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]: [-0.02, 0.7925, 0.6022, -0.3805, -0.0219, -0.0181, 0.9993, -0.0177, 0.7902, 0.6086, -0.3767, -0.0204, -0.0227, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.002 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.4974, 10.4821, 1.7753, -0.0757, 0.0269, -0.0904, -0.6496, -1.1419, 9.894, 1.7802, -0.0708, 0.0806, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78561785bee70e6a3590b3c381de5ded6798ffc71dd0ed856338b2feab6806f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a454d4e49603b11c9ebef3621c9ef722d11fa4cf72306de93641d728f62883ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a41fe7269999c2c7c9917c8cb8c588445408567885ae9520919f8eb224d747",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqssG5HEcuDW_5W9dbxmsfdp-z7Kts9Magtsquau1FZQwnEqBjrwBr83X4x-pJT4k0sglEMhrWSU4c0wCvue5_spJVA5Z3itFwBRl12k42kfD8RJWqkM_9J6jwBwkqIJ4uN_RyZwIyq3BEqnUoA2WBaakE44OopjNp8UpsTAWhKk0_4a-7i7xr3Lhr8iSiC0w-BpFD4vT0iLz4LPnzms2foQuhPuscKVd7ChRI4D6DOJD8qa2GYec3719TczztetQKjlwaW28c0BAlZpfesHBs0xKfjy0Dm5fiCu5ua_lIP46r6Bzjgz2jr66JBAdC9HZNxOALTOzvoSiJ3L6CVYV7ChhTdwogPaNq37Zn5mOjJWP8RniJAfTbtddJYmbK5rGu_Pg9sk0FLI9y1WI6Jjc-wDHCrYxpTVfsSq7zwtA47Mg3l0nxKu5ffquhuQ7i4rIIA7zcNBivHpgTnDvqHGzUvHoPlgoXu0h7hFNt62RuHrfu63G5wt0NyEEtOpxaiXj8HPSc3gUFq2qIm4tfghW-ub8aeFM2lsa1olRZ2aSEhGia6V6YT4L-QZ0UuAXFq9LNDxDxAr7Cjrj_Po0fXtPk8_iVtfNYBnN8mbBb6VkCoafYVwxmpN7BS2MFnsFlmILbpa_k6RLN3W_3aQgkd3zMdGyTkYGmRUsQl2pAVffiblXSsdk9qZW0xpzrGpVANguJZZiZM0TrrNwpEW3RjulUqQkaJGMuWCeW9HzGbz3RvYLgATNQAOF_X0LXgBy4YXbIKbXDeksOnT4Q3U-9ItxnZKRxIroYmIiJ88JEgcBSi3Fq1rQjBRpOk6l_vKl741sJW9ltw4UdH33g32ktRebbfw0iQYskJrH_CfQTAuiy9OnPSuKTIrrdti0n9MnwKrupE095CQS_k7WS1mwLhhd9BrZ1UxsZ05F8lFWxMyf9DYULVDWbxKIdeMwPuCLYAhcbNjgbar5qPKB7Cksv2Rka-fiimYHEfmyCd-qV2EoJXLcKGEL-4DUrBSqBz8pakVLOrIWC-vHbMqOJ4WK0IEZYrkRpbz8XBESw519cCxz3xH7sWVV40vTQQgT9WlINddr_-XnrIg22efznAmagWivIX10Zai0RxwXIATCrJAwtcRBtSZhGiQ6AvByLLas9qT2rrkehb13oK2DZ8ayQi55nrevJs-Pe4X5jn1vR_vJvye9WDtSuAfEbtN2YAHoL7_96ALBYQ8J9mVoIIKed00aSiPUICwdZS1WUAAD0QnodkqzeBpSewFBz8SlEAIZ09cLZgk-qQYRdggkmc8nChRzG8cPGXoVCFxNpU6biKswfZj6VFgIS3RG1ZHNjTPb0Zeb9gQn7v-_TluG3gO-WmVYxMnrtJA4jYGD2SgkzDqcpqd__WJyl23C0oBw9rhTjyFfmaGX5PN8X6MOX8-bfJPJBu3fiSHW8I7R5KOEt26fNuLMHjmEdAkiF6S1wQHzKh_jrqlla",
  "id": "rs_0435a2583cca5a39016ab2c1b4758c87d0b14f3fd6c8dc6efb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.18,\"left_z\":0.12,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"The short cap is left of centre and the longer pen is right of centre. I’m moving the left gripper above the cap first, keeping the right arm parked.\"}",
  "call_id": "call_bsWqR60L6lVDYt9EnS6keMnK",
  "id": "fc_0435a2583cca5a39016ab2c1b7666887d0ac8f024ea2887fcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bsWqR60L6lVDYt9EnS6keMnK",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7105, 1.4811, 0.7406, -0.0418, -0.5652, -0.4393, 0.9993, -0.0269, 0.7975, 0.6132, -0.4118, -0.0273, -0.0315, 0.9992]\nstate[eef_state]: left_x=0.347 left_y=-0.169 left_z=0.0995 left_yaw=-0.0162 left_pitch=-0.0677 left_roll=0.0429 left_gripper=0.9993 right_x=0.2918 right_y=0.0006 right_z=0.1767 right_yaw=0.0013 right_pitch=-0.0376 right_roll=-0.0027 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -6.3795, 9.0735, 1.7021, -0.4127, -0.0611, -0.0904, -0.7179, -1.8393, 8.8274, 1.7998, -0.0757, -0.0269, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0fb39764717c4bc29ec1741ea83a9bbd746f15872eaea8b0f5c193527766e7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dae71024f709011432381ed299803f2b0e71e8101da9e703252200d7dc551ae8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d77c0e607e9108b3648593f76ca66890c3334b0d8a4581e6ff3fb80978be86",
      "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]: [-0.02, 0.7925, 0.6022, -0.3805, -0.0219, -0.0181, 0.9993, -0.0177, 0.7902, 0.6086, -0.3767, -0.0204, -0.0227, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2955 right_y=0.002 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.4974, 10.4821, 1.7753, -0.0757, 0.0269, -0.0904, -0.6496, -1.1419, 9.894, 1.7802, -0.0708, 0.0806, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHCGDA-pNvvoze6pQwTCwWNmjPGyhl69bP2WKc4hYayhQQRtEfh6DcdkVSc7fatS6rJ5dcRnvVYBsIpMy2BwNG2F7zJKfIvSdXS32JhQjc6IcPT5Cm3PS5SePdOEOwRwLDkF9BWV0cjvJUZO2DI8PoHtPDtPSCa7AaZdxhvwv-DSmLYLdZx8caDcG8OiKuxRDxlZc92aC7B8yE0J1yu7BEi641fdzDR3qgsIYKImznP4KF5s-YP31gxWRxES7iSVS8HMmmvcjVeSPMDJ-fKYoAisOTfrgY1_9f4gKkevsxYIIpJEak0LHta3HaU9dP8Wy45j4HA9uialBXKKc57uq7Kd_fG2qMAECdr4dKq22JnYSQvuGuHOneaRrvwkwSAz2sydH7YhgsLo0NkJNNqnEM6AyQ6xxOGCfrTYzwDcNhIV78I8kIJBHkCdLY1mVJmaIKZNR6rAojZLxZrtj30X4tEcUq0HK8B88qj6nMzPJyFukBFKsN5oIk4hKw32s7vbG6PjZnmu1yr4IL9kgHtBm47V3UZvRGJfOfiN2QQ31QXnsRlqWsYyjrS-B2NxbLN0TFgugoV1KhjnfWidsMobMDkNobIr4FPgmMs9jmcocWewmbbUqCV4nvn5G4ZTzXGz1C-E8eB63vTJKkHfJBfqZqzoTk0z6lMRuJAlYAsPLo83b_p362EiO5C9VIzC7NX9Bx-xCTDV_vK-h6CN4KkEBy64fSPIJ4ryPfsOG4M35y7rVUFUha69-llZOvHIYZfZHZuuGl-RrgmZ_7e-kGsdpj656WpuwNOV4sSMyIournqOf1KATV3q7-7EM1L5NmmWTHsENppDzpGxJnpNZCGo0AkdLWXOpCU2mSwrdt4iNNoqG8muYAjiVKuQF_fr16sZ6w_iOkYy61BDw1c5Ctw-etuZ7ZnmdI5XspjCgrRDGTx1igqzC45Es04xQEdQ0tdgYMn92LwpD6W6-XiwNMyxuYGe_kUYKNELfvI9EFOHzkezqBJnx92_DlTLIfPcw6XhvodmHCyrTb1lp4LGXhBQQlkVtZC0lgPc1w3_Aw4ZYDDEKCYO65co1ykGTxHza06F2llIgWL4nBjkHwgtMb6Z_ecfaDvyjtvXwumzgn56z1bXPTxmzqaAxQFUnbXlZtiOfun3rg38jqHashxORVBmPRi-mkJ6vZVLrsfhRoI6BIPZH8iPzBtdZl4FyGPi25jEdq4qjjsNKU6TwNoC93j2SfKnf8t0gycevtQKY9QdhlFAQjjJ0swRPOXwXUtaNEn3oaW5M977WH43UblLGcnF3vaUjg5yIvwxXLncVNsIJsb6yh5yZSSfSY34JMrXdxxvTKLTl5MbeGXLZ6Mz9iAn74UJPFu0nxQWpSLBWKmcViWC0HfxsybLtRQrNd-J3PFlK3C4Wha1waUBYam8V9ymX0Drk2xaIw3ymyN2JJ6UI2S7Pcvt6FLlgIGj_0_7d-ibh_MH7bPQuajOIOCXMc_7TiH9ht0srRAnje6ESUpNiHEiE1M8_AbuJcJYHJJlvqK2qd1I8Tj88j3P2vWXeG_6hvfqLRMkci5wraQbjyx16BWnKA2N12fO2-FKNm9mSDKH2DgPzRzJP0TPgg0oezL2psp3gHqmrG5KBQubxQacitBy-qLPtCsFAl_SnZwTlp1jNd7aPEF9E0SK0rB9OoixfsXAg==",
  "id": "rs_0435a2583cca5a39016ab2c1bcacbc87d095816c50b0b0a217",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.392,\"left_y\":-0.166,\"left_z\":0.035,\"left_yaw\":-0.5},\"note\":\"The cap is nearly centred in the left wrist view but still ahead of the fingertips. I’m advancing slightly and lowering while turning the jaws across its long axis.\"}",
  "call_id": "call_1PRikDj1XphD0hjxk9SW8DXE",
  "id": "fc_0435a2583cca5a39016ab2c1c0f58c87d0b87933426c279558",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1PRikDj1XphD0hjxk9SW8DXE",
  "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]: [-0.4026, 1.7184, 0.6178, 0.3367, -0.0956, -0.0376, 0.9993, -0.0265, 0.8017, 0.6132, -0.4141, -0.0277, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.3769 left_y=-0.1383 left_z=0.0119 left_yaw=-0.3085 left_pitch=-0.1897 left_roll=0.0414 left_gripper=0.9993 right_x=0.2918 right_y=0.0007 right_z=0.1751 right_yaw=0.0033 right_pitch=-0.0441 right_roll=-0.0042 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -7.9658, 6.6256, 2.0586, 0.1538, 0.2271, -0.0171, -0.3897, -1.5521, 7.0359, 1.7021, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc949f976770e671cba520345b368d373dcaca10a5debec59516bba5dba94bce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94389a8292a9b0f885bcde6087a46ede90b97736f4907fd7ee47ec6cdaa089a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80084a71c243214946a5d9d4c68c64a59993e400e828e1f5b21995a4bd4318bd",
      "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]: [-0.7105, 1.4811, 0.7406, -0.0418, -0.5652, -0.4393, 0.9993, -0.0269, 0.7975, 0.6132, -0.4118, -0.0273, -0.0315, 0.9992]\nstate[eef_state]: left_x=0.347 left_y=-0.169 left_z=0.0995 left_yaw=-0.0162 left_pitch=-0.0677 left_roll=0.0429 left_gripper=0.9993 right_x=0.2918 right_y=0.0006 right_z=0.1767 right_yaw=0.0013 right_pitch=-0.0376 right_roll=-0.0027 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -6.3795, 9.0735, 1.7021, -0.4127, -0.0611, -0.0904, -0.7179, -1.8393, 8.8274, 1.7998, -0.0757, -0.0269, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHHTqnVmZdwpcBW2V3OsJ4_RqbvUXCp_YN5WJaLyGH4gHGlYXmi0hpNsbqyy9PAhNigFZc-k6UQaCNsvVeyZZtJ2AzEc0CtrA28-2SVWChWy0JMTLGnF3Ws-diAc1s10NfGp2EI_uEMMgjy_rOSDNv3cQSddAjOWc-0Xhsssxu1X9FXyoC4pr9fK5Kyo7dkNTJFf3qjdM72ddaWeQQADuMrAz1H_Im8Gn0MJT4_-QoCejqPrX--1yRRU6QJO_EJrFcv_FXY86Cf1ypHXTQZ5SWG8IPRL4Npg7rzvb2g7jiWrJTcwD8b2Fn_UJ676m-xkwpBXD4KdS0F0U1pbOm82yw-1R6wD2A4aYarm4kpeAa4kzPtG3hrF9MeFEpPRS3wNP8849_4IVz6SJhPb6EIQzkN60A4U8W7uevTq1y4oR7NH2w7dSIhJIvSbhLA69LjtSJLlBDf_5KR3aH30GASAy-QdA_S7uik8XRBfrVzX4ey-2-D4mtMmAmfNANHkuzA4scvLQqbzSe49kWZU7lQ3OBlsgEvwTOtdqDi8-2XYlHIl3lbDKPGTCH2q-u67TI9RzNCbPSrAKgUZ27gl_O2y-HK7pUCACrKByy2KkChJ19XFlvHqbiZ4Doi8wjdF29YCFG_j2-ELK284Qv5spmR_mhx910qbsMhihW08QQpsXh7iy2Xqy9BoWu7dK0yUEzXjFKJuJSE71I52JteXK-KNLDC7S_hJwme7zfBtnmGF3AbXfVoXpw_bWlNoMhChLUGvgnxVHfxZQ3K4MPdaBD73a4zaC7O0Rcy7Rl3Zv8Lz7d3T1D3GmfKWaJacKqq_6zGaEIi0q_hM0Z9AhsyWdItYNvLatFkd7f5oZDQ3MBYwNi0iHKhb57HhPpKQ0msL8TBgpvrLssIWeCIuJDgGpv66d9KN_2n_3jkizez5T5kYjiBdkhfs6Wq0TXXHCRMMF8x7x8o4zYXmmN9tt-nSYwm9VrVqRkE8nrnYDOHhaEyQ5OBQ9YP6Xyvc9V0wmyhA-oSBs2iFhEbSKSAW0W3nBzffSi2EmR4H_Bc9jJgjXRVu_wzbh7GC2pirRDUuGJucqOWY-iTBreUGjfv1NVwscHPYFU9-R-lSxU_kabRQmIqgpIlUcBPd28enk9vi5Oe_cKG2dsFiZSbnnSnT1f_YVs0PWUnVbalCbDGj7ysQ2ooPCJJyoQj-sCSyQLVFCRbuvACLqJI_Q9jr_dGK29vuvrVQ-JOl0xU2bvNtkzW9TxmgsquGSJiwXPvlJc6YIhaHOiojzxpNQtdpvTiELA2fjVBxlPdhi-hkhP6twdXRWaZgAKcWRm_CUncXMbOmw_QKSJVFS0HmdRd0XeO2HaOpr__BA_0bs5YptEfjy92EQLFrD_nz5L9XrIWqdmYHDgidXbh5CFu",
  "id": "rs_0435a2583cca5a39016ab2c1c434f487d08a247d52704deb42",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.162,\"left_z\":0.012,\"left_yaw\":-0.5},\"note\":\"The cap remains ahead of the open jaws, and the arm stopped short of the last target. I’m making a small forward correction at table height to bring the cap between the fingertips.\"}",
  "call_id": "call_E37Z8sUDs8js4w3KuYOtkPOI",
  "id": "fc_0435a2583cca5a39016ab2c1c5bf3487d0804f16dd7319a47c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E37Z8sUDs8js4w3KuYOtkPOI",
  "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]: [-0.3328, 1.8969, 0.8352, 0.2752, 0.0525, 0.0948, 0.9992, -0.0265, 0.8051, 0.6132, -0.4141, -0.0273, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.424 left_y=-0.1526 left_z=0.0031 left_yaw=-0.4388 left_pitch=-0.2149 left_roll=0.0322 left_gripper=0.9992 right_x=0.292 right_y=0.0007 right_z=0.1742 right_yaw=0.0029 right_pitch=-0.0475 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.4581, -8.8, 7.1043, 1.5604, 0.0904, 0.2076, -0.022, -0.1573, -1.5521, 7.2, 1.6679, -0.0269, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a26dbc0b139677685fb6e92743e54515803fbef5a3736c69a66ae775ace7f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2b0dd18ac9cca5a254fe953abeb6d91cbe00c96c7d601dd15cdff577741732",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f99bd389f1e0a0a01cb395e525a229b64a2fded927dd2199adde286997eeaea",
      "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]: [-0.4026, 1.7184, 0.6178, 0.3367, -0.0956, -0.0376, 0.9993, -0.0265, 0.8017, 0.6132, -0.4141, -0.0277, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.3769 left_y=-0.1383 left_z=0.0119 left_yaw=-0.3085 left_pitch=-0.1897 left_roll=0.0414 left_gripper=0.9993 right_x=0.2918 right_y=0.0007 right_z=0.1751 right_yaw=0.0033 right_pitch=-0.0441 right_roll=-0.0042 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -7.9658, 6.6256, 2.0586, 0.1538, 0.2271, -0.0171, -0.3897, -1.5521, 7.0359, 1.7021, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHLYpquv5F_czneoMAxrk8v54Wose_FQUCRO_SA1wcuDKXhYDriwMqjxH5e7KVIVYekUnbnLiegsf4kvV9LGRmT9hFfsE44RNuo1Uc9pmuhrLWkpNBsvAA2Uco459-7pklOUfuKaID9CeoTG3Sc0GFd6Dxd9GaMsa5RxXoMe4RP65rFNkYCyKvvNh_3O42CpuMQP3Gh584fGZHBS26Hxr9i98UfWYEaQ3_6BRe2hU3lFOOvtyxSv6vh4-j1js8bYktUjwjhKWu-gThM64zl5Plybh-UivQKyNDsOn-AH4FbiBu3kEz42bvvjDMBHdT5p_MN8lv5F_tMQHt-uDGJFjvyJeY1xlvCPb5XY7Traw938FfBUtxQmeCzeVS8bimyVgqUkps8lMtPm8Wd-AH7P3cI9yq3GhQa1WczoKab8YF8f-ddPK8lzUOtXW1usxCMD9aMi-6w0Lw-xmVNSAFEvB1qr8l5xVb3_tlrssy4RHfARRymcC0u9ZiL2MwpW4P_MekGBX8X0EnV12UphlG4FOMg2CK5x5araqcZPxd0KA1o5TxMRhG_6SGN5L7Q4mdDWEvIsaWjMaoENC6AfP-2ZKICI_wLbUFKWIZPGXQ5VrsCyJfHNx9wJOCPr17f5nM22uynjB_2NLF08jguvz88rpfh7U7-b90r1WfgF7skz-PCo7ulrF8A-1OxIpFO2-ElV9GOphxsM0h3RK8WaO8_YPYn5Dvt9lOM7rC0M5XnVmUo_Lt3GJYAlKFdKn4OiLrzRW_AI0WedeO3mscTGhornjBnTj_khXZwWnxv_-p6vYXb58ne3EcwLqekmiI-SiOZSTISpPJ4Ksy_nFd7Lu7yX-vkujBTmT1wNt42yKiToKq7Z0OuH-XI_yynOz6RV1rEX49NI76I8c4QQlmEmnnIy1SOAJCchMJj7h5_aV_fMwmUWFyR-QKR2IIn9d6ierh_cTINv4UsRv3Lb_V7tSTb0fRXj8hQuYOlWr2HOoEVukXVGIczgsAzN1Egq8g0mUcXWkZTgWNMH_kn9GX68RKv-_I48AORQfkqi2wkk58MsUhTfYwS0xJ6YIsgFAwq2pO9pMfj1_pYv9Sn83EDwuwhlmvBsuM6Q_q0mqiOfRtDO2Aomc9huTrWGUrRAFXvLHuUEXsY9Arbd_tHbFydiyrKYReWVEAahn3uvFWgfjuUxeKKjRJ4Oo7ssbzOIJ8pHGtVUesCWdHlS-814wGe66WZQwim2w==",
  "id": "rs_0435a2583cca5a39016ab2c1ca8eb887d08f4d6aa497be13e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap now lies at the jaw line in the left wrist view. I’m closing the gripper to grasp its body.\"}",
  "call_id": "call_dDl7QIUCC5nVCEBsbowhwI9n",
  "id": "fc_0435a2583cca5a39016ab2c1caddb087d0931cfee295da9bd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dDl7QIUCC5nVCEBsbowhwI9n",
