adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6022, -0.3801, -0.0219, -0.0246, 0.9993, -0.0185, 0.7914, 0.6098, -0.3759, -0.0212, -0.0154, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0019 right_z=0.1842 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.6068, 10.4684, 1.7949, -0.0073, 0.0708, -0.0806, -0.5128, -1.347, 9.7299, 1.746, -0.0366, -0.022, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02a245a5d63771e2f4857c28fe0efa12ec66dc7edcfa1842607e3a5d22584b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d3360d6775ce93bf3f6f6b6d9a680f214eaa0efbf432aa8f0fda1992f1cb9fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25bcc2114f62dc8892ce3b29aecf22275467ca992d260db9a3b2eb74c8bcbfc0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqssL4NNKHVii-sLGI8jQDWCWFLNqEOalBTR-BPdVbPDwj6mroqya7lsJCMcSrdjuBcMckzqL6WjtjtISjzxNHktLXM1oJBA9eg2aJd32s8iECx1PV-NP_BJ3qmvlWbLgWa0vVvMa0TGyGwg_X-F9-it9BqXnkwq33RpUEiGTQ7MgioPxpCzEsZBaktxerHk9hrUtQBPnafiURs6R_97-ymvMI32Sn3xPcxMPMXed_F5ZdNTPwYKiXEsB_pWOwdh5547bJMf1VCqtf2yu9zsRF71ureN2LPAPSgDjfs_06K38YIa-2DOghP7xtWz1FKsWkNtzMG52lRxJagGFpkWVBLtaHj8HHshqx8MOB2mdoHQqh2p_UaZ_phCo6HhtQzeU-f0FJkz1LBsSiX8Sz2GFzTcJW3xrAvoihschv2dDB9efUnadisMy3VtOrUkMQipa1vBx9IuBZgmF_di6M-aAlVOari4fA3rf2axoEgM07EWU7mVV1KQ3g-RvJ2bIEMYX-eLBPSfFImuP9JH579-RiF5y-GhWzISl79Du2aV1sYHP28qkhTH-DrpBv7TOVYCdotRQa5vVag4YjVMlkAiRvm4ltaCw3oKTowP3eWgGGg8-dqCU1RV79ZC7Kx6DJz0wUYSLcMkKFq6fw5W_BpGjBzGy4ZCSeOcx_f8fBL0sJz8pGDNctMschm6cdwwQisJWsHdUJ-l71Phu2v-q1cfCEmAH2GmyE_Y2JgOsVuiOwCxVw-_NGv7Lp1xl5E3jBwjhyvMd5Csjp-gsBxZi4UfYI8rDqd4lG-wtUsxyfuVSmF15gAfT2yi25x_SYUZ6WbUb3oCWlefSQDKGy50wZ-O-5GqqW8D7ytEYStZKOQfIycjegWTUoOUxlQrtymqxgmmr9mGDrcHdM9zKx1SxV7J2ATKqjoQSXrc1MGDjY156kiknOy5oUpIM-wGvOg8NH5vosg8Z-s5GNaU7KVDd-xewH4yPcN98E4nscNQSCG_yHyN2y-SnsXgLM4J9WHkdovA6UClXIoSIFpFFQcdpmHMCGLc1zGybkgXEImY6sp6M5ARzJg7mmQSKyTvgWwNFQOZjtZBjBNV_dyyRX1D4RMlJ7cV5BCM5OsEt3pd_Ajra-bsERuaptEeqOKQXpGb2lsvYqEk9Rms2YhfymIvLRUIzIyrck--DiFNYVrzUmk2zvPy4bb5AzbcQrzE5Vq7n8Ng4k1fOLtv8WHag6JgjMbY_Rtn0jTQ_z20XgZA4S8O1PihCO-VRFw-7pvlNQXfw-qMq0ELjDosml9MLeQd31BBeXMfAJRIr1UGMHWclI4-_EyVQJ9w6JtQr7gFizBQTF9j1__ONrz3AZ_TntfBd7s4nPreC1a9BpNC3KrwzxzG7HPajsrbqPH3E-8z689nLrwyG0ko5GC1NCK3WVVC1dE8HUHdqmlauOOUtLiWIK8lKE040Q1uilXpG7pxFy-6KZ5pWI_ajm",
  "id": "rs_0ecefacbc8c3f471016ab2c2f0a36087d0b98f53ec2b199b34",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.20,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18},\"note\":\"The long pen is on the right half of the table, and the separate short cap is to its left. I’m moving the right gripper above the pen while keeping the left arm parked.\"}",
  "call_id": "call_Sjgzhc5PG4AvasfrN6u6voW3",
  "id": "fc_0ecefacbc8c3f471016ab2c2f3fe3887d0bd3218746ff8f716",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Sjgzhc5PG4AvasfrN6u6voW3",
  "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]: [-0.025, 0.7975, 0.6029, -0.3824, -0.0242, -0.028, 0.9993, 0.5987, 1.6699, 1.0454, -0.0727, 0.4656, 0.3145, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.178 left_yaw=-0.0008 left_pitch=-0.0068 left_roll=-0.0015 left_gripper=0.9993 right_x=0.4184 right_y=0.1938 right_z=0.134 right_yaw=0.0349 right_pitch=-0.0534 right_roll=-0.0355 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -1.7436, 7.0632, 1.7118, -0.0952, -0.0806, -0.0171, 0.5402, -8.2393, 8.6496, 1.7118, 0.4225, 0.1832, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54dc9691b26e7a0d3be4bb945c98815114cfc19545acc12f82c9cd424944d164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b200942c1670edc8639f0ee3367941ccbfe2b60671eaf7d5bf915b96da9baf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274b45d9221e59c73627f9e50efddad3337660dac9394747a581142763e98e31",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7921, 0.6022, -0.3801, -0.0219, -0.0246, 0.9993, -0.0185, 0.7914, 0.6098, -0.3759, -0.0212, -0.0154, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=0.0015 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0019 right_z=0.1842 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.6068, 10.4684, 1.7949, -0.0073, 0.0708, -0.0806, -0.5128, -1.347, 9.7299, 1.746, -0.0366, -0.022, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssMDm38Jo-4uuNl7nd1nljl0O6xGoeSYCgzKHJvq-HcHvX9V3H5zawMH4IkkCT2O0tI_XMrMhHFPMeEiaMP3XwCmpS7elgfhbTfElloq8v3POa1eLqIPRvOY-UwxuGxrp0ggtKEdXKHwKNKIkGAeHFpjgIi4yHE6QdJPK3Kzymamlp85u1XYkKxqdTz0K8xpsWb6bcoBkBtqVJhxL2Fg7rL-qRLxuSrAVlc736_9GSwdoqWkU7ndYHgmY-xf9MpFkB_eThLtIPv4cOT6c5uv2th1-7fGuqhygvuCRo6lOVrHehABme9Gsvqfpd6RSJrvlr8w4Gfug1srXUyiyIqF15pAPIQBM8HffyL1LAHHxgrnyGg4GgGx93uTuT0JGwO1ll2BvX3r-9OehMdlP0aMkMakmlOniIkH-db-TsxOqJSdBNUIhXApgTYhTPEqgIpUr-5549CUKrRn22yEzYgYvhg5KM_U4uZfkKwHk_M2k5LFSwu3SSIIs5r98LnEpecFcMTE0jxw_A2t8D5-Og1tQ0Fh5jFvhEiid3p4f2gpIXJEkRdrK6m0SvL34DbzDwUsl7r-0sJ8rfXuQaVusF5lbmRPlytFeodJeOseqbiQ3S1mvHD1OhOdaflbADrF95QIKu50TYq1izeXp28NoK3EN5slaEMBklaioydkTzWyrELhOH9Il4dWGG96V7RMTotya0BAJrGlMaOCRAMOqHpL5C9QHR84NZBcGZAZ47e5yjC-mTZzOmHoTxmLZrcAi1WOQ1jhTSK37z6Ia-8sLXKTcwl-6Nfix97nREcW2HyIb5EggW4woHOvyYuvAY2rQWjcxCWGXrcgXNg8JGkaQEUWSJTOWlotfHb1ceom5fvSWlxW6XU15-dJL5yxVg7-GO2US4nBP7KYNZ0scfKh66U6GWWg0LRhUTCAZdKDvEN81kZZdcWbi6-NepMhlAvMO793KXSUoQ0qT1L76UQ1TrNfaMLGwx9LVp2WscBALstk4rDmi8d2TCT5MvezD20crUphuUakaN3WntaAQOmh_US9mhbitWK4dOW6P_E5C-1AZmVpKyGeAhKBSr8dZX_u2fY4fVrVS5YK8gvUMkwNpWoKKWhVB6W8Ard7vrlG3vQpQHYr4jrab8jmzjtd2U7ST05R2B17gzED3OrQTZmZKR3_pDwZHGDtNkpM9KM049bV6uGp621JesIzZQCfOCdqLRB14It4Qj-RIR_UoRUHBo4l9aurS4Xsc0hOGnK0AhLUgNEoTX-Z2VAS3d_-wiXtEMaNLig2zsqPO9XeDlQC09Kz43N8NCzbM0Mfr4SdOGipePlu4Y3Ej1mQwgQlC199DhLwtSUFUCr7M6rbK1EMGAArHDG6s9x3t3x9qPr_eA-zJUim4cNoU65XQ6_XKdOK1TDEcM_iQeIKwi0GqaAQqjlkeuwALXiuqn_CYTOnoEr6EkdNWbRxQF8rG0m7NPNj3sJP1Af48XRQcOW9sQK84AFaOFcBLO7UDPxWE4dtkPidSivRTGQ5aiWleywt3CZeyNJbDBIgRn3bdFw2Et9SQv1coEx9xOW-w26JyW2oGdKhGdnE5yQwFMZ6q1E1SdUABHzZ7dIdD-vAs1F9FmqxZXKi1Qqp6g==",
  "id": "rs_0ecefacbc8c3f471016ab2c2fd693c87d0a60e06da221aa98d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.185,\"right_z\":0.035,\"right_yaw\":0.65},\"note\":\"The pen lies diagonally beneath the right wrist, with its tip toward the upper left. I’m lowering toward its middle and turning the jaws to close across, rather than along, the pen.\"}",
  "call_id": "call_EnpzeqYry0ZOg1sFbH51pPqu",
  "id": "fc_0ecefacbc8c3f471016ab2c301439c87d0a1525adff5bbf0cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EnpzeqYry0ZOg1sFbH51pPqu",
  "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]: [-0.0269, 0.8001, 0.6029, -0.382, -0.0261, -0.028, 0.9993, 0.3256, 1.8294, 0.7807, 0.3622, -0.1371, -0.1432, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0003 left_z=0.1774 left_yaw=-0.0011 left_pitch=-0.0091 left_roll=-0.0004 left_gripper=0.9993 right_x=0.4188 right_y=0.1707 right_z=0.0296 right_yaw=0.5114 right_pitch=-0.1211 right_roll=-0.0239 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4701, 7.2684, 1.707, -0.0659, -0.0806, -0.0171, -0.4855, -8.1299, 5.2034, 1.8046, -0.3492, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f2388906f171581227c7ea4076b6a5227b91ee8df6f3e61a00fe14e2fed5ca3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3be8237cdf41de3f21270ffb9ab0e654c1da08594b4d3d040b3cd73201035669",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec73a0ddbcae517f8b9c416684fdbc089035452ec8b4c71a9602d621b59421c7",
      "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]: [-0.025, 0.7975, 0.6029, -0.3824, -0.0242, -0.028, 0.9993, 0.5987, 1.6699, 1.0454, -0.0727, 0.4656, 0.3145, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.178 left_yaw=-0.0008 left_pitch=-0.0068 left_roll=-0.0015 left_gripper=0.9993 right_x=0.4184 right_y=0.1938 right_z=0.134 right_yaw=0.0349 right_pitch=-0.0534 right_roll=-0.0355 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -1.7436, 7.0632, 1.7118, -0.0952, -0.0806, -0.0171, 0.5402, -8.2393, 8.6496, 1.7118, 0.4225, 0.1832, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssMM_T3TljunR5SiloRDyY43odnVVywjjLJA7qiqPn4zD2MvXTfeu4GVQNGcQWQPOqA1e_jcWVhCfwUU4f4mXDazbLgW2kUcyFq5-UEKqFxFtw0iPliYcn-lyuKpEmjANAYqa9lmnlVyyISoM8jZPvoO7CzGUX77OEiENnyFaWNNpsM1rWf6ZYC8QkEeFMkYluzbIiGClBRxNPdRVVwGhwYLtUuKYGwrXSJqWy6bjJgC9lv1dvY6hMm7DZ2NOzxhI6Drtxirm2zjZEs6ZhHI0kc_MPxTz_XmoTAmdraT3f-O_bliZ7DK4vGLztQdfxTM1EWIReeE2gQUEwH1dD7IGg9UPpVVyfZ85SzgFH0VEx5Ypt88TNviZ4lZdNWpDKzREh9Uxn_UpSmC6hgAYyvPH6IRqd5lXhv185pUMfcKpanKcZOGbHUXOSiKDMiyBZTm8_zpv_kmwsirEnSsBKsr2N10kCFegciCkXvMg49a4HI1qV_1ZY4cJ1ROr_7q5XMtYECRTs1tD2M464ujoTKX0uM8MS2nVLykw9HpRXaFZYnGRGw0vLQexPeWiuZLL1a7TRyj5dkxNz5_7YJV24D3k47nQcuT27JI5CYNoWWkFhpboilknS8nkHjRNtxrofgv402jiD0vwrI5b3wxsf5Bv75VMr42YPZrtmd905TJhZfNVWXHrsUXEuKGdqMvwUeNg-PxzjPyYEiBJ7hPnYUzF64r7vDjkp2eotTb2YEarcLnUMF-fuIX0u6Z-7GZsWe2bwatI7C17cC-JWgciyE8aEV5ev1Qk5cXhHAWKsBUWu5_bgLbkUFw2dONQbY0-KesxzH-AVrb7O0UuJuZI5DBaxbSC1ULqLZ3khNP8DuZhEbxye0s76Q6MMw7-vjOw3aVZA7TR9rFFScRksfwk0ai39HXIUHsjUhhDM1vChFd2cN3MYfLluubSLngbyATRsI_KQyJyZjLOYfc5mn0KX1oRq_E0pAHy-S-d_QRi2qyMcPisF9yzZ0DkZ-gDA0nsSh2lPo8QfXSlm3bEoSVYtw6BUunku4FHrxHkx-JZSEQQolD9FYyxQsQH9pSXeJfmaICK_SPGWnEUX7lU7cognD-4AKvZCyQQGKqQnDoKyFHSL9Sjt5QWU4fU9hi-LBSdJdrv8fGxI7UJjr67OC-LybEZAZCWqJi0H9DfiVY5de5PBQab3GM_HmZJ0NWbmfYWaipGTfLudgP5rUuBtncweTCnU3U1RuPCUO7DqIAEHT15zxR2ZzTIdmza4nPvbg72orDwaGHT_hjsiMjSx_yrUvMNz-47M7LinYNxliTmUA_S3-49YpFxhRTttNCJeD2VIiktWeuuZvNd1yhsOdx3AVgv9eviQ4OIm3KaFb3mvfgGfbPpnMl--MGWM9wuwK9VWV_gM9jhZ9wW39Qr4Mw2DISJk1qEr-4ZVObMByLnRrl-Kesni8tQQ8UUQDTrvDkmoEep6aGCU42WtDNgKH0FBUY0KqzdQ==",
  "id": "rs_0ecefacbc8c3f471016ab2c30707e887d0b0042a5ac306a122",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.422,\"right_y\":0.174,\"right_z\":-0.006,\"right_yaw\":0.75},\"note\":\"The pen is between the open jaws but slightly off their centerline. I’m making a small alignment correction and bringing the fingertips to table level for the grasp.\"}",
  "call_id": "call_ClX89PkBdsIdmJdgf8NMDebI",
  "id": "fc_0ecefacbc8c3f471016ab2c309d67487d0a9995dfa4d053a6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ClX89PkBdsIdmJdgf8NMDebI",
  "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]: [-0.0269, 0.8024, 0.6029, -0.3817, -0.0261, -0.0277, 0.9993, 0.2562, 1.956, 0.804, 0.4423, -0.3271, -0.3126, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0003 left_z=0.1768 left_yaw=-0.0013 left_pitch=-0.011 left_roll=-0.0 left_gripper=0.9993 right_x=0.4237 right_y=0.1734 right_z=0.0027 right_yaw=0.6921 right_pitch=-0.1074 right_roll=-0.0332 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2513, 7.1453, 1.7509, -0.0806, -0.0171, -0.0171, -0.4581, -8.335, 6.7624, 0.2613, -0.149, 0.779, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a4dd3389f366bd8eb1d23020b24f745b04b09775a4c760600dc34a8597efad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a415ffd247e8238502db00b49bdd2006d2d79eb767df52e5ca6623166af5416",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08888b962b6e373500c2fb210db3646cfe9bdc2f8d059336a79c4488cdbcf1b",
