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, 0.6029, -0.3794, -0.0219, -0.0246, 0.9993, -0.0185, 0.791, 0.6106, -0.3756, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1798 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0018 right_z=0.1847 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -1.5111, 10.4274, 1.79, -0.0122, 0.1099, -0.0904, -0.6496, -1.1556, 9.7436, 1.746, -0.0317, -0.0757, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d0bdbc9b17277bbf8343db048948822c72cfad923afd494baf1bf299c46a22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c683e2d0cd5ab0733e4fc1cf938bfdf28b67aabad92dc7fc6eb9b3c6d2b4e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c55829f8b1578d1ef95bda12b19b49949b2d46344d91abe291e2de28b9e1e5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsrnAbxWZ7xqv6oy7d0LnCOSSvXB3YsvOhJXmE9aQv9Vc2z0-a_5BFxMTMytf3fMkt00o76VahFDmDJGkuN4FNlK6xER8Oq65zn5CT_7rwYGPk9k8eVnreYQwTSr0T4Cne9WD6m1YEJVpuFpaMq5gyozSt3RuKPI4n02FpZpoSI2nWq4zqPlQLxV7BS2dX0gm4-FwEcsA6fnC2YA9S7nmEUd_7PUt7TUrKMA6GWg4ZxwgXmq7r0aRO8G1wXyNokdx-F-b0d-l9i6hiKhQODkDq_uZ0TWVW5bAYuwOHx5h8IrTsIpayQ-6hdo6jI1V3zVSefgajpbIqgmxaQ8_r1pSv9mP4XYkjyBDYLi2ql1nh-_9MzAVDeWNczVDATodc_fORRLoKrj5WXZz1vZrFlBu4ufU9ZcdF3z7hTzEsFGBIUFuVTKz2gJMJgMf83BHI0W6Zc5mKB3n63_EDV6QpAQhqTFTc-VQpTljVPzuT-nPo1sM9szLA4Z8VT6hzcVh1XK_JqTR10BXwJvhXSQBXzT-nfjLsoCGt8Zk99Ri_jPcs6POjNU-7QtQ60-BuqJqvuJ8Bh1VvSc6678YMgNVmimrGKLy-lZyFw3lK-O19K4vCsts-mpcPNkCwInlCaqqxz3s2NjEzegEDRh4ieuWOwGTGLPFEA-TUDG-TnAlRyWYRT9QbaVj3mzkUGtl265AvbjOzDQ7zqY2gsGDlu8KPkz_DIXykUGHbsyl4rq7nJ8qibPLb1AruO5fJAreB8qS5eu7F5fWW8WxC6fxT3Z0K2SfFLepWw5cnW61cmgQYGpftdJhM9ItuMjYwyROs_KlIyxmUoUGCfvU9PodYUKuV5xdQAyLgEVS0250Me4sczUI9F03LYJ7f6jjYYXTECK8mcmIXAwYedfELO60sDAaPCnflxgaZpmXzsS_e4CzETIl0iMDMooYRCce5R5w_FGU9RJXsMQQLrrlF9keIQjpZIDZZWhWp5PoJpGYRt5TeU--8vGhMc5CLYaQFHedgTZwLuJguyvbJMmxUud_BFx0S6Qf1lrTfqWfB_fzU9vz3u1PwTpObeJfSUyCUgm3veGeilYlUgPgPf9GCiQxiK_Wyy2DS0dhHmn4fHyEqY30sBbfN_FbuJe7zvcR7Lb-ShiNjltgrlqutMFxj9V1PRlL9mlDIoU2qsDSUJNlCNdIygb5E8y_j9gd0CXEyg-ntRcrxdvR34svxGlsgi_9XqAt2GNQF6N_8ifE09ZGu8eHbPb3EHQ6_AJsvieMTZZR5OcDa1O8hGylYLtHUdQ_U8bht4La4PUIcQeZ94v7roY50qm7r311ilAyflfc52_caKf9Blp_etcu6loxC1h-bGzhNauoz4Bo33XGcwNepNdKHxn8wZJFqNifSPz63iKDAZuQB_I_Ac-xWB7imVXMfamlIw_jRopQq7JJf704PmPOHZPImXEgsmkGhY6nTx9OLyHjFywFTNAqVqluj5KM_RYeZyKoz4mxI6H2FmcQnNCLTgTmyPormWFBayshydS6DR_DENm6IyW25hPIUO5T6rA8dTtBo4Dk0sT5v3hrDWQ0YXc8wDZK1MtEDiDdToXKs40SsCyRouNP",
  "id": "rs_02fa8ccbf96f60ad016ab2b9bb46b487d0886950c770cf350b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.21,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"The pen lies diagonally on the right half of the table, and its separate cap is to the left. I am bringing the right gripper above the middle of the pen to align for a grasp.\"}",
  "call_id": "call_TTTuS8vMVxX7IpeJLw2REdt8",
  "id": "fc_02fa8ccbf96f60ad016ab2b9bf24f487d089955775f4fdf5ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TTTuS8vMVxX7IpeJLw2REdt8",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6037, -0.3813, -0.0219, -0.025, 0.9992, 0.8341, 1.475, 0.7456, -0.0753, 0.6411, 0.4908, 0.9994]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3203 right_y=0.2012 right_z=0.1039 right_yaw=0.0411 right_pitch=-0.0609 right_roll=-0.054 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.5658, 6.9949, 1.746, -0.0611, -0.0122, -0.0171, 0.3487, -5.9145, 8.5812, 1.6386, 0.6178, 0.2369, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae603af054bdbcee4a81fee7569af5cdf48d4264764a79a8cfb6140d09b71f7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a2903c3338103e8cb29255324df9c77690ce0b114cdee7e57bda35d69e89b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dde4cb625f03b5dc60d342ee6dc068ba2d2927b3e1c20f614919bc75642ebafc",
      "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, 0.6029, -0.3794, -0.0219, -0.0246, 0.9993, -0.0185, 0.791, 0.6106, -0.3756, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1798 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0018 right_z=0.1847 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -1.5111, 10.4274, 1.79, -0.0122, 0.1099, -0.0904, -0.6496, -1.1556, 9.7436, 1.746, -0.0317, -0.0757, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrnN36EX2prHPCe5AKOzGJ-r0RaTSVixhEuHK_WQVcMME8GMpqU9441ehdE0ci2Ocj9yLX0rX7SV9cK8lBgmMX1XRoUKfX9dYMz8wosYtZ2P9JTOz_AM3aKHrajtpXrcaEpwrIAwXiwBiw-lLM0tae79DFSS9o5SK7XZ9hMT_63fDA70K4KxvmSNgNlbgOOZQ9LeflZ9oWe8ZpmzPlg4Nlb6oE4SgCSAcej-5NhF54kuxpe6SStk9D57PLtybIVW3kUkGgiLwD8ZmDQ-htMlTsqAli919E_FJSh1Z-MefKDXUh0Ff_9YTmqUEPz8MgHxsrJaMxVeKG_9sWkEH4ADd9zDSaDrwzC58PK9usE9PLcF-GNldd0VviKWsB385OwmCtGBfS1dpVRB33x0rp7INEyKbW7qmAV1tfqqSv9FQ8rpl08ZrhsBvI6AUPGNNR3ShDCShGZffQR9vCg6msaUxQLTmr-DYv8wdERX2C3zlnsclLYJrLU9HekMga4PeiA60QGqGuKaSmFmUscxzxmlJmPI20hdvqunMKZ1wZ2rz9sCpyS-NLw6CwBmGvo_kQu6tKuIh4sbxcFROIcxn4_ihwiDzicoslO5_rrbDvX0MM0lw39867YRnvHt9NAZ860Dq7yXnqDkehkkPweu3w4qPbY8-68I-apKf8emGrc57ANHw9Rhm_4UScm8QI6AuuVvgIMQU9U3mDunjhym6KZDI5qlhxjcRUe4ObNm_vgD8X8RsA5g5RLFdVzo5thcf9E9slDmvw5hx-utXZHthjuyT-MYk6RZNuy8e_IXubM34_7xGaMwe8p4u-p7soI2RaCfBs-hfbhVpusNaZS6WsJO56oe6IKGXzRnAV2g0PEHa5PVa3Oel8qLVfS4Rcuc-PEv8JvRJSJ6SFpnnwCpY94IsW4FYD1L6Zb93ujllsqZYwP4dXnU6cZnhhUIIAat8e6QCz9BjIMhi-hfYdZ7VuBuixSKIAbsqmQwf60OS0JtkAXtZemmUTNWuw1QX6JGcG6a7CzGspsndqymMTX12laOd5KwQzFnwIHc4C1UeBL6J6_QmPS4A9g9lXO03_ox7GL3FTnjAWekZ3KFcwMTCcTzZ0Hg4Ki1FoooH8ZiAbVvFLc5oDidiYmzq2qkPIF7YWe60h4Y-OeoQF9ui5FshgEIj3LEr5o8D2rodL_FOMbdzyEz7r7qTFFrJITYY2enFMksdntpfNYZuo994JZjHD4zCE9LBuvTonUOuRjqMzH0FoLqDEPU485zyHia_3WJn2Xmd0FG3T9i79jgqQv7nFg0mPoLLtzAlSOXtHpjJXGjVteCC0wOWkm-i3GCd_6X2ORumdtOXD2cLesDyTbJzP9BadSX21GSjQSerxY1eyAjnM_HKCiSpT_sooWvTVT18A2-110E7iIO-gxubcCuXwpJvObuagIigS7B0NXBgd5zn9GahL1caieeuOoEOBr6dB0A_MGCAJKm1UkwwmUltOqKHQ7mVltkuQxOOvpCAEPY6WY_85MiVHDD-m5kWBt9Rq45aPlym_6LNGsm-iWs5fWqLi81wY9s7b7beLCA0cv3UpCUnZ7HM4Yc9oS2D8Trf6F13fzkYnGAGELE1AK_g_aOkGRJwQNHM6odybiGi5Nhei2-HGOPWQgAflEudULDO1yhMAWaw_oantE6STfihvjbz83EcVS3eSI37ln5KdO9TlTc-7MQjQdIvuKtjkykwwuHyPzA",
  "id": "rs_02fa8ccbf96f60ad016ab2b9c640c887d08bad4cd490396333",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.185,\"right_z\":0.04,\"right_yaw\":0.55},\"note\":\"The wrist view shows the pen ahead of the fingertips and slightly to their right. I am advancing and lowering while turning the jaws to close across the pen rather than along it.\"}",
  "call_id": "call_Rz7VDNEgbDiPkacIWCVXBIdl",
  "id": "fc_02fa8ccbf96f60ad016ab2b9cb06f887d097ff6595a6057b74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rz7VDNEgbDiPkacIWCVXBIdl",
  "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]: [-0.02, 0.804, 0.6037, -0.3813, -0.0219, -0.025, 0.9992, 0.4431, 1.6737, 0.5823, 0.3592, 0.0937, 0.0132, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3636 right_y=0.1583 right_z=0.0206 right_yaw=0.3498 right_pitch=-0.1735 right_roll=-0.0547 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.6889, 7.0769, 1.6874, -0.0562, -0.0513, -0.0122, -0.4171, -7.3231, 6.5299, 1.8144, -0.1636, -0.0366, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348f4267c1a661e4fa238d206d5bc15baa8607b666990189bf6b181a736713fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41411336dd10b7b609b00e6dbac9b9facfb2b173aedac60feb680ba3e40275b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ad54bf7784b192c68aeebef5536c14380c336496219ff387d399516cc36e37",
      "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]: [-0.02, 0.7994, 0.6037, -0.3813, -0.0219, -0.025, 0.9992, 0.8341, 1.475, 0.7456, -0.0753, 0.6411, 0.4908, 0.9994]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3203 right_y=0.2012 right_z=0.1039 right_yaw=0.0411 right_pitch=-0.0609 right_roll=-0.054 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.5658, 6.9949, 1.746, -0.0611, -0.0122, -0.0171, 0.3487, -5.9145, 8.5812, 1.6386, 0.6178, 0.2369, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrnVYlSXXtl_Lc0yf4h9wev8fQgwI1w3Eof0b7-eOI9UGAAHGmIAZ_4kzTWyukmUyBVGUDyQ7lOQvEswKAc3tJAxCjz7k5rBWDakI5mbd92EWz0wVkIsx6pzXNGKzTs9pZ-8TARcJSNjnHgZ47Z-KEITH3xwH6Pux1tyVLMTJFkiLSU4_WLEcS0YiF-t_Jjwi6AwJ_amHz_S3OA2enmERTOmGVITvWYpsmD3bt_-9zQbjqTBpXsRjYX0Acxt1alJbkQ7RoQvA12w3hH7OFNg39yTc0I_JX0Hh0zyA5bGHl2Wh8bbbZlpN6sDzhMV5dRHcB8UbOIG00AoJ8PZgFglfiqQy91EtUAGpcgy3lBxsOCQZrJ91n7EQuND8rlil-fREjdHyh4fjlWrryJvSECMIshSevOiNnb3PLusXtDKd1UslaPIicWzKj0mztzS-32VsC1bxEq5T3Su75W5Kr0l0s0U0XjlK2jHvZy83MiDj0Plb47rlnalKWKUi4BcgoezMlVQUN7gZqgZ7HBa2PisjdeVGDMaNLrp8MpcMuVB4rL77wMeKyVzSjbBHRgzhAQ9T-qP4PM4TtHrK_zBmw-VygDFkvdbQiNGt4xIUHcLGokO-KZ0uOSIyNogOc_qGADq97p5E37z8OjeGBP0WgHB_p0SqfJLGyMnH5qdhDQCSCyDlKJOjuxu8C_F7zSQwr0P-dR_kxwemyXtB5vHirZx9qLNdFeMfJtLfKCZJ3WVrIPOsxoIzESry82s0D872g1eLYIuM4S7inOwZVDKtXKtJ4E963NID4EVqHhZM1iNLh_mTHcsQqBLs3B8aW4EvHmR7f4aB8W2HdF_r-Q3SjT1yTUnibIIhCt4XSu1hsJUR-GCyuxGZxmll48861ySxqk7XZMnbIaqEvGxsX51-SOECCcb3t5J1dkkchH9W9jG5a8vO9kOx4YhZhO18wrfgpCa1t-rWUkAKUD3WcFsbGytdD4Y6uowkdCVVQCybxjrrdnxjCWe6v7b1tn9tjc_F1HiSykwKlQRGg3Q91ZEWMl0edjn_5YRdyCdT3P4lZffmLAsKEAGUZ2J3y5Injw7xY6YvOsHQylfYIkZ5oneLs8SODfjB4nklZb27M9ikhTv17nbDJ6bpJ981DtnSX9ZvqSeJKdRGzhYH8tRKJ2p3i8vC9ed1U3SNxtCnP34WBcHlibaVeGDgsbUztzZDH4ZP_jTyE72MrJv8_Kxg-Wiq9y-JvYCPWgEneqkUIoZNJ3CJrPRks43yo788Bb93nFElR2-gXSOZzbm3TLGK9MXRehwjPEK2hiROAKyQ_jjtdSYegrjyrnlqGW5LlZlvwnPJoJPIo-6GX73riGTv4uvw-p-pDhzGoL216QrBLPtmV9WX1wGpJyxXCiwsuEmAFt-srXVHCfQcuo2t8_afuSezwS3-cpvFdgk2QwJZjnbIqHMpvisl5spbPUCEREZIxcyLPoe99h7aQOiiyU_74nguA04IndSXKl7Ziwlh_o1jUwd10ZL6BrQRofLqz0Zt60K5yCxI1RCIQ2FDhHbrFoHQIh1qSNAVw==",
  "id": "rs_02fa8ccbf96f60ad016ab2b9d03ae887d0b9330954e6c34a79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.15,\"right_z\":0.0,\"right_yaw\":0.55},\"note\":\"The pen is between the open jaws but lies to the right of their center and extends well ahead. I am shifting toward its shaft and lowering to tabletop grasp height.\"}",
  "call_id": "call_CdnjIbzB2dNIct8SQafZJDCL",
  "id": "fc_02fa8ccbf96f60ad016ab2b9d33ef087d0be3319fe13594c9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CdnjIbzB2dNIct8SQafZJDCL",
  "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]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0219, -0.0254, 0.9992, 0.408, 1.6978, 0.5816, 0.458, -0.0837, -0.1173, 0.9993]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1766 left_yaw=0.0008 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3688 right_y=0.1794 right_z=0.0297 right_yaw=0.5362 right_pitch=-0.1004 right_roll=-0.0428 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.2923, 7.3915, 1.6874, -0.0855, -0.0757, -0.0122, 0.2803, -7.1316, 6.0376, 1.9121, -0.0855, -0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d8d2c58edbce9be054ed846527b1e80b3d2419df32eea08ca26a08e4c0fa876",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c77e2299f198bb7b798d024f34aa9de26f399536643f7fac5b19562e6e07985",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede09cee475ada7f6841bad3f22872ed97a783a8bb139c68cfd88c88e24ac671",
      "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]: [-0.02, 0.804, 0.6037, -0.3813, -0.0219, -0.025, 0.9992, 0.4431, 1.6737, 0.5823, 0.3592, 0.0937, 0.0132, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3636 right_y=0.1583 right_z=0.0206 right_yaw=0.3498 right_pitch=-0.1735 right_roll=-0.0547 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.6889, 7.0769, 1.6874, -0.0562, -0.0513, -0.0122, -0.4171, -7.3231, 6.5299, 1.8144, -0.1636, -0.0366, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrneP7lrqSkRHm86CpmI36csg9PFihI-bXu4JMLb02g4jQcvuc5Z3SQqvnR9YqEZuHgC4BVl9NbJo1hGD5ZHEHihflWN0G1ugmvLPJQjugT6gSClc0Az_Q_QRdOTHMvhiOGx8welunTTvU-ijq4_KAxaWhmGyei52T5KxSbPbeRjX2801En82b1Taw9mxFnB9wYSYkZOI_BhU1QtjtMxVWHYaef2LADQofDHue3ZwO97k3WoFnsJEhz811KqSf3kajQ25gjR2kxtEq8hzT_3NOA5GmUb0rp5WvVWlJEUVIna8Ls72TkMmg6t9aQMpl0JS3dxSFu_Cex58mFn3uv5KwKyURgcPyF67AMfMwj_vU0sX859JXptnQqApAC-5L_AGrFRyrGqHb2XNiqTYGZtn3UaDYTRAMo9YHbF78nhL3IhjUa-kP-aAwB63VBEf0fsL9Wa02HnLCaSPSPWWj5vX24D6mdBFfoUDmo4tk3Ew251MItfRMC2EqYfbD3X6VCIgDCvX_ORfPVqSByNINbaliV6HFpIyLNnYYDOjpmR3mPtyyCStKHzaUSOYFWe0lCp3e5KcgKRNCNhVGf-lYnVE98c_DUHvJ9Jnd457_TytFlOK4L4no8uxRCAihbyOWB8fRhKEg92L-wQCxPf4-eh0o22_8BqF8Bnp_U7u6gavdM2CDZskTR2dJo4zzHqvMyw6wl178o-MMQgL8FHjSE9pvC1UA8zd47K6wUmEV-kXsf76qg8ixo1TQx9EUl9y647GHkoFohDmm5OLCocSa065D-7XOj8CF6jEKfLe4VDnHU39D6w5VTIctJpTUeS2hrWlpG7RWWUlpmbyNPkBG7xuCx7rbfYBgbKzaLOnt_rxi8AWmQVZ2JLP7g9G0i4762_OP-LUrO4qXO4K0GGQZCImvQWtZnssPdHlX-4qbjhc_r2k8NecOKnK1UlbfEqtK6hNs1WXPqzw8LgVScP0pV4-YW7dVFgZEbW326GieMTr_eEqkagTYdlex86fkT895_HAXp0bfJdtmnrkn3lBDuPvVONEPgIWwZzYua6Ge_mAU92GqL6Kq25HBp1xP4WvuSi01SLnzf4V0x_Qscb_oucA_Mu9idlOoSr40N81eh7XnQzqSaLgsvSokQrnFYP9e3VrmLTDwad2zqPm-au4zDrolr06ZBTP084aGySqudxjqKGtmD0a0B5DdNsOoRgKca6cw7M7vXb42OIYK17Tyyv0vrGFy13E8giJJ9gEzevpXLtiTK9uMO6nRRkSi2XDbA7E6vKRa3hWv6jBBGrgkVNGBHNIXdSJBwuFuqXooLKspPLBUE=",