  "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]: [-0.3256, 1.9125, 0.8597, 0.2623, 0.0856, 0.1375, 0.0483, -0.0265, 0.8055, 0.6132, -0.4133, -0.0273, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4275 left_y=-0.1565 left_z=0.0028 left_yaw=-0.4838 left_pitch=-0.217 left_roll=0.0387 left_gripper=0.0483 right_x=0.2921 right_y=0.0007 right_z=0.1742 right_yaw=0.0031 right_pitch=-0.0472 right_roll=-0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -9.0735, 7.5829, 1.5263, 0.1783, 0.149, 1.1551, -0.0752, -1.2923, 7.0359, 1.6728, -0.0415, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba256d42bac88016c03bf60bdd9f9687331c4c7fab58f005b4008fcca2ac79a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1767408245450da0166807526fca1c5e7f7efb56538adf065ed25f36e523ce4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f3c4816b6460f028ee4125e90309d2ec3246dbba216e4d1d4e11c33ae00761d",
      "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]: [-0.3328, 1.8969, 0.8352, 0.2752, 0.0525, 0.0948, 0.9992, -0.0265, 0.8051, 0.6132, -0.4141, -0.0273, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.424 left_y=-0.1526 left_z=0.0031 left_yaw=-0.4388 left_pitch=-0.2149 left_roll=0.0322 left_gripper=0.9992 right_x=0.292 right_y=0.0007 right_z=0.1742 right_yaw=0.0029 right_pitch=-0.0475 right_roll=-0.0043 right_gripper=0.9992\nstate[joint_eff]: [0.4581, -8.8, 7.1043, 1.5604, 0.0904, 0.2076, -0.022, -0.1573, -1.5521, 7.2, 1.6679, -0.0269, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The gripper has closed to a small but nonzero opening around the cap. I’m lifting a few centimetres to check that it comes off the table.\"}",
  "call_id": "call_5uMRylP6GgNmwfsvJoHAJx8u",
  "id": "fc_0435a2583cca5a39016ab2c1ced40087d0a0b682a37e1ef492",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5uMRylP6GgNmwfsvJoHAJx8u",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3256, 1.747, 0.9592, -0.0288, 0.0826, 0.1326, 0.0551, -0.0265, 0.8055, 0.6132, -0.4133, -0.0273, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.4231 left_y=-0.1544 left_z=0.0614 left_yaw=-0.4794 left_pitch=-0.2429 left_roll=0.0332 left_gripper=0.0551 right_x=0.2921 right_y=0.0007 right_z=0.1742 right_yaw=0.0029 right_pitch=-0.0472 right_roll=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -10.3453, 9.0462, 1.5995, 0.0122, -0.022, 1.0281, -0.1709, -1.2513, 7.0359, 1.6777, -0.0366, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4026da7f513834710ee8a7f594eedae358242aed57be528b92c76d0dd37035d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c12d92340dc792ed420b9ab8a88f869a81d95bb095d5faf9cc2c2aa6e74a78ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd40ba5dcd086745a195a3bbec715e2f4263dfaba6e221a3dcf02eb534b58a69",
      "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]: [-0.3256, 1.9125, 0.8597, 0.2623, 0.0856, 0.1375, 0.0483, -0.0265, 0.8055, 0.6132, -0.4133, -0.0273, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4275 left_y=-0.1565 left_z=0.0028 left_yaw=-0.4838 left_pitch=-0.217 left_roll=0.0387 left_gripper=0.0483 right_x=0.2921 right_y=0.0007 right_z=0.1742 right_yaw=0.0031 right_pitch=-0.0472 right_roll=-0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -9.0735, 7.5829, 1.5263, 0.1783, 0.149, 1.1551, -0.0752, -1.2923, 7.0359, 1.6728, -0.0415, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHYtpLxadaQiXyJwvVKCJRsHw9T_hV8Q8banMA3wUY_5t6BEBRE_l0AiyTvgReeat6c7-StAVToZWKuIhM-zyYuHmwODm_elIH5zI8VZzusv7PAtuekTfM7vmt5EgjVer2skRq1cj_pvAoCjZvbOOKvDImX3AKZ1o-tF4qx6cxMiKkwHvmrF9G35jxqY-knttbh0D8Sh2smdCMYbvroLgL7qsYyBTS8fEBljAuFWPqI6oiR2UxMZq7fYFgcn8Kg1m-f2pTZzIpZiMovM99OuKg-Hr8-VzJpGWjx6XyPwz-CL4TVD23Qe59eV5e_xTIXqaHyNx-WCG-kclAaTsNvuqupDg0G5jsleIEp8O59xCK7ZyrPJgqqTsc9wkUnn43NJr0iZ4Xmmp_c54E0JACilViQTTItaHVE4T9DteeVwnx-1jiXqB4GtchEKI6oHKw-sAX6bB9yebiwOMiRu3AQffgqyJJtQH4j_XY7oEWLOvrdi9g5b6Tbz3A54UL_6Y57yErKjO6DzoQxEHoCn2SDzdUFioQoYerff7jHJzrp4GIvCyxLxOgC0RKaCJ_0_rCCSVyPvPVS1b5eIzDYZPu8ot3MK2S1PRFfD8DGS86PlTBMSMsSDew7yknGeFCL0E2CwZLMUpU_ZQVkwQ_BgXLCqyRwq_QBXNMRDA8SRvQiM0Irykd9SZfxigkbyYua21rrDqgJtunTOn57lFk7Jy_gK8pa7pI2cXqaSu5-fWG5K9rydGjgswGa07jybi7U3YuIuQPobTEtyF5qnw6cDoqBg-av0DVu1zaDIngoKoPSwf69R4NK71oTXvp9qUSEBQGkB566ogATDrAwBiqBRlnOUXiTV_eIR_r5mnJ9DV5t8Vr6i4o_IHacl0tT9nNmaEHvA0897loWR-lHx_cKDu7F4ZffUEKIxgVULgpm42IY8lD5MAmfJs8vhLaANJ_1qjvC_3ZL50SkKWj5NQ-xmHVv8hWAWV0us3_kdT1UWXasCd-ZYdssijS9UZ4AwfnCeoW-wlXpQiXx_yul0l0ML5NlBr_ggDW5s280aY30LVW3WjI0lAbiHmyPoSNKRFU8edD3F40hiJo_kYQVlCIAd_tCZcm9qVmjWNsPC6NBvc40P6Laq5ssApFM9sb6EvQ7dJYIzoX4BzHHEfqMo_ElPnZ82V43p2DZ4iMYysmvS9tMhMrHkC2-zHg3gaaKixXRnGYr30J0Dz_92Fd1ANhepq9H7jFJ6tWV2E6uHQFFdV-vZJuhg2MMfcuNoYmNpx736LuhY8JA8Rq5d1vhUGmMNcD24hJo7_5VRqM2ffc3bAnwo2PGc8hENrJTqoncgDXJ4UnBNGNw9L6MJ6rgF3K6uU7ETwz5LHteC06XVNBL-OHAMNNK2EACqqrbxsVJJgAG2gXEdaRCpejytvQeWupk-YTxOSNXkharW1zEUcZKYaPwXyJRI-6cDY9rKQm73sB02C_exoS5i7RSs80SYh_JUNiBrJzN0ls6xfkv0qRm913iePGl93XWi5Jeu6DTshVT141KwWWEvutKVmoIDjeUUunDS3Rs2g==",
  "id": "rs_0435a2583cca5a39016ab2c1d3a94487d09acc1c6c9b796f62",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.13,\"left_z\":0.18,\"right_x\":0.38,\"right_y\":0.285,\"right_z\":0.13,\"right_yaw\":0.55,\"right_gripper\":1},\"note\":\"The cap has lifted with the left gripper. I’m holding it clear to the left and bringing the right gripper above the pen, with the jaws oriented across the pen.\"}",
  "call_id": "call_3KSlVEaHzIEgWeRIU8s7Cjdb",
  "id": "fc_0435a2583cca5a39016ab2c1d6b2f887d0b20c044dfc52f594",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3KSlVEaHzIEgWeRIU8s7Cjdb",
  "output": "executing move_to over 24 steps (2.4s)",
  "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]: [-0.279, 1.5303, 1.15, -0.5098, 0.0952, 0.1417, 0.0609, 0.6655, 1.6432, 0.9516, 0.017, 0.1005, 0.0551, 0.9992]\nstate[eef_state]: left_x=0.3942 left_y=-0.1267 left_z=0.1496 left_yaw=-0.4524 left_pitch=-0.3141 left_roll=0.0173 left_gripper=0.0609 right_x=0.3691 right_y=0.2718 right_z=0.1119 right_yaw=0.5387 right_pitch=-0.1124 right_roll=-0.0126 right_gripper=0.9992\nstate[joint_eff]: [0.5538, -9.4701, 10.2906, 1.6239, 0.2564, 0.2466, 1.033, 0.3897, -7.3641, 8.8274, 2.083, 0.0171, -0.0171, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97d043825c2fe16342f5aac71bb38d71c0152283b87dcc2308b824661a18e212",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054bfb96cc4e898c427b8c54f1fd7dd9f1c09950a6d85e36e56346a67d944667",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33feb52504f4e8e78b001dad9188e43ca0a554d5531575afe245ad1a100989e",
      "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]: [-0.3256, 1.747, 0.9592, -0.0288, 0.0826, 0.1326, 0.0551, -0.0265, 0.8055, 0.6132, -0.4133, -0.0273, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.4231 left_y=-0.1544 left_z=0.0614 left_yaw=-0.4794 left_pitch=-0.2429 left_roll=0.0332 left_gripper=0.0551 right_x=0.2921 right_y=0.0007 right_z=0.1742 right_yaw=0.0029 right_pitch=-0.0472 right_roll=-0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -10.3453, 9.0462, 1.5995, 0.0122, -0.022, 1.0281, -0.1709, -1.2513, 7.0359, 1.6777, -0.0366, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHhOEin3ApcVXLG1-NraPdJlOhIavfmi7Nhp1sEfwmxs8nTxpnGANi4K2UUh5ZFcZQ_cwzfPElFaBzJBw9ql2iWu5iB6ymz7Ei0Dlr1P9F7JaDp1BbTAWLk6NvhH1J9xwgpjCuPvgJgQyE7UPjuS3C9d5WFy_q9TM76veEUmetEUB3yctmOhkyWaKSWdoHysJxXh6zcZJbwuendrTT55Vkv2Ie2f6sawIql8mXUuicRJ0o8pRL-_DT5FOpMTYUQbGzV6AMdAeVK95WEZVnO4IsPVWCUrSF9IH_rbflygQ412OTHm9vBvGqN6U3rOYxaY9p1BLXA6RPpe2mhJaZZ9Cclx7biaoU04vH7MK9tNgIxosZtmna9p2zpRDgkbH4aJY9MyIpClmt2WPrbCivs-oM5Kr4xq_GHPex10bJE-ySh3nXAoFXT4rIDVOgdeNpWpmn0tP8B4n-8nFI1E0C2s0hOWrz0rsDjHMlwWIYsQoGQLuC8PX5oefP8EqumUbT-Jcc1WGtbWkvlZS5KEmucmvPHbu476Szt9OaqV9IuS3LXl6cuqe6b1wKXVMwEyMz6nTErxq9hiMWIyLsAL8vuV12tFBxhu9MCuJr8ke1o-9_x2NjL5FEM7CrzN8GnVRK03HssXo7HEBXs8KXf3mHuKRiifwVMDydIBVz-LaX5Scs6W9w_6SgEkphhw059VyQCi1SsEdKWmP2HPNuZu4u6-i1ZSMq2Xgf3g6XzJxhwAEvvJxHGTzjiYDIiZS3WpNRHf_x-VOY2cXSpUx0Tv9rIiKWvLtVju0rgmZsiyO7MTJO71fdaphMla7hy6WbinnQkdMVC5S3ljYAvHVZ3cCxV90jMv4xc8-7h6c1eJTrK3DjWY9KCKy7ymuUgHNHjlKkpRUT7Y2kGjIezy9iNWAEb5he3l8bPnTMcAIMFcH_JkAsgj8AH_eZJ280a9NRskv419bLRuX1IrgHt3SVM5Boofomg6-uXeV5ukikmW79efNJHQI43QXQvPfxGdYQa02xQN-U9A-TbZ3ile6a870JsRBVdk9Vq5-aHqnKqzabMF4JlVBlbLXCS6uXakF-K8IWk5waddEnLiL7_hekiJG1Nl7Q7kCj_RLV1CmcwRYX8hkR9Z9jyMxgwVkHujGAzL34Xwqfy1zj9UWJoGAuxDNVTfWyLI7ojhCcYWBcmPTaIWFfMhSLlEcIQU8ZEgFdqO_l6lIX4TkBbiKNvX-Y29Z6XoNkN4s2B5fVFDNLISF-62YY-5s4OoI9P4OeZeRhZ-jS26HuszRvOrSXoZYQCOspuamGZDoIZEl6EFGtKjG6gShWhTJ8dagx-uR5_YwjLOmUSBY0dwZJ2Z1xK9GMWqUX0o4jDaTZM9DWiJLBTkXP8qgF6nf9e2S8SgeuCc4OKZNm8v7Ny-Ahf62sBCbobdyD__T30GNFhxqt2CGoD4nkISdssHUKFuq1NoC1q3oPQkT5sDmcY",
  "id": "rs_0435a2583cca5a39016ab2c1dd07e887d08bddffa5130a1f1b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.24,\"right_z\":0.03,\"right_yaw\":0.55,\"left_z\":0.18},\"note\":\"The pen appears to the right of the jaw column in the wrist camera. I’m shifting the right gripper sideways toward it and lowering for a body grasp.\"}",
  "call_id": "call_k6HDSxOByCYQWAGhPVOko4n7",
  "id": "fc_0435a2583cca5a39016ab2c1df39fc87d0bece8b4c076cc1f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k6HDSxOByCYQWAGhPVOko4n7",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2802, 1.5269, 1.2152, -0.6224, 0.1017, 0.1329, 0.0645, 0.569, 1.7973, 0.7647, 0.2932, 0.0265, -0.0017, 0.9992]\nstate[eef_state]: left_x=0.3864 left_y=-0.1261 left_z=0.1602 left_yaw=-0.4569 left_pitch=-0.3564 left_roll=-0.0019 left_gripper=0.0645 right_x=0.3702 right_y=0.2354 right_z=0.0236 right_yaw=0.5352 right_pitch=-0.181 right_roll=-0.0131 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -7.2137, 10.2359, 1.4725, -0.0611, 0.0464, 1.0281, -0.6906, -7.6239, 5.3128, 1.8437, 0.0024, -0.1001, -0.0122]\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,$blob:3443cab745df1d8dfb1e35088bd5c492af1c1103a5a197e2a644cce175e8185c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d40a8138b0a27a0f0e7336bb2ee7b000bd6794aefabae2621207bd338bf5d5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:020ee238bfed9909e429ea1f29793078735ae9f51833bb46e819ce7878ad5d43",
      "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]: [-0.279, 1.5303, 1.15, -0.5098, 0.0952, 0.1417, 0.0609, 0.6655, 1.6432, 0.9516, 0.017, 0.1005, 0.0551, 0.9992]\nstate[eef_state]: left_x=0.3942 left_y=-0.1267 left_z=0.1496 left_yaw=-0.4524 left_pitch=-0.3141 left_roll=0.0173 left_gripper=0.0609 right_x=0.3691 right_y=0.2718 right_z=0.1119 right_yaw=0.5387 right_pitch=-0.1124 right_roll=-0.0126 right_gripper=0.9992\nstate[joint_eff]: [0.5538, -9.4701, 10.2906, 1.6239, 0.2564, 0.2466, 1.033, 0.3897, -7.3641, 8.8274, 2.083, 0.0171, -0.0171, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHpuRItBUDt_VAyR7IPZsadtIyQR80PwKS4nABxSyrlKBYcpPZ9UECK5evn5Cwx4Q8HIHmdq2o4-QT5AALIdaLLIzddkSYUBTSseSU1O8L_PtbeI_xbWiFQltDFloE4mIgI9HMJ3iobHyGPioWTknCB_8-mkN0WNSYyWTVcwfA5jHjOBR6pEoQJW8vBBlKz3SosH_vNG3XlFsSWuFrKSZCexDLs46wPIEvStN3tanke7M4_yWj6dWyjPE8-eo8qokmPiHDHHYqu3LAfQ3-kwCifQQitmizn91ZuR4OI_1sB_0t2Jrd2p94xOiCJA_NQIhC6S3Hx3rpMQDyRepXrvHKTU_3KSQOiXjPQDNdaqejPBD5k1HcAzZ_aiu1MFORZZDwn5fJmFrfaZPjhzxny7d4-YgLEF9PkO-Ari8_RvUK288E737tqU0SEnuVC_1RP2SiDZ8SpdWEC9oMzq9EGltupvedoKVXVagVS-I1CzvPCZOyX0j8ubmGMoLCsZSwPDBzFeCy-bKO_U6fbh32vNeNHM8sZRC44fk_KPmb-zuzvhneYKzBbrT6p3I_CCx7hcwXBcM86sI8VIXJujVvi2EDxqdpQVbnd3rR8LDvDa032VX95cEag-gxs65XhBxeY5SbTgkpsv9wLZGWCeKRqAo0_iwlBpEhipTRFskWgLE1n3rbpfi9-lJLRmfaxFtwUpH66MuYUJDR5RNH-ciThv4HWZLFFiksdBkpRYNIHzFIB79EjSJJNrEw5sWccVPG6NebV3AblCxZMikP7FAYRgxTnfeq5FlMDvbpOawJDwjZ2gTO9B24xdSZ742k7kbDKQLBQjGPjvJMC_nTZChf5m7eO-m56w4QdoxQSZ2nln9uiGd-JiE6BV2BRq4hv_SwOgDkFeDp9PrHsDbmpiPj6-E4uDTH1NuxJGk6hW0xS3GwStiocpNxKcwWt9Q_vVZzzPMhtXBvv5M-D3z1YQ2MH7dZHkhgn3kKdN52szm0nDu3qH8EBaYc5vkdUc-kMjDfmMUGpeY3hLECXwwD4ggijiR99duUfLf5mHg2dgplmIWeHhgWKLgogoawLwu9Nz7znUL-x9K0CZWHSTqPKx19fIg1h-sfqGH2_BH9cq2D_kvSB-gVPlDvp3g5xIQIh5G2MhxRmY7QZkJ-vhHY4ZAd6_ixfM1Gs2ak8SDvcJc3W5rbmbkmuH9SEu2oMpg-WnaZyA8j7mYVo218MLvbkYX6PaIz87IANF52Rbora4TaREVKODn7pnJM4vKhNyqnCUt2QmjZKdEmOir3Y3cBpzLgft7jUKTLzXbvtWeEMov-JEnsWRTZfA6aWYmGnD4VmsAJZAxgj3joD2u6MbfQIIGzVN_rKPE4auOtdEa6HNmdGXEXoDYDs7v8qPYXG5B2kD17t1CHuln5HuwE4_kMUj1-DMhyO_cH-vyCIybdPSKwJK8QgwZSTgdIYzTUhJ2cBRWg6eWCpzeRRmN72mXvGCoNZq0QnifQYQSUZcEGScgl_hNTS1tI=",
  "id": "rs_0435a2583cca5a39016ab2c1e4e45887d0a09604e953df5b81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.402,\"right_y\":0.197,\"right_z\":0.005},\"note\":\"The pen is still beside the right jaw rather than between the jaws. I’m correcting along the gripper’s sideways direction and lowering the fingertips to the tabletop.\"}",
  "call_id": "call_ZZh6fZQ6sSI4KvokwqcpEGih",
  "id": "fc_0435a2583cca5a39016ab2c1e7a09c87d0a38166c6e53d8c0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZZh6fZQ6sSI4KvokwqcpEGih",
  "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]: [-0.2802, 1.5269, 1.2171, -0.6407, 0.1028, 0.1326, 0.0645, 0.4259, 1.8687, 0.7563, 0.3557, -0.0582, -0.0845, 0.9992]\nstate[eef_state]: left_x=0.3832 left_y=-0.1254 left_z=0.1583 left_yaw=-0.4588 left_pitch=-0.3723 left_roll=-0.0062 left_gripper=0.0645 right_x=0.394 right_y=0.194 right_z=0.0022 right_yaw=0.51 right_pitch=-0.1969 right_roll=-0.0159 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -6.9538, 6.5436, 1.5263, -0.0122, -0.0611, 1.033, -0.0205, -7.0632, 6.9949, 1.409, -0.3004, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d6a0cd23efe537262f178e9324140e165e973cef0bbd25d89da29726171e90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796a3ccd8aad1a9096621e12d38247afced2ceb142d6ec28efdb1e2c04fd4cde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a509b621cf3410a1930184c2824ee317e2b294cbc0327d386cc687387f98c8",