      "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]: [-0.0269, 0.8001, 0.6029, -0.382, -0.0261, -0.028, 0.9993, 0.3256, 1.8294, 0.7807, 0.3622, -0.1371, -0.1432, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0003 left_z=0.1774 left_yaw=-0.0011 left_pitch=-0.0091 left_roll=-0.0004 left_gripper=0.9993 right_x=0.4188 right_y=0.1707 right_z=0.0296 right_yaw=0.5114 right_pitch=-0.1211 right_roll=-0.0239 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4701, 7.2684, 1.707, -0.0659, -0.0806, -0.0171, -0.4855, -8.1299, 5.2034, 1.8046, -0.3492, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen’s shaft runs through the jaw opening at table height. I’m closing the right gripper to hold it.\"}",
  "call_id": "call_QfP2IN38A3EqVFGdHCGmrccE",
  "id": "fc_0ecefacbc8c3f471016ab2c30eb1d887d097fe548d5d81b82a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QfP2IN38A3EqVFGdHCGmrccE",
  "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]: [-0.0269, 0.8051, 0.6029, -0.3817, -0.0261, -0.028, 0.9993, 0.2359, 1.9713, 0.8173, 0.4458, -0.3935, -0.3721, 0.0521]\nstate[eef_state]: left_x=0.2952 left_y=0.0003 left_z=0.1761 left_yaw=-0.0011 left_pitch=-0.0137 left_roll=-0.0003 left_gripper=0.9993 right_x=0.425 right_y=0.1755 right_z=0.0038 right_yaw=0.7576 right_pitch=-0.087 right_roll=-0.0428 right_gripper=0.0521\nstate[joint_eff]: [-0.1026, -1.5111, 7.2137, 1.7021, -0.0464, -0.0757, -0.0122, -0.253, -7.8701, 5.8462, 1.3651, 0.0073, 0.0415, 1.3455]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee7f756ab40e25d7bd0eb67379dbf216b494db15cd41db39cf02778a0e3f8a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff908a5d3d81ba991b1803c8b54222ff2820d7db5cdb262e25e60b0e4879b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9da95f2f9666a1e33131d18a2bfc573675744becd6e80894f9ace9ac5b06d120",
      "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]: [-0.0269, 0.8024, 0.6029, -0.3817, -0.0261, -0.0277, 0.9993, 0.2562, 1.956, 0.804, 0.4423, -0.3271, -0.3126, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0003 left_z=0.1768 left_yaw=-0.0013 left_pitch=-0.011 left_roll=-0.0 left_gripper=0.9993 right_x=0.4237 right_y=0.1734 right_z=0.0027 right_yaw=0.6921 right_pitch=-0.1074 right_roll=-0.0332 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2513, 7.1453, 1.7509, -0.0806, -0.0171, -0.0171, -0.4581, -8.335, 6.7624, 0.2613, -0.149, 0.779, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The closed gripper reports about a 5 mm opening, consistent with holding the pen. I’m lifting it a short distance to confirm the grasp before moving the cap.\"}",
  "call_id": "call_6kjHuvvGnOvVXcak7QgZ2dGL",
  "id": "fc_0ecefacbc8c3f471016ab2c315a4f487d082f8a1c178638b6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6kjHuvvGnOvVXcak7QgZ2dGL",
  "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]: [-0.0265, 0.807, 0.6029, -0.3817, -0.0261, -0.028, 0.9993, 0.2359, 1.8309, 0.8604, 0.2508, -0.3939, -0.3748, 0.0585]\nstate[eef_state]: left_x=0.2953 left_y=0.0004 left_z=0.1756 left_yaw=-0.0007 left_pitch=-0.0156 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4221 right_y=0.1749 right_z=0.0453 right_yaw=0.7599 right_pitch=-0.0968 right_roll=-0.039 right_gripper=0.0585\nstate[joint_eff]: [-0.0889, -1.0598, 7.2274, 1.7705, -0.0806, -0.0757, -0.0073, -0.2667, -10.359, 7.5419, 1.4774, -0.1929, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:526d992a650f34a5e7b1916bfddb816d8c90e16305fd21e6f1043f584e8f89c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a235cb856df246ec419047348b128a448791bf1bea501b862686627d7b7249a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06f9f8d9e44a86fb4eabe055d93eae77634e5b3c232ef9152f9f04c3899ced76",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 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]: [-0.0269, 0.8051, 0.6029, -0.3817, -0.0261, -0.028, 0.9993, 0.2359, 1.9713, 0.8173, 0.4458, -0.3935, -0.3721, 0.0521]\nstate[eef_state]: left_x=0.2952 left_y=0.0003 left_z=0.1761 left_yaw=-0.0011 left_pitch=-0.0137 left_roll=-0.0003 left_gripper=0.9993 right_x=0.425 right_y=0.1755 right_z=0.0038 right_yaw=0.7576 right_pitch=-0.087 right_roll=-0.0428 right_gripper=0.0521\nstate[joint_eff]: [-0.1026, -1.5111, 7.2137, 1.7021, -0.0464, -0.0757, -0.0122, -0.253, -7.8701, 5.8462, 1.3651, 0.0073, 0.0415, 1.3455]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssMf7s8Vw-V57PyVCDzKoNxlTbs5sPf9uLUyEnII8QrBKJ3uqhpobt1TcYu6wWzurudqwnJVg5oP0aht9MmcXEl6Dhy90i3AezLWjQYPgTL3eskcH6svU3iEQJioL3AyPb70gL85tyf3ybbLMktqe2mT7ogTjQXGZMrpZ2rzBOi_QvRfDLJzTsTOxiJpdHXaR5Lgkv0HEL6dSJljR2IhQXuw0Hv1aqC2d-QlrKizzzAJwRZinkqCW_N3xWEYmVn9-FIeaV9yc7seWNunh5NdenvrkrfaenOkzzscj7e9CHOoLP6rOacsD1JHLc731lu4XfUx11oGCIPuSkKX6qQRChZTP-2BFN1hL7caRaRmHMH7lw5-g7Y1LSBZfaW_i1OeX8gB3OlGKryWe_m2f9HxYsCRorO-bLa6jgY44b79g3NQ5iQqgTWHFx54pEFZ4subfLx6JcAsaqaAh9ryObzhCc_LroDIMItlS1w5P_NxMuhFCKsQPS3bOM6z9ABSYgq0R3GEXCbRBJOpS_OMOayLgTEJ1oiLoUt-QZ4SRxRPCDnA_cGFvHii54BLOkttAAlPDT359Q5HV5bz3NHcYZ2EmwDuDXBn1B7esVqO6la6deTB7SG8NB5G0gwD30F5OK5BWKcboUmfJ_MiLsv8qKcgcZoa7RFJFhR-OkJJodrCE9Pz0HpTyX5VV_3K0YHsqM4PDVznxXHcYJ3C8RGQKmTir4EfNHbLw3XOZDASaBN6xTosyNDM1XXZ3lMRLzlSbdFLz28IPk3cLvvn4f_n_LP-DioAEhsQPpmfcV-ItyD4r0jEd0ql6pnCkX9wMw1fOwihMuyAQdHk2_DXZMxJU-6cL25BuQf6enHG8cqmJIJJCialEuoNsuym4vtbelTx-HyU0KCrhPcd2tKdCz2yecOahA2D0rmEZ5B77kVsNdLNvPysjYBpR1-WWX3auquHGoBlAeZ9ucPdEY809yhBjYLYOoqyvHGJnMD9vc1sRKdcvOhORBfdp8ND-VxQjDhNdvEBFtZ1xIBzIP_4HOhTM1iW-TchoameZsOLKyyfx-Dq5bblkI1gyqFtky5bmbs3hFYqWoWvS5-f3UzI_7IOqFPtFTVws4LtSwp51BETiRjkkmzMmDePIJV79syTIRpXGuruCLc9BgWqtZAMUy_B7GwKJ14ko7weCW2pKKTWpXXXdeeeBvuIoT7YDD9rrSRLdM_BHdCGfyJdXetHZdH3_aiSB9Dez1pvhM42sUVhKKlYwwW_agIBLnDl1iI-Yt3PjntsEMAXiyyPIisve3bMUvRf8VRKNNb1OKDjwbB85F0RtBRi_rbrjBQgWEHIWowzsGAGVa7yTu9teStY0WXUT9NBlCF24GgLh8qBEQ3ovmZYz3YyYefEnROfFPw9XcZc11Y_HEmswUDVgylwy_dhCni-jdQ4DWnXp5kE_U7wL9Z_Mni74kwkjZx5zl5tm7D2E83uZ3BR6siI5RVqPxmOCIe6QAWQeC50meHoJmXKS4g-BqIKYH2_9Zm4h-zHrEmOqEJstHz_3_8Y0bRkIy0l1A4pTqXp4qEkuMdVA_hAe0kN3d7HHv_jF_o6OXVDHVNh6OcSqZarhz9iNL25-CjZ8e7cUwnLuA==",
  "id": "rs_0ecefacbc8c3f471016ab2c31987f887d0bd38458653f0a7ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.15,\"right_z\":0.17,\"left_x\":0.46,\"left_y\":-0.21,\"left_z\":0.14,\"left_gripper\":1,\"left_yaw\":-0.35},\"note\":\"The pen stayed fixed in the right jaws during the lift. I’m raising it to a safe holding height and moving the left gripper above the separate cap.\"}",
  "call_id": "call_cyyGYMVkFeuaInLIdCkdBnuJ",
  "id": "fc_0ecefacbc8c3f471016ab2c31d48ec87d08eeb5d9ea41d9e09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cyyGYMVkFeuaInLIdCkdBnuJ",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.466, 1.7363, 1.0676, -0.0044, -0.1265, -0.1104, 0.9993, 0.1806, 1.544, 1.0241, -0.2703, -0.4244, -0.4175, 0.0585]\nstate[eef_state]: left_x=0.4448 left_y=-0.1947 left_z=0.1148 left_yaw=-0.3106 left_pitch=-0.0968 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3975 right_y=0.1502 right_z=0.1422 right_yaw=0.7563 right_pitch=-0.1465 right_roll=-0.0173 right_gripper=0.0585\nstate[joint_eff]: [-0.5538, -8.8, 9.6342, 2.0537, -0.022, 0.2515, -0.0806, -0.9231, -9.7299, 9.4291, 1.5897, -0.359, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ce6f16d7cf183d012545f52669e55088297a7da3927c37b227d574035ed02f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6705f476df9dacc9866a8e81cf23cfc26e1de64e7f680e2f2eb353a04def5e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7054ad37e4eedd35f75197a43785011d3a827c3ce430b13623afbd9facf72c15",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0265, 0.807, 0.6029, -0.3817, -0.0261, -0.028, 0.9993, 0.2359, 1.8309, 0.8604, 0.2508, -0.3939, -0.3748, 0.0585]\nstate[eef_state]: left_x=0.2953 left_y=0.0004 left_z=0.1756 left_yaw=-0.0007 left_pitch=-0.0156 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4221 right_y=0.1749 right_z=0.0453 right_yaw=0.7599 right_pitch=-0.0968 right_roll=-0.039 right_gripper=0.0585\nstate[joint_eff]: [-0.0889, -1.0598, 7.2274, 1.7705, -0.0806, -0.0757, -0.0073, -0.2667, -10.359, 7.5419, 1.4774, -0.1929, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssMoi8VKvdSbOobwmhexZAmrligHEjK9-lUaEUaFYT-ire_QbGk5Su2BtuZB_VBbTCWHA3ukJe1UcsdmNHsbJJ5q0AUmk-Gt9JmrC1iYc-Y3QypAvNZaxG9CT56fEKCyk3XUCZcTIXINTf6dzPH0Y9J7bJZ3o7TGqXI6apj7ghza9eyuRa9sHLUQMRjmQ6W9BOdFOhs6g23dT4uxqK09YT227qb3iRgtz7XdavwHyBTaMK6hl6gyBTTZOpOaCyZHDUqIChKRuh4a3AtEn8XMJ-FXSTitvEu-GZrb_iDFoJOFkffe4R3JTkvAFcl7hfqmiq0kkp8dq1-hvFMQM9jJv3BHz5bdjzH3R9u3ZjfprbxdJ7rsRVRM9DAW73reALqKMtduk0UpDAIKdjI4JlQ1qalcUjFtO2j7w2k61wbgrMcDOia-TH2nUNPID_r5JeHfWGhxhk-u5U1vFz7fBWD-BMxVyh4kAenZynJg9qoLZ2gYXSXOwvk5XC4cuvLFmrgneYAp0e5l9DsXgArwT0e75M32PTuq8cJmAKGDG1DddeE4mqOdJoBjmKa01uss5Xyc4cm0pUv-jH3bApqEgXp0k-E8OOjosQ6ewl-LZU1IVYDKrr0zpu5iZaRf0d5SS7DpR7QOX6C7sx_ziHhZsLRdxK4qDJDUn4cggUTp7UUaKvMDea6FRfXhEtSN-5T_rJ7wNHGO4zQbhILjMuIU3i1fYcSTZqyRNluph6S0FyV0nEJliZvs5IseEaJXpDPxW_hs-HAJjZpHdeQpipwMVxZASNrSbrEEpSlT16HlXIcFPI5v6RqwlVNqlvfffRVbhfnQ4IiT78Fj2rB86RVJ3ozDz9Opg8mIqKe-XcuR5DTc0sxciyytu-LoZRZ_P-3irQKRlJmojUob2KHnYKssp3TRRNbPkkTO7SngU-bZF-PjaQ4b-X9E7uMToq6KlBq1EEdhGkJ8VoLK-u6gbTXkTIxyZCNwCLCxOcfjp39kR1gCehLmYLGHOkw3wHmJsnCHuUMyci0lg309-R9JCgFQ4q5IhqFTNVV9EV2qPhQeDgwAWRbx4nWBvLaINYK-Ibdsp0BveeSZGLO8UHRQTbmXQx6Lp8NMmwkVTCKzviI7GPV_zWZMYDW16iEqivyXrKL4xdZ30XZ57EvU4IUcDoFfUgLUK1_jFtP1IBi1mII1NZZBng7HRwyVmGD4TyNJ48T4HDsC-d6tzmmlBE8kZXQ6rsw83Xn20HB6iL8nvoZA8rUOD-Nz_xs89IaY_v92LjC7QbFNQztL",
  "id": "rs_0ecefacbc8c3f471016ab2c32434d087d096219fe1db4e35a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.456,\"left_y\":-0.207,\"left_z\":0.025,\"left_yaw\":-0.35,\"right_z\":0.175},\"note\":\"The cap is centered in the left wrist view, with its length roughly aligned with the fingers. I’m lowering the open jaws around its middle while the right hand holds the pen clear.\"}",
  "call_id": "call_jeuEUFvDLTvuM1BimPH6KS3J",
  "id": "fc_0ecefacbc8c3f471016ab2c325b56887d0835513ff697ad5b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jeuEUFvDLTvuM1BimPH6KS3J",
