adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6163, -0.3798, -0.0216, -0.0185, 0.9996, -0.0154, 0.7967, 0.6109, -0.3779, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.5658, 9.4017, 1.7607, -0.0024, 0.0122, -0.0611, -0.9368, -1.4838, 9.7709, 1.746, -0.1245, 0.0562, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f39e9cef6bd69bca438cf196a416344425a7ec41e99adc9e3b4e080526cfea2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867c14a3842faeff378d94a7475774a3bd496e63f0fd939c8183bf5c7a56217e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dc2c371c1a7dfc9c1ce87978055482af3d6890e7ffb4539c8a2503f59217862",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrLflerB77h7mGfN9pkorIqJ8h6Zri5rbP_3IaIFc392AKh6nKxENFSQo8C6i79Owxo8IQoJxz_p3_hFfPTRF1biia93LoGuMCkU-5caG70Trluqxp9GB-DN-ft9WkOkDXp3_1E77UBd6LyMFNATZkc4A_CuBRqDKUxuDR3VQoce1qU-o1DOiy25h0lZxAER7_M7CuTKe45l8PXd0fBNDmPxpHC5aPAIcMcskR8hXDbd-0mjHkFY95W8SoAQHTz8VJEZuG0dVHrSL__L-n__6O4lTFmKFz5X9GMy8WwMRR9LFEt1957sKY86S3_xqT-68qasr7XgpwQu1__BRISkyVBZzL7EHSL3u9ygUSeHc_Wxy7MoOypAbD3r4Yu3oPThza5yxS1sAXSv8zjYfwFszgfsfZl7OJQw9Hc7RymiR4aOyVS-bmOPKUikgEz8BJ5nCuF6hnbrj389_ixMwKBN0WkOZpWL7bvfFZmv7beiNxX2qMa75vckseeTvyUvq-rc5v2w1dg1cRCSzXiYgzj5F2drc25_1d6phyUAVk7JbF_QiZ2Ni8sHDvh2cUjSk7M4j5eDVlpsINP0HwqNyoYgEnwXFlBygeATtMqzndN4QFmVHh6qE-2wTzZyVtGx5UFJeQ2aWEwz3olV72kZJMelRAWhmEcc5BECdwXpUEIL4VRVNyFK6oHLl4HTl8BnVBJaifhoe8J2JcjKXnuS8UyRv1FOTn9LtR7MCp_6Oru66jR-krBQQaHac93UoMeltZyFMh3GaL6NIlcIWeDGT-omPgUpWRpd_U3xDO1dv9feyN59q9AOg7vjrcGLAI8z26cFnG786uZdX1PNf9UPcCQ2C5oBsICncPTXFfjTeK-lQ3MbC93K3rXZxjGqv2lV4FxzwFExKRksiJ_X-cAxEWn9D2xCjzokmEoCS5hWVeLdZ1c3degX0wfM8Ggpf1j3vR9xzPkm35tqUxwQE0REmq_UWmg2c45F3i4ViUzMkefLaxVwjNXY1ogsz5KDjv15dgylMxQqxg9UG74DHXhJG56GnoFRBBgECzrw-c_hMJNFhSguCLeUVluebDJLD3lIGfwqa1W-6m8ihToH8xewtgm3EhxHaMoUUo-UIDx7mp0R7ejtCSL9ZNYp2J0ZqjQm35hux8f4Qnctv2PLLv_j976PJsKdKkqGEmm3j9my0SrITE0nnrxLfyc6zzJ01ASZ9hjXimJRsOJSXXrvCRVwoiwPm9IuuixOKpAG92AzmMkXCYoyyaKOQyxPOtnufUSlmZg7KwmYXdNy4Po__PXD2BsZdZ8CDx3oS7oFdKeM6sCux3rdh8vigxqr5w70cklLCK_g_CDbDADbFoYVp8U9lR1ZSO1jBcQopvrc_w0Iv64jv-pi4lYu3PYMkr1uMeaIQP2xFsmDIhMDtY4WrOC4boeCEJanBkjJewB6RZUVx9K0KmJkjoe1wpmuv8kq-lypl4xwGwJ8VlJEJWHqGpj-K_SoRbt5hf-pnhi0j4BwnTvgdZ7WuMRoHkNpBBVsos0mKLkWB1KBWGynRUqANHbiPcprDe5Smxjd3RBWH-SYFjn92mOdJLSw3Y6NEQgsH9tRz_ut4p7XM",
  "id": "rs_0413602ec963b5e3016aacb7e1d48487d09545b23ce7bad16f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.18,\"left_z\":0.23},\"note\":\"I see two open containers, with the red cup behind them and a blue cup to its right. I’m moving the left gripper above the left container to line up a grasp before pouring it first.\"}",
  "call_id": "call_ScbJhukbEjbBJSBFTRGsXn6o",
  "id": "fc_0413602ec963b5e3016aacb7e3c11087d0b3781c5e87d5f91a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ScbJhukbEjbBJSBFTRGsXn6o",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5823, 1.5963, 1.2804, -0.3885, -0.4797, -0.3603, 0.9995, -0.0189, 0.7986, 0.6086, -0.3843, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4236 left_y=-0.177 left_z=0.2101 left_yaw=0.0007 left_pitch=-0.0502 left_roll=0.0148 left_gripper=0.9995 right_x=0.2951 right_y=-0.0001 right_z=0.1799 right_yaw=-0.004 right_pitch=-0.0107 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -8.0752, 9.6479, 1.7118, -0.2906, 0.0464, -0.0171, 0.1573, -1.388, 7.4598, 1.8144, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd22da9ca24103419b5ce14506e7e35240f80346802208a5cef2bff3a7350580",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821535f45748a5b85563bb4f7ca949015db0f5ec0edba0d66a10233e782c72bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb71633a6657c49fdcf0e8f4b832157429f354290123434d3a0ca23cd7c445f3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6163, -0.3798, -0.0216, -0.0185, 0.9996, -0.0154, 0.7967, 0.6109, -0.3779, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.5658, 9.4017, 1.7607, -0.0024, 0.0122, -0.0611, -0.9368, -1.4838, 9.7709, 1.746, -0.1245, 0.0562, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLf5XQH0zPUW7276wKcOVzO_OShCIHSVyNg_LCD6cTatcM8s7UzhLBwYYLDBpc8Itb4Sk3k-pEpEuVK6l8gQqUSixbC9Agb__Ct2gNdai4VybhPD7ZBnItY9ZF8Wh-iXBKjauZK5Q2xoyrkmS0YZI03xmVeRQleFtEK64blhK7Dzdr6GcwxfFOVBrKZecpF_p4YW7LOX7EgOzKL5Wcfbd3tidhMWHNNmJ1BHjT82GlZ9Rc5aAYZa6zKBXzvvBS2icXlZcVEQKKCtiAhOoMZcioZxZS-QXG9JjpZqATCncsqF57PTm2eCffG97VSATYnM8FDXuJfbdE78cwgb_82_UlCB_wRzxiTxin9G74gblmg2PnwMB7AXXWf6sSO1NGNfgEXqT5-llUD2MN5wqWIzzmubQcn2mkdEp10oVu_2fJ8qE_CGqWQGsT4JVtSNMz2HFOUWJhboYDrzqQlgPKKC2wUOmHZUEonpQDPVOZ4-cAuudIDQkbwOsMYzixtdXPJQV7Hc-1YJtZ-b0kl8cMiKwO8BPrz_jRcWKWbnw-QbnSj4Tyd_FX-8r4ejSyJen2JNT5DTOrG2Lr12kDJlLZi8AxhKuHRV81MXoFj5P6UI-kwlRQbVHX07TX40m168_8zL77yVMTc3DL3ovTfs5HiNT7W4Fl1R9HqbOyv5cqLnOG47wVrnLVosF-4yP0d2PBDGwMEgPxH3p1-_wA2YfiMRUZ-1wkBf_-sllsMDuq21j2CWz6DhkMElIV-2aphf59DKwcfJ5X-1n7k932KGZ3fFTzlvULst6-O2LvjnBjtHraO7m6Wb7NOtD6uXWfvfM9bSS0YmrKr-kftkSIyXLSRTQnrg5eVjakjvmCU77oG0_U954PHw7hGQok3rUi08MgIn0UCiY5IaKzMC29Ct1a8hNZzBKx6VD16MCXSjcQXCIhgj1DTPHMi73xhmfwRUUVFvh0wm8Thcr-3mO8yd5Kds5063LfXFfczYG_UqC00pY8S1e1hGnlnJ5c38Ji21Qip2snWmgWkGFD5fDLxsFqweCZ_3hzW2eMLY3dhWPgAg5b5Z0CTrjjE_0ipnow2E0BPM_s7S9IOEDvP7-r2sR-yhH4e0tMnrp2TnnhibLq8yLaq2i20k3ZOXUPCPoCWke-rvohYidFMurgUVUi5gHAUK2AUVu2f53SjXES8Ubo_HUV5CK3_b8AhA5rs9Wv9YTyspeP6VURPaBTok7q4HweRn5xuf8U09NdcHH_2gNHHO_tyTkZWVtw5xcaE_JZi5v2Wr1nNAlR7NB5o6IZ3gXIL1Gjs574VPwmjBVA2tit0WJbmB9joCilCmXT6yONClfPPfyaJKPJYSdHvMZCvfSxm9c-4JLKLFJrfxno_rqNu_nNWDmT95thVS9DCsN0S4Xr7BGnsUfwuJLgI4N2j04w7W4pPm7fUZBbIATjVi1oftG3hxfZeG_SJDvM0qFFqwQ0V-gVJ0KwO3wOUzWmA_h70dSPlyv_4YKtgAloS0CP8d3nXidrAXPH1G0q8KMa4WnELfBpRj-4vW_VjJnM6IRj554H9k1X0it8RvzNSgElkq9tMFf6W_hRF_o3AU3VnmUZINTEjnR7jWGsmyVVIjOsG3CYR3yc_2L048v1AHFr34ud7T5d222NaDtEObEQ-tSX5X-eXmLqswavXmu1L94_3FpHh57A==",
  "id": "rs_0413602ec963b5e3016aacb7f46e5c87d088e299135ad27e02",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.16,\"left_z\":0.15},\"note\":\"The left container’s neck is slightly left of the jaw centre in the wrist view, and its body is still ahead of the fingertips. I’m advancing and lowering to surround its upper body without contacting the rim.\"}",
  "call_id": "call_vuZmij8JjkXyzjHPnxNL42vJ",
  "id": "fc_0413602ec963b5e3016aacb7f758c887d084eb027d2cac8560",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vuZmij8JjkXyzjHPnxNL42vJ",
  "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]: [-0.4706, 1.7618, 1.2095, -0.1589, -0.4107, -0.3069, 0.9995, -0.0196, 0.7986, 0.6086, -0.3847, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4668 left_y=-0.1543 left_z=0.1424 left_yaw=0.0292 left_pitch=-0.08 left_roll=0.0231 left_gripper=0.9995 right_x=0.295 right_y=-0.0004 right_z=0.1798 right_yaw=-0.0051 right_pitch=-0.0111 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -9.4838, 6.4615, 1.8926, -0.0317, 0.1783, -0.0122, 0.0479, -1.1145, 7.0359, 1.707, -0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca6bae5a63452b8d6b393f4d7d89e00cb279f3f7e9f376bee47d452fccb55651",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf20a3cb9fa2c8e7aa95de8fe9696d36997f45512bd8f3a08ddb2031b1f71d60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861a8e18582f0e0d0774433308f8bbfabacb36017d4d99b5c3536aeeb46279ff",
      "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]: [-0.5823, 1.5963, 1.2804, -0.3885, -0.4797, -0.3603, 0.9995, -0.0189, 0.7986, 0.6086, -0.3843, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4236 left_y=-0.177 left_z=0.2101 left_yaw=0.0007 left_pitch=-0.0502 left_roll=0.0148 left_gripper=0.9995 right_x=0.2951 right_y=-0.0001 right_z=0.1799 right_yaw=-0.004 right_pitch=-0.0107 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -8.0752, 9.6479, 1.7118, -0.2906, 0.0464, -0.0171, 0.1573, -1.388, 7.4598, 1.8144, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLgD1xLsJnPckhbyN0Vd9zhDbjjBwjez6UDIpFPQklWdSZKWyFGbaG-apUnEJl1xsdI4XF7Zl2Qw52-ZdLlKcYwwwcZ6I9gevphWBknritgKOA72GV3eQNlUp8qf2Agj_qRzLC3a7Fn3AS_PQluFLeucsmZEZmj2mhLVKyCpo0JLsI1XZ8lZRGsOwTyk3bcuzmhB82sj-kqyeRBS8gxZElI7v-3Shr-FCmYF9bGTTJLI4xV5G6D5KN8WgLtDSpaw1R1TktPMT1u9fV9GIbZaWAVfnIZx3lydK5z1l53MlUJlWGcj0jCVRv759BDRhE9cokcIMIM2cyWiWspAxOrbP9YX9Yf2ZgbpSfjMFsh70-tJJIYu1DLoPb8PYmmzdBsVJ5CgkJ_q5Aw1yvySG8l7ixyFcdyTySHRM9X41X9DaJUZ90jZZHgnoCf1v9Hrnbs1yDXjU20yNbNDEP6YSV5DyboFPyNEEngti_r4Xha7TKlMgwZTohspKryIRSLw_n-gIAEeWzx1iaJNbki-Id0Imd6p8GxuLNyEFhsC0r-UOmw1hBQHtcunh3g4uHLsA765sSXM99tbKkfmxhT2Z3XCnYKY0EXdwjv9Bq6vwIaBSF428JIXIpxWqBQSPxKGK__1-iWzYs7tamXuWjDwa2sahGppl4t-J3GitVK59S8dCV-ecK_qEg4YRXXPZUUBa5EEspvfp3IYWr5iNZoMTZiBVRR6FFKV0sRECtBTgNez5IOaqxPpaG_Y8kDqIQhx16VDEIE08WavOydex34LXsy14bTjmBaUFMHt_VoxSJz9glN918mFC9CeKjwa6Qbkm40509RhT85lTTXHq6ZCm2gbsTyv3Bj7gQKb_ufimlk_TYoA2f-vWFC9WGSgE3z8nvX1ENwCjB_Bl1rEYP3qRVcxPrJKMsdLd2sOLuSpFCj70jyYKMhCIFkzxopm0eDG0X1a_-yB89RRiKSMweRgNuGOlBk9xo9NUVannjeIhQcuHQXtrZtSpnX74QJlllFFY5udyq4cIYMNnoeekqq0yqGL-RqkRgwMEha4Qu1dIa2PqLEtj7dLt39jHpcKz1IPP2qoIsVv5wTu7Hs_RsT_O4hQqbcjgxQfilnMiLyMZtI-r89k_QWIiPAv96VoHK3KJQ882Xv5QBBW-ibsYd6hjWQonaCxbt-JZBijD_-gBVsHqOXChQbI5NemFn6S8fbOxysujut1LlX4fhaJRbwPIzA6JWgslgyDl6yAwDfOoirifDR0jxTaEg6c_ruX_h0AKMbD2fyYbM8W8r4cbDRqnoisQ27RBKCiLgSME-BKY_0EqZ_m4Sw=",
  "id": "rs_0413602ec963b5e3016aacb7fec5bc87d0b1317269d8694097",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left container’s upper body is now between the open jaws. I’m closing to establish a grip, then I’ll check the jaw spacing and lift slightly to verify it is secure.\"}",
  "call_id": "call_0rwAmteyjWTV9u8QWJS95TJg",
  "id": "fc_0413602ec963b5e3016aacb8011ddc87d0ae06ca4112af230d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0rwAmteyjWTV9u8QWJS95TJg",
  "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]: [-0.4698, 1.7615, 1.2095, -0.1543, -0.4187, -0.3157, 0.2481, -0.02, 0.7986, 0.6086, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4678 left_y=-0.1529 left_z=0.1437 left_yaw=0.0409 left_pitch=-0.073 left_roll=0.0182 left_gripper=0.2481 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=-0.0049 right_pitch=-0.0115 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -9.1556, 6.7077, 1.4969, -0.149, 0.0317, 1.033, -0.1983, -1.2923, 7.0359, 1.7021, -0.0269, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c8d7f83964d4db87f93651793329512f3068c45e069d598eecf2161eb53d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dc9fb59e284eda731fd66de6119d92d10feb43c85bf1c3ff47a623db60c3c85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1497cddcd4024c7fe3ba05906d7b366cdd31a2ce6fe4079d9549899c1e9c6b75",
