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, 0.7925, 0.6025, -0.3794, -0.0219, -0.0418, 0.9997, -0.0185, 0.7918, 0.6113, -0.3717, -0.0162, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1798 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9997 right_x=0.2966 right_y=0.001 right_z=0.1857 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -1.5111, 10.4, 1.8095, -0.0659, 0.2662, -0.0464, -0.7316, -1.306, 9.5932, 1.6825, -0.0757, -0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ddca36ff140461e9fd838491502c75e05b0bbc2237ef99502329d0ce1c0db8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4acf758ef40a80e959bc53f99c467fd33ba38b857683a996967a8da5ec8dc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8814bf5ae7665fd8f5b7d4cbf36277570740fd08953488fe395d702cebc74019",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsqk_dKH6Y0vMx9ywZoGVCznmZBf0JbKFekAGtZV74tqsk6AJHmmziMVcsJ4scglU7iQQOllOQdjx2vR9Us2usn2ucT4E8Gn-W-Wfynt5mlQgCYRR97JMyBYkLWdrteH3WiVjYV4uEkXfrZJvLQnnARedi-X80tkNZd93LUt2VXu25LvX5apiLPyGzDTN6-0Alp8VbeidqpnivtLnTG5W2w2Avd3VZ13l4KMDXxRbDXRu24hI_sLKdV5eMsubkYdm_y9f0kSMNxMFo-5IBdWi68k6Gvt7lfBJ_HyNHb-bj1ez8NmaMn8z2gvNSIhgLN-mrUWnY-yeVRO-o0PC2Y8NPLe7liLgb_QHe7Ppyd1NcnEZQZhCZbzeVhsrGUfHCSTvjc3beP8OEl-IS8sSqd8YTY9IARZj5Oc8yYyzPilopmnW4-xGs3IUl4zR5y-5hdclq_gVwtcbYTgFOM4hbFebRkCiCcL-oYwL_IXHciIE4qaPkva5CV6HNdEGokD4UowdVlKkGf40eyDLKkqSpEyx3--3q7cYk-_1ZRhchYiClCY8gci3vpBvBnlk4OAKFReZcN5OotjRz4Go0wI8dm0MJdRqhjsQsXvGxudRPeqc-w6F2aWoLbi_TBUonsuYKACGUB63lRLqc5ypUEPZToG98PxgTi2r_NlCbzgNAHFfCuUV6Esve9ukYqezfYeuOWCOM_NBZY96mPhq7R1uKM4XhVxppVHtQMT1LnFC1atVd6ixfguDMAHwHNeu_UdWfW4rM2WnwIF4J96050SxhYAvdfg4o5py-w6MmeWWKNEcppx28vnfVXTeeiuJfV1uTcoTUoF_rKosGXr0cZl8QqZ0pzEsQtAl2D-1c98sCwEgWMVy--mSU3mhrjL1AT1wrWXUPJ7FT_JEP-vNf2WE8RB01DHJsghwf690cjm_cYSduNN6EzLa4aaujFIg1KChCyH0DvkS6uKe2AlBcFLXPIXWLc6NoVkLgyADUnWvl_UVYWuiowjzRbw_mtaqMYuRAyNkSveW4FaQtbGyAJEak73yqUT6pnudIMvPT2Y1sdJFJ2QThhvEddPVgp1orOwRiV-D6444k4AyCwdPXnh45jYPLlkXvis2ykTqUsCvFPjwlDitDKdyX_fpdflsLFEiUzxjbcA4P4BeKfPZOFxpgsAOIZDyjYT03wWsuG8DSrlvsbuE4dMCYt8ZMRf5II6RfHqFcDysu-ISPw7EY4SqCadKSocl6_5zEm-W2bUPovUYcXfbd_60-GEkm4sks_6Ji40GNbN13yQbuPcersTlSdJrlG3LeR07w4HGFdsxD7WEgZlqFwxdvy1YDgciRkxY2cZZNyJcyh8peW6E8y1USnme86rGYN22YoYCht0_xMRKHPAAXD3IT1PfqmYSe4N7AWQBqpy71M0uMFAH-Uxt6050u_Pwpw==",
  "id": "rs_08408f877836ab2b016ab2a93caecc87d0a8116c9077f153c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.16,\"left_z\":0.12,\"left_gripper\":1},\"note\":\"The short black cap is on the left and the long pen is on the right. I am bringing the left gripper above the cap for a careful pickup.\"}",
  "call_id": "call_bCRKtaftFmOOBxL8pEr1EBz6",
  "id": "fc_08408f877836ab2b016ab2a93e7ea887d092dece451f364017",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bCRKtaftFmOOBxL8pEr1EBz6",
  "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]: [-0.6319, 1.4612, 0.7139, -0.0067, -0.5037, -0.4026, 0.9997, -0.0193, 0.7967, 0.6132, -0.3866, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3555 left_y=-0.1502 left_z=0.0982 left_yaw=-0.0179 left_pitch=-0.0749 left_roll=0.0402 left_gripper=0.9997 right_x=0.2952 right_y=0.0014 right_z=0.1821 right_yaw=0.0025 right_pitch=-0.0183 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -6.3658, 9.1419, 1.8926, -0.4176, -0.0073, -0.0464, -0.1983, -1.6479, 6.9265, 1.8779, 0.0024, -0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56670ce3ef7677bfa422ecb34c927ab0042d017a9c344fc407d795a019fad43d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb1c1969830f7edf9b8036826603cd8ef673e622983f079675fe4ecc18fbee30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfbbf0163ac202dfe3917aaa8320388a4911a202d79ba2cca13bf93efc218239",
      "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, 0.7925, 0.6025, -0.3794, -0.0219, -0.0418, 0.9997, -0.0185, 0.7918, 0.6113, -0.3717, -0.0162, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0015 left_z=0.1798 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9997 right_x=0.2966 right_y=0.001 right_z=0.1857 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -1.5111, 10.4, 1.8095, -0.0659, 0.2662, -0.0464, -0.7316, -1.306, 9.5932, 1.6825, -0.0757, -0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqlHBr90syuU75Ql3yBWwDoCkRBAWih8SJUlQoccgm7-mV3UWxo5fqTmlfSJMW0Ai_7Qiy3xo0m8kMelIm07OJKuFB8AvzxRWes0Yif8VoMvhKJ5HtRl_DFlHycXzqgylT89Q9rESn7IHqfuyZ6mOUOhly4T9MPDvqtrN4q--oUUlefYN7Sc8s9auRTqrpI3xVbNqWU1191e1VQyClRKZyhrKJ-Do9iEiUvLg7yaz19BX9E-Rln33uh4AXNDp781Byk1Cru_khB2MMZi-s032bdRlvDQCltYcrTA1hRxph3d_SFBc66hMnqq8XLNMa9QQoF8jflf_TlcpUpPaJN0x1vObgsFkAKq8hwoOg8tPSfZpUVTjLoB8vYe1h-XyLDoW_pQAUCLfEHlvBv9ZvuxlMrBLsnGZjfnhB6biM3Co5tuJj8xMM8nYaaMzyY4iZZqCsFviDWfwwmLX7KeV0R1qaJypNPTUb47VxkSgG_Z9Pyj50ZKv2ZTMZ__S3G-S2-jMn684SsA3v1n3oYUsqRrpkKSmvjsMSkl3Vk3SVRKQ970vUcjiQS78TAlir1ERFiPGIctkSy7vdj1AlB0-4WitqMUeE4Ij0l2ZkqnuZZQ9Rryo0ZGzPq-cC-zuyALGtE8jXfBG8v9-fTydtvXiDG8skOxsjznb2kfeKSBGQLYH4IDiyH2YkwnFDsFnVr0YewClXrcJL9tfy2jF24kIielprggBa93ogwdySROCFw91FtVtzZ8vf5lBDXgsnuyiiipdUVmFazr7uPtgRBZjVWC1uxaU5ur_qfGZLOLcwDMIZr4WXSBdJwZ09WbPhSFoWFnpnSX4XFsk3_3OvJzLE6IPDLIxhCxuxr7a71M_7Q67pAojyKpviSsLaNTvG58mnHOfFvMciS8X5jRbj4r3aonnZfMqZeyIMoY79NsA1CflzB23xNn7q4nuuDSJ5gSexLX30tL2ffvIvR-rIlrUU04zKlZJ0r8XvQWQhtq5nVtN6atUms1cnB0kxutIpQkY3YPVGk8JcXUVUvkTQ-c37z-uHiUo0a5qF5bSZMX7jsM5_HjL23sXzkUNOMWav2q4aVBA9-jdwG5yWeTkIVRIP_dwmCfVLsU2YDeojZ1noywHDaR_f31l5q-zsKXd9WAFiPX9WEm5QToVjDhr7jgojD-HKeQ3Tnd-ggf-O70YfJ3tPRjSxOiXESWVILpTH8JDhsnRej7EfTX_q824oi5GpOrvvvlD3ZP1DxVm9fOtjSHt0OT1J6LtLLrvGLmxRyDBA8gcY0wap1WlORlbAXI6kJ6FmBSb920xOMGUUby5aN-unrJw8HDzc7D4gnhrXKXbdLMcfEoEo_oB3owDQmaxDOSUhrSl0wEjae3ai87qMZmXg_bYEKbS7mzItPkMHiQNdgZRZAebhYclj6YdVSKUaH2NLYq4BB8KHPuEMa4iWJHNCWMQls=",
  "id": "rs_08408f877836ab2b016ab2a943932487d0a0403a1f7a317287",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.145,\"left_z\":0.025,\"left_yaw\":0.65},\"note\":\"The cap is visible just left of the jaw centreline. I am lowering and turning the jaws to grasp across the cap rather than along its length.\"}",
  "call_id": "call_spXlMALcrhESpW0OmWAnyRdH",
  "id": "fc_08408f877836ab2b016ab2a9459ee887d08f616c7145bcbe8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_spXlMALcrhESpW0OmWAnyRdH",
  "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]: [-0.7094, 2.0209, 1.1187, -0.3168, -0.8162, -1.0237, 0.9996, -0.0196, 0.7994, 0.6132, -0.392, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3893 left_y=-0.1599 left_z=0.0154 left_yaw=0.4834 left_pitch=-0.1326 left_roll=0.0827 left_gripper=0.9996 right_x=0.2947 right_y=0.0013 right_z=0.1802 right_yaw=0.0021 right_pitch=-0.0263 right_roll=0.0026 right_gripper=0.9991\nstate[joint_eff]: [0.1983, -11.2479, 6.3795, 0.6081, -0.823, -0.1148, -0.0171, -0.3214, -1.3607, 7.1179, 1.8437, -0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971b99e234834ee5cc516fc4cf682e6014d0347714ea81b72081d6e4548f994d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d38cffaafd510e2df8769897a8fbd8f9550abf56d7b02a1bd136a1110e35ba9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae668dd7ccad85a7203e1cd0cecd9c05bc2b951dc78294ad91e7d338db9c920",
      "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]: [-0.6319, 1.4612, 0.7139, -0.0067, -0.5037, -0.4026, 0.9997, -0.0193, 0.7967, 0.6132, -0.3866, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3555 left_y=-0.1502 left_z=0.0982 left_yaw=-0.0179 left_pitch=-0.0749 left_roll=0.0402 left_gripper=0.9997 right_x=0.2952 right_y=0.0014 right_z=0.1821 right_yaw=0.0025 right_pitch=-0.0183 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -6.3658, 9.1419, 1.8926, -0.4176, -0.0073, -0.0464, -0.1983, -1.6479, 6.9265, 1.8779, 0.0024, -0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqlby6i4_Or3W-K6kXsAVmzyw3Cx6tM9eE8CZYVgQqlpvSINiNIR3tgjLlZ3ZWMUEa4n6IqLqyasSUuKCnVRLZ7OXEUS9NRDG3m8z33_gar_xjgnQmqVnHe0T9Twj0X1uewSy8t1WHygEXE-0tUKlYQ3y9hYF5CifdUp8lFWoTBto4JcIwzhYSMCrm2QVQSjhi6i8nA_ZrnKYvTnRr4zDQGi180jf9Q06dxG4WS64VRVP0EaZCjMIkw3-qs6-0wcPZma-Jk6V1GKeQYMa2saiFpkLbW0_lEz6CHUx1C969fiufaflaWP59A4ZlqFWSQ9rjAwLbqAZYCnhAIZwpwhZhRw1sgtcYSeaVgTj4dhChK1ts9epeTCBa1rIn0XXoRnepJGyb-HsVlU2aE83OudKozLRSJfsH-qGtvdPoacHFv9Bm6WOcnfJ3Fs6nJtES-1t0Pvxyurt2niqeaXA39w-QWv2Qd-bYhuxKhndds6BbdpT0n8wAA9y02ajHuK2DSoIZp77EX7jEnZqrMtAdlilRM1-L0F7LmzjcxcrPWYpZYImDtDZg-5KtrVDC8sXYtOkXqgmCLYMuN4fGwc2de2hi-qUgxFzgLJYFLs9bLVk_R7zHlSgMRsiEVp5QJ8N51yni90uE6_DncEr6-eOgmIjskvualedAuG2SFmI2X_2WHOqYS50XflV6Nm1RU0FsQe0zT6sKhzok6u5nrgSLUmn1vtq9Max1Tdb3rjRNu5W-VpkwIGhgicDGI71GO3bM6oM1cNNululERM9V90VFYhOWONRI8YbT7_3WiJXlxn4K1kh_a_J72mim4RJdxVwVVquxopbo4zE1jdL1QgQnaUxwf1Y2lKJHPxRFEUSo5akcmb3x0qV1_DY4mZw1OqHbPhRuHid1um6RNaN3JN_JCx7O1gYI5D87iZrgRgA0bFOmVskIpHu15f4srkxZ3o1XZ7X4ssKZIZIFBu3gKdCzzt4X7TnKG4RMCDak-giiWFmZuB18YXeqUKAwyXLPG0WbFXq05PaGm4qpuY6J7akWLMy8Ic2WGGBvf3ixZRuxr3ItCxwnBhRNUSZwU_v2igC9ve3Xk5VCRhdZdpkQo5FXNdynvXNETMQhkAo1fNIg4MEzojcgPy00qzeHq0ZJ_WiccEStbU3zBkNCEg6crBj7HksLo6x4W368if2IHaraz92WFsoWHccSkrgPxi_Y5LqvslepjoDgWKixERZJ-eTmrlH1A626Uae1YIAXXo_QrO1z2q2bt9oAe4Wu4fRMSYG5EsBrKyCc_NYw6n_5ooK1QbkZ4ygkHRTKM9m0J5mchWERKINFJmohBkKdo4gWONxc-ebpH6yAgcYy6FQPh3tRtaSFiogyw2avx35DMw4qF7sRo4FfK6jeRPll0RdHMcq6fbtCGgfwGqkW9Nh_8SxgJoCoZS95UqQ2lLnJNsfeL7R4jzURJSIzZ5Sx2AIYCUBTTK6zTxo7yyWzNoTWTllUhGgrk3AAFzU78r3c57SBFFpaFB1wvDmJWyExO94UFtDNk3rvhpdJQpKXbNoZTYzTSCPWIYKBpamzMbicvPCfeLBILJ7WsAahklL8u6R7LlDhl2-Vyy_bBrWVgQHIAityxeLqn8RU3uGBjkJGGZi5lDF4qopEgjWLCfGXvapot49trHiY7tnlQ9YfzAyuGMPkJr4g3m3j4SL2uHH17_GPhamycF58QAgOfhBUgjMEOM4qQw87yxGZ5sqb5CuGJ9Iywoawzbk4TN-TFBAsqnr82YY-BZzIAY5PXxfHZrgDvl87CDB8UapvaAkhG5EQ7lKTQQ5GF9dOE1LEN1wYJkT_ZvjmMZsNBbEKiNkP89yl5oPIUXoW3QizuFMggj7_xYRQpYcfXm9y6E1ajaHKvpyn1LlwHuDciFxxoi6gAoPGIgzxCzvx4IhublVAKS9rYV4qPZFdDWO-A6nQu-pI04oGBgQYJKJMP_4tjEjpWzmb_fcbnb_7jzPjMRpjyjRu8Y-2uDiNeazdWhgod8MpIeUHiIJ3Kmc13_potS7JDGvXUPy3_qmO9vfpunIFtLuiYqfSbwH7715y41St58gnd6Yh920btpk8MYVPc2l1wmx8th_Q80WigN47j7WBK87VTGFJ9fhyz48KLVySMsuqcQAr6XbrvOrF-qvUNXubZxD0PcH-qtWCH5pWCl7Tue0VTub5Ubixvs7dL0gMp_4z9MGhWuKG1NAMCuO6S-EgDzAx__y7mD1Y4Gj-rq4f0lSTvr-YpNBvpsymwkkys2ynld726HR9OamETLR-qGgCafxEDF9XTthMGL38q48_rkCeBEdTfne_ZiVcZkIEhriKPdh6GUjmvtEsrGbkLf3Dtnew5fU5doxTzPby0iVIiL6vk3nadZJUyxgd5BmJyoyO-kKYbrICdnrlsGi-aSsPO8WCxnBotlkkMerLuVjxyTMH4vxwK5oUUxuHPZXsjLSkRmdJoZ-dx3cNFvTyb_RM2lM5RAc3339UMkxOScs-ThvUkb_5ioEPmf7YpOu5AabIfOs8-x59tYEsq1V-so5-JgG9o1hBGIpoxbq7oYate3HLdv7-jdUbw7ceBeebIO1lXDuvqRobCkuMI2PG0fawexJ2UoMoJMwwVcp2SJsB326ruIy6Dv1ypiO_jMngHaVhRqn8JOibtmk5923Q-1OsbadxJQmzY6CRouJtlxsiiF3V-8FvpDPIC8MoKNBG5Bfim4pBx5xmeOy52Rwlm5lYasvPfE0xgb6-GACBkpyNjAevV9J1oau_S9FhevLnmsezKxzamiXtAcK4DzDE9qM35DV9ymKS7ezSoPGQi7yvn_VCwzBhQRFBpLs759pFhvVqjUpaI1qlL3NsiLPXPO1k2thtrHvaQbdg3eTFcf7cHswSqD73J_vqYvBSbfPMjElDQlOeZKCqSJsnGvbLQmENnrlGEHHCXBKFNhqIMCjPjiXQ8LYUJQQeU0Ak5RgyHFOYPxfjovXYtDVXcQaSIF9LnClZu_NdUcvlVwkXsmYx407wM17M6bq6Ex-XSHDgIjo2ZTLkNcYSVw75fqA6jMP0zVx8cYgyOpZHqHZI7SzMmetP504ye-sIDuaJLWe_WsGOagUbT0t_7lQwEEL380Mab649S_8cJ84fuoctSVu6R4iehqfS8DmcYDzUKUrcK8H_iN7k7ukU-IePlrQQKHLqndNdpa6eWQu0Q4RrLSaXmE0Xn8S59TtCZdzgwux_cDaRmR0RXZE8PT57JqZV4_qFQ0aq86tp57jNmzkEr51rWmV0N2C_BhI0Ty79FEH2UEnxsjmSWo4B2lIcc-OM0EUU3fFiWy5_m2ScD252gA2xVB648GbeXrGkDwUkRzp2ZSqgxgUn5dRb5r0OE=",
  "id": "rs_08408f877836ab2b016ab2a94acf3087d0abccb01547f7ca46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.13,\"left_z\":0.035,\"left_yaw\":-0.65},\"note\":\"The cap remains ahead of the fingertips, and the first turn put the jaws along it. I am advancing slightly and reversing that turn to align a crosswise grasp.\"}",
  "call_id": "call_P7EvUNQ9lPyN8fnqchW5Agsc",
  "id": "fc_08408f877836ab2b016ab2a958f87c87d093b6e8ae54848f03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P7EvUNQ9lPyN8fnqchW5Agsc",
  "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]: [-0.2039, 1.8557, 0.8383, 0.2337, 0.0948, 0.078, 0.9993, -0.0193, 0.8036, 0.6132, -0.395, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4363 left_y=-0.1036 left_z=0.015 left_yaw=-0.3499 left_pitch=-0.2105 left_roll=0.0072 left_gripper=0.9993 right_x=0.2945 right_y=0.0015 right_z=0.1785 right_yaw=0.0028 right_pitch=-0.0335 right_roll=0.0029 right_gripper=0.9991\nstate[joint_eff]: [0.1299, -7.9111, 8.3077, 1.5849, 0.2711, 0.2759, -0.0415, -0.1026, -1.5385, 7.0222, 1.7753, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7f26d2f4ac69fd9e794ab71ecbc5b23d957bde8afcd9f7362e4058bfd7e7a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240e60e021eb2608dafb2e489e56b588ac86e655ba81f87d85ec23681d01ced6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e9ded2d5a6fc4e5103e4150b63e735c26c4b12904694fefa230ebc2d50c92b",
      "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]: [-0.7094, 2.0209, 1.1187, -0.3168, -0.8162, -1.0237, 0.9996, -0.0196, 0.7994, 0.6132, -0.392, -0.02, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.3893 left_y=-0.1599 left_z=0.0154 left_yaw=0.4834 left_pitch=-0.1326 left_roll=0.0827 left_gripper=0.9996 right_x=0.2947 right_y=0.0013 right_z=0.1802 right_yaw=0.0021 right_pitch=-0.0263 right_roll=0.0026 right_gripper=0.9991\nstate[joint_eff]: [0.1983, -11.2479, 6.3795, 0.6081, -0.823, -0.1148, -0.0171, -0.3214, -1.3607, 7.1179, 1.8437, -0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqlkTsO45368StdjpxV39uCC0xz2uM2YoMkeAKHGc8EkkxJCs5sFBqBbbA60XHJnp4s13EnMjQm9MH7FMIhZN_LACyzwXSCoPB_7e4cp0tFlXY627Mp8ghRooIpFt7TMXvwkYvA_37oKwRFekAkwwmCXhWNennI_43M0r6XbHK9miFIiwGdusZFbQHGUYR8IVo3c6a7VcZDNvh5N9-ruKJppQqhoLdXd3WJisbDTvUzp_TkFDM9aCJuuYTLA0kuPoVESTFSNIUw8GOnauAhsBDb9yOKTZk13ox5CQwX-KOhzLi-Eq3VTiGij87A8OAwDBOdZL3-66HtptCDuV-tRbkuwdYZvgFGhtwRidt7HEWHFeWv_Edq5cJw-8mCEK3Ot5fbFbosJPdN-u9iSRCsQsvRSxqucBwcII9vyBxjEOacmQcHqhyPCtZbmr9xVD8JLLsg04GLTm6DUAz3tmc56CUiGUd6rReimbdtn5tJ339JUqcAqZfBZpvTFRPkZlWGjfPZ4vQcDYgagh_3biVVgBPEFVc4crrRkOmtA3A8HaeTzeTKMO9uF7RnbOhenwjH_Bx1WL-zp9_T9wamjEN-foZUyrDy9Z263I2spWeQ2efg3zZpDa6JqxmvfOUVd4qAD3CA8Y6WOFvF8Z6bW-MKKZUsvh_YAUA80KK0bujYguXVTMAMIzhDB0n9AwCA5bhvHBFN4tffyWRzjpUTbaOBuWlLOPHaxOu9yzXgs1Ep3fuC5jkbRZHYXek3jyNcIHi37Fo4hfW9oy1ydNIYX-c1dMAPTWUA81MMbh3rsgoguF6jM8D7AGrfsPtKpx63tJqHr4MBvHiGi44M9DsnarRKr28uWQh6aN4q8e3j3O8eFQHBVoDEYdMC4rbjAc1m7gfMysLIELTokr8gT_qRL2DPZEmRxYhH8i5SdOgz4xxla1Jcv0C7RI3yfZWAsEYxdscbh3JIJUdQHEhvEqJOzGe63lb_Fo36fkJrejW5fh-9HLeRM7DBgH9p_sTcswWI2gkNGGEYfb9hx-dM82AkzB9rC595I4khg0zxOUdApGRtPGZagVyO4jZTVyqF2SRYlgH4_WO2E9Urfk_bbK9Vi6kIDG2GwYAVYuQAEXpcg_S7Gn6UOTnFqkq2qRb4L_T87lC7blp9wj7hR25jVodRl7aEHKUlVNS6Pf48HlY2s33QuOvYkXDxzo3zChKkr0OzfZoUXLRjGujEGzY2uJVMHvIPd2qWgurwrqu1d3LDdiwnxWs0E0A45VgEXRTOL4r9kXYG1JdUD7n5Va4s9J6xex_DCjUYeGiq_fzZq8ribr9rPnPvYSQJkVKyzRnECCllqfd9O5u33WI50wJOBRO25VyZgq3GpNgiu6sFafpfB7AkTEvmeUusbRnrpQBPlj8rr2uWBtX5zIXBi8EKZWt0KfIWg4t1H24jRradaCHWdJJGnmzA3JJge7vwE3snNqaREiRXh0LPYXtvCQSRdLqiGm3xH1KgydSsUd_H3S2CBSYmbfnlF_xXyCThB-LvRuEza3iixkA-7IPPaCY0X1qpQqDGL2CL2i1zFU9URkTg4XCLO0dE6rKBdVCNVZkOZWDf9tyJYOqYfHGegdsRB3-lWFzkvpRHT7AJ2Rg_aXCrvZuFgkrYDQRiv6oYwQTIu-n5481ks2Nz1jLJBpE_ylllD1SE1soYe4rdtPVGexRXNzNInbGhkwRo=",