  "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]: [-0.4709, 1.9713, 0.9771, 0.2481, -0.1173, -0.1036, 0.9993, 0.1787, 1.5253, 1.0939, -0.3893, -0.4232, -0.4206, 0.0585]\nstate[eef_state]: left_x=0.4452 left_y=-0.1994 left_z=0.016 left_yaw=-0.3256 left_pitch=-0.1698 left_roll=0.0101 left_gripper=0.9993 right_x=0.3931 right_y=0.1484 right_z=0.1588 right_yaw=0.7578 right_pitch=-0.1725 right_roll=-0.0035 right_gripper=0.0585\nstate[joint_eff]: [-0.0479, -9.5795, 5.4769, 1.8535, 0.1783, 0.1001, -0.0171, -0.1846, -7.4872, 9.4017, 1.5849, -0.2466, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f5cdb1e238f2820ab2ce151661208b53a3db5565a4e7c92b1eeb5699b4d167",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ab7d481d33be922def02edda213d69339b53ae8c0c77d920fd32ab63e18f46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c04c44e32d73d3a9a7dd6cf6a5eecbed43a5203cf13987bd4d0a3670c68bd05e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 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]: [-0.466, 1.7363, 1.0676, -0.0044, -0.1265, -0.1104, 0.9993, 0.1806, 1.544, 1.0241, -0.2703, -0.4244, -0.4175, 0.0585]\nstate[eef_state]: left_x=0.4448 left_y=-0.1947 left_z=0.1148 left_yaw=-0.3106 left_pitch=-0.0968 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3975 right_y=0.1502 right_z=0.1422 right_yaw=0.7563 right_pitch=-0.1465 right_roll=-0.0173 right_gripper=0.0585\nstate[joint_eff]: [-0.5538, -8.8, 9.6342, 2.0537, -0.022, 0.2515, -0.0806, -0.9231, -9.7299, 9.4291, 1.5897, -0.359, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssMxvHrLN260wJfbPIsBkWLBW_1Y2I9SL2BL1CWXKzrprZnNIBJlEf8JI0fsYowOkKssdlazBnxvQ4faNj94ZFLUzjozLiT4qJzOLIvekbzXIbhdHVK-g2LHp3sXvxJp_XxugJ1k1x953KvoLyDKb9rAnuAbOmjqh8oPDoD8cpaEeGGTRjVEjb-oG7T6sKq847RAU41zv-a2QH9Jn2XGxa14FVsiKoSXQxVUOLxLIFV2CL2BSHEwNSPsuFzUMsZebAp3cSqtFs16xVBTD9EPDrmtYklO_jy4OP03f5QYTIJCN3TNnX50AdYbYxgydB9G2su8IBgsEmoisDkK8F4fCSSX6LErZkocID_xasDP5u9k-7_MPKCZKLt9N89WNbljzy2amcL3U9Fps9eIbehlvqi5Q2a9BPVOTUV7SENBUnqnrsbO0pqbJCtTrK1tO7cPnXZ-nHfirpug6dafOkduJfubMUq4hgNhnEtf0JA0NQK3OI4qau6RcJzRlkk9VqK4geqtmZ-FnfRLNgYXRhgDZSIPdXaDReZTnMcU9N98MsMDWyAuIWg8n2KD44hd3aHCGuQQlhz9o2wukugJXyXeTByFEGInQAoxpLpF7SQUbFs72_cYeOd3hCfn2WpGjWZeMHJ9GKAwX7C8ZUCEV0-cKipYwcFTRL03bHlExt7UJar_J5AY3ZX1nWH2C6JJTwJ8LbMSw61mvIpDDLesyGzaYz5qzfttJpaaNp1KwE8YaT5SPDaVtpHMfIXlqI_s44oZgsMsUn0s6UqTnkOa0d71P82KkrpDpaJMWxuheUViBEZsiXm-_7MAkQdrmQV3MZnc5jdQhXY_m39pvDYccrg89VQWm5K2oS1b__jKNNe9I1De87waV2EVN7sK3HjTQcFkvjoyYcPnH6OtVpaEJOl0Tvi5LO-uKOmDCHCiUkkVWn1eh3v6xQDhVsewEMr4xVmlM_mtrsMcJ9LVMyrzeJyrq-rhd1BZL-bfQ_iMJnZ8IVVZlwc2oqxzZ94QMsSkkn2wZ67UBH2gB2l_d12zRDGjWnRP9RnMv_UE3VqYhCUCYM2fWA54kyJ_c4Q5jYQd6E_8vmv-7E87zSl9lEcQV4Tuv7yBKQZ0GI-G5VmOUYmyS77gpNgjcB1xRwzCulMH2SXGOPVPuAQ74DmYMZNceCGphck5aKXowLpiuO2SLiTS4v3xEPM4asRS6cP4rsys5Sj6930N0XN179PbF97NfFO5LLTMTtHZkTxVMeUnnbwNuWH09uLLLmbWfeI6zsbfpauvblnv1jgdO5ekIYor9PIXmJ39iAd2r71pamMEr6qyBAsmpHUWSdF6Rd2SIhjtP_Ec-FQ8lY3vDmIZdgua3G148kBwg-scpkL35M52hGSL1YXZsQzv0jur5ysWMZNv6F_ols8WR1cuNRcNIgdpkx_wjDzeWK_HVfOxz0hOGKQtY1hd7Bn0d0CYHmQF2I72jWroFeOnL5TqXp-590g7Wmabffpa8TxrVYuwfbSqAJjPhJd-0qQ=",
  "id": "rs_0ecefacbc8c3f471016ab2c32cd84087d0bb90f718b1bd07ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.467,\"left_y\":-0.194,\"left_z\":-0.008},\"note\":\"At low height the cap sits slightly left and forward of the jaw center. I’m shifting about a centimeter toward it and lowering to table level.\"}",
  "call_id": "call_Oss49amyosxZvHotEqZM8XYl",
  "id": "fc_0ecefacbc8c3f471016ab2c32f696887d0a6e303514f99c665",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Oss49amyosxZvHotEqZM8XYl",
  "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]: [-0.4541, 2.0373, 0.9985, 0.3069, -0.115, -0.099, 0.9993, 0.1787, 1.5249, 1.1007, -0.4091, -0.4232, -0.4202, 0.0585]\nstate[eef_state]: left_x=0.4575 left_y=-0.1968 left_z=0.0031 left_yaw=-0.3136 left_pitch=-0.1561 left_roll=0.0099 left_gripper=0.9993 right_x=0.3913 right_y=0.1481 right_z=0.1586 right_yaw=0.7588 right_pitch=-0.183 right_roll=0.0038 right_gripper=0.0585\nstate[joint_eff]: [1.3333, -8.4171, 7.4325, 1.2186, 0.5543, -0.2125, -0.0171, -0.3761, -6.9812, 6.4752, 1.6142, -0.2222, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4dc7db8cc751d93490704471aee4a46bd9cbddb358436abdb129b5a3ec0875",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fea4450a32befe6b178f692bb7adf0efe35a6d33925df87ddadf5b26b720377a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06aecb98920db34874bbaba78063ea9d7bdfcaa55f54d7ca63d68f4b62d65e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4709, 1.9713, 0.9771, 0.2481, -0.1173, -0.1036, 0.9993, 0.1787, 1.5253, 1.0939, -0.3893, -0.4232, -0.4206, 0.0585]\nstate[eef_state]: left_x=0.4452 left_y=-0.1994 left_z=0.016 left_yaw=-0.3256 left_pitch=-0.1698 left_roll=0.0101 left_gripper=0.9993 right_x=0.3931 right_y=0.1484 right_z=0.1588 right_yaw=0.7578 right_pitch=-0.1725 right_roll=-0.0035 right_gripper=0.0585\nstate[joint_eff]: [-0.0479, -9.5795, 5.4769, 1.8535, 0.1783, 0.1001, -0.0171, -0.1846, -7.4872, 9.4017, 1.5849, -0.2466, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssM4VFwaZHsyaf1DDPwJzSwvTPfeC35jnp0CR9EZdPqYWwdMvuQrDzDXS_3CfAfKVB-d8ny0Zt6bEQteBt5OXu7c_Jh793Saf0Ahho6YKgaHThY9IryPLjRMRDgxqPwup09EnGV4Rs7nMF4oGPmyR-tBma2g68FPnGN2kd0W9HP_nxSVaUjF6P5N-LLvXeOC1BfLYtZTxROpLXRnILM-QDdQ-K6SXxLYjTi_h75snpsiAXzvPIqSaMsOOx0VlBrNo4YefaHpQ91mwpVfL0VrnmkdmLhrMli16n-ew9h6QWh5fK9eW_AqQS5SfdA6MqTlco-W3922aB509b6RhkDPWGomGtfUu_YpffrPxH8phuZFCFi80MS2k-mXlLRE5MO_bXrSCtZ9P04oxoDrKG7zVj4MDnESm0okScXVQqxzPPTR7C3DeDQk0YMN22Hxs5MDhtIRn1gXjzNwLIIAM_FcblP_2srKxc3ng91Vn_VM6MF1aR5dh8n1-XQOElFUfH3espejMOQwhs8jB2wyah2tSjDC3sy6D0hbYMxjBY9nfOUe87xJx5KxXOQ6QBUUQQoYEZpsXopaNYlXRpck7JfkgvmA8Xl7u6rg-Fa4O2WwaXnlB9HhkZgd6PTz7yz1EjfBr56L9y5cxX9JdJSQb4KF2ocaCMjF9rzKhTWuxU3u9F7Vlps3Vaj9vgc8MRvUprT6hurmpjQKML7pWpOhnvBVzJDJJPDtpIO99VNjH63fbyyzD7daCCDpGv3ksh7DInic5YFJSWwy7NCOn-DnjHrxF81TCJ5bjLjgHZqE_BIwA3-APcrHJl-yU5Vp_tD7MW3cQ8NjOqGHZ9E91QwuOH67wNyiGPKnunSdS9FmuSC8grBBiReoEgQCJyTIH7xwabLPK4B_Yw3mZgS7cfSKINHbsOdHB904ULCucG9gp7FE9Gz2IUHy8WrMuFCy9PIiwZcURHEhf9FVu4gA3EIkGho-XBleDPTk8YxNj9mH3hkmLKe2j8YigzVx7B5k-ZeYjaokPAS9CRnBwGIma5Zly419nbZcVv28YpnXlA_JL9zztD1uMqM6AXkg2SvC9PwzjE4STy6FC6OhMe107CKbD3PTLNeTMR_yOqwneO_bSZRa6GqePl8SgLslZM2XPgwo9y-a8-i_3n_K0j1KIXKlq1Rw4AlPTeniq7L1ZbEgsIbyv67r2rIfas36MGNFe6YBw58TwDtUMzdUkuxeJIyes70ing4J3IiVJWkTwEvAj_rMEMNBXivzK89wEzWcvUFRjlbOq78W",
  "id": "rs_0ecefacbc8c3f471016ab2c335e4d087d0b66600e81f80baab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.18,\"left_gripper\":0},\"note\":\"The cap is within the jaw opening, but still a little left of center. I’m correcting that small sideways offset as the left gripper closes around the cap.\"}",
  "call_id": "call_xmaNpLcL2tHBO72YP5ianD9v",
  "id": "fc_0ecefacbc8c3f471016ab2c3374f0087d093ae85e4af5b6f6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xmaNpLcL2tHBO72YP5ianD9v",
  "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]: [-0.4183, 2.0373, 0.9806, 0.3553, -0.0982, -0.0818, 0.0477, 0.1787, 1.5269, 1.0935, -0.4122, -0.4232, -0.4202, 0.0585]\nstate[eef_state]: left_x=0.4648 left_y=-0.1837 left_z=0.0055 left_yaw=-0.3019 left_pitch=-0.1274 left_roll=0.0081 left_gripper=0.0477 right_x=0.3893 right_y=0.1477 right_z=0.1545 right_yaw=0.7601 right_pitch=-0.1933 right_roll=0.0106 right_gripper=0.0585\nstate[joint_eff]: [0.5402, -11.6171, 4.2325, 1.3504, -0.0708, 0.1148, 1.5507, -0.2256, -7.1863, 7.3231, 1.4872, -0.2515, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cdeff98054e6fadfd68e0ba64eb172b3d0dfeed4324a638c0ba120a82985cd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872d5b8aee7250a552208e75460eebb8f135a3240ca2fef2c41845d0e344645f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08a0d2cb513ea43f4b877f6bc90dfe1553236b18efb0907d10f1f58d2449be9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4541, 2.0373, 0.9985, 0.3069, -0.115, -0.099, 0.9993, 0.1787, 1.5249, 1.1007, -0.4091, -0.4232, -0.4202, 0.0585]\nstate[eef_state]: left_x=0.4575 left_y=-0.1968 left_z=0.0031 left_yaw=-0.3136 left_pitch=-0.1561 left_roll=0.0099 left_gripper=0.9993 right_x=0.3913 right_y=0.1481 right_z=0.1586 right_yaw=0.7588 right_pitch=-0.183 right_roll=0.0038 right_gripper=0.0585\nstate[joint_eff]: [1.3333, -8.4171, 7.4325, 1.2186, 0.5543, -0.2125, -0.0171, -0.3761, -6.9812, 6.4752, 1.6142, -0.2222, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssNB-Qc3FfC0KBYH8BLuFJ7WysSYpLProTooYDQzOBWntd6haAuO20RrSO9dIZAkiunn3yXl478OLIwoBv6E_2vwqp5NWoK88FJ_RHRCTbjuAlxK4wSDQ-ZmZgfiZg63Mg6LFox_cvhBibDXu1dyZkDRhiJYLTetX4rx5Sq4ZNpfGVMaqHaM4ipMSEjB1ilrtEFN7axkLioSlfMXvxReApFr2rB2ss40QoEZPbDWYnhX5W8b4TyLZhDyw6SgWiowHf2esCkOw7JIrVl4D8QXRO80J9DmmlVH-FAPcoDuyuCC0urc--i1b24hMpP8A0-UYKI3VZxvWUJ4Z9wMt2BRVX5NRnk68v76wIy6C9N4WrkoYSYsj1xYQTYrPs26VaHYo9Wed7yv94n_fxO2Ai-Dllym3yz3wtTFCOuSLla35A1kMmuhgH4rtQwrcn9_vDpL-Lc9vYZoWcfnO5YxjPvMz5bHJgXaz_WHfOJw2-QEZhz9FFej7D7ndUlU-w5jZtteiLj9sKksU6p9c3Zkvby52DAYEjcJr3MdQ_htFHEBgJjuthIbPgBdD2BUNNuQQCpjR9mHUBM4MNseR1L6fTVVL8yBcrgTqTt4xBvn_S4z84O69TDEWJ8QL5JCVGFNlt9h1q8hTjxSJs53bey4yDx6SCdQD-Q4ndJtpDlDaToo3xxSPyroEIVT1rnu0Kj698gE6z0z3HGNuKqWPOtKLe-KjbNx83kYmf8QMe-otwRrHYaWsaf6ol-xS2Yx1yJy2wDG5KTX-Zn40BgP-TIx7E8JhejdYEm0mKB4bcRCIx8Fd8YQTp5FdAwsg0yfUIaNOoijXfndXuVgJC68zPw3JXZbO8aazIwidqilfexYBCy5nKd1M8rqVTvIUJ1GNAIMdU5rTbehOreQBU3BZAP7BGWW8bm3w-gn1mV2Qja1iG2wox-35wMDwN8TMPI9RkHH1uUnyhXxjHPI_YPar0eEkjhwiY78vALXN9h_o_PRML1Z7ZFs3XgzI7CUwZAbYUq4M_ZJdZxZBUgCAisPNPzFue2FjZnbnOH3N31lNrHqrF2yFxPUC-w6K9xvvz1m2ymD1yDFwKktcWzwnyQ0SQseHphRCGieG2yrCHDo8R7dedawQPrDWLQVgDS4Jv4uLm78dG4SnsBtyDL9P1sLkaWW5cm9z2-Lpd_9tKI5Uhkzwsd-dR5nYRJ9r8YJabGaegPaVqhbCDmR-kPuY2dQXyb1vX_YA5t6YGvsy99_bgOz6ia31TgTwonACEAk2yJLf5xaRnm9v9BX3xBfM772N6hpg9vlzglcZQzh8TVpTTWi3kmQk4HHQ3Y=",
  "id": "rs_0ecefacbc8c3f471016ab2c33cfe9487d088ed39a7bc65ebe6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.065,\"right_z\":0.18},\"note\":\"The left jaws stopped at a nonzero opening around the cap. I’m lifting it slightly to check that it comes off the table before trying to align the two pieces.\"}",
  "call_id": "call_I3ZN0GEz5dhDreFiLyeRi2sI",
  "id": "fc_0ecefacbc8c3f471016ab2c33f8f9887d08e287ecfb88c1b71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I3ZN0GEz5dhDreFiLyeRi2sI",
  "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]: [-0.4191, 1.9347, 1.0126, 0.1864, -0.099, -0.0853, 0.0539, 0.1787, 1.5269, 1.1412, -0.4915, -0.4232, -0.424, 0.0585]\nstate[eef_state]: left_x=0.4581 left_y=-0.181 left_z=0.0349 left_yaw=-0.2995 left_pitch=-0.1614 left_roll=0.01 left_gripper=0.0539 right_x=0.3858 right_y=0.1471 right_z=0.1616 right_yaw=0.7658 right_pitch=-0.2196 right_roll=0.0256 right_gripper=0.0585\nstate[joint_eff]: [-0.2256, -12.3556, 8.9915, 1.5165, -0.0904, 0.1294, 1.0281, -0.1299, -8.1436, 9.8393, 1.3309, -0.2173, -0.0122, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebfe8ea64ed39a457fc41a7b494e5012de0584c8d3add41b41596572e30e54d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6967a3076b7c802a9730c03088ed10135ef95be6c292265d1e30b93d759981a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed256d46306078c4bb5d6e7a891668e22f0ea08bf058cb49b144830a6b115bc3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4183, 2.0373, 0.9806, 0.3553, -0.0982, -0.0818, 0.0477, 0.1787, 1.5269, 1.0935, -0.4122, -0.4232, -0.4202, 0.0585]\nstate[eef_state]: left_x=0.4648 left_y=-0.1837 left_z=0.0055 left_yaw=-0.3019 left_pitch=-0.1274 left_roll=0.0081 left_gripper=0.0477 right_x=0.3893 right_y=0.1477 right_z=0.1545 right_yaw=0.7601 right_pitch=-0.1933 right_roll=0.0106 right_gripper=0.0585\nstate[joint_eff]: [0.5402, -11.6171, 4.2325, 1.3504, -0.0708, 0.1148, 1.5507, -0.2256, -7.1863, 7.3231, 