      "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]: [-0.4706, 1.7618, 1.2095, -0.1589, -0.4107, -0.3069, 0.9995, -0.0196, 0.7986, 0.6086, -0.3847, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4668 left_y=-0.1543 left_z=0.1424 left_yaw=0.0292 left_pitch=-0.08 left_roll=0.0231 left_gripper=0.9995 right_x=0.295 right_y=-0.0004 right_z=0.1798 right_yaw=-0.0051 right_pitch=-0.0111 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -9.4838, 6.4615, 1.8926, -0.0317, 0.1783, -0.0122, 0.0479, -1.1145, 7.0359, 1.707, -0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLgIJ136mKCVP7vzxVmAkjy_3tzGMA67JknGMACIeGoa7qFg24u8ziB4CeTxgENRgM1TN8EDiW5ugYTksHZY2eugZJATZQ3orA7BlxeBafGCrNfRwp3AaaDyV3PnjV4F1h5oUN1JFlc3OWzChQhPWBMZfZ3ZZqJsUHGpZzFnzxHmibmaCVsHdC_WHq4X-biOGdw0ITdbcwj87TzJGBVLSS95Faj7TllbzbliDuHLP-hht1-Xl3m6bdHrO9GnRDfEx4duo5g2jHCw6HEVqn-KX5Idc_8eHStpJtcSNodT7NFnhZ3ptvNEKrdd-jz0QMJYd6eWmzvjkRRtBtCPqbAF1Kj0bz08h19OaxQ-n628tl8Zv_pKBV3m3RQKZF6MDfM6SpHoAJNek3FB1S7sZfmuMupkHKR9dP5OxiSSX2ajXBn6xeFBwlTONTMhQw3uUQK-sPRykeSx0AJIjrRc9wlym1xJkQRfuqyCj18-oImC-jehsplaA1zVx-_y8Y66S6mLF807u04n0N_RGSKtIwLS_M1Lbyy1DNslU5NbVFMp2-4J7VD-mEm86jEl5dMxRAdrzpOlIEOj7ru3dumEzDFFuu0ZP-rGl3947YJ-Vax1n4AAQP2fboicdxq-PP5ZFheheBT07P7H7nKI8QrB8CXyKkfSzu7Mk11taHH6K4IHDQX3f4LPWBaXbo0tbAtcW6U9WVojrKQcW2RXRYAltVkF4hacgSL3_kJdzl_mPj8eMeVg62q8Xv6aCxkS-qD5BICK2go0PqKwJ2RqwRUBCC4Jetk6WIoixSTpitCspmBBtniuBv8_8UNWkffFdU0QKIhGqKXQkLViNWk_f3n-mL1vA-MrGi8KhPqH6R0kC_KdRKPNmYuW86iH4THNQEgeIwrAIhGwlb7vPlJvrKgr6cB3KXBC0IjBmWnPofo1WEsbn-JCEgWvtDeYwo6K4Z28QZFy0ED9MwmDB6w3pcdbTu2k2elijlWJIAOZ8P0UxeTwUJ2Hrks0SD4cjSAse0S9PRJZVkqArbxEhiozUMJ_IT6DFeWsUM7v-S_yPFQ4RjH6T0etQ3sjxxz8pLR4hDI36FVtzLiF-fhKnLnngCuOSSp3_Czmm2yzD47aBWgThRZunqh_YDxTb2Vi7czn0VH4igirPI45Yk_wJ-zlt7bX_fx7MubENF-sdf4KDTRguNw4VQgABLlNCqvuQIjeQwsmNAL86oVhvXNRLXSuDvuLi9vth8-ChubqCTDvUDpB8FWFmhf13qUZvd8XpFngrTsm2k1BQNUbTUcQM-vMjv5COQ4Bgkv3-g==",
  "id": "rs_0413602ec963b5e3016aacb80680f087d0a2c89127a1eb2b1d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.22},\"note\":\"The jaws stopped at about 2.4 cm rather than closing empty, which suggests they caught the container’s handle. I’m lifting a few centimetres to confirm the container follows.\"}",
  "call_id": "call_h5RWUFuimDrFZU40FNgM1zPT",
  "id": "fc_0413602ec963b5e3016aacb8077f9087d082e60350a6adbcd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h5RWUFuimDrFZU40FNgM1zPT",
  "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]: [-0.4698, 1.7527, 1.4261, -0.4793, -0.4187, -0.3328, 0.2517, -0.02, 0.7986, 0.6086, -0.3847, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4616 left_y=-0.1498 left_z=0.183 left_yaw=0.0559 left_pitch=-0.1591 left_roll=0.0544 left_gripper=0.2517 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=-0.0051 right_pitch=-0.0111 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -12.1641, 9.6615, 1.7411, -0.2369, 0.1685, 1.0232, -0.3487, -1.1009, 7.159, 1.79, -0.0317, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98fd288d01b2913ae5b3a24e00797bfa9332ab94e14ab78fe5b046b8e5c7b1d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691640638e728811c31953d9fdd7b3a1c8d9caf204044a1865b1e4f7bf7a5346",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ee8e56a24eec618343679a998c04662983278d281633573a60ac081f4c1a4c",
      "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]: [-0.4698, 1.7615, 1.2095, -0.1543, -0.4187, -0.3157, 0.2481, -0.02, 0.7986, 0.6086, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4678 left_y=-0.1529 left_z=0.1437 left_yaw=0.0409 left_pitch=-0.073 left_roll=0.0182 left_gripper=0.2481 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=-0.0049 right_pitch=-0.0115 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -9.1556, 6.7077, 1.4969, -0.149, 0.0317, 1.033, -0.1983, -1.2923, 7.0359, 1.7021, -0.0269, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLgVI9UBD_VdnRsAprAVgU1nQAuuvWhoI8DlX_uQFn3_mQtGqI-OhBe3Y3yjloKGWuOemcif5UoZ20GRkzWp7aNPbcj1T-cFb15IHbVV-dWV9l2xTzJ3-aWkW7fE1mCNLC_VJ2IaFPAQs96eZIazokd-neh2rNXuSNNTW6zRxw4-nEICpt4vpycds1qqsgLJKi6gK5P5oHlhmIqJWw_vP6UVxWt6fmwi-k81bjmpZPZUE5qr_uwyyabaVFE_74Walxq1w7a68cpamrdoKc5IbUstIhmOtSVYUuRp3UPsJOXjO3NW_wj0ZPoETYztiY9aIxIFMB5-VaxToZ2wIFZa6GY-MaPgL_S4yqZ8DJ6GPxSEz1PIACQPbgerkX-r3VmqZwD_BRwdNa2cNgoQg1aJ5-nbnL7C93cR8DdVVUXdy9pXEkSHFp1kLvtnzegYcgbdUPBjnYnlMC1R80ucw_i5OtVbkCax5D8th1zgHUW2RyMhncEUjVXzznEK57dA0wzTuNXwyFwO90O-auOT48MxisTIFY6hzg6oyS8mr99b9QZCOz9StnSIX28JDVkraaA7pkOmwiDTk29j29RouxIQyTM9l0M69ni8lFQLLq0R54BaCDNLWKz0F-Fcrcv5gEqJYvoK3jM8yxreHdXLI0MYxkt4Pk7ggSrmkMPaBHnpOZykOLbkxCFWaP3yPvscvYNNk7bzxhazxUXvl4Y22geXzKVNSsHiKfwVaIGFaS7d-RiknVW8wZEsveJL8p8eZHmMpPNX7VwjPwUr_pm_pUGD0_bmuuaPS-qxjjTatGnh0FXp6P4ZSnjGzdgullAy4F8Ny0jILhbIoDdwpc0DEFe-bNEcj8-6-QuE8TMl-DF6m4EeCzoMTSUfcfjvpqf4RnmZ6Yfx_bO4J_VrVEpBCJkB7bC_oMp31XitBKWYx0A-CHp_NhlpQ080MSNfReGhIy3M9bGaz6uezBkoN6iM-let0rQZZcF9a1riSQCXjVRLPWrpKkiaoWGRCFBlEtH08vE6WB0jJ31DdQadtucSXHa7Fi5sgwD_nXEAKcRuuQ1eJPE-D4nCpljjER6g8SmEUEZpmqXAriK_MWlsw7dug-jZuC2cAK7IAje1P7D-2f5r_QsKUZpO3s5hIkCFSUStQLWDNO-Nv70P-TIf4AcjPwIDR8VPMMb_T-b5jLhbkxqL90k02yoymXxAc68hEpJ0o5024KaPvIASYkTqQ_TbxkImvR2bZUJBU_9Pj0czEWXAiIyfEOJ31RKZEnrWsIrBo-UpdCiKW5PNLSH8U-S1yjCGyxmAo1olhwJM-fYnFEHmBkBTW2Wy0Wwq-ejTnRU-X9U_gxOsZcT9akfhxXfSAjf_rx5XDyYeOHQZfHM05dUsQNzG9JHuBWuTjG7YLXHgR04WhnOWMIxTldWcO6RHCfD_7KzctLmxfNw1mCd-6IgCd5ddinrcu2gUYajYP1CQfj2U5J30dD-ldMD8Pu0FAVnyJkYdaXWfmmVflH8Z715d3C7yXlcKgjshbI0zFFMzVn93BPO_3JpUQFwieNfuOEDnekbpaaeKmiNYsvZi5JsTpeWupNOF-R8HD-3guTX9r8_i8o8nOxV3pRvvQMUfqZKlWYVUnhGyd13Olu7-MxX6x3K2t79HQNV7Ud_Dlmsq3LDn_tNs2I8ciDsRg-hagEqpW8ObqYtXoT7c0LMikHOoMN4GZbJtlwqOriqtpqZWCxFuSJ_kV5_qbOI9nfmrK-E5FF0joYN2r7w0Dov3P1UKzGTuKfNpX7q8elD_tRao6s_MaavKYBCB8GY38OvsE44RbaFl7K8qWHhka8lZVMMxmyvbVwalNNmA3wLuNI9oHNlUsehw5XRrRlbznHknnBBYm83xiJ1tyrPZ01Cw0-Qjx2fN0CMSQqSx1eTw1lWLbcCZc1xW059A1iUbc7PTKry-ce9q6rJ2P417YCcSMYSZ0FXC21JYyx6Js3BnOdTPYeEao3qCw99k7KuAB1yxrqNMn-4EuiVqzNkDFSLSmr4qgi3_bzEOwEaS_Dv3acwu55l4duWKJyJloI8j8Qj0JujXZ5BrXbEsllceOA-1OeqKWRtJQswwLh7XOi_LUBmMTUo5J8svca0nw-wOKQiToscpJTust1oXS6df14_RUTveH0tlT7E=",
  "id": "rs_0413602ec963b5e3016aacb80e4d9887d08738883f981f2adf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.25,\"left_z\":0.32},\"note\":\"The left container moved with the gripper, confirming the handle grasp. I’m raising it and bringing it toward the red cup, keeping its bottom clear of the other container.\"}",
  "call_id": "call_fZJv4je0518ecoCXe0BHpiIm",
  "id": "fc_0413602ec963b5e3016aacb814434487d0be712eeac217b40a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fZJv4je0518ecoCXe0BHpiIm",
  "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]: [-0.7025, 2.1139, 2.4409, -1.2285, -0.5484, -0.5488, 0.254, -0.02, 0.7986, 0.6086, -0.3859, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4482 left_y=-0.2541 left_z=0.3004 left_yaw=0.0479 left_pitch=-0.1718 left_roll=0.0283 left_gripper=0.254 right_x=0.2949 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0051 right_pitch=-0.0122 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -10.2496, 6.5573, 0.8278, -0.4713, 0.2125, 0.9304, -0.1846, -1.1966, 7.0632, 1.707, -0.022, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c332c2fa494f134e2e0ad5626c6748bac81be604bf2e93281227dbdb28bdf1b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ecb92da03d7b8d48b5e97433b7228b65609cb5178d668a19dce09aed6ce7cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bcc0d33e7d6221c19c7e99f32fb092a7d7675660b4a34830e2d669d0288ad54",
      "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]: [-0.4698, 1.7527, 1.4261, -0.4793, -0.4187, -0.3328, 0.2517, -0.02, 0.7986, 0.6086, -0.3847, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4616 left_y=-0.1498 left_z=0.183 left_yaw=0.0559 left_pitch=-0.1591 left_roll=0.0544 left_gripper=0.2517 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=-0.0051 right_pitch=-0.0111 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -12.1641, 9.6615, 1.7411, -0.2369, 0.1685, 1.0232, -0.3487, -1.1009, 7.159, 1.79, -0.0317, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLgbDlACxSP8u4Jc3Za0rSu8WZ9DYNAKmdlOVDSozeYHRLlPM1ZoxCpVwI8mmbMAks928_MbnNa5xLv_EAFKIgHCREDTPT1mcolnhWDm7NZCpjMHr6a1Y9i60IMTOIg9sdQacgKrlLf8IfGX6S5X2EtSYv_z0dL4z7B2ApkrcAt-duwbudDoU1EF8X86P6n1vnKDmtNzwHa_AZIRNR9BAdwh3-agnTYd2s9YWw6LRbB4rwUv_ct3CmhYIFs1gAT1iWzprm6TuryT7ccVzscSqDnJUPSUxEG5kQ8ttIQ243qiOXrjgZVfnaeO9ZIcxU5CpcPfYA7Epvws8SC0WYbbTnvF8pKOKmRUis5iVyFbX9aKwXHQbafbQ1sEiDIpjTNpN1dhbR7pRzLT3Xe3WuTa8JHtIDAv2TTZU4uG3k_YMC9MceZwFTs8otZQv2AniuenCAYm2txjDY-7_2EccIt6X40-I5k_TsqK6t9nTTfSDW_B2q-BDZO2Df7RyJ-roNneUBgePErmoBjRiw9It4pFQ5XuHIWQF44KXDCNUg_PMGKewSqIT_GgrPXIskC3DLXH0zEZJTIhHqV89b8dNY8peXX8T6p49iLEjsLx3EcLevgxACc9XrtsS_EU5JHuhnG5UYcWL8WoZwPEaY0La6ObkP1xyAZJV0VI5zNyh9haVLTUIBhc1RDVPYj-44u8nCTyLqtwpu_2kJxjtw9BcxktHgwN1J45Zrg_CqAZ7EXLLAaBf3OMqF60dUxbFzGYJ2sva-0MMbFaDSfsM-DgEotDjagoD0-GIBCViXoyddPsH50nmtZFnaBuLW9yZP0CYgRNXzHBVLQZpPwuZ6QKLP3HpioffgneiQJn8xAYIOqRIqkt60uDIsgRYymicCKbdZQGgwJqeft-eiZ7OiwErauJUNkltJAw486VGK1Ithg1b4eq2mZrsJIwKkH8VHeCq0D2OXftS3xVONiRm38EZopWP4wP8H5g_DnL5ul4vz2gekDiMu33AYX-j-_bnzdTJz1iTLbC3b4x0kjzVQxn6mBzuKEjWywrIuIiN2JXWYwaRotkKDbs3LFJ0HiX7EnGDVOkp-_ek5HDHDp8o9PpRpy26F9nMQzRluY_3B-1w8n7HuBNXyAbfry_PPDTWFDDGeUEydVCqXvqjzydgDDJFMeVd7E37eQ6K0-Hv_fmHf9OwvcHrK1F0SLS6jX47Nt9iBFf4Ok9G_y0TTiXQHiJTCYLXJdOBAjdRj2Rqs499cj435dOxItBEJZt0983jidP_NyCeGMBwkxyEtWMIqA-ZXlhJHCdEkLdiBbS5KbmlBjKehqMNTOOzXID-Y3WLV8gTTUoep8tJFK-KWIBaOb2rVWtj5Vs3t3jC1PbgeAQyd-qTBSNyt0jpwltUB-qQEth686OPxU_tyPS7y8qhVL3zlKkMpo2TYMyaj0AymTZSG5k5GhdQ-g=",
  "id": "rs_0413602ec963b5e3016aacb81789a087d0898b6a1c93e5e633",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.31,\"left_z\":0.31,\"left_roll\":0.65},\"note\":\"The red cup is to the right of the lifted container, while the blue cup is farther right. I’m moving closer to the red cup and making a partial tilt so I can check where the pouring opening travels before tipping further.\"}",
  "call_id": "call_bdHEqfe8KIb4TsiNegpoJSCr",
  "id": "fc_0413602ec963b5e3016aacb81941b087d0a34a7ee68823991d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bdHEqfe8KIb4TsiNegpoJSCr",
  "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]: [-0.7578, 2.4844, 2.9021, -1.5814, -0.696, -0.4194, 0.2569, -0.02, 0.8024, 0.6083, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4507 left_y=-0.2656 left_z=0.2388 left_yaw=0.0634 left_pitch=-0.283 left_roll=0.4043 left_gripper=0.2569 right_x=0.2952 right_y=-0.0005 right_z=0.1785 right_yaw=-0.0049 right_pitch=-0.0157 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -14.2017, 7.3504, 1.1355, -0.6227, 0.2125, 0.8132, -0.1573, -1.6068, 7.0496, 1.8046, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b03ffe1cb5492447495dcc69aa235ab0f172e815e1728d19ff00c01ba55a3e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0721f93d6ef5082636436523ddb8d2325d8095f2956ca23458c8e01c44a00f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c18b0c6201758a81d479cd735eed6675dd9a645d74055838b6c674211fb0a5a4",