  "id": "rs_08408f877836ab2b016ab2a95ec4a887d09e174e18de1303a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":-0.007,\"left_gripper\":0},\"note\":\"The thick part of the cap is now between the fingertip columns near the bottom of the wrist view. I am lowering to table level and closing for the pickup.\"}",
  "call_id": "call_T5ftuMp3RiDIV6nGz78GxH2T",
  "id": "fc_08408f877836ab2b016ab2a962984887d09320cee8b61bacca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T5ftuMp3RiDIV6nGz78GxH2T",
  "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]: [-0.2165, 1.8645, 0.8215, 0.2569, 0.107, 0.1471, 0.0087, -0.0196, 0.8047, 0.6132, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.4317 left_y=-0.1106 left_z=0.0095 left_yaw=-0.4111 left_pitch=-0.2127 left_roll=0.0483 left_gripper=0.0087 right_x=0.2946 right_y=0.0014 right_z=0.1782 right_yaw=0.0022 right_pitch=-0.0343 right_roll=0.0033 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -8.4171, 5.4359, 1.7802, 0.1148, -0.0122, 0.6276, -0.0342, -1.388, 7.0222, 1.7167, -0.0562, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc262dece4e2f1c09828cfe968cf616b6e562be3db7a249af46945d2946920d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d17e2ca810aeee03edd4defa42796bfbb3029169e857ddfebf2785efd30100",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0ee103fe1e3dfd9500aaa9bca57acfaa8c140233dfe4ad1d13a5d58cb291ae",
      "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]: [-0.2039, 1.8557, 0.8383, 0.2337, 0.0948, 0.078, 0.9993, -0.0193, 0.8036, 0.6132, -0.395, -0.0204, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4363 left_y=-0.1036 left_z=0.015 left_yaw=-0.3499 left_pitch=-0.2105 left_roll=0.0072 left_gripper=0.9993 right_x=0.2945 right_y=0.0015 right_z=0.1785 right_yaw=0.0028 right_pitch=-0.0335 right_roll=0.0029 right_gripper=0.9991\nstate[joint_eff]: [0.1299, -7.9111, 8.3077, 1.5849, 0.2711, 0.2759, -0.0415, -0.1026, -1.5385, 7.0222, 1.7753, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqlr72zFceL0rJPkJGG4C6hHqj8OsWXuliwhF3rvU_q2kjttHbLMGSbjVYvZP-YEnXn7hw0G_sBPiM1M9pJ-dIAnUIyOSoiQM08sUFlY7TV4p6MgCoeGfh5Oeh8_Ve3j2VbZ5KxahL5BRQ2Cub6r50a-EawnZ9PRBn4P5h4UtFdJgCnQvbUMx4abVwF2L8Rfu85AMNzqTt3NgMI49smh0SpLKM9EuCu_1nJ8TzYd1NJM4fH0d0fEjgEcGCJ4QA2Dyr-ByEDtKvsHuaOxXdmgR3MsdqHfIgrTq5GwlH8U_TJqRsJGT_WG6AV9VY_UmmTaRYTWTPbYetzu5MGjujXUGl1aWLUPwpZjH_VONQzsKsBW4pMwqZ_XUMO1-ou3hhPE2KFgswLeTmjYni0qNSpOpKjXs49oLRl4k2pJldV8PeLWZcSm_J_EJ-hZ6CEhZDl0G10xxi745OXDBBLdxqzv4rxSbmlEMbXqxfoL31PXpy_LmAn3pgXqMqz4QHQyTyuNfXS2Z8SrROHnjXM4h0Gw6hR43qZUxCKjZCUXy8FpgW-q_thdsqyKmsg_p6DCGOmo7ww0gBSbIFZOHRE0lE-S2YFs7r8BZwbMzebI3M-cIvgLWhmx1TEnrHjT3aBwzk03qKOZfjf6HC9eEGyMmFG4hNMeneOl_PWsmGGVMvBkdjDDH7JerAhn2aYwDby2GevRkP2Uweej22qfW4VoRXCzVu9gt3mCLOMSzjashG20OwvDXbjopw4z3PtOtSE7wYnFUaxGOkdcykpffE-MBqpaMlo3gMfdxjdJtT9A1OSeFZnXGPKD3MOAtfoPw4LjxwVc8R2u8IEsjULpId1N6ix4WtVEeh0Dk5DRF3XFzvO-NJ3X8us8AWcdVF_2ripSAsoREmvHMh3gXFkW79PzjpSVxzfBnj5OlGglp0hcdOmOBUGwgmBtGNHX1kcy7gD3ELx1ZmR0D26ijo_WMLTu8ga6dplRO0t6S_syhXuJJr7glm8I_uROsu_fgHpIAPsWjHMmxK372ST3wBXqd1zezwMsJujQyu32BHShZxFdXjV219K9S8aQNN52NhgBHtLy1XSDSSmMGVKrIi4GAXx4i56XPxTEjmw8Xla65WBeP2nROhHHLOXHUs6a-UO6hEB8T1OzTy_ZjWs3wQPlYs3KQFDLkT_whtVUt8qjfIYtrUYhxAkIXk32iADiwO4l3B1gC3ujDfWITho8Ysb1wSzdMAtWSxnGxutvxK4OHkYla7e8u5TIzJKpVp46KR_q47bz_B0bor0PYo4XwqujaDkhG2RiQ110n23TKvaMDaXHZp1fuun4yGG3RngYgE-wjNxA_0V8UbTpcW48-EWxwKP8URc2Pch2fq_VuSCowyktlE0cHAYAlzrnG_SD5tYk1tKKQ7m9rfFm",
  "id": "rs_08408f877836ab2b016ab2a96862f487d0a54093aca902486d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.457,\"left_y\":-0.14,\"left_z\":0.015},\"note\":\"The gripper closed fully, indicating an empty grasp. I am reopening and shifting about two centimetres toward the visible cap before one retry.\"}",
  "call_id": "call_XB6KVCxpzvdphUNJlDF0u6BL",
  "id": "fc_08408f877836ab2b016ab2a96a301087d0ac24a75ffc9d7325",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XB6KVCxpzvdphUNJlDF0u6BL",
  "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]: [-0.2768, 1.9331, 0.9291, 0.1936, 0.0616, 0.0952, 0.9947, -0.0193, 0.8055, 0.6132, -0.4114, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4459 left_y=-0.1342 left_z=0.006 left_yaw=-0.4045 left_pitch=-0.2405 left_roll=0.04 left_gripper=0.9947 right_x=0.2924 right_y=0.0016 right_z=0.1746 right_yaw=0.0032 right_pitch=-0.0518 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -8.0889, 8.4444, 1.4725, 0.1343, 0.1197, -0.0317, -0.1573, -1.3333, 7.0359, 1.9316, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d71981bf35ce3b3fa3c3d1e589a98807963ac410907b4a16e9b0d3f38cc438d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b606dc795f65e5b7adef2b12075e6e9423f0728537f274641ed8e70032f881",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7836d9e954572b996b14399169b2b2db5905f5ac48504e5b3306e5ea813f1251",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2165, 1.8645, 0.8215, 0.2569, 0.107, 0.1471, 0.0087, -0.0196, 0.8047, 0.6132, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.4317 left_y=-0.1106 left_z=0.0095 left_yaw=-0.4111 left_pitch=-0.2127 left_roll=0.0483 left_gripper=0.0087 right_x=0.2946 right_y=0.0014 right_z=0.1782 right_yaw=0.0022 right_pitch=-0.0343 right_roll=0.0033 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -8.4171, 5.4359, 1.7802, 0.1148, -0.0122, 0.6276, -0.0342, -1.388, 7.0222, 1.7167, -0.0562, -0.0611, -0.0171]\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_gripper\":0},\"note\":\"The corrected position puts the cap underneath the gripper, outside the wrist camera’s near view. I am closing again and will use the jaw opening and a lift to check the grasp.\"}",
  "call_id": "call_s8YVVSgXIWAwegqrBOJpJhAm",
  "id": "fc_08408f877836ab2b016ab2a96f4dd487d0b96c7e1c935573ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s8YVVSgXIWAwegqrBOJpJhAm",
  "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]: [-0.2783, 1.9331, 0.9302, 0.1898, 0.0578, 0.0872, 0.0086, -0.0193, 0.8055, 0.6132, -0.4126, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4456 left_y=-0.1342 left_z=0.0057 left_yaw=-0.3984 left_pitch=-0.2433 left_roll=0.0368 left_gripper=0.0086 right_x=0.2922 right_y=0.0016 right_z=0.1744 right_yaw=0.0032 right_pitch=-0.053 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -9.1145, 5.3265, 1.5165, 0.0952, 0.0366, 0.6325, -0.212, -1.1692, 7.0085, 1.7314, -0.0317, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d3030dd14072ff9df97f360c90dfbe2488c2dab1579867fb235e755ff1fad8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da134f95b0739f020f0d72f71a2cf5dcaa07346f4cb0a74a659cf1f0753faa75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ce87873f1420f9e9e52c7f068756ec74a8dac7fcac3d3dc027ef98cd6d73c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2768, 1.9331, 0.9291, 0.1936, 0.0616, 0.0952, 0.9947, -0.0193, 0.8055, 0.6132, -0.4114, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4459 left_y=-0.1342 left_z=0.006 left_yaw=-0.4045 left_pitch=-0.2405 left_roll=0.04 left_gripper=0.9947 right_x=0.2924 right_y=0.0016 right_z=0.1746 right_yaw=0.0032 right_pitch=-0.0518 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -8.0889, 8.4444, 1.4725, 0.1343, 0.1197, -0.0317, -0.1573, -1.3333, 7.0359, 1.9316, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsql4QGyeluZ2e47RZnoCF8LUHJDkiE_5mbJEDLiAQ2ow47jKxkwhjwnLJr2q5hRsN76aXxCgg8ZoGwOQ_i-4hBWHUlZQt6Q8O7vRj1z3jc3R3QqOpDCsL3ypH9ioKK2YV1OGKQPdjgn7Y6A8CC_MY7gs2b0hYDxdX2OUfI7T6GF22-xDSwRT9idzdWDqPUDtvHUMy8OOq_tS6wHDpsVPlJOdHx_GLXn4BZOJTQNdf1eylYwPrwRjw040JVkN-3bhkq9WKnGPm--3IXp7mwjQAz_Q11oB0g2M0umBQ_VHSXlaYJng2PE1nT7G7HKMrJuYpy_7qHBCCSmRiHrux3003hkORCPs6BrnFZK61SqqPY-OL24GGBl-tEP8y63puHeJ3SU0FUxdhI5mVZqtnHhDNEaGPJQ6m6lTYLED3g8bJzwy07RlrfP1PU9VFOJVCDB4Sal1vwbLPJ_opbAUl58yCqpQQoU-M_FaVAxZRGm5CbX05rD5DBEyEY4vXEgno17f2Wvt5KUR4TrT6ym3TrVDrUk7KaUFJruj29e5p8rL2uJILRCdrg2NG8fZIDGkcFTF6C7cKDy8mLoWz0FUSoqC7qiHnqKcTAl3ebh6IVz9BPxB_E8Qf_5nSCBO83-F19ibiLAfJq2bSya5luKCUn0Gdh8kY4bspLEM9le6J_SzB6KVg0z8bwejd3i-SAPXswELRmGhEYVYBznKOIfuR2m7b8I3BXodUelrCLSaEu3yElivpg1AoonznlWVoeoqbZwshkpRe2WyrLMpYniHyYDf1Dqb4YiBA11ikRNbiRnYZaL7rLZnog1MqJ0VJ026IotjqueGF5Pcab0csQJIK5No662JAY4CcKY9Akom3BOX8g0JCb4pRK7kB0gG4EBIBfEjNBzRIcVLAGV8AsXtgB-zgjqi8Mq4113z4C5YM2Vk5RqWsOYszWzpmD3cmqXK3KsFcgRHELSY4UZvg10F4xvr4IqfcXexZu1KexTmRmI_mS_6-cqtZ-pPHljT59InW5hMQp40WsGA5jPfMCPeVkoZPYYhGZITL9ZszwW-Nfwaz5gvyhdoia0kLn96fobmWKGcMmsw8SVULCwYKfqYMCPt0QBLGp7XEyo5T4rkO2auzUfTdzqAaMCZ96JB3ELm4Po9s0o62IWqrBkyIJ01l9tD1XVcmyBGn9cVNtsWMw4O85nJRb082oaroR5spp5Kya0euhVk1R2cgX9UNK6QMicMg4IGBW5WzEHxM7tWgxXFKe6dm5l_OkMVDakpTxMHrhZJbMjWjTRGtFZWKzC_KEYWc5xnELySF-2ue2UNSPGryV-sC3c=",
  "id": "rs_08408f877836ab2b016ab2a974b24c87d0b71dd6ea256ddfae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.4,\"right_y\":0.14,\"right_z\":0.10,\"right_yaw\":0.65},\"note\":\"The second cap grasp was also empty, so I am lifting the left arm away to locate it again rather than repeating blindly. The right arm will approach the clearly visible pen.\"}",
  "call_id": "call_25uVy7RWTHAaUjOk6BF2X2Ve",
  "id": "fc_08408f877836ab2b016ab2a975e66c87d0a8f94180238419d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_25uVy7RWTHAaUjOk6BF2X2Ve",
  "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]: [0.1822, 1.1076, 0.8593, -0.6186, 0.3222, 0.3889, 0.9958, 0.1623, 1.5433, 0.7383, 0.0731, -0.3492, -0.2535, 0.9991]\nstate[eef_state]: left_x=0.3125 left_y=0.0043 left_z=0.1651 left_yaw=-0.3333 left_pitch=-0.2404 left_roll=0.041 left_gripper=0.9958 right_x=0.3859 right_y=0.1281 right_z=0.0833 right_yaw=0.5921 right_pitch=-0.1276 right_roll=0.0369 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -3.6034, 9.9624, 1.4579, 0.2222, 0.1685, -0.0806, 0.2667, -6.9402, 7.788, 1.746, -0.2808, -0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8737731befbdead16001cfe2487585d9d9054ea75899a3db263f1750aac67d33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:269766ba7bf5d161892e1c1742aa81986636bd1d5abc6a40b80c06a18738379a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dadc3a4c7f4f510a1764a3db8a17a364da02f25b23055f402de46908b017bf7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2783, 1.9331, 0.9302, 0.1898, 0.0578, 0.0872, 0.0086, -0.0193, 0.8055, 0.6132, -0.4126, -0.0208, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.4456 left_y=-0.1342 left_z=0.0057 left_yaw=-0.3984 left_pitch=-0.2433 left_roll=0.0368 left_gripper=0.0086 right_x=0.2922 right_y=0.0016 right_z=0.1744 right_yaw=0.0032 right_pitch=-0.053 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -9.1145, 5.3265, 1.5165, 0.0952, 0.0366, 0.6325, -0.212, -1.1692, 7.0085, 1.7314, -0.0317, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmETqeoQfGG8HRslQMjIWUTt76j6reYwXCdQSV_urycjlUAKRpTS7rOWYF2WKW4IpZNGGFMtJZWpA0j_j9KfTqf3meoU_SMlJeMDjwTjQ4kaY7o87I0IflGlOxf6X6sYm_eljN1uU7yMziLf0AFricH0TBcJR6NUNN_EtkO9-d43fYwZOVzDikbK2fzdl64hyfmUNhq2DTcO2Ti2x_aEPwbD7L9GpciDVtYrSBX9QeE8Y-wLqamSYLAViJqxzGunC9X-Xp_banL_PYfg5sC0yILEGtkW7NutCBUisfch6wCO0CycKRQmsUaWwzy5BkjTZOLpbhPS-nnIrkze-slcdBVr4stZJtaGhFbQYc5wuqCkZB8aCMEhKXdfJT2WrMnKzB5tTYHKo2FAEq_Cm1OVqR6DIKmLIW0mj1RvaPe1KIakTeuhATEfYA5eqtrzaVQOQJ5lXwWeXYC4xmpts_YxAhXFlF338T5zEGTm_H4oHhezgvBW_glD5W_A-7Yik1Gw9qqrl_jrnnC9X2jgQmARvfare3alIUgoukrGR-eVGiqj35c1Wf-I9WwEJaXkhWliWrLgz8n3ThZi__RxFOU4tu2bpSlzZog7L9p1CBI4YreKXzdlBsPushSN72DbLCyaX5LG0YykQeAvjvxGvpJHcDvUQ1CqDeidXD9hn6Staidd2o3KFICCcraKaC8y9ViSdUMr2AfAm41JOA3RbAPdPdhHVF2vVYOIZ24NOYH6fcuaYAe_mpaXUKk4HgRVs8cCMuBi8tyfL_EJZeksbN0bjkBLCtraF6PjgqdUE4mcIA309279k8JgMqldEUFENEXroKG2cYWvL-jssT464Tqr_WaMVJHiYTdSWGS_8DNf50SMb2ykGCegsv-naU3E9b-HYOn2KzDR1z033l-UCQ4h29zNAPPTLWdxmzspSXdP-jd__uIEIpAnXvQcmJq_eJcvHMvGFWoZ9AGeMfJdCguwuafcI-_jBC0U5cnXx88MqlMIfhPbsaDVVUoUGJn85UFT7N4k1kE3QcIBhnBFFz9f-E0D8jThxp2SoS_r4kg5oPcAYjijB1b5uEDh2DAMVkFLFh-Ydg6byyaveXvE5xgjVRY0rikyAd3hYLd38uG7muaajslO8w_EgQD0kHyGN3XUdhQ3tb2D7RcrcRxpYSZJvYA9rdfpdKAkqr8Fh3929VHW72MweMhl7HjrJFvw7itFLwLDbWprK3m8_EWdBBLscdTHzUKAZ_o3mOARk1U5ouV5Bsj3cw_ejYKa-fKmuftCt03-Y5YHG8Chorqm5LokIrAykOBd4cZq3RciQMv26tMk3_mxpmLsumy3GwdyKipUdUx-3n_lf3AR-70H82kvRcXhyc5B1-DxqBlX4bje4n0URICfSxtveRaNtSQfWxkosWCUYyRTb87JBMhX2F0-lTuotpKHo5kJhnWgrIQX4vuzNOKI9gA4ij2Z0Gu525ruo9UrCyWhOhRqC2qD1CNmAWQQPBY3H4yuZGgFOzQNZLK7IJaPiWBYDmZ-n25457a2Povp0ejRfCuGH9VXfgJjxtOac0xdRfFNQjsWj7j0TRdYjYbvflQGFfOm_s1AjNacxc8sYmrJAis0gMuFgZTpn3CvELccxVnHheOMEJaiIyFaihqahKF9asXlPFBn1yy6XBYrLo8bwAifAcIipk1fQu5PGmqtmw3kP5Borw6N32yWP75fl4qpIJb_ilqoHgzGWhKZUatE8QrOQmJCpRR4ghsCaefH5605NGIIcMojioTbgMVmfogoGpZCcHiU-kbUWAUZAijWKN5nWZxulyE3NfZJKYbgUS8HlIyiNrlZ3eVzwANUtjYsCPJfXYCM70jYgP9Lq_Cfq7a7q5QXdeDJPWVcH3grHlDeJzrJ0Ff_QVFUVU=",
  "id": "rs_08408f877836ab2b016ab2a97badc087d0be86e52b4b773904",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.1,\"right_z\":0.012,\"right_yaw\":0.65,\"left_x\":0.45,\"left_y\":-0.045,\"left_z\":0.085,\"left_yaw\":-1.2},\"note\":\"The cap is now exposed farther left on the table. The pen is slightly right of the right jaw centreline, so I am correcting that alignment while returning above the cap.\"}",
  "call_id": "call_hyrmhvbajVT9nan3SmMan4su",
  "id": "fc_08408f877836ab2b016ab2a981a9ac87d0a483f854ce92bbdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hyrmhvbajVT9nan3SmMan4su",
