adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3798, -0.0216, -0.0246, 0.9998, -0.0185, 0.7906, 0.6098, -0.3756, -0.0204, -0.0151, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0017 right_z=0.1845 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4974, 10.5231, 1.7753, -0.0122, 0.0464, -0.0366, -0.6496, -1.1282, 9.7299, 1.746, -0.0513, -0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe014594c1e6eb90a5851e9e062d852f3d28f129d4ce8449f646e42d6eb2b6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12f20cfb66f0e6a8fae7b495b3bba0d2eb975a3f7f02e2f867e1a6c212669cec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:115ac0721e29507c4ef6335c6aa56ec43ed300c908d696dfc82ea69e9bf1e415",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsrFi6f5dlaHkhKTqs2cUJDnJQdvVoHpHreUtfFJnKci4AleEfu5-WPDIP1vTJAq2AZ2f3E6Hgu9oystQF68o9PTxNwWeoQngqRAN1o3Z2RynmorT_jkyxFBfEq8zNuY2I5fQnqd2h4EjKfhlODCSMBy1CTxt6vhybzhO8FIBn3EINEKT2vMqJuks_R1DMfGMEzwxwzaXhoDJ_UIBMddLvJszvQMvRAhqxCrAFUtewqxr-OqCE_WqqiYOR-ZP49xXkcJAuEmTBdtsE1Y39mWatwVsKFLhvhy97jvqgY0LqVwECg-b9NMzo-zgKOVn6URC6_JI39RwcqvZEv0WoQTCgPHmjw-VrMNbil7UCY4n4KTWNpsBiggsS5-u94I_U2k3eQ5H0WjgtirRGCuczFdIURwQtytoS_Zi0hkYQ1lu_hQHr1r3FqgM17Kpna_Y7q0E0XKu4hCsG4JloB3Ip4DbJZ0SpxUMckNH3-D74jM-auyN1W894j3LTKPVZYmwyyApLQ0Ncz7oPYhZh5IKMYu7xFtraYolROdFymc5rURgn8gJ3MA7BHoLdmk2JhEO_Z4PjL89bKPwWxvsJ67q0T_0BlYglqo0aqsrl3h9b_YXp7L3YGiHTfmZVLYfVFfT8Uj613eG3bQpDvfcRqJTZzdyMbuYcchIkNqKFgR576ddN0JkZasdBK7Kk0ZodfXTt4SeZykqgC-hNcm6lRPsNIlQjBbsfQmz49ICph8ndKOj2ctTZUpka6M57PmhIX_DSpJeeRrZyrMN71TBcNO5nRiZ07tUKf-etmX3sIfVRUF7_pDllK5q0HTEdFE2-mR4Up0ib-8leqwFnV9TPDjiaP14JqPzyxK22J7lQgUWqQKlwDwA81HHhykTX9J-y-VzMkd-sT0DMrTbXdvety8URpsWiGH_2J2AUme6BSo6JwrVsNEJ8-CuiBEdWvpp2fDKfXwpVoh4IBkafGDjNoqX3t5j8R3voO43TotLTymCa1bUgvhafeLIkJqmUkVYdAQ2BUL37OuvdFczoj6Stg4UQ5u4YY-iC7AYHUpL2OWIK3HPseUnMNttmwHWsoc0OTA1ColSM8E_YrDl-NvYObNq3WzsVNsCskrXQr7JYE5tj-18QWYGU56DfOqUg73VBVmTNSJ-DrarCkahWSmrC0TNHlBal1lIINpbw0XRcL0YToi4uKcCo1Olp10_wQj9Wm9LX5NxEST_ZjwdfVnCcF-SUKMM92iOIQLRhpPtEUXwosGvPxKdiLMncUds002rtAMKCP_LFqMqdwfRJIK4-Hpu1Oe1QPN_2OBYat0bGwdSvTiPi_peiPbfKgwDwfjvEO70gKzJZLchpwoRr0TNR70eBv-exB4nxYLSWGrYZBAuOmEaIkRO0BfDUHDVJIiijJSXFYs4BolefJqIcSfhbGPPoKgfVOMZQUxPdlMkhLKYagBZvkB7sI2mDRnVEty4H35NaOUb88wFbFzY-n73QR2vibcHpdxLH9QLLyTMPDSZinKsXD9pZ_APlBK1qf1MrPMgnTezatHW6PW5IWI_MibH7jjOKQGLEqjDlhHlWSZ7GXhuZM2My91RCUUIV47vFQHLu8_2mmE9uuxInFZJMoaOf5QPZE_8sQ==",
  "id": "rs_09c891c6fad56f46016ab2b15c05e087d0a9f3b08038d99c87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.21,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"The pen lies diagonally on the right half of the table, with its separate cap to the left. I will bring the right gripper above the pen to refine its alignment before grasping.\"}",
  "call_id": "call_NxABfi2QpnrH0qQm87OdDQvk",
  "id": "fc_09c891c6fad56f46016ab2b1605bd887d0b2ddd2d1387df819",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NxABfi2QpnrH0qQm87OdDQvk",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3817, -0.0216, -0.025, 0.9998, 0.6769, 1.6588, 0.9146, 0.0177, 0.5243, 0.3698, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9998 right_x=0.389 right_y=0.2038 right_z=0.1052 right_yaw=0.0374 right_pitch=-0.0566 right_roll=-0.0383 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.7026, 7.1043, 1.7314, 0.0073, -0.0415, -0.0171, 0.4308, -7.8564, 8.0889, 1.7509, 0.5934, 0.1832, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9ced2c4cca6f6c701ce66a69e038b4df73394ade77a03c333559a4cf119cea2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d32f7651775f293e0bfb217084613158fcebe989dadee4deacc39407967e177f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51ee0f0782b465d2bb535e745778c090903a67c6fa79fa3835b2c9a54349f3bc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7929, 0.6022, -0.3798, -0.0216, -0.0246, 0.9998, -0.0185, 0.7906, 0.6098, -0.3756, -0.0204, -0.0151, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2958 right_y=0.0017 right_z=0.1845 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4974, 10.5231, 1.7753, -0.0122, 0.0464, -0.0366, -0.6496, -1.1282, 9.7299, 1.746, -0.0513, -0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrFs_uUVLTFkxtP-gM3lA5OmlrfNGNFkvUTD71DBt4NiugjWytAbQbX3PIwe7Oh44eyU8f23LD5C8_IW941bZmkncafUV-uu1gcA0VTNONEE7aIR6GJ6vg45FL-2Ka9258WUMiPE8d56JAcKEAoJ57oNOy_bULy6T3W0-EeT7l44RvE4LohNiKsOIv9DpZulkveYcIiq4jBxR8eZWyxV9JKm_1mcU0Zrh2MaapUiJJrk0W6gBvYRwL3xp9egyo80U6mPC8x6AZNg2FjHug59Cx1CWlyrYJLIdFuB8o8KFv0ujhrC9eL93h6X9I2vnv2gvkcbPFLc5pO5Q06Ds46HbxKrCvc2EBf2Qo8RSqZm6o1HBodl3fChHQKVVOAZV_4_q5OtAzuoryh1eyy1pP2PdO3z-OoxhIOQ8ZKx0P54qcBOHY1zpb7clvhTQo3c807gGSjcbevLOWBrGOrJXhWZyOW5e-xUEZmhmB4RuClHp3m6kQF04M9bOzSgBhz9Jg7WoxDMr2fPvOjsHmBJPvshm7uTJ8q1FCiLYXN35WowrZrNRl0h9G2Dtr8DObr5cE6UkAYY4vYsaehss_Kq8nezCdEo_7IbcKTwdhLoMrEshjIl8opv7tapq_0qkjh_3HeZNWT7b3nnh0wtyy6axWyczvyX84HxK2hknXzjDHykaqwClSEdVaJBPNOloc__qRqUlqMPLBx1L-GDTUErqpmDARyj7rBxIsCvLSFBWzi-31wCZzEXh3QFwwxK654V1S0e4LlkIwhmglY4VdinEOIGTAQSDgyv_Qh_ET4n06gWxlMDQM9DQvmCKBpIP1fEgZKEAtoremSRpz8qhR_duqK99os7QSxzKAb5XsgQPYK7Wog_vFhBogESWYYokuavehDJvCmUtRezDTYTm0p_jMrrDJOwXes26aFIEp9_XkDm_9Myg3TR4ApjppLuwSRVB8LkqVujYGwiRJZ_8riE6v4WyLPxcBFG-ih8u73iDnPO8i9kSgEP0e1R6gtEFwptL4_wVoYHdSDIM4UCMNp6qf9NMwQ9zds4Zkbe4mLECv1kcsHWMT446NpKKWvxWp0z6NqTbSu7g-Jpc2bsszhTNaD08I8p8QTu87ViUPIGhsLzDWDnJ4iY8CD7j_xKIWgdzVctCDjET6EkkCdvs0__REZLYkrvw_Tsv1Q7gdFqcGYto74iTkiAQlHoRIAg2EvRwjUZdSUB82foqKpdyxmZ_ApdqW1nD8T5zV7r9Xe8Lolhj7ca4lnQCU-4-L-CWBXUQCr18Zhdl5G-CrhWeTsILG-p6IgMZ95as-P3Wlbd42fct4ZTyrxmE-KjlQHcDYTeDz28lwmomHk9JZPu4iTK1FSzGKh6d17d5bMKziRazVtXrjumc8--kxbnG8siRce0PYKPUUp3BmPQ8L6z6l1pSSJEK4VyK9CmI3EfxL-g68D89ikteKNrHvwbr-0nPd0uYkVGHHy64RC2WTaI6yCdAW93F_srUe_oUT754rhkaRCTN1a8UbHpWlgQh4UVEuPZ6P1b9bR6qMOztWH3B1Bss1eRdMPcaUJJYSDWXksKKbuFy88JbtTX_CXlhU5Z9wNsXMniuOBikLih0ZtopVsR2_J8flsHF-jRN5NDl1RgwKYTN5uS_BvZcfCM9DHvox5un5Lf9a_s",
  "id": "rs_09c891c6fad56f46016ab2b1660a1c87d0b6e536e22eb7dcf4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.195,\"right_z\":0.035,\"right_yaw\":0.55},\"note\":\"The pen is visible just to the right of the wrist-camera jaw column. I will lower toward its middle and turn the gripper so the jaws close across the pen rather than along it.\"}",
  "call_id": "call_JZFsNtXM3jfVUDVuUrMfiyKS",
  "id": "fc_09c891c6fad56f46016ab2b16aece487d0a5d7d629eb818aae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JZFsNtXM3jfVUDVuUrMfiyKS",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.4248, 1.7809, 0.6987, 0.3695, 0.0582, -0.0036, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1772 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9998 right_x=0.3941 right_y=0.1709 right_z=0.021 right_yaw=0.3698 right_pitch=-0.1554 right_roll=-0.0403 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.4017, 7.0906, 1.7021, -0.0562, -0.0317, -0.0171, -0.5265, -7.5966, 5.1214, 1.9609, -0.149, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f294b04eb9fd071e9b0cde247213ac86e4939e3910f5e61b42ddf78925103a72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c022d47195d915385d73064402706dbfb1f749f3af6dcc53179397ed957815a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0d6a18e9e923f7b15a0b4becd1627c94708f7982a1306557cf4f410b5c20c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7994, 0.6029, -0.3817, -0.0216, -0.025, 0.9998, 0.6769, 1.6588, 0.9146, 0.0177, 0.5243, 0.3698, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=0.0015 left_z=0.1777 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9998 right_x=0.389 right_y=0.2038 right_z=0.1052 right_yaw=0.0374 right_pitch=-0.0566 right_roll=-0.0383 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.7026, 7.1043, 1.7314, 0.0073, -0.0415, -0.0171, 0.4308, -7.8564, 8.0889, 1.7509, 0.5934, 0.1832, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrF2mEuL0RFGg4sgaycz0wP1REd0sUmbPC7aOa16NlnIcK4ZPpbX1KJWIXjg4qOxdh9qPaRTsXA0KfyYSCedpADgvx_mbMEJ-SoXxAxkNjsS3ZziYcRdLKQ0TfGyly-N9Mm13nkAYD_EzK2DHXZhK3HByfflXeQdgiqiYjqrja1qET3GbJz5l_EYcdEYxr69Tua89s7cIdGsl6UXuwFr-Xw1_OwjMjcfq_NiReu4WBRmKp8FPjZs9D4Fd3fs8npNyIf0Sbikpd3XYW3J0Uhp1QOJr87rvcVDwh2RLDZT5dy8-uHaRhbqAcDZ476FmbyGhwofm01hrNFAWGYOOoR5j10ezHUUZZUjTfAFSoOYMnyKeFAhoyFur9WvJJhc1n0RiEEr-AtDAHIOw81kQS6Kg_nAhxTAViK4tK4XdDQ7x2tJUk6RNaFNZCfNyrwePIBqlo06B0f3Gcpzx71LwS_eJxveIbIzze7MFkIThPrs2mFn1wLOmc5q_r8opg912Iv3XTycFd4raZnOqmjGMuu4e69YwqzyKJkvKzAg0-Ye7ICGEjrbKkZxbcxQauCgNdpE3HL2fNG2H0hZ3cZSkURH5UafjI7R91vDiNVG5MnIRUNtzS2FpzH-mGSWhvZnVjLbhDFB8LPW2nWXsSQKtZOSh4bUEwzU0U4N2yePSkFLrhyYEV4d2aWggMhD8vitOz7Fsin17_ideFCTgcoDAkkOXZI5ekyzxNNu5vOH7XEgmoUxcNrTIbl_YyUzeek1VgRpXrXTgrqe92qA0VaNXSXXkD_UP2ZMq3A9c2PQPBMMUga2usFgcBb7EBOHsjTKkqpwAnV0bIAv3yYig-LGPeHOroIZ_7K8uzEHKlwFjsEIX4HvoslteNaW4j63OX51h4sI_AbJjhlkfvNHLCAJkWkN_OEUCRdOAplS4_ctgddZ82eSa6nxUbWBJXWbPjDtapYM4z5LQl4k87JLMOCBvwAukPp60JsJ2PYhocbGL8jaevrieLAMoM7Vsgth61b5yDCyf0PNBjOBEwbvP-x80I9FaXkDZb4W6jDmN1jCdHUb5uXQyT5bRhhYWjkH9-qopAPm8hPmEBd9jshIZwUxkrIN2mstWNpccuj501Br2XMskfdwhHq8WU-dDIi_ravgLgrvMHhLSza9KtACcsHExb9FhSqRj_B91EL8jlfUKWcwRGecrNfjZnsuxgDgbbMw1FP5xir9Q27Ws9c2WSxhE06VM5TJ1c5jrJConClOACpGKn_x8x_hWh0t1UnDlC2uHRNICZtv91uIDI89nkDOhCKfUxkwQVd7bo43ZHlcQOHev1MSyWjjHgm0IZsRgTD0q9wEaITwE0D3dXutfJNnX0TRxiidt5KEWSSmpiVUmWt-4zJgYMhGKfd51pD7-VU1I_ZivqG_Qr8ytHRMi1vIfMkcfdZFX_KS3rP2IEzz2slYQpe29ZlT2sQlFrJuuLBAp7WPOVxT",
  "id": "rs_09c891c6fad56f46016ab2b17241c087d08290d3a61f029a77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.412,\"right_y\":0.18,\"right_z\":-0.006,\"right_yaw\":0.6},\"note\":\"The pen now runs nearly along the wrist image, with its barrel close to the jaw center. I will make a small forward adjustment and bring the fingertips to table level around the barrel.\"}",
  "call_id": "call_WWrMDTUOP3crMaSNfX8H2tVq",
  "id": "fc_09c891c6fad56f46016ab2b1746a5c87d0aaa77a1ba1bbe86b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WWrMDTUOP3crMaSNfX8H2tVq",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8009, 0.6029, -0.3817, -0.0216, -0.025, 0.9998, 0.3687, 1.8801, 0.7422, 0.4644, -0.1375, -0.1604, 0.9994]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1772 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9998 right_x=0.409 right_y=0.1878 right_z=0.0135 right_yaw=0.5644 right_pitch=-0.11 right_roll=-0.0394 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.1009, 7.0769, 1.6874, -0.0464, -0.0513, -0.0122, -1.5795, -7.6923, 5.0393, 1.4481, -0.1978, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c1581125ef0eb1ac66a1b96f0a07cd028cc32d5e2f348a5550471c7d56b70e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ab0a00af9547c71055f1f16f800d4f060e6af70152e5811a9288e90ec425de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb2424c44982f965c602b2e3cd0cbb598ee93be1a11193366f1461342de26e83",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.4248, 1.7809, 0.6987, 0.3695, 0.0582, -0.0036, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1772 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9998 right_x=0.3941 right_y=0.1709 right_z=0.021 right_yaw=0.3698 right_pitch=-0.1554 right_roll=-0.0403 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.4017, 7.0906, 1.7021, -0.0562, -0.0317, -0.0171, -0.5265, -7.5966, 5.1214, 1.9609, -0.149, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen barrel is between the open fingertips at table level. I will close the right gripper gently around it, then check the grasp by lifting.\"}",
  "call_id": "call_TeQhkSp2TfHH4Ksne2Vc93yC",
  "id": "fc_09c891c6fad56f46016ab2b17c21b087d09f34b7cc392be728",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TeQhkSp2TfHH4Ksne2Vc93yC",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8066, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.3294, 1.9297, 0.7654, 0.4767, -0.1947, -0.2184, 0.0506]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1757 left_yaw=0.0007 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4163 right_y=0.1822 right_z=0.0035 right_yaw=0.6048 right_pitch=-0.1164 right_roll=-0.0466 right_gripper=0.0506\nstate[joint_eff]: [-0.212, -1.6615, 7.3778, 1.7558, -0.0611, -0.0464, -0.0122, 0.1162, -7.8291, 5.3675, 1.3407, 0.0073, -0.022, 1.2186]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:048a1e6b1f43c33c735185842554f6f730cba4f6e67dc4666bea4fcf5daa1419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27699e17d5f8fad12610e85cf3acb5593215568c52b8c3d079c267f4ea917e99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbd9f034ad703f47ca39ef392da20b2e50f4431d46ee2216a006afd8f2181abd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8009, 0.6029, -0.3817, -0.0216, -0.025, 0.9998, 0.3687, 1.8801, 0.7422, 0.4644, -0.1375, -0.1604, 0.9994]\nstate[eef_state]: left_x=0.2949 left_y=0.0015 left_z=0.1772 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9998 right_x=0.409 right_y=0.1878 right_z=0.0135 right_yaw=0.5644 right_pitch=-0.11 right_roll=-0.0394 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.1009, 7.0769, 1.6874, -0.0464, -0.0513, -0.0122, -1.5795, -7.6923, 5.0393, 1.4481, -0.1978, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.07},\"note\":\"The gripper has stopped at about 5 mm jaw spacing, consistent with holding the pen. I will lift it a short distance to verify that the pen follows the jaws.\"}",
