6cff217949630",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97d65b63bbed0709f7100de8d46e71f0931eaa36eb71329e910a6d8819bf2e6f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 130 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]: [-0.0574, 0.881, 0.8555, -0.5915, -0.0967, -0.0795, 0.9969, 0.8494, 2.4168, 2.1612, -0.3313, 1.1446, -0.9314, 0.6825]\nstate[eef_state]: left_x=0.2998 left_y=0.0034 left_z=0.2272 left_yaw=0.0595 left_pitch=-0.0529 left_roll=-0.0076 left_gripper=0.9969 right_x=0.5072 right_y=0.3385 right_z=0.204 right_yaw=0.2056 right_pitch=-0.1367 right_roll=-1.3522 right_gripper=0.6825\nstate[joint_eff]: [-0.0205, -1.7162, 6.8444, 1.7216, -0.0659, -0.0562, -0.0171, 0.6632, -14.065, 7.0769, 1.6923, 0.7302, 0.0659, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLD8V_bcGBXjb602XBL-B1hmJl4Xsa91Hvcl86npwF1C_nynFmFC48siwfZlh8dKKxpndsIbUE1r1zSwndCPokU92UoFrdusmX1ndYvPgo7RrlV6BTmqacYmRUXXPE6SmJoEZUs7XDQM3SlIoSiJeMPUIH8mml-2xW08Ee2ghq6hbVgQiE3GaHarwwsVDCRyYzYOwFYSyMBT5C7Ngn5niP5lzaDJGg-mU6EMkHfzNIemW4-z4aiHE3NWmE4tdl_BFCVlm38rr501dSSC9Q3CmYmOmRN7fZvsMMSrk4Oam2xrpZuLvNQZoBcmyMAobRx41YHL93Eoa6jqfm2iBs-PvShhzPBJxPYEQl0Lkd2fsE-kJDiwmB4gwsjjSRyeugoyp4heEc5ujtj-59f_77KmHkyKeJzi8MOQSjpU57NjeT4b4waA8jf69UjZAlv6ZrBmGAzbzi9bzW74xQEioBSUq1K5k6GWHSI_d6g46Yoc7ccHqVcQfrjVCBOoFjNuvK0wixnOChKLfGWi5_SllLNLZ986YNWwJu0ld42Vplq1-OjGtrJtC5la7XKFGtnf6aY6lhGd75ftv_CNb4jaMjeZT8McZSNVh74srACFX4-HiqDM7n5kTie5fPG50MOSN0ohR4vbg1BgxluZdx1LDZQRpIvUUzMdcgrtd4tyW45LFRxERPGrwfL3oHanWJ2PomuR7fRV1h6axp5SJqq7p5wN9q5WWDDGDUpA4RdIejpctx3WUbasSuDFVIpInaAqFoEFGbN-VwWSka2niDmEsM2fqQ9nd9oGoxR9EQUxswTC_wayQGEvnlCt_E6V4EFjf-xF7UkoGWt96vcidYFMEi3XVYGRkVATmVW4yNUNvSUwb1ZLpg7L2q2YaN3r5OrMHShPlBwHGqnoxDFWNL0bejzJbKT1LctoCQ5_VYL1SvpFTA-uRdLVs53BPS_VoH16sK9byJTea04Ul-sCGbIkIcauy_FknISD8A4Ie0_p6xuKvtCrSoWw-RE4sZOKZyUQv_ZGn_-CjXHpNEQLrZiwB2okgggA4L8Za23LolQ5sFkOA3iOlA4ZDCFe8mpySjrWUtKkSH6XGIgjt0w5FmzoBeFEe0XngDNebySOf2ejSQHTSGPxoWmNndXeWFDZ2N19_MnISSczAIo33xKaDkkfqC5x5lvwT9oQ_SNG-XkEL-QANhp2qgE8blG5S-q8c36JqQRKScrjGaqUyIxd1W84j6z0U_Cu4RNPAFxpDEbvOUDp58wq-ynmBjRSO06rpAZxqK1yz3e4_6FbI7j4VOxaKIdha2atXuKSK6gxwMKhuTFKn-K0MY19xwZxQq1xD3jIjL9ek1Be-EAbyxaVkfMqbXqkZ9WKH56IvWJ7-8MFBFzXkpY5KJI_4_iwznXouJMc4xUPvxEAcmSQ69ayvdyvCvJ82CYjUWBX1INpUQRhUCpdsyKo_VaN1BjK2dTx2kY-EZp8FxxRiZU_Jmecc4alsXgqeMQcQ3is_RK6rN7rsIU8NDsBjiJ2t2OoalqfNtolznnYrrsR4Ugri3IFBkBf10770TCdIPM-Cgm2DxNFkBbfzfRQhBmkKEr5WqzcJJkZeYayyOlosEDiQL-t3kOFfErz8DwOG6KgMbhLWC-BXuK27z7L4RsIKFMX1vSZIlElhkOzrZfWsJxpKUrZ_FBRbMxgLkEx8iIp-PspSELDsIN1zkA0QdvX0Fr3EnQXg4mIa4fV7hMOrNLTNaz_WAo1yiLnZW0lCbSwyV9I7WFOxJrxTubiHYKMy0T7uLe6_PmsBjQ791dxG9KKH3cysc6nsA5dYdJsmSKfdHbxbxCgvR9oesV_jrk0xZyV_z12HGZXkA5HoF0PEXwY1CNGcekKFNhBDT44uo_0feyqNbja4eVGNhRuopXRPj6OfawyAK04cCIIW1SjUmm8CE29xSIIkq-n5x4W42mOECQvDDrHidsb2WydNsRRNZJA9zNTLIbK_V_nKkaLdF-yz2mrqw5tlAbf2aUqTdXhynTOuHA3OpQdOuqrNfdcWacv7qfxLwyS9z39QYsbOmXqIa10EzRdY7rOfmLdIQW3cTvNeS0q28ezqcS0iYp4d9CKTyFCBWgvdaX6JwYHQBmjYnnJdtCdiSyLMRF3HLBUQk4OgBYUyNFwACybKSdbmOzx1w9bIwQhy5ASHIUSF5wxRDJYTyve8ihp2t8mis02x8kizR4r0hJdOxUyLNwZ6Iu0_hVaTxAHPUFukFbDSuwADSi7bA05dScNXN7NIqZ649yZhfFZfEDP5GwGLQfQLo6rOgjFwGfMfoUls3OJVxJ29JqPNfKVtrGd_vJi_-H8ADPqVcrY9EiYHvRtRXOgqFH1rhdw3HvAtFyGzlPfY1s3qIFempIqMj0cBehTTqa7AmmaqaXkH6wLjI650w-Aimm4qnNuXWnqGE0eszwCMHVqtDU4Q3i5cxpB4mbXMnn5STUFLG_9QsbNEDFeSnyvfSUp00WWEZZpGV0WyNoFEl3YJppwa6jZF3rBwiqdgE3e8Tj99BeyOdpXiJD1OHOx0bXtToE7ZxIqXSLGvXZAGppIQatS7GxK5s0bSB85md85EAP82pSFwzo8PEuvN3ijGgm6jAo4YEboFHoHhzH1vsWMPSHmzk988kJWeQG3vZw73U85F8XKxdSdkfbZyOQ=",
