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]: [-0.0196, 0.7937, 0.6022, -0.3805, -0.0219, -0.0246, 0.9998, -0.0189, 0.7914, 0.6102, -0.3763, -0.0231, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1791 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0021 right_z=0.1843 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -1.4564, 10.4957, 1.7607, 0.0073, 0.0757, -0.0366, -0.7453, -1.1419, 9.7162, 1.7753, -0.0171, 0.0024, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fdc98d3dcb9e4ffe64456238bae0cc23daa91cc32cf185f9d2003576af2925c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6208262edbc0c23c6f6415cef47863f8b4649cbd04574119dcadd44fd2056a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e258388fc77ee7fc658c3a75482bc7b4f64af55a57ab9097c8389e3d74cba0c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsrg9jmnabNJR_W4mitKFcrwdeNacIHTeXbr2BnNzQHewflCN701oXAkdXFGt9k6KXaM428RhG0BbctF5fhAZlIgA2iKS8ORSYwfmnNEqPfy77mSy4ny4LAd0QGR6sfAbkqq42T8Tolrzzbu8peEcvI9hv4UbE16WiuJ4aUd5UjxKRrwWSH8ioPqcVHyJ7dHnBbPwJ9MPLagAysl9gqXsubo-JK33ZTlKngHX2NyOWpcAMP-V_HK7eqdSu2LcI6JshTC0MsAlA9TwM0H4f2aZSBb9inseTOGevd02snzJSyqn4Y4VxAVzdULi0jwWkdlmChMFclLQHzSipX_Uq6pMk8ZmmIRU8N7HIvtcYKbvDWCLnqgQs6wibqrlAy9tJ_-aZmZdV2WdpFR1SFuYsJ7qh4p3tHaZMewcMf_lrkL0Kf2YJaIyoKCxE4txAwMBiRSj3T-248hoXmswCjPXguhJGFdBTUSzgoCh8QemWUi98I7stfKE24sIPOzyvPy9oRNKpIWVI6fJGTmxa3rYcmLzWmwHFivMhPYULPEDZ-bghoQJLfKJZAm1Tlljcwx4uXxhUfoDgbBpOIIrZdJbyKbbLSy4Yaeaut9htNwpIWJfXa56sD7IkMVWjug9gwk1eh69zGEsJo_NINwkldUX7C0C6ZyXYJ-5uoGI_lACCB59wQ94Kj42mwrUr5afT5P1-9KUxKxxu9JS69jkNpcEFQRhEHbfwQrDtVIW2z47sowKVhkYEYQczvyesTHirF55NZxBemG5_zeSpKqvhiHPd_yEcEEj7qHwMmDxKBR48eFtUzJTT5fKMds50Jwpw82uf6Y7kye7cikRRbzrp4tkw7f6YGxFJl5qCnnx1n8CwEMX0cjOMtRj_iYjURst8-eRH1WieObCq5ofbI1Sjktisjh88TVy4gtzcYJt-z5mLkbyK8pkCe-_rV1R7a-AC60XyKtojZqky8Jp27haQat7SiuFcbOM_FJ9lMyACn8JgkEQkwx8m20PvORP9RZD2Ag_dxazav79mO2T61fd1BsQ2cWbyLrlu0CEJChu5IaAh5J_OyuX-vTxUQ33f_m1L6FFNwPsPUROzy6STsERHtb2-m6Xt8Ze4u8sOjltnuHF6Lkr5xVf9a8ztvg8f-0wkqa_EUAjB7FvUMV7B8UO9AoE-iTItBnVB6ddNauh49L42NyHmIiUBU2QPIsHg6AEgVK7DdqaJR-9e14lVSDE5MJrINMbWQa7y_G0tFFXnraPqhA4xPI2tfUhUKnz6PlZlF6VuwIjMsYOBkUiHCzaBmCuuehl-rELbkfqrJ9sA6lrJe9MVPYPQMxLkQeCH1riHBl3NvbGH-FrSF6ulYYYHlk4ltT8ACWMXMid7FCLFZuiV3-fL6RZ-7wv6i1pMPl0ynTF-hFyTguXIjp8htSNrjU2v5C-V49eXUC8_rtar5JNUMwg4GP6-SUfGztYiyPjlwa2sA9tu1czTjkAjQSeznnv1NWROJ0gR17XSegb_Wuc5WGxD7vX1XXLF_e95EnycUXjN77fu2p-TBTPty7s6iBhwRWTFlEw_k1tDf1-Z-gB8FLpt8Whz4Rh_VX02kcmuzMl7xlyw8ly",
  "id": "rs_0fb0564342470346016ab2b83682d887d09f2ad3e257012c76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.22,\"right_z\":0.12,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0.002,\"left_z\":0.19},\"note\":\"The long pen is near the center-right of the table, and its separate cap is to the left. I am bringing the right gripper above the middle of the pen for alignment.\"}",
  "call_id": "call_B3SMRfPmUztx0LOVE4vD7Ep6",
  "id": "fc_0fb0564342470346016ab2b83a8e5087d0aedaec6069c3ec9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B3SMRfPmUztx0LOVE4vD7Ep6",
  "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]: [-0.02, 0.8021, 0.6067, -0.4313, -0.0216, -0.025, 0.9997, 0.8333, 1.5307, 0.7971, -0.0689, 0.6369, 0.4847, 0.9991]\nstate[eef_state]: left_x=0.2885 left_y=0.0016 left_z=0.1686 left_yaw=-0.0008 left_pitch=-0.0549 left_roll=0.0005 left_gripper=0.9997 right_x=0.33 right_y=0.2123 right_z=0.104 right_yaw=0.0437 right_pitch=-0.0591 right_roll=-0.0541 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.4154, 10.2085, 1.8339, -0.0317, -0.0415, -0.0171, 0.2803, -6.4752, 8.2256, 1.7118, 0.6325, 0.2711, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c988d6e6b70c16a78e8eab56688e42d6f253d7e5461fe52fbc44275e1ee25686",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16f77fe750854eb5ca5fa5a444b6e05d0818f252896223e5294de0ebbf7b00ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c372c67894b12b6c93e425f6aebd9051eb5bc5c37ac53988271530dc6e063bf",
      "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]: [-0.0196, 0.7937, 0.6022, -0.3805, -0.0219, -0.0246, 0.9998, -0.0189, 0.7914, 0.6102, -0.3763, -0.0231, -0.0154, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1791 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0021 right_z=0.1843 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -1.4564, 10.4957, 1.7607, 0.0073, 0.0757, -0.0366, -0.7453, -1.1419, 9.7162, 1.7753, -0.0171, 0.0024, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrhE_4UEYGtu-2XmVo-ryd4s9wRzt4mL_wsATDkWEbkaTbO194F2Oa0jRi0_eZ0rp9OyoMh2ZfTeKxWHzFYsuThoOK9vjiy6vvwGx7NhJL6FkdhilZzlc7S2VQYub_og_nTjgll6wH4aVQwJELDdPj7f5XniyO8tR8VhdxG3qit7C_0ToCqCm4CPmGno23F2-xWPBuNeBVLyswEyqi4XB0DIheKiqFHvdF-HZCdtp9UrVXN2RYj0C49lmYT0hov5Ep-J4hJljTMIp5Jt0Qkomf-JLneRKL08yKX0Is9qX3XtiwCWaF0XUFk83vrQkFDKZIkFUOyOq1pzge5Wx-0ogL-kjSb8-3iGim9y2wcYeeMIdRdM637-gVridqj3kqLUeN1mFBW3ys9G_GgXOoK_YgcN1E6V3v1V4jrJ_bQbj-KR7rVQs-PjP9QwUUfeKEPhGGI0z1GzTA8nKojz_bvsN0iLchjfP3zfMaqzeh-TghDo2ewlA5XdXSPGuyHdTC8wQZwyBR7qsP8HpaJ4E3qERXGDVZvVDiSQWSmBGhFdQBi5W6IN1HETOrf6G91YstFkoJBNlzENUjZbt8PT6VBIXHxIA4hltvNTcF5oPYbE_VzB_6_U2agHRL3--7FIdXcdPfJ9_QwQ1r2i79WWrMQXf5yYXQbhVT13Qjh55fUqYBVXJAjbtm7FZtLpNaCG3mG12WRwZmSt4kPg9_eSouzr_j2FcF8FgcxSS-00Xrf38QzV1mKa_eoNB97X7hkEOTXzQ2ZS_7U-TADfPZrZMK1kHj1nSqRs-Nphq7aa60UVpx4K5BPx_pjDgq4O_3FIrOyIoT5v-jAptFbzbUwodfZTDa-fMFsFV9Ya9mhBMP0gpI6qGLWOpry27F0jWkOjLg-UZhEacOvozyWIyOnPzoQUr-1Qdjs5FRKmdciaK3WtR3-H-f28EFNnNJA5xKzlQ2wFCCTtOJUb1krcEHrzTfVru8cOxlNkd_jzceRYa-Mo8zas5Tihh5pHmCJ02gvYD8N1Y9Ey3wi34UFpwSDOzEbllBNY_xVQmm5XODYsoPAa3vpJISxMm26pp_gtko4iNfdplw-eXZCLt67G1qSFn8yEr4H8H5_qpUEelJ4Z0mKElZOvG0JfcyBXy7kbk0gMg422kD3HRSHA_I20TCEDmIuzpfYo9UXgkuMxtJSfJFMl8HcMgtAiqR5jqJ9y1koo2Cn7NlZ936blwk_FBvyU1d_ANc1LrO5Ka5Xt1yVKECvZO_GcFc-Ec70NqNq_PUj-brLkLosB8pHQ-u1bzIkjtR0oXhKdJjom4GxkqYDmOmjF_IcdQMu7N8IX7aHYmSi3Ycw54WthmcYzqS86HD-C7fY22s8VYN_OL68Ay1CD5BTLxpmQT23T5XD8L5xAsowsoJ3ZzhDIYCR7J8pLutOIcBwS2kgVz3Nj8Wrp9wfisJ0qh1skq8XT9nSOpnsQrwkPbwx9V3vFh5fHk4HSPwQqHrKoQY2uvTWKSha3zwstJwpa2ooQxLCV99FQwvp5uqnFzT6RH6CNtTVSZ7cNoferSqBj3joZYR1VDSoyh9E0y61Z7Nl496c=",
  "id": "rs_0fb0564342470346016ab2b840768c87d0b3452f1033b28b42",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.185,\"right_z\":0.04,\"right_yaw\":0.45},\"note\":\"The wrist view shows the pen diagonally to the right of the jaw center. I am shifting toward it, turning the jaws across its shaft, and lowering close to the table.\"}",
  "call_id": "call_yp7BfruAVTxITBy1k2uzN95U",
  "id": "fc_0fb0564342470346016ab2b842c10087d08e4c221afe67a5e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yp7BfruAVTxITBy1k2uzN95U",
  "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, 0.8066, 0.6064, -0.4385, -0.0216, -0.025, 0.9997, 0.5068, 1.6478, 0.5621, 0.3515, 0.1947, 0.0868, 0.9991]\nstate[eef_state]: left_x=0.2876 left_y=0.0016 left_z=0.1657 left_yaw=-0.0008 left_pitch=-0.0671 left_roll=0.0008 left_gripper=0.9997 right_x=0.3544 right_y=0.1618 right_z=0.0236 right_yaw=0.2846 right_pitch=-0.1604 right_roll=-0.066 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5932, 7.0222, 1.7265, -0.0562, -0.0513, -0.0122, -0.2667, -6.5709, 5.1897, 1.8974, -0.1392, -0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa7921aa1e48455281a88b62802c2c7cc807e055a0fa3aa2b56216b138b2867",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac85cc203abde4c93590bf83fc7c102afe904582e0babcaee2649cfd8be27ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd319f799556133182e01efa3ec68418a79670f1bc90373dfefec985102e113",
      "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, 0.8021, 0.6067, -0.4313, -0.0216, -0.025, 0.9997, 0.8333, 1.5307, 0.7971, -0.0689, 0.6369, 0.4847, 0.9991]\nstate[eef_state]: left_x=0.2885 left_y=0.0016 left_z=0.1686 left_yaw=-0.0008 left_pitch=-0.0549 left_roll=0.0005 left_gripper=0.9997 right_x=0.33 right_y=0.2123 right_z=0.104 right_yaw=0.0437 right_pitch=-0.0591 right_roll=-0.0541 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.4154, 10.2085, 1.8339, -0.0317, -0.0415, -0.0171, 0.2803, -6.4752, 8.2256, 1.7118, 0.6325, 0.2711, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrhNVIvdw2XXe5f6xVJva3erduU_97mlpOw66SnQXsE14ShmNhhGVxw8dJiA_GB1IwGG2rYSM1rGlwDk2-5nfYvKj3jWrP0WMWGgedMnbcb2L3Nkm9PI-s0wN8RWiU_5KiWAmZpWyWNZetzmgA6Do67v9igEQV-Pmn-qWsVc00lp_HRf7nMLf5YfCAt5Lo_m4pkujc3uX-e5lks337CC1cQUZdNIteddkz-A6u44goq3BDdlDP5uG_G-Yt696bn8vlo3AeqqPfBxZOgDe5EGwWsv9MVWZxZXmDvaavrRE_bkpkX8RyTtmc2YwwlIkyHPF_XcS6FI9jKMemhjT2nZxouHi7b0TcZfB4nDDqAqgVj4oBL40T8M23_PXTPhrqf3outbk-BoQpLhrnqQZ_uE1Z9_uv5he2G07r_KuP6ih0qRhE7-qfwQZCIooaNRtkw7ljWlK8u4aYjd801Knlsg039WeUm2nUed_phgNotUuxDdr7zIu6kwTMF7O4b7oDRoyXl93_goToKkp-jCt_AHgKWx6_UUMU_8cLGKBe_ONnYPzsf0cVVckZI8s-yPgY6bPKqVR4alKx8BOGQ7HxEMteFs1DYOIUu_u_BPC7qEpcMQ7nE8KXeLbVbmknbppIGIdxnl9uKazsrzmofTrk3maOUXFmAmBJcbHy0p1HeEKK2B80KXXFiRWiYOQfqltdM8jmjaPhQWZR-D19mMRabs1vVYKErz2HBD3dPZzevlqFH0hoNEBht0VwjA2pL4dBx7HCoVW_i8a8fiW0qFgPvqfcBaj6_3cxzKrtExZCDrPuXNJJb_oAIr1p_-1SfMutXEKbZMdySU2VN_U16716Q5PKjtQt8_EPEqixVkkPSSBNY7lIVQxUXo1tW6xRXI7jC-SrjCFnVchQjj0K-J9GUkNMyiH6bCvu2hjPG1iETdkFvDJN9Q5SX_pG2n725vqRAJHcA17x3UJnYmtzrG2Ks3ge2XjlJPN_YrDORiSbyNuxTt3IkU44iNT1laIKlnVueN_7Ezo7qHzRQGCkeTPbEvt2khqWy_VwsOlrM6o4UEwSVWFzNk97MnF5EjG0s0uOwil-9RvirWSurlKm369TJAIPbH3cTWtaUjnQJaucc0bfv7oqlFLyX6SLeBQRNmJXbNpMZPPFjYgeJ4RcuViFpYuSnxCb09VVnNdgQTK3yTS5StACgEX8BkUs6x5HbYikDNucV_Tracr1YsAnEaDAAfKyTLP7Q73yrIw0e_B5ccwU98Buyp9BOo_RgA8-cQagMV7Jr6xAFFB-OG5wTxVsy5BGaCJIwBqIUZ0xowXKBTTBP270EX9k-0HAMfefrxsh0dwLux4aiBatPwEAFeUxjAKHrByr92Si65ZEgYSbMU3nFCcDncc2DdZL0yCNkqBWGyguCuMxoG89Xr3F0-ct3j9emnAVaRW2BjxIem_EFqa2J5Y9hZwimMNoUAPyf7FuzQhzh2SQikdzmK306fd08B-Kh2MUx9XRitkiPoRm-D4HP7KmdA8yWgWUzX0jCF3TE9t4n0CbFmbgKX-fVQrrXLaL6sS583cz43tcIl99floUaU3nCa4L56if1PTFKcjGL0CUS_h7gdHZVrgIYe3fKTlwJGk88wnOV2eMT5w3NZYbdsCc6zWuMsM_H-uajv9XINQwX4Jg5sTgOQkqdKnrb0-iCq2UTLeXOAfoZnUPP5bXkRRB3-Ll-ysTeyn04lqCKdvya_",
  "id": "rs_0fb0564342470346016ab2b84753b887d09af1df80c5e7c457",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.16,\"right_z\":-0.007,\"right_yaw\":0.45},\"note\":\"The pen shaft is still to the right of the fingertip centerline, with its tip farther forward. I am advancing slightly and lowering the jaws to table level around the shaft.\"}",
  "call_id": "call_zLAPbHStAHEhTZs1N5GInauN",
  "id": "fc_0fb0564342470346016ab2b84bf08887d0801ae07801664b30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zLAPbHStAHEhTZs1N5GInauN",
  "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, 0.6048, -0.4389, -0.0216, -0.025, 0.9997, 0.3775, 1.8385, 0.6388, 0.4995, -0.0132, -0.0708, 0.9991]\nstate[eef_state]: left_x=0.2875 left_y=0.0016 left_z=0.1645 left_yaw=-0.0008 left_pitch=-0.0709 left_roll=0.0008 left_gripper=0.9997 right_x=0.3914 right_y=0.1615 right_z=0.0012 right_yaw=0.4179 right_pitch=-0.1427 right_roll=-0.0462 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.4291, 7.1179, 1.6435, -0.0464, -0.0366, -0.0073, -0.6359, -6.3932, 5.053, 1.1648, 0.1538, -0.1978, -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,$blob:2cfed495478e44c130e7f312bfd772c3e2e03c47ac63920ac250369b6a2cb9ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3865c1331796dcb1c3bbd855a9aa47b16eb022c149c0f1f282e9c317e98b74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e149e577bbcfa69232672a2b2cb5b5ad98a0449ee4068086196adf25d69f4f",