  "id": "rs_02fa8ccbf96f60ad016ab2b9db372087d09c5138fc053b4f39",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.158,\"right_z\":0.005,\"right_yaw\":0.55},\"note\":\"The arm has not yet reached the requested shaft position, and the pen remains right of the jaw center. I am making a smaller downward and rightward correction before closing.\"}",
  "call_id": "call_UtekRgq3Fb3LjMEetgvq4Bn9",
  "id": "fc_02fa8ccbf96f60ad016ab2b9dc6dac87d08d79ed2fba3140f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UtekRgq3Fb3LjMEetgvq4Bn9",
  "output": "executing move_to over 2 steps (0.2s)",
  "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]: [-0.02, 0.807, 0.6037, -0.3809, -0.0219, -0.0254, 0.9992, 0.408, 1.6978, 0.5816, 0.4633, -0.0837, -0.1177, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3695 right_y=0.1797 right_z=0.0308 right_yaw=0.5364 right_pitch=-0.0951 right_roll=-0.0438 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.4564, 7.0222, 1.7802, -0.0659, -0.0806, -0.0122, 0.3214, -7.1316, 6.065, 1.8584, -0.1148, -0.1685, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db89a7acbd870b2b6b329b533675d03e6a30025d4dad6f06acfc0ba380c05542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc09caec25c86597e2cd0629080483b3771c259a62dacd12f66acdb90037e71a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376abe13d158ba655d4bf19d9d705c88b43f47dfaa7d293db5af050c73afffc3",
      "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]: [-0.02, 0.8051, 0.6037, -0.3809, -0.0219, -0.0254, 0.9992, 0.408, 1.6978, 0.5816, 0.458, -0.0837, -0.1173, 0.9993]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1766 left_yaw=0.0008 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3688 right_y=0.1794 right_z=0.0297 right_yaw=0.5362 right_pitch=-0.1004 right_roll=-0.0428 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.2923, 7.3915, 1.6874, -0.0855, -0.0757, -0.0122, 0.2803, -7.1316, 6.0376, 1.9121, -0.0855, -0.1294, -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": "gAAAAABqsrnm5ArISShlY2GttZCp7u0rA9_iedaow3uy2CJjjmKqZW5id3qioAOF5Xivk_AHbPVvY5DtDrvtsHiRnyl5H7jGlH4J8x7k0tub_5gDTa1_q6PHO9f3uRh6MjesXw1mNC7l6hcifUDwvKiznG2x3eiquLCwJ0YBBlsIu8btszPqaBJPTFOU61O_oyJxIHvV9tFysC461_oohXrkkR44TZY15hhoYdBTwJVSZ70vV08fspP4PN05h77AgJS2L9qvgbSTIzM4n2RvryfKu1OF7diSNOgLjQfthZKs9MoWg0NE5au-tUEyvwgja9MC67w9ko54RK8PbnX4Uw4BUs5RiV9x6vNQ8YOOnT5b-Pm6eSwD7EpoPACWT6jovEy65Uqu0nyoEyUba_HotfX4RUeTF3lt7aX0svXUbbtvfeVtMUPOQKAiWBS4zCLr6S4Ih1Zq9NMwjzBs7MXwoh40wIeL5t6ttrSvfHekt1OYd0-JACAPgv8P3stAHjEisDDtEznhaBJaye0-0T6IaRt0ocbEN8CCPpP8RYHqr_sd6NJrSmTLoSvJoSvvf9M86JvlqXdpDPTa9S11Va9njVbt_zgmWJzf3ftPBUWQlzX2ym7_LitPr4iobAgVvwQvwY58flnRZ9qK7_J0bUCEzv4Cq6Zg-t5ruYIl7ZhCN_WZV5yEVY-8_Cr-EG1Iod2T7j_sl0Ljwpm5siycoumxHstVZ72PkaqfTyeqPEXmnvmMyyxLV8LXKezCbyN9xjGwZFa7wu76rr0bGi77Zv3Pl8uYkaxujzCB5QUSxdJ5vyOOlchgiQMbj5BN1IDbjtAZdQQM3aTcryYWHgokcvwhvVe1KENRgtO9e_VYGXGBfJBRvNbhHk8GT0_tqW4HG4D9yqX4PXFMgcCCyfuQf7E3zbnfYnkAuYo1jNIfjmuoPT2Z9KUR5X58jZfbxA7yitLVI3r1YB9t1JWH4jXvhkrkgKf_PEkhn2-yPu-xGpsSfjmJpwsZY2RR_lxcG5cIDw8XGEAYD9o6tXcHh5kflpnnNcxBTPzR3sCAS-1siljzA7bXk9Kew7f7AtFJeu5xGDmaSbNz5k9PL5BH-H4GJbe8nyKzCBNcG2-nJzymbvF0CeZEUqINqp3xZi5zrVUX2s6lxjvIbzgqSAvMFacQrtCxHvqFX537EGME0N2wmqCCPXTauimaFEtQJc8Ozrbr8gf3J6fTnsmW-Mo4tKIUzvEvPGilwc9_VuEcbUC_VoU-WozMZqenG9AQGpGuxC_hH2R7RTO3XuMRkJ_oMIzeZdvyYyaJVnzRlHd63SD_CrRra46I9K6P3hPaJ6QUvJ5N-2PXgJoFnLdTmt2z8cHvrLo5PPifn3_IXDHWixVqMgwyhirJwozDjzpTfmTg0YTQciZRQCqqKkdl0NTegrnd6i13DQZMbREudqsgmF5HZqwbsVefArXfM66Q35h80iVz-7L_Jnkh-9gp0x2z0gFIq_49WSfX5b1arqyDowdRuKzEEv5mDX98oHC6qgdjk-2e3IcMhKRqtwSHZt8g",
  "id": "rs_02fa8ccbf96f60ad016ab2b9e0203087d0bf52c5a4bc48ee32",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.15,\"right_z\":0.085,\"right_pitch\":0.15},\"note\":\"The last correction produced almost no movement, so I will not keep pressing downward. I am lifting clear and adjusting the tool tilt to recover a reachable approach to the pen.\"}",
  "call_id": "call_WXKuxG8dKcvkTAyAUfvOVIQT",
  "id": "fc_02fa8ccbf96f60ad016ab2b9e3820087d08832c4bdb248ae58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WXKuxG8dKcvkTAyAUfvOVIQT",
  "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]: [-0.02, 0.807, 0.6037, -0.3809, -0.0219, -0.0254, 0.9992, 0.268, 1.6264, 0.487, 0.6201, -0.1902, -0.1402, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9992 right_x=0.379 right_y=0.1424 right_z=0.0574 right_yaw=0.498 right_pitch=0.0463 right_roll=-0.0284 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -1.3333, 7.0359, 1.7265, -0.0757, -0.0562, -0.0122, -0.4034, -8.3624, 5.0667, 2.1368, -0.1832, -0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1d3e8a5b0d12005e72fba07dcb901e582d598d86db9d9e1ac87baa19ba3e11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:492d290cd21429072ddc6bee45c825a70bc1164ddd4c20235bcc6b37b9fa4999",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00eaa2a3cb0d2e2ad33183590fb4deea9bdf1cb62fd29c75785e6cf242d6fc3e",
      "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]: [-0.02, 0.807, 0.6037, -0.3809, -0.0219, -0.0254, 0.9992, 0.408, 1.6978, 0.5816, 0.4633, -0.0837, -0.1177, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3695 right_y=0.1797 right_z=0.0308 right_yaw=0.5364 right_pitch=-0.0951 right_roll=-0.0438 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.4564, 7.0222, 1.7802, -0.0659, -0.0806, -0.0122, 0.3214, -7.1316, 6.065, 1.8584, -0.1148, -0.1685, -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": "gAAAAABqsrnrAxNllMY1PspMJftt46Ni-NJmjA_2xh56VmSe8DgwCYItB1Vpm9F_3Wi9v8ykIVazyiJmyOSs0iPoO3jzVdFoPCPLwazUXyxm1zdxnjU2VWv79LBdkIw2o3imMzjwJqPzg7Wk9121RvrcQppCHgwsxOTIfn1x_x4xzVMwl0ADd7Vl0hb7fyJw9NWEi7bj9zf7eckqjkc1IhbdPb79BKIQPOSB88WjQzjpiQtqgEGFHdxSFj4NtkRGiI1Fa9adcbUFB-pDYGgrH7XFFpNBTbpJDTH8OpAfV3Fegilga1SVNAC0XyEyafA3pysyXgp0-OILrP1PrSKXLMpp0tdLGR00byt47ZQryZcC4Bkd4axtkJUJ32CD_PRAOLDvS3LGIjmBTOTKG0DfBEkGPnA2tK5ZsWvLE1OLQRxaglhsJuReRPT2ofoD8Jo71IMUrnsLmGha3WdqJPBlPdbzCFZ-dMAnTLpayRidN80L74dXZ0pBIHhLb0vYseQcrneoV2tEHW3DIiR4J6AjErHuQRmrb020_PWRxFRwHvbT2adPqAwCarGIDrx2nJRfBilSjTP6Oxqz574yFt2-PxUM9BVVQfQlmMxK-3c-veBKjLhGyRXFbnSPgy27UUJn7xhfTwhrnebAplz21KLg8bCJnhE3J30rs1GjfMvZftRvbtn6D2ujvptsywzJIwg1UBpbF9Wzo3LLFtechzTFo_I9e3FPDS6CWpxpWCHaXqAsXNmE5jHQKv3_3VCmsePKDnio87-FMtDRclmI0lGf7SDj_d_RUKrCuuKZC1WhqMcu4GuXf4uzPIG_ZWjHpqsPvHLRBZq37Q4F4VZ6_kGH__2_E_1fMP_k1nh4rrZjz6XpdND_zwJztJP0-Pi3ptmiFEIYhjEw4wtu6AJKyRBUS7RMYRT1vUlUDBJSdPpgKQpnclSUFbpp0tdJRjbtl8azmM30xFScyh85wLks8FCRWXzuOlvqrEY8ew38YqATGBsa_bdR4Jnlrdkj572rVzYg7Fhihtme3Oets1umgTe1_9swGf9g2AfQp_z2UmutnXdKmbJUaAgwSxAwPwxSnPkTpqBF8ZzhD_JDHCzhMILYeOEMCtyxvW7cbxl90M-iUQYqMv0IfphlUiKYGhdGg-ItRCFrjhvKPbgDoGeetWlghh5Zv2jyLEUfD-OzKaPVd3Gco0ht4xqPgA9LNjA4OdydSaqoLdjrEWFDG7IuoLOLZZZs99FpsBTQibTZyGWtm7Iigb5H8H2wMFs213MWKta0mwnTtGGWbzk-vq3kodyp9JeAwS0r8gLmSg==",
  "id": "rs_02fa8ccbf96f60ad016ab2b9e8e29887d098edfea06c16608b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.15,\"right_z\":0.005,\"right_pitch\":0.15},\"note\":\"The pen is now centered on the wrist camera’s jaw column. I am descending over the shaft with a small forward adjustment to put it between the fingertips.\"}",
  "call_id": "call_TfYEasXaeKDEdGBEKdrnmGGD",
  "id": "fc_02fa8ccbf96f60ad016ab2b9ea04a487d0a8dce5c422b95651",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8085, 0.6033, -0.382, -0.0219, -0.0254, 0.9992, 0.268, 1.9926, 0.4789, 1.0355, -0.2062, -0.1436, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3924 right_y=0.149 right_z=0.0001 right_yaw=0.514 right_pitch=0.0881 right_roll=-0.0337 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.306, 7.0769, 1.7265, -0.0415, -0.0757, -0.0122, -0.0068, -6.5709, 3.7538, 0.9304, -0.0513, 0.1929, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fa8e2846ea07a7d19f40684d7a2959f1bc1979c9bcc39fba96b089f9cede512",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ce86b4c0367c7bf4de017bfe03785486339bcebc61f1a80dd66bf27fc2b899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f79287508edfe4e08a7d22d819ba868c14ae2bf88a7dc54e605e7055e18a28b3",
      "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]: [-0.02, 0.807, 0.6037, -0.3809, -0.0219, -0.0254, 0.9992, 0.268, 1.6264, 0.487, 0.6201, -0.1902, -0.1402, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.0003 left_gripper=0.9992 right_x=0.379 right_y=0.1424 right_z=0.0574 right_yaw=0.498 right_pitch=0.0463 right_roll=-0.0284 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -1.3333, 7.0359, 1.7265, -0.0757, -0.0562, -0.0122, -0.4034, -8.3624, 5.0667, 2.1368, -0.1832, -0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips have reached table height with the pen shaft centered between them. I am closing the gripper to grasp it.\"}",
  "call_id": "call_eYL50tlJeRSAIeuPtFmQ8kkC",
  "id": "fc_02fa8ccbf96f60ad016ab2b9ee3fac87d0b7daaecedce9c512",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eYL50tlJeRSAIeuPtFmQ8kkC",
  "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]: [-0.02, 0.8112, 0.6029, -0.3817, -0.0219, -0.0254, 0.9992, 0.268, 2.0094, 0.4824, 1.0637, -0.207, -0.1432, 0.058]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1744 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3947 right_y=0.1498 right_z=0.0005 right_yaw=0.5148 right_pitch=0.1026 right_roll=-0.0367 right_gripper=0.058\nstate[joint_eff]: [-0.1983, -1.0872, 7.0496, 1.6972, -0.0659, -0.0659, -0.0122, -0.2256, -9.1145, 3.0701, 1.6142, -0.0562, -0.0611, 1.2381]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f3d3085cfa88debc562c15dd91ec7736e8a476f0ade4f508efe0b31e1b17f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1313b382701c635f081beb33c5fbc623d1d6e63d7d171b68f0aaee9ddbd20f14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb4f8a92cfc3106e8e820a13ebb18cc5bbbefaafd61382c71e5f57365e6b5006",
      "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]: [-0.02, 0.8085, 0.6033, -0.382, -0.0219, -0.0254, 0.9992, 0.268, 1.9926, 0.4789, 1.0355, -0.2062, -0.1436, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3924 right_y=0.149 right_z=0.0001 right_yaw=0.514 right_pitch=0.0881 right_roll=-0.0337 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.306, 7.0769, 1.7265, -0.0415, -0.0757, -0.0122, -0.0068, -6.5709, 3.7538, 0.9304, -0.0513, 0.1929, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The gripper stopped at about 5.5 mm, consistent with holding the narrow pen rather than closing empty. I am lifting a few centimeters to verify that the pen comes off the table.\"}",
  "call_id": "call_IgvhBOt7swFARuzwWhqiDo9i",
  "id": "fc_02fa8ccbf96f60ad016ab2b9f2599487d0be8d30586d1e7511",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IgvhBOt7swFARuzwWhqiDo9i",
  "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]: [-0.02, 0.8135, 0.6029, -0.3813, -0.0219, -0.025, 0.9992, 0.268, 1.6802, 0.5152, 0.7368, -0.2077, -0.1463, 0.0677]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1738 left_yaw=0.0006 left_pitch=-0.0221 left_roll=0.0001 left_gripper=0.9992 right_x=0.3962 right_y=0.1503 right_z=0.0723 right_yaw=0.5181 right_pitch=0.1367 right_roll=-0.0479 right_gripper=0.0677\nstate[joint_eff]: [-0.1299, -1.5111, 7.0359, 1.707, -0.0513, -0.0562, -0.0122, -0.3214, -7.3504, 6.9128, 1.7167, -0.0513, -0.0073, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61ab4d423b23743058e60cf4d94821ff583ec026776d206e9c56239fde1bd218",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a81d681b29e47b0b1860262d30ea4a77335dda8fd50b991702f55da3ae9b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323255a72facee4a72111790793258b688fbc0f07a5edfe799bf5f4cd47216d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 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]: [-0.02, 0.8112, 0.6029, -0.3817, -0.0219, -0.0254, 0.9992, 0.268, 2.0094, 0.4824, 1.0637, -0.207, -0.1432, 0.058]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1744 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3947 right_y=0.1498 right_z=0.0005 right_yaw=0.5148 right_pitch=0.1026 right_roll=-0.0367 right_gripper=0.058\nstate[joint_eff]: [-0.1983, -1.0872, 7.0496, 1.6972, -0.0659, -0.0659, -0.0122, -0.2256, -9.1145, 3.0701, 1.6142, -0.0562, -0.0611, 1.2381]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrn8NFJkwDsyUjMRT6FQUlJOU-toTIWQJb9500Ro-gMHnN5A5ZOZJkpsc5Y6OnOf8T8zjAi1kqnNYNwevOsy8-f1ynBlVUIqAQSblGmgMLZV23ivAbwW5YJpRa-Nq_b0VifP1uHCtZ12ldLMc_bW4WAQkKfnyzqQ4bOGye_rfRic4g0YBwKke77FOJ-pxx8fy-0FN1s-W0uIKCCaN7c512JTpHqEvaiEhW2oCuiSwTZrlUQb90by3KphjDDS_W9kwviXHcP53xWnJEGQ1cta1fG-iK3zd59wZOKajSahjRqzSClaExUsAD9zDPdnBa6eFPgj3epRwwAOqPmUIF3Pp293SAVnCYJ60QwpJWAi6HXo4lE7qb-YJFi8r8mx6WTOfDiJuj32Oc83hrtvPD-TvPak8rX-o_XcfJFaWK6k-bm5zRQupexfvnno2FPzvMRlcSeYolylAG1hRMA2f8JXd6BPSXsczaR5JVf0ajt6M5yLa-dO6Kv-z3t8JKtlfvGeCXix6U9yf_KzwhI2hMEOslmla5-EY1ggMn97_0peOpUhVjCg7oAkuubNKcH_ijyeZ8a2EI2eRzRpZr_QT52vnUrrzkhX2lOSUtNzNK6042X4OiuTgWWUK7FMidvj-NP7nwYTAcrT4YU0aiqi6sgWH9lEWhqJcwyxgL-gJSeWynwgTvBXRnNmv-EX6eSEB38h931bF46vuyWm9FCiWwcGQCFClCDeY0HbAuB1SdMiDbWL20SgRVgTtn-xpFQprWT_q0iM4T3o90uxtfdVExblAJ9RU9u30ucq2raRwtvxmPpelZzKj7pWVpu7m1D9fg9lReHpBXX2zSS8pDu9rx1NZ_mUKINwRcUBNALSClEosZrqo_f6fuk7HMCJ4gl8ikjTwjykigEXRBv9mq3-Y7zVBFEhJZ_FWheXkPEgnutIKYMRFWSmogRXVKUdSXLmAEwNiFXEdI9rjz7PQRbKiHmuLXNv0zlJsCk72sa608RQBTVULVzu1xQLCkpUmyM6lGEMKfXsLNf7aFkhhsyMs-1ZvxeceoVIc9hvSruACX7qRY94xl0af-Xok6viCU18_rGAyYtJ6NQfSOOlNTTfN7Z-TI_fI1mCCRk0l2ESBkLQ1ZENxhQG-j2WS10wYmoGcP1qeyXRw3GIiqIWQZn_9Z2VvhfosIyu6oDpNP3K6_EIDDYvweOBI73fW-mVu-pB2_nkbxzx_vLxFBHzwJ3BXk69DgmgeGze1CqdKFmDLriB98PzUPWt19gZjWLQ-pSUd0mCzZqd7wTqDQzeULaim0AuT5KZrMi8mm4ZZGblBcTWzkh3zM7jxHXFeskFX8GI97pKmS_x73WNDOmrIaCk-oWTlbmpq8ngRZitQhcfozWcWQHoh8dmvbpu4sar2jp-DvTnrzVqJWzpe1SUExlBLdKgwrtqnL9f_Iq1a43-l6jhu9s8Zd67pz9b4r0CofrP_gGv5c6vvx7jzmD4hcbhjYAejBcQNH5vUdDV6gYm61UW6HDxm8z9ZnAbbfz11Ck8OVtMRtIW",
