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, 0.6174, -0.3779, -0.0219, -0.0154, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0132, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1853 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1836 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.6342, 9.265, 1.7607, -0.0317, -0.0122, -0.0562, -0.9368, -1.4701, 9.935, 1.707, -0.1099, 0.0366, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00a54956cdf562e2f679c519a513882489e938ac04b9ae86f77b52dbfd1b826",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:356b02c212649f5a6e8d6590e25a934b6e4d7da2d5b4eceabcd3941081095c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9b0f7e4f120b59b1e75235d2d9b5a7107e85431c5fc506e74183a681e4e0d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrNRSTbMaivHCxuvbnQ_F1fiRpWCIZvrPqXwE2q1bsxtXOSebrrjAQj42XSVN6_kVuU5GnP7hTfsmmVJV02JWLnLxllr9O0RQVoNX-mqOG52R4CuGZ_O8MVubeQVHCXCfcbBI7dgRQXM3DZrAuEpihXU-FQo-jt6j9B-rZqwyL-F-zfWxUPJmGRhLC3Z5x6FYp1TQOpl_qTl4-bJ6Np-JpDtxbA2Ua-_ciNQDSS-_e30zet3H91GYLFbXfZrUFcbxdwa3m3Y5xk8hHQKiFILNFLqi1_9VrJ9z1ARUDFtdxaHxkKf4pqDYQ1KOf0i8UYDDzyJurxRxp9LX5f3tB8GITL5HtQXNE65_DbN_3NvmIjmTdiTafF-t7528YWSpEpaXiXbUTy4nOH0HRxrx8T4QokMVlcqxKR5_N9jWiCNFFxVulHfT14J5TQKMR5QUJWEte7-uY5mZeNDn3EhE6Qwc7trEtWbj4V8suyfECEFusVTdjHJA_s7Nt11siYre5vDB_xE5bX6ykHkW-SrzqCXxlbYsCviJc2u9b30DkpwHm8iUzMpQ2ATIYTAS0visrW2UZ_zRs50bczK3CFRE35DDLOi0Z3z-cXWI_lsKUnUSwZISyvGBpEyq7jWPmlzPqmiiLa6DupBhFjx56pRcUdfQJSDToPxgRWi4DcVR4lECi5LfT_t8jXZSuQLRgVnhVIL5mrIFgXtdpCwOIt-tNmCERkhWCZy5bcI5kIgD5GO4IE6l40c2lhNCBOf-jCft_0nGDdEDcQe3JKvwsTVzxTgwq42zZHQfMAb-ySaThEoQJFmZT78B1K9M0D4Mth2x-l7y8I4JdLhrWapQ-wrQliyxNSz14rDfQDBY4QPNOl8tbBeCvNh9K9Y9jR-kPWktlf6F3vNbQ1vZHz5DJW-7USwQBe7UrsnRhgdBGuEwIDLzIQuyBa8H89e6Rbegv6vE25054PVbRGDeV_emfApkExLbS7K1XmFDnMlHjZesXZ_lSE70RfFiHXR08-Cg2EYjNfpM6gVmE0E-cbPMY58kRVo3kHLqxb3RaezcLBijDfp6uMssfxTTqhO6s04nxVBeQOMVRWDw9kqSb_E48P6_yElgJn7IlCQIx-RYk0Wunn-Tu8TdVZ9ur9-lCKGiQSbe0bdJ4dDfJB0aP22uopUm48TppYPmrMIk_szmWPeDC_gU87otSivN5_jHhWaqma-bMookZFaN5ZlV-Q68FDes8XWEJr5IrK17OkJK_5biae1S5snnAhn3G4nc9Wde9J8wEyWLXe5q67PNqlu7cO00BQ4lMGOB_flzkiRElHv8xmi52U4_4eIb1BfbSD2dbGQCeanP9J7slUuIRhjsaTMsNqsELoAn5hyBXvmleQPxuKBrnFU9202G9gy_fvNFRieze9dQ8Wkitwpp3W9SuKRJzC_JupFCrJBj7VfxEP90haAuJkFDVKjiOwQ5wsYIhXapitJS9Kze1rwGo-7mBymK1cDylJphx63fcOuc5iGytCZClIQVNtWRsfCAiSow0U7ckIKpcT27jBxvXTO9MzfTRXTzK51Bj5vRQTmo7HvrqZKl6DajGI-s0aE6_tElVOY0ecE9TKRK-a-BBP42CpbNnUGMZhnhWHdGtVLVdZVgxE48Ai9yw6qvipm-9ZB5jbWpSR_o_q-DmTW_r5cFPgvwwxY9ABpQQG31Twma6vHgGbTBEmL3bPQhfFcQnT5ewXXOMteJiIwT8mDgjQ6yRL4vLIjxwo0Qfw==",
  "id": "rs_0bd89be888564fc4016aacd44de85487d0835a66dd97abe088",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.19,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.297,\"right_y\":0.001,\"right_z\":0.20},\"note\":\"The two containers are in front of the red and blue cups; I will handle the left container first. I’m moving the left gripper toward its upper body while keeping the right arm parked.\"}",
  "call_id": "call_LWSQ7b2Kr2t88gFEk6HIgaUv",
  "id": "fc_0bd89be888564fc4016aacd450c32487d08f387ca944652581",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LWSQ7b2Kr2t88gFEk6HIgaUv",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6449, 1.5681, 1.1393, -0.2756, -0.5247, -0.3939, 0.9996, -0.0154, 0.8082, 0.6426, -0.4366, -0.0124, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4046 left_y=-0.1891 left_z=0.1845 left_yaw=-0.0074 left_pitch=-0.0361 left_roll=0.0083 left_gripper=0.9996 right_x=0.2927 right_y=0.0013 right_z=0.1821 right_yaw=0.0022 right_pitch=-0.042 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -7.6239, 9.1829, 1.6239, -0.3932, 0.0659, -0.0562, -0.5265, -1.4974, 9.8803, 1.7509, -0.0806, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79061bd89a65e0db4649ac27c72ee06e76abbea927d7bdb43858990873a95897",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b52932ed411e6eabbdfe2f070cfc9922c8c30bc5b6d62fc5e8da62aa376628f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a033a9b34790966e8f8831952ea7f10428f886f3ad48bd2d61e09eaf11827a0",
      "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, 0.6174, -0.3779, -0.0219, -0.0154, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0132, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1853 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1836 right_yaw=0.0006 right_pitch=0.0 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.6342, 9.265, 1.7607, -0.0317, -0.0122, -0.0562, -0.9368, -1.4701, 9.935, 1.707, -0.1099, 0.0366, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNRoGx8lvx8wSKrDwRaQrEFSTfO_GFXd6ikK53NV-EEVjIumYST-qib-wdV9efOnhwtYiwzwHofGBDR14uZuia8Oi8WHpXHsFUd9aPMI9iq7SpbKFHIo2mHnVMLqyrpyZwfS11krwg0dOsyF9XsECDKu630TMYZ2ITEbMCgeKwHW6l9Q0fSqTY8TyCP8Ycwdyu_Us4woQTW4fATcW77_UaKvmYo0QcP_rE9_uk6Q1uTF-hrpgZRTPw_XWubs-u5XiHifKlzxZJ6-o_FI2fXDf5XpCKd_f3D6EHchsOjNnsEoneh6ocTiLr7NdM5oJllrmq0pVUNl73sUFNB2w47Nqe_Euhd1HHEonkmZq4kDX2BuMQ56nGJyvyXSr77W_nDmvGLexlRfpW2ju63UPkfTPw3YwCZFlT5m-wwzhrZ1rv-eAn2QYjIJ-FyfxSaAkMls90rRxXazexY4LbIt7vUNzICoTlUM7eYifrzo9884V3esGy7gbQmrMBlz0S1E3Mec4gO8g7FanXCtJVXYuoRLiRNRoBxk1EK7GKI17zaR13tWG_B92ggBI7VCgVbIHG7OXviVJa-jp8fRnBvhl0lDlW2yroFCoSXIdrWTSsyoz_qgNSoEkRsb9MwX3oFbWX8a8qFFlLMyjCD4AxfJkv9znGtm-80vtNvkWRTeChoFlY7NiYcKswjX_hDC95FvrSBr9ocGrrhCsjcPgFWhF7hfcWLOFpZMBhamK7o8475qJOYjtXT-8aD5XbOqllIbn12Gwfv3LvgP3eVi6nctoRdz8aXCN3A42lOhYzIcYqCVWNy5Jc_D5uvUr4GAeKo_xb2etH7M7yW69zSAjIx0qeRcc1l9TV31SF3JQF_0SflracxNx1VcoxjTBgxByRcFvIojvXf7LXtcq6b32Du_UY-in_QZpgDaPp0pTi-1WQqR7D1qhC-yfUk3kkARCTzKkM8kZnvVserFSWACY4T-Wikau-OE6L05NVgX9rSZJLj9HtIM8wy80JAclDEVc8AJrmqAHj5R3aDayk24Hu4r9ZFe7FHL2w1mBwO1WzJyAjtNLAm8XS95esOHKL7yqQoiMGyRRVt3jP_LiFSNcXWqkTMK30s8hFysETCieuvu1gO6jWKmPAW7ETuRumCriBYT0WYwt4vXZRTdKuqdjNIMztGshseTAZLaioYDkwYUi9wPNY7nLQh2vVzVKfkzSnMpQRnyEY8xS0CDTuS9mSyD5-bWgweMuoi-n4572I4gGEh4FNIkgNcXLvMmf7IRkIemsKkfsaGlydipnQe9Eo7kZfCJH5kMsmu0k73zfxhGaHUkbbloCUrY2FbZxwZ_pD0TKRbDj_MeFnqJGfHxFS6VRaVnXPGt2NI2VGYXAdqj40g1-ZUbUuZmcYFhcBjXXK8npC_FpSVL5pOV-Z3AcvjDFo3fNsSOon32S_606XQj6ck-BCrTuusPwVW7ky3YTnSXMf1oGG6iWof0UJkkNqm00_mTwQUJ1XOXJsdiGxLxFI79pjvO6FXvQQroVibnhz21NSuzs6Bj5vGYDl7iKGb-t3QRcIwg6c63df4SLxnXGer4UNlj_7EktGogZ0aLdVgcjV2YYFxB7yEJw343qGgfpVWNyuJyIZHB-xSa9ke49uxFzhRvS2tbtvlwQB0lwgP3p4kUaMQCEJ5Eb_Yg6w8INtg-33gRwygEw1FqGWrc2-AAvQaPlvgU8exTLs4FgyGBuMQQllX6-c3N7ijdzKFCTQB7DlM-sg==",
  "id": "rs_0bd89be888564fc4016aacd463546087d09d65126460ccc6f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.19,\"left_z\":0.105},\"note\":\"The left container’s body is aligned with the jaw column, with its open neck farther forward. I’m lowering the open jaws around the body to get a secure grip below the neck.\"}",
  "call_id": "call_rvVavLgTwIvC4EazMgQeKcva",
  "id": "fc_0bd89be888564fc4016aacd466f7ac87d0a9a24b985790d0ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rvVavLgTwIvC4EazMgQeKcva",
  "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]: [-0.6079, 1.7096, 1.0039, 0.0998, -0.5461, -0.3664, 0.9996, -0.0154, 0.8097, 0.6422, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4351 left_y=-0.1866 left_z=0.1345 left_yaw=0.0324 left_pitch=0.0506 left_roll=-0.0165 left_gripper=0.9996 right_x=0.2927 right_y=0.0012 right_z=0.1815 right_yaw=0.0019 right_pitch=-0.0439 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -6.2017, 4.9026, 1.2625, 0.3053, -0.0366, -0.0122, -0.294, -1.2786, 7.0496, 1.7021, -0.0855, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade76f8b1610210b130230d1b0b724bdbbc6f58542624741db1fa45c9105bbda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd9f37d00ab9c472d3e64fec533ded18a6fb035788a990812cba27cc917897e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bdffd554d2852c038b5e180c8ca22ce607cbda8a7a9697470757dc7c8566c05",
      "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]: [-0.6449, 1.5681, 1.1393, -0.2756, -0.5247, -0.3939, 0.9996, -0.0154, 0.8082, 0.6426, -0.4366, -0.0124, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4046 left_y=-0.1891 left_z=0.1845 left_yaw=-0.0074 left_pitch=-0.0361 left_roll=0.0083 left_gripper=0.9996 right_x=0.2927 right_y=0.0013 right_z=0.1821 right_yaw=0.0022 right_pitch=-0.042 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -7.6239, 9.1829, 1.6239, -0.3932, 0.0659, -0.0562, -0.5265, -1.4974, 9.8803, 1.7509, -0.0806, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNRuNE4FSM4UlAtakmKcxsU52-xw2luDnXuWBIDJleYxg_lI7f3sPpiD8uf7fzMlyIFYqg8LBIQGOapI5EFcP6OqK5UUD1kWZZtOhPCGJGXcKAxnFX3FCBq4SH7TZNApJGYVm2FaRsinpsMbNixvwOwQtLtPlo-7dTmtWooGvBrOkwTVUff4l2MMXpaNKXN4l0GNTlKwUWDdctEX--ByhgnALfW8067lVj71j8qgYWdWQAdXQtBiQseTgImvn5o8Dg4hpGXOiKHi73tMMqypLmcmPh9uFTqdnwh4qK2m1Xh64AmFSMIZFQTH48M8s1dG5Hn6S0zqKijk8-FlQ6AEA-1SfQobt6cIwc-RmFr3ZPcMYaZ2glBtaZZ_vEZkawfWqlYf27IiMQAKb0OVNaXEVSFpKew2EQ3MAJQ3pQxyjxOVup2gJ_LrBSSeoCpF50LGmLhcuDEe_2ZaHolkzd_wq41Ftcu0fmt2u9ffF_AAMPq_YfL_jUPfvy1343nNxYZI9L0ACCIiUnnvO9CPs05UXloaHs0f26G8zlVwEosOXvfCI5Rj3DYGnqVTioSh4mcL93xoGeNzgju-CzGCjHrux5hmCTB3vbyenYqi3mwJ4B5ZRVoFSPmPNuY48mhpy0cCGmEieM90FqJa3h6s8UkR3onIMRT1lhWz8ub9rLtl4pjyzWScu_GOyyBiF6iusPOJ4q9xJCPU1x7aQycHhfmiujQf5dETImkRBSnX9nvtfHoxl3uK6w-uga-UdJ6mHMCxKw0HlJQSu7RD8pAb2zPbhjBHTueXXpyktjbExlnqBcBIsyIQp_gTeQY7A5wQ0dGKJCC4_utBxpxGJ3J_-nV7G5W56kQtQLVKXwitRO0XUJwk_4VA9bwUpaiNdmy7moiX0v6-qbmsOcqghcIX8Z-8wsyhdqWr4uQQa4TVnJ9MtrEnL5OWJRuiQ2-8mtMbFXFyetS4FxSZcm2kY0iRxLIfebSFuSbeyheA-ST4j55Opl515yiGDx96KXojZL8a3ky1X95JpFHcPD9z5_KfCC-5nr7FJbaZUbvAIlTflybGLcpiuqpJyEzRFB-dp2bAYiC6HjYY-DXp2V4Lu8YC_PyDDxwBS7-Da0CXFupBoL20IlnWW4oMKi4sBxSocuJk3mV_Q4ymgb8VTC3mXmeQRYNWyMHkG-1JV9ldUcnbc-ANkIuWKrSinj-9q4xSiTS94rXkL_eagbUW11WchUG8GGFLfHwrz6eV8iAEqNf_ZO4Xnqjjz0vrnUtZTn2RCkd83L5Ry-dIzGVxWqUu1ozhw8r92qMJpTiOozFbl13v-jol1hdvucPskdpMCx5ziyXyUn-KmNJUg_1Vm_VHDqngCuP_X_FDx3sKCf6swjw6fvOVBUAlyJdMCs2Pc6FpOdbbRnlH6vx9EKUfAV4iwDodn3ISZPu6XcgBjXuICvqHnPlNOhHOI14=",
  "id": "rs_0bd89be888564fc4016aacd46c1cf087d0afa26b4fb7f48320",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws are beside the lower portion of the left container, and the descent stopped slightly high. I’ll close here gently through the gripper controller and check whether the body is held before lifting.\"}",
  "call_id": "call_M30osEbEnjBOHBEygGiBy9Jp",
  "id": "fc_0bd89be888564fc4016aacd46d509887d09d3701d29298124c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M30osEbEnjBOHBEygGiBy9Jp",
  "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]: [-0.6064, 1.7073, 1.0134, 0.1257, -0.5659, -0.3706, 0.2484, -0.0154, 0.8101, 0.6418, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4402 left_y=-0.1857 left_z=0.1452 left_yaw=0.0536 left_pitch=0.0873 left_roll=-0.0343 left_gripper=0.2484 right_x=0.2927 right_y=0.0012 right_z=0.1812 right_yaw=0.0019 right_pitch=-0.0446 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -8.2667, 5.7504, 1.3895, -0.0415, 0.0366, 1.033, -0.3761, -1.1282, 7.0359, 1.7118, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:986746598106ae61411b36a8e77fe71d57f324a9c135b6135127c972613bf756",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458d42fa1ca7b15d8a788b38d4d7945c184ec5b9df6e6b55772914b40e99d06d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c2d52cb618726e88fc342e236291e631b5d670d306f872bd5255e4274ae15f8",
      "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]: [-0.6079, 1.7096, 1.0039, 0.0998, -0.5461, -0.3664, 0.9996, -0.0154, 0.8097, 0.6422, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4351 left_y=-0.1866 left_z=0.1345 left_yaw=0.0324 left_pitch=0.0506 left_roll=-0.0165 left_gripper=0.9996 right_x=0.2927 right_y=0.0012 right_z=0.1815 right_yaw=0.0019 right_pitch=-0.0439 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -6.2017, 4.9026, 1.2625, 0.3053, -0.0366, -0.0122, -0.294, -1.2786, 7.0496, 1.7021, -0.0855, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNR2h8Vka1EIvPCVvtq7gucupiQ-5RETrHVgsJWZeG293RKQsiuOjdvtc8GFzE00ytftrdnxHj0RcVm-ir9etnasWLT3ujksT22jLgVzMHcDBqrxY4eu9ypLPAy02lgZhxMXvA2yx0N5lcCBYjf3RG4m6_oNCrc5Sgx-sizUhl2utlCZemyWOSey5khmdS0JgG5wuc1qEXfBOyaprnhv5hv3Y4VQV2BVX0dCj9rmcZi7WlpzdAJ8nZ8ZPUcNfNpqsDgWGUJleswoNz2FHYta6qn-sew_jJ79tG92IH_J29zkv8tYZ4PC-kaTscIDhtRtDJ1N2AxyZBbTNouxzKP7ER1p21i9NDGmBY0OLwadLNSCPB_5NYVrZQ_7cOGXUExNSbzY61KK55ffmi1Z8vF3upzFWB4wtMmpqZSUrM0UXiaAIN2uPFo5TnHLzMnZJpz952Azdy5UG1lFeLT148xkETmF3dpIhRgAGGHlQwI1GxyP9TE0hKbEB4CmYY4iVGZ9sUKQihhylS6AtE5iv58jTP41nGq0-VoP0rx6Rym_722AKYHhpdeYkA-gxHqgRiE27--xf6vI6e8-Z5w1dVcLE1QODmJL5zItGNgWDFqQ0T2LqKxUEJVFn8s0R7jj5AyqbI6CMkh8wPV97qUHGBkkswdhvcKWeDmGlMSz8-6liz30SsTionDHbNM0YAp9NW038zG8mUfujh-0taj9nTQQ-E6R96zguQkQccHBmHzjTT-w7eQbbe2CfltE8P7H3rsHxTdjlRMEHXaDzbHIf1w6PuedbpIoRLC-Ku-mKS7_5qBOUMg2ZsrLB31NW3WwMrHs5xMp34YAlogxiN6U3XFI-OJ3_WuQ3cZYTWOTwJjicZBQGspUEAy91QwWUuYkhWMgcYr8at7-b0c0p69AA_Zojwwkhldj0ocV6zOBxzVLiep4sINNlp4McNZcv1E8uJO6kZdfccbLbbhJv7jJ8S1xRnjtaSsvb5VUPtQiX7QdsA9lvxRFXIaHdcm3GedXkm7qjffsFJsqilOE7Ec4N31FA4Z0YOAExxELTpTr9jKkhDOnCqhGgHOosEj8HJEU23LkvHrLBcKOQistNZd0dVF78v-HED4vZave7vLxnsmCfMZ9alojupKn7CbDGQftuDucLt7ot96IlaILpc7vnO0Is2dd2V94rBAS2PiqG37JKFBwWgiQF-RCLvg3_NUuRN-KsoPMjx9cDNFFrvHrB_HQVxPoqA==",
  "id": "rs_0bd89be888564fc4016aacd474389087d080aaf5c67388bcbd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.215},\"note\":\"The gripper stopped at about 2.4 cm opening, suggesting it has caught the container’s narrow rear section. I’m lifting a short distance to verify that the container follows securely.\"}",
  "call_id": "call_AXsM0Kls9aFmptU1L1PfW1LK",
  "id": "fc_0bd89be888564fc4016aacd474fa4087d095d85db9ad7048e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AXsM0Kls9aFmptU1L1PfW1LK",
  "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, 1.6772, 1.1576, -0.1516, -0.5686, -0.3828, 0.2511, -0.0154, 0.8101, 0.6418, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=-0.182 left_z=0.1689 left_yaw=0.0596 left_pitch=0.007 left_roll=0.0197 left_gripper=0.2511 right_x=0.2927 right_y=0.0012 right_z=0.1812 right_yaw=0.0019 right_pitch=-0.0446 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -12.5333, 10.8239, 1.8291, -0.1929, 0.0659, 1.0232, -0.2803, -1.2923, 7.1863, 1.7656, -0.0464, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c00cbeff68c18502e2019f59aef3822f5a45d8cb0aea72729306f75d3bae87ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4496edbc31ee705089c857056146baf1c500cd016c01bebb7770f6d708e00a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:161fe9e8e193794575ac384e57b7cd4cae25a4421ef4c2768c4ed4700a3c1c6f",
      "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]: [-0.6064, 1.7073, 1.0134, 0.1257, -0.5659, -0.3706, 0.2484, -0.0154, 0.8101, 0.6418, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4402 left_y=-0.1857 left_z=0.1452 left_yaw=0.0536 left_pitch=0.0873 left_roll=-0.0343 left_gripper=0.2484 right_x=0.2927 right_y=0.0012 right_z=0.1812 right_yaw=0.0019 right_pitch=-0.0446 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -8.2667, 5.7504, 1.3895, -0.0415, 0.0366, 1.033, -0.3761, -1.1282, 7.0359, 1.7118, -0.0415, -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": "gAAAAABqrNR9dyPo5p2JKwt2Qqm8wG5Lgrv9ZVNWeDMn64PwJeLFidso0jk9k8wXxTu-ftQJJREaOaTmmqh7BHIBiXHmTJS_E5Gpv_PFD8ylE_oOiO75rLHZ8Te8SCD-8DuYiBu_0MnIKapakkNqzektd2wJlzIrZpnKEY3LK0UDaLjv-Hp9T_XbdVc9q99p9aYb-xvyhQ2FgW0T5B-hmqLDz_2A3LZzEc6YTjrx5NDjmtVxe_bhHPLdXvq6RoKOThpPI1mgRbPaIHK2l_vpRqfVMDGXhfOxV54ojS5jMeqjjLCUOI3JQOmnK5ig8wFqPsszc1QyvQLh4Y_6PNz-WRjN66AVFS0swl-VR3HnmtKDIm4_ulmtHxDWGcy86-w0xQR8FLEBkdAiHJGwbkAe9VGAAr-BodyXnoHUQZhm5MMRJ2Mym9_qQnWVYCp7hLOMETtuN8MTfdOoGghPi4iji9KTtLb8MHvStEgFVPfIX-_wy_3V-kI8Ys0XG8a5HS7K4jSAY4Dr7S2aMay__LwJiZGbN2nIxo-dWIBwkj_EDPx0GUMrWsMX4ClG-yw15cryKJf0UlzB3-NFbcL-OSQUSTijjanYknwAPigYGu7fnHMu3GgZWxbItdPFj7WRIf_pFy-Liy9_PbVJM8PikTjRlNF3JuAIpGkHVHfMtIQqEIR590tPgu4zRILUhHfa-faE56ciQTPRcgf6JUxFgdK9e0a6HPKciKCXtAjzZUxSonp4yrZjO9bOOr6ZEt2wmtcaQGe50YdF7X1vb-_EXCykBa5RIjZ_SFluSKlfqfchLlDSypB05vQLDR6ldS5VPm8f6Qq9sGLbF2iV_b6nFrnbLMNQzJ10wuFCwN5hrXrRhS66TsGmc9ANc3gaBhhoYvGdB7Y0k8hLpUktyabR2bl7ZPBxB-ZIAb22Y57JBOexwHWrhbY21eXLg7TlGmVnVFvcSEBH6DPcw3pF7kwdzYROYjnlKwtZyYKYOdK-cFAJ7UkV5kh1W945T4wDxwILA0Wc-9LdtoO4-UDFtE44NEnPoC-VKiJ7zWYgGhiNdoH6FW_T-wjligodg3eRQs47Nb29kvWE_2p6ENbMWowvCMxJ1vycYkujMDyu2S7Kga22ZuKD5vPTAd2i8z818uZNUD2m-eCF-meGrUR80Y0ani3UXCr3kD1QwApekjPdKp31Cqo9zKga3YXS_mqiZEbEdTepn8IHu5npuleOBdkB4aUvo-69Ojvnv82QUBk601ncjVg-DHx6J24sH9w=",
  "id": "rs_0bd89be888564fc4016aacd47b850487d09deaf3f4f9f9f30d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_z\":0.29},\"note\":\"The container moved with the gripper, but the arm is lifting less than commanded at this reach. I’m drawing it slightly back while raising it to clear the table and improve lifting leverage.\"}",
  "call_id": "call_K49FG6Bg1GoFkNant6l57M3r",
  "id": "fc_0bd89be888564fc4016aacd47c460887d08d249099575f806c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K49FG6Bg1GoFkNant6l57M3r",
  "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]: [-0.6952, 1.5429, 1.4391, -0.6197, -0.6144, -0.458, 0.2511, -0.0154, 0.8101, 0.6418, -0.4366, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3926 left_y=-0.1902 left_z=0.2684 left_yaw=0.0455 left_pitch=-0.0128 left_roll=0.0123 left_gripper=0.2511 right_x=0.2927 right_y=0.0011 right_z=0.1812 right_yaw=0.0016 right_pitch=-0.0446 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -9.2513, 9.0735, 1.5311, -0.5201, 0.0611, 1.0281, -0.3761, -0.8547, 7.0359, 1.6777, 0.0024, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b221a1c5b27a04581ce84404355d182db29c2458cf32ebb7e2de93c6137b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98eb48879d0a002c8d94614fc55844b42359fbdefc376a4a7f456b3f6ac05df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd93efffd56da42eab3543949a799520ffadf8ca39532890010ddd63fd14a6b",
      "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]: [-0.606, 1.6772, 1.1576, -0.1516, -0.5686, -0.3828, 0.2511, -0.0154, 0.8101, 0.6418, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=-0.182 left_z=0.1689 left_yaw=0.0596 left_pitch=0.007 left_roll=0.0197 left_gripper=0.2511 right_x=0.2927 right_y=0.0012 right_z=0.1812 right_yaw=0.0019 right_pitch=-0.0446 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -12.5333, 10.8239, 1.8291, -0.1929, 0.0659, 1.0232, -0.2803, -1.2923, 7.1863, 1.7656, -0.0464, -0.0513, -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": "gAAAAABqrNSO68VpQsg_UFSdEcRfxzkUv4uPJyLcgOXdGeICX_0XwcTbQPbck0N93MteF6Px_Q741BJh-Sx_j0FoyOLr_oAbvuh9Kuhbhzo-2ZPJIqH1F1XH4krSIXjYOJEsmjIMmQHn18KD5Ix4jWbDbsJu6w6Kom9dHaJ_i9rkyN_9sH7cPbMlqN_13Sn0mFLDVI2gKymBivOkX2MYordOcQQN6jsPQbUZwfanjnj0o40EO06abERx6E2V1W7uh5bHvXpSPTBmNLvdjvLinrhiQXULySEcahbC6X0PsTEbsGNoEC1VbLHgPwdZMDWx_oEBszET_8-iv_u2h4M767x8e1ZyPfVkGgi-k2t3xt0tUBQZgvDZqRBTAWsU4zTc7Yz9siZdXIyNKhi_stejupD1TbOpZuORNC6vjqhMTM06YINpgl91dIVFSdhA9Vu-TqlOJ9E-kIOfqwi7a4Hi76E_NVI31E4D3_M-uL7ztdiCZbdbhtmqzpQlMBXXOxLJpBmH_9Hgr5Zm1WIgttvIySBEmp5SNxVRhUv8lM8XXel12btAHFSauTXfR3TSVKEBYELUqcj5AKY-aSP3S0VJI8iWKYcGKcPf_EOksSr8LQxsCcwcVA9yxR2EnzafWnYGSkJgFQSWiiSJhd7faFF6fO3FQXWv3VLrtqxQoegWQIt96wXP_PdKZVsqqpfvgc9vOI_80DqXhzVljv-3bMWijUyouDkxxIo7eufT0onyTb9Six2CiTbFf7YkL7LuncrwX_Y161evsgO6a5o6dYAsMAT7xemQ2V9IZfe2n6Z26W6YX-VeDXqwzGNdJ47sRPVABPgYAtTRA00gNlc4uIMHThrbB3LLEYq5BqHzfSuTUWcgev7B8w_VDbl-MUCmQLB3984XiVN2ZTOG8cEx3PCjGku9Z12Ub9z2AGTJuyP1rE7Adhg_3jBLm1BiPpd87s-BQ8pN0UPUC7LyTi1Off8BiEp_g-6-fPcUtqZBx52WAO2Tc5RFndIP9IPlFZbTWd6I0-PARKWeElXvr-nK_GFPUjeQpt42p-H-Gk6WC9C8kYw5Jb7Zh8pJxTAYdMK4Nz0barTY_ixtFVGuyqHwo16REfjAt9VGUVobJ7UIP4F7y_Uo9eDs3rZDoPZMV6tL2upDZdEXTu9Hqy-9fZ8HHpuQ1fMz8xYbbab7PkmgDqU7jEfigpph4Rj6woc_tbm25bicDICbRadwnqAxhk3fI_1v4flku0ugQdKmCwoJ_8sqPNfSZZB9h1AkzSTnw5vvGcpX6-dMOkBUiuMjWAdbx6_JShCGOxiNbAuTWmpYarsycbHVjv77Cm7Dpz4gt1pdOHUkHl8wwtCIKAzA4x_wEcdHXoheLo4wSo5TgiETmVqtk_TNjjJJYcfjHmdcqHl3pOq29WS6LBGcRV32MMvn7WoB0A15amfe0UNpqh-SL3JWPlK64D9lTijs65x6RMd708GYey1-omD8EsgR_qomDAoCIq2PTBtb9ZBFZgpXHzitI1cxDvtDNqEetB1wKxmv_TNJTYZhFD8yL8CqWLZZ0yKWRi80felCS8wjC9z1h2LNRAsbenTQFghMlvzuQYT7APkLjQ1JG5Hdpr5Xd8-b4zQxJb_VFVm-ttIcUnd5Tyn5ipCFyJ8ceftrw_q2Rn-ktlziG39UJej8beM2VnFcFkHMNOn8fhtFUQs0cHxZ5hmewPUixMok-5Gzz37Cx6s_nPXuTeUGKMHYuPQ2Ybbe5sDNcf6n89PUyShmejrrK8_286MqzaXtlRS4z2TZTRWAl3GaE7u5DfXTJuxuxiJ_iFMqp3No75SmfmTYpp80Txf_Wui5k3ZHmPQNP-zy_yld1PKJxUuIx-wfVKrr7Gdpods6wyzLNun6tq26CD4ehUnxbTwrptHc2B5PDBm1rp9-KWdszF5Shmj0wtSp74BwNXcWHBDNJ9cMvao0IUKGeAWh8yXDLg6fG9fB4QdKx5dlBu25l5nxNLLwSBJ73TYZNaxl58TA1icNOetCV50Ay2C18f4IAbPHFqhAXfSTlZ3A4Gg49r0SIFBQk80GCxYO4Wt5QRNsuFhsoC69K460opzUHkEzEVtWnyvoCSz6NrOFqorxDPsQSg-IOr7iWRDHG_bpImLpP0swTgUtN_FXIW5GcsXICVKuNFovztZt7MVvAWqrqLXSJW3tA8gX9nyC-xo8TT4rK_kF_aEo8ekj3mDj7FQv3G0USPQS13vI-8B2BwxIQnBZLObbXzZw3l0RHfWMgMuPGXm_h7HGYlWYUu9Nwj4F5VvZ2tNlkaEGPdHwEMscD0R8SDJx8FoWDNS1Wwz2SYnAQAfQLnjybUBmHhnFZmP-T9MzytmIZfpcvUnxC1g2I4vW79jJzbMCwUMdpkb2kXwadn2yFU9F4p3M93NtlWHOd-qoby5EMBsBWs9MBCgkBRr7BW_Ub6hRMBHjYoo5eyqD38JIfVMtDOXbky025QNowj20bOPtHWcAUW-4XpFMP73wff5RG021DVm7VEzT7o8W2NrfrtkUk1_ddPTYopifsdEoEtNrQwkGJxRspnvq80gnr_GxuxJ-c05ENP2kGLDDRKaMvO9qli1MScbtnL36fzNcH_Hxs2UpqCsXh6FfC27HZ4Jj6OLcAuDsfmCtPV2qm3Cs4HtWNqT34cRmaRH_5_IP7aguArp88RoizOi8Q3VAytmg9D7OgQqvzgbjmGPjdzxcZ87Ss0k4L1h3FmrH_3mKTowbEHmeoAqztLjpqloz6jwlE1F6O7eez3P6767Pnmd2JLWHNZ6ttEgSpgMwT8AqTP7boCwC0bqINzJY_tOc3VrMCW_tI98M8aPqZq1Zy5pCc22IBkP_-Hc_8rIJaYCxO5AxF1J8uF0Ozx4w7NhIn1FDyZHl7XZShDrV138M_7zHErMEdr8yFn7GR5gTUKSo91P99jLWdTRgyrG86JxxZG0uvfR5M0yfq3cKCQvTF25JvRDITNWikVY-Bjb5gabRZE2Db-j7ibMXBUqddVAMOLy2HBC7NYp7BgLdHGTiamOI6IJMxW-FzAOl5fCnmJ722ETxDMObSB8aTOaRW_kRE4g-z6eOHr0_paJNDL7Ob4ICuA-XgK9sXGwzU60vvkJ3P4q7V-NzjDAnaijqW-WEa0bNVLmwyiQUceOoVPb2oJ9un2irDA==",