      "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, 0.8066, 0.6064, -0.4385, -0.0216, -0.025, 0.9997, 0.5068, 1.6478, 0.5621, 0.3515, 0.1947, 0.0868, 0.9991]\nstate[eef_state]: left_x=0.2876 left_y=0.0016 left_z=0.1657 left_yaw=-0.0008 left_pitch=-0.0671 left_roll=0.0008 left_gripper=0.9997 right_x=0.3544 right_y=0.1618 right_z=0.0236 right_yaw=0.2846 right_pitch=-0.1604 right_roll=-0.066 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -1.5932, 7.0222, 1.7265, -0.0562, -0.0513, -0.0122, -0.2667, -6.5709, 5.1897, 1.8974, -0.1392, -0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrhTYiG0HaX8EgL2xbPzW3Gxvr5YZglAnrERUXGqUZq6XOeuos-Sf9iAqHSF1Cgc9jEGgCm9CEN8JKIb66MN2PUgATVc-kC_LrD-7Wv-3YpS0duBSyXtSKi-hLlY11XSuMN91sD42aK-FWoRhVgE0UbJ7fiRwbtz9rf5UbjS-4KNUW6nrfENy1AdAi88k51jcx7Ej_wDzYSrqycqzc57Qm0zC7VcoxQtmUnsYycxDKsDVz2v0ileiSeaTvu6tckTX8AhJs-yTnDi0vR4oX31DPJXG7y3TWZzvTSVgOAJY9s0nX-4ySYJBG7P669AV2HN-A4ormM3dJMyTOJlEWjgqRlhea73i54I1kHeYKx34a4OyDGOxBU9e5B04qZ0IUHV8kIFwvZMlTG-K1nhr-ejYydwuh1keVkKvjHbUCt8qtj_nMyeLJWtiz_KpyVvZmZJDemDEIj_aGqmFraaFMDLomtxGZSIIN5OuVB5YFGR9d8sjrlgzz2epstRxudtFqDa-GjTDJNuk60egrsrG3FCcVSmLHIL1tJVHpN3XBTJPsGWs_ztHRbsSAuT79cJW-VE5FxupMd54Q-gMnPtg32ZTw5CCXOP-DCxGF1sM3NVKWPbVJQJYGgz2rD0qsyi3QLrHJEvOXbtjtCpBDUQL3IYCnbVNju3QxLlEq7ibxjehDi7Oi-vnXsg4NJsBsPQF8Lb9czgSvLjUNGhYJCdmEVWxy1GD8tbVbzfbFZ1IiM3Irj8ZYtSB1MsCkvHxV9Aq0tltBAFt6ZqC0YqnwQBrZexhrbr4YYS5VffBqO-gfUbIrH9o7WmND2r3RgsWnRluC9gHB-yCR39CXsfwJyAzUEc4Dnz6AeRI8LjfNIXag1ZZVTmvWXI1jK-nf21x3eFJdsHxwGrQt4oAo7Dx9k5XQ1Uq-2bpwNhZgguahrbdxat5AWWG-jKd3F3FGo7ARex6dbzhvrdBaU9-TvGywf1y-hNWv4MZoa-WkPPRcFon3fs8euop6-rJaK4ZPUFER9NRiOeGbd3mCFHf0Q19OpCmdrKbWO4m2Cs0VkcChVXFaERw7QTSuC8PYYAkf7wbCkR8nY7jvZJkGJt5ICWmQnVLEwuliF8z6gN_4qTHrlje5p-uEwQZdKpvgi35Qk9l4kGCDolkNGXQTuV5EZLE8D-b5KqkRAJ3btY7VNNLhrvwR5H2OYG_aNeliaCT1Dpyt_HHdYGeR8egXXEjKXu4McLnAgEN3ehyJgTwe2lsny3IK18ZnOOQoJJqkneAEpgJTLrvQNreS4uhp5ioz5oomnef5jk8umw0ydSaJqluT_nnN7Yf6dudkm8lNS_EEuQZ8Qk7a0OB6o7U2GCPgWfP4-6J9c63zYaFg==",
  "id": "rs_0fb0564342470346016ab2b85042d087d0a2f5b6ebbaf3c35e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.145,\"right_z\":-0.008,\"right_gripper\":0},\"note\":\"The jaws are at table height with the pen shaft just right of center. I am making a small lateral correction and closing gently around the shaft.\"}",
  "call_id": "call_pzh0abcNABXlzo2RtWZyYQQJ",
  "id": "fc_0fb0564342470346016ab2b851d0bc87d0a84245ddc6fa11cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pzh0abcNABXlzo2RtWZyYQQJ",
  "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, 0.8089, 0.6037, -0.4389, -0.0219, -0.0254, 0.9997, 0.3614, 1.8565, 0.6552, 0.5137, -0.0494, -0.123, 0.045]\nstate[eef_state]: left_x=0.2873 left_y=0.0017 left_z=0.1638 left_yaw=-0.0003 left_pitch=-0.0725 left_roll=0.0008 left_gripper=0.9997 right_x=0.3973 right_y=0.1634 right_z=0.0022 right_yaw=0.4607 right_pitch=-0.1297 right_roll=-0.0643 right_gripper=0.045\nstate[joint_eff]: [-0.1709, -1.306, 7.0906, 1.6386, -0.0659, -0.0806, -0.0122, 0.0205, -6.5983, 4.9573, 1.5116, 0.0952, 0.0366, 0.9744]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a313a95176a9bc14073438f70bd3401bbae120fac781836de742d761bca4445",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ed22009e516f7b0dd0ce8c8fbd6a148917f141b1d97604624c8662cd0eba5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1f46fd687ffdea15541ee87bae79fce355b1a01be23d4129460cd1c4cc5cbc1",
      "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, 0.8085, 0.6048, -0.4389, -0.0216, -0.025, 0.9997, 0.3775, 1.8385, 0.6388, 0.4995, -0.0132, -0.0708, 0.9991]\nstate[eef_state]: left_x=0.2875 left_y=0.0016 left_z=0.1645 left_yaw=-0.0008 left_pitch=-0.0709 left_roll=0.0008 left_gripper=0.9997 right_x=0.3914 right_y=0.1615 right_z=0.0012 right_yaw=0.4179 right_pitch=-0.1427 right_roll=-0.0462 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.4291, 7.1179, 1.6435, -0.0464, -0.0366, -0.0073, -0.6359, -6.3932, 5.053, 1.1648, 0.1538, -0.1978, -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_x\":0.39,\"right_y\":0.16,\"right_z\":0.075},\"note\":\"The closed jaws report a narrow opening consistent with the pen, but the grasp still needs checking. I am lifting a few centimeters to see whether the pen rises with the gripper.\"}",
  "call_id": "call_zTiuA9adTqG4J3evFXmwrEVV",
  "id": "fc_0fb0564342470346016ab2b856ee1c87d08db0fbced44b35a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zTiuA9adTqG4J3evFXmwrEVV",
  "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, 0.8112, 0.6037, -0.4389, -0.0219, -0.025, 0.9997, 0.3611, 1.6249, 0.704, 0.2359, -0.0544, -0.128, 0.0473]\nstate[eef_state]: left_x=0.2874 left_y=0.0017 left_z=0.1632 left_yaw=-0.0005 left_pitch=-0.0748 left_roll=0.0011 left_gripper=0.9997 right_x=0.3895 right_y=0.1612 right_z=0.0611 right_yaw=0.4672 right_pitch=-0.1269 right_roll=-0.0653 right_gripper=0.0473\nstate[joint_eff]: [-0.1573, -1.2239, 6.9949, 1.6874, -0.0806, -0.0611, -0.0122, -0.4991, -8.3761, 8.1573, 1.663, 0.0024, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c226a71c06fc865f5fca665c497fa4d1e3ebaaaabdbc63f66a7b2002aaf6e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:526eeb3a1ef5085ae9404201deaa70df384a122ce1759433a537c180cdf567e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1bc6edeceaf78c73eb8454c268d1334ce42161ad8de0aba46a81e0c29339043",
      "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, 0.8089, 0.6037, -0.4389, -0.0219, -0.0254, 0.9997, 0.3614, 1.8565, 0.6552, 0.5137, -0.0494, -0.123, 0.045]\nstate[eef_state]: left_x=0.2873 left_y=0.0017 left_z=0.1638 left_yaw=-0.0003 left_pitch=-0.0725 left_roll=0.0008 left_gripper=0.9997 right_x=0.3973 right_y=0.1634 right_z=0.0022 right_yaw=0.4607 right_pitch=-0.1297 right_roll=-0.0643 right_gripper=0.045\nstate[joint_eff]: [-0.1709, -1.306, 7.0906, 1.6386, -0.0659, -0.0806, -0.0122, 0.0205, -6.5983, 4.9573, 1.5116, 0.0952, 0.0366, 0.9744]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrhgqOb8qY3nL_c5LXPCP7ZVG-bQ_i-CNDyW2Tt1LZpyTZKSCgTwl-M2Wx3OxBuGKasejvmFVTUkHs2vA5lIq3-VRaQjCOKH9FNyXcL1GGTe_yq_f-E-TINVf981eVUWEQxY4RdIU3W63gEB02r7DT01QaB2bTqMpFy3JnCZo-yRcjv7C6pNByJUiqiupvCMusYP89692ACr4mDTLswkyWSuYXJychpc7oO8ZWdJW9pZ5-1DAagjkImOB1GRPqR6za2VnNN8F0tIqPzyzDmOUOt61n1S5kkt_VczxsR9QWl-jD-Dn1zdFEXFdWT-Iu6osxWCzdMyR-DlDGcNnwh73n28CZQviuCveC5dHuCI8hlX2fVYyGV70yygTDKDUezsiFuib2nGZZJrh6XNyJHi8aJITJLhzFub0oysvY9OcuR6GeZWNAJbW8p-VWosX7uyPAr2EgztaT1y9qRU42oGAyrYIPMOhwDRm8QnvAK3_RHJgnjGDY2FhlsrdEAjXXgLSUbfp3NbbxQTuomD83rhyfgpTeuXhDfJtXLa6N47Lion2loNKsgGCnLFCg0pcGnOnUNE0u9WMMQ0LxIemgKFYvxb7FlnYRuNy16r32c6llrXabNESNmkM_EsF7bi67m2I6jAe44BYk4FToYrTZrTCmOVsDpXsVriybLDccyJ55Z-QmzLQhZ6zU-5Q8okZS1BFNT8Pjr2uRpcGkYsEkLZ2OJ_XeHkLeUZdV4HjG6qycVFTFA54PUFv2be9cX4snnkFZRCnG1j6ABO7mBQNSeeL38tSFpBWHU44bCnf-5E_a2-xC1JBboHySuj7nYujWGwp89l2id7r9jVIfi4cSiIdenrCzwHN2iYXXhb8ndzBkqXLD0BuE8Dp453vZOgM68HC9IuyUHsxXbAcz-km26fgxQpaXW4c6PXMPxoNS5RaYiVNilvdcYYOYkVbW-4f3_AIdmwOLSFeCe7B22vy5ICB7KTZOESdE54upxsqXWxXp41aFmsBk85z2TNYzJzCBQ7Y9I_0pwRM0ctFrBFhafSLaNWaDQ04EA2SptXt3Hy7uQmrInYlLiAfwLc-nVIz7aDuib2bu5uHAYkFALAxmlIVCKAHHma7HnK95SA26FdzZvgU3Q_wnO1qZhtfpQJ6k1FbkruDVkU6scKhdDmYStpEX18a5-xaOPbs1ilQtPHb9XcovHKYJwMqV2Pna0WbA-qLip3GYWxJDxfgn0pJIH0KfrWW58YV7aQet_v-P3hwq-2fG7QtibxB_0wEKOWtvSB0-cx6k3usjaZRIIFdVlPs1tfVM3sHethkW-RjrBpclTMKba-3spw2OYBTf70Fu4cJ_NX2QEF8BTGhEe-sEInThrOqXYg6XdgwKvF6cg-3dlW8R86eblmIJf9j8X_4PDcFYYj3OyGdX35B196s9vpZgOersMLtX_bH-VzZ4-kRguLm_pXhz93A2W1mGH48cMjSFwnz0zdX0BALLNxtWhFfvQbiMEhv_-mU-ZX_5fvpBA9B2n2YCDlZSQf2fwo67yBeg19GnvLzzPcK9m77a6WjMwUYoi_ZMdMqV_otznDxeCCs-M=",
  "id": "rs_0fb0564342470346016ab2b85ab8cc87d084797db297a1d7d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.1,\"right_z\":0.18,\"left_x\":0.43,\"left_y\":-0.23,\"left_z\":0.12,\"left_gripper\":1,\"left_yaw\":0.4},\"note\":\"The pen has risen with the right gripper and remains aligned between its jaws. I am holding it clear while bringing the left gripper above the separate cap.\"}",
  "call_id": "call_a9eniv4v1QMPp2S7zV62egCm",
  "id": "fc_0fb0564342470346016ab2b85dfdb887d09302c6182754e7fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a9eniv4v1QMPp2S7zV62egCm",
  "output": "executing move_to over 21 steps (2.1s)",
  "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]: [-0.762, 2.0125, 1.4921, -0.5697, -0.7929, -0.9405, 0.9997, 0.1688, 1.3113, 0.8928, -0.329, -0.1947, -0.2523, 0.0523]\nstate[eef_state]: left_x=0.4257 left_y=-0.2274 left_z=0.109 left_yaw=0.3697 left_pitch=-0.1002 left_roll=0.0063 left_gripper=0.9997 right_x=0.3674 right_y=0.1009 right_z=0.1571 right_yaw=0.4631 right_pitch=-0.173 right_roll=-0.057 right_gripper=0.0523\nstate[joint_eff]: [-0.4718, -11.1248, 8.5402, 0.7497, -0.6618, 0.0708, -0.0366, -0.8957, -6.694, 9.7162, 1.6484, -0.2125, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a09e73556ad0e72a01272b6dca5a7e1c5c59f53f7882a204277ee63ad237d391",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c250b9e1dc6011813f7b0b2fb94b52a6ba042c08f174d918733d18db1ac1eb50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d364941d2d82c292e6ae482b017d6f98e4c9a4207d788f939441cc8745007114",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 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, 0.6037, -0.4389, -0.0219, -0.025, 0.9997, 0.3611, 1.6249, 0.704, 0.2359, -0.0544, -0.128, 0.0473]\nstate[eef_state]: left_x=0.2874 left_y=0.0017 left_z=0.1632 left_yaw=-0.0005 left_pitch=-0.0748 left_roll=0.0011 left_gripper=0.9997 right_x=0.3895 right_y=0.1612 right_z=0.0611 right_yaw=0.4672 right_pitch=-0.1269 right_roll=-0.0653 right_gripper=0.0473\nstate[joint_eff]: [-0.1573, -1.2239, 6.9949, 1.6874, -0.0806, -0.0611, -0.0122, -0.4991, -8.3761, 8.1573, 1.663, 0.0024, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrhrGfiMGlBPNWIxq7SFCH7nKSxQjzTqfAVz-EAUIxvUEI3SF2VsNyJRsiZKpEfkylN2q_XUcqBCAGB3xGtKbF_3hHBHOO4wdHeZ1L8X-8RL39ajQMxU38gJk2c1Dyhf9cCUcOdV4sqaciX_T-SvtaJld43xZOZLGJYJstvbQE49qU6iAcciI1vs2q-HIoUI78OlWAf8vZm2FQioO8D2HvMu8hQiFiXjz0a6epU-bje02K19TzkiOavgA7vkgAkSNpeRKpWVlaEFFrNLbD3WcJi6Y52Nf7KFspURThoPBORgk9q4oTGuhZtJkvQCRKxiQRkE8-EWYujR_CHLQXOnqYb9faM3-uoUqb8azt-r5WgEm9DiMFZWjGiP-dm_bblP-y4Q-utayHU-sVFKE_QC8i6sWHQgLq261uvjTDFHOeL-4UA55natoJvgVbUOaAHXAejuCzgdSxN3CO1Zi2l8zYK4X7--8fMETA2imjRzcIZUNC4p698y8t2VNS1_fK75qw-cFAqKHCwNM304vWasa3WA2kJDPeub7ge-rbYkXYUR_aOPxUNGYpWaMG1hinvqCQmvgGlBi7kex3fYUf1QWVoIUqzH99VYYj71tuj-nGUkfK3kfNmbdeF9fCNUYIPU8NjnwrVBX2b0U25Q7KHUvg5jKM5tDIhbklOjUomgaw-8T3wvsa1nNIX5tfUKEfHesI9v8663Gg4WlFWi9qAdwdMJTxfWLV4_9iT7nJk1NalqY1pz3GrIEhFdauuOCBmbbs-dYevbSdobzejGv9XxT58OnuRgdjMMNzPr9IBvsDYM5c46Bo997tsutc8PSY9v_6IcClDuTxJJwRlO0x5pkN6E0hkNY3SN_OUoNs9a1mlbBku8dZyZ4ddAYVrfRMPnL5ewxf4v1bbPPsECRoHwG0UIC5duyv0s_7LVp2AOif923S-_3XbSetS8NupWPbNMxFK8AWarPNj5S5LvNIjDfoO9zvUJdw6hGjsDh1biLhqoI7ucZRLIX46TfwCilOI12WCgAH7ESIqlBTXPt0Q34YV8up6D7RZVNvB4jkPmhNy5JpC30N4aeEpjePurvGapKCjsWXGUX1KX8ZQzJDtcNvvYLXPbzU9BIHaAW0Og_G2ozuu4xOJ7GV-8ELm_uFXQbrcFz86F4-sNs3MjNaDF1CpLkt2iTB895a37K-KMEbCPoOJctb83lShqxzKYVjX4wbkIQDl-VUBVkMqHIjYb93bmmkJnYTczKEfRX6hEyzdaCPN7xAACal4TSwVhYXn_wZL3Y4x7a2zqrSWcUsA6NHBVvaUFuoGhjpUMo5dAO5IoyVVFD9SZVtfk18gIwzcboWDfOCwHToIuvzfoeHM4w5AnkusYHu3gZ9gw7oOGEp7zPqbBcmYOqjlW_UKnwHh_BtwJwP7MUGiAhmOT8Fbo6huvw7m829kwhW5ShMe-Yucr-Z6bbx90YVMnMug6OK-ZGhedRGRBUl4IEi5jPxa-mbcKccQuxoVi3W8smgxLR82IkwT6kXuDKDIEjjQixtgLVXMYqVess0euchjL2_0K5qgEAHGll-WLUETv1I15pzf-qoR2JW84prs8OrREFGYTJSocwcTF_C_iFy3mpToxJr40oJyZbiTf3DuSe2YPgHvwOe2OijDH0W_yyFj6BNDmf7987ilzXh0IGWxMQkDUh0MWg7G39nfQ4b1lXvcd5T8P2ILeVr0NvdXm624Iti0F-YcF6BccdrO6Es6RcNZGv2X80VgTNrIOBeISSUrOFMnb_Cg61HJl5bgB2gDrV3AAVVHvu3wHVXRTqn_p0jAmYzEJb0F9BhW-bJRRFlpxsfLXrfyjJRCH-ULSuAnlkyh1EXonE6f6LZIqArP16TotUoAjkEVgmCoq5yCk1N2CJzWSZ7mCJseZ08hh2Ee5zpgTg9mS",
  "id": "rs_0fb0564342470346016ab2b86410f887d0b338feaa2d615861",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.215,\"left_z\":0.025,\"left_yaw\":-0.6},\"note\":\"The cap is visible just ahead and left of the left jaw center, angled differently from the pen. I am aligning the jaws across the cap and lowering for a precise grasp.\"}",
  "call_id": "call_FYQkmERaJc6C7BHCOnN601Wa",
  "id": "fc_0fb0564342470346016ab2b869556c87d087cb92481177a05c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FYQkmERaJc6C7BHCOnN601Wa",