  "call_id": "call_QT7wnEBOCtFVQWaoN3z2i8AV",
  "id": "fc_09c891c6fad56f46016ab2b180c8f487d0821763419af12d20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QT7wnEBOCtFVQWaoN3z2i8AV",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.3294, 1.7683, 0.8284, 0.2451, -0.1925, -0.2188, 0.0564]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0002 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9998 right_x=0.4155 right_y=0.1815 right_z=0.0527 right_yaw=0.6033 right_pitch=-0.1238 right_roll=-0.0464 right_gripper=0.0564\nstate[joint_eff]: [-0.2393, -1.347, 7.0496, 1.7265, -0.0659, -0.0562, -0.0122, -0.0615, -10.1128, 7.5556, 1.5946, -0.0904, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e79a7889bedd0ec15dcb39e470bf19c4cbd2a63639562b5447dbabe342ca444",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9116b8ad76394939562ab79e1a39ad1b2c6b750b84e78acd4ab2914630bd7b47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:345f2cbc2720013d65d8a73269015ac8bc5aad43df01797eaf7c7b97e0d6aaeb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8066, 0.6029, -0.3813, -0.0219, -0.0254, 0.9998, 0.3294, 1.9297, 0.7654, 0.4767, -0.1947, -0.2184, 0.0506]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1757 left_yaw=0.0007 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9998 right_x=0.4163 right_y=0.1822 right_z=0.0035 right_yaw=0.6048 right_pitch=-0.1164 right_roll=-0.0466 right_gripper=0.0506\nstate[joint_eff]: [-0.212, -1.6615, 7.3778, 1.7558, -0.0611, -0.0464, -0.0122, 0.1162, -7.8291, 5.3675, 1.3407, 0.0073, -0.022, 1.2186]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrGOxGuyYEQEuD4kwoPjDtXa7kz3qQJSkYKYc2esZtc_E7oOZz2qioC5Xnmz9UwOvYt65FLmG4u3VOvktmDCqb9mYNWjMNBwBqvX9gqJwYTOKnrRLxL0MYrKd9njWR1x2rv1hmuIEB4kAaKMkZFyYuMRixIm_TZDYiR2XayzAV8SG-1tngIJC2yHk0J_HjjrqBwYYA4Pvshq1oLT0clVtiPsALpVoq6lAJTEG0fPV_TP4Glr8EtFqNqTOklFGsdahTO5cNRgXhA9zx1bSpizQqqkHOUh_U-dJTd1uD_mTvNH034PAhaI37kGLHbq7Zk_AGtzxjPlt2eW4MjSwIL1boUNh9VZQ41fcb6p4Eh8PgucJMbr0wISXYrdpKz7KsZBlrPIM_KY-pIDTKTboRoZVq29YzVlp7eeXi_1YMbxT3bJmWQXPWlWD5OrVeBIoBTXF26OVJpj7syAQPoQuz29c_q4KEc893IFgqQB5CN62WrhAr1vLibxnrvozigvMOo_V0DcUxrUvCKIQujLdTG7TsUno0uGKQ21UmVmWCDjVPb2fb_88EyYCgwex3lj4Y4hdnK0Q3EG7ztaLrXqF_4IjVsKQzZIveAGuOWtlYobyRCYpyLljPRPPR0JaDHynWF47-jqDOiBiS7dmnJVf2JuNA20x9p474VmDvSsjI6-K8C3G7MQ__txHWGocIPXV3ZSHKfHScrg_kVId35-eNJdsREcBy8_uDhjFcXFnuKbUFSwdtXHqQQ0EHt-iHPf3tbTuXVrT_uaunvAUmLnrw1WqJxni5leJpDcuRoCk1nmHRzuciE8y6e6r4bzSLrhB2hcbB5UB-JPXG7S8JaNIGv9v_axUEZp4KKPlCl9rac_2OsYKpw3gVx20wi0DJcuf8y-yDkCgvvz92PkgvSyWsTRLA7klzEzBgarF5ECSkmMCSEuT_PKQEFRe8TzGftWCuvYnHlNJr36Zy-E_xNwoNHdp4BeAM2wX8f4XhXWG3zD86847wmYMQUWAMet8DaCbwLLXd_83TP-NSENeIManfowndM4KhL9uxB6UZjHPqbX5g5BV0q1wO9tp9uaby7mbt0KSlpkwMco4_6sA9SyYIFynxvA4e1AdX9cZ6hMqibt6kQDYGw9oJVEFJYWVjfEliaLr7j11o6SLJvRs8b-im3WmTvswuhSUA0qP_VksBdNgLsYdlSlUxfCtuwrSWyvQKRwmQBpllBVVAVDLyJIIhOAsrE8LEJTnoOwjn9cnl3ILT0DN504OdGicuTlwLoXFrRj8Zarc1AF7-3sZ8BOXnzIpA6LQ1f7ydt9v9xy37EUJk9_01rrmV6TwWxgp6BOuCCqIR0FRiU2f4-Ku2eal3K9TAFZ6rpRw2dgNbiprPBPMZs5eApWYMml7YhHpn-sxu6Rp5w1zMnrlKG6cnMSzE49KYzBB2OB5YHoFvtywH0areF6GFlUOpfjTr86oKzJvEX98e19fziYMvbZaEdHSrrg0HBuynPiC7qT3UPB1vCcUmqa3CxMgYVjVqeJDCDZlv6_V11W0SLpqLssUGAIsXoMgiSY6u4Aif4KVei3i9cn2f2yCE0j1r2iZKs2d5-lgMdKde2Jned7bPM7nxHJ0dKrs_yvLX8OToxunp4G2y1_8El34OE71HpQAigDEEKVHYJV6uqcDZYvlQqpR21xaAkVYEcdmpM_q70tawK180A3MTsICyLWiJcNlHydDTyalDaNhO2xeZMdoIDLu1V_QWvt4S9WGEDQoEu--SDDE5GzUFSFy8GXR5VnAcMdS2GLMpUQYHbpEcqNKMsOsIwJXWMXgL_KfjlfFYJ9r5vpsoXqvGmuA-ezncbWXUNRamqtA4pEom6VK7wCgQQMGWEeVhsc_mdZjA==",
  "id": "rs_09c891c6fad56f46016ab2b186d11c87d0a5ed96bcb82ad996",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.10,\"right_z\":0.18,\"right_yaw\":1.57},\"note\":\"The pen stayed fixed in the jaws during the lift, confirming the grasp. I will raise it clear of the table and turn its exposed tip toward the center, leaving room for the left arm to collect the cap.\"}",
  "call_id": "call_ajVKgENB3g9TynuNpKK1RJ2a",
  "id": "fc_09c891c6fad56f46016ab2b18c2a1087d09003bf430030727e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ajVKgENB3g9TynuNpKK1RJ2a",
  "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]: [-0.02, 0.8097, 0.6029, -0.382, -0.0216, -0.025, 0.9998, -0.1089, 1.8263, 1.5448, -1.0313, -0.841, -1.4921, 0.0619]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1747 left_yaw=0.0002 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9998 right_x=0.399 right_y=0.0924 right_z=0.1755 right_yaw=1.3695 right_pitch=-0.1569 right_roll=-0.2006 right_gripper=0.0619\nstate[joint_eff]: [-0.3214, -1.4564, 7.0769, 1.6825, -0.0611, -0.0562, -0.0122, -0.3214, -8.6769, 6.0376, 0.0171, -0.7399, -0.1148, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e1d011ac9c22fb52315c876601801dff16ea2bcb08f53ab495775970f53482",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:007b367be77ac015ad8683496cb95d7207ec6e1bb927e152e0c9f6cfe011ef4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa14111bbde3ace56da6c20f4584886d8ab858f6bead4801e917a570fdb4f60a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0216, -0.025, 0.9998, 0.3294, 1.7683, 0.8284, 0.2451, -0.1925, -0.2188, 0.0564]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1756 left_yaw=0.0002 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9998 right_x=0.4155 right_y=0.1815 right_z=0.0527 right_yaw=0.6033 right_pitch=-0.1238 right_roll=-0.0464 right_gripper=0.0564\nstate[joint_eff]: [-0.2393, -1.347, 7.0496, 1.7265, -0.0659, -0.0562, -0.0122, -0.0615, -10.1128, 7.5556, 1.5946, -0.0904, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.23,\"left_z\":0.12,\"left_gripper\":1},\"note\":\"The pen is raised safely to the right, and the cap remains near the middle-left of the table. I will bring the left gripper above the cap for alignment.\"}",
  "call_id": "call_rd2ILvda3iWt33BhgwGCEg7a",
  "id": "fc_09c891c6fad56f46016ab2b191f96487d0943891bbcda16e38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rd2ILvda3iWt33BhgwGCEg7a",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6369, 1.8778, 1.1938, -0.0692, -0.5106, -0.4107, 0.9998, -0.1097, 1.8248, 1.5181, -1.0382, -0.8333, -1.5066, 0.0619]\nstate[eef_state]: left_x=0.4484 left_y=-0.2198 left_z=0.1021 left_yaw=-0.0037 left_pitch=-0.0694 left_roll=0.0236 left_gripper=0.9998 right_x=0.3926 right_y=0.0919 right_z=0.1669 right_yaw=1.3797 right_pitch=-0.1684 right_roll=-0.18 right_gripper=0.0619\nstate[joint_eff]: [-0.6085, -10.1265, 9.0598, 1.6435, -0.3443, -0.0366, -0.0366, -0.2256, -8.9915, 8.1709, 0.6813, -0.5006, 0.0952, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8628d522eb00ba2314cfd4d011a6a5279d24f11c2e6f0ee263b87f47d09a49e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39b1087ad560d857d24ff645e87a938d983e69b0e40f25c354e9f98568f107ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c939bfd746ceb5beb4d5df8a5d04dbfcdd3362ce71c92d08cf445a32a96fd5ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8097, 0.6029, -0.382, -0.0216, -0.025, 0.9998, -0.1089, 1.8263, 1.5448, -1.0313, -0.841, -1.4921, 0.0619]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1747 left_yaw=0.0002 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9998 right_x=0.399 right_y=0.0924 right_z=0.1755 right_yaw=1.3695 right_pitch=-0.1569 right_roll=-0.2006 right_gripper=0.0619\nstate[joint_eff]: [-0.3214, -1.4564, 7.0769, 1.6825, -0.0611, -0.0562, -0.0122, -0.3214, -8.6769, 6.0376, 0.0171, -0.7399, -0.1148, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrGd9Teczi2MH_pnD8PyM-TleuwtApy4eNJVzO-Yz_PHtsiWGv0WyCxpTDla3SMN80nRDraY_MGngB38BbyZuAMwNf78o8Ohb-1W1mYGl1lgqig2scjg_EBpVgQZa7dT0ti_n8hLH7AIm64cXj-CRtlddFruqdUjuvR1_0s6RKqvOdsRFPHCbhlK77uBZwRtHqw6icHy5qK-f7LtL3BmcC8xIKtasoyGDqvEWB689ejkmI-FBFDdubaOxY27l8fdaBmRU_lDSeEmQIpWMFcAluSKJStHNTgd94rIbIH1mxubKtJaw8adbBMOK-YtLGcuZfpdjV2yzCIlAPjHhYKhA2qOSUFv9k5LwlbOtfLjwiBsrJm_s0ViPbmSxmtRxZ6wnvl1McRSbOXZucFtnThzAVBRmZG7XF00odhffYo3-CJtOY1xSkRnuKM7moxMsqAc8b6eGcKC7wqTgGl4VoenwB2i_hJVrEQi7Y_kH6CyQn04I1w6EPc4CkFxeQjgN1WY5BF63Z4k9tflGataBYY3WVx_t8aph_S3JSJEIvu6GTqIXJ65C3-TtK5WLS_Rm91eRCg-Iq5cRzmkYVDf8xeca7MAaKuLgqPdk6gPjna828qVMLuGya6qXzTkwsw0H4k6mdv4aL7Yb6VIlgmXbDogp1SXbPO_MWC0_KDc1OiP0Brp7Ta88lJmd4AzOz75NtmyGEEDqm6RTWu0I8VEvh2xr3wrxJTWSkfoataFCDqcd5Ocw6E3MhbsjkkuXtAxg4E-EtouXHPhpJxkyyT4RDpupEp4kDNSGMskifdGqPHI3RsAUt2NOg-l0vUEFJGIgLa2htzaQerZ1_Ly-C73blpM6Nqodhhcm5drX-cEKuDE5SFndxcyGYYJ2yKcULphVELYs9uMOhMDboIvHWaAfG-JgXnMEkQDsK_JJcSM4-7WEjJe0Ar8Tr7kdZnJQahnj2RGtSHgjxQiVP_yw0koWoGC8jc94C9Ne5HnQWAkZ2bHICAKgBN5ZZXeWxBVxZ1Oz7cg9VXQvg03cqXkOprNx-MAULH97dfniwt3m6R6ZrZde_xD6m6WpNa-jiIASKoy-AjaOMbwR8I3VEKVW-xinIHFmsu1vB6Wq4P7pRwRHdmiE0agv3epW_qx7HtsdwGEbJauNiVcYNNqJv2C4chwWKkwVP_NiueEX8xwv4YppFZMIIxNNb1A6UJr4YLiUTYoRF9V7E6brwMdeWKBv7Kw0CCvjydTQID1e3WeRzso8xNFxC6omjAAcNvsUKjGEUVPBBD5wJO5pAl8T9Zk4dUosS6Naclke0AxfPjZ1EV77Kr45u-FP1eomuoAqAuJCsG194JPnkkMLD6DmzqO8PIPfT23hYChNQIpG1gGZ1fzShlesbRQ5pPJ-B9u9urnUQzFByfZjKWJmkX7XWrUg3HCTBJ6NorlN7FrE5dImMJJX7WnMd_hLyT0uDEgKqPzHnvYDr259QFMiNBFsQ45Zarifu86FJRxOBqRK6Ean9JfgV3ckjezYj9OdG64IGStYGYq6n7NNrhlSKB8n9Md7AVNFFQHhQ5oVAYXxXqkzrq0ipns21z3AosRf72O9FQOX4a3S8VwMaplOcrpG2WRWNPUI-YwSdSFxhrkJgsC6gEgeXYjQhw89fM=",
  "id": "rs_09c891c6fad56f46016ab2b198190087d084ee2ceeea3dbabb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.23,\"left_z\":0.025,\"left_yaw\":-0.6},\"note\":\"The cap is at the lower edge of the wrist view, close to the fingertip location. I will lower the left gripper and align its jaws across the cap's diagonal axis.\"}",
  "call_id": "call_nk9idnj3x3WaBfB1YTs8OxRQ",
  "id": "fc_09c891c6fad56f46016ab2b19b6bd087d0b605c428d136146a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nk9idnj3x3WaBfB1YTs8OxRQ",
  "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]: [-0.4503, 1.9919, 0.9703, 0.2691, -0.0574, -0.0353, 0.9998, -0.1097, 1.8248, 1.5166, -1.0389, -0.8303, -1.507, 0.0619]\nstate[eef_state]: left_x=0.4444 left_y=-0.1996 left_z=0.007 left_yaw=-0.3934 left_pitch=-0.1809 left_roll=0.0207 left_gripper=0.9998 right_x=0.3922 right_y=0.0916 right_z=0.166 right_yaw=1.3795 right_pitch=-0.1716 right_roll=-0.1782 right_gripper=0.0619\nstate[joint_eff]: [-0.3624, -10.6325, 5.8735, 1.9853, 0.1392, 0.3101, -0.0171, -0.3487, -8.8684, 6.1744, 0.6032, -0.5104, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2d97aa8f25000fc438b322a9ee28af6e3adab6f07960d0e3bef228e0169ce2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb882779652c80f98272e193c77abe4640d208cc29ae369ed0122fd620dffeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:466e07e177c58a3448b02616d648d7e6223ba01ab18b10044fb7e9f665785724",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 27 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]: [-0.6369, 1.8778, 1.1938, -0.0692, -0.5106, -0.4107, 0.9998, -0.1097, 1.8248, 1.5181, -1.0382, -0.8333, -1.5066, 0.0619]\nstate[eef_state]: left_x=0.4484 left_y=-0.2198 left_z=0.1021 left_yaw=-0.0037 left_pitch=-0.0694 left_roll=0.0236 left_gripper=0.9998 right_x=0.3926 right_y=0.0919 right_z=0.1669 right_yaw=1.3797 right_pitch=-0.1684 right_roll=-0.18 right_gripper=0.0619\nstate[joint_eff]: [-0.6085, -10.1265, 9.0598, 1.6435, -0.3443, -0.0366, -0.0366, -0.2256, -8.9915, 8.1709, 0.6813, -0.5006, 0.0952, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrGjPRkxCZLgNuPbKOydXfAO-nmBibFJlPkW3Qrzi34f0IsHXyvNuQIw-9sExiFRwBbeWZPtS635_DDbSgBdK05AegSTuJlJzozUoqn_NoUfKIqDjo9X4ZaQopBb5kxtxgKE5C3Dq9Evqk_i3RcSfOTv0MB7VjDIHxL8Cahrxe-f5ne1HKyIPX6hIOcEg2BGjPgoL1iH2CRUr8EcqIg4AJD0hzIz7TR_exKrpcG_Zjd61kmB0uXO3YMNyGFv1T8AUQBv3DlN-4ZnfL7DRLGuT7r325hFZnVW1by0kk2AClO8BD-bzz4IE_uMYZ3LnpTYoF5rok_Sq7MXjMPFYdvRepNnzJPs6b3GBy2khwBpdPX214irEvMl0-w42feM8Pdni-h1ImczTvGcgB856b-4eo2n7M5qGXkG-MYeDM8WEfNIwvu0bsUra5pAOwHIvk4dgLqmAncCW564ba7WFZKlLqenMd7rjVj4m-CfiArVbmowG_BDs6_JwMRQNNHcgvxIe-bmtUlKTQSU5Hh9OW3XgGFvsoGZE-M6qonX02OOFFRD_SUq9X21fm16xK50iE9xilm9H9DDfddBSfY5mPRKdu-dCMRFPhLgk4nlJnGt5H8-GQPMgfva1N9tJ8B8i3oa9svBi1x1fz6oWxfCfg_HkDRogO6Vj3nI1ppj-Gv3ZpY2U-KiHFmSLGaONJZId6vEAZtPEbX5sGDbAiWecK7wW2h9erHK3RIJNcHit3C44utqpOBufcO5FrCsDdNGxe9HTjVhaVhf2l3yT8Pj841HNOxiRhVVdu2YXgOp4ct3Z7KCfB_Q5vOWTBHv9IAbKbSVNRn-LTjai0WPOLTabxTJoe3zKrsYUgNIii6G6xMbsl9syl0nB7eiU9erPAAiVor5DJcrXSCqJxC2XSA1shvKv9D-LN3mwN8GCJodaDhtNnwf39avAaiq_-_dbiAcm7xcf6QCDuqLgqEO8hgZJLdBNcukvhgV9NStFD-POmLwgNB2cBR4LsZXXDEx5n-nWGQHGeaowPTP_1hr-kYFGEBqeHsbVta5mQ5iucwbkzpdCcRdh5P_6bauqxdNvoesulI0gar_k_NrsQ8FTfwTkvAV2Fi_De1mBrmfTP1cI45xHg1EiIWy-g2yCGGgvbJ6fxbTTo_5eKsYUgvkzytcbKLRjhzXWYlKk4DwVTf5zfvlyppgdSoDuW356m7AGohO3qrJaR4RBi8tSf0wi3Vqz17YLO9wb87nVLifLOvZ_0H-2JTuwtZa9zsaMBuVUqNOfq0JbGuTL8-eS2guPME8Pzb14Hq06_0Jxv0sDXhyBFyE95KsVzV__yjuIEwpKgBmrRsvAd4WlLxUhRBS_Bl0_psHZigBduMTPcywq4o68_TGSzFRZk8=",
