adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6163, -0.3801, -0.0219, -0.0223, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.5658, 9.347, 1.8193, -0.0415, 0.0757, -0.0562, -0.7726, -1.4838, 9.7983, 1.7167, -0.1392, -0.022, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a403bae06402b55e9a299b67c0967996c3a8ebb662b60bacbfc07e4706c86d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e10ebc1d208698157903c35f4dcb554b518cded2d26332744ee823c8e07fd489",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9089bdf6c0a34b11860b15fde4b5d9945e3704dd91c7322ff6a94967370057f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrLOVPVJXLsUiXDBXmTwHo0-0RedFr6B7H4t6IgkSyEjctQgLe9TgUNIJKBQocVXGeAnJY3YEYnViLqWi08siPVKq1zyluiav0pRDsAiy84NK1gaRyIrfgkeRTKD_GlQLGGjzoQEYSP3HquG9qW1evGZNYXPdeZc0AhLyhcU3ao6HTYvalFARvw-sfDPEE4Sr-3FKS2qboHRncy6k2lKmqRyYUA6AddUynW9noiwulLPLKoXnAsghH-WlXH5jynF4WtQkjAYxr9V3t7vj0YZ2Lp92d7DCPEUm8GHboL5Cp6e_KBTqZzPS-Sld9xiySsOt5PwsmgPSmRWfAtAAgSuy__oOGGAAd0DzeW7SoCzDsAosEDOpgjHtNDI8fjX_TGPkR5lnmFWVNV6N8_nXa2axWWDycmAAbkKMKRAEFRB9oyLbRlPczaVL8LKZ9Rz_W2K0uMcQk33ZMkefr6718j9rGq_r5-4_dr47LRCAQK_MSln0vIP82argjczB5gzS5sfytFnCAwRW2T4JtqcrEAdpMr92-5wMJ4vD4djWMOPldRNHH-Gv4jQXJ7EWmYgRLcAlVcMcCmmoX37hiM8p-AlJ8d3DXWvyg3I-J2ILv4XgMQksa4b2oZjjVkdUeV6aTnVhXcjjwmHSBq_wLqtfJ7N8LjnCgjoe4CofJgU9bfaEmskR0YqFhbEcbqF93h9OYS7oapppzF1ZoA8efRaSbKou7vN7vqZF9F2SLOnNnNx8Nbs-qUnVV9rH1rn521YT4_XypEN9UG2oV9iqvkqM704Ao4JErG26lDpbH0cduL6LxiKP0bYgi-2H0aisiduciMSh_c9EYGy6jxBh2dzRXY3N8MFgI24oUItVEsRUfNTZ7aLZ4T_Mq1p8_8w2N1QLrUvBaqi2-04-lkqBvNrVKLIH-fIwzfLhT-Md7oe-b0SWLvubm0SYaH7GgQw3tnIfj_G5pfB6l4dyWxAmV1w7ibCPKZdXv8dCAeu2L7rl_diGwDb2-CcmDG68_Z3QQNrA-0ewhqbSB2AsCWtWhRks2oqoDfwZGTJx070ocBbR64sY8gON1PYBUsT25I3QMBen04b245xcZNTYPGSVYX158mA9_1FFidEUuiUl0g-PwXoGq9CMTBfMj6hX5sZJaNXDog_aTXQosJIjgVbpxf56REZOlHO1zR3mdSWcvMRCx9uw8cskdyvTqe21lG06fG7nvAE40jniVRzAaRteMDKp-aLciqTcs-w3sTvmexNqfqi7SWGLRqLIc_SL8mbv2kRInar9Qg-TBCwFCHQNiX0nziW0M1DyRe4tvwDoiqKyoFdDI18EvGyDZrOGEzzcn-jPiuvMWlbMbM9-WkgdWXO0gW7ltpUaLpNgkVM_xStuHucBEuemI00gIJOz_fz1dVmpUrpXDXp4CGWCZ4gEmz1VZqND2QFgvaciY3VV7U8aWSS6dXqKook-4JA6wB3MfnwoTuLz8fjb5jfjeS3uVJayQ1_H9upYZa3-B47tTs5J1nxOhBaTa755WdHHTmhhcKMGUT4nfZWX49uc2ErnGs3InaMTsvTjdJ_a31XrL25q-e1u4wX-7BJlT2JAcDw02IAyeZqe30ZHS-jVm5BVe5iNOJExKuIC5uOaeNJ4vAcyeN7fvaapmQOp9YPVOjKZyurM_8X-d-Pv1w_Ip3tq_oJsTOx22529szA4thCzduKpg-d55OYoQflgsWWH1ABPC6gRy70pazOzN86LbcqdyOkmoeDmSHUDN922JUWA8NFqTSORuUhS9pzh9y6X7n081RFXZTnZ17iSWPo0rV04d-xTgTJSUxhiFAcXanbg82q_tZIabajAioB40YjTrOH3Is889dTf6qH49mAHSOHq4a-Ndc3kf9U6or2Dy4d0hn3XCLe3sMkHzxesnfIng23xGCKcI3ZZrV7Ia-UrK0YSm_UpsNwsWJFx64WdDvMdpLekimhc0MOEvbhR9XeHdUwNucUw4Po8vwPohql5WUgL5WtR6zXhrXnPNqgyFIkkG16eIAoDCd4Df70=",
  "id": "rs_00a2b927172ee900016aacb38d924087d0ae133514f4219a83",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.24,\"left_z\":0.22,\"left_gripper\":1},\"note\":\"I see two bottles in front of the cups, with the red cup behind the left bottle. I’ll approach the left bottle first with an open gripper, aiming to grasp its narrow upper section.\"}",
  "call_id": "call_qoVneRIFB709wRQjBJll0X7Q",
  "id": "fc_00a2b927172ee900016aacb393734c87d0a1c0639a1c909534",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qoVneRIFB709wRQjBJll0X7Q",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.717, 1.7359, 1.412, -0.4294, -0.588, -0.4721, 0.9996, -0.0154, 0.7986, 0.6086, -0.3744, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4234 left_y=-0.2344 left_z=0.203 left_yaw=0.0083 left_pitch=-0.0432 left_roll=0.0129 left_gripper=0.9996 right_x=0.2964 right_y=0.0011 right_z=0.182 right_yaw=-0.0001 right_pitch=-0.0046 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.8, 9.6615, 1.6581, -0.3443, 0.1783, -0.0562, -0.3214, -1.2786, 7.241, 1.7656, -0.0708, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ff4b2a9e94eecdf6aaf924d1e42d6d36a5e7f9e8e4aa3ae719bd9b57b24bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80cf44ecbd94527ffd58418ea33a7d243f70cb3caee68460299d5c9688690177",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9254e456638a2eece436c9e038824ad4da3e88850a936d4763b6b0e46749f71c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6163, -0.3801, -0.0219, -0.0223, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.5658, 9.347, 1.8193, -0.0415, 0.0757, -0.0562, -0.7726, -1.4838, 9.7983, 1.7167, -0.1392, -0.022, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLOv-Z3T8v-bQ9qt3hNLMfa2X42yVg0HK_8NX9mUkY2Yu3xDAmH-ic9uU4MvVXf0JmCTorSTjSKQjpeEsbgyQmGxV4PbaOIcTqiTiKcrbE9APcDctUyhuRT3IJLU6CjFVjpJwxB-9JucM7XylMkKJE_v0QMGIVPTPxqzhiEmPUxF1enoSnUJjRTY53dy690yUMOu0HuU6v5no_N21odwQ3cQfUfESGmemzcUedASzjTpQOHANfK0FY92cF-VknyC8hfNahRr7Eacv_bqPYqFUkCgA_xD_UumgxwXa2-RREFLy3lT4TLlxQAPCXPetFEuorMlOLgbIX9CTWkuqNx7_zMWyJl1Kr10Lpmal1QvNl6N_E5Y6rG7lfqaC8HPx_BaJ2RIr2jJY4uFtqs5KzhQc4agnxHSu63H_ApHxVl0E5okkVauKUpxFaF5mcnRT22g5lFHXAGjCjftNISIyzyFKGz2MeULOop7wU_x9Co5fAEGuA_AyX6wrfeFeN-WDt2v_dHQszGDkZ3w44SEWnnLXBreqMbn8eIo9vjuWyU2yxxswQqcCKDVT7vfZB5NISidf_qUKOz_Fx4XjH9XF9g2dZdOHL77H5dGXFq-fV4ZtOuc27STjNErv7O6mDP02-7Llg56zkJXDM-SDfETs0j5N1K4M-CcEPDdw6HbDI1UQHoX0qwEJsIX8hEN-I2FR1cBlLIiMQw-EOrICKSxfOB8hrO90B5CoTejaPUJSwy5wi1rctSWNHMZc63VIPGDVUrAiPd7GivOWeE0Iuaix0892XK20GHFuO7jSEmNvtHz3uraQHs74aj9SATY5W-t_1nyKxeXnhvCFaZ8vnRHWDc691xx5nS_XhzBka9s9k2YEBFKqzdgPzycxxQCZUJ8p0wmXsucEVY_Y_xbcVjDLOcYDKwSg6Vr-54T2-OBFK3wgBfd1f1ldja7Tqp1LADxwpPQpGK0IGe_bCXsA3n_rJjyC-Bm_hEED3pwbNii8k3tgw3rSZBMBXyKyNcHHV3kKaP4gXOyThQvNyVM7OaAbx0unKS1QglO50AqhM54A7E6dnK0kwqTmdsdzalH4bwLV8tuSbuD_zF9M1IGhJq32MMn_KD9aDqXsqa9VkbcAp87ScCwSHToO5yZOH7sf6ezI41K3ir_3rH16AfbQIMqCPIZ0v0oDCLFd8VnsvtLO9-8_gHyzYXxj9FJRewxiX6Aa7Du7sVrMGbB3CbT5kV8cT2EuG2EMy78gyrlhTFzUq17GITIG4XlB2TgFgf7-ZpU8peOx15a4cJyGkICuJp7tj88ZAsaZslNgb62wAsBKuD0jPVsHvjca6LjHGO4I6arEOHuPKHbmoEB8-4YOhkdi67g5w5YBdIKImKQuoCv-Py7JRKQPavr13FHMWlElucYx7oCOEvRcMMqjCfqyce7fj-PflO79T702SHySXYB50h0mSOwxEjxLsCFwqDMzcxou5KN9bX-_eRIEJfDXxym21RR-e3l_sqIUr_6ls72pNS9pxgyaPf2RkZc6Sn_DrpN6vd8lcgvy509-ckufM3-GZkhNfISLWY7ON3Auz_bEo7HDRztE02-XDDlAQQPqM7APXR42k6EDr9GtUoQZn0KvkEx2_oVqTROx7JfAUnh8aiX7O0BletbokdGfF2VSHkLccW9b77JmfrB3QV67qAbVmyWHzqmWLX_Ri2xOawjnGojK2KxUNZc1ypl43bvZEcU2wEHtlFkzDEeV9fReU-17n-7QFXhG-tB3FWoqKjyg9oXE_LCSpRNU0gzaWVXdPiAhBZ_HDmQ3tZl94CaeZoQ4q79ZcA5YjPI7fJqpfCtIvs9B5prTQKawTPb6nP-4yvNxRlSMDQInY_VVnp0Ds3btdEER1ytGg==",
  "id": "rs_00a2b927172ee900016aacb3aa80f087d099a728c7fcf49552",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.19,\"left_z\":0.17},\"note\":\"The left bottle’s open neck is left of the jaw column in the wrist view. I’ll shift left and slightly forward, then lower toward the neck for a secure grasp.\"}",
  "call_id": "call_znuYkTswYt3ZeOFkqMEWHUxr",
  "id": "fc_00a2b927172ee900016aacb3ae102887d08845ebf4388da2b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_znuYkTswYt3ZeOFkqMEWHUxr",
  "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]: [-0.5716, 1.7355, 1.2617, -0.2577, -0.4931, -0.3817, 0.9996, -0.0151, 0.7986, 0.6086, -0.3779, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4481 left_y=-0.1846 left_z=0.1634 left_yaw=0.0318 left_pitch=-0.0671 left_roll=0.0227 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1813 right_yaw=0.0001 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -9.5521, 6.5709, 1.8193, -0.1441, 0.1245, -0.0171, -0.2667, -0.6906, 7.241, 1.7558, -0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd05a0188bec6b258dc2014ce2e02e065018f100d43a81adeec53803fe23b793",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8220eb0ece4ac4c9769e9f9e51ea17f5dd1b71018aa8972b7da236901d77787a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a96375d5711f8fbb45c441309291e7696f9ec98cc2c683f0f89ef6b3b890a4",
      "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]: [-0.717, 1.7359, 1.412, -0.4294, -0.588, -0.4721, 0.9996, -0.0154, 0.7986, 0.6086, -0.3744, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4234 left_y=-0.2344 left_z=0.203 left_yaw=0.0083 left_pitch=-0.0432 left_roll=0.0129 left_gripper=0.9996 right_x=0.2964 right_y=0.0011 right_z=0.182 right_yaw=-0.0001 right_pitch=-0.0046 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.8, 9.6615, 1.6581, -0.3443, 0.1783, -0.0562, -0.3214, -1.2786, 7.241, 1.7656, -0.0708, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLO2vWz1jOjxvOcDMHNL-DI-B5YGRJ8AwZYdN39bb_ThLiXo2pbwEJl9a_QBZTcodAtMbPyOtLEV3Y-Yp7QPo8E_E4JkM1fgzSt9oRCyOVly49aUMLjVhgxo2sgOK3y6VttF3QG5kP3owQkILT4iR18EMoXRFtMSP2tTZRylEJN-klCs_1XYqK1jTTvFUMF2MR2KR2m4xyj4STOLI1VJUUigoAByK6kSQpVcUIgPtClwtrfyYYSNfV6oeqppOT3YIC9aufuuoOF9vA_xPcJvaRNTdVz4HDALk9RTDnIWA_9sAUknle_37FzGfGvOR8QBEFMdu8xBdIYfMWiVFyx15lyPyYH-585nbKMUsK6RAFNJ7zoIsv-HZxIU3yJ2ttNNDnjv1Ar6Sr-QAmL2eyPz-fuyCgjCoIY4LoB2tGf-0z4qZQNtKEAzy47yw57omNkKtFu82sGzoY1C_0z97yk6OEW22-uphqe7liGGsLZRjCRSfGZEsLLd7vfISXiKs9Ol3rFbLqfpm4yE036t9x0TF83evlVCZSQbiFHpHg2Its7Cidtvg8ZPkZwxnLevKENYKNOXNF_Enw2GYkbZ0Gzv9jEMOQ9YMQneLmLnt7oiSoVnxD9pX5EtaCR-zMzX4vXxlWJgUw8i-DnJESft5jEnE8FN7998hyPSUN7kpmAV1MWYXs0ujXYhDB13ASrlOz-ycmAhR6BXNsrHipSXk9pS9ttC-Gmikh9Hg38_pUCpvTlnDLT9Xet4dknU2ztrto1OuXzSVc6f_-ulz9_V3SgifDf-6nc6BAcn3_JUpvpfX_-FqOtQ2wxGCvc0gRbA2hGbD5_qr8BAD8xrbGcc3FQi1RMXcjNC54o5_dUpRg2kW4Sb4CVP922r-_FQ8xnGdq6NpJ1zq9aBDb0ifw2G04YIdT3dJy7QfGCeVZO_-f7IOnPUly0MQn1Pt-iOf5tfCfLF36FzeIeVwuaf-u-zwBd5pHLicE7Cq15gujdaF4huSPZWhQcS2RTQNWN0_jnSRAwyQpMMACfcbsavNTPodYQ69y00KVSn0pei55jEuc5Cv40d8NE2eyZ2Ta8oCpRCL6W81pPYg_io90IVr5EPB_I8e0mE_-JMJKl2rjglRjqa_QMQhhnAJkM67iHodU666bZ1VMSuWxzzidBEw3FJLMesImfrdhUvXd4-p8Fy52r6FlU2Apg2-VSVa43Qq3QVcPdSFyu6Ar2YJZJWnrWBayhX1ji4PF8Y0U3RvDOl4ytMea6pRSZMfaNM4RYl1am3OwB8uYcjuN0IQQL2f-OY-oyRIwfz3MrRxQYHPeP7SoGtzNiQcI9Qnc-Oyw4yJnIYQaqP1YIHBi0bC9eG7czQc3u3lTbnGKAaW4gXOBGlDk-E4YOFUUXBqhXroo2pniDVJuSHKjprfHynegk9YxA8QdiYdxNRqfnjO-G69ltAA2JF3aGyOUvsbe8HLlXfdowTB_TxLD_jRAoCAvyYC8IMeJEZZMkFOGdkzoVt8egGhzY6owabekfKQ5NrzTxmQ1RXJLTC6RXL",
  "id": "rs_00a2b927172ee900016aacb3b248a887d08c4add07455a3617",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.17,\"left_z\":0.145},\"note\":\"The bottle neck is still ahead of and slightly left of the fingertips. I’ll make a small forward-left adjustment and position the jaws just below its rim.\"}",
  "call_id": "call_tXwkzObZs7iAlPTeNV80pJcP",
  "id": "fc_00a2b927172ee900016aacb3b4cd1c87d0a5059d991e5a5ade",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tXwkzObZs7iAlPTeNV80pJcP",
  "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]: [-0.4904, 1.8141, 1.2625, -0.1772, -0.4664, -0.3477, 0.9996, -0.0151, 0.7994, 0.6086, -0.3786, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4747 left_y=-0.1593 left_z=0.1393 left_yaw=0.0738 left_pitch=-0.0754 left_roll=0.0338 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1809 right_yaw=0.0001 right_pitch=-0.0095 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -8.5265, 9.1009, 1.5849, 0.0952, 0.1783, -0.0171, -0.335, -1.265, 7.0496, 1.7118, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf1a2132cb4727fe64b5fb03bdd21d594ddfea1385f30bad0987f4a0abc5e2c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d28c3186fabd182877d155393f86316a7644f687d07b1896baa811d6d2608eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab84992dd1617fec87a242b9168971c9642b8af399915c088f15935e77e78e7",
      "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]: [-0.5716, 1.7355, 1.2617, -0.2577, -0.4931, -0.3817, 0.9996, -0.0151, 0.7986, 0.6086, -0.3779, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4481 left_y=-0.1846 left_z=0.1634 left_yaw=0.0318 left_pitch=-0.0671 left_roll=0.0227 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1813 right_yaw=0.0001 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -9.5521, 6.5709, 1.8193, -0.1441, 0.1245, -0.0171, -0.2667, -0.6906, 7.241, 1.7558, -0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLO6F4vg9eIITcIxpTDBT5WVaW3kImhuVJ3uGZ07eKlbr-Shy2NkF7uTQ4eQkKbCcgXn2n2pUGOZYSiEMidqjs-k9F7nhuEUlO7DDKiWOY802tC1GkUzEl4I18fZhR68L4jLjMtR54nSBIIpMXKJyQa-DrOyBPYX1UmWIicfKlLwuofClp4h7bAt8wzYwne-VsnYuPBRUMrJy2-UdOSwJvRa-cAqRWBtAuOSFdeAwjIRFQ8Jptl92vUFCQbNo16YcIC4MgD4AWLtQ9l2KypjiqGSkxq6TS_b6mv6xDpeAxH6iPGryXVWkjn4X1Dkq7rK889GPUIx0hoYvDHocR4kGFiq2f9mjZo9TfSMcXfuE7XHlmfZXZbeMyANdlJzNIVxyeTgpg37kSnHLuNCIDnr_mxfp_bbSoTG4bRMu10bGGoa7-vfLmY7mDXFfY5amirew4dFtS4AJz7LqygCsUwNlgZDIzaxQMbIq7fQVoFtmbqe14cUlZC7sQ2QkwfiFzDsVEvISDkJtYszvrqOahcGM3flgRwfjsQwf2wcHHrr2W502B1Z8YXIB1msuIL0WN8BWs-9FxviH3vtD96lZggkWDeQweVAB46dH8AFcfG56TymFEyCFiDLw7lTR0kJHcPdK_QmRYM48ksMQJrXxtjtkPkUKtdzKdHvIVk23zNs9qVgP4uWdRmurCF3zym42rg-c-vtlfFMpNbvGohkd5PRMhTKZghaxUprvI707jkOphd-2OPp3tGzwuZRw8a6eYDco_wf85nKwgwvEHDUq1LRJBLrXAS-Jo136hidE4fdgAa2wygVxX7SaCQjSRo5YBTbF_0QxVbqLGFMLHWIUfLJc_pUo40hDcHI3Qyb5pufxGBo8ScgEyk8jx-8vJ_IFucbfobvRg7jVV3hwhreELS1fCf0CVD6MeCGWT5Oe7d6ZeYtrVvRpMbjugBeqCfhfGYQN7Igg6ElyGvVOZpzYG6Fua10Y-VgJ7V3m1kHvGfAsmp284-JZEZA8vaqVlS4uEVB4CpMwh59m_gIM6qM2SR79heztQWidFfoY8asrluqP3YOKGn2nXiF31eDOjqpg08TEyTjbC7ZmCUc7i9BFt_mO-Xhhu9ch9h2BVRChebuyRc-DobjotmfwmZ1rVAys4gtDZZ1AhQrPJdD6Rx3Fi5GfVntGhZqsjBfeoC0JjiyULHrSfJFknhZVLLp9ci4cw2a15mjloePsos4lXYs3KIhrIuxQtwQedCDWSQ-RpBGe8Tj5Rk=",
  "id": "rs_00a2b927172ee900016aacb3b8c44c87d0b0eacd28813c5373",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now positioned around the left bottle’s upper section. I’ll close the gripper, then check its opening and perform a short test lift.\"}",
  "call_id": "call_dMFZsjwwR3R2lTdCUaGkbDg0",
  "id": "fc_00a2b927172ee900016aacb3b9437c87d095d393165f616d99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dMFZsjwwR3R2lTdCUaGkbDg0",
  "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]: [-0.4885, 1.8141, 1.2621, -0.1707, -0.4747, -0.355, 0.8193, -0.0151, 0.7994, 0.6083, -0.3786, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.476 left_y=-0.1574 left_z=0.1407 left_yaw=0.086 left_pitch=-0.0671 left_roll=0.0293 left_gripper=0.8193 right_x=0.2958 right_y=0.0013 right_z=0.1807 right_yaw=0.0001 right_pitch=-0.0099 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.4564, 6.7761, 1.4969, -0.1001, 0.0513, 1.0281, -0.3214, -1.2239, 7.0496, 1.7265, -0.0171, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1637399968ea8c9339a7c7de51403f2b618aa7231f312c32949f3ca2a3b94a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17929ea4ef9d665de5064e72c39d0e9135080517717f5c1e2aec8c0638a8bfbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a7b6e091504e80d5ee81206dee8b16f85a77a6834fee65099c465f318e51593",
      "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]: [-0.4904, 1.8141, 1.2625, -0.1772, -0.4664, -0.3477, 0.9996, -0.0151, 0.7994, 0.6086, -0.3786, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4747 left_y=-0.1593 left_z=0.1393 left_yaw=0.0738 left_pitch=-0.0754 left_roll=0.0338 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1809 right_yaw=0.0001 right_pitch=-0.0095 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -8.5265, 9.1009, 1.5849, 0.0952, 0.1783, -0.0171, -0.335, -1.265, 7.0496, 1.7118, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLO-9utX3_RzM__zF4OV_gVZD5wGorXKjCgbJ4WWgJiLfOZWphaHXlZrgR5rYnntQ1VK1cJx8jskdN6cIAJ45jjpTEtUli80axqdaQ3nVnhf9QAfE0vJnSjNOuvXNSReKAydr9-A6H-UHxZaVGn8Ew59KUrxajvqeIWupgDlZt6nz24Zj8aIIlrvT1ufUnh0jDdGfsow4Ii7IyiFeaLafGR0MTfj1S-RAsuj2qXzcxWtVEM9xgvK8U7pZA5KY3zjifANpEQ0_KcSem8G1w1pABPkn5Yc4FOzkwVkoaECr9r91n4q8CPzKTD9XjgZ5WQVEApKPIUAISxfGfg6mkExQwD9-rAvErma-7ByWRO3Yq45B5Plwb31vPzr9QfSx6PiBtOdE6rhSktGLkV2mS1Rb7LVj8MoB-amLtQANNfhk0ZAwLuvwdNqUtX-xB7zBnYoGgmeZUlQow0USZRpHEDSrCu5Yk9vNIOyM9ZHv9gA4uo_4GcEdOsgbDrOLqfPgcny6K-2gUUanrIalPhMPVqoDQNSg6RJy1zoR84UGjvDmI7VlOTO8FiJgyTWpfgs1oMiHljUa4MwKgIyWK-2mxk3hoZI3X7az9LotRI8mbx65eqqccHWx_91z0bZ8WeOJbna-Q9SogL-6XyfhkZVLKjup6x8stCIw0v_gbS_TmnGk9yg9FS_Sq4uf_goivf8iN92rWAl6bIRwQVkcJawMkh0vNRtVqyf8duu7W4doNxZIVOOmp6wbj_PsLULsBoBCzdjaNdX_IUyilXHLiOg4i5ZCy_1kvLjIIIvCD8OyYYaNcN_CtDs1gg9aznYx6CND-NuyXSawAN6eMsmiu8x_8L67pD9uA9QC5cFv9xLXHF-gqinPzbI4eWXBcFC2AlROrD_wPxaE1jmO3B_-_kHqrJPIdzkDruzeM7C68BdF1yDy430AkErpIhVjgJKBcbGsVJ8f9P-4iSXm3NsO8v9YcJSxaQ6oEVZH348I7Lqg6B6cbPpNEOnFcfD5G2xIeKd375BwTGgLNZYQa1KLb6pF4gadhZ2xA-Snfz9Zad-8J7gVJ6NkKtgJF47ZVfDNwgXm9wO2T7NEWNtFGK7aHEIaWWgA2_Gwrj0YIXOf2eVvApzO-s782I0L7Epy136-6L4dXf8bjRq0MsmFJERg8TKkCeN3zLsmz7U7mJxW3wALRNdXOshjsW-qnt7NhPWcHcOosS0DeUcVzHO3JG2wYtWjUs9G3DTG_ge0qgAfE-pEyRYEg-jUo4=",
  "id": "rs_00a2b927172ee900016aacb3bcaa9487d09125065770dee740",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.205},\"note\":\"The gripper has stopped at roughly 7.8 cm rather than closing empty, indicating contact with the bottle. I’ll lift it a few centimetres to verify that it is held securely.\"}",
  "call_id": "call_XCtCUdTgZL47rnPMoir4JoYu",
  "id": "fc_00a2b927172ee900016aacb3bd08cc87d0a583ac75c44f0230",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XCtCUdTgZL47rnPMoir4JoYu",
  "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]: [-0.4885, 1.813, 1.4052, -0.3935, -0.4713, -0.3756, 0.8141, -0.0151, 0.8005, 0.6086, -0.3805, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4723 left_y=-0.1561 left_z=0.163 left_yaw=0.0987 left_pitch=-0.1335 left_roll=0.0543 left_gripper=0.8141 right_x=0.2957 right_y=0.0012 right_z=0.1802 right_yaw=-0.0003 right_pitch=-0.0126 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -12.9299, 10.5504, 1.6581, -0.2613, 0.1783, 1.0281, -0.1026, -0.9778, 7.0496, 1.7411, -0.022, -0.0659, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f02259ef4d59ace83cb1f2d2fc2611094bc892cca3d55fe4068c8ca36a83a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea806e169c414aa628bea9613692172a4d1255c2e0323fcbbcbec79794d77f4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae980aee2fadae120e6088967a379064b8182dd9a621927aa3166b179154719",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4885, 1.8141, 1.2621, -0.1707, -0.4747, -0.355, 0.8193, -0.0151, 0.7994, 0.6083, -0.3786, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.476 left_y=-0.1574 left_z=0.1407 left_yaw=0.086 left_pitch=-0.0671 left_roll=0.0293 left_gripper=0.8193 right_x=0.2958 right_y=0.0013 right_z=0.1807 right_yaw=0.0001 right_pitch=-0.0099 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.4564, 6.7761, 1.4969, -0.1001, 0.0513, 1.0281, -0.3214, -1.2239, 7.0496, 1.7265, -0.0171, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLPC7o16VmN2cVwPcW-qPDBeleGPlDfGcbVVl_BgYMMakBnMqVtrSwJLPPhAPp3P-RbuDKPYBqh4ncp7KFct-q_0GZ9iyrlqei0XBfVbSzEGsi-g6Cn4hdG1eMrsbRleSYc7tinbKEXsT9yAWKG1hHMr1wGbxpJhoyn0lHBcPgw6IIBFSz1LyxyG0X1IGJi5KZAz35yyywCNUJGDxumv-rU5pNeN9aj1rTDeuy-i_iC_EKMHOJKIwd-mauUoSgQvmPaRYHJ8WWWl06mfRMRVMniHdWRt-xz3Py8tJcjRHz-cT3I-r6qXi4l5ZD86mVsqqCTpCQl4gXfFTSX2vbgQVjth7zWCnThQdOSs6iTv20th1oVsXMJUZ1azxPwXrDoJV1SZVPP7Y2jZX84KI7X61GVERMtx1DRg79YsRnSU5xnd7PdlC8S4Pzl4_UO71aP7JeSyqzHqh1JJzALQbXcs4eStoN7RhRVvfayBAt15boWW4wV3zP7gdYyhQDRS5A4qYqFgYvn-2rJHcWkPrgE1YiwBpEf3coqvcpOX2RhFkBMxAFpWEtnP8W7SwlYuGFeqepuQbTanwwH8klPJMBLQntML91XNipkRhyDbPmhXVgjdXfKUkAy2EksMiQYN5wytS_yHTta_AeRDAERpEXSB1vb5eBRIlS2QKiqrlny4AZmDg9bPPxof1yYQ0_aGnOi1CS1yBVvvEsWgz00JznSF--ruJd2Wz4mVpsIiGPw3q7shFU3JEiOFRMr27Vvyg2A5DueRT6oHtHOiMCsY652pTF6J24SQSoRsGtLSlXmAzbHzjAN0NfNoVT6rmxqP6OnmFxq2qiTizi6XGdsIXttzg8yJuCdRztlHXah7GHFH0mzxb12kyF4oFBsgsOgn223Kl6Qa3sboFcOhVHOhSBbXD_h_ihFfg45IhpYMxlahL63LkGcCcXsknnRRrt6Qecchbl64iiTT9RI-2dstldjBXqTAt17v9s-ecipjV_9yYL0yO-VhzsDlQXIJU1xxXGXwOyK7H2wIcsrlkfSleCy_-SnU7gpszYx7i-prWKQTWdAzBQC_fm1ASO7ZgM_X8xgsiBosT7L5gZ0YyMTu2xmE4bGohUU2p07TA7fFMca9Qli58jiK12CGIueU_8w3yeP5f9iQYWvgkD8EWhG-fG3MrPp0nOsj3ypo3-xnjVm3803Xn2T828wN_YYT1bDoUpbJpLoSUkNGE3IEfR0Rt5MnAmyYLrGST78RBJkGfWvYOjoJ5j0B-5ePTgA4Lxy96dSm-LwG",
  "id": "rs_00a2b927172ee900016aacb3c0792887d0903ff81a050bb285",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_z\":0.26},\"note\":\"The bottle appears to have risen, but the loaded arm is well below the requested height. I’ll bring it slightly closer to the base while lifting to improve clearance and reach.\"}",
  "call_id": "call_Q3S977UhueOoqrhyL43PisZt",
  "id": "fc_00a2b927172ee900016aacb3c109b087d0add93565c9dec4fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q3S977UhueOoqrhyL43PisZt",
  "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]: [-0.5323, 1.7412, 1.6112, -0.7456, -0.487, -0.4316, 0.8159, -0.0151, 0.8024, 0.6086, -0.3843, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4405 left_y=-0.1594 left_z=0.2263 left_yaw=0.1039 left_pitch=-0.1857 left_roll=0.0646 left_gripper=0.8159 right_x=0.2953 right_y=0.0013 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0183 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -12.1231, 9.1966, 1.4725, -0.3639, 0.2027, 0.4371, -0.0342, -1.4427, 7.0496, 1.7753, -0.0415, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5dac3e0ad0b42dbf44efdb65e6d58fca7e596c3ac1c73848e5c7f9c8d362bad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bcc3b629c4a83528b1ef0cddf505e7a2c559efceb3d9303829d73a7a8a34299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3de568fab01637d9f3ea033094014bd5eebecc2e7d800ac0ad7816da364ab1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4885, 1.813, 1.4052, -0.3935, -0.4713, -0.3756, 0.8141, -0.0151, 0.8005, 0.6086, -0.3805, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4723 left_y=-0.1561 left_z=0.163 left_yaw=0.0987 left_pitch=-0.1335 left_roll=0.0543 left_gripper=0.8141 right_x=0.2957 right_y=0.0012 right_z=0.1802 right_yaw=-0.0003 right_pitch=-0.0126 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -12.9299, 10.5504, 1.6581, -0.2613, 0.1783, 1.0281, -0.1026, -0.9778, 7.0496, 1.7411, -0.022, -0.0659, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLPL9OGkVeBRpvRsHpXJX5RQsh7BYE3sFBrJy8i5Wh3IT_43AxQBHsBONYoJxlfzyIsZPKkPE-Qauj6TIPk7VvR4NOihQUl94N4c418HiHcqRZkPu1XgUyAyyjd3b71o2rItIfkUZol6G1rWFXLRAyC2evZfgF478sekhsB3B5TGJTeMAbwD3MIh0ifD04VC8XinpMe29tZLblp7kvw256OJSx6B4dIvaHP2iVRLKyeSgmuyquSngyqLsNryLFfQFZ7k9lNMVtS1Qpt5BLfWrwOyTQ5-Ph1ziaWpgOmjjBgNAJio-hTaV7m0EUOekXx3KdjFW6oRJJZfKjs3TYcjwRCeBgvtR_t0-eq555FThV9l_3YuaGJhX_cxH3QO79sioldlDAri36crZFXQMCBSnFmy1BKOTTyRz9F-W90cfqSRzD1WcwSIpAfnszCfGj9BVMrr67y74R8JjANRBngtJQd1B1aDaRO35PNZshdfybHb8O6_v2a5ikAxd0Iz9ysaPaCkNmQslSZTrErhuTcpEPVM90Rj0MTjyAhRh1z2TpOIusO2p7rUEEbx1NZmj_HcqsHvuRQ24d8daH63grBJozi3L5GEcdSW_xp2OCPtpCRb0NiZyHZe1jb--HnJ50HD14oj63ntTuvoTp-BcrwZ1E50pis-KbGK1jkC44HOfeXYrUj7HqoRLdUHsZ3l2GWItNzpIz2YbVbQdrqQ2OYaNO1ecJMHBlNE6xtzq8efJrcrkIY18p5Ak0GOJDvfaWY5HeJUOiZBNRe_82Z9UJK3Jq3e0jC_19iyHS8uq9xX36Zjhu4B_eBmH04uRLoatNOvM-ZJIcCteUQh2bZtUceipxm7eUFSN_-cdxRloMhFJlIjLsy8WjV4mAPrRnJugocCCyFE3VZrYYb_btI9ZKeUOi5i4P_N5BJ8cnHAfbUq7DW6AdmeNEJkHhe4cUf4Ez8KS9DgymSjnhJq0txx1DWVsRi7E_4OaB8KO9pLAMUjGNGCCKKPaxF_BQ3_34Qk3ocRlKJCpqJPKz6YCItLUm9CkvkSvqX1Mgy0UKdYYqJzGa39NWY42vWCUTxoGvRcAa9tKBSvuFtWgxvxCHmugSH1sjJ8nIQKPThoN0rT15GDb55t7GLsj6rpn9VVrhwm8tLl-arGtNJJ6xQPq2K9O-UwcIVtknw9YXSjpfCYST_nKEVTxJdtrAjYhTh6cdro7TFj4Nir00rv5FOlSh4KI0Trv61Ddg0rkCtYudJ4SlmDFB8BxU40V8b0LcCd-wRqFAwri_D5qeWaIoTRfZpk3FO_e4GjKso--dRh9_vLGQ8tmVtqCDOyUQERRYIkPOM8ganLAb_SzIzbZIDzJUXsAWrsXLTah67hqiKZzF8jRgxtvThiYVeQecxZb-y4ApDQA5d74x6GZFE5OfveiLg7OXfALviIs3irtt3iKQqHGt4W4XKy2r8HxhLXm393nshPn3oMUOP1Et0jyQJq6patHxnp7JXPy4oSR5aRUccYZ-Jdp4Cpj3Y4lYofbFJHs2ddzG6GTULhKHvm70vRKzuuC1mPHuPUuwnx5CSCxzpnQ2v6Ru-LkJfzMrP8oNx3Cb3z6NAfnlyifYSrinAA7NGxHP4newRTsYrZf6a-f2opULu02flGOGRta_cqNe_bmvKBtP-GejmacQ_t9eblJi2iTnvnc7syJDD2q-rBpgbrXHe7uWrvIh4LrGGVZTldLgMt_KnBptubLI9kL5hw1n3CYXiMZ6676o88S9hXDMP94UuHr2K_lctEtFo37rgzDXw-19FN9dR3LiCmA2m-1G59RGVo8ofyOD-GrwlDKotiQ3TOriEv3_ksW8rL7AsqbcfCHFWFHVFYDUX07D3pnJNJXpVIaj_AEd2lgh-0IuRyGKQcPTTlIiRmKV_yXXLmtBJ260hkwW1v75TZdgfAKzFGHS2Q6otigml6iOMTu01n90B8Sst0H4T9vMVxSaM8Ila-_T2tj7ldUqwABlMEiz4aMa8KDG-FwIMTQ496q5MSsJTmxcq7rlSoYM_uPl4JKUKM741K-Ddq1wAGEy01ep2PoQmkSM4cLt5eXwXMaB80wo-Z-s3KT-llWv9_ix4X-vOBnbsUuw7eB9WgkMWCGTO5lSIBqZi6n2uoGf5wPxfda_YnCbWHybs2LcJwxJcBBAwpnPTw56bB_5Q8mLkfIP61MKMRuazzpyDW_ySqDyEbl4orzTEiDAQ=",
  "id": "rs_00a2b927172ee900016aacb3c4293c87d08f985d616c776b0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.13,\"left_z\":0.32,\"left_pitch\":0},\"note\":\"The left bottle is now lifted clear of the table. I’ll raise it further and move toward the red cup, keeping the bottle upright until its mouth can be aligned over the cup.\"}",
  "call_id": "call_R9fsEKEkBoUbSnRkooRpNIhq",
  "id": "fc_00a2b927172ee900016aacb3ca0c1087d0b95103fb659257ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R9fsEKEkBoUbSnRkooRpNIhq",
