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, 0.7933, 0.6025, -0.3794, -0.0219, -0.0246, 0.9996, -0.0185, 0.7914, 0.6109, -0.3752, -0.0212, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0014 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0019 right_z=0.1849 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -1.4974, 10.5368, 1.7705, -0.0611, 0.1148, -0.0513, -0.5402, -1.1419, 9.6889, 1.746, -0.0659, 0.022, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa0f1cbd23de519377a71aa4a5cbd6a6a366f6cfe56b8cb39e0d6d13945aca0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1644a66914d8fafbfe75ce008aabb5cdc017c3a020ac85b88b8ae58e74801f7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58f774f2f8f97b62b79c6cc6f36a7bdc57a4b00d1cdb884ad626c11b4633ffce",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsraruLQPe5KhERjLlJP5UPi8FEW4PzK0vQtBrYNuvD0MuseG2QpQhyfhRx4JYYTz13r9n95nUT4Mkn5ab4NFqUHc7tbO2hBWQm1_Prjy4b3655Qpz-FR1YH-jyWujToBYkKgOvjpWwAAv0j35ltigMhdV0D8a27_aAgjuY_-g-K9LwXjUWATzW3R0WTehtuW4e5nfQJgmmu0satNth-S0XJayyCO_oyzQnhT533vulLINiT3GKWarjxsteADwfwtQmRvzcHK5CQzFyKM60d6TgMb3ZeRRaVPlWyXJ3Tul79ETZjuAVn1ZibauPKwyyRXwaLvad8PaCuNpFlYFUaah44tl5TwyP_1IDBTDmlJp4j1TxXKx0acN0j-FRx3pmdSXr6iC8tOcaILttgjbr4rhRRtxq4e00lhy68zrUfk9krs3qiABaX9K6OYRhVSyPukdg29472HEFRyOxpK8zZRDVDaY-gQE1XAFgU7N4nmnHy3p2PjmadcCU-jIZaqy8TmmKFzs9gqJ3KIBM0zhtLroUA_K75QHRg99W2h4pxv7ZMAYHWssTeVFr46tZMN2jDDuh0by3Cs3bCDVOdX2SXdnBju7O1sY-g9c8GoR9-dlHQjcPFwp4lnguoY_yYPduXQGf47YjiTnx2SeNr7xCz-SjXsJGnABSIfWvhWI5mgtX8nW1yD5SAilX_y-0EagYQY3MynF3nRGI_tHdlQ7RuYBI9B84PB6DFWsJLBcc07WcU2FzAhOB6MEacUz_ru0VMHMbnKtWWHoKEV3qObuQRgnUbaOyUAcCbpb5Yv2p4GSEqG_FNMwMmBAJqIEtvR17dCjdbziTEybdcOF-IJxqeb8hQyDhm5EDQz3ikQaW11rvy9oLPJ2yAqxRsx81F4cN0HyalcPbgnoUTMcXV1p_T6_3w6U3akLSQ-TFbZW2NDJNDf3sdCsOSiyAB4mC8lvwiXa8PVs6Qq_4bvriLyltuD6C3TvC8xVoXvjOv-oQL3Znfa048SkOvJl7Aj55LPqeVfRQ46kcwh2CTkLfJPsHE-3xFZVkJE8SDqqWG9WzSSeJrKAMPH_ZsQPAI9N0z_bKUlKy9oaztqDoC_VPSKyxSTkZ5n0FUdKwz4oqubqrwIry3slgKkYk_g_xKk1NNYh9P6WPS0-t2rgVhRW_xHB6mVNhHVTYBb1-AM8zCL1Ap4CUcT2rzqFJkl-GtUUtJOHzEr-icHOR4HB6q0oMl3V1fFztj25Ws-zHRG70QYoYGeXBLA4GD4rFVQa2FNgBa1J9A_X6zHnvGi3XJ3NdGW1Q-USLfZ42cOvkWWQu_UWMduujbM_puaM57jka51bzPew7TZXMn3EGWdF6q5tgmAysW8Sc59maHlag2yXgiwa4_8lS-LeAUiBGUgm3q3U3EGHpYSWAv3HrVB2Mz7myfs5i2xU16jKFRuHljEB2ZTBaq_UYrNwc8UaReiLuFGYZT_z4gSywxg_hMggENOGv_VOqE5A9lYUPyjGaoeh1nTkYzNachDsXk=",
  "id": "rs_09f1815a1179fda0016ab2b6a6b3cc87d0aab0f8cfab22bc6a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.13,\"left_z\":0.12,\"right_x\":0.36,\"right_y\":0.15,\"right_z\":0.12},\"note\":\"The short cap is on the left and the long pen is on the right. I am bringing each open gripper above its object for a closer alignment check.\"}",
  "call_id": "call_pebXGbFtoVdBkmiePZ4eHdaq",
  "id": "fc_09f1815a1179fda0016ab2b6a96d1c87d09f8406c4567a7773",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pebXGbFtoVdBkmiePZ4eHdaq",
  "output": "executing move_to over 13 steps (1.3s)",
  "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]: [-0.5579, 1.3525, 0.6216, -0.0071, -0.4408, -0.3313, 0.9996, 0.59, 1.3903, 0.6498, 0.0177, 0.4507, 0.3031, 0.9993]\nstate[eef_state]: left_x=0.3433 left_y=-0.1212 left_z=0.0964 left_yaw=-0.0226 left_pitch=-0.0849 left_roll=0.0388 left_gripper=0.9996 right_x=0.3448 right_y=0.1426 right_z=0.0993 right_yaw=0.043 right_pitch=-0.0823 right_roll=-0.05 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -4.9026, 9.4154, 1.9219, -0.3932, 0.1001, -0.0171, 0.3761, -5.1897, 8.7863, 1.9414, 0.4469, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:393b4abc46616859c301c58c756cc64d25bd8c5f1efa1fdb0babbb8cd2652bac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ece4203ff3a8ff2485258589c680be324071e7757cd5bcc5305eaf0a47c9075",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:595f6b441634b2f9800d87992830cb11029940b5e6063750a4dc5779fedb4f6c",
      "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, 0.7933, 0.6025, -0.3794, -0.0219, -0.0246, 0.9996, -0.0185, 0.7914, 0.6109, -0.3752, -0.0212, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0014 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0019 right_z=0.1849 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -1.4974, 10.5368, 1.7705, -0.0611, 0.1148, -0.0513, -0.5402, -1.1419, 9.6889, 1.746, -0.0659, 0.022, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsra5LFtJ3bovZ_u6C8pqX7qbWHi-SclGEL_jvT-QkizCxkWf0F-_WFkNm2w63wThI-WbzJInjM_I6GqoGAwr2lwTiiA2pbrI4MkkRzY-p5CsFLivkIY4cBFeaM5qXzyHFgTx59NXMOvane0uVNO4aSj6s2ptvp9dnR_OD_5hjXc3twL1cgqIEpft3DkoQgWszw89d1H5-Rxg5XT644Mt3Q9OHT_Dw-LA6gQvQR66xUix-dnzmVlKEIymbcfT1XaY80x2HY420NKNRjVrSW29WpoklELtUJwYEe3z-ZM8zzjaONMEQgoVKpyc7uC6pZpkPLjo3f9H0ZbYHdmTYQKgZtXApcpVp59iFjcpXNkCwpVVPi7wIvSFBeiS2ulaFow9u7b_9mGkghpXQg2ei-hM1jITS7LNFhG9MC38MuM7RS8vp4rxo7bmT42xiQq9ilvHDhjCvD8KGrtMzcncPwWNNmRMrMQvz7VVLaQMgVg7GwXZ_Fy8dkM61wlDQ2BSW6qJrs0nJqZByyLkLEVlEBNSwpJDOsoxLmM-RN8_FAkYSh19vWNNg5lDsi_ww_MYVfVwgLzKLXhbWNlFmUQH8flCJr700Ij0OCWqfADSakpbwP03zTCPU7JH8CEXPu6PihZwPjeVo3k2c7OXDO4K1efh2QsskN2ezZVjxSNoqKTCB2UZNBpoex1j-4xQkV2Myq-g9GARWikRhaoWhpMjNG4rWqXDfkqLZgKy-HgB8JJlNQIRG42uz5-yGNzA8HUjImvsn-dWDyKALHs_D03RQi70DqDtvh53uC7Be-OCndKsmYux65_Ymu_tHR__6LZOOGzrc2D7_Mpzut4N8qL2iWeYIrWGI_xsGK8BKe8XBns_b9nVut1RxW5tdl0rPY4YD-ge-30bFq4sAvGVJqkFESezVvY6UIkDGVlEXdWuEyFdoUC0yA0Ak9MBGb8R65LllQ7lfniSR8zrUFyjV1gGPEtVTT7lEnkEj0mPXkX13zJs4QRmNHbj5qvl2cUMEABa0NQA4Lowo92gDoBE1GCJczKWFtRkgmML47EeLgiy9Jeu9UW9hm4X5650_YB_jQntVHsxJPIsVm8HDvyZXWQt04mVOkJLi_ZRfa59n-U7KLLRbA22abFEU7YxCXBVBF6jJlVdABXNvkbARcca7oXJRD_ETTV-2F-CyG1uyfJSbphpALrOS3QnRwvQlWpUAdqUsEssbgDjiEv2EvcBINhC_fbLqtCkkZA-5Z7gM-1t7N3HnsosIzVfq1uzPuyqvZDk34W4Jxd74JclngniWGZg0jp-HUsjOYgfMJfiCTpGBzNRMcF4yZdaehgLpjZW1vvwtZEi4MK7e8ohQSYzT0ycunWpSW2TG3PekrhDQ9bRQmIHfS7gN_ODCMbb_NvmK3Zu7hc-jELmirsHe1Hg7JMJxVVCVwqTHyIAaevEECQHDAW93EFE0uZ1K573yUTw6jz8Rmb1S83yFFU1-UyZn5hsR4W7ZnGneJxG9JzXXdEhfADLG6DMUMkssbCg5ODA0UCPOEWtnW0lfhOWHcetahE95XhwmWoWBFpYE3a4mdIBeYFbB3U_PmVH6lGTL5JDWxJlQKoFb5OSbBAt0mSbjjT9_JbV4vs4KIq7mIuDK-Oqm5SNhhji6wjkzOxn-BqZDgwsNqY27wZxY7XxVbqZYubULcShsegm5pTJDhKVMq6EP4BzB83g5ZfYOvPzLmEyBWe_ON2xtFC2IyqB4fVegbbBrZVGc11hbzBodwV8NN7SnpfbC6k9sdz2MgPmgkYsPdVQrvCNrkby9rR9RvJh5C0shX7ZSQ8RC3NUEbmTDM--HovGL1_FmPkcN7Gb8euINfPkf8APa0qfMwHkH2Uk5le2fiv0peZqgAjcS1Xm_XHxP3vhPTpXujGhX6LDsz8Gj2QwgC1w_f23kyV-HLF1tcaWzBnkC_Gh36TPVFqUNxuQ1eYXz8xFJrZCGch62FIdrS3Den48MmcFWvVMYtCoKr1cnwid5x6xWsQkWsgrF277CHYKn64L_Xc=",
  "id": "rs_09f1815a1179fda0016ab2b6b0e6f887d0a18c9b388d128db0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.105,\"left_z\":0.035,\"left_yaw\":-0.55,\"right_x\":0.365,\"right_y\":0.13,\"right_z\":0.035,\"right_yaw\":0.55},\"note\":\"Both objects are visible ahead of the fingertips. I am centering the jaws over them, turning the jaws across their lengths, and lowering for a table-level grasp.\"}",
  "call_id": "call_OFxdajHyx5abb6rrYaH88bbK",
  "id": "fc_09f1815a1179fda0016ab2b6b7206087d09455b4d99818a9b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OFxdajHyx5abb6rrYaH88bbK",
  "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]: [-0.1822, 1.6016, 0.5133, 0.3019, 0.0971, 0.1089, 0.9996, 0.2531, 1.5887, 0.4969, 0.3477, -0.0654, -0.1089, 0.9993]\nstate[eef_state]: left_x=0.3602 left_y=-0.0801 left_z=0.0128 left_yaw=-0.3374 left_pitch=-0.2119 left_roll=0.0152 left_gripper=0.9996 right_x=0.3566 right_y=0.1079 right_z=0.0195 right_yaw=0.3604 right_pitch=-0.1864 right_roll=-0.0361 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -6.7624, 7.5556, 1.956, 0.2564, 0.1978, -0.0171, -0.3077, -6.2154, 5.7778, 1.746, -0.2466, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f6528e19d051e5ffb2875a9a354a1239ed8334c24ff2d390993709aa1c45e71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd8ac31bffe7f602a40ff77ea7e0bbea35ca2679467ca9bd749c9150774c0e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7abae0f3abd3504a6a54abc623901b2c469b97e2b9be6b5bcdf52e986fc7591",
      "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]: [-0.5579, 1.3525, 0.6216, -0.0071, -0.4408, -0.3313, 0.9996, 0.59, 1.3903, 0.6498, 0.0177, 0.4507, 0.3031, 0.9993]\nstate[eef_state]: left_x=0.3433 left_y=-0.1212 left_z=0.0964 left_yaw=-0.0226 left_pitch=-0.0849 left_roll=0.0388 left_gripper=0.9996 right_x=0.3448 right_y=0.1426 right_z=0.0993 right_yaw=0.043 right_pitch=-0.0823 right_roll=-0.05 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -4.9026, 9.4154, 1.9219, -0.3932, 0.1001, -0.0171, 0.3761, -5.1897, 8.7863, 1.9414, 0.4469, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrbEEcLnmf2Q8DhUS965ZzmiXwY4zuKMm0a-XmGTXIJirXjODD5ugbwFOJ_x7HztVww5LunP9yXHfjmzDkaorpbRO0qzeb0irwapomZ9jLCEXCkzbwUFWvsgSraZ-tqb_ZkRLMblHyRuKIKjM39IJmN3QU4uh3LDCNLH57qZ7xXHqb2jrtyzyWuQm5RDY-yn6gCAVUQXLdga3FDWqiP3FB3EsPWRZBHdWG8eyw1BFI4HXmK2aEXkbC_0MSAfdVf7Z_qSS35lJYcYvD0ZuIsw7_0-h9OvTAGEecPA8bTdgR6UwYh6CjO5RlPHW_ig7SgRc7ypjzuEAuORtUPgcHZhptvLAeAw2egXLsYwOwlGrFl8Sp5WaHvYluNe4RMJPgWuFILXDnFiRMLl0B4zrC0WftWj-85Bsrr6Jts8VtDlxbLHb8rInYotRr0HFFs8z3oIHAZEUaRpLuwLHbN4T0lMQN0WtaoxbR5DQKTnkAb05LRid8wADQQQGMsEdiw6dN_JG3nrf9g7kxU08PT6BVrnV49zTDST3pWmsTOboZUOO_h-iKn_EXwNLkjRyARRzxCN4IeOQAQYvhxu6U5kvSJNm3M9Bll2_DykjgMSa2Co5QZsJjvn2x5Was1917Ys3--ts26WyIt8VFCzK5Fekv-fE00FH5uAZLQfJoAo1IEMue8tmvEBH67DLGAbpjkSMt_Uzu6y778H9Yl87NrJC6hFv_kSFhBXU-WhI9mi9lN4aWucTkbPDsVvgUDTzim2SDepFdtDukdXMtLSTvC2OtZo87tBLpCLVLY3pwW95najjr3KyzgrcDegRhb8LudprulUOQ3CsDfmTWNpeBqREzfBiWJ--Y2cwvvi8tdRechwDH8qpE_UkbOVmHLWYH39ruS2Jc15L1Ah1A75AW3RlvbmtU60wDoBH_pTUpNFvmHge5CC-B6xDOe7zDcMudy5kjqm2JEMkylkWacLg5rvBRRwnIz30vLThxPR4ec9bEDv_mKNTZnAcu0ZBC5q_J1bs9s7JLYDJSp_XEbCGnIZ16RUXErqLyqxzhAqFlBRpQpIMfv9r-igIxjA8pWGf8M9JUDsuwSp767svpxKOxiEsuE0Moi1dPYHJt841RZvvjhjiWevQQ5_eBlIMpz3l7xdFIY_h2G3wRFcVfDllBq9-nVLAm_Sxo5sK9TIrjWK3gRe5Y7-RQyjivG1nhv6w1WBODLJoS2GQzrtf7e36lbcfOiSTWCr2DxhcCjUDWx0Y-BgIRdeJipTkB9LeQ4jew3ZRiA48m2rUNp3SrzM3Rf44Q_yKi-j0SryEzoBtTKBJ_UlGKxb7CjrfmKTWZiJp6wKGTs-Ni2zc4_CDu6rCYYwjiwMES1bmKy3VqKJrs1bz7ZHwLTIZoYRxK_jeAZYHfxHh7f9Z4nmM9khyZ-xnQnAWgPC5S5hxegn1LcKVYghaL1M7giHffuOisMhHbiu2VyS77Gq_EUCZsIS5lzPkBnlmHTj7PDmGhYwENEoEHr0Td4-KxAVrWCldY70Ao9dTZebYZrOTwkq6s18mgA4mGPqMtAUZmYo1ADH3VBrlueeMeQ2oEXewFg=",