  "id": "rs_09c891c6fad56f46016ab2b19fd4a487d086938dba5a372870",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.235,\"left_z\":0.008,\"left_yaw\":-0.6},\"note\":\"The cap is still just beyond the lower-right edge of the jaw opening, and the arm stopped short of the lateral target. I will shift back and right slightly to center the cap between the fingertips.\"}",
  "call_id": "call_VEtRHXWlPnb7fLZutoiKmniC",
  "id": "fc_09c891c6fad56f46016ab2b1a16be087d0ad53e32eebba91c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VEtRHXWlPnb7fLZutoiKmniC",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4389, 2.006, 0.9676, 0.3523, 0.0864, 0.0807, 0.9996, -0.1097, 1.8248, 1.5162, -1.0386, -0.8272, -1.507, 0.0619]\nstate[eef_state]: left_x=0.4457 left_y=-0.2221 left_z=0.015 left_yaw=-0.5674 left_pitch=-0.1129 left_roll=0.0157 left_gripper=0.9996 right_x=0.3923 right_y=0.0912 right_z=0.1655 right_yaw=1.3788 right_pitch=-0.1746 right_roll=-0.1784 right_gripper=0.0619\nstate[joint_eff]: [-0.3214, -9.9487, 5.9692, 1.9512, 0.2173, 0.149, -0.0317, -0.1983, -9.0325, 6.0923, 0.6178, -0.4957, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8e833c1d83adee87a3c334629c2ea617970bbc3f795d87dfb14293facf655cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a33ba809708c08379a74b9fff4355575374c3193aa136488b2f21d221cc008",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b0fe77d018f62d31d75218b917cde223d62569ade9adad35987882043eb5a18",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 31 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]: [-0.4503, 1.9919, 0.9703, 0.2691, -0.0574, -0.0353, 0.9998, -0.1097, 1.8248, 1.5166, -1.0389, -0.8303, -1.507, 0.0619]\nstate[eef_state]: left_x=0.4444 left_y=-0.1996 left_z=0.007 left_yaw=-0.3934 left_pitch=-0.1809 left_roll=0.0207 left_gripper=0.9998 right_x=0.3922 right_y=0.0916 right_z=0.166 right_yaw=1.3795 right_pitch=-0.1716 right_roll=-0.1782 right_gripper=0.0619\nstate[joint_eff]: [-0.3624, -10.6325, 5.8735, 1.9853, 0.1392, 0.3101, -0.0171, -0.3487, -8.8684, 6.1744, 0.6032, -0.5104, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrGqk68JEoFWkqmY_H7IGLXn5HFdEzc3CtUPqafGflr7jTesS_bcANtGOs1VpA8pMu9rHizt8SeGsxJ-1LkBDrdnur6mIN5IztebPVuHjbP4U2THp20m95sI6x6yDWAp57iNJe3w1DEFZYKfFsFnRpj925B4w3XxExuFC1hq4b0oEVGujH9p_x29JXEzfTT0eKzzi9q0D6Dvk0Ue8pIjc2TkHVi40jtayjSrUubt5pVwHmXu_xn_47WQgjsaZY2_ipjuUyJPwW7Qb9Ym1QjUHUd94ryACdCH4UBI4QS7qA1-GDKZckLnr9PlTnFJrA6YYOjUFcVpsp7GDzai1YZJv7ZZe4fIiK7cj1632X01oBVAYw-nlANzHwpk-4rSBMilAniJtmek6C6uZcAbBQW8zNCW4aClZ_960cKS7e4bslUpAP_TzvVS3EWRI85P_eHl0D5hbkhpayL3Qs1diX-dvEu265r3lenWwEiYvyk-Ko4iLsCSl8ivB4HGhsi9Mm0pI50feYDNWCAxnwDztkks0BNxVTmdmATAKqU5fpnm8pVuqE9W58-SArjG-QrBVzV4oG4o64S_zs9KrOe7-Np4Ib1CavL0tRh1koJE8G7gSXIZvvYPuX4a60nNqJUhQCr_L-M1fd4T2dy-z9iAQWhM82Jg4cT9X11NAWGmmINHOYrXGoeSvpiegXj12kFvbYIZcvo6oLoSP6SfzBAqgh9nE4R8tl8_PXqq7ABIv_xUecccZhhQ7OEOlbkWalOPA3by7Ldt3xzSUUW3VhFv1mxi7R79XzNdlqVntrzRrDiDr_ognDCMnaDsYVIwImCfDF30CiczjxBAzO4PAcTp_a_MrltqZ6YeFHupFuvQVDYp6A2Rt_v4ZAPuDZ5CNCZM7ga3QzIaxPQ3HQSsfnsJBX3kjX3-jNkDj4y9Ovw6h7ICVqFHqdYUrMiueuGnSzhft1l6V_LDLiSZvA_y8Ksp2Py2z_gGO7t0GUlqWaW_OQbiU6hjuR8y_agXb30T1DnTm2LU0zB2KaYZ4c3rxIv62UyOsuRzEBOqr0uF0Zc0eiM4c6oTNsEd8TBMpbrPqObJkBIHszRiyKZLSqAHs9ZCs18rBcnUBYndmJ4IoFORLVy8FuwvuR5NBWYAumuPkDBOkPmGJMYQw6dCXEqu0k3wqAGs-Sdjpo-tTDC7NLuihjl8GiJNgS5JUWy7S6W-roA09TEis84XkLXOI1Iw-DCVB4jzkPflloIHo72s1URSi4rQuXhaytwEeXeGGTYVWKJTyMLfQuBy7By_uzy0uFLepl2W_V6qVSIvcvAT9Y8B25RxWGMrU0U=",
  "id": "rs_09c891c6fad56f46016ab2b1a6e17887d0a51d8fe27882025f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.235,\"left_z\":0.006},\"note\":\"The cap is now hidden below the wrist image, but the grasp point remains farther forward than requested. I will retract a little more at table level so the cap lies within the closing jaws.\"}",
  "call_id": "call_gxbbm0j5QLJ1ZXO1XsBAPyjW",
  "id": "fc_09c891c6fad56f46016ab2b1a846d087d09739c12fcf3c75a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gxbbm0j5QLJ1ZXO1XsBAPyjW",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4389, 2.006, 0.9676, 0.3523, 0.0864, 0.0807, 0.9996, -0.1097, 1.8248, 1.5162, -1.0386, -0.8265, -1.507, 0.0619]\nstate[eef_state]: left_x=0.4457 left_y=-0.2221 left_z=0.015 left_yaw=-0.5674 left_pitch=-0.1129 left_roll=0.0157 left_gripper=0.9996 right_x=0.3923 right_y=0.0911 right_z=0.1654 right_yaw=1.3786 right_pitch=-0.1753 right_roll=-0.1785 right_gripper=0.0619\nstate[joint_eff]: [-0.5402, -9.9214, 5.9692, 1.9414, 0.188, 0.149, -0.0122, -0.3214, -8.9778, 6.0513, 0.6569, -0.4469, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:291fdd7392abaa03c1c2db25e1c5b6e4a5b6f8076374fd0caaa1f49725e676d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f5292a0678eb328dbaa7ccbc7cd52e5a610382b14c354ce94325c8ddcbf0cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0c2369a3494a3fea09443f33e8dd8d87ac7984fc2b6c73a15471acc4cecb62",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 35 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]: [-0.4389, 2.006, 0.9676, 0.3523, 0.0864, 0.0807, 0.9996, -0.1097, 1.8248, 1.5162, -1.0386, -0.8272, -1.507, 0.0619]\nstate[eef_state]: left_x=0.4457 left_y=-0.2221 left_z=0.015 left_yaw=-0.5674 left_pitch=-0.1129 left_roll=0.0157 left_gripper=0.9996 right_x=0.3923 right_y=0.0912 right_z=0.1655 right_yaw=1.3788 right_pitch=-0.1746 right_roll=-0.1784 right_gripper=0.0619\nstate[joint_eff]: [-0.3214, -9.9487, 5.9692, 1.9512, 0.2173, 0.149, -0.0317, -0.1983, -9.0325, 6.0923, 0.6178, -0.4957, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrGuc8jCSbfAZRH5r1nsRiM9eJraY96yokDbrP83m-QmctN6p3rlb4alRwAEgPza-sFaPc6gda6Z39QsBA9Krelf8rgNP-OzK22MkcYueWhVLJU8kufJUSUbAG1FMYjAx4hMdHi2enp3r9VuJ4-Q3gJbjxTLwe_l5-JA_WxbWblE6Y6G85bnyDZfbmh6BsfsxNyd5G9BPycBjODHsPL1tj0ERA_yNuQ43r-xY9DgR0G-FJ5Gm_G5TI8e3FX-qNqmuiLCm6_KBbvm45W-AcS8Z9F3seqn_gPdO4CnfCf-f6L1KKMe68n4e3NvwIF1DOzpBbr7DxoXB25q2LBPMqLqBGFBloTkGCEct-BdBT72CmV-GTjh002VVnljGpa9qBHiwRPPpH0R6TjvpPBziO2OkHwk276Z2G2J8-fwp4f71-v88jUZ7bsJoe0RzdQAJHPblcm27wJMJggj7RctjOQFQs_k_A3PY9JYcK6thUhe45ywGp3NuoA46Tk_fLj-XNznba2n4Vc2GF5c8r2onP8qQyeh7lqpFYHfZREdLsu6tUHPS7PKiWBgveiKF6x8oCs9JZhUctuy-u8RZhXqlKU9zk9rdjoqZed1Jq7SGWWyXapBGkYnviUeQ2e1P_HiTQ57SrmF4lhvXT_jI79NVm2-5AK8yIbFClg5NvVTsag7Si1FVX7rTDcNB-40etbJOiq9KbtttYLfMVbjT1ukzuvIIVSwXcc7MIy8oAWvwP6IUWFBvHfnqeQzpp45_ARSEGt0JbtGXkfZ9mreMllJCBOaNJ377Jz83RPffeRvG4zOoEwp8M9Yp_Io5VcbDq6uWaxaZ7y-UiObI-Jjcs-0NrXwoR5w2m6Gc5fQUVHmVHKOemGfEJo4iy5-p0A1iDlPymNplbiOnb25bRbETDHtabXTntYSdIGsqnCqXb0HUu34ohfTL77xfkWNS2XmWt-644GybKRmk7LsilptqVDBr2gzj9o2yTNrNCw7JCMteCAHwr3uCsmOPnwg6zREgc2-FKj7fLWX3eqd4FjQTuqHSUwDBnZfS7bqTE3IflQucgU2WAYvEz_1ZMvCcVj0FnuPN8aiKtLz4CuYEPDD6snqHXg8mVr7eethkn46QJ51XuyJ7yC6P5Nu3r6iDBBqRIDtgKwJaFV8pcVmE7SZ53IvnVylrrZWNn0sHK8wTU82VYmZEoTp5pH_WA1kqIWHPsuuZ5YIQ0r2",
  "id": "rs_09c891c6fad56f46016ab2b1acfccc87d0b74acbde81c8e986",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_z\":0.065},\"note\":\"The left arm did not move on the last adjustment, indicating the low pose is constrained. I will lift clear before repositioning rather than drag the fingertips along the table.\"}",
  "call_id": "call_pkaYd4SalMKQ6hfkM9icdTXT",
  "id": "fc_09c891c6fad56f46016ab2b1ad3ec087d0aeb5d72ad0941c5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pkaYd4SalMKQ6hfkM9icdTXT",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4473, 1.9404, 0.9474, 0.2661, 0.0757, 0.0753, 0.9996, -0.1097, 1.8248, 1.5162, -1.0355, -0.8196, -1.5074, 0.0619]\nstate[eef_state]: left_x=0.4317 left_y=-0.2179 left_z=0.0222 left_yaw=-0.5645 left_pitch=-0.1542 left_roll=0.0135 left_gripper=0.9996 right_x=0.3929 right_y=0.0902 right_z=0.1647 right_yaw=1.3767 right_pitch=-0.1818 right_roll=-0.1824 right_gripper=0.0619\nstate[joint_eff]: [-0.9641, -14.7077, 7.241, 2.2295, -0.0855, -0.1099, -0.0122, -0.2803, -8.8, 6.147, 0.6081, -0.486, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2cf372c12c3eb9f46dcf20e5cf60d84c131720f48376dcc3d7c28cc30ea2af0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7cb55bea99f95bb24b896c8c5f2d299a1a99f9db246ba5e56f4ce9d4462af33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17bfaa7c6b40bb226b48bb15c8409e74fc3492fd7c8d030d85c146f78f3f4ea5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 39 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]: [-0.4389, 2.006, 0.9676, 0.3523, 0.0864, 0.0807, 0.9996, -0.1097, 1.8248, 1.5162, -1.0386, -0.8265, -1.507, 0.0619]\nstate[eef_state]: left_x=0.4457 left_y=-0.2221 left_z=0.015 left_yaw=-0.5674 left_pitch=-0.1129 left_roll=0.0157 left_gripper=0.9996 right_x=0.3923 right_y=0.0911 right_z=0.1654 right_yaw=1.3786 right_pitch=-0.1753 right_roll=-0.1785 right_gripper=0.0619\nstate[joint_eff]: [-0.5402, -9.9214, 5.9692, 1.9414, 0.188, 0.149, -0.0122, -0.3214, -8.9778, 6.0513, 0.6569, -0.4469, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrG1-iLET2VHaRsn-h37XNv2nOnRlAYKSS90GZbjAMKpUuwtt53cjEKTui3JA2N7VTk6o1RqF87XacnMYinhfGw2LutAab3l7QPILxbZkOVzU9uK0188M7krAsTi6Ojy3XwH97rLSzjD3fPEZZjhKa6604OtMnrL13WuZfyCebeyVgHnFZhOTIp6SF-MJX5KTdoGPdWF3JxyrGgQX4-Ucna7KJEOybKUY8Rq8c2_6Rijdi6XmVqTEbYwhDqNhK9k-kaDknLjtzqwzUL3CMQ8PV1cdSEPaGkZSVfgN0gqw40EHvE9i_f9NKmZMEsI1XDH_esaU9cbD9QXNGU1h9-H97bw3P-ndqPu3p0w8HX2rt1ume26RYmHs7DD-uHIfm6NTawNHnCZ6QgRrwW_dGwa4NCFtBaIbBXxuTH7BffKOrEl-vaCEjRba6Q53aTOhAu-xOZHb3Hg8bUqOI6f4uImGn-lcpCDQbe8wkM6nLoKIPt3CVYECnZPLYK4wsIekVarHWdUPP9kRL8HebJJInAx7K8EUSgaEpuyoVV9RsZN8tC2gPirnIY7z6IructsoAIOgad24n9fWwDE4JG0bkH95OFBsVuvAWoUP9yFYp3qOiw7oBwlqDB1EMdD7bT-R1FNvdQI8irNM6jWDHxLiF89Bc-lH9kw7PqhtNIdyGkyLSX3URP61Cy9gbqOlBQCuQVwBk1jd5ewxCLugtYii8QSG3hNGh6Sp0oJtmHM72t2B8ZPr-wCG2t7BemzD7g_7qb37IIc4qoSSFuJOE4Y--S5WHQNVkV8famgMs0DmmQ3HhuWEqCj9b8ZSVciIn0UV6CdPtVmOFIpXojFiq64z9KO0LkIQv63_gHbflnJ1iQlnSliWDlYwYyCcC6SHyHxsZkRpeb2Y7SlnkpD2jMGuG0cmHRPs3i5UAmN3k8vMerEdgo6bzP81D9VLC3aOzTBqz1-2wCCyc5p8mZnqBouPLBWNxk0v5D7o6ooDfeHXLyrsqGH7Fsk7yr3_GnuQmiu6w5A8KiDT3xlr1HQT8BbPblsiUC21lnfVLm6lKrQbNN_C2aW9_45kXcvzraQJ_zJWJZytcWaJw94mpepdJ1RYIH0mp5aYt-HfZzqBr-LNxwWa7iAN9o_WQTrrl6rd3f76FxBnYaOthYYdFWdVia2gc3alr-oNx8MvXuFOn0Eb-RB_Aw_W5d7mBGLLnNzsxRgOoUo7djo7Lq4uasGSZo1Gf8S35XTgtp-ioeOOtaXCUvcBIXC80Vi7F10fh_YhexvtMd8-zlnuQy3rC_ktCzX5VcTmn8SNBR6Js6D1hkZVG6sqshMd8k=",
  "id": "rs_09c891c6fad56f46016ab2b1b1fcb887d0b1785eb0dc28121e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.23,\"left_z\":0.005,\"left_gripper\":0},\"note\":\"The cap has reappeared at the lower center of the wrist view, directly between the jaw columns. I will settle down around it and close the left gripper.\"}",
  "call_id": "call_6HydUukV4hkEbcd38toJiaPP",
  "id": "fc_09c891c6fad56f46016ab2b1b3578c87d0ba9a5a5d5b4a1c4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6HydUukV4hkEbcd38toJiaPP",
  "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]: [-0.4881, 1.9671, 0.9123, 0.3096, 0.0505, 0.0448, 0.0101, -0.1097, 1.8263, 1.5158, -1.0382, -0.812, -1.507, 0.0619]\nstate[eef_state]: left_x=0.4181 left_y=-0.228 left_z=0.005 left_yaw=-0.5674 left_pitch=-0.1737 left_roll=0.0058 left_gripper=0.0101 right_x=0.3926 right_y=0.0893 right_z=0.1629 right_yaw=1.3755 right_pitch=-0.1896 right_roll=-0.1782 right_gripper=0.0619\nstate[joint_eff]: [-0.7453, -8.4308, 4.8342, 1.9512, -0.022, -0.022, 0.823, -0.3624, -8.9778, 6.0923, 0.6569, -0.5299, -0.0171, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa1c07b1d7b95ad35bb939b20851c237fab167854c2264a3c7d5be207078bc6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7ded3bfdfed3513dd7c5eba894a3e3d6e45cc012a00ba51ebdfc72601ad2ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ba964198bc67384ea44f5b20470f5dd44c104065c9151257b8619c34e85880",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4473, 1.9404, 0.9474, 0.2661, 0.0757, 0.0753, 0.9996, -0.1097, 1.8248, 1.5162, -1.0355, -0.8196, -1.5074, 0.0619]\nstate[eef_state]: left_x=0.4317 left_y=-0.2179 left_z=0.0222 left_yaw=-0.5645 left_pitch=-0.1542 left_roll=0.0135 left_gripper=0.9996 right_x=0.3929 right_y=0.0902 right_z=0.1647 right_yaw=1.3767 right_pitch=-0.1818 right_roll=-0.1824 right_gripper=0.0619\nstate[joint_eff]: [-0.9641, -14.7077, 7.241, 2.2295, -0.0855, -0.1099, -0.0122, -0.2803, -8.8, 6.147, 0.6081, -0.486, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrG8Rrve58dP08WXhTQcSUCyzCo0rMKp2sbEtYTpdTN8i3vWlCJO_wFutodKfMUyYQfTJqZMbL4fqQYsWf4ta2goAXW6S0OgtFFsx81ife4OH2BOScwta0i6yjKTwCQnmj9T3Wr49wSInfrTimyJK5O-HqIdsDYdRRjScW_BMeOvnkeTMXpdOCir_mKjiLoH1zCkNtJ4TQ9IqYgyZjkxbpg2M_yKEsAquKk3TeY-_rk_g0Gvp0dBZQIZfRlb4Bxgrjbs2bGfT1tQAxX8pS8PNu-wKIzY3IhV_bYMY78XTH_c5rJ72yDAkIYJoqGoV3JxWUcOO71vuVRhsFbGY9PPIQvIhTK1jgh7DNLO5TgM2q8O1OxvKIKG3PC-fgJmmxKc3eltFuISZfqrIMLAKe9JCuuK8gsH5xML16zcLql1qLKt-BLATRFP9Z4bCtropBpruOgCh94L-eecO9jWHIycEH9xKCil0x_-oMjw0GhUkK4N7BzvRy016puQUx7B_rnqM4uOTfz9gp4oFS9qeXM8XZN0Ek3dve4Xo9vmxhmxMc5indS9TgKtYvPnpIIn_mSeYFXG1vdt3tMakWGcYwrwMKq9VUoYa5ZgwyKaSgKDkNG-pTEwyCC5tVNUYQ2mJNX-jWnRkTw_um41Q0kwb_PEW6wEIKfM64QlqQrA-1S-FW0vOoDpdrk9SD3GWlNpaE4TRUm0nzH4CNasJYkxRC4wylyAFq_Ou5mDFvo2sPB5PsrnDphBz1iSVxHliV4W7QJWfPlKSV4MhWxEhNYp_lvML7IyViLaRopgPLwA6emjkyLXjTpKy1cMcs_sagm11C6SgWRQHs2gCyvUGp1_brnJ12-1HCtOqJPp4UAY8k_9fSocAp6g4z_ZXKHupgqa-NhRyQlSKwddpFHGdCM6mxuhibn6HPuywlGuoHrhAQ_2TSDa0Nz834rEQKHgveGmUYW3O-BEwCj2i4r3NPEf1ql7V1Kffl2DOoPlPoRETEBB6Q2--wiwAzy4MkdCG8OQqogDZAQZ_ypY_ldzB3ug9qjl0rEPh3k7YhRLmQta3vZdJ_ZDcj9o87vLd0QaKr3iwMSwxQrffGa8c3BZv0NMQu4OOPCUN78IVnTCk5MeyhDUsIix_jTf9n4lMA0Hr87wuUFFWMouLSS_dI7gUFQdsLGojvpnBSWkdtVV6ZFPvqp7DB0RI9jIuPb9vvuPEHOeIY0ZrqhPectmvjxlAdS-8gdmcILtHIia-1_euICA-PFLWTbxkkZpXeN3BMP5QWwsjQHbdAxei0ruHWsCejuIRTsd117vVfE1Lhz3uVCHw3aWjP83b_dqDrEhaNt0FKaA6Jp7UrQ6v3I3YCC934wsLWdk47A5SIrU-EdLuEr_yCp2xhR_KvQqQ1saUCXZprSvDJRekTZ4bPPOHqlD6GDmAuO-oU4YqjnB-GxOKEdHYkKHe3SnrzmtplDWSaFkcPLFDVLk2ynY",
