adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3782, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6106, -0.3779, -0.0128, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=0.0013 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6342, 9.2786, 1.7509, -0.0171, -0.0122, -0.0562, -0.8137, -1.4701, 9.9487, 1.7753, -0.105, 0.0806, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8db89d75b864117c89c8a47b082850f2ef8f9c9864ddf160de255904aebee10e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96eeda81c774e2b9c8f8be605793f14f0b66b7b80cdbcb009dfc2e384d8258ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f7ca275fee011a83cd53635c44686554422e56b68861d1bed65a9594de3af3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrM4dgzoNtTxX4sGcRXvaht8EBbJw8UF1pTv6k3bppd-q8YuOrKL3iU07SGp9XC0tm3H4C6M7YfvPqvtqiftA0XkFpY91NN5_2PJ2JbHXL21NTujEq7fLmvZwA8U6OTFaPv59XDbyhAqVOS5-R3V5ZuNUOe-nAfese3x00xiXFLNPd2WfETGsvs75vP5vZsooE_Um4yOBPB11vZtl9zdQMQg9blaFtwGbvZCLHHPmzcCZpRG0w7ipvONd8yXK0JPEdHwW8Wxlz1-vD7yzb6VDn7T5HCUY16RZLj37g_GSMI5JjwtVpWtkrDNlbgXTCwn6VSo5zDR6x37iuz7FczmJR8Kc9SFzNi0uqpor3oP9YiT0rCLZ_R2j1r6K1POYaqG99wXtLx4jKj4SQV9htp09rrIz5BT5ESgFLMXk7tHs58RMof0mcu_vJaoXKJ9rKcf2W3ibhaKuN2eUKLPqS6vKBYNhu_Z_D8p--PZQg2csRLzW7kpJ5xkIcsZ-ouVvbq5fjf6qzPO4uTjvNbNR347Cvo3fD1HvIpBQUKdAUJkPymLgyzKkjIWOtD39-8V9tUgpfPqm-h8KRRTXYSsllQ1A7D6QGtl5WMlJxmrhxRS438fN7jzMoeyO8wO-1sDD5yfLOKLgvdtsT4nEHgCUVd1KVPvebpYfnWv5lW06otv-4IFUgrdDVnlrRij3LN4VnfBxe95E8km4Rb74VKrugnrcpxxE7eojBjZ21LZZ4A-SAH8WT5c7dIcHOrXDM384nI6YFCo6WohdJc16YTCtN29xFMmW8zvutvDnDQhMpJmr_e_ixQVEygu5zRGC4mS1DsNBn_gyl3EfzY_Wg82qd0qZz8IL7Gi8l7y6mONLTOer9nTw5FtFsvjeuB-gGi08EhijT-mxFKsdkLlLgDNNX--Gp1IxnOkWjR7UL60wamknUg_OFvH4CHavnelutNY3YStEx8k-6zQ47lqhV-divZVKZjnRO_7o9kyNoyu3jm8SbWD1Fw6pJT3hu5naTXyXFSZ2UnDNX6KyLXu9BdwQdkT_mOkYkKPD7ougU-jAw5xidYVm4nS4IJVzqHF4cq3bdqTugJV-dzIXKBMIHf0k7QYEvhA9203oxZUamWEglDMBdBEjcEMQ_YUCbcUAarCwtLgoF8vEFtlEdm7cZoZS1y03AMi9ew2Nbtz5_v2EPSWdXnw_oE-7D5gHNTUsVBqC_65wW9tr_roa8S3Rln93A8pyzEl6gN_BKsy3rSfOfx5eELYuQX9doxoFdJzTIgmDIvPUMzVRtpwuDT_boW5OPhPRwKbKY-UQHcm2-Ts4zrLKRAsFg4qTICg5gUgJg5_XPwuaDDSBuvu5cn2EeGcHi5cqupWqhmuI0JXeqVzc0DCeDN_VI5SkuexfcQtSuYzVl_GyDOcF2MxlE5fkzq2oiiE5DVne8o7q1kWOgymRI_A7nv26LRGnVOSeEk57u9RlVoRZmeHuVYa-mtDhxXhSEZDphuw0YtO9UAyX7EfuFzgshL-85ebXVewm3gZPoppaLgGXkb8h7udMTz-vzRev2ZU9lyYdFFWw-fnAIna6P0hOZMAiZHGbeohXLb-PV8EwUltCVm1bG08xy9GPvjs8qlvmXe0Pd2kBUr7UeG-qS2kjgS5UtrIGl0ZwR4-zIRtSsyQJ8Yn0HRyxoHKgSHofDZ4boisdJ47_YIXgAdOX0gvkCZd3d17f4zG9Vd8C1-HmwuN7nGfu1yakjT0A-9LC0UXfjTieLg==",
  "id": "rs_020015877df99cf1016aacce190d7487d0b9bc04cae0792276",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.2,\"left_gripper\":1},\"note\":\"The two tall containers are in front of the cups, with the red cup behind the left container. I’m moving the left gripper inward above the left container to line up a grasp.\"}",
  "call_id": "call_ClvJT5X6FyuBppdjNCrQrW7M",
  "id": "fc_020015877df99cf1016aacce1be63487d090462a56784ec304",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ClvJT5X6FyuBppdjNCrQrW7M",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7311, 1.6131, 1.195, -0.321, -0.5919, -0.4591, 0.9996, -0.0151, 0.7986, 0.6086, -0.3843, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3955 left_y=-0.2175 left_z=0.1853 left_yaw=-0.0062 left_pitch=-0.0337 left_roll=0.0108 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0103 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.8564, 9.5385, 1.5214, -0.4078, 0.0171, -0.0562, -0.212, -1.1556, 7.4051, 1.7851, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f253dc3448779b61608d7ea9d2b4c252727ffd736e80d970b9b2d7965d1b1482",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f4e7a3f6cc3996f63fb8803bdcd9c25e0ddbad46ea1eec76c109fe2e9fec276",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ca2737c289025f1f1e375dc8c14fc3d313454653e824dfdf2128761c7f5049",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3782, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6106, -0.3779, -0.0128, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=0.0013 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6342, 9.2786, 1.7509, -0.0171, -0.0122, -0.0562, -0.8137, -1.4701, 9.9487, 1.7753, -0.105, 0.0806, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM4wQQbp3kNsfPwRsC7T4vMd5rVG-4xC4eogWqOund6sxmfVEVO_bwofjxyRpWOI8Z-4zPpAkNoeywkya6enBs3XR9F2F2DrvcJWqkO43yT5BsHydWnZV7oIwxW52yCZkKpQZ-c389l6MQlz1WMFw7T9CAeOllorfYcp8ICdc3y2CKzlzywSsuTJ9lYxFQtW-nWAv4M2ZNGdI-1HBP-fiWkynM4IhzX5V3MFcgdBySzFt904y3T4sedncvX2PfhOYlRx_as2_IxCEzlcImxpvV-lOms1A1j_NYGJQ2yN5zCzqHJuudbyBMX5Ko9Ruozd3JNBOIoL_3nQ9p2XKhbq3Z0W0yfcNYQucfYGHkfhiucYb4WZLafLJXnnfvOLYHmaIBDXl9tbnn7PfO_NT9z1y9hGrc2OcgIpoqgxdCY09Q6uzjsX0Y9dId1Rmme7Z8X6oBwFDLNo3FgjmnfCoXeCNof0lsUvVbh-bRqLJDHpv3JJNoAVXd9rdsMQT03i55MNWtWYwdrWYxIwBVC2WNIE5lofZ9CpDnndTxSe9DwFiyh_kxosr4jh_tnYb3bN4BLVUrcE6La_EBd_K_EUdx5XPqJ5Q5p1FfnOCJe3ukpsMq9Qcne_6ATeLxoHuyOTwHT1ceAxAxC5WA0BrW0jfyUmtVP1FyD16gMQKquMD3sZzTMzjJEPjK5jhGBY4b3oEkVqpl9tAe-zoPuL3v0OiuSwNFfXR75icdugfssPrH1_4T-c3b5LxMp8XdztvJTBx05QXGXlFbtgn1a3KmZEFCJmSbVBCpjRHOpSRTTDPu-7nrGnHRJGZMDWu7CyvntctK6DeVxcprXe1ciy7_sZULpTObgCun3fX27KWxv_51kDs4A2xBKPgkIy0LcFBpKHmXFxcrBFLqpzZ272F8rXj1FRczx94ga8uDMroXwNlwceVhJ6j6nMVaxZNws91q_JJMt0P1z513LmIK7KSndncqG0OzzGMRayKeKiX7hdHRCemGl6V2vwE-zEHWV24T3jXXIPhKnZwGVD-o4Xy6owNAfo_9Qas0Q7WK5eqbyfEITWLlzWk3PnEupgXyfECXFx5fmnuwUjH0A6JZQ0jZlesbmDm6_TvskJUZbRhB5vrNpti4Z2veCwJNfsjW7PMLjZtimElV83iN1XfDcpkPd6v8rVmDji03a-u2Kgv5xC1REElKYuQQBdPuWXgx78xCU-bMn-RoN7FbJjAR04WdUIreEdb8YMftdfU22EWHkMNgysrNZriKHUtNlCVjJ10y7CB6vmgtH_YS1bt3aU0k48cpKhTZshWntSx3B0rxGMypXTar9Q_l-fM_oiUQT2bEuzUNBNyQdXRMnMNvNeCdKLsfH0AVieVeE6xqm6jjE1ydqvVC5856SYSlYoyOYwRladjfDbZrjgevqUDSpXLkKGmuo_EM0JF89wpAidJcfly2Q4vkWpPOmGOodKstFUn_vq6cxE27AInAtur2pdZ9SUTxLGt_9EtqB5r7bpeSFi0gfFw_mGHrcs5TvumotlUGFJpWecOiim-m-7BS6RmHDFVxssvzaMeSbElBwFjznAOO79oBnona1UtSneHTjZ05N9n4x9_3MHtXDCHjdMNBm7YgoYr_PcGSPdBQTZI6fesF7oP7o4Xkn6WPllTx9A17Rvk-v-J9x1afjQ_MnQiHF-z-CB4XC3eczvrd5wysUWzcti0LNtAh2plxjkWUL-vkb7wNM1089IPw4_vJsMARoL6Uk74oY8Dp6uN2Jln5cmfUj08B8reww=",
  "id": "rs_020015877df99cf1016aacce2bcbe887d0a239a5d0348e5d22",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.17,\"left_z\":0.115},\"note\":\"The left wrist view shows the open-necked left container to the left of the jaw centerline. I’m shifting over its body and lowering the open jaws to grasp below the shoulder.\"}",
  "call_id": "call_nC63mho8sWC8qoW1v28gA4W9",
  "id": "fc_020015877df99cf1016aacce2f24f887d08e4d23f030e74e9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nC63mho8sWC8qoW1v28gA4W9",
  "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]: [-0.606, 1.597, 0.9028, 0.0765, -0.5385, -0.355, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4108 left_y=-0.1701 left_z=0.137 left_yaw=0.0221 left_pitch=0.0392 left_roll=-0.0029 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0107 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.9538, 4.6017, 1.199, 0.2222, -0.1099, -0.0122, -0.2393, -1.2923, 7.0359, 1.7509, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b924f4acf6a662b9bcf6f6d9a59d132a909bb4f2ac7871778ce0c89f13e9b00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dde6ee636158ad5b1b73a88ba204533d9eedb448cf20c9664e98b9d282f17465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f24aa5683222761415623bf9e7d859654dcd363e4c3d2861211aa62e787961",
      "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]: [-0.7311, 1.6131, 1.195, -0.321, -0.5919, -0.4591, 0.9996, -0.0151, 0.7986, 0.6086, -0.3843, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3955 left_y=-0.2175 left_z=0.1853 left_yaw=-0.0062 left_pitch=-0.0337 left_roll=0.0108 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0103 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.8564, 9.5385, 1.5214, -0.4078, 0.0171, -0.0562, -0.212, -1.1556, 7.4051, 1.7851, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM44YCxzmhfGPAkI7TSghEC07qD6lhfUPUNTVgzwGYoHuqBoJcSBJQ0iwYCdBXD4F5wz_Fti8fgARbNHBhMNBVkq5BbAEGo1-T0vul3Ignrh4XOdvL80LXKzlWrkdc2IgiAh60lyHhodE5hJ2MNiIjSrELVy5jnkfjbcxCSToSiVot7_mc2ZGCBif8dGF3KZ-KEHt2nOuFbQGE8-DotdO2sb4ptZruWuiQo2qQMXh79MU5-t2YyFi2aKFWq4MDVeXMYQDFRnaL3f47U06hqGLbxC6yHNOURAfMry0vTJLFX_DQbOd5Jy2IpAefet4xlUt8sFCBH_tA_2RrddbjSW4Vda17UDSIFP0Guo6MfsxAEBBed8r4M2IUgHLcMKq9g_h52f5eSiyGsb8I_Pu8FuR5YG0j2kQcSqlDMuiMZ7cnnxEsEfPtfBmExiDqcF9VtTSsvTvkFBhQNBb_l6YyDGf1RE0JmlVnXC597wVmn7U5yuqRwe-7-Hl_OMhral_xCDLONdRMMbUiEciX1EM-YKKqG2KqhVaSvR76krQs8Oyjk_wZWwEhOMZyLV6RQG_3yZkrf27OiO7f6dxnLW3HbZs84TVT9zOpjOFlwLG557o4Wp5CgCnxJi1tEiO5kBYzU2Jw6TKoOXlHZrBfOeZ49_sb60eU9a9aX8lac1a-iDhPSQGITV7ldxqnA-faAuHG3z1T5a2tCszTpdLshTugS5W6QQ5rqkKgXmmA-l98hjWmG2wt4CVwEq9BmL2FmiBc9kDp7dP2ANnXq06cYEzl77QvnA6MbmRMTJjGybcc5ntFbdT942Rcy21hjmoRmpVpnlZzUHmEnWquMFg_LmfJhP5Rh-An7Sy49tMau5TZRi3qznlcZRN-E5H0F77Tjzgw_3F5mCfIa8QN-sUEzKU4RrUTFdU10TFZ-H74aqpFbVxT5dHwGrnfXOgXlwtVBF9o5TWf2Hwdtl3Nm6tmGXEyQfyiWxtZaRphGAiHhGW77T91tNgNAiMsXxbSnFrvYXUYcn69NPrMOZ6HwA38RdIAv_gpHczQMWSQ_zKYpOe0Kv5N95BMwJER1k_FnfWCEmn8XYuR-tyWYFYNP3-YhVV68LcmICy9EmWkn2waZVngtWMjCRev3izYHx8eI8U8y0gA3zSYIntb84qNrPYT6JlmP4QP7WYHDMNwPQPiAVC-wDF6ZlpxEqqp2t_xo8UPe5yMngaL2YNrMWhhvl9rvjWa1SxfBHujhl4wvV6i-uLVO3rG04L3PQiNAoDlIwwQWQWYFjKfbhOsh9t-qg33cV1nxzLewUJUg1t9qQuoKlWsXRYmZUXn1rsNcthHKxJ_IfKS20s47tXq9NIt3gyAJ0AlrPW5X4LwfkmVVunXLyYqiM7AZpJgDnZkLOAWBRWY_I4cLBXivxSugkwaDEYP7Jtqbj9LezoYyP497wV9BfA9rK4SRRbTdTX-HIWa9J_IhGx7Nj6w5WNywcLp-HC5v4OmEnzc5-3PQo70o0etlZ1c-Ord7e_6qgyH-jDXu8cdx2FgwgwRriG51BpPBNaUWtelc4DO8NZGuEe9CVIICTPfNNrSL7El0MK6LLVrAUYcDuEONdgoIBOiyVIYvAysvjBVl_3BKI0izdkjOyRNYf86ZWIcDejuZD3in0a3POEIk5NrRmxUQwHjtVw2D63TC0DrVZ5o6Q8w8v0tHq7TeNEmVnnT1Lr8x9VHtkk06SUyh6WwGoNI8qKEdn7u3x5uLuJDw6QhBvhePLpzBVnLMDQ80FYPywkxaGCIU5BtWw1B3Werp3Lq3dsePHxUzgwVuXUaQi8HQRcw==",
  "id": "rs_020015877df99cf1016aacce345c2887d0ba63c99bdc8d9c28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.135,\"left_z\":0.24},\"note\":\"The container’s broad body is crowding the open jaws, so I’m lifting clear and shifting toward its narrower neck for a more secure grasp.\"}",
  "call_id": "call_kXuBsBAM2eGbk798FXRDHzI9",
  "id": "fc_020015877df99cf1016aacce3788d087d09ace4f13dd6b451a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kXuBsBAM2eGbk798FXRDHzI9",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4698, 1.5368, 1.2007, -0.2768, -0.4404, -0.2943, 0.9996, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4372 left_y=-0.1335 left_z=0.2196 left_yaw=0.0473 left_pitch=0.0125 left_roll=-0.0009 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0107 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.7026, 9.265, 1.4383, -0.0708, 0.2076, -0.0171, -0.0889, -1.2786, 7.2957, 1.7705, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71c17de8bc310e57f1dc4e101301c1a7d6112835b23494f9da0a4fb9240558ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:019d5af00fe2940483109ec6970bf26cacbaf29d85fc417839c8ec9ccbcf064f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e84c985f68b5a11c3136d4c58b73ffb02ad1ca52b15f01227c8f4c8af7554e",
      "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]: [-0.606, 1.597, 0.9028, 0.0765, -0.5385, -0.355, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4108 left_y=-0.1701 left_z=0.137 left_yaw=0.0221 left_pitch=0.0392 left_roll=-0.0029 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0107 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.9538, 4.6017, 1.199, 0.2222, -0.1099, -0.0122, -0.2393, -1.2923, 7.0359, 1.7509, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM5Av66ZtkA1_sx-k7jRAePsdBWXqcHpwS_KFWjOjHb4Zv2Y3rZhD_EXfnMrfrsM0i25TUqwux22s2fKdJH-iR9LSC0F6LBVCgDVwSWghkHLfHWVzlWfUVSw3XAXUir01iJOu7lzpbX01CJ3hB2YeXcIUv07w7_cId1EBSsB7R9P14Wjxi9WpUb9WOWVgLoe-Irp_UFU-OXmwLjH02b1JfOvMgrxe8JH3dohvQ4yQ1xknrBlHcqKbE_zGxUFb9f-7HSwIEI06gWrhL8SM-mTq3RWPc95CA83w33uwJ7mbuY6GY4c17Ej3goUFa1AnI0apkdpDmiSA8YtOuLKoKUyRzVIHrJRS1Q3epwk5Worz3D713qZjdWO-T3U63EqLPSDp7xMCHFfOZo8GJBuAkA6tCPQithFm-lMV621rMVp523r0YJzhDNgqL91DhfxC2Q3ueEadUmmH98-3HN2UY2Wf1iSgWf1eqyXwMVWcrn_KNgUh9IykUy6TJ_WDE4J8usPImLXTawZqVvq-Nh_nsfMedi3skz6rXGn3lb4w3vQ5GOiQUP3DvDdn8u04ArZ4PpcL_dgG8j0tQUdVnF4vVNEAKJtEyP_aFwya2QRqvl0Oge5TBgzxqN_m7ikp8C7iOIlTotlYLT-EYPYMQ4wOXTwJO6HOIF0td_EtA4fc9rh95JEa9esdxqOJNE2nEqZNW0dV-mEQ2EMta2fkib82aPFtyjvHOSdKLXvlzumO1OZPtuQpkHvpEL8RcrA26cnAuUVpqO44jjVsLgMj2kz9mToOcyll4ZLMHnrgsAmMr7U5m6iJ9x_ATP7UTBrDsQBOFWYfPgHWZB1HH3CLp75McVsVCFEkLyvrmmqznm5Xn_6SPDDGK_VhrripUA-aTXxgMkVWO4x34wkfKjocOSRZeD7bhEiryeX0ySjSHl60zZk96zdfdoc9icJit-1LZrP7hPT2bFBFd69mAJWNz9wl59dZ_eveYiXIA-tO_7liO2eMbJeAVYpdekZeuL7Dg-ab6_dl-H24ze7LVvrYo1vO01urWEu_jpE6csdtBgODeS_zIvAfTMAsdm63PHt_MuanEuaNkLLbm99zZx12hek8x7BXgZtTiXtWxAaIHQ91K8El6gsCGXPe-MH-p9wtnULVpDyWOvostCtWQ_BY_K-60dHWhIORs0ij88egerCgiBwcFBainsPH_IZX8KQnOp-Hf268fwDJZ5492iVGILWivh2Zg4G6b8NE7w9ENkIeVNP95fgtFPIDwtbQ0fXeRmujmww3ezqaSRiuYj323LBAHGMEcwRtReU6Yo8Vj07MnIEBMW7aq_k-RUgqeGUwbnDHvThDV3-gnZuqkZZi41cmvsGIbX6fn0b44JSA1L7jeQSkZidf2drZzkv5DJazB0cP3Z6EdQxjnwh4DDN9KQ5rQrlA8ZNVCUjsAQZ9iO8UdIuiMxfHrrUOxFNzpY-JBBPzhKmNbYCXWeK_Iq044hT0s22gDu7mMmkE1j0PPxeu7I3NSo36Al8rrEiQqIL2L6m7QF4GsklcwW7BR4_-PbIpiAjdrN8BsOlkF8Ch92YKWeFEoN2vaOgYUpmuj1PV6q8bq1cM2KYQRjzrFZ1dC2NN_odcSQrLQ==",
  "id": "rs_020015877df99cf1016aacce3c3e2c87d0805a4ab1791cffb8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.108,\"left_z\":0.185},\"note\":\"The left container’s open neck is now clearly visible just left of the jaw column. I’m making a small forward and left correction while lowering around the neck.\"}",
  "call_id": "call_pxAsA5YYAuwloFvZFhDw0FUw",
  "id": "fc_020015877df99cf1016aacce3f04f887d0a43c8876eae06a3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pxAsA5YYAuwloFvZFhDw0FUw",
  "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]: [-0.3706, 1.5822, 1.1011, -0.1383, -0.3725, -0.2523, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4525 left_y=-0.103 left_z=0.1798 left_yaw=0.0688 left_pitch=-0.0116 left_roll=0.0028 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0111 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.8291, 6.653, 1.9414, -0.0073, 0.1538, -0.0171, -0.1162, -1.1556, 7.2137, 1.7216, -0.0366, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf7f9c7cf27feab79bd25c95000d7010fede1b68788801c4c74f96bc2537a19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b3798ae9a605627d0c9cda35c492ae95611687ce9fb55163a15f69d47fd179",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65dcda3845a7ffe561446ab163685660e54c186f5a487beafdc68b322b5807fa",
      "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, 1.5368, 1.2007, -0.2768, -0.4404, -0.2943, 0.9996, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4372 left_y=-0.1335 left_z=0.2196 left_yaw=0.0473 left_pitch=0.0125 left_roll=-0.0009 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0107 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.7026, 9.265, 1.4383, -0.0708, 0.2076, -0.0171, -0.0889, -1.2786, 7.2957, 1.7705, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM5Gu7ey7iqyzwlM7y7j_11NSyRAFok1v0g-XSB1KURmv0JkjBQqk51-Zubv6nxaMnK8CofGmP3MC86QBPInO035RjKD40pr58e0umEv3jSTikFMiNDFOq3GEXNy7jmlBmujCQVntHePPcCc9GA3gPMfuhP2tYh5pWv24LFwJ2984mzW4KmUD0F7vJAr1Rk7ZjcnSJjHpwL62Rp7RXUwOGgIplqS-1ZuX77trbje2zCgYUz4a08z3PblhmFLZm4BYxLVDrBqajHj1SE95DBKOd7c1J-EwZPY0u4teSaRQ371VUW8_DG7-WQEaCqE0l99mhK-nxDpeh8f7a5deNGHgDm0-5J3-k9QLM7KcNvIUUP3IIJ8cEjiyLH1odmVUO8-t0mczJ6jhBXHojubfmcbomc8jF8s9q5WL4PiGApK2o-7KRSMQh5DU8GTngpgywdotBnmXkldG0hazSbMiOyPSvQIUkqRhLoGvcPZ4RBaSkfaZzetTwgD_A_AiUo4y9aElFJ7TO5fKZKRxLNRfQUNssyyTlBG6a4VTNHqvDfw0yKoJdfRlbt83aYJeDlIBHM9j5YdhgfHsyXyION5rjjYeRNe0QOYDbXGNPecqcQqlWYgjo270FWcdI1C4hL2IJrPhL6zZzWs_HzeYRvcRhcNFR0Ms4guLoW4BL6R6Ni4vPZBgHBCbiuUx-DSQZcqrVlcvUKQzB3xVYL1AwxslitbxzX-XMx41Tbl433njSgK4_2TMVWxS8wp1wx90civ7Ha9qL9xUzwbzR-rRDWrAedX9bhWV3le-AFApnwNzy_Hzc5b6yMavUJys-DkBmyZ2jng2_arUbr5846XgTU0Fz2sQ2NnZZOud649V4B1EWE6z0xh3tz4r5ufT8F1JrbzPqZIDEVCZ9NkqOAAEaSBYRLXACjrd7_JXp8_GHAX6dk6slqOuXp1y_2orhpVYifu0dW1hyC0HM8YvK7iReXpFdm63GJW0TP4pTsz1bZb88x7E8HNRzLg_3mA1a9ztKJFIwvhdGT_YqFf6TtW-QZVnNb4pKHdyMtK8cNMmuRCbQEsrTVygT21-pIA_psOaf059jjuPSVcw576Vc_E7wAxzncuRo5tU2iQYNn_HarVcTE8uU8_HxD6Stf4z2QstuIyqiaSfvXrxpTYLeYLWNbCgzT2CSgsNsgDdd75CyDkQXuNR20maLif7JrOhNVVH7hJv1DTZr3Kgvd93U1DLKUcFDG1m02v0yo3iuvShcEoP4E8L0u4Yi3oJ61EoVHoxipaiXPCpwrzSZyFtGCNGE0FNqBc6Ftnwhg0_KG_227aJysVNGF3jeayU1ad-HVHDHLKYVnXeH0nv3VSjZgy0setAAY1mbi9dChxYy4LilkVmiFlN8t8RobnKnp8q0h51SnX140_Z3RDGsokNlTD_8Hkur_DAw36hYuvedZQQwtCmOno-oaJdRC76REM3IyTYjjEq9QrIpY735vDJYOxBV5cOlrWJgU1BA==",
  "id": "rs_020015877df99cf1016aacce432f1c87d0bf8c45f48c8fec73",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.093,\"left_z\":0.175},\"note\":\"The neck remains slightly ahead of the fingertips and left of center. I’m advancing a few centimeters so the jaws can close around it rather than in front of it.\"}",
  "call_id": "call_mW3e5TqJJHUPzwjd8H2uluR3",
  "id": "fc_020015877df99cf1016aacce44cb2c87d0a02eb3582096e451",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mW3e5TqJJHUPzwjd8H2uluR3",
  "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]: [-0.3462, 1.6215, 1.1053, -0.1379, -0.3614, -0.2501, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4579 left_y=-0.0949 left_z=0.1639 left_yaw=0.0834 left_pitch=-0.0459 left_roll=0.0134 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0111 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.8564, 8.8821, 1.707, -0.1294, 0.0757, -0.0122, -0.335, -1.2923, 7.0496, 1.7216, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fc55f5a182bbfc835174ff28bbfb30cb472801aafe1093cbe6c3d9a894f792",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dc24ec34b087bcebadc50fd36f2b6c35e218b177428990c637a50e690e0faa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a0b03397f09111d9c17bec915457792a9a61d05a36be97390d12857f551baae",
      "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]: [-0.3706, 1.5822, 1.1011, -0.1383, -0.3725, -0.2523, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4525 left_y=-0.103 left_z=0.1798 left_yaw=0.0688 left_pitch=-0.0116 left_roll=0.0028 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0111 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.8291, 6.653, 1.9414, -0.0073, 0.1538, -0.0171, -0.1162, -1.1556, 7.2137, 1.7216, -0.0366, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM5MCJ1wkrUcZs2Av4nOXbEg-Ksq1DqSe4d7xqG-VEECL96ubMnhBG1G_m-jxyB3NdMoxqTxJRYGAmZ_HowmUwDHbOM_aZ4fGZ1rWsGyxN8MLarDwHbt4dxiOKc5Td9SuKkJJc4ZsMctXprLLrR7AX-xL4_wxeDotRx8RUdGXgXLdbbiBJQfMvUC0V8VwjVo0s1pmO3TXZ0c49UTcMufyss0qrj0FaTbjqctV-QBMdGhdMkJCvMyh06YoDJRuTnXL4ONPtczTf7NlvAIh-bmvzR79C4cX-k5fekqh15_g9BJJTH5_RCut-r-031SC0OqcdYL2-arHrOp8bErqcTlUHrzsKdfm6S1PNMNKp3fRjN0Kb9bD3r_SPHxIQBvNzB7meFDmVinA5QumfzcCUG8Tsy8uy6jUJcVK1IrbGqzvw_cEanvgNS1SIcxczBe5t50FFUmy-Q122hzQmkCn2Z8H5GXRy2-hbysGYjCrQe6QwSiEhpM33cNn3J_Meg1atu0Gmk2vWIaHYKdHvdtidefHSUoUOpLd6gJ50O-1f44ju6SqIKkr5909DBpJTvRtVt2re7km2qETZoY080Xi8YsVj2q1WuS0fuFJfrxe8QwN3NrfX-5YYMJutyBLoMehqOL85a76OA0R5GGrIxfheSBHK1MEQc--9_l_b-H93WueqRzJlYDgSqHaVly8qg1rfyvSw5dTlzFJ8G4yDCeXsr30fa8ioZk2guAbhBmh_YMjNQJcw7MXUv0zwJbEeJ5hUuf4dKcL86_9GPmLgbdPgL4Z0oWoILet1zi2gMvjXfoCYp_-s1TfCOKn5xZ1-vZxtHuA5J_Gd1z6EBEDYZZ38B5z2-f3-H7uhmyBOFBhEWh14RRKYspeN6vU8kjOy3LCPcJkqtNek4jO5i2Upu8qBLrtNHBKxkoX4ij908uA01Y1pNpoerb-0ya6wWGjFxTffPsxTJhY3HYRvtIXtWaGoTtFOXGVgAAPXsA3qnp-XSEkv-uvYcDEAt6SrLpOYBDkm6hS5TuHoLV3qT8xNuAADWWwI5BtCcgdcxozX7DeIKPdu6nOP2NBbaxkVDoGWKtRuo_Jg_G7HlnmuCIJR9je4ytZWS7KZpMFowtBWzKskSSUH6N4U7S0GE42q1UKJ50C8Ajg98HPW6t9eFmHeEvipodXoXEOxQCpxDgWsbF4Xy7Zn-WzZwDfJwvEVZLOE20af-crtHS8W1PnXIfOLZLtpPKVMeMp9PPFivLoNslDKwioCPDxyiu9bCE0ppcasgbzG-WotSDFxI7hjRhmcZOib3REY5jXDy56fq9go4qPYT2CWlAiWL31mkP8w9x6ZDbElJaq8Cbl52y4XMeRZhFOyRLgAP9An8ixiEQxAbotQvCehJ8ffWOCzhMPoB9dGqNX8qEAImoaCxQ6vllHbj7zyjCXmZaRizTrduOJF9RROBg9WyQvF0wWys9d0imKlIvIs-iXs3pg09rAx4B6Wvsv65BMBa0rSXHHVm0lKPLcB3NuyK9RqjyH6GqqrO3mEIkZHlZCaJXYqepzfsw2UTwuKI7wabxP5hcbbjyfeE0tXgHIqqcBnUj77xHqW-0q2P3M8nUZAYfXE8vA8Ifo02HlnlfAf5Ogl5Mp9RvF7wu5FGO4U6HZF0GBK2z5pQYuN8Zrw8F15FvXGp-F3uh3o8wEwnB4mNaww==",
  "id": "rs_020015877df99cf1016aacce48267c87d084fcb0f18db42965",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.085,\"left_z\":0.21,\"left_pitch\":0.25},\"note\":\"The arm stopped short of the forward target, and the neck is still ahead of the jaws. I’m raising slightly and adding a modest forward wrist tilt to reach it without pushing the container.\"}",
  "call_id": "call_n2bOyYjlP3ysAQSGBnpCb0tF",
  "id": "fc_020015877df99cf1016aacce4a896487d0b4663b4b742d35ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n2bOyYjlP3ysAQSGBnpCb0tF",
  "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]: [-0.3164, 1.6196, 1.0084, 0.0429, -0.3885, -0.1452, 0.9996, -0.0151, 0.7986, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4638 left_y=-0.0777 left_z=0.1587 left_yaw=0.0796 left_pitch=0.0358 left_roll=0.0818 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0003 right_pitch=-0.0114 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -8.212, 7.0769, 1.9316, -0.1978, 0.1832, -0.0171, -0.0752, -1.2923, 7.4051, 1.7509, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d7ce3c8c145997d5be068acd9ec93a718ec7b94b19eab75181847ecc2e7e2fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372a73fe8de9e96c954f15688d56e9f8cec96a967cf7bade1d675072471f22bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:736fb21e7b2b46da7ffd5d6a0cdda7edaa0b33bc1289588cddd00439f5a17997",