  "id": "rs_09f1815a1179fda0016ab2b6bcf6b087d082e93b28026481e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.095,\"left_z\":-0.005,\"left_yaw\":-0.6,\"right_x\":0.385,\"right_y\":0.115,\"right_z\":-0.005,\"right_yaw\":0.6},\"note\":\"The cap is slightly left of the jaw center, and the pen is slightly right. I am making a small forward and sideways correction while lowering the fingertips to the tabletop.\"}",
  "call_id": "call_8iajoKLAsUVg7M8mAAcntSgU",
  "id": "fc_09f1815a1179fda0016ab2b6c12c8c87d0ba6d46032f7a0eb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8iajoKLAsUVg7M8mAAcntSgU",
  "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]: [-0.1146, 1.7878, 0.6502, 0.337, 0.289, 0.2989, 0.9996, 0.223, 1.6184, 0.4961, 0.4274, -0.2317, -0.2371, 0.9993]\nstate[eef_state]: left_x=0.3929 left_y=-0.0923 left_z=0.001 left_yaw=-0.5369 left_pitch=-0.1889 left_roll=0.0165 left_gripper=0.9996 right_x=0.3597 right_y=0.1268 right_z=0.0261 right_yaw=0.5388 right_pitch=-0.1171 right_roll=-0.0367 right_gripper=0.9993\nstate[joint_eff]: [0.4308, -6.9812, 5.3538, 1.0476, 0.2125, 0.0855, -0.0171, -0.1983, -6.6393, 5.5179, 1.8193, -0.2173, -0.1587, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d8a4862f61fe370e0e763f30075a48af891dc1ac10bb12cace21fce7b372a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b879043d4eb4c564a37d9e86af7b32b81832e328cbc7de061c9a370a80ebfb9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c65e33606fcb71c3c67bf219cd71867b52ee874bb0edfb45f9456d75dfdedd",
      "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]: [-0.1822, 1.6016, 0.5133, 0.3019, 0.0971, 0.1089, 0.9996, 0.2531, 1.5887, 0.4969, 0.3477, -0.0654, -0.1089, 0.9993]\nstate[eef_state]: left_x=0.3602 left_y=-0.0801 left_z=0.0128 left_yaw=-0.3374 left_pitch=-0.2119 left_roll=0.0152 left_gripper=0.9996 right_x=0.3566 right_y=0.1079 right_z=0.0195 right_yaw=0.3604 right_pitch=-0.1864 right_roll=-0.0361 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -6.7624, 7.5556, 1.956, 0.2564, 0.1978, -0.0171, -0.3077, -6.2154, 5.7778, 1.746, -0.2466, -0.1001, -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": "gAAAAABqsrbMLZVkPsyPpkm2Pjz-PROrjtGNtHFvvCgXm1r_vT7AsFvC_e46_q2bCsY_7UKxW2HappbM__mrlf2iW8zJLFu5H8fX_76zIjzIjZYVHc-ynECI9nhZTk0Qxi8E8vxn2XE3uKmDxsSBW1QT4qopcU8ORRqkcbvea7PNzlwBnFIf5tokA2QIh2u3bnzLUi-FvmAI3g7PX7mA41nhCF3GSwx8CxW7NskHhVks65iQXhHOZ6WuTH7zjrNqXR1FryY7eeHduC7Fj4MEzAUAuVZuasU_cBHePfCzEYgR4nIiT4KoYAcjf54yLwUeUsRh8cSrfLRwxKMO6vPK211KSg7EE4RekI0kJEQ2xLVrm5r-FITqRkuFkAlS3yIfVdWOnPS3_eXL-yPUaH-nSiHESiSeRh4W89pzysOIAyShWVefGeyrpJ6Y20sMWXxnBAp42TepefliAQcjRVHhNEsGFUzy_hQQw5TbjtqHTPf8NqyPMx3KVscSP1hJ2fZEbzAUX8AsIUUCog05boZtoRUJIeLORhaKg6V4RW7ygJ7UxerGU_aasH3NhVctTXJmwuG-_rWVTgn4TIBRu_GZRWlEKplDQJQ_zhXAr001LI9otaSr_yc1rRjd8BjcVgiQdpFPk-qnae69LHBknOUNE3iHlf7BcQSi_gcK7HWylrC41RTf9EcdrK8HfUlOsfUJtXE6Btqezwy0Ci6fWJnN03ZOwnMzU-FgyDqVGkM46kiQOwhb9NgxqypnkTP9lTkrqsMfCW4CJh8tGVv82jG-76bKpNO2k6U-efquJ7pp8WcXa44o-7GMA8zXiRHEg6TSWmY2qvY1r7yvXBNmPsDQ8T1r6D_pux5hp--ZGwjB9fN7bmPirBZCdyKr_JveJ48wwIvNVeHOpQTDkWv2C03v3yQwAPNFAOfhjp_W3XA754c0a9Pp2lsBiW0_zLRtu2oew5Ts7YvJAlZElOGcP2h4yo6cYFL_2WSNzmvibgWWYr7IO6LOkPT5a9sKXaBRJJ3P6Brv2NBCBKH_RPVjyaxWEmc7zlVbVkNk8T-BWSiStuU2OlE9TN2eZFh9cOpPMejXUiZUEwCKgxoTFpshnlVWr8aZUj_X7RtVBfQ5NoG9H4nsUY50DGWns46vd4E4QblQiqxaFHsZ7BvBJ96zACcsrGQL1m1q_P5xzIFyTD-QYd7bnignTqLIVihJAKIEdFgUgP41A_YW-Ozj1l6DnttpjDpgX7jxTQOExPDCdVfcg1dLdz_Rf9_vAhCvcAHKNLFEWZryGECDdlRRac1HRVjlTOcOyWHXya6zK--CkM1RSwWvwoKc9UN-LJ0t1r6eesd91Q2Lk6ipw1qiIg1ESLkBe0gaueEtT-aNVb-eYuXP9qX9TS4bxx_GQFUGwHsk3h5uDb__GVrQGV2p",
  "id": "rs_09f1815a1179fda0016ab2b6c7820087d0a5352931cfd642df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.395,\"right_y\":0.115,\"right_z\":0.005,\"right_pitch\":0.12},\"note\":\"The cap has reached the space between the left fingertips, so I am closing that gripper. The right arm stopped short of its target; I am adjusting its approach slightly to bring the pen into the jaws without pressing down further.\"}",
  "call_id": "call_TFvq4oz9F4vF9V6bpA4DYxQj",
  "id": "fc_09f1815a1179fda0016ab2b6ca2cd487d0b6acb72529bd9624",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TFvq4oz9F4vF9V6bpA4DYxQj",
  "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]: [-0.0994, 1.8153, 0.6846, 0.3176, 0.3229, 0.3588, 0.0095, 0.1303, 1.8809, 0.4828, 0.7891, -0.3302, -0.2573, 0.9992]\nstate[eef_state]: left_x=0.3987 left_y=-0.0925 left_z=-0.0004 left_yaw=-0.5834 left_pitch=-0.1906 left_roll=0.0326 left_gripper=0.0095 right_x=0.3852 right_y=0.1118 right_z=-0.0032 right_yaw=0.5369 right_pitch=-0.016 right_roll=-0.0275 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.1453, 5.8188, 1.4139, 0.188, 0.022, 0.6227, 0.0752, -3.6991, 0.9778, -0.6276, -0.1245, 0.4029, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae26967ae9dffe29a1d532c76f27220055a83bc4f294f62f214ee5ac9749599",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06636d63583687723b0a12d5b652306aba7b426820479310150665a22a20f895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5bd6b08a1632b3cdf7c47ba1158d534c0d9e5e9e789a9318a26566fc3411f82",
      "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]: [-0.1146, 1.7878, 0.6502, 0.337, 0.289, 0.2989, 0.9996, 0.223, 1.6184, 0.4961, 0.4274, -0.2317, -0.2371, 0.9993]\nstate[eef_state]: left_x=0.3929 left_y=-0.0923 left_z=0.001 left_yaw=-0.5369 left_pitch=-0.1889 left_roll=0.0165 left_gripper=0.9996 right_x=0.3597 right_y=0.1268 right_z=0.0261 right_yaw=0.5388 right_pitch=-0.1171 right_roll=-0.0367 right_gripper=0.9993\nstate[joint_eff]: [0.4308, -6.9812, 5.3538, 1.0476, 0.2125, 0.0855, -0.0171, -0.1983, -6.6393, 5.5179, 1.8193, -0.2173, -0.1587, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrbSD9nud9W-SNIOy5Hkl1drS-0_LcXNiQZTxnG-PxnoRctal1cELitoggtHJErpVZJrzxESyfCjWPBHILr0sZN7CFvme1YHqkzs7Br5gtEadTnQ6W2AyrFfNq-t6FLexcTcYToGaAF0xJfV1Cz6o7JbrTS1mJaKyXWW2rsk6tozfOiN7fnMF4PmLWdcOFsjt-jMckY15qi5oHsVW35jtnH0t2xO9MVfvW8y_XCkjQSEClUjxjZg7NNL02TUJeYMbKkwBzcpITp5qX2javO_X-bick0pgvphfslZqOGTcukriKfQbgine_k9hbPeEAiaKgjll7nzX1Vt9WbHo_gDZlips-ZQQvKT_oDcd8n75_LsLoNUEt6aM3gnvhjjNhtNMC6Mll7EO5Ig9Vy-b0PedQ8JVoAuDUO3KnvhAA9v8XMn0RfVjkmLbdM9jc383Ks0WniKaFa6AUyIz88QyGXJt_B-gMk88sZCIV7INvMuBCANi4KRXcmy_HV2jqg_7H7dtQNjT3C0fpiiIhnNL0Gfdjtd6cuVRmJZz8FfEUck7VPh8pDTWOIayPTMK3eNmjM5yEK8yY2A-Mlcu4O8H0JeWgw1Ak7UEKRpv8vPpuMZxBu9JEe-MCe1t_z6_gJ-P_UkFAKLH93_9g301z5dFF1p1RUmkAdsrAqXaFNVDErD4acYoKkBopmqpGZ7Y2bPTTKtvXZk1neRcpJt0MRqc40TKNaCp5CqVEtQnxhzFhk3sDvP4rA11gBjyImFWCouZF1jR1KPJueYwiocGbhMCa_gxaCpwU8TTNzxZLTx-tG4qg4LdZnT0s4DhfzsYDsn4vz4FSPmhPX2WQXfs74DI1ZFDZeAEG_9K0V8nYBYp8jG1zrev-Y3NKKjVSVt6N9aDezQ-krHCF4gclpgWTX-Mv__xmHktfevOcSVQXE1wo5BwLfAbiKVIaK2T5IBtLBFVePWu09gTcd0ysE3NLB1ocBFfCIOjmRcx6GzdTm2_vh-4j6fiovpKGMNEj6CEs2bsVX-8avwIdPjwm6LtR883D9sOEGeVDfxRr2YFeW_nDKBgWZuZLpUnWmjs7Ez1xKWP6tZYdPdb4rN7GiF4Vk4zLrnJjwR4JFllr9Lcu_vlePe0-mNv0AMEjcRLRAdCJQNqM0Sc1tKKP8SivMYtXHYMkuB7cDUqHyuqWiLqccvmp9dFfiirLbmxsuPmdEwqrXT9qiG6-TscnxJPFr3PKspysL7Aq_fLyMOFwD-KWfrrbJU1pBV36E54vaTUiyFQZ1jkOwUd2NnhI0_Rmk-kFaoRoIXgJv0fw==",
  "id": "rs_09f1815a1179fda0016ab2b6cf8b6887d0bb492c90d0becdfe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_z\":0.10,\"left_gripper\":1,\"right_gripper\":0},\"note\":\"The left gripper closed empty, so I am reopening and lifting it to locate the cap again. The pen now runs between the right fingers, so I am closing the right gripper around it.\"}",
  "call_id": "call_rEX6z3QQTkSYTQGpoRi8d3jj",
  "id": "fc_09f1815a1179fda0016ab2b6d0603887d0be98555c3291cfc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rEX6z3QQTkSYTQGpoRi8d3jj",
  "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]: [-0.1146, 1.3777, 0.6731, -0.1127, 0.3107, 0.3405, 0.995, 0.1265, 1.8866, 0.482, 0.8215, -0.3378, -0.2592, 0.0503]\nstate[eef_state]: left_x=0.3498 left_y=-0.091 left_z=0.0845 left_yaw=-0.579 left_pitch=-0.198 left_roll=0.0253 left_gripper=0.995 right_x=0.3884 right_y=0.112 right_z=0.0011 right_yaw=0.5403 right_pitch=0.0094 right_roll=-0.0356 right_gripper=0.0503\nstate[joint_eff]: [-0.7316, -6.1744, 9.4564, 1.4676, 0.1099, 0.022, -0.1197, 0.2667, -7.6513, 4.2872, 1.4042, -0.0562, -0.0171, 1.1551]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a94fcedc11b9984d85a3a118b3d0e2a9569ed5d3e578e51dd35bd6a4f3fa34da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477925a3339128a08bb96ed63195664ef13553d5fb2fef04c5e1ea96c339d9ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8e30ba324d984dfaadc93567588bd1aefb71af9e6c10651794894c9344f89f1",
      "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]: [-0.0994, 1.8153, 0.6846, 0.3176, 0.3229, 0.3588, 0.0095, 0.1303, 1.8809, 0.4828, 0.7891, -0.3302, -0.2573, 0.9992]\nstate[eef_state]: left_x=0.3987 left_y=-0.0925 left_z=-0.0004 left_yaw=-0.5834 left_pitch=-0.1906 left_roll=0.0326 left_gripper=0.0095 right_x=0.3852 right_y=0.1118 right_z=-0.0032 right_yaw=0.5369 right_pitch=-0.016 right_roll=-0.0275 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.1453, 5.8188, 1.4139, 0.188, 0.022, 0.6227, 0.0752, -3.6991, 0.9778, -0.6276, -0.1245, 0.4029, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrbaiSz-VY7rzUlb-kmEsUvRdvFAlV4qGlEC0iExubDZWNVA1mzJ1YVNgqcknj8GR-u0-ghY9d4Wtn_Y8jFMozhm2c_TSOpNBSDDHY9uMiDqPQpSmw6Uga3op66jdQmuTBYyXXZU_h8Xla96bC9PONFoGiwd64W6v55qSLtnpjsvTAHXf3aXblotwu0bsgqAdj8mGD-TO-WLnW6bVpeTsItyEMA3K9VbP7Vk-QXj-rnppWI4mifPhnbJWAqRMfVdzOQ_dyvAN2vNFAJCIhE1MBCWsnxCeIW0RbBtPe0N9s-Oxkjbd544NUguzo0LOFCo2jxYIdg6D_8R8P2TsP0MYfsWPZfVsEP27-uXvDkdz6hrp9Lkb059cOogBOIJ7q6R6fwgdKMWwcvZmEDIityNb2o7QdfiOzQD0yPZm18OGPYvE2N80i3AolPX5Z0IQMFv_TanTxrX1PHWsdT3kjzbmR13rZ8mG7AkMk8h1TobdA4hwM6mds3fOUQ50KnIF_Q0-zgHTLNlP0iafi6rKGBo3DU6JT_h-PsE-rUj8gBt12aCqsHqzXRTXHhNeOj1I6RKaiZdVBVdgCT9MmC1ML2s1WUXa8t6VACXJo3HmRKMVMkGPMRYO2Vl7fPE9sEeTi4ziWLIwvz9y56GPIIyieFlZUEkYOKEvaFd-mvsTQjNH4RzqW9g1euSflQrD_d01U3xFWlry59EYSSxJcTnB2jnVvTrfw1xajjQyoN6IQydzhMSsr32gcnq3BAbE3eyaDuGHB8SWAbt7FtAt_ICfBxgf-BEj825RIm6piZK06-WkIsCeIy2TVFWROJ0DfiCyfBz7_B-rFl0i_A1RI1thedLpf3wHH3lNVkvGmLPMTEj-8Z-WLh1IVXkeGLmpGOr6apB__SedexxId0pmKks-drEHMl5r_SqFL6A6XhDJUEi7_iFFoXtJsV5h40AgGDab4SqAmg83_XiFcFJ0PF5JqRm_vCRNyoZpllWiAKOIPhtIojgKYAfNLeQzhmBx7VyW0eAgvjLdRa-AUeoHRhtgNjeUQYouDyvlbh-BogcecPhKIkKVnq_-3G86Cch6SHps-a3qkPAy7_J7q0mldKaH6cMebN018bPdvt9Ayd0AuCaLLbIbbgx9SILt-YHCpM1bLRze-Z02DsmUz5P381lNevFcioQZI-8qspcdby_nf8RIeCp9-phDupwU4X3wHP-zFs21nEAHvfamkpYRInB_a4_3xn50x6MonMOi8PWfW1NpOkdX3QDrxzXQvOg7YlS0I7_TTr3cY6oTcG90lMXWmCyOJ3KVxddgByaswqqMyluwmnJDOSDgWMg4Gy923MIO1H81U7o2dbjpjBV9aRLe2jj_qWCHvcj16uoXhTojO5gpniPARp31NodhBlHkU_nHXGJzVphWd2vmC-Ql5tF7daoN-IWOnlMplfjmwrGYhgBYnuFny33JlAz8Wn_wf8yGIOlt2vG10LEYyAwXR7qsaE6Tm1RvZloXIasSqUEmv9GJMYxBZd8UEwfqlR7aMGdnyuS0OAKHq3z2LqtsULQYv8mVstV5toanUQQOgdte9dbltCZ-AutRYjCiEOKAXFkIVijbEAL2XOR48iHHJhRaTpKk4btWA==",