1.4872, -0.2515, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssNUMaIc7hQe7ypyHwjUZqRIwjosmdwRzpUIv0_O8r4i0edCoOBjaXy5c9pbzYac_JPxyTPoY7bqnJo4yG9VSGHwNenrCudu0lQCe9JkfzpBDfueg5vtyEa3gvll1MsFaRs0qZdWilXLlTV6jVp-1yXC-MbnxUIGOPgR3RH2vZ0tx3GDMLc7MTm17wuG2G4AVGVNFiDvGMp-P7rpWlu5UCXs1jJnxLLDChyMPi7L7i0vt3ZuS6mUoIpZA8An7Ca4ieoVAiwNMI_ZONKmIRbJ525oi2TM7uanl0ysDVjsw-26Mws6X_nkkBi8Cw2OvsGRICJocFhH5F_QmyDP7jvfA1hzsr8F-L0IqZg-SaMAJrjVcEl8DLHXrOX1Z2_y1mGpWCzHIdqK9FGplT7-7DfikEgREnglGcXGpKazpysPc-w7McS7YKbnKwcipNCnHNHrZ-jX6y_a5NDWYtX3xW51zv8kmoKeXtyMJO2-xHwF4YZkDLbZrJjWBgmVg75np3i48nUiMWDm66nA-_Hz7ySfT_XX9sp4MfvC1QIizdrUNMAd7tOX2yPfJa7b5cT5rBBIjeAKVYB73tQZmmYmYcLrkkzr0y_hXL3hL_XSsCuLvamD0NWytcG2zsXMTCxQdyhmeLw5AV4mPuqhZPBbjOOsvVmYW5yIk15EMRWl50oK0toZFpgo2nzXgvdcR4Z-TqiwATB3hFcesTLLRsnMMW_qt9uwO9nuQh87SI3_kCpgLbytCHew50sWNZQSHXOFu5lom2qPdst6A2yc43xdVhvgVdlUgFXgEQAx96VNAdEV4pOONg7Ag3JOF9Mik6luhU8pXSYMe5sh3uTo6kiMY5M2_7tzp4iybJgNvDm_iIfks2IpGtTezoZLjjiJY9ryu5EZC01o3L2O20YK86384yMD6k4lBMi9GJSr65pKDQYEHaETsNYNUFe-K88Oejo9KVDFkUxu3zOICvWza-3ErzFUvB8R3Glt6HMfNEpaMphpl_GW6HpfIO5YXIbp-4sd0iK0iMF1prErpJTtTm2uzRGr_J2_w_D1Mdj4SOHCzOuA6JJI4X-ia3sHTIyBo7jiTVCiD1HH2dufVbOlrERhv1WUg-fxaMmFZrUwYqZu47wFA1wM55GyLrsmWcPhwWVP6m7yz6ua85zcy0kKPOT1Jg_bg-T6FY1emCMONvGQM8dKOY2vMDgPfARr7PYY71q27eyygggl3XI1LjcpK6CF2VXv4US1mVDQGIr-YG58yQCrVJKCY94LUxWzQTI3gmKOtzF2RcmWpFKpk_2QiN9lQnWd0sV6SBXSA6nzHH-sXk1lK2dwmHLTyN3yH_BOaicEOYw5IAvKedO-qwz232DSzo5pJdGP_XEq9bTXn9IAMd2Lb5bqBH_Pjyx8w5Ny29TrNy08Ja6rkfNmDorQJluz9mLiuqcBULkH79DlfWTZFbWy96noy62QUYs3zt0MUJ14VMrNtNDtAhp5j0wiqzuvYhqsoxzNfK1PLVOAjjRfrlHCI4F677ZLDidzZo_gpSDrDgW6UVe6eBFb2V-xcr21bxeVEAe2qms3-NcQ3D-YbDbSrQmywqtXD-RV6nsdoRs5IBn1bfAFGndXz04D21K8IXJ2HGlb52Ur9pMUeKLIOxcVZRyc_b0liQ32fSQnH_QY-qQp4x_4iS-iImURhUTSlYplFC3Ih8UzGtEV-mqB7OEtdFsNghIApSKR8GN4dNM1XDdgIni9_S8lndCcb-4PQgDxfU7rESj6voHmdU-dKCBqyQRI3Hrt-kT5oYSzF1jVXcQnYWtE7EwC9KIo2aV44bYYAJFduCfc-M58iDv_zcr3uTFh8ICTu5E3WQ4_gRVcPkvMlBZ1V5s3kjpT93UtTBmHPdpevgNaEO2NaVwyvTtpCQDMhTEZt6rci8GZmvyfnF0rl_eVZEXXPehQ-LLegd9dW76Rh5Ofo6LAc1clpZF2ioKb4WjjD-ylWF6Y3wdjZz6a3K3RgaX9XYp2tU4rNgaWoqz-3oeopE14CFux6shB-yv8A_8PsDuNYY-v9EGDCz5iE-CSxENlOpZ2aZtgM1sOylGJuXBXblRL8K87xcwbC1cSqfQl_fc1Ab9Jn1qO2TBX86f5ZXQLs4tSyoAHjtQ4qNOn4gvolt3DMpo2D3vonmxIEkxdEYqtHtC38oZIjcLjPebBAF4rAIOSFwJ2uWGemvj2RmXnrL8ICh01onolhpWDxWusmn93LK62IaNXn7q4zDMUZfAWkSGGnTNWspuU-suOEL2AFqYMxg-ApkZSaH4KJqqas66M5CP7h_5xhj6LAMotRFvSoSm4hBZ2TqjhvBEH3sDTtvyl3LCJLvaMHE51OrHQOpOOvUtXZRjh8LXS8vo8QIrhOZGMZxlu34dMPbzxRQuk7yQWSQSGolUlKYLqOeOvZbQomKWi4MFMZG2zESJviuYlGurWGj5kmx0na96KfRN6SuLI5DudgaA1rc-1-sxSGXGAvjZPunColcOyygUHRU3zz6z8GlYN5gw48-Q4QbolDmbN2k0iqhcmRdMG_HXK3PH9NMxzGhTFAke9xHCwhi3nLgIN36Evko3hBfAKWE_9opFuRDNIt-UjsITZ37Z20Sj93mJ-O8zKpJ4-ykHMJYlo6Xh5_AgQ7b8VgQuAReVp2ZIiDtOflU-FfRMWWh2FDNqtPMOsITIJ2NzMDbR1PrWAC4Ml0IDbeuugjvr3T78wd8WFgb1K-fSynE3DPpGmFJkaUWCa9sxZO0S-6SNmKqHk2SU9VpTZ2MMnWFmkx0r2rZ8jRtri0RKtudahzvk=",
  "id": "rs_0ecefacbc8c3f471016ab2c346860087d0a3f770efcd546430",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.19,\"left_z\":0.18,\"left_yaw\":0.7,\"right_x\":0.34,\"right_y\":0.22,\"right_z\":0.18,\"right_yaw\":0.7},\"note\":\"Both pieces remain in their grippers. I’m bringing them to a common working height and making their long axes parallel, with the cap ahead of the pen tip and the wrists still separated.\"}",
  "call_id": "call_YkgE09bXLbxIxwgh4jyINAAh",
  "id": "fc_0ecefacbc8c3f471016ab2c351c63087d0b71e1bf35e98412d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YkgE09bXLbxIxwgh4jyINAAh",
  "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]: [-0.6903, 2.1521, 1.998, -1.0271, -0.7605, -1.1522, 0.0601, 0.4774, 1.446, 1.1007, -0.4896, -0.2039, -0.1768, 0.0633]\nstate[eef_state]: left_x=0.4587 left_y=-0.2163 left_z=0.1712 left_yaw=0.5541 left_pitch=-0.1665 left_roll=-0.0822 left_gripper=0.0601 right_x=0.3383 right_y=0.2193 right_z=0.1675 right_yaw=0.7447 right_pitch=-0.2551 right_roll=0.0306 right_gripper=0.0633\nstate[joint_eff]: [-0.4855, -12.0, 6.7077, 0.2222, -0.696, -0.0513, 1.0281, 0.2803, -7.9932, 6.9128, 1.6777, 0.0464, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf12d3115b64d34984835d6e8087f142044b2b8fd3e7e75775a73427be629e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3f726f70e2282320def1e11cc2dd40a0fa651e620025720760dbc3cbfeaebec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c0799e539d3bc012893349f7feada5725ea72c46a48730d54eb6e61dc80ff1",
      "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]: [-0.4191, 1.9347, 1.0126, 0.1864, -0.099, -0.0853, 0.0539, 0.1787, 1.5269, 1.1412, -0.4915, -0.4232, -0.424, 0.0585]\nstate[eef_state]: left_x=0.4581 left_y=-0.181 left_z=0.0349 left_yaw=-0.2995 left_pitch=-0.1614 left_roll=0.01 left_gripper=0.0539 right_x=0.3858 right_y=0.1471 right_z=0.1616 right_yaw=0.7658 right_pitch=-0.2196 right_roll=0.0256 right_gripper=0.0585\nstate[joint_eff]: [-0.2256, -12.3556, 8.9915, 1.5165, -0.0904, 0.1294, 1.0281, -0.1299, -8.1436, 9.8393, 1.3309, -0.2173, -0.0122, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssNeYCxorf6t0HfkT4m3ak80JEd9a1RoyFQQSiptDq9SVkvyQzVnYwrWP66UzqzNomZTvxTX7VXxIHYesftmdgCdfv7o-NNOLN17WneGJO-GbMRV0sTY08ZAEbdg7fyj4Eg2zcJNE5gC3c0Cj2KpE_56HXGSWlnI9Y-z3tXFVilCkJvwo0CePNYr2JwSauPIePqRvykrYEYehc-_3-JnBglhNETNHqdnzGB5IEpfhwqYEucue3sj-cuMh6GQ0lGgxFEgKhJ8QxLb39jE7Att-WKjt6jolf8Sn4l5caWyV0Lq1AOrEtLVRNxSc3GLlJ_Zeb9h8rBbsv8Qlny3484TG01LgASeWJjALvER7tvZtLumvL5g8AlXNowhUOMjRTU_V1xGrx2ZzYAkV1ndaXnXLfybPG1aeyLgNyD2qXd22o-sB-j08tYzY5f5-21cT1QtRc_vtofTC4vXdOHMCmg898TuvVhaEJAq-wKqbdZZtkL7ZT-ea203TUJ9j9_lbsFw1nYsqx3aa0zo1Y2qLVYnxMpsZuqXXoDWX1XtxibOVEj04ZGQZCrFYZZ9O6zFFlqhtl0pi_S0n1StMbftF4inJkaJzoQv9A29UhQGR3QFkxYYbLJkAdSvIy3lz6j3v9QaxSHAGKz4KSp7xGRtPiwIRRpInxd5i0AyZ5SeWcuwA3SR39Wg7ZXpkaOxYpMzcZimsLPplek7w_1poVIaVmHemXAHNFKvD1oEPlNQzPCszOyRUu4Up9azHCD_sAyQpsEYbD-ax6roVTWglR1j58K6PYubbLNUgnZBddzrG-aeSR0W2hTJQbhC4m14MP8g7Lv9MwHGKZYOyhgpx3L1rvL8giJPe6Q1kC7EK6a9Te2F-t-T0tBkmCbS9aZoRc0gvT2QKZ45ldybQunAK3Foz6K_nFjxJ0M941AXK2671OBvYXpC9v_gVGLTbH9y-RppmJVCi31T1KG8GlJu4N9ssETcq6rT3Rl9Xe9iRjk_A36Qj2mL_PClX2bSS0UowA7Fe7xrLjh4-WmzRif15kpUstMNolI4Sp4n_HZSiqyK2kAve11IdEwlUke-6CxsuukdDS8knSdgUEssrkaVYvlqFXTto7prG3hcFkKWENYJ-unCFirwJiAUrjft2YZfA1L4DfV6PbizNquHeasECeJJ2Umylt_jngcqG85i-IhoFJQ3iX2VF-4dhPdIQclPn-TZQRleilZHJdJRwAaq9F0aI9jQwheh_YFwGS8mnimHjfvZusycbHK7G8dsQNjZBhlifkqN1LBvt8AEjvgNqqtPQ3vc5q4viROvbXiTnsFvRw6PaNQWHpUj1kWvT5uwlq3H3n5fBXyVZiQYbMDdr03nZYt34PNIbW0m29kUcgucizosAFRgbeEso_fIF-b5N3tateUJgfNQskO1vyFh4yc38EE9GX8lfi-BnQUZAuLcbXx4Ijya6H_MTur9ywsxANmnokkTNaqi",
  "id": "rs_0ecefacbc8c3f471016ab2c3598f8887d09cf25096e5471662",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.29,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0.15,\"right_x\":0.30,\"right_y\":0.36,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0.15},\"note\":\"The diagonal cap pose is not tracking closely enough for a precise fit. I’m turning both pieces straight forward and lining them up near the table center, leaving a generous gap between the hands.\"}",
  "call_id": "call_OWz5zD9QceDEWvYvSI3LKNJa",
  "id": "fc_0ecefacbc8c3f471016ab2c35b7d4c87d0b31cbb5cd94cf4c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OWz5zD9QceDEWvYvSI3LKNJa",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 2.0354, 1.7378, -0.8055, -0.7036, -0.9844, 0.0601, 1.1748, 1.8263, 1.2873, -0.3222, 0.873, 0.6865, 0.0633]\nstate[eef_state]: left_x=0.4373 left_y=-0.2353 left_z=0.1509 left_yaw=0.3794 left_pitch=-0.1792 left_roll=-0.0501 left_gripper=0.0601 right_x=0.2942 right_y=0.362 right_z=0.154 right_yaw=0.1186 right_pitch=0.0485 right_roll=-0.0345 right_gripper=0.0633\nstate[joint_eff]: [-1.894, -16.4581, 9.2239, 1.8486, -0.5348, 0.2125, 1.033, 0.3214, -9.8803, 8.1709, 1.2772, 1.0183, 0.1197, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89fc6ed663bcd3a35774fb981beae19788d5815793548abfc5f883b121dc1ed4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f6ae45d0b0a5276b4b48476c8b7e3b627aa0cd7733f48369793d4d0aa624bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991fc43dd9a14fc723e771a11432dbd7d55196ba9edb10529d1a28efbca183ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6903, 2.1521, 1.998, -1.0271, -0.7605, -1.1522, 0.0601, 0.4774, 1.446, 1.1007, -0.4896, -0.2039, -0.1768, 0.0633]\nstate[eef_state]: left_x=0.4587 left_y=-0.2163 left_z=0.1712 left_yaw=0.5541 left_pitch=-0.1665 left_roll=-0.0822 left_gripper=0.0601 right_x=0.3383 right_y=0.2193 right_z=0.1675 right_yaw=0.7447 right_pitch=-0.2551 right_roll=0.0306 right_gripper=0.0633\nstate[joint_eff]: [-0.4855, -12.0, 6.7077, 0.2222, -0.696, -0.0513, 1.0281, 0.2803, -7.9932, 6.9128, 1.6777, 0.0464, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssNoOZaeZ2M1xAMh4jCF1UK9g4HePbQlXrcE9gX24A8wstXMCCWz1Qw9Z9pp0hMni0bSwrWHSJkqxzgW2WUlimAd_ZJXnybxVGUgs8TzY66jf47nuzP2f1wQwKxtveXSge9VjM1tbXNeGqCc0akJYM3YrcspMD1zVeITjp7KCn95DQr0Qlql8hz03JmnEJrt_cfPH70mcDZ_hZZNEk_Id0yHru8w0X97QOYJkzAOaLZLcZscJZ0ccSjGIL8eiGZ75tin3OqltsYe7IXLnRH51pnwKtHRdzV-g1pseWDm3l_CsmFzvprKDYh02EHoWPjJq_3L6KFtfb18vL6zgfW6mia6H7GrhP6coMS8sIKfVmXkXse8A2DaJnmg7z3nNgva0s91lg3yWIAbTqTkDwRSXMxPZSeQAVwUM_Xl2IzNvMbGFBSiDCA8RVmvfGDVLdjIjsbP6t5oUqqTKuGYxb2BmIW4ndOFQvw0dB0FSLOLTsUAJgSLm3wn4kNHvLcF4sskBk0aq1BXjZlk1XDQ71C2CxghRkouvSQX7-gA7E5i_f62vj0KfF8tputuCwbSxIKKauyagg1oUfO7SNUOVwbXF1FMDqT2NvwNVBnT-1vF2EUv2vIiMEdA_P3GbsBb9PrazlSbs2lPIWQsDA-8pyvWy86mW8IgAnNdg332_mSd6FWh8jqTA881RVxh2BCxOm8IfbbM8qLNJkM5-pXXx3upBkN7iBA3GAUKdgTRcCmGpBTOiPRWhBleR7ag06n0b5HqrROOtruzhpjBhd9-esqjxR-Uy8c3r18S1Am7Z-N6wP6hJ2veXLeF4o4DizJMa8IZqafKfYzN8SO4IZDU_p52XEaEOPhg7FkvieFpLVIQ09tZb8kDg1GZt2nFrelfTXzhAWiq-7QDpdRbKkrcQamSWg1iW97JBUgYx3gTLZwMLLFf-pjtLZeF4H_KEc3zZ8YvK5IdgEiQAl2qoO7KiUQhDopk-sSy2vYsQ8MFAOBsh-2L9rlt9GSy3_84Md5oHQqwFHx22MT68ri90VaoWszPl8Oj1PgDRc5a2K9PKwMwcPLfVeFeHKB4xGMgDkEUa8isqjNwT64NSDu69Qgk8A4TrpWnAt_Q_rK1YxGKM6oDdUJ2tHpiqjJOXTIMPI0rxckrXNZn4ooXGoBTxZIARh5QUt91qcNj7T6cnMhCXg7dwHrZ0vlKHaaPQy4VKrgNzedWVtttYZRYEXY6VPyvBIbctDuoLJDKAf0jNfDUA479aPwtu87AGOSbzV7qaAX2teQ-t-yGpEvR9RV8603waN2Em7PavZ9lBS9O3hYFzth5njgpkEThBLOhUPlGIQoiFnTSTKmV",
  "id": "rs_0ecefacbc8c3f471016ab2c36497c087d08c78f289b6853d87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.28,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.22,\"right_y\":0.37,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The left arm is short of its requested position at the longer reach. I’m moving the alignment area closer to the bases so the cap can reach a straighter, more controllable pose.\"}",
  "call_id": "call_RjaDZFwO0MRRWMfUqCt7iw3I",
  "id": "fc_0ecefacbc8c3f471016ab2c366211087d09d8e0d375ec7efa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RjaDZFwO0MRRWMfUqCt7iw3I",