  "id": "rs_09c891c6fad56f46016ab2b1b8231c87d0b79a2b4aeec032ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.398,\"left_z\":0.065},\"note\":\"The left gripper closed essentially empty, so the cap was not captured. I will reopen and lift slightly while shifting back to bring the cap into view for one corrected attempt.\"}",
  "call_id": "call_Z0rziKk9f0wBcSsmtlKunKfW",
  "id": "fc_09c891c6fad56f46016ab2b1babee487d085a6ec116c98000d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z0rziKk9f0wBcSsmtlKunKfW",
  "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]: [-0.5114, 1.7893, 0.9085, 0.1104, 0.0319, 0.0238, 0.9949, -0.1097, 1.8263, 1.5158, -1.0386, -0.8104, -1.507, 0.0619]\nstate[eef_state]: left_x=0.3971 left_y=-0.2252 left_z=0.0473 left_yaw=-0.5635 left_pitch=-0.1996 left_roll=0.0016 left_gripper=0.9949 right_x=0.3925 right_y=0.0892 right_z=0.1627 right_yaw=1.3752 right_pitch=-0.1911 right_roll=-0.1779 right_gripper=0.0619\nstate[joint_eff]: [-0.759, -10.8103, 7.0632, 1.6288, -0.0611, -0.0171, -0.0904, 0.0752, -9.0872, 6.2154, 0.6471, -0.4615, -0.0513, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa107490170aae201f931efc8403d475f8eb29eb6bbbac44affcf5af3187ed7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a237ed24bedf840097082a4bb8e66f46bc1f2b672f4904c9b8a0c338de23d9c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dae9eaedd0233fd1d68b57584aafe97b7647c4f6f21eff6a2b85212fc78063e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4881, 1.9671, 0.9123, 0.3096, 0.0505, 0.0448, 0.0101, -0.1097, 1.8263, 1.5158, -1.0382, -0.812, -1.507, 0.0619]\nstate[eef_state]: left_x=0.4181 left_y=-0.228 left_z=0.005 left_yaw=-0.5674 left_pitch=-0.1737 left_roll=0.0058 left_gripper=0.0101 right_x=0.3926 right_y=0.0893 right_z=0.1629 right_yaw=1.3755 right_pitch=-0.1896 right_roll=-0.1782 right_gripper=0.0619\nstate[joint_eff]: [-0.7453, -8.4308, 4.8342, 1.9512, -0.022, -0.022, 0.823, -0.3624, -8.9778, 6.0923, 0.6569, -0.5299, -0.0171, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrHK8tdfHTkFavRgoJLOIMM95v0vUe66cndqmhmIpY9Uck3_D8C6F2Vof7gHVZFjYXYR3bW5bgFnF5aFIq9BYoR5IJxxiw75Fv153SEX5D5v4hdJ3ek5BS1-gXTRhiUvH1fgsVbtUQDu6fykuQJWinVcVLzEMfCc8F2waW7P_IgnjilMYir0-yiiZ4kLUh6pgVQNKfllW329DG8ZbM8TsH_VAkNu_TxyRQq7Rpp3_GtHWy9KBs0BD3obmmSz_nLwmwduIGqEWjDcXLZO5V3kUVvQ0pttnewi_iiS6fukrb_GDfs_na7BOAbxw43HNiX5bS5TnGaL5fuwBnilYQZfkNA0nQIh6CNee3dTMHie4CINKLAe5JAwXsfJLRQGpGHBtiUBdx7z7UP84pcU5ePMN0zU75oQiiwprik94BUnQKKJu4xyN1Ttc05PNJMiCtTT10n2Ri4BTzKVPXmOAtm7f0dykgjO0hr0ashkhAJV16zOgnOPQrFtdbv8-0t__stjc165ccewOhZgr9dK4ijBigaE2R783RZ8u7HatCgNjzc0eDOIsEDxDmeYnEQf0NeZWLzi4zOpGY8s7eTvFGvGzHZx2csoY9hTY5hH07S9R4Mer1OHg5xIZ7tdhUyrmJXyZ_KsOzPjPUvSWom8SBXUM7fW5cbca1ggpztgs_PmvLhFhe-UdwS2EmAF23hf0E9HuLIyJZF-cR5z1STNCR5Ol0iJzsHVZUENmShhPIF7vDBrKAomYqu011V7x3FnYXI6gigx-MjeLKMJBKi-gQyLfZZqkNR95XkmXWrOrYwoYNQdX0mEwVZYdzAqmGOC1ewRovodYqoQ5tBUD7Q-0IlZrTObxJ-uSIYvA1bCdCvziiTwDt1VDhWMH7gqdmfqnGJq4bU8tB4C6tagnSXQLIO-YG4CirZz1LmdQcGqy0zyYHUpGcDkmwU12Y7hoIQ1gpRaeR3E0hbbBJXBaEPY2LKzF4D54BvqT4niFWBTa58_w-utadkbCIqHY1e3Dm3MVJA2UShCrGXl761lLSihEAJxx5oNx9ImNsfR27OAbZ7cauTrql6G-KIw15hchVvmkrTd6VQOSP7DZxvp-a9ficTGPPWASval6e4qX1Q6_3L6fHSiIDTBQ1NmSiGInVvkP774JHj_89VdZ1wbPucPHiUGStVxHKy9q8v2EF725OAJgu9OfdIL5qsfoJLyzoxueiZaDYtHrDnzVNe4YjJStnBt2uhGJtThBoBs2p2CBkfrHotS8CM0PKzXTkWYE4PGOsw2-OCxDLgwZXpH_3TQyfavrnuGXa1DW_7UOmEPABhRWbYfMh7Pppd1_eP7K4PDJmDNmD4SdGGDKofMTvKiu_DEeccU_cyIZvYOwDrFttQdFQ53RyE8VX4Jlv7Veih-MArR3cA6k2J5RvVtqxVkFPxKBs4I9qpvHqEnvyAzh4SKBJZasLFLE1n2gdq_k-BCTb846ssamkDRY0RqrveTXNoXUWGa06eP78Uz1UHGjKmasOYW-UKHtuTofMuUynW5ypavvujPfuw8Ory3qkucAcIoPDbVkOKTtF_gXA2-0TBMg50Vfy1q_8VQkBXkE2rF3glGE6iobKd6HHqPCANCF7cXJY978ya7txQ5ue74CrfMoLsJKKtQAJBEbNnrmzgwNgqdf4UfxRpLkbHaP4x-5d0iIBxu5IuTIWEvKkcpwsSEpbv3VGRQVm5I3N3KHW_9755rwY-dJFRUP0Z4QdOW0myMq-gI_1UVa_wT-fWydlN-gD75NNXeoCuoEWkPAaNSjVLWW4eB6sVzVcDo4injtDJEtUOdf8GXFeRvpVrPTo_pHWPoG3uOFpirhHA8T4x7AjG81njQvEdZENnmORHKkIaTGWSMdo-2wcLObLWOsBla8RtVd4EW95LLCTo2cqlGFFnTzWNkgrt05tipFX5VF7bKohN5Ccsw-8TMbfrKtbp9nsxcfDFbrXBOK6N4Lzfp28FK-P6qZn3KMHicCxJWZI088yR6CNFXWqZoAmbpfmenSNo9DJ5qjVwcVK1jAmsS_szqGvqbcI9RCWnYSFlMA-aCbIsdGScm5Zd6xhJO-dq8__wkgePkdXfyXGlLrGpoIb9fR0n78Cam9-BaeXJK0xysy_ThZlY5ogi5esm_CpQx8AMdfnmkwHGJWChaHJO4zCA_hPm_NcOsSYSA19VKd_jOnuoO-0WlEiBo0rl_2YySOlAF3W9Le6BoBp5FfhGZv3dbnkszvwkH88FzGFOkjcFckUkS8TJtJdn1lzP-43RL3yFL-rPBB-52COoN3UdroHNJNcEERRrAyiSbmzUkN4uiIy8GVUN0jmBTJ9bZ6ObicAScZj_TfGdpju1OvUEOjVw1B162anVOJGR8FyGsjlRBXQXhFpuk1Rj8G3pWgZK9cV_UfejujLq9uBH6KcFE-M_4O2vSs943gXLoi0B3wZOUhh20gNMnK23Dfstx7qn-gXatJ3p9TVubeHHE0hP7TauT7v21fclpZi1OCGPq9CNYMpP5wVna7g80P2CPlxL-Dy_9cL8URfZrsZGJY3260rxrpf7NrSn1v4cFpYdIukojSHcBkA==",
  "id": "rs_09c891c6fad56f46016ab2b1bf8dd487d094ee4c769d3d80f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.414,\"left_y\":-0.213,\"left_z\":0.035,\"left_yaw\":-1.35},\"note\":\"The cap is clearly visible now, left of the jaw center and angled across the wrist view. I will center over its body and turn the jaws to match its current orientation before lowering again.\"}",
  "call_id": "call_s69inp4qA4MkhMYf89cZe71K",
  "id": "fc_09c891c6fad56f46016ab2b1c8b36087d0901e64fd25eebd0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s69inp4qA4MkhMYf89cZe71K",
  "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]: [-0.2489, 2.0453, 1.2488, -0.2584, 0.5625, 0.7147, 0.9963, -0.1097, 1.8263, 1.515, -1.0393, -0.8047, -1.5074, 0.0619]\nstate[eef_state]: left_x=0.4265 left_y=-0.2019 left_z=0.0228 left_yaw=-1.1452 left_pitch=-0.2566 left_roll=-0.022 left_gripper=0.9963 right_x=0.3923 right_y=0.0885 right_z=0.1618 right_yaw=1.3744 right_pitch=-0.1968 right_roll=-0.1771 right_gripper=0.0619\nstate[joint_eff]: [0.3487, -11.1795, 7.0906, 1.0574, 0.5885, 0.2222, 0.1343, -0.335, -9.1145, 6.0923, 0.6618, -0.5397, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dee0223ea0e076103b48ddafa87de3675eb3031067d135b4cb213003c3e7f828",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44216cb372271db66539859772e8793ba4572c6af6a68b9226389ab57868f041",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f2e0f265a5b331452cb999ce0d323b73b6733d40e2b3416ab211454bdac609",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5114, 1.7893, 0.9085, 0.1104, 0.0319, 0.0238, 0.9949, -0.1097, 1.8263, 1.5158, -1.0386, -0.8104, -1.507, 0.0619]\nstate[eef_state]: left_x=0.3971 left_y=-0.2252 left_z=0.0473 left_yaw=-0.5635 left_pitch=-0.1996 left_roll=0.0016 left_gripper=0.9949 right_x=0.3925 right_y=0.0892 right_z=0.1627 right_yaw=1.3752 right_pitch=-0.1911 right_roll=-0.1779 right_gripper=0.0619\nstate[joint_eff]: [-0.759, -10.8103, 7.0632, 1.6288, -0.0611, -0.0171, -0.0904, 0.0752, -9.0872, 6.2154, 0.6471, -0.4615, -0.0513, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrHSnn7U-k5LsdEtjoJaDUigWGEo_p_InuVfM21MB_Ap4v7utkVo46j4IiZxfxvYIacwcZQEZU-RMosLfAEP4X8L1gOjEUUzjbQawwh859pDCtaAulGxESjncc0duTd92Hv-cox77BXdR8qdMD9mrFR9nC2h9wcncoUn-om9RBbgxCI9uDRFO0-OtGgajIXCC56I8wbTOl125_ft0tv43DSf70l0HXwYJ9HCtGQ89VQJKcqdbH3l7pM5qcUJvHz9u2_utTj4OhLAyLhEwdX4wqHab2vfgs95uB5HYIMjPupWROBIM1xyMunCKg3ZLFfEJqCFwRDTJuifkbMy9jrU5MR2WcWAONWe-gw0RF0Aqg8O_oGr7kFPPBGJ-v2Sn4CKE2hovCyr2fwNR7PTd4263Z7nsZsuOQtRahSL8CFBdx_v9eaVKH4SchOxChqEE30Q8Y16KCDDxVdPIkfbnYjbH_zHo1OU5DOu5rVuLKr4YgeYTHsWfvwibG9F72peMsYbIUPySliAwsdNwvyjAv6w3qJiw-vOjV9YOSiaPlS_xuIy3W-aCZIFr7gaRwRu327xWC5jVuNpPw-8Ve4g4BBtjvS9gOGfwQp07gNSe9u-Tq20QU36MykdpKsixurLKtVLC4wOqCcWfSa5zRwD-emyXVqIN0GB5Et2c4mpGBUSUq0CPWl6MmoxWCc0wo9L8CgpWcr-_kh0yVE8Ujx8kh2ozBRkELM_zS9lkQhvnYTDFNgmnXFwQkcY2m7QylAyFGBLSt2z8IY51NiYfa5zCkjaeHpaA3jn35rTE5NkkeAoBzmw6NHvN9SGdVNiUeSrruknzlTIY9B-daUe9EVvsWtVh0uQQyx8ERx2UPrDtV-ovxyQe2Jitl0b5z5_2PiCLTuLoGkvuBA8UpwCN1i6mLZdyGgGXk1s4H-gK1Zdjlpnc1h_Su-dpaci9P9XGZtGGaNIsfQc1MpkMuTP1TY3xLzrNYMQoTQTKp-jEPUh-obSTYQqsRycQnf7PhpYQHEE_O3oKLNZV6duUZ3ZlAu9nxqtSFURxKNuM2t9A8xl3nDBpCjhSsaBJIEw6-NXNgD9LCQBAe5gF0Q5ZFID19q4hJOWeyGM7LAOUVOvUmlZYH3mxbdeabGXCG99qYVmTDcGF7W0BeO4BeG2K2WXMnRXENbA-Otwqx2oSB2qPud22AbJJEiAQ8nQNg-wiu7SgmZfjGUe38HSR5eg1nsFB4b-PTt6Nvqflp1DVpeSltE9FjR-ox-w5x3yFndQVdEvIXVvOcNQQj4Lo_Yo6eKAKiThzqSV5iPpAnhSBSyWwqgpVfdC7epbQJ7ATVuFNd-aD7rJVnPM3HSKtnhL7TzcnXWj0ghFbirDI0zbBaR7yk3UW8frAdWICgt87qeCZ4cqpTtuUzmq6UUDbbro88gYgJPrEkuTsRrA-kqotm_5a1xKf9GEgI5ildDnxiL4VoTc0B8gnBdTnAye7osBy4rKVJrydlQw2-W1wn-SyQijyXKxOUXYuvcoPPdCwRDM73ZyVavDidTdef6iG-WkXrCdzhxGF9OMBmVObGI-8wesW38PVIKCvmakaief_MkHnnseUPmXk-2kR1wS",
  "id": "rs_09c891c6fad56f46016ab2b1ccf03c87d0ae7205c5dd388fa4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.418,\"left_y\":-0.216,\"left_z\":-0.004,\"left_yaw\":-1.45},\"note\":\"The cap is now nearly lengthwise in the wrist view but sits slightly right of center. I will make a small sideways correction and lower the open jaws around its thicker body.\"}",
  "call_id": "call_wi3VknRULXBzSc9EiC1YQ3DZ",
  "id": "fc_09c891c6fad56f46016ab2b1d0710087d099e781f093ad83ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wi3VknRULXBzSc9EiC1YQ3DZ",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2363, 2.1475, 1.3827, -0.4332, 0.6724, 0.976, 0.9964, -0.1097, 1.8263, 1.515, -1.0393, -0.8043, -1.5074, 0.0619]\nstate[eef_state]: left_x=0.4204 left_y=-0.2107 left_z=0.0131 left_yaw=-1.3708 left_pitch=-0.246 left_roll=-0.0179 left_gripper=0.9964 right_x=0.3923 right_y=0.0884 right_z=0.1617 right_yaw=1.3743 right_pitch=-0.1972 right_roll=-0.1772 right_gripper=0.0619\nstate[joint_eff]: [-0.7179, -9.8803, 5.8325, 0.5201, 0.4957, 0.232, 0.0073, -0.3487, -9.0598, 6.1744, 0.5885, -0.4078, -0.0562, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0bc3573ea77a9deab35a024483ced3c2f166cdb9e88e0f5be910e104d19c610",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:598ec2e305489af2ec5162e9c3f637db592f06643c96873afbfad7b24d6198dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b71a815cce073a53135129b4fa667367296c76c19ae49c362fda5dd9984ebf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2489, 2.0453, 1.2488, -0.2584, 0.5625, 0.7147, 0.9963, -0.1097, 1.8263, 1.515, -1.0393, -0.8047, -1.5074, 0.0619]\nstate[eef_state]: left_x=0.4265 left_y=-0.2019 left_z=0.0228 left_yaw=-1.1452 left_pitch=-0.2566 left_roll=-0.022 left_gripper=0.9963 right_x=0.3923 right_y=0.0885 right_z=0.1618 right_yaw=1.3744 right_pitch=-0.1968 right_roll=-0.1771 right_gripper=0.0619\nstate[joint_eff]: [0.3487, -11.1795, 7.0906, 1.0574, 0.5885, 0.2222, 0.1343, -0.335, -9.1145, 6.0923, 0.6618, -0.5397, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap body is now within the jaw opening at table height. I will close the left gripper and check whether it stops at the cap's thickness.\"}",
  "call_id": "call_UmwA5lQMLLqoMdlIWoKBj8Rp",
  "id": "fc_09c891c6fad56f46016ab2b1d4757487d08dbf1a90808ad21f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UmwA5lQMLLqoMdlIWoKBj8Rp",
