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, 0.794, 0.6029, -0.3798, -0.0219, -0.0395, 0.9998, -0.0185, 0.7918, 0.6113, -0.3752, -0.0196, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1795 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2961 right_y=0.0016 right_z=0.185 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.347, 10.4821, 1.8095, -0.0659, 0.2466, -0.0366, -0.7453, -1.1009, 9.7436, 1.7216, -0.0024, -0.0122, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b68a0e5b1feb3807c42f392f9fbee9b329d916aa392f2b88040bf36d1187100",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7df19c3c693ae37176f10e3c493a7b1580e4fa3081b60c3ff09c116ebbd18b11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0d5477b876318cab9e1cc15c20097d312492af0d1abc577371c533998c5f6cc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsrN38TyBJf1IcRIl_oC9SWZCI1z5gqNkbkfIZUWTEZIiuq763AnCDKamcpB5Qddf93aSqUbzSCO15y4iqugI6Gyc2hwxYI7mQzoFvJ1hDB4xg1nydHG-MpIME7I64fy4ZA0FKrJPLti_pFB3dNx8Pm0xYgO5X0bXwyt8yZaIReH7fsc2HKnSsw85-NA3EPLIpe37tuC8UblyyvG2RODTMNftN4eBD_pRkJeatMe-qv0AXZNf7IijWTr0-_PkhR5RV-yrsZVVID2KUTvGgvrhiHpaVN1qfuiTtyifTyHYVKr5H1auQn6TV8ieWxCCPTKZ49MT1OpIs2A7xViKmjK2q3H4jfAfHs8zyWh0qXAZnPA_RUj56Wbz8Nu6E07kya_uXLEitWPh9xs11_Q0F3oMcvqoeeillmv0AfSWHoIqdveQj_ITOMLjWXBS7wNT47dXTIg1n35IGTOlqb36Pwj6_VZk5cFtbiagWRFiGL_tqK8I9Auh7yTeYBWagRzyvnQw27QIsiq3LEXu4FTqXYq2ARnQyn6Hr4uRyhbMgrvdwkdJvFGqcGKqNA_KsUxOHxNukSw4iehVP61kSvhJCyaHCaG4O9LZ91EIfGW6sAhrNOx38NEpqcNqpoc-cxCjd9HhDuj-cMs23Z8CVXZVkcDj_sNAipcujWrXIxJ5EiWP6Wfi43-vfpGpKU8-W7_VnrDHWU87MhckajapZ6dUMlfEenOuQPFc_fyNYFrD8szckpXmhmAV6U5zQ11up0rXxaoOUKl4_wUUbz74SB-wGt5BcVAf6vaNUDpOLoQaqd1jXH5GElZPww1u33c2WolUKduX6CqtqfaVonRiHhfolZgxS83Nc2GuMGFFo0MD8eVM0qang_WBwMj_3q0rJGNkjvXAHRv40DlUnxGuCs6NBj4I2fMHpMlsFsMVKpoMlxM5I55K_HK_o4BrimZW0VF0CPMu86s5aXNUOvEWVMuDSNtFWkSQoR49NdzZoZszprv8zb4k279HVy5_XQIb0XkfaDNI7hV5wkqIYifY5vbE_p9-nco6byCQ_ti8WSpOg0QMGN8Hxpvj2MDrN14mTLs2VTFVvN_IyJ5rqYssLRgUh3XDBEwfQ0Ymq2vWJ1AvgkO5EOyZYc9upI2aiX3QKDUWkidegBBxYU7swvPX5QWin6X1SxLtO3-fE230NBqLsvbXj3AwJos_gKFreTP6p6qn9k6_0PsSG93HaeK4YUkRodK8FeObtx6UPe7KYGGlrSEKNieNp5djGiSi1Cd7n4FAyJr8POUU3mEXwDTGW9FbbmFvgEyzPidKZjX4NcPOmtgoWN91Ag5fr4OXOXal6S0ETqfzL03pibdUnXLQtWk4MzV6CwBAibA-DdaPe6rLzfNtw5QxLBdXS5HtlrjInHpiMImgxkoO1fncAfa8SfXz1N82KAkIC_fjIZ5SJ3KPD28T8IpyJPzhNgC55LHpcZBWFNYAU2eC",
  "id": "rs_0a64081860f960b8016ab2b373789487d0bf0409d907dff1fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.14,\"left_z\":0.14,\"right_x\":0.296,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The short cap is left of center and the longer pen is right of center. I’m bringing the left gripper above the cap while keeping the right arm parked.\"}",
  "call_id": "call_J3bqDZeFzSavDpyE9SJTZ4zg",
  "id": "fc_0a64081860f960b8016ab2b375c0a487d08528f3f869d9c8b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J3bqDZeFzSavDpyE9SJTZ4zg",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5922, 1.3445, 0.7025, -0.099, -0.4683, -0.3672, 0.9998, -0.0181, 0.7979, 0.6132, -0.3882, -0.02, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.346 left_y=-0.1324 left_z=0.117 left_yaw=-0.0241 left_pitch=-0.0765 left_roll=0.0391 left_gripper=0.9998 right_x=0.2951 right_y=0.0018 right_z=0.1815 right_yaw=0.0007 right_pitch=-0.0172 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -5.6684, 9.5795, 1.7314, -0.3932, -0.1245, -0.0122, -0.1299, -1.7436, 6.9265, 1.8974, 0.0024, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56f60f044b64cad439c69a8a3335daddb1ec15e44e308c19ef065396e0ea686",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06ac478c7a3b1ff8951b32023726a47532cc3c79c0ed279c8a2c0853866daa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c5cd08e16a7ecc044b60bf08890468eab5530e6a828da916db62e17a81b5fa2",
      "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, 0.794, 0.6029, -0.3798, -0.0219, -0.0395, 0.9998, -0.0185, 0.7918, 0.6113, -0.3752, -0.0196, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1795 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2961 right_y=0.0016 right_z=0.185 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.347, 10.4821, 1.8095, -0.0659, 0.2466, -0.0366, -0.7453, -1.1009, 9.7436, 1.7216, -0.0024, -0.0122, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrOAzcfk00RA4RLdKn3rcXU6ro-BAxwjgu55g7PAaMPFDtosvF6-kjFdQb4pAky86yAhylzu9J2ODogOuxC99TWWCcaLai6F9xgoIEbUg7BNrBpISdxVo48MCDQQnsaEA-U_VVILj_v6MwadDcE1etDwU8zf4cxAEINSQL7f_xvNqp7-BQWLbYR6--jE3mHmElDu8Tp7nv55RKDAUbiymfy2zKm3qdVN-6ogXoAEdVTxgxKhN3yXhMN7ALZtxSQVDxO3Upod_x7A_nex3wjxrQ225v97Cw_rhb6x9s1SXM0urMCcqaVSGE4ckuePEgWcSX-hYNg6onyjfO-AtD2ziTMAa5UdLUjM_j5j952-Fh2aXbPKiZ5Xqjkn_gvrovim0rvccpAlMMebXOKTnwrv5Ee68vouLGwlW-bY6C1vadqH_oDynWtLlGPh57dqAKOtCKSCoL6nAkQrn-5LaEELmcyD48kCYYiLevBruyq550a8mSjBnHiaeSOFCkbzlHbiUQe4vEuliEyvDNnvFFG4N0c56QHfMlwPmqfF2T81jlC8bj0qlJtjDQM_UvpuTN2hjJIzXCLuscu6kYbG1wdgxtD1o3pQ5PWwmMV22lD6n2dCtz71_trYWjRazQ9EKHCZ5kFZtmcm1ds9hdhHnQuPeDAW-d3Gk8WzNqSWdD8wyhhgwNFZQhmdk7HtoZh9UaNPtdnhXppPM7qeC5zg82Mz13jk1qV0FDHjovWYECPhD7FJSnxXF7xR4GpMH6fFIeDymMDIK-zlnwrgW-fj4ZTAmZsFKfCobIPGEl6JuTDivOkNZg5jrud9mSLcyQ6J45XbrLAYqdP98bSH0wmG8abG0g-t1wJc_VdDRssdXEpiopBOt8Mvc2JewZbMdr9ywXSyWz8nQCF7lksE0T0eW7Xzx7tgxmJD_B-d6Zq0T8Pog-lJGZexPWXspL61wA4lay1HgLOGEbISLHAwEE_Ij2TLuisGrhd0qBn5ivrYxUUeTw1mN_XzsqoYqew9lfIc14rWL-R90QkwRXuPd80xpOO1teGlMsHcE0VVA0HRbFlEAf5_S_PRvyI7WCNNYlnAOWUYXcgDTBQnONzu4qrqPgqyGTcETgtbvlDq6nC2l8TZhRZ2TrXbnilo8clckC6iQ7w7vv4S5tJBF2E4PHAydrE7hoRTxddMrXiuttaVYJ04_eflyxhoAVZo_nIqX4N2aStsCZsNc7xV5bM4BFuTEjKP9jNajJdKYRrWvjfKqODU-bidC9-b-CWelUpOrBblf5piOni2_KOOwYEvScNjrDZ4lWKMZeq_LenFPzQwPIs06AirkpT35RdZjGMv5-0M9dlg5OtUYY3qqnaKqtk2wrUoLO2DoiFWPDSqfBf_W3eEPvtV3zSmCC_cdNhfQZs2jf9snS8HYH7B-JSbuUN8bOKDfDUS1Wzxn7CNH_VA-tt84jJA4yFJhvMXmUhep5zDVf_xUjEaqe3vDmLnpD0TipudJvz1u4rwiaE9HwQkKPMIlFoL0HA=",
  "id": "rs_0a64081860f960b8016ab2b37c0db087d0bc9c843169a81172",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.115,\"left_z\":0.035,\"left_yaw\":-0.45},\"note\":\"The cap is slightly left of the left gripper’s centerline and still ahead of the fingertips in the wrist view. I’m correcting the alignment and lowering with the jaws turned across the cap.\"}",
  "call_id": "call_DSaIjE1mtVAPS6oFj77ZW32V",
  "id": "fc_0a64081860f960b8016ab2b37edb6487d093978923a2641e61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DSaIjE1mtVAPS6oFj77ZW32V",
  "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]: [-0.2565, 1.6352, 0.5468, 0.3317, 0.0128, 0.0231, 0.9997, -0.0181, 0.8005, 0.6132, -0.3923, -0.0204, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3711 left_y=-0.096 left_z=0.017 left_yaw=-0.3001 left_pitch=-0.1863 left_roll=0.0255 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1799 right_yaw=0.001 right_pitch=-0.024 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -7.1316, 5.8462, 1.9707, 0.1001, 0.2027, -0.0171, -0.1846, -1.4564, 7.0085, 1.8193, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:409174b5248af9eea382e609fe910c56857b58d38e784e49dc3184b30a92d6ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f80817dd1e0e3c8b5678b0cb80dd0a35f8bdcfa1f2427dafdbbf6c70169ef9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8726825113c91ef2150c8f39ebdd98d182e419b694ac99258945a493a7e32a41",
      "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]: [-0.5922, 1.3445, 0.7025, -0.099, -0.4683, -0.3672, 0.9998, -0.0181, 0.7979, 0.6132, -0.3882, -0.02, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.346 left_y=-0.1324 left_z=0.117 left_yaw=-0.0241 left_pitch=-0.0765 left_roll=0.0391 left_gripper=0.9998 right_x=0.2951 right_y=0.0018 right_z=0.1815 right_yaw=0.0007 right_pitch=-0.0172 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -5.6684, 9.5795, 1.7314, -0.3932, -0.1245, -0.0122, -0.1299, -1.7436, 6.9265, 1.8974, 0.0024, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrOI4YJOEJW1aG-X2VAZwCGbc_7Zj_yvLa9rr8GRVoMWnq1PDGsU-X5fVUEV0SrY6YVEdmznoRcgbJ4bjPjhrED15PMVp6zuiGf5w_-FTh6ax1JSCRFisll-S1UFSSLPBgMEVxg4XBaJ-2r1weozErobvBRQaO0KJaeRjy3vPbdlZk-C8TEwH8yM6iRUI64caM6CtFmnQID9ZW3U0V67Y5JRzzHqpBbxmXqjBMiwi9P_4XyDaspG8J_UvlvtYqKbD9prjg1UXJlAvdt8Xw2F_cEaIkXl0Th-Y0kYiKKG5jKhFnwXhb4kzfHb1lLBKFOYxssftNtj3S73biOKCQ9qCpwnNDFD2rtExdBLSkCqle3OeqGc6ZtdsljbvQMhT7lpCFlIcwWGS2qIFkhaL-DOQJEnSsaJGz2AnPTV36lVv6BHAoiJIDH3jhTEFH6G5G1BrxqqN92rwIXDqpPWc-dhtTzEwv5UM64X_LVfrYiLNOIxSTjA5minffg_pYi0vGDg8bFROihR8t-fqGtOlnXqTqM0TucR043pSHxrSPvpa0RKmiSs2bqP0bw9u__njPlicfJup_VaoHQDIBPLyu0qboZPYoStASL6A0C771HIQ8_FcpVZbYuROZds4JHbXGtfzVM70Sd74QcRhujTCbJhfhjvS-RFQgWyMR0O5RBXoMc2ZYlKpNJmKddQrEuQkegOOUBygYVrWj71i6vx2NKiojVwjbT0Ot91Qb-KYMdSO6VjgOUrMbA_MCFwcfaoKoQfQh7J--divN-c1WFRdgqB1T5XNnsN5ds5EvuMJuecVjTcbMDhauuoR8-N32jhA3esDDeMvESEr1CTviZDvWNIwJR0bBxDhIOI4yEkCfIy4QW0piz3SZk8qX8QgNv2CpBqxdc4UBE5ZDMwEEtrbk1958hUplTzp-prn5iuMtWmEf_y12YQL5ZWCZRpNXC-rO9aIJUg2L7s6uexhSkvLwqNNpjMsbPDO0UNttac6bHE5u4kuGBkmiArXuUZF6yeGIB3X9c0yccovCc-dIqos-jskjE5MXIhc_Lp_Ja0Ub4X2g3SGhe_a0__HeynZDvZ_H6VJdtG5qSOzG_TnObdGpUbEcSxOxBVO1Zj48kcdXcqXxWC2GhapGUjJN134__cEtPfiysAzu2qSHydW8Djk_7yBdiFG234MLiHLDoeZrEDWQTwZc_2Tr6-hL4GXoH0BSTJNrs176bPVXf-zWWNi0VlBEcJmM4HaQnk0GaOrcZ7n-5F6cfXsKWAHGuY-1-R93ouLgaiVrVf5xN0BllAAg27xCCR8VoqWhXSmOXGMXRNhScFhQzRNazd5COwXD0b7c683-ODkOkMD-clfbNUZNusb1PeLcCT15lJBET7H1VZGBC-EqcTZYaTYkx_6e1BTgJEeJ1h",
  "id": "rs_0a64081860f960b8016ab2b3847aa487d09e885ee77d16f56b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.07,\"left_z\":-0.005,\"left_yaw\":-0.45},\"note\":\"The cap is still left of the jaw centerline at the low approach. I’m shifting a few centimeters toward it and bringing the fingertips to table level before closing.\"}",
  "call_id": "call_dy5y9go8TbVRjN68lH16ArOK",