  "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]: [0.1627, 2.043, 1.5085, -0.7788, 0.6823, 1.1347, 0.9963, 0.0406, 1.842, 0.7345, 0.2871, -0.4629, -0.3737, 0.9991]\nstate[eef_state]: left_x=0.4459 left_y=-0.0361 left_z=0.0738 left_yaw=-1.1034 left_pitch=-0.28 left_roll=-0.0104 left_gripper=0.9963 right_x=0.4058 right_y=0.099 right_z=0.0073 right_yaw=0.6318 right_pitch=-0.1629 right_roll=0.0577 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -11.7538, 7.6923, 0.3834, 0.5885, 0.1978, 0.0513, -0.4308, -6.5162, 6.3521, 1.4628, -0.3101, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7e4b18d5cf59f35cb18148f5ab7c8435cfd14acfc2a2f7b7ffef54f109630a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8661944e200425a5d973b532c2d3d22f91b3a2a34537957db88f5fc073f04f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1bc2b37dfbf4c0b6d119eda92c356f1b2ec74cab2550976522d0a54fb3f9547",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1822, 1.1076, 0.8593, -0.6186, 0.3222, 0.3889, 0.9958, 0.1623, 1.5433, 0.7383, 0.0731, -0.3492, -0.2535, 0.9991]\nstate[eef_state]: left_x=0.3125 left_y=0.0043 left_z=0.1651 left_yaw=-0.3333 left_pitch=-0.2404 left_roll=0.041 left_gripper=0.9958 right_x=0.3859 right_y=0.1281 right_z=0.0833 right_yaw=0.5921 right_pitch=-0.1276 right_roll=0.0369 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -3.6034, 9.9624, 1.4579, 0.2222, 0.1685, -0.0806, 0.2667, -6.9402, 7.788, 1.746, -0.2808, -0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmRZudxcTy5wAQU5AnQxLvcEebmQJN1wbz8stKWwsoDtOuuhvfx-XXYCdql-8pjr7OKe9BISlgGmjfUE0F2Hc2leyf9bKGObwoSrOlIXxm8lzj2ix9V6UrYGcxr4mNX5FrCQdNpbBy1viWGBKluZ69XTj09oi1BRbVblVpHmqaEXz-PdmQtxiYk4xPfEmj7QQr7n6J0-Vd1KCsraaB-HBEU32_ijCtbAgA00hZ9Xx1garx29MeuFMwMGJgEFmlY5RznA5wMnxShcLKtggkydr5zZ8P9q0ZSQgXrDn0FGnVabt2PJ0CFRaFl69BVF4eY3cOQIOs6q-EyOcAq-6r8jP5Eg4x7hOBlOn_whdacfchYvUDamq5-3IaOxue11qY0Nu1FnSvecjouwqYcePZYOmi5BlKflGBZ_sv9KIzoFMEWxN-QgZrNuv56L3oNBggtm_C7YFv-VzFOQUq15M12jTlEJzzl6m5QN7ZHp17OedxpNqz6RKTVS5qjQCGZkK_D41MJu-LQEXPJYjRdrBDdqXxG46X2sRv5f3yuY03DkBTdl5psNe9tu_JNv3CB2iVZSLI7hkqSb7KaIAqmXt3OTQq3fjAxbnJPnhjlNysRLs3UE_q9a4v0D-b_mMkPI_EiBRh8BX0_QYp9v-v5DrrkFwmyhC3TO5z8QYe30tJIyD8JZZrd0h0xorHDZmpBpE3B4O_Fp61Vk65XthFfNVs24ANrHc5fnHAPmAfRq1GGpYucI_Wz08P0TKoihJptTppGlXqTPJq_3heoQKnuAmrLM6B0smClK75OlUwp05Ezn3XPPJ9q_mrauw4Fbj8DenKEOd7dp-6igH9tllMaxHRK8NO-ZAZo6uPYpx9xKGUio9lbO_REBIoYDGWpMrbaAoXyDnDTK4SAhTgeoov-_ZD9NNewo_LlRJ1G0NUGQr5Zp1h6tO9qin40lwP1JEZFBEVT0Vy6OD4bxph1VkCoIc6VenbX28AebikHQ-paETNKfInI68MxSfM4pQ-7xgixcZnF6WLT_6iJRG2nuxfAaklN7hz4z1--p11M8p7DmhLlNoVnnh0FrDEuVyLTESHTGHdGh4AukuWjZqao6dh4NuArOjcBo8MiAX2ADrvQWQEYxm8wG3RrzZV92fBDZwhJ2Du32G-_ZShf0YsTQLFAK7biYhDAmfR60AbzQ2tRRuwFRQxt8l2byJtIRQsINUyR0SkgcMRUCbBIc2x-CEW59w6UyWnfuRFr8YE8NDViYCWBmZ6QC81-gI1Usoz8DgyPy9llrMCo3MgS8EX6V5UbiZhlHXh4FrrxorJ4SHq-IpMmbLMZ6jvhVxxtR4zA5O2Gofx2sDWBInoOkmJYsVx6eLpxN_FKV1t3T37zHX91_G8jjnA3hYy-dnLDLQEnsdeCHKttzTVmGEC_1wn28jJF9CT8uFB5QiLcN1Efx1zuC9tVqyT-bQfZgsysfE1catcpve0hbDDlRR9EDVAs8dM__8ct5pE-eLEiwaIkeQe2GRlIaDYfAmcbIqjTsVWnrBwwLzc4fZ03TNuSWzuGtyfhT85j58WOi7_q8dCOJJao2iUcba8JffMYtbDMvjqyB7WPtmgwwNoIZSPDOLXhmFKHdp7v7WRd0r7Us5o4k8PxeidI9zOHBOx5WFwkDZKNiQI3-57COebDmglRqcI57U9xXjrbUA2XhQ==",
  "id": "rs_08408f877836ab2b016ab2a98a18b087d090e9d16e1f5d676f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.423,\"right_y\":0.087,\"right_z\":-0.008,\"left_z\":0.005},\"note\":\"The pen shaft is still a little right of the closing line, so I am making a small final correction. The cap is centred in the left wrist view and I am lowering straight down beside it.\"}",
  "call_id": "call_nBRu7xHUKJgIrK5GTU1ZdKu7",
  "id": "fc_08408f877836ab2b016ab2a98f29cc87d0b3033aa59735e477",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nBRu7xHUKJgIrK5GTU1ZdKu7",
  "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]: [0.1612, 2.1326, 1.3869, -0.6109, 0.6769, 1.1423, 0.9964, 0.0124, 1.9118, 0.7868, 0.337, -0.498, -0.4095, 0.9991]\nstate[eef_state]: left_x=0.437 left_y=-0.0374 left_z=0.0104 left_yaw=-1.1199 left_pitch=-0.2977 left_roll=-0.047 left_gripper=0.9964 right_x=0.4259 right_y=0.0933 right_z=0.0061 right_yaw=0.6472 right_pitch=-0.1209 right_roll=0.0319 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -10.4821, 5.4632, 0.7741, 0.3346, -0.0904, -0.0073, -1.0872, -6.2564, 5.5863, 1.2088, -0.1538, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c235c7e30e0ff64829ea65eab6f14fa1628e935933d2bf8017109e1e3924e8de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d95b11f0e469e2f2d305db9125d7b274932c517aa3dcf3db4ecc518349dcdebe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa2029249eef213dbe4f89b99dd8e076f9c9e2d65bca64c278998fcfe33e23f3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1627, 2.043, 1.5085, -0.7788, 0.6823, 1.1347, 0.9963, 0.0406, 1.842, 0.7345, 0.2871, -0.4629, -0.3737, 0.9991]\nstate[eef_state]: left_x=0.4459 left_y=-0.0361 left_z=0.0738 left_yaw=-1.1034 left_pitch=-0.28 left_roll=-0.0104 left_gripper=0.9963 right_x=0.4058 right_y=0.099 right_z=0.0073 right_yaw=0.6318 right_pitch=-0.1629 right_roll=0.0577 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -11.7538, 7.6923, 0.3834, 0.5885, 0.1978, 0.0513, -0.4308, -6.5162, 6.3521, 1.4628, -0.3101, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmWMlLzqqUpYXLTnVi6fguR65waRje1enzNOUYBgIGbyEjclbkssxzuw5wAM9wIBK5nLPrLXsp3D5OMHNnjv4mIvZEtdVcE2_DEoBd0davnrCkRJXtQl0vtI3UkZ8aTXSsvAiQFlCEngW0M_F1hh5iywsS_2lGjEqDvcr19QZkFSHMk2R34EPwBWXqOSmZblQ-YkD7g3GH_tD33CyKFqxIsvqsR4jBLCXek2ljP8APRfFP4q6Wy0TBZqeEhUEYRqe5-2woAB5amXnsZCooGkripyKhPFiME6M7XiqqDZHRaqgyNnbLH8EIBwEgkOZFT5agaiZ4pl2dFsY0QvARvDY6uaP9z5LenDK6J3iTe5QPzyI_6YBTWo8rGESeDL_RvVDsK1mq5oHOyllaNJewh0iB6uKWZ4dGuFB-Yy32Q_Pyl4X5Lk2jgP5HulUeijNjYSIF47aJcrDS3RIOb6J6BzeLWon_KxJTdhaNSWu9b_dyvodhHpGGgutZkgJDNPHJocMmSwj-gJlKsQaNR-6MUamCe8Fea5SFeCzL9pQsGYCzzHEdtRJuK_FrVlKuYLpOQdFF6Z1PBLL4wj1Y029-DNCXXKF5HYsV0_sREsV5pfOZ25E8rvTC90zFAC6ebbmPS8FgzntlWffbMSg_0xEhJ5SvB8MXMOEmKNNTaPOgOpiMJEYKZVkgzdiJ9L6qw_R-pg6sFmoLk-kLdIM09rOkh9vs5Z0lFgjwZRjRgkn-noZD3eYUkmCOqjg4KSYhKINDuX101juOlHNRLNQzFgmEVbdm2_4vyGjLdNlDENSwcoFTfkyQNVIcy9oiihh0MwcVWhYQ75DPCfh_mlNedWkDaMX_XrjYb4b3kWTLO_kcjtUOx4U_z9N6kI2k0rG1SLn71v0fQ0_9RFV2Lvi3_v_x4Oc_rF9L7tMY8oO2yI-M_tSdRi2qJhDd0U5G-RjwAd_A8gVY470tL2y7k5o5U-EGKhhDYtPiiJ5Ch0J7aWjsZTH0xacZJ6xXaZ-4Tlg_PzCMDQty6m_X5gf5jDax4Pe9JM853rfAY9jPhatZhDhA-1i3zKV2QQ3LNsY_4_3cQzYnPFghEbViuUuRKn5-7-qEolcNBL2rqNdhRkAoHnvCp7nEAe1Mtfjzw3uUSVcjJGPFc5NuISXyw-3KYvo7wm3xZF1fxkk-WCuzbxT5sV1TgTJuE67NBaKPeA_-ez7CxDHIMlZPFObvVoJhgxvnRi42VO-ENqQ==",
  "id": "rs_08408f877836ab2b016ab2a994a44c87d097783a6c24082f9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both pieces are now aligned near their respective closing lines. I am closing both grippers gently at table level to secure them.\"}",
  "call_id": "call_SF6EjklMEFVi0hUgqzJEXk9i",
  "id": "fc_08408f877836ab2b016ab2a995828887d0a8345a66011348cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SF6EjklMEFVi0hUgqzJEXk9i",
  "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]: [0.1646, 2.1414, 1.3785, -0.54, 0.6933, 1.1267, 0.0338, 0.0059, 1.9205, 0.7929, 0.3332, -0.4995, -0.4114, 0.0512]\nstate[eef_state]: left_x=0.4476 left_y=-0.0365 left_z=0.0098 left_yaw=-1.0981 left_pitch=-0.2667 left_roll=-0.0091 left_gripper=0.0338 right_x=0.427 right_y=0.0907 right_z=0.0039 right_yaw=0.6434 right_pitch=-0.1255 right_roll=0.0351 right_gripper=0.0512\nstate[joint_eff]: [-0.0889, -10.2222, 5.5726, 0.6422, 0.1783, 0.105, 0.1148, -0.5538, -6.9812, 5.094, 1.072, -0.0464, 0.0464, 1.5653]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f43d5e3dda5f305373eca51cb8129094a3777dcad58b5ebe7f547b34c300a1c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21390b690ed7789a2754f46625b7bc19aedb7a031454162eea714465c4399aae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9921b117b8313fb7c6a071545abf5b6a54b2a2ba9ac7f2624dfa2462c291489f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.1612, 2.1326, 1.3869, -0.6109, 0.6769, 1.1423, 0.9964, 0.0124, 1.9118, 0.7868, 0.337, -0.498, -0.4095, 0.9991]\nstate[eef_state]: left_x=0.437 left_y=-0.0374 left_z=0.0104 left_yaw=-1.1199 left_pitch=-0.2977 left_roll=-0.047 left_gripper=0.9964 right_x=0.4259 right_y=0.0933 right_z=0.0061 right_yaw=0.6472 right_pitch=-0.1209 right_roll=0.0319 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -10.4821, 5.4632, 0.7741, 0.3346, -0.0904, -0.0073, -1.0872, -6.2564, 5.5863, 1.2088, -0.1538, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmdVovhLDHfn8AgUN5nslpXNOwHR179yUz7ca0j3GDCtqF91MLt7nXVdTjFegbDxxE93cs4UuYuN_HHS4wRdZu7lxHXPn1ju9qjSxkJ6ihRqooK1pdkQzZX6uz34SeFnO_YyJMHRUg6X2rTriuzUNcoFAZPJ-Eswceaf0QfRDf5OIoHctW3ZGJRJps_vZ6NIwxwjwBhZUaiwXHqeZEHiwFRk1sLRwkTmvuHNRo7PYvwwMhstqALwvNkYs1IoVsEUX1igQVU3B6T2sbYlUxhYX526sw_pNphcwS6RhYa17H7u0D9SVhEzso3u0dpZ1FiAMODQlKJ6Zr3o9H-DsvsLRIErKxPW8I4YwiMA9JI6rZbZdhkEO1W7_hmQ5kjfP3EQ4-Bx2TqNFlsL13Hrq3v1zyYc-spWMwOEhUdVX3GTd8T8YGGAdUFUwaFx_d8aJjG6xZvdJx02HB5JrfR0hnY0PsFUuN4y3tjBqWT0wftmQ8RvE5ONAoII4pfBicOVq8YSYRP7nyexSWagaehkCE98q7e-Z7sOBxgG7mSX8l9CLgQpQXouFDpYmUEfpAjRFouh0OrG7DW1EYknLgapruHXIKZRRyCUAon2EVPh5mALgxe3uCHRtNugRF5hOX-OUyzLy8ro66jpt9rpeVTQUoWK_0YvXtZfTgBSlerN4v9zVIJm_Nt5TmVM-ikGHzm_s5oOfQy-yPmgzY8_Bi8Y1NRMWBX0ewMcIfZ6hHitxBGTk1NdrM5Vi12luxuV6GQjduuIZEigU8a9cd65WFQ-Sg5jWCLrdRs_3TZgyMV9PfMfsZX6DP5Lni7dDo8vLb8V_uZeZM2Bg3dgZ7GfH2KH3hV8UlXGtxR6-GGH-OARefeMBrO8WPFkisrgqykGKFZx5LsQkbXnDNdCNVZpc8y8sVYiz6IXNB3Rkr5kUNgNb2s89A244tvm7AiJFiiu2Bk5BjjM5Qke-FLNMW1H4rYVTJiX7agMcbA-x57FQV5NKZXXCokQ_ng1La8uFWgjIjUn66nI0rTflVCdjhB0M1j9z_h907_ESiEBflBHV258qaDWcLctXVf3WL-4nNTIt4nnKHw8FzUGGrCzz1E7U3-V_uyTBqPwW0lDv9HHIpOSp5mElwk8oWwD6-ais1vXBfSo3RGOEWxR19ShtVuNOxUdoa2iEZZLd-vgDj2WwoMD_1wK1PJdFrXMQa7aeWIMh9SQxoobINGbq54_n6OGGij6dBvBB3Gx8G_N6ARYots7WCtU4B6x0c=",
  "id": "rs_08408f877836ab2b016ab2a99ac69c87d0bf441fbeb8e89f79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"right_z\":0.08},\"note\":\"The right jaws have stopped on the pen; the left reading is borderline for a very thin cap. I am lifting both a few centimetres to verify that each piece comes off the table.\"}",
  "call_id": "call_dt71faSDCwkg4HFE9qSSMIG2",
  "id": "fc_08408f877836ab2b016ab2a99b5f1487d0b159830c58ba53ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dt71faSDCwkg4HFE9qSSMIG2",
  "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]: [0.1631, 2.0888, 1.4746, -0.7338, 0.6811, 1.124, 0.0334, 0.0067, 1.7458, 0.8783, 0.0746, -0.4988, -0.4164, 0.0604]\nstate[eef_state]: left_x=0.443 left_y=-0.0362 left_z=0.0472 left_yaw=-1.1064 left_pitch=-0.2916 left_roll=-0.0519 left_gripper=0.0334 right_x=0.4277 right_y=0.0909 right_z=0.0636 right_yaw=0.6461 right_pitch=-0.1245 right_roll=0.0299 right_gripper=0.0604\nstate[joint_eff]: [-0.0615, -14.2017, 8.4171, 0.6276, 0.4225, -0.0122, -0.0611, -0.4171, -9.9214, 7.665, 1.4335, -0.2662, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd381be0ae83da408e6d0c4148f6481c7992589a13f378380c16d829d689653",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28361e675c55248aa53e6e88c4ac699b8059de54bf3a26f7d92690b8e6fda94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6583cf73e04968219f460555be88cabfc75fa31a5e06d3628398e018c7853e4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 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]: [0.1646, 2.1414, 1.3785, -0.54, 0.6933, 1.1267, 0.0338, 0.0059, 1.9205, 0.7929, 0.3332, -0.4995, -0.4114, 0.0512]\nstate[eef_state]: left_x=0.4476 left_y=-0.0365 left_z=0.0098 left_yaw=-1.0981 left_pitch=-0.2667 left_roll=-0.0091 left_gripper=0.0338 right_x=0.427 right_y=0.0907 right_z=0.0039 right_yaw=0.6434 right_pitch=-0.1255 right_roll=0.0351 right_gripper=0.0512\nstate[joint_eff]: [-0.0889, -10.2222, 5.5726, 0.6422, 0.1783, 0.105, 0.1148, -0.5538, -6.9812, 5.094, 1.072, -0.0464, 0.0464, 1.5653]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmlFyUk-WRWOliATxej9FUqZQETGFxBtS9U4PTLAnMP-IuKRhsxVJrqeyRLTXrG_6hfyIt3sOb8qq0yL0bzEfnzbMeyiVsnfA_KdjnIt4gR4gsEA7b8nwsy8iUdMw8hFSKF45e1N5n3jniT53qVQ72AEVE45x8nOYJSZL7WgN1xTIFD3my-ubBgQBGdESl7iOMPZXe4ta5N6N7OeRZ6-Vg4jgkaPtTpYajQIuG7v-pWEPrDVgxHU-0JV9PwAkP3uAveosEGLIHX0qMd0vufyckmLGe07b02UACn3Zd4FkO5wp8Z6xFCfgjxgO4AX9eOy1F4bfyQASSdSRj6V-XoyKQbZcqPCe2rIP9-hxy9gdZyr6vIkgJJMGV6vL6wet9e9dh6XuIO3MOujLIXxxNoanTLxubyrTGDYK-uEYlO2Df08Xb5jyfBdkNkGfScmuaFQYD0Y6laQRIc4AofCYOch307qTj02ez7vkaI2QxEnknbrmvKyL6GHJpiGQ7uKeb5rRCw_N9zH6UbOLDmVabzjpNGqI3sWswiqlV_iYOHMScxE0l2la7WxuD7b1tH87wjnN0TY_cN3tCsGYVqyNC1HF2gixB8MlnpMXz5lCINsULrAMPFMFFZgzTMk040gf6dfmGCH6ky12kxeipVgN4ws5n_Uf0oFN7j2Y1x6EUaVoEC2MlQMg5RxNAbrNxBrV08ktwEnAqpHj-hACU8iGQYwuhSScxySNBmBdWpue4ej5kFw5g1xcYOCohE9vMHmlQrge2u0Zfge8OCNWCJQq3wV9swO3w8Q6Z5mJGm1mIeCNMxhNIuC0tc7madhuMeeigr6_VXqX3eSVMp9FkHv5ubqV3DC5n_OrWh8-2cOeYag6hoYUEkNAm66T0yCGwdjBWvlzfyyWqitZml9eqqdA99bhLN-BwaSYQMzAeIGhEk-c7tmA3dj4lfJjDe4m3kC5ZrGAuVaX16wwshWU7Orzy71Rcx8e7C7GQ3ICXj4f7iasAVRDMKodcIsSD0dkQ0L02jsCBzu0tOIgXd6EzLIpwC-dWEpHyYSMRjBvwKLHwPrVxb2pKGNb1JkfnLiJEdIU8p9atI1a5LdEw-g-YEasWUG9SU5My8WrIkhaISSClSvgUVLmaGJlmUYfdcTKi37r76PBrwK7DAZyZkOw62II4RBEj9OOhX6DCt1GP5G2uOMU-rwdLoTQxAeMRMbri5lgIkG0D7GFgDssS2jUVT4AboRiihbcHnOssmNOf92dkNar1jE7-RLdrcLDzspcPrxYPb-m1iImKJnpnyqRP5wJPWBl8wmfofN4Z4SDJCNUmH_3pdiS4AA2KPnzkQSmEb-EI02_nhU-oAGYRSvsWKCixVlsug7wyUi2DVQQlkI0WTGyd9Ue_UmTvQlHzsyCHV9KbJ6p6VE79YRQSqNtEKnl4PMvNaAR9FVuuuxvz1nwQQgOdHfoPixgkK0BenTAXQeshERRiFQlXyYy5SXW_F4M4_O8jpLQ==",
  "id": "rs_08408f877836ab2b016ab2a9a16ab887d08c04f8aad15a945b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.07,\"left_z\":0.17,\"right_x\":0.4,\"right_y\":0.24,\"right_z\":0.17,\"right_yaw\":1.5},\"note\":\"The pen has risen with the right gripper. I am moving it toward the centre at a safe height and clearing the left pickup area to check whether the cap was actually lifted.\"}",
  "call_id": "call_Iq4s0g0b2m3TkaNNyMJS6PZl",