      "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]: [-0.3462, 1.6215, 1.1053, -0.1379, -0.3614, -0.2501, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4579 left_y=-0.0949 left_z=0.1639 left_yaw=0.0834 left_pitch=-0.0459 left_roll=0.0134 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0111 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.8564, 8.8821, 1.707, -0.1294, 0.0757, -0.0122, -0.335, -1.2923, 7.0496, 1.7216, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM5RsyGDHy7n3q24cnb8FohF_WXk3RACg35zSaJt_9LcJ9RflVs66P7ID5qZQCal5A7ZUIhpWqhujSKJw_zeWhKKYg-xIrtiqQNkZu7aoTVQFnZTZXN0cpY3BUPyhwWVe5YwfCPzVd41OR5h6aJKPi6uQOdwTWuET548T5RiM4q3rECvMlmE6A_YJxvlfQZfjuEsYLj-_no5lLjI0XXmi9vyyW9WMaN-lTZYJG8m3rTylE8dvZfLB4QAXr696mn8My1fd_C3pXEPmUdp4N-C5hks9mS8qKCLTMD6RBjmSbiBjEBMb4c4NBOW02YUZ--PXXfWbdi573xezTTHLzMUu4NLhd_c8SjFgR2s_0Bn4xlKhWRjokSa5RKoW3y9VVC9zLox2Hes5dHMFpabREN3sZvkSOvGvN67IdK5rA638KcvJ1y79TmF04Xwk2_U0WLUay4Kz2UKA7H5ZDfnZd6SMxzK8rPaTCRy5BUBk57h1Gxj4Or7Pbpf-e1EgeQRCEjIdZDlSAf_kdSifp2wHq4F72BYO4lrJ0ivBL5fk0SQaxrk2vZz2PoVl4HnRj9qskdTnpvedj4wahCK52RZj9A4QREzIOpJ8POrjzyVaX8Wt-uJ66LK26-nO_F8heKxK5C1cTRybrBSaag_CINKblZZdLqY8zCnOrDulMcpIinFQaPw4Rlvrh0WCuuA59-d2Vz64_8ZGphBZupbcD6xkiJBhCT-Wv6hOh9ShpcXwI5OwyWkZVZ86Snf_J9FkGWXhQrNKQ-EACB_ZoRxuILihwn2kj12E5H9R59OSLxKhH_kp9kFSgcqP7Gb8il70eDx3m_RejDT3yCGQrRTfqGQuXW9nzfshT_wzpsU7ELpfYylEyx9bm5Kl3oD2xuzjZfm1mVOjUpDryMG4XmzkRUPdcOPZYfbdzOdTOvx46wVXQ-c0G1LLxbaJ_njyf3QQMiYifLAdfejLZPRj9ghsXbHD9MC368Tr67Z9yg6fFybzaoaeBQ2LcIe-Trq4eNIJRE-GYciwm3ax1PF437eBXM9REs6enN7hZKn2VPkeZEjLgTRf0qrk9bwpAjncHDmLovfIam1rYZL4Vj2r7Y-05E6qn0F_98cGcdMv4iAuudQryUR9SVoHXKd664gOAjU-6ASn7Q70Q34_K39pBh-pFiPLIY0Ag5HrL3gNIm1D7By2zeXwcY2x4BJG_OC7f4PpnxOSy5FjjWkCpSeRKCkH9u5hU_KHPgS24Z1F995jnRcQ6U_qsWWXU1JBNhLvhBGIRuJgDVHMa_zbTLsWH69-gz53L7iQSrJWnubWyE9NArsHLPlN72q6kc=",
  "id": "rs_020015877df99cf1016aacce4f24e487d0b4621fdff1e052c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.085,\"left_z\":0.3,\"left_pitch\":0},\"note\":\"The gripper did not rise as commanded and appears crowded against the container. I’m backing away and lifting clear before making a fresh approach from above.\"}",
  "call_id": "call_yqn92AyTzvsSvlYnSrWuSgVk",
  "id": "fc_020015877df99cf1016aacce500cb487d0907236959188eadb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yqn92AyTzvsSvlYnSrWuSgVk",
  "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]: [-0.4076, 1.4094, 1.3708, -0.6212, -0.4469, -0.2218, 0.9995, -0.0151, 0.8013, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.0876 left_z=0.2826 left_yaw=0.0765 left_pitch=-0.0289 left_roll=0.0861 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.1789 right_yaw=0.0003 right_pitch=-0.0141 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -7.5692, 8.8957, 1.4921, -0.2857, 0.0171, -0.0171, -0.1709, -1.4838, 7.0769, 1.7509, -0.0562, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dde2917546550dccc67111a63d02b28a0f407c472686ef98a14b4c58ea3509dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6345f95f68ee5b313cff2c75abb042f555e6f2ba52afa7bc1d1c3577dbef61de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86512a3995d527c873140abab0274115b06c8e804c439ae7db4c16b37cf72b19",
      "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]: [-0.3164, 1.6196, 1.0084, 0.0429, -0.3885, -0.1452, 0.9996, -0.0151, 0.7986, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4638 left_y=-0.0777 left_z=0.1587 left_yaw=0.0796 left_pitch=0.0358 left_roll=0.0818 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0003 right_pitch=-0.0114 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -8.212, 7.0769, 1.9316, -0.1978, 0.1832, -0.0171, -0.0752, -1.2923, 7.4051, 1.7509, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM5aazmZbzWHWBGKOz3iNeyjbnZByFqYLsYQEtvcOlpfjMC3k6mp9bHVDfOsggDCvfw3dCF51MDhKrbRbZ6qu3jtqKeqSp2LbMJ35988yf8vIw-O0-g6XVA8FrfQWmGrzSEfZi3nE4Df9DXRiS_h77amPwkripCDyXOCnbRceB3YU43wHliB9W7RDW3Nkf5lYRL4yrYpsyKby81rDDzzyQWtDQmMD6Avwq0PX07M6hEi6KdFJ_x8vjAhRw2XHDEJimZDO-8SvLYjoM8uLKzYscXSSifPqqYs9fQ5yT2HHjWrWeGKaNgUqqy1x1BzT0Ssi9tLjoqvEAVZcPoxAImnWtNzT3GdWzv0fAzGmmUqWvFqJfVU2UqKnps3Vt35w5OocSDX10ear8jq4BvMSlrvj88YDsPuvop1igHwdLaNpnA6vm7ndU4rEFBhuNAmTHWnHq3tOLzhkZ2uUF1RF_0zXYcc3MAFobjRnIq5Bq2WLyKyPcyu6lH8pj_ZcEpYJeGCkI6KSfoXn_J5kN0x-EiUBVUrvm11bVQN4TW_vxm2UxkvozPueURotJxrvGoYoqwF75LJ2r5af0k3BQAmq3eDgcer2V36eYdhz-XAhq8zflksIiyluvLKrmk33QX-MBighhb4pqIvzbW7tS-A1r0KEhWwa5_kDx321s2RV4VTkTybDRr_mv6eJvE4SzeXHhsa92XFQJVzj0qw9fvuqHSG4WqnteWiz_-0a9wMtY3EYQT09-Tf_5fadS_-JVZ0Cad_v-vgriiO_4eTObXSQF-4j2s-gsFI6JU364Lu3PzaGy6uS5pd9_lBv2eFoutwG9AgFB0Q-uulLMBduEIIBY0TdQwLIb9tcvix8WCXcyAw4Ttyxr-OCh9HMXH0xIuTYmn_VoiHU56Wowjwm-pVUt8nt1WA1IjW9fypGCwM3p32tPlmbVF2nHXcWPvagfa1jfpvNC0fjFXOX1YlNMFQUVVR4s5yvcMh_iRqHNaG_YZqSa8fz8vARJp0OD5HzktKVnMne7NYHC-d5FUl2p25PH6NuuJS1hiGEVI3X0EqbNdP3qTx0IqTtWFAaoFKalmyqbzQy6EAFvrQDT4lO0Uf8cYIIlevnYuqKouESRzWFIhhAzCqG1fOIpkPmQpsF74jXtMZ6nWz3Sv0CrM2rOGXUPeXtp3CUvGro035NMTiTHbS1DtIRfoBlH7cA9Zsff3W7U1vNdAkhK1h8h57oWple_MP4WEb5J9JmyVzlTkOfRSl3Tly8sLV20UB6aq0H3J-qSqIwZAm6cqog0b1I6nZltc0oEkwGk0U9v6esbNABDRULL0oW9vTtbNnzrBs0-QTnQt6NAufr-3FIIQfryXC2o_pyh-BpOv_ZT9o9UnWx4MjrE2mw4Lq5YhK_9CrvByE4_IR_oTGf2E5et__-rDx1F3FBMZYN25h8NXvNbZOkWmUgnHFg7rx79-lCAbH6_49jktQ4pZA",
  "id": "rs_020015877df99cf1016aacce56a9e487d09c666879e8e37847",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.085,\"left_z\":0.3},\"note\":\"The left container is upright and its opening is now centered in the wrist view. I’m moving forward while staying above it so the descent can reach the narrow upper section.\"}",
  "call_id": "call_vvWvOs2NftiBjKoY4V8SNcQK",
  "id": "fc_020015877df99cf1016aacce590dc487d0bc6291aabc2d9784",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vvWvOs2NftiBjKoY4V8SNcQK",
  "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]: [-0.3367, 1.6115, 1.597, -0.6651, -0.395, -0.194, 0.9995, -0.0151, 0.8036, 0.6083, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.456 left_y=-0.0838 left_z=0.2859 left_yaw=0.0911 left_pitch=-0.0623 left_roll=0.0889 left_gripper=0.9995 right_x=0.2952 right_y=0.0013 right_z=0.1781 right_yaw=0.0004 right_pitch=-0.0168 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.335, -7.7744, 8.8547, 1.7314, -0.0708, 0.1929, -0.0073, -0.0752, -1.0735, 7.0496, 1.7216, -0.0806, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9bee8f7ecef899971fa73991d6a1770497e21953c11cb144e70716436b4ee9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:248fc725bd821d34a5bdbceae77204b55cce5c18fa934d6ba3e8bf9f47903b73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96abd44ac51daf45f7292fabe022e6e786b07ccca38bef1b22b3ea57ca45009d",
      "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]: [-0.4076, 1.4094, 1.3708, -0.6212, -0.4469, -0.2218, 0.9995, -0.0151, 0.8013, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.0876 left_z=0.2826 left_yaw=0.0765 left_pitch=-0.0289 left_roll=0.0861 left_gripper=0.9995 right_x=0.2951 right_y=0.0013 right_z=0.1789 right_yaw=0.0003 right_pitch=-0.0141 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -7.5692, 8.8957, 1.4921, -0.2857, 0.0171, -0.0171, -0.1709, -1.4838, 7.0769, 1.7509, -0.0562, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM5kzvfSRS8P55NRKDrVKYyaXI83wzZaB0x2yLo4DkX-sGm6TNPJZ_G0w3bwVW06JpZIJa8RVhALlQFIHD5gCf07J4R9sNF_0k69mIWlM-ffsY7V8qkd31VlU7HbkAxkIvXMgkxlYbzAsqviX6MUPLE2MXj0BDyZvskyKi3ZZQFc6YxxRUXrQS5IkjDGdTFGvrw-tUne451KhMxhvGSdUDTYre5iZ7SJZV9JoxyZ_i5AKePyaRwTOFQvtV-fZ-NjdqS5JXVJxgb87Ur0Z-PpZZ7gS6bDOF9t6fHfGKbJ2qgnFQfWpHooxeLqPyKv03P2qE1xGbh5dfhH5fODG9xpMKZT5FFdCBtZlWMuwyAhSdOXPT0UrsAeaTjadJ6PDLBjH1LlYvaDcMhUDman0ZB_He0x_cmda_x96O5GR42Uj8mVzF1DzuoYNWM-wGlmmd8lzuvM0Z1slq4ohUIoS56v1HXHrTyT7zqA6n6QyKpfjzTFsrVVLIl_PJ64Gx6B2_fD6tQ4RlNycCbKLe1hglsFuylb5hIqHoUnEnPOXXqT0MdXZdOyGsxPCnGf3z9pGK9QctoTzRK8wMNiuWxdVT8tKrDyUN8P2k-AOOq5V6MT2r6KoweUH4ciJv4E0xw7Jh2sXUC0eQPkIVmG7a_FxmnMQ5BnU0u0OISMXvusdl-diRT10UsvyXSJHJtqwgehmfNG953sU4nDHDm6o8FyUL4E8wNovvspe-Y-p7VquYba5ukb6htrbTu7m_tQPSM5P2F7ps18yipH5ACNKmbM8WX4kr_SGWx9Uj8jU1QF275kyeDvDGTtpc5o99CbgWziFI0dO8YrtO-aXVBtKkni3yVrUax-jcSCEha29tV3OCdpzTAnB480nYpVmCjLOdU4Nig9z25w6Rar78wfMNnPP6F_tiyGkjpHZ06ZYRxNSJtFtgxqIciY1KTMvT_Is1x674HH2jYkNmSCkj7BGjQUY4GQrtWw22cl-yvG28-3VLmtRBjSnGdmGBF0Z5WH87bdoYDTa7weAGh1TDiqYW5mQ5rL5h-qXYD3MPjpCgUgudBvBKbLKbtTrREHd2UUDkaMHmUb1MzI9SgAI8gDJCtJtRK4lKekWU80Mpf2bOIENn-ePHWFo-SqQkH7THRacOt7KJpdS5lsSbDAAcbUFLAkykfGhfJyPAU4xFCkk5aFcCPB0EG0qX3kJxdKRDQzcbbSYbtgtxBc7S3CRJp1wC8TAOR26G6fhsOV021E1Oe4z4MTAcAYQqdhG71gXw0bmI2RV4RyCNzXb5WzwYBTNMTuQcQlajjLA-491Irv9LStcPA_UHs5T58xbMSkEFhsYnEZlr5ETR2gAWz1PqRuQvsMZsl4hLkh6FknKmrF0ci1Q5zvEOJQ1bDKe5Fds90hURh77jxERgcIIrnyz0bzimmVlIBh_5OulR7nAckqM8T6EL7IT-gA9YcHIfrOhwsEVK3RFFF-RZtJQCigN-ATNhQYayTvkA7ArAyPfiy9XX1HgRaMYNs69uoFbC7aewFiX-5AVcyKN1m5zmaZJGCEMagsM4jitSVxRDd7rv_6xkQwcLZ1T-bQ6uvyHo0WogqtIp-9q5p4mBAeAD4t6aCXslzX3YPEfLoLwPpstiljjI1R7_BfGimujYPxQgWR9-11wn0nmhVaffm0-f8fc2M7h4awqCowAljsPEL9R10C5g8LRjz-I-Z67MAKh_liJ99V6f-ygM7wFLZw86127WVJltDsjWP1btM-Bb0MrkVw3ys8Cwa2zjDCqAKn00D5toT56c1E1N0U2Ff7",
  "id": "rs_020015877df99cf1016aacce5fc9f087d0bdea057067602c68",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.08,\"left_z\":0.24,\"left_pitch\":0.25},\"note\":\"Moving forward brought the opening down to the fingertips in the wrist view. I’m descending toward the neck with a small forward tilt, keeping the jaws open.\"}",
  "call_id": "call_CTD9pdRvybzw2eNA3W2pIw5d",
  "id": "fc_020015877df99cf1016aacce631eb487d09605899d8a4b97bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CTD9pdRvybzw2eNA3W2pIw5d",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3061, 1.6936, 1.2274, 0.1028, -0.4194, -0.0742, 0.9995, -0.0151, 0.8051, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5135 left_y=-0.0831 left_z=0.2354 left_yaw=0.0884 left_pitch=0.2269 left_roll=0.0804 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0004 right_pitch=-0.0179 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -8.8547, 6.5436, 2.0977, -0.2125, 0.1343, -0.0122, -0.1573, -1.4427, 7.0085, 1.7021, -0.0171, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070b1fb80790a0f8b9b7d765ab0aa2704d4d2e862ad7ad17e1ea444c5eba89e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5815a8b256637fc3b4a76ab3ec0e1c4586ea3d3f3a4606cce94c4e3cef6fea1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e3a533d66498a62cf1e19eb7a4f0e5b54a0cc9065bc45145696475a194ee80a",
      "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]: [-0.3367, 1.6115, 1.597, -0.6651, -0.395, -0.194, 0.9995, -0.0151, 0.8036, 0.6083, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.456 left_y=-0.0838 left_z=0.2859 left_yaw=0.0911 left_pitch=-0.0623 left_roll=0.0889 left_gripper=0.9995 right_x=0.2952 right_y=0.0013 right_z=0.1781 right_yaw=0.0004 right_pitch=-0.0168 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.335, -7.7744, 8.8547, 1.7314, -0.0708, 0.1929, -0.0073, -0.0752, -1.0735, 7.0496, 1.7216, -0.0806, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM5ubXuzIK-pXRFpA2ihD70sKPB9skQ2pXh5TdfNMivHF9vAlkvhR4ERFXi9tyYdcy8UdrJjlt6TALwDjYqQZRzulOV8kPq6L4U4qDblziHT69mFRhLaAFjwxFMrhfiWcYP9RrcjLQSGoOhHw57010CcUgVItoU8hXF8sI1MzsnDSzAVzg6dDuEjDsVGqeB3W0kyLQjCQuXdTsMYgy_ccK19H9Ue1bqefrp7UDPH0tnRp4xnuWlI-dVdLMKN4yiOyHAfDAx-xkgCUnzxAYVaQRUDK329akEmXHXOEkOGMOPrryJNUOT-aJ24QjDsqCaQxQf5Jy2fgI7A5PraA9fjYqJoULS_JN2T6JiZAQrFRz0GGLPXDwmcU3v0HciZts_CRSzJz5X2mXtp5qaRQ3AaZOMmyDig4XEIwG7hl2liq8R-9XmFGjk-nGuWJU1mtodYUJNL6SC43hosPKQ5dd_-hhEReWVm1Mm4MXMUspP6RWp_yePaBZUSQdrAOnITzIbdiRUFFo3iFQu8TYy3VDCPbEGQgO-LgbA1ZsDd1dUbvuADhv3VoWSC9BFs0NRVLZN2uPt7os5cWTBpTqynJaV4zKXOYv16TEwSV3WY3Kaf2CYZR16wpvQL1wAZFejG6_I6gOdIn0U-XY9tvYnt7gJptaTYrzuIIOihc0CZY6etJ-U_rlG8oqq6xvhHcYEzUg085NoFOLN_kvVJLcWUh0dPPmSKkpYUle1wVbJOOBqu_xg4fU6FXDsok5HIkBD75Jufk-wRWox7cF_wJ2qHmPRBhLPHc5OH3vWAzxIb6JZxHvCI28pUZVrh1-CXcfXJgSaBKk2vwznbBwr-z_nqOyRtMDDxovPh6NhrzSG01eDJkFbIq7plV6hsPscITQ9XInhLT1oa9HeOm9Sbbu69nnfetwoe28rpL1byc35lZo5jhPSY426AxMUHPc6PFI-_In-nbE4wbjRujEWv9L-nUWAinFX8Cp9Tx5UTj9yO4WxDTT2EbFhZDEI_4PgP7o6noo3dG2Wf0xtDCmoQaCbNdCj5_odwiMcEDFtRmh701gCQSGotyGsWmjN07_jb8F8A92-MyXaHT0xAkEwhV2bTvI4qVS0h9EJUN-moCW7TsZstIxiznLejiKU4Zia1RY2Tl-CyBYgZzs0lh4X_UIloz5jfMYO0AIKWtHlYhks4K9q3rdG6VpqYxuhh3TKwlNRhNUBAFn65QNC1uMR2OzVM_vDzGgVBvEcM9iZGpvSrsIR1i5pPpHn2mvvxmg4xwiwwcpEaFFnp",
  "id": "rs_020015877df99cf1016aacce6c30a487d0bfab9eb9a23c76f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"left_gripper\":0},\"note\":\"The container’s neck is beneath the fingertips and no longer ahead in the wrist view. I’m lowering slightly and closing to secure its upper section.\"}",
  "call_id": "call_u6pClqdbaTKmYxfRU9hZL7xS",
  "id": "fc_020015877df99cf1016aacce6cf54087d0895360673abc5d95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u6pClqdbaTKmYxfRU9hZL7xS",
  "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]: [-0.3061, 1.7077, 1.1477, 0.2848, -0.4263, -0.0814, 0.3441, -0.0151, 0.8062, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.517 left_y=-0.083 left_z=0.2317 left_yaw=0.1078 left_pitch=0.309 left_roll=0.0393 left_gripper=0.3441 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=0.0004 right_pitch=-0.0191 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.7624, 5.3949, 1.4872, -0.0317, 0.022, 1.0281, -0.1436, -1.265, 7.0222, 1.7363, -0.0171, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b6a8d5c75150aac076c8398a9378634f9a98a7044ac70dd221282249369ddf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25be99bec36bafe046f322671f11a211f678edb1951a9dfad2a8d415bdf232de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66b8aca0d2e957359dd617f8c8f7cedd1010ba0e42f63a270911f5608f9c3ff1",
      "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]: [-0.3061, 1.6936, 1.2274, 0.1028, -0.4194, -0.0742, 0.9995, -0.0151, 0.8051, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5135 left_y=-0.0831 left_z=0.2354 left_yaw=0.0884 left_pitch=0.2269 left_roll=0.0804 left_gripper=0.9995 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0004 right_pitch=-0.0179 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -8.8547, 6.5436, 2.0977, -0.2125, 0.1343, -0.0122, -0.1573, -1.4427, 7.0085, 1.7021, -0.0171, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM5zhDtBG6bQBKMPke83M_CAPHEuLFLQkp4jexglqLtDMMSyFGnnc4u2otwywwmtINpfU_n1W509tMjxBxRSYtBAYPLycZeY7Vysyp1GTT6oAMMf4Vw2Qd3G_imeDZuM3xvFmF4XxywIikhESa_tf9NcTbD02mzZSyfcN8mTqc7fqmfrEim9f4qRJ0DI0pjynSZjKdYVpNtwi3KnbuDyLiIfVKVYR6wh8HRXsyeVAYnwcAOY9taK7gvCN4pfIxTn3he8nvLA8uwjo7BY32I7OUR3BuJzU3iCOaXgA9N8YhM7rjkfzHh-ApIeO5kvf5RoJ9tqgYMdCngJvX5P7vxAChp175OBDAI7zq3sYK6Dc0YjeMQWKm3ibmTBTEKIUy9FITWaJbOLMu3CuDEUrNLw5cSBgjIggZVef5ua1ddvDluYzvtHcx0ScKBLe2m_WW-qUFsCmo6MhOCaGagiZV0vxt17D-rK_3xZWwbpZYjQGIDo_L8UOWKbQXVr9aPU4N7AOnaWWTJpTGcljtTD2W24OePrpm4o6lKo687KxBQw-Ha8H_72IkMwcjxOjl67-lNmgXHO3HRJyRKoZUpPJNVJhBqiKfEBBb2HsxpFCZQoE_i0XklTpgLAg7mCvS81H_q5poZMJG2XfffR7PteKqFNwMN_CFC-3tyase_a67Z0ILiThkcdarOCrro34oCDgYwXRfhGJKyQlt4XHvX6PO99k_4uQQ7tpXIuYQTt5r2Me6W40ejneJKasAI_yWPjc2k-RfRy2mRovk5SKVheEVpnR7Hfc7tTXveNcJ8PzNnF-Dou8nsAdRZh_GwfyJkqPKoko76N3-Xs-pODEDtQPuOgZffq4NBBXV1xlPYax92RhY9dZ_PP8kJlDhWeO8HPD67BPIAHqtKTx1ZE3zjnJkeZKiJDi5465eOgLWuyc7ZnPQJnKoGlNHB29x--Y8_c31f-QW1Y6aZWM3ZCnxDIz8dbLLSXXWlUKg9pssSIC_DGBPFZT9X7qDBF4fxnUwVgs3I22FtKkONtEIF4TD10ZHfdfNBYT5B_taFflqMs000JdZi25VO_CV1SdqtIM8tK-vuiOpTKwAwf46xd8e8vU8ckHZkwpPtnfz3s2BIgoZBxgugr--PrgpMsDPh3j6DKj4_SvNCGTkCI4NWCFSgK1OV4TiyqTJ_N7squxHJQ7PWQ1d6c1bIGPs4waNHxTEBfXeWmfV2c4-kzlNvsXscIa9gi6KlKyg==",
  "id": "rs_020015877df99cf1016aacce71db6087d08ae47c6fe1e74fa1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_z\":0.3,\"left_pitch\":0.25},\"note\":\"The jaws stopped at about 3.3 cm rather than closing empty, consistent with holding the neck. I’m lifting a short distance and drawing back slightly to check that the container follows.\"}",
  "call_id": "call_60gvwXm6rgtVivF7Bf2Of9vV",
  "id": "fc_020015877df99cf1016aacce7231c487d09a1e969a313c5504",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_60gvwXm6rgtVivF7Bf2Of9vV",
  "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]: [-0.3222, 1.6436, 1.2781, -0.0704, -0.4301, -0.1131, 0.3468, -0.0151, 0.8062, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4975 left_y=-0.0846 left_z=0.2466 left_yaw=0.0967 left_pitch=0.1638 left_roll=0.0765 left_gripper=0.3468 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=0.0004 right_pitch=-0.0191 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -12.7658, 10.9607, 2.1758, -0.2222, -0.0171, 0.735, -0.0615, -1.0188, 7.0222, 1.7167, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ced5a440eed43239c6920d65d69965feb84eb8f0a5843590e8bddd27e078c140",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e020957cdf82606ba4593d72edb8896bf8535f231f4d5247085ddc420a6174d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e63fab404a79bfe7f74c6d192d5fd0b05da6231fd1ab10a4918e6c62bd44ad",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3061, 1.7077, 1.1477, 0.2848, -0.4263, -0.0814, 0.3441, -0.0151, 0.8062, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.517 left_y=-0.083 left_z=0.2317 left_yaw=0.1078 left_pitch=0.309 left_roll=0.0393 left_gripper=0.3441 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=0.0004 right_pitch=-0.0191 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.7624, 5.3949, 1.4872, -0.0317, 0.022, 1.0281, -0.1436, -1.265, 7.0222, 1.7363, -0.0171, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM56pcYhY_0fJMTKqQue_rvWRmQR1rhIozzTW0c36X02YpBOyhKLcLIN12UIEUhFfMDD8jQWky_ztaKlBtbxyT4_-raAtSzlhgIr_1XknqTiXd7RWd0j8EaaAZgp-bZ045u_XUGQE0hA-NiCFiR-4A1h9MrAPs7W6nECj3P1koDunBfiSdbNU1UfvNzmHc35ObDEJ_P6YlsV-EJqL0-XPJERuFvSfsoQwomMexk41F0Z6II7BWkFsX_RWHwqyzIZckp4oVtEYMkvCqrxfRgpYAyS6dVPK7g-hEgV_T6lcTd7lXIsuqZ80-5up2O9ZUBCg5IZqNZIReqBpA9q3VbL_ietSimNitr92Zn-9gzMntVzimRlxWvtwVYqBMrIQ4nYKp4NRYZuLycIuJo-lutKE0JRXf63ASvEWU3Hx_TdqmGE2P17zLxVJbemVdllq2W9H0Yzh2pSeBLiM4ShMBI8mEUw1NYAPwcnB_QZPYEY4e9cwHUil6ghNhnRWu5bjCeTWr1qhV6_wchLnncbmy5jnY3hXMNMLY7XxETVmSeJXPn8QnF6_LKtCriUuvQNfXrYJ2PGNhy8J2ZWuTXtjgtDkhkfFtVUay0Mca9ZoevezzYwFfoGAPLtvLIvKvqfI4FA_gGrSoc38Mugs1cJEsvKqZdIEQPa5nOQkCp0xdIDCUANUzW4AZh6n5fTwEp0HKtoWVa7gZoCpdWGW-t90DoplF-nU1CGbP9eFzWir7R-ZRzhH6vHUHCMaLKcQfVa_qQ_nsW-uY7jnBU38-6YY2H-hXwuX0DeEpL74yX_I2SKwrHZ9DMT9_GwM6dVpk3zHp-MO9c_-ABrppS54-dAtZv8-7nAEBYwnvNZAWUBxi9ksY95ZJ0RyVEzlXskojxOLEv5RcZ5ZIBJyMEev4PV3VcODEKq8QZUH53VnBQWuMfFaydBjkT4dtWlO2lbkXpLuXf5phjSvcTeiCwRgCHeKb1ua6-Nrd75vf5jT7RKagpkz8GzVOVz5rIGn_yJbUqb-5TZ91WsUUuIf5zaCok70FdDNETD0ubSivsXCcPIs7Vf-gwWWNBoASH-rl0s69M9Y7aepErkY_mIWsQlnoqnXVWDSR5a3NUHslDkb_7QILq-83btqhboCSy3Pi25vSsar7JvU6309oLYbyxX6wlOFH4u2nNZwVjMg_TAr0zOGS6KtbPA5oTaIbZcnooGmuqzSFWRfADsGKcD5hNS3o7hyQjJs2nUs1XZerX7CsRZcW1pVVlqmZ0=",
  "id": "rs_020015877df99cf1016aacce785b0087d08cf370e399593c96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_z\":0.35},\"note\":\"The container remains between the jaws, but the loaded arm rose less than requested. I’m bringing it closer to the base while lifting higher to obtain clear transport height.\"}",
  "call_id": "call_2RnKm04xjfMsfYIVAHLikohH",
  "id": "fc_020015877df99cf1016aacce78edac87d0a4ff36c4be6323f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2RnKm04xjfMsfYIVAHLikohH",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3542, 1.5875, 1.5379, -0.4404, -0.4507, -0.1356, 0.3487, -0.0151, 0.8082, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4729 left_y=-0.089 left_z=0.3161 left_yaw=0.0907 left_pitch=0.1195 left_roll=0.0871 left_gripper=0.3487 right_x=0.2955 right_y=0.0013 right_z=0.177 right_yaw=0.0004 right_pitch=-0.021 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -11.0427, 9.5658, 1.7753, -0.2955, 0.0415, 0.6667, -0.2256, -1.4701, 7.0222, 1.7021, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cf85b232e525deafbc41b5d4395b09262a8aa725051e3bc4f68253f4075b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f62887f1bc3b6e9f6571040ace164a53ef09ffb436d7bc6cc2f274ace31431e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95f82e991357cd0e13ba3dbc05248bb2a826b242e32ca6b7f7a7d8a6dfdecc29",