  "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]: [-0.2386, 2.2005, 1.4319, -0.4545, 0.7116, 1.0565, 0.0347, -0.1097, 1.8278, 1.5139, -1.0386, -0.804, -1.507, 0.0619]\nstate[eef_state]: left_x=0.4231 left_y=-0.218 left_z=0.0067 left_yaw=-1.4406 left_pitch=-0.222 left_roll=0.0009 left_gripper=0.0347 right_x=0.3923 right_y=0.0884 right_z=0.1608 right_yaw=1.3744 right_pitch=-0.1977 right_roll=-0.175 right_gripper=0.0619\nstate[joint_eff]: [-0.2667, -10.2906, 6.0376, 0.7253, 0.315, 0.0513, 0.0562, -0.3077, -9.2376, 6.4479, 0.6471, -0.4567, -0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfec4171ec28bdce032bf552b22fbee93bd10ded35d4891d3f433e8d1dbcc36a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47694a85b79252293ff6d15216b379f57e3cc7856665153540b340abb5838dea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f3fa309e55d4d6c21e7df01cea3ba647ff451a661b9f2d91613625709a69ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2363, 2.1475, 1.3827, -0.4332, 0.6724, 0.976, 0.9964, -0.1097, 1.8263, 1.515, -1.0393, -0.8043, -1.5074, 0.0619]\nstate[eef_state]: left_x=0.4204 left_y=-0.2107 left_z=0.0131 left_yaw=-1.3708 left_pitch=-0.246 left_roll=-0.0179 left_gripper=0.9964 right_x=0.3923 right_y=0.0884 right_z=0.1617 right_yaw=1.3743 right_pitch=-0.1972 right_roll=-0.1772 right_gripper=0.0619\nstate[joint_eff]: [-0.7179, -9.8803, 5.8325, 0.5201, 0.4957, 0.232, 0.0073, -0.3487, -9.0598, 6.1744, 0.5885, -0.4078, -0.0562, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrHcr2aR5-daEZIBpPOafev7yjJbvHtguUKAiWyC5k3z1aWDrdqa864-8XPj11svsW8pvrG6goHvhbBZXWQkREgff9VSEDDGRB0DpFlanRzzZiTrNBcRXxI8fv9209rgvjp4RFvIhCB0fZ8SiNJ6lywhwWmi0oSzun1TX6Nd3yf-S7X83OyLGbVwiWVU_95AMonfIAMq7VS4VPngLbtLi2qDvopua2wLRL7trLSALgyrT7VS1EkXyoVzavfiPmJEqzgvbDrF0fwdqH-9yVP9A2xM9_A2hhVqcmNT67FNhIFsRb-9jYDWiZDN18wvdo9kzX-QBEX_uL-arrymS0eZukb0ta8Yn0YmMt2D1Q-5t_I9ilLsbYgD5dQhM0C5fCijaCrTzpQ0PCPLM1l9DAwCz3N1IIJcAU30-btX3n4MjjkY_uocEwlQ_Dbq9Xp8qYJm6MwSvnSxCDkxLclnwI9yGD2MZHqgkmH42ZQ2_j0x4RLUhf-TGOqVBUTg5hFzC9PEaODoEFIrnjaHPzubwtW6-hNcTrxgQ8yR1kCF5FDYqyO70-w4oOw7HbGfyoHMquBvKzxMbGWy94yk43GHfDFEBzfUzB5J1VLgo3fMn8Og8Mh-3UDRdf6XURI5ioUnBzBbNjQjP9IHxaKCgUlygdMufsZqu7kWQWM9Z9FhnK0OiEdhUJLOXu68g1VvHaWEE2NMsdFcvKOwrmMzpHVqbr8epXuqTRC24InpRN5Yb_q8XqlgTVhsJoJBmgJzJ3wuNN9mylynHhxneCj7HVt4Q8ERm1U9blzEhMad8HTh0nbY3HyzzLLpZQ7b14GKqObZLTOfpXA4rK9pQfcjMlLuStxU5MI15AwQUE5MN36hntNBoX0xYAMkyqJDlHpteesH0Jkdqr2Y2MaOSF12UF8TQlHCFNEyJ7kQt_2qBvzNv0G8ehB0rHGqshZZAqYW6D2hQcPXD3yqzBWi7NgNmOeDZ7YMwDIE8rzyxI-JGqXgaqF50_JEqGHgZS5KysmnJfcyI3TrQRYskYaAldMlqUcG_ibWrnqAViruqiQJGzjZwUzUwQXxDh7MnSbpzH71prgKj-MgZkrv4v6vwvUL7sizKZJcBWz07CQuwuwVLGPIe5CgUmzrproqiqK2cE0OU42cbrQ2EvqENNutVhYWcZqI0M-U0zU9vmwXSa3Mk70QCwNaQPHnV7eDdVYpsner793vS-nXl_C_lmObWrhHuU_YZVLnVzW0TQMccaEtjD9jubjnoaNkL6GJ1JHXYsgGoeiiz2obQKqhQ3Hdt_DtQyVKzwiTdGA60Q==",
  "id": "rs_09c891c6fad56f46016ab2b1dab8f087d0a18534ecaf87452a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The left jaw spacing is very small, so the grasp is uncertain. I will lift a few centimeters and check whether the cap leaves the table before attempting assembly.\"}",
  "call_id": "call_RiX3HNNUmq513axpOtzH1SOo",
  "id": "fc_09c891c6fad56f46016ab2b1db3c0087d0ab2474d020d3b0df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RiX3HNNUmq513axpOtzH1SOo",
  "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]: [-0.242, 2.1304, 1.5375, -0.6777, 0.6884, 1.0557, 0.0339, -0.1097, 1.8278, 1.5124, -1.0389, -0.804, -1.507, 0.0619]\nstate[eef_state]: left_x=0.4184 left_y=-0.2152 left_z=0.0515 left_yaw=-1.4451 left_pitch=-0.2596 left_roll=-0.0369 left_gripper=0.0339 right_x=0.3919 right_y=0.0884 right_z=0.1603 right_yaw=1.3747 right_pitch=-0.1978 right_roll=-0.173 right_gripper=0.0619\nstate[joint_eff]: [0.253, -13.9966, 8.8821, 0.8181, 0.569, -0.0659, -0.0855, -0.0752, -8.9641, 6.1744, 0.6129, -0.4664, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274fac2d2edfdeb6ff0762e126fd3415329cdda0248893705947f6ad81899292",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02dcb0561045bf183b182eef9a146169e8b77ee8fef28d1cbecb0d7dae02d552",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3814022d7e04ec39f7a1d6ca8c2eca1f84cd00f88b31b65ed439ed299a93966f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 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]: [-0.2386, 2.2005, 1.4319, -0.4545, 0.7116, 1.0565, 0.0347, -0.1097, 1.8278, 1.5139, -1.0386, -0.804, -1.507, 0.0619]\nstate[eef_state]: left_x=0.4231 left_y=-0.218 left_z=0.0067 left_yaw=-1.4406 left_pitch=-0.222 left_roll=0.0009 left_gripper=0.0347 right_x=0.3923 right_y=0.0884 right_z=0.1608 right_yaw=1.3744 right_pitch=-0.1977 right_roll=-0.175 right_gripper=0.0619\nstate[joint_eff]: [-0.2667, -10.2906, 6.0376, 0.7253, 0.315, 0.0513, 0.0562, -0.3077, -9.2376, 6.4479, 0.6471, -0.4567, -0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrHnvadPLEFFhKQKJD6omKRgqnAsnCjCiR5x2wsP9JY6wjHASQ-ztI_7HLn5T_HaDIfKCsAN44mw4uNgqTpJDSH5P2gmaQptQsRexUUWNoMK7f_mZYA6Cnt1M0FS2klPlk8N8JI-cpvhsc0c34tnL--lJCme2d2LOrWId6Jo1Wh7RxXlQqNWKRxb7MNpTWpCwZx9GR2xUZJsiuyGt39CEjMAVUyR0EKQ5GxUOMAM2sJek2xaA-SFHy1Z7gPXMf_ZhuAkFr17OTVY2OJ2Ka0jrw4cAT1VX9KVVUH6A76OYyGD_1NjHM01r83zF6EGp3FX6g3NVIzDKcqzxybv4M_Ly5p_0Mjw2CbZDWux9bZ0t_gXPHEE6efLAOS2v-e4Gf9ZQG-HYJMSN66E8hlfUTzym9ETxnXs8G1Dy2KORvDbx9HhgF0Xp0Gf2R4N4VYjhe8bf67d4KFsWBHhDteA_Q1gVObciQK3VWNgsffEZHUOKeYNIFYR3WbpxByS47Rj_Lj2Pvwo7IOpmJOglHqKYJL2ZIQDznt6jzgszRb3dwWVo2VHNr4GpR9HAB0f3W7sDSiuxmtRd5mYJRJO8hw7eZh3uz4omZ8pPr-7jV3W28hAaXCh0lFtvQyk3eaxVcEt7eGsxpflsnpYM7y3V3cRyvkGfKmT7MO2BylvQfTNL_CmxTjh3OohPesjzmlk7zTv7-kbzBiGFqCCxfAPZsri_1Ep5HgfCL1i2btvkg7qNJlB8g0mSpuRXDe6EgY8dIEwkNRKCJsEJktbXWPIhACGI4Bh4bCCrfDSiAZq1Jejbh4RBBNZ88jm6HMcQpzMB50i4JKxKhtRuu_ORKdtfVF2yx9SiOpSrSYUn3ykh1IzCY7rRY8TYCh2YdP_iYkhXBHOZqxcH-Es_DjrKeiNK8cWGMn9CfpZdyjNVz6z6yovErtW1QR4q0UsvfU-uoSYc8m0JJlOJ0tFpzApo29EnqyiTlZm2IF_4TGvcP4GowcoET6LkT4ZxxcdgB-zov5p63yQunuS7EBAuuBnVGvpfdRdezsynREaIzygWHLaDrO3lLbNeODfp2Nmy6c8kPnF56Nig17AONu12KtQclm5GoELjGJLVpvWvyATPX21EONAuSu8MNrGIK6UTMCfwZabeFpUkKXHHCLMuP3bsmnHBlRLjjmg1XZvpKuaI2bJ9C4ZqsRNConmzjlOP6PlIg0KjKZU4-WdklTPJbTC07kONp9rCQKPn-5XBQ-Ov1yLn-8EvVBrURsIkC03d8nZzIH_KNqvgzrbRbv1uuR7rhMbaKVbA75z5I2GI0MFpBEkh5203RWuqONuo5Rkhdn3y_NW8UO1jU7gpI5DPR0_Hf9UFHO0uIJLnmibr0Z5iIs8K-jaWazZoSgRXFpDPLBfuApKqsHd-H63OciUzDjdXUfJ-MXW-HwyzpGqYPv0vp7DlsYcirIrORMo5eGl5RFisqo8N9uAkQXVqD3ctIxwIT1V-xb8mZRgjSZfP6a8WgrYW_HXAV3IPjawZKu79n21A-NAg1iVrF5mnVh5QnFUg2stzSqBFTZ7KzLDaAUYbM6Kf4t-UEqNGmdh62mt8Kk8-8oIyKOxJxdKavFLNSu2YFDB2z_hDDTUAI39xhUeuyCxOlE1QbC9ywMNiE0FBd01jH4g1b7OpIIQt3mu9KekozBos4mn3NMxhGLlQrhtK6MEJfDvO-FkKQUeWGyutm_GJ_YGZ2x_PCrESW0sHq5xKJGEFFB-RrqyL_ggVhl3a7RED3MDhaVs_C8Ib2xtjmacZLyU6oLwv9MPfwC9wfTK7fu-UVgQYaLbFpoQ2qIOTItFx1_p3v2pNktVggI=",
  "id": "rs_09c891c6fad56f46016ab2b1df51cc87d08b6c0c5dc9b6e5aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.28,\"left_z\":0.18,\"left_yaw\":-1.57},\"note\":\"A small dark piece appears to move with the left fingertips, though it may be held near its clip rather than around its full body. I will raise it to the pen's height and bring it toward the center for a clearer alignment check.\"}",
  "call_id": "call_lJvP8wvncHTMC0eaZN1aZHLS",
  "id": "fc_09c891c6fad56f46016ab2b1e4546c87d085d74b77e88c9b40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lJvP8wvncHTMC0eaZN1aZHLS",
  "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]: [-0.3771, 2.13, 2.0159, -1.1252, 0.6674, 1.0294, 0.0339, -0.1097, 1.8278, 1.5124, -1.0382, -0.804, -1.5074, 0.0619]\nstate[eef_state]: left_x=0.4056 left_y=-0.2744 left_z=0.1702 left_yaw=-1.5491 left_pitch=-0.2667 left_roll=-0.0175 left_gripper=0.0339 right_x=0.392 right_y=0.0884 right_z=0.1604 right_yaw=1.3748 right_pitch=-0.1978 right_roll=-0.1741 right_gripper=0.0619\nstate[joint_eff]: [-0.6359, -10.3453, 8.0342, 0.6716, 0.4469, -0.0659, -0.0171, -0.3214, -8.9778, 6.0786, 0.5788, -0.4518, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13915424c62006d16bc5fb34173fbd5217e3c7cfe4065e92af76e7a84a7cc20b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:504b00b68a5715899ae69d483bf8f0b8481b2e5b40b8ebd8acf68deb6e6caf50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6624205af2bd7db3557b35aa717a196ce9c45474c724e9e84b1fffa5dbe0c6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 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]: [-0.242, 2.1304, 1.5375, -0.6777, 0.6884, 1.0557, 0.0339, -0.1097, 1.8278, 1.5124, -1.0389, -0.804, -1.507, 0.0619]\nstate[eef_state]: left_x=0.4184 left_y=-0.2152 left_z=0.0515 left_yaw=-1.4451 left_pitch=-0.2596 left_roll=-0.0369 left_gripper=0.0339 right_x=0.3919 right_y=0.0884 right_z=0.1603 right_yaw=1.3747 right_pitch=-0.1978 right_roll=-0.173 right_gripper=0.0619\nstate[joint_eff]: [0.253, -13.9966, 8.8821, 0.8181, 0.569, -0.0659, -0.0855, -0.0752, -8.9641, 6.1744, 0.6129, -0.4664, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrH2fv48p_8rZqxCnALCtRXqX-Ks_10al8zUyFZk35kD_9mnWJuggaTomOxZmIOnrwL2xd-Yi-MSdnJJWiHwZjw6v95MPYtVK94rfVVoRkd_pwTGdXNVYMGwMA_cWGVfuo24mb5skHVeZlXeXIt5a77RQw2oVsMF0xHEfGHuiuKKygk2fPrlna7UEmshqv7TVZAmB1kKT3Mk3rSZlZWKUXoCPF4Ie2kpGmAtZKIU8wg7u7DH25D5mJuWQHaetA5WhoiFNh3VDh-Hz0Ga10vj5VnJSr2WoKNNwKFmIjoIt-8hOl0P8qmfo4P4T02-uCmXqterCltGJ1QdvL96RfDZCjMstefgAEaAX0WEjArqOsr5FXQRBqdgijKK442cYhZqlTYmwz1lsK1u4I3Ol7w47wOoPu_hHQPmkSD1j-hAYPq-uMUbOVz3yPqKus8KgrohgQAPQCXwOKoMQXsPXIiY2Xbjt4R_WXAW7OoOsXZeBzSmNL-1JFBsHwJ4UTi85tHcP9XNNxtkRAWD7DaFakCMHAtzSpYI6HP2YLoMwa_lEQ0Sabt0pftSrTeP4mNpsqbhVUU-6fOrXVXQYU1ZxkHWEZSCUgYEAEa45iUpSgt7y63lYXJUJhALWThRsNhvLnw1aRSdBpFdVViX_pxBFpQiztvewKF6WtxKDoG5wCSdNgr01ikowwGeEKJlumDAH8w-4C8QjD4vlpF_52hhgq8n-9MHeeI_vSOeua9-fmQVKlXFf1ylCpQk11l9udbMOC0BeaUkX2xBTTYIv4lcjMxD1TPpLYw39zzPcbPTfbElm6aIeD7g4MkJtapEad5RHeIWyXvou1SR1zMD07XxNcjDPOno3oHJ6bw354ZS8P0AwGkobORQaYf_cu6in19ki2ljtaRBfeK5X9cRWwyoqiLwY-8tV7AlYVotzPheWWLr4e15hBtr1HQBC0ouRw_yt9Vig7qiBOy4sv0iTRivdozJHP9euzJWSXbdCAxV2qs_vjhSK6mwicR0rNKLrvTtztrtkTnboe1X1y6irGZPvgkVoYb0lnKBfT08nR3bk7q2nvKeaBAOjH53nD1e3MWgmX4Zxo85GIljy0ed6GUYDWUcMPGPpKrFv1FsDGVjkM798a_-PXPak2Z6qTOJlmYWzlLfASeQnjoV1Qt27hx_JSaHqZ9jFazqnL3IfTOdXogiIsd2dMQSdXDAw9KC8jPRyNLg7dy2FxE_zXFLJdfKygax2-P5BkjusQ4M0nRhWcjdWSL8ewkRVWkA5yKrx25-8FhMVyIHmCYjcOxBJ3Q5XEnMIm5DjWyEQP4PcORpTPxsLROp7RaZsrG8hniw9Npowcp8gpMrcwuzfZoUTFCwHCC4Pdg2T4xELPYiRUuxNlgcqYvWg8HDowNgG7f1DzAq6cyYV9B8c7vgcOFn2OKY5p4yojRanBjK2pENvalLgd1Qtfgux4nAPaKABQPJ-uLd63QkBavU6RaWIi6Uck1G7eqLHSW22Yk47cL1nyiyQ4GxIlBhLDn1JCyWUXwhbuKgK98teIwr_gLacqGxQHhpXxpwo1X_awih4IWAVd9HaAZM94HGgybbYnho9-1JpUGW2d5gFYVPoEoJk9A7vWkXTC0cI1L7xLBS8I5ZuHUeXkRz_p6QnXUKSOt7EUPdeJFEvaM77Hks7-kQHI8U12oJEzUWVPvsE0I_MCxlaNp149RjF3Um1ycQ4RTaU_Ggs2ilKtLHFKhmEauD_R2RnusLsuuRAr6cym_tvfcWTcJaCcyO50jy0zP2zFIfYMVrdqzb3MIUG8DM2rBULornHxQ1lc04xBbfhyIM9VDPUXqFOuZIuRZpSPz2prsTi0_mgV4Cxnkjl9JKnN23o6GdZKRBHA54MRJ4voQerurv8ep3rck0Tt_Yxv0dHT1C3wNknoLXohO1Xfg5uzT4W6PwbdpB8iuh2si0ThLcDHEdTxrSRE64CKDsnj4_NC2QXQ3UYNt4qlzZ4wQpA1QegD6XOOEFTewDXJA0wG7o6S5AbMa9f8lAEmRW2iDB6QkBfYHtiIVKoGYcTMfTAztQAgZnygWUHo556YSAJ47CDzvL4HuYa_gbGkxoEzgjewHRM7yGn6VrCmInyHSOnD_0rSRgWLOGLgaSc0qrPgInbZedml_v5FpKtUVsJTtKKHl4KbH25Pn0bhc3Oysg6qFoU9rs96tgGVytDngCJpV5O76U7Y7fBR6R34ljxwIZ_PCGTqEtAZtEo8e5nDONn9y-c19YaPXNehHv5G4OHw==",
  "id": "rs_09c891c6fad56f46016ab2b1ec8a4c87d09836b19e69b885ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.225,\"left_z\":0.09,\"left_yaw\":0.6,\"left_gripper\":1},\"note\":\"With the left arm raised, the cap is clearly still on the table, so the second grasp was empty. I will re-approach its visible position farther forward, using its new diagonal orientation rather than repeating the previous grasp.\"}",
  "call_id": "call_9NCZCfreLeE4S6fKEDjQ69va",
  "id": "fc_09c891c6fad56f46016ab2b1f47bb487d0836045fa7eb3d3c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9NCZCfreLeE4S6fKEDjQ69va",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6621, 2.3058, 1.9694, -0.8284, -0.5922, -0.9726, 0.9964, -0.1097, 1.8282, 1.5097, -1.0397, -0.794, -1.507, 0.0662]\nstate[eef_state]: left_x=0.4837 left_y=-0.2474 left_z=0.0847 left_yaw=0.3988 left_pitch=-0.2967 left_roll=-0.0336 left_gripper=0.9964 right_x=0.3914 right_y=0.0873 right_z=0.1582 right_yaw=1.3732 right_pitch=-0.2078 right_roll=-0.17 right_gripper=0.0662\nstate[joint_eff]: [-0.5265, -13.7915, 7.2, 0.2125, -0.4762, 0.0513, 0.0415, -0.3624, -9.0051, 6.2701, 0.6471, -0.5397, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be35c3fdf8c9ce063d2e81be93f2da60ba4b93247543ad27a09d5e97555b5ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a4779ceae17e31296cc472eef92676a37b1632036801d691f3ceca94e0195f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e14e64ad5d28d22c0bbc19f4c739ad6245f8c6468f0555e02a636666daeb966",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 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]: [-0.3771, 2.13, 2.0159, -1.1252, 0.6674, 1.0294, 0.0339, -0.1097, 1.8278, 1.5124, -1.0382, -0.804, -1.5074, 0.0619]\nstate[eef_state]: left_x=0.4056 left_y=-0.2744 left_z=0.1702 left_yaw=-1.5491 left_pitch=-0.2667 left_roll=-0.0175 left_gripper=0.0339 right_x=0.392 right_y=0.0884 right_z=0.1604 right_yaw=1.3748 right_pitch=-0.1978 right_roll=-0.1741 right_gripper=0.0619\nstate[joint_eff]: [-0.6359, -10.3453, 8.0342, 0.6716, 0.4469, -0.0659, -0.0171, -0.3214, -8.9778, 6.0786, 