  "id": "fc_08408f877836ab2b016ab2a9a3698487d0ad64db51ca70221c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Iq4s0g0b2m3TkaNNyMJS6PZl",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.102, 1.7279, 1.422, -1.0092, 0.6582, 1.0523, 0.0333, 0.2363, 1.977, 1.6844, -0.8368, -0.7986, -1.01, 0.0604]\nstate[eef_state]: left_x=0.3747 left_y=-0.0667 left_z=0.1533 left_yaw=-1.1099 left_pitch=-0.3038 left_roll=-0.0605 left_gripper=0.0333 right_x=0.4155 right_y=0.2339 right_z=0.1666 right_yaw=1.4228 right_pitch=-0.131 right_roll=-0.0156 right_gripper=0.0604\nstate[joint_eff]: [-0.4581, -9.8256, 7.8564, 0.8571, 0.3736, -0.0904, -0.022, 0.3214, -9.9214, 7.3094, 0.5495, -0.7448, -0.1343, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bc77f1d08ab6e2261da226ecf5c7eaadcd9c68a1e897491da87ed276d15897f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3089f20af1e81f80810cee8f639723a3ecf6f5d30f9b12f8f98df51c16bf5e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6feaad469af075ce9228afa9435b0d38f064ef1c9e2d28394d2209c712f1941a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 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]: [0.1631, 2.0888, 1.4746, -0.7338, 0.6811, 1.124, 0.0334, 0.0067, 1.7458, 0.8783, 0.0746, -0.4988, -0.4164, 0.0604]\nstate[eef_state]: left_x=0.443 left_y=-0.0362 left_z=0.0472 left_yaw=-1.1064 left_pitch=-0.2916 left_roll=-0.0519 left_gripper=0.0334 right_x=0.4277 right_y=0.0909 right_z=0.0636 right_yaw=0.6461 right_pitch=-0.1245 right_roll=0.0299 right_gripper=0.0604\nstate[joint_eff]: [-0.0615, -14.2017, 8.4171, 0.6276, 0.4225, -0.0122, -0.0611, -0.4171, -9.9214, 7.665, 1.4335, -0.2662, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmy_KV8s6WYB8sXLcmO82pUsogNHZw5J1Pu0rqk-x2dAtoV_3adm8Kx-QJGWOVf_JMmz4gPutP2PEaqDYl06IZMfMvq8vybb-zI0FBpggAf_CpYKxMezE0EatW33VIavbulFSKmfUpXpc4PYJZkdkESj-Y7lTiDHZbWcHWpscyjqrBUG6T-xE8bqmrhA6p0Zx60LUWrWlfVsiHNFCnNn6WjZiyzENRPdJfP5VANg5qmpacrHaFfjh351ROhDT2euPf_DSA5ulLtfitTqpV3ZMsZj6tQ51VKfAzzPVwDa1-Xmru8K8-E6UVTcAjFTLszVYM_C-HxwkF8vnsnujMd-5zPRZQPg3iFZtLkVpqH1RBZkZQL7ZMP2J083poDpAEkiuM3dkm6IwseIFTcOiLCGuA9NDdfBEspigmqRgYqfBBlHbxDPzQGT8gXBO45-sams9Joz5RV45UphfU8TLcI9GbuZ4LxMrIkWlmBwH_IbZcKOHdlxBPcU9wg2q2fYe98sJqyQo84J1Y652dTWZipmS46p-5QLYAoBuK-FoIwU1whs4WqwGjp9CXSDQNS-pEBZphAx_Y5zJk0wFyhV_7f9myh9oe-eyQsGTEASfAeaOE-g3k-EAtw6Y6SDnDRx_sCv7woUq_-uAoBIRAU4pGo_s2WR1JOhdg60drebgi62w48d7wly-18MeLL9b3Aj7coG60dBI4t5p74Pjo4zdQ552KH2zZVC4mXrRZLB4ogG3OV3t6eTmd385R5vBg7O_7hgFLKHZ8M-rbXqcSH6_z3PQVYjrxwVxE98JXD5qHtfJ6fraAFiFmjF6N-Fw8Dy8_dkZ-bsVj8YCekXE0smbfPT7wDXQxHDc-w2aIfhqy1P37gGKEjRE94vssvZwLxn3WnVr9DH7uDFDhzmTJ7Qsqw-zXum5bA5THMzwBP1zA2uxw-luo17a_c9XKLy9zizAK6merGZZtSA4_Wx4GseXYODNuCVGdme5AJHnYyk-_jG6-6IaT1q-hceagyUPCaWpcI_xcUEBkPi9wJAUKo0n5ct07N0Gl5ELk5gybgqb6eav634vn5FEjZ8OIvH9wzF6sz0Ahjne_g1EzQwu_XvukG4Q4Epc4ct9byWR3E8K1kNMt5K0nU_H1HoUxOv8-LJKW6vJjbIxedmhelWCzzXaIVWaYYNMQcJjORoxu14osVGssnibMvRPwcPOWd8_sitn7VTvoUA40RL2o3CDiIg7xCG-1gLTAXNIoQIQog7ozYLATIRrsMfcnDJFT6uL0E6_1BUbeqYY1glF1_vU7O2ZW76lh_IXyv8sOCgk_DlYDEHMGdoEszgSzUMcGIdv3yaDw9btPsr6yoUNoyohiGb-c-J5vZ6ElTeZ4cmizmK1OMtpNfc4Uf4_wSM0XxxKRmswleBiTLsRMGTtYCv5LYt-ZheKDUNPd6bYHMC3Yqtmmkaf77YOkCedtXUAJOsxH8r7TnhlL2aVhweA4NVPlS8XwB6PMl2N7dEDrAK-rxb0iIZ1dPYnzP87KvOchgGXAoT0kNV1OkHUaQrKtX-UbC4DHwsPR66-mTgZ8N6jrLzLyOwWIIWQ10bjtK5J6SVS6Oy8FF6VoUU3VMQpiz0UQmelIUcNT9cBjdtAmANLy_4Ir12vD4Oxz8AOnunyGOUsYhJoaQgswmbJyJ8Sjbxu3kZEoTYrjF8xhMuSDoASPAXg2S1j7AGo_s5IaTyeTz8OTuwoHgQtnuUSxAKUVwQuiyyZGKWBsby_BWUEC66VVK8ZzkedOWJWqsLDsRS_3LNOkWgXzU1MDknVLA_DnNmDYJk1wPDb_dRzpoQkJDOiL116f5R5tlaGhjmhy-QSUPC_OUvU23rdiQr92Ueu9SGmzMo26IJeh8SipoSFQMOOjyRPcIbCzhqM1pL4WHw01GN5Mz7fC7_33j2dnTK9ED4cOtTUGgGbxGrQpwk7NhNuTLjUQKDvdf1Z0=",
  "id": "rs_08408f877836ab2b016ab2a9a9d55887d0a88879d292a648c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.423,\"left_y\":-0.05,\"left_z\":0.025,\"left_gripper\":1,\"left_pitch\":0},\"note\":\"The cap is still on the table, just behind the previous grasp point. I am returning with open jaws about two centimetres closer to the base to grasp its body rather than its narrow end.\"}",
  "call_id": "call_gliyVtpZjhdneCrYfKmwqQxE",
  "id": "fc_08408f877836ab2b016ab2a9af8d9887d0a37ab025f8f06555",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gliyVtpZjhdneCrYfKmwqQxE",
  "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]: [0.2169, 2.0708, 1.1908, -0.4461, 0.9062, 1.0847, 0.9953, 0.2417, 1.99, 1.6802, -0.8539, -0.7895, -1.0245, 0.0604]\nstate[eef_state]: left_x=0.4121 left_y=-0.0479 left_z=0.0195 left_yaw=-1.0909 left_pitch=-0.0769 left_roll=-0.1219 left_gripper=0.9953 right_x=0.4119 right_y=0.2344 right_z=0.1572 right_yaw=1.4361 right_pitch=-0.1515 right_roll=0.0022 right_gripper=0.0604\nstate[joint_eff]: [0.5538, -10.4, 4.8752, 0.9109, 0.7888, 0.1245, -0.1538, -0.8, -11.8496, 6.653, 1.0769, -0.4762, 0.105, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb78747205f74983f105cff5a68122afe02140315b0b9dc6b4f8c8c8e356e5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cefecb7d587493960cd116f7cb2b9398f277ba5a8de8b60ab89d9d3ce3cbfa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ab1fb22812d0bde45b8f6073cbe2f91f46379e81df54f770875b4ffd98215c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 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]: [0.102, 1.7279, 1.422, -1.0092, 0.6582, 1.0523, 0.0333, 0.2363, 1.977, 1.6844, -0.8368, -0.7986, -1.01, 0.0604]\nstate[eef_state]: left_x=0.3747 left_y=-0.0667 left_z=0.1533 left_yaw=-1.1099 left_pitch=-0.3038 left_roll=-0.0605 left_gripper=0.0333 right_x=0.4155 right_y=0.2339 right_z=0.1666 right_yaw=1.4228 right_pitch=-0.131 right_roll=-0.0156 right_gripper=0.0604\nstate[joint_eff]: [-0.4581, -9.8256, 7.8564, 0.8571, 0.3736, -0.0904, -0.022, 0.3214, -9.9214, 7.3094, 0.5495, -0.7448, -0.1343, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqm_vllDx8B1xfF-bVHK1C--Ef3o8V1gPn6Gp8ZmYwLa6ykvRbLY-asbjnb5kFb9TX_AD6v-DCXpYUf1PtT4WEK68YbBQIdwUCGCATyE85pMy21t5EPQkK3aD4I-2zQu1B53hJFgYg020aBXNMfG98KnONkmJY3m73yvD1oHlrvyeYbIW2GhN-ld9X52Z2aCVkS2rBhDt1M4EnFfgB8n_FPTUWamQrXDPxkgHVMxAkkcqliE4ned0I5m1bnERGGET070W2CF1HnFXi0TKfxeLYkh8Vjg1FAcLrcaCMX-tvx54cAPLNGmZrZjqMIRWpk9kq6jZsrr7GAPKP75gEXt2xj4ynMW5C9tGMRibUC5eFsDRD10cCk8Bh1Q0BHx00GblZzE0wvNQutbu2Ukl1cdrwt-QiVGKdRM0uR3voVjHihqL4Ghyk8tVzluKO1ARleXH5aT4OemPxlmY97pP3rIZFIAIDd3udN509xGlDwUsVMfjoFM0LcIM_U_iAMaMst7BCTt_F3Nehx5tEeS1g8t97cn5yCDfn0NR5P2HryDj_S8a_oB3H4-Qij4NDS1XgpvtW6ZLpk8jZWuIl2sCUhLV3R7rw5gcUe13OmPe3fq65rwhq-7LOMu7fv1fnoth-0gkgVX1H13pQjgMU4L35bbNbM2rCMHdS0V5ZXmDEP8AgEWrQT1v1oohYsa3wDlFJWp2q0Zj9HPVV10wYxT32lXtjH-oW_VdX0dAer7yb0EDmHF2lQFT52VyQEh7RWXmOllK7E9Y1MTyFEFF4JMX_K4hAWjbqx0nP2y-h500l6XIW7d_uebAkEPcM_HwP0aWsm7BOVnxeaPDFqrdVs-OLXhZST73OHHq9-CYCFsZFx-A3abwG50jvkIdMasqpxWu3R6VcJYiBqmgg4tTfhMsAgMUlvSk0MZypPvjLdt3TkH6yD1euWCQF73_XkoH8qQJ_HrxEAq8Z069m05LWnAZzIvH41o8_0e6F5whHW2dpHGvmZQbbJzti-tpuWOeCmS0D9lvPtjND_BwxbbQQ1ECaRzsEjqqLfutuabHfp13hyZ6e4qfzNYAI6Hl66AViXM2dc1UI6_0I_iP3TkInvJSSM4tIbAkBcQzU9lM3wcIdO6e5irRRnRlbFWpLpHqgqgZxl6YAljqE4CyicKEwAGd99kxW-qPGnMMKD37RVEdR5jVenRUj9nUOsC3Z7wzPYjPp-wPDmzsSE9nnekSOyMjP8EJNfcdmc6-2XgboOtMJe6d6egZyyWzHrQzRPkpUCc136_ZyjD8woQqPyb3ETj5ndbthrI_3Rh5uKviS9m-ZLRmLgDbCRqDxFy2F-loq8imeymsqrkna0lZh6OfUQR5qOwDJ3fHghzRwM8YtwNYevlju72ydQpd1ugrLkeI7EXpOKzHnNG1yqnZZREjX11Sfwv_cpsO_RxDwFJaUqMgVqcWh5BVEV0mYiQydMkg0Kh7Qfw7NYyOatp6L8WPQGG0UdIqtGGuFfmAGGqrNP86r4-LXmZPDaqGEbrUk3uuQdvuqRsDRr4FdrFrQ1OqzBGsU8w-r8f2rP_XLVswdMCXlgVbo3fHe-RSAWh36_DdZRN5EHesz4Qhu6LRU5DAXROzKIn4JH3csRZpfSEUCU0tWEI_XQwvsMQG_dguR3CWJ6nb8qEI5Fc1P3llQ6e_A8W13OGSkLO6OL7ak-Nb6R4AMyXwh4ArSonB0AxfQp4J_WyjvB_0aYJmPNn_n1Y7m9mbDxBnsJBr_ldBeO3vzqdKRWsxiY0TW9lV6w8zNzWSoXzASmN10JddD2oIK0RJv8wn9MBJ4DBccYtH255Bh17lGqPNtUeGr8=",
  "id": "rs_08408f877836ab2b016ab2a9b82ae487d08b8f81b12ff5c428",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.442,\"left_y\":-0.025,\"left_z\":-0.006},\"note\":\"The cap body is clearly visible to the left of the jaw centreline. I am shifting sideways across it and lowering the last centimetre before closing.\"}",
  "call_id": "call_7M4uJEZGuZIGqrXn241hifaA",
  "id": "fc_08408f877836ab2b016ab2a9bd68dc87d09ae28607f0433758",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7M4uJEZGuZIGqrXn241hifaA",
  "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]: [0.2436, 2.1986, 1.3247, -0.4568, 0.9508, 1.1252, 0.9963, 0.2417, 1.99, 1.6779, -0.8581, -0.7856, -1.0256, 0.0604]\nstate[eef_state]: left_x=0.4407 left_y=-0.0349 left_z=0.0087 left_yaw=-1.0974 left_pitch=-0.0337 left_roll=-0.104 left_gripper=0.9963 right_x=0.411 right_y=0.2337 right_z=0.1556 right_yaw=1.436 right_pitch=-0.1571 right_roll=0.0061 right_gripper=0.0604\nstate[joint_eff]: [0.6359, -8.9641, 5.6821, 0.3541, 0.0024, -0.0415, 0.0855, -0.3487, -10.8239, 6.5299, 1.0232, -0.442, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f427ee72aa016ba28868f9baee0ff75335e833ba0747ddc9db610501671de6fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cdeb73b0f891a2a8c8fd24e0b83c4b63c6c09a9c7ec7bda78c35a2dc21a8cd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b175a7ecd6516f7efdc0b51409e2131c114199fe7845f641269caec5a5bc6d8b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 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]: [0.2169, 2.0708, 1.1908, -0.4461, 0.9062, 1.0847, 0.9953, 0.2417, 1.99, 1.6802, -0.8539, -0.7895, -1.0245, 0.0604]\nstate[eef_state]: left_x=0.4121 left_y=-0.0479 left_z=0.0195 left_yaw=-1.0909 left_pitch=-0.0769 left_roll=-0.1219 left_gripper=0.9953 right_x=0.4119 right_y=0.2344 right_z=0.1572 right_yaw=1.4361 right_pitch=-0.1515 right_roll=0.0022 right_gripper=0.0604\nstate[joint_eff]: [0.5538, -10.4, 4.8752, 0.9109, 0.7888, 0.1245, -0.1538, -0.8, -11.8496, 6.653, 1.0769, -0.4762, 0.105, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnEoR6pbnErTv4S3wMM4hRa39lIhoQIN5RnLnVwQYLagY5Jff0t3JaRz8nGaHxbStwQ-TtX7qByTFQjPWHkONpq4x9T6e-Mb2rm2-MuchA0fECpO6pkcxvBa7JawWnl82SDJdZXo1M9OiARt3ZPqkwCGi5ijsA_bre6ATDAWF9qm4Ltmxj9t9R4djbZpC7GAVpFJrUwlsTuRsMJw2AqqgCCkip5QLT-Fy6uKPRDiJXURS9RuVGr6q-LpZAqilt_efSVYRHE9eI9yTpTrhr1E0f6pXEA2j1ci5eJEeM0h3eioZ9Ic_DwudkpeD5fx5fA7VjBj0WjL6GU4VhC97XzAnzrOxxfEj3Kc-7S_N_4NVYQ4q4hQxBTFUQ6T2bHWfx6rJH42dp73ae3ifEfgBmf4NHwouM1UdoZI8yeIOOyw0Pe2Sx8zGAgP5Mx2YvR2ZZp5PaFGb6IW3aEDYLeAZJ5sC9swNJZE1AL6nlSxzJWLVva9i-JlbcLXeiE5yzISdqG0of6Lsb1b5Gi9Xx6rXZKHYJHkoB6BV5NjTKgZYhFofZkgDgx5QTeDo11sm13eaj7M3G5ctAoCjd8VBxyvQ2C8C_fBggKArdSn1m2vsRtQQfBHVTafRm8U4-W56hUUJMrr4qYHS_Ef43h_oKdcz7iwrdHk779QHcaCX8beKH30SXn8QAEdYfa_ljRx-VWU1fI872eCMi-kUCm2OTnhRYTHMOl6wAElYcNkTmvjAn6yiY_xydMZCmClQt_pZBbdsT3QT77hmhBi98-WOZIaON1xRXi_B5PV-xJqpvrZBP6EK-ng2OBhnY0-nV7ZpRYm44Fjqx4_vqoZHR3rl8jON0sZxyA_C0zsnSr8QKS4f0I1HkNSSPtC6xtDuPnFaH11leTTlREXXRnyko2PZVIR5ApigHh4yAU-_ayiZebhMPQpa0oEpVCB5kAx2fO5KCc1G42L4TahlOr2iudEM48MSzufN7S3nS0y83K65NDx52WxzqOSux6BjjZ-Uqmq9hg8CJRXu3KoBHc2X-VW-7auQgM2RQznkcIPDnk93Uz2hfXZvZothv4FBLMckr7o67coA2Mjuv7A5IvywJZOxYT3XUXFyNqinAqlFpohUsLd1SJ6hRAZBMp8WL9v-2nQHo6cHZMrJw9QxBESFaVmZvMuwRsd_GbVX18lolVU9wMDldk6njk_NSvnAC9YoVKeHxqtGcIrhXLAXq4_TNBlD4bp6teFxkAlYTPDsIjP8DEncm_fC1uL9k=",
  "id": "rs_08408f877836ab2b016ab2a9c263cc87d093ee587b6ff726dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.449,\"left_y\":-0.022,\"left_gripper\":0},\"note\":\"The cap is now almost centred between the jaws. I am making a small lateral correction while closing around its thicker body.\"}",
  "call_id": "call_X7GMZNkE8hpJV7nax0zijWie",
  "id": "fc_08408f877836ab2b016ab2a9c339d487d0b698ae9341ddec0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X7GMZNkE8hpJV7nax0zijWie",
  "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]: [0.252, 2.2177, 1.3388, -0.4599, 0.9504, 1.1244, 0.0482, 0.242, 1.99, 1.6768, -0.8577, -0.7853, -1.026, 0.0604]\nstate[eef_state]: left_x=0.4429 left_y=-0.0307 left_z=0.0043 left_yaw=-1.0888 left_pitch=-0.036 left_roll=-0.1124 left_gripper=0.0482 right_x=0.4108 right_y=0.2338 right_z=0.1553 right_yaw=1.4365 right_pitch=-0.1577 right_roll=0.0064 right_gripper=0.0604\nstate[joint_eff]: [-0.7726, -12.3966, 4.506, 0.652, 0.442, 0.1392, 1.3407, -0.2667, -10.6051, 6.4752, 0.9255, -0.442, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:008dce180f444b63c188cb43f69094b7046535a59f0833ae78f5c261a8f2d953",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99e80475642de33f1acf1ebcde7991b558dab0460a1cb2b63195cdd7fce4920a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c002bb15b0313d15c7c716fac06d054b28c7fdb921c9327a88de79fcaa1fe05",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2436, 2.1986, 1.3247, -0.4568, 0.9508, 1.1252, 0.9963, 0.2417, 1.99, 1.6779, -0.8581, -0.7856, -1.0256, 0.0604]\nstate[eef_state]: left_x=0.4407 left_y=-0.0349 left_z=0.0087 left_yaw=-1.0974 left_pitch=-0.0337 left_roll=-0.104 left_gripper=0.9963 right_x=0.411 right_y=0.2337 right_z=0.1556 right_yaw=1.436 right_pitch=-0.1571 right_roll=0.0061 right_gripper=0.0604\nstate[joint_eff]: [0.6359, -8.9641, 5.6821, 0.3541, 0.0024, -0.0415, 0.0855, -0.3487, -10.8239, 6.5299, 1.0232, -0.442, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnMZWTY-YZEVkooK9simJ2X5KnYZUcpu0Y2-dLsTu_Dp7r0QK6m5MKuPmUwvLo6SYaL-74MTRTbDUXZdFIdXzsg37khmGS42uMFXe8203nXkG8cd8sUdvTOls88O1xLsn_GVASVYw4ZRJxgBeNVYgD_cma9n7ybul40VwyygB4fnEl3fBh6ZUdpfktlSbjrhLnAkeS70ktgyhxNXw5_rKjpD6LszB0ZCAIwVePDH2RyAfbYamrPeehZI20uWtDLRAaKCgwNlP-ii4lVvVt55ZLUkK32zmM1zzwSgm9dydPZ7EyRZb65YkZ1vrXIFTl2ULOqfgoTdFQSDbimtinW79QvPwdyysuRaGa_gCDSL1vFyBm2jWksjN0BKnS6XS7P1Sf8GVVftGbO_VM5FnHuBD0QEfGpB76eQCmbIJ1rhXSxE198uUB4z2QG5BoA0pzrrSHADk9h7w2rU2xPAE8qAOWmojN_zdbF4G6Ky8RKO5rna-5lDqi5SpapMXWzX8GQ30zrPuWYnSsoBQu2sx-DaXv_CkywBHdBRN6DuZaMCd3cIo3YOBhk87OH6qUBcyl-Vr5PJ7-WXrBrNcFtRTdyjVi-vOp7t_QgT8--32GqQbbRfsbUO-o5B5rldNmDs8u59vAR9ThXs8Y3fF4ceqpFlj3_PvJiKybcO5VxKthB1NXC3uArHO3JnVUgh5jQRCUCjM1YRn-n19uZ6pcCExDw4YI1NXrma_sJv5l3vMEKByqP4O4zlicsZL-zFUbno7dTzaEV15e26H6qGJFPo7UPz9IvMapf8rbDfTyNsfAAFnHkFg_gNi4QQHf7qiThumiF7_bX3Mmljs3uSN37ERaIG_CPUDhcEljRvmfAcbNFGtBM3SoClDxCER4ZlCAZOX8VLc6T6MqfkT0ZnHNK-WRfjr_0731MNKT0Pybrhprip-xrVSr2KhjmEXkW8yf_S2GL4XViahTY1iLDo4ByE789SOyYTNVAM7yGAvsqPu137CQ1LjXTB8VyILLxOIrfCe0aDsSxv9_M84xXDk9WHceViGxza0dCuH-1PGkl0LIUSA3oxF5DNq5RlfIizTDbshIEsS09oyqz0nytAFePLia_DigEvbEXSE4lRpC3nNyHZ8XT4jvsc2lN6n5acWMZ5dgc9Hp86u5GOBjGv-C4AIy-OkjheB4aU-uCyWrYQkpNofynCLyOt5kRbNFFUeOaDuLX0WtNFv1CgddV_HSr0vqV0xO9A2lAMa_eOugBOZ0LP39c1rkv9ssJg1J49Io0K1deA0waPzuII2uqgwmr_cPCn5HxbA==",
  "id": "rs_08408f877836ab2b016ab2a9c9eacc87d098a74693effe6ce0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The left jaws have stopped at a small but nonempty opening around the cap. I am lifting it to confirm the pickup before bringing the parts together.\"}",
  "call_id": "call_UHKmqlnqz28h1hwkrqtbdvFn",
  "id": "fc_08408f877836ab2b016ab2a9cb222487d088efa38e22501b76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UHKmqlnqz28h1hwkrqtbdvFn",