  "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]: [-0.4145, 1.9884, 1.0267, 0.207, -0.0448, -0.062, 0.9996, 0.1658, 1.3109, 0.8932, -0.3523, -0.2028, -0.2592, 0.0523]\nstate[eef_state]: left_x=0.4588 left_y=-0.1893 left_z=0.0179 left_yaw=-0.3548 left_pitch=-0.1823 left_roll=-0.0082 left_gripper=0.9996 right_x=0.3635 right_y=0.1005 right_z=0.1535 right_yaw=0.4717 right_pitch=-0.193 right_roll=-0.05 right_gripper=0.0523\nstate[joint_eff]: [0.335, -8.8, 7.4735, 1.619, 0.3785, 0.2515, -0.022, 0.0342, -4.9299, 6.8991, 1.7558, -0.0659, 0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1846e56dc17578d487d34803e3c092b250e5e05bc43430ebf1a16c022772d0f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e47d6c8c09baf3b119d864fc4558ceda8ec8cdd31e43f9a32c6c89db08250081",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f00ad441e07e872fa74bdc48521b0af0c6c33b309d8af733cadc7df1873bdb9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.762, 2.0125, 1.4921, -0.5697, -0.7929, -0.9405, 0.9997, 0.1688, 1.3113, 0.8928, -0.329, -0.1947, -0.2523, 0.0523]\nstate[eef_state]: left_x=0.4257 left_y=-0.2274 left_z=0.109 left_yaw=0.3697 left_pitch=-0.1002 left_roll=0.0063 left_gripper=0.9997 right_x=0.3674 right_y=0.1009 right_z=0.1571 right_yaw=0.4631 right_pitch=-0.173 right_roll=-0.057 right_gripper=0.0523\nstate[joint_eff]: [-0.4718, -11.1248, 8.5402, 0.7497, -0.6618, 0.0708, -0.0366, -0.8957, -6.694, 9.7162, 1.6484, -0.2125, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrhzbYVVLqqtiVQI2i86CcuvEICVVDG6QoVoryB-yRny7H5OANbiJe2Z7Fa4fnp6xCY5PT0F9F0oPhtM742-22WD34DuXHJCFEJD5jA9EwLYnFugrex_44mlaep1wuDcg7Eowa4U0knXR1COE57ghYXuIjI5B5BdJybwrataw8J8JBpYOXJyVLt0l50Bd0K_EpnoaVd_mlW6Y0iL0bdHiYHMBZfXi7CFJ0NnPY4-7LSx8rC6kiQYqYcMcL_2SwHnHQWklS611IdboE4DZ53pR8LX7t82zLnZwYqJsMeibGDubtAnBCLIDKCgPOJH7LHT8F3c-zK5immJF--nvj9AKf9C_gTmmEUWIOMXsDlfS-Hgdlx6aY9NIqCzqnyARdJoqEvUS3E3yE9VRhrxSjB3Yijg53mykARJ7lCRL5ghxfuvzre-A6wsI-0RaqA0rsFA_MUgQL3SsccIU_21MQvJkO3r1K3L9GnimP1LbaVLmedvCHrCvz-pZ60SSxPOCwTvD0393HwuMFTF3nl1u_73wLL_Wm4TZMXe4YSua7McFrR1ZqA4DvEXFb2_byD3ehVsDeMFMUUIJX0LpNLsXsLIzA1YX-5UZyrFDN9AEEzQ4uPt8g7fQnqDtJ5yhl8yfTXGiiUwiW6rdlxEWTox7wBngBeboohI_sf1t9PWIVVyYbpvCnd20PHmpq4lV2lIR9EI8U2coXZFttFXyuzu_8L8oGCfy5AXIFNmGHIeRpzOQA3U--Kp2i84mFFhJ-dZlaPRLc353qDPCRW1GfagvQJjxpxCgK-LYn6uONUBskP6ZOoVdqBkNjeU72bK_kVJFeslT4KaBt1esJOu2vZOG6Ol6C2WcXxbVcpYgr1M5pDHXYGHeaz4VOPeYUi9ltirriIJDhsknpiQa0xUd_nn8C7cbunKrzcoYt8OTHo_dHqOU5g7mcnUSrpkGcUEVyy7M-tECJGEbSA1V1ZujEoERbJVA3kMazgTCAR46-IIKE8_RVyR8wBkmdS91O44u-NmRHDEZ3YBPoQWaoHeQlNjkobS1sQm1smP68eb1sWZU28V801QqFPhL7qazishSnoK-5fnQwwaM4eqX-eJBRY7vmV0ARQsbtkgPBUmp5LXCq8070aMNfmQBYRLewg1l71zrZiq0qYxOD8LTUmjnbAHjuiJ9zuYhQUozzkx5qvEqAk1m98ATXXcapSM8KuI7oMPS5lnWxNSmUiv9mdrxsXqfFzfLevq3hKPFhilnSm2SXbRLgl-e3BSZbqMkIMXWrPFNSe4QTn1kljULVjUn4QZEkmRE-PxnQ7HIynmXLRV55jFuDuU2ONi8JeEGQ9Mj69bXBLSeXDdE0l1dmFuUpfj6JLrVwkiP9t-0sAY_wNKF_w-FHUcqkmPQLfwlySXNgz3KjT0l3m3BJnLJYobEdZD2aJPssdmh5to9JJOWA8j4uxyW-Jlfyuw2lTY_dug1Lbjx392izSfeZt1PYbf9kqMfGP34z63IA==",
  "id": "rs_0fb0564342470346016ab2b86ebb8c87d0928fd675c29afef1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.459,\"left_y\":-0.19,\"left_z\":-0.007,\"left_yaw\":-0.35},\"note\":\"The cap now lies on the jaw centerline at the bottom of the wrist view. I am keeping this alignment and bringing the fingertips down around it.\"}",
  "call_id": "call_B3X0jXd6Xg7h7XnRfUQvpiAq",
  "id": "fc_0fb0564342470346016ab2b87187a887d0ba42d9b936e5508d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B3X0jXd6Xg7h7XnRfUQvpiAq",
  "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]: [-0.4053, 2.0254, 1.0111, 0.2733, 0.0525, 0.0227, 0.9996, 0.1658, 1.3109, 0.8928, -0.3531, -0.2031, -0.2592, 0.0523]\nstate[eef_state]: left_x=0.4556 left_y=-0.2017 left_z=0.0066 left_yaw=-0.4752 left_pitch=-0.1682 left_roll=-0.0122 left_gripper=0.9996 right_x=0.3632 right_y=0.1005 right_z=0.1532 right_yaw=0.4721 right_pitch=-0.194 right_roll=-0.0494 right_gripper=0.0523\nstate[joint_eff]: [-0.6222, -9.8667, 5.1624, 1.7411, 0.1245, -0.1197, -0.0122, -0.2803, -5.1761, 6.8444, 1.5409, -0.1294, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332f70a5c46e3457db20998dc5ca8c07de6b3b5041670edac17ab363f5586aa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d37da61888b31c34d265ca4034d1a861b9ca16f94f16196b05bbdfdacab06d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f2e71e030ff5e6ccacbfe80695d0867effa1df9a4e777d4a35016b0b1fa18aa",
      "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]: [-0.4145, 1.9884, 1.0267, 0.207, -0.0448, -0.062, 0.9996, 0.1658, 1.3109, 0.8932, -0.3523, -0.2028, -0.2592, 0.0523]\nstate[eef_state]: left_x=0.4588 left_y=-0.1893 left_z=0.0179 left_yaw=-0.3548 left_pitch=-0.1823 left_roll=-0.0082 left_gripper=0.9996 right_x=0.3635 right_y=0.1005 right_z=0.1535 right_yaw=0.4717 right_pitch=-0.193 right_roll=-0.05 right_gripper=0.0523\nstate[joint_eff]: [0.335, -8.8, 7.4735, 1.619, 0.3785, 0.2515, -0.022, 0.0342, -4.9299, 6.8991, 1.7558, -0.0659, 0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap remains centered between the lowered fingertips. I am closing the left gripper to secure it while keeping the pen steady in the right hand.\"}",
  "call_id": "call_MpGTTIOTF0iyFY0XQeyYa93i",
  "id": "fc_0fb0564342470346016ab2b8756cb487d0a60a20a3884468dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MpGTTIOTF0iyFY0XQeyYa93i",
  "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]: [-0.4259, 2.0247, 1.0027, 0.3008, -0.0467, -0.0734, 0.0095, 0.1658, 1.3109, 0.8928, -0.3599, -0.2035, -0.2596, 0.0523]\nstate[eef_state]: left_x=0.4602 left_y=-0.1958 left_z=0.0089 left_yaw=-0.3587 left_pitch=-0.1487 left_roll=-0.0177 left_gripper=0.0095 right_x=0.362 right_y=0.1004 right_z=0.152 right_yaw=0.4731 right_pitch=-0.2005 right_roll=-0.0473 right_gripper=0.0523\nstate[joint_eff]: [-0.0068, -9.935, 5.6547, 1.3797, 0.0171, 0.0659, 0.5983, -0.1709, -4.9573, 6.8171, 1.58, -0.1148, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7e6b331e9c4f0b31c7be05e911e0da71cd3e6a9f3b4b4be8ad9c908bc311375",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0845e6c8256ee4bc1cbf663656d26e27c2942c343af89f81a4b30e345abf9e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8573ade0608d5a1a8cc75900c93ab160b20ca76dea94ff1c06496220babd053",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 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]: [-0.4053, 2.0254, 1.0111, 0.2733, 0.0525, 0.0227, 0.9996, 0.1658, 1.3109, 0.8928, -0.3531, -0.2031, -0.2592, 0.0523]\nstate[eef_state]: left_x=0.4556 left_y=-0.2017 left_z=0.0066 left_yaw=-0.4752 left_pitch=-0.1682 left_roll=-0.0122 left_gripper=0.9996 right_x=0.3632 right_y=0.1005 right_z=0.1532 right_yaw=0.4721 right_pitch=-0.194 right_roll=-0.0494 right_gripper=0.0523\nstate[joint_eff]: [-0.6222, -9.8667, 5.1624, 1.7411, 0.1245, -0.1197, -0.0122, -0.2803, -5.1761, 6.8444, 1.5409, -0.1294, -0.022, 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": "gAAAAABqsrh-Mg27khDyezuUJ1EIxkoPHK4pAWBLnmK_9MnOUFJ2pthwFMMRvZB8df_-vLfroCl7xeBXWDowWqvHEFBo8VSyCboi4n8uptS0p_rvdXBbWiL-ASJcZDpEMhseN0iFRvwHzCKrNv8nPIF18U8kCXn2fGy1y-DiZXKWwvQbQFrDJRQA2zWwxwV0bErYo-EJYciG1TK_HjxG_necXw5huN-w-OkFwUODzemzd9_gSwHAD4ddLwvtv2HqwwCdvrRadfPlwPcbGXz2WsnjJ-03RusqkYQ1j5Nk-qPrfl_4F65rud9AaJkJyb8ARkpuxJpxM8Cx1XHiQZIJ6ck-eZyCu3UZ9pMfiUapqR6hSTgPhIBuJW5wR1slnIN_2lm3rXMKv7iANwo8kubyCYx8jcfHpn6NAxrAm_1mg6DpHN_ZOsxFwixnorI2lBzGyU-IqZArc-Rfr3qCkRCnIRZU2XsMM1zEqPL-Fg5DD2q0xix5LwZg8QpHXRsT3yAESRY-tadt9GY3YDDSe_7YiBTLrssxm83kqKMrlKpN498Uf22Egg0xestF8V98RjQL-GpN18-UXp-eeG_SfmZF9AT2GutDYK_qXJdyuJsYELRxC229nErpX-IXAhVW-0gmv5OQwe_lP1OB5uXsjTUKUmRLFbn3YfGrZAqZ0SjdDBDZaeuogM6HY95qKRX1bEFEero3J_RNn7zKoCJgwI2IcFFTM7vvprZwmmhb7VY8XWRFqbCn4-2bi0K9J0q12U8qAEc2Fef6sqY5rGN5F9aL-lwJEI_Qdl72jBzZIMfcCSjdV9MEKq-DhG6galSMhK1bGTE5CTSjEz4uUV9xhv9PRBTV_Jf2OMM34P60i-BBqVg8AhZ8Ma3LUrzQ5Tnc1s3QwAGPxfaFHKA-H7Zq6V_-2E1aH4QbFs9Nn32M25JzuIycJF3lCEcTKzbPPfcjMyjBxHVHvVne8F0Q8bWl5GW57t7MCtbRVtwHuMPnqpugmoRz8yf6G8kOV6andTTJOx4kggZ_53JDt1R5GS_Xq9xZAqH3kAFEvTWMLwuyu5T06QNlkyM-sWRb5QVdfOYIszGMHtQ09RPce2ohXhYva42kXSYqyLaCLuJSh8-w1y7TEECuam9zRHhDPY3ZxtMZPgL-8KQsE80FFny2w2-uAWLWQWoyzwYEq3uk28JwfuWzVEqaqg3d8zIaetWUWRaCOxWL4U8uwP-Y9n2eXPMr4NX6A-kdq-GUAVrgLpnu11kgJYxNcV2GIRX_n848cjf2j-_BX1nUyQUyCqfzMZ7n334iR5BfzhbVrpIKWqN23kXHMaSG_MmOvkf0Beut4u8uifVd9HS-PBbB867e73NmEv-N01_HgSe-xaKobjfpLl5JWTeqbJmRnidbzUFO_DXE_0BsM5AHqpq9aS-1svqz4MWLkwhBz8k6y6q3_tONVSm47ZFrggoWrpfL7OoZ6ZG9x_Q0IuQt6r-JQMeLhNRl_CLlYkU83BTLvs5kSe49k0sHT1YFSkOQ8kquaoejWVbayjwh-cJrrFj007LSSrMjCSqFt223Rtrl_w5Bbicdxztpk5u2AR3nozcoV42JTLO6UaDYtgXPaYB-8FzJBseqwysUm5QlZ3f2Wa2pSEa5ZrKxQwTfkkqRwM1cDT-xW8G3_dyBthwsplsEjpMRQP0RnC_UZh60YD--o3ujjpSzcTi8WFKiTnSyIKTgOO-WVHYqGYcpWl-bwzK4fdNDlJik46GvhhBbQhm6aoiIOg==",
  "id": "rs_0fb0564342470346016ab2b879612487d085251acc6f60727a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.7,\"left_x\":0.437,\"left_y\":-0.185,\"left_z\":0.008},\"note\":\"The left gripper closed nearly empty, so the cap was not securely caught. Its visible end was just behind the grasp point; I am opening and shifting back slightly for one corrected attempt.\"}",
  "call_id": "call_t3MLSVYIBfDy0DRZcXegopna",
  "id": "fc_0fb0564342470346016ab2b87bd76887d0b932cfae18e3ee1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t3MLSVYIBfDy0DRZcXegopna",
  "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]: [-0.4263, 1.9797, 0.9005, 0.3569, -0.0467, -0.0738, 0.6947, 0.1658, 1.3109, 0.8928, -0.3599, -0.2035, -0.2596, 0.0523]\nstate[eef_state]: left_x=0.4406 left_y=-0.1871 left_z=0.0037 left_yaw=-0.3588 left_pitch=-0.1499 left_roll=-0.0179 left_gripper=0.6947 right_x=0.362 right_y=0.1004 right_z=0.152 right_yaw=0.4731 right_pitch=-0.2005 right_roll=-0.0473 right_gripper=0.0523\nstate[joint_eff]: [0.0205, -10.9607, 4.6427, 1.4969, -0.0415, -0.0366, -0.0415, -0.0479, -5.1761, 6.8308, 1.5409, -0.149, -0.0464, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba3f7191391f67aa0680ae8b14665a04d0e2dd88277c374a5bdf85a85d249a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2acfb55d3713c8ec466d83e0f2b75f08729dd9da1032a074a695a9dcd15ccf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb767931e91ccc06d31d3504280a65badc91ea292c2c05ea8dcd47e0b4612ff8",
      "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]: [-0.4259, 2.0247, 1.0027, 0.3008, -0.0467, -0.0734, 0.0095, 0.1658, 1.3109, 0.8928, -0.3599, -0.2035, -0.2596, 0.0523]\nstate[eef_state]: left_x=0.4602 left_y=-0.1958 left_z=0.0089 left_yaw=-0.3587 left_pitch=-0.1487 left_roll=-0.0177 left_gripper=0.0095 right_x=0.362 right_y=0.1004 right_z=0.152 right_yaw=0.4731 right_pitch=-0.2005 right_roll=-0.0473 right_gripper=0.0523\nstate[joint_eff]: [-0.0068, -9.935, 5.6547, 1.3797, 0.0171, 0.0659, 0.5983, -0.1709, -4.9573, 6.8171, 1.58, -0.1148, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsriE0-c9SF3DEnzbh88ANNwcKLgqrhYeYcfD5M3-l75huF3D3aZPpABl58PyGQeCSs9467nBpEj1DYEilRls7upELwncMidgGwB9SoeE8ulI12drhPNuZ4kKzlvXyKD4G7OSrpoL3axYBSxotX3Xx2c6PWoGkBSeBKgmC_1u0zrKOGjeOOixn6D4ozw7fhBj6jXvkP3novqwXG1RpuSxiEmKyn1NSNv7kLh1LovRomTon5bd_QGpjL6BNYfxcjOoehjMtfklkiIhBMiBvLZ0PbQ6CGnCIlKr__T99XJRvLrfjYoDJmVySsBowJwMsjXUzAjG_7Yuq8877qHm6MZfQTg07X-MendCdVRBBWEtp76k7zOyeWA9lo40YbnghBFOy7yr9SgrBJVUa8_fU2cXT95j2bxhsziwaj0uFF3cTUqoLtNvWcx1p_qdJq0Xj1I1gZ-o3xA3I06DnyvO01uv46DVyvjKHYqoAKzSuuuhRE4amQIssk4pYPR4zNHdNzLm4GkFK7yjAj7CAUUdTxHjZwhRYK1fGtn2chJzA45FnijXSCPd8ggdSz4V-nu6XSJLpMXqwjDnxaRB2xEeOX_eSVvYPuxdyGBCslhSzQbcoSXycJQCeZHcNulrPR7E30rx161c1cNm-5e5zzFbtnlM6A6v9Rnnfqqk-_SmAIpwcDLpcws8yqRLX23l3naRAj1BJDX9WdqmPMn4mCUlHiQWvvfw_fH82ZnOnIGnQnJENlfEU-T9ZqUK7Z6bpSv72AhQvDLfG1aCZHwZN9mSxV7XzIFBbxr-HuJLF3UaQYjmnPBn_yMSffECKSEgg7SpwIpAEIjBlZF7x9BXMK0RZfYp8fQ72siM2BTuCXc7pZ8KEkoP1pb4wRHXVdeuMfvRIYQpARevLetudoZpK5r9JEV2f2fjGkjNlDK_FUQqsXohCV3qHLJmT2tbCGHzxPfSduHZzJzSECSIUFZv1_o-2aeI8yZMCjvlMum6Wnu7mVVXYAzL2IMkHMxhzEMA_eiCiMfKyyzmNcp8AR6i4Ogh6_LgwF5gRYDmL6FsI9lqtWHa8i3CmYM3libX3UQTyLRMgrxBTbsDUnF6g8psCpF5qZ7sNNzYfbrel877qXxkNe5HPGvmJZ0fkf0U0A9xuryXutQcPUSqQble1ZVUYPgrkBCHIWP1-8HVjX-pIWJDCcHJMm699xWdOrFCvnlo4ajgrPoUof_ChXKy-u0521thQ6wfCGdylCCbBKeR_RTf8PlDdfySnFDUeABAIR06p8CtsT1xe4KaZ4gVUgqBKCZesfwbsoUL-310Sv2gAYBK_tXS50W1ua353nIBvGYLalvqCfELWB7ABwE_lFYBv5f9R2_crupmELN2n7JbkxAXp6LdNOsXHRGIRu4T1CIy2J7myhAcM2Z-8-cVbAx8fP5agips_JRwtNLNEZooSDqWsVcglTyeSMFX_AXg3wBWQ6d1bMswf3ws50amxwLRX9Opb5kK45ZTOuOuAcMMzXwNrwkdiOh0Lsw=",