  "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]: [-0.4461, 1.7641, 1.8263, -0.7956, -0.4896, -0.337, 0.8164, -0.0151, 0.8024, 0.6083, -0.3847, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.47 left_y=-0.1287 left_z=0.2951 left_yaw=0.1308 left_pitch=-0.0712 left_roll=0.058 left_gripper=0.8164 right_x=0.2952 right_y=0.0013 right_z=0.1786 right_yaw=0.0001 right_pitch=-0.0191 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.294, 9.3333, 1.8877, -0.2369, 0.4225, 0.3639, -0.3077, -1.2923, 7.0359, 1.7021, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21e7c96e09896b7494ab51f47ba43b9e58931b0ed7cdc9e0b26a4020f645bf06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d273602fcfa9d783ab3702a3dfeeb5bd11cf14360633e0ccec950413e9b451f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be5a7f97b3c5068e369e83ef405c95a0d71543c994243890ba089d0e0753914f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5323, 1.7412, 1.6112, -0.7456, -0.487, -0.4316, 0.8159, -0.0151, 0.8024, 0.6086, -0.3843, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4405 left_y=-0.1594 left_z=0.2263 left_yaw=0.1039 left_pitch=-0.1857 left_roll=0.0646 left_gripper=0.8159 right_x=0.2953 right_y=0.0013 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0183 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -12.1231, 9.1966, 1.4725, -0.3639, 0.2027, 0.4371, -0.0342, -1.4427, 7.0496, 1.7753, -0.0415, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLPTnDTHZ7wKEklMoB4GT7xvBg7dfkBi_GbsEZvVTn0cAaO-DaFt95Al3J0Vi_iSYNpRYIxAi4yyUk66d6hSNmnymRBO2cJg9ld7V3uOPVhUcwtYlpwnpS6wNNLPpdbzyA8TCa5ZCzsKSBp2Q1HiXbFjfrjSzjGneRydd5xr2-WeMNwN95PbUf-yMBtfEiGoodZF3TL3w_OnJhnUBFxprCnmHyH42BWLyhqIZcZbPQDfgp2X9WZsig3blJ67c9gilOmoinZ9Xt-HUbJ8K39Rbzv8K7tNHmi3eRYDlpL7smrJ_sOr06sTNonSdQ2g0WnPmKMC966EZKkpawKvRcIn8j4khRvx5mHDW810IDzMgKb-EvpIYCS6E20jaoNLRawp6nNBrA_ytEKEPWIbacn_BTiIO2uCU2TABfA0Lp65V85-aVkeWxY_Dn0FvB0XAAB05a1IUgRSPrjCda6wIu15jkWhbUsp-lHR1Nsh1qeFuKoKjk96j94LTUQmYnbUHK7jWrtvhr_3blT3hySKOzAeji9Q9hdumF4TE-m1iLBGsxOHE5p8VuSxhfXn9SReb78OLLMVr1dwDmKaNmNAocySqy5_h_Pto7USfxzj949G_4sfzhiEXTsoS3xv3rlNS6rSI06ejxYKyHHg5QybmIyrp1YQ2SLdQh6qUIcfqFkjbRRUb21Fjas00XcbJnbq7OXwS8CI201vKvTz9FMm5a61-k87RGI2kZKHGTKbdxnFLlStHt1jWvUOTRZHvqzywuWGScv3rAHWqrrq5TGcr0ifwaznfs6_mBM4KUqSONj6aG6yU_Cdua5kmXqi-7BBmM0UDR-6bgBsZKQqnY6E37akpbWApdH-k3NjsFFaOCAudchX1kWYdPX_5aqYWsDj8Q7mDZVclW3NrtocZ1SNhYgiEIybUdNtbzzqIKKmY2lFAUcTmjisNZ5KOYAtUgP6JD2xYq9yD0wz2IBBJS8W4FtlEZFIzELyJypITXkXLIdvL5xrurRSQSVlqrbLB14swSRVmz_yWRQl0bJxZRLMDrEqFtM13DGxGGmnPS8DcXEfGLZYKWNPYhcHIFv3bz44LvN55CqpxfPdNoFcuB_rWMGPBsxHeqnX6tBUwjnqKFPrtf0qx0TuMTisJ4GrkYTIrCcRE4WD_h3i-NcnCzwDaYqTN7Q8dClPiJ1qS8JLhsK0cV7uWumcmoLAHCqPDQ_3QaYP95c9yXmp2OkhzWZQoTQl_8TBCre1At6tlJ9eCiLbp34PNunEPvJx1vLG5iWo-dnAfcce2xBAWyZZNGSVXw6ffYHwxM4YIPWUAu4yc6fBiKuvxRLbov3uY9FiLJuSNM2RJujIUieVO9uAsu0t3skugpUCEq0aYDfrtU85-vQmiXyA5hsp3YSpAu4uxqS6PRLmmqfjlM9KwRKCcPavi0-n2rpGrGWSpC1GadkXm7Ycv71HhP0W5M1HYB36SZydiyze619bcu5XNpVqZNZPYyrTOcLIdUPHxLNZ9hURE95-O_Tkudztie7M-EdwOm3G4PyiYw4ONRGKh6MfnBbilHJaiwkjg6TX2MrcheZz2mApQahdeNqSRcwuadt6zWZJ8gGCNQ2RG3lMBV3e-qf9whFKHQXJQX407IOHLcr0OG5rEdnRMS7nQterYAGH5D_rSUfaDhInvpAf9PfK2PbQSTpHjHYoSPK4BdDkVUm9IcXzZfFfBQvq-jEC7-RXAUzLaQdVST9rNrDlphGYoMaxzanfo_n0Ec4s-wIBejPCS3ImVMSVBonEoVzylq2KGq7M12ONQGpiPi5JbCNXXT-pjjMNQ67jOqyf4m2mrNladnaAJ6m-4jbTlgIClqqbEZq2d_rJELtqps0LLVG7BER-ZzSBjdUkc6RE72QC_2VYBnILkBM3LMkFsGb5pT6gzjRak8H5zJi3E4AJ-z5-Xst9U5I7dN_akn3VaPJ7713tQgvxlRRpSBLp_4F22tLT8KdO9WEvGIXnJMjyb0rJ4Bkp9a5qIiyWcBHyLGOeQJ_dCQe2axPau4h-su3CVFj9QyAhWpzwfY2R",
  "id": "rs_00a2b927172ee900016aacb3cda6f887d092ec6c5ab14da9f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.19,\"left_z\":0.30,\"left_roll\":0.65},\"note\":\"The red cup is visible just behind and to the right of the lifted bottle. I’ll move closer and begin a gentle sideways tilt so I can check the mouth’s position before committing to the pour.\"}",
  "call_id": "call_X8yrODpCiGFizmK7k5fG8JwK",
  "id": "fc_00a2b927172ee900016aacb3d2025087d099c40a7e86634c2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X8yrODpCiGFizmK7k5fG8JwK",
  "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]: [-0.5999, 2.3882, 2.7384, -1.232, -0.8368, -0.1268, 0.8196, -0.0147, 0.8051, 0.6083, -0.3851, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5234 left_y=-0.1947 left_z=0.2877 left_yaw=0.1309 left_pitch=-0.0681 left_roll=0.5175 left_gripper=0.8196 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0001 right_pitch=-0.0221 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -13.3675, 6.8581, 0.9695, -0.6227, 0.442, 0.3346, -0.3624, -1.4564, 7.159, 1.7411, -0.0073, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ba8ab3b5651bd1c18ef9c5204cd42146601e9de0c4de7aa2126a328e82c46d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cbaff460c3754e46fd041261fcfe8783445b514f6ccd7bf22e7e90cd781a845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac6a093f3e66691b79a8506fb0e55c3e94899592cd94b56643dc58c4128250a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4461, 1.7641, 1.8263, -0.7956, -0.4896, -0.337, 0.8164, -0.0151, 0.8024, 0.6083, -0.3847, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.47 left_y=-0.1287 left_z=0.2951 left_yaw=0.1308 left_pitch=-0.0712 left_roll=0.058 left_gripper=0.8164 right_x=0.2952 right_y=0.0013 right_z=0.1786 right_yaw=0.0001 right_pitch=-0.0191 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.294, 9.3333, 1.8877, -0.2369, 0.4225, 0.3639, -0.3077, -1.2923, 7.0359, 1.7021, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLPaxCG0Oo-0t_eT3qsQL-PkVXKkMXD1xPGBljg2NShuQdC-4gbT2Sq-QBUN9Uclj71TQDYfE4-xeFGgPbS-rOT_28TvC9wVXqJDl4Pi6gP5ALkhHndeH6Q9R9nLtXuAjHjUkckB0PZ3rVM3_oxYUmxky-07X4Jqf44DV0EttiCzPQrdqigemOI9KsvvcRBl7QDQj6KiScq3pS735mVvDAyDRWdcy0ntUoUIlPyBXoPPMu16fXa1YyxgJWBf3WOguFXVVDpwIg38kiv0_9o91pYgBfrjbPrnxBxkPHn5ulHZFVMgMfTu_Whcq4usUqTOfzEG5jpvC62oilJumM5WeeUJgVnkm0avMWdXdEVIkZDzcnLmHqmoPncMNXYceh6UV1DTcaq73vuvNHJFi1iDATsrMDE47MyWhanDBUgXYILO8lP6EqtXvXd13HVW-hVk9Zlipgg_ChrDsszzH0ofW6T_xFw6-URrMTUiTemvEMkcHV07JNYjJ2zr_q0b4pncBjjV6h24SWsX7w0Wyv1ElpXZMyAg6zVm86DrQ3shlfYVuf7Bd4Jqb6MPOf0o0ONZd5c-u4mgJIsyWKdIXiiI9oaqGG0nifX4dSoQCcSM_ahBkb7KTklA3H98fbaZUtENi43TJp6sBG6wj5J4Gc6Jrnua_dS5NwTXwgi-9FURAsfQm1rqRBjJFW1LT3g5Zpe0wy49OHqW2CxBCYMS6-cFo8Tel_sn1kUSqrXdc0DdA23uenGPhAd0AQ9yF0ZlO80beFDe1pcCguWu7DtLA-JNIYvphkS2JLjt2qHz3-JcBzCLGCtZO0geF4-VTGp37RWNc3-G8bvHrEGtLCNNaRhFYyq9lrZaXiPJ8tN3n2-nj3v-1eNVpJb45TPD1w-hFDUv3GIGMhBtER9SMGnMI6cfHNQnns073rZ4iEdN9HCjae7rhs-TX4aPbRi2hW6hAk4L1x3sQ1tjWxuHofa_85zG1KvtXbHdnC1AV2_nU-fDK7jLpg-YzWIK8xoAcdzR6X8Jyg0qAjXFgyph6xwpFiC_uyvuaW-BFxSQyhidYg09_jp2XuQePLsjbXLOoJYMRh0JXUChrb3j4LmLNckyDDYI22v0ZJiiJGqn4MchLD7_kIYsT9QlFtO3n64bgKFq1X2_nWuQ-Nv4d0P3KmwHqYKQwQ2VFTZsm_XXzvZRrRMtJdaCeh5uvBKKbAUn2mbAzvvbbbn2qmdlXE11JdioOE9c3SgnYg3OGaPBnQMH-DGzHuWL4zpioVX5cn3BlZsrNt3xsZsa6HdUrdq5QW11a8N0huZXIbtXRhHwImksfESAhLoTSM7GZegYSPEtCLZ4qtRS0rNRBAAlwhC74Jt_W_YM0WoinIS6OF42vsJMA8CXysYeNAhu0CL4q_Zz3LtiSsB4u4dn9tMumOQYvI_VhtFvvavl_CqRcMdYkma1pRxUas00U2NcB-nxSxtjZJYOVl4lz-Rlqb-wDHV9xn-HXQmO5piZDL-DTHcsyknlkZIrGu7bp39G2TDICU4QTfBFXAs6R63VexuhzlOI0qBoEGMKA6ept6KL1WiCUelFigHUnOKLvgCEAnc1GXIY8v7L8xyclStKiGQ5iKCQH7ElR7hrPL8LQl5eWMkg51umSh_siSIzzPbNHZpFwJX-mXoDlvGHC9GiWoZrtK72O6Qnx8mI0MNmYkRxnbKGFOnqMxUMI3grIaw=",
  "id": "rs_00a2b927172ee900016aacb3d65f1087d09bed3ce165717ca5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.16,\"left_z\":0.255,\"left_roll\":1.2},\"note\":\"The bottle remains secure as it tilts, and the red cup is below the pouring area. I’ll lower slightly and increase the tilt in a controlled step, compensating sideways for the mouth’s motion.\"}",
  "call_id": "call_bvtGm2keZ8wQjzWVTnPjjJkQ",
  "id": "fc_00a2b927172ee900016aacb3d9444887d0837cea453e33d071",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bvtGm2keZ8wQjzWVTnPjjJkQ",
  "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]: [-0.6044, 2.2478, 2.0304, -0.6827, -1.1206, 0.4667, 0.8215, -0.0147, 0.8078, 0.6083, -0.3847, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5276 left_y=-0.1668 left_z=0.2085 left_yaw=0.1201 left_pitch=-0.1727 left_roll=1.1789 left_gripper=0.8215 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0001 right_pitch=-0.0244 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -17.1692, 7.706, 1.5165, -0.5495, 0.1148, 0.188, -0.253, -1.4017, 7.0359, 1.7411, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d169112e48ad4af8d0aa6f0806fac284d05123f87e5417bb69795e3eccb0990f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac8440ca0400c24102b7bb6a2626da90549bd04493b37e47c3dce048ed09728",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581cfed28f43b513343ff57be4c1948b8d5b3c27d359898e632d7a3861d524e5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5999, 2.3882, 2.7384, -1.232, -0.8368, -0.1268, 0.8196, -0.0147, 0.8051, 0.6083, -0.3851, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5234 left_y=-0.1947 left_z=0.2877 left_yaw=0.1309 left_pitch=-0.0681 left_roll=0.5175 left_gripper=0.8196 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0001 right_pitch=-0.0221 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -13.3675, 6.8581, 0.9695, -0.6227, 0.442, 0.3346, -0.3624, -1.4564, 7.159, 1.7411, -0.0073, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLPfQsh77SSXx432ZbndIjqdnGNgDDh2sWXeHhS5R1FX-Xn7puyQmtdaeiJQAqLjGjVV4fOkZs9qXUW81s99Iu7xvmtpsTWFNnRqpEANfHFCTkLyoXKAo4CbHXXDpqodoz0JcC7JEroW5j8c-8HUoGB2rSF4nQGWGKptoTZaylelts9aFRb1yfztEhFPKXtlEqscM_YOCY7tV6Rrfx1HRd4EgeGjMDTKWlYdCV78f5T8bC7i7RoUwcTCyo8bCrBIegk96ugfXIoz1AtR73VBzMf1_Aio-MyK5JnUMRVs7DcS_Eiog7j5Cow9T4pl0rpx3VtMcT8K2vvYvdmVbhTjN7d2SS5jIGWJeik69kZx8yBUqPEToQMs98U7pOQvTaP9trb7Yn_F42F0oNA9G3Q_QU-a5COjX4oMUI4c60LaIaJVcHL-TS47AgEuGEVFiqmnwBZydz2WtsEapVktswVGI0CSbZZzVcAZaNJUdigVdmvMlkGuLFDE_Km-jQyppxXv3enJhkVFURbpUePalWMlRtodA3YYiyUe7XqisgeZTVLYTHhjsRCc7XxS2T9y5SuGbJXUENsWE3hr0eXawk0R99y4rYTjhk3TjkSrpBlfU6HV36bp-5hgybPPwg2idcXqH5CjXNaq6Ha8Xgc0-VtXG6WYUuVgJ2-qqj8Q9kNgoV8ninSO7bBN6sK9GHE7MEtNonoGBCII007LIAVJ2USxRmy_jeMAbvRtPSvHb1KY3uHDP0fY0PDV4ZnMVbycOv-qzXMrm5LdWmtzQW-h-NUi7qh5e3w_ih3WAC-FGujflQdf90dV6dFmb82NVTvItyfOm-2uSk5vlUkeT5IqpJEbzvglWp4fBlulKhyQUi02bX02hetX_x9ccCgWtHuYO6Pla9wp89Tmgii9bOXzEyZuybVo6X5CdkXjBrFEM6T-gltPERkYAmJGSyjJijirifGxTCyuT1bMEWV5JbhlX-w00azpd-ZLMXFxCeTqFg9E6tbZidJz2zoZEpLiMq76jIDmkJJynxb34OnX8inPhVA25LAqmCIHkoxkuVxnpz5ZKLIi2qeO5Gb68wM1Dxk1D5ZwBvz2hOhYZciX1A87ck2CpDe_-Mn0sDfI5HycLQdygRNbKf0OK_baK6taJ8CV7ThktP6u6HRuVNcwfjErFa3eEXxd6DAOTJ4pdJLVXBU6LvvUXr5Dsafsm1mBSFtIcG2keGeU2Lc4fVQqmBU7QSxNDjfIsAgMWYl468V8uHCVK31xe-DVkT0Z7AxlPRQrbscuPJaYGSjGWRDEcgnQk9WxgUZCnCqR5yk63xqY_dsr6CnL96tkTc4LzbW_SYUKI9eQJl7V",
  "id": "rs_00a2b927172ee900016aacb3dd759087d0a33ef2e1236be3ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_roll\":1.57,\"left_z\":0.275},\"note\":\"The bottle is now nearly sideways, with its body extending left of the red cup. I’ll complete the pouring tilt while raising the grasp slightly to compensate for the loaded arm’s sag.\"}",
  "call_id": "call_bxHvwDvWuZtsZjGO6s69FdS0",
  "id": "fc_00a2b927172ee900016aacb3de446c87d098bd2e786b2d4dec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bxHvwDvWuZtsZjGO6s69FdS0",
  "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]: [-0.6197, 2.2257, 1.9354, -0.4297, -1.2381, 0.9634, 0.8244, -0.0147, 0.8082, 0.6083, -0.3847, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5296 left_y=-0.1683 left_z=0.2246 left_yaw=0.1196 left_pitch=-0.2395 left_roll=1.5318 left_gripper=0.8244 right_x=0.2956 right_y=0.0013 right_z=0.177 right_yaw=0.0001 right_pitch=-0.0248 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -17.5111, 8.0615, 1.8974, -0.5153, 0.2759, 0.2955, -0.1709, -1.2376, 7.1179, 1.7949, -0.0171, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf588b6a4029e8418ac179d12ec4974e42a7d7938936b19668e2d7ea935acb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b9c3d7583816d131f149a5fbfd2529f2ae082e01628fa4bbb714ff9d5fc5db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044a72aab7d20fc31b7de9b7d6459db79f05f539abffb1c1c9edb912b54bdecd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6044, 2.2478, 2.0304, -0.6827, -1.1206, 0.4667, 0.8215, -0.0147, 0.8078, 0.6083, -0.3847, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5276 left_y=-0.1668 left_z=0.2085 left_yaw=0.1201 left_pitch=-0.1727 left_roll=1.1789 left_gripper=0.8215 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0001 right_pitch=-0.0244 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -17.1692, 7.706, 1.5165, -0.5495, 0.1148, 0.188, -0.253, -1.4017, 7.0359, 1.7411, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLPsqrDc18rkynkSu-svU8-ga1ggrvscDVQMq3dC_XGrilN8PRXpFo_gfP171EOCy8KjttZxvsFSr32fasU94zSq8FdFyEGlPY5PzhuZvBj0EtZN803gHsM9_6BRdChJkGsDilE3iW0zML4EXvEyl3CnTjz38Ue6FoummAjTNoDUjy7AJdDQKkuSXI557NqQovCjXzTN9TSwToayDK_ezPCV0DxxvLoDn0-U3FZLLjijUz8OWcLbfoSsXyhw42lYyGdnXOp-Gn0po3LXGOtn-4rfLfXEHJY-rUWo2pligrX0igrukzdGr6RB1KNCTIrQemP4KsFPlYZG_EJB-grkQiwIxDnwZ6EU_9wPxTngTwAdhYXT1ylrKvpVY5xBBdEjveFDBwjPjdRkVV50FTX3bwg4HK9I4Gbx245HEH-rsjys3MSQazR6StxwgPt8URFxfkz24naZjffB5i5JHqR-iFPRoGVqVj6f5qBMqc6Izh-U0A2ug7p84ff25B8Yf_So6kfbLdjOlGYwWUJYa8vYEoMudkAJnca5yn76DCGXuII355rlkgPwl8JobB4Y-c8fAYGz4FgZw1bR0tsa2D-Q6XY-JJ92nF5wpC8M6uYM10N-NR9pq_rn0B0y2CzEQLKooXcwVznw07YjLMKN1rAjaehciWGL5Bp7hhpFGQdnWd-zCbGXm20Gfl05U4xMm0U_xb0e3wIRHYVNWUQcfHYERRiGnB3iOJvdvtJukoSxB5OaXFeVNB5U79XE6DPc3XVP8epZfmFi82ejzSvxzcKNwwAun82okVK7zF2b6EBn3vMGtduEvNynSxxMO7wQjXqLnugQ3W7Xat15CDbqLXCVYFQiR0-cNTFMVAn5ZD05yOjvsLHz-QGbF1zoTZvOmTN_tFl1URVA4KwOg233X1QpA6VXoAtjJRRxqPwPIeXIZofFy7s_jTtTHrQmbpjCj7WTw-pOyGXrszl_dzQRyUUR2k8bzNkG3YH0KyjlbBzOm_Uj5WVMVsw9L2-xVOO4_cSmFA8foI-16_oBbd4aVdtVxV1laI55ZAvk69A0qpwU1ntJ8KnZfwgflFwpFS8jKtBa0gTK-FZndHQkLhR7iP3RHLM7D9B5ry39pS1450jCVJhA9u1ghXGJ2PSSd6ijrFKxJORj-1TR3QMc42KuLMMejNDEHBY-CURsVXwq_XTjbSs3MOEX1UFnycwGSZBI_0-iG3YgIYS0gBM4fv87D6kJue4ETZ1VBHY_EfbwF_hXP57HV_JsitCKm3jst17mANWuSAzNBViveWtFHw3GeACwlXprDtLa-yMDq09YMhCE4JLCsV4JDpKi_RZrqkEquY3M31WoJnTjBUv4vTOvZl09eKj6KtE8csdELXowH0Z5eHbcwad3j8foS4ewh6GiGM0w9K4iG8cBMaKMviq36EfctKw28DCzt9E1a5Ao1-DuGSgBY1AExJdF9eVOxKG3Qc6wmqVi764S35WUzzq3o2Rn_XqneiTEziCFyWNE8oH5gyN0sXfsCi3hfa-wjGYtMMMHRFQ05N9VWjs3tp8m5AhTkVBnUBS-wPNOKi5YD5ImEsVJBW94xYsT2VNav_Jq6YpF8_7cvN58M1CxtMPpaSs6qwmFiWNBGbdkmF_jsmF0mfiZAgT-X1wbcpgX01-0o0rI2tveYxXyX9sN3FhrHR-iQ_MHaDbGkYgDCP8EjsclfF-1H07uMNuA4BgD5NX0sH9zHBLJJXmi3dg-axUGDkXFhjIiNNmi-HCs85sthgp0GYHTqlvUJuYW3TKkIoPHONOn8nJc8yKQHcU-dMpUQv3IRn4gz_DaK35KpIrMRFnzFXgpVDAoE8lJxRdIx8Vbay4bYVglEI464Q03uxSJ4t5m9o7DDoK5fy09nUD9ru1aZV35zt14MM2q72cQTh8sLVNfNgqrwOi-t1aTxL3_R62ULXwshatKU0YRuJJb2saJHfo5rv2kv0j79Hkp-pBJZQLtyo3hsQIYkx2KIGhqxc1IxJTE9TrBCyun2Pfc5SwJelUKH49fvGEb6R9QUlLxsyaigyHW-72-Pc-Bep8yhX1xexwpRoweQvx7Xwgnc0uaHz-M046EOnfmmGicilCP0di6sGI0eJOAxBmmC9Z_tHYFoZCleQminvXK8yq0QTESWuSEW0xRKuq9_yCsXFCYPAsHE_PUfCxAR6LuKylWkVBlMh_cKCmiVIE8u9LvhllPRChNKZmp4QakyMYatrkxt4meMIs_cAsMVtCs88s8FslKK1VnLEElHHNgF2xjpThOb-iy7zRma_ZSKyX8BhTTbDzThIzJFicX64I0YVKRy_1e-IxC3r0ExVw-McRmzYhD_BRvt7wXXb0eCW_20ebQ1rXDQkqKgv-PXYRDd8Uo2kgaBSl5i_BqmGPMjzpjti_P709-chinhqA_-VI5112qQqttAivI9Msf7rjyo5iPbh4wBLGnH3y_ZL_gKDw3F0Gy02tfEU1FKxcNnk_KiQUGJgRPME3bf53RpDqObwDeVURcDc4ekaA4rHDbR7j4MxPXnjzbu2UPL4AGSfGeFB886ozqFIriFjqy5neDu8vQ05TS-d6Ul4AtJY7zlyFDzVzlOZulMdmC7e27Q4QgoUQPUP48H3fkhg-Zi9pImmYGGlhS7e89GwttPjDfsJd5NziezuQgT6a86yGVAAvpufjLLqAUbyxEWpD25RnVhQ-Jw3iNvdkjujk9kITRek1Nqmi8qSAJUxuGV0I2B3dZWsDCXu78pGt6EY-QceEoj8aa2upQAYyv7SDGvnYQEO28Q5GNKSxGfr8qy4LjIeErWOW7tthJ8vrOd5-knhBlNdFvZ7jC4uYOH5AotamhdIdgVmC_bY6zax3aOMSJ1q6TWdSHPhLq5g3o0YFzxiHgpjG_KxeNtY48W9sjSJtK0yqSl04GnjQ4b5zij2VirhfQTmxkmBVHJGLitB6bNHQ7ahIx8szXYEfvw5-avvz84XIlTSDCB9D9xznWIbw2KEwopuF6bTPrlW3kQ_QQhAfziy0gCaa5nSSIlcoTDQwTsLUr1QVrJ_62UdhfsQIJphY_u4jdJq2XvIyzf1utdcNn0NJrsC6XRZWmqeAF9ZlEgX-yTtvyUYICtZxSOMuDWWvWY5vfyZgQLBQ1YgS75KDOyx0XP_KqgWO8Hvt-zCemQZdKfhnlGvkCH5O1ZF2NeuIO6W5F8BPWJU4ECMGypjtlUpmsC3xD8w1W1w==",
  "id": "rs_00a2b927172ee900016aacb3e19fdc87d0b62bf9f9ec1013dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.18,\"left_z\":0.30,\"left_pitch\":0.15},\"note\":\"The left bottle is at its pouring angle above the red-cup area, though the gripper obscures the stream. I’ll make a small alignment and clearance correction while maintaining the tilt.\"}",
  "call_id": "call_0Od9aphOx2Fiy2ktAPqgXNbd",
  "id": "fc_00a2b927172ee900016aacb3eb31e887d0b577848541a8ac12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0Od9aphOx2Fiy2ktAPqgXNbd",
  "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]: [-0.6254, 2.2589, 1.7699, -0.0792, -1.2831, 1.3758, 0.8264, -0.0147, 0.8082, 0.6083, -0.3851, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5339 left_y=-0.1722 left_z=0.1893 left_yaw=0.1493 left_pitch=-0.3282 left_roll=1.8003 left_gripper=0.8264 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0008 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -14.2017, 7.8838, 1.7314, -0.5006, 0.0904, 0.2076, -0.1026, -1.3197, 7.0222, 1.7118, -0.0122, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f9bd9a1e60ed69d37dbbf40b48734c284277b9786515aa340987b28501a4e13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:928dae57a7de1d9521de4a4b5284488afbf81c20de78af30ff1eda3c17cf1586",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10ec042adcfa4600535f89fb11881951b34e6064f982ff26bd6715a7415c5a99",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6197, 2.2257, 1.9354, -0.4297, -1.2381, 0.9634, 0.8244, -0.0147, 0.8082, 0.6083, -0.3847, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5296 left_y=-0.1683 left_z=0.2246 left_yaw=0.1196 left_pitch=-0.2395 left_roll=1.5318 left_gripper=0.8244 right_x=0.2956 right_y=0.0013 right_z=0.177 right_yaw=0.0001 right_pitch=-0.0248 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -17.5111, 8.0615, 1.8974, -0.5153, 0.2759, 0.2955, -0.1709, -1.2376, 7.1179, 1.7949, -0.0171, -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": "gAAAAABqrLPzUDScQs-gS2pcZ50Lmmgm0avIL6EZGIEVqKmvXZwCNEw1M8JHdJM9m3y37SK9IrluRSVvUeAd62o8C9R5nXTpzwu81SQzt4iiivYLz7LWu5LJKTE1iN-XLfo0ec3DcWQ5NAb_CPsl8k3bhBXobNQgfhRZtyvKhT5CBj1QJMUHbT2MzTLlQAek70zqx1PKG4Ft1C05eIs-nUmLilLZ5he-VGbAf0ZpcxQr57vFx7nyTbTo0BrwYg8msG-FjjWQv6Sqp97nJ6khfqZnsdirSEH6seQ9y9hCIGrnNe7G-ta0MnBVkq7E3jmfhRA4aXuEQqMkHJ21qbzxVlwZOR5HUQxU-XvGGBEAtzYn1eTTcL7wVEZavc8zuiYeDh0KquTlkyh9GVf6aO6lcIH8W5hGqHvf7SPVulcsdxPIxvwiXd-iRT2xhGRZKyIX2uzyOXscRJ9WUR5sHIgdr6iA-Thvqjh65la25glAsEIzqhFJw3gFYEoVt3oCiSLtD97OAv3oG38FRR6Uu-zeZ9RYqlBFuLn6ZqhBTtE1VLuF_vTyFM9iULMB9l4FEQ6fdyMfovoZ3hgV9pi_s2wfqUZmWISO2uTWA67P_U-6FSddiURZ1UnsIZSVb--kcEZ5oxIine9udb8Bn8uzlBkxGqNQFAtmDu9b9WxlyNGI37djnNmuUMh3M0wZfKR9DC3dMyxfw-5l6Zh8d_RZiqGprpM9iyD296fgfRMYCsxrb2OSGaYQ_wMmKoVUR88lsW_v10bUgJ4xCY_FSYoP9u2pb3oBV00t6JpFANz_-cNNF00VX76JNkYPYHBg8xCqOb_ltr5PPiGGcbMhm0YSTZy8zaMj89IbFlSlM3oCt-HZkhYlqxLJutOf4kDYYlW_pLKtumXRyh4sjGNg_DDAluS2t_T-QvF7XJ6RIO53qHm1kvLtkQyTm9vouTSjKtN7TH6Xv4z0JpDYtAPRl4Qlz3WgNxqNEz2mD1l4SghH6Qy-hOkTe3E_7t5rbsT6vzJyaEbr2LqlKZpxw2ip-Yo_KpuwS_WqOi_SsIM2vRY4atHpglzRRczhT89KCFSBxB2wguxkX_XaeL7Tha9hQO6H9sZDwump8a4TymhNTZVXbJw3MQ7kh-HHLVAFanhCrO9hotdfrjWJCJaPFlEsUV3JYbrJSA0DU4RlqbuusRy4k_oRqgmsupmDBjvIXK9vI_vC9gQWcLaGQg7O7RKFzZcymNZTnviBI68AqVNnUgONQkOAa26PwjLP-Wyoop2Qs7jnNdMIe_TynEZiKKMixr2tWXUmrBbppg9NJx0xew==",
  "id": "rs_00a2b927172ee900016aacb3f079d887d08769edc9fbba8106",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.17,\"left_z\":0.3,\"left_roll\":0.7,\"left_pitch\":0},\"note\":\"The bottle has been held at the pouring angle, but the arm has sagged noticeably. I’ll stop the pour by rotating it back toward upright and bringing the load closer to the base.\"}",
  "call_id": "call_VmngMR0uEuGDbpUXtWpW3RJ0",
  "id": "fc_00a2b927172ee900016aacb3f162e887d0a156baa84ed6bf37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VmngMR0uEuGDbpUXtWpW3RJ0",
  "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]: [-0.6334, 2.2669, 1.6623, 0.4007, -1.2686, 1.4017, 0.828, -0.0147, 0.8097, 0.6083, -0.3851, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.5415 left_y=-0.184 left_z=0.2001 left_yaw=0.0775 left_pitch=-0.076 left_roll=1.5676 left_gripper=0.828 right_x=0.2956 right_y=0.0014 right_z=0.1765 right_yaw=0.0006 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -27.2205, 12.9983, 2.4982, -0.1392, 0.2076, 0.149, -0.3487, -1.5111, 7.0769, 1.7363, -0.0171, -0.0708, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:793afe63870a92c8c74634056d0f0a8cd413696732125d8e4756594cf6724786",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1cfc9855f1d28cde5ac126c53c4c7b89e62c86b259669fd8875c8dcfaf0a579",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6890320987030fb2062ab94790b3b43c351237a08e5486dee05b9e6790435949",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6254, 2.2589, 1.7699, -0.0792, -1.2831, 1.3758, 0.8264, -0.0147, 0.8082, 0.6083, -0.3851, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5339 left_y=-0.1722 left_z=0.1893 left_yaw=0.1493 left_pitch=-0.3282 left_roll=1.8003 left_gripper=0.8264 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0008 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -14.2017, 7.8838, 1.7314, -0.5006, 0.0904, 0.2076, -0.1026, -1.3197, 7.0222, 1.7118, -0.0122, -0.0513, -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": "gAAAAABqrLP5SgLKbizn9QCTNhogQJtIeIXfSZcRsiffU7toxjD3YOY1ioYtmkxCg-dFhVqtXLF1rVyrYf4cyS-O2MTPF58ka33p0Goz8a3AOGfPJkantMYCmtwOP2mN3u5KOzvOSMC1R3PdpQuY7cJaYGzUdo0GjUrtdSH_qziOFerfrfsa251Dgwfx8XzxLOmBhfNGLLN6b4Lc2_DiXzcZu85Jm0P9M7KBn6qzMgZU19FSj--F9hhGYp7IltJ4xaO_XsT6fo5_Bx9Jk_OtbvVLvjGuvwEoNjnkbbJDjC8hp6dsf64_glQO0M_Km8o9se7t-wjMrWnafqIwNgKlh1duetMFZPKYk5xxdjOEdff-TW-msh6XkivKpgWqMn2EsqZtSqZ4x4kPcHrQepd1qhVKN5955f994bOo9tqSZ6W52gT8j6YR_2IMrOCIA_49UdfWJ6iEjmMWCy8FxOy_44ScCTXHStggWrd8J96rTqDRNU-JDBzsZNvtFa1OiWIRewFjw7dVyGp4owWLz58psXCDt7wC0SQV5zNdwNfq1gFEEq78N4Rx-Pn9PPQXjRkXOxE_VoR4c74Yd__jDd1go3wkv7NHGmyJ5jeNw4ZvTVqEgaDEDliHPLPXFFIpaRRKufaCJJbwzywxl2vAmRSwlRk3J5DITYH3L77LhLrTvfBWCSbyTB8qiD4ZWm4EisK7SvA_5wzoFIP7a8GbwTyQGZuHV22JuqaEksY57EIxcrJAmDDaIR_TjdcXdR-NTfCvPNXPLZj3Zhxtbld2sV0eJxB3JKeaewGrMj_GadkM2R-aRCg1q4BWoOMpZ1TZkghOoMUYObbs3EVcvi38KB16cK0cfxowvM5i-pS2kLdMEthDsBk99Y33UiDoQ9tVm1UbD9AGvt7GlYz4UGy_uLUOq2QHaWtjLr2Gx2684LDBT22gkcZFe6X0QR1YWV0fA7CiyChZYo7dEkh-w0ZbzmX-4yar1OiQDD4rfkt_XI-emBu1KdlZQNlRRT63JI1IL7fpcagwt3FIG-K0LcJjJtFxHX2iJsGJcJZaR-02S5RdnYmOIDfBQHc_WLoIClqRgTb1EYVDULd1tGMf2fdmCOCPrbRpNs5eCoirOAp5PaNv0X37sdd-BTj7XsbRsgpGnESppi74Hfqinoir8DXQKqlhvyUmjTWPj7mzfvABwIqpXGrUZ8_45K9GxKWehzWHR-PRLuUfY3L9LeGHjUVTGt-3YxpE8g2r2QOYegYxaPCxEnYDZQqXgXzhS7obaJ_v85s6CyAxcadP5cpRMzRDTe_bEHWSBsgwqgrcfvolv3nNH6OTkAxbv00ClFcnjqHNdLJ6oE-WbS9SF2sFWkEUF8efveyq0bTCKZD1Enw_paqeXA06yEfZNUIvAZN-2KqjWfUmywSrwQyVGuDqZE2WjkmvEElghlc3jEJ3yET2XJn9j6_ximP0ntFzzExHS8w4VlM99AKg5SuS-jpO",
  "id": "rs_00a2b927172ee900016aacb3f64f9487d0ad66e1c9a7ce7044",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.16,\"left_z\":0.24,\"left_roll\":1.2,\"left_pitch\":-0.1,\"left_yaw\":0.25},\"note\":\"The previous recovery motion did not track well; the bottle is still sideways. I’ll use a smaller rotation step and a slight yaw change to move away from the awkward arm configuration.\"}",
  "call_id": "call_tAMpgrXxyy8EQN8vEydpO2EC",
  "id": "fc_00a2b927172ee900016aacb3f7923c87d0b9a028899a751529",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tAMpgrXxyy8EQN8vEydpO2EC",
  "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]: [-0.6407, 2.3013, 2.1502, -0.4332, -1.2335, 0.5213, 0.83, -0.0147, 0.8139, 0.6079, -0.3893, -0.0116, -0.017, 0.9998]\nstate[eef_state]: left_x=0.5465 left_y=-0.1951 left_z=0.2604 left_yaw=0.1484 left_pitch=0.0834 left_roll=1.0639 left_gripper=0.83 right_x=0.2953 right_y=0.0013 right_z=0.1744 right_yaw=0.0003 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -15.3915, 9.6752, 1.3065, -0.652, -0.0708, 0.1978, -0.3897, -1.388, 7.0632, 1.7607, -0.022, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d9819b3aeb36e2704337b7919f21b14dac1e9b7827b331b1df8d64a66e91871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74cccf076ef92cbc7f36875adae9dd151a37c31622a26d26c957064f5eb377a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98d8a1f3c48302473f05fe8fb89ba4755426c37a1da06ab9e3d263d62ff8a09",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6334, 2.2669, 1.6623, 0.4007, -1.2686, 1.4017, 0.828, -0.0147, 0.8097, 0.6083, -0.3851, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.5415 left_y=-0.184 left_z=0.2001 left_yaw=0.0775 left_pitch=-0.076 left_roll=1.5676 left_gripper=0.828 right_x=0.2956 right_y=0.0014 right_z=0.1765 right_yaw=0.0006 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -27.2205, 12.9983, 2.4982, -0.1392, 0.2076, 0.149, -0.3487, -1.5111, 7.0769, 1.7363, -0.0171, -0.0708, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.16,\"left_z\":0.28,\"left_roll\":0.5,\"left_pitch\":0,\"left_yaw\":0.15},\"note\":\"The smaller step has brought the bottle partway upright. I’ll continue the recovery while retracting, keeping the bottle above the table and away from the cups.\"}",
  "call_id": "call_mGAbZaPVqTxnXa7dy9IvjoJk",
  "id": "fc_00a2b927172ee900016aacb3fb4dfc87d09b0f0bf0e1c237e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mGAbZaPVqTxnXa7dy9IvjoJk",