      "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]: [-0.3222, 1.6436, 1.2781, -0.0704, -0.4301, -0.1131, 0.3468, -0.0151, 0.8062, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4975 left_y=-0.0846 left_z=0.2466 left_yaw=0.0967 left_pitch=0.1638 left_roll=0.0765 left_gripper=0.3468 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=0.0004 right_pitch=-0.0191 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -12.7658, 10.9607, 2.1758, -0.2222, -0.0171, 0.735, -0.0615, -1.0188, 7.0222, 1.7167, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM6Eu-NmSro1COybyxKhk-RhuLlLZ0RSyqC2Q_qRrM6BJKeZo2QwNZ5QiPvl-vll3AHQq0p4Ea7GRVEjF4FTmrzZHei28BvV6vwk7nN4ScUlVQpxDyRshV14KcVuJdLQD0D-xjkuJR59emptdnUo2GZm7eT8I1yIA2jf6UxOywojd3rh3qXNtbKZWyNBkVrhdjv5TBsGqQ9Njmr4qzmAIRFnSsSzo2wA_csMYIptvTNXud7mawhXOhFnCci3ma8_UXMY7QeJco2eHW9JDA1nikRwBkiCTL6UKDgG2KkVoibJVGiAYoctq47g4HR7xFUUPPRDUgT3NLdLyt5V-MbVWXHxaMXoRdd7LC8l91_34MXP1A5n2m_SLZCxbZyh2LdQQhyLfxopw5h_7OuOXaC5clFSLkpW7xVoHz0c_OBaz56QmVviAOMRMLYP3EKuw545oW_M4zr9b0d06PYwMm8maE6BPc86fDSlVuyk2WBayxwHX8F7hLcxgnkAeGfoxi6BF0xbByWK_N_w5BTyGVsfqg1OtiWma9E3m7aEzY3gWtGniVAG_I809D_5a17gLL9NDqr5kpqTr5Cd9nYQ-7S30f2RAGXpu401TPCl7-h1VbmtBlLE3hYbDdj5tLE8Fj7qaWAOkG1OsmNQzmTEx-JXEOQBUso6b3UZmbv9ZwVQ3_RCkU68pL2NqH-LnYy5kr96Y_bR3yhKhVkX9fip-J47QJc8-GwzdFL1CRTIYl_28YukmXBseXHHUIn5eP736bKtAVM96ESQiGKsVRmlOiAVV-GZgLKqHpPv3w0r_A-cUpPObgL7ilPuvT3w3SRtyE7MriXu6Blh--eDzPYhVzziHRqv1vKiwQ2VA7-RN9iCxHpR7o_7ohV4GKLcFenXT3HgbuPTqCRrmJbVZickcfCZx2GdVMQ-lVHtVkxhgPgM-fJle1F18KcCfjX4joBDb2kQQ8dY4Z4_Gn6aDwX38OYmAOTXdIiiNYcwFl7DkiVrQKDZOXWyzKnXsYVn1OEpsVNdzuaVuOsb5izDwbMBKTbb2QYpTYhOzRvCDSBGPD6zLIz5nvhcnRWqwnd-GxA1m0TdC1SqBUFR4axrpDXmVUoucZQOH1wqmR2GOzK1FI-lD8XovQIBLHqck5VtZZhJ2MAEkcFsAWGQrKV6_pWI94wA4ojmRJOt4rqDdKzx9vHyOkkoNOoAPBBhFcF-XL0rDxdyXtCUE3SLEDRf2Cycc58XOodeP_G3bamfAipk61i--Exu-RAT0ZmGSJ9RuMj3DWUJbOFDsq6vOkQ3pKwdjIElGCF3VywwP43RRT8kP8frvmWkA_y1bUu84nxP6VkG_Io74Ljr3J06RZuqgbxf2bfPTWUxpZmk4vI4Ft8WnL49wyVknExACgeNklWxur864cxRtjYQKEbofcKsuEAuDg1n95f4E4VCkk-lh3BVL0W2CJKMEMeM9xyAndsSkumInQjax5QEc4rBQ1EY_WG6MtBALs553oJmfzUN1eRjSy00hp8oshtKdpKJIrlWciAfIgukm7VhzxPbp7zo-2BExRWzPajFmhnU6eGg-s9d70eVKwkh29_JgxPmgHqP4cPjKUXD2MqHCL9NRubWExeoXSr6SZzyuIqBFhn33unyupTMUh00FM-eZK_E9Ptzp-v-DoEyrO97HtYcga0GqduprRYZ83B-MYcGYsTizIt9swIY-IXjC73NoULV034L7QJyGV1ww5W_voxu8fr4K_DAQIANE-ubrs-IYuUe1OOuNu9Ubg0PY3ZHTh6waFyy8muMQNoRtfEf4BMMKDarsgY_Zao7iBX38vXRBDKzRtw3V5xq-t5Rpvy0_D3yPZdh_GjkzPNx32Z6d5_7uRobnAGk4yawgCKcmU4nAXjoujQBDvQgBW8Iw2ipG9xtTfnFQ36P2p--9_y29OiqWLH7Ykav-iXOpuzAisyNywaY5C4VoY1Gwv6qxm5xzD5fxS9phtYbkql58ah_NF-FtHc7Cj1HOYWdak6hBHwk2NHW-xBcr4SYfEEuvMfWa5uSYYKsjarPzbaOZtEnB2XPFufibFq4_AU6XGNVnFZkHUgc-8KOnSuZnuLypiCkZirMKQKzl92wAfPy_k3lKj1UOSzSuk3Y_Sl0C4-g694_ntb2c4vCccOvi6XznSNLjtAKH9X7F8E58Fl14JbyaME2ML786iFS2UglN_fMHg==",
  "id": "rs_020015877df99cf1016aacce7cbcc487d099b089a468be58c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_y\":-0.15,\"left_z\":0.37,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2},\"note\":\"The left container has lifted clear of the table. I’m carrying it toward the red cup, keeping it upright and elevated, while refreshing the idle right arm’s parked position.\"}",
  "call_id": "call_SbRmX8oIp4FjGg3oC3ZBfdx8",
  "id": "fc_020015877df99cf1016aacce82548087d0a9d91f8a4555d58d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SbRmX8oIp4FjGg3oC3ZBfdx8",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4107, 2.1513, 2.4527, -0.812, -0.495, -0.1837, 0.351, -0.0174, 0.8192, 0.6632, -0.4576, -0.0128, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.5648 left_y=-0.1505 left_z=0.3527 left_yaw=0.0954 left_pitch=0.1132 left_roll=0.0718 left_gripper=0.351 right_x=0.293 right_y=0.0008 right_z=0.1842 right_yaw=0.0006 right_pitch=-0.0496 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -11.0427, 6.188, 0.9011, -0.4029, 0.1929, 0.232, -0.759, -1.1419, 10.4137, 1.6777, -0.0952, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2175cfbfabc592310c9c55905a0222e6e0bb2f118b0cc996a220b669ecb069a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:406558b9bd8b0c5abedc1f13fb7e774e03844deab869de4745880c4320d99601",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1411d8d7246d0d5e2eaa3e7c8e7db51f18e88c6144893e5dbf02fcfb4ed7c437",
      "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]: [-0.3542, 1.5875, 1.5379, -0.4404, -0.4507, -0.1356, 0.3487, -0.0151, 0.8082, 0.6083, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4729 left_y=-0.089 left_z=0.3161 left_yaw=0.0907 left_pitch=0.1195 left_roll=0.0871 left_gripper=0.3487 right_x=0.2955 right_y=0.0013 right_z=0.177 right_yaw=0.0004 right_pitch=-0.021 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -11.0427, 9.5658, 1.7753, -0.2955, 0.0415, 0.6667, -0.2256, -1.4701, 7.0222, 1.7021, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM6J5ln_7Yq9a7kW1LKJDIOkHbaBZsU6j_rY1QXpYpIbt0Ap6f3keGp094uCPtQ9Ev82fD-Ssk2S-i7G7FNu9HLC4CsWK2jXQXDLt4ITTJB5Jx2nfb-ajKSB5WGZqBA9WqP9F-THQhivWaVqNbsJPvPKTYYyegZj37aPu5Y6kIZXa06-93o46LDrtkyF_ESBL8ak68gUX9p5_ILH6ACN58Gq7vNojTHkClqjGYzRW7tcEi_mpjgUO_DVABv2vry0WXQgSFXDMqqEHeVEEFfwd7q1PUuCP0QJb_HfsuOY-CG_04pLu36ntkILyZzJyfsQ01LQ-q2mQ2AkksaXp3NQP-3UoN8Og2mtRKazQFQE3LL67Gkiu9_Hv1IwDl2VM206d9cAmn1rUnuwTrYH2MM-KB1szcwt_KCpKelSb921ll5QJvQ-QVbjIN24YZCEhx4khaLA0l4mwonKDy8p3tx6nM6XE68n9_F2zeBlH3pVWKryQE9hgApxEagM-e_NMhlwuwROP0FSVyWukMOa2xxelPdcgmW0SY8OILlsR7rA_3VExne40NW3kij70NJ5rgvhQcIuPslo9WIdO8MJecdYmpKb-pzHghoWDBPC-xzWeayek7dXLdaVsqZI05SqMHBlVc9bGIhif32sGOfUZzpXDhNdyc0nhLfKD5aNdmv58-lQj5WzlInXY53hwG80GN1CZKT90zT5vXCjh3hxlXg-0OtjLyn74QBfQyUlf9T0J9rVG9aueVRd3Oupwjw1CIAxGDDNlkLWTzTrWuJ2eT9-fDVYyaUzE4gLQJfkCzl02Qf5eTNIztt9_U1Wr7UUhHGSeQULvc3zLTp24WAruEsXNvmJZeXJ7Nnsdu1Mpog5FSMZlQbPJnxed-DiVXX6zjafWL-o7fLJgPU5FPsIp6vZWjdIN7q3Co1lDr_4xkyKb4bi5jvaY2-e9n2fHMzjBygnjh5JALHTvoF5fKT48KsgGZstr9niNdpXb9OktetZ79SA7cztIvUs4Eo7IaNO8XDIEakX2-cLZsBKQmBEI1CZ40EVQlp9DO1VibgnCfSNLr1Q8fZbMxEjWKnVrfUBN9Rj3yrUVT7cxLfNo-c4ZggJZyUCQ3-1p1GnfFPvYJVaBZe548PN6s9Jx3WbvJhrg0tOnnVdIus7Q3O66pcnDIGJD_IwxZPbYMuhOtDi848okFHBV3drIyNvWqJc5Tu_4hdznkNDM2DYWOHExaLLnpgdMX02tmi9V1HdS3uaRig1NyxLFVI84gyPc2YilKy60UJWrz_tg2MujJGSYpEgCUetZJnPA7WFPZUQ3jO0L1NlB2uFBehcEPxof-Dglyf_AuI7kCp003cXt8ykrQDep2mEenbBlBZrPpEqirlJdtRTRI7EmF0=",
  "id": "rs_020015877df99cf1016aacce86f43c87d0a26ca50a82d74539",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.575,\"left_y\":-0.15,\"left_z\":0.31,\"left_roll\":-0.7},\"note\":\"The red cup is centered just ahead of the fingertips. I’m lowering the held neck toward the cup and beginning a controlled sideways tilt for the first pour.\"}",
  "call_id": "call_G3d2BYls2pMsLvM39prgqNoM",
  "id": "fc_020015877df99cf1016aacce88387087d09a3eedd9572f4af0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G3d2BYls2pMsLvM39prgqNoM",
  "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]: [-0.263, 1.9682, 1.7924, -0.2825, -0.0509, -0.6674, 0.3532, -0.0208, 0.8211, 0.6655, -0.4702, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.5779 left_y=-0.1426 left_z=0.2628 left_yaw=0.1113 left_pitch=0.0107 left_roll=-0.5656 left_gripper=0.3532 right_x=0.2916 right_y=-0.0004 right_z=0.1822 right_yaw=-0.0035 right_pitch=-0.0618 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -15.5419, 7.8017, 2.1514, -0.0073, -0.0757, 0.2173, -0.0068, -1.5111, 6.8034, 1.8046, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b8409c7f5fe0a0572295e54d9d2da2aba2fe953841a242b945c1f11a03c34d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f630c5a89ccdca5851e746007344d80907c0b6ea028744eeacb1694e084275",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b396b4de124bc5f9fef32250c0efbcf96ef4f2c106bab52f776be75e3c74c00",
      "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]: [-0.4107, 2.1513, 2.4527, -0.812, -0.495, -0.1837, 0.351, -0.0174, 0.8192, 0.6632, -0.4576, -0.0128, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.5648 left_y=-0.1505 left_z=0.3527 left_yaw=0.0954 left_pitch=0.1132 left_roll=0.0718 left_gripper=0.351 right_x=0.293 right_y=0.0008 right_z=0.1842 right_yaw=0.0006 right_pitch=-0.0496 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -11.0427, 6.188, 0.9011, -0.4029, 0.1929, 0.232, -0.759, -1.1419, 10.4137, 1.6777, -0.0952, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM6Wd0T3ekWwFFslhJTV480H_Tn9P-EWgC4UqtdJ1IFfUiM1qpbC9JPYe_OO3Qs7uBdvtpfTt9GxbSRHzmEc1RmQuvqvojzF8SZYR5Qww5S0Z-kyZ0XS1m-VhXxKJ8KP2RrXU-eyArE6N5ovxCMzFV9B0r4QUsysRrS_pAQVDrmbQNdqElOD_60iinvr24jbzD_LtN8pK-0jyL8GDFRXOpoLu40es0QkdX4cTuqt9U1csr7u4L-6WR8KNf2BApUC7qkWKQav2jE-HJNzdNAeCIdBNPfTf46Z8kO7CVltI23EVMaePV-94AgmdUazsVYktij1_pIXbHcMyIDretr3czODq0QxtcU33f8aUDyeP7ccl6TEHmKH3jz2a4L7lK2kjElJ67NaGVwzmxG_THR1caKlbqfDLxBPwDpKtt_wtGdHvJU2SwL6acnzRdG0dGnvbiDxlgDXwAQiyZHB5SUW6bSNo31LgTEXHRFHiCxpBGTunGJIQnUBCkdBRJB9OqaE-FNaBVOFQZ6umjWKicgUUODLytwXQBrUFOqfOZetmzsjERGvEAQgJUyQkw7Ta9H1toa9zYgmw8em1g2Q_R6DS2qqYTEyoyhMwNrrWMB2REMvCesZe0GGf4iGLj18JUnnazsSpjH8DWXFPAE_acFBvTm5dzAm0uFwIRlMn8BaWjWm713RAjMxLzLFt6_sdH_PMYcMqAepFtg0ZFyrUFt1Khv8ZG9M0M2uP2HGMG5rAEZLi1YrIhjffZd_c2cHWbogh6dkpkriO8Hy1D2jjWJTmiYm-QQHV_5XDQbX636bw1VO86A7POcRJhNoyo-jjXOslfTZhf5lfk6E4nBgrvO6frhKbgCSyblcgL3vccNwIwQ5fCZOHYnBwgiaWXRceQv2memciHzU7mMwgHkgCaVgsLZF0DLLcAUZQLl6DVvJSbCbXZRx3k2efAGn5AuvjIJyktZ0IYUNmS1KTj5BQbYD31zRoM2aGoS1yUzYU0xFH46T4i8zZqYSx9GgRrqVx6FrKVz6YefzG96G02bTbW1_TGGg4EOcVQrsI4jQksydgg64MVqbvV6jMBDyHAerwXMIG_kgPQQdPZZv5Rq2YEWQ50W_ApyGtXQd8qAuOMrTvLU3RuvnCuqhvVlDdtOF8hrdIMvs7mJpYXcVwOtOfJQurbZjInpJPyWLk_dbCBeUjt2Twt6x7NblIUYGclZ3lS4wqWFFXTjQJ_T0SPgdRCxJe89OFphH0lhdb89jMNs3Y4pAlX0Z0gWTYoJ3evOjfP7T3xOgbPtrRmfNfKszfDiwIf7A1zMLmg_neXd-1Tl7h40OVKcaTqb2fQYtFu7ohOzP7KS7BlzGYw1cYeENfhwQhZ4s9ZrdaJ27OwuXsFAeTk_ULKGPDhhZe9cJKVZDOkBWpoZc_UjNCXR_mdzmE9KFPjAPL4bGhr6TZ4LIpPoRFO71aM7fSejNRt4ZtQibBfnCsfZ3nUk0SvtgAPOjxwwUBuX-AdChdVkzZ6arCtwZYB4G-DaDwE2GMm5novbO8VJAcsgx4lrk57U-lOoSriXwYm72UMwUKX0Pt5KrEru_IxD4c4qfExxBLL0fSsrifml4zzd_rfD021_ISl-JhWzfoO1zFfAWg6XZ482e_u5Xk0Kq-uxYV5P5SgBU5BWCeenpKZ74DT90PU63LBMe9oGJi0p5vPFxL_dPJGvaZ62QfAPOLAStn7UkSQd5YFxCvWJrCUs1NB7pJBF1h8Eu8wiIg1Sx0jO7tohhlPfwH_gWG5_ChVwBUigYy_ZvOcBL1Tg6asGXAZ7MVUpstnE314RWYQqWjFO2XBayh1-E_iiZ1woWgUtlAykS9UXluM0RbSpC23SAsU_yciE4Ee9_PEsC60OwvQ7Spws8yRvUZDwLSDK7hau9Bb9yGOZ0GuluOtb5kNRqIk3Fbn929q4hfIwmDFwiBf2oxR7O5WZqV6QgXrEoKFix-8kIR81uCcItN5FVlMnyd13KY3_gbcvEtQqEIThDQIAubGkK9KRE_UIlrXaKH6EyrhthjCCJEu5-L0amsvuVyzWO5j-FZRuyTaAICG47WapTEMC9egKArjNShJP8Mi-Uat3OLHA_nwR-FlJT7B5eCU-ggpD29XrLgIcF1KW9AsYGtXbd9raDm3DPTFxsdklIf86KIKB4QVDkbJ_3aNCRGNb1-8WBvX_Nh7zH0-3VEd_J4fpaN0kESb202g_nkLYLJ47jqrvjNWL9AVG437RqKLY19PsO-CnZu2SXXEOrwbAkPnXpOETuJlBM5VFn_qg_YmVZbs-SCd2EbBG34WltwJt0P1OoMC1hpIuzglpytA_DafZuoCZtQjIkOPO7rNo1E7q-2GmugKPAxExjsLzhVUxTR0bM43BJy-HxhrDUCvXrpuOFXE2Bsn3trYo3eZvdqaxzLZHiaMte_emCYJEhIF3L1axtLCxsEgsdzcbY99WLR_pQKX7PRe8aocV-9_HeNE7jhICcvaa3NWtP4MpRA_nMNesHd-nF1Ys6sUpDkHoXLdl_3dgFaaoTgea4m38Rx9aNJofxG7iFXUAj7RMnuPsur0qxESbNwT3hj42RZ7ngL4pU06gW14GO8YBMc9PBsAIu2FZqq3CJWz6bRg4a9GJP4DDcRgOw8LhAJm8jzteKbTU_kpofYa3agr5ZZ3SiGjCdZLfu6jLmmArz9U0qPuNHV5VVX5kMdNgY3tJOlQFiTTSuifxwI3NhckolR84y7dRC7APHirYVbkqzH-quYFMft_UsMuprINjRvV9JkA==",
  "id": "rs_020015877df99cf1016aacce8ce16c87d0afaac55340189ca0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.6,\"left_y\":-0.17,\"left_z\":0.3,\"left_pitch\":0.35,\"left_roll\":-1.3},\"note\":\"The container is tilted and its neck is beside the red cup; the body remains clear of the table. I’m bringing the opening a little farther over the cup and increasing the tilt to pour.\"}",
  "call_id": "call_DH76LVJcdrORh8fsnkCOmEeq",
  "id": "fc_020015877df99cf1016aacce9526fc87d0b0ff76bfbc3e0386",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DH76LVJcdrORh8fsnkCOmEeq",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2276, 2.0518, 1.4887, 0.5846, 0.1688, -1.1431, 0.3545, -0.0212, 0.8234, 0.6647, -0.4709, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.6038 left_y=-0.1666 left_z=0.2716 left_yaw=0.1209 left_pitch=0.249 left_roll=-1.2075 left_gripper=0.3545 right_x=0.2915 right_y=-0.0005 right_z=0.181 right_yaw=-0.0039 right_pitch=-0.0656 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -11.8222, 6.6803, 2.4493, 0.1929, -0.0171, 0.1294, -0.3214, -1.5111, 7.0222, 1.6874, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b76e29592a0ad2a1a4f14131753f0a6f49bcfbd3a89ee1967ac772f0e05c27e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf03700ad6083e8e6c27a3551afa97f81c62a084a351fdeec76a73f2ac966016",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0d9154419521df5f367d60e6cdbc586842dda89c7f6b5bd69b5bb914585feb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrM6hV6Bv3DeCvkdwN8EB3HtJhuBSxh-0skAsz4-K4E9eELALi-cqEtE_MOGgzRCrZW5qk_JE23_M44GBuVPo8jWKBoFty3eSETfAm3TKZ5QLYOFSDOUjYZHZXWZkHsV5lOeks7qxZv2lh7eVgmUW1KiRouQUuwZm_KX9tM0Kw6Kn99uRWHBlEtvtR1UtYIKHqzyE67hp9s79s2ij6qVr8bTaJC4NvgUnOH2BV-QTJ4J9zb8RTLxwmIkJYbikspvX1AISCewwL7lE22InwDWvckrl3cHN74w7SXHJUg5561hJNtIoPK8LSc0FwKN9e3DtoU3Y69GzKQRsiNOrsdpl2zKclKxxQUDeNAr4b2IXTJn0LXrA6536k6DahLBBhdgmHvQOAA_Ic3ychQ46SXrM-shQe9ftg1i2lkD9hVuB-vYe7zgSvHsur8aySQly_wngjeiaenk3ahXTBvr5a4y-AatG925pgNgopR1mbWVCt4jGlMBW9NEmret2FHptYj1tH_0JaWIwl5lRwBwXqt5vUlH7mlVCzlK0yyLYCZMp2s8cMsJ76gr-SBX5YFYVv7mZxElG9DclJ9J3yQ3Y96BP2xETeKTSBqnmX9-wm6Jc68zNrRbAXrqFl-hbExwWMAaxxqlRwtVTTaZiPbFkYuAHWc9lFjG4i3arddJLBQDv5L_H7XVhyT8zkl7OTqcz4BsS6k94CQ450-2I1YPDrv260J6HWQ_WkOs_4Xzv49ksPO5EPgCYGJWAxNAvg0zTXH8TPtSkTNxaHkBi_Ka4Lz7MJM7CjYnIQs4o2IFTLEErVl5c_-6EtHUQ_bf-llI6eDJ9e8RAOcXLBvGcgsAsw4PsxtJ_5TfuFFjrm7cx4aFSlii9KnF9UTEwhVb_Rdgeh54o7ISa7f4o5iRErcP_ShEkMVH1RE4HB6FJt1nt5VkL7a7dq2EDKUj-9z0G-szWF1dUsNZsLWkZKeajzKRtMt_ZRWXGxBW7LDU7I-bNuv-CjEaxOfbpL8KUemZP9fiX4TszTontqlj25aRvoVCQWpAMwyWi1OaS--vUCHme73YTrddqVtnlQ0f6yOSjjibCFtzZlVN1nd9XltYVYx9uyUEHX4QqD3M_1ojOVUNo_5mnR11HoIK-978Qzso-INj8fXCucRFFnTsJYatZM84kyqB8aSw86-MBf7OD4OvYFDmUvmwjYl_WaYKa3CPyoK5FOVctxJLHsgRe_Lk83sVHN-in06X9qLjHNElA1Wva256ce_8ASypHpMhpsgJUTrV0IRfc2Zlkq7hKF_Rz3aHtLLLvbB9QnATW2-WflrWIZDDi_SqbyQC2Frqi1nHdWysGFGCfT-MsZaYlWW9dso9t0EW6Jfu3Cft23KA8-SJXNEeb2oO7NO8BXKt45aM_WQp_XFWnFmjUUB2syOsz1lHSRalVRV9c3LeNhYaKH_60ymoecjo3PHKOItssVVM_aK2WtlW8kxXWUCs83yGlCXlITqjSp8jEsTNn95FLp5ohZgJUw0AOre-TlMOypu5Cyg3t5-ziKnUnOVR5cLUhVm6BTnGfBeLSWXTX0fYFDh999KR48SXCEnEYtCsOTyGASzu6d8dnYvvbqxVVlqQhehT5ucXijoCg9zL_vAYPeFmSCfjZVXr_ghwRrByMsvRoNaC-ctW2_Z39Qx4Ij-fPL6hYh7Gv2w1tl7oyHUlHWixos_fBdWkvlgY4w1KfM5XeO96UEQTrL7M7n35Yvr26KVdbH01e9-8dMFQl0oiOU_3f6t9joDCPbam4Cxkx9iF1M5eqqR2zzMiNp5LrszhHDNNt6U7-O3S6uIrxgHdSEB2KJsv_Hxpb0g9FQ7QOwJvigiL1awgke-SoAAUQh96juZnGgi8WW9roB_sX1NcEdF_hRVbleU3CRT-9pcOinVkqAJcRcmAIWpkQuBdqzawGy0W_WFFrc-lInPOnwaosDcK4_QJT63HY3upGCol-iQQG2c2F42qdoOlzG2s-xIgGw1EeRgjXYaYBFA==",
  "id": "rs_020015877df99cf1016aacce9a8c6087d0a4fb25bdd1620671",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_roll\":-1.571,\"left_pitch\":0.5,\"left_z\":0.28},\"note\":\"The left container is nearly horizontal above the red cup. I’m completing the available tilt and holding the opening over the cup to let the contents drain.\"}",
  "call_id": "call_i57MtAZ5yGan3XdvVR7TtVve",
  "id": "fc_020015877df99cf1016aaccea03d2487d0a4f3f1641baf45b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i57MtAZ5yGan3XdvVR7TtVve",
  "output": "target for left_roll is outside [-1.5707963267948966, 1.5707963267948966]",
  "type": "function_call_output"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 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]: [-0.263, 1.9682, 1.7924, -0.2825, -0.0509, -0.6674, 0.3532, -0.0208, 0.8211, 0.6655, -0.4702, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.5779 left_y=-0.1426 left_z=0.2628 left_yaw=0.1113 left_pitch=0.0107 left_roll=-0.5656 left_gripper=0.3532 right_x=0.2916 right_y=-0.0004 right_z=0.1822 right_yaw=-0.0035 right_pitch=-0.0618 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -15.5419, 7.8017, 2.1514, -0.0073, -0.0757, 0.2173, -0.0068, -1.5111, 6.8034, 1.8046, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_roll\":-1.57,\"left_pitch\":0.5,\"left_z\":0.28},\"note\":\"The left container remains nearly horizontal above the red cup. I’m moving to the wrist’s allowed tilt limit and slightly lowering the neck for the pour.\"}",
  "call_id": "call_EKKPWSI3SChbSVvt5x94z6lO",
  "id": "fc_020015877df99cf1016aaccea32c9087d08c29ded0bd8a1530",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EKKPWSI3SChbSVvt5x94z6lO",
  "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]: [-0.2047, 2.2543, 1.4216, 1.1099, 0.2451, -1.3762, 0.3548, -0.0208, 0.8249, 0.6647, -0.4713, -0.0116, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.6074 left_y=-0.1662 left_z=0.2423 left_yaw=0.1215 left_pitch=0.3736 left_roll=-1.4918 left_gripper=0.3548 right_x=0.2916 right_y=-0.0004 right_z=0.1806 right_yaw=-0.0038 right_pitch=-0.0675 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -12.5744, 9.9624, 2.2784, 0.1197, -0.1001, 0.022, -0.212, -1.4427, 6.9949, 1.6972, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:844c4fe04c6dd26a15eeea19a84df63dcdd4241bcffae7c7ff8eaa7551d33ea2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad73935a7d35a9c86c2269924b6bc95808319a70b386e15996f539a2baae887b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487bb5493a41f1b1833354bf3a2f4fa099f041894abe9e7a35e2018e4cc59eb7",
      "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]: [-0.2276, 2.0518, 1.4887, 0.5846, 0.1688, -1.1431, 0.3545, -0.0212, 0.8234, 0.6647, -0.4709, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.6038 left_y=-0.1666 left_z=0.2716 left_yaw=0.1209 left_pitch=0.249 left_roll=-1.2075 left_gripper=0.3545 right_x=0.2915 right_y=-0.0005 right_z=0.181 right_yaw=-0.0039 right_pitch=-0.0656 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -11.8222, 6.6803, 2.4493, 0.1929, -0.0171, 0.1294, -0.3214, -1.5111, 7.0222, 1.6874, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM6tQhJgRIWIeJ5YOTqzl2rC9AkKM88FNhMgHKt0sFoKMylUOmylSNhcumjW5RQn-Vu-2DX6fTTuiK1Bvclgvji-hgMJOiOrvA08qHmyKU429DfW0tR4GsG82-DTtcBfFTpK6I9oCjlyA2PZ25IGWdQwqpdhGlTW46J8X0Yby8VJLQMvmr_LMhxywhxWB_WfzqyqIg3NzdCKqB5RGbdHGce1Jd-UcL_GYRHlaXoGyJjzONHA0jldAf5ydsQKTQuEPcgdCYmGES855V1wzKo2_Jz5-bcOU20dxR_YGA6UQqjm1DyFE7HIF952tbnQe7N9Dq5wejuY44zHRDyOd8fzmqIXhnXrsy0ZsNKiZx2fHU6XVd17tBQ_xckIWsJT_AoJzUPMzoPXC3FoOmjq6ybuIwPlYxHcuFuW3Oatq-oiaxXGvYlNp12dGSyePyMsnBSkWNiQD_AyjZqP7WM7oQjpXB364_HTLOXfTKc--es3aQ1uhu6gera9UijKbxNJ4v2dyEtxGYsKoqsUBjP1CXBflf-zf-10N_SsKAIfnHGK8UJsVBW7-nKV3QezEbDZwMFPpimhDyB9G4BaXBmgHRz-N6HXBToLe29pf4Vqd_MWkmUEgBl0Egm6egxOG5YKBF-ZDrV9JjGaOW6nx-L0D4S_Q_r1XVXN46PlPDCJ4V5_2lHruPNNEgXp2DOYWAJqJXMvxgAAeWJtXFeUIn5ZOEifkZuNbCBbE5VKW8MasQOxne1NC4VjqpIBxtBgRZTs4icU_YFhTe7gHmCJEtoLVsPJlMq5jR4-nEZpeJS1K8Xzbuvt28FZQ-bb0rmaOPKD4Q2lhLvSFYpTKNYl2OispmVADJyo4IKmWpZUtSxEbssS0n4fK5Hrp4WNbDTVsYopauAzeNohufNPeODf_3K4IYYi4uLQxdUSwMFoU2kV4YSzBR7hO-w1o6iGsseWDoZ_sG5dcLumXWaXJDqOAnqiC8dD2BcmAFr-gd_VX8YaY2E8v18FcyKKSjxiCWrzXHOn1AeiFABPghPHgqbHVP3QiMWlDB7zcAhqppjkkzV7ddYaCs-USDEA-sw6kXERl0fhuHANO7oZ1kzJkGW2LrjjcrnqPSFAFavlV65oXhQcVXFzElzGJW4P9vDIyE7JKm6VQB_0uaBrduz2hdjDBJPB81Csc1kzyxMHNtrQDeMOZZfEWujJdkpHrLMTnHY_uyD4HxufngK0rQdQsY5Ta-8FUCpLwW3jdshdjwmcVdpjWxuv9_rAdBb2wk_YQKYvYfRTwlHXFlc7up3pi2cAfPKab1yIByBNyhvnVskXfndpyExN_acoDgNHiuFNK689xj2lU1MKz1DVT77P4gdohH6n4DpigMNWAQBEEhWhtuC0fucwPhRxijDnNFQlFvlIXFTUPKlDdYjnWhrqnzxw2F_lKDIkPb6XREjvnbb0rO-jvRLmQdd85LmtXoQELOkMftFBfJyIs1zZWdxVG0KW8cJtsD-WgN4PbUeWF5eEUth5Ek4Rborcjls0H2Xnqabu-YAhPI2N1JvrKIK5lkYX1x63BmCntyES9h_84op5gG0I02aS280oPoxilmHJmoxy8VAm4o_MsNjUEdSbectmvE_MVin6_b7fG0jUCo4O1ad6nrax_CDJV7RaBb27phnOb8Q5H9NCoNOPIXxz3_QYmBFlxJhu4k_uUhdniAHjkSaRtlAeWIpgRpENzqG6xGVfOyvVy6Z-JEeL_vs3PP0FoE0KFio1edrwiqBetTnm6eXNBVkvwNd11rtj3cp0zt9F4SuPK57zjR8TP94wRZ2pvj3RQym_j9NSbEU2CHkzEFE0G5gROSxtisTPu3W_l8Udbdl5MVxBpDsas4ZdNktozkikfbfMJGXsVwTNrtL-ubxTscTydyUotJDIOlacScpFyBzkK9M6WNeaRLWxB1aJS6F3WqZOnvZTm5Tfaeb0mMdLqPuRVgXlTtera6I37EJhsHap5Tiz6PrQ",
  "id": "rs_020015877df99cf1016aaccea780dc87d0bfef35015dad5b45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_pitch\":0.6,\"left_yaw\":-0.15},\"note\":\"The left container’s mouth is positioned over the red cup and the bottle is almost horizontal. I’m giving it a final small angled tilt to allow the pour to finish before returning it upright.\"}",
  "call_id": "call_nQu6rej5W2YBaw1PIereJ2ph",
  "id": "fc_020015877df99cf1016aacceac71cc87d0baf52bdf7592326b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nQu6rej5W2YBaw1PIereJ2ph",
  "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]: [-0.1226, 2.4615, 1.5528, 1.3315, 0.5251, -1.4719, 0.3558, -0.0208, 0.8249, 0.6647, -0.4713, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.6118 left_y=-0.161 left_z=0.2136 left_yaw=-0.0869 left_pitch=0.4822 left_roll=-1.5 left_gripper=0.3558 right_x=0.2916 right_y=-0.0004 right_z=0.1806 right_yaw=-0.0035 right_pitch=-0.0675 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -13.5453, 8.4034, 2.0635, 0.0611, -0.0562, 0.0952, 0.0068, -1.4017, 6.9675, 1.6728, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d710295b1f0fcb961771c091015109de7815b096121b6351ec119ffcf429da82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:413cb94a7ab75a000d52c31bcc49a671f6eac83c9e91156cb60189a83d3cf35d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a8712d754d9450502d7764b20b326ad41ec31fcb5e2370698e965922fda7bd7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2047, 2.2543, 1.4216, 1.1099, 0.2451, -1.3762, 0.3548, -0.0208, 0.8249, 0.6647, -0.4713, -0.0116, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.6074 left_y=-0.1662 left_z=0.2423 left_yaw=0.1215 left_pitch=0.3736 left_roll=-1.4918 left_gripper=0.3548 right_x=0.2916 right_y=-0.0004 right_z=0.1806 right_yaw=-0.0038 right_pitch=-0.0675 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -12.5744, 9.9624, 2.2784, 0.1197, -0.1001, 0.022, -0.212, -1.4427, 6.9949, 1.6972, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM6yliF4c9c6II8sWFLCppCSlfHXBTgJxPVx6aWMKIXCFP-2r3hiysaeFNAJTv_uM6vdRDzSGOvRaljmFcjZdATKUmCHZ6zqiyl92XETiz_S9Gdb419QIzVb9hOd-kPDEfp79uUcTM12Y9fVGI3hEwBXfCCA2bHcVKqXtOEFihNrc5_MHAf4sW-8DB876q6U54Yst-wKMuX7q3IaltWLDLUShgQR-iSW1BQBD6-FogS0-iJVggjAWe1x45vaHwstAQ7_fTPmedPMZvC8A6ok0uX2oCOzd1U6AFJ2G3HXE9XAwOdVlU-0OKekmfVBPm1RpEkekyAzGDQlIiWZYL1x-4zPBddS8SrmLwQW1Syx641sk_lPu-fpT4J4vHudnbDpA9vtWR7bpqozW1VhhiniTo_vd87tiV13VOh4f4VolWrL6D3hQmFBZ8Q22WITJoCx8UwshtGt6BPatLullTkInTITIX9Cwh2siJ2aGh-d_ZTv7mOtkU6XHwShtKErHi1gGR-J3dZt7g3_f6u9F2PZbmoMo7RgQ-avo982sAuJ6zHCiLHtmKmP9-6d8U5ErqUTQfnXYUtL5LnFkXwpoARdFx_zbIQOi0PaZH3AfV7TlE3Osu8jEnzKoSX3VPlJmLJn32I6YgH72nSFyf5rSa0mK-zsUIZ8Bgb40jGUEMdciwOl8huqvNaMKRyTFIpOPsmZ48I5tUmnHZLNLFhu_DOpYa74SAf9Eeow31QrbTmlEA8Rn2rz4pvDvYfmaC0oF5OKG_jLwC246UZVrR6Ol8d44BKpj8LQ97qpsXNnBTHzJ1o7Cx9es2cKExpYAPkcVGByfeaFSWsSusdAMWbOZIJEpc-qubMTUrePkwRTqVQhUnfEz9qZE2Ov4yIXK8GNpy6-6fVD91CvnLiXfoOr_hyJU2nB9rRcossZbxINODx0Ht0tu7IOaiqFqz_EkcbHsFa8blVWpuOPpzihEDQ9uFlLpymmkb7NifE309sJpCSPJgRz0HTVpCryHpnIf-Cw7mb2hkFNT0ipnXIzPdmGYPSpZ3jB_SHs61cpb66ksNlQXq3vLNfy3TG3-SrPh2goatJLJ7cIWU8F8RNPuD9P6odkOCE57SFiD8LUvURJc2P89FmgtbNLczP6qZYk4dC2RMSdYjMxZloAQBfZ3NUbJege8ONlWbuTeBLbwg0bse8XH6uXPd4rpNemFV27gdESHfzddGFz",
