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, 0.7937, 0.6029, -0.3794, -0.0219, -0.0246, 0.9998, -0.0193, 0.791, 0.6102, -0.3756, -0.0212, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1797 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9998 right_x=0.2959 right_y=0.0016 right_z=0.1846 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -1.5248, 10.4274, 1.8095, -0.0659, 0.0952, -0.0366, -0.6769, -1.1419, 9.7436, 1.7167, -0.0464, -0.0513, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:382588ef1543cd045878ca8fb0d20b76d44e029a3906a89a99ae71ac3b567237",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e0482349753b65b584abcf1f4b509aa435f788f9c4e5fe70fc7f73d2a60d5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7476f6dec0fca5d8685eddd0f2fc03b52f7dbacf00c78f7d56334e77a0390c71",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsrv3pWM3lKCgsNpWcZkDSRlgMLoAjZ7FWM8XhvPeSRQJ3FIdnjwX5HDK851Cr4Be2Iv8_a051XcYqNDUXF5V6GKVGDiK021b9phkAkvgoGmJFoVHCnj6gTq38LmtzlMnGvAfssvLC0ySQLzY8ypefMw31JVRCg7iYQoAtsFRUaOtWMo7Rj3gDw2kRmzgHfciB-tWKwRP_jc0eq--TDG1-2LskbfLwaat-vU5ZaoF6s3mgPdMcfqirvMz-_I-gCQjm-yMvIexdXsRQhCDL33TlhMfY8Opxz7C-V5JtYa4HsUHax_uondw3OCNkEgXLnvfewoB8XktiUtKMqwocVTJOr9mp4r3lHygv5YjYCxAhvhNX2ExfBqWfZ1_w0ci4o7exCbUlZGMJGbMeWqtVdqplWurYQvVIskJP4BSP3_a5-5IqxJB08g71Qiz-ZJqzzP9-8pbBqbb_p45pE5Ce8KnFBhUvdYPRK7xuTQW4vQp608Jd3hBDK_bygl9hrD7CDNyhmXjBQK_f_rhrMljoG2JMp68FxDTO2Bw1sDaGyi2XNoVbB-1wlOsJAS9jcj6D61-QLhjwqo_Jbk_7_sVQdMrf2nwr63QPnsOhZbUlYYoDptoChvlRxEFpZfc3yBe9sHQM5CXZpqoOwGzkTwqoQBxv8rHS-DdDrqzxPJb1qZjSZWciqDzZ_XPipJBJM9PbLRDxdpniOCQvHvJC4hhutMO3qEg63oYrmpHalQTbb9QJ6aSa4Yt9VeKJsz5B_76jdexXj9fBqPMSOs11lPLBj5mMzHpf4-Q1xttmeZeKirZfkHUiPW-O2u6H3Iw9D07hQ97TKPHJ_5DecLDSWENj49WDL-jf5OWi8CJpDGzCQ2SnCfsj6GO8_FZx-awpVkLhGFDUEU2gdEhWqLYov0-72PBU1sCxq8KzDmEP1P6pQ0qlnyktNnQoVhwzTHb8TCLJvRvKLjk2lmHAQfn48hYJvxUwgy760D6nJAztIhZqnoxlVuZfxdDr9bXebHEmwJaDQ0dAbTY8A6AGBJT7omvu8NDfb_pYtfh_d_fRFFLYDB3rMu71wQdoihgOsgWvf8j3OZdxIAB35Oa1N7IFK94j-J9m4yRcF4x_NqcgiwDTyKUc-bcUScV8fcPRmzE4qnlYqcmRlC1ouWZP6NCIK07NjOyiv_IMkAgT749YCKADCfjqoGTbALBLq2UOoEibVVLqw_1oopMtijtAaZIny8xPXZgWpVdgup_peTaH6OUy355Bdb57PkD1ujUBd9SfNW1Q8iZNBHzUd8siEZbniozRle3EgYD0R6OZbpOhavDyVmuPr1iqaUyp4i3R7W_P0JPGRUZFs_jX09i-MxFhvb8kRPcxx8UHwueJyHX_KBQN9NDcC8jNp0-JdQHNg9j9mH1C3JPHRZspBHBQVs3W5IC9rcBaTMNw1R9iMn3F-xKGRubw9EqKGSDBL9K1Pw8ye-SJSehS8q-IgzGLusnrd_n3Iue_uZoHw-azvGyU2tVh2W8x0uUp3ozmKDis3NQkPhiPDCvsTih1LauuigZxalv4VeH9i-8vQNv42JDswcgaYEEyAPktSU=",
  "id": "rs_04d7c7b6fdc132d7016ab2bbf0e53887d08eed168df7fc072a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.19,\"right_z\":0.13,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The long pen is near the middle-right of the table, and the short cap is to its left. I will bring the right gripper above the pen first, keeping the left arm parked.\"}",
  "call_id": "call_fZ9O7WJw2T6EVmfa0AV97h5g",
  "id": "fc_04d7c7b6fdc132d7016ab2bbf4abd887d09ad7288e23f7afdb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fZ9O7WJw2T6EVmfa0AV97h5g",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0231, 0.7994, 0.6033, -0.3813, -0.0261, -0.028, 0.9998, 0.6472, 1.5654, 0.8562, -0.0105, 0.4988, 0.35, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1779 left_yaw=0.0023 left_pitch=-0.0079 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3783 right_y=0.1845 right_z=0.1137 right_yaw=0.0399 right_pitch=-0.0613 right_roll=-0.0394 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -1.5658, 7.3368, 1.7216, -0.0757, -0.0611, -0.0171, 0.2256, -7.0496, 8.4444, 1.8486, 0.5201, 0.1636, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0113046b7e6d168deee09f4ebcf3ea46fdac64198c704db6c752012fc1f5dd01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84e3e3e1b029a22b67047d7bbaea6d1a44e283bfd58e7924d8357b296387d86a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80fdc774f2bb72fe4b6293dc2b7b3d10723ec42a25ebf3e34dc76239b2f828d3",
      "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, 0.7937, 0.6029, -0.3794, -0.0219, -0.0246, 0.9998, -0.0193, 0.791, 0.6102, -0.3756, -0.0212, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1797 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9998 right_x=0.2959 right_y=0.0016 right_z=0.1846 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -1.5248, 10.4274, 1.8095, -0.0659, 0.0952, -0.0366, -0.6769, -1.1419, 9.7436, 1.7167, -0.0464, -0.0513, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwBoMqQcaCZveEkJJ6GWbTETU2bbo9AJBudyF9JqyopeT0ry2NUvLNje7wsLrPQ1xQf-uPKp8aC8Se8Ysx7n1tQmI84NM7QA5uUAKDWdnyg-_xbkryvNTy0qCxB437p1i7pnIHTfxGnFXLLjQ8CJjnA7UzZDhA1DKyZPjHT3PbgY4z85KXB3hlfGtlk9FGPpc2EiIHJA_TQz1ztxdmLKl-cIX2PLGsSiL3D8radEX9rocIut03qMXiAso_eqhcEfLVMa0YiXG0w-O2cEn8rMnq2YQV_o_5hE4h3hmyrxIrrlVDfk-9BLx7tSIIOuyWzQAHQo-yl4g77rDjvUjcTqIxAbJI96vz0Czbaar1oCPhEba9S94Y9FqGXRueqRLBRO-U_DthWDitjjpUwtyQLXQ-PaYSH7-2BsFvzZCHuPaZP-FZtX4eQwtQE3hgJw_ksYgBVTcHuVhzdAX7o12SptzkGllUVuSyNMc-em6IlFdNnqm3w2l667yV1CPG6doIVp1imkDCKVk8XcLnD0C_gQhPWkmCDMXa4RPlXlpLkcEMKQ_msmD_HRJJ_RoZFiua7w8pqL6sYxEtP27ALxhzOdIWBOBpPe0VnwLSpoZoj5r_D2Cl6ydHM0fkZuJT9dJF-EJkNZa2P7C20iWvEFnpLIDkAEuCo6PfZh0ro5XV1bTcrHYJejauLn5Cgf-5e_LfgMvbyGhRM27Me48W8v1Q9R72mWuFeNVVZHrPVBtl_kpc8oqGYU2bjUBFhTf6iwcqaJ0Tp3U7y8Dbdjgi5FETVLviR4at4tmUM9lxikwxH7Dua7iPZLD3KS2rrMr4Ru5O7isTCoxlxApUkUDLSGPRpn69COE4qSQp03aasMK_uYOgH_wjaMn42FHk5Dul7TMAcFFRAA8CljhwjC6uv0lGGhBtWTobfykl2WI6_Zo7TGV_oANJXhp2XNovlxjBlDUiM9IvkS7-DJ5yGpY0FlIqry-izD3e9NTDnKmTKGUY0guofHw6ss7R5QY_bn1ZNXFY8CZrETX4qmbjjny3WwJ4m3Dok4wenKpCaCvIYFnSMR8z3g0lPMcvwb0VE8ePQMX7rcBe6KzeNkYfPMxqpHmtjk4rUcN8LsjQotAjBap__ZdCgb7vfWA-CMEFPuWhDXRdreKhyVPrP8J_Ml9FHfLaPI6UVIZ4saul_Arfp0KsssX726vg8Gzr9_Fusq9viwtzbniUdum_mvVDrdou25PF3LZusq1XkK5j8TOsR8kMExPKXyVudNq2iKLeCrc9RGYx7Vq94biH6M5HxstSVWO-lG3VlqZqgHz3g7L2ykSynoa5an6SDdOMbICUABPFuTacIOK5jjSGLYHmEjRNBgVM5PH6v-HDdnddk3VEvOA7gINikPXL6laz9XBZf9gcFQ2hHSNcl7KSmyoRPcnrc1q1Qnni-yvtGuufLzvd_mMNCcdG_OFsEYv9WiiWCOB7BNIlMh5GPmyJkTD5w0iubX-TsMbwrFuOgGoFzGcBZjfJixTW8qAAczPAAzJiaDpnP7PA2JiSbwyGmJ2edka72YfAM-yFO1QXdPSg9-diQP8xHjW1BcR6HDSvB9q7narMs7VDpHdIyYilClt8pXBdxMeZRTXzfZA==",
  "id": "rs_04d7c7b6fdc132d7016ab2bbfb743487d0a16b163ea0ea499a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.19,\"right_z\":0.045,\"right_yaw\":0.55},\"note\":\"The pen runs diagonally through the right wrist view, with its midpoint near the jaw column. I will turn the jaws across the pen and lower toward its middle.\"}",
  "call_id": "call_vBKOZ4nKxmdw2t4TfpC2cIlh",
  "id": "fc_04d7c7b6fdc132d7016ab2bbff73f887d09ba492893a662c4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vBKOZ4nKxmdw2t4TfpC2cIlh",
  "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]: [-0.0265, 0.8032, 0.6029, -0.3817, -0.0261, -0.028, 0.9998, 0.3965, 1.7638, 0.7319, 0.3176, 0.0338, -0.0185, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0004 left_z=0.1766 left_yaw=-0.0011 left_pitch=-0.0125 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4015 right_y=0.1655 right_z=0.0302 right_yaw=0.3721 right_pitch=-0.1578 right_roll=-0.038 right_gripper=0.999\nstate[joint_eff]: [0.0889, -1.5521, 7.0769, 1.6972, -0.0122, -0.0317, -0.0171, -0.5812, -7.7197, 6.8171, 1.8193, -0.2076, -0.1099, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61e2f12b7391e287530a91077a8cbbf0e4fac3f9544b248615bf2394b677ee49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0472fde5c44cca965b6131a226154b2b74d54eb558fc973a473186e515f63a5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2f68343d0ecff8fcb2cb64252d2089b2c34c5eb5edd60f1a6eba936542b528",
      "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]: [-0.0231, 0.7994, 0.6033, -0.3813, -0.0261, -0.028, 0.9998, 0.6472, 1.5654, 0.8562, -0.0105, 0.4988, 0.35, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0014 left_z=0.1779 left_yaw=0.0023 left_pitch=-0.0079 left_roll=-0.0004 left_gripper=0.9998 right_x=0.3783 right_y=0.1845 right_z=0.1137 right_yaw=0.0399 right_pitch=-0.0613 right_roll=-0.0394 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -1.5658, 7.3368, 1.7216, -0.0757, -0.0611, -0.0171, 0.2256, -7.0496, 8.4444, 1.8486, 0.5201, 0.1636, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwICkxMI-NfQ_pOobN9tchzlNWJSYv6TpsKicQciXDqD3UCXH5yo_A_zBXF0L-IjJos8bqy_-Ddm9eyEGorV3aNDoowV6J9Fk1FwqTdYcYoKG4XDyZ7GdF-Iv5xALVtV0OQrUlyc8baFNZDoLuGA3ty3YMICAfDEiA7rn2s7-rrUPvHVAHs-tYBb3LeQRKtyRHrB8vtF9ntGjmj955MhFuRLriWx3OyQ_6CTdugvF8rv-flxQpu9Eu7ajiRazzoWV6HCNKscqAAQEHm9YRGIDmFKrU3Tj_t9puhGaoe8rGOsAZcU6OumS_OdMhnM7GDHQ96mzAl3iRVbBhU0RboHcAAhvG5RtVzHJqguzz6YVtwMSsyvyOlgu1oX34hSLsmymXc4Ab0IqXiUSabN_S5XHc-u42eXTl_fDmkU2Tq9Uvxmb2iJa5hfyzXdD1c7DHeo6f7v1BC1q0Ob1IAMq9HrFC-FuCNOVfzygM9HZiujF6B8Z6wrPW0MvM6HTJTwEyG5mw9VLDrvO39EpkZoK-4bkpv7C7LYg3uqZlbiwkcWLIj1BiHbuuAeJKGB3ztbqASvwO09Xj08OvVqohS78FG4MzWabjXleD74ZseePp0hQvCLyYO9cxk1cnrPvaLp7RjgM9IhTvPnvaarID-ByM1o5LmS26gqdi5D9NNtG6BMQCfrM6s5E1ySkx7r6BqPia5GVNt2YC_rM3el0RxnLSRBiMvaKpMB1BDQCE5gyqA_SY2ZKirj5pdQ4qifZTwOXhcJVAVPfGqNqF5yBXprwZSLS9cSDN3Vo9bM6lkntvhgUEMDPRQJLfr0DSLhaYsFCXBdL-m_OxHV69vqlFR2VV13t5ocdHaYEehYbiMXq35Hm2jlHH07sCJhWPrvL0693rZNFVnAO92eQ02HlvuXnOEr-2qzjH5zxa7qIitXS1Yr8dInAalwbtO3FPFYmpszP6KW6MROu6jyv-PyNtVXB2oAAzgH0Jq_b5RUjmEV0fOWsMWXMtYrc1lmbhGcEjDNQeC_U1n2pcTWWmpjb0GGLj9IVhWkghUBdlefn92DTjCzKkJH2qBO-t3GwRUXgx3swmNhickJm9e2bUaQv32pT0i_GHpA8Ou1i1HyoDgf8FPlShiQSomUBkHse1tOm_zY3t4KTJC_rMt2zPCpJ-K5M5PbAVS2oyJuckphvDdTGvDATGxAx4GHjkU5C70INj4jTM02gwfTWwPM89JpMuuxK4-IeX1IYaFM1u9LBu4aM8Fik3KKSX9lo4G1SB0oivcN9LSl6Bijawt5J4fyuVUZFxa6_RCqTQKBdw1zC-O3z4t47aRfWw63epLC_qQkP3EnHMyJhUy8u2WkSoVgRMcD05GVv2Z2LklFIC07aY3LgC_EQqtU9Qjty3TGa30FZFUDpKgBestdBjx__GzZY9pGnxdc3N1n0Q0P4QVNImVBpJaWlmswSQ=",
  "id": "rs_04d7c7b6fdc132d7016ab2bc039e2c87d09ce932f7592a9c8e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.18,\"right_z\":-0.008,\"right_yaw\":0.4},\"note\":\"The pen is aligned between the open jaws, with its exposed tip pointing away from the arm. I will lower to table level to grasp the barrel behind that tip.\"}",
  "call_id": "call_8WyLy5oNUxt6NKP3VXBEpUte",
  "id": "fc_04d7c7b6fdc132d7016ab2bc064a5887d09eadd8496b472db6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8WyLy5oNUxt6NKP3VXBEpUte",
  "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]: [-0.0265, 0.8051, 0.6029, -0.3813, -0.0261, -0.028, 0.9998, 0.3752, 1.7916, 0.7319, 0.3996, -0.1169, -0.128, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0004 left_z=0.1762 left_yaw=-0.0011 left_pitch=-0.014 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4043 right_y=0.1852 right_z=0.0348 right_yaw=0.5375 right_pitch=-0.0987 right_roll=-0.0312 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.4701, 7.1453, 1.7167, -0.0513, -0.0073, -0.0171, 0.0479, -8.3487, 6.2427, 1.8535, -0.105, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:707c3d4abdbb1fb95ff0ffe7f4bd47cb6d31487aaf72af9e705e1172d1c489e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:375843643a1f2f275fdc2947ac5e5d3c9eac0ee40e14afd0653f127cad20bd11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7991b181f26e5c95193c8c1f3e1b08e5ae6090bd1ade2c24f14b5b499e4ec1ac",
      "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]: [-0.0265, 0.8032, 0.6029, -0.3817, -0.0261, -0.028, 0.9998, 0.3965, 1.7638, 0.7319, 0.3176, 0.0338, -0.0185, 0.999]\nstate[eef_state]: left_x=0.295 left_y=0.0004 left_z=0.1766 left_yaw=-0.0011 left_pitch=-0.0125 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4015 right_y=0.1655 right_z=0.0302 right_yaw=0.3721 right_pitch=-0.1578 right_roll=-0.038 right_gripper=0.999\nstate[joint_eff]: [0.0889, -1.5521, 7.0769, 1.6972, -0.0122, -0.0317, -0.0171, -0.5812, -7.7197, 6.8171, 1.8193, -0.2076, -0.1099, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwOjqE_Dq55ERSyDYuRLh1wH3FmEwPCg-sbMsQJwgmF7cF4BMlGTLu53Jnsun_DCY13MtX6pmCBAE-QjBemWGSSyI2XwLbOJi0Ks4nrEWwVUTWStVWBG2GNewyHDGmOT01kz2uh3orisKtNjCnT3aQRK_IC0kH_4ISN72d1E7rKq_rI1j-4WwFdPqBOo2vvF_9dFJmAisxcGB4X6V4bRkT-aAHWrN9V773K6TBFwla9LfX13u8yDkI5luSVAi3R4nuFs8muChClULW7TJYlnHKUTrkdSDX3Mr0gBcykOh_xfVP7OqnYUySpgBVxgrEH3W505Qtulaw19C9mqpXwic1AsMADV1hmOqswiXBztmRgp4nhnwD6TfNTGwMGJo-6_Bi55KhD4-7Ph8Cbk8-3brW-xmJnRt5V5hGNNi1s7iTNMpmMO3Pz-ckJfBMavP_CGPAMc7dATkSUEL2qGKCZ40xDGgaZHqn8oZbOGxrq_R0kezlmXb-bexqEb1m1xeYPxvx3iGVhnXrQZMQ3ZYWS5Ml_hjlE2E67HrYUN716LHL6hMP_gccYW9X8yUX_LUypm9PEEFF4gWv5ekJl68yQ2IqxYEG4SClcNAWlk4H6CfA7DkVUkrQ0koyb2jQkuaZi4WvSNnEHaC9W2gLgUV3dfXLtGku8WSAK9oy8uQNw-1Zh2cpvUb0NRW7IkKW7gB7kO4lJg3dPQm40N40yCz4iM_7wfCDBdmgVmLVyVHjSI_qUhmk9wHJzmWJJa6OsZgTWW2aqudCTp19nlWdMUUhEBj_Nq0KTPjkOFRQYNqUYrr-ZfVEPbC65Fye1-YzDCkSugkZEyrWcrtYeqiMV3VgeIjNpHXl9WE28JMfX0Uc1_sX0InEGwFgbpgywGM6lkymTzcAQiwlJLYXP6tJl_O1ymGNGEbI4AWwA_L4VapxYVmmvqCbJi2lA1W0cAb3jBXEQbsYDu1tc4Sv0vVaYqre2bhx-LFSjoLRkJCxHC8qx8s9-RCvP-nhv_Kr6QRB4n1-oryHm5_gEcHRhawQqsVO9jsrMjc4AUrpx7LF6P6FxTB0jNG8VBPN98gcr8QB-e7L3zW3wepGca-9qFGUQhT7Btg11wpD09Qt4lRjbomGXtORiUcdFWZi-2K_5md6WS_TsycTBwnjyFRLNdJMYn98qoDGo4i2Wo4N1dL3sR-Zd6GJ5FQnhaYQYe_d6FXmBNqxoEycPXOZbrePW5pWc9fSJVuj7ONUxI3inwvPxr5kMr0mogwivPAvz39-EIEh86mkshmTlx3TQdNOq7Y1qrJWjooqzDh-pemmErlcuZMB7gNvBYfe1J7U70EuyYJ5ruQI1_FfbfyrhiO-VWs-az5BsP6EkFTpzpTWu0v-R2VqUO3AXBq4M5VY6DyfyRE94DEKe6lHhqrMSVp6PvGjBRcxl9QKk9D4c6O0kPvLuRl8hzUtkw-GVqMvoPcdxBAV9SnxESDnZLglZ9bMkFnt_L9t90rMRXQ==",
  "id": "rs_04d7c7b6fdc132d7016ab2bc0a157887d0a5db566813541885",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0,\"right_pitch\":0.1,\"right_yaw\":0.5,\"right_gripper\":0},\"note\":\"The barrel is still centered at the bottom of the wrist image, but the gripper has remained a little above the requested height. I will level the wrist slightly and close around the barrel, then check the grasp.\"}",