  "id": "rs_0bd89be888564fc4016aacd4803e0c87d09fa1e6471e90bdba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.245,\"left_z\":0.31,\"left_yaw\":0.8},\"note\":\"The left container is lifted securely, and the red cup is farther forward on the table. I’m moving toward a pouring position and turning the container so the available wrist tilt can aim its opening into the red cup.\"}",
  "call_id": "call_1kRkajXxd7MSCDCiQmwmIrKs",
  "id": "fc_0bd89be888564fc4016aacd48ba47087d0ac3416e7b5714d1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1kRkajXxd7MSCDCiQmwmIrKs",
  "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]: [-0.7681, 2.3253, 2.2841, -1.3239, -0.9009, -1.1931, 0.2521, -0.0147, 0.815, 0.6415, -0.4362, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4473 left_y=-0.2346 left_z=0.1784 left_yaw=0.5722 left_pitch=-0.0981 left_roll=0.0945 left_gripper=0.2521 right_x=0.2931 right_y=0.0013 right_z=0.1798 right_yaw=0.0024 right_pitch=-0.0496 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [2.5368, -20.9709, 11.6718, 0.1685, -1.2723, -0.105, 0.8474, -0.4034, -1.5248, 7.2547, 1.707, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a1872dfe0037cf107a9f64e2fbb7c028469df3bd1d289189cb3e7b7793631b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e83308c5697a2d5e65004224220590fea5a5eb9f86c8d343b46b45d4e79205b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc3c36386d9e975e2169e5297431f1e74ab5d95cbf612f091e6a08efe8c71287",
      "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]: [-0.6952, 1.5429, 1.4391, -0.6197, -0.6144, -0.458, 0.2511, -0.0154, 0.8101, 0.6418, -0.4366, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3926 left_y=-0.1902 left_z=0.2684 left_yaw=0.0455 left_pitch=-0.0128 left_roll=0.0123 left_gripper=0.2511 right_x=0.2927 right_y=0.0011 right_z=0.1812 right_yaw=0.0016 right_pitch=-0.0446 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -9.2513, 9.0735, 1.5311, -0.5201, 0.0611, 1.0281, -0.3761, -0.8547, 7.0359, 1.6777, 0.0024, -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": "gAAAAABqrNSTZ5eOA-k5sizNgPyjav1_BMz-JOYM3-AfP3dcRrcjWKV19RgwBkZBv5RHbBM73k_3csdtrwjxeLkqAJPJyA3_PYXBTTprMlveAEL9lANrQHLXgsLi3OdA8K6tyzbor1GECF4rJTezol5NMQOW6YysZbBloVItBIKeo1ult9p2mJ8k-DukVcBfjDPJCZXuE9ckkkEfRtKFQWjRBt1770AzftwH-KAoeZ1IXevj6ACJ8MB2YQHX3JSkqzWuIIsE0-LV8OXKcRsuGQbhUF6Ugn5RwsfaOI-u_D-P3-sdMvE2tykYT9p-ZGzYeO0xVcf88TGqyUw3Jrf0CPW7IkajZWm7fPJN6KxkoAYfb5mLL-e1EBSPTtkpMSsqly6X_LfGTTJTajq5qEZ2WQnEYDgE-XPbGtH_gp_kg9i4at73fiqe-cmB6hec-x1nAMaeEnsvVC-mQY5oRgNdXAOgAKxOu68vaHdjjFXww-N9WGlVgzN2C12dPwYSIP8gskKMkBUDPgNL-AjIxeWsA4XizuhBOnd6-mVmElnZrxV0rOjhUEO846pgU-89s-IOOYLZWTrDWjqpPfhxT-npHg-etYfpUhzMqlePRyWEWHHLGOdfmo6vE9kh2h6CH-Cfp3j_xvXX7S4GP_P6LdbJdtBwBcGTC72ln3LCuq7Lgrv0AAr7o5HSAtuyyLUO1xkBZDB7q8UHZnppYsevn5B3bme6fQGy8tR8Iuk8cYDnUqij-cuxZQmds08rvbtSEVoQvrxynLPkp3VKNZcnIxjKx-ufFf_uQ9jvtPCKVs5CjpEoPm57jHLT4DNekJZijsWX_CRe8ijD5OP_umnjYm1NlLq4i2aeHPEbilbyFe0JbAdSJXw8H8Ni5jKPyePdABxGd4ibVGg49EsVwGKdM99Sd3GMScfvmItHD8rKVGK6AVmV7evmv4VVejplI5cr8ZBJ0jtMMD2wiiLyuCuXkZhASYGBQ9cLcTTnwWpPJel_T_L3tMi_Ys2i_l-kCNoEtKw71t2VYaVkxBzotEE_bq4H4lli9s-Li8p2S9ZGpjtEmQ2_RfTi_P8bjJaqXknfspVJmufB7b2gv6FGMBtsYzeTtc_ChEyTDuPS2ElxJxbLWjWV6aimZQZUFxUqFvnbw46GeL9KdD7u3CF0pM9zItpGczplZU2k5fFFHceD_6KfhI4fDF5g1iIKwHzb0Pj20ldJs-JqISkcjyjqEmVGCKRgFWDXD3EZlVak1GRlSXwsNAsAu_jIUE_Gu0a1y2xguYqNZfgeOfAt96SR50GdYBMjkBRN_6enHCeT9dufWZXo0-Nb36kXYUJblWo=",
  "id": "rs_0bd89be888564fc4016aacd490f83c87d0a1a23082ec38dff0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.2,\"left_z\":0.32,\"left_yaw\":1.4},\"note\":\"The arm sagged substantially during the forward turn, so I’m not continuing at that extended pose. I’ll bring the container back into a more comfortable reach and finish orienting it with more clearance.\"}",
  "call_id": "call_C0VwGy8xy5JBidMUaEH8nE8G",
  "id": "fc_0bd89be888564fc4016aacd491ccc887d0b387b2d40ae6301c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C0VwGy8xy5JBidMUaEH8nE8G",
  "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]: [-0.524, 2.0529, 1.684, -1.557, -0.8749, -1.9141, 0.2519, -0.0154, 0.8185, 0.6407, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3541 left_y=-0.0439 left_z=0.1419 left_yaw=1.2652 left_pitch=-0.089 left_roll=0.0864 left_gripper=0.2519 right_x=0.2931 right_y=0.0012 right_z=0.1784 right_yaw=0.0019 right_pitch=-0.0542 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.5897, 4.7521, -0.1832, 0.022, -0.0415, 0.3883, -0.3214, -1.6205, 7.0906, 1.7411, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1f1719d2db81afcba4cf29668158ae1ae233836b49ce0b44ef2efd8064af027",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf06299028e4a6c323d0272380baf0a1a78d197343cf4dfc9a4c9c1e3268305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45395bb7b0eb9bd27796501f2d06ba3ee53c37ebca75472215a3c0d2caac3719",
      "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]: [-0.7681, 2.3253, 2.2841, -1.3239, -0.9009, -1.1931, 0.2521, -0.0147, 0.815, 0.6415, -0.4362, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4473 left_y=-0.2346 left_z=0.1784 left_yaw=0.5722 left_pitch=-0.0981 left_roll=0.0945 left_gripper=0.2521 right_x=0.2931 right_y=0.0013 right_z=0.1798 right_yaw=0.0024 right_pitch=-0.0496 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [2.5368, -20.9709, 11.6718, 0.1685, -1.2723, -0.105, 0.8474, -0.4034, -1.5248, 7.2547, 1.707, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNSY9ZAtyB4KhWdOSOWZtxE_N-ZzJF0CYCbCO97EBEqAs5MNnPeY_Ye2ilLfIOpy5C7dktgQgHGNY-RrIterNXpDSNXDggtQPxKupt02cz0aTje19zx9dga8kkCky6FsKX7pfgq_qtlgrSOqgMh6OV42-_jqqwJILNE7Tt5Xd7VLU3PFdk0bI9HNED75opFX_3yTNriAcVJcOkupPO0rYckyNcvdoekoNyJFnsOKI14bZl1Osx-cYVCuAUWghWrzCYklAPc6LnPTANMpOpTW_QayFVatFX-QXSGimh9d8h-FRgkz5CcnkO0TGboRNttUxDDwX-KJDKlUQpoxSvMP3a5Y3Zet3-2NIy6UugJ_5cT_25YVR-9Vd1iSYZVRpmNGCYS4fK6Ro4lRKX-DQriKbgg1z_Y2Ih-5E1oSSi3flV6T72uq7fcImZwf5vs-94oSnjPeWiBTI1SIde_-1MGXeJXxWYsX2LDEVeGMIkFJzvYcQnenjN4S68O9iTnAYmjJUgrpxsElPwjhDfexoR8uoupD5xEGQwnezfI8A5ELItG7erMho5RLCwkTNUMxrYqeKuJkIuQxUCbYT5lVgUXXGXIiueDBDYwIsRpR6KftguvVH8ShupU47HbvsGwMISBSJkrEripYbgtfyzaXjcZkfyuJPKVOZQnq5w9XKurkZ5rWiMp05KLHJ48vR4ETY9xGPt8qOai7libxU9u4uFPww9z59w_zHCEHNJWdTvgtJA_M8hdpMC4o_8dHN8I4lMTTgl2NQ_UR9pc9cfLtvjZsxHapor5nAu-CUMYXgmRkG_RmOAPT_HBO0EaXA6WYma_sjo2nU3sALbCJTMOrZSI3vOai8VpdFUzKTRM27C7RT5vds7qzQfSO7FthoGkqX2GhZiTIbgzPNE7LeaF0AuxeXlDu87E4vuJuIK7TNnYV2W8zoG8a8g3FDGhMVujEDC3b78SzvvOLMujy5rhq9vTi5dq6-zFjVox4JOmQk-UZWdS9XaG7T2MpB8AhouwCpkR0EiwkZ7WqtRrrOsGgPA_r5g0StJ7rgDtmX2X67tz89fhBj9Y965v6X_VXVMbSGw0-5gvKz4r5pZ7IKrrrSYtZsX8XyNU4qhb-FJI2-c4BY6KOaPKIO6qik85fqD4lXsjrz22WTFFw5I2kfR-sblGvqZJ6B4bVQPrYErG3CYJ3v6oH_ewqHo0iNg88iz8hAISrY7o1lZ9jM2Y8aIQaX-U6MaSuZCE4v1S0G5aqeZ_IJfLxg6Q=",
  "id": "rs_0bd89be888564fc4016aacd496352487d0ae4d8f187b893848",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.15,\"left_z\":0.30,\"left_yaw\":0},\"note\":\"The larger yaw turn is poorly tracked on this rig and has pulled the container away from the intended position. I’m returning to the original tool orientation and a shorter reach before choosing a simpler sideways pour.\"}",
  "call_id": "call_opT9jeztHQsD2bCILehP0JNT",
  "id": "fc_0bd89be888564fc4016aacd496f2dc87d09822b8bb278e928d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_opT9jeztHQsD2bCILehP0JNT",
  "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]: [-0.6773, 1.6497, 1.47, -1.2076, -0.8898, -1.3159, 0.2552, -0.0151, 0.823, 0.6407, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3419 left_y=-0.0943 left_z=0.2123 left_yaw=0.7282 left_pitch=-0.1088 left_roll=0.0167 left_gripper=0.2552 right_x=0.2934 right_y=0.0013 right_z=0.1772 right_yaw=0.0023 right_pitch=-0.0587 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -7.2957, 5.7504, 0.6032, -0.7253, 0.1783, 0.6716, -0.212, -1.5932, 7.241, 1.6728, -0.0269, -0.0415, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b402a1bcceeca48d834f6dd4625d684a95d029cde7b26e3c9b1647dc5d6df457",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07f15aaedd1da8f00871dae6d3a6dbc6c86418529460d0ed4808cf219e6f46e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4445104374e56381c8b351a676a51e46de79a9a1af177c493121f776b0aeee",
      "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]: [-0.524, 2.0529, 1.684, -1.557, -0.8749, -1.9141, 0.2519, -0.0154, 0.8185, 0.6407, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3541 left_y=-0.0439 left_z=0.1419 left_yaw=1.2652 left_pitch=-0.089 left_roll=0.0864 left_gripper=0.2519 right_x=0.2931 right_y=0.0012 right_z=0.1784 right_yaw=0.0019 right_pitch=-0.0542 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.5897, 4.7521, -0.1832, 0.022, -0.0415, 0.3883, -0.3214, -1.6205, 7.0906, 1.7411, -0.0513, -0.0659, -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": "gAAAAABqrNSednXR2G-kGi2vFOWuSwlfdT7kFAe4m3lNZN-bSvPaOxVEZGw8jpAVzppDobz-bY-gC4arIaM3DW0Vmi7Lw7UsfZ-Nd7jimnaOUnpQumzf8VeoN1xptlDR2H8dBWPc6gtiekPZdo0psmthDdVRVG8NXv-RhIMKJ2WxH3S95ltz2C0IGCL18AFTBNv4z_upD7DyqGB7JeFyNCKLq1jiNmohDjHnLMFf-2ftfCG4Fll3IpCnmo_VoOwk-O6v8RGCFKOepo7Gwas5BC3WGeMfz2P2A5ds-u7ic8Eso6a-E7jGp_QEPA3yIYcAlRsOjnu1n9TQb0sAMpFg0W4YX_HRcYoLs1GGwDynNlnZJTEFfyJDN46Y5s8udVFCXhPw_p132tJxQdzTASVqwtiifMnDIIIwTIBn7b_-o65qd91ddtHtuqK2OmEHGYBiJVBjKXWHzLtSZheVShrKZVBmIT32uMQozNLAML_IbPq50d7bgJTZ1NmuPa9lJv5WovNQIWnxCWzOUs3PosolntT0WBJjA77AebCWQSIDYcAh35DljK8WDbrTES5U1P4qn4FnB7S0QCZFtyNGCQ8QWnoDcNMVn4kUQI_Kb2m2GR1_lGQb7j9_YEyG5cFhZGOFkNnqZmfCOp_50-ocN7iUgnQtFO_N0bOSG54iLkV9RhNidwdV6zljJxb7q0r7VsdAtaeKqSGfNjQR2alkWIiSzKF2uhDEr4wEoWaRvZzhzac7W4BNvcUIxZu_sGY_PRlaFXfJeu3ZXNBuf4PevtwHE_BudRn4z83uLTlhnnyjncq3AjmIvFLIqeQ9zolI91lSk6pZQ7kpuxh9_fx5veTFR3ezl8hnbWqz7CG7-iFbuNKQjquadIVbkGmIXzk6AvbPkQCzBhyA00ezlRywSMOAyVZLmBJFwrV-XLeQ-yXPjvVKhrAZZ50YO4Ffch8cNOWZ2_uf4-mD6tAkVWck0PKPRG8NpoLZqqO22DpRN6IV9PSg8LayHG0uNHerT78cz2R_n_7Uh-3mVdFE4it-fjWo26GTAG3vXCwljQpnxf_gWPJFy0cm_IQWNKFLY8qrPzeWfe2qSimtx-IzxiEIx1M1fj0DQPv4Jp9eUUHMLSDYtrbZxrRYE4hQNLPQHd_z-UsjkVLx2DPGtTdUxREILOZlGLJfCYIPrEYlejB6zNoyZd9Vcylup-n5-TkujTq1hM5T2uhJX8cncV1yM_dm66MQfJThWucRs8r7m90gkdMtwlgI3b3nIGmxGHVEVke7qyWt36FVoKyURBcUXwycrQ7gwLWSv8UAP_73GHdfT82aSYlCCtjE_WSBcj67_o0VfDpX8OW4Ktuo6kczQt7UdU3p4rE7IO-Fve1jQbri1IX9Pg9Stfykb1nMiitfxB655DVWMc8bIPlb339efCPggdt0lA-rOZEgCheiLxWDZwtMsqEmsel3EB7BU60=",
  "id": "rs_0bd89be888564fc4016aacd49b995087d09d7af3d71e72e05c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.13,\"left_z\":0.32,\"left_yaw\":0.1},\"note\":\"The container is still held, and the arm is recovering toward its original orientation. I’m making a smaller correction to raise it clear and settle the wrist before moving over the cup.\"}",
  "call_id": "call_M8PtDHsIUQa9OW4h7OYx2ij1",
  "id": "fc_0bd89be888564fc4016aacd49d326487d09a037182e58ef5b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M8PtDHsIUQa9OW4h7OYx2ij1",
  "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]: [-0.6479, 1.4834, 1.5364, -1.0969, -0.6785, -1.0878, 0.2547, -0.0151, 0.8249, 0.6407, -0.4362, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3424 left_y=-0.1156 left_z=0.2686 left_yaw=0.4993 left_pitch=-0.1917 left_roll=-0.1983 left_gripper=0.2547 right_x=0.2936 right_y=0.0013 right_z=0.1767 right_yaw=0.0023 right_pitch=-0.0603 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [0.253, -8.1026, 8.6496, 1.1697, -0.486, 0.2125, 0.8474, -0.1983, -1.265, 6.9949, 1.7314, -0.0562, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8385242e3f90efce84184f49fcfc253750ff6867b5b256db7016c5bc697c00fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f883b0622ad92d05d870c689b8912be89b4b544601f2b86fab1612c03b76834d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f994a655c30b39495f18b8b5d80acd755a2e1401eb1efe9d9165b81db0035a76",
      "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]: [-0.6773, 1.6497, 1.47, -1.2076, -0.8898, -1.3159, 0.2552, -0.0151, 0.823, 0.6407, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3419 left_y=-0.0943 left_z=0.2123 left_yaw=0.7282 left_pitch=-0.1088 left_roll=0.0167 left_gripper=0.2552 right_x=0.2934 right_y=0.0013 right_z=0.1772 right_yaw=0.0023 right_pitch=-0.0587 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -7.2957, 5.7504, 0.6032, -0.7253, 0.1783, 0.6716, -0.212, -1.5932, 7.241, 1.6728, -0.0269, -0.0415, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNSopIzyWXDst_0_yYNFk6Zvh3tQdvXiti2NeEy9fsXMBK8rMheJOdTOXVliff7Q2x1gZf9sy3tIlnGwmM_998hzGMrPm6hoI7_NpWZN2BXRT4pEd22K8BkHMOkUf5KL_nE_YBCjGlBB6bk2NaDOkOsYUm2DTsJLXgI1nAXZgxBFQKyfViAwceQbY_PR1zJSvELL7dwRPSmTpnj5av_J29dtZB6rTrGbWNxwzuz0bXzv4R1sto-ATyo4RS5qHC1hy5zz726-K182NrVB3h2KMVkoyRod-nB83BSZuCzw_mgVT1vDh9509CGZm6os5vCO_NYn3BYGkgyXbdPgKFZOjYGfwmpvwR_aexeH8l_4b9htelzPUtTT1Mr7LdP20kWvdogfQw8Gc2J1WH2VfvsveOc9tyvFs_cYd23qP7iZDBhM80pBszgOUyzNutYtWQhU0fjlZQshu53pwGecEmnOTdSZu8XXKuSqSefGZ-1eIg1TumV25WbXYSXIaUkKH2zJduk8FRjFS3wR7dXAm8m8h39V2v5pp7v6kZVDdakwU5TJQeCsGOQIk0ZrcKwUO4fwiSsWZb02BIk2J4CuaN6QkTuOrnP6mo3N8EclCD6TamiyvtlMCGU4P63BDBzQyp9w_V8ETOKej5hNk9N2higuAgYjDM27fF67UxYT967poTmA_MCeHEDN_WYBvazW5vYwMMZnM8_5MZaGVBzT7KocdhqV1tFJ2Rw3vTZAsNEzsDP46B5O78o9vhUeozaQV6hWsul47U8TSVfqqEY2TwHusUT3IggOoh_5IcM9nnugogizNsVki_tbh8EAVTs92S7IRtJ3dM4t2wQHRJXHkt91uItLEvkUCy-SSvkrkEXbQ2SSKLhAE0N1noUD5gpmNaGVK_WcjdSwvCE-0Ix7XXB7Go5KbG7c_lzY3X95n9h94uLvVSrGNFyVRnhvAI0lerlNNv3CcZJUs-_V74aLkR4XeS3OkMonrl_c5I9e7vxp8xzeV7b6LJNJmg7RfLzlutuNhM0YKusSU36smXMuAAwPlDDSaOtihG5SI0PaDYVuErWhKAZ_OYzSdFFSwG-gl_GUFFSeaNPgLUOPrNd4l95CQCeZxg0BJaTw6n8TCkLuyz46FSp8c6tP9TidmCGtVvwWn-pmkf_3fBHWujzy35K7Tc1P-vAl45VNewxeqTbJupvIZefjATYuQFxeLr0GKXj2ea9gUm7iF0_MyJrIJRVwgUR_Mf6-fVHmqGFtP1U-afFYJYYKkpToL19o66O598hiouO3-w_Oj1ovVwSFD9yWpusmnCdrCC1SoXnUUrP_3rqUlgn1kB50AJ9csRXmVcq5IxV_6dgX5W3aTdnDGVm0UKWK5UMIi-SSpKnaiTQ-a-umlWYLAHFWuwhPHUSkVG03RnF4q7sJTRRf_PA_OvabQuYnEzXdmBIA8bXIw7u2nVcXSiQWad_BhDZP69YH0mzIfeGKTawaUcWN-d0Xr8-HDS1SA9beEpxOgx8evHgorchW5rYTAVqt0g902f0SAUthjjtyZX5N9XzbZmYBtXnNAB2YiOBv2qgaQt-79t7nBh_7auYxdbyOw0Kmuz9AAwhdhFcAmUxrxtgkk5pw1SkKlbnIbVcGVHlWC3N1ipTYc53fzCSCjz4U9Rb75gJM26tb2O58LC9skalhSJdCPxDFNUs2kd-eEo2LyXngJB_82bh1nEPTSXunRAg0D0dFJksZmnnuzy3uV2SQKKmrNWeHP9q-XKiET64NraOBgfiVQFZqVRlEcSHB_J5ytOGP4impclHJQiAtFxuO7sOt7SwsQDMC-l5tabJ9QrhUrPeoPyM6W-P-zTYFFboiZaYdrpfrShX24ZweGp_xPH9jJUOis-PBSqnP0UdeRMTIpUkqyH8E8fPnbhz06zZLUUo5lxUNhQw8ynFQlr64jUtP1MVNL75pWjnEdTjWaY76pffQ9NXNDDT6MtOT4wCGUU6FWH42hZQOaUHj1AYc69RGRG1PHLMEvn5eA9Wx6QNZWmfU8NuBkzI=",
  "id": "rs_0bd89be888564fc4016aacd4a1464c87d083978e01275b98f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.1,\"left_z\":0.3,\"left_yaw\":0,\"left_roll\":-0.4},\"note\":\"The red cup is forward and to the right of the lifted container. I’m approaching from its left side and introducing a small rightward tilt, rather than the poorly tracked large yaw rotation.\"}",
  "call_id": "call_h9GbD9uqJU5gmE5IylHkzbta",
  "id": "fc_0bd89be888564fc4016aacd4a61d1487d08f0a5aebb484e1da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h9GbD9uqJU5gmE5IylHkzbta",
  "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]: [-0.4122, 1.4185, 1.47, -0.8894, -0.3313, -0.7349, 0.2551, -0.0151, 0.8288, 0.6407, -0.4362, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3728 left_y=-0.0964 left_z=0.2694 left_yaw=0.2639 left_pitch=-0.2472 left_roll=-0.2819 left_gripper=0.2551 right_x=0.2939 right_y=0.0012 right_z=0.1757 right_yaw=0.002 right_pitch=-0.0641 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -7.3094, 7.2274, 1.7802, -0.1148, 0.1441, 0.4225, -0.2667, -1.3197, 7.1863, 1.7509, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27584742dbc29908730339fb180267c037f901f6eb7e35980e7cac178aeea0a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0f2253357fded78a9cd559df3303c3dcaa2efab7e3d8ca9ebafea452e3f3ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f30894ae15b71888f5eefff22b70cd5a319501f3316fb5226ec007888ab665",
      "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]: [-0.6479, 1.4834, 1.5364, -1.0969, -0.6785, -1.0878, 0.2547, -0.0151, 0.8249, 0.6407, -0.4362, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3424 left_y=-0.1156 left_z=0.2686 left_yaw=0.4993 left_pitch=-0.1917 left_roll=-0.1983 left_gripper=0.2547 right_x=0.2936 right_y=0.0013 right_z=0.1767 right_yaw=0.0023 right_pitch=-0.0603 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [0.253, -8.1026, 8.6496, 1.1697, -0.486, 0.2125, 0.8474, -0.1983, -1.265, 6.9949, 1.7314, -0.0562, -0.0757, -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": "gAAAAABqrNSyKr-QQLxsYSz-AaMKTc4nxzU_9gPVhs0-0aKGQ5J2rKfIBWVF3s-_DfIo-6UcZdwnppSisutgJ-PNue5IXm5jsQf6HOuVsyVHzALY9XLCE1dD-DcFz-HocTrfXK9Q9aDGs9DFg0RIN_sZQbLiDCzcMI_4Qs2udPGEc2rMyMefM0vaFMCXBMFxEPGv91gWq0Czg0omXwMGoq8FOXHYq94oOp0wwtYWUFei5ys4ERI78m6IlcblZs8jMXlsRm36L4jl4UTgJTl_2e-G9wEYcudFvifDF1mRxcdgQn_VBuxhdzp_v10xA5eHgb1pgFaAWaCIi_z5w_8uxo9u_Vfu-vnI09KEmjLr7l8zSlA8xkAWMylSNWh0oeHBAt_SpOvRT52rauwBq05qtmXJYmWWhe-9AzmGYrZMrbQOY7BsoenHbX_YZ_8tYrESn_ukTeBkh15qQQEuxJjN_HlBhpDtpgDj9gjRf03y7OV3h1hd5wyhNYRh2Fmh5ThoHLjyzXNNA384FvdO0CwyTqEyi7ktEanXDsX_nYcFAFgbb3qXz1OYvBRS_wUG_ahC7JZ-j3X9S7cxBiQN-dSNF3w2yZkMoGbq75bxTaZE0sz9LjwPbciW8J8Yih6NhCPAAajxK9eJ_D9HJC4-zu__Fu47q9ugSAhQiMsUt1iFQ_W0RJfcmo5AqztQVotBitsDPjHqDOvTR4j4hZfVqCvUF0ReqRO7WbG_2itaWJ97S9ESATHeEs7Udk3-K5-_5XKD7Q0GGiBQRznnOzEY25YMrZDC_FOKQvOLx56oDsbNzesLMLbMg1CkkMg79p_sklNojvJgFMWZbbmpnew3k-JYJEjc6jTYLDEFf3-PV3s3paFBTFyLiiOZgAl0zIms3_nQ6OQtEVZ2A-SAk6MyZRdN7N0FKr9bRtGNC6R2J5kh0IdXkjoF1OTBUR_EAkoVpL0umrz0m7mwTlNT2CUsqc2dNTnBKVlUfetO94A5TVgKW-jvCSt_9xeJmpITTTD1LAbkYqxTAkCuBhqwVuaFW4ZJ7ra8bLXKe60FyQ5fW96sp9-EujAwByCpQP8Pt8W0XkqF8nkzbscz83d4gWgS3mJS4Efxz-v3CbMuR2kCb1oehOeRYPhaROiE6SgmCUN0hQJxkxV0jDndH_S5Xibdf9D5kzURzpAT3vM5fOWE756NLo4lL3gytPK3vEJrHV2o7J97qSAt8BoiLc8kh20XoAhbb8SIALmXB0PCt_s5badGJ2hJswzbRbXT6qO4DtndczfM9PSkE7XQ0Cn--5aG9PIPnpP6QlOUidSaHVbwHwwt6-nPKHvdfiJl0V_stSF5eXNUNZypPdwojcwXjIajuIOxMqfoydv_dmGQYVWbnzE1ZgJzm2pfXhVXYfvAaaalVOJY46MbmyAeejigWNpc1qChYMU6-5Z9mV3oCXlIkvAGBLICjvaqcTHFRxSNIEOFNbZl5sEP-q_hSBZK04M8feDr7cuCS1sWe4FAT__I8tM3OXRJCTdIDu9KRDYxy__vRV3oymVzw_P9JGpgMr80Gv3r6F8fNJuX_ljHXOHv2AsAbGiKcnfkrfbn0mpcddyKAoqQTM-fvcHOYdxI4RCOfsz7Fv1Zq-fVt5IgTG9y0ypLkUShIyBDYihrI7ySxhxZ2oRGHTo9mJeExJAemUiNBatKi2sUzAa7k4s53RzH5LTu8i21MZjWZzcHTVEgRCWjnyR7DC5i_gQIqEcaZfyB9HkQ9issAMniyKsafqtk03AeDD70-Wx-iOtO32AAIGCcVfEF2VNsAoecI9zrsK_sD9NZrURlfnqtGWEdyqU8yZUEwkLl6zaFhuDetGWRopUQgOiOddYyjq-6rp1ee9ZrVVYmJGtDU9drlwBDYbW7qJpu5YM82bMdb1R4X1KMrq_4r2690-FYpphGXIb1tg1FC68hvgwPvw6Bav5mSiPcIhgSubi62gFK-ERSiaa6zIhtkXoRwgd6sD3EaSGP",
  "id": "rs_0bd89be888564fc4016aacd4aae29087d09b6b52c02c76b6dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.15,\"left_z\":0.28,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":-0.7},\"note\":\"The left container remains firmly gripped, but its opening is still left of the red cup. I’m advancing and shifting right while increasing the tilt gradually to bring the opening over the cup.\"}",
  "call_id": "call_isVhXjKUz0HqVNaNX5FK12Sk",
  "id": "fc_0bd89be888564fc4016aacd4aee54087d08c45acacd78ebeed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_isVhXjKUz0HqVNaNX5FK12Sk",