  "id": "rs_020015877df99cf1016aacceb0595487d0ac700eced53a219a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_y\":-0.11,\"left_z\":0.36,\"left_roll\":-0.7,\"left_pitch\":0.25,\"left_yaw\":0},\"note\":\"The first pour motion is complete. I’m lifting the neck away from the red cup and easing the container back toward upright without passing over the other container.\"}",
  "call_id": "call_WHXNShqL1JtpxHYQTL2tcMr3",
  "id": "fc_020015877df99cf1016aacceb0927487d086ab9f3c37f9df6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WHXNShqL1JtpxHYQTL2tcMr3",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1299, 1.874, 1.6516, 0.0353, 0.2573, -0.738, 0.3561, -0.0208, 0.8295, 0.6643, -0.4747, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.5777 left_y=-0.1172 left_z=0.3239 left_yaw=-0.0018 left_pitch=0.2234 left_roll=-0.791 left_gripper=0.3561 right_x=0.2914 right_y=-0.0003 right_z=0.1785 right_yaw=-0.0035 right_pitch=-0.0759 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -15.4735, 9.9624, 2.0879, -0.022, 0.1294, 0.0122, -0.0479, -1.7573, 6.9812, 1.6825, -0.0171, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ed3d269ed015d4da1e8a01ac034d67b84312dda8f641ae138de23bacb4d66f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81c52f75a4c6924570de2b5751671e90fc8b80a330ef9f85209da1d66a6544a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d530f7cc26129d9724b057897be1047b3690741300b09b6a969937bc5175885b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1226, 2.4615, 1.5528, 1.3315, 0.5251, -1.4719, 0.3558, -0.0208, 0.8249, 0.6647, -0.4713, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.6118 left_y=-0.161 left_z=0.2136 left_yaw=-0.0869 left_pitch=0.4822 left_roll=-1.5 left_gripper=0.3558 right_x=0.2916 right_y=-0.0004 right_z=0.1806 right_yaw=-0.0035 right_pitch=-0.0675 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -13.5453, 8.4034, 2.0635, 0.0611, -0.0562, 0.0952, 0.0068, -1.4017, 6.9675, 1.6728, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.09,\"left_z\":0.34,\"left_roll\":0,\"left_pitch\":0.25},\"note\":\"The left container is clear of the cup and still held securely. I’m bringing it upright over its original side of the table for set-down.\"}",
  "call_id": "call_Z6mgd4cFyMknt6cXEtWZHQM2",
  "id": "fc_020015877df99cf1016aacceb5428087d082fafd1f4e77b59e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z6mgd4cFyMknt6cXEtWZHQM2",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2859, 1.581, 1.4563, -0.2333, -0.2119, -0.1719, 0.3561, -0.0208, 0.8314, 0.6643, -0.4751, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.492 left_y=-0.1022 left_z=0.3202 left_yaw=-0.0169 left_pitch=0.2084 left_roll=-0.0864 left_gripper=0.3561 right_x=0.2914 right_y=-0.0003 right_z=0.1779 right_yaw=-0.0035 right_pitch=-0.0782 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -11.3846, 7.3231, 2.083, -0.2369, 0.1538, -0.0073, -0.3077, -1.5658, 6.9538, 1.6923, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e835026002a9b7fc1e2ef4113ee62866220193de17a32b516c075ddba6608ad9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc2bbefbb19838d37681a3561312d0dd76bd6899fa32eaacd98bcb3cfb809d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0646800c5eb124fcf510612e33d5207161c903caa819071737ebaaa2e4a241f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1299, 1.874, 1.6516, 0.0353, 0.2573, -0.738, 0.3561, -0.0208, 0.8295, 0.6643, -0.4747, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.5777 left_y=-0.1172 left_z=0.3239 left_yaw=-0.0018 left_pitch=0.2234 left_roll=-0.791 left_gripper=0.3561 right_x=0.2914 right_y=-0.0003 right_z=0.1785 right_yaw=-0.0035 right_pitch=-0.0759 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -15.4735, 9.9624, 2.0879, -0.022, 0.1294, 0.0122, -0.0479, -1.7573, 6.9812, 1.6825, -0.0171, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM6-Y7dpghCwxMCYtskcF0qvuepwmTD8kG0_gJ3HOagQLlP58A2R9fMohDipG7_6zYDRfldiHTHLdTwC9jRDIZAKVWuuRCbu5NqzsTfzgN8Uj67izCA4LFZ9DTZfZ-XPCD4xgoPaerDv95Jyq7yb4Ytl11XwUGELCA1SCPuuLVnnj3ANDBShHS4IeN9MlQNQl52D-fcrrLSsYEPccVe3A6NNbzuQ2BNZz9erWvoVp7F61BPN7lKpM86ebJBO4lDl8fOsEloc-7WHMUPxKCA0aqSalQ9c6iUt0IeaEhG6ikZ-128t9toWjIRpjw4zA2z4eU2KdbgEezkvHyIJJ-E4VRjYsFS7-EGWS1G2biPW3YIqv1kQJ27BXLRHeaZQDvVWwcBX3e0IXnmGH3nqAtfc_MVvocQYxIH6v4Ueo4CYEgDeaB-fcZqf6tFYvBtWUoRTYMa4i00DgZQueWLl8aWAnZYuhzcb5a7MGLinwr04xK8uTM_n7SdMeM3Mdv26ZjXyhDBRyblhPtbBTBJ-wZy7dkEr9E6CuJmteINHTDDX2g5vi6m297Ddst5S3v0R1C0wP37iYjyK97p_EVA21YfDi9savVwhNRiZHHFeJaKlxOIIqMy3YqqfyGNAT2yDuhNrL2HdmGpUG48KXBVFDA-3aRc-2F4-hu7RODvWGzm8FL5pcptzlu2Eqk7ADpSl4YgfRBeX15TiDwxrUBy0IOOJ9vpTFSXusnvFwRRMDF6NHvatmBhzHzjxvbF3ytPSGvDSbeexDCVkz_WFrS0Ovm9_r2sUdc1XVtrFcRD29NdMwbc2KqQ_zdTJdga2JNK2Ku-Kyn2MMHDuOQeahFyKtNfUWldBtsXBRwvICIrKSHKOXlHjlyn58A8ps0q2eWnJglZQimbXi6btRTkwhuNpMtVKP5Rl3Kj63pqrIfGxW2bOmEAkUN5lYNq8ZlWoVdlShF2b7_UvLAxg-mVutiLzNRyXjvCjNptzT-InLA5YYl8l1NmKdM-VlcO3onAUy6aFSDLd4x0zpUll44iRfTPzHzhepdVAT3tAaafKyDIzcgGlyPC_mhg82nhQf720nO5Au1YE7Wmn5rDTTlV2pr3CdeIjs2YiK9QFul3xXrNSOZXaIO9s9-ihnBHQLt1r_JUsFYsSpSjIg7HPopJ1wNHK9yC66GUWPAUCjR0G9uHWyOFHfEhC3w8W5JRG-7ZjeX-FSiwEOTGSeqUf-ol3nCoSwafF2XL-mVpbCfRKST9uKyPr4B_mLJI-L85-ZEUg6AUwNbqATu4gd1yO4cJwc8gprCKhBdIkSw==",
  "id": "rs_020015877df99cf1016aacceba325887d0926ebcaeac52d6e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.225,\"left_x\":0.49},\"note\":\"The container is upright over a clear patch on the left. I’m lowering it until its base rests on the tabletop.\"}",
  "call_id": "call_Z7Ryv8Hzus3mnekKwhj1s7CZ",
  "id": "fc_020015877df99cf1016aaccebcdf9c87d0bd848b012ff5b341",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z7Ryv8Hzus3mnekKwhj1s7CZ",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2897, 1.589, 1.1229, 0.0868, -0.2211, -0.1726, 0.3562, -0.0212, 0.8314, 0.664, -0.4751, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.4875 left_y=-0.1012 left_z=0.2299 left_yaw=-0.0135 left_pitch=0.1887 left_roll=-0.0781 left_gripper=0.3562 right_x=0.2914 right_y=-0.0005 right_z=0.1777 right_yaw=-0.0039 right_pitch=-0.0786 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.9949, 6.0103, 1.3748, -0.022, -0.0464, -0.0073, -0.294, -1.1009, 6.9812, 1.6484, -0.0562, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33b013f4e2a9967e7c0cf58a5e330a0395fbce1ababfd4af6d782ede4b03013",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484235bf137e943c37b3c944818c5534c510d6ad2f91893be1005b8ce7979c5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32d3c9c725aa7aebc10b9ad4b14b3b100bc707f3040a1f8a489e7742bf01c49d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2859, 1.581, 1.4563, -0.2333, -0.2119, -0.1719, 0.3561, -0.0208, 0.8314, 0.6643, -0.4751, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.492 left_y=-0.1022 left_z=0.3202 left_yaw=-0.0169 left_pitch=0.2084 left_roll=-0.0864 left_gripper=0.3561 right_x=0.2914 right_y=-0.0003 right_z=0.1779 right_yaw=-0.0035 right_pitch=-0.0782 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -11.3846, 7.3231, 2.083, -0.2369, 0.1538, -0.0073, -0.3077, -1.5658, 6.9538, 1.6923, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The left container’s base is resting on the table and the arm load has dropped. I’m releasing it before moving to the right container.\"}",
  "call_id": "call_OqmOkXeewH1HoVLanTceJgLW",
  "id": "fc_020015877df99cf1016aaccec1d35c87d0a522e35cfcd325fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OqmOkXeewH1HoVLanTceJgLW",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2897, 1.5959, 1.1088, 0.091, -0.2211, -0.1764, 0.9955, -0.0212, 0.8314, 0.664, -0.4751, -0.0116, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.4865 left_y=-0.1009 left_z=0.2209 left_yaw=-0.0123 left_pitch=0.1724 left_roll=-0.077 left_gripper=0.9955 right_x=0.2914 right_y=-0.0005 right_z=0.1777 right_yaw=-0.0042 right_pitch=-0.0786 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.5265, 8.3487, 1.7656, -0.0806, -0.0122, -0.1929, -0.253, -1.1692, 6.9949, 1.663, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214932606689d5378be5a96dae62ffcb94aa7f5f761d05a1a1cc51a11b2767f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f9a63cb2528ffeb3f754387667c1845b190e744767103855abcbbd8c20c7c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b939b7baa235ed933245d295e8f53de88ae5f622a0356216524cc6bf3a0fa3f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2897, 1.589, 1.1229, 0.0868, -0.2211, -0.1726, 0.3562, -0.0212, 0.8314, 0.664, -0.4751, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.4875 left_y=-0.1012 left_z=0.2299 left_yaw=-0.0135 left_pitch=0.1887 left_roll=-0.0781 left_gripper=0.3562 right_x=0.2914 right_y=-0.0005 right_z=0.1777 right_yaw=-0.0039 right_pitch=-0.0786 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.9949, 6.0103, 1.3748, -0.022, -0.0464, -0.0073, -0.294, -1.1009, 6.9812, 1.6484, -0.0562, -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": "gAAAAABqrM7IUTw28FSZKBzQIpndSmJYTQkLAov1kbkl4Rrf2VyX74lYDgW-uNdpt7a3kcCRWtobdUOpLdz_ITccTxh2kYENlMYwur-_z6CtmFFik3HgLj8pBk4CWAKDKXmGDx5E6JSFvZZtxpQxKd9uNZ7SJ8T_rpGWII4hAaq8cm7k-YjGVX_nqxv7Z7r3o9F1WSXqLPagFg9vo8-yBOi5pwQiTV2oFBSoeUXmBPGAULofJFVYaZ-FKbb24yOBKwfIo6uwK_E0wiTOH0PsoKHibYSYzDBN1WquTLR7guD0Tp7FG-0HVJINQ3kfkd83uEPMGJw3jjgcexH44qtRfFpwTbZCi5cEaF8SXn26I3ZiHuiU42WVltECg9sJO9gORwKaYQilGs6Y7wrDewx5FJD2-Cu_zU3ZnOVVd5bGu_J5ug15DGyisHE1OQiK-BeLU8nE1pFXIQOCcfM0X0r5B_TKHYG-hRAt-xjboRjyY9gFL4qxxBCwIYl8rCpzw1_B-wt0wnMY6WdNDtt8WnfUn0PXookqIVhmLbg1e4v9_8t4h5Pkf1zvhqaQC7HgrsuGGoX828c7uqpl0IEKPTnmIYkCMHw-J5DrRPs7aqVsvuW1A1Y9_E7j1KtHk0r2rh6cRJLTYreB01errfiChr0tWJs1MCUX5yEtDGcOBR3m035uG_B-Nd3xNR4gGnrxOaBaoJ8M4oZMyQwAXx1DCOFB0tM0tJ-tzDBwtRdJf8L2HL7ssiR7mOloZI4VDuHF0fq71LOE3911JXlINlcOBs4UcwkGlwWCM6kXCc8fnNYMT3tVYudpU3QqFAfM01wy5tsZsoHKyAakifzPVHDsbz-xe12HeERMmdC6yBdsZU-PQz7AGdb8iPsLbbibyZ0LZr928C5MXO4S9jLNY2tT0Ux90DuXRYEmhRCe-d8E0iyuchlbTcPKvn-tLKtqeeK8wMLmW2Et3xsMRts-yFsfZ3aGDr9pWhtyb_z7U-ndk4rrWaI925RROlvn0PqTW4cam_Y5UgUOQF6kYZXhkbJrXbF6U1jzlBP3-5oPO0AgtVAbzae4DLdeC0T4VlypSaxnecHYCwbQ-JBnszmQJHoRYXNlDwIY8hXq9A1uUwB0i1w_6nNK-uLzhmpPR0_7YuJVioSnpNtNn8A_hp54Fld8sGZYqqFXd-5iO6NHav3aSj5VgR37fGhyO22dpQPjl_TiD5NmJlwEs20FREtoI2dGMk1ooD4nCOzEKaOLTXQKxs7IP8i4LewGXytwGhgkUaLRVNLGgiKcmo6k-qU6_z_5k8b9lb7-uFCfigwU8yY0PE0ofkkjvphobZ48SBIp1Vbi0WUzVl8RX1tfUYrs-EW_mCsJzkHzB_7koqTnISNqFXXO7nxriXeV00gNTPQZ_ZrwhZbTG0d1qG3m6xqr5pvWsKMu0_lNwF4PKwnylF0nDlbLlAjK6pbv_8LCeoI=",
  "id": "rs_020015877df99cf1016aaccec526fc87d093aa6ea4d43e341a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":0,\"left_z\":0.36},\"note\":\"The left container is released and upright. I’m lifting the left gripper clear and moving it out of the central workspace before approaching the right container.\"}",
  "call_id": "call_avbEzjWMSaEzbgw0MWwPVXpS",
  "id": "fc_020015877df99cf1016aaccec6e64487d0a9c1ee28c854ef44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_avbEzjWMSaEzbgw0MWwPVXpS",
  "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]: [0.0021, 1.2419, 1.3003, -0.4503, 0.0116, -0.0921, 0.9968, -0.0208, 0.8314, 0.664, -0.4751, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.404 left_y=0.0024 left_z=0.342 left_yaw=0.0344 left_pitch=0.166 left_roll=-0.088 left_gripper=0.9968 right_x=0.2914 right_y=-0.0003 right_z=0.1777 right_yaw=-0.0035 right_pitch=-0.0786 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -6.0376, 9.4701, 1.8681, 0.1099, 0.188, 0.1245, -0.212, -1.3197, 7.0085, 1.6728, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf0afc99883e594d3c9eb93241b2401bdbb5b100ce729d94c8246849533496ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84e315d9e4ad100d4e6a275ec817fd2fc61263549084bdb8914e31ac664b8659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194e2df512e35442d846108ca93c6381a8d0121dd6f2af56639986b9a7fe41fa",
      "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]: [-0.2897, 1.5959, 1.1088, 0.091, -0.2211, -0.1764, 0.9955, -0.0212, 0.8314, 0.664, -0.4751, -0.0116, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.4865 left_y=-0.1009 left_z=0.2209 left_yaw=-0.0123 left_pitch=0.1724 left_roll=-0.077 left_gripper=0.9955 right_x=0.2914 right_y=-0.0005 right_z=0.1777 right_yaw=-0.0042 right_pitch=-0.0786 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.5265, 8.3487, 1.7656, -0.0806, -0.0122, -0.1929, -0.253, -1.1692, 6.9949, 1.663, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM7OvS6igyGUdDaDH2blXKXlUfb_e4Y1EWuoShxPLJdMGmDNchqEwQCpSJVtIkYbBomQ3MWBjkY1kvdMYsznwSM_7TdV72B1TrYzyky4LCRRATZk-aqOIzzFXB-4l1z9yg66n3KATIiwH7X_5wlgj9E6rHAraZpEHaaQv0But0QpT9rJo6-AfUiVUKg8EUg-pamVHuG3lJsB8C_-k1PRukyrCy8L8FhGB9vno3lZzXNArU7e8rdXvFdH55h23gJ84ObuSyZjsWkw237Oj3D5UXTMACOKHuhtJmihBqFwUDPnY5K_tJz0slO-LvCXAJLI7njBFjPKS85Sv0aLRB2SxKQR_IUKOnCji4Q101OGNwj5NqSUd2Fj1Bk_cZSNOAiu4k_LIdseqY0gDfRAretY9A37E2n6puJrW3fwd0pY9ql4oR6sNduUO6vMe346zX9CNp3RdxDEIjkLEoAd4V-g0xdX4cGp04XKWrEsQW6Je4-IYOHhZHIJZfif4uLMGKJEygp0JpMRsVeDNu9eSKx0MgQTF4s7KEh5EG8gfsEJszCkzz2AVtErAbc1C8MLT039J6NJWJ6U9UfphoWTTTab_ObXLkKaeikLB8OZ7BZHetsfmCFU7O1mjlfmdZ0ygZ4cIcExk2E5qNfv96cIGau6rZUdFgNn6wva8zoK8IkcJGC1D5baaQs9SLhnihUsZsD2rk6kKCn2YFGXqphgJJyReeLr00BXzwdEgCk7rtkyVXvwMjjaBu1g-P50Dn6zy2D8sRdPhVnVj1MTQHP9KFiYDRJV6ZLMDddZhqWe5xk4pS1fZZxdKpBz5ljXdnXyESoZSjxxEfMom7kzjgBckMrrVyXIQSlA_JhQ88PVq2bdJvsdUgFK5GCTkiFsxEwGnp3_taX08Y_GQCIeUzeMzdEJB61EIm2ov7AaNqJB_89xIzM8_SQfkxZSx-faddjhxSxOvvmx1jI-Y4ZZTVY_8h9pfJTXDV5FemmH5EQdPNMhlsK_f6qKMehW9S2_fqj58dP3VNXDQZn9iGmNEv0ndymgBt5hvY9CZz0ouLwC6bhEO-SNSotPFtvnBidtNHB23pV6HKQ6Yu3L4oSDgSIYlwiQWbiEJd8ZGMLXfrJdG9k6Dx2HoqZXVhdE8JPtMZGd-ZHKa7Kfnt3WciweJQEagUV-x8VspeqpO1HwztY7Rb-76Ak-flAWK_GvqCjYAysixNoNugAPyE0fn90H53HgCkv-Ox3Li0bw3um5atlJlmDlJvDGEmz20_UXht1qESQKF55u9rlYTmNw5yM7G3YVvE9_IqJOYYvH_pxnJqE4k4lXNmMKirEXhBH5ihkGB4ZvOVm0s7gDKgOskKerhTJBy-m_NsZzWaFXTn1vrEQT_sTlK869WBuWmkMk1gb52ng93HWYo4ep2ZPrwwJmMeWRcg3Ke_qTEA==",
  "id": "rs_020015877df99cf1016aaccecb40c887d093c025c9851ee7ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.46,\"right_y\":0.3,\"right_z\":0.3,\"right_pitch\":0.25},\"note\":\"The right container’s narrow opening is visible, and the left arm is clear. I’m parking the left arm and bringing the right gripper above the second container.\"}",
  "call_id": "call_IwcBlCgYxwccSlKb533cx7Gs",
  "id": "fc_020015877df99cf1016aaccecce7c487d0ad345aa0cd1a109d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IwcBlCgYxwccSlKb533cx7Gs",
  "output": "executing move_to over 26 steps (2.6s)",
  "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]: [-0.0628, 0.8181, 0.6895, -0.4294, -0.0792, -0.0666, 0.9968, 0.783, 1.8797, 1.6848, -0.2905, 0.7109, 0.2802, 0.9997]\nstate[eef_state]: left_x=0.2997 left_y=-0.0012 left_z=0.2026 left_yaw=0.0324 left_pitch=0.0037 left_roll=-0.013 left_gripper=0.9968 right_x=0.4564 right_y=0.2967 right_z=0.2799 right_yaw=0.0299 right_pitch=0.2023 right_roll=-0.0326 right_gripper=0.9997\nstate[joint_eff]: [-0.5675, -1.7299, 7.0769, 1.6728, -0.1587, 0.0464, -0.0024, 0.5949, -10.5915, 9.3333, 1.6972, 0.4274, 0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0e63ddcac537c9722a22bfe234d9dbd023a087ef64fe0e45cc1eca2d14a40c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a85a4534d88b78a3da2e4ffdb953bedfa50294f4a68cdd1a8cc5f2e841005d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ce1cdd2155ab3b76ad5cc6fcbd866f48b1604f961d73a7b812a749cddba118",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0021, 1.2419, 1.3003, -0.4503, 0.0116, -0.0921, 0.9968, -0.0208, 0.8314, 0.664, -0.4751, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.404 left_y=0.0024 left_z=0.342 left_yaw=0.0344 left_pitch=0.166 left_roll=-0.088 left_gripper=0.9968 right_x=0.2914 right_y=-0.0003 right_z=0.1777 right_yaw=-0.0035 right_pitch=-0.0786 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -6.0376, 9.4701, 1.8681, 0.1099, 0.188, 0.1245, -0.212, -1.3197, 7.0085, 1.6728, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM7VE-bttf1Yg9xfCq-P-SrCZUnYQ7JDwcDiYkc5kThRfaYyV9--HT6zBPOEvQM7-9bJEbqkvm3iFtkqENtRfpeGrxDiy3zHoIs1UauwLzDmWT6JOajKArmhGDfXk1MJeXtmCmbGK4MjhSJeXL6OvZa-i1ZsGzs8Ot9dJtdFU9TSu0NeUdJf9vEJDnt1dd_b5wK1Y0-CeT_1A9Mw5_JIguZThPLplhfmzZT3rpIatXCKOdGLDMisJf-8ydY5QMhuuA0ZgVfU5agBhdv_JzK-6Aa3DzHnxnMxX4BGITXCrEG5nKlsn4Ztmzgn1H0DyoyFForhHDx03mwMCNaDMwtwpk5y9cf7BmiXOeQgG2ubCjfjLa5H4E3BJR_o9RYHLuF-aTNRz6nkcO6ZPU_gCLySsMLx_TNpoPcotamKYfHcd1EwRIMb8yF54RpzT3ztOX-HJiSqQ7XAq9IXpDACyh032B3lB1NxhKAzetPg-WBJWk_6lQwV8-CStQ289i4DNb_roBAbdENFbDdJNYWDRzMD-hK8U4CcF_2dzAC3BYf5UMu4MgN5oIqFT5ts3r2R1CPfLWdP62_KjD-XT0IM9f_l7AxTFKg7uENB0b7lTrceRaFCPM6jcAzto-jmz2aNHCaU2ZajXVW9t1g-cqpPnIQjZyibXhmpOgYV0ZwcopdnMyZ-Fy7kiWSeUUZhJ_E9apGs1uUGXnKSQ1cDB_7hosiBJiU9mc7x1koidLvr7lGjMdRtRgMdFhl44cC7eOHijuzkazSwZlumkpkQz2KmZwSBKvIN1FP13ZOA0KXFWYrzxsrjZPDvr4H3VuPng0BJyQEiENqySetFZeiAuKieKXBz9LhFJwrP6e-wfi5CYz0hCMRhprzY59Ih12iOWj_15v7q5q4qTE2EDa-6JmSVT3-zCG96QAUsdWgCv1Mqy3q0Ulj9rVi_Ym6YhRu-wrTiZJzlHy6YsuVzKkeFLei_JwYFQwNUfwu1Ahp12Ph_u_2YKXZwdETaJpEuMI1E6KY5FQ2bgbaiGM14eVEOcgpOIkHwnL_d18qicuXKuWS9fWvu6_2M2-Mjczf_n-bYL7PI9JGm0NM_VQsgyTduO24UjX2Md7fDUDJUnjTKIMmGsQcbSTFPKp-Q8yV62hJJ2sNkOD9GcTBBRtyqcgGnc7eeQg_x9M8o_EiHIhhWnpS1v5X3CEiebHibUNcHjZqLlwu2bdo_4KX7kaM6fwU9r5LIWrTA8Zhlx9McbcttwfH042ryA7cN39y_jxG2C76nVblPlFH5bhed",
  "id": "rs_020015877df99cf1016aacced34d0487d09371f9d3b8e60372",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.3,\"right_z\":0.235},\"note\":\"The right container’s opening is centered at the bottom of the wrist view. I’m moving slightly forward and down to place the jaws around its neck.\"}",
  "call_id": "call_62anLaO8gOoPr1fSDlJo0e8K",
  "id": "fc_020015877df99cf1016aacced3e51887d0a6627b6b6602450d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_62anLaO8gOoPr1fSDlJo0e8K",
  "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]: [-0.0631, 0.8238, 0.6773, -0.432, -0.0822, -0.0669, 0.9968, 0.728, 2.0048, 1.6928, -0.1951, 0.6621, 0.247, 0.9997]\nstate[eef_state]: left_x=0.2985 left_y=-0.0007 left_z=0.1949 left_yaw=0.0349 left_pitch=-0.0166 left_roll=-0.0097 left_gripper=0.9968 right_x=0.4923 right_y=0.2981 right_z=0.2319 right_yaw=0.0354 right_pitch=0.1697 right_roll=-0.0608 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -1.853, 7.9795, 1.7558, -0.0317, -0.0562, -0.0073, -0.3624, -12.1231, 6.9128, 2.0928, 0.2906, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78f4739fe16d56b638af7f9a82bfc435a1d4d39e1dc8c9c755f9a12a45606809",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a86d39647af6c592e24af44a80d007eae9375259c8b50ed09680e061a7a2e62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4b3ffc9fd96789799ea76e4546ad9f5902b43b5b579f6f7c3d94cbf634e4f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0628, 0.8181, 0.6895, -0.4294, -0.0792, -0.0666, 0.9968, 0.783, 1.8797, 1.6848, -0.2905, 0.7109, 0.2802, 0.9997]\nstate[eef_state]: left_x=0.2997 left_y=-0.0012 left_z=0.2026 left_yaw=0.0324 left_pitch=0.0037 left_roll=-0.013 left_gripper=0.9968 right_x=0.4564 right_y=0.2967 right_z=0.2799 right_yaw=0.0299 right_pitch=0.2023 right_roll=-0.0326 right_gripper=0.9997\nstate[joint_eff]: [-0.5675, -1.7299, 7.0769, 1.6728, -0.1587, 0.0464, -0.0024, 0.5949, -10.5915, 9.3333, 1.6972, 0.4274, 0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM7YpxXZ-nFtUJ4kGaWeBK48ZeGJt06ZSvJX_lhy1XECUx6kRqHvvzROOQCu-21noXD9Emz_ND3p5RlYLYM6HuwAzGE9MCNV2JJX4RFyN_euxgZJoaKnLZ3G4o5ctzoUDilj09HcUWxQe_C59MbAeSIPmCG_oVtUlje2CSSbTuCd7DU4NpXaP6GhBEPemMU5wp5C2QtPdiP-6-GlMcSkIX2LmlLS0_gafa-EkU2bIEqdqcpMmr2m4vSzgxov6J_wBhIpcvXQu-iX-KnsmyFjP67-6XHMO9v_a1fZu5-O1GPpSzNdioyoOeoq0fDOOJ4SXk3PB4jxn-yOBcgUAVF93yBfUo8eg8_VQvKsx7DNoNSaoHjHdMiXnxNI_sXpzAkKd2DK-ZSWxsHpjLSAaQp7tGtPLYZsHKQ7Bd_MTu8po__tX6B6J6nSNwL95qGX2Oug4SJ7GdNBPf1e8GqBcYB604VKfxoPL7p_7rMJXQzMNPLjXsVjVrfTtlj4F3aoQ6t7MX0nDeojTt3nwIhPF4UmtLVkn86u8FqShWElAxjlHv8qMq1UNXeS9M7Z6etEgUFu7DCWXl_wDv_EYN3qC3gTSV7HvkqsLRB1DwaI0mh5JPlGCIbe_OcdAbBB253JAUTlkJvLwY1hI4j_PXYwEHgU2slyyMJBiiU6SK4JTi2opr8Ksb8YHWC84TJk7aH0Vs9-aV_jhLovPjzoFOYZ9kj2kUU-typVjO6mbOE56365cqNWTJZE0h0QSlBNVtL9HUs2zIEqB44mK56t3JE6v5jHuCMGn63RjRhcam8b5DTStSEle6a-7jlkK4h3ahFhZdPOygurOSkrERSPFu7iYscvyPCVLro1rWJ_Ju7SLuql_tDhKt7YVF-XzZ1JciGiWD9cgh4_Rbr9RxAhZO8txSN03LZLoyTohwNniySnWAB8JQu4laDWy7S6vIKmV0X54hL7bFnQV7ZfsLCZMacplvPRZ4forlIOU-BXcox-nrztfyyPIPgws82nlYB7K8wJl3wYLeRq4DIqN_9V5l4mYQjwD-OB-DLkgC2wdLKdbOF-c_L74130DlB-XeIauklNP7ACY-FfzJavsoGKSq264PplcZFCgSeMccHOZczs9_2RIUdQsHeO0xfK7O4ODb6Gkf2ZRxbMLlDz648SG-4LaJnmdlvKAgT7fe0KzNQWLz5i8R6YCcoQErVQx87TJCdeo8GAOlf18jRMUG9BBQdQF7J0gBrlNg==",