  "call_id": "call_UAJsdLnGPVaS8DP5kBXgzqYm",
  "id": "fc_04d7c7b6fdc132d7016ab2bc0c9be087d0b393984db3125b4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UAJsdLnGPVaS8DP5kBXgzqYm",
  "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]: [-0.0265, 0.8089, 0.6025, -0.382, -0.0257, -0.0284, 0.9998, 0.3794, 1.9644, 0.6102, 0.7856, -0.1135, -0.1017, 0.0132]\nstate[eef_state]: left_x=0.2953 left_y=0.0003 left_z=0.1748 left_yaw=-0.0012 left_pitch=-0.019 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3996 right_y=0.1847 right_z=-0.0026 right_yaw=0.5241 right_pitch=-0.0083 right_roll=-0.0256 right_gripper=0.0132\nstate[joint_eff]: [-0.0479, -1.1829, 7.1726, 1.7705, -0.0757, -0.0269, -0.0171, 0.4308, -3.9043, 1.8667, -0.1685, 0.0659, 0.022, 1.1209]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b63d120c52139e2deedf950630a70b690e7773197b78ef3147c6fc9181781adc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a971bb9cc21048ea7cee2baaee27d2a5851192fafeb51cd1c8a07b1ad774554f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d1b3a6b543d202f28c1da6b35cf7dbbbacc4a82accfce12a5158c6d38f11aa",
      "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]: [-0.0265, 0.8051, 0.6029, -0.3813, -0.0261, -0.028, 0.9998, 0.3752, 1.7916, 0.7319, 0.3996, -0.1169, -0.128, 0.999]\nstate[eef_state]: left_x=0.2952 left_y=0.0004 left_z=0.1762 left_yaw=-0.0011 left_pitch=-0.014 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4043 right_y=0.1852 right_z=0.0348 right_yaw=0.5375 right_pitch=-0.0987 right_roll=-0.0312 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.4701, 7.1453, 1.7167, -0.0513, -0.0073, -0.0171, 0.0479, -8.3487, 6.2427, 1.8535, -0.105, -0.1245, -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": "gAAAAABqsrwW3VBN2ApTg4g1hVErQAa3Ldv6IsoFI2vqWN8sD51VqhivtoCoRMl-7qrPfR7oF2VTFDWX1d0mkxv_8MG1Lp8kZkipKqlKPOkUdywdklhUPZukcKS7WPyoyxLB0U9VCc5mfz_a3gAgItg0ew4dicbzUp2SOxrKfFmSprvpHjDtgS0UiLAmJIW7ia2PnvzhEXpUWUoOrvBT2lqGYNW1d38vZbBMgLXowKxH1nh1qDDXpCQvtR3KR9Q6CyQm-xP_yBMnMmQmu51FE-HD6oznJOOzzZwEKwHNKVWn5fpUJEwbdzDpt2XwoT_zqTosUABNwCi3sxAM4J0DKnFW5ZzScEDARVcIz-vcax1q1UoAr6Pz1x3nW5vl1-yWJA4tBkOzAu4Ey8ViPidVlJGLU3FXu3qQH9wC_ZA5i1HmN7avRAfW1GazFC4IjsDF20JJ93545QKm7IiHHLvx385b_1nKb9jggng3jpIvB5OF9DGToOdAyiAo-w7Ggkaf9Nl71-rEMbPzvyCrK5ekW1fdJAJLxbfoJ_1NCvjrSfxWycxMBF8J8MMHBDrhLN4A90iClkXFPzsRanNGaxd1tPuXpRWug3BzUpcG6EI-Sw4bkEhfOGveUdhoQ3AwzBwF0OL5q6zYB_2RxFdAQKDTpYJres9zV_7OjbfNllGVbUfgVbh7twXWaR9mWN-aMIpPR8Fr3usVv0dDHnrGw3oT_CVJApSQedFtZLglizqHCL4-3xkYIBS9sQEMhC7fM6u2R3rd8R-RMebLIe42LjgCt27BIO-fLcKOBbzQ78HknY9auingdhCzwq-TVY8MXFlP9He5pKb9IUwybZcE5OWoWMmTUrzdMEsNi3bZvvkw0_n9MfG503mCHoADtpeGG6R-NxcZ1DJoRCUWt6GHDlUz0w15dgDRxc_LNhFfssqJUJlmRVjFxiSvRkAA6MKWHFG8XD98VsHpo_lHZPRYAn-2Z7oQDDFDL-XOnRO2T7vkIv7wns8xa41EM9mVz2r1E_YikGYX30ZvYsoUlvaxQoxvcMOffZjLmFGGv2LOesjrZZ-iuUsbNDr9NB2pOgyR7CXXb1TpbEx5p67qg_A1sOxc-2VduiA7lQxm_04oxbZs6JfcsdPS4DYAc_PnYfd_ZztWN94QhL37lcKNa8v1otn3FuZeg1XWS7XH69AcnnfqYaEsE7VLbWBWoP78dh2DRvu6Nxc2STWECpoLg5cUgtnVLRFy5oFCehp3VQYUXPQg6Q8vAX8kTMDbWF-O0wrUpGyG_uPHlDbOHZfw",
  "id": "rs_04d7c7b6fdc132d7016ab2bc12dabc87d0b4abc60ae41737a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.55,\"right_x\":0.419,\"right_y\":0.173,\"right_z\":0.012},\"note\":\"The gripper closed almost completely, so the first grasp missed the thin pen. The barrel is just right of the jaw center; I will reopen and shift slightly right and forward for one retry.\"}",
  "call_id": "call_mQQ6OzcmRBL0y1Z0mc9D7rsy",
  "id": "fc_04d7c7b6fdc132d7016ab2bc13bd5887d08c38a7b38748c5ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mQQ6OzcmRBL0y1Z0mc9D7rsy",
  "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]: [-0.0265, 0.8089, 0.6025, -0.3817, -0.0257, -0.0284, 0.9998, 0.3305, 1.9617, 0.6624, 0.7197, -0.1566, -0.1318, 0.5456]\nstate[eef_state]: left_x=0.2954 left_y=0.0003 left_z=0.1749 left_yaw=-0.0012 left_pitch=-0.0186 left_roll=-0.0007 left_gripper=0.9998 right_x=0.4145 right_y=0.1751 right_z=0.0024 right_yaw=0.5277 right_pitch=-0.0155 right_roll=-0.026 right_gripper=0.5456\nstate[joint_eff]: [-0.1299, -1.3333, 7.2547, 1.7265, -0.0464, -0.0659, -0.0171, -0.8957, -10.7145, 5.7504, 1.619, -0.1148, -0.0269, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0336d1c8731e2873ce7540d681ec52a7be142fdd147e4f8bde1a154ba634442c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feef3c2864e4d74395c928f04d49dc64033b5ea5a7dda7c5245a0b4d0278943d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd2714882fa94b9a7d0bc57cc6dda6062fb73295e552b0027c4c4c0d4e2be189",
      "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]: [-0.0265, 0.8089, 0.6025, -0.382, -0.0257, -0.0284, 0.9998, 0.3794, 1.9644, 0.6102, 0.7856, -0.1135, -0.1017, 0.0132]\nstate[eef_state]: left_x=0.2953 left_y=0.0003 left_z=0.1748 left_yaw=-0.0012 left_pitch=-0.019 left_roll=-0.0007 left_gripper=0.9998 right_x=0.3996 right_y=0.1847 right_z=-0.0026 right_yaw=0.5241 right_pitch=-0.0083 right_roll=-0.0256 right_gripper=0.0132\nstate[joint_eff]: [-0.0479, -1.1829, 7.1726, 1.7705, -0.0757, -0.0269, -0.0171, 0.4308, -3.9043, 1.8667, -0.1685, 0.0659, 0.022, 1.1209]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrweDu07n0uNP7ODZDIemMYJkdx13mcRjWoEWgHeT6AaPdVTiREQljUhOUEvEyDc5O1WoO6zWT_712cb-7B3aTmuwAsyoj3VZhz_W28KqBlZ6Y4YBVOETanI4Ow2PsHjn7qsVFVZIhcFXh7AigCXnly7axDEOgfrTl-96_5X2JIS-7iNk7wgjtAmCzRKAw_WAeTRx-Fa3iEp1xYJLbK-Vgccm_A085hr8nOMPh52FslHviGmo1qes8-MvLS7bPeFISWInpvNN1_BLlc5ycYI8z1EKo7YhPb5hrk76QGR_vbUvtvjp-PrG8-hr4i6kQWGEe8jQIPorcFXPewAIRqtD349q379tTEgtA4J8snjeqT9wDaeLBk8w2d_VluxesGwY8bALsD9RHFzqk27GaShdZFMwySguvLKXTPh-8zhoKqzWtdQH9QV2TzZrE7-PWf14o0ZK0jwINk0GJECj0GqnntNcAdhpm66ez-D4DG0RY-KoBAMRxqIk5tYpIyIFSFNDaalNV3RXVO2u6Q99TWX9S6IPkPX48G3uYYuXD_I4c4gQXruaRNZT1mNueZzTmIfysbgYJgNePjM5My1MguOKJw7imjujswvpjnN6VYLZr4uJgbr0Pl71h_AM6lli2qtc_6MgwNKbEApapobptNp9wHoOha4l47gF73gE_QR-PTh3egAYNpUH-Z3U6JCjFs8QwZIYJbi5PqJkLuoDOu9qqJSSc2D3VUV4nnc0UFWtklukQJhiwbFcg4SuisGiaogB-bnpxlL6e8oAHtCgvzQDAsIqV_BSWAictbhyNTapprNgws4uTqFYVUtfuYTGNCJmUlK3n91FshAiRThVMz3cdrK4n0R4uieuoftXyhK7OQgFqh9H35i1L2jKFGyzPGwZa3i76hLyfmjrm0M9tr4ga-9LTvZCki5EV6V8VKe5A3zDIO-O6F8lo1euI9SbUVodTUnZ5c0pQ-vvR5R7AGsUYT2lPTP4Y2Traa_u56vH2sfK_pO5NloPqx-lCBYoLFSMtFrEGV2fAr_lom0fZWuNVgU9NquVxG4L3Z1Ss-KFhKeQIw_KKxEbpSqnq8EmrVsUDN9jqT6deEV2ChIHPzV_sZWdIMzFt3hLOpq-0lr8JcsEWialDxoGDorxLSZV-390Oa_Gabm7Y04C4wxtYOx7jdKwi8JDYETuKkE2kE9i7ytX8M6lg5cXjVyiYQ31YU4661pxVvHcEBCbD0WPtdg4Rc33PMaj88KRqvL1queenbn8VpqYcOeIxoPRGGN2hsiiEdtSg4yjJzAv91LKz8y_zeSv62SkNRF6wH03PROZUwsPPmOAcWUHSq0Fk85FzsuCVkOPobc1Y7825vFwiVYB4dOCLGWmjfVyj_btCB2bs7hhO39WMh3JecF29r7Ju6en2ekq5J17uqxTMs_qG12vN-SwbsVHB6I14xUZ-WHClJCle1-nCxdFK9ppsQwiqQxC1pe3zU2aFlmZgGlt64P1vNUDbaDVnT9uB3LBqUde2adDFT-Qy9Wx-rIAmrQkkC9r42BptxjDmp05hqQK1hVIlOyHOCBvZGU9I2TnvN-TM_HX6E=",
  "id": "rs_04d7c7b6fdc132d7016ab2bc19093487d0a6c8da483be42983",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.422,\"right_y\":0.143,\"right_z\":0.008,\"right_gripper\":0.55},\"note\":\"The pen has shifted to the right of the jaw column during the approach. I will slide the open gripper sideways to bring the barrel between the fingertips before closing.\"}",
  "call_id": "call_ocLcO2aPmoajFHMkCEZqSOji",
  "id": "fc_04d7c7b6fdc132d7016ab2bc1d99b887d084f9f9c3b88e157a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ocLcO2aPmoajFHMkCEZqSOji",
  "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]: [-0.0265, 0.8116, 0.6022, -0.3817, -0.0257, -0.028, 0.9998, 0.2447, 1.9533, 0.6636, 0.6945, -0.2192, -0.1715, 0.5485]\nstate[eef_state]: left_x=0.2955 left_y=0.0003 left_z=0.174 left_yaw=-0.0014 left_pitch=-0.0217 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4216 right_y=0.1486 right_z=0.0023 right_yaw=0.5156 right_pitch=-0.023 right_roll=-0.0219 right_gripper=0.5485\nstate[joint_eff]: [-0.2393, -1.4974, 7.0769, 1.7411, -0.0024, -0.0757, -0.0171, -0.2803, -10.1675, 4.0, 1.58, -0.1685, -0.1441, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57fdf27bdff0573ebf3be8e82986f4106eec740fb6edbe88877da307d167db33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a481052f21f775169f4b38e3d3c93d0665b542b5ba8ba7c6b42723ad0d0cfc4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155890c7c55afe5d38f6716a85e53a7e23a078d8881279b826daa4fe7888e728",
      "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]: [-0.0265, 0.8089, 0.6025, -0.3817, -0.0257, -0.0284, 0.9998, 0.3305, 1.9617, 0.6624, 0.7197, -0.1566, -0.1318, 0.5456]\nstate[eef_state]: left_x=0.2954 left_y=0.0003 left_z=0.1749 left_yaw=-0.0012 left_pitch=-0.0186 left_roll=-0.0007 left_gripper=0.9998 right_x=0.4145 right_y=0.1751 right_z=0.0024 right_yaw=0.5277 right_pitch=-0.0155 right_roll=-0.026 right_gripper=0.5456\nstate[joint_eff]: [-0.1299, -1.3333, 7.2547, 1.7265, -0.0464, -0.0659, -0.0171, -0.8957, -10.7145, 5.7504, 1.619, -0.1148, -0.0269, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwmIIYdeqgxN9ayfcNtBx6SdpazWlz-gspZax4hic0OwBkGti1jsPQ9l9p0oLymny9pozdDyMQwl2V0guATRgQ5RiiK3VkRNHZ4DgpeD4K5vlXRVClAbwBYDwgIYRC0Sj-QKPWjhWYh4DPuK9p2K4B6K1q-UWmF1KR9x8-FJTUI6UXhLwpPo1Gyntni1XWeOzRL7lOnj3BkvquOs-YkQkCzp1SXG4ctXTpKA8tLPpY9oQncqZB7b3e5tr8uGszZdWMAwPHp5bUzNto03i_HmY5WWVoeh_gy_Y9MWEZ9lnZbx6T_j6Z3xtTDM94lJT7s8EXa5Nj-CYZRLbSTAft5SvJoHt2idb38NzqDB0MRClA22KCJTEqDeAgNH-_qmf8oFO9mewD4i87kVP4oniZ89nS9KUvPg0mvd8AqzFGcT6EMKvhcMA3xeRNN39pD3QsMTzSV0xpxR-n4MhOd94s8jjn9ZuzUrevXUgOZOgcRgBM708bTnk1kat14o389NfGkUM9nSoIBTUhoqyw0ntt6QUkT55jxSA_aig-TWK5T9PwqcF4bj9epowOAtf79gT50y9afLGRasmFT4fEK8d85orcyEevdyxrjIDyRk-XyYFKGQkcQX_aJIhdeg39EUoxpE5DAO0jCiPksKML0Iu3yFJQGbmD3kJl2FWQDi0dl5fAfxbSzZors7Qw-jQ1J7MSO6Ccn5HjPndA_Tf3nBDumtA4s5XGrsVo0BWo3dDPo7QawmG5IMRLrwbQGIVtyRhbSPpzu3QfLetAVhnzeh5Je8h5NkNJ4NfbBF58M6m__bud-jE-oC7peIlSRDvwyDzNIxpjhPHhn1IcguYoV-euWeeKoAyWfhU8BWp6HQ5WUBx9zP4mGI3lcXtDqxhOKCWulmSD-AjuvXw1SQSHmx1zjfesscYwvDrIm7usCFKUgG6pZgHO6lzKkgzeKtIBWDrTz9BRJ9TYOn04Lvvx2L6MQ8lGrHV7oUY3fH_e6UN2C8NtuMsFSJbsoKvhRSGCav6YeorkeTYMLBJmPlCtj9QDV3zF-HFmHkkvLs3RcufjNv5eU7Ry2SE7c_o-6DaGjoF2LSF9z2v1XBpHsMYBCoPKy9HKS7WwLvKV7Noi7AJ0_dyWsqxfaJTEDFVo7oK1dZ1snLU68XnC6tWXmCzP9E13EsRHe4cDwhx5cjsvoPg8xj7EMC8whWVivebX_yEAlKrKtkmOuvMy8VEopkuS0RxeLxcGsas2nQYvcMKXUVVfxwT080XUB92Zm0CpSX3h_FI_L4OnB-wgj7bt7Abs93HHnvcLorPl8wxO7pmFVLdrKRC7sRHN3aOAo8cVkyHYLy32YVPDutB7esa5K82P53kn9nh36e0X3ag9SU-0Usf9NkYbJfZVhZH9ii8d5TOr7rmM-IuY_aBIcvacZV_VT2cmms0icMw==",
  "id": "rs_04d7c7b6fdc132d7016ab2bc21ec1c87d0a61baeede3f89815",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.116,\"right_z\":0.006},\"note\":\"The pen is closer to the opening but still lies along the right fingertip. I will make one more small sideways correction so the jaws surround it rather than push it.\"}",
  "call_id": "call_fzZZNXYDMD4Eq1TpjeIXJtAQ",
  "id": "fc_04d7c7b6fdc132d7016ab2bc24ce4c87d0a49950e5d71af51e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fzZZNXYDMD4Eq1TpjeIXJtAQ",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8127, 0.6022, -0.3813, -0.0261, -0.028, 0.9997, 0.1555, 1.9533, 0.6765, 0.6678, -0.2871, -0.2165, 0.5484]\nstate[eef_state]: left_x=0.2956 left_y=0.0003 left_z=0.1737 left_yaw=-0.0015 left_pitch=-0.0224 left_roll=-0.0001 left_gripper=0.9997 right_x=0.4299 right_y=0.1216 right_z=0.003 right_yaw=0.507 right_pitch=-0.0245 right_roll=-0.0188 right_gripper=0.5484\nstate[joint_eff]: [-0.3624, -1.4564, 7.0496, 1.7558, -0.0806, -0.0806, -0.0171, -0.5402, -8.6085, 6.1607, 1.6679, -0.2027, -0.1294, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb5d3a0628f2b632c0249c828587b93e0dd9987c78bc97b81ee2396baa54bf04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c111b31709c0a091fc6e5f53d1ff5781ec1eb8bd9b649724cc05e034acdd419",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:130d59a51008cd719a4f335b9f56a6ee789510024e1940defb23d482f0767d82",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0265, 0.8116, 0.6022, -0.3817, -0.0257, -0.028, 0.9998, 0.2447, 1.9533, 0.6636, 0.6945, -0.2192, -0.1715, 0.5485]\nstate[eef_state]: left_x=0.2955 left_y=0.0003 left_z=0.174 left_yaw=-0.0014 left_pitch=-0.0217 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4216 right_y=0.1486 right_z=0.0023 right_yaw=0.5156 right_pitch=-0.023 right_roll=-0.0219 right_gripper=0.5485\nstate[joint_eff]: [-0.2393, -1.4974, 7.0769, 1.7411, -0.0024, -0.0757, -0.0171, -0.2803, -10.1675, 4.0, 1.58, -0.1685, -0.1441, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwtjh6I4jrd-Is5MYdELwQ4KyTo2T5QwqCcNLcc8qNHCf8VjDNeRVchP4nz16UAJVjlSX2xRtct8V2dDSRjfZtSFTKiDNGAg9rnmuBpNrrNnBbuq0QQkyy27LqlCBDoUPjzeM_SWJlaqg5Lvh3s6j2XycssudWPZzzKaauTi58OqCY_Ls_MWB7VF5cb2R71eHolSZ2U1oms5zfpratbVbGVRgUHNcCfqrwsX2YNgr5E8z3rA_HGwx3ETwO5QX3EQB4M-NTdsp1u6oDrCWcLpxjnxi6pOF02noXoe6L40fOPufESsYKd6YNwzNP0QCgT71Mby5ot6AsHkMh23g9t1KwGE0fh5qH41xVyBZCp-s2mwkhswvEwIoFBbYuLJFhMrWoTn52RKRDAVYcw9Z_52KzI-dKELn0q82QORVzeNglEb_JyHL6DktICaiPYlc_6biRacYxjurE0iwr8qrqr_EB5ZRzQ7vwPSXJWmwXFZUd0vTzRF3Cy--vqewmafT3_-n8XwVd99FYQYJRXsSpCzPfNSxJvs0xzGsFFIGrAWomrGdHyS__jmHzN93JZGuzotFyxsviNM8sL6CyJ6LgxX43Pg5b6LEpu9WiaGLrF-k9ir5CLa2e_YuXUcPTIq_KFZEKIDbiJilJasxK8yFpvkFeUtxkNocp4fv2XJOf5_KIq_jTxpOxYRt-wy3sZsttis4NActhkPGxwQVd42WLXhfzjDQ-UVcrh7GzuRt7-H9XrcrljIqOO0yrYIw5EyOlqsbz7qW9nDrQcDn-mCNfUQOupHcVp8jq3cMMK7vbiJ9kd-1W3nalVAtaLhGjcNtlFCbVjt1pFQ-dOnQGQEUemQ6t2Zcl_g_qYZULJSnzuZPkG8jO4q9y7sogVIQRYrAaiZ2OqjSWKTRKsctGCbYd995zxZmP3r3YBLysCedXHad7q2Y0STM3yISsJe8eXbQS0AlenUZK_mxxLqAEyh4HEEozcXNkMuRddNcdcswYXQ0NQs-t52sdeXRxJV19B9QJuokflL6CNiqern8yxp36jkCItDGSbrRiNJ5qlKsIjg0XzJOyBWFdYiqcKoGONuvEa9xe-Q1qYxU1qKc3kxPjbOEUL5dIrWV--HJ2Gs6vkga_UW7SX5uIY-95tpiwdoCcrclZW7m0dfUwyenmYszVV3dwbueLmxAqkDtNSA0cF5P7I7NFbGnJL1BJ5pDPF5rgj2bVTffproNDsO1Q9l0xtVuCY6ZZuZWC4v9vMfGqQjOWymqlovguCA1fpRZT5wQ8vDCEUKHM0belNh76sAFcozsFcw0LC-vuSjQybk6sOiYK8EqA6c4k9Y_hotzvUq2b8P7_vysvOaSPq5u1YxmruDlfGTDGRXJLByqTbrmPRcu6ZIOmJYVg7q7W1Wm8Ec6h6a0Nvw9nsRDhFeYit79t974wYLETxqHDY7x36kujsY6NkHg3CMoz1zlqzq_qLcN_9BfLCNk75tKHDdmgORSMbfUI-vdixZftRa_qIPri86A5_hskZSNfJJjZEkWiLgK-n3p0nSO292rnB22OF-664yjdU-tfZlTpdeNoLvsv6KaHAWDw=",