  "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]: [-0.6373, 2.315, 2.233, -0.8276, -1.1503, 0.3058, 0.8313, -0.0143, 0.8146, 0.6075, -0.392, -0.0116, -0.0196, 0.9998]\nstate[eef_state]: left_x=0.5283 left_y=-0.186 left_z=0.2338 left_yaw=0.1452 left_pitch=-0.0859 left_roll=1.0711 left_gripper=0.8313 right_x=0.2949 right_y=0.0014 right_z=0.1734 right_yaw=0.0021 right_pitch=-0.0393 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -15.9658, 9.0598, 1.1355, -0.5543, 0.0757, 0.1343, -0.1299, -1.2786, 7.0222, 1.7607, -0.0171, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea1d23b2a91656f6f90e508c390d5ea66ba9a580603526eeaa29c27f22d76d03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae02f1e3ecccaaa590e5c3754b0e76c40e483c1a26f518c6ec6f4b624c8a3185",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3af78a6bc695b07aa1dd314e362c695d047d5f13038697e3a6227873970387cb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6407, 2.3013, 2.1502, -0.4332, -1.2335, 0.5213, 0.83, -0.0147, 0.8139, 0.6079, -0.3893, -0.0116, -0.017, 0.9998]\nstate[eef_state]: left_x=0.5465 left_y=-0.1951 left_z=0.2604 left_yaw=0.1484 left_pitch=0.0834 left_roll=1.0639 left_gripper=0.83 right_x=0.2953 right_y=0.0013 right_z=0.1744 right_yaw=0.0003 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -15.3915, 9.6752, 1.3065, -0.652, -0.0708, 0.1978, -0.3897, -1.388, 7.0632, 1.7607, -0.022, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLQBRTGY-5B6o2Bs5wts6HQdVIlvIr2eSdX_s8frjglVKtFVZCmQHjt42X4UNlavUPtPSUizG_5EUKO8f0sXz75sq_9SCVAYwL90m03hPKiCmUZAwwi4zxhjlB5iR2JRedk3HMnWsgO7V6yr2GC0EVuP_m8cAtH6KDEPERyER0WZgTFZkByTHuHx0g4BC-9MNniku0AfUDMfgyoaHnszgFHIXS5ev_RfvHfxO8WH-4Aiis1r6LscZvtad6YICHlvnKH0qvTUhJSbTdM-kI9bAaMS6ZQDXD9bnJHVO04ThOWz2IFtkPEuNgbhTwhi2hJOQmC_azkgM1s4M6Ui8foEsnxyij7O87yulaGY9oPl2vV82XbuAYBeDtn3jVIUBpO5lNrLxQADjEgBgYgGbE5dsST6478IuITx2vJWmXJ5kQZRITO2yw45zRgvnooKcqoc21UXlMeSFB5ugUwYQdGNBC3RxepMZnbKKTE7jNmg9W8x6Jf7H2mariHOtuvdOt1u8sBtyxniimtvUqRg0lyYjfwaMXi4OJ2yhYmrn7a0d9Rzo0g-9qpx46mw22Y-aWRxSeiNiMtM4mZ_uCADyRYusVqtmYYe_kHuDxuLsn-INEiUlXm9VLwgdMtdplk5lpUoYit6_GRQcNyza6ATV5C5xe7Rn1Jud3zGDQr6Ios7qnlPU8Cj_OzGsgLdirT08uPy9khuTgnlDIW6-ZIzO7SY0bgA4ZkElqhgpn6CJE-kTfdGw1Mbe2gr9kuLP5kIcqP_XHv1aZCFgItCtuZCi_C8-q5qG4W9h_FYq25szZB8dwW0iUu4CY0wwkour-ogk4LSpt-AUr9lNb2Yuiq5jhvFcsjI3kUDJiLP-fHu0tTtGI62JoBhaHqhJ0_L5mczD9yeiHkZlpbsj6z6V_mmj9poeAhtZR83GZUcxfaknTQKPL1TV6Dy5CexnuUzbCOrPRozJeQPjj1M9k9RyerA6VG7uV0vBSsO_gljHO2QI8uUUowmuQTyGrjMYfZsE9_JqZz5EVbvXpbGrtM-DLuZ2ywaKLGTk29Q0y8PLvevBok1kYdPXcn8jHvpLRKuHJfbr0e3VyWhZGezJKLT8lRlpCCrhLbVZmJtHxfeMksvBeAvA5iMH3AQ_efWgpHrSPw91OwvWquWcZiB8xJqM_y4rqPukz3y5gGNhSpGquwT0GhhbKKy4vQi9lx5QEvmFDr33ATAkBlFzRtIRwHkgamBFHDCC_z9-1eEstygXDIvbgm3fFCC_n26ph1FOyWM44XPP9oIkzIyOe2m7LRjrzJshckiQ8LW5g==",
  "id": "rs_00a2b927172ee900016aacb3ff441487d09c76076055198a44",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.13,\"left_z\":0.2,\"left_roll\":0,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The arm is still struggling to track the tilted pose. I’ll return toward the original upright grasp orientation at a lower, closer position before setting the bottle down.\"}",
  "call_id": "call_CtWtY3COsDXpEHHa2qPXCdHB",
  "id": "fc_00a2b927172ee900016aacb3ffecd087d0a1371656fac9b24c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CtWtY3COsDXpEHHa2qPXCdHB",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4297, 1.6112, 1.19, -0.2699, -0.4362, -0.2043, 0.8326, -0.0143, 0.8185, 0.6067, -0.3923, -0.0116, -0.0208, 0.9998]\nstate[eef_state]: left_x=0.4474 left_y=-0.119 left_z=0.1838 left_yaw=0.0329 left_pitch=-0.0586 left_roll=0.1143 left_gripper=0.8326 right_x=0.295 right_y=0.0014 right_z=0.1719 right_yaw=0.0027 right_pitch=-0.0443 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.9094, 7.1863, 2.0049, -0.022, -0.0659, 0.1245, -0.0205, -1.4701, 7.0632, 1.746, -0.0366, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13eb18ebbdc134721b42b3c4befcf89825347a93964a49bf8af5304f2566d25c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7a1ecd8ecd9cfd5c89aea37f402e0642c69867872157d28b679a16ef377d28e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5e401f123a1676a23a5f649384663027049c6153bc1d56fa3e5c24ad86f1a15",
      "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]: [-0.6373, 2.315, 2.233, -0.8276, -1.1503, 0.3058, 0.8313, -0.0143, 0.8146, 0.6075, -0.392, -0.0116, -0.0196, 0.9998]\nstate[eef_state]: left_x=0.5283 left_y=-0.186 left_z=0.2338 left_yaw=0.1452 left_pitch=-0.0859 left_roll=1.0711 left_gripper=0.8313 right_x=0.2949 right_y=0.0014 right_z=0.1734 right_yaw=0.0021 right_pitch=-0.0393 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -15.9658, 9.0598, 1.1355, -0.5543, 0.0757, 0.1343, -0.1299, -1.2786, 7.0222, 1.7607, -0.0171, -0.0122, -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": "gAAAAABqrLQHPDiOfwZF5chqrJu07WoqRMN3F9GXwLDyi6tkQeC-2nJcE4_9eTzGNQbbHdg2iNRe8-6OKDBBCHhxeOxcMrqSCbdDyD6yVduLHNKgTWK-rHOgkjPVfsCXV7WrO00GTV5YnrXKK4Hr5hd0FfWJG6KCCmnIMTYKYuTP0bhTocWzLgAXXY1HtiCN_ijehZ9_WDcj_0hlUGWwNz-BEDmGcGB4PkEnbtGJclZYSB5A58lWffyC7I04lI8Xlp73sA6sMhEUzwoJVzLSLjlxRG9SB6fKs-A4SoLY-ztsfLUVSQojWhgDz0uXvd9koPNq7yk83rW0XGtb0s9Sd3xZQvFN2cSSdRZ0zMCmVEhGwYXXKp8s50wf-DRDtvu2dgQ2hb2kWhSoZIgFaPITYYG9rpmeWTVbnRzntzE9v77nG-zPauByI6ikW3FHJXFzw54NAT9kn_PReHY-lz_NG649aDAh5IDBo4Py1SnyefgnjrcYi1_GBIEPVD9n3J7Bh7mHho2i1MjJ8GcOh1OD8yquiCyk0rS6aDSCSErBupXJMl9JjPZhAd_rbal3k10g5aDozAk3k76kTfKRv20ZM6aP_woiKUi8sX3NUrD3N5H0WMJMw4FAV0XUGG92D-i8psWYBIunFh85o0Nb7F4KgOtclbO7Yyrp-3BiQIO1w3hp6T0loJkzKH7E2VbSScUIbqdga5yyszcoa7_0_epIalYu1Z38Gocvi-v__VPBDeVa67HRXY70a9s4P-IuD8-4OIsP-LpHGXa6retOY9yYpE2pxopr2oER9Y1CPCxd42h_S1l6ADcbf2Dt66qNcaUQuWUseLOMoASVeTgofiWeA5478eI-RMXHFYMoacyhJQUymaS3S6lyat3Wz8ovZ3XeVdfEVpgaBLWeBoh6duqeSOhzucp8FgXqRtwozs1jzFZMFigAbNlJOiDhDBKbNcowRVfEXh97P2S0_ssIAsU54tuoCvQ3AdZ1dGntbMhWiJF2XeXPx9kDaUSv-MgUXDTij-pKrPhM9BgU36wTGdQnwD3ippBOMJM7c8Eat8VWztqc5lbzRnxDVlKqzUCrr-ZREG51z6K3Xr3RXkg9FCkE7vyB6WNhk6X5jK7JAkga4tsJ_pHgOWXa42gSkolWWQxhYjOQpnqKwB9TSI_ISuU4em4rqf-CO4g5_eyQoy5dLPn6ywWkZQ6tDE_F_y1S1l9bvhMc4AxW51qbRYW07axYdypawcODrZ42qE2iFc06aIHc5FKESX4I1Oa_KX8z8bW1O8lj3ceMEkUZzLvCPmDVPSyUdnHLiOinmSuZbPh-s3vp3HecNEBPlqGOs2uShEvsLv-gmOXct9iJgiV5--rr1riZM8xqIATGf55tazbXPTNxTscdt9Q7EUWdwFzticMynfcCi_oalvw0",
  "id": "rs_00a2b927172ee900016aacb405136487d0863132e376123b48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.135},\"note\":\"The left bottle is upright again and clear of the cups. I’ll lower it gently to the table before releasing it.\"}",
  "call_id": "call_SH9q9A4PbzXpO8P4EzSas865",
  "id": "fc_00a2b927172ee900016aacb40680ec87d0b099a5465f288c1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SH9q9A4PbzXpO8P4EzSas865",
  "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]: [-0.4309, 1.6505, 1.0611, -0.115, -0.4301, -0.2142, 0.8329, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.1194 left_z=0.1397 left_yaw=0.0325 left_pitch=-0.0716 left_roll=0.1087 left_gripper=0.8329 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0043 right_pitch=-0.0454 right_roll=-0.0049 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.4342, 5.6547, 1.4774, -0.1343, 0.0317, 0.0171, -0.0342, -1.4427, 7.0496, 1.7363, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9d46d58fa0cc0964ff40220787c9e934a6db11a2a36b1a4a158d2449345657",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c92441c196a421b273f34b500720fcde62524557105326277a79c2c77cc1b82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1387a6dbc35eee794b130b5c58b571e74981f3ed3880982168219734d8d512",
      "type": "input_image"
    }
  ],
  "role": "user"
}

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]: [-0.4297, 1.6112, 1.19, -0.2699, -0.4362, -0.2043, 0.8326, -0.0143, 0.8185, 0.6067, -0.3923, -0.0116, -0.0208, 0.9998]\nstate[eef_state]: left_x=0.4474 left_y=-0.119 left_z=0.1838 left_yaw=0.0329 left_pitch=-0.0586 left_roll=0.1143 left_gripper=0.8326 right_x=0.295 right_y=0.0014 right_z=0.1719 right_yaw=0.0027 right_pitch=-0.0443 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.9094, 7.1863, 2.0049, -0.022, -0.0659, 0.1245, -0.0205, -1.4701, 7.0632, 1.746, -0.0366, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bottle has reached the table at about its original grasp height. I’ll open the jaws to leave it standing upright.\"}",
  "call_id": "call_Vixp6nSOunVqycIWtgjueLl3",
  "id": "fc_00a2b927172ee900016aacb40a975c87d0b2944f733656c2a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vixp6nSOunVqycIWtgjueLl3",
  "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]: [-0.4305, 1.6516, 1.0504, -0.0845, -0.4335, -0.2104, 0.9938, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0231, 0.9997]\nstate[eef_state]: left_x=0.4466 left_y=-0.1195 left_z=0.1403 left_yaw=0.0331 left_pitch=-0.0542 left_roll=0.1054 left_gripper=0.9938 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0043 right_pitch=-0.0454 right_roll=-0.0049 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -6.9402, 6.1607, 1.6825, -0.2613, 0.0024, 0.0073, -0.0342, -1.3333, 7.0085, 1.707, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e0e633f79379de9f16fdc0193a7b9649cd3fa820987afdaaa0ee0dbc4e59c36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c79c7ad51b91f07977272be694b52a72e089cd5574f1c0f870ca3dd59a4b3d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c19ebd9368f2aab0419c41238a78ae9aa95b2e555040d8cc875ae4fb3a7864",
      "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]: [-0.4309, 1.6505, 1.0611, -0.115, -0.4301, -0.2142, 0.8329, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.1194 left_z=0.1397 left_yaw=0.0325 left_pitch=-0.0716 left_roll=0.1087 left_gripper=0.8329 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0043 right_pitch=-0.0454 right_roll=-0.0049 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.4342, 5.6547, 1.4774, -0.1343, 0.0317, 0.0171, -0.0342, -1.4427, 7.0496, 1.7363, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.28,\"left_x\":0.4,\"left_y\":-0.07},\"note\":\"The left bottle has been released. I’ll lift the open gripper away before moving the left arm back to its parked position.\"}",
  "call_id": "call_8jtzmVOI7n9UBNIhLjpuTwGo",
  "id": "fc_00a2b927172ee900016aacb40df79c87d0b8fe10b5a0367280",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8jtzmVOI7n9UBNIhLjpuTwGo",
  "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]: [-0.3859, 1.6058, 1.1229, -0.2142, -0.3851, -0.1894, 0.9945, -0.0147, 0.8196, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4464 left_y=-0.1059 left_z=0.1652 left_yaw=0.0277 left_pitch=-0.0789 left_roll=0.0992 left_gripper=0.9945 right_x=0.295 right_y=0.0014 right_z=0.1716 right_yaw=0.0041 right_pitch=-0.0458 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [1.3197, -15.8838, 12.9573, 2.4591, -0.5446, 0.3248, 0.0611, -0.0342, -0.9504, 7.0222, 1.7411, -0.0659, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727720f5d54471d4e050effaa93a0bb3b3e74c07dddfc86e3083993c61497bb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:083f77a8f4e37140d77bb047a036672dff96e3f39b1cf12b4e6fbef6e9881fc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f621117f12628a24d82dd7097b2a1642fed64ccec14910b1f5b8a63ad3341c95",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4305, 1.6516, 1.0504, -0.0845, -0.4335, -0.2104, 0.9938, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0231, 0.9997]\nstate[eef_state]: left_x=0.4466 left_y=-0.1195 left_z=0.1403 left_yaw=0.0331 left_pitch=-0.0542 left_roll=0.1054 left_gripper=0.9938 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0043 right_pitch=-0.0454 right_roll=-0.0049 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -6.9402, 6.1607, 1.6825, -0.2613, 0.0024, 0.0073, -0.0342, -1.3333, 7.0085, 1.707, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLQVLRn8lir1LLk5x5LzR7bzAS7XaVhlpxkl96OJCgL0HFSTO4vis5UtGnE1slBbftAKw-bQ8Mr21KWB8HIZXeSCuFNp2nPHFIu8nMKqPZU8Zptctebo7TEHtHiymVaW_8cqwKlaNylexmy1A0ThZ15QTRhVy9uuCUQjxG7me-vtfdNPZiaGSQfGAZYzw_8Z1zGPYdp_LcbdZd5szfwmK_gC0_DjrLFlLVrpM6AWuLksxhK3LKKGsnZuZQm8fJZk5kJ1keBcIeJ_sSae7sW92CFmDFFb08O8aAWETrhCs2HiJ6nSvSHaw9-wdpG9DLjrAIP-ZtUMsdCIKigfn57frbeXH8nZH61YTuvINaQ1qE8cd9ALaBZoR-f2JTpsTi8lf6L4UrgOb97byKXSNCjd6qrrubERDNkqcAjdJ5fM_AiKTnWa5QkGq9eJchD3lePSxjbuHvRDPXRDOgQ-NMOPLttthUe_Tnh0fPSMcdOitUd4i-oaMAo4XMQJqJyGJ_Mv9VULoKcPYuUdidvciT9bMkA7y6xvzr3CmqtMPHkQ3HAS7dTPFJTgQRneehsFbgPxIhgU08xm3tmKLfspZ3fy724OqlYeH_b-5JhWB4fYxNrWdZOWCMjZ1kYOCMsNha0zs8aAWzTuRZ4H7wUxNII_lu34PCXiLnWqYlWf68cQMS2CYt_gH0wulDAt9xlO_ukKvb5hnMTLHcNWt3TG5xruMKtAJlgjTExYQhHxXIkwRHBfUXSg0Tk-y1Al9eed1WEjLwXX5CR6IoUQX9EnX81mUvfWZYd2_qENtGgHV0GSPZmLTs0rLxI_zGqDTN91IRZ_60XChhj_eeg0whEWVqdehD3mq_dMg7JaaBtXwKKmIeW86nzf_xgMTlORfArlefACcel5ILO0jLsLlTcOAlc-cRsvB0uVV0aUZn3t0nOMeDlkcc8ukMEe4VCLHH9pn-pNfLUzm3Woh54EDUEkdcKlIqDbb3ECX9qNHyLzTSjYBI0M_hD81tgDimlQDx9F85SP5OG4yLGCBbxWkuwoKY7-KXIQQG5qezoHROh6rTKYUL4keWkMhVzAw0IbZHdIE6kXqDOMVaRFOaXLIgjZNkqW1lynQlZ7pZ3l01JqwmCPbEsANLkllep50c0eRBF4b3wz8p6C2YOjv9F-Hcv2kktJ7dec1WjIRE1tMu8roMvYFtTrsT-fxoD9BtA2vEwbbXBX35CUsdcG6FFoknYCdJhCRclsZoL262aTNAri4ct4oLPHqVyZwaOnSGKvm9V9JLwDv6gfR8j4mqyX4RZpxM0EeinBI6I3zoQnsgcxgcnnYfbDvTm-IrgecldpxRrY7WlRKsd62PBaxFT60-NYLgAbWnEluw==",
  "id": "rs_00a2b927172ee900016aacb41334f887d086c1820e115abe63",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.447,\"left_y\":-0.12,\"left_z\":0.31},\"note\":\"The retreat stopped short, suggesting the open jaws may still be catching the bottle’s shoulder or handle. I’ll lift straight up over the release point instead of pulling sideways.\"}",
  "call_id": "call_oDCgSCN2N4NELV5KSOpDlBAn",
  "id": "fc_00a2b927172ee900016aacb414203887d091af4705b794643d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oDCgSCN2N4NELV5KSOpDlBAn",
  "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]: [-0.4183, 1.6482, 1.7065, -0.762, -0.4049, -0.2337, 0.9946, -0.0147, 0.823, 0.6067, -0.3931, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.1195 left_z=0.2992 left_yaw=0.0351 left_pitch=-0.0771 left_roll=0.078 left_gripper=0.9946 right_x=0.2951 right_y=0.0013 right_z=0.1705 right_yaw=0.0038 right_pitch=-0.0496 right_roll=-0.0053 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -7.2957, 8.841, 1.5116, -0.2857, 0.1636, -0.0073, -0.2256, -1.1556, 7.159, 1.7118, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549c22c4e9558406698e7b73278bcb7f855cc97312045a72719655ffe7a2788a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d766820d156bde1563ce6564ec286037eade9545007b6b49986df9ce8d5d266",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad246e74e0c954392dd4c1daade808783ad3bc3c6d07a997ff6b5f9cdddd198e",
      "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]: [-0.3859, 1.6058, 1.1229, -0.2142, -0.3851, -0.1894, 0.9945, -0.0147, 0.8196, 0.6067, -0.3927, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4464 left_y=-0.1059 left_z=0.1652 left_yaw=0.0277 left_pitch=-0.0789 left_roll=0.0992 left_gripper=0.9945 right_x=0.295 right_y=0.0014 right_z=0.1716 right_yaw=0.0041 right_pitch=-0.0458 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [1.3197, -15.8838, 12.9573, 2.4591, -0.5446, 0.3248, 0.0611, -0.0342, -0.9504, 7.0222, 1.7411, -0.0659, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLQe5OtvrYmSYj7iqYqVQrPwdzw4g0x2yATiGZpwGaDtaPwymNUFKxAAi1I6a66DZs10iIO583pFTyj-cquyZ4duWPCJ4P-qFcTebpGcTBId0D61gSGtSy91vwRPdILu1P3-SVKF9w64fbu7nZEwayzEI8L5cIZix6NfaXjPxYMtijVT9QBhXFCgXn1-JHYoojFGTzCKddhNRjpyo40dZtgDKHJgCPDiU9RTdgq9BPZRKC9dsbkkWDjyNXu4-02E7bSzCMEx7s7yC-a9gVI5QqdGciUHUpD9RfrfeQzuzRwidyJP4SsPrt50gcPNRNnwMm8XKBcF9ilFNb4-88Xz-TjTPQtyK3FfG4BzArEd7EuEBogPrs3oMoMqXWZ2b-9Y0qZqG6ycDLo3QkvcafJyGfWy2XIQYD5FNQaHqgwqpQNXc0geMcjBtngbvtnkElI8lO-2jMhbf_3IASfhVSkvLyyXlVyNTq-BuLFLuxCNJpp3HoF74_7d53eULk5hBdSE4Yrae0euWPKA7FVjy9YimQSnfn8UWZwaLQ-HtZErEIlQqu36NlHwV5bpvebgCbDGZlfF8kQYcOQjyQtRLahV5Pn4Fz_vJPN5tLnYZxxuZMBFTf-VAE_5d6dJNg-sQd9lK69CBoI7shXVXDrvFVmx1T2l_uBHd5ZcJO9dJp2zhBvsI9JhftupYWoQccvwBiy0df1KO7CE3Tu4me0PPzkL2O2VTPv1FHRe7HFgupRBnvGLBE1Bkorz79wTCeIVbDlFgf4e23oZw5a7qi01yuMVhCQf4qh_wHT5xVt7YJ5sCghebTpWimJl160UmC1Co42B420oQi-cmlW6PY7ecgXoDqOEeQ_XZlXKgcj25InZLD-uT5Xx3Muw1uaaTde5JCvW_JC9Gc82uMmTKYKnhAxgWW2tuCCEzL3ZfEwtIk8JrA2t9hzDRTift8Mg6ZriAJ51LB1HzN1xI1MqKZVNL7zHSeAdWKZjTHZFBWXeuEJw7wnzjBZD4EyPOK-S-ad3pKKUvVPlDW5pNi03DvavExyirI62GpBmVyCZzkEOHhFJv5zMpPJfwcVE2AVtXM9mMsgI8YDLWl1fC8VvQxFYcKLki2haVUI4oiJb6-_Itw438fknRdA_D5emDUE49hpR0y1kmdLFAcCBcGYOgA16HkFtddJ8yiLpKQXI_wrfoyJtk1Ux5uq2WpVA4pjYdW0BqttNuF0YTaPSewqNPvusnazWMjcplerqKdm53h24pzRUqc-hf4oEgu4Mt7HM4JvN4tBJnousuSumSJ3gseWdaovDZWltqBSkJi9Uec705ENBJE47djqxAbj5zX1IyJom5kJ3IQY2zLbGSrUexJt4da1HRU00fXzgpATbnLetLfP7dG2t5iimmyOoxUSsuRlyBJL9eaIvCNf7Ih7ztk0m1RH6OjSYIlMHdf6cXLyuKdz2XuXIqJEtdPC7Oc12f0S6Q8sqoblci2jUDWjYrUkgl-sfjQxuxu_DNu87OYTJL7uQVxXGscORXPm-sSauO7Hv26tlnx_uEyF1z6hgOodryaUOoiNnzs91Ri-gwQDJC7ClS3ndW9QrX_AsP9F2Rx3-oM9xosmA6mFzpx42YgjXHl2xzQrw81EDWz85wuwRDih8wUBWgtMDINBfh8SwjubNzMz2mvJx1VcYqjutcwAOu59DILzCw635l4I-cD7q4ZlPSf3YHZ71CbNcFhwlbxaIzWOln2hoJPRqSCCo9ss6Xy7rqBpjrBbg-N3p8EZjjripcvnHEjKpu58y3bVtbko8jlWjrgiknI01HgttG2Cej5V6Fbb9vA==",
  "id": "rs_00a2b927172ee900016aacb418ec1887d0ac0f5ef6b5a3b495",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.45,\"right_y\":0.29,\"right_z\":0.22,\"right_gripper\":1},\"note\":\"The red cup now visibly contains some material; the released left bottle has settled on its side. I’ll park the left arm and approach the right bottle for the second pour.\"}",
  "call_id": "call_eKOfZusNUStjgzbZqxnx6KUw",
  "id": "fc_00a2b927172ee900016aacb41c69a087d097ad7858db61fc1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eKOfZusNUStjgzbZqxnx6KUw",
  "output": "executing move_to over 25 steps (2.5s)",
  "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]: [-0.1184, 0.8894, 0.77, -0.5453, -0.1883, -0.0566, 0.9946, 0.7444, 1.9373, 1.7058, -0.5446, 0.5655, 0.4477, 0.9998]\nstate[eef_state]: left_x=0.2982 left_y=0.0014 left_z=0.1973 left_yaw=0.0602 left_pitch=-0.0912 left_roll=0.0772 left_gripper=0.9946 right_x=0.4466 right_y=0.2876 right_z=0.2072 right_yaw=0.0331 right_pitch=-0.0733 right_roll=-0.0224 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -2.1675, 7.2684, 1.7118, 0.0073, 0.1197, -0.0073, 0.4171, -10.9197, 9.0462, 1.1746, 0.5299, 0.2173, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73cd8bdd11829a18f60ea18569e047e11fe0b31a171b8f96cb3cfb69c0ed306e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a31d9a9e167c5b916353b62257a4d6f4a6a7424704058c6a4a9bfdabe31c8a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8814a7616faab4f663b6c3d49a69aac8a0bcb0c489a07dc9e0de4d10d0f63e",
      "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]: [-0.4183, 1.6482, 1.7065, -0.762, -0.4049, -0.2337, 0.9946, -0.0147, 0.823, 0.6067, -0.3931, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.1195 left_z=0.2992 left_yaw=0.0351 left_pitch=-0.0771 left_roll=0.078 left_gripper=0.9946 right_x=0.2951 right_y=0.0013 right_z=0.1705 right_yaw=0.0038 right_pitch=-0.0496 right_roll=-0.0053 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -7.2957, 8.841, 1.5116, -0.2857, 0.1636, -0.0073, -0.2256, -1.1556, 7.159, 1.7118, -0.022, -0.0366, -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": "gAAAAABqrLQlSqsMQRxgYIV8ODpQaf78YJWqhYwvm-82thv_UmIZ7BdpvqA9Z6PIa4dOsHWEOfFPS4tOwWTMV6CaxokLXJCfdnrw5Gz6HzqwFMjZFyR8krlXSDnW-RUZokKcSZ80kD1XgBSaZvwMtBu44yFyDyxFnemD7gtYs2yS_DmvbeHMHtOyFa3a9bqK1O-LipViKT0grxDUefBk4SJdy9td76YL2TMsdxJ7bumyh0WutA9NDCiE_4fJ1DHCghTX9qVPTw7iVN8eKFv4gTH86jjDImNzGFQ6tauj8ent9yvh-aXRIDFdGwI0T1BDIgF9-61H04B6R3nvLwOWXL14LMVLEwCWB4olpx3Bo3qNErhnQxN9hcK-agh-9pEuJC3kavFjE462olR4VsM6g_JSceUi_xpjRZtMrFnopTphaA0wWYWV8DHk6tKrPLoZdEk_roUZUh7W24idaES6UGcnKZDy1ny8mcLpLZyIWHSlXf-5t6WLaVqsEo8tg0E1mihKF0BkwIr1whAOGIcRJxP3AV4rHQMOjwenLUocEJHPXEG37ecjZtu7j7GKnAHnz7MUjZKcX16Mlal95tLveYHpu_UVcynYNFD3V_E4rFOg1Q7pTyUJRKwIAFcgul8e1HM-wAwtgY01zQd_p7euwPeaTywRlcCRzaxCjTyIrPe54hULDkH21Acd-r72ASOLmR8vRa1Kml4xyvJiHpu3fnVuQ1Apoe6mOIQng8hxPGAzmTpdnJT_JxERBmRJiiUhfQSKKMo7UnkmB8qOvM4a0y6B_yh85Tej1B0wBacCfrZj_sZi2D7jlRitvwE-DM2Np9OO9bfLRYxwgrx6kCsmdwKzLjkAqyy0DuWaUwcJ__9zfHVFzo3kN7JMT_OAUfEosVrqhQsgy8Zjaa52_ifV7z-Zyukc6kWaK3vN8NFHbczur2cDt6dKbBkhzZR6qhYlQyDZCsbGWKDUZkqnc_j5UZSrBa5P2qttzORfjDz8apePJWQI_u0SRCWevZ9dOnvUt4E7u7y17OfslpWsv1unQsOVmpTHkBychEFiNLStNRfEKlz4wAm_m52biFNeLihNrPGFfNzyvDJRE3_JxQAu0-vWv_5QaQyAXlS8L-trV3MDP0dqFvpOL_41oMb69HxQCDkdyjB2gWAYsiJn8AR89UJ_dMVuGOGp1l0fL3GbnEoK6iT0hy2LwEbiHlEhpevMp3VGJ83jgRtawwohVP8tNsV6eppQ-tuTfF5Xer8fnVZTm23AsaXbuj-jiNVLrlT1QVthOxuc6n5GYnJ2MPXYe-rUVjhe8pyoOuBRQqrUvnF16MW0fpCWYrk=",
  "id": "rs_00a2b927172ee900016aacb423164887d0af914afb38e99902",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.315,\"right_z\":0.15},\"note\":\"The right bottle’s neck is just left of the jaw column and ahead of the fingertips. I’ll shift slightly left and forward while lowering to grasp its upper section.\"}",
  "call_id": "call_2J2Kcr8OmASdsJpNhKRbhbTT",
  "id": "fc_00a2b927172ee900016aacb424148887d08ebe269054d35513",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2J2Kcr8OmASdsJpNhKRbhbTT",
  "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]: [-0.1184, 0.8948, 0.7616, -0.5526, -0.1799, -0.0528, 0.9946, 0.7444, 2.0705, 1.7607, -0.3786, 0.5648, 0.4534, 0.9997]\nstate[eef_state]: left_x=0.2966 left_y=0.0001 left_z=0.1906 left_yaw=0.0515 left_pitch=-0.1129 left_roll=0.0787 left_gripper=0.9946 right_x=0.4791 right_y=0.3177 right_z=0.187 right_yaw=0.033 right_pitch=-0.0071 right_roll=0.0401 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -2.2222, 7.5966, 1.7021, -0.1783, -0.1099, -0.0122, -0.7453, -8.212, 6.4752, 0.4664, 0.1392, -0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bcbcddd5f0f47214857f0c34cae0590c0823b8e2c9f967e74dde347649f160b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c7b33fb89046b198557e362352953bc3d4eeb749076ad2f7c16b74db76b7d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786357b8e58cd24f5bb83fcf9445e4f806380700169a1c64ff805e04ac2f64ac",
      "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]: [-0.1184, 0.8894, 0.77, -0.5453, -0.1883, -0.0566, 0.9946, 0.7444, 1.9373, 1.7058, -0.5446, 0.5655, 0.4477, 0.9998]\nstate[eef_state]: left_x=0.2982 left_y=0.0014 left_z=0.1973 left_yaw=0.0602 left_pitch=-0.0912 left_roll=0.0772 left_gripper=0.9946 right_x=0.4466 right_y=0.2876 right_z=0.2072 right_yaw=0.0331 right_pitch=-0.0733 right_roll=-0.0224 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -2.1675, 7.2684, 1.7118, 0.0073, 0.1197, -0.0073, 0.4171, -10.9197, 9.0462, 1.1746, 0.5299, 0.2173, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLQtEpiJoQ3O1N6qy8Di7SUnbkNMJEAlAIjTOcbIafcGmINhNs3cvL_POefHcZqZ-Jk66SBk3h53W-1XC2Mop03k5jsweBDtpOjAHgD0nTKmudCU-DHX1uFtiabPSsAGpxaf9Eh16e-gxYCKrhcRkjc0c3SXK_xFjudatJ2Fa8wUJe1EIknDJRPZ2jd8qnqpnMijSQqfwhCy19X53VoS-3reXx5zkFGSPaisf3i6T7SAK8-P4V5Xr2XcNKRGvJMpKlWeygixYbo56XmZMFQnoikOZ27IR1U9OOq83qQSVSnHivQF2syBcsLvSvVlM7LW65hF8brZEfXxRI5Czlt2GiYVxbsE_FswcuCFnCW8AUei_RrUmPlUsQsoJN3zPPGAGNdejcnnUJIhGFUAtW6OSWF7rmzqDrJHM_tlL57XrICY1B7GlcWPfHdqj75UVMyxG7KNknD1ZFyUjlQtNvAdGgRmfQVi0XmjVZYgU-NBRqPMtCxP0nP646__kI_-OKLHtSwIEB7OnnC0fDl0Wg0ghzPMXRjLXftdcwhUBWkwwCc1hj3za4k4C8_gfYqvk4b-WWvN-zOlEvka3xU7FxaffH_pFBe1haNnFTAgjKxK-tVGgw5HDXUkln5QznqZeQ4iaLuJ_44w79JmI4WL7sy7fOFSRSJvRpte0c6YEg0y48rAWrn7R2KVBFfR1myj-sEMKAnrh0jSdT5O8DfKlAWO7y1wbuygyEgGAy1RiD-06UmkPWY3IRPP-ASJGoB8YQT9xJBjlEmghSblVaadnm3xaf0a_c95ddksRSQmwK5Ul-QRSjVjv1UMPGikiQHoj6u3nXSP9BOr0UVbP008P0OrG1hI7esv373D4AMDUf3T1Cn5Z8v8ntiItHXYFffkMLIfpfz6Ni08iNEPgxEvR1KJISAGaVIwl8oQlpWw4LkBYI0-e1npEfscYPmRaqrGxr_Mm5NnSxRJjIlo7jgbT0ai2VngshUBju3juySrm67Cx2qreATwbboMEu2_BljJ_i8jXPpL_jRIdUIQU4d6GR0qe8TgX4xFNBnovKMfWxeWcWBSwc6QuWOHhw_ZNT_cgifACTMes0MT5jhqOVP0iagPDBzZIemCe-Cq4TlPeJFoRRdQ50SrqAUpwlb9dNiMhyAcLtdiyKm1F4njD_QNF2DBHY7ZHdSD6-qzx4MZxSWQmjucuA8xIPjp0Eq8pakNcU_7ra_S3DBt3_28ZBIPvsppnaPP_C_ZOrUeOWGs6zW-mkG8VjjnO_adrNyAUGFTjZ-GhFhIrKZJVMqOnSIXejg59pKAU7SAmZWlq75sokqBGvGYwZVEME9PEODEpqjTcIx456Au9-Tm4UbeuAgjcqDli27CXwmFovL126efHSsiMdgoyhG-Rv1f2_mPnzPR0BBLF-zEs9oi0yL8HzSsSf3DT__o0iy_iVytkgAMjMehLYnZ_Sc9m5td5y-z9J8PK0_knCgQJKG4PvK5a-LQJKET5U2NyxlA36680eezEpnAKS0OC3RixTF0T1X18Gc2Gh-l5qsLhNukDuETLuj6pkHi1sEqTKo398NH35O7fW2h_QkNcCIq9JnBKuukMQeb8KRyPdGtzCULZrS1s70C0wpmuH8i8P4a8CJkABkVaMrl11MIxsoCiVpLefyMPfYNR-2dSUui-9TdIHbISMxG4EBkPLyd_9KQUv4WGknPAjkVJrJcxEACUjkPvukRaAKgLyDELKr3WfgG1tDNjnaDLOm5dnm8xihpunKEMI1FA_SyXSA9Q3MwCBx3QX9uAmme61S7-q4LhSk7e8N4gqlR1MvPqUzHMMr4pt5JuW3zYSAj4EJ6QFoVFemF-YnVh_tkadMeZncG",
  "id": "rs_00a2b927172ee900016aacb42820c487d08be54ef9cf4c979d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.36,\"right_z\":0.235},\"note\":\"The descent stopped high and the bottle shifted, so a jaw likely contacted its shoulder rather than straddling it. I’ll lift clear and recenter farther left before trying again.\"}",
  "call_id": "call_XRWDVzj0iL74NviteBqiRLUQ",
  "id": "fc_00a2b927172ee900016aacb42be20087d09904704d3eb423a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XRWDVzj0iL74NviteBqiRLUQ",
  "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]: [-0.1184, 0.8959, 0.7616, -0.5564, -0.1825, -0.0525, 0.9946, 0.8177, 2.1681, 2.0796, -0.5846, 0.5964, 0.49, 0.9997]\nstate[eef_state]: left_x=0.2961 left_y=0.0007 left_z=0.1896 left_yaw=0.0536 left_pitch=-0.1175 left_roll=0.0815 left_gripper=0.9946 right_x=0.4712 right_y=0.3629 right_z=0.2337 right_yaw=0.0622 right_pitch=0.0165 right_roll=0.0666 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.812, 7.0906, 1.6386, -0.0952, -0.0659, -0.0073, 0.1846, -11.5761, 8.2256, 1.1453, 0.4957, 0.2125, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea83780f59d6a7a8855fad6fd59573d3a7acfdb270819eb293f86be97b4be8bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25c7459259ec401abedd9ec4434702a6e89f4819f2ad6679c36820366f859f3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503c1b9ed4149b648dd249cf0dd75328230512497b4186614e3a72a6f93e0b85",