  "id": "rs_020015877df99cf1016aacced7527c87d093dbcdf91cd84049",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.205,\"right_gripper\":0},\"note\":\"The opening is now beneath the fingertips. I’m lowering the last few centimeters and closing around the right container’s narrow upper section.\"}",
  "call_id": "call_xB8srazvujnkTTlcW2U4OM2d",
  "id": "fc_020015877df99cf1016aacced7b63c87d0bc844d641cae863b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xB8srazvujnkTTlcW2U4OM2d",
  "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]: [-0.0631, 0.8249, 0.6765, -0.432, -0.0826, -0.0669, 0.9968, 0.7223, 2.0079, 1.697, -0.1146, 0.6621, 0.2554, 0.346]\nstate[eef_state]: left_x=0.2985 left_y=-0.0007 left_z=0.1942 left_yaw=0.0352 left_pitch=-0.0185 left_roll=-0.0093 left_gripper=0.9968 right_x=0.5003 right_y=0.3009 right_z=0.2471 right_yaw=0.0143 right_pitch=0.2323 right_roll=0.0009 right_gripper=0.346\nstate[joint_eff]: [-0.0615, -1.2513, 7.1043, 1.7167, -0.1001, -0.0659, -0.0073, 0.3214, -11.7675, 5.9556, 1.072, 0.1148, -0.1148, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9d299109e4709e9c9f97ed6e05f852b05f66442a9252bab7f4d46fb1d4af97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d715f80ae62ca4ace7a2630172e1b44651a2d85f5a9f6215f0366500d4ec7130",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b0f22ab4596fefaa3508acce59aef731006ddd92beae028bdc03f4f0ff4c0d9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0631, 0.8238, 0.6773, -0.432, -0.0822, -0.0669, 0.9968, 0.728, 2.0048, 1.6928, -0.1951, 0.6621, 0.247, 0.9997]\nstate[eef_state]: left_x=0.2985 left_y=-0.0007 left_z=0.1949 left_yaw=0.0349 left_pitch=-0.0166 left_roll=-0.0097 left_gripper=0.9968 right_x=0.4923 right_y=0.2981 right_z=0.2319 right_yaw=0.0354 right_pitch=0.1697 right_roll=-0.0608 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -1.853, 7.9795, 1.7558, -0.0317, -0.0562, -0.0073, -0.3624, -12.1231, 6.9128, 2.0928, 0.2906, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM7dq7h5jCcObySjGjHph_qNop6n8-RR0zT9ZUDdcpit8-YYt9w5rRB-4WjBNye0r-uhhU9br0iw5gWN_f4NRpKkdV00i8Wmlp7CpQ_TvHcG5vIvyw0i5Ig7NFrqd6T7Y28dGoiVhWfrXEzjE3wCpXCcDj1EfOrjES2xr5BgCowwPdk24VeCEvpmK8NXyd0Y_e7aAwtWDTpQaWMPUZJZkd5bjb2BRcpqykI75yZWqkhrvtCwbMc-JmbeR0OGU7d_VZR9jyqF0wlHGwPM7-Wzq6QZj1vxciKlekjeoRy8tqlFFv37LD9j4_XjufCXT336_VubeLGY9Lr4BQ0-t2n3I2CiWkH39xpSm58h06AhZdqQEwcxoPmdL419X70k7PtH9IjWFEXIgRVte37Alc6ep_JMmGZ4w-0_fZkRHeNk93lS8Qsq52gg00YbGdNJB6Pja_VeIuVN1cTIiouKXeGOWE0dId7WoCGUmOdY7D-6CyOcxD8BPhD7vuERm27FjiBpo8dP0fqyiUZQ-Z_uNCgSG-bFIonm-HHgGhDkYf0r8NyqKrgvM6jkk8yUXdblZA_ei-ZxsBqt27cQqGCFJxJDKMqaNfWJeJRJsG69Rww5EYyeK-Zrmd53RDp0SbDmkvtjIkX8c197BlJj5NEOqKvZtI38Xceo9d7lB8ShUuY5MivOF6-R-cO1r65h_c8FmBoBGWT3TpBAGtd4cGtOxDBSCPk1t-VRlkbQ5yfk6p13OAUfj2f7yz_j9q7m0qrxgoCuOvT8rxdwZvbAW0JOqbT6LubMu42Xw6RyjYnye6-Vl7-lQCZdex7db7HBQKYXW2o8lKS-w6O1I76-Cp1JvYIqJPmxBVDBOH0306TU0VKYRa_AUBo6oiizsAul5JIxl-EUBop16rqgOed81GRxxXZbveC0me0ZnRGDBfyGRn-wUe-0ZGg7gsOb9hW2n_CYCBuOcbahbBZqadZH1mj19yeuNSsfaxOiZuSlW_wk4kfaJZDrIfq1b7R0B0dYlHTClVWi-B5h8k9iBGj-PK-PJ-2bxSDcFw-dWccHY7rQFMv-W0mJH_wi2rIXu7fkFIzl58R9GVbLqia4L9c933Pqi_oLUnMUoMZH3gVqLy2OMwiWP3jMzim2dLwD9GX813swgIM-nq0j9Gu97RYyLK7rpG-um3bfsqPtC3fhyxa1eQcKFi3OBg_afab7RUveuIs71dmn46cziirKtvDJSDJVEPEArX6HE7KD9bk6TQZrRFS1s9W2MgU=",
  "id": "rs_020015877df99cf1016aaccedb745887d094c19a2ed2a28057",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_z\":0.32},\"note\":\"The right jaws stopped at about 3.3 cm, indicating a neck grasp. I’m lifting and drawing the container back slightly to confirm it follows securely.\"}",
  "call_id": "call_umWj8tYx6mSStraMjvirI8tH",
  "id": "fc_020015877df99cf1016aaccedc1e4c87d08641c24d3f280ecf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_umWj8tYx6mSStraMjvirI8tH",
  "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]: [-0.0631, 0.8257, 0.6765, -0.432, -0.0826, -0.0669, 0.9968, 0.778, 1.9709, 1.7947, -0.3271, 0.6846, 0.271, 0.3467]\nstate[eef_state]: left_x=0.2986 left_y=-0.0007 left_z=0.194 left_yaw=0.0352 left_pitch=-0.0192 left_roll=-0.0092 left_gripper=0.9968 right_x=0.4719 right_y=0.3132 right_z=0.2716 right_yaw=0.0536 right_pitch=0.1804 right_roll=-0.0441 right_gripper=0.3467\nstate[joint_eff]: [-0.1299, -1.4564, 7.0632, 1.7118, -0.105, -0.0269, -0.0073, 0.212, -15.5009, 10.7145, 1.746, 0.4615, 0.1392, 0.989]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e274df9f56844669850387fd3bbb27d803cda1a320b370125358ec34e7f9d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7570f48db3eb4688a7668fab5943986ada04cb509062594a16b7396707754926",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a727e25bf46dcad45f0b26e369990c3013a4a8cf0d0d5577c10ff3f6922065d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0631, 0.8249, 0.6765, -0.432, -0.0826, -0.0669, 0.9968, 0.7223, 2.0079, 1.697, -0.1146, 0.6621, 0.2554, 0.346]\nstate[eef_state]: left_x=0.2985 left_y=-0.0007 left_z=0.1942 left_yaw=0.0352 left_pitch=-0.0185 left_roll=-0.0093 left_gripper=0.9968 right_x=0.5003 right_y=0.3009 right_z=0.2471 right_yaw=0.0143 right_pitch=0.2323 right_roll=0.0009 right_gripper=0.346\nstate[joint_eff]: [-0.0615, -1.2513, 7.1043, 1.7167, -0.1001, -0.0659, -0.0073, 0.3214, -11.7675, 5.9556, 1.072, 0.1148, -0.1148, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM7oVNgoHTDxsnXc5qhjotm1Drts0EGnkzxScweVXyiOUXsn0M2N-Gwl3fxqr8Uh7mWssy5vq-YjWdDNJhV7DJVzT3U4jpvAz1Pp1KVE6qhjR9BDDcTKnK-TmjefWYCXO1jdCc8YedbpbqLdDpZW7cFGD97xYrtFfU1iw-7DsseSMjSQryePdL4QiOUmsSO0JzNkAavkBrGyzXzWqnEdWfjD_kGJLCGF_hIhmiKObhA93eYMqU5PD8HKubKaasscuECkh27v44GxOrgIBAaGtQXAO_UWrJT0xgR1rIPh0dE5-mx-h7joIQrnib3edqbgwg4UAHZkGH1j2g7s0yIC1-AR8uiM3RUwfoNDjMntl8C01V8hcmaHkWdyH2KGV9GfhMGBkXe9Ylw5H-qAJpcPMkAMS-EWYcyJ5ZhW3ngksoMhTRa49oREi-s8rNNg-Qm_vD0puUxoIwZ9jT5XDKpnDKEMfvnjbXcoFbZoXH4lsJG-iY6gMZXbVz1GRclBqquAGZB_K4esxcLijmdKuRbMBiT7DFs8A8gCoBlqu_uFoxACz7giEEuD9jNh32oSj2roJ3WThrJeVtbRg7iAvdKjrGxyQeh03EWEjA3-RRRhq8M6ZJKGXOpVeOznfnCjLnDJilqdURd7w5aSUOJhrHF2byMgecZKEC-2znxS_KUnKwhfPjTq2MJgbgBw8pwoyafJkeg7QBDeX4CV3BY0ZCFl84F0bD5KnnZh-yqrUDOEsC5QcqsLdWXyo_T1H6fLt00OVjA288La4Vph3-J3YxRc4IVAw5R5mEc_iJVYM5EqXZJ61Cv1ZHxIdHh5R3tnvEqxQXZpAvvkCWktFY_strjBnXQ0MULlD7PP4uMBCO8U2o4HxjlVvGWZO5fi4kKFqVkYKuuHDXErpHX-wH8KzwRttkOQ5tSBsBJsNYMnkHX8k_gVPZNP1ioTRqmesOLQ08yyFp7Qk2pwGzgxeuCq3aiJzdOFjbKA5FUL9zZQA8_BKugfAOHjJsj5mIOf7NWLmKgiUhj58Nwbb7cN4bhYTmT2C3zziYTi7f1FBJDwx-oZet0QdLZN8043k8CHa_89_buvJJbrbocK3Z6Alec50LblDZkjKWF129fiigZQSfuBoUtPacJL72LYq0VUc67sdmUlNiWlo7iwzp1YC4cRfFDfO_hM_TdLXmyus1g4m4bWKGNWN4Exy0WZk9RSY75NjnDUNh_V8B67FbTMnH3n6nkntrvQY6lI4GOqoTY3qlUwog4AgD0Gp60bN1MjG42_mbd3qfTqHhTZ8205sxSopAnbVmFt1ZFAieHiQLkp4MyR9Nk6LSPDF90MPIupRWDSFgcZseP3pJrkLG_WarbgtoMd-Mj3CgE4nf2yAh7K1ex42BJLSoZA6h6TeyaaLxROb-xAiLQMUYB9mjdw_Ohy0oMBopc1t1D2ApvU95EuHwZpYtsTaeWAlwSkkow7qZEI-u7M5NJg36r7nIg039S4uHd61EmLiA2EjVVg2n76caJDakZfxHpqrpe4Woc4yUB6GePkWOls7mLsMqX_dYjHlaKswbPmHROhdXinczOZ6HgSyNnxlq1dF1-gcb9SOoxuz7zXgoZ2db_ReNCBiBlxLXdxTXuuyn3164M54Ut8ggDKfHRHPqAZrObUl7pwwYn9kKQ4BXOmFMvt9wy7QQ7AIXF9ZTFI5Eiyeqfxy-Z_pRaY9YfgM6PxLlXsZLD9GmxLbRzFqNTB_hC0SKD7UFxgZQgv4UjwaRGuWenS2fUISfxwJMp4d4V1GudnDH4dTnJWVCchHTK9yVmu0oZkicK6Swl3fwmdHQ5C3JIX20th8qNRjzoXS2zngWcU4cB4bbmZe4iWNJdO2VtKnRS-3AHj7_cpQNJVtFNAD-ms1TBs72cJXmAoXaM3Bz6Evfimtv2qAfXmZp5rJeBtfu6d1h59DECqHWIDABeexwZo2xu-qICsx_S1VuhT7VrRnoD-VSAwe7T1LKUmxi6UjgX3t6Q_yWkel6URvwI70XTzD5iQHY7OBw3qLU7E4izZmhv40MHQvoSf6S6iWDbR5Mng_VKT15aFHfV27mkW7sXpkyTJsCnkw3x_LKpxoIWYtZ3rmazeUYjC3KtVa5oTkkau5Q2Y-WbDhDbyVKNgOzYoPUAfz6CCTQUKMgnCg-2ayC6KkYIqTCEaTewUIWaO37NVHVNs1ArhL55i87k7EnMQnU_0rr2Fx4eK4_wphnD3OliGo7IihV7hHRGj_r5LR7cRoDfrEcmjLN89XszP06SskE73fcwj5TFoewfB2_1VYRhSlIT0LDv5CG9S2dKu9DsflKROb3qTm-cg8_XiVV8o9JynwizSes1joPYIj8LePVcZI7vynNtj6Gk5naWnhRhF9RT0FDn7MqIBOnPSMIZs2qaU_7NvPoyKqfGTZW_vgNnMs0jImyO5bJRygW7XKh6Hr7OCBH5Hu13SoejU-smB7C4uWWOXEU5z1ZdPvy8k4ACPFist5rMzCggtUEWinnJ9gC1gYlybvNrUXyKKXk0-y9lB6CxJbkJ2VAnl31E29heG9Q7Xzssaw7bkCsVX58ZY7S4yOdbQLYahLqmCBxbOz3djMjxYKY0dM-MKzvagJNz9ZNEIDN3yoCAhwRDFuSE9ykWBvPIXEpX88xvvtgCCy5-xRSGsZDY1l9ZOicXrmT0GEsfrs3e6aiA0wa4iIizgfMz5Wj3uwoO70hSzcS_7HzQvBOmSttu-ppkHkpKi1tcDS-WkDyyQOxzKacDVjMiL80CL5sPJECIbMw==",
  "id": "rs_020015877df99cf1016aaccedfccac87d09507b4ce2d52e3f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.38,\"right_z\":0.35},\"note\":\"The second container is held, but the red cup lies beyond the right arm’s sideways reach limit. I’m bringing the container toward the center for a set-down so the left arm can perform the second pour safely.\"}",
  "call_id": "call_s7MRG3t8m0TDBZXT5MiboMp1",
  "id": "fc_020015877df99cf1016aaccee7802887d0ade4f40285841f49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s7MRG3t8m0TDBZXT5MiboMp1",
  "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]: [-0.0631, 0.8299, 0.6765, -0.432, -0.0826, -0.0669, 0.9968, 0.9199, 2.3135, 2.5729, -0.8207, 0.7727, 0.3424, 0.3502]\nstate[eef_state]: left_x=0.2989 left_y=-0.0007 left_z=0.1928 left_yaw=0.0352 left_pitch=-0.0234 left_roll=-0.0088 left_gripper=0.9968 right_x=0.4506 right_y=0.3941 right_z=0.3228 right_yaw=0.0938 right_pitch=0.1722 right_roll=-0.0507 right_gripper=0.3502\nstate[joint_eff]: [-0.1983, -1.7026, 7.0769, 1.7118, -0.0806, -0.0415, -0.0073, 0.294, -9.6752, 4.4786, 0.7009, 0.3248, 0.0415, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cea6e3b87223aba8cd4a0dcbc6c3a4b42d9a2d11209d44d94a89f7dd462923e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bdad7e62a732a22999cec804344e0dc7f8a60a63aadb8b4510a4cb05d06244f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1608d3f749fe8b7f3987619030c21af38e33c1b6b79d209171f89f76303a73c6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0631, 0.8257, 0.6765, -0.432, -0.0826, -0.0669, 0.9968, 0.778, 1.9709, 1.7947, -0.3271, 0.6846, 0.271, 0.3467]\nstate[eef_state]: left_x=0.2986 left_y=-0.0007 left_z=0.194 left_yaw=0.0352 left_pitch=-0.0192 left_roll=-0.0092 left_gripper=0.9968 right_x=0.4719 right_y=0.3132 right_z=0.2716 right_yaw=0.0536 right_pitch=0.1804 right_roll=-0.0441 right_gripper=0.3467\nstate[joint_eff]: [-0.1299, -1.4564, 7.0632, 1.7118, -0.105, -0.0269, -0.0073, 0.212, -15.5009, 10.7145, 1.746, 0.4615, 0.1392, 0.989]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM7vYZYh1ZaZBBrE-5LwwjvyBL7UtwmNlyTT8eVinyTVRhX3hR_EjQxKR2w_XtNMfuOOXx0y2y5kOKDzplDrVlrNkKSa3QEA_o_X2_b2mAnqGyfh6E7vbYcgAlAv_uTAWBGDkks2da9ObfbEd1gOhk4k75X5YHHofl7AFmt9zAUY9V4vvUrsVVLVxkwWAqaW0bCsefdxEbvNzB2h4ahKdb1LigSPTqNGsPHMSIuCALfIO8AS5qajWLCsflg7h-1OkRD7a6SaDGwfGa55Yyp9sZKV7qbt1hRQfMeF5rvBB_78aoIce7v3_tX3CwLu36jiCYlAfqMS6OUQRPTpu57RxGET7M9urATT-37S9iV8eD3AMfBJZGsClVgVY0oNgKq86ZuTxmQIkbvjxN4GUnOfChh1ScZtqmGLGUB7DyU3RaTkUKSgH2k8pSKtPt0zI_c3uM-YHF5mQXY4vn1VQwvjGbipJMoeNn4iTTYLNl-Z2R8fueN6tor3VySop9F0GXm9tG-38zvsXdrc_TXvkUixL7CThr285UJ0t6bF9IsXoR-lRoTgaOPotBpIdOEWYKPvrb-MZXTeTBGXT8bPQ9XdzAFJRZeuiWTL2_v8IA55Bm-EJmuYq2kT8ma90j9N-FhCJS1HVp5kjzN8n2AswdXtGMsgpkh3TnKmjTgGkaGp7kgZvW17hL-Wy4sxUTbojiWAhC9BCeQ8jq3iZ6KIXZlvU-AkxvHFhbes27csg_d17OlTreOEJzPbW-OVIViHzGKbJw1yveF4Lmv0Kq5QHB4kFXaAtx8JwALDwCfVTnspGh2tcJYl9xVnw3jlpJIitWDEts_w2JwXx3A5Eg9jmp1ndBiCIL3j66A7uZ-GpVsa7sUETHBmcR2rAcLrYNUO6LEuIyoHxwoXlgmJae41yusHXmMExQcDWF6umcajfEcbypcp3EVQiefhv-4NASWySpEz95ItcEJKMVktaidrG5ZY3awOQszuKndQFQbj5MjMQ9kXVSjqLaVOaAWPdw3UTHtYtWnAVPH66NVcAgcSi_oKBVfWK-dZFrFe00XvMWe8CwojxJLH09AJZMCwOCx0fDO8EK-2zk9lC1KQ7LNabJJt2Zfi6O_lqmptG2tOI_CpN6caRBB8eGBliGk8k5O_WOdCKd-C6z0Iy9SfXhPYl-THYYiWn6zSewHydbyGU3wPwo-Vrwb13lRNki-CMEqrObscLg2lP85iwe1j3yyzFo_pdap1l9kFdB2QoxuI4ZouyQwo1XOzZFarTEzl-w69IO4JP0feXhnQW4SqW4VCYCArOkrp9Wax_Km8XxX3Nrc5BveNySpYjAExqdp1PQnww90P2QNcH0LdhucIf1ZSBm_YjGpyTXXcn8wKUo2IaI01xCjZcOGTZe-cTmAD-AEXZpz-wDwc0saxgJvKwqxOtMtOx5hYRWhVROjSil_HVsFx6O2yxSSrgDzWblH3FDeJ9LkCGqdZOk0xnkgr1UziFv1pgtdz2AQbT1Sm3WIR21Jmvp215oQtgN5KiJS91KWsLtbQ33dwy4cHvpni2LAsYhhx7aRiVohdqQgCOInPu9aC0Wi-wBJG2jPTuHKFqCDSmgZa2cTv",
  "id": "rs_020015877df99cf1016aacceebd55c87d08d0638d99c06e277",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.38,\"right_z\":0.225},\"note\":\"The right container is now over a clear central patch. I’m lowering it upright onto the table for the left arm to pick up.\"}",
  "call_id": "call_F6l9Wa0DimR5OtCjSahRQr64",
  "id": "fc_020015877df99cf1016aacceee54fc87d0b611cb6651bdc875",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F6l9Wa0DimR5OtCjSahRQr64",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0631, 0.8322, 0.6765, -0.432, -0.0826, -0.0669, 0.9969, 0.9272, 2.0792, 1.8503, -0.3115, 0.7929, 0.3302, 0.3507]\nstate[eef_state]: left_x=0.2991 left_y=-0.0007 left_z=0.1922 left_yaw=0.0352 left_pitch=-0.0257 left_roll=-0.0086 left_gripper=0.9969 right_x=0.4382 right_y=0.3804 right_z=0.2458 right_yaw=0.0889 right_pitch=0.1938 right_roll=-0.0537 right_gripper=0.3507\nstate[joint_eff]: [-0.0889, -1.6479, 7.2, 1.7607, -0.0952, -0.0122, -0.0073, -0.7316, -10.7009, 4.5197, 1.2234, -0.1099, 0.1294, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19221c5d43020b2c9480c64bcf726049dc006905a5f17d38eb83c633c46aa5a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cde9d8521c81133c1ac0ad9363a13e308ac239fbdda7e97818db2cbc89b86d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63936042f014925745283ec00b1660437f58a457043e073b801eea28554e5d03",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0631, 0.8299, 0.6765, -0.432, -0.0826, -0.0669, 0.9968, 0.9199, 2.3135, 2.5729, -0.8207, 0.7727, 0.3424, 0.3502]\nstate[eef_state]: left_x=0.2989 left_y=-0.0007 left_z=0.1928 left_yaw=0.0352 left_pitch=-0.0234 left_roll=-0.0088 left_gripper=0.9968 right_x=0.4506 right_y=0.3941 right_z=0.3228 right_yaw=0.0938 right_pitch=0.1722 right_roll=-0.0507 right_gripper=0.3502\nstate[joint_eff]: [-0.1983, -1.7026, 7.0769, 1.7118, -0.0806, -0.0415, -0.0073, 0.294, -9.6752, 4.4786, 0.7009, 0.3248, 0.0415, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The second container has touched down upright. I’m opening the right jaws, leaving it in the center for the left-arm pickup.\"}",
  "call_id": "call_xiBh3zontCGno8zyqesBhQeL",
  "id": "fc_020015877df99cf1016aaccef27b1887d0bb768593f5edcd2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xiBh3zontCGno8zyqesBhQeL",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0631, 0.833, 0.6765, -0.4316, -0.0826, -0.0669, 0.9969, 0.9276, 2.075, 1.8313, -0.3058, 0.7776, 0.3222, 0.9952]\nstate[eef_state]: left_x=0.2992 left_y=-0.0007 left_z=0.1921 left_yaw=0.0352 left_pitch=-0.0261 left_roll=-0.0085 left_gripper=0.9969 right_x=0.4364 right_y=0.3815 right_z=0.2401 right_yaw=0.1069 right_pitch=0.1815 right_roll=-0.0627 right_gripper=0.9952\nstate[joint_eff]: [-0.1299, -1.5111, 6.9949, 1.6874, -0.0757, -0.022, -0.0122, -0.3624, -11.7128, 8.4444, 1.5263, 0.3492, -0.0171, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c213ea3170777362d871d5a1dd6d961af445574a1a23d26cbf3c9cbd93f844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625a779c492d8785352daf4ba4c3c7171cc87f477afc694e7ffdf7e91c0f8176",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c607957aa70a0af0641f58f583d6ccdb9e49042c86f5e498b0c10eeba48351",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0631, 0.8322, 0.6765, -0.432, -0.0826, -0.0669, 0.9969, 0.9272, 2.0792, 1.8503, -0.3115, 0.7929, 0.3302, 0.3507]\nstate[eef_state]: left_x=0.2991 left_y=-0.0007 left_z=0.1922 left_yaw=0.0352 left_pitch=-0.0257 left_roll=-0.0086 left_gripper=0.9969 right_x=0.4382 right_y=0.3804 right_z=0.2458 right_yaw=0.0889 right_pitch=0.1938 right_roll=-0.0537 right_gripper=0.3507\nstate[joint_eff]: [-0.0889, -1.6479, 7.2, 1.7607, -0.0952, -0.0122, -0.0073, -0.7316, -10.7009, 4.5197, 1.2234, -0.1099, 0.1294, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.25,\"right_z\":0.37},\"note\":\"The second container is released. I’m lifting the right gripper away from it before moving the left arm into the same area.\"}",
  "call_id": "call_LARij1kRNfwOMCseoLtQSb2d",
  "id": "fc_020015877df99cf1016aaccef7ff9c87d081e400c7f57d7660",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LARij1kRNfwOMCseoLtQSb2d",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0624, 0.8368, 0.6765, -0.4316, -0.0826, -0.0669, 0.9969, 0.8307, 1.6352, 1.7061, -0.5953, 0.6926, 0.2581, 0.9963]\nstate[eef_state]: left_x=0.2995 left_y=-0.0005 left_z=0.191 left_yaw=0.036 left_pitch=-0.0299 left_roll=-0.0082 left_gripper=0.9969 right_x=0.3879 right_y=0.2628 right_z=0.3497 right_yaw=0.1093 right_pitch=0.1669 right_roll=-0.0734 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -1.7846, 7.2, 1.7265, -0.0904, -0.0317, -0.0171, -0.6222, -9.9077, 8.8547, 1.5751, 0.1148, -0.0171, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7262fb9ea02353c8b7a2a06c8a44ecddcede5e86fbf2f00de74255d5d1344b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8059d3994c14c1856a45d8e8bcb3a2da0ce46dea0393bf14111630ef1ae33c41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dedba2bd4ea7d8170dc9efff9cae09f32fa49b1b1982aa4a205d8de51a98a605",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0631, 0.833, 0.6765, -0.4316, -0.0826, -0.0669, 0.9969, 0.9276, 2.075, 1.8313, -0.3058, 0.7776, 0.3222, 0.9952]\nstate[eef_state]: left_x=0.2992 left_y=-0.0007 left_z=0.1921 left_yaw=0.0352 left_pitch=-0.0261 left_roll=-0.0085 left_gripper=0.9969 right_x=0.4364 right_y=0.3815 right_z=0.2401 right_yaw=0.1069 right_pitch=0.1815 right_roll=-0.0627 right_gripper=0.9952\nstate[joint_eff]: [-0.1299, -1.5111, 6.9949, 1.6874, -0.0757, -0.022, -0.0122, -0.3624, -11.7128, 8.4444, 1.5263, 0.3492, -0.0171, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM8BX5OHj0KHKHidrBmahkmtIpiEzmSkaRswYDRPcWICaRa4LS45V4KZjnEgH8CJ9P-dBGDPns8nIK6G-Uqe4jUi2wu3jGU0TwkeFHz3N2GpkQXxvxBfhQyy8hrFlTaDLRxCXiqOR439ffrD9CmkLMWs6agMAL1IaD9Wjgyef74irZw5uf9YMoCO2xISXlqzBQkZfSggWGx1x-xofmJY9-hWQJz7ZeRZQXbov7vLZ15cW7NqW2NchZz4dZKvK1rBZ1dUbzKK3ZLBaHR5W6R1n0wm2wkV2K5C3hlTz7jOr_Ui9HrGMZkiayBU4ZbnCykrqJ50mnZGn92josjNJ6q37EhDKx6B2fbXW1hfSJ8Ed6EnsdOXJ0JidZb0Q-2vS_etjqF8Euof_fXisNluVsA0FU5shc818GBSJVihePy7HSvawTCO5vSRv85su1kS0lyEaPQG_NZqHW2fzcw03i8_o9i6pLHSNgDElF6LNdO0gxp3mCoOhESh3MQm36N0Jfc3GESFoTaySeQPU3lac_3rsZ1H-vo4uKeSuWLFc14B48nsAUM3T8KQ2NEkZq7wcH2w3RLS9E5uenas_dOs_XQzx7cMtexf7ThDXqvBbhUiA5kF_Y5oQUoJHmGR8Bed9SOV-t6jXzAhImvlJwq08hKFVybHzKKl-LtrZlqJNccNPk-WcHktHzXXY4lieLMM3dRCtXzZ7SPDWIlQXFgICKg-ZqbhbYPkDnjGz6WAsUa8tuaQoU6NfECFgJQRvPO-y1GtnjfPeoyWZKw1X1Xsvo4mTjWRIRLUNG4ULpOPOjEHCaQypydLN4QE51tj5DorqKdxIMpRWMmHiO1JN23Kl056ozFmP42B2FZrS2lXXHlSXX1BFFlIMidCkDUSkqYAW9BcIyQGuD6g1xjCAC7GkrjJ_RIANXy5tISykwZwTo1BhGr7wgmJe_YDO5jxjmaSdjk7khFGBWkhbkT0H_uVmqOwn5--axlVBp5e8o2BxtZGHCCOB1mV-dXde0Z7Hdc_8wXQI2z9QTUPJUuqjCm8pqYtEqOLiH3zpd-FguNZV5yAI5gQXlIs-2RSE8DKv6tT_WyIuZOOWQu640g1oBNkCDHA5nFsW2-jmAfVGR_grjouGjX4fyy8FrtA9xuaQW3PY528SM3dG0TGyfD4DgaCCCw1H868iprS5YXKsLi6OBOLueMNUcPbCh8WhSGpNfzbnJl63iHWxsXBrmUs5U-nitN_hUG_idd0NHWRcR7aAXd6-5OdX9_jC3UP6u86GfeU-sDpRvH8wMS5E9NRil1XAXDpomMxLOLIpTDA6cuV6POR6G6NVuPejCMk-TdvaRNV3kVVKkB3-YY4uwCjfFI2NxCNxgifjW3um3k0d1JaEEtqmuf1ToxzyeQMyMkbsbAMM0sbvF7oyJ4rNmD2ljveg0TRizhaZv39ij5x7uyR3p80dw-NsLIxcChSJoLmoFw-3br_853H7dhG5sAZvNM7faEUwcpQ53N4ploSq9f0rNyYlXZKg-vBDvk37WF8Uh-7bYQKx1OL",
  "id": "rs_020015877df99cf1016aaccefcb4dc87d0a4b9db2869cc23c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.445,\"left_y\":-0.27,\"left_z\":0.31,\"left_pitch\":0.25},\"note\":\"The right arm is clear, and the second container is upright in the center. I’m parking the right arm and positioning the left jaws above the second container’s neck.\"}",
  "call_id": "call_luV9F2eHFLqEF8j0RUhAM9Ml",
  "id": "fc_020015877df99cf1016aaccefff66c87d0897bf545a253e10c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_luV9F2eHFLqEF8j0RUhAM9Ml",