      "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]: [-0.7025, 2.1139, 2.4409, -1.2285, -0.5484, -0.5488, 0.254, -0.02, 0.7986, 0.6086, -0.3859, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4482 left_y=-0.2541 left_z=0.3004 left_yaw=0.0479 left_pitch=-0.1718 left_roll=0.0283 left_gripper=0.254 right_x=0.2949 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0051 right_pitch=-0.0122 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -10.2496, 6.5573, 0.8278, -0.4713, 0.2125, 0.9304, -0.1846, -1.1966, 7.0632, 1.707, -0.022, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLggC6l-b6Ie2Xq-RItslexoXnBQsKXUrb5BDbN0Rh0TIaDf6A9mqQVrszCprehvWbDa1oaaDRdhHnRAKFmHl32BmZkZU3VHx0w2PgbSSoFtsJyMV53umT5dt7vgvjufqvWFtzpNDX9TKoG55-M_hxau54LTz8KmkqfvX9-zfjwICRQtm_EguAOwO7k9rfGZvReUa4sfJVSuUcJB8KLS-ogXiVlHeaGUeljxoHCnRSdAOA5JjRSBPXgFQa2QACe4Zf2a2BBhXzdXZ3MU510tSCHDgvLFDQ0GcLSodkRg-A3Sf1nbAVhysPdh7djLod2DG8rxLJKFXCRPCrXC3eeW0JADsJihPqqP-e9BeEB7_v98qkIq8ZOBTTuAjFMR2b17NVxxq8CPoUpDEhz8QUO8oDJS5r_lHRRvYICO9-fWZTtXwt0liav2dfpG2HLE_WRp3smVckH-98B6fzC-C6OOIjZejNTXpugRkTPiXppmj5JAlpeA1npIQZbrVQGW5EHlkx2ej3v3JgJtFBbuUWXtTsVs4F89P0EZIn4DsDicEmm6O2GNf-hwPGB3K43ED1xAbqfshFctEFfjee0dqMv9qKxn9HnnANFbe4_tPuTqRDM19Mj0VIZQLAV1XRrgrISaTdHhgaFJPbVbV1adhMh74nD_lK5937mWT-40Yvg9l_ggDpqyIORHRjQN-ZHBJe1XtauW5CI-OA72U2uqZ7gBnbiyfadHykHZlEIiPGNmC-tjGJyZp3jMZppIy9YkAYHhNYXCXfn1bS_HxbvvPEMEJvZ6zJLcpvIFDiZHLyyQINsiYEgA20kt0wjNsC3jsYMsuZyTIjgWMnk6fcxIl1APNSwo2fLs9C85igW1oqEewpeiM9oB6AEF8so29sRwAn8Xbpdsfsx9j30W6qiHNheR1SfLuTF8N4UVbR18_ram2kpZE4Uj0W9z_zjUwGcF7E7feJsbCtkGEptjeKRvOGolHcPwTYTE59KiA1chA8oseoXBiO-m2q0c7EPxMScIbm0uDsJlO_ZS222FxPGF6Pzgt3hOVu3M2YOk_Yg00m39xfn_xXWA8RKMd2Z6QAf6OnCU9rlo8YeuTtrfwNv8wb_Hlx0jfhAXvr38t361Uy6ot1w-chCAIy5qdLgE37e-uwL4Y4dhaLATiFSj10DLjfc9E6MkuXCG8jhDNA8Ika6jtvMwaHDxIst-6kJkR3QIq601i42whhyEO2q4JMsLpxAn-6ZuaGB3QL8J5x_JEy7SOeQsshFzUVFsJlDA18c0pXdNBHymFVRgz6A4wsoTOTU9ecWvmYWLP7H8CKZ6vlPm5sxf7a5tNsqw1RIlqme6inbMDPyhfZd__0iX5uTGUhGnofpP_Vi6-T4jv9tDAZPWBWJZ358YVRcWfuLAdaSTXZ5zKwUX19PRk_9Y78obIcEKClNBvyMtZNHRa2vFcrTCIRSo8qszGk7RVUnFIsW7eLAM2cu_FTarEdiwl_ijIwTFRq4FyKwl4h-BuSxrb0Co-cN5kIxYwWf5FZAy404ftaGJ6leg",
  "id": "rs_0413602ec963b5e3016aacb81d068887d0adff839b96e26c3f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.29,\"left_z\":0.26,\"left_roll\":1.15,\"left_pitch\":0.15},\"note\":\"The arm fell short of the previous target, so I’m reducing the forward reach rather than forcing it. I’m continuing the tilt over the red cup while adjusting the wrist to keep the container clear of the cup rim.\"}",
  "call_id": "call_yfQn7Q01hpAYDmTNAwkQak55",
  "id": "fc_0413602ec963b5e3016aacb81eae7c87d0a125407dfbd5e11e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yfQn7Q01hpAYDmTNAwkQak55",
  "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]: [-0.9535, 2.3211, 2.2112, -1.1572, -1.3746, -0.1493, 0.2578, -0.02, 0.8051, 0.6083, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4228 left_y=-0.2901 left_z=0.2383 left_yaw=0.0542 left_pitch=0.0667 left_roll=1.0877 left_gripper=0.2578 right_x=0.2953 right_y=-0.0005 right_z=0.1777 right_yaw=-0.0051 right_pitch=-0.0187 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -13.6547, 6.2701, 0.8571, -1.0672, 0.3101, 0.906, -0.0752, -1.1282, 7.0769, 1.7216, -0.0464, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fddaa68767774699e063329da436733f50ba7ba0bf36e7ae816a99543a1aa5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160f6c59a4a7d00a78a9fdba225f08ae8634172524dfa2a605067dc9dd1b93b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1351b224fb5325ccb0f4d1bdb1c9b973dec75d3eab48b545b46efbf85af85c0",
      "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]: [-0.7578, 2.4844, 2.9021, -1.5814, -0.696, -0.4194, 0.2569, -0.02, 0.8024, 0.6083, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4507 left_y=-0.2656 left_z=0.2388 left_yaw=0.0634 left_pitch=-0.283 left_roll=0.4043 left_gripper=0.2569 right_x=0.2952 right_y=-0.0005 right_z=0.1785 right_yaw=-0.0049 right_pitch=-0.0157 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -14.2017, 7.3504, 1.1355, -0.6227, 0.2125, 0.8132, -0.1573, -1.6068, 7.0496, 1.8046, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLgoMl94JTd9Dfkqp2gzgMDPulVds0HITFKFNyJLS4RcOAPXWeOfrqpFt2eRwYqoPFYEmz04KgL2m6YsOgfVgIoheqMR8vF0npcFJwIuuQ05RQkKLOBCJV6v_JAnGKzN0kfU9nWZw9lXsvdtzFr8K4GxApCXsCdoQ35u4jiNgsWAKD0-NkB8J-uvwvNLqT7zEw1jFRRehxz4AiZuTPSUwO6SqbKzT3fSYXv5OW4n3RPG3rMXQjftx7oVbUbzBEwn86jSbE8jiNZMkzOnCRgqwspnPy9Y4oghM8zkKFhpFSOpn4lpKyoYj0ZWoEXoQwprOM8JjpvO4X4rG8JCJ70NQCdcCyion_TZOVsBxvOtipb0BIgJ1tAW-MSVVRUkiYTwjzfIHFaY0gm722QstSNfH2EEDvWOvLY0PExJjk2BuCTaX7-OMcS5KdwqYfSzDs4bURqtqGBV3niy6h78A_ZzaS2iWUheJU3g5_BW5W-Z91AMyQ3nBCZpGuPkZ5-UmpjMeBiXLNfSiBvjOyK2WJ6F1wdOM2qqEZw120_pZbpcbUl4iZjRJcdEAzwt6Bg7usFwQ8wlhIu_FHi-ILyfizon0ToNeQ9UyfF03-NBM3fJNKDzOD2rL-r1dyDiX5WHS3oXgLjRjWqsL9AQHy-JUpWy9xPUf8C-_XWGMZAxbWkpgkqazH02_mCdOThJeHBBGBFfghYPR2UZ63SPS9kdBajLLAezcXpTHIU1_AGogClSE3KwktpDjOc0LiSzkMn4RhydPVnyuNQ8TiqWfmYUTQkXF6Av5X4TSpMSRCDqkf2zDTYoJyuMYPnmyqr2W-QWLEO3KUaXD48GZ3EmFgvGn6V_oD7cSzHXo_y1AcXgcZbYD1uhDRv3be0Bu6K1w4UQEo0MgionNhHIMHP-24mLtcPIIYuFecXy_ucmqEdCrJ3UPuZ0msebr2hbjctxGHqV7BcqngB2WfAw3C-k75OCIt9ZZiTn9q_tdirmfYq_HOs5J-bcmXY_dEY2PcFkbRmSAfHU0HgZmSgW9aYMuXZCaY522lc-5FHkHq4oFCZiFJZmF6ToRh-tO0bs6QSfE_SAkrzohlrhOFXsOG56QisA6mDe2ZIzZS4_JsYw3IgdabY6f36b20Cfw3L069X2XQRm8BOH9j0xtD53RojGCMKPwuREQDvz5vEJ5Ew2X55JqWyNHlagebNa3Jw3Si_CVNjBpmpk6anVUhioNTeAjG719bc_XU9wJ4nDxu0ev91sofip5vwHhztVx68xgrfZdVLJqiiC1T2TLBnBih8ouA88aD1QjAz_0ug_9VDanXX1OgqBZMSYoGlQZb7WcIJHhGGLgXDepspWC5Z7ZZe3_duglZ7VAiOdPiFOFE9x3C8Rjf5cG_Kod6XGLWAYdSpgkKViW7-W_BNsbrf28tyCGUzF8vWKBwv84oUIzWFRwA-_8E1I5h6TzUnMCH7f2XzssFOtmT9P9k3oYxs5srwKNVyEaCMxJ20TI1QSjz8vKnNLysD5f5TpW98HbWRVSB7Vl1ATPgxmlx2zzg4B2ZZ8gQ2i9d8AAV0xnmYTVV6s4IFeGultjvCwhbk=",
  "id": "rs_0413602ec963b5e3016aacb82435b487d087550d3f2a77d522",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.325,\"left_z\":0.245,\"left_roll\":1.55,\"left_pitch\":0.15},\"note\":\"The container is now tilted toward the red cup, with its neck just left of the opening. I’m shifting the neck over the cup and increasing the tilt to pour.\"}",
  "call_id": "call_yMNZHq1haBES7X6VLZBJtQ8Y",
  "id": "fc_0413602ec963b5e3016aacb826f20c87d0a5b50ac625cb8d88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yMNZHq1haBES7X6VLZBJtQ8Y",
  "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]: [-0.9565, 2.6881, 2.7831, -1.4044, -1.5417, 0.0124, 0.2577, -0.02, 0.8082, 0.6075, -0.3855, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.444 left_y=-0.3169 left_z=0.2381 left_yaw=0.0586 left_pitch=0.0991 left_roll=1.3484 left_gripper=0.2577 right_x=0.2954 right_y=-0.0005 right_z=0.1765 right_yaw=-0.0049 right_pitch=-0.0225 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -13.7094, 7.3915, 0.6325, -0.8034, 0.5641, 0.735, -0.1026, -1.0462, 7.2137, 1.746, -0.0269, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ac03532d257037d5e169a38d0683647badb864d0f27279089d173c403aa8a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fdd18e457d4b9d56f73b553a378db372494b3d97adcfa68b92b8e2f110488f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5de532e92a38062ddab488921987572b8ddaeebe7d731ad5d642f410b9f345a",
      "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]: [-0.9535, 2.3211, 2.2112, -1.1572, -1.3746, -0.1493, 0.2578, -0.02, 0.8051, 0.6083, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4228 left_y=-0.2901 left_z=0.2383 left_yaw=0.0542 left_pitch=0.0667 left_roll=1.0877 left_gripper=0.2578 right_x=0.2953 right_y=-0.0005 right_z=0.1777 right_yaw=-0.0051 right_pitch=-0.0187 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -13.6547, 6.2701, 0.8571, -1.0672, 0.3101, 0.906, -0.0752, -1.1282, 7.0769, 1.7216, -0.0464, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLguqVQbJTInfIqOPyr5dqlusPwXo8Pmm47tDc7hjdS7bEQMa7ED5X0XxepJsN-L2jK_GMuSdDKmi0FfIzSXBBvkm9dte8yvTzJvgLLpzSj1ElHQrqOqe-foUZm0mUQ6tOnXxCZN3lVrwf7D4-_BYyjIakTak4DsK0b62wSAv15fgy7_paz7nYIuNNKS-LVT2U3YVldRNNKsPAYE2RnbmS63Kb7sewGRY4zx8is8ExmbojbNh0I8C1GeYDzgq_gSxlC7pc-AlafcU1u010X-7RwSNsuvODqnS3FqUjSDxfU6kzSd2p1m3eWSbVZe6vggM8sMjH3qe6DdnG1_qvjJPK0gHj1aDAjzL2lrYPJJP_zVbYe9xuX0WpxvNH2lUezXNunhDz_8PnLGxAiYOmezYZkmyP-Wza8bXxwt6zjorJIWWUX1dwDEeefp0oDLPPtUMbJlaB_BCaYkyP7z4SyTI9_hZ5oN_-8jkLc2JAHlcrHGy8U0aoxg98PGMnZ40Q3Epk-gwbZ_iC3qznQD9X9s215FXh3y6UFAopNL2eqPewnBp_yZeQakAYD_F_EuxiHyVjYfByqAA0WrBHMU2E0Q1e4Ig7qyOlCxXoSHW-bhCxmBwX2FTvG4pjqc1oVet3Hripnfy5XyTi80A8VfH7eTPK6x8dd5KOBEBRwZj5HuQJb8WDQf3_qDMamjvZcbAw5K8NcRt29gIbdaFKLw4dIsk8PASK--_Xd7jhatSvL0e_ZFIt3HZb1iBhSTDzKIOPri-3q2lgOvGytNwu4l-kHNPEBjBiYw13EOhylJl-d72elTaYRJTsoWS691BAVIJG1UpfKt20J9Y_Nyr7JrpZAj7m5sqcu_HOl1nRD1z2WqTckZrflnXn7GEu8KJMoMhYBiO7dnirHIhLd5PvqtIXpgHpp7fNCtV6sXU9bQ0JZHjFuK4Z9O9ix81cyqng1-OtPChykIurwqEQnie8BaW1prOCOmYi170yW8eHxQ5LWZaZ40oCnWZVqsgqIYlC6_TsN3v9qdwHDKUxtioRZB5V61KcVKUGdLT6IoAowzj_Jz8T0mfqG1ZrzP5rNppGorFdD6n-p0R2B-nMXEZMcxgljYpE-0mN-82Im4T-rRt9tPG5PedSbq1YOcAABtSqyvpbwSqJCb3AQLAkuuELawYE6l1sHRgwWXMjG30SyxgcoNWswFQAUsdghQ-6DE_ux8n0LIdcuPuDqcyhhmnhYp3cm-faqVMrNwZHDfuabXCbKBKpzp2oCukBri9QG0DKXIqYyjs6rd8yG1Ff0gK7JPyG0iMD8yWvOe-eonYzZQm20f2JJSqTTrZxrqGkACxMdDCf5MmFTseyCpGy1APA3Ye-Xv6aNPvC_ZDPVSrlg632nLnWZc3FdPP0WHFgA9b1nnF-slAvZiaQ1kJaQVBNzt5qSXlOh1ReSikbqktT35dO8M-ZlBWyTlj7N1vURY_ynczIgzK0rxF8rpi_7q_T1HSqAwAkvdEhi_XvdkaQ4TD433UhpnZBhn1cnHfm3_pw12L6aRj92dRR7BYoiuMBLTYowYUa1z8GjQkdgfhSsUzpWYBWfwmlR63Xae_EesvMpSpFDMBX5VhvGyNQxt9Ii4Vb8YhNmoxixiK7qOdS7fAhvJszI1T0zMfHGSI3ntQf1cYRVNpRQ1CHI_qjUt2YJYv5nSM5M1t5wv1hp4sLr9ybawXEuDPPlLushCNJ7wFLt2PBiN9-PNWPNjEnO1Le-QCjZbG3Nr_JuGlB2SQBi35MhBY7zefYBLMj9Ft_oac-5aNEM4We9fnHxO6dHiEULudnGvfv_Igr0XjMNl7GbMDGFWDPLvYDkH4rs2USG7eDtUWYkTanPCqz_FkwWC-bhhKuhvUmIGGmbFf5ZiYIKRuDXfcBUfAlk=",
  "id": "rs_0413602ec963b5e3016aacb82a609c87d09cdc74b0396eb554",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.3,\"left_z\":0.23,\"left_roll\":1.57,\"left_pitch\":0.5},\"note\":\"The pouring neck is close to the red rim, but the arm has not reached the full tilt. I’m making a small forward-and-left correction, away from the blue cup, and adding wrist pitch to complete the pour into the red cup.\"}",
  "call_id": "call_TSk80z0593ZRQC4IiAIQw5nT",
  "id": "fc_0413602ec963b5e3016aacb82d4cb087d09bd03a726bce77c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TSk80z0593ZRQC4IiAIQw5nT",