  "id": "rs_09f1815a1179fda0016ab2b6d543e887d0bfbe7dfbf803235c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.085,\"left_z\":0.005,\"left_pitch\":0.12,\"right_z\":0.065},\"note\":\"The right gripper has closed around a thin object; I am lifting it a few centimeters to verify the pen follows. The cap is visible near the bottom of the left wrist view, so I am lowering directly over its thicker section rather than advancing farther.\"}",
  "call_id": "call_wpGVoltSf9mL7Pfef6akQv8M",
  "id": "fc_09f1815a1179fda0016ab2b6d8268c87d0aa909fc27295136b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wpGVoltSf9mL7Pfef6akQv8M",
  "output": "executing move_to over 11 steps (1.1s)",
  "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]: [-0.0254, 1.8439, 0.2989, 0.9653, 0.4541, 0.2909, 0.9962, 0.1265, 1.6249, 0.5274, 0.4919, -0.3378, -0.26, 0.0586]\nstate[eef_state]: left_x=0.3471 left_y=-0.0827 left_z=-0.0023 left_yaw=-0.571 left_pitch=0.0551 left_roll=0.0193 left_gripper=0.9962 right_x=0.3832 right_y=0.1113 right_z=0.0503 right_yaw=0.5408 right_pitch=-0.0112 right_roll=-0.0272 right_gripper=0.0586\nstate[joint_eff]: [0.5538, -5.6, 2.2222, 0.7888, 0.1538, -0.1929, 0.1099, -0.1026, -8.0342, 7.5145, 1.7216, -0.1441, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f419204630e35b559626b5d88ed57f71e02b2f737d1da35fde164f779231e02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb8a64cd3b1ca9dd2a69aabc4eafed64b57afd54086828ac6d2de1a404d60235",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581ec8410c143dc7d80ca5e86aa49f0d058266fd30033241e383e9291c304a81",
      "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]: [-0.1146, 1.3777, 0.6731, -0.1127, 0.3107, 0.3405, 0.995, 0.1265, 1.8866, 0.482, 0.8215, -0.3378, -0.2592, 0.0503]\nstate[eef_state]: left_x=0.3498 left_y=-0.091 left_z=0.0845 left_yaw=-0.579 left_pitch=-0.198 left_roll=0.0253 left_gripper=0.995 right_x=0.3884 right_y=0.112 right_z=0.0011 right_yaw=0.5403 right_pitch=0.0094 right_roll=-0.0356 right_gripper=0.0503\nstate[joint_eff]: [-0.7316, -6.1744, 9.4564, 1.4676, 0.1099, 0.022, -0.1197, 0.2667, -7.6513, 4.2872, 1.4042, -0.0562, -0.0171, 1.1551]\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": "gAAAAABqsrbgKBu75Joxhj5d6RXm4Kb9-qc16gzLUtKtk7ggq1X1jNvj9A8SIpgnI1faQST2OdMUMvJ8akcVYilvgLVowQHU8UXo38WlLPOHVD7aDpRR2l-PBaAQERjPUpe65-OUrjYSJgHiTaF7iDN3f_5Jq6S6f77_oijSyfnv_s2S9hn_fypWwDNxnmcG-uXpuHEfbZOKAQJ-40jAbhgdzZSe9ZmAB1gxubThOb-HbEKxRf6m81m9gPj4oVaHDp9qSok2cCX6yHadv6lSRLV-JdLKRWdaAPBwCNy3QuUfK-R24f5RulCK71daRdVBkerRgvk0Y6mWnrZTL6G76CIUHb0A7yW4_BEO_bW1e78GztANgl6i7d1nIdXl1RX9m6CqJQ982RCP3qW7xzRJQgE5jv5mXHKgcyCWxgYmDip1BPWzsTPiU_d3nfTco_5gbOCSttSp0uPgfSSUspF911wBb2S8VtmX8GPbhkMdKDs92Wle4sJHcuwdFoaA03MJ1kype8ZoPq0JaA2CS1ubHE5wHsXmmAUbDi9hulsD3eN-E0V8q4bSqpB9-MVD77cVYWdeiS6K0XPgMv_wMSbfY2j5U1OW1tQ0uFL3BsMEIfbPvu5Aq6er03PTnTZcyLBpG6EWN_8WJny40eEIUgerj5swlNFGiAnZxdAn7ly_XeshLlwnxwHoGVnLQCcJehVOsF6cHhHhA684xuaWQMJqdpJnOloCVvHqI6rlTuMfCzt5AaJXj82B15Xhemw7YHfiokvrm5oB34i6m-i-KOULWEj0zYrocJ2TFEGGSOICDTJRmrjn2U2aWRMr8z2_DHyZkRuS5j1p0w45Cj5Gy-0YgaZq04ytJ69bZeOIOIKmWmU83LKbbB_O0V9VC6J16MNykU0bsFcRsrLgQ3iB4KrFdGX7ub_WUqAXMSWFZuT6J7Sd5SEfs2cPjiewLLygxgG7kEy2VjDpnPcYjGDPrevhxZJEdnq0b7wJY0SMfXuum3j7EnM1B2ZXvlkiWqeBZHm4SEq6nIR0INjqnKXy58EN7dN6YSgtCXiaY7q1rkhaltE4x-NHxVNORm0Ga_1QkCNMEVphxNYZbDSRC0KVV5cu9Q_MI6kCNcBoDY4LQZLk4S-9h4L3cHUukUw1WtbvxkmNG9bGDCg4RalNWHHV-PyqEfy3zkP6pdmupry_VWsrWQLiQCqzPwLQK2vsEWQU5dwdPVl1DC_7wpnitThpy2soOgpqWa8GFkeXDffH1IOcO7wa6-io5fMCgE9FCDT9I1lQEWwWLpkfObrHIQrgxm72r3MnRpUcgQ0IkplmUytO0VFPzk6p0aVZZ1g5Yew1XHxFZz5tqcsHqR82ZMVowb-90q17JbK62ov_2BVpKyY4C917kTL-EwgH0e89qfXcoQw5h0H3j7qhIobD",
  "id": "rs_09f1815a1179fda0016ab2b6dd672487d095efb99131b57b8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.17},\"note\":\"The pen stayed aligned with the right gripper during the lift, confirming it is held. The left jaws now straddle the cap’s body, so I am closing them while raising the pen to a safe carrying height.\"}",
  "call_id": "call_ceM1uqX2Qniko7N7UjIDnwnW",
  "id": "fc_09f1815a1179fda0016ab2b6def5a087d0b73f195f34d4f93a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ceM1uqX2Qniko7N7UjIDnwnW",
  "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]: [-0.0265, 1.8576, 0.2909, 1.0008, 0.4515, 0.2886, 0.0458, 0.1257, 1.3525, 0.7879, -0.0547, -0.3382, -0.2634, 0.0644]\nstate[eef_state]: left_x=0.3471 left_y=-0.0827 left_z=-0.0022 left_yaw=-0.5691 left_pitch=0.0662 left_roll=0.0256 left_gripper=0.0458 right_x=0.3839 right_y=0.1112 right_z=0.1521 right_yaw=0.5422 right_pitch=-0.0237 right_roll=-0.0243 right_gripper=0.0644\nstate[joint_eff]: [-0.0479, -7.0906, 4.0274, 1.37, 0.0904, 0.1343, 1.6044, -0.2256, -7.2957, 9.1145, 1.6777, -0.0904, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7d85e427ba2c8a860d7c9a2202308d1bb34ae412ff70d81b6408b31229a29a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97bac983bcc800ccea7932dc6f7ea71725301a0f450998a578191cb53159082a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ee7389d1e5ad09d995140f358cf797ba3d0149d772b9933d89769c1e9c490d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0254, 1.8439, 0.2989, 0.9653, 0.4541, 0.2909, 0.9962, 0.1265, 1.6249, 0.5274, 0.4919, -0.3378, -0.26, 0.0586]\nstate[eef_state]: left_x=0.3471 left_y=-0.0827 left_z=-0.0023 left_yaw=-0.571 left_pitch=0.0551 left_roll=0.0193 left_gripper=0.9962 right_x=0.3832 right_y=0.1113 right_z=0.0503 right_yaw=0.5408 right_pitch=-0.0112 right_roll=-0.0272 right_gripper=0.0586\nstate[joint_eff]: [0.5538, -5.6, 2.2222, 0.7888, 0.1538, -0.1929, 0.1099, -0.1026, -8.0342, 7.5145, 1.7216, -0.1441, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrbudoiAD_bS_mXKFbc2O1BBIT4UvVfXsp_DIZEzym5C22ji6OJMbKb-W8fXBBf5J6LffoQFK1MPCXhjJRDSKnRgwCmmsk5QKBrikg_LlAjFQQ8NqfiKssKrJ8awFEjhCT7DAaL0ghQnfHF1okOmp3J7EwyZ-Jp3nVP2Y7ONXPoH2u3jDYrFa5B3hfIttpSYo8x7bsERI0QsMFIzs1UK9Jq2sySWL3wYzikVb_hdlGk1EK83sJ9YBFGIOzYIPoW5_0da4kWL7ydQU69R8xmXe7jbwD6DBf7vKwBV3UQ-07lKK234kWzWLVNVPAjKty5MboS6XU_jfP6gGzxebBbyzd9pGXlok8o3-2TSESPe8UMHnvMWiAHyL-6VpkYBCxft-mqS5pDUBqDQfVR8UoMHCfPDPN1vt5qtYZOVwTKChBxwRFyHkQGzwg4YGp8WQshAqKQ9xaPIolPnvR7mW0z05O7VGv9pPiimtxyrowwY3hCUdMP8JKDxRwPBioHepOrqSSR5QHZW3vOhigtWoB9KzCu4dQLM9asrzsngZamX0bjO_WtAkztsuQXQkanmgQXkSEwSd62jvmqDefGqthFEgkLnHKmNItdVlkgo-Ncysq1iNZ3uC7qei8ekxHGg9izvptuYiOCK0Sw_fXyrQLtMgXl8Q5GlGAJoX7sn7vktlPyLzBeis0QR4RxA8RQFcojriRf0N4PhJp2WjWRWZ3TvDmpXy8lyzc0_hcJ7wqlfCZMxREz5OLbJ8NunXdExMrj9iPyWaxJjjuhI77qgM4nZdjaBkpik06jXh96e6F4_leDR3pi2IwyfSHWSm0lCZjPs4P_zEkfxSqd38awuweEE8bSDBwfcnosep68oOWr7qSO_p_-wIEvMMCfImaqTbJzlbBYQAW0nKzJTN0YNZT83cncDjuhwcqqTatzaQ9_tKminczXIr4k5jxqGIzGrioj5OZa_BXCQ2GJnWdNaRiJOfnPIwmvqs043zQ-Pkx5K2UByVMmp-3dEMrxEAo4Xh4j-OT07CcjpTdX0OZe2qeQnTAMBJFLnjmR7pg1tFPHGJ-8GlxYieYBwCFjvs9pmGQiqUtZZjy5olTSftY01PVPabHMnFJLr1Fqi2CQpxkLTS9et6JXKohdEO5RtAaqB2i61antd1J67Z_TJ4LmUwQuM_sA86bplpt6JJVhEgSI5aVx4Fhc2Ir_V7oBdd1oOTp-bJLx3ksOFSJ1Hts8-ke-84UpVlZ-0kJAuwV-xs1-RdDUbptRu1-8eg5jZqT0_fgXwaHxrkpPxVVCdWUEd6uUA3gD1ANLxDBKIpyAJLdq5rGW9iMY0Ka9X-NHx__HAu8C6nbPgDMKEWF_MPz4_v7JOXXkR5h2ewcw7ukpbByyaRrkaVr-0W_6iQw4Exexd_l0feQHRSHpz_vlCak2d8m2Lsp88gbV9KS3gVraqbLFdyzCpw5a4clxkepWGaoRNmS1ow-RiW2gagaYdog3btfKmGS9cfhXSXPKd5uEyDOH4qwoV3BepEKj3NUphPl0qYadwf1YLZMqFX5COI300ZyHCrX-FeVGsaoltLjO07XZm1EhpjMXfDrTlta-zagPGmKIPMP9V049710AApAbqpOh0COKRj2IoHE2JT9Na-juwbtjTkek3TEq4JSd3La9x1Zn-KuKDexCgk0nhtbw5ZMoX_A6lHXaGhS7QXH064XnkuO0DtTNvPGjcqoXyd_kqdRTFBmWO4Tf_ZeSfNP2DQOd-6NaEiq2rQJS2TPjLUH9MKWiKjts9w4XBcY4ePjw1kLkj7amDBT_M1uf87NPTr0yMcSz6A1p0OGl_wuF2B8etz4OtmoTM-0szu2y4ZTdyGobBQ8mq-Z4-X8Q7hDusgyI1EKr7uVWCgOF0ILzlW6wueYhNvwc_Rwt9K1JebCb1DqMcqMT9StHcyLis5Y8mnTzk-dmv7a-3z6gI1mOb4eJzxUuFzsp1c4Y7RKUQTGyDjU0Q04dL",
  "id": "rs_09f1815a1179fda0016ab2b6e7027887d08b69dc8eb9d33c1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085,\"right_yaw\":1.25,\"right_x\":0.38,\"right_y\":0.19},\"note\":\"Both grippers have nonempty readings. I am lifting the cap to verify it comes off the table and turning the pen so its exposed tip points toward the center workspace.\"}",
  "call_id": "call_2WPxyeMHMcl1UdlNgRecSFdZ",
  "id": "fc_09f1815a1179fda0016ab2b6ec40f087d094b23f68e805ad57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2WPxyeMHMcl1UdlNgRecSFdZ",