0.5788, -0.4518, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrIJEzs8fyUCdwRpQg-A4vhaI8sMC3xuyiprtE8_FTDczZJu_uJsJLqsg5ZtuQgeTYP_yXqt3Bgh08VQEPzNkhz4VcCR8I35KeyMCVfDdnyt3cBa8k22Cmhi2tBvDeORseIkKDO4P7QQww9YdTAYAKVpckNRtwvGBNeXkWytrBbmuNc7HsaNdmU4insWfJXGQZ4gzAzF1w4rsU5Lto-9RbQzozlYbKNufXVUTgo84M7tnPmwaSYl_H89208cicSWxh9o_yPFXxAMh50gIXUo5iMZWUFIBYXieEP3xAorqjd9dFEFYV4cDSa5CZ-7rs1wH752ww93yns6dgE3clwdZs_9mvf7fw6d0XkW9hwyQQ4kpQ1EjkNs84Xu63Hvz5NatLlkkVCwd_Z1F4wu5XrPa4Y3aBCxSCkxXtzfN1eV4htWzAi4ULytfXEbsIqd2-cW-FkYHkb3C6qErns-aTuxsBo0gVC1v7lppNIglBscg1yxkaxCs5Z8IoYFUAoNXPx4lxb9SfcC8MEoNfImbYtwrkA2SdCkaYnF453E2TvztKIsfke528pC97xfTDrTfhpZfVbB73Z3FukJQySppfkpcPghkCdC_I2mafrYJUeBQ3qJXrkqRuxakCLxeU0UkQsPVT7nypIsJaCfEEK3n-LYwrgqOKt8-5_J6dRPPprOxiESe5Nn0O5uPAvSM--ei5qeI5EHeB4CSUolcYPOTM3VNevrfketrBNv2Wp3YtqBnDJvuvrHlqVTv1QIpCu1Kb0W9gMoe77vRWXD6TlO3FQ3Xhxn2OdLgL3s6pemGtFresasUTVlVEdN3lCs_agscquEdfwMHCSvyA5FbDg8YB9TGPDqtDagtcWSAcPzz02b2PxVrST5Ckt4qXteTfomcWCt8xEqFXGaZuWJ7hpfgijAdONehNlDLCSX5865bbjusvYSd7QjHmHdDFFTge5t3BEtI4yxNRY7-uWvnZoNWmz-dgj-o_FjPrUKBdXqMHnfEq9E0EhN_bhN58gFpsn1bgynFNg4AAg1Nszhql-oFuvEZH-UEyEFDTqymPOxFdJwxkeT3tKrLvtxLiuiR_WSN3NJUWjwQZuw96Qhe50RaHQSYYmIXeBHGRdlPzrzB064cRGEgJhMHz0ga3XX7AqYeRmG0j9cTgLfsWj27zoeIZI1-tJtLWiz99QGYgQSxv5I4iHKxy7j97Ol1IApIXkP9ueyMkMX4HvmT-0-JNp3F9Qnx_en3abV4ZBHGOgIfKsWvnMzEogarzjzbLL_ZJJDGGxXhMuwk4WjngpJqWZ9ii3I8HSz28DO9EowveV7GlJiEOqOIS4m1iVnuPXb2A7eCCJ4YKRprLBxDVDcfWvapc2w8Rl4QtAzFkpuYWiSGqWrlwBf-yRKelV7aCVujq7-KKfiHeoUQmERMxboN3fUkptp8CYi4iM6UFp8LF5MvoUH7DjC9djigQuW7kYhk_BEfbUfSp8f_bo2mH5PQfHdcSXDdfsA8U4mA5A-nr5_w--0av35cgHorOdXgrfYfvhzJ3nnsy3DrKox4sChtTkIspMy8p_zMg-iCkmPOXA9sVzZQTj0_aDulyq6QYDjtzWd9ooD3J9cXvtwdF0-u3GOUkTuzrLnLCRlHxTNhVojO429Z6YOAr6HuzxjT7Qs5ebh261AXDtSVd_33x2xRVorotJXxDXZuVseJavpZsXK0u_dzPyThHn3LzeLHbXoGuoKv8c-ZrOn9ekKk85APrGVK3key2-eWS1QgjF6NDCr2G-huAaMUa3iLSkSzEGtaHLq8xPygQSvbUSj6UtqNlYtxJZi4cbjXgjp-8jw7x_0NW1dRrmZTmc0ekE9bm17OXnE_uRck_q0eSpRjabmGm8U_3xZ-u919mn7gLE_mtmz3mr99xQVKLN0jyX0mHAxOKp_iQQrSop3DQEt-5hxPrUgCRaDLcUlM16ie9NnqbiHv9dqvo0zTYCmNCS0FWsjIyaEeEN_fr7rreet5gqJFj77484Ero7Ixi7UP0n8IgdTwzugcrGgW3-r6mQ_Za_2HZ3nWTOwHMy60ikttAUsucntlgPnYjZcs0a6zWcW_b4eK64PDp6AE6feKaF9HskSTrOv8GTvkwsmjpAD-nG3Bx-xyTEMSdEbLq_gsK9JJ00pAHcmmQrPWh8OLBy4sYK9qL-2lEVBrgcf5AHmH-YHgq22p7x2s5HYdzyWnU35Mw09bTIZ_6JsOMBfYbYuw6OaWMCroRkieouRz6-BRtF4Erm8RmDTWJlKPDG3MJAQIJA770zX44KwCvIMJH9AnvwGQaUgxPdjOWp5agyebAYAcFcftjILnTCKMYNF78X15VMc-t9GzORcdBqtD7Doeaigdt963j4boEWdGE1Qngh-jsM1h__Y6eXnNaS7oCoKi_4OvR1ejRZ1kQ-5bv6YpvVJ_BbaU8U2x5ZOa1rtg4t3jgaebQfr37z2I72-IDgAGG849xmQlR3S6y8RBYS8MsrVmszsK9_-yTHWayuihnrmaRxavMrXg0LQURfeIDzcivzXGPQzMxND_rtdStlVdaBa-KD3XlrEr82AOvDjbwXTwXMc1Apvi3gsM_tL3xQ5JKrz0ma9sc5v0XU=",
  "id": "rs_09c891c6fad56f46016ab2b1fbf85887d084ab10a4efe54898",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.18,\"left_z\":0.075,\"left_yaw\":0.6},\"note\":\"The cap disappeared behind the fingertips at the farther-forward pose, so that approach overshot it. I will move back and slightly left, keeping the jaws open and clear of the table.\"}",
  "call_id": "call_gOcimH5rl8Y0p5OIkhcV2aW4",
  "id": "fc_09c891c6fad56f46016ab2b206da3487d0917556d10ec884c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gOcimH5rl8Y0p5OIkhcV2aW4",
  "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]: [-0.6769, 2.0472, 1.4849, -0.7788, -0.6369, -1.1881, 0.9971, -0.1097, 1.8282, 1.5082, -1.0374, -0.786, -1.5074, 0.0662]\nstate[eef_state]: left_x=0.4021 left_y=-0.1837 left_z=0.0604 left_yaw=0.5786 left_pitch=-0.329 left_roll=0.0105 left_gripper=0.9971 right_x=0.3916 right_y=0.0862 right_z=0.1568 right_yaw=1.3714 right_pitch=-0.2156 right_roll=-0.1718 right_gripper=0.0662\nstate[joint_eff]: [-0.7043, -12.8068, 6.3521, 0.7595, -0.4908, -0.0513, 0.0513, -0.0479, -9.0872, 6.1607, 0.6911, -0.5397, -0.0708, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0a653bdffe13b41913a54dd7d5150095d7d12540ef06a472fd64453e18f1f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ed1a9ba241d6d91ef6ec160b3c0996f85b934d7ceaf92089cd07e9824eb2e89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e9bef06a1ba6aa226a1d3d744018699af90ead694fab2f9e31bdddf169f985",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 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]: [-0.6621, 2.3058, 1.9694, -0.8284, -0.5922, -0.9726, 0.9964, -0.1097, 1.8282, 1.5097, -1.0397, -0.794, -1.507, 0.0662]\nstate[eef_state]: left_x=0.4837 left_y=-0.2474 left_z=0.0847 left_yaw=0.3988 left_pitch=-0.2967 left_roll=-0.0336 left_gripper=0.9964 right_x=0.3914 right_y=0.0873 right_z=0.1582 right_yaw=1.3732 right_pitch=-0.2078 right_roll=-0.17 right_gripper=0.0662\nstate[joint_eff]: [-0.5265, -13.7915, 7.2, 0.2125, -0.4762, 0.0513, 0.0415, -0.3624, -9.0051, 6.2701, 0.6471, -0.5397, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrIVOJgac4MscHpXNgjT_pgDGVkhwBSq8Jai5_lgTtks5HsfPf0IOu-JHozRTfaCm6a9Hirf8SFnMQwSGVX2SBKQZY_JIruGFi_m2DdsVx5i1UD2I9jnOktkLV-Pgx23_vbggmLzDERqCziy-ehXO3sbNJkeMOoSGV06dON7mInA8h6vBztLQKxl1ruhv8KItwg8Cd_mVsljH5myfo6roYBAe8UmI5v-oZokfUG4nmEXKztlU2jaBulZ-iQpb-r0huCj3d79oDTdFtCGywZppf9w1Q6Lbi4iOaDHwe8i1mwNm5LlA7PaJrL4GT9L7SvI7AicSkah2byPDndMI4ehmoM3GqhzEpkGOS16bl_eUNFGYpiL5Tjz6wIzugoSIrIdX-p3ZJfd3kVUscEEDYURP_ORcwwku8LQ4TCbDHyzEYiGSXbNi4Vs8MYl05_5D_s0AgP3fiENRZYqMZ-OWZpgdAn5ojch5YMYE53eapY0a87fYr0fsBiPEJrmCkp6cr1JTu7MPpCzl_W6-3eEY0jXtiHJrIu3j32T1XUrvcTNkKHeZK6dAK2ljorNTISm7HdbW7gW--CIXNSNUV6PmJoy402FCwNDL1JkKHsA52RW8pZ-WBuClYAkuF46Q2DBS-zG9LKoHOoyioulPjD6XODBwB4J3YQ9UPTNCVlNYl6injJYc_FBEs4PfDtAcTu7Fs6KM-U6oWt23Gy9y8ZuTXkikxgAOEcmXiT2G1N7T-s1px_I8QwqTfaFxxnTpyuHk6REmz9xPK17PYUwKljAm0ijQWvH9DvntS7MyubCld4kuduW9evEtg-zHan8dVNGn1kJIFgMWVWvgZ1Ko3otSQUEaIAP4EKONyRrYsWiVtArl5MCEEli6sqW778kvUM64ZKK148_TWqCFGLtZHhCugUl4jPvhqLl-cc5Qj9_E4sjwmbm9zlhSjHveL9L7-KvVzm743zykIWXtwcbk_cJcJzve7bjLsfMqxcdSX10NmKn0geH5Iy2oESNj2EoJVypaUS8yCMVCykxKLw9ZS_S20d5kAMHz4iXoVyBKNMeyoqJN89HAzmD0DNbhCCNvtrArzgupzXjY8MSD96ivYIFQdnbEry1y462ozi61ttIUardm8wlCT3WuFXER-gqCblCZSokfFHq_SGBqSqazhR7YL2WMXLBr4huDYE4_GH9METrzDsSAPuwvpPEzmgH7tPkiMqtABC2sF3oQTv7mmILlpDB3HUQHnmSRNfPNNnnT-sPsc7CGaVhzV3IHNQIzKAAiu7Qj0IgKKu6DU2PV3fz7V4Sqce3gqxS-HjrFmXU_Imfo6M7Bz8PWs3AwDihnrvhjx1fv8s3OB5Q9nnsGwdLFHr9bwSVGZlnD3k7ebRuiEl1Ltmy76yN_gKrF8yWhlz5_awD4ixaWok5prm8qBjXWHkbQ4tLMiB3bft8R469wp6iK1pD6-86WoFS6XlrjK-eTy-o-UNZgFvnbIF35-MeCiA-7tCmMouYEOB9FPKSvrfy59sgKKffiuREH8l77Q9rdCQTgED-xRHwyCEfYYy7Lo9QrYHc0RFoDkY3yj6LZWOep9T4ynzRFYr8BAKXxZ5XEY_RIWKHxjLQRCiq1b6T3lcgXjgRok17Qv2_KZBoF3QAuSF6l78HGb_CV_XNV4oqXdmECLW5otDKrxqC_sI-Zg4k0o0KyHlKmm0YQPKU6AhlmOzMPPQYo2vzefpGJDziI5zSVogNeDMxtkJUEZhFcrxAAkfdd8N_BkNyr_lgQhOCluzURiJVQqSEWvT9SFYO_w2vI6Nkq9OPpdotfzCTMzCixMLKOU53-46mrH-fwqM0KY7yHn4ZXc1YUrYqvmyvguqJ6SraBGAU1z2zEdYEQ0r08iPsjYpcyqSfiIaMVr5MRCNd69BGLXZavgVxmkzNpO2c0-vlG7rVPLab7uiAoxKLbWehHY4_wYcAAt-i5fRhvfG1NnS5c6tQaJOBWelL24eWo_Pk",
  "id": "rs_09c891c6fad56f46016ab2b20e5da487d08b3414a658efa34b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.192,\"left_z\":0.002,\"left_yaw\":0.8},\"note\":\"The cap is now clearly centered in the wrist view, with its thicker sleeve below the narrow clip. I will lower onto the sleeve, compensating slightly backward for the camera's tilted view.\"}",
  "call_id": "call_TsupTqvz4EJyu1AY22JMkx3y",
  "id": "fc_09c891c6fad56f46016ab2b21347d487d09623110ca9b3b920",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TsupTqvz4EJyu1AY22JMkx3y",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7261, 2.2196, 1.523, -0.82, -0.6834, -1.4399, 0.9971, -0.1097, 1.8282, 1.5063, -1.0382, -0.7853, -1.507, 0.0662]\nstate[eef_state]: left_x=0.3882 left_y=-0.1908 left_z=0.0046 left_yaw=0.7406 left_pitch=-0.316 left_roll=0.0354 left_gripper=0.9971 right_x=0.391 right_y=0.0862 right_z=0.1562 right_yaw=1.3716 right_pitch=-0.2165 right_roll=-0.1688 right_gripper=0.0662\nstate[joint_eff]: [0.1162, -11.0017, 7.2274, 0.1392, 0.5299, 0.0464, -0.0122, -0.294, -9.0462, 6.3932, 0.5836, -0.4664, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0444a20e9fba6a49a00426ec8d8e2090fa575e7da28eeed5e265dc81a5439e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00481b5b6220c563cdb4bdceb4d042828484aed1b206ca3b43a8c40947eb3659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4924af0e3b22d5e51e7ba977e9ef105d10501d1fa9a06f6c329096e580d0df7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 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]: [-0.6769, 2.0472, 1.4849, -0.7788, -0.6369, -1.1881, 0.9971, -0.1097, 1.8282, 1.5082, -1.0374, -0.786, -1.5074, 0.0662]\nstate[eef_state]: left_x=0.4021 left_y=-0.1837 left_z=0.0604 left_yaw=0.5786 left_pitch=-0.329 left_roll=0.0105 left_gripper=0.9971 right_x=0.3916 right_y=0.0862 right_z=0.1568 right_yaw=1.3714 right_pitch=-0.2156 right_roll=-0.1718 right_gripper=0.0662\nstate[joint_eff]: [-0.7043, -12.8068, 6.3521, 0.7595, -0.4908, -0.0513, 0.0513, -0.0479, -9.0872, 6.1607, 0.6911, -0.5397, -0.0708, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrIfiD8OGEKSF6ToB__U1SqOyUgmJ40YIGvKFe3I0ks0cX4KVrQF8UfTYfwTuIfbMr0fwh6F8j5IO_fxzVK_QiGkcVyjRWysgCryewYc_P5hBPYePTjjYjyeN_S6CNiMQsV0EvLbKarSUMdI-fiu-xm3MUK9Zpy-ubaIK-4DtmqR_xaWu06mx77P_rVHsRXSBPo331_2barj4-fDOEY6dSIrsrspsgUcBIPnYMivzgppvibAGkvdR0RehYON4YmDoIC6mDYvHlEaolOZnGhCxE9LNmNrRyfw2F8OcGIRFIij4VJuAdE7vqwXevcDcl6c7_KL5hvlkEyayWT5TBTM_FRHCKoAM0Z3DOX-CWGdNTbA3OvotM2Fx7T_n4y9gdq0CgvviQZ7299fHxm5PrsxT32e9Lbm6v-rVeHw9Fu7AScWclmgmGs-yox6WJ2NnXq3BXe3aM8cv9trDilquWrhg0n8LMhxTfb3gwidKr-USrqhq1HO-MJPigf31lsqHJNf37dEHSnoIAFfR2gEyjLxusFtK9xJB8DAzAL-AVmn__I4cvIOhHnyFenFbxzdQGjO0z40805U5EswhL9fmjOMQTxVDTKu61l_A_J3T4gFqQdYG0FJl6UdY2kayYBa2DvY0Js0unurTqyeE-vcxVEaR0MDKKcEl8IMjURbYzlCs6cRr0bFg8UTl2cApyKAzH9Ns5A1Gf87-JvfHZ-vUWPjHx80tah63WXPJK31PRx7A8_5IX5blcr6Ix0kmQDpQGfkJELcaYKV8f2LKZDvjXX5dc-mUA8EhYmesMAtcx4rb_4ZATLgMdLYBnAnGjPJP3Rs26ij0IxQvyq9nyJb4SKQX466oBzdl5vH_7wSoinIWzIPRT53KLwourUrCFxG0KesvzWDEt-HGhyEjW6-rAqRL_jcXb3o4Gp9pd5X_p5H8aJDo95xSmEoVBFq_Necrs3xcfjd8Lpxbx3FZQXYLYwZ0OkvBEkkdAST6bwbcxgKwBDQz5wskAOdekyHaq2hc2qzAQxp2P6iehJiTfB6yA8trAVLYGuAvMhujA0yp0PS6n_KRFcAb2-5ZwHKqz7PEiBaWkFD6ZpRbE7YiXyctAN4WU8TFELz3RbDcjIG6bCV9RI78xE5umvJ7h_36VBAUuXAlNAnZNNN101ot3Rkh36NvMHFuFbbOizVOVvoSjESjbXurTmth5lZ8FTHAuUSyOHgKD-YMCtpHftli8KiXlY6SfrWPkMAdEX21379WJcM4e61Z4Czl3oqlZgdtCtk_e2UW8M0tCmIF_9XFRQWzs82G7aET6_-99wNGqHjvQ0sh3onP6Ko4JtB9RDcLU6VSGW9oDLL18pyt-UFKWOpmb7uzoKv9WglWVpfZLmmGNfN5e2w0wjFg2ewSzg6VCtlhHgSu7yDbecc_qs_alXeu23QfJPpHyi5XSH4-wmyuzQNaKocQBR4YfeoaWgZGcHGK3Jia8LtgrS9Uo9ItkBTa-7UEv-WT4YfbepBN_mJDhmpxYKCjRsUUm1JERfZxVkWdYqPHfCJoRHfjUfSOeOZDxf4hZjedl5JGDIaCrgXZ8noDJ3K_qs=",
  "id": "rs_09c891c6fad56f46016ab2b21aab3087d08adbaf09543f7509",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.374,\"left_y\":-0.216,\"left_z\":0.015},\"note\":\"At table height the cap sleeve is ahead and right of the closing point. I will shift the gripper a couple of centimeters toward that sleeve while keeping light clearance.\"}",
  "call_id": "call_tsNwYp1JBAaNgv3rOnOcErYL",
  "id": "fc_09c891c6fad56f46016ab2b21d5a0087d0ae584ad48a0a536f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tsNwYp1JBAaNgv3rOnOcErYL",
  "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]: [-0.7433, 2.2246, 1.5345, -0.8494, -0.6811, -1.499, 0.9971, -0.1097, 1.8282, 1.5047, -1.0386, -0.7818, -1.507, 0.0662]\nstate[eef_state]: left_x=0.3825 left_y=-0.1956 left_z=0.0048 left_yaw=0.7643 left_pitch=-0.319 left_roll=0.0199 left_gripper=0.9971 right_x=0.3907 right_y=0.0858 right_z=0.1553 right_yaw=1.3713 right_pitch=-0.22 right_roll=-0.1672 right_gripper=0.0662\nstate[joint_eff]: [-0.7453, -11.453, 6.5846, 0.2222, -0.3736, 0.1929, -0.0073, -0.1573, -9.0325, 6.1607, 0.6325, -0.5153, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8522e64f12732107db3c51e10f5cbe1544f280ae8ca6ee401aea491be9fda0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b2b89b064192774dad5f475e950d57248b9dd3a3e930c1eca80ce72c91fc89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edcb49876777fc446e3f795ba4d89ca75088442f541dd41d82ed4babd27884f5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 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]: [-0.7261, 2.2196, 1.523, -0.82, -0.6834, -1.4399, 0.9971, -0.1097, 1.8282, 1.5063, -1.0382, -0.7853, -1.507, 0.0662]\nstate[eef_state]: left_x=0.3882 left_y=-0.1908 left_z=0.0046 left_yaw=0.7406 left_pitch=-0.316 left_roll=0.0354 left_gripper=0.9971 right_x=0.391 right_y=0.0862 right_z=0.1562 right_yaw=1.3716 right_pitch=-0.2165 right_roll=-0.1688 right_gripper=0.0662\nstate[joint_eff]: [0.1162, -11.0017, 7.2274, 0.1392, 0.5299, 0.0464, -0.0122, -0.294, -9.0462, 6.3932, 0.5836, -0.4664, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrIrWjzma839l8CsZyJYyYM7PhqkH1Q3kuApCJwJeMWBXcYYaRkcTdE63stikmmTJX-ql5ytEPvlgCXCHiq6zC38SXVPaZt6k96UOJE65rfibVEF2nvCTaoNKXZM08SIdUZ8ecZNyiChaZbLdyA81V_-fNhuzViDlIU2ihEmcQQQrZD1TUZCkAcWI5hYEnNYkao9KeXgBEpiGpp-ZaQCNVYUZqccQZqB0wSTZgsoaUtHMIanOqmnd6_RqY1tK770bXzKXYUVNdeRLJZZGsU9jecAytNknpE1qoNqU9aSy2bw7dyv1ZOkixIm_hLK0kYV0JsLuQMBvq7GrQZC0KDdlxcsh19XNDD_6nDi3BP2OZqiCzZ2W3JyDPCPv6qijLtOEjzPEA8a4PZYw7qdIwQT4IlvkHtjnrkytMY26hpVbq1atESheKg7pQTbf-6UAeNh9neH4R9LFZdVj8hSKH8Dq6CTRbX3A9KTJclzDiNE7pUpEB6woumAPJYMi6g-FQvAarzVQjvnjD1j3YBC6-w_2ZLWLkphaa_MTg6yiw-FjW7DN2yLpHFUv2QqqZPUL_pO_aZkx7vUvDy-IN2nil2sKjW8f-5r5N8gClUaVsRHtMT4Wve3aFnqajKbTogyp9zihC43No6uzakhnmzHHq2_s8fuwwfqcpXWh1F_mi8M2h6Q-xO-9jMTkaXq8LDRhIgDyG3NPuRAmX49eCrvEJthwbpGwj3aGS-PFMln8yOjLbxr2TB9Lizymg4aRi8VaIPKJHfo6Xc3GdFy0TZkvCpddmrjL01WIMsI6lICXQ6WyumetfSpz65Ee3Y4eVKG46Mq6KOLWfiEl3ZLQwJAQoUtT5QYp29Il8KRg28fklFqGJ28BGyWuniBfcXU0xei-hbnKqbxB-31yeWfae9UFL6bxgPQK4BasyiUexGC3JwoQMlMmx3EfwlqrI-vYlcofLDW4MjGstYEuJ1Xfrtjy8J3yXa9PnEm5sQTWEdeuaZ4cNKB3wugCQbk74vfu7kmdOhNk6B95JiPV-aj8Xl9NjN8PAZgD_Rch1GTYvfSVjaCzSDhW56bSe4EvYJRhh0UXdXdub53dxU0MfbiVRRSyOgYS_-tEXzu_aofgPKXCYgDdPEELWunM66ZGkJ8RVwxFc34qMGq9X_oGYYIGc_1uDzv5RDh8Yt2CB4dazqr9JNi1Tm9ZptjAANw9dwJkroywZkwivjMKBCGAE_w83gC2yOzzdQfgIp3FDaHqku-vtsdah2pK2fJrVLvB0CHU7lEmhaczO7gh6J50ImYOXvVZFQpQmMe-5CVaoNd0mRriMvmsDquaks9HBD6cyg6D7C0CuK0hBWD5s7wb_r-kYa2Egr5o6gkMfETDAX-obw3tLA2lqBUkWSJ7snwIwGq0hUQO5l0YrN1D8jbn1odS3uqU6S_-pXkXIElOCFf_rujynjLC-9u9ClSWe-KFPmljLgYnfxmmloPPAZtVjG2S7R87bJfLj7t3CcrN_6n8KHN5UfiR622ceymuC29D3vy6vst7xyI8G4ecZW1vAZ3PIlTiybiIM4-5zdBVZOxKVqF_GcDAcGTmKuxHGsDJfP_hGYP7lxaRE8rA0xrcumPlbrEGkvKrsFafKcRHA5qMmOcx6us00wpdQ7Y7pUJOrvR5rr2ytYIztta-2m7gHbG0axRgaNrxM7XY9OInGSOUwXFz1gQb03zjNS92x80wy-o9S9Ju7KSottcycM8WfOalXsN534mEdst5_0bVr2B91tYHPODiZXBSiDGnsTNTk3T9KTKPFWJLbkfXTPCI7LHqfkS62e4oCDinXwNP475Q-srAYU_o_qirzYMMDxPiGzst6Fw0pCrVCIA9beElV3jGMEYosFnAKvohiCd9jAGf3xbJk4CR8IymLkCQFW-mlBZbpCSr3BY-YtmVTgho9BVBAnGIovm15-fUZrpj0y2KLr5xgr8Ucp6ga_RA9R_y1u2j3Awdy58LZimgt9rG-Ua1_JX4z3xqGHi0JkcFINdaRRcq6el2DQKiptOUFMOg3LaHQsupNMzIaVQ",