  "id": "rs_04d7c7b6fdc132d7016ab2bc2891c887d08a78c34bdc94ef0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The barrel now crosses the gap between the fingertips. I will close the gripper and use the settled jaw spacing to check whether the pen is captured.\"}",
  "call_id": "call_FwKE8ymkArX5uCIVTGMZoOZq",
  "id": "fc_04d7c7b6fdc132d7016ab2bc2bb23887d085ad25839813d287",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FwKE8ymkArX5uCIVTGMZoOZq",
  "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]: [-0.0265, 0.8127, 0.6022, -0.3813, -0.0257, -0.028, 0.9998, 0.1551, 1.9533, 0.6788, 0.6617, -0.2905, -0.2203, 0.0124]\nstate[eef_state]: left_x=0.2956 left_y=0.0003 left_z=0.1737 left_yaw=-0.0014 left_pitch=-0.0224 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4297 right_y=0.122 right_z=0.0026 right_yaw=0.5116 right_pitch=-0.0274 right_roll=-0.0188 right_gripper=0.0124\nstate[joint_eff]: [-0.212, -1.347, 7.2274, 1.7021, -0.0562, -0.0611, -0.0073, -0.1026, -8.5402, 4.2325, 1.8193, -0.0757, -0.0024, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9b9e5dfa1db25eae8bddd1505c0e89047a039ca30c0f55c38711443207c4379",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9764d9cba9ffde34391dcf48ba9660c232f7f707582bc8382d8840186c26509f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e7025f49ecb225ffbd50b72a86289a1cbe65d1b3f14837c92474ed95a5fd93",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8127, 0.6022, -0.3813, -0.0261, -0.028, 0.9997, 0.1555, 1.9533, 0.6765, 0.6678, -0.2871, -0.2165, 0.5484]\nstate[eef_state]: left_x=0.2956 left_y=0.0003 left_z=0.1737 left_yaw=-0.0015 left_pitch=-0.0224 left_roll=-0.0001 left_gripper=0.9997 right_x=0.4299 right_y=0.1216 right_z=0.003 right_yaw=0.507 right_pitch=-0.0245 right_roll=-0.0188 right_gripper=0.5484\nstate[joint_eff]: [-0.3624, -1.4564, 7.0496, 1.7558, -0.0806, -0.0806, -0.0171, -0.5402, -8.6085, 6.1607, 1.6679, -0.2027, -0.1294, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwz2UWZro5Rz32T5mcHfpOH5G5VnSlWPJasrQpgZxeFWQS1tHJzzEvBGmuljAuKLgtJ1jFa98wCMw6A5YX54wtx4JkINj_FJiEF_VKHZ_DoFr_0e2cP0Ge5KohVex4L6EudO8ldp_3_8IxI3YGFb1ikXQ77j0ukhIaRBRaRDsUaX5ylYkZFEKDUC6pP4xV8DP6E_N8heGeiSDAJyu4DkhxPrZ9h2npjDn8-pS2MyDA48lip2fR3sdx7SoQ5nzzv9MsIs9OS6rp0hqcfTkKE0e2NSqkxuzjjhxNNqpblSsIC-GRkQ-wyMlJZdJNhtg1PCccRlHGaS51B6kIls5I-37De5zwUdpIRh9l1V4CoJxKux4EpiNaGvXYyMv58HfjVt5580U9JXBpeio7EJ-kwjb30sMKYZinAOOjoHFEq1jWDaxHxMknM7E5S26cZNYh-JR2ydLHrOAfW3KW0KreN-Klrxq0zyqheXPxYWzrv72svebK7jo9RtsNKqer0RwguIMzDiYjGPp-28F50G6r4DSc1REMHfIfCINRL_LWgU9psA56HXF8XQPoxj2guZLRu9WA0PoDl79oDaxcbKovWvIk73u-CfnpJ-baYgX4_ofrRbhSbMMqi_se-vrHdegCggMDhBrisjtT7rGI8RgtpLkmD3xUdDLgX6Js58FNcPYEHPRdPMSp4qVlZljo-579dXZXEYGLyUpIUR_lKa3eFLP9whQvDP4NMB6W3CddH0XnuT9CQH3TNWmy1MvhgPbgEV_GdmPOhyokZd_mmNr0kAR_envTTT4hIyleq_HdUcJqODJyQkRWDAUTJtPFMM3nxqZ1ZBQwg0H9f62p2Sy8b2jEnBc45ekB-a6ReOPFDS4duK905S7afZooAfo9DauH-f7S7fH6i4CysxfsyrF0gvSi9iX7i7e-p5AAaVaZ4gPXZ8GBOT4NsLAXugUi6If38e_Sil18aqqXcIW3e4WigbtUbSSkwaHH0GxFl73irO7dVbzcsDyEeUgiWi3eetNN9WXEPxa8AkycE8ocjuTsgQ8tulfFUvm4gO7He97WydK_FkdLPm3BFv-Kb774_DGywk1eGVa70B8XkSkGKr7qz9zrdW9cCQ75hgerX--btBpJia2bKdYlwHPms8MZXxGZSjceFT8PBcpzAlPTXt3aYumXvHZb1vjI59W6qflQSyfrRLJAk6XV_JyGcrwj33ZBWqMrnWpB9WHnzJM2peYwZuhxv7-tMg1f0E7aNwXQ9Rgvvi8wiYWYNYtoQzpg4s7msfxx0a2tWyzhzJ8txLK09h6_Co4wSndjvIxM7r8lcjr2vRqMwihrd8Y-pxz4Azel6RoLuz6HaHmzMGy36g8F8TYe8aOomu9JWqnaZ60LbVEUePSnqEBvASREnkmYgB9VsdFF6tG06mYncKNwL254I0gTncA==",
  "id": "rs_04d7c7b6fdc132d7016ab2bc2f60c087d0a323feb6251e7f93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The second close was also empty, so I will stop trying at this occluded location. I will lift and park the right arm to get a clear overhead view and re-locate both pieces.\"}",
  "call_id": "call_4x5Q19W8oUsixN1WSrlU7s2v",
  "id": "fc_04d7c7b6fdc132d7016ab2bc317fac87d0a434453cb2c50e72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4x5Q19W8oUsixN1WSrlU7s2v",
  "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]: [-0.0265, 0.8185, 0.6022, -0.3813, -0.0257, -0.028, 0.9997, -0.0051, 0.8433, 0.5514, -0.2363, -0.0402, -0.054, 0.9956]\nstate[eef_state]: left_x=0.2959 left_y=0.0003 left_z=0.1721 left_yaw=-0.0014 left_pitch=-0.0282 left_roll=-0.0001 left_gripper=0.9997 right_x=0.3095 right_y=0.0091 right_z=0.172 right_yaw=0.0523 right_pitch=0.0285 right_roll=-0.0269 right_gripper=0.9956\nstate[joint_eff]: [-0.0342, -1.306, 7.0769, 1.7265, -0.0415, -0.0611, -0.0171, -0.4581, -1.6205, 9.853, 1.7705, 0.1197, 0.188, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35dc7b124073029b78f5fe6afb85fd292df83f0a0647b887665cdd3f910f395a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a103afa095e2b99257fb3d123966eab0a8b8d740c545f71ae06b86d1f4bdc929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d65c4b6ed7823b36a49bafe1195586052d576d4af6559a28b98a404f0a62d3b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0265, 0.8127, 0.6022, -0.3813, -0.0257, -0.028, 0.9998, 0.1551, 1.9533, 0.6788, 0.6617, -0.2905, -0.2203, 0.0124]\nstate[eef_state]: left_x=0.2956 left_y=0.0003 left_z=0.1737 left_yaw=-0.0014 left_pitch=-0.0224 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4297 right_y=0.122 right_z=0.0026 right_yaw=0.5116 right_pitch=-0.0274 right_roll=-0.0188 right_gripper=0.0124\nstate[joint_eff]: [-0.212, -1.347, 7.2274, 1.7021, -0.0562, -0.0611, -0.0073, -0.1026, -8.5402, 4.2325, 1.8193, -0.0757, -0.0024, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrw8VGEIOAnLOqW5fp9AO95mw_dc1aZtEFql6Zapx3qnlMic82LWzK32Q08T7km1lCxEp0ppmoK5pMgWl4HtIMmnUuKRUSSXNClJ-OeKSvxWB3DEK6rHh5q9gF7fTs5b9o-URPObecBkeSMPsIE9NUUd8QRS63YyHyP3gnd3Hce-P9hZdP52mW0T_k-T-SynGpcAEH3s-OP5BzaDWQsn_1i7yAAQJq8oO_eByMPFRuR7dpGQXwaNir3hV41HA43hk9XqLHfWGQ_eGvOP5SYpXXULPpQ8SouQtc3OEAoxhblRi6nhGzcVd02o28cryM4wJsGE2xaplDoCPjR-5P4tog7_rV1LbrWSmCxI5eU06pfEuAnzaZqsKW-S9noQQp3pOWc7yZZvSJ_bKJo0G3__yvKqlFOcw-e3x1TbcrS0nctetes5pTwrahUTOWe0rkZNBJO3xNKCO6UyR7w6qvRmho-aNTc6GS3TtTQn5uIM6-I7SlDmDHIuVaHB_lRnC9zvuJL78e5K4o02PDxeZpbR0h-SGAPsjgcY6QbCOj5r1NHDa-PH0zNwadd0VV9zghY6269KYrHvYc9ulS0eOu3Q1dmm0odKK-WAs0LDsgV5vVEDfdfHx22KTLl1xRiSjM7-RDw5W8dPX08q51rzZVo3t8aD0xBcPpkBovmuGdxz9psjBr--vhgZzY-jsbNu0XCgthtmE14vdvBYFvbnbTWZvTiGRgPOt9NRULPMiANsx6uy3VSKpwfGY9p5fUntw3HsGEE8UTllRvFdizn6gCkKVLOdfNXdIhQXSAyX6IPyWPwIz_EZfyMKFf4UuV2Wzz_GRkTE1zXspK_umu_Euk_1Tv3EFvdYvdtV89qC3MAx6MWMV5Mh5OTIJhej7wn7JYBYl4xi-AB1MBWgM8B5DucHSJNxKokj6qEQECOKADw5ECUClKNTGviwOKybwQrst3Z1T4HlSGH1DR5PqXhaxYQGENp3uGcsZ1lzFLt6Zg5VsW237htv0POTd3meM8D6AMzwmW9rCCnuoGw5xeuVwPAgVT3NNfRWIZAez65vy1-kqtYIclZYHOS9QqB2kym0HsLbx_AlFBXFG7qeiWcqgZ6w5VXsOzAzq8OSqxSGXcxZRFr4z0LLkxz2rGK7rk8YdQR7SQFP60U1nPQmGj1XL0RmEolw-a5WABOpixFdtlxMFb4nFu5ZfpmLFLwkCXJx-n7D-xhdZbJJ2i-tulo273Jo_bN-jnErQUB9PE_6HKbthCJDcthXWK1TO50DDoQVqcpfCZEJaaAd0P3MqwuRT_tHeJmiA_9JkLwkE-ygLpzg4YNpolY64HAMY7pJcIPFuFtLnmYopm5hR3KZwlBSFy6WYhRsBPIFep1C0fVeo-sef6dU7prEG-8OMDkzW-Ln8Fdfrr5q0908QimCEHDF9kxkXYls0iCj4B9S8ZBCJVDLx72gLMBWNtDSLCT-7lUxsX0E5U2CNLMevbi6s93rig3E2K3wP2K1rFxktu3mww_wYNcAch43T8kPepk1HtHOcatME1RNw4CBweEPLzkq0ZuL7JO2cZ4otgYrHdkO1wm7wKhuJBxTSJ_T92X_8lGR6zle_bTWcc_LC4VvHNcYT-O6nTmScY__OaG_C_KwRd9oE771D2jQw_T9WStr8fHNRJ3nTuXbPsyzRAn2yHHcwkMwLDSkFFztp0yfut_EgSaURtLlKr93-SgfdV_ZBNQVkmDAlibadD0nLe89bR--BnqFIHxxrQ==",
  "id": "rs_04d7c7b6fdc132d7016ab2bc369bd487d0b47b04d2ca2483a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.19,\"right_z\":0.09,\"right_yaw\":1.4},\"note\":\"With the arm clear, the pen is visible farther forward than the earlier grasp point and now lies nearly crosswise. I will approach its middle from above with the jaws turned across that new orientation.\"}",
  "call_id": "call_RSioF2RikpLsXn5f26GAoVXJ",
  "id": "fc_04d7c7b6fdc132d7016ab2bc3ab45487d0acd0649d4376be79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RSioF2RikpLsXn5f26GAoVXJ",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0265, 0.8238, 0.601, -0.3828, -0.0257, -0.028, 0.9998, 0.0738, 2.2093, 1.639, -0.4522, -0.9272, -0.9939, 0.996]\nstate[eef_state]: left_x=0.2959 left_y=0.0003 left_z=0.1698 left_yaw=-0.0014 left_pitch=-0.0362 left_roll=0.0001 left_gripper=0.9998 right_x=0.4957 right_y=0.1819 right_z=0.0921 right_yaw=1.3063 right_pitch=0.0176 right_roll=-0.0651 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.7026, 7.1316, 1.6923, -0.0562, -0.0513, -0.0073, 0.335, -13.2034, 5.7368, 0.3687, -0.8278, -0.149, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7840ee5e4b3ce44afdbc63e43952e3d93412d3251e2ef0b8cd75dbcee430c217",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57cac71914fd7eae967c03759e861969d16649c10ce04e6439d598318066f585",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc0487c0c20cde0027a4f0ecf9ee0f28163e694fa8d9b2990e193e0e51f9579",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0265, 0.8185, 0.6022, -0.3813, -0.0257, -0.028, 0.9997, -0.0051, 0.8433, 0.5514, -0.2363, -0.0402, -0.054, 0.9956]\nstate[eef_state]: left_x=0.2959 left_y=0.0003 left_z=0.1721 left_yaw=-0.0014 left_pitch=-0.0282 left_roll=-0.0001 left_gripper=0.9997 right_x=0.3095 right_y=0.0091 right_z=0.172 right_yaw=0.0523 right_pitch=0.0285 right_roll=-0.0269 right_gripper=0.9956\nstate[joint_eff]: [-0.0342, -1.306, 7.0769, 1.7265, -0.0415, -0.0611, -0.0171, -0.4581, -1.6205, 9.853, 1.7705, 0.1197, 0.188, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxEDLxnLZmPdJgSP0b-wV5tart1BQeW_UBlaXjABO7HplUkZSzwGkcIIsm0xwZVyN8YCBxxcE_m9FcoXylSTuV2ifCp68kiZUs-tpvuEz6BhnAev--ECtxsHdCM65g8mI-4D4OJXw-hh9paehHws5zDs86BCtRO1f6_2DsR9ln48criyA9fyJxFDdrn_xPl79YX5Lb3FmI2fOlQG33-uLuZ8q8wod9rHxRicn2TNEkzCfzY-FbYNgY3HpAA2cPCP86x39KOhV_XWGyMWlXMVmOWiuOQjsKABEcwd__WTt4ngfIvBG-V3pNFTpzpCnd0OOumZf7WonbAqyC6HXaTVA-XnQYT6Io1i8cy4AbK9knAXVerbi16dZngkB1vZlviYqAZ5lVlV2p8D56qZGIdp81gOMqSA2Hhoj0InHYqZyn_ZweJBsi7iZmm5KUkBmFkEIRrJsZaqD2Qx74M2uXsBH7ahW9t3hW2BUysQ97ouicAvlwH_GVltuidb9nxiPFqm75hI8W5SawfOruhyuWAm1Ves2BxgjEcbfSswU1Cc2v-J2d9iowyl28DUYg1hXthIMLXscttNR--CGB3QMAppNTyGfSByGu_PCTOaeOmxAd1TPnRAcz5rh9qMP8h06wAtlcQZss-HDsA7lR0a1qVRaTm6j_8jZ5CRvtqPTLtsK_AHUMVfzb5t8gD04-Yl2cc31f0nK4vqgqVjnQkovrjU1MrWK4fD7txExvlBqqSEJyWwi3mGTFtVjlDn5zx9JiMTZ0PMzfgVGCELlh8hm-NWAhu4QpCLKf8l5WEcceMXo2PTs0s2vNuVNvLJ3yo3krDLvRRWVI_oAEZJpilRcdcuam5YAeS1r_Gxx_6nX2VAUzCPys4T1o4cY8dBmZAUvO5YSoi9lWbnSL-yJjXF7afEISgds0P329v5GHPWyvH_aTYeLM_8R-pn2Dblzx_7Klmri1PjTUHkTef838YET10lX3jOiPRRxirT3rClDr6YNokmED-p-EOCzyTlPu2VhvYlRa9rjE59FfM_1t0n86H9NnetkD152DyTWicgsHYdpK95UTNVrMa2ncu0Dvls7E8aKQwq_ecOGRhb4u72k89Y2Xq-j5_CUXR88zD_cI1ioCuz4op_1n1jeysIXkWaQe5b6Tlo9VOSZIW6OnUlLkaxiLbkXwAN0DswOMJvvDmtWPQlNKPqq9szeeOn-dZfYtr66bjkxBcB62Oh67UuFIYmoWcVaAmCCqENDqoWQTYaMs3Fw0QOrmF_80TuMrvslRh6uz4jBQamJJtyLGl2omBzMSsISg7zGw49DF2hQlV_oGbsfe4ZORc6osjljOuPlq3IYylVM8STvb5OqQN5ufsPqdOVGQ9VW_eaXZh0Dyf4fpr2441JXnA67pq1PjCCRLVLfeDq1ucb64D7JiSqXOefd7Trg==",
  "id": "rs_04d7c7b6fdc132d7016ab2bc40405087d0b6adccbb6f2f1b77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.19,\"right_z\":0.005,\"right_yaw\":1.4},\"note\":\"The pen is now at the lower edge of the right wrist view, directly beneath the approaching fingertips. I will descend vertically to the barrel without sweeping it sideways.\"}",
  "call_id": "call_6MzDur15T8WNYR4fLYeNM59I",
  "id": "fc_04d7c7b6fdc132d7016ab2bc420aa087d0aad350bf5a86efd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6MzDur15T8WNYR4fLYeNM59I",
  "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]: [-0.0269, 0.8265, 0.601, -0.382, -0.0257, -0.028, 0.9997, 0.0803, 2.344, 1.5631, -0.3462, -0.9474, -1.0958, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1693 left_yaw=-0.0018 left_pitch=-0.0381 left_roll=0.0001 left_gripper=0.9997 right_x=0.4816 right_y=0.1862 right_z=0.0148 right_yaw=1.3753 right_pitch=0.0004 right_roll=-0.0471 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.2103, 7.1726, 1.663, -0.0464, -0.0415, -0.0171, 0.1162, -11.3709, 5.012, 1.0672, -0.6569, -0.1099, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c542a9c6214a393dbfae05212b2e037ae580b6d469a49668c4b1e02b8bcde53d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3fb4c303c765e1c05e2a9b7fb6f9d9dc684625eef17657efe1233572b30a08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3c4202d22c7da703454243e0e080e5e3196a87b5e73eb3124634690f3db7e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0265, 0.8238, 0.601, -0.3828, -0.0257, -0.028, 0.9998, 0.0738, 2.2093, 1.639, -0.4522, -0.9272, -0.9939, 0.996]\nstate[eef_state]: left_x=0.2959 left_y=0.0003 left_z=0.1698 left_yaw=-0.0014 left_pitch=-0.0362 left_roll=0.0001 left_gripper=0.9998 right_x=0.4957 right_y=0.1819 right_z=0.0921 right_yaw=1.3063 right_pitch=0.0176 right_roll=-0.0651 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.7026, 7.1316, 1.6923, -0.0562, -0.0513, -0.0073, 0.335, -13.2034, 5.7368, 0.3687, -0.8278, -0.149, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxLU8BZaGmRyXmwAVwNoaezuS_mbVSqOveaOgVZVI70S2T1QNTV0x__QxIzj5NycpQ9V7qqwKbSbSBfhBjehZvEqLUKLpRrXRYYBKpxKlSJyGXTAW8pFtCDuKMdD4age7VBrQzZVTGW7qOsu7zjTIwmcQfpUGEhtKJ3WN4ZEHt-E3vpEotJnU5ISIvTwTaanalZu7J8ZMlpAzqrZl0leU3iNs-fOowypfj19oiEf2VgTq6_qFfv2j_jRJ8XviytNjqvgxh1l7EC4U69M87okQZh2V16s7Ba08kVbE0nwRxJMh2WTjjAmm4WB4xlzD5V4JOgaHyRSb9hVg9vtGjVsfDEE0XKvD-Rwxde3OnFpqhgQmZU31IaijoD78aXOdXUopuUKtx4-n9W_TNbWo8SD-AKy49KvOMXjx3lHeN6SXdO8rnLh_5JHmQ8V3ihEO8KliUXO_ImCVrhv3FNQyZHJoUZ8i6sNb9-VZZcRb3wAcnRGTc4H_aX78PXEnkIcgo8vA1ID4PyC1-DozNGKGBDfbdDl4rpubN8C3LxCjGCr8cE_iTti02mZoiXRbAxeZ2BoNCXFIJyw6RaZHj_C5ZBT0BVUKZKTNgqyEfxOQ5anP9iIhiHcaIhP12A9lMK1U50xLJgXCr29juVMBM49Tn9LnEzQbwNtuF3mAR2_zXLTCGqK3mN_QPW3rv3JVJSyEypil1w5GzlQhvF4OBh3aCe7JYPbY5YPIrJFh3cYFdS9RJejWeICtLiD9dZmODF4BmE48CCI_ZviLgJsXaFJGiovWTym1N2Tezplwz63BjHKxHMhjnKF6w1exQ0vwsM8P2rkByINGjdcmWQ9iDmBzjmAoG2KT_TTRHxZgBiF1n6bjy4q84kBKgcOzII9V-nCtru4gY9CYnOLxtBwuIm5cUCs6-83am2ePbTVGlpIQIwqJDa73a6zT-oWl7Je7L9qtOzb1_xk7QUVKYrjBFsRCmLcEmKuGNY4UFXKHIYFGl8FX__D1I_w2-sD6exATh9z92LttIVDj3XWEGH-PuK0q8CZoY_KnzFH2SSg3PKQ1cdRpQth28YJPRPECjnXcURpRc0_0OOdRO15-f5TJ94cXivC-J-qembhLfLKViUz9HOz321878ACFkd5OdPVExV7GC3m29HkQQZRQWXBh6wxSk6Ahp2AMisRCsJLu_EmcKb-quLWBbC3PPdwN7Ztejiu2GIX8WJbKTVKSecPandyyTU-imZ3SZFbdiIK6CImHA_VwVwfPJ48ZsbhNRFQLP6Q45aS_U8_YdeizsFGO10iSwS6sV7oUZn_7Lb7pHCTfCYR4vGroRGw32CCQBLXIMqAV25pBgm-EsMbMobWy6w_FmpIaSMA0sNLSrA-vc7yasKBPSZOJFMfZMCwJVScsyUvC7mI360EgCn_jEeBG2oYXet2WfxwCo08UzbvRBhVGyJ-sNw3aWCB3PAMALliD85Os0wSYfS",