  "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]: [0.2523, 2.1014, 1.4384, -0.6903, 0.9394, 1.1236, 0.0553, 0.242, 1.99, 1.6768, -0.8574, -0.7826, -1.026, 0.0654]\nstate[eef_state]: left_x=0.4425 left_y=-0.0295 left_z=0.0661 left_yaw=-1.0861 left_pitch=-0.0498 left_roll=-0.1246 left_gripper=0.0553 right_x=0.4111 right_y=0.2335 right_z=0.155 right_yaw=1.4352 right_pitch=-0.1599 right_roll=0.0051 right_gripper=0.0654\nstate[joint_eff]: [-0.3761, -13.0256, 7.5829, 0.6569, 0.4957, -0.0171, 1.0379, -0.2256, -10.7966, 6.3111, 0.9011, -0.4811, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:286101d194772221875c5f66f849b545f5604ef0f7ff9304d5520440827e986d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01466afd5e5a30cb5960ab9d5d83d9237bcf94d7fb00a1f0776c86b43710fc1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4d61a338383ff742ff79cbb67f4c83b729f55d0311247dc363b1ff6140ecde",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.252, 2.2177, 1.3388, -0.4599, 0.9504, 1.1244, 0.0482, 0.242, 1.99, 1.6768, -0.8577, -0.7853, -1.026, 0.0604]\nstate[eef_state]: left_x=0.4429 left_y=-0.0307 left_z=0.0043 left_yaw=-1.0888 left_pitch=-0.036 left_roll=-0.1124 left_gripper=0.0482 right_x=0.4108 right_y=0.2338 right_z=0.1553 right_yaw=1.4365 right_pitch=-0.1577 right_roll=0.0064 right_gripper=0.0604\nstate[joint_eff]: [-0.7726, -12.3966, 4.506, 0.652, 0.442, 0.1392, 1.3407, -0.2667, -10.6051, 6.4752, 0.9255, -0.442, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnkx1Y7erpdS_J5bwtCdl0TTOLTZHPvA7pq_B-zQeJYSoDFa7ITBGdUqbTWYzYKii97ZwW_4u07X9g71dthswWyN3kqyLOCyJG_XXdzfaA9VMFOpswTJ7QBaMbCfm1jW4wi3VfvU43RleYSDPTEFosjx-fGrgWd3ayluWBo0vz_reyYhcJY-xeFGmp1Rmgt8rdB_hRTIyVgYT-V57-3h4UAW9WudtxancpxImKC_3bzkVG1vE6AnEB4BxqFXrZaNfS0ryh6ZUKdo_vATT7Ex-j76OgouGn6jA-SmfrPpBvp97TwpwezkKBU8pRuxU260AZlPGBZtRSJt1njdTl_aobUxBbX3fxQmVv7e2PUfh8-aU8ND_GMQYJnXKqEpY5EbDM5xXlr40WsOz7QRWF0v9ICGfMlZrcgVMcQcszGdd68cFWTWmcg0ywKxd2Taq5lTJM8c9LX4GvZlCpw3QgSi70mFhCo1Rf49wde1MtkDppynTBzYs5sRuR01o_kNGiXRfn92CiIQiLl9VNjSTAwgfzIhiiRJA1rotOwSyKFiDOYvk2RPJ3R81GEmaQT8shhzL19-54npdEjiUd_KDK0Ce3exxqtvX0ZIPT7_4UFjW6a4k39dVg3dAncJT22uyQM2YUrI4j4daTxS3wRZGDtmE7h5fqXqvvEd-wpIhl_G-n_tJm2hSJZPIwCz-KE1oPOi8jkXujFf3pWhccBmrLwQYYI-1j270aeUGA95Fi_z0TeE6seK7pYTHyNeFyj5fEEA4lEhJHboYBZEobFEBz8yqpjBuAiULfBSsh3gAkeHWRjqJQFbm7RgVM5YESRGcFileNzfrBvc998k6Jp6110nrVO-I8-JTGAoO6Q3goPNmAvZ4fFspHlJc8ZgL0plqV8-dmFOGjwDlmxaPO0pAQ2hS1xRs082A1_FvT3_je9y6QuZenosI6tod174KdcJRNXzbxdbXGv-MY9pSI_zlM5UjDdOqj_M0gIlujlRhy70Nliw_ELSOQkZcbKhj1WlIZSQDV3an7wv2_EGy-dIrg4J7y9PbFSSi2eUXbUrpwz3vTS3ApHJ9Dyhg4tZIpUroqD6YOPlnvUU8As2-NFf-6LnI5bO83veFaK8EYkmCOfNVTPVBoSsUV3lF0HSjuRCuya-bAcHJme5cEmcz9n0y6d503yKRudNHmqP-RHhUoDPnb4ULnjngzDQ7_KWpDiPaV3PQNXX8qF7PSuiGmB2htYo_JSw3glO3OqQjZcminKw9Nq2g1KAdYXhLB6L27z1n5iul_PmcWbASxOjYPKK9BnUFxc7hw1koFu331DGMReZoIKYN78K5X9HnD8hDDPTADT3FpIfi3uxil77PayG4dA6L72ez7CIzLAE-CPHHuB1aThjCYt4qJNQjCe7XO7zOPqLHOJNjO7H82LtoRY8sra082TqaYKxRpEfW-oaKmEqAxjiDUgGRzC1Qwue8gJ2LQziSz0taM-2MmV3g5gv8eqcSE9SNJx07p_QRL8eQxfn0tGejScMBy1kmHkEe9lxnZOuDJtHH11v97_X5NwIURdYNYMCJjJR-W5WM5oZOBlO1M_tfuZNIzwG2LGBbolCyk_sko4p7O-u9H2-1OXdbEEgDXqyjUxCr2__dD3P5LzoKDbAcxOKi67b88vwY1CjP_fTnS5AOA-xwx9zCi41FnvdGp38e_FlNPOsjvkU6bGrW9iB8H5-WN9myinOUIRmCtXsb98j6A9fZ2WjgbTDPf6UxoFkZS1G7WXLTm_kHq79urxQgPlBUGPxSFS5TwatgA1jf5Eid9X_DJjKdaYZsHaZ9pWfNj39aJkdPPzW0fc0KBpW-ctOfu1l-kkLssgHdxvwVRoy6fsWINYvKM53vbCxNXvTaflwcsX5vNkUkw7lHQFymJEHWnauruzcc9vlAcRZUW8NksuxSLV70rRUTNwhTGo5VqgmadlyAQMMvRQHfYQL153Ia3XY5jo7G763e16-7NWAab_dl7s6YYeeJYj2C1Xm_paQbaKLYv00x8xY22zLJpSdPshx7TqlTcrBXadVQny5NFhX4qzKZfbsGKHtbCVRooRJZMFat-HxDj6cgo8ia_l9e6jLF2zLg9_yBQ_eVAJ7XYyfh_snRVpP66uXsyOk11fNOw21NHQI9eyQ9A9u3olht_vReLX3DS5cJnxPKEurdcwkNn9E9K8qS2pNBeXN8xbE8RcW86dFalNVv9HUtVWNfLbBBdiGyV-rZNloz-gVT9BpYKyYzmV_kstLm1czrxc48BfDG1eBktQVrFFbxbZ9Ro6iG5yLNWoQQfpFA0qXEFOj2tpHq_sphQ4Voift-ejh-LgrXXiy9KPZGzNdApyLk6Wi14feWHHa9OhZGKxtbnzd7rCRBJUd4hsX_614fQliMHdHoq4XZF2RL8MBZInlxG49bNlHz5itvkIN-5oeEOWFMvKGSsmIOpo7BfFxAdOHaIA8MLRZ4mY5A59Rkyb2wMCk768f8XVGfOxoovo20RF7gcuJkeyYuk54mcfY4XVKMRPqmDS1FGsEhN5oe_7Uh1nIozDDg9iMM2IBDRrtLCyZqYnMfhr3HnTOO3C186D1oeYWeq60b0R7J9UPXsoeh9OkUn0N9WFBp2qf__qzHEXUjA1AuivPqc_jAIovflxHRhaAPsYLjibqs1zlVtY-BgZ6cyKSHKzXMrIDvJywX6rgb5Y89e0WTFRiikjmACBQ5FXILlwVQM13c7UAf62ES48ncvE7UAwbM7OKrZchj03COmUXHFAid3SP8BIUKuWa7Y8PCDQIDTj8ACGhMBFazDnBPJd309GyaQ2ODaXlRBTfOYIeE-6dF2zDEOZKdx3Gc4dr4CfSg5nKTfjrT6RrjLywt7xvkFDnHi1njgLRceVIu9guo_MhRhswAwFqApeBMHYH9h4WqIVAscOAqIa28-OrgsrsN-yNBWqiqJgDe3f-HBhH_N-TyAPfmgU9Uxzz5v1X6VPpWfLjNxnOqQrU6ifbpoWIUvua7UxaFgulx0g1DHGacKWwOX8vjATpYIcpXvAoWAWcrsak6CGupTLxD2J_MrX6zmjvmECHtahgJwhMxP-CokySeTEgE2xNSytTji-mj2ZWG-LkC7nXRX3wJgPpHnlBCGvXMJN7oCNjL3Jqv-79OUw-SYYLvi6DcJz6hq8XFem0s8U6hM2waLVY3MPOWcDK_bXm5nZzj9KCEf5OFNa7Y4X_fJv_jUv5MMQTWg5pL4BHbJBxy0nBVW0fY_aCE22wN6QRCO-yCDD0kLJRltePKYw-QMw8r6YZnXnwnoLHhSb3NKHf6wVi71BDMQNZftv8YWdUU4nYCJHlECwwlgLX4i8uEWuWX80emOeHnEx9gkb2m22MDvFThg_udGnMiStKmWK3xR2HoSROEA5KecpjZ3Z3i6EzhCRbkeVWeUv_J6E-bfM9V-cA9V-H06CzKBFNmfupaFdz10k8FHZCq8ygsChdl0zv_iF_OsJKcSWKKG8gP8CjuIP5g7PB19tjPHJQ0Oe4S74O3007qaW688-2IU6elIFumtDn-xmkwKrRsaFmZsF3TnjMiQA8UIFUhSWN1rf2A8zuZx6osQ67cbkDGfOezHfD2WHd1_0J5TbFodQBICvG0gEmkayshGOfQe6hyNCgrJJhYT6Sjm5DEZ272s_kWlaRLslvNB8X4WN6mxdWYfRuSAGT09BEiKpp55t9zEFyzmuFzAej6FNhro48hOvl1y40g0-vNhUpZkLbZBJG4vYTt1c2ZJgFIFkwI2RQHUBrEd3cjtjHlBGFXyvC4v5JQH6GG6dr9T9NtYhMYrmu165TklomhfUcHx5NoOxd3bXmFVinca_p_gRpCj-avinDl7f5jc0Uez7tfCMP7-f-9l6FBWpRp-fxUdTpiLqTafEBFq8u6PIsvW1bU2N3p-saOOYmzaLwOzn0cci4I_zgGWc7zWv-Qn82-qfxlYMbsdnCtFaiCcYCtdU8VcUZEB798NRaX33LJTpMcGsmcLmD9BUs7Q8Ht9bl9f-zOA1iorSK00cBUU2Pi5A6s3h4dWy8xkiJOz8CA==",
  "id": "rs_08408f877836ab2b016ab2a9d04a7087d0a64109d0df7d647f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.19,\"left_z\":0.19,\"left_yaw\":0,\"right_x\":0.38,\"right_y\":0.12,\"right_z\":0.19,\"right_yaw\":0},\"note\":\"Both pieces are now lifted. I am separating them at a safe height and turning them so I can align the cap opening with the pen’s exposed end.\"}",
  "call_id": "call_QeyFHfbjpCE0rhIt0fNZx5Ag",
  "id": "fc_08408f877836ab2b016ab2a9e20afc87d08d726ac8bf300922",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QeyFHfbjpCE0rhIt0fNZx5Ag",
  "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]: [-0.5957, 1.5146, 1.0721, -0.2283, -0.2958, -0.4099, 0.0615, 0.4278, 1.4105, 1.047, -0.4259, 0.2043, 0.1829, 0.0696]\nstate[eef_state]: left_x=0.3948 left_y=-0.2011 left_z=0.1764 left_yaw=-0.1472 left_pitch=-0.0724 left_roll=-0.125 left_gripper=0.0615 right_x=0.3768 right_y=0.1364 right_z=0.1692 right_yaw=0.15 right_pitch=-0.217 right_roll=-0.0122 right_gripper=0.0696\nstate[joint_eff]: [-0.1846, -6.2291, 9.2923, 1.4921, -0.2613, -0.0464, 1.033, 0.3624, -8.0752, 8.9778, 1.5946, 0.3346, 0.2222, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0e9e2ec6375b103149ef9f325c516b86fcbb9a5fffe7ca9a08292e9a3fb083",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca98d85c3eafc32c8717df8811d52ebfd117f7fb77a73815963cb23cc6bb04d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c10d01387cb507f677db79ebe4d1c4f411802b6c2738d9575e83fa57c24437",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.2523, 2.1014, 1.4384, -0.6903, 0.9394, 1.1236, 0.0553, 0.242, 1.99, 1.6768, -0.8574, -0.7826, -1.026, 0.0654]\nstate[eef_state]: left_x=0.4425 left_y=-0.0295 left_z=0.0661 left_yaw=-1.0861 left_pitch=-0.0498 left_roll=-0.1246 left_gripper=0.0553 right_x=0.4111 right_y=0.2335 right_z=0.155 right_yaw=1.4352 right_pitch=-0.1599 right_roll=0.0051 right_gripper=0.0654\nstate[joint_eff]: [-0.3761, -13.0256, 7.5829, 0.6569, 0.4957, -0.0171, 1.0379, -0.2256, -10.7966, 6.3111, 0.9011, -0.4811, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnsldJbKZSacs_HpQTKsXY2GpAqDV0YdpeuXVbEdyoBGzl2eGZ4cV1vs3E-2nwuDs8aPN4ZUHogjUBN4N4a8x5WhR9Rv-k86UbGlvqHdnwJuthOjSXi1yKNuK1d8yOfWq6JGuDm_4IJMQiCCBoOK_Q9KSLhcGzTBgO_nEn-OfQjyGwmZR1eAtj-9Ul5Z_CRhtqSRWRdQTEMHLbGoo_dH4mNfm68Mc0PK5ovgmqOZ94Q7RKhJvOiMbZo6VMIkz3gygilUfB_8MxP8U-zIo_UZekqy4mszYdVjoqAoYLjeQDPzsrR3vNvMeagRd1wouvXrh0ya1n014IGfodfWlN-hjxLphtxbwIGsCgo4AO9xf5F69wAM9PlMc_07dNR0Ep0IOYA1S0rKkpmWXvhHUwZPypR2yWaRZWqVPJ5TOLCdIOQI6nCVAphVczWr1ftkx1Dk-R_-Vj24Gt6P_cq4RIFxbH9Z3tEvhoNzMaPOJuMutV3MKERjkW9Nni8OpecbcPQX7Om1CDutzXjQqvRHJTiDNXaBt-ifmQidwabR6cE6FCtW-aRggKVa7cTKy_QR37pAtGiHJNWu4J2Ebq9PH2mO4fDrFUaNeu4QbF7e4KIjh6JAnuzYo4piBGV-WL9tuIrUPakwKOxvAzxBV5-jtHoJPHLi7E3T-UD4k_EpW_ORicCOrna8qbq_otv5CtOB7ZCZqqJVsIIQkh2QPTbLPoeecfN8fDVX-vdDurvhnVUxEp2SZvetaOdG7K3f4nwHz8Kx4TjShY4oMgI794G8Xh2Csm5D1FLEtGmLVv1L8tPmhJagJEIh9i-5MNfbqPFWHSqEbDqp6eBSFBU0ENoG8v8PKbUPmRWvdNWJ6iu4kYNVh4WPaRP1EL9cV1A0eKLWDc2f2BDZ4kcG4RYomPTcwOUKoGfHwTopldp6q69UV60OazMjy0bQLMA0KJhhKae8Cgpwq1I6iqmJEy1cV4H2MXV4ejofF52i0ckWcAZ2IZZkcuEbecu4UiyPVExeTTijQV6J5gZ8QQ2VsIGW-7-ZOcz3LYS3Y_l7Aze7xOsMzZVTdW8pCV5tjiAXCIUKXxsSXaS24Os0I_I4Y7zspQzqMUdlM5RWYqvoQWx4qcCJtLn6of-CqU9ANO3GXJp9WNaydVjYlperdnlkijnhUYG6JkrzUvNMlDpYKjp0L5GuUe2AI_fABsWZrBNsCUWLEaqJUyR5E6VMV58yo_j-61YTbJHAW9ngGywQJplFjiR2B8QpXlKww1hNUAFqgGNiCTKI88Jqc-A_n_EzItFRJ_SJwMaZhj99dw5egHhZaNP8L7vo6NIUOz9DHredijjd595wYYWjM53BH7OSwbCLpJ12ZRVNfg9VxHgPNP7kEJnS92Afgv843Oq_KDuIrMtyXKNaXUBu0egZJTBHWLelG6XJHG9Da471TG4jWscscX7m1evnAV4EJjDzZqXP0x2xva3GPHEnUOW7NHslGpYvhVdAemZmV2WErX942_1SaONXQuEGOTfSAnYOt1JegSvT-5YYB4hkpQUsgrbcyBFSGbJ6t0RiXvdokNI-555oI9B_SFAhazlk88gORMKg3ui4N9ULGyGoAFhHXqKp6w5RJvdON1DGunjGQ==",
  "id": "rs_08408f877836ab2b016ab2a9e7a32887d09092ef246cf82fe4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.12,\"right_z\":0.005,\"right_yaw\":0,\"right_pitch\":0,\"left_yaw\":1.5},\"note\":\"The pen is held close to its tip, leaving too little clearance for the cap and the other gripper. I am setting it down briefly so I can regrasp farther back, while turning the cap to face the pen.\"}",
  "call_id": "call_pYidnED6umUDlZ1NUwUX67Io",
  "id": "fc_08408f877836ab2b016ab2a9ea526487d0b620dee1a49a0ac5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pYidnED6umUDlZ1NUwUX67Io",
  "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]: [-0.4995, 2.2978, 2.0224, -1.5021, -0.8719, -2.0201, 0.0646, 0.5903, 1.663, 0.313, 0.6312, 0.4713, 0.3103, 0.0696]\nstate[eef_state]: left_x=0.426 left_y=-0.0743 left_z=0.1208 left_yaw=1.3194 left_pitch=-0.1166 left_roll=-0.1211 left_gripper=0.0646 right_x=0.315 right_y=0.1188 right_z=-0.0007 right_yaw=0.0289 right_pitch=-0.0762 right_roll=-0.0532 right_gripper=0.0696\nstate[joint_eff]: [0.0068, -12.4786, 6.8444, -0.2857, -0.525, -0.0904, 1.033, 0.3487, -4.1641, 2.5504, 0.862, -0.0024, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7206b68a4f56515015bf9fea6cc5f37b34951fb0f8b46bd777e7ee31550a33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4eeebe08e016a157e0f1ce74642ec93145cab513ebe590ba5cc60ce757c2409",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d66975b0604e96efdc79814137a01bb4f1f7ad5b82e31797a803b147acf2c25",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5957, 1.5146, 1.0721, -0.2283, -0.2958, -0.4099, 0.0615, 0.4278, 1.4105, 1.047, -0.4259, 0.2043, 0.1829, 0.0696]\nstate[eef_state]: left_x=0.3948 left_y=-0.2011 left_z=0.1764 left_yaw=-0.1472 left_pitch=-0.0724 left_roll=-0.125 left_gripper=0.0615 right_x=0.3768 right_y=0.1364 right_z=0.1692 right_yaw=0.15 right_pitch=-0.217 right_roll=-0.0122 right_gripper=0.0696\nstate[joint_eff]: [-0.1846, -6.2291, 9.2923, 1.4921, -0.2613, -0.0464, 1.033, 0.3624, -8.0752, 8.9778, 1.5946, 0.3346, 0.2222, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqn0kFC8Ey6q4-5STVzCpTiM419KlkTVaswyUNUAWEO7i9aQQYJGy7hJGoU30on38_c45L06e5-uegA84S3SnsbNQtJudx189TV3YL3S5XNRuWLpVBXFe2X9FIiOdxsbaDd91uHQMPch6aKARFVC1CehJhxbcaeWXRtqNG_AW35iADQz3bukkusdazKmLjE_wbmHeyRf4AAz3CxuBQmlMHbd1r0-opaBuoGEqsfc5R1sfjizIGFBhbTlJ2jmPGj1czycveVd21PVGkkIC-K3P6fyHItV8mZ7ZGKlOasrFiqziXpP9uOvNElAEeJ9YmbcB4pm-my1LRWJNooL1j6uZi2sIz9NvjlvYGGA2VesZDO3uZPWFj_JqG45xLHeASlBT5FmA4Z7XL2acSeWlitZA6mLdVnIka30Q3fwk4acOuWRHypqxdErOasoRH8tzjK--ecIJ3VQCUcW-D3W49vPXWVNxzNpCwnErS2-b56mTAiGiPzQsECwM7EFFQr_U8O7bMpFKmre7SrMaEeL0HXzKCmMwxwKvZHPUz8-54YQhps4wt89MH_FyABYFDhvu40dLDkENBK2tIbqIK9Me0IZHtP42rzdNxnD7o2ftOts_Ht2Fr3a5YoFFj_2E6V_pKwoiC30vD7wvlbOV5OZ4MNeJd4HT3DTRhFmZP2djw5gzMl1qZW_2tB4c30w8kN_-YAeWjYLT67JuXDsS0HXC8hBeMQKQZuU7Zj6sH-HYpT4B_McBAKORGTKelThBIz8GGvm98772WsEQx4--7oW2IRPZviitjSR1ovnC9pRtFhpQ0tXV3WQ2KH8S_RjEo1SMpBNmiKVt4z-6qBYghCMbILr3TzfaSar-VF_fuU4LNBL5lLBU6ogfZA4HQeLvha3e-_k27fNFdSTDRLQJoTdhMAqLzqd2CgFoy2ctW0b7K-IdX88PUIHylFc3tnptHMI_BIvvZsruzn85VwZ41xzAtPSjIoHpk2bmTTUfj7x-PojSfM33WYG7Tv3Il7WyxDhw0zcqETbzZxHYWYSSAEQ9lPdS-uKNfBN3quXzzs37YPij08iGDM_ekCaXMlNNgu79QLYgCtR2BIGAAPnZs_gMXtOkzPnliVTKJyF9uu1ECJnUddJiD_PWBJhjQKyEU84aSVWUEF6PIxHnvSTh5Qpis5JbdI0di7AP9OyHFNeXo-dSd04FHnyjreIfMykroWUD7tL1eKmjCS3wTIpssEjfRJ37YkQS5i_BrSfqug9xc-_d3z2NNsr0kcCjoPye_D8pNTIonOG7MeKTllW_qnQAy25W2hMYY65oWleXtQWTaJ60yi3vo-dfOSIgwtHQUi4weL_MxRqMNHXzrlZsiCtqD3vySD80oKc0Ap4xIFQB55zBQKBRBfMH52nA1t7-8TnOU2DSVu5wjw12L2NRMx5b_LY2pfvRwLHxBwkBxt0tBY7ymAIa25_L4qGUuQFKeD9vmo_Sgsav8nSOq_aSfRZTg7yFwcGUA==",
  "id": "rs_08408f877836ab2b016ab2a9f0c0f487d096060ee96f34947d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.35,\"left_y\":-0.24,\"left_z\":0.2,\"left_yaw\":1.2},\"note\":\"The pen is resting on the table, so I am releasing it for the new grasp. The left arm did not hold its position during the large turn; I am moving it to a less extended pose before attempting alignment.\"}",
  "call_id": "call_PcW8ugNRH52pn9PUkK7dfEvS",
  "id": "fc_08408f877836ab2b016ab2a9f27fb087d0b66420cf3026eb58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PcW8ugNRH52pn9PUkK7dfEvS",