  "id": "rs_0fb0564342470346016ab2b881b8fc87d0a0dd73e53166f880",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips have shifted back along the cap's axis and remain at table height. I am closing once more to test this corrected grasp.\"}",
  "call_id": "call_zdrIx7B6Z8P5l5NREusFARUE",
  "id": "fc_0fb0564342470346016ab2b883c01487d0bd26a4df76a699b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zdrIx7B6Z8P5l5NREusFARUE",
  "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]: [-0.4263, 1.9759, 0.8955, 0.355, -0.0494, -0.0776, 0.0083, 0.1658, 1.3109, 0.8925, -0.3599, -0.2035, -0.2596, 0.0523]\nstate[eef_state]: left_x=0.4393 left_y=-0.186 left_z=0.0034 left_yaw=-0.3544 left_pitch=-0.1528 left_roll=-0.0188 left_gripper=0.0083 right_x=0.362 right_y=0.1004 right_z=0.1519 right_yaw=0.4731 right_pitch=-0.2009 right_roll=-0.0472 right_gripper=0.0523\nstate[joint_eff]: [-0.294, -9.1145, 5.641, 1.5946, 0.0757, 0.0317, 0.5885, -0.1573, -5.1624, 7.0222, 1.5409, -0.1538, -0.0659, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf54064b43a51d98edbcaac3882bc21ebf60d8bddc60c71387562bd99c3f0bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa811932e888cec67906abb1ba467992eced2aa390b87146846ccd588d4e946e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ae0ea198765079edc852612d3faaf88713aadf24391afecfde00844061ffb83",
      "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]: [-0.4263, 1.9797, 0.9005, 0.3569, -0.0467, -0.0738, 0.6947, 0.1658, 1.3109, 0.8928, -0.3599, -0.2035, -0.2596, 0.0523]\nstate[eef_state]: left_x=0.4406 left_y=-0.1871 left_z=0.0037 left_yaw=-0.3588 left_pitch=-0.1499 left_roll=-0.0179 left_gripper=0.6947 right_x=0.362 right_y=0.1004 right_z=0.152 right_yaw=0.4731 right_pitch=-0.2005 right_roll=-0.0473 right_gripper=0.0523\nstate[joint_eff]: [0.0205, -10.9607, 4.6427, 1.4969, -0.0415, -0.0366, -0.0415, -0.0479, -5.1761, 6.8308, 1.5409, -0.149, -0.0464, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsriNNaqVN0VajG9gN2NMVwuPzQReie5e66McZ164O75S3_yQb8HQPZR0pyGMWGz46gZech_RPqxHdl2dUCp8K1fauXtq4JFyezmFsTqtkquU6dDtwckv1PsYgNCX_aA2PznYm-x16GBmK-Ee-KOuZGl_EE0EkcdOxJjynrf70J0K9wUy4R_x67YQieLmyXQzUeI9-Y_3GKhKoq4WopR1aqmD3FY8NSVFgaU2jDSI-qyewSR3cNLlJ0FXBGbXQKiIRooL51kIeCQdqRszdUAtbFWUGHGDo1lwzUABSuD4TfxGbVpWNu8mGgALNfqpUrXzWMKcZVJ-TGUs0fVdkPOjZbepCK2cRjkZnMBso7gQqGwOJISfbOjfKvAo3QQPzQBsLK3qf5ZC4p55Cj4kjz8yScBP3zg6i_ODVXZqWMPUk2oA52Zu0-6X0ZPqZtMSgxcZwYq-ZG9_yUK6DQNtcoxE3SE5dKEW1Rz4r6camUCeTrKEsgvmXRjHefMa6SZ9pY2Nxq2_-R475EVSmVu96_Yq9EM91FKaDlwEm4ZBuJELWwLifEkzndQVfIoWCw_tPNdSBRxEGUsPcAK8iAOV0TGpe98aG7Mit9bR_zzMuvkZodfSTJuseO57hOivT8Sy2FDJjSlSiV2-dOaga4APrdmLgBOwrne_6FwM8Zq-Q9YcU-RmuelkoZ3o5XWBOLTpu2gYq65PrhF4B8P3TNPGbmshkOosD6Kdwq_tu_oN2m_SaxmjVAXeStYFTfogVC3i79FBc3tgvumUPXO0KrCh1ZlzjtE42f-guwL4t35-B_KCay41t53MQV01R9nbKIllQuApq2oXySTgA-8sr3g8kmkVcuY6WizHovWDYfzd1LGVzkknPVEgzBkWr7zkSQVDhueqQsekCzhHzgd-9nvndfnwCS2RVDUC0WKQ-QXZHC3PGQyKIUh3eeaEaDlNkHuMGXlyTNNjgvQUcAXQU4066Ak7SJnDBrXzzogrjMoqZpfBV9z8TuAGJksgRwUbk70MkjIlDvW8AcVikiGlcigQ-z9gg9plc9gB4oIv1TjY88E8fEG0umCYR12BTjEh6dldZpKG2wlEUdo1DKiV6J0LxgJ28ubN79nvLyw1ciD4znp6LLY6mBVXDj9mvBBmMvsMiCirkvtSMol1-X--kdsOE7yoUiwKS4lKZ1QZkGW18tJbAcv7MNVKyv90MZ9w311dd1jyY9JXJjTCfplZVnJMZ9bzI8jhdQJUlW9OfYqQSIE8fkCqeyYB7U8tr36Xc-xEyZi-AHd5ThwntHRkddiYCKYCruN5bGAMsJPUM5JSn67H-sHOQOTFba3KnpchMZo1LIxeKsvI",
  "id": "rs_0fb0564342470346016ab2b88a276c87d09567b7985a2b7d05",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.15,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The second close is empty, and the cap is now visible beside the right finger rather than between the jaws. I am lifting clear to locate its new position before trying again.\"}",
  "call_id": "call_qrxODVElv0F1of816MPyrvc1",
  "id": "fc_0fb0564342470346016ab2b88bf07487d0aaac939b396ba038",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qrxODVElv0F1of816MPyrvc1",
  "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]: [-0.403, 1.4696, 0.8448, -0.0914, -0.0437, -0.07, 0.9949, 0.165, 1.3109, 0.8909, -0.3599, -0.2035, -0.2592, 0.0523]\nstate[eef_state]: left_x=0.3845 left_y=-0.1517 left_z=0.1183 left_yaw=-0.3403 left_pitch=-0.1439 left_roll=-0.0174 left_gripper=0.9949 right_x=0.3617 right_y=0.1001 right_z=0.1512 right_yaw=0.4722 right_pitch=-0.2023 right_roll=-0.0465 right_gripper=0.0523\nstate[joint_eff]: [0.5812, -7.1043, 8.7726, 1.6142, 0.105, 0.0855, -0.0513, -0.3077, -5.135, 6.9538, 1.5556, -0.1441, -0.0317, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f11d968095eb3fb13fff6cb46b11e027e042eda4fe63a6992597a1f4802fc4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43af8365a5e8693328c12e4f23910344f9e94c592e74e8aad366ca8c6b72c9ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a700c8ae319cd3c38d76d9bff57ac091dfc93571ae58d88e0de056c138054873",
      "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]: [-0.4263, 1.9759, 0.8955, 0.355, -0.0494, -0.0776, 0.0083, 0.1658, 1.3109, 0.8925, -0.3599, -0.2035, -0.2596, 0.0523]\nstate[eef_state]: left_x=0.4393 left_y=-0.186 left_z=0.0034 left_yaw=-0.3544 left_pitch=-0.1528 left_roll=-0.0188 left_gripper=0.0083 right_x=0.362 right_y=0.1004 right_z=0.1519 right_yaw=0.4731 right_pitch=-0.2009 right_roll=-0.0472 right_gripper=0.0523\nstate[joint_eff]: [-0.294, -9.1145, 5.641, 1.5946, 0.0757, 0.0317, 0.5885, -0.1573, -5.1624, 7.0222, 1.5409, -0.1538, -0.0659, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrif1k4w3bmAl_DCnRoXD3IYkiSowwjyxpkEhhi04tNH2FLaGwFKDLd5-_f_W9O1TiFUkZHQPszneG10e2sv1CuRJkIpozeu7I-dM0c9ApPe2gLjbfbx01Coh2BvFwtttnBCsuPfUyoqvlmYKmMX14XQjq5Kk1sbbv0So4BU0zmKtoymzAXFRrwX-bowKdPw4o05ATrRVKfLoQY_dyvVofSFHUpGCCHpVpCLxRcnfYLVE2ZfioiNWDDfMNC0MoRFRUm5P8FFs-kEg2Yc0rEuF_IhyY2-HuQ-RfxO8uJCl7KNkHI_vyOSvnj3tkeDfwh0G8FAKPt5K4mqiXmhE2dO09bV1KTUKqYRZH1kiojhA0rZpzoku2kAdSn__jKO5WphuRrkHlEvBGU1MoCkxQ0u9a0J_gD9C6Oxega3pLcBQ6A0XH8KY-MxAKXqQjod9OEcKNDA6OaBSkIPogFgHfu9acqDpxDbew9Qo3t3OR4z4okGUFFjyl6jPUN6JzRIEHMKowt1mqk_TZyMhrSX3YcYI7rgN65W8pwWGtLHq6qAp9Bw8Z-sTHtLxLxqoALYsaMYbCG10QnEpVOtpS3bnVgOqTI9kKm62ogQm3Z7V4-lexO7qazWXBbmyIGcnRxkgFe8YKhh3JFbYf0lftuDoukU5LrkKAHmyKx6eQdnjtXovQl95QIYRGDX1ka2UN_Sme1sYW2QHbj7HcAn77FmMs3b9Q0X4w6VrDYt_-JVMeYaVKXPsfqb03skG7c9mhXTgYe7B615NSCwDqOKqOJ1ajjd8VkextTcWul3Ltyc5S-w5AglnqGYiQqwIaz8QTAxg3sVB0ACXseu5a0-rViQmAKeMrrvY3UFFivcNqaTRs_fMK0k71R5OU3X_cdDcFj14AtAg4_oBSOqIIIdTH13P-uCSJZ4egnggw5ZxR2PtGkxHZ9zA5-Db6V0p_x2AVf4l_rRx5pysqEmhlKCG-njgf7cXuzIkbGa9-rK875sqXHJaFjOc9bvhjPvUgOfCZhKBAPxT3klN1ltisykaNTt3YVhkoAmOCVdFd25dVXj7jT9R69fK34Q_8yNMngoIOkegDfanxA2ie8wGb9p64xCxLEZ5QkR-gJkhlPD3lCs0gUTSsy70R6MCqyt4LgdYBqWUM7UT6oCQ0Qo0S2q4R2RrYmf31oac2pdwxjdIsHfuFetOJp_EF1LZQLrhciE8mNDsdqiH05QuS5W_qLNJgXGhrLMHMyXLLS7N9NlN9qEKCH33_kJGDGLQqurxCLeHPMl_xxO3zKGBedkKd_3Rmlfo8BPsJI-NY7gubMZhjiVopqpjhHqHwtN6VTiYrhQZL4kpLxYbQzGPvSflKhotOiBrerlWljOoyfzmlOPldNCSrIMCWqXOpAo7w_MUpqH5Hvg-isguX1X92GArtsHWaF8fQxW8l4s4VS0J1FOwv1tcCtG_sa0zz9c_OiBivYJIRYrD8I3wAx2Xxtg49_x6gu_TYIiYupBPs-71oM06osJplyT_TK-hbqN_PugG15zgDsjcK0twLr8yjdxEJjvnD8bA0TyJQdqVxq4Wssk-rY1l6TYsXDGs_kf2jskZ9FOhbzaAetkm4RBybVlJHmKPBfWZhZ1m3v5L5BAzrsY87f-KGeYfBCHP-rmk0tDjuof84A372lrEX-nRCHvxemmmrtlrs4hLEtMsx2lpCxjXiuy-FRTO5dfW96DZdT3WSL01u0BWCL0b7PgNuVSTpOt0OwKrPDgFi_IKyqkNhdd5adc9-XkFPgKPRDTbv-oFyCCH--aeEuWxGNRWc9soMBKrrfgvch08tH1ZasoDdRJtioZt68uRW90-qpXNTH-KaDgckE3I0qVnCqkQPtBaPLmBn3ZY1K4UFNBgoWQAQ7f8SpXVE4gqytrghA2VPMbTCoyB862Dp0WXUsJ4_2-UobvUuSZtJVqAVgMDKaujwJdRvS5xSPqoBTlExUt_Zj0GqaDbCkPA2VAohq5gKt62MUqqTuqpwTxT7H9KfqY_odkbE4qyysiRsRZXny20asb3Loecmfz0x-ni1E_rwuB-FOnbHtderOy_iHbvnX3lO6ami8iAIPl08H8z9zZPU2B_ZQo-VQ9mZIi6pKpHQYMGwGb2E9bKkIdtyWAJYctlSK6KifYTU_fmHw0X1RtYVJ0uMQkRjIX2_4O-0P77gDPWSh0SYfXXrVK9EYTmeCv0l5BAnG1tQ3VyuTtSO_jffprCq3MFue0ADdYL3h6tDGDqWYHgeNy0ksAnPjdSH6OKn52rawejoKlkDrL5143yHPLi7KzwnNEfJ02pOPH6rqMg4q3txrz-FoY4_rNf48xc-RvlKbIrcmwbQE4W-0vVJJIkvYnR_IOQb5VVnEPqYTcC3EhIaiarrim8DBTYOm_XPS6OzMJMHfP3tHfNrIaXDV07VOOT6BEQIoutCtXZQu4W1FkoFrna9MXnG-nEaEDAbySiHyimnq39lGFqI63Iggmgm5ZDixVj6j6-vR0n10moLingFtLUXH4lcB8N_NUwOlUhHa9PGRy_I6DHbN-58izOhSOtP3_Xw0bgb0fc4a5GHOjX3ByKGXCXwYqRtgO-qumULrGMOOcT1LFy_LFlGcQKd45CRx1sQQomQ-0n8UONAAMDSx_83xyCSfXP_x4g6_1nwm6522U5Mh6dZ0=",
  "id": "rs_0fb0564342470346016ab2b8923d1c87d095495495b1af7459",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.437,\"left_y\":-0.203,\"left_z\":0.025,\"left_yaw\":0.3},\"note\":\"The cap is clearly visible on the table to the right and ahead of the left gripper. I am approaching its current position from above and adjusting the jaw orientation to its new angle.\"}",
  "call_id": "call_WGKRkGwgxb97dzE36Zk4MCJd",
  "id": "fc_0fb0564342470346016ab2b89d820c87d0b0069faaf3b41218",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WGKRkGwgxb97dzE36Zk4MCJd",
  "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]: [-0.6586, 2.0407, 1.1687, -0.0944, -0.5735, -0.6632, 0.9963, 0.165, 1.3148, 0.8894, -0.3679, -0.2035, -0.2596, 0.0523]\nstate[eef_state]: left_x=0.4304 left_y=-0.2073 left_z=0.0188 left_yaw=0.1765 left_pitch=-0.1918 left_roll=0.0085 left_gripper=0.9963 right_x=0.3602 right_y=0.0998 right_z=0.1479 right_yaw=0.4733 right_pitch=-0.2151 right_roll=-0.0426 right_gripper=0.0523\nstate[joint_eff]: [-0.6632, -11.2889, 6.4889, 0.7741, -0.4078, -0.0757, 0.1343, 0.0615, -5.4496, 6.9538, 1.5751, -0.1392, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f8bb43c473159dae1f9d72150549cfd1d124ba05dfce1a7d2b6f9c831416e58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6eca1fb6fde3104a7b0303e14e7413f9075978c0b22af40ec138b5912c1eff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e4c1b69a83a83c6502ba6467ced370c46f25ef4c3381edc0f4207032a2c78ac",
      "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]: [-0.403, 1.4696, 0.8448, -0.0914, -0.0437, -0.07, 0.9949, 0.165, 1.3109, 0.8909, -0.3599, -0.2035, -0.2592, 0.0523]\nstate[eef_state]: left_x=0.3845 left_y=-0.1517 left_z=0.1183 left_yaw=-0.3403 left_pitch=-0.1439 left_roll=-0.0174 left_gripper=0.9949 right_x=0.3617 right_y=0.1001 right_z=0.1512 right_yaw=0.4722 right_pitch=-0.2023 right_roll=-0.0465 right_gripper=0.0523\nstate[joint_eff]: [0.5812, -7.1043, 8.7726, 1.6142, 0.105, 0.0855, -0.0513, -0.3077, -5.135, 6.9538, 1.5556, -0.1441, -0.0317, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrilw82v45QVFw64lx4z7ifjnIJPKlov-kqAJGuRNyic88nQcJNgCya0A65VnkAAchsnKplOr3S70C0USRf9eySDeFhhsEQxpwsaNSNRnHfyh6o5mZU_Mg1d7_k7hWEZRxDQQ7HsDh4Ffltl56jwrJ1YZVfLbI8J_hKsg-XXGRAiaRJAMGgH6xIFmBt5eFMLgcvrUGdwRTxgCdbXiht4aNHWVvqjL4nPIjB_MQUva2Zs8osyDzGVy0P_sUYlcUfAzRlJk9qdy5dGnix07HKV-F9RrV9P_RzkkzfO4IjymG-tb4lxRo1heQ6Pk0pkuGzn45KLxpknWYQKegba2BFlwlI5g4ut0ggTVN4S6B3SA0krdJDAIWIho2MZ8xskdrZWnmzJ21Ux8DpNeKFUtXnsDrzsw3S3-iN-LoPoWTLREnzdDjNM0ElQM1W9Fe9G-ftKiaDGWgNMVbhN5zGzmbjXl1QWK6CJ7qPSsTToEAULH_EHeAAbLnUec2saN5xM7jyeTUuPebqNE4IUBLJBjU6ombOp0QUsl223iDTIjmlji2eSLe4bGY0I-T_EH2qMH5MBcTk7Kc_MG7Bm9TCoVVwbO3F3aTihTzwfDZjq0OjxSj9k6q4GuyPtnBX9c2DKTL6iQCJXH_waEbuAi4Lkt-zHa_Ub97y-0VbuVgU05aZEr2ONBgcSsrHXhy7Ad82O4LSw2tV-E30dCOmOMQfGWDOy1Uh4fRfw3Wi-VLAk4mB06OeLcVMCVfWu5sbMfHWBb_UExEyxIoj7qvsAXDj9z4UF9pPqi5K6qz0SI7d59Y3GvXyHPbO9pkDdixstoi6TxC5A0OawRF28MZGuMjk7VSe1ts7fdK2-WEbV2VOgQ2k-i6C4Y3lrwEGTXLvbGPprd6JlkbP_iLP5mAokIoMlR9S2WNYJ-qAkJnnjgJQWjtcmjiZpgU1x-qiip4TnqnGR5pWO7FVet8r3K7d6ClNtc-qKcM1U1C7tq1sRuMH344Zrjwi-MNXwdOH4ip6a4_XVdzZhIKnKWkyQDvWJ-KA_egi3MzQQYCMzRNSG9vG03-HwZVplEfQRSsnmD-pBfNjNBcPcB4UKAFpWC5yDQEvoU_5A_FovRvsR2jY3yJ0ByS-92dQ23IkwdajiCPgNmukLsN2WgKUYlBawbDlV6jJ1uVffE11GT1ztQsOfpof3Wu4SSANxMHlfouniqKzzpDOCe3hRAX7dyqF9fjnyBR7hbQDH2Ikhbhrlos-j8ovdHGHUU2gpEGVzMsdFa0C7dyT3BJtOjzaLhzkyVL7RS4fuOy1d-g6yhM0RUz0uscOcunourV14zJc=",