  "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]: [-0.0265, 1.3846, 0.371, 0.4641, 0.445, 0.289, 0.0488, 0.1291, 1.6707, 1.1381, -0.3584, -0.7532, -0.7361, 0.0692]\nstate[eef_state]: left_x=0.3455 left_y=-0.0816 left_z=0.0755 left_yaw=-0.5647 left_pitch=0.0784 left_roll=0.0374 left_gripper=0.0488 right_x=0.3935 right_y=0.1766 right_z=0.1474 right_yaw=1.1195 right_pitch=-0.0474 right_roll=-0.0263 right_gripper=0.0692\nstate[joint_eff]: [-0.1299, -5.012, 8.5402, 1.6923, 0.1343, -0.0513, 1.0281, 0.6085, -8.0889, 7.5145, 0.9988, -0.6325, -0.0611, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d43c60811c4fea1f644764bae94beaad4bd6ac289243011f43008663e7d1646",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c1d058510f87657f2f2206c3aaebc0ea458624b13c1d9f686160aa12924a37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214456415ad31c48cb9a9d693c8b535bd4cc6cdcd6d90c7b1e8b40d366d55253",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0265, 1.8576, 0.2909, 1.0008, 0.4515, 0.2886, 0.0458, 0.1257, 1.3525, 0.7879, -0.0547, -0.3382, -0.2634, 0.0644]\nstate[eef_state]: left_x=0.3471 left_y=-0.0827 left_z=-0.0022 left_yaw=-0.5691 left_pitch=0.0662 left_roll=0.0256 left_gripper=0.0458 right_x=0.3839 right_y=0.1112 right_z=0.1521 right_yaw=0.5422 right_pitch=-0.0237 right_roll=-0.0243 right_gripper=0.0644\nstate[joint_eff]: [-0.0479, -7.0906, 4.0274, 1.37, 0.0904, 0.1343, 1.6044, -0.2256, -7.2957, 9.1145, 1.6777, -0.0904, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrb3Mh3bqGjzI66HAPENSv70K7xH40NNw-IbRxeUz84sI16BS7rXwG841GDddvFJgSJW00-Evc9lRwyEyDM8_IuTNW7kSXNbZ2h_YOJnpq4aBRRa3Z8nbgUhlE_6njCb71iSxJ-FWYig8LTLf6JOaVKx_K_3jAHpuC0eSmkComAJBj8nJ3RRy7afRv5WSEYcNcUJW0GernA6aMfRpjHa_oiWodN7QsYMhZFd6Bxv7jaZSCzvGNG6_3r93Z0G_7xPU_FtbpuBBjOLR_EJvjtreEFdWoiKUWemyIWIyErtN5XgwZbOzlf5Zy6tlD_A1CxmhIdMe86ke97qUw9_QT7cnqnOzkNnS70giaTNJBsgLSImokW0F-xwPcMDwyn2UiM8Ms-3Kbx81w5swHvu0UV8B88DjxAKcYqNCm8vDJI7Qw5WYREnH68gB7hGMKf5B-X3cuOFBaXCYjrTaDF-kbYSxzMt6SkPMGlwLu83kWBQgOpXtu7pe4RqOvPzazZh2sqM36uYeZpiMl6MSjJV58f9vWs9GMV1_2yu0zP_s7mToNey3IPbMA4Dh3j1EcEoBfaZqEJRG1Qh8qutCZqpXCW419b_7gwyx8MigDWNb4AaPWue4-bq5DnDIMocSPARFktrFKymgw9P4N5qOPaV8zLrcpD7t8ZFbBwYAlpcWjH6DsNxfrzSfX31-KhKm5UgQlcZJDQSA_JqRD43U5b0pEae71r4Pe49uIbThbG445K4QnXwx2-I5flEbBch_sjL5xgAJ6favF0_6dMl5FwSY9v8qHH76as6roLdYl4iXHLDYZddjARqxAggM5ufLnEI_KTiR1r6jTkQM9g38whhlUdSiYLaP3P_yZY1GBmmfjA6mR-M75Nsm7AIWT3FCYiH05zcXgtE62j9B1I8vrvt_MPyqOgcfbtQFnqgQdcoAPN7xlGaeEOBnl0l3hH_fPvlID1NcxIHB9HHThBdonuuIY6GgFxSZ6XbcE_aHdNOaTz_GJE7zC0uJJKpYZP76pNmZLSjqxk5fCaBauMC1oDREiM7RyACqCmmMIng-CngkioD6lLz2bP7TPfNsXfBEiIAyMoYnYsbMXuy2iG7zC9QiP_h0Fhw4EUI3uqk9rEGd0w_a2utsdGpQTP4PQg-HR3HGyBJ6KAHCo-uDxJEqW2x5z4-2NOg-x2PNOlQ-xYjdOvMF_6uJfNV3aYnoG65PiheyinbDuaTiEQxHmWkWwkA06YRogm1jqztylBDvGLQea5QDUZchscr2F8LoRV1vam--9yLh-NrIlEcORqLIfXUFc_qXvZWIqfs6PY194KQ5I5CZfvb8df8rC6e2odjuarWLvelsEYMif_YKNbXKsyZpyhek68rVrVNGR6YWHOu3JFeeaq85Ka7d-kkHG18wPVFQSnCcZ9g0TsxR0lbaIT-037xv1k--1kQA-78TUvlaurt962fjd4yt7vXTHZuxkrMIuXecsjh1MZs0yRe9o-ndK6RluyopQxoP69f33Wpc9emqbMj_n7uNukfha7Je2mrnFfjs9DzYZLVAEvBao2WC2mw5Pnol6yyuZFvT7qlwgICj3p4yuYWxq9WyBwN95kYgaTncAJEHd3MWCiTvjU0VRPjV3t1nT6MaaZFcwV8modJ_LL1McBXAPh1LiCbyTbb6RxoHYo68EHA3e9epdf6ZGAnqvnVMq6nu7jK11FqjBBoBNhSlSDG6D3ZiypfBnj47U-7RkVH-3r8kAIshkQZ9JgvglFzvfILU_13wSa9mLPgsRjyTJ_pw4wwHXKMzKmhNDUNnrmfDkTgCsSXrC9wUOVdVHuQlD-pbUl7i288E0FeH6B4b1c=",
  "id": "rs_09f1815a1179fda0016ab2b6f0f0f887d08ee0ff95968b716c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.19,\"left_z\":0.18,\"left_yaw\":0.5,\"right_yaw\":1.57},\"note\":\"The cap lifted with the left gripper. The pen’s exposed tip is clearly visible; I am rotating the cap in stages so its open end can face that tip, keeping the hands apart.\"}",
  "call_id": "call_48r7MYeGZJuNNS8CpCRhBwuZ",
  "id": "fc_09f1815a1179fda0016ab2b6f57c3c87d080ddd8471fab3512",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_48r7MYeGZJuNNS8CpCRhBwuZ",
  "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]: [-0.8707, 1.7664, 1.3029, -0.5068, -0.947, -0.9329, 0.0552, 0.075, 1.9995, 1.6104, -0.9733, -0.9249, -1.3678, 0.0713]\nstate[eef_state]: left_x=0.3799 left_y=-0.2229 left_z=0.1723 left_yaw=0.3366 left_pitch=0.0667 left_roll=-0.0457 left_gripper=0.0552 right_x=0.4036 right_y=0.1754 right_z=0.1422 right_yaw=1.5129 right_pitch=-0.0742 right_roll=-0.0438 right_gripper=0.0713\nstate[joint_eff]: [-0.2667, -10.2496, 6.4342, 0.4713, -0.6081, -0.1343, 1.033, -0.7043, -9.6479, 7.6923, 0.3639, -0.8425, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9cba4ef0acf902ad77aa76d7349be309e5a96462e1be64238e9cb43c7e905ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea9f5c2418b912cbe030f01823c99dd51cdd8886312259c785e88d65c0b19d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecffe35acff43f1cf4c5f506dff2445ded88e83bb8e9b82d819f6bfec4213e59",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0265, 1.3846, 0.371, 0.4641, 0.445, 0.289, 0.0488, 0.1291, 1.6707, 1.1381, -0.3584, -0.7532, -0.7361, 0.0692]\nstate[eef_state]: left_x=0.3455 left_y=-0.0816 left_z=0.0755 left_yaw=-0.5647 left_pitch=0.0784 left_roll=0.0374 left_gripper=0.0488 right_x=0.3935 right_y=0.1766 right_z=0.1474 right_yaw=1.1195 right_pitch=-0.0474 right_roll=-0.0263 right_gripper=0.0692\nstate[joint_eff]: [-0.1299, -5.012, 8.5402, 1.6923, 0.1343, -0.0513, 1.0281, 0.6085, -8.0889, 7.5145, 0.9988, -0.6325, -0.0611, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrb-ZQH1CK2pl0MYEYYIR2qhuv5z0uUg7Qbalq8B7MWg-KV-ibIqMrfk4nnTotkr5NMe6St4IZVgczm-j-uLw6SQgz2xoxHE-mm0kIH2cPrYPcm22sObdNyUWLJMc9UEz4w3umG-1HL4YS9tT2SwE1sC0FFSEGJH_TcWenUFC8-tpoX2Vy45Jrk96W1w29G5sHw6CPp7cxXkmz7fR0okbV4AxREpp6vcOMyEIBASGVzS1dMrTEQ6tXKIa5vPNz-O7cZx5SYVUi-tNRB4JGnJ_uvfyRIwggaqjlOmayaY4C_SqzkrLdU5gli6mRqV5FrEzYmqPjC2kmxyqd4OH13wDWkbGbQexmRTYisgRyO88QeThEJsjLlIOyEy9aOv8FXR64q-qVmDFRQFPwTzF-wXkIVBPavVI7gV58ABBpLITSZuNYsWcbSwYsmu6HItubIMqkms2sj2oV6gQyOFRz-Ghpu0kgos9axIbguubW0LTaMYAKLUEpgh8X5RTKvSgXCrXO3njOiJL9wn7Vo3OWKiatwrmXUxhyBH9C69h4J0VQXL1MRmXz7fN091M3ImB9HNn6T_vcn7mAD9bAFjW1LXJ8ZXR0toO6EPgnlUeqrYAz8TIe3WaRmAvQ8qYFRmDUotxTobL2Nl9ZYqN3L1fLbtOZr_DQeBMWc22sb0SvoapWfWaVchvZVPaEqIY8RCiweddfSnx40b7FLUBToCNSai7QUVMMX-CGLu3Vc6iPbDVge6ZcYJfRxe2PDaplH0R3yxyEl5g22r6z2pnonYOiMXc4J2UDSUr4Hz_-gf8PCq5_2DmfFAlvMHi8Nklu4e0Or3hqMibtwbvsOoNOdFD0Vcudn2c4Lfc8AXTpdlrQhkBfl0Dlc0yPa3ZwRqFPJmTjqJBn79-oOsxcQsNcX6jX4ycVpNcFfSc7mSIBFRFcVjdvc0OvWnuRyEw0E1gjRnAmZfWslTx0WffYaFe0Hw1G43sOtDbVZ4-VoqJxPCUCK1vh-onlm_4YITO5rIagFo38PEJuIQAraNUWRwmTwi23FoyG6OQIR6eJRMdePzaEDvRNzEF98c--0iWPmRx6xm9YkmQgm-oOT8mOPBXsrYMw_5k8SQQ3KUEVStaSi1duI3Toofb2oZUYiv-x0tRcE9Qswd5ZQ8Brz4TwOcJ1S31_k1G5F1RgsqYIUA-AcZUQqcdN04AJjZINZVI54hGe3F4ZlAXL_7RReDghgqPrSytrA0xdvgl5i8d0qJXUgIuD0UwXR-D5DMzOr-wSgeGrayY-hhjT-f",
  "id": "rs_09f1815a1179fda0016ab2b6fa6c9c87d0b2551cab1b42a0d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.23,\"left_z\":0.18,\"left_yaw\":1.2,\"right_x\":0.34,\"right_y\":0.25,\"right_z\":0.18},\"note\":\"Both parts remain secure. I am moving them into a shared forward position and continuing the cap rotation, leaving a generous gap before attempting alignment.\"}",
  "call_id": "call_6dzB5uGeu6xp6l3L7nyDsAkr",
  "id": "fc_09f1815a1179fda0016ab2b6fb8fd487d08eeec64800012daa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6dzB5uGeu6xp6l3L7nyDsAkr",
  "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]: [-0.865, 2.183, 1.8874, -1.4551, -1.0042, -1.9774, 0.0552, 0.2829, 1.8748, 1.3983, -0.6765, -0.6891, -1.0138, 0.072]\nstate[eef_state]: left_x=0.3716 left_y=-0.2007 left_z=0.1521 left_yaw=0.9123 left_pitch=0.0068 left_roll=-0.1557 left_gripper=0.0552 right_x=0.3786 right_y=0.2307 right_z=0.1163 right_yaw=1.4166 right_pitch=-0.2274 right_roll=-0.038 right_gripper=0.072\nstate[joint_eff]: [13.2308, -7.3915, 2.6598, -0.3101, -0.486, -0.149, 1.0281, 0.6222, -20.9846, 5.6821, -0.7106, -2.7766, -1.2186, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b41420bc2dc6e813096add6c1b424ca732165baffd944ab879c8d48a494a31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f66c5f3077cbbea4ea4d89bccbfbe60c627f6da58338f3f85a02859dd740d155",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348cc28f61bf6f912ab8bd779efb89b114fb986ee2429772d71b42789281b433",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8707, 1.7664, 1.3029, -0.5068, -0.947, -0.9329, 0.0552, 0.075, 1.9995, 1.6104, -0.9733, -0.9249, -1.3678, 0.0713]\nstate[eef_state]: left_x=0.3799 left_y=-0.2229 left_z=0.1723 left_yaw=0.3366 left_pitch=0.0667 left_roll=-0.0457 left_gripper=0.0552 right_x=0.4036 right_y=0.1754 right_z=0.1422 right_yaw=1.5129 right_pitch=-0.0742 right_roll=-0.0438 right_gripper=0.0713\nstate[joint_eff]: [-0.2667, -10.2496, 6.4342, 0.4713, -0.6081, -0.1343, 1.033, -0.7043, -9.6479, 7.6923, 0.3639, -0.8425, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrcMpi7HtaU42UI1Z3vBMgkouxECxMUEOYA4vqP67YpLVQ5MsOQVS0ws0i5JegaEk5gXlyC9fBWhtBgdDkgM6E8IkpApMiv1gep__2FlBUacQf7PoDEeRXfhZhXqm2OQzXhSAcZoiAG2aC0m36dxFKphstxhqBxecDgd8IgL8kK8TjvC3h1hF7PkHh8z5A2eex-tTlBUtHq4TEwPs4smfTuPSpRLxU4vFN3tVWYolBeJo7wK793_RZDfj4-ZAZEugKndcc2DUGj-HI3NZcCrq2-wdh0qrARCsbg6F7LdZcKnBZTN5gmrAv3TKMj8FVPfG2d3NJ9kwM84FZOnqyZyG3nj5uua8KvsWeT9qzF1kyLiiRWCr-wPs-lR6zPkNjhd-Uiy1PHeCOOH-yqxZq4WJ8Hp2_AxlYGg0b45pirsm8dpcsh8yw8KP5Z4I-bHJgw0dBXzqUc7OyjHJbf_PvlAxsRTvqBBU9Ed393XCq4TpjIAHsIynei7ONJ8Y3CaZwPkqyVVR_r6D6NP5zFn5jrxtaPhR4TU-CPvgAct_XYfogRSsCBQc_OHcauVq0y6RzEj1vz-tqiGmWG97F22X6WTF9N3nXJXqMaufv-YH82ILsQ7oVTym82Z2Ly_tieFouA18DM5QmEgrjmKd8OfhFOr08ceK1pGiPB4gmQNQjqVsz9ontsL4Xqb4S-LNPQ_yXGid5hnzE8s_eTUBvPKpTY-_bjZYGUbgpKJNAMNIQqhnmiCTGd24J4Dan6Jrc_wnzfbiy0r1ME0bGZnTEbFAEHUi3y-9K25Rbc8J_vl-4V8dGup8UFJAHo-mu5E7Ge26tX-BIRbiqZKGT9RoftlCq3OeBlCZrSXeEp0EkxL3W410YEDQBHcLmmjGtoo4zpwsdMIMoV23aC4nU1AyAjY_9ut5LGxr5DxdYqxBEU2jcGd19ZTHB98oO80EX40CIhGzF8bXfJKXKwlAtegBFkZB8iXtR_ySLDNgnhtQcqMIYqa9HxoVKsPMA8o4d9LXNIQ-3R7neqMAzGk371nLEM5FHwHsMUJWyE1gXWzFN8T41N3hWMrMrEnQBOUL7EOVUXkq23_SNOPmloD8NjmkxUWsjANYxE3QE67f3xoCG9l6KW8thMyoxx7bQK_BoO7313rB1huNzu6Q7AGyjGfzSsHFtDgmsaKGrnATeNm5m64pbBEtyYaAJ-xtP0jj92yfcJmS2D4NZgQ3y_MzSqH5hT-9-ABymsirANqXAix8NgHK3FF44ZT5gxM6OSsb8zCHtsRxGWznJliXRHEsIoeE6yqnQd8RE9wl-ZIC7gYurMpcSFpgNy2P6xBO822j846gQ6StngP_Sgt_Y3Fiv0Klpmhw-Wlh7zZOhvrwmIildQRDzaoSTz8EPo4pZJ1BD5DgDw--h1NquHmoP6Tf5FfbAjYCMZC3POWRLod-j54-9TLQKdSIzkVKbopVQhLwZHPf8P9dN35PTPDSY0y5b-9Tjlj29rAp6_MWyCOIsFI-CiLVeLbAud2UaKdVVoAB64iP0PkTxFWrwHSIOkcr9Hl54e5HD9UrYQraA8MGa6RpRFaq7bEzzvaG8WOhfWCC_Zy22eQv0SEZm0nUGCoCkGOtgUq6LfUXXjd6_Votgta73uUgc9bdmR6oVRTaVcFo8LpiWP4S_ZbfOfdZ1hGCyEtBQSvbwFtoahqesfjYejFGZqpzP8lYbTmZQfYyEglTXBmfs8LHKQkAOP-1I0dTCq4FsryBlPtkxiEcYt-Q7T3nGKWoEjO4J7eRFbEWf1hdPLMktQigeDQLtCv2MSFIu4e7VAvsJ9J4ezF8JPFIz0g8GQNhZFtK8mareGmHuCSX6hPkZ01suEoNwWXinWVmxB2g-p3GwqiBQN93UrLPzrNHQUaRqpaVxd82q6CNjQj5JUCKNvHM9LNe4PUirlqShHFl5-0FB2mO5EiNY8-NjUHyRm81UK8uAT8G7JddlnKZFYqPKXS1OymRvIOTADdu3-IwmWwJinYhkJrxcMGSsmtRIJxtz0QRDloWnN3nuHLoxd9hXysfZYPI6m42MDpa_W_tVCy5C6h2DaI8wLApIns0h9T5yoDuG7_C8TlEZIUnC-kNTkmjLZh0jcc4iCt8t03c7o9BLfeWwyWVHQ_HDHUxl__a7fKkGr8e_5L4Lzu-dpdgQD1gLvW_cNHemYQRhSqtYBYt_qjPtJZ0kZus90lyZwwrHz-pglAyt-zl1blFZTGIBhaU1LYgFnG7wT225cC85Brt8EO0_Wy6EuRDQy41XLzyfRIcdamujLqaihxoYC7IUd_dLpA2QwrrOQhyki-7Vawat3t9sX4byJZLe8jUK52XW1e_ctVmgpazuDQHMhhafxLHlVdt4cEBVs0S_d77wQ031AaT3paf75-QOroAsfkPvGK3ZhAo1kI10Y8CeEOuuS0eZ9CIJ25MJVdc4lDpyBuUUgPyHPGX0pzhXB_4zIKxQmOAALrrEJxq55a7Qy_uC2ZNh5br4ImhK8lR8FJFH5B05WUgrhm-4Q1Q2E45pQohQjbjRfUGT4CdZskG149remOXm4i7UvgR1kELy2YVN3vQ8vxsM9I7sGLr7xxVK92PuXPGddM1vNJvF9EGG1BpDH0dZIIAOdod_k_BYmB9WDa_-VuazYcz7-8HTLcCZ6QA-pc5e3QXYqHFZWdDdirVYexePQ-7CN0",