      "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]: [-0.2802, 1.5269, 1.2152, -0.6224, 0.1017, 0.1329, 0.0645, 0.569, 1.7973, 0.7647, 0.2932, 0.0265, -0.0017, 0.9992]\nstate[eef_state]: left_x=0.3864 left_y=-0.1261 left_z=0.1602 left_yaw=-0.4569 left_pitch=-0.3564 left_roll=-0.0019 left_gripper=0.0645 right_x=0.3702 right_y=0.2354 right_z=0.0236 right_yaw=0.5352 right_pitch=-0.181 right_roll=-0.0131 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -7.2137, 10.2359, 1.4725, -0.0611, 0.0464, 1.0281, -0.6906, -7.6239, 5.3128, 1.8437, 0.0024, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHvtYPm1SD9QJPHOXCZsW6LHcXSLNpZw4xpPgIISN0d_SHDkNHL_Ogc1yev4t03nprIhUeeZoJRINXDMnzA20JdChgNnZpVtGNI31zoa7WN6IHZmLKSRzSFvhAi3-e79U2LcSY2kAF1p9ZQaZZIsFpDnqjCyh76mfsRnV5X8d0PQBDwTS7phjWKNxBccTa2dHOAMAkRJUZz4ZRDVdSbqVCB3noX4a2-JnyeYtNbLwAQ-_AObfOfgKj8wFz4Ih6NkstUee5sN99TnL6F1Xwzp_-OHUygCJ8QaOYm40xtmxskFHku8Vd1kdyWEur2IVgXuYBWUOc0OnQTdRUw6vgXIKfWYZjzPFE9K_D9Wlktm4LHsMWZ6k5pcBqx9FXV7GfngREFkV4NnInRmNNKOAZJJjER04HgoPN7lksevjHHBxHjrgNcYM-bIAGwXQd5Ssc2CEhcS-RqmFgG64_lw0K1qKHki5Q3_jRANwBSOOoVS8tAdXqzl_BB3ZJMHeetV7H464pTtiHvTAQgb6CwY8riKKCKXtrgTdyL8GFM16mikOBfVgfsYIvyqhCFLb8cGJXSeLxY0s9TkkCcVrbZPKvTYATzESEMlnrSg6o4zPP1TSfIQm0DYqUiDPZNIShNvYncC3t3-IsmachAG2OiFEJEvk4vpQnSHbfsxVml04H-YK8KS0ds42pLOLeWJ62_KNIBXpoL3bu2yTzTyeUjHzm6LAy17OFLP4F2gh4TxiPYJbdCzbYVkqZ0I0xgtEl0sx_x6S2VMjKZej6vHuWJCpcsEF8_TpNBB-h65cGdwODGQH6WvccIz1u_Eifo_fplJGv5bZ60GANdeQfHaVB18n_DBsazifCYDNLMYHqBX7U0y_85RyOrYy10HWHhX-xGlD4085yqa3KeQOl71PSnEEFJCex-nU_JcBIF-w6p7Pb7GK5wss7UmiwtAnAxdOnW-9uJp6Pyb0_2ZpFLmIKbpgIsz6WhwDRm261Vmwzd8YYi_EEJ8GhFsUX4a4HTzq1g_lf8dMSDqcnYn1W8JCnrNO16UMpUwzSNTU-oDZUBYWLXS-c1He0CsqmLtQTnPO4ILovzF9r-uOkmJBOO6-xal-_lRGULOEjB71vGZzWM1JxSSq4JJjP1WViYzXs57emHnLfUHL7lzdwLhGIQM08AmkDtbSCzsoMLN1mcLDwgbx9Na3JRrqOsqVOAgKQg63QdRvuPSmrIFKMEEk9dPrQv0_qAGGgXblLHSTi4NBRfnz_LmAaeMyQ=",
  "id": "rs_0435a2583cca5a39016ab2c1ec7de887d0a8b655b7945b9d23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.411,\"right_y\":0.181,\"right_z\":0.002},\"note\":\"The pen is now close to the jaw centre, but its body remains slightly to the right. I’m making a final small sideways adjustment before closing.\"}",
  "call_id": "call_UAqva7E8SgZVL0VHbxXoJJuz",
  "id": "fc_0435a2583cca5a39016ab2c1ed8a3087d0a9784460df939c12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UAqva7E8SgZVL0VHbxXoJJuz",
  "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]: [-0.2802, 1.5269, 1.2163, -0.6426, 0.104, 0.1329, 0.068, 0.3901, 1.8793, 0.7753, 0.3477, -0.0914, -0.1177, 0.9992]\nstate[eef_state]: left_x=0.3826 left_y=-0.1254 left_z=0.1578 left_yaw=-0.4602 left_pitch=-0.3748 left_roll=-0.0074 left_gripper=0.068 right_x=0.4023 right_y=0.1867 right_z=0.0031 right_yaw=0.5207 right_pitch=-0.1942 right_roll=-0.0175 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -6.9812, 6.7077, 1.3407, -0.0366, -0.0269, 1.0281, -1.1419, -6.8034, 7.1726, 1.4872, -0.0269, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ad7631d8e420b97a4bc51d013dff067b0e04389bb3fd85580dce14323442a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b819a748b05ba43c7b377d40787b2ce20d678339e8bf92d7beb6632d617ff37e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b66a962d71ba11d6130421c85d7086fb73827f439775bf39e6e163d923511f",
      "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]: [-0.2802, 1.5269, 1.2171, -0.6407, 0.1028, 0.1326, 0.0645, 0.4259, 1.8687, 0.7563, 0.3557, -0.0582, -0.0845, 0.9992]\nstate[eef_state]: left_x=0.3832 left_y=-0.1254 left_z=0.1583 left_yaw=-0.4588 left_pitch=-0.3723 left_roll=-0.0062 left_gripper=0.0645 right_x=0.394 right_y=0.194 right_z=0.0022 right_yaw=0.51 right_pitch=-0.1969 right_roll=-0.0159 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -6.9538, 6.5436, 1.5263, -0.0122, -0.0611, 1.033, -0.0205, -7.0632, 6.9949, 1.409, -0.3004, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen body is now aligned with the centre of the right jaws. I’m closing around it while keeping the cap raised in the left gripper.\"}",
  "call_id": "call_MhMoEnYvDv8AGfSuEAuw09ra",
  "id": "fc_0435a2583cca5a39016ab2c1f1b8ec87d097e3d1b3dbc2d1cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MhMoEnYvDv8AGfSuEAuw09ra",
  "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]: [-0.2802, 1.5269, 1.2163, -0.6479, 0.1043, 0.1326, 0.068, 0.3679, 1.8881, 0.7876, 0.3477, -0.1032, -0.1284, 0.046]\nstate[eef_state]: left_x=0.3815 left_y=-0.1252 left_z=0.157 left_yaw=-0.4607 left_pitch=-0.38 left_roll=-0.009 left_gripper=0.068 right_x=0.4086 right_y=0.1809 right_z=0.0037 right_yaw=0.5144 right_pitch=-0.1897 right_roll=-0.0178 right_gripper=0.046\nstate[joint_eff]: [-0.1846, -6.7897, 6.653, 1.3553, -0.0024, -0.0708, 1.033, -0.1026, -7.788, 6.7761, 1.4432, -0.0562, 0.0171, 1.1306]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5918a48c731cd796ee5d2fd3ee5023dabed89347273ab27f68d4c746fa70af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337dae38578ab190466581c49543d2d482936bd55c8e16cd901611665bbca7af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9427ff68f729945d81f094f4ee109f0cb334150c4711bea0859a4b0e761842",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 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]: [-0.2802, 1.5269, 1.2163, -0.6426, 0.104, 0.1329, 0.068, 0.3901, 1.8793, 0.7753, 0.3477, -0.0914, -0.1177, 0.9992]\nstate[eef_state]: left_x=0.3826 left_y=-0.1254 left_z=0.1578 left_yaw=-0.4602 left_pitch=-0.3748 left_roll=-0.0074 left_gripper=0.068 right_x=0.4023 right_y=0.1867 right_z=0.0031 right_yaw=0.5207 right_pitch=-0.1942 right_roll=-0.0175 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -6.9812, 6.7077, 1.3407, -0.0366, -0.0269, 1.0281, -1.1419, -6.8034, 7.1726, 1.4872, -0.0269, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The right gripper has closed to a narrow opening around the pen. I’m lifting it slightly to verify the grasp before aligning it with the cap.\"}",
  "call_id": "call_aGtZdplvVctD2IEkPBDtpg3R",
  "id": "fc_0435a2583cca5a39016ab2c1f6e95887d0a7993447c4a1df5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aGtZdplvVctD2IEkPBDtpg3R",
  "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]: [-0.2802, 1.5269, 1.2163, -0.6487, 0.1043, 0.1329, 0.068, 0.3679, 1.7176, 0.8822, 0.0803, -0.1066, -0.1322, 0.0482]\nstate[eef_state]: left_x=0.3814 left_y=-0.1252 left_z=0.1569 left_yaw=-0.461 left_pitch=-0.3808 left_roll=-0.0089 left_gripper=0.068 right_x=0.4086 right_y=0.1815 right_z=0.0635 right_yaw=0.5195 right_pitch=-0.1916 right_roll=-0.0179 right_gripper=0.0482\nstate[joint_eff]: [-0.1709, -6.9812, 6.7761, 1.3358, -0.0171, -0.0171, 1.0281, -0.212, -9.8667, 7.6513, 1.5018, -0.0513, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dc09d5cfdcabb56c4899f7bba4cda0abadea66b1abd63b18b0d81b04ecbf52e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e4cc2e970d36a3a7e9910c06d4324d7e7ca037305c43b1c1319e298df565093",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8143f2d64e6ff4b8119d03b37fc1facab7eb58355bb46bdf9ee681789f73e1e",
      "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]: [-0.2802, 1.5269, 1.2163, -0.6479, 0.1043, 0.1326, 0.068, 0.3679, 1.8881, 0.7876, 0.3477, -0.1032, -0.1284, 0.046]\nstate[eef_state]: left_x=0.3815 left_y=-0.1252 left_z=0.157 left_yaw=-0.4607 left_pitch=-0.38 left_roll=-0.009 left_gripper=0.068 right_x=0.4086 right_y=0.1809 right_z=0.0037 right_yaw=0.5144 right_pitch=-0.1897 right_roll=-0.0178 right_gripper=0.046\nstate[joint_eff]: [-0.1846, -6.7897, 6.653, 1.3553, -0.0024, -0.0708, 1.033, -0.1026, -7.788, 6.7761, 1.4432, -0.0562, 0.0171, 1.1306]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssISGBqFHCdztuq8uJ7qgpHxTATkw-Q3lOJCOk6Bq4x34NW6wMzZB_y7H6wgson56Xra2G5SALwaQcFxcVZHRykjbyTJ3Aali83x2s00ytrW35yciypC3Tqc0H1TLSsTx-Cw7V41pfrSiOTu_jBSAdE-EQE0lR09ruSBTeYlV9E8m94T-I31v4b76zSTdFNS7MokzWYg19Ave00weBcR5BktJNPZsqf2pR_CvPyBLL_VRBmew13XuGtKcGhv9i9PaZmwNAbWmMpHBlM-qHiWOJJMaYodDP5JrEPMit3E0KoYZ0pz5E0IdET05SlBUr8s83Kb3PH3cfPgQY8VfX_Z-2YwB5x6G3n31SVWFnVybeY81ugyD5aLlrdXhP1sJvsFyhw9eZTKNquKrm49mn4tkLnkVlnHU_awWkNMmD5xJGv4jQDUMiT_gbeW5ND5tW4TSSrZHny8wNzcmIaqR7C-E2H4xmIPlOtOWtujU6nwIRBK2-LAleISpNNobrgrEscGam5e5BU4RVghxjGvxyLbcwnlFv_lonOdIP-OIbIFC2YM88icXkS88uclDPp35DloHlopEBu9SH4X7JQ2dfbPlyGms3P_A1HE6muvLCsjJGWoMf1bl4JFqdvCw3hwmzL8b8XIVFoB7i9Ne0b74at7CvaxAV9FYARKr1oyijl0tT4iZfQHlwxYuyNWa7r71ZvmxUefh1D5cBsoOvqkSq3dxUyezgmX8j9cQqwYuqkQ2YjYrWCb4Y7bizmIO-Idp0S1VgMepcNDBZLGML5QTU1GOg07JPrrJInRNio-fvadCnsjRxsCpssg0iexx5p0OdER_JulrmvQUsB6EIfl-EM98h6-f-Pgqr2XqUe27FEJzmlsBMPtpcW7wJoy7ijdIiPQRJASrHhS77uKLyClJsd_EHfG2VuqHel-AXMYBZCsg88kUhtFqrevIIOrB18FNcluCaZD9GVFjayAxvDhhwyjA43n0sSGwAkoxdrNKE9OHi_Wne6j5wQO2KB7NhSoc7fMOF6OxlBKIxixT4_-MTwIw95refO3lwq7wz4heRpaZX8BDB8F4Pq60ij04zQJG2kTP_ZYQM1fdqX7RQcWQytH6lo13wewTpzu2ei_BuQ214OPq8n8OjgXe_rjTMxMr26heIuVNjcvth7KlER_PNXrKtXsrnGTxPQXOa2XKd8fVyqISsK832gQt5QW7a6k06hH4Is9mDKMqbPs8K2Q-XNy7lzmDHs9YlCFxy_2m76G_dViMGj_yqB2_EfyL_Q_CVG0VUqLlkdHFG0vPxs8GGFYDKcQmnRPsiRmU40l8tKX1y0d5DattWKA78013x8fABJ8RYwXSaJVLs8jKnSuAtRWCUjiQPvqf9UDhTlmq1AH34ahWE1GqKkf5mMtxaeLvVimCjivgUsbJfKGrTmnORvboO5lIBtNzm1x-tq1hv7YoBbJCHbnwLQM5fVJ8kObPEUBGvycKxKGWXZj1t1B7fChmHbAGhPcanYnpcPgEclGGDN7pp9m_dlBa8nsdXLHn_NY181G6I32tNm5MgUha3JS2flUwsw6LIwU0ECa5KpbOWk82M5eYR1xpC1xbEAHZWO9I5mzFJUNYZMA45OT5vx6EovH4O79R_MZMZ2ORakuRcNnrLIDPHst9BvMa5iDhajzB8z7Q4jj0CNrZl3h8xAgJzgY9Gk2TnoPuPDBJEpL4ZT0xEAXqvS7mf4VUcfeTtk_5-M1lL3oOoEQwLNYMt_QCQ4SlRl2oReo8p5NLvRkYiHTdYA6mXxt6g6fLO6TJhrb7Tr5QXOvfKN1Mkpr9EWhWcdm0d3T0ZHL9WYkW3YLwx4BclUa6GIfGzk_esQ2Cpv1mi719VjRnA39eVBJ0mrLQVt_-hAEGtlQsMsdKEDcOuAx0S53t_XjQLrpMVtW_SiETxaafUsU-JhBhitWwtjO3kYqLFzLgrN3GiHGJaFsfCqc1d4rCcva2k18Z5T4BZ9422ya8gU5B7iXYruMygdUkKAbY2fsUIWAeAV0ZBJ7R0IpxrZXzV9PmTtGHa6cesGCk0Av_G2c1Il-y0gNpNhuou-G9_rfi3WQZKc-Y_vFhLvqA9gSHp5mRR6errNzX8mgzNjpRVJk9PDbhpdbrxXvYqKfsuNmr6Pgj2XQfAklLVRM-uaseBHU9FUC175wIJXesAHeVNeOIGwsVpWasggN26Abl6dep1KQ2NQwfj0bFajNx91Re36BzWQYmkuOsBKA9bjFLHgfDnD3nQvRoiXtL8WySBvAZU3PnvVpv_3A8SHzypGgCjnEKhFyYabNuLbjZ_uCJyRLb33KW0rY6JPwzm3TtO16HVXXhb0L5ARVPTnYWD50kkhjJfamCJExmVotDLPfFqxF6xpZFr19ZKxEjDQWB8RIAV6e_bXidk-t2o7bBQWgojhJtFWWFZ20wx7pRUQLOgDV7Cn7Wn920NpolClzzmkeauyjGgTZsaJMXDEcpGP-jhi24VViDBoVk7RthJjLUgmXiPcKn_LGzqMj06mxE1G6NwJx0W9EXmwitqbw_lL0Hjufxek-fw0q-ijgKo520XzjrdEYFYHuA5oBOgvwULGWJzU-Gl6E1R8u8cuToO_UkrDhNrpGvc8WbuEJ8aM2bXJvJDl2kbkAuw6SgfJ-x1OvkEtc9f4kWUZJoH25fU--J8-xlgFYoI8jduHKmzMUhvG_SHfkVRKjCi2yq1YNNb4sSNNoEfcPnCHhcuTOaUWnyh5h_Cwoo_KNI2Z9QL2E31IG2fs0E_zVfi1hZvjb4qjgiQVoBpmou7Idf7iZjOG2pXOkgjNd6vh5AXGF2gpGbFTvQny7ZrTYOZiH9f-K0e0hTh-l0V2lKCM_oeumNJ6VTcx0Gv3SSeoZcCvpmRrnlsDRjfZE7ijCos3of2oV-pH9S7TqAN-ztm-JrBax1K2FFy87mDZnBj62hF5gJZvBmeiKJZDZ4w7579wtlszz96iv69K23qtLTmqZ7M58vmeLgxxpf2t8j666f-_EyGGh6iaNHjLJhLG64VJ6o_GNqShfh031I5fP-8swCdFyavOB-kSq9VGuseoYnUx-YQtDt_SyxIefayHUles2r3i-IpOlgpOniMziKR-oSxvREUbwf7YqzNIaCZ1hOpiu90pCrda1-JsWtP95DtbNeQ-34I14Cy_LyNcsosLMzmeiJKmIArhqwbmTQFBIf9QTLllDnllPYVIOh1rLBbQ5IOV5SAuNbh-MptMa0I0xVACqET1CpKbAshKJkwIXJt2USrhIxrffjTpotTMRJ1RzMkQpMgBOZ-MOWDbXl2TvfjhSXRLgPgbM455W_K6MnlACDyQtd6AsapzM3G25-6qFsZM_M3wI5LSeWNsWm9Xl91gNHCwJgZfaq6BbyrzU30Qtmjg0IRxe9wH363XlQRoSWoOmFJe2B9NC8A5HxCpXMCWTAZo1gL2-b_0F_fEiZ_AG-BZBfJ3qkXvgblcpzCsLUdyxunnAAeWMZAzTi62SIn8psZcajIs8CTYp3WKBBFBVOIh3vNXnN5W3wooRyN8xzns91xmx53li8p_aY-XJbNwHn3NCxmilWeHUSs1AAubPOl7ORp5oU6J4tvsfeGBZbXjw-0D-Rc2JfrpH1czQH6veOnVgj-g82TfYMflpD6rOh3yj1fpLZyqUIoVk8iPSgvnt7p3xmD-eUqte2JsKsqvMklT2mtRSQYyKYlc7SBNQt0eWS_uZbqYPupB1ON_t5Fctc6cTGUqzs2JuXMj0Qx79Z4cj4xiX3fF_AkPKKBLqZC5b4tSA_JLdr4ntPgeqe9qKm_gVCz8HgDEYFORNV6GArvAj0EE5wCn3L-L0hG6i6jr9F6ukAuodhK-pu_ZAwqwcjluYTAVEUoUhG1HarjpM_6Y_p2uSs2QXv8EWea_17Wo6V6zcpJfzxwgo6LFUNLqJJNs2lT8vtPEB-a_q2ud1cqoWA3OrV1X0OojCH9gK7co8jz6De5on_Hyh-nDGu1LqGQBM21zsTgwWZBXgwkIm2g-_phD0khCoOK4TNdwcO6d84PL-Na9wNN9mdnzuDn3FUaZHHXdlI9IlW51KdI0ETB3rmQP22He50b63YlTPp6g1KQ9BOJVTcNUmZz6xp0VLWwzr9rOcWvDVVqRtizL4Adb3lT5YvlZoP49A1R43it0411oshGcLt5BB78FU-JlnJgmPT1FImMoXOON7GhssX46SaBddCQnaFb803Oyw2JzQ-BSEyOd0F9Wgi1uxanriVw==",
  "id": "rs_0435a2583cca5a39016ab2c1fcb88087d090ea0fc5fe770cc7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.17,\"left_z\":0.2,\"left_yaw\":0.5,\"left_pitch\":0.2,\"right_x\":0.4,\"right_y\":0.19,\"right_z\":0.2,\"right_yaw\":1.45,\"right_pitch\":0.15},\"note\":\"Both pieces have lifted with their grippers. I’m raising them to a common working height and beginning to turn the pen tip toward the cap, keeping the arms well separated.\"}",
  "call_id": "call_rehAYoLDe6eWe3HLOxKkrtTT",
  "id": "fc_0435a2583cca5a39016ab2c20f3dbc87d096c391996f31a17f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rehAYoLDe6eWe3HLOxKkrtTT",