  "id": "rs_09129f6cb2aeaac3016aacb0f4c35487d0a5f81442aa34af89",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"I’ll briefly hold the right container at the pouring angle while parking the left arm fully. The bottle and gripper obscure the red cup, so the transferred amount is not visible.\"}",
  "call_id": "call_zsu4S1qnKtiB2jphKfWtBMf8",
  "id": "fc_09129f6cb2aeaac3016aacb0fb04d887d0aad61ff05a95d290",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zsu4S1qnKtiB2jphKfWtBMf8",
  "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]: [-0.0345, 0.8074, 0.6399, -0.4656, -0.0616, -0.0486, 0.9969, 0.7647, 2.4592, 1.6951, 0.8921, 1.0954, -1.6779, 0.6859]\nstate[eef_state]: left_x=0.2882 left_y=0.0045 left_z=0.1754 left_yaw=0.0363 left_pitch=-0.0708 left_roll=-0.0014 left_gripper=0.9969 right_x=0.5344 right_y=0.3 right_z=0.1719 right_yaw=0.2305 right_pitch=0.0613 right_roll=-1.5813 right_gripper=0.6859\nstate[joint_eff]: [0.1846, -1.9624, 8.9368, 2.4493, 0.1441, 0.1099, -0.0171, -0.1846, -15.5692, 7.0359, 1.3016, 0.0513, -0.0122, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:950e5b9a5ae1f41374f2e9cbad5f72c19c7702462b41a2020822f3f351a50214",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab34343d0c7f63d4d45cbcddabe982785be8ab5d4e92a09763266aa417bd446",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e85d66d973715eff70c58b59e1f49c02c4bbf9fee98e981707d4ea98f5da49b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 134 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]: [-0.0574, 0.8825, 0.8555, -0.5915, -0.0967, -0.0792, 0.9969, 0.7628, 2.4451, 1.7058, 0.8593, 1.1114, -1.6794, 0.6844]\nstate[eef_state]: left_x=0.3 left_y=0.0034 left_z=0.2268 left_yaw=0.0593 left_pitch=-0.0544 left_roll=-0.0071 left_gripper=0.9969 right_x=0.5346 right_y=0.2969 right_z=0.1787 right_yaw=0.2129 right_pitch=0.0526 right_roll=-1.585 right_gripper=0.6844\nstate[joint_eff]: [-0.1436, -1.812, 6.8171, 1.707, -0.0562, -0.0269, -0.0171, -0.7863, -13.2991, 5.8188, 1.9658, -0.1441, 0.0366, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLEC5TjyppD0dwI0Et24lVPI_04i5GAAdpXy0_QQ3BlZqZb7H1H5AfSM55CcqPNhDxd6jMx2eqvvF-P9JuD6amkgCRL4_-6QY6KlBdmVy8JffVMzMkx33hkOKrduCijoUMkOR4Xb2IfoNbaHn-g2uZVm2gntWy3VHiEJb1lL8RbZbUjEBS42tflXgTwiQ7FGbUVLyIjhPbufMQulrU1pj8pld6QOjdH08oUeQX8CoAO2YyNsQjg2O-16TUrwrRKVwRogKk1-RoQ0-ltp0kGTqPctQxRrXqYa-QzfrFFEN5VJByMrdyKr_mlxpP4rUMyFKdUhQb1RKWyb6Ig2fInia26Nywl3uxCKR6yPpCuxo92v4JyPIy70ET_o1Vx5CRbuEKqrhu3UGzDtqFUqH-oS4VFoKPCcWcxBCL5hluWuEix9PtzoZ_HEfiPxxC7WLN15WHYNl7laYXWXJ7L0BWjJpN2CjlV2M--B8i7Wecvt5xD0Iwakb_evk9OyOtFElFw5oQ60xqCuOiKjyviTubuYAC8BS0kpV2eRH-an1-styTjm03YDHwfeTfk4WEVZWRpooHXUS076fay-EqTvyD1Pa_WQrT30ISj2o5GazDmMS7fRjXKf4SlBrCzIypp758f8MqeK6EBxY0geSLBwrWDkpncJkm5QNbz4dbkvLrhZXwE_cFWtuNp7Gdb_4i121ODJUrplObAnYBP38iuTRaTrh3Uo3mkZ0VcEaZrNhYhbqBlYbIXrE9z25L9mNVHsfcd38Edn2NzRdkWZvl_QCOp8ayfGcboWNS2KOoswlXPylDI4NGq-NmgUp_sZynjQkyXDZQFGBXgASMR98vfhCsSOBJQBuirA0DKbWu5YCXHOZhTcbUBawGIrCme7dTNLGS3qzhyKWh9RBaWbwkDxEbx9R6cssDVXBnqVlPYI37rbJXZv2hk9coQ-iDn2wjlT6F7z51sPqQFquZV6DD1lSGyWwxQTGuXs0rJxwmDVFHv0Ov5u6iTb8zmipapDvqgV_jcapFCDUJa_Xm73kBT0P0V8rTLBtWub3V-NAE6wWD3rjfxIa_q8IhLCUMvXciKc21YyLVKBHvW3535zj4jt9tMOgpJGx4PG92uq6cwkLp3dXlUPgr6R2hxf6M3b7KCAzPJh36uOFqVjYu3f7FAOTg6Jc_ues1tXF4HfYFv8UipoAlDK6NZxsG7AGxA0nH-4pvrnRi_DiNDkbSOSXddApWQKH6g9UTDYQKHKz2R2S8vlbtpdGy4dSfuVLXjNgMpvfWPa7pIAQ643mPuAs3ljC_U0fHrZso38-tOpl5aCZWYBeIaVgztlW48Ox8GPQT75YA7OhN728Sf6iMBdyWrzkpLQdtBNL0M-TRLY24_f8LttBsc0oiw85BNPmpFTCY5I_YrBCMpWaqSbT-yIqSiRCddFL9cXMO6mX8XnxemJTMcjZgIQDaoOjrPPPDyC6buQ9Na8FSIFBvZ54ZLD_k10PpUjpN6TYTYQianpxz3bcnHFgwDrcxnH1ENo521T32BvxJ4dM23Y7rwj7KfgOEVpdeHhEuk3wu9g0N1aOTNL4xAaACPvRJOBD_dKHPTN8uOUjiziRs1flS3obVk0A7JvbWpU2Ny2ygJHnzGIJgvepEO9RmjXHkSc3AGtqsJy-HCvNQvCRTwOgVek5jwwrXpOYNfCeXoXByzMklzhN8kSH7HjBHRE2hdxVUCjk3wNjFI8GdUUgwAVtUM-RwznGhhYaTt_X8ZstA==",
  "id": "rs_09129f6cb2aeaac3016aacb0fed9c487d09dbe1a8776714ea0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.24,\"right_z\":0.28,\"right_roll\":-0.65,\"right_pitch\":0},\"note\":\"The right container has now been held at the pouring angle after the left one. I’ll turn it upright and lift it away from the cups before setting it down.\"}",
  "call_id": "call_T3ldEGbvjMKlMV100FnnZd1O",
  "id": "fc_09129f6cb2aeaac3016aacb1017b8887d0b5be80bb1373300f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T3ldEGbvjMKlMV100FnnZd1O",
  "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]: [-0.0341, 0.8104, 0.6079, -0.4591, -0.0521, -0.0452, 0.9969, 0.7498, 1.8462, 1.6112, -0.4129, 0.8021, -0.3889, 0.6874]\nstate[eef_state]: left_x=0.285 left_y=0.0031 left_z=0.1615 left_yaw=0.0269 left_pitch=-0.0998 left_roll=-0.0025 left_gripper=0.9969 right_x=0.4485 right_y=0.249 right_z=0.2511 right_yaw=0.2576 right_pitch=-0.0427 right_roll=-0.7671 right_gripper=0.6874\nstate[joint_eff]: [-0.212, -1.347, 9.7299, 1.5653, -0.1538, -0.1001, -0.0122, -0.8684, -13.094, 10.2906, 1.5604, 0.3297, 0.1636, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0f3d34f1e833b664e14e3b598b02ca72d4828b5e8f4b88315552b341c3a2bf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:affd7cf4f3634649aaac9603dde0cd46fe7561a5feb025556a85a1fa36f98017",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9462fc3d10cbce4f1c808cf41074cb03c3ce73a5fb048b643772427f0e539069",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 138 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]: [-0.0345, 0.8074, 0.6399, -0.4656, -0.0616, -0.0486, 0.9969, 0.7647, 2.4592, 1.6951, 0.8921, 1.0954, -1.6779, 0.6859]\nstate[eef_state]: left_x=0.2882 left_y=0.0045 left_z=0.1754 left_yaw=0.0363 left_pitch=-0.0708 left_roll=-0.0014 left_gripper=0.9969 right_x=0.5344 right_y=0.3 right_z=0.1719 right_yaw=0.2305 right_pitch=0.0613 right_roll=-1.5813 right_gripper=0.6859\nstate[joint_eff]: [0.1846, -1.9624, 8.9368, 2.4493, 0.1441, 0.1099, -0.0171, -0.1846, -15.5692, 7.0359, 1.3016, 