  "id": "rs_02fa8ccbf96f60ad016ab2b9f68c5087d0979a6716d26e042a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"left_x\":0.39,\"left_y\":-0.29,\"left_z\":0.12,\"left_yaw\":-0.35,\"left_gripper\":1},\"note\":\"The pen lifted with the right gripper and remains securely held. I am raising it for clearance while bringing the left gripper above the separate cap.\"}",
  "call_id": "call_h0mdQY14zx1K5c6Yas5UZ3vT",
  "id": "fc_02fa8ccbf96f60ad016ab2b9fa778487d098f193891e50fa57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h0mdQY14zx1K5c6Yas5UZ3vT",
  "output": "executing move_to over 26 steps (2.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7662, 1.7332, 0.9958, 0.0212, -0.3595, -0.2718, 0.9993, 0.268, 1.3895, 0.7219, 0.186, -0.2073, -0.1471, 0.0677]\nstate[eef_state]: left_x=0.3785 left_y=-0.273 left_z=0.0978 left_yaw=-0.329 left_pitch=-0.0927 left_roll=0.0279 left_gripper=0.9993 right_x=0.392 right_y=0.1491 right_z=0.1548 right_yaw=0.5167 right_pitch=0.0849 right_roll=-0.0354 right_gripper=0.0677\nstate[joint_eff]: [-0.3624, -8.294, 9.5248, 1.956, -0.0562, 0.105, -0.0904, -0.335, -7.5692, 9.6752, 1.7802, -0.0708, -0.0513, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16511d15d523733fd6aa4ccd4e21a699aec41be39ceddd0a105a97406f66a0ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82e0840d3af443d0d0e7578a07d949fa866f6578285d339270e62424dbfb11af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e814a03c90ce13af8acbd4c7d476e98d6613e3255df5e5cdbed5c3ae47538492",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8135, 0.6029, -0.3813, -0.0219, -0.025, 0.9992, 0.268, 1.6802, 0.5152, 0.7368, -0.2077, -0.1463, 0.0677]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1738 left_yaw=0.0006 left_pitch=-0.0221 left_roll=0.0001 left_gripper=0.9992 right_x=0.3962 right_y=0.1503 right_z=0.0723 right_yaw=0.5181 right_pitch=0.1367 right_roll=-0.0479 right_gripper=0.0677\nstate[joint_eff]: [-0.1299, -1.5111, 7.0359, 1.707, -0.0513, -0.0562, -0.0122, -0.3214, -7.3504, 6.9128, 1.7167, -0.0513, -0.0073, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsroI-RIkWSIh_5X87JVRsN0E2tj4m_R1fAjrmw7mU6SOW_P3wNqTv_Npn8hiuKZcY71Ot1Oqbrf-oJDXAS-KXzVx1Wwl3PblFVewloz-cdbQsfjz45r_LW6RulVSu-Og_8O5rrhS9M_aGtDQfGfSRrvmoG3P44qj8uYUZ14zI0v9mRn9z5wbxusnne1lGChYMe55XEpH_xWdm9Wus6F6pURtyjZJ6DiHQBmkgx4m643qxTQ4Bdms1xAxpQFHiolVXPEmiA9lBsemnmYt9ihA3a6aUHs4hd-Mnp6wN2ZV2gDy5IXfYyFRUJt447Oi8ImoTcEXcU9DCBRbp3wisGT22sd4XUn0sI1Y-6tordMfZuza1MbcTkw5IwdGd82EF-fMLivnpG8-CD02MaH1IfpweX49MgJxTnUc5J_lgzTox5WDLSLjWHOsBnU8mqQ1iC2CC6_Atr2z230_zTuGJECsrJ_MK4ibBYO_h1WTlXpPzPuugbeE_uVb5YZTn2ZDYsPyppitC3GYt1XBTRJBGlCDQL6tlahCrytCQ9er84SPhRFm5eEUr2aqdYvWnuvnquvC6bSzt_M0jXMwBHRcj4K4KOoDcXXEaL9GdJFgE4YR0NrGv8OnSWjh0k7u-P-eclPs16rGLmU-ZKW1rRneOaKc9BJq6uCh-OcxanOOY0iYLf2LeFX451HFNafK_0BtzX4twBE0bPuEUxqd1cuY8PEbbvGoSQbUCjomeME4bFaf-Xm8-0OJuNIh7LB2AENoHOhoXSyKGmhoEkdN7ixZ5Y9kCS_Tq1nbSO-hkR3w0ZjFIERVMFsAhhEK5pjvsnioxBm1-WRYG7icQsGoMkDZzSFu5XOBWvWB6mC2d_w_HReypwN0PsKsqa9-MY4OLHOftZ89tVEYGizKSa4yQT0u4IyTaQrf3Z4dyN6hHOAYpXhafULGw0-8xVXIpBkig8OstgEPPWEjHrgfU_v8bIBur6vsP5P2GLQ0XZeg41A0_Ja3Eq7e8wfTsbcjNIO0fSOLHRMfwROE8Y6bQumVrCfMERV7f58CYJelgU87yZ9w9F_bfPU828peBuZlXauz4gcknyP3sc__A3CimXRrcypknyVly9a8kjOxyL9re9iAaLSBazCyRhpQU2HEw0GYu8JH1majEUlY1AQi4hMu-jE_jTgnK7HDAR_lVYz2bVirPlFolMbbCL7ys7HVetZ7F_l6u6ebANgpj-CyG4cH_ctDTk74INPIjHiKq3SHDod3CDQV5UeTx9dS10wc-Qcvk_8bs3vEzRu32OeTUwV4NEi1_2ZcNidHDY9IKXA1cIXcwVQchZ7TY4Whs8UvP4yOVdEAbX09NeN1zSZ4zTEzyjEaEKi0dFfl83UCUTcDNCZdAAWTgQcRYfmmUwO7xjeu9DIEY-mOqBw950w2ZWu9kiHhy8Tb4IH5FVQ8Ka9Vg9aq40nSdL1812LennZAY44dbXFcxOwGIMcIFTa_7uolT5IV1YbHI5KAT_7AZ9_KN_u8rHueiUfGjZ-o-gph8tQ3nWqnkBjwho5jpdto9TR5uDJSHDyLpjltU3CwLI0q0FGbuWHVEmZudSo1OFa1Rc4XVpn0WxGdYihlxKtrI5mfp943lchS3SjPixKUBEgzN4ADyNeP7rl_yHBLDgFBBJyvKw1wP0zubTNEjwWUyqxgagbkQIz8QDuP6hAI5sQe_AXvo1ebH8HzNdvSUnAtSGWEnkyG8VoAzCiwWZY2hegxawtc-jI9571wPw==",
  "id": "rs_02fa8ccbf96f60ad016ab2ba01526087d083c41a5b41973b0c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.245,\"left_z\":0.035,\"left_pitch\":0.15},\"note\":\"The cap appears near the lower-left edge of the left wrist view. I am shifting the left fingertips toward it and lowering for a more precise alignment.\"}",
  "call_id": "call_Y5fXf3hyVcvTSfdPgJTXog0y",
  "id": "fc_02fa8ccbf96f60ad016ab2ba0704ac87d0a0af39d8b303bc18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y5fXf3hyVcvTSfdPgJTXog0y",
  "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]: [-0.6617, 1.9869, 0.7528, 0.6876, -0.3325, -0.1547, 0.9992, 0.268, 1.3869, 0.7242, 0.1669, -0.2073, -0.1467, 0.0677]\nstate[eef_state]: left_x=0.4061 left_y=-0.2386 left_z=0.019 left_yaw=-0.3112 left_pitch=0.0552 left_roll=0.0455 left_gripper=0.9992 right_x=0.3902 right_y=0.1486 right_z=0.1527 right_yaw=0.5163 right_pitch=0.0712 right_roll=-0.0316 right_gripper=0.0677\nstate[joint_eff]: [0.2393, -8.8274, 4.4513, 2.0098, 0.0562, 0.1001, -0.0171, -0.3624, -5.2991, 6.5846, 1.9365, -0.0708, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:353aa1ccd66a22eda8aea6f6a3b5e893c78df1ce2f9fbbbaa8399062fd192441",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94414bc610e1d79f7c784323fd92e5a757708792ae58553979e4b9ca6d13de50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5a437a2fa526ecedcad77dc220e7d4b2a0636add2956784c398dfb118396c21",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7662, 1.7332, 0.9958, 0.0212, -0.3595, -0.2718, 0.9993, 0.268, 1.3895, 0.7219, 0.186, -0.2073, -0.1471, 0.0677]\nstate[eef_state]: left_x=0.3785 left_y=-0.273 left_z=0.0978 left_yaw=-0.329 left_pitch=-0.0927 left_roll=0.0279 left_gripper=0.9993 right_x=0.392 right_y=0.1491 right_z=0.1548 right_yaw=0.5167 right_pitch=0.0849 right_roll=-0.0354 right_gripper=0.0677\nstate[joint_eff]: [-0.3624, -8.294, 9.5248, 1.956, -0.0562, 0.105, -0.0904, -0.335, -7.5692, 9.6752, 1.7802, -0.0708, -0.0513, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsroP_Dmj8IK61FmR1C0TEpl8Cj3C2k3BONxMrG1QZQEvRHI6xt5-XH362xkGUsiAHIAgNO1evGtnYuQtopRSnbaYTe4_9VprVvOkQl-tN8Ag_YAbpkH58WgdhqtqhoU_KEk1MMDpob8LDK6kRbTDX9iQPwgTDbyg5IzY5n7nFl0yBf_h39e4DcByQ4ztmRljMRraJ8LIL4sXoCReR9zdIR3RlYxwn606SHbIqeN1QkrvIc1uMBVl1BerV5YAiM_mrYsaEHZEbqJ_gZF2mzKzctHk43df3AA92ifdYB4j6nnGKy42CX812JMKFLnImG6s0hNSkCB4noSFKe2Y2UCmVtIZg12dFDAHWh2iaBtZxOGR19hnCf8v5SWC_UGEWAUNVH4sikNST9QQpiIhkEd6bUpK5C6zwf2d99-Aq_grRC8smmEJGzRTe_dV0H8vzLK0HJRpVZMFNKcXCWyHVNOlWEUx87Xh_CbgSblaG6Ea90nsmEV5YYEZHeZiq57Z0eTze5Z8_Z0WWg0Xw_DG1UyVCe4eo0H7lA8YC97O05bx09utZht2aaA1-L86XgLl2WRsquxE4ZokvE4fiuezG3Fxw4_k8eNocHXCWw4g1lrcCJfhfBp4YfYEQDlP4PQu30FmvZx5qrBNjWkHIaQQ4MTGgwW2uCzUxaSaBEQRnlhCve-v7IVyVqTkHKIo8AIUqYaGi9t-Oq_F9PKg4LkJeVVo23JFB3xGrI5vqvOD0X_pL3ydqw4pDzx7BUFRNJNma5U8wVXvWM1_WmPV-L0viNsZKs2drYLiZW2OBwsRVFur_FI-SIk4B5E0G47BQHXmaD36WI8sRDJe3NcWB5aSHjns4XxwAYf17i0JJLAxuZ39tsAUoDLRU5iFH6xNrzt14SXT2N0KI6fpOyzQilZX9iVi9H0frJFWRKmCGj8g0AbBQbQMW8_gWWajl9Cht1MBSWBNgWgvLwl0rFHXdcLqFL2XpgkFOFNxCet6LmMlc8LJgAhkLRUOCU6LNOkpkDcQIHwvQgieLw8u5NTs88dIKutNHXYteefj7T15wKx99JNuSXIejTj363_RSdcF2vgXdRXNJjwDXq5npR5xhNl7jrE3k26RT4_vW_W5yQCpeDw8-1zj3erN9iK8Jalpd4PId5dEVV-coV0JQ-84MaribF8t9HkndKbbODe9a5Xy47N1KGmSY6gXOy2x7avBedwsl6_tZ0_vut2UbbFlh3R1tZRCS352nsRm31D4A2-qF3ZHGHVyuWzTJzghKYueZz3w_d1ZzwouetMIdeYbES_PaJRv_3vfMvp86uCps4jWYgyVkQ6d2Hvdzgwp8dZC6ptFuCPbBYV5qWGEqPtDp_oeVGk3tSybmsJpXmwKL43v6Gst4O6CS3wxSQK7vsKX7NBSAPNnpAF_LY14T6NRFmhQJNRAZpSjDHuZAOQx64dZfTjp-wD5_2I=",
  "id": "rs_02fa8ccbf96f60ad016ab2ba0baf7887d0b24d1b17506ecc5c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.413,\"left_y\":-0.222,\"left_z\":-0.005,\"left_pitch\":0.15},\"note\":\"The cap is at fingertip depth but still left of the jaw center. I am correcting sideways and lowering the last two centimeters to grasp its body.\"}",
  "call_id": "call_Vq7ku0Ln6YvcXRuoOIMG55l3",
  "id": "fc_02fa8ccbf96f60ad016ab2ba0dde9487d08ecc2a4cadae3f59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vq7ku0Ln6YvcXRuoOIMG55l3",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6231, 2.1128, 0.6964, 0.9623, -0.3145, -0.136, 0.9988, 0.268, 1.3869, 0.7242, 0.1638, -0.207, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.4134 left_y=-0.2254 left_z=0.0011 left_yaw=-0.2948 left_pitch=0.139 left_roll=0.0232 left_gripper=0.9988 right_x=0.3899 right_y=0.1484 right_z=0.1521 right_yaw=0.5159 right_pitch=0.0682 right_roll=-0.0311 right_gripper=0.0738\nstate[joint_eff]: [0.335, -7.6513, 2.9607, 1.199, -0.2466, 0.2808, -0.0464, -0.335, -5.7094, 6.6667, 1.79, -0.0513, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf93de7ae0b6032e95b1290fc265125949ad751d5eb9bf8485761b1417fdbb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d8ff163103ae42a44bdebb3037fe35b74e89cf3300919f41612acf6914d20e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41383206298b6878382b0eb9ed77dd1c3f3ec0b774c3740284c622de72ecfb7d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6617, 1.9869, 0.7528, 0.6876, -0.3325, -0.1547, 0.9992, 0.268, 1.3869, 0.7242, 0.1669, -0.2073, -0.1467, 0.0677]\nstate[eef_state]: left_x=0.4061 left_y=-0.2386 left_z=0.019 left_yaw=-0.3112 left_pitch=0.0552 left_roll=0.0455 left_gripper=0.9992 right_x=0.3902 right_y=0.1486 right_z=0.1527 right_yaw=0.5163 right_pitch=0.0712 right_roll=-0.0316 right_gripper=0.0677\nstate[joint_eff]: [0.2393, -8.8274, 4.4513, 2.0098, 0.0562, 0.1001, -0.0171, -0.3624, -5.2991, 6.5846, 1.9365, -0.0708, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsroXQPuicONAAS__hHGHAVDvv7dj62579tKTWr5EHTtmrrnRJFIb1ZEf6ji8MefyC-XIkS-gOaVCzcmu7kIUeOKzTFQ35HScNj7h_uy-BLVXZDxIsKfHXpMIPqrIKOY-AaxPzncg_TpcpcuN32C9Dt1gsDbO_SIDotIQD32nt2r97DxKq43Ra0ZlADKbFmFn_atVLVhy_IV0tBzdWfV3cgonJfYXd-3kTDIqrfKI4XE4mYj8ks_JjzvOGZVol23eU3Jswc-rwSoj3bKKdIrXSpg4kIfJLnaRlTExOZk9f7xNGZZ8A6glb7WrajiF38t1D3u_wqP6u19dsoO90mNl8CbZ6_ofO6huPhKCeeolyWoGSr0_OJL-vlZr7J4GeVexqxZ3oKUxZ8GGGzi9EKaamll1q99vo_J28E_p_arfqyREzBQUcrIoXgxKZwZB8eCdsG4CGP8_8dBn0CvnvYrBGRdbEJMEfwXFiwyYkZjtNkdUrPyMOqjuFew4-djshS6pymwMIAOPRk_ZdWVHJCxTG9US88Qvx6PAoUADVOnyIOvbkbrk65J28XUQursRkf3yjMKLN0Ak3RX6eUtcKB2AsbDyhvruZ1Tt8fBEzuQE5iArkLGuBELQrXHSV_yshMqpmIiZXCxMMln21zv_KSefx4wrWSZ4fjvQFC1qlBIIDrXniPPGX10W2JBXyi2QieNm8JF99LHzq_AXzNBc2xLkmTlEmH_OGZ5qrsY3I1uFArUJaVjNXVWAEpOR1W-YEdwEdeRO-1U-VDd68g8-yhZJmO96x79B0vEJ2kK8APoKVlCGnhbV5fHQv_xzqyV9RLMg7iZ3VrqQDt5sU5GQTSt27UIliWv_84eI2u2ZFUAyYrkXO0ChMZqrSaFAkmLyfPcMmit9_FANSUz-uEQRYxRKYQC2tXfnUx30v3gqPmlZCAA7tDBO2Vu4_2qf28mfelFjCBt1YQnqThkhLu1kPCLtuCyytLgyebukorKiwAic7crphb7HbixNlIEfwaQiTl1poIkajkuOA6-VMfD5UvNN0otvaOUXPPD69niXbUjbuOuBfkHrUGCiktNkfAqW37bZTP4c2S6iTIAubFdvGHHo62A66xkAkfJ5He72z0jcu6uBFefoxaSfNREnHjZneq4OaLYLHmGzGNIgsihAoVEjA5b3smncIZfV3Py4PxGGpOjJdnFsoQLUCmO3ZfkoWJ_wY0Z6kKt7TE8JTN0XZw8GLC9S6fJsGPOVnWK5YlnPf3Lic2QjL7HPjuwmVTC0Jpn3HwGrI_nWNIsTck7xZgHjLzUS5Xcdz-98Dpp6RgmiD4IqAC1LLl_3nx6rNEDXHFFKx5JhlAnQsUG_loMAY1-pEV_o_UPTIVlAE914U2OugPjvG4cRtO0myLjBtdCKmAQWulR9ziNatAuRBGZnHfCsK6J0-ho11HmNlEX32RH2e5k2gUU=",
  "id": "rs_02fa8ccbf96f60ad016ab2ba12185c87d0b5a4f4c8b28b5856",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.2,\"left_z\":0.0},\"note\":\"The cap remains visibly offset from the middle of the open jaws. I am making one small lateral correction at table height so the jaws close around its cylindrical body.\"}",
  "call_id": "call_Nm9SzBqF721H4Ut13szHpvJJ",
  "id": "fc_02fa8ccbf96f60ad016ab2ba153a5c87d0bd2e584ec31c67c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Nm9SzBqF721H4Ut13szHpvJJ",
  "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]: [-0.6193, 2.133, 0.6884, 1.0214, -0.3099, -0.1204, 0.9988, 0.268, 1.3869, 0.7242, 0.1638, -0.207, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.4149 left_y=-0.2252 left_z=0.0022 left_yaw=-0.3019 left_pitch=0.1674 left_roll=0.0259 left_gripper=0.9988 right_x=0.3899 right_y=0.1484 right_z=0.1521 right_yaw=0.5159 right_pitch=0.0682 right_roll=-0.0311 right_gripper=0.0738\nstate[joint_eff]: [0.1846, -8.253, 3.1111, 1.7949, -0.0659, 0.1636, -0.0122, -0.3214, -5.6547, 6.7487, 1.746, -0.105, -0.0757, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0440903c2817d83f87fdfa68637e9ebd73025a6cc2e363890f62aaab83c4b9ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c2004c48f8a262e66fb306db8606723de8427ef07eb9107fc3aafd4df7a4b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3378ded87b7cf3bdca0d24e0eae9f3a228a85bd3f76bfb8db0a41a42eb834036",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 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]: [-0.6231, 2.1128, 0.6964, 0.9623, -0.3145, -0.136, 0.9988, 0.268, 1.3869, 0.7242, 0.1638, -0.207, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.4134 left_y=-0.2254 left_z=0.0011 left_yaw=-0.2948 left_pitch=0.139 left_roll=0.0232 left_gripper=0.9988 right_x=0.3899 right_y=0.1484 right_z=0.1521 right_yaw=0.5159 right_pitch=0.0682 right_roll=-0.0311 right_gripper=0.0738\nstate[joint_eff]: [0.335, -7.6513, 2.9607, 1.199, -0.2466, 0.2808, -0.0464, -0.335, -5.7094, 6.6667, 1.79, -0.0513, -0.0562, 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": "gAAAAABqsrocNYNZCZbU3cVyxU1mUj4hRv5OjZqdWX-6RJyZJAigPQzeiaZ_PRb4zWDMj0d_CbEqq7yxbqcD3IQAi5tNqU4c8VVlidL9du3-cZ7ARsQCqdakmd01eGa7YIS-DUc1glXorYT2GnaiKy9HLfIRSyM_rNFsM52NTvZM0uwrcvWmo3m2wJbHaGPkRhl0XO8dAbdT75asW12DbJ_nFpzgLR2EQcsD8tX0-UzdBf0NPBXxThcL_wOQaECz8bq-vIVFEwJK5AIBm5jbu_72G-ZuB9Wo-L9VYQvUnqtXe0ues-bg6LZ-_oed9cveS4_o0tPjmrfrBLjduFIuFcXDEktNIyI1YYk43Byiach17D5E6St9YL1yvbT1iqKH8elamIRGuk6Gm-csg_ABqo4stsuB7DPyjOTAgYbqYdEXiiwJgnkIxaW6B3Hipkf3SdCvkqNi_O0CQFAQt06IVpk-jSKCfRaXZ9M54-TGBvzahNA08QILyrv7BBBvk1xa3N6L-GWiiafVuySWUnn9ygckTg4g4uzs6RbvNCZPZ3dhnO7UQ31WY3CA1owhH_Wqh2mrbxj1x1iZK-qk4dBS1VEkyHuJf6lHLM300CdYoiOy9kqMiHq4BEEmsTs7DCCg6z2HseOApkLWgO-cvxCpbN6D5uWVWLmYEl9U1kI4WymRN0Ni_lcQvggpr4JUo0MKALS0i4R1Ys8SAk3t5g9Vm7-LDG_4-goEwXki08SIoiKjUpFINVO6kBTpCb0x-bsEMOt4frTs_rm4IagTKrIuY7QgwvO6IroFMY2cuzxcFWlJwpxhP2XJp6hftHrOpP8NBzqRA6hH7d4mbzRnsjFVpXjMWE9immazfYvO7EfkB1o2Sx8mclUoy_DvngdVPWz_2OTQg7PbaH19U8P9rZCJZkCHMDsMVBI7PT1KnDKL0heh_VXN8PW4JzpFmGu8uniWkuizW-t1jApDCMgCLA6kh6SGjGacNMVrdxITNrp1zZm6c3zGQ4b5xGWFZPkK-r_eXtf-5aDFPeudjaUZaimYh_g8f7KjkRxAmUQwM9VE5aD41gcYllYmFD2quHTcRnmtk3Sx665-Q1j_FYxe3ElBUUhrCgxiLhR2z2J_4_H72aDUXhpZAj6GOVNXW6bVI9pa-qwp-7mMM8EOPrZVaDEPHHvYHGm1DFku5gVlwAFku2EqCnzAnxUZmQISc2PyIGo68DvX8KBOsO_aD0FIaTRns_oFowS-lf-FVZdy682R_bdKJ76FqYc-Ajs=",
  "id": "rs_02fa8ccbf96f60ad016ab2ba197a3087d0b0f37d6c65664850",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.2,\"left_z\":0.055},\"note\":\"The sideways target did not track while the fingertips were touching the table. I am lifting slightly to make that correction without dragging the gripper.\"}",
  "call_id": "call_RxujMJwuweIw05tgNDEpK7Xk",
  "id": "fc_02fa8ccbf96f60ad016ab2ba1a7b1c87d08447726c67363f16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RxujMJwuweIw05tgNDEpK7Xk",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6193, 2.133, 0.6884, 1.0214, -0.3099, -0.1207, 0.9988, 0.268, 1.3869, 0.7242, 0.1638, -0.2073, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.4149 left_y=-0.2252 left_z=0.0022 left_yaw=-0.3017 left_pitch=0.1674 left_roll=0.0256 left_gripper=0.9988 right_x=0.3899 right_y=0.1485 right_z=0.1521 right_yaw=0.5162 right_pitch=0.0682 right_roll=-0.0309 right_gripper=0.0738\nstate[joint_eff]: [0.1983, -8.3487, 3.2615, 1.8291, -0.0855, 0.1001, -0.0122, -0.1573, -5.6821, 6.7077, 1.746, -0.1343, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac5701be956b670c49d0572d9df2d69c82475ceeeaf9e74019bd0a3d0f6a7ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ef529903f56bcefcb7aff322d117ac90f8af0edf6ae5f7c0428bee769b348e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc2a95996e9cc102b536992fc7ad2cbbe7ce35535f58a450f0a219adb86ba3e7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 48 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]: [-0.6193, 2.133, 0.6884, 1.0214, -0.3099, -0.1204, 0.9988, 0.268, 1.3869, 0.7242, 0.1638, -0.207, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.4149 left_y=-0.2252 left_z=0.0022 left_yaw=-0.3019 left_pitch=0.1674 left_roll=0.0259 left_gripper=0.9988 right_x=0.3899 right_y=0.1484 right_z=0.1521 right_yaw=0.5159 right_pitch=0.0682 right_roll=-0.0311 right_gripper=0.0738\nstate[joint_eff]: [0.1846, -8.253, 3.1111, 1.7949, -0.0659, 0.1636, -0.0122, -0.3214, -5.6547, 6.7487, 1.746, -0.105, -0.0757, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrokpZpMxhJc_dHWBDsw-pxYtyIT4j-D6L_j3f6eTBLSJUg-ww4Yeo7fv9Zcy59YdZ2ywfSVZpQfb5cO-bCPBYLBQPd36TN2fO2beW-puehEJF_z-gHvP3Vozx4gY13B_rRP_4CmQZRiCNkrvY2FNRU9scgaDlSCYItKHs-JuItB3y2UJrhUqDa_N9qltjdYHzS2kWFKNmRAv39wzJvFHpdvThK2MvVQnWvsxeHC3INis64g-G4Apdph0etq8QmbZcW0noMeBGcHYfESYM0T_K_cR9SLCn-5R9YjNNPSOKJByPVOODwVkd-9LFC-Vy2uZ_EzoBE2MDmwh75oyMe-gfF568JAaf5YSuNik8phntKLHREHiWBiFxICsxhyH54DPMFnQpe5MnqbeSetxqPea2omSCyu-BbcCnVEfoouDUCii51aoE-N4prXJzekwZMcsu6AQV5bN7ce-KAyRja8Mh5nCBnP5rnrrmRo2NRN77t9SIhBe56LaHASRwO5mr6obsxZ_WU_DFXnnerYf3UsyIRH-ihOo2GboYWO7P7UhCwdYvh-zwIMYi3HEAM0xxHGr2I52ZdJeuSZszNwmWFYlCUOmfhD-Q-bGo8nCH0BkZswqtucehCGcrOIxcZmpg7RwugKe8Ec4Y5DTAvGB-3ezvnTxKGgY4NykXJ0bVDIquzXyeAiDMwYlB0fi8fDDgDmpgbPrQ1QCr6sSQoMfVWCOWl4fkgJMkMg7KsLRoOdMLnuv3ex_xNG5VGYMZAtf0mhcoTRMzwFlPDqniklkiGfzJZ91WKp6ceuQEX6buSHIpSS_u86D6oaZjKTUIMvkB7CJbcam1lh1Jk4F2c8Ij6hjHYx_e6wpyRwINfANIgf5flYjWoeKVssMGw0kZqkJGADjPOVqKJWzysLI4sPEa-4PzoQczbdk429oJ1A5pHquEVSEOKK-LanJLUYSNchKOK-ZRkit9Ea7QkDWeL5PMChih-M1XmaSJCgUhPGi4mInouL5DDAcoO3twvqdqE4XyDJrW60OPqPuxYc6cHjzDU1-6RtAy1dnPI_VF2P5X9sGRFPRsgl8oofgZvbrmmQ7K2q693Ek7FeRJlED7bA8urTlgvcPpb92OAvzwSV1tKpe6kdzjohlMv4yOD3mFV-s3FGC0qYZGweSSVtYzPTHv5CuPkKH2kL432FwdI-JURKhcaPpLy1HdS5VGulPgngCLRGupFsqkcatCVLnXDaRnNCcIZnEWRjkYg1nISx9Ii96FfdYoXT7EAYyqcl-kW8TjC7ok-AosXSiSkJPdnzs6wYi5ojwHlFKLPpQVREBCqIZOzEkgM=",
  "id": "rs_02fa8ccbf96f60ad016ab2ba207b1487d0b26657331f76ae8e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.2,\"left_z\":0.09,\"left_pitch\":0.3},\"note\":\"The left arm is holding its pose rather than following the lift, suggesting an awkward reach configuration. I am shortening its reach and increasing the approach tilt before trying the cap again.\"}",
  "call_id": "call_DWSd7s5RGJ1YfNBQJAwUDQlC",
  "id": "fc_02fa8ccbf96f60ad016ab2ba22501c87d0aa72ae990e239162",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DWSd7s5RGJ1YfNBQJAwUDQlC",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6128, 1.8717, 0.4992, 0.9569, -0.3099, -0.0982, 0.9988, 0.268, 1.3876, 0.7227, 0.1642, -0.207, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.3795 left_y=-0.1966 left_z=0.0397 left_yaw=-0.3071 left_pitch=0.1741 left_roll=0.0442 left_gripper=0.9988 right_x=0.3897 right_y=0.1484 right_z=0.1512 right_yaw=0.5159 right_pitch=0.0663 right_roll=-0.0306 right_gripper=0.0738\nstate[joint_eff]: [0.4034, -8.1709, 7.2274, 2.0391, -0.1538, 0.1148, -0.0122, -0.1983, -5.2991, 6.8308, 1.8339, -0.0952, -0.0708, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd425ac325636c6321773b0f4a5d71e7041b4bd6c1e3651f7ae0f806c7b0476",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd1e6860f06fe8e08e6150400db8659ed07495bcafd37c690ad6959bde006da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556b72405519a2836a38b1174c71af682ea6c3f54ba3087b4949625eb853407a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 52 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]: [-0.6193, 2.133, 0.6884, 1.0214, -0.3099, -0.1207, 0.9988, 0.268, 1.3869, 0.7242, 0.1638, -0.2073, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.4149 left_y=-0.2252 left_z=0.0022 left_yaw=-0.3017 left_pitch=0.1674 left_roll=0.0256 left_gripper=0.9988 right_x=0.3899 right_y=0.1485 right_z=0.1521 right_yaw=0.5162 right_pitch=0.0682 right_roll=-0.0309 right_gripper=0.0738\nstate[joint_eff]: [0.1983, -8.3487, 3.2615, 1.8291, -0.0855, 0.1001, -0.0122, -0.1573, -5.6821, 6.7077, 1.746, -0.1343, -0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrorzqx850DWi7uL-O3ktGDTSzPGWo_Q9S0FUZSYRJTA7Kqx2EW4KiiA7C2LLbR1KjPOJBEFpxTLY2elOIQZPbHw1tmGuJDFcQh3VFTWajfELKWTYj1zt6LoGJG-Zz1Y3g5iPi4hfOVsNk0pZe4FoLFf-MHndXMAJ5WR7IL4S-6myVJMWnwjrfTQxlsrxPfqwFE9u_iSxXZr2XOwuLg8uufqgcigfO4EKulhYTcP-clzIzMfnXS0I-AyZeh2RpyDGmcACQc0E5t5MCTQ6GQQgYBM160jOzxr7EW8RrVgZx1vneJYFx8nb8NDRJIr1tOEYaFgsgEHQDzVpLnfEaMMw3zkGqz9E7eirZLVuC8jup9cUdb_oGqude1N7DS62Aj6gDey5cueG2DQb4uHcYNZ9bpGKxsmma_-hjlrlEIaAtzs2Blj9syHxhKwREOJXxL8LqNGhOQ8Eb5F6368rxRZge0Dv-3Soxgy-xmWrkY__MDsS6YyUgVKR1to1EoO43ppR7asjU2vmERRAgRNQdUlRceq0uwc1rw4j4G07ax8PFEU68dHkCgExK4Td1kJqV6BfSNeq9MpIqlmin-M-q8VdN_z7-xmOtdNngye5uCJO_DavSIPDVq-z0J6w_cD2Sf_2zSUZQybMW8ZmPECXDbf4HJ3QQV8MaOKED43X-TUeR5otO4kAU596-N5yc248phHLgjc-_MzmyeNriFL4dw9Yu_OwcKFKaKYHu_5w7mPoDbRxpCXKp3I26RfsroqqyuXwd01j4cZkYwZFVAmvTr3rjzQ__vina0-FKUKHxiEpkyfNSR0QGXHPk022BksCYVkhAQYMyVa3zC-20nZpSm7e2stHMvrMvBINaPpDPLUrpW5TQ9ReWRRus58XpdAo4YQhcxRy_NMWRT2tSb5McAAVQg0X-0XsFytCncQYjDIbqbjl-TDB_1VgEPZqsWuOAsjkSnt4_oajm5X5VuL18urIRNxFhyT76oC2c1R6dttAlgvy-7XckTi6L3kPUMxZQ_puWNdQolSw47nkNnknfIL0kmIGyOSD2Y1v53ZATdoCdgT7HCb52BJmdvSqsU3s5oTDOSPh_JgUJot7RuAMLWc8ZXUg1q_DWekoXr9969xBostRouVQkOm2Dg0LjLAcwK6oJGOiz2AhZk3vAB_0Oz3Ov9fEubi238izE59W6yMK6lthpM1jlWy-Z9wAJx45ABq7Va0-eHKZ8MluEUupDpBHKaXE-Kt84hc9s-toYLPNMOKRxAluLiokH5JXQloZW2gm7T3akJ-5GEVhRtFd9lxrtp8FEPu9fvuEf-wiH9q1WsLNgWIYJxFZFiBGPUotJBYwMGNw3s2-1t4hsQzffpXfyXWWUS5ASFYb3GoKauNVVdcN9hr1MDws1vMy47PYQSqAhcgejvKxuF2Q2qTfMiWAgCfuZnvjOXmEgOF1MKa1q4xjIFM-zA-hS_hVdbyWPm8r__9043cb4rhIIUSTajHRP_A9w==",
  "id": "rs_02fa8ccbf96f60ad016ab2ba273af487d0b8b9d81a9f17e4e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.0,\"left_pitch\":0.3},\"note\":\"The cap is now aligned with the left jaw column, and the arm has moved out of the stalled pose. I am lowering over the cap while keeping this more compact approach.\"}",
  "call_id": "call_I5yYaCwLx9yFpmGoTnsjCod6",
  "id": "fc_02fa8ccbf96f60ad016ab2ba2945d887d09c9adcb9f90457c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I5yYaCwLx9yFpmGoTnsjCod6",
  "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]: [-0.5949, 2.2074, 0.5388, 1.3579, -0.3061, -0.0879, 0.9981, 0.268, 1.3895, 0.7185, 0.1623, -0.207, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.3963 left_y=-0.1996 left_z=0.0019 left_yaw=-0.2909 left_pitch=0.2736 left_roll=0.0206 left_gripper=0.9981 right_x=0.3886 right_y=0.1481 right_z=0.1482 right_yaw=0.5157 right_pitch=0.0586 right_roll=-0.0286 right_gripper=0.0738\nstate[joint_eff]: [0.7043, -7.0496, 3.0564, 1.1013, 0.022, 0.2662, -0.0904, -0.3624, -5.8188, 7.0222, 1.746, -0.1148, -0.0757, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13151fb2e84c52238e89cc561d195d0fd87ee62f67baa69ea80059ffb8d2137a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33e108509905bc6c5931a00fe64add6fa1f86a735678269af138839ed077978",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0ab5edbfc2ca458cbcb212a849539927f5e6dfde0433af92d1213abde6c949",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 56 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]: [-0.6128, 1.8717, 0.4992, 0.9569, -0.3099, -0.0982, 0.9988, 0.268, 1.3876, 0.7227, 0.1642, -0.207, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.3795 left_y=-0.1966 left_z=0.0397 left_yaw=-0.3071 left_pitch=0.1741 left_roll=0.0442 left_gripper=0.9988 right_x=0.3897 right_y=0.1484 right_z=0.1512 right_yaw=0.5159 right_pitch=0.0663 right_roll=-0.0306 right_gripper=0.0738\nstate[joint_eff]: [0.4034, -8.1709, 7.2274, 2.0391, -0.1538, 0.1148, -0.0122, -0.1983, -5.2991, 6.8308, 1.8339, -0.0952, -0.0708, 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": "gAAAAABqsroxLMkd_cwrUONMZnkThKpeWLTzYeCpmeMwMJ5hVqTleX9eOdUsX3AvBcUGHLRI0cFLZNfkgbgiHKyRXF21qKydpLAE-6RdXFBJtWcBboOqr2yl_dhTCFr8DQSZtww8-bNSffAIuHLYIb-ua8-1tG8JHHx1ZiBP5KvTOLZHYw2U_qXvbhZ3l26YFwAlLEuc6LGyETl53xdVzVv1BGXDdqu5FAZqyHowtVglt8tLrZ8KJu-8OfBO74iXNX3erAUsfKv1cD1Ya86gtB8UaG4G-QlUOt6sUf-KNO0jLOMUTiitqAp1E4zZaA70JP2QQIZljAcMEl2jW0ihl4O-6EIzJke_ghuRS7tRU2XkL9KfgcdCU4CeeKAZnc4wq73O7uZDaR1nkyN7JIPgNQ-Gk64dWhVb8ass4L58fGoeVVo8FJca6oPsWOkvf5lHiQluU6WGQh8jBtKHrR4Oh7mf94PBCskxkIWV3F8YUpSqfxrDpDWFOZnkWd8G3jLOZ4fDMwMkkpMUy7ooEyqEyGDGLX2YJj97yGChoYcPOGyAVpAtBORYms6VtJ_TyNcVO6vY8WAt7Z3x67FwD3OBHS2KV-tZQBH3QfI8W-k-PYgDmt-hbS6Vp_BbtKRWTSFufSu-FPyoLV3ZTgy_peT5AsPqG7kaWULj8-28H_EfzgiJWg2EupvYD_0sy9OoJXQCoEXlCytX67dn_gqKRU3jQCtBmx1Uhsz3rokcxl7nQBhW_cjhy4VBzvC9Q2u37x4xIWHXoVgG2fPHDjdbsKW27clnYHR0w7H76zCzPksrULKI1DZDfyfdNxo1qCSUt30BEmLfxycsjy0nisElATzVxFD7WZpWpBttMvtHBr_cAXd1gSotkVcbNRiR8qVJAQiMaoQgvtjgyJKTmOQPpwKY6qyGA50MU1b3a-yip1NYXiZELhP0cTeiNtzmBpIfXJPjxI8PWnNgYnoiQFHXiaGl9M_swVShQfy1UMO_1rQIZgMdgi2RfHM4j-UGZmjrl6gFk0ZTBi-UrYtUCmpOeB3UPNNWHyci34DrsIp204MkPxkCQ0u-HlCSBQtvkaZfXAbAt0H5AHiU-yds9T5EhEqLdbhmzde9CaNsl88FU57Nx3Yknary2yWxCamfy__qSlgYg1snRPlXLdQk3LcYgn9VPgzCCrAq73woPUn4Lt_XD2avnWxIRUQ8X6AoiRivt4uWLHuqUReikbEcy1oUJVxO73HgaoQEJ2Y22UnSe2y04N5uhNpzi_FgA27_bSwtKkM4Y5rvAvnDXbYxkn3QEv4KkyUcFAlPzE0nA06-Eu7WyaHc-PXPfm-qYqvhm8a4ciSAl9E-ndqyIinvDSUvfaCpoi1J4F699zOJUJ446nKSkCdBmTqgqLfYHagl8lk65hemx90OMbPms5VVdrs_tbRuFbAnkx0wwPqGdJUujRlBt4Q0QQz0rKQCoFrnqPbLfrHIetJk8xaZR3F9",