  "id": "fc_0a64081860f960b8016ab2b38685a887d0955f34317042d803",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dy5y9go8TbVRjN68lH16ArOK",
  "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]: [-0.2115, 1.6966, 0.5175, 0.4381, 0.099, 0.094, 0.9997, -0.0181, 0.8021, 0.6132, -0.3908, -0.02, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3721 left_y=-0.0941 left_z=0.0045 left_yaw=-0.3673 left_pitch=-0.1661 left_roll=0.0207 left_gripper=0.9997 right_x=0.295 right_y=0.0018 right_z=0.1797 right_yaw=0.0007 right_pitch=-0.024 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -6.3658, 5.1077, 1.9219, -0.0611, -0.0904, -0.0073, -0.1709, -1.1966, 7.0222, 1.7265, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47673ae63e598bb08d28fc39470959cdbf02e80a5a0e0fd51361ee8d65a606ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa7a1758401e4d9e7467355c8d4f8ff9177251d1c910fd933c94c4615da1099b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12bbeda0c5c2334bbad2625775360a5f4f70bf18671023ae3061bbb12f756819",
      "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]: [-0.2565, 1.6352, 0.5468, 0.3317, 0.0128, 0.0231, 0.9997, -0.0181, 0.8005, 0.6132, -0.3923, -0.0204, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3711 left_y=-0.096 left_z=0.017 left_yaw=-0.3001 left_pitch=-0.1863 left_roll=0.0255 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1799 right_yaw=0.001 right_pitch=-0.024 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -7.1316, 5.8462, 1.9707, 0.1001, 0.2027, -0.0171, -0.1846, -1.4564, 7.0085, 1.8193, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrON0qUgmwEjGlcCHZ6vJGZ79wggTt4WVA6BgXI8u0XwCOXSGnLColaZ_9f2suRbYHDeCSjgc04j2C4eNXCxCcnVGRZG0z6kdIsjZJwuo_cvTmXNPmtc2JRWyfQmnebp-K1juTrbku1Y5N4EVUBeTzBY6AOntC2BnTxxweJJnsrKgjwmwEjFnHpxLXSr38ZcdypOgtxY-RaCLkxqkpYfrM9hTMv88BBV030LXIM8YQ8MHJwKh_Co5mKnftellMBCJEC0uRJaBlWBKgdim0dACqrbkLoyIXL26lFt-ZCwirT2cgjGVcSSCU7QlQJY3GoA_QMVGcKT7jaoEQnjSVZx0MOI1OqZcwgrqPPfZacDc_NAW0-BntxHrRG9hS-yvXRv24dCjHz1GkA6Q-CrH8fXftu_dp0joqH36CMBfkUg9uTBBgXdirxbOM0bbzPfXkfcgJJNQ_tH9-p0M-Y_HxrbaHIvNzgNL7Ds5BFJzQO6APeHPVhs2eNRGerCL89HMrTbZle2hifn96FRMYB3ado0SctAxWPlM6Ph48-sx3RRGa7JyTvk13t6S9BrKIxWC5pA4G5Gb5nz9PCBvANensNmYBUwnamvY3XsXVvRiKD70nMg88jW2KzNlbiA8oliyhT6LuDF9x_kxeiS6U5fsTzqyMtui2A6aJTLM-eDC7yCDIKIDGl5XeyfIYVXP5ZdJupXsluDZtcAg_q7fi-L_CslELyW0Hq7doEMk55IW1En3BGBGZwtKmaq3boQJK5U-0LjyWsGg8WKzGmjFAJ0YzbS9fPhkJuTx9bR8Mf89JcKihBg77G2Pq263LeVH4ZWwfUXcyFHI97M6oEzMTSrTpFvuFxSmz_wyR0XCjjx45gf02V4g3ZDq9jm-CsgdspLwpSS6oMA9h1w5b3fI5xTvnKAZObfyKuZ4HBd5FCmDRYShFOPnUcLk9fO2492GyzWwRX-HLbpJdrYdiyWdVe1OGWK7oar4h_yh6mg1_vxJx6OyUUD9RluX0qwZ8X58dTZL7SnpndI2EsheK2cIW88QHbKCf5S00X0AGNO29PIj8RhmXh2DKiH0PHNxnHxfwh1h2XOKGUviRrujTwFKOHYlz2gnasjoVVXqWlgs5Ff7seKXux2HZh4WbBkG7cP8bJOpU5cjD4GoFjV9VALOhsl3LO_iwGqq013Ji6cajddkoJEGWcvuCKTLqQoIv7iMigGPMgLmVbyZRmqLwCn5lzkc1FWBGihKygXYmKVopcDI1IYcCs2oFJcllTvRCkF-WuIxn-AQcpd0cfEVaNQ3QwZaLzMeraH8CpyYSHUiy3PnAADFtD8rUgLxJHusdoeI4Dn1Fackf1FGIUfzImizcgYTd6LZggSUw==",
  "id": "rs_0a64081860f960b8016ab2b38ad24c87d09f85ca0b14feeba4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.065,\"left_z\":0.055,\"left_yaw\":-0.4},\"note\":\"The arm reached the tabletop before completing the sideways correction. I’m lifting slightly to finish centering on the cap without dragging the fingers.\"}",
  "call_id": "call_XAJRm89RfhYx9A1TTWO4tGo1",
  "id": "fc_0a64081860f960b8016ab2b38c010487d0bd14b020d4411394",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XAJRm89RfhYx9A1TTWO4tGo1",
  "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]: [-0.2096, 1.6989, 0.5137, 0.4496, 0.0826, 0.0841, 0.9997, -0.0181, 0.8024, 0.6132, -0.3935, -0.0204, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3733 left_y=-0.0907 left_z=0.0044 left_yaw=-0.3459 left_pitch=-0.1623 left_roll=0.0251 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1791 right_yaw=0.001 right_pitch=-0.0271 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -6.8034, 4.8342, 1.7802, 0.0855, -0.0611, -0.0122, -0.0479, -1.1419, 7.0496, 1.7705, -0.0171, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7ec4af473959c0c8033b3453c34f760e5ed5e784598a345f03b5e26190636f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e6a22d18431fd86e0908a447ee1f371a98252422f17ab99050091e91962721",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ba9527cb22c1609954a63def539a51604aba6c172dc93f1bee0e94ccc02f5fc",
      "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]: [-0.2115, 1.6966, 0.5175, 0.4381, 0.099, 0.094, 0.9997, -0.0181, 0.8021, 0.6132, -0.3908, -0.02, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3721 left_y=-0.0941 left_z=0.0045 left_yaw=-0.3673 left_pitch=-0.1661 left_roll=0.0207 left_gripper=0.9997 right_x=0.295 right_y=0.0018 right_z=0.1797 right_yaw=0.0007 right_pitch=-0.024 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -6.3658, 5.1077, 1.9219, -0.0611, -0.0904, -0.0073, -0.1709, -1.1966, 7.0222, 1.7265, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrOSGcJFVGNLuowTPqrkx7EeCvVG24eTLoWONLRGrEDc5vZB47b-qsnzPyMydADGk6VuRUOhRXkoM7YyPE2Jn3lpW2C0HZPS6YbuSRvO5a2Nq5WX-vhkB77pNhd69dYi5zoO2vMGq2nn4LeENzHXVfU2DN6bYhUCb4THkJLxjYOPS3k1ZJaCGWUSpzCxkx3MirzbFQYIK4mo8XO6hyIcvTxSNpNx4hxoIygdDK6GMvH-UqrKpqxqxZ1fC5y9frKISR2jTqmJAAx7nx3sNGCh8BMLDIR7BgXL6Y7m0wUJZ6S3dNtWlybI8gFTxzn-i_d564EQ_11fhj-E0WIOVyfHlyjgU2aSoJZvrrKuVDz_m_Plejc_zeQ3-w24NOi68OlU5qRaaaLq4ItcHnjZgYI3W0nSL3nZvkqbeDbFgO1aX7kQ2MZrHfKW6AkK96iMgecDR7KBg1tWxTnJUKe0X6G7JWca_QNatLr1vS1zCAQmbaZiJcUT6GwXShcLTtdu2nzwSNOIVe_ULGDACtzGBXiEV36vsybjgB8opRieeazsuXo4CiyjIDo2WrBwEO-hZKZcT5xmFJGJZWlYcgvo_M-I9lMWBiYZ4aWA0Fcqvj6YYuOy1k1i-XpsJyCp-8se0Kyh6BY0h6tZqu6HE28F5NPD0ZEKOSxGkwtOIAUAgCw6xyl5RUkPV4AtGFUjUY_g2zu0fHxjMMO4nrJp2r5fcu5XiKzVZkHVXr7XGcLEvCctEvjNBV67XvIvDD5nxmD9h8RGmsMnEUrjUoPYi_ogax4aG_AFlxzU5ukcflTImWRYln4DUGR3mU-Ur_I83rdD10YWx3m6YMahHhD79znHWtAmJ-lh5yVIksaADhmdYW02kha_PXbuGqGAoXOJUnOWiO2fvZL1_yW2EfnhteQaZiszh1how3Chb5jsq3V27RbqLffNTBm35T0WOBkIdxwC0B6CTd7H1nI9eb2OZ131cDKWZN4YCYmv1Qh5Uk4aQhhN89Eu7ORS_K_TvV7WYPIvBHXDLIeV4nprO9Ujjud85dDetuvVmWyJyn4Kpic84Hxk92kMFjqUAgqXf0_USYVe6CxsUr_uspjjPxsV41QS45pRryzbcYF4lm3zrqbv0XtDNourx2YSZjkIfXJSQFlK4HzXB5SOb4w6RuZzOaWSOnXrk6fAD2a5AVant3vSzngp7_TAfE_MKK6rH6R7ZysfsXk94v6VNnCoiWTKRrga0zy_PYAv3j9_Sr_TosN-uDAVRjLnNEQ=",
  "id": "rs_0a64081860f960b8016ab2b38ffa1087d098c26a55831634bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.07,\"left_z\":0.15,\"left_yaw\":0},\"note\":\"The readback shows the last lift did not track, so I’m retracting upward and inward to a less extended pose before trying again.\"}",
  "call_id": "call_G3Zu1R5XpDEvzR7JMvDm2k04",
  "id": "fc_0a64081860f960b8016ab2b390a7d887d0a139f4a7c87b92ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G3Zu1R5XpDEvzR7JMvDm2k04",
  "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]: [-0.3779, 1.1114, 0.7158, -0.2222, -0.2466, -0.226, 0.9997, -0.0181, 0.8074, 0.6132, -0.3958, -0.02, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3417 left_y=-0.0854 left_z=0.1699 left_yaw=-0.0685 left_pitch=-0.0258 left_roll=-0.0244 left_gripper=0.9997 right_x=0.2947 right_y=0.0018 right_z=0.1773 right_yaw=0.0007 right_pitch=-0.0343 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -3.8769, 9.2376, 1.5458, -0.2076, -0.0562, -0.0122, -0.3214, -1.2103, 7.0222, 1.7509, -0.0122, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2cde3f31a442fd2ae06a6a1271d8741f686aa9335bad30def962ebb148d4c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:badac4e4fcb0979014f94f63f19c4151d8bcb2b5a83b7f45b23b7e92cb40a46b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:093e10bfee718db862ec8435b95fa3e4c8d51db89c20cfcd098fb2a12f60d88d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2096, 1.6989, 0.5137, 0.4496, 0.0826, 0.0841, 0.9997, -0.0181, 0.8024, 0.6132, -0.3935, -0.0204, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3733 left_y=-0.0907 left_z=0.0044 left_yaw=-0.3459 left_pitch=-0.1623 left_roll=0.0251 left_gripper=0.9997 right_x=0.2947 right_y=0.0019 right_z=0.1791 right_yaw=0.001 right_pitch=-0.0271 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -6.8034, 4.8342, 1.7802, 0.0855, -0.0611, -0.0122, -0.0479, -1.1419, 7.0496, 1.7705, -0.0171, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrOZZY6vW07gkltCqmJzMG1K2cX0tarwNulLxo7mTCpECdy3G5f7tXycu2SUKK8X3Be1eaq4SpYAYJHS1UMnKEVNfWOLU-b0jaFaMRg7D1VNx5BvzQO_3AykQS0rdbDZ1TMxjIcteoOdGiBPEbKRUWAszEmnbP_1aqbZjzRHE26ytkFjykHsmqLvODdGtka4M42RIEZsZtwi_hfGH8C7E1k9Ds5u4PANDeAfaUrDVXjbVj1WynZu1GjH2Woa_bfAxUiYXNSkhpYQd9n_3LJjFjhlj57W-zCTMzkvqH6w-yT5G0J0HHJInkeyEZtEEugnDD9pfcxxkFsMSAFvIN7Da9tJ4_I6XRJS6DJCm0_2xwRdHxQKtilaIVk2GZbKYEqy4qhVyOk9CM2BnHrlAkv99dQ4Wi9-6NhREQIsrAqByIkCdndrLAWePw4GTmc2Hu3S9iqrB9gwHZ-ZWaCuX1Acay_e4bU1I2BTIsB9fQjybD-1__BNVFgMTIgeQuqD3bcE_il_Rc439n72ntZdu_WdfT9xHOBmq5ZsIBit2RRVTU6yK31PbiZcmJmObfHF_dd1OJtG-iZ2X48S9qj5gfxSmZ9dEJ_4p00ok5fzEQROK-uRaj71bPGWBCMJIjFMVPr4Y3ZSWWbnaG0_csT3fFYiqE22u_IVdVGLFHuzKlSeZ-hBz1E3ieQbHM3doU4cDRik6DjYpDpUFUo8VmBI5-YshBUm4mY3kEm0ulOPhHNPledjghdHnEHiPPdcZD21phVXgG4B2pq9p0-fBtbor41TtDzLt75t3vQIUbCd3At2YVdvnClDlzBgmOBa4LwjbH2oB8ji0yKWlS6ECMiV9FKpyY9KcXDgFgyQ9c6CIo2Y_11yb49gPa3UqxVWYt-HVi1A331Y-zWxMlF0_lyaL07jr-BSXzyltPLUFPLxlLIe2R29dH5KoEjnru7p9pWUFPKV1dgorpEOMYpS8e17zrYEcX4GG5cnnjdM-Bzqk8l8bQTaTWweoiSGrV8sJXN7rrX9kayykr9GTeebzVYyfGcV7UuPS7Mf1QzD4ftjilNjj3MmY-Pa-bE5tNfSaCuHiVYg33RVFMum9CK4-QCFFPJjcyC5O2Ls-aqZ4xB2PYIy9Bu2kZolizLMTkc00qyz2Kuj9AEpurLIBRhmjOAnicwiyszkAHhSJH111agqiSGim0MhvEA1QrRMnGp0MKPtwBNujROtoNs5QSXyYFNRE1UJaWB6SezfnCaYbWhXZAao266THdPvjAZR45t_-zyjRR4B6liDdObZHyBKlfe1RiobHzq6BF5Mod8qVRr9nhjJiZRefPC-Uj3qj50N1NteWhbSZfElxBgCRRVL7ycyjYvZyOXuahgevoIzVitpIhOGsPjTop8kQSnOLCHHnPVOytb208vtRONJzfPTngPhHrwUwE0z-yU8bMGSbhGwssPqBNYuCbo=",