  "id": "rs_09c891c6fad56f46016ab2b221ac4887d0b606dd1069986bea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.418,\"left_y\":-0.18,\"left_z\":0.06},\"note\":\"The small low adjustment was constrained and did not center the cap. I will lift clear and advance toward the visible sleeve, using a larger correction instead of sliding at contact height.\"}",
  "call_id": "call_EgtiHOrCzSSgwLy93Zt5jTDX",
  "id": "fc_09c891c6fad56f46016ab2b229462087d0999e1da099643d3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EgtiHOrCzSSgwLy93Zt5jTDX",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7471, 2.2246, 1.5345, -0.8494, -0.6819, -1.491, 0.9971, -0.1097, 1.8282, 1.5047, -1.0386, -0.7818, -1.507, 0.0662]\nstate[eef_state]: left_x=0.3818 left_y=-0.197 left_z=0.0049 left_yaw=0.756 left_pitch=-0.3184 left_roll=0.0253 left_gripper=0.9971 right_x=0.3907 right_y=0.0858 right_z=0.1553 right_yaw=1.3713 right_pitch=-0.22 right_roll=-0.1672 right_gripper=0.0662\nstate[joint_eff]: [-0.5265, -11.5624, 6.7077, 0.2222, -0.4371, 0.1587, -0.0073, -0.3761, -9.0735, 6.0376, 0.6374, -0.4811, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14887cc07e90f03e828336f209016cf40203f01d6178f6316b5d161c2f30f85a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3c8bc0f8b42f0095b71e4b3bebebb0fd1fa5c10f4761c85cf92d3639495f23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bdf513c4896906218c1b59649db8a099a1c1bdc73be884d75b6c903156ccae4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 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]: [-0.7433, 2.2246, 1.5345, -0.8494, -0.6811, -1.499, 0.9971, -0.1097, 1.8282, 1.5047, -1.0386, -0.7818, -1.507, 0.0662]\nstate[eef_state]: left_x=0.3825 left_y=-0.1956 left_z=0.0048 left_yaw=0.7643 left_pitch=-0.319 left_roll=0.0199 left_gripper=0.9971 right_x=0.3907 right_y=0.0858 right_z=0.1553 right_yaw=1.3713 right_pitch=-0.22 right_roll=-0.1672 right_gripper=0.0662\nstate[joint_eff]: [-0.7453, -11.453, 6.5846, 0.2222, -0.3736, 0.1929, -0.0073, -0.1573, -9.0325, 6.1607, 0.6325, -0.5153, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrIx0ZxLYRCFFdBrJoW8f_uy9CVZUBRufwJ2fGPtfoOEpeEfoMIelrg_adsfOkyR4CeMeQdcejLKl86YbgPHh0IuUuZ-nGKPI7C1aggxR5ykdFujRQB5f2drjJWqgmsS-NxBXaXduZ3qPj9B0U9NymH1idFc3BMSifkAv15GJViXDeFWIcB3FLka2YsIUbPOIWN17WSDI0N9ElCfiQ8FeylPg4FDvbbsX7EcsiYF4nk3Kn1ETdN0VxjN4JseqSYbkZFZzga0N_FRczztOrEicKiSOGcM_Im1IFvH6mI8eRXa_BuCPwacIseYbwGoi7ay8oXgc7bMvjAsg8uZCG6sUdUFNfYQDXBYz6nwV1rQqeM2vFmX00aGv_yAGRNi8rF2rNjVcXoAI3-OHBB4FoHdOghBcUgzRwWDCQ_FXNY06qOEQ_aEizhLNwHgNNYHJmlZdXOw6uqDU1oOfg0x9N5olLh_8xQQhOjpUpVi7-L5J5CphNwStw4P2xoZdzXtoIl_IbsPvLcdANAR4khqNNW9m9xWy9l-DZtB6P3qSU40OeUGUO0ozIiBLE7MutBDmzYYIsFDjqcu6kmO-UjuPWAG05dA4-pjjovg4F4J7Vem2EnqmVWEq2Gfi36mcB1FX5aCvcKDZa0cNLQyK3SvTwwJeHmUGnb8HGeSdXc17mgQ-4L6Og0gB8r6YYGUJAxDz99Uxqn4jriJVN0JfHHKp8HFCUdj9phM11d5KXuBPT0FqasSWijrLQ_L_W1XBXVKnsgbmC9SIQSTCIbh3BGlYoStsAAOtDRYgQbgfvZLcihGk1caU803-PrMVZTwdMr2zJLQHsi3VhXLPgfD04DCZ1_kNDj9OnRE0QMouCszglqIrZ0MtxrKZhI0vTCn8UtisjO9DfmdGfFfZeaNEKjCGDJf3c6tJH_Wm3XWTlB_nrwM7SGh-HINfdRTeqVSq-G_RlMAbru4GqHgxdlULvfuE7---eOPhgV5bObyErSyjf-tToxUPPiB9h2jJdPWTdH0uutc8tcHuMuTPFjFSmUs9KnTmKUZ-a2h43WkDNa3r0IuJ7v_rkCoZS_Br1rSJHBz4XWKJmtbWdcuL88sQufioqjghnlxmMDn-QPYS6xV2jQJqMW_BHgw7rXjfAONu9hJDbLWmtiB5bgHYZ0ovA_c1qwG6PVhV5yfhnxXeUTahr7fLPxHbC6xmHJ9IjrEATmvVuMSaPcF18IgbtkFCakmplzo833o-uqsDvsbuOungqxxwZi9kzZ2_680ysbtI4L-uZR5MXFFwE3TqnBCUVM_fatfqnCPQrLJBhTA-wee6PUUGX-c2QY=",
  "id": "rs_09c891c6fad56f46016ab2b22dcbd887d0bf97135130218946",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.19,\"left_z\":0.12,\"left_yaw\":0,\"left_pitch\":0.25},\"note\":\"The arm remains stuck in the low, rotated pose despite a lift command. I will straighten the wrist and raise vertically to escape that constrained configuration before another approach.\"}",
  "call_id": "call_wd2c7vR2Rkyu8xTuhsBSrx90",
  "id": "fc_09c891c6fad56f46016ab2b22f299087d09c0cf4106512fb04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wd2c7vR2Rkyu8xTuhsBSrx90",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7132, 1.7271, 0.7208, 0.4465, -0.728, -0.3515, 0.9971, -0.1097, 1.8282, 1.5028, -1.0382, -0.7811, -1.5074, 0.0662]\nstate[eef_state]: left_x=0.3925 left_y=-0.1793 left_z=0.0908 left_yaw=0.0622 left_pitch=0.1617 left_roll=0.0514 left_gripper=0.9971 right_x=0.3904 right_y=0.0857 right_z=0.1546 right_yaw=1.3717 right_pitch=-0.221 right_roll=-0.166 right_gripper=0.0662\nstate[joint_eff]: [0.253, -9.8667, 5.9009, 1.8681, -0.2222, 0.2955, -0.0122, -0.2667, -9.0872, 6.3248, 0.6667, -0.4615, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac6e8705f5f50591220cc9cccb26245d448a9b3571903792095072e3d7f57e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6da6af59a8840ff014690184030681d5cc616164d44c52c8eef712fb22384745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa242673d166e12e32782fa21dae01333a1eae18a999f2d125001e02bf48e51a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 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]: [-0.7471, 2.2246, 1.5345, -0.8494, -0.6819, -1.491, 0.9971, -0.1097, 1.8282, 1.5047, -1.0386, -0.7818, -1.507, 0.0662]\nstate[eef_state]: left_x=0.3818 left_y=-0.197 left_z=0.0049 left_yaw=0.756 left_pitch=-0.3184 left_roll=0.0253 left_gripper=0.9971 right_x=0.3907 right_y=0.0858 right_z=0.1553 right_yaw=1.3713 right_pitch=-0.22 right_roll=-0.1672 right_gripper=0.0662\nstate[joint_eff]: [-0.5265, -11.5624, 6.7077, 0.2222, -0.4371, 0.1587, -0.0073, -0.3761, -9.0735, 6.0376, 0.6374, -0.4811, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrI7NRhKfHtb_-WNTka6adIVLoFWxJgR-qVIE9y3d3OMZRBCJTtbJen_xoIRs1E45Rf--uShsZkePpR9Ohp0EJgx9a-B26FQgN2RmV9xVScT3ELvw5NhhcHYQn4nM9PYTrUzaVUA3O-bCAYD100Wgig34X2mGYs5Bq0uonItBIO7U0eC6Hj-eB-wtu0eFHYOr1jWj1uWZIottc496vAiK6UWTVgx_uln5bZKpAEg4s91UFakRDS-os3T-tNmZ0riGroFXwfQQX8_DeGDqQK6a6yW0s0rFsbnfOdsdZSj56X87L9UDwM8BKwdoFviOvEivirMRzO1qPqPBp6bV3aGtv6ZZIW0Ii8WYLeeAYDFEjkF7llhPDTF6zhHwOIL02RvHxrgvYlVEhJgQpdmhUuKZAuB1WXxtTlvYb-In1odoi6kDzmLEcBVR3XOYig1j1y0nmtWmkUwZsrJ7c37EsfTLQi5oZ-rAxvMinOtdu-R8l4Z9MZy-po9y5LfK1tPqmaNLwyOzaR4Et_4P5XCKCmgclmbKXaDWwkVupTeQQxxb3xdmUaT0CTN4QO6QCyvFeMrpXkK-1mGMzvfz3QATGdrPowsdILX8FVBaC_1cxjvAwvoK3ZdixrLrQxRehHmLWsvlnwq13QauvRKaK89gNZbZMt8eUDppEQKnyJXHxX9-OHWpSj_tUPBRFMDwYto3cohBAPqbw0uuK0adFmkEuKde38kYnX56zQ8nKP0LuYWvSQgei94Lo39BY8tUqk2bm9rJc8fZOApTHkEb9rspt2WnObQDnReVUYNloVHFBBW0qo4foujQ2OzfNrcYfQ2skUfJyQFXj5nTAN3trgHvGTRmVOqvEqmvMu7xCKf93OHFZIbeoEaycJ21SahrBgKPsI_2j6Xl8tww_8nrLRE8taNjv0e-rAKVrNEqeKLhlxAZK6PVjP7dNdSqSIT9SeT52mBu0hSxBZX-YINbh6A6BpFwl4XkD8jamBQTe75knGjW9AFWdwL4g8T1Jgeck0yLVMLfnppxaNKxqDi4NrHodSj_UgXwSMOBXEx6n9ORaF77KuX84rQEc8FbavF_wK_ZuD4ZJWmc2_JHlmTjBeiv-jUDLcDqSWnrs08E2uHZhfGdrSPTgit-J-i3xshXJnnE1_f0eDDm1LL9VtYxW41escdQLfUsWDD_qOkC8u_FhnhD9LSVuI2sdc0z9q7IEumBBLwjO9P3z874VeAi_5iJuS_J2eeXUXybfGq6uk7ddDpm2psF_LgsjcNa3eDkTXbNKWbXjBg",
  "id": "rs_09c891c6fad56f46016ab2b238c62487d08c6f4ceb525211bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.185,\"left_z\":0.005,\"left_yaw\":0.4,\"left_pitch\":0.25},\"note\":\"Straightening the wrist restored motion, and the cap sleeve is centered near the fingertips. I will advance slightly and lower with this less constrained wrist posture.\"}",
  "call_id": "call_0iAT4V92OngTXUVRSc62O2J2",
  "id": "fc_09c891c6fad56f46016ab2b239c73c87d08815e40960b325c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0iAT4V92OngTXUVRSc62O2J2",
  "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]: [-0.7761, 2.1849, 0.9379, 0.5236, -1.0225, -0.5907, 0.9971, -0.1097, 1.8282, 1.4994, -1.0397, -0.7784, -1.507, 0.0662]\nstate[eef_state]: left_x=0.414 left_y=-0.1901 left_z=0.0074 left_yaw=0.3233 left_pitch=0.2166 left_roll=0.0646 left_gripper=0.9971 right_x=0.3894 right_y=0.0855 right_z=0.1533 right_yaw=1.372 right_pitch=-0.224 right_roll=-0.1609 right_gripper=0.0662\nstate[joint_eff]: [-0.6769, -9.306, 4.9983, 1.072, -0.4322, 0.1197, -0.0073, -0.1436, -9.0325, 6.3385, 0.6862, -0.486, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e8c0d13a429713de07a0ddc2dab83b7bb3449058fe04fcd671b029cdea905ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e83e5d988e6d85af56d1dade92b92244d43420f1477a938a7a2472218b39fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888814ad42a14ef99d8c8749679ac0afef8c65316cb1832e2dcf319e42eafd24",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 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]: [-0.7132, 1.7271, 0.7208, 0.4465, -0.728, -0.3515, 0.9971, -0.1097, 1.8282, 1.5028, -1.0382, -0.7811, -1.5074, 0.0662]\nstate[eef_state]: left_x=0.3925 left_y=-0.1793 left_z=0.0908 left_yaw=0.0622 left_pitch=0.1617 left_roll=0.0514 left_gripper=0.9971 right_x=0.3904 right_y=0.0857 right_z=0.1546 right_yaw=1.3717 right_pitch=-0.221 right_roll=-0.166 right_gripper=0.0662\nstate[joint_eff]: [0.253, -9.8667, 5.9009, 1.8681, -0.2222, 0.2955, -0.0122, -0.2667, -9.0872, 6.3248, 0.6667, -0.4615, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrJCOnG96b81KyLiAXZjCwqFy1jSC8cB8GmvUtI7HTTAbI6q67ZZOyFwMV3NcW2eX9GA3bHBzSrcUdeWGgxN1j8i4KY35glQgarmyVVrKeOG3XL0Ts65hJQcGZbpB_AFO9M0oY73voaNTGKp9yJtB9sk2tlR9nVAootwnSHvIn6rRh8AE8M9ormSjuGjh78ReOzQDWSGXuRqk-Kp3ncitXjGZXUvZN0qujrSOgiEP33XR8smgav-EBnVLfwn1ou553C1ctmIO5sD_Ntwqg22g8ZlOIVykK3gUeCxazh8k-IG77cgk4ESQocoH2xDLorh4lGsbpY4KIraVCaPGkA3sM5YJ2OZWu3Gf-b_T9kmLx3wqDwiTI-nEXd8qqsgkt2Vt_iwRTmOAl7wuEngIt5tXaL87n8-lalwkm0f36pNFBKLhuiT4ftwX5DFOk6sVVyDXvBORePBz7r5YQcdimbSllGWQzdHY-UwMFJZlVvBem69SpDd_U-crRZEnab3sdTRHM1zRgnjVfOzmOC0m9JYgvou2KleEsW-f55Y40mJCEdObsYOC8u6dTUVW9IeSmSy24mttqGfkHHFqUPHOLy_jOkUzTMWgForWOJI1ES37AKQLN-A3Knr2JSFx2zCOuHk-G8m6rSpClfuWZKSNBvo3uqFjr7aZwv9k-R3iOfSf-JbETYABU6K5R84Q5jIJblpn3tlx93n1UQwc-Zra3UD_2Xt_lTbj5GLzMmWlRRpYPjd2P335RsaVZLvmGqpGeIlbYSwTMAhqOH0DZNPeOl-Gp9p6jzBz0GuVPVq5vMeTrn4p8UDH35jamPdCKMKBgCdRRFsl53RwWui1BxbpA_maqaChGquzC9ewB6bct40a474k_VXLcCv7HmXdYw3-udSn-jJOX4UdpG9RJbWDulH5MLq8NWE7KxrA5kDJVpqZyCzWA5oX3z2aN2coRjKUa4lzN8Swsig25skdgKlstfDzi-b8BOIfqfjaVtS57WO0vZtKFTmhTjEtmUr2x_VTPOilbYYriFN8BsyukQlYGkTbKysjF9U75UYnZ-Xydr-oyjJirGKH2MvF465z10WJfB1RG7YYsgSdovU_P2OSUgT_JlK4efuG6XH075ZKsyhC1ZsWLHvTysgQQfdxA5iQ9Wi_Hbh_NglQlBu4BOObBgWjzerlU4ZFZht0_YA4t7WDawTkAz18_ECdi-p_Teo2vVt0NCnzanOnl6LHQRYNJHNOPH7WRGd2CnT5jpMI4lPuhdkxTM=",
  "id": "rs_09c891c6fad56f46016ab2b240d8b087d08ce24e273aeba2c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap's broad sleeve is centered between the fingertips at table level. I will close around it in this corrected pose.\"}",
  "call_id": "call_fAoclw1eYAlWeSC32L227JPM",
  "id": "fc_09c891c6fad56f46016ab2b241651487d090b56f3a3ad56065",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fAoclw1eYAlWeSC32L227JPM",