  "id": "rs_0fb0564342470346016ab2b8a279c487d096a46492104dcd5d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.428,\"left_y\":-0.224,\"left_z\":-0.006,\"left_yaw\":0.18},\"note\":\"The cap is now just to the right of the jaw centerline. I am correcting that small sideways offset and lowering the fingertips around its body.\"}",
  "call_id": "call_TiOmEeyRpJSBRaPfGcPbdfBY",
  "id": "fc_0fb0564342470346016ab2b8a3c9f487d086112a4d30835737",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TiOmEeyRpJSBRaPfGcPbdfBY",
  "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]: [-0.6804, 2.093, 1.1976, -0.1104, -0.6304, -0.7574, 0.9964, 0.165, 1.3148, 0.889, -0.3676, -0.2035, -0.2592, 0.0523]\nstate[eef_state]: left_x=0.4297 left_y=-0.2092 left_z=0.0076 left_yaw=0.2493 left_pitch=-0.1793 left_roll=0.0003 left_gripper=0.9964 right_x=0.3601 right_y=0.0998 right_z=0.1478 right_yaw=0.4731 right_pitch=-0.2151 right_roll=-0.0423 right_gripper=0.0523\nstate[joint_eff]: [-1.0462, -8.4718, 5.094, 1.3944, -0.2711, 0.1832, 0.0024, -0.2256, -4.9846, 6.9538, 1.5165, -0.1294, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5324ee9288479840c2a100387e4a1f9068aa6598ea12475a265179fd406c15e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:122af07b794496181933740b02cfee1f1c96427c1188ef6c2813dda722f44c32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:705a6f68bbae88ea6902d8039651ae65dbe43fb16444861d37d0aecd73dfea8f",
      "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]: [-0.6586, 2.0407, 1.1687, -0.0944, -0.5735, -0.6632, 0.9963, 0.165, 1.3148, 0.8894, -0.3679, -0.2035, -0.2596, 0.0523]\nstate[eef_state]: left_x=0.4304 left_y=-0.2073 left_z=0.0188 left_yaw=0.1765 left_pitch=-0.1918 left_roll=0.0085 left_gripper=0.9963 right_x=0.3602 right_y=0.0998 right_z=0.1479 right_yaw=0.4733 right_pitch=-0.2151 right_roll=-0.0426 right_gripper=0.0523\nstate[joint_eff]: [-0.6632, -11.2889, 6.4889, 0.7741, -0.4078, -0.0757, 0.1343, 0.0615, -5.4496, 6.9538, 1.5751, -0.1392, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrisQjipF6gxeZByms6aYQqUbafrO5ELcVQhok5B7qLyE3pAN_8zsxnHgOcIYjOS9fOVmdMDcdYvwV_5lHVHFl7NT6N15g0ytZoug4y7PzqQNiPNNGb8ttx75wmq-fkaY1JN-LMniiZ7lgGH5EGNWQQQi888fKAKyKdg9bE0L6K_qwpNf4UvZYouQ7BnZ6MDFMD6iU5MPhtwAoyQmKOGETCpvX8OxS2fQVoLOxzYZCKUWqoSrxpiziHuRHODyKihGZOoU8aazzB0SCqH2UHkpu7zLHDQ0DF4SbaGhceOkjIhCH3eictZOUJXq42nCyCcumLxiQpgfvgmp55k_ksxpSaUM4Gtwu635oosEjAZkEUs0Glx-BXnkX6P7_MnHOn9NLFxHkmKiz3xKDNcDvSggVOq-HAwxmkcYppa9rw7kO39XN0VU-l-R0ux5AC9LCQPrk5qSa5ECy_WpjdvI-UiOZyG8LDsc1bCK7U0-sqNVAMzhgdIcc7ESYStavG5mVh6cCUfbvuYJefR-jExmWCQo5BaQC0HLp4Tt05YCONsU2QEWXEy5ZAJJosa8d0-CtmeWvFUzjr5rd63Nhg0491kJfv4gwQeNlizBF6wxpN_z5EISEJLSYfIeT42KMXC776DWBcXcN5l10b1sIwfuVXhWMCCWsoSlEZhb4MJ5JbxMU5aVO_wsCHq0KzgoNELc80C12e5mzeOqPQpWmTiie4V3jR0ghUMnvnF4pQTv6_ZTGjuUF0pTH-lCPn1Bikz5zDtR11crjWemtj_sr4SZ3jLMi7vzOJQja-fRn3yaBybvKP2vVnLTpHhlrHSqlKwh4rfkpn-DrCqjszFGDbmC4IlH7s1Ynnxc3NyJPVSrnhPyNHN27VLdcDIpN6NStQH34jurFzDlVKQ8HxB2rL80vh9ti94LkHumaL78AbKrcYgYDsTE4rKPcVIXYUuuGKqokVL6_7s83VGAdHGBS4k1URgpO44Q6ryb_vlGYtBdgVwlDs2VcFqcG-YAfLwhY2czhS9hydo3KOTO7Gxa1qOn8XMvHyEM7IW3L5Zn5AKXyAIc6TPfE-3YA4Jc71N73G1qih_e83ZqAxZ5omrtRx57H8B3skHiLUUU3eQRjyyJB9zC-keQy6AUZwKYmrB6MSbVY1VcWtXKtLbZ6RjNgN5yDAulMPth4I4FwqNgQuEhi6Y2HXQOgZSvkAqxDVMWUVN4XeuSXfVb4-jMNt9deA6MXim91am3-6V5heP9P6oirLXnD7DvUU3K9F3dapEhHhLAvnzCBUYvyHDoCCu9BfN3FpcIz1WB3jjvxDbURI3SPezib4MhA_3vlrtLfhaLPKotliR7pBb-kDDy-MEyfU2iIQneGlj43vwm1LWtHazX5deNw4xiYA=",
  "id": "rs_0fb0564342470346016ab2b8a8677487d0b1ee270763764cfd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.424,\"left_y\":-0.224,\"left_z\":0.002,\"left_yaw\":0.25,\"left_gripper\":0},\"note\":\"The cap's end is close to the gap between the fingers, but the last lateral move stopped short. I am adding a small correction as the jaws close around it.\"}",
  "call_id": "call_b9t5Ky2iBsVHWXGpggmKrfL1",
  "id": "fc_0fb0564342470346016ab2b8a9fd6c87d08d5c9900652caede",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b9t5Ky2iBsVHWXGpggmKrfL1",
  "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]: [-0.7128, 2.1105, 1.2041, -0.1108, -0.6556, -0.7933, 0.0089, 0.165, 1.3151, 0.8879, -0.3676, -0.2035, -0.2592, 0.0545]\nstate[eef_state]: left_x=0.4241 left_y=-0.2195 left_z=0.004 left_yaw=0.2538 left_pitch=-0.1685 left_roll=-0.0044 left_gripper=0.0089 right_x=0.3599 right_y=0.0998 right_z=0.1472 right_yaw=0.4732 right_pitch=-0.2165 right_roll=-0.0419 right_gripper=0.0545\nstate[joint_eff]: [-0.7453, -9.7162, 7.6103, 0.9841, -0.2955, -0.022, 0.5641, -0.1983, -4.9983, 6.8855, 1.5214, -0.1343, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990294dafb83f1c352ec1333fbe63dce0640d086d97bdfddd8aa9bccb69df7b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b98ee62965468e0017017cf966f47e9ff3226eb25a63e55399e85ed000d0d18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c00ce183411f7fd3d06b51ac0e70ecc69b9df5df7ebf5785ba035e86c0d8e91",
      "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]: [-0.6804, 2.093, 1.1976, -0.1104, -0.6304, -0.7574, 0.9964, 0.165, 1.3148, 0.889, -0.3676, -0.2035, -0.2592, 0.0523]\nstate[eef_state]: left_x=0.4297 left_y=-0.2092 left_z=0.0076 left_yaw=0.2493 left_pitch=-0.1793 left_roll=0.0003 left_gripper=0.9964 right_x=0.3601 right_y=0.0998 right_z=0.1478 right_yaw=0.4731 right_pitch=-0.2151 right_roll=-0.0423 right_gripper=0.0523\nstate[joint_eff]: [-1.0462, -8.4718, 5.094, 1.3944, -0.2711, 0.1832, 0.0024, -0.2256, -4.9846, 6.9538, 1.5165, -0.1294, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsriykLAiAkhlhGKzR_6cm9vP-5Ijo07URvqUXhWZRVP046b3iDBAaH31NOsEBmbJ0f69gOmRIzF0vOFd0fkFlLF8QqP8iMqFtCs1XwNfL0_iEkCG2MYPAY7lD-5Un9SAbGwBEh_Xd79CYeqjBSjs3EsboeU9g5fP1QH1DT7ifvoPgcKZVs_F9l9_jnLKZR4rgBFpdWSGhoQbIiYeKqh2CXHJcdYMpUHs95ye6f-Bco70QNtjT12mnDkGBwi9UXVikUSJmlTfbxyBgKG0z51m41Lf2H8f8_EoAOw-RQ6c_eeq29o_LAtqNJXlkq2ZQjajHsReyYFtWtagZcjS7WUc9d85IzxJvBzuCTE9WEiBg8oFhZYVKUBwFV0dYfz-U7W7eUVED5dNe6SyhN7FllGQF39WDeTiBFJt8R63Fg19g2riKx4bEckqodMUxHckYym-rPQfBxj6P20o8uCw7TE3rz0OjfHCSCOhuUwYBXt_77icRYQlG6wU7W4c7tm-4KWg5_wqJ0IIBsU4mkjhsBsBovohB4iCNYnjoyVXCQhdZUYXuLVPxo_xOHo5MMBGSGgDLudVsJ-_9Hq-0JRycbN0gn-JeYHz0sWQ3nAh3e80OQFQO4bbgAOdz0yyLbbr2DHChVZXxh-jmrhF8idBIII-xETuP2rPXau9GcOtK4QAS3NImhieJdIxHN-8P_DNXtkilm53U971_YNq66u8zqacE-m3iOjCkCx2ZR1qBo3aFzuXWk8A0ThT13-qTJEABiqsEH6yqQ75b7zJkT-cqHR0e2RZ4G0D-0pVBdURV1H1T7y2c5EqAr-oNqP31_Qgq_JpBvuaWgmzyv4yRgAJerWwhzCJSyUtJviA70nFfvSnXLzAMpqh81wugORe-xDdCKooLl_zJJ8yBvbYbzPchQ1P1edol-KDGuOOdRMzDx9l7YE8pRLGgXCWKa9Tk7rWz-sRnz_ugT3gOMDuLFkpw3dY1KS76fFx1K8MT3D1VxywYiamlVg9TUggWTNW9zqhvMxQKrrcHDGDWXkJg-rwoiH8wR1-eKzSxOySx2XlXeRUYQE6xmJLcidtgFgiSluaG6orMwdQbrgVwY4dh_k_NaLYbOFa0czS-C_w5w6-69PSjmSbhzVST66LUuuuY8YJHKO2dx6OIqSCw0oUJaKYAKr33NefJeUW8lsKhJPyOVSW5Tua3hmW2YCT1aYTuUwvycj3FZ4D68BQdbksH3dC0sK0No8Fl90yiE99CcX2KEnpmSFlF-9LLRDQYktDJk_fMXwP9M99sP3L12YKtWMSHUXY4a4ljvZqg6CKkZKChcjeIOL_8ecaqT-bLieE4E7IJiBQhE2EPYebO74bBuyuPlmMm9EMV-ZJt8y9MhvbsqDxAVc74tYIlQ5XZDx58XWPGeV0mhmM7Tkgjt0mOLWskCVNSpSTp5WThGpaQqmMMthaE-NXOus=",
  "id": "rs_0fb0564342470346016ab2b8af4cc087d0a7b0be5f9e1a3e1d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.2,\"left_z\":0.12,\"left_gripper\":1,\"right_x\":0.37,\"right_y\":0.1,\"right_z\":0.18},\"note\":\"The left gripper is still empty, so I will not assume the cap was picked up. I am moving the left hand clear to get an unobstructed view while maintaining the pen's safe holding height.\"}",
  "call_id": "call_suKTzR53zQ17j0CnoX64GXk4",
  "id": "fc_0fb0564342470346016ab2b8b0c3c087d0a010c8f3483584bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_suKTzR53zQ17j0CnoX64GXk4",
  "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]: [-0.8799, 1.6554, 1.0809, -0.5358, -0.7101, -0.968, 0.9949, 0.165, 1.3334, 0.9966, -0.4877, -0.2047, -0.2672, 0.0545]\nstate[eef_state]: left_x=0.3281 left_y=-0.2104 left_z=0.1096 left_yaw=0.2273 left_pitch=-0.1754 left_roll=-0.0289 left_gripper=0.9949 right_x=0.3625 right_y=0.1004 right_z=0.1659 right_yaw=0.4806 right_pitch=-0.2447 right_roll=-0.0375 right_gripper=0.0545\nstate[joint_eff]: [-0.3487, -8.6085, 6.694, 0.9988, -0.5641, 0.0024, -0.1148, -0.6222, -4.3282, 10.1812, 1.6093, -0.1197, -0.0024, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa5230dd60b03fb9aa1f6bb6ff0dc10eef542f27fe2ce0dabba40e051ac7b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac5973898d84b92450929dd4a0004be33512a3a1b44c52823003c9f4113f9fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6231690038fdb01c4faaefddfd3476387ccbe9d64b141b879cd0145b997abd25",
      "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]: [-0.7128, 2.1105, 1.2041, -0.1108, -0.6556, -0.7933, 0.0089, 0.165, 1.3151, 0.8879, -0.3676, -0.2035, -0.2592, 0.0545]\nstate[eef_state]: left_x=0.4241 left_y=-0.2195 left_z=0.004 left_yaw=0.2538 left_pitch=-0.1685 left_roll=-0.0044 left_gripper=0.0089 right_x=0.3599 right_y=0.0998 right_z=0.1472 right_yaw=0.4732 right_pitch=-0.2165 right_roll=-0.0419 right_gripper=0.0545\nstate[joint_eff]: [-0.7453, -9.7162, 7.6103, 0.9841, -0.2955, -0.022, 0.5641, -0.1983, -4.9983, 6.8855, 1.5214, -0.1343, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsri9M_nJNtrsQBoNHfji9x3Y5G1jUM6dPpeqS-IwckWNl81fkUpYFqUFlb-SW-OYFXrTzKKWMZymCDFTi8KKowGgIwMy33lDxoljA89Dwm9EG6w5Nk4gTxFUKNH-NVJQyYc7j7WPh4loQxO3-k6At-yOVLXLhvPvV1TMmx9Y5G6HkystAKBmmiN6ruAZe_lAgKFQlWB_XNsIZsKnY3aeLm0OAefhqGL4DRwzfoMuojv-s6JQTe1AiB0mwHYA4HqfWDFkq9on1G4fpoaTbKcZH4KtYmMYvW7d2DyY7azsWpHJWtIue_LbMUDwo4C5x6RuwTdbD9ZzT5K32YNzA_-Np2EfIhoevbQYZIXNbXCLM-N11E3CMmLtaZeaPyszG1INAGmdO8xyun4wd5c-FxqsLdYbz52QNwzEGwCLExmbIt3FfGD5dWqj0VcEPJHvuS0BLGE56ASWGHSsWF8cI5HdV46KWQ_C-SE2r1Ic44FYJ2rMbmF2ywCAfrDpAgS_YJhwpRNTqoiB0k_R5vMj8zkL8Unln6ZCtcWa7i2G8JJEhAqtmoZNLyODq4kqVfTGRTuQFhSsidwYZbODz5CDg5x2yHHlWp-3gw49dcnkG_jsaeG06ZXUyQcH_osr2bF62OKDBejEt75TGropT3TKGhaEnXiPD3rk5J2cAzEsaz5CK8k6ChEJoCPn-FP5eS9Y89KRyhTAuo-mL2IiojYHhF-IF-e_UXNMUHj8LJ-z7zKyvjOzXBWQz-uQhjDqVI5SvdDYQw4mC0m7_dqAqXP0oi3-aHWi18zmtCy6tAqoKUx781vOUFMHo4hKmW9UVZYdh0ygZqYaRVVD7rf4ZF8teVBf9jGcU0fOARj27Vm7rvQMJ_Ru_8Yp3_Ex1aInMAnZ_MtMt1h4RBPVMCaLzpBD-nvprcrXuzJWVqG9J0TUYDS4ZHPY-J2ZxCjG8CNeqXuEUUZ1p7TdVFiw3hVNDlDeYBX4dZjbhRciKuwWOrEFuWfKLq15AzkuYKLUY6moUB3mAlQ3kTSbDVvFitvM2kyezawUcU2YTpo2UPtxkJGJVUOP7bvGjoSBbtC_JZozPHq0GPFdNZt1OmLI55IveFF1m5qFa_ZJIQepmIV2u7kLrUroxX4YrMlEJPI8wjiOy8L2VAK1cZ5UTvy45wIhBS-n58Z4VIjuhXj0kESXSq6cOxaSXYOrpXV7voZbrMcxx_NlaZOxv2rkTpcBUGMiR60VENwVGWtSsEyixdm4UzxrCkkEHoccQLC8_g-xYn1RhBTSwqbuc4UAAs-Ng9OYuI1W_CqzzGfuX50pqErCuZibrzAdLk0VpvnK2yL_1OLjyXtG24KCHGnEonj3U8AzEXNKSU4_lFNarA6IKzDov4L94SbPnrFL-1AAV6dy5jgnUQRyJzvt9CHEsHJah83sxPQ76RQgxbne_AMCavp-dH3eYCh4XIXUwfJQhCSQNRgp5JoVtInKoqWPOam0UZtHXuVHEcnQ6vYWuFd9femyI-plKAwrhyWsXpfcylJ5Cf_HG0zYHad5YOgovij4k9eYhunJGinLGgyJO6qw0j_mxgynAFUSlOjJB4x20hSLk9tC3Tw0TrgDbFqU1l570U6y_8sRIzrhEFI8VMlh2YliTvcFi4jaYwNBWXJSJsECylSrl65NLG30vGcN",
  "id": "rs_0fb0564342470346016ab2b8b81cf087d0a74a6976dac9003d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.216,\"left_z\":0.012,\"left_yaw\":0.25},\"note\":\"The cleared wrist view shows the cap centered ahead of the jaws; the earlier approaches went too far beyond it. I am making a shorter forward approach and lowering near its middle.\"}",
  "call_id": "call_ltGSiT1yo9a5LgT9kZvGR5PM",
  "id": "fc_0fb0564342470346016ab2b8bbb2b487d091eeeabd9e635a57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ltGSiT1yo9a5LgT9kZvGR5PM",