  "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]: [-0.4206, 1.4185, 1.4696, -0.873, -0.3054, -0.7139, 0.2564, -0.0154, 0.8299, 0.6407, -0.4366, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3737 left_y=-0.105 left_z=0.2708 left_yaw=0.2207 left_pitch=-0.2432 left_roll=-0.2925 left_gripper=0.2564 right_x=0.2939 right_y=0.0012 right_z=0.1753 right_yaw=0.0017 right_pitch=-0.0656 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -7.3641, 7.2821, 1.8144, -0.1245, 0.1734, 0.696, -0.294, -1.2786, 7.0906, 1.6923, -0.0073, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b8cd10a4005ff98f64c96fe5e0f388d5f2a87ee9fd6cbfe2a3945159428d7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0627e7ee6d835361fc2d1ac98052c98991f9206861214b34977cc9fa1a3bd312",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec7fbc4ecbf9746f23d2d5d8b6a140832ee6cf83eeaffa8c7bbde1f9f84c899",
      "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]: [-0.4122, 1.4185, 1.47, -0.8894, -0.3313, -0.7349, 0.2551, -0.0151, 0.8288, 0.6407, -0.4362, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3728 left_y=-0.0964 left_z=0.2694 left_yaw=0.2639 left_pitch=-0.2472 left_roll=-0.2819 left_gripper=0.2551 right_x=0.2939 right_y=0.0012 right_z=0.1757 right_yaw=0.002 right_pitch=-0.0641 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -7.3094, 7.2274, 1.7802, -0.1148, 0.1441, 0.4225, -0.2667, -1.3197, 7.1863, 1.7509, -0.0464, -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": "gAAAAABqrNS4H0k6QjXBCGAWvV1SE_TV8tv242YPyEmyaLS4opdQglaoLv_HowSxbDDv3Xz3TQKfaI2wS_SDBDEfiNRWBl5lZGgDNGNZUkcgjqYRfVV_xY7YvP6nfffu8XqkGBMmBU0pNX4LxyyKvitDV6y5icQ1M0-aCjP-zH77hpKQ9dvSdBeESrTHaA-oQABH9RSFMPPhvSLqPCceyfLLGgOhPnHu0L_NgUPMIkTwCQoxcrLq_RQAhqE9uC6N2m9Ca-Rkc9947daxDvmmSFPjK7heZVx-DAGqJ9EBAN-qAUbRAGEym4sX1GISpAESDrEi7l3BxLILCW4jqbhDCx2En0tgOPIFWtyeCqRTOwtx6F2cnD8xkwB5MSYOs9js1zJJiL1cpBVtPDg3C8Li37A9MtYNA3_qd7ZqudnVkvynqG99ak4AkCpvnYX4tfUB_ueZyq-xs0yKXrBs3w-yZk1NjK7FmxAl1scEu7QwH5hnFxNOAlezsDFIGrwDlrORt-4pWI9Q4HrlR6_u0iIrSkfXSprnHxFNPyZOv5aQio4mKRDx49AsaZFunm5o2jZYbQqq7gR3-vYETIjoUKr_1qh7jr3xokO4z6mvBbf1_VO9P4lCU_djy6G698HC-gvOdN3c0aRFmNqXvqDjIRH87esZShmUo6V-H3eDlJBrjsXSBrqLIRG9Wwka1r49TOsEy62kCFfgOgKqnCHiTzJ8K1fCjMLirOXqDL2zJDzs90iFMxams5EYUIoq-nYrf2kRgt64pFv3gAqd_CJvCqpXYiJL4m57jrh36ab4VfOCK8Iq4oE2Ypy_ZGut4WcWxwuKHDPUIcT84tAeeGRi1PCsPvyeniylXLQJebPCrM63F4sCgkE7uMxaOUdvHzXcuSoUGBXnDVkZTa3mUdCau4SnRNc7VQKugRKnTEPb4JREDJa8glRC4wOo7dEMfcH08EY9yKG1rT8vX7kbps8kCTyIdG9wUhm9b8uAzqH2jh5SPoij1wx1uMBIe9sxD7qc2X5Yy_sogM7Z1bbab4LF02Jpw-LhHurSrQ4FTY-ehNcZUWfPeCpVnNB2JYhePXBVutGDVzNQzXcHPd_BddOdlRhwm22zVmbNPIO_3o10ZJE-rlkzB0IQikizozCRbK90YkR56lwRDn9Kwbkv51Zy_u2UL_s8X8-f4_3jSrrVfDv2BlNhtD-nqvraVdOvlxSR40kQknS8I5JIw73-hoCM_SDhv-3LFTKFYRhC3u_DniAZMgQNWNqsffKX2gk8hTYa-UZ82mgMAelqtmNIjlHVxFuer9PMetF7DTO8mjXOP2XjunqR66qtteXJSMiG5sUr3ujCm37gF-Mv6iL1UjxFOZIZzRla5ZkgKFA4H7aRWT40fUy1nAc4gBoQvao=",
  "id": "rs_0bd89be888564fc4016aacd4b4f4ec87d09f20a6ab61f956a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.13,\"left_z\":0.23,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"That combined forward-and-tilt target was not tracked, so I’m backing out of it instead of forcing the arm. I’ll restore a neutral wrist at a lower, shorter pose, then separate the positioning and pouring motions.\"}",
  "call_id": "call_Wq3KoOlyyxDyiZjLs2RE92qt",
  "id": "fc_0bd89be888564fc4016aacd4b6468487d08663a41c5476971c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Wq3KoOlyyxDyiZjLs2RE92qt",
  "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]: [-0.4908, 1.4109, 1.132, -0.4549, -0.395, -0.3592, 0.2571, -0.0154, 0.8307, 0.6407, -0.4366, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3894 left_y=-0.1269 left_z=0.2069 left_yaw=0.0266 left_pitch=-0.1074 left_roll=-0.0192 left_gripper=0.2571 right_x=0.2939 right_y=0.0011 right_z=0.1751 right_yaw=0.0016 right_pitch=-0.0664 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.6103, 7.665, 1.8974, -0.4078, 0.2173, 0.7302, -0.2256, -1.2239, 7.1453, 1.6825, -0.0366, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7aefe6b8b508606737ca27360aaa0bc798d0f4313af8274416a0c7b7d3acf9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5d954803d404395c4be12873d5a65cf39580b292935969685822ad1ca4b742a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3b7666759197bdb7556f9751a7a51c8b7e02c0e7378dea096a70df41857c2c3",
      "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]: [-0.4206, 1.4185, 1.4696, -0.873, -0.3054, -0.7139, 0.2564, -0.0154, 0.8299, 0.6407, -0.4366, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3737 left_y=-0.105 left_z=0.2708 left_yaw=0.2207 left_pitch=-0.2432 left_roll=-0.2925 left_gripper=0.2564 right_x=0.2939 right_y=0.0012 right_z=0.1753 right_yaw=0.0017 right_pitch=-0.0656 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -7.3641, 7.2821, 1.8144, -0.1245, 0.1734, 0.696, -0.294, -1.2786, 7.0906, 1.6923, -0.0073, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNS-17LXWDvJcYZZGBM06notMvUT01v422PtHokKMIKuoch672FAE6SEDlnszUYFlv9n49rpayJ2xXcV6c9mi3OMHAcVnq0uJ4RLmXRDDK_5YfC8BrusnQ_DfCumFEEfqrjrNDuwEWq-03tFyxll3hrV_BJBjiDUPbr_7n4PJbUWEfPSvij-JJVEq2JAfneUN0IbEOTdyRp6xxlAlmgh_wMTs3QMhgyxcRCI9zVgLK1B7v-qEFB8iWaEwDN6i9l79f3-M3tOZNnkGGmb7iiJfSIQxZS1VZB0eqUNV_SZMQRG7-v4EYV6SQR-2e1he2uRK2Qd0E7fPIi8-BwJCJrr1O8VutwaR6IApjPCua7i5tY5KEPehdzq4z4HND1asxHRFe8ujt8HvOEyHUTP3Is6DBYpYMgiHF1afZsBYY1DSozPamgAuoGMHEHcjY3a63E8zsTVZ2pw7YplgrF_i9gOjCsOBp45QWzh22no_IrrhvaPaksycj_HG7mQ-BpwGNm2_zGyXSbZAlG9ZVrQnyMi0gtQy10ktTpb8YVK5I_tRZ4PBuWQW4HlokYKN5AehHRwa6zgfqsWYswELHoueAGA1qamXB49K-Ei1lewKdbZzqKiNRTGzKhzamOKpb68A9H9ANXR-u6orH2vkSIO01NZb1p0kZoFTqM-0M0DOFtPSwpQ7uCZGSB8t0noYfHF6TwamhOlwUFpImFo0BRnOXB1qm1_957dnsNZh2GVo5RrYal8hjQFZq96z2d40qI5urpf39MPjgHxZAvO5mCsRz4QOwQ3v4HcCq5FeiOU_S-XztLOvU3-E9T_Ld60sOKnBCHD1iD4k65o9EYmd8Zr3Llpb52R9G-L9rF3iOykXnTB6-gE-PtmL8bnt0JYUOKLG0GZjBlQ7deeUxFmc_wx3hNUOjlCFtwxbum8nbIhr4PLTD7eaCZBVuShiX_Hv9UqYEwc82SVbsRZ3utqU8QwR_SYfcWsj5_zAGfYvHcnkQskxjBJ6kBsOK_9qOQca1DPUDOSh0_54OeWEuVkpqXd1KgrheQWAMG8hOSwwmQ2rqjgqHruLAu476WmLH-MFjrwQeL2EfHe1L516TgVK7EyJcXtFKyMqVanWD4XhR0SCp7UDhD5zhLUo3A9ShbgTdf2riYUzcPSkAevjRP_S-BmvtHO_aZtlz-cLQzYFT1sv4mzxz1XxCsB1oz_vgY3IzeO-DXVN08XldQB1MojM0mWoHIz6MEb7dIe5NvQT4M4MKFh5hsjLt6sY2OwgjIh9MXX4KxpNI8CWJ6Ulk_NK86eYT-EAfZBecrJISxeYd_LWTKNvzuUoexrrNdqwhOog4qJcPeduMLpEOGYwJC_dLhSyuiFC17yMBnN4g0TFz67BPm6fXBx50zRj6a8XdWAOyhe1hSyp1145JuCGUV3d-j42_yPTj09I5bByWFQ4nTWdWr0BXpa71mE5OmgjnZQvjGjABJiI95h2eiNose4szl4VOV96mqudFBRlL7eEl5aabJtMotwWWzMvTLG30iBoXJrMTcvC5Ft",
  "id": "rs_0bd89be888564fc4016aacd4bb5c7c87d0b3120db25bedbdf7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.165,\"left_z\":0.24},\"note\":\"The wrist is back near neutral, and the container opening is just left of the red cup in the overhead view. I’m moving the upright container forward and slightly right before attempting the pour in place.\"}",
  "call_id": "call_Vw7dwBEReEws9qFKpYkR08RI",
  "id": "fc_0bd89be888564fc4016aacd4bd1f0c87d0b53b6c7e71cbfe7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vw7dwBEReEws9qFKpYkR08RI",
  "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]: [-0.4812, 1.7374, 1.5547, -0.5831, -0.3885, -0.3595, 0.2595, -0.0151, 0.8322, 0.6407, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4617 left_y=-0.1616 left_z=0.2251 left_yaw=0.0331 left_pitch=-0.1375 left_roll=-0.0075 left_gripper=0.2595 right_x=0.294 right_y=0.0013 right_z=0.1747 right_yaw=0.0023 right_pitch=-0.0679 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -8.9641, 9.0051, 1.4481, -0.0855, 0.0562, 0.7741, -0.2393, -1.4701, 7.0222, 1.6581, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ea623b377f24c9c4f84098405d66275af15d3f5fad63d7fce8824abf70660d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9abe688c85f0ffe0c418cd5a9b33a08a1182d22638650792bbf5fa2e0adf2ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dd81294d9c155b4f2d813331f614a305f7918daf6ba615091432217449a4449",
      "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]: [-0.4908, 1.4109, 1.132, -0.4549, -0.395, -0.3592, 0.2571, -0.0154, 0.8307, 0.6407, -0.4366, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3894 left_y=-0.1269 left_z=0.2069 left_yaw=0.0266 left_pitch=-0.1074 left_roll=-0.0192 left_gripper=0.2571 right_x=0.2939 right_y=0.0011 right_z=0.1751 right_yaw=0.0016 right_pitch=-0.0664 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.6103, 7.665, 1.8974, -0.4078, 0.2173, 0.7302, -0.2256, -1.2239, 7.1453, 1.6825, -0.0366, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNTFOZatG5xpkSvCVtA1_3-OX2naNym5hcvCCvCJJsl6PEEeh2zOROi1bjNDvCTH_WoSJoTgT9jRxAKpVStDhYfTu-lrHI60VNA2utnXMi6U-be1BnEuOT0V8_wW98nq4LCnuUNEIzsfVXV_eGVSGiIIMrMm1hojxgMo8719XmQXwRjeuVHk3xEOLu2_mZRdaXQLEYvBH1Dm5BwRGAJzd8WBaNItsKNWA67xVnWUVlA7hifAWlmUuMArb_GfCtVV-9K-BrFa_hHUa8NkRpJsn1URZqOS27NMJgxXfN_bFrQRHYL0wYCycEIlYz8MGznMWAsETh16_qih_qeH1NbGfZy50y12t4qHkNShTpf45KLn2L2llqGwrvnSjTl6ObcOlqAbMFtxb8BbyYUNrEGjtfWGS9Z3r9ur_8-0dKpDMKPO0a8yCJVRofFBncMtUfIGy-o_F3yBuQRkSEwFaVvrnF2sR1ybG73wi6BVQN7E0kwm5tn7FhGAitLglg5nQXpPlkcjqqGG7O7Grd6ctdAt3iYS6SkyGaoq_d75bfNf3xOHPmiXg15KqI-rCY_X461d_wXh6v8u0qHSlQZfEAu-u-Vo0yQCeLAPv8BVY-kBfUgvJE1XvqHcdTchAX8fTdqoqulUghrTAIAiOldXgQgxTJn4o96UppkCYdDqgLWxnXh7vw0HZwhijh0S-HfiqA7l9ZQg_MAL757cyjn99VmCRlxIO8pjiCxN5bphN2nzzq0C6ixjoERzgG574gqJ5PzRGPmzbxM0OptIeTZNezB-1qoew0hw12c4C8k_YwPr31r8xuFP3W5-wGo970O2bBzSOfW0x6db_oV1Bpg-sqkpauLbNhQt-TlSi2eRat_-24wKRy26-MwpHUQ_qRaUSjnGAEdb4bV9n_q6IvSx5HI3g55byUhrY_ga3ayekymEyhecrVNmmosEByehO6Zx1pdagi5vNd-BSoRU9U3WGltq79s4L7dozW_hX2HHZhZ_XZ3pGNzXMcIp0D0MphVc0BXxefYR6jlAC3Y57vo6LwIVTc9dDvr3qKG807VHVl91ShEfQsfakNx4sjoDXFDbm3H0dvCxVkngfr_h5qqRvqIlaqqwX78HYjYkm0PPcNvKkqWMGoU3MZi1loJSLM-7VnjmLxN4YE2UwpqPlhApTLf3N90TjK6HpsDrxOlIspVqupbl6MhlvxqKg0vQOMEV5Payb4LdeWDLH1VXxJbvlBumN3FDqdfbkkIz37dj8iFF7rnecQZybmW7m2o4DMw2dEjnzklAobwg7qw2ZIaPj0cglADCEkIUPvxHRPoG4IRfT1sY0bD3Q_Lax98_Ce7xkNT0iZYf0rNAbcBVUT_KcGBEsKKGsZmDp8o1boaciKv6Rqi9hfb2dzP3heT817XnGzMk6hnyluAxirUtdMDS4ha77glGYNrLLAYb3MZ7h5-f9eU-OADX8_KacX45wzFyFueWAf7Yjtz2LHQ8DAHOZIHb5ZX62bhk6HF-t7mJuwwuH977eEM=",
  "id": "rs_0bd89be888564fc4016aacd4c1b82487d08efa53d3653640c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_pitch\":0.5,\"left_z\":0.26},\"note\":\"The left container is now above the red-cup area. I’m beginning a forward tilt at the same horizontal position, raising slightly to keep the container clear of the rim.\"}",
  "call_id": "call_nYCwZALVDTgj9sTrApYVVgAW",
  "id": "fc_0bd89be888564fc4016aacd4c3b93087d08e82e88814324765",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nYCwZALVDTgj9sTrApYVVgAW",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5396, 1.6192, 0.9623, 0.4713, -0.5625, -0.0776, 0.2594, -0.0151, 0.8326, 0.6407, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4616 left_y=-0.1624 left_z=0.2333 left_yaw=0.0098 left_pitch=0.4018 left_roll=0.0284 left_gripper=0.2594 right_x=0.294 right_y=0.0013 right_z=0.1746 right_yaw=0.0023 right_pitch=-0.0683 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.7316, 6.5709, 2.3126, -0.2173, 0.0611, 0.6325, -0.253, -1.4974, 6.9949, 1.6777, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4032f20a2a912783a2a862e0182b0da881c9d8b295bd755dbb605482675c668",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4274241fb0d4c7617ebd9e8778cbc5b8fc40fb387139b6822291ed862e65f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ef5ba2369af4a881265e5e7de2b077718c7dbd871d4908b083f3d248ed2e0f3",
      "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]: [-0.4812, 1.7374, 1.5547, -0.5831, -0.3885, -0.3595, 0.2595, -0.0151, 0.8322, 0.6407, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4617 left_y=-0.1616 left_z=0.2251 left_yaw=0.0331 left_pitch=-0.1375 left_roll=-0.0075 left_gripper=0.2595 right_x=0.294 right_y=0.0013 right_z=0.1747 right_yaw=0.0023 right_pitch=-0.0679 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -8.9641, 9.0051, 1.4481, -0.0855, 0.0562, 0.7741, -0.2393, -1.4701, 7.0222, 1.6581, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNTNHEuACUSN9h9z0fszh-OwvxmdhZk-f2-lEdVoW4ZxJ3VdEf2rBgTe0wSr7BMq_jX06Ij2YTOsvKsrtXmd656V5QJPcnfyJAnQeRUr26MrYSeN-JvqUpF0bGiIFa6mIGG0jrxmELz1KH7MCYOdA22VpHtsqDlr9jUGPSwJ6iqzNJFDOfEPokDr7POtqQEh-k-qVSlqEB2Q2ck3CfflxvPfXCT4QqZcYIofob-vUZCoFlUAbU3dge3BJla3CkxTdqJLqrpDYKeRPdw5Un719G2heJlMwnziCnTulCZiK0HZJ20k-EfZ1E-PxVARsX1uDKP_DgRreC6dJKtBJhlfb-tGsiKtgxYYagwYXmF0gL1YuITbWskaHsb8BeFZuYllwIUJyHa1qmF9oGw7Uu2cpV_SIMpPgY3Si2fi--0_ogjmOcNeld47TxwjWX1wrW91EhVviMFtFwXkE1NI5iZtCPB1zAGFAdrtL_4NmFj7mSp6AVJtF3PX15bzNTym3K6I6HgMcBvqEnW7CtsEyeNN-lj8fUvFsecr8nLlRi3CWOZSXldXuEo1kp4eP02O7Cug3rAoTF0DvBgasQ3L044KkPBNpErJHZ1NIsL76pP0o3SL2h3oEHRQlMvJ_M67Ymvc-pkBmDnrF1xxvwp9m-443CyUn4eEuFd-tg2u2YncVR6QuGFOpE5qXXt7J_23ueI8HFYIrVZzcdx7dIPx_4QdVZLwgf1eGWnLl-cst-WTc5sp_X2O-2E_p4fUdJdcgrtfiohlO6KCocR6CzoBmCVFeKR4VYWKPVeWHubSCNuHTf1W7yDnsrxaGEx135invn5noGB2muaOTIun9DinT-8xI6I_v5ORDKt2XSuzt-34va1wOx4ShiEMAgSS2TBtwUOVlsIYzGHK_Ug9XNjVwBefeUH7heQ3krmTDksnKXDVr6ZfxlST2TfmlIgHOxKeq-DoHRIY0EUsoiesQyO5-1mpPrYzMpvtdlEGCU9xCp1xSfGjXKvmcAYbqCX_zSJjwIudnVcE8SZo11ey6v9LnQ1bbQvfW3G8mx9b58qHuZMTw8SFVLOMJevZUPDe48HoVHy474DSqXDdMIO-62gSvVGC3wY8ewBAPxVgr9FU9RYoGdVS8fHAl4b9BkMJaaHrGjOLg7eBsqq30x_ctMrUNnv6Uh48E9VW1wJoeTSaupB_6LTAVfvxgWitKYeCFJQ80tdcXbkJnhoRXu7EuHj-v6v_iW94q9fV92HJ4YLevRv7fThzw3y9-qHm-MKTveueWE_cdaZpsDSgXrI-OAxjeCwI6o7YJXjnJPAkuF4r1lfd5lvpACgX5RVZW5ukfbsfqOMrAc6phHgsgqKI2m1F083kyPM5Tj3M_uMB6EpIZRcoLIiCzwFv_AN-tPDoNQyCDUR6w8cuWm_4Bb1dYk-dpMaxfHTT4x1P0-MAYz0NUIoTcY-gHzYguVaFsEHdqnPlCdCPQtbkAsztSPKkfhanTtdsC10Ir5KRCd8slOODNBs3VL_1SoGKkjutWaNLFE4B7gGpjPGPT2McTDrDEOxr_l4SLVyuMw==",
  "id": "rs_0bd89be888564fc4016aacd4c91a1087d0a14d7e78a34098ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_roll\":-0.65,\"left_pitch\":0.55,\"left_y\":-0.15},\"note\":\"The forward tilt is tracking, but it is not steep enough to empty the container. I’m adding a controlled rightward roll, keeping the opening above the red cup rather than the neighboring blue one.\"}",
  "call_id": "call_LJYod9VPd7yZCIwFVGNBeJaN",
  "id": "fc_0bd89be888564fc4016aacd4cb47cc87d086b55dfec32655f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LJYod9VPd7yZCIwFVGNBeJaN",
  "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]: [-0.3347, 1.6539, 0.7406, 0.8944, -0.0914, -0.4812, 0.2615, -0.0151, 0.8337, 0.6407, -0.4362, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4649 left_y=-0.1409 left_z=0.2135 left_yaw=0.0276 left_pitch=0.4756 left_roll=-0.5395 left_gripper=0.2615 right_x=0.2942 right_y=0.0013 right_z=0.1743 right_yaw=0.0023 right_pitch=-0.069 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.212, -6.9128, 5.8872, 2.4347, 0.1001, -0.0464, 0.4908, -0.1983, -1.306, 7.2, 1.7021, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a43f6b6743de946b1694d7e7ef31513ee76a2604bd94cecbf2b95afcfd2f05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9532f4020f802c6bfa0f8419bece22b834f04bbe81579f76b19464b3c83971",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9735cceb42a501c57bcbdc195aceb4b01ba9dce2ac1619014c5ae69ded5b66ac",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5396, 1.6192, 0.9623, 0.4713, -0.5625, -0.0776, 0.2594, -0.0151, 0.8326, 0.6407, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4616 left_y=-0.1624 left_z=0.2333 left_yaw=0.0098 left_pitch=0.4018 left_roll=0.0284 left_gripper=0.2594 right_x=0.294 right_y=0.0013 right_z=0.1746 right_yaw=0.0023 right_pitch=-0.0683 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.7316, 6.5709, 2.3126, -0.2173, 0.0611, 0.6325, -0.253, -1.4974, 6.9949, 1.6777, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNTbdj1b5LwCX5Yq4Kvr3nY23Hr0YJOQz6EueC1SMYGng0QYU9wkMfWEz0vgoF2INGeFEGRGs4PBqAKD7GuPQ4VQy36VRkjrN6hAOG9mg4YKFSdDYTQfa7ru8zZZSFDnqOpQsAymlNuY86UL0mPxMDnSt0ejefyPIrTB9FRXHO4wHKjkLQ38Pruvjs4jLF3y83B1fAFhPWmdzjQqxth0_2htcIlaTSH0yJLkq0J5OhbCudGMivzqYGa0e7J_0KCLrBZ50Lyla0bqk4y5OSPIKAb0HaBKRFUl8xk2ccnm3gXoyhlZt8UMnNob9OkLL_zFdvPPxXeCkYgkjerOcXeETFb3TEncYBFsGMhOuRiC53mSVFSMSKAmDwJWkFd3hPaFOHA-_qu6czI37x6F55Zk0iFuT0WhjZwRnSbz_NiXpkpQnFJhL2oMV0FCkDP-JbHoMzpB_sagzYdmhy8QhyUnUyxsOfgtt_zzS6WxLb1koyFpxS0HBDGGKV3P22dt3uy6vSCb22mvXUECHeKiHqN-1HdfIQmG7ppzuA8afXbUMidVCtLiKJHCs4rVFivOuaea7wLkFQQOfonaEm4rIRIsyuW12dfG6EmeEe9zfQE4tzXuzcxP053DqTdVFF2JCDHfRvwmix1FUgVPNeaUxNLJILn-6NjjU39iv7dBsDFRcRn4xTAa6cl6h9_mcDIlX1XCXmLTABFsNHz1d-MunAuE8JcKMUdaNnIPp-mhyZnJ7Mykx9urbrUQhUHIX-OvUW1qqFhYEdmOadPT4bkgtsbK-HbnOFQlxAhGGDsvtU7iZS-ei3jKhJ8w7wFVww5X9PDue1LWdNdL1zdEmEPdAzSGRAflJeLcHCTJ21dS-TV-TMv82n7qw11kR8RK_s-gqXlf2NX9FoZq-4JaiwaXdtmVmNbvsyUWVCql84EJZgTo6-iqPqrCyWD-pshL5MQ8ahnrlVk3vDOcZmZE4UtjA8_QPl_QFd6eMqj2_755vp1rfqNx14Z4EPXPW6LPP9_Z2SugXq0gY9WM0KfakNNXVlIV9Ex02pQA9gc2LegEBp9GB5Qo7OnuygNQfqy_b87F_qGcNzWi5508xz5RA7Q8BF5GgJRhpx0yEmpkV0WfxmET3SWI43IF-Op71mxwNSgba0Us_fdJhFBqHggxp8B7h2r5i2QtCnutdH-sse92evg_0pwgKnBbi_9o49pCX0FwNRKIO61W3hMLXVNlUMQ5XJZfbj9I6AxDuMPL203frshlLz9wd46IzKb8paTQQYhkOo9G5RdmkLHvTXY_byaaTMAjuiqn9cSzI-ZAqKsliZcQCorUb237leiot49RuoWoqHgWDyKqPO5Gkc_7dTRfMAmVIlAQa8EyjrxlmxoarcrVZeoJlBRM_YAovuRwvBjv43v6HFpohZFOb0h1JHouMFJowcsUCLulrvNT0dPoboTpiknce7LmV8ynVkEG5sZyzGiSFyG71qg4SwMk3sALUEWephBsJEntO8_k8Ni13JtAW87-JLUJFjPMGSlneD_0zz5RpATz0MEHyJDINgC1rgdcCYrVAB19YevQi8LV9SF5_Rx_yZPfADQa06VDQl901iPuln3E6bmkQcXbCT6SM24jU1w8XpAxLrdDmegqamfdV6CwOSUdiqI9I1Iqs0QptsQ-9ldE148MN1f85i4KYCOSEs2-FV4w7T7zp6L01pAX7ecqcnfLB3TDbU_YZZBfCJkFyvVgYZy0Qed0iojjlue_RzIgz8Ssrl8GWFYwHztFBqorc6vEZTwYOi4jqurHWzcr65dvU_GcR5IWhbIPksYbbh8tKCAF5wIdKQOoNaW88hcji6Mjz_WhUYz09XE_gJ6sFC1U4FsHGuhdPd42K59dP3rtL74U_VeMSoG22-ImcPMEfUMibrHdFgE1Tv0h3WBdOHz5DE0v_-LLBQ2lDBtTF2X2X9fqy36BSr1rBXLmWpA4GAd1kaNfRIBAwtmUFovFJwvKQPv8ZmxVHJZCDNkX6re-BGK1U_1FT7M1B79yhhMAxpEDt3kxxSTZW3vEiNh_lswZGgnVG25fK5_lCM1nc7gZGgbZzDn8mfviC1XMsjb8NGCI-eK2_x82BxlZ2QRrMGP2F395hjmcXUVXiPJQ6iyBHj8n5vD_OEHSoA22_pHahouQ-GLwwELMZ2VC7yyYF6LWJqKdjYxmSwlT5eA5Cj7q3yggmsgewuF4CfccdJsdzHCTxmKzl2L9WPg_xXDI3XbSMAdLi4z0OG3V2hkPI5WIYqTq-T7djgZ6rxzT9RcKcQdNpFsA0yWSzGei264pVNq9cRh8PYcUclfcQfLN54gpAWPGiBrr9XPRW0tai-Jl-B7F1ccGrZmQipShrolD5eTqUFssiDXACyWRw3ZYV4sYv9eTdAGznDdLXlh1dq7Xhc9bJd5TktbOexWRfP-xzZR_dd230XbGuu_0CFy6sG5FJTSAqPtrTyVZvJE7PmqcxXBVf_9UXb5UtLN6YM4ybF-r46fCq7os5xRHbw81ccWynjpI-NKu5sg85ALqHxZAelPP94Gu34lZVfTqUuW8c7mKpN1gZHu6VE8TfsVkTYPPpD4MLCMiVwK1FGB7bAQ1gf9hN8WDXSdr0lK3ickaEdZ_",
  "id": "rs_0bd89be888564fc4016aacd4d13b9087d0a905705ac37b0227",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.225,\"left_z\":0.26,\"left_roll\":-1.2,\"left_pitch\":0.55},\"note\":\"As the container turns, its neck stays on the left side of the body; the red cup is visible below it. I’m compensating to the right and increasing the pour angle so the neck, not the container body, aligns with the red cup.\"}",
  "call_id": "call_vdeUkHoEo3nDqS5UgAkRAmBH",
  "id": "fc_0bd89be888564fc4016aacd4d8ed2887d096dc5f207d2b1300",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vdeUkHoEo3nDqS5UgAkRAmBH",
  "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]: [-0.4103, 1.8942, 0.8825, 1.1572, 0.0574, -0.9413, 0.2647, -0.0154, 0.8345, 0.6407, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4824 left_y=-0.217 left_z=0.2225 left_yaw=0.0206 left_pitch=0.4569 left_roll=-1.0787 left_gripper=0.2647 right_x=0.2942 right_y=0.0012 right_z=0.174 right_yaw=0.0019 right_pitch=-0.0702 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.9094, 8.8547, 2.3272, 0.2466, -0.0464, 0.3248, -0.335, -1.5111, 6.9949, 1.663, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd60c6cd6489b26a325de706561686ed062abece684df3674b5e09ea493a373f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7485096df80f6ebe752bda6ef1ae52473a3746e684195ce6724272402b4921",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5777dd1be0999826a9f6e7f24828e8fe45a51460e9191a965b708becc3136e7",
      "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]: [-0.3347, 1.6539, 0.7406, 0.8944, -0.0914, -0.4812, 0.2615, -0.0151, 0.8337, 0.6407, -0.4362, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4649 left_y=-0.1409 left_z=0.2135 left_yaw=0.0276 left_pitch=0.4756 left_roll=-0.5395 left_gripper=0.2615 right_x=0.2942 right_y=0.0013 right_z=0.1743 right_yaw=0.0023 right_pitch=-0.069 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.212, -6.9128, 5.8872, 2.4347, 0.1001, -0.0464, 0.4908, -0.1983, -1.306, 7.2, 1.7021, -0.0415, -0.0659, -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": "gAAAAABqrNTg_YMo69ApZWSgzmQxNdZx9WDFdS9lH0rwEFx1EvszgIuzsbaM2zODXIsjZqltNswSeA_y3tgrhtKKkwxahkVWokvph3NLvX5BX_jLsZLHiabmy-wcjhUhb3Ugpo1r3_omSN8E0aU5z-92YpI4IkBqEheVFPWF5PUACaQrwBfhhIUzqoJy6jpf4XSvMS9hKaBilZmt8WhAWlj33oiA4_6H64Kn1McG53SwoOYJ-yDJCgJ0DvM3TPDVYRzxqOJyRgst_PTt2xLLiOiPccCmG7NUVH-FhjrnkXR7a0eoukgDZK5llyiX72Kc9FtK05MkDIwQXXLbimQ8zhI12TWF0j9NLj-fVGWXmiTyKUSnvK3EkEL62sD7aJF9KpTWZ4dgF-zhUyS_C-OrlNY6M2HDQ1vURO5gyKGenCBnmApucuitHUwrXA6BCoa5aqZy7xreHdm8CJPqwb-MqSdWqxYM88UQq3PS6yD6xr7j7wrXkxH3imhmsyPM29B906d9l0QEAOnuapmdg7YB8Y-rw7-N0SWH8EvzLV5-2bw6-qeW3w4iM-11jGvesu1sMve6VjHFRiFLMl4o0vh5bfEMAW-EkPjT7dk4N2XSij0GoJfQN_S4jTAbpG9q-b9ZDhhpIGSG0OKmm-Ybxat-XdJZQg2mbED3-tnX_yYJDFixcM6qWh381BDA3X7_KRIn_X8im1tmOD-tcoyoAx9Rx73ucLtGld1qAvxiwoTeptvQSnbYtnIr4cM_WQYiD_z9NgU470Xu4iMmltVkmY3eE7w0qbF_ztROkNDmWbrJMQhWqYCUcOCu-rMzZkDwOumUhSZSFy1gHkgh2bVqb15ADUjODVBv3ZKbRxp1b_Pb85CqycB_oWvs9Aqs_ChzRRHPIHFB6u75sqfqPOw1nWg26CGhNMu2GF_PAKrmvKOSdYXh9Gj1FVEAfAzZBNVC-jUYpknUiRN8Liyael4rDQAd9PHlILLNmHuuFMuadO1ckCJAB_PxFftDe4Vnj0IRI00Av_WOTqz4nT0eqOPvowJiZCgFLN4rRgEDuQsp8EUHmNfZsBtvNFwpzDBAksNONfREQkcbY8u796g_548rKDqkgh8-REo6kUw_tBnmjYvQrvOGJGTyvVjlyDJs_yBPx_d5EKQmVtrqpj2DOAQNGVqV5K4WX0uBKIpFuQ9PDaJ-BnigaVlbDyE1YGCcpl57VUsCUtfMk1mMR5sX34Pr5j4zf6EQ0LVwKTkCi1saBJgyNkef1pSDCmqw6HfYfmW8PElIICBHa0oSy-OJXVFMMczkF_aiwFBjC0gPkP-shClRoDUlupHCXShkYKpHoc5_JvT66yI8Rk3CSqJg",