  "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]: [-0.7284, 2.2204, 1.9575, -1.56, -0.8368, -2.0933, 0.0646, 0.5907, 1.6718, 0.3077, 0.6582, 0.4698, 0.3065, 0.9963]\nstate[eef_state]: left_x=0.3767 left_y=-0.1555 left_z=0.1343 left_yaw=1.145 left_pitch=-0.1417 left_roll=-0.1243 left_gripper=0.0646 right_x=0.3157 right_y=0.1198 right_z=-0.0003 right_yaw=0.033 right_pitch=-0.0658 right_roll=-0.0486 right_gripper=0.9963\nstate[joint_eff]: [2.1265, -12.6564, 4.8615, -0.2613, -0.6227, -0.022, 1.033, -0.1299, -6.147, 4.4239, 1.243, 0.1685, -0.0024, -0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612958a2a977a31a9d38f0c941ade7bbad30c5c232e1d727ad8b453771d433c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83480ce9a4784c72c99dac59d8a749ce7aa3f506862ebf9a5890803d0a65c133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92cea3b3939afe2c23be76853031d5ef6a6ed88e57b210f29a944f91c1040ee8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4995, 2.2978, 2.0224, -1.5021, -0.8719, -2.0201, 0.0646, 0.5903, 1.663, 0.313, 0.6312, 0.4713, 0.3103, 0.0696]\nstate[eef_state]: left_x=0.426 left_y=-0.0743 left_z=0.1208 left_yaw=1.3194 left_pitch=-0.1166 left_roll=-0.1211 left_gripper=0.0646 right_x=0.315 right_y=0.1188 right_z=-0.0007 right_yaw=0.0289 right_pitch=-0.0762 right_roll=-0.0532 right_gripper=0.0696\nstate[joint_eff]: [0.0068, -12.4786, 6.8444, -0.2857, -0.525, -0.0904, 1.033, 0.3487, -4.1641, 2.5504, 0.862, -0.0024, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqoHa5meIsmjToMuy6alce4MfZxJYw-sOl8-Jx1QalXaYQ8a0E7q90hhtYTMGfML0yBAs8BFb0-EY79PM62tgkaSyAXvMsg88U0hga9ouGiGNHkrtu_0cir3jDnNi50o-r147Wm152vE5y-odiz22mr8DpOmvuAGBd7Qbr9VWAIcW7diFU0hF98XmzQiG5HUV2trEpN5wPjMcKxuw8wxTntIHpxryVE-xdq-mCywYPlJf03BG5Gs1NMY7HCAsiT18NJ988-iG_FQAmk7mvp6YQ7Rg2vvSQetP2QdSkzbWT04bWb2bUTKJugkG65JcuTvNAupjSHEpaNcMcFKKsH-dDr3dka4LH6i6Jp1O1c0YBmDa6_ZY_bn9aJ-h9jIAT8fda1x3CyssCFhFWMJbkhmkmQCxjLcGw02QzoAnNNopUZNXIyQGwHzB6aQdQu5UG51mtkNd8eVXsdZWXARfg1jX8vXKbqpCIML0FUdfPX12h6AlWtl-IR88oGatno5RJ64OCozZB8HNc6X_6N3IxzR0ltiasS9ZlO2flWVX5jXuJV3ecpasxnGIn05LLkqAWsgUqvUecEf1EHo-anOkY-t4eCO2zKvU1P73oTwM-jwHEnSyW-OpItsk31LDPvUWrlijoGSVc4jVH7fJ9J9WHtH-6RCL0NmBV6dwkUzOvGY9tLzij7mmMupKPbfqTzvGEJvUWLn_fv6IkutoPIar1T7mx_p4XAa8OSxr3x6V7w9ApNqSjsU7BkjoHda_ZJjV0jh4lMEF7LE6rL3d3cWq81xjbTKBQEOyPO5rixTpoCvRRpPHdrtGf7Ypet3vgjTs5-gGdDYGpNuJbLWgkmAmVXfCcnToFQup73_Y8bgRl3CLKjdmVXZzGj3UZbuSiRehFTfuusu2R4eRe5W17BUgKssqS4vXNm4IUQ6OCt3adjNMhqRAh-T_0eb8E0m7twKeZCDWXvjk3SYLOwECH05pOgLWwNGsdADD6IMs5Sh10CZ9J32MRG-qBLbA5Zxls6WwUkcRGqwRZKvG-9C3KIY2H8V5L0fFcmmmnn-ISAc5iLETSKBmMLbzeoMsd7tBDBiA5uSHMDPoC2-BQ0CEsfais2KL25UvOauDgrpMPSGH1YosLINX7_Bbo-SYIh-RlB0yMaXDz1b_Xa5jQ9cIrTfOCGiV-efBT4qV7zq3RQfHk4U-LQsBsSzoRbKO2ldWTVnaJBUVA2eEIS2X9zSKC5aBF4ryAcmzfNvHAt-PSqOxXO_ODdwcZng9ienP_oGxNeAO-MnPXJY5f1HhI6qDbTHFcV87YAcVOdZsX4MsJmRz6Tvq-ws7Eb_HrNrqZofbJtkHtFaePAzWYutJ6hdkW81FgdWq8xrneiuoJoV55kkYublFM8j-6bsUcuLkabl9EPXRK7ZMHb_G8AxfpZRgcLqkqu4jX8hOQyZoiUO0p4sKP6baZTYSWozmIMnKW2-grZ1KW8RlcousiSis8fmawfLSPeQs0QvPhw1qSd_RRj-_oufvEpUV2OoR_-YhA0xdV903g-dVxpVaMP4HBVCEOazPaWbKQIiZJzWseYw76OFgk4W9gpTG1sxeJ3kKzI6hZol1a4GL1P6JtX2HsuMSSqBywtHoxPcSWr6_4Wi1fDYdsX2bhIdY3srHHu1hpgdI6ut9QjdXCk2HWoVPdljcMQkf1owXmdwowjMfrlfYWRb_MjMJzAdll2um-hHvBVXMI63rGY4QocuFddyaN7rACKRG5ZWsGLLSJ6W7q6OtqJ4o_IMeD2h6lkrLAB3TzDf_HAjQj2uy1sT4fd-CZQ6rS3BqgvDUWcqVozfhz_edcCThFBFeKQYks2dq2zuZ_-gJIdy2Tq0ibzEvIFm0a0ETXcL7CGM08XkccMNYRsN14E24RIWNMHfSo6zqWmLDDj7BtMyqi1G7kUS238U-E9LONBbeuKPbwGXHmtq4lzEXJR2gmEXgS-V-CayQiZmOJhrWljvSjmCjscmD-fjXxn-oZ4dmpX7J1kQADwYX1Ju5pabZEOdT-zJiaJldetLjsEnrmay_QDja8chZZxhSs_UsJxM_Zl7WlSYUDyyPJCesXm--vK3CSGRVy_E0UFpJOgRW7AyXi6okgP4tyLuchfTPcKwoQNnU2oqLZuUJTvj3Ib5t11vjRfnxA-nLmTsFEZq1vTxd6WHuW9cPCs0Bsx_O8beOZP1D_2bnkPMDZQM5xl0U1ymyr4rhkX9txEQ1UWZVWbUI1PJxBtHy9GR2Kgk5to3r4A6GXKhTacufIbO8LGzlg9koI1_48WcMkbSbmQAAMu2q8VRwoRi5ENSxSMuqOxeAEOBNIzaS9QNPUQZhKoiY4Vrgcs9kOaF_o_TByvu6HQuhijHQ9bFrJ9mTZTmafu3VnSQ2jnYttKyI3t9tSsXfNON_JIbzboWma5vnHolowsYpFqWMPWKUeA9axmNAkxigBSKycbywJVeOlk_MK0sCpDwjdFkcGLy5FazVQ1T1YA69Kd0ZfNFxaOhw_R9pyus8tLula_P1sFD4I2fc-dJcL4jAwTbuvPfkjrhCf-NjpqxHQt4-mqHZJ9WnyFYC7v09kQuF4zQoCMnBJHo3FTd2yXjBsSiGC8wTdGN8phXCtqe7DTdzfkRQM0A_VIUQqGSakNFIxTX0VGqe_OeKR_fWnC5OCn-v2dIsT_ivosRHHPUxbeJdEcyw2OouCQ4msXtumpXiQRbpWJ4F4d2MHx5Q3SCrADaI83wKxznaTllrggOp_OuWfgY2w7PgkEr0DM2i6A39BINzJDYkxrQkMxPskirTuvNgY0LePyjErFNStVFQ3V3_-srC6uDnwkWaBnGkaOnp-HrODevyMi67RgLJrWNVUdIsd87U580bMXyrc0TkrRc7MbTFWJsjtahUW8Gb982eTpaMU8mRGI-L_KX5jt-jxCjUirSzyxa7wxrK0ZUDHm69WUJEMLkmLXK6pWFcWRRpNIpQN1lrSb7DjheU0MU2XhU1ZccD54TK4NWGhuMNKPTpaNiJntO5w_mVMGqvKzQaG2yhw==",
  "id": "rs_08408f877836ab2b016ab2a9f8620087d0a90032c13d908abb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.12,\"right_z\":0.016,\"left_x\":0.34,\"left_y\":-0.18,\"left_z\":0.19,\"left_yaw\":0.7},\"note\":\"I am sliding the open right gripper toward the back of the pen to leave the tip exposed. I am also reducing the cap’s turn because the left wrist is not tracking the larger rotation safely.\"}",
  "call_id": "call_MgDqJIx0RaIx3X6OPzVcJSdC",
  "id": "fc_08408f877836ab2b016ab2aa04d6c487d0978c16998bd1682b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MgDqJIx0RaIx3X6OPzVcJSdC",
  "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]: [-0.8391, 1.8622, 1.6234, -1.2907, -0.8379, -1.7123, 0.0681, 0.4438, 1.7859, 0.5594, 0.5621, 0.3569, 0.2115, 0.9976]\nstate[eef_state]: left_x=0.338 left_y=-0.1745 left_z=0.1773 left_yaw=0.7807 left_pitch=-0.1683 left_roll=-0.1284 left_gripper=0.0681 right_x=0.3872 right_y=0.1198 right_z=0.0145 right_yaw=0.0289 right_pitch=-0.0648 right_roll=-0.0434 right_gripper=0.9976\nstate[joint_eff]: [-0.4444, -10.6872, 5.8872, 0.6129, -0.7106, 0.315, 1.0281, -0.6769, -6.3658, 5.8598, 1.6142, 0.0611, -0.0611, 0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac2e5816144fe6d2cf64c51f9c23608d0ec6537462ed6efdccd725fb92c9060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0b77b28fa1ec5d1dec19e4d25c0239c4149c0befe4613f4cbfaff3dd33622b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1114fac46dcbbda24271eebc88ef26b5f601ee111806f2781c3f6396e88583ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7284, 2.2204, 1.9575, -1.56, -0.8368, -2.0933, 0.0646, 0.5907, 1.6718, 0.3077, 0.6582, 0.4698, 0.3065, 0.9963]\nstate[eef_state]: left_x=0.3767 left_y=-0.1555 left_z=0.1343 left_yaw=1.145 left_pitch=-0.1417 left_roll=-0.1243 left_gripper=0.0646 right_x=0.3157 right_y=0.1198 right_z=-0.0003 right_yaw=0.033 right_pitch=-0.0658 right_roll=-0.0486 right_gripper=0.9963\nstate[joint_eff]: [2.1265, -12.6564, 4.8615, -0.2613, -0.6227, -0.022, 1.033, -0.1299, -6.147, 4.4239, 1.243, 0.1685, -0.0024, -0.0317]\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": "gAAAAABqsqoOy0WRx2YbxkxRuCfCUokHL7P8BKHNtDMkhmIP3TsJNVL4ai3n5OaATv-TL-cPie5Oq13CjVYrh_a3h-g8MvACf9JeCtQ9Ds_taQC2UXkL0V_TNmI8_BmTMf6Exm-lHElSaFvUBOp7FW_bglzxgraR0V-aAEytsWRss2y8wZJj5J9fOEEnG6AzaRhlqTHh7CzOIrROJqM707x4owrBUtz3xaWLkZcw4oSpDzfB4IEHwUV0KhtOgYmFEHqesb5BLp3qEr0OD2Lq1F-ca2xKtEUDkJh7B_Z532_sLneo0jk_5yKCF71h32HE74opi6aXECyPYRP8UlN_Pj_viNIAHHHZG8wPLc53ttMUmdENK5bhmd3Si2L44RQWJYzeKAQc0r4qPLK6L8fffy8QcOwJqpPkfgw_bfceS2y0iH2XcsFLrY5ton8LggJuCJm4Fz-GuejZSldvrmHjSNmuIv5MKjpTQIiQTZmuS7jjW_oVYy65aVZs3pVezEcBOC0L24keXaOBQay39aK5Ni06-obSk7qkwy22pdSc7wjm34DH7kemAWFqXGC3ZxXUxND3IDdi-ck2tO91BB1CVTWWWD3Dqk1UoXmeG0xOgq8w7JICiXx-zU5V6vYLLcIABENLrTrIBUwiDVxdkmTDXc3ciMnqoYyyb3knxeRrsLGRZjCHoPXGVmzdXJbX6BzS1Z8nM_BNnLic0aoAauaFsVs74GfkwIEDe8KJ5hINvA0bqMPwtG4WkfnzTTrfWTdzHXQmyK0bYhdMQ4ey8K9cdo1cEOS7F_3J0a-h5gl8S9Av9JAEUOCOmxLkVuUobjC4-qUktXEFr4rQVbbsyrV7qU2zX32JJ1dWzJA3huUS-2AdVWRCehEVqyikqNiNqFC8IFsiVCmzJnqxszp81sBvYTq25dzIJQSIb68QlE2oNxIEeh5AW38FTGLB0fcS1uvajAZwpzmX6xCMdBADFIA9rGwda8Re4qznJ220p89or4DmZl-4OA6NZRBxZtzb_aRu7UCVUtPTJGoQehW_q62FeOvPdJVVwuAaBQNSUoLo3wJDOB1K-8FooKzm_9d4rmq5PCkzFaR0zHp5aA2AlUtKzZmJ4RFZlkSJWwSBXsz5oKQiR8A7QXljozGxy_kumWiRVUUVHDuPZN64HqxoFKjfla-Ttn4ZpD5zNVjz11gOdyk-PBlJcbhjV11IuDf3GT2_1vmqXlf_ndkMLwIK9H3Bov3z-YnExbKHkIRn9IYUfU-_6JI3M1wZNseQFNbyZxTail5Bj0ly0NtPvAWh6N0kzto8xbdflRfK8g==",
  "id": "rs_08408f877836ab2b016ab2aa0b55d887d0a205b2fee65fa94f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.006,\"right_gripper\":0},\"note\":\"The back portion of the pen is between the right fingertips. I am closing here so the writing end will project well clear of the gripper for capping.\"}",
  "call_id": "call_oKjSge3wyTJjFjknvWh3CTe0",
  "id": "fc_08408f877836ab2b016ab2aa0cef0487d0a09d3837ec5a3206",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oKjSge3wyTJjFjknvWh3CTe0",
  "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]: [-0.8558, 1.8389, 1.607, -1.2407, -0.8375, -1.6283, 0.0681, 0.4408, 1.8584, 0.5491, 0.6632, 0.3435, 0.205, 0.0528]\nstate[eef_state]: left_x=0.3381 left_y=-0.1838 left_z=0.1814 left_yaw=0.7088 left_pitch=-0.1647 left_roll=-0.1229 left_gripper=0.0681 right_x=0.3902 right_y=0.1223 right_z=0.0018 right_yaw=0.0407 right_pitch=-0.0513 right_roll=-0.034 right_gripper=0.0528\nstate[joint_eff]: [0.2803, -10.3453, 6.0923, 0.4127, -0.6911, 0.188, 1.0281, 0.1846, -5.6274, 3.7812, 1.6777, 0.2466, 0.0122, 1.199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a160e5d403d2d2003924731edadc531e52492476094e401b25dcb1986ab7d8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b00e97c631df0573602a335f2c0022333218700ebc34b3028477b88e9cdf9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e87f65749f393cb5354ae0bd8c6562a306c35f4b2f1e1e871d4240f2a07672c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8391, 1.8622, 1.6234, -1.2907, -0.8379, -1.7123, 0.0681, 0.4438, 1.7859, 0.5594, 0.5621, 0.3569, 0.2115, 0.9976]\nstate[eef_state]: left_x=0.338 left_y=-0.1745 left_z=0.1773 left_yaw=0.7807 left_pitch=-0.1683 left_roll=-0.1284 left_gripper=0.0681 right_x=0.3872 right_y=0.1198 right_z=0.0145 right_yaw=0.0289 right_pitch=-0.0648 right_roll=-0.0434 right_gripper=0.9976\nstate[joint_eff]: [-0.4444, -10.6872, 5.8872, 0.6129, -0.7106, 0.315, 1.0281, -0.6769, -6.3658, 5.8598, 1.6142, 0.0611, -0.0611, 0.1197]\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": "gAAAAABqsqod-iS7ckFzMOFvSmlOOre28HV_Kn_8HcKO9bDAlMAFJGhMh5bMA6Y8Vm-WwC8NTXv2zMzccW1H7WZ7PjlHgSEieJ3tlNT7PEOJHe7ym4wpdn4DLrvWVGNhHqf5XkBe5mAc6-QMOaR4MguZThIlqriAUONg0Bm8AkW3E0P-aloopbAdd3cIeyLglmljjYumseeE8YuXuewLv55jzGwI871-iyEp5TwjMzTXS1gRx3df_O50LT2e2Gt9auwe0hGDF2c6YJPOEMin3bVPwZmFA3Drkg-0gvKy8B0hQyerazQzb0QbDskgBPBE7A63SiugxmkEYSG-m7VZ7y8SQ-7-TozNixKBl7q56QocaZOwNpB-EOxOnqePreYkuOuevIUGyu9AyRZxrtRgnMUQsnVPjBLBzmB1aG2-kkWe4N1seixQorBSDpoPi77CELQQAWb6xdNlpJk9kJBDvo8e7flNf_80pusEvueSNemSDVPFitZ03jW_8lDKtwZLbEtK9kmyrsH-r1HqNyQoruTZAQMWNblZ0AZ1gn8j_llrZ8vN4RVOoW_gaGBHJnSUqU26VqJZ8WA52_bvbNTMK37RNoQnke6EjeHT4Y0THXcg1Nt1tGcQoYiJvvjyTlJaRg2ogDvQbyz8boTA9LtmbxBqto0zMItjlKAfKgbewSdH2HVApRxutHMpZEtKTrJk4b5BPoPeU-KcSzaB2l1AUCbqS2vUxHQJmHb515DF5PL4LNgc3LSdVLJzRKH10H7f_0uHHGZ1-kMYFFqYReIIiYdSFLA4wRiEFCf4YGvj6XtzR0xdg74RsT7tKxJEpNWhEPcfHOd8h5zaVaqHJ3k_g5uW2OwKVOvdkdx64w-VPoLp51J7tZR32mXxrSRWYT_8ybo8mCiypqOAbCXahaxiOIqae6nYhqd0SSYrKMBggukcCC0CLnOXyX3JeK0qLOemxrfdVOvx6lD6RAiHXAko9sLN3R7zhOxKie6EglErQfesIY5WMiCwmA2SFzpNzB4I0vLozRhSpi7_1iRguy-D1aqsZ2CM-kvtRKbSWesp06dL-hqorXbJl2dtFwzUz-iem5WhTmGY6dkP0juz97LeNTeIPLowPbduw2QRxCfI-xukhBYSCE_fHSLQzWv08u11BUb5rzVbcLwvazjobOijhqHoCHoP6jZPmg1zHlrrB2Z8V6B117MFJ6nRJrM5DsOwgxOq-qHHCdjnDC6usqMz0I347MrXQhT2TUx8gCsGZgiBoOqO5wXBxMsqcUTaYcexdN-yjwaLOkOrsLDvGc5QMuhh-e6XCxmWxcQ7MCrGDSQh-17Nh5rIXmSzWfcxqiZLAn3WIHyLtNFjAh4cnz2dio8okoot5WXx2Zp9PSBkTIy7DZk6DHbDYxl5g1znG05S3xz2kL-2CCUyyXRHtns6kSlwF5PA_zdSKmbYDaMJCYWtd_fHeNeR-X_3X9zqO2ZZbnMYoC-DLMZyHgC7-LfCJZsuGSQ6ShcdCi6GkaDIBM6-nyeIT0ngI7euqTUm_hs65lBFJNA_sTq3Z2dtDrqOS3fRSHad4ioRXHFqVGv8f2Z-RKdvy7W9jEelBIaL_5Ff1qeS7GD7YyGrTU40IzMRkAUDJbLwDtxB0rMJnUjp4nyTkbZv8OHnmNzyyGzHKionAq3v6IeGeYAfLmHrneepRB8kxFpOS0SN-Tm0JItRqXfK3mY1t5dkXt3xqykM3pMCgTYhE_UXwxOPJBh6vJuwJDOspLSP-bcFDvAuqmsQxvGpNxzNDjoZZTjyowJSMnxbyzHgWldLuS-NCbxl8HCq4wJX9BwHxlReQ4XdbGW6PGjINYkxZ9bSaaUIEUQ7tJTU0GnYLX-WatWysL7NmEvI1dkvIbYdwTotF3AThpfjgSs7nupQoqIamZSY8rae_FDGaK9QO5o9EJY9pQvUxPrlQHSliC-13cC79ed_nMnUvx7tmM9515yjVBELspMTVTfAoivPi5fy90rr06s0eyjIYtt8SPvRpL_DUQrjUXMGJg29I41A58b57RDWX-LPHkbyjDE2F5kQfel6qFPq5ptL760ldQ2cQ5uqDYuKmk98U2LDeiEp3tlKmOFrEWQcPlMjPaQWwT34uk1brtEqJQvnM9DRVpUgtEPm_FSfWja0AAUWVUH4u71GZ98PyDXoVhf-hkWnSrpTq-dAV_GN3Vi7XhKg4stqZ4rqhP32U4h_ZPq6B-bw4G1iKZhcpdEKHZpMjoVX0yzUQfjn6h7WOwwp-Cx34zsowNHY_ZJ5rKc_FLboVW3SUn0-YLXDWCSJROva2SfL0WBr3BohfGsRKZmhTqL0ShKDen2th_S4y_jF2se8_AoOdTrbkkxl_ILX20e6g2Yx-5b4gKvQ",
  "id": "rs_08408f877836ab2b016ab2aa1288cc87d08fe8acbf9a7f77c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.27,\"right_z\":0.2,\"right_yaw\":-1.2},\"note\":\"The new pen grasp has a nonempty jaw opening. I am lifting and turning it toward the cap, keeping the arms separated while checking how well the wrist tracks.\"}",
  "call_id": "call_wEqJNFD9mKJmGYEZsPlG3MsG",
  "id": "fc_08408f877836ab2b016ab2aa1bac4c87d08b5a671e28594c70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wEqJNFD9mKJmGYEZsPlG3MsG",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7494, 1.8015, 1.6249, -1.2373, -0.9211, -1.6585, 0.0686, 0.8108, 2.2044, 1.7191, -1.467, 0.8597, 2.03, 0.0603]\nstate[eef_state]: left_x=0.3615 left_y=-0.1394 left_z=0.2104 left_yaw=0.8347 left_pitch=-0.0845 left_roll=-0.2057 left_gripper=0.0686 right_x=0.3367 right_y=0.1652 right_z=0.0918 right_yaw=-1.0576 right_pitch=-0.0992 right_roll=-0.0202 right_gripper=0.0603\nstate[joint_eff]: [-8.8821, -6.065, 4.4376, -0.1441, 0.3297, 0.232, 1.0281, -3.0291, -12.7111, 7.6923, -0.5201, 0.5153, 0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1679f58e038c3d23843978d67ddfb80c912b8f91c724403eabafccb6c542d72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba635558a6b9a4bf79c9d38de45bb2ae3d118a11db66b91a97ccb68357ec5578",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:641882533541a51567c17a9e7bf11b6196b8bf5fdcfe34f0f1abfd28674835b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 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]: [-0.8558, 1.8389, 1.607, -1.2407, -0.8375, -1.6283, 0.0681, 0.4408, 1.8584, 0.5491, 0.6632, 0.3435, 0.205, 0.0528]\nstate[eef_state]: left_x=0.3381 left_y=-0.1838 left_z=0.1814 left_yaw=0.7088 left_pitch=-0.1647 left_roll=-0.1229 left_gripper=0.0681 right_x=0.3902 right_y=0.1223 right_z=0.0018 right_yaw=0.0407 right_pitch=-0.0513 right_roll=-0.034 right_gripper=0.0528\nstate[joint_eff]: [0.2803, -10.3453, 6.0923, 0.4127, -0.6911, 0.188, 1.0281, 0.1846, -5.6274, 3.7812, 1.6777, 0.2466, 0.0122, 1.199]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqomTxUHyvNN2GkwWg8ApwzdEupREMbJI6QuOnuCnzbHztORbTQktzVXBG03L1g1134zRyyc7ww6eCYATI1TgD6bMQRqDr6zCicj-1flboR4Q9EP1S7OQvzVg3QNPUJwki0zcFx3ReqPBCMk-eRPg0libQNypTGy3RM3BwyvAXaj6UZhkzkStk_BKpiPpa_VzeVvc_XtITLeuEWsiUZ4MCWuvodB7Z9kSoS9RbaeqdQAeUCj-9qSSmomY13mW_xTRQyd0AsDym16SZNOm6oanMsL1SBW_ZPMHp2JtjL0nnjVDZ2Em58hoe6663RKWhVHQcabhViuIfcwQCGeFhvRO2mF_zgFFr37l2tbIjxKLFmUuwoMrmTAfdKJj7xiwTbGQy9YfBP1P3S_QC7MovOXrewqpzsACuJaa1juoyUQXnsow6gXYCeIBOPSJk8UJW_u47Ou03qSbCwbcU-bSXeNr5LujkPaNdfIX71riRMNrW3skumHKf2izfA2u08YMajFn77hsGoOE3yTCpUN9lG--vXP0jQQnnEQKixEVs40rWfw-HFyuBZgZ_xIZkpUi3yPolUcndAAQj9poR17KoONZP2gwGNZnR4MAsosFa9iDjK3i9Yh4Evrap37WJjKTh99w2mMlbxa5_l38xMuWwePlDCaZBS5phX55tk7NLx6PBZio056e-p1Vn8p4zn4zZbUGbXQlqlqAJYqyU4Xb7Pk_fTdnktzZbZ2auTxNPhpu6-wc_bwcHKclcTM5LLjlV_oY6Ipzf5Irrn7yw7eIEpNwOxFAL-4IRzXFx6Idjd-gH4JKexKWrniNfEvcNRjFdHdxjRLdiU2wo6pypoZm8M5V-LDu_CnJHaTdbtzez2xCw0l6JXCmo6tx8SnsR1RjmLK3ZI3FxFK9MT52WEBNU-BNdx3DIQzNXFFri_mCBkYXLKkF7LVdszRS-AdPO0P7fS9nkS_fRMFTDZTWB9y_IYDXoCm9omqegbyrBhEGIi0rsNbohl4jXoO60JlD-CETpkZ7oIAfbhl3lpyBs4fMx453VSjngmMcNu6yXuLZ_lKVs2AFXPFRQnKnz7ehSoZZZSuD-03dUGG4vZxPtE29bXxuWI0ukhCoApdwvnbCQ26Cl1eihXTrTxsCri2GwdOKjof061FSpdjZHjaVUbeOpeJJ1NR9NgsVNg7yTqPS8o5o32RU00DuZZwhaFiAQ9ZeozNPJvCpJv1cMiLYXUqoL_CTqb9TNtdKAgmMf1RhZQRQGs9sftW9mhfVZ1ZdxF1G8CrasiwcXo3BFtasbyrAGjaTCXcQKChnCmglpyhGd86M_QfJX4SROCf9GBE8mzfpdLN4FDzCNczwNmWmEkemHrxpTOvi2bPQNzcQpJwnhQ6pQJHfCO70t9mPwx27yzAjfjw6_IM44jWeCwBpmJ9YmG-LFNPtw==",