  "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]: [-0.7876, 1.7695, 1.5906, -0.3031, -0.7601, -0.3553, 0.9969, -0.1043, 0.8284, 0.6964, -0.453, -0.1265, -0.1055, 0.9964]\nstate[eef_state]: left_x=0.4413 left_y=-0.2656 left_z=0.2946 left_yaw=0.0307 left_pitch=0.2171 left_roll=-0.0058 left_gripper=0.9969 right_x=0.298 right_y=-0.0052 right_z=0.1985 right_yaw=0.0499 right_pitch=-0.0158 right_roll=-0.0041 right_gripper=0.9964\nstate[joint_eff]: [-0.4034, -9.5795, 8.9641, 1.6288, -0.3101, 0.2271, -0.0122, -0.4308, -1.9624, 7.0906, 1.8046, -0.232, -0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a30f2d09e87b911df557f500b081b578c7a9ba14957d1cd7c6ab30ce8ffb94f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6c89500b7edef0853b25b4a6c0eb67c6ff8e515457513696523e243cd956880",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92491af682a846d8735d2b2885a77b28a31d40f0b3e39e4e9675d10e16473ba6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0624, 0.8368, 0.6765, -0.4316, -0.0826, -0.0669, 0.9969, 0.8307, 1.6352, 1.7061, -0.5953, 0.6926, 0.2581, 0.9963]\nstate[eef_state]: left_x=0.2995 left_y=-0.0005 left_z=0.191 left_yaw=0.036 left_pitch=-0.0299 left_roll=-0.0082 left_gripper=0.9969 right_x=0.3879 right_y=0.2628 right_z=0.3497 right_yaw=0.1093 right_pitch=0.1669 right_roll=-0.0734 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -1.7846, 7.2, 1.7265, -0.0904, -0.0317, -0.0171, -0.6222, -9.9077, 8.8547, 1.5751, 0.1148, -0.0171, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM8NCnglUEqQC6ypzyN3aPz-82EQQx_56VwfwNVxiW7QwTko22gGJJVGf1z9TpwawE0yIsjz7_RY-YoBELdd31J8DaQujQs6PNGqeRWcfSlDzDpHHJddvPCehxhu_IVTdeHijrlLaAg8gBQPWJTo7GYR0Sr2_wAr-CqFZC-E2T8wG4QOFYsVY0FZyTkJ-_lwinxGHGBip_q8Cj2fNseI-HP5RGCHTrmyKj1SjwxwwQau8g-qdYXvwmpqWIkcinXPSjAdqN7Q4mKC3z0jTWWBMQIjPzEgABrvi2IdFvyWt73uEW6VONDtk7D3nQQBRHZGkeBs9adIoGnvD69kMIjgdFCIsm_M3TOoRbL1rHUhkRocDI6ljDWNMDzfaRxlF7ng5JVFnsjPjWmIbnv4es5SuKtyYQ0F_9a6R4lpvzD2jVIpaJZHYEK2s9qLVy7GG2bk4l1ut6aCJCiQZQrM_NszdVY0LR0BDenIBYN8p-V2NEE5sKcjXphGrXyTUxP3oDHJZDaWMb552KLz7DbIJzTjSOyCjFHGCyfJaW0gYZiEEzOOLNJ8dSrM_eoBhWC7JHqMghCKONTD26uy0y_atWiuAywGPDVCJcczuJLyqZFaGOFbc5WxFgVmq-2Y-ItYMXnAec5Rz-GoJJOhzChDBZks9ZpTqhq2HwJr-Lgg_4g9AFtDlzn15IBnTY29bmCwLL91cnEjQJ8KSnwYX2PRvNvT2VF7bkIPa7NYkIgowGbiuJvI_pi9fhb3FDDLBBfs8osapxHBy2mBIrMFUHemZTiPb3Z2qBEBICC2d0PNJ3nlGnlqfm6Tld40XDU9W6USVdVUJ7df7O8IhDtdPB6lx-o8ObyyoHWYZb7cD6Oo2e04WMLm4fvNPVSGAmnvSIK35ONTc7Th3_dcFglezdacoS0gh4RVnKq_ndqTJqZbCPhkooK9s9d8IqbW_OgcomwdMcvAUUTc189iVyjc7nqNnMz6GDYRACYlH9vViw0Qe-uF4d-erzEh5wnEsvyUCCAjINPFHpsaCRMa3TwoZC2yjNJkFUsXfKGcv7MIrISEgz0sWAdn4Z2M_ncraczp8dKTtoR07OeS96u7u2fYBo_aQF-wK_w5VS63Y-UL8NBDYbpuGV_oz1xolbVdQ1bgekm89Uqjty7ONVJ4XpJQ5jYaTA7nK7xvFp2bp81XLQZSnWUkmvbPB6hNhHp3v91q4WxsDLQuFjZ00tPZN4D8StKSh8kYrJRoY73kJltpKZzYIBs7nuTluOM60kAdbnawLaC8zfppP8aC-RB-mCUezZPjvFH71uG7sQ==",
  "id": "rs_020015877df99cf1016aaccf0bc34487d093a236426dc54c3c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.27,\"left_z\":0.245},\"note\":\"The left gripper is directly over the second container’s neck. I’m descending straight down with the jaws open.\"}",
  "call_id": "call_9ezSVITIBrQVvtkiGRrsMi4T",
  "id": "fc_020015877df99cf1016aaccf0ca0fc87d0bf9339abddaaee19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9ezSVITIBrQVvtkiGRrsMi4T",
  "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]: [-0.794, 1.7813, 1.4231, -0.1848, -0.7628, -0.3576, 0.9969, -0.1078, 0.831, 0.6857, -0.4587, -0.139, -0.1234, 0.9964]\nstate[eef_state]: left_x=0.4367 left_y=-0.2651 left_z=0.2384 left_yaw=0.0188 left_pitch=0.1762 left_roll=0.0382 left_gripper=0.9969 right_x=0.2963 right_y=-0.0038 right_z=0.1919 right_yaw=0.0667 right_pitch=-0.0335 right_roll=-0.0089 right_gripper=0.9964\nstate[joint_eff]: [-0.6496, -9.2923, 7.8017, 2.0733, -0.3053, -0.0708, -0.0171, -0.0752, -1.6615, 8.0479, 1.8291, -0.0122, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65926e1690bc6448bf447d2628ae775588c87ff20347bb1875537cd254d70c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc0a723ed4e2075a256427c590d47987ab53a4c93290359486aca1ece2356fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac067c957c1bf0874ec61a60acb9c072e2c458efc690adf2a03f35b20ad25291",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7876, 1.7695, 1.5906, -0.3031, -0.7601, -0.3553, 0.9969, -0.1043, 0.8284, 0.6964, -0.453, -0.1265, -0.1055, 0.9964]\nstate[eef_state]: left_x=0.4413 left_y=-0.2656 left_z=0.2946 left_yaw=0.0307 left_pitch=0.2171 left_roll=-0.0058 left_gripper=0.9969 right_x=0.298 right_y=-0.0052 right_z=0.1985 right_yaw=0.0499 right_pitch=-0.0158 right_roll=-0.0041 right_gripper=0.9964\nstate[joint_eff]: [-0.4034, -9.5795, 8.9641, 1.6288, -0.3101, 0.2271, -0.0122, -0.4308, -1.9624, 7.0906, 1.8046, -0.232, -0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are at the neck height of the second container. I’m closing for the left-arm grasp.\"}",
  "call_id": "call_p9F7C3jfNouOXVQ2A2tyVyJ2",
  "id": "fc_020015877df99cf1016aaccf10a89087d09254c2daee99885d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p9F7C3jfNouOXVQ2A2tyVyJ2",
  "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]: [-0.7956, 1.7859, 1.4117, -0.1856, -0.7631, -0.3599, 0.3432, -0.1078, 0.831, 0.6853, -0.4587, -0.1398, -0.1238, 0.9965]\nstate[eef_state]: left_x=0.4355 left_y=-0.2649 left_z=0.2314 left_yaw=0.0167 left_pitch=0.1649 left_roll=0.0486 left_gripper=0.3432 right_x=0.2962 right_y=-0.0037 right_z=0.1917 right_yaw=0.0676 right_pitch=-0.0338 right_roll=-0.0087 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -9.9214, 7.788, 1.5946, -0.2613, -0.0269, 1.033, -0.0479, -1.4701, 7.0496, 1.7314, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c73ff256ff8be1dfd02ed6060fc363ca052e51e060e77dc9d2d7369b5fe20b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81bb682e340c0f3609fa7aab4dedac5872a3e5d4e85616a773a90199dc11c77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f412078f413e437f6b88b1a37bc82633600df2615f122f197f184b45c9ebd391",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.794, 1.7813, 1.4231, -0.1848, -0.7628, -0.3576, 0.9969, -0.1078, 0.831, 0.6857, -0.4587, -0.139, -0.1234, 0.9964]\nstate[eef_state]: left_x=0.4367 left_y=-0.2651 left_z=0.2384 left_yaw=0.0188 left_pitch=0.1762 left_roll=0.0382 left_gripper=0.9969 right_x=0.2963 right_y=-0.0038 right_z=0.1919 right_yaw=0.0667 right_pitch=-0.0335 right_roll=-0.0089 right_gripper=0.9964\nstate[joint_eff]: [-0.6496, -9.2923, 7.8017, 2.0733, -0.3053, -0.0708, -0.0171, -0.0752, -1.6615, 8.0479, 1.8291, -0.0122, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.31},\"note\":\"The left jaws stopped at the same neck width as the previous grasp. I’m lifting briefly to verify the second container is secure before carrying it to the red cup.\"}",
  "call_id": "call_zzpK8Lew3ZCJ6JaGQqEvsEd4",
  "id": "fc_020015877df99cf1016aaccf14ad2487d0ba9971d1544a66b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zzpK8Lew3ZCJ6JaGQqEvsEd4",
  "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]: [-0.7956, 1.7958, 1.6764, -0.4507, -0.7597, -0.3752, 0.3439, -0.1078, 0.831, 0.6853, -0.4591, -0.1402, -0.1242, 0.9964]\nstate[eef_state]: left_x=0.4368 left_y=-0.2668 left_z=0.293 left_yaw=0.0209 left_pitch=0.1569 left_roll=0.0406 left_gripper=0.3439 right_x=0.2962 right_y=-0.0036 right_z=0.1916 right_yaw=0.0681 right_pitch=-0.0341 right_roll=-0.0087 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -9.2786, 9.6479, 1.58, -0.3443, 0.0855, 1.0281, -0.212, -1.4427, 7.1316, 1.7118, -0.0757, -0.0171, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e2270b0040e9d01abadcb1fae0d9c0c5a95a8258f66f4489e1b6c41c838969",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7044b600dba8d811a2a1a031b4ed209181c2caef22d74b046edcb7a115e971d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c6c872bd6a2cb2cec9d5acfa6414d3ff8fe035008bab3d4383b329f9e8610b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7956, 1.7859, 1.4117, -0.1856, -0.7631, -0.3599, 0.3432, -0.1078, 0.831, 0.6853, -0.4587, -0.1398, -0.1238, 0.9965]\nstate[eef_state]: left_x=0.4355 left_y=-0.2649 left_z=0.2314 left_yaw=0.0167 left_pitch=0.1649 left_roll=0.0486 left_gripper=0.3432 right_x=0.2962 right_y=-0.0037 right_z=0.1917 right_yaw=0.0676 right_pitch=-0.0338 right_roll=-0.0087 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -9.9214, 7.788, 1.5946, -0.2613, -0.0269, 1.033, -0.0479, -1.4701, 7.0496, 1.7314, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM8awgnY8S82qS3FxTmrnZwRPtDpD5Q3ZrMPVBsTIjuysswNuthACEyMPCIEItbXV6zAPD1lfHKCJEV1l-QzMA27QbXW14iHFEGrHiVZVsQ0mbAQdIC9YV6kZGuPKI_3EXARAXD7kZzZwxR0D5aoaUzLxuzPDM_K3AeZIHGP69G2HP1ZWX-pk3DQs2O3yFHBFT3yCURphwntI3wcysvEv76fYxUA7t-3dn-uccHzWER4mdICo3w3diM2eShyPstazDKdoMrYvhA--0DFcKtKo87SIdDCyufklm4zzarCxdHPvU98Uwcs5r8dP6N_ampGMBeQ4FnPxr9RH-zHU4avR78Tm6iW-Z94iAGVIG8luBq7Y261mmQOWYUWPJTv_H83megIWt9b9fQEBp5AR07NmUGlMGljiadbHcqslsZ_oqWSd7BofVhvLSyIvO7WKHvvmJlz3TV_z5H9VWKLIdvaLJxAnA1LBTtRBckT6yPWn-lhK2XjuMToGu7MVEPtMOPi4wG9jDFvsHCZkzPH6IZ5WBExfZcAg0RBUfN0aKz796D48SeYpwU7YAZi31CA3YMAs7SPfDvCPDwGdpmgzZZa8-1msJLI4hFbU0FBZXqLiU2ImB9V6mc4-YZLwq2DbXGNmpkxjq43UgM7wWSsom5BZGvDDXp7R5DlD-w0uZ5s_FHQ9BqEyXSNiz6UQALOZORU-g3z1z3WW6-zIuxwWEvgIdbw9FpVex2lymltVFfMX7uBh8AIqCP5q6tQTn_NNqxWBD0hW87W1AiuhQsvFQMDFUoIfr6uyeB-wYFzZaSzhAHmCmmXZeTlO9L0C3EQQuPFZHZ_tid4mQw9_GExnjzChvuahVzGecfEb3kokaI35WCMcgymQSH7d0blqgGVlNgosP2ms87gHk_s38hcvE7VL_vOFZdYa5u7EeNE1iQOp9s8mYHIuxj2uwfSoD-IJqE5qJeTp9Dm475wvlcd3TBTQJEDN255ZeSNMqSqaboUaYRgikTgWw6a05tKhJfytbHd89IFtfzyLJat7OE88RVZH_th7JlIfK4oc_J_TUZnArL0nrixgCBw9RBVL84iPE9RKIss8RdGbzTufQx8vBMm8pDftYu97gWIl_kq6LB-jTQazcepID2-Zd1yy5clIOrHZvG1e7tMpUXXjz6yz9V8RdhL1h-1pTS2zjTFrN91HbafSbqhefkxwkJQIDiViFpgoAqW-cg9PcT6-Uj4nEilJ_kIuey8UvB-tG_z2bMQdpC9huU8wapdxRSxw95EPTOWnZgWsj6EAYJQEe3KPAmL9C1T5q3Ma_RGgM58XgiWNc_16NgkiUxT0Ar6Ei_t0JtDcnOM",
  "id": "rs_020015877df99cf1016aaccf18b7e087d0b6c1f194cce6db58",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_y\":-0.15,\"left_z\":0.37},\"note\":\"The second container has lifted with the left gripper. I’m carrying it upright toward the red cup, following the same approach used for the first pour.\"}",
  "call_id": "call_MFYzb8dairBPEzXW3937Kbrf",
  "id": "fc_020015877df99cf1016aaccf199bb487d085abde505481e66c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MFYzb8dairBPEzXW3937Kbrf",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3977, 2.0502, 2.265, -0.6895, -0.4416, -0.1864, 0.3454, -0.1081, 0.8322, 0.6853, -0.4595, -0.1421, -0.1242, 0.9965]\nstate[eef_state]: left_x=0.5588 left_y=-0.149 left_z=0.3522 left_yaw=0.0676 left_pitch=0.1332 left_roll=0.03 left_gripper=0.3454 right_x=0.2962 right_y=-0.0034 right_z=0.1913 right_yaw=0.0694 right_pitch=-0.0354 right_roll=-0.0074 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -12.041, 8.5402, 1.6679, -0.1197, 0.3297, 0.906, -0.1709, -1.5385, 7.1043, 1.6825, -0.0611, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff851a45970fee58fe9bc546a5efe2bf55132a8541be1b0be800ec7d2be5a7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9979a695caa8709ed666f10785a9ff4b7a37bd298879a7439ac2a0cf315524e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6abd493de401108f04a3f1b8097409c78f034a05e986fc7baad2d428d1e198",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7956, 1.7958, 1.6764, -0.4507, -0.7597, -0.3752, 0.3439, -0.1078, 0.831, 0.6853, -0.4591, -0.1402, -0.1242, 0.9964]\nstate[eef_state]: left_x=0.4368 left_y=-0.2668 left_z=0.293 left_yaw=0.0209 left_pitch=0.1569 left_roll=0.0406 left_gripper=0.3439 right_x=0.2962 right_y=-0.0036 right_z=0.1916 right_yaw=0.0681 right_pitch=-0.0341 right_roll=-0.0087 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -9.2786, 9.6479, 1.58, -0.3443, 0.0855, 1.0281, -0.212, -1.4427, 7.1316, 1.7118, -0.0757, -0.0171, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM8gqELa9b4bp2p_5MmqnaZH-cRu9cYrX06k3SZKDqQkXz4N1n1ulNRDMFuaMMp769nifmoZzWWTuDr9A6Vo3dR66h3hWtjruc_UqpVWgCSPhWLmBwpOLo8Hn4BJWB2Nr19VkCnzIRJ_89me4utjgWzMt3O6stbMJE_EKa5OgmgpmBUUTd5THSMdGOT3susNAurOv26v7JAtk105PZNuEFl_XdcE_YpqMABu_oUd-srQgqUCYRLYRnotna4TKsPIz_ucfbLlxkvyhn5ldV7viNGmIWKTCsLjvg3jLSOUthRrPFRiz6Rn2sUgABBMBaX4HWNIorh2EyACKui3DH-l-S1VnviyDTOmjeuKkXzWx0svypBcLOMepQjCuZgpsISAru6eDZnN_moapIZVJInU_3rIrfXT9zfaxjewf_U9PjPEfIJefSQsGaztpLDmX2Wy4Aaqwd43XLlNJh7oQT-7kBomC-u0idKl65PILxaQdn4WBNu0jhoBafeQxgXKRWKJ15pX-DxXxJ0baaTLKjLL0lqKlew4U878OZTjhEu6WX9FTqM3mB4_bInVLC7J815P4ZzGhU44C7VCcAmzMjU-DzC1JKpOAmXzyf_UdyxccpCpHliN9Hfu9JTQinvYSxLXnd0slaNSLd5qLiVkp6mXU8g1tUvOgeJf64tLjWACnJVufx5uo_BPSfPnmHipYQr7r2vUUDl6AFgrXdyHWPMl_Avt46xt_z__UPVk4AvvIEuKbV4u6a_oOBUJdOW7USUlkJyUiOhuOR9JUeUesVGYxDlZhhdkNLmcybK9yjXJEIy2my81V-aESmPYaOaEh_obzmeDtSSmLqqyTN1aX46j9O5XVqhdaNnrjoyE4cMMd4pRyXnxcFZaKUnOecYt_pYENXKKgFn017E5AuDqdtuOoPeKWO-sLbAC-NNZocDoc9afLAoem6q2m706QTCFdTUcr53lKl0-cBxJ0mtQzS_mvZ308VC1j_jvffkBzvHqw1CIhdnST06FucrZ43VOLNnuQR5ySyN8IzUEhdJLJ1ofDOzl7hbbP_qp0EcSE_d0UtDR_uxo29rS_p6OrEkcnF9Bouqgd5owd8dyIO_5I8dhbuZeW8cF5v4f1kwxOwsSVBd53LFCobqWverfonkqq8FuNy7voPSyFQ9CgWECM1ILYaYq35sn0Kn3QmUTLQU0DLzcCn2yiRi_BeVRvZLs8M3t4CleUlv1Y6ibNIeQ85njGVoq9Yu3khLHKhB6VSHZyDU5Y9w7n27rUCxE3qCMnDLO9ulUwV7tVOoEAVsR92GF5QajHR0E853Gxv609kKrsE8lZqwarxNgpuHMjS7LNRCVoQQ_",
  "id": "rs_020015877df99cf1016aaccf1f2ff887d092a1a4d72ac150f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.575,\"left_y\":-0.15,\"left_z\":0.31,\"left_roll\":-0.7},\"note\":\"The red cup is centered beneath the approach. I’m lowering the second container’s neck toward it and beginning the sideways tilt.\"}",
  "call_id": "call_YDMLFc5q0gFlKIhfRzo6nLEu",
  "id": "fc_020015877df99cf1016aaccf1f947487d084cb474f429040fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YDMLFc5q0gFlKIhfRzo6nLEu",
  "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]: [-0.2531, 1.9656, 1.7611, -0.2462, -0.0132, -0.6537, 0.3478, -0.1078, 0.8322, 0.6853, -0.4587, -0.1421, -0.1276, 0.9964]\nstate[eef_state]: left_x=0.5784 left_y=-0.1435 left_z=0.2574 left_yaw=0.0814 left_pitch=0.016 left_roll=-0.5721 left_gripper=0.3478 right_x=0.2963 right_y=-0.0033 right_z=0.1914 right_yaw=0.0716 right_pitch=-0.0347 right_roll=-0.0104 right_gripper=0.9964\nstate[joint_eff]: [0.1026, -16.0615, 7.6923, 2.254, 0.0708, -0.0562, 0.7741, -0.0479, -1.4701, 7.159, 1.7558, -0.0611, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3829b54df47169f2451077f67cf333d7431c7cb713ca77116a05ba2fede89f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da26f40c0de0e155b3b2d7825aa3c26dc8e7943d6adf2be874d8561260e6d672",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36bd71f6605225b64df1faf63c66133e50e210912e2547061352fb294a43babf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3977, 2.0502, 2.265, -0.6895, -0.4416, -0.1864, 0.3454, -0.1081, 0.8322, 0.6853, -0.4595, -0.1421, -0.1242, 0.9965]\nstate[eef_state]: left_x=0.5588 left_y=-0.149 left_z=0.3522 left_yaw=0.0676 left_pitch=0.1332 left_roll=0.03 left_gripper=0.3454 right_x=0.2962 right_y=-0.0034 right_z=0.1913 right_yaw=0.0694 right_pitch=-0.0354 right_roll=-0.0074 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -12.041, 8.5402, 1.6679, -0.1197, 0.3297, 0.906, -0.1709, -1.5385, 7.1043, 1.6825, -0.0611, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.6,\"left_y\":-0.17,\"left_z\":0.3,\"left_pitch\":0.35,\"left_roll\":-1.3},\"note\":\"The second container is tilted above the red cup. I’m extending its neck over the cup and increasing the tilt for the second pour.\"}",
  "call_id": "call_OKhhb0YjimfRpcnkr764e1Yb",
  "id": "fc_020015877df99cf1016aaccf243b4c87d0bac04b02d8bbd025",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OKhhb0YjimfRpcnkr764e1Yb",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2173, 2.0499, 1.4902, 0.5804, 0.2077, -1.1435, 0.3486, -0.1081, 0.8333, 0.6853, -0.4595, -0.1421, -0.128, 0.9965]\nstate[eef_state]: left_x=0.6026 left_y=-0.1666 left_z=0.2724 left_yaw=0.0921 left_pitch=0.2484 left_roll=-1.2068 left_gripper=0.3486 right_x=0.2963 right_y=-0.0034 right_z=0.191 right_yaw=0.0714 right_pitch=-0.0366 right_roll=-0.0104 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -10.2085, 7.6103, 2.5128, 0.2466, -0.1343, 0.8816, -0.1162, -1.2513, 6.9949, 1.6728, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11119af5691dc24d57bac2aeb5800b46bd84db37acc9d22452d07f4f0a7a9bf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a076267c4956459c1058d2adfa9413248a3afe5338d64b4e537129d48e8c6c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09a0eeb559878abb26fee7ae20dee3e8617e71ad0ef56a8f0f6b5d3a0c136a0e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2531, 1.9656, 1.7611, -0.2462, -0.0132, -0.6537, 0.3478, -0.1078, 0.8322, 0.6853, -0.4587, -0.1421, -0.1276, 0.9964]\nstate[eef_state]: left_x=0.5784 left_y=-0.1435 left_z=0.2574 left_yaw=0.0814 left_pitch=0.016 left_roll=-0.5721 left_gripper=0.3478 right_x=0.2963 right_y=-0.0033 right_z=0.1914 right_yaw=0.0716 right_pitch=-0.0347 right_roll=-0.0104 right_gripper=0.9964\nstate[joint_eff]: [0.1026, -16.0615, 7.6923, 2.254, 0.0708, -0.0562, 0.7741, -0.0479, -1.4701, 7.159, 1.7558, -0.0611, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM8rUIjTjKMkEErBmzFvMaRJj18jadxeCHsD-vFw6IyzziJQ7mxvSFkf9RKDA1tUR0LPpSHa7hHgglj_sAjGxRAHt1gOY4IBpFMxwrmBDyhrCL8QVGwFoKYH5ZQTSPrysLocpOGF1DAFr1GLjjhIZrND4MM0upNZiNA6cb3ZY_q46PiRixqqX0Vj_1PEeq3TGT707bSZm1527v2pYh-We3YceA7um0cUlUl14vgurGjkeJn7I_fnhVYK1plw0QdFYLFmt4jzD5v_RYagSaQ0BVq_5dJ2t2SnQniiodHIoPxCR5D0GKCqX7xTXMQxGztbQQWDhL2l_ld2vwY66LwydUE1ADrUdtrMRV9iWFjRX89R9vhuzxIXYyh4OkHHJiDiCNm_APCTr--29rSsEKcWWU6BZXubm7k4j0_Momb09zmqRH5-lrGy-2TzoXU6-udZo1SsGQ8PAo2h8yjP75cc6NV2vLUA5aahowwaHDyPvzCUSfBoYBKcYTfxI5380xI73Ad9k3cy19Us4tnbzPdSfTdeiTGr2i7su7HRnnpN4SvsfOoFD2e8MyyQ-2zAeLODfcV0P7LwWoE2mAORbotFOXP7qNMRYjTH6NnT0AgzyYB_oyKMRXQYsUW5J2GIh6YcN7LAJ8r8uLZVR-1dPzTyswXOZdH3__XfIPiO4CsVeySpHRaPga5kfkC1Iw6YzKxZx6Zxfihma4V0vt7AEWu6zbCDCalYtUOeD9zjwWIBi2RD18dk5Ohgp-vtpajUyoFpYcjNULRcMmjL3ceJHggK7kpwCqEzNmQMzMwCd79IJKcOrdtzkRw6PNij0V-oAEcKmYWuP9GA_ZS4wabFRT_mnuB3-oL4uvk7ERD9DLKdYZFZOWjQ9ab6ln4EXETNe0MM3VLgfLfsbNFh3uE8VF2uQQL7M7Od_CbdgRsL2K5_W_7LkBSvfSKsojd1X5Q3QmLbpwSUQ_cNRGeSCvbmEC72FFJW88JZZHq6SGV5OxcijI8PFYuhBRAKbSBxJ3JYUfLQT1OStYXQP9cPWv_AWJi7E8qcWbXdpBs0Zu6K1pSn10npRErkyW7A2hf5QXFGTqvK_gpqs0M9IUeZacnT7447snDZ_VicbosC1HUzBRq2EfkkW8PtXTie4coh3D4tPo_eNUlfWzDu34XMUhfMAwNX_qXNwSbWx_9HyCbVXQiti6VtqJRiP2ltxx7gN2rqZaLH8TPl99Gj2btil-YV-y7H2UtSadlg-cDUdNCqsGwNwfphIUJ7WQCda3FewZbNnmpVrD2gIjuaAQwFF9_jgcby5fbgqONiay5G806IoSyOhA0UmFkFw1JIuG71Kut65yGPtoC9XvtSHuRD9c24LLG4qUnZUS0iSHm7ml1Lllz7Pd3GUij_KThr-2-mYK6OjSrHa0-YWch4kwUiVynXPGWTES4LiRoAuD5hjULJv6WoY2mgA8wif78oGUGVJ9YvOh4KaUl4",
  "id": "rs_020015877df99cf1016aaccf295fe887d09391945535eb98aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_roll\":-1.57,\"left_pitch\":0.5,\"left_z\":0.28},\"note\":\"The second container’s mouth is over the red cup and the body is nearly horizontal. I’m completing the wrist tilt to drain into the cup.\"}",
  "call_id": "call_KNpHuMpvSXprGEtbCfJ7rLko",
  "id": "fc_020015877df99cf1016aaccf2ac19c87d0addfbae5a496b177",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KNpHuMpvSXprGEtbCfJ7rLko",
  "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]: [-0.1978, 2.1616, 1.5059, 1.2243, 0.2779, -1.3895, 0.3509, -0.1078, 0.836, 0.6849, -0.4599, -0.1425, -0.128, 0.9965]\nstate[eef_state]: left_x=0.5799 left_y=-0.162 left_z=0.3591 left_yaw=0.1451 left_pitch=0.6464 left_roll=-1.598 left_gripper=0.3509 right_x=0.2964 right_y=-0.0032 right_z=0.19 right_yaw=0.0721 right_pitch=-0.0399 right_roll=-0.0095 right_gripper=0.9965\nstate[joint_eff]: [0.5812, -3.6718, 3.3026, 0.652, 0.1001, -0.188, 0.5543, -0.1709, -1.6205, 6.9812, 1.707, -0.0952, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef887f363e3dcd4620779909a1e381aac1006090d9bd48d58e63144635256548",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4231839b4f87ce34bfd29a0256f55c76dffcb52d61fe5fc43bcb471b81a6e693",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb98cdd9af58d06b279dd74fdab3c39bbd822c6ac179c00962329e1a514ee67a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 145 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]: [-0.2173, 2.0499, 1.4902, 0.5804, 0.2077, -1.1435, 0.3486, -0.1081, 0.8333, 0.6853, -0.4595, -0.1421, -0.128, 0.9965]\nstate[eef_state]: left_x=0.6026 left_y=-0.1666 left_z=0.2724 left_yaw=0.0921 left_pitch=0.2484 left_roll=-1.2068 left_gripper=0.3486 right_x=0.2963 right_y=-0.0034 right_z=0.191 right_yaw=0.0714 right_pitch=-0.0366 right_roll=-0.0104 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -10.2085, 7.6103, 2.5128, 0.2466, -0.1343, 0.8816, -0.1162, -1.2513, 6.9949, 1.6728, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM84w4iU5n_s5cj41WdAap0tJX3zDySNCpDQqlHUEvqM4SijZq4xMpLCV3mK9TjE-UTDdKn8EtW4aTonnE-nAl81sDRTZVXtULcy3Bnb78xzeEXxJ52QfmRDJleMdaV2o9oUQoyADAmLtJ-c6ObRAg8RwCN47iJYBB--05lMayfwLt-xu_vhGJUT2tB6zuyQkmnmtEyxqYwCN2Iw4Jw5PdMPVcEClNg4G-hula0JpuPn2CkEdRxljSNdH2pnml0FKEwVhZZnSSDXRIDm--ob7o72_u9JHkVXgnviAZ3xkR_Fx5r1d2WAWki5-SseZ6wopWxt6X5zngVa_uxsSjk2uNLyPDRc9dGhTDQLVofoFyyTt0mUlUtG4SyrQRq8Bt4zhzh23PsSCtHceI3kBkzAnklkjhcJkUva0_Vf9q6jm9xF1Rhq7HlLEDhuV1gD_cnD2m5WS3DjzVe6q0TvxdUVNpTIgxuRYLFpuFvRTXdaUoBnX7_Ca_NNOp_Ubx6SmiWKyRHKkR7eYoojHeLDz9Q4vJGF4AHUafs3aLTsVHvpVFDSyV8XxEi8gRqPwwGXoK6tsg7pOaXklrT1xeKkrXsyBPvvTeMMXVGofCSN-65hxVAbuy1Z0jCYrN-ABa-2qONId8GEGLV3F4XMrQWgjYfuqP0kYchyVJPj2TIy7GrGX9Y-3c8_J2oOF081fJZFou1lWErKSCNxLUPiEp_vSn7hm2BIIe9cTgeSZijqHsMJcwAsuv-TNOZLJ5-Ua5M4VAWZDVG7CXb1HUJO91gBpTCm9CT2_hIhM_LQHu487AkFkqO6tpk5Z7myoEszDnQ8xR9RW396cWkK1PrFWnLOTPhn3_0ZECn9zwbtysI0VnDMnAesB-Pq5EBUYIXfSDlYIGmxsJgMrzvLohEJop64x4GCcBDCR07P4OlJJ6TPcpdamQ2UwFn-Vasbi45mb0WopFs6wR62QNF7Qlx2DFT66tE6q-xpX_R-R0V_2veKe8MkjLeeSRscVulv6SFHJYTb04fQ_gWafJ5DFBDlG7jZVCWrJ4sY2YaASuoXtOTHgb-F2_xETSaQK4Z-y1P2SfeEKlv7d8e0jZzu0CF7zYtsIb2YQXVOGB_gsAbmBmpx7Hq6E-qznaJjxF4wyrg65C0Ha3MZa_f80-Toy4NzwmebDb6zIgZOv_Ito01YJX8I7V8UW6ivbeGK5Ceaetf7f-SuIxkmD0Ax_MdP1BLc79O5mWKQHWGRto3gznd-H5j4eqUk-x5QhywGTz0QoaOJNuUji-eqEw5ZBqoJteNs9p5nI2YW6uhfjpBaKnUu8RcfdvLT0y3t0VRedz-Gh9grIruGP-zuas1Yaap-IP_h8N2QbL-ZimrhEiqdouh9LuNtiA_zPd-BlZAb5uW8KCoMOW4H3jzCMq3Bq1jsa0ObqeZvJ4zBWu_TesTYYorIy35SyayNUqn43-MhCqsK-FFZMl35vOiIRNJuEL1blUL5y1EcBOkrshrsaUwH0UNThd1CeaY34563_UkOgXx-bZH1pNrx3dQDNxTd6XqHc_6w4Y7ic1kR0YbIhVlakUhx0omSYa873fItxnqNYC8u_lPTH1kzBr8MspLaAGyyyuJ3-aQleYIu1l9zpjBG4lFD-vsORM3RLF5WLuK_lJkQ99pgMwOCBrCzi_MMFYZHdLU6BFp-SLURppJYpEDOb7q9X3Y4KY496Jpe7saHycZCDHn3rWoKgFvfBsnlllACyBVqQcfwgHI4Fd11lwIRkQzOu7IozqXCsnJR5yudxPJSztC8OqasdYC_qJ9e0cQ38NCr3WCn96zu5nDFljP9mJlvKmIiCj9xZanEio0wU2b4nItzUa5i1G0uQ2oJmuCSV2bA_3CTjUAeJokhNOSw_h_gP4QAUx5QViZb3qyrzmKrNRAl47dx3aQUy57ZhbTLTPFa7MfU9BG32kICoInr8bDxH0lqrP16xTs33Py0PcyIPvZYtYkjE3ekfTni7CfWonCV2d22b5ngufSnsF-dkZq6p5IMcCQMUN8ntcnbMLUgnYaQxguDHbXCwHWOoZWgeI1YGRBHnUaMQiavDAvJ1GfZvxSdPFU5Fph7ZdGtGPve56bl2Z4208qKt83NwDDVzHSbMRMRBEYjjgF6LdEu8krcqiYaLlvqp7G3a7BS2WLbGIFvpoZqiYrRsoQRFPMuRx1bJE_xSmH_XKpqYFBfKXOmoXXygHdSIOuJ99VTEP7jxeHNgOqUQJuBzZWMKVhtBTLwXIy5QDIiYNY9Fh-CXw6vAw4t8zfEroCc31Y9Y4a5akrSukmA8SL5LZih9-k7jKOAsqXX_yyYGHDxVEEPDUNh2sP8u7_66VFlv_JPgDW6QiGgOSVqG-NyiYoSPUDPGZpUz4suL2v6DEPg_isutJhg6EDaAXZlqi-UcmNaIZJLJxdqB7iyCBvxH7rvqIItdMCyjtiKPCTheVeQ9imj0xETveLaCzWqFbzn61zhWUuEufqJmcGA-6Jz3GW0J2K-hjkPopIPa5TVxY-L1Z3_VxFlh6Ohrx-rLi6HSvuHcFACF4fPLIiGlRR0JRKuvvKEsCW7guP3AX4Y8oOd7yqJvR3MPbHQar100RJIXHEh36h7-q_4frJ5y_VpTKkkfehrURbLmytUcfH7JY32CAVgmwI9g7NVwYgCxSKQuQuXr4rlrEtStp6YUhSLc63eKNoauGwcXgk5U8EgYowF7TNw3DzsfddbXoKlik9BdNa9WTIGvA-_mDroABX8N3FyeEV6EJ3rnOFAkj79xApqlCFLuHLMHYPNRCSCWKmhpR3I45UNWm7FChnQq5GF3oClhZNbIsLXGhTmqcgvi5UydBbCdM7Q8GDdkbGeUT8TFuPpjP7WfbGoXdrbShyc3wIh6vBM85u3t_MdAv5cNyxyzNf_lTpZ-noIH8fI41CmQEHWFP3Yepb7ElyHmdaM1LpLfwDeXH9x-e54ArEgR8qcOTJty_zkHDoCqrh3tVblL9gGwZPE71fxgyfMKjVhbY0GZ1EfO0W8S1mWtSoTFEkyPA==",