  "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]: [-0.8154, 1.6997, 1.2266, -0.4976, -1.034, -0.8925, 0.0716, 0.075, 1.8652, 1.4845, -0.6758, -1.0496, -1.0527, 0.0529]\nstate[eef_state]: left_x=0.3805 left_y=-0.1774 left_z=0.1834 left_yaw=0.4197 left_pitch=0.135 left_roll=0.0098 left_gripper=0.0716 right_x=0.4111 right_y=0.1881 right_z=0.1919 right_yaw=1.3904 right_pitch=0.1095 right_roll=-0.0441 right_gripper=0.0529\nstate[joint_eff]: [-0.5538, -8.3624, 9.0325, 0.8132, -0.6422, 0.0269, 0.6764, -0.7316, -8.8821, 7.8838, 0.8278, -0.7839, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6df2b025c03714c6e66df209c1740c77cc032b35b68c0de4ebeeff93b4bff1a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213da0ded6aacec1c9ac746c1f200cceedc602c60f14becb4905394bf28b95e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca6fa9bc2dd6dd935debe18c07892d58e27cfd38121e5f93a90510ea8c120c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2802, 1.5269, 1.2163, -0.6487, 0.1043, 0.1329, 0.068, 0.3679, 1.7176, 0.8822, 0.0803, -0.1066, -0.1322, 0.0482]\nstate[eef_state]: left_x=0.3814 left_y=-0.1252 left_z=0.1569 left_yaw=-0.461 left_pitch=-0.3808 left_roll=-0.0089 left_gripper=0.068 right_x=0.4086 right_y=0.1815 right_z=0.0635 right_yaw=0.5195 right_pitch=-0.1916 right_roll=-0.0179 right_gripper=0.0482\nstate[joint_eff]: [-0.1709, -6.9812, 6.7761, 1.3358, -0.0171, -0.0171, 1.0281, -0.212, -9.8667, 7.6513, 1.5018, -0.0513, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssIgr1k4U5ZDu9CiF1VMqo79xDmnU4EfRgxd72No9ZUner268fnhWvke2lrRr95rv620dtRb2FFa47UHSpAP4IP7CPbO9_I4VW21HjdR1xvuiXR8m8Cky6bB5nDjXwBe1Dgv0fBDjU_tH1hllDdbqarqrpCBQcgkGVoYh3t2W_TqirD4DHPnfAc6aevtfmIAia15bWpISjXmHseGA5O3PzzNTYMVJvH4FMxmkqu9AVq8HkiD9DN4nrLNcV3i7Dda0YZOlsWlXsZu3i8-MilszyNvqZ6XfePpccq7HsM4el-lkkW27s2xyPZYiUPZ3NU_7dJRZgM_FHDQXHeDBVOUf8NvGUFb6DmavuhRVRWG6HdxWj2jLkQ50mRckAL1Lihm7oBP-GOJyRg-Ry4YmaIGtUi60jgShYBpGzr3mg-OkL6rAGDsYzQ3qIaV8aIitofqXby6IBZ8Hll8E0plTANQFmU4qiUvnIaA4jHxRselO3923uMRndWmJpstiX7by7uGCT5_lbLGl--hvJnU8VTsDy2yprje-R0j3CGBX68fTAVsGOpsPi5JL2PwB0t_cx15vjYwRCH0o6Ss3hr_UFFNmgLxj24dQA_mV6TWWW3OaAT-HVX_DAly5TFjCZyKblLQmZM6keOUzwCX_dS8vkyBZSdCRHZJ6c2wjiTg7OtT0Xsun9M-yLGi5eUZxSaHShyCNMWD9WJ0IByx-r4K9Nvmbka-v2CLJsyVzlwEbS4s5wiFdWywWuLP2MjVOQDrhGn9P0sEZhrWUejW4rgrIBxc09nCsbWUPHwKD-Ej293veCRiLB2Q8UJR0P4K9h0HBQus0KAw-J5RRwPoXPGEmpQZjnbMQIbvBxSyhYd4psJwa2V_eh_e80LSFsP6xnv5952COM5mSXKS0zbntuk5B3LtbmHXwAmojayoHDcLhjCr5kZfKdt9-woRcDlYWZibdJkooMMLOi3Mf2vLXyoNNiX1ZorxwrfiLyx9b5rXEEqPh19Fkxmzgoi7PH6CXM_rmScIG4X4ZWL91IWHGdGuXrkQO3GnkKb25LEQvW6pMU7XD-gwxcKQctm_SpvGP3_YbflGKp7iYT0mFJIBjpg0HPRU-TUdCBqKFt2gBXT-bSJqjZ2DSpYCWdZG5Ds5Y_42v3ekWwkythuPSrZ2ju4mzcRO_aEOXnqg55qNazUUwbaGGTE0nek-Ig8joS-rXFOSjFy97QI1MpN7HOlZ12ntiKQA_G-QgIm662j-V_ATalN0OxaKVXDJ10dw-LElW-Uu8Hfr_WYO9nvSxN0uw7BmgGt6MObsKp9s4yG3hn4Dq51jThxiQ5usoihKf4btmAZv-s6C_CDAVtym3mEfzbiAK7iTNVDcA3N6cyiXbtjvw_zHAaddoaYLyNFjUevryNV4JbChVODckow6ljeQJQ43k_KvrDnUTjIh5xWOqmN_9hqTmXw8DWzj8rROSAwY_RmJ58jgSkN_nXiR5IB41ZcHOjF4h21HDCfE9__pwP0SA-RgzNySXiXANBt8pl6HlGkegr4SFyszhzAe1Y7WfNscyEdXsFZARcL15d0UCAmsmCVJINi57jHDR3oMM8mfYKs4Rd9Qh7k7giXoEUHhqnuuOmdA6NJ0OLP-y2uXKngbsjb0UF6fqljCDKVDTVRQgy3LsqNXojY2KLbEcZfx_bqa2Y8CAwNlrz80wMVd_xG6HREsxWi3m7tqGit1TsUFfTSLDFgRHsFQxxPOdE2O-UvFlabZMLt0Tbz6Jl9nBrf4Bvp1sHnaS71vzjB9_iS2m0Zongd_0zJrZDjqeiBPohd9QP3YOAF_dkJAmwPtgFoqQSNpY8ia9dY_5nUqYb-Wv-T99z_KRuWQB0G2ADr12BfDZxSaDzXhmg==",
  "id": "rs_0435a2583cca5a39016ab2c2185f1487d0a222c36fd4a60b63",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.245,\"left_z\":0.2,\"left_yaw\":1.45,\"left_pitch\":0.12,\"right_x\":0.4,\"right_y\":0.235,\"right_z\":0.2,\"right_yaw\":1.45,\"right_pitch\":0.12},\"note\":\"The pen tip is visibly projecting from the right gripper. I’m turning the cap onto the same axis and bringing the pieces closer, leaving a clear gap for checking their alignment.\"}",
  "call_id": "call_934QLhfCiTWmbQa0NlnurRKL",
  "id": "fc_0435a2583cca5a39016ab2c21cedf087d09335448f6a0d8414",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_934QLhfCiTWmbQa0NlnurRKL",
  "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]: [-0.8577, 2.1067, 1.6577, -0.9546, -1.116, -1.3655, 0.0738, 0.1825, 1.8767, 1.4826, -0.6163, -1.0283, -0.9764, 0.0529]\nstate[eef_state]: left_x=0.4014 left_y=-0.2161 left_z=0.1412 left_yaw=0.6129 left_pitch=0.1225 left_roll=0.0223 left_gripper=0.0738 right_x=0.3992 right_y=0.2312 right_z=0.1886 right_yaw=1.4518 right_pitch=0.1055 right_roll=-0.0247 right_gripper=0.0529\nstate[joint_eff]: [0.0342, -13.6, 7.3231, 0.3639, -0.7253, -0.1441, 0.8034, 0.4171, -11.1111, 6.8991, 1.1062, -0.4664, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40fd979f21b7620d33945be93a3167b31be957230fa6db5fcf90bea14a014918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bbc07c922c3c835bdd226098ce63a372705edcda5179dc45a064d219336aa6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e04f7c4d84cfdb798e1fae9b19b9754143e135827124c371df252cab7e76da",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8154, 1.6997, 1.2266, -0.4976, -1.034, -0.8925, 0.0716, 0.075, 1.8652, 1.4845, -0.6758, -1.0496, -1.0527, 0.0529]\nstate[eef_state]: left_x=0.3805 left_y=-0.1774 left_z=0.1834 left_yaw=0.4197 left_pitch=0.135 left_roll=0.0098 left_gripper=0.0716 right_x=0.4111 right_y=0.1881 right_z=0.1919 right_yaw=1.3904 right_pitch=0.1095 right_roll=-0.0441 right_gripper=0.0529\nstate[joint_eff]: [-0.5538, -8.3624, 9.0325, 0.8132, -0.6422, 0.0269, 0.6764, -0.7316, -8.8821, 7.8838, 0.8278, -0.7839, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssIpYkm6jG1nyEIPQrfyAwF5kYvlLPYNs9ETPU1DkAjy8PQk701_-xkvVQh7Og22stbtC8QT3cAYYRxw3YbJqfEyxiJJuAxsqHdffyaBbEeCLNNzsUJgKC7Wu-E9ka8b0ABklGBPz8BRHN6Evtqs7VKfQl9iDZJrOdRo2xOGnaNev_d_enGiJeWjMPW09QCy05Mov0S_LNONnkLqQ9jrX87uNrIL3zR_UAyx9SQRTB1DuXAJG-fp9d9y58uAL0GTDungK0m54BziDMN-h4RBJ-4e3-5qTvU86NAIAAJesUOfcDgDOgZFpmCc4cT-6RVhSagERsNR9OZEvdfqOnF0FL74vErlobJMECd5SxQOxvqJbN0zWvX_e6Zt1zZ-Hy2HNYiabTV9kZhoE1q8GtgKcDFVGpXcE1m3KoijFvJ_Q5BEWWD3VwBLjlKntTluvL0coISpPUlm6gzwmRppyDSkwvKyxEsSOPYhkmvum4HyGRLJAtSJhKtT8uhH9f22XucsLsLWXoBJ-ujotySbb7NHe8f0EbMWcTo4hpWGUYaeSKkztew_neSCcArpZA9W1ijTZuL3zg8cb6q844_Yqo9bis6E5CF3f67yjPIgP6gqaogKDX72atuXbgBl8-vMXwbwwZEKMNroAXsuAgdA6zd0EmJmN6qIBodCgzCttVJOgrNFj0lxHuI8mK4Df7AqH5TRIL0ea5Qtpb3du8DtLwEerHXB6EA-JOjcPe7ErA0Y7yZz_wizZS9-gjfCcHvy-8xcIbAjZKwgeAyeXfnV958PklXbf7gfy1rY2Ua54YQFQCN8FMwmhQD7dgRbZ5HSfNPGkpBij8wBYtvwRu4zx1TPk-C5A0zMXJ9j7yr8Y_pa_Vchze6OFEo-K8V5tnXuFq2jAWjHqcNj_Zy7bsp9E94VBIyvffzww0S5ChhEFqZiHBkt_j_27lFkVrDz6v4IiBcpdI9w1NXoC9colNvj7ru6lgl4R4q3v4g65woC56jBdiopEG5sQigZaIkhqhcvCHCDNdd23hjtqKxf1SiljWnk0kWEyrZ6RgCLNBZ0dirALq2pebvmevsvddKCJ3fneo2sW-x0SyY7-sX9pltbfw7Dt34YzjYuT11h6xqBRlaGLq_4doE5pWcAC3dqYMjCDWINrGOqljCbVveNWFO4QWnTp9oZgSEoFFdxnb9eYFsTl0hEk07ZaZOmtr7ypS7rLMNjAA-CUmLMpvHU1QnfllBHhdQc5UZxfd7wM-zm1jiLfRua1K-3MaeoU-OYheSJE0hPy6o4xyKmLQYCZIf0JiFvQ4uWtjIRoYaaV2UeG6GAprAY3LdLUswAwowCr28SGP_Ps5aU",
  "id": "rs_0435a2583cca5a39016ab2c224c5e087d0bbbb986e7140fcd8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.23,\"left_z\":0.23,\"left_yaw\":1.05,\"left_pitch\":0,\"right_x\":0.32,\"right_y\":0.235,\"right_z\":0.23,\"right_pitch\":0},\"note\":\"The left arm could not reach the requested rotation and lost height, so the pieces are not aligned yet. I’m bringing the work closer to the bases and raising it to give the wrists more room.\"}",
  "call_id": "call_VPMUCmhtcxtZ4jlirL58RaMG",
  "id": "fc_0435a2583cca5a39016ab2c226442087d08b466f16b99fc500",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VPMUCmhtcxtZ4jlirL58RaMG",
  "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]: [-0.8574, 2.1071, 1.6825, -1.0626, -1.037, -1.4551, 0.0772, 0.2295, 1.6386, 1.3872, -0.7021, -0.8616, -0.9569, 0.0559]\nstate[eef_state]: left_x=0.39 left_y=-0.2127 left_z=0.1335 left_yaw=0.6458 left_pitch=0.0388 left_roll=0.0198 left_gripper=0.0772 right_x=0.3556 right_y=0.2244 right_z=0.2217 right_yaw=1.4007 right_pitch=-0.0047 right_roll=-0.1086 right_gripper=0.0559\nstate[joint_eff]: [3.959, -12.0, 9.3607, 0.6911, -0.5348, -0.1099, 0.6471, 3.1932, -11.0154, 5.5726, 0.0855, -1.2088, -0.0122, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97544d8c57ca770410b57c7b21f5f7680c4b68099e2458cc1eb8d45fb6c1d186",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56156c941c88e1ccaa85983aefcc535e6f5d00a41e8a454687b001d6c3c03641",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c778854424552b532deb68aaf5e3e117623184d4a189fc7341e317c7c0d878",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8577, 2.1067, 1.6577, -0.9546, -1.116, -1.3655, 0.0738, 0.1825, 1.8767, 1.4826, -0.6163, -1.0283, -0.9764, 0.0529]\nstate[eef_state]: left_x=0.4014 left_y=-0.2161 left_z=0.1412 left_yaw=0.6129 left_pitch=0.1225 left_roll=0.0223 left_gripper=0.0738 right_x=0.3992 right_y=0.2312 right_z=0.1886 right_yaw=1.4518 right_pitch=0.1055 right_roll=-0.0247 right_gripper=0.0529\nstate[joint_eff]: [0.0342, -13.6, 7.3231, 0.3639, -0.7253, -0.1441, 0.8034, 0.4171, -11.1111, 6.8991, 1.1062, -0.4664, 0.1441, 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": "gAAAAABqssIy2V2h7SRx2RD1BQ3zsx_sYQcvggcXacqikvgUL5VXYYhRwKPZOI9ZYXwzy7MRFWWKjIlQQOXJSoCr_WDRYsgCHi_IRN7Th_w2xJ22eeH1QKRvdXEAHBle1d-WjRiSJAP5-RODLEtUp3JtIhG17gNkiSmAyt_PO3vj6yi3bXOMA2VpvSLdMIogWFgLxjVTAdTWIFygSjvQUooB_pwqjZzgbIrKean6UnbEjyJjVMDLRHHOJ0WHdOL9pRhTWdzZ6DOOMs_BnJ-bHKQjXtOFO-KUXS65LAADCy8JCJPi-jtpFmTNRb7XFoftpN10_T1CudKErZvo5pl_K4KehamW8ofvzhzpziUBT_i-hAEkyoTGCfKX-IT4crcGNTtByVyEUkEUUdT_fH7oTUQcKbeOkmJ_Nn9Rk8NZ5QOgP3TLmSatEhYo2OLmAtiNnXX6lCkYjabT8QDIIhmRgEDmhOAgG63qsCWacxIq5jSjia8l5Ehtb_HP8gj99b9kLbL1Tg_mPCs0ZZJ0ti6uODe9c4Ue6rCjluICqmVYDMkGugnhoQ-RZhlVVPRT1mLZjucj7kvEMNXoMRQi0k1LFnYWiV4db3VBYJ4Eci8JsKWWjULtN0uJehs9RGRO9E5YENGlsjVB2VUi2WDA8ps5e6NmI88YQPVX5aV73uJZyQg3JkZgRhQ9KYSXDT7IzjBG56xE2K3voOTch3k3hYLIdsoTC-74WsVFKjx_LgZyQ44DavgfGLUiT2FMjNud7iI9TH5TxUsxbscEe_giyiSy06lLkBdXWHC0I_zbde6b_6sxvPb54KAaIDXHE3Y9upnOKSPenQ8Z3QgRq6gq8VYdRjzUI89hgYK-Wbz2o8AjNvP0qhTezZaclsCqUMRu4YQIFsVeev38Ruw7HDBIii5jE6yrUM1fFY8h4J5_Mlm2-HyOlv8ovPw45lTo8VC6hZ8N7s2Gd3NeycZH6omeWM-hFTEkUVY4EgUWSP1I_bTaFgsaF3tpb_5JX-RULV5ucMmb4q55p34Kye-IguhZs6IZRU6TEj-W1f0wd-2_AHePbhLP9c25SOE7tW2LRDSnzGo51POK3Vgd7tzZ8nQ0BoqvE09N0gFKq907FcY2x51Eh6SgUmMcx6xA2we8jE6eFDdhKWSRMeBd8zjp0FZx_lOeAKgeIBcXdTVwgRop1J6S6cIWzemJrHfL9Rwhkca23bLZ5SaQI9XnOiuK5r5g4ZGXjSCsa1GTkXbZmOeUZu20vO0OxjbLrN1Ow6jG90fCqEosI3eBaqSRLuK753mpglw4UIZ_onEmquNqfLyfL5-jsEfNYtRV0KaL8ebKFgQrE7vdE04aGMbLHOsq5Gn8Um_QcjTQGxDHJjG50g==",
  "id": "rs_0435a2583cca5a39016ab2c22eb3c487d085d31e61656a66e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.15,\"left_z\":0.23,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.33,\"right_y\":0.18,\"right_z\":0.23},\"note\":\"The left wrist is still not tracking the new pose, and the arm bodies are getting close. I’m separating them and undoing the difficult cap rotation before trying a different alignment.\"}",
  "call_id": "call_giW1vLctbBthNCiaG57ROtDN",
  "id": "fc_0435a2583cca5a39016ab2c22fe28487d09973fc3e5ed4e44e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_giW1vLctbBthNCiaG57ROtDN",
  "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]: [-0.7326, 1.3174, 1.0214, -0.6167, -0.6964, -0.8261, 0.0792, 0.1173, 1.5787, 1.3479, -0.8425, -0.8948, -1.0946, 0.0554]\nstate[eef_state]: left_x=0.3246 left_y=-0.1348 left_z=0.191 left_yaw=0.2706 left_pitch=-0.0845 left_roll=-0.1037 left_gripper=0.0792 right_x=0.3415 right_y=0.1826 right_z=0.2198 right_yaw=1.3808 right_pitch=-0.0267 right_roll=-0.1021 right_gripper=0.0554\nstate[joint_eff]: [0.2803, -8.9094, 8.6906, 1.9121, -0.4518, 0.2222, 0.5006, -0.5675, -9.6342, 6.0786, 0.7839, -0.7009, -0.1148, -0.0611]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9158f3034c626dd024acf7bb6edfecc2967b86910380c9d819eccb564d3d5780",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2707618b6451a50a7dea55212c0792fa5593408ea04459fc4566a065a6facd1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbb53f519100190f870a5d9f1995da6dfb3386b976b93ea6d790f0414ad01d38",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 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]: [-0.8574, 2.1071, 1.6825, -1.0626, -1.037, -1.4551, 0.0772, 0.2295, 1.6386, 1.3872, -0.7021, -0.8616, -0.9569, 0.0559]\nstate[eef_state]: left_x=0.39 left_y=-0.2127 left_z=0.1335 left_yaw=0.6458 left_pitch=0.0388 left_roll=0.0198 left_gripper=0.0772 right_x=0.3556 right_y=0.2244 right_z=0.2217 right_yaw=1.4007 right_pitch=-0.0047 right_roll=-0.1086 right_gripper=0.0559\nstate[joint_eff]: [3.959, -12.0, 9.3607, 0.6911, -0.5348, -0.1099, 0.6471, 3.1932, -11.0154, 5.5726, 0.0855, -1.2088, -0.0122, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssI7Vxa-ey4JESby7uAcciNs-TpWjSUnXWQXxIKNrVeBbW1GHgaEzh3Xeh2HD8w7m8wRgfPzC4B_YkNJNaiL_8kxDjym6RN8_9l9wAzE7ra-SYYMEzXfLjZvYKwibW2XUli-K28a2mVa-X8AC8q35Z_Q0I-m5oYa3ZUWdVOc86YLBr_wSZGdqK9n-lNVV80YT5Dyov9n3j2Dc46ZgP7zAA4bNjATGqoPfTraF5JdgCBvEhMwm3hQTg6UAKRhDEsq6w2Tx7y-9_1Ts1azM2KdbL8mMjA6ttdSXv8aUOtrq-ZHlQhbd8esctrEJ1l3_msWmjjiSGflOYvTB8BLGBIn_6ybk1bWcukqP9qr1jol1zDSN90KR3vC5a-EIRs8HyrLmbP0se9e9qMzrDX_Pni4vnpDEg2OIW9IyuNfmp1Gafs10xo6D4GkCM10S03p2-JWMHoVmuRqtylbmuqStoNf18kGnh4SPum0IekqGdRafFpsxsDbyJ3eR1R1oPIIC6o-YJqLn-X22CVhOSp2mVsg3XJVnIwEg51O5atL6LihmQQYUahXLtSO5zeDYRAUVN29chdbxbDDpKVGclE2K6Qc6mJ49MDUKp6nzrIi6CBa_rsNJUQlVUi1kwFWQHSKA8Luj_r2rlk3vJYggtkafZBgeOQxJ8NXgBJxtDwoZWOQUTfnqg3xL-_ks4KRu3ZmzXPGSZW068_notS8efICLlCqKyhULl8De47ZiX2AsJsGMFFCAD1QIsbs5Qao5e8Tp2AbDddTRrnLlkafLJ9WmVI2UGSIoDa5ivWB3vimKUbmCzNAhlbaxUcOe6_NeTabOj9qr5YpQuGf3aLri9WAskKI7-ptNWxc1A3OrMU2YVtYuQOo5oZnEEGyWvsyXPtGGkOPfilbc5EFg-RduRppXt11VzSB5VL1Ka4lix9Z3zpu38z-j1OyR3TWnr7ySNyZ0aJwIRi4Uqm13Q5qiUJoEHK5gC8tMcqnB-aUjAp7U4iX555J_rnJIxpT3-Ytbhni-SzSCRvvi_wMsgHEeJmwfufVp182ebedICpEPX25pf8COmhF9HiQjIFgcH45lXMztFHNi70aqEYT9vRJKCdQH-C4EokyPk0r3PiN-b-xkcFIErgxusS1vQRKc7djeJ5EBsd9AH5os9GeLb45R5dIwbMgvbrvzp3TshmRFalAObRjH54KUe2bXyA_imq97ZMdDPGnt4kMtpithoclRTpefPymCqNNO3NAIBzkI6VgleDh9G4-ppnS09XE5QTQ8lpAOCwcm4hRjAistSFnlFxKm0rGA2Y0C2a1O1YYv_1oM1zd8U7FnsOylgymGgAMEZ70TxU0FKZwaUoWvo1-V7w3dh9rqdS2MuJjgKVZwYIvmRCqam_vqjLmSw47x69lX3dikFtnM4qehJp4w-A-DeMNTkGN-U58SvfakNggRTm0uqzVn17suEGpNArDEpRY0QambRV1j33Sqp6FoP7KKQ2_DkvSx0zaewDqs8-koRnFOmNX_OvFTUKvGaEHmfwIWDSpf6giWIfY5Ok41Do0pT9CO9V_5S-JTFDCGp4uiH61lhomRJBlwBQ=",
  "id": "rs_0435a2583cca5a39016ab2c236ac8c87d097f53f94cc283de8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.22,\"left_yaw\":0,\"right_x\":0.3,\"right_y\":0.245,\"right_z\":0.12,\"right_yaw\":0.55,\"right_gripper\":1},\"note\":\"The pen has slipped back onto the table, while the cap remains in the left gripper. I’m keeping the cap out of the way and returning the right gripper above the pen for another grasp.\"}",