  "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]: [-0.8268, 1.919, 0.997, -0.2131, -0.6956, -0.9535, 0.9963, 0.1638, 1.3373, 1.0, -0.5064, -0.2066, -0.2672, 0.0545]\nstate[eef_state]: left_x=0.3519 left_y=-0.2098 left_z=0.0149 left_yaw=0.2692 left_pitch=-0.1982 left_roll=-0.0017 left_gripper=0.9963 right_x=0.3601 right_y=0.0999 right_z=0.163 right_yaw=0.4827 right_pitch=-0.2624 right_roll=-0.0299 right_gripper=0.0545\nstate[joint_eff]: [0.3214, -8.8, 4.8205, 1.1111, -0.3639, 0.2173, 0.1343, -0.0479, -5.641, 6.5436, 1.619, -0.1441, -0.0611, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aef252dec4c34f806c806aa7e78eaa69b11c2ec27195aacb59956df195f9cc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05d2cbc28f185d76552de4afa14fb5193ed0fc34b9ad8a2c2462a55caf3b216c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206cc57de384d4cd0f3ce05dbd48a7a1510ebabe146ffeec0cc637b12553f1ce",
      "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]: [-0.8799, 1.6554, 1.0809, -0.5358, -0.7101, -0.968, 0.9949, 0.165, 1.3334, 0.9966, -0.4877, -0.2047, -0.2672, 0.0545]\nstate[eef_state]: left_x=0.3281 left_y=-0.2104 left_z=0.1096 left_yaw=0.2273 left_pitch=-0.1754 left_roll=-0.0289 left_gripper=0.9949 right_x=0.3625 right_y=0.1004 right_z=0.1659 right_yaw=0.4806 right_pitch=-0.2447 right_roll=-0.0375 right_gripper=0.0545\nstate[joint_eff]: [-0.3487, -8.6085, 6.694, 0.9988, -0.5641, 0.0024, -0.1148, -0.6222, -4.3282, 10.1812, 1.6093, -0.1197, -0.0024, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrjEWe308A2KXzHucognXZqgdXpNIcJ6e3sHGQwYAn8B5eqtIfD1KKunWNzMzZUitWmQuB-y_GDgveVDNsWD9OdCvaBOPRs1tc1HmSdG1odP4o-pt9Fuu81l6ZGVUj8uVgPfJ-sAxvk-bjw0GL31wxgbZD6WYVqc17sxAEqZ7xz-24j4L4xSzV7yYnKaB44WRmVFZ3GE8-d-I0EZNJxs_l6kz-kZuRPT8UReR-_PlkKGL1w_J2h2Cv1bOmriAhnuhSGn159PAV_eVoNEE78GeRYMZGmUHWjOa_od0SWMprCKuQD3GbsWXsHtD4nhiW-sS8_VLcnJaOPF0nMpyyKpwLTSygBLzop8StQQGRkqc7517tNgmtxxy8yIozuJxD0ImcitVeuPXOTlGCvlcGEVKdx346SC1qxAV4P_VIQ_TAhUwme8Jknp0Kz6_JM1DEhC3krFSFTWEvc4tN6H7UEIBx_mThKfAv8uMedjdQmmFxD94FE_gsGGxinW5RJtvixkLJ2ae-E5bpR7H1dJ71m63bE0ThIn47hkF-lGRpLxMBQxFxtmlh9gvTGYyS-k8bgPR7lIYQ4tnI7raLtqsk5a6CmhpgWcx2EcfgWj_XPm6fv8emaUTK_NIw0txQVtq0C-m3Z_gLGvUugm3Md0ORBRhTlVJnKIwO3hYbiFQFh8u5qMoZEjfpfDN-gFB9sAmuuleFhwRT1xmhRr0eau3kfFZmF6ArC7d1_s9nlWSggLGQ5bNj8RGMdSw4CbE_Pnq6toyblWalxx2lwUtCIY8u22nTkZrQoA84JPinITFO-eF5w37lGlJ0EIrtFLL9ho3iaj-nr2xcCvmYP86BxQ789uUq8Xky0-Wjsxn2wg0tpTbzahJGPhk-GVyHEBD2Unzngy6qyHx4sgVCxIMltaEH1a44n-hru8Dh5hg9oz3Q62PPjZ--RauB2dqKoqTDYb8iFLxhjKcBCW64lLdO1ptpfye4Ipd24F9T7_ESVnQHQrpJ81Joum1YNkrViHweOgNkEFbFp5hl4JG34aLLHYrSB_y5TfEBtJmgYgsbovXx-7CDtIhcRpy3CogPKLzGxWxvBjzxWADGL4FcJCwDgANVHCM_rPm8K8SdM7VNN9ucTQG4Ys3RnFJDuLIH2eSe1MUGJQYZ4snj058dYQMa0JdyBRXHo2vC03YPxAFzjt8ty3OGzwr7qYugUpK2mjC4Nok1NCjV-wiQXbDapVVwueL4-Wm0_g457meQQ95ESB-M7gpG6EDq6S98RawjbR11LpWTEZy8K0Ao_Epu5qWnDCIyVNlu6QsTGhrnDHrdgtyFyFVWTwNtYW2FZ_LSxjGIfAXkrhzQ7DRHSLQP1W9rHJ-wk4Z_aboQ==",
  "id": "rs_0fb0564342470346016ab2b8c137a887d09c83ff9c543f6393",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.367,\"left_y\":-0.225,\"left_z\":-0.012,\"left_gripper\":0},\"note\":\"The cap's body is now visible between the fingertips, slightly right of center. I am moving a little forward and right, then closing at table level.\"}",
  "call_id": "call_D2ULjzegeGDk0UzsPHtDz7zh",
  "id": "fc_0fb0564342470346016ab2b8c2c0b487d0b6b29461d918a116",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D2ULjzegeGDk0UzsPHtDz7zh",
  "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]: [-0.823, 2.0144, 1.0512, -0.1394, -0.7303, -0.9607, 0.049, 0.1638, 1.3373, 0.9997, -0.5167, -0.2066, -0.2672, 0.0545]\nstate[eef_state]: left_x=0.3701 left_y=-0.2205 left_z=0.0037 left_yaw=0.2895 left_pitch=-0.1558 left_roll=-0.0222 left_gripper=0.049 right_x=0.3581 right_y=0.0996 right_z=0.1612 right_yaw=0.4836 right_pitch=-0.2725 right_roll=-0.0265 right_gripper=0.0545\nstate[joint_eff]: [-0.1299, -6.6803, 6.188, 0.8523, -0.0366, 0.1294, 1.2625, -0.335, -5.1761, 6.9538, 1.5116, -0.1392, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfba09d69a613426050405483456e9f897eac4db8fd0a95f09e9b46b69087477",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a97e6d53383ee5c7ebb025a8d427ceb07e99ce433d44f88c3f830d6b15f96274",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb161b5db2cd109f9db70de1223a908fb7e57ec3a8dfba41ce0e2d312201323",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8268, 1.919, 0.997, -0.2131, -0.6956, -0.9535, 0.9963, 0.1638, 1.3373, 1.0, -0.5064, -0.2066, -0.2672, 0.0545]\nstate[eef_state]: left_x=0.3519 left_y=-0.2098 left_z=0.0149 left_yaw=0.2692 left_pitch=-0.1982 left_roll=-0.0017 left_gripper=0.9963 right_x=0.3601 right_y=0.0999 right_z=0.163 right_yaw=0.4827 right_pitch=-0.2624 right_roll=-0.0299 right_gripper=0.0545\nstate[joint_eff]: [0.3214, -8.8, 4.8205, 1.1111, -0.3639, 0.2173, 0.1343, -0.0479, -5.641, 6.5436, 1.619, -0.1441, -0.0611, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrjNc7kqcbddvHUc6O-jV_BRuokFVNLGpGFmK2FV1tmQpkIc5TJ8qgFn444nsLse0Y2LM7WN5IJ3RtdFzRpL3aDM5eT5w5EovfK4bXE3kkcAERue0r2fTFIeqW2uQggIBQdaXk5NdpRz_3WBWU17ka0C-oB2Oh9WHpBXv5ffPMGpEPpnWjgb3J8ZE2baFzGlnhXm_ekBYvFtzloWf4QeyPY8BfMlc-TUL_GN6fziHuDJ1DxW2AFApC_R1H8GXrDFLDaFlWBQ4llt0q30iv7eG8GQ1u4Qpox9Jm1_yHItyUYDjh9xTmk0OmEyVjkeWNGGcLN20Ijs7vOldxJW_p6JnwE0K4sp-M-131dTcuZNVe784hrObDDEkVEi2dvzWcu_WtWB6ROCgwGKQS2YQY7ild4iwsTYBirMdavBRiOocOuIkRpEYnw807ZT3YAif5uTof52sIAime5dE8upOWtblwSuR2rzHXrODRjNjrioJtzBwnTObo3nFwDVsU04qyDxZZYQM554EwuH5n5R-UdJjOYwXum75ZNmFJsqkRaRUy85Ybh2iA909kAYMLcXzV2NynMz1srzpDhNpM99_Cjaq1FIWeFSSj_ilakvgffEIkEQOEA8MphsVLYYvoKCuBoIIJIHgMh7ZIaW3B-oRh1qQ9dPNQnmMBx548Y0mnefL5MzflX9nNL02lYe5UIUcPYHEO5cOWkurkIUk1znHfp9RhbonFWLYyMptg9esmSu2oPw590lGgN6TIA190ZmpECLXBZwSNkG4bx9mrG82UqSWHIIv145O5NNQ82I6EQiCBjnho7UGNUNRRafDsdR2LfEoUIIoq_pv58dLwmn0b1EFYvkHfZua9lutgNi749aEMSSlMoMDrBi1KAe_k9ADEXpdGgEKgWQsg584v8G-TqjdTDxKfN0Swfy6owy0aWoERVkN0CefviaicYdOzSMCEX2rzf5R29sXUx1HEzg0xzISxwrch5-foK2cpDSP4G1EPcSE4G8MnVIfJBl0DIqSTKkm2_4pO1IloeXh4U8HIQ1WcKj3hYQUXGSF98jnOn9P7HHfRTm3HO9PJPqYcWt0aJKUGC8b2qJYSyCodsf87UMW2BXFyfhTcsFcXmOwRTcrnHKk2Z-fDTQ1f0bRzvc_eeAgqNcKwXmZlHm6zeAumdaAyI-b1-Z7RCXkzUgNRU-CzzNkEZ8pquHKKJjj336dcSPLWGGYmawIccLf57oiyfI3TS0xGzvWp1kNY_vrGc212e6EI2E_ebd6-3d82pcT5JMbefYTfqe_gvv-AP4ifumyZTxnQ==",
  "id": "rs_0fb0564342470346016ab2b8cb2c9c87d0a526894c4c39fca2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.367,\"left_y\":-0.225,\"left_z\":0.075},\"note\":\"The left jaws now retain a narrow object rather than closing empty. I am lifting the cap to confirm it is secure before attempting to join it to the pen.\"}",
  "call_id": "call_OogltyJ3z1nOXkpo67hzJkHB",
  "id": "fc_0fb0564342470346016ab2b8cc1fdc87d0a0ab834337ba225b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OogltyJ3z1nOXkpo67hzJkHB",
  "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]: [-0.8341, 1.911, 1.1343, -0.3588, -0.7261, -0.9775, 0.0563, 0.1638, 1.3373, 0.9997, -0.5175, -0.2066, -0.2672, 0.0545]\nstate[eef_state]: left_x=0.3651 left_y=-0.2225 left_z=0.0488 left_yaw=0.2904 left_pitch=-0.1735 left_roll=-0.0066 left_gripper=0.0563 right_x=0.358 right_y=0.0995 right_z=0.1611 right_yaw=0.4836 right_pitch=-0.2732 right_roll=-0.0262 right_gripper=0.0545\nstate[joint_eff]: [-0.5128, -11.6855, 8.4991, 1.0379, -0.5299, 0.0171, 1.033, -0.212, -5.3675, 6.8855, 1.4286, -0.1685, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd73976b03b9c35848446368e69c5d4a3d45c002fcdfbc733429c67a6a5ce31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06555d31afa673e7518d4cb450849f1be8a5d5ba185b1d1cafbf987b5026d7d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67d7c085c5f06041dc6672bfd4fa5e7f9e95ceff7591d8e28100ce6e65033c5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.823, 2.0144, 1.0512, -0.1394, -0.7303, -0.9607, 0.049, 0.1638, 1.3373, 0.9997, -0.5167, -0.2066, -0.2672, 0.0545]\nstate[eef_state]: left_x=0.3701 left_y=-0.2205 left_z=0.0037 left_yaw=0.2895 left_pitch=-0.1558 left_roll=-0.0222 left_gripper=0.049 right_x=0.3581 right_y=0.0996 right_z=0.1612 right_yaw=0.4836 right_pitch=-0.2725 right_roll=-0.0265 right_gripper=0.0545\nstate[joint_eff]: [-0.1299, -6.6803, 6.188, 0.8523, -0.0366, 0.1294, 1.2625, -0.335, -5.1761, 6.9538, 1.5116, -0.1392, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrjat8PD5LBWEqiCzIqodhGwBz7jbT-rHsXTlh63xzrmnr_NEaDrXA4I2BgPivklted1eQXmPsbazb-SGMDh-77wSz1gwAadbZ8q93kP7lkInBP8DR0VhafPZMY69edgAY1H1UbUNHnn6c1driPkRvNHzyIK1JRXAwymaRHUXMa4EJSAb24EB_NYFHTob1Qqos4ehiA5Xq2-Q0S27dcatGI5_mW3IyyrKbTbnG3IfKmWJlkEhsCFIYUopR1gl6ONMA-OHYolhp35IX2DlroPuBaU9y9w4FtEq1kclBTrsAS6xelrHVhnSPWjfoK8YdxdfVnEymISZfLp8Pvysbdm4dRSeHfWGsR7ImK5vH-P--4K2GSZLkk6k1Qvph7U9Y1PEkFmjkfHs9Px-DADs2qLriQSDcJ8WXfesWRcVv0EZ-9laOpq_nEGBWl82QCiD6lZNABejWxLF-k5hqQ3VM75wIFJtP62Fe0PFfuOVyiijjkFXj9Zxl2UnYgajdi1QR5sx2rkBWTk_iS5qdPA-6w60sla1UBPwDjEXCJJQ8eRNOGcFjTE7T-kqe5gNM7ggvD1eH7hglwsl0r-ETEtkX3lGEQdNO1rPe7ehbNGxj4xKrKjUMvOjXKlbGiTSDEZibyjvtQKno6OqCTwk1spj9jnPuin2Vn8K240pejkylYUBLOC7DIpZe5vhR-bm2Vw8SLV9G3NSoNr02dwJyxqMuRltVznlcyYaloYG_8Zi-PAOa6FK0tBdPTObpPQDK5uWKufMN5BVmbZdCBZhzHS1PfsKqqgNjB2MEhgIn7oPNK270_CkWhJXSZKmF3o5QAm3yjTG2LKRmsxvgwaE1Lq3QCcYHolDSq6ntaqKS6O-UQjptTse783yRAWtwydc6I6piw4xxqk8QSyyiOcSiDa8VG2P2cgKqcPkutZe9myIBB9BK4poRrdHufB6_emwlW4S5Jb90o7FG4RihU3_y14mWUAY22SSqgHr4CN1COxsslnuvOVm2LowlNr3Vs4YFvNi4hm76WMlrFDK2kcMptrV5TeasbVt3P3NEKdObYp1ro4HxW7TATK2fyyoW24BtVBgJHeXw3QFApDqcWoXxvmMfMUnoOZg87MEu2B1y0Qmfi6UV4r_mj9N5cYCSAxYeCSB88HZrSWos-YPKL4oUO87HnzZwSOUHDZkvqvciNTpkqlj_H7xZYPZwxUwl-g8Wp4X5OkF5GOEkxdYegZOl62O8NR0JMvJIT-pPFoO1Duu3eP6FJ196PDu2gUu2vpO7e2lYDTdIXq4z-Ao8349tUIIUiZABr1Gn1CtDUK16b6_en1tHhhcOHSTRgJ-BaFMVHpJwrk1mq1Lx2e14cmRkNmmVTHETMaDSoLBH7HZiMQK-oKsuqVc8-rvfVpnnDC9ZEFBiit4vZIMYn4G7sbsd5m_1NlvT6fIMfXZgQFEdKO_myIcTQ7slHHreAQjiH4nVNfHIkhT14x_mKh2pKwECVHESJ-WLHgn6znmzckdSPwbVKKApiiywp_szx5g0bO3aBXo8mxtMZJQsQiu_iYKq-CgQU0CE_lMlnJz6bW2Q6bRbUPSl5lGFBk-gdI6CIwQ205NHhyzwhtbkWH7SACtdmelGr_ACjCJr86Lrspb9shlUgjB4s8GxLAVxS1W-QB98Mk91uhcQoxm3lekyCH3eiFu48xC9ZUEptzPEdyLy2iRQGFJabjq9HudWES41rU1gLJRzNHUB7tggxhFECjB48bDsbBLbFXWOxUbjNhexHHxLYzxXc4-EtNLFRSDqtfY0EDLT64cZco47tBCVu5bhKI6Z6DfbGwRtc8alSs8D5FuMxw1UwRT7F0EZqrfqFG6f4wrntnVstzyDhYMnvIfKHTJk7xMCzwj_sCqOTN_oiyAHguviZm8NTIx80t3R4OHbSOKMdlvzqqUqYqW5slq49UsGKHUNoMuqDaDK5n630n6aL-wzAEBEGS6i_CVhuJZQAOI66X2yceZRYI-D6F6xNyQ2cY6jebkRkbBHBHpadUqQNrEXeAAVt36iOBHMNRxZSJjUXux6Fl2WNgQK2Rrv3zejiMbuvbjH9fRscqFcV01RslIEyvSUbmjcVBK4uG1UE9lRKBawqANcq_GpjyWUD_WEAPvzfF_ifqM8tQ1gQGkQFmJw6LzlahMRz3mKsjjXF4u6NazzsQu0N0OKpG_vdavBmpEP0lgCytKrRKHJ-kZlWB2clOJTj5WiX1WIDJAyyMFYtc_QKShvddNCDmPYibruumbmCsOxr10PxjpqtHhm27R8hTS8OE60mWKxKMANtvFl09gzLNYK0Ey7t50uABEczfEJtG7WtEt9KMcK9Kj4WUumSO1Er0R0EKs8_bwVpqzcefXqwoUo2GY2n6cnsvDd0UffaUsQ==",
  "id": "rs_0fb0564342470346016ab2b8d15fe487d09ece694eef1c8b37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.32,\"left_z\":0.19,\"left_yaw\":0,\"right_x\":0.34,\"right_y\":0.33,\"right_z\":0.19,\"right_yaw\":0},\"note\":\"Both the cap and pen are now lifted and held. I am aligning their long axes over the middle of the table, with the cap ahead of the pen tip and a gap between the hands.\"}",
  "call_id": "call_UVKbhmaGdf0PQnBqMIue9I8m",
  "id": "fc_0fb0564342470346016ab2b8d988ac87d0818f31632bdf3718",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UVKbhmaGdf0PQnBqMIue9I8m",
  "output": "executing move_to over 20 steps (2.0s)",
