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 40 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: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6018, -0.3798, -0.0212, -0.0246, 0.9998, -0.0185, 0.791, 0.6109, -0.3733, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0013 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2963 right_y=0.0017 right_z=0.1854 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -1.3607, 10.5094, 1.7363, -0.0024, 0.1099, -0.0366, -0.6906, -1.1556, 9.5932, 1.7705, -0.0464, -0.0464, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0205d035767c39f5d376e9734ff6765d36a56f6d1dfaf81afe13536aa3ed72ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012b850920f747974456ef6367c5ef77fef25f80b8ea9119ade792ba94fa3eb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f98e2456c02da3c79f21db8872aa9ebbb5545630ef126e5fbbcf11da3bcc4d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsqwvSFyTniVGZucIHZEZOwhOrdqDACwt7vnKn2nYhG0ncrj8QW-joNBU9fSZP2nuetdVkjKZT_Jqr7u3wl9mC7M23eCkZDa3VCjucGASsc5spp44AM2yFHcFIf5DR2NCybdqa0Tgv-qW1_UNsFv3GPmKoLCHMP--mGJslQ_Ekq1CLkuGm73EhUHDoTwwvICDJgE9gfW0B9ld-r9EetL7h221u3saOUT2iJPaRu-5YKkJYPoo6v8gwfrB_5EU2MreSjzZ0oaEPKZPQY369UGV0qhwr18WuaJWW1vERtfVyyr_y1syihm_twAY2yJpzbI4iolj4vtqp3sN-TON6IlpbKzv-EJ8oafE45vIh7FImd1YUc4WNG2r1cyiMs-0Sgow_TDSlRbJvfjR8yY92oxuqEceiGLzB8TutiaOcNmaklYnxoajwW7a1W5D-Tq2VD3TRBKoSokF8VfuQv7Y7ToY9jf-j9I4rFXFOH6IGCHspPwG82oSdTd1Nnf2IFKgmNuOG3aaB2Gj2H2idwfMSlhh1oQqVm-qAwhnu6dkPPtwAFXmqZDfdbwL-EsU9dEeOSz9QSd99GAK00z6HAYlIEujy6fMAgKqYmmrRxtvpokELdCaM1TvUPb9PSM0OVQWrWM3xQsGOmh8Dyx8Rlbe3QZIeys8Gh_hbjToqbgwJEvhFAodNquGTWoi29Fz2CXiwVB7li0vsXbo0BhFWnVXPzlAQtaquDhnsat0kvvxedwB46e3nSBjXmVLL8m9FkxoSg1uhCn6QA8EBd9TgK1CYeth1ltgq0B6P0YBLzUEw10NboC0kIIqKzkrtJtOVJiPZXnQJ_bhLD4MU8yxswP0Ty0o92wq_WQEqWqIKhJWX1apnenoMRkP6STQ-wRrl7uBIh0J9zlPE3j-pzpUvYyMWWRT2fxuDxv4Nt_nbdV3nbG317jWhCUXUrUDgyY-ZgRshLlt3ZeVU0OZSKMAeAZQFTzB3lj8ax5JxZA9c_n5KUDSTEW3HM015iA20q02lAkgHaavxC5wNI7zUzF3IQjEPPOa9VJp443ju79sIyt-vIg8DOvZtlwLG78ztke5KL6MHfuUWpv-g86DkF1bfEKHWeIx-wbQ6Oymgg3okEy_MCnuv2AL40-_g89yfXUqj0vXSz9qH_JpyNC0XVPZDKmiuPr1FZ0Q9VnBmtkjsemAPxsw4VKbQpAyqhIHawz5SFvfSikS920K9qBNgdHgVMU7ShxGz7CE-vU4qI1FZ_amHQ-IjgKJpUDs4lewKrofF48Cnu52JbUga72H7-CCdpaSBIHD4d8jO_5sAxR--jCQj5hi1maEmzcToGfJV54kTA0eBqgJdr8mwk_Lem1aEdJhprxn5s_3Ju-t2nV1bk_z67lEshp04NJxxQytrn81h0rHSH26sL1TKeO0dKwIHz2KIgDMxz-Po8xE-qDmHxFw-rn_N_OwrvjhOTpb9Qhd7vYFKHXW9_cCryJvE8_utZLOfqfIV7g8JWsno3vUxNnwPS8RyD1LcFi9vEPzAZRftUNE2GsKrac0qbaGqE6qAkWy8JSw-d1KIagaOt6kpoWEFYN_pzgqalbBbDMXT4eCbs06LZg_vaWXvOC8D5IxepuTL88WQffkBhb2zF4j9CqPYhl_vGLKYO8PYIMYHSfsHoRGy5LyFf-EPDidqakx1-GWmTZvtdK1LT8LSIoHS2Uc1Dms4L0mONkn1ecDXQV1s1ycedyMHyFPaCtnFvHBgNPsZJEMFRs-3S9BifZFWiK0_vYcwagsxZ4jToNTMEefxZEQcVrBfO0g",
  "id": "rs_0ab43f63dee4460a016ab2ac285df087d09239b3c2b3b6c5cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.20,\"left_z\":0.15,\"left_yaw\":-0.65,\"left_gripper\":1},\"note\":\"The cap is left of center, and the pen lies diagonally on the right. I will approach the cap with the left gripper open and aligned along its length.\"}",
  "call_id": "call_w0tx6aK0ptCxXrfgnI2xvPic",
  "id": "fc_0ab43f63dee4460a016ab2ac2dd2a487d0b55743251820125d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w0tx6aK0ptCxXrfgnI2xvPic",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3939, 1.4826, 0.8337, -0.017, 0.1677, 0.0887, 0.9998, -0.0196, 0.7967, 0.6132, -0.3862, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3783 left_y=-0.1852 left_z=0.124 left_yaw=-0.594 left_pitch=-0.0854 left_roll=-0.0248 left_gripper=0.9998 right_x=0.2952 right_y=0.0013 right_z=0.1822 right_yaw=-0.0015 right_pitch=-0.0164 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -6.9402, 9.8393, 1.8584, 0.2613, 0.1783, -0.0366, -0.0205, -1.7162, 7.0632, 1.8339, -0.0366, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102c18e1d316c918a4c998d81f31812125a74fc3479a4e26bc3d7c7dd6a67687",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3747f765d1d066a9aaa2fb217fcd130030889e0d9b21b1c84ed854b0c0709be9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b9ea5f2dc5b5fcc4dd17e9ded654038c41fdcc88fb2e611d77ddafdd2d5561",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7918, 0.6018, -0.3798, -0.0212, -0.0246, 0.9998, -0.0185, 0.791, 0.6109, -0.3733, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2944 left_y=0.0013 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2963 right_y=0.0017 right_z=0.1854 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -1.3607, 10.5094, 1.7363, -0.0024, 0.1099, -0.0366, -0.6906, -1.1556, 9.5932, 1.7705, -0.0464, -0.0464, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqw40g6bePpkHxuqkczJYq9z2jPRbLtispRCr_ahyC2lAqONZuzATilFlFg5IjLNgo2IHegYok0J2d5JdAvUhcy57PZKawBA_2e06lmqQWok1pD32mdbxpSvrut6-wjSMRwo32HTEwMJojQXYd2KLTCyg2sdFZ49rkc_FkVxL1SCLtl0bPIjI3Q30zLl9RraUQ89SlEU_dPpStIy75PcDE7K_qqIkPeIm78EyP3EtxJyqASQ1MQ9EqHhUoKYDr35P6iv6cB2PIwolG_-DYYY32kxwKv5nQVgSMBULIV5r5QcEqQn9C2KO6mHhmrPz2nZOd1ra7EzO5xrZlvW5dRuSA6weK3HwSZs8DBGMZsWD-O2-VWvUJc_3DcSjyCePey7FTyNO-MSuEQCSst_J9K5GstSwd0X9vlpJKVVY7LZWrWrHnt1mSyohpqIKrk1S8EaSsTU5XG6xjV8A_gn45UZN3sgDx5Y63WPi3sfTQnu5ih_KpcBUhBx7PTd1Bz5Hdc0JzpJPyy08ofXcE58J5CsmSDtvGqaAraBXll5IRvy-NEx7LQAbmypvNCkLnqB60ikebQdkyei-rRzUypTILiaJ1qWwkE-LxN4WRiL3_oKolnANAeZrxiMATTqNzcG96LzetMw9KHZgayHyxVKMqIbsowuYKw9xThvYYIrKB3vFBeykaVuDGlrL7OgmpBjfTB42mrwLIZNF6nVuNDRHLts0SKHpc2nmnnosuCGMEIEoqXp_hb4PII6PF6fLYsQ7WMvyx9gAMrNuq3uulJC9Urw9edqIvRRdex2SnCAhCLngw6shlufZMCqbyOgRrwZ42K_bCfeVsdTX42f_45O6A5tDAD1sj6NnrYv-_AHxko8nH9vP4EbOaytZtNxmwA2Im-ZJu7j3dYfQcuc0Fd9KaIrtBenuoYfvDAiu2_yn-RfVY1jKkAda_tccSext7PCNkTvVrBzPUU-H1AseUuYm-s4S7ObFHr0pmUBwMp-dw7UjtkE4CeTVA9y7cvkPGtCjg8ol5fYDrUX7GJD86RZzBnK5Fb7xh6ZUNd8lsv8v2iEe--gkKaNpv_3nHuQM2kqrF2XT-xt4qfe4hMOebL2VdsvS-PzS8GE8packVW0gqBAysEco_2ETMPXnKA4yHMBCAs5yDN9V_hx4JrAFLbHnnxaUBzFnwKgd1RwdYujF6ecWPspezBKy0nGvBggCyxqec-bEHX8DIIdFFed9ocvrdfslz_oM65FiMnXQm7wfM5WIk2clULzwkxHKr3RrTum0KQRkY9AHrwehN6T5Ia4yD-X4jyrPqAYcu9NJgqdk-ns7ThgC65b6VNqwdb8SAbXZt0CNSjfrg36_2kkuKyMFP23WRGZzJHdcDOB2TzaHHLGQaY2g9OchRQQb7RVWcVUuCEz85hsOAXzcPrP7Gv_rM61rI7lBSPryXC6JPjL18XSrUqVqVH3Pg6fs41c65JiqNRASU_otQ_rMb7fhmcMzWuu3cZRiDqT8qqvbiLeS6m8_8w6wMOuJ_GJ081CroblFn0q9fAC",
  "id": "rs_0ab43f63dee4460a016ab2ac34276c87d0ac5abf792e4968fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.175,\"left_z\":0.025},\"note\":\"The cap is visible just left of the jaw centerline in the left wrist view. I will shift slightly toward it and lower the open gripper to grasping height.\"}",
  "call_id": "call_E5Pzu0GPhE33ZSn7QdAAiPcM",
  "id": "fc_0ab43f63dee4460a016ab2ac36f1e087d0b71671aba3850d09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E5Pzu0GPhE33ZSn7QdAAiPcM",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3298, 1.8187, 0.7456, 0.3248, 0.1959, 0.1066, 0.9998, -0.02, 0.7979, 0.6132, -0.3908, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3996 left_y=-0.1693 left_z=0.0159 left_yaw=-0.5656 left_pitch=-0.1616 left_roll=-0.0469 left_gripper=0.9998 right_x=0.2947 right_y=0.0012 right_z=0.1809 right_yaw=-0.0018 right_pitch=-0.0221 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -8.5538, 4.9436, 1.8828, 0.3443, 0.1197, -0.0171, -0.3214, -1.3744, 7.1453, 1.7411, -0.0806, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c5c6b759b570e9bbd7033a39db0c85a1ee326855ccd409a73a149e2259aebb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678222ae37cf829cec2903f100d202603300da82bc3d5a36cdd70704f3513e31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070d84c79c82dcd01f53175c33a02172450e3128c3ad454b6d1e7f1243b8341a",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3939, 1.4826, 0.8337, -0.017, 0.1677, 0.0887, 0.9998, -0.0196, 0.7967, 0.6132, -0.3862, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3783 left_y=-0.1852 left_z=0.124 left_yaw=-0.594 left_pitch=-0.0854 left_roll=-0.0248 left_gripper=0.9998 right_x=0.2952 right_y=0.0013 right_z=0.1822 right_yaw=-0.0015 right_pitch=-0.0164 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -6.9402, 9.8393, 1.8584, 0.2613, 0.1783, -0.0366, -0.0205, -1.7162, 7.0632, 1.8339, -0.0366, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqxFYQFDN1aJys7uTL2A_SGWpdTJaprVWFCI_doc8hHzHIAGtcJ5SLIk8AlbViU43h95ogQCYH3BPqgHtWkpFoYEN3Bow13wIF3SHQh2VZhxrn5mrNJyYHNYj4Yuey3WcXG92Uk5e99rHNiVW6WPphT-f8jywtFSyQbtL57SG_hrtUvrdfe3MOyGx_GZOkSZwrCi5RGI5kxWsH62r7sQ8CbV0yVx5jYb7HJ7ml9HEROR_OJbi-VdCMNZiy-eoSCNs_o_G6OOzx0PCEio_P7hidYSLlL5pl-1xfdqJCjFFAJ53zUWudHH__GhgxJpqEvXMn9TWVDy_rP7kwUGEKsCK3R1SMse4KhBd2P3H_3H65xJJEjD-m6ebPeX0SIL1IJHllVZtK2y4uL7LCQgH4I3efAsFpTrd1S0SO-Iu9pxoaY0mLFUZHW8eOdGuw3UfUAAYSGpSvcrUSPROBnnmDFCIPF7q3GynJmJMc8aOHAZIlokDiSZgMJx-0wMYtu8VcAUk5g9V3TFJSPErWtDa1_idvVuH3akcOfew1al1rAhYR6ILZul0hzYke78UxG2J2INQCeIyVVLPfOvQx1Ih-66lBLu1bG7MefFhXtkTqWjuIGzI8-Ja7p0bxineYHV6t_0qrjYpoB9tl5hr-t8o5QblBzwlt5oIh0zwNGES8gXRFQG6IGCAU9BfoNwBjIT6I8ZBvIHLBR7IsK7sVBRAsJldjZ28c_HXJwskCLUKrGq21wvBDX3XpuaeFSq2DOifnCbWRLdKEKm6CcHjfwxwlh_zp8EkABpD722Gw5M7JqzJeFn5tN9Mkij7A0mFB0xR4vE3ojJ6Sl8JGYj8Hz4q2tNsbNP2jv5Bn-9bUQ-kMd2XUNtPTWOfQTU8iAgKWn1iX-ZFFJJ0wPsb_3JkQmsEuE2aQeABhsUMC-zjGC4kn_EouRIMKc9aIS6FTHdJtILIt2Km6vaexKICWRiJp9w9pab-IpakSf-NSBu6q6ypwbsNZA20sR4Tk3j90cyh5IcdibHgvrD0D0FStz0NawRB254684vXBFZ_5GtC2pAYJzlVqCV4yjBY1vIKe86zsZIDXEshORH2nFrMUjqO881HjEY98aZUo2eDXkE3Ar3ttvcy_YnwMiKLJ-tk_mTNUKMVILzqWRvX5XJSTp0UB2-6YytPRoDsDKeFSGAWfYFZqkiyZT5eXdTJafOi-aeKOTf0ROZXAGZH54wxZUj4NYMhUbT786YVHWQYbhdLmB4VQAdnThvs5y9ZA24tby2jB4kvj8Dk4N56jFi3uoP2KKI-9cq6t0lTHgTqLTJHjynHcS2MPEvnuN0vFutkzTO3cxB1kcktSMRgCoE4w5DGP3l34Gvwb5dXrpRB7JssEdcm7dr2rB2oyYL4ByvIsjcIEgB0QbGweYoA0GcaMAMACevnhRNNzTriPbHCTMoCDmlMQ4ROaLxpPTY8klJn0NYcTswuMbKRXTOBY_EFKwEX8xUgYa2OOksJjFgESjoosmOAaGFPchN6asZlZ6RBixpV2wKEyN2gK2QFkfLAMwTSuIOLKns9PyknkM-vy3Sax-d-S_PHJlgnls-5grGWSmrKf6j8-YdNp7j2IEr0awllUwqAE_pYvePXkWn0D1P0m_2VqBEKgNSCdrkkQhB6jky45iYio2CT4EborXVtYbUpy3FiXjYCvsx7pBaMkh-FcsQTmMCBsC8Q9J0ieAF7NMfoTnAwBa0h5mmVFoRTbPmqlmHounrMI3Zxtgsl4hhL4gKdENftYHpdsRteuC8cWDejhcIyAnJXP4x9iN9e9M0Ti7H5QrXSa15pZGom8NESnKiGdzZ-5ybe7fqmXfuFnOgU2UMzwjCtqc_RLdyG7qIBYlaWEPftWQ413DzauFc7oOUfVvdfgymeaWcdvkI9JHd666ad1so0mi-M0-vbsHjjvtR5NhySOcPcbhbkOjX_8kzhRzQEzsr471zNQ2kPY55OplKQOY2xSSY",