  "id": "rs_02fa8ccbf96f60ad016ab2ba2e4e3087d09ec785a7fd0c22b9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are at table level with the second piece centered between them. I am closing gently through the gripper controller to secure the cap.\"}",
  "call_id": "call_kPVMsdfB72m37gcGVQl2bME0",
  "id": "fc_02fa8ccbf96f60ad016ab2ba2fd30487d0acdd0c838722dfb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kPVMsdfB72m37gcGVQl2bME0",
  "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]: [-0.5961, 2.2204, 0.5423, 1.3891, -0.3084, -0.0925, 0.0564, 0.268, 1.3895, 0.7177, 0.1631, -0.207, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.3978 left_y=-0.2007 left_z=0.0045 left_yaw=-0.2856 left_pitch=0.2945 left_roll=0.0098 left_gripper=0.0564 right_x=0.3885 right_y=0.1481 right_z=0.148 right_yaw=0.5157 right_pitch=0.0586 right_roll=-0.0286 right_gripper=0.0738\nstate[joint_eff]: [-0.1983, -9.7299, 2.0855, 1.5507, -0.0073, 0.0513, 1.2576, -0.3077, -5.6547, 6.735, 1.7705, -0.105, -0.0855, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc45ee16c9d27b3a9a12d7d889fef9e230d5ee03381b72b0ebf53261ce2fce9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98ac962b3ec864ccdcaafc3ba32bb2480da5e18187a1abdbb75a23d9ed785c13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f751e3296cca89a8b52c9848def102e929275405434b3c43c5c86a1ce1ffc9e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 60 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]: [-0.5949, 2.2074, 0.5388, 1.3579, -0.3061, -0.0879, 0.9981, 0.268, 1.3895, 0.7185, 0.1623, -0.207, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.3963 left_y=-0.1996 left_z=0.0019 left_yaw=-0.2909 left_pitch=0.2736 left_roll=0.0206 left_gripper=0.9981 right_x=0.3886 right_y=0.1481 right_z=0.1482 right_yaw=0.5157 right_pitch=0.0586 right_roll=-0.0286 right_gripper=0.0738\nstate[joint_eff]: [0.7043, -7.0496, 3.0564, 1.1013, 0.022, 0.2662, -0.0904, -0.3624, -5.8188, 7.0222, 1.746, -0.1148, -0.0757, 1.033]\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_z\":0.075},\"note\":\"The left gripper has stopped around a 5 mm thickness, indicating a possible cap grasp. I am lifting it to confirm that both separate pieces are now held.\"}",
  "call_id": "call_DEAspUboHEhWN5uvUBShQQ0u",
  "id": "fc_02fa8ccbf96f60ad016ab2ba34fa8887d0a79406fa0e0de5de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DEAspUboHEhWN5uvUBShQQ0u",
  "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]: [-0.5961, 1.8965, 0.5228, 1.1225, -0.3111, -0.0956, 0.0686, 0.268, 1.3895, 0.717, 0.1631, -0.207, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.3984 left_y=-0.2006 left_z=0.0746 left_yaw=-0.2777 left_pitch=0.3307 left_roll=-0.0049 left_gripper=0.0686 right_x=0.3884 right_y=0.148 right_z=0.1477 right_yaw=0.5157 right_pitch=0.0578 right_roll=-0.0284 right_gripper=0.0738\nstate[joint_eff]: [-0.1436, -8.5949, 5.0256, 1.6239, -0.0415, -0.0269, 1.033, -0.3624, -5.2855, 6.8034, 1.7753, -0.1148, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575835f384a9f600e918ec9903105a8f53166152c8b5aee89dea1b327c18d29d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b255f2e2a8087244b486c59fa310aa416862d3c2dcdd8e72d0f9fa87ed2aee0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae953698aee2e360aea452d8f74680e7e06a3c62941125176099e48f4229d146",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 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]: [-0.5961, 2.2204, 0.5423, 1.3891, -0.3084, -0.0925, 0.0564, 0.268, 1.3895, 0.7177, 0.1631, -0.207, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.3978 left_y=-0.2007 left_z=0.0045 left_yaw=-0.2856 left_pitch=0.2945 left_roll=0.0098 left_gripper=0.0564 right_x=0.3885 right_y=0.1481 right_z=0.148 right_yaw=0.5157 right_pitch=0.0586 right_roll=-0.0286 right_gripper=0.0738\nstate[joint_eff]: [-0.1983, -9.7299, 2.0855, 1.5507, -0.0073, 0.0513, 1.2576, -0.3077, -5.6547, 6.735, 1.7705, -0.105, -0.0855, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrpJT6f5tlcZKNqN0iErZRQBWLNxjnavYqEe0xwayoaWGoJ1AbEthSClfFa2_baOxCi-q377Aw9fCxo4JozJz4Br7sbEb79pWVV8eP-0NOhGkv7qDsdS1-m_pRs-gkn6V-UVd-RraBQva91sfO1conX5RSgH7gCkxlNTyjQ-JAWER4ife9Cyu3Bvf4hZDVIxLo-a_m2GhAiBpDbmaBmCOLTthxYNGhSkEWvnr4NElN1o6FgUmyIAKFBOHdbrTDZF2HWHlCDRfpUdk_5X_6vklu91mIGyJrBoggMYUybbSrLm2xMEonifT6kWN3xzI0IfWMcuPcWTvdgXVAUEz6KkVlYUEQjfnlvaJelt96p4o14LYRjIJwAW2onoZOTG25NfZEzxVaJkXkW6Y1xjBZ1iGPw3GFz3XzZIIbHqHgJcx0gTXPizA3GiNK7EHhMyuO1GD3esaHW2tjJZJM8EsFcBAkM4LT52RUDZi6e2EJwnLprI0iqT10vh-5IMhIz8df9YLOsDA-wkpawcuzHzrCU3BdgSLSO6rpV4tQobeuLNlE9Km2oTBHEwt4CJ3chAVKW08648fJoFAxGr1UKMi76uxpJVPTOnOjQZpLztJy5fL7u_SKXEfo7ETtsb960QTYXhH9AQk2ttjhp6j2GBKHdWfEHhC0ZkrcJgqpx2712ApEWzCzCR6WcDDKxzgF1DW0AVwCgxi09U9HGJVA3F1QClwvbISKhwVHI-F13t0DoAWGkqj_gEkKZjNDL3586dTqM_jDm0b6Wo3HSKbXRuSPX7XvNYYreowuhT4QKPuxQwDQxFWYBJfN86d16SDmPx2WpgC_HcPmUfsPhS7J1TQkaG73KCeOs9fVVWCuDiWXXBXyKjoXSo-CVaHSZKd7cH9WfKGBhEGZ8UOk5sz5l6R3WaCZFKJ9vD0PEajuKn34TfKOpov6gd7H9XTVV9plzi1DgbbK2x9F1W_5X2OBq2i1gs0N1MYUIz_A2QELlcHPwfuCsubZgflUuS4_jmWLByr_D4w9gV45yiGtHOBjY-2XNuzaeqEG-feiFbCpRTH4dvJJ7bXAwwusYRZZTaL6DdcXEafVz3HssZDxXUtCchpCib-SRdUoglOAQZN3PjlBzrFtg_p8hg_xu6fj7UYwxMh-r8NTaDOpMXFYXV8aeUs7KzMW2A-TxWv-gSlLaX83xAph3EI6cK2KrOvNXPwb_pLcAnROumC29n6cAh48Wv8Zk69tuhKUqHs1IxPQYOq3067PoO7Im4Az9pOFpJoj1Tsd2Uce30RFZtPiau0WztnsEoDJXhd6J4mO1kP0S2LvfG-SpAi9yREO-7wbRstbg3k-9SGwubsqsM_1uIi77nKMdp6Q_7J6Vyv6RcJ6p2e9pQwA5BNh1uKyvEl_LtTWwGViaXTz94i_mFGjW5SX0rvIvZzKTjj4KOlyg-DtNjJiR-WaHz9RwsjA-Jpei8le5hG3hK6QZhKf3_rObJ5J0K0cbaGFPQ9SeIZRqPNAG4xZiEKlVKJvE56fdU21ixbKowk5l5bEKiQhPrNDnsLxP38Tu2VtXWpxJE-xe7VMpc6YyY7SafEosa4Ap8pB212y5atvm-CypU0XKsLAtHZihtH3KN46BIauRtxkKxLRmWT4GOLMVEMJMjw0VOkNxCHjLf8zZUO2INTg70qZgdn_KbpE22dqZUCDTjizdduSpla5wR3MOcHMQ0M436YnsYXC7vX9GFxvuY-8aPHABIQVg4ocVxM-AG03UbqohL4q68C294FO69ICIqn_WWzNbkmMW-MSV43tHslBfN2KMhn7KkcqZLLjpKXsTrEXLusoU1zJ6A6Fln0O8SlN2ujpCYbfVVKQRHFwZ737nh3uXK_f5jsMQuPb-UZoHRqTURsVEqvqmyOruWRPHu6LsrWALeN9v7RG1IZMrfCIhKu6LZvs2i8b7a8DJ92MAdRxBMcawpDpW9XrPnQD3BlUUKaYgAVC1Lf0R0pM2W_XnRIVLnH0bEqfiSXpmpNEcbBQcXV0bRZZ1eorYjZkyzng38lHwFS5l13ZXcVtJXc_KAgRE2p-hN0Cl1sugtlGAhAdRT56hqtyzfpn1i4R9908f3XFTdqj7wzRU0TOUsRERdky7nT45ct3wP3XSSByRBfSPKnT0u58gfSd8ux4fdCsalrNnDKU29FCBCfghNgBFpMvlsgA3135Dmw7U0r1FDgr3OkVQf_sRbJkXu1l5R1f0m84mwFCcpCui0wsfk6aS6JDCPgCPJQsyhg6YNLvWi02rKFyswinJ9Vn2_k42EJr8437Ku5XLQVKkh7xPdXL_bgrFwJ3Q2ErM6_0BqsMcIAYVMtuMfGQRwx_TFHOyf1aC-chBXibdSbXDow2ZzD0s_Q_lFfURj7yQiQlqmVdYhUjRkdBb_iLrmnHBDTm59XMXqZW5CoIQ-69Icb3O59KIOxxizp37M6DapjWNvN8N-VcWGwg9P2vCRKyVuS_GdxjEEWuJ09wgFUFTd-2vJg1BFvUYsBqzTszoCQm0NH_xC29H43TDE_zHbWaKfeRBVv-hZyLPdJjSuUxnbMWFq6g9wzgYI2bpVNP5-D4wXnn-h0logVfzvZMsEnbM5Z8xmF7Ii-yJeAKJbXEki7D3mmWQZP18w0YV7c8s-aBJSYF_b6IPfzPsilbKRu27Xgn7-sBaHCNcME2V9rK9yzr6W6Sj05952JxeqbeRDHRXQEGbz5Yvncyxxlm4eOrYNmhPmmORuNVYaTAHAbPt0QYNhUlGIRAHiQ7QKtMdG_7SJx3D2bVUUmlVmGpu6btwtK99XrdM2ZTsEXRrwtVJKlttl8iC4IPMniUykPl03Pzf5n5YVNzyRnGLmdazL1hZS9cfn-Xtxwqy73Fyh0x2HVBQfQtpQz2WqQmun4Inf1Y7sAnTxGdd_kSQoc2_QJglLgND8y6a9p2NhzRHnv44vkJcK7s9nZmSTVnT5TjeTgyvlk7l-Yk0R6FLAj3Bk2NZBhYVUDv0i4YMAbcQ3Aox1iet_XidUKdG7_FGB_lw7vNA4onLeaQDQxd9Q8icbSgG04TRZuLiSpQYBdUnv6pjn5CBzuKMLheFE66DQD1rx47UDoL3bNSxXXLEfNd3Af_GP51AUrmmO1kTtCqKEc20z6H1raCxzBrfl4B0I4pXoFhEy75fZoCsAF7Zqd-xYGecpYjg=",
  "id": "rs_02fa8ccbf96f60ad016ab2ba3973d087d09b6b1490907cbac9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.18,\"right_z\":0.19,\"right_yaw\":1.1,\"right_pitch\":0,\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.19,\"left_yaw\":0.35,\"left_pitch\":0},\"note\":\"Both pieces lifted successfully. I am raising them to a shared working height and beginning to turn the pen tip toward the cap, keeping the grippers well separated.\"}",
  "call_id": "call_SNPGDQBpjM35SQ6IapIIjecI",
  "id": "fc_02fa8ccbf96f60ad016ab2ba46666c87d08ddc62994228db40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SNPGDQBpjM35SQ6IapIIjecI",
  "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]: [-0.7731, 1.7508, 1.3575, -0.4473, -0.8333, -0.7727, 0.0743, 0.1612, 1.4345, 1.0058, -0.3386, -0.6937, -0.5877, 0.0738]\nstate[eef_state]: left_x=0.4106 left_y=-0.2129 left_z=0.1927 left_yaw=0.2858 left_pitch=0.044 left_roll=-0.0615 left_gripper=0.0743 right_x=0.3566 right_y=0.176 right_z=0.1835 right_yaw=1.0316 right_pitch=-0.0077 right_roll=-0.0299 right_gripper=0.0738\nstate[joint_eff]: [-0.6085, -8.2667, 8.1436, 0.9597, -0.4811, -0.0513, 1.033, -0.8547, -5.3675, 9.0188, 1.4286, -0.4762, -0.1197, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dee353ab1da5e08e099a70e44e2811d758d0627fe43711c9943d2e769b111c96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c3a59b7bfe4e199d9286a2cdd8b2b5cfc1b76b574a8d644fcdc754ceb679db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab1034ca69badd55501892d31e89302b7c35a7262222c74ad71ac022280cbdfb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 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]: [-0.5961, 1.8965, 0.5228, 1.1225, -0.3111, -0.0956, 0.0686, 0.268, 1.3895, 0.717, 0.1631, -0.207, -0.1467, 0.0738]\nstate[eef_state]: left_x=0.3984 left_y=-0.2006 left_z=0.0746 left_yaw=-0.2777 left_pitch=0.3307 left_roll=-0.0049 left_gripper=0.0686 right_x=0.3884 right_y=0.148 right_z=0.1477 right_yaw=0.5157 right_pitch=0.0578 right_roll=-0.0284 right_gripper=0.0738\nstate[joint_eff]: [-0.1436, -8.5949, 5.0256, 1.6239, -0.0415, -0.0269, 1.033, -0.3624, -5.2855, 6.8034, 1.7753, -0.1148, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrpTpF4zdrTPpGip9dW7770jogVYNSazJwJRh5dwrd5BOXXiilw2uAKYUQ077ECrHPT7j3epiStltwt0PmQi8ISo-7CwiOe_0WqO5EI2cR7YmcPQQi4Ez0huVEY8uz3qkBoe3sSR4iq1kNjASuOV-vKK6JCO-VgkU4wYUFwguM3LlF268JwzPABvrHesVFVlEMf8iAoF5w941ZLq1354YMDy6fUvNjVn4xXU_MjqnsgG7zcNNprZMWvj6Zzdb54AisJLoxX5ozDVlaVxGugbIdRD7q4Epa5Rc2P4Ocz9QWL2L5i-QSpQzDBlaBqRuQshtbHFaIPWuFz9wOg0Fy8jVx6Tl7SEQw6H4eQE9eqI4yYNAFMFaWpo-EFQpBtDmSjpBqx_JcsN24kKGTObgKmzWYTzPHYMA0y-bZme6gh31YWrADW8G9hzK2bXYnyZOE4vHGmuFDHqh1HF1sOVmT9lFOzsTJx5R8NMNlCjMuGQVueP_fXAbaE3AntRYHqhQ5OVnc6HYhfXBOpLNelPNdcH5fVxB3hrlZeH4ZP7Y-jJFctkX-4BwlXfPR2hSX7w-J18f6mc8MJSTPRe7zAPdixhgoX2ZGPDiMSLi1vr8mNFe_beuw43K6lgLZYpCvlCOc2o-r5032UpKorLP9yWEexmLDky5ZfW1f5NJdzhSpxS0APorJJoSZuRVJWvjy_ulrimWT2mHeJHNu7xsvxqbMPc0LoH2sDXkqNw-5jXevCOWBBL1l6CITQwhylD5FSJSEisGyWJuRJEXHHj1Lqss8bZCPU3-a7OCncviNq8uRDno8sN4EFV3Qpl9cYLOcMUP4nboE93ku2BFs6X0kuJ0Z0X3V-hmtmvHUDOdjxkgVtNT7dFR7G85izkZBBxGpGotHR5BS3cwo4qB2tjammVjhfXkkQPd3NVmW3yzaAcI9A9tG4dYjQnZIH_S5BTlJ9XESftbrQn1A_L18pMNcEtsysOLSc1uGCttqPrKuQydXZo90pnRBk5GUqlqySz_y21E_NVatPXyZjWExIg8a1QOKB3e_lIVZdXXkFEkP8GA_UVlJQCXrVAsvE_pQB_dx5fWHuxd2um4Msg38VLh-mf-bgenyQs8UiCLa0688xakjo7o4vyBqvUrbA9ZK5Rz3w9F2gOnlNhySOUAEmM7SqPemYl7-NSN2PZI-ngiGp1ksu5-t-YVeNLCVLBEWq7BzFrLM6ztGqsIqLQ0rz7y1V0Qr4ayTQR4jcG1JsCdYf3dO2aJmQWyLyy3G0uIzWyGPMW66bGmeZvHQKyZt4z4ababiuO7EygWHyNuVajNLOMdhJksEPGPrGDPkhMWAR0mseMrHbFETAnKK6rt7Auepgdl2ZSTqRUQO3G5sL0_1iRGnZPso1RVHWH1bZ-Bpuy7lvdAX2Fh46xibcHL_5rv9W8uh8EMODQ3nxZ39wLzHV4ZuAlU05SFAawp7RbXlMk30-1wMKVYEtdzZm_jgN3XkMiZi7YnPv8K8AKheEAKYonqhhzuIW0F3bidDvgSo_sv093Hl95SChraajuVh8yz6yh7taC2KeIvS3U6B5-4mqlBZP8KP9x6cA=",
  "id": "rs_02fa8ccbf96f60ad016ab2ba4d5fc887d0b2bff4e3159c57b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":1.57,\"left_yaw\":1.05,\"left_x\":0.35,\"left_y\":-0.23,\"left_z\":0.19},\"note\":\"The pen is clearly held with its writing tip protruding from the right jaws. I am turning it across the table and moving the cap into the same fore-aft line, without bringing the tools together yet.\"}",
  "call_id": "call_QK2gCdLD1YU6wFJlbYhovge5",
  "id": "fc_02fa8ccbf96f60ad016ab2ba50f49c87d0abf799ff42532712",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QK2gCdLD1YU6wFJlbYhovge5",