  "id": "rs_04d7c7b6fdc132d7016ab2bc47618087d08a9446f3ef8bed1e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.473,\"right_z\":0,\"right_gripper\":0},\"note\":\"The pen barrel runs between the jaws and slightly left of center. I will make a small centering correction and close at table level.\"}",
  "call_id": "call_1DKFBavBlYA6xOQuJL6ck64c",
  "id": "fc_04d7c7b6fdc132d7016ab2bc49cfe087d0b6635b9f277e3d4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1DKFBavBlYA6xOQuJL6ck64c",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8272, 0.601, -0.3817, -0.0257, -0.028, 0.9998, 0.0803, 2.3569, 1.5188, -0.2672, -0.9794, -1.1015, 0.0535]\nstate[eef_state]: left_x=0.2962 left_y=0.0002 left_z=0.1691 left_yaw=-0.0018 left_pitch=-0.0385 left_roll=0.0001 left_gripper=0.9998 right_x=0.4773 right_y=0.1891 right_z=0.0061 right_yaw=1.3926 right_pitch=0.0338 right_roll=-0.0654 right_gripper=0.0535\nstate[joint_eff]: [-0.0889, -0.9778, 7.0359, 1.6728, -0.0415, -0.0611, -0.0073, -0.0068, -13.4906, 4.041, 0.8083, -0.1001, 0.0708, 1.3553]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31806c39c6aa9ad4abe357486ddc04b0f65bc4550bd62231ee0c712354647e79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f858e833308b04de477e452ff3795800d1721d06a40635cbbbd90dcca27a037d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d923c58e295fcfd6776f29503a9d3cea59a640830c263bd945d9d2742962cb06",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8265, 0.601, -0.382, -0.0257, -0.028, 0.9997, 0.0803, 2.344, 1.5631, -0.3462, -0.9474, -1.0958, 0.996]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1693 left_yaw=-0.0018 left_pitch=-0.0381 left_roll=0.0001 left_gripper=0.9997 right_x=0.4816 right_y=0.1862 right_z=0.0148 right_yaw=1.3753 right_pitch=0.0004 right_roll=-0.0471 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.2103, 7.1726, 1.663, -0.0464, -0.0415, -0.0171, 0.1162, -11.3709, 5.012, 1.0672, -0.6569, -0.1099, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The jaws stopped about 5 mm apart, consistent with holding the pen rather than closing empty. I will lift it a few centimeters to verify that it comes off the table.\"}",
  "call_id": "call_FAgfdG0M4wxbdAcoJZ6zUIWS",
  "id": "fc_04d7c7b6fdc132d7016ab2bc4ed62087d09437891e4d98f630",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FAgfdG0M4wxbdAcoJZ6zUIWS",
  "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]: [-0.0269, 0.8268, 0.601, -0.3817, -0.0257, -0.028, 0.9998, 0.0803, 2.2955, 1.5703, -0.421, -0.9699, -1.1053, 0.0642]\nstate[eef_state]: left_x=0.2962 left_y=0.0002 left_z=0.1692 left_yaw=-0.0018 left_pitch=-0.0381 left_roll=0.0001 left_gripper=0.9998 right_x=0.4746 right_y=0.188 right_z=0.0373 right_yaw=1.3896 right_pitch=0.0149 right_roll=-0.0314 right_gripper=0.0642\nstate[joint_eff]: [-0.1299, -1.3333, 7.1043, 1.6777, -0.0171, -0.0659, -0.0171, -0.3214, -16.6769, 8.0342, 0.7253, -0.5543, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6195668ae3ed38670c848e5eb340cbc4ce8ae6a8f101bb6970437fad69ffb08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0388d72d6ef1c333243646674a0b5262a4f8903bf4aa849112be80644e1f0ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b05c10aa8524ddf43b3fd4995fc16b19c084a592a4503010c85406d9de96aaa7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8272, 0.601, -0.3817, -0.0257, -0.028, 0.9998, 0.0803, 2.3569, 1.5188, -0.2672, -0.9794, -1.1015, 0.0535]\nstate[eef_state]: left_x=0.2962 left_y=0.0002 left_z=0.1691 left_yaw=-0.0018 left_pitch=-0.0385 left_roll=0.0001 left_gripper=0.9998 right_x=0.4773 right_y=0.1891 right_z=0.0061 right_yaw=1.3926 right_pitch=0.0338 right_roll=-0.0654 right_gripper=0.0535\nstate[joint_eff]: [-0.0889, -0.9778, 7.0359, 1.6728, -0.0415, -0.0611, -0.0073, -0.0068, -13.4906, 4.041, 0.8083, -0.1001, 0.0708, 1.3553]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxZuJSDpAJ4KJUkNEn0e98Xw2UORWPMiU4bTVwQLlRBfuxW4CbZ4ssIRxqMK94bLf0n1fq9A9EuTClhlqHcL6jgUAhVvoarp9v2IqIst6lYmwHS8MpYZT82vyiXuZTcbfGXoJNhrnepFvbkQsyqIUvrrXOWZ1H9DQ6z_f2k09PNB7CPPhWRdLNnWB0Yx3tyPf_cXj_O0Ldq3tMPn-tjWj5D7I9QqC9yN8_naZCJaoTUDRco-KVWJYxLXU7syGjf0gXm7hfWBbREVLycZnZUAkpTqFeo9tlbuI_Yx_o8uThXYeWL1M0mOG7ZL06Ymm2w9jKWqgfq5rOt9ORFfKv9dsC5SR-xVVJweC8x-fKvbELG9Tu5mRFGjPgklu_b7rnAqnZqbFktYUCLxJALh5SduYEmNM-Lfp01FXTS9BPZ6uhVqwf9gBJp7B8sv_AnunHpvIqgyM58S4asTNfjuj_4guhc6MTjcc8iRMxYYqpw11LLm6gi1Uy0K6YDxdX-G-KVduWol4YRb2qAcw2ENyFMQOoEeQS5LCC3QqcLTpxX3w6yPVkpmChf4zgyMwKwesuPX3KFuiL1CyWVM7IScLnf3bp7Dh5bfyBT6Kop9NhBFsn1wXqdqNMTaxNJf3MeL_Trhm8eDnbUYfC9RduwBhqrkqlNGx-f8zXrmnyXawHhKsL87XUNZacfbedp9-gLSKzTO7bTeUgZ1d1j7347jynBF88N_xo-KRqXlBtJlKzXe62WCLIZDb3YbA5XX8QiDdD3XeZKBI90rMEZcDLerxS_FoRkeo1GAYgpNNxpBCTAmr2kRuJev88TGt3AKRY73WJon3F7Q2v6LyQ_kzliujiZDz6Cj3rZehvP1AT7Lds5DwcUbICVLMc8jZ6Y-fN4BvxZsIt_tUutE4U5QkApxnEidxShRyBWfopn7zEOWNFgMqFm0veL-fDgG8mIgONcHcm-vFsNGre8cNGNzXF2u1-RagvbODaOlXl_dNSOKop5elicsr9tEJ_lQjtXT7nUg11YtEkGhQCnUxcQbukXqncntTxid9oidUZUVbRbFDUxVe5rXqKKdfpEFApF8978W7X0w8agMlvx0gB7IinKZOZXtXHswdTPawxxpM3Wsk1xwDr3cb-cZDXQGa2pmJb8LNwXQ0TQhGukA-uGxITtJ1mPDFjQmz6MPuVZyB7XTCB8B0EVHYhjoIpTE-4uAx8subxzGQPl6rG506518iIZvDx_GRYLMS1e3k5Sookk-i4E11c7r2wH34645UWDA7fK98nkXWSr66hINiI33DU0bBOlsg-zgpd2qvIJKeVvUY0tdCiUSDZtAZ-a9V6bYoJgvdGAX34_1QTuG72_IEbHPuKTQGKXxrWQdQmKTvwDafVrkuIyA2H3n457UQdKzWmB_Hss3GEb-wCxGB0i4EPfDyFMrAG8bRWe0VU5W24VQl_FEL3v3V43sh6V2zhDE4b-ko5KLH3dmi7ZnQBlXWioTRa6tN6QvajXI6DHAw1Psgj5T1CIA99V6OHWSS8dQwSS5t3ARZQIt2xK3xtpAZk_nwdlj7SubrugiX8H6vvqf7JaxWCkPFCqBJOGBeOpd9RhfML91lLolXDISb0EEGZKWbOtuOZBTltPrflTtHXJI4boOHVTxLKsZys69O29HQ58Qgcy-hh0tci535_BuVmhZogCslSIWg==",
  "id": "rs_04d7c7b6fdc132d7016ab2bc52b3ac87d095478d796f4d7ed1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.19,\"right_z\":0.18,\"left_x\":0.435,\"left_y\":-0.22,\"left_z\":0.12,\"left_gripper\":1,\"left_yaw\":-0.55},\"note\":\"The pen appears secured, but the right arm is near its forward reach limit. I will bring it back to a comfortable carrying pose while approaching the separate cap with the left gripper.\"}",
  "call_id": "call_UxgWLO3e0kxifDAxgMqX79ec",
  "id": "fc_04d7c7b6fdc132d7016ab2bc56846487d082d556315125794e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UxgWLO3e0kxifDAxgMqX79ec",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4408, 1.7084, 0.9703, 0.0467, 0.0463, 0.0105, 0.9998, 0.1001, 1.8122, 1.3815, -0.6903, -0.9588, -1.0801, 0.0697]\nstate[eef_state]: left_x=0.4212 left_y=-0.2038 left_z=0.096 left_yaw=-0.4976 left_pitch=-0.1213 left_roll=-0.0141 left_gripper=0.9998 right_x=0.3885 right_y=0.188 right_z=0.1662 right_yaw=1.3918 right_pitch=0.0123 right_roll=-0.0368 right_gripper=0.0697\nstate[joint_eff]: [-0.4991, -8.4581, 9.2923, 2.0195, 0.2418, 0.3199, -0.0366, 0.7453, -11.412, 6.4068, 0.8864, -0.4811, 0.1587, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b237d1f94941c2573332d17825e749b4eec89afbcf8821c6c42e0aa717eb20b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:157a1db2e26db31ed343f3896d4b2c5efdefbb6e8fdcb3281cabf9c85d3f2b58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf85e4aee9f6b644d022d30e1b681fc8edae67af540bdc042718cb1f8f3faa1",
      "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]: [-0.0269, 0.8268, 0.601, -0.3817, -0.0257, -0.028, 0.9998, 0.0803, 2.2955, 1.5703, -0.421, -0.9699, -1.1053, 0.0642]\nstate[eef_state]: left_x=0.2962 left_y=0.0002 left_z=0.1692 left_yaw=-0.0018 left_pitch=-0.0381 left_roll=0.0001 left_gripper=0.9998 right_x=0.4746 right_y=0.188 right_z=0.0373 right_yaw=1.3896 right_pitch=0.0149 right_roll=-0.0314 right_gripper=0.0642\nstate[joint_eff]: [-0.1299, -1.3333, 7.1043, 1.6777, -0.0171, -0.0659, -0.0171, -0.3214, -16.6769, 8.0342, 0.7253, -0.5543, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxh-TMNLfZJBDwrgjEfSO0wmnTi9GX-dxeSv-bWBda_c797GAM8SNqMTr2G-1thLsNBjMCD9GoPDsUAXh_Tec2hUn38PsquCgAWT48r6RjAU-TOVDv_t9iTxkRYNG3DFBPFUC7iZhAadbdBoRwPeMTO7tcbVLndlZ5OuWe1k0Skn4R2pXsPLx02Jyl5tMT1veiPBUkZhKoBcoBiJg3CzgCnvyFM3Y5YsgKRdsxB7ZuwGpgjiv3v18OCFrOrWa75D23z6uKDElD0hANMm_XkpVgz4Ii1UMGDuuLjQ0GBXk2fErn8t7xjJyC36ilVaSsL8ASSsBOP4SZQnkqr84eWhZ1yF-w019gAO3ztInjHYleP3NJ0aNZAOh1nab287-io41qcNLGnZgIiz8whqOgV_rzzMORRrQIK5lF2_q3rQcTHosidTO742ioxgcVMpxmy3Qe3W-QVoKXd_N-FfZtKZjottiUFdhUvERUWLonKVPI82LnK9lSb67nGq5Rm1y9VCdpWTT5wZ6MTpHYC2QPJ2S-8_H95uXvy9SBx_H4-g6v0Kb8l4T6xn5Y5GRXu_rgUz_6IlCeb2ZwsR3GjuRMgpbNLl3yApuiwfDqlZdZEMF_GA9rmj00Beq_5oZ5wPcaBrzylP8YUu9q6XDIWwkQBGfYI-5_Z_i3SS59f8q31u089Rh92WdeLy_Pybmf-OBSkWrYRXJzfHfk11drDS1jAhgGxzfoqj6lyhYDB1cGgMJeKwnqNbK4f5KSTEGgcCDJjETFE2QGfPn0gbZMgCNySyoPBYo0AktTG__FXjLR6zNvcesh7KeINoWwEurEj5fiz0EqHGzSAxQTyacVVZYKNVYwAYsxiheHdHORHAWZZiJMhdIcc3bJ5rsckRWl_GNCr-vw9FTBSJTYVnFVyuagzY5_jaG-upiXWTiJIsR8FdmYc3FvEHi9dMwvdweGT-4lwx5JO4L1ZicDSGtTqt0shcxrMvqWpLY1SypvWJPVamN6u0t7ez1YV__uz0rM1mzNqR9zaQNIatJUSfuI7sY3YKl1olpRoKjaQw08gWii714M96kOCKWjIVYpNMsMmZFj6zd5y4ny9ZJ2ZgCz2PSfgVlQGfvdarej9pf7F_gnflJoVTSLqBnMW_HAbYM00BowpkffrSJ_krasvq5hGavRx7egI3X6CTULVsBaHhaC2fo3ptZZT7sKBMoODnftwOgH3XuXmyLi32kXoOrzW6-CCrRbWuNkIn7AMCwbT5Gu_ZeC-MAoaGU4cCNyQIyw5iZxHsuZmmspwS5-y4azdtdfmkOr7ChhpqtbQ0C2n4EqgNdUuwEWIozTNBvXslkpJDOqS4MjDh0AYTwVGvQ55xJRUrNKzbI35tm5_UONq0ualhEiAY-js0EmKk3aqmuCL9RDDyumU9QChdBB5dIuEIoZUyvkI8g==",
  "id": "rs_04d7c7b6fdc132d7016ab2bc5d726487d0b3c9a91d593fec96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.452,\"left_y\":-0.211,\"left_z\":0.008,\"left_yaw\":-0.55},\"note\":\"The cap is visible near the bottom of the left wrist image, just left of the jaw center. I will lower and advance slightly so the jaws can grasp its body.\"}",
  "call_id": "call_eTF0w1783PM9iT1jzz35vDiW",
  "id": "fc_04d7c7b6fdc132d7016ab2bc5fb59087d08e24e25043840ea3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eTF0w1783PM9iT1jzz35vDiW",
  "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]: [-0.4061, 2.0003, 0.96, 0.2962, 0.0856, 0.0486, 0.9997, 0.0998, 1.8065, 1.3811, -0.6987, -0.9535, -1.0817, 0.0697]\nstate[eef_state]: left_x=0.4426 left_y=-0.2029 left_z=0.0045 left_yaw=-0.5178 left_pitch=-0.1715 left_roll=-0.0156 left_gripper=0.9997 right_x=0.3873 right_y=0.1871 right_z=0.167 right_yaw=1.3899 right_pitch=0.0068 right_roll=-0.0365 right_gripper=0.0697\nstate[joint_eff]: [0.2667, -8.0205, 7.0085, 1.3162, 0.3248, 0.1245, -0.022, -0.0479, -8.4581, 6.4615, 0.9597, -0.5543, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d1eca0fb495aca307effbc4190e84dc7993d959ecf6ca2560bac1623ffce37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e719b1a4756cd2bb4988d4e1cd5fa8e23b4973ef914ffd4821938249e7cd889",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ef5934dc24ec2c5cff56713bf42e748fa35b13761f0d092848f13bf38d5ad7d",
      "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]: [-0.4408, 1.7084, 0.9703, 0.0467, 0.0463, 0.0105, 0.9998, 0.1001, 1.8122, 1.3815, -0.6903, -0.9588, -1.0801, 0.0697]\nstate[eef_state]: left_x=0.4212 left_y=-0.2038 left_z=0.096 left_yaw=-0.4976 left_pitch=-0.1213 left_roll=-0.0141 left_gripper=0.9998 right_x=0.3885 right_y=0.188 right_z=0.1662 right_yaw=1.3918 right_pitch=0.0123 right_roll=-0.0368 right_gripper=0.0697\nstate[joint_eff]: [-0.4991, -8.4581, 9.2923, 2.0195, 0.2418, 0.3199, -0.0366, 0.7453, -11.412, 6.4068, 0.8864, -0.4811, 0.1587, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxmVEYKIFw_gtt0w2s_tBZ4u_h4Ktv5wAkO7HqXx_E87xKcV2ZXgy21NZ1pNaTCDFHB1XmctZSkMcXwxGbio4Ba_tjKJwn0UVqQNkPUcN1eJv8VVTW-DDL6qqNKx2yPZMDj5SXGAPgSKGvD8WnMw6TDgrTEgDAi5K8OFDsUtJygiGD5h3-BHqIc-TWV2J-Eehaln4gRstfRDz2eGJ0EKHi5Y6gu97clco8sHMbrmX164dfK0vaWLOfq_Nc-qBosw57WndMNj_ltZTJ_KZURFe0PpGrG_C8IG99_YHJQh4Xp1ke-o-tnp5TD6yN_mhYC-LE4d7Q7TxTl0vcWwf6O8nWwwtLNpfQ4BRKDOEPwaG1CpZifBaZeMNc9VRH7kpx3kd1VtFGG0NwbdkKP443S1t8geNXH9mm-6Cce6OwSUUbFp2OakOggs9bcUzosOjsF-djsTOePVMHUTl6zmFNeSEMkLeh8zz4Dicv4V6ZCZf5jovV8qOjZn2iYRhaxX-WQFRjo4--aMiZRTDmS8c9jWTake641LTuGEooxdPD7yTX59Ly0U1yb3-eWcUI0Yu-6N_moJC3dlnWzxnrtLV_8QsnYUtvVLWF0475rAZ99emxnVvtsicl99F7ogvXnFJ00aDWtLAyWLqNE90bBJ46be0ZeGLIgHjHe66yKcgnRcuvFZe-SDxMUS7xSs3gPOHBe0YeFMOo1Rr2bPBzV_TXyWZnBK9Fhn3rzmbHuSGUjQ8Ec-DBTQ_ZlQVM3ur-tNKD27BUv1LTWm5ZSsGY-E0U_vxDbSaQHP8d3Z7k_GyheaPRWjRR4qyKHOoel5Sw7sIrOOYmzXiJSax2erYSG703Gdk9iPXr7W8_j3OwBAkqZzSR0HPjpJ7NDNBU99-d__qy_iM4r4OThZIkbvypx3Nqr--dPfDB4f56DG3Xrvy_EPFeQUlK4jxXHTUlMkrAy4iEsWIzmCaaEuqKDTqxA28zbAWBkRBMLZ_9GBVmwldLJ7-9paijhWn5DphXu_F2Ijirx5JOmNoYGbZo-MXEy7xUROs3x0j1SJRZmY16hQplsjXAwA39Qk2rSU5etz3bTSY2nkx-rF2fHi2CMH5EuWpECmoLVVtGeMk5O-zYxoKPznuE2DJnaBFDYXpoOj-Mpz2cix3e4kctlvBcx1MeU5iBVntX--wP8MOcxqrsy83CzMNQZwujsTMEsjD4xt6HOGlfLF-lG-rDgODRSv_P4Wfgm9PrBCeaoAwnFTN4D1A3hSdbmojk=",