  "id": "rs_0ab43f63dee4460a016ab2ac3d6bdc87d0a4d8d460e0772388",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.442,\"left_y\":-0.185,\"left_z\":0.002},\"note\":\"At the lower height, the cap is still ahead of the fingertips rather than between them. I will advance a few centimeters along its axis and settle close to the tabletop.\"}",
  "call_id": "call_xt3RY5WY1HjLSI8lVVl7vxew",
  "id": "fc_0ab43f63dee4460a016ab2ac438ad887d0b24cb91b4aa32565",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xt3RY5WY1HjLSI8lVVl7vxew",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3279, 1.9678, 0.8928, 0.342, 0.1879, 0.1066, 0.9997, -0.02, 0.8005, 0.6132, -0.3931, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4379 left_y=-0.18 left_z=0.0056 left_yaw=-0.5564 left_pitch=-0.148 left_roll=-0.038 left_gripper=0.9997 right_x=0.2946 right_y=0.0012 right_z=0.1797 right_yaw=-0.0018 right_pitch=-0.0271 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -8.3077, 6.4752, 1.3162, 0.1392, -0.0513, -0.0171, -0.2667, -1.4427, 7.0085, 1.7314, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3960aded8f4681429fa4e9579a390453e62d701f87fb902321f604ea32b090b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5df63a82f5c2081569c95ef4658121d348c6875c7c2f5b4b2d403cc237bc487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05ab41040e7969faa8fd7ac13fcd11d8f33dcbe5aedffdfb194961bc08afca83",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3298, 1.8187, 0.7456, 0.3248, 0.1959, 0.1066, 0.9998, -0.02, 0.7979, 0.6132, -0.3908, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3996 left_y=-0.1693 left_z=0.0159 left_yaw=-0.5656 left_pitch=-0.1616 left_roll=-0.0469 left_gripper=0.9998 right_x=0.2947 right_y=0.0012 right_z=0.1809 right_yaw=-0.0018 right_pitch=-0.0221 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -8.5538, 4.9436, 1.8828, 0.3443, 0.1197, -0.0171, -0.3214, -1.3744, 7.1453, 1.7411, -0.0806, -0.0415, -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": "gAAAAABqsqxMeiW-81mlhB5twrX6dMHtAvcj0VbFLHdMEBq07b25n6gS-lWQ3JU6n-M_KqY3S5bOHd4H_z4ByVuJ9TcUMuyyPgAu1U8hVV9OodMd2YfcLx9l6DEAMoUhYTXwPs0A9JTxpB3zJLzLn1IekXN9q43VhlBtOQswsSATayrRDxX5ZAnxnPvLQ5GHpBMu00kiQDrxeiVuXCC8dFW4-_t032xTyk9jnughhwSFQvrcjPh34qj6dbdvLhkZw4_zznFVCJ3bGpNoR5QBxbFCgP_xwZTwj3HYYiA5Y4w7JGF1Taq6OHjLpUS_-fsM77zE0rYH-3bWOyA_wMQTLPI3x8c1y3K_GNQJxBlf2sA-LyapB3mLcLXvvxqx5iLc2vyXJU_SgMT-DC1kaAc_tdwXH1b6luNspU_MM3MVAjLWJMH-pjI7X6UZWU2vwZmEYKxoYLcUpHH9H7j8-BtR0G8xtrT1UB9LT-Doz78CvI-mFLZnrF5sEz6DXEmcrzU_Wxh9dIcOmNIJg8cIxdks-R774wIwmWCQtleOmSO5Wv4RT141MQNjqhPjiaDz5YBbsJ9SRM8xNFdD1Xb6tB2q0B_7cU7Gkj3aYV7vSrYNi8BmB7HyvOMX8VHZ9HsAcrJLiAz34zSDl9kxfZr7bWGdVhCFpcURNZb7HE49pf2QzeCdbx2gBQv1CrqZC5kprblpF3lsMBVtj6dRsp1As5KzIzDDaxSsXzoQ95X8bJl6jrZrra61YMnKRCuDjSFr-BGpnvLd_6owc7gDDnGodlaadvZjuORiI76u8eZ4NyHZfO_VGkPmAnVZPYbw3UOgXMk4CaRuWhQ5mrIKf2ZOU5iMsil_p_6-cpt2zcJGTcdcM7G4SomdiM9TBLUFTwIx7H7qizROAbgmUm_NQSVRLsJrXybJe2YuCVknkPYUDhJTYA3A1h9FkJqDtJxZV0sr9aiK9xXyb3_dxlwldmb5xzgUJj1DkdNlNAlB0wMYRnreYxnJR2W8llyYckb6p65uZ2_BpFNQ6m7twNJyGlgYFYZOgmYDhzPv4w9w9GqN2LHd6xciqJT5j7qP6nsAnf5uVe7jyIvglXvoQVuWqdWCMgTaRlG9J_usn-M8GpJI_OqkBHHIq2XozHAAWblyM3aAWfs663qfflNE41wjiGXAFO7VnbCvG5Dmui_CwTBCGJiGoyupWOJ514ZkWi_1o3t9WzPxZSmz4PpszIH3e4gXGj_vFk6KleRKPb_cQJUNtCXj6so5B5phSNBEc5VdQiEeWbx0AgeOHMoituXX",
  "id": "rs_0ab43f63dee4460a016ab2ac4a59a487d0b89730c58c8cf81d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now runs between the open fingertips near the bottom of the wrist image. I will close the left gripper around its body.\"}",
  "call_id": "call_PMdjeAnKcycYMv6IPVJGqafA",
  "id": "fc_0ab43f63dee4460a016ab2ac4b0b0087d084cf7cbe5e05a509",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PMdjeAnKcycYMv6IPVJGqafA",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3275, 1.9751, 0.9009, 0.374, 0.186, 0.1055, 0.0113, -0.0196, 0.8009, 0.6132, -0.3935, -0.0196, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4449 left_y=-0.1819 left_z=0.011 left_yaw=-0.5529 left_pitch=-0.1163 left_roll=-0.0302 left_gripper=0.0113 right_x=0.2946 right_y=0.0013 right_z=0.1795 right_yaw=-0.0018 right_pitch=-0.0279 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -9.5658, 5.053, 1.2821, 0.2857, -0.0122, 0.3932, -0.1162, -1.0462, 7.0496, 1.7411, -0.0171, -0.0269, -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,$blob:90f6840cd58c418299b9701e717ff34b255cc9add7a546bab702304ef9db9e92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0fdfc952dba742adffae3660a26dacdbeae151bc55f502883d49768b5238b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7871c997031ae1b04e0a40a577aee24a0445d47bda4b68f32a04c9fe6e1cf5c",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3279, 1.9678, 0.8928, 0.342, 0.1879, 0.1066, 0.9997, -0.02, 0.8005, 0.6132, -0.3931, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4379 left_y=-0.18 left_z=0.0056 left_yaw=-0.5564 left_pitch=-0.148 left_roll=-0.038 left_gripper=0.9997 right_x=0.2946 right_y=0.0012 right_z=0.1797 right_yaw=-0.0018 right_pitch=-0.0271 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -8.3077, 6.4752, 1.3162, 0.1392, -0.0513, -0.0171, -0.2667, -1.4427, 7.0085, 1.7314, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqxUp6GSMYv89PseRVeteje1OzJjXsn3kIhYTS6Fu80SHg63R4r_OiDbfj1pQZwPOlRsDXVnYbAZ4Dj_pkhZBZFuXAtKWAKgADFmDGfM2yG9-9IhXN9u6ffO-uMms8-ef28tCz7Cr4ItMXEc0KDEt8l9hJ7tooBzdlC10IS3keCTNKc11vNmRf5pow-1uoVHsDVOWzJgBgTcVrgaIzbTCedZV5mTH0LYZd78X17jXcmR0YhjhAL-IuJjhdrcbdbF7jpPNd7rf1s7aZ1KmK8fL5mHc4LnBfZpUxZBJUezzTIEE2q9a8fDIVGlxaN24jML_s6WITTHboKZqBLe9XOpJ5kq0vaQIapD3gSVov7sn4Fw-S-PHrfjnUdKh6svoA7TPQkadr4CfV0yMQj2CZf8Lt7KUL-fAM1LdaQ85-cKDR7G4l814uueWc9gH5hnnl9V76xEmsiUeTZQb8UY2UPNNb5PI3Sj3URePFbQziBVVY7uPAfGrmIXiraR8d12upxAZHeDBMdll5TMLds1TIDlMUYT9KBSYTIWhZ7evgcmMyoWQq1PSydUIwl14NWG0oBSrvgUmBhGz8RzINMOKkGms4URVTZ3meeFFJboq0MlZ55LawUewtxuGTGF3kGIXFf3Pj5zYGjGH4pSYDWc20LniVBJczhQ1nR6OAdbNBr-h9yWhPN-L4fk8chh3z19MtnF_p_AEX_6Okj20QfvMhH0jXuxJ0VNloO-YpBwLkWL6V8x9DnhQkXIflk_pHxFNb4ppOGtS_MOzv83YQpVvJanCbdEezbgIAomKcPRkaOWMlGf2GJgXRRQ_F6zlErm7DmhuQZ_xLCSEXWo4M55UnGhMkVEsp5RNG00LPkLEAlJFA_5Z0cjOXELMVevxbvX3mJGo4kcAlgUX-pDl0F_JmkVoJSKFY4BRttfMuVmGJ1B0NigNOsJRoZW1TpHI2NS_XTO_6BFKB-mhHLwz0ARltf_1VjlwJfu8pty5B7NT4AoZVYS4857xb_Wh3mdgMmaW-_WvYZeaOlK6nBiu40yIWgSmndB2iYsu2z-5gI3WLdKNemRrM8JoyqNcj68ZtLwzxjw1mAWZc26VccFiopV9Uw2iUv9flfAdxRhkPTmopg88AFRGk7EuN-U7sji1IuwWaIHRpGl_vbIDwMogm7hvZy-Z1RWaS4jKSqgOcumAjqtglrRm5hRoQzik_a-kDvV0obiDkSuI9RCs2Mu71L-v9rQbA59HFpnpsYFknHYmPl3yxDSW2cm5hGnHLItv9IBExG0CTqF",
  "id": "rs_0ab43f63dee4460a016ab2ac51664c87d0a5830195cdd99b50",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.46,\"left_y\":-0.191,\"left_z\":-0.01},\"note\":\"The gripper closed almost completely, so the cap was not securely caught. I will reopen, move slightly farther along the cap, and lower the fingertips for one corrected attempt.\"}",
  "call_id": "call_D9Tqz6Ozju1MAmkmqiMCFzcF",