      "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]: [-0.1184, 0.8948, 0.7616, -0.5526, -0.1799, -0.0528, 0.9946, 0.7444, 2.0705, 1.7607, -0.3786, 0.5648, 0.4534, 0.9997]\nstate[eef_state]: left_x=0.2966 left_y=0.0001 left_z=0.1906 left_yaw=0.0515 left_pitch=-0.1129 left_roll=0.0787 left_gripper=0.9946 right_x=0.4791 right_y=0.3177 right_z=0.187 right_yaw=0.033 right_pitch=-0.0071 right_roll=0.0401 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -2.2222, 7.5966, 1.7021, -0.1783, -0.1099, -0.0122, -0.7453, -8.212, 6.4752, 0.4664, 0.1392, -0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLQy44ACEYagAuCqNR6w-lA24RAfTOFvfJ4j7GEy8yJ6-LrYo9kmUuGM-e1mNgmTR8tH2zFHYaaEsz4ucukjQHy4GBFPWjKa-k9fDkcegI-h3CePhxEF-baLmxslHV6w4rnpRMlgQT1bv9z0RXJmCQ12HBgpRUiGlIKc6w1aVD28LVXPDN6YhPhLHhHqgsLIz41LHKj_zx_6ZmLcju5Z2ccTaN0qetb2BaEEbx0VgR3mhgF3iCpjS09yDg0xeYJPL_fJiabWvDQO2zYnajfV-2jEIao8kc6BHkbyLrlyZ4ZwAwW9Rw9JbhIUJjbxUYNBzJG1IKbDDsrJ9omqnIVhpGRr8ORoc7_7x7Mx70bma3Y5EYXvBBtgoVrZGTzsfD_A1P2lGfZLCNV2jP2F33-gcHzGYvoe1JyiE41ow3fl9t2nW68651qlSbSqCzCfOxXn9GQRyiD_Doz2cgPpZwq8Osxsp9omIIMzoKp6uEJnt3FXcPXHiAiUbcqFaK2sr-fGy5aVJhsjZClIB1ll3HDzpkASBZTdOC6kQ9Rwu3JmtSc859NFHx49JxdBQV-Gezkh4QLPoAV-N91B1Z-ebPLzJjl4ivPJ7OmddYlLAlqvCBrQmEKSYxxSUKOqCj355QMfF0UAnmdsmkPfT_r53UWqm98HcaxUVNssDEr37CsfRSe6iBHc1FckBDTB4VLnQTO2l5PCctMiehsiseownrBN8KnoKFP3Z2i_WYq1MSfFo_Fqm1v_NbOg-CGJJLK2KnGTkfgh3N3J-1wWIJ9oYCzerBzM_hdOMUvjdKwGzfMmCxBWCw9vPcZUQt97_U5NshoQnANZdHJc39kpu1XgMsG4yg7GSSudqNsqaBj8yOXwBgjNUulVkNfW8XoSpT5dbuj6JUpcv6MP3F3tKkPvvAZCuyjyTCtdKXaTtdH974RwTrTzoASFNB8fFYvRVmTtJMzxd01KhgvNQ39rl7Mibd3m2uHUIkezMOyMrWOCzAy2G2xG5cHQKBU5SivcldU-3zqJrGupTnGxsynReTdxnlBhTvO7zzpfdqpqTx-s1FWD4VwHvIbm2JPJI7Bty4gZ2rZZqW9cHtOAsPmAFx6-j6sEmHFZ2ut80rjQ_mCtuskbYh-8o5EwvEL7fDTa-7pm1hOmwFd73bJH_8jLG1UWl80uUQMfcU7ykI_sjhoyrjF1b74W5-8arZthgqhNxvqS-ccB7yVdhIWYQMVnIgLz_jB19aw2X4m7YuBhj10W3kTPfppxgF3Ebiisl6SDPTjlzEKi9OA8",
  "id": "rs_00a2b927172ee900016aacb431196c87d08b19a630735edf53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.385,\"right_z\":0.17},\"note\":\"The bottle is upright, and its neck is now closer to the jaw column. I’ll make one smaller centering adjustment and lower with the jaws open.\"}",
  "call_id": "call_ZCG488JFmZyTHvrMmXsIwuax",
  "id": "fc_00a2b927172ee900016aacb431a69c87d0be06d4023b6388e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZCG488JFmZyTHvrMmXsIwuax",
  "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]: [-0.1184, 0.8959, 0.7612, -0.5564, -0.1825, -0.0525, 0.9946, 0.8234, 2.2417, 2.0518, -0.4381, 0.6285, 0.4721, 0.9997]\nstate[eef_state]: left_x=0.296 left_y=0.0007 left_z=0.1895 left_yaw=0.0537 left_pitch=-0.1179 left_roll=0.0816 left_gripper=0.9946 right_x=0.4872 right_y=0.3782 right_z=0.2064 right_yaw=0.0513 right_pitch=0.0631 right_roll=0.0682 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.6889, 6.9675, 1.6142, -0.0659, -0.0415, -0.0122, -0.3077, -9.2376, 5.3949, 1.2576, -0.2125, 0.2564, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:019252b48fbef9f7fca2a9a622ecd0ac181ec6bbbb1fa3edf1aa862ccfccc897",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4945e0f081ae8da1935d82543d406dd548a232401855f403e9f2b8bc46ed13a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e682b84b9c342d5cd9be551382c98465e591b24af590ecc731a1c65dd1905983",
      "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]: [-0.1184, 0.8959, 0.7616, -0.5564, -0.1825, -0.0525, 0.9946, 0.8177, 2.1681, 2.0796, -0.5846, 0.5964, 0.49, 0.9997]\nstate[eef_state]: left_x=0.2961 left_y=0.0007 left_z=0.1896 left_yaw=0.0536 left_pitch=-0.1175 left_roll=0.0815 left_gripper=0.9946 right_x=0.4712 right_y=0.3629 right_z=0.2337 right_yaw=0.0622 right_pitch=0.0165 right_roll=0.0666 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.812, 7.0906, 1.6386, -0.0952, -0.0659, -0.0073, 0.1846, -11.5761, 8.2256, 1.1453, 0.4957, 0.2125, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLQ5RhL4jLRG-cwYp4OrkW9Br2oXPZggUhM_3EBsA3akWNYStBmJ6MTMWrSwOj5FmfYtz7Uhjss77BwAfmAW50FUz30x9C71bs4LYMvZITU8dXHdZN1RfEkmD2rkeXqk8ps_pKWnAO4M0BcICQrxwShdoDf78yGLknaiJ8HprIFiPgaGZTFeWQLVEsRHtQnrXC-ux-wu9sS9n-cxUgscnTcx9Ad2Z1a8yNhDYUNSQSI4JWNklLV-qxz3BGAaSvfypnxFuVseTVNq_LrzZ4hXOp_PNOeVAR5s38_nwqgwkYPRlNbAL_5LTc3Edanpx6_8cWcm27uTu_qh51kXvPt_EXWBetBexpLJKT5XbOekhM6_wD4W3devlWrOXDz-uFW11q5BoosCYPTSt_xM7ey9PJgag0ubbw1bbNU9Joo4SMWYoEXjM0uXIPxJS_8EYq7NQHAvHwwvEx8UzAVSwaqG5BmYnM_m-X7udDylVOmZJkbjtdaNDGuxIopJKdQ6emyWSnUgM_S8NZKg_tzi6zZR--iwAG3v63bzXaKLLRcBb7O_sCkJBrAmFCyhPhb-hIKomGPBzDGszOfv8FBm7r2CkbBWVKU1en8r9Pt7rnjtQcRRHmWuM1iX4ylfFczvufqUA3T9cJ3rDwnWhnFdFPU3RjKwfvLgEZI1c5YuQI_L0sAwbbBopTHT8hrya8tVWT3676JjwF7nsQSghPVH_nnuaXpZPQFS3reQ81CjXaUzDm01XYwdlvAuEAiIYwFYXfQJM2HOBUvwrya7JThmThyn4wBfykFphnwt6h92QZkM6l1FVRPyz7PQqtKI2SSSDZFXu153eb-ooCSBWiEsqJhf4jk7gmwwnGXQAqSNyaA1MWYJWaSGCxMmhqKlz7JOhZXZpYE0PY5-L1QZqI92UXVI_igexGh-pMdM36BBCcBPRN4cEdJ0hzFepaupkkt1ohNiUWrx8z4GAwXlb8LvBtIdVW0bujUFNDCtLh5uf1hZlJfwfVfYTa4g7ZgOa7uTD0ARaCTqCR5PvlN3YJCyddTjO89kgjZyawKBLZe6cpxefSTBz-YjIEmURzqPjpHlJ_Dc4dr2WxmmrSHWHaXdZ0WYrVckf13YpyGTTJCfYP-4L1dmXfdH1AOxASN-XUVUheoyLm39q-qPE_mOTY3NHlprevSx4KYEqiHTa4ojmO_ul2Q351ZmiLCpX-wpfVd2kkVXeHxmLh7A2B0k6bw7-kcr4BKSa9CVr0SWE3ch6xA8LTBKagr7-Ox-Bk5artHHRz2k3n9UpHSxlCDAzmiEV50Y0JRVchi7qr7e0AZpV-0mGnVZ9DMhv528RXnSK2P262nBKq3pzEd-S-NDy3XYgWXtR3Yf9uZQaobMvAwAxErUCCjNwBk7UWb733_XXf8R8PF_929W2I5GNEKxq_NCWHUFbU6vAwybiPyzJ6byGVAWhwE3-ZVYOJlQieitZQbDtdYLjFZzaRgph2xF679aiNtrENjMRLRFbjpiEYxnXqznj3yptTyFf_JsIhZSBWMLHlkWXOIDvMlo4yp07YJNoTfBTr7r8S5Mw2RHVkrljCxdHvQplqc=",
  "id": "rs_00a2b927172ee900016aacb435007087d0a43b4b43dd841eef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_y\":0.373,\"right_z\":0.145},\"note\":\"The neck is now at the fingertip edge of the wrist image, slightly right of centre. I’ll make a small final adjustment to seat the jaws around it rather than on the shoulder.\"}",
  "call_id": "call_n1i3PJjYgiA43AxMyIkAJ7uu",
  "id": "fc_00a2b927172ee900016aacb437973487d0bff7100fa67c0668",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n1i3PJjYgiA43AxMyIkAJ7uu",
  "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]: [-0.1184, 0.8959, 0.7609, -0.5568, -0.1825, -0.0525, 0.9946, 0.8124, 2.2421, 1.9503, -0.1864, 0.6548, 0.4278, 0.9997]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1892 left_yaw=0.0537 left_pitch=-0.1186 left_roll=0.0817 left_gripper=0.9946 right_x=0.5039 right_y=0.3806 right_z=0.2091 right_yaw=0.0296 right_pitch=0.1819 right_roll=0.1237 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -1.7846, 7.1453, 1.5946, -0.1441, -0.0659, -0.0122, -1.7299, -9.0051, 3.4256, 0.525, -0.4615, 0.2857, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6a88883c738c3ccf947e3d0487582e024a96f296a144b661b066f2a8ebcd56a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df32aa30a9c7fa946114d01cf1c52fdf00e41ed6c0f6a982cd1a32058491598e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6d23c00ce7810e7e052eebf25f52b5a90d49ecef8268da194afe3ec06f9e51",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1184, 0.8959, 0.7612, -0.5564, -0.1825, -0.0525, 0.9946, 0.8234, 2.2417, 2.0518, -0.4381, 0.6285, 0.4721, 0.9997]\nstate[eef_state]: left_x=0.296 left_y=0.0007 left_z=0.1895 left_yaw=0.0537 left_pitch=-0.1179 left_roll=0.0816 left_gripper=0.9946 right_x=0.4872 right_y=0.3782 right_z=0.2064 right_yaw=0.0513 right_pitch=0.0631 right_roll=0.0682 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.6889, 6.9675, 1.6142, -0.0659, -0.0415, -0.0122, -0.3077, -9.2376, 5.3949, 1.2576, -0.2125, 0.2564, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLRAUeAIKoTuYfpYiQR6tTzojdGMCZQ20tLS2akGRUa4ZQUA_e6lCQNZGoqcgR-ioL-GxeeoLjcOnlWfb7Hc3KjD2_6dmzrxJggl7fOkcO1_GfybRN_Os9uLv7uC3uMzRD6cWGiWFtcgeP354rdatJxtbQikdhn4MgByxve4VxJGQZweGxPZchAa3SXJHU2hjCVU9GIpfr3Vt6KYdwEl1tfC15UloR2dhvL4YfW1c1UDYR3aojZ72hRwlwaEVZcKkH39YY2PFGkE13WC8sOlILRSteloaQlTle-z0_4X0tnvidaVNis5jTdUmJKdH-0KO-MHrJawB0F-BowIKRoicLqTrN4hCkfJvXYrgsJO0OPeBAntwm74MuMVoGwZY5UmxTeIofUqD_QGkFWRMx0XPVO6sTWq55WpgK24vBydkVf39XqUzCKwn1hMMVgkXCO9-DOIzCJQx-MNIXRD8k4CQ8D-xcKLYk2U6BVxkXf-h9qljInm1HVRmYYrXXV4Ob47kTXTvRiacwU0poY9DbcMtJnAZ02uXIFeSDeruWxfzqzQr2Y6quS1dX8xhbkaAWUvhpys_ppC7QHmN_x95cEbfTtooRCu1Fd6z69U3c8c9GzWKou7ZFOIez1hyw9LzEjQCNvN2zrBH6TicyyBU_C2ugVIuyovsD2o9bzwxyjeJx-ISFvIE111G00qukGhpXoZIc7NplMmUdomHhvO6ilyG7GBQiGUsy5YhMHASkav3U7G2opUb3ecV6mYaiHaJvIVWYydXtL2z-eTkCJXKK9GurF4wuDDGBjeZN-S69EBZZhvPewsr39HysRFShIgnSCKho-8_7HYzhxzBKgTHc76OLhVA6QDLwOYbi0ofm4cshvGeMZLkfluOty5ZeUr0O9GvobtboxK6PB9kkGYTTvWeVf4egd8jwMNnSrLv3b0ePd0gVkHe67Slt7QLJ3lznCd0cOKD-kO2WHRDTUDEr3i4OchCbH2RKsrL4AMatZQFmWOFdi3585LC8hQ_WI9jsoUKBH2NHdWRTSXx7WwtZpKdb8oujPVQGSzndXDiVSwfTeB0ZAFG_gJpbkTRcsiWKcFK7eDRuxH_jAe5qCQ2l7azq6TvrpyZWCY-_-tqzg5OoB-mq7LX9P1QLvyVhMMAUDux0GjidjrBsrJkx-k2uYGS4wqy6lpQoDwE1nX0xOQZnqnms0z-Fpbg4JvP8dhE4eIhUrI4LxvqXdpysT0dj-B4-LjGd-rdalQaF4uQOmd7SPfJNM47H5P2jK3x4nLU6X_TgmePStX5BLHVRSOYJBaeFHtIP3YFeYc_LPEUqLLCirDdpgKYX2RN2xgVU8z2v_WbAoloeghvmZX-OKDwEuqG4OsUIINvqOV34UA5CJO3rB_lo9ma3zt1ODQZQ58thgDLX9K7wwn8bR8MHzKX5ZvH93yskQLCiJpWgqIJWPsTqhpNCoWE560Piqz7lIY3cJut-ZpEBtU60qKjtMFFI-lrf9TkgCx2krpAkApm0_VUxAAXi39LgUi4BU_YwwqlGYHHYfGHsNo8OBQDFIKTaRBJzaLv_wGNLaXHpA8f2jsi6KT4KgaUyd51KukNQ_UEwe0Tq9eb_NGoltgwxebzs4QDH6Z7e7FZ8Z40T-C2scDoYz65DD2510ihmbXQ-9JG2GH98H1KDJKHy79ZbqbG0_RvpbHQCLejGStkuHk7JpGGvRQxdCSbQvCK7lU_99hK49GIGyoL_UmueJ0SM87XqXbm8RdGyKUoA0O4oHVDepTMkE8BrsOrWyCuwo5ivH-GpqDazaKhBLJCAGqUqFmB02MDSHDoQDMWDc3_wu4CaCyUwow702x_BX904x8lrl7KK5QpU642s95p9Pcw09ca09HgM-vOw==",
  "id": "rs_00a2b927172ee900016aacb43b2d8087d08b386a303513c455",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.37,\"right_z\":0.17,\"right_pitch\":0.5},\"note\":\"The arm is not reaching the requested low height at this long diagonal extension. I’ll add forward tool pitch and retract slightly to improve reach while keeping the neck between the open jaws.\"}",
  "call_id": "call_vwri2Vpkdp0DpWmjv67NvIio",
  "id": "fc_00a2b927172ee900016aacb43ed8ac87d09b8286af41c07daf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vwri2Vpkdp0DpWmjv67NvIio",
  "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]: [-0.1184, 0.8959, 0.7609, -0.5568, -0.1825, -0.0525, 0.9946, 0.7982, 2.2425, 1.9305, -0.1215, 0.6437, 0.4187, 0.9997]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1892 left_yaw=0.0537 left_pitch=-0.1186 left_roll=0.0817 left_gripper=0.9946 right_x=0.5116 right_y=0.3782 right_z=0.2119 right_yaw=0.0234 right_pitch=0.211 right_roll=0.1505 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.7709, 7.0359, 1.619, -0.1392, -0.0073, -0.0122, -0.8274, -9.2923, 4.1368, 0.7888, -0.315, 0.2564, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c3e03725f50e84d8e7f755ca0b255f7d63b279788a9bad8a856bb3e9cd1eb65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a2ef4a5c9464aa2b1453b4f67550d1890cbc48b1c8a9a16fe86dd43a67630d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:862a93eaebb65836126d7aecdd0ceb2a8de36b1891619f2e206f426de56b3f5a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 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]: [-0.1184, 0.8959, 0.7609, -0.5568, -0.1825, -0.0525, 0.9946, 0.8124, 2.2421, 1.9503, -0.1864, 0.6548, 0.4278, 0.9997]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1892 left_yaw=0.0537 left_pitch=-0.1186 left_roll=0.0817 left_gripper=0.9946 right_x=0.5039 right_y=0.3806 right_z=0.2091 right_yaw=0.0296 right_pitch=0.1819 right_roll=0.1237 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -1.7846, 7.1453, 1.5946, -0.1441, -0.0659, -0.0122, -1.7299, -9.0051, 3.4256, 0.525, -0.4615, 0.2857, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLRGPezia67aoLGPB5ITFeK_B1ucbExfuShBhS7UVO5ccWKu1o2Bim8MrUOEbmEeVjZ6tX9Fo-MUldbcvtqJ9LZ6CTeL-Xo9--Ul_0TZbPoXtw1-QZRFosT8KIbRv7jiQR9BMye_d8wJokyJxUAGyyNF1AowQuU1HS4kMhcooWXtW8gmqluj-GqHVCYSBi9RMzUpJZJdEW9bBM7vNROOJti50ZGheDPXnXJVscMw6tL_MidEk-zU_z_H7APKMFQB6TvJh9IgSTOhVu9T_KEKyc9jX3Wl8wluaQvJXmO9J3kuDbffhejDwN80psL95rc8yy9-cGahhftJEL4NEOi81oxFSffwr3RUzkBgPpGiH2bDWoOFhnnhf4y8HGO3K9C9oyDAVJJMNpdNBJ4SfKe4_puQr0ODN1FEbxsoxqTk3orNO9r8O6B9TJfdZo_yANq2bMdOlVS-oz4eCc-1Fayu9xAYAc1takRczJYoIxLXKH0k_0QOImCHKvBZW0xwkhqIFE4K3XKaN3i6Bk9n9dIQUqJvDIa-fQv3zEbdAPTL6wDx2HOGTkpDe3NvjLuSGyHuzlBaeGW6GUrDx-pfi_JA3bfI-EC-dcyQQrDdVXaUqKLxLbBJxj6Z-NVAigHS_6oITcubZI2o-XAp-y6AbGQAnmzvkN72w5tzSiuZoRkISgOH4hrgGH3Rg6bQO-OEcaGGkeHNEGPaLLvYKloMd2fk295sp1hM6gsfmb8HibDYxiMCwhz4MsyHjdF_6Suea4Y2m39HEQAnGQQ2A_V2NNUAvQU5MUqKYUkajjXcHkuwDXJ43_ukCqcOsiRP_4S1Fi0nkCLpyZLW3KvVX504Zs7sDs9dSd9HG8jbadKHcO4w_9hi3tWtSvcsotOqPa5aR9jIpzy022aFk-G6Wev5Qq6k9QzYfFqfGX8NLX57VL200NIYP8LZ4VkmoH21VcElP4QnsJKPzal0lhUzQJEaC0KcLMOQS3YEjoswTP8FSC6T0K8-6OqwypS7gQ15tm2pi6pxInYCCW0RTGfXpDAbz6gLquEW8iqa2BIeXX8XKfWFsRNrkARveWLFiGhyZ0gMzRazDsEIvofiKurgDXavGJ3B6NoQhkVjGXQJw8NZOFBOsEYG3L9dffV42CZgblFCXFAMCc_srdppr-waoBzzqbs_I9dZULG-8X8hjaCe3o973dHJkEhoT8uoFhny6MEMJvea-fBM90cwlra0HpPv6irX8bu7yynfJ0DwCaUi2J6PIxf2BQDXPS6JJxpnSYbu-m9u_KapStUyjA8jrG_4h4bfUPIJC7NkDgQpv5Pw_orfBhP1diSkRc6Ql64hLKvw1pXzile0tQwU1yj3OuRwHzjiKsYeMUQVsvIWrTiKMc4mrn05aTHp66pEiPQsCFzp1ZIX7xuhBySmBa7_4yZ-onbyTT_5Ner8aiazdvBvujHGqwo1y4ulYdTmLe-XTDBthS4t11CTCc5UA--LLGLr4TikshmMKgd-m8tpdZnAEnR30gNvpcBMaFdbBY_5NGQ03As-Wpvw",
  "id": "rs_00a2b927172ee900016aacb443875487d09a7d898bcd6fd7b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open bottle rim is immediately in front of the fingertips, but the arm cannot descend farther in this pose. I’ll test a close at the current upper-neck position and verify the grasp before lifting.\"}",
  "call_id": "call_ENtJgtp9k91THTjs88819tiZ",
  "id": "fc_00a2b927172ee900016aacb444fc8887d09f7946b1bb9427ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ENtJgtp9k91THTjs88819tiZ",
  "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]: [-0.1184, 0.8959, 0.7609, -0.5594, -0.1829, -0.0525, 0.9946, 0.8028, 2.2208, 1.9121, -0.0784, 0.6506, 0.3931, 0.8092]\nstate[eef_state]: left_x=0.2955 left_y=0.0008 left_z=0.1887 left_yaw=0.054 left_pitch=-0.1212 left_roll=0.0824 left_gripper=0.9946 right_x=0.5097 right_y=0.3789 right_z=0.2256 right_yaw=0.0283 right_pitch=0.2482 right_roll=0.1571 right_gripper=0.8092\nstate[joint_eff]: [0.0205, -1.7162, 6.9265, 1.6239, -0.1441, -0.0415, -0.0122, -0.4581, -11.3983, 8.4855, 1.2723, 0.0366, 0.2466, 0.9744]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d7abd5730141fcf421c4f02503c0f59ac352796ae5fbed16858230c16096ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:473377c13c7de005666d34601a0d19c4af1fcb506047fb5cbc796d23847c30b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2460b1a8a00e43fb448c44a4aa12a468c804e08e5459f530b119d4418b1482",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 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]: [-0.1184, 0.8959, 0.7609, -0.5568, -0.1825, -0.0525, 0.9946, 0.7982, 2.2425, 1.9305, -0.1215, 0.6437, 0.4187, 0.9997]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1892 left_yaw=0.0537 left_pitch=-0.1186 left_roll=0.0817 left_gripper=0.9946 right_x=0.5116 right_y=0.3782 right_z=0.2119 right_yaw=0.0234 right_pitch=0.211 right_roll=0.1505 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.7709, 7.0359, 1.619, -0.1392, -0.0073, -0.0122, -0.8274, -9.2923, 4.1368, 0.7888, -0.315, 0.2564, -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": "gAAAAABqrLRLESMwJHf--ViRDaA77SFheS9nmhRGNFs6YtKoKzl7kXGsFskJtZZ9DbW59BxOAQCKhK8-IKB_pOmDf9srUx1N0WRRK0JbmO_GxnQ1wFpvHPUv_6_qBNfTapfoUFLpLBISv7gROPJJPWwfCojHcAHqQHveZLTmCYY7ZdsH-h6zDW-tjvZtktsibdJ5m7QjOhdbzrDCBdd7K19v8Hft4xhMNEpvFrGtW9GyODe7oVX1FjQ8Eccr27iLZemjFkThF0Z8N3aPKkZvb7LuP5NJQydfuI_DsDtAKryNlkLIATJnbaZ0jHo5lP2h1YfvU_d5mSFvRbhK-yjiCCiYBjWoWl4fZW-4OOpGiR9tSAHMgiBVadk4f8V50Bya2wM67NQaQBfdY0LA7nsu5foeDOGESmPo-InOZkAw9ChLuDNkTsro560fvLmpluiqo2_sgLXoQX2jWTNGcRc1gDfOrfPpdooRdSVUYjlw4U7osgiSOMc-m7tcoMarWHSmvJd2JpgFLkbeLAvfgLIUtJ8rqyEqRT7tOxc4Bmz-i5VoGaN_6GERlFfRMpfvz7nRB9ykeyK5BEITvFtAQGXnCaOgNKIOYOzJ12q02MxwQQ0N0xS82VTDCSx1b-XW38jQxsuTPOKWfBhIH-lt9swnQ0uivR41ApWvXInRsmVOWWz97xqSuO9pnPhdDpYt-yZj21Fxfztq86laNuZ3Z7S9pcvaaXsxL3Q7c-c-3-0evEa5alPGy5X87BhZJoxpYhW_gKG1XJjpmG6wPRswt9Lxv7-2bXgfrCoIvG_ZUQvA-VcIkC5-oHtffRxk_iCAPR4LMv9esG4s19cZC9wYibXuAxi_CZ9V36K5d-Ha_mkt0bPwoEV-sR1aQBslUaRl8BtjU9KxmSCN-zuAim-2FXAPj12EWKSntjAFG3i2SjVLFNOgVJjDg4ovLB3eNMelkYO9AQ3khQwkgjXmuFGkUpKgXXVSdeeEjqH2Er0fA0ICEiqTp0Mrt8Wj5aU7vgb_XZbQ7eHBy5w6vXk1pCwISANfn5-WnEOeMRo1yEEYA8W-0vUFLF5FAEVVKR3sjQNnyDy7pAgVxe96k5WouhicKe6ijzRu_4QkkT5KSzu0V6Dn6-UnSszaWB5BYoD-5qHpF5vYv7MaPWlHJqLPAMZvKFY4NtuatZ2txKB8E4L1xQOLuclmFsptqWRc8_cEkTBEZgt15WTdpDre33RszfuVsBWRQmiBcw1W4PRNPhtZvJUuC--omkrh00NOmwc=",
  "id": "rs_00a2b927172ee900016aacb449a31887d0b297abbdc0ae45b9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.32,\"right_z\":0.3,\"right_pitch\":0.15},\"note\":\"The gripper has stopped at about 7.7 cm, consistent with holding the bottle rather than closing empty. I’ll lift and retract a little to verify the hold and reduce the long diagonal reach.\"}",
  "call_id": "call_uJA75GO4JTxw3IB6FM0Xzaco",
  "id": "fc_00a2b927172ee900016aacb44a3cc487d0acae2afed2c541f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uJA75GO4JTxw3IB6FM0Xzaco",
  "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]: [-0.1184, 0.8989, 0.7609, -0.5594, -0.1825, -0.0525, 0.9946, 0.8028, 1.9724, 1.8198, -0.3538, 0.6159, 0.44, 0.7822]\nstate[eef_state]: left_x=0.2957 left_y=0.0007 left_z=0.1879 left_yaw=0.0538 left_pitch=-0.1243 left_roll=0.0827 left_gripper=0.9946 right_x=0.4613 right_y=0.3359 right_z=0.2733 right_yaw=0.0489 right_pitch=0.1481 right_roll=0.1287 right_gripper=0.7822\nstate[joint_eff]: [-0.0342, -2.0581, 6.8855, 1.58, -0.149, -0.0708, -0.0122, -0.4855, -14.106, 7.747, 1.8926, 0.1587, 0.1783, 0.8913]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ba4ec536d6ec138dba821fec93e9c450dfc46798127e309b6ebb21bb9fd84d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57744534f87a76985935223d463a2f4a14e58ab60f20aa15dd51816d0749c11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd478a1f83369b2d1762cf05bd15d253bed0ca77208d62f5a1d555a7ad249ce8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 103 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]: [-0.1184, 0.8959, 0.7609, -0.5594, -0.1829, -0.0525, 0.9946, 0.8028, 2.2208, 1.9121, -0.0784, 0.6506, 0.3931, 0.8092]\nstate[eef_state]: left_x=0.2955 left_y=0.0008 left_z=0.1887 left_yaw=0.054 left_pitch=-0.1212 left_roll=0.0824 left_gripper=0.9946 right_x=0.5097 right_y=0.3789 right_z=0.2256 right_yaw=0.0283 right_pitch=0.2482 right_roll=0.1571 right_gripper=0.8092\nstate[joint_eff]: [0.0205, -1.7162, 6.9265, 1.6239, -0.1441, -0.0415, -0.0122, -0.4581, -11.3983, 8.4855, 1.2723, 0.0366, 0.2466, 0.9744]\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": "gAAAAABqrLRTsYJLDtmt-FiEd5EpcXZwjIRPTH1kqXH4EgD8pGMCylNVJmUUnV1_x2KTWeZ_FyRcRrX0az1Spo-cihYKqz2CYVbpFl3tku0uIlgsV9tmX8nGgGO4XzJmE1Aitj7U9XtupxhxTIJyY1cGr8J2q681qM83_34G3TLiXJewNq9nuyCPdQJcRz_NP_mamILMNIS6wvr993EYJdTVgGN_i_Uds66ZDJWydDNt5AbnsJCmJWDpvy08YHM-iYviM3uC1YVWfkGBTtJ21qDgbBitlP88KWbg9FmvVoFr1Ouc_yJgLFIdZm8eo_68yz1jKlW0ABQuEVmPQfXjFXAE-s_F3r2vRBhDg_2KmcN_CIdAlUvaS5k3XjwHHQuD_8n5rIqZJyG2bEAyzSnGtLgjkqwgucNqWqxshONlAyHalvqsNIhcIRorR7dTmZWnTyt3DffhNqQg5evIfdmXzXUNtDdSzMUaVIP0UTsmhR5uk56ZZCrDQjJ_jpmvG5B8HQHaQsCwzlmdaikJQfdwB9zpb22Ti7SYg-0GfpIixDP4zcdjRVJY3N6i5parivwzYyTKq9Bi2sVOVRLXqFc_pGhVTxgY1ja282_IRzBo3_NZPEz38Lss9DsZzRVs_Cm2aoZOybs_sioYyLokF9d8o-K2G_kWMSmdpzMJ9QOMMzcVujDTALtm7p55JHp4NkhCwTozayowj1X-tc1YlOPwgQ102UYLY2gRYvmo4wUf5i290ubRNgUFYl4Rbp0zvUVgm-KGMc09KgX4rmImuuc26P-IKZR3mZ5KsC5aXtnbmq6xFJcFUxrUaVB88V5aVgv3v8oxctvHYiRlfejkSyTp8g8dybiRSTGHJ12Fh80x1wvQMZ6d7IIChnnP1EwllTQ_Ywp9vINvdC_zbPMjkYyfrP0I54Ma-AgFnvn2E2D5_oQOgCHA4rhWPWbOzdj4CzB5ovKhy4B0NwlplCz-MRB-C6wle6VWTkXzpjRlQDQ3nleH8_W58hliBxwfgzJ8sJGfpe1ybx62XlIN1_lOi97C4VbBjxyZ6SSbAbJlDJzNaribFmkbLHh3r4qhzTR9c0bOAmd1Prv0t9BLmzOBVT-ZkQ6y3lOwR5Gh53x3hKSDqGIq1U7YNx3XV7OrFHS3OTq5GEtUB2sIKNVB9I6JX5SGyTrXHuqbzvigSlc-5js9lIH6ouEOvwdJpppv4nSzLCAKu2ivSdLMSBBIkyy1L-BXmlacr_54fY6_MeQrD_sr3HLbutke99_DyvHRQF1mKuxKLTRNKU0a7z2SyXHE2-WD26iZGpPgXRjzM7CpVOM_Mh-IO69P3dXN-E9hllQwLRTDHsYNxcppN_1wmtJCTHSX_GIDjOCk3vqruKcxxqaENnH5j5C7QIrnr0JuGH-oPZ5QOZBkAAMVhdclO0fSAQS5ZPBCSsFIFa6WDfqq5Ex7nOk7TaFyKL732_nwRrAGLtTQaj9adC22hiwT67e8rnaMdCw7wRDfL-FE2XTKBrdyB7U2ctYY3oiu8PbrmGjRWsJwaiWK4NpxWyHWrZuZPbejwdrsF_qiMkdSaRxp3srL19QWfIKhHt40feGf3i8sPfNMAeTzUfjtCsag0LFXl29OcALJjZyBv9mqqLxGFwHpUw6Y5mpyEvN1SU2frUPbALmC8DedvcUXfEeBRrNOubJnHkyQR88yTTvPGkZnZFxbSv8Q2gAVlgetuBxSJ9nGXtxTsLNtQYNoZPHpW_3i43YjDZ9fgNPhKn6-N8nys_9eR7eg2moNorq6mYofTCMuwzQhXyjOJKtnPcT07CLlhzaAt0wDWDXj_GifpGzgdnrFUvZznINWPB7lbkw=",
  "id": "rs_00a2b927172ee900016aacb44e137487d081b2947e16ba1a48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.35,\"right_z\":0.32,\"right_roll\":-0.6,\"right_pitch\":0},\"note\":\"The right bottle has lifted with the gripper. I’ll bring it toward the red cup and begin tilting left, keeping clear of the blue cup beside it.\"}",
  "call_id": "call_0YyNy6X2CdanUT6gkKwEYl3z",
  "id": "fc_00a2b927172ee900016aacb4518ec487d0908c184e57dd3064",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0YyNy6X2CdanUT6gkKwEYl3z",
  "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]: [-0.1192, 0.9035, 0.7609, -0.5598, -0.1825, -0.0525, 0.9946, 0.8055, 2.5416, 2.9276, -1.116, 0.8394, 0.1101, 0.7834]\nstate[eef_state]: left_x=0.296 left_y=0.0005 left_z=0.1866 left_yaw=0.0531 left_pitch=-0.1292 left_roll=0.0836 left_gripper=0.9946 right_x=0.4958 right_y=0.3315 right_z=0.2836 right_yaw=0.0673 right_pitch=0.0465 right_roll=-0.4169 right_gripper=0.7834\nstate[joint_eff]: [-0.1436, -2.1128, 7.0769, 1.58, -0.1294, -0.0611, -0.0122, -0.1299, -14.7487, 6.8034, 1.0623, 0.4811, -0.0562, 0.1197]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076bdc1ea433d2416cff521258cf99f9ead22b4708664b6d845eef0ef4d3558d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:682059160b6dec6c1f6dd75f63a2ff567a115e00e4d67ccb27a1cd270f6b3115",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2e368b3eb56df9f6e85ead142ca75d478254fd9e68659188647b59249db098",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 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]: [-0.1184, 0.8989, 0.7609, -0.5594, -0.1825, -0.0525, 0.9946, 0.8028, 1.9724, 1.8198, -0.3538, 0.6159, 0.44, 0.7822]\nstate[eef_state]: left_x=0.2957 left_y=0.0007 left_z=0.1879 left_yaw=0.0538 left_pitch=-0.1243 left_roll=0.0827 left_gripper=0.9946 right_x=0.4613 right_y=0.3359 right_z=0.2733 right_yaw=0.0489 right_pitch=0.1481 right_roll=0.1287 right_gripper=0.7822\nstate[joint_eff]: [-0.0342, -2.0581, 6.8855, 1.58, -0.149, -0.0708, -0.0122, -0.4855, -14.106, 7.747, 1.8926, 0.1587, 0.1783, 0.8913]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLRYVY4DBkLjsB88SP_k8HPTFrUIDYBAcMAzrnAAAgAWIR6Skx4wZzA9tlihrU0AxdHdjD1P2bBH2xn27ZG-mpXIu5xNnCsK67ZuTGqjOYgNE5yrVE7MDAzXvRHBfBXRtMoa4iBGVs6okKx0BTR_PdcZnF_yx3V7xu75veDswzZNA7odDTFzbjnkqw8vz5SN21GMt6Z4ldygIY27wOnK4zOTle0lnF02qdcE_W551PM6BgZfHJQC6PinlMD_5vqHcm9-MHV7q9UnqBPWk9158q0CLLNvWB87NPdY47ruz4qTwmX0OsxIk6Ozq2m9AeZX7R7JUTk46arr0yfk8-2PcU8Q8ek2L9EIDTA4o_TdZWNBRZ8haCbjoTRaGEUhLt0JisgITL1UN6xBco7BVNfUrUdcUyaY8On0pTIWHjsXt02S7P8gwDAu9pUh_IJKf-F1ZnLqOZkOB4Y2kcC9PkydwAVg3KbBfwKcAFu5mTUQF4ZR6m8kJ96Oc-9ulEqfRtF-YBTxC2l0zq0Qu_Zc1fAo9usy-LSvodMuPTEOlm0fv5N6Zj9wjovEx26tBiNoM43IGoN2Uwlm3RAKNOxwLCm72dkkYS08Mj81i5NpnVM9j4CqaZr_99FY15RM0wWqXzSA7RgF8tp-5GKpLP6OaQr4fFho5hGvtzjB2hoe16aBRVVIMlo8cEhQt9fWD-girfxHEVHJHAY0G1Nxm055IRoBZxRPFrt_BeUUPRbNW9mPP0wEvfyvDxjsZxKi5CGPps18u-V6b6G6BP2pefIPFZlQTogUfaQoRUMsVeJY1XpiNi9RSGUdfuU-Nu-oaAguboMHAJghWX7KLbdbBpuNvSJ0V8J0mDXjwPyTNtFzgr-_-F0h-g8e7XQdYfAFzvPcCQBFYewMG-4UTrM65K4nTT1upb06gRFvSHlSMxJqlobAOBXjjn-_f-ro-ZmVJTJPHtEXm8qyZ72RpfsPdgwWGLDXGTSa8A_l1X_fdJ5GZyO-Dz50m7kcdFl7dTD7cmr5s5xzcPoEcUfcf53x38hRUEe7jC_bI4baCkWgKnWY3t3khtD2Q8glA9VbunY7R--huMDVmUlqsa58clOziRj0N2c_YQvy3GikqmQjhdUg5pyBiqtwBpzyI7WlwnAn8Fkub5HX1FLHNksF2ZUoMU67F5MXsuwbkbiCVpBCwZcRrjbto1UsGm2k0uk1u6Kr7V5lh172i6lr-07MpvYtGO8kcwpd90pMij5fsrY8GmcEwGoYEnHjFSMSui_HX16cj3jwsvBbxQ3CkbZpu-h7UvxuYjhQQ83amw==",
  "id": "rs_00a2b927172ee900016aacb455b4f887d084d02a984f69483a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.37,\"right_z\":0.3,\"right_roll\":-1.15},\"note\":\"The bottle is tilting toward the red cup, which remains to the left of the blue cup in the wrist view. I’ll advance slightly and increase the tilt in another controlled step.\"}",
  "call_id": "call_mbefT0juqtup0WcvYmTTLO8a",
  "id": "fc_00a2b927172ee900016aacb45688a887d08ed8f03ce956e93f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mbefT0juqtup0WcvYmTTLO8a",