  "id": "rs_0a64081860f960b8016ab2b395101887d0825aaff26eabfbae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.07,\"left_z\":0.035,\"left_yaw\":0},\"note\":\"The left arm is free again, and the cap is now nearly centered beneath it. I’m descending with the original wrist orientation to avoid the awkward rotated pose.\"}",
  "call_id": "call_55Vl9MJZMbmmjkh0DNXJu2CY",
  "id": "fc_0a64081860f960b8016ab2b3975afc87d08463acac460b2776",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_55Vl9MJZMbmmjkh0DNXJu2CY",
  "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]: [-0.3668, 1.1717, 0.6262, -0.1379, -0.2546, -0.2501, 0.9997, -0.0181, 0.8101, 0.6132, -0.3969, -0.02, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3393 left_y=-0.0788 left_z=0.1274 left_yaw=-0.0367 left_pitch=-0.0867 left_roll=-0.0186 left_gripper=0.9997 right_x=0.2947 right_y=0.0018 right_z=0.1763 right_yaw=0.0007 right_pitch=-0.0381 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -4.7932, 7.4188, 1.9414, -0.0659, 0.1001, -0.0122, -0.1709, -1.5248, 7.0085, 1.7607, -0.0269, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a13cd33dce7013edf87ae7054b78d6dda617273076292a067de933811f98cff9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f69d924692057940b044caf4f4dd97538ee9e0287309c656404b1462f9cc7a9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c34af3bd4243fe3e8a6a44b93c7d692d3ac2ad150b15b612c4bed87664d5db",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3779, 1.1114, 0.7158, -0.2222, -0.2466, -0.226, 0.9997, -0.0181, 0.8074, 0.6132, -0.3958, -0.02, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3417 left_y=-0.0854 left_z=0.1699 left_yaw=-0.0685 left_pitch=-0.0258 left_roll=-0.0244 left_gripper=0.9997 right_x=0.2947 right_y=0.0018 right_z=0.1773 right_yaw=0.0007 right_pitch=-0.0343 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -3.8769, 9.2376, 1.5458, -0.2076, -0.0562, -0.0122, -0.3214, -1.2103, 7.0222, 1.7509, -0.0122, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrOgn9zMlHKJMm98pMxKqqFq4RZIJm_ccKEtuiXEcBpKIIi84SA7GN2c1Xluwu0XIa4DVnAIYkMtntgQdi6dOp3rhhXDXADXLvHwjpRVgZk4rI2GQ2X5GMabnT6Ltfjjv6cG4-fFpwVTOG9vXmGxocthiBH1QIC4uPpHk0RlmV_42DE6wR3bHCDuvfL573VPGROrBK5JV2NVIeGJ0OXDruSp-oj0m7EP-mbEkV0vskWR4-ysGMVnS2SNZV2eysdhJ2Xd2Va7PHhAgWf-nMZx128cRFpZbL2vZQOpVY-eMjlREPpVYFUOsjLpF8ardPez3RMmCirq4oBy5s7OFAqJMCPUDUml5r7Nh-cOog444izH5pA37F8hqYTG3SIpb5uJxb_NmpEoraj443avZBztH0eYvtLPMX_x0zYeveESPGFqp-StJXoYBYi96LBwWZDsX267lXXuzNfZ4QDo8E11zX2Z1exc8t7AyPmrTFQPqLvWtLCrcB7qHRIpCgghMw8YDQxsIQ6OArfpjOymhC7BEh0RySiXz7-c48HhaNpwVkcJHxa6Ok3M8ubaP0rCS82obcdS15v65Qwbo6qX5F9y7FWHJXtLW9fV0qTqbKDmltCP9D1AJ5sJ81tQ6pb3LLRZ107W0zGi-r2y7vYHQUwvIJgW6My2YaSFTCQtBgh1UwxqkmivbJeLFQ-oLPomPiVq-jb6nuFMwZCORM0vkcAEKyTB5yauqy4eB9JAlomz_ltyPIhjURishYLqaRjDg5Wn0IR2BSYI1QsCmDnw-0J_IG_g99nnVZ0zqoKGKyxLWcjbEN7Y5MOJzhVtgaGF3zzUF4YZracsN35d9r9Ll753fnjcYpHkaa3OUTtMIQLlk4OcvGFQKvLC59AA6VySwPDsHPJeIYDJEIHBifeJ30s9JClI1ax_f7CAmACXoMGCwm2Cv4q1AKdJYVnq7kpLuaO9k1wC7uScwvM27uNc-WP6xAJwIOoXGFQxzBbHxpiL_lmS_eulpflZrXPmMB9gRGJzynd9sl2pi3TOnRRwUtqIgWPuGW6TEdRlfTLkpUB2bKdX4v5PTF4PcdNdqwMBDlkT4_OYWmsxYWDHbwzw0_CNu0SlcuH7EAjD0Xz6QORAreLfvj3vLfMGWY65sJEIzWsSFMjVWbptorsEOGt2B3in8pcOcNwzhAnyhUpR7sMBSJiThnl6dQGQiIrEd26KGDCIl1o0ffR_PTm9izW8pU4lMJhqGAk0Hfo8kExvtTT_3eOHOZiG7CjOqaW2Y6F-BFmCgJ7DY4sNhdIQwzMBYyOi_UCBBXfKlhi-qiwaeL49ofUTiCxMkAmRmV6nktRMTkMuEn1LZhosF0TDIWTaBviC0Z7B9KJRkcBJq6xyZSv3LjF8jnhvCcMfDjaL_GS4wfTZVZiUVyDADhbt_4oBTfvWLEOx_FeKyGfq5JR3VeE7Nf9zygIDt97aj8lXoqZPvhqwGCQC",
  "id": "rs_0a64081860f960b8016ab2b39cffec87d0839e98dbd39b99ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.075,\"left_z\":0.06},\"note\":\"The cap is centered laterally but remains beyond the fingertips. I’m advancing five centimeters and lowering partway to bring the jaws over its thicker end.\"}",
  "call_id": "call_bEj53Of9rZ2Or3jCkl71OeG6",
  "id": "fc_0a64081860f960b8016ab2b39f0a8887d0b293257cefc18c0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bEj53Of9rZ2Or3jCkl71OeG6",
  "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]: [-0.3225, 1.2606, 0.6193, -0.0319, -0.2253, -0.2337, 0.9997, -0.0181, 0.8104, 0.6132, -0.3981, -0.02, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3562 left_y=-0.0737 left_z=0.114 left_yaw=-0.0259 left_pitch=-0.0825 left_roll=-0.0263 left_gripper=0.9997 right_x=0.2945 right_y=0.0018 right_z=0.176 right_yaw=0.0007 right_pitch=-0.0397 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.5675, -0.4308, 4.6974, 0.8767, -0.0904, 0.1392, -0.0122, -0.1573, -1.2239, 7.0222, 1.7216, -0.022, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628d25e72785bef5ec9a8debc059f6225ad696de28a76bf43682e0f236aaeef0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:447079eace684a7a44f1259c1e7156d55df1a4cdb7c8274ff9768fd116add35e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9753d76bdab21ac3a2b085d6e89f75f93c219e41fd85a919ad288b56b1e43702",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3668, 1.1717, 0.6262, -0.1379, -0.2546, -0.2501, 0.9997, -0.0181, 0.8101, 0.6132, -0.3969, -0.02, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3393 left_y=-0.0788 left_z=0.1274 left_yaw=-0.0367 left_pitch=-0.0867 left_roll=-0.0186 left_gripper=0.9997 right_x=0.2947 right_y=0.0018 right_z=0.1763 right_yaw=0.0007 right_pitch=-0.0381 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -4.7932, 7.4188, 1.9414, -0.0659, 0.1001, -0.0122, -0.1709, -1.5248, 7.0085, 1.7607, -0.0269, -0.0562, -0.0171]\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": "gAAAAABqsrOmxMR7SRZKqqZmRZB0_KUSMNmUyU0sWIw61b1CZpTyj_1qfON8YjXFZxsrI7mLsQob2Di_nioV6UzwCiVGMMzsVm7l7Ta7iHWw0E0_OKXtuJwtYwYZKOWYpNylGzHKML-QDBnJUhHX2qYfm7kwNm5D8WFjUhkXygbARhjxigcfkYrU2vd5tCfZLQ7t6_gQo8Ln_QFer9UoHZhkEr28l1d-ltXy6hHi_XAbIeBj_yiKZnEpaQkwR4lFxacPYaHZzph3x2v8rvF8CXmS9wKgqpPVRZtIZ4iPrEZXk3HlPnhOb_BaWz_k4EUUPrVLqmo7wYrA3ofq6E5JWf2oF5kq7UW_EsOnlLgWd-UilMdYnZBTDi8ri31GLrbMKPF-oaQC038BzE0WxGOpfy5J5T_6lvhxMRgT-4NTliOvER0tdJ_k85g-YOOoHcNpY3KPxTw6KEf-i1OYsgk5fRi-wafE58UlJ7uSnQ0ma0vyT_wGzQxqiJCppk_q_hHDHyR_P75zp1MLn70zyOv-oqBZQJM9LavrVZ1b-GJhLpy5jsDMIzgEXa8Cw_9VHtzfRtu_7c4MEDDVUJWIBG2ql-xbtHhKW8_hllNVxa2DZ4YQQMgEWEBj2pK83dTAazHDODwVxjaBdzFVs-arEtsE42dOzxST0Ex17jThhJjbBGAyumlwND3l8xQHvJYmyjiD1yTbR6JIoyg6VSVpgHmELG40l0uZUFHr50itroKTnhRWHOIZMJl2oSVarbpLujA82W1X_4U0NNcNXEtrr0o0JqWV69_894fsW_HJOFmuzOIgBmMvrZqwarDUp8r8YZovlh0s_r1AdPXUqC5iBF_UY8PYdMsM6OsupASGUoesfkyzEvANh9L-ehN1-q2m6FAX3170QRyh3ElaLa8Ib6-45papB5wkmVzQHhEBKHP0WzSLa102YO_dKep2G9tSubCFkugPG2dU-dfRbDVe2zClNjY03LgHEw2uGqt6mcyjz8BxvoMhTV8q03TdTYYNETBrTeMSt4pRohVB0GrSbNiO6zoQTjSqeem80o2oJByJ_erUCTxUKKjwIf5qCC9kZFtUB-SI5KuvDYF9CczbA5b8w9_SPdzW5UNXzmhacl6VswClzpxVuqoUi2RRi97DZcBBio0juMTLsIY4PJsCLDayjdh2PDRoazrgVLIkj-kqK45XqomsL28MM2oF_k_1yPzvmqdhcJ3wQfbrIq5ilfhRY6E8yKhQDxvXYVDtzAvxCRJD-dGNIRu15NY-9po7-dklA5jS7nUCgGqwN-tGoTPhypKsaKeSf8TFsQ==",
  "id": "rs_0a64081860f960b8016ab2b3a3cf9c87d08a6da9899fedf04a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.085,\"left_z\":0.005},\"note\":\"The advance was only partly executed, but the cap’s thick end remains between the open jaws. I’m taking a slower final approach toward table level.\"}",
  "call_id": "call_q0iF1yOagLbd0lihWEcgc5Nf",
  "id": "fc_0a64081860f960b8016ab2b3a50f2087d0931ceadd60794d47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q0iF1yOagLbd0lihWEcgc5Nf",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.7702, 0.5529, 0.4931, -0.2298, -0.2253, 0.9997, -0.0181, 0.8165, 0.6132, -0.4126, -0.0204, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.389 left_y=-0.0805 left_z=0.0014 left_yaw=-0.0171 left_pitch=-0.1305 left_roll=-0.0019 left_gripper=0.9997 right_x=0.2929 right_y=0.0019 right_z=0.1713 right_yaw=0.0011 right_pitch=-0.0603 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.4444, -5.7915, 5.4632, 1.1404, 0.2662, -0.0122, -0.0122, 0.0342, -1.7573, 7.0222, 1.8535, -0.0317, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd01f49f6f1daa863bf7ed5624381a91c4faa9951eeacfb3b09511c89567d2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185c98275fe0acd276e1ce8227a4fe8a314d4c81f003f2fb9bb4f14c90c41154",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3616c3bb2a6b5e60ed617cd45ac213dd95b8e869263218ee5832f717747594",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3225, 1.2606, 0.6193, -0.0319, -0.2253, -0.2337, 0.9997, -0.0181, 0.8104, 0.6132, -0.3981, -0.02, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3562 left_y=-0.0737 left_z=0.114 left_yaw=-0.0259 left_pitch=-0.0825 left_roll=-0.0263 left_gripper=0.9997 right_x=0.2945 right_y=0.0018 right_z=0.176 right_yaw=0.0007 right_pitch=-0.0397 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.5675, -0.4308, 4.6974, 0.8767, -0.0904, 0.1392, -0.0122, -0.1573, -1.2239, 7.0222, 1.7216, -0.022, -0.0611, -0.0122]\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": "gAAAAABqsrOs5-CctVxS3Fh8VdgFoKjzP4yRduws5Ko2Yv7mbBuSrfX27V2m-4W0IDQq168k1InNJT3nrp3JZBWU9cOEOlVXp_MC8I062PcK3EmUQB98aLBx_5klM70yVqj5K5c9Kku1ff8nyQDmF3-hxY0eOn6VcIMhlsab2Cf8PCqURFJHuz_3A2IIygLuqtRWQlIHxR0VOuXmcphazjX-QqBoDStV-kMUDLIbayEwoq-bE9Fo7veyi-TBbJE-I1W_nTlC89ArjrJfvmdTVGp1FxmzVf7oGVQZjsaHstESpPnOxnVL6VWi969Mj2zUgjQf3JwG9DlibefjI8ycW-kTIowy-QQ6bqEaH37Wi3ni0iwznZAr9zHNtvtFIcNWt3S-hJsoLIJreJrefM-pkNBH7r-8HH7c3V3k3xRJrozAmI7Ch8cWjxALXgbWLgIMbylRQhg8ybP0XWAY8BVlkbC43YK5s3VJuay069Dq0vc8kNn0tcxA9Ea-IlPdWa4x1MfJFn829FlYyibLkkxDwUY7qcBfeol9qJgMY9GFLOmDqbILUoIULHNXpdgmLLrDH1H7RqnoGnKhgiftN5N75KTWYsxEOK4YZg5n7VDJ59O9FsFrI9JWSfgkoS5jQrwkCJfYxwwadcYHzqBoA2cVcDau9optInoG8Zf8_YjY5OSJzOKDp-mLIjE3YXsgaqhakhqHJ0OXsEWtHedyDaek-tfTRjAIgiaU5nmynVX_2pkLPRlm9rRbrUy1KftMrWJVQyYQmM3_h-UZ_Ea1mGHDjWYxSuvNiIuPnlDbuzlkZVnJY4ff0j9IAw1uLDub_wxQ_L2IhgN8dLVRjv9sndFCxIRJiOO5WEEizKU6ueMYthU6FmCPiiMWzuM8fdn2Bu5lDC6bIqsvzQZj-imkissJy794P0MI2aSQa4CYatj7xiyqlWzl4gRlZHOuQVyZO9m1SIB2BHbPLG3IGBdb8eeXOR0NWwGJGHwsXx7yZeMJ04gvTvxc5DqVv3lTg32nkR3myLKKle3zmWYar-3l7b-5RijYD4SoQQ7izXjBy59yjINtdRlhytMQ6uGriKgZwBJ57sMU3UDFVrOfJKBmUkW2VzplEma3SVyE2K_21-qu6OSCISibe_sHOHjYa9x02Bj9_RJPH5vZcOPUz2KFr1in8XARO3DOPYVDUN_58Nv36snmG2ekcUVIef7ntPVU9t2X3aqR-h64VjZj8fymwyqCO83SnP0slQW081Cf7uBuAlDH3YECqKRVjJZ0hEO_DJZN1mxy6rqafQ6l",