  "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]: [-0.8478, 2.183, 1.9041, -1.2118, -0.9844, -1.5948, 0.0778, 0.0551, 1.845, 1.4616, -0.9298, -0.9031, -1.243, 0.0776]\nstate[eef_state]: left_x=0.4022 left_y=-0.228 left_z=0.1512 left_yaw=0.7232 left_pitch=-0.0169 left_roll=-0.0915 left_gripper=0.0778 right_x=0.3783 right_y=0.1634 right_z=0.1568 right_yaw=1.4201 right_pitch=-0.0864 right_roll=0.0026 right_gripper=0.0776\nstate[joint_eff]: [1.3744, -9.7846, 5.2581, 0.9548, -0.6032, -0.0562, 1.0281, 0.7043, -10.865, 7.6239, 0.2173, -0.9988, -0.0904, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b026264d242cfc2a2c483ffa9a37bb9e0c4446569c2cb3a085db2ce19222f7f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48de8b9d1cd91475c19ce5e94860f61507e889da454a67e25db6537789a40f68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed04bc3ff4b25340841d9d785c6bc8b3d1ea64d2a06b00487e40d2508caf82eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 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]: [-0.7731, 1.7508, 1.3575, -0.4473, -0.8333, -0.7727, 0.0743, 0.1612, 1.4345, 1.0058, -0.3386, -0.6937, -0.5877, 0.0738]\nstate[eef_state]: left_x=0.4106 left_y=-0.2129 left_z=0.1927 left_yaw=0.2858 left_pitch=0.044 left_roll=-0.0615 left_gripper=0.0743 right_x=0.3566 right_y=0.176 right_z=0.1835 right_yaw=1.0316 right_pitch=-0.0077 right_roll=-0.0299 right_gripper=0.0738\nstate[joint_eff]: [-0.6085, -8.2667, 8.1436, 0.9597, -0.4811, -0.0513, 1.033, -0.8547, -5.3675, 9.0188, 1.4286, -0.4762, -0.1197, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrpbLTaxx24WIAW-GT5LYqQwEQV6FQwZunG_j6gqSaOSMMagK2dBuBVg5qoOdQDbOiRyl_tvDFDkyuP3e0gaUMkUxjyoTYDoW0Fh5dZouU0fGXQ3tWL79wiSHW2m-Z3gPwKB7WfXyhIGxzv696uS-0NEdnG08pIhe8o-V5de354monYrkjLqbXM-O1ufyaaUnNBRyWypIhag38OViNmSXaSuxZKeoqjsfsJmJ5t1IC3wiLnurM_o7KMnYh90lGDcH-oJowUDbBqjvkYoe_lUziBD5gbdxmBNUyB_wsgvsLlrgWhoNkyovC_WcqN3LSWdMnDXBesHKcEfraGhMPNH0MqDTi8porO44v6hfJ_Ddy0L-PquhMRvDlzzEe4VFH3H2Q-BMCTRwJWOD2TiIwhdrRvAe9x9lwgL34GgKfb8ZRJJtlMXQoFPA7_4mInzaGh0aqTnj81Zmzlc9gZ7Z8s5xnQ0zI-Ec_8VcYPXYHdj_M1OJICjxrGbfbCnSCUH0DPPHzuB4IH6qsgZPlGMUB-bI8T-h3jgYr27le6pl5Od6h70aTMqXgcwP5v2TJasCRMJqtheh-CKbRnW9oi62I0uc9gVMTwW3HWw9C2Y8539PqRW3b_MQpv0iYtaH5p9Ilp-0x4d7Hbi01uCZwx5Lo59t5uzOc5VQ-vJ_PxLROO07s0zMk_KCTwU15hh58CCke90EIBCGofVYcmqnVlnxmE9xjdfwpcUH9mxuhRJaMKuGUQUPpc5ngsFqi-Y2O-BMtZ898XIYrdxjmnEM1yIdyWj0ACflPk7SshkG-Zjb1_8yLRAmSWKAO_U81GMvJSNFG2XUHBR2kBUpn0wmgrNHnlzdVxmrF7Rvqdr5FgCYqvKO9TxlQ8PEY3GsH6TWOi2_1KqMtBoDFid7AhBKbBkqfNmhRsqR3-xgMdpJT9gg_71o9qfFFgLE7EXnaenVZ6bUe7OfZH-l3IiEpDFUbt6Ml7tPVfupMjauOsBniucYot1oWnGFX1ugLuBoHSBpy38MOTxkJq_DllIVoyHFfEDpufXx7lZD0vyBWWJVP1NcxPKhZr4iYyWNhLFVzvL_aYl9c_uakZfWPYPq6qX777K5oTYynCHeRIni9GjMROIPiky78f7vlKQSSLvK7TwKkW1mlswtHthCQfHLKsBol9XxX2jreTeNzUf1u-UdR7uaqjC452VVtjQ3l483xR-XBjDKjhr4WXKNX5VjVn9xeIDSEv9TkMXMQdJVdfEhRQGUqHKdktm-R1v1QJU8nX6eWNauQEcuSVBPzMfe7p4r3YQ-k7i_qBFS19lcODoGUYQZxAp0jkEHOLLWCJzyQs9z0WsZlN977NJ",
  "id": "rs_02fa8ccbf96f60ad016ab2ba581c4487d08caaa40f6da77a76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.2,\"left_z\":0.24,\"left_yaw\":1.1,\"right_x\":0.35,\"right_y\":0.18,\"right_z\":0.23,\"right_yaw\":1.5},\"note\":\"The rotations caused both tools to sag and the left arm fell short of its target. I am lifting and shortening the approach before attempting any insertion.\"}",
  "call_id": "call_OJx0gY7M2ZUO56RCKwdjd1Vt",
  "id": "fc_02fa8ccbf96f60ad016ab2ba59558c87d08919f933e33eac89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OJx0gY7M2ZUO56RCKwdjd1Vt",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8909, 2.2021, 1.9392, -1.425, -0.9691, -1.8008, 0.0778, 0.0956, 1.8282, 1.6566, -1.1839, -0.8978, -1.3048, 0.0781]\nstate[eef_state]: left_x=0.3725 left_y=-0.2234 left_z=0.1507 left_yaw=0.7961 left_pitch=-0.0284 left_roll=-0.0645 left_gripper=0.0778 right_x=0.362 right_y=0.1771 right_z=0.2087 right_yaw=1.4958 right_pitch=-0.0992 right_roll=-0.0061 right_gripper=0.0781\nstate[joint_eff]: [0.1299, -13.4359, 7.0359, 0.0611, -0.6618, 0.1636, 1.0281, 0.5538, -11.2479, 7.4735, 0.2955, -0.6227, 0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d03fa15816772b5f9898507717fa1312933ab52d80759343fcc9e1fb013f00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b86ebe1c9a781b471af3041a1d991d219a3394abfcc35b8e496a67d357d5f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e0650b17aa08c65d46145cfd8764b3b51af7071cebfd9fd1574c98de11284c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 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]: [-0.8478, 2.183, 1.9041, -1.2118, -0.9844, -1.5948, 0.0778, 0.0551, 1.845, 1.4616, -0.9298, -0.9031, -1.243, 0.0776]\nstate[eef_state]: left_x=0.4022 left_y=-0.228 left_z=0.1512 left_yaw=0.7232 left_pitch=-0.0169 left_roll=-0.0915 left_gripper=0.0778 right_x=0.3783 right_y=0.1634 right_z=0.1568 right_yaw=1.4201 right_pitch=-0.0864 right_roll=0.0026 right_gripper=0.0776\nstate[joint_eff]: [1.3744, -9.7846, 5.2581, 0.9548, -0.6032, -0.0562, 1.0281, 0.7043, -10.865, 7.6239, 0.2173, -0.9988, -0.0904, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrpnidZ_nPCtEd-FJQypHMfH0Pk6vdUCS6LHDilfIUlsPr0Hb799L0d8L5wLRsJG_ThPh7tWWmRGfiGvmd4r6wdY0FRZqU_b_EaFJNMdRlhSC7hhfTyzSyfyo8kaYb-VrtXdDT_az-lJTw1WB9PXEiZq522DGo1TYJZSzGmAmROWXhr1gOt9ETU6FC5tTrUNAmgdkGg6DqGyxmdN1GoaOnGOvLiYZjylphCYdNDeqn3_LWSR2XqB0bYVxcSONJYoQBnpfp5WcxAmDbctFZVXJIYOR3dcT_a90c3wDVbEMISFEmrY3bwBBFppWcqrYfCIx7t4iaZne05rQzj_heM_BL-Uu31fGwRTrHQOJxBOD0g2_qglk1yrSfttbVqknuUOGJqZSpY1jjQYuEbMj8ZneO7k1i01Vc3PZSF96lw6wVOSA_5Zx4E15F6ye66hkBcIKXRACdeaN4aty5o8Q3uusUhiExYM4Pm3Hw7tLHdUc_DLuQHWW5Gl00VQqzLUoOwlS7HFnIp63Sz8dnWOxX1cpJV5WMXxRVypXkVZCxjDIKDAr4pzANREisnwfLKYCOZAmuQa_UdTyHE0k4T1vdne7Qo7AHYPwWUUss6ilhVHw8N4mNyL6z61KgIKHY68k7xsOvfekvgndja9cBPlC7D4UOaM19e_53Iu73Ziooki9O5paXdKzrsYKvnGLXlF31USqU4FU4lq8qmrYqyWgKSZBTRjtEO42J_weF9fGKmNh1b4vx_n3vbU_7pGTF2F3hlNLqbsHr3qNfRmZZQr7oVhvZLhO8IZeoKRhA3jJZIThINyuq9gIQW8faIqf2O0Iowhq6gRhAywXWPjJmIE2uJAXNgT7HmWx7dHWzoxa1C_uIN98-twzG81EqPD5Kp6MbQu_9vey1pVLWBgX_XhZl3wQddjKl8-6mNj_Q73GvjybqbG_7LfphOD8sXG-ZPhLu_hS_8wkB68djF0Q5gUIWH-eGiR58V6VLBPS39nMkbg7-IIxeP_imMK7r3vyEr6D5o_AnO0JYfxRhpklEVFoLcrbzcEBPHV3D4GLkcY2YgqV1pJHq4v2-xhSV76BBsfjbBQGRzQ1Xqftn9E1Pk0WqIgcR2LBbdFprhcosYJXz4QMZmQ9jT2Tmhiuc0L5k9xgAODLbMVOXXdFEoHCg0qrii0fJ3zAq2u8dG0ZUMeGGQi1sdAfmjeIdmI78w9ondGBdulY8x_WQp4_kswJxUJUeWYrmNeGY9vtNa8j6NJFOSD91PQ5bsRGibG_ywAhdF8L3JGYWFoWGkuI7LTmhk2UvCJ-ynzklcKH5oN9s7X48yFMgMXKVtX2A67wBr0t_gT7MiKAQPS4KadzBua0V3Q36ozlkxCH3qdtbjmsZSymeZvQGGQq52eVonxB_-dTKQumuR3uLm4gLLeOTerlZ8sbUWjRehUlA6T0OMZ99YCJSrvJbgD_HEkdY-3si3A8lHdHYFffEKzYnHT3AGzDrYYBV0TlPtthaY7XYkWzK-j7Pzw4MhK-oKeQtNi77SJ10vaHiKOhpsFm3zmvJ3jx4S4kyhAaZnKUOHJm2wamGSa7G8UMiAdhyV0yMJmIrQuwR5OpGsoAysKJOpDQWBhEBQi6SUR1VNY-wVQYuAWDBjkyH9gsutUYqk-o8SsSg7JWpKYND1IESvoriZVnwGj4v1xYs81ZtMjFiiYMpuv4HLYsyuqgM0lYFBY_WmnQsPCk_0BqV6IiJ3AZfb8v2a69z-PxpAnyBkTjvygYN7f5m77RgZZt1DP-liG_Pw0huwIEVeKwuqBeBNA8oXsnaqCFzzduGpeoWMhgdyrEfnuKsjQ4QqoE7pED-kdyraq4dUSnqMv_cIGHvu-NOFrRgRuXvpeXj7NiTiKgYC4ezV2CHhOWz7E10Lxo2I=",
  "id": "rs_02fa8ccbf96f60ad016ab2ba5eeb1887d0bd7654cefd8efb69",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.3,\"left_z\":0.2,\"left_yaw\":0.2,\"right_x\":0.3,\"right_y\":0.28,\"right_z\":0.2,\"right_yaw\":0.8},\"note\":\"The left wrist cannot follow the sideways orientation reliably at this reach. I am switching to a front-to-back alignment, with the cap farther forward and the pen behind it.\"}",
  "call_id": "call_lCun4T5ytX5P2BYzUFsmd31J",
  "id": "fc_02fa8ccbf96f60ad016ab2ba6469bc87d0bf55f2b2e802d80a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lCun4T5ytX5P2BYzUFsmd31J",
  "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]: [-0.8028, 2.0403, 1.7721, -1.1954, -0.82, -1.4086, 0.0797, 0.5476, 1.3315, 1.0603, -0.3649, -0.0456, -0.1242, 0.0822]\nstate[eef_state]: left_x=0.3816 left_y=-0.204 left_z=0.151 left_yaw=0.6482 left_pitch=-0.1761 left_roll=0.0188 left_gripper=0.0797 right_x=0.3423 right_y=0.2224 right_z=0.2143 right_yaw=0.6467 right_pitch=-0.0812 right_roll=-0.0737 right_gripper=0.0822\nstate[joint_eff]: [-4.8205, -11.0838, 9.1145, 1.9072, -0.5446, 0.2564, 1.0281, 11.2205, -2.9607, 5.1077, 1.3895, -2.2295, -1.072, 0.7595]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ca80c10262113fc8a957d681f747f925831881ccb8647909ecbffc05bf7b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40bd1818da6864ee12ff9b3a2e1bc80594155dcc23fa759d7f0929a8e1cf9859",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f11f6f6fe4b001e1b252ebe852404b7ad42ecd36ee6b0f7662e99e527593913",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8909, 2.2021, 1.9392, -1.425, -0.9691, -1.8008, 0.0778, 0.0956, 1.8282, 1.6566, -1.1839, -0.8978, -1.3048, 0.0781]\nstate[eef_state]: left_x=0.3725 left_y=-0.2234 left_z=0.1507 left_yaw=0.7961 left_pitch=-0.0284 left_roll=-0.0645 left_gripper=0.0778 right_x=0.362 right_y=0.1771 right_z=0.2087 right_yaw=1.4958 right_pitch=-0.0992 right_roll=-0.0061 right_gripper=0.0781\nstate[joint_eff]: [0.1299, -13.4359, 7.0359, 0.0611, -0.6618, 0.1636, 1.0281, 0.5538, -11.2479, 7.4735, 0.2955, -0.6227, 0.0855, 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": "gAAAAABqsrptxmsrKEk09dJZ5rXR4Ud66axAGRpfTtWmxf8dkKMthAcb8g3fuX59Vs_p-_WRHC3R15bd6ME6TWR-a9juosDDEjVdQUpahceKsoV-F0wUMROhOVsTafKRNaEpI-JbUnrquqEHM56_tt6vGVm3tyi0NbvIqojBocNa7vmVh0WLufndF_9Thfnr_sAO4GPOBnBlE7T0tbPiGSmau6Z-Z-8JEVPJLRHnsZzrgLt4wxEgyQrzK5eNRlSzJsFeS3WTjEcZAfnaGq6OJAW8rlbcpRj58nTqaiOOSIflGFSdWqvXjQKU2xL7Vf1OXRcKVBH1ZXT99Js9ez5e2Q4oliqOPByW2mwq84LD0bsQgKACobnXYV0TA8Ox99hczVKiBdBuzgtiRlC7G1BzMbZLn3W_ZeGfvw9rO_8lPHH9b5YDijdmsl4L5TELsDlwm7ysqQgrPtGW-mO3tauCsnGne5IHk91bNCogEhCVm3aQxCd9UcOgRjE89GTOHnyEPoNU8qLqm9VSUNXu0du-zyk3avkFP7wsmQCCQJYR195mznJMJ0XCxUBjN6hwbchFWimaHT_1yoAH3jl4e6N2FoadmXehPKLjFOkpqXt-FPyoInn2kCxTdRZcr_KWVOgkauN3nP7cDAG_q-NKQjhieFMDoC-PSHFjIHLQUvl47GG34iqgobA-FkUxXiqZJY2kWjF_g569FYJ78UNNqTQc1GXIlb4LwCC-QEf5bnh9-iVPMKWlZc23SvBGkEfsWUAP3DAcfteh4vK8eSVDT4TaH0i3CXE5rPzDVz8tHGP8N34A7UQjULjs3c6BOw2Cj_TD5bSQKdiOI6QFRE74drsW2AL_pw1EuXoTOMjP8IJTJDMBYrJZBatQ_isnVX1ZlTsXw1GNVXLyUfHXmg6m5n2ERtWsBvzWKUnAxzgsUAQbAfreEVBxswzHMYkdClXFvkfDgypeUBWZ6C4hubG1qA9hCt8bNNYqxWPrzd0nuzRssZBRMShtx9b8iMBKkyZys6hZfVcJ7DxkrIv7SY14rkr-Hw98Wfz9AjaOAdq7C0GyHVd9lafbR_a99jGifV-mpjSSolceysNstfp1u1v60QSO1eHkAEq8XHf8DYjchWpPTZ6315AfOGRQQ45TKECCKNkGgOpPaURnDqidPwG6oqUEocZVNIDn96y3nEHyy1bW5VtLBLotf0l83rnKR-V2h3h6f7HxWPXOcm9CrR0EemYmR75c1hBY4DzYLKH5yRJrsplOQ0eiwrSVxLY-JjiRBVqKh7V018Yl4TYJly3_DmCI4r4lr_ZUaFlVng==",
  "id": "rs_02fa8ccbf96f60ad016ab2ba6ae76487d086fd92254ac82537",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.14,\"right_z\":0.2,\"right_yaw\":0.25},\"note\":\"The wrist housings are too close and the joint loads rose during that approach. I am backing the right arm away before continuing, keeping both pieces gripped.\"}",
  "call_id": "call_CUr1s53pGbuOTZWEogTOF3IU",
  "id": "fc_02fa8ccbf96f60ad016ab2ba6bb8cc87d09763ad0b9a225a46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CUr1s53pGbuOTZWEogTOF3IU",
  "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]: [-0.7963, 2.0754, 1.7733, -1.1938, -0.804, -1.4204, 0.0812, 0.6682, 0.9726, 0.8085, -0.5068, 0.3099, 0.1448, 0.0842]\nstate[eef_state]: left_x=0.3827 left_y=-0.2042 left_z=0.1355 left_yaw=0.6654 left_pitch=-0.1954 left_roll=0.041 left_gripper=0.0812 right_x=0.2742 right_y=0.1523 right_z=0.2014 right_yaw=0.3236 right_pitch=-0.0795 right_roll=-0.0756 right_gripper=0.0842\nstate[joint_eff]: [-0.4991, -13.5043, 5.8188, 0.3248, -0.6325, 0.0513, 1.0379, 0.3487, -2.5094, 6.7214, 1.8535, 0.2759, 0.1197, 0.7595]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1097aedd0fc987d94a2ae00388b174ab352cc2c48ad3996882c55e5889e143c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bcbac40afa1b43747a5839e4611abe04112f3e9e125a1cf82b4fa808a8b2973",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e108c47beb816aadac67ad9f8221b95078f5a1e82d501352900a6fb74050c427",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8028, 2.0403, 1.7721, -1.1954, -0.82, -1.4086, 0.0797, 0.5476, 1.3315, 1.0603, -0.3649, -0.0456, -0.1242, 0.0822]\nstate[eef_state]: left_x=0.3816 left_y=-0.204 left_z=0.151 left_yaw=0.6482 left_pitch=-0.1761 left_roll=0.0188 left_gripper=0.0797 right_x=0.3423 right_y=0.2224 right_z=0.2143 right_yaw=0.6467 right_pitch=-0.0812 right_roll=-0.0737 right_gripper=0.0822\nstate[joint_eff]: [-4.8205, -11.0838, 9.1145, 1.9072, -0.5446, 0.2564, 1.0281, 11.2205, -2.9607, 5.1077, 1.3895, -2.2295, -1.072, 0.7595]\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": "gAAAAABqsrp0Z0aaKpZrvr-WBL97J7ukTzyJtXGd-jQTUGV2bIqCmaZDOwuuTbuRbQtccMhqOtbEfCAS490jQcmTNc8WLIc95WN_ga7r9kbJz7js-Ys_sKmfP0Cz3aFmLoThZd7musdlozsKer0QbOdYrFVyWZChHABIX6Fmih8StoCiBfBBTruWnn8sAj0PD-xQZ2YY8BKOsIqGhyKg7HSk3ufVTpY2lPhyaVxosYlRUhQ5yXR0VHgJdeQqEPcRR5O2c7Kj6k0qPMHLUqiZyyTBiXe089Dak8MbtwUx7IrEp7nieryszKjCCmdDRAWZX009j4bI4GF9pPSqR0pZznzfDi3WV8QqYD6cF7gaHwtErW2tvwr4TiFbG-GE5kGePnmHgLvVYMXcigOw763UJ02YMtmrDzcZn1-SV04NhPXADa_EU2vHBZxF0Und84Lj3fgWZ_rooFrXa2_3imqHa_P5nrknEvTFAm_DVJ-SL0cosl5hVy_w3Av2K4jZHE4nNZVP2i66nKZGIkwo9b7CModAbQW7crcnwRmR8qo1Tm9PIBBItpRRnvWM5LlZoLLuw1dmQu5LZwTHO99WqLborsiLpKytsEm9eRDvAqrSDOpTD1PJ868HLUyb3JtOKO0in_wG_RyBB9BmN8LFxrUzIhdycvz7R9Elt0Yw2fR9ochIupaTblLxfvFYdM2VBkS3TOMUlR-BeTfiT8TOcg1PEzul_NigpznkHPF2O9PnUzmZkfpKAltj6qb1S5hYCFh2sUdXoPUjNzulS2pxoXq4gvQXRpJnhqjeElCxgn193Ia5_wfhHHcr14Oy1Hs9kwN6SFuZt4VCz6n7pFECBwMM2fjK8_5Y5OKLyvJU3UGMvOt1YM5Z2D5LhgzYHZ7lyMDhrKKYMpgafQ9cMdnaB1rv2FNbp9AA5ebpbN51JiiNRyMw-k1LxCUApEqD6ByDfQp242ccytALmIk26RxT1HUOO7I9NHpSAhrF3EfGHoST1DaoZVMv0il9X3kMAZsHyVKOt_pWZ6AOEnHZrPbWthipWZ-wI8n9HVJTYceox0FlFnCii1axyegEgMAXbOvrtVvbUrARDT2FqfceD_86Z0EFmUFs13j4RyUPli4YQneERr-ve1brkSeiPtem_NAggcOXWHXTqvTY9AeppHMrHSDss_BuxBRMZP81YiuM_ZReJezlN_YLoXloc0oRJ0MM6bVKq1c0iqdrCz8IBXlOPk8WhmhXER1UMkEiSmvI3fSOudxzUxZnGYVH2Gv5fqpg4bzkCY2amyJQx7cFoaBRGI1ujyHc9UpeUxEOcWMHXD7pYzoEsOjHu3CXxvxXcEQP8UkhuupHCmiFvLNcshgV8aWg5bYRFYg0-jO9j5AnN1et5z4Rt90VPVHctjA=",