  "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]: [-0.8871, 1.7432, 1.3605, -0.4976, -0.7174, -0.7216, 0.0601, 1.3537, 1.8912, 1.5513, -0.8284, 0.9508, 1.0748, 0.0676]\nstate[eef_state]: left_x=0.3735 left_y=-0.2689 left_z=0.1798 left_yaw=0.0684 left_pitch=-0.05 left_roll=-0.032 left_gripper=0.0601 right_x=0.2277 right_y=0.3816 right_z=0.1787 right_yaw=0.0553 right_pitch=-0.0062 right_roll=-0.01 right_gripper=0.0676\nstate[joint_eff]: [-0.7453, -9.9214, 6.8444, 1.7411, -0.2271, 0.1929, 1.033, 0.9231, -8.7316, 7.5966, 0.7253, 0.7937, 0.232, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:173330b8892a53348ec83907b50ed62b9568ad194dd63469fbcf000e297800fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98706b53bcbf4bbaa52c698cc1b29b02220d78df299ebb7eeedb8480b31ae3e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ffc26996bb06576d92394bb0a20594c77a0878afcedd48f18f8c652468898c7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7334, 2.0354, 1.7378, -0.8055, -0.7036, -0.9844, 0.0601, 1.1748, 1.8263, 1.2873, -0.3222, 0.873, 0.6865, 0.0633]\nstate[eef_state]: left_x=0.4373 left_y=-0.2353 left_z=0.1509 left_yaw=0.3794 left_pitch=-0.1792 left_roll=-0.0501 left_gripper=0.0601 right_x=0.2942 right_y=0.362 right_z=0.154 right_yaw=0.1186 right_pitch=0.0485 right_roll=-0.0345 right_gripper=0.0633\nstate[joint_eff]: [-1.894, -16.4581, 9.2239, 1.8486, -0.5348, 0.2125, 1.033, 0.3214, -9.8803, 8.1709, 1.2772, 1.0183, 0.1197, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssN07HH6RIfdY6U3_viXcjGA3WGvq_4cyD2v3O7ZkNuDUrQMwlqgsp9BwGFmq33Yn0A6B0-aO8jbvutJHsGna0Ev0DA5BRjuGdezi6w27r-LZezRR6_45Du2HNokQuN_egasI4kkENVfnDs3FFPsVajW8LBlpMWzLXzDKpk5I86iS2xuioCr376BtV5QyXLhACe9R-Oenl6Pn4zjkKN3VmenaiLpdogeWcYw2FVZbVUuP2tQ62n9g-Q3i-pWAE61G0ITTJuK5LcmA_MAR0SoxKub-2Mopwm_uf-oXnpY3szokUbDFIExbYn5O1XaeukWro4ZrhDMey7VbidRWgtSWp3Lhi3KrfHGiMBaLll2l4CUCqcnB5Zia4OGoHeH_MqTT2xuaNH3axRfoKXInsayVvgktRBgSAOiQ8CLJkQ0_BxwjG4vZPD8C_27PUMXWUzhSkfchcayM_TX4jNzPbV7L_rDQqB6N_AJgO3aQy95URTsggEfsCkkpyyA1XfayiTghxFAa3FKBr9K16NFgAeDG0vXemHlaehTnrrNS6CYn-xMYLWW-lTqfAxr3lu6cdFZFgpTpZaZYe66p-ZE2QjRhapnY9XG0fFhosxAxMjpPuamTsMkU7PgfplRevgQiXRMNOIPWdgcXszeI0pCtM4Y2ZcNDxLKAtqnfXD_YOcJlFbmT7IHwyqHUaxgMeiKeUQMzvS_ij4deQbwViw527ML_M3giugLXzpMOBYrtP7-9aYD3okmOlKGDzlkXAjlnbBy9dGdrw7S0sWK2txdLo7UN4WS6sZm20TVU-bblqAYrHUvzB4TCQkKlRtygUFA8J3h_9-OU_6M3viECp7fzILgdS0Cvjz7OvihbU7ZgWZws53fqYxBd0A4ZjmpR7qXx4JUu5EX8vgbDtHjTbN-wrB3seGZ9pZp5OxuiEHeGrE6Z6TJnfgc8tXeqyixiGukke56Q1mmG7cTF7BhmDCtiLBDDMF0O5OJAYWSNSR6Dd2DZSCC3NkNbCol5apikRuSemn1EAKLnIhQf3PXZjuL-cce6HKOGWX7QwLR-Y91dNiE5eSPlSS7hygxHYCRXLThyl_R3UbJZQhYPHAnHlFYYan9aozGc1RzQpF4OG1NF9o5kpbOQHvssOsefYPklBoYEF5isRWnTKC02fqTZvmOe-p-Z2Ps-YkzA40VRdOzhbDKo4vgpwhCr3n-l3Z2QtytB1SDuldSk8z2Ki2T1fxqkdPKTj0B1-ZSaLRGBw8T9hIxnKcz0yUB0RlFDryJMnj6oISbwiUvaNDmFVIOyuUORSWQoB6yoDpSYDuHrcILFI99fsehDJMY9E3rSxSZ4VNwVv_vtmtDxIy16cTvALZ8dSWtW1LTAS15WQApoWGofxtWcg85qQeBIJQXcfK60DcbDhg8a0D6dhjL3Joe5gTal9m9zQUwtfqEW0IqteOs2mqh8OiqGc4osHZNifbH6xYyH4HX9lgobV0tEbeabMD-o5pSt3cWpqqoLKyXh-KSzfwLXqr4EvRq4ytBXV0FyachecUKjESscaPFa4ldL4GUYr4Fu2DIXsgzToshkBSFimn0L0nEI-gM8jTYeBiN6ImqhXFP0M4g9nt7ugPUE6d20ujHi1gLKMiYdzxRnEEDJZ7sFDSfc3hLzl-VMy64Nm_scH7KNZLmakp5z_G6yFPECKZe_AkaqXo75OdHwUdGfkC4VKANjruVPfd1w8I58j570x7lhsM-7cfXx_vicoNP1CopllvodFepHFMI5zGOtPauCjr9tGIqB5QGhhodSh-5Xz7g23Y0Q-tm2AAQ2ZA8wuzSeMAqqcu3Sprg66KivboqR0QKsygbt07j-qNntoxYZC8-y3Bq9dx8M3Oxae37CL77-e9-HFdL6QbuYjCDy5X8Ih_Z1ZKnz3eZPF6lxjti6VnG5II9jUkorfu5iWMEmF8AkLT1SXZUzGrr3dmVWn4I6uIWsyjLOAFUuOyqP15TgWTVUW8zzdYDWpG_LGs3Ds-7bfgNcg==",
  "id": "rs_0ecefacbc8c3f471016ab2c36d2b4087d0ab87911ed69aa790",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.267,\"right_y\":0.37,\"right_z\":0.185,\"right_yaw\":-0.05,\"left_z\":0.205,\"left_yaw\":-0.06},\"note\":\"The two grasp points now line up sideways and are at nearly the same height. I’m advancing the pen a few centimeters toward the cap while making small angular corrections; I’ll inspect the remaining gap before any insertion.\"}",
  "call_id": "call_7GUahdpUuL51P3k8fucJfIdd",
  "id": "fc_0ecefacbc8c3f471016ab2c371ad3487d0aa5dd3799a8dd489",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7GUahdpUuL51P3k8fucJfIdd",
  "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]: [-0.8913, 1.7084, 1.3411, -0.4511, -0.7013, -0.6708, 0.0601, 1.2953, 1.9293, 1.6119, -0.9058, 0.939, 1.1004, 0.0677]\nstate[eef_state]: left_x=0.3721 left_y=-0.2735 left_z=0.192 left_yaw=0.0242 left_pitch=-0.0222 left_roll=-0.0472 left_gripper=0.0601 right_x=0.2489 right_y=0.3697 right_z=0.1759 right_yaw=-0.0132 right_pitch=-0.0311 right_roll=-0.0386 right_gripper=0.0677\nstate[joint_eff]: [-1.5658, -9.4564, 6.8581, 1.6239, -0.3639, 0.2125, 1.0281, -2.988, -8.9504, 9.1829, 0.9646, 0.569, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfdeb58135308ac7b551235a9708a7e308fd76d8f4104120007c856d4cd75dd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ab412fa93ea0b65c21f517efbda2e64166a97ddd84d9b23dcd697ae423ef5de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b728546ed33167bca933f9230d9dd08c36f06ed5974e6236392961480912478",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8871, 1.7432, 1.3605, -0.4976, -0.7174, -0.7216, 0.0601, 1.3537, 1.8912, 1.5513, -0.8284, 0.9508, 1.0748, 0.0676]\nstate[eef_state]: left_x=0.3735 left_y=-0.2689 left_z=0.1798 left_yaw=0.0684 left_pitch=-0.05 left_roll=-0.032 left_gripper=0.0601 right_x=0.2277 right_y=0.3816 right_z=0.1787 right_yaw=0.0553 right_pitch=-0.0062 right_roll=-0.01 right_gripper=0.0676\nstate[joint_eff]: [-0.7453, -9.9214, 6.8444, 1.7411, -0.2271, 0.1929, 1.033, 0.9231, -8.7316, 7.5966, 0.7253, 0.7937, 0.232, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssOICQQwexUPVRIsgrERmQaO-MxKHKokPoAbpg2tMXnBLs_z9Zvqe4aVWZtEbCyLyhA-Im5A6zcjXTc3VdJXgAZZ7FjPA5K3QBR6KP38Z7y_tx2-DWqmfFbeJW92JZ5NFuraWM4xOKh1fH_ueQEl8xHKmlYVyFXrqpqK4cbn1PGh0XQAMPq7XuW13iynKdIRrCnSAXkzq1H5TK04RTYOF6A2Q2L4AJvaCYwq7Wab472RkQ9qFSzU7QW6GJW7khS10R9G4J9wo1Vjf1abQnyynk2qok0hV-b3T9SU2EN3S0Rhq0nXn6BlELxA_ygLLNUUnnSRHg6wkijKoqzEideRLXUuxcLJq5xm3iPJzXNCl4WkcM_xsIb5A5DucrAgaxuqGfrBoUHE4ZlzNGFAw1lBhYj1eKCP28WM0RFUvP6ozV6RLxY3wD9nHJJ0NEdeRetSlL9Jt4PE95FPzAr18oBYIVloclon5UCDvCMvIniHegg2Ridvub2ob3QZUiGOQNY_YedaaTTBsU_dGmS-4Iqg2eaNGc7-QKqiDcdgumh0HWYN1foiZusPTP4acAGC6DD1yG68-TGJnUk4ACjOTP8mqYvAXpmY06MFWUOMvoituD2GoxjAnOgQ56eNO_XEuSLW3d_Jr0mt28CzZ-ruBLVLCMMMeWU63OyPDh6RllcF5PD2Tx2ERlBAbB_I2d3LTxnYe4UpBT6LbUvePiFn6S4WEN58FbCwW7nCQqUpxhd_JUzBdnBX3deyffHYGR34kfPBuGYiJRNoiF0YteogZEFlKhqJgKORi0lwbuBdHi1xA_c4wiVuMWz8lvVFmjoXEmhsr_Vb-Ti3cy7FfxZETrbAhgwww9Sui1ksLM_uggacXrVxOJAlYbUG4Srny8rUDv6il1BAqvPG12ibHDGwSQUZIs8IVYGH7Y8fxt0FfxZ04kCfUhlhjfASF0H47HAfKTjcjAFJn7rpWgU0WxSxhfBSLmzga8S3NJRUFKiu32UqjEk0KuCYV7L7nDtWnGRXB4-4UtUttUu9DVAhlLnXk-OwrCmlwAp9-gc5CTyRotM9rw0MB0IgToAFILbJjnNyYtf65IF20URu30tGY_31qKWqSSNHd_fAlS4eSMFKaumJDfhnU8I-M__srdyLXypXRyBl-2KaHQqy1hxpSF-9BH_ap9B-bdkNRJOXsheiVdAVVOahPDzCP_wc2NqGUd7TdBScQzhsUEPfKzorXWSXM74pUfrhWGh1iYr3Gk94eDOjnuhnw-jQBpGc5nUILz0vb7HKDxwksz346_CK2tPk1VsNtyw81WSePz8oxc9Ie2aoXH_WEJINVIhKUn12mpAJDETcZIfMiOh4eOjM1Grw42D9MxIrnh2EvMJuhO7E2NJK5VCh_8XsFmQvhuabpFzNaNh5otMBy-wNa6WmfscQWJgY_ExrO09IhDajjEFVSGR5xCa0fATcjgywS8hGg11B6-P0HkEu2M3dmxMov7awUnJfsZNimGOCq1Ttz-_uZTIWnNtq31mJEbJHg2B6DAlMZ6ci3l1h3Q8FxBpQyeZrqn1k-y_ngkmfeivOsMC0sMPIAypeP9L-B3_Xh5JEVdZZiSC4LGVqRV9Ge5iAUU8ddd8nhXy883kp7fov6_lzsc72UAGsm3Ko6e7y3cQ2ay8f3BLBpnMm5Sh9CX19SYoC8zjTfYPD1Gbskv44b0xzFVb_-y8OkMubipmfp6CLCJ7qHLw61cYOq7ydiY66pdR7QyEx_Wz49rhXopR3Xv_vCe1B26h_Y_fb_jaGmkFFeYssjw26EdWgEjrCkzd7tvtYK_-KGoF1q6iA_Wruis6YvKcb8ebDv66omGtnEoO0FRih9H9MQZ-UqgTkJroSjkVs1WPm9EwOj5mrXWjH7tp7tPvs3RAIgFO3IhiV_FsSUlm7hIvdZv4K0TocCR3LPaWvFnVZvYUXHcuwVGd4sqmrMXmipPeyiNO-VYmvwGG-UorK0E5I8924YKa2qWGn2UdawgzDUJPS_CEDOCMBPhMQOHHGGBS7rBLbe5F9ct2ZWcusTNZOq5WbsnLD80f42b7_qPO9Pv9pyCZTDH8jb2wZa0ev5lJcQ1ormsxwAUOHN8hnIiw592Ok0HJrYWNqhw9yEv9-mXBsQ38wlouWTj0QSRU23lPDxpSbjrhClkkpQPJyN3GEi7--0tvkM2svXh-dSMys6uj70Xf3d7-cTqDDSIqwgw4X9CbmH5CRLhFDRsFX9yAu2FRtIk0aw5sSjDXsEs8kgHKYG0xv1Ys5pQKYPYKzo04Ihbt11Kf37yuq5OZymHKl6NfJXli9RlEU1uSkWe81Ao6A24LUHe0fXD72O8zmHhVb9RF-mGxEHDm9rgahmUyaGnbdu1u2qC9NTr1YjjHOUdFGfpv4bXi8-zKhhQcz7ZWCnAmio0tPjWs8C5VCjUkZX5M4rNsu7EKsbRdAo6Um6cpQqUVYPCID1zvat5_K8UlX5N2ux1xNLfGWjLAlk9Km0K2p05UM_h7dO6gQPmByCPMOiF0mQAxcPF6-O6E_QjC3-QeTpmq1df4vNMf9e3pT1w2pTK1f7y2G26zKqcESEc0FBTr2Zs3NRzuZ1vZ6B5BVGklArpzXrQ2ZmcM54zlJNTpG947XJH8ChGLpKwlARLA45odk7jHn65uqqlAxK-sNX3heWUtMRydhgHOS6FgyIeAkwxBCEN4EK862Okkf_CAsQN_SN_Sos10EW6wnoxXpFwFhEfEjY0KKMk-9Kud8OYP-jJRIZnmLqQ656r0TOffGsHukOzLoqh-uWFzeqy_Zd71IsFiLKXDGja59RB0XKxyFtz5BSaT7WvHBktO00mZj1MXgXdTcEvGbicJ_Y-h21R6RLeKHKMJIkrOmnajwS4pregQoObB8XI-gfg8pfV-dWKBy8513nppk6uVYykRnaQ1Hck2CyNJz5ZflalJPk7BoDzhihNZRejahpr-1h8E3Ayp8BQaqk4_a7qVgoWCqbL4k315IcblwUzZqEscJOBI_aWLAIFtHQLuTdO0dtFQcxNGjfxkSGppvwxBFAcsscoZEq4ES7EQLG5hCUcvqqtk-HNJ65cBxHE8GKVkVCOhB3xiBU8vYuGao6QT9Of1jxVwK9e1IJl_jTh3NX0JMeODmQ0k699iMHw_6epCCP40rLg==",
  "id": "rs_0ecefacbc8c3f471016ab2c37845d887d085a7b774b6412433",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.279,\"right_y\":0.38,\"right_z\":0.205,\"right_pitch\":0.04},\"note\":\"The pen tip is still short of the cap, and the right grasp point is about 1.5 cm lower. I’m raising and slightly centering the pen as I close the remaining free-space gap, without pressing into the cap.\"}",
  "call_id": "call_s3huF0iFT6G4F7NvubF0v1Go",
  "id": "fc_0ecefacbc8c3f471016ab2c385e4e887d096c49e9928fb31cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s3huF0iFT6G4F7NvubF0v1Go",
  "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]: [-0.8837, 1.7084, 1.3411, -0.4519, -0.6998, -0.6708, 0.0601, 1.2907, 1.9354, 1.6215, -0.9062, 0.9386, 1.0878, 0.0712]\nstate[eef_state]: left_x=0.374 left_y=-0.2708 left_z=0.1917 left_yaw=0.0308 left_pitch=-0.0235 left_roll=-0.0473 left_gripper=0.0601 right_x=0.2511 right_y=0.3706 right_z=0.1763 right_yaw=-0.0109 right_pitch=-0.0309 right_roll=-0.0461 right_gripper=0.0712\nstate[joint_eff]: [-2.0308, -9.4701, 6.8581, 1.6288, -0.3443, 0.1734, 1.0281, -2.7419, -9.0735, 8.9368, 0.9451, 0.5934, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e308552d2606170f962b4fa82cd83fdb1a8f79cdc90a6cb379f69e4a6637a973",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a44d0b767f567b6799e72425d9cf90c02cd43288e18c57ccefe8b4a864217e86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f49ad90769cd627e5d1e36074d84f2ef780a6af5f67d459912fddb126fa7b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8913, 1.7084, 1.3411, -0.4511, -0.7013, -0.6708, 0.0601, 1.2953, 1.9293, 1.6119, -0.9058, 0.939, 1.1004, 0.0677]\nstate[eef_state]: left_x=0.3721 left_y=-0.2735 left_z=0.192 left_yaw=0.0242 left_pitch=-0.0222 left_roll=-0.0472 left_gripper=0.0601 right_x=0.2489 right_y=0.3697 right_z=0.1759 right_yaw=-0.0132 right_pitch=-0.0311 right_roll=-0.0386 right_gripper=0.0677\nstate[joint_eff]: [-1.5658, -9.4564, 6.8581, 1.6239, -0.3639, 0.2125, 1.0281, -2.988, -8.9504, 9.1829, 0.9646, 0.569, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssORbNTZHS5pBc1viLuDJDxzN4XLDRnOnKcnyOOoydJrZb2OO19kWCaE34PkSHm9NRR1JyXksNEgYsE45Gt-PZHxV7mYy1Nx-cjti2aIoPLJL6X-Gth2gNQvsu0cpaguQX-z99EDmosZHg9HtucwT9AT8CMP4wLs9aKZqS8TOgYx9XV-ceYhwETe7Npqs905PoN-PlaXvy7oUMislFOcERn-8s7UMQu3V2MCCcN8Lwu1aPOqT7yRH1UKpFITsiAfQCxh5_RYFXqSrAWf1GXslSE1GUN2kzi-LOLiDjwUYiogTSAOJlU5cqeF_HRg0oM7Nvo-sV7zMXhIZVeZZ3ik9cMK6v5elrTV9R_AnmzoJKAFFrpFlFrAmbSwwhTJC-c2aWzpQ1XMSjk9lEK2zA5nQ-rmbMh1dxWs9x5vS967zQUNCuc4XwVQtxgK8hiuAlpbnXLuHZYXKL1dRgXGKqOJmJHbtNfkB6yFODv3vU8v45Z6bTE-zzJqo99xEUYeFPxfY4XxnXetQcr3U0UXx2GZEDo9fkGJvkN-EjpHRt-CPIXddCV3QwnRPsKxwSkLGFjrG-oIcUx6d8FNjNnwQLs8eTQqF9u4uhtapvlt9D_ddKcDz60gnFi3FkD1ek3-3D5pnBkDsbEMqWbGN4Y7G-TSx6mtgQAmRIeUfhGVphO3mDxUXJ1u1_B9sCu_zkEGyp78GlfMr2kw8POsZ1-6CIjVDNgMElp8ejB5sYunjsiAg0SBPJI3IZT1hL2bxCp9aPLqUwZ4s-dL44WL01opaiNeyBNYEAs6pbmfzo9ZNPPGATsV32d8m3Wb-eZNerbPGeH-zw72YxhpoAOt1HrmNvizPkwqxUYn6sooZGNXt3jBWpEwHo3UrP8nPAr_CAq-96C3CYrVwc_U5YZqz1gEGbZ1BsRqxx7j6IFWqJz-wrAm15xRH9UaOPIVfK6wakrGIsLTmlJt0GBQRJXIa5k1FpWAiy_1ydMgEp6OzXouBPjGufj11V7aj1V0RApZJwVSKopeH80dWZNnIJoN1hKDLqDh5cnK-SBhPr0KCrMWejdJzlswn2ipsaQutbqExs7eskWnY22bZCsa5MT0QS7RLhYU83gwd-1mHGmkosFkcFR-j5jDVsOFYN07HNJUK387CDBghAKy_4AHPkWkHfIYzOPjKueLd3eMQhJ5bDTDQ8BpUXBSWT4J_FvxUd6spa7yofid8iZ2BswzJgroYH4Y4CM9W4ctpQh1HEh8ojkbA9hX2rwrnbXF7QjoUodNU7ZCOxvPXYKb6zHjIhZDCJhdSqXUDZ6qw6rSbS-mxkCm0KBgh_Ccr5F-1_unrjyCNRutj4LiMxAsbU_n15Y0W9_1gz6O-z9vNgt4Y5ugLSwcXJdob46Ajjv1UA2fGgGZrUOI6lKPIj09G3HkVTbam72HH8Xkr6_Uc3sKQX7eFytzVKiRtkp5xrpwByY1mvwnPstm-fHDybcK1HNSYySO83v0X6LL3MOqJB1T6dZuLnK8FWqsFTE0fyxzf5J_4PLaLXXOrLi7UOzj9OQO1AhRWJSZ4LB-LK8hVQwFtO8FvjRqHW0J6TJbAwiE1AXyn4qBulncX-cKWEynCBJVkq23WagHQ33r9sxfAAQhQdEh2NNMzEaKracZAq7QdxLovQmVf94NXBosDG6p0yIHisHSw6WLK6vR9YuoNoY3q9YeE9QhEGsFikZgCls=",