  "id": "rs_0bd89be888564fc4016aacd4ddc30887d0b51f1b78d79b65c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_roll\":-1.57,\"left_pitch\":0.6,\"left_z\":0.245},\"note\":\"The left container’s neck is now directly over the red cup’s rim area. I’m completing the tilt slowly and lowering only slightly to pour into the cup.\"}",
  "call_id": "call_VWzjzeeIuK5FW4fZ4UW2inZZ",
  "id": "fc_0bd89be888564fc4016aacd4def46c87d08d6cd4259e51270c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VWzjzeeIuK5FW4fZ4UW2inZZ",
  "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]: [-0.3584, 2.1273, 0.9905, 1.4685, 0.2001, -1.2896, 0.2667, -0.0151, 0.8364, 0.6407, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5014 left_y=-0.2215 left_z=0.2187 left_yaw=0.0184 left_pitch=0.4661 left_roll=-1.4504 left_gripper=0.2667 right_x=0.2943 right_y=0.0013 right_z=0.1735 right_yaw=0.0023 right_pitch=-0.0721 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.294, -10.8376, 7.0906, 2.5128, 0.1197, -0.0122, 0.2027, -0.335, -1.6068, 6.9949, 1.7118, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e275264f8b3d3db72ccbc7eb237436fea76f7460898a9ce1cf4fd77afbba8c2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba275212449c6abae9ae966c0610f6243dacaaf25b013e0d4ac9662275e46dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aab01db103e917c0ef369ec8c4bdc16d542e6e5595322e1e9af19c8ebc0dfd4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4103, 1.8942, 0.8825, 1.1572, 0.0574, -0.9413, 0.2647, -0.0154, 0.8345, 0.6407, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4824 left_y=-0.217 left_z=0.2225 left_yaw=0.0206 left_pitch=0.4569 left_roll=-1.0787 left_gripper=0.2647 right_x=0.2942 right_y=0.0012 right_z=0.174 right_yaw=0.0019 right_pitch=-0.0702 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.9094, 8.8547, 2.3272, 0.2466, -0.0464, 0.3248, -0.335, -1.5111, 6.9949, 1.663, -0.0464, -0.0562, -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": "gAAAAABqrNTogg0NTxpAZ0_K9mLOANr0jRPp-lSZ8v_aKHpi-Hq7h4G9PeNsKra36rxqw6GFNJImI7LI9PRSySdC5xJ2CapUGUX9wKYvOvBzje7kpj-KQpVkaNsIkk83eOC8FkYahIH7krlaekw96hS7F4ON3BaCafaYae6Y2dbNaMKrNr8ZEwF34WHNKMBZ_5h_Z2GowlW7OKEOHowNzeGLCl9N0VQkyMdyexbclQ5hMhiM91hJQmcvmDIm5904Gh-lMhSLJpp8weo95gk5K4474FC_mzOFHNO6oz9USXWLtOHpC2WtU5cvN89mTH_t_3nAXAs0UqC7xJhKFI9c4GszP6oUwYRaNzPmtsvHsQd_s2NqY2l5cj-1S0CZAmGvdWs8TDc4t83DXN4YTR9rw9Ta2FsP5i9ON10ualmLvOhhTQctQ9VobhWuDyVxGCrlrULLI1ZZQPkypgmeaRWqrcCZLCPx4m4tyQLRSUWpkRv4C4GLh2bj-9x4_3t--oF460Yefi-5h9A3SY2HrVzNqVipYiZ1CKADM-U7HjF6Cbzxa0WV2tBCLK2YA-Kqm-3HYsIgjzoPnF-xutOJBL6sUrNaJMv8pFV1oE4aV-xt3Mtxc4tUEbKUNKirL-ZdbMjpMctCb-CJqU8Mnc9iAvCpQ7axLlvLytRGAUatWFfqvbvDghJqTHvnJJdHPiZO6mW3ijozrRmW8iIAe16tXiCNI-A-50btY47QaJBZjne-kJGM47P4w3AmmEaN2F1Dx3KickCFspTb3FBjrG5wru6Tk4wN35pu7_KTb1dRYquJG657tpt1K-RwJSbVYONDtD0g8pCfkaM2OiRl0EKbyknT7sCeHPy5k0VC3TG9Fp0nBuPmaSopUrnvgfm-tuRWTGsQ4o1AXqN0vVguNv5mbvPN_aVH8mxx7HmjhVApAmBSNbegiKzHC9KL2YdB19WdJ4X8IaEGqw2oUKh-QcxuBkoCCr4okciSmZqIph9FhyDpasrAnnqqIT5AibqKu9xmITBdDHmb6glNKPz9LVs-iIr00cOvXqlDmcRJQuiJ-kny3q7tbHYCpUY8oksMe0Ygcs54w9WH9TyWnNa0ytdDi5yC6ymiwJsHOfRE5gEb4Lv0Zw5iPId-e3Gd7QCCgayFtv-Ys-Wly-IHfAhF3YShC1qJt37SfDaVf45TxszElSWwb9VyGX6eGH2USVmeEfvfFOEUTqbDZ3FZXfwrS3JwGLSMqtvpWhMntw0O_91eLx6SMBs1-gxsZlBAr884jIgCA1jbSq6EV5FnCT4arIEQpWknggUW-8ciZsFq7ajZVOssIwVjloI7WXEn6Zxv7pdGNWHKi7XffM_hS5dhdqnqJuK_5Dse_JDBClGHhjyJxwvj0w9qfeXaPFZ65zz5jCRLjwbFTLEQFBOnK8tzO41ddL-nzjVKaVEMAj-gphDgErSPbo9g7hX5iTpF9QD2mFs7xsqLcqyR5Qx2HCcJaZfg35GQF2wdMpF1XoV5oCv3puduNZmnx7KEjJF9XfToGmM3-Jgl1fq_lXdPchC-lXw9bQiMxo94-GCaaXq6Af0HG1uBBdgZ6TXcISFQY1SJyE0iVYtwAHiNVrWntGpr_18Xje3ezqkSHkdZtgpVMFX1hc4m6r-qWvafNHqIB6KbSMTJ9HUBhfqpCbTk80GbjjAMuY-e1f45XFGSAEvN3OGPxfR_S_3kHNxYXkx3tK6GWVL125GZ6DPfKMIiHlqh",
  "id": "rs_0bd89be888564fc4016aacd4e34a4887d0956279c426afff78",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.205,\"left_z\":0.225,\"right_x\":0.297,\"right_y\":0.001,\"right_z\":0.2},\"note\":\"The left container is at a near-horizontal pouring angle over the red cup. I’m making a small rim-alignment correction and holding the tilt while the contents drain, with the unused arm kept parked.\"}",
  "call_id": "call_mEW3RJ630W04BWZIhflsNozB",
  "id": "fc_0bd89be888564fc4016aacd4e6c12887d0bc1ef4d7b6ab8fd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mEW3RJ630W04BWZIhflsNozB",
  "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]: [-0.3584, 2.0659, 0.7982, 1.4826, 0.2062, -1.309, 0.2695, -0.0154, 0.8635, 0.7094, -0.506, -0.012, -0.0277, 0.9998]\nstate[eef_state]: left_x=0.4695 left_y=-0.2107 left_z=0.1806 left_yaw=-0.0045 left_pitch=0.3474 left_roll=-1.4205 left_gripper=0.2695 right_x=0.2948 right_y=0.0012 right_z=0.1832 right_yaw=0.0022 right_pitch=-0.0999 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -13.7915, 6.106, 2.3126, -0.0855, 0.1587, 0.2857, -0.4444, -1.5658, 9.7573, 1.6044, -0.0415, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f19d3c860502a3fe15f64d94e70885ced3b5e9e8b0e1c79fdee69a69d3f9ee8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6efa43b52c67d02d4f4c6ce11ac564449b477e48ed12a405f530dc486b877b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e7f2b1c5c5bcc66d96377eae07bc2659ef31829f25302a3b36353f020e2679e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3584, 2.1273, 0.9905, 1.4685, 0.2001, -1.2896, 0.2667, -0.0151, 0.8364, 0.6407, -0.4366, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5014 left_y=-0.2215 left_z=0.2187 left_yaw=0.0184 left_pitch=0.4661 left_roll=-1.4504 left_gripper=0.2667 right_x=0.2943 right_y=0.0013 right_z=0.1735 right_yaw=0.0023 right_pitch=-0.0721 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.294, -10.8376, 7.0906, 2.5128, 0.1197, -0.0122, 0.2027, -0.335, -1.6068, 6.9949, 1.7118, -0.0464, -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": "gAAAAABqrNTuZoG7zf6Qo0AkRhzv6_qNmSMWKJBV7ebxN3wTIGFFBzLVUVjDAysd0BexnR_PKRW6HRKrnRVBz_MR-hDIkrXhRoyEdILhYGZ1mZ9i6lbPk9uNGylMOEpoloHmJrPZdSfvnfazQL4caTggHHh7KzLdELKz2JOcIMekN4O_369m5FvClEr4dz1hEnbERtv8XEVBoaiSI4JPs7RYZ1y8PcqxbTqYfPozJZYYCcPnu-op3QnpfnD2Mm2jdemP4uqeUDjgDU_t-bBQPLjurCbtsRZ4f4ntfCVjYp_dO0imIjUijokJqfUFrN9VIjtmO6JWxhnArgZHE-STVrKQMQ_KwI_W5pWVhQqHjtB4LBSchUtc5iBVxsnh_9B4MrsYVrGss4UK-1hMTxs2JAG2bO-VNJWXnhzcO-4EICpxqAbAtNoTwBQYllwNRO7VS-WHXwNTcUaOmJtSffwx2nJ3hsvUD-0MQwew9KHTAA-kWkeU2VNc-fSd-tHmYNq_SP6mlvWMi9F_dU_hPNrFXWjGegNuaeSdfYopRnofAv2DACnntM-GZIErTkks7_pBSpiGg1GwlmGdiphOgQ7lebSc6IoTfep3woSlXXc1wQAXNnabEc6ni-nL2HSG2Z8Ph-HGjoUyUfwyS341hPtXNeOAv8VE-cu3Q4GMGJyoPAsgTpdxvAYiRt8DF_ylL9pUpOOgtGY0veiewHQlKTZxwoxWQAjulzazfVh4xBAwtk8MUNfEGb7ZMBndpsbd5VxQgMHh7ZsOtM8N1ydg5-AS5aHX1P_QxQ3oxFQqsAC8tqnyYwSvX9iPf_oi_2sq3EhgkHtPcYHrZ_5MofF112EjXBdc5xFQF6wfl0kwkJsRIo_Lo6PPkhX3c5OI4gmhkn0w3Q58BoIfAxcGdyFF3mRCct3FDpCMkt2IIRRFzaHlL_w-zkmyFUEUEgHZ5hKdhEB0TH-6FxRVzLlD0jqcwR63T7opBytxANqm9GttHSUs5IW8Wpb5U3_Uu7Qiao9jzfrzkarJe4IHvptMSZTZr6mMIKYsnV3DPwybMfNzhwFKpBANyu-R0R-1xN9CRh46ztnEkR19Pp5DbbW9_ZPGcppXuy6Iqocjqu082i33biVLKjmkGVeUSKvYLg6rNIKf0q1HJhOYT9B6Qv85_zsUfWkoU7gpZNkCkA1lLyEegs0cLFvHOUAh3NtnbZEqNkXm0wZKY9NuqUttZambbdk7WbJPIlaq23tuqo3KmRw07GMvSziQFTm-2hRw5-lDYOS0ule8-uNGPBQAkqdne4_e_iyJT4mNfHDWbDAcRow_NiV5mKQCwRapyGlGHjFVFL_hIg5DsXxgjrBzrVS5XDUtkWrS17MvM1APTWlSODVXAZstalxxTmGWWkpQ0x_OyOs-amXvj0mYrRfpG31ReDw4ieWSuSqQU3KZK536WcB4Qhxip_al1NNmlpgbO8jgQ3G4-4ETpcRMVd2wMewCHtAJFVowjpGo-RUKnxTfnab0uJEqRjZPU96R6cpcIK18I68HpmihCsHC_SGp65YP",
  "id": "rs_0bd89be888564fc4016aacd4eb468887d091bc384e069ef1b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.205,\"left_z\":0.26,\"left_roll\":-1.57,\"left_pitch\":0.6},\"note\":\"The neck is close to the near edge of the red cup, and the arm has sagged. I’m lifting and nudging forward a little while maintaining the pouring angle so the opening clears the rim.\"}",
  "call_id": "call_1EwAShdlgHPH3BlRiNTFXV5r",
  "id": "fc_0bd89be888564fc4016aacd4ed222487d0bf293138a4bea4d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1EwAShdlgHPH3BlRiNTFXV5r",
  "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]: [-0.3565, 2.0815, 0.799, 1.4899, 0.21, -1.3098, 0.2714, -0.0151, 0.8642, 0.7116, -0.5194, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4703 left_y=-0.2106 left_z=0.1748 left_yaw=-0.0075 left_pitch=0.3401 left_roll=-1.4176 left_gripper=0.2714 right_x=0.2931 right_y=0.0013 right_z=0.1814 right_yaw=0.0024 right_pitch=-0.1118 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.9077, 6.0103, 2.1905, 0.0464, -0.0171, 0.1832, -0.3761, -1.5795, 6.7761, 1.7949, -0.0415, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71a939cbfa2d4825053494a5777981c89588d88c8a8c4fcd7fb0f2821e3cc72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd68b47528c77fa468bd4e252f3eccbc50b0fd6582e27a359fe4d8547b44430",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6f394a833c8c995fed2b7eb4335ae0d80027ec098025f2659c149526a43a99",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3584, 2.0659, 0.7982, 1.4826, 0.2062, -1.309, 0.2695, -0.0154, 0.8635, 0.7094, -0.506, -0.012, -0.0277, 0.9998]\nstate[eef_state]: left_x=0.4695 left_y=-0.2107 left_z=0.1806 left_yaw=-0.0045 left_pitch=0.3474 left_roll=-1.4205 left_gripper=0.2695 right_x=0.2948 right_y=0.0012 right_z=0.1832 right_yaw=0.0022 right_pitch=-0.0999 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -13.7915, 6.106, 2.3126, -0.0855, 0.1587, 0.2857, -0.4444, -1.5658, 9.7573, 1.6044, -0.0415, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNT2vpZ2WbR4G1rUiGtNMA1el9SgbiSF9dUpvJ1Mra9eNjoG0F3NUcT3yuNtlYuEvg196ezXZ-3_U4T123tC-joNBOqO5jpqiPbZ3TCCgWzxcSdTefAYSIuCuYlCvelqlA1PwImUymmIFRgez7Tq4_hk3HNJ6o7u7ZhtWD7r_QKEwal7fzcrwRf2wCqBAgnQU9ELaGqiGkaGv2m5R4F7fR7lH0HljFAkgOzCuuXBt86ho7JAzH4LoVkdnMtTy-S3nIIXs3uxFWIYIW50r7CjksAE5lYoJ1kaMVBUzn0nm1PquRoZYXaTrB0eKMDS4FSnbmmj7gjmr4TOvlK1pS25hsk7Y0bY9L2Cv038_BncnIP0UIWlji0QWayxySN7iJIpx8NUtVJvKcDspWEGr_Y_J1n7nSKbtZoKNeNrp9kL43SXwyORxMFnYgFDcQQXrxcMclwFyTfrNsVzjj-fTmsmuJgBQaAdEsXaXj5pjCeNe7EPnWzVqEZ4LnfLimrFSIKUj_LrRaVvg456H7Y_CCKRLNWMsnn0qQIt1g9dl1OT7f_PDyay5n3RJq1CWaW91ldNziIGyFcyAPSpu5qOoWHCrKrz0fUBXr6yFkqfiH4JtRLjteaaToh_LrxuXZoxkkrYa74PNna1WLa2iw8s7DyQVO_cWpwx4UHI05W9zfYFO-HEeylwHDW2jrniDDApJd4Xc3uZcA_qCzjFTLS_nzVMF6j29WZcuj4Ga_rE0-t8KaYwUfqGkHJgGB_F6uEv1n63L3c4T3kfGLEvESYPme9x8MdmFFMPRtbnnKKXmxwstv7K5l2TKWleJnZxUlednzB52SVlW-RtphA_VhqI-6iPVXuqsFbC9QOLs4RlWCPqsz2AvbcViGbVWFH8wQjKyUt0YKWlMhlY4yLRc8x_lQAMfQdsLFjlg-GE_JWGP2Cd1ImXGPotQOwbUAuWsBzOx2kVtwZKhN-175o-gS_nTGDYzxvQne9x1qrq_NL_M1h_EnLRsM9ONqSeRLKsuHS-ioUJlRMbdwtXipCgPqe-2x5gH0Wx-sVnjv772lueDGapIGVmINawxMcI1sdAHhH9AqDf7LAHTfeeWFqTHgkxxj-MF9Er1VRTUs23_Q5JY4Ez8XMeEJaUwCrtDOCBwoUFJR_o-Hvlujadx9LVfteFkRD2rusZgvEpSElEql_kOsLQ4X2JkUIFCySXhbTkx10vMlhmm5olGcWyUhMitOyLxUdanWPuF11Dvw1FSp1fsuXYqBagpRG0PVcUYkZTZwTHm-0J9D9vb7kASjo4s02h8uoRy59wyz80l8OtamEF3QmJj1SLN91K1izFwVJQ23LO-cBwUR3OqZhMM4V_v76zHz803iaGQRly1qx7qHGfjkf6QEvZQAYQ-ryiSsvuiiMgd9x8p_4DZQLW3ZHIKWzugz2EaUW_s8nkd6SsjPyEGhpShlwg5teGMl7w4nj5cP9Nfpa5aiJ1_kAfgZFi8iTDZd8ZMjdBCkvPF99h1KoQY5CzfaNqH7tHSNrJDmoMsIT9rhKomIUe0IVg_nFVFyxK1wnPNzQagWjGg0bSGwHvQGID2_yNigm0lZch7NzzCQ6JdmMgbVzxjt48bfRC1-InxtiCE4wPnsMk3g1rcs7rtGDKE-pe8mk39w3fucCK6YvX0wMwqvJC",
  "id": "rs_0bd89be888564fc4016aacd4f1c73887d09be0577f65738982",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.195,\"left_z\":0.225,\"left_pitch\":0.3,\"left_roll\":-1.5},\"note\":\"The arm is not gaining height at the current wrist combination. I’m easing the forward pitch and moving the neck slightly farther into the red cup’s opening while keeping the sideways pour angle.\"}",
  "call_id": "call_oG5Nr92xfy1gYdHvCmK3qxJo",
  "id": "fc_0bd89be888564fc4016aacd4f4d97c87d0972427301d561af3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oG5Nr92xfy1gYdHvCmK3qxJo",
  "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]: [-0.3237, 2.085, 0.8856, 1.393, 0.2546, -1.3521, 0.2729, -0.0151, 0.8635, 0.7116, -0.5243, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4909 left_y=-0.2078 left_z=0.1821 left_yaw=-0.0191 left_pitch=0.3078 left_roll=-1.4411 left_gripper=0.2729 right_x=0.2923 right_y=0.0012 right_z=0.1807 right_yaw=0.0021 right_pitch=-0.116 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [2.0171, -12.2598, 7.6376, 2.8742, -0.1343, 0.0806, 0.149, -0.2256, -1.3333, 7.0632, 1.707, -0.022, -0.0269, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f813bfe69068394bee262bddec4606d7fdff47883aa42fcfdb38973c4161aff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c49d9fbe4a9b3b177d8255babfd1bd70c1ed92edbaf0446bbf8ac56a9bb755",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc3a0d1f8631371b2c6ac5c4d0e60f8c9c5361512f9b7ae0e3695db97296257b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3565, 2.0815, 0.799, 1.4899, 0.21, -1.3098, 0.2714, -0.0151, 0.8642, 0.7116, -0.5194, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4703 left_y=-0.2106 left_z=0.1748 left_yaw=-0.0075 left_pitch=0.3401 left_roll=-1.4176 left_gripper=0.2714 right_x=0.2931 right_y=0.0013 right_z=0.1814 right_yaw=0.0024 right_pitch=-0.1118 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.9077, 6.0103, 2.1905, 0.0464, -0.0171, 0.1832, -0.3761, -1.5795, 6.7761, 1.7949, -0.0415, -0.022, -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": "gAAAAABqrNT7Zk_mKMQHC4i-jtP-eShfBYSR-5pyFdGzxHYjdkze7vLwGUlaldyHUGedcxkcjhG7DtyE2g8KMXmIlcXZqSnHYQXbb_8IuAJkzEQ0yCDv4XLeRv0-NRlT1NraCWQPkPU08VR4YJLiyRsQBeudLtgG7aMOpaqHcuLpezvxlnVQtPuh-j2RmihrPmklWegFkMG0rckSTHa68rxLPAuUySCNPwzkgEe2ht6REhCA3i3lvj0JoF3b0ZUQo-sHSfd3wHiuqeHTwsnZrBlXcMJXBlBRrk9q88aVp294kSJUVdbIQaYreMlnTw2LyoKrzjsUJ6xtVK-whux9P9RkvP19ElhP8WGmka41x2q4ecCYNN7-fGcScWKELvgAl29cRwgbqy92BGA0i1iBOGKJue8Ms_1BtJARR5Ify9b0yRxWaXXf2GKfPfCKsUpG4wDu1sVqQi9dc-FHtaEOhCCMZmRWsbBxOrkE5dnRuh6o-o-KmBqwL-H4WqsMoYR3WVtg7cuB2FuLwMZ8TjWK5EOXCMCpVzOC1tNlufPnZOIGbRpPZ6yeNjwjxTnmUMwICny19xRc31zQsEX-qgrSMAlf-bB8MbHmOd7MRW3gG4w3ZTrn1XpZz5NxhzFr8jze4Yjs1tGv2_sgAJ8xvROaxvxznZxARtZybGPWaPkhg058O1cna8uTKCf0jy0Ltle-5RG_ZVvbUjvMjXptXR3Bfmmh7seyM-DW78kAeO5XWDFtRoSXicKFUJPnC7o0JV1l92URpy3j5XteqHjyJTN-avaJRRNHwPAsSFdew2ruEPykUjrscneOQwCzwnaSefNewtGMahire7uXUR_k4SlqXouDxdfjoMD61KujuBSDlqMsd2ME_xFEHF07YZPIC1c33iWn8-3HBhOXZ8-oOX60kYiaBn8xnzUn9CNxXl_I0IEFPZUmy8WK70jTDVX3X-mRT4osKnPXCEuLKPg-M2qnVZSABpHqNW1yhUZ1R6f94tLyyRUdyBs-73nr6jAFhZXm2ffD7VZdxOPOwK1LNmTy-Rec3EAS6aLSA6Y7mWXvhebsVE98B158ZiVsaRGXm-BzMw-W4Ik_axMtxIx_1rK60YV3ddo7Na0nvpQ0Yq4UVibHaSqScURYBceIHK8uK3sa5LM30LkUjwIutVpyyAlE2FuRrez5nHgglfBPHKuORBokrXQcSnJCTmtzYRew1AH60ZK1QkAunDVy",
  "id": "rs_0bd89be888564fc4016aacd4f9553087d09c2e68fe84531970",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.19,\"left_z\":0.26,\"left_pitch\":0.3,\"left_roll\":-0.8},\"note\":\"The first container has been held in its pouring position over the red cup. I’m rotating it partway upright before carrying it back, to avoid spilling during the return.\"}",
  "call_id": "call_KJXcPJNyTtwykPVZveW7NJES",
  "id": "fc_0bd89be888564fc4016aacd4f995d087d0aabf95d064455df5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KJXcPJNyTtwykPVZveW7NJES",
  "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]: [-0.3901, 1.61, 0.8974, 0.5842, 0.0582, -0.8474, 0.2751, -0.0151, 0.8688, 0.7116, -0.5259, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4596 left_y=-0.1962 left_z=0.2297 left_yaw=-0.0292 left_pitch=0.2448 left_roll=-0.8766 left_gripper=0.2751 right_x=0.2924 right_y=0.0013 right_z=0.1789 right_yaw=0.0024 right_pitch=-0.1228 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -10.4547, 10.7556, 2.1709, -0.0659, 0.0952, 0.2271, -0.1299, -1.935, 6.9265, 1.6288, -0.0366, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d8f25a268a1af762b83a72be2d59eb17ee862ee81fd6dd5b776dfe96975782",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd6a5bad110f79eb84f1da5e386f39108f1e8487996324675ea215515724227",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d6f9544d2dec1f53647f0296e6366ff915f4fe1b0c1dc0039d0c5eecaf7df3a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3237, 2.085, 0.8856, 1.393, 0.2546, -1.3521, 0.2729, -0.0151, 0.8635, 0.7116, -0.5243, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4909 left_y=-0.2078 left_z=0.1821 left_yaw=-0.0191 left_pitch=0.3078 left_roll=-1.4411 left_gripper=0.2729 right_x=0.2923 right_y=0.0012 right_z=0.1807 right_yaw=0.0021 right_pitch=-0.116 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [2.0171, -12.2598, 7.6376, 2.8742, -0.1343, 0.0806, 0.149, -0.2256, -1.3333, 7.0632, 1.707, -0.022, -0.0269, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNUAzAtm3_j3WHyXyu_nlTleeidTOutyV6wxiTSEKhEdYtF-o6F1QjDwXJH9b_m1LG5R0K6YwRsNOEUzQ0gg0sqRogXhXGnm4urIU7cYLSX0K9ksqy32tbT174hEtRqLleWll8HxPZdOSRP68EEhqzS0RqJIDv9q2GyuDpGfqhF57dqhcvD4AXsDPfr9JPn5ZnkFkb-tFqdoXSkKYe9adnxFfr48uoXktt1JDIzhfDuGjgQb0P4SRGi8VZlwjy4fhrwXomDBkYHh1sB-1rBNk8-KxwcoIqKBkBksNu0ittEqZezK6C3PEXxpBRV2YS6tRDB7fYwzGvl579P3ax65du9wPrskeFQWEItQYOWvjmrSnm5qRvHNR6GPtIdYbB5dTLzjr060n1BQNYgn-oqo7hbQ1ACanRopau1vX7e9DA8Jwmnkg0MmhITekIUOF11YWHI_DLnXBs0DogUEPy0tLQ4LqHKd0TkOpoKjskbsp-MqwmA1WS2C6x4hk2_p9aWCyOF3SbgUqtb1YvafjSb_UOfimz4HtGKfJgU4bnTmqIFwEFNNY2esieaTQvtSX9AwlJAXyOLtETKDlrDwMdfLSAa_gfZRgoQqDB08kw9GufGJaTvPs87e-VAAeiIIAlN-bYRua2DP1gktIR8wwYAJZzeYIMvPzI-5Uf7jyApaY_f9YSzzFIxLyg4a64krDKCv86of5ZC5KWSis1FY385mJHukZgxKa82hnGNYLdL9rh7lJlvYPojevWmetG02Qr5EcpiojG0LaSEx5Epc6D7kJpSpJMEiga5XSijs8kE-V29Y_PvKUHRIn0ikhfyF4xjU9DyaeCiJ8mmQxKzWBNG1KIIyX_DBLCF4toPaM0_RXKrfkTjcN_0w009aiFwGbcWSyGnBUZ84GKFQypXQo6OHK4BmhPWnMXdHmYKuZCCqNyAekS0s0gDfklj1fmUvg4RK8nP95D9kSJq7KIUcB4eMniTq4DbadHOqVSNE7DTjQlCpiOWFBx01-xkDLFRCbiib-CpODwIZjsO0_0wNUVBHmdVEw2v7HK1cIC7niqeP0kVMc8PCs8s-aBvuAEMmadlQdh_g9qF8PHUEeeQH6rPa0H8KayXM1baTS2bEESnrHxI0Q4F7xn3iEKf-R9dcZ1aKhuEZY-ejCnC5-dGSS5ya5rz_6WdF-m_GMrGeuv485ZqKOpT_UELx4zl5sdgAfPJmA7P3Jzi3UYyGaWkwEEFXewWbhQkF9jzZGhF2HyF-rShsSNqDNB3Aat-5gz_kWgFUxkStkWqWl4MPLscyLXptwYVfUg==",
  "id": "rs_0bd89be888564fc4016aacd4fdcfd087d0b993c9c324ca2a3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.19,\"left_z\":0.27,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The first container is coming upright and remains secure in the jaws. I’m bringing it back from the cups and restoring its upright orientation for placement.\"}",
  "call_id": "call_nRtpDAve5ILH4xr7VontmGQ7",
  "id": "fc_0bd89be888564fc4016aacd4fea9e087d08744c409f785d68c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nRtpDAve5ILH4xr7VontmGQ7",
  "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]: [-0.6621, 1.4883, 1.3258, -0.4717, -0.4709, -0.4362, 0.2765, -0.0151, 0.8707, 0.7116, -0.5262, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3931 left_y=-0.2002 left_z=0.26 left_yaw=-0.0455 left_pitch=0.0004 left_roll=-0.0954 left_gripper=0.2765 right_x=0.2925 right_y=0.0012 right_z=0.1783 right_yaw=0.0021 right_pitch=-0.1251 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -6.2427, 9.6752, 1.7363, -0.2466, 0.2027, 0.1294, -0.0889, -1.8256, 6.9402, 1.6777, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:711633ac49eb0d19388d74027ecca04117728cd5096f455046d677b74ab88040",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93c41f16255f63f8bf140fbcf1f917170dc0a01898e0691bf649ec88e16d9d02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327fe90b2f0ff086f1857856ca6ec4b8ad0450bda80e86e9f886023b5321b1c1",
      "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]: [-0.3901, 1.61, 0.8974, 0.5842, 0.0582, -0.8474, 0.2751, -0.0151, 0.8688, 0.7116, -0.5259, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4596 left_y=-0.1962 left_z=0.2297 left_yaw=-0.0292 left_pitch=0.2448 left_roll=-0.8766 left_gripper=0.2751 right_x=0.2924 right_y=0.0013 right_z=0.1789 right_yaw=0.0024 right_pitch=-0.1228 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -10.4547, 10.7556, 2.1709, -0.0659, 0.0952, 0.2271, -0.1299, -1.935, 6.9265, 1.6288, -0.0366, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.19,\"left_z\":0.15},\"note\":\"The first container is upright above its original area. I’m lowering it toward the tabletop, watching for the supported container to stop the descent before releasing.\"}",