  "id": "rs_02fa8ccbf96f60ad016ab2ba711e6887d08fa94724286fa83e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.22,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0.15},\"note\":\"The right arm is clear again. I am returning the left wrist to a simpler forward-facing pose so the cap’s opening can be aligned without the wrist housings interfering.\"}",
  "call_id": "call_4YLZ3ajsg8rQvwZSZbESeiAi",
  "id": "fc_02fa8ccbf96f60ad016ab2ba726dfc87d08570189476d82cec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4YLZ3ajsg8rQvwZSZbESeiAi",
  "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]: [-0.8398, 1.5501, 1.0309, -0.2325, -0.7998, -0.5316, 0.0812, 0.6739, 0.9771, 0.7963, -0.5381, 0.3099, 0.1455, 0.0864]\nstate[eef_state]: left_x=0.3629 left_y=-0.2095 left_z=0.1747 left_yaw=0.0704 left_pitch=0.0721 left_roll=0.0617 left_gripper=0.0812 right_x=0.2686 right_y=0.1501 right_z=0.189 right_yaw=0.3273 right_pitch=-0.1247 right_roll=-0.0913 right_gripper=0.0864\nstate[joint_eff]: [0.5128, -8.4308, 7.3094, 1.8193, -0.2173, 0.2613, 1.0281, -0.5402, -2.5778, 7.8838, 1.9414, 0.0708, -0.0317, 0.8181]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3547234368f1cd50cd7eb631fb14187fbc223c3a59abe8c4308d86b3b4b195f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35bfd20b07cfe6bd142ce22bbc31f8a09b6bff0aff046143961f8480f522acb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a5b1b08526aa682294076dbfafe09b716111d2385d0ef108fb5a0d45b69868",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 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]: [-0.7963, 2.0754, 1.7733, -1.1938, -0.804, -1.4204, 0.0812, 0.6682, 0.9726, 0.8085, -0.5068, 0.3099, 0.1448, 0.0842]\nstate[eef_state]: left_x=0.3827 left_y=-0.2042 left_z=0.1355 left_yaw=0.6654 left_pitch=-0.1954 left_roll=0.041 left_gripper=0.0812 right_x=0.2742 right_y=0.1523 right_z=0.2014 right_yaw=0.3236 right_pitch=-0.0795 right_roll=-0.0756 right_gripper=0.0842\nstate[joint_eff]: [-0.4991, -13.5043, 5.8188, 0.3248, -0.6325, 0.0513, 1.0379, 0.3487, -2.5094, 6.7214, 1.8535, 0.2759, 0.1197, 0.7595]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrp8c6jrMOHX-O6VjlxX3mxf5cfpJwgZcK8a047lHEP4BQUyOG6BowrKycBNiTzfxwqDcTLGfnQeojYDmd46W9JotoRNCRDxBvciJHW8gZPOPP-ui8tJHSNKbyA9Huunyc5HrnDpodQTS1kuwlkRnk8QaTHDTTiu54463WSlv9SfpQDlmWnO-MID0wJjF4IRFkKpLbFFVXxUcIrM4vj44DuXTkTcuxwWpx9rs6V9JWn-Gpt_cXst5hD-hA2dDZdNNfSeejnZ4OK8XMTy5fYnHTgGorqds_ofMiRnqeueHuHZ2nQa7LL0fRhqNAFg5GKC9oGq2ToWP4Tcjmzpv-J9m_dSNKj3GL93cjZg4iKVDo3ocSbN4EHNy7LQt0mIc9il6nV7-DbCe81XrtIxllKEP1irvqnCETgykdzUw8JFbO2wrsPpd4x0NmK-Fs_DwpIFdaFgLqWnhnNkFUXnmyMNc5bf90cOEN4YnucgfF0xorzCZ9GPlsrYcSOMRx05DwTYLwPJ-Bo0qNkhDP4g-tX41QFI5sJ4yue6ihC8pqJ38OpiXmOvHWElZIL8JZpy4Of_zvUbaxTxhYoKeVsBMoprAAD8FD1xu5YpdZpMgW8KaBlIvo4ZDi_U_2lqNysLlXVDCX-zjmluLJfe4LV2WH6kGZ2Xn0hkSLLygF6VhvHNfENomH1ej-E2cPayp1-hGc6f7JuWnppfV5b9pPhKuWXDUSSARdCMEah_M8naZI9jPbJGhVWdZ4B2jIlcdnz-49eVuLmI-NcmyMOZ-OAWq9AJ3CbsWMP71EG--32RLGS7cROO51Hd0yN7ZpryrGQYqF_VqpRoAfBGynfUS6Mn8A8bEHHhjQz0IKfb9fYoTw7NfuE_wIPeP8Mipt3G5ZFnRvlDwx9Vh4AiJJq25IMsgkfqrKq-LH1HWWPwbOL1UHB5pgsvDajfk6_igU7Zid84lBr8iS9mE2aVScsqT8akz2r5Cx3V8yfUuKSuBvN_RoWLKP4PnadM2QMqZnBhx4sys_gtHzdmZhF1zGvWWZH5tlTtjzPYX4U2H_g6zB8oYpZGHYox_qOKgA7vxMrcp4Wo4UMdhvIs-zgEYBORYZQAspzaOfjOIFi8Q3C-Ujs-xzaJOdpIyoYXRLGjiK57kUjv8yBqgxv_EIsC3NYdJlKNFZQAeEj4bWyCOmcOdPK6XHaVl6FhYHbK1QkhabP_tZ72RBY9GJZt2yPQhLOGdA8HSWh9RMG0wEdiCMS9pJ_vTEYcskqNlpnu8NYDLue6RDD4t9cGbBfypTOTwaZx4dQcUJW4gRhx7ljxODX1sxmKzaWs-yueEXE_DEPgp2lKdqKYyGj9MDllYULFNnA4SfkvzLPCpjbjfNruBhK77iny5RlSKo_reSUabkTg1Mhme9hdkFH69-RG-19O90kR46gU7GGYfU-Pt7lKuN10rGK80KrAozabItuNtDHVub4uaqVfPl1qjyf7M7BsQpWI86fUPXVoYXODTOS7g8V1m19Uk1fzOHCx_U_Rcdx9kBCxZgeBOFH52ZgNADyUSQj_cpffjNc-YF7wj5q9Zbu-LDOv6vFsn-OKzcKTsEOFcgzGvGJ6hYBqN8YrghS3kqMIewRiHx83f_lAhQ==",
  "id": "rs_02fa8ccbf96f60ad016ab2ba772d8c87d0bbbf820429d865b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.3,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The cap is held securely in the recovered forward-facing pose. I am placing it farther forward near the table center, leaving space for the pen to approach from behind.\"}",
  "call_id": "call_HM8ZEBuRRkJepYsivZe3SaL6",
  "id": "fc_02fa8ccbf96f60ad016ab2ba7a177487d0a1997d1767c3068a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HM8ZEBuRRkJepYsivZe3SaL6",
  "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]: [-0.8242, 1.948, 1.6138, -0.4549, -0.7158, -0.522, 0.0812, 0.6739, 0.9798, 0.794, -0.5461, 0.3099, 0.1455, 0.0873]\nstate[eef_state]: left_x=0.4353 left_y=-0.2944 left_z=0.1896 left_yaw=0.021 left_pitch=0.0029 left_roll=0.0614 left_gripper=0.0812 right_x=0.2675 right_y=0.1493 right_z=0.1858 right_yaw=0.3267 right_pitch=-0.1369 right_roll=-0.0958 right_gripper=0.0873\nstate[joint_eff]: [0.0889, -11.0291, 9.3197, 1.2479, -0.1343, 0.1978, 1.0281, -0.1026, -2.6462, 7.159, 1.6093, 0.0562, -0.0513, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5173a5971939eb12aa0118b65e57af6a9e7556562bf938bc10f71788b3fa1e57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6935f2e10d8ca2cf82dc4e8ead4faee155b8afeeaecc8eebf8652ef606813a15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2c7a11ba4f4ae879f453c2234c1b0619869fed6bee803357451438262af4f22",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 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]: [-0.8398, 1.5501, 1.0309, -0.2325, -0.7998, -0.5316, 0.0812, 0.6739, 0.9771, 0.7963, -0.5381, 0.3099, 0.1455, 0.0864]\nstate[eef_state]: left_x=0.3629 left_y=-0.2095 left_z=0.1747 left_yaw=0.0704 left_pitch=0.0721 left_roll=0.0617 left_gripper=0.0812 right_x=0.2686 right_y=0.1501 right_z=0.189 right_yaw=0.3273 right_pitch=-0.1247 right_roll=-0.0913 right_gripper=0.0864\nstate[joint_eff]: [0.5128, -8.4308, 7.3094, 1.8193, -0.2173, 0.2613, 1.0281, -0.5402, -2.5778, 7.8838, 1.9414, 0.0708, -0.0317, 0.8181]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrqCMLjlh2fSySXDVHxoaiGVKlflFkUzjDGBSQ9mKsYW3ynkgHac7mzHYUEIWy-0_s5IBBWds8qwQhFFw_sHs4xM-lIfCvTjax2H1hNll7wSYaaZMaLj9MXGuzVX_SQZZlwpRQsTGRd1PIwIDxZziwBqQxYAT1wF0zqn_65jCbBO4gfikbadzRnxKJKvD1FYp26NKoicgpTqJUTfksxqEGk1sDrENs8MM2a2PnVg8ztxZ5kXvWxKoF1rlt360g81MTvca58Jfg1_tF8iuxRLsIT3CrwsEHqBFtPLDHHvrKiD7_QmY62oMX0Usr1Hj12sjIbIeUKY1G3mjyo1yleSov08Bc7SCC1JR0DZB8O8JAEZjuubaeNqSZzJc-qUscbf4GJxILq0CeZuFiFI_zgB_atEdcxkospCBY6g7srdVRPN5kWS3UFEtLEVbSVGkkHBpEXgq0iFq6whFz6uJdwq_CgkVPKfJuUmmBNc2xH-lyc0pcsMtQoNKEgYsAw2TyBEPE3un2h3ZGUwmyF026U0EkJK5uSQ6CiX2zJmTMZNfwPtRd_aA1-jKSj_uAXceMW_48bldJpOdiJuZJEKkezhzhJFWEFRrTkcaRG02ZaReCO73JOK9hdZBQiPlqKbQFN2c4rff4UcAY_e8VcF5Hucm7u7TJj3qpsINADJEIInLM1MyCbJbF7K8QCfpi0RAz-HdLdwpxxYv9ScZZlKRXfHhrqqC1mUQL98C4gsjRJnga4oegk2i17KYMqPvZHB1o9oiP8wadn4tlWS1ODH0lS6u547g5nqCsEzvgOQWi3EGyrv9TY3y0ALIKINXW7xTlQ4NkVpUi5VvdVlCWVyTAixitPRBfoUecshcxONgAVmfJEPr9X5cBwwW5QCJ3iUVUIaoMufbhcDoiWOa2ilgWVFYi2FYySih4JUyYZS5fLF5SaYNNPaahrIKSDl1QUgrIySaFTlc_jyhnsJTTJ7P11KtM-Ncb1m-snrpfmolGhYWQ0HItAJ0Fgyp3zSKjhMXUW0YEVrnrytKkTDEPuyu3UlZ0CoHmDMAWEwAo1mxs9HBG7l6HYPybWW6ok8bXvOhUdeYnA3PGK1Rq7ajnYtsdhrcdetZ4jEGpNj2IYgfKQTAPzrNSMvRFX7fxLVpx1oj6LcYkmenv_Q82mtpLsezZbYnDtSB_UcvWzV9jtOL9Xau73_MaX0jrIgVoGxDjXhWj8IEc3-1o1XX4DjUqEOipTQmqWQI9yaq3BKOt7e5oEH5QZZAG-Z7YACDpd3VH6CpobfqbId_RajfbdtFE33Fdb5SpYQf_mRLC5FlB2bxIx2VjQAnTH1lpKDGUkZrLdM8urSTOpOVhm3AhUMuRCucDvrYlK-FQ==",
  "id": "rs_02fa8ccbf96f60ad016ab2ba7f4a8c87d093503bc67bd4d126",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.35,\"right_z\":0.205,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The cap is forward of the assembly area, and the pen tip is unobstructed. I am bringing the pen behind the cap on the same nominal axis, stopping short of contact.\"}",
  "call_id": "call_j7iXM9izGxf9fwb79dtWnT96",
  "id": "fc_02fa8ccbf96f60ad016ab2ba80bf2887d0b39da26b7ff4e107",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j7iXM9izGxf9fwb79dtWnT96",
  "output": "executing move_to over 17 steps (1.7s)",
  "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]: [-0.6548, 1.9644, 1.6142, -0.4862, -0.6258, -0.5224, 0.0812, 1.0847, 1.8095, 1.5074, -1.0679, 0.9249, 0.9497, 0.0867]\nstate[eef_state]: left_x=0.4736 left_y=-0.2287 left_z=0.17 left_yaw=0.1283 left_pitch=-0.077 left_roll=0.0505 left_gripper=0.0812 right_x=0.294 right_y=0.2622 right_z=0.1802 right_yaw=-0.1483 right_pitch=-0.103 right_roll=-0.3001 right_gripper=0.0867\nstate[joint_eff]: [-14.1333, -12.3145, 6.7214, 1.7509, -1.1551, -0.022, 1.0281, 5.5453, -3.6718, 14.188, 4.0855, 0.3492, -1.8144, 0.4371]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f8bd4a8648b4c57d2e57ab1e5dfb6ae8254a9e5029119fdf05d628580a601ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c16db389c7a818ad6cfb0b0cba399bf14a9012420cc2ae613ca99e12d64c6930",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5978abcd96fa8fbeef12f108a9cf62c238b307e7152db96141465c2788dbe841",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 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]: [-0.8242, 1.948, 1.6138, -0.4549, -0.7158, -0.522, 0.0812, 0.6739, 0.9798, 0.794, -0.5461, 0.3099, 0.1455, 0.0873]\nstate[eef_state]: left_x=0.4353 left_y=-0.2944 left_z=0.1896 left_yaw=0.021 left_pitch=0.0029 left_roll=0.0614 left_gripper=0.0812 right_x=0.2675 right_y=0.1493 right_z=0.1858 right_yaw=0.3267 right_pitch=-0.1369 right_roll=-0.0958 right_gripper=0.0873\nstate[joint_eff]: [0.0889, -11.0291, 9.3197, 1.2479, -0.1343, 0.1978, 1.0281, -0.1026, -2.6462, 7.159, 1.6093, 0.0562, -0.0513, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrqN2qmkG366SDWanLtUNmFgGYnkkDHjhOZteAqJfrawaSUv0E11afE9Zz4jp9i1v7i_NeIIMl5YD3VfyDEvfnU-tX_1ycUZ7tT5lxGqt-PgUCyPJNwlMMjUDfTD7CSzt4K_czeF7jTTsjFo3uIgztzVMYYgM9Xnpqx9yW7j442N6n96NQ_1MMZn33VqNG7q4se84D8R8f_2unkTkp6P6rj0UrCmtCD9ZZp6W62E259unXxoGmfRyYy-Lblp_wmOK6iTLTnE5029g7ZmQsx3blG8N1kS4Q-lUdN-xZKeZxd4fPNRPSkSC7IxAYkLW_chxD2GEnOjIs5j0lMl6P1-0CXYEGu7KfYyhCrsJ-hvyGYBkYMNa7Une1pMVJsCp4MhR2eRkGAssaFiHvQwIXo6mPxfgplPMOquZO3rtT_ElG-JVAFfz_Q-WL_7zUQunomEmBnUj_3JAXMABDPCA_eAQvzidKSSsWFoeXWe2PSqbzSjle4SR3HKi4HYhM8mxA5Y9RxtIzKdepGa0qFncSveGj69kdsdWHOODYbmB6HmL85wD2nNTJ-_hdEwuaVeWRWn_O_DbXksNyVybgAyu3M4gKbubRuBTsCMA8RNbqOzyxgKnMrsZ3fIlArSMf4hTFwRdvhA4WgEWCfCT6c-_2B-ru-QSHieGzuxifwMK-i6x9FJUwrfpB_Z3D54MCi0wtcqilP3fDWftEWuvMjb_nKeOyLxg7LakNhAMxW45k8shS-6-KFHjc-wMc35cT3pr0x9opZCOM43DMbhpYGhgmzPWavn-E3Fd1d-Zr_6zaEDFsOmW5VETqo0ZpL7JIylWkKyEyNMkBbbUlyIalBPvm2yBb76HQXLWZMqjGBBf0Et74VH7uVTtH86Pqlg3QO3Hl5A_BlfMBgomCJPkUHT7BdWI8AlldLKjr84gKXlEoqWbNUsFrT0F3UD822AfLnN6aZkpVngG8OGVTkR33US2yfTmB2ZuLvEwkQX327Z0bCp6Ul0BqSiDnAJiGfewowdnHxmNxso-m9MXdbR9ftQhXthU8N-zl_JG2w8Ex1XUzqpKwEV1ZuH4uJAYpG8qhBnhN6JO73UOY9ga-By2KM7rrsgK3IkrPxBkCF_kFS6kjFhsA_Y4u3LwXUK2nFHNswdEpylmlrj7WEcA8NtNkbW_AbdLu51W9unyIy6HWQzSnSfizdffuYiJa8tdP7Jj8I_t8wIdp6i5g09m705gI6tplPYTItCXj_K5a7kIAIkSKQOP6eSJhbxmHJT8WHfaFZbnbljHdc02KGKeY2D2StAwuNXcQtI94breBh6bkvVcVDj0BJ1qY7vO3ttR5jb09QfdtywS68a9F1EvGi66dv8gYacFTN9VE21-_2S0oEeWq-04ft_g9QWMJmi9sT4DZIwjO5f719wt-fk_uAy82s63PnL9Pc6qbvJV5jduHX6-bskJFGhXS1R7EJfhlTsC1iPVpJJBp0cJjJ9uWb7Oo017POa_7zjFQIo_dWFyFHaZtq8q_CvY9IhnoqtRlpzTi0jPwZJ9wFetuX6rUqGrrqqqL9jkhoTyl1i6ODHgv-m5Ypw5IXxgU-akBsiQe1i9khuj5F_h9fO7P8gMsqpPcSqD4azglJ-8nm3CyPwQEom43IChBUnFgCIHPzjh9Cpt4cCMJ-2rQvWHURx0m-x2atDQszoprWDbSjF6cK7EH0NgF1fXkV7WYJjBSiRz-qTk1_eJs6lcBFhmxlVTpedxTFLriFpIZqrOIYD8L7n9biP9Eeza50uupZpEnodeS47jH2rshBIDvgrmtwf6CL_zLhzN_kYhi99TwjVzLPPPuCIpJRbkfoFqWrmI02n30OTSqDR0mwuOyURuZxiPb1f5YhJgu0VViWbu01sJO9JLeIxcaM39LnPb8L6S2Lbv83InW8Uu7of-R0uDvfg-j3fm3pqd8fu590-3cdbSQi_5BFppkV2yG-vhdVPtXt1nsaSky3OKJx9j6LMeki98wk6QJrTqfg6uLIHcUZKImkAIwq2zmGGwdRsO5g=",