  "id": "rs_020015877df99cf1016aaccf2ef6e887d0a24a713444de9231",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.17,\"left_z\":0.39,\"left_roll\":-0.7,\"left_pitch\":0.25},\"note\":\"The red cup appears tipped onto its side, so I can’t confirm this pour entered it. I’m bringing the second container back upright and clear of the cup before correcting the setup.\"}",
  "call_id": "call_nM7mQDV3kCaUeFNkS4IH6Mfu",
  "id": "fc_020015877df99cf1016aaccf36c71887d08c6faf6dd91a90b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nM7mQDV3kCaUeFNkS4IH6Mfu",
  "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]: [-0.3508, 1.8328, 1.7737, -0.1219, -0.1062, -0.7731, 0.3525, -0.1081, 0.8398, 0.6849, -0.4587, -0.1425, -0.1276, 0.9965]\nstate[eef_state]: left_x=0.5509 left_y=-0.1778 left_z=0.3684 left_yaw=0.1344 left_pitch=0.2362 left_roll=-0.7609 left_gripper=0.3525 right_x=0.2968 right_y=-0.0034 right_z=0.1892 right_yaw=0.0716 right_pitch=-0.0426 right_roll=-0.0087 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -12.0821, 10.0581, 2.0781, -0.0708, 0.2125, 0.6422, -0.1983, -1.4564, 6.9675, 1.6874, -0.0806, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c211446c0760c5ca57a9d1f8e412d824863edcfc0c7f5d97e8bba147ca68486",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d6480add4b288d6bfc99c697757058eb45091521074cebea2da10abb4875397",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612922b4d6ebc20fa1be8f57a0ca3412ab8432be0b600f17aa5566eb474bea6e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 149 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]: [-0.1978, 2.1616, 1.5059, 1.2243, 0.2779, -1.3895, 0.3509, -0.1078, 0.836, 0.6849, -0.4599, -0.1425, -0.128, 0.9965]\nstate[eef_state]: left_x=0.5799 left_y=-0.162 left_z=0.3591 left_yaw=0.1451 left_pitch=0.6464 left_roll=-1.598 left_gripper=0.3509 right_x=0.2964 right_y=-0.0032 right_z=0.19 right_yaw=0.0721 right_pitch=-0.0399 right_roll=-0.0095 right_gripper=0.9965\nstate[joint_eff]: [0.5812, -3.6718, 3.3026, 0.652, 0.1001, -0.188, 0.5543, -0.1709, -1.6205, 6.9812, 1.707, -0.0952, -0.0806, -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": "gAAAAABqrM8-9yl1J6wESeOusXL-gChCHGMfILQBQ-yQJGJYzWZi-QMvNcY3zjKrGW8oUdUVCA2sZqDkIkRfdlw-7t8VY08ss0_p7u7ON046Dr02br1H5jOYVYEiLckuz1CptWxkodHyxuEmWZdsuMACAjmBwiGocO4z1ZmAUvfj_1TZOA-nfdIMGTd-HP4u0qxf1Mw96-s1bNlxsF_31jcZk1ozkWwE1DRwNxqz8z-nUGIDWCFHg_KSWL39ptY-7Ma2qb3ikn_BYNozkBeDPEwyF6IW46XG-0wiP5xJljrW_4rrc99sgV_2kfLiXYYOYc5mZ5O2ivk5XF7QhN_IlTmWzIJyaRfCDzyfgAGuladkustEBcEQgyYth5vo_3D75w5X721IkKLBWBUhNXNC_F3HVPfQVrJGW5Mfiqazl8pAg6q-cN7Cmrb92pHpyhbdSfvg0aLIgGfu4MeNxh6CRg9StA2PRVjo8dKn_Q3bXcA_r8tq2TznjydFiUzQ2BterBwZ9V5ylo0VjQUS5jQk3QMvyfqDyTkCnV1WD57dgzKjpviGChvxYA4HOaV7j3zk_0kmy6SRY03-W75Dy-JsMAPpH-xD4xIUrqifwUSvQuAK_rZQDWg_-l1ssuZPj-8TVfIK5obwHDs2BWDzaMRPWSSUZEBmLa2kVRuISziaVO7F1tPlH55fR2X19FmYnog46TYlyA5Izvw_La6koHeAQKo9Xp_o8WwN6J3iDjH2bulMHvUXBaehLfu-4JY7NSGGEZdDtPVaYCB6wUmdKQuMuBT2cUB94QTM71fooHmGmWOQ5x9PDDwpGuAAuPb1zCLvUzV8aMdidI_y817gpgg2crhUCCefQJ0DostbkrZMpeCl9LEf8ZMKi-RzDJEBvZSe4la5IpuUSVvlWFTsGd9_DfzuQPvti7eW08g3uNueABX-GHdfL5oguhxVVl3jJS6hKgJ33bO1sohNd7MaMNuKIJ70bS9qbJEhAfMOcMlEjnw32gXT0Ve1v5Tw5SHu7ozGsKwP_xg08G9XSqAsMCJH3K-abYWgz_FIfAswrqWHV2_cSlWB7p5rDQp7s-SNxF-hNlLCka57fyb0r7T3S8exAYeqNTTiVrrHhytaGXz13EQIdZ3aTEWkeVNYUwhyitnM1foiuw80zHet180fNzQbpA0zf0mVhHqqg_t7HCDj1i1O6z85-LJtWry5yvwohHeAn0qh6GCb9QGe1mjaZkq8GuNwDS7RS19iCk9ZUhakx9laW3lPAtwdzEDn4aXNX3ZHvEmGlYlclwSsbz5_rjHMfc9uSIDouraFlA==",
  "id": "rs_020015877df99cf1016aaccf3c070487d08ede13939203df6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.29,\"left_z\":0.34,\"left_roll\":0},\"note\":\"The second container is clearing the cups. I’m returning it upright over the central set-down spot so I can free the gripper to recover the red cup.\"}",
  "call_id": "call_dCTFZCkrleAkf4rSbcBy07Dw",
  "id": "fc_020015877df99cf1016aaccf3cdd7487d08b02e37c856ca973",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dCTFZCkrleAkf4rSbcBy07Dw",
  "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]: [-0.8417, 1.9247, 1.9575, -0.5476, -0.8188, -0.4934, 0.3546, -0.1081, 0.8425, 0.6849, -0.4595, -0.1425, -0.1276, 0.9965]\nstate[eef_state]: left_x=0.4457 left_y=-0.2999 left_z=0.3339 left_yaw=0.0936 left_pitch=0.2147 left_roll=-0.0947 left_gripper=0.3546 right_x=0.2969 right_y=-0.0034 right_z=0.1883 right_yaw=0.0716 right_pitch=-0.0459 right_roll=-0.0081 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -10.0855, 8.8137, 1.5897, -0.5153, 0.2418, 0.2125, -0.335, -1.7436, 7.1316, 1.6728, -0.0806, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa49fce04ffe3766b3bb124666822b62b93df14081be7b25307a4f44350e7cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b241913fca44d9c683afe76511a8edc18c93b5a33a00ef2748806364bafd460",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d3f30c70b3e4b9f70e9b388d8b3d1847c84474df655b67b3731449b3c4cdec",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 153 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]: [-0.3508, 1.8328, 1.7737, -0.1219, -0.1062, -0.7731, 0.3525, -0.1081, 0.8398, 0.6849, -0.4587, -0.1425, -0.1276, 0.9965]\nstate[eef_state]: left_x=0.5509 left_y=-0.1778 left_z=0.3684 left_yaw=0.1344 left_pitch=0.2362 left_roll=-0.7609 left_gripper=0.3525 right_x=0.2968 right_y=-0.0034 right_z=0.1892 right_yaw=0.0716 right_pitch=-0.0426 right_roll=-0.0087 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -12.0821, 10.0581, 2.0781, -0.0708, 0.2125, 0.6422, -0.1983, -1.4564, 6.9675, 1.6874, -0.0806, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM9FZJiW-UMI6_KclrKVUg7TGOl90KSxcAfVRsgkXnpeWKSMTdJGhxqYbjkSJyhwSKH1YOOdMW-SLl73D3emyFJhKy0zT-S4Cmc-xs_he9mKpiJB-vLMYLIYFWOgMCBlBWMtuQSy9Y6iPMZ5QSo_gc2aB-DLjUjFkGH9uj_9vjIknsrsP-fUd_humPObgKode9OFgnmJWydeKkEjBNk7fFj4xZIaHwLFV-igYQU-2wdjhKguSmybf5jOuluD5osPWiPT51xdQndoXWZzitAcyy0E__cKxc9XJuzzvDqKYBus6u-ZEQlPXhTsuVSmxa8SUVwIxkiv1NMegPs2ZWbJak8LmXy2ajp4g-pQp1z1wQsxv69Eaua8U9L2MuuwEtb6E48tAttkW_FO6jvA4Dn6fkVUH3ZivxVzZzH0ubhhj-S_Q17BJA8OIIF0KeVlUS4oxWF7jFHqjr6Je1o4t3_X-tiGSkSm8ru5n2_QzCuk8gpMgvGCQMZXT_S3JFWLYd2Ey08dpipU9tmPOQ__2vS_RHAo1H6WSqGW-n4xdgZTCR9wG7zXAA_1J6JXeglZJJ8r5HOqGbuHUw9y96Bk-PyuAdZIiFFBa7xBFR_C9_0svt7hz9_1bYm2kXh3Aw9jrdlJ65zkh2hYHL7rRA4ShT63JQ3mPuE9Z7JAe4Q_wY9dSrflfDOv9BFUUK8PF6S6vQqUiJ-mK65diqOEEfZ2kH5t35almowAfPaHU9F7PC3SKloV1Phear16SsMOBmrXyqE4BlTGkcTIZO7Ua76PqKu7zNe5_ulr9aJpRkUZy_LgFRKe3hQF1NzJXzEvOv9gNkrjYUpDKsnVko4PR1RhjmkpigSa30CE4MMBImfvKxFlerj4M1WZzIfuB4L5wk6DSLePfz0pQcAnVSPTSPu-Zky0phQk9qyaFaHR1g30fwtblpC97Q2OFZ20JewQzfGy3dAOKHd7rObXJzVXjJ158-qcb2h1-tdrwghbqprM_iWnlhXCYaFwe8XMLiF9buepxDVCcTBlUSFcfVhND4LbWig6afK3tXZGRBL2jqHVsaAl3p3BSI1c5FskRUL24_RAZODq8KlLsBHjMScoQp0lcdHH83dNzK-BA_BYRURJzd2lKduCy7XH2f48VU43cyKM8Z2AY7yl-JCBmHNh-yw4zU0T3DIe9oBx6hykAjZbPfSsdfTKUazA4J_y39h74O6kav6BLI8kV5XNHuHqTkJrYbaCfICr3P91xiC4oFnVzAqLREWPb6EUdXQJPQTchq1FVgQA9qcfFOf1a4EuzCOuc2tlxCgeLF-MC-AH1Fnqzxg2hllOAOYQ2XjzmyrGVGXUtGJdyaK-e_v1nNkYkZbeGXR0Uqxv8Ba_FlZrk2uPBzPl8-4neEscFYi-Wsoi_jEt8MpuP0qBnFNfsJYuuMrrIwlFhJt6zJ1L8SqnvHXeYMAp7PrsJfgzB7OpFFp_lhC9d3x6_7xTvRZ7XGZB3VPX5UvDZJcoqwVA5KqvnXbWY-jZjmdWZogYgGvAt6qA9rZuUSmtuBYE-NerOinsKpf2v6JV1Q8H21-KCbvgs6YWyWmkr-3bTXPzAyeXXIO6Ez5aHpWkyISCgEYI9HjGnE6U1rTL93rLZVQQLaUewwnkJQBwLSD9jzjlW1H26ODEFHXtdnKsoK3x9BznIW45kDg7XkDxCV2bWuXC7b3em0hbjMBh8PhmZy1qxMk9Z2ZkQMpAxtztSGZsRIyV5WcWiUC6EbhDigsI3NfdlrLeEVVQIU-A9ftPSoywmHZL8G8FEhHncfduQhO08DLC6JnMRhBfNY7iwQceOg==",
  "id": "rs_020015877df99cf1016aaccf41c50887d0994b6ca72c4ce79c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.225},\"note\":\"The second container is upright above the table. I’m lowering it onto its base before releasing it.\"}",
  "call_id": "call_QIVk9jW00Un11VoGjVJG09xl",
  "id": "fc_020015877df99cf1016aaccf450d7887d092e4789e4af993fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QIVk9jW00Un11VoGjVJG09xl",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.841, 1.9015, 1.5314, -0.1467, -0.8387, -0.4778, 0.3575, -0.1081, 0.8436, 0.6849, -0.4583, -0.1425, -0.1276, 0.9965]\nstate[eef_state]: left_x=0.447 left_y=-0.2973 left_z=0.2363 left_yaw=0.1016 left_pitch=0.2221 left_roll=-0.0722 left_gripper=0.3575 right_x=0.2972 right_y=-0.0034 right_z=0.1882 right_yaw=0.0716 right_pitch=-0.0459 right_roll=-0.0081 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -10.3726, 4.6701, 1.2967, -0.0464, -0.149, 0.2906, -0.3487, -1.4154, 6.9538, 1.707, -0.0904, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7cb4b1bb0d209ef2ad6c9b1c68b03dff1a260e1eabf54924c86b614eba6400",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea66779d4ff0d5ef45d9c1b3d727530cf3cd2a9bb2a9310d80d48213d63df6b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e18b8648cee6cfa7f745a8947616e7430d1a0363bb296b3ce9d43a125987cf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 157 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]: [-0.8417, 1.9247, 1.9575, -0.5476, -0.8188, -0.4934, 0.3546, -0.1081, 0.8425, 0.6849, -0.4595, -0.1425, -0.1276, 0.9965]\nstate[eef_state]: left_x=0.4457 left_y=-0.2999 left_z=0.3339 left_yaw=0.0936 left_pitch=0.2147 left_roll=-0.0947 left_gripper=0.3546 right_x=0.2969 right_y=-0.0034 right_z=0.1883 right_yaw=0.0716 right_pitch=-0.0459 right_roll=-0.0081 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -10.0855, 8.8137, 1.5897, -0.5153, 0.2418, 0.2125, -0.335, -1.7436, 7.1316, 1.6728, -0.0806, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM9LYSvEBEnHYDlrj3zlM91HRO-iRdB5jJ7mU666kaZUl3qluKMOdUyj1fgMc6puLVIwRC1NQui-J0_YIHhkYJINRlaMUe4--4S7qT5FC6bwNSg9aAAgi7rR__cTzDHllNJpUKnDR9D1TuMHMV23ASM38KgVdHK0nxka8lUXfljE6Z3e5Dn2S6iV_dOLDTXh8RfvPsjWic775jVMwW1prS6WdGd0-gynjPCM1uNL6Owsg20IXqJnB36wTpi8Ot0muXhQdyD3B4buDaJ4AkyxkdKVgEVhQykx2LIRiOgARt3ks326V9WjGfvz66CzePJDLuxtuZEv5S5jPpbsAQfC2d7QvlXaGOea1dFwU6xiMwyGqvIBqki7M7l8uuaKOE5GiiF-oFzwykD1q5_JxtTc9us6Iid42zGfWM4ckN2cYIju7_8GZFpdrBb85yYeke5vujD3JuVegzFGJOcx6itYMRRQ47CAZPsXoXpPSz5hVXAVkX0qSl43SyoOTqzU8U7o7YDrNNzUCM5y3kAB8QqmWHJJ8JInuGrvcAC4MTwFyyiHTMQmNH40BoobzG5XAfMlW-9r91uIGUWKJwaBHN7MJSrf_QcRm_Hg-BTvtuhkzg56_m2bjXholT-ihk6rmD5KOZJYKlaf2bFDbmwIKIMGJ1qm1NuQnXKMsF0u1OdbvofBWvuTxQAaHgrx5inFeqy6NsU7a3G_QsjcF7ONT7ALw7kD99PC3jhTIf7Peo_hbsi31ihFbNYzUExa0CjieuOJHUG5fAPXOaYHiVFDJDC2uvU7VP0JOlIDd0o6qpmOIKKfjx3FSzM53gwCCM8r8fF6MLkVbxzK5kGEq6hX2YxPm9YlJUXISa4PbbL0AjORzpw0o6EYJ7tk2sXhs4N5guoaoDpaq1_TvSc8_Y5zI6UsKuuHgz9dsDtYbfqU4tVZcpTERrADj-hUHZ94p2CvsvdnNt3XqTszkSw2O_kFwdticYYe33FnvU1JdwTsX7aCz1kK_qqS2pSC1J2MTr2dsb5Z_8or1e6h1BPmIfGovDOFdnZYwUAbf7vHHXXS8Pcuh9ek1_SdpkycpxHdi3J5COZbZZLQ4fv_7X6u-HcSy8msGUhz0vaIVEWuOQyp7rtOx6eitDg7pThBWuOg2rtsTMg-n4Be3DFObKLWgx6L7Vy4Ntsh4ETe0nXqGhBNBe_5D2BXiotmtGdhNpSskseZKFvXHqz0cBtm36TdQ4mCpXQoLTp0AgzssOm8H7kJtGDRWpyFTdpoqq6z8D7iukLOiUCDklIYacVhg-ROWdGHQfst84HO3z2hNU-U3sRf7D7NpuEXIjeWoR3P2X251mh3RorOrUcV",
  "id": "rs_020015877df99cf1016aaccf48f63887d0b5370e0e19f531d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The second container is resting on the table. I’m releasing it so the left gripper can approach the fallen red cup.\"}",
  "call_id": "call_XJHScjBXLHxz4sbQJaKcP7T0",
  "id": "fc_020015877df99cf1016aaccf49c40487d094c97458b5c597be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XJHScjBXLHxz4sbQJaKcP7T0",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.841, 1.9038, 1.5146, -0.1444, -0.8341, -0.4847, 0.9954, -0.1081, 0.8436, 0.6849, -0.4595, -0.1425, -0.128, 0.9965]\nstate[eef_state]: left_x=0.4458 left_y=-0.2967 left_z=0.2283 left_yaw=0.0986 left_pitch=0.2101 left_roll=-0.0663 left_gripper=0.9954 right_x=0.297 right_y=-0.0034 right_z=0.188 right_yaw=0.0718 right_pitch=-0.0471 right_roll=-0.0082 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -10.8239, 8.2256, 1.5458, -0.3199, 0.0952, 0.0757, -0.1299, -1.4974, 7.2957, 1.7167, -0.1148, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07eb08aa58ef737d5bd8c387a42f39035beed5ee68663d59552b111aca635ee6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dea9b56a919304b19cbe52c8b99d421c6df968a4ea6c1e98dbc231c6e644a5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0beb9f49b64d0b8235ab6fe84b87e824d0c309e9aedc53e7d2813a77fb917b91",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 161 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.841, 1.9015, 1.5314, -0.1467, -0.8387, -0.4778, 0.3575, -0.1081, 0.8436, 0.6849, -0.4583, -0.1425, -0.1276, 0.9965]\nstate[eef_state]: left_x=0.447 left_y=-0.2973 left_z=0.2363 left_yaw=0.1016 left_pitch=0.2221 left_roll=-0.0722 left_gripper=0.3575 right_x=0.2972 right_y=-0.0034 right_z=0.1882 right_yaw=0.0716 right_pitch=-0.0459 right_roll=-0.0081 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -10.3726, 4.6701, 1.2967, -0.0464, -0.149, 0.2906, -0.3487, -1.4154, 6.9538, 1.707, -0.0904, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM9Ucqdx0qUPIcurGeyrnQKLLJKbxu8xARpeUcBdpcP2lAcrdwBf3A9x124GSb7aT3GgpzUPyfqxCDuiPWJTa9CNAiTdhN1l6WoR8AjbNV3PB1Y6eo2_pXSt9ITj023fzICoogSNEiwB3FVIDibT5XLmMpvZGttN0kyeJKeXAzd_ng0NB5m87up9dW55-Y7by3QSPL6wrobxVAprrXsJQXv36ar6bukej9Hblp-xe3E6xpLWVc4XbsF9s-TblgwkOe1lW4xYNXZQTTLEiXYRLr0K5r1woYuO68UWrAD8m_ud93zOncukNXRdt9hCqX5O2dmCzmierKeC8qXPVkejHZ2ytXFetMuDm08bxrExioW1ExNbUWG3Y8AF1xDM0qJw_TkA6jN1xExG3RdTc1huLYU5YaL_qtH0tNuUonnPUrh3oc6xsTAoZnz5XHu6SULs9ylF5pVJzcN-8EhE2Z9I1akLC6PUODILSEbzZzB_aM5pl71LmKCm7_BftXT0S-cTZfRBsYLGkVWnUTeQc-6SDTkyAPBjWlL-lgPKdCqGDM8cDPYD9AV-GMs9k2mBptKZnYFZ_1X41r8tP-Yms_ukXMkZM_SzgyWOpn6pWCICZHkfHoTPzSqkbIgnk2cT90KNbZDFSkZhv1yanT7HFUcSifngD9L1BJl6Uzx6BqMXoEfNnaYkZoBSiK0QpopjpL7nkPmdu2kZjk5Jl-ocIvgZk_LD-5G1B8fza6yof8FAOrfU5z6DHFCiC6z1OsIBZHOkL4tmRDcxuqD04Bxw3C31QHmwRrx7hYrVHLwxUj99Btei3G8zU-FWjgR_Z12tX4zV6zj4lJgPNIGONNL7ZszzxCbs6_mDaJlaSVksSZqkXuHYXxszEGhvSK1NdL1Q5yjHWnqBTuwK21c4SGh9cGihlVOqlk8oQevb-iQgT2uzwxBK-XVirHqYevm-MUe3erS7SnqJlhJIYk2ZvYnnoydA3RSyzU2-mQ60jIsvNwtr3Zb19Wb7No3Q1L1LdIi3DuJEFPgn_lvzrxf2BRUF1MKVUP8hHLnraOG8lJoCLUa2UZ57iDLhX_jkqTuceYGKV8HtXgXuW868zIh7hsIQGEFcKN6n_XrLRVZSzpD7Nw9RHQ0M-tnREg0HijhmWIqLiI3kypqA1IGPKUx3WEfp2b4HSwLrGBA3qOx7bdZovVq7KlnmHwPsdGKOrYvRonBtTNtjACyv--EIrbaRH5jg72GjBejQTeH3cUKmB6rPdcAf0IiqIIPzEKXMIKRQNF1H1-HdmnPLdFpTbJTfCyQYqnC4Q-E4KIHwRk8J8yV0ipzjCJNAtGGYSBPyJgExt-QOT4KvS2If5RlGxkA4ttaJ8PeJWoJfC2QgJf52YidnKW8_-4dCkmlMeELRlR3rFDsmGxG0VE5mMD1ZBBEZnn0RhPZ2GQQ9pkCwNSMxDNwGBxJSIufWVGQOQ7-r-w30b_BeBUz0iSpdzgMQ1EBwdZT8U7I1bBoV9up4_aoTpDzS8U1J4Umm6b_PWRXA7qKY60kPnuYSe3Ebod2HNjN1XakHbsDM3M81kRqstrmOf0LWF4SkBrwi_9s94xtJg7B31_EAwPIUR56vHzKsZiGiA9qtjQJCPMsbHoxcOJ6LTyYuNw4EYfkSslu-hXqzEMQICpHcCxU0an-PMN0OJVwgcC5h971BvZfcUxNsWMentNyGGkXhsbghzYDjIoBQ2g3Wv7iTopG_UrDBeCxIyAcYf-Go4z8RoQoMY5mnhG7fLAOtMB2jNVOS7-b4KrhFg7d_G_LmkqqzTSCTUoIdrj19WB1T9qYRG9pjIn9s3B9eCMjo1XeMXb8q3B91dzH-TAPFv-sMlvNcMrP-V5RbyPXUNGc8WO9rNDWUEi86NQRRZs2zdbU4fFVH4mPxlFmW2MZDXYu6KnMYcmbLF8M9h8WcDO5IkCc72c0gFiNBnH9fgBnWvnB2tPc3GT8=",
  "id": "rs_020015877df99cf1016aaccf4e2de487d0928cf60f365fd689",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.19,\"left_z\":0.34,\"left_pitch\":0.4},\"note\":\"The red cup is lying with its open end toward the front of the table. I’m lifting clear of the bottle and aligning above the cup’s nearer rim to assess a safe recovery grasp.\"}",
  "call_id": "call_IPQ7Nxgg7Ogcs50fwIFpx7b8",
  "id": "fc_020015877df99cf1016aaccf53241887d0b9f3a8f954787d31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IPQ7Nxgg7Ogcs50fwIFpx7b8",
  "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]: [-0.6014, 1.7199, 1.4483, -0.028, -0.6861, -0.2337, 0.9968, -0.1089, 0.8436, 0.6849, -0.4587, -0.1425, -0.1276, 0.9965]\nstate[eef_state]: left_x=0.4851 left_y=-0.1928 left_z=0.3043 left_yaw=0.1222 left_pitch=0.3291 left_roll=-0.0374 left_gripper=0.9968 right_x=0.2971 right_y=-0.0036 right_z=0.1881 right_yaw=0.0708 right_pitch=-0.0463 right_roll=-0.0081 right_gripper=0.9965\nstate[joint_eff]: [0.0615, -12.7521, 7.5692, 2.1661, -0.0122, 0.2076, 0.1294, -0.2667, -1.3197, 6.9812, 1.7314, -0.0904, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de6867443a749b136f72005c93b0daa994cfc26ec92abc359bed5d88934bda0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5135993f74390ebc49b52465f940b779a687af0e4f53c9606860f7dacd6ec142",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ead37f63982323a6ec03fd87f4c3067fa91d999d3de11755c5cfa219f3a9d9e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 165 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.841, 1.9038, 1.5146, -0.1444, -0.8341, -0.4847, 0.9954, -0.1081, 0.8436, 0.6849, -0.4595, -0.1425, -0.128, 0.9965]\nstate[eef_state]: left_x=0.4458 left_y=-0.2967 left_z=0.2283 left_yaw=0.0986 left_pitch=0.2101 left_roll=-0.0663 left_gripper=0.9954 right_x=0.297 right_y=-0.0034 right_z=0.188 right_yaw=0.0718 right_pitch=-0.0471 right_roll=-0.0082 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -10.8239, 8.2256, 1.5458, -0.3199, 0.0952, 0.0757, -0.1299, -1.4974, 7.2957, 1.7167, -0.1148, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM9aj4ZJRnBeRui5_TPXsDv6tOo4WXgvj2Zz3xKnUyBkHtC6UtSzR0GzPPvlDeMTR8rFBMwgN_9gyVovrBI5SCk_wUyi4NR8WBdTKWNyjwcUqchQmPhzfA5tOMIhNR64NPXUZHeMjKcLklpUmTE5qlo52Rg-Cc8glwjpLcnVybzhImBhWyIQyAfOsxBFw2PAFBrR08p-59jguE9U9EWnOHgHMKroA_StCxl9EY2zmRk4nLuC8_0NrV1aGG8YbQVx2tWZwzW9bGPR6Q3DhVcU-zjWYqGa_f-W2n7BmkUfEZV9sHeSHYLIrE1B9Rgkos9xZaHCNFxJTOnZudYaNCzpUgdg2h68g2Z_HW-xvRturyujVsyqPeOo6ZqoAqTfCe5sI9_938gMKlG3_2iQqWY2WFo2MDapcC1uqWIv34GcTRS2hsBvVKeSzJliZzvKpYcHB_gqY1DfnLg_5NttSs24Nlo93loONqxKf7ELg8_haIm8AhjivvTwe-rL6xbcPljnHTEWxnHh9QB_CQ6nGY6hjY7w81K4ROZfgKHdLbmV-Iex_rDVpO46zi_mjIWM9M86wg3oSxbuF_tVBlh9tnpH-kK3CVznL6-bkivtHuyTDYzBr49Y7Sq8_Ua7iEhi2B_12SLW_oHTmjQPyJXRhTmgGSEQyhjjNV5J-oTOjvKDLW7TE_THrKps9yqip-OfmJV2Nn5M_iz_RYpSXj8xju-0iZZo5uxUuFO8EBCHB0aNjAY5v8kyebLv-_rGQmWCfgr_-QIj88VBuVyBED32HNe4KA9NKJBBrsXFtsrxnAbVAkKAR7dPS_qrlHt8nSZjJXjT7ZlKVUg9V2dtwRZny2SXZBlMptdemFEqmhJVjsEDrNBW3zriTofy8GeoMgJHxg95fH98ZEQ3m022MBTLOTD8klxi3ojii0M93PEmxaPeTxo41Opc4OCBAiTCakRODea_sQ15gYgta4Xq63EaDgtMNpSaQfcYFEMsFM4v_ZHyS326XHpO6TnbapqIvFqdvM6Arao1fZjzDNVkoPn3XbjSRTOVOnGYgQGEazMA5StkX-nK4mY7_xWMoLpa0wGH2t9q70lqboAnv1EL-QBaZ5V7X0aumblBjA8FgYlZ1SjaANdjNeZZvW10BiUQifGorgpXopkNkp0e-6FYQywkIz7bF3y0VIfsb5JBm8n-e8DrbXH8CB4pzuhQi5K1feh5EHzuailrmYKaFsooYtgQAO7Xu7lcETCizReffuiIlA6BXUrmcYmraXABMVz-RyPeIBJ8MD4p",
  "id": "rs_020015877df99cf1016aaccf58239887d0961d0d82ba879ab9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.18,\"left_z\":0.11,\"left_pitch\":0.6},\"note\":\"The fallen cup’s near rim is centered in the wrist view. I’m approaching it with a forward-tilted, open gripper, stopping above the table to avoid pushing it farther away.\"}",
  "call_id": "call_nfxPMeE9gGVEP8PfPBG7TdKe",