0.0513, -0.0122, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLEJ-jOd-MyJmAK90lJXYExQhru5WFb1-rlZ3Smv4GelnnSNNwRCH5W2DpA_kAjLWZTXcDHvY0Sqql_Qo7w4zIy0kNzXLeMcq4fLp4Tkw3MhHwqK1eBf51yoIh89VsjculqGdT9_YwWwoK-qkvBG6AbwIm7Wy1zI5wriA9vm19gHOaMLS_Y8ABlUd7txBEUg05_ERzj_CVoMaQnWgnghr4vztqHStMtOnbBfghd3_r79kW9LD-C7_shGprSxd69W05F5CpJbyhgPLMv0EE5a-1zGWlOVSbuz7rlmwiqG2i2aHeiV87WFUyiKWhQxibTeJE-FKTZaeun_XwlxHCZxI_lFtNt2NcWSQzq1z9Okt7vgkFe1m4tGQSYIZGHMLBUHx1xj2liCPcbbAzCrgBJstPTV6cIgu9N7-QTK6r26jjtBVboMf5y3MPs39uZIQ-z7iEZjFC-KpTLLOb6S8Y3KNkywOrBFx3kfl6BxVFKcm7sOf8sp3f9HO0wdf8ZDTIBVHFbfubLZXo4McZrLgZRI4b3dLEKl9RiEGcVL8Qma5oTSELr3pSZbEbwrY-KVMg5VygFFaBq4kdJ4hFE1jAGwzDgHhf72JznteBv63tOBTsopJCqTqrR9YmuiDbthAq4jN1glr4xc_PNKOSww-S-83z8c-5YMzVoITS5hRp3SjysTUItUppukMuY0rLcjS3n69jYev_YFdZbHVjKThn9KhXrYGtu1oA3F7wt43ozSrJBPttfzZyCXxU_qRmMLX3g30qXP1OOVdf_T04i6QOPIv0UrVg0peFG7TzyccJmX7KS5DmJpz73UzLmvRpBZYhSNW4OcBqdfsabO8ZAU-xuQWwB4soFH8qkIU4O7sCWQegwTJqkBLTs9bYXMMGeq26yK4Kz3TVK-PbNzO6wXyeJrHcx0KN8Lnbrq1RiBb0A4L-bnSCpkZKvLwwYv-6WQZhivMS6_eatF1ZcnlaAmC155YynxPTFlsECjxYXiK_00C1urtm4p0ckH-1edX8L9RddtVozf6ZvLNsTAetGMveKoT0BN-Bm12FuvPN9gddofeN1E5ZrgTQ2MqG18RaRw5YbhbN_yTGmpQ1ckCE72AbNMenbPVZMcTh7xNoV6tJqM3b_91brHc8NGhfUkZY6yWNlNhxkjCS1w-HodXELzi3wzxhq5JCIfysnXsJycKceZiGMliItalWTNIfIkIsfc3J9w5kKHJ7dVEQDX3Z0p3nrfIScIMyCinM1poKB8AhAbf3MI-hXIaqO2jF4Nfe9AIX4T3XZ1EuY2zaCs8rTzQ9ENb4H8c-CoTio6P7-geYFTfOq6AEuM8XEaCJ-boyOcWaqOzf1avclTtHLze7a74MlqXhdGtJZxEzvdl99VTzC44WNf0P6CcUY2Xhxs6SJewVLJkh9mSRvqxsBa7sTjXKN9GMk68RbmstkN-stfMZsRd5Qv6vieXNteV2KZWUoUhHb0wlgnO54h5C0Q1tyT3Lb-BcFftyLFktJr8OfLfp2gjEUCydQWOdYOeBSKmP6zOmjWEcgR",
  "id": "rs_09129f6cb2aeaac3016aacb1066c5c87d0b60b0404e45cc825",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.18,\"right_z\":0.25,\"right_roll\":0,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The red cup remains upright and clear of the bottle. I’ll move the right container back to the open area on the right and finish straightening it.\"}",
  "call_id": "call_kuXLlUgrT2bDEnWTZup4lap7",
  "id": "fc_09129f6cb2aeaac3016aacb107834087d0b18f8cf8d59e9627",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kuXLlUgrT2bDEnWTZup4lap7",
  "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]: [-0.0341, 0.8116, 0.6075, -0.4583, -0.0517, -0.0448, 0.9969, 0.7002, 1.4303, 1.2266, -0.5373, 0.5838, 0.3099, 0.6888]\nstate[eef_state]: left_x=0.2851 left_y=0.003 left_z=0.1612 left_yaw=0.0264 left_pitch=-0.1006 left_roll=-0.0024 left_gripper=0.9969 right_x=0.363 right_y=0.1832 right_z=0.2359 right_yaw=0.0455 right_pitch=-0.0391 right_roll=-0.1151 right_gripper=0.6888\nstate[joint_eff]: [-0.1299, -0.9915, 7.2274, 1.6581, -0.0806, -0.0513, -0.0171, -0.3761, -7.7197, 7.7333, 1.9121, 0.2271, 0.1001, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e959ba975765d473f9c8f0b19e48db69850f2ff3d4ebbe12d824548e46d50be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45379a1b1dbf949a33bbb3614b1c6e0ae2514b596a2de5b17f5f0abbaa519f50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1802ac15d86957a00923f39084c062b29e16806e8dd4b232d7d588e5392636e1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 142 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]: [-0.0341, 0.8104, 0.6079, -0.4591, -0.0521, -0.0452, 0.9969, 0.7498, 1.8462, 1.6112, -0.4129, 0.8021, -0.3889, 0.6874]\nstate[eef_state]: left_x=0.285 left_y=0.0031 left_z=0.1615 left_yaw=0.0269 left_pitch=-0.0998 