  "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]: [-0.1192, 0.9031, 0.7609, -0.5598, -0.1825, -0.0525, 0.9946, 0.8158, 2.5793, 2.9265, -1.0664, 0.9356, 0.0189, 0.7836]\nstate[eef_state]: left_x=0.296 left_y=0.0005 left_z=0.1867 left_yaw=0.0531 left_pitch=-0.1288 left_roll=0.0835 left_gripper=0.9946 right_x=0.5018 right_y=0.331 right_z=0.2774 right_yaw=0.0511 right_pitch=0.0755 right_roll=-0.5361 right_gripper=0.7836\nstate[joint_eff]: [-0.1709, -1.812, 6.9538, 1.5946, -0.1001, -0.022, -0.0122, 1.5795, -8.212, 3.8906, 1.1013, 0.3785, 0.0122, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0376074198fb19074361cae236ab0c33c9d4843ef934ceed8ecbb02acf4754b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f18fda704adbde8a58640c27eb4b1791e179c70d8ea19e51bb501de3ccaea2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1343741c85c5c1ed98d1348444a1436ecdc6dbee151cd0129fbf37628a597eeb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 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]: [-0.1192, 0.9035, 0.7609, -0.5598, -0.1825, -0.0525, 0.9946, 0.8055, 2.5416, 2.9276, -1.116, 0.8394, 0.1101, 0.7834]\nstate[eef_state]: left_x=0.296 left_y=0.0005 left_z=0.1866 left_yaw=0.0531 left_pitch=-0.1292 left_roll=0.0836 left_gripper=0.9946 right_x=0.4958 right_y=0.3315 right_z=0.2836 right_yaw=0.0673 right_pitch=0.0465 right_roll=-0.4169 right_gripper=0.7834\nstate[joint_eff]: [-0.1436, -2.1128, 7.0769, 1.58, -0.1294, -0.0611, -0.0122, -0.1299, -14.7487, 6.8034, 1.0623, 0.4811, -0.0562, 0.1197]\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": "gAAAAABqrLRdg1QISm2MBTlzU0RkxWL4UDh7-kmKZyNiCMOypDO6UGzIk6rCzVHXLDx9HvvB9fxUOy6eT_Q4yrGoh3XEPMhKKbBkxmztWhyCjmF-AmSveUnoI4rvk4mzj1PJOa9cOtlaMChEF9W0R30Znq3KSez_hQm2JtmjtIBwiKF2_4bR_0B82V05LU8EEcPoI_eyuxmk8CYDGxQqAJTwWvXSyFWlYo4ExggxD1FAQTE7wuU5sUSReQWb5c1LhMMfGwd7vYCmc2o1KqDaZFLDoyuhT9hzqHT9Y-OGh42rmuW8bkAFJvo6E3vI6EjErBQGQ__GS_KB3vgbbbo-A1mxeoG3ztfV89Ql8bIc2pS2s0x-aKzgITVTL_aCsYh_omtfYgowrt0k_N8XWlv8evLhshI9Az7qxXC4EY2sdIT5-uM8jPuTf8zfz1L4IZBtjL3DKcO5__qhsLM_ueJySn9E-A2Lrjl7d7Dpn8f0tgDl0nRcARobBTTp1Y9oT8IfMh7_0O0fn_AdmqfarPVBZYq7z_yrFvmOSAGWMHCvM1enNpdTtBA_5GcBaGZ8Yl5O2QUlJ8nV0nbGWdCcJ62Xl0neJWSwsS9ctZl1qeY9gRv8j6u7A81Lt4-7ZR2bI9MrmwSbzCwvwnJpEn_wxl8Y2AIQNSp11N9v5VxrSVvhe96RoNijO4snJsFtHpsASYBDues62_XDfPf0omlV_Z3kerH_COsMOQ9aPI0xJevxQxpMQ4DVUhN3HMIQB20xYHMS0XAHv1WgIQX9he1tmsscE9IxAuXSW8Mffj3B9wGyvc6Vc9167wRqvjHxIdS1ob0GyO70jfH76OdjSSU_AvfvHC4JtuuyytCcnJtYhtv72eEu1_0nzD0x3AanyV2oNFcSWfuLM0yFwQJhEa0UBeA0Uv4wuWunyU1ObvOU_0t3u65oWy9ycxW0GCg-_qOLytpC6uhGBSCIXfiAHzzTRlVUocs8am0MOmGqOPlbKK_QmWszQ3KbnWgYUsBdR2Lc8D0peCQYfhtIobrCqKFnpkcTo3Ht2e6UM4VuGuBmuwStZ5-80ZeDNpbnu-jM5kDy5dkpcempuSsgrK2pzvY1oOcEVUBNJIxOTZreC3grV19Il-3UaFJfwSz4xqJfDsgDvLYI-acJFzseXWrqO5Olhlx1joqeNrzenYjOOA54ET0BVIGyI_EnoJ0NIuyynQtL-1RAptHTQOMyaoLXbNdZPl8_76MUpiq0VWy5uLDur70gOHlqP00-UkTINvOjH_o_Bs5gJ3AjiO_2rFdrsbYIlq5WrFi97NZGXiU7kh82a2Wkl3inL0L5n9e-h95T4nA8C_1xdYqRb7r7Cq7-Cu8iCCosQcU-c7sr-rlEVA==",
  "id": "rs_00a2b927172ee900016aacb45aa64487d0b6a548b486800106",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.32,\"right_z\":0.235,\"right_roll\":-1.1,\"right_pitch\":-0.1},\"note\":\"The arm did not follow the larger tilt at this extended pose. I’ll lower and retract modestly to free the wrist rotation, keeping the bottle held securely.\"}",
  "call_id": "call_I5QYUBfXCE2KS1h77fOvSjjE",
  "id": "fc_00a2b927172ee900016aacb45bdfac87d08c38e2a38f36acab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I5QYUBfXCE2KS1h77fOvSjjE",
  "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]: [-0.1192, 0.907, 0.7609, -0.5598, -0.1825, -0.0525, 0.9946, 0.8406, 2.6045, 2.8674, -1.0142, 1.066, -0.1844, 0.7841]\nstate[eef_state]: left_x=0.2962 left_y=0.0004 left_z=0.1856 left_yaw=0.0532 left_pitch=-0.1326 left_roll=0.0842 left_gripper=0.9946 right_x=0.5004 right_y=0.3325 right_z=0.2627 right_yaw=0.0691 right_pitch=0.0464 right_roll=-0.7992 right_gripper=0.7841\nstate[joint_eff]: [-0.253, -1.9487, 6.9812, 1.5897, -0.1099, -0.0659, -0.0122, -0.1299, -17.7162, 6.065, 1.1941, 0.5397, -0.0366, 0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f21afc8193a6ba69bab31c8edf2e72f242c254d7dfda3b9117344578b6969531",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a79f910fa5be81f860254ef56a172b413ca3c8ce8b17b5a0653416ff07857e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f18e03be82d9b6e7eeeadd666e069e056198855c426273ca7925040fc243694",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 115 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]: [-0.1192, 0.9031, 0.7609, -0.5598, -0.1825, -0.0525, 0.9946, 0.8158, 2.5793, 2.9265, -1.0664, 0.9356, 0.0189, 0.7836]\nstate[eef_state]: left_x=0.296 left_y=0.0005 left_z=0.1867 left_yaw=0.0531 left_pitch=-0.1288 left_roll=0.0835 left_gripper=0.9946 right_x=0.5018 right_y=0.331 right_z=0.2774 right_yaw=0.0511 right_pitch=0.0755 right_roll=-0.5361 right_gripper=0.7836\nstate[joint_eff]: [-0.1709, -1.812, 6.9538, 1.5946, -0.1001, -0.022, -0.0122, 1.5795, -8.212, 3.8906, 1.1013, 0.3785, 0.0122, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLRiQmMD3Sy-HEciqxKj28jVl2gwauutgJ3kkNhdiHL5bjLZh3BsQw8rMliBgbJGTB3fJe-y-GToGKyxlkE6wLymiRYlH0028mp2Sp62xBLgw78bAkCimn7N2zd6oG1cobFTUkhxwAoaCKs7Rg-Dcoc8Hae-2blU9pFe-h_Pf1wz36Yv848eDC8vUOhRy0x6EsIYNCiphhT7DUH5Tt890XIg5gqC6dnD5AKswx6fp3hl_-ZS_ZERqbep5FHGgEVD0n7HaNOjtohypUccgjCrq2fxss70fcnl9aPy_VfCwAMkyLjGyzAV2f9il2Nsb252qLZyhlPgbgH7LeMGeyQdLW_Tu_fCvWROewhO9ZQFah-7Ua9mC_BzEK_6vvRPeHHiMLRJMmJR8Tr-juHSWdCO81Y7yaQzQs1mwTQ2xtScSgstHifbCLY6eQT3y7BgqcCWtmRxYXPWYjuS2N1E6ohd21EIakOMBzWHrAbP5DkpKv_jeOwmdbNb7w2cTnm7nO_uWOsFZYfLCmE9c7eW1apDgk_aZxLvqDdscPcL-En1kk-mZc7Bkl5eAE7kj8zsPXrbkRGWyFMsf3UBL5y7xgzOkTMqdFpErRYN2Fkf6ZJAzFZAG0hlxRo3-NKsizauKgdqyXAb0CGmbdJOgZOyM9U-IOLounF7EsJhWgCD7b-WGmXwlLWfQF_n4L34pNoxKeMm3oQ5UF-0Wm0SSlwaUh3WXdhlYO-v4EmS2WU8M546AXh3rgdGaMIRuc-X8dxulug5alT13GwmkgcSvy2i2kvh0rax58PGmGsNenK26_c9vnnJKWsFbRtFvB9Of2iyZiGUWUFaSAOQjgX8C_xEbIbsVpCmDHA5OSvqiI9EK_6cmRzgaQCXLK_yXWCaS_KQkkWq2byb4RQcCak2ah3xRttI4SHDF323l_QaVgeDE-FU2iUe_P9rWqHVxvCadYTSpplu1ocBJf8OvzzzZPmQSwBYajTLPjoWhJ76pEvYpNW5EZwfHeZa2mrx1RwaVY5qFb_KU0vPltE0SHKHzGneAWirdvfs4fbs0cAWiUBX7S0em7cOoCDc037sPtaCZS5hvo4Ue7k3lXaxd60pZoRx4e3b9YPFZHSXUJUhcMlcQ0_WhEg8Re-xbOJW0dNyyM3g-O7-qopS9jSk6wtryfvsKBcjALL_o4bbzpzWUuScqL06pc7ug3C7V4GIprEaRL-gn2DNVGNLDnfrEC7as-rCmIjPZkV3HFNeVmb9W4izWLk4MWEdSGQYbHdDuE8evAohiUFp1zRaW1vXWqQpIGGDB-wOepckZBL8C1TcG2-DnzPI5Lp_AoG749F9Vd6jc8bSbqPxkl0xaZzYKYAHUYBd-3d7tuv56MCtqS8vhwIBToePK5Tv6afaihERngn9SiIyRbdjwhMtg2vZ19HXgUxkGLGsMi66zw==",
  "id": "rs_00a2b927172ee900016aacb45ffd3887d08e183e5f7a4e679b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.34,\"right_z\":0.215,\"right_roll\":-1.5,\"right_pitch\":0},\"note\":\"The wrist is rotating more successfully at the lower pose. I’ll continue toward a sideways pouring angle, with the bottle mouth directed toward the red cup.\"}",
  "call_id": "call_zhz3VjPr9j1dc7Kz3km9pcyE",
  "id": "fc_00a2b927172ee900016aacb4613e0087d0a52c1c6695c6bf4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zhz3VjPr9j1dc7Kz3km9pcyE",
  "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]: [-0.1192, 0.9089, 0.7609, -0.5594, -0.1825, -0.0525, 0.9946, 0.8978, 2.4416, 2.1483, -0.4229, 1.3457, -0.7589, 0.7841]\nstate[eef_state]: left_x=0.2964 left_y=0.0004 left_z=0.1852 left_yaw=0.0532 left_pitch=-0.1341 left_roll=0.0844 left_gripper=0.9946 right_x=0.4787 right_y=0.3301 right_z=0.1969 right_yaw=0.0549 right_pitch=-0.0637 right_roll=-1.3938 right_gripper=0.7841\nstate[joint_eff]: [-0.0342, -1.7162, 7.0085, 1.6386, -0.105, -0.0659, -0.0122, -0.5128, -14.2154, 6.8308, 0.9304, -0.823, -0.1685, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f05511cd3edb2e017e46f6f383e37aea333cc4e9885bf0511195a13f5342470f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3a806923ac095664ddf166e5bfc0fc63a94c07d6f3e5a5da9b9508f2357754f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea6ac9205027c711b7c8382e4fd57d1cec1d651bb6cc2cd607ef3d05ed066b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 119 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]: [-0.1192, 0.907, 0.7609, -0.5598, -0.1825, -0.0525, 0.9946, 0.8406, 2.6045, 2.8674, -1.0142, 1.066, -0.1844, 0.7841]\nstate[eef_state]: left_x=0.2962 left_y=0.0004 left_z=0.1856 left_yaw=0.0532 left_pitch=-0.1326 left_roll=0.0842 left_gripper=0.9946 right_x=0.5004 right_y=0.3325 right_z=0.2627 right_yaw=0.0691 right_pitch=0.0464 right_roll=-0.7992 right_gripper=0.7841\nstate[joint_eff]: [-0.253, -1.9487, 6.9812, 1.5897, -0.1099, -0.0659, -0.0122, -0.1299, -17.7162, 6.065, 1.1941, 0.5397, -0.0366, 0.0317]\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": "gAAAAABqrLRqLrkw_ZTYHzkyfB1KVvhFjxeMpzpMQ-0S06Q8RfQ6nkTNIruOj24XakwGsEOZe0LaTg_0qYYJIYWqKvhFBG4CQrqZNpJ-GXvIrDEiOCmD0NesX17Zr9FnldRBbY1Cl3Z03bleTVMKS74D0j-T1bgd1dFmJcQJ1KVc_k5P_R1fm9-jULUE-wiy15pZBbPQDJqZ7_seTtl8hfKeyhD5fF7cgwVj4jQX_de72a6BXtiWumpI7XTLJFpOfoJNEJPP_7VTq6qbu7wUJ1nbOrhVw-vyN9NSRdkimSUelg_nDkaf4buzA6shphvi6NGoNIknzkUsYF-Rk4lwYXie50ab2kOcXL-EscWR3cYb8PlAiLmoiDmotP2CXkoUkbuIX8uv471owm7qf9J767ZnB1sQrLfdW24icfOLFeOoE7ZGhBGhA1ZGUFMLU64Yxu2eQcBiBvVKE2a9mUkAH-k6bZXMa73YCAmCHwmXOqd7XX_RzS1HNZNBkwOIYv774jTJqK53ou83cT60eYU89UcXiODl8qxU0weJ32mhfP5L86zKIcprTVhvXfFDvoYTaZq2PRTt-ZPfjUQykSMo_gd8v-1RUPmxzxmjZGUVWcuB8l2H-y5p29omTLK7KyY_6euwr8ZZJ6Rx6aVX0RlR734rzbCD3I3yAoqlGoh9cqYRPg7SALhxnz2C7WMm9OH3WbS45RX5xljBMBdgpK_xQiEXuecil_xzenIQVvQBIB9ECX3bwbKOWnPG9BKVWAZlbRg56q2AZgrn3C08zgDdowGMiwOi-jOv_7vFzHUsL6XFUhifMewyh-RmI21v19q2ay_dXxWvvjGJj7EhlR3oCgZ_1Mi0nHwA5MQiRJtd7CsUg1OgJ5ZsHQ3om1XFpZ_jmTA_XlRboHMfzJ6NPY81IG7kvOGwOPTP6B1bbHNybL9qYH77sN4ViPHlHAPdrqNE_apW0F1zxKQx60GIzJ6rCo1WYMmDsquH2IiPjompmXsZ_lBD_BioMHf-bz-6VAzkri-fboq0EhM36Wi_AALXhGToYOUgotiFsHs9W9yDd9DpCEK9sc4MHA6e1_yBiVcCuanalhK3mO6QE9Ik9MUJYQ20CjRukJkjpa82PA3fQtTDS8ggVHoDfQHFQzxLRw-to6YUnAcLmZ5QSDfyb76DqntLPNJeOCSmerxtfPqgcl4az2p2Xe7e9v7VAylr6NOTdbj1YtRkHprIZ31tQQ9KxcbJhd0FHqeWUNJ66LARc5csC57yJV0O0cvVP4yxzbokbaMwznP4H0qy-1qHa6qAa9HQ66QEvCshO5rI6KpSk3CBA-eg0Ej-p1Mm8MdZYkxyQoqxqnTlEn9HFTeavuNUG6F5QMYLYNGVd2Bcfd2XewFZ85c96kOnSQWIRKhRb8oOxFFAUTjKAdlYvZOR4jJQikRnAQyqC3szEYl-4vb3J9gDQ8SjSzMkBfCQ5L_ZXwymWePLe181HZaWaJBLff9NnAvoRqGIrujLQ4Yr0oUMlciW4b-JURsI2LOeeX5BB3ntkiEAC68VP43DmB4xXBgqEMrCGV5IMFcFyyt0uT-WJESgoAYPuFMTcb1cCFsi0X3dB2avtCTajnrwjCO962YkuxmG08pjXd-GM-KVIW45qs_NYounq7buuFENTo3liMrarISe5R5ttq5K5XcMHV48ZZRxi6_zng3GU07bpak4M6Q0scEcFNJMIYejAfyeVDGwb1Z8wREYPX7JXsM3fJPI5gRaQnm5jScsw6hi_kF_afSbZoZULuiV0fLBFIFgrbzs7IB9XQP645ufNWfQov09rHDUm-DlTc2lWLJepNkRlmUGqBxEjgd1GUWk_0sEwxNGGmqsjxDL-McXP9WLjx5DltOyx1E-0gp2I_kofpjwthX3iNCz4S26uNJmixwxE3gAdspzTgMrXwYxdVElus-IKNJGsqxO_w1haw==",
  "id": "rs_00a2b927172ee900016aacb465100487d085986338518f638c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.35,\"right_z\":0.255,\"right_roll\":-1.5},\"note\":\"With the bottle nearly sideways, the overhead view shows its mouth still short of the red cup. I’ll move it forward and slightly higher before completing the pour.\"}",
  "call_id": "call_xpsciTIvpGaBnNhvS6wDRNJb",
  "id": "fc_00a2b927172ee900016aacb469554487d0aea46a45216f6a6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xpsciTIvpGaBnNhvS6wDRNJb",
  "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]: [-0.1192, 0.9112, 0.7609, -0.5594, -0.1829, -0.0525, 0.9946, 0.8169, 2.7647, 2.7125, -0.4324, 1.2903, -1.166, 0.7841]\nstate[eef_state]: left_x=0.2966 left_y=0.0004 left_z=0.1845 left_yaw=0.0536 left_pitch=-0.1363 left_roll=0.0851 left_gripper=0.9946 right_x=0.5446 right_y=0.3373 right_z=0.201 right_yaw=0.0606 right_pitch=-0.1394 right_roll=-1.5481 right_gripper=0.7841\nstate[joint_eff]: [-0.0342, -1.5795, 6.9128, 1.6532, -0.1392, -0.0317, -0.0122, -0.3077, -19.3709, 8.5265, 2.0147, 0.4469, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9336d037621b6f261f0dfa9153739db64f5c467f33b4211514c09508e9ddbf6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ee169a55a1c72b0c55743deecbd868bd7d0cc1cb5e8a1dd463b69dc079ee0a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd24cb3976367ab5a64fbf26cc053acc13850132b10bbd0d8d1743930dee1e60",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9089, 0.7609, -0.5594, -0.1825, -0.0525, 0.9946, 0.8978, 2.4416, 2.1483, -0.4229, 1.3457, -0.7589, 0.7841]\nstate[eef_state]: left_x=0.2964 left_y=0.0004 left_z=0.1852 left_yaw=0.0532 left_pitch=-0.1341 left_roll=0.0844 left_gripper=0.9946 right_x=0.4787 right_y=0.3301 right_z=0.1969 right_yaw=0.0549 right_pitch=-0.0637 right_roll=-1.3938 right_gripper=0.7841\nstate[joint_eff]: [-0.0342, -1.7162, 7.0085, 1.6386, -0.105, -0.0659, -0.0122, -0.5128, -14.2154, 6.8308, 0.9304, -0.823, -0.1685, -0.022]\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": "gAAAAABqrLRxKuH0_fwuaWrODHj-nLEPr8BSpLO8niACvXW6aCNCMhro9g1J_9I3gfOBs17Ney4VuHTqHkK3vWN0rPqvNScqU5X8-2G_AioZCUy4HsAVjgKz5lGrjeTXsOpoS5SdQEPPiuRoZP_1wkeC7S2TlB2o5nDTIZp-nc4umjqCqBxgLY0JZ9v-nGfBcBYE9jAUGo2-b5flukqg8QsTn7nCuzPV5lSfsOpAxtdl_p-a7hEy38Wnni9LzD6_QVr1qY4Zzhc5t6T8Ov-8aCEvLg5HH8kP0hqFlBlM3vs692FoMOpdGXLx4aoPz_K9KAoMalhxcu-iDamwW9iPEpcs6wlmw__VeVCDk0QYfxTZCsY19j1PWwwYouI0F1KohEZQGp3lXPczaUMRkLNA3Vko3flPi7IDfHiIALbmR2IQV0g2ETy_Z2j5QIaLy3EP_mGl6YHvNOVBKUn4uqyvhFECOX18ETowWha-lRCuPCdkxN1tVa5V9WVjkMwo_-qmWX1sKMTLWg_N2l1tefCHjRri7yU_ZdQd4GzDA8YkbFYFOAf0L-jSKQM3qv3xXhUBIqYfcAWwdfojvPe2XhDoH0YgDnqyUSYNZaMkCG2RNP1tJSCv1EMsdna7ZAGb-6SJn1GJqQT2wlSJsOmjoDJUJu0v4UYnisKBkGALNSHDl_cSW4TGTzkAVLXaZWquR0ZI8FYsEv8RvKomPMAzjXGitxd3eSay7lHtTvqWXS9PV0a6uM4XDHqj0bQca0KVui9nkEe17NdiJUaAPwVBk20JDzNzrKjBds6dnNtqVK_Cxld2aS1Ce6B3TmssJ4p63OWVoi7qV_O9-fjDw46I7C-9eMjOMKEZNl2ORshkZFH35P5JTW7LDeN8dzmXhNVmZLa9BQt-0E19iK1z-MeB8KPVMnEnK7V1bmm6yis046aK00k58X7RSVjv9LZsbjq-tiP2Y3HCxxi-S7hafewDriow4r7lWjtV8mQ3zAfwYW4oF4p7uk7kzW9vVnzucui35X_tFvxXhDkDqGxLbKZrSTvL2mMlQOnEhTFUsKTugUU5PQ_dvnH7z8FOkNP3x3bY3pddHw4n-q4mm0ejLYlqMx0Ue5SofEZQc8rpJ7t8RuyS6bf9hRI9GxhSvtNutzXNBz3loNhYC6NY_OYH3Zwl8gDepVSByJpxBJJEbL1yDzD6tdhr4vO3fs0FjqYSYGApsPGwQOAvxv_4t30rNAcPU-2O69sH4l43y83POnOOsP1F_Re8gY-lFh7PPdQHVJMzY5V-_VkkHciIrsYjmJjvmFCJGecwNOj2bjzzH5gNmfBwokIGZIBU_61btVU9Uwae-cWD6qdQhfRLNiEHC9aiHEvDe51-Ka5v0jH__W9pOpNwMDkuTb4kmO4qJMj2W5juTGtDrUWc9znsZZK6KbwQwjrmoQ84Ll38wHOftjkIC_ZcupzgB4Y-xcMIOumD_nGbqusuyaMMUjx_sa5ShmSy4J-2nFuRXo_4BduWSEst3OYo3Qgcvw__tZoIpZ8Rb85vQzvSwmuL8Fu5YBmROVwQOJZZuHhG43Tc6euiXL1D-XGc6rxdN-kViA-8rlPnpngNVb__ADF23bvsuObf",
  "id": "rs_00a2b927172ee900016aacb46d7ff487d0828559e9cf4b1bfb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.13,\"right_z\":0.28,\"right_roll\":-0.6,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The right bottle has slipped out and is now standing on the right side of the table. I’ll stop the pouring motion, open the jaws, and reposition for a more secure grasp.\"}",
  "call_id": "call_tIitwujljbgF5BkX2Q8rXRQ8",
  "id": "fc_00a2b927172ee900016aacb46fc85087d086db528b2a586e31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tIitwujljbgF5BkX2Q8rXRQ8",
  "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]: [-0.1192, 0.9154, 0.7605, -0.5602, -0.1825, -0.0525, 0.9946, 0.6147, 1.433, 1.4307, -0.4728, 0.8238, -0.2924, 0.9986]\nstate[eef_state]: left_x=0.2967 left_y=0.0004 left_z=0.1831 left_yaw=0.0534 left_pitch=-0.1416 left_roll=0.0857 left_gripper=0.9946 right_x=0.3979 right_y=0.1267 right_z=0.3462 right_yaw=0.0615 right_pitch=0.1401 right_roll=-0.6148 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -2.1402, 6.8855, 1.5897, -0.1001, -0.0562, -0.0122, -0.212, 0.7863, 6.735, 2.1368, -0.0952, 0.1001, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ea8482ac56917b37f231112c059178a65ce33a6664c67612582a2b8fb12f32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3d8708aeace341cc328669e8d1a8d347153b466f37653d2a46d34ba715cba5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14604972fe9fe7539278fabc433e6671e1dcaf4415bdf40c67fa8daa3e858a1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9112, 0.7609, -0.5594, -0.1829, -0.0525, 0.9946, 0.8169, 2.7647, 2.7125, -0.4324, 1.2903, -1.166, 0.7841]\nstate[eef_state]: left_x=0.2966 left_y=0.0004 left_z=0.1845 left_yaw=0.0536 left_pitch=-0.1363 left_roll=0.0851 left_gripper=0.9946 right_x=0.5446 right_y=0.3373 right_z=0.201 right_yaw=0.0606 right_pitch=-0.1394 right_roll=-1.5481 right_gripper=0.7841\nstate[joint_eff]: [-0.0342, -1.5795, 6.9128, 1.6532, -0.1392, -0.0317, -0.0122, -0.3077, -19.3709, 8.5265, 2.0147, 0.4469, -0.0366, -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": "gAAAAABqrLR7G5Iluqmv_lUIsSZloEWOwzaeB1Ui8kO8KFxHaU87Xbidee3tgFf0s1aKgbinm1__t9xpPcWRNILKrZiH822vV-vw_bu-izZdmnIceZkgiZw1_8O4p5QrW6pYjuTwIBoWvd9X8wEVX8zglN-RedM-u2e2RkOGHu84lAEr68UWRl92pDEtKbhDtRo9_0Ago7GaS-FybrUdFTbWEL-7CRaGi5bgXKEiTkffZ2n-CrF79XHVu4MD7lmEr3vha6TWkf2MYnYjfwcvwkihgG1NUdWuZFAhpt_ylStVU5-0L0zwxYp3SyWzhIERqD4-HHdUqqKkg2Suzl6tXbcl3ljRxoAyR070kDRsM-V44Q5squkmn0S6SBY2AcXXWsrF8oqUk7hJhkjf4knLV2DioaoyVFU4zzNLFKo8NDb5Tbqlaw5AoVfxGUE1OaZn-Np3VpB3Xsz6j9jB3ejt0H-DzhgTLW2wcEpL5oRthJYos6MpjT2X1RxGqqcv4Y8Wc8DqgQf152xIwTmklUyq-2V8r_JYoh8znkx8eiBbqLc7qCvJW1bwutLGe1NkoOV4MY15jC6Kk4SJf_VzQNOCl8m4HOfeVUgvg9433TKNIiu0IVN4RFuBl3mE2Gyz-rLBQCHq_k4f2BAspOVhwKPMJur6mM9Q6224O8sNZL-Q6tIol5DHkygC6eUmUZyqw95CchA1iPVZGCpOrMQPMWAH-QiChbaYft_e6xQoPt-3V6hJUGMkMOenVV2x4mV5JpgPuT-ojsYGPy7WK0W3eGdoEcc9dqPbuVVuX3lv6TM-QFehAgG7kh84Zv7kiXMY6qEAK8tmAXGuAk305So2FW6wDZGUO6lc76TJdw1hncIBaFBojEcr8yc47qHxV7jfDWx2wbUe-pPeaCvNXTwqbFdViP7uyV29ZuZ3v4B-CCHH54nFJ49wso4Q41_iIc6BUjsNlzcHrNNJahhVZdBSXHFAhD_GEXo4yHo3DDSwkoHh6LRiXjjsFNtsBn0Jwvorsi1ohhk2m0ycuXLCZTS5nxi51dSUslJeCI-33WQqFIqeRpinqQR1g69Yv_YGa9F_fMYks6FhPOlweMGtVj0GaCf_pjH3OhFMMKd9suOaQluRbdbCunpBrAljPluvCKafByg-nNI61-PPtFu1XVpy7zfw6n7gPpYq3pc0H0HFZPHvIQKyBb5J9iwJWhqE2oNoTLd6CLbw3q-e6IfqmZj7DpYMMB4cvKYjgUApIYhOPNUbqwp-6kN8VKSqnbFPLd_95Rh4l3omLPdiz-DJhW0yA7aivaNQxUmwuGeuP7BgPE017yWz0awlJIUmNQFKn81TSFPdRl9eyyzicuxbEZLheqEMgphuNT8o2MJ0A6jLxGaAgN8Rh3OdWQu0ijxDVsd33xAe6LBv-c0Q7SIpMAh0AN2pa1TKEz8bnidid6ukP6ADOWQZWqrwaFfxPB-10DOzi2mqfG8NGdJyPPLdD61Z1f5sK8MYJ3WI-SP7H1rZ3o7KhVPNHL4WggSMRC_pAg1TTeHY4VC5nqHH-M9lHKHyRVKSiGJFN0-sKUL7HX7pFz2U8GAg68pfILp62poXvm39-C_w7rOIqqEn7J7UoNObWkWHe2EVezbO0-YAb5blvOQHSdYUgZXk0X6L5Tp5XDyrWbrhe4CLPFoIhpTVZjM4WAY5cOhMoqyFoNwKFHq14uEyVdOYoJ1i9R5AuvNhstN8o3lXxOilJN13xLV9rSN6n8AwOS68L8NiLeRWxfjV3enFzT4OXRLL3oFmlKXmpCgCbAo_3AhJxBnIh3MqvHwLuyS2GYd15VgbJpknc9MB8oeflmXO1k3IssOExe2EXYVFLK-gUVqBrF1eT_Qnk7S-gx33GTow_t41vpqu-9EY1wxMpUIAB02wVlbQz9GD3Wo5FocBj_DRGbS-JZ9McvN4VfXfPs0nqaOMIvqfT0xwcz3_PtTUV6Ca7OgMkOLSS_RcKbKzYYS329kQrx5ajvv8KKsrO4UHa90KzUNDT7NtGUHH99egMf4bf6jaJdzKWGSXWQxLKG_pOW4aj10JvCvXMwofH0lLOgdRzQMax_5d7aVQB46vOC11nAI6UAmzfoBtn-VF0PnxgcqTiup_WKZ611oTc4JLAfwgFU7FT1NOA6hNglJ7qAm5NO1TclfQTr-BZk_fBcYVjDEjmxV-1LrtKSX38lb81mihmxQjF8HOZVIsfRoKfbC710bjU5RWV4Y-50t52kNq3c2NTCaffqKk4V4mWGIhG3Pg8eE__BhZR0vU7TPe21EZ5ElaPOPSKxO1SmgbaPrgIjzqvfptZsv1d7D54rF_FS-ln8mCjq9UGhBQVNLfKUPPJNpLvqG2F3_HnEWwVQ3Whjlnd1ITNJbbbH_prhjNLX9dX8eiU5CWt0gejzZyrQvRdUUKiC1x6uhLUdz63LmEuOR2BPAU",
  "id": "rs_00a2b927172ee900016aacb4750ec487d09f23ae39cd206b1a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.04,\"right_z\":0.24,\"right_roll\":0},\"note\":\"The right bottle is near the right edge but still within the arm’s workspace. I’ll return the gripper fully upright and approach directly above its upper body.\"}",
  "call_id": "call_BgrtJGmlVTwliicmmc0ZGpo6",
  "id": "fc_00a2b927172ee900016aacb47a3a2087d0af608b54b817227d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BgrtJGmlVTwliicmmc0ZGpo6",
  "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]: [-0.1192, 0.9165, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.1234, 1.3224, 0.9871, -0.1574, 0.1505, -0.049, 0.9985]\nstate[eef_state]: left_x=0.2969 left_y=0.0003 left_z=0.1828 left_yaw=0.0534 left_pitch=-0.1423 left_roll=0.0859 left_gripper=0.9946 right_x=0.4216 right_y=0.0292 right_z=0.2284 right_yaw=0.0178 right_pitch=0.0696 right_roll=-0.1068 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -2.0444, 7.0496, 1.5702, -0.1001, -0.0611, -0.0122, -0.0615, -5.3402, 7.706, 2.2247, -0.0171, 0.1392, -0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5b53b821413fa41566198f961ec2959bac4d9df74214ce5abf491050142687a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3a139cae98b175d4cb8d014a73c0b412f2012f253b97936e30216aa7cca1a78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0959d275ea124a9861f06c40c16b1188ad5476f1df23eae209790b8e7c573be8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9154, 0.7605, -0.5602, -0.1825, -0.0525, 0.9946, 0.6147, 1.433, 1.4307, -0.4728, 0.8238, -0.2924, 0.9986]\nstate[eef_state]: left_x=0.2967 left_y=0.0004 left_z=0.1831 left_yaw=0.0534 left_pitch=-0.1416 left_roll=0.0857 left_gripper=0.9946 right_x=0.3979 right_y=0.1267 right_z=0.3462 right_yaw=0.0615 right_pitch=0.1401 right_roll=-0.6148 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -2.1402, 6.8855, 1.5897, -0.1001, -0.0562, -0.0122, -0.212, 0.7863, 6.735, 2.1368, -0.0952, 0.1001, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLSADdth5F7DnpRboDJisjzSHUOHthTE-XYT8Enp1FaCiFJHE4vt9IddPCVwnWiAfI3JHeR101QbS45mQqHM71Ka-rba73P_IUI4R7F7abnLQFD4-TV83F1NtiQqAJBnYexeN52WfwXQVMQlAUr5WSg_imshn2lh2OQ9t_mTHHsC0rfeLBTPOGRyLZJCnu34wf2GZiwXJeTGEP6lG357zE_zhx7UclVHS-A115lgZSKbFYqtW1eATo8OKBsWx_ZiXOc-t27NqT8Dxl2NfWDQ-tRFA7iW-QNpSVMQBYbKvtLs7vobTooP5_u_r-x0GJU7PhxcyxUvBMIrmzwDnxZZjQYsjDOuH-v5aF-f6jrNMVT9LlrZnSL4dL-KwVaJSiYrwGWmMpRtRXQnWXnJn075AheMwT_EaxVlHTi45D1w7MNqFDU36tpbcEJ47B_j6-LkcSQTen5fUJpTEL_kvb5wq-EyszoAM8vaNkQxZUOika25MhaItx3ZfHk84eovz78wGo-sHd18UGpMr4fOuOmkArjsF4g93eqTLnNTU0xPrwmjR7WyHo5BKAperNbMQI3R2vnhjxOT4p0yQzONipyaSZoTN4PusTCXbQgfP_PclbZCUbBoSQajpFJfCNTvMrvoPSGGYVc5Jf-iTLKDIyEknB4touY4ijK9CSpxVgKi-QrGO10FJSZGJFCHkc8SSMpjjozrgSEgsnTBngs23mx4Bm1RyUy6VlwiVLuz5fbWMrwwTVPakGhVpmMUpE3w4tQdPA5sBd96EWC5kvB7_n9a8h3iZaR3L1trwySWz3_XbRWum7lgwMYnzXyKzIRKZfxAe0eVJbtG50jw8iFkNUNBaEeGm_LGtE64fgVMGMxytkyVfCASOj9BnwX5rlCe6KGVlKAJgpt6c0UU4nxJ_9LCy8LE4uGwPWd9ulALuDSPjh5NylwKG4COYncBRUNoKAWG-Tqaua-55Lwai-9pmto-jrU2oxrUxnSrFrMo_WdipqmhVMXvp60YeEx3nnwbdQ5lkXBw_sGW1cqW12O1Hy5BWS9ekt_8yTuRZn2mTk7Xt5YKx7i0EMFzpmkks5cVwSK8Ftf4ngc556fDOp-eqkqDgSUBLOQcjTnJWIlxBR7EN7LSqvCcWbhj-l71lA4_TTqJvM3tXLWtBaEY_tychgFGok9P5Kaqrn2xY4t5EAlPx0iHVntigy5GFayZQeNDwxWNbZxuv1-INtn1WpOjd88Kzv2Ohb68eLMR0qGyJdl5F5gbUTcwlvfm4Z_VzbggW7d70gMc0HNNTENJampIwzYptr0aQNrOjSZ68U0MPRPK2nR9HLQ=",
  "id": "rs_00a2b927172ee900016aacb47e4d2087d09eb911fc50f7899b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.07,\"right_z\":0.16},\"note\":\"The right bottle’s open neck is clearly visible ahead and left of the fingertips. I’ll centre on it and lower around the narrow upper section.\"}",
  "call_id": "call_AF9eCa8T8mL4Q2qtr0AIPT4p",
  "id": "fc_00a2b927172ee900016aacb47f4b0487d087fc62e2aef3ab9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AF9eCa8T8mL4Q2qtr0AIPT4p",
  "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]: [-0.1192, 0.918, 0.7605, -0.5594, -0.1825, -0.0525, 0.9946, 0.2184, 1.5837, 0.9741, 0.1295, 0.2317, -0.0284, 0.9985]\nstate[eef_state]: left_x=0.297 left_y=0.0003 left_z=0.1825 left_yaw=0.0535 left_pitch=-0.1435 left_roll=0.0861 left_gripper=0.9946 right_x=0.4702 right_y=0.0665 right_z=0.1733 right_yaw=0.0329 right_pitch=0.0889 right_roll=-0.1243 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -2.0991, 6.8991, 1.5849, -0.1001, -0.0513, -0.0073, 0.7043, -5.4632, 7.3915, 1.0232, -0.232, 0.2759, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4afc55641484d7282f6b3368989f062e15439807a6e6d4cf07357116f798eae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6009ac72ed8b6727fa3537c9f4ca14567c13e8187aaf3794560ae7c2e664a1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ec77851678e6d7ac974dc58ed3e29585e22400af79d9bf1bc9ce39575c6b95",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9165, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.1234, 1.3224, 0.9871, -0.1574, 0.1505, -0.049, 0.9985]\nstate[eef_state]: left_x=0.2969 left_y=0.0003 left_z=0.1828 left_yaw=0.0534 left_pitch=-0.1423 left_roll=0.0859 left_gripper=0.9946 right_x=0.4216 right_y=0.0292 right_z=0.2284 right_yaw=0.0178 right_pitch=0.0696 right_roll=-0.1068 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -2.0444, 7.0496, 1.5702, -0.1001, -0.0611, -0.0122, -0.0615, -5.3402, 7.706, 2.2247, -0.0171, 0.1392, -0.0269]\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": "gAAAAABqrLSINXMg-IgXuSj-3Z79kC8MztjXeatKVnfTKfXzNLcUn7b0Dy2d4TxBvGuV03-0kDAt5P7T7g4motQBPhw0zOmh33Gna05wZqMCzR15TlZrM7G2Dtx8bQVHIhRr9SATD_HPk8fez3vepdLxt-_jBsDm39-9CoiCBUDABRq4GwRIQS0QImEMid-Ed6FRf4PINQJQ-Xxzd2F40pd28v1wTVRp3tjC1rAk3gFfDslQNS8Z4NAvAWZfHSgBkJy6Y5T5r3uMYEAP3c837iKl1GEmLx2O0wqvW9wERzgemVjtpt9CUbg8lBuU68k60L727p_9GNa_QlG4Y8Btk86JRpRtp0OyKztGx76WjqMg8z811Iq_G9IVTvjgyFau-he2Wj26bq8bqMIB7pddEvfpW2BSXVBRNKER7kUAF1IMrUl5Hqd8j0zJgn2fCrZ8aV3zJnXMno5YE9yOwGfmgv0dySowPQWZxaZ-VIE0ii4C9ng7olZvIsFEx3Pt_Un5s6cUBCe_WMKBGwQePqWJ3w_bc1z6_lhKpQ_CxRgS0gbhqGEQn7ZRz1KPco5XLUX590LcRpgdxh4pR87b0l3CwrDv_mEBqUkvZopj-b9P0KUdlgg4RgTk8hH6wvmCgo0jn4irGF0fAj25zaRKAEonNFjOHXr93zz7OF40-xocxyDtLqfAYqgra-IhByUjn4jUCWDlMYhl3wlNhNHtJ6pJ5jWdYvzDzsDEYntQlwx_kPCT4UY1Ane3JsWqyRkLFgv_RiK9lCzsTT25bsdeCMlh2bHcumjjgaQ0qOg05ye26exFeEvZ3Le-EQfGlhylRfGfllAvGcAG-XFDVcCOB_zHilatW_FAEuO7FIWpHsMFlzA73BqfQZNEqgHSgFcSKp8q3Fb5pk06hf6MnyjwNMPNhvr8gCMWn88H6JSKR6lmVT30jEMDymzXFTZO1B9WB2Vwyf_mSsdFR83iwQHjklOJykAS9CEwODlVi-oH4F6jpyMjkLFMpHyTiF9Tmtx2tdmyC9mgdj_5QWtN0xjVyX4pfjatDL8ms4WoWkUspnKaQPMDxl9o9wkx6hYJIcYeT3eFUEuhi2uUQ6SFR4B8ziQrLmiXv9B88dY8LQoqh71LAXDqpuXMOjIrLg7iFN_HNXLi5CnngEt-eQ73kwi_3hNgjBv87Czcwkp-HVNzYNHln2OqDHG-0vuO9DsLwGhTfsSfG5wavyIM3Vo2GgOvUsnDyvFoDsfKbt91Y746n_eXig5tyNxZIyae-g7sITXnbxKPk2BbWwOEbwZtB7gAkV29ger331aW1fiJvz-E_7S75Lgtc6EL92y6lO6Q6YJa09TQmTWHyMopx4PWf5dVkjlAMgNGevvwiT2wyjZGesH3eZxJO6Zic0V3_PC2Wh0xBt2yLbOCbjwcMPXHwgvAGjjmSCEQcjD5PTcr4HeRxDtQ2pki2gA8EQ19MrhpioY9mfq2Oi-iFEV7Y3YbHMAC0C7JN04JyYg7Bw6Zg_uwtipRf5d3GWQ2lPp687MkZc5UVXiiyR5fgbgcicm2u56HWaDMn2nuq7rA-7w9X8KZpNgCzOx-XqOmv8KG2hg7DwmfVGYWduXyeKSidz7InMQx3XyjwhN6nDqvvNX1wTLKzYiJQGkdJXBWl3mqzhWGVjCZU57CmVmMof3Grohvhg_btvl613l9LsRcAUz2QbrElReW9Uii4bjbKgfpCYMrtRydZgZnYluPD_fDic8E5Ulq_o4cGC6Onf50u6PCI9o0c663_oeNO8gGWQ0UzFuB5ZzuIG90ZsbVxn0OjTZtc77815Yl9P-rHN_R2wCyTHGqh7T0EgrTmKr3Pj3YXt-gFSKBiPPgI-xDFcbS5Av91MNkzvB2b1KtI8Ub4gD3FKqRI1N-C0fkMOy2eoll_h0=",
  "id": "rs_00a2b927172ee900016aacb482d49c87d0ac6628423f7efa9e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.29},\"note\":\"The bottle shifted as the jaws lowered, indicating contact with its wider shoulder. I’ll lift straight up and aim for a higher neck grasp instead of squeezing the broad body.\"}",