  "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]: [-0.9016, 2.6942, 2.7663, -1.4025, -1.5616, -0.0769, 0.2601, -0.02, 0.8082, 0.6075, -0.3855, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4608 left_y=-0.2921 left_z=0.2342 left_yaw=0.1262 left_pitch=0.1508 left_roll=1.2996 left_gripper=0.2601 right_x=0.2954 right_y=-0.0005 right_z=0.1765 right_yaw=-0.0049 right_pitch=-0.0225 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -13.7778, 5.2855, 0.4567, -0.7204, -0.0024, 0.5153, -0.0342, -1.2923, 7.0359, 1.6972, -0.0122, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9e38bec2ba91a6e3e83d3d2580a64ea8686c35c05a83f39247a38c5d9e8ee22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e42089a3855700c4a6f110eb8d52135190334b9903a630b47dfdc45caf02f0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af9ca520742d74b3d5e78be4b381fc7f7a0220d085c4112e96c0ea9908a8263",
      "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]: [-0.9565, 2.6881, 2.7831, -1.4044, -1.5417, 0.0124, 0.2577, -0.02, 0.8082, 0.6075, -0.3855, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.444 left_y=-0.3169 left_z=0.2381 left_yaw=0.0586 left_pitch=0.0991 left_roll=1.3484 left_gripper=0.2577 right_x=0.2954 right_y=-0.0005 right_z=0.1765 right_yaw=-0.0049 right_pitch=-0.0225 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -13.7094, 7.3915, 0.6325, -0.8034, 0.5641, 0.735, -0.1026, -1.0462, 7.2137, 1.746, -0.0269, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLg375kijZ-oo2IZc6Er-smbXlZQdLbh2csVbrZOiaa9ob3uX687Bz-pDHzuF8vo-MX6zcGjOpMC5CqBtMi0S-Yqxyn7WkS56AeiRE2mkd_Az-WXz9aaFG9WccudS7zfDKkuxEsqzDeXfQsTzmTIvB8tc57fxxlpz__h0kMO9oITbAgytRdOT2xpatTGaHo-dKZ5z2UBGZTZOcOXd5C2izHnv99aknSZpnXVnplMBNCgoRx3BGpXF6CW8lTSFXk97b5AeHfw5LHJdmLTeth3VN-9xB0UUuCr34aSlRL2nDx7t6dGs5s4xx78OmpTHo-8ZuxYOsEvKaq2ffQd191RLD4BzswPMiZXsiLgQs0Y3kVVf1NUUk4zIhFB7h8pgU2cysy42q7OYeQWlekWbvQoY_dGjuUXorwt9AIZUQUNcWPOTzQoeX1vNocqJwPcIMncDT9nO6DqaiQrWkeOXxfLzHpw8PIUBMMx9Vdz5KIN0jVFkoxgeBFDuSq00Z3vQUpvfijZCLrHxNA-1OEPLsaLfn1gcjX1j0lPV--4a65tmCImEfENK3r-rjHv18WOPwLbp2dh7U7iBWNEGLOmCANq9lGSz6HdMFZm4O8u7Y6i1OOiz0O4y-LONufzK79SuciXxVH4WzilbBHOPkhvw-cu9FMBw-We_pctkR8tN9VGrFESLBXCGi34HXI85_fCnpDjnJOtK1LxJGw0U9Y6RVaFEfUPSE7X9u5TxQaNxyycgU5RSMZpwTgn2NJnVvscVFIPBBhUL5zUZtxU8wdm8GpVdIJ4ZHBLAFvphT55m7D6aZWJ4HgkZ5hNGmjLSSHWkv8fkADPASPWyPumQhtDZa0UhjldckZkt9rpbBr_tY-iRygp1n3uRqqxoSuMaOr1OZd-uS8uketRRP5OhTrDInyr7IyxHUhrPNoVmJf_T9gxAzoLBPZ8mqN65-22gzvq97JM-_oIt5UsrmkVmw-2gWZ2IuAFY4A5Xp-fDEw6SqMa6ubdWbCVIbcxk19GpuIU2EcDsAYbsNSbhH2INQeIAlhpkGbKB3465PGW-SVr0fgt6MWXc5LpMRJGr5WdBb84zi5oQNORnBUQD_sSiyyaNwdc2oP5ZZK7-p0iVzUN6ixJog2ZBjG8Q8dXnPw0KIgUtwPqwla0WD0E_Xk1bheyVD16PHS6wWglhPCxb0Jd9D-RHr9v8qaytcd8VpUP-DMj5f7V__LgA4W7MGb-k-dhT0jpG0Ye4zqnUhSZ1nDh6xWFX-YZoiFDMV3WuotxyK0OThJmAPCtNAZ1un-mDAx12FPaeIhu4KPeI1wA_qn4U36Kg8pbT35W73xHpYpCPlUmD7t17xTtXJQUrowLDZuK3KXsUT7RTWWxhqEokYSlvJ-RYWS_popf525SqakAsDlVPOds8eCL6mDCLmqVwJqQrHaQ1EtiDoCEoRcCKtsWVCpC7DGwKUnd6dfYjdvP0LwYdnOrqLT_WMQL4qBr7Q2adeCnNJamF22sMi_VhDOnSrihVPZKFgZ9RHBgSg4VZ0fvgECVlUoSPNRkMvLl4-4JYJ0QzVr7gbuL42Ee6iVEf8glx76kTDdu5ykyHlPx_HhrIu-9eLzn2_7y5z4CCnc6DkEW43K6xMMcof_kvtqIFeNY_iVckcssAu9ebFLn2qKnkKLYflCLYgTY5foyK_LAxaxRONTBP8qe0HgtP65XpwfmhT88mfF3QLlCy01BVG1wcZMEW8OYpZrvh-q4SRpdOtUZmtjDSif29ZPLJ6KPgImcJY4un85Zo6TWIugrX5dyt22z3pewY74T6xZJ4zv6rNIPRfG5yrFmOtha77zPiMa2kyAXfSZkafDn1yn3PI9-6ist9-3GGpP6EqkyP70ipUFSud1SBx_23ZR7ddqx_8_PP3wPeo3zsEwtEN85cwa_6V--UjBpMck0WBn6etUTwPqOkXGuKAXjMGDGcQ1rjHoeFlXhWk3DZe97S2KBgbPCJeIV7mekRC1bXHm_YtQtSrJC41SvPpDga2oVvTzrakVeI8q3dOM=",
  "id": "rs_0413602ec963b5e3016aacb8314ef087d08239c2eba69853bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.33,\"left_z\":0.24,\"left_yaw\":-0.45,\"left_pitch\":0.15,\"left_roll\":1.57},\"note\":\"The wrist is still stopping short of the requested tilt. I’m changing its heading and shortening the reach slightly to free the wrist while keeping the pouring end above the red cup.\"}",
  "call_id": "call_HNnzug58ANHPCKyFBdcisWEF",
  "id": "fc_0413602ec963b5e3016aacb835ab8c87d0953ad55f737a4d32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HNnzug58ANHPCKyFBdcisWEF",
  "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]: [-1.3117, 2.331, 2.1651, -1.512, -1.5539, -0.392, 0.2628, -0.0204, 0.8101, 0.6067, -0.3897, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2883 left_y=-0.3844 left_z=0.2496 left_yaw=-0.2836 left_pitch=0.1274 left_roll=1.3236 left_gripper=0.2628 right_x=0.2948 right_y=-0.0006 right_z=0.1748 right_yaw=-0.0056 right_pitch=-0.0294 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [3.6718, -16.5812, 7.9111, 0.4371, -0.8767, -0.1734, 0.696, -0.2256, -0.9094, 7.1043, 1.7314, -0.0513, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2b5dc1021036627f8718afaa20c5a40a8939c819c54fa2652951e009c50c55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400fac6a775b196e4ed0ecaa6c02defa7f6b112790b6097f4972abfff7ce4f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b764bb8993e553286e0b5ae98ec10b60e730bf42c9e21c2afe5edfc817c0729",
      "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]: [-0.9016, 2.6942, 2.7663, -1.4025, -1.5616, -0.0769, 0.2601, -0.02, 0.8082, 0.6075, -0.3855, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4608 left_y=-0.2921 left_z=0.2342 left_yaw=0.1262 left_pitch=0.1508 left_roll=1.2996 left_gripper=0.2601 right_x=0.2954 right_y=-0.0005 right_z=0.1765 right_yaw=-0.0049 right_pitch=-0.0225 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -13.7778, 5.2855, 0.4567, -0.7204, -0.0024, 0.5153, -0.0342, -1.2923, 7.0359, 1.6972, -0.0122, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLhBcffZBNIPV7Ve5v5k4QXVLN__47FiH72ceTukxLlwHmlTvK_JXP0LZPBadSVFrlmXhuVr9EPM0UgF8Rj11iJPpwCtSJob9Gz8sGzf789DO702IHqs8eCihvN7pRu8ghY4NSkNInP7DYsjRwxqVSyxRtie7iO8vkBM-cX7pMqGNlWrZWSP7tvxHKIJU4kOTb8zom7IRlSbQgbv8B9PLqXiYUb-KtP-UCX7LCUgxyhgelD5Zqbs7eDpGNClshKTuVhQ5zL5xqP2EN63yX8g-CnE3t6ZNSY6kHgKvoEfhIP9Nnz84YSW1lNWgdwRi0hY4mLxmaSgGB8DRd66sIoswMkKrgXGEzvrNFVZw88pNhN3N8_HGjuXMYFxVcoU8hq-P_YChfV7OIuKKppXt9JUCEZ0TNtdKXsaeT0I3n4RqQEzZsxxqhGN3IvqfV3L3NOYZp5ZYy1Thy1LFTbdVkoD9Bq7-dZ9EghsLYxLH5oaBQMuvCoWM_FWtMRMOZOw2wcmDT9XGOfejkdc-5epXu4h5TTYr6xzuUcuzxm-FLQhgZaunFMgo8fOZgkuf8-BV1sDFmL0nN5NNjuoduL2bfR3DR4S2JA7_4_Sipi9YakRS1F9GxH7xdt1e9BsTc9wlZyx9U_5lA7nr9s1BnMF8lYrPZJLP05W3lJXCkNcv6bqyxgeNQlEYpcqMCcyRZmbAgdduhJEn-DwJ2RGuVjb3UJ2QKh64VhtLvtJ78v9oaOCevpnpwi5Mx-Uo_08G33QvtE8D_13C_wnxeGggRkzwnL_ntSgZVIIgERAGNfBlmtyegvIKYAksOfD-COa_WbxkxBix-3wY4_Lfc4RUdHrBhow3c7zNQqew2n13PonLdG0ov4wy3uMYKLtIas01KBJE14GJjvCVZQ-yPwxNbdFW8xmzuvo4Barbz5YugyFLBbO_ikaMxmJ9umE53s4qbOhUqChe8CXDuMZFfTSH3xF0m4x6w7i0lE6s95B1S31IYSexCNpH7zbskyAmoaFC1qVFUZ_5dK_lNq28XZ5T3WM-Vk-93VUdDR1vMVBI6u2eM37xyzGInQeMaD5HmiqwTgUFMab6komnQdEUm82LNXgX71ptUA9Dj8S3DLsSa701rkurStCcFkD2l5MclzDd61vxBV8HpZE8I8nLV3T-cbWvaXUy0EYGH0NHSlhfpXc_pUff1WDQl68ocyax6KymLPgAxuNSQthZu3U553QQAriNU3U6epTShCeSbxeIrnhg62vg0rsCR-LCv8iNTXYis6Fw63d1aOTi5h8Y9gYb8RkU8WKNZdfq-plz6VGBQJe0aMN3I2FkKmBTmd2HcZVrlA--4Hm-vbaEszhQV-j9CSVGcb6gV2AMxxePX83ER3gWvTfmBk3ntNiy7uZUKzITxwiE061PqbvhGLCz2OA_rQ-TB-kgcy4_syUbhhKxEPJqqNargWKulxiHAH3iWBNmC2kIrRGNKhNywbLOMjP_KUSzKrkchk8H64voP5jvzuhliSnA6yyHAySrYR9_WKIBani0VAVj82AAAbelWOOQn8uMx0JWdMW6IBplPDdCB9shTTQ5jQQLOIet_tmWC137MD5P5MA9AHnyqSYhju8CvXcMxQWls7pRFwJTou9SaxeKc0pGw0B_kmiYBi-EsRq1kLYKOmG9Fq6AceKUkXioPeJvGCe4_WHkpyUzYbSkIwW1yYTdAMOj7xrT1I1ZhlxC1ukZT3cMPA_uZhHBce6H6k57rZhnN0OZtanFz5ZQ9bUINxvWo4OA0pbOze1mybvN2yI5g3cHL69uhNiNbX76icAlLQLhyO7vaHIu9D9UcLW4k96CokS58Y9lQbUWr0YgTySVqjIOULqFaArJ7fjg93Ya527ksVs7HDDn2iVY1foLYD9b2JSBQznpJk7G4JzTu_xGvAQyIruFCgj2set6BfyTlwUXGcMwSYwDIsfqUBOn13Bqq_opvKCFrDxDTFJ2i137mXurLFhI8Cz2GVv5e0TT2cMBdYxg_IhrBV6pSlg08g82rdZzPmy2F0oT0Qt3lQUo8xp0d3hnUEDP-_tCyfkAMmtDQgkvUwAJQYT38bYdAj1vKIROfl-RFzFw7lN5eBe1mTL5E2c2DSvqfTQadBC5s0_NnNe5aMmqGTWFgY7xj_MX0lboF28W3HT1GWT3XVuUedr7G2yCamBsqkpqDQrHIqraWR0abkqazzucosflxDkBcFNsW4=",
  "id": "rs_0413602ec963b5e3016aacb83a194c87d0847ca97ed5d2400d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.23,\"left_z\":0.3,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The last wrist change pulled the container away from the cup instead of reaching the intended pose. I’m returning it upright and away from the other vessels before trying a more reachable pouring arrangement.\"}",
  "call_id": "call_TAgfZMeBKGNBZbv8x0IVMZjh",
  "id": "fc_0413602ec963b5e3016aacb83f9bd087d0962ab8a09f8d19b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TAgfZMeBKGNBZbv8x0IVMZjh",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8337, 1.6318, 1.6196, -0.8124, -0.7265, -0.4923, 0.2645, -0.0208, 0.8146, 0.6067, -0.3923, -0.0105, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.3712 left_y=-0.229 left_z=0.2842 left_yaw=0.0064 left_pitch=-0.0238 left_roll=0.1132 left_gripper=0.2645 right_x=0.2947 right_y=-0.0007 right_z=0.173 right_yaw=-0.0041 right_pitch=-0.0366 right_roll=-0.0035 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -10.3453, 6.3932, 1.7949, -0.3541, -0.0708, 0.525, -0.0068, -1.5248, 7.0222, 1.7509, -0.0269, -0.0366, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ae1db915ef82328484953506ea8e22269302f97e85a9d912d620f89f8a985e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4229c4ee0bc641c5fb03d840280849d26ecc1f720fea6c20bb5772e881a94b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9d24e48d6fd01313ff1d3dc455bfb1be6c776cd687811e861207a51ed31ba6",
      "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]: [-1.3117, 2.331, 2.1651, -1.512, -1.5539, -0.392, 0.2628, -0.0204, 0.8101, 0.6067, -0.3897, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2883 left_y=-0.3844 left_z=0.2496 left_yaw=-0.2836 left_pitch=0.1274 left_roll=1.3236 left_gripper=0.2628 right_x=0.2948 right_y=-0.0006 right_z=0.1748 right_yaw=-0.0056 right_pitch=-0.0294 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [3.6718, -16.5812, 7.9111, 0.4371, -0.8767, -0.1734, 0.696, -0.2256, -0.9094, 7.1043, 1.7314, -0.0513, -0.0317, -0.0122]\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": "gAAAAABqrLhH55PgYBv0oHri-hkSttt0RT2yTYMLdqn1gttzRXRKRX949HkczJv7En990PBexI200aT0CECwnH259IakZCWnpgW7QSUIPHub9R6vQ4NNhNajolrRv9VlfMu20CqhOi4XXQ6VttB7WUXOdNJgzQ8-7crA66XCNJTyGp8JorWM_BA4WNgjkI_KGL5-6cSN_EE0fqRVct1xTyxrBEEnLsHmivMySa9FmnfaSvGfcfwy2SFVug6dnY0QPFe3CBdRZwLMrqHKevVtDrDPxGtVe9c2MP-uFxkDq2zuSEtmGMcsBAUJ3Rc5SRl_8Bdz9ZAHvRdll1c3U_feT9D1Ropec90bfQQVRkpnbG7Fp-YazcCrcLs3ZxlIN6v-R5IOotozR3oruKqDb4KwB899YOTEcNep7tvtZR8fRahM3kNtj1oITwPnUU7bNLi2u4kkueqeh8-5gQz7G7iYjOAdQG9MVxdLJbzlCelTD001qo6K75tcej3iLIctVTVjM4c28xfkqHHDrvhxc8_l_RKa31Fr7LrwX0Feocy9AM1vJT5pg1mnY1-KIrGa_egJLmyaeLeBgnZVkfa__VkfVbGbcsTYnll8rHMay-7Kcksz8kRQdRkvGo-XkVPPpzP6QRjvS1CHrOTdG3_ITpEtCNnjPt79_YLTEmAn1yHgQgXWhUGKvhZks0t5FjD6dZTee6EqHSfO9t2khRrfpo7M-RIpgbSbxaxBr_gWY4CxpvKGwwPfhetasQXTa2MaXFcLGIMZovuP7nUY7doXwcK00GTVwuh2WiTmBVGM2jclJYm-kJ-188rwAJHa4TXYG7qq3oQ6KKNYuLkHjcBAs2FyUfbyL2WrSvPNeLQoHrGD60p7Id5SiFjiAAL4ES7nlR2FVm5747KDVMFYELYgCKCb0rYN2q4hCAhf_SZRXRK88393q2HbVPhgLQUxbpBn5tETlUFy2nkhd9BmT2p6zbT0lc0KPcPCg_74S1B0l97z7ZOTd5VGpa3r31B58tJAc34I-MOhibUaE9OLc1YVac7dJYs2UJf5db4f2rRiWFZ0oduWeViMrsrHAvkesKlaY4XNNqoi1bFzu4jJ7umMcnE3l1-921ckJfPH2A2RKt1eJ5PmnTGoHHvbeeG6IGgH2FjFeCqToVyQ-T35Ch7Qcn9NOZyjb18hVlnhU16_-JT5Fa54ZaKFTpvW3fZ9OtDDVCSsbviKPeAeN9L34MRq6dIUjpKyE2ZxvPzfs62NLeC5GX-cBIAlYwmM5Ig4UoQc-U12au1ofsOqPEiHeDDMbwFtSPMcjxdgiiPRb8xQqvhG0x8I7-HWjX70dmlHTTIdN5cS8gIqSPfs_z6YjEzn3CHhfgXs-CX-dZ5e7C8aE-JUurnnY7AZmKjI6FYZkUTZHom2BJxbxltDwcexBiBfvHAsLXjvFEu0_O5kjw==",