left_roll=-0.0025 left_gripper=0.9969 right_x=0.4485 right_y=0.249 right_z=0.2511 right_yaw=0.2576 right_pitch=-0.0427 right_roll=-0.7671 right_gripper=0.6874\nstate[joint_eff]: [-0.212, -1.347, 9.7299, 1.5653, -0.1538, -0.1001, -0.0122, -0.8684, -13.094, 10.2906, 1.5604, 0.3297, 0.1636, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLERS1hjStSjQSOglrbudGuiEPT3ExO2tvlDXVV1QjcsShPlaRX8RaI4SHZ-2rUoIvMlGBkbYSZ2lPxvcPkKEGUPtvOI_zd8IW38wZQnwvv759v_GyziIpXHlhnqafFC3MIOk0UAxz90ZCoaWI3TqhXiulIrv9dEppaH02REVHOMH7AyQ86NiTPMIMhEiPzwODvh3V7UNOIZ6pDtp8KbcYdNrD-YzOVLLpy5aXkrxQrOl4biW4NBF-8g1wdxeq0wv__dKMMLiZl3ymy4_GaecsQwciFF8SZKTp45l68bsA9CwLMQp6KWKd9krmx07qG8CCTHmIDPl1Ablrf3toQ3a4vFHEe0LPzL4UXUvi2tfNbFf3E4jmQ4urAUUpjnJ2b449lFk-ZzH69YJOIqQaFk-aU9lR-5YsPtCRdkiXhL3x-rO-XsiVQeSNRRzLsIk0QAI_uJLburibU9-ENARSNlYjH-8Z9eLNIxpKHf2ZWhTAGMFTYdDhWoeQdBeTZXso8BgoWCF7QklCHeBOoR2U6eDxgOPvpHubSPvC35lZv6ylwVNQ-mYVO7RUkc5V3fOHguLCJD6O3XJCpC0qpvUF8zdvZQq_NG9tOIq3BtL5e5hF9dAnDvxmiPEZ4pFnR4QAIn4MrXIekuGlWaE0RCObtVwO0TDSj07AnCIadjpL2KPcawVMjzCzAl6WQK5gjrmMh8gUtKiq0WtGhr22wQkkj8hQG1zug1agBBOI_sR4qvMY2P7gTemKBLT7TvAXg25_josSWRJcBx3bpSIO6YasnMHPwTeHhstRIOn9hwPtYbRM-BykAE4VZ7N07U-ZD3qoHxh6hDZh-S2G77FOkk7bnna7c_v9n5xyHzN_zrlEjVen0rEyADY-ox4aB7Raa7vWUvAkbd58ko40EXWlJBNKet2k1xOuzOUmNlRx1lpyQOe_A8biEbyteKBf4dGgza-Mo_y9qEdNJn3JYyhEt1vGj3Bazl5yy4fhnryGaSp7hoZr9ZvCzpgJ4BmCTJqL0dRVuaXpJXMjy_VZNJSf9uNIINihTL01svigvgYAVhGDPal6ulo3QWo_BZZWqCR5bMQQ0foBeFvCQWvIOmT3qkH-tSYGQag-GPUycF-7ay-3lhyUUYRy4yrmKclGFZKp3srLdRCwstPVsf9Ia9JYt9cGgrTMGuB0hQhFFXP_V7Y-WpJnJ2fRBgtt_HwuMCxqni8InfojPmHwbtgcsZ2Er3E-CKeKpr3NeTcF59Ud7FkovY9_UMsJ6UGtwqW2SofgDs9Va6yUKspu9EwA0OTwK727Ad354X3HgNciRWvMlm4otAiydCeZ89EmhuaqvW4aDjMPfTOwOnE7AjerMDxd8QqLRk4SvkRGOUOmEBX2iCLZoN8aFUq-X9SjGrylLM_AnxDrCosCG-AEdWQzPTwmfV7DGOsF3kIgP2xh1rxFXUKGlb8Xh2HKtdxxd9y6LeB1jIAYTlbLcVn1hQp1dFOd-ReGWcsDS-lMZGSBvdWFY1h-E6OM_78WOBSFENeMSPkHdMxLllrCOxqQW9KDxekL_09LHnnO7y-TjldsoQnBUDzrTD_V7vjNyH8Kul8px_WOZaBugblNuVieSg53kCSnAvNBuP0qJDQDf1Z8YTwbni6y4HP9dJhJy8Tj3OOVp4CxosRfbTYNwsLL0hUr9V8kss1IiXgWL8DI-3n6ICq0kfEtu_3yQEjPS7XQ-2hQlMhvDZGPZCrFFjNazu1AEQfZV4bDSxcfqJ_KsxRmfeKT_HoOqlSlJRw5heFtueSECho8ozsjQICQPMYa3UEpHaQM7BJcjCejLM9dMtRN-yl_g6gmH6R4wB8SpsFaeXhzoffD4hcLIxni6kS42eoykxvIlRyRXncV0QqgjYbfEFfgj0XfvrAciQUyXcp7TppUmsDEL7-MS6hX1e",
  "id": "rs_09129f6cb2aeaac3016aacb10ca7d087d08a828afdcdf70e14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.18,\"right_z\":0.13,\"right_roll\":0,\"right_pitch\":0},\"note\":\"The right container is upright over a clear patch of table. I’ll lower it until its base is supported, checking the readback before releasing.\"}",
  "call_id": "call_EAPmFXpEgZYBSMYTBMndKlsy",
  "id": "fc_09129f6cb2aeaac3016aacb110be3487d0ab49a990721dc69e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EAPmFXpEgZYBSMYTBMndKlsy",