  "id": "fc_0ab43f63dee4460a016ab2ac52585087d09532edf3819d4cf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D9Tqz6Ozju1MAmkmqiMCFzcF",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 2.0567, 0.9489, 0.4561, 0.1795, 0.0963, 0.9947, -0.02, 0.8005, 0.6132, -0.395, -0.0196, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4635 left_y=-0.1906 left_z=0.0052 left_yaw=-0.5483 left_pitch=-0.07 left_roll=-0.0229 left_gripper=0.9947 right_x=0.2943 right_y=0.0012 right_z=0.1793 right_yaw=-0.0022 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -7.5556, 6.6256, 1.199, 0.0269, 0.0171, -0.0024, -0.1846, -1.2376, 7.0085, 1.7411, -0.0269, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70550579eb7ae3b4ff73a13d14c2b8e24d8ccb4ae9f7c7180a1b422a74391188",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:265a92d57e66c43f1007f58292357ade4d9f2b7d6557ccf08a2ad5f23b2ca4af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad29f05272fe582f8a38ffb3dc63739359ecfc95e908ca464b48baa79085a721",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3275, 1.9751, 0.9009, 0.374, 0.186, 0.1055, 0.0113, -0.0196, 0.8009, 0.6132, -0.3935, -0.0196, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4449 left_y=-0.1819 left_z=0.011 left_yaw=-0.5529 left_pitch=-0.1163 left_roll=-0.0302 left_gripper=0.0113 right_x=0.2946 right_y=0.0013 right_z=0.1795 right_yaw=-0.0018 right_pitch=-0.0279 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -9.5658, 5.053, 1.2821, 0.2857, -0.0122, 0.3932, -0.1162, -1.0462, 7.0496, 1.7411, -0.0171, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are now at table level over the cap’s estimated position. I will close once more and check the opening before lifting.\"}",
  "call_id": "call_UQdtDeSyuT5sG1JeIN3sE8VD",
  "id": "fc_0ab43f63dee4460a016ab2ac57c4fc87d0b0d3a0eb7ed43192",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UQdtDeSyuT5sG1JeIN3sE8VD",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.334, 2.0617, 0.9508, 0.4599, 0.1684, 0.0887, 0.0104, -0.0196, 0.8017, 0.6132, -0.3969, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4651 left_y=-0.1889 left_z=0.0041 left_yaw=-0.5346 left_pitch=-0.0707 left_roll=-0.0223 left_gripper=0.0104 right_x=0.2941 right_y=0.0013 right_z=0.1786 right_yaw=-0.0015 right_pitch=-0.032 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -10.6188, 4.9846, 1.5897, 0.1636, 0.0464, 0.7937, -0.0479, -1.388, 7.0222, 1.7656, -0.022, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa5977c2be86fefbc5f4368e39f8a708d4e1851d5d5ae63095670d776837b84a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a299f0be170dc9fe43cd2d2aa68ca0c36e097474e082e20b702817b1787fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80fa0d7c2988fe42a23a38edeaa3455fadbaedc163525638780a59aa28ca40bc",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3344, 2.0567, 0.9489, 0.4561, 0.1795, 0.0963, 0.9947, -0.02, 0.8005, 0.6132, -0.395, -0.0196, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4635 left_y=-0.1906 left_z=0.0052 left_yaw=-0.5483 left_pitch=-0.07 left_roll=-0.0229 left_gripper=0.9947 right_x=0.2943 right_y=0.0012 right_z=0.1793 right_yaw=-0.0022 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -7.5556, 6.6256, 1.199, 0.0269, 0.0171, -0.0024, -0.1846, -1.2376, 7.0085, 1.7411, -0.0269, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.06,\"left_z\":0.19,\"left_gripper\":1,\"left_yaw\":0},\"note\":\"The second closure is also empty. I will lift and move the left arm aside so the overhead view can reveal the cap’s exact location instead of repeating blind grasps.\"}",
  "call_id": "call_bb8UYnuspHh3OF4LQ0KAyxPv",
  "id": "fc_0ab43f63dee4460a016ab2ac5c3cec87d0a9896a86925b9be7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bb8UYnuspHh3OF4LQ0KAyxPv",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3527, 1.0042, 0.7132, -0.3439, -0.2241, -0.2134, 0.996, -0.02, 0.8055, 0.6132, -0.4114, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3202 left_y=-0.0722 left_z=0.1784 left_yaw=-0.0599 left_pitch=-0.0473 left_roll=-0.033 left_gripper=0.996 right_x=0.2924 right_y=0.0013 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0504 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -2.6188, 10.4957, 1.6777, -0.1148, -0.1783, -0.1245, -0.1846, -1.0462, 7.0085, 1.8926, -0.0659, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f7cf4633bf2b0d60f46aa1cec3bcdbb32b2358929eb95eedd627e586cbffdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ef3f2f929c1fc7731c3dcb5155c8cf69debd9ca50c393859f766ce9e262982",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6216d48605ac30b37b9d0d19676c8d2c0c05eb0a813933d9a15a208cdc5c45e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.334, 2.0617, 0.9508, 0.4599, 0.1684, 0.0887, 0.0104, -0.0196, 0.8017, 0.6132, -0.3969, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4651 left_y=-0.1889 left_z=0.0041 left_yaw=-0.5346 left_pitch=-0.0707 left_roll=-0.0223 left_gripper=0.0104 right_x=0.2941 right_y=0.0013 right_z=0.1786 right_yaw=-0.0015 right_pitch=-0.032 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -10.6188, 4.9846, 1.5897, 0.1636, 0.0464, 0.7937, -0.0479, -1.388, 7.0222, 1.7656, -0.022, -0.0415, -0.0122]\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": "gAAAAABqsqxsnHsxLOg-es6xe0X7OMgykDQN_ORwqVjhe-Kl_eecW3__mHgNZ_PfX9dDavCKyOJno0KlPfbNkEJy7liCGP1G3Hugc2E_p9SCe4Efl0v9o6RfM8cMdg3yUr8GxW0JEjQEbXD5uBj6fVOLj3IGMSSbaxHyYjEACS8Op9QFDqYLKK9BMOg1hzyVk7KE56TNDZDZL6vqMF-oNrOB2dRk9PU79vMwWHt6kPSkAwCubV2xTicAN61g196PS-3UuW_oYC9ZsRNvYg1absVT5hGnQFFqEWBvmvqVabW3bAjJvStguSEUEVu7Silj1G9-DjHuzC_RNjTzgTyY9A7K-esX0YuOnwSRMryqF8ptdrHe0ATR0o6k_zrp8r9jUI82S7retO6yJ9eIGTdg948GYAApQd4ZBuplEijyAVLS9bRhbsLzc2oQE5bLyUSCpCZX3wtX4vrY01dh2fHpB1GrhOmjE4W7O33LiU7FlnKy2ZlhBCkpSUECTaF_fPZHU91nfJqH3jJXVXiOWjVU7tQEAz42H1ObCE13ZxjYk466k87akjGqjerHz9J1rmhSt_RTpdIqRH_VtffnrZG7d27moT0JG_TS6EJsY_W7buLP-5-Qatz8QYImGGvAxOW3MUVcOruycGOaIMmV7J0LanA9ABilaJ0EO9zXTsryjQclb9manPDeXU3tMQk3cTFA8EGMOH_HRSyqZpgmfTxo9r0yCLxA6Bbz0CJGAQP4wxDGlcR77uv3-nbxUyX44JDmzJoxEjbge8ncaFuglJ4o118KqfBjtEiRVZxigoWqrQf2BF3QgmmNCUGdrZWA9MCxcfehi_qHIrq1CpNKqcUfxFgzw_GkXt9-Ia98UsLPcoJXEK2uOB-cXTRJHv2lSp0y8jxU21ck1uWRCxxiwjDy1mEFOc9optsjQPUvya0L0ObvZYGju-mWpO9P2Hp3NqUk-acyPveMaPWBtMKYG_ETj6fhxlxlElTysIHhVlr0Q9Foa-FkfHMGCYN8SmpLAZrLYMDd2-xftkTslIvKdZSqmNxrZSHwcu0RjyNlz8ZJBIH6SOuMauG1BQbchw7GO93Q8nMzJ0m9nh0NCQhnS5Vx8k8GoDjCvRbTWcmyjMWu_Hm-c0Z46BCaZ7VaPq4adDnQAD1tCMoqT5-Kc1dj-z6rBAXwzYTAcGJL6b2xRtz-CYrIqPzPzbXt1JVClMeNbFtoJSik5i_Xx1LgYF7dl5RZKtTgXfIm4uqfh9Vt49Aa3X7hnInMwODQK8OEM2lQYuA8X1iWA-FhkgTMSSWPhkGstoisCEP5rWMrZ3nDUnkiQTxkLzF2q9PW3lDStJNm0YzyTn8ha9hCMoiVIak81dfNnmigliQPOL1k2pGxEHNZcscy9pQY1GmzV1sGe9jg6a4fakMzIw6uCp-2w6fMnSyTljsqWsJLIbpLmMIjdeOjDqnuTIs6e2WCItVtOZJtfWH1NUncpjolmRRoP2R2Kq7hk8K0VrbZShaAitdxNgCRtyNEScfpakQ_GOhGugdz3okMSbJe0vAUQd_3290KG-ogwECGC_hbcJcrCML6KmeljEO3mlUcvRoDLN9y1ZztheGSX70YgZRHh0yJ47wdDEj418NrRBGn-4K_oZJsa4ZJvkMplLaGh40EvpA99qVAM-ZpzcI9RA0zBHfGHNnLTnc3Cu7EeEVo3oYN78CFW0lKMQzddk2DCM3U55L7iKAlgGawafMUUUA_Xiwwd1Ek7tNZ6Y7OEB_8kNyWrgsnwDfuAVxtmV2KFsPeUW0Fq9QFo9Z9GNJ6lhNp8Mxynuw_7lrK3AlWEKu2ipF8QCvXSskgzZLWVwj2mjsmuHeKfoAjXj7fwWw_N7gDATENRQLpdncZ7tftH4_iBL6pxFwA5CyOkYZpumEA0w9uHndSGXITWbyW7hDUTm1C8EVI3uPRuUODcQ5w4K9gPnpN3q-QtF_1UpnsYKx6TGkYxyZYuX_l5ey5YZoyNKMuIM2BK2VgRG0KczE9h7D-X37MKaqemj1D6HIRdZoRo6VHwKarjW1Uv1zDpsDRn4BwzYwprvKsfFenf7mv4cZ9wKtLN8OAjkUo_AnU3JaIENKrk-UeXj1q_iyxJ4oiZ5UbytCNnconpyVGclPZpVvLKnDHRsubmwe-xPWGQNZDsjprm48=",
  "id": "rs_0ab43f63dee4460a016ab2ac64188487d091b10514deffd973",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.13,\"left_z\":0.045,\"left_yaw\":0.5},\"note\":\"The cap is exposed again, with its long axis slanting the other way from my first alignment. I will approach its newly measured position with the jaws oriented across its width.\"}",
  "call_id": "call_yaUukFSEfcKHHLTtnaCZqrBU",
  "id": "fc_0ab43f63dee4460a016ab2ac6a93bc87d0aea86481aadad552",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yaUukFSEfcKHHLTtnaCZqrBU",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6132, 1.8801, 0.9562, -0.0883, -0.7433, -0.8066, 0.9965, -0.02, 0.8093, 0.6132, -0.4156, -0.0196, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3996 left_y=-0.1306 left_z=0.0345 left_yaw=0.4138 left_pitch=-0.105 left_roll=0.0227 left_gripper=0.9965 right_x=0.292 right_y=0.0012 right_z=0.1727 right_yaw=-0.0021 right_pitch=-0.0584 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -10.3043, 6.694, 0.9939, -0.6227, -0.0269, 0.0415, -0.212, -1.4427, 7.0085, 1.7118, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec1784794ce4ca4fe8defb4809495e6b33993062e778a93cabd5b4c9a5d6d44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdd509ee1145a7ead64cde524eb5e50e63ae510b3f4bb8b35c8fd7433f3be78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b044cac7cae05d6dffb3b71e9b07dc4726cca98f8d7e57c0029ac6888b100865",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3527, 1.0042, 0.7132, -0.3439, -0.2241, -0.2134, 0.996, -0.02, 0.8055, 0.6132, -0.4114, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3202 left_y=-0.0722 left_z=0.1784 left_yaw=-0.0599 left_pitch=-0.0473 left_roll=-0.033 left_gripper=0.996 right_x=0.2924 right_y=0.0013 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0504 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -2.6188, 10.4957, 1.6777, -0.1148, -0.1783, -0.1245, -0.1846, -1.0462, 7.0085, 