  "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]: [-0.6563, 2.1418, 1.9495, -0.8696, -0.5583, -0.6579, 0.062, 0.7349, 1.8275, 1.7897, -0.9512, 0.757, 0.8532, 0.0581]\nstate[eef_state]: left_x=0.4726 left_y=-0.2414 left_z=0.1543 left_yaw=0.1822 left_pitch=-0.2655 left_roll=0.0761 left_gripper=0.062 right_x=0.4077 right_y=0.2098 right_z=0.2524 right_yaw=-0.3422 right_pitch=-0.0957 right_roll=0.0372 right_gripper=0.0581\nstate[joint_eff]: [-9.6205, -11.412, 12.2872, 1.5165, -0.1832, 0.2808, 1.0281, 18.1949, -0.6085, 4.0684, 1.1502, -1.1551, -0.8523, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3386991ed369b4746b504d051d5eda5e273582a12122d9942863e6cfd4f6c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ac06f9301dfb347007346dbe2dc92b7a1191e6d4914085f18297ad31f50e3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92744cf4c98b1933775b886a40c559734c395d00a7c858c4ab7d4e6de2701c85",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8341, 1.911, 1.1343, -0.3588, -0.7261, -0.9775, 0.0563, 0.1638, 1.3373, 0.9997, -0.5175, -0.2066, -0.2672, 0.0545]\nstate[eef_state]: left_x=0.3651 left_y=-0.2225 left_z=0.0488 left_yaw=0.2904 left_pitch=-0.1735 left_roll=-0.0066 left_gripper=0.0563 right_x=0.358 right_y=0.0995 right_z=0.1611 right_yaw=0.4836 right_pitch=-0.2732 right_roll=-0.0262 right_gripper=0.0545\nstate[joint_eff]: [-0.5128, -11.6855, 8.4991, 1.0379, -0.5299, 0.0171, 1.033, -0.212, -5.3675, 6.8855, 1.4286, -0.1685, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrjjUAyGtqBLr4ngU9WTxZSmePTRUCnDwBKBpko3ia5yD2lVpO0ww0OUyG5lsIkjQ2NvR8qyPhAKYp2ti8v7SVGaysXqVQ3KKgKilwSpGkMjsg1WX_xl32uPMgpSFzg03O-gV8d7FcvAcN_fouExL7fdaXYvbnLBMWL16viiTQBsRB7Imoi5jMsLu7KqxBpt64FSSV-w-NNEMz2lqp2Nk1H8uMY59U6oj1cDl5Ns-U83ZuZyw8lJwAWdpDpuVc2GQ99wJsQUwap-dsQ8eY4QJdhzI2pffbMdYabaUfs-wpZxijThQdHN8PXE74iNJsw3uhr8FYjdgRr62xbs3-y433dYY2aD7upxd3S6JwKa84pjHQClPnTqdDSId3UJYQBUulOFCn0Am9LSWt2HdEufML8UxE90E56QgP0HQrNAzevkm7iZJXb__5yohMh59_wiqWzXrSUuvxYZCA6QDLgmuzysYA-YPtkK0lfsvThnMXJRcby-sI7NPJquUGxV3K8na4mNyqJ_YEeBRJYfHPHXtC9hXx_5nHPPv6r1t2Z4keZYbW6Pb-WVoeMTFcdTfDbT6wMLH0EDVtVmvru5MCVp4P0b4R74pLsOsO5onbat8FAINkPPa8gSkhyOXixX7-BGaKZkA2XfV4QHHExmZ31PxpTJO-cs6YIBJ2r6AuRvIVc-txswaxE7X51s4fPEz_NjvRdqt5cnLlsKyeBorkc56UFEkCEsObozLJFip609cqbO_SZilZ2WMv04VkgMnhyE-JFnrfuG4fT-HjizWUjMBYe36v1eX8ajbOOBihE2k8orjii8_kx2KihxTiSgkgGCZBgh-7r_k_NiRUjbWjs66oK1NEhICEN6f-EVxUHhI_hRIWsaoVvjBv46XkMhbF3_o0caHL0cJppibakzoMoQJRS6pbP3MruQn6ioVIq-XhPhNzHET9NiElAd0GhslGDBVnpORuOVzClpTzWNDHfU04ZGnusyUxU3ZpZBT8vzQt_mIqlGT2nTCqz_8VW2L_xW2ENBKyYlC7nsmgjLy-3600MbUycX96qaYc4ESlpAwR6X3b-1kUcOX0pSF6sUQSuydvDO5HIBE5I6sm7z1-GZxRxATLVwhde8TXnHj-kqtJhNnHQYgl0Ob-2-k0eYOraQ2BN0EFjkz-NCcA8e2JD0OtiCDCj9_ggU8gfMifpYQhhNalggdk5JNPeFR0HbM05jPQldNXiTclFu1XIn6bgnvprIW5Yw9kHyq8yhxYbKIfBmPtZlJhq3Q2UusTgNlLluT1pMpak9A15wI4_la0P-O7kbzVoXo9eEJOe5R4H5mqDzZOY=",
  "id": "rs_0fb0564342470346016ab2b8df705887d0a2b0f4e825d56be6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.18,\"right_yaw\":0,\"left_x\":0.43,\"left_y\":-0.24,\"left_z\":0.18},\"note\":\"The arms stopped short and their joint loads rose as the wrist bodies approached each other. I am separating them immediately; the assembly approach needs more clearance than the fingertip spacing alone provides.\"}",
  "call_id": "call_Gr9ncoNmRjI1lgI89GG9R28E",
  "id": "fc_0fb0564342470346016ab2b8e0749c87d08a623e68feccdce7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gr9ncoNmRjI1lgI89GG9R28E",
  "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]: [-0.6804, 2.125, 1.8984, -0.9009, -0.5678, -0.6975, 0.0661, 0.5385, 1.0554, 0.7864, -0.5198, 0.4568, 0.4526, 0.0585]\nstate[eef_state]: left_x=0.4546 left_y=-0.2411 left_z=0.1422 left_yaw=0.2008 left_pitch=-0.2997 left_roll=0.1065 left_gripper=0.0661 right_x=0.2984 right_y=0.0917 right_z=0.1724 right_yaw=-0.0977 right_pitch=-0.1329 right_roll=0.027 right_gripper=0.0585\nstate[joint_eff]: [-0.0889, -14.9949, 6.9538, 1.1795, -0.3199, 0.0855, 1.033, -0.1026, -2.5368, 7.8701, 1.9658, 0.1343, -0.2808, 1.033]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07cbdea718506160b4a0c3a033bfdba72259082178d7a897c2b772a274e7956c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:022e58b5cfcdd83fc0499789eca8f0df5596e36ace75a6deeb4ab5d121f903f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:182cc9cc2641098f0d318b22a7f8fb332744fc44655035d23a94aea0f72b6b4d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 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]: [-0.6563, 2.1418, 1.9495, -0.8696, -0.5583, -0.6579, 0.062, 0.7349, 1.8275, 1.7897, -0.9512, 0.757, 0.8532, 0.0581]\nstate[eef_state]: left_x=0.4726 left_y=-0.2414 left_z=0.1543 left_yaw=0.1822 left_pitch=-0.2655 left_roll=0.0761 left_gripper=0.062 right_x=0.4077 right_y=0.2098 right_z=0.2524 right_yaw=-0.3422 right_pitch=-0.0957 right_roll=0.0372 right_gripper=0.0581\nstate[joint_eff]: [-9.6205, -11.412, 12.2872, 1.5165, -0.1832, 0.2808, 1.0281, 18.1949, -0.6085, 4.0684, 1.1502, -1.1551, -0.8523, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrjyIWo5ZaNtAWtvI9bzEvldTE18BzwC0OJl3qlaqHfFvX1Oomm3wEQkuWVgaxy_rmaJYi8mLoHNjMPhvraSNAFGhPywr_-NhGVySBFbz_naXK14fyDU6ByiDD4o8eUQ9wZFgCYNNA4E_en4U67bC-IKlvUwAeUYGL0AgMPln6ifdnXggcopGwlEeTdhzpCFrVzikv--_HeZZHNP3wIVtbhQjRirx1FR6UwEQLmX-Ugs0_MLqrLUsXSgEvM3YsVWtw533diGf9CYLlMqHvnOrYvRUO6meRiK7cF3JgekH3I-iwFFj3nr4sCaomOhdAZ9-i8XB2FW2wlCAMvY5HnwURRp5vCOwcIsnRDi9LmC22z8WyQ80TQ1Ytcpffh-IeQkbbgFQpcGFPA5mEdlP45so61biMGoMKgt3BjBB_FpOHk3962qgACYG-xjkp1KRvUhgLwClbpLjTPYiO793yRhyPrmbId4fuPuD-UoPDv4i2MkgJC6hG-yLbV0OlyQs8Cdiazg27E_RZA2WL3ldxbA5Geflj58g4Sw35za0a3z1_MeZIGKSHmkbTclexYhYsSm6ojn67s6ivjd80BnBS6rn6YEuCnXIk64q9PllMdnk7ES4uRwXRVrJj717M-odMYKBJs5sSwvCrbUDbwofXhR2gLDm0_OgL0lBBxB9-FiyVibnCIMYSaFHbeS__re7msXdKuwS0gyxxtaUblFxa_NhJQQ-a8OsmIPkJ1pNGho6orbENIoBPBqPE_-0jwe3UxMKclYC4JzSmiAuDyd7XrHS9TljTAAEuwEefVZPZIkqzkCV2PmIw0umLi_To9j81UiFr7tjoZHCbPL_t-Q6bdNs_C6ly30hIq1hTR3BSJW6TQIsv1xoZGDXwMYP86Jw_cQ910_baO3b6ywn6ZbkWrwTUN67EIquFxo4boFf2enZxfKQzCh7a-6YELwOtdq03GfxWQqd7GDDravxOtqQuEzT2XH2Fj6xknOswFTFvk6YDtNteNbNX08jvudJ14Oz9KxYbN0J2DOYyiYtuobvX8ahkfl3Ta5N8MU_aJIMCTd_S5P-SDwvdpb4-AmEpkYROrCA-2AXjDxQivobPqEbYEYhrRzmhCRlWcdNxejJpxQtC3F2psuONqtrFhzz4h-ucD002R6pCTUealTK672WBZDp0K0W8xJeUutRwMG8z1IfDSS7UdX5ykSiPm3eRFIkeYuZrGrPna8NiuCGtMT0v36rwgV75DMVP4biO5RhLgET3xU41jb7mRNL5_NWqhZu1ec-c14q5DoTkrGAkve16bRUj4ig99mnNuXYn1lyEvTBxlUYjbrATQ8PTbwKmACCQzKDuaPTR1OoBmVEyU-gXet-ybHpqTV3liS50xw-2_pjsaDeivw6VOvntf5NBP2qacfIHBKDVFPgYvE4Q4Z_X6ag2s8SjNKsYmIh1wuFZQWn9UCdBsldQUTIqCXdidB0B_Sj6nYVn_QWlPjvZg10sIya_CN4dOf0Rq9zw6Mr8F9dnJftmxdIEdTYj2qKfSB9ioNzu0ZJX1_qfObbSOWsPoScTeXkpPktEx4IHQVG33uhGh1NPFwp4mxh_M66Fushd9k2AZq2_YV3iXmruRo4GEmcQzMnQStu4zRmuJTp-lcUF97eHJ7Zt5rJjcKhfzxKq53iKivdxCJhl2qpffyhsrHPu-D9zr0joudmXo1lsZXmo3vKzkNrte1VaaCZBpF_538B-BWUnbczXajEhuQgCCQmfbA72eBaXdZG6f4hDLT57rNRkJ1mRbfeIrZM8rlBsD2cl0qNsrFeWNNhmENrA3z-6jjOHDj1LiRR9OiIivHQDKTLO7fftTxLMxs9gmQ2MPVi-qY1rtrVWm-Ib3tWEOSw-RtJkJYYr4yQHNkhDcbVevWywQfwcAX945xAIHj1gxyJ3VhTWrQU6dk5nQEV8B70euUxCDI3kOHQXdWYN-QjXK8VGsbaXP9ivjrQBMWVqLKwUOeV0I6q5A3mGHZNaqY0ep5IVICxBmRELSUr9AGRbWkmNz2E9QJ_619YL4li8E1TvTF7Mpm_qGKKdXPTroraRRX5woKVoxkJ-weR6zHl5VKGrpqlbMFVbsdWZ6dWxQBuXlftksowCmNYZKEvooUShxEYGTbkRj8mxh9kUsv4U-1RcjWI6uNQpjEckiop8c_ngQGgZ4_02QnlDxsICrlRkXZpfziKVu5NP3-s5ajW2dxtRy6kTVe7NN_Ph_imYIpRafn83yRGQzXzyJA8d7hw7LFL3oiqIFbHKdp5C5lLntJOHt8vQ9LNkILHD50cajd9y82frUT9lMDqncLOFWpyshYhqwj838y8n4y2UsMKaEQCstRGUFqza0u8qWXYa9lLOd44TF6nBJuFB4bk0MTLZhvrwu7T52ZhBqvBweSUfWLGzlPzggYqVDXCE8qyFA0fwTk5diIpHVmDRCQ_N42X9N_Wo6YxlYAndhCR-GoBaeM7cR1S0xDHY8WRjTnZF_9fxVyL64LWXDiYPGgEjn9EDRLIDUTF3a9SdXZfSCvc4LBVGU=",
  "id": "rs_0fb0564342470346016ab2b8e8db8887d0a8b9d7e2c27c2f01",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.18,\"left_z\":0.2,\"left_yaw\":1.4},\"note\":\"The arms are separated again and both objects remain held. I am turning the cap sideways so a lateral assembly approach can keep the arm bodies farther apart.\"}",
  "call_id": "call_DYrPPu8H2Mfq1uyttC0Sxc44",
  "id": "fc_0fb0564342470346016ab2b8f0f90887d0938dea44b4c552bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DYrPPu8H2Mfq1uyttC0Sxc44",
  "output": "executing move_to over 8 steps (0.8s)",
  "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]: [-0.6312, 2.1578, 1.8275, -1.2411, -0.606, -1.0599, 0.069, 0.5323, 1.0599, 0.7647, -0.5228, 0.4366, 0.4374, 0.0586]\nstate[eef_state]: left_x=0.3982 left_y=-0.162 left_z=0.094 left_yaw=0.6307 left_pitch=-0.4404 left_roll=0.3163 left_gripper=0.069 right_x=0.2947 right_y=0.0911 right_z=0.1606 right_yaw=-0.0824 right_pitch=-0.165 right_roll=0.0098 right_gripper=0.0586\nstate[joint_eff]: [0.5675, -13.053, 5.9282, 0.6276, -0.4811, -0.0855, 1.033, 0.3077, -2.9197, 8.5812, 1.5604, 0.3053, 0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:176f52b868d2faf28ff951cf2a98d1b9bbe804d73ca499c600b821d4c2972f9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4e5f9a74ad0a794031af3490f47f425ea6937dca418970409742944cf2183e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a25ae59aad6cf16792e7aa6e7092b257e255f3ac94ea4117ee75e1f009951b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 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]: [-0.6804, 2.125, 1.8984, -0.9009, -0.5678, -0.6975, 0.0661, 0.5385, 1.0554, 0.7864, -0.5198, 0.4568, 0.4526, 0.0585]\nstate[eef_state]: left_x=0.4546 left_y=-0.2411 left_z=0.1422 left_yaw=0.2008 left_pitch=-0.2997 left_roll=0.1065 left_gripper=0.0661 right_x=0.2984 right_y=0.0917 right_z=0.1724 right_yaw=-0.0977 right_pitch=-0.1329 right_roll=0.027 right_gripper=0.0585\nstate[joint_eff]: [-0.0889, -14.9949, 6.9538, 1.1795, -0.3199, 0.0855, 1.033, -0.1026, -2.5368, 7.8701, 1.9658, 0.1343, -0.2808, 1.033]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrj8iVQN3WN58RMaNfWp-8Lau0zj2EmLfQtmqjc3Rk-yu_r2TpMEYUxK0wsPzun5DxVnFIk-dIcx5IirgG9aD7n0wcGUJQZgwulATDAcoRZ7ZBPqb0894Wj9oz1prZPHr8FSPrfzWwJdjqiTLO9sMHrmcCbwci17iNcqzfHzB2OhpOLuaM5DHMEWU8_EmeqgKkIIPi21QFsozsx5ODqap9Jqld9onzbMIr8Hp7oKITX4UGy7QudvP8Afn5rLgWkFm_RVrfSptl53JOkt7ueNnOthmq4LR4lB6buw8zE4g8_61lLbtIOEgr_qK-e2xmUAx9GDFHrG7-g4zzDCgcxoYCos9kAN_vlOcLX2J-_Uk-cmz4xWecEGNm6xwSf41lQUqQ4ylqiAQ8mtYNckxvHm5DEMCw4QGAIRVdp9STNPTMOv17h8VPillfrNPk60lHHWJSBP2127orHfYrNSolHncPlaYtgj3qH78ourk_O5fFBv5g7aBxBELo_1qD3uDX3JqDMaBICBF3094A2LpH9BqwgRjChd5caV9-iiel_vSCHQnwwvX2GKbBCTBGFWigRoRbgrSy8WzJL7oqWelUayFo9QxjqvmPMUutbVEfOa5LgxrktqGaOdWpxXU78HjT9RSH6tz16qEXSAIX5ilVgcrr4yMxaR8O9xHclCX4mX5bqOm8pnyaLaovLVhkogLLwfzekNmRZzbGfVYrSLRbQjdaM1DAgXJQK1CSoYlw-gcsIyqfREbciBmoQOMWRWJEzlgUY6zZ2VsTnd_I5L4F38ls-kZgrdYQTdBkGjwP5LJP8kIMl81LJF_jeiquQzu7x8xvT6yHKbaZM2-osB6LbupnNVj4BxH-ZMgHRhbv1vT28nCVFGUqaR-WF5kOYlYyQpvMLYxgr8daLqYpTtMUi5JC-rprGZWdUbmgH6O9ZpWa4AUm0aO2wGl-RjfEjVxPMoU91xUYQd5lMF5dwaigLQVGhxb85q4BTapAKjmT9w6134WDn_os7EpFLuydyuXD5SWpa_75mDoBahoeF7vGKGGN5T6oaxVAJ1uFopCgYlog29949oM2MilAvNdRP_YeRa5RXEnGv1T0RocoEmCcAaDzDzpUozHUjfFKfttXURCI1IzDo5wsPorVzaWA7UF0tSrIxjQNVY72RI8ybIPCydTXaOpVkhyemFJ6UZdmFgKeOyRg-rQomChj6ZvDOZHeyfrMdjPCgsz8dJGvpzp8wReyavnbc7wwnWyh1Q7pPjhBzICfLceSbiSkw12HId6F0hhnsEOXY2d_MSdGjdya8qLiFNeNJI1in_2bqj4vQfpE3hBune73T6_T1OqebdxFgBAheiF3xWyZcdkXfgjj_cnuvXUIGDBMKW_Z4hBcW2NPHXmY2RBZFJAp5zmjkV_INNMzmtAGc_4NZOvoaB7LW2UM5n8VaqU0dsOPtybeUBN2FOoIcntogPh6O-il9J7xsGLyj4zCHZD-QP1quCFkJ-O-ckGA_FYDsC7FSKmuGesl5SO_aBgFBFdjkO2Fx9fzM6dB32GDB6VqwuRiS7UnAwmRLYP_et2LKiljLHlqORjladyl2io9ezfw_2DHo0BcOnM3fh",
  "id": "rs_0fb0564342470346016ab2b8f7e99887d0bed36f610b611b0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.2,\"left_z\":0.12,\"left_yaw\":0.25},\"note\":\"The sideways orientation is not tracking reliably and the cap hand dropped below its requested height. I am returning it to the stable grasp orientation rather than forcing an imprecise insertion.\"}",
  "call_id": "call_gwytDllM5L3PYCJvtpritqR1",
  "id": "fc_0fb0564342470346016ab2b8fa7a1487d092f9b77a07ded20b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gwytDllM5L3PYCJvtpritqR1",