  "id": "rs_0a64081860f960b8016ab2b3a9626887d0804916a1ef583f2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.067,\"left_z\":0.002},\"note\":\"At table height, the cap’s thick section is slightly left of the jaw center. I’m making a small final centering adjustment before grasping.\"}",
  "call_id": "call_5MBjdFwJCpWQhbTaMQMlqcT2",
  "id": "fc_0a64081860f960b8016ab2b3aa716c87d0aabbbc84ee6d538f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5MBjdFwJCpWQhbTaMQMlqcT2",
  "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]: [-0.2829, 1.7996, 0.5709, 0.5365, -0.2104, -0.215, 0.9997, -0.0181, 0.8169, 0.6132, -0.4126, -0.02, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4008 left_y=-0.0743 left_z=0.0036 left_yaw=-0.0083 left_pitch=-0.1033 left_roll=-0.0152 left_gripper=0.9997 right_x=0.2929 right_y=0.0018 right_z=0.1712 right_yaw=0.0007 right_pitch=-0.0606 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.7726, -7.0632, 6.5299, 1.5263, -0.0952, 0.1929, -0.0122, -0.3214, -1.347, 7.0222, 1.6679, -0.0317, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6e58325b4389703043325300e2e1ac8a7108fa2f49e3ed56f78b6549785211",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3df346ab9ecc105e78fe541463c37a7df02f5e8f25cd24d43ea938fce695a8d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:116e562fd2cc1b2ef0374f9b9484884f361fc0b16beb40798eb29a683aa75a0e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3145, 1.7702, 0.5529, 0.4931, -0.2298, -0.2253, 0.9997, -0.0181, 0.8165, 0.6132, -0.4126, -0.0204, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.389 left_y=-0.0805 left_z=0.0014 left_yaw=-0.0171 left_pitch=-0.1305 left_roll=-0.0019 left_gripper=0.9997 right_x=0.2929 right_y=0.0019 right_z=0.1713 right_yaw=0.0011 right_pitch=-0.0603 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.4444, -5.7915, 5.4632, 1.1404, 0.2662, -0.0122, -0.0122, 0.0342, -1.7573, 7.0222, 1.8535, -0.0317, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrOvLXjs2uUyDAMg_BnUTMGHzpiIOfRtKkinQJhHDm35riYWdjePgY63SqwJIx9iP1hEBYcgzZLnLlMT1osyUQuLn0YDWEdkdaekZRjTVj3uUJ2QWy-_7vzPdmCFMn2YtuI1VaycjHRbA8j0OuLETPePSqL5BtBw-2CbiPJbPTILIDgDRkwXh92rGCctcuG3CjoLIBtmIzSjA6RPrRERDB0ddUj-ipZqXeIIln6qrZTlc1YhyFtIHK5DVYCpx9wXTNieXt64rz8Ypd1GosM8PftiFJEoyk8kp0tDmPXGPbBLHsAuOIPrGGgXG6vnfyip2nu_FuPXr69QeLK2RPDU7RlVQZIEplwpGgo9xH-yDs1ui5ZH-Su1QNpjySaZZd1qJtHXvA8UU39LcRWSITKeXBxm0SPBAbBe4niyLHvyLjxPLsFuwWQDUq-syDQvxrYOk8ufDY4a_0ug8jWQ7MgSBAGUZfzW6-gmZBNXCpm_czWHMzk8m0nh6FeGlUgnISzHebXKCPATVDBZ-CCygii9quGqqnSvCk3gdVFdiuR9nIWA9onWqPiA9FHi6vhuCn0FQ8FmOU9phzTu0rw0Z0dWXJJPLsorHd2BORMnhjmHRY9tp3U_0rukqOnatgHCo0ua8N4DFabnzbMvO7RYM7EjYCocm7uHKP1VkqDjhQbWDv1x9WKAqrBQJYopQ1EP-aOUVAPWr-Ctejpp-DisO48zR-JPTPunwUOCxShdvuKAK0NdTNP480ohvVWJFD7hWJa6j8AOfjA0ox5jNorxfaSdFjW6c74PwTtkiLbjvBurOy0lz7VWf9uuauKxuJAlcnrb9DJoS7o3MyM-7cmQ6Y9cNfICdo9A6K0iywnTSzDC09MmZCJwl-GEvTaetxAYLCIJ_fcBlC8Px-WjxN-YaipNzADw5ktUKYso6F_M1cNR8gDqrh-js94one-Q6syWI4kjspaYke-qr_JlWCrHwlXlfIUnJaS8sC0s4ooHpeHHvtv466TWSw5Po_85OhCP83z9xiZk1D8zwqUzA3SFjrvnxlCaj-Vkl2FJ6trrp3uqmZc1RkqWed1qej5Vtm_WB1xpOASeZxlMvlGMgGeoMUoWfEJzszeehcIO21Fim7pMeyyCXa-NgP1SMbqow6EfFq3vE1R2PXvfEh02HPZejOalWirQ9EYLmEXXpOd19cv-3PumJHqxWZEtTCfYi668JeuPh8a-",
  "id": "rs_0a64081860f960b8016ab2b3ae2c4c87d0a161e6060451a991",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap’s thicker section is now at the fingertip region. I’m closing the left gripper to secure it.\"}",
  "call_id": "call_5NgOvaNOg7by7IyeZpprCwlD",
  "id": "fc_0a64081860f960b8016ab2b3aeaca887d0a3912d46f7bbd468",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5NgOvaNOg7by7IyeZpprCwlD",
  "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]: [-0.284, 1.8, 0.5728, 0.5369, -0.21, -0.2268, 0.0488, -0.0181, 0.8177, 0.6132, -0.4126, -0.0204, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4014 left_y=-0.0751 left_z=0.0041 left_yaw=-0.0034 left_pitch=-0.1016 left_roll=-0.0252 left_gripper=0.0488 right_x=0.2929 right_y=0.0019 right_z=0.171 right_yaw=0.0011 right_pitch=-0.0614 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -7.241, 4.4376, 1.663, -0.1099, 0.2418, 1.8437, -0.212, -1.4291, 7.0359, 1.7118, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f4faa6951cf8bd01285f7179cd052424faa36a47ec4e2aeda6b13d7dc9ae346",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e22eabe7e8bb62e6859608546f5b10674b9dacdb12816643efe8f4c3693c42c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a484281caf9dce2d9cf13f3a9868e336e8d02e77c81384ee9a04332ba2394ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2829, 1.7996, 0.5709, 0.5365, -0.2104, -0.215, 0.9997, -0.0181, 0.8169, 0.6132, -0.4126, -0.02, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4008 left_y=-0.0743 left_z=0.0036 left_yaw=-0.0083 left_pitch=-0.1033 left_roll=-0.0152 left_gripper=0.9997 right_x=0.2929 right_y=0.0018 right_z=0.1712 right_yaw=0.0007 right_pitch=-0.0606 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.7726, -7.0632, 6.5299, 1.5263, -0.0952, 0.1929, -0.0122, -0.3214, -1.347, 7.0222, 1.6679, -0.0317, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.075},\"note\":\"The left gripper has stopped slightly above the empty-close reading. I’m lifting a few centimeters to check whether the cap follows.\"}",
  "call_id": "call_rRE5unU2krdsGqjYourC2Ozr",
  "id": "fc_0a64081860f960b8016ab2b3b37acc87d099b51b174e9352bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rRE5unU2krdsGqjYourC2Ozr",
  "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]: [-0.284, 1.5803, 0.646, 0.2459, -0.21, -0.2317, 0.0577, -0.0181, 0.8185, 0.6132, -0.4126, -0.0204, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3992 left_y=-0.0744 left_z=0.0605 left_yaw=-0.0008 left_pitch=-0.0998 left_roll=-0.0297 left_gripper=0.0577 right_x=0.293 right_y=0.0019 right_z=0.1708 right_yaw=0.0011 right_pitch=-0.0622 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -7.665, 8.4444, 1.6288, -0.149, -0.0171, 1.0281, -0.335, -1.3607, 7.0359, 1.7314, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3abbdd5879bcf5fd5a36f9c4613ed3df9883df188fd05008f0098f70482e1294",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b10ef51668600a280ae959894fcb9df127d6c26180ca066f175129f0d9d483",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f7fb995b4d1004bfea5b7593ec9370fd88b02139dd250bd97b97c3dd5ed58f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.284, 1.8, 0.5728, 0.5369, -0.21, -0.2268, 0.0488, -0.0181, 0.8177, 0.6132, -0.4126, -0.0204, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4014 left_y=-0.0751 left_z=0.0041 left_yaw=-0.0034 left_pitch=-0.1016 left_roll=-0.0252 left_gripper=0.0488 right_x=0.2929 right_y=0.0019 right_z=0.171 right_yaw=0.0011 right_pitch=-0.0614 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -7.241, 4.4376, 1.663, -0.1099, 0.2418, 1.8437, -0.212, -1.4291, 7.0359, 1.7118, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrO9gOOP5Cv-WYl3ucOUXiTc735ojc4i5eG9lnjXHDjZGKVryONAuCIk8k00e8jx3d74jRr7WhE-mV6zU-B434ZARWeBZH4uFR1t9563IOqRrfuWLa2Av1OKg2o9LklrnWfJcG1UTN_1q9vj3ekevGXFvfLF259hygtyPXC-nti74L3XT1GTh2vQuuoqV-O5Y-nvB62CVMvh-AnuIcx_mVEqBUYYA2jVlyIFQs5akOcWp5e1U48mwg1w-6DuV_p1eGJR-awPulHXM9ge6RL2jvnPfgFSG14mdyQ1WQ2uNkcA-JzIFJlSCT76PMgy6ICATBNGQz3SoBkfNxcXv-dC0tbTeszktaq47LH_hAXRJfGm6DIAAH03A76UFypCGhdPlfEsSbVmT0o_CQy7QnDrZXn-adxG5Os77PD2Zt1lx2_EQTiJb0XHQMiBS05LNs4QYTylVnY-Sp7w3L9QszNRXS88WQLB_iHDVWTqpMr08nYoA1sUY0ylbc0o6qGLlkjK-K6-oHXkDfBAXoMQe6CHu_KdEJUu9KhqiSl--osLgw6hFtZ-f-XHu0WU0VXaTN-imaBSlJzXk-baO_wGTdL_eg3bWWrx7BlmWmjq-VqF9ftI5rbY51ala1vnC8EH6vN0GfW27ns14YKNOeYOg2UelXGWkgiVCp8rjqUn8AkI8JachA3jPaR-dLVSGmGhCpZ_gOUmb-CYymqFE2pbAGfGK3hq1rMhOg8DbuN1hOJBUsWshQLjWTdiqf3jo2SN-snkxqSRP2ZI9SVHzs50Jm7Y6EIiaBcnnRrH2WucCTR3_yqGSY0Ux1u4LoHeTkjblmAqMclM_7s58r6QZwhpURlFshbBLv9Fo9BSFxs6uv_MGack7FOohHMLz5FylAVM8wqa98tK5qWWEVCYESZMhp5ttVyG3DXpTMFTaqqNDJzFcEuoE3DT1Ao-getGo9VLCHNKvo_OMgO7m_WExr8u_iRY_6N2sxs1US7t178r8y5z6lHOWj-UzSQ6dRFilaaPGlZI0Q8uxKYkB0Obkk1bsmYp7_vt5WGZ9JJLvH6p9OC39LQMJUSaf4SLCFg3C6SnmdgKXVT8bRgUDo2dYwQlNYrzoTxjJkZgMmunpGsbok288f8Aq5sQlFMkNYmmAcr5PI0GY_Tlt4vQLPUrTFWkYCLU5vNRVKdDI6qu89vQwjqoPEcw4SlgwqF5Gl3euNF9L7Iemlo96uEUslTciy3FrLumjQu4gZwxJDs4fsQRxV0vvublyc9UsxYhaLMyQowjVnZ373BQ_R5MLRd1BF2xFq8ILznHObREm0H1KeePUaFyQyVCHWRmebCUnHOcZDqOkd1pBs4NE56YfakOuYlYCjdLNMOwO1b624w3mGPjhWL9NHIVYU0Kme0J8nrgYuyeTLLG38NSAAwJLJUGOx4eZEz7GtfM8X6PfdOqW6alXVDbglJXZ_gxPw01dwOwmdvlvhsW43EI",
  "id": "rs_0a64081860f960b8016ab2b3b7cff887d0b0622c9aee8d5f84",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"right_x\":0.39,\"right_y\":0.26,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The cap stays fixed between the left fingertips as it lifts, confirming the grasp. I’m raising it clear and bringing the right gripper above the pen.\"}",
  "call_id": "call_i45qXefbrMUfLTVmcBp42Yeu",
  "id": "fc_0a64081860f960b8016ab2b3baddd087d0b200620c99ccaacf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i45qXefbrMUfLTVmcBp42Yeu",
  "output": "executing move_to over 22 steps (2.2s)",