  "id": "rs_09f1815a1179fda0016ab2b70229f887d09ec1801db99c8be6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.12,\"right_z\":0.23,\"left_x\":0.34,\"left_y\":-0.15,\"left_z\":0.2},\"note\":\"The wrist housings are getting too close, and the measured positions show the arms did not reach their targets. I am separating and raising them before choosing a clearer approach.\"}",
  "call_id": "call_dnFLIKred1nvCYmeh9aLG8Hb",
  "id": "fc_09f1815a1179fda0016ab2b709bd8c87d098d44082cb34284e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dnFLIKred1nvCYmeh9aLG8Hb",
  "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]: [-0.9463, 2.1803, 1.948, -1.4406, -0.9874, -2.0327, 0.0552, 0.0078, 1.7317, 1.5547, -1.1931, -0.6785, -1.3018, 0.072]\nstate[eef_state]: left_x=0.36 left_y=-0.2411 left_z=0.1641 left_yaw=0.8617 left_pitch=-0.0327 left_roll=-0.2741 left_gripper=0.0552 right_x=0.3544 right_y=0.1172 right_z=0.1852 right_yaw=1.3528 right_pitch=-0.3121 right_roll=-0.0307 right_gripper=0.072\nstate[joint_eff]: [2.9333, -9.7709, 5.0803, -0.0757, -0.6471, 0.1538, 1.0281, -0.2393, -12.7521, 8.6632, 0.3199, -0.7546, -0.1245, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edfe091be5538e3887e42b1dc5fefe1c42dc4b8720d99a0b33acd1f63e7e21ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ead15d1db3146d64e3f3989b97bff23c443ca513c440d5e8f1d1696ece647bf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94798b5887af2d1875f896e630a775963e0e7d2d678d687b84e48fe95c184a62",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.865, 2.183, 1.8874, -1.4551, -1.0042, -1.9774, 0.0552, 0.2829, 1.8748, 1.3983, -0.6765, -0.6891, -1.0138, 0.072]\nstate[eef_state]: left_x=0.3716 left_y=-0.2007 left_z=0.1521 left_yaw=0.9123 left_pitch=0.0068 left_roll=-0.1557 left_gripper=0.0552 right_x=0.3786 right_y=0.2307 right_z=0.1163 right_yaw=1.4166 right_pitch=-0.2274 right_roll=-0.038 right_gripper=0.072\nstate[joint_eff]: [13.2308, -7.3915, 2.6598, -0.3101, -0.486, -0.149, 1.0281, 0.6222, -20.9846, 5.6821, -0.7106, -2.7766, -1.2186, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrclqkeFpKr5k1kYmUsiY--OsQugL-7-Jf0DUToT6wqcwh1FQu9cXEoIZjbCwaeoTRKMQv-uvjehivTYWKLzL08TKOJfHai6kTK-4acu-RXrRIsfFZ9lcoBrX3A2nEhX7iFOQ3Np7vhF7Zm2SV8vx-2hlAaPTWx7yXgV_O8R1j1km5BzRKUpE1aMtB0MzzaM1_CNUfx19q80sykKFrpRghukMldp8TOS_uKosf7euWRRwzo1tHyFg6l8AxguPERIbDnQXmZqo5ILah3jkN127iTohJQ1ETUP4Ci9ctVbyXeycLLqPi8-BkNJLNfKROAms-TSmVknnKH4OdFIZ6xyY6ZmJZNltcvogd4Mg00tnn6MsgznDg9Z2vgyr5XSU5HFyArVJCSLNG1Jnwu6YLKZJl9trE9-GqJ40UCGtkTvNjcvw-YtDsh08VlXpqKeGz0Xe3T1N7pop8RmUz3hZUf3XsDZO6GbhyYdsMe79TEPPkNQVFUthdY0zhYR8mggjwt9HBrpqs8yZuQb4JLCF8KSDE1RRF1K1IQ6mh1esRfvCWGN_WSv9BJ7zewud2FLu_2_Rg-pp-2e5gTyJEqW17LOGapkv6eUnjq-xAda-OlonMWfsD0L0EIKsA9rsuTUQJqovH9Phk3P1XiCieAVonYidtZsVmRlCXA5ZHa0agcexNPZT-feSHYwUwPfTwo_dxU8TBIw3SMqhl3UnlPZ12Jh9EotCnTvaiaM7zfp2q5Puj7X20QHJnaoVFTU1l5MCCjoA10TwE7rrU-1HT5gPgy2zblhAcwtfOj-Xz_F74dlCZsc26Dsrbv2ygtJQwwXr-1NhrSSIuk2q77Tfs599oQbd0qfHB9K7Mgn1sr6kk1fLyD1nAFZ2v5lOcxE92KP6iYNA-9mu1F3HRoq-mB1U5TMAFxgdg6A50DGeo9r2cFz1eWXHy9c0bdoNytPzUp3vpLOH4S-Re3gvGaA6va2NbTuelBeShHmeUWEIHgrgLuArDsVblHGgBAx2PLJP3-ST9MIOGP5-EtKumllFjx_e2xCvl5rAlCgTv8ZlDWa4qHFmBXjh_wZUdHKDpIxPTR8zRvfPsctBtP6FZVpdBsESYZ0Ny3vmPJMIghK-08IsjiYLklLlv70Zhe_S0QSxW75A77gFIg0FMcjVkLRsyn7uyHhioTeeRAjoeQabgjQSW1IV-Pq7uNtW5UXzt63DognDffZkgMlXractMiZU_w5Xs3fucEtxnIQ8pzKyFOr4WN71t2G6o87KjXnTQszqFWu9vGBxGKl0jDL10icrn4p_MBAithxUtOQLmuJEzVVLzI9WQa7kCHwbOz8lfvlzMXJDLxKU7dkdgeWJxPAWmBDfN9LaLS5TMm8hijvBmSAt9E2Ear7S1PH8pqFUOa-j5edBdGOaYJjxqAgIv7Nnu82cxVZigscB4q84pzyB5J5Vk-5NqlCmT4F5xp6KYXcn86IHiVybrce6A1x1w0gqhvSX3KK8see9SW2MzCnT-49TgPN_2UcZ0Mztk7v_DewNxgRq2l1rLgYQMmXPmmaKuUMMMYRnSNv-VXGKt4A0Oe80Rz3vdzoiJTCIlh7wx4mU8uTB1SBmsjS_nAFnS5q3aFTSNiJS1rcOp4peBc4kSWKMEySXRfTODkrDGanMSzGZDghN8fCNbozuPo1YYj82bV6Zrs-MmcpCuJHm6g5tEFzsV9N_em9IXvHjcg3YNOqbIryfcMIGphOk-kxqxBdzztLxq6DNrqVkwyKLB8i5pFXSbONKWlyDOxy5MXhUc0Hw-S-mMa6b5x7hYn-ElSR1S1zOic_eErpVHs8ZavlKomF78OpxfN3MZyQG1BQ52-FpzXvwzFs_IpnReflp65wfYBuovM8_GjMcdKvcAQunGyrsKnFenntOTfZJ0pqnxzos7wDtSkVQEqAvlUm2usYJeQrzb3_7fvLPtKq26TEalKQFYpxASHhFzrptdTJteuwUe-6V1SB6IFSZfeNiI_3fMCq6lwLzfxH_FHqL3_xsRLJJp75dY9PbsiGQ_ZWuScHH8hpNxBo4AHwekktOsVy504zsNNG7JpuEVcgJqnWllrO7kck0UQ0rpMbgvBbBdB54XY4HFqmwXvbHqZTSq0O6zx-JiD6KDuDu99e8b_4I47blmayx98vn32hfI1mqn3qMjLQ7jdsJtTkyvZ8EWsYWnVI9n8pBCc6MzDYjdFajGcGMVQZmqeEEDdgCcP_zs0eEy9FU9nKrs6e3rEGhBalrQmqF6gxVaJNmrXy2KImU2jVDt_jPdXvxYXvv5ajxZ6htd9U5f_g7U2fz8Vo39FwJHlmxAnRYoEEZ8i1eeCMWLOe-_z4W_OYgedGIOEyvZhQl8PlmxCaSKDSJWfiQieOTn03BYnTGrZ8teHjXr1fBdJORic1oUtLpydybqYqRESQZ5deqSdwa6wrnT3ZE3Dx-gdBMF8GOhOFi_bUNNAMZOrX_V6f1FOIWkPsRtmVrXZ2o9nFN0N6cxvdUb4Gpfb9jiXV1SvvU5KXINzb0IDyzygKXH82PPGEOU-P_fW9rrbmHHjZwRTAjlxKOmLGLwqASlBFLkwbw7NAd5qp0LyYZe_tskVaNJAYQ3meVdbC2KZAANEyLuJ3NeoB8uOHUDj1_ybouIxgVKl8s7_gdDRAcOb2ZUDQSQjFUmBSlK6zGDWY4MzKgLwLjUJ4oKubIo5dYzeDFKml0yyKAn0k79VPskHV5XOwDpiQ1LuoQjJhY-ChfdGTjqhDYdEeDqeLpKWHq9WZYaQ3hzhGDPObEnbLTqacBiX-45Xu9vYh5p_dHM7Qvjcmfpwf9IPUBKGA_0SWzByPV5XmV54p_6OXr4bu0vGgEDdklpIyqcY-XvwNUF8S5MbW0P5Gu5GPYMWR0fqgLhSg8SVsWEJTYxNm-SkZCGZbhhAIMO77VuwlpbK-LKJhyuU24c6SA7uRGaFDrwH9zmpeORMIIbyQ04uwaNACbOvGfsOqQRHS1-hYjGEDb0xUqrmd_knwdf_Rd7g73XnYlcMppGRkEOfRvQetthkfiV5Jrdz0YdV_4dVEIH7ZQ5Nhm2rR7ItzKzoNKKuzkew2Y9UWaWz3bMJNePiWDxM4EsyuWf53Er2W0rBbPkX_TkaI0fI2KFwjL1Ll18X09tj1cEtZlVwrZF4E_6yftXmo7tjC2WdHB86yiFvi7R6lEvy1r26YZ2s-yKZ6BRC0Kci0bbyGg5u7YiLhxCYnXGZrUQBUEH3b8OGbggra8Qx3vAFTNa8zTsRQLBw-zPzZQJ5RfyEFEq-D1OuDyZKZNYnPXem1jHZTodAKdcnNprf5-aAJJm6kAPATQQnayUVzlGQVxtSTTE_atHLDCsd13sVDj3nkRWbyOnM0saYDGe05w79umg4vzW_xzWCGUpDZ0cPztxGng1gBFG7zjfur09TKaKwFkOoamHjSR6KHWrgygmkbDtiMWYzMoThzoJzW13IEy9vr26Cw-J3Xx7RNdeR-abdB4BqV6pnGZnA3fSSipyNEuEbfHAtYTe7RgBykr8_mXYXkJtBvs8wfuSHsOpn77PcfrJ46jD93LwHq6Tur2S3Ky86FJgeghZ0gQGAW6SPjx-QVQN9BHgp5HCgzuMUb8KUKg6k1s9kFVsrubSFg8mGddU6af7q4yvCpphLsZ86DJCGXPXORmUhoZT7BGheOhbCSatq9pUzefh6Ym5hM7suqO5_4YS_7obhApak6RG22RCJP_KzKIDpM9PSMnP1ro_FZ0cDzjWCspXQCb5M7H14FoT1s1jIoY0_0IGZaJlj596q1uBV7wA1oNfqj-0NYksFSZFaZ2EDRtG68koHceChYJOs6lZj_pHvt7FkcdY3NFxJY9TO5UNpRtqsdDCOr3Y_opCtA1eXqWNO3erIeqJirilwYWHwWZEXN4Sffsg4xoVYu7bTjDbBcF90JNz6dtMZkOmm43J2F57RHfz5he4YtK_ZhjBOkiyqj4AISSleJ5H6bNbHVnNdQwjBN78Af9m-i_szIZvmSVD2YjxDgHhJ6Mz-g9s1-BOToFX9tDWinRR10WwhyNmPOqicKBJBAPljWHVSyTIBzD1AVjSX81YvShndbvfpgJtkIXqtzLvONJ_wAEwi3Ot7z6Gdu4b96BizINYedpdBWxJvKHBqe5I2QHKPaRWoPAdJSRM_MxEMwnihn_8rmbxrOTyh-9Q6iAyneNtnkQjftQVWkrFoYYGoY3FlmkBDlId_siarGbYj1436JzaWZ92KKFi6DlXuKOfyPgHWxYoYU9E88RPykyyIshDgUL3aIvUegFWGABwAeI1UP_U2mlHWGFUm9xhe-bnRJBAsh1cKKRHS3AFknqyEYSuqlAT67m5gb",
  "id": "rs_09f1815a1179fda0016ab2b7106c2c87d0bb77cb42a8baade2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.15,\"left_z\":0.22,\"left_yaw\":0,\"right_x\":0.3,\"right_y\":0.05,\"right_z\":0.24,\"right_yaw\":0.7},\"note\":\"The parts are still held, but the large sideways wrist turns are tracking poorly. I am returning to less twisted poses with more room, so I can reposition the cap for an unobstructed insertion.\"}",
  "call_id": "call_4HADpGjpg56HeNwO6ZovJAqy",
  "id": "fc_09f1815a1179fda0016ab2b722328887d0a221a048e25c6883",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4HADpGjpg56HeNwO6ZovJAqy",
  "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]: [-0.6693, 1.1767, 0.9169, -0.54, -0.5209, -0.878, 0.0589, -0.1131, 1.2808, 1.2995, -1.1084, -0.5114, -0.8043, 0.072]\nstate[eef_state]: left_x=0.3128 left_y=-0.1308 left_z=0.1908 left_yaw=0.2247 left_pitch=-0.1323 left_roll=-0.3089 left_gripper=0.0589 right_x=0.3003 right_y=0.0565 right_z=0.231 right_yaw=0.7886 right_pitch=-0.328 right_roll=-0.035 right_gripper=0.072\nstate[joint_eff]: [0.0479, -5.4632, 8.1299, 1.9512, -0.3541, 0.2613, 1.0281, -0.5812, -5.7231, 6.3658, 1.2625, -0.3492, 0.1734, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4821c528bf3bb0593a276611d266b96fb40630a1d61977fa01adafee0e72e278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34db137e35ebcbe68d016598bb12dfa6c4786453e8239716fdfbdc53702d86c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cebef805d88c70222a60cec0555d300bf764aba4e092507ca0b99c85657427c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9463, 2.1803, 1.948, -1.4406, -0.9874, -2.0327, 0.0552, 0.0078, 1.7317, 1.5547, -1.1931, -0.6785, -1.3018, 0.072]\nstate[eef_state]: left_x=0.36 left_y=-0.2411 left_z=0.1641 left_yaw=0.8617 left_pitch=-0.0327 left_roll=-0.2741 left_gripper=0.0552 right_x=0.3544 right_y=0.1172 right_z=0.1852 right_yaw=1.3528 right_pitch=-0.3121 right_roll=-0.0307 right_gripper=0.072\nstate[joint_eff]: [2.9333, -9.7709, 5.0803, -0.0757, -0.6471, 0.1538, 1.0281, -0.2393, -12.7521, 8.6632, 0.3199, -0.7546, -0.1245, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrctn_BZ4KRHrhgDfiW9g-0Yp78V73LTPxjFBsOWaxZbS9kVMmVpzOryjsbVWaPJRuepIHVrUYMDA7O9KNwzqiiKAx8yPMhqrxjuTakEBp96kIewEBBXdzlEOPm4d2JTyVYpH2hfm9iXgRHy1yNWBZotKNjiFNrojQdTaRnDk949cXDrqGKu1SX6HRxJgebXNnofRnv67LWyhJqwuFDzKec2dgS1LhysdCmeus8HvKGgd1P9QRHLYAbJp6tQagMBeZ61QkdoTDV58pKREOeyCDTrIt910KKTfnM8qqZZqI4LRhQ1Dd0FPmUAOWh01mQktdtk4PmKMZcphsslmMbwQ517FmiZWHZzEBo1OUsdRd28v9avg5CZ0MVRZVK8NvEQEy-N5GP70asubCO0Bb2BTJyIB0n1cSeUbBvG9-68isHfAt1sxbLdG9KKLXJTFgfEq4XeIimtI7vL_BTSoI4SgcyyfN1JKihzVU_MQZFZtuAfvZv-EyfRfh72ZPIVl2hJGlETmW9vwALZhfU7jIguO_bNzCD06sroyTFEZ_ssCygQjK6pDa-8slK6IFNCJbKFQ8VSCDsR5ib3akmEOC3ADEMaTdO2MSjyP3PHAnUo9c7u0TuO5pnnjrgL2CAER02o5a7eoup_yCk2apaS0HXGzyb_g94tJODxIAw_zZjfX_QgEMPZhZQ1nyaOmvVCeQs_YcH53QYZRh_TbSOaViZkuXfn1ov3fLLsyXi9hcaz9bzC134Alj_wGFDZaZh-uA001qQWBirzsr8nY7JiISnhrdOFZx5ZnOwJA240Ae4E4B4rLv0Jube7wr0YbTJ1pD561veeUD7ZqbgQ4Ltq-HfXPuM1iKY45UV2YSyDmt9L1ypo20bIMTIV0Gbj_ofThiSEtNxNe8fuF8h5c4ykdv5MC0GvbdsRyH49PLoUmpUpkrj6SiTO70yOQygrTPr5msWLXK68NFja6CgRmR-n8x7cRe5loUO-16dClEe3iIGSh6xOzd4dG-m6c-MM6aGtJyR6x0sgiXwzvDfqIE6amNNZMwhwhVMqPQP0nfhGPLIAh7uuSLD6dMEgyf1eptA6Fr0jOa93fJdEpiyh4LnRTIP_aV9XD09gUpnoCpkNk0OgU4B-rpnexZ4wE_1rHzAJywal9BkNQFrh4kdR_nIQjnqJ1BIkMlO1b-lTJctszFl9fTkfh0ePox5U7yxpoxhWYBGllqGLvFPggGI1QKFEUnVUpvTT0sX-TBASbjpCq9GX8M6tCK7Qe6JppGZpCt0DmaKKlDynWp-tVyhFpLYW7ITMkgIJ7GIHZSQxIfJMqr8j1B0kBEGotLL9t-TqMMwNZhWep-l16kOxhurHD5nBgxgIRp3-IY4SPQQPyeNozIe86hPiqcisVEMKkZLXJXM5p7H7Y9H2M5nihM1KNs6IqaozLicpKqomc_7wlqMFi9VB6yXdxes7kSYoP6KR-NCZ_mhgI1X-gaqmumMtFjRadraNbtYJZgT_P96KsaS_KEv34KK6hrMTNr607KzqePb6wYL1l2CjDD6dxnGe5mmsoRWdl3GILzWmUUdnO27EwLdnYIp5vY5PJR6z-WvUqGIfNgmeTdIU",