  "call_id": "call_aRPrceTLzskODLdTanCbmtJc",
  "id": "fc_0bd89be888564fc4016aacd5037db087d0856c7e9bdef2fc11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aRPrceTLzskODLdTanCbmtJc",
  "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]: [-0.6163, 1.5509, 0.9653, -0.0872, -0.4404, -0.4152, 0.2778, -0.0151, 0.8707, 0.7116, -0.5262, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.1853 left_z=0.1475 left_yaw=-0.0349 left_pitch=-0.0411 left_roll=-0.0714 left_gripper=0.2778 right_x=0.2925 right_y=0.0013 right_z=0.1783 right_yaw=0.0024 right_pitch=-0.1251 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -6.4205, 6.653, 1.7411, -0.0562, 0.0708, 0.1294, -0.212, -1.5111, 6.9265, 1.5995, -0.0366, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76aec6d379dfad1ef6eea2c5bdea395ab5aed14fe2f373b0058013f41cd42dcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85c028f7e56bd941c8223f5b6cd275b4018a5a077adb0d8612f3d3a81191378",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5cc2cd3608a62490b68244746791bd66323df8b8d4c155aa5e69c7a90c71c4c",
      "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]: [-0.6621, 1.4883, 1.3258, -0.4717, -0.4709, -0.4362, 0.2765, -0.0151, 0.8707, 0.7116, -0.5262, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3931 left_y=-0.2002 left_z=0.26 left_yaw=-0.0455 left_pitch=0.0004 left_roll=-0.0954 left_gripper=0.2765 right_x=0.2925 right_y=0.0012 right_z=0.1783 right_yaw=0.0021 right_pitch=-0.1251 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -6.2427, 9.6752, 1.7363, -0.2466, 0.2027, 0.1294, -0.0889, -1.8256, 6.9402, 1.6777, -0.0317, -0.0366, -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": "gAAAAABqrNUJ0dIXjaIJXL6iOiYtjBrve-FQh5iIAOQRN5s6eIFTcYf7527rQYSnk3Q64IXY3bPTm7-JwjcMVUOR3gLHJytorxnjFHDrg4ProqjRYfppLEMhKaaQ9jCzDmfy5Q1BNlVtkx51AKIzzTlNNDb9lHSQ32KOCK9v0Vk6UxGU_qggteFdlG0Cr6LPcu1b2oGA61d8G837rrZYaBli_81THI2RoxIz8ktp2BuR-Wd8m7Lk-XdqzRpR7PU72OtCr-gzD-JICeuxsbe2iv3I9AjN-eR_VbANyXB5-gcx55Ts6HOz8x9Zd6oDC6gWAgAV7Gay_m2fLBBFRxW16EVnCl58suhbGEv24MU3Abm2mfzKtn2PzKhf4eh8WMnP759SAN6CChhOtkfwtVP_zZcVEPjsNBatyuwN46FE9XZUslSTo1c1Z0yVI-dmeJDXHuSHvhS2vJJM2AS2XpmOyvaOFoViG8FUaIyOUWlz5I_NONtOkk_YTjl3IgehEChKFeh-8vZIuzwaDnEKbBVm02rAdmvLrAvs6j-BXOpPZxhomIHkaBRCPuqSXIY4_mtYUWk07nFN0vmdohKDpWmgToXOY2Y_fR-q_nEZw0pLB3dFv-rgyvr2ziIlkLKUu_-TWJ02ecxjWmSuie--yHqM7vxUwQ0XrxNZG4VfdyVBHHLZywpG_Muw2FKWh_7pKgUlRBvD9v78ZmAjaqc2f_b8UcHtaFuKDS7Qd75sB1ciG5xy7_9Xna7zNYfDEMDOYjSS2HZmixMp5SDDC8UY7p4OB64P-UDPaWeiT-4TzFwFXMHZHn6hbxC3Y0B7y1zfAyVj6Pfz4XttDsBBrkoIWPTpNAFk6Y2UgH1LnO3MJVZPWYs_xfhhf3xnREj66hQYnBNNmG-l6t3AaSpVcQV2Z3sMtBI59-juxHZgJ7hkG23F6xnHtI2tulVo6J7gYxvtQlGdMBeCKeUZGTU5jSFjdyoX0_ZqoysjGwQNbx3P2NgsdH3OU6jW_ZfK_Hd6Qb9Z_ZLhoT_xz60mkfIi3bTGzZW81r1NkYwBcLCW9Fby-P96UwhXTcVtY3nxlFK2U-OsJoks5cI9xRLEVTxAtjQPeKBi21y0IZrkWLdxOFp05UDuk-TteQAHryBYacZELfRqlmhGAaIlNI9vn0Kx8pWY6sSjU15WKmjR6XjV6QGTjAH7cpZkidGGU192-j9NfEr35AJcrU7cReoRqWO42Z6ETCJuq1FBzPrjAv3q70gdhVkdMSvT9dpP9URJ_zQ=",
  "id": "rs_0bd89be888564fc4016aacd507abfc87d0861c55e6668dc6a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The container’s base is now close to the table. I’m lowering the final few centimeters so it is supported before I open the gripper.\"}",
  "call_id": "call_DxXXvNhDCwn53uo6CZfgJfxO",
  "id": "fc_0bd89be888564fc4016aacd50848ec87d0bc4678f1ae4077d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DxXXvNhDCwn53uo6CZfgJfxO",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6159, 1.5661, 0.9253, 0.0174, -0.4473, -0.4114, 0.2781, -0.0151, 0.8707, 0.7116, -0.5262, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4032 left_y=-0.1874 left_z=0.1438 left_yaw=-0.0315 left_pitch=0.0024 left_roll=-0.0918 left_gripper=0.2781 right_x=0.2925 right_y=0.0012 right_z=0.1783 right_yaw=0.0021 right_pitch=-0.1251 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.6974, 5.1077, 1.072, -0.0073, -0.0659, 0.0122, -0.1709, -1.6342, 7.1179, 1.619, -0.0073, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0895e35f356a596cb8bd6f6cff53a98b76637323e51b93b4cc737123df0e90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b33e418b3b7806670078ea9e2346322adffaa8d32701dc06815e12ffe467cdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce91fe5d270620b6512f3658208f3b96404f7be3a6887d251df388683e8e1af1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 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]: [-0.6163, 1.5509, 0.9653, -0.0872, -0.4404, -0.4152, 0.2778, -0.0151, 0.8707, 0.7116, -0.5262, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.1853 left_z=0.1475 left_yaw=-0.0349 left_pitch=-0.0411 left_roll=-0.0714 left_gripper=0.2778 right_x=0.2925 right_y=0.0013 right_z=0.1783 right_yaw=0.0024 right_pitch=-0.1251 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -6.4205, 6.653, 1.7411, -0.0562, 0.0708, 0.1294, -0.212, -1.5111, 6.9265, 1.5995, -0.0366, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent stopped with the container resting on the table. I’m releasing the first container so I can proceed to the right one.\"}",
  "call_id": "call_B18VK8oB1KYCCYkEydQa3IJi",
  "id": "fc_0bd89be888564fc4016aacd50b713087d0be8da6d41c03a246",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B18VK8oB1KYCCYkEydQa3IJi",
  "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]: [-0.6174, 1.5833, 0.9028, 0.0494, -0.4446, -0.421, 0.9955, -0.0151, 0.8707, 0.7116, -0.5262, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4023 left_y=-0.1881 left_z=0.1332 left_yaw=-0.0302 left_pitch=-0.0052 left_roll=-0.097 left_gripper=0.9955 right_x=0.2925 right_y=0.0013 right_z=0.1783 right_yaw=0.0024 right_pitch=-0.1251 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -5.8462, 5.6274, 1.5165, -0.1343, 0.0562, -0.0513, -0.2667, -1.6752, 6.9402, 1.6044, -0.0122, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e79e1dc434982fec3e8015b37f53864fec9edbaa11b974288db8e20acf55e2d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a4e3b094c8c6b67d300ec302443a3022035a04048a3358f42555b4c3b5784b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7d63caf36ec0a94cc02404185f0a344076fc176ced5b58b6c2ab8482c2f8157",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6159, 1.5661, 0.9253, 0.0174, -0.4473, -0.4114, 0.2781, -0.0151, 0.8707, 0.7116, -0.5262, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4032 left_y=-0.1874 left_z=0.1438 left_yaw=-0.0315 left_pitch=0.0024 left_roll=-0.0918 left_gripper=0.2781 right_x=0.2925 right_y=0.0012 right_z=0.1783 right_yaw=0.0021 right_pitch=-0.1251 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.6974, 5.1077, 1.072, -0.0073, -0.0659, 0.0122, -0.1709, -1.6342, 7.1179, 1.619, -0.0073, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNUVBjUXKdM25fz8Tp480VbkR4p5XXDClACcrLKHXuJb7C3uUriWF-mGEUtG77hvU0ET_OeikEtZ1FBYjbImfFsIbf6i_qtZHy-R0X4Tw-b31M8kU-jMGOP-aZo4Q9-t912HgdBdIWqah3Vl-z3YJujv7U7ggRQ3CZfSNlvH8d8Tysns8ih-K-6naDJEHatmjp3Hl7hxzoHkd0B5HsWA0l21aaLJUfBtudsTqV8ytoLhOdfYXyB-A2B7QgaQPAy-bcv_FVAjcWgjtTo2wRNVTcBIbxN2NBNH2sfTSRBUl1NgwC6kqpkrnawwYu3wcel4F6YSuKW0bMzHHPNbrFIJlifxoUiW1faD2U12VfWQcvASTxe5Jv9iEN6bbX-HPYhHcQu85l6l37Z_s8nbw4Y7J2WfENuorDNI9BKQEtVyXkV9K8YuKV3xLBlMqRzIUJ1ngytq_1VGrELR1Xe85RFa6-3CTLZ_zCVKvKYL1vX66enyHkCOXQf-NDE8xnSzv8ZIoaYJr3feD5_Mn9OxXbuBFwmPwkqb_TkKILUjDMofRMpPFuk9ozPzbODMl_BsfCszBgWcXfoiWCJXiodW17B2rLm0UwvlNTjVRZBDZKi4ty545_Il0V35qsrnYNmvC8UA6BeRFK7tZ2_RAH31BzOP9VcNZ54K3KdXUwwpBseI5Ks8nA3oneeSD7hY7oMz17cEiDqEm0D3S_9w5j7X9bemwpOY3IyOhYvGhB2qhC7EbxxqIJh8QXaQXriExuNZVdWEi1Vf8yxSlY94SrJNc54JCHVcUg7Vp6bFyblU6a9WKaSR3D-Rh-7uccAjO9fQ2wyOfYp907fi0nnKk_fHPd6K7eyTGwY6YSwv6G5juQt6sIMR4XLNejqAzuyNJSRdEUqnvFCBnF0kfyz47FKHFxHewuBYSPBbg2RrYzioyUixOYRInqHny-b_0UsfMgiZVjvJi_5imHEsaejsKThmb_eHjTLGD3tvKB5OwQVHOcXKkEMeZnXUMYEofHhkPqOjmwI8QqKDTUxANInV_L4Y7GpwFQYS1YEBXplWiibokhL_liHDuTyAdSvmaZOX45Ku1ZMqkd1RiZvuLRt27fkHU9OVjzQBECdJ0lEix269cGFtTuNGVZgT6BjLAcUvyPmVPbAGEam5pHPz39miugubGCHuEiuhEo4n9-SUZ4F1wJE2R6oK-oSmjZJowTdgOT6cwNSF8QRtCIxV1typr3bcuEbeoDZN9U7vrqEGjIDezQm83NDdhT3xYR0mEjPywCZY3XZIb0ixe5r99ljkrx77QQYUWq0uPuteCuxTvRp4cNn6jAuOkLYglsRaRVUnbn9j9q_tGgYTu_IZECaNPFPLFyBrhtRolNRv0m6-_wnXgw8FbfEpmwJ7Qa1x1wtg-2WRHVFbAwGC5832z8_4d6pWq9_hewReEk_acBi5VRxl5XVhFnjat0mAPlQFeF9ref7SEXLuAjMPTkZhyrNfMD_jjx7frR1iA1DonAWFglIvXJV_YK3UUCT__XyxF97CUCML-ESVTsK0NFpyjHhY_biPn2LRbpvqaSrj03q0OYtwvcFVmLi3KYzwN37pvdFn6XnvoOfdcfSFvXUNUE28I397-8tSrZc3Jbn4BSaGQAF50IQN4iU4VKgjZjGdM0C0hO8xzaTanM6upLWWVlwtBNoql-Um9rTcuEM5l34og7FFzitZm_kMUf54SH38684bxebvWcoaek6oUDeUdudmiAEHrBz0i0uHHzYByJF7ufca3i6iY3xrR-ZtBDQhkijySAm14qX9kzXkbFNxEmgXrhoKz_PdwFY7VFXU5HOGvK-F-7xAcDZFwX3OEU8EyYAmnlYCs7rBTEV4rE8uAdYKqodd9XMJRpVxnxVfRBHxOTq7W9U1MEM2rGZifRQ8Crl22AxvbCV-ELIyYSQtuSDrOdSCrq5MQ265DIA5-wnqB2Df44AjpjWYpx7P2LjcuPFj2SuwuObYvDzrqqDfim1FDmg-SVxux5zMSGJ9FI8yQAqxRGu0ExXdMtE=",
  "id": "rs_0bd89be888564fc4016aacd50f9fa887d0acc74a5fddfbcc12",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.25},\"note\":\"The first container is standing independently after release. I’m lifting the left gripper clear before parking it and approaching the right container.\"}",
  "call_id": "call_hECcSgu9nbRawcSuH8udA6g5",
  "id": "fc_0bd89be888564fc4016aacd514526087d0b0e15779b666052c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hECcSgu9nbRawcSuH8udA6g5",
  "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]: [-0.6174, 1.5108, 1.2449, -0.3557, -0.445, -0.4274, 0.9968, -0.0151, 0.8707, 0.7113, -0.5262, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4074 left_y=-0.1916 left_z=0.2355 left_yaw=-0.0265 left_pitch=0.0025 left_roll=-0.1076 left_gripper=0.9968 right_x=0.2924 right_y=0.0012 right_z=0.1782 right_yaw=0.0021 right_pitch=-0.1255 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -8.5402, 9.5932, 1.7265, -0.1685, 0.022, 0.1245, -0.2393, -1.6479, 6.9949, 1.5995, -0.0171, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07cb74a8f2fef6f9f91180d9131935c0b549d3b3b87547c45d3cd6f3b0642f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73101109e580a400136d40de41f009e25a0de02de3f4635fdd75f5bf292f7d74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b4240413e90c7b7526fff4b5a9094b0fd9d4e17b6fbc3336ed36c4c940c847",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6174, 1.5833, 0.9028, 0.0494, -0.4446, -0.421, 0.9955, -0.0151, 0.8707, 0.7116, -0.5262, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4023 left_y=-0.1881 left_z=0.1332 left_yaw=-0.0302 left_pitch=-0.0052 left_roll=-0.097 left_gripper=0.9955 right_x=0.2925 right_y=0.0013 right_z=0.1783 right_yaw=0.0024 right_pitch=-0.1251 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -5.8462, 5.6274, 1.5165, -0.1343, 0.0562, -0.0513, -0.2667, -1.6752, 6.9402, 1.6044, -0.0122, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNUbY21ee5pS_gtCFkzG2Jum-Y3zxpK8cRvXRx6zJfiZhwaYt4U3XjPGTeu1rRYICRKcslh1prIjkiBh5GuO0vIvkksxX79V0-yPMhxNw9aXMeqKyLE6oZrj-9sgiQtm16ABKYmRBSIHICEdfxpanYhtfpGfa1e1Bk1GHmR5_zeNumc3b9XqpKEMnkGXGUXFvhJ3Fdmt3c_34EGkdRTTNWEQ4KmWU4NGj0_kf9xaqn73M2jK0fOkJ5QUBs-vbWi10cUdQTsaAzIdNMNr-Z_J4zHGxXdxD2NC-yBtRHIpJj00RzxiGje70es4le7uZsbQOkaIsdeGrqZ1jtPN3YpohWvNLKIqeaSSZJt_iAun0gWQGOKKNyItnoqJLxdWr_h5UPLAFJBmrx3YpueU5ySc95390gRHiUxP8vh0viBPsk0oHTP8ue31c0Hn9Bj5vpUq3xA9tUvF20d35jf62tORZ9BKjF88h95zLmm3SwcNQOkPJWRb2c7KRugJ93fllIkZcBmZx93obpYwop432Nv9wcT5aAZzu70etmiJgn04zpSLdPjjQqgKEjjS3PkvVvv7wz1Ua-XWGAsBfy2U2PvCXTgs8qwsBnLq2Hm9Uhm8VCaLSMqXoB0b1sMLNU2IcmVPWwn9yq2b-on8uJNPk73_fjGHLX09UNUzAj-e1HLWGLifG3OnbkmYO3mYs6LHEtl6_NSNGCJCOEoefp5RCkiQdk8P46P0V9NJhp9CEQRoaKITG5a383CFVtgq9UEoNZlZ9FH5vTXGdwxxWtjUAVsPmDPlIOhbMfYdHwOILrCwWpG_S_Tm12L78t9DNu5NAMlLdk9eWgzZPD6AKBiRJ6-1z289bz3ft8lESWIf4jj_hgbtq_sKfDL6NwFTQXSrMyNW8gzjzCNt-zfDbxKI-A8SRy0pxCmqyj7xjgWc8UbGplRYYjAaflWEQ1NmWuTu44vJJxBHK_cFbvmhQQ6fpJsxg7nXEdDUWbg2SFuIKssoaiFvkMTNaErw4siOEZiew4K5dTyaLFSjkX9x9D_3nrJ-9bvGWIycj2QE_qsM0Te3Av6V5kUqMxyjXQY4Pl2LaCT-wL6EQAM4h2VCFLDN4qkePa9S85zLzTzQ_gwMouBxxFotpE24L3yET_PP7Qa93ZO18NlBpC3OEvTS0JGrvDYoUxY4tm6wzCcyIAr-Z8s2ofZn_06IsuO6AMn_SnYEYF3_MD9jL-G2piXvC_R9oDuej0jUqqITpXHak3g7dyeWDNFTbzsU3S31uXp0Strqh5JTecmoQ70hWPWLzzgn3aDRKyer1sooR5ffHk-IUsMXCDOkHUxciEqMABIxa5xuAXKlxhO2hTMHKXpYd1fpoV8RBaODcPsqHtCVk02oEcvaCoqaPsc=",
  "id": "rs_0bd89be888564fc4016aacd518841487d09bd77695b648e9d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":0.001,\"left_z\":0.2,\"left_roll\":0,\"right_x\":0.37,\"right_y\":0.235,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The first container is clear of the left gripper. I’m parking that arm away from the center and moving the right gripper above the second container’s rear gripping area.\"}",
  "call_id": "call_1eb3iKeAktGBuX2g2uIJu5Yb",
  "id": "fc_0bd89be888564fc4016aacd519921487d08b9e37127cfb607e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1eb3iKeAktGBuX2g2uIJu5Yb",
  "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]: [-0.02, 0.8207, 0.6853, -0.408, -0.0372, -0.0338, 0.9968, 0.767, 1.6066, 1.2873, -0.5594, 0.5419, 0.5034, 0.9998]\nstate[eef_state]: left_x=0.3023 left_y=0.0041 left_z=0.2042 left_yaw=0.0219 left_pitch=0.0159 left_roll=-0.0081 left_gripper=0.9968 right_x=0.3648 right_y=0.23 right_z=0.1856 right_yaw=0.0319 right_pitch=-0.1605 right_roll=-0.0288 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.7026, 6.9265, 1.7607, 0.0952, 0.0611, -0.0024, 0.5265, -7.8838, 9.0872, 1.2381, 0.4469, 0.2857, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113e27a9735a407da6c66e52d51755627ab100c9cceb8b56656dca35281049a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f6a6fc81cbd0294bd0535a88d8ba0664a642a59a284d13f77dbe35ec8b5568",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434e8f433a8c567764ac25faff10993311c1ccf6c0a34f1e67eb0852fffeab8f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6174, 1.5108, 1.2449, -0.3557, -0.445, -0.4274, 0.9968, -0.0151, 0.8707, 0.7113, -0.5262, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4074 left_y=-0.1916 left_z=0.2355 left_yaw=-0.0265 left_pitch=0.0025 left_roll=-0.1076 left_gripper=0.9968 right_x=0.2924 right_y=0.0012 right_z=0.1782 right_yaw=0.0021 right_pitch=-0.1255 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -8.5402, 9.5932, 1.7265, -0.1685, 0.022, 0.1245, -0.2393, -1.6479, 6.9949, 1.5995, -0.0171, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNUjz1GFZOL-vpVZ8xPxzya7CTPW69I7V8nnM0d9yuVKKADKRHcOm3YxpxVDW_m4ZnQdEerXrIrMBB88V5iL13CT2ZB4aChUpF2OxU0X3twWEBISylISj_NKSydWmJyje3pDNtAHyrbtcIxBMIn2HYT3qVvR0d5SDSKx8iyxU491caLHMtfFyls3QkLprBMOlNF6W625IT7LDlySL8FKLWbh41_zy3YXLNHJmV9enobxfve3a4RnfikPtPyVapQbOqDSEtVl4tEh5QmJh22UzS5wxXrFMdb8_z0IC55mbA2fhll2URLzey_SPVKMvLV0qykkWjwcUDFRxfo1ErFGG1unaTkQKLouLdrfbyIZEvfikmAucswU7QDShkBCK7ewqYLktuSua-ix0zgFcYuumTe8MrVY5874L6LEMrjpvRZG2jO_l0NaHu2fj8M_SkwlbxOJA9ZWR3nBW-6AClp9OHeFPmnevyKSzo_KZMgAxqkX_6zm46hllIczkdT_8fvZX0TGfEdg_MZQ8OSCmZUTri_JplWWKYBITw9j_W8j2Og8A-BdnuqgeMBuWlx_pYG-zEQ4XPObaArCY3QbPhyAHym5RXuSqTLRK77r24xmgd2OLnMlkzQUkxPn89p1Ld6T7aTMjDgUN6xAnxYBw8evSjPViqPU7NYWTY6B-AC0FjCSerB7sc2cNbqGv4FsIOTiTHWKfjdHOh1FbeODrez-hymKcEH7eQYnvyIhx8E_gkpvyPMKvNy6niFwUcyytuzjEVQH0uAlEZdsyvA7NVT2_qAQ2UNZPqLlf-PpanWXal3bS4XFXIC2ttl8PEO8y7EPDivW7HQtfjXmFN2QxiPwlyCCWJ2YbLanGzSafP294NkiU9-Laz3oFS2MUlNQIPNDkX7hA1JDGy4yAK_1fqlZciFmWdVUXRXu8PcSC4ucqqjAxIEY8XMtln0C1LiLbri0VB_S_b2V2GNJG_y79CSYOPAH0X1RgBn0zxGrdzNYOP6WnrJReln9_4x3PZbUg7b9G2wNbObOlWFmLy2Suze5d85uyax0zeyCwYTE-7WeXTmD2HJ42FYyXxyKgyM-_5UeBebvxkYWcNV3A4-3qHvPFgq9ijLnVUuYRl2eeOtxbCx4-JGQ0Fdspgnni7VKm5qwdxVuwyt6-kZlVLTAopMl2mul8JvXxiArvlx58GNICjAUmU7HlseH92bEZ1hhC3KWAEHMV3F2RVyyCOVBVg3ZfNitePPMeJPt1mE9PWsiwsH1X2GVsgs8BKkybM_0dEy5VXLFKhRogY6PDjwksVB74O5RJHdoelC-kTPlxZS76VNcshb3y7jb6la_Dt351crb1mcOIZswxDrt2HCuZByJMAM1nsV8FajDXeK2kbj__BMQAaUMuG7-s-JBHvGt_scc5qbqUU7LkbPwjQPs0qo2RvNdU_8f1gSvvDahzxrDFq70OzoHIntegFKZ3VyJ63ph_5COhVNvXGxDH_WpWsonRLYRPA==",
  "id": "rs_0bd89be888564fc4016aacd5204a8487d090496e1fe0de7a5d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.22,\"right_z\":0.115},\"note\":\"The second container’s rear body is near the jaw column, slightly to the right. I’m centering the jaws and lowering around the narrow rear section, as with the first container.\"}",
  "call_id": "call_QpRji4x0KmjT48tNXPyQwyw9",
  "id": "fc_0bd89be888564fc4016aacd522018487d09ff16c33e8ed10b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QpRji4x0KmjT48tNXPyQwyw9",
  "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]: [-0.0185, 0.8265, 0.6765, -0.4244, -0.0292, -0.0269, 0.9969, 0.693, 1.6958, 1.1385, -0.284, 0.519, 0.4477, 0.9997]\nstate[eef_state]: left_x=0.2997 left_y=0.0032 left_z=0.1951 left_yaw=0.013 left_pitch=-0.0151 left_roll=-0.0054 left_gripper=0.9969 right_x=0.3934 right_y=0.2174 right_z=0.1288 right_yaw=0.0086 right_pitch=-0.1444 right_roll=-0.0335 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -1.894, 7.7333, 1.8632, -0.1099, -0.1001, -0.0073, -0.8, -6.3658, 5.0256, 0.8034, -0.0855, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e526ab0ad2cda91ad354af2bf6070def1985c17608b00a179f402be5dc9a08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88fab41da241c76dd29231e85f7fed612255f4a35284e7cb12d692070d18832c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73cc5f5e077567d3d69b9953c58cd733528b71a08eac79f7bfc9e6453c323c79",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 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]: [-0.02, 0.8207, 0.6853, -0.408, -0.0372, -0.0338, 0.9968, 0.767, 1.6066, 1.2873, -0.5594, 0.5419, 0.5034, 0.9998]\nstate[eef_state]: left_x=0.3023 left_y=0.0041 left_z=0.2042 left_yaw=0.0219 left_pitch=0.0159 left_roll=-0.0081 left_gripper=0.9968 right_x=0.3648 right_y=0.23 right_z=0.1856 right_yaw=0.0319 right_pitch=-0.1605 right_roll=-0.0288 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.7026, 6.9265, 1.7607, 0.0952, 0.0611, -0.0024, 0.5265, -7.8838, 9.0872, 1.2381, 0.4469, 0.2857, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is positioned around the second container’s lower rear section. I’m closing it now and will verify the grip with a short lift before approaching the red cup.\"}",
  "call_id": "call_8FWKR2xjNp418OQWrmkZ73uz",
  "id": "fc_0bd89be888564fc4016aacd52652c087d098009fd7390acef8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8FWKR2xjNp418OQWrmkZ73uz",
  "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]: [-0.0181, 0.8265, 0.6765, -0.4255, -0.0292, -0.0257, 0.9969, 0.6922, 1.6966, 1.1244, -0.279, 0.5117, 0.4423, 0.0156]\nstate[eef_state]: left_x=0.2995 left_y=0.0033 left_z=0.1949 left_yaw=0.0128 left_pitch=-0.0163 left_roll=-0.0044 left_gripper=0.9969 right_x=0.3911 right_y=0.2166 right_z=0.1233 right_yaw=0.0152 right_pitch=-0.1556 right_roll=-0.0396 right_gripper=0.0156\nstate[joint_eff]: [-0.0615, -1.2786, 7.1043, 1.7705, -0.0317, -0.0317, -0.0122, -0.2256, -8.294, 7.747, 1.3846, 0.2613, 0.0269, 0.7985]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8174331ee783004c33ef81d9c4dba34bacba230a625e6368381cbe42d3380ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:713dca2a89e5afac0d908773e77ff75f77b78b051bbdddf7261775918b3c6ab6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19dc0b587ef016a3839eb3a05ecc7cd7c0d13431962038b58a0ddda0e1a45e04",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 112 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]: [-0.0185, 0.8265, 0.6765, -0.4244, -0.0292, -0.0269, 0.9969, 0.693, 1.6958, 1.1385, -0.284, 0.519, 0.4477, 0.9997]\nstate[eef_state]: left_x=0.2997 left_y=0.0032 left_z=0.1951 left_yaw=0.013 left_pitch=-0.0151 left_roll=-0.0054 left_gripper=0.9969 right_x=0.3934 right_y=0.2174 right_z=0.1288 right_yaw=0.0086 right_pitch=-0.1444 right_roll=-0.0335 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -1.894, 7.7333, 1.8632, -0.1099, -0.1001, -0.0073, -0.8, -6.3658, 5.0256, 0.8034, -0.0855, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNUtGF1dOqngVTtEf2zE7a4irtpmqC7MD-CUX4HEFwKxnPybr4AIjXP_ZaXUfgbyKvgC_hSNMz6GVotg_2LxNIzYCqzMocR-ilT2YdH2GaNthQ_EETwfINr0fdbbT-YJvDQzJtceYyA9AKkrJdWc_kXDa31MVh_nq19EFz2tGSxwbljB7EiaGemnlI3GuWovXvFS-BYExfb7P4Pyp3A__ddok7ehyR3mdWZBGIqoQSOpjoAHqK2bLqU3lpZje3HV6r9_pk_8sbsFdDUzXWt4q1Tihp9pI9ofeVEfjKVrkf0nxazjpAvHnwB3Nqi7BqYoIz-WYiLphKM_nVcGDtkmSWDVg98WvVQMVkM-cPVPugXdSqvOAQEMx-azIrZ6IgYVoRRSeImyitmZgxXb7Rpu0SL1QqMuhIRh_5cfveRTfDacIF60jFcaJUOkjvtLBJ1WWLrCd8ncgPB_VSGvQFebY52kjmWzt07Drnh87Vu61bv-kSprMA_CRp0KA3KbqXdeXsKLdEnhXsq98BUYLxSACZtpz4rKWbmQtqZRHIMzLAQYoe0xWkrbpkZBMLrghGymTjVv1YMLvT1wCzZLnCHgpytc2KMm1YHwJodBulH73EU0vVQR36pfOF1YEJxZgez45JLOYSolrxxOn6MzlCvicO4ES4JAGJZXSsernE9gQaH4huKN_2ozL18UN0a9Yw1s8ckgbI2UIq0bkFWxLmmciQsW22s-laVBKjDkgHK-rZeTY3KTA1xQwzGdGcMyI-P4e7cK01jRoGYZ1F-Y2_QnUfx_Yy5H7mzVIv_R8ctSiQHkejJPjPU_9Vm0ewrNCTzZt1Gh4q0tb5C7ktqG3gpC7GVjHxvie9llPv9tx4jaRrWOgQCVz4IokA2I6frJ5xnH2JxEIJtPtqp9kV9UYbz5uugIpVKttq8Zumu3NDr4x2S0DM0YTzUxlr2KSmVRIsbZKHW45WntyvHyLJQRrL1KHCPWhf1juKBGNtNFv6iAR-u2a9cKIFggM4OsXrF5tb6gLdfKIpGXbbkc9sG4L4L5ZH8fbjvhS5Ip3qKuCqNB2aG1z8hhVQDNAlctKWjXovyRGWHFazye78eKtb51RUtpd5dNJ6m7k_1zd48eRFktP4atalZ_esO0kFALcs5bPhQ_8cwb2LeQE2OTzQXy8jYXADKoTUQFA1N9pbfdGzcs9HRXtFheMEiScSQ2oOk3Szo2xkt5ZxquYw4CIdy607xTal0mnk2gYd3uviG5jsWgOrwh08WJNA1oKJN6p2cJ5-Swmc9wMwPqxYXeYi0HVmB5r53xps6BMBSbn2nPq7Wh2DOsvFwCRl2DkSYVAvA1IlQPpEzlp4gZVMp-vyWhiRjjJ_5B37z2jILifacjTnfRvm-7q8Eq2aYvXbsRI_Cbt4xVu-xe",