  "id": "rs_0413602ec963b5e3016aacb844501487d09c22140d1106ffeb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.17,\"right_z\":0.24},\"note\":\"The left container is upright and secure. I’m bringing the other gripper toward the red cup so I can move it slightly forward into a position where the pouring wrist has more room.\"}",
  "call_id": "call_rb2syFh7B97wLOSxXRqvK05j",
  "id": "fc_0413602ec963b5e3016aacb845f4cc87d0a6eaaa38c0267296",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rb2syFh7B97wLOSxXRqvK05j",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8326, 1.6337, 1.6112, -0.8227, -0.7029, -0.506, 0.2673, 0.4454, 1.7691, 1.5345, -0.437, 0.3489, 0.2222, 0.9997]\nstate[eef_state]: left_x=0.369 left_y=-0.2306 left_z=0.2768 left_yaw=-0.0009 left_pitch=-0.0498 left_roll=0.1053 left_gripper=0.2673 right_x=0.484 right_y=0.1681 right_z=0.2255 right_yaw=0.0255 right_pitch=-0.0612 right_roll=-0.0203 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.8291, 7.2957, 1.4628, -0.5543, 0.1343, 0.2808, 0.4034, -9.894, 9.0188, 1.3309, 0.359, 0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77683bac7aabd01cff736fef058b2ec4906c6f8aeb8daf8aaf1c317a5ca1c1dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f314282bb5916f3d43e58b0661e5df91dda96d60a5b4952c5f828c76db279d19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b29ae02e793f0ac823bfec474d35a49ec2f77a4a3155ac3f3f6e8e10dadd6d7",
      "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]: [-0.8337, 1.6318, 1.6196, -0.8124, -0.7265, -0.4923, 0.2645, -0.0208, 0.8146, 0.6067, -0.3923, -0.0105, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.3712 left_y=-0.229 left_z=0.2842 left_yaw=0.0064 left_pitch=-0.0238 left_roll=0.1132 left_gripper=0.2645 right_x=0.2947 right_y=-0.0007 right_z=0.173 right_yaw=-0.0041 right_pitch=-0.0366 right_roll=-0.0035 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -10.3453, 6.3932, 1.7949, -0.3541, -0.0708, 0.525, -0.0068, -1.5248, 7.0222, 1.7509, -0.0269, -0.0366, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLhNqZfCt-mpdaNzyX6ElCMDS37ZaqJOCh31paWHTqsYTxrOdheRwvV-mf11S8vOds7DC5ivZWDUlv65aPtgcBYehhX5kQ9jAadt4sYkNAH3lXgECZCxKopwOSWyMWmv0JPKw1YkhZ5e0GgKQk0a_QuV-JsQWj1TOphJ_7Fk9VhbicUEohotH8jtdPk71n3cf1q2R8l699noDRJpY9kCtcEyUivzNWMKi0AD4k33bqq-p7xQhrPBq4ZExcJtnEyJwzp0GizOWhFGTxv2NSbmitCRhSR1mg5GrYVP1fOaKO6wuEvaEa2xBKt_tD8SsV3jlCqH1_wxMJq9RXkypU_kkpTeN4MXHa7DPv1HCW9tYrD2Av861tEfyM9rQtFilZmecb4I0WfIE4vkh1pNVC2ZDJ4YONlWR4hs9U0oMdabv4n7qEFOaB84p5kvxOsRhacVhucT25dEOAA-AmYM2PbyPRtVGUyz0RofIwtfc0Q9fGyAzqbSTIkALRRCWnqSHuSam3MCO6JCjSd4PHyRUfVOe2sRIGXoVLCUSH6WxhE-MN56ZtSMXeM2SvOozgm9_WIme1YzxMINAc7EvCUuZ7TmsoFYM0F6H5T--AoLpyz_gCXT0Cw_Npwa1PyPtCeHEZ5nNhBSJXxKuVPNcVbkegXGpEHLwTxbMa0Sxd-DXNHes7KevhEQY1D147MLLNuB-gOXj3zBYzDo-45sDFBWa51Tr_ukioPRRu8YSbZMQtmUzqBJoIPEh4X89qWfFJOy8sixWIDwS6kl3I7fA2Ad2ku-XbAlmuRkegR_JcyTiyxKX7o7zb8p8XeX5ctUri7mdIyhGMJP3Zz3DMk_8QgKdthYS0nYBhs3VBenoQ0DgzDK8ooNxYYn_I05fi9TYTIZh5g3ei8ZMHaVrhoWbC4_azGqhMbHF6crzimrTM3oVOCvSVg2GSsMNY1WYW54ZWrFT45cCx7G7HaLH0b2acLoDUU3sRg4xbGFSCEdy3lQ1WtMRb9mrG4RUAbJT4IIU3B9AwEU7xtXttZCZwHt8Hx0j9wa9PnRnpJY49lgyngcKo8l805k2hPmAk-71nS4rcZNMsnOrbnS-is4Lj54WdRt0w4mcmJByFQZQps_A_ZlBjrCyemrT_M4WK7Zm0U2cZf5y8HfpckJkCXMuTbI4ZSxytz0zaYrpLSOW_xoI85mbbpq5UnsiAj_j902eUacF-Asij0Bvm3p8GV0JQkrk6xuiS3QkvnHigkgNUXnMHrPVuCzMkhI9aJFmZF1uRyABYsglNq_6ZFK",
  "id": "rs_0413602ec963b5e3016aacb84b0b4487d0af3c1077b0f202bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.175,\"right_z\":0.09},\"note\":\"The red cup is centred in the right wrist view, with the blue cup beside it. I’m advancing and lowering the open jaws around the red cup’s body.\"}",
  "call_id": "call_oDDGXS4EbATK5Pb2Ayb1Un5D",
  "id": "fc_0413602ec963b5e3016aacb84be63887d0a2bbe7c0515278c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oDDGXS4EbATK5Pb2Ayb1Un5D",
  "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]: [-0.8326, 1.6337, 1.6112, -0.8253, -0.6949, -0.5095, 0.2687, 0.4118, 2.0613, 1.4132, -0.0559, 0.3126, 0.1951, 0.9997]\nstate[eef_state]: left_x=0.3683 left_y=-0.2314 left_z=0.2758 left_yaw=-0.0045 left_pitch=-0.0558 left_roll=0.1004 left_gripper=0.2687 right_x=0.5312 right_y=0.1767 right_z=0.0908 right_yaw=0.0352 right_pitch=-0.1004 right_roll=-0.0333 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -7.5419, 6.5436, 1.4139, -0.3785, 0.0171, 0.1343, -0.8137, -11.535, 6.2154, 1.7753, 0.1538, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b78d50f218dec3b55a8c5e8b8fa730730d556c0a70a6343ba0850a1d654ad9d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fbbe5ad8d131df81a527312c71392296039dc56efa848160e7cb30d66fc4f44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e103ab12ad21dbe21e867e9690a487a3486d9a2f80c6b40ceed6fb4cd51bf7",
      "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]: [-0.8326, 1.6337, 1.6112, -0.8227, -0.7029, -0.506, 0.2673, 0.4454, 1.7691, 1.5345, -0.437, 0.3489, 0.2222, 0.9997]\nstate[eef_state]: left_x=0.369 left_y=-0.2306 left_z=0.2768 left_yaw=-0.0009 left_pitch=-0.0498 left_roll=0.1053 left_gripper=0.2673 right_x=0.484 right_y=0.1681 right_z=0.2255 right_yaw=0.0255 right_pitch=-0.0612 right_roll=-0.0203 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.8291, 7.2957, 1.4628, -0.5543, 0.1343, 0.2808, 0.4034, -9.894, 9.0188, 1.3309, 0.359, 0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLhR4Lkx2xYI2wHukDlxgaVc4Bmnzwu5s28GmeyW8c3LhRvf2oA-LX8lJ885kjrB-Kv3lMqVdxEyIHv5MbIxP-hzeU99VO6a8Ucf-HNV-hdIPXySQt3XToE31McVbpIoe1PBh0EfaLSBGp5qty5_OdUdqyq-V3mGeGmh3Ra9RlzmjZM0f8d5qEq089Bb-N34M9tKvFWE8s_kCOwVEiv4vCj9pKZvZyGvVxaLYEBhT08iuxcSugmDS87rlcNyCgnUmlGbxobv4WlaKZcrZudrdZFCUcq5P6CfAQeOIPZ_4xhCiLGTuXYresMjRZEkfwrhEoNlkDlbKsprxl-4yOP0_IrW5Ocodrjeoajo5iTQHgLpIzqtKIJoyfP0JkBfVBwediC1NLNtut8j0o5eR8qQf1r46dARMj1StiLQgqRCs44jEHUE6ByQomx-PGaCzT8Gf7vVVW2R7_xDIOYj2kFsQpNYhGTEOOWrVY1h_dX3lrmzEgkBu6tglDo2RgSCv5eokhNh3zhjkk88RtO1o_3564uu7iUE5qeVXj4uVynAALe8W1R9vPYufk-DzMsSZGyXyXVWIhAEKJiWg_X8JxmkQ0pU4TZir7rt6T4it0SAYKp6PXW_Lz_M8jPAfSutXA6D9DFSCx7mAcvooz3V1yjhI_faTOw8ZlB2oJk8jkuukQXh1UsdbZF_7PNo65q0QSrUaCcjXKgScmJiboxEQy3zzeHDoNic9yO32nL3m8pggfbkLPdO_6RG9jqs0LVkJc2S0Ys0iUebyRNmd-JNrAho6Y9JLmYO0TX5rp334v1es56TdpNMdY3dKz05KVxz2kmh2QPem9VfAwlYsCIgxFkxcjehne__ygLqjqlAREzD5i8zVj3ZhjnCvkqYUFPPo2WUCHfCKBj8wPAwC0TzNG6BQGK3eS4Zlv2SKTwhg0H29DMikvM28zrHEWiWeKBMnDMkbDze7EoMBSZFiW4gz6Y5FPLzLsTWGR2kudmGc6A31t-TaRCVAVTdGpjq2G3dpOaZrxyGGDkjWOSDfzWuMdJferdQ8L7o806bMGOOKlAMfcEhBVbelpROXDSDIn1yCgJgbZ4UsUFhaVMa4Zb09O7jqX3011dgMjMg2l89t9dAn4FCPRakUGX36gQpnl-P_0VtanKhL0gPpbELvysEPzLokFJkfpH4JeMOK7LngBkBBwL85yoNRBBvtN_5StjUm_WeKzWydOlpf-XkZMKAKsR6U2ia_FggWvwa7_QOwJPL_KG_o-Hl1ejOjUcME4mFnblV6RFOD66ARwj85zW-VrhuYpb_RbaOLrF8zd1iPhZkUAl8Edyu4pHXhB4Zc8URHutaLiNzWecHqqRkGQCzqZzcb4XJoR8z9I1bZt2RCUNh311sZd7HWua-X3u_pjBEbIzKEhRB",
  "id": "rs_0413602ec963b5e3016aacb84fb0a487d09163bfd12f841a88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.57,\"right_y\":0.16,\"right_z\":0.07},\"note\":\"The red cup is still slightly ahead of the fingers and a little right of centre. I’m making a small alignment correction before closing on it.\"}",
  "call_id": "call_AIIkoK34w2gHsalW9DrUYJ1z",
  "id": "fc_0413602ec963b5e3016aacb850b24887d0b12fbb10e7e170e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AIIkoK34w2gHsalW9DrUYJ1z",
  "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]: [-0.8326, 1.6337, 1.6096, -0.8268, -0.691, -0.5095, 0.2701, 0.3695, 2.1681, 1.4956, -0.0303, 0.2672, 0.1612, 0.9997]\nstate[eef_state]: left_x=0.3679 left_y=-0.2317 left_z=0.2747 left_yaw=-0.007 left_pitch=-0.06 left_roll=0.1008 left_gripper=0.2701 right_x=0.5574 right_y=0.1697 right_z=0.0693 right_yaw=0.0486 right_pitch=-0.11 right_roll=-0.032 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.788, 6.6803, 1.3748, -0.3834, -0.0122, 0.1392, -1.2103, -11.6171, 8.5538, 1.6093, 0.0855, 0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25fccf9d717456177859f80f8643ba7fceef79af9f0c03064528849adb38ef32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb95f4fd4ba46837c623232e8d6e8cef413ae00b6bc83a1421876b545c2ed17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:802c49be8a12e5cedbf7121e2885ffaa99180c1fd765ed3edb9ea7121ea81017",
      "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]: [-0.8326, 1.6337, 1.6112, -0.8253, -0.6949, -0.5095, 0.2687, 0.4118, 2.0613, 1.4132, -0.0559, 0.3126, 0.1951, 0.9997]\nstate[eef_state]: left_x=0.3683 left_y=-0.2314 left_z=0.2758 left_yaw=-0.0045 left_pitch=-0.0558 left_roll=0.1004 left_gripper=0.2687 right_x=0.5312 right_y=0.1767 right_z=0.0908 right_yaw=0.0352 right_pitch=-0.1004 right_roll=-0.0333 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -7.5419, 6.5436, 1.4139, -0.3785, 0.0171, 0.1343, -0.8137, -11.535, 6.2154, 1.7753, 0.1538, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLhYINLvCL7EeI8J81rGjal8ZrHfRqfFdFDU7cx0f-S7UQyNH5PDBRi-fCTlkyUuxtKY9WCtz_6So0lw7Hsnmon-imvkN42Q5aIn_sAhniKVQoEVm82jp5TnY3Kkip2t3HhmcENLoFtR0MrhqzJouyw4D20QyVij26z3QphN55Hk-UOoGewFpcwFxNj42TyKdQO12vmHtGiyIOrp0K857NMsSK0guzm7dAkyFrfYPUtRhHDYVzuGZGQ2i8jZtQzfxvP7-0Nu0PyA9S6UL-XY3ETHNNbFSBZqVuNcb68U2BYTinI23EpMbe1Y3lOrGYCzi0NfuQd8xcuiKNH5NZUCXmUg5w8Sa4FYQuuJ0jGDvE322xnfeNjUBtmqJJHZUP9egA3AT2PMsic7yemkW-vDBviv8ewsdxLWFDib6k9UEMh5_nMaaf1pls2sLcTHSNknhk3tUNWF3roofXHUAGt75NWLSyCs10JWr-od5UlPy_gpByrOGM7mMvEg143aNvnBFM1_zT-Hi683dAAUzEFOdqwJ7Nb2bpQ3O5xUkILMNOj3U_uA9z6XL7v8y73pYTIxmtrnw4TNIt8PMutNXdjTxf-zOVHCgqiwF03_8IffpYAG9bB7COGpgxBM7Z0heEOkgeqLFBHkavZlaHCcz2oY_W7cMq-c6ZaNNGNmrlo-KS4Ak_e6qTdiP7nUCRDK6lt37ufDqoU5uKqi2sVigIXRSpRoQ2rlR90Z5DOuD72dZho2UaIQyXrXxGEvK_wgB2tDOiLRODg9LDCUNjGufZI0qcnyNq46k1k88JBqa2dHxaOuLxjJ9pqAhXeimaChOnp7umOo1_H5K9sB6k-4--R_K0b-TYmn_UgInBGX-m9MR3CVeYZ8n-VmWFTMBCtYR7_6QxvwNv9jZUJQdwrlMTXaX-gpM9jHMqi9LSXhRxveQOxTiz-H5LTpPctsL_QZd4Bh4eMvPQSANWO1mL8iGxHE6lhx7D1CU_uTW1ewRYix-NdKV-aSU7naY7DhxztOGhNt1WxLRWs_9XxPlwma3NOS4Lk_4OvcN7xz_kAC3W1-x5ygCBs4FviJ0kFu-RvBcCwUmGyb2b5jGBTMG-WNz47VSfTBi7d9TMo8-qxZfP1k46dVPDprbtUdoHRrwoUvw-usmxxaXPb38YyZHmivKMprYk93-AsR0hVmA7jO6hgHNbohwiAByzItgmwBgP_8dc7WqF-5IvtjIsQOkUC_8CrQMEm7p6Pcit1-4yWmbMavxkmRdwpobaDcAYn81LmkN3PYIW11HfgSkN74gYfswxXawFKYFJZyS4AkojHc1ODtCBL0rbK7foIhC4QT1KTgtvKz6UaRRxHCbSkBDOHQyYbtSimcMx75mJx_0WgOXmosP2Er0omIXRsXYCqV1Gg82djcAnzy0ttG4M0ebZfl7ZbrG_lot6bdZpN6wAofHAySCGRBXZS-TE3bYCsUwzeErKoiAjkNcjtg0v9lWeTEuJJXoxb7JQ2fwuOYfVE2uIuwBjIEUA8pImnzXnqo4Gas1z7Ocrj63b9VN-2h5ntezHC4V0BF6AqyPo43ahd89_qAKhz_03WsrM_cG1sYPAsaSmKVtQ4v06h6AXdC2DWNLovmUNsWKTXJ_Nzr2Wzc866iAQALB28pZ4EuIcwBR0rXSAiG5g8ycltM85chTBRGp4RqgYgTuQ==",