  "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]: [-0.7788, 2.204, 0.9432, 0.5369, -1.0405, -0.6006, 0.0393, -0.1097, 1.8282, 1.499, -1.0386, -0.778, -1.507, 0.0662]\nstate[eef_state]: left_x=0.4139 left_y=-0.1894 left_z=0.0044 left_yaw=0.3382 left_pitch=0.2274 left_roll=0.0609 left_gripper=0.0393 right_x=0.3895 right_y=0.0854 right_z=0.1531 right_yaw=1.3717 right_pitch=-0.2243 right_roll=-0.1617 right_gripper=0.0662\nstate[joint_eff]: [0.1162, -11.8769, 3.6991, 1.1941, -0.1441, 0.1636, 0.9792, -0.2256, -8.9094, 6.2291, 0.5934, -0.4811, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85fbd6c3d7c8c15b9106a41c44de4ce2717ab0d669484b7854bcc7ddf049380c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5e929934df8f86f2144a03f70fa7702ab72385d0344ac6eff9dfeff7a991368",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b1de4f693ffc12af9ec05d22a76ce0ce35e8aeb96a2e5ceac0e0966984ed53",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 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]: [-0.7761, 2.1849, 0.9379, 0.5236, -1.0225, -0.5907, 0.9971, -0.1097, 1.8282, 1.4994, -1.0397, -0.7784, -1.507, 0.0662]\nstate[eef_state]: left_x=0.414 left_y=-0.1901 left_z=0.0074 left_yaw=0.3233 left_pitch=0.2166 left_roll=0.0646 left_gripper=0.9971 right_x=0.3894 right_y=0.0855 right_z=0.1533 right_yaw=1.372 right_pitch=-0.224 right_roll=-0.1609 right_gripper=0.0662\nstate[joint_eff]: [-0.6769, -9.306, 4.9983, 1.072, -0.4322, 0.1197, -0.0073, -0.1436, -9.0325, 6.3385, 0.6862, -0.486, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrJLz4ZA9Yeg3nFVr6ajLoVjsdq_pCUrc2A_ypEPjqhC7iKnFlCoZAckShoU5lB8KhloYHtI3p1-XslFw8CNFKDXB8DCYAO4QhPIJNto3CFwFmLzT0r2Viwu6pobPo8aWoz0FQP1mNcGODnYxUGxsnjOsvzZKBaBbdS_GLLk1_c3zF1fiGan3fDV6FMCgDc52o5O7abe-L7WQA7PXKkfnrbqBhhDjKl8feyQ4nzY8KOhxTT4xVDFlGfidKwKLLbW4KhgEjxH8SN5kXI8sPcHZ9nXn7RSCtZUx17Lr8g6UvyFmQ-RjdZJyHUWEK7ZY12Kd6lyxztBGV3lUAegKjIr0uz0Yq7It43XuPL17ntqq8BDaVL0KAVbBGnyAzKJ7ei7H4ks8qNh1DzZWOR3-in7p8dKaxoWLWIcNJtk6OyZi7L1bd68zrWMb75i0XlBT8lgrSVFHuBxnCIPE8_gI2zuhLIsjitXMuMxPuMbw7-HsMfRLARJR7RNz9-chPd1G5IPu-t7MBCTrFW0b8T1VeaXzZvcUiQP8Gr0q27q_7YIJVE903ZV1nCdtrYv_Ag5wiQY4mYdYDXX4BI5HqIEEbvd05zNLg51mKCOPnRLKQksgx9aWuaiBMJGmxM4j0HDnj2_2iCN6KH9qWqR7K9EwyWAaUI7ahrafjhfVS38hGY8eloPrHgpJ0I0LVw2rYyLO55tZdgoCbQlBbHh8lAw1z6w7QnWF93HgENkBWwCG5JK0Vfogu-VOASwNR0mGcjSn73ua3QjqZxWoccVy2c61zaiPVgcns-NkJd3PWz3dZzb_HZ0YTxZi4Yt0hfAk0FM5Ockzusq93qtdnDMSan9gB6YztvtPsEH3-i58RGA8Cgo6p2RmCMYbXJITmU_f3ICbsQBrwC6iDOA8FDwkfy45PobhhYhez3SZK23bTvswCOsYUYq8E-rMqCFOayhF8A1eMDlG_WViGgJdK_l7AnKTUNomK60CZV7CE1Bi8Yp7ajGKKZGMA6j2FQg7Ti0KdNbCLQAJO2Eud9NTMYiSfBBlKIl_MbC61aKGvxgetRZjT549wVXDa6S1zEW2Smk55cztrE21bNmf-ChwXLS-rFehUYVz9bYcTWoJkHEu4RoCdai9SJn66Kc_qMmBYJmvyY1Q1y9oVPQhHItdkx2WHw17qmAYWAIVydYcYPnxEOjLFI5HscfkefKjyl2N9ghE91O7l0PQ5c5Repd5y95ghfha6mJZAggorZkHu793XkmRmNmxvT7Z95_wmxc5_GmAg2PSANyJHjDlMSEZM86B4psFZ1BM6_duRDh7-MaGwQrAXSCvYfoqdO4qEkalm7Y_UBd3FtRd92e3a1hf_RgwvsXvNOTqaD4Vj26kVztwzlTmJUA9Lih8lupmZumnFznp-Vny_ch4eeRJhfPdvMx7mVN8Mc_Oi0_ctcCy_Fqp55v5TXBOLTF_w6asddFKdCgf7mt-tXLafm6nkJaqcZDz5q2pqPEyfOKAw==",
  "id": "rs_09c891c6fad56f46016ab2b247310c87d0b7dab9e0f4287a4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The cap rotated into line with the closing jaws and now appears held, though the jaw spacing is borderline. I will lift it to confirm before moving it toward the pen.\"}",
  "call_id": "call_Ie7d1cxEBewp1aLGq7W1bn5p",
  "id": "fc_09c891c6fad56f46016ab2b249673087d092fd3f45855e3bd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ie7d1cxEBewp1aLGq7W1bn5p",
  "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]: [-0.7795, 1.982, 0.9657, 0.2855, -1.0401, -0.6052, 0.0389, -0.1097, 1.8282, 1.4975, -1.0386, -0.778, -1.507, 0.0662]\nstate[eef_state]: left_x=0.4115 left_y=-0.1874 left_z=0.071 left_yaw=0.3383 left_pitch=0.2244 left_roll=0.0627 left_gripper=0.0389 right_x=0.3892 right_y=0.0855 right_z=0.1527 right_yaw=1.3721 right_pitch=-0.2244 right_roll=-0.1601 right_gripper=0.0662\nstate[joint_eff]: [-0.1709, -11.3709, 8.0479, 1.2918, -0.4371, 0.022, -0.0513, -0.2393, -9.0598, 6.2564, 0.6911, -0.4567, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:880b644b08ae203b650b16f760e72701afedf939fcfc6642bbea8416b15ab6bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ce75e3f5ba26d6f23d64a99976138b20008271e5a6ada79757b1f12dfc3788",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba103da12f2ac40b4b5fd7ecbf005745fde1a2fa54fc8027a32d477ba5c6b76",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 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, 2.204, 0.9432, 0.5369, -1.0405, -0.6006, 0.0393, -0.1097, 1.8282, 1.499, -1.0386, -0.778, -1.507, 0.0662]\nstate[eef_state]: left_x=0.4139 left_y=-0.1894 left_z=0.0044 left_yaw=0.3382 left_pitch=0.2274 left_roll=0.0609 left_gripper=0.0393 right_x=0.3895 right_y=0.0854 right_z=0.1531 right_yaw=1.3717 right_pitch=-0.2243 right_roll=-0.1617 right_gripper=0.0662\nstate[joint_eff]: [0.1162, -11.8769, 3.6991, 1.1941, -0.1441, 0.1636, 0.9792, -0.2256, -8.9094, 6.2291, 0.5934, -0.4811, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrJUJlUeJY_cgSJmdVcokxFe47TP28w2LlPmGZC2PEZPPwjuTd6fwRdQtlB-7wq8EKWp7Oep7SbcZxdYhRcAG7xHCk0mkIlEvgCo9g5C34SH0w3VQB-UbiOIHzeN6gNb9Vt7zpOFuKrgS6q7kQH6ze7e3ps5vwn_M-I4MEV796LrOm30qp9nfu-13iCIfYhlMCGHkWEbRCTajCrVsKA3OxEQXyE-GlR55obmjDdHFtt640vS0YZPkSo_93Tc_X7C7Dzp0rM0tdlB0T2IRupp66vorjZ6TRP3SNgs4ip-2kG-QBPxo6ijRxnzWBxlzo-ONldw9YyZ-jlncIQ4VpXID1R7XY8Q1dXnZAlq2YuC7QeMmIhMowzVKR49znm8zTNIkvMizDprdKSPP2dawoD4lui5dNXx6JRbELMr6KqiWlLrOtU-pRgY_ldpXaVzlzMsHT9hiCDqudl3U4MzC5BvsRwD-cqWBKIZHKZPQb3PhI89qjXnfT3RIAfJnndL4x6Sa475OKZ4D007iF6xbqfVE3HdcgaQOlB2EE3zx1cWLr6Fe-v6ygvpoq9o5XlwPTx4GneZ7xtMwdGfvTKWJfeSl1_21s5LvRcuMrWfWCJaIKDi09F-FnT7Ibz9s-m_T8Iff_CChhO9N_PuhKBEhsdrGqf6jhvRNVEtFQv2Hre3RDlfTRb2kbl-xmNGGO78LatiZwSgnQdx7N2t1yd7EK5w09D8ga8_SZpIJ9TgPzrdv8TeKfHujl6rLN2uR26XqHM2S_TP_8hHPnWA-33W4V-pQBJtlbtAkbIGFbQQlWRJQ0uKUQY-bL7BA_pRVLe3CennyEBbvqnNT4lJBQgyLlhjqxU05qgqA_7jOoEFjLv6DvjGoPkdRUZmqrcOQgevRFqcLz4m_Bx1_gAkGpWbZxxzNzFh8xrdG4PHye5Zg-V2k0q16qKx_CTOLaAvT14n0A71JGb0I-O7fhRlVBvUaWX6JbsNcrePK83pTiffRKNTO5NfKne8Zz8TqrklYac15BQDddLc69C0ptRTTYPJ3NIuEHet91qPh_om45m0iXhU9dyz8wZQc-1NZ-0kiRAAUHXUIvoJS-X_GRyaztNsXxOmviNnamJEsZBXOW5crkXJV2U3Cr8Pzl_PrhBvtoQCAQS24vRFI7WaiA-jjX5owxcHDKjZNid0nquWO4XbCBrnD8JkVEyduUnMmkrVuh9xNXbhJgmb89j9ammO_OAiJlLySyQIMM-EZl80K6-l3JgqP4jKySXD2f8kvdaulSGDm_g7TSKKVzjpUOo78FXSEw5DcyYtLlgq7irOWlDRJZ7aMt1LVOOMPOJR_bblbdOmtXO7cR-yP9ZYpawoNTwHCL7Vf81b2IOccdrmt92GlucdYSzfNo0FDzfukbPuqE5MyhrIUS1BIFmkzpUrj-BfyTI1rrQiqRRaFCfCcH6NbZzVr6yhIhnPI91gxvwQeoWEYtum5DNir14YpQ17000wjrExgk-aBNDx3l_hr0WK51D-lf0dE6uig1C86OuNW1QE0o0lYfX0NgltOZSYZJN_gJeBbWqXx6PGG-xoriwwzmsAfOyDceE=",
  "id": "rs_09c891c6fad56f46016ab2b24f10b087d0806fef403b05d7be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.18,\"right_z\":0.075,\"right_yaw\":0.6,\"right_pitch\":0.15,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The cap slipped free during the lift and flew toward the far edge of the table, outside the working area. I will return the pen to the table and park the left arm rather than attempt an unsafe reach.\"}",
  "call_id": "call_UFBRALnuO9c0w5bEnSIsLWe1",
  "id": "fc_09c891c6fad56f46016ab2b251d51087d0a92c9a4cfdd3c2d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UFBRALnuO9c0w5bEnSIsLWe1",
  "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]: [-0.1032, 0.8436, 0.5632, -0.2863, -0.2039, -0.0746, 0.0388, 0.326, 1.734, 0.6048, 0.6231, -0.252, -0.3103, 0.0698]\nstate[eef_state]: left_x=0.3042 left_y=0.0081 left_z=0.1688 left_yaw=0.0969 left_pitch=0.0155 left_roll=0.0548 left_gripper=0.0388 right_x=0.3949 right_y=0.1838 right_z=0.0599 right_yaw=0.6967 right_pitch=0.0617 right_roll=-0.1505 right_gripper=0.0698\nstate[joint_eff]: [0.2667, -2.1812, 10.7419, 1.7265, -0.0073, 0.1197, -0.022, 0.212, -6.694, 5.012, 2.1172, 0.1294, 0.1343, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ce787909708708117b71d9800f9f7c1f5e99192b18265acc44691108cf34885",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcdb640c82902eb25cd0f1ee0ddfe51cd8207cb1daa8cc0bcf79e2a951136a19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400a63e19acbca7d778054623824e00b506ca707b705d5f14b3fd2d68b059ab4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 106 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, 1.982, 0.9657, 0.2855, -1.0401, -0.6052, 0.0389, -0.1097, 1.8282, 1.4975, -1.0386, -0.778, -1.507, 0.0662]\nstate[eef_state]: left_x=0.4115 left_y=-0.1874 left_z=0.071 left_yaw=0.3383 left_pitch=0.2244 left_roll=0.0627 left_gripper=0.0389 right_x=0.3892 right_y=0.0855 right_z=0.1527 right_yaw=1.3721 right_pitch=-0.2244 right_roll=-0.1601 right_gripper=0.0662\nstate[joint_eff]: [-0.1709, -11.3709, 8.0479, 1.2918, -0.4371, 0.022, -0.0513, -0.2393, -9.0598, 6.2564, 0.6911, -0.4567, -0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.006},\"note\":\"The pen remains secure in the right gripper above a clear patch of table. I will lower it to the surface before releasing it.\"}",
  "call_id": "call_fnVYculY0c6R0VRNfWBIgwE3",
  "id": "fc_09c891c6fad56f46016ab2b2599a5887d083e332e0147641c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fnVYculY0c6R0VRNfWBIgwE3",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1036, 0.8501, 0.5636, -0.3183, -0.1867, -0.0669, 0.0388, 0.3275, 1.9476, 0.5648, 0.8398, -0.2386, -0.3016, 0.071]\nstate[eef_state]: left_x=0.3005 left_y=0.0053 left_z=0.1603 left_yaw=0.078 left_pitch=-0.024 left_roll=0.0591 left_gripper=0.0388 right_x=0.3916 right_y=0.1809 right_z=0.0033 right_yaw=0.6818 right_pitch=0.0253 right_roll=-0.136 right_gripper=0.071\nstate[joint_eff]: [-0.1846, -2.0581, 7.0085, 1.9853, -0.1734, -0.0024, -0.0122, -0.3487, -7.6923, 4.1641, 0.8083, -0.0855, -0.0806, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f22daca8d6f9fd2aef4cee0717542679ce9824845cd659d41b47e5645d1fd880",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c0b4426f02f3da115b5500d5d28836ab9222b632882446370a7038860849328",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a6f31ca69330edc15eb6d1cb8da91a61eb92ad923be594dd68ea00f653c137",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1032, 0.8436, 0.5632, -0.2863, -0.2039, -0.0746, 0.0388, 0.326, 1.734, 0.6048, 0.6231, -0.252, -0.3103, 0.0698]\nstate[eef_state]: left_x=0.3042 left_y=0.0081 left_z=0.1688 left_yaw=0.0969 left_pitch=0.0155 left_roll=0.0548 left_gripper=0.0388 right_x=0.3949 right_y=0.1838 right_z=0.0599 right_yaw=0.6967 right_pitch=0.0617 right_roll=-0.1505 right_gripper=0.0698\nstate[joint_eff]: [0.2667, -2.1812, 10.7419, 1.7265, -0.0073, 0.1197, -0.022, 0.212, -6.694, 5.012, 2.1172, 0.1294, 0.1343, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pen has reached table height. I will open the gripper to leave it resting safely on the table.\"}",
  "call_id": "call_yOIfDfLK6ozRkDTBYMPbJ1vL",
  "id": "fc_09c891c6fad56f46016ab2b25d4b1c87d0ad09616e74a7d950",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yOIfDfLK6ozRkDTBYMPbJ1vL",
  "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]: [-0.1036, 0.8528, 0.5617, -0.3218, -0.2016, -0.0769, 0.0388, 0.3275, 1.9572, 0.5644, 0.8719, -0.2436, -0.3023, 0.9955]\nstate[eef_state]: left_x=0.2997 left_y=0.008 left_z=0.1583 left_yaw=0.0959 left_pitch=-0.0299 left_roll=0.0608 left_gripper=0.0388 right_x=0.3938 right_y=0.1826 right_z=0.006 right_yaw=0.6866 right_pitch=0.0469 right_roll=-0.142 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.7846, 7.1863, 1.7265, 0.0269, 0.0415, -0.0122, -0.1983, -8.8137, 3.9043, 1.4432, -0.0464, -0.0464, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df262a5c6a2fb8aad90cf7efc779aac5e13e7b1d846ab001d7038406386f72c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845ff3d5fb3e82e6aaa2686f947417bffed63f08b9417c2cced75019faa099c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d8aeaf9173d7c4cf97d4b7c6a2428af47cf7860b77dc51a36158094ee8311b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1036, 0.8501, 0.5636, -0.3183, -0.1867, -0.0669, 0.0388, 0.3275, 1.9476, 0.5648, 0.8398, -0.2386, -0.3016, 0.071]\nstate[eef_state]: left_x=0.3005 left_y=0.0053 left_z=0.1603 left_yaw=0.078 left_pitch=-0.024 left_roll=0.0591 left_gripper=0.0388 right_x=0.3916 right_y=0.1809 right_z=0.0033 right_yaw=0.6818 right_pitch=0.0253 right_roll=-0.136 right_gripper=0.071\nstate[joint_eff]: [-0.1846, -2.0581, 7.0085, 1.9853, -0.1734, -0.0024, -0.0122, -0.3487, -7.6923, 4.1641, 0.8083, -0.0855, -0.0806, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The pen is released and resting on the table, while the cap is near the far edge. I will withdraw the right arm to its parked position.\"}",
  "call_id": "call_pCdUsyDjANj0S6KJYHarHOK7",
  "id": "fc_09c891c6fad56f46016ab2b261c1cc87d0862fd189ee2f4a9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pCdUsyDjANj0S6KJYHarHOK7",
  "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]: [-0.1036, 0.8593, 0.5575, -0.3241, -0.2024, -0.0772, 0.0388, 0.0719, 0.8085, 0.5472, -0.2749, 0.0956, -0.1184, 0.9964]\nstate[eef_state]: left_x=0.299 left_y=0.0082 left_z=0.1542 left_yaw=0.0968 left_pitch=-0.0425 left_roll=0.0635 left_gripper=0.0388 right_x=0.3016 right_y=0.0084 right_z=0.1722 right_yaw=0.0463 right_pitch=0.0169 right_roll=-0.1484 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -2.1128, 7.3504, 1.7167, -0.105, -0.0122, -0.0122, -0.2256, -1.4974, 9.6479, 1.8193, 0.0757, 0.1929, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6741ce8383f7cc2d86341d1119c1c00f5a14c118aa863bd2a89ce2b0bfdfe13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa32dcd4ce1e7eb3b979f7199d51525b288a87d44fd86e40a9109dbee6b3262",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424a37314dcbcb8c86a56b7efd31195ce277c7b48c88f582ee40f3e7996c0728",
      "type": "input_image"
    }
  ],
  "role": "user"
}