  "call_id": "call_y04EZfLpZ8tfZG14oBNrJMUA",
  "id": "fc_0435a2583cca5a39016ab2c239813887d0a2592eb7f0db3faf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y04EZfLpZ8tfZG14oBNrJMUA",
  "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]: [-0.6323, 1.0885, 0.9474, -0.614, -0.4694, -0.5541, 0.0817, 0.7502, 1.3243, 0.6483, 0.0208, 0.0696, -0.0956, 0.9948]\nstate[eef_state]: left_x=0.303 left_y=-0.1185 left_z=0.215 left_yaw=0.0499 left_pitch=-0.0909 left_roll=-0.1176 left_gripper=0.0817 right_x=0.2837 right_y=0.2525 right_z=0.1116 right_yaw=0.73 right_pitch=-0.0985 right_roll=-0.1114 right_gripper=0.9948\nstate[joint_eff]: [0.3761, -4.1641, 6.9402, 1.4774, -0.2564, 0.2662, 0.5446, 0.4171, -4.547, 6.2564, 1.9219, 0.2271, 0.2418, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a19828500aa4373bcefe7de63c04fa9af9cdf449068f150615ed15c0d495404",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b7561d99c421a5f28dffd27da48adcb0f2619168c27021f3ec64a78438945fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3720e732aa5bddbfa7b26124ee81b1ab650e14b941c85664e90b0654a8fa5f69",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 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]: [-0.7326, 1.3174, 1.0214, -0.6167, -0.6964, -0.8261, 0.0792, 0.1173, 1.5787, 1.3479, -0.8425, -0.8948, -1.0946, 0.0554]\nstate[eef_state]: left_x=0.3246 left_y=-0.1348 left_z=0.191 left_yaw=0.2706 left_pitch=-0.0845 left_roll=-0.1037 left_gripper=0.0792 right_x=0.3415 right_y=0.1826 right_z=0.2198 right_yaw=1.3808 right_pitch=-0.0267 right_roll=-0.1021 right_gripper=0.0554\nstate[joint_eff]: [0.2803, -8.9094, 8.6906, 1.9121, -0.4518, 0.2222, 0.5006, -0.5675, -9.6342, 6.0786, 0.7839, -0.7009, -0.1148, -0.0611]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssJD_8RHkRsp6eZRr0wrbXM2mj4MX5Q4TFOXfbKFi4LZyBSNPySmhJxhImfVo7d3WR_Pqwye8QvCMCf3YHDwtZsUoO7lYhK98L4MQiOSmDV4JFUCv2DdP8Cu6A173sAQysI85tET5Y40f8n_TCYLw98IYr2upcveEg28pLmVilo5NSVriZYqgjj9c4winrNHtLwvJp9pDtrwg_yNOkkhKzglDRgubJQD6XQnaSsu0skkg8Vqd4a466NT6rOLJnHBdfdjZcAW_2x6uDo7LIcPDYkt3M2sLhytZxcM-tgrMK_2zjifXZvR3K3duraKKeVnajcUkbPhBNXDqisKno6RoO9vCZ02BU3FImLj12LwKFoHyk8fYaZjrfodkEGewiDzCbfuKZGnRgPKKB_aBxT-SWG7Xm6F33IPid43j4oq4c81s2CyTsyrZv1OIhQw4xKO2gjjxIDoJeHh-f1zsNBJu3Vx08cb9yh05latAbQicVfd4kf_iWgnGjBW_P7MMpwGBynT3SCSnThxbNaluDLEADpMMrSnR4gzejcVJ-psWkmx6o3ylX4cFByPquxG4pBKE-sF6hqgR5_3pNCtCEPe_0rPpR6jWrYzazDVr5y1aGjYtvAXna5yl3nk2MfHXxaCXnu9OEPfbqzO53v9oS1UFfWr_YjpneisFOXvK18pNpeSjyO6Av-ANh-_exshbW46KD-v98ehIfx2YSH74g9Cj0JnYmHuVWX3m4pgt712vFWDQWNJg-wv_tfsZZCJtVcwsFr3xe4mSEcEpWS4dVUv0bCHWZ5xNVVI3SkKeWI1v5Y9k6rsXm_3Gvu4fuzTu8n9iQdZKP0hI5_oJMxVdlGM7tKmd-K9gQl5zOjQlJMn8mIPzsg-xB8DGxx9PSqnjlW9db1z91D1YiBwnQaadN1uEmi7he5Th-8A6AvjwszUNfpJ3qj-0R8NuOF__pbDoCoQqcbEuM5esxG1F_fcvXbgMQ3db1sUj-BhoV1m1ndu8sD5SIgRS8FLlXt__w5LiQm8lyOKKQSVsaFwYI_bQxA9siSEz7d2meSJ8bXMnnzDmsephcqSBXZUHxmlJ_J0k_qPkHgQH1ikTxIsYDt_tobJq9QqLlKJwYWNrxKs7-xHJrfilfIVKo4JIuu5yDxB0IrYSBttJf98BvlrXN_g1r0dFo-fTDjEO5pYIBlk4ThVjxYVA2cdI4UxQLjyuQwAWh5WcERnaxPJ0Pl7qD3kFp7IflwkN63V-MRMYdQsBs2YmD8Gp7h_qbbjoQOJwljXYjhxqjPwFjpOT7mNYODWRsg3uafaKLWLcZM4tmdtza4KNx_qmxIUc8_x-nurFzWydTiEIwa18ZlCGgm5ofWlXz0ji4qvX01IdXVrtuXKsYWQvyoX7zP1Pm2NPSpM6Hz-GfewvK4GR10IRsCyhc9yaw82ro2BilMcM_FdsIneyaaWr0VrP-4oixE-WxWgEGdbC9SheCkE0i757Vrnj3zKxE0kwdQc5w==",
  "id": "rs_0435a2583cca5a39016ab2c23f952087d0ae187d9375fd5f68",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.331,\"right_y\":0.235,\"right_z\":0.015,\"right_yaw\":0.65},\"note\":\"The pen lies just right of the jaw column. I’m lowering and advancing toward its middle, aiming for a more secure body grasp.\"}",
  "call_id": "call_kJSwVZH5OBuPFYhkEOEEO3yq",
  "id": "fc_0435a2583cca5a39016ab2c24177a887d088b6b0ebd043f9cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kJSwVZH5OBuPFYhkEOEEO3yq",
  "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]: [-0.6289, 1.0943, 0.9466, -0.6136, -0.4484, -0.5522, 0.0839, 0.6342, 1.7176, 0.5465, 0.4412, 0.0368, -0.1181, 0.9954]\nstate[eef_state]: left_x=0.3028 left_y=-0.1211 left_z=0.2119 left_yaw=0.0364 left_pitch=-0.1045 left_roll=-0.1236 left_gripper=0.0839 right_x=0.3184 right_y=0.2306 right_z=0.0065 right_yaw=0.6541 right_pitch=-0.1745 right_roll=-0.1077 right_gripper=0.9954\nstate[joint_eff]: [-0.4308, -3.6308, 7.0359, 1.4725, -0.4274, -0.0513, 0.4908, -0.6632, -6.7214, 4.5197, 1.9365, 0.0806, -0.0562, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a42e155dd7a3648ef9351a5b7af76742d94a860bf125a95c9720738a05f4538",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef508e46f4cf099c85a7fa0b00434f685e9b486d1f54b251b8427a791ed8e14f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:645a7e1b13c148e5a9a9bd5859ed4e7394c761d1630500882496b01be53cd871",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 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]: [-0.6323, 1.0885, 0.9474, -0.614, -0.4694, -0.5541, 0.0817, 0.7502, 1.3243, 0.6483, 0.0208, 0.0696, -0.0956, 0.9948]\nstate[eef_state]: left_x=0.303 left_y=-0.1185 left_z=0.215 left_yaw=0.0499 left_pitch=-0.0909 left_roll=-0.1176 left_gripper=0.0817 right_x=0.2837 right_y=0.2525 right_z=0.1116 right_yaw=0.73 right_pitch=-0.0985 right_roll=-0.1114 right_gripper=0.9948\nstate[joint_eff]: [0.3761, -4.1641, 6.9402, 1.4774, -0.2564, 0.2662, 0.5446, 0.4171, -4.547, 6.2564, 1.9219, 0.2271, 0.2418, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssJLXBDfh2tkVDyUFKJf7jtNNnc60opoBg97puQ2QzqN6pgGdXQKMZeS-3M6De9CEMmefqTBU1Ab1bpf8IdA89-6Dbx1cTJigStD2TGob_DWteh19BG1FnY9JphQvYuYScm0w_8q4OZ6S-reKBFMH-nSEsQDo-JOoyKYpbI8UeolPjfrFKZZQGp0HYNdMqCDT86EKBl5h_q3Y3gL1fZ2Bsm0Z7R79ajLdukJ7_gzKDaoJY7EcCkpWyM3rHcX8dYakuk75j4mNtnBj0GGcmOO5Cht7a8y8dBjAApdxfGZsJRv2GeuS81sDBpQjy4oYW7Rtl55g5z5duxaj-NQDhu0fVjhkZylmaDDREWTm0krRyy0c1uFZrigZ9oPzuF0dHL1V8noLR_rwMvZ7i648KLPCIQXvB4G2JVR-nJcBksKVO1bnds1M_zIvZTgnTWWQ8B8aCP_s5d3Rb5mHuMU0BDOtXvD9gekyx4DstRdWRRNQh4WWKNEdPtqWPGnhDNO48KWxPT_ra-bVPoW9jq2NRKnyz0YPKSfFL36Fkr8Mp87EP8d7SeI50RW-l5SdoOWuICqy4CrTvBF6GDvBUVgKikq23DKKZR7VOEDyhJwFVEYBItx3LpqskzAWErrsjIprP7QiTv-NsjSgTWiuPZ3kmVcVTNZ8sX-hUSF1et7e1P9c9tzXUWvQhkO7eN13sME237AF-2DNKpuyt1vqUUyCKNZeCL_iAlfgTXxqeEL5gcjTSBmHHyh5UPgjZlF-zbIxiCdggsEbmbyWePhA1TE_c8WE7RT2-W5FlGYjuZ1e1849b_mkVcjZOAakDokAuxUx5c-EfwK11Is1JL-_k5pd980GjWbGUVVxiZjt_br96Z1xovYtkt_7It19AHykbhKjbHtM88GIBVSUs7yVaIZ16NzLtEeX-vZghKW8mCLswn1eTB5L0ONoFAcl1M2Unuhz7KApoWsjKg67hdQ8zDbR7XSA6QRZKbUD_mOO03wziavDGuPF5qnBCUI3Guf2C2y33CJzqmm6N3-SGd8mY4hm_JEpOYeQin5KiTVpq1XI5hhagEp2zUC1V4VrbvkXmlcp_Zpth8oILC3kmZuM0i1fEZyi63MA8rBFQhkfYhZm3BqCobZvoIgodWWUS3awrPumEfQ0mGF8mIsR4W6Ms6Pdw-BpX0gbLHfxziSXNtqwvarVd2OSKwDXevTG1rjrTWV5ZIzJ8ugBZvrrSJskI_8spAzZ-HDLx3_Tan5oHAoeKNqCSg2dM2SKTinB1gjkIUKYmK9H-MPUJypGv4_Rog5N9pmFDvKlQ==",
  "id": "rs_0435a2583cca5a39016ab2c247bfd087d08a7bcdc77dad6a06",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.342,\"right_y\":0.222,\"right_z\":0.004},\"note\":\"The pen is nearly between the jaws but still slightly off-centre. I’m making a one-centimetre sideways correction before gripping it.\"}",
  "call_id": "call_v9aFLViW1PinvZYYzQGuAY0D",
  "id": "fc_0435a2583cca5a39016ab2c249b24087d09b7eb855a2ed5024",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v9aFLViW1PinvZYYzQGuAY0D",
  "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]: [-0.6289, 1.095, 0.9466, -0.6136, -0.4442, -0.5518, 0.084, 0.5926, 1.7561, 0.5686, 0.4892, -0.0025, -0.1444, 0.9955]\nstate[eef_state]: left_x=0.3027 left_y=-0.1218 left_z=0.2114 left_yaw=0.0329 left_pitch=-0.1069 left_roll=-0.1252 left_gripper=0.084 right_x=0.3337 right_y=0.2295 right_z=0.0082 right_yaw=0.6602 right_pitch=-0.1431 right_roll=-0.1032 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -3.3026, 6.8444, 1.4774, -0.1929, -0.0513, 0.5641, -0.9094, -6.3111, 6.3521, 1.6679, -0.0024, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6031328ddabcba81ee61b2f22a7bfaae1d7d851f18ad764e6fea68caf5e9ba04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc2db1ff1f4487e9278619b7f27939268026033cfc9db2d1c2bf45c3edf28cf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04578e2277fe0529c24d6c79a09c0f06b719279022ea97faa0fb21e753490d7a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6289, 1.0943, 0.9466, -0.6136, -0.4484, -0.5522, 0.0839, 0.6342, 1.7176, 0.5465, 0.4412, 0.0368, -0.1181, 0.9954]\nstate[eef_state]: left_x=0.3028 left_y=-0.1211 left_z=0.2119 left_yaw=0.0364 left_pitch=-0.1045 left_roll=-0.1236 left_gripper=0.0839 right_x=0.3184 right_y=0.2306 right_z=0.0065 right_yaw=0.6541 right_pitch=-0.1745 right_roll=-0.1077 right_gripper=0.9954\nstate[joint_eff]: [-0.4308, -3.6308, 7.0359, 1.4725, -0.4274, -0.0513, 0.4908, -0.6632, -6.7214, 4.5197, 1.9365, 0.0806, -0.0562, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssJcX7pX_z3wNOs10mVs2wldzKxiGd5ImGtet7CWmXnChL4pbS0IKdxzSyvtea7_rVRQv67Agk7toUgXuK0HzwTh-vZ5XLmHn6YH-XCiy40J3FDuJ7ZbxQ8-9Y-nOzFJ8-cTc2DpfIAVnyiijncCh-n2yXoa3lTFwn24da387tymLMsJ2BmOjDLheVqPAYOfwi-HSQhDJyJofz2V8xvPSPW-H7oUU7jU0mrUtG6uKki87B21QHvV_fyuzvenAiWLHxNl4NvsV5JRiHCvGqmjTu0HvYK-R05Afu4i49KZ1-aZV1fgRmRQaJYU5SUEjGgKzf4NhB-1XNhTY-K9LYjQOSzui33VwYTuBllpajBN0QQHE2baw60e9vTZeVFUcDb00PCxD2jutB_-7_VRx3nrJqnDQN3tz9pM_RzHVlGWA-p0h-DEF6l1QrRU4JaYsWl6pTS3aq4EkygZfbh0sazjUKb_McGYhp_eWcNAtLaYfhARNnKwjF0R6KBuo22lM6FEUW0tt9y87cYkXFn6seDrmgTA37NA0ZaLwAyyHebJxS1xf8TXuHrUR8TCc7x8fN8KhWljDwySWK6lS9bpyUpdcLU-J4zb_5YAeUBqBws5XbmpFet5-3YMbVvkes9Rl0uuY-rDzg83gDtycmEn1QUId5FWOyqqU5aA6VUkmkJufQT_5r5hCCjlem4FRM_-5GZFnnFMeNsC6wW1-ROCIqxTfexDF43LOf0BMPGJp1P11xvYUSxn-TZ7hu8oqg2kYmdxBaEXCIRBtvYk84NrPd4IFeCb4LhUPprqcEa_zvlKBfcug1ogKsTv5f6GyiJH2M8nZ6O5Zhm08eNSeHLVAtnCyvHbMdewIG_pVjY5dbWhAuVR-HnrVuPlFATcFseoini6-PQD57bSeNuE3bTjwsrVmejuaU8zbdHsBMLx28zwT1tyG_MeaC5nWe8weLLplJPX1DF7XLegjShwye3GkMx6O6laTmbvI9FVrZGeWrsftVcAhenym_wIvQSo1EOE-EuCKhWTnOgIjVH3MP106TckqRYhBl9jYjpq_Fqvj7C4v0DXvYairKBQTnjSXSViPbZi-KZjjMnv_mkpfLkvn1YTjSb8ujB0Ers3YH07Ci55Czq_3IWONsej4O7Mt-ZXH8Kg-AZsoC7cJsWQ_bCUda8NoS2bf7D81kOfwgTdisvRTwmu0IZ2HHDm9UYQTSwrkHkn-scpcVi16YbtDmkz8i-bFA1A4gbXTGSvQtuVyahD0NhytJ_XlSaBekYzaTpj2zIXmAKUJc35y2BR-u9Xy8c3BDxFtXa5LISCgM5w2mWxib0dg7PMo5BVNsJhCSXhVHcOZNlVPgQa-xibOu4wDIJL3iEdc3RxnCFliiTyuwo5_Arf74cpUT3t0CH_cJMs8w1YsHVaarRVegG8_UPsN6orJ-eP42Y1sRHxb8W_hQquB0Ye-fKgos0SXjhowW3t3IgA8zbmkxgJK4PEnRsHOdLJAZVmxjoqSM88Xwh95Ln9-34_1fqSb9gXFurZ_RcZ2Q3iqbPwMAe7gkxHpLrFCUVhXcTbm-m_UXQBxx-b8zGL70RgIXC0Nc8Uu4pkzMz6F-kQFvcqQIh-vQq_jugZNIkoxJB1fGCrjqXg5Cid9RawPd-vZtT5K4FjVRFQQF-HBwbTanCneMAWM1uT3RkLBvfh8O4wxZDxt2f2BqbdIOE-08RKs3PSXtlwAHD2NT-B_B1YHNjXdv6FgASBE433oQzP6CPcW80LqmeTBdtc6TZJ4sAQxQfH0LSPG0hD84IhGGKrx984gmzbksni394hvgw2FbzdeXqerVTYMUGFGUHOcp2o0gYvjSJy54HfYciw3yOEX6FMKAMmu-ZbGj83CehQXdglB8vXDQgzqvqHU34ctMO2TICdzCCt10HuKplQyl2fMFDVxDTDa5srjkzzlgiT9EuKqPSCwKPn6rWwttiMiHAiGMjmbqFjtNbPcGrHEnpdJugibpkQqFyA5K-0E0aFYBc2H1bNzLkT2Koh0N5URWFtYUmRHO9xS8KI3CiZDvV_JVRe0GtCQG9jOC7rZ4RxBnfBfU4Y4t9X4KageWCttPCBhYeOKk_JjkIVGtmZiea1rtdaJcC4nf5h6khBsHukRFIsA76QD3THJleY6PAvy2qc7rA4CIknznQy3T4Z2wVgy05eaS7QufvwgOiCpXNJu17dQInftmgafniFaYFwYRnH7DC51CcBIq2hg0JSvwY-mYLmbTYING2vjCcrZRMilrFXsZQlgEYehianUTa2N5a40PgGzNaO68w0p59Lrb2iFD0g7ejFhwJM14D3yEVNqdFzetvxsjxUpHLFIi8szokKtxFAL8sFJa4Rs76OIW9wklcpOF9b-njwqXGPJYaD9llBMEjikUsGzBYZFQPGEkwprpz7JLqu1S3jVXNs2MI6-gpHnqOBmthyyOBvpvrrrvSjsd0Uo9yYrGerOhNph_c_apKOanu07QS0tp9y86iR5c3qbJb8Ly8ZcRu3KSmJn3IYbHJu9G47UGLaotpFXcCohr_4QN_y068v9rtJns3yU-5bqDnZgXfDZPgIzTR4xTqYLSZNtgnYm3CmD8Iy40hZxh3gA0M943irq5v-_wg5YO9sLnu8lFWrw-zQhnk_buq6Yj1oI5h-ZhtIo-aGlOIzzkSbLdrJcVWRwGuwW-pJwt8w_j4hwGSnpE3qkkMR1gNLQ3NX-fbh_mYL4meVQM1Uzy-qHcLJIB__hqI_xzdDDzA4K_RdAqTrIsAF29BbY-PxGygrJjd7L6IPnBqBIuJboNtFc5kFeDU9ZOi96yhwoehGheb-FV0G8-pEv7xTiZXAuxknwLW_q4dkhDBVh2tC3gZAQ9BuZrIuVvpZQNJ4gSNb_bJLN2rZLrtmg1wiyjMhRDdc71__xnPO_lz6a3ubeVZNXmbOPcL3RRfqMHUxmEhRpeeAeLnCOF0nagQPzOWmCO_-YzxG7j02a0dz_hq8NQmXV3vcBERc5JHmuDN5ZZT8sHO2zwrZ9zBRCQtkO8cQmnstjd_5P8IUe9cJ8Q70qXfG3WyLgTOnDVeNau6MrzPBr31K0SizSjQKTzplw4oT_TD9E-g0c2FWqG9jANOAMMmD45itNqmo7f9v-ebHFUQWCL9pe5VxSccgm8qxYSqUBjvwEvozQb6UtQGjBOtXlfWyh81_VnqNtIn0hz6TygDpcyBL6mFACzEqAyYbT7l1yUM4kfAxwCzjbeypFoZg2zePnzFUzTpi6KsAAvAGlNoh",
  "id": "rs_0435a2583cca5a39016ab2c24dd27487d094207f12b61b633a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.373,\"right_y\":0.248,\"right_z\":0.004},\"note\":\"The close views show the pointed writing end in the left gripper; the longer piece on the table is the cap. I’m shifting the right grasp toward the cap’s closed end so its opening will remain accessible.\"}",
  "call_id": "call_DcFyC0CK366PPYotPZFAqpvO",
  "id": "fc_0435a2583cca5a39016ab2c25a70e087d09ee8287200cb9674",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DcFyC0CK366PPYotPZFAqpvO",