  "id": "rs_0ecefacbc8c3f471016ab2c38b889087d08610da44292369fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.24,\"right_z\":0.22,\"left_x\":0.36,\"left_y\":-0.22,\"left_z\":0.22},\"note\":\"The right arm has stopped following the approach, so I’m not going to push harder. I’m separating the hands to remove the obstruction before trying a side-by-side alignment.\"}",
  "call_id": "call_vJSGHiB4CvrNZS3Db1T8tgLT",
  "id": "fc_0ecefacbc8c3f471016ab2c38ea2b087d0ab9d8416ce30f28c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vJSGHiB4CvrNZS3Db1T8tgLT",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8734, 1.5921, 1.2797, -0.3267, -0.6121, -0.6521, 0.0637, 1.2671, 1.5932, 1.2037, -0.7536, 0.704, 0.6926, 0.0714]\nstate[eef_state]: left_x=0.3693 left_y=-0.2771 left_z=0.2298 left_yaw=-0.0326 left_pitch=0.0478 left_roll=-0.2072 left_gripper=0.0637 right_x=0.2134 right_y=0.3106 right_z=0.1523 right_yaw=0.2854 right_pitch=-0.2208 right_roll=-0.1942 right_gripper=0.0714\nstate[joint_eff]: [3.7402, -12.6154, 4.3966, -1.2283, -0.6081, 0.6422, 0.7888, -11.0427, -14.9949, 10.1949, 0.9109, 2.7766, 2.083, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9ed28745e3de0219bd9b6cba9d5cc0f20d188c0536f13c0ec88e3095a1eb00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf6427855de9307b925bdc401ecb183561554976b3ca305c8eb637aa2a8fc68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4a3401ca9494235a0adb366eeb8ea73ee504bb63ed632ac0f60533fc1b484a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8837, 1.7084, 1.3411, -0.4519, -0.6998, -0.6708, 0.0601, 1.2907, 1.9354, 1.6215, -0.9062, 0.9386, 1.0878, 0.0712]\nstate[eef_state]: left_x=0.374 left_y=-0.2708 left_z=0.1917 left_yaw=0.0308 left_pitch=-0.0235 left_roll=-0.0473 left_gripper=0.0601 right_x=0.2511 right_y=0.3706 right_z=0.1763 right_yaw=-0.0109 right_pitch=-0.0309 right_roll=-0.0461 right_gripper=0.0712\nstate[joint_eff]: [-2.0308, -9.4701, 6.8581, 1.6288, -0.3443, 0.1734, 1.0281, -2.7419, -9.0735, 8.9368, 0.9451, 0.5934, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssOee-X_6UON1kMAOvsxmcnm3zowk7cqIuUf96uqsH69f5YQG1sudHzxa02j2IkfJ5gW4AKx5RozwQpbBJaQlnLCwlzqlRcvKzxqh15FSKYSHEzCT0VGGGoRaynV_8wHHzaOdHSyEj6NiCDCr6tkhRMH__XqpPKn2ErTBTxlBnQvOHBvtdaTMvo8IbpFphiXe-q2HM27Nji1Xd_23ybrkAXh4D76nDPkORlYWD800JwtHZylOl-5vwRJYzsMVbNeSgpQrlCJSpjvOlW7ZqsuZZnqfytc6ZsgJqYIqYFiDp420ckjN6fbh-zZvHaxClJHIdbwO-KnQm07vlfL4118W8_btgxDvu6kPOA0kCOewOqPk1S6clkjA9rPx9ZnSweXKtQNFt6TWTDzVK6robFc9Rs0a5goafpmLOielhvrYEhCHvvNiGujfHGW6dC7wq63AAVsYLuqC_FKgYWfmZLRLlKf2pIm4svg9n6Ov3JL0XAVGjR7Jm7RXHQIFZBaKKgOCLTZdZMQJ9ITWTaJwhe6hWLLT_uIlUtOk7XNh_2n1oy-CPgU2_6CV6PDwAr2GCJuAJw_P2PMgRzjPQs0g2NpD5lM8YJDDYACOCcHlVdxDIfW8aYqIAJlF4Ac9BNOu7waPgBkGgMZFq1JVRYhOg44qi-iXBwyf1ZH1COcTuBRu3hvshKigc5Ov-AW7yGJTea-C9KpdHvOMC7vZ_jV4u_j4OWf7HeF4SuNs17HIaKlPLtBu-K7jE7xR6epK3u_X4KMd2xpblyC5hcbyiyulU_GrypIpDYK3bVYnHatI_GFaT7Db_KjiO5R4tacXLona38-WlHE8kN44BaYdNrPweomuoBtH8rtmRC9vkE6RgjUblW-JrCFUFouxlGzMiO5O-mTm9kpAsz28GKos3UylIJsu-DLlkHfJj9tKAXsTBAGuVr2cirDFj-6WlMrKmyGEEi3OEXfeXmr_nHYlirS9miMVb2ipn6s0eNhHvKle0aDmKK8rbdHb6xCmAcXK-Z3EWd3jnTjvyo-akQhxiha3adZG-BVy1eq3bw6UCuT7QKIFarAqaO6EQPOjR9g9EwuuzbpEdhMyr_CvykF9H4Gy9MDgvGT2LVoYvGu-2TFGCa926q0pXVrPWpN8ThiBFe5T8BDEF_0wJvMhqRcbC-YGm5cU2F81l8TspM2AUmkIcJqxK1chz9s5u-PG0JcZHPDyuVj3gkec2EdtS26qTgOFM0TbxKssVM5hrRAFy1yLtoBkGecKHE9WjJHxkU-T4UucoOuaOyhyjxkXjnC5te0KjLhHWSKmWFeOBX5jcUyXmcT5bFceM6B_Q_GDxgxyeXzB7RoZZMW2gkC9AIAZZx3_ildy7XQr4B0kMKfpxESVUOISimFc_6_GGFexEiJcV6opbYo1T5Z",
  "id": "rs_0ecefacbc8c3f471016ab2c399d20c87d0997469cc4162cc17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.18,\"right_y\":0.34,\"right_z\":0.09,\"left_x\":0.38,\"left_y\":-0.28,\"left_z\":0.25},\"note\":\"The arms are mechanically interfering despite the fingertip gap. I’m backing the right hand down and toward its base while lifting the left hand, to disengage them rather than continue sideways under load.\"}",
  "call_id": "call_vRCCEGf7MihQiPhuOsijGlu5",
  "id": "fc_0ecefacbc8c3f471016ab2c39b56cc87d099ac0e885c0ed8c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vRCCEGf7MihQiPhuOsijGlu5",
  "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]: [-0.8623, 1.6279, 1.3388, -0.4221, -0.5968, -0.6502, 0.0651, 1.3785, 1.7622, 1.1206, -0.6643, 0.7372, 0.8059, 0.0717]\nstate[eef_state]: left_x=0.3715 left_y=-0.2755 left_z=0.2222 left_yaw=-0.0354 left_pitch=-0.0076 left_roll=-0.1586 left_gripper=0.0651 right_x=0.1809 right_y=0.3263 right_z=0.0789 right_yaw=0.2864 right_pitch=-0.2636 right_roll=-0.2734 right_gripper=0.0717\nstate[joint_eff]: [0.5538, -8.1162, 10.5915, 1.7314, -0.2271, 0.0464, 1.033, 0.9778, -9.9897, 7.3778, 0.9499, 0.5739, 0.1197, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34df2035a5d102e4b0d1acf27ac6ba2ddf5e4e87177fb586cfb4576ec0dd925f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9289c0a77993b2d2deb7494599be11ba80495a9517457c0fcc52e4420d7a91e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd08b3a4e0ebcf07de4a0cfcb95a192cfe690c1e668f26d032e15c3e81b19a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8734, 1.5921, 1.2797, -0.3267, -0.6121, -0.6521, 0.0637, 1.2671, 1.5932, 1.2037, -0.7536, 0.704, 0.6926, 0.0714]\nstate[eef_state]: left_x=0.3693 left_y=-0.2771 left_z=0.2298 left_yaw=-0.0326 left_pitch=0.0478 left_roll=-0.2072 left_gripper=0.0637 right_x=0.2134 right_y=0.3106 right_z=0.1523 right_yaw=0.2854 right_pitch=-0.2208 right_roll=-0.1942 right_gripper=0.0714\nstate[joint_eff]: [3.7402, -12.6154, 4.3966, -1.2283, -0.6081, 0.6422, 0.7888, -11.0427, -14.9949, 10.1949, 0.9109, 2.7766, 2.083, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssOmiC9074pO8S6W8iJ8MLZtMTxi9toywTJdIKsOo0NLG-RXQrskJzi4YehYhy_64k6ceFqa3rEkVk9YUq_4pyaOtdl3QroDypwaQkjDitG-TzOfLhUuXM2PDUpIWCeAEyjwUMKaAuVwlT73Rn1s-tPP-oouDkEygWD9gT2fwcBJ9Dpj7Ka0HbVXL55jA926sQH8ulD7hAZ-t95bgh9WrTXmpflyE5u4w1ockUkfo-4vIdjMunNxbkXg1Rie4IOXnkRXt6545GN8iRTTptXMqQWVC0gpxs2nOS4xwhl44IqR0trWDO0x7jJbWj22dU2i7QnLFLrNNlic4-1QBpGzo2wwE5HqUaHsgxgCl7T4d4VB0bmSMR3j9p5_ddI30mT_MdUxmQEW0qaEDOcchHjlqGNbNG07wKx-VkZ1TRsCoCvmA6IPB18xCzn2sgDnPDQaF1ZnIAQ9ONo2RcSlWd9wQ0Un-kcwR9t2ZAldk3VwWEtxue21ewUPR0RDd6wtGj6LUFqS4hjOV9TO3mHyLPk2NuVbaIOJk_Gph289EqFWV99MoYLuqIPD1oaHp_wygHbt5DZ_Mt7GC-1E_FEH9OHVSlbdLjc9DkCfdSvTIvwOBWGgh5cjtmzZx5VVxRkaWRSSeI1EPQ61TGCtpD1ZvBfwYuohIByKH3-rp-LlOiifusu8LQky7A-OmNL-JE9vyLUbpEt1Aq0vcb8JmWJqZ08k09iAyFPf0lO100OZwuMG9fgf_zVsT5i6EqVQumUrRHJfOhsNEDKqIbJZy8CFrhC2Fow1rHTvyMipwi82QF1mmZvv8UbzrQQDzuC53y7ukD2oBwglh4-IDXD9l4DDvhBLWse4ZsXpSOZD9SroN2sQBH-jdcXfa5jN_wKwsen_hUkJoEk6E7d5YOGvwgZqUe4bZd_kY4h-6_xCNa_TS7KJhWgMdPBlVlXYzwtibpc4t8d6PjsaiT7KRltiMTkvSFQ1J5-NOVeHuGL7bPSB77pgAAtpVZkzVAL48-G0B29rqBzbSaXtHOwDz1Ry0VkkhttZ_Zk-FhmE2V8BSvMYWHi2Idz1mp3nhCFJv9z86v49_jqDXdfXRomTwjM5cbeB_Kzz38ly_zt2QEeBzHRKdELqeuPfPCrZxnswhFusyV2wqH2m1DagHxj80jUSdnEyRT2xLFNPwvTdhAzHaz5kbODiUaWAjt3cmv3TCa10Zg2meAjImXvqzzpAOfdveHx0SRzIkXR-vfxkIBOqac2tpNL_xyY4u_6c2C3zAugDl2uvl46AMXzZYxTqFwScuCudrEPMPiAz55FbYZFi9bloi4FLGN2slow=",
  "id": "rs_0ecefacbc8c3f471016ab2c3a160c887d08a6f3289f22dc7c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.15,\"right_z\":0.15,\"right_yaw\":1.4,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.35,\"left_y\":-0.25,\"left_z\":0.23,\"left_yaw\":1.4,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The contact loads have dropped and both objects remain held. I’m rotating the pieces sideways with the right arm back on its own side, so a later approach does not put one forearm underneath the other.\"}",
  "call_id": "call_wlSres8QELs84quunLWsY1r1",
  "id": "fc_0ecefacbc8c3f471016ab2c3a31abc87d0aa3f8a91fb825566",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wlSres8QELs84quunLWsY1r1",
  "output": "executing move_to over 15 steps (1.5s)",
  "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]: [-0.59, 2.1979, 1.8065, -1.5581, -0.907, -2.0686, 0.0668, 0.6724, 1.4979, 1.0, -0.6674, 0.173, 0.2741, 0.0717]\nstate[eef_state]: left_x=0.3767 left_y=-0.0805 left_z=0.1218 left_yaw=1.2672 left_pitch=-0.0396 left_roll=-0.0161 left_gripper=0.0668 right_x=0.2834 right_y=0.1914 right_z=0.0869 right_yaw=0.3139 right_pitch=-0.5751 right_roll=-0.0573 right_gripper=0.0717\nstate[joint_eff]: [0.253, -11.9726, 4.8342, -0.2759, -0.4176, -0.1832, 1.033, -0.1573, -6.4342, 5.7641, 0.2076, 0.0855, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c953b7a17bc3ced4998a17c8a9ff2f813ce1a6e0bc7401fbe4e453c75311368",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07249f862f6a2bf5db1a6e43adc38c0fed2c92254b0980a0328096361b8dd14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79297ffc9de84707255f898ad07becae9f2824e15f97caeefa006bcb5ce73e96",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8623, 1.6279, 1.3388, -0.4221, -0.5968, -0.6502, 0.0651, 1.3785, 1.7622, 1.1206, -0.6643, 0.7372, 0.8059, 0.0717]\nstate[eef_state]: left_x=0.3715 left_y=-0.2755 left_z=0.2222 left_yaw=-0.0354 left_pitch=-0.0076 left_roll=-0.1586 left_gripper=0.0651 right_x=0.1809 right_y=0.3263 right_z=0.0789 right_yaw=0.2864 right_pitch=-0.2636 right_roll=-0.2734 right_gripper=0.0717\nstate[joint_eff]: [0.5538, -8.1162, 10.5915, 1.7314, -0.2271, 0.0464, 1.033, 0.9778, -9.9897, 7.3778, 0.9499, 0.5739, 0.1197, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssOwJExKVm_i8duinLmhHHUyJIkbEKi2ax8QvDoDUnrN__B-Bbq5viVLnl0mtl2_6b_iJDclroE82Qh-LwA4t9JMlHW2biFPznQ-jN88V_5zxSCC_UoQZDJwOo7r-bDZBNVgLMaHbkSKkj7SOsBTWbAJqbaGLUaO1EzFZFHwTAGJZUxsIUWpJFXHU4QNlBJwKlWoRYQNsF2n030iy7ho7nEEizPyUC8O79lAfLjR74YhR0pXXmnLVq4-N9l7ssAoBM7kPCaX9cxTLE4aV0jmy-2MsizE5pXeoaOP6hReX87cbnwrH2qyy1XQqJ8cSnEUzkwaX7k520_9oFwTkqJo9SUdZ3bfn3_zzzWHhVgBLr2HARN-mlWojd-iEmIGpE2MEw4-mZqRgUObJuHVX3GMWxLuBJzM4ylV1CJdlrh7kjMHzYnbUgQ0mAG_hsvzvyFlLrphCIfgncnBggRTAHTRl6R2Ge6TBT9DvWqllGjS0NO7Q2htQzYT3FDZb3PlVklnwUukAH_V8hbzFoyNrbWy6HNdw59Ukr65M-i6N0HG5vHwm9rDehoGJxkvzj3znk8z2BGP0omQhjcg8289SsaVAOcNIwqtpkzuQS8cusv2-IxekXWY_mDEMyw-IhFrkeZvH5JMFs5IGpPbvg-pkclEgzNREYX1czvvHGX7U80MmmUwM1t5fazpYyE_cbJ363kQQeiVaY_SwzkVSNYzltMnxkgVFhPvjspFlzq1xtHoZV1ZX1x5EF3HC8ex8tVPaM-SnlbHFNGJ41XO18SaFa5BlTCSS6nbybEXLQzjirL2sVHHXk1vAqzXybEZYZt-GAGGeD0v5E5vEgxTkmJ_901YEh31Nky4F94lAnO-7tsBX6HcMJKSMFBco7tLQC_Kc--aeu4irSfNeREDpiSNjQV7Qp5rCCzo5WNB8ZpHbYX52AVuuBvU3ng3el1Jj4U62_sWb3kR5fJHqMkrPJeZKNPLPCPmzBoHu3LbpeUQRGeNFeGcQ1iW7ECj6f7WMmYA5S8tiN4wQK99bOMlbjEqoz86Uwt-V8H6nHy4jvex1BxfS_kyPwBjFIMnDGFNV_TRkLbUp00nhSsiDObQ4DugKK62eSlrmVia2ffdu_60WKLpHbtHDxcavgjyoJU2-ThC419zz2LyiGjW0wt06xyiT4p-IMl6xxeCihUnO4xrFHcSQ60CCFhQQEjAWgROyEXKDRt1kq1ZvFoQd8aCF8a6XFz6SGUwgOuHyda0-ID2Jb6QNgP5sC3h2WuJHJVIqB9MnbSLHeBNazyHEoMba3k8IOxakXKrjj195aJrmnqzbnw1wMjoNkJpUyWDC-BstDLhzZnkHhT-ewMcIk2X6At5cGRXz2NDsWOq-9E1JlNBRrNnu12jM75L6m6xTX0-pgCGrzVcxRvemFzqxRi57bIF9hzxvxPJlantJdrS6uoadjsU3gbWlEC1PAxn_OPNxJozo9hlfDsCyME3F7IN_pfdhGGFjGClYD5q9vUriqPdlTtOr_dXci82d4ltx-tGEDmdsTj6jmN7SDpzBsuuFVNn472I1xk_jQ==",