  "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]: [-0.6094, 2.2024, 1.9392, -1.5448, -0.5983, -1.4483, 0.0725, 0.5316, 1.0599, 0.7643, -0.5243, 0.4324, 0.437, 0.0586]\nstate[eef_state]: left_x=0.3682 left_y=-0.1313 left_z=0.1095 left_yaw=0.979 left_pitch=-0.4125 left_roll=0.3369 left_gripper=0.0725 right_x=0.2944 right_y=0.0914 right_z=0.1599 right_yaw=-0.0799 right_pitch=-0.1683 right_roll=0.0109 right_gripper=0.0586\nstate[joint_eff]: [-0.3624, -10.9607, 6.6256, -0.359, -0.5641, -0.0855, 1.0281, -0.0205, -2.8376, 6.8581, 1.4237, 0.188, 0.0171, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13f071e3b2881d31a8f97bca2479849e55de78982706950ef06beabcec1ede04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1729a334edc58853c2804bb764c99aeaedf1c86a215768169d166ee92be8fe84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5d15f0b65819291c4f0169c13104e890c45309a18cdb7e87e63b22af9bda89",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 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]: [-0.6312, 2.1578, 1.8275, -1.2411, -0.606, -1.0599, 0.069, 0.5323, 1.0599, 0.7647, -0.5228, 0.4366, 0.4374, 0.0586]\nstate[eef_state]: left_x=0.3982 left_y=-0.162 left_z=0.094 left_yaw=0.6307 left_pitch=-0.4404 left_roll=0.3163 left_gripper=0.069 right_x=0.2947 right_y=0.0911 right_z=0.1606 right_yaw=-0.0824 right_pitch=-0.165 right_roll=0.0098 right_gripper=0.0586\nstate[joint_eff]: [0.5675, -13.053, 5.9282, 0.6276, -0.4811, -0.0855, 1.033, 0.3077, -2.9197, 8.5812, 1.5604, 0.3053, 0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrkCeEZxTLaN7YgUFWaVkyY-HiWHpFNsmv0fuvdlBcB2geehtlrIw1xk27OT9FQWuoF97N5FP5z4B0DsO970Js-pL8CumcFFhMV2IRxILXLgsmsJL1kUoA5rZFdn0uszzqI2jrZxf20c5Lv3dgCmHUTDGtArtyx6bpKdAnGG5h0pKH34fm65PwmY2lMm0yFq0nZojun6cWN9GtiUG_6Zm-tOHUwbRKqpA84EkdqTGFCyCgQLDHLMDLYYE6ovSKS9FPGzMYCT7yv7y_z_dPNH7muqQKcYtfzbhgJ7bl3MORhmFlC-oFUp-LlVFX8H9I1Eo8dwWzIiHno6fM-ie8AfBTisdQn80WsBARzaJhj08a6_dOKOPlh2yG1wiqdaklzbe1hE_8m_aAwxW8In5YYpieHDbAP1owKW--I1-bGlyjbTC-VLYmCIiki6-x3Rarw2GFkU65eEGysIV97PaqNNkFu7vt0U0OYUHTZG9CXMa81XECDRBudt6SYW1lY3hjVRGnq4vryt0M1osnJtwWNu1e1xQ__GdrBjPJxwLV26lOz-WFrAlXwIxlAyDlkbVJQxkHThhnxafFi_cT8hRAeAb2WEYXBe2KA5IRa18hBM7YGq4SJ-yhlazILf4u031kBKNci6U4YrD_vTQn3ecI2PDpset8K4esIKyF3FrUDBSzGME0Rmj7nhChG27_7_ZtHdts5t9Cz4jN5fpl0M5YYpEduq5TjZtaJr25_O7fseI5-Gvdf83rkxVifASXGpdYFCJftJ_WWhzHZdd6Qlm6Oz6dbVAkXQNB0Sz2dYYvQuMc70jM1dzueU78jjo-J_4R8cqg-N1DJV7ZuyW6twmlryV6mWMwg_3snqMH7D5O6B27eXxvSq3_LBekqD2pdllbQFpuqg7D0iZQ8DcKtx75hxKvN-bQD3iEKHdkM92q_o1r4r_IqpEn-lKZOoyknHJ6Kra7t9ilMnTcleEaNJjKjuGcg9vbGOAFerl3UVoyZArETkQArWkd11JD8WZgU7SrVrIYZvljeecXJHUUwTcdmg3kFgOdRsDGscJYthwWRWgh-n9kXa4JjUdAmgPFi32MFlT4ZeDqfbRHCPM-ktMpv5AoZANe5PcyvOdUnbuYqJiKQrUyRGxRjmnDVQHcl2UxkDSY72VPg315hSgL1WvVM4UJsCdKiRfr78AFJ6nrRQ_QfuNEHOS3tC6DJZfO2X9BGFZdYMHzp1xpjHnoFPhQpC_jR2oWs-EtWxtj_f03Bs9Ic0esb7hRiKh1Ag_zMXvvBPEpJWaObXQ5DF_Xs_-o7Yw-JGG7AcwlH2B-wqyNdN0bcmWkwrEcCMLacTILb3Zv8z4LTb5JN4qUy__Xd2Mk96sWU1o7Oj6NCYgva7LHf9FU18ilTQd0FT5kn1LMTI9tPSay91YqZA3dAGi3hT_l1_NP4y1A==",
  "id": "rs_0fb0564342470346016ab2b8ff138087d0985a04be1e2d02f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.08,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left wrist is still far from the requested orientation. I am moving it back toward an uncomplicated, separated pose to recover stable control while retaining the cap.\"}",
  "call_id": "call_GCdrzsbvoQLzvZBYReL1oydH",
  "id": "fc_0fb0564342470346016ab2b9002dbc87d0a90a14e4982bb631",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GCdrzsbvoQLzvZBYReL1oydH",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5297, 1.0611, 0.8211, -0.6445, -0.5186, -0.5465, 0.0725, 0.5316, 1.0664, 0.7628, -0.5251, 0.4252, 0.437, 0.0586]\nstate[eef_state]: left_x=0.2921 left_y=-0.0654 left_z=0.1697 left_yaw=0.1921 left_pitch=-0.1653 left_roll=0.005 left_gripper=0.0725 right_x=0.294 right_y=0.0925 right_z=0.157 right_yaw=-0.0751 right_pitch=-0.1786 right_roll=0.0103 right_gripper=0.0586\nstate[joint_eff]: [0.1709, -0.2803, 9.5385, 2.5958, -0.2369, 0.2027, 1.033, -0.0752, -3.3709, 7.3368, 1.4188, 0.1832, -0.0513, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:042c53a3fe4e0f8354c17a67ea664b094146102114a10e8a56da28d6e737ee96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d607ae49632b55249ea947b66b35e32e8d68cfa2360335db6fb8f312d19717d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136ed84925a6aa89751092c2554e63a02125bdbc2228dd7bdac59af42591f46f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 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]: [-0.6094, 2.2024, 1.9392, -1.5448, -0.5983, -1.4483, 0.0725, 0.5316, 1.0599, 0.7643, -0.5243, 0.4324, 0.437, 0.0586]\nstate[eef_state]: left_x=0.3682 left_y=-0.1313 left_z=0.1095 left_yaw=0.979 left_pitch=-0.4125 left_roll=0.3369 left_gripper=0.0725 right_x=0.2944 right_y=0.0914 right_z=0.1599 right_yaw=-0.0799 right_pitch=-0.1683 right_roll=0.0109 right_gripper=0.0586\nstate[joint_eff]: [-0.3624, -10.9607, 6.6256, -0.359, -0.5641, -0.0855, 1.0281, -0.0205, -2.8376, 6.8581, 1.4237, 0.188, 0.0171, 1.0232]\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": "gAAAAABqsrkQf7rf8bv1jXZnxaZyYmbDlReNENjXM9WQCgw5LIrFkA4SutsPWge6WP_0eGtkhClngi2JdpPNmiWIhSgeMoChuFGivFgo2EpgmZVKMMTLps7VYXLgtWJvi2GVDIDCR_tvuaq4F0T5_8sKLJLR6jWmBW8dlM5-6ETTKzoIBZbHjc5TJ-NX7GavYMUrYbLuDPCdzjOQoFOrr7NstOrYnNgOZfVi_EsqutTtuaIgPs2T9PbAuD5AVbQ1xAr48okVkJDxiBpZS9oqEqPo77d8LlsA1brzRP7fK9ZO-Y_NieD2cT929P7z797udTWH2cuG9ns7V32MKkMTVfWFcg3RAxvzOhed_VXBrC9HXpYQfw7m5CFyJfbOy_1xpzttbmx4Jie7gHZE7DMrVApc8QpLQ0yLNzqlpNG-wnM3RXZbGKIJLcQvyWdQYg9OPwTyKPEiSHWbi2LfPqQFiNS_oLZlfBYs1FByeukUMALMgvUDnij0eRSEFMYMkTMzkL1K0EoBxRJS-lb8SqIS313AyaqzRGiuQPqBSHd7l3NQP1rbyt6NnAs3urqCvDExa_e9_IF2cRzrunoe6G1yr1Di6hw3eNZefsOkWtjWbd0XO3KVzRGh0FAaFX9yg0OaV9Bc3G7dZXzG49ltxYEKU3H1JNmUefzMxYJoIhBDyE5Dq_utYKa3H1WFYrAfbr3VgekT57kBitjfh-nJxN9VmnRbez_AjHYm56vgEUMKMWZiyWwMKSUhcg1iFtOKALVH4JjAC1ax_C7rKdg3KO4vbkqTTOoFynhCm3_QeGJ_QXDZtM5s2nC27JZBPe_dFStk2PsHoMrliYryWWRE8Et_412_Ex3rHiRxwDKJ4MDsTYmjBVH2MztTyNXC5Ozvs_B0BbXpZrrf56dhIZx3omAfN-iJURJJlUgvcXmi4poTAYDLZzmObh1Dcau8hCrxZSThUo9BkHIuBwFnd21XvKaIqRD4LVceLxAN8cyFf8x9QG289Dz_hnde7hzHDJqccWGeNrZDDW7aygvB4Um9mTWHjUQMhFfzuZr5wxpUfhFGgpPfK0a4U2RZngKdkE0YrB_2-9Ea9r15XLDuMnKP_BHAIcDEaXvYC3jvzqpbWJSo4YBXmCl3nJdU2RMwQAT33VXvc6p4t2uzdM1EdY9W5_-1tjJHOmhdFrfbwj0dHksm4OWg9BVQNom50415iC9VD3TVWUFIvbXxi8QKp31EezTtMu54pXzpSDFlTSK_uFrhkFaF9YePWOO9G4HD_zyxbhK5UgC8QC9BHx8febTDOv9_xXN1dijSpqAf4EipW_tp0MlKnpdap2hOrPhMWCd8kKJTL38EzQRE8aKcxjw4B3kwfVQ-brm2RG0nIihxtIFBJAckAqEq-hDNQ3GcFDQWxW-vhZzzNZw8X_ywX9vC9GXpwQlYKnB-Au62saDS7GWQOkJAyIrx8Sbfl-Xy4PMXya6tnkyyDquBtmtu2Hvj8aV8JzH8LfZTfsMzUjZHmt6b64EvkOGike6o7KRbEi6hT8H_eTP0t1sBNjnSPTfvTRxXO0evcOgi2Z2njQ==",
  "id": "rs_0fb0564342470346016ab2b90b995487d09da84119480034f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.08,\"left_z\":0.018,\"left_yaw\":0,\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.018,\"right_yaw\":0},\"note\":\"Both objects are still held, but I cannot reliably align their openings without bringing the arm bodies into contact. I am lowering them separately to the table rather than risking damage to the pen or cap.\"}",
  "call_id": "call_zfAZGIdreKsSrBVZaGnjQJmD",
  "id": "fc_0fb0564342470346016ab2b90e949887d095f9f3aa26cbf75e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zfAZGIdreKsSrBVZaGnjQJmD",
  "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]: [-0.4713, 1.346, 0.3225, 0.1188, -0.3721, -0.3702, 0.0725, 0.5125, 1.3811, 0.3477, 0.1425, 0.3573, 0.3752, 0.0586]\nstate[eef_state]: left_x=0.2846 left_y=-0.0689 left_z=0.007 left_yaw=0.044 left_pitch=-0.2517 left_roll=0.0499 left_gripper=0.0725 right_x=0.2859 right_y=0.0941 right_z=0.0085 right_yaw=-0.014 right_pitch=-0.2585 right_roll=-0.0246 right_gripper=0.0586\nstate[joint_eff]: [0.212, -4.7658, 5.5726, 1.7411, -0.1001, 0.2173, 1.0281, -0.7043, -4.8068, 5.2581, 1.6288, 0.1929, -0.188, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac69eff5650d3c882a2d8c1c255462dd0fb28618efc17781e486f3ae0595b767",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:decf50758156f34ee3a30ac5331ae9515a297b4579ed4a3f1f70569e5a84f4d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b150654155a4e8131161a318fd2711f63551690ff0c38a22926c9721e0a5858",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 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]: [-0.5297, 1.0611, 0.8211, -0.6445, -0.5186, -0.5465, 0.0725, 0.5316, 1.0664, 0.7628, -0.5251, 0.4252, 0.437, 0.0586]\nstate[eef_state]: left_x=0.2921 left_y=-0.0654 left_z=0.1697 left_yaw=0.1921 left_pitch=-0.1653 left_roll=0.005 left_gripper=0.0725 right_x=0.294 right_y=0.0925 right_z=0.157 right_yaw=-0.0751 right_pitch=-0.1786 right_roll=0.0103 right_gripper=0.0586\nstate[joint_eff]: [0.1709, -0.2803, 9.5385, 2.5958, -0.2369, 0.2027, 1.033, -0.0752, -3.3709, 7.3368, 1.4188, 0.1832, -0.0513, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both hands are at table height in separate areas. I am releasing the cap and pen onto the surface.\"}",
  "call_id": "call_WBSkMIAp1KtsvGfBGXMWtd58",
  "id": "fc_0fb0564342470346016ab2b915976487d08f68079f17d77617",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WBSkMIAp1KtsvGfBGXMWtd58",
  "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]: [-0.4717, 1.3571, 0.3077, 0.1207, -0.3656, -0.3763, 0.9952, 0.5102, 1.393, 0.3336, 0.1406, 0.3538, 0.3691, 0.9949]\nstate[eef_state]: left_x=0.2787 left_y=-0.0673 left_z=-0.0007 left_yaw=0.045 left_pitch=-0.275 left_roll=0.0533 left_gripper=0.9952 right_x=0.28 right_y=0.0907 right_z=0.0003 right_yaw=-0.0141 right_pitch=-0.284 right_roll=-0.041 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -4.6154, 6.2291, 1.3455, -0.232, 0.0513, 0.0073, 0.1573, -5.0256, 6.188, 1.3993, 0.1734, 0.022, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903b574a4d386cc2ef645859757db38346cdafc506a08a780a50a060bafc1959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a169ec748e01bd077232e73e305e2f234699e2724a47246289dfc33581c6be8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0725a6e234b7f44a74fc372953f4961b3f619cca4e992f972ea162d074845d64",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4713, 1.346, 0.3225, 0.1188, -0.3721, -0.3702, 0.0725, 0.5125, 1.3811, 0.3477, 0.1425, 0.3573, 0.3752, 0.0586]\nstate[eef_state]: left_x=0.2846 left_y=-0.0689 left_z=0.007 left_yaw=0.044 left_pitch=-0.2517 left_roll=0.0499 left_gripper=0.0725 right_x=0.2859 right_y=0.0941 right_z=0.0085 right_yaw=-0.014 right_pitch=-0.2585 right_roll=-0.0246 right_gripper=0.0586\nstate[joint_eff]: [0.212, -4.7658, 5.5726, 1.7411, -0.1001, 0.2173, 1.0281, -0.7043, -4.8068, 5.2581, 1.6288, 0.1929, -0.188, 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_x\":0.295,\"left_y\":0.002,\"left_z\":0.19,\"right_x\":0.295,\"right_y\":0.002,\"right_z\":0.19},\"note\":\"The pen and cap have been released. I am withdrawing both open grippers to their home areas so the objects are left clear and visible.\"}",
  "call_id": "call_HdvgawAUfGSZuAenYbqkRB3E",
  "id": "fc_0fb0564342470346016ab2b91a75cc87d0af1c31ff5ee76032",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HdvgawAUfGSZuAenYbqkRB3E",
  "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]: [-0.0853, 1.0229, 0.8768, -0.7097, -0.1402, -0.1024, 0.9963, 0.0315, 1.0183, 0.8783, -0.6975, 0.0658, 0.0216, 0.9959]\nstate[eef_state]: left_x=0.2956 left_y=0.0031 left_z=0.1762 left_yaw=0.0817 left_pitch=-0.2743 left_roll=0.0447 left_gripper=0.9963 right_x=0.2975 right_y=0.0013 right_z=0.1791 right_yaw=-0.0473 right_pitch=-0.2776 right_roll=-0.0371 right_gripper=0.9959\nstate[joint_eff]: [0.2667, -2.0171, 9.3333, 1.4188, 0.0366, 0.1148, 0.105, -0.4718, -2.0991, 8.6359, 1.5165, -0.1245, -0.1099, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf750f6fdd13956caa565183b226d18cf643d2bc0647b69f2c76f3d3781d133",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be92d5f0b20fb85e26c789f6d42fc8771f5962127911ba45b0516fbee3f7a021",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4135c07aa86a7fcd7948af001216a6bbcd7c3199bcea4f0992d6c50f49980056",
      "type": "input_image"
    }
  ],
  "role": "user"
}