  "call_id": "call_noLW4tFu4eKQP18k1ClQT5nZ",
  "id": "fc_00a2b927172ee900016aacb486d68c87d0ad6b538f5f53dc3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_noLW4tFu4eKQP18k1ClQT5nZ",
  "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]: [-0.1192, 0.9218, 0.7605, -0.5594, -0.1825, -0.0525, 0.9946, 0.2214, 1.6104, 0.981, 0.1764, 0.2462, -0.0254, 0.9985]\nstate[eef_state]: left_x=0.2973 left_y=0.0003 left_z=0.1814 left_yaw=0.0536 left_pitch=-0.1472 left_roll=0.0867 left_gripper=0.9946 right_x=0.478 right_y=0.0672 right_z=0.1746 right_yaw=0.0215 right_pitch=0.1169 right_roll=-0.1228 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -2.2906, 7.0496, 1.6093, -0.1245, -0.0611, -0.0122, 0.2803, -6.5162, 6.8581, 1.4872, -0.0171, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe4d93cff85e6da94f49be08d86866c8523286704f9a2661537acde4afd70548",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac88c508e1f3186a0e9b65ee2996b99105237f7925d9a273263029c189804f1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ce960aaabdcde03e51ec652bebf495ddc373a1fa7580a79add6fe62aa5850f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.918, 0.7605, -0.5594, -0.1825, -0.0525, 0.9946, 0.2184, 1.5837, 0.9741, 0.1295, 0.2317, -0.0284, 0.9985]\nstate[eef_state]: left_x=0.297 left_y=0.0003 left_z=0.1825 left_yaw=0.0535 left_pitch=-0.1435 left_roll=0.0861 left_gripper=0.9946 right_x=0.4702 right_y=0.0665 right_z=0.1733 right_yaw=0.0329 right_pitch=0.0889 right_roll=-0.1243 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -2.0991, 6.8991, 1.5849, -0.1001, -0.0513, -0.0073, 0.7043, -5.4632, 7.3915, 1.0232, -0.232, 0.2759, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLSNYHMN1lnsDo06nSQb8zjaJH2ymb_zRFov9ORBW6DwrFo5doBjapx7G4HfvsEe0u8c1L8cpVu6Dnu1WQLaXUQ2nmAVKM0PMkG9EXIglzXpA2ch0-Ly1aR_F0MK3-Bcs_hJYyW2CYH7CrfSxqg-d1mXXVUVAM2G5OSTGa4DZf4cJT3ZkNaHLxkPSn45OBWYOit84tXmr0AHpX9kBRDUHDcfb8bPHgG1KgrBDYlAolCQIsniZA1WYVcQhVb5i0kl4PTnBXgcIm08AOkbmxr34I-uUF9ZmDKVgSAx2qULz96qi9LIIMvy2whcVdytgs2h724zdmFHlmaCJdtDozoZ2OcRvw-Sw5Dg8i0jSOWmnYdu8GkCQZ1LpolkaTYhdF1j_xAfE7i0pmHbL-If2hr9rdqZa8NCeqWYEPzRg8IkEA_MP2j2eKkmJFICiAi0jk1VZWHvgk--MEvgg64NRfxMdYxDDWKzBaTrQnjAN2s_HTeGn0sf23X8MNk3Qr7RalybF_tdJ8xETsfDuLtt9NitzZezY68rJ3HGspJqJ6oIy4zIQlpubL5WTHqHu-wAgTu7LI9Zf8wayOLc4HZiD8FBI-UihKSKVTtGGFN1w4SDuP5p21UaIgycyEeafJHnChCYN4GQImEkZnpL5pAniXchV1-UwDniF8RgsQJCjZgTTDtZedj7BsUl6ZUHmst52n0C0SsTNgjbmrRC-AcBXUfFSgk5TInGdaEUYttVQS0XAtopTRthvAB1Cgx_TEgkPmtuyYJQ7HZUbXdOoOiinpK5ImsJxbuElk8uXGWKLSmPR9P3Q1bRJwC2PFPu7wOOlq6r2RPf84zbb38aBKmtGEwXy2ltoYJomWEz40cAOjMzKxeKsHhtP-dJuJkcOyhP8WWX-F2as74nnuWPoxJ4SktU-Duh44VCS2fMjTUUWlsqIz_TowAATuTBTiIpB8KuJ8fT2gRyqfRsAmb_mM25u7uOEyBRyBD0fj1XUfsvvPHexHN7RwkAGRGgq_icQdkHK_pttMQwh1J39lz3BR1boZsDh09bV6GoQF4rzcHhXLjZoFGEX3fHD0fTebqmxo1ubsmy7xv44tP7tCWXzrabcn_MinIKc4zXX6XStFoRI7nFMJ_jA9_2UYAiahnf4V0C4QoBGPSBcDrIQxZl5unk46-EKO81_Qa-KvPzcGv0LrOlQaTW4kWFRqVek_COv0hHPDfYs8fMayINSp4smRvLCvnTF8ZabYqIrnYyaovh6GlawOt_PxeU4vLsMAmPKvE9cLscan-tWxwoW0FAyH61XlA1L5bPbx79vZy4uT3qtsWC5U0D6_XelBbIoe86dPBA4XEALFbEIA1tjY2zi26nJRFeDWXjruxXQ1mjcAG4f89MLULTFd-DilhImRTc5SNuhsy7mMRu8H3lc310iKuuNo8Bsrw1EQ==",
  "id": "rs_00a2b927172ee900016aacb48a713487d08aea62df131bd1c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.045,\"right_z\":0.33,\"right_pitch\":-0.1},\"note\":\"The straight lift did not track, so I won’t repeat it. I’ll retract and raise together to clear the bottle and move the arm away from this constrained pose.\"}",
  "call_id": "call_0n0o3mgkTcMwiEIddI339oev",
  "id": "fc_00a2b927172ee900016aacb48bd49887d095f65d2c59749836",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0n0o3mgkTcMwiEIddI339oev",
  "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]: [-0.1192, 0.923, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.194, 1.4296, 1.5707, -0.7628, 0.2008, -0.0219, 0.9985]\nstate[eef_state]: left_x=0.2973 left_y=0.0003 left_z=0.1811 left_yaw=0.0536 left_pitch=-0.1487 left_roll=0.087 left_gripper=0.9946 right_x=0.4131 right_y=0.0489 right_z=0.3258 right_yaw=0.0316 right_pitch=-0.0529 right_roll=-0.1273 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -2.1128, 7.0496, 1.5702, -0.0952, -0.0317, -0.0122, -0.4581, -5.5179, 8.5128, 1.4042, 0.0855, 0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034e95a3bc28d2ffdc059ffef75bfe59b679899fce3bb69d80da59b2af056908",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b523a52be051807d2a3cbd767cba31cd489c4ba157efae0c8b83e72fef767327",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:037e9c0f988f6893af58f9804dc5f4782d8631def3a92dd933cd67cecc2f92fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9218, 0.7605, -0.5594, -0.1825, -0.0525, 0.9946, 0.2214, 1.6104, 0.981, 0.1764, 0.2462, -0.0254, 0.9985]\nstate[eef_state]: left_x=0.2973 left_y=0.0003 left_z=0.1814 left_yaw=0.0536 left_pitch=-0.1472 left_roll=0.0867 left_gripper=0.9946 right_x=0.478 right_y=0.0672 right_z=0.1746 right_yaw=0.0215 right_pitch=0.1169 right_roll=-0.1228 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -2.2906, 7.0496, 1.6093, -0.1245, -0.0611, -0.0122, 0.2803, -6.5162, 6.8581, 1.4872, -0.0171, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLSTNOjb1lBKFbrex8m5gknpB9yaMtNrk-lH_Uqd3eeX9_AI7C_KXpNfMlXomOgi0-c841HBKDFaVA3xSiNbI1R6Qi_b5mZFMnkSSzS8MuTABP-YYChgVAXK7YVBA8DzjP7qI1czo4K4PE9bt0bpfk49XhiXjCZvb2DR5ldoRRXBeQi3FyokYjadAHNDwyZdwd8l6ppCbZPBw7pmBaAKE_UCa1fHXFqwkeBv1vmx-RoQhFe8BWTAbpRuQ7QDchXgRgb4FdumuVSTWnfzQtgY754wpcCvtXrt_v8sS3xgqlz6VYrv4mG_OC_5NgJCY30rb-elC5C9xoaos2n4tCkNxUoCKNWQMfdJtwsAAOEx-0WmNpR5YCt8rrJxFibSRKe_it4V6SUl1byaiqwAZdKcFAibSS8wgrIGdUm8pSQeifLFQgf_OwTrBe9bI6WSyR5EqUD91ER2DLvtsXurCihLPNSHZmhw8jg752FRaSQ8orp4DhDfUHkKXS0cGPoMw5XXqIOPebX5DHORh_1WTTTRBtPW9ZVzXIHkCmY2rDKzOkuPFvHXGebxYweZHKXqpWOvLfDvWNEdZwR7MdpAan3RQTKruDfQqDbCVPkNfjWT2BSGVfnTpPy1Sc8CVxCehKPiyM6crWuYU_wzJ6n9uXs52dTlL-EZm7YrJ9CAVGYimkrTM4ezJc5J03pENGN0MMGNQG5y1awgMzxPGiH_MXBH52F_j81pa3C3JfNZ059I4btwhyfkpQxNSjBjYowblCr6cI3W35udzSjc2vpWoSS46BqZdvqQanUiGOO9a1-J4vqh-WO8WNpD7I7XoRbiZcc2dHREjUeK_AV25DJEpSyuKXUITthnnVghT0bIWfvhlP9S2Eoenhk5bMXJqOOF9waAnSpJ4UQoyZanrEyKq_oTwaYAvaj2a3IZ3l2IqxT74EYI8GLbaNEAqP_KFFcxgWrkNYvPHwWeWAOLibsIMCy25Td_9awshppze9XLhx-A1X_UeMVIvMqBix_2tkhpdFVYJcrojWrNvQHzSb2J7DsW95HgLyR8r0DJ_EVj-_B8GhdPsmtwVjbhDvGCPPpfgCAvRxV05H_2KnAVn09GrZHICwOaXnb8zvxNEcEL7y2g-7YFvfC1MTdj4GklcBDN1BMTUTz8xuC732vMlJosko1AiwDhtrOXKVQ8DA3BR69MSMoWK2fdG_uPcHdcvMwubLPWe9S2oUtBTcTac7HUgrIPL5qVCjUZzW9FuCltRoWiqwFJQJCARYnJEIzAdsPzN1P7D0vzxOZ5nO3RLzMu8L2w5503q-sTPoJ_1DKyPLwCs-dUp68yCnIMyT5PlZlomWqPyP2QZOJKaiwFIwcl2CgVrx_C7mwY41blTshJyV5olsYPZnui21HIfOXd-78JVC8aK2b2ZT35eMkKB7SoAPD9zv5Imzl9HwGN9vIQRxpQqJPTuK2Z30XKh5rOEseRGeVxrmprKYJoD5W3OZcudNVdT_j-pQJFeGaJb1w1gc-RJNlwaItLvAh-QXpW881HrIExvG9iKWjslEAjgnYttM-es510o9ol7_MzzExDoq3b-9WTqP8=",
  "id": "rs_00a2b927172ee900016aacb49066d487d098d2b03aa17f6b17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.045,\"right_z\":0.265,\"right_pitch\":0},\"note\":\"The bottle is upright and its neck is now centred in the wrist view. I’ll approach at a higher grasp height so the jaws surround the neck instead of the shoulder.\"}",
  "call_id": "call_GcHyggjBSUL7khDDdqZRAfSR",
  "id": "fc_00a2b927172ee900016aacb49260fc87d08116deafc99003d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GcHyggjBSUL7khDDdqZRAfSR",
  "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]: [-0.1192, 0.9237, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.1566, 1.5654, 1.4017, -0.5133, 0.1715, -0.0513, 0.9985]\nstate[eef_state]: left_x=0.2974 left_y=0.0003 left_z=0.1808 left_yaw=0.0536 left_pitch=-0.1495 left_roll=0.0871 left_gripper=0.9946 right_x=0.459 right_y=0.0456 right_z=0.2425 right_yaw=0.034 right_pitch=-0.1122 right_roll=-0.1412 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -2.0855, 7.1316, 1.5897, -0.1392, -0.0757, -0.0122, -0.8821, -8.212, 7.5556, 2.0586, -0.0269, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c4938fd9b942a5ef37686754212f3a982e1520032ec93523a62bf179d131c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db15d9b96933beecfbd6e4e142a68b41a202bd5ce9543e995dae68b2d589ffc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6f56d4f579e6f6f7a314aee6c88a108ea8b83ebbf9b97fd41a4dc329e11e374",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.923, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.194, 1.4296, 1.5707, -0.7628, 0.2008, -0.0219, 0.9985]\nstate[eef_state]: left_x=0.2973 left_y=0.0003 left_z=0.1811 left_yaw=0.0536 left_pitch=-0.1487 left_roll=0.087 left_gripper=0.9946 right_x=0.4131 right_y=0.0489 right_z=0.3258 right_yaw=0.0316 right_pitch=-0.0529 right_roll=-0.1273 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -2.1128, 7.0496, 1.5702, -0.0952, -0.0317, -0.0122, -0.4581, -5.5179, 8.5128, 1.4042, 0.0855, 0.1148, -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": "gAAAAABqrLSZb8ENj-zuerzM0DlIvaXEOldgPZMvHRVwJ_UA35C-LPD70v1WPp3L5bR8XFkSJlJoMYEo7UEwIpoIiAe0UTdZSZ6HvRKb2rckI_ZgYUsu_ckvIOTKcEXSY5fno7eJ7z9OwJK8QLmoltxROOHPlt4MX0jQEemSv69_CTcLgRvjJIA_5Qst5nibeAviwnwm-qd7KHVZFgxvTrgVfpimF94_wsF2Rm3U_L7s8ZjmwaMHd_XDABIcYpxHAjC3XKRut_Z5chaqVRi0UhXTmIhq6SwvrQejUl5017REh9zyshP9iQn1szQL9o4JhY-zBtqT502LW1pPeExtJwlz6EGqoKUaX-biUeZuGJsQYyfI9rFhCO0OzSmS_QQYR_-vdKRCmjViywhJSHVz7waOYpBWCpNLFenc-3LL342ADXA0X1gfyf0Z14-YndN84zrNU25v_THb84jBkyA61pQEH_Axvmd6TuDVI8TKObCElAXam0T1jGgaHu90iurNdJaqjjTLPN49lkZhDLRK7VN0Kzoq0w1uRAyVMzLPwC90DzQf_9eVEdk2-NyILUSqvrK-a6vQC0qZN4qS_Bu5RFAOZ0lx31Bv2vtV6RLscuy1lO663acVHufXER0ZnSa7BgrEDwokxklsqsRDcGVnjjg_4PKX6aQaYVu0lvjHeNhoth6tvisZBq4IKs1u3WJO-o1JnYd1T1C0zKClT0tYK9djXPHnk4ipnjL7DJ9RE-zSRBVdPk2U3nJW7szzHrziLmzWqJUrMHor3KnRs6vTixj032s7hTQs3oPsv2-SQW40XvhZnTqCitHTUlm08d_vX1lrPdHbJvBSF9WWU-Rx-cXr_ErzBQrGQRJ__4ksFD8I55eD4sR2C54EcbHWCeGU3D5RFrrFbPY3R9CXYb6Gl67GJVOn9Ie3rRJwAV_V3-H52tnWMOXuWj0CCi72BxW41oNp_baHp6KafUNgtpKyTDEF-Sk5q-GQAVKa8PM4OVoO7Ok1f6sMqSk8x9lnZPYUP2v8n83vQpO3EopE6BbBFQ6gEpdFQ2sCyyn-upbmIZ0gzSGbYHfSJoIt0-7rHEE-4enkp5A_BVju51V2Vm7FShfbqvO8a2o9p4Vt3BaZLGBZb05g5imTbv9r88K6wsgHynY7VkMpLwjGFVR-HWDr71DO08vofU1ghVv49ialaG0_Lb1JpSC6tlRQZH6XMo4zhpZLeUOcDUHOXNK76j5GtPaL2CdL-XvuYHV7x83wqCfp86BEwbRG0bFFeO5sh6bHrxwEJK_3vqTAq4uBBMp0ow4m2HSlHe3gcMX4IkO7JpDtzDvbSkBcTGYobQlAJ_NUMOsuXGOTHEl7w38KjzexogQwr0Xz6vh1HUrXAtpwvT7ElAJ9HlvhS96DWhbBqXiolYYdu3Sb9DriOHIdN30YHn1J2lPhR-Ow5GuXplF-5ngOBczrl9UrRAOucghT8GrGqGEf7tQpE57fIX2x17YSDvNZT4yBiSm6rA==",
  "id": "rs_00a2b927172ee900016aacb496825087d0958fadbc7ea24b22",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.045,\"right_z\":0.235},\"note\":\"The neck remains centred but is still ahead of the fingertips. I’ll advance a few centimetres at the same upper-neck height before closing.\"}",
  "call_id": "call_iMj9crzMj59Vxwt5VZRPhWuX",
  "id": "fc_00a2b927172ee900016aacb49833a887d0a627214f6c9f2831",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iMj9crzMj59Vxwt5VZRPhWuX",
  "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]: [-0.1192, 0.926, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.1413, 1.7672, 1.5513, -0.5056, 0.1482, -0.0711, 0.9985]\nstate[eef_state]: left_x=0.2975 left_y=0.0003 left_z=0.1802 left_yaw=0.0537 left_pitch=-0.1517 left_roll=0.0875 left_gripper=0.9946 right_x=0.5057 right_y=0.0492 right_z=0.2155 right_yaw=0.0484 right_pitch=-0.1597 right_roll=-0.1464 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -2.1675, 6.8718, 1.5946, -0.1148, -0.0269, -0.0122, -1.0051, -9.7983, 9.9487, 1.5849, 0.0464, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8410b05e7b7a164c07991983519da287f14ff666a6580fb08eedc0f5c5391d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae83a3c36c38d25753a06e04cd72680d1dc8239f52ed00d5f59111f1604d62e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73733db3d3d87040eddba4330da08d492d1347446fe9d697aad1368b7b6c073a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9237, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.1566, 1.5654, 1.4017, -0.5133, 0.1715, -0.0513, 0.9985]\nstate[eef_state]: left_x=0.2974 left_y=0.0003 left_z=0.1808 left_yaw=0.0536 left_pitch=-0.1495 left_roll=0.0871 left_gripper=0.9946 right_x=0.459 right_y=0.0456 right_z=0.2425 right_yaw=0.034 right_pitch=-0.1122 right_roll=-0.1412 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -2.0855, 7.1316, 1.5897, -0.1392, -0.0757, -0.0122, -0.8821, -8.212, 7.5556, 2.0586, -0.0269, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLShYJVFzVHx5-vpOL8Uwo7Ko1p8keh7ILaTqn0FXJJolNmnUBPK440yIFduf3gP_110hieLtYkmaeBMVUwYTQUKyWULvzCKPuotjFCXSkg5k8Y2MFSnt3ip5KQ56lHsU2EvoLxHc_R_H7ggiW3a5bUgNbuHBKx7aRIlr1ctq2NtJKJqTMf6Lic9pwxvN4x_FHPIEaVhJNlIyb-9ATfQ25NcjCH8zsCUZy2t8JxBITHaSxQPKroZ6HUQCsA67CS7uprHo0EwXmUjqY4JJYE0IFNBUIlAwSdpWRLDKR4D5E6oCXWcIuF3p2mV8wQ41v-wXckPuScbyJHMVny6551aDNA7IA_pTAWqCPMNCgqAe7s5PsI9_WDod5RQaXEdXNCvAaq0js04l0SnxvyjzChgg8WhGI8gHpwjIcW6ALlevTTVM0fnMddJPKSpIg6tSzci1_-kJUflz7h_W3tL4pLnMWdgzaB6xIojq5B5GlzEtouqNi4VcssCzJC1blKWKPZ4PHfteuH43M27OjRRepDkoWiCDpNZ3O9bO_KVbWNbFbKQifHOXkhDCujNIiC-ncL1MDXbvidGKvzHmnpfoeRbsGi5s7M7Ggc41FkPvERBf7DvJT_djOkUXqax5QeTKvUQ-kF4fC8l_qZi8Tl1k4DyWU8t5pWnSS3jZ0VAki_Nxj0OJTnzpOsq7-OkcKMtiBGiHBPh1YQFIi-aO95yB7dsET6o6i3l0g7a4IJ5Lhzi1WepkEguRvKqwKY_GwCX8soW_Q0I2ap_hRWNcDgsXal0FB82AZDOFktTagBcD2UTtrtcDhbt9xi9L-NVuZ-vuBGGFcNgbTjt83FzqGL1JKFwse4JW5fKPoLarR0JgAW7wPlCbJ4sSWXDfDJe1oEJQVSuFEzdL_jCT6_atk-yG8iIlf_z11jsHGR7aFltS4Wn9Kn0vrkG5Nuw0K6qlAxPmgywc0-imzNDSw2jWyyoHyI5h_cO-0GW_wSPk1eR--O5269Ro8LO5URXIqiVnrZz4T_a7nNgoKG0_7_Y_TFgCNPnWVS_sF3vB7mgSVtS0rBQtjxKHDC5gnd8RbYpvhbqbwbWZASF7VFZ_Ff4KxJpwmp1EbTJZncS3pQ4gTZAlwmtZIeWbs6A1ESo9IL3zIaBaHDdsXmxb9ENbCizma6zJty95FGA12oByx9rky2qphMDzumrcP6gu6jBhsMev9xPAn2wbyEJgO8QOPY8mLfn_DIYNuTVC4zezX6Wn1Jo3zZKB7sgwMshCyag9cFCGmQ0g3VvyeWtWKdIILNQAjQJzlYKPOPfyiD7wsGu1ObQVGgftfeZUDOWgOyEC1v_3sdhp29RUD35vuXF8P9O4SzwStfcXAgO09ZJWVHUBVG9SaVL8j8KDTeDVuWVRDzzygtr3u2qevOoVSxrQlE3OUY1sPcNtN8sPr-zCvVpu5Y9NRQ2NVVz3UnW8dyqyLpTjX9EnLzDn2QCHikkg_mpXFQm0Nj_SifB8BBP5Q2_96Mirg86IjLd-mU=",
  "id": "rs_00a2b927172ee900016aacb49dfd2087d0b2b7f4a1d1c20def",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.028,\"right_z\":0.2},\"note\":\"The neck is at the fingertip edge now, slightly right of the jaw column. I’ll make a small rightward and forward correction and lower just enough to grasp below the lip.\"}",
  "call_id": "call_2sgWSZGlfFfqwuGYfXsnn7Ei",
  "id": "fc_00a2b927172ee900016aacb4a03d4087d0a0c5bd4c3861c2eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2sgWSZGlfFfqwuGYfXsnn7Ei",
  "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]: [-0.1192, 0.9276, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.1272, 1.7927, 1.57, -0.5102, 0.1326, -0.0826, 0.9985]\nstate[eef_state]: left_x=0.2976 left_y=0.0003 left_z=0.1798 left_yaw=0.0537 left_pitch=-0.1532 left_roll=0.0878 left_gripper=0.9946 right_x=0.511 right_y=0.0454 right_z=0.21 right_yaw=0.0537 right_pitch=-0.1729 right_roll=-0.1455 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -2.1675, 7.0085, 1.5849, -0.1245, -0.0708, -0.0122, -0.6222, -8.9368, 7.0085, 1.8242, -0.0073, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f34477a387a0baec89bbbbe9e197113d1a6646fce46d88ce67af24bb16c2f68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c83d032d834852d7043896c315074b9328444cb0313cc7303ad0675c54887695",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a86742d38a9e89339d446cc82333af9eba427013b790b3d152e3a078d1a3a1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 155 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.926, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.1413, 1.7672, 1.5513, -0.5056, 0.1482, -0.0711, 0.9985]\nstate[eef_state]: left_x=0.2975 left_y=0.0003 left_z=0.1802 left_yaw=0.0537 left_pitch=-0.1517 left_roll=0.0875 left_gripper=0.9946 right_x=0.5057 right_y=0.0492 right_z=0.2155 right_yaw=0.0484 right_pitch=-0.1597 right_roll=-0.1464 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -2.1675, 6.8718, 1.5946, -0.1148, -0.0269, -0.0122, -1.0051, -9.7983, 9.9487, 1.5849, 0.0464, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLSmosirl1i178I3g591wyovU9x5HpDTlZZ0PttJSD5JZC2M05LVoGSrdH6l0scYZNVyIVUxS7POGX_houQBMbtTOvy2yJjDSMVIG828K6agz4pRk9bzo6lvtIU_B-51looiAFP6Vg1qoS4TZklh0G1cIG9wInnbyassOC37ngKC3BGwfHG7O5zOC3pFiNakjyU9fT9376aoB0zirysGgNBFKoeXrsulLIZX0kN6-2McRfVrZQeA0pHz0klZqD05edOOD99LU-nVWaM-F6OSoh417CirfZDmMu8UK_GJ_hyB5vn_FnphU9xqUGjW46JyFfwAeY-KH9OkrCu0L0JsQMkmNklmx5G6gbVfyMIe62hOivyQ92RqQ354u3CookXGic732FId8NHxKdNovnULEVpVS4zzJamkmNAooN2uY_YzRPNaD8rDc6gC22Rlo_Cg8dUVaa9htTOaxW9BAu8yCqjP9914gkAGQ1qcIt8AOaw8AyQWRprkLnBidIIiVY1-StRKpAMAFWBDBhX1flM1EiAh1K4ByoEb3MuEI6P3J-dpeoWsdfHhdlNJ2_sJmvFFQB0HpXcNzMcNa4gBulRmC7oizCp8h3SuEihU-nofV3DjrkPWs3SzvpDa6CtaYQRABq2QeGAC7UKJf5mExqQW6EsN3tzeJDXQLmdaAhnu3Hl_tqMLdNxDG3WzNYlGOWEMqv5u7E8Ec3K7uKrbbeGYFSDHU_ZYuSwDE4D0mVQztNXGwwpuWADBnXmG7Iy84kPLOw9PLfJ0DaDgfRTx74VKNCkX36vz4gocdKUpGCE7Y7wP7l1EQwzi6Tc-giQI6ZAUB77HJoqmZwjcDfiTGZRbDEenRSD9gU-xLK1e-yEJHxZExkpJF9YEJVKDvuEblVEDWLZ2yp8W0OiE7YolxjLsUzcAn_Sa_gdVOvlxK4v4hPO80qAyi-EqRSJOj7Zest34MHRyNTJkDOo2ohKkwU4VT8MotHkKYLWoAQitTz2ysDn7avMHEv8TXitjIQbhA4JFUuTvV4PXuDbxOktfxWbZ1Q_X2NmDaYuwfPSzoaIjG2Nm_8grj4yB4sEXvwHYuEgjpg4fP9pYKOzo_tKo_hUM2-j0vyLUvrqx4GA3jKrOec3mNiwfz4u3GgQkTXo64DFxEMyvPGqtyLxEMgr14aeXFAtFWrCY6uLWDtXGagFv2ioNn4HPqewebxXsJY7Klj0MPfxGK_rcxbdaGLhWyGawyEWdQeJOGDmGAY2ByCIK-BtNmmMLfs_II7ZQXPnDxF-FiCFCugbPpjAKbnF5hJVg6DNx8FVu99xA8M0HFKdObWmaJB85vSHHY1u303M4CW6LKSBntOBtvUXnvHyWavV7i-yIFcxsORa431qS9AXJMzDnoqK_Av9GJrnScH5mRMtrYxFiMi38dkFj3mGi56VpEubcOfJncmpHidH4uZoDGch_qF2hZppoEzqQOnT-IH-hMlit",
  "id": "rs_00a2b927172ee900016aacb4a3b75887d0af6a179563d783cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.025,\"right_z\":0.195,\"right_pitch\":0.4},\"note\":\"The arm stopped short of the final forward adjustment. I’ll use forward pitch to extend the fingertips around the neck without pressing down on the bottle.\"}",
  "call_id": "call_k1qJOWd5GYYn9hWWKGEh9A9N",
  "id": "fc_00a2b927172ee900016aacb4a5513487d09a91df5a977870f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k1qJOWd5GYYn9hWWKGEh9A9N",
  "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]: [-0.1192, 0.9295, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.0807, 1.7718, 0.9741, 0.5655, 0.0971, -0.1284, 0.9984]\nstate[eef_state]: left_x=0.2978 left_y=0.0002 left_z=0.1793 left_yaw=0.0538 left_pitch=-0.1551 left_roll=0.0881 left_gripper=0.9946 right_x=0.5257 right_y=0.0289 right_z=0.1809 right_yaw=0.0614 right_pitch=0.3231 right_roll=-0.1465 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -2.0308, 6.8855, 1.5556, -0.0904, -0.0415, -0.0122, -0.9094, -8.1846, 6.5573, 2.1807, -0.022, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7061e5658bb099cca71baa7669b072c5b39cc3891d3c3586c62bafeca57927f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4afc4b36f2f0268cc6b5e1f59e3d101730fcf984479e7b9131d8240bffeaecd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90fa43d1a51720fb793359a34163501f70aa6fd3788430702a9c8abcafe61fa6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 159 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]: [-0.1192, 0.9276, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.1272, 1.7927, 1.57, -0.5102, 0.1326, -0.0826, 0.9985]\nstate[eef_state]: left_x=0.2976 left_y=0.0003 left_z=0.1798 left_yaw=0.0537 left_pitch=-0.1532 left_roll=0.0878 left_gripper=0.9946 right_x=0.511 right_y=0.0454 right_z=0.21 right_yaw=0.0537 right_pitch=-0.1729 right_roll=-0.1455 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -2.1675, 7.0085, 1.5849, -0.1245, -0.0708, -0.0122, -0.6222, -8.9368, 7.0085, 1.8242, -0.0073, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLS1MwoWghiZIf55AWb35kgIUj697YRw2iUQSRPmd9ketgnDujqf8A8z-KnMTr7fZRcolTYsQSi9j_o7Cb2BLallRW0CmFnLy1A-5Tyk2IezH0BSzuaQQdKFte2NfQSFDvvxE5Jspn2YF6DyLKXYRGHEy1BMLSP375__KWFn_tLBrzWFaW0SJ4EZHNq5GIR1mf80KrA0VfHM0z1i-4-BrIk_TVgm-CiyKPrWC0Mj3dkpjY8fE_r0xsHijK6lzizCDxJ7Ua6snKjl28h6TQaX8ySqLc0QN5_EoDgkAyKPoiUa-rHHMbik7dyXFEPPWzN2DY19JnVXuFLgOAe_T4UMWuDI9Zwqrml7hdA7acGxrtwOdou1UH7x6EJrfJQilU_WxXOyYDyfXUKHMsrBKU65Z_mOaHYwZTEH0EZo07SPEqF8U-VUaKPCTuw9QtKILCcN6IcyRx5B7MS8CjgNc3A3zpfOcCJdblb4xmdYeM2atWjYrUSFoB9O3ykJw0BHJU-OPf3cz9EbbIl4dev75gdN4tdplfC4GIzSpBP7bdIeKpoulJr6NLPBnPY81IAhV1jPe-S7Cg9Gju6-tm9lLhX_MLz_VutM-Pb6gOCP86TN4Aer0H3KTw59FQe0pzr9MfvtbxSxJYB_9Mq5KGwgCdZ0fvRj8zKeYkTB7fSKcEaYDfLYl5lhf-mDN-NIuY-U9NgMNrcr26-FY0yGaxjxB2sCjLRMpN0qk_Js-KLC_wWpDgPWdFdrrtYKvRpEHqOLt2vpyIoIhzrWCT5J7VzezI4cnMqpQUBv6vEqVNNkv1DV2hXyrdVFRMUp3JWuddf1b3qGg9NEAUPCeoOQA1mne3kR2gq4HHnY26gTV3L8HxCrfHRZL8vV7ckcvfA2uCbQEnCMDpuLsKEXeGGDjtFJH0Z8V7NQmy1_jZ0xSsDuCJ6sg34gWgJzLcwVgG-mafHZ4ZJewCniN8HNa7wFlfQQP71GrZ1eb2GlEBK-HhZD40Y2mqs9-7XKBeSUPveEf5WgrpZSkuh0gkqtbxIHFjyQWjwsccM1D0U8OHGOeAvf0nttAN0ZSJouLounrw5pI4mfAERGHDvhdnmkitTRMl-Pdd9Nyp2jtcVQ91SDw8Hq4QLU-q7HzCrIr0H9ynbuobrFOkrrDlhnUDjrZftS5D-nuLm2i4s4VMcgXfzbtWeTl6Rw_R_SpErlaeVeC6bj-sbOTjePnmEGXYskSmP8i6sjt8-aPMaaoUeNULY0LWX5sb72Y1hUvhoABxEYgFs_QzsHaswZ4njPKPpX2oUlfOljeHG9l1qv14vzmxuSeonz4IagI_m4GVKdUpq80PWKEtURzfocuczuj4mKiLkcSvfp3alyEmHVlQ==",
  "id": "rs_00a2b927172ee900016aacb4b3c50887d089235a2a2e311c36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The forward-pitched approach has reached the bottle’s upper section. I’ll close the jaws and check whether the grasp is secure before another lift.\"}",
  "call_id": "call_3YIJ2W1krWZaoCB467iqK1Tf",
  "id": "fc_00a2b927172ee900016aacb4b4b80887d097bf5d1dce22184d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3YIJ2W1krWZaoCB467iqK1Tf",
  "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]: [-0.1192, 0.9295, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.083, 1.7779, 0.9703, 0.6262, 0.0849, -0.1238, 0.6844]\nstate[eef_state]: left_x=0.2978 left_y=0.0002 left_z=0.1793 left_yaw=0.0538 left_pitch=-0.1551 left_roll=0.0881 left_gripper=0.9946 right_x=0.5284 right_y=0.0325 right_z=0.1906 right_yaw=0.0719 right_pitch=0.3741 right_roll=-0.1383 right_gripper=0.6844\nstate[joint_eff]: [-0.1026, -2.0581, 7.0085, 1.5751, -0.1001, -0.0708, -0.0122, -0.5265, -9.5111, 6.8581, 1.2625, 0.0659, -0.0611, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6626319189b8f84dce9e964f0cc8c95e6f4e8c8e3179820d9756135e7790ae47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef5398964462a70a830080b68eed0d61bcdcc91919391e52bcc7cdee241dd06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:672adf67374aa1d19510b6b80f765352b00f655faa7c78c5973b85d6ebdb0e88",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 163 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]: [-0.1192, 0.9295, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.0807, 1.7718, 0.9741, 0.5655, 0.0971, -0.1284, 0.9984]\nstate[eef_state]: left_x=0.2978 left_y=0.0002 left_z=0.1793 left_yaw=0.0538 left_pitch=-0.1551 left_roll=0.0881 left_gripper=0.9946 right_x=0.5257 right_y=0.0289 right_z=0.1809 right_yaw=0.0614 right_pitch=0.3231 right_roll=-0.1465 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -2.0308, 6.8855, 1.5556, -0.0904, -0.0415, -0.0122, -0.9094, -8.1846, 6.5573, 2.1807, -0.022, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLS77hP9nuVbdo5_0Vd-nXNXGXEIevHwOY5ppTGHWPsYVOahh_iqOPSOUVdokWU1jJWXRqsAKJXGdU3tPKxCDqygCx8mkhYVEV1PggywMFU-As7Mz8MDJ_VQM40p5skOeTCl8Mdc4PrpLBrazXkK_oRi5kJ5jGdBJ9jvezDouSyM7eL-4Up-4XU5kVCHci1-pMB9MAXg2v-Rv34-gQlNadtN1u32rlT0GTsszgcnbpdHwAjl0_g-MnBynWuxWfNQWcdFtuwp41D8v2ouDUF6zlz50T6PVyi-L4giqXl9tx6lwZdb2bbpalGXyd_Gbi0iCIKVRDG41aVzqjNwRu8eptN7LZ6I5ZN8XsPDx7QEogIi6hLF6EN6jNN40g8LBji0SYzmfgBwGayyExmPvon66V6_3fk_Brmi0tJztZL_Dyi5WaFwb1qch_V8kPH4xpyx91MH0khRtEpMgS2plLSWOZquHbVtJLZUwHR7gTN_9TBMungd1r9kTku47ti_a0VrL5JvVu96RNJMWQ9V4b_CypOs8C3A_i-49D04J-wF7bZVdv44Nokae7H3c6hoaQWW_x2fMwAhS9e33WFvzIaG1SS21xQCwe7usfuVkQP1ts4ZI_S1yeNjJjDegpT022TCqEiwFNlVwqRzkSTbqc53ooMuksSvcTPEeoA5UExCGZq4yG26XVwCQnpJ95m-uAzWl6HbC73V_giAaPiWGe6msZrdMiaRdJa8pTNAjSRhIpolVNuUzAgfFuCVU2YZksWUra-2jwcCjvnzGASxWBL1p99BSEatjKPfIKwAgetcToUgJCYz9EN8CCav3XsWVdgvxM3T5FIf4evK6wcPKeoCJtcWseGKaenmorh2VbzDFK-AGX5vO3LWiXs_sN6U4u2Et2qD3IQ1HGJSXahIpx5rA4BOK6RharbbN3xoaxCgC5x_oyzWOc6O3bkaIIeuBfIWbKOb_HjfAu7PGlKUCW0vxss89pJj7CUl8seJeVkdAUme3WYs5qPCj73meIyRFvZKoLBE9S-6WwUtpG-y-2Dk9fGPHo5ys73SFXJW9PBRYJ_OwzgBv837hMvQ2nGXV9mh9AxBGTKNNm6vfmlqOf8OU8IZBhs_5mFpdhbsaewjLgMVt0_ea1QgkyuaAJXuPa9zphqT3UxQAvYkPTMI1t0B6ajIMj96dKIHYqQf-5DM9VzttqyboHe6nOnRhnq3omPS6JK6lwqnRMYlMRqajkaHkNXXwG13X2z4EEUvqOFpca1-JI_DPbHVluBb-6u7yEjxEObcNEHpduJmVzrxTCTCoOfUlVIBjoHD2tCvYYzSZpuDmgd1V8-AkQdZCAPUWALXyNRYvxFEsjYZnJroPrNVKn1EjVu2OvxwPU08uyeCgG-JReE=",
  "id": "rs_00a2b927172ee900016aacb4b88cd087d096ca06a1b3b39eef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_z\":0.28,\"right_pitch\":0.3},\"note\":\"The gripper has closed to about 6.5 cm around the bottle. I’ll lift while retracting slightly and check that the entire bottle follows.\"}",
  "call_id": "call_AdcfKcTu9P9gF5T01JT895qv",
  "id": "fc_00a2b927172ee900016aacb4b9d34087d0ae07cb0cc98dd700",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AdcfKcTu9P9gF5T01JT895qv",