  "id": "fc_020015877df99cf1016aaccf58fbb487d09370beb62721e325",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nfxPMeE9gGVEP8PfPBG7TdKe",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5133, 2.2887, 1.1046, 1.1286, -0.6266, -0.0303, 0.9969, -0.1089, 0.8436, 0.6849, -0.4595, -0.1425, -0.128, 0.9965]\nstate[eef_state]: left_x=0.5359 left_y=-0.179 left_z=0.095 left_yaw=0.1044 left_pitch=0.5147 left_roll=0.0083 left_gripper=0.9969 right_x=0.297 right_y=-0.0036 right_z=0.188 right_yaw=0.071 right_pitch=-0.0471 right_roll=-0.0082 right_gripper=0.9965\nstate[joint_eff]: [0.5675, -11.4803, 6.653, 2.0, 0.0024, 0.0562, 0.0024, -0.1846, -1.4974, 7.0085, 1.7314, -0.105, -0.0659, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8bedf66d541c9cd9d4086dda7643f1079eab1fa7cce3cbc85897dff05a5fd3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3018c585df8360fd531a5917b270928041d0229306d1949f3f028cb584b0f321",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25d9b5f9b60c3bd2e100d13fc3b1865ffcadc940929e23d15c02bd2996bb526",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 169 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]: [-0.6014, 1.7199, 1.4483, -0.028, -0.6861, -0.2337, 0.9968, -0.1089, 0.8436, 0.6849, -0.4587, -0.1425, -0.1276, 0.9965]\nstate[eef_state]: left_x=0.4851 left_y=-0.1928 left_z=0.3043 left_yaw=0.1222 left_pitch=0.3291 left_roll=-0.0374 left_gripper=0.9968 right_x=0.2971 right_y=-0.0036 right_z=0.1881 right_yaw=0.0708 right_pitch=-0.0463 right_roll=-0.0081 right_gripper=0.9965\nstate[joint_eff]: [0.0615, -12.7521, 7.5692, 2.1661, -0.0122, 0.2076, 0.1294, -0.2667, -1.3197, 6.9812, 1.7314, -0.0904, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM9izR-Ce5bJFT8tX2zC6pVMoTY4DMZcJ_FxEyW_TR1kNuVNJZdUVRDGuxQa1Cm2uNlJ3P53RX8Si7xLXh0_CqJg3iOEoxzrVWiqW09OiOL1flWkYQfjKegvpPXx_MwEUxylmUyPHe52sNZBdB3ERzTBEOgAGm8XaBf-ZDVeR4OxC1zHHGE2v8VcrrNP4rHjOiImJb-CuccXLADA5lGb2_924odWNoXEvCAo16fVqCHd2e_9LEC1YPSqlN3HxgI6DSbhE5QQ4_QKizCWSG57KwRSTZsUd3EO24jbFaTJ_sAV48Ka0p5c2F1JG4owX8IWrySAOGWVZEDd-cmfuS-PwhSmbG4L_slS-se7faf_Qk7Wks_gICHJK1F0z-r5aG9VUBII7WimamcKEIU2FU9aKEeDycMaTp24hp3aG9Di9Kb4vL4fJt9oFx57wwz7D1dABYCOHyNDLzprvq3UY9pnT8U-QaqhLK0EArwZoDB2YwgqtOThAJwVYANvF612aILqrSnDxr7WGzeOBN8ebSnXeAx_N-_abRkL9bkO8wyibqXmTNl8Umnjr6dOGpt_qPdIIZqFk6T2tRrWfhcnRpw8DsaAC03-aw7Wo3n37SQhAO2xpRFt0q2eUKKhZsyIhUMFLc7BELnjVIE7z-WFZZ48eJeXyYQ0EoekR5st8AlGrDDksuCWTosnV1ZA7eIiHDGp7-RK5MJA-5l9u2idk5Ty3j1A04PRSKrUAHwbN29PURlHHanrTjQF6NXwhxJi-Ds-6kdRg5mhNzFw3Siml_9iRSK9r-Dph59CLTVXQ9HMCzFYt8yvGTeMAHsJAYWj1igylbR0husMo0A_uwaDaCYFTblJr-mUDY2Orx7IiwwyxRxe3a0fGOMgJnB_6BTmdWLomtSo0pBUv52ckpSq4YXZ7AzaLg26KQz7TzzTkKGNCHC57b9QTK90vkbp1JwgrksGS8ikB8Ezz5vgMb9mzjvIhzEDTdttvuVuMTb2yuv2o0sqDRFqhwRKe9Z038o1qHonH4_aTnxwo17CtHfv2flGXAkoxretjBuxh1hKUNR4OwiuwFRpI_YfEMFsl8DEhBNkfi1HIJGRlbmjYS3zo_d0PywI9yW3AlM1PJmzRn4prpcDqEwiwNqXt_2ddIGMUF-sLrVhx1rPojqRn0b8IHxR64oYT-r_Cx6Cix8n8VNccz2LFL2FXEJUyr2n_SVldLeg6rlKgDNIHzjt9S20qAze96pPBmKWG0u4esY1eGy6bccinSqOz_wENbOk9RipNfXdIUpg-tAoWxtO4XOZnabhe0N5Yb3l6Wl4-Gbbhs7wmBB-0-8eZ9R4dXQBXi1dJyfnkz5IsgoPVsQg-4skSzs7C_Jsi0zxBeBGoniybLBR2PVqD7pZcT2KzFqAW_DaB3CBO19YstuF4GueBI__yOAZV-069xn1_ZnGpzKHFeZubvp-Sxm7k-IsiERmMlajwtje8SJOkx5sZBo_f-ug17ChBs5i0RASj51Ym-c81lJo5osA07e9BaU-CIQuue4FoGMlbJk1YFMkSBsWc6kS-KflSYqZBrStqRzEXfZg1APybHoi3VvbLvsQvnNTDF1l6-f6ZM-N",
  "id": "rs_020015877df99cf1016aaccf5e5c0887d080ecbf4975053808",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.565,\"left_y\":-0.19,\"left_z\":0.05},\"note\":\"The cup’s opening is just ahead and slightly right of the jaw center. I’m moving a little forward and down to surround its near end without touching the blue cup.\"}",
  "call_id": "call_64u7K5RDSrO0a7B6RDei4hj4",
  "id": "fc_020015877df99cf1016aaccf60f73887d08317373bc87171f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_64u7K5RDSrO0a7B6RDei4hj4",
  "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]: [-0.5053, 2.4596, 1.253, 1.1908, -0.6247, -0.0261, 0.997, -0.1089, 0.8471, 0.6849, -0.461, -0.1421, -0.128, 0.9964]\nstate[eef_state]: left_x=0.5609 left_y=-0.1881 left_z=0.0678 left_yaw=0.1215 left_pitch=0.5469 left_roll=-0.0137 left_gripper=0.997 right_x=0.2971 right_y=-0.0037 right_z=0.1867 right_yaw=0.0708 right_pitch=-0.052 right_roll=-0.0076 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -12.2462, 5.3402, 1.6532, -0.0024, -0.0464, -0.0073, -0.212, -1.6479, 6.9538, 1.7607, -0.0806, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234cf06db3ee00c9560fe69c554062d07c38cc1afb66ace7d558b25d905dc4b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902507d4d7af4beeb25f130ba7ec97e64f6a2fb9022a51a82bd005df6fc181c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8051b5f8890ffd2d375c8510bfc0cb54d19fb2405e1631454f72be86f57f6626",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 173 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]: [-0.5133, 2.2887, 1.1046, 1.1286, -0.6266, -0.0303, 0.9969, -0.1089, 0.8436, 0.6849, -0.4595, -0.1425, -0.128, 0.9965]\nstate[eef_state]: left_x=0.5359 left_y=-0.179 left_z=0.095 left_yaw=0.1044 left_pitch=0.5147 left_roll=0.0083 left_gripper=0.9969 right_x=0.297 right_y=-0.0036 right_z=0.188 right_yaw=0.071 right_pitch=-0.0471 right_roll=-0.0082 right_gripper=0.9965\nstate[joint_eff]: [0.5675, -11.4803, 6.653, 2.0, 0.0024, 0.0562, 0.0024, -0.1846, -1.4974, 7.0085, 1.7314, -0.105, -0.0659, -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": "gAAAAABqrM9nsQ-1dXS_Qulv3l2R51coNxGVZuQyiUexnhueEHXiiedQ_GDubJTzmkW1QphjwEkr6mdp-v-C5Nb2K7uQBPNkj_hWC5H_e1czfNdAa5Xs7qMttC4Rx6ace7uuAT3J5Hn1cPY5r1II2B97vGFysut0TWeAB5TKLhgguSV6lYv3vfEmXAnTJM5RvIJT-JYaQr_XnSw9u3qY1UuqrUPsG3BcNCxbbYk4qhQLHrUD561-zKMqX1PjtO2V0HTxEcLvDvo1huxZsPEUOmOnvt59Q0FtZ11UiHQ99zpoQNQhsyvkhofzKY3XF0Bv5b__3WAiE0dWpAYUBw1oh9zpFfQx4Sn6dcVMppVO7y4oSiZDYfYRMIG2KWCe7zHGqLE8ZG5bA7TAakaFTP92zBHLBfKuFi_Gb1fuyRPZXBRqX3rLrBzWAvZMQtyuo_0gsf599BaOum7xR__65X1i8Uvgib7unvIg1CvHEJgFSzFGeqqjmtPt8oZZA2a5F_vPAqcn_Um_SKzcwdHYnehcz-v2Au1feXEuy4FO8jSQvQDBZrTLHfugVsDkqavaw0mvFRGhrMplhWsWBomNfGI_j8YLEve-XE8R6SkGOe_h-3zQ6O99GSJVX7_Xo9vRS7k0VAdLwuCCKYQyE1W9hUs1-lj2PkWa4KZSCt0QFaW1pEM5p8TXFsKfMbekrrIltBApWqwk0tlrAxg_0vFsTYph77ONyvrpi7vRHm7YZRInRZcCu5dC6iZjA0KXg839wcduz9PJsaoZJa1vD7Ps_Yjyi1_jM83gnoah5N6ZVNf4RawrNVKBnnNWrdyv3isfl-_PFpoIrlREBxQWEF3A2tTdOIu-kQBHfebvXiXc4vyQ3iCzDqoSY0nANKHFO1qdwrYRDHm647iJUiUvv92oJiIQnCIALXYnhTlLrQhTVOxzZUwU2tquLchu9xPE2o61TiWxjOQp4prrQciLeHdgdo78d64aEZp0m3hH--U4sy2XXA5cPTnVMCxCkFSG6Hyds1p8ohm3EDkiXyKU8S8atntGHPqawTBIC6tLaA_c99tW1LAe517yby_gUxhhcau4xu2dm4Ic36GHV8BsyPG0lbfppqgxDGJxzEtZxJNOvyJs4ryRkitu7q4laSlfIKXRYC8ErH5Ekn-GoJVggJ_v5s1u3GRVjx-OpSIRfIeMPjYV_poe1R3W6Rb_H2gvRVmJOaZgMBTjdDprDa1gE8RS0WT63-xrrELOApda7w==",
  "id": "rs_020015877df99cf1016aaccf663eac87d0b89693b3812ff253",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.55},\"note\":\"The red cup’s near end is between the jaws. I’m closing only partway to grip the cup gently without crushing it.\"}",
  "call_id": "call_v0tG0QMncxYARx8dSUiqiOEy",
  "id": "fc_020015877df99cf1016aaccf66d44c87d08d33dc321db18d97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v0tG0QMncxYARx8dSUiqiOEy",
  "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]: [-0.5034, 2.5004, 1.261, 1.1751, -0.6277, -0.025, 0.5547, -0.1089, 0.8486, 0.6849, -0.4599, -0.1425, -0.128, 0.9965]\nstate[eef_state]: left_x=0.5606 left_y=-0.1862 left_z=0.0444 left_yaw=0.1093 left_pitch=0.5075 left_roll=0.0203 left_gripper=0.5547 right_x=0.2973 right_y=-0.0037 right_z=0.1865 right_yaw=0.0711 right_pitch=-0.0523 right_roll=-0.0073 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -15.8974, 4.0137, 1.8681, 0.0073, -0.0708, 0.105, -0.2803, -1.4838, 7.0085, 1.707, -0.0904, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6e4c2446e90c09ede56bae31d197c32096b361dcf1d4b8713367e590ab34c02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4295ea52bbcf2dcb8c82c428f3538de288f243154fb453d457a78ea0bd07e12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a1acef4145b4aedf77ca4e24981c101202258e8d97c689ed64b0520b22394f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 177 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]: [-0.5053, 2.4596, 1.253, 1.1908, -0.6247, -0.0261, 0.997, -0.1089, 0.8471, 0.6849, -0.461, -0.1421, -0.128, 0.9964]\nstate[eef_state]: left_x=0.5609 left_y=-0.1881 left_z=0.0678 left_yaw=0.1215 left_pitch=0.5469 left_roll=-0.0137 left_gripper=0.997 right_x=0.2971 right_y=-0.0037 right_z=0.1867 right_yaw=0.0708 right_pitch=-0.052 right_roll=-0.0076 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -12.2462, 5.3402, 1.6532, -0.0024, -0.0464, -0.0073, -0.212, -1.6479, 6.9538, 1.7607, -0.0806, -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": "gAAAAABqrM9sOpJ0sAaW_YFArIu8sp5b3xqNObcLE0ydlIzWOp7yF_-kCvWXiDH3KaP_H7owcmieTh5EP7s7s190spDBQbvuMyndn6RBYYXmrTsOIm49hGiW6LezNwMOv41nb5TnxcEvpT5iBh5lMHFQaqRcD-CblipqB1nYSz7nvwHjYOW_NBt0_n5xDEJiOa4_xpwVSdAwAVoONSxchq2nK4GUVqXqzNBvViak2S7zSuCa9CxKhmp-pBdB-hRLWqnoDJ_uddSK3zeTefcJGFbCudFnNjk-o4XZcqliMUB259GgHKCaiaAQZW7PzxYwM0W0rspIo6kcwbB2MirRDkAD2SJ-nE5jK1mYC6EdFbYptTMBqY-tEYIvMcbO1PmjrIRYE4acGidcAVyeOlbq-XS7c9AW2aM6fcAMcxtBwsAga_F3Xo-7fDOjjyrH0to9zJCIFDK6ZXbfJqFBLsxV7445Umnb6tIaBQ8ZeIM89rWlqCSvelOiDt7KN8eEk6MDRgwtUgxb1OosRa82wLlXIFSz0VmfLHvHCn9rxCY0tKxBd3CzeikNE6s3qlwZvwG-5irUbe_UsXTArd0EauUNCtSOtNq-KXkbvCYyar1Loqc29_pOYOCRTM5cab4tM6S_32jGwvInGLyTwEY0CWU8AhMAwWcJxjDKEjrBVoKldNNQz8ydjSZt1kjFEPLIJ7XecWGe3d4f4OtqksMv3uR3mI5zID-XyhnfPdi3L5c4dCMrF8GFMpDlKzC5l1Q5GLJGh42vIb6Ulm2FXERfzqIEPPCUZHyF6Jzmd47mWFf9SOaLcF1vNwEArsf9hUSCgoit16bQldgsOsjg42H0BdWX33jdFDqFh0Pwm7Ddet1uWRxUAncownxevpnTq72CxhTQcaR5rG0byo8uOlLNWm8YyuT5WePyAy_MV5Bi16FYxjtMhwGQuLJ1aAc3yweDvKEr9qNQanlpl4YI5neBKDjg1NcR5tBSFnYGY5c4__rpUfRvWQNQ_EajL8B2W5ATRlmBXQvaHpYBjZuSirU5IMfn6KimROf_2pk5cjnDKp8NMcZlOiQCljEgRj0HoVBSVaf4Mr0mFjwjqBrJML3rC4i8RrfmhE7DsR0-Tt57ilPQzP0TUUS3brG9bZfoQnCb_cnyTlnQVRxU8fp53ExNpPKkn-np3HoRmfPWEWg1aqSAPkmTYXMl2VjYlMrtdj8nqQwOHaVAz9qqFHwIZd705vnJGMuiqL3iMXbJV3-vRq0e0ZCDigS-jR2qbIGbCwaFS1pxSQ8dAiy_38h26gcbNKmONFclZJSzX7N49BjDADRYAbYtksUBh71qLYU=",
  "id": "rs_020015877df99cf1016aaccf6aa85487d0a867efda4394a30a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.25},\"note\":\"The cup shifted slightly as the jaws narrowed, so the grip is not yet confirmed. I’m closing a little farther before testing a lift.\"}",
  "call_id": "call_xXtA4gkSDKf4FJYTN7NNhF20",
  "id": "fc_020015877df99cf1016aaccf6b7e2087d09c81a70486e1ce4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xXtA4gkSDKf4FJYTN7NNhF20",
  "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]: [-0.5026, 2.5004, 1.261, 1.1717, -0.6281, -0.0261, 0.2537, -0.1089, 0.849, 0.6849, -0.4591, -0.1425, -0.128, 0.9965]\nstate[eef_state]: left_x=0.5607 left_y=-0.1857 left_z=0.0436 left_yaw=0.1101 left_pitch=0.5047 left_roll=0.0212 left_gripper=0.2537 right_x=0.2975 right_y=-0.0037 right_z=0.1866 right_yaw=0.0711 right_pitch=-0.0519 right_roll=-0.0073 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -12.7521, 4.6017, 1.8144, -0.0562, -0.0024, 0.1294, -0.335, -1.4564, 6.9949, 1.6728, -0.0904, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 423):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca2e24d9de0e2816341f1d281c437cb010d9321df10519309bc584df510980a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 423):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1c2a430dbdaaf23d72d5b2441df2fb5bee7d1e5ba080f08d0c44b8dd7b0c0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 423):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:002e6b8968229565015a5b4ec25c954d2c73845f634f2c15e1275cc21faba829",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 181 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]: [-0.5034, 2.5004, 1.261, 1.1751, -0.6277, -0.025, 0.5547, -0.1089, 0.8486, 0.6849, -0.4599, -0.1425, -0.128, 0.9965]\nstate[eef_state]: left_x=0.5606 left_y=-0.1862 left_z=0.0444 left_yaw=0.1093 left_pitch=0.5075 left_roll=0.0203 left_gripper=0.5547 right_x=0.2973 right_y=-0.0037 right_z=0.1865 right_yaw=0.0711 right_pitch=-0.0523 right_roll=-0.0073 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -15.8974, 4.0137, 1.8681, 0.0073, -0.0708, 0.105, -0.2803, -1.4838, 7.0085, 1.707, -0.0904, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM9x3DrghACSg0wJJdmEy4IFxbLKCJgQQR06-tvck3sg9P9tgdnEgA0WZwax5hFL24e6yEsr4t5wXV1IeqDTaTbgPQgfhfcGIQT1kncgynslSHeopKuKOTa94XjfBXoKt9CXLXz5uY7sTkYM1xqiYqaERzeUpo9Py7208lLMnq2B367Duc-gy1QeXdbteUHzJVLxcc8auY331taZPfrtmuj0bMsm-g33XHr0UYXiN1rBn9UqSuHGd_81_kM_IbO9JOsKzHhXFprI20yvDWCoxVkyFdSOso5F0lxjKOkEn_t9sIydMQMRymDM4EdnL6S9cw5mzz1kOwtKsEp02tL3e6fARZ8oToz5nfuUBndJcUyHB4wRcdX_9Kob8pWRwoza73QAS_385MC1GiT4roKboYDXFA4gt5L0-5210PLqT4UvkgfHy5vMaWrsmHuKkUrQsAAuEHakx2uVfVF31xGN3osZ4T8EDSHubGRAKfoi6nW7DPtjrpPHYfvFMIEmSF5v5vAUjc4QZ5FjRK-W1AaZgi-Ldl8rsK55Hqzrmc5ubXvB0M32PskiDCKvWYiDBXQNofewpXUf69YBNDnCXWW5Q_dssnpNYrUJgK29HU-jNAGpnYrz83FcXvkCspVD6BzqXdUFinSFLYbw0-STm1yLyBdxG1JCzANfBrA4eqLI70IJWldN5Um0qGycP7v9RTfFTFMHKCiiHfjRXKfHngVCpU9G8yr-lGcjcLVcgLzYeEZcs5peZ-OdexhLf6ba1T9yq-ppFKYtjmWnXpQMQa4k4fWKPcYq4jR8fO_C93hdJvihFOrZ4b0dDF7ZIHHXKZ99QsxXxuubDMk_elpcDPLjbHozCoHumdMEmofU6DTLaeu7PKAGAKCniTzNKbiUDMV_M8a75Ladce_0UFniopOrv_A7R_MRQG_sdFpWkCY1ACGKdMCpKChl8B37DB1c2zuDpdjLRRGqaUSLXlCK1saSgYcQiK1xPFoNxxwzRZK8aijOEjw5cR7Ep8z84HDZmusbqemlMwvEdxWqq0XD0qjLwnUzie4hCxO3JAce4axKwpNH57FdaFRBR3hnJIE7AY4bY2EQYDupRlnFySMRTF95TA2E58Gma2JKHn5mwDFRC8GFkSWir3zeBOBktuIVeLNr4XdikNOaQ3pVm26E8CfPsWs-JE55cpFg5H-htVxGFVLDNHggyXPGaqS0F8x3ayEXcRzNYoOkzKZ1v1zCjWe9FAGGpr535SPqb_UWC2T88z66eOo2fq9tO_2fQR3MoBFGDhIn",
  "id": "rs_020015877df99cf1016aaccf6fb69887d0aa3fc8bf53e2c893",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws appear to be meeting the thin near rim rather than the cup’s full width. I’m closing the remaining gap to secure that rim for a careful lift.\"}",
  "call_id": "call_SHChZIqJPniK1YyF4bBW0Hqd",
  "id": "fc_020015877df99cf1016aaccf706cf487d0b4e7534e80c2770f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SHChZIqJPniK1YyF4bBW0Hqd",
  "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]: [-0.4992, 2.5004, 1.261, 1.1679, -0.6376, -0.0299, 0.011, -0.1089, 0.8494, 0.6849, -0.4591, -0.1425, -0.128, 0.9965]\nstate[eef_state]: left_x=0.5611 left_y=-0.1821 left_z=0.0429 left_yaw=0.1238 left_pitch=0.502 left_roll=0.02 left_gripper=0.011 right_x=0.2975 right_y=-0.0037 right_z=0.1865 right_yaw=0.0711 right_pitch=-0.0523 right_roll=-0.0073 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -12.6291, 4.8068, 1.7753, 0.0366, 0.0415, 1.0183, -0.3761, -1.5795, 6.9812, 1.7021, -0.1148, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51dc37ab6c2c9de48637bf9de91852516e4ce9be5924a676801509b662928257",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11ff503019424cde9a6578b57868e1dd3ead3ac7ffa59ba148ffe5c125674a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3bbfdf729e7dad6d6d95dadfc29b0915efbb1e7a1c0621fa7ae461b797ddda",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 185 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]: [-0.5026, 2.5004, 1.261, 1.1717, -0.6281, -0.0261, 0.2537, -0.1089, 0.849, 0.6849, -0.4591, -0.1425, -0.128, 0.9965]\nstate[eef_state]: left_x=0.5607 left_y=-0.1857 left_z=0.0436 left_yaw=0.1101 left_pitch=0.5047 left_roll=0.0212 left_gripper=0.2537 right_x=0.2975 right_y=-0.0037 right_z=0.1866 right_yaw=0.0711 right_pitch=-0.0519 right_roll=-0.0073 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -12.7521, 4.6017, 1.8144, -0.0562, -0.0024, 0.1294, -0.335, -1.4564, 6.9949, 1.6728, -0.0904, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM-CxD8pFa_A0UEyavOt68C3wqUVZemEWgBy6IR5UxlAnTyV4MH0NcUBeMEBAegVAC6F0O3BLVH8keiPf92FJpj8099mwmsFG1ILj_2Dcw-yGE_iZ2DlLSIcJMh2i74FfDtHcnnQJWeNQbS1J1SpAHrSOVh3aJhx310cFECVKR3CsZvDOTDBD6xAR-Zj-JdGf_nQpyZYYY11L5symtmyo44PIxVxilrNOelX5dSZZU6sXCeTF5FLvLkFG54efiA1H92IoaAKarIOJZoIYGh_lPAoafCK1ixU-S2TxpN6gbE6qoncJWQfYoRMxfiebdysOe3u2DuinMfIgI1iVdWroipeBkQIk4b-R9OJWSaKP-X3xGNPE9uyJGaRS00w71ON9jxugrmgigJw3T0lJBkdzalD_MfPtoCSC7-A0iFWXWQRrPqFLAc6Eojx92gkCeVzkk6cyUcAsFrUKMZw056IeJaxYYVwaVPjyNLapp7lHymCU1N7g_yPZ6HYSrK_zLQh_64U7KkJuYp6Fo_XKEnult7Qk3V4H2syJdTN3nN8BQ1oRmUUidGMQ80vtSg7rfLercmHAVPjEGF7qTm0uqkhrC_HVz9xg8oKvkowSRBuLkTYjJceYHrTepZjP8mK2QzCpnW892oCVDQkn6e1lMgdv0WUFSo0qeT3kx2G141fM6lc-5zHThTLOtTywlCVrSy8kMJsdZGMLm_H6OEugUl3HcLekzal0W637a5D_MibBmCQHmEj-7qH_-aqfPDmcmGXe2iutd6MgJQhcn3Mnoi96JEf65yaKAcvnJ4cL7dPSNqMN1jdU-xveDw58qsPAsnhSCL91qiIbbNS_C6yaBFTuRepdjJJbWxIhBhci8S12jv_wslYKVUstcqej-0bdT1Kzk9AHihnHfS0Pkj6iEMFDlthw3GvmpY3rsLC0OW_qn_LKZesVqQm-aQWhcAfHHN5IFu0MRcHinCh9cjVYH4LmzRDoDO7xWKwD5jhqM-UMiGYwvVjBrmYokBLnc1en1y4y6YvyNeNZktgyfYOtoG7CDmi_UCcE57chphqw1bWtMJh8-soXTn0uNWMeES0TtCifR0qCaRKSd2kc9j0Xsk8nPK1OY1ike3CRphydhWPJeuTnCCCeFi5JvDRyBgKLJf5Tie2ZlsFF0lXQDfFG3XNVPKvjvelsPM63i-_orCjwPGtfZ2QGjmO3O-GAcD-vyWcWKbSS3uJu8CjoGqZCQhVvRUCbDn5zP7tnzyslqbysIv65boSpQ1GtmmcCXu-QfF3m0YIzTdpCPzJe6mMoaOkZjpH45AKtbanaWxLcupK6b3KmA6WbfC-6CwWX-5ycrOhuBgy8w31To2qOLqcEZNE5vFrym-v2pHbSkJQD5WXIG_cI_psQ0WXNgnWu7L_Z4z4kNkTE6WaICCa70Nb7b2ZteOTLcxKIsSO1Bpxt_v3TuJcH2u5eXHHW9jhpp1s8jcSpBw2Rl2ASJJiKAYmdpsuhb4d691AQlZxVjfFD1yo_AaFudw2AeBegAu5aaAqFiCDOao5BoYt72nWy9vJesOytgCpV6i-KmeXW2b97sB1mzZmFYtWexsTqlTVxU8p6xDqO6LLcDQAH0Kc--yJJtdjOpq4ENgSkkK60UNOrwP_xPxla9O_uEE_tLkkVdCtCMehmh3LkgLJ3uL-vmk4kHaW5dmVzXaef_v1RvMlCTnQMDLtbiqxwpIysaHyPuw_e6pkraD-0yXSlX5N8FgPqhCu_kU2-WytHs9-Pt7mDkntbMKCje-kRp_RHlSsScr11jVn06yeBdS_S24hFF0w0WKMw4Ez3jRMJ2Xq8tAiuok2_-AASg3sP1hNXC1nqdKbs0NaeSFYJBVV_3Jz2F1D3ISUBsDfJdAWlhLqIOFIgK__EFSyJtE=",
  "id": "rs_020015877df99cf1016aaccf7dd61487d0a7ccf8a2edbd1bc6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.48,\"left_y\":-0.17,\"left_z\":0.3,\"left_pitch\":0.25},\"note\":\"The jaws closed empty and the red cup rolled farther away, so the recovery grasp was unsuccessful. I’m opening and withdrawing upward to leave the containers undisturbed.\"}",
  "call_id": "call_0QTBhJyUcqRbX0MOGJXzNfJL",
  "id": "fc_020015877df99cf1016aaccf80e33487d0b37996c00e8fd435",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0QTBhJyUcqRbX0MOGJXzNfJL",
  "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]: [-0.5583, 1.7386, 1.4292, -0.0753, -0.6575, -0.2344, 0.9975, -0.1089, 0.8513, 0.6849, -0.4599, -0.1425, -0.128, 0.9964]\nstate[eef_state]: left_x=0.4921 left_y=-0.1758 left_z=0.2763 left_yaw=0.1243 left_pitch=0.258 left_roll=0.0116 left_gripper=0.9975 right_x=0.2975 right_y=-0.0037 right_z=0.1858 right_yaw=0.0711 right_pitch=-0.0549 right_roll=-0.0068 right_gripper=0.9964\nstate[joint_eff]: [-0.5949, -12.8479, 8.9915, 1.663, -0.2955, 0.1099, 0.0073, -0.1436, -1.7299, 7.0222, 1.7363, -0.0806, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a857bf806e9f3884d2e48b14a348475f089a7e34b5a6f3c8a7fe48a32552be7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf2d89f6ef0b960c5c5df48ba0f6c1f10017f2a1f2f8256e1b207efc4fbae7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e49292d70c8749cc999084bad38315f97ae5b1e762ec05f745ad542247bfd07",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 189 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]: [-0.4992, 2.5004, 1.261, 1.1679, -0.6376, -0.0299, 0.011, -0.1089, 0.8494, 0.6849, -0.4591, -0.1425, -0.128, 0.9965]\nstate[eef_state]: left_x=0.5611 left_y=-0.1821 left_z=0.0429 left_yaw=0.1238 left_pitch=0.502 left_roll=0.02 left_gripper=0.011 right_x=0.2975 right_y=-0.0037 right_z=0.1865 right_yaw=0.0711 right_pitch=-0.0523 right_roll=-0.0073 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -12.6291, 4.8068, 1.7753, 0.0366, 0.0415, 1.0183, -0.3761, -1.5795, 6.9812, 1.7021, -0.1148, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrM-NIDrBb_xWoux9TMC6Q5DBjoDYUcpVzyPfbr-P-0QyaNZXT2PQmbxFg5PPJctlQJpy6runvaPNSMcLyzorUbY3-m1lHArBoRFncM9OWcjg3v1WgsI0cztJvTuOn-HSH7pZGyqv_GfiDHj71Oe7dEN317va9LUH6e5PKioO0hY9HVYDI8k3HIDMlnboG9Q58OzxWG6q_TPWQc8AzjMHgNeVwlnUwkJFG8DzjOw2kMjMgJzM_6yrEeo2DEQv0OIQ0YR9mh5Lm3E8GiHQmm5PeUaiuFpprIdS0z3zZCWsJ8wT5mfa1XfKWYN1xzLGbU3gbi-dXVQVQvoCJaUhsc0nTDJjotdS782BP9AphAMzwfPnxj0hSDHOmjMDh8Lw3A-WWA3YQHRbT3ILcVJsQPzMMyKTT0LP-4olyAX-cVKmGebDXRdjNmuwkrUyQl_vxltDGWB2m3LpYnHEU_ynWU_wPUJyJf05yenLIoDlqDkWxpRwmeUWIQisDRQbKp-QA1ChotB4X2oc0OaHxnmNNJsBzukz9dPJIVckzxFYguoFky_L2oUlM_UNLBQFzdj4KjtZRCedWO9MBXuTR565_kgPmGmuXSLSZOk0oih_MuITEbohQgfEI0KeAXZGcrNvc8KUli0AY4iWQ7WRRG-xZMLN8UcBHlR2pF1O_t8j-R3iaePxu1D0Dhj2rNfIMpBePokjgjcodTwiwZ3dR3ffZGxcL6DSChuwcP4kbm3UybQDwccMbXSO5QO4kuEH1az_cP6gs7nyIkm3yT9p9SZgrH9ltnP0qLlUBaZSciTtmCD9mvktW2CqZQJNjcjugdMrZw6sdVeNu8hn0Ais4WZutvTlqJRqP_ETB9TqkuER0ZEPVQaSwzg0xrse9_WlFHh-tjv2gmb2FlA0Gy09444ICkWQfXuOJG-irjGNel3_FrXz2abx_bc3utYaMIehP7cQ_drOVyqSPfWF3s7CYp44UOMN41-h1jDuzIyk_vzHi2XqdpzOMy9vJz-XKm4VW-en19JWJceHGk1g9Br8JxnNnVIBzcJPiyPUzbFpphi3ZVKTsqwfpAdSWZSJzONlIm3aiS9cBQPAaEwJz9dsLhspaxDpxE-6xBF87X0M2KfOdSm8LVYrx0d0n6V03IGL2WN9We4Exwr_hbhH3OLITenGBva7Z0GXwhLwW6r-PN8CbzDPua4BJBD_mKaSSFbps8jsLQ3IEnf8dNnjo8hkRaDcXbI4XatFepVA5bs9j3bbxOZrYJfh4KFn5dkWEtdN_l9oNIqFvXtTZNZpDBjZRXfPOCqqvJ4s_V9pjXwttaBkztl0ZtGBgQoIp1I4ePZ3mncPOqvyvf0jZ4w5e4l-qaYN25ncgNFciIEFsyKh3NQMegW_ehcxde8=",
  "id": "rs_020015877df99cf1016aaccf8a057887d0b4d5fc7f8b52147e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2},\"note\":\"Both source containers are upright, but the red cup remains on its side. I’m parking both arms clear of the objects; I can’t safely confirm or complete the requested pours from this setup.\"}",
  "call_id": "call_VRCma0bj1hgIUSD9fYJNzVw7",
  "id": "fc_020015877df99cf1016aaccf8b619087d0b3d494b202fed8dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VRCma0bj1hgIUSD9fYJNzVw7",
  "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]: [-0.178, 0.8463, 0.7002, -0.3977, -0.297, -0.1879, 0.9981, -0.0906, 0.8536, 0.7078, -0.5121, -0.1349, -0.1272, 0.9965]\nstate[eef_state]: left_x=0.3059 left_y=0.0012 left_z=0.2099 left_yaw=0.1651 left_pitch=0.0422 left_roll=-0.0092 left_gripper=0.9981 right_x=0.293 right_y=0.0008 right_z=0.185 right_yaw=0.083 right_pitch=-0.0869 right_roll=-0.0051 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -1.306, 6.7761, 1.8828, -0.0317, 0.105, 0.0562, 0.6085, -1.7162, 10.0171, 1.7167, 0.0269, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e37ce8f7e4f42769086e6c05c6b805475c49b701c15f7c1f26192847ffb34855",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888b8dc8029d3bcbdc53959e6e64a648e3b5edfbbd9cb12a73932c5a21699fef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3927b99996b23cec827ea023da46906c84e1dc7a55bd77de8d35dc4bf97aa67",
      "type": "input_image"
    }
  ],
  "role": "user"
}