  "id": "rs_0413602ec963b5e3016aacb853b5c087d094047df7baa5d8e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.2,\"right_z\":0.075,\"right_gripper\":0.0},\"note\":\"The cup’s handle offers a narrower grip than its wide rim. I’m closing around that handle to reposition the red cup without squeezing its opening.\"}",
  "call_id": "call_XIp7QVooHTmq8OJKQdFdjHLP",
  "id": "fc_0413602ec963b5e3016aacb8575a1887d09c0a54f1602bb120",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XIp7QVooHTmq8OJKQdFdjHLP",
  "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]: [-0.8326, 1.6337, 1.6089, -0.8261, -0.6868, -0.5102, 0.2723, 0.4274, 2.1994, 1.5074, -0.0677, 0.2985, 0.1967, 0.0142]\nstate[eef_state]: left_x=0.3677 left_y=-0.2324 left_z=0.2741 left_yaw=-0.0095 left_pitch=-0.0622 left_roll=0.098 left_gripper=0.2723 right_x=0.5437 right_y=0.1945 right_z=0.051 right_yaw=0.059 right_pitch=-0.1557 right_roll=-0.0437 right_gripper=0.0142\nstate[joint_eff]: [-0.1026, -7.6923, 6.735, 1.3211, -0.3492, -0.0317, 0.2173, 0.6085, -14.0103, 9.6068, 1.4969, 0.2662, -0.0415, 1.1209]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8a1a17ba3ce5bde0dc884cd0fa25d4a5ab95148c87e5229d4b2d455839ca381",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa446d86fd1081c29263c5900460aac4e3121e00d044cbeb0228f86410234e8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75953e50ba1fde37a5ac65940b6be6f55e251990ebbd35b4e3b0b28e863f7ebb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8326, 1.6337, 1.6096, -0.8268, -0.691, -0.5095, 0.2701, 0.3695, 2.1681, 1.4956, -0.0303, 0.2672, 0.1612, 0.9997]\nstate[eef_state]: left_x=0.3679 left_y=-0.2317 left_z=0.2747 left_yaw=-0.007 left_pitch=-0.06 left_roll=0.1008 left_gripper=0.2701 right_x=0.5574 right_y=0.1697 right_z=0.0693 right_yaw=0.0486 right_pitch=-0.11 right_roll=-0.032 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.788, 6.6803, 1.3748, -0.3834, -0.0122, 0.1392, -1.2103, -11.6171, 8.5538, 1.6093, 0.0855, 0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLhd3UgeDA1AgQxiRgYnuB38dH_ect1q7HKdpGcVoc6gy4A_UHRAvRQFMY4s9k2NSaQCXbC0UsR9TYOESvA9p4GaegLbn3Vvodo3fCnffNy4MxTst0vEN-uRyBYrtFAq22W1_JGLDY6tqt5iS0Uz2Rle_QeIvGZwV9Jehtypn4EdEDhCyh9LIRLSdVMieaUdgRiAE783s9ylpIyWNvcQDtStixVIoKPpCozAJUOcetyszvyxVnR8OHH7kELXgued38rq0C6pM1HrOvTKkTNkici-SwS0wa16HZytnkRPRAyzN82Xi6s6qsbpilT4s9VTPl87thzWquG85EsL6GBKMT2-oC-WR01PVNja9Nhl4senxKbQFQFla6QIcoLiO78KiVB2pWSd4g4mL_utkhuntjVFQrkYNroFInBFjbZymUYLXsJb14b6u1spoUOP2hwaL2DsAwD9AISQine780hLD78bCOqGwo5dr4aofli3Lgq7vNx5COZgCbkzraIa4i1zDowQeEJ678x7VenTysSVMW0er3nBep1x0V6L-I01AAxkipyrg1jRFQlFUxQrsVhz9Ow5D_401F0dql_RNUKmRdOxCglLWt26-G9z-37l6asm4z1U40xxxmEDzco_VJChIvrwNEhIbTXwyqdEEUfYzC97ywJgUQTkSOpKFVafDGE6h7wZ_toYPGapPCc6uuEf3foCi1RGCdo-fCKPR7MMDt7V0HNkfHacLDx9cjvHU9vMu9DnfX2LJUg2ABEmo1nniZTN8KkmjckObzFXtD1Ht-9H8otn6RRl3jW9dJD6upHqXqzSS7cKJI6ZqUWwGIsN9_tVqh4hiuF15uEd6ueLUzTfhQpqFIh5CVxCIR-0j-I-eXIOb19o87TZvbjCBFgVOveJatw155ppIDBKspLcsD7ejLthrDzO936BZeg_EphfeD3D98MlUJ4LLd0keSUT-eM_aVkt-fOo7HPp_e1qXz1JmDtOFCjfIvCvU-nzZ3dKOlJk1PMXBcmlBsP5QIVZx7MMzFtfItf6_gxZDcdkzQqJXm9I07SNFVwHDoehq-M1_FoaWfV0ZqI8O_O1EKoYCwrMGyiGjbGk3W_TUBvFb7Lbfj9jXmUV9ts3ctZC2QztGRxhUsYQldD8WFzihrMbd4HGOyyWQpwZQTaCxfO6iOzwV4DkWGArIwJYvXhnOktgyVSAK55b9lF-Egojgs2qis5-g90pXLWAkTqT2YmSqoQXzL3sGSFXFwABq-13q_eXyQENjOf1fdmvjxSKme_-7HIw",
  "id": "rs_0413602ec963b5e3016aacb85bd99087d0b87e4b3bd036d1cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.575,\"right_y\":0.2,\"right_z\":0.065},\"note\":\"The jaws closed empty; the handle remains just ahead of the fingertips. I’m reopening and advancing a small amount for one corrected handle grasp.\"}",
  "call_id": "call_giCPsR1vHNxCA8QVcBDIGgfv",
  "id": "fc_0413602ec963b5e3016aacb85c992087d09b492c491ae9fb5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_giCPsR1vHNxCA8QVcBDIGgfv",
  "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]: [-0.8326, 1.6337, 1.6089, -0.8265, -0.6792, -0.5102, 0.2735, 0.4187, 2.2807, 1.6833, -0.1802, 0.276, 0.1741, 0.9948]\nstate[eef_state]: left_x=0.3673 left_y=-0.2334 left_z=0.2734 left_yaw=-0.0148 left_pitch=-0.0667 left_roll=0.0943 left_gripper=0.2735 right_x=0.5658 right_y=0.203 right_z=0.0558 right_yaw=0.08 right_pitch=-0.1785 right_roll=-0.0521 right_gripper=0.9948\nstate[joint_eff]: [-0.3487, -7.6376, 6.7761, 1.3504, -0.3736, -0.0269, 0.1148, -0.8684, -12.5744, 9.2376, 1.4432, 0.1538, 0.1245, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18fb22c94c30eb1f6535c289239f938252de53966439d9b52c0e7d6e066082b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f485c08d4d05aaa3300db7376e747e552eac7d477811d5ee6425b5fece2c18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fac6bf6b25474e11739eabdb042078f5b569343ca218ea788240c98d153214e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8326, 1.6337, 1.6089, -0.8261, -0.6868, -0.5102, 0.2723, 0.4274, 2.1994, 1.5074, -0.0677, 0.2985, 0.1967, 0.0142]\nstate[eef_state]: left_x=0.3677 left_y=-0.2324 left_z=0.2741 left_yaw=-0.0095 left_pitch=-0.0622 left_roll=0.098 left_gripper=0.2723 right_x=0.5437 right_y=0.1945 right_z=0.051 right_yaw=0.059 right_pitch=-0.1557 right_roll=-0.0437 right_gripper=0.0142\nstate[joint_eff]: [-0.1026, -7.6923, 6.735, 1.3211, -0.3492, -0.0317, 0.2173, 0.6085, -14.0103, 9.6068, 1.4969, 0.2662, -0.0415, 1.1209]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLhj5kih7clCKvtDSVgj-vgBGHwc5CCMYf4cl-h24bOr8WLVKDEO9H6lyW5r_6FxxB9w95vNi4nEdFmmXuFqE6mjElPdoDU8i8MIZmgz8KuA1nNSuY4gcyOm1pcNmh3WQF8z981mUQTy9pVkB6jbo1mxmIiKoEG__QiFP2PP-VYU8JSQoFE7tojgTCTalPLQa5Wdh7bperR3_cMXz_dVeCwxO_iMTCRtui0blQ80Bm3LFVVym0Pq-64MsbuTOZ5a473VFZVAFBRVMLl2HNNCrU3F57SON44HvxlZ_JUj1cqfzdADJtTroAEPcIR1upcStb_KCJrCEiwQ9WV8ghMfw2Ez4N7c2pT_e2hkpCzwPnuw5PlRadvXw2XqPiFjs4Lcm9YCHpfS1jn_VZytyxH0MLO1QYXr3JWGQeoIn3IRvnweb8hkBiokuck4pmxhxwYTgqdU7YvZ2cDNUbnFbeSAnuzdYvT3GYXLATWnAb9lulyaaEQc0npvkH-0gWSlJ5kH8-wSvUJMluzhzWk8PZhyveXO0zKa2ZlQbvWXhTqv5lk5Pa0qihQV6PQfNQwlrsolZ0F2G7UTwXAyrdv8JBwmSnOXEirVocp_YxZZMeK2jZbNUvhBmTUnwq1giP3e7wLDyN7kKDpLbx2PJ9Iwf56yx5LfdwLevCuEAHrISzbCJkpMwAJAwhgwY-BfwUOsFoLtJ7EvOKQUHR7_t6VMkTSsF_C5VnAgO4TA461ugTuzUI6yBbie_Uj2bxIohWdP2jwnyxyFk19AEpWk-YU8BNCILUo0YOnEFzQQRjkAF6XysySjvH6Xm058-bbeDzgvK22krZV_XyigDli2KPlowdDi5uPHbL96WnnSO3PSUUvRB6fEakwqC3Kk9tB3Ywt3U2GoDFbMLPd7iqHjMgF-XuEaqrM9YkB0UdI3gXFKjU7uv3gxdDpgzwIB1t8lEpYK527MfGMEKLKYPfSvYkPrZJqLUQ03Uxl0MB1hrg-_qjxvTvjhj23Rqe72qEFEjCRP6P-timGkeULgwLz-ssIGnMWpJ_DO4WzSXK64pqydETNRF1uv0gQJyMz4mIto8bpB1UO7zDv3p5vYZXM6oQmP_AU_n1DFq5FowDz0GjxZAv_xa5S5Kw2hSo5VJallBbPe5WB-Ocz6x1UWpmKS1zUNHja70OQgxCQtBzCRAyjekBh_6XI9TQa3hqU4bIGgh6wF0gM_OBnc7bVEx_Zo7-WgRHptonamtJG6sO07L6P3mEee7zLE0s06j3FhVL3p1l8uTe-xALb3",
  "id": "rs_0413602ec963b5e3016aacb86118ac87d0b93dbf3202cb8baf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.588,\"right_y\":0.195,\"right_z\":0.058,\"right_gripper\":0},\"note\":\"The handle tip is now aligned with the jaw column. I’m moving the final centimetre and closing on it.\"}",
  "call_id": "call_hc1IWbvnjBEzNBged651SCr1",
  "id": "fc_0413602ec963b5e3016aacb861f72087d090c1a65ae7bd66ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hc1IWbvnjBEzNBged651SCr1",
  "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]: [-0.8326, 1.6337, 1.6089, -0.8253, -0.6724, -0.5095, 0.2737, 0.3939, 2.3333, 1.7657, -0.2329, 0.2489, 0.1452, 0.0133]\nstate[eef_state]: left_x=0.367 left_y=-0.2346 left_z=0.273 left_yaw=-0.02 left_pitch=-0.0697 left_roll=0.0906 left_gripper=0.2737 right_x=0.5779 right_y=0.1969 right_z=0.0487 right_yaw=0.0922 right_pitch=-0.2072 right_roll=-0.0624 right_gripper=0.0133\nstate[joint_eff]: [-0.1026, -7.8154, 6.6803, 1.3797, -0.359, -0.022, 0.0122, -0.8957, -12.3829, 9.6479, 1.6142, 0.1245, 0.0415, 1.1795]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4767db7bb7699c068d0ea50599d1eaaa8a6df94a121bfb94cd4ad05fc3778af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5f5627ef3e22de678230df221c0b6f91ee0b4ec1c8f4c27ea24323b8015cb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd3c172a733103b5e0cb47426b8a0bfb95b50118400de09736a35671791b222a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8326, 1.6337, 1.6089, -0.8265, -0.6792, -0.5102, 0.2735, 0.4187, 2.2807, 1.6833, -0.1802, 0.276, 0.1741, 0.9948]\nstate[eef_state]: left_x=0.3673 left_y=-0.2334 left_z=0.2734 left_yaw=-0.0148 left_pitch=-0.0667 left_roll=0.0943 left_gripper=0.2735 right_x=0.5658 right_y=0.203 right_z=0.0558 right_yaw=0.08 right_pitch=-0.1785 right_roll=-0.0521 right_gripper=0.9948\nstate[joint_eff]: [-0.3487, -7.6376, 6.7761, 1.3504, -0.3736, -0.0269, 0.1148, -0.8684, -12.5744, 9.2376, 1.4432, 0.1538, 0.1245, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLhonFaAg7FZ0IFCKid9dqULIEfqufep-Yy_eOQc738ZA-vh_UCUDX9OVMjtNrHtjaeSjiRJFwJSICt_xUewBDvUBiYKeEP4N8FhO5q8BjLFsxixEONyDv4isPc1TIBQ_Ek1K53YhqmPpxgfGG4Ilq407iI6Ikx9vrfgi8gjIXiEPacokEZARXUX75WDN9YtAgqzCxrz0K_QFpktptXUMhfOlxWnZMrkp41CSPaxV6ueLkjEMnvN3mnRBghqRglkRx4j23TFNT6NsgSYbLCH9KWvw6zwTvY15s2Y-M4MKXhE3wJt3XNGBVOyKG18ZMdhx16hpDZjUyih1ooVq_vBbrG2bfEL9ojSYRYGKk9QI2bLKcvlxFuXPStePmTjjjLX-bL9xEskvYcQrGhu_DVl-gRQNf9ve6lWuJjPBrYKnf6ihhuXzfEmQ5uguaLbNyvNm9M4yMd-wuNvm9y7ykTgYPUf0ED_iHfcNZbJOJTOuPCn6Zf6K49VX7A1IFHRKF68uWkX4ND_By5ic7NwEDSgPLrSmCKl9msH1Q8YutJf1vzHl_dtEKW3VlqjheR_RUaeWa6UvoMeHO60dUipBUUSf4XYJUtLwTabFTHcq35T2JLpQEDOmP7xr_roTy8R2JTgzfrN_iwRTVZ-LG5_tLzAGuaiPltGjp8mcgfi4-_Lnijsq_FrNZzSSpccNbYF2jXX3lh9hVqzW0ei3xRO1F0Dpy0c6ic5VHPa-oQw_Qz1muwfqYCXhDxL5SuYOkKxxI57t5qR9BE102Stos49sGQL-58H71LJMcUsjEFNMFtpXCm5EwwghRVndFZfY2AjgmV8_HNKbbg7jKISOjVwxaxMgxq_7nsGXw7PIgiODNjRuRsD-uObmmBT7pUEsNiCKmGK-rQ0005-DDNahAXfxsL6KCpCRahuftTFDGsx-3cHhynaoj9UqoZBr1mZ_AcTR5ROxpqooE51xbHCjePjdOYPea0fnPLkdJW_1KFQ82nPeGO3PhdpQo9gtMERwlDkZRmiwhFb7fEwka328Fc5q2OB2kXJ6GyoFzcwVG902dth8EPdht05p0Tv0BTpnaAz_oYezUvORkczUscXzG5NQsAFVq4FJpaefToE7dikTZaeE3uv_14AMXa3V2TvDiDQ5XSJ1dQBWYtEbAc0MlFl5ylcEGamgVgbe2NE6NlsafIrk6wkB4bBIZYvUyxeEIX5m6IYG9V1W8B53xoJTb_lkMVos9eK2K29Ks-wClhO7xqA17M_xDgVj6M04BXijxg5e-II_RwmsNpA3cz5SA6CqED_tH2E68ZNLa1zu3TFp749algWp6vzdjYNKTUojfT-PyatZPSs0o7g7E5If6JA23UYit7Y1holeY5lGlMSTy6nujNlPDAcSDx11VjmS_rluJm6UGLcbZ_AXGOfnnO8-KJvwsgvVw==",
  "id": "rs_0413602ec963b5e3016aacb865c47087d0b1595c603a82a8fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.195,\"right_z\":0.16},\"note\":\"The second close again reads nearly empty, and the cup appears to have turned rather than been securely grasped. I’m withdrawing the right gripper to expose the cup and reassess its position.\"}",