  "id": "rs_0bd89be888564fc4016aacd52b545887d08287791fa4222a59",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.42,\"right_z\":0.135},\"note\":\"The gripper closed almost completely, so that attempt was empty. I’m reopening and advancing about 2–3 cm toward the container, with a small height adjustment to meet its body.\"}",
  "call_id": "call_5L8Zt8YYExpHcm96AA9y4f8T",
  "id": "fc_0bd89be888564fc4016aacd52c74ac87d0a2a351620d9fff3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5L8Zt8YYExpHcm96AA9y4f8T",
  "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]: [-0.0181, 0.8265, 0.6765, -0.4263, -0.0288, -0.0261, 0.9969, 0.6491, 1.7554, 1.2102, -0.3096, 0.4728, 0.3935, 0.9946]\nstate[eef_state]: left_x=0.2994 left_y=0.0032 left_z=0.1947 left_yaw=0.0126 left_pitch=-0.017 left_roll=-0.0049 left_gripper=0.9969 right_x=0.4116 right_y=0.2158 right_z=0.1244 right_yaw=0.0275 right_pitch=-0.1773 right_roll=-0.055 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.4564, 7.1316, 1.8095, -0.0317, -0.0171, -0.0122, -0.759, -8.212, 9.306, 1.409, 0.1978, 0.1343, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db57abc0679ac6aa577f1ed1f32e6dc193a96373a781a20055ba79ce22fe09ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db773041476d6051166b0cc8caf8ca155a5ead3da8b493f844fa991be3813495",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e6e0dfc56ae1f5ca6d74fb79bf0260edabbf4ab641d2ec8d13a231a6cc241e4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0181, 0.8265, 0.6765, -0.4255, -0.0292, -0.0257, 0.9969, 0.6922, 1.6966, 1.1244, -0.279, 0.5117, 0.4423, 0.0156]\nstate[eef_state]: left_x=0.2995 left_y=0.0033 left_z=0.1949 left_yaw=0.0128 left_pitch=-0.0163 left_roll=-0.0044 left_gripper=0.9969 right_x=0.3911 right_y=0.2166 right_z=0.1233 right_yaw=0.0152 right_pitch=-0.1556 right_roll=-0.0396 right_gripper=0.0156\nstate[joint_eff]: [-0.0615, -1.2786, 7.1043, 1.7705, -0.0317, -0.0317, -0.0122, -0.2256, -8.294, 7.747, 1.3846, 0.2613, 0.0269, 0.7985]\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": "gAAAAABqrNUz0IYQvfRJrAmf4YxMaxKsEjMxALWRBChTQqAX-CH_PEo9JiS8D4JbghVdAhj0bSJTEH0JXtvfwGks9FmJSRAsCUvqkISmoeE8XxeCBXiUc1SMtC29goIADaRzWOD1SCP4S5yQX_9aSmSCIv_llyoxJn6KPL-bLTQEwEGh2Kuw26GZw4YZjjS3Bw_076QFKe7o4PIT0S1iVXzxstnOL0WNV2ToRqM1YuDwvknRgN8-njDfaoEnzPf2UypffhbXr_7gdwqVmeMNemK3NsmNwFFW9ZgmMO-bXeFje5tKjaQXxrOjKjIVPCKjn_g1Lr5PfNwQQnS6J0U5PvNs4qzg1HKEbhILmCSb8Wsm7zokV1RsYzHPMHbeJB9uzXMkZDQkBlYW5J98WlTX-qK8hvbgcTkjk0WzZWvBOjfOzYHN1MOtBJ0sULfUL8Z201cMw6S99zU345s0fpYtxKk7ca5E-hxZn2sIFES3AKX2y9m11w6kB5cM_aCR_wPESchmvEGoZBV9jvYW3BHHAYuaXE3LAhTU56qgAeHMYWggNDsqShPXn48vv1GqP-JPr0-M132FEtQBy7ZE5x9XKIf9eDRapk24pZgkBJYKBtugBQ-mJUJApP5a7_TmueMatAmHGvMWa7IlCyvDsW6UhLQkYbL1Ysb09MsH9vPU0kxKh7LOCfNJ-_UG_6-MRVOXBnS-ZuFJWm7CWeJCqzlIKXxuGQ4_EIHhHX9faHoGSJQCDXClCDgac_4EpWYNhiihIi9PxagmuneEM3MuWDeSrLw_bnEfdWVxL8x_lY2TV7Hd0NOUCbjBJh0jBGSybRCroFLuZi7gTZfdR3kwXFRNVohonOdmRoCf-0kTQPSdS9alPCc_ld4R9OGR_kflDqCa-Vk_NELQ9SZ12-p5InrdWvb-JMSROYhDUKHx5sxaIX-NELQWlhATyoq-SrJI_AZPsxPsR14HVo_eEDpCteAm8T4UM1jYnpGHiUwcNx0bDSGDTROLw4X__-R7aasaZMps3cnGUAfN1SqttxrcXFIbfU0l5G0esYZGFmhF_TnEIiEKrKnydslpybb2kJMr0WfdqUxXEaYrw68BSIYdySWEgiNKZTs7xBjZzITojqEMgb2b-Q_FfVZjoL_2mOu-i1StspCSWNhdP_p0JcT0Zb9Oy6m95C6TK-Y493_M952x3dI9QvQpt8jatdHuPxdbGbIzhBl_HinWPrJtHqM4lPy9zARYYlZIIf9GGRt9mMpKzH6Zc7kGUMtNi8_NZnBkK6q5tcCu6y5HHeUhg9bJeU7gRY4vjbqE91CSijGREXbsVIFrwr_s1k8S-lGIASErzfkWyipXMGOPoa592C9MOupji-SupFzNpOLMporEPFv3pnE4sv9wlYv4g9tHAc74-kUMOusVEEQWjyB6y0Tf3U7bKgkFcGzM_yvXmA==",
  "id": "rs_0bd89be888564fc4016aacd530c3ac87d09fb1bef096d71f47",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_z\":0.13},\"note\":\"The body still ends just ahead of the fingertips in the wrist view. I’m advancing another small amount with the jaws open so the next close spans the body rather than empty space behind it.\"}",
  "call_id": "call_ltM2qgWQcrN8qlfxD6i233CG",
  "id": "fc_0bd89be888564fc4016aacd531eed087d08144376a9cd14d08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ltM2qgWQcrN8qlfxD6i233CG",
  "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]: [-0.0181, 0.8284, 0.6765, -0.4267, -0.0288, -0.0261, 0.9969, 0.6159, 1.8183, 1.28, -0.329, 0.4419, 0.3653, 0.9961]\nstate[eef_state]: left_x=0.2995 left_y=0.0032 left_z=0.1941 left_yaw=0.0126 left_pitch=-0.0193 left_roll=-0.0048 left_gripper=0.9969 right_x=0.4289 right_y=0.2154 right_z=0.1188 right_yaw=0.032 right_pitch=-0.2019 right_roll=-0.0637 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -1.1692, 7.1316, 1.6972, -0.0269, -0.0513, -0.0171, -0.4581, -9.4291, 9.1966, 1.3797, 0.5104, 0.0073, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c462a0b5479b9dec006ea3ad4d983a218079c5d33984e8ae78e8baa270bcc4c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1834c6bb234e973143a4542abb60af6b212a8699a7d35f078f5255fb9aede1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ee190a79c59648bd501c76a5fa1dd115f6cb06ac7573cdbe3bc1b7e70ab4ed",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0181, 0.8265, 0.6765, -0.4263, -0.0288, -0.0261, 0.9969, 0.6491, 1.7554, 1.2102, -0.3096, 0.4728, 0.3935, 0.9946]\nstate[eef_state]: left_x=0.2994 left_y=0.0032 left_z=0.1947 left_yaw=0.0126 left_pitch=-0.017 left_roll=-0.0049 left_gripper=0.9969 right_x=0.4116 right_y=0.2158 right_z=0.1244 right_yaw=0.0275 right_pitch=-0.1773 right_roll=-0.055 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.4564, 7.1316, 1.8095, -0.0317, -0.0171, -0.0122, -0.759, -8.212, 9.306, 1.409, 0.1978, 0.1343, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The container’s body now reaches between the fingertips. I’m closing for the second grasp attempt and will check the jaw opening before lifting.\"}",
  "call_id": "call_UTjOZIIgaEeyNVHeKcDm90aJ",
  "id": "fc_0bd89be888564fc4016aacd53646a887d0acc870af918b10a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UTjOZIIgaEeyNVHeKcDm90aJ",
  "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]: [-0.0181, 0.8288, 0.6765, -0.4263, -0.0292, -0.0261, 0.9969, 0.6094, 1.8328, 1.2816, -0.3309, 0.4328, 0.3588, 0.0158]\nstate[eef_state]: left_x=0.2996 left_y=0.0033 left_z=0.1941 left_yaw=0.013 left_pitch=-0.0193 left_roll=-0.0046 left_gripper=0.9969 right_x=0.4298 right_y=0.2141 right_z=0.112 right_yaw=0.0345 right_pitch=-0.2184 right_roll=-0.0708 right_gripper=0.0158\nstate[joint_eff]: [-0.1026, -1.4838, 7.0769, 1.7363, -0.0708, -0.0415, -0.0122, 0.3487, -10.7966, 6.4205, 1.4286, 0.2515, 0.0562, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8d5371a83ae27ce0fa862de27af9d9ed18a59850bbce23e7cd0db16b5741a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e235202f540af15e55cfe8279d9aa5d8ff53eeffcda3f784b448d0a4dc18d927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c52f7f30ac0156510cbefddaf40c81c7c679ef9757c05e521ceed77ce1fa56",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0181, 0.8284, 0.6765, -0.4267, -0.0288, -0.0261, 0.9969, 0.6159, 1.8183, 1.28, -0.329, 0.4419, 0.3653, 0.9961]\nstate[eef_state]: left_x=0.2995 left_y=0.0032 left_z=0.1941 left_yaw=0.0126 left_pitch=-0.0193 left_roll=-0.0048 left_gripper=0.9969 right_x=0.4289 right_y=0.2154 right_z=0.1188 right_yaw=0.032 right_pitch=-0.2019 right_roll=-0.0637 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -1.1692, 7.1316, 1.6972, -0.0269, -0.0513, -0.0171, -0.4581, -9.4291, 9.1966, 1.3797, 0.5104, 0.0073, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNU_DUUm2nyl7kZDVIcA05Lad29eJOuAxvsG6UzLjyiEHQ8oINVH_EajlxuRJzyTXMQGmxRYdKjn15ApMDdzY-q6oR6YICTb523-1hp9nOh1xgIwuAij9REi-nNmEIngg3JfACRvusVr7lMcvwdZnVkX8VbvBCi3BaxF1A52Gv0WrwiYmuUu0icyTJXPrzlygvWYNnNio3sEfKCMTWer5rgBRA6tAbmeWk7BVGPb96Mq1zG9sBUMdvggYex6XlSWMgAMtakYVJOKo4JiFCBDNz4LaNqZvLshQkXYiayexxITiChhXHIFO_Ns0NueLA5YlWszU6CDs2wv8v9t-BHQNTsriSpn5dtwDsgLO_MSl93YPABmDvukLRhJ4bi4HB31XACAm_CEJdSn4b45rxd6BGAIkKWe_nKH0qjO8g36bzT27WSUlP6s53Wphh8QK8NjDx02mdxN5mbXX3YZOeBNbUL_kUGvGKd_w0WJHfXhDvR9U1Vk7rWHpBQN5_4aPb3GEAy88dro2XsU2H-226qnAM7qVUiNLadeXQfOR-1HPLQrVt8KSoyueeNaOxLlH6bPLB0-CAFcWQTwg2eyYgdwOxuf8k48Io_gqGjI--BszPe51PlGQ2qYo28kwrsSe8tSUjRopZGyIACxwxTKRaky9jNDetFq6HnQmKAQvjgrnMS-IcgvBlchb0VhdppHUeyy2shdgb6lQ-CoT5SE8PYkRP2ZVWaynHCrcnr8sWgndQghUNiVaOsjOqnLFTUq-QE8WyI1W9LYfEZAuby3cQIkJ7F-VcIjulewoDDLz9gc8mxPxEKxgikD5eIhTPSfr39mNRno6kSNJLUQduPVLt47mj4KD7P8xPUiS-WYF_vxSD1x5oD5Rhn6ulbbf7Jd00UcU1Mtg1a_W88bY70bIs4HVoEW5-JYz3iQHAieRfwxNg8jXQUsvXH9a-1h9MqbqQycx2LqfE2MU6YBd4llsz_7paFAf_BOu8_5henkaOn5_bkWi-O0oSiXnOC2CKXYyHvRgkKhubmZHTZ6Rb1xa7nTJJF893Zq4pErCHt9pzRG_OeRUcH91K9yjDpn3qUUfCeyWgftdkrrrDVpKNzQW_oZuLmCGBZ6GMInJ-kAx8wYAz2Thy2C327j22z-F0fRA4sQkk509dwkmHYx9z7RE4N-RogVcJHpQcf3H3lE9HCuH4R_71DvJvQRqalyWKLbg63PdK5d2owEAcI4zH335-DbvaFUptFx-2HJBnuOkCGnBOzu9ihpJ-z-d8SMh1Qa-AsoGdRLN-XBCUctw5yVZqbzoCREfAW8tRUNinRE9-IhmLWGbPrfyJ2-A56kzlfYz7SZXqKlMaz02qVbPWPIzn1M_9yb960Yz24y9uUpk4LnufwT6fQG99E9jN2lqo72jP8UmoBezBW-JEspropZpYm7L06Hx71nKetfNmkzzRKqi34WEtFmdHsyBRP9nXbLMgDx3jPB5a6e-Z1-DpzwGP9GH5eB5v-Xtjo0zSo5JtpmP--NDbFboIK1txBQQZOPLqpZMulCxpsDsIH-ImEmFYmNGr3WZPpWbifO6F6Svzzw8VTeif_cX8jMpQ7y6I9-0Matbebz9GEFzGxYJZvyzaURze8jkNonFSlVWd3h41jVDNKAT5rJWHhAp3XQ_CxJIQX2nlM2PKpbzJLbHC8XJfpJQQAZ1AzdyWuI6bfkvZDngQSGUWlEQQlN2-xB9Gd2Ngt88w98sytAr2rH1LsIX_hOf5I9nr2MvOxwEh-cShycJAVXbX8tMj-wqttfUxPwGgeOCo_Otn7_lotEOW8SXvsK7pClm1FUPmj2PSjXlhJgVqlEfg91kl2mOH8b9KIBFGA_nLRBKQ62yYHhhh27nSW63i-oG8wQmoCDGw1lK-1UJ9DL7QYXt0nVJ7rp_K1548oRuvjy5fjEbHblswXf634mX2osbmL_pFwh5OzeSMTRVvoTp1sNMI8uQqvEMjvOpZDJ7y8fOLg4m2IvJRNs5fG94Z-2jA==",
  "id": "rs_0bd89be888564fc4016aacd539ae8487d0a05a9a19c5e50586",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.36,\"right_y\":0.15,\"right_z\":0.25},\"note\":\"The second close was also empty, so I’m stopping the repeated approach. I’ll lift back and uncover the bottle in the overhead view to locate its current position before trying a different grasp point.\"}",
  "call_id": "call_JWV4eKLGq6w9eraeLMXFm1am",
  "id": "fc_0bd89be888564fc4016aacd53e1a0c87d093e01e134b579125",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JWV4eKLGq6w9eraeLMXFm1am",
  "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]: [-0.0181, 0.8303, 0.6765, -0.4259, -0.0288, -0.0265, 0.9969, 0.5713, 1.4818, 1.3746, -0.7708, 0.4057, 0.3183, 0.9946]\nstate[eef_state]: left_x=0.2998 left_y=0.0032 left_z=0.1937 left_yaw=0.0128 left_pitch=-0.0205 left_roll=-0.0051 left_gripper=0.9969 right_x=0.3681 right_y=0.158 right_z=0.2297 right_yaw=0.0401 right_pitch=-0.2275 right_roll=-0.0797 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -1.5521, 7.2274, 1.7314, -0.0562, -0.0366, -0.0122, -0.5265, -8.2667, 9.265, 1.3407, 0.1245, 0.1294, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573136ec69c6a26240b03a1bb2770920a2b071be87249077d9b8b377083d0044",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b86051b4dc77b0ab04012d538e0a66aad50b1fc94f17c56f2e52941626f860c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:144794e30eb9975988428613d9bb2d8bc0ff9d407d740bc9a36fe911aab996eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0181, 0.8288, 0.6765, -0.4263, -0.0292, -0.0261, 0.9969, 0.6094, 1.8328, 1.2816, -0.3309, 0.4328, 0.3588, 0.0158]\nstate[eef_state]: left_x=0.2996 left_y=0.0033 left_z=0.1941 left_yaw=0.013 left_pitch=-0.0193 left_roll=-0.0046 left_gripper=0.9969 right_x=0.4298 right_y=0.2141 right_z=0.112 right_yaw=0.0345 right_pitch=-0.2184 right_roll=-0.0708 right_gripper=0.0158\nstate[joint_eff]: [-0.1026, -1.4838, 7.0769, 1.7363, -0.0708, -0.0415, -0.0122, 0.3487, -10.7966, 6.4205, 1.4286, 0.2515, 0.0562, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNVHvTRtOSBuXQ0v5Mg-QASr5fEOA1fHXJA9jsHs1RJQ-yIfvGNCxS-kR31F_T-eYbwbodxvD6u1BYG2IjqpN2g-KLznMEzFkbf_YmSpdDCvnrxGvuLklv_yVAoPZ-NPYa54JeDvmR-nZSVc_gNrLpv9zMrG180nju9ImcbajQWarSBWQUTh20Mm41NjV4mlhZ-kuRxJO5Ve9Lj5xIJlgzDC3f1MNbQw-ise95kVB9wKJ93I_5y5dmlm1SOvV1UliJt61kExebwAZGdiqJdz6qtPXaKCWY4lcqU_TnDFIEcoXkrixJmnxm-TRJmFff0zem7_s-FE9ie1YOZqgtCmlr6gKNycP86b_XEdwTs__ckGkzBedWS_LZIBhXkT-XEoXB9xgZ-D3OBUEdNdE9iZDPkMg8rjrKniE3FbqrCYTm-MJMvOrcdCW2fZ_yyIVGJxs4Cu9ESD_eOpR7spgud1f0Z6fAoSFjqYtorwsVnKcA84yY3IF3ODUNpm_CpKRfqjS-NRY4lZfDJBPxnsJOuET3CfzqhwGHnDsk9taqOGEQkqlB8yaGK8EucwPAR_cVVofvnv07ygom5r0Yo4_mLNSp0tOqmo1Z8la3Jws2VauCq6bgfkuqRMdszlLN2J7sUJ-_94aNLi33G3izvbAFii1-ANtuCloOTNjcyZ6keUC-cCFiIBuezKCxuZNnlSO9kistbZc9w4HbuaBtfXB1nTYiXonnPwkbSo6CuRW-1-kjO_hqWLKsKVWHnzPMQwRM06nWyCkwkl7bvOfDop0Fds8u-siM-sISRPBFwXGNeG8Uy9SBkIPYd7KSVqLwcdZBFlfpbnXdw5b1nUoiwq5CIITGjBsZ2sjyji3o5UvnoW0USirZ_XPLRiE7SyzRgp8beVJl0oS4t5SS0Dbx0qDtEObPwmHkptX1r5vs-45vG4i_1rjxRKrHHt7scQuciCamCWyZzgccgEGilonffJjCZnkQzF4EsgTWn3m2wMrQ0rHXsNUiMtoYs6TErh25To0KRUDoIvXBDu4-4oNR6QMM_kh_yvf4tmuEx6JkVdLZtI4jv5Lp0L2QoKjoUV2RKbcN6O6CWYU3Zh7CGczNTUkFdVLQtthWx4RWppXkKzLskQMDFzJSOR3DR2RwW36TaZ7dc9lqvEgRFQLjKtCSUckwyHZDDAOuXr_YAMWJ2Qz3DE8frOZY0N8Agn1-SGJjJ_eYtN0hu5BLDvJwtzb4BmEjYy6cedEtrzFMV7JwzP4sNbf2bb9WHASlfeFSQEeSf8-msbJyEb9OuAh5GTekh24ly7dsDQ1x6N1HDjyXqHw1DOt2fso-GLM5QiePx2iqQDsvO8kOk5JdCb02CT1IN8BOZ9y4ileN8BPIDYmO7fjeAxJFuRUibYeadLdJ8uzHAouhxIVf1kzbTOX3nTRS0d1Uo9j5XrmPaZ1Wqytj9PjovR-OX5qxNBIw-JmbqBXpOt5FBN_2AcWyoqPJ3pVsSl75cwiXhOywFeVjXp50Q7x8pCfL-rKLugE1ie2jUKj2ULl_6KjDn6vOfFsrlmJhsV6ep5xzm55m8qb7tCXiBTVf1UazaHcuxBkbq3VVRuTSaRxMQHg1I68rG0cCk8CqmP1Ac_V0xdL5ULHZZJrZCyl29V1WSsGLJM2XkgcxvXQ8ynkSl2L2IFXG7DWbUQlWVIsH24rhx2h6EF7itqNFwSrSkiXwwAJUmL6IvA1OeiDZOayBaUQO2g",
  "id": "rs_0bd89be888564fc4016aacd5429edc87d0b86fabadc523473f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.255,\"right_z\":0.215,\"right_pitch\":0.15},\"note\":\"With the arm clear, the white container is farther forward than the earlier grasp attempts and its handle is higher. I’m approaching that upper handle area from above, with a slight pitch adjustment to keep the jaws vertical.\"}",
  "call_id": "call_P2wuWUXLgovSrVaHtkzwOECB",
  "id": "fc_0bd89be888564fc4016aacd545a90087d0be1019367d3ccb51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P2wuWUXLgovSrVaHtkzwOECB",
  "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]: [-0.0181, 0.8322, 0.6765, -0.4259, -0.0288, -0.0257, 0.9969, 0.6865, 1.8198, 1.3624, -0.1753, 0.5961, 0.2306, 0.9949]\nstate[eef_state]: left_x=0.3 left_y=0.0032 left_z=0.1932 left_yaw=0.0124 left_pitch=-0.0224 left_roll=-0.0044 left_gripper=0.9969 right_x=0.4519 right_y=0.2467 right_z=0.1858 right_yaw=0.0646 right_pitch=0.0439 right_roll=-0.1261 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -1.6205, 7.2137, 1.7216, -0.0611, -0.0415, -0.0122, 0.5675, -9.8667, 10.0444, 1.8242, 0.5201, -0.0073, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5845cbdb74e7a6ad0675d1227e0dd8a19e1fb3b55e660bee8ff2db89ead78b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87dd16392d9ea5a83b1f47544ff53482bd20dd6945ea90faca3bf487b385d3d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ffc2d5ec2861191c100d52f8d9d472a35f7301f2eb88f043f7db97aae2feba",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0181, 0.8303, 0.6765, -0.4259, -0.0288, -0.0265, 0.9969, 0.5713, 1.4818, 1.3746, -0.7708, 0.4057, 0.3183, 0.9946]\nstate[eef_state]: left_x=0.2998 left_y=0.0032 left_z=0.1937 left_yaw=0.0128 left_pitch=-0.0205 left_roll=-0.0051 left_gripper=0.9969 right_x=0.3681 right_y=0.158 right_z=0.2297 right_yaw=0.0401 right_pitch=-0.2275 right_roll=-0.0797 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -1.5521, 7.2274, 1.7314, -0.0562, -0.0366, -0.0122, -0.5265, -8.2667, 9.265, 1.3407, 0.1245, 0.1294, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNVR48Q3cQFWYwIxzDjhduguEEgNvqAGF-8uLuOgq_deWjQIaKjTZeZjzs9ETjj3woDBeBF8f283IsybSt2MoJaSVyyhpDSe7GfgEF8kni2gTVTuSccNeCBHYBi_sgeMFfIEOnYiQYLytjqn_hy4bEc89YyGiUYjdeXKZp8puHMFAZ5dOtAnMEeKOK9RiIkrbl2a1gs-Y9Qt1ULE3MRL84Mx0L2L5XHdNbkvLMcNBoguVfzLFby4vVsQXr0bBTssGUN4tYb4-uE30x2fMaYyT3EqRLHAiTfnJvNilrcHlktwTBgDNljqRMe0Zf3gtgj-MT8pf6AUTA0bHftQ0G3gUOZDOx9oyYY7NI98_z0xgNP9fRk7pbYXaWFhlsFhYWKXJ82eH7b5xOBtrItK_gW-OC30trJQxzVa8iMaXce04XqF9Ogm_CnFqva-BFWSUeW7BGN91kRCnu4g4mH8W9Nq934kv0MnBoJHKJTcUy5U-zbWlETlxmyPdGo-l0TaEZS1RVBsoMqEPhS_anh97Wj2prVxy0vigwKfuHHZs-qRpl3QcrVprBD4L1eHAcMK482SvhstpMAa3lj_B1JieCzvrL1KSujolDfJgaeyVlFxtL8Q7YMZZHDJzAH33vljDoNrtmcASdFSfaFfDV-t2um4pA70wJcqKWIEszRsf7I57iHycezf_rn1CcLXM4B7TqsMmZLdwyZa3-SQ7cvROwWLHGSkcv11dh1y5DIfHkJvEWY7kP6Nb46O8B9Y60OWbv9KdLZxxfOYstS8t5_YNtHqCRiu8vCwsTUtKW_-i-zlBWdPthh37SP_yGorqX4S9naRvzqqY9oD4-aYWJb8bA-BvA8Vy_ID-PSSN2_tYhBVQxlDt5yVVkoV9hhir_w7odkstIFn1PURAbvCbkBe83u_hoIvg3UJ3gZclOuKpQyOIv1vr9EmJpRYqbdKwZRyoOZvI6057HSOsQlb0bkvuX5d6t2-E_c_R2cxW6rKKubTmC3dOhZ21qFakZ5wn0EjAteHwAAOq6LNnCAL7e9l8WVhWkfwyPFuSyZPToAir3fA6Cu6geZ_MTL04rz8aRp4_dsmJYOTCILcI6Pc4kzc_ra7x4OAq96kDrmexvXqsrTo1n_2kUxnKosq81gkY2Z8FV3_gJanfy-s-yvQd3ngKvrqCHOsG1ivHWhlbFWJAXqKxYIIHO6i44MdDKMsp4mlDEfAExbioLMA_9bWfgED-UV4E-EA1QoqcNdEXTgQ5h-QUcUiLlAOw4Jni80Y-QUdi7mESdIlvPlDBoT-ItDSUb73KG2QaLCw3Q_EPkbNeQw6o8dx1U9QkNemV8cc487L6DTVEFUyE2TaCnTCxUSq6Pp2IgThKUm3kI1vWrzT9oM3uJyOjTvykFOCso0WQSfOx5ItKBz6fxiY1P4IRhhyXT4wtxFqLzyZXZAYvdy76_XWHC8PmsIiCXdIqsNIhgZNd9aLmvCOn9L0cBP86ZpQgqDSafUslg==",
  "id": "rs_0bd89be888564fc4016aacd54de8fc87d0911a95c4de416b59",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.235,\"right_z\":0.18},\"note\":\"The upper handle is visible beside the jaw column, with the opening to its right. I’m shifting a little right and forward to place the fingertips around the handle instead of below the bottle.\"}",
  "call_id": "call_fsmUGmQRoW3Q5LyPlQYTu4Jp",
  "id": "fc_0bd89be888564fc4016aacd54fc20887d09e257c7317253dda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fsmUGmQRoW3Q5LyPlQYTu4Jp",
  "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]: [-0.0181, 0.8322, 0.6765, -0.4267, -0.0288, -0.0265, 0.9969, 0.638, 1.8595, 1.3743, -0.1345, 0.556, 0.1932, 0.995]\nstate[eef_state]: left_x=0.2999 left_y=0.0032 left_z=0.193 left_yaw=0.0128 left_pitch=-0.0231 left_roll=-0.005 left_gripper=0.9969 right_x=0.4704 right_y=0.2372 right_z=0.1762 right_yaw=0.0672 right_pitch=0.0388 right_roll=-0.1319 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.4564, 7.0085, 1.7021, -0.0562, -0.0073, -0.0122, -0.335, -8.9641, 9.5111, 1.6581, 0.232, 0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a34d59eff83beaaffad04d0b1fe274490978a9fb1110048381291667b8fe131",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9790f47159e517840e634d0ccc26fd331013e6dae09ebc95484b8f288ad75c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b647c77e2898d42e9bbb1f7389f9a6232fec5ab11b3a6f4cfc6f65548b7e41dd",
      "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]: [-0.0181, 0.8322, 0.6765, -0.4259, -0.0288, -0.0257, 0.9969, 0.6865, 1.8198, 1.3624, -0.1753, 0.5961, 0.2306, 0.9949]\nstate[eef_state]: left_x=0.3 left_y=0.0032 left_z=0.1932 left_yaw=0.0124 left_pitch=-0.0224 left_roll=-0.0044 left_gripper=0.9969 right_x=0.4519 right_y=0.2467 right_z=0.1858 right_yaw=0.0646 right_pitch=0.0439 right_roll=-0.1261 right_gripper=0.9949\nstate[joint_eff]: [-0.212, -1.6205, 7.2137, 1.7216, -0.0611, -0.0415, -0.0122, 0.5675, -9.8667, 10.0444, 1.8242, 0.5201, -0.0073, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNVXOUx_9WJzrDzxebWSTTyN2oH4T-sr7cVdoCRIYboMzYAdjgFFhElnRRO2css2a4VHIGebkhACSz1A3zliHuGO-OYlQXnIToRyf2nVcYk55FljKMadywIU2EjOXGAoaOSTxZtGkgZstGZlADjHD_QrO1KMuHaUGRJkSMZ-vbDOyZsWUxw3CpcXNr74XyKVfXoRhz8xpn1XebGaBO7lGrs4QD7kTChFaZeNoM6UML6zmxb0d1AQepfZxVBYYJ9KRbpo3SrZkeOz5yK5dT4m5lHl3olCsl_RUreCFXzLhsbz2m1Q7060Zo9qBU4Awihc5LGqK-ZzpPRVjqfBgd7TOuo8Vmr2CkH4GEMjEfptMDMxND10YhHNkISae09jfXuKhvqXqvsv2Y9-ZpgVC4tp-mTv9QC-eNcYBgIdk9HAkFUCwfU-rBqupfkR-s8-ogMeGPph1nKYmSgXAYp9aDoey4q4HWm7eEWEuO_uDaQsqxqFQaMkRQ5t4YiYJXUFWgh4OGvuxELns54IMiWhrzuTAk62B5e4CC2sk7DMeKM00vHZ30sjXEiKMxPjq9SwzGEOLBh8Or_6iO8d21AZmH8OZXEeRK2fClqyJnIZ8wEep6AL7BnTsq2ZjAwEKWhiZvukZNsWXcsPxO4gJnLCugoFWvv94NAzWR3Buq5EmsbTrDwbEhILrwLB9X1obp8MEuiXdWAwnUWpDy8IFdReoNGzfV7TTPR476OmLgldarn_F38n6QWOXPFKZMjiCrcdBmXVK-0MbAKXvBDrkKRejb2krY-XFjdrjHZRJ95SQWpBP3ySX74k8lscE5MWT3gRLkKuz7Pnb5eJgMthVGkxl01mmep_FrN-KXn80rCYp_89ZFwk9uZXZ6UHmv02B6DWb6Kf9Uqm-UddpXRKkKOJNAkDrWHSTYCjtZrvzYDkjKbP14ajPF94C4Gy-6evEivkPPRuvt6yoY8fxchMa7xnRf3pJfOGaGOx8u1_hzGgwhAB2iR1ypFY70XAhiWa3LFuOIUsy9-qY9GXOh4TOfWArZPHkTwrmahARDG9NMwBtLN0ftwd7WRnZDargAbEwCJvpa95rur8UIrrXDbDCriKeRQId0Lmg54Kllw24SmJw58bSRHp1DF0IKV_ZkQ4-IeoE2pl_3JhQbt2EfL2xtSzdpD3tYrlNWNXwh85MvKHYefu41ZtlumeU49GR4r8mnXnqQOpSwRSfLFv22EeiooRoBRG_g8y49cDZTvwxg9l1G5paz2aycxiIDLEwsqTUohxOhS8CLIPG6igtuGLIm-zLoQINfmRTYX8e6EyoZa1Ejj-F94hEy8=",