  "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]: [-0.284, 1.3911, 0.9367, -0.289, -0.2096, -0.2386, 0.064, 0.7937, 1.7264, 1.1824, -0.2771, 0.585, 0.4953, 0.9991]\nstate[eef_state]: left_x=0.3935 left_y=-0.0728 left_z=0.1539 left_yaw=0.0046 left_pitch=-0.1527 left_roll=-0.0196 left_gripper=0.064 right_x=0.3824 right_y=0.2548 right_z=0.1384 right_yaw=0.0377 right_pitch=-0.101 right_roll=-0.0303 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -7.4325, 10.3179, 1.7167, -0.1197, 0.0513, 1.0281, 0.2667, -8.3214, 8.4171, 1.5507, 0.5153, 0.315, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d733c5b1ddfeb13bfd3bd03f77c9041402928e3a706ad23c1ebdb9f78b3cdc95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3404336cd89bbb7a12dc7a0588a646e3a8960f2cb542420bd24075dda8ac2538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b90f513a5eabedc4202572e042d2d429b402d074d6435c201623d4498a041c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.284, 1.5803, 0.646, 0.2459, -0.21, -0.2317, 0.0577, -0.0181, 0.8185, 0.6132, -0.4126, -0.0204, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3992 left_y=-0.0744 left_z=0.0605 left_yaw=-0.0008 left_pitch=-0.0998 left_roll=-0.0297 left_gripper=0.0577 right_x=0.293 right_y=0.0019 right_z=0.1708 right_yaw=0.0011 right_pitch=-0.0622 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -7.665, 8.4444, 1.6288, -0.149, -0.0171, 1.0281, -0.335, -1.3607, 7.0359, 1.7314, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrPIDylpRuhR7wuusXfYCfkzy9EX6LxYFM0DPzEhdicQIv7k851Nmn_p5JYCIjyyZqFYYZR9Snf9C9FKktksZzudJ_3Jps2DFsj1e0SoM4NCjhqLRCkfCOIFIrXsX4VNPq38mJMGj4ZojhRNHv_YFMltJ_2oP-9-73QlQalwBzcDaA0lfZgwadkk_P5Mmoh2QwmLvJMKyxhIbgsn8bfpjUAu6gcVsp5crsR98EQrN0tQ6f0FOGa4YbMYxXs4MFfk7IKc0pQ83PjqyyDLTlOQ2S_tPzWr0jdgKKLMMNkbPiMdVJjRbS5FSLy-lXpdo7Z7ECmECQy9aCv3YzACvBry05iuouETtLv_2JK3BsAgOP-Pr26P3K9VYCkUVihkcj3OwDTh9A2fOYaTPsjgja1V_yNy-BPJ2D68VuhepalZhFTOXBggxXGGdMt3vimKsPLAKfGTayibP_04EWRvMyBnN8O-Tl8SaWmYpkB5IsTe-nXzddkTjT-90dM60sexyVrEeg8AYrK3Lcv2_G6bFdd1hwOCkc74rOZgm8OOsMv79N_kczQkdTx6UVqmxCjwY-_Q5YuVgOyreHgJ3sGwz7sAGFkF_wWIcS6Q7Z8xzXePv5HV52gwDXjzERkWtMcLvYhYqVhCoYjc34bH7_V794BvQdmurSjtOiaVDqJOqdMmv9LCCt7orm-prUVx9MLsoXiNCALIIwF4H1hKDZyvczwFoMLmMvyUvddeugM4b9iFuO-c_5v4uqY9XUzvFdHchRw8RFBslwS9BoGzuyAmvRp9rDyMWwMr8cA3tjE3St3HzugT3JEwXiHB9s4cXCbeYf8bUmhG-vgJ5rd03cJyrhRpGkm7x761ldz8nbkK0F9NrHvHCUc9Dl6yGthM-L8QdGYnDDcxQZbuZwzJUwPyNyJ6X5gr6yMWoFDT0ufyBL6acsajO0lE2p6nDgj6QN8fgbah2digS1vJ8kEkArg7npa4a3jtsNjb07XMUCtOjm72gFHa_64wZFuWwpH5w8vB_jS8R-H52Nt_9a6XLB81wP8RM4GKK0uyihrAoGyF81sFATZDYSC1wqXNJ4-5o8A4PrpX1heSy4lDWklUoaOB1Kad7kU8ngS-7OD7Lh_r7n7_wg-XQLm-DsyvK3jfPBoDexW7RVAagefbyzPMzFy-6AEzySngWVqZ0Enn9pT9MQ_cZPTjixLVbviFrzH-SO894L6WpnmIbHT-Bg496WwCXsNN7Oa8_hoSSal9nUAJildeMAUvNgbndcu9BiCbW8VMnIS85Cj7536qkLbvDCkow-k-OfJVqMZ2bHjKpqjpVnaj0UNUwggmo73-dYXpklxWumVjOQ1qh5OkEB7wNPLzcm6xIdAjsqFepJgjk9J7ex_0MNoB4xSAhA4cQJukrfeezB62qJ56F9_wYZwXxvaLJT0QRgBQ-6Vk-gPKU0NbfKLUpgxFDyJ8dXCo3_cW8OQC2HMYyk9p9c0-YkrrXrXTAgaVIaAYK3UdjT04L6cCV8zjpKm_xrg3RT9wofATCnNbesz8hHos0xW0zXroLk6M53GtdcXyPUBwXarwHoi2MPqo4OQhUcKp0WVtoey2KK0k1gEwrBKei637wVSnTucG-nvHkftvvFOAbIpHm4CPA_-qMDgmB1sp62msRMhxw64gxERJZ3jEzuaG0WK_Jw76lPKDuPvLXXR_HlUKUW_LHyi3tgbXg9CaNoPqGnstUMDOYPoPVbkUhtCoJ4rKFT_QBpkGHxOO1jFy2mn_zqO78SKDl4oDXZwhhPllfbCjfkotv-8mhGPU",
  "id": "rs_0a64081860f960b8016ab2b3c1004887d09d013578098ad072",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.215,\"right_z\":0.045,\"right_yaw\":0.55},\"note\":\"The pen lies to the right of the wrist-camera centerline and runs diagonally. I’m shifting over its barrel, turning the jaws across it, and descending.\"}",
  "call_id": "call_rOx4lv3ZakLFyq0iltJfxg8N",
  "id": "fc_0a64081860f960b8016ab2b3c6c17087d0a3309a11c488d503",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rOx4lv3ZakLFyq0iltJfxg8N",
  "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]: [-0.284, 1.3914, 0.9356, -0.3042, -0.2096, -0.2386, 0.064, 0.4759, 1.7901, 0.831, 0.2367, 0.0528, 0.0071, 0.9991]\nstate[eef_state]: left_x=0.3909 left_y=-0.0721 left_z=0.1506 left_yaw=0.0054 left_pitch=-0.1687 left_roll=-0.0147 left_gripper=0.064 right_x=0.4047 right_y=0.2021 right_z=0.0408 right_yaw=0.4206 right_pitch=-0.1657 right_roll=-0.0289 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -5.7504, 6.8991, 1.663, -0.1392, -0.0611, 1.0379, -0.4718, -7.6239, 5.3812, 1.7949, -0.1343, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72083da5bdf3b1aded58596d5c412105500414d3f45c9d34286f1838844a8d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d55d3be6dfb66587de9c1990080d4e903ac59259ee1a47622345d930ddd2ac3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa528fa9ea3041c5e2269083cd5f50dc7c4b5a4c4392cf14220a6962dd93b11a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.284, 1.3911, 0.9367, -0.289, -0.2096, -0.2386, 0.064, 0.7937, 1.7264, 1.1824, -0.2771, 0.585, 0.4953, 0.9991]\nstate[eef_state]: left_x=0.3935 left_y=-0.0728 left_z=0.1539 left_yaw=0.0046 left_pitch=-0.1527 left_roll=-0.0196 left_gripper=0.064 right_x=0.3824 right_y=0.2548 right_z=0.1384 right_yaw=0.0377 right_pitch=-0.101 right_roll=-0.0303 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -7.4325, 10.3179, 1.7167, -0.1197, 0.0513, 1.0281, 0.2667, -8.3214, 8.4171, 1.5507, 0.5153, 0.315, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrPNOFGVgtgXtjCA_EtpWVPwpUM6UnGiPKiShydQMhCAxgYIsA79-9izaVeimDr9KSQ8y4fafl65QpX8qzmhRM5235KryvO8rTNA6Qo5IIXbWmzwcpszBIe0jJrgN32uwvo-7aWsqv4nIeQqyxiuG9n3_-oaZO7iU_sBr3pM9ERmN8SfH4qomQeWfqzDzviw_EfnNY5cF2L2IHVoagUM1WR-Ryc41Y3mDRkTFtq0CtDCHxWYTlZqx8cdesIPUu6KYNx99_lRL8IfMBBhXwPjJepBPskpXKYmvm5ZpswbDQvD8-7YwdwPCjaCChbuDvv6B-qq6De0IK3Jngshw-9URx1R4hK9yzXF3smKD3whnwoaROGc_s4OaMg19IHMYIfMdf9f85mYbN2aU-onNlwXB-ob4IQJZRQf5wNmk1iJQCwpTyLgSL3-RAWHyqUE9nYs5naBPfmmPwh5kTMU64mM7oU3CPastTVDxyuHtIPVdfMgZe_HoCyLUeea1eksuz1kIfG2TgMCsXXrLNijI1fJqycFWcwCNV0BRsy_uN4eHN0WB0du1fkN-cnYFKwTZ7ZkniVaRl4aQYP_d7Br2hz4-ojlY9fgqG6xJjIT65XTsjYBMsVkE3FAcTC33GRoo1AnOQ1SGPRtJtwjsVOvoLqkNj9zvVDJoXwu0BFFeXIsKDN9Jy3dGj0ry6ZaKBlx9hodHBBDUMA_hChbkt3tMTRd73trDDYWrlcBfgBo2SynIq_vM55zg18zj16JyUvdPJH0RoVeHrLoBBhjwsqXkGNEjk849Vv6dxle-sj9tHa8NK2aZ90pMVRDCzOyTn6Sk5ICLvt0fRpb1RSKlMx8qju5D6oZ5xkCYJ2EndwoCOOltAlHmazkmTQYdKb7sjukbaZhlTKoOpdDrIHCgV8oca3noBuhKQe9aufwtDV8Kap2QVI1Gqv0YA0YNefifRCpNjoVCVDkPEsqmGE5lArkW_eSgpyq42j0vhUphIUrdO4TgeP_QsJlW1Iud58uvYWf_ndbqohdoMAJSCsrLS-L2XnvZFAaL-Gr_yHWoWJTFWjyqLd-gfyCO3CtuUTwTjIzli16E9ngAMsknLXZ1rBJGoh6KUGSvwayhrdKFJ5j6_9jMuoGXAN7jI1SzRSVtNxQf3dPQvWKwWDVzaYgWjEEwVeQmbhYFmcjEHw96wIE22Uc2Z9H-LlNCuYSXh5LKLQJllbkbZ_Y7mlE3R1InokkkQj2MLe7PK2t5SJYkJfP3orGpzKrriA=",
  "id": "rs_0a64081860f960b8016ab2b3cb29d487d08f283ee6585c7ab6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.2,\"right_z\":0.002,\"right_yaw\":0.55},\"note\":\"The pen’s barrel is now close to the jaw centerline. I’m lowering the last few centimeters with a small correction toward the barrel.\"}",
  "call_id": "call_uxwTZ1NV8dPRzL9KqwYKa0lP",
  "id": "fc_0a64081860f960b8016ab2b3cbe86487d0ae77e943890ee773",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uxwTZ1NV8dPRzL9KqwYKa0lP",
  "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]: [-0.2844, 1.3926, 0.9352, -0.3069, -0.2092, -0.2382, 0.064, 0.4156, 1.9209, 0.828, 0.3508, -0.0795, -0.1028, 0.9991]\nstate[eef_state]: left_x=0.3904 left_y=-0.0721 left_z=0.1495 left_yaw=0.0047 left_pitch=-0.1728 left_roll=-0.0135 left_gripper=0.064 right_x=0.4119 right_y=0.2011 right_z=0.0038 right_yaw=0.5334 right_pitch=-0.1838 right_roll=-0.0216 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -5.8735, 6.9812, 1.5849, -0.1099, -0.022, 1.0379, -0.7043, -9.0325, 6.694, 1.8584, -0.0708, -0.1197, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06879a852e0eb77b3a5bde85ea4d980b256ec65a0937372bd90f866dc276d6f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419a192a7d1cb1cbbed7223fbf571eb1e94bd25acb9a2b31f3a72970810809f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4aa5c61bfeaa376edabeaa4d0b3a077dc0cc86e18528f608e493df63a8ba176",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.284, 1.3914, 0.9356, -0.3042, -0.2096, -0.2386, 0.064, 0.4759, 1.7901, 0.831, 0.2367, 0.0528, 0.0071, 0.9991]\nstate[eef_state]: left_x=0.3909 left_y=-0.0721 left_z=0.1506 left_yaw=0.0054 left_pitch=-0.1687 left_roll=-0.0147 left_gripper=0.064 right_x=0.4047 right_y=0.2021 right_z=0.0408 right_yaw=0.4206 right_pitch=-0.1657 right_roll=-0.0289 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -5.7504, 6.8991, 1.663, -0.1392, -0.0611, 1.0379, -0.4718, -7.6239, 5.3812, 1.7949, -0.1343, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen barrel sits between the right fingertips at table level. I’m closing the gripper, then I’ll check the lift before bringing the parts together.\"}",
  "call_id": "call_CVGx6vzWE5Guc7hZtQpIJmsr",
  "id": "fc_0a64081860f960b8016ab2b3d0254c87d082500968875dd867",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CVGx6vzWE5Guc7hZtQpIJmsr",