  "id": "rs_09f1815a1179fda0016ab2b728491487d0bb34cc1f476ff4d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.15,\"left_z\":0.025,\"left_yaw\":0,\"left_pitch\":0.12,\"left_roll\":0,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"I am lowering the cap onto a clear part of the table so I can change which end is exposed. The pen will remain held safely away from that area.\"}",
  "call_id": "call_YoprEXxNgwiWrk47QbawTsOb",
  "id": "fc_09f1815a1179fda0016ab2b72bb6a087d09dbcb14776427fd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YoprEXxNgwiWrk47QbawTsOb",
  "output": "executing move_to over 11 steps (1.1s)",
  "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]: [-0.7658, 1.6894, 0.3458, 0.5991, -0.6552, -0.4774, 0.0617, 0.3023, 0.9035, 0.8356, -0.5991, 0.1268, 0.0612, 0.0721]\nstate[eef_state]: left_x=0.3074 left_y=-0.1413 left_z=0.0067 left_yaw=0.0118 left_pitch=0.0021 left_roll=0.0377 left_gripper=0.0617 right_x=0.2901 right_y=0.0708 right_z=0.211 right_yaw=0.1539 right_pitch=-0.1049 right_roll=-0.0291 right_gripper=0.0721\nstate[joint_eff]: [-0.2256, -6.8718, 3.3299, 1.79, -0.4615, 0.0757, 1.0281, 0.2393, -2.8103, 7.2684, 2.1123, 0.315, 0.1587, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a20f31ed19e2aad3edec46341c526a7306d30d0a3df25f44b826b81b1f122467",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7271fdfc6d320695584f7f576252258800f0b92da5ebefe33ec4bed1818826ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d0d01477656e439a40866498400300f2f3bf9bd9203f1e8837ec70cd8c7ce7f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6693, 1.1767, 0.9169, -0.54, -0.5209, -0.878, 0.0589, -0.1131, 1.2808, 1.2995, -1.1084, -0.5114, -0.8043, 0.072]\nstate[eef_state]: left_x=0.3128 left_y=-0.1308 left_z=0.1908 left_yaw=0.2247 left_pitch=-0.1323 left_roll=-0.3089 left_gripper=0.0589 right_x=0.3003 right_y=0.0565 right_z=0.231 right_yaw=0.7886 right_pitch=-0.328 right_roll=-0.035 right_gripper=0.072\nstate[joint_eff]: [0.0479, -5.4632, 8.1299, 1.9512, -0.3541, 0.2613, 1.0281, -0.5812, -5.7231, 6.3658, 1.2625, -0.3492, 0.1734, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The cap is at table height. I am releasing it so I can approach from the opposite end rather than bringing the bulky wrist directly into the pen’s path.\"}",
  "call_id": "call_c34pFpt41ZoJEyzOH7MOOEsx",
  "id": "fc_09f1815a1179fda0016ab2b731134087d0bda9c684feb912bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c34pFpt41ZoJEyzOH7MOOEsx",
  "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]: [-0.7685, 1.7008, 0.3298, 0.6121, -0.6552, -0.4847, 0.9951, 0.3069, 0.9073, 0.8261, -0.598, 0.1295, 0.0631, 0.0721]\nstate[eef_state]: left_x=0.3032 left_y=-0.1384 left_z=0.0011 left_yaw=0.013 left_pitch=-0.008 left_roll=0.0418 left_gripper=0.9951 right_x=0.2893 right_y=0.0715 right_z=0.206 right_yaw=0.155 right_pitch=-0.1167 right_roll=-0.031 right_gripper=0.0721\nstate[joint_eff]: [0.1026, -6.1333, 5.012, 1.409, -0.2271, 0.0708, -0.0611, -0.4855, -2.1538, 7.747, 1.6239, -0.0269, -0.0855, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a019c209ca0e31a9d14efd70ec81b2ad3827d0932f09516fd4b494758c209bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6300670e25680edd403beb3e2a3d7f528aeafb01360a01033455d123dce981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b23effbe8319ba324dd2f8dffc5034be9a0c1b6b514d3654170006cbbf3f08e",
      "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]: [-0.7658, 1.6894, 0.3458, 0.5991, -0.6552, -0.4774, 0.0617, 0.3023, 0.9035, 0.8356, -0.5991, 0.1268, 0.0612, 0.0721]\nstate[eef_state]: left_x=0.3074 left_y=-0.1413 left_z=0.0067 left_yaw=0.0118 left_pitch=0.0021 left_roll=0.0377 left_gripper=0.0617 right_x=0.2901 right_y=0.0708 right_z=0.211 right_yaw=0.1539 right_pitch=-0.1049 right_roll=-0.0291 right_gripper=0.0721\nstate[joint_eff]: [-0.2256, -6.8718, 3.3299, 1.79, -0.4615, 0.0757, 1.0281, 0.2393, -2.8103, 7.2684, 2.1123, 0.315, 0.1587, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrdCWJ0LuhAA3pxAsaxHTMztxDWuEXV14Jb8cXBGP_3X1ia3Y7JHXQNI57Ai7YeVs55UKG2ES_pSevrHenHLRyjX3CoLg6O-FTWpYOD6wj3r0QEklmvLgH1JSQVGJf17UzBULT8hFnK0wn3_po6SwA12ZR8IVsrsW-900U-Pi60LukprPk4O4fA_B27JfIhyaxtRD8bG-PHf0gzsHumOMde9GL7J4eDh4k8xqcgqxY-4E85eziCMN37AB94ZSD4Ubt4lW85Q0eBCjdNsmYrPBWDuDsvTaTyy6SKtTqy73TnRDRaisuiEF__tuyjMmlXr_-7wXV-pQ6X7LovZe3Nl9b89fiG7p5XZ8z3SMi6XDMvMOw4rfe2bkKAKGcOYP3ysxKkQz6hcQ-2QPWfio-9zivE-TW6ZlInbOqvU5g_4GWTAeBMjVFgfQ4Ssx2SnPWFJqezA5DFA6E8YO-qneQu2P8uAeQAh4WMHf_MVHAd2IeiEc1eYi6aRAJ0qgh5THIEadVAR1oXblW6-5YXDXv5grWC5tg_d-NE6-dyoPUGiKHQ9FaiM4_6nDTIqwCrfp5AWI5XCmaTWt5tGPzpmufyH5ZxHOnjY_6doj32saZR-4FCIURyvQBQNACuJxpJbqlMf_z_OpM7Y_kEjGRvH48kEkcpgj0XoAoohAkPJNTdOzgUFwxB5BQFJi0t97sfsObDSYibp5OnIt6Qw1bqE2o7oXtWYPJxLGOuEsFW3H7RExG0GzJqzy1O742ZK4l5bXiw3oC7Ohyq5S5CpwMJgQHnaFsz_Mv1HP48HD4XnnPXfg6uuFcx7MQN-3YduuzL3EgMUZt-gUmXjtaxMqWw6THEoYWcF2EuJbQ9byOsU_yoZrROqBJx8ivc38OHoyMJLS0tGcZMOAQ6jhHDOQ2YR-VO2kyRS9M_0U8KMn6i2H2qy3fZUgSOFGYJm5tNwcYjCi0IK74TNMHlvfEBb6gOleJsnhEdQ5fy8cT6dE68hMCtrKcWgu8pcXbSBXmuIBuoCxR4cKiKXx2S7lu5sQEt8y0VMgc98KcOnMGodxfrFna_N672zmVk9esT01TubEzpkK27tjKcm1cxNkylEiG-NQgQsoucyCUXqx852lqEsq6RbetDV2vCPFzUZjeYr3XnwOmBkOZchM-jxATQ0yM87HDX6XatekZfgKRVWQrrOrR6U8-ddZxVM4jfk9mGaM4DDCr4YS2zU3izYM6Y9ecrYR2ol1dqPoYRHYbjsHmW-tXgQPNbFuUA8JyaWc1cEhJKKlHU8SOztAswoBDvUesNAbfMf6cwd7Z35VhHuxPsKqzyRQUCzKqiMWvIoqtyQYAzhH_uS8HfegSRWKwommBIfPBbOBwSNBdEfXtIloUEn4OCBH7t8olEf_qkFDoscMsYclEHUr2D0HuFb8SbdCE4w48Bmj5picyKLzej391o2S6Sz7xjnxIDGtsJs__EiJ7nSxi4Ke_bOcZv_LH7fycwyVp9I6nfsm_ujwRiBQvAka7OePoLu7QGbnm7sMx9F53g5VdqerhSnRD2OppBCENL17lUARnFEHX9g1pXy4MKPv6fcu0-_re4oEPPzJ9J-wrrxluZWIUMh4MlupoPa0c7QFJFImcRNh0uoCwuti6GQeu4rEbhFBB444mDqULOC1vYh6wm-ex9dUF1-GSzsBzBau8Kquvrm8XXGG3hHefeRPK5kmVVwJZlIbqOOdM-RLpXfY2QU8GVwcQQIXHpVa_SXQgx8nF1Ih2dPCCHwuOhAmKFueaW7H1IzfpiJcXo1lnWelNlC7LBBIbVaU3wJahI-IOVjUYDsOfHwqwGa_ZhitnaulbAdHTer5U74j0jaZjLVJjPzS7wB6vArDDhIAC16P1P2lVShjN4pGzr-4jOqRiJqA9yNyBT2gCNcBTXekq9VvBCc5tgz1rrYX2k2rUSvMadaX2EXXkTGW4juEscN7StSoXg46i7JHT_v5aI2-CEeAOF2VnN7Vp6GIGJh0yg48M09vtJJCevTW-5IlSWeFA03uA6kjnptZz84JHQ-Ng4uo59m0QjziZUX16lEdhTxhBLWuB74DrInlYvgRWVJ5VHp6qS-gnnVLCr4Aht5NsbFkQWW3CEIMZr7j_-oV8y3o39hC_AP2YTouip1aKmAsWh74o4RYMX3eDrWVEpvzO1lcFWcJ8p6",
  "id": "rs_09f1815a1179fda0016ab2b739274087d0b85f0c02e1883b6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"With the jaws open, the cap’s broader rim is now visible at its forward end. I can use the current grip position and rotate the cap the other way to make the two ends face each other.\"}",
  "call_id": "call_9qclBMk0JLaQw68Cyiu1226U",
  "id": "fc_09f1815a1179fda0016ab2b7400fc487d08cb2c68e7e2b78cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9qclBMk0JLaQw68Cyiu1226U",
  "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]: [-0.7685, 1.7008, 0.3286, 0.6189, -0.6586, -0.4919, 0.0237, 0.3073, 0.9081, 0.8261, -0.5983, 0.1295, 0.0631, 0.0721]\nstate[eef_state]: left_x=0.3038 left_y=-0.1383 left_z=0.0021 left_yaw=0.0194 left_pitch=-0.0021 left_roll=0.0333 left_gripper=0.0237 right_x=0.2893 right_y=0.0716 right_z=0.2057 right_yaw=0.1554 right_pitch=-0.1179 right_roll=-0.0312 right_gripper=0.0721\nstate[joint_eff]: [-0.2256, -5.6137, 3.7812, 1.3602, -0.188, 0.0415, 0.9646, -0.2256, -1.6205, 7.1726, 1.6044, 0.0073, -0.0806, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5104d7505f09185d05ca6b3471f898bc2df94e20595e570c2f1079ae015a554a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8657a976253e1f4e4c48823fa71e24414e66b282af8d5721ef808c6296890b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733930cb705f151161242c8f491519df6b09d95760e192fd8fd3ab4f2d1c23ae",
      "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]: [-0.7685, 1.7008, 0.3298, 0.6121, -0.6552, -0.4847, 0.9951, 0.3069, 0.9073, 0.8261, -0.598, 0.1295, 0.0631, 0.0721]\nstate[eef_state]: left_x=0.3032 left_y=-0.1384 left_z=0.0011 left_yaw=0.013 left_pitch=-0.008 left_roll=0.0418 left_gripper=0.9951 right_x=0.2893 right_y=0.0715 right_z=0.206 right_yaw=0.155 right_pitch=-0.1167 right_roll=-0.031 right_gripper=0.0721\nstate[joint_eff]: [0.1026, -6.1333, 5.012, 1.409, -0.2271, 0.0708, -0.0611, -0.4855, -2.1538, 7.747, 1.6239, -0.0269, -0.0855, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrdL_YZepv22jrjzimiQpPZXuWqZi_j7M-oSKrwCmWfWcXJhQQFVvZAY6LxM1gZLvzCVf2bsKaJKPOGmcYG-c4u8cXkdJ_GqqNJRK5ewxWx0_cs8natM4bOev-5py4KRneCssVSscyBNZESEhuarpX-OG0hgHLzThWGWj3dGrj13PloKhg7fKs6mJycrs_QUnjZhrc9P1n9EHZ8X6aVu7mI1SFHtk_aDFwnXtOfFliPWYEH7loCQE0k2hjHOH65pT7kSGD-XgWeHAjoA9xlsqfcQ0ok32f2yLBSjsc8_7Eg9WFM0u0fmo6nCOOizVUM6uwAj0o54C2C3NrbgWRX1_69Ol9zlq370Ep4YBdpfdTwCkxglgP6rWu6STc9tvN7voowhZBX7G5NPVFptulwEkz72bbIuBgZ7WIHwzTB4UlZTfYZk6n3tkvz08aaMTkoh0zI8E4XLp9T64mUui5swM288l3FyFOunfhpoABFWNADFV_s7WGl0i-uc4fvQ6KM5T1O0D-OWzPxeNb1xW2ee6R4Kdr14uUIbDV5_v83Bm6m7Na-t28Qq_MWyXw4lIgIzWywjDocCFPHS-F0A5ruXuxBttmUM_5tieWckHftTRRpPtoMsge-iGg2I5x0Sqpo1DFyoE0GQBmul5Rl3JAUFNxJuUbhJoV9CE90oyrspJFFEQ91SeOdUJbe_Vp_IJ9yF2KuiBy9V4LJ4FscrD5zyTOaNq5KfzeUXxs8_xMsHFPK5zxyBTX5HIBjmFFRJi5TbYuIO3AQimNzPXjz7SaMXkLCwviKDcnTCjW8AyHvfnP9OrgoqljD9SGDHE0h1-RZra3gY_Su6Yl4HFlMAuoIp7xp8NzQ_6qRTPlvDjDVRwfmyFtX8YfHY6UJj8dSS8SJsbTx1HtZJv-1KqwPVPLasXF-c5AiFevBldJFwxABH9tJquaeacAxVYWgbp5PdDDVDgCBskTvezIFEcw1Mvtt47PK354_bLtj2Eyp12XMBLi94ZUtBnAqGABammk92gCG2zUimNL7dpUcqro2Ria2m3GBlG2GtvSSQJqkD1uqWne6cplcqSAYDTO75RV6NEjAqQDLmDn9wfB0f2PIsmQ7ALrrYHkhTcJxTv63-y8yRrA3lvqpl5aZdTgh6l8P4PTQAYMQLgHpn3Zb6TwoMZuwUthjOgIhVidgeJFLKMgz-YpFWGYf-9qeDmGqFNrb-bRkMt-aMn3-jmBRSCwN7SpbcwabzEX5HS5NfDPo1sJXJLwX_MokoZmvIhQrAdM82TQIRN3cG_Yhj4fj-uhpN4s8KxJTZWm3EYMakEDJ1_3XUE7XslrM=",