  "id": "rs_0bd89be888564fc4016aacd554d10887d0b8939e5c8fbdb565",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are now at the handle’s height and rear edge. I’m closing around that narrow section and checking whether the jaws stop on it.\"}",
  "call_id": "call_GxAy7Rw6DTTWAg0pv9X2epOO",
  "id": "fc_0bd89be888564fc4016aacd555db2887d0a67a33fb287ef68f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GxAy7Rw6DTTWAg0pv9X2epOO",
  "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]: [-0.0181, 0.8322, 0.6765, -0.4263, -0.0288, -0.0261, 0.9969, 0.6159, 1.8736, 1.3949, -0.1192, 0.5392, 0.1753, 0.0168]\nstate[eef_state]: left_x=0.2999 left_y=0.0032 left_z=0.1931 left_yaw=0.0126 left_pitch=-0.0227 left_roll=-0.0047 left_gripper=0.9969 right_x=0.4806 right_y=0.2334 right_z=0.1798 right_yaw=0.0675 right_pitch=0.0509 right_roll=-0.1278 right_gripper=0.0168\nstate[joint_eff]: [-0.0205, -1.4701, 7.2, 1.7216, -0.0464, -0.0366, -0.0171, 0.1436, -9.6889, 8.0342, 1.5995, 0.2613, 0.0464, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b26bd13ec1c04387c9b2ee03bb9edfa15b5500c919c8319700ae470ba8c62ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c10a2db42ba1f0413f48c9d6f1bd42546dd683ee19874ae21779b3b23799116",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2142045a47af4d219daceae5691b16dbf15ee9919b0809be728bf2fc6e4b5266",
      "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]: [-0.0181, 0.8322, 0.6765, -0.4267, -0.0288, -0.0265, 0.9969, 0.638, 1.8595, 1.3743, -0.1345, 0.556, 0.1932, 0.995]\nstate[eef_state]: left_x=0.2999 left_y=0.0032 left_z=0.193 left_yaw=0.0128 left_pitch=-0.0231 left_roll=-0.005 left_gripper=0.9969 right_x=0.4704 right_y=0.2372 right_z=0.1762 right_yaw=0.0672 right_pitch=0.0388 right_roll=-0.1319 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.4564, 7.0085, 1.7021, -0.0562, -0.0073, -0.0122, -0.335, -8.9641, 9.5111, 1.6581, 0.232, 0.022, -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": "gAAAAABqrNVfg44lh6e4dO2HePH0LYwVMZjC1GAUi1z-PN8NXlgVfslhkrxTv8FWG-LkwmYDa3OUB3sWcpYvV5Kg7wbvWKxEKoEk8RmlEDzemFMJ9Ll-o9cDk0aHU5SEGfGbxMcai5HUI3e_wi5NJLYSkQKqv6-yJW-xDvxShyLXNab9ofkSXYvysYQN1YUJr0xQuRUIOgbKh394KN5PWoayQDWrQ15kO-ygx9rRT5hHOnlWWLLquksYXKcfcAQWrx9UM6mbiqg57WLQhg__XszDpSqOV3qv1WXw3w1EuW9ePJDvM4cjz7OpY--d2y9VLTZbRloMQH7sFEsADevfnuTc2NsGy3-2Is-f-CxjGh4pKLU9vlqTcONCxgnQN55ocq3bzI1vbZuqmowcywK1H1zNX67PaXFx6QJbn4F5_FdRkunp4YtCNCJMz6GKw8GjqFY8yZV88fiSlUPfKuKtwKqFfU3i7Nca83csK7OS9UwGvwEkwCP28P0JZmmGp_vUWgX-rgrxpJhSG1idmsV0Lljr63A6hsHlCGRaM0iIHaoQifR-WkMENtQaW5vZDPA0t5l48YDtsohR82cq40dphv1dPrHOf1EbfsMYdzL7HoZDPVA6r96YV476N6Zpunf-CXaqkb5D2Co_JBZHa4rw-ZUN-d5TmsMMDIfEHVpF2l8Bqbx5FoMIdZKc-UCTtOEQd832wH450Poqhjq0izjJiB352hkb5BVTKhdvtvElCbsfRn4zdtqIXR7bI9MmeGmCKi43KUe0LxqSpGypsj6Xvl3E_fWll71YayCEn7SRzuwJ8bakM5uWj3CWN0WHA1HRnsn_UixtFdg8_0NbInGPh8CwI0EwAxXO-7ZsxpYCXhOSyS3NVJvvaZbecileMIdWnTIIFPBq1jBnDD8VvXqOYDhpnICESIi4fLLqR8okpEIgdYZLuaisCK3AVBr3O5FoqU5sSmk_GQpdKPHQ6_dTilKiX_Xx53SzpkXlU9tsz1UgB_NTc2grew8C7Yez7_rkk_c48nJLfAP69sniDYfxQBG_8bQWtR6vI5xvUYP55H8td2z_U6FbDaWdez8CKiCcgQw2HZd6Wi_NmrQ_XaYzAkZ8msCp2pJYY3Va5bRAlIv61zsJH64yqJpRiZMDCBNzXAU1Ec4eO6iqOxcvLLTLOOYgztLC5MCBCGdyspnnQwT9GkRz96yC39ypWf0cO_hsqceaLA8mPdpg0dxisl9iqrSxGJp7GZHfXWnPxbqWtlXfUMGJCkx76-7B2IrK2Tuq0NbEPnyADdgx17bPEYCyICJcGIudJqF2hO3TCaX6QSwEQZRCCMg73nGDJvdn-_UXjZco-qZ6l8fbgDZRpXoFCw1DhJYzbDCs8MHRLEuPggHMazNDhGXwhfiErs0SEnVCkaWnFDFW0xfrKdWNARoYi3qQUwCGM3t3WGL4zIIF56_sH2bIpwOXKvZhEduUunr4iy7BUE0l9YYuIvpqB8CgnC57wfWyikzjchTm9b3o7I-LaU0j-TDZKdVTLpC3OGt3tVHErfhSFUwcYRZj6vX85nAr02DapT2RTiLwY42Iqeb0a8DdQhOM1fx5b4ZwYAqJotItIMnlCYPgjqE68t7qmJoi0tYKRrQV9A==",
  "id": "rs_0bd89be888564fc4016aacd55aa6b087d0819ada0375f1b10d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.175,\"right_z\":0.23},\"note\":\"That close missed to the left of the white container; the wrist view shows its body clearly to the right of the fingertips. I’m reopening, lifting clear, and shifting right by 6 cm to center the body rather than chasing its rear edge.\"}",
  "call_id": "call_a4ZBFXR1q55vxH0YWkdyWtEb",
  "id": "fc_0bd89be888564fc4016aacd55d26f887d0a9286a492e60db87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a4ZBFXR1q55vxH0YWkdyWtEb",
  "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]: [-0.0181, 0.8322, 0.6765, -0.4259, -0.0288, -0.0265, 0.9969, 0.4957, 1.7725, 1.3876, -0.2298, 0.4355, 0.0967, 0.9949]\nstate[eef_state]: left_x=0.3 left_y=0.0032 left_z=0.1932 left_yaw=0.0128 left_pitch=-0.0224 left_roll=-0.005 left_gripper=0.9969 right_x=0.483 right_y=0.1805 right_z=0.2016 right_yaw=0.0728 right_pitch=0.0026 right_roll=-0.151 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -1.388, 7.1043, 1.7851, -0.0269, -0.0269, -0.0122, -0.4034, -13.3265, 8.0205, 1.7558, 0.188, 0.1148, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06dc58026c1a69c664176c8c67069e83e4032c9619524bc73b39069c9b629ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5cd5825ac61874d2911a04747494d114c0975b63f70d21ddf16e9a818c11966",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09301af71229015bc81fb12541ee537045c8cd80fda2951a008f24d155741781",
      "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]: [-0.0181, 0.8322, 0.6765, -0.4263, -0.0288, -0.0261, 0.9969, 0.6159, 1.8736, 1.3949, -0.1192, 0.5392, 0.1753, 0.0168]\nstate[eef_state]: left_x=0.2999 left_y=0.0032 left_z=0.1931 left_yaw=0.0126 left_pitch=-0.0227 left_roll=-0.0047 left_gripper=0.9969 right_x=0.4806 right_y=0.2334 right_z=0.1798 right_yaw=0.0675 right_pitch=0.0509 right_roll=-0.1278 right_gripper=0.0168\nstate[joint_eff]: [-0.0205, -1.4701, 7.2, 1.7216, -0.0464, -0.0366, -0.0171, 0.1436, -9.6889, 8.0342, 1.5995, 0.2613, 0.0464, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNVm4g8CuWA1P_i-b4AOLIYnoLbuqI1PQvEIyvXZlSZdOWEuTZHJoHW2DgvC7aG0u9bqTFFcKIGWQMn29vrvtz1f9-OoHcsqLX-KUkE1KW6NahFbLW0wrbGld1L_82a-TI0Vz_zuowehvnuzDFoMA2fKaFEGP3imLNSp2ig_837QLBuuM_8O3tAlNAKzm4L2e1wu5VwLFprwhRi9QN2j1WByTGvQTiMhm8V298iB_tid-jGyZQDSF-mKRQXxwv4gx-jRIclswSi97UXZu4h0qGlWCysqjC6WQnmazKDCNC3fHDdNog01AZyPNBzkUo1_Uq1VsqGPz5fH0fFYD5eojIeq0dToI1SCt4qSdmVvkec_cdNR_xmNMLncQf80h1Yn-tOmxl4QzdYlBpNUhuDUmd3DIAmQ2r0UVqnrsbSVBgccNQglx-LfYu-Theh68nesdpWhRo7RcHc2yBaW49U8VrzNxSXnftb6YJXhy4ZCT4YwElbyTKJ9l7E3e-fBA9uaF9y7CVH8Y_V056aeFRsDsrrfXyjGeek5LbBV-rMSLk4rGDZLkllRYYPmqTDqPO5SyWSfkvIBD3FiYpDBSHiVoGSMrnk8lJ7aEHE9WDwv3tYwgK8FNvZMUay5qZTtMr64AoLvi9qaUUfvrf6WWH_4ENzZQgJKmKfSc5AtxmtWu12XTUaUiF-kpaOx65Pu3rgPEo5iVt8bA3toY-lbBYRKdN01mXJuWMzCKAoP2aPZAYOC4_9fx1RBF6pEuSTmgOdfPtQzfDpM5VrUoxK-Sv8FQxCJI_MT9zFdoehrsY9CcEYf4zQi7173rpW8ORuAGVW1AGupJwH-6LsxgZE398NeMYFjj2wcNJRZInrWnXLwkD-blZB-qPTt2OS277AtFbWT-zr4leRVy-melgQqmA61TfDYhY4TVGL_w2vouWxbXrapfzW0Ic2Lqh2uGH133cDq1-jDfFeAdQZbUDJrZNb50XWS8ssEh3QI85FnEL-p8DrOfT2edIPPeHdFp6DNhAQj6XI9Xm22zXLKei4gGHh4Pc83_xKU69wRob_LUYQRJWAuES8B4_cJabs0SGvK34iOByUpy8xQV223Nlvjj-6HxbpzMGE-Kt5jDYMtZ58H5EtzakROnOsH9BaXsRXHNTndeYl5aLX45nuXXfMPZ_tG5wYfkiSvG1T3xZIwbuCaPC8UWqMSWOy1Qk-7RZS-I0kAwZwVNkg2ZmRZcv6tMkeMBU9wY28Ya4SolKZeyypR4Rc30Tg6Unys2rbfNtKarMjLzsRHtx_WFekCaI1BOmL-Kpjr52wkiiv9dNl9FviYSu1WhbfGnQyC26XmTRgBKYBBRCC_qgJGs0sGCkY3QqJhXjKZRn-ZnvCXLVHMjTbewb9ZdxSg8MD9fNeTkQZiLj2gUDyHyfAxFOQwTMkzHYIYlNElYNgr7Q83dNzptReu-iYbG2bE8T-H0KUX_A7_fVTx2g4H",
  "id": "rs_0bd89be888564fc4016aacd563865087d08a069f6afedb0da0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.16,\"right_z\":0.175},\"note\":\"The white container is now centered much better between the open jaws. I’m lowering slightly and making a final small rightward adjustment before closing around its body.\"}",
  "call_id": "call_h6zgxKKX8mz2SEnFKwRByNNV",
  "id": "fc_0bd89be888564fc4016aacd564f6f487d0883f282e3225791d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h6zgxKKX8mz2SEnFKwRByNNV",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0181, 0.8322, 0.6765, -0.4259, -0.0288, -0.0261, 0.9969, 0.4667, 1.7622, 1.3426, -0.1654, 0.4049, 0.0742, 0.9963]\nstate[eef_state]: left_x=0.3 left_y=0.0032 left_z=0.1932 left_yaw=0.0126 left_pitch=-0.0224 left_roll=-0.0047 left_gripper=0.9969 right_x=0.4873 right_y=0.1716 right_z=0.198 right_yaw=0.0805 right_pitch=0.0214 right_roll=-0.1427 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.4564, 7.0359, 1.707, -0.0269, -0.0171, -0.0122, -1.5932, -6.7487, 6.1333, 1.58, 0.0952, -0.0708, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83fa2525dd1e7964039736bf095816bfa7b7b1e3c14e42179d24ae64c4572c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a469ae1ca1a48ee2f65aaa447b97484aceca101d76439c4bb5b7718c034e39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb0546ac340741cfbe9a7c09ca619dc759c1cda81323d65903537e3f7715499",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0181, 0.8322, 0.6765, -0.4259, -0.0288, -0.0265, 0.9969, 0.4957, 1.7725, 1.3876, -0.2298, 0.4355, 0.0967, 0.9949]\nstate[eef_state]: left_x=0.3 left_y=0.0032 left_z=0.1932 left_yaw=0.0128 left_pitch=-0.0224 left_roll=-0.005 left_gripper=0.9969 right_x=0.483 right_y=0.1805 right_z=0.2016 right_yaw=0.0728 right_pitch=0.0026 right_roll=-0.151 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -1.388, 7.1043, 1.7851, -0.0269, -0.0269, -0.0122, -0.4034, -13.3265, 8.0205, 1.7558, 0.188, 0.1148, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle body lies between the jaw tips, and the descent stopped slightly high. I’m closing here to secure it without pressing farther down.\"}",
  "call_id": "call_AGiV74TPuVZNVPupc2SIdDKj",
  "id": "fc_0bd89be888564fc4016aacd569758c87d0adc84230ece11a5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AGiV74TPuVZNVPupc2SIdDKj",
  "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]: [-0.0181, 0.8322, 0.6765, -0.4259, -0.0292, -0.0261, 0.9969, 0.4694, 1.7992, 1.3121, -0.168, 0.3904, 0.0669, 0.0151]\nstate[eef_state]: left_x=0.3 left_y=0.0033 left_z=0.1932 left_yaw=0.013 left_pitch=-0.0224 left_roll=-0.0045 left_gripper=0.9969 right_x=0.4833 right_y=0.1738 right_z=0.1654 right_yaw=0.0985 right_pitch=-0.0475 right_roll=-0.1669 right_gripper=0.0151\nstate[joint_eff]: [-0.0752, -1.3197, 7.2, 1.7314, -0.0513, -0.0269, -0.0171, -0.2667, -12.5744, 9.2786, 1.7411, 0.3053, 0.0952, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd2f6fb28781c141198116b9137ec16fbc1d0218975b68ea9f584cc9596f141d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef1787a10f0787d28bae98803d99a7857656bd36312cc03bf6f78f8b374c534e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e48ed1b6b7a2c3d8f6fbe6ff25ae25d9ff5f2c164ca22086f237cc685c00040b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 150 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0181, 0.8322, 0.6765, -0.4259, -0.0288, -0.0261, 0.9969, 0.4667, 1.7622, 1.3426, -0.1654, 0.4049, 0.0742, 0.9963]\nstate[eef_state]: left_x=0.3 left_y=0.0032 left_z=0.1932 left_yaw=0.0126 left_pitch=-0.0224 left_roll=-0.0047 left_gripper=0.9969 right_x=0.4873 right_y=0.1716 right_z=0.198 right_yaw=0.0805 right_pitch=0.0214 right_roll=-0.1427 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.4564, 7.0359, 1.707, -0.0269, -0.0171, -0.0122, -1.5932, -6.7487, 6.1333, 1.58, 0.0952, -0.0708, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNVzlqbPfF48yBDu24zyPnKcA-2XvTwWX0LZibCqqkAqjLkmagdmBFZbY_4VbPJzP7xKqt9XRsmu3GJ3gD7WMRsnux9qOJcSzMq39OwTONsvwfjAbjoU691vFf5OIh5G50a0igYWo9HGAuJ2_O_X_l1ar5_5JfwulPK6iyzbrl1jGyO1bTjX8kfnZYTW4uLdE51M1IjlyN7MrCF5Lj-K-EZVBJAXJPH2VQ-Z8QHHkkR0zKmu30IkW-_PGa6P7Np4K44nhMTR0-R-tYNUzp16oAYLl2mrv_SnSUwRe0YLFHVGgfNQAibnghZkirmPNh-CuPQi03RNWPiMWXeBuNpKJIoyuhp5o5LUkBZlk2A0vPHNFPpl9ciVWn3BzCxs9O2qdOYaR_Yjz9dCN9iUd5jPD570rW7DLOW3l76sOiIKqsacDbQeBRTTEEj75yrzx9qAd4lQ2Sb2rX7YTQw_ATQZJwHM9Y51QcMUyCxXmEYTp_DUfVIZwh7VTdVL-7B_79nT2xWs0iOfyEUaWNIxEjZ2N8Eo7u6yxRGtwUoH2ctfVCtevjSDX3wmHWGbdCiSDFPsNKx7bnU4FwSsDtJIMBq_DuG-EyaTPxnjias9VuD6-h5inyxIKVNz6k_bCqIoEsCHT7mBwp7TMn-oy-3oHcBBj6rDxCmsS4DPJKiGpA5xLjXpS5DeXWaPua6Mu3JSg-i6B6AD8k-CDL7KEQPye6X4DkaZaEyK1Ow42fiSpL_EjcZ_cr5LTPy4jcDUYJpNFINbarhhUBIh_6ER_9Df6qLM0FXddkMxosWwHp6nPoNHeoWeitRAm47MKJq08od-YXWxaJ4_eREEsfFOTqW1QS4aIbSYATQfKzKqas1gWtgqBceN_9a1ESYFdvbrti6waTvgU8O5UKHJ5ROheQENiHPjQZiwcUZtHnBxKnSXOWtlbaA3aul6rIly9u8EJNfUQ9Yvs0f1opFQwgT8cSUbvnU9sDECN-9La8noP9_m3GWdZ3sFhxutNuLy4N_LUrdoCtPLn9pAej3uCfBtnNXERcx1Xh-TvPo9Qt1kgMwFTFym1SbokIjHJqnaUr_NZzp7atOiO_wmNZnQ66u3iQLE2vb7hDhlhlChkmDWCOzgJW1LJIf2pkHhYShK6oZjr6luhxToaekMfBOTzWcMnEEXg7O2sZtA7ML7pDfBXMqYo2q9OVoGSMgCUQgp2YmesQkdDYJwmlUlBCtiugTYv7KfY7aOivpl5Om4S7DeCSNnrE1U1VVey6_x1tx8VLeSDGeqpRoPgkzgbNGVLV5yf8_IMJm96k_nAQN3LDxykOGNaU2e0ZlV182IplaTVbzDjzV548X4GumNL4YRSNG44cii8c52qu7-BLwQuLm3FQgTAGNbsZq-gSOX0LlrQSbYZqCAk9RnfAfncd1N-mXIvOJpQkO4XTkY31bvqurG343qyJyZqDS7DLYzyEgiIFDJoT3KrwvmcTUiYd9ysGpEN7ypiYKVpR_yOr8Gw_HksczKB1usk2uswtI_u5I1IsKs-LRqCzYqlFk7e5oHidxML2jDy9rr4EOV1eJHivZTEC-mWEPwbf4AtlnmkgWqcU8T751QEj86LUwasuF4yBocdOErFB4wrVbdnE6NoNPgYfkaMg1v6OD0o2eWZHFAMxpmsLX1MSCJAkfxupnGyGhMGh96UoDEDfAaab8VybnTWRITXYnOkGCwwEUu4AnB-UKdjY6waeN3mDP_RdYDh89fPvzGTUHq5twLM1OvvEkNpy4rfFx4NyWhN2E=",
  "id": "rs_0bd89be888564fc4016aacd56debb087d0b3827d3729b108b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.55,\"right_y\":0.16,\"right_z\":0.185,\"right_pitch\":0.3},\"note\":\"The jaws are still closing just behind the bottle rather than on it; the wrist view now makes that gap clear. I’m opening and reaching farther forward at body height, using forward pitch to keep the pose within reach.\"}",
  "call_id": "call_9pSBSX3SCqFTwBREidjYZJCl",
  "id": "fc_0bd89be888564fc4016aacd571878087d0b4d2a0fab8b7f1ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9pSBSX3SCqFTwBREidjYZJCl",
  "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]: [-0.0181, 0.8322, 0.6765, -0.4259, -0.0288, -0.0265, 0.9969, 0.3973, 1.932, 1.2495, 0.3317, 0.366, -0.0753, 0.9956]\nstate[eef_state]: left_x=0.3 left_y=0.0032 left_z=0.1932 left_yaw=0.0128 left_pitch=-0.0224 left_roll=-0.005 left_gripper=0.9969 right_x=0.5415 right_y=0.1625 right_z=0.1705 right_yaw=0.1139 right_pitch=0.224 right_roll=-0.1849 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.4701, 7.0085, 1.746, -0.0317, -0.0366, -0.0122, -0.9231, -9.6615, 6.9128, 2.1221, 0.105, 0.0757, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fbde59514d6f8c5d0bde49f848a1b6f5e8c3e1800d1e386341aa748ab690fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:695ca7488792581e5b8f8450a4e29fb82c8406d1b4ff0d07f5264f67825d79d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6240e16174446b7344eefa581e641e3515363b84e6dd27f8c4f6e7b8ccf877f6",
      "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]: [-0.0181, 0.8322, 0.6765, -0.4259, -0.0292, -0.0261, 0.9969, 0.4694, 1.7992, 1.3121, -0.168, 0.3904, 0.0669, 0.0151]\nstate[eef_state]: left_x=0.3 left_y=0.0033 left_z=0.1932 left_yaw=0.013 left_pitch=-0.0224 left_roll=-0.0045 left_gripper=0.9969 right_x=0.4833 right_y=0.1738 right_z=0.1654 right_yaw=0.0985 right_pitch=-0.0475 right_roll=-0.1669 right_gripper=0.0151\nstate[joint_eff]: [-0.0752, -1.3197, 7.2, 1.7314, -0.0513, -0.0269, -0.0171, -0.2667, -12.5744, 9.2786, 1.7411, 0.3053, 0.0952, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNV--GMFrim90Lv3RZgVTJ6TFNKu4ICjSJHHmbaxhXXa70CM_0I0hHVfe0CN-fzdaWD_qxURJ-2LerPXvpmuWnlMF7W6uJxecEAFd0urjBtHYQ9gNVKkzZKGEFmmZWd66WttDGCbJszfOMfX7jnaNiB5S3SOS0F1VJq0OXw1WNZ3TrxEkbOF4NkBYWG9e0i_7AksRWda4yBfEIcWJ41sJYZayeyeFbaZtjzgdIsqoE9_mYdHHR5Cvy0qA6ajuaF8IAZSVLdUgZAOhtDqpClymA02xVdkehAPkgg5Z3qf9xk79I6GR7beTf0Fb35leETwdfjb7rS4OAXaY7zEe9v1XBJoeOUltcgyq_bnjXHWCkUYPCYBB8RBSycVwLIhtWmIPjtbFXwMdp6DjhLW2kJQ4zr0vbzlVns7pt8RUBM2N3zHSvWBan_V6xGWLtWxURXuY-1ihyhqcB7QyYmGwx-WQCiCcpYS8HFkC8HCFBUM4x9XgZL-bx9Ul1dXzXAZH2M_XO8L1tLEYGmVum5sG_SVEPsAU82Qh9L2oLqa2YxsaLfcRtWQo5RMMU6-xNPJXMe0w8QJJuwyQBhxtTOLj5qxKTV1rBoN-qC8FuFHfK2JpSieqoj1flktB_sXVYsIm94_FkQgUGBIvqG2KDwtba-Utm1N2UTLJOxwYyoL1YMl19Lzn9w2q2XGgzWak6Ix6bdr9jmgsQzSqS-KGxNs305ZIyDsgdRQTO9EnCARmz0a-voBnwPxc-EMzwWhHvbkO50ccm19wLYQCd_zMM4zZ-OytGDFHIwXOQ_1DK_fCHg_lkd0nGBB2If193rdXzu5pxanFvD1lNs5Ashhl2l4E_SZ6d40gKUrUhmYgB4gvQSgemgPufSWZVGRifeeS-Er_rWouMQMF3NyGFZjAVXC3QTAPhl06wma7TfmPu1yqZvXlYC_MyFauiSxyy2LzlxO_yFLGfUZOVxnB_LTN6Qbpkcl5VkEZaNryitN13XxXlcTAmE7l0m_MHh3Tns9m4_OkCNbkK2qILAr1gWp4jctXIKrWN0HQMcpwQFqrqfG_TK4VRMIVbcre7-VgihN7jxKbmX_Dz61e9iXfyctK9V9uFiUxG8dluAHGKD1ROcaaNW2BDWKOYqhElkxEyj2tdfWhnSAlewMXaONW8VFFswFcUvSL1s3fonII2LTxSRWkPa3Zb_AFhk3NH5jl7oQfNmhprgnEIlQGTKWy1WzCRZq_I2dW4IAHkJgZQJxbufOJO_Exy9jaj58snZq7QIMLQw8TK4x5ShadLzb8EAIPxV79EVHkwfvDZ6q5_5E3UwkpUIHGsZWesFgXHHvWOosF41KVz9pXO9voo6Zt76oXNdtwTDs6s2VQmbQi9ItOCAkvowOhB1zkRB3etuYqp4E__bs0Kms6rNkmqh7UUtLgsfkdMBQIGsVPKlnTsgPpF4G_hrIey4gSOAWRwKLm_b14V27yhnbf6suBNEgsmSYvDbr5Vyt_kfmVfz_JQKXrJ9MMWATXcXfGjZB9RzsMfDmiJIZb11HAj3bZazPjqv54aQU6GoWZVQLZbh-a11aAJq_QVPcJPXPI02w3pRbvt1KvVwIA5PxW0lOJRLhKMQcnonIqSdA4isEDK6QTN_z_Z3F_EUNXdyj6-SmmSHsb3EQS8-jP81nvoR-GgW32eO5d8fwpgo5821cOwdKLTUgmOdjPh5KDUJub3XYOUfWNGQk0rVektgnjfB19JspOZVT9S4TDvwmQNEHnL4J7pBd27oCwg2rLzNmgaT9yhkD3nP_TLiZqJ3YoWvqkvE38hWy8VlEtvmHKrjL-k7jsrVFzcfcwjttHLi0sreQitgh1KlbADGJ6mPo1GjQmrgSbCycMeyoh64LlOasC3PpWYwVd4mZ4ESgzebk9ZQYkwEQW_7f-V4BcG2OttJbNRnPxMRPzWXJAdbRHUudUPIgX_kCiaTj5S8zvPKjmyBScoPjRDoPvIylickByJbJlzIfBeG1Rern_9cKOT1V4kuKAtPQel0u0mFs7UBupVBDWJJf3KPj0yAEL9A3jBg9Is7oLVYWPur5mtMmQ2585w==",
  "id": "rs_0bd89be888564fc4016aacd577749c87d086b1abf453211a90",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.195,\"right_z\":0.29,\"right_pitch\":0.15},\"note\":\"The white bottle’s broad lower body is being nudged forward instead of entering the jaws. I’m switching to its narrow upper handle, lifting above the body and shifting toward the handle side.\"}",
  "call_id": "call_vtp1WMk1E3YOC4NSGV4tXDLM",
  "id": "fc_0bd89be888564fc4016aacd57c776087d0ac8966b89b62c78b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vtp1WMk1E3YOC4NSGV4tXDLM",
  "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]: [-0.0181, 0.8322, 0.6765, -0.4259, -0.0292, -0.0265, 0.9969, 0.4618, 1.9358, 1.726, -0.2302, 0.3962, -0.0471, 0.9964]\nstate[eef_state]: left_x=0.3 left_y=0.0033 left_z=0.1932 left_yaw=0.0132 left_pitch=-0.0224 left_roll=-0.0048 left_gripper=0.9969 right_x=0.5457 right_y=0.1994 right_z=0.2672 right_yaw=0.1425 right_pitch=0.1451 right_roll=-0.1965 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.4564, 7.0769, 1.707, -0.0611, -0.0415, -0.0171, 0.3214, -11.8906, 9.853, 1.7509, 0.2711, 0.149, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0401128eb383637643132d05bedcf7b6878d166fc57fd3fc31ef4d472ae17737",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2149e38c1b2f2654d2988c83b65cbd4d8ae5b343c434b95305296353203f3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181cb1b47ad323a7c1bbd6d506f806dedb05dd265423058a3b70a4e3487909d0",
      "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]: [-0.0181, 0.8322, 0.6765, -0.4259, -0.0288, -0.0265, 0.9969, 0.3973, 1.932, 1.2495, 0.3317, 0.366, -0.0753, 0.9956]\nstate[eef_state]: left_x=0.3 left_y=0.0032 left_z=0.1932 left_yaw=0.0128 left_pitch=-0.0224 left_roll=-0.005 left_gripper=0.9969 right_x=0.5415 right_y=0.1625 right_z=0.1705 right_yaw=0.1139 right_pitch=0.224 right_roll=-0.1849 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.4701, 7.0085, 1.746, -0.0317, -0.0366, -0.0122, -0.9231, -9.6615, 6.9128, 2.1221, 0.105, 0.0757, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNWDkxBimafKQqwQRlbFbXkpBvMk-CDGCaGfgr3MT1cpeJzYlx_KkQDx_0565SJAT_ONHzCMjzpwNlNCN7TXz_L6P2NdMITF4ZAQsPeoosVWGBB69PiR49RgvHgqQZ3OvdkjabRZb9MJcVmHHVzinN3bOkegMMHyHSCWXKgBesfBaEHVW0iQapnNsU7JkC4OuhDoecZU6ITuxeMj_e4pUSztZSOxKpCTmRaK4MGXeMupWTeve8o4vtkYnGo4Nav5or439yEvqRyYNpzhRG9khjXuGlofwIFV-kD6oxR62NJ4LkqeJ1lHF-_7A2Rg45inQx2JjRAsfrbdqvOHdKGmnsjpmsQfTffufIdKqqNtGSxwYyT8oVuabkYSQoh5CqjPqWbuTxOu2rLjekaGlxof4Z2iRJFW09shl45yJTFY2ZpIgdt6H2mjGEmu-JeUTrqLFFznQcpXcgxadyzpfP_BYs1myLKE5Bhnciw42eU8lZYkTwrEdK66wcqHn3sLTtVGYOQAwl99x59aQpaxwSZ7DX8gJW-u3gw63KQInCymXAlWRFzfxhxJ-Exvp3vJ0aDESaTDTx0_R2yNTQ7TR16onn3CNTiec6F_Kn5_BXKyvCnFhZy8BQU6DvOrvoehi6A-59MQZSAXq8E44fKsRhrxVSuWJeqNV4USGV3NRXjp2EHmws9DDqAxA7qQVoEpYoo1JU5nDHe2-h-zygY7CFmSWjcc3x0twix1Qr_lAL9ki-FfRP0y6e_Bnoqlub_DXd5uaalwcVVR3kRJBzw5J2Xt29R3CaZwvg6xaVl-Vmndtgjpa-3QaZyTSvdTSelLxdfd2tSdiHxMsIIyfgs867G691JYSrvp-jP4TZWFO494UdydvCW97cYiL9tTn90IKRfkqSW4emuH5pquM20fG7-_GkC8tqONMSGGPAjos2DW4jSV2WxmrtDPbbj1Nfd18afnz3OULUVtorOXm-8RMOSzbgT36B4GXy1AwSW7puPfgef4K6_7o1_TagsHn5Q8k0vP3tVoKtdm9enPEhq1QE8lQ8V_YY_hTORlNxJwx0S6-rV3l-DXb3NxuvnoT5YXynUm5d-NLanC6HX4aG9ZKu12veH70TSrK8XgOB_JXnHe2-fJrtMPNVAdqy-3EBDD0ydWRtgZH2a6A2T3CW0K70lwOA4l308lepvM66YzwxzYYx6z4U9fgY_b4nv6Vnq-FwMs9Gj6Nw5FAfhe_cc3KHhZM9mBehlRjo7C8QwLYSjKSYq2wkPjzIhvcakTCTWIYgPvmDn9",