  "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]: [-0.2844, 1.3933, 0.934, -0.3111, -0.2092, -0.2382, 0.064, 0.3985, 1.9369, 0.8337, 0.3782, -0.107, -0.136, 0.0463]\nstate[eef_state]: left_x=0.3895 left_y=-0.0719 left_z=0.148 left_yaw=0.005 left_pitch=-0.1787 left_roll=-0.0117 left_gripper=0.064 right_x=0.4176 right_y=0.2001 right_z=0.004 right_yaw=0.5572 right_pitch=-0.1646 right_roll=-0.0306 right_gripper=0.0463\nstate[joint_eff]: [-0.212, -5.9282, 6.8718, 1.58, -0.149, -0.0171, 1.0281, -0.4444, -8.1299, 5.9556, 1.6239, 0.0024, 0.0366, 1.1648]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36797a3f7b6f04c6358ba8d502f323f515049864d59aaa0d7f92b85633a1ae98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef1ecdd7f452879d36583c05feb47132b4f7b841123d348bb9f47af06c243aff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7441f052e6a376ee5f5a4bdfedd61ff11cec4d266b47748a4da0b46b4c71399c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2844, 1.3926, 0.9352, -0.3069, -0.2092, -0.2382, 0.064, 0.4156, 1.9209, 0.828, 0.3508, -0.0795, -0.1028, 0.9991]\nstate[eef_state]: left_x=0.3904 left_y=-0.0721 left_z=0.1495 left_yaw=0.0047 left_pitch=-0.1728 left_roll=-0.0135 left_gripper=0.064 right_x=0.4119 right_y=0.2011 right_z=0.0038 right_yaw=0.5334 right_pitch=-0.1838 right_roll=-0.0216 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -5.8735, 6.9812, 1.5849, -0.1099, -0.022, 1.0379, -0.7043, -9.0325, 6.694, 1.8584, -0.0708, -0.1197, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrPhsSw8PFIMrTQGz0854mH7eLXIqJb4vgAnE2M-jfCV97gxRXIkae1B-mrBnbUTHiM6sykvSkFJDI3ZLD9QI75sZypjWQtQ5hJOA1ipR9pnYw4k5noWBNQmBwB2ysusgPzsFh6B58VaxQ95DOP41F7Cn44RH94N_FmM_gAEJTub3yAD-uKoS-T7w5whbsjeSG6JxpqencT7N9Ty-Y5anRss-Zc9r4spHpANVBsQZAWGvWPlYUOVy0sttD6IufVxdre-_hlPSvPnI6LJoOvKfs0ao6_8MdXp88RzMXgGxhCnVvQbiimkdGfF4OqfjjUwCe3FKMqAtfj_mIJusLbTjYyb3KGzqgSOZwjs6GD8tE9W3mCBWQsuAPRYCbu-9MwqkFu36mVTq0Jp6OkguXbb-U5K7ybi-IE5x4ZnSKwRTwhcVgGdP39ByULWQcPx_iTM1KzFJhgQyhdLgzirmfcVu7UZf8eZykTKsjQgV4IZizuvJ-Qwc4Mgs2w-bwWuNgKueGO2N5_7E61cuboAI9NO3HWzCTFwhYdvxDY5DK0ONT-gakWpMIK8h23BXhcvrMl630-zy7aPX8yqfjLLeeemdTxJtNJDxgS5jZ1UcoRNqta7VQIcKYAVyyE8Z1nJlLjZ1sIzITLjbAcnWttvm_1jgE2fQ9zZj-Hpo0rLPEmV6jjzugqRBHXmhUGA3RmJSnB8LYGZGJFZMKUAl7hqHg-YpoCAzOCBY9JpSTlVbllIeaJLsBdK_WLgO4No_snDouHpmbxfi5zikgG8CMT_6_-4xcj_nl60Zmg1qvYg7Ea4kjDD_E1OBGaPRuuxGRl5kpK1jT7dc2kES25RA4LKc2Ie1goV0e3y4NIZdMVu1eBO7nLBXXH3apSWY16HgsqzVLL0n6wyFeBLcSWd2x-Vrm3Loye5kurgkSzRJSso8yAWdBuQkUV5SB_CeP7Lf6YyMqWoSh7VqaSVJp7u0RcTJc7wzQhi1tLVVjKECOzm2ner4PX3u94emM1MiyymJWXv7ezcfVdYhp6S6mSnzrDTyO1vhpHf4sSFQwnx52gi2bsvuXn-ZkWNJmDvtkHYlg7o3RBiuks6g4sLehJvoVu-v4yoFwZyE1CUKqLOwaX5hnTLY9v8TqFUlA7YknNSc7gwGc2FIRs6mDi2ocndaXWiYG5GqeySH2dcI7gTiVCn4g_NcO1geB5GoO-JMoTkVfcvd4ChaxTLAru3eIFqMbTKjgVV6Ay4xUNJuYX9rCoGU1VLFq50nxQOGVwvJOpzmkXJns5VJyVh7ECfk7GynuD_K_ZMGy_WPZr1Tau6g06QtrpQ_bxQtULDsElmHPLWUvHGvCIVFF6sy2x5sDtNPWhJGPQX-YGUIgbodAUlPaJ664g621NNOocE5E4fQ4wpy9UyT62kUs7OzUsNSffNeHY6ncJkP6TIcoODT2muednfG7q89JWf6wiw4vk78pTF8XIpe3kwT0Z0aMYin_rCYoiOLTaFWtuQUAryMifNQu6SF8bv_JZs0mYz-yIq--vamk-3UL2ez8fFL0yN0D3epKFnHW2fa9JKInIKFj0_CBp4LhS83pS1xfj_cJoqzDfNQjDuJwVsxNZ1x0ZHuEVcmTyA-iVYC-2kQur7ko6KbF0VOncSRbsqeRiLwmUIEWizHH0C7a00Sh2R1G9sND9idCcfG62jOS5tb2eNnPyUE1zVLcCqcLAJAc-e0UPDykxm7bB6G_Co_N9kmyuv25zS1wR0d_iUpFbKV0aoLdZhKJV3ecfLUhe7JehOnvcAgzqNu3g6UgzTPeOj-5JH4BtlwAcaYzcDcKeyeXp_23lHySZRirXHWx1lSTqB2iwYJbE51zS6enNFTjLwVQTBetWhAdU8uPeO2M2mZwKiivPZ6HhAvzqNwLEDbsgl6YGO6ckdBmDfwPj-4sbgd4GtazKp5V5syzWoDWSnwXdmg1bCkybr_8dGjEC6kXL0NEW7RR0i4vTvynE9rMqu1WhsZKAepE3YUprrff-Bqdga_mLFrlBUKfRjuM7ZIEommDF6es8shJpf8qrXv3jFuCGmMeHi3RnIwggck4lYSdLgXlI4bHoxMm0kzdBnqXexMEDeu-imXncw5cPiqtHoZ5JScSvEX1F9woENMbGd-GJo7oeGt1ogC1fQkAi9PMUSKPwJZKo3aJLNDvWNx7nRUnj5dtGaB7anuDvc88W5lMWAQulUdL_3tQ2ioiKAtRMek3jFUYMBkFzeYkYyjEQAmlx7Hw5Ho7M8HvjXUOMMkqa8OeW5Q8BH4qDEZtJ5CnqKZI26YIFcIIjJDpppqdg1fvlQzwmzj7WuvgBQi8idtGzoyrJLqNJkorjk6MzBBCb4W_A_QJ6-JQrlP97RkrKRw5jVrWaUdW-WglqQo6hjOt4sEYb6YCneX_GjxMcqKkOcyjsRpcDzGmstPeTYEtOuUS2GPZRXO3IEz-kThuBeWGAAIHFZ9rCOrAtLOebAQsQPoLF8Imzw3oZx1VoKDUidgHbe5PSooP2XOcUb8xObz-HI9G-bDJ4DcKA5SLYfUTWl6vW_dpLEEXPvRDSvJmdyknRfujFy3HPppb9_zptEiRxLfAk-_ctu2dc054n9TfBF2KBShmDFNI_gtwT_SUC4KeMSuEMPsmrvdzcn7wL8wT5z-mMIce-ruZygYoa6PWcuoKZBAqvHWmHCM8LQdDGiWr7eEtBLywr-S2tXA1iu34dXOBj7RKmok4rozMw20zIohKGrLBXRUALy--AGhH_7nRMo2l0d8bKCUndPciObfswqP5YZvAeWSjmFXn9bTclH1Jdzcof-919X4dvBVkuwtLH-ssOdOqsXNU9RVXVeAmhUOy_Pjv3vF9S-MVRKtcvvjZv9R1jqqgZyWfYbxFKybhim-VcqtWv_aWjdFmod0cwjCMqL9Nn2m0ypca5CVM8=",
  "id": "rs_0a64081860f960b8016ab2b3d48b8c87d0b1f33c287c741335",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The right gripper has a small but nonempty opening around the pen. I’m lifting it to confirm that the pen is secure.\"}",
  "call_id": "call_Z51IOen76U9IRoq9Ek9zI9MA",
  "id": "fc_0a64081860f960b8016ab2b3dffc2887d080c5144dee982540",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z51IOen76U9IRoq9Ek9zI9MA",
  "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]: [-0.2844, 1.3933, 0.934, -0.3115, -0.2092, -0.2386, 0.064, 0.3988, 1.7741, 0.9188, 0.128, -0.1085, -0.1398, 0.0499]\nstate[eef_state]: left_x=0.3894 left_y=-0.0719 left_z=0.148 left_yaw=0.0052 left_pitch=-0.1791 left_roll=-0.0119 left_gripper=0.064 right_x=0.4178 right_y=0.2007 right_z=0.0618 right_yaw=0.561 right_pitch=-0.1668 right_roll=-0.0321 right_gripper=0.0499\nstate[joint_eff]: [-0.253, -5.7231, 6.7761, 1.5751, -0.1245, -0.0708, 1.0281, -0.1983, -10.4547, 7.9658, 1.5165, -0.0513, -0.0024, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a92244c72828ba44b32a7a54cbd0ee2c33be47d12bf65608e9f7b563f5d6973",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:531bf82cec4752ee6ecdc3cc124ed66b5a49a8e11dfbb6a070d697f55c460991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:814d754d03086234cbce3c082cd94cede695814357e92716fd6975e3c86a03e6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2844, 1.3933, 0.934, -0.3111, -0.2092, -0.2382, 0.064, 0.3985, 1.9369, 0.8337, 0.3782, -0.107, -0.136, 0.0463]\nstate[eef_state]: left_x=0.3895 left_y=-0.0719 left_z=0.148 left_yaw=0.005 left_pitch=-0.1787 left_roll=-0.0117 left_gripper=0.064 right_x=0.4176 right_y=0.2001 right_z=0.004 right_yaw=0.5572 right_pitch=-0.1646 right_roll=-0.0306 right_gripper=0.0463\nstate[joint_eff]: [-0.212, -5.9282, 6.8718, 1.58, -0.149, -0.0171, 1.0281, -0.4444, -8.1299, 5.9556, 1.6239, 0.0024, 0.0366, 1.1648]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrPp-w3JCw9HuhcLZoTN2U96ZIrH1dtapz5fkW2BnNYWkkVqy1q9JdyUXdZRHrDwSKN35V0isW7_swNkViggCknlnNdxFwPHPH9F2sNt95sk6lYOzmusbxH7yy55-plvWGPo9uYQbW9yqfC12I__reZSPAWVxt4tkiUV9q7WE4tlCeN8CMNeEhvyWBvPmx3rHJEwvwaLoZht8x-25IhXtCVfwS0ROXKou9sBaevLaBWpNuH-vWr84w6jjupRheq6Afkp9oZ7osLWkC5JvmZmaHF3b_6wsR61Xb6pLALnl_cos0MQIuzZ9yLHMaAndi7q92sdCaoj21UoiNqXo5n0vpcJcv8vL60OnHWKHDK1AXQuYd1cFyAbAyDc-63yOUbjNtjkXq1A0nEKu-KwZ4D5cmqyd2iIugVkV93VRFrTKK4uVhZUhiXLCfU8W-3y7kR-VYp2iBsMrhCSvNocwABjna7M6PEmwjbyR9II57a8XMEMlP8o3w-svWiKn3I_54q_vvjSCSS3xMvK7Yzv29p5fw_m4Ti0GPDIHockHGWkGnlCOH2c4gFwjc5K1JS2u_68ClfP8xvMbJSmr9DqJQUkFHqd4NiQdzOyVfjURAfNBQasVGZ0aZRjfQGTsGEY5iu72TMh9ysnPUkEaFyiGxTi3K-QxMZXBWpNlz2x38mqjwMPSQ80s1dvtwqJTLawYSZDEiETTKF49V19P-yuDptkqd39NURCRL-k4KC1QX5BwOBsNSVgJKHMUEzHRZUgcVqbsZDijLc1oLWO-v575pbtqwMt5UgVF5rwkf2olE8VRpJqlAW9GFFC_7xPkyCQmOukTP5-iPlu-ndViiA8so1ERjHp944PqA6H1WAIhDiAnzWygSvdEFkR83RBG22MKj8BavYlo_Ss_7oVVVqTIieLly0lqhy_Uur2QUgtoAeR7m6p2E7JzeFnJRRdhiYyO8IGsArMTlkWQD4_vQ6sL3f97gwWvYHX22ps37EdGa4tOHFJ-3tCKh9GnHE7bYqMZPxZ4BhWaFdloksWNn3dYGkMgXhPPwbCQhmKi4ouSZwCUG3n_xzry3mKC1kRleJXxbqSozUk0TZ0MsetwC85CybjnF9SLyxnPSZAQdrS68WvoV7UKxz9sjVKIIblTleiLhpqeITH_0Lq5-5Lu4DTDQa2vW8M1gW_wlBPlK8GivmU9BvyVsyv-qHErnxsVwlRdcjOfrX4BNrh7hXe_mm7aa-oav0lZsI11rnLvTe4TLwI6uuOmKizS71WGUhtNg7dgh_nQVmcaOuqwYvKvREzx1tqubIusVaZxdlCAGmGjKXL9cAZ8fePmw-fl9wdlQ_6-DrkL5-Gq0fjEYowbsVeTVdUSVhHXZC3IxH5lb__rp1o00kmTJ5YNugwqpV5HVKsFzWYVHMXYhZvH1gNgk0PVFgca4Hz2XIslrus8-dUyLFC_Ai1zziDh2sEXXh_k35cqJC6v7vTXqNE-RubrlvWfImG4YI3707hP2UUUlshp0HrfpJhbiBcrGhyhWwau3ch238smjyF71m_blXbSI8TwuFIU5kwx1XRl1OLuhRBzNq3DWoKbKEh5-DD60mY816SJjH8EL8-CHKwTYo2R0JhCZ7AEz3zaP-oKa4jZQQ6kKcAhzLLUM58c_HkBJ-teBNa7DlqT9ngqQcV0ukcUbLuyrgRzRQjXwHyUnWUZH4KegaheA5Th3GSU_dKtSyGH-WeFUIzjb5EySRRn1oMT14K7bjwx8xllewtxiM2Zhl-1KWpT-3x-0asZUukSSOVC-hy3BMShNG_6am7Gm3ga8UCTST-PV7fiFFQs5TySaTUuYkakqvhLiI2AF9ErRLGieeQsG5X-vh0",
  "id": "rs_0a64081860f960b8016ab2b3e3def887d08e22c92e3ce4d28e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"right_yaw\":1.25,\"left_yaw\":0.75,\"left_z\":0.18},\"note\":\"Both pieces are held off the table. I’m beginning to turn them sideways so the pen tip can approach the open end of the cap without crossing the arms.\"}",
  "call_id": "call_t4u9my9pAZqUZDwQFCSEBvRk",
  "id": "fc_0a64081860f960b8016ab2b3e78de087d084ba50fc00bccb12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t4u9my9pAZqUZDwQFCSEBvRk",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5007, 1.7027, 1.3945, -0.8463, -0.6888, -1.0065, 0.0669, 0.2031, 1.8259, 1.5215, -0.6083, -0.617, -0.7612, 0.0549]\nstate[eef_state]: left_x=0.3976 left_y=-0.0855 left_z=0.1679 left_yaw=0.6176 left_pitch=-0.2133 left_roll=-0.0147 left_gripper=0.0669 right_x=0.4384 right_y=0.1983 right_z=0.182 right_yaw=1.1197 right_pitch=-0.1482 right_roll=-0.0904 right_gripper=0.0549\nstate[joint_eff]: [-0.4991, -8.2667, 8.5538, 0.8376, -0.7643, -0.0024, 1.033, -0.6496, -8.3897, 7.5145, 0.9353, -0.4811, -0.1392, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c213e4d41aae012a8e4c4ca6c7c69e3494a905d10d922bd38879c0ca69c61fdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef5b43b038a0c9a37784b3f5e6bb2f304eaff0f8fcfb0ec2a2fad3c1f0b4ee74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed9d2061b64869bd789c8eba4c6f474386b966008723f934f3442958ac17942",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2844, 1.3933, 0.934, -0.3115, -0.2092, -0.2386, 0.064, 0.3988, 1.7741, 0.9188, 0.128, -0.1085, -0.1398, 0.0499]\nstate[eef_state]: left_x=0.3894 left_y=-0.0719 left_z=0.148 left_yaw=0.0052 left_pitch=-0.1791 left_roll=-0.0119 left_gripper=0.064 right_x=0.4178 right_y=0.2007 right_z=0.0618 right_yaw=0.561 right_pitch=-0.1668 right_roll=-0.0321 right_gripper=0.0499\nstate[joint_eff]: [-0.253, -5.7231, 6.7761, 1.5751, -0.1245, -0.0708, 1.0281, -0.1983, -10.4547, 7.9658, 