  "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]: [-0.1192, 0.9314, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.0914, 1.5131, 1.0435, 0.1905, 0.0853, -0.1242, 0.6587]\nstate[eef_state]: left_x=0.2979 left_y=0.0002 left_z=0.1787 left_yaw=0.0538 left_pitch=-0.157 left_roll=0.0885 left_gripper=0.9946 right_x=0.4862 right_y=0.033 right_z=0.2506 right_yaw=0.0805 right_pitch=0.2765 right_roll=-0.1399 right_gripper=0.6587\nstate[joint_eff]: [-0.0068, -2.0171, 6.8855, 1.58, -0.1392, -0.0659, -0.0122, 0.2393, -9.1419, 10.6325, 2.1074, 0.1148, 0.0024, 0.9939]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b54dd71e4920b292154b1780906baf788b22c2a6f31873c0f78e761416ce107b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d8eb85157977a0de3f8f7ef5c573bd59f12897fadad1addbc4fd9944ad4baa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ea7417e9c69eec8649b64732f1c850369639549d7141faf5d4e9f07ff025af",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 167 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9295, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.083, 1.7779, 0.9703, 0.6262, 0.0849, -0.1238, 0.6844]\nstate[eef_state]: left_x=0.2978 left_y=0.0002 left_z=0.1793 left_yaw=0.0538 left_pitch=-0.1551 left_roll=0.0881 left_gripper=0.9946 right_x=0.5284 right_y=0.0325 right_z=0.1906 right_yaw=0.0719 right_pitch=0.3741 right_roll=-0.1383 right_gripper=0.6844\nstate[joint_eff]: [-0.1026, -2.0581, 7.0085, 1.5751, -0.1001, -0.0708, -0.0122, -0.5265, -9.5111, 6.8581, 1.2625, 0.0659, -0.0611, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLTCjwwk780C0yPA18hKupXQTgzAJ6SBnhz_8D2GbOhzmBYTmDpllmQGawtZDaz47syq9zKNhhF8Lb7wGOyVy0S3xzRw8CnaYrWneDgFn3S-GT3qpgAt1FoYdjX3bx3UM9D9CGaUL5E1TA3kLOLWtpoAUBCIwe85LrL6PfVr60g0dV1BlWJMEBgyOze-f53jHw2uzYsham6mLW38rUAPtP30yPYnbZ6u0kQZ2pQ3s04bKMdqwRAc2Y3hs06cPiz9liQS97AGeq9HgmqVTJXASbBVWBWmFeqZlP7HW7Uz-Qj-gkUR5V-5o4WtPEYRu97DhrST-DdMQ9FIfqPZRXZRSsbOQrUY0QGiZx1nr-s7zhK1KQX-TFAxiQMbMEc2Zg3tOIhB907SnE2l6VlqQH3JWiwOfTxidKGHXTTd-O-R3OWiEW4yEdDalF_HwBEXAMVjjp1j9eSaITncz547Rf5KFkM0WsOeIjgJVy0rVRs28PM0-I53aykpGis71LJUHiYzMuNjap6eCeM7HpfI7qlwSzSmYvfJkqT2_VhTfOMJ6NPZ-klXr6BANdRoOhULyApUhYGS7UGwbPwoiv_xaTHZBwdxTGElzjL8WuBdR4akwFWY3rOX05Cessn66fx4QWjrlcLHSAfttWUIcbLLGNLabfgvQKXaqWGPuXZEF1gtGOwTGespmKRamXPouE0jmkdZr3R3ggGnjnOndaErrFPoqy8w19FJqBraI_U6IpvT3gGs4a7QDPIVMLhkTzobwSa4cLNCi6pDBNnZBESqgL_xAT7pi9ogb6xn-pzcG-S3MPmHV19wl282hpx0swsg_5_agJo8z4GxNhcrS96Lm21j1hYhj3KXP0peCnSqTbPjg5t9q9r5cePdJr0rtOzAgRh75pHE5rKtqW_b4IPLCqUiIbH98h8JjUk-Puh84UcRkULtjJmgiFtZ-s6yXvZQtn2GWjCTfRr-GaVjoDaugqF6chiQgF9keiAmwH43XVVgND-psP5786Xy4gUCWlFGXAd8NcAZXyAzWrJpI82raTH2QUA_3KoauBFy_lsOdtJV8DL5a5Z-8e9xRUWjRqyVJTUg9nbxXYrnklxBgilSo2WwXi1GpyNGNC7aDomM1cSzr571vSwzsW3uK-voYKgvbrPsQFFluqfakeSARawGahSzHSs0IN4pTA49B_npJr4hQMZsXX9ctN8G4uXd8fQkPHyr5xh6pAFWvulq3XJDTqLuz6KHpT7113-vpN7E-4PDldOi3dhK8ppCoaTFJI9FunLX_OiS04hCz_zGTfWuGRSnnzJrXl8HuC4HCCHNYbdlYmvHeyiQbsDlhIRlWASd-0c-RjWddVWfmEtQ6lEgPAwZPTaz5hbX6eWVyOr6gDdOkUXgfPGn7uBgZ2YQZgMf8ae9WSmUS7Vw-58wrpcpZZF7ALvxI4Cf0X8whuhT3TJXjbzcevgGJqkBWqmKyCTNXviWPqtVsS7m1rs-tqJoQyYmINFyJmhwOD0den8t88pOzP5lFNmz0mDeY-pCjb2SdaghBUFU",
  "id": "rs_00a2b927172ee900016aacb4bf9bd887d0ad837b4f463b508d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.3,\"right_z\":0.34,\"right_pitch\":0.3},\"note\":\"The bottle has risen with the gripper and remains stable in the wrist view. I’ll carry it upright toward the red cup with extra height for clearance.\"}",
  "call_id": "call_w2tP3AsOAO8c7TKDMJlCflGG",
  "id": "fc_00a2b927172ee900016aacb4c1729087d08f34b6795c99a598",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w2tP3AsOAO8c7TKDMJlCflGG",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9314, 0.7601, -0.5594, -0.1825, -0.0525, 0.9946, 0.7506, 1.94, 1.8473, -0.2962, 0.6815, 0.0616, 0.6618]\nstate[eef_state]: left_x=0.2979 left_y=0.0002 left_z=0.1786 left_yaw=0.0538 left_pitch=-0.157 left_roll=0.0885 left_gripper=0.9946 right_x=0.4806 right_y=0.301 right_z=0.3169 right_yaw=0.1312 right_pitch=0.252 right_roll=-0.18 right_gripper=0.6618\nstate[joint_eff]: [-0.1299, -1.8803, 7.0769, 1.5897, -0.0855, -0.0317, -0.0122, 0.335, -11.1932, 9.9897, 1.6288, 0.4469, 0.1099, 0.315]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d7f77e9e93898bff383f682edcfeea91780b5332390c7ace5b56b56e19af08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15aa71825df71b4459c81dd32f4bab93b00af24aaae53d7952d70b6327d2dbec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467b57d8022f3faa46c3b85090b331d466ebf569b3ced7c80564f3500d750352",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 171 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9314, 0.7605, -0.5598, -0.1825, -0.0525, 0.9946, 0.0914, 1.5131, 1.0435, 0.1905, 0.0853, -0.1242, 0.6587]\nstate[eef_state]: left_x=0.2979 left_y=0.0002 left_z=0.1787 left_yaw=0.0538 left_pitch=-0.157 left_roll=0.0885 left_gripper=0.9946 right_x=0.4862 right_y=0.033 right_z=0.2506 right_yaw=0.0805 right_pitch=0.2765 right_roll=-0.1399 right_gripper=0.6587\nstate[joint_eff]: [-0.0068, -2.0171, 6.8855, 1.58, -0.1392, -0.0659, -0.0122, 0.2393, -9.1419, 10.6325, 2.1074, 0.1148, 0.0024, 0.9939]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLTQKgrzRxa7kL7kOxtYQwYyMn1ndr7UfHqJj5pJAD8UnCUxRa1z0g-Tl-swdvf6j67QosFhlJ7f0N0GPh4QiUAsjhJ85hHCDj7ItOVRfsGJQJQWVwW-9cxXfTPYCeqN-h1WdGknKlkYQ9oc76NPSXtElrSPCix6lLXYtBJTTl1_53G4GqAuR5M_FtNasaA8KA-U9SxJ4XjdoxzcY5prN9mYz5NYCn49HnTB_Uhf7gfwXeLCKPBERgiirx1Tugo_tUqtQPDEgbsZPmnAwyCYdhjbTi6_xmWgETezOUWJPlslc0Em5_V6DUIwA66ItlhqIEGeGZC7EXnwXA2AioWR3sCCH9xDsDyju7riIDo1FKZR4YDyahyHec7VyAJiAbGAU2DwZXnlWCxtGpVlkrfGz8YS3gpxUWThJ6OEh0YSesUwycgbYmG1LfHfILpKL3wfibIHhevfkKZBkaLaFAcw1_jTvQ-EIyRfPbDD1ElJIbXRZUxoWXM3vtMbU_FuOA8CKzZWqeOSkkQ7gha0uhawCHV9T5kYDB9OB4QV9u7BdHcQSSsH4SbEwWiiB9M3ZS_YopIevH2Rt64lOoI5ahd4PmyOaBY41JMC0yQ-9ui5zAobkpg2FhEcv5vuiR8XMhs4Hjo8bGVZ4gC4pJG8e1YUZwpp3BRDnvHx2hSj1HI-J3W4ZUt2SnkeyvbgJWnjCKmNQZUSpzJoFWr7rPP7ou_Et-BQiEd4hurJxwmJalX2trHFNyVWGouzPMwrqSXSSoPQP-7RU1q_35SuT7KjV54IaTALTc0j4cl6k0URS4rKwZ2w1Z75TBpO4LNyFg6h7Wa51A0veWP2kLtvbNznajBzQlcV2sCtH7EjNw0bq2zPYAOck_bQXxizEI6upPtSclPWHaIRsxOz5BD2bp8yzU2ZssmjH6oxEsNs4Tgf2-sJykcvJIPxQ7NawqivQT0Pdw1MKZ2FS7KpC0-ErNPxQtyh6-BxB37Ndu4OCHzbPqxabtNmHwDyOsYzNxlmZC38QfSCMNhBCnafCvtWx3yKHSkmczcRf6SD5fHU0x4C-OC135ECXsT1UfPsJ6rFqeFMnXVLoivGLK7ZsnwLsyFTayRLiRH_DOjUDtZAi94qcCOq4enHAnZyzdQrjrOAPb8ZebpJf6tpkLO8QA5ULck1Pvsr4GO8IqXsrWhqPI8i9GaLOZadHHbNrwCjEIkfBsyjMY25i7OY5oy_OIOuCVkW7snRNL2YDsLQCA3CnAYcQD_zyaDCesduV-FkhdECZQqVmXwkySdmgovPEEUtZg1Wig9sL4QkzXN1NNkQSRWDXqurFU0_JG1vCcxrK_yrs3yL9fd5kG93jZIDlq1IORsmaTYJ6sD54VRpKSjtt-tmpy53S10LT3JSauZCkEyPCiysbylSftDYW14LVRWi8k1txemi_zRIIUMFL8wxpy_paUvdUy1zAJTXEidY3iknMT83f5JuBtAnbbbbOOO_0pUd9lYRcGTDKU7MwOFBfNzrLDRzfDhOQHLc9JogPf0gg3QAoK2jO1mZyn1xN45wd3pfPofqZSsT7QvRx65GOhQdkkDb-8kbYwipY7T7ZzZLquG20zd9e_RaxNSJRTsIg5n8NkzmfMvi5XUpH7lJd5O3tOmPiTJrLx4bk599PYoinJrewvGR55ozYuJg_rNGlqleXzylOVFeaUYV3yIxtobcizXnHyz1dyyAFDQ3L3UZ4LsqLcTxFGvvTUDcEo2wruNlHgkDr-C-KVk8ZkkJBVq5yqbN2wrrtG4nHRbuWG64cgk2uNKakwN4ZMGBhifPNOhQ8SyoS-_prg==",
  "id": "rs_00a2b927172ee900016aacb4cbc59487d0b28a1c3db9b623b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.36,\"right_z\":0.3,\"right_pitch\":0,\"right_roll\":-0.7},\"note\":\"The red cup is visible to the left of the held bottle. I’ll shift toward it and tilt the bottle left in a gradual step, keeping the open mouth above the cup’s rim.\"}",
  "call_id": "call_CnKILcYZrD2izNQP7XAP1lFR",
  "id": "fc_00a2b927172ee900016aacb4cf672887d0b93104993909639c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CnKILcYZrD2izNQP7XAP1lFR",
  "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]: [-0.1192, 0.936, 0.7597, -0.5594, -0.1825, -0.0525, 0.9946, 0.8547, 2.6045, 2.8319, -1.0935, 0.8967, -0.0868, 0.6639]\nstate[eef_state]: left_x=0.2981 left_y=0.0002 left_z=0.1772 left_yaw=0.054 left_pitch=-0.1619 left_roll=0.0893 left_gripper=0.9946 right_x=0.488 right_y=0.356 right_z=0.2235 right_yaw=0.1628 right_pitch=-0.0853 right_roll=-0.7025 right_gripper=0.6639\nstate[joint_eff]: [-0.1026, -1.853, 6.9402, 1.6288, -0.1148, -0.0317, -0.0122, 0.5949, -15.8974, 9.6068, 0.9353, 0.8278, -0.022, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1746b6a81fdb354423ef65bc2b668cf8f7050835dccfa0dc613db3ce4ad2b40c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d15a62bcb1369cace434858c08b8170b8fc66d0937058ed9bbfc4668a5ad5da1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5eeabbdac2f5408a62b2006353be57d0b9f8daace44fb26d40e03836b0e3d1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 175 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9314, 0.7601, -0.5594, -0.1825, -0.0525, 0.9946, 0.7506, 1.94, 1.8473, -0.2962, 0.6815, 0.0616, 0.6618]\nstate[eef_state]: left_x=0.2979 left_y=0.0002 left_z=0.1786 left_yaw=0.0538 left_pitch=-0.157 left_roll=0.0885 left_gripper=0.9946 right_x=0.4806 right_y=0.301 right_z=0.3169 right_yaw=0.1312 right_pitch=0.252 right_roll=-0.18 right_gripper=0.6618\nstate[joint_eff]: [-0.1299, -1.8803, 7.0769, 1.5897, -0.0855, -0.0317, -0.0122, 0.335, -11.1932, 9.9897, 1.6288, 0.4469, 0.1099, 0.315]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLTY8bIcqS-9DloYyXP6b-rwc5N3TA6vEinYFvyan8yCfV18uI1h1V_QzJx808ZD0ukr8NfEsbU9q-ACbr74GcvRPICy9YiiYDDytRwBjdaIMeyw1x3FVuF_aBJ47H_h-dw54qkZ4tEnOFf3cul_GsEH9vnBlca2IxsXe6tWz-weXpTGbZ4Qy5H3Z4XdEODu7Igqu4HkJ71U_zrGNiXTdPcj8Rl2vP16U7fgaKEMowpz3AfSmA26YwtzfVmk-qNR8-V5sMcDPYdCvLkRGB4yUaObD8qhDlwg5Qu_yavsnCa0tyzrQc-82jYENZR9Jh9uqAwpodD67hdFA1Oee6UHlzfwW4mcYwrESonIyGPjVZvE_uIgS6EuGFTAobFK51STkBaYwffVtCUkjSS0SWI3yhJOTkx7AlNOg1ZWfs1RW-Nn_z-5e7oqOfT8pmvj5sV8eUnUsBrM3izFwq6OwHtreHBbPNO2bc4H7_DWCwk1-cOZp-XBPQNQ22V1Yty2eQfREhA2jk9hMxBJInwXIQxt_66TP-6Ks1ZjVB1HVvrxOSNmJ6Xm2Hp7Y5maYwD5p0o0vlyES5qRK_ACzMFOqBI9rUagFoVBz5kX0ORmSUHm1TnyQzltDD_s7eYjr5JvuG2VnjsZsAwqAr3FcRyM6aUI_-Mjt0kgw_2XKNSb8m0ZlGWWnPn-1-hDHjPdxw1wGAATP_FKN7I2Qrmrc9l_0FdQbkLq2rdhjOZn8Ewx2w93Y0faMSYctiBEfsIkB0ktd1mh-54--aYG8Gj5Q8lmCwL1qRaEWT1cpbJGZuAy5Z9govN1FtPhOYwaO1uU7wrQou_kKEeOUfX29uzcvOct0vUvqSSuRuJR4dvwkzpSvO6yOOPd0XnKle5g1FaHNrU-OyLaB_siU5m72C05RsgRVu4CXW04GgYFpN43MJSr6KaSKDxq8E0GuLseHKSmhg5L_la4KG-2CiYY11F_Fe4drQI4k0XTUEtRK0PvHIdqZdBovLPp9bQ9_lKYoey7wPEZ1e0482elTlZLAO_ReCmohywlDrlnNTa7Wefb_Ci2QuATnkJ6tY9FNvo9yFV-KvVpq4wMlOqnM8K69pMCq0LYe65K6ii1sdkZlPZ7PXULRZerqaQEhMHNhOVirxYfPQUcPr6nbgmSBzqLKi84GR7pxRTHXpdzh1zPJ-xMgrAQjp0p6433cCiqCdagaWtxCl4BA1Q_vWzNoRY_uLHrpRSgVZmS9aLCyT4p1F60wMN-6rltxRqy1TW_Dj60_7AlKTGNxj6oeIiHWfBpAxNgDLVAdawYEt-GuAx5idJhwot59O49UiYJXhdI-eGBvoVv9N5YYfV4NZI9e_fMOzoqk152ycxGZCeg2mUbuPtovhEX70bbuIP0QdncR9fcHAJyyVQt2Aq98x3lP8PtTUFL41X4MvouMIbJ4vuNuhMzRhpOESC5_UHNEva3j1_iZ_tTkvDxXPJ9b1U8jJWBYGd7teOA-oo7Brd_ZhnkgEu9hHOmceRYCn8Nl9NmohaX4BPa8fkReLcWSOdl4tv0ruUsvqxXmLwjmOxUzDvzXI9qrS-iNWZjHQhDU5mJ0fIY1fCOKpuhBmf2ObaSaYq-cq7r0DGir-n06jwTsNgw8eD3Hy1WXQXTtfQSUXs=",
  "id": "rs_00a2b927172ee900016aacb4d3ffbc87d0a3a419173f52c6d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.34,\"right_z\":0.28,\"right_roll\":-1.3},\"note\":\"The mouth is now above the red-cup area and the handle grasp remains secure. I’ll increase the tilt while making a small sideways correction to keep the mouth aligned.\"}",
  "call_id": "call_PzrO94BvreSzPF8QPyL4V78B",
  "id": "fc_00a2b927172ee900016aacb4d6d3fc87d0b2fe8cf111f4af0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PzrO94BvreSzPF8QPyL4V78B",
  "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]: [-0.1192, 0.936, 0.7597, -0.5594, -0.1825, -0.0525, 0.9946, 0.8562, 2.6202, 2.8941, -1.1854, 0.9237, -0.1066, 0.6654]\nstate[eef_state]: left_x=0.2981 left_y=0.0002 left_z=0.1772 left_yaw=0.054 left_pitch=-0.1619 left_roll=0.0893 left_gripper=0.9946 right_x=0.4817 right_y=0.3456 right_z=0.2281 right_yaw=0.1506 right_pitch=-0.1136 right_roll=-0.764 right_gripper=0.6654\nstate[joint_eff]: [-0.0889, -2.1128, 6.8718, 1.5849, -0.1099, -0.0415, -0.0122, 0.0889, -15.3368, 8.1299, 1.0085, 0.6667, -0.105, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e0aba0694f4742bf08e517d4a5af3baf1ca14faea415cb9bf4b7d9398ac75ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f53ffb92eb8c0203867e42a36d51646dabb93450526aefd4dfed6ffe748ee56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa787967aae1601f503c6512d45e5f9e4caafb6422f769bfa7ec2d836b8412c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 179 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.936, 0.7597, -0.5594, -0.1825, -0.0525, 0.9946, 0.8547, 2.6045, 2.8319, -1.0935, 0.8967, -0.0868, 0.6639]\nstate[eef_state]: left_x=0.2981 left_y=0.0002 left_z=0.1772 left_yaw=0.054 left_pitch=-0.1619 left_roll=0.0893 left_gripper=0.9946 right_x=0.488 right_y=0.356 right_z=0.2235 right_yaw=0.1628 right_pitch=-0.0853 right_roll=-0.7025 right_gripper=0.6639\nstate[joint_eff]: [-0.1026, -1.853, 6.9402, 1.6288, -0.1148, -0.0317, -0.0122, 0.5949, -15.8974, 9.6068, 0.9353, 0.8278, -0.022, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLTdEALkOVNDBzRGyBcfFcxOAvHPopPJe7DUF50tGtckqbu8yKaVvpz4e50ua9B7jBQQ45omtOPxobXSAgd2cr0JtDyy_Wl-kHHR_0ZpP7BhYvk01KIEMNL5C5ozfi5onCLcWiwe44skc5ZiuvWeREexNHzIV5vJqy3eFqPG-iszomNmlARtSWqIpYEjqdIB61FxU11toFbHke3rCaqHSU6QXHej4zbMTBUm4I6_VlNuhKdWeCUfwD-0nwUv83PLOmhH_YvvLQ7Cp3GQcwPpxB1jH9FwEVsamyAuYG6OZnlkgSd1DpGjK1mPs1dDY52CMInqFKsG_87YCla85mqGLa5uR8rW1Ran-4UpT_JPVp-mnOnsQIY8i76n-x4mUxIL1IeFyOa-IqSaPdC6GSamvwK6Oyet9dw4VgY6oujQ2Eqto83bh8wAmjZ-37tQWj8eRx27iHdjnV1I3rPAJ0F5PdAHSok7N4UoHn2bvLHq1ZDNW9PpYCYaMw0fI_0R6mtnLIzrSoRvwgT7zf-m-ao7O5XUQZAJiMdGTSqM_-pC3jxvM69KgRItI2C1Q2XbHgQ8_S2jLEmCkjyJixOQN-uinB5h2ZMUIdfIM73q44h0LMGwhs7DGFALy0bLdAhke-n6qFmdTF8F_0oc2M230rfmVKhOvEL0zPDDoRzB8bcc1qMlvXvFpGuURuDYPaiP0rumEJucUSa5GecN3_LgdS6QIWoWkooCa-rz4f4QLE6qcAKzBbQssacDp2FnqA4UXwa7vDY_wViyXyOAa327liffNfKaHctE-y_ydA5pBhtj6C-i9mtih88J97Oc_Dn9pq5P3Pxa1H6iA9y1I18EopWC-TXdAiWbm4BDRqk0jrzB6AnaSWRRg2s_8ElgcrOypULSaYBY5oBc-PxCcipW0viLsJ8FyiRfoJgYlL8b7UiikP0sEqO-e8co9X35AQ9X3o8v1hndz8DyqFFp4hnZhrIN8_M-ypSKmOEIVPTfXUthtbmsAQWUyiGm6-PpLmmx6XLxgSG1fvaO6pCh2DXVbJS-jCLrlOWM0vl2VPYrAA52hKtMiznIdzz_LJ1Ugn1CIeOyCEfUyR5euFc_ugI2axpKd45DWbxGiazPy92Fv4ubN893mdSq-TtJAIgffCofVVMeeELCrB-VDRo5xdeA-I6dnGe7tS6VininY7hdaKcS6YJgGtHKmpu2Eo5jiEFeYRUJe37tQ1uQyz53MoQHAnsZGprfI2ZG-ckqVcHQmmg-GsLTGstnl0foigjZGoHzYnIPr_c6x-nQ-wppVq0hng5ReXj9sz4qXXj7DtvCqSTKEwfNtQGEI0DyCyGQhzOMqp72wPgK",
  "id": "rs_00a2b927172ee900016aacb4daf80c87d09d10009760ce708e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.33,\"right_z\":0.205,\"right_roll\":-1.2,\"right_pitch\":-0.1},\"note\":\"The arm again stalls during rotation at the higher extended pose. I’ll lower and retract slightly to let the wrist continue rotating without forcing the reach limit.\"}",
  "call_id": "call_CvknKAtshWKBRu76fqnHP6J1",
  "id": "fc_00a2b927172ee900016aacb4dbc34087d09c984cd6a893280a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CvknKAtshWKBRu76fqnHP6J1",
  "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]: [-0.1192, 0.9371, 0.7597, -0.5594, -0.1825, -0.0525, 0.9946, 0.897, 2.8414, 3.1107, -1.1862, 1.0931, -0.3923, 0.6668]\nstate[eef_state]: left_x=0.2982 left_y=0.0002 left_z=0.1769 left_yaw=0.054 left_pitch=-0.163 left_roll=0.0895 left_gripper=0.9946 right_x=0.4845 right_y=0.3611 right_z=0.1931 right_yaw=0.1649 right_pitch=-0.151 right_roll=-1.1002 right_gripper=0.6668\nstate[joint_eff]: [-0.0752, -2.0034, 7.1043, 1.5751, -0.0952, -0.0659, -0.0171, 0.4855, -16.253, 8.2667, 1.4725, 0.8669, -0.0904, 0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 418):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7c38c417b6dbfccacafad7f5abf3ad8166abaae49f06f5533f72d7055a53fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 418):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c57395777d8c71058a6b1644ec02c80bf1b931a3662e6869e1255161a5506f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 418):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca41318e4510d8f4eb414f73c750ad6bc9a5fe3ce746852cb4697681e140dcba",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 183 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.936, 0.7597, -0.5594, -0.1825, -0.0525, 0.9946, 0.8562, 2.6202, 2.8941, -1.1854, 0.9237, -0.1066, 0.6654]\nstate[eef_state]: left_x=0.2981 left_y=0.0002 left_z=0.1772 left_yaw=0.054 left_pitch=-0.1619 left_roll=0.0893 left_gripper=0.9946 right_x=0.4817 right_y=0.3456 right_z=0.2281 right_yaw=0.1506 right_pitch=-0.1136 right_roll=-0.764 right_gripper=0.6654\nstate[joint_eff]: [-0.0889, -2.1128, 6.8718, 1.5849, -0.1099, -0.0415, -0.0122, 0.0889, -15.3368, 8.1299, 1.0085, 0.6667, -0.105, 0.1343]\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": "gAAAAABqrLTkuy9elWugcTq59czmH4fmakHPMDJJQtzZihRXqb5odqvRwSIsSlyg-JpNNw6SQsBQLKA4htw18Tgo4fCrPotzG1qI5RFad6rKOVoqJs-Xx61xE5ytNsLTOHsRII-Nkak-9gp-FkxJvAezTag7UCQo1LGDic2ZnrpHjUADGuU5OT8VQjWlQqs4-_kBaivKXjJ798rhOorNKEEKvm0MmJWD83vby91HXTU5qPhSXJLNsPGPKEAHeZzr6_0S9LcwARHsndZ3bSUhnoUTei3WOQz3srzCNH9NX47Zg9Xf4z_neTCbmT0zBCpCopPPGW9WkAVcI3SscST04NWePmNQf4ciUEsBgDqPHBgO73LECOksq1qQkIxLISXpQrFLEE3cAfS__0yEORZOFYF28SDoynkqOesFPovhLOg_YGjVGlnGB4yhZi4V6cpYL2wAZFxdZZaOpIyNeh2wem3AQ-t0v5i12acFVZ_TEn25QIDjbqf4W2AtAiT07ljwRWRbvMu0WT21Zdo4SxX5cJuxMkPGnEuy5_w6n81P5J-2-6efKFLYNxVxU3ve4CxkQQegYPGbM4vF3oPCsWE8Xa17qR3etsa_ydA0RW36iSOYqE2eNlbDzGL5fpnqcAgRPdQVZyZa9sMzmSeQzHSz4w2UfSYInyxgbii7OyQOURMvg3KZ-q0SiaXpDEQWDrYFYqdUO875Xcf_mV3Jvv-3JooSSPwG_HnR1BxaI1yw9LOqUI02XasKIBk_GKGWBY1gO9s_H9vsRRgIstN6iIcB9HJHUHPrIEUqUQ0Knd0zvoY22AwngDKU_l9TS-plTQ8PcshYkbM5H_2eRnjkXeq6QsKvTdf2i2HtTiLO__dG7VT_E-dx2DJDiFxaDBgj7nFYYlcLrBhXbiU1G6Zi-vU2FY6eWLUi_cmMFddCG7dRkgqJoYiTtOP9U-kdZo3kpOj5qt8Ex7JYzgvqOhNSNOW-VnNpINU2XQLHewYy4nOlC6byeDAudFRkoSxhVtmM_oAvbW0pJPfm9BIxQqXvbknFdA_zNHd7NiAoL6YrIvtcRv3LKUjXlnXFlf0YH2X0acIS1Obt4JTETkGGGUxPCvQJF3u7P1-CPUSwDK4k7RFOd-6yF1WpdS_U9xdtP6hEp9Mx4cet6s_PhG6PzpVFmLqUo3_sodxoyRElteV9c4ZPFgZR4WiJGRD_L3Sy_YWlz5hyqjqKKYoljtJzsAcPHYZEBh18XqyEEOX9dZTVtQ7w1rZnEbExB2v0WPv1dIEtMFPvWZoeZoPH4uhLZ9Uauz0jq9HAVbdN52pIS3A3An362kiKRFrGXA0D1-ehIVfG8CaX1aWmcMglcuAQIa4sNrc2MQp-9fosnR8YtsFjMVKFtj13PXy98RDVRk7rXvhxzAQPdVYg1wZZFzGSJrNBIBNOv1x52KVsQbai1J8ISGRlRRzjJuYZmps6kcboCSV9E_PYe5F_ECRkkIo3ttndEoQ2xsR43xJ0WwQjqFdoBqPvjUPHr3flc6dXZHTFH5PUhoxK8H_vicPh0q9xGEYEHNpvO2PwWCjfStjdVPIZSkuopzW4n2o-saUO05CAzBFJ1qi0cec0T77yT6Y_",
  "id": "rs_00a2b927172ee900016aacb4e07cc087d09b559225f8e26f80",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.39,\"right_z\":0.235,\"right_roll\":-1.57,\"right_pitch\":0},\"note\":\"The bottle is approaching a pouring angle, and the red cup is still slightly left of its mouth. I’ll shift left and forward while completing the tilt toward the red cup.\"}",
  "call_id": "call_TdIEi6W5GNLiJXyUGl8ENJCY",
  "id": "fc_00a2b927172ee900016aacb4e31edc87d091b83546d53b759b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TdIEi6W5GNLiJXyUGl8ENJCY",
  "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]: [-0.1192, 0.9371, 0.7589, -0.5594, -0.1825, -0.0525, 0.9946, 0.9108, 2.9875, 3.1153, -0.5262, 1.2594, -1.1927, 0.6683]\nstate[eef_state]: left_x=0.2981 left_y=0.0002 left_z=0.1766 left_yaw=0.054 left_pitch=-0.1637 left_roll=0.0897 left_gripper=0.9946 right_x=0.5168 right_y=0.3975 right_z=0.1953 right_yaw=0.1911 right_pitch=-0.0986 right_roll=-1.5024 right_gripper=0.6683\nstate[joint_eff]: [-0.1846, -2.1128, 6.9538, 1.5897, -0.105, -0.0464, -0.0122, 0.4171, -15.2821, 8.5265, 1.6581, 0.5592, -0.0073, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 424):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac37b607d5ba9a376501139cb876be42c89d2c90aa4e82a76ea9089c33e7010e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 424):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b02e3d36fe6549076bac26e3fae851896bf5b5e1a17d22217d5c5689014892a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 424):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d61c25270644081f4be24d51267475f59d9701058d69d7171e66abeeb2f81f7a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 187 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]: [-0.1192, 0.9371, 0.7597, -0.5594, -0.1825, -0.0525, 0.9946, 0.897, 2.8414, 3.1107, -1.1862, 1.0931, -0.3923, 0.6668]\nstate[eef_state]: left_x=0.2982 left_y=0.0002 left_z=0.1769 left_yaw=0.054 left_pitch=-0.163 left_roll=0.0895 left_gripper=0.9946 right_x=0.4845 right_y=0.3611 right_z=0.1931 right_yaw=0.1649 right_pitch=-0.151 right_roll=-1.1002 right_gripper=0.6668\nstate[joint_eff]: [-0.0752, -2.0034, 7.1043, 1.5751, -0.0952, -0.0659, -0.0171, 0.4855, -16.253, 8.2667, 1.4725, 0.8669, -0.0904, 0.1392]\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": "gAAAAABqrLTtt0Tqt51LHMQoYpQyui_7ZU9hlyDGquKIzIjXtIHgTjom_YI4t8hBujoHMesOlTdEHjR2XLWEJQLdiu1aNE2srzAu7GlVOIToVgt3tacE0whVTiBjDojxrI_l7zPSnrZwB4F0QEehQZ0HBdwW1tWikuWtuL3k5QQuPs8Lwna-ui9gcmXgJevz15ccvU-OtUgiQFoUy3xLQZ7n1cPPUWDayvrIQENL_ncwhvckxvocVWAnsuQuWnl4oINAGKL2bdAtvnaih1tMkOjbfykD2F2tVAjVUncxPy8qcgCqNTUeB7ZVYpz120T8Qa98Nxed8fEWI052TA3gaUr3XNPjO-_g0RhqZaYGMY6-hChECJZFPDgUvZmlDVNnSkZnDdTvqe8eqY5KWITm60QwO5hQNt4zTmUcF_iKvEr3zRciJhYhrEvyZCwehHv5iaAPIAMxwMKz6O2g8EOmNIj4Wl32uCyx1RJlIP_6Iu_69qztgbckVJCl-6DuyxdTMOI71-rP5QdPll1naZeBLan39aOiUnYWqEz6hDZvQCNRtpAapDjip27Ap2pk4RL0zXLDYDa4CeMjfoFWLKFJDS6bnzbPAjCH1YHzjNXbOsqCusMioaD-Yh6Z8o-u1Y_PlaVx-ARMQIemsRSphEMWVCQ7nJSgoIvw5C4SLPmLx4nmSAT6rJ3cbLL_eKZMRnaP4JMhcnq9JlehI0GqfZpYS4IJk7ovui7jDhMdUvclmAjJk7BkqRm39iDRu497ycX1S2SGFip-RMA_Ql7ycff5uwhxUMiDtudnZrIopBFj0OS6S2IpgseTPExEZf01NqdejOitLICL3JucIzMOgitVP0ooyg_Xv-GQ6GsXcxTXhCvIZTPWr_JK-LmwdbGi3GbbvWaUc8yZPIU_dGF2diHT7Qbg6p2qNV3etAFnmRQZmCgGinBHfRNPT97qt1rMBV_7mnzarjaQlggY0eyRvIeEUcodFzOmenD8js8Z87XSEeTmGERWKWRYBvff0e7GKrnCN_6xJaGi9jXVuk5UTiD8fFDbdwnPl8KOH09H-YfSw7r9j9xFJPh-9Ut6ldMOHVZ-IrIV57Er0Ty1MwmNIuyH0mxMK8oZ7qBK5yF3-tW-bNuHbkyxS3MQMSIPGrYE0iNhuFMDUk8b_j1Qes9dCRijwZIte5fk-Z8vfiOdW5t0QHCEXjZsUTOkOta0JRnsQwPxNIQll5p7yNNzP89M6Z7qrepyH35tLET9xnU3yLpp7knfW96NNNwIUR3AELdxEZrXHmhsVOcIyuHidI4BrNGolxqWpcBhZfmohe6CUhw4-ppVkPBaF_2v_tjXRDdmkbOBJlL2ML3pLpoVYD2tvRmZ_O46_mAE2h7LvaPn1Aps-bxSn9HzPRC3dYJEuj3VjeS626Ua9bwJ1ds9JGB8rzh-WQQ6Icf4ApRDELpPFU5u5wxlDsGeq6WgDzwSx4iRtDm5as35-NYBNQdEUXcgJT-zMIxwNWdc54oXFa0JktMHN2xPwRd6udXajSTCLZ43wVuhua7cyzj3SuZNb9xuQ66iSgPE_CWLChTatusMpHQ-Bh4K9H2Ragd2sV3AP3vC55mSMXGiSjnTze95mXBP4jJUqFd8EXNuWX0uxQPzaNxOYIzMR2bdV1I42YsEWbgqcSlhDv8U7HoNfI91-0IPtdZ4Ali7QdqPrS2T5rp7s81_LvRcrg56p98vsW7taP90zeqfONYcH2nM6aJhkZc5rOdfRsbyGfEkBIbAuxQ1HS0G98M7xRs8zt2tI1EDNV5BeZP17cgO6o0DwwgADurw2mvtJv4tcvwYsntU9PBXvQzuhngbL2Cg2_Sfde8XyRbURM_bdXEZwzY6Ov0gzBVoSIIRAw1VH9Wv3aafe2RYeTu0ELxFNycEB03_cnWISTdTP2G3-0_I1He1mIU0w_vMZ3ckznV6t-iVwZUOGijS3ed_XS9BuB9kA-aQ47PCM04j_RpgbBT0h2YlIHITrVS1-R2Y94Roas5xA5kK_dO31xms1c4QJNwsXaNfhgA=",
  "id": "rs_00a2b927172ee900016aacb4e84a5887d0b89065211da72460",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.39,\"right_z\":0.27,\"right_pitch\":0.3,\"right_roll\":-1.57},\"note\":\"The right bottle is now sideways with its mouth over the red-cup area. I’ll maintain the pouring angle and make a small pitch adjustment while preserving clearance above the rim.\"}",
  "call_id": "call_lXwMsVicgJV9JOzyxkcKcbCw",
  "id": "fc_00a2b927172ee900016aacb4ec5c1887d0972a6e3acc863bbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lXwMsVicgJV9JOzyxkcKcbCw",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9371, 0.7586, -0.5594, -0.1825, -0.0525, 0.9946, 0.9051, 3.1184, 3.1153, 0.5911, 1.2255, -2.0682, 0.6698]\nstate[eef_state]: left_x=0.298 left_y=0.0002 left_z=0.1764 left_yaw=0.054 left_pitch=-0.1641 left_roll=0.0897 left_gripper=0.9946 right_x=0.5217 right_y=0.4009 right_z=0.2499 right_yaw=0.1956 right_pitch=0.197 right_roll=-1.6116 right_gripper=0.6698\nstate[joint_eff]: [-0.0889, -2.0855, 6.9265, 1.5702, -0.0904, -0.0415, -0.0122, -1.2376, -15.3778, 8.2667, 1.5751, -0.4762, -0.1245, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 438):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f123c8542fce6ae325550c41a922cf18d41ea83800d950473b4b85a0a01e48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 438):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a12c52cd4a346f68c0b960e56ddf1a12a21fb94fbf664de79d9915e5ac6cc55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 438):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46f87997decef52b57b2af5903c5b27aef509f1bd3150a529a26e514c520d0c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 191 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]: [-0.1192, 0.9371, 0.7589, -0.5594, -0.1825, -0.0525, 0.9946, 0.9108, 2.9875, 3.1153, -0.5262, 1.2594, -1.1927, 0.6683]\nstate[eef_state]: left_x=0.2981 left_y=0.0002 left_z=0.1766 left_yaw=0.054 left_pitch=-0.1637 left_roll=0.0897 left_gripper=0.9946 right_x=0.5168 right_y=0.3975 right_z=0.1953 right_yaw=0.1911 right_pitch=-0.0986 right_roll=-1.5024 right_gripper=0.6683\nstate[joint_eff]: [-0.1846, -2.1128, 6.9538, 1.5897, -0.105, -0.0464, -0.0122, 0.4171, -15.2821, 8.5265, 1.6581, 0.5592, -0.0073, 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": "gAAAAABqrLT1gGUA_f_02x3zlGV7pJ-lOmRRYs_XVmUJKfoUKU2iS8vQr1BlxREW2TC8mAxN68jcHDAZbLVBtwdnKYDZesHcqBzdt8GeHHh5o344J1aRGlw7t0yyxlIdVUqgL-vdIS7muMxiGZvhZjKLMW1pSTtC_BX_K5gUW7uHdBH3AO6miBlc4gma6hNUF5Ew5qP5C_loaBJKwO2ICKi9bT2ujKnAuJ6jRzHcxH-odpA7EVpBaskTV5_8mlzYmdUVJea8Lk3Jmbh1H0DQ339p40DJN-m4yosxeygIpY3c-UExGx1g56G3lJXyxCG_qJyLtKdpEe0PaOc4l0Cwg8ZsJEqEZT-TntKefGZjIzOx4sRBCn4wmT2ePzIBbLIiMN0IhQ-2vCuMYs9du48__oWHs6HiQ6mKlTlpY644wYv0OJ3Wd3LnvNcspC82z2ns1BeYWwS9jUbKy08CpC_HItUPlkHBusamEGNPAP5vaiHFEWKjN_to3R-kSMZwV8NfYGLoJ4h2ZK4AKHgnocH7APkQNbyS-OAp3w5Ct4pDowo8UPwyNsESNi0opgoysYGWMXVWl7CpaP7cA474YXMW_b2QUIt89dufof2uzKm8z5V2vpTwLuqcKhCh10Mn8HeSLQgekKaU5AIjb3XKEzSTNWT-q6sCRGUAZq5fp4Xj1xKvm_xptjgCB_B-ToEHOK-q8DZs-SNZvk_GxS61W8MHUqRruefUO6bUvALSOLMaPj0sdFXtWuh5OCG3Sf1LdjG2MlnYpiS6rsMc6XUHu0BUsmd-2WkclUJLZY1dOng_-4s0wM0CyUYpfdK_vkm7xv3OCMoJ7qgkqq76OpI3EKOC2xi6rcdoxdrV65BDfkcfWtJvGPFIzzSH6ndq1pGrcaG6EF3Tw4ga5n7wcgB3avAWbE2XEuYpx_W6PU35j4ggQrVBNWN5MkGItdooc9aG0jWrmywVp9oUXWkTJYmXi_oUkiaZXhqdyjmeZJ2yB4L7O-ulsOXRn0yqfeiH9vAZpIYyaxU2VL0TmLGguZP9r4mvkq_El4LK0vN-VA-6LcNqPnmpL3e32nZ_X-PBaUsqC1ECRoDjzT4pubF9KmTh-oVvVqAKpcFx6emDhJlfyMg3_OoyX_PmKcdmZwbeIOsfdjYKmQ8wFIVpxJVl8LWqh3r3XrbhXeFoxYrJsk5krJVYsECYrJ2BfwgJZxlAslhAYCBTiBU6oasBzVkiuBwS9d8SBUOXbD9KCfjkixPxqgwUHMUxuD-ucoW_nJi06NORS-Qhfg-Ds2JprQnYK83va9G-yfzBqjMSsEuU2X29isBzg5NrzlltXnIslUpveRG9KzIZUJbsfOEgMzYgn3HKQ41FPKVQ6nWKGH9qmzZ6B3WD0RKeYjTGdXThhACjX24XyVRkomqnGbdsDVevjwe29nqW4SnN_3SD56QMCbmkUjSpSxbn03nO9LFvvyWZ9GayOQmOkkzp9izHxiq2PDrO7RigEjDhnF5OwH4QOIFyY_BYiyLtcxs_1oTL7mnUYkVayuY1pVsQwznUvoz7-LoHBsaJITCYML2oV0YnSOb-hOcwlu5df7qT3WLlhaOsKLoMZXQ5rOto3iC_VepT6gwzUYfYuqFSbhiGQuDnf59CkGrH8f16My8HRYY41olpdujW_xB7RJprFXPMab8A5vYxH9_gi8Lu2qZ1qUbYfFYWLtade9Vd8jHiJuUViVhfXECG6dqarYlO_i313qw0UyR4LBgW0W-aK6_xarARwsMA3kGc4GTT8i6cC9-bHbUzD3Njfy74bsM5MGduGuK_01ePcQ96qH0airWG80x9r45SMuxdMZPX-MGts7zzw-YTiBjZuDpWtAgXpKJ-26myEnp6KKS3YLQtaU_0ovOj001ih1yT-mwjS00xuMxOVy9J_8aZE5jFAsWcp7tnK41fWSeMTJSscbEYAEhiWAhGcyRjAApz_jFaWrh5HS4Y8YPAYh1OFRrToEMZ5vSXVRKJ",