  "id": "rs_0bd89be888564fc4016aacd581125087d08eff1ec17bbba96a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":0.185,\"right_z\":0.235},\"note\":\"The handle is now beneath the jaw column, with the bottle neck to the right. I’m lowering just onto the upper handle rather than down the wide body.\"}",
  "call_id": "call_NkwphRpdfHQMcvOR81YdJfA5",
  "id": "fc_0bd89be888564fc4016aacd581f1ac87d094e35bf25eaea11f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NkwphRpdfHQMcvOR81YdJfA5",
  "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]: [-0.0181, 0.8333, 0.6765, -0.4263, -0.0288, -0.0261, 0.9969, 0.4355, 1.9415, 1.6299, -0.1741, 0.371, -0.0589, 0.9965]\nstate[eef_state]: left_x=0.3 left_y=0.0032 left_z=0.1928 left_yaw=0.0126 left_pitch=-0.0239 left_roll=-0.0047 left_gripper=0.9969 right_x=0.5468 right_y=0.1877 right_z=0.2306 right_yaw=0.1453 right_pitch=0.0968 right_roll=-0.2103 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.0598, 7.0222, 1.7607, -0.0415, -0.0317, -0.0122, -0.7043, -10.8786, 7.8974, 2.3175, 0.1636, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acea29578f3d9852a880b44dc4b1ee05a3625af2d3810ae1b24018d4c3503e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b96716bff10fe0564420a12fea88613eae5210ff1f06b7930680b1106a2a0f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e01ed46add2fc8231d54c92e3b49a94b6a8460b60a57e5537cea8e7b55533c5",
      "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]: [-0.0181, 0.8322, 0.6765, -0.4259, -0.0292, -0.0265, 0.9969, 0.4618, 1.9358, 1.726, -0.2302, 0.3962, -0.0471, 0.9964]\nstate[eef_state]: left_x=0.3 left_y=0.0033 left_z=0.1932 left_yaw=0.0132 left_pitch=-0.0224 left_roll=-0.0048 left_gripper=0.9969 right_x=0.5457 right_y=0.1994 right_z=0.2672 right_yaw=0.1425 right_pitch=0.1451 right_roll=-0.1965 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.4564, 7.0769, 1.707, -0.0611, -0.0415, -0.0171, 0.3214, -11.8906, 9.853, 1.7509, 0.2711, 0.149, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNWI64htmpdQ4HAP4C4xffcyPAhjPhicxbErlaLhaj2fOTNeYt4TKYaSdpXuSNvt0wDBogSgEv124VKPwRoPKSynfAAQHIsQafhDQMwFxyHhPTBZeSgtymT9z_w2Ff6Td93jLZ2wlkrk8WGM2iO1RLDyhrmTlbm5T_NZbAqsvsHJm5k_zoKqnOn5ZUVfo6wwui33zzebzBQja89UlWVGV8SC0gT5xhQMjukChwO3BUuwozjKZ3nJ6CdizFp1TPlopMhPHA-AgYPlDNLBPz3saUYN4179kUo2vBcoAcMCvBum2F3zq1bcX0M_9H3RzJySK_9xcC_XVVWoj7JVPgHYRBL5D6GAk6COKrVRlrW3MWYD8C5yKF5TxjtmebnJLlb7G4VAwop0xRXOwarI8rSZWGV9xpw7vpqd-tUD7HdY6A93Swb1fIrRcEux3yqQA5d37XA3ze-P2bKt0gFH5i2pYzH0BtrVqn5zoT9kUQZCyZgTwIGmbpZndDGWxl_w01mEcqO_MBPYfcNDOI1C1SCwP9mdw_KBM-vanXACaK2mbvyIUrdihJbcOnDLg5YHveQJZOYeRAqmf6LwuQ060fENVLSqehvFI_KAO-M63ky8tl7s3oU1vhigtysk0uK0AgYCt70ix3a0YcIwMVYB3b0_j2_DTO_IXWI0E3MM9gtjt7kjxjKLcB56jL0scqLpLDb2ysaAb0md0buAGr6CXkPuAiI3nFsdeuv3b5X1S38sK8nwfUE5hAr2sXY14YOmBtfdyPSF-Z0GFddZJnQq_hkryaQXQ1_n7qnDiwWV2VfiZqMGC4SrRv5vy7TmVsSysMZdRTj_5vw0EGQoSILDUvkNE_Kyr4TphF-8ZZCUv5JzqizbhsLALWG4kX_lk6jTChenqQjWcg8f-g5WdTv_Lqsxbb0nxT12nmCcvTeHozZJ7U9ZDNndPA-tm2-2A_OB7XnLDOnU6uWAspiiAUvlwp891bY5h0b_o1qcjFypqm8GvQGywUEfQgkj4DaklmNmZgbdPA60JSWQBGCFFSHV1wq1rjzF_pe8hsX4x4xnlbJX84EAbpAD7MengP8JjypNObXSR6J21UpXaDH_egE9tQd5C4kRES4frSLD0ZV2Ih0wSOzNLtYBMUn4QokuaUU4arKJ5wNk6v5ZEeWryPow_SsEw9oS_8l28Mh9mWHZRSiha3t4XvNgZfhcPALXBf8UjUlsQ5QmPSt1xlCZ4rCieNf-ZAYvCwi7fCPng3km_OWgiyiNExXYoDTnXEq9hyAD5jUWCE3ocQu1mZYt1SqLnLZQ7FZuHQ==",
  "id": "rs_0bd89be888564fc4016aacd586103487d08717f667e741fca3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.585,\"right_z\":0.24,\"right_pitch\":0.25},\"note\":\"The handle is centered but still a few centimeters ahead of the fingertips. I’m making a final forward approach at handle height, keeping clear of the lower body.\"}",
  "call_id": "call_Jg9vbx2d0DmIN515EBrzkHrX",
  "id": "fc_0bd89be888564fc4016aacd587119887d09ee91de8866c13a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jg9vbx2d0DmIN515EBrzkHrX",
  "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]: [-0.0181, 0.833, 0.6765, -0.4259, -0.0292, -0.0261, 0.9969, 0.4259, 1.9636, 1.602, -0.1383, 0.3565, -0.0715, 0.9965]\nstate[eef_state]: left_x=0.3 left_y=0.0033 left_z=0.193 left_yaw=0.013 left_pitch=-0.0231 left_roll=-0.0045 left_gripper=0.9969 right_x=0.5507 right_y=0.1861 right_z=0.2126 right_yaw=0.1548 right_pitch=0.0799 right_roll=-0.2188 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.4291, 7.0085, 1.7314, -0.0317, -0.0171, -0.0122, 0.0889, -11.8906, 9.4427, 1.7998, 0.1685, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e94f6c89dbcaf055dbf439a525db0cafdf73b66e7578b2bac92337226f2fd6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d7314065caef060611f18a24db8d6c3b2bf759afd49fbd1f8e315f3b153571f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417f343c222d7833fcc041908570770ff8578f66c2e71c1c8a5f471d28702562",
      "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]: [-0.0181, 0.8333, 0.6765, -0.4263, -0.0288, -0.0261, 0.9969, 0.4355, 1.9415, 1.6299, -0.1741, 0.371, -0.0589, 0.9965]\nstate[eef_state]: left_x=0.3 left_y=0.0032 left_z=0.1928 left_yaw=0.0126 left_pitch=-0.0239 left_roll=-0.0047 left_gripper=0.9969 right_x=0.5468 right_y=0.1877 right_z=0.2306 right_yaw=0.1453 right_pitch=0.0968 right_roll=-0.2103 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.0598, 7.0222, 1.7607, -0.0415, -0.0317, -0.0122, -0.7043, -10.8786, 7.8974, 2.3175, 0.1636, -0.0659, -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": "gAAAAABqrNWNfjKZb34ZS5DIx2osazfv3bderyx_NJeAgs24O9w0nYKMNQrObxo-X36wqAlkk38on0pJRqFFhrJpvocS66K0MqJohbdygKOrh_pB108M5O3vkGSmGP8RGIgx8pHdp9C_vMrUfM5cLyJIBnCHTo77iJ4DhUYKbMhKHmcwMFKyJje8drWobrCijqM2_6TAhGF9qi6Z3mMzcSnQhVmtqzK1TEDSU2TgwH23glBjtGFYKYL2hshZdWoNX6gOkbAKVpU3kEzBb3Q425J1bySwt9RZUw0h1GVQpEOarjS_lHEV4zT6u4WtrPI5b1JO7ohXcYHLkb4rHhIwBnRAg3q9K5S5UP2sDUzSVsD8mxPHn-RSZpo6TuAUQgit-y7IhWo17cW2iQO91-EHj68eGxBpi-9nbI9R1QC9TiBr9Z79X3GSDzod49EJtIPB9Po6aS7DCsJZewTMj_0bjnBU0DOCr_lesFqOcfr0XSN4_N27KApm-EuiGM0vXeUsZ_826AM5anfZbWWFDSk2gdz2NExEz-_GiqMgrHv0jpIixNflysPVuGKri_yu6JJXfjMT9ZgVRku0C1H3CzaqUAe9soy4T34jPApME2wfS8jpMpjzs6xTrqGucoFz1DggDoUkCF-ZJpGCF_Pl0jYV8IRQD8dTjAxsBVqY-06Lkwif_6SENlLdfyhynuXV0CbddemAFtlv0JED8INweXnFzdn5eDMoJ6x08WAwBAUhui1dFVVE4o2q6FOuXvLgdkY5E93fgt-u7ws6FjJGy8DxypqfrkCuwbbLUkfJ3awDzAkSNRtiujjw6QwKWBKPL2MwiEILlbi9SXfkI8orlDExZ4nNr_GUhmvKjElMHPBe0XxobrLmteFdZaHlTck0I1kvrcVfIDOYQuMk5sCStxdeeZpPLQZGYiJY7EAZjpkA1e-qXNc8gOAbNuZyq4gNrGyFH0jIu6tfhsiOZsZd6VbheedNDoZVLGVE41nRje-e5BHpt3ZXGJYRz52WmE6QPr-I5gGQ2CGjQrQNx1g-SertLpYJW3-HredsAGBzLiZolisF-DTKwvbNsKHMJBwmMNdxb7lc2QNrzMuQozLUgjR0i7qx8wajpiWo_qX5Ye_VrU96m3kSP1_NbGWT5R8pSH-WVhxNtFpZI9tMMKkJjQSZsvjJR2qA769T-wZRDlHD2NTT-0y34gx-3fvQTinFcPm0GJUrODQYyaO8x0FxthSsT0iU1GLbznSbqpV4M-BqoLZePo3iIr0gJkCHlxwSDBAJqCi4QWNRivsioP8IwwthzDzCkaTld47c1IOEyWM5jF_7WeI8T-TgQ5aXIuop4PrjSOGE89BpHJESEgL3aNsaSYiw1pn9PExb8w==",
  "id": "rs_0bd89be888564fc4016aacd58ad98087d099012c67b605991e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_y\":0.175,\"right_z\":0.215,\"right_pitch\":0.6},\"note\":\"The arm stopped short of the last target at this reach. I’m increasing forward pitch, which extends the reachable grasp point, while keeping the jaws aimed at the handle.\"}",
  "call_id": "call_vphwuIk1fLdyB4V2Ki4Q4Uvm",
  "id": "fc_0bd89be888564fc4016aacd58c394087d082c57255a942005e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vphwuIk1fLdyB4V2Ki4Q4Uvm",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0181, 0.8368, 0.6765, -0.4263, -0.0288, -0.0261, 0.9969, 0.4015, 2.0785, 1.2709, 0.7769, 0.3527, -0.2066, 0.9967]\nstate[eef_state]: left_x=0.3003 left_y=0.0032 left_z=0.1918 left_yaw=0.0126 left_pitch=-0.0273 left_roll=-0.0046 left_gripper=0.9969 right_x=0.5721 right_y=0.1805 right_z=0.2002 right_yaw=0.1726 right_pitch=0.5187 right_roll=-0.2334 right_gripper=0.9967\nstate[joint_eff]: [-0.1709, -1.5658, 7.0359, 1.7363, -0.0562, -0.0464, -0.0122, -1.1009, -10.3726, 6.6256, 2.2002, -0.0513, -0.0855, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f023548c076dac5bf50e8ab1e76705037ceb2a8bcba27ae80fd2e83c82e336a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7631ecc22bfc31ee6739e3d2ee424659a08cd8da598ae143fc44f84b7715dbd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d409019a1ca622b01410660fed3ffb40cf2d25d1d4b8973c5a553ebe77a71cc8",
      "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]: [-0.0181, 0.833, 0.6765, -0.4259, -0.0292, -0.0261, 0.9969, 0.4259, 1.9636, 1.602, -0.1383, 0.3565, -0.0715, 0.9965]\nstate[eef_state]: left_x=0.3 left_y=0.0033 left_z=0.193 left_yaw=0.013 left_pitch=-0.0231 left_roll=-0.0045 left_gripper=0.9969 right_x=0.5507 right_y=0.1861 right_z=0.2126 right_yaw=0.1548 right_pitch=0.0799 right_roll=-0.2188 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.4291, 7.0085, 1.7314, -0.0317, -0.0171, -0.0122, 0.0889, -11.8906, 9.4427, 1.7998, 0.1685, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNWTCTdrPqT8htRGcJ1iO7oDSsPul1JKL-aPgxuUK1xSZboFFJc2AtxpCzfqnfK_03NwnduXn3slfBjT55ywU8DWB8cgjD_prJZLuYitr9RCvMDDwevYDB8zapboj47ZP02dUwsP1O4WCbUexv-nQ8gIMVS4mPf84OyGMMIjbBhp_xyEQZL_84Ar6qQGwVhmPCBOuCBNmp44HhFVzUuqKEliH6fq4baUt9IHWc125B9Gg7ekjkwOh08_D8EC1yehW78-qG18wXokE6AFyQr-YuDVrp-AIgjKgnDrh9H7ysYU9l8XtxcSFp_dCelUa5bEqr6YDXtb8E-BkojYtEj8lckFra7dDdhHkRoPdWbG58c_HfmoXMDY_YGLG6Db2OPV-AK5UFXdMrylF9Awznq1kS0ImTl9xaUHNZLwpvQcVGLUygcvOr7aUjoQjLun-tJcVCDdaSGxilKcPkx3PdnUmJaapyTVDg1ZJgPjxTOTAWTuiCOTPpO1Vax18-P8YjBa4P1kaC9E55gcBwd9xuvcD5ddRU3XbN2J7rdQIKAxmid5rPivAN-iI_hOA7O7bUGjAHvfkbvHUA2qU3m4qoP1tWy1yQnO7CLxkrVsrpbxB7CBKa08SNEEotQj3DMrfU7LjvCrOXgDWCLb-RqGuxVFfa9CI2NkweHeC1pL8ycpXpcLudToq_5UAR02bnF_QIw6pj_G6WuOC7pxGiAUowZmKyKqJx4vYhVMVITxf8Yr9-Jw2aLJnGLuAErL-NY18czfimX7hSLctIpn3KFqafill5skNtvOMqvFlXwj9uK6eZvtcwaGW-TQGKVh8dje_7mn-n06R0PFVmvlwsiCQMpanKSzJbGHvHgqpglvI1ZLz2dJPkYp3uUX0Ef2hor21J-vNJKVM2JWcxJj-a88jwN5GrLS4FrV5iL5IsOvR4s-DX6s9mTrisyUgYahsXG5sFwo_4g8kpiSSBKyFDifOIKOceMATkW027GdCT4Tnq786UMvpEaY1Wf9CAIcRPrgXM5-4wF7o9mHDSditmLt6MRNn3b-Q98HcC72x3rl3-GSzJwJVIs8lfJ3uo6yr6HMY5-YkBZAk5ohYwSLQDRVYFVSXSrY9uWvsAKv0483uq4_Wq5uPUMjgvzMFMLFjTQAgOneufu0Bf-2bG7aUkpQ-RbdQjgsRJ1yjy-6kYpIzoRynuIeIQ4HUodnmhoMAOWPG110NmbAzNZSwiRfK6NthaWTBOppZemlgUsWOvEvT9awSaKh4R3ZO1AwSKGzUhDQPehbOSDs",
  "id": "rs_0bd89be888564fc4016aacd5918b2887d08449e3cc0e82341f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The forward-pitched approach reached the bottle, with the handle and upper body now spanning the fingertip area. I’m closing and checking for a nonempty grip before any transport.\"}",
  "call_id": "call_QlylqRL5mPNQ622IcbNKaxmj",
  "id": "fc_0bd89be888564fc4016aacd59204a487d0827d19f14b413791",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QlylqRL5mPNQ622IcbNKaxmj",
  "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]: [-0.0181, 0.8371, 0.6765, -0.4263, -0.0288, -0.0257, 0.9969, 0.3996, 2.0888, 1.2682, 0.7597, 0.3466, -0.2077, 0.0155]\nstate[eef_state]: left_x=0.3003 left_y=0.0032 left_z=0.1917 left_yaw=0.0124 left_pitch=-0.0277 left_roll=-0.0042 left_gripper=0.9969 right_x=0.5726 right_y=0.1806 right_z=0.189 right_yaw=0.181 right_pitch=0.4891 right_roll=-0.242 right_gripper=0.0155\nstate[joint_eff]: [-0.0752, -1.5385, 7.0359, 1.7118, -0.0464, -0.0171, -0.0122, 0.0205, -12.4513, 6.5299, 2.0879, 0.0415, -0.0904, 1.2918]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:836108a1516de7df841ed9fb3171077b00b39edbdc841a1b3dd37abaf524347a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0a4f6213cfdb89bcaa6580fd67d5c3803f14be4d60920de77338c111cecb834",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7ea588b5ef75b9662c848e6ceafcc8752c8248a2884cb604a047edfb862052",
      "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]: [-0.0181, 0.8368, 0.6765, -0.4263, -0.0288, -0.0261, 0.9969, 0.4015, 2.0785, 1.2709, 0.7769, 0.3527, -0.2066, 0.9967]\nstate[eef_state]: left_x=0.3003 left_y=0.0032 left_z=0.1918 left_yaw=0.0126 left_pitch=-0.0273 left_roll=-0.0046 left_gripper=0.9969 right_x=0.5721 right_y=0.1805 right_z=0.2002 right_yaw=0.1726 right_pitch=0.5187 right_roll=-0.2334 right_gripper=0.9967\nstate[joint_eff]: [-0.1709, -1.5658, 7.0359, 1.7363, -0.0562, -0.0464, -0.0122, -1.1009, -10.3726, 6.6256, 2.2002, -0.0513, -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": "gAAAAABqrNWapKVO5MmdcG7ntxbZZx8qNybMq2z_pN85EXWyGXL5N5OIApZ1U4EuRcZ4_Xzi56nAkoh3UeCZ9eUOPgYdn6rI-kBZ2yDDjCkgj-zPopOJzXLg6T-mxcYs4KkJ4hnoryoR8heKsPtJ8gCRvDfrYhMJ_MkZTAjVfFx1IxHWmgJ1XtPCg-bAfo7eagJrnFjHOBCUDteXgUsDxKlyu5SENCWznSO3hvO_fUuk3lLCrnhCZMO6-bnmDq4FUWA1oQ8Va_uADBZftXP1pMnMDQ_5melC4zHrhIVJajUFdsdlUXj3mc4JdmK1WnK9UbNP0V_aaIpPqWcc9lKHnG-IqD2D5mABeEtf_7k7pDcvyZF23uJ4ArdYdGxaqAd2on0K3s_a0MsQdu4UY8JFvjVvK4g2MakNHOSeFTLg0fRBDSpfxlOXeqsHQIsHEvFXm3gxcfAQjp6K8TxDiTQ-qmFiFPrcWx6eUX0GNZfKiQSK7XXl4jbYn4WqmgpMyq3rJb-aD5LYgwmqpRtvxWDVpN-fm_cpSED3OYe0NhIEmG5rYIhT3kzkHS8onsQ5y0IcSs87lNPvbsSBmASN4btmZ_tf-UTwD3K3Aj83_CTMXnO_Vh4uVJ6W4IFbTTuE6h-5_aklMTeOSoADV8CI2Lpl5YFYKuY17JD3sziRUkBU-HYv8zALV77rjytgMOTa6Mpfw06AIu8NAeETxHP5jijVzngODQcOup58tD4dGrhKr28LKHItOBQd7UuNQy9V6Ze0iBTomMapLoXivKylk09C_vxGCFoCM94Fodl_1aNcv895IDKjnwk4Z0fi2YzQXZWd3-3B4n9c3oEBY2rI357LHHjwzG_oFOy_Eifdhc0Ayawjo9eDckthtig5Afuq_N_kOrb6kbOmUtZbYAhG-VpUoNZL_XzMeQilQkLQv6sZNJT2ts8dXhXMqfI9zO0cw7eom7_SguXX3dpmYwsE6B9VSdPsQZIVmCqxJ_UKqsGwYHeYB6gwsBZaoKpOUZXv2moLIfN6KEvpPIF6QIDTrRpEUcyhhsuMKjO_BbOqyhvgt2VKkesremaAsKYj8vtTxYacsTHH2MaFsWy_x0kWLW0P5jp0e2Aw_tLoh1gFarmW-6I3dNaAIt8ScaDNZr-VyojjAHWWqBSSjH3dr5N4l-uGtoobv2DX0Ttvi6BufctlEZEJDbEYlZBNybwwjie3BQk-XIde6Y4GJgjXAfApofpfJc2pYSsNhTlGzSFwe0O-PqD9snk04PiByvvSe0a9OEXh2hDN4s--5m-Vw-AX7HtAR0kefAtnJEkV0deoPDu7lkuNhztAtR1vbjkQopQAoAwdAMjU3IDOUPa6AUdnNqoU3B9kWZ0c4T3K2CbeHrpMxNyyjDQiV9WU1sHUv2Tv9t9qI-_W5KGWoqvgW434za6YzkJl-FaD3aJbVDkgIRUBj4-s6Ro5zeh2gZMjX1UOsh9QeJky3zvnuxHjG-YrJxEvWBPFqCooDLNk_SW5HjGpLvd5nDkNWUZaasf8Xat7iOzGTek4dR0cQ6qVEQmY0faVMImM-ebdVAGKAPtiqwUknH3dl8WAXbF2hIztx68tMy4caYlezoD5ogKKoxST9LDYtPR_v_vb48hRYrt1Ldegck2mKSN_K73jLJr0zTiOwfTy6CWQYMN6TRJMt2hZU2qjy_DxiJo0R7HFYfj6S46kNmKXEAGq-daBrGiAExKEDpUDLH-AYVvnU3uE",
  "id": "rs_0bd89be888564fc4016aacd596513887d0bfdc9f977cee2191",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.42,\"right_y\":0.1,\"right_z\":0.32,\"right_pitch\":0.3},\"note\":\"The grip is still empty, and the white container has moved too far forward for a reliable grasp within the arm’s reach. I’m opening and withdrawing clear rather than pushing it farther or risking a spill.\"}",
  "call_id": "call_I8vrdm3OPB7qf0EtaoDfGD9P",
  "id": "fc_0bd89be888564fc4016aacd598d72087d08dc4d90b871f9f7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I8vrdm3OPB7qf0EtaoDfGD9P",
  "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]: [-0.0181, 0.8429, 0.6765, -0.4263, -0.0292, -0.0261, 0.9969, 0.347, 1.3243, 1.0645, 0.0231, 0.2867, -0.1928, 0.9953]\nstate[eef_state]: left_x=0.3008 left_y=0.0033 left_z=0.1901 left_yaw=0.013 left_pitch=-0.0334 left_roll=-0.0042 left_gripper=0.9969 right_x=0.4304 right_y=0.1063 right_z=0.3071 right_yaw=0.1897 right_pitch=0.3167 right_roll=-0.2523 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.9761, 7.2274, 1.6923, -0.0855, -0.0464, -0.0122, -0.7316, -6.8308, 10.5504, 1.8339, 0.0366, 0.1392, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49dc5ce62f9e3932fed3ca9837abfe1d26c81a0ab648c2e42472203a176bac45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8e30c9812605ae135bfc70258d8cdfecfdc2b9ef021c4be79be97f2e7087cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8069dfbed329d7b377781cd5b74d71a30e001667cc441bd6484d2406b00806",
      "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]: [-0.0181, 0.8371, 0.6765, -0.4263, -0.0288, -0.0257, 0.9969, 0.3996, 2.0888, 1.2682, 0.7597, 0.3466, -0.2077, 0.0155]\nstate[eef_state]: left_x=0.3003 left_y=0.0032 left_z=0.1917 left_yaw=0.0124 left_pitch=-0.0277 left_roll=-0.0042 left_gripper=0.9969 right_x=0.5726 right_y=0.1806 right_z=0.189 right_yaw=0.181 right_pitch=0.4891 right_roll=-0.242 right_gripper=0.0155\nstate[joint_eff]: [-0.0752, -1.5385, 7.0359, 1.7118, -0.0464, -0.0171, -0.0122, 0.0205, -12.4513, 6.5299, 2.0879, 0.0415, -0.0904, 1.2918]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrNWj4ZyF1chyoadVZ7BQxqqhlHzwNSxdV44rkLlkI-OuzWdNjtUPqLgwNtZyr31stcY2imld_K0IJr-exe81DZG43V6fIbDyV42zR6RNYGs7ErFhAw1T0PWCwXGUqlhGtxfYr4WtDNCTBBjj0gAz_8i5ukgMAgqt6IBco43YqYMzBthsvQYRxRaVMH99qE2Pxcqtedj1vuwX952YMI3X9uQC7mFOb5g3tJ_9xC2TMz-db_ton_X9a5J9SqQGBfbBLB5Gd15Pt0PRrMToeJ38zR8_trZBcZ-S0-E2SL-rX0fpNFIwd9xvElaDG4MwGONgvzIAHb_9Yg6E4-yTR2obZNJ4wJcjgaVVCN9AaLKLSIf5de3QC1HGGU4ZLYppB77Vwiy6JNH8DjebghgsC0BoAE3qIJCJf5tkTBXnsucjIx1POB-wkLfVFnTFbG1aGqIVNcl0D7srNYlavSg8tqoDRSDH86GAV_bUtpzhcwJfrMR__6g-5zA5VeqPsPy9P6qNQxFvJ8dTTjz6a_sfMibJ37Ru11FIpElOuVh1Hz4LEMORcmieQWaVudbe-afB6KVeIUkiZcH28fZV3N1k71cuNX8871_vZypE_6LQr36awhUd-xgDhzZtHtLO1KdspdhoVZ0gCSxRiV3lUcTKzlgEF3JX9y6neaj8CAy5FK8m5fYTqj20bjnkcbf8VDuQX07UpTH_cHGA3jszzxpTBkQSMH0mhOfAEK4sLqKQzBcDPvB0pPDR5dKx8Bzn0dmE_EuNnP6FsXklkhDrfEYhNRq6f4IEr5WHGkNo8JB4iPGo_68sqM1-PMlhr685WaYrCSYDuAA2TyaHxB-0suQedxvGfmic4ltknFvGFINxGMGmnSN9_FzSwnz1tUuqpReHy46cBfrRkUhfRF7WlFax5Wi5VSXxVlvNK9mR15gKHsrDnzSwEc7iDokizgwCjvuM5Wy6QZW1OcVfzSzVWkGiHHq76iPKgmVwGbOw76r8k3UpiaN3Xx_j5fTN60oz-26jhDvA2Ck9IrhipVo96dXsFWf2H7gEs7pJYMtuEq48-viZXSr4ywQKXi7EFefQ4b42TJkan1lol9mJLLM7lqNemC_TO2g-YGU5Wfoq1SIwwdFmsklB-s1zAKgVUI0M5AuUBeB98vxg7oaFVwgeZyFo5jdmWL9IUkpJ3JDttTYm-KcuMaD-KjobmAtVzCVlsENH4mB88PeIgwjnkZ8Kc6PToVgFSt0wBUTq39y7gGw0-xjvxj-S6uv4uwjfBfzoPLpOVNjo99sj4Znww6vcP-NekyDBaqtAHr2bEzch7izgLlaRh2ckv56qa8m-9-vmshvXPpWV1JfYJ6JvvlU3KFOCC9GPQgJTbRTtepTIYxbn1Yt2XBqRlgaCDgPLMn4NSdX9vEUD75RpsYC69AXCeTBzKcbVwx6xNW01kUAzQKjRyR_H_b4XA-Y5iMLBWPXF8hH3kBDEw5oUgWldRlWw60nrOmkBYtuuALEG9oPmeyyp48Q48a8eRrDtMcWZcUwW9n1wHroRwJcMhocPRInlYi1yO8PyeGJv8JpEOpCl3vL6WqBeZPslDlXWiM0CGWAsqOVv56-n67Ri7Ii2nFm7a0D19eED_6WGDG9K8Z9PymFmWXUhQ84HL0D-BPQknxoXi1PXnPd14PmBwAEIfEKgGEdbsiDuVDIi6hWU5BDccP1Ni0Ck0j1QPSrnBO6xfHo4vFi1qDVaz5peXmcOexi-jL-8MvL3CuOdFPozbbEDqOkIRxRTzZr6cZxL_bhjdMzRrwzUj6VVr6_UhSZuTulxv2fdTGJ2Orgpch-2Bh6d6myn2QPRHhypAx-WbP7yXa7H8S2QUvnqzs6rjkAOGf0A5IFJCzeQdbxXwtuXNUIa4lTL3D7Wocn2a3u-xb8jDztXJApbOsMPWKhV",
  "id": "rs_0bd89be888564fc4016aacd59ddd5087d08954f845d25796ca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.297,\"right_y\":0.001,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.297,\"left_y\":0.001,\"left_z\":0.2},\"note\":\"The white container is upright but now beyond a safe pickup position near the far edge. I’m parking both arms; the second pour will need the container moved back within reach.\"}",
  "call_id": "call_6D7ms5vjtNAhzn80BxzSGq52",
  "id": "fc_0bd89be888564fc4016aacd5a1217487d0a7776b13cc3e37e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6D7ms5vjtNAhzn80BxzSGq52",
  "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]: [-0.0299, 0.8429, 0.6785, -0.4644, -0.0296, -0.0269, 0.9969, 0.0032, 0.8261, 0.688, -0.3843, 0.0368, -0.0395, 0.9963]\nstate[eef_state]: left_x=0.2956 left_y=-0.0 left_z=0.1833 left_yaw=0.0019 left_pitch=-0.0696 left_roll=-0.0034 left_gripper=0.9969 right_x=0.3059 right_y=-0.0019 right_z=0.2089 right_yaw=-0.0143 right_pitch=0.0376 right_roll=-0.0394 right_gripper=0.9963\nstate[joint_eff]: [-0.5265, -2.5231, 10.1538, 1.6825, -0.1783, -0.1001, -0.0122, -0.212, -1.265, 7.3915, 1.9756, -0.2125, 0.1245, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce9277058052eb26b8bb4b78f04783f1187db5cc8c2008a3f575f073b2538383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f88c9559266945ae7d840d59ac5b17993212c37af6f3cc7d4dce51aa7d0560c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:257f2713d471f54b324c2e096a66d0bca0c4f40a7d6a32c1e9a78e57ab08c4dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}