  "call_id": "call_iapJV9O0s2h1yHjuAv1XVAvu",
  "id": "fc_0413602ec963b5e3016aacb866d75087d091cd14ded57914b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iapJV9O0s2h1yHjuAv1XVAvu",
  "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]: [-0.8326, 1.6337, 1.6089, -0.8261, -0.6716, -0.5098, 0.2737, 0.4324, 2.0712, 1.7119, -0.4503, 0.2623, 0.1619, 0.0148]\nstate[eef_state]: left_x=0.3669 left_y=-0.2346 left_z=0.2729 left_yaw=-0.0203 left_pitch=-0.0706 left_roll=0.0904 left_gripper=0.2737 right_x=0.529 right_y=0.1977 right_z=0.1395 right_yaw=0.1098 right_pitch=-0.2124 right_roll=-0.0623 right_gripper=0.0148\nstate[joint_eff]: [-0.1162, -7.8154, 6.5436, 1.3407, -0.3053, -0.0464, -0.0024, 0.5812, -14.4615, 8.0068, 1.3553, 0.2857, 0.1587, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d80abeae3ab4844074c7253fa1a2751cb8e49bcb24e8b6d3348b9a1840c65552",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65b52012ccd8fa79785964f7fa8aa9ea1f1b2991b9042558472366bad86edea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39eed6144eefcde738034bdd3868395f3216c92c608a62508a53f1aa20075e34",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8326, 1.6337, 1.6089, -0.8253, -0.6724, -0.5095, 0.2737, 0.3939, 2.3333, 1.7657, -0.2329, 0.2489, 0.1452, 0.0133]\nstate[eef_state]: left_x=0.367 left_y=-0.2346 left_z=0.273 left_yaw=-0.02 left_pitch=-0.0697 left_roll=0.0906 left_gripper=0.2737 right_x=0.5779 right_y=0.1969 right_z=0.0487 right_yaw=0.0922 right_pitch=-0.2072 right_roll=-0.0624 right_gripper=0.0133\nstate[joint_eff]: [-0.1026, -7.8154, 6.6803, 1.3797, -0.359, -0.022, 0.0122, -0.8957, -12.3829, 9.6479, 1.6142, 0.1245, 0.0415, 1.1795]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLhuuWDBC5Cb28TQHWy7yYom3o7U_YNOccPnUhYblzuw1qKl8VBGCQWt3QeRTTkv0VNZiHuAR7cXMPACCwv1aHB_TFxjPCPPv7z6Q4C_Z3yfNW4XBnIp6_ccTM8lbLl1sxM8i24nXdiLtSq9k1HPiZBppfuV6kepu215yfAwZDiBhpw9YLEBuxBNLLAM6TbY5jTOy_vsqdA6av8_someEH9V52acQ2_d2ptWgdbHEzJKqO1-1af7AxDl_HmzDd1PhjqEmwhIueuS5uv8kDZT3LUysqTmccUSnk1iHy0hE_02oeARcq9D9xApswkutOzWKjepaCIPugblUu6TohyrXzTLJkgTkwILSFNzMbrsP_Atmw9bbIvVkkLZo95pxcVymH2n2SjKOuIrQEjDtyNWUtUWjItjjbqnPKFGr7qzh0gyM6SgzO14tJsa_h6Z-9NDfu3_Ecpms5imSE2wWHQgVVal7OwGur5K6HsqFU5DGsHKYUtxugWGaV09zrMNbK31vhz-YDJOS7fB_8Z52SLOjAnNXHp2H94YN4Gq6eUg_cIsNS0dUN-Y95z9t-xoTSEyM4jE-Ni_ft-WNjgLjW0ZFV2uZeb7tP3XjuV0LGtwxwxZlrn7yVwPA7-9cBS3fs8jLVYjXQcd5ET7TF5uLJwwK730duzy2zrcVmm9iC_oVlrok8RD4YW7daB34G04LEf36uCuZlowfSb_efjl-tYG4vdmkAemHC35OPSu6BXMElswXRBn_w_ZWBQ0LH1QmhlvAH9PUeVgqcBHZhbXhn6pJgK6VgsQBaMYYeBDmvBxnQvYSQVNZ_H0Hsm6pprJ4EE6PiWv9TZzs6CFtuhH8EQLbIQhMARWHR2O_-PhE4c90UdeO4jUSmn1O9M-dIXdcnE8vqa3M0r1BU7LuPRKT65c0MrOkekUQUm353WW4l2efq_NhjQ0IQ57zQF721iWZwolfk-6r9gHtEJWiDqwlQjnxEfRnjWScRqO9taKHdFPIltMjon-w6HfM5h5i3iHTOcY9loXPmq38V9uFUFuqrJ_bTtjSVfQAzy-y_kBTtnhwcWDWVKVvNi7YLxSV27ySqpsE3Pl5HstCWLrH5tEm-cKBqywA-fmi3Sge6EvGvWAyOOR71oNHDZ0s6S4heceYuKp8AXYCOj0efS8myIN7jYeOVEVrPnY0pNvxs9aAMWxs4BkzW_sv936eqE2F8OXE0--7qncQj9w4hSihjuoJaGkKRs4EIJdm-lyNsop_uatlkKGzZOZtouSikTHmFEno0jy4ZgxgdsEshEmhNr3dlgIVpAcDjq421FvLh1xD7Vh68U1hUcqAbfiKokYM-S1iDloMiT46yromom0th0FCUhvv7ZeY_KbRQZCFuwN5GfE_tF9OmmLjxa5_HVigLUJj1Bzmh3ngd4yOcMX54LvdhxpVbMTR4On7gOXlWPolF50Xa-IIwNfE4SsvdnVgXXRz3fw7_0jvbAMQdjNKsL2mxN8h9SFc9JQKqYx2N2ujrbh9FWLQus_-wIukuE7vrIgNJxpnYhTl1dtqg7NSL0WFTg4q3WnTW6tQn6dNh2ACmkquKoNMBN1IiRU-4jTfdgV5xKCmiWNfMp4irk9Z_jYCA4syuQYVUZYkzN-0zgfYHIF0-i_14S6PP8Ux8zDYCUJ8GLTZhYdD0-I7Tp4FVFartMSjYaH4Q==",
  "id": "rs_0413602ec963b5e3016aacb86a898c87d0b6fb25022ef23e8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0.15},\"note\":\"The red cup has tipped onto its side during the handle attempt. I’m setting the left container back down upright so I can recover the cup without holding a load nearby.\"}",
  "call_id": "call_qnwW4xUj8gaDQ1TwPsS8vMmS",
  "id": "fc_0413602ec963b5e3016aacb86cd99887d0b757f00e71db6457",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qnwW4xUj8gaDQ1TwPsS8vMmS",
  "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]: [-0.598, 1.5555, 1.0344, -0.2764, -0.532, -0.3363, 0.275, 0.432, 2.0647, 1.7115, -0.4622, 0.2565, 0.157, 0.016]\nstate[eef_state]: left_x=0.3944 left_y=-0.1559 left_z=0.1471 left_yaw=0.017 left_pitch=-0.1079 left_roll=0.1163 left_gripper=0.275 right_x=0.5268 right_y=0.1975 right_z=0.1407 right_yaw=0.1165 right_pitch=-0.2193 right_roll=-0.0637 right_gripper=0.016\nstate[joint_eff]: [0.1436, -7.788, 5.9419, 1.1648, 0.0024, 0.1294, 0.1245, -0.1846, -11.3983, 6.8308, 1.6484, 0.1294, 0.0073, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42ba141702694afe41dc2552f7fa3789f7e93b53776b8f812821b3142500a398",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3221249227c61f8671434ce9845c7615d15b675a057e5f582e9ab328b39a47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d72e894a21b27d6d16db2c1f05f76b3a512858187661300eb4b6761421a9d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8326, 1.6337, 1.6089, -0.8261, -0.6716, -0.5098, 0.2737, 0.4324, 2.0712, 1.7119, -0.4503, 0.2623, 0.1619, 0.0148]\nstate[eef_state]: left_x=0.3669 left_y=-0.2346 left_z=0.2729 left_yaw=-0.0203 left_pitch=-0.0706 left_roll=0.0904 left_gripper=0.2737 right_x=0.529 right_y=0.1977 right_z=0.1395 right_yaw=0.1098 right_pitch=-0.2124 right_roll=-0.0623 right_gripper=0.0148\nstate[joint_eff]: [-0.1162, -7.8154, 6.5436, 1.3407, -0.3053, -0.0464, -0.0024, 0.5812, -14.4615, 8.0068, 1.3553, 0.2857, 0.1587, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLh04jPCtJDTkC6wjb4rZY1g3UjMGfwvv7_1XsgZqkiX47l3JuEwA8dgCSAJi9IYuNR54-zSvVJx2wfeFCAu9zOQUcKh-pqWe0fbLLX57hAEraZoU44vHxi41mSknNfbaipOWIj-SdPlZbagapQLT79Pi_82IEfeh6BAERyQ2CyTfvMjnMv1Yl0rn_EKO9jTu-JE0nIQqS1Ajd-5tQzDKzhI28D17S4o3F05wMRrHoF8fCaxH-jlLahgmts8ZgH89J56U74Ac2Jhk7kEfHzlmT0WEPe_hX63zhAKgvVHIOq9O_bMw2boZKjnnvMLo7GEcgBaJlwS72a6Qeys23YO6OfnNgizZpWkfeiwyPXkGozsDPHayFLO4aogvhkkVPWvuy3IaO2eWAPaBwqma7LPJfTWa1jfFerawOoHgnAYikAFREgBbDW_FwF0CCJcWXsqF8NHSitSuHFp874A3SSmLISBKWVTPYl3xO4WPkCP-qJSqWpxauM7xcMtoY3KneJMwHybSgiPoISVycmbYoa3WfaungeCr80IjL35st6SjHpOYs152eBCchUwYDenMy-137_RExBK9LyiGnUCrBtfBaD1ioLX2YfoWjo4l5GuY90tqwtoNefvYG04M_dRmmCQsnp8y97U_ZwcfRs5XJ0C77i7Fcf0Vk3suDESku4w9-NLGY7SbCL_Q2JJIMuGtRaYGvg61pyb_qeqaN61XoZp1Zi5NsZhIATXlg1he4mGpsonMWaHsLXvBhUebndwg5WHfyRBzciCR8Xur-r1vfSvl0h6gEzaWkfClDTDdELDU59tjU01B2DF4zrZWCzQREXNqT1hZc--hZDmXKMHCwNdZR-2Pj85nIdzotyRyc-a8iD1ji2zgq9-NnAPzAKG9MuB44P2zVbb6pq2WLLKAnX_d91cUfAw_jYmlZgXudxkR4BVxhn5rD19j44jT1ZpV1Sr7u24N6yCRMq5puWwma5nV7fSU_aRbqieqkbPC3hExWrXYReMuaMX83guBxn16SRG291c_xvnLP3mtIUP4rRaKw16jnmSvLgJHQO0xz_cz_ZffwxvZI_EeW__nbMEKbGhibRDXovPT4WuKTYzf0Bc7e6dRX3LyflgMZCqv6a1_S8vRsgqK1hwRse62AN2E2cpdRXmrSnXB67vW8XHVhKSLvh3VRcpYNq2Iog_hdNYgYNIpTxoa8UUvSPpbIJiBLOzF2NEXNWIZuxS5jOQMwhoaLksvt5quydB6hYogSXT_Czv3dy7-t0emZlY1w9yXEd_V-alLMjGfblTwkrl2meEaDN8OPzlv8WC77FIVm5edCy8Ac35m60AiB5KbsV7H9SlkwgH4w1CssGSEm8jWSmkwohHy0ZUlz10uJ9J95jfNk65ITm4zyeOISMkZDoNy55itH7nnQ3Ke5UUNHTELkRDk0-Q1nnkXYHNKAYywGkjh2bG9mvfp7Mx9kW0EE-RLJ0DPBD2jcHvwIXf06oPe57R0nlRcEzQqji_KqOl0Dsk3wdYv5asIvuvOc9v6cQ8c5NB84LdfB886YfGRkJGkzNpcSHgQw==",
  "id": "rs_0413602ec963b5e3016aacb870f79087d085c2b83bc66e853a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.36,\"right_y\":0.04,\"right_z\":0.25,\"right_gripper\":1},\"note\":\"The left container is back at its resting height. I’m releasing it and moving the right arm clear so the overhead view can show whether the red cup is actually upright or tipped.\"}",
  "call_id": "call_sn8y0VFXjwjSf0IceXt9hNI2",
  "id": "fc_0413602ec963b5e3016aacb872ce8487d0b480deba72ec1f42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sn8y0VFXjwjSf0IceXt9hNI2",
  "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]: [-0.598, 1.5566, 1.0153, -0.2752, -0.5224, -0.3401, 0.9975, 0.1329, 1.3029, 1.2686, -0.7277, 0.0666, -0.0452, 0.9967]\nstate[eef_state]: left_x=0.3905 left_y=-0.155 left_z=0.1387 left_yaw=0.013 left_pitch=-0.1272 left_roll=0.1186 left_gripper=0.9975 right_x=0.3731 right_y=0.0417 right_z=0.2482 right_yaw=0.0921 right_pitch=-0.198 right_roll=-0.0666 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -7.2821, 8.1026, 1.4188, -0.315, -0.0073, -0.0659, -0.2393, -5.7641, 6.7214, 1.536, -0.1245, 0.0464, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d38252f5ac2aa954077cd98887d5136f0a90844073a89a18ae818d2ffc3b522",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a65e54f534237ef5e0f8d96fbc10a36a84a5eb2c5ac8a80340f50f03d9e7450",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed07f08297ec194c3fb8dcdec8916fea10059b35a01cf8e34ee4cf7994b37177",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.598, 1.5555, 1.0344, -0.2764, -0.532, -0.3363, 0.275, 0.432, 2.0647, 1.7115, -0.4622, 0.2565, 0.157, 0.016]\nstate[eef_state]: left_x=0.3944 left_y=-0.1559 left_z=0.1471 left_yaw=0.017 left_pitch=-0.1079 left_roll=0.1163 left_gripper=0.275 right_x=0.5268 right_y=0.1975 right_z=0.1407 right_yaw=0.1165 right_pitch=-0.2193 right_roll=-0.0637 right_gripper=0.016\nstate[joint_eff]: [0.1436, -7.788, 5.9419, 1.1648, 0.0024, 0.1294, 0.1245, -0.1846, -11.3983, 6.8308, 1.6484, 0.1294, 0.0073, 0.989]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLh8zNMKd36k12ed_2pH1OnJRRolq-Rfu3gExgZRcuX47q5rxzK65vEVfBFWVvo3FzCRssuRGuWHJjq89veR1KrZOl7a48hsh9kagHbPsaO_Fz_ThRaZY2cN_vG7amk7c8QoT7AqVcu7o-1wxcZ7SaSH0oISb2d689aC8REHy73nONdK9Dp_N9BNvEfuKrzjIG6V5YXpv7MS092anSsXhUAVDGoIih8IPAr4lgHxzJW9a4XAdquEs0zB9BMKoWR-dGbLcWF8lETvsrKc7zYVTinhSZqj1gTKHBr9VfWFiZuPhfF4Byi2V01RV6x3k_UqE6CsgsoyxIIpuKQGwgUZ_EqoaLibofnJ0NG0nQJcRbvafuKYLNGPDybR01jeyDanVvqdvAc-bPrkzvAVw3YgODIodLEeaOph_L1YOkOTxmOATPdeVEWIAHKdHiePuYDXKV70rd4OhsiZRQ7ezQjs686LfIRcDfN595I3mmCxZvTuBE9VOy6vUAcI6RQCyUvYVqSrhBSOxk1XOWFYLXZl-KlbP-NX8kAlUa5FaJChU0Yi38mt6yyxbWO-GBlFWALTO5oDc8X_kVdKTXILQ8M428pCZM-Lfvf32n1i3NanH-TR0vitNcNVl85lDYuVcNTmJ0ycR3IMDan-T3pfjLCJ1Yf2rZFZT6YmtKA_bEjTLpsFqaD3HAyFLaxW7PJf2UfLG_davvF0AvdDaVd6Le7DWhXW4EwsCegsbX93G18SmRoCvf1SY7ZWJL2c6vMXknHaaB8Jb1odz2CNnKMvT4Ky0-KbMbKniXUc6Sk8MQG61YW1qW7L2VNuo8dFg7rib7aiqrRNJIekMJ5nPeD8gXY_CKJzh503zd2SW3NZlfPaVKAxH2ycUQ52hzMfAUjQMNZSj0LWAXoCAhjpL2b5BcqlFzjHp19F8H-lx3eCSqqajZdmiQlLjIhumQraSTC6Opmk1M-SYXmE1ucueb7tubrygnpbtZAAdvbfYDyjS3_Q4Q2gTNPTO58Cni7UePKDaJv-2Vngbnl5gdSWpiUQn30EvvMslUDtJkP_PMnPEBpdfG9ye7C8tpnOxKrfvPNz6Jv5zTrAd08Ers8lSS8Q67MPKpUjOdd6EPN4F8HE0w9RsRB2gmKEz-KftaRat6yzgaMydxrLY7sfAYZrzJLE2_Je9rzk3oGwUIer-I_B1XBuMjEJF1Mhywe0e8z_1O6vZ9-lwtexSQAQWGkhmmbQ01KdNgH4HeSuoH2m4u5pwFVJIeS4_Y5MuloKJuX1amW8VhM3Wtz5erjH36ypNSjugjm-a8cWZbH9QYCbXkdd3Sqc0gQT6003z0fkJhRo3kCzQS0gAYn77wMMmuW0mns-LI0PUXTd9pTcEgOngnI9hOlYBp48sk2i9SJzlHcpYkacyIL5ehaCVusLNXfDAFYIojYQBtSIY754Adx4QpBWzJmAuVYfk86nN0Vdp4F9D_EjgfeiscCZ",