  "id": "rs_08408f877836ab2b016ab2aa2228d087d0b32363f3c39ed28c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.07,\"right_z\":0.2,\"right_yaw\":0,\"left_x\":0.34,\"left_y\":-0.1,\"left_z\":0.2,\"left_yaw\":0},\"note\":\"The inward wrist turn caused a large position error and brought the arm bodies too close. I am backing both arms outward and undoing the turn rather than forcing the alignment.\"}",
  "call_id": "call_0RhvRtIhuC6wNgP4bEvXyNMv",
  "id": "fc_08408f877836ab2b016ab2aa24655087d081438976eb1ffc1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0RhvRtIhuC6wNgP4bEvXyNMv",
  "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]: [-0.4332, 1.1603, 0.8906, -0.4915, -0.3691, -0.6262, 0.0694, 0.9047, 2.2272, 1.8755, -1.5616, 0.86, 1.9549, 0.0603]\nstate[eef_state]: left_x=0.334 left_y=-0.0803 left_z=0.1848 left_yaw=0.1959 left_pitch=-0.1436 left_roll=-0.2067 left_gripper=0.0694 right_x=0.3306 right_y=0.2098 right_z=0.1188 right_yaw=-0.92 right_pitch=-0.1106 right_roll=-0.0423 right_gripper=0.0603\nstate[joint_eff]: [0.0479, -3.8906, 7.3641, 1.9512, -0.1832, 0.232, 0.6081, -0.0615, -14.0239, 6.065, -0.3785, 0.5641, -0.0757, 1.0281]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2811daaf4ac8039f28381b6785f2c27ae876b3ca40b28b170dd9574cdfd4ca8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2e0a1c017e340e06e7f8cb4bcf61de6208602118e144b3f591a4f4ef4c0cb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19d1e9524137b465e80c9e26991907a39fc614456c0a36cb321ef2cdd7b52ac8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 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]: [-0.7494, 1.8015, 1.6249, -1.2373, -0.9211, -1.6585, 0.0686, 0.8108, 2.2044, 1.7191, -1.467, 0.8597, 2.03, 0.0603]\nstate[eef_state]: left_x=0.3615 left_y=-0.1394 left_z=0.2104 left_yaw=0.8347 left_pitch=-0.0845 left_roll=-0.2057 left_gripper=0.0686 right_x=0.3367 right_y=0.1652 right_z=0.0918 right_yaw=-1.0576 right_pitch=-0.0992 right_roll=-0.0202 right_gripper=0.0603\nstate[joint_eff]: [-8.8821, -6.065, 4.4376, -0.1441, 0.3297, 0.232, 1.0281, -3.0291, -12.7111, 7.6923, -0.5201, 0.5153, 0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqoxODryCtjSMx-0ZjYWiFLYwzPxR9NUsSxePH8m8CO0dhLz8xJVMxqUryfCO69eqeO_lXMgP8u5LQmrbQq_Vd33Du2EPK7iOKddZbfvQmPqVDAzF_KkU8-rnH5wWu0TAZOSESSjeZTzOEE1sZ_GhMpMjvES0qtbcKeWxZ7UwcMQOoe5VFSBN9x9zreKigTP3owkUxZuKWoFv7WOEZT5gR6E3AjZkOw2fp8d0_cozwrS668RDIbmWm3oFKVI_V09DWOW106NdELuuOI3TF5-oP99WlbHVoG35s1dgWomKPQZcq2Ayrw3AIAVLkTXvT9w263WKMdGC5In5Sh0fVeTCTU3eb_Vc92zlbqY0JMprLtodk8xJKnKCGDMqlHgLTM4PCSzntXWOBOnMk12EjDAAI1TCPLEMMtZRmiJ_YspqXNgeKJb-O5a5HRWYyVSJOr6XP7SQ_m9PVuhv54c_m_aCVJGL0w-xGz1q1YQ2to_aWKxaX-hFrJBg_Pcq87LbK0_r0tV0Zg1IvP5lHnVkewKFXi6sCiYDRLJSBKXLcIIQETVH1syh6uGWffTWZqnSrZRE_A88PG46gmr4Sw-CUwgu9aLZjegMsAr2UaWnpNzzBDsCWroUQvsma8tmeH4mkcEbawLJjwbiEzulUf1VNdwWzHe25q3yVDBKgXd7-Mqpny9xnhfA_Bx2S3_KN6PuP4v_rrQ_suU5RRDPtUHYpf8i0WplAK8o7FR6YyhrLDvctMm2r-fsFmvHXuTSladSzvoLr-RZkX0Mg6aVVhkQ128NDqAs1moc8zikfC5VmERB-Y_qB5A5MbYmEgLgERxHS2rqLjum1bYmq-lbyRQKJUXue9sRMIsS40szcaxh8Z9mH5jnPXLvb4Y63OBPW6CkouPe3yFetGRB3sjgRXpvJs_dk4JP4OA6_k0r6KBN_fz3_wu7fbJgdsnYbsXL5JYY5YI7GZlBOvDpS98t0Ri-zQKSKfblhKOnTcAwWS-Tv8PZkmjf7SFKAxioNNWHmsXZQjXBvW_6cH-ofUWsaD1gJGJ2D1uryIrLFfIgKQn5TTnkde7GirnDJar9DRkArhZFgNJLABrfDSDahnKQSDimhzydozgcYr3NaLIwlSbNhelwGpKO_KJMKFWpAoLMlCt26zYVqjhTjeaXnKtYN8dbdGLLEJs4bwaBRKDDY8Rvk0MHzLKUyyswo4wPrperwhTs_kZyEG2_3ofzWDUbio4VcKCa7DoVF930t0RoXCZsOJDvobbexCaGA8QDRnVej9sokQymM_kTYGpzbHgyI42Kij5gMHVuKZjhGXNkmRnHLARoz9QQCCVazWQHTPPKjzKZ-5qFyamv9QInfn7xS_ubwdWyO-uihzbOKR_F2XhXlSk3qEuUy5eR2C045yCnSKf0UFBxm8XMo4pWQ-zRQmKSsYrRVaIzc2etaQlPAIuh9AmfPvfdn33QxwknHrJXpa-TXnjr7SecBLp7pVcIAp2V51g3aKUcixw5SdmnTFPyY88x67LMA2NneAbf6SAAh_507i-2udn3UdyhVB6Bv50Wn38jOoK2XajUdHSaytQoblOAx-oeWOrDGjm43dMbfmVzxFPGQkdyIJz6svHeyxLQq1gC7iZ4WiutO066KCcY9ApgK9dwSU_Db6DDYrjw2nKzBapZVkqM_G2FhTOEgOsncHcSbtgFE4jls0be52fIH9enWoUXbZsZND0VFBBAffA5YMhohe5JG6aCHNK4LNxu-RsQcCEVQ==",
  "id": "rs_08408f877836ab2b016ab2aa2a365887d0a5b114559000236d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.13,\"right_z\":0.26,\"right_yaw\":-0.45},\"note\":\"The right wrist is still far from its requested pose. I am raising and shortening the reach while unwinding only partway, to recover without pushing against the other arm.\"}",
  "call_id": "call_hJHSRtcfga11kLg7it4kRSfF",
  "id": "fc_08408f877836ab2b016ab2aa2e680487d08f1e1d8cd22c7219",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hJHSRtcfga11kLg7it4kRSfF",
  "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]: [-0.4328, 1.166, 0.8814, -0.49, -0.3599, -0.6289, 0.0694, 0.9112, 1.4647, 1.4487, -1.3727, 0.8814, 1.3273, 0.0652]\nstate[eef_state]: left_x=0.3329 left_y=-0.0813 left_z=0.179 left_yaw=0.1915 left_pitch=-0.1585 left_roll=-0.206 left_gripper=0.0694 right_x=0.2709 right_y=0.1327 right_z=0.2513 right_yaw=-0.5084 right_pitch=-0.1241 right_roll=-0.0055 right_gripper=0.0652\nstate[joint_eff]: [-0.253, -4.3966, 7.7744, 1.4823, -0.2662, -0.0317, 1.0232, -0.1299, -6.9675, 5.8598, 0.7888, 0.4908, -0.0659, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38cb6b95d99db2a77b00a9893e6a20265af7c0d64b86167045ed7347a412cbd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ee344271ff126637b4cbff4c61bfe694a337b39d229ec69786f45b3e2cc1891",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d43d8c5cd277779c4281acbb2f369faf7b1ca77f2ed4a33893bcfc1e45fef1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 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]: [-0.4332, 1.1603, 0.8906, -0.4915, -0.3691, -0.6262, 0.0694, 0.9047, 2.2272, 1.8755, -1.5616, 0.86, 1.9549, 0.0603]\nstate[eef_state]: left_x=0.334 left_y=-0.0803 left_z=0.1848 left_yaw=0.1959 left_pitch=-0.1436 left_roll=-0.2067 left_gripper=0.0694 right_x=0.3306 right_y=0.2098 right_z=0.1188 right_yaw=-0.92 right_pitch=-0.1106 right_roll=-0.0423 right_gripper=0.0603\nstate[joint_eff]: [0.0479, -3.8906, 7.3641, 1.9512, -0.1832, 0.232, 0.6081, -0.0615, -14.0239, 6.065, -0.3785, 0.5641, -0.0757, 1.0281]\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": "gAAAAABqsqpE0aT0q0CQ9lzDlt_duEGEkvxB6mCRSeIS54uTwWZvExMWWdqLpsNmQiOKqVr51eDl9DeltFP2luVGPAZ-bKHhdHqDa6CECz1X0c4takaOhxjuscGIdYdO9L-xenpAhsTIwJ1l8matw5avR1VlGg8WVUv-BW-qmvY5DRf9AIcpt1kmZZUoaLQxtc-OL2QOEC1f6W-Mq1dg1NBl5V_GynwDbGGB3R7drJEd_b9hFSb-CqMWpSq93-qqWBiMqd_mYFJATZArB6o3dD0SzwMfsM-mzUqYGoduphX8V0qKdvdIOyY1pWwEltZG7d3UJBvLHweoh9TOsno_MlxTpaxxDAZf1HQ3SjiQ4T1IZtfIW4J_ntz3lSX5S1Qdlug8oVZH43bPpXLjUd0ppHsxzbV1EojPhfP4S9X1On3EksGakPUIWoZbBNW2uzkMsdJf-WzE-BE2CO1Yy1c6JXQv4nOIutNHLhZhA5CjaDW-IhJhVe78cQFJDMmt_ew5-SNwmdZRbp1P8MZXsL1aGI97U16fCg3b_EsACvWP30G5OXqSfTs-8udP45twTiTK-dnSOQgjOfZ9k-t6mE_OPzfS554dKcJ8MCKUflSD_7uKVasmQx-wYg4Wna7M0YUsd2L3dutuE6m8JsQhARWdEDymD0FflfdJ11Vs5PgC9Iy_rrKdkmf40TOPR3OG1xBVyTh8CCv9dJKWk2Jh6QXOizYHICUr7tIvR6hLPn2k6JIAjiMwO6dTMpXFFPjU6fpLdcH6yNvgXmtlxaWU19vJhr6dAJb_pkdxCOAoE9EzpSWPD5AJEXXxhBRr5n4n4CF2nlwaHiUbv7g2c4V-PFd1dgGj3RoZR54zhCbK7oSc-pXGTdiHTkZ1Z1l6f-HyIAjZkpDqVGtht8E5I4NnLtDKxOoARu-q4Fn2-qQPUVi9sAs3HYP1lNE4n-as-Ba3k_O2aiFcIwBDaaVvLQBNhkrb7qWWltvug0Gc2ZoWbhLtG23HkA36goQ4vmsYTMkoo7jN4tK_c9lVW40ybXz7pyeTTsS0iVAb9Lv90n8fT25hXWAOSGMsaQkrCwRB3ibvBJt9IqRU-_BGvtfNk_De9igbXfGaYdRyC_-kNCsAQuE8ipW5gvMYb1NaNJMeDFbsY24h3Iov3WibVpv36kr45jnp0z2GiHl3DX7mq1F8B4iyKJ0MiGCnlpHnM7J1EqDuO47D7MEoQtIVtsElsKjI0PVqRcoSUvrzabryLdes5agNr2en38gzNtXgUPvaMd_QtDPWSYcVnC7Kwt7hgxt5HyczCEjrtdJZM0Cdx8pbFbohoqtDyZqYfFrMBm30Iu4RJKQMgx_fu6lj7BY37ESgr_0a2o6-qJjkGfZAipaNe8UoR1aPUfnlHaKax4tH9IMyl3ufyi71lSoy_1YS0bhJMLr0E36XNx5VmpmMNTJwS5NkSz7oWHt73t_eKA59Ht2dBp-plR4mI6X4_Q26aoWWW9ONJ2uE84aLK_-4WrKCGQQwji8YIVCZXlPUNlpOCdLxXbvUdg_6pJ8LIZFMAqtmVcc2KhM5796hF1W5Hb72MaWp2VYad0vTQQdXxyY7Ch8VFSUGu7SPbtyVd6mpCSVICEaxFTEKo5brp8_OOD3pCD2A-tLJT59JOeVZOrLIzT872YBwS4HavKYsnBLtWLKpZG8gBasMYcHmRgcS65rl-c96tZA4YrhqlBM_e1xKgPQedavV1murUfuYSLxcQMBBKlivyxILdUlMggGbBmER_IRNpZtYznqneGKks-uVoQq2KntNB0AzCefQ3laVUg9zKHfT2jsV0Bdn1tLUQDshxGe87CuQ7n2KYC6cQTvhiH_rIGUK9mXVWyANfjZB65ZfmbK6dGOd4DlPSb5y9PHUlX-vrWEMwweMYQwfSHJqcO16Ky-KO5LzkLnJJ3Y91MU3xdQz0kENhx1iIJuugoujcwFd8h7MT9ofxT_85_WMtpuEw2NuQXJsUA53lunDvniqaNtDxW6GJHHIvMmKsAZ6MiThQxuj5Fqm1fBsSG9gzQ23TiniZEHoqM2_rxhvRHAetWUOpAtAnNWAIM9nRjxtz-pMU-BC7KORoIU9BFSKAgef_733QrH6l3qMr-ghdQe6bZfc4UeJpUrTXPOEpOri9CACWTeKWOMtMC1wnChlK_v4guGSlPR_6ZLZavyEViakP_bmS-kkMf-xYXgLmgIZRpxVG9kRjVGt9dCQqunMYRQZNJ-EWuOXoK6VTNgf6m8rsHHgW0W9KWNzbcIzSQNgdhTZw0rlcZkk0MIcPRC4unIQGhJ6kZHHjS99egOqh1xVUoDVeYiVIZmTbmpmXvhRNbATA8o63RX8jmsn9_PuBhmBd7vr1Z5n5QcYcDxRTjxB2BwIY24lEa_QsPyi1IW9UBn-IS8h8p99338dYpeqrs6jhcRwrHL0-fNnXynirn2kHdMqnbusFxSY5U_QAtVYPdL-NMoU1aG-SbjLH13_2vJZrzJF9SJsyvfIBGYedL-vFshiU8-7mpXA4RLDJjg1QRGV1pG2jRQt9xJXsvVuTlkma7g60IHMxkd43-ytclW9AhItydyT6EecQFDyomaKl5i4S_H-BGd-L3jaLSBjlP2vfzwOzl8A3W41xnFMFoM5OmcVUWnKn5udDY1EaqS_vIsaT-nQK-o3skz9FkIW2CvceC0gRREa023UL2z1WiEeVzOnqagGOwbF-u7HmJ8lfeoGRnWXCXE4t2ryay68Rv_GTlQFU_vPKAnZlpbGhQmuQzNzjdcaq7tvI9be33t60YTBMk_JVGHBdi6_R4u1N7DfbCLCVtrmBnbopafHJSV4L6eCdNoQJoQPB4Zltdcjf9d54Gsy18ME1ND-6kr8Pj8QksU1UyeAZ0nWtvT9_S7czLOfbr-_DTyes2RDWxXpMM0fsdqB5qTrU-0mKkJAAtFyTxrtpdyGJ7kewFkPsa0RYZ_7T31Pz3sM1UrBzXxmnEaYCfQdzxtGt6_fW_Q=",
  "id": "rs_08408f877836ab2b016ab2aa34e26487d089566881177e93f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.16,\"left_z\":0.2,\"left_yaw\":-1.35,\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.24,\"right_yaw\":0.7},\"note\":\"Both arms are clear again. I am trying the opposite wrist orientations, which keep the wrist bodies outward while pointing the cap opening and pen tip toward one another.\"}",
  "call_id": "call_6VT1asiJWzbmiueJMgJXB0iO",
  "id": "fc_08408f877836ab2b016ab2aa4197d487d09a12efb350d3cf80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6VT1asiJWzbmiueJMgJXB0iO",
  "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]: [-0.0875, 1.7077, 1.4754, -1.0115, 0.7422, 0.7479, 0.0724, 0.0765, 1.0725, 1.0351, -0.7574, -0.2893, -0.2623, 0.0653]\nstate[eef_state]: left_x=0.3609 left_y=-0.1479 left_z=0.186 left_yaw=-1.1474 left_pitch=-0.2236 left_roll=-0.2417 left_gripper=0.0724 right_x=0.3036 right_y=0.0774 right_z=0.224 right_yaw=0.4655 right_pitch=-0.2017 right_roll=0.0171 right_gripper=0.0653\nstate[joint_eff]: [-0.3761, -9.347, 7.0222, 0.4176, 0.4957, 0.2613, 0.9353, -0.1026, -2.8513, 9.0325, 1.4383, -0.2613, -0.1294, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d2746f986d1309292c2a43e889e42e277b644442082283738fe4b5f88e1601",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86104a63005487eb95895cd699247af91b7992a0997ca08c14a137519c0a6dce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9cd397bb9cb67b6a9ec666f3cb5d6f1d508ce55a32fb7bb0fd5ad09059b0e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 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]: [-0.4328, 1.166, 0.8814, -0.49, -0.3599, -0.6289, 0.0694, 0.9112, 1.4647, 1.4487, -1.3727, 0.8814, 1.3273, 0.0652]\nstate[eef_state]: left_x=0.3329 left_y=-0.0813 left_z=0.179 left_yaw=0.1915 left_pitch=-0.1585 left_roll=-0.206 left_gripper=0.0694 right_x=0.2709 right_y=0.1327 right_z=0.2513 right_yaw=-0.5084 right_pitch=-0.1241 right_roll=-0.0055 right_gripper=0.0652\nstate[joint_eff]: [-0.253, -4.3966, 7.7744, 1.4823, -0.2662, -0.0317, 1.0232, -0.1299, -6.9675, 5.8598, 0.7888, 0.4908, -0.0659, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqpRasFQexqcralc8xH6zODcqnB_vy4kJN3b4YMHQlFOsRA5lAePmRDi87UrwA_SQcgcQ6Vro9WkKG4eB3gofwH86jPheXjSgO-9zzNZCczmPZEdmhTSpr06NFbKTKVlnoYD5sKPEnGTCtk5Ob1HdjEmRjpfnjvuMx5q1W8JdO5ZGa19rrZ4aa_hRxKPmUxnxBrZsGuuD1wIHlzbhdnVLOQYbxIyzI2LLiopnWJalIW9gfSMl_9CjduQMISz90dY8GdOo00lKl6zavPu6kg0q9Ugj4anIVSIKiQ9rHiMLqE3nlUcwtbbv-3jclna3xEjLcPe6OGXt7HZ4aFEI2ckf4yPapF8AqQuSb7TiS3Bs7HzEFXYKz_TVkeYZ_-LGx6eUTDtBhLqKXArbnJLlNVDTp0wV3CUf4kkl7O3q4AZV5JaBLFti1yoVjVfDUAcfd4PHAWlkE4txjmhUJIKL0si6wL-WaH9bMoy39vMLGbjeX0k9JW4zKHilIBP6Kheg8vOcKNor6aNd0MDnmZftNBkycWFVobYgwSN1PF0u5uyGV9SP4eqHYSKKkQrfxJmEA6sq2PGCinCng_YIxo3x5woaC3eZUjATLDKenKUZdCH2qs2YYvWYIxoN6Qh2R3OozhbecHu1_XugcI3L5u2p2jaXMeWR9cVuCC5qpEWGvAYshts40facSp9uu6ISQDwkQeFEt1pF24mZZp9ifuCza95FDhF4kbB8iCEOXMd5sn1bGKplBJJxVVnis5Lvm2sIk7OCjkPtAuiotDu2NqC0n33sM2dojmJva0iWPBBuMDxQ6iIlMkR9RWxIgLCYSn8bbHfajoPl8EWZjoL8wr_YbFiYDDxgVoyLuTK6d4nIq7kHlql5tdZunHr2mM8HckYMN6BoNu0Aj5SeCstkJogi9r5LPEW3XCJVcFpLPAtAhr5jF4R4soM_3SjjfL_MmAXxL2r91BVprrPHKazb9X3wJ9rUOr_zhy-zF15DQCVbVNpR35W8SGxSzatytZS-_lp8mbIqHSq4zzV8e3q5vsXq8LKouNe4xs_Am7T5UMCvtF2Ndkcf6YuYbnoxNtC9Fd2wMPUb5yVPTaunoC-wRe436Rrv1RHZ4aKGLq1uC2CixEkXaB70V2F2vlrUxht4UZSgKC-Z02OLk1Xdl4P-Y5BVczxaP2Y79v93Ee6ojhFGUrlM9ZwgdhVauW8vLjUQTfmN5Ukrm5bqhOfiVqWL4-bsoFwfrgeq6VZA5N5yr-dhpjqimRCf_7k4_R1f8JrO4hps_JIEcwM",
  "id": "rs_08408f877836ab2b016ab2aa4e483c87d0a21397900d2e5eda",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.25,\"left_z\":0.2,\"left_yaw\":-1.55,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.36,\"right_y\":0.27,\"right_z\":0.2,\"right_yaw\":1.55,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The outward wrist turns are tracking better. I am bringing the pieces toward the middle with their axes nearly horizontal across the table, while keeping ample separation.\"}",
  "call_id": "call_oUQafojPxEiVRcaQMdUDHw09",
  "id": "fc_08408f877836ab2b016ab2aa4ee3e487d09ccbb48d7a40cf8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oUQafojPxEiVRcaQMdUDHw09",