1.5165, -0.0513, -0.0024, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrPyT4rTDGDE8oXHO9SJdfpUx7j1vtaNPa-8yKD81lY7d851-iuKGDwF7JWvtsnUFiZ4KGJ-TP4pvWGbusUWnfx3SBsliOOwv3vE2T4UAgI7P-2x1vhn0y9g9oauZ8JLo4wv9IKwtmcBEZxWumBrgnCxdlHBe2tsMVig0PV7ITAJyTMFD0UbkLfelWyc36W3zSpkKa9EmFAWLha6LZoHLTSRv6zXhc0DgrcdbV2eZTzVTZYf6i_4ZxRSCpx6EvNaO-ztPKr55aVeGNggOGu5mFSCH47ffkPuLsxfs6j-g9TTluR52bn_3MPHkFOZP8D9yJ8CYfkkBKxr6yCattogakLHknfw3tRqPDBhmSJcQK1pKqJc_3ePttScIt0uL2HMlqdsi-9qtPJ2vfrv02U2gbpiAFIs2vlp4hKpZ1OlA17YV7v7IzvNcBWgckD_TePMfeFR0mjtQC5y2ysXo-_283ZuzSar4IPxwdhatjQMKUP6AegRiXVB7obeVPBEMJkLkNo3LkHIaFrOQfKJ_JctCKqEu9k2QWsWUa1nZBo-B8P0OaAZsyRqjofziULQQIPkl0rI9EY0MGDhrxswoY5ZtTNKvPQjFc4PNIplCBtA3_-mBb7qFzYihNEIYI32DVyH-fPMVJDU7uvw4P9q4hntRRqxI5uXq5ULLOtHMJzlmprw0IXyuFFNBoJo9mIK7ptqsHPRdPLRKqBxdHeYUAOi5X2jwT6WOdZHBzvpA17M6SFWPmDWsStGIkf0_aq1zecL_iD6O__SDSn-S62sbEhsieqMkAE-Cc_3tSZIw9fr5YaHF3UvzeB9KE9GQ92mpXXVATR2aUTzFbXufBL9RmBX0osd8U-VEKuUp5RtcexRxqU4oF6tv-mSd9JhoD2slZylp_23o_BZ3-gb9uNvxfuu5Pecuy784CpuHJUHSSfsZbKa8ckTK8J9SHFkqixaSc1-rMOTQ5f1-EH_NSCAVa5bwWHR9pFTMBtW0woBbb6C3JWddy0qCtvgu_4VRip9l367ZWPUi88XEZKJsmcEGPlNhts05VMHQdaTZvLGWfOxnMhQaCk2k7GwaYiDIts7CpEHbQO3JiJMKH4ZylP28jQsWv95yT8A1TKilJ3m7n5MgnG_qchk74EQQVKXt2C23sZMft2LLQvv2lttjcbHJlirka_wS4r4MV1wUElr4x45SFALOXkKjKj2CBGB_FQqSvJMFsaWGmFRqskoKgFoxtARgvnU6GnehoF2qGx0rBgfvWuEROZaO26470Z3eDq39Ab6zCQhVoPaCrfCKaBeNLl1aP156k-VLGhCIijeuibaFBWOPHfw5GPG2Wl8sWKu3hiremhlUK0fOftVz28mgccswDAMczIPDBmCMs30UPg8B-za07pxONxGLE7gz2PkwmjEfYHezMA0nhHnz5DQtHXyCyprZN9sdAXU996g_MHdYeZU6uZhzB5bqlTmbki3Q62lkUae07_E1B7XTtxIOgXIZLGjjnUaDkxehBGa8PJe3UmVH8K24cUp5Rn5lWXZvm2fgIM8GJmy2vFt8U2sbWA2Oprrtyh8f1ENKBLD2grTEeo2vRG-eshYROW7RzZRJ3KQHiKEg_h2jZpI3t_O60DDiqe_-xUu7k1h17oaYAfQDV2wj9PTnGVLvPJ21DXBpF1Biwtd11xx0hTOL3K1jgUbbcxs6w==",
  "id": "rs_0a64081860f960b8016ab2b3ec528487d0a6ced1f85d400624",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.18,\"left_z\":0.18,\"left_yaw\":1.55,\"right_x\":0.4,\"right_y\":0.25,\"right_z\":0.18,\"right_yaw\":2.1},\"note\":\"The parts remain secure during the first turn. I’m completing their sideways orientation and moving them toward the middle while maintaining clearance between the grippers.\"}",
  "call_id": "call_xOHoHW9NjYGdxwDG3CBujVpi",
  "id": "fc_0a64081860f960b8016ab2b3f026f087d08019c79bb6352a47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xOHoHW9NjYGdxwDG3CBujVpi",
  "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]: [-0.4904, 2.1918, 1.874, -1.5417, -0.7059, -2.0457, 0.0704, 0.2901, 2.3245, 2.212, -1.4979, -0.8402, -1.7618, 0.059]\nstate[eef_state]: left_x=0.379 left_y=-0.0684 left_z=0.1114 left_yaw=1.4079 left_pitch=-0.2469 left_roll=-0.016 left_gripper=0.0704 right_x=0.386 right_y=0.2563 right_z=0.149 right_yaw=1.9641 right_pitch=-0.1776 right_roll=-0.1032 right_gripper=0.059\nstate[joint_eff]: [0.7179, -10.8239, 6.188, -0.4762, -0.5299, -0.2173, 1.033, 0.7726, -12.3282, 5.7368, 0.1587, -0.6374, -0.0904, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb91bdec17d6046aa30df3c9ff9d10f0f87ab3d72d92ba3d8f1a10d82718cdf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88dfd51fed7675b433b8c0497299b6ebfad37b0020644e78aaf1a757a175e881",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5c1881c93dc598c6c7b219b39b92bf4b1ccf7943304d9ca061f62a53e3a49d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5007, 1.7027, 1.3945, -0.8463, -0.6888, -1.0065, 0.0669, 0.2031, 1.8259, 1.5215, -0.6083, -0.617, -0.7612, 0.0549]\nstate[eef_state]: left_x=0.3976 left_y=-0.0855 left_z=0.1679 left_yaw=0.6176 left_pitch=-0.2133 left_roll=-0.0147 left_gripper=0.0669 right_x=0.4384 right_y=0.1983 right_z=0.182 right_yaw=1.1197 right_pitch=-0.1482 right_roll=-0.0904 right_gripper=0.0549\nstate[joint_eff]: [-0.4991, -8.2667, 8.5538, 0.8376, -0.7643, -0.0024, 1.033, -0.6496, -8.3897, 7.5145, 0.9353, -0.4811, -0.1392, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrP-fMrMjYT5pnW2oKeFZPgsmNriHC5Sa73q2NLpqLV2CSVxnles6bVl-wmJwG4EtRairPO3SejmTQQb1oETcK-foHdI149H1CAC9BJ8UDlxcDCC_fQE6sw7M7wOTlgHpDzXHWwWR7spyD5t3V4KFzauTvOsryUXjg4oFb_XcvnoKIpodaVEYuXr2Bw7baCELWH3VyONgkFsVdYKmtswXNioJWmcVBel5-CqQbeFc14ZZ8R-TfZyRSncvjT0-TUdkAt0iTYgDk8MLUnrxaYbVCJTBkpfu7axLepOpyZwAYE0Boi25vfMUPjtgdWLmVMfJQAdheqS-U4uiUvLlD6oL6kbH0RYAdRyi52FRDGKJ-SBQwE5_e_uuIuf5X3v4oehH-2t09dxoHpHk0Ut7zOylWHopvbhxQHt0399CWEXVZID7yBPt8Ykm8DVlw1_5JZiCRDwlCD2jsbFNXxIf6qBCle8EbUcm6-NijcDvH3sAcKwsKDj1T7NS4VRp05v73QIAjrPdzlkRlfpB9dEgJQIoxpLHN_ZgYI-tFIX5GAF3mBAQ1hcNRFwoS0S4b9-57OvEsYW_5L342xXi7OTB8YC5gVb-38or2wTiCc0iYJP-g7Q7H8j1xOySWQNksHmgHKloHBfQGulnzX1BVgeesIk-jTh-nEnaIoI2BvwPvrsEsr6JMEk-O5ZxnCe3XYXIJ1Fwqz9NOEzpMgfPJ1ZyMY7YtCzWCN8tjUzDqNocO1GbCycu-EsQLqDCU95AfCFlFDqadLxAW-F0Ses04Z0dIKXB1SlJf0GsgwHpLNLCiEgjseZzBt6HIDQahl9uY3gM-cdxWq4GndVZIzxPY9C8gnlwTyzvzZjHXjZ3aRR192_Jn64mE76EvxCtFI1oJ0SdXeIuGKvScaeFu3ZhCQk0yip_N-mtoBIh8pu3Sbw_9rhlKew390W7TDxclAr3ju3FyYkikPrlh_9F1HZ97YeHYfHTARuk5ibv2NUqxj1Q6xG25CRSdl2Sk7KfilsgdS_lNhAkHXy9bMGb-4mXDzSVF2rURoLW0LIgJH34-WUQp4eC57lW1txAw3Dy_rOcWCyZXzZik7iued5yPHSt1owdZ9SjqceT3V-kXPPt1c02qJDqV6BnA14JgSlPO7IAepWJ8roLkX59EWT9N196nGaejxUFnASeBLVHOfxSQpBbZnOUprM9gPEHZK5Q4RTaqYHeFoly96-Zzq5aQMXvrEQQVfgUVEWsjOTv70RVgQb5wcXHHiv00tJMGjs5FGUSeiVeBUXtftqJP2vQVuWaavPlueyx6woxaqyj60x9WNCgXs4cOrfRuMee-vQDTcwPnJy9kT9CXHijz6M8R318S-dinlpSmjdlxhqtnRFhdgHeI-7jWWRsSjPrN4OeegTAouyqmeu_9OLrkZnAkIUJqOjXCYQzi29xbz_6ZGHwbNus0BrYpic_mssdmf94OD23L9Lx7j8zxB34HrNrktlE_OYvKHiLihghdbkGzN8TFHhtVrJrHuHWEo1kRlPcNYCiofLhc8fSEXF7HXYrw7vP43TxQoLV_vszaJMtghylsX6Ek-tfGf4TRxVk12Vbok18t_hvsZp6WjibyW8cDPotvc0yx6MX0OG4zGZi0BBfxNvwTn0UGA0KcxCDu4HVINDBxMOkMgm8rxoRQf_Qn1vBFQaf-Mcw1nTL3wjfzbe0FsffCXzsPelcCb3r3trg0O8W_1bN2QaSqvqOPmi1o5iVzgQgdI4NCZKdFERP-jT7qRYldpXorzriTbxNPPf2Mf6QCqrt5zrcGaynC3Y9i0VC2bFkv8f2yDkIRJVthB4XZ87I4WX9GDO1lFiTR_2r9Wv3OGJ5_9zkM7N5CS5M7DzT3T_ZaHVdHq4GJXQ2a2hgSkSNw3Hys5JjqeLDU4yhLMSdCqZrh6CHvGZO_JzQgtUr7j5Au_Hq1ibWdh5Wj1qlxzUNE9HCRpF6rA2lXxcfMJFGcG0Dn-FqG_LrKT1oIi0XEFp818AvajmmPbxIPjhqbucM75kzXjsPDZGGRSRJSb-xuFFc8filoOgZaBMXGrJT9tqEHJv5FJVnYSreF0XWJ_cOTG-JFoF-7Ka0HwgMRXzSTNa3R3NPKwAyDrvbKI57etwX94VrhIoYJ8dc2-q1wIK5gsJ_VXYZXdBtjA-L6WnTx1-GBijhhbTCCySDKOuIrfU8raUz8-zBgL1NT7E1_v6hgGMfQO2RHVMfnhbbZ2p2oE9OUpzTk41AQRu_4Kfzi_kc5n53Z2z_tkihLVpG5m3KUSzijBrV5c35r2RClfie5ZNV06w-3H6-gObxNEDeNxR1i96llGm8A==",
  "id": "rs_0a64081860f960b8016ab2b3f4d6cc87d0b51214cfcd3e00dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.24,\"left_z\":0.2,\"left_yaw\":1.55,\"left_pitch\":0.15,\"right_x\":0.36,\"right_y\":0.26,\"right_z\":0.2,\"right_yaw\":2.1,\"right_pitch\":0.15},\"note\":\"The left arm did not complete its inward move, and both wrists sagged during rotation. I’m correcting the height and bringing the cap inward while keeping the pen separated.\"}",
  "call_id": "call_XlIEaywfXa1GMqPkc4XX8gYZ",
  "id": "fc_0a64081860f960b8016ab2b3fbed2087d08670c75ef586e954",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XlIEaywfXa1GMqPkc4XX8gYZ",
  "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]: [-0.3676, 2.2467, 1.8278, -1.5581, -0.9897, -2.0933, 0.0704, 0.3218, 2.2936, 2.0247, -1.5482, -1.0306, -1.927, 0.0626]\nstate[eef_state]: left_x=0.3969 left_y=0.0092 left_z=0.12 left_yaw=1.4631 left_pitch=0.0422 left_roll=-0.019 left_gripper=0.0704 right_x=0.3373 right_y=0.2759 right_z=0.1469 right_yaw=2.0693 right_pitch=0.0325 right_roll=-0.0592 right_gripper=0.0626\nstate[joint_eff]: [0.4034, -12.1504, 4.7658, -0.5104, -0.7497, -0.0464, 1.033, 0.1846, -14.5983, 6.8444, -0.315, -0.862, -0.1099, 0.8864]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8db69ac6ad3a399b9a1961e82d3f123ddf6a45da1a7b3afeb0f9c97e87b12d41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30610e56962e28138768b4704ee99fcd5264b6035846c3fc9aa38a16a6bfd5f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9081db6498a903b6006be3c7faa264cf662389a1302780430e5de26cbb89c8d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4904, 2.1918, 1.874, -1.5417, -0.7059, -2.0457, 0.0704, 0.2901, 2.3245, 2.212, -1.4979, -0.8402, -1.7618, 0.059]\nstate[eef_state]: left_x=0.379 left_y=-0.0684 left_z=0.1114 left_yaw=1.4079 left_pitch=-0.2469 left_roll=-0.016 left_gripper=0.0704 right_x=0.386 right_y=0.2563 right_z=0.149 right_yaw=1.9641 right_pitch=-0.1776 right_roll=-0.1032 right_gripper=0.059\nstate[joint_eff]: [0.7179, -10.8239, 6.188, -0.4762, -0.5299, -0.2173, 1.033, 0.7726, -12.3282, 5.7368, 0.1587, -0.6374, -0.0904, 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": "gAAAAABqsrQIKtMcitaJiU-s7NFLtRG1RD3Rf3rdsCPjbRIMWpEzsiJfvlQCJegzG0dd4Y8QnEOXk-u4wjoFRCnF2QODfS82aKpDPck0Szw314D6H65cMbhMJG7rBIG9EKe79LaWaW5G59P6rONZTBdPZAP5RZWYppTs4dwrQbN54vXyY_NhbY8QtF5TW5Z16L-50D2VQ_oBV1uhtNYq-DGLsawd0ansAR0g-ePzUQIv8aDML1Y_hR8xHB0jv3QkIcPZL9COojRElg2z7O1GKHr2VrdeX7qpA3_4yG6hKGHZwV5xNUP1BYtrmeDnazv3vOZbEqs63Vvr7_nCVtpn3Xl7ZJvfnsO30hiBeM4dUkJhG-EA6OIRthp5tT6yeCzrFtYzRKmqJD01n_on7E_xEK4Bw5V1MsBPUZb1MaEDpfRdTomL9xS2W4UK5mvpwo6TaVsLkwNPc6bhXGwSEArhlZuLYrycPop99YLYK7RH47DZhmn2eNbtZB5TFrBPvIhzciV2GO_0Dvy_f8HA55QphPwPrHHFf6skeX82umVm-zS9Uj3fJjOK8MH4DKy3BQo9XtvPpigT3fQue0RAmH1pJBQahJqQ8MaG4bLYlz9LYA_kaUCnmJ4DjPGCUJDtNiNHlgipPSc5O0zSnSiMIFwmro9Tpt54XbfsqiGoGIhScdrtLb1kMipwsMmrpZ_apDCIl8IsifVqneByZcym4Mn6xLVbxV_HPBPe5LPE_zD3WUvaT99fZy3PkVDleEqy_QpS9ad2i3WvAwUooSbPNwOvuU9W0yJ2Qjx-WNpXDzwBlUI8TOg87l8A39niggJ2lcZydToBteip2IncB65ZL0cljw7FXMaSKc6UO3iUkTscBEJ7JR1Cfo8wtfglbHe-2o8o-6npN7iftYu2jqK6zI4L3DHuy7lrsK91vY-xrzEgPg2yF_fqYRCEUirXk1ATVtedzNEq1817OYU56SGwcl_AQ8qQH_q5LSuoahJUoDDozr0j9xrWle8L1eShZ11lpFhDlXvh-Fqou3TwMX6Egk7M73FoaSzcvsnrzCFPXG_F8c8vuHV_wxi52bnD191_bAphuhwIsLwWOAzrJ9ZJ7sv_TibPRxuAEtvBoFxJfdNCP8PWzPClteXOqmcoxSn0-VfQuCvgDFcNCjS2l9jyvthP9tjWK4jQ4ti-IWX3gbTxCalpdOT8TJXb67wEwkcKDVX8R2gEXN1CbqtpkFNTtqNDUGPAK5PXs2eBdtul6mn3SWT7fd6cjAqIsy0AiUh4qcain9e4xciRQzuNfCGHLcRXPBD_E-GV_dNxOKbd2LK7SaN0uTViM1xj-1JPt7-W0rxlo8ejRqASKofdEAk0_zbEf_jm6LzaItek_kipIYMC-Z8Y2QQazrrdrYYTPfcEmf-XJHCYcgF4RN4BsH_MFQW_elnCJ1j-C6fYjJu3xeY2_L7HGAnyUZdzoREksVdzX2XvjqKXT8vvrN0xouHcKf0TLBOiUaJmNszT-CJ4LI5mHtpguDRBdrMBJmQLK28-14tZUmS0-HT6TioQrFiY0w1_K7_wIsXAvElZZoURvhbSUuz8gDz77sRh0h6QstAFMssG6XF3WFnAygy7uZpwbOjUTHD2099IvNOEtlSFvvjnVYRp_NKI9n8hmHr0LMzQsATKjkUk-_03w0zW6dUJ0zCwBXgO2_CphmMAprF4u7VxYbFkRGiTbIFoorg=",