  "id": "rs_02fa8ccbf96f60ad016ab2ba86502887d0b5ca07d81fa3472b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.14,\"right_z\":0.21,\"right_yaw\":0},\"note\":\"The arm structures contacted before the pen reached the cap, as shown by the displaced poses and rising loads. I am withdrawing the pen; I cannot safely continue this insertion approach.\"}",
  "call_id": "call_r62JwsIpLk0x6aMzC1N5sZ70",
  "id": "fc_02fa8ccbf96f60ad016ab2ba8bb5c887d0a08ffbb85b1ff8e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r62JwsIpLk0x6aMzC1N5sZ70",
  "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]: [-0.6552, 1.9888, 1.6104, -0.5056, -0.6201, -0.5407, 0.0812, 0.9058, 1.2274, 1.0183, -0.8608, 0.8036, 0.5285, 0.0877]\nstate[eef_state]: left_x=0.4712 left_y=-0.2281 left_z=0.1533 left_yaw=0.137 left_pitch=-0.1131 left_roll=0.0669 left_gripper=0.0812 right_x=0.2674 right_y=0.1407 right_z=0.1996 right_yaw=-0.0318 right_pitch=-0.1294 right_roll=-0.3116 right_gripper=0.0877\nstate[joint_eff]: [-0.0479, -13.1214, 7.0085, 1.5409, -0.3834, 0.105, 1.0281, -0.3761, -4.7111, 7.0359, 1.4432, 0.3687, -0.1636, 0.7106]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b79e8f879926e557fe157db527bf48b41acc30b8b78e52aab9fe12261de6f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6cac0d47244d8176bc18d1ac21ab321898b9e83c4292f3810ea228683574b85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a560ea8869903c61fd7bb25a86b160494f9a02c389b46dbb505d74962a7f9c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 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]: [-0.6548, 1.9644, 1.6142, -0.4862, -0.6258, -0.5224, 0.0812, 1.0847, 1.8095, 1.5074, -1.0679, 0.9249, 0.9497, 0.0867]\nstate[eef_state]: left_x=0.4736 left_y=-0.2287 left_z=0.17 left_yaw=0.1283 left_pitch=-0.077 left_roll=0.0505 left_gripper=0.0812 right_x=0.294 right_y=0.2622 right_z=0.1802 right_yaw=-0.1483 right_pitch=-0.103 right_roll=-0.3001 right_gripper=0.0867\nstate[joint_eff]: [-14.1333, -12.3145, 6.7214, 1.7509, -1.1551, -0.022, 1.0281, 5.5453, -3.6718, 14.188, 4.0855, 0.3492, -1.8144, 0.4371]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrqXVondDo_js-qDiFSeS6HWI9u1DXHrKaaeKGkRkxve9ugQDmLZOFRVBLAaHGSbriJTnHIWTLcEz95cXqIv_AqEnB0v9S2p2IjYtTlvWhNzvuEK3fQkW0Y4h0oI5AXwzJ4EFBx9Z6nMrbQ89YScEbO1g7ulC0b5YYoyp3eAaA5wSfHZAmiXu76jPluGVWcY9NIf551piD-sbP0I0PuynWQpTzy6QSBQEiZFYCQeNtCXq3QQ-0eBG02rnKOzQThN0uucMabUAjm97AeC7XdP3WRZe1bGgJJoiM7TzuD5FB6K6wxCuidiSCpYx8DyFgGBwXxFKpu8aWjQEGNLdm95vvPHlDcVvdFFMl4rkeFcDiEa8OUL1OFfNuhYJMcHVflhHtvwLHfNPzhCoUg0bJ2SNWWP_pdhkRUmf1-k6gWjHSVt6PTQE8QX9IN7OEKWXPT1CyQDObme8Ih_W6LOyPCmbc4IS1PNpDZQ3P6TKnHZjquOK9PblKxY7IBQ7Jc5-WGr__ztvCNDQDQ4DwbweDDQ53PlzoV3T1qNTZ_eFMtG8rd5EUNadUQpQ6Va7ySI4JMyQ5MbRtEqgGuyuWwcYUt1d2-BFBkHNc3Ix2x-MSMrtyCWjNH38Z7jWhvLLDeVMc-R-PDUfVJlAEOgQF7Q2aomAujw0RmfkXeYPB3nlTsLZTvgoQrlowQD0OZ1zNVDgTpGDJgpTuVRfJF8UN9VlqBf3xEyw15VIFNp75wn3qo4wC4yHOKTZgvOdgopE6Cg_TArYQH9NK8_Yr3Bkre5YyKU0wQLAtfPunUJTHb44n_nMeVfdswdwmkEPSYtXi8RTEVOs6z6Es8AHAmK-C8lUpD0xQUBSOLNKJo827xJSIpzhPFCbwFQgh1UPozjspUjgi0peBWRn64mS_Qz9VP0ym0oCYyHp1XmBD7QGOv6jWX9MQhTt5NVA4TM0EDUsClvyL8zu9Cm2Utw0FDF0RbVA4iE4QhAfc5CpXao16kos5OSvwcfcJTKHUYKaMAav_K4O8qzHI3jKPSLVb-G8GN4ne6HjBDyyYmnVeHqeWDZauFtGxZEUXhE737Ci58nv-QW2BdfF-GnvV6CC7UHd6Yi9NRCvlszMpsVMnMUuA6z4uSHvadhR7X3E75Bh-ZMeKYgdnWDeNZnUMzE_wMyfrMjhavc5cqhQdXB6ObNyeHDOoGblDfT4QskslKPyWh67iNjVvW9KFP4MTaSofmz_wh1HOVCvknXwfOQifsTPjo6MmlLgs2DQTxHxBGDlK46Uj9YjOZDkKsbtlv8awvFmq0VMbDGOfw3-2dpL37TEhAbv7tv4W6jmaazYaOZSDzFdmhRVf9_r4qIGQzOjyYUIbmE4uLaF0vt1A==",
  "id": "rs_02fa8ccbf96f60ad016ab2ba94bf8487d09ab176451787a1ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.22,\"left_z\":0.1,\"left_yaw\":0,\"left_pitch\":0.15},\"note\":\"The arms are separated again and both pieces remain held. I am moving the cap back to a reachable clear area so I can set it down safely rather than force an uncertain fit.\"}",
  "call_id": "call_nMJBHb8fw7tCGFI1TUwkBFM2",
  "id": "fc_02fa8ccbf96f60ad016ab2ba95a71887d0add12e07ec23321b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nMJBHb8fw7tCGFI1TUwkBFM2",
  "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]: [-0.807, 1.7607, 0.8276, 0.2077, -0.7338, -0.4118, 0.0812, 0.8989, 1.232, 1.0115, -0.86, 0.7845, 0.5087, 0.0896]\nstate[eef_state]: left_x=0.3748 left_y=-0.2151 left_z=0.0767 left_yaw=-0.007 left_pitch=0.0495 left_roll=0.1174 left_gripper=0.0812 right_x=0.2668 right_y=0.1408 right_z=0.194 right_yaw=-0.0193 right_pitch=-0.1524 right_roll=-0.3255 right_gripper=0.0896\nstate[joint_eff]: [-0.2803, -9.8256, 6.4889, 1.9023, -0.5543, 0.1001, 1.0281, 0.4308, -4.2872, 7.1316, 1.1062, 0.5006, 0.1734, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4570a174fec3c5c37e37e8b8364c65dca98461809221d75eff9a73c53150eabc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0768dece3fa2e02a27806fae9deb18e7b953ed6ce61a33da18267aa6e2bc5b17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ed0142ba4e45bdb3892f50d05e6ea1713fb3d73250d4311ea40ce45f22127e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 103 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]: [-0.6552, 1.9888, 1.6104, -0.5056, -0.6201, -0.5407, 0.0812, 0.9058, 1.2274, 1.0183, -0.8608, 0.8036, 0.5285, 0.0877]\nstate[eef_state]: left_x=0.4712 left_y=-0.2281 left_z=0.1533 left_yaw=0.137 left_pitch=-0.1131 left_roll=0.0669 left_gripper=0.0812 right_x=0.2674 right_y=0.1407 right_z=0.1996 right_yaw=-0.0318 right_pitch=-0.1294 right_roll=-0.3116 right_gripper=0.0877\nstate[joint_eff]: [-0.0479, -13.1214, 7.0085, 1.5409, -0.3834, 0.105, 1.0281, -0.3761, -4.7111, 7.0359, 1.4432, 0.3687, -0.1636, 0.7106]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.01,\"left_pitch\":0.15,\"right_x\":0.32,\"right_y\":0.13,\"right_z\":0.08,\"right_roll\":0,\"right_pitch\":0.15},\"note\":\"There is clear table space beneath each held piece. I am lowering them separately toward the table, with the arms remaining apart.\"}",
  "call_id": "call_IhJpp8FqemxfG2nZiuClED49",
  "id": "fc_02fa8ccbf96f60ad016ab2ba9b527887d08688554f80edb55b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IhJpp8FqemxfG2nZiuClED49",
  "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]: [-0.8211, 2.0258, 0.7033, 0.667, -0.7795, -0.363, 0.0812, 0.6907, 1.383, 0.3393, 0.3706, 0.6479, 0.3424, 0.0908]\nstate[eef_state]: left_x=0.3726 left_y=-0.2128 left_z=0.0072 left_yaw=-0.0095 left_pitch=0.1154 left_roll=0.1305 left_gripper=0.0812 right_x=0.3052 right_y=0.1186 right_z=0.0585 right_yaw=-0.028 right_pitch=0.0332 right_roll=-0.0922 right_gripper=0.0908\nstate[joint_eff]: [-0.4444, -7.6103, 3.7402, 1.5556, -0.2955, 0.105, 1.0232, -0.4171, -4.8342, 5.6684, 1.8486, 0.2173, -0.1343, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5bd5b78ec164e3690ca2fa08358ddf496eb13c3ceb66c5e8b90fc383d8c8785",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aebd9b48bc01e55446202d23599593f3f53eaee068bef9c9b21bcb29babf13e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1050434068eb0ff92e482d1fe2b6edeee421cef2388dc20b148679accfe53a27",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 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]: [-0.807, 1.7607, 0.8276, 0.2077, -0.7338, -0.4118, 0.0812, 0.8989, 1.232, 1.0115, -0.86, 0.7845, 0.5087, 0.0896]\nstate[eef_state]: left_x=0.3748 left_y=-0.2151 left_z=0.0767 left_yaw=-0.007 left_pitch=0.0495 left_roll=0.1174 left_gripper=0.0812 right_x=0.2668 right_y=0.1408 right_z=0.194 right_yaw=-0.0193 right_pitch=-0.1524 right_roll=-0.3255 right_gripper=0.0896\nstate[joint_eff]: [-0.2803, -9.8256, 6.4889, 1.9023, -0.5543, 0.1001, 1.0281, 0.4308, -4.2872, 7.1316, 1.1062, 0.5006, 0.1734, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_z\":0.005},\"note\":\"The cap is at the tabletop and can be released. I am opening the left jaws while lowering the pen the final few centimeters.\"}",
  "call_id": "call_uUtPHal9Fw8LJsb8XpTiU18Y",
  "id": "fc_02fa8ccbf96f60ad016ab2baa1144087d08873b38c9f583b42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uUtPHal9Fw8LJsb8XpTiU18Y",
  "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]: [-0.82, 2.0357, 0.7017, 0.6884, -0.7868, -0.3714, 0.995, 0.683, 1.6997, 0.2657, 0.7231, 0.6342, 0.3309, 0.0919]\nstate[eef_state]: left_x=0.3737 left_y=-0.2119 left_z=0.0068 left_yaw=0.0025 left_pitch=0.126 left_roll=0.1186 left_gripper=0.995 right_x=0.3026 right_y=0.1159 right_z=0.0009 right_yaw=-0.0187 right_pitch=-0.0018 right_roll=-0.12 right_gripper=0.0919\nstate[joint_eff]: [0.1026, -9.5795, 4.0274, 1.326, -0.2418, 0.1392, -0.1001, 0.5265, -4.506, 2.988, 1.7656, 0.3199, 0.0611, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9fd8ad77fcd225da10a9787d8e08550d9e578483b74027b51c95fa1c677e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60ba0f493582dd501234fcf2997bf9c18aa439944cf9cfa0a6463dca14c6c538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194bd987c203f33d45e45e5bbcf847c94dcea33afdd10333df6ed920b2fec82e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8211, 2.0258, 0.7033, 0.667, -0.7795, -0.363, 0.0812, 0.6907, 1.383, 0.3393, 0.3706, 0.6479, 0.3424, 0.0908]\nstate[eef_state]: left_x=0.3726 left_y=-0.2128 left_z=0.0072 left_yaw=-0.0095 left_pitch=0.1154 left_roll=0.1305 left_gripper=0.0812 right_x=0.3052 right_y=0.1186 right_z=0.0585 right_yaw=-0.028 right_pitch=0.0332 right_roll=-0.0922 right_gripper=0.0908\nstate[joint_eff]: [-0.4444, -7.6103, 3.7402, 1.5556, -0.2955, 0.105, 1.0232, -0.4171, -4.8342, 5.6684, 1.8486, 0.2173, -0.1343, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The pen has reached the table, and the cap has been released. I am releasing the pen and parking the left arm clear of the objects.\"}",
  "call_id": "call_66fQoym9AeF1K24AJ5A5fs8C",
  "id": "fc_02fa8ccbf96f60ad016ab2baa5709c87d08e6333409486f951",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_66fQoym9AeF1K24AJ5A5fs8C",
  "output": "executing move_to over 19 steps (1.9s)",
  "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]: [-0.1322, 0.8223, 0.6365, -0.3866, -0.2291, -0.0299, 0.9959, 0.6819, 1.7065, 0.2615, 0.7433, 0.6308, 0.3313, 0.9972]\nstate[eef_state]: left_x=0.299 left_y=0.0043 left_z=0.1882 left_yaw=0.065 left_pitch=0.0097 left_roll=0.1069 left_gripper=0.9959 right_x=0.303 right_y=0.1164 right_z=0.0009 right_yaw=-0.0175 right_pitch=0.0038 right_roll=-0.112 right_gripper=0.9972\nstate[joint_eff]: [0.0889, -1.9897, 10.1265, 1.6337, -0.0611, 0.2369, 0.0806, -0.1573, -5.6274, 3.6855, 1.3504, 0.2564, -0.0415, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a348837a170367ec80c15b50c7365632a2587b38ed38f80c56b71a89e3f921e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b2498fad2e7ed4c1dce72c963f3acb03bd5063ee7423a281183eb8d59d61a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7b4f581baaa095d7caaa3e1e22622d4b228a0f3711ceb4ad9cde27fbfec325",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 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]: [-0.82, 2.0357, 0.7017, 0.6884, -0.7868, -0.3714, 0.995, 0.683, 1.6997, 0.2657, 0.7231, 0.6342, 0.3309, 0.0919]\nstate[eef_state]: left_x=0.3737 left_y=-0.2119 left_z=0.0068 left_yaw=0.0025 left_pitch=0.126 left_roll=0.1186 left_gripper=0.995 right_x=0.3026 right_y=0.1159 right_z=0.0009 right_yaw=-0.0187 right_pitch=-0.0018 right_roll=-0.12 right_gripper=0.0919\nstate[joint_eff]: [0.1026, -9.5795, 4.0274, 1.326, -0.2418, 0.1392, -0.1001, 0.5265, -4.506, 2.988, 1.7656, 0.3199, 0.0611, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both pieces are back on the table, still separate. I am parking the right arm so neither object remains obstructed or under load.\"}",
  "call_id": "call_hyQVjjk41dfGT6h2AcdGfi9E",
  "id": "fc_02fa8ccbf96f60ad016ab2baac01d087d08f6c7a57a7898b38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hyQVjjk41dfGT6h2AcdGfi9E",
  "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]: [-0.1318, 0.8272, 0.6346, -0.4084, -0.2279, -0.028, 0.996, -0.0048, 0.8028, 0.6247, -0.3672, 0.0441, 0.0204, 0.9978]\nstate[eef_state]: left_x=0.2963 left_y=0.0046 left_z=0.1815 left_yaw=0.0635 left_pitch=-0.0186 left_roll=0.1135 left_gripper=0.996 right_x=0.2993 right_y=-0.0056 right_z=0.1898 right_yaw=-0.0583 right_pitch=0.0108 right_roll=-0.0056 right_gripper=0.9978\nstate[joint_eff]: [-0.1573, -1.8393, 7.1316, 1.9512, -0.105, -0.0513, -0.0073, -0.3761, -2.0718, 9.0051, 1.663, -0.1734, -0.0659, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:271fdf81633169145a627928acdff75fa7f201dc46ede2d50d4f1ba1c397b64c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ddefad028d731f9b2be5160092e6e3d695a8c1c373935e83d2e8e52da63237e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed0c186720ecd573214ce5dd3f5263488ae0c8dc0dd786a55575aad7522210c",
      "type": "input_image"
    }
  ],
  "role": "user"
}