  "id": "rs_0ecefacbc8c3f471016ab2c3aa201c87d088999081616b98ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.15,\"right_z\":0.2,\"right_yaw\":0.8,\"left_x\":0.3,\"left_y\":-0.15,\"left_z\":0.2,\"left_yaw\":0.8},\"note\":\"The large sideways rotation caused substantial tracking errors, so these are not usable assembly poses. I’m returning both hands to more moderate angles and shorter reaches while keeping the pieces apart.\"}",
  "call_id": "call_sdv4RzeyM746r6jogfrpmYNv",
  "id": "fc_0ecefacbc8c3f471016ab2c3ad1c4c87d09bc32dab1aa53f5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sdv4RzeyM746r6jogfrpmYNv",
  "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]: [-0.8928, 1.8271, 1.5936, -1.5295, -0.9169, -1.9011, 0.0673, 0.4252, 1.1603, 0.6369, -0.4389, -0.2337, -0.2699, 0.0718]\nstate[eef_state]: left_x=0.3033 left_y=-0.1474 left_z=0.195 left_yaw=0.8605 left_pitch=-0.0709 left_roll=-0.0642 left_gripper=0.0673 right_x=0.2505 right_y=0.1623 right_z=0.0852 right_yaw=0.7826 right_pitch=-0.3672 right_roll=0.0318 right_gripper=0.0718\nstate[joint_eff]: [-0.1983, -8.5812, 4.6838, -0.0757, -0.7937, 0.2515, 1.033, -0.1436, -3.453, 7.5692, 1.4823, -0.2173, -0.0366, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f674b658022814b700f3c9f9d4ee2daa2359439628e62ea71a6ae960a3f249d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:379f706990f8a1d9be9c4f044a2ffc1125c56ee2d23378e3bd0099a955c66b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3e33ceae9d85e0b4c98f8d340012e0f4744e77bf956cf123eae5e85d83d597f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.59, 2.1979, 1.8065, -1.5581, -0.907, -2.0686, 0.0668, 0.6724, 1.4979, 1.0, -0.6674, 0.173, 0.2741, 0.0717]\nstate[eef_state]: left_x=0.3767 left_y=-0.0805 left_z=0.1218 left_yaw=1.2672 left_pitch=-0.0396 left_roll=-0.0161 left_gripper=0.0668 right_x=0.2834 right_y=0.1914 right_z=0.0869 right_yaw=0.3139 right_pitch=-0.5751 right_roll=-0.0573 right_gripper=0.0717\nstate[joint_eff]: [0.253, -11.9726, 4.8342, -0.2759, -0.4176, -0.1832, 1.033, -0.1573, -6.4342, 5.7641, 0.2076, 0.0855, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssO59pjxSW2GG8MfTAOI2vq35J5_Luctk0e4lZAe-tZTSnNNT7LFcx6XkymczkNpV3Prv7bJX1Gc-To17nNAKH1fHBwuTp7pzR5jjaotau4R8Zyp7gGNFK8YP8hqw6GneF_X1aCknQSeS_mlIpexTU5bvu6qPM91R1NjJSDoSlPa-6QTeVVGI5-Ki8vtgS6KnnUvI3wxmzSuS_c-q9v9DwlzBVNg9pJt8qG4_npkcyLBTPzg6j2tjnsxemWU-yPYM2IotIW8eHbD8FXPh0zPP9vK1IUTS8TvxFT58rhfYfLlv1ZHsdsEyXhLemSveo0-iBiCI-zh0z5kBUwEYBj41JlEOpRuzYqnkM6xHKUqJTdMC_Sl_RGq4u2Rl1z_yRkH2pHrB_qPVEu4rV7Y5zImmhyC74D6gYYTwuaA2gal6CUJP6f7OnxMbAORb1RVgP2DL-mbGPMqzElMkJ35pLYdLn3b1v8bqkXXxroVBCzT0Yut_hwTDJi0y_qeUwq0XHV7h6aZd2ofSyGat60JbzI0jF4H7mtYOffv8ZxM--kqquTnD630x8aIVMfxrXmduP2FsvKmIOL5H_T2z9RbKqA8TJXKIJkErCtg4fjRhUhAI113I0tIzvpvHrYQI1y6DHQc5MswOlw5vjLYiP2IykJcrVVsZ9SK6fDdZeAmTYznw5QEQq1reHd8cqZB0Ksnu7lorOsmY5MbkHO_N53_ES50O2dJ66oQ-vXY3uJFn__TK021zW7PfWo7tTZB3IxrimbCVfZM_DVyIf5d8MBlyrGupmbtezF7oNQih2lTtrDs3TBsktqHTt99RFIS16Yb1TwTEeuVP98DlXW7kYD50AJ_XC7E3Z5_PK7RuYVML-JdfxQ_OL8ihxa6biM9SmaBm-rITFVOhJFsFo9aN0mAIX8idePAza8l8ww5xoWD63bfnREs6Yk8-SapWm0UPHKvgBd7l2vjqDRIuNuJS9mYkJgM1auTwneO7q5ZntDeLWRlL7FdNlJCV1bAEm96gdgtDENWfUEycwqL35HvLtgmzbz87iEB5_ahrD3ri-pK0P-OnwRxbBP5Vdov64UTiLsS9sb_xFaG7tzGESZXGY9xlHdaeUM3_-4FVyWSuVLlXYSy0tEmElfEMEqHmdUhFlQ7tbf-7hmF6sIBGW7IZDCK9uwEIiMXwn9oPTpOdg5QJSdEsgasjoeyXAAx-6yhD5xtolnczL-_8BZUxb0Y_VEkwE-A3_gyd94-UAkzSkUF_u2QYfc4gihArUJ4XECYM66LlehSg-4TpKdtbisRPNQJ9_4KprnBll7HS8rzBP1fZaqbS_3yqzdzkUhG5b4N6BoWRUU8VQEGUDmSE8QxWlXIsIc2pOP5b8OKdE4-af255ePJ3jBjRik___MQhjMIrf_HjMrAi1YYOPDkjE9jDZsO57v-bIeKg4Pk0_n3ftLlg2CK8iX567ctqdtVK2_IlmjFDHcPTYLKCh6CKCSRYn543orhliTw88KBtIIhE7IcwH2UaOEmJ3XrJwcFWlzS-MdOVZ9VxKRDsI9Q4Qu1o60oIRDh6A8j7-gWwWznDP_QZGzMMf89FYEvRLkH-AZutL_tKFZoxtiT7gvytD80BgIYDEZ6KOfwlCB7kjYY5t2RyHVEMJZvoJ6kP1I1RdhotevtANbEQbfnK2xK-lELeSTGrowRfKpJEmZx8rL1agQOqJeYcPlovfA=",
  "id": "rs_0ecefacbc8c3f471016ab2c3b2e5b087d095bc61a2ae492107",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.28,\"right_z\":0.17,\"right_pitch\":0.2,\"left_x\":0.365,\"left_y\":-0.26,\"left_z\":0.2,\"left_pitch\":0.05},\"note\":\"Both long axes are now close to a matching diagonal angle. I’m positioning the pen behind the cap along that diagonal, with a larger lateral separation between the arm bodies than in the straight-ahead attempt.\"}",
  "call_id": "call_ee4hEPKdjELfXRnXWapQZ1fs",
  "id": "fc_0ecefacbc8c3f471016ab2c3b6ea6087d08fd36558cdca614c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ee4hEPKdjELfXRnXWapQZ1fs",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8768, 2.2154, 2.0323, -1.5654, -0.9962, -1.932, 0.0673, 0.7353, 1.251, 0.5472, 0.128, -0.0601, 0.0132, 0.0718]\nstate[eef_state]: left_x=0.3731 left_y=-0.211 left_z=0.1742 left_yaw=0.8776 left_pitch=0.0018 left_roll=-0.1181 left_gripper=0.0673 right_x=0.2645 right_y=0.2584 right_z=0.1158 right_yaw=0.7717 right_pitch=-0.0178 right_roll=0.0455 right_gripper=0.0718\nstate[joint_eff]: [-0.8957, -8.5128, 6.6803, -0.1538, -0.9353, 0.1783, 1.033, 0.8137, -4.7248, 8.5265, 3.2601, 0.022, -0.0708, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03999de7a90c954d458f3ab292edaabbba4e841f5a0e1fce88518fde881fe049",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b36d2ba818a147b660b4d58ef43864f8666ff27a7600e887e957d2022af3ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b993b86518243bd21cf9a761b6e8fe64dcd7448c069237104c4b4a03d137c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8928, 1.8271, 1.5936, -1.5295, -0.9169, -1.9011, 0.0673, 0.4252, 1.1603, 0.6369, -0.4389, -0.2337, -0.2699, 0.0718]\nstate[eef_state]: left_x=0.3033 left_y=-0.1474 left_z=0.195 left_yaw=0.8605 left_pitch=-0.0709 left_roll=-0.0642 left_gripper=0.0673 right_x=0.2505 right_y=0.1623 right_z=0.0852 right_yaw=0.7826 right_pitch=-0.3672 right_roll=0.0318 right_gripper=0.0718\nstate[joint_eff]: [-0.1983, -8.5812, 4.6838, -0.0757, -0.7937, 0.2515, 1.033, -0.1436, -3.453, 7.5692, 1.4823, -0.2173, -0.0366, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssPDxceeJbLpjGqqrPp6PcV6dlufms9AbG_BlLYAw9zmVJWJMjCyySUzbd2zLn9y4Q6hgP7---kwQwj9SZ42Qm7zDQO4CoBisWxgabWxQ1eMmAyT5FK6E8gxSGjIa45eaklo7YFWPK7Q5z_VFpwNPAqxVPlHgOKwfJQ8hZ1xC8f0l69EL3uKjoSggA1prqSdBXHpEYU8-tlyNhMR9iIKyWnCAhmFxc0XSR3JXsRGR8o4ZZx2WE7owSQIT6HBeQPi6oKXIMhNOcVojDdNnQliuly0eH92gUmHRu3gGBvcBu9TT0nlG8Tk1x10zcQjzVQLrVT8aVMt2Pfir70vvUSetrCdt5tXiA98SVbgiK9Eh3YoIBIXLhAYGflgUwfosZEJXNe5Y_aTUgG3nF6GlruOVlgYBxxQxceI0EtTT_n14SpciNew4TAC5uLYAf_fL1wdPXMitoirUlPcwQka9kqkokn6GVjQcjGWVwZzBfv1bfeHMN2bJ7XnWY74CTKpPntsXvL3r1WMjGPEA82UE4UBUdfMDbsZUvJe-KSdQBWfo5r_yVsBcNvisTcYYAqChd1lujYtXxuThJfExfrMd2pES6DTz3h7txMOtz1Ic5ymDhfA0j2IUZ_jICnLkyv2feI4N-MpfJpq49cGL4RADDXWQwgxteMhoVAsXLH_OfW3zIoCy05b_qE3H4kHNiq1jx4s-HlJ-hLIbb0JabRw2DgxfB8HPsYIMM0OiC7ypZQuJMXu_gWSlNpyDWM1jSIByzNGVoy5IqCJU5xIHlA14983qsdTkliudnJOy9gcSNDEkPo468O9GpyKunl827TvWamBqWAVOkwqn6BaKjY4uE8k0V_gyOHJ-ljRUKh-GNODizHzE8vIr1yaOI4WdNl4oH8XPwsYxI7cUMOp86gRpa_0_RabSrjJWQ3sMeLlkvGOL8UmTh_TkBi9ZfMAf8RCnk9v9Z-TB2aNpI-hOZsALX08zYgEyhm0sIXxSH-EcSSzVBnzdux-3V9-B7UXdl7m3sx5cF_uRV1eujzhM1zdoL4jdHI5pvOUtP4RJ2PD_XT_Hg9izwcA1Xkxc9iVlq8zgmeZaD0w3LEmlQEJdG5FUXlEXSZkVhhf3EmYm3v3SEGKINZ8AC0yyr5vE7OrzI7O-HpGw51p8xXWpUW_5gKLzw2GDOJctOvZ4dIZeE-aP3mFNDO8oYypCcewfync-s_kPIPio_YEHtqFO6xKpE3mxbp_ZgZLoiG0gh9DbPaggaHBEAySESvO5SQJz2VIiLP2rcx0dYErS-AOcY7Ov6zg48LdKZxQnlCAb2Ka-_T6hSOZdyKT6C1pnl1j_aOmsSnMgfqGoYQAtQgm4ykcIMNPCCan015MZmBnfE0Ss6HgJTtGGMMKvi9JXXEuSPJghhVyJxa8rl8BFceqo7CQq02OJ5VYHo7dlC01_9EyX2SErvbjuZdq6tK4TRXDfwOUb_KFNjltD_yr0uegUzC5NiJUjmcy1M4Q5ZxgmtuHunkxsl1Y0WgWIjA-vwpRLE96OO869UuBuGg74XurwVZnhm4W0mVGf01gKQ==",
  "id": "rs_0ecefacbc8c3f471016ab2c3bdf03087d0a7940b189533a1f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.23,\"left_z\":0.2,\"right_x\":0.235,\"right_y\":0.34,\"right_z\":0.2,\"right_pitch\":0.1},\"note\":\"The cap arm is again short of its lateral target at the longer reach. I’m shortening that reach and bringing the pen to the corresponding diagonal line, still keeping the grasp points about 11 cm apart.\"}",
  "call_id": "call_iktxioTlnl42zJ6TT525qCUd",
  "id": "fc_0ecefacbc8c3f471016ab2c3c1057c87d09155ee6aba121555",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iktxioTlnl42zJ6TT525qCUd",
  "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]: [-0.9108, 2.0617, 1.8191, -1.5929, -0.9955, -2.0338, 0.0673, 1.0283, 1.309, 0.7269, -0.136, 0.165, 0.1516, 0.0743]\nstate[eef_state]: left_x=0.3363 left_y=-0.1857 left_z=0.1841 left_yaw=0.8979 left_pitch=0.0132 left_roll=-0.119 left_gripper=0.0673 right_x=0.2146 right_y=0.3067 right_z=0.1218 right_yaw=0.7981 right_pitch=-0.1486 right_roll=0.0078 right_gripper=0.0743\nstate[joint_eff]: [-4.3829, -9.1829, 4.4103, 0.3834, -0.3297, -0.0464, 1.0232, 0.7316, -5.4769, 14.4615, 3.5238, 0.315, -0.2271, 0.9597]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:447fbe0ff3abc3d4b065add010a80c1fa8231e2c8528051872a3717ab8256e91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d604aec4fc339ddb12acee18b5ddeb7a96dc7db4d3543254b1dbdbcaed40a12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77d734e75cc0b400ee0b142b1c3c737fb4f6138cb6260043ea9c259674eb58f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8768, 2.2154, 2.0323, -1.5654, -0.9962, -1.932, 0.0673, 0.7353, 1.251, 0.5472, 0.128, -0.0601, 0.0132, 0.0718]\nstate[eef_state]: left_x=0.3731 left_y=-0.211 left_z=0.1742 left_yaw=0.8776 left_pitch=0.0018 left_roll=-0.1181 left_gripper=0.0673 right_x=0.2645 right_y=0.2584 right_z=0.1158 right_yaw=0.7717 right_pitch=-0.0178 right_roll=0.0455 right_gripper=0.0718\nstate[joint_eff]: [-0.8957, -8.5128, 6.6803, -0.1538, -0.9353, 0.1783, 1.033, 0.8137, -4.7248, 8.5265, 3.2601, 0.022, -0.0708, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssPMJ5039sWaZ8NR9hUTLOhRrgzXFoeVPPjnziwdBsp1ipUlFOI_553uKBUG9NFUhg4pq1WwYIjN2XWWcJ9ZujvWxTsCxFtZnDi-ADjLW_SYK3bZgspJb5jNZWv4Cjqp_zdqna4cNh8_7Ucg6H31XaoWPAk1F-jmGjlC2eXGt2LacJOooTMmkCSRLcYiAEQ6QskLm6bbG4cHSxkYNrP6IBKLptlYg3gcIJqw1-2HkxrONru1qkMILAb9sodyCYbafH5Cq-604U3-ZQ_8JdiBQ8OGftgREf8zEDATdL_uSWykDA2CtnK_fhTkKVbog30P6VV9Inis2giztWqXLfudry1rwrW639dCxniXXQ_vnHJVRfLUGkhxuqzz6V-alz5mQ6zRSNJ9NSIECyjDQdBbikOkGJpKv_nZxQouwNUxUSFX4ql5hfJ7oluDTM3hHjh17tKriH0S-Qb4s0ZgswAYjpLV3-tiQWAwsqJglwKvk5PiCsuiyvJ9MwqR_oyZdH_F7vnsfMKVC5Ibc2yAXQgCPB7Fq2KUxR-JFR9BgvDyyEucwcRQg4nQ6NTt1V2jGjTb_OLRU7R1baRi8wIVL_xTJNqUzhHX480DbrUvKSVfFnxaScl7IIrtc4xmsJmaKEpTFgnYoM9krvldfRAStdg5bzz7ADnws9aQnjHxSXNBPr2xl53AOA-V85b66vzutd8yB02-KKtYwQAnWpYC2EbpcweIfyKQZl-cG0OJGbeEqZKwXGQJE04-OlstHpZSKcBd1vaNUsoZtD6EXsTNeMn1YQ90_sY7gfIc5wKTYZbfMxXDCHKVLTkhNnKwUpJFsmCMhzDPdgXyuuZDDDvEcskJ6hGbK9ZOmLl_-w2fQjgsA1yFThzlZAfU3UgUldJkcG978nFSbEh64GrbirNHB8B8cIdcXxk1BJraeOADVf2o8o_zA_8Q8avrnROKCNHXnNp-V1YpEYngQjX9vuDfuwcwNDjCmmtS_jQ4-iu6-AlFVflAocMWji4RqINUF8JAnXal0xSL0ZPbe4k401da3hi2MyFFzk69DfjNo3DYQ0hsEn6mPLyyyPB2S7G-Y47UHLeHr-L_Jtm5-DHkGIg2X3BHE3zH2G0JUwgApLUI4vTczCigw16kgE8ZnHTDPP6uMV1x9qBWyFdfhDX485PN1cTVK8MsVD3zSZwAfmB7fMKcnivRVY-yAURzmIUZmFh1NP_LbLnwLbszsMLCLYFSWUWuWwKUzNFk7-O6c3YGkJ6iHsPE8m4i387i_3HGrEpyoz4QIYAN1iwFZsd8Vx1sb_oAUFUdat2Mu1I_E_Q5RJn0YqBX7y02KoyakfzlVyHswkOi171bZn13-RFjn9NB8E1bDN_Bp3KsINL9YPxEMFU5cDNwt9-ok575oEXX2279rFRmth61UQOCP8idnYnoxXFVjjcl6x3qMkACjHwBR7P62jvXoeuNS1FTZUIhYsswVyLi4Ok3HQiWxDy_1rSkEkOOjZLgitrrJt0qn-A9c9FQ0bEfYDLmlSQYkIOjrHRQSNl9ASdeqrjrlx9kvYS-P1AEwFHTw70kHmMjSK1cNjCU9S3DQ1Ks5NDxgsGlVWlmhI0C0W_myjFEZgAwanPPrZqJdjsmiw==",