  "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]: [-0.6289, 1.095, 0.9466, -0.6136, -0.4442, -0.5522, 0.0874, 0.5842, 1.779, 0.5968, 0.4641, -0.0162, -0.1612, 0.9954]\nstate[eef_state]: left_x=0.3027 left_y=-0.1218 left_z=0.2114 left_yaw=0.0331 left_pitch=-0.1069 left_roll=-0.1255 left_gripper=0.0874 right_x=0.3374 right_y=0.2309 right_z=0.0041 right_yaw=0.6728 right_pitch=-0.163 right_roll=-0.1055 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -3.1248, 6.8991, 1.5165, -0.2173, -0.0513, 0.3443, 0.0342, -6.0923, 6.0103, 1.7656, 0.0317, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:965e4712ac58aa2e68c76daac987da83b925acbf8421027202859e591e98bfcf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c636f434652875d7b4a557d19fee198436209bb4573fdaea45cff96cafa853d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c66e31f16bd7f5fd37d3a646247e4a790352528770cd101eb77f23e7bd42ade",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6289, 1.095, 0.9466, -0.6136, -0.4442, -0.5518, 0.084, 0.5926, 1.7561, 0.5686, 0.4892, -0.0025, -0.1444, 0.9955]\nstate[eef_state]: left_x=0.3027 left_y=-0.1218 left_z=0.2114 left_yaw=0.0329 left_pitch=-0.1069 left_roll=-0.1252 left_gripper=0.084 right_x=0.3337 right_y=0.2295 right_z=0.0082 right_yaw=0.6602 right_pitch=-0.1431 right_roll=-0.1032 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -3.3026, 6.8444, 1.4774, -0.1929, -0.0513, 0.5641, -0.9094, -6.3111, 6.3521, 1.6679, -0.0024, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssJjqHHUPUjBRkaH9SQ_XXrgzubrn4-coXLURAE3i811iOUZ7kNbIlo9WI2OFpjvGd5OHySVFxHNyz-Ze7g4-EXTY-iGlJQbhVHtjj_Kq-aW0pH16EzxMJ9KcKHYcLcTRQDHUmeEDnt-IPLh7Si6XwIiAjCPhn8g5NqflXIGm0cR5SKOVA6HJmG8Zw9FouGKpTNrRmRqYOsGdQHpExZXXB04iQZjaScUDhPwYuOR9JdybLRUrr2cxJQjZTYvZShU4HErKCB8v_cCJDXruSR3i5WQGpUv8ZsRjEyG8HxWxhur5cvHGokF1X9YB64EuFFOTmb9RemPuVXTzAQcvjjgKTi1QNekMwbBd3xLShAlNPzbfnz5LjoGFzzKnP9HHTkmdvAYZGnOHKfl7YFxJOZkaY8fu1lAZbhfkbgznjeKwckPoRbZbmHUWB1Fnw0mM2c990na768bUXVch_Me9eZrXOIGLzvQuDXbMaFmKLm72KvsfaeNojNhcRFR3nmfN02jNYA3vnqvdp4oBtQFRUnMffV8BjzLW2DYbzpuPR8N6u1a0rZrjQqEDf8W383wdsdrtzjq1yi6mX1BHVMp381uosAetwvGhmE2uZMqK4xHcY_iHdc5Rs11oYZRkATt8hllCJ0DiUN0YsuTA8NUAQf-zuYAZQQNgebxt5M0X4er4fKhXV33_rs86ocaWe3nbZbje4gflixIcohzd3CIlcMRaZpePVkymkB_oA2w1S-JjJDMWJeYeXTGLH4JQyPd7K51jyZ4pc1_IszTeqMJQBJjFCKXaONBhxKsVkvzTkzxjJGRehZSnQbWlo1xqPj5fm3ar_j9UdU_WOdCNzHe9wyGhhifhmksg3rFAgJhsLluDZ3swpmO6MkW5gGhAUQTwjAc1qmGLK9I5xHujHfcQHszh7t8eF0RQ0A4x5Hc2rKZQSE-kWg6mzr1UHSjNebk1oShQQMsBv-cLozqKJbWl2aKR5Wbl5U95FB8uIuePk5brNaWiJFdiaRpMtRPxI1f_F9ShxmCMrdfE5-Zqmoxp5hcASP7DU8r2XQOa--Lie32dM2ZIz_MtIiABIkwfbUc8xGI0MRFqpwj3P-_BSW9p2SeX0oaV5R63ZCefS7yGj_TjoWHHHZC_rq17nvKc52vbaw9jJ1aMGGbTNv8ZT3zkODhG-4OpKTvONWc6Q_89Pux3UuNJJ64n3rqR_oaTvHR94K9Rs_YMDJbCkAyES2S-I6q_5ncM6gvLACBpL2wYdKCBq8NWPbMkPn3B3RiM9G9-v8zMV70AaW4xYVkkUs9durdhfpEtA==",
  "id": "rs_0435a2583cca5a39016ab2c2600d6887d09299965e91d17362",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.373,\"right_y\":0.248,\"right_z\":0.045},\"note\":\"The fingertips are dragging at table level and did not follow the shift. I’m lifting them slightly while moving toward the cap’s far end.\"}",
  "call_id": "call_Pj32ahlpMtwuVSwuJ7kewf18",
  "id": "fc_0435a2583cca5a39016ab2c261757487d0902a3d8319cff54d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Pj32ahlpMtwuVSwuJ7kewf18",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.095, 0.9466, -0.6136, -0.4442, -0.5522, 0.0897, 0.5842, 1.779, 0.5968, 0.4644, -0.0162, -0.1612, 0.9955]\nstate[eef_state]: left_x=0.3027 left_y=-0.1217 left_z=0.2114 left_yaw=0.0335 left_pitch=-0.1069 left_roll=-0.1255 left_gripper=0.0897 right_x=0.3375 right_y=0.2309 right_z=0.0042 right_yaw=0.6728 right_pitch=-0.1626 right_roll=-0.1055 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -3.2615, 6.8171, 1.4725, -0.2418, -0.022, 0.232, 0.0068, -6.065, 5.9009, 1.7998, 0.0562, 0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b88b04e05a191284eb6634536de8a1f7ecf99c04e3e051954efda41a4f8665",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8265e0ad132f9110f8bf82c67a215ca22bde12b15dbab5084811521a26fbaac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d3150a85a6ff12f191caea7083e771afa63f6d58acd51b1434574782e094fbf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6289, 1.095, 0.9466, -0.6136, -0.4442, -0.5522, 0.0874, 0.5842, 1.779, 0.5968, 0.4641, -0.0162, -0.1612, 0.9954]\nstate[eef_state]: left_x=0.3027 left_y=-0.1218 left_z=0.2114 left_yaw=0.0331 left_pitch=-0.1069 left_roll=-0.1255 left_gripper=0.0874 right_x=0.3374 right_y=0.2309 right_z=0.0041 right_yaw=0.6728 right_pitch=-0.163 right_roll=-0.1055 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -3.1248, 6.8991, 1.5165, -0.2173, -0.0513, 0.3443, 0.0342, -6.0923, 6.0103, 1.7656, 0.0317, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssJopPCc4uDE2BTmLiN-BMZ3ZzNLcvJ_MpiOIs03QuYzMtl2KrWeyFLkEc4gsSykpv1keX69HzDRLK9A84pH9-ijXyW2msSZftSdyzV9gwdWYHsLeNvu8x0Bq5j_YklUJk4xjVte7mNRozjs40ODcrp0hBeJl8qAdFXaShvUpXZxJbkHMNSHJG5D3cckYVRYwqp5zIwx1-uTsUio_tywlDy4-tuZM9BouH-nfHWhY7esXcZayp16M4T-ssiO7EwCZcrcAPWSikN5qs0V62bWLCn4DlnY1bjOB6Rk4uBkjJBEXNF2Nmr0UwSuFDSHh5o1axPQ_njmugDAMAYTclUmF7V3v2FKK2O1MIu6wpBLPouMQmRrfVjNsh3GQp4AaLkktd_oSmxJHSbEEb4uo64fW3wrM_7GJ0FUXd5_FBONm63r6FtuNTJN3ego6NCtdckuExmw9hlaH99e3A8mI8-Xw8x2MH9Cc6k1UKTouS97aTwsLHS5YAoN364RVzzywO9Mu3REHSmC8zRjvRM5s28L3JOP7okJkOmZXRpuRmCwoQaawXDgrpbAccZRNEk5KBWOd2gEmoasAky3a2svFfZBL6KDVZ80EQnLxTpe0a9h6gAR4nVUX3WlHWOjV30_1JkLYs0b_1QOgr6RPuR2LR_GUBwgq2mzq46hp5vRyYjBjoQF5QCI9oJO4Ju6dHytwb_wijJerNb3zqb1AR5E88UaoXM2X7YX-5YyJZplikIFRSQjmdbZ_GED56RljmZxJLz4D_xVnGu4mJAKKf6qsz4U4PAb6MOjQeQffK8KN4UoS9HFqFXnZun5_wdGRNd7t0YG3nPFKBfaysXYLsm8HIVCUzSGZUyKPG8bSUHH3yvFhlXza9IvhtpBcAr3pXbe3IfnKjRJ2469BDHohcEYpHuJ0mu0ngffUrNKgX9DcjMtMoAyQGZaU8xq2xbMUByg6WQQYfDry5ofl8jtjUMW0M02rc6edwz-kiczOtfaef9EnNAC6Xfp9M-jYdKruSRK5ageDV6ugwu746dI3dF-ND1kQYV8ZINQXiJ0YicoZD0TASaUCGcYYw5mwQqu2JO-C_EmrlCJRdjzF5kNejgj-IJZqoIeQOIN4cLPxTCCpfgrewwP63rKyCAJ33xGB2mDG9dCl3EAx5aCQBnciLjYhAw_YMhDocgO5Uv4tfd4AArP6BP6M0gAQxHBZ51TvItQA5WwAdt3dCcpy3S-gtXB_XThaoeAgE_UOLW9yRxnTNsRxpp2IiZar_nK8ow8iUI4Z8VkAntN",
  "id": "rs_0435a2583cca5a39016ab2c265e84887d0a825bf6a0b58e636",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.21,\"right_z\":0.13,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The right arm is still stationary rather than tracking the target. I’m backing it away and straightening the wrist to escape the constrained pose.\"}",
  "call_id": "call_61i6qLYT5SmVRQC7OCJnAXqi",
  "id": "fc_0435a2583cca5a39016ab2c2667b5c87d0bf6f4267265d0ad3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_61i6qLYT5SmVRQC7OCJnAXqi",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.1007, 0.9459, -0.6132, -0.4442, -0.5522, 0.0917, 0.9428, 1.438, 0.7902, -0.0303, 0.5449, 0.3756, 0.9955]\nstate[eef_state]: left_x=0.3031 left_y=-0.122 left_z=0.2095 left_yaw=0.0339 left_pitch=-0.1117 left_roll=-0.1217 left_gripper=0.0917 right_x=0.2997 right_y=0.2631 right_z=0.1351 right_yaw=0.2804 right_pitch=-0.008 right_roll=-0.0085 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -3.6171, 6.8855, 1.58, -0.2564, -0.0513, 0.1978, 0.9915, -4.8752, 6.8718, 1.2234, 0.359, 0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9de129d8810bedf7669e98b294f016154b5545b109111550afadc1f186f2369",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a1b8397ebf75bb07aed3cf39613e9e92dfb396541143922377ca36cf3bea07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b944cca32e38c687d82e9131038c8912e682836c7d1491cc0b07c74a73484c1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.095, 0.9466, -0.6136, -0.4442, -0.5522, 0.0897, 0.5842, 1.779, 0.5968, 0.4644, -0.0162, -0.1612, 0.9955]\nstate[eef_state]: left_x=0.3027 left_y=-0.1217 left_z=0.2114 left_yaw=0.0335 left_pitch=-0.1069 left_roll=-0.1255 left_gripper=0.0897 right_x=0.3375 right_y=0.2309 right_z=0.0042 right_yaw=0.6728 right_pitch=-0.1626 right_roll=-0.1055 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -3.2615, 6.8171, 1.4725, -0.2418, -0.022, 0.232, 0.0068, -6.065, 5.9009, 1.7998, 0.0562, 0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssJvGyWTl3FQsE8563xNYf_mDO0zoJkqI77sieNoywZYuzuxpXW0yqzlqi65-kXYNjZlm_k8coUhI1Js4hPidDQIGn2FX_vcgk7aswF50j4akwzKvKuWqA20wu78i42X2YuTrsK4SpgCVOHgBIwLLXxcDgGp4JHxac_rk7ERm6E1PSE82WA4F9fcuh7sDbEvaAvsMbWTUSQBDIz2nZIjg24K7_PqeeiyRggUQcddGZ9EqpGURTrzjvoBjz3_woWjcLQSnfZPu-wCbonAOrWdvnjBrxxL4JKMw9wTKtwjbIv93OizV2uLYur1RP-ThOuojTtt-7OzH0GbwU4WjxCpAFCmZQbhrH9M8eUqtOoHwKaRVQZO_q566CsuVSX5uHyb6KWlMNHMwE_Qr8xXC85nzkw_2fGpwYC3e41G1so58tAK3Urbv_AeraFAVsC_2tD0kAnhPiAs-N64uKB4oE510z9Mxe1x1jJBomYkAjUku2HVSW5aveQJtFQCTGkVuJrasGtQv2h2ij5O99r0SwUIM6ZcRrnCV-uf-HjB0Pa9X6rvvxlwoJzOlnXM6_f9PuAbsAptHL4lWJXGvVDRAaeP75Fgrni-bgD4ZNGN1-TkV-4mLh7xLP9CBdLzAaECc_VhjDdROF6_UYXLOG0PRJvFf815XtwIw--bthZkNG26uFkIMhWTeWY6ll4YbJhHpUj0lCdGq3456UFM2gNWVSpIRp-E0mkLDY9nRH-q0W3GDlWNv_Yyd3ePOFsVr75Dg7a5thmatmqs4b9hoXKzlkwDH_7STeXoFydQ40WFE-baXI1pe4mCvib8QjN8PJ-Y0mFHton4Kt9FD0qA7WEqWYM6W_mxjS4ByJw-DW76CVMPNj3-2OO7Ngul12G-kwU8-lULQ1qpTF7AwtKVzbgoY867VcD7q9oM8iUNz_vFuhrOGYAJpS8f6aVu6e20ZVX5cIKrLvJgMDN-g6Zm6-HuXMlqxylcPszX70fgQiDT_rdc6joyS4k2n1KwPZbzp0teh-h_62JJq9Q9K1S-H63ype0rwRM-ZNbl209zSPRX6BI6s3ACF7KlpNbmfIIbvuwwW58y_p9rcoJ1oxnNMnvEE7vPK0CVqk1Rhu734iuJfmSaVkKdM5SDT86Vw5Yv8Nu1oeXbRBwTNAEydmLs9jiWcWHJX7pfxAjut-TZOWI4dD9GxBuRm5olR-wHFeLJMVrzLcb91YK1HCb4J6fHJ-VgWDoTMI_l6Dwg4A1oj3GiBREKfj66281t1_EF_s1qwOkxSwZP0k3hGrBsU7FSftVWOz316Fyy6CeyOFnfF3MHDT83D2_mVUA=",
  "id": "rs_0435a2583cca5a39016ab2c26c1ae087d0b3a3241574b4be04",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.235,\"right_z\":0.025,\"right_yaw\":0.65},\"note\":\"The right arm is moving again. I’m approaching the cap from above, with the grasp moved toward its closed end.\"}",
  "call_id": "call_RiF2qa3t7lqb0orEmshhOyJL",
  "id": "fc_0435a2583cca5a39016ab2c26d4a4c87d0804b8bc1ac6f7b4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RiF2qa3t7lqb0orEmshhOyJL",
  "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]: [-0.6285, 1.1015, 0.9455, -0.6128, -0.4438, -0.5522, 0.0938, 0.8333, 1.4834, 0.6792, 0.1459, 0.3885, 0.2489, 0.9955]\nstate[eef_state]: left_x=0.3032 left_y=-0.1221 left_z=0.2092 left_yaw=0.0337 left_pitch=-0.1125 left_roll=-0.1214 left_gripper=0.0938 right_x=0.3125 right_y=0.2498 right_z=0.0974 right_yaw=0.3633 right_pitch=-0.0437 right_roll=-0.0218 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -3.3709, 6.8171, 1.5214, -0.2515, -0.0611, 0.2076, 0.2803, -6.5709, 7.2, 1.79, 0.2125, -0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65053aaeaa6a102be6d81becd80c0a372ed9ee1987876fb01eefb0b1b0874456",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9365f84a836760c8e64938734955a9d6d9f24cce6436293c68ebbbf685d26e23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaacb5afd2e67ed4c7b07f8678715e676a407ba93f269a786cec8a1d7849ecc2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.1007, 0.9459, -0.6132, -0.4442, -0.5522, 0.0917, 0.9428, 1.438, 0.7902, -0.0303, 0.5449, 0.3756, 0.9955]\nstate[eef_state]: left_x=0.3031 left_y=-0.122 left_z=0.2095 left_yaw=0.0339 left_pitch=-0.1117 left_roll=-0.1217 left_gripper=0.0917 right_x=0.2997 right_y=0.2631 right_z=0.1351 right_yaw=0.2804 right_pitch=-0.008 right_roll=-0.0085 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -3.6171, 6.8855, 1.58, -0.2564, -0.0513, 0.1978, 0.9915, -4.8752, 6.8718, 1.2234, 0.359, 0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssJ2BAvlsPWgly3QEz2gXg0-gJkbgy_EBRVokxKRz0sLKk-NfprqfdcYyl1DHybcNr5hAEk-jB7Iw55NEJbf2QkFHm448mhjOs2eXtaEyzovoP3XnF3-PtM_yqyuTjaS3fyR1JIJJFFP7ehJkqdD7O7_yS4BImVCBbbpJHxX2OzP7zlV4phkO2ovLNkweONQSQVyA7EIbUp27p4B7xwVhGeE4fnZ1H8HQ37QK0uSrm_QA-8foiGAqGgPi62ulv0rTNfMNJFgPBLNvhtoUlm-EbExsKm3D2wzs7P2xm1IeNs0DThN4CCZMcIPE98-n0hEO9huHr9LxxMt_cbVQDkjWfXZ_T0khY8shdIkgUZsIUOYBhV5MbwNO5MyylCMUX5iGDoZcuPHRrINXrssskNmzxcPw2ijD5ail8lwL5Yk4vXflOgLoayGvWiZAlSWUrzuNdeJ5Ygvpe03Bov0muKVIkvZaG6fBm6SP228TXvUlwoxrUU16wjR1gZ3vdXGimJw47BzWhh0ynlYpCkADlr7fiks6hRNVJmhaW2OE9hRLS4FfP80QQZTZ0xH1zdmatY5Ax0Jvl1VMHkbufjnt7mJbG5S52mKiYmb8b4a59PYXYkRhUJJPJ8Td3PMQaP_vuh2SzfXHv3Kvy7JWXqYWC3BtRmgZtth731_815h7elahXHxw0SMyNrbCtZsnWX7A3CmQZ_4BJCDd4Q4sPjhgUeLOVgso-B8G91Pu3rBUFjRllxkIjWY3Vd8MdBAb_o9D_CFsp3hvwdK3EHIHneURHwj-21NkWwh4g887OYQauOOClm6udzl8EzQhLrjGq7d-ipmhZ-MzNTF_CRi5BMN-jY8TkZIxQF1X2E-bHTQ-UadG3O3bEafecPaXrupsuPLpYdJOwID9XYMjoAPzNiLNrpHGAHKW1m3BsrOy7WV7Sn-kWjGBSP_G4y3ZrxtRZ8uwPTBryQQRUoja_hbt6uZpUhKv0fObgprxdMBxKPXsD_kd8LTulqHDFCB20NX-T66jB6E13PYndEmfLyU_ByqZTMWLg56swC89-uRdBCwOz_qDcY0nDXfgpP3ZxLb6umIkGhCPxeU08cB-8NrTy5rpnB3HiQ86RxV1BNSNtmCmiscVGz6bY0Njw64S37QRc1YQySSWmamDWQweoBT48WXlhH1wuOBLSouw30G_p4hpug3jTATSGabs9dzErguIQh5izlFcDMLm-cEZRZO4-9QJll40PweYAsnIHhHkWdqEmt0z3uKRA4=",
  "id": "rs_0435a2583cca5a39016ab2c273641c87d0bd9414494327e173",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.225,\"right_z\":0.035,\"right_yaw\":0.55},\"note\":\"The cap is directly ahead of the right fingertips, but the arm only completed part of the descent. I’m using a smaller approach step to keep the motion controlled.\"}",
  "call_id": "call_JENHY7NojE6Y7ALbSWV0fmRE",
  "id": "fc_0435a2583cca5a39016ab2c274593087d09e843cedb939a885",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JENHY7NojE6Y7ALbSWV0fmRE",