1.8926, -0.0659, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqx1t1AdDR54_lCMGH46XOxdTRGd9YTQFkJXf6r1C5u6mxQtwad7qf0pdSYCdnEtql0JmSQRW54HJzk_3BIpX162gpDtWDH4v-GWXFfaX2i--tbFJdS7_RIcneC6ztlnLY0kdeudSnOl8ILP2CVuGR3QLHDTTERYvl17hfnylgqvUhdCOWQ6Rt6IiqpRH6Gi9xO7RGHPy5EhDsGiV_KVlL9nC-8qqC9DjD0MgBphKXUYzSsvo8gxTlwhCzP9FcfUrXYsqVAMRCpbfR6iLEyiT7EsQruX80kteYDmD_3Vkl9L4uzGUZkoU8OFf4vYQzRiyWtpADLQXK9XwN8sHop9mIMneYYk8vVH2XOn9MueAjwJwKZvbyX3bDQI2Nzsb8TlvECbi-3lIto_Pn6AP34z0yBsOjjnFZ_JVGOImRVUsl4UQ4WgjOSNhIbk9ekZ7n-_6-Y1gE4gvfOxcjg_MSgtCwJYmcacLUtFUopkNxNHc5drfTikkJNOFRu52xdsOBk8Khs2SjZbMMHzsm4jUf5EeW6VvsY6q4NKAM3G8voP6zbzSMkznjmcDYRxuv-kAZ8cS40s1YJpWRKCMBQD5FhAE575LJUUnTwuZNP8bfeXd_qtqOf-tfbSt94ggTGXnsCqVhXqD5jp_8eKOEcp0T_nuy3D2E_1VJ0gL4U6VqmFW3FgUd7-FM0oaXnsflMlU5YYwMxUhQi3SLkSPwFsJ1uERrfaKpXL_1U0BWXxNnmXMY_1SH2thNUeHe6r6oSUh1Pzby5W7atVf4Nl-xp0q_7KArOHnnWpHSc1kAsqQtMzSv5wMvP9FWiXiizAD_fs7lY1TGOQ1eN1DdNeuTtCZsbPGTIP3IGYrwJEnYoasIpiRufCuRIpDtWadq6h3GVgp0vPLDZIF_rbZJG1LqoVNi7L0xQ3HmNq_iOz1lAvGZFB61xC2ybsmhHtAVrXx0xNkloB6tH12k3yqzsQLz_FtVTq_OJYjbKqTI-ZKXr8O-b02s9kJnvR9IzDUEu5vjmhFIQCUhkrbKPt2wIPif_gMOI-MwjxU-YXDCTaAi4qLp-r4vsQWO1Bni4y7XzKGyUBvaArJsfbcQKBNf61VCy3rmkNub8DJbGuQS-z24U-qySna1mp0AwFt5VlkAQu5Bke4N6fOLAKlAe8FbR23aKTfUku4G419Dji_JYzqUP2bGPdOJhlqs8LCF3nkjVf9hefXRCeCGJmn1jrbKnMEGc2SG3-Dfib3zfjTrW0yx7A5vzdGn5J7izh7JtF9BCZODrr8Aas2mkhBGsnECmKibg7SYNrlnyS0FaGWSzabQHpY9zQ2jPno-kyR-yO8q0ETrrI_TbBNfObi65IhmkbYkKz6V-L2lL_EPt-sA3KzTZ16T7JhT7L8-eOcOpCRINhR6tESOli7zintazWigfYmx8zQjw-xITrYi9zzUFafWMmOPO7LGYim0k=",
  "id": "rs_0ab43f63dee4460a016ab2ac71d30087d09f2103240ac904c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.436,\"left_y\":-0.141,\"left_z\":-0.008},\"note\":\"The cap is now clearly visible, slightly right and forward of the fingertip gap. I will center that gap over the cap’s thicker body and lower to table level.\"}",
  "call_id": "call_NTkhTmti0Wtn3VZozpUCZxFT",
  "id": "fc_0ab43f63dee4460a016ab2ac74813087d0a2c83883f16187ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NTkhTmti0Wtn3VZozpUCZxFT",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.59, 2.059, 1.0386, 0.017, -0.7799, -0.8352, 0.9966, -0.02, 0.812, 0.6132, -0.4149, -0.0196, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.427 left_y=-0.132 left_z=0.0028 left_yaw=0.4728 left_pitch=-0.0735 left_roll=0.008 left_gripper=0.9966 right_x=0.2923 right_y=0.0012 right_z=0.1721 right_yaw=-0.0021 right_pitch=-0.0603 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -8.5265, 5.4496, 0.4127, 0.4225, 0.569, -0.0073, -0.0889, -1.3744, 7.0085, 1.7021, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c7d4b897c01c74dbefecb7ed9ff1a21f0f2a76d8e9c290bccf7dd2e991d245a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b45ff82a0908c30ebaadbf284d30072d76f9a8a9b82046c53cd17583d553eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e2af08fa7ecfa51772e9e9197fc207f216da6c486bb31f621e38dec49ea921",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6132, 1.8801, 0.9562, -0.0883, -0.7433, -0.8066, 0.9965, -0.02, 0.8093, 0.6132, -0.4156, -0.0196, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3996 left_y=-0.1306 left_z=0.0345 left_yaw=0.4138 left_pitch=-0.105 left_roll=0.0227 left_gripper=0.9965 right_x=0.292 right_y=0.0012 right_z=0.1727 right_yaw=-0.0021 right_pitch=-0.0584 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -10.3043, 6.694, 0.9939, -0.6227, -0.0269, 0.0415, -0.212, -1.4427, 7.0085, 1.7118, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqx6t2N-Y4Ka5fyeH2FQWzooWne506gl9498jbulOn51odRFL3uGYBfnvSokG80y4orHxVGdYiJrkxmWxTy_0_HHyJP06VDRKqawPzIUPyAyewVQY7r1vlS400mPR0F653HC1UdULMYtPmA8Y1P9rT7rDGFOCaBVNjBRJ6Mp6XaLZp6CCtFvbBtpjX-5lKV00Nk1LN673fykiMo9Xuad_4yJqoaNeGXDWe4q7VDm2QMq0v0MCNiu2nErWXTIXpulbiDcrS6KKAkN9DOmkvhczH_iH7OssQZrtr63tuO0NikjotqYHaKGcsNNiHqFL9mZ1ktnqYBb3hPB4MSH9eN6o02CAR_jipF3eqaazHU0ihiZN8CpfFT9BX1Gl6saVfDeuGcbNhpYcV3yxtN00onCxGTGXPPrP-EkiWvXoNHyDtzRZqnLBCCfJZ8dsda0HPdljAryosgAg6oPJiUadsUobZhRz45Gy9mpIX63o_plIKnF_huAb7bW02NS9-v7W9v5VJgSI0dln8IObTTc2o0v9fKWtPvJ-M7kVd01Grunc8Xn9zIJhT5zKsJAo6M3wdK5PStqUrQifb0KYQjkfQ6pMnGu6D5Ht96FC6ibXg0MSpPa5QqkNX-y0W7IG48jgPiQmISkl1yLI8Fb4G39_Q4t5QgZ9aqpTRzVBMMBLs7AldwJwIT5JsK7DoWogv2HeMG4R94RnNv7FAMmd3rBmcuYP4YTC3nXB9WwBJoxPYo4DpBYlazijGI1CxNZugw_BJaQLDX-KsQn-v8ZJcYWklUR5lDjKD3JXf6bzjH7Rh79XNxvkE8LFCMlcY7dzlGbqYbcpN3uy-0MEb7N3sXRpctGIussdkUp_Aoq9DWTdufk7I7agzEko4RWfAtXjafQot0IWUOPEqaTZaZQSCrS6gGaHzXZCYNJWxo9_iBqmM-XiGgKUFvs-fPi3Sh9PF-_sT7afumHOESYQP7cQ3odWV5oqoXjTEQe8xnqAtnDYPw8Y_OkckTMcxSXUAhMHj-3F_dKlF3RHx_-6uf61_Vd8yzoD-4ZN0kZxQekNj2Dt4m_KKqL3xjBO4iJwbEAZ2qx_U-rSPimk4LvHEum-CLusoU1IxC5mmHlcD-lpW1aTONA1dvtO1wAtioNdMOrjeEf8JdblzmYzv5TW8DkYOi5YIgj4X6axZCvZ3YC3jucsQU4eckDzJkcuO3vDm2RyDT1znlM-jr6",
  "id": "rs_0ab43f63dee4460a016ab2ac78af5887d0a8423cd718e3167f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The thicker cap body is at the fingertip line now. I will close the gripper gently around it.\"}",
  "call_id": "call_Q5FIESWk3qFyI8lhRf3rTcI2",
  "id": "fc_0ab43f63dee4460a016ab2ac7951f487d0863885dc3cca9d1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q5FIESWk3qFyI8lhRf3rTcI2",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5781, 2.0789, 1.0615, 0.0685, -0.7547, -0.7765, 0.1082, -0.02, 0.812, 0.6132, -0.4149, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.44 left_y=-0.1383 left_z=0.0043 left_yaw=0.4348 left_pitch=-0.064 left_roll=-0.0024 left_gripper=0.1082 right_x=0.2923 right_y=0.0013 right_z=0.1721 right_yaw=-0.0018 right_pitch=-0.0603 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -8.6906, 5.9829, 0.9451, -0.1001, 0.0366, 0.6813, -0.1983, -1.3197, 7.0222, 1.6777, -0.0122, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36728f631f32e7ab5da478a109716c018aa89b5d3be9972cb8877c505dc18698",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72c83717f552ecfdbc50b0e1e2f29c71c4e6effdce309053a3505bce74eea3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea799dbdec4e12231b022dd4789e0f86231dbf8949d490be281e60a31017d66c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.59, 2.059, 1.0386, 0.017, -0.7799, -0.8352, 0.9966, -0.02, 0.812, 0.6132, -0.4149, -0.0196, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.427 left_y=-0.132 left_z=0.0028 left_yaw=0.4728 left_pitch=-0.0735 left_roll=0.008 left_gripper=0.9966 right_x=0.2923 right_y=0.0012 right_z=0.1721 right_yaw=-0.0021 right_pitch=-0.0603 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -8.5265, 5.4496, 0.4127, 0.4225, 0.569, -0.0073, -0.0889, -1.3744, 7.0085, 1.7021, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.075},\"note\":\"The left gripper stopped at about a centimeter of opening, consistent with holding the cap. I will lift it a short distance to verify the grasp.\"}",
  "call_id": "call_j15VE3DGgxS4cxQyKlQ8R7RU",
  "id": "fc_0ab43f63dee4460a016ab2ac7dff7487d09b1b997c279f21dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j15VE3DGgxS4cxQyKlQ8R7RU",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5781, 1.9564, 1.1187, -0.136, -0.7517, -0.7841, 0.1097, -0.0196, 0.812, 0.6132, -0.4149, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4362 left_y=-0.1363 left_z=0.0502 left_yaw=0.4386 left_pitch=-0.0792 left_roll=0.0112 left_gripper=0.1097 right_x=0.2923 right_y=0.0014 right_z=0.1721 right_yaw=-0.0014 right_pitch=-0.0603 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -11.9863, 8.3214, 1.1844, -0.3785, 0.0415, 0.1392, -0.0615, -1.347, 7.0085, 1.6825, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:730d1cc1d0f3912b806a1fc6f6a1e57535e707d3a967f40dccaa2cf41f78273d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af1bc0c2853d444bfd17a965ac4135854fe0ec61df839333b82a70a2b2b4c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309ad521748bed210aafd8914319164910a2fe895fe6d2c538f04a654d2a89cf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5781, 2.0789, 1.0615, 0.0685, -0.7547, -0.7765, 0.1082, -0.02, 0.812, 0.6132, -0.4149, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.44 left_y=-0.1383 left_z=0.0043 left_yaw=0.4348 left_pitch=-0.064 left_roll=-0.0024 left_gripper=0.1082 right_x=0.2923 right_y=0.0013 right_z=0.1721 right_yaw=-0.0018 right_pitch=-0.0603 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -8.6906, 5.9829, 0.9451, -0.1001, 0.0366, 0.6813, -0.1983, -1.3197, 7.0222, 1.6777, -0.0122, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqyHhcj8Ww8r4-yVfYtmuqOJRosbZbWpAeLzEWOgp4D0a6K_kfBrKRjWSDB75-ykl1iJQP29HE3nVQYqbioABI5eVITLBFlawDbulFkjWBI6APCdcXC68QbzdeepYrCLhlKcEA8MdgWY7SocW5S26JFe_fBz3JyAuZSGiZLq7wNdHN0QNKkpXhsek3irCF_qixPrFxkMfJs5QiNrVztjx82rylsM7196OlvJL8SJwK5siITXjTH8jrVJ9lwwDmIVNdkwAXEejG4Yv3uSldDYQjroQVDwv98tw95FiPJbhwTO9YgnY_ANSbPP4-F1H8uKBGIXMIcxETm4HRo0SXgRlEiN4sDQOQMNLRvcl0MbsroROE_A_BDqeohl2_EcV33ijog7OpqkFadhvRJYHh7C7GX-xtZ5D1GsJOLPeRIpR6-oonkI9rayFrOCRJ6hlym3eqeUvqEmG_m3sm8nTX48NFlHbLKEqhtclK1ZS0KSbncikIQPLEgrFYRtKHWeNyu-E1OjtAKS4NrrHL8Vu5duBDxcBQ3wd5ww7chxo-fmECEuNSU_8hCGthRTIkOtKWlZAntylvuQ2q2hQFBNJW8m8TG75Ecml1EJfW_1wkXIqijo4DVvNY_xk8lhRPS3qk35gH2Rlf3TyMw87UvCLvlZXCCuIvv-yAkSEqgmff2qOMmh34MSeC80tgIpgQQODnLJml0PnezdOL-L5h5-6oGCuVKEVno9jdSwoq0B-3ObJpQINx_-610Pz4aeor8KMHyTZPWk4Qx7pJG3Efd2MjBYOtpViZiWE1oo63tRItfq-cbh4XV1iHVGE6qPO5SwYf4xuRY_xX8Ceo6OIgNbHw1HlqAMF3mwz_m9gZPH8rFeh12g6_kII7n0WssSRA1BX8YYXIWrTf3MlhlPXzE72C_JxBc0zlcJyd_zzuDT7YOJefUpHWKzAAtLVVtoz16PLSF3pjUbbuZXTqQw0LG0V2ptGFxBdARAl91avlresvNNtBE9nZoqDnegtS5ZMazQ_9xWcfgIozgo18tZqK0NnnaJ5ckrUzhir7JGBAihaVIgEWIOUlVKrK3FD3GzjsJgz_lz7fgeg-VJhh7HtSM3YoUkSH9hPYj_Q-VNL9TNvTkXJ2raOzFake4TuzLOIod8IIo81mTjYtuveme0lJwkMGGwRZ4zja2wl6N4pjhDMvHYc_btGNmaALZeXSvEzNDoPrf5VIGAJRVNsO9IQBqlr9KPak8dhfRdDzP7A7X1K5b4H7n6x4O4aotTfAcjV7qhveq4ER6SQbT10PQRdfDxnOXgeVKMnyMBOjDXWCZ2WFEcMN3-9lV9jD1ruCT9dWdjzTU9N8E74vuGQxZKsQrHhPPLDsKWXr8rqyFnmYuyl6uvG_TNWkdodixnIOChEjjclfC8q5ReFpQAg1bQLXCNPX7H60qXjzkWkv2VMnBtSvrebyb_618NeRhff9T0Eg_eXto0lGJm55BqsypBe0PkIp7BoKnywA==",