  "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]: [-0.2806, 1.8263, 1.5097, -0.907, 0.881, 0.9565, 0.073, 0.3073, 1.824, 1.5181, -0.7368, -0.873, -0.9203, 0.0696]\nstate[eef_state]: left_x=0.3479 left_y=-0.2383 left_z=0.1767 left_yaw=-1.504 left_pitch=-0.0767 left_roll=-0.1191 left_gripper=0.073 right_x=0.3681 right_y=0.2626 right_z=0.1926 right_yaw=1.4766 right_pitch=-0.0367 right_roll=0.0019 right_gripper=0.0696\nstate[joint_eff]: [-0.3897, -9.0735, 9.9624, 1.2772, 0.8571, 0.3541, 1.033, 0.212, -9.7299, 7.6513, 0.5788, -0.6862, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df2080036915c0d16cbd4da457f8d4206c28733b026169e1622a98ec442cfb0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf257a64b43f7586230a3ad3d1673e3f331630622b88983762579206467dfaa3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323f46f85ea4e83abb6df9c520d07f5a367dfc8f1d7bb8609a1962ceaf857ebe",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 101 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]: [-0.0875, 1.7077, 1.4754, -1.0115, 0.7422, 0.7479, 0.0724, 0.0765, 1.0725, 1.0351, -0.7574, -0.2893, -0.2623, 0.0653]\nstate[eef_state]: left_x=0.3609 left_y=-0.1479 left_z=0.186 left_yaw=-1.1474 left_pitch=-0.2236 left_roll=-0.2417 left_gripper=0.0724 right_x=0.3036 right_y=0.0774 right_z=0.224 right_yaw=0.4655 right_pitch=-0.2017 right_roll=0.0171 right_gripper=0.0653\nstate[joint_eff]: [-0.3761, -9.347, 7.0222, 0.4176, 0.4957, 0.2613, 0.9353, -0.1026, -2.8513, 9.0325, 1.4383, -0.2613, -0.1294, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqps1MQ3qlmy9EsGIKwv2ccBtvzIgfYG4D-ldGcQrwPzrnUMBtnfZJxP71FqnTNtIkb_ZMjT2X-CqbdBjBFGBYYYixC3V1wsfsupyCZAYazjHATCoUeiNtJD-4D5OFK7zZQyEwJwUiYnOMM3pdXdkS1CKNUSA95GY3mV17tsBjLDZpxG2hXZqMdcEerBdSrbZrWnrm_U8kIKLxjUzy6P67eqVIE8MOs0gQNajy7OawwY8_G57vKqnaJBvNr-BnjRyFpU4hZ6XIjBGx1mO_yHXHHuMhOWziwtHqsIvfQRV61HgENIHOX-Z9iM1C3T26Hfo_VNl8bT3cvWL0AC5OCJgxHpznKIT5nUEaJLoovefJi8ebtA9WWfeqN7Lpx9Z3y4v1Cdi6TuDOe9qhYL7xwax_yqRIyw9Qhxql34mOt_8dj0jS_IDqVg0vVTQ6IcImrCETbeNvlGo9CSbr0P3Aps8oJU3jJpxpc8CJ06A1VXjULL-J0KXCCE97Nf49MfZ3hWJOOuEAlj_X90MKysWHRtQnVvMNmgjt9JMGe8YaK55OHOaUTQnvfh_-IZTH7f9HHsnYT1__PCYd17uVeRsiAhBw4eA2gz1sokZ2x0ux2JRSiyDsTpxf5imoqj4pJLmB8mGx_avj4jaoHDy1X7vZAsb9FS9q6GCb2RmHXrGARcsKa7Lci-vp0xXJLmHqQiR1m9e0s2Pc8eoki0cfpJt5Z9DWFWT5tW2oQzofF0XW3dbFXs42N8JgQyE7d-HK0rsk9luzFeg7PyCmBHLcMXe07tgySvTZ2IBgGnfpZQgyk0ZGi1NYys95pJm1E3JJwniHivTfj4ukOA-5ADMUIz-t01ADmatAd8YK3v3eu_rp6vHOFT3w5_6DLcB1oYYlpSFwvJsk-3DqfWwzan-_BGE-lbossAsDIdqDNeNPt3dh4-01vtpONXh-_-0mgmiQEcfxTiRc2NJETwoOauSvOixpmCs2K-dwmxHLtpklZ4_F1uVj6hbmAio1B9WuVSoea9SZaaw18A85rddsKD_rVS3CQ_26UCvMmeubnyYfXHK5_B_BTBU8yUvhbrWH2rD9IziuDupFD8uwyUG34bjrpKD9U8ZAgVyKTPSbc7WejpsNfbqhfMLoFRPrcSNFqlrBpWY8k3JhK8cOD5eAD7boBlH0hOTFMilBCRPpm7XQuTPAe4AYm9oKMmnHVPjvTSoWzX2-rQbCGsmZNIIy4xqmL_EdYOqC6oreXsJHnKkPpB3vzMcPi_28ObOkNfr8_1ChShWEaZuUU_CBIuOU3s9QLSZ3Htc8hVkCAZqFEyx1uGMfxjwJwugGvcde-iVswjOpFBVItf2GRDTMCWoOJQsp12DtPcmlU2NRy4ybxvErPAhJ0syMXj3Qn9uoblx60d5kPCsyARONerm0SZGJjsKHsNbKucXKffWnjJmX2Jwnm0Mn26gjdAC32dzD1xg_O16ks6q90xy9BkDRiuvdi7rwBLMTySaum00B4dICgVL_Y02ddB0G5IiJtQ8hlmQgXNg-aeNIurVnY_lFhSJWQE9DXg_Yae34KasY1Avr8xLPu1fl1-rsh6QdYP0smBZc5cCHKVZHpQWd2ohbHgHN_10lj2OnWJ-o7wc6RSbxTk5Vg8KPo6zq57ARX9gXHLv008dMdPUCxcKsh-p6agZo8KW7agXa1KgZ58AyqrHVh8wcQUBe1r-kvngDwSwAxFGYMI7tt6hOZ39hQOs_3AErmTVebPflfxX_IV6SF_CKDblrAXK8P3RSA_rPMuy4NTVAo3FpInDjL91ujYvz69EcZpJZhpa4zcbxcn_U6HJDjK8Qqv6d9uUux-23WvVbbSCS73fBjlnk0XwbihtU769n6us7GuuBQZEabFIkFhH1xYOtgERrstqIf9CbLOpPXR2UBjYxZdn8hSbKzbWYBhBu-vy-uaAHBcjr_8AoKIJw9vSkYzv2hqYdJZdqwLWdOq7oNvQUBu6k9E9zkbkdZtw6N6IQViWr2Rtp5ZjsXY2UDOLaz4mk2IUVw_Kc9SuYmRWFFPDwZpfEWxCBAtCYFYhSY_RbwQx4oLPS0Vl0nAiEgTE92pEM5fdNzVkihZvCjBRpLHxMIwIIqRWkn1MGsWhjWZF_jYl6iTsdxKN_hRrqhrhQgFHG90YsjL_PdukCuj1300HdF27DvD-9bONLBh4pRHJV8LR2AZieavFfAcrhL6Tdf9eDsR9aASL77Qpp0hwSnWOuoguDgjqouxAXXngKAjg4HvEFPyTlWuINeVYzLYVt34XcGRvQqNf1dBiw4UKs17GpYxtDzf2_o3U5FCced1W67n7ZkYgcy-cQjd-3kyOOkMGBk02at_P8PuzgCJjwzNRXDoo9zYWzaC-G5vXhvyCH0MqoF_hMmTHEuRzMQetNim-IoV5YfwS3WRW_slMW92C4bCVxMj34KzoULPrdMw8qNnZ0uAAf_wZ-lwOcl6htpmdghtjbV67RxFd9FTZgKRtWAoDPf1UASf1PCf-6TFr6MhPSqNmmoIkqZ_hqQnzCPTv8lS-udAri5o2pyEkmhB9R0zGyKZICBGdjxm_ztbIBYKb33BRh1j-i3fXOFxvfCvhoRA3tDdn8ZfpM3obB3O87RehMNCdh1V-vbGg3aaofgygsn2vKmy3PAv5Ba5cPX6glNqmvfeceZ3Kb4n8n1cLqkcu6i-KL9DaTxAfkiubYCsEUBxSYDkctN-xfQbE_tm8rherUxJ7nnGhjcrJ2KwTFNmureameymZXFenFzP09kgjC49Lxr1WUXi12Kcvd_vH_LEFn81sUH9TUzytjfd-SaPOqz4rMaRJ7NYBgjpGc0OszUhBp1BT2pbibJmwXgkgqm9Yv__mh5cppJgEe61rdQO61sei0jxtiouNC4nC_DnY_H_KfyEKUGnv2I7hTdQTxeL05buBbaAtLiSDGJVNbj6dOpaGPRb6ldLtMTb2o-fwyk5TiH4_ZwHlHRYTdbipHubDiACqvHeRqLyHaG2w_tIRpjGxw4_CUNLUOTdrMJAfDv7c1xq0_XbSn9__k6dzcmuyxrrWSB8bGu_a3PUYB1VraW8ap1anx2u_pvwsFvNwCRJRU0RkvN6PK8Sm813voHZimW1wNWahwBg022qiB5KR7tNAAV0w8w1_hSLneIJ4jh2HH5YApKi9VU-HlN6dd3kXwklys7Gtu-oAffUmV67vF-b-5CMR1MGURWsrlfiF4xJRGsMQM58p6OOI8qJ2nrV8QJPKUSwyz2owI-a7vzxQrp46CD6vX9qaMn0EGXbyttA8t5dkAB3jJg1yX7OpJT1qeP9Uu9IdmI6Y4RTB0S4bmpjvUI4mH_zcv1tkbtAMHFIn5deK6leqTmtOMofN3HIxoFloTHfVACPH2Hwvjr9adWsNUSSD217s8qT47EuIt1_Q33zTc2_ffrKl8EhB9VQe69Ug6TBwXDdoQKHaoRUQHNaJTIqw3gWf1wMvl9-sEm2zjZDS7sJZcjJyQ1Iywu_FaOEe9oNmhI2f75uLoJcdXaR1Fp19SJh9_Jbt7ao41g9Rv3EEaLkBmd_bJDsgJ_Qjm5bYWsGHYXA1tt3SCmWmpTD77wJyq8Y8Yj7NACM20CPQoYlIC_i2GvyakW1fPreE8lg4bjXOp1ttjL8IIJiojcVFKLx1FMjfMLOBXZ52WIP_Hlq77X9E8zkxaWw81Jp8gotmyrw53tbHAGL6-PveJ3BuZ-f_3vEl9Y0BXYfmtwnSLkp5lx717SuIbYToiegbOldAMQlL9RTZKEnlvCMRe1IcOlrNtF2njqUkd9NJAjygoEw-31DfcEg3nRS9k7Ucq-vFumKU3TOyQLzqypPfRDsdcg2qqUmuLcusPMSq4D83c3eXfS_3cHrQiHfvvmgA8VZdcxmMyoKIijQJaVlKpqVfdIWNMYJjJ0I7sZlbLyxD5SKS9k31dDnpgNSvqwydZEUTpqolL5qc89CtHsuntcnwlK2XORDnLJgolJKr2Egx5atmO6WLlo54t7Q18PEi1O1sF_2Vl2Wb761dAU3Z2MlHC280sDLF5NYQQZ31amJhBVcoRLIrruRQnT5qPt4EpkgBI9iYZGF4oCcUeXhdlCjBjriipOmSBuEqM7jDol5W0yrlw==",
  "id": "rs_08408f877836ab2b016ab2aa55a75887d08d99a14f7a0fb013",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqpscOsj0t2n3PPZdK7Hbp4f7uSTPtj0K_QpA056NOMfae0dZDdH4j_FKuGORqegR4EUKqmpBnPbfm1pCTTzR_Lah0Lx3MIrN0UwasVxT8fdeZaWOOCWl5RMkWU9cIolXqJEsZ6AMg8NlKPLhdXumG5B7GNRvm25qDHmE2ulLsSeQAe1R-PQjrs_jINn3i9toZlcRrbNjInAmzph1AzX6xr6nfTl5_mAtQcZOmUGuzeJChVFJFAxTe0gh7rblMQx1vmC8DNhVjfYLsn1uMaKvWfYhb3RKx6afwmYl_E9dfYxLtZ7eZf4r3tKUxrw4bbq8KBzT-kEt1MCFrnjdbhNfEzO29XPry-7iwXVfO9VR7uC0TGGy6MZmHE0Cof-v4JUPWihP5-hY69GIurNXm-WvoxniHEEAbEXieh22AicE-ahYYFgPOuRRozQcue6Q0wiiEbe3WROWwXsyzAva5IzRDhIopHaDABfCmOzX932ixffq_h0TjReAplOTGm90loh1HmQofhtZcTjTns95kG22G6LoVYTy97IMG23SaYBDTQ0kD5KSD9ebm9ZaowTKl5JvUjBo7Kgnkqf-bRq9T8nNfDnWJh8nqhF5QhQbub8WvvTrKjYiXKIHnx9oQXIFpxKPotsNAuwciVB5AjkDMgK0lMRp6gnS93d5Bs0vDV68MWwXyaqu7DNwKWbNFZVT3rkC7QOXAiwjbjJ7Fg-AktciXdbN2C7kg9A2MJD_rl38OpRKKyS3LBvPG5vCOi8FLElP7P0gQys1v6xamoz9Eq70KvEykIdHwBBCbTnAoUAHx2l2e2f5ZiOk4xBCYUeDg4kfr4fYVoyNwU_7BBYHEnN-BCR50BZvIExqDc9IJZcUN-0GFRbEKedC6TvbGcK0g9WnHl_Nb9K7S6Is47_CnB7DXaUrFjNzNu-tSP-tMkIm3wKkQ6wuRnfLuIkkCsWGmUG1Fhlx0yAKo_2LGvDKZzZop8voDOGNKKR666cFrkFcT7n4yM1FusdwVlMCjBaBvScMwD8AWpEfb2pcPNAebIgtLmb-2Nvw_TRILa9U137hUZm16UVk34_US3gkE-uskHYonyMMpw7E8VzpoIfDly1emQVT1cW0yGCh_d7oU54GjvglF4oEXFLGWcO_hkzoYXzg3nAeJ-2XpfPso1TC7bXn26vMP0Y3PA0ddHCyQXV2v6FjyKMPnyaQOCyGsdu-2ebLrW7xK9ja0tPalMF5ao7N8FWIvFC5_03cmeAb6e7uDRE1VHHgolmucm5ipR2ql6gHXUc2bel5w-GikaaBUm8ksRRWBOWrXhPGaV-QCnEH_Lh-2XQvrfFt_SlLlyTRAwhUdDeYY6FBoY5KS7s-m1qJtlagIJ0Es6RNyoEWE1XWSwijavm4cZh8NpwiPgbsLcfq5UHcAlB-B-nLj0TL6pY19yGSJrkT8Itnkg47en3FMClPv_jYHzxTxvpdlw6Hnp2UsLPEjZzJrMrtPs9WTGuKp5DQZ7-dNQ7aDDCBr-NbudabjI=",
  "id": "rs_08408f877836ab2b016ab2aa67201887d09ae4c910449ddc56",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.14,\"left_z\":0.17,\"left_yaw\":-0.7,\"right_x\":0.34,\"right_y\":0.14,\"right_z\":0.17,\"right_yaw\":0.7},\"note\":\"Both pieces are held, but their exposed ends would require crossing the grippers to mate them in these grasps. I cannot establish a safe, precise insertion alignment, so I am separating them to set them down without damage.\"}",
  "call_id": "call_pmATn3sVpwgbiE2nE8GXt9Hd",
  "id": "fc_08408f877836ab2b016ab2aa6941fc87d0954b86ce0c795218",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pmATn3sVpwgbiE2nE8GXt9Hd",
  "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]: [-0.1898, 1.2999, 0.873, -0.3771, 0.5175, 0.2752, 0.073, 0.1852, 1.2533, 0.7918, -0.2672, -0.4866, -0.3737, 0.0696]\nstate[eef_state]: left_x=0.3303 left_y=-0.1488 left_z=0.1587 left_yaw=-0.7902 left_pitch=-0.1128 left_roll=-0.1349 left_gripper=0.073 right_x=0.3306 right_y=0.1496 right_z=0.1569 right_yaw=0.7888 right_pitch=-0.0778 right_roll=0.0196 right_gripper=0.0696\nstate[joint_eff]: [0.294, -5.9966, 7.2547, 1.7363, 0.0513, -0.0415, 1.0427, -0.3487, -5.4632, 7.5692, 1.9512, -0.0562, 0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79dd5dc672321cc9df68f8d381dae01e33f90587cffd3854ffb4b559597d930b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b183cf51f78534b5fa4420a643ec0a04d26dcab2dfa36fe7faa88240bf913b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c2fa8446fe5115f87a085e998e3e58ecc232a010576162914aa964bee84e3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 105 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]: [-0.2806, 1.8263, 1.5097, -0.907, 0.881, 0.9565, 0.073, 0.3073, 1.824, 1.5181, -0.7368, -0.873, -0.9203, 0.0696]\nstate[eef_state]: left_x=0.3479 left_y=-0.2383 left_z=0.1767 left_yaw=-1.504 left_pitch=-0.0767 left_roll=-0.1191 left_gripper=0.073 right_x=0.3681 right_y=0.2626 right_z=0.1926 right_yaw=1.4766 right_pitch=-0.0367 right_roll=0.0019 right_gripper=0.0696\nstate[joint_eff]: [-0.3897, -9.0735, 9.9624, 1.2772, 0.8571, 0.3541, 1.033, 0.212, -9.7299, 7.6513, 0.5788, -0.6862, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.007,\"right_z\":0.007},\"note\":\"The arms are now well separated over clear table space. I am lowering the pen and cap to the surface before releasing them.\"}",
  "call_id": "call_oZOsCqWf0cIcJD16WPWpSOMj",
  "id": "fc_08408f877836ab2b016ab2aa7033c887d09705425eaf5c4c70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oZOsCqWf0cIcJD16WPWpSOMj",
  "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]: [-0.1902, 1.6726, 0.5041, 0.2832, 0.5117, 0.2558, 0.073, 0.1837, 1.6749, 0.4381, 0.4335, -0.487, -0.371, 0.0731]\nstate[eef_state]: left_x=0.3181 left_y=-0.1457 left_z=-0.0006 left_yaw=-0.7826 left_pitch=-0.184 left_roll=-0.1923 left_gripper=0.073 right_x=0.3201 right_y=0.1472 right_z=0.0002 right_yaw=0.7907 right_pitch=-0.1389 right_roll=0.0645 right_gripper=0.0731\nstate[joint_eff]: [-0.1299, -6.3521, 4.8479, 1.1062, -0.1245, 0.2173, 0.8132, -0.0889, -5.4222, 3.959, 1.033, 0.0806, -0.0513, 0.823]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3c25443f535e75e40b299733706d1a88a98b6ec1c954d1a11a2bab472b4dc93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e158e4a3156fed967c6e983a91116ae184af91793a12f98419ad3f25f4e810",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df62364558cd53e5969d6aec99517419a88483a5a4b1ef5bc317691ccc636056",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1898, 1.2999, 0.873, -0.3771, 0.5175, 0.2752, 0.073, 0.1852, 1.2533, 0.7918, -0.2672, -0.4866, -0.3737, 0.0696]\nstate[eef_state]: left_x=0.3303 left_y=-0.1488 left_z=0.1587 left_yaw=-0.7902 left_pitch=-0.1128 left_roll=-0.1349 left_gripper=0.073 right_x=0.3306 right_y=0.1496 right_z=0.1569 right_yaw=0.7888 right_pitch=-0.0778 right_roll=0.0196 right_gripper=0.0696\nstate[joint_eff]: [0.294, -5.9966, 7.2547, 1.7363, 0.0513, -0.0415, 1.0427, -0.3487, -5.4632, 7.5692, 1.9512, -0.0562, 0.0757, 1.033]\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 supported by the tabletop. I am opening the jaws to leave them safely on the table.\"}",
  "call_id": "call_aGDwslAR4ONQF3Ks6LbEPN8j",
  "id": "fc_08408f877836ab2b016ab2aa7983d487d099f1bc62796c2487",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aGDwslAR4ONQF3Ks6LbEPN8j",
  "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]: [-0.1913, 1.6695, 0.4995, 0.3302, 0.5308, 0.2554, 0.9952, 0.1837, 1.6821, 0.4343, 0.4713, -0.498, -0.379, 0.995]\nstate[eef_state]: left_x=0.3228 left_y=-0.15 left_z=0.0071 left_yaw=-0.7938 left_pitch=-0.1384 left_roll=-0.1789 left_gripper=0.9952 right_x=0.3229 right_y=0.1495 right_z=0.0034 right_yaw=0.8016 right_pitch=-0.1123 right_roll=0.0492 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -5.9556, 5.5179, 1.033, 0.0122, -0.0464, -0.0757, 0.0615, -6.6256, 4.9983, 1.0916, -0.1099, 0.0073, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f314ca013840480707a57378ad8a79931ed8fb43f5b1d9a96bc89eb948b9df2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b7d8cd0e3383b4a0046607539f71c5654b8a8e1b4e12f46d34cb8314275dd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe41591b10d04cedd48e33088fa6b649c7ea406bcdd4b7819418c0a7bbe12aca",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1902, 1.6726, 0.5041, 0.2832, 0.5117, 0.2558, 0.073, 0.1837, 1.6749, 0.4381, 0.4335, -0.487, -0.371, 0.0731]\nstate[eef_state]: left_x=0.3181 left_y=-0.1457 left_z=-0.0006 left_yaw=-0.7826 left_pitch=-0.184 left_roll=-0.1923 left_gripper=0.073 right_x=0.3201 right_y=0.1472 right_z=0.0002 right_yaw=0.7907 right_pitch=-0.1389 right_roll=0.0645 right_gripper=0.0731\nstate[joint_eff]: [-0.1299, -6.3521, 4.8479, 1.1062, -0.1245, 0.2173, 0.8132, -0.0889, -5.4222, 3.959, 1.033, 0.0806, -0.0513, 0.823]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0},\"note\":\"The cap and pen have been released separately. I am lifting the empty grippers away and parking both arms so the pieces remain accessible.\"}",
  "call_id": "call_UIbncB1tCJjUeXzG8DgCwbx6",
  "id": "fc_08408f877836ab2b016ab2aa807d5887d0affd1203445aa548",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UIbncB1tCJjUeXzG8DgCwbx6",
  "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]: [0.0681, 0.9264, 0.7734, -0.5594, 0.1844, -0.1062, 0.9963, -0.0418, 0.8925, 0.7406, -0.5106, -0.1135, -0.0368, 0.9961]\nstate[eef_state]: left_x=0.2985 left_y=-0.0085 left_z=0.1859 left_yaw=-0.0522 left_pitch=-0.1394 left_roll=-0.1825 left_gripper=0.9963 right_x=0.3001 right_y=0.0111 right_z=0.1889 right_yaw=0.0729 right_pitch=-0.1063 right_roll=0.0427 right_gripper=0.9961\nstate[joint_eff]: [0.3624, -2.6462, 9.4017, 1.5653, -0.105, 0.0611, 0.105, -0.6222, -3.0427, 8.841, 1.663, -0.0415, 0.1197, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f99a6b009dd0cf3fc0af89b44e31610ad67419111b1dde6da1db668753e6a375",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59d882bca5b2e1068875c7a15a60e42b65c02359d719c3ba54cf0000e1a1a6df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:116f2d342a3e2c4e5cafb33b4207985bdad3630eb0ba5561eb85f906ae311755",
      "type": "input_image"
    }
  ],
  "role": "user"
}