  "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]: [-0.6285, 1.1015, 0.9447, -0.6132, -0.4438, -0.5522, 0.0953, 0.8333, 1.4834, 0.6792, 0.1486, 0.387, 0.2489, 0.9955]\nstate[eef_state]: left_x=0.303 left_y=-0.122 left_z=0.2088 left_yaw=0.0338 left_pitch=-0.1134 left_roll=-0.1207 left_gripper=0.0953 right_x=0.3126 right_y=0.2503 right_z=0.0979 right_yaw=0.3646 right_pitch=-0.0417 right_roll=-0.0198 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -3.2889, 6.8991, 1.5067, -0.2515, -0.0611, 0.1392, 0.1436, -6.5573, 6.7487, 1.8388, 0.1441, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19beb2aad906c37ba73d5c8c4e55d53d805c5514bc66faa9b10a2dd3976d18d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1597e50eb8140f6ff83e6b6034be25aa043a58fd7a4b23e946f313602bbd53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa40378c10cc941d77b5d7f7b0771beaa0da0ddd780e010094b12a36a29af2d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.1015, 0.9455, -0.6128, -0.4438, -0.5522, 0.0938, 0.8333, 1.4834, 0.6792, 0.1459, 0.3885, 0.2489, 0.9955]\nstate[eef_state]: left_x=0.3032 left_y=-0.1221 left_z=0.2092 left_yaw=0.0337 left_pitch=-0.1125 left_roll=-0.1214 left_gripper=0.0938 right_x=0.3125 right_y=0.2498 right_z=0.0974 right_yaw=0.3633 right_pitch=-0.0437 right_roll=-0.0218 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -3.3709, 6.8171, 1.5214, -0.2515, -0.0611, 0.2076, 0.2803, -6.5709, 7.2, 1.79, 0.2125, -0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssJ_GCDJ50JR8TaBz87t7xKv2lo_g1hydwC_QRaexNaBkDv1oAGE7ti7MvRXGhF2D0LRIDmYFbE0WeFqRkY65rzItvQY46YVZtYowA4eko0XdqFj80sxGxpNA7-57cDgQLjL_Avu2DsGfI2-hzesxe31RPUJZaud1lCjwkDdvuluVXymI0i43lR5RVQkEtKU5GRSiItNB7bYIXeV5JaDChkm2XVu1vZwilzbse-VJgYik-c56_lTFlHFbPQLdCCy3CbSlgaEE9dW4Xq3oJJmSwDC2W105JlHaT-SA3Y8fI8K42HSLyUK64e7CDjtz-Nqe-V-LeuAmMxjbXzy_k05_gcGMti4_3LTt_mdydcC8nir8afGwQKcDswm1xbNv0X_KsMihaFEcruzaW6YQCdrtDR1Rqk1HC9FBGQVzOHYuGY7APtuyBXVDoDlesoY4R9A-CgNG-o1wsyhLL8WNzQryC94NzYAuUBwMFZ_6iEUX9Q2phwMd2TAMgtoRy2ObXFTOjnEa6sLqukkJNc3yMm14iKAP2XMQG9CsjcAIWR-9HKNLbEGBv_FachZoDOakzTmeKBYJ8aFzRMEggGMroKwy8AdrxPpg5zQ3ONJ9Mx0oObvHbhmXO_y8IvJEqeU1tXDZ9DLyykcdcZpOIzWKTXcX4PCT8sAR2Re1E0XRvQCiHe0swXkOwvzBEzNOYbDY31XkkVRJ--0gPUAk5Q42MhivvmlzQBh8CU9SSccC_D5rO3cZXr0kfcyCLLdbQ_yvhi0D9ne57y6O6CJaYQgUWTGj44enEfg7zFCBYjd3j63Ir7KOKIYFe7b1hlq5Woc2rfeypDXEWWyHbHa-EZP5pFfgqTZ6TxlKBuSjJDtjCPvPFICHgTjpBPWILk7K7gUPyk4U1ToHCITe7iKBHc-CInF7AAcgamnw25lcAu6igEmWbIxgueI9KV2BcV0e-HibJ7-BbIzYehDQnlSCzbO6q6c_J7nWIOf21Y2rxBTVf4GtOkcOnNJlQJXd_16bEnYC4aFNXu0S9chBoGFWcJ4_nNI9I7Zu0v2HML8Nw_HNp3mfx_XTFQV0u3j2wiJzYvRrxCZw512kohmMjLIX-WSPIJe6XtfOGM_lw1gfnItdX9-cWCGOpUmA43hYQmYX8lSR0rqPctNvLGNvqXetFVG8oQsyodLp0Pz9vZhqlcXnOcrr9rdNO4qh6j67eeqEkqfSDbQtF6o7pddDHewTIaSfVwsO3SrOFni9GrN_PlKcXAv7LWpfT0Kos2_puA10dB7oP3OSeeZsPsJ7yQ3J8KcSGge6xZ6HF87KqPH5fhvL7N8pfzEM1rkXics9xigC4Q5MgLswdVFUPptHemiISwWG9qibJPF6qJQ6Q9P8tIWt4-JCdnBgS8=",
  "id": "rs_0435a2583cca5a39016ab2c27cd30487d09c8e5333503804fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.235,\"right_z\":0.07,\"right_yaw\":0.36},\"note\":\"The requested wrist turn appears to be preventing further movement. I’m holding the present yaw and trying a short straight approach instead.\"}",
  "call_id": "call_j5G4hiZvSN27luNIUQ8IzQis",
  "id": "fc_0435a2583cca5a39016ab2c27e254887d0abb199baf1fb0a79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j5G4hiZvSN27luNIUQ8IzQis",
  "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]: [-0.6289, 1.1011, 0.9447, -0.614, -0.4438, -0.5518, 0.0968, 0.7986, 1.5181, 0.6411, 0.2382, 0.358, 0.2298, 0.9955]\nstate[eef_state]: left_x=0.3029 left_y=-0.1221 left_z=0.2088 left_yaw=0.0332 left_pitch=-0.1137 left_roll=-0.1202 left_gripper=0.0968 right_x=0.3195 right_y=0.2445 right_z=0.0854 right_yaw=0.364 right_pitch=-0.0343 right_roll=-0.0125 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -3.2615, 6.9812, 1.4725, -0.2369, -0.0317, 0.1441, -1.1966, -4.8342, 5.053, 1.5849, 0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cfde1d15f1d4ad0eba79a1bd6e18f0dab345ca81f91533f7c29be2bfd1755d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ef0aad5cbb9978c42158f649ac46871bcff5a980b5528ae4a547c222c25124",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeecc5a83d3a3c1768c9c660e362b888ad1ebca9e25f2a7b8ee0f43d3411d1d0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.1015, 0.9447, -0.6132, -0.4438, -0.5522, 0.0953, 0.8333, 1.4834, 0.6792, 0.1486, 0.387, 0.2489, 0.9955]\nstate[eef_state]: left_x=0.303 left_y=-0.122 left_z=0.2088 left_yaw=0.0338 left_pitch=-0.1134 left_roll=-0.1207 left_gripper=0.0953 right_x=0.3126 right_y=0.2503 right_z=0.0979 right_yaw=0.3646 right_pitch=-0.0417 right_roll=-0.0198 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -3.2889, 6.8991, 1.5067, -0.2515, -0.0611, 0.1392, 0.1436, -6.5573, 6.7487, 1.8388, 0.1441, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssKE-YtdVF5N5OBJhry2x_V1eGlSjpjjvMiHPnuTJz00nqyzS7K2XUDDl1sakswo6KED_sEh83uWVNdGL84ZHQ6RVrUB5rAAm5c8YkefpMkIIZJD8co8jv6ocgR9n03zid9pTficZD2O1q-1Zpe0juCi3cnY2oSKi1nXdIAgu5HSw9ViyGjZRP8TtkQYFONNY9ECU-Lr_zoAcztgBM0yu3hEIUyE6RAGOpJhDGwPgoW8C5RZitxEPhkjvaUovqXABJnneXzGkO_e1oMgGKzNgL90XXPTREcko0eQtulG7qJHNcul9g3pmEE6EOLunOhHaM3mxTfmH5mKWiw_RE9feHh90WSxY-xX0AwyZHU12UuS7uwBq71LrF6AmrZyAZkFmgrD3g8J5ovFWCti7JMCC-rOZTN3kZo9gFCRii9xOVS4O_TYhaLlo-qRMGwguML7sYRPuTNOkYbYFIX-zIF8g2HLWBuoGQfsYxceUGcBLTkdENHkPhFfQ54Cl4Jy4C1uVwhFElhx8Ly7NqR9BFtkl2BJTLLsBc6V_6ASdaKeynlzgO_5zI4Qco7-kblwhr8DOojcKixzf6UMD11fGz7Qj39_XkRaungITze_Z7jpvyeICAdyfhhgwIpX8IDOFMCXQtnxH4AJXlFaZGs3-MCvDXGevvKjvbavfRv2uAbc3Zkzcs3Fr8_aLtRhoU9qEnYCsNikKtC_ceUolusKN1zLssvoJ7sSlfB84IBexfnslsh4R-0ihn5pJnJZCtcMWK5pRQ_sk_fypHVb1_UZgtRmv5Q6Oog2k3NzkGgflOFD68qgOwteAhNcjY3-N_8NvzJezHnr8p6lyhBs8aXWZcI59G-93xmZ3DQ33wW9q8xdvNsQKhPXD8M8jYk4kDBmISwfllrSy3mGhCdVswhp5VoykKA1JAIJec3w8eBh2cKIuvP3NDkXo3VMH0WRRCDWRr2-xVv1vxJR1llcOMcBnG-S8KLo8FPwf18bYa-YkFHTGA6s_O23fy10m0PLDf3RVVAjIOnCWdPVKEOgQw1S4dA3dgsyvyQHsXUZyywogD3wUrry_0QizyQw9THjzLrNS6hcssOVkWINZmUgi1tz2jYhqAESnjQUdugbe3yAssymy6bPB1U7ediOmts1JAw4aYuRXQAtAMAahBsjMqElQ81GSqFZ7lxNfbHuetMEJAwstnat9WOLo6efYjU5MZ4frGOAYl-5JdxYWxPHOj6dQWjEcGMEQ2qLWlcFhk75oX4vspwfBnB69wpPFPVNslkOMUUD5qz6N6zjxoAh7NM5qoulNMX2qA==",
  "id": "rs_0435a2583cca5a39016ab2c28278c487d0b6ea04fa2c2a75ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.25,\"right_z\":0.015,\"right_yaw\":0.36},\"note\":\"The short approach worked, and the cap is near the jaw column. I’m lowering over its closed end without changing the wrist rotation.\"}",
  "call_id": "call_3mOMolnZBArfDf9guOyKJgs3",
  "id": "fc_0435a2583cca5a39016ab2c2834b3487d08beb1432530bac96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3mOMolnZBArfDf9guOyKJgs3",
  "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]: [-0.6285, 1.1019, 0.9432, -0.6132, -0.4438, -0.5522, 0.0985, 0.7586, 1.8198, 0.6075, 0.5091, 0.3271, 0.2043, 0.9955]\nstate[eef_state]: left_x=0.3029 left_y=-0.1219 left_z=0.208 left_yaw=0.0339 left_pitch=-0.1149 left_roll=-0.1195 left_gripper=0.0985 right_x=0.333 right_y=0.2423 right_z=0.0061 right_yaw=0.3612 right_pitch=-0.1012 right_roll=-0.0417 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -3.3709, 6.9128, 1.4921, -0.2515, -0.0366, 0.1734, -0.9504, -7.6923, 5.9556, 1.746, 0.1001, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c949bc281895924debf3be5fb63c9d5cffe964197332aa2fd1ee5b37dd5ac27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e154ee1a8e09dd9b07e294e01960a6b9bf84a2c8d7e6895985370d6188e653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3543ab2d8b59f9bf4c862caf81e81ec4f8cb78a2fed26b80d35c155ef562ce95",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6289, 1.1011, 0.9447, -0.614, -0.4438, -0.5518, 0.0968, 0.7986, 1.5181, 0.6411, 0.2382, 0.358, 0.2298, 0.9955]\nstate[eef_state]: left_x=0.3029 left_y=-0.1221 left_z=0.2088 left_yaw=0.0332 left_pitch=-0.1137 left_roll=-0.1202 left_gripper=0.0968 right_x=0.3195 right_y=0.2445 right_z=0.0854 right_yaw=0.364 right_pitch=-0.0343 right_roll=-0.0125 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -3.2615, 6.9812, 1.4725, -0.2369, -0.0317, 0.1441, -1.1966, -4.8342, 5.053, 1.5849, 0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssKLtVg9I7I8BwavM2YBCCiQDZQFPGprs4GMo06Ufm5Osdag60dDhMdsF0MsZw1sjthhw9IDlsrt1O0Hjv_jLdnlDjGdZ3bxmZZUjzjKffsEdvIHVgBknKCFSKNqpmOC5EMDqsxtw2jZ4Y9Ncn36vEVCmE0ehFqKpHiRjO6mRJNjm7uUjoAbQ32FkcXz2ZQUaWraKiZroNRPLrc5gKncAj9aH6FJ6nFRXH-_5h1v0NzPsFb3zYS_kFNBJRLRJ_OpMkAOD5d9tnXZTAQBGgiyLJHjXq85zczHL4QLHOmlvFLhp2TI1pqoG71SHYtw3di_vino7Qni_keFAx_VNKsLiIjubKRw31zz-lP0wNHrj7jcgui24Opq0m7GdWtOChBEzrBn-8eFUFyefMLtV8CXan9-_a8bWiUCxGcqZfiVRCX0AjAFMBVU8xpGTVECCB22nT7SNpUf7gggiBAuCRpmQ8u-b-P_jmHM-cJHOEUnin70ndb_-HST00W6svpM3fgOwyTO74LyJXmVoCWYl-rxrlXWvZKUMsCUO35atap4g7pShM6pnLcAKxizU3cC-Nl14byTfvnvfx56DHV9YgEX8VPFVka1sfIuPqNA2XFPuQ6GQLhZ0BJB7oZXSEjewSsisfOjGBVKOtsBJrIVPLuwYhQIQdHtdGxQc4uq90Sw558nRHADWFREHJhvEKUu-XYRZxuOZCkZrNwpGB4TexP1pXAR5VuK0bhOIKfHDYWIFu7gRXpK-H5BcxAy6lm4Rv78-D7JrqbO-Qc9n4JUpt9pYcoeRdZd6J42qDUv1-2HKv7Ot_c6QNw4fUbZ7hm_o4DEEiobgphJH16xkE64OdRXWAz6seY8IyRPCdDKhDUBjt_ybHOQQoTfNApDjE6QY_MJaZeTQDR-qg_8grwQ5i0QKFNMAwI1sJkCvBJbXgyvNhRFk88CMd5f7ICrmAqq703_l_xDGC6wVk2UcRF3A6KiyMgkQHglIXyQvSMZw6C2xcekxmCqTlIHojxDbkQUr_L79kyHA5PVjtWqWFb5HBNJ447fNbBe9BrkAQjInVNt8qqIWjR4Z8oed6d4_SGWIW_T83TVz9pUF89N4xQPkhmqkWjpNldOH6OvyVzmGySojTY7EhGLIcA0EfbHFHipqF5mz6P4S3P5OKjnuUU7dxXb_w5-TytKeZPW7uvEgMG3uqwXSxNPcOkJifW3j_voqI107nh5YEKbRX7FMOZdm3InhFMbmg==",
  "id": "rs_0435a2583cca5a39016ab2c288c78c87d0bd02b2a3357de21e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cap is between the right fingertips near its closed end. I’m closing the jaws for another lift.\"}",
  "call_id": "call_uSMMMhCDnP5wJyHVdtvy1iYv",
  "id": "fc_0435a2583cca5a39016ab2c289a4a087d080f30ae8f45f62a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uSMMMhCDnP5wJyHVdtvy1iYv",
  "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]: [-0.6289, 1.1076, 0.9329, -0.6132, -0.4435, -0.5522, 0.0998, 0.754, 1.8435, 0.6094, 0.5854, 0.3122, 0.1974, 0.011]\nstate[eef_state]: left_x=0.3021 left_y=-0.1216 left_z=0.202 left_yaw=0.0344 left_pitch=-0.1277 left_roll=-0.1098 left_gripper=0.0998 right_x=0.3398 right_y=0.2496 right_z=0.0111 right_yaw=0.3742 right_pitch=-0.0544 right_roll=-0.0179 right_gripper=0.011\nstate[joint_eff]: [-0.3624, -3.7949, 8.1162, 1.4286, -0.232, -0.0708, 0.1148, -0.3487, -6.8308, 5.641, 1.8877, 0.2222, 0.0073, 0.906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8f2acc699ca825a0d4fecd888c302c95e262f86b93e2e540cfb88a86088347",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:904e998520e32b005afd341fdfe5c85a2c08f02141b96ce473370225ba26751e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5d5d9882edc297ce598d647344918d6c5a699722078e185814de4e13ba686d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.1019, 0.9432, -0.6132, -0.4438, -0.5522, 0.0985, 0.7586, 1.8198, 0.6075, 0.5091, 0.3271, 0.2043, 0.9955]\nstate[eef_state]: left_x=0.3029 left_y=-0.1219 left_z=0.208 left_yaw=0.0339 left_pitch=-0.1149 left_roll=-0.1195 left_gripper=0.0985 right_x=0.333 right_y=0.2423 right_z=0.0061 right_yaw=0.3612 right_pitch=-0.1012 right_roll=-0.0417 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -3.3709, 6.9128, 1.4921, -0.2515, -0.0366, 0.1734, -0.9504, -7.6923, 5.9556, 1.746, 0.1001, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssKRZS7-cB4Do4_otre12aNdPTrpW4du13CuybgtDN9kLYBaBzqHsgPnqZEfIyvZ4VwarmSewyAAYFjRXo4CcTR7M0bgRjRFaU_7iWrxuIBnOpIxalajehOjguSWnLzrM0Z7qP9o8TsP-0a4akNMD0anUB3vllR3MW1aiudmSP3xp8DWRprcBSWvlvCRwOPZmGW0Wvfyl6SAk67dewAZZlT-m8Q2-ipicjhJ-Q9_17XkG3x4sPWJh5LW39WW_P3UzajZaXngoxpOG121GucKmwZD_LqwJlyXTsvXLY3KtJ9HKhLVfGqpGEQwPBMyV7sbyFxD--0X6z9NUYTdpL0pYQ7mBBcaUrLqh0GZtfE7gPlEA4uNzoZJhbLl7tUj6NCKaE_IMOba3dMTuYdi_RHFe0wlXYeOL-WXQMh56AkCTB9au79Seb2anJtGN99gB-Z7kouhBbvzl1xL1a7ruj4gWsa6k4UXR7hMvFvV0b1-ot7lWZtAzjGZwsK2CUJG_czX4THjNcZtzNTgFcX_xAVSMOv9CQ7CDqK5uZ60fY87fOWhFHjIxZ1J6xYe8tnoCf9KrgmTJHUO8YDPDyia6hZe2Edf_9Enjzf1BvOY8DesXsbLsd18Wk_FdPR6SYXoOmRjDTuEMWs9Yxq80x_LKAVccYEBJWZubwNpPfrsYvx-CQQNoM2AivxD7yFpF7mydTtxsHwPHFsAYBJ3MbWN0l1ApdmKNnQyaDhXfMxUcSo_I_DiBq73G8_1jenlyJe4TPom3jadXrGzQ5DafhKrPPn8GdmJ0UNEJVCpOAMH22QnGiS9UnohqeDRILn9vosveZfgV_4BJnpXdQXAQPaTMA7MtBl-DY48DPPJqBi7fBR5U8f6FGnMTeZ2fU9UkSpWQ6DW65KdQYXvMzu4mYV8FkiJ0ScfwTuH6btb4kjnzSJl-if3Lf4OJMN5uIOfkyUfx7bdKbxDUEC63n72FXWknGhMOl1yLSMoYOe27v14uwAsCLhyH3VCyE1aWwgSCOjvBXwpYQ9PPhBdGX4-22DMc4WU32tchn1q_i7Wza7WbekEPktDTdXNNfSVdGOl8Hx5xkffJC8NRQvsa19s9AJZxeTIfPOQKCKDGLlQKscMV0o0HP6t9fnjUOsinHmi23Zh8yaapXsC4p-7ByF98yihKV6kUlarRJt7HAOq4T8KkLv3EtbOHARzgkGJXrYQTBWS44D9tx1kmexxenPU2YcxWP_qbO2JnDJkG1x34MHz_E68Y78k14NGIFi0_UsVH6CTH9DiIUGYeUm5lJwvLKn5HJcaaoDdeGMYwecM5yqFrql4uBM3L_ct7hlWV5wW1OYS1ScGR4AK3Sxfzr99z_YFtyjBwZL4iq-gQZJE9I-gcOi3m-D6ut7eHZbBNBsixBu2awyBfdFEgwMry9l1yXRY9ZycZYi3Rxx89A9AhX8K5GjStxj2ixw=",
  "id": "rs_0435a2583cca5a39016ab2c28ea24487d0828c49eb74de72e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.36,\"right_y\":0.255,\"right_z\":0.003},\"note\":\"The nearly fully closed reading indicates an empty grasp. I’m reopening and moving two centimetres farther along the cap before one more attempt.\"}",
  "call_id": "call_rbishrF2hzZR7mHIZWEydEwM",
  "id": "fc_0435a2583cca5a39016ab2c2903a6487d08f2b2992fda15fd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rbishrF2hzZR7mHIZWEydEwM",