  "id": "rs_0ab43f63dee4460a016ab2ac82221487d0bc6aa648d4602808",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.12,\"left_z\":0.18,\"right_x\":0.4,\"right_y\":0.21,\"right_z\":0.12,\"right_yaw\":0.6,\"right_gripper\":1},\"note\":\"The cap has lifted with the left gripper. I will hold it clear of the table while bringing the right gripper above the pen, aligned with the pen’s diagonal axis.\"}",
  "call_id": "call_LKTBnyarX95vhQQDrxyXiWSV",
  "id": "fc_0ab43f63dee4460a016ab2ac845e2887d0987bc51dab304905",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LKTBnyarX95vhQQDrxyXiWSV",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6098, 1.6501, 1.2148, -0.6079, -0.7525, -0.8307, 0.1115, 0.4068, 1.5753, 0.8505, 0.0414, -0.1337, -0.0925, 0.9991]\nstate[eef_state]: left_x=0.3897 left_y=-0.1206 left_z=0.1544 left_yaw=0.4383 left_pitch=-0.1135 left_roll=0.0347 left_gripper=0.1115 right_x=0.3884 right_y=0.1969 right_z=0.1038 right_yaw=0.5649 right_pitch=-0.1231 right_roll=0.0114 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -10.2632, 9.7436, 1.1306, -0.5885, -0.0024, 0.1734, 0.3624, -6.735, 8.7316, 1.9365, -0.149, -0.1245, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940d50b2e8d5f069080d6da1d7cb198394c68ed5cc98030ae393f3aaf1587263",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612555064911c042e52bf14705c3e4fbf3992658a0008652490221a0efca45d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f4fc76f583130bd63c0f6b55c25bdb3fd856e6ef47a4cac517e94dca14d999",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5781, 1.9564, 1.1187, -0.136, -0.7517, -0.7841, 0.1097, -0.0196, 0.812, 0.6132, -0.4149, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4362 left_y=-0.1363 left_z=0.0502 left_yaw=0.4386 left_pitch=-0.0792 left_roll=0.0112 left_gripper=0.1097 right_x=0.2923 right_y=0.0014 right_z=0.1721 right_yaw=-0.0014 right_pitch=-0.0603 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -11.9863, 8.3214, 1.1844, -0.3785, 0.0415, 0.1392, -0.0615, -1.347, 7.0085, 1.6825, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqySdhcQ9OiSL_N2hksVAiGeAeWBqbCj6ZsW-TywJuYL6j34D25fT_aXUGEIZS7G971irvRG_x4-tEkRh8jbmPSYdXA3OCXPxGnKdK4D-hUy9OEouqWkwPDp-9RvbnKJ5W2MC9xEjyiUklPsnQ42l4-5U0M3zOUOX_RkWBRa_VMHuOHkfuHp4IHVdVShCAS5ePyAOPFV0ZTWiqI3j3S2U1QaULyHDrB46E7RFSpENThAz1fmAg_u1VfsaLq94b5urdvwyxoBwfNAudqQU9PD33ubnMQ31mXLiuHPnaYzocMZChfEmEC0FoIndGK-1PyNm5Lhl9cUH6X08lq65UOYPxOYSULJBap3DTqIkszgG3pp6JUybBwX6CsGZI4VkBB99FZkJhYWA52PCp4iE32XMGwNdmwmU-S10mGPyc-Ud6oh3zrw74KyW5S0YJBJRsWYcqPCBxQ6eYv6okg15yAn5k07wANSEsijNSrh39dgnU1DZZ5h5Nedrv_HmPNjQotoXd6FOtqsr6SCLy0WFSdP8P5VpFx13uzkyw4PvZfyPto28Q_67Omxr_tw5oCpiDTu7J9aT0Ghvuokg1C2hB5ZWu9xvmN4xoqDSdvieUgoZ29gmPZ94EiukdkvwLjLamfCtHzWVneKcIjOSg61zXTsrxrgH-1LXNu6TlAGSBrbeB50WNKElHB0Jz_PHxn-lZYM7LjN8NVI3SVEQBcp7UQUK_ggWanrQoU-cf82JllLbA4esm0DE11J92hTau3SX6x2AbIlDEjfLRQSDHU0a6EjrDYeOO8w7TG1u2-6_FuaGI_trdeZS6oadEyPpxCPGRH8HQlYUluSb6_zcgOCsQ4Qrhydm-Ow2q8WHuUG37mUogoEwJxXkh7wUcq5r5VrsSpg3D9Ce5-ddHuqNL3JGvn_IfirGPrUPDgSKLpcUG4LkSZDyym1uitj7gEYlB459rXN4sOtJUMenQMuh7UVcz_VdymXiPqzYY_SYnmlili4W8nE_QUFyhGLZt2nnS5UQ3grfUSasy60teq7BgbU5AGe1uMRlfxkeJ9kSGSJsFIf_ApZKMb4PQy7-x00TJ-RZt2a39VNvdYBQZ-rx91oX9VeJq2eRy5XGcmxyfdo73_guURdi57lqeVVZ63hMIB6cQDjqb0mJlk_UL08pVazo4BNQbAfyZ7-_kUjOdcpalPFdE-mrmTTBwehTlKxawATuLIIrWtxU6aEZgvS2MuynLwhieiNKapmqGyr3GO0MuQVe4ZXNQrZS6nsz59t6HwcOwBROEWN-vx2gLsD-op1fSjAKKerhmvLy31nSklUrezbryZln8Cd9hmbH7NI3esIa23r_s9QrFMvOryoPlMKl8cCbnSyDoDdjvYE6lmyZEKYuvS4QcuCkUpeAvn_JTzbB00brpqKIHO-Nstrpy40oeRYYSPh2zV4VtKe7eevqkQX33GpsxagqKi9-buZ93-hF-xy4stqmmFXwa-z9am6RAp3pmF27hx6VrrkF6GAD61I1Guca-wyUe7pnxyZ_9OY5PXZhxKNV2Pg3JaZEXUyThPMPHf4f2Fcp22eFBJGnuLdlCcTrkkoiMXelVvi7V1Zr2KBEBmF9kIE4YrRRXBgpOfwfcku8TfiMJFqy22tcsut-ElbExnszaVBLzzp7yhwR0ZpchL9b4QqFn69-GXwk-V_I6vOAu5AdNX2GgGsF4dsYRNAKWvTxlb4m2lYxbdrMS8uThF63298vx-dNDze6qrN9t-B9wwU793cAKI175TZgyGvptWLweuyC277QL_LJlZwUV4z2NfUaCQeTskan8m147KMVtQ42fjiCaVQloQxGM6hqM8=",
  "id": "rs_0ab43f63dee4460a016ab2ac8ae33c87d08fded9c7748180a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.202,\"right_z\":0.005},\"note\":\"The pen is nearly centered in the right wrist view, with its body extending toward the fingertips. I will lower and move slightly forward to grasp the barrel, leaving the tip accessible.\"}",
  "call_id": "call_LTnsZoZFrCsLNH0UvZe67mZl",
  "id": "fc_0ab43f63dee4460a016ab2ac909c0c87d0a4dfbb58afbdd6d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LTnsZoZFrCsLNH0UvZe67mZl",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 1.6455, 1.2144, -0.6155, -0.7509, -0.8364, 0.1125, 0.3847, 1.9308, 0.8249, 0.382, -0.1547, -0.1173, 0.9991]\nstate[eef_state]: left_x=0.3882 left_y=-0.1205 left_z=0.1551 left_yaw=0.4394 left_pitch=-0.1162 left_roll=0.0326 left_gripper=0.1125 right_x=0.4147 right_y=0.2011 right_z=0.0051 right_yaw=0.5749 right_pitch=-0.1603 right_roll=0.0128 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -7.3504, 6.4479, 1.1258, -0.398, 0.022, 0.1001, -0.8684, -7.3778, 5.8325, 1.4042, -0.0855, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e0eca6ac6c63acff2be41d27193ca0dc3c5be2b127c3712c0eaefbf25c2ced9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c273be67c037e73cfb4e915764ac46ba53b2c0d2ff88c089e34b4033f26c15c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58bebb334bd6adcb949e12021cd2fb4ec4386ed4f57b29e80612c66518b1e804",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6098, 1.6501, 1.2148, -0.6079, -0.7525, -0.8307, 0.1115, 0.4068, 1.5753, 0.8505, 0.0414, -0.1337, -0.0925, 0.9991]\nstate[eef_state]: left_x=0.3897 left_y=-0.1206 left_z=0.1544 left_yaw=0.4383 left_pitch=-0.1135 left_roll=0.0347 left_gripper=0.1115 right_x=0.3884 right_y=0.1969 right_z=0.1038 right_yaw=0.5649 right_pitch=-0.1231 right_roll=0.0114 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -10.2632, 9.7436, 1.1306, -0.5885, -0.0024, 0.1734, 0.3624, -6.735, 8.7316, 1.9365, -0.149, -0.1245, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen barrel is between the right fingertips at table height. I will close around it while keeping its exposed tip free.\"}",
  "call_id": "call_PLWKy7pJELgjYLRXYb4OK43J",
  "id": "fc_0ab43f63dee4460a016ab2ac950a3887d086ec803e8d9dcb62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PLWKy7pJELgjYLRXYb4OK43J",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 1.6455, 1.2144, -0.6136, -0.7509, -0.8368, 0.1132, 0.382, 1.9488, 0.8268, 0.4175, -0.1555, -0.1204, 0.0511]\nstate[eef_state]: left_x=0.3885 left_y=-0.1207 left_z=0.1553 left_yaw=0.4394 left_pitch=-0.1153 left_roll=0.0306 left_gripper=0.1132 right_x=0.4193 right_y=0.2018 right_z=0.0044 right_yaw=0.5739 right_pitch=-0.1411 right_roll=0.0072 right_gripper=0.0511\nstate[joint_eff]: [-0.212, -7.8291, 6.612, 1.1111, -0.4176, -0.0122, 0.0562, 0.0342, -10.5368, 4.9436, 1.3065, -0.0855, 0.0952, 1.5751]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b625a32e6d673b576e02ae96402b7ba2ee59a26f2257dad432f2a3fcb9e9b59a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f656f2cd941716282052d845037e99b010631e08e8af77aa1850be26c597388",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9caea9a1383eabfa03119499c63e4322a042cc00751645354ecc00ebdf95615a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 1.6455, 1.2144, -0.6155, -0.7509, -0.8364, 0.1125, 0.3847, 1.9308, 0.8249, 0.382, -0.1547, -0.1173, 0.9991]\nstate[eef_state]: left_x=0.3882 left_y=-0.1205 left_z=0.1551 left_yaw=0.4394 left_pitch=-0.1162 left_roll=0.0326 left_gripper=0.1125 right_x=0.4147 right_y=0.2011 right_z=0.0051 right_yaw=0.5749 right_pitch=-0.1603 right_roll=0.0128 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -7.3504, 6.4479, 1.1258, -0.398, 0.022, 0.1001, -0.8684, -7.3778, 5.8325, 1.4042, -0.0855, 0.0024, -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\":{\"right_z\":0.075},\"note\":\"The right gripper has a small nonzero opening around the narrow pen, and the tip remains visible ahead of it. I will lift a few centimeters to check that the pen follows.\"}",