  "id": "rs_0ecefacbc8c3f471016ab2c3c6eda887d0b8916df43547db0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.23,\"right_y\":0.2,\"right_z\":0.1,\"left_x\":0.3,\"left_y\":-0.15,\"left_z\":0.2},\"note\":\"The arms are interfering again before the pen reaches the cap, and the height errors are too large for safe insertion. I’m separating them; I’ll set both pieces down rather than force an inaccurate fit.\"}",
  "call_id": "call_YCBlpZKhWDXN1xgLc9mblfaK",
  "id": "fc_0ecefacbc8c3f471016ab2c3c9dafc87d0bd2f7c804fdcdfd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YCBlpZKhWDXN1xgLc9mblfaK",
  "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]: [-0.9134, 1.89, 1.5887, -1.5578, -0.9878, -2.0418, 0.0681, 0.881, 1.174, 0.5571, -0.1234, 0.0616, 0.0624, 0.0743]\nstate[eef_state]: left_x=0.307 left_y=-0.1505 left_z=0.1871 left_yaw=0.9013 left_pitch=0.0113 left_roll=-0.1011 left_gripper=0.0681 right_x=0.2185 right_y=0.2534 right_z=0.0967 right_yaw=0.7866 right_pitch=-0.1808 right_roll=0.0052 right_gripper=0.0743\nstate[joint_eff]: [-0.5402, -11.1111, 5.3402, -0.2955, -0.5739, -0.0904, 1.033, -0.1709, -5.0256, 8.4855, 1.5995, -0.1001, -0.149, 0.9744]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2820430490b8785c117fccb0b1318fae48cbabd87de7c07b0cbfdf8d57929b4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97891dcf19975917e7c57277304262f6e21e0de7845f420c36a9af823c41e7d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9946c1a883e50a0f0b035b0fad9e6f6fcc516495abc57fe6f181720743145302",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9108, 2.0617, 1.8191, -1.5929, -0.9955, -2.0338, 0.0673, 1.0283, 1.309, 0.7269, -0.136, 0.165, 0.1516, 0.0743]\nstate[eef_state]: left_x=0.3363 left_y=-0.1857 left_z=0.1841 left_yaw=0.8979 left_pitch=0.0132 left_roll=-0.119 left_gripper=0.0673 right_x=0.2146 right_y=0.3067 right_z=0.1218 right_yaw=0.7981 right_pitch=-0.1486 right_roll=0.0078 right_gripper=0.0743\nstate[joint_eff]: [-4.3829, -9.1829, 4.4103, 0.3834, -0.3297, -0.0464, 1.0232, 0.7316, -5.4769, 14.4615, 3.5238, 0.315, -0.2271, 0.9597]\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": "gAAAAABqssPVuwKeh1t3l63-p39faC3BGA3O2RHKhhmTNeAn3qygQUJ68D3lghFU4qKX19WEfCGwNp4-xVmJxVz4bf5KOQUpLNwH4fUJwFeUJnUsefDahjAKqrwawy3_vi1QZD5mlvL5vrkuQzMoHuxcUOpgctrQp1IYqD296fi7g2Hc-91DtAsp89nVElbwbi4yLKbmgeBWMVmYgnw4EWdkgL6pP17ZAKD0eeu_MdSeXt_aXbxSGtAlSSQNLLl7cuvqaTFz1a9srmVbYqXL1kVlhIoAxpE7qWBVPGINO4-DUqaLu02sgrRhMB0_IDxMxK-fn3cmo9aYV6JCqbyL2Fs2wLAM5AMRcq0MN3252roF5xV-kxTogmJ6vqKYpTxOVqv7pCGdOHLPmd5MDAbGS8UAkhxd1d-GTR_bAAVbzJkP3E9-kBMQN8ztVR0nn9xOuGMF8fIu-2o1HW7eqlwJPQZPj-Nr574782iY7uUz82rsHMJk0vu4Mv7VF9XNLz3sjcLeq6Pw8JIyuMqNtIo6wL7nNBp7yw_7QhvSS9cZLLjyYu_E0hkrnft4lonFzM5ccpLWae1WmEE6liZ1aiIeMIcT8yprwv8LKcOnfE0d5upiGoHt9FarSSjFynCqKwEfNj9-puIpOVQecmPaz1mUtQ0raNnXgXPuM32CLnRHAmlIasFujLeNwODJ8ZqFX-7FAAMJ3X-_N1QmWym51f-C3NQtrojKUUP_Y50QnpvaaMNfw2ObdCxwkXK-LmjJgvQq5e8pEPEzFEP93sBM-K0_gComymuRmzlXzjiz6nkeB2ZfDqbMjWdms3FQlVq7LGtAVe6qNBQCz459QxBWaGVi59cAj-aVxqGM2ojLy6Eo-r4vu2Wtv9QuHIo3yWC-dxHM1tQfCtHrdXeR4odZh8Nifnu5m7-tCFIOCmTLGsgVF7aseqaUCHbe0QxTzmGChyK0gU2Ss2jfBhUUnwQFWMAmodxEFihe0KW1j56I9gwgT-JhFosw7vN2yHNT5hEE5AYXjhDZRe6hwdvrSuWhtxaY9ye3SyJMelQJqh-730m240Rxj6EIBJLLQCZe3r7R60TsH1zIcKbUdpimSg3mrabYhi5JqV4ip6tgLb680BNLyomftY4_RTlL7rWPQ9g--6qI6x05eGQKlhU3b5AAPw4UvqSIn-JA6cQ2ZuHM8w-D6nTa00dbOgt4MGaUPe8HrRRhrd16SV22BtBCC0oGoImMoVf0CGf_HUNqE-ilkDBq2f5PnFuU7rj3YkbtGEeK4JlSljjmCqYm0epy0zZUKIpKVhp5QQHZP2FuE4aC1dK42V5vTeIzwvXDtg5te_tKnXp1J5tfKa6G6Y87dnrvEwCKLR4WV0HJK6KptsICbjz7RHzFGH4dAcDwAgboa0jx75-q4Qy_9ytPAS9PDH1d7QveNKBHgd7vHtVBtrcumV0Jxtbpg1VtRxf4FBrsFlFh1g-v0hc7I6rtQQ6C",
  "id": "rs_0ecefacbc8c3f471016ab2c3d0496c87d0a9e1007a46784174",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.12,\"right_z\":0.09,\"right_yaw\":0.4,\"left_x\":0.32,\"left_y\":-0.1,\"left_z\":0.12,\"left_yaw\":0.4},\"note\":\"The contact loads have eased, and both pieces are still held. I’m moving each hand toward its own side of the table and returning to a simpler orientation for a controlled set-down.\"}",
  "call_id": "call_ZLQf6gIjm7YuhnP84cJw4GMw",
  "id": "fc_0ecefacbc8c3f471016ab2c3d2e26887d0ba09b92c3fcdfcb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZLQf6gIjm7YuhnP84cJw4GMw",
  "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]: [-0.7273, 1.3636, 0.7048, -0.3779, -0.8692, -1.0039, 0.0681, 0.3988, 1.0435, 0.4606, -0.1772, -0.0124, -0.0048, 0.078]\nstate[eef_state]: left_x=0.3086 left_y=-0.0892 left_z=0.1095 left_yaw=0.4755 left_pitch=-0.0202 left_roll=-0.0678 left_gripper=0.0681 right_x=0.2776 right_y=0.1232 right_z=0.0855 right_yaw=0.4043 right_pitch=-0.2023 right_roll=0.0055 right_gripper=0.078\nstate[joint_eff]: [0.2667, -5.7915, 6.8718, 1.3651, -0.4029, 0.2076, 0.9744, -0.253, -3.7675, 6.3385, 1.6825, -0.1001, 0.0171, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25c8a5b0130938f27215b0dc630bbfcb0e620ebf0ce89af95e257d60ffa5666f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35463fba51f45c9e2b9c6e7b605f6c445e37a74bd9ed42940a3541ed25f9ca80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84b4bf903b45b1a22c94b201b6b236cace8eb16b64428697c63b55387d97323",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9134, 1.89, 1.5887, -1.5578, -0.9878, -2.0418, 0.0681, 0.881, 1.174, 0.5571, -0.1234, 0.0616, 0.0624, 0.0743]\nstate[eef_state]: left_x=0.307 left_y=-0.1505 left_z=0.1871 left_yaw=0.9013 left_pitch=0.0113 left_roll=-0.1011 left_gripper=0.0681 right_x=0.2185 right_y=0.2534 right_z=0.0967 right_yaw=0.7866 right_pitch=-0.1808 right_roll=0.0052 right_gripper=0.0743\nstate[joint_eff]: [-0.5402, -11.1111, 5.3402, -0.2955, -0.5739, -0.0904, 1.033, -0.1709, -5.0256, 8.4855, 1.5995, -0.1001, -0.149, 0.9744]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.013,\"right_z\":0.015,\"right_pitch\":0.25},\"note\":\"The hands are now well separated over clear table space. I’m lowering the cap and pen gently to the surface before releasing them.\"}",
  "call_id": "call_12XYGkXGvUFfGw694z2wzKME",
  "id": "fc_0ecefacbc8c3f471016ab2c3d975b487d0a26dc64473a43d40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_12XYGkXGvUFfGw694z2wzKME",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7269, 1.6596, 0.5022, 0.083, -0.8589, -0.9939, 0.0681, 0.3943, 1.8984, 0.0051, 1.475, -0.0204, -0.0113, 0.0774]\nstate[eef_state]: left_x=0.3043 left_y=-0.0868 left_z=0.0117 left_yaw=0.4665 left_pitch=-0.042 left_roll=-0.0277 left_gripper=0.0681 right_x=0.2833 right_y=0.1257 right_z=0.0106 right_yaw=0.41 right_pitch=0.1396 right_roll=0.001 right_gripper=0.0774\nstate[joint_eff]: [-0.1436, -5.3265, 3.9863, 1.2772, -0.5153, -0.1001, 1.0183, 0.1162, -5.6137, 1.0462, 1.9951, 0.0317, 0.0415, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0a7fd64017dbd9dfcfb0fe09932ed814f1727420771706cf46f558d722e5f63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c9d505b6bdf034a57f954a5030780e2b78a80e2ca86da23354c1b88c70b2f28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04418759f8e53c0b3f449d95af49bbad1ad5d4e19a2a75d35858e0d58b99ef4c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7273, 1.3636, 0.7048, -0.3779, -0.8692, -1.0039, 0.0681, 0.3988, 1.0435, 0.4606, -0.1772, -0.0124, -0.0048, 0.078]\nstate[eef_state]: left_x=0.3086 left_y=-0.0892 left_z=0.1095 left_yaw=0.4755 left_pitch=-0.0202 left_roll=-0.0678 left_gripper=0.0681 right_x=0.2776 right_y=0.1232 right_z=0.0855 right_yaw=0.4043 right_pitch=-0.2023 right_roll=0.0055 right_gripper=0.078\nstate[joint_eff]: [0.2667, -5.7915, 6.8718, 1.3651, -0.4029, 0.2076, 0.9744, -0.253, -3.7675, 6.3385, 1.6825, -0.1001, 0.0171, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both pieces are down at table height. I’m opening the grippers to leave them separately on the table without applying insertion force.\"}",
  "call_id": "call_K36IWrX4I5bNgWx4KJaOXH1a",
  "id": "fc_0ecefacbc8c3f471016ab2c3dfc99c87d0bea5b29dd769494e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K36IWrX4I5bNgWx4KJaOXH1a",
  "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]: [-0.7269, 1.6745, 0.4942, 0.0864, -0.8562, -0.9936, 0.9954, 0.3939, 1.9358, 0.0051, 1.5536, -0.0238, -0.0124, 0.9954]\nstate[eef_state]: left_x=0.3013 left_y=-0.0846 left_z=0.0059 left_yaw=0.4658 left_pitch=-0.0514 left_roll=-0.0102 left_gripper=0.9954 right_x=0.2867 right_y=0.1276 right_z=0.0175 right_yaw=0.4133 right_pitch=0.1808 right_roll=0.0005 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -6.9675, 4.9709, 0.9695, -0.4567, -0.0855, -0.1343, -0.0889, -4.2598, 0.5949, 2.0684, 0.0269, 0.0024, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca87560e58ec7c655cd058026f31068945eef3898a869e1c99283f2e993c32c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7c2675ee206998d36254cff656405aacd31874999dcace50ecee10b305f7f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203c9f1a466f5726ea0de192a716aa6eac7cb99188ee4d7a9c77ac7e85e893f0",
      "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]: [-0.7269, 1.6596, 0.5022, 0.083, -0.8589, -0.9939, 0.0681, 0.3943, 1.8984, 0.0051, 1.475, -0.0204, -0.0113, 0.0774]\nstate[eef_state]: left_x=0.3043 left_y=-0.0868 left_z=0.0117 left_yaw=0.4665 left_pitch=-0.042 left_roll=-0.0277 left_gripper=0.0681 right_x=0.2833 right_y=0.1257 right_z=0.0106 right_yaw=0.41 right_pitch=0.1396 right_roll=0.001 right_gripper=0.0774\nstate[joint_eff]: [-0.1436, -5.3265, 3.9863, 1.2772, -0.5153, -0.1001, 1.0183, 0.1162, -5.6137, 1.0462, 1.9951, 0.0317, 0.0415, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The cap and pen have been released separately. I’m lifting and parking the empty hands so the table is clear and their final positions can be checked.\"}",
  "call_id": "call_LXq0gdJrxauzVdmlsRCca28Q",
  "id": "fc_0ecefacbc8c3f471016ab2c3e48adc87d0b7b2262178ad3b22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LXq0gdJrxauzVdmlsRCca28Q",
  "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]: [-0.0547, 0.8017, 0.551, -0.329, -0.1444, -0.1371, 0.996, -0.017, 0.7898, 0.5362, -0.1734, -0.0353, -0.0166, 0.9963]\nstate[eef_state]: left_x=0.2948 left_y=0.0129 left_z=0.1651 left_yaw=0.1293 left_pitch=-0.003 left_roll=-0.0275 left_gripper=0.996 right_x=0.3112 right_y=0.0045 right_z=0.1941 right_yaw=0.0144 right_pitch=0.131 right_roll=0.0024 right_gripper=0.9963\nstate[joint_eff]: [0.1573, -1.6889, 9.9761, 1.6288, 0.0611, 0.2418, 0.0513, -0.4444, -1.4427, 9.9077, 2.0, -0.022, -0.0904, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8317e695c46adb0087e4af5ffb73a1879dcb00bea667bb251ff169e6e6b436af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a19cdcd4bd96853fa0f2043be46de3dc0fbab5ab8bb854cbb3fa642deadc6c4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c5af7367c5f2c5235679b4a40762444772d8b3df2c4d52d89cd913ae427833f",
      "type": "input_image"
    }
  ],
  "role": "user"
}