  "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]: [-0.6289, 1.108, 0.9318, -0.6136, -0.4397, -0.5522, 0.1003, 0.7277, 1.9106, 0.6632, 0.593, 0.2825, 0.1749, 0.9952]\nstate[eef_state]: left_x=0.3017 left_y=-0.1221 left_z=0.2012 left_yaw=0.0316 left_pitch=-0.1309 left_roll=-0.1108 left_gripper=0.1003 right_x=0.3537 right_y=0.2539 right_z=0.0019 right_yaw=0.3843 right_pitch=-0.0662 right_roll=-0.0214 right_gripper=0.9952\nstate[joint_eff]: [-0.3897, -3.3709, 6.9812, 1.4872, -0.232, -0.0366, 0.0513, -0.7043, -6.7624, 6.2427, 1.746, 0.1001, -0.022, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18fc7993c47fec689fa200029a3efd2e0e51d1c33b65ce5752d8a9ee2fbc5e63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a95277f0c5d9d4908fefc4ddc976db1fd58db7da36d29b257f8766de8495a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:338a8f759607b1bff76f8d7dc4d9bfba48a22fc607965d735210d8950ffa1317",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6289, 1.1076, 0.9329, -0.6132, -0.4435, -0.5522, 0.0998, 0.754, 1.8435, 0.6094, 0.5854, 0.3122, 0.1974, 0.011]\nstate[eef_state]: left_x=0.3021 left_y=-0.1216 left_z=0.202 left_yaw=0.0344 left_pitch=-0.1277 left_roll=-0.1098 left_gripper=0.0998 right_x=0.3398 right_y=0.2496 right_z=0.0111 right_yaw=0.3742 right_pitch=-0.0544 right_roll=-0.0179 right_gripper=0.011\nstate[joint_eff]: [-0.3624, -3.7949, 8.1162, 1.4286, -0.232, -0.0708, 0.1148, -0.3487, -6.8308, 5.641, 1.8877, 0.2222, 0.0073, 0.906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssKY8UdIhFKfj08e83N5DenAkFEhIYosnBt5p8luQ56ZLyIpPucDXRxC5xh7exBRCuwtu7Q70Dokin6gWreXc0E6pcHTmF64eNo7DQkzGaGd5A4Wl6e_V5LfFW3I2q-oNvaZjWkABVTjXeiP4SQiAp8IwtJRAvh-kSe1RCwcRMKV_YjAA9W-eKiUeRRSycIG-u2Yz1RXwb6uZL2MWPIYHt3drexGh3SY-dNzM8K3pIwWJbBKJKt1AQrahe6pWgqfgPEckUyJI1bdznf9REjeZNI_ixjzQYaPeTyew9_7gn12xFmEVDoO7aFEYBFJgGhZ2WiA02iptFHeu_VF75fHC-A67vB5fN6hcMAAG3nbaWSjgpymmyJc1ZzL6OMFybUGW7bDvGEv8xiLTUWgUtfhp90B8TYnmA1k6hwDJgQW4jOOBxKKo1gEvLwR_CEPCincj9BXQJPI5SjKzmAFjIC_QT7e_QxTFx2x0-oI0NYx7O2YJS5dWvull8z2H1R9sWFxhsKR5gspwpp0mf4QezET5JocUpqjtKTb7i2ehxEAkj3iwoqPcR8jvcxKZbELcaUYK9etJgYgQCOzpm27gFF7TT0xg9Lve5WAgVb4wfH297R--bBsQmJDm8Q6D1A_NLprsZqPHlBn04BvNWRbFBX5C4q9mo3Dl6pGk7IjCA-b4-woAOxUx7eq_g4mzW3TvRr0DxfHY0UNI_TT0urZJo1CosCpW-l3PsTUZLj6r-vD8Tf1CE4H8xiPwBCoasG1JrPEPm-xBBSsnC2NeMHQbHOWlQPXxf-3zgtEjM_vBOoPNhCz660lLmmsx13-4cXyLxIZvBFuSoijUZhFcDXDhAqsAoflMaMVwVHN6Y41-_MzKQNQdNtzI-tOk6gFybn-yLIPsFNwAFtvqcELgpjAo2n3VmUOVocIe7ByWFvXCj-yEgU9Knoee7iJThKCKmc_UluAsN6kXpRKLRb4U6VhhZ9KgzZTphV07X7NzOW8RrU_Qva_fnoEGnLipcysmECVcn3nyw1jZs58D6pel1LWxdfT03bP0-5FEq2u5b1MLgb6IVZZT9ZX8ZaLV0yy2sOYwaPV5I47RSPgTgL8il-Vt_J1PJWwuIdu_YjYwWgO-x9XDDwPSnRs2oxLdeL0lRAPaH58L1iI8ZNX1TQ3VjdEXaLkoCNXNviR7YIVLIiXdwmX5eZzuoNXm4x216xVM6EelrR429-cbEJ5s-F2PXFAFd67Ad4DxyHSs9zobsFhQy26bAXbCedtgMpnt6HG9EgeYElhf1THQXFP_6jWv7pi64icf8wVK-feiH18eKVsVzUHCWY1gjYhcnm9CeXhE-x_K2wkHf0Pf6ABZKiVQV9pJRFbsV-bsosFmoKHjeL2pgS39M5bH71stvXPbJGAl_Xb83z3LqCHdV-0sZ91r8dn48MNtVMKXA==",
  "id": "rs_0435a2583cca5a39016ab2c295d37087d09465b8cc51b7dca9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cap’s end is at the fingertip line after the correction. I’m making the second grasp attempt.\"}",
  "call_id": "call_Lpds6gucz9axUL9I4oRSqtmd",
  "id": "fc_0435a2583cca5a39016ab2c297a9c087d0b1bff8c5d31713f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Lpds6gucz9axUL9I4oRSqtmd",
  "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]: [-0.6285, 1.108, 0.9314, -0.6136, -0.4374, -0.5522, 0.1017, 0.7261, 1.9099, 0.6662, 0.6079, 0.276, 0.1711, 0.0111]\nstate[eef_state]: left_x=0.3016 left_y=-0.1223 left_z=0.2009 left_yaw=0.0302 left_pitch=-0.1322 left_roll=-0.1119 left_gripper=0.1017 right_x=0.3561 right_y=0.2566 right_z=0.0059 right_yaw=0.3906 right_pitch=-0.0499 right_roll=-0.0146 right_gripper=0.0111\nstate[joint_eff]: [-0.2256, -3.2752, 6.8308, 1.4432, -0.2271, -0.0513, 0.1343, -0.212, -8.1983, 4.8342, 1.4725, 0.1441, -0.0024, 0.8669]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cfd6aa9458d8a62d51f5f23c9cd2f2e5ec661c3f610c256b29c5b5844054926",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f0b27d8c53017a4f5f8fe953c18eb281920078c94f926ba31d6d17d932ff416",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a82dacd8765578d980fa35b71147bd21d58401ee50ab7d2f06c633124d160d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6289, 1.108, 0.9318, -0.6136, -0.4397, -0.5522, 0.1003, 0.7277, 1.9106, 0.6632, 0.593, 0.2825, 0.1749, 0.9952]\nstate[eef_state]: left_x=0.3017 left_y=-0.1221 left_z=0.2012 left_yaw=0.0316 left_pitch=-0.1309 left_roll=-0.1108 left_gripper=0.1003 right_x=0.3537 right_y=0.2539 right_z=0.0019 right_yaw=0.3843 right_pitch=-0.0662 right_roll=-0.0214 right_gripper=0.9952\nstate[joint_eff]: [-0.3897, -3.3709, 6.9812, 1.4872, -0.232, -0.0366, 0.0513, -0.7043, -6.7624, 6.2427, 1.746, 0.1001, -0.022, -0.1832]\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": "gAAAAABqssKj4a9UkxnOeoTzPx5zwWbOdXgGQWvr663Cq5zcbkiugHXWhnJqE4NWLkWAGyTcqiYZHwplxZTD-Gfop1SGCoiHOMobft_n9xFfLPIAfh3p0bWhGxfs9n0xlVTga0ITxAxcew8gYj7724O-UtKksabJKwLRGJkmcuqbD7qpolOAGrrQ0u3iZ4VnrWn7U5Vj0rYutzW-YSGIsMaxendVB_i2_say5136GkEn24NmcPchCiHfw1a0aEIHo-A9-f3qJ1Le8jA6KE_10hMkFVadjpt69OXBaUpMswA5p_NfZUTB9XSHRVAQHbzHSxKKlg5xLnRnSfNQQ0kOckC_nP7BfzI8p1ebu0fpyNr4ICHVSAOD_u_3K8oF5bTbKTExd9vY4UrqjvLydSEerhqqmhPPQpEqbDortLURlZaojPm7WrTIBrUTlJQxzqjjA_PqIrejaIh8P77WSJZsWsJQ4gKrE96SmXkgKl3oNyCw5jxPavi9Tfn2ofFZ692pbbb6jjnvHnD5eBQLyRghkAHxV1MxZ3XZwKGgTxuQFoq-SSuB4PlYj-vTyBVdQh3jJw2dTE4eRtq7EFzGigslnFhIXXSU8bXApsxOc82kX24LFldBaVdnWi1oOwhoELOUKwNM9e_6FMne9bvjXHFxQNDu9F0Z5IUNFD8-WY6w2JEnSuM2mMncvGgW460ZX2EcyOYXSKF__GpuCmKNt-Ooj9uRAFvxYH_ZwVsd8VwcxX1WknqzKEp3bZ0vhJ1VXedPevXJkqaTtzKQYjqjuvcWCFP2St0qiKfRi2JKKIJEpz84mExn-heWZcgcwUujOOG_yLhj90Fu8RBvPWvMhNnenk7abLIsUoyFhGRno6KeKHFmrhd1xCCPtkG407isIfzoEJz4VHokalGSW7BHgKQaMcMadipQrAdQl8OgXBWIS9nWeDj5PBuzbNKOHB5gSfPijr5k_aiTqHsGSnH9_zPHe71uN1O0zfc834vQHiHQ5n-YWAoLnWKsrZ3cn4FXrBRagU6yG3qbpMEw4VIeuvl3IKfT72biwOx0NJkZVp3dj64-zWWrSgT17ODLyeoy82mqOwjrzNsyKwukFxkoaYfsHtEojdDWOfjFF2TiWeJ_IH3DENsclZK2Um1Xypyc75xb1OlT-RvFfZRHz35BNxuKIBOojK-2zDHb-JPBPJMa4kUTeTPlYXbf0zl9OK3zXWplH29-owxb4NIB2Qeuesh_yjV9rjw92AiqG0tfhAKUr1B3qQ3bJJJmTTRwNMTycR7w8Du3PyzDSJ2EXdKZWOUOEraAqzI4ChkiFHtNTJd4KSAKkTZZGlGbFf4woSB31SlT6raPUfpAUQXDaMr1nOWj1DPuXio-h-LVaP1VnD7NA-DfpjW3MthDDwhbRDCipHh4RQh0KjyG_U1X3fwwWcd-B2rmHm3rm_86rCc66Rf39bts6iQ7daEuSUOIWaO1uA4-gA2WbWvwlg8TWg70Byiw6PuL8cxkqQsI7Q==",
  "id": "rs_0435a2583cca5a39016ab2c29f2f5487d0ac78639556c96661",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.12,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.035},\"note\":\"The second cap grasp is also empty, so I won’t keep closing blindly. I’m clearing the right arm and lowering the held pen to return it safely to the table.\"}",
  "call_id": "call_vdWkOd3AHl6txk0i3gCTjO01",
  "id": "fc_0435a2583cca5a39016ab2c2a195f487d09263e1f043b2f482",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vdWkOd3AHl6txk0i3gCTjO01",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.3491, 0.3927, 0.0856, -0.4362, -0.5514, 0.1033, 0.3965, 0.9493, 0.627, -0.2672, 0.0326, -0.0093, 0.9953]\nstate[eef_state]: left_x=0.2891 left_y=-0.1134 left_z=0.028 left_yaw=0.0371 left_pitch=-0.1961 left_roll=-0.0618 left_gripper=0.1033 right_x=0.2986 right_y=0.1227 right_z=0.169 right_yaw=0.3622 right_pitch=-0.031 right_roll=-0.0178 right_gripper=0.9953\nstate[joint_eff]: [0.1162, -4.506, 5.4359, 1.6093, -0.149, -0.0073, 0.149, -0.4718, -2.7966, 9.812, 1.7411, -0.0269, 0.022, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764e60e3e97e92dd58f0e58366324ddc281b7229448e5ec1b8b89d7f8d399231",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30869a7ad6126295852f89ccba1a6f44fde9443839813a814445a3db69177421",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b37a6aadb81e358cf388ff1421ffbb17c75e2951c1cc53312ab47acc6b5300c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 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]: [-0.6285, 1.108, 0.9314, -0.6136, -0.4374, -0.5522, 0.1017, 0.7261, 1.9099, 0.6662, 0.6079, 0.276, 0.1711, 0.0111]\nstate[eef_state]: left_x=0.3016 left_y=-0.1223 left_z=0.2009 left_yaw=0.0302 left_pitch=-0.1322 left_roll=-0.1119 left_gripper=0.1017 right_x=0.3561 right_y=0.2566 right_z=0.0059 right_yaw=0.3906 right_pitch=-0.0499 right_roll=-0.0146 right_gripper=0.0111\nstate[joint_eff]: [-0.2256, -3.2752, 6.8308, 1.4432, -0.2271, -0.0513, 0.1343, -0.212, -8.1983, 4.8342, 1.4725, 0.1441, -0.0024, 0.8669]\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": "gAAAAABqssKq1IJKDWVo1h_LuYHkd6FWzVcmR2lMzassgUn1EsiL5E6OVR9UPCUofCIOCqq3HrdwtGo27x-e5PD0mNIqQOuDG5XR9v2vlzqQrHlPmd5ovK3izLP4WygKjXq4mYEHFTIU3kbI5Mh7ohmWowv37M94B2qu6JscBvWI_hiLPrpQYpY7kMT_PW29iRtJY3o8v2BbMq9hzn5XY3bDE_EaxsXb4go4kx82dZy5qPL5iKh1aByrIozJXFOLnTSQehmt97wbirshNLewU5MEn5quXZJNqOTTly8vzyDTjca2HluINmq4CIiSELYM3OMj4wsD03Qs6it2nhvtBxlVRuWNmhEZCUKACUpCRad7oqQqxlV664gNCtaMNRSzMNyK8Twvkz69XjDcv80I-n3cVYmf-lhomqlpl45oK_tLmnrEf20mkeqFoEJ1Q9iAuBgvIK2T2S1gLtoCR4NYe9v2f94RYcGdKSzVgCtmahUTGCZ1Zrm_pd7KHflJcEZTGom4Ugoi_UeuLG_B0RpeNJu5mLosawVxvmNNF2M1x0clM5Y4K31zEWc9yX7En2L-8jBhYEfwiQfpST2gSgFNY4GyTffsv9L6v03hOuzHpKJnCNKQOfj0ff5IB8kULQiatBy7cHTOurIe18TCkBuaAEXgSufIN3aaBNbkIBozYRgYS1knYhRVNjEISXvByM7MlzAsYcHqehRJlf5OW2h4qj-xo_cvwh5UHSwvh0J0JjrV2zPG9dse3VTTww_FAflJluL9umNN_HSJr5QPEz4l0WLrEVw2iep8QYSX_Lk3FCXwAJwNxCjpY_xyBzhNrJPUgQ2r4pYvOFctSWcLQ54N7heVvV-4rmOeOdaXbVkrS20XJgBFgUBcaPrYWkXB_M20fi4zOt5hI5pszNzoyyId6DqXDAV3W6FyDbCZLiDmtJG3J46khuUqoPVjV6RMXnBQF8fzgMabcpq4W-q3Qd2b0wp6EO6SG9F_YxQGgmdwPrEEKKzGHNyj2HRJ_umBNvJai3KwoEm4y1VkMB4DiYSjAgHZhJepFkWmNH3PFUuUdITdcRBxR3lN1Aj-LioT5C3hwwLIO2YqkZ0fjk--n8wOf5E9RfhOKet4wXjdaQ-OGaxfLaQoHCVN0TtMMf5gbsUwvAyIkf-HYLpJ8224t1h4EkEC4Ba6lvqyOYTDDxLt407Ku0Q_J26W-_vTSMKT0VZJ_s6hA_Ura2VjiV5jnlyP6UHbcYdak2HNchC3jJCj8iu0LhEDM63IZuBGuEsgCp3Kt9z9DqW7LzJylava6Hvs6mbu4fOBWI2etaXjzlCccziqfnQpb3y3yrA6aWpXuwlW9tXxpi73FCvJ",
  "id": "rs_0435a2583cca5a39016ab2c2a72e8487d08378eaa39fb2ab03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.005,\"left_gripper\":1},\"note\":\"The held piece is just above the tabletop. I’m lowering the last small distance and opening the left jaws to set it down.\"}",
  "call_id": "call_B3OWYRVDK7s04Fm9N4gPTxv7",
  "id": "fc_0435a2583cca5a39016ab2c2a8525487d0967ccf3111ea4003",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B3OWYRVDK7s04Fm9N4gPTxv7",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.4528, 0.35, 0.2058, -0.4366, -0.5571, 0.995, 0.3931, 0.9531, 0.6258, -0.2996, 0.0246, -0.0269, 0.9961]\nstate[eef_state]: left_x=0.286 left_y=-0.1111 left_z=0.0028 left_yaw=0.044 left_pitch=-0.2167 left_roll=-0.0491 left_gripper=0.995 right_x=0.2943 right_y=0.1212 right_z=0.1607 right_yaw=0.3748 right_pitch=-0.0687 right_roll=-0.0287 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -4.041, 4.588, 1.5849, -0.1929, 0.0464, -0.1001, 0.1983, -2.6325, 7.1179, 2.0391, 0.0513, 0.1001, 0.0806]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19e0f046a00e780d101563e8ce0825aa678fe4b047ea226be88b8636a22f9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:023d43ba345ee788e8726193b7abfe4a2f44f0646d838c79959dc6661e322d45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1530809a16cb5f74df724ed688fb9de87e2461e0a8227dd1e51361f3957a8354",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6285, 1.3491, 0.3927, 0.0856, -0.4362, -0.5514, 0.1033, 0.3965, 0.9493, 0.627, -0.2672, 0.0326, -0.0093, 0.9953]\nstate[eef_state]: left_x=0.2891 left_y=-0.1134 left_z=0.028 left_yaw=0.0371 left_pitch=-0.1961 left_roll=-0.0618 left_gripper=0.1033 right_x=0.2986 right_y=0.1227 right_z=0.169 right_yaw=0.3622 right_pitch=-0.031 right_roll=-0.0178 right_gripper=0.9953\nstate[joint_eff]: [0.1162, -4.506, 5.4359, 1.6093, -0.149, -0.0073, 0.149, -0.4718, -2.7966, 9.812, 1.7411, -0.0269, 0.022, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssKxAVZQU6hfEd-Q0WQNIqsmoiu4-yn6MryVN6BQkvdCS2pDaPSYM3KW9BMSzOFYoVS1CruUIS53L5rK7OumCeheriw3WaXOcOFWQPbDZeMYhNIx1aLMzXxKMrz9Mqg133CA5OmsX--v62_Tl5zABFVYf4gqpa5kIZmYNJM3QWqejNWXQT-ioBUQuG23Xmr1fxLlwh1Piaoq8VxA93QoC9WhkLGK8_E95YUqCroN8HhTtsaZyFqeYMfftUNSfEXblCVdfQs4zu-_zDc6c6XzEbuDPBafUxgm7hrXDu5NCmL6CZpSNGughtREiRcuMYOp8682vdNGTFPMSWfKj0bySX7gq4KZ8cHLWDwAydds5_z28y3SJxWdC1exY5ZC28XQ2TG7hkGQlPAdO8KPWU_qDVJQiLi0OFBEP5YYVn3W5OZiRCt-wNkpSTCteUtkzYreI38vbZNEvURpN5Da8W-MiByhY-wN_UDXwOVKJ0N4cPGfFmeiFl2Ke9UP1s4uYREFWQelLHZRhqyZk0VWey6mV3y18voLz-A1ii4E6xZ20SNV2P-pIuH1gbjJa9WkiGqLPzIvo6qgT6kVrGGeVHGEe7k2W47vFq6QE_7Drgyqx8Eymx6RmqjdsDPYhapRw1UGDbtm3mGL8vW9VCiSPNbfH6RKewZzOq-KjlLdu88ZA9OVYP3LM-LcRjBRoZP20zI2d9-z4vCV-squDuJllWGYbTXLJ_A4MUV3aOKvAHSVLYr4sSP38VRC2PQSwsBmwDxisLNP1tBOt0me0FnVm0h9bhvb809aV6bpFDljsfVsCwI-fCSdTKXEuEzlDgbeTMGdtCamLti-G9ReSYs8vGymm-B8ZcWKoB7O_4YxtRkJMhYt7_i1aoy-pFjzoFu5X922OXThdKg2rrAFf7jw2ZbzdfQIWO77cIHgNyH0RT-tfJXja5W4ocCJ0L_5cjsv3S20mVr8sfpvh3DnS8y71pms6uEs51JlW1qWSS9a6hjxLPtZX5-pGhe859SAIOY7PY4VBwT15fAxFT5WntGHlerG5TNeDYbCevECAbVIa_y56Mct3lJOf_5av8eLxMtb9ZKL4-iUlObZ2tSRbZXgbDle6Ee_vdY1ruGnZNmApcHOtkj2fFhdZJJGct4uCQ8IxEnA80eyusWiYQ0JfRedJf6k8Gf4NjgR0yLXm_TgGYHBJpff-PxWT2pTh6CwTHnC0Y__U3TzRcxACoCz5VJIst8-PnWktUYbVYvLa6nl05IRRw6e7cU8YK4KNoraZSDQGTWH43m1oTwc4QCe0R62iYcRnSaiOQ==",
  "id": "rs_0435a2583cca5a39016ab2c2ae669087d0b8f14ea4e61edf77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19,\"left_yaw\":0,\"right_yaw\":0},\"note\":\"Both pieces are back on the table, still separate. I’m moving the arms away to leave the workspace clear.\"}",
  "call_id": "call_ukWN5Efy0AYYTrRqp4DM7a21",
  "id": "fc_0435a2583cca5a39016ab2c2af5e4087d0968d58df4c246cbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ukWN5Efy0AYYTrRqp4DM7a21",
  "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]: [-0.017, 0.9726, 0.8154, -0.6312, -0.0299, -0.1131, 0.9959, 0.0032, 0.8516, 0.6682, -0.487, 0.001, -0.0422, 0.9962]\nstate[eef_state]: left_x=0.2968 left_y=0.0038 left_z=0.1763 left_yaw=0.063 left_pitch=-0.218 left_roll=-0.0584 left_gripper=0.9959 right_x=0.2914 right_y=0.0044 right_z=0.1718 right_yaw=0.0132 right_pitch=-0.1123 right_roll=-0.0267 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -2.0444, 9.388, 1.3895, 0.0757, 0.2173, 0.0757, -0.5949, -2.3453, 9.9897, 1.8339, -0.0659, -0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c1d7ce443430431949cffd426193020ba8bc49f60fb95f5f58a873559c8504",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f93b550777bf61a6427b28206b5edc5246bb2c23ab104852e048190a9fdd7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1ebbbf873a31a4bfd51c60b7600df262b0651590c50a103fd84379051c7ef0",
      "type": "input_image"
    }
  ],
  "role": "user"
}