  "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]: [-0.0341, 0.8135, 0.6071, -0.4583, -0.0517, -0.0448, 0.9968, 0.68, 1.4055, 0.8333, 0.0231, 0.5743, 0.3405, 0.6909]\nstate[eef_state]: left_x=0.2851 left_y=0.003 left_z=0.1605 left_yaw=0.0264 left_pitch=-0.1028 left_roll=-0.0023 left_gripper=0.9968 right_x=0.3703 right_y=0.1806 right_z=0.1764 right_yaw=0.0122 right_pitch=0.1097 right_roll=0.0336 right_gripper=0.6909\nstate[joint_eff]: [-0.1299, -1.2239, 7.159, 1.6679, -0.0708, -0.0171, -0.0122, -0.6496, -1.6342, 3.6718, 0.3541, -0.4322, 0.1148, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64add511bd2cec047aadb4bf63786f4452ecd0e60cdb3cb48a4f04a5e11375a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2812a2500a0ec9af9f734fd758316ff72cc1bb4222fec98d39c528aff621967e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b136c7dd3e9998aa652729196f160d898dd0333a5dfb7e941c02a55348a9c9e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 146 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]: [-0.0341, 0.8116, 0.6075, -0.4583, -0.0517, -0.0448, 0.9969, 0.7002, 1.4303, 1.2266, -0.5373, 0.5838, 0.3099, 0.6888]\nstate[eef_state]: left_x=0.2851 left_y=0.003 left_z=0.1612 left_yaw=0.0264 left_pitch=-0.1006 left_roll=-0.0024 left_gripper=0.9969 right_x=0.363 right_y=0.1832 right_z=0.2359 right_yaw=0.0455 right_pitch=-0.0391 right_roll=-0.1151 right_gripper=0.6888\nstate[joint_eff]: [-0.1299, -0.9915, 7.2274, 1.6581, -0.0806, -0.0513, -0.0171, -0.3761, -7.7197, 7.7333, 1.9121, 0.2271, 0.1001, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLEVBruD-s5B_MCMX18Y77g52tTqj_Wn9ZQBuy7ihgjf8ah31cW4CGJnNNx_VoKupUZiIWkXotm3ARp7KpDNfgaAhVg-uUP09p9jh64IP3jAu_0Jk5eWGS_wBt98dKiftTx9kZl42CXCjpE24JglOSD7C2VPMRGIhSwHH4594OY1cYZjD9xCWM1X_E3HAubyYDUC97bIHnQOKRxMU7aOz8xcdg9apKsQt1ZFHhOdEmNZr-rONqL4ITExqKJqFdlMKvgffgLGmeBlkgUPEmDNOxgAlnjYqmxvaW4od4j02oyAIk17mKY1MWZrZarvL3q2_U30gb_3VrRC2k8KCf0RcSIhpYJYVGw2DUbu2tPcsVs8oMAGsvEZ0cF__mtlJRHyd2DSIZg6Yx4YZVq-4FyF5KMzLskdh4WRbjEd9_DPN2VQfq1d7BZZ88GAqw5lqp1XmFFF4gd55rbT6lXruD1CoyeuI1NsumvR4C2lA1MvRiCwQqDnbSGxdQ42JURaDeMObX6zw_tPIqaCDHkOKW2yrA9ZFFaosgdkPa56OJzcIy0ObCTpm6vjVRVs2wHGt8a46jK2j6dUof9obRuzArWT1PVQtiy3322_99x41R7y_J9ybpGTB5ivoDGPWUaFBTUX5Y-dnPyItoNTg-k-_uwXo-SUTNerRDy-6lbGx8VjZXgJ-MBLyVrtieToCh9aP1ieUDnv13b7-vfoOVvy2WLgHAvzTIAI-4NKi0pjuDkgPbSalmLfTq6Ki7aKI0ixxisQQWccUrMJnvC1Ox7Y_gdWFCOXNMAGB-iuASyIQJ7UQDqCNZIBvlfV1JRK0uj1a4o3Z0QNv1j_fgKGWZaOfUMOyUryICG-HuOMqonsFQ6yszZAC70Px5JP_UyLlWC4eOjKQTulR_22zZg3b7jhlF1rMdkOfnN71tqMmjY0kK-zS7YKn9pi3lu6YiMr4tzGIOnrwcyRprI9tpM5ngwwkURpEXscj1wn2gvbtZ9QZvD2k1uTtL37vSxMis0Z_8V5AZwx4bCuF9qwWeo5qXwkIVqNSlyv3cD3wp97bYTjdlXkT-L1-tPE_xAffCAHNVPjZp-ZnAgLqRsONPbTI6Q6f9v61k-T1MM4k98rsYKSWhe83PtePumGShx2OhbofZElf-FzHIdkiwuCJ45Im3xaUA_RAkaUQpC8K__X3zfq_V4H7UFgkCUpPYIrG3iWKA8vtzlCO4zWRczTjFAM57jPVawK3sLDytiCFO-V7kZf8AkxslGJiBg=",
  "id": "rs_09129f6cb2aeaac3016aacb1142b3887d0832f9df7afba71bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped at about 17.6 cm while the supporting joint load dropped, indicating that the container is resting on the table. I’ll open the jaws to release it.\"}",
  "call_id": "call_7a0Iaoib3lGmUsNCKrS8qQ2O",
  "id": "fc_09129f6cb2aeaac3016aacb11495bc87d08bd4c0a63eda1383",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7a0Iaoib3lGmUsNCKrS8qQ2O",