  "call_id": "call_b3fZ3R3G6Koe9trhwpKDNq84",
  "id": "fc_0ab43f63dee4460a016ab2ac9a89a487d0a2d6cf299f60088a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b3fZ3R3G6Koe9trhwpKDNq84",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 1.6455, 1.2144, -0.6136, -0.7483, -0.8368, 0.1146, 0.3817, 1.7939, 0.8967, 0.1799, -0.1589, -0.1246, 0.0576]\nstate[eef_state]: left_x=0.3884 left_y=-0.1211 left_z=0.155 left_yaw=0.4379 left_pitch=-0.1173 left_roll=0.0294 left_gripper=0.1146 right_x=0.4174 right_y=0.2015 right_z=0.0548 right_yaw=0.579 right_pitch=-0.1533 right_roll=0.0087 right_gripper=0.0576\nstate[joint_eff]: [-0.3624, -7.6239, 6.4342, 1.0916, -0.442, -0.0415, 0.1343, -0.3487, -10.5915, 7.8564, 1.453, -0.0659, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a9f51d3c887cf5d827be556cd8a48b140c0273a675943082d8fd2966e60fde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d45a2444d1e55ca3dc74da7270618f5a982a191b2462277e3908d4138bd082b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8725698518b3c307d1122fbee0e59a403e8f4e67c979c7f78949bf17550fc260",
      "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: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 1.6455, 1.2144, -0.6136, -0.7509, -0.8368, 0.1132, 0.382, 1.9488, 0.8268, 0.4175, -0.1555, -0.1204, 0.0511]\nstate[eef_state]: left_x=0.3885 left_y=-0.1207 left_z=0.1553 left_yaw=0.4394 left_pitch=-0.1153 left_roll=0.0306 left_gripper=0.1132 right_x=0.4193 right_y=0.2018 right_z=0.0044 right_yaw=0.5739 right_pitch=-0.1411 right_roll=0.0072 right_gripper=0.0511\nstate[joint_eff]: [-0.212, -7.8291, 6.612, 1.1111, -0.4176, -0.0122, 0.0562, 0.0342, -10.5368, 4.9436, 1.3065, -0.0855, 0.0952, 1.5751]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqy3LR494WCqLKYKX0NgYYhAGmDcD5USN7DSDx1lDwRGfo4rGs17tDCmjoI41LkWWe775WD4sbcHaqkZN94YUR8MXBiAUK2hVRYFwbS6TzQ87hDIfZ7pF6gDecaF01O-LmjZow5gSQKsJDY9kWpfwIPkJcvGyjkYQe2sBp0SPeZXwAt0bVkpNWxUnckXFYuNTORFRXkhsIJ8vDE89fVMEJB0Z-FyVTeAQNKiGUUszb_qD9fMmA_mvyVxRX0rRQE-zRtEMoWyshlJOljtCpQ-r9ZcKyAQ4XCIlFx1INh2nDkQkaO7t62IjI3Wryzjy9tslZQWq-MPI31Zz6xKRr5krTlC_GQJCHFnxjIth9scVoyRyaKNqvWROz3NLfpcaf8K7qUr7cTcN5VdoMlTr8FRrXV6CMzKpcpbXPnQ8oIvblyiPg1EqipY8jJTdeSaJhL84R2ncngN97nj_rkkbE1oOCGIO0KCFowJV9Md6K1j_9UzCX5ACDKST-Ro5tF4rTU9tBvx4gC7Tkmwr_TT3O1Mwz1422qg7BW4mERV4pq1OvECexhVkbMelK6pAv5aJN1YHFEKRwHc5PgvLUgnJdBndVZZyFV60YGa75HvmxgLXnucLxVWUDGy4KIxq3-FoFDEzX20e3frHx0OKyDnc9G_hiwSDIEBPY_w2Z8GP5ik51Ulksm7MrcC5D7L-dy41tgfVJY7JPCgA6sN4XFPX4JD6o4g6QPqhBCI5SYBJbAlj-R8kkoC0OqGQ7Pm6d-mo8J8-tsng-8RJhzF0nRwyZav6YTZORhp9pZZE6U9xfYKwMnTtLFOGphhmV6YBI7heJlg-XRP-eDjX7rFbN2z5lYkj4ilSgWFRwvZpZOVwmZDPyQeeh3hyD82eWtFvHTciSrCR1-IggbRBYbKJnVEcUCnK3H8b39IooIp6gemOwmJD47sS9OitZaWffyKha-VE_UnHOydxD2xV5HeoUEHkRUcKCe8AoIOhjLpOixCtlI3zLSpTcP9Im-raBQBqfv9styXd3HZBLKWS6mjQ8eP6sZDgy0p-JHZrbka6rpRDHeD1g-2ZYQHqQ5XBlByNdN7-xYaWxnA2FnBTH1-CDsZ3O5Y6eSbqXyFXlZe9EaEQKzvHLfOjcRfYIB9HwMXzRDUDSOhd6l2ggTNkrYtjrf5KbWVpHJ3m7jIKWtXRMLt6NhZWmrX836meYCwB742w_RXj85qtbhvCXsriEkG8n_DsVSTTAE7fixc5lQJ9m7qUFZk3wxC8_nYicigs5VWJoXTu0UMjEM-syIt8Auao0l-s9QQCVCeg81nwtBIbkJ-6oWLwaCetLtK11D5Ytya60hgDHrc8vhiVTimmkO06Jq8RJDNQNXWqTybHMA0iCL_haIMaQfAuemcyboSioizXGXDLMmoI8yZZ85ficdB6avXMZ83gr7q4PwZEGAgaHrkyczcZAGolGXK9PXsD4jaw6GW5_joXsNrGhq1-dq-PYEs3dBJb_S0lk5xIE62W6Cw-X-vT2_pG2ndjT6jrolQ_LF39nY6Ib36ZY1i6UmFKp1JNj27w-TWWjAXXXdKR6uH4uxLymEDuuXoKwrhOHLQs5uVBiV7EC1fuQLLnC9BXB_p7SY2WRe4kUHipcg639HLn7RSQnW_aOLbR5GvNqjfALVQYxNgMmd1VxJ1-uPnxIQdTkNfMS8pe1P1GcCrZXCUNB8FBO9p6ot3I4bE4NXvAXPkiYwfBRztU7sP-eGchpHXNo6Q1H_HJHUzJD_984oLrbz6QglI0zbRaBVcTC8qW04IA7VtHK2P39_AJadg5-a6E_Cpa1XGmcUC_VLBRn6-tRbBQsgI7FyssDGv_eYTfNys8kzG9edegOP3TtHB7KgC_MjpRKyhkHANFvxXfFo5Tr7lzwJPA1rNQWtQ24yy2sgi1AGRtIOjHQAH4yPyvJytijLlpM8UFnhkyMKdpVXiyWavL6qINkmpIGMCV8ixxK2mcL6wQhLkwenUaxmJDB7XpUC-8jwmaFmuxyRJwqrfqzoBAypQk4YrZVvzMdm7Y94lz0TEdFw8M9fRFhrxQ05E0GiVxJyxbYh8yI4uk4JqakPVRIfaSysa-l4siyScN4PxCCmZwGTN_7EmkgeQ9k_nRWptlzDMTX72b2II_CL1ug4-uAES_Ak4_YKPXGZLErb19bAEOnxmf5TKTzaBTFS_huy-NTBexD2CNznGx2fEuH97JdpbxiHnnvs6Hzvy_lkHm5vPK4bk66zbHJZXllP1cDtSTwon7-8DtCjAIW0qCPYK1vC7RpbxTeGz6Cooak6QnahRodqHRCMVJ6_f3E8L6fYQuaDlkELrZBI2kycBkB5Pk4tWlu7Cgay3QottHVg5klb-6i1L0FZHwotm9F644QX8i8j508LYIfEIW22vTuyw_S8-nka5EOsatoPy0Kps3uLzod7pta48OWmn_h90vch-KLNQH6BVQUCZUZhHO6nhOdkpb0fMAo_oqZiq9pzyLqnkqS1Km5cycpDeTv3qreXp6yzr_JFxn5WlVZfLa6nHQOGs5c_M8LT27JTGNyzIf7Z5QKiwExBuhFjsUwkccrqs4LX9I5cZaGy9vwY6uwtvGJEVm7v-WiuI3n4stkTTyl38Udjrc2VSWbcvMWPDyNUrdlcBlheNunH-hDyNsYGV5uGdC7_QsDSccbF9P_lsPy8KyfylXJr6o57Scymku5ifPrQkcZs6ueMZaeYlh2M-WQcEkQYZFOkQh7cb8f0qT7T7crFIW9GrM6D2TMn5pQYLeOilWFLtIS1DWcB3iOnyqm1p1pO7vnSGLSZBHkVn46e5DijxjO38yYmt527iCMek0yZ_2qMvbnFyKgHoBVd3anl9TbiJ_W-du0q6mPprYAE3Rp0Xc2VC7Cjt_l9HI8kRl-L0_x7EdxeKOsqL3vPBgyHhMRCcl7452DUmiv7jGwt6X_BIQqITXnIBjBSWY3mJHvpq6QX5I3higJQis8VbULK8HILu94t5oSBAttwCxfYRFHut8j8GgL1TZiCCfbhtcyZu-2GBV_4hLhMQ8nmav11SX8R61Y5esezJks4nWp-oy9IkmEcHO0hCzgtPoNLGK8QZnYWPJbkcqOVtWlIyrrYFCr43vtXUgQbn39imi4F0vsOOtFQSyy2ZloXyZnE8lAVyMvVdmUAotjANoJpDQOnbcy2qunbQFBIa3RQROLqvlt77gsG2akIlosYjQbKI1k2TyRPQRR15gyoOhs_WZ21O6i9LRge5gks19ay8Hu5T0PE0KFHPYyWe2LykrKBLvdQwmU1_F3SswFLVzKEhrafSvNpcvpWk7GZgGHY_8okVleJh__vUx4sELHl_JCQZdJ2Jknua2QH_44slvvSac2aI9dXmwqSclj0uNqbl33_qkPuXWt-cSGhmDhQf14dCvJMlstRx_4CE85t1qKDtOWVzvC7X-_5TY3oxEQ9tAKqUjqGyGMsJGEa6s-InzWLqpx98-IPyr--jQmNjbOiP2uL0T1dhPAhjKYtJ20rNq72ifgwWTZlWFeGF2K1QbZRTtFKkb3MQAlGbPn-lkQ60wsjQ5P1UGHyGYq3VYNQdU6m9onsfWX0M9oZswnzSGA4xElnwIgsgeSNXftimoA_OQ1LUMnZaM-Z_HVtnKVfFYM349dKVb2IQQ9-eL2USuAlk2UgQI4-4czp3zsG4kFs2TK9s4IkZvMOkhZvYMfip-hLPU-cX",
  "id": "rs_0ab43f63dee4460a016ab2aca0e1b487d0972958178d055723",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.22,\"right_z\":0.18,\"right_yaw\":1.57,\"right_pitch\":0.15,\"left_x\":0.37,\"left_y\":-0.25,\"left_z\":0.18,\"left_yaw\":1.57,\"left_pitch\":0.12},\"note\":\"Both parts are held, with the pen tip projecting out of the right gripper. I will turn them to face along the table’s left–right direction and bring them to a common assembly height while leaving a gap.\"}",
  "call_id": "call_T3gTT6zM6gfxz7TIozWKRzeQ",
  "id": "fc_0ab43f63dee4460a016ab2acb4045487d0b20764cfe4d15c84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T3gTT6zM6gfxz7TIozWKRzeQ",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3977, 2.3222, 1.8446, -1.5471, -0.9619, -2.0769, 0.116, 0.1516, 1.8771, 1.4326, -0.627, -1.0477, -1.058, 0.063]\nstate[eef_state]: left_x=0.3987 left_y=-0.0064 left_z=0.0921 left_yaw=1.4427 left_pitch=0.0291 left_roll=0.0357 left_gripper=0.116 right_x=0.3939 right_y=0.2186 right_z=0.1737 right_yaw=1.4736 right_pitch=0.0989 right_roll=-0.0441 right_gripper=0.063\nstate[joint_eff]: [-0.4855, -13.6821, 4.6154, -0.5299, -0.6471, -0.0952, 0.1294, -0.8821, -9.2376, 7.0085, 0.4908, -0.7497, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11be61ab9d75f9d5d5a8bb967ee385578724bdbff7d894c15e80b12e59ade1c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796eafd8d55cf5ca3b243b1e0eec95c58b8e19225472daa11a86add5e9efa79f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:497906048f831da1911e09e2f7ce76ef94b47a51fd0787ed1536dec15c15023d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6113, 1.6455, 1.2144, -0.6136, -0.7483, -0.8368, 0.1146, 0.3817, 1.7939, 0.8967, 0.1799, -0.1589, -0.1246, 0.0576]\nstate[eef_state]: left_x=0.3884 left_y=-0.1211 left_z=0.155 left_yaw=0.4379 left_pitch=-0.1173 left_roll=0.0294 left_gripper=0.1146 right_x=0.4174 right_y=0.2015 right_z=0.0548 right_yaw=0.579 right_pitch=-0.1533 right_roll=0.0087 right_gripper=0.0576\nstate[joint_eff]: [-0.3624, -7.6239, 6.4342, 1.0916, -0.442, -0.0415, 0.1343, -0.3487, -10.5915, 7.8564, 1.453, -0.0659, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqzD7ZbcvpHp2N-OUO3-HhUGkRck7zcfmDirf88xQ_H0pxux_dibWKyUveaV6IpeH2iIT1ECeHle2ahIfd1NjFZ9XG8qItmdRZrVZCqk4BxtU6athjdTeLpBT8tieL6Qgr4dRhU988n4lfeN3YqhAOggtJ-NKPaT5GnA6FqSAgMZF6yg4LVHHTvVaOynZIQi_O9gxHvpMw4_UCZb1YcX7kCvl3zGibPQ7kooclvxgOod2EavOzlZCsxwm5JruuTxAbfdDBu8IJczeFXqem_Xl7saJCEWEAKiD7WoAsGncwSx5n1YiYL0wTx1ow4UZa9QBKZogYUF3yFQ9rtuizI8lvVpKsJfHpUVXDchVtSrE3XgZYuJpd8wOK-XgaxgAsVeXT3JJc1QVRiT_WfIEYSmFF9rlDeJy2VX-TH2zcIFWHB8DkY0-iop35iE7PnIM_UpGDx0FeQlK2QbVIuT57HYC9fvV57V0uLckk93sO4WbZ2YpEJ3usHRMxebtXITc5KJAnIQmnjJcd8WHr0u_y2HTuootOEqORgfaysNw14ZXotx2szI_PneWY6HzLuPS1paVXQIccAK34nZ24A618S_xEjZ6KuOKHHYWuLiWK6MtvR1REZti-vdhnT3STZMC52gvesesMt3riWgFSaM6gNJbMeqJeiNFJ98fRP6HZJX644dUR27NibWFbefy08iFr59nPu7jdtSGtDYRkJDh030PY255VOayf0cTmTxKv8l1YlXYeYK2uPcUsqPBXMtvREbdifZ_KnxsDIo2jW2-H7G2h6lrzniXmV8LcAd7laIPFMaEKQl5gAI9Mk5GEY_XlgLod2cqiOExBBkwU_3KEZ9gfTQ0GMIzc_2OouWnA3JbhAAqeuBMM3KQ7f5bOV1YzbdWWK21Wi-QNkS7VMez4GTzTo6FqCWUe2lY6YbjGpOz5XinwbfLNm6pelawbF6eDv-JMBIzekZuTU4asvKNic4cEhQ4Hi9D-whiJX9GIOPscWxD2uxrQcc1gr6W2SovnKHU2NNyOJKZoLNhOYDEFIlelJA8zQlddQ_A2YUActKCv5VOlHr8aOxvE-WSUpwUhd-GnnFJLTGu-AXBTaM-ROHhxaM7HFaXkHNppWUBuSi4_YZixZBks3u5fEY7dztVZ4xkecGDe7xU7GDEzfuy0cUw1HMApDxf6xU9f28g_9aOl9As0ffDii_QU-zI5DVB5kXK9iYE9ST7phz5F3MoZ56FQgUa8B5S8M1Qz7E8VY3mMHoBETGhht-qGiN1tCC5XQrif2DNb7OyYt62NdLaW57tY1NC_O9kOYCk45YCz31eBE0Bk3kDvsvUsZ-nvozTyiBMdNj4UrJLPjAvsusg9KtWFTwnQX3CRM-BN2TYHo44ffmNyxvppLqLzWrZhYPW60tXekCQM1bJZg0W0_kbcx3Nu-6cC0nXEMQBFpP49BBs7clKycK0sv6F7NAn7dk2GdJHx7V-h50_gt79u9slt-0eTVmkLqC9tpfjuhSBbHovnZSeV91HDTNwG5WIZ_BnsQJbi5udl5KagGNUD7u3hU37XRf9uOEoX_rdB1uG0ZzllTRU4DyxFxDa_sTC8AYBi6kAgj9HB6u-AhtH_GzDzlNxVuicRpvfvmOzAuYr-w4b8AHaaL5b606MoIt7uml7oN65-ixUtmIatPxgmtimgrQ3eD4VjUsL9M6_u6w1EqnsG2sGmOd9jc0RE90ipi5HFeUTmVC84fTi2iQerB5D0a4caeHlgHW5d6osQg_LhaheRaYNs7jVONUlQY3Pb8Ztyj4zk1Y0ymIDPsW2LnaoX_5uGWipq71skHHUFzSVIQuSVxmVODhKzUhb1yXYEqjl4AebHxsOuL8bgFdbvPehutllmLTeA==",