  "id": "rs_04d7c7b6fdc132d7016ab2bc64d73087d087b33db96b7b93f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_pitch\":0.12},\"note\":\"The cap lies between the open fingertips at table level. I will close around its body while slightly leveling the wrist.\"}",
  "call_id": "call_D01VPT0phnA7PHpgjPfh1pKR",
  "id": "fc_04d7c7b6fdc132d7016ab2bc659d1487d0ab1bc85c1123861e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D01VPT0phnA7PHpgjPfh1pKR",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.403, 2.083, 0.7639, 0.8497, 0.0944, 0.0254, 0.0429, 0.0998, 1.8069, 1.3811, -0.6994, -0.9482, -1.0821, 0.0697]\nstate[eef_state]: left_x=0.4438 left_y=-0.2034 left_z=0.0087 left_yaw=-0.5084 left_pitch=0.1021 left_roll=-0.01 left_gripper=0.0429 right_x=0.3876 right_y=0.1866 right_z=0.1661 right_yaw=1.3878 right_pitch=0.0019 right_roll=-0.0371 right_gripper=0.0697\nstate[joint_eff]: [0.5538, -7.1179, 3.5487, 1.536, 0.0708, 0.0269, 1.0379, -0.3487, -9.1966, 6.2701, 0.9402, -0.525, -0.0464, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2ec615b53861da72c0450512a06d67fb01c7a43e56797334567d070f851469",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e394c888105f1da1fe2a313d1d5e0f4d269b99c257f0eb70e93dd280af2f923",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f92dcba414aabc3383ed4afe87dacad5f27c9a9d58563693b7fb30c117991aa1",
      "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]: [-0.4061, 2.0003, 0.96, 0.2962, 0.0856, 0.0486, 0.9997, 0.0998, 1.8065, 1.3811, -0.6987, -0.9535, -1.0817, 0.0697]\nstate[eef_state]: left_x=0.4426 left_y=-0.2029 left_z=0.0045 left_yaw=-0.5178 left_pitch=-0.1715 left_roll=-0.0156 left_gripper=0.9997 right_x=0.3873 right_y=0.1871 right_z=0.167 right_yaw=1.3899 right_pitch=0.0068 right_roll=-0.0365 right_gripper=0.0697\nstate[joint_eff]: [0.2667, -8.0205, 7.0085, 1.3162, 0.3248, 0.1245, -0.022, -0.0479, -8.4581, 6.4615, 0.9597, -0.5543, -0.0269, 1.0281]\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\":0.075},\"note\":\"The cap grasp is narrow, so the jaw reading alone is inconclusive. I will lift gently and check whether the cap leaves the table.\"}",
  "call_id": "call_zs7waV4UWMqNNQnDJb1JkHTO",
  "id": "fc_04d7c7b6fdc132d7016ab2bc6ade3487d0b2ea515297dc3d96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zs7waV4UWMqNNQnDJb1JkHTO",
  "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]: [-0.4015, 1.8866, 0.7784, 0.6334, 0.0856, 0.0238, 0.0421, 0.0998, 1.8069, 1.3811, -0.6998, -0.9432, -1.0821, 0.0697]\nstate[eef_state]: left_x=0.4411 left_y=-0.1998 left_z=0.0582 left_yaw=-0.4986 left_pitch=0.0964 left_roll=-0.0079 left_gripper=0.0421 right_x=0.3879 right_y=0.1861 right_z=0.1654 right_yaw=1.3857 right_pitch=-0.0025 right_roll=-0.0379 right_gripper=0.0697\nstate[joint_eff]: [-0.4855, -10.5368, 7.9521, 1.8339, 0.0562, -0.0562, -0.0904, -0.1983, -9.1419, 6.2838, 0.9646, -0.5006, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb06888f09bd9600ec1864a5b64777bcd6a27cf45263945b8a21300738b6a176",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c936598b818bb8cd8d0826495a1fe11ec6f383018943cef27e3b3ddb1d4d6478",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1199e4a10d6d1847970adb4255d6c7bd54f9502c92254ad811525b6a07146ad2",
      "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]: [-0.403, 2.083, 0.7639, 0.8497, 0.0944, 0.0254, 0.0429, 0.0998, 1.8069, 1.3811, -0.6994, -0.9482, -1.0821, 0.0697]\nstate[eef_state]: left_x=0.4438 left_y=-0.2034 left_z=0.0087 left_yaw=-0.5084 left_pitch=0.1021 left_roll=-0.01 left_gripper=0.0429 right_x=0.3876 right_y=0.1866 right_z=0.1661 right_yaw=1.3878 right_pitch=0.0019 right_roll=-0.0371 right_gripper=0.0697\nstate[joint_eff]: [0.5538, -7.1179, 3.5487, 1.536, 0.0708, 0.0269, 1.0379, -0.3487, -9.1966, 6.2701, 0.9402, -0.525, -0.0464, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxzMmldSSR0VQ2gOO1pa5Upm4xoyk6qWVtmVLA9Ue6gPlehlRUqL2GRV0INEebLNcZtnEtUmVhzwXGUeYxrcAYcQmmQaeRuDn1HErzBEiQPhbFRbdX7l3S5kPNskOv62hm5jgwMjrkqSMLkm2h3L5A_nWXvnX8NImFGFoxGqts7tR0vtZx6Bx60zka-cCXGbskz0Z7crIUNprxLVj0-OstKA1vsTU1zpr3kzduyLhMYELa9JeAR9UUqAWlhlImdqwZvYEBi6z328lUFkLEuaWgym76ufDH3geAAtJ_oz0wIbdiso39LIvH3jFqt3WARa6fZ7LLkrd-mgdVcpjNUFmP9DnzA1m93t3MD9ah6v_nCuQwNCJblOmHaJcTM8JI3qJRWqOUmoLGhIuC80QLXRkDXgxjBOZ0Y-ThrxevwuH7oinw6oCosYlmwmW3QKSuKSYcEdBcMxOKpvcE33TwgxXHzCsQL42OT8PNou59Rk723oCtTo73u4RtiaO9ZIskaMg9j4Vq6oR2l_mn9P8hetI2QYA6QNzBnkyRTHCX8NqyfRYgYESoaeRwoW32YA0TsQomWJUe_xS8-9Bg9i4dEoD583MBM_vuYCJW4ozkR1hE9Ldyhd6TB1JxK8zqJgHQGLBEuVcPE8Mi5O_DXBQN9jNoZG6vQa6XDsQhWVwEnmWbu4_6yloi358GGcnLCGeIr7kDq4dduLPPkhU40bMpfiwFUi2LOf-HT69a5VU1Bcs-x-2vxOdll9UlDKlAELrrajN2uFISAn1TRthnv82KLrBjfxH50Eyg4eFFwKilQ8Vgox2YmRE-6A9RyGWxZNIdVUmGAobdFae1va9oXdERw1w1AeW7hQ5m6vYuWmTYJM4GBu6b974_DWkr3dJsT_JqXPSn6-AH3Q9J4MGuqGSZyVjwX2QA80xK-ZnimjFq0kzuHJZ4l_bm_4DMxo7x07UEWPnfUq_iooqXBQy9z0eAXruTkXV5LFtTvCS5yOsaGR5RRSSSrltJS1tDhxOwPJbnPoBWfXDN91f2FRhLsHofmBlKtcz-BT9pm36ArNFdchs_Vct41XDxUZaNfd14ixXeEom_49nWnYAueZJmz43LUiXrbsrq1ash9fcvRUinGeUiUXeYgFx2DV8TrNeE-7BrCjS0w1vgHnkpzOWJAKdYzLZJIruTZxtyjgspmOK4qygaVzeUo7lwZg1nxaegoiXdQUDkkTmVSJ5BJ0dSSV-3bKzN-BfPsH9mH2vTiC863_0ekegUhGJUXSQih5mOdRYZj9o9W4dPe8ODrlPL6MXDwk79WAUiXIdCFelzWGjhAifPoxHoQ-M4NVetv61kJf7w3z00L46Ke9MSApfrp05JAqahSPA==",
  "id": "rs_04d7c7b6fdc132d7016ab2bc6f4e2487d091d00fa1fb435744",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.18,\"left_z\":0.16,\"left_gripper\":1},\"note\":\"The opposite wrist camera shows the cap still on the table, so the left grasp was empty. I will lift clear and re-center the left arm using that visible cap position.\"}",
  "call_id": "call_mZYFaCuPWampCASHGg9gjdxp",
  "id": "fc_04d7c7b6fdc132d7016ab2bc71026487d0b4cd227d9084f5f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mZYFaCuPWampCASHGg9gjdxp",
  "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]: [-0.4522, 1.3331, 0.6716, 0.2131, 0.0502, -0.0006, 0.9953, 0.0998, 1.8076, 1.3796, -0.6994, -0.9394, -1.0821, 0.0719]\nstate[eef_state]: left_x=0.3668 left_y=-0.184 left_z=0.1587 left_yaw=-0.5063 left_pitch=0.1214 left_roll=-0.0121 left_gripper=0.9953 right_x=0.3879 right_y=0.1857 right_z=0.1642 right_yaw=1.384 right_pitch=-0.0064 right_roll=-0.0371 right_gripper=0.0719\nstate[joint_eff]: [-0.3214, -6.0103, 7.0085, 1.8388, -0.1441, 0.0122, -0.0562, -0.3761, -9.2103, 6.612, 1.0085, -0.5055, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b01eb29a4ed5914c76c62d62fd9eadf16db1c467214f399440e2ca75c51e39e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d15f70fab5afc8e248b5c18290d3f1325a9b7bda0d703ded0b2efa6b97cb69c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:055c72cb669992079fefc521ae2c71121b5483e25f45a426bd1f0f98212fee95",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4015, 1.8866, 0.7784, 0.6334, 0.0856, 0.0238, 0.0421, 0.0998, 1.8069, 1.3811, -0.6998, -0.9432, -1.0821, 0.0697]\nstate[eef_state]: left_x=0.4411 left_y=-0.1998 left_z=0.0582 left_yaw=-0.4986 left_pitch=0.0964 left_roll=-0.0079 left_gripper=0.0421 right_x=0.3879 right_y=0.1861 right_z=0.1654 right_yaw=1.3857 right_pitch=-0.0025 right_roll=-0.0379 right_gripper=0.0697\nstate[joint_eff]: [-0.4855, -10.5368, 7.9521, 1.8339, 0.0562, -0.0562, -0.0904, -0.1983, -9.1419, 6.2838, 0.9646, -0.5006, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrx95XjUEdOyrtJ_KEx0tabqY3sbtD4QUAwsMChZE6exdvu00kX2r8A0KespJoiBzmp97DMoxn-CeEtSrEhIUgr0lcqSF4W4Aukx5oCrbrOsgR03L9ZUO7pVq22vA0fycdmP1NdVbOw-wGoPcLCcA_MxRXn0yXjwFqKQEfGIES9Pm1-lQngErc2SFRCE1aVnisloDI4wv0CIHfu0f2aeekf0vceccQd-tpSJ4EOqTELzFsCm-B9sluVQ4iVWYtJBnzg5JCQP5jp2Pyu5Is-WaFZCrz23P_Dp283p_9n0YmOsqMirXFlnjF8gsnR-2LlnIiQ66FiyuLFiJeHJP4HaRgG--irzI9k-y5iWFQHxvIDPeHYtM9mWDz5JAoPWqWsLBz82Wat1sxT_1nKdqsoKKoJN3H4wMa5G2af0b3Azw40GuLrk1uX1j1YgZYORDtSvwElve8jBcKZWCb_fSG_S0M7F2pxpEks20nIr_5MgB0dvWaAT5R3Ovhj-VeFNBjUxpMHlbVqs5yw8BrlP3C2sS1RehsIIJefkGDzq-s3TUBBgT59Wvt9QekRAIpll4ndpDaW5G_CqEizinffGTkGIyIYUX8Dm-DBxE-lb58i377RCxVCqqrlkWN5mp5Bj1RmmQR_eIzsW_zCGDEcQU37_SXoPiLYC48RBPYj3nt772nTwWSZ9GrEZ0SPfPyvcuy9zrA4iN5TZdd43cQtdtgwnrfGeceo46sNMAk4VUpy71IGvdlA5s3xo0wqmBZRKNEojM8iruj0T5sOruQ7dA2GgAAEG_-VqIOKFq6x-BL2Nf_178fXTn7DKgQOzGSD0bpdaz4uXNvg-L6ASVFhABeezD3VNvJwx8_-dbvfpCCvsqBZg2ndXC5Axte2l8Y0ud-drHaAIgPj1jiOswvtB87qS_DAQBrFIHhbdJYyFNUXsIH1SMePLItXezkKAaDUO108KUZ1I-hJ11bEGusr6Eu9Qll5vl3RxFzFMefVh9TZlO7CxlOI7E0xKqFiQciTj05hqVXaD3Ex8p7RDrFAXwNxCqaIM8dB759Gg-FDnw4M98pLLFD_efQ1fShpYuOQmWbWQkvfIGWVfO45hfNoVbpRugIf6VUOSBAoxDcoYow6dIjCrjHzUlYGZy8Fx0u4kqyASOcoXxWpQltP-1y9L-K7CSWDoDRr26HQoSD2zHll8ABMOFFBP65z3eyTsAG__mjodoljMbf-fC0QYIYd4m7wSIXtLTmypfyrEahNhInrYeMRgyC3k74_MXMbj5rzXn0Xp9djSB0eqZqcR77PGUzlDMzkbEX9Rn5GFpt6Si5FhAtiMXEpQ28QChz8D3ui2cY_C4ZR2d_eT3M1umwj0mfS4gqudPlpF03koCOiAaGhD3VYEGY8gm9u1ujCnbEirxBmu2SQcN3gi4-HvgeaeFPnHaAhNUm4l1XgiMyvIw0WFRJUiKT43hrx6vIJVKfPxHFivuUjPB7-sxxKC4QOKrnXp1exMfcRGfAaBe3XFLmApqz1MdsdSFFcc-mkysdt9JCEXhbfiJ-Fehn5j_MQdz7y26M_U6-eBKbXMLEe2cqSHqOpjBpuGGvLyQFEGTYjsvo0bbHMI_QQPifM7K7aNTZRQjw-idJv5VPzTLsAvma2E47Q4yd4EnPTn05_LNmZBO7mOMSs7Gya9-Abr6a-_d1OQ2IyIEGo9K0V0x8DLCY0j2rqlWyg=",
  "id": "rs_04d7c7b6fdc132d7016ab2bc766e0887d0bf7df28c06ce682b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.483,\"left_y\":-0.225,\"left_z\":0.035,\"left_pitch\":0,\"left_yaw\":-0.9},\"note\":\"The cap is fully visible ahead of the left fingertips, confirming the previous grasp was short of it. I will reach farther forward and turn across the cap before lowering.\"}",
  "call_id": "call_6s1i9P9miCGkB7aAWoQBOVMR",
  "id": "fc_04d7c7b6fdc132d7016ab2bc7b5cdc87d0829267de6cb18de8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6s1i9P9miCGkB7aAWoQBOVMR",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2848, 2.0983, 1.1194, 0.2844, 0.4442, 0.2749, 0.9964, 0.0998, 1.8111, 1.375, -0.7006, -0.9352, -1.0824, 0.0738]\nstate[eef_state]: left_x=0.4748 left_y=-0.2144 left_z=0.0235 left_yaw=-0.8139 left_pitch=-0.0474 left_roll=-0.0479 left_gripper=0.9964 right_x=0.3873 right_y=0.1852 right_z=0.1608 right_yaw=1.3825 right_pitch=-0.0126 right_roll=-0.0297 right_gripper=0.0738\nstate[joint_eff]: [0.4444, -11.9043, 7.4872, 1.6435, 0.4322, 0.2808, 0.1001, -0.3624, -9.4154, 6.6393, 0.9353, -0.4713, -0.022, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e7a6ba962fd647edc5ff15462df8d82869dd24033b07f4d334786df2eb0ec25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba0482a8ec1095448defe3454940b3402c3ce85b1811d21eb1edd2137ec0158",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f506cb1dd4c92a4519f24f03908d36262b25cfebef9655e3f8cdadf134cdfe",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4522, 1.3331, 0.6716, 0.2131, 0.0502, -0.0006, 0.9953, 0.0998, 1.8076, 1.3796, -0.6994, -0.9394, -1.0821, 0.0719]\nstate[eef_state]: left_x=0.3668 left_y=-0.184 left_z=0.1587 left_yaw=-0.5063 left_pitch=0.1214 left_roll=-0.0121 left_gripper=0.9953 right_x=0.3879 right_y=0.1857 right_z=0.1642 right_yaw=1.384 right_pitch=-0.0064 right_roll=-0.0371 right_gripper=0.0719\nstate[joint_eff]: [-0.3214, -6.0103, 7.0085, 1.8388, -0.1441, 0.0122, -0.0562, -0.3761, -9.2103, 6.612, 1.0085, -0.5055, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsryCyzjppX_ChVanGf2lB2OwZNc7eXPVBo9TeTXNDYq1YTkvnYj8sWqzqHFECf5271iSGAtAbUdrF3AzNawNXRvkrSnmp2r7QibS80vG9UUkTqa_rNiKcN2cgH9VR7f8j5TOFaQGAiNRFEPrq-5o3vhzQdwTaO65S_NxuNTVXtJlVDQp-xxSkBjxrUldS1aRARLRtP8lYITiRnCAVOezYatj8FhORaKTGxlW1dKrjQgZRWA9YdRtGxbjmplr1PPstXv9br2SUZey8iwSCVmht6i5Y9W0KW1_ZgKJawbv_kCGZQ89nTxUCRUzYf3CuB35A4RPXWJIqVSDBwSXgw5aN_qI9a6TA-UJ1AmaesLOIvd8YA5z19ViqFqFmpKeAQI7oJ6EM3ntpVXZIk_a3Mz1gm3TZ-j2Em1PJyOgPvoJzPKCcVgy6gtP8BsGcvawfnY9_0Ri7woS1CJfGwYS_nHi4BvA_eBTn0r6npydCEO4rQJoqKH6cEwEKeMMxvfy7T6NVDwZX2vXH1ZTtmSfeWZNDoKP5SJutfEAR1-Ad2ol_nAspX5MflOESDpLXqfUUl1rdO_DSWGa7FC93XXLLAmjKVo0QjV3ybEGwuxeOJNMs7bgLh_QD0V1l0p57gLeteJRiOd0xKrX4tQx0bnrTBxX_gGIpcpG241rcHo9GbMlInbxZTHWPsuqNxEvoncrwdF56wBs5ZS5W2T2A3pe8gSUy9CzkCN8ks2jwejvFi4KuAuTq7Mp6Mb2cUg-D3osz4FbdUsZQMp_788vfMDJLbR5hJt6s_6nEwJxNfTkDukFBug2RQr0sj46-ZI8tjYCI3xQzU7X8HM0djKtim3fcULDW-XWIqNNcOYtqVmQ4k6jHUD2vwqMomo4lOk3AfOWwhFtJu0PejgvyWHLBbhAdd69ZkX6abYC8uT-VXgW9pNdc2IPxWi1N-VfhNk4w5SE53XG3yjn2tCk1SmwMXfy-W27PcbMC7gO_USl2WzuVnFi83xup31DiSi5XFqIDWc8JVcnZ4ps-lbTEhd4Ii6X48fmgflO0NXcYztsG6GYszlDtwUu3M8hsh4z4IJ3zY18wCW0_Ekf-ijPKJQp4e6xPDJT2fQ2gMDGrD58F_zdLoPeFUxUUCTnuf2YQG4SU6TKqOFjAlSrvFcBcRj-8z3q7qm52iM_prjRfb03mkFlLenA574eGrNIZ3ETmbvC2RjugQ4krQlgIgJZ6ltPwAH3OmaTTiBcwA==",
  "id": "rs_04d7c7b6fdc132d7016ab2bc80787487d0b5061d1479d25906",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":-0.005,\"left_gripper\":0},\"note\":\"The cap is now beneath the left fingertips rather than ahead of them. I will lower the last few millimeters and close around it.\"}",
  "call_id": "call_AkkgAseM42mruPQ6ne2pd3GN",
  "id": "fc_04d7c7b6fdc132d7016ab2bc80edc087d099d78c01cba37365",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AkkgAseM42mruPQ6ne2pd3GN",