  "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]: [-0.0341, 0.8135, 0.6071, -0.4583, -0.0517, -0.0448, 0.9969, 0.6804, 1.4155, 0.8181, 0.0647, 0.5751, 0.3256, 0.996]\nstate[eef_state]: left_x=0.2851 left_y=0.003 left_z=0.1605 left_yaw=0.0264 left_pitch=-0.1028 left_roll=-0.0023 left_gripper=0.9969 right_x=0.372 right_y=0.1821 right_z=0.1739 right_yaw=0.0188 right_pitch=0.1231 right_roll=0.03 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -1.2786, 7.1726, 1.663, -0.0806, -0.022, -0.0073, -0.1709, -6.3932, 8.294, 1.2918, 0.1343, 0.0952, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a31c153e4487825b702cf8ca86434159a3c3dd0296e05ac12662533cafdb4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d57d2e95a69fb023483b9e33da42e63710a40e678d8daa19c75a52cf5c9a69a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b27f05d154b124d27e524edbb15dc0bee39fceb4d1e248ac94ae0629fa6a4e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 150 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]: [-0.0341, 0.8135, 0.6071, -0.4583, -0.0517, -0.0448, 0.9968, 0.68, 1.4055, 0.8333, 0.0231, 0.5743, 0.3405, 0.6909]\nstate[eef_state]: left_x=0.2851 left_y=0.003 left_z=0.1605 left_yaw=0.0264 left_pitch=-0.1028 left_roll=-0.0023 left_gripper=0.9968 right_x=0.3703 right_y=0.1806 right_z=0.1764 right_yaw=0.0122 right_pitch=0.1097 right_roll=0.0336 right_gripper=0.6909\nstate[joint_eff]: [-0.1299, -1.2239, 7.159, 1.6679, -0.0708, -0.0171, -0.0122, -0.6496, -1.6342, 3.6718, 0.3541, -0.4322, 0.1148, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.29},\"note\":\"The right container remains supported after release. I’ll lift the open gripper straight up so it does not catch the handle during withdrawal.\"}",
  "call_id": "call_4F7cOP0bCXjX5LCTaHnardhi",
  "id": "fc_09129f6cb2aeaac3016aacb119083c87d0872d41db1957918b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4F7cOP0bCXjX5LCTaHnardhi",
  "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]: [-0.0338, 0.8135, 0.6067, -0.4583, -0.0513, -0.0448, 0.9969, 0.68, 1.3743, 1.1881, -0.3531, 0.5644, 0.321, 0.9969]\nstate[eef_state]: left_x=0.2851 left_y=0.003 left_z=0.1603 left_yaw=0.0264 left_pitch=-0.1032 left_roll=-0.0025 left_gripper=0.9969 right_x=0.375 right_y=0.1863 right_z=0.2721 right_yaw=0.03 right_pitch=0.1147 right_roll=0.0262 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -1.1556, 7.0222, 1.6679, -0.0415, -0.0464, -0.0122, -0.3077, -6.8991, 9.7846, 1.58, 0.1978, 0.0073, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb638dbdd1edbc50d8d7e36727657cbb7fb6760c5d455a3801fc0e3962c93af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46097ed94b256f7db62ab1667acf0abee7b65a1265e925b1a08b0fac5a4d82c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d0cea1bf6fd77539060e5f52830ae1231eb5deb51c4b20098b75b9b365e933e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 154 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]: [-0.0341, 0.8135, 0.6071, -0.4583, -0.0517, -0.0448, 0.9969, 0.6804, 1.4155, 0.8181, 0.0647, 0.5751, 0.3256, 0.996]\nstate[eef_state]: left_x=0.2851 left_y=0.003 left_z=0.1605 left_yaw=0.0264 left_pitch=-0.1028 left_roll=-0.0023 left_gripper=0.9969 right_x=0.372 right_y=0.1821 right_z=0.1739 right_yaw=0.0188 right_pitch=0.1231 right_roll=0.03 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -1.2786, 7.1726, 1.663, -0.0806, -0.022, -0.0073, -0.1709, -6.3932, 8.294, 1.2918, 0.1343, 