  "id": "rs_0ab43f63dee4460a016ab2acbaf79087d09fcfcc318d3f70e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.3,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0.1,\"right_x\":0.31,\"right_y\":0.35,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0.1},\"note\":\"The left arm did not track the sideways assembly pose, so I will not force that configuration. I will instead align both parts front-to-back near the table center, with the cap beyond the pen tip.\"}",
  "call_id": "call_9EQ4yYSRh0hSneBcc3qt09kp",
  "id": "fc_0ab43f63dee4460a016ab2acbfa7d087d0969de1f2d07e3985",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9EQ4yYSRh0hSneBcc3qt09kp",
  "output": "executing move_to over 27 steps (2.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 2.0357, 1.4704, -0.3119, -0.7918, -0.5293, 0.1166, 1.1282, 1.7092, 1.372, -0.4702, 1.1248, 0.7044, 0.0624]\nstate[eef_state]: left_x=0.4779 left_y=-0.1998 left_z=0.1182 left_yaw=0.2529 left_pitch=-0.0101 left_roll=0.1593 left_gripper=0.1166 right_x=0.3158 right_y=0.3026 right_z=0.2435 right_yaw=-0.101 right_pitch=0.2358 right_roll=-0.0493 right_gripper=0.0624\nstate[joint_eff]: [-13.5453, -17.4564, 11.4667, 1.5409, -0.0366, 0.3101, 0.0562, 1.7709, 1.8803, 9.5385, 2.5714, -1.8828, -0.9451, -0.0806]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a38198ce6aa15ee4bc5235b144aeebc6d92b042fe491eae27ff7e21accd07d03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d3fede335ff6fe8f970eaa5de01c9886bfda710c9b8d295df77d3ecc798f77b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2de47a4ab74c68d66b996b77abf70d3b3cec54f30ac0e8fd71e9c3f6bd31299",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3977, 2.3222, 1.8446, -1.5471, -0.9619, -2.0769, 0.116, 0.1516, 1.8771, 1.4326, -0.627, -1.0477, -1.058, 0.063]\nstate[eef_state]: left_x=0.3987 left_y=-0.0064 left_z=0.0921 left_yaw=1.4427 left_pitch=0.0291 left_roll=0.0357 left_gripper=0.116 right_x=0.3939 right_y=0.2186 right_z=0.1737 right_yaw=1.4736 right_pitch=0.0989 right_roll=-0.0441 right_gripper=0.063\nstate[joint_eff]: [-0.4855, -13.6821, 4.6154, -0.5299, -0.6471, -0.0952, 0.1294, -0.8821, -9.2376, 7.0085, 0.4908, -0.7497, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqzN-sg0-0H87XSb1SK_4o4U9O6bIMmh--6Llh5nsjk--ZVHqCPnf-XB1ELiKNOxVFexCgrcjT8V5RtZ4AGiCMwuC9JtIYts5KHPix5SLbxtzpV5OXiZbA8oJysEc-OiGWxvb9VG3su7lye97xMb6tk7_C75okC8XT9qxJTQ0OsBk0c2ow80VFYE8f0G04KqZjXyHrsm90PcMMeW1OjhIeC5yTU2xBKp6ylwp2UVp456F_x9ls2VVRln6zoVc6HVLmN8ZvcPJwHqMpHU-pf0Jikiaw_mTV1DqRA0fTCRfR4vwoqQ4HMICgHJTOnTHOGDxlL0dsfh2zjn0RjRvBw-0GSbhJrm_6GVaJin92EagYdu3HsIXJFKWQNkEcjIVrhJhj0ewY_HV5yx7QQq1uq-xgWig2fTf0NpLmslJ83k5Xt-drNOZnbe8WXycgx6sm743Hc24daMgGSYHAD2IH1NCaLt3NOap1v5caorZw5N1C59F0jaCEry5Pk3N9K-LDz3tb8nfIsCFqHJbQymZqUXnSkBiUbZMXO-kLJtemybAmFsak10V9KvxJ7jNYEgVYdSiTdJMM3goecMNqkq7DgDbWaQ2sRwcbHPTcvPXfIdIctHkPfDSTiNxmFmK2e-7sqpvX_V8PbKUSiph908sY2rulVqnXsS1SDFKyHZyhwtbrd4Jb3JBt4xyYf85tNcxoevHeYyeneEaWcFI4hgqdMK_lXHJfK2pzUBYt7K3yWHQyJA-mlkyNP16QeMRIGPQx1Lnk6x1NvyBKP6KsUxNIh_za9Xgg5HeNzjRaLMP6CaU0AjiKzeODa8WZFjJfL10HANSaEjAMI53IQFA0VCJJqKtPJegq_K4tA89rnEPTjc0rRN3YpZ-7ruTE714LBTcwfxlROonlgwz2sXeH5hYiysOJ59syS97miR4cqSagFy95G0VflnqmAAx37W6aYtRUagOhTBO-uyFMD3l0FbN0sTaIy5bT2QjJUuO3At7jYFOLgwn0T2uj7c-3F_0Nr6dLJoaMCLlIFwNkr5BIfKIfQo0WxRPt2HCqkxanIJo6_S8_FWFink6CiZFWiJqeXkabPinVx9XMHt7Fmgqth-7fNplXUuXHmW_Jfc7nfV4bt_aKqMJhP8lGVRv-bENO0UptzGiadZ84z-EQaUfCtnuyDmat49AnTLEW1Ax0rYFeHOZIXg2gG9KfjIGsv4hD8J3zzC0rNnJYJ5lymu9hI3YT3O9konzocqAOtJg1xDhKFMiTJHRkXeinpz4AE7x8rC63zJMwQv445pk5qy1Wq0xMRGCbTBAv_igI9SLe0_0-vYN01295yFYfqN5HjagkXl5c304acrwweZuUajou2TyYJqkI34KnVyREHaoWv3-L62ys-P-tI=",
  "id": "rs_0ab43f63dee4460a016ab2acc8aa7087d0bddbf492931018d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.12,\"right_z\":0.22,\"right_yaw\":0.5,\"right_pitch\":0},\"note\":\"The arms are crowding each other, and the pose errors and joint loads have increased. I will move the right arm away first to restore clearance while keeping hold of the pen.\"}",
  "call_id": "call_n5MM37BmApb5znwHjU33RFy0",
  "id": "fc_0ab43f63dee4460a016ab2accacc3087d08221ba2dab339112",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n5MM37BmApb5znwHjU33RFy0",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 2.0708, 1.4673, -0.3252, -0.7929, -0.5484, 0.1168, 0.2821, 1.0386, 0.8253, -0.3443, -0.0662, -0.0971, 0.0623]\nstate[eef_state]: left_x=0.4756 left_y=-0.1979 left_z=0.0988 left_yaw=0.2647 left_pitch=-0.0392 left_roll=0.1846 left_gripper=0.1168 right_x=0.3294 right_y=0.1114 right_z=0.2161 right_yaw=0.384 right_pitch=-0.0034 right_roll=-0.0476 right_gripper=0.0623\nstate[joint_eff]: [-0.335, -14.2838, 6.5299, 1.3407, -0.3883, 0.1734, -0.0024, -0.2256, -4.506, 7.788, 1.7998, -0.1734, -0.1587, -0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ac75a237c46a3ce50606b1b4924bf4a9cf1f6b497262022c49e4e8c48e6fbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e68b22344539f0dcc4ed1617553edacc4c0ee88320a80309ef7af68efcb538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09b5b48c93cd3d0d3762b720f7291f6e36acefb886c79331c620c00aed2b571a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 2.0357, 1.4704, -0.3119, -0.7918, -0.5293, 0.1166, 1.1282, 1.7092, 1.372, -0.4702, 1.1248, 0.7044, 0.0624]\nstate[eef_state]: left_x=0.4779 left_y=-0.1998 left_z=0.1182 left_yaw=0.2529 left_pitch=-0.0101 left_roll=0.1593 left_gripper=0.1166 right_x=0.3158 right_y=0.3026 right_z=0.2435 right_yaw=-0.101 right_pitch=0.2358 right_roll=-0.0493 right_gripper=0.0624\nstate[joint_eff]: [-13.5453, -17.4564, 11.4667, 1.5409, -0.0366, 0.3101, 0.0562, 1.7709, 1.8803, 9.5385, 2.5714, -1.8828, -0.9451, -0.0806]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqzdcJrxr2PUK_PrEFQ1MIhFnNYwGVqBwtrKZm6Eu_daCbot5pj4AAkbjqSkd3ylIemByboK1HZ5Ml1rxYzbhHXpkKQlGF_BjEWfxGVrg2Rg9Q_qK30gmvJAhOUhQRkdVrBiMw8BwznkZ9tkoZm1DJpwNC904TiOvy4UkpOl1LZtTIGwdG8ChuaG4OLu2CfiAjWLaEv9CGJ-0R9_ekMt6nJ3VU2Tc977rDu-5GXgtKYpWAUgpu9tr_3bc0aGwNaxnjjrH3-j1i7aphSREjLFqX6Yi3rSlxT43XmFPZuaIavXC4dPPd7jqDSC9dtIM14uZeBLKiBysmfU7CWCD7UntDc01xOfpFBgpmxhBsx9tLYzDVd8N1p8INOzbCAfoXazoHrwsHwW3yqn4FXKJM3KLImy1-tS4svhvkEaWInamtL8XDj_lLJCzzasvcg4eQr_WffPOsLYwENM683cRwlYnJhpDiGWw9qlsudV2Fha7I5hPRiz6l6PSPSSMmGPID7iClyw_52eZjl4D_HVOmbRQ3Kz5mUY66lJ_pA31-MhNIqNEMOBARZhcXfKS5qIhl0HkSTObH6QqgNM-G0eO0hcKhA1_6JYOyAjt627r764d04uJkbWWJbXMLln8CmAsxLWeCU-Ybdau9sPUdEy1blTUoL5auMMg11FEdGXj79Jf7EwUc97xH6EXXzsYpaNHMJHxXCQ0pF7aIA5L1dZzgwKCQRk2hkkg8T1gpNhcF1qIcS2H4Kge9X8NV6TX63yseP9J1KdiROeKipSonBi7WewamI765cYEjPRXPgpI7rfhrugXMMExNlno9prj8RBCg165tHSOOk_Dho8JO5518qbLAl-7SbY-6uGVZbu-sXZ_sO6CzmKq97skxkBw9obP8Uiil89D1hrdvbQrs8eEe_knivKZdQwrg4Isa8_0kfJp4HIW_Yx6X9sGgskY5O98TeEILJwSBzcoCoz5M2HGrIEjwgP-9i50Nv8RU-FoUqY-TMkNcyDx4AupNKaTc0RS79JDWCFHF446-auFaoqzzzZyqMDO5KeAn6zbElKMoPH2uxJ73lb8J3QB7kvDGopnanLo2jSjmU_uRZ-ZjmxW5pxZjNu5JpGE7hHVCEfkfQjaN7fVFrwjMWYoY3Ez7orHVxIFWPw3_YobHH3_bJ-_A02sttlwl6uvTZRlxtHIMsKr5E7sAusA2JdsTZ7sNSP1RE_8SSAlcUixPfSM9yIWVS1p3iheJUWBjcfxNrVejqQ4Vu7uBXvXHeBfdZcoQrBbPRmmq3ILm8mfStrONKQcYUfmDWEVlTEF2LAh9FYB6LEE8wqwT4czMgCoTRolC7z7zdhbVj5LsmTAHIZBfSvt-pzc-ygsSPLs1pccO39wqtEVSa2D647QMhEB0RVHWCNAYmTaFF2RQIBZMtnIVaRgONeEeCivJfNLGUQ5VZHvBgStWdtaOhphje6tnvOvfGWnRtSJ3KPnswOgeHMzyGvEI2mTEsyPnQnBhejNK3KUGGambhqivVHfoEDejHqISkd1I9tTXZOoBB1gk7D77a4hfi64U9BVjEc0Z7BZS9OoAaL4XoDw-8Vsf9iQ9K2cgQfNBU67wTkHuHdDzGqeCaUAoavKSDSYJU6yzHTzArR78aZWY9PLow9UVItEVzYqjXzHw2PV5m7iY3Igg4zGFK_JAQlZktqIAjV6V7hjJIkUjFzRNN3Hb1Sc16Z6F5td0dJPhiqmHzUxBOnT4q9jB6H9pDPjRABA4WQ7QxTg2JnCV7y-yVUPbUPkimw6TTkCGI-OBDEbYN125c96II3EB41b_jNdONUIXq9Sfc1volLcUC96AhUtyi_FyrTBejfZxM8uwOTWGlovqwAuiRfq7aGmkMq84ruaja_8BzCnocFJ-NLE6UQ6jhC3SqfNChu1eBw1UC26yu7CJvb5wu5o_1Pl0qW2Zeb_Zyusk-SRX5dgLqkz5pBHkwMjTl2kqTayKUSODYt3BI15MyrnXV6ZePYcTPLT145eH6MpQ9nSimGFpvFyo5VQ92pM8NbXExpWS2x0cxJsgsxRa0JhrQbiEESeBO3S7zym8P6g4T6_m24Ip38NZFvYlpG3j3pHNspipT4Unszb4_r7QK7pqit5FEKyQqcUdd44PY6ZKYgW_GST0IbbTFbmvc7A7VHEvJlxzfgjGvo4ovBe9RkAEDM63dd-cqktrc4HicuK8eBcmA8MzJNCn82g7hmPHAMSAcODZoYmMai-k24eVV64Zy10H7B10p0DY25jw9WOXOCS_BouXsR9me8fgzUaaGfqDyqh0lLXmj_rfJrkKwpnWYGYxS08Z6VmlUdAtRff1vEmY6b1NlhxdvNpOqn0iM5u_pK4c6o2dl7sNH1AkbTcCetr2rKS2ktErkisq_K5punEVKNOTWRFJJGM05w8NjMv_3BksbN8EWvKG6pybiWPOSVWYKNWXzoC2wOs3mCPXmnuIOeDPZYdyTyIrDLfH9BTDpLsPLDS4QCtVAJJSkuFpPwMWCJyXsXTDK7W1curPK-rEAe03hcQuonbP94BWZHSo7I7mVBWdDY4nQDmmeocDQnHSqhoaJD4E6VdQ==",