  "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]: [-0.2821, 2.1559, 1.1072, 0.3611, 0.4438, 0.2703, 0.0081, 0.0998, 1.8114, 1.3746, -0.6998, -0.9318, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.477 left_y=-0.2135 left_z=0.0041 left_yaw=-0.8083 left_pitch=-0.0417 left_roll=-0.048 left_gripper=0.0081 right_x=0.3876 right_y=0.1849 right_z=0.1601 right_yaw=1.3809 right_pitch=-0.0156 right_roll=-0.0303 right_gripper=0.0753\nstate[joint_eff]: [-0.3624, -8.9641, 4.7795, 1.7656, 0.1587, 0.0171, 0.5739, -0.3487, -9.1829, 6.2974, 0.8864, -0.525, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e072c03306a4bc12c0994c674cb86ed41c59837afb2dabdb84314efeb40c03e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00286456933066ccd4c6422946ec51c9d4751883e8dd4c0738e97a26f04a01f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0495590a7f071ca86b8a27551ec368374f3eabde9ab8cf460e63a7a5377adf4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2848, 2.0983, 1.1194, 0.2844, 0.4442, 0.2749, 0.9964, 0.0998, 1.8111, 1.375, -0.7006, -0.9352, -1.0824, 0.0738]\nstate[eef_state]: left_x=0.4748 left_y=-0.2144 left_z=0.0235 left_yaw=-0.8139 left_pitch=-0.0474 left_roll=-0.0479 left_gripper=0.9964 right_x=0.3873 right_y=0.1852 right_z=0.1608 right_yaw=1.3825 right_pitch=-0.0126 right_roll=-0.0297 right_gripper=0.0738\nstate[joint_eff]: [0.4444, -11.9043, 7.4872, 1.6435, 0.4322, 0.2808, 0.1001, -0.3624, -9.4154, 6.6393, 0.9353, -0.4713, -0.022, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsryJDDlN4jrJ-JIXFOYJFspdlwDnPkz2z_kkP5-AIBXEq1sAxxUihrtbUCIQeeOUA6ItVDYL_2KnmTS1YGgsXquDjeMNVdP1SpIe2DCZgIFGNx_nSM7c64kjsBypfRBhuULbVuWBRHlxs53ocHqLy7Kclj_colZfF10dpevjn3PtMuDqLvojWYPC32v9dLh2wS_pu8GXpUYhVIRPMFlxCIWJHVuweZTvN1v3fDtCh7H2CiTKoa9cUhyLkpRQ4oSKoaMfaYKudnvg8XGKxMl2DFxRaIRKGYFDNQxjMIAVSCH3YJAGDFsmNX0gpjuvXPE4u0P2h8-r_auh8afZtIGHSL8SDFjZ3bDb7Ob3WeMTPtRvCYIc3xCu-aKSgaVeGAa0Jfe59DBVzJOKDmxDdygX18Q8Qhv_6ylVYdbdkLigRwSmlx4CWCPVgAcU-Qami_yJfuWMkrilkepYISjJ9Sk4ZDk1TqdpZzKj07yEjpxXTLk3sMW8WHGQbXB-p8SXCx5nkTt4QH_8O5Afv3ELQyyYZ51_hgBSvVk-IZ3hw9ry-mnHOsHBOmni2AXgaDlGNqCQawmUKNgXqcN3ZhidLOEt8XZopHEsRMRtSKSbJSiyH3-6L60flzh1gKRGcEla5IhjZs0myBB0Df_kfn3CErmUzOJqhgUULzLsZ6-_InSRjlL7nsjUYvJv9aPyu9r2WtW7Bduc2x0qDRSmr0KPWowr3ealkfcKZytRMUFFoOOIWXSqUwVpVP9DPyunG4prRxPZWNEHNy7zjSN0_yTj7vmpiDFbjfWsL1ng3vCSROAyh8_NpC0zWLbdLXXZ3Rz0ncWtsjGVcZ5RBIcPj10oM9tE_aqO3CM3Nux9LPjM8IFBgotK5D_-KOLOAknzaV0_0qDkp4tJ-OmVRqkUch4KS8vt4vA-0x0_utAJxCVEWX4AuhWW3GCIW3WQR9-DUtNYGJARIX1Ua775Lq67iH1pvAXt9HrELTG8wPdqKVCrExXujM-LwA4EV0zmWdSPTCswyeneJfWgpDh3nDKz6AH9ppu9LEKVldjQvgfMuUf-kKEB1v3cz3Er9TgfCwcerPegm1nBduEAH4OHjgWhgcRhBc3cnHluN3RSdfP24AJjW_q4jkb_gwp_nXaXCtyCdrU4Ctdx-inG63yX7V2O4NFvOQMp66TobcatKljUaAFikLjbGjdP1MC6dT9BflBXSZs-JpBwErsa0-sdP9b-rIgRVNLjuO3cLb7OAaJ9AlJ6NlfvPRvt4SAGzYMUD7mMUfMrhBrIY0js54Nb4OQM13HyojBRvCHF1dEJVL5eQ68YKwiQEh3rUhBufeudUQOo3D6ZY3zIbKjB7RV59WctdNV2NtrcRkellYuZfii4yFXTxyJsFLkIGGI=",
  "id": "rs_04d7c7b6fdc132d7016ab2bc8698d087d0b6b054e4eb90cc9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.16,\"left_gripper\":1},\"note\":\"The left jaws closed empty again. I will clear the view before making another attempt, since the cap may have moved or ended up behind the fingertips.\"}",
  "call_id": "call_cnc49zZSOO0pJsjTFJ8RARHA",
  "id": "fc_04d7c7b6fdc132d7016ab2bc884afc87d0a28b5fb19c045180",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cnc49zZSOO0pJsjTFJ8RARHA",
  "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]: [-0.0013, 1.3724, 0.8482, -0.2329, 0.6128, 0.4572, 0.9953, 0.0998, 1.8114, 1.3701, -0.6979, -0.918, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.366 left_y=-0.0985 left_z=0.1529 left_yaw=-0.76 left_pitch=-0.0274 left_roll=-0.025 left_gripper=0.9953 right_x=0.3879 right_y=0.1835 right_z=0.157 right_yaw=1.3751 right_pitch=-0.0283 right_roll=-0.0313 right_gripper=0.0753\nstate[joint_eff]: [0.1573, -5.9692, 8.4855, 1.5702, 0.5543, 0.2466, -0.1148, -0.1162, -8.9641, 6.6803, 1.0085, -0.6471, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0281ae7b42e6bb5d56de067ce376f0b43e22684313006254b5c26148abcbb80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dbaf302d261f293b82e2675b99dc0ca515d2524ea197123b6e6f8508d0dfb74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a59e2a622de3c07e809f20e0ca47c468a041f0adde34495ea8c835092a8b0e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2821, 2.1559, 1.1072, 0.3611, 0.4438, 0.2703, 0.0081, 0.0998, 1.8114, 1.3746, -0.6998, -0.9318, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.477 left_y=-0.2135 left_z=0.0041 left_yaw=-0.8083 left_pitch=-0.0417 left_roll=-0.048 left_gripper=0.0081 right_x=0.3876 right_y=0.1849 right_z=0.1601 right_yaw=1.3809 right_pitch=-0.0156 right_roll=-0.0303 right_gripper=0.0753\nstate[joint_eff]: [-0.3624, -8.9641, 4.7795, 1.7656, 0.1587, 0.0171, 0.5739, -0.3487, -9.1829, 6.2974, 0.8864, -0.525, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsryUdfrJGQU5ICia4GGmW_YaFDfgEfG3zTraIrYOG23_zpNAVWkvCbnfYkmk7e3IixXzVN1Ye1qwNTFSd99hHk_5wSXmQOY7NZfNHl8Y9OSsBpNO4jNSI6wlZZHFYfudd36f2D0Sit_Rzoy0XNPvaFLMVP1aboRVdFWBQo-ixl_VjEhwXY6ahiMrbr0p_4iRFpcb3P62iFZ6Rk8rmarnygcXd2dVpVmEZZgGuhmvNk6CnNIFViSS-iLbCZsRp7FyjuNALKOVWn97DMrS_wZDiAyE2uRg7C4hxODAeQQV3hMAPA0m8W1mzEpgSOb-TqgH-S8vXtkMAnWNVKka_8uPlBYCQ_2GN7ESu0tpYwQi9L9dID-thAmVFmFNKDJnf7nJ5AohqrokuI5AzrfgmwpAogL4Uk9ibyT9XCUmhc3O7CVJXjo9NB5xUMQxy7AVBNQWvAKeKkPbtx2FB7MSfCW5E6Sveb8yBogdyQ4mdeNFWAOBWFlKiu5UMQnFNywLnFwpglv7KJiyL7oPtJpT4ems1xW5AxtXpL9TBvqbl93oQWTUc_CYAjDS9f0WwqR6NnvLWiRSAPdRe0cnCkgj-zuqXHUKkFugpYchU_p09ev8H6CW2zooF1Lkpr8TuhGIK67iMSto2-OKkOrAvDZqXe8NEtMaeVvbF6oA4QwZe-orj5ry177DeimI3wFxqSkMvf33x3GTwC-ARJjhKHHever9wsNM2K6PBkaMyUQGTRdLyX4BKRUa89UGWz-HRH9JHE5KrqwmoybZDQGzTJTUKGUkuFcSBv3RgojNtmoMOV9dw4OOW9heLENy62yMfGjt4yp61RgjRc-d5vwniEFDkRe8eTUBdJXiryuLteLx0MW8-6hzYeaC-ZVQaMnw46RMuw1riyWAEqb21wZSd-BAD338-4LvceTAU3XePLnkDsaOWKXW3VWEfQRhEgcuq50lurZkPqiVqYv_pQ_tufuCR-KPsdeqq7eQnATCFJYtiHob7hpRAvJ45KXWm2xq0UnE_XGRrRb_ezchM3-BRh55J66lLMqkfcexGDQNuLKkS8EFtbaJTZLdeWZPyuZJ8ZQ5C6bm9KsTvzr1Ni29OpPUSXLq8Y7JAHFQObCWMvv9K9QHL95pR3oaSDA98jCX6URXzE-GHHIKbXkJSrsJm9p9Ahf-dkRbPjdbRi5IH4hzGu6W1aJ4ISXkiHt1PFNcTdQwZquzQSNJzEsgnnfT7V8t02ZHX4RfMvy7CJMGJJB2_z9PbXbNlxEq4OYOokZ20XoXMjqu2zijSOkltr6gy73_JNez0Fv8QfD425RdqH57yTFqv2wT083W03jix4WC06YLsLkjodN0DebB0juT-N9EeLUGbnKLvGea9S1HvcpKc_GvWJwbTuFrZxfS2-IJcEg1ypY71s4tibJsB_934FC9Wr5IV6i_aXJnnmNBw8bQUMvA0lE74vIBIpEWyu3F0Rfzt5hSEbi6OWu1XCUH0Vy-vaXliP2bewU4BkvZQOO-4ju0CotmIRuPffwmtVOJF9YB184tsD5zpPPx88XLWYm__DQ0Pelap_EVoqteKtBBARqcp2GMKkOlicBfQ2_YyCUUyj72gIrBxzvJhKu3Z0rhZlH3QPW59TalrsZ2gzGDrL8xM3yO0ME9y1geCRIIqWpXYVfgrQJYDqhwVPKU-L8dirgc-l2DxpBpBeZA-BQWqIsvDVAbPA_AEWrdKmpBQptpN8PdCukrg919izBW2JYCsy_ayA395x0xy9G8JC5NqMBLKR7S2sf-dU1G1AZTfYbL3HSPtOQ35AQ2sQErJMHhZ1I1MqNT7w==",
  "id": "rs_04d7c7b6fdc132d7016ab2bc8d7f3087d0bcd56df28784e1d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.265,\"left_z\":0.065,\"left_yaw\":0.4},\"note\":\"The clear view shows the cap still on the table, now rotated and farther toward the table center than the last grasp. I will approach that updated location with the left jaws aligned across it.\"}",
  "call_id": "call_qmFJ1O2clEuWun8q8bfEkWgU",
  "id": "fc_04d7c7b6fdc132d7016ab2bc92dce887d09d9baf598bdc8f41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qmFJ1O2clEuWun8q8bfEkWgU",
  "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]: [-0.8082, 2.1754, 1.491, -0.3008, -0.8009, -0.8761, 0.9964, 0.0998, 1.8114, 1.3655, -0.701, -0.9108, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.4428 left_y=-0.2747 left_z=0.0601 left_yaw=0.2866 left_pitch=-0.0498 left_roll=-0.0333 left_gripper=0.9964 right_x=0.3869 right_y=0.1826 right_z=0.1544 right_yaw=1.3723 right_pitch=-0.0368 right_roll=-0.0259 right_gripper=0.0753\nstate[joint_eff]: [-0.4171, -12.8889, 6.9402, 0.7937, -0.5739, -0.1001, 0.1001, -0.3761, -9.0188, 6.612, 0.9841, -0.5299, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b8593db97721d60698bf6bb3cf50302247a7c8b2336b2f731bf8b2b0425ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e2791bf2761989fe6479a5a881eec9d51784b217af1d808b7310c2e2d3c730",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8ae6683830846508844fa5a4d73d283a14debfb035799f2444da04749d36f8a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0013, 1.3724, 0.8482, -0.2329, 0.6128, 0.4572, 0.9953, 0.0998, 1.8114, 1.3701, -0.6979, -0.918, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.366 left_y=-0.0985 left_z=0.1529 left_yaw=-0.76 left_pitch=-0.0274 left_roll=-0.025 left_gripper=0.9953 right_x=0.3879 right_y=0.1835 right_z=0.157 right_yaw=1.3751 right_pitch=-0.0283 right_roll=-0.0313 right_gripper=0.0753\nstate[joint_eff]: [0.1573, -5.9692, 8.4855, 1.5702, 0.5543, 0.2466, -0.1148, -0.1162, -8.9641, 6.6803, 1.0085, -0.6471, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrygJEvzehXeULiJht8tsNRZdzqFiKCANHNYsPGyIHKPh7bevNvM4tepWD2EA7DEJY90brK5pr84loFGVG8xyR9wxNCBeGwDdaDxW47l86B0tum-HGDBA3Z3wrUDEF10GhX3hFq6WNds68SMLtN2GWjXFu0Tj9zY5om4Xfy4ilSGhH2m8YqoSdMSqaFUVK4UhQwALoRgGd90Q27k6HFvvfWuDQpPqYbJ-bS0n28qE8j3XCCinQw7MEvHZAwpIUX88aiZNIiOQNpZE5JN7UH8DppetRHaNPAO4k8FFXwvdMGLZQGWcbLL_LE1V4h4AsF_4HSQMUgiUFkVf-3DKvFt2I4i6wKyp1BZv98KoVXbdwDPnilQR7u0d_gYa_POaVtcBEvHYS6MZREwwlNkbO1Kz7uBVOXTENWfxzK6AOz-x5PeobIcn2bA2KTeeAmA4gOi0_x1jIVzxZAyo4aMAPZhbwcQ6aaXZNgNa1omB97CSoplNA6UqfAdveoJolMjmF06DdY6ApvJ4oTd4Ht8wBLW4rJ78LKhEN5qwZjZzILr_DyfUA2IshJJxgjabf2tZ1y6nybIPfXjR7MrGGHb891gvfG_FogKp2T8eVylbJDzpvA6MKAD4qIMJ77bqQ4FAkgZdv0XZBf2ySyfDvT-fr5_ebNModeZWZaSSLdf2ctuVMx9B-ZxCNm6q0OALteapKMF17BIlm8JlPrFHs6_U-X-3QsFQMqe-uh3wXgeI8PbygT2eFxnP66yLAKSwjuv0ZXwVkkUEljtDrKwAMcHIF4FfuTc4-IGMYOK0yzjkP5DSeGQ61t-dqvC5nQub-soJ3__r3ReOBUtjbMUP6ySqlWYKVlB5DXWq6TfUzdbGgEXpqImI7JeSQ87LT4aSJvojP2WKkMxTgeawVuQplFhgnMm40Oqp7H5r_GQutl1goYNnU6dq7pL_4za17ab-8JtNyGP2P82SGkLNXGDyLSKbuscKXNbg1d6r69t2_6IHxMTDGU7rDMPrZDuRKKYvtshl7KDWfU9lnq9SKqOrZIDBGxLMdHSYBSd1FIhjbp2ug5-cODcz3HjpIT3_cLVuAlq0hji6Rue5IRcOiW6NnKmtR2-HcHF2p-lt-JXFfJWyeiW-ZqFbylUH-xp0kfUZzPfvU3l3G5fP-HcY8Hhd4Ikwl_irb21hHvwUCDViLxqSAef66ve_0_ogkAt_EMUgXbXAG38HojRlJsKu9cLlsUG0ewNpyeDR41iCZrpg3Rk6SLvvVzObIMYu2GFuduhM8sjR0W0D50z9cbEXr_f_pO9GUiEUv7JUgSa1yq0pcZ_vvde-d49whB4oQRdVOetTCvPGAA6diVsEp5WjppfWIgRvBK9lFGRoP8F8HMfPVgk52Rg2IBzqKL-vgQp-rgAtgmQo5NDnPAlZllaHy0Bu1k4od-u9XsQpWFQfLyp62nDTIwmMoHgK1MYb_cHjoi-RWf9u0ufSnvTjqBEi4F2QyGWikr0Gvo6Fw==",
  "id": "rs_04d7c7b6fdc132d7016ab2bc9b11a087d0a5dd7cce62b92877",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.225,\"left_z\":0.035,\"left_yaw\":0.35},\"note\":\"The cap appears left of the jaw column in the close wrist view. I will shift the open gripper left and slightly back to center it before descending farther.\"}",
  "call_id": "call_C7qw7ciBoIzpUvzgeetBDhyY",
  "id": "fc_04d7c7b6fdc132d7016ab2bc9dc5f087d09960db0036e7c3c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C7qw7ciBoIzpUvzgeetBDhyY",
  "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]: [-0.7658, 2.1468, 1.2621, -0.2123, -0.804, -0.9138, 0.9965, 0.0998, 1.8114, 1.3655, -0.6994, -0.9092, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.4174 left_y=-0.2199 left_z=0.0106 left_yaw=0.3583 left_pitch=-0.097 left_roll=0.0379 left_gripper=0.9965 right_x=0.3872 right_y=0.1824 right_z=0.1543 right_yaw=1.3716 right_pitch=-0.0377 right_roll=-0.0278 right_gripper=0.0753\nstate[joint_eff]: [-0.0752, -14.4205, 6.0103, 1.4139, -0.4567, 0.1099, -0.0024, -0.212, -9.1556, 6.2427, 0.9206, -0.4176, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1cee593c4c415fd50a6243a382a9c5fd514abf63b8193b3cd6da6b6f340111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8499838f269f7ed29815706526b46038535edcb45001e64218e319611dec36a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b96d30f64626f67d2f87a07ef304cc5894f574256d7dc7ddfcc9315983428cc4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8082, 2.1754, 1.491, -0.3008, -0.8009, -0.8761, 0.9964, 0.0998, 1.8114, 1.3655, -0.701, -0.9108, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.4428 left_y=-0.2747 left_z=0.0601 left_yaw=0.2866 left_pitch=-0.0498 left_roll=-0.0333 left_gripper=0.9964 right_x=0.3869 right_y=0.1826 right_z=0.1544 right_yaw=1.3723 right_pitch=-0.0368 right_roll=-0.0259 right_gripper=0.0753\nstate[joint_eff]: [-0.4171, -12.8889, 6.9402, 0.7937, -0.5739, -0.1001, 0.1001, -0.3761, -9.0188, 6.612, 0.9841, -0.5299, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsryowUF38-rh0qyTKpk3t-Qzuq_tA9N9OcqSuGG_D8YueK-ssCVuvGJBuEQ6B1T0XMVXL1aN622XbRacSMiDNln7aYkEoDO9WTqhmGg7scLvr1DkQb5ShU4XW2y21LUoQRCw8yl0TOF5cgK_rEfQElMGHC8BA4JCUL7H2Qarch0sOPg3qyfkLqodTaaJxtohC9zJf-H8CE5EMqDJkXZnSGGOVsLdrQ4pqyiSibYjWyJsd6NfCYjwxO849vX8onUzB7ondDK22mr8G2iniZiLrWyrSKVahMNYc3T0cN4EodXiHyG7Dfm6l7TBGuySlvMR6T9o7C-jEJ7Nq-cyQiArx5cUI-52lg-P0XVmzCObthGXu1Wksx6zBU-s7ew_-aqGp6dJYurWvzyJN4SqVgyULsN0K7LS8CQ0ylTlON6MVk3E-UnnIaTykPXDo9leq4HDVFI5_LpRGbJU5JAPy1bRuJgM-HgkFMvlImNnqRX8WRovluKk2HOxJtASzwL85CzC-bXrLLiuaAlCRjRYqFO9lCi-1ECubnHh3_NH33xQ-Wk4JE5BksGbue2VUfZX1fhL9xx2j6qPQl7nV3x6xh0418yYOESJRS5WdlvgpX5gJEqztlFLUvzc369vq2iev2K_cAvRFMfUNbjUrUMJSdwV_XR3_IlaN_qc4vnqm1DaBTDjs0mfGVhPhGRVXa6tMTjHz14u1NTD4fSBx4G52sA7rhfCujnBLMxzUvuJY0yt2D6PnwkiRTZCkYngTFxjN18zQ_B5MMvNPlvx3Ao7vAO5p2Erz1Up1-Bvef_kQaknDDJTkDnm5i1e2AvvOCXgXyQeriVmH1YkBgnFxkYOMT12eA6vla1wpgXO1AsniBD3uG9vnx0ZNt8yH7bnUf8rOeDtUfccfbhBnNNAMWBGdpxsNF69V7d31xvWfXoYD5tJJGU9C9AKIdaHRC3etZxJj5mfxrQamrGMsF6T28hdPzi60qx2FQVRHjjqXhE0sDMqwPeBCug-1xVmwjB2lsAlM4WTtQ5dqSzgPDmYEbzV1GAqFT5NgfGJaZc0rz5cLHubC8utHZqLUIzyXUuqoeUXtGVLzvdjMpIUMrZ4EdqFiJSraDKO7Pop-nwbCX5weq8HkvX4enf1pa5xKoNQnYU9ixn9OceI1AWJUargw42ZH0YjjTV4d6JTcAePhJDuuftAqpr4FMoU_3eeNEOpyrGBHIZmyDtCFeQvhRa0ZMYrBedWQMaMnfU-kGE5kqM8FbT43RHhS8iLObPbyVjF406mWVrXluEfgy2xu3W5N3RXFziXDnTv6VC6qI39V61i3ObTkNmndPJIqAawqr13mniXTKHRLrtdMUrlXLkT_uKFHKdk8rMJGvaeNjGDb08TF1nUkG1svOGVq6D3CuMp3AfWy5nX95H5oeUGzXHmYw8VBRxjSWOQlcTzrYbnvHCs4H7um3vcjEmp0CoVhscUdZCNuIzV1NISANUufoI5tMMw7gr3cLht2fx5GiaMNqfhuHtl2BcAhJCax0dx33I4QUcIXRo1PSov",