  "id": "rs_0413602ec963b5e3016aacb879508087d09758ba3eb22d864f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":0,\"left_z\":0.22,\"right_x\":0.59,\"right_y\":0.155,\"right_z\":0.15,\"right_pitch\":0.5,\"right_yaw\":0,\"right_roll\":0},\"note\":\"With the arm clear, the red cup is visibly on its side. I’m parking the left arm and approaching the red cup’s body with the right gripper pitched forward for the long reach.\"}",
  "call_id": "call_BkqZYnIHPNclEiawsKg6q951",
  "id": "fc_0413602ec963b5e3016aacb87b054087d0953495f8b54d9a92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BkqZYnIHPNclEiawsKg6q951",
  "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]: [-0.1345, 0.8707, 0.8616, -0.6907, -0.2077, -0.0292, 0.9981, 0.3477, 2.1788, 1.2469, 0.7773, 0.3267, 0.0044, 0.9977]\nstate[eef_state]: left_x=0.2842 left_y=0.0019 left_z=0.2153 left_yaw=0.0491 left_pitch=-0.1251 left_roll=0.1146 left_gripper=0.9981 right_x=0.5821 right_y=0.1545 right_z=0.1315 right_yaw=0.0353 right_pitch=0.4169 right_roll=-0.0306 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -1.7299, 8.1162, 1.6337, 0.0122, 0.1148, 0.0562, 0.253, -11.7949, 7.3504, 1.9267, 0.2418, 0.2027, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:139fb2e2f1bcb024ac2b7b86ab01bb203f04688daa9efa9b981420283c93faf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2647be4a8306523ed30150e4a7f53f2579c3d7b3a462bd73797a6d99006d0ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a62b77d3657dbe3ec1c279c8f2619bfa926ff0f8addf8b1ca037f9fa3585856",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.598, 1.5566, 1.0153, -0.2752, -0.5224, -0.3401, 0.9975, 0.1329, 1.3029, 1.2686, -0.7277, 0.0666, -0.0452, 0.9967]\nstate[eef_state]: left_x=0.3905 left_y=-0.155 left_z=0.1387 left_yaw=0.013 left_pitch=-0.1272 left_roll=0.1186 left_gripper=0.9975 right_x=0.3731 right_y=0.0417 right_z=0.2482 right_yaw=0.0921 right_pitch=-0.198 right_roll=-0.0666 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -7.2821, 8.1026, 1.4188, -0.315, -0.0073, -0.0659, -0.2393, -5.7641, 6.7214, 1.536, -0.1245, 0.0464, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLiMQ5DVEGkaIPce72qlzwk2aO3h4IAtZEDpXaOKMBpy-sxganRjfVLvgTFrhcV3_Z8VU_1FimfiZpT4Wa2R_v66OYz0dDJ83XLbuwjcmKb85nkOaHG0S6-fBit3j99KGYPiwiRWs2qwnoRuOKXu4B1d3Uf5pE0BJfSVYmcqXkw5aZDGbnhSQPDjQj6DUg3BXj4ZkzcZRbWT_3cFdeQD77Cg8ycLPEU4WN-UIIDgm2cJZ2fYOXdiWZ0FBwuhxddZ6s7HAGLEJUoDd3_TqRcriZ7EGHZUlbkZT4TGNwjuGmDdrVEi_oPZEkTDIJ310CDR5ue6FUk46KggjHLFfuoI_TCWHpaMVAggU8D3hirzBO3zboy8tzTXnqhqAr9foFMiqlnqdTrbeJx0btMvgYuiFVkl8CFlX0m2MZI9aoLPl1HNdMibLYbf4ZSEfZ6C3_6WVb4wKkIz8mBFW30ipYpjzvuJ5mYsCg1GGYy7Vny8tyABjzwxj1B7ltxQMDKLnLeTDkqyoCj063luimITbhOJdLxIJUoIh0XG227-LLrfGb2FaaJ0inuSAo5zqijO3yO0Gjy71UlzkM6Dv5h-TlEndm2fW0Qfnpeo5vqqlpcH4Zf1D-2NJ4X2CULwBiTLtaKiy3X7zGcpYwNlto6I7fdJxgTWUIWMUZ8uiJizEMHSeU_9WVzLtWY3B3BShCmsdE9wOVtF8K0pu9Dkt80Bkcb3L_6w89mZgQcvomX7HyQQDZeTv4m8pkxY4TALFxJOzJusV951yLTLQXfU39kSKrTc95JuAaAwBUTGtkXbA6Bup14LmN-3m9G8Y4PxlDiDbIPHWWRlwHB-hMrSS7ZiVXSXN8QlAWco9cyYFGb2boaT9lj34nC5NU625YK2pdBMd3KK0jh7rgURnLZOMa6WvXZyXOfQgQtE9Mw04b5gxZgRLdwuz6ZX5DIh3jtojrcojpjxfop5n13Yf31WSbrvOW2o-XTaaxzkmiVxbCPsLRggZhOoNubCdaOSxKUX-V3HR71-cKM2eBZikzBzaOETeO-22Zvd_FAz_8_3E4VLcM9FJ7qbmGvzNJ2zCJ4X6paiOUth2YP3MfOiESOd5m8YG4jqFLAl9BYUY4PMf1nsjdYNHDCcNj1xx0-NY9sxhfBj6Kz6bFdsMlNJykImio7GgNK5hgiI6rfsiu0ORdiq5az_zfMcn07Jvlfenk90hOiq1jqN9i-RKzUOV9bgMrri9E_8VyZj9D4noy7FEHaqjNdpNy0RIksFa8oUoWNrQK03bS6xCI4BzUju0D3HnnXPPP_4b77RQxknET0W1fKjbNQ5vZVgQrAUZdTDg9FhxFOA7QM5uXcBJXdtW1NFWQh0U_ZYsxvNgpBz4QpLXr2dvIB_iP9T_PyHDh9gqQvJ9aodIeoWScWDaL8u49kN6dmgEJaEWEFzi6f2KPK2GCA3OS-hBLbOTiSNx7_v0OoOR8p_W6GJLXokW0kNhRmILdmew8NzzS4uoOjcgETeZ0ToR0Q0BVns42e6ev3qWJvHL4j_4ZzrdSONuBHj27TDfKEuc-9LQz2Sl7YNPFkE1B36yX6L-YlTfzvzmppuPpA3aFGxjrL8rGYU2JM0BuWsYcJOZyBZWCdlNjP8Ef7tgsM2IKHxeSvsc15AH60Le-mM_4DmNDbMqCZRpDEKRjkPynUxdAx9r7IJik2IoVdJb0LSnZMRQrNmjSLUvP5orSf77MvnNEN-OmWjwk92TaHkizJgztf0Pi1ZHoVLTnInnXSAv7ozz95CUbfLRbpZakkIeOiv1EygzPyIvQ0CRQo-rxOSwOQqHj2ubz33ttVIKSj3az5Z7PpZicRqL6HD5OAIdbUDspVAP47z-GEN2gxsbaBDS_utQVTMqr8cyP_rN7fKfcfaZCBVRo_jozq16Cp5r7Z-BG5zyK1MtHKOh52Qt7YsGO0eHDdYWa4oKPGMprK6eoKIx9Ho3Rd1YYbaTM6LMZDEqVauBbWEwAm4l4kx22Do57zJHRLOCKD3FTPDnJUzRL04VmVodmPT8DFwk6IqyB7nEtEB_THfI22bPQDdJVURXsUYabfTuNYrPFrTRwn6EzbFnsdv4uPBQvAM80wJ7SlNmV66K0Oef4Rir5VKWOBInnzUSXNo0lUTJPGqQ4P_fWRagqNqQkb32BQa96OQSc3t78A5-X5G4DOTZaYEG1uIAiAZFZyYvI41njm0d7vZ6teg-gH9tIFdczgfhxqyXI8AOBtAtKfG7R1IQpkTOZ5kUlhSrvaXd8lIdav1v69vvLgU8YCIlVjEhHyWhpZ9Sp4RR376W_06WhHh6nZNv_RjohwPKxt_BI7oWgJQrAIwW0-Kn5oE24PbF3IZwhAcUnIXYBq4UizKBslRs8h2vAJOJDDAHe1vpAc2txKM8uCzv-zqb6duER9-xz8WGxX9eLV3yExGpqxIAjRzqLCip7kheaaNXI2PE5dBomN_cMgKVyVW-a0ZbqZx2VvGe_EmJpufmuR8TqbpkrmZQOkqkL8sMr5HFQdfqKb8r1ZS_RUctYtwY46yhBw5FtK0lorlS2XbiKO1CcnSoK2AAYEv3-_bFRZwTuce09E84Yu_nBMQbI0vBNE1kGHNLL8vGxnI9yD56KhMQrE21m979YHyHNV-Go1IDbrrX_2bwFbbnL-NvCWYWxnQm3XW-ywLXEi6fEKDXD-IRFz1pETttNiLm0vXdSuIORSBaQTNRE-LA2cOfLynLsqKPHr4PpC7ansTvJ5okjKobwk7PBHJnOFey6qQAk7HrLCCIoT0Dz6veV6eH0YkB5qh7fNEjmWwk59BTFftj7mhJ5aIHl-0qc8l4GQ1WrqrBp0GcPYMK0eDF2KZ4xfo4IJob33Xdr4w9DJrdfeQMIQEyF1-rbf6YL1rLnWSAO78dXV8cyChHlT88NNvGSJqjt_Q2ACWLlM0tn_Ijm-z1NQD7SoMvKpHndXeSjRMpZgsadu2B8CDc6EB7GWWt_nuwB_g5X0oIyj_tq4B2kzTAxVO0uicb3GwINSMoOjGJbZ-JYoJR4TqWAl2A0vVRC1X0s3VwpamINSLiF423_PLo5ljsDpkiuVqfzd2d8eGsdDKNtxdxtcfKiupgDNjxMOOvjft2bspfGnG3fUJygt9mAFdEm96",
  "id": "rs_0413602ec963b5e3016aacb88290a887d0a15842430e43add9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_y\":0.15,\"right_z\":0.07},\"note\":\"The sideways red cup’s body is centred between the jaws. I’m lowering onto its middle, staying clear of the adjacent blue cup.\"}",
  "call_id": "call_P358mdlaTHrVSQDtqK1ODFJ6",
  "id": "fc_0413602ec963b5e3016aacb88aa5ec87d0aa5d0f2642293229",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P358mdlaTHrVSQDtqK1ODFJ6",
  "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]: [-0.1349, 0.8768, 0.8616, -0.7109, -0.1879, -0.0261, 0.9982, 0.3363, 2.3016, 1.3155, 0.9718, 0.3264, -0.0471, 0.9977]\nstate[eef_state]: left_x=0.2817 left_y=-0.0013 left_z=0.2096 left_yaw=0.0309 left_pitch=-0.1535 left_roll=0.1087 left_gripper=0.9982 right_x=0.602 right_y=0.1542 right_z=0.1343 right_yaw=0.033 right_pitch=0.5496 right_roll=-0.0405 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -1.9487, 6.7214, 1.8242, -0.315, -0.0855, -0.0024, -1.1419, -7.2274, 4.2188, 0.8913, -0.1783, 0.3004, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:607c6f057956fed7c231f5daf33cf9d2fac797116a5fc45f0af94a87669a6454",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd01bb2810158f0906332e0e2ef5194a20ae2f3ecf1eefee5a1c2b428eb4d63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72f4d3d83b1db04102ce8d74e22751d9b841d10b6ff823ed12ea4d37d2d1a84",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 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]: [-0.1345, 0.8707, 0.8616, -0.6907, -0.2077, -0.0292, 0.9981, 0.3477, 2.1788, 1.2469, 0.7773, 0.3267, 0.0044, 0.9977]\nstate[eef_state]: left_x=0.2842 left_y=0.0019 left_z=0.2153 left_yaw=0.0491 left_pitch=-0.1251 left_roll=0.1146 left_gripper=0.9981 right_x=0.5821 right_y=0.1545 right_z=0.1315 right_yaw=0.0353 right_pitch=0.4169 right_roll=-0.0306 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -1.7299, 8.1162, 1.6337, 0.0122, 0.1148, 0.0562, 0.253, -11.7949, 7.3504, 1.9267, 0.2418, 0.2027, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLiSMq_uG_11cHRupsXGoUMw9IIWD-XyXYKnb6Qfwq-gxZ7R2ptwqi4qkKpMYExgVSVg-F71qctC5_3M0F6p69-DgLI_at1h-hVnhJi5UmKP_CtnejNt6z1PyLszOFJv9IHhv2Ym4mDXxhR4XTxSZrFJ5eYL5GG0DsZgaA7iTXWirlW_4P2N4AkUn_C8TSUfDFPYtzKw8SsWfTQXsMq2kx1CDYyBbYngrSXfyFz-UzwQntfFpanGZXlFI9fWcWXjbSU2GjhoxO87TWTBzlGZ9A8LTFbn3Oe0HZrcB5cAtXem6G5bxonLZ0mLeD4cp7NLDgiuLIxyuO_9UJ6VLQ_Gv0vZhQ0T-9dyPs105Ks9xZLKqZqr-54rEINFrUQ6uEuZX-C6MrVNllN6GlgMJdQw0ZxmA7ADYFVYtBpZzUGbNEB1fwXOCSDZZ5FDC63R0w1e5zgiWGLriRmeMHPqrrMKCoqJFgMli9wPiAnO6r_Se5TFx1XvfgGDJsByZiEvy7ojj6BL43CZbHoM-ITA_drgTHKzs7gzOSeej3lO6tSEKgJ4m8Qp3hZcOumaVJ4Wcsu7XdVaXSZ0LtR_Jwyr_JWvZF49T_4KyzfPcEAY7xhL9DXaH0yuA-saPrDmU1f0A-L1vJ8a4JwxDye-jQxYd5yrGtrJHCkR0J9BNnKE4xZACgLgDaT7QA8feOKknTDu7R-nIc-Sr6EMMoAFE6CzPBJHT1q1R9TLMWlOnl-F87A0T5M98xM3d37n5zVGWxNeXwdF56uM_0Njzf3lTAjtdgbJgnPeyjgcHPLeE11P2CPVRg17xYTlOzQ8MPjYzd6SGZi3QIKCU0T3xR5GxuMILR-Oyo8I9cS-9YAFPYvPjeGvkD3Xqk6xAuew2PJvKdNfdmdC6IS1pQObsIjo3n__Rj2l0Z9lLtVmNOxElT-DFVyRiWpKIqamU19reCSV25epwIg_OuZj3I7RSVTv9GXQGaW8Xa6irjSOb_jQl1BXTXWioh3j3FuQnw4QhPyAmCRdw6YJgxHk2qVdE-O3CRu17_9MFKwZjjYU8GEsPooWkZGt3XXbxM7rrRKRxGwEkVrgLjak_ScNTap6sxobWuBi-fzGF9jYbAxa6V4sadd1qLJPxnG8pf2z9l7J39BgAajR5oq_gc6dxbGh0iQTNteNfcLIXu0zopE5W72ZQhKHSwwQdIzb_jxXNAIQhAYO1AkBZBpn51fT6F7DxXSfpt46SZXwRMBUfGhJXgBDtzGbb9KJROb0ctpKpMiBRAn_RRX9k2edLf3990JhAFI-blde5oUSjVxlShI7jxeORxJcWq_jpSoH4Nnha78lUP-46aomQl3t2UGcPPZtfqwIpVSfxynEEtf6HxeYAV013uAQjZJ4-7MMO_JiqwfI_qQn2813bfPOeh98w_o_FmHGYLq-eG6-HLktX54xHUrSptZsRnBWeTVZoDzkr7qL8EzZWo2S9wQ0_zSP8oRkNQdTOfXVcLLuBYRm3VpZh0_OinbkntftMadpswUmSImfSG4QBYQUv5plSF_nAN03Ze0mX0na20-hIsTq1CGhEaLHB4J-h63-DdnQCimByhGR_0TzMQy6wUhd1aXU0ohq2JwPekThK1IcP6nkZyDQNz6xHhOxfWZiacDeaso=",
  "id": "rs_0413602ec963b5e3016aacb88e157887d0b663c9bdae5115a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.04,\"right_z\":0.25,\"right_pitch\":0,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.23,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The right arm cannot descend at the cup’s current distance: it stayed more than 6 cm above the requested height. I’m withdrawing both arms; the tipped red cup needs to be moved closer and stood upright before I can safely complete the pours.\"}",
  "call_id": "call_qdaVHTA4CiDPJti6Vup8xsqC",
  "id": "fc_0413602ec963b5e3016aacb890297487d08151704f8fdf0a74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qdaVHTA4CiDPJti6Vup8xsqC",
  "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]: [-0.0345, 0.836, 0.8188, -0.5739, -0.0483, -0.0261, 0.9982, 0.1589, 1.1976, 1.0298, -0.2546, 0.1455, 0.0147, 0.9978]\nstate[eef_state]: left_x=0.2941 left_y=0.002 left_z=0.2264 left_yaw=0.0114 left_pitch=-0.0284 left_roll=0.0091 left_gripper=0.9982 right_x=0.3973 right_y=0.0414 right_z=0.2759 right_yaw=0.0187 right_pitch=0.1455 right_roll=-0.0302 right_gripper=0.9978\nstate[joint_eff]: [0.3761, -1.7026, 5.8735, 1.9658, 0.0269, -0.0317, -0.0122, -0.253, -4.1504, 9.265, 1.7411, -0.0855, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c01bfd723dc915e57d788ec7079715a59552463588cb0f9ceaa6f5664e181c1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0aa3600514f2ea7e7aacb72bc8477bf9bf3fc853c3f59cf4a19f1c310423b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446d608508bfe5643a9cc559a607e17cb5ae7657d4483d62d00ea5575a134c36",
      "type": "input_image"
    }
  ],
  "role": "user"
}