  "id": "rs_0ab43f63dee4460a016ab2acd0ea2887d0a75570751e01e260",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.14,\"left_z\":0.075,\"left_yaw\":0.5,\"left_pitch\":0},\"note\":\"The pen has slipped onto the table during the crowded alignment attempt; the cap remains in the left gripper. I will return the cap to a clear area rather than risk another arm collision.\"}",
  "call_id": "call_nK2QWPwn8Kaq0AFHaEWTrB08",
  "id": "fc_0ab43f63dee4460a016ab2acdb660487d0a2c3eb1720775414",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nK2QWPwn8Kaq0AFHaEWTrB08",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 2.048, 1.2778, -0.3668, -0.894, -0.7643, 0.1167, 0.2783, 1.0405, 0.8253, -0.3805, -0.0792, -0.1158, 0.0623]\nstate[eef_state]: left_x=0.4319 left_y=-0.1499 left_z=0.0552 left_yaw=0.4417 left_pitch=-0.0534 left_roll=0.2306 left_gripper=0.1167 right_x=0.3245 right_y=0.111 right_z=0.2081 right_yaw=0.4012 right_pitch=-0.0409 right_roll=-0.052 right_gripper=0.0623\nstate[joint_eff]: [0.2667, -13.8051, 6.0103, 0.9695, -0.735, -0.1929, -0.0171, 0.1846, -2.947, 6.9949, 2.1514, 0.0317, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c951a316ffa954958ed3303329586e91b916dd1a004b4b6adc14cbc6648064bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c267ec6a76cf52c90e37ac71c685940ac3efcb9bf27e51cd686d3f2ac0cf32df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29cb329b21d8c6bc9575e016ef345aa6212f001947925220800eab485664f9d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 2.0708, 1.4673, -0.3252, -0.7929, -0.5484, 0.1168, 0.2821, 1.0386, 0.8253, -0.3443, -0.0662, -0.0971, 0.0623]\nstate[eef_state]: left_x=0.4756 left_y=-0.1979 left_z=0.0988 left_yaw=0.2647 left_pitch=-0.0392 left_roll=0.1846 left_gripper=0.1168 right_x=0.3294 right_y=0.1114 right_z=0.2161 right_yaw=0.384 right_pitch=-0.0034 right_roll=-0.0476 right_gripper=0.0623\nstate[joint_eff]: [-0.335, -14.2838, 6.5299, 1.3407, -0.3883, 0.1734, -0.0024, -0.2256, -4.506, 7.788, 1.7998, -0.1734, -0.1587, -0.022]\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": "gAAAAABqsqzm9z4QYaq1PPqZ38RcroEfqIW0FliJSYcUOfBrgOhlER9rc-uBHPPjl0JxyU7LmQuBhyyOSt1l6k5f0O34gfsUni0O6XcCCGvVMdrImFWGg1AHM_ZmXT5CFQuenMYLM5u_O-C3OwqVPx44mAYj5e71u8jgzQGZaSaPFmL9GmTRd5IiGhc5DjX9ex-dAkONZb2Hkon9wWPw9HbS14l_fzVofbUZ3rcS4O9od4v7963FUscjk3_J6p4pCi63MAwp2zG3G1h-vRkYhf6W49_M2IRRMXn89TLtvE8ID_koYTfPZauNOqo4fnQixvVMaLGLAa2fIPANrizn_rXTUgaELC4UIkdf9vynrzF4hlCIN6AlOOAQNudICaKbj129Jd4_c9W39sNX_FEckn697U8qNFzbyn24ywIm7w86UHpzWZe-PEdnnIKYSL3TkxixYlmCERrkSQSBJfoW3c69fSDZSTXoSOLz1eDBh_ZQ4XnaXr4ZgvO92R9MazS7dgzB6LmCIERB6xCbRDrGRr_YVzpUffSYM2CpbIu4CXz97qP5Y1nrUa24hbWHlY-uTvbsvafwVmiVxtJfQRJ_i6b7ID-oOLegkAAEqx1OLAnRfIc158noiMcht5Q8u6B3pMsjHpVETJkm3hDZcguzuPe9LYPOdrO3e8gAQel9s4g0ZWSId3Z9v4z6kEMEbO34d3H5BJmL5-9bcrLD_eWyU6uPgVplE4oAZ5NxRtpjRhCrW0iPiTpte6R6TlwuvjkGuSiFPz1xj55BlG4MNZ9grMu2K7JlQa7_WOqD2D5Vtfar8MmCHmhdHM5OC4lxS24RjcSFMnVGCdRxGEzXyGsLmzCq5RBupX5dPiPD749X74rx-hulNf5KKUuPRL1rkMffmHGzyk0qOigEkz0UGS3Hf2-OHYMZIHLwctac2SK3WuqKTqhH2vXD1SavWvUkfJuBZcEyGZ_ufnlAjQf6m5IF4aJnEkycZXAPbYsEunFOwFo9Ko57EKx4E-T3Xro-agV5ryxu5vW_7oc_fj9iA3aLxnt5vXFXeP1oB7bZnj7HXBfLVWdr1FyMunzQ08dvY4djzqI4tZdOOlE8QDxUyMInU9F0ZOAXbUVscUqiDb1ZUORr8WGRg2wXJ47b49a0BHT5ZEHYak_aPHRPqz4akvuPb2LyhSz_fulVdwrLIQ70Z5W2FmLWOXvWOXbpGg_v2mZOMfEqmdqpTDsPZ6AxE9gD6nhRkHw7B1Pbi6o0BWSweHVmhYrJDl4u7So_Peb4z_ft7DNDyqwHQ-HZMIV82DZg-wwwdZO8x0zzmjriI871K0SD0VNJCNtlqys7KxYYf8MbxoAyL5lDLJVbfp8N6Lad2LONBUVtvqR4bVhjPWgZzRr0FcOUotR0EDIeaolrSA_CTJPBbhaucTsR",
  "id": "rs_0ab43f63dee4460a016ab2ace1a90087d082911f5d49b292ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.015,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The pen is resting on the table, and there is clear space beneath the cap. I will lower the cap close to the surface and park the empty right gripper away from it.\"}",
  "call_id": "call_zzPyaTNCdMf7iKANgDRQAQ43",
  "id": "fc_0ab43f63dee4460a016ab2ace3b72c87d089837061e6e9a085",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zzPyaTNCdMf7iKANgDRQAQ43",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 2.1239, 1.2293, -0.2497, -0.8833, -0.7761, 0.1168, 0.0174, 0.8391, 0.6765, -0.4438, 0.0078, -0.0593, 0.995]\nstate[eef_state]: left_x=0.4306 left_y=-0.1505 left_z=0.0174 left_yaw=0.4435 left_pitch=-0.0639 left_roll=0.223 left_gripper=0.1168 right_x=0.2979 right_y=0.0074 right_z=0.1875 right_yaw=0.0365 right_pitch=-0.0538 right_roll=-0.0537 right_gripper=0.995\nstate[joint_eff]: [0.0205, -10.0855, 5.2855, 1.0232, -0.5641, 0.0904, -0.0073, -0.5538, -2.3043, 6.9402, 1.7705, 0.1197, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9038909ed88e4489ef5d84b05536c12750c587199a7236ec37342d13a4a9393c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc61eccf4c3fa6e084ccccbb46fcc26f77bb0ec50be657dcb4b6ca5a3b384284",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5990f86743c9b1fd15cea232e58bdeaa41b4cdcc1633b6a9567a9c2b7e225c0c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 2.048, 1.2778, -0.3668, -0.894, -0.7643, 0.1167, 0.2783, 1.0405, 0.8253, -0.3805, -0.0792, -0.1158, 0.0623]\nstate[eef_state]: left_x=0.4319 left_y=-0.1499 left_z=0.0552 left_yaw=0.4417 left_pitch=-0.0534 left_roll=0.2306 left_gripper=0.1167 right_x=0.3245 right_y=0.111 right_z=0.2081 right_yaw=0.4012 right_pitch=-0.0409 right_roll=-0.052 right_gripper=0.0623\nstate[joint_eff]: [0.2667, -13.8051, 6.0103, 0.9695, -0.735, -0.1929, -0.0171, 0.1846, -2.947, 6.9949, 2.1514, 0.0317, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The cap is just above the tabletop. I will release it here so both parts are safely supported.\"}",
  "call_id": "call_2hVXua7o98m3yyPGLALhCwHG",
  "id": "fc_0ab43f63dee4460a016ab2ace9c80487d0bf2a91fdc160704a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2hVXua7o98m3yyPGLALhCwHG",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 2.133, 1.2255, -0.2417, -0.8982, -0.7856, 0.9948, 0.0154, 0.8425, 0.6727, -0.4576, 0.0067, -0.0601, 0.996]\nstate[eef_state]: left_x=0.4304 left_y=-0.1482 left_z=0.015 left_yaw=0.4553 left_pitch=-0.0529 left_roll=0.2258 left_gripper=0.9948 right_x=0.2957 right_y=0.007 right_z=0.1821 right_yaw=0.036 right_pitch=-0.0747 right_roll=-0.0533 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -11.535, 5.4906, 0.862, -0.188, 0.0317, -0.1343, 0.1436, -1.5932, 7.2957, 1.79, -0.022, -0.0611, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c25f2508ce29ea46da783276ca97ade050240b164fac42e1a2cf8088e860558",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df0a4f84d4a34a69b79d05397ae1b2a65e56e2207c765a6ba857fa260e3e2020",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc9a8a1d80104c50f642df9f4ddae485ff4e16301f4326ae26b77b37278813c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6483, 2.1239, 1.2293, -0.2497, -0.8833, -0.7761, 0.1168, 0.0174, 0.8391, 0.6765, -0.4438, 0.0078, -0.0593, 0.995]\nstate[eef_state]: left_x=0.4306 left_y=-0.1505 left_z=0.0174 left_yaw=0.4435 left_pitch=-0.0639 left_roll=0.223 left_gripper=0.1168 right_x=0.2979 right_y=0.0074 right_z=0.1875 right_yaw=0.0365 right_pitch=-0.0538 right_roll=-0.0537 right_gripper=0.995\nstate[joint_eff]: [0.0205, -10.0855, 5.2855, 1.0232, -0.5641, 0.0904, -0.0073, -0.5538, -2.3043, 6.9402, 1.7705, 0.1197, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0,\"left_z\":0.19,\"left_yaw\":0,\"left_roll\":0,\"left_pitch\":0},\"note\":\"The cap has been released onto the table. I will withdraw the left arm to leave both parts visible and the workspace clear.\"}",
  "call_id": "call_YQUJlKscNpTXlbJtvZtkxT1O",
  "id": "fc_0ab43f63dee4460a016ab2aceeb8a487d09e9371f5cdcbff50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YQUJlKscNpTXlbJtvZtkxT1O",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0689, 0.8196, 0.6006, -0.3344, -0.1696, -0.1154, 0.9963, 0.0154, 0.8486, 0.6685, -0.4641, 0.0032, -0.0605, 0.9961]\nstate[eef_state]: left_x=0.3015 left_y=0.0127 left_z=0.1821 left_yaw=0.1253 left_pitch=0.0251 left_roll=-0.0003 left_gripper=0.9963 right_x=0.2946 right_y=0.0076 right_z=0.1772 right_yaw=0.0392 right_pitch=-0.0915 right_roll=-0.0512 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -1.3744, 10.7419, 1.6777, 0.0855, 0.2027, 0.1441, -0.1846, -1.5658, 7.3094, 1.8144, -0.0073, -0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f8aff72898b2c5e418789c7338b7439e5f6e96a76594836d526112b52dc2c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf2c484b298fdf76801b0c23edcf2928f36107fee91eabd1a091c3e672849f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5db78dd1fea14e1fe4a28d6c38b6dcddcc4176227797f25ba5343a61561f9e4",
      "type": "input_image"
    }
  ],
  "role": "user"
}