  "id": "rs_04d7c7b6fdc132d7016ab2bca361b487d08c91ff2cd815bd37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.447,\"left_y\":-0.206,\"left_z\":0.006,\"left_pitch\":0.06},\"note\":\"The cap is now clearly visible, slightly left and ahead of the fingertips. I will advance a few centimeters and center the jaws over its thicker body.\"}",
  "call_id": "call_ja7XWDgQ39VrEXSQxjYJO9uL",
  "id": "fc_04d7c7b6fdc132d7016ab2bca675c487d0aa24503f5c9c7896",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ja7XWDgQ39VrEXSQxjYJO9uL",
  "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]: [-0.7322, 2.1983, 1.2114, 0.0448, -0.878, -0.8017, 0.9965, 0.0998, 1.8114, 1.3655, -0.6994, -0.9096, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.4411 left_y=-0.2089 left_z=0.0066 left_yaw=0.3662 left_pitch=0.0261 left_roll=0.0194 left_gripper=0.9965 right_x=0.3872 right_y=0.1825 right_z=0.1544 right_yaw=1.3717 right_pitch=-0.0374 right_roll=-0.0277 right_gripper=0.0753\nstate[joint_eff]: [0.6769, -9.894, 4.6974, 1.2674, -0.3541, 0.2564, -0.0073, -0.2667, -8.8957, 6.2838, 0.9646, -0.4518, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de7dd82517f0f5942c2b651e3f7e80a179626900ed00596676736e6c2da72085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e6718db3cf9fb4a5e6dba3ed1688781f91f67a0f551cda0907178df4758c8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe095674136cedeae5c252bb7ca234a5e0ce0361a5fddbb7f446847dee23e5a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7658, 2.1468, 1.2621, -0.2123, -0.804, -0.9138, 0.9965, 0.0998, 1.8114, 1.3655, -0.6994, -0.9092, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.4174 left_y=-0.2199 left_z=0.0106 left_yaw=0.3583 left_pitch=-0.097 left_roll=0.0379 left_gripper=0.9965 right_x=0.3872 right_y=0.1824 right_z=0.1543 right_yaw=1.3716 right_pitch=-0.0377 right_roll=-0.0278 right_gripper=0.0753\nstate[joint_eff]: [-0.0752, -14.4205, 6.0103, 1.4139, -0.4567, 0.1099, -0.0024, -0.212, -9.1556, 6.2427, 0.9206, -0.4176, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsryuEkGkOE1jYRLq7N2bGh8tw69G8A1RuHxU-b2hXvmT23nns5NnTGnansPvmN9xEbtHYQHfIiaFNsj5dfMyvLr5ZUUpK1QMxm64wnUwIIbNyRDjLDimvVad3FO-lrL4urlt20pcaB3tMOCfj4ASIho7anCjsH8mszVET0aDFHxoiipPwREc3Ok4wcxp8o6YzJ9QmCDDr-96tJFrJM_sIP6AnEiDBFnA_7XpfQ_SHhn8L1i5OhO_uv7ZjcYSaPCWt1Jyg70MAOzXHVO7Xpwc5D021H7FcorgQ2sQ1T2BQ7u0tEj4bu8YPMCgp1XGQm8Zm1f1PE-JjZIr7rQjmf2mWibxse1kK8V1h6xBoqP-IXJ0FI0ocRE5vYXOLkvlwRH8Y4uYqFP-UDp-m3OlS6e1CHoOJkcJ6FTVSb0GXWju1vGG3muLA5M9Cby9XTFV1GxD3Yi0mRZ6UAiAmi-tYuHqdxOYBc5Q0GcKrihYxd4NZ9_X-u-JvnnlJ7lOhQjOmee2NW-uc0JTzdWkEEurzuBdQRIcilq1lJK9lMwpXAly95tPlHPUdUqqLQ9dqwXHocX_np0K2lsGnC2xPCerIXVHn2CTWdWOqWjyLrC3l0shmdob9yEQvtxgGIx6FIyKktS9JmkETIyhQhzYx17ZZBQNpgxdKmRLDXptNTk3n107a0t9g0JadokKvWWHjT1hLwHtOfJ9IaZbXdCgUDWQjdqvz2Swx8b-DjtdwheMp7mc3MtjlWIVHLfp97ImxZ2gWmsTG2TJG06XDXZdFTHxOSWK5tJVA7mVWTJxZxDMX2-uDxaU9TmIzwcRvawB8hAIxcqJaadh_n_h_AR-y9aUidDlruV7yC68C_cgi1cTiey96ewHKFeR1ai1Cna8F8T1eKyPi3M6mM0WAmQI72oTyqs_soAgnUBbMcLFcy021SxgRqSL_rkyHnaM0hKqCcqakr4Pwaub8pUynkQa3tIuMUmp7f2gadiYp-wAR69mdk698UvtDiE2mmBPnq0Cp1KloQ_5EnyK8IlKmVyzrZAYqI4O7KFPiE5dV16Fp0jJokAs6uZmJKDozlolW6_qHd04kGHoZNHDjRupmCLEbBcmiKPHFwnRg_GOgH5RQA2pFcd8MSM0HGbLMicStsThMA4Ila58ZAqdvP7Vjq_oH-lU8ugnFD3nuLEI9XK5Ogw2NYkdXLWuBP0MiJylohp4LveWE7DiOPCPL93fmqFfThCXu_q_aHrXa3iN_-0Yq6jyGL_NEe4F8sM=",
  "id": "rs_04d7c7b6fdc132d7016ab2bcaca86487d09f31fc35e5cf6f3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap's thicker body is now at fingertip depth between the jaws. I will close in place without another lateral sweep.\"}",
  "call_id": "call_7VTKM2W4aCGrXeNi6OdoBhhX",
  "id": "fc_04d7c7b6fdc132d7016ab2bcad246c87d0b45d279541642f13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7VTKM2W4aCGrXeNi6OdoBhhX",
  "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]: [-0.7296, 2.207, 1.2068, 0.0723, -0.8936, -0.8093, 0.0528, 0.0998, 1.8114, 1.3651, -0.6994, -0.9096, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.4431 left_y=-0.2067 left_z=0.006 left_yaw=0.3825 left_pitch=0.0438 left_roll=0.0059 left_gripper=0.0528 right_x=0.3871 right_y=0.1825 right_z=0.1542 right_yaw=1.3717 right_pitch=-0.0375 right_roll=-0.0273 right_gripper=0.0753\nstate[joint_eff]: [-0.2667, -12.0547, 5.7368, 0.8962, -0.2369, 0.1245, 1.3944, -0.1573, -9.1419, 6.4342, 0.8864, -0.4713, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ab7ff2c2112902facf2a381883838ce4f64b87555574f5311d3c6bf4bd035d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a840b047bc19b59d0d93b456b6bff5bad78d176993dae4e015bb9e1f3675c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78f553754439e30422125137727ba5777a06eaa6c3316cdfb7981a0da1ee921d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7322, 2.1983, 1.2114, 0.0448, -0.878, -0.8017, 0.9965, 0.0998, 1.8114, 1.3655, -0.6994, -0.9096, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.4411 left_y=-0.2089 left_z=0.0066 left_yaw=0.3662 left_pitch=0.0261 left_roll=0.0194 left_gripper=0.9965 right_x=0.3872 right_y=0.1825 right_z=0.1544 right_yaw=1.3717 right_pitch=-0.0374 right_roll=-0.0277 right_gripper=0.0753\nstate[joint_eff]: [0.6769, -9.894, 4.6974, 1.2674, -0.3541, 0.2564, -0.0073, -0.2667, -8.8957, 6.2838, 0.9646, -0.4518, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsry3tOn-g0eAKI-dWSElJ3tAqg8MQlhLaIHjlfx9lJ-dJ-B4SzuLDggIbgm6KhMy9E8Obi06A8gs6gpgcNbXSOENNkQlp6ICb03Qo4tmWZsAMiR2SqszuRl7vNY27LODZra4X5XSyR1rUtG449gfWnBKSqiaaWx-8p74oaNbVXRkPMvLAAHEOzdYiCwmNsc2roYs96IyPj-hlxmaZiaM3kFOKKljU4FQ-bnKDowkmYSS5nT1azJXthDjtj20Lf_si2VziWeKmbfoynioVTNfaSDlj6DMUEwy7f0lKXJzOA9f1AQU29aWBDJxqqw4YJ0sA_TqF2wcLYXJoUae2_POA5xtpLbPNN8bCA7QAicrPLwmwO9zx76GJyMhoQZrggiD-RSe9y5NYnAC_4UvbpfqVCUoBVmgEP0GB38FgEnwdmKEvmQK_Zfjtc2dd9BAOwG8xCe9lpY-hkHwHOMr5bwAZwVzeGOi08ryVumqrxiTn_XdF-osXb25IaqNiW4X6Z_2Ce6UEeeH5wiDgbpY9JMNk57xuHUFtY9jGobrhm_KuOywwPWn5Ht7OSIgweEtId6lXm_pKgIWVcHja-XIYLcWMds4D6uE_QzbywPMCoEsu-6S8XxE1_-1KTwwWzRxPDLFkC418QrAgmF3pvb80xpW89hKhN9fzfGEFRngsgfZ4Qub3yhcmMce-QWB-vS3V8Xgs5tqegYrxIOwA_CVCRIgKa8o9vZ5c07VI_0waT_iDNH5fMmBLRL7VYNSO6Ym8gk4UEedcP_roOMHPq_DSrMGRuNjb-dYjNr3eIgqqiHmTW8smIpU_bD4i1xNSr6TcUo7CpPcUy3Avmr27CevRZzTKbr1ku-ss9evhwt3THoAv2Xs9lDUYyBUXAxJJbNEFgXtrP914UzbvppfGNgpz7mXqpOgV4WN54eXrXCpRZIIQyMGvOAYUGYWWKlrm8MXnimqPpc2t07cfW3M0TMuBDWD7LxMXF7UySiq2oGpUPFhSNQzeAFPZh4jPQGHPX8tdEspIiez8AvgOYMdfuliYGU87CDq3Jg7AthL7fDKawOqzG0mFXrGbwySZ1aKu6ZKjZrVMJwHurZx9qA1bAETZHyr99iiqjhXuEZfzM57MoUtL1uXLmaJgC2wyRcPbr5M-COqlQTT61KlgKJg2K3-pZlCO4SsI9Xy0r2_AkqggHj7D2AZ5680tbfpfiiFGUDAHT27ArMaVUTEnznKw1liKAFHqnp9aboF2VljP-NhPrwWoF5VjrTitim81LV8rS4k1gEf71LID7pZqLUTsLIYfgQQnXRhstgTjGbV3kaMzjHss6LFKF-zIgSyxVw58g5trlVQy-Yx",
  "id": "rs_04d7c7b6fdc132d7016ab2bcb421c087d0ae466057d2e1b922",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_z\":0.08},\"note\":\"The jaws stopped at a nonempty spacing and the cap has centered with the close. I will lift it gently to confirm the grasp before attempting alignment with the pen.\"}",
  "call_id": "call_OSP8Ic7fcWc9Cll2QhMLNxdG",
  "id": "fc_04d7c7b6fdc132d7016ab2bcb516ac87d09e1a9d58ecee880a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OSP8Ic7fcWc9Cll2QhMLNxdG",
  "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]: [-0.7834, 2.009, 1.1843, -0.1379, -0.8993, -0.8673, 0.0627, 0.0998, 1.8114, 1.3647, -0.6998, -0.9092, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.4156 left_y=-0.2136 left_z=0.0643 left_yaw=0.3621 left_pitch=0.0333 left_roll=-0.0108 left_gripper=0.0627 right_x=0.387 right_y=0.1824 right_z=0.154 right_yaw=1.3716 right_pitch=-0.0381 right_roll=-0.0267 right_gripper=0.0753\nstate[joint_eff]: [-0.4171, -11.5214, 6.5299, 1.0476, -0.5592, -0.1294, 1.033, -0.3077, -9.0872, 6.4752, 0.9548, -0.4664, -0.0513, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab4778779dc91109ff1bba4d1b5f28e69a0ffc5c8b291cb3caa146cc35455edf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a1f11a5bfc13483f5ecc1bd313a5f29b0279c50a1dbce0cac6d2a53ade3e31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff9e31974c3860cab588c5d6cf55f3be6bfebabec9ac5dba1a4c42dcb9d2067e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7296, 2.207, 1.2068, 0.0723, -0.8936, -0.8093, 0.0528, 0.0998, 1.8114, 1.3651, -0.6994, -0.9096, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.4431 left_y=-0.2067 left_z=0.006 left_yaw=0.3825 left_pitch=0.0438 left_roll=0.0059 left_gripper=0.0528 right_x=0.3871 right_y=0.1825 right_z=0.1542 right_yaw=1.3717 right_pitch=-0.0375 right_roll=-0.0273 right_gripper=0.0753\nstate[joint_eff]: [-0.2667, -12.0547, 5.7368, 0.8962, -0.2369, 0.1245, 1.3944, -0.1573, -9.1419, 6.4342, 0.8864, -0.4713, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrzEe5u13rglCMShSoV12tszHtuzScl8G9pFcFlk44ald8fUv1DBGyDH449NiysUA6SZb0KXTKw0ywayvFhsnuze-atKrhe1NnGUkclZ4E6N8zJypInCUFPkjq6g2tmHvGHKTbOFMVnxp5rlwkpFg45nclw6K8M49A1GhcdVN4uUuvb5QelXnC1igKZnQkaeNQHran9WCIhO5Ke1srQUivv09NfWXFuZ2lDuxdwTjcJGUMi97hYSczLgIo5tU96JP7MfpoJyH5ciL89YJbAowsrnW8mjfXfPsl5iMvc3QcPjLGX6fB5f_AoUf-ykdgWCS4tIXO3A5pnDuIsAWDDQ3wG4lejntOKpAv9XGQwPopHg4Dq5enj_GTEpbA177mOpsr30Gf8vWoJczsGvWs_lHPuK86cpQzqtHTFVC9nszAuT4xz9cy-9YNtMzFFE29pzFzZl_tZ7CtgBdaToVqIDBKV8mfjLSXAg4wZ4egEGKxFymkb95uh7q0owHn7Tk9VYX3TthrGlRVBhVj-N5wUg6OWIAIxqlE_eknhUJMwahMEuuiQE8wz5Tmi4-zbWFZJkhXzRXv3ae3AWwjb4sDkUTNV_RKfMZjtP79-DKu3e60lmXl4hCXZClLkf1EB3J5fea6oYYdDyqKhpP6o8q__tDzJWzpe7yR7mKKeOF6eoIE2Rrga4oAXVtrx9wwVdS8K4z4l1Tg02eYu4XH-hyWzLChfQOVuDC7PHthbXNDqPpAXq0uW9U4XrLA21834UiQoJJwVbuPWXBagAb7wZj-3tFnIxQVv-t9u7aHM6UfAJrsdfa9931KKFVppTPqi58_d9CN6saHiWQ2qpwQ9SajaKnxL_cwtxFaBZfaGdxB7E9L2xGOXMiJpLdvzcaUZvobolJTrfQ2VR-NkHsI61ENygSkR6Ue4bczHMf4RqiRVcvImSgU12Q5DwPrYzcKtSc4YP7NqQZLpZuMyKqEd-dUiJlL7dh01Rtjk5SZ1wXfq3zilM9tmtwTlJ2iEoYjjDEIy1Bv9H52Yj9VTyBwGytTU6xSGCEF6TRV9NS9ToMGcHR50WRVhe35wm-K0PAftQRcsgJdJfrB8EQrn_hXbWfX8QanlAV1LVQ8JuRvmNYcwf9wK7Cm8AZgJZut5dU905MpBmskANF-CeZZ1BqFGT7XajoEzE6Eemo5QjlgonFgf2t2kyQuCPxPk0b6BKuKgNj3sgYMi9NeTQLWBJYgoXCcEbseV3FnOpoB_kx53X2Xq9M0vVlF2RVf1tlXlpO_f8-6K3twhUFTqEkMmMB8klWklNVAwL0bZ4Q06RXaJxB9eDdkyE2QENkA83t4g7waRrNyYqzkMXHCFMGl27pbDC7_7W88deU1UFv4pCHCQL8l30AKy2qBihOD5SU1tmw_VdCJHGCp-bEhg0M3-IKuu1Boaj7Ia1_xwabrX_aK6Vw8ZPK61kfRMwOS42K6UOCcM46eGEXKYwf_RdspAZHjmBQzjJ-mnAN5FXAhkQJ8TUZ06qAqqe8pBN67j_es8wsLIXg8qIwrkZY0CmMhI_Nnn8s_bMtCHVoqrOvpXbZzs_l_hHwj9fE5S3Jt-yvJ5RnV21OMV2UXIco_Pkd_4m71-fJbsjAnDQgCzqHywhnxYkL6TBaqcdg-5fsZfQozF0_WDiw0cfwWa3ZLKAQT65XwPEID3dIIeHARwPFYyV-Nhf2npnRPhnPEJVmWpFogu_u8HHf56vB0vv8WRnLhCeMJ1fMFlEOr6K5wQfjQFqhC5oHEnFm3zhieNfxMWUxnq0Rkpnkc_o7d37gtE3JbFGJpijEk11rpCOk5OE4hNAO_dlTkcAaR4aOOMTjcANDgpSvjfPLbFTVOvan5X-WG9Bb-4m_0VwJmCafGpG56nnHEN9_ooVMdeat9CzXUuEk6-WsXQ9zo-7H4Cbd27mHShFCVp40YppoCnLZ8gviaZFHKQe3zfudoRef7yop9FBhmJFxoTVm36KeNyctQdJcW4ZxZw8nmLMaF4UmEr8fVArcBTcYcaSqbQd1Z7_Z9Qj5ittY3CJAKMLqsX49EkCj2bkMHLXu4O7sekZXX0aq5wjN4zwKRsULGXIkFZKr575NXC_5AQI28Vp_1nNd-6L8WbfXIY6cGgl9OXStzkH8of9UTNFueRLyVaNp7KYTAGH4m091AI8-s4-3q6umb-CX7y9YNmfb4uTNNXhdXfQr-v9Fe8uW1Q0SqebrZMjMZfPq_Db9d2AA5QyAry4ug7oSlY-_wyx5Vh51eynOA==",
  "id": "rs_04d7c7b6fdc132d7016ab2bcbaa2d087d0829b94ebe7dbe9fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.28,\"left_z\":0.17,\"left_yaw\":1.4,\"left_pitch\":0,\"right_x\":0.4,\"right_y\":0.22,\"right_z\":0.17},\"note\":\"Both pieces now remain with their grippers when lifted. I will bring them to the same height with their long axes aligned, leaving a gap between the arms before approaching the cap opening.\"}",
  "call_id": "call_BWDxDM78LMuoK0R46O68vrqd",
  "id": "fc_04d7c7b6fdc132d7016ab2bcc1b26c87d0a98e95b39432ce51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BWDxDM78LMuoK0R46O68vrqd",
  "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]: [-0.6548, 2.45, 2.0094, -1.3338, -0.9077, -1.9507, 0.0627, 0.1703, 1.8343, 1.4475, -0.6022, -0.8249, -0.9825, 0.076]\nstate[eef_state]: left_x=0.4313 left_y=-0.1511 left_z=0.0553 left_yaw=1.1277 left_pitch=-0.08 left_roll=-0.0909 left_gripper=0.0627 right_x=0.4137 right_y=0.2064 right_z=0.1715 right_yaw=1.341 right_pitch=-0.0503 right_roll=-0.1179 right_gripper=0.076\nstate[joint_eff]: [1.6615, -15.5419, 5.9829, -0.1441, -0.5348, -0.1197, 1.033, 1.0462, -8.4718, 8.1709, 0.9695, -0.6911, 0.0562, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afbcb49173f03c2b7abe2bfdfa306c591749fc17dc4082d684013c855c1df1fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc1e1b5bbd495d89d6fc2d9bb8d72da95853b20f1533ea3d41e555450b68495f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f673a2d0be7f9e8818553617eadf96da58ba5169b8d84eaf72fb4dccf8bdf4e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 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]: [-0.7834, 2.009, 1.1843, -0.1379, -0.8993, -0.8673, 0.0627, 0.0998, 1.8114, 1.3647, -0.6998, -0.9092, -1.0821, 0.0753]\nstate[eef_state]: left_x=0.4156 left_y=-0.2136 left_z=0.0643 left_yaw=0.3621 left_pitch=0.0333 left_roll=-0.0108 left_gripper=0.0627 right_x=0.387 right_y=0.1824 right_z=0.154 right_yaw=1.3716 right_pitch=-0.0381 right_roll=-0.0267 right_gripper=0.0753\nstate[joint_eff]: [-0.4171, -11.5214, 6.5299, 1.0476, -0.5592, -0.1294, 1.033, -0.3077, -9.0872, 6.4752, 0.9548, -0.4664, -0.0513, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrzKoR20clSk0zO4Y7fVaZjAVbpmZ-KfO2SFRS5xyXuZPwqlke_7iiT5vtpYT7SEshbXck1_lQBZWVtB-W_h19THvgwVMR6Jc4Yvg-O5f0i6VKYvATG5P1W6V5rzkqLGkzBopTNOnNajAs4BP7BT0tD_-gBpJZied9NZWsBj-tOMNjpGTvkLK4k8vTOtKVXSyE4ph5-RVKvOZCBX42JVEflyaCNsPUca088Q0_PyuJAhx-bpV_WRiLgESTknJIHzH1E7o02Jg6Wj4DsrLXwghqDSLmlARvoFf4LQ9RB1RhdJWVuestg02FYR5gvfQgLRe3o8RFmpgBH59Wq0TD3G-CKswQH9uEl1HuTx2L9VlDuH5Omz70L36Rdcmm4DKWyTg9FImWInFQLhpqnavGmMFblJuAc2FovRlQpdwGQXnz8kj8dGNHujAVVU52egMgavRCYwE9bIU-_ecvGme86Q3VCbAB9YBOOEIFS256o91u-gVaD-NDa8kOIyAleY4_F93a56egEBBzTHZDqzHy10Jihjd9KyA4In4_gBqxXVXsNkcGJz8gfbPF3mkjSPeCP9VukR4-sxUpe-sWjwOPrz0wep-ksAhcUNMS7xTIR9mDpnwLTuc5AHTMpgq7FSIFItUxc6baOHOo4e3Fo2yyoI8qu9u4C1xjxPbg80jY7me58EvriAe3N1ChPFYXQJhaKVPq0j6dLI1ygXUqnZLyh8WsDvaMkJcEkPz3rfvNZPJSV6-dz9CCoTiloa7ejK4MKZqhctn9RoIZXoRJxIR0CPW6AbXMK8NjKj0bar4O1wx1N8WHuXZWs0PJXIlouH1km_qcefC-GLXrdjcVFTJOQI9M0h7QCFaF8JsdbD_-RDMoQ3TiWOsQJcNqw7g5XCAGREbb7PdOM0WKt2f8M2QoObmlYkDjqjMwX6C4cn2j8u_5sOzkI29OoM8BVBLFStSuUvC9Pva3lBWIy3_nnyu4j8qBUMdlcIUuK_OEm69RQ7ZlppBHkbJBU5nRbd45iQB3QMJMpj5OHzJJGdFqsDMpf_9R2YhvzyOvagK67Bt_x8h37diVvMKwvN4oeLFPVLh92CGqrvf2pwDtU58wEbIWAvdFrM0hcr51RqHHVd-sJLKpp977yc5awMqvIEXbJfh7CmBFGfUaq7lddA456H7071aH_1S7hlXzoGWeibdIz8s6V_C4K0LU654dHc8wT7dXJ27ka2ld-uPnTrEQh8-sY-cQNRvoCqDigsUARHRwt5saPDEVHwP3QB7wdaLtJPu_qj0K_TKeUZZlVV6oSqGt8glLWvSA==",