  "id": "rs_00a2b927172ee900016aacb4f11c0487d0817a695dd0474b64",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.32,\"right_z\":0.255,\"right_roll\":-0.8,\"right_pitch\":0},\"note\":\"The right bottle has been held at its pouring angle after the left-bottle pour. I’ll rotate it back toward upright and retract from the cups before setting it down.\"}",
  "call_id": "call_PMD6TMsWN6CT1IZzaTUUtemh",
  "id": "fc_00a2b927172ee900016aacb4f4678887d09a88277b4c25b3a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PMD6TMsWN6CT1IZzaTUUtemh",
  "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]: [-0.1192, 0.9371, 0.7586, -0.5594, -0.1829, -0.0525, 0.9946, 0.8703, 2.7693, 3.1176, -1.0492, 1.005, -0.4088, 0.6705]\nstate[eef_state]: left_x=0.298 left_y=0.0003 left_z=0.1764 left_yaw=0.0544 left_pitch=-0.1641 left_roll=0.09 left_gripper=0.9946 right_x=0.4991 right_y=0.3663 right_z=0.2419 right_yaw=0.2213 right_pitch=-0.0324 right_roll=-0.9263 right_gripper=0.6705\nstate[joint_eff]: [-0.0615, -2.0171, 7.0632, 1.5849, -0.1538, -0.0464, -0.0122, -0.7316, -20.6838, 7.788, 1.409, 0.4957, 0.1441, 0.0611]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 449):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:724c40a59c62915e97c8722af40bf81ad4a7d49705c9755bb619aa3e06e70c03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 449):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b62f2c76e297c71b145376ecb07b5223f2f1f5f62d069431abe868acb3954ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 449):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1e8f2189ddc9c272b5d9afa3a67264e32c59ced622f0421987ce1d2646d76eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 195 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]: [-0.1192, 0.9371, 0.7586, -0.5594, -0.1825, -0.0525, 0.9946, 0.9051, 3.1184, 3.1153, 0.5911, 1.2255, -2.0682, 0.6698]\nstate[eef_state]: left_x=0.298 left_y=0.0002 left_z=0.1764 left_yaw=0.054 left_pitch=-0.1641 left_roll=0.0897 left_gripper=0.9946 right_x=0.5217 right_y=0.4009 right_z=0.2499 right_yaw=0.1956 right_pitch=0.197 right_roll=-1.6116 right_gripper=0.6698\nstate[joint_eff]: [-0.0889, -2.0855, 6.9265, 1.5702, -0.0904, -0.0415, -0.0122, -1.2376, -15.3778, 8.2667, 1.5751, -0.4762, -0.1245, 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": "gAAAAABqrLT7W6Js4LAkljecGoQMia8mws4p_1Vp6SgSBW0edA4sHAt5rJU6ue-AUZs7sWhVxSJnVVgsL-816MByRAp539fG5htubff70IcmBNQnddvrV3XVvSDiv0MXD6Qg0nNjMq7BbVpYqht0F_BniaVM4ozE1GGIq3u7xUUOSGes-wYhJvbQ93jSpDnFhYdJ5_aD06LujQCHyTR39xn5429w-OCD-NJalrLVNw3cn3splVK9Lc4dRhxexEZPvxzhXpd1Pifw4s8NFTacdB4OkKlFU5mo_DK3jUWCxADBZMCTi-Sv_QHpK-VII_aWvOxg_dlwGsEwGhGI2-v0mgxWjn-gtBe4wXYY4G34ObTj7xPhRxaJAhpCbKpTN38aAEzApf4fr-aTdytPN-ikp7LA0E5nsDBuECSo2aqPXb_vnCIevQxZ9AUh_qKX1skkZbpqyowumiC3IDISoDBWuGAZhPTRRgobv7jns8VQSUc0O02vKndEGhMKe7ZdjGMPzWtU6EoOMAeDzzXtWuRWiBRHU6zU3kuB85tRTvQGxVPb6qtypOYTe-5MLsG8asavDjV-Zx5-DR_F-u18d_2DsQssedinJtlrhRGJOtkU1AJ8EvbznPEtgKftyKFWWFvVBc-tNUuB04_GoDcfOPZG967RNxVGpn3Q2cE_lkEOg5OWaMbGbvh7HxplvSYMUPFhIBqshd77yYwpc_DDGXdWboJKgLA8LZH1jKUF08kSJlVWd16ZDi0_s1SduQfkQ1jtZoWBZQPmdWvxtiZsp3yKAf4CFtxDa6mQMdTmWX-Vd90SzItdHdpzrjf7dPXldndlkDW_CYGpHUhJMm6BIMdgorjoLpMLPe0jqkQ2SHr-OWUqsg2oDKnpRRQCWYMjleW7dqS8jIdTnrbpkBePNJ7yNzom25UBQZWCnI0fWZznWUbXaUn7uwuaNbXnbaVjaf3EDOWzHFQIfYTm2pw1JLpU5KZIU0EQXyo6dlrHMM6nyzHBx8CAWWktQDeu7pu3_Sk91AnKjsex7cNofnCLejsMHKxrKiwhRbboZonhOs7CBOosGxpga42iMvItuI0tSaqtYAuiCtr48PbuH_mOkwBs1aPeiPUN7_JyKP827vxY4Tyh02nfU5BTZm1oC9S49HV2ayaHRS4GE8eoodqJSFKOv_KHbEKWtgCxQmA0FPglusviPOoV6M6cYPq-NyVgecFtyy_76L3oxFhhoDOV4pC2iXYnjZ8b5Ik38LWLJXF7wQiXpNTpDrqaFgQZuq5N3myn-LG-iK02W26XgvYY1kPgjJwTKqGOGN7kp_BE-gPWIo8BKzyhfOUs7T9HPb-vsYJpq_56BsANiEHjrPU3uOVDPdRs5Q5fOMnsK2KYlw6Ojl1y3S5bjA1TrVC8SX9AS7UQFJ6z18gR--YXk-yM6x1yDFdxrXkgMnoO2VJUlOuG3TgDezMu7dK5KeE=",
  "id": "rs_00a2b927172ee900016aacb4f91e6887d0bf4d229eefc74a01",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.08,\"right_z\":0.3,\"right_roll\":0,\"right_pitch\":0.3},\"note\":\"The bottle is partway upright and still securely held. I’ll move it back to the open area on the right and restore the grasp orientation used during its successful lift.\"}",
  "call_id": "call_5uZHanTdsWpbu6GoajUO2QdI",
  "id": "fc_00a2b927172ee900016aacb4fa6a8487d08051313875d11225",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5uZHanTdsWpbu6GoajUO2QdI",
  "output": "executing move_to over 24 steps (2.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9371, 0.7586, -0.5594, -0.1825, -0.0525, 0.9946, 0.1589, 2.4069, 3.1172, -1.1183, -0.0044, -0.0673, 0.6714]\nstate[eef_state]: left_x=0.298 left_y=0.0002 left_z=0.1764 left_yaw=0.054 left_pitch=-0.1641 left_roll=0.0897 left_gripper=0.9946 right_x=0.5811 right_y=0.0975 right_z=0.3965 right_yaw=0.1949 right_pitch=0.151 right_roll=-0.0527 right_gripper=0.6714\nstate[joint_eff]: [-0.1983, -1.9077, 6.8991, 1.5653, -0.1245, -0.0269, -0.0122, -0.1846, -16.253, 6.8718, 1.9902, -0.0562, 0.2125, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 473):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:934df827496873893e2f26fc0c06aa519c6df1937b86df85246c6da41242e0f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 473):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbdc2c2b7b98e70747e76c91409adda75b6858db80de818be874a7b86310a7db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 473):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ffb17c996eddc43c6c0ff512f3db25668a24f45239f8a96f3ddfe049cf61a5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 199 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]: [-0.1192, 0.9371, 0.7586, -0.5594, -0.1829, -0.0525, 0.9946, 0.8703, 2.7693, 3.1176, -1.0492, 1.005, -0.4088, 0.6705]\nstate[eef_state]: left_x=0.298 left_y=0.0003 left_z=0.1764 left_yaw=0.0544 left_pitch=-0.1641 left_roll=0.09 left_gripper=0.9946 right_x=0.4991 right_y=0.3663 right_z=0.2419 right_yaw=0.2213 right_pitch=-0.0324 right_roll=-0.9263 right_gripper=0.6705\nstate[joint_eff]: [-0.0615, -2.0171, 7.0632, 1.5849, -0.1538, -0.0464, -0.0122, -0.7316, -20.6838, 7.788, 1.409, 0.4957, 0.1441, 0.0611]\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": "gAAAAABqrLUCEr0LjXR7cJG-ZSfeDv5w7HRGf80reLAL9pDKYds38JOQkE4UTuxWfSVOgrDrZs6YsUNcLv0T59znrDxMvknkPz0Imt4hnXaP1yCNcG99e89Y74aLxr16Se0zAYcSIm_D3K-dSA3iWLViKSWDZXP_TrNyx5KqnE9RilEfW3lWQUk-As6Hx0L6NUzLvGJ0N2QL82SzpPqnuVYsHIK7aTI_BTxl_5cZoH51fYwyi0ygvRfGhEbTudKACrdnrJe0rMFU4cI9q4LfrmSpf3N6sTFatpJJIWzU14gzsJZrl16jfuO9BoxiABG4MsnVhn2ngLjMhpHjGbay7BDQJidC2D29yt2OcaYa54d_f01Ym4d4_hSb3wD_UeddqhIRq7P-C-NchX5pqKlnfyJpJaiT5VT55C6iLd7Y_2V3K-qS5N--xZ_1ZRF1jQ69pW-8b1Wq6oDm84IrLBykO9w6idCzKOIFnTCx_94OP1t9s-dmkcKVWFAbX0tNT-8wFTVwB0Sl6pX-7yZgzzcunQo8vmHeHfunMDo3Q6m2ym1uY5bm7TrG-7PGyrcST8iPZ7_dVDmfa94VWQHnzq1THoGnX4Ou9AywJGt7PjxJ5A25uc-jFsNCKFDNsvI6Z15JNS0o9jIMlW_4sU8yzCZ-Hz-ft65GUxwhpXifMJsffEYmPzY5vI867y16_lWgPGLxvoN1QvJfgnSK_MapTm3fYL3N-P4JPLXBIENHzPXyE9op2Rb6WV8f1mEgTXYi96gcjLCZlkvvIG6gzt6CCoN3eRFJ6gz5qjY7SLvLGod8OaPUoMc2De_4Z0YTbUU98NErIsD9_TIRDcvA0RE9kJQWH3xpX8UheWexlM2H0gCuxxJwohH2qvzXIJHcf8cSuunW1IsHKt4v8DQUDKV7Dtrg5JXwLNZ-rGHy_lNc4gfGF0WFROFG8oeDfUs885zOVALr7nN7ur4pcwT3avSVFej_GZpmCY2zHzyBAFGhY-I3-nPk8nvdyd0-hbXehd5XUW1gtt7nmR6jZTCqKb7CmDgB6nF8yOM-ZW7TVB3ZXJhKhX4nSvY2ADigCfgnbOFw8lASMaOwjCF-WhgbxY2bIO6Adlbk0FBM2PFuCD9ESJvPzCErHRQXmTMUczQmxzBAUnn9iYiEdSHhVp8upChqH1TM4vmEUHWvWAso8V-4VdijXOohT2XrcZTSmgU3i8m64hZ9DymltlCqnBJo9ZqdB8vGcPzkkxttsDY-hwjGfWqoahf9zA5kqG2-XN3Y-0u6Qt93r8MUwSvUFyCEekyZU1T3vFZj5pJ4WXg551e1FjSub54FPHxYM7QlTAI=",
  "id": "rs_00a2b927172ee900016aacb500216c87d093419f6bc2d62d36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.07,\"right_z\":0.24,\"right_pitch\":0.4},\"note\":\"The bottle is upright, but the arm has overshot high and forward while retracting. I’ll lower toward a closer placement pose in a separate motion rather than combine more rotations.\"}",
  "call_id": "call_WUcz5lawLMKkhVgDhXu5Hk2l",
  "id": "fc_00a2b927172ee900016aacb500fa1487d0b44a2f815ffc967b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WUcz5lawLMKkhVgDhXu5Hk2l",
  "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]: [-0.1192, 0.9371, 0.7586, -0.5594, -0.1825, -0.0525, 0.9946, 0.1421, 2.5267, 3.121, -0.8974, -0.0326, -0.0708, 0.6719]\nstate[eef_state]: left_x=0.298 left_y=0.0002 left_z=0.1764 left_yaw=0.054 left_pitch=-0.1641 left_roll=0.0897 left_gripper=0.9946 right_x=0.6329 right_y=0.1 right_z=0.3778 right_yaw=0.2055 right_pitch=0.2561 right_roll=-0.0513 right_gripper=0.6719\nstate[joint_eff]: [-0.1162, -2.0855, 6.9675, 1.5946, -0.1538, -0.0269, -0.0122, -0.8957, -12.6291, 6.735, 2.3321, -0.0562, 0.0317, 0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 484):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4098a2b35418ebdd284105acf9befe3ff3797bd27170422230c3bedc1371f76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 484):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6fda32237d23f1db30e18f5fc8f840498c11d94897a424b6f47564298b461c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 484):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e996ddf0aa613e6824aa93684f034ff6b3f5b55c33e9ac9901ca9e3ff29a7be",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 203 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]: [-0.1192, 0.9371, 0.7586, -0.5594, -0.1825, -0.0525, 0.9946, 0.1589, 2.4069, 3.1172, -1.1183, -0.0044, -0.0673, 0.6714]\nstate[eef_state]: left_x=0.298 left_y=0.0002 left_z=0.1764 left_yaw=0.054 left_pitch=-0.1641 left_roll=0.0897 left_gripper=0.9946 right_x=0.5811 right_y=0.0975 right_z=0.3965 right_yaw=0.1949 right_pitch=0.151 right_roll=-0.0527 right_gripper=0.6714\nstate[joint_eff]: [-0.1983, -1.9077, 6.8991, 1.5653, -0.1245, -0.0269, -0.0122, -0.1846, -16.253, 6.8718, 1.9902, -0.0562, 0.2125, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLUHO2lHxjkB4vjbAXXe_lNd16SJ-vr9DgPAmhPjafQBTyXTED2NYctV19xeWJ_qjuNMG3_7VY9Kzrgz2ZlINxRwpm6qBbaLM2TTAkRwqElYtTUsrWx2P-Edyf9K5NWpJUcYPsFCKJtEJC0GmrMvsTwD3C7B25K27nTrS8OzQO4yDMr21ekIR6LYKa9w6DheIw8-_dPZie2qLMVChy0hadpmL77w8uhpXoSEzBPSdpqohDaJ4Q4Zy_-WGYCABpdzuOHqcdW7YyCt62HEDG2a7upZ0EZXdIqDg6o9tmq4ZoK9J5DD3Jiry1fy3AUwczNrfzwTKQcLxjILHIHys9ujlmtGi-CVaRU49hboYVrujxr7ptJESFNVCplf182zWD_VIhzRSpOXFUIR9AKgdZaJeUSWr37KjYL0B5mC-4xTD0JEPgmqi32f61IPgawAUHJMA5YE_eJ7tTpUbCr3kJ7TAm9KD5wlWqwfJWdfgTivLsm8uSr1ehRkuHgJ3z6KoGzafg3-MgGgnHf3-KLeqoe7ZK2M3p0_ej2dw9jfQAKJ5NZMsfoDy3dvWPgRGdQcSekp8DXdCq7Bkcog0a-O9ZlEODfC58TpxrtNJydbBZmoGhBPNEqAy7DMtS05EXCM63d2R9RwIDDZ5sIhKPV7O0izh78yD8vP_OQoBBGktsvwnm3kMj3R4X6-5EIA0ES4NGGqG24hPzn3Pbc7zQvXhhAumWMXMRw5oVY1ItozavygCZ-B16TMIsXqbXZQGYEtMOkrF-TDG3iw6hjeew8qgmE42CTiWAceng5aXztbPab1dLW9Iipm1bVyMDe262RfhUP63E_w_ZaVQbbSEELJKJEVfpTiTbqDndHRS49yoJatCqL-ipgxKd34AkhoeobZ1HdEiPZ6ewYa00v9fPTGbWtCly2NmwE4MSmJjAOLBBQaEgLx93HTPPn9gzctjTPyuRpSCU6rbrwv4xMV3jQs9CkZu0eYADT3uzGCKjAh-ljswKOL7zqUXjSLpF_ba7ZcvQGejumiWpV1J5pJCdpFyGk_DqB1sz9P2JnaNxf57gUTOY3-pJ1dDmUnZ5E1_PYTuHUVlh-KjNcHeveWKyAWXFndAP6yqGMMLfBdY638AtWhBNYrgsuDySeie8mfAXtbX13Ir-OEZtGe38B2dQ-kU-DriuaGGQqP0bd9NfZNRGWhAG85CHljG40818p_DgXsLcXHcirQjHgckQNEFI_GkqiayU1A7ygpKovt5-TFNMsAhyxFMdcH5GAzDWPV4wsnfmvgHNWa2IKFk71SEjzEk0BMQU-BaQ==",
  "id": "rs_00a2b927172ee900016aacb505a66487d09aa149998784999a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.07,\"right_z\":0.48,\"right_pitch\":-0.3},\"note\":\"The arm is stuck near a fully folded elbow configuration and is moving opposite the intended retraction. I’ll try a higher, closer recovery pose while keeping the bottle closed in the gripper.\"}",
  "call_id": "call_9pqzXrzkcSuWtwJImQtViDA8",
  "id": "fc_00a2b927172ee900016aacb50688a087d092690b7f286640dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9pqzXrzkcSuWtwJImQtViDA8",
  "output": "executing move_to over 21 steps (2.1s)",
  "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]: [-0.1192, 0.9421, 0.757, -0.5587, -0.1825, -0.0525, 0.9946, 0.1818, 2.0014, 2.6373, -1.4475, -0.0002, -0.0738, 0.6719]\nstate[eef_state]: left_x=0.2982 left_y=0.0002 left_z=0.1745 left_yaw=0.0542 left_pitch=-0.1698 left_roll=0.0907 left_gripper=0.9946 right_x=0.4533 right_y=0.087 right_z=0.3668 right_yaw=0.2184 right_pitch=-0.2527 right_roll=-0.0458 right_gripper=0.6719\nstate[joint_eff]: [-0.0479, -2.2359, 7.0222, 1.619, -0.0952, -0.0562, -0.0122, 0.1983, -16.4444, 7.9795, 2.3321, 0.1001, 0.0562, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 505):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a687e8d547730b433fda61e2f0dde93df925cdccd3579d488549e79603fbc22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 505):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00fc049a9053097a100f7ce48df04928d05d3f403c3b58b7a266d2440cd55268",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 505):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcbf187bcedcc44717540cddeaf52202fb75c466877b6deda19a577526857574",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 207 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]: [-0.1192, 0.9371, 0.7586, -0.5594, -0.1825, -0.0525, 0.9946, 0.1421, 2.5267, 3.121, -0.8974, -0.0326, -0.0708, 0.6719]\nstate[eef_state]: left_x=0.298 left_y=0.0002 left_z=0.1764 left_yaw=0.054 left_pitch=-0.1641 left_roll=0.0897 left_gripper=0.9946 right_x=0.6329 right_y=0.1 right_z=0.3778 right_yaw=0.2055 right_pitch=0.2561 right_roll=-0.0513 right_gripper=0.6719\nstate[joint_eff]: [-0.1162, -2.0855, 6.9675, 1.5946, -0.1538, -0.0269, -0.0122, -0.8957, -12.6291, 6.735, 2.3321, -0.0562, 0.0317, 0.0317]\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": "gAAAAABqrLUSSTwSg8oUi1CDs5y4W_foBV9aaybtfu_OqjX9TkfoRdd57qU-fQDFr4DdpUp85uhquIlvgJR3BCwj-yW6j1wgizdd4Ib6CO6-_kzq04aypxq1d2lDNXMa8AEMMxkuFZ8T9jmez_kAlfYcthjG8YpfOesCMo33DNbnOH883U7dvQqhdlVfAIVaYdXAntLN8JCpGsKN9JCfnJr7e7GFlO1_OyHG3KiaV7NXN8e_EU-bpQhvt7Tk-a29Hy2EMMeWd6r6gl9CWeM2gYP4kcggDDiCx6t4PonPlOUX3aofJvQFK-VkrLEmJzX1kakvLvGZQMx4WamcPMB9wb05l8qaRqdOSt0mlcCGednMHYoP6BHkG51WVKYIdi2UWjuhYGl5ojoAcplRKnLNqQ9QrjKBsfzRoTKBQlticWo5kPjktBV7kKHe2soBHoYmwCxv0DL-TI283o7tGeelRHt4TmMwtVqdf_xL9IOy58kst8-Y55u7sziVeNEuYUl2AAEU2OLxJuiysSP8qul-mMMpwFi87EwePC9vkP6b3REf4W1bhyGWpk9KpJdYe4mwwVNYf_oodv2H0obbYSgv05mx9V-KucExvx1GawNnLKms4V3fAXZx6cdskSlT8K66nXM8Qwoe0cdDyHsruGu5ZYx8B9_2eoAI0fLuWj2-nQ9Iz1g9wPPChg3cDAxgv_2e-eip3Zk4gLL0F9La4g60YDFDZlBR3sEOuLpZvnFR9alB6c2wGYkitqfuwVtan737sN6kfN-ajTMTBrKExSI39XVYOUaXU2sLnZPHZwL3ReSzrQfqll-2LkX_0yIu7LcbOB2BGDH8wP4CY-lZEOmPBlgsPzgf-ZkhU_GpuDUr-pvAvKLtL6fDp9E_viPYL3piI7I5uBiHmp7Xp5x2PUz2LEkGfX2i4fuy6IdrOq_wvBBto5AyEI8biNuzLQzmCVSbevb8fmYuDwc4WpgXnqQXzgu9-9Ctzo-ljK6ohB1TFaJ-sJYiehaBVoZos5O8tiDqszuuRocOCGGgc6fbSkHhV4klGHBAw7FkGIs2SWVyACceK-6SkcUirYf7QoXEYq4eMb8eXq3eu4KwnGtiUKgISpskyjJV5YcpAeW_FtspNeKcjMwfd9PdWy4JoawgOdCcVr-76iw7XqgjC08qlrUTLU2mGS8jvwHq5qE2VDEndT1MelANpEQti2GL7rYwWEA9S-_BOCwDJs0ELGd1QJaJ2wg8r6-xohvWvY2JeQsDFu--Dt6TGAArdpbx0Q9lv3gOmqWjPmVRP51Wa1hiJ1DR5Ebkb6dVBDtb_6r1I-r_A-tWWyl-CDIhKWmv6zQi_GiK54bokLxvxIKq",
  "id": "rs_00a2b927172ee900016aacb50fc7e487d0be0c328b822926d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.07,\"right_z\":0.23,\"right_pitch\":0.3},\"note\":\"The recovery has freed the elbow and brought the bottle back over the table. I’ll lower it toward the clear right-hand area in its upright carrying orientation.\"}",
  "call_id": "call_48AgnsvLAW2PceN3liNkRHbR",
  "id": "fc_00a2b927172ee900016aacb510d39487d08d99079227af8334",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_48AgnsvLAW2PceN3liNkRHbR",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1192, 0.9455, 0.757, -0.5594, -0.1825, -0.0525, 0.9946, 0.1329, 1.351, 0.804, 0.16, -0.0536, -0.0814, 0.6718]\nstate[eef_state]: left_x=0.2983 left_y=0.0002 left_z=0.1734 left_yaw=0.0543 left_pitch=-0.1739 left_roll=0.0915 left_gripper=0.9946 right_x=0.4258 right_y=0.0701 right_z=0.2006 right_yaw=0.219 right_pitch=0.1727 right_roll=-0.0479 right_gripper=0.6718\nstate[joint_eff]: [-0.0615, -2.3726, 6.8991, 1.6093, -0.1099, -0.0415, -0.0122, -0.6359, -7.5829, 7.5009, 2.3565, -0.0122, 0.0659, -0.0269]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 524):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f1eeb7c24bb9715dc5b137021ebcaf2ccb78e83b08fe7db1ce7cf789ee2242",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 524):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc6c6cd1b8b3b518d1e9b23cb78631c5738be12b370d8d93358ca103d4371a25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 524):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b0a525b86d62c0e6852530cb867b497fffc7946a2dd4d36b3200c72faedfc17",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 211 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]: [-0.1192, 0.9421, 0.757, -0.5587, -0.1825, -0.0525, 0.9946, 0.1818, 2.0014, 2.6373, -1.4475, -0.0002, -0.0738, 0.6719]\nstate[eef_state]: left_x=0.2982 left_y=0.0002 left_z=0.1745 left_yaw=0.0542 left_pitch=-0.1698 left_roll=0.0907 left_gripper=0.9946 right_x=0.4533 right_y=0.087 right_z=0.3668 right_yaw=0.2184 right_pitch=-0.2527 right_roll=-0.0458 right_gripper=0.6719\nstate[joint_eff]: [-0.0479, -2.2359, 7.0222, 1.619, -0.0952, -0.0562, -0.0122, 0.1983, -16.4444, 7.9795, 2.3321, 0.1001, 0.0562, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLUYL84sWsMmbHizX3NeLHFcP97awQ6ZuRrPeuAUj0BBa8PKwd7DZWOFfMUHrfjQKlpP0VkTwrIChzkXfMlqy3S3MPkx5hZmHzbDkDpSnQqX_enwO8DDWJlhmhzpDEJMKu5gsBtHSArbOhmJNCWaXUlsI3rL_7bc3jSQnTyNAtws0Fo9Y-nIdgPG7ZbY5sR_86cXEhJvtJKWgEY6VmScZESLlqH5Ufzm6dG14MJpkVaKv0MZl7jLAFRuM_2Qy6DRDv3AzyvshT-jpS_SKRKMLIfI6jDxxe3_BFL3XsN762aUe18sHPTSLEhqopPe1x1Zk4S32R6-so6SOazea6Ta1b6CArqaBKu4Ls57g0TVIFPvWaXr6kosYb4vF2QSihOJ7Phol3uCeB5CZeYMWyzSGmfn9LM0MSftZTHaBhYdSf_qg575aHS_P8IoP9IuXfl7512bOWqmU4s0THGaRANJo-szd9m6iMq0hgzmuyH28wgXAam5DMZiMw-8ggyn0Ld6M26Rs-HqTy_I9OqsYFJK4UF-n-QzRBQK8hEenQNs3pSIn_LcNFZWwASWrRk-B-Ftb_A_0DA3gJlRET-H6oQ6Q546BuCo4eEzXq7jFuUYbGBZLt3WCgm3ro7bdAbhB6T-LIV2Vty_z2KqYfJlE_Nu9ayzUrcVy1XrqW5Nn9ICqCnWsRJaKarJsgNGmgSFeqaEAv-enqPLoJ1vec04Ybb9ZrquTdOSt0lKQ_woP_t68rBBy4wcSEPtOGnBhSR_9sPR3YFe-NgXLgdS9q3UVMFAJXg0UdZuN6nxH-3mgPEy_wbcW_LvrRvxkqHNeTn7oxckwRDpUfG3lauZMN39SlwWSjXL7IAt3D2-s05S-TiT6DyGdfCal6rUCNebJG_VoqpgcurMMyOWum7XBMv3n2IpQj6LocTY0MN2cHgoDJMbNYmXUS7zODeupT53sskKwJ4kJUWZOJLlIBajG2WMkMQ2iuwmlIghihWn-uSevFuRbfuWYZCXck_n4XZtnyL2nFZF4i_Ak6iIvE3bXyyXbz2lz1NTl7gyiPZKKvNWv0H1MnavCa0mpr9HwCgVP5Hgiqoj_wAU9VXXfcioHF8aNWPnIGDtras289lIhGoGJTmz94NPkleC-RMaTHnF7hTz4c6zXuovpJMR3MDjEsrNUBoG2mG5GAl8a4vAQjXRYKls9r6PexC8WPMr7aq69kAEMIahKBqKD0gaHEbqSh7mjDEecG1hn8S5ZZXPNNfl97rH9CfOD0DkIRe6hKj3NSvjW3j84EJZ4C__nmbTcYCrm4kNsiccqdPdWyvaQ_MBbGUtWJ5ONs0qZa7p4n7WgcLZB_lzRAGOYpPHrRq_yFJ7Z5q0o6VL7g==",
  "id": "rs_00a2b927172ee900016aacb516617087d0a3d15ae25b8970bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bottle has settled on its side in the clear area to the right of the cups. I’ll release the gripper now that it is supported by the table.\"}",
  "call_id": "call_XIM7WW7rHyi8kv8rYR5cwa3M",
  "id": "fc_00a2b927172ee900016aacb5170cb087d08f4026af2e29d700",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XIM7WW7rHyi8kv8rYR5cwa3M",
  "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]: [-0.1192, 0.9455, 0.757, -0.5594, -0.1825, -0.0525, 0.9946, 0.1333, 1.3521, 0.7776, 0.1703, -0.0612, -0.0868, 0.9957]\nstate[eef_state]: left_x=0.2983 left_y=0.0002 left_z=0.1734 left_yaw=0.0543 left_pitch=-0.1739 left_roll=0.0915 left_gripper=0.9946 right_x=0.422 right_y=0.0711 right_z=0.1902 right_yaw=0.2286 right_pitch=0.1557 right_roll=-0.0483 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -2.1128, 6.8718, 1.6239, -0.0952, -0.0415, -0.0122, -0.1436, -5.6137, 9.0188, 1.873, 0.0269, 0.0415, -0.2076]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 528):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc32923a086b19110836d599f2c08db842ba8db0c4276ad72a52c2467569cf5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 528):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd1c16ac83afcf71cf5127e639432cb597d6254c2eb21db6e71cad3da63bfd7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 528):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbbf86184d7035f26ceee3664c0b96861a785e84ceabd40936d2fea1c95e4522",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 215 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]: [-0.1192, 0.9455, 0.757, -0.5594, -0.1825, -0.0525, 0.9946, 0.1329, 1.351, 0.804, 0.16, -0.0536, -0.0814, 0.6718]\nstate[eef_state]: left_x=0.2983 left_y=0.0002 left_z=0.1734 left_yaw=0.0543 left_pitch=-0.1739 left_roll=0.0915 left_gripper=0.9946 right_x=0.4258 right_y=0.0701 right_z=0.2006 right_yaw=0.219 right_pitch=0.1727 right_roll=-0.0479 right_gripper=0.6718\nstate[joint_eff]: [-0.0615, -2.3726, 6.8991, 1.6093, -0.1099, -0.0415, -0.0122, -0.6359, -7.5829, 7.5009, 2.3565, -0.0122, 0.0659, -0.0269]\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": "gAAAAABqrLUcfP_43Tn6EFenHCe6rjjQaMcKzRw8FZzmhwA7ELrbsBoIwKnIWOfridTFIO0mg-zPfYab_9AY6YN7ir0Lj904ZkUpmPERNwQwl17jvISXUgSt4Fy7iruZCSflcAwlJ67HGW0XrmDR0n-uUbKaA-awseofpVu1PxaFc50BLXhjlAodvvLrt9EKVuPVDJRcFqp_HulTzrcyRLAEdMnA6EzbKREns8mDdIrowyYxhfolbJkdQ6yu-Hnfy5jaVnQqmh_j0Sb3zHb0d2-U0Iqakkso84ZJmqSC26E2goGXeLfxseFkkMat1fGBAAaRrZBgcsxuA0SWnLQBVel6rMgL-SOykz_-cCfKZFzdL5gZHALEL0dhqOBPUtgrg9uD_goPkNKFv4wDJC13ZGz2QnHFyftVX0bbPF07nEI7CIkYCUdaUUxrzwzsSff-X9DTTOF73AhDX5MNvx_ahoGqCTT77lbC4sN6okf3z8A71TMUUWxCKWUa4qFMBcdCOXS9PD0PTXVodabHH8AuFID4d67QbmNA9bFW23JY3qa_3d2vz0-NEtV91cXIRoQRmkeN0pmI81d7IPBMJjKziPSZKEr2Eyj-KNWJOYbT2uZNR19cHZ94ZGZCThv5mGc7-H9IU4Ocq-4oZZYCJ6kRNnt7cVtLhIik7FGfwb4QnwNIqzmP8uYBPh6EAC90Kc4dUmBfy7DwpxZTiCK8OxlL9aApKoU9aVNhfJ3VNTdtAf6fuB68kFH9cxgQL-Y49fEFP-jP6Nu-nLGz10tn-DhN1pqnOKADzH7WCfGWLma7OmIegiB7NuF1485mN-xWqH5aa-CLsqCKTb5-Ht8odeXilvELL8BmdR_NYh62YKcJK3CIcWHOE7lLP0KnBNGIRZKA0SylPPBVIdKZmBqagFrjCDHJ2G0l6DjzEiejzpJWQJMBfn_GXkxoqk9HbmxLo60qvsKtk53YDM3m8865Cj0MyIGN6I9Rf11v6TjvYZdR6ZFPkKVuCiPchYOpSCNMpEemvGKXZPaG8o52PGNqZ8fKfskqaHfsNuzBeLHVDEmrbKnbliQ5Bdos4Lvgd1kvNjZvqhbEwADi3yehXkx3NIWD71cf_EO5epRim6vJmo5AnPPy4zpZyr1jALAVCBH0o32Leo80W2D2brAsqgxiSC44StLMBb87cZLRWXkHFENIS_SSJhwWBNviexAW3iBtvHjkMreWK4bGWwGyWNtN1jI9D3xHAkIqukTH9DLAOyZ_ufJW30OwTdl7Tg9bT62MDhbg_sSgxTe9wmZO",
  "id": "rs_00a2b927172ee900016aacb51abef087d08bae775bd6133a35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.3,\"right_pitch\":0,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2},\"note\":\"Both bottles are now released on the table, and the cups remain upright. I’ll withdraw and park both arms to leave the pouring area clear.\"}",
  "call_id": "call_3oWgFwC3SWdklKyaYI4NcHyA",
  "id": "fc_00a2b927172ee900016aacb51b57c487d0aa3e3dae8cb5c444",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3oWgFwC3SWdklKyaYI4NcHyA",
  "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]: [-0.1192, 0.9482, 0.8272, -0.6533, -0.1825, -0.0528, 0.9946, -0.1951, 0.9733, 1.1007, -0.6792, -0.2962, -0.2596, 0.9965]\nstate[eef_state]: left_x=0.293 left_y=0.0008 left_z=0.1862 left_yaw=0.0554 left_pitch=-0.1998 left_roll=0.0958 left_gripper=0.9946 right_x=0.3154 right_y=-0.0061 right_z=0.2958 right_yaw=0.1886 right_pitch=0.0333 right_roll=-0.0632 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -2.1402, 9.7846, 1.5507, -0.1294, -0.0611, -0.0122, -0.1846, -2.6462, 8.6769, 1.5311, -0.188, -0.0562, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 538):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:468a37fe662b643e36c9109dcf97d300508f0de7f1a71fc4355bbcdc9ec3108d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 538):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cee1269d1e06b41f9f810d019e816f7ed741b073abd827c97882a72b9a7b60a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 538):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76765af595695f20635f9ece326d550c4ffb1dac3c22f352def2c6541473ca4c",
      "type": "input_image"
    }
  ],
  "role": "user"
}