  "id": "rs_09f1815a1179fda0016ab2b748a2a887d0b94181083ee6dbc1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.328,\"left_z\":0.015},\"note\":\"The cap shifted when released, and the gripper reading is now too small to confirm a secure grasp. I am reopening and moving a little farther along its thicker body before trying again.\"}",
  "call_id": "call_OePGi1UseMtgmvWauwA2PBFj",
  "id": "fc_09f1815a1179fda0016ab2b7499e6c87d0b8a18023819f72c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OePGi1UseMtgmvWauwA2PBFj",
  "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]: [-0.7002, 1.7008, 0.3782, 0.564, -0.6174, -0.4503, 0.9951, 0.3073, 0.91, 0.8257, -0.5983, 0.1295, 0.0631, 0.0721]\nstate[eef_state]: left_x=0.3191 left_y=-0.1305 left_z=0.0039 left_yaw=0.0351 left_pitch=-0.0266 left_roll=0.0512 left_gripper=0.9951 right_x=0.2894 right_y=0.0717 right_z=0.205 right_yaw=0.1553 right_pitch=-0.1201 right_roll=-0.0316 right_gripper=0.0721\nstate[joint_eff]: [0.5675, -6.7214, 6.3932, 1.5409, -0.1783, 0.0659, -0.1343, -0.0342, -1.812, 6.9402, 1.6679, 0.0122, -0.0415, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56c0b33c16ed428a5ccd5406b9e61afa2816002c1b80d35255b27cbaa37f235",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4f3fefe4a0f3562e262a654929dbede274efd19c741b5e80d89dd9de36fa99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d8610cac2284a2fe2678af6156ca63c6fbf6db0a9a9aa9c33e1b402d1940757",
      "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]: [-0.7685, 1.7008, 0.3286, 0.6189, -0.6586, -0.4919, 0.0237, 0.3073, 0.9081, 0.8261, -0.5983, 0.1295, 0.0631, 0.0721]\nstate[eef_state]: left_x=0.3038 left_y=-0.1383 left_z=0.0021 left_yaw=0.0194 left_pitch=-0.0021 left_roll=0.0333 left_gripper=0.0237 right_x=0.2893 right_y=0.0716 right_z=0.2057 right_yaw=0.1554 right_pitch=-0.1179 right_roll=-0.0312 right_gripper=0.0721\nstate[joint_eff]: [-0.2256, -5.6137, 3.7812, 1.3602, -0.188, 0.0415, 0.9646, -0.2256, -1.6205, 7.1726, 1.6044, 0.0073, -0.0806, 1.0281]\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": "gAAAAABqsrdReOn8ofnX7B7734piHPN-jJVDbS69kZ0SsKJmfafcVUHpmekI9FveE1lQ6Z76hoV2v5vxoIWCgOyXEDx4Mzc5CN7XKyvrJjy5_fzTKJqRRDQZSljZ47e0AS3-h5sRgx1xIGdG_fq45GyeUspKTNmUN-4rxPU0Ir_tGV9c-gB5_4BU2VTsX8VrsLVeOSVpsHXpo2NKZUi_OvNUklCXZiBTbnzcCH9IcAc18q1ruKP2ss2RUPG9cEpnOvPxsrhO74vBlsaF3vNnetb88UcY4W0WU9WnkpMb-jBsnvDEl9IubONxFtOC5s40PXIW824SH6bIwW74v88P_z74VAYkipnrOJpNfebFKOpMvM0ciJ333wBmmFa1XoaA2lcnRoT4SfTyz35gqNhea5EJmxIHbi1RpvxvW4OcYyqOR1367ZmXCrPY3JzSQu8lIuOWCMOYBQ3s3MpHnCkSPo6W8xHKjnDoPIOiJuG6y6_NKGJOpAgsZ6-nkeZIk-cW7ctyVfmyzterv4ZXvufumlvyJ4TYQq_OVUYMe6CDqfGvqplBNNcwmMvJ5j2ohcP_cBNVm0DD2Z7ot-dUC0Aiijx1Yh4EWwDjoV7sF-beOFl7bTEnzmpc18JHfcC5HLLOPSnkBVkEKjpDJKiW4t1HwIkn2EQVkkGU7BsYg2nGd36mpbJrgDLfTh-MaDFs7f8rKkxqeLivuQYQQZd8AKliizljcO5tjvSEI2IX3k5Ghyl85JCUBn-S5c6Ph6r_uPSBVEK0j7QBsMjUbSbmzGtYVeKwSFEd-Z_g7oM5xj-ln6DtWD3ltvha699n07JZJtG_uTj8WAoTDxdDQS7k0K6mLo1I7kbsxswubcIHPqO62NlpjFQw70IxC-uYdpC2VVofbwyI6EqvWUZRneTapVzToFLBNpw-B8zh5lS5w0sxM4F5Hz64xKK8ZrIflKZkV3rF8kvvVcAACJlUR4XyykU2L4hr4Ly5W6baDFxrtIdUmpJ5kQjlWI3MMNBCxOuKL-iq9JH6gxSE0nsaahTzYzaSsnodzkq1FLjVeDD5dBhQVpDsFwGkl_jWQHk9tNxyaZ-wtd4Om5TwKoWaGPg-NZmRWXhoVmrMfHPHLOVU2Vq4-uk-3dn11nQ18jSsCuBydDNcwk3JODD3WSxO6FrqaX0U0ezMFbGnl4dXd8gT4phY2JEgK3Q-DS-4SfY5uxcEZ9M6SHw92OiMdvZ1uBaLO30YRaSa8CF-bUMnSHRWsHz00_Ofzt6kbYFP8w-0ixWh-9WCYcrLHxOkTAgfqNKkivX-fbgkFqRJeILfUFw4plBWmFo5mxAvecPeslg=",
  "id": "rs_09f1815a1179fda0016ab2b74f0ed087d08a9c0550271b082a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is now beneath the left fingertips rather than ahead of them. I am closing around this more central section of its body.\"}",
  "call_id": "call_e9RvZmAzhxEHzRCo4NdrQ4Ur",
  "id": "fc_09f1815a1179fda0016ab2b750332c87d09f19d865929c49a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e9RvZmAzhxEHzRCo4NdrQ4Ur",
  "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]: [-0.6987, 1.7008, 0.3801, 0.5629, -0.614, -0.453, 0.0089, 0.3073, 0.91, 0.8257, -0.5983, 0.1295, 0.0631, 0.0721]\nstate[eef_state]: left_x=0.3196 left_y=-0.1309 left_z=0.004 left_yaw=0.0355 left_pitch=-0.0276 left_roll=0.0467 left_gripper=0.0089 right_x=0.2894 right_y=0.0717 right_z=0.205 right_yaw=0.1553 right_pitch=-0.1201 right_roll=-0.0316 right_gripper=0.0721\nstate[joint_eff]: [-0.2667, -5.7915, 3.8222, 1.4921, -0.2515, -0.0024, 0.6081, -0.1026, -1.894, 6.8444, 1.5995, 0.0269, -0.0659, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96828f0511eb27ab52c5c5bd3fc10d956424ed5d2a0c2bbf00add3c5dc2a8c74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77a620f7b9f1d552c4858934e54a559ebf97cb80735b366d4c4629ccda604970",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8424c59495d21398315b075bb3613657a15d0caf6e31a941f920a72544d68c68",
      "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]: [-0.7002, 1.7008, 0.3782, 0.564, -0.6174, -0.4503, 0.9951, 0.3073, 0.91, 0.8257, -0.5983, 0.1295, 0.0631, 0.0721]\nstate[eef_state]: left_x=0.3191 left_y=-0.1305 left_z=0.0039 left_yaw=0.0351 left_pitch=-0.0266 left_roll=0.0512 left_gripper=0.9951 right_x=0.2894 right_y=0.0717 right_z=0.205 right_yaw=0.1553 right_pitch=-0.1201 right_roll=-0.0316 right_gripper=0.0721\nstate[joint_eff]: [0.5675, -6.7214, 6.3932, 1.5409, -0.1783, 0.0659, -0.1343, -0.0342, -1.812, 6.9402, 1.6679, 0.0122, -0.0415, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrdZi-dacYrcRTTUrFhcClfSJNXNh6H20gR_BojdTk43K6ud8YqXnzHNZfOHzBk4YNh5qzGee9D5aDcok4CGkHAcU8YlEUngfZXeh1H0pVtlHVy1ProYH7ZgpEOkNjOXzsC9S7ERt62VW2PN194Y6tw7L4ya64_O9foakfYxBb7nqikqz6UIqYRl2HUqv7_p9tg36qsRvO6Heje6xbM6sD8eAL3baeo-fJtjYghUMhL_ZKJhq8382vw3K2XdbTfIWuqyTkfdEqTW4sBIDV4ClUdUqg4iYiVGonl5F5AywP4Ncf8IeJ2qsxINUOmEsEvO0Kk1PXM7KMD0GuRw0jgPnWgWTN-fbImeuvDIDt_rz-Xmj5FHf_5RnRQrTaESAUfXWUpdR4RRmF2ARB1nC2spfxzQmbwnLxWRpZVjRlvXuaJy7qhQtGV5J9iYxAmaiGVnANMiBap3ML0JwXkPg27WdyMmckGs-VbMDwRte0UHiC023d8Xl2QJG8GCwfL8wijAe-MCRgLHKqyjCN2uEvQqZwvim7fh7YkzsN--irMSMX6fVwQ_Thykgd4yEqaxR-Rey1lLwY8Ngc2N2qR57KebIrvAsnow-EMSxgptO1lq05GBSifbQmvmZU6WNFTkD48rWfGUCfmapV-AlT4HnAsK-_yifg3lJj3O1oek7s2MEDTvnxVTKub2F_EVZVdfgLygsbW2I-OW9lHWRZtRWvJtcSRB349MV8AW-jW_ywQJrdRBc7JfUZZTB3P4pMvwp10rGfAoyXuOWIlcaAOgRFZV1CRHyoyrtxefNR-1DjM1Aq4MVe9dQaGW563_ssW36-_r_rSQbTHpGpJfin7c-pbWKiNvDxp5o5-qCUV5fhFZoro6q5HeNoQlbBZewOE-JyO5PFnvT_sQ1VbZGiWQa7AzDxWzux6dHC5XTMqBP42H-hzLliKuKBX8i3KURVvuW3nM-50hohX34it9thH1sjBNKtqBztm4W5hgqhkrJdyWyn_GFFSRq-72iXicG2ZStWtGsZU4FUGwOUVdMP7gJ2Fg3SFFtuUDy4YjnFBEVCfgn7aodHXmUklsS3i80iEaPFY_QXZdwGQ1A011kTiCF-xGsqDpBZKuZvVyWzkcIYC3Ny5oqdQU71B9Fc5j9_4dwH2RXW3AjcOjS6pwT4GBE1ph-IVkM-S_UyjNggbtjjG5DrLLjaLw94MEH0vCqRv_smB2m6cea_v3NHsyTYRCaNhzwoeXbg==",
  "id": "rs_09f1815a1179fda0016ab2b756a9d887d08baa47a384cfe096",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.07,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"That close was empty as well. I am moving the left hand clear to locate the cap in the overhead view instead of repeating a blind grasp.\"}",
  "call_id": "call_f6wHlCTHmV4cdmIm5612Xkuo",
  "id": "fc_09f1815a1179fda0016ab2b757485887d0a010d6056e192573",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f6wHlCTHmV4cdmIm5612Xkuo",
  "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]: [-0.6464, 0.833, 0.4107, -0.2741, -0.5827, -0.4248, 0.9947, 0.3073, 0.9176, 0.8253, -0.5976, 0.1295, 0.0631, 0.0721]\nstate[eef_state]: left_x=0.2663 left_y=-0.0746 left_z=0.1222 left_yaw=0.0485 left_pitch=0.0046 left_roll=0.0144 left_gripper=0.9947 right_x=0.2902 right_y=0.0719 right_z=0.2029 right_yaw=0.1552 right_pitch=-0.1273 right_roll=-0.0327 right_gripper=0.0721\nstate[joint_eff]: [0.4718, -1.1282, 10.0308, 1.4921, -0.1587, 0.1148, 0.0122, -0.1573, -2.0308, 6.8718, 1.6728, -0.0269, -0.0806, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a12cdf82c3592a543eea936b042740368ed8a2590f1ea1df0db4c4148820fd53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10de4d92ef7f3225a7ba713bc8d4120dca23330586207f7f80db724925f5337c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cccd4b29104aadc290cb22f3ba44375af6c0c4f7325408b48050aaf8ebc3520",
      "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]: [-0.6987, 1.7008, 0.3801, 0.5629, -0.614, -0.453, 0.0089, 0.3073, 0.91, 0.8257, -0.5983, 0.1295, 0.0631, 0.0721]\nstate[eef_state]: left_x=0.3196 left_y=-0.1309 left_z=0.004 left_yaw=0.0355 left_pitch=-0.0276 left_roll=0.0467 left_gripper=0.0089 right_x=0.2894 right_y=0.0717 right_z=0.205 right_yaw=0.1553 right_pitch=-0.1201 right_roll=-0.0316 right_gripper=0.0721\nstate[joint_eff]: [-0.2667, -5.7915, 3.8222, 1.4921, -0.2515, -0.0024, 0.6081, -0.1026, -1.894, 6.8444, 1.5995, 0.0269, -0.0659, 1.0281]\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": "gAAAAABqsrdhx7lxTStFAOpa3TlrvprazuwdvTYJHaQ4wSW_JHbSI2yyddHuuOdEit24x8EE3kpP1845V9E-bS-HCsE4BA8sy02r0jsmoI0SPFTV8C0P_U6Z4hU17YWIIBA6JARU-anp_IDOypdTJZeiVbWCDD-4y4veSlFoN26hxoT9VSVSt1b_OaTc9QxUDtCmw1_-zDSjXuEWdPQZHheAN-3UniCpniONan6zRUAqvOUsGK8_51k927XODgYLODG7-DhA3yNW4lgaZLLvh_AljhJbzHJksGg1FNiUQ01KOs0J6GW-i-HnajuTFLam3Mt3FbqBd-ElHGVksPLRksGko7C4gi1-vAVphccRUIJHqLu699ipd_dpYpLA-ehI-67mTNXld6WzleZilnndG3Yw5XCJd0p-WyBgPdyeRTUooHSj6bUASfXj2qa6gjRDk5uVeNSNd8zMaAn1LRrPss3zJQphpXVCdwR0-CT3KlRDGW7YLJCyJmhMR9cO6HpeMXbf95alAgOQKqAisNTFpr8UGZ8MyGSyrQ3yOp03_heIjd_QuJ82hoGFhV7E3zHMubPIZ02yZjLJobub3TPNtF22SPYRGiXMrHdnOH6JL5k3HhF2hYfkFLr5H3BRgOTeg4N1FQTAFRuzUeh3_heZJbzD3Zfk4On0wETQMXk_fwkIUTcn9D9WnKdWP5HkU123LSNlrcZ0rw0HWDeWuWYm_AODJNlgZU2otTlGvDMgRUzIXvvpoQoNC0w1LOAJCVjI7zeHd6Qt4vMjYSGcMkKN3twnbZfa07IWt33Mo0qzXS32sdOUhbY-CIHT6WvQiaSVr7JYOuMFEwGb2io0TZAsajriJEhxxfc59-2yeTPpdp3T0kYIull-b-5kjxuEKSo6tquUZc-jH1sv5hwxxRzgjjmGL6tBK_zerZV8BpZxVdx4Wc6Otu4-2vtf67JdeB4nSUuxfHRq7lOcXqT-m2aTU5135_2rEF3sgNrhaIBar_DJxkvxGBmLDdnkWQ4C3sR0JhzzKAEsIgCJ5SAkPV_MgZfXIBuHg8q9zK9HsulpYmnS6J8YaUCf5eet2RlSW1fUpXLRS3D5jgVJ7dMKlTKyK52l_zE999fGbfmlovgP7Lgjxx9zmelo_FHdIzu6c_NO7th7LfUtVcb-CLU8qgTB01Hai27ybmGzS87d0s396JKOtgq9lKjSLtR3v7EO7TXFhMb5K2NyAtv_geTjhHqnDFRn_5xYe0EiNetXhKH1XG6tGVPRGCX3FWmDpqrZP5feIzNfUCxpg7NFtyZlTFRTDgX7z7h_jxJv_CtHx1_w_0_bQEh_vazrb4FCntr6yqZUSBzRiG88OK2QdNVsh6bqhbOpn1dXdhO97P02SD7FD0nQh0ybwVfNDdguv9fOYvjgf4KfyTb0-ajq3ln7lu91YkEzCHeKPrp1KcHipFpZ1ukWSBXkxCAJLgI0wbQ8CCx4qQ-EWkgd7HA75td4BmkvAiQ0i4SjPvNrIpzoMujjLdeX05HGQgWmBwI=",