  "id": "rs_04d7c7b6fdc132d7016ab2bcc740c887d0be3766e04d46b2f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.23,\"left_z\":0.21,\"left_yaw\":0.9},\"note\":\"The left arm did not reach the requested height during the large turn, so the pieces are not yet aligned. I will back the left arm away and raise it with a smaller rotation before trying to bring the ends together.\"}",
  "call_id": "call_rErWIs7BHq7UUiq1mYHEscVL",
  "id": "fc_04d7c7b6fdc132d7016ab2bcc8599c87d0850b7ff302f0387a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rErWIs7BHq7UUiq1mYHEscVL",
  "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]: [-0.7395, 2.4939, 2.1845, -1.5562, -0.8818, -2.0743, 0.0627, 0.1623, 1.8286, 1.4303, -0.7223, -0.8192, -0.9806, 0.0786]\nstate[eef_state]: left_x=0.4112 left_y=-0.1857 left_z=0.0796 left_yaw=1.124 left_pitch=-0.0872 left_roll=-0.0945 left_gripper=0.0627 right_x=0.3924 right_y=0.1987 right_z=0.156 right_yaw=1.3385 right_pitch=-0.1059 right_roll=0.0034 right_gripper=0.0786\nstate[joint_eff]: [-3.6308, -13.8325, 7.1179, -0.3492, -0.4908, 0.0855, 1.0281, 0.4581, -8.8547, 7.9111, 2.1319, -0.5006, -0.0464, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f24966459dab37b9653e7eee1ead9dde305c28f292ee825d1ed4c29309636961",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1596fca32b60699adffaad8eef3f29e579f376d8ce8bde5c8c783b1ec00087",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50053e2fa8e0fbbb1bbfd54660dc3745a8a3de4512520efc97eace3b1e160fac",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6548, 2.45, 2.0094, -1.3338, -0.9077, -1.9507, 0.0627, 0.1703, 1.8343, 1.4475, -0.6022, -0.8249, -0.9825, 0.076]\nstate[eef_state]: left_x=0.4313 left_y=-0.1511 left_z=0.0553 left_yaw=1.1277 left_pitch=-0.08 left_roll=-0.0909 left_gripper=0.0627 right_x=0.4137 right_y=0.2064 right_z=0.1715 right_yaw=1.341 right_pitch=-0.0503 right_roll=-0.1179 right_gripper=0.076\nstate[joint_eff]: [1.6615, -15.5419, 5.9829, -0.1441, -0.5348, -0.1197, 1.033, 1.0462, -8.4718, 8.1709, 0.9695, -0.6911, 0.0562, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrzREVvArH4ApLSE2Y69lZKYFrbZ4hLeFHEye6WpFauoeXmYhIDsXbOyeKlrCDYtt6nTwd8e7VkUQmoludL-1eQxQpOVtOoXHH6mWWOm1J2xztIKLynJXT3iXBNpjueBqaMJXCskmVJ7MWWX-S59JxfFv1jTNiEiv6vk74EAmj49iEZifoCKU4Eb1P3YJCM9jEduGkf7IVO8YJVekG76GQO_aLPiVs7-R25CzIhIeVJ14UH3eyiVVpzAVZPX3d3jlFP-P_8TJAc1mk5jnZZ1TtEbie5Zn_YzY20ugWtzKj_0MbExRa6E7L6q32xtFpBgocUhhNOTFNpKprGUKqnvkYBuj5rTcPl4Ln90Gut-vVp9bHwg0Mkp-Bk-MpFJnflmAB2bz7p4LIYTH6sf7AQUkhWsY48CQJT799Lg_YcAPOG9CD0wdSiaxy6TV_Hw55D3IiYROvBT-ennKsfffIerC1puMHtWK5-8H1adL4EEtDB7qqY4s3JHSRzRJMhiEfU1JK46Yd2WFHRcwPNRUDPBxWs7gjOft1qdo1Fs30ztvADgNRAu03NvJH5x88uIsfOwFlSCd_A3GaiSB-51zDPEQs75YcflI5BMjO8UYGfHHQJDiyzyYOU2ZrRVPqUWWfg_RZp122UoeHv4rHqapu7MUZgvuZsH_7JwDwysVCUBdHcHwR6SRKgVBlKn-lL4sAaxQHH1zhDVwagdXOCOPMqxg_fBrTS4QzKc9QQtSUkKmd70UTLDTepjtpndk437jNIeIONOsifYzAihpNsoWihK-DFwxjeWRRBWWiyKey956m-3zO1SoU6ZsbciqrcfDg6o05YNv5PT03BFKXY_1saEbdOm1AjQJwpgW6Ia01xGuYuTRIOWI_gd9pRJDeyEHX5abp9Qm5C42MEpNU852D0_Kz7ySPnbjN6YZ9ajScE5Hrjceayt67AqwxRZ_yBYByckeZTmVlUmY1FnN0pbFr5a9h_6Ah10fS8QszeQnP6ra4PJO9QY_uY6vnn-KwtEM6UpN6gJci6cVuZfi7iKj8jF0MUC32gRgSQr-TaYeGfJFtPqQJC6gY_rhMbfVN9VFgE__L5Dh7otIa6tqPdmFzV_D1Z07psAmGfdgOWS8p-2J6vLFNBy7GrxsD1ujmvBsqZrE6ykYIGSZbNcLU46-MtKetkSAVgmVcv3Zov4D2wDOf-AIJntI11QKdarw6PlM5BnG2if7PzfqTeU1q_zqYYMPQWaun4SBz-JZG9WwTUman5NCGjYF0Ec4COlXGOnTOeJbb4r72_kHrkZ_UhmRpHkWqCl8YdWMQsp5KY8TMecZ7J1boildQnd9L_F0o7dWkjMA2EV",
  "id": "rs_04d7c7b6fdc132d7016ab2bccdc3e887d0b2da682a92881b52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.22,\"left_x\":0.38,\"left_y\":-0.2,\"left_z\":0.15,\"left_yaw\":0.3},\"note\":\"The arm bodies are crowding each other and the left pose is still not tracking. I will separate the arms immediately, keeping both grippers closed, rather than force an insertion.\"}",
  "call_id": "call_YiAm1lZ3rDvXovfs0tmEpixh",
  "id": "fc_04d7c7b6fdc132d7016ab2bccf748087d0a1b72538edb5221f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YiAm1lZ3rDvXovfs0tmEpixh",
  "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]: [-0.7788, 1.7344, 1.2282, -0.5579, -0.7639, -1.0039, 0.0627, -0.4133, 1.7176, 1.4696, -1.5398, -0.8787, -1.8282, 0.0811]\nstate[eef_state]: left_x=0.3747 left_y=-0.193 left_z=0.1335 left_yaw=0.3705 left_pitch=-0.1158 left_roll=-0.0777 left_gripper=0.0627 right_x=0.3045 right_y=0.0189 right_z=0.1929 right_yaw=1.3173 right_pitch=-0.1167 right_roll=0.0156 right_gripper=0.0811\nstate[joint_eff]: [0.5402, -10.2085, 6.7487, 1.409, -0.398, 0.2857, 1.033, -0.6632, -9.388, 5.5316, -0.3687, -0.5592, -0.0757, 0.5543]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eceff0e5add517eb09ff310904350c505ed11e353881d98016cbae052fc1c3ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88b470f01ff6afc947c11f02fd78d364585c0035120e6c61debfa32de72f0026",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58d1c115dafc027e6ec5344c155ec394b16bab0a20d79a73f25471dd23920487",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 112 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]: [-0.7395, 2.4939, 2.1845, -1.5562, -0.8818, -2.0743, 0.0627, 0.1623, 1.8286, 1.4303, -0.7223, -0.8192, -0.9806, 0.0786]\nstate[eef_state]: left_x=0.4112 left_y=-0.1857 left_z=0.0796 left_yaw=1.124 left_pitch=-0.0872 left_roll=-0.0945 left_gripper=0.0627 right_x=0.3924 right_y=0.1987 right_z=0.156 right_yaw=1.3385 right_pitch=-0.1059 right_roll=0.0034 right_gripper=0.0786\nstate[joint_eff]: [-3.6308, -13.8325, 7.1179, -0.3492, -0.4908, 0.0855, 1.0281, 0.4581, -8.8547, 7.9111, 2.1319, -0.5006, -0.0464, 0.5446]\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": "gAAAAABqsrzYnXZ_5dleNFRhy41og_itqlgEqlLXHR26JnqraT4OAWb8OjBSI1uq-k0zocyHDTPKjAPfbpo-weqjgLeSbihXOP8ExakOIWHZUx3Oi6sDPK5WG0HLbZW48Px5U5G9DMTtw-H8TpcKPtVd6wF5AZPJaYpzbJZJkvQ-FEkJqJ-QS7UMQJqMJK4_DG546E1gmXT1CubmWx9MyRrmxNf70lOr3UWU7Xygecil8XaLwWMyzNuq6gYkPdcuwyMyYsZ4pN27gsRG1zOgVHjZhUy_OFkfSP74H4d-90Zfk8hd78lUgADMtQWTXZnS1mem8AlDWD9gZC0PFNLiul9Mji0hlpuzw0OigG8xzXqrkfvQio3GCoWyWoIqm6gU4_Xvc8BIU7vdXElyAgia6CylWxRIAS685OorQXLLxq4KcaotfH9biAnS351YG60N2yxIUR4guBspoYgXiiO5Xkqy_5GQJhxxJcMWZAdpSxWPwp2qzgEJwWcppfimaWaCRRgqkPCr2KGNgzcUzcqCw0SdszLc1PRu8jnvRnGF0MTlDOvEdjs4h27UJ-TwboF8xKLnDDWKM8UntfcfUH4xI9Jpdk2uZrylLtmKhG1s_kOIFAm1QfTIrtUsBEfYnCyUQn2fCTL8T_5s7r0YS3A_gTJfh4DWsAag6f_kmynDyLJBOgvuJP3u3Zx7zzQF-hJ6cUcHOqbkC8uBkXEj-e0s1AXjncvoqrtt3D40wEbN5u6muYD4-sJ6CjmomBjJ31EoJ0rZDd8T5rv6tjJ0528rPtHjd_L57KyGQrp8TId5_cPBoMgYqGb7wakoZaK3TKgclmzQztUjh_ySlK9-EUSl_cuZt8jD_WnyKvg6xToNsORYmehnxmVMZNBTUmHGgqEUQ93IyV4YHkYZ-pVIcV6zdCxrrRSy2EL0YzkkA_bqC3FEq-C0dGKlETubAsn5E-Cad7AkG3u8K2wK7Je48KEeiG1ZgSRqzQZT2Dar2QwbLp1YuAE2Fl_X1VOSKMjZYZy7EXApWAlS5VGyL2gwFByZ3qtnlqDl15WQl7BakoVkXry91E0PPfMjb8Vy5vb4_YcuvughlykmoDMNUgUOB_a2Zg5tSs9B5VNQga0K4Kadv_ozygo7IjLNDSE0GIGcJ_z2nAe19Ult0a32PJSLMFJ4k2nE45O1HMZ0pU-cLjchGbWPMe0htK7D4-17hiCGDSYb4eCe36gdCeizq80zicg3YaoP1ezZFhQBxvgHN-zqJxE_kskM61TVUVSa_OUq7digD58g_QWspf8cm5LA91CftJj0MP0PZgdEr6PjSuAlGUFdIGZGSvWiAebn822ztIWc-xU01m1AcWgJDKJLytdsGQj7j2feAaszBd87swXUuE8GgYbE8jeypPzs0zJHlBMil6xsw06gjlgs0j7_kWrt56ZPXLbFvS0OYGnQMc1iANDTlJSUUx_XfEyk0Efrr4x9_ulJJzw6U1TxYiHbqBE6l9rA5C9aevLlwVHnG8L4CA7BC6zvja4FiJ76FnczpGowIfsPRwQI09ow",
  "id": "rs_04d7c7b6fdc132d7016ab2bcd5765887d08a3f48f20b381b63",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.015,\"right_z\":0.015},\"note\":\"The pieces are separated again, but I cannot safely align their ends with the current arm configuration. I will lower both pieces onto clear areas of the table instead of forcing the cap onto the pen.\"}",
  "call_id": "call_eSTPgJmEKWMK6HVXcJv9Stw8",
  "id": "fc_04d7c7b6fdc132d7016ab2bcd762a087d091074c2cc9c88f55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eSTPgJmEKWMK6HVXcJv9Stw8",
  "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]: [-0.7795, 1.9419, 0.9905, -0.1436, -0.7506, -0.9939, 0.0627, -0.4168, 1.9324, 1.0206, -0.9108, -0.8715, -1.8324, 0.0839]\nstate[eef_state]: left_x=0.3703 left_y=-0.1916 left_z=0.0164 left_yaw=0.3611 left_pitch=-0.139 left_roll=-0.0465 left_gripper=0.0627 right_x=0.2983 right_y=0.0197 right_z=0.0242 right_yaw=1.322 right_pitch=-0.1179 right_roll=0.048 right_gripper=0.0839\nstate[joint_eff]: [0.1436, -8.7453, 4.9983, 1.1062, -0.4322, -0.1197, 1.0281, 0.1573, -7.747, 4.1641, -0.1538, -0.4615, 0.022, 0.2857]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43c384795212aec855f7bc99c59cf567cc1d34cba5f7429f54ce6eadbf2c8c5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2951206736d2ecb61d86613fa1cbcc7d318580b35f631dea945f77ad8595f1fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5118e645598c46f5fa2467d5b56e8973f2c6f9574e0a1dff4c3f8ba684181e4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 116 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]: [-0.7788, 1.7344, 1.2282, -0.5579, -0.7639, -1.0039, 0.0627, -0.4133, 1.7176, 1.4696, -1.5398, -0.8787, -1.8282, 0.0811]\nstate[eef_state]: left_x=0.3747 left_y=-0.193 left_z=0.1335 left_yaw=0.3705 left_pitch=-0.1158 left_roll=-0.0777 left_gripper=0.0627 right_x=0.3045 right_y=0.0189 right_z=0.1929 right_yaw=1.3173 right_pitch=-0.1167 right_roll=0.0156 right_gripper=0.0811\nstate[joint_eff]: [0.5402, -10.2085, 6.7487, 1.409, -0.398, 0.2857, 1.033, -0.6632, -9.388, 5.5316, -0.3687, -0.5592, -0.0757, 0.5543]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both grippers are now close to the tabletop in separate clear areas. I will release the cap and pen gently.\"}",
  "call_id": "call_tBzobUehbnKVy6ocqHEC5PD4",
  "id": "fc_04d7c7b6fdc132d7016ab2bcdc8adc87d0a651220491bae194",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tBzobUehbnKVy6ocqHEC5PD4",
  "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]: [-0.7795, 1.9575, 0.9794, -0.1444, -0.7475, -1.0012, 0.9955, -0.4168, 1.9533, 1.0073, -0.9024, -0.865, -1.8339, 0.9949]\nstate[eef_state]: left_x=0.3662 left_y=-0.1881 left_z=0.007 left_yaw=0.3672 left_pitch=-0.1529 left_roll=-0.0279 left_gripper=0.9955 right_x=0.2933 right_y=0.0211 right_z=0.016 right_yaw=1.3277 right_pitch=-0.1196 right_roll=0.0736 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -10.4957, 5.8872, 1.0037, -0.442, 0.022, -0.149, -0.0205, -9.7709, 5.094, -0.2857, -0.4762, -0.0464, -0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:204762041912718ca5383603968483374adddafbc75b42bc8a975bb92c103383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d735d7f5ba1beb96666aa9d2e0409cfe8c649441d41d510604c117ae3175d636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff4af3ca5ef7fab5f01d1ce220604fafcf1c64cc8d66bbf2a88851aeb57ef4d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 120 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]: [-0.7795, 1.9419, 0.9905, -0.1436, -0.7506, -0.9939, 0.0627, -0.4168, 1.9324, 1.0206, -0.9108, -0.8715, -1.8324, 0.0839]\nstate[eef_state]: left_x=0.3703 left_y=-0.1916 left_z=0.0164 left_yaw=0.3611 left_pitch=-0.139 left_roll=-0.0465 left_gripper=0.0627 right_x=0.2983 right_y=0.0197 right_z=0.0242 right_yaw=1.322 right_pitch=-0.1179 right_roll=0.048 right_gripper=0.0839\nstate[joint_eff]: [0.1436, -8.7453, 4.9983, 1.1062, -0.4322, -0.1197, 1.0281, 0.1573, -7.747, 4.1641, -0.1538, -0.4615, 0.022, 0.2857]\napprover: 1 step(s) modified (delta_clamped).",
      "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 on the table. I will raise and park the arms to leave the pieces unobstructed.\"}",
  "call_id": "call_vQCgKe2IOOvOUWuDLJaUvhdZ",
  "id": "fc_04d7c7b6fdc132d7016ab2bce1687887d09b20a8c4cbd9baa4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vQCgKe2IOOvOUWuDLJaUvhdZ",
  "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]: [-0.0414, 0.9382, 0.7952, -0.593, -0.0898, -0.1432, 0.9964, -0.0921, 0.9005, 0.7536, -0.5697, -0.2241, -0.1085, 0.9959]\nstate[eef_state]: left_x=0.2979 left_y=0.0071 left_z=0.1844 left_yaw=0.1016 left_pitch=-0.1635 left_roll=-0.0399 left_gripper=0.9964 right_x=0.2927 right_y=0.016 right_z=0.1834 right_yaw=0.1521 right_pitch=-0.1405 right_roll=0.0627 right_gripper=0.9959\nstate[joint_eff]: [0.0615, -2.5094, 9.6205, 1.6484, 0.0464, 0.2906, 0.0806, 0.212, -2.7009, 9.2239, 1.4335, 0.0171, 0.2125, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b2100cc839b11cf2edc67ee39fb7dc4f839c705a78cd6117a3ba366e7f5d083",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c11ab9f6d16b0c40fbd8a4697234a2dc0076ea803dffc93ce2ccb9c073be318",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3de877652701b1cdcc081efe40afaea7c1f9e51367abe364c53da923321077",
      "type": "input_image"
    }
  ],
  "role": "user"
}