0.0952, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLEgf_PLBq2AI_taSmIu01JMOR4SKN_zLZH2cqfvPt4IZz8K3fPHzlJQVUC_bUPE7l8ObbDiMrrNXlN1nIYKR_7vu2HvqPoTLwASqiPtrgCSEXuz-XWoYMAPqyHEFhlBOORl9WyBujjEWb3vj753fPVbrxNGhB_rzeGmbpjys0W_K2KI3dO5haGhSDuBBq5I7_eMz7tucNaZJ34eukPaEQgrFkmpksK3J_-YF74XlQNAXAcONhnfOaT3pbksByv6oot10mZVyDE41O0DwEJFWhU1jR9fct3PH9wwpVpX9-v82ytu_aQZ7Pjpava4svdHVDgMJ7JOEkBshhlj-MeDYVm6jHlA9FN7GKuWnnGD1VwujW-LoEtnKS1lLLwoqNJMXzUrLlTRGN-XmXozQmrkaxKmoIW89ozOfVGE_kuq6xPsriBHEI5pmypjoLDLJKtyzTpUhhUODVHqHsYCpns0gJ3S_d9neHE8xpQPF95zXryhhsmb_zAeDZ46md-cJFDdLt7nXs3xSrVanNu6Hg7H21KNdz645a5w1E5j0bM6enAan29KLPfOdZrKSqb8hEm39ZqouBgtnbOZX0HzmlvBWgat8rhCjh9Awh7WOU5dyFl262FWDy8w87uePmAyJFl8cnSLeVkcgxvSYRssT9BXfNT9bt6ps7VdgYnfj2dU_zIgRPGqIyYJwReUiwNraV2aQjRGzbRMsElZxeQm_9bHdWJyJZG6wd4Qj_C1gorUJs3yO1-YdmMj7pQkWgYZzI3CEEtVdWV8jeJlrcnbQ3fMy3lOhxLb7GJp-eqElueiiOUBMs2gAtcxdDrIJO5rEroy523XNSpoG3C-ZFg7TvlsG8Dmo3MVPovOOPafdOas-RHma_84gBKMJ2-1Uoui2a9ztPeq3XyVeXNpQmdpKNhhimLAfxpDUIqBL2rI0jLnvmLRUx5jHJcb053QRZeWmzd6gJ4hOi4XFQRZfizrBWWdopl5lQPfrv_PfujUgKgXCl-vPlrZ5U0iUopc8oWiqnlioqv7ql8zMd7ykVOUdo6_2ktF0BOarc13URNQ2b2eganZ6VU19hJiksrG52RZHfaaInIXwMERKZ-eOd3qzCmdYe0zDywgFXLj-GCjvpzVZ_LBhPS4lJcxwtqf20g4eX7URqncwF2RNdKeSYzbdLvDE9ig6lHAP6rIUcuU4fheO5UvHKqA4rhKtn_Qq6Bzyk1gqbgiPat75u1YWZkQSYV5lqyL8TuSEb3xt8ArEDtThpJ8Ecyr-eX1OQW47TKfUE0GVjBCFCTxLqmCSPtUMqk6LR6ZRy2E-Z6Qq1d5vuxg3Uk-_v4eIvKY5JkhRX3p3ybayXaNJ-Y7d57CtImhTRML_1V6NzBngZPkGiYLZxXyo0x2rzYFkZvjpl3c71VhXTiAaZToOWhKxpNR_8at6cNIkymy0KOtjO1jf1VzQ6lED2pnk7gwVb9mOcjZRN8S76r-C2BBwY__5aKVKuZt81NWe1NXcvNlWpZXoQD3bYOa9L2Z0mcROrUHpiQb3DeLrZ10oos18pumfPZuJ6R7867ZlFSmD2zGv0UmiT6IHNfqw5JGT7mheVDT1J--cfZU8-AIB-UShj549uO2fVUtDbhRQzgh7JMtpsuD75R1qu0g2Lsq0HU-fqNtqFx4Fkmjqy3nJ_46MLJSGMK3c6aJCs8v0WUidPNnbfMw_tKg0DEpAOMTWIY=",
  "id": "rs_09129f6cb2aeaac3016aacb11c718887d0b034462e5561452d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.22,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right container is standing independently, and both cups are upright. I’ll park the right arm clear of the objects to leave the workspace safe.\"}",
  "call_id": "call_VTqZ3EWBuTqqIplZQ2lzz90y",
  "id": "fc_09129f6cb2aeaac3016aacb11e3de887d0b2593c5870c818b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VTqZ3EWBuTqqIplZQ2lzz90y",
  "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]: [-0.0338, 0.8154, 0.6067, -0.4587, -0.0517, -0.0448, 0.9969, -0.0006, 0.8314, 0.7704, -0.4919, 0.0463, 0.012, 0.997]\nstate[eef_state]: left_x=0.2851 left_y=0.0031 left_z=0.1597 left_yaw=0.0268 left_pitch=-0.1055 left_roll=-0.0021 left_gripper=0.9969 right_x=0.3003 right_y=-0.0048 right_z=0.2227 right_yaw=-0.0544 right_pitch=0.0113 right_roll=0.001 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.4291, 6.9949, 1.6288, -0.0366, -0.0366, -0.0171, -0.0342, -1.4974, 7.0085, 1.7411, -0.1392, -0.1148, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7596d67e75da1f975d56b3506d58f0ba1a6f9d35a2b963f8b47b89eaa362645f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:241a63eece720951d360e41eb494bcf31a156afb2f75e077eca2f648c155c6a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d1ab114963b8ed38089dd1cdfb650c1befadb0d8ce59b8b92889f4282f0f68",
      "type": "input_image"
    }
  ],
  "role": "user"
}