  "id": "rs_09f1815a1179fda0016ab2b75cd43887d08ac01ec0d6dae6e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_y\":0,\"left_z\":0.2},\"note\":\"The left wrist still blocks the area where the cap was set down. I am moving it outward to expose that part of the table while keeping the pen held.\"}",
  "call_id": "call_u5yjONnDebroLUIuqvVc3g6T",
  "id": "fc_09f1815a1179fda0016ab2b75f8b7487d0ab03ad7a62df39d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u5yjONnDebroLUIuqvVc3g6T",
  "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]: [-0.178, 0.5545, 0.5949, -0.6228, -0.2661, -0.1864, 0.9961, 0.3073, 0.9184, 0.8253, -0.5983, 0.1295, 0.0631, 0.0721]\nstate[eef_state]: left_x=0.244 left_y=0.0069 left_z=0.1887 left_yaw=0.1342 left_pitch=0.0107 left_roll=-0.0036 left_gripper=0.9961 right_x=0.2901 right_y=0.0719 right_z=0.2025 right_yaw=0.1552 right_pitch=-0.1288 right_roll=-0.0329 right_gripper=0.0721\nstate[joint_eff]: [-0.4991, 0.3214, 9.4427, 1.5018, 0.2271, 0.2662, 0.1343, -0.2667, -1.9761, 6.8581, 1.6044, 0.0024, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7baaed645bee1b6c20bbfadcac2193ab2fd44cd1a0d9d3c40e281bfc851e418",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27b9429b251e64f878becf2a535d4a4d8733c7c48c34bf9d33d16faf978b638",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e98b611e87b12139802bd5a79af60abb5668942d55f4ffb437c75d04d59af0a",
      "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]: [-0.6464, 0.833, 0.4107, -0.2741, -0.5827, -0.4248, 0.9947, 0.3073, 0.9176, 0.8253, -0.5976, 0.1295, 0.0631, 0.0721]\nstate[eef_state]: left_x=0.2663 left_y=-0.0746 left_z=0.1222 left_yaw=0.0485 left_pitch=0.0046 left_roll=0.0144 left_gripper=0.9947 right_x=0.2902 right_y=0.0719 right_z=0.2029 right_yaw=0.1552 right_pitch=-0.1273 right_roll=-0.0327 right_gripper=0.0721\nstate[joint_eff]: [0.4718, -1.1282, 10.0308, 1.4921, -0.1587, 0.1148, 0.0122, -0.1573, -2.0308, 6.8718, 1.6728, -0.0269, -0.0806, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrdspf1HlTIrSKIbD6RqC09W-X_uFKbPUCS4Uni30ikNymYTa4r8YO-oJquxqi8DcaeOPjKsb0JxV6t8Rr6QeO0yXns9lDCh1Mhve1LOsam6tCFoM1F8AD87-24mY7dm3QPhJTB2lT2KOo8qlNvL0dqBaN_U6kLi1eSvD4zyar3Xz9MbQVThbgN7KfH0IC6__nitMLtqdhUjoSZsrwQOCyESZR_9yI8K_mBOVWerTYCvm9dfM1UDgPHh5mUaqpTyVZ0gib0MoSBJmnl3JGT23xSD5jVJd08ZgsnGdKlOw3chtl8hjhoafdO_Yqmc2KgMuXGwjrwnvedx-77Jw79cg045r0TsIz9Q6aNSdIcuii8IWBoXcOVDKVrRbPFKUDH-J-lfyJJ45E_ufZxGPyCMglFJgaUE0G3SeqyyhczOpM3C5IBlG6PfFw2S_JkiusG6GVkfmJYc8HhjyF5EzGwaNI95GHUTTDLUAxm3MSkh39EPDNsp3yewUbVGNav8DIo_bOJKR2WLviekR22lsu8qG93mNLKLIg53yjLzU4WANMee3ymbKlo-_zC7XlNeWLjSbl-pKDLVkrJ0pxivsPpEZeASxScKjgGHXqreClA_NlaXkRBVJ8v8ZZPH8sgT_XEwGGFsGs2LeTcwhDd4Ou5Likk5wJzwzu6Pv4Dr0FqILL_ui3ecINUNYEXygCdBweW_nss7u-S4_ROPTW1Y7T4GgV9sxQPCrlOly1KhWyZtny1zbuSPsgDPBAqsCxd6vdNO5NzCxTN3bHwrC7qVf9rEPoOZnXSvd9fgDoo3ff4vCpbfX-lhcwCX32HY93NrMKHOBouShNF_hOZKgYsj_gVD_1wQi7UNixGt88ioe_PFIJcKLR4GhaUFvim2qzQDzTzDztAGVhIYk2EvCVp0zEOgfWdRa2VpOdmQ8-xpV0vb3w3O82opzgqPFHIAQ0fM7ywAL3qU7rzSpAiLSv2m7sC0e0fkhBoa1ehb7ZdsfNRUX1kHfoCL2w-cF6KPXuzTDwEe9pM95GGPP4Izipf0B2JaSfkUFZCveerSpt-QLHMPAsPueI8aFFRnAHsTf5q7g4Uoa6ZyNR_C_dUUwJn8aqYEMnjglZDggIVJgFWmAjbaDzFmWG7oWIePB23dyn2R8SAM4b79VZMf0xp2rSHGaKnLMn4cFgvWRgrf23_IUNKbuUViXOsb5Ge5TjXPHS_IqAhZfYZTvGm8plBxzOmfMAtiqSwlc5zeXcFhj9Pbv7EWWEQUw6kNDScL9QMsVpogT983JkUYqb3SF52_aN949Z6M1g4-ohmyjJPKfdxJtXo_4kydO-d_uYNxRGsf4kwrQhHdvQVEPWIvWTUtG46QwaWb9LfBhVsQor1AAP4KrqeOdEmibDch8ppuYkkp-k4n7Pc5W-1I8Xq8-_vvBr8lsF3u_ijCs-zyik45ws53dQ5YgFLCAP31_A88_rBB29RbAxPrP9051ofubOg8AfQSZkty7i09QKYLzBqCHsjwJkmDVi9AXgYi5SdPqDACZ_XoLc7_tMwHP2RRRXU1efgnrO89UScg2DzSIlojnMc_4qJ_wfKMAhJP51whCWkcTXPyFIZwFOqdulpxYMtu7atVbKhmR39V2ajaUHkKfmT59F4K_bTxB0Kaxp2eN4X0xfLqkX1gxlTPE-ob9QG4NqCXi_FawllPmFHkQNrJROcSHKA_aIXVRuuUSt-Z49F1drBjx-BkBG_z4kk1piAIR7nnsytSgsn7pu8PFGkhvElKmc1011yf9jpSXLhzEwp8VKUzdCSxU5kjuRSlSUKBLLni4O5p-mVNOrddoKaI9CLQ3MV7I6mLFBKr6upOBQDY17sfQ8X5LTaH-o_aXNPyc5g2uL8P6A2n6ik7t6yrSWCrW1h_3ewnSR3Zkzd7yP2wV_vpf6Y3KandRWkN1tR4KVS-t6hDJ8BUEvQBbCFmVK7Upv7YpdgvHDJqN1tscFlHfXB0Poa2r9pAqOOeeg3YLNW6UoAZirAnPg==",
  "id": "rs_09f1815a1179fda0016ab2b765e09887d0bdcf9559a52c4c23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.12,\"right_z\":0.02,\"right_yaw\":0,\"right_pitch\":0.12},\"note\":\"The cap is no longer identifiable in the cleared table view, so I cannot safely align it with the pen. I am lowering the pen back to the table rather than attempting an insertion without a confirmed cap position.\"}",
  "call_id": "call_mOkFMChi8wuod12YIJLKiWCx",
  "id": "fc_09f1815a1179fda0016ab2b76a680c87d0907ea3fcddaf7814",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mOkFMChi8wuod12YIJLKiWCx",
  "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]: [-0.1772, 0.5591, 0.5911, -0.6418, -0.2573, -0.1848, 0.9963, 0.5671, 1.7493, 0.297, 0.8001, 0.4908, 0.2222, 0.0737]\nstate[eef_state]: left_x=0.2416 left_y=0.006 left_z=0.182 left_yaw=0.1269 left_pitch=-0.017 left_roll=0.0013 left_gripper=0.9963 right_x=0.3254 right_y=0.1128 right_z=-0.0013 right_yaw=0.0325 right_pitch=-0.0115 right_roll=-0.1022 right_gripper=0.0737\nstate[joint_eff]: [-0.0068, 0.6359, 7.0496, 1.9365, -0.1929, -0.0464, 0.0024, 0.6496, -6.9128, 3.6718, 0.6618, -0.3541, 0.0904, 0.5397]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4557c18f15a1bd9680bc3fcc12ba414e4f0ca2dbbea8cfc7e849052bff2e1e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c138eefb420e1b35e134836c5c8d6bc3adbab8313bdb07a404d2b8ec7690a28f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df88deb0e1a8ad463b5ce7b9466518b1934763e8a6bb3d2506e3f555b0587a4",
      "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]: [-0.178, 0.5545, 0.5949, -0.6228, -0.2661, -0.1864, 0.9961, 0.3073, 0.9184, 0.8253, -0.5983, 0.1295, 0.0631, 0.0721]\nstate[eef_state]: left_x=0.244 left_y=0.0069 left_z=0.1887 left_yaw=0.1342 left_pitch=0.0107 left_roll=-0.0036 left_gripper=0.9961 right_x=0.2901 right_y=0.0719 right_z=0.2025 right_yaw=0.1552 right_pitch=-0.1288 right_roll=-0.0329 right_gripper=0.0721\nstate[joint_eff]: [-0.4991, 0.3214, 9.4427, 1.5018, 0.2271, 0.2662, 0.1343, -0.2667, -1.9761, 6.8581, 1.6044, 0.0024, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pen has reached the tabletop. I am opening the right gripper to leave it resting safely on the table.\"}",
  "call_id": "call_hZMm6wPpmm96f2euV5GkVjeC",
  "id": "fc_09f1815a1179fda0016ab2b7710b4c87d082e3ccd55696c3f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hZMm6wPpmm96f2euV5GkVjeC",
  "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]: [-0.1772, 0.5583, 0.5907, -0.6479, -0.255, -0.1848, 0.9963, 0.569, 1.7527, 0.2943, 0.8253, 0.4934, 0.2218, 0.995]\nstate[eef_state]: left_x=0.2407 left_y=0.0058 left_z=0.1808 left_yaw=0.125 left_pitch=-0.0229 left_roll=0.0017 left_gripper=0.9963 right_x=0.327 right_y=0.1141 right_z=0.0016 right_yaw=0.0325 right_pitch=0.0057 right_roll=-0.0941 right_gripper=0.995\nstate[joint_eff]: [-0.2803, 0.5538, 6.7897, 1.7656, -0.1832, -0.0171, -0.0122, -0.253, -6.0239, 3.8085, 1.3162, 0.105, -0.0464, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a40d60a542922d96594ec99fff2f6361cd9ac8320a4daf150f3d44ef09fb373",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e334b40cea6ff5c1a9ccb146fdad30da8d6bc7670a21f7149e770356439c3bdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4900c2bd6bc3bca7d2a3719f9e752afb6eee2cecb5b882384700364f8cb434d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 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]: [-0.1772, 0.5591, 0.5911, -0.6418, -0.2573, -0.1848, 0.9963, 0.5671, 1.7493, 0.297, 0.8001, 0.4908, 0.2222, 0.0737]\nstate[eef_state]: left_x=0.2416 left_y=0.006 left_z=0.182 left_yaw=0.1269 left_pitch=-0.017 left_roll=0.0013 left_gripper=0.9963 right_x=0.3254 right_y=0.1128 right_z=-0.0013 right_yaw=0.0325 right_pitch=-0.0115 right_roll=-0.1022 right_gripper=0.0737\nstate[joint_eff]: [-0.0068, 0.6359, 7.0496, 1.9365, -0.1929, -0.0464, 0.0024, 0.6496, -6.9128, 3.6718, 0.6618, -0.3541, 0.0904, 0.5397]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2},\"note\":\"The pen is released. I am parking both arms clear of the work area for a final view of the table.\"}",
  "call_id": "call_FhRWW3jVMlNfgtdgV0P2HPHb",
  "id": "fc_09f1815a1179fda0016ab2b7785c2087d0841184ba5a7ae547",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FhRWW3jVMlNfgtdgV0P2HPHb",
  "output": "executing move_to over 13 steps (1.3s)",
  "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]: [-0.1612, 0.8127, 0.6693, -0.5449, -0.2539, -0.1837, 0.9963, 0.0513, 0.7845, 0.6189, -0.3763, 0.12, -0.0402, 0.9956]\nstate[eef_state]: left_x=0.28 left_y=0.0031 left_z=0.1751 left_yaw=0.1407 left_pitch=-0.0927 left_roll=0.0237 left_gripper=0.9963 right_x=0.2957 right_y=-0.0024 right_z=0.1909 right_yaw=-0.037 right_pitch=0.0162 right_roll=-0.0942 right_gripper=0.9956\nstate[joint_eff]: [0.0615, -1.2239, 10.7009, 1.8144, 0.0073, 0.0855, -0.0073, -0.1983, -1.7436, 9.0735, 1.7167, -0.0317, -0.0708, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:336e47461205513facdba587b54e9f6f2eca9d42aa580139bfdcdfd798718346",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38961cc6b21616fb242cd7822c3442ab5097efa7a5b114214381cb668178ff6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cd9a88f72ee03440d845abe770ac147d525a04b135c75a1d8d3192abbab4bf7",
      "type": "input_image"
    }
  ],
  "role": "user"
}