  "id": "rs_0a64081860f960b8016ab2b402a3ac87d0b2cb3145659f2ab2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.15,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.3,\"right_y\":0.25,\"right_z\":0.2,\"right_yaw\":0.55,\"right_pitch\":0},\"note\":\"The sideways orientation is causing large tracking errors, so I’m returning to the stable grasp orientations. I’ll instead align the pen behind the cap along the forward direction.\"}",
  "call_id": "call_KE52QxJn42rsGRu2sKJVi2Wv",
  "id": "fc_0a64081860f960b8016ab2b4066ab487d09ea26c670ba18047",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KE52QxJn42rsGRu2sKJVi2Wv",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6506, 1.3087, 0.939, -0.3908, -0.6132, -0.5579, 0.0704, 0.7624, 1.2629, 0.8497, -0.189, 0.0536, -0.0502, 0.0641]\nstate[eef_state]: left_x=0.348 left_y=-0.1326 left_z=0.1867 left_yaw=0.1315 left_pitch=-0.0282 left_roll=-0.0266 left_gripper=0.0704 right_x=0.2874 right_y=0.2663 right_z=0.1807 right_yaw=0.7373 right_pitch=-0.0469 right_roll=-0.0699 right_gripper=0.0641\nstate[joint_eff]: [-0.1436, -6.0786, 7.0906, 1.8388, -0.1832, 0.2955, 1.0134, 0.294, -6.5573, 9.6615, 1.6532, 0.149, 0.1587, 0.5201]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3757b8179e56574471579845bbe2c1dbf304c0b34bac775a4a8d4da2706fca4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faffb74f8c23b9ee343dcda64ed95d17a24c7de86b5cefb90b96904b100dce90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa3b65b91f54f1f3c4f56444e2e734ba13fc4626e528e4730703a61a6a4de7c1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3676, 2.2467, 1.8278, -1.5581, -0.9897, -2.0933, 0.0704, 0.3218, 2.2936, 2.0247, -1.5482, -1.0306, -1.927, 0.0626]\nstate[eef_state]: left_x=0.3969 left_y=0.0092 left_z=0.12 left_yaw=1.4631 left_pitch=0.0422 left_roll=-0.019 left_gripper=0.0704 right_x=0.3373 right_y=0.2759 right_z=0.1469 right_yaw=2.0693 right_pitch=0.0325 right_roll=-0.0592 right_gripper=0.0626\nstate[joint_eff]: [0.4034, -12.1504, 4.7658, -0.5104, -0.7497, -0.0464, 1.033, 0.1846, -14.5983, 6.8444, -0.315, -0.862, -0.1099, 0.8864]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrQQ-Q_kO6MBjwFuUeKiN31RTPM2sxdza2sNprkMSRvYqFTtxaTrks2XurJbJKxDXBzmAxowv4JyOaNE9B4U-kDasYq35jEW0uunc9xBFKRqpoNnJIYu8lowAXJ2fGtUAmPnBDA8Pa9MFBpcYa0Pr1D2eIVUwJI54Mux3AGfXBjkmn3vUi9fBaFmb9j1zLHRCPAJ_v3s5Fw8Z4CH7BojIgKpe7cm3fOPGNwz9N_gCXbsda6wcZvR-F9i9ZnXNmjzl-cA7GL9XFPfGxwVrQaDbG6A_Hy66atllBvNRafIst-rBAsS_4b3eQFlqZUVD59l1lB_rO8_wnZReWtXUUc9Q_WlVC9GL8Qd4D7gWDQkDQhUGqZlcm1nF23DExLuw7W7w5Lnkj55fjut5rBI5vPKBnArIJn27rO3q56Ah12mSvE3IwizggQv_-pfADzfBiie9rKVWNeW2BMViqIlen0heQnI-6GxKVx__WEHjgkifXz12Kawp7ito1QaTILiIrD4nupeUDfe_9uCaQoTRO-sZFjRkkGcO0DMGi1Viej3WgOEyxqqEjFKUDt2t2a2sxWG8MRnAuzgrN-a2qkt04ta87g99jB0naharFJYsi5RH_n5_s0DYcG7SnI3jiT4GtJYDGqM02vO0r6v1uBw1nzhwm-V-ZEOflZ2PUMVpHIWd17ANDpqcRYprJ571V2MBB1L_1fzPEgCg9OObp8yoxbW84tvPdx4baNe4oYX-EDExpeY9ueERAKka-AaXVJIJO6x7iLXgmKyrbbUZCpU7fVrhX7NtQH3qztEiA0gkHpC3T8xcarPX41dikR6XWtoOUByXR7Z7qQEsDA6YDBLzLhD0lKHKdUgotS9unW4Ae63wMKlmxkUk_7SKKEG1WECRaOKsnnoXPqIRw4PmTwiaJ5R0FotYlROUaKFiQarqx2hgG3Kuy5CZoLqwyYCEhLPdi-TBs4_uE9NtWymiNIstxU-gH2G3MJ04hcuQJp89vHqgSK8mDhDlIWKCLJjv-RIYUYZbGABQsMip37R4xrNA0M2Wb47aU0O3oap-iaI835PuTMZcaWzYk-6kYJ-n5qRlEL9rcRrxx1EJWw9nfIEdynr2t3ZKhlrRkp6A8Y9uhl1R6nHW3dXNIj9JEJGFt2sFk2NDcnZMkTS8KB1728IUTw7cilDFILzvFGYh-CqRTnYRgb1fjk78j7-swi9CSYMSLBj8AdwDzDEM7LHPIupeT4_Jdvy0g==",
  "id": "rs_0a64081860f960b8016ab2b40e1c9487d0a209b3baf88e34a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.3,\"left_z\":0.2,\"left_yaw\":0,\"right_x\":0.29,\"right_y\":0.34,\"right_z\":0.2,\"right_yaw\":0.55},\"note\":\"Both arms are tracking normally again. I’m positioning the cap farther forward and the pen behind it near the centerline, leaving a gap before insertion.\"}",
  "call_id": "call_h3jSSJgL2WnxalOcFQCorj7K",
  "id": "fc_0a64081860f960b8016ab2b40e8bf887d0a0be3823130dc551",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h3jSSJgL2WnxalOcFQCorj7K",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7219, 1.8683, 1.5486, -0.5957, -0.6502, -0.6048, 0.0704, 0.8913, 1.4761, 1.0756, -0.416, 0.5697, 0.3695, 0.0666]\nstate[eef_state]: left_x=0.4312 left_y=-0.2324 left_z=0.1775 left_yaw=0.1198 left_pitch=-0.1141 left_roll=0.0674 left_gripper=0.0704 right_x=0.3189 right_y=0.2488 right_z=0.1752 right_yaw=0.2136 right_pitch=-0.1093 right_roll=-0.1189 right_gripper=0.0666\nstate[joint_eff]: [-7.6103, -6.8034, 11.7265, 2.6789, -0.149, 0.1245, 1.0085, 9.7299, -2.359, 13.2718, 2.84, -1.9756, -2.0635, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc333c1772b6303c65ab70f692bb2fd4644d87346eaf27262496f1fd67f4ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef1cbc8ac234cd917653ebbb899e15ad4fdb2401d3c2359a0b1fa3c950fd9b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72df9389883b1ff9f27e6252426d4e9da7552fe94f22f52f7e5e16412a51aafd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6506, 1.3087, 0.939, -0.3908, -0.6132, -0.5579, 0.0704, 0.7624, 1.2629, 0.8497, -0.189, 0.0536, -0.0502, 0.0641]\nstate[eef_state]: left_x=0.348 left_y=-0.1326 left_z=0.1867 left_yaw=0.1315 left_pitch=-0.0282 left_roll=-0.0266 left_gripper=0.0704 right_x=0.2874 right_y=0.2663 right_z=0.1807 right_yaw=0.7373 right_pitch=-0.0469 right_roll=-0.0699 right_gripper=0.0641\nstate[joint_eff]: [-0.1436, -6.0786, 7.0906, 1.8388, -0.1832, 0.2955, 1.0134, 0.294, -6.5573, 9.6615, 1.6532, 0.149, 0.1587, 0.5201]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrQXcgNsg8_4XvjNJwoCm67CaXebGfP7xdbrvpRYlTZLls6_71yvusLSVWUufxJokJ_n4On3FC8H_n56qFpT8ha67fiB42NIDeUoNixG5zlY4ftmvMeEPegyrnWoFzCPFJCLJKRxhfQBeCs45lhaGt7WjxeRzN1phcWyHVNECF0wB2CM2LYpc7sIb5AcwsEVEeLb5Y01TBKZn7fsst_dm5FuF169TnTzVz210namCdzZ22SdLqr-qsrq3XJjrv4Lz202d-34flNsntGEA_h2OvKYsrS_Qt0BC9-bf6xV8CeGnngWAOUArkiXKhneZvmO6IMHBkUDr7AHpzwehAisAkkQu8xhTFvrAeM0bDJybLtkeEjbUdwNYW69t3729VUUrtXhdQT1s7CRxUPAK-k1NjCXr3TYlDBN700VOThqbQGuXYaxv6v_XLeiVczqGf7lqcvkzglV0Nm7UtjZMrCMR7ofabMXukvTiRR6AZpSxduoxBGKLXf62cm4K2KoOyKQ-RY6kZAgKacse4Dnt54pTrFF3W0_z5EzYAZPcTcO3etkRQSLojLZ4bSatRpSGvrIzFU785OUaAH3uGmp7iPOP7YYvFCiNBODIq6Mhl-bAXgNF4uzl8dsNRTfUqDgH-oiy5AConnOl9W360NBT6MmQC6GAza4FX41Vp_mePkY15bu--sZ-5-07zl4NqVOz1Jo34h2qUuJDiwVcBNhdxfegghhAfe-t9mJaIA2vumF5DIloMnUPgJThHSHfZ6FNzW5in3lSmZ8RK58R1-7D8TKcUFKrGVF2z0PzroeNryU5-mjdeLRT53FB3PWnlMnskHjjFFPpbgO9oPBI0yNAgAXqnQrjKlItBhHLfrsn0l5Qg0DVw7a-sPsLk33kKxAVSPqolhwXX9NUDn6lPFbFMeu3snAOy9d2GKXPek7gADHs1HucQA3FlUvjtSS81NHR_3F59VvfIOfXuGPiVL8g0-dFVZDLdaU1hMJ0Pif_LG2S6vbwLiFqHbo4l1trUeZ5rXlvEVKjK9Z9BK8GIwN5MmCPmnKlL0v8OZ9NUKQHgO5KaJSXprEuVKbeghBTU7q1JKmTeMLwIBSnrRoMz3SV_UPwBJeG3o8saq9F5dvMEe-ihpZXBHuaSQYlTrT6_AD-bIQ5hHOVQ4Xrni-pIHzuF9ideeIvn-tMvRIL5-UbfGE-aYFAauHt5763wsZKlhomfOXhqli2YGi_XekBs4iOOi7hbbNrXfai9CV9MqJQAI5ZckqtcrdY_7lLxWIMfJgxCtCjNRP",
  "id": "rs_0a64081860f960b8016ab2b4145d0c87d08301e30cfcb01dd7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.18,\"right_z\":0.17,\"left_x\":0.42,\"left_y\":-0.23,\"left_z\":0.22},\"note\":\"The arms stopped short and joint loads rose sharply as their bodies approached. I’m backing the right arm away and raising the cap to restore clearance.\"}",
  "call_id": "call_3WBTZat6zmF0xH9E1YPcxsHU",
  "id": "fc_0a64081860f960b8016ab2b415374487d09b662fdf41435200",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3WBTZat6zmF0xH9E1YPcxsHU",
  "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]: [-0.7383, 1.8767, 1.623, -0.746, -0.6506, -0.6289, 0.0704, 0.9314, 1.2449, 0.8623, -0.4843, 0.5999, 0.4232, 0.0699]\nstate[eef_state]: left_x=0.4188 left_y=-0.2316 left_z=0.1833 left_yaw=0.1258 left_pitch=-0.1681 left_roll=0.1133 left_gripper=0.0704 right_x=0.271 right_y=0.2034 right_z=0.1619 right_yaw=0.1992 right_pitch=-0.1298 right_roll=-0.1267 right_gripper=0.0699\nstate[joint_eff]: [0.0342, -13.7094, 10.1949, 1.3065, -0.442, 0.0562, 1.0281, -0.3897, -3.8222, 8.0342, 1.707, 0.188, -0.0513, 0.6862]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2112589bee60d8c340101628cbb2351e1578f7c81a7256c9d13594bf787b36bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c591fce2676fcb6a6930e13aebfcb02732498ba5db55e3c328db48983de3b9b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2619d1b2839c7ef78d99e093a494cfb5880ae430e4d43bd5cdd6cc9118744fcb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7219, 1.8683, 1.5486, -0.5957, -0.6502, -0.6048, 0.0704, 0.8913, 1.4761, 1.0756, -0.416, 0.5697, 0.3695, 0.0666]\nstate[eef_state]: left_x=0.4312 left_y=-0.2324 left_z=0.1775 left_yaw=0.1198 left_pitch=-0.1141 left_roll=0.0674 left_gripper=0.0704 right_x=0.3189 right_y=0.2488 right_z=0.1752 right_yaw=0.2136 right_pitch=-0.1093 right_roll=-0.1189 right_gripper=0.0666\nstate[joint_eff]: [-7.6103, -6.8034, 11.7265, 2.6789, -0.149, 0.1245, 1.0085, 9.7299, -2.359, 13.2718, 2.84, -1.9756, -2.0635, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrQp7ECPcK44xf0Bl0zmebGJUmpgSLJkv9EtJoIMsOihvnj6ZhSaoCj-fU1XCLnHW4i1Gdt0CfB4_pqHYPbDbXFw7MeIU1Ue7ml4SoeC5vsPQWisVrJDd_ZseudsrHsPCgEj5yLwYp04HZ5P14-CUqr2lsMClSq29ZcXs5piV5XqPU9qv5JOSqpCvsH4Vf2EmPMiQwJP8C9pCgLfemf2nKsPmyYXvoffEEu2xPwgVq-h0Zaz3lLPHEQscrYLHdJ7VVedqaXSUXBX5TZay36XlMXYVTrBUDN25eppJWb7JE3pbdUcXYYXexce3qkppm-nqyu8-YXCJLBbOTSFGI7qyozunIenZVc4n7HzB7CiBayrDRoFynYW3Vn-BDNvGMZ7u2MxZwz6YDGv7O7G14kUJp4bD3eHaNsC4cEK-nsNdwUgWfhjVBQlSsjlwEvKE3pGeLpdKHM2gFKO8_ysjiqsGB1V5pmHanC7v4hRbuX5Sq8DUF44lqMm-cDRRvL_GXF0eMqOuZldN-fo28cjqqNr7JjhIXsSggN6NQfj5KTTJma8AktlHjHqUr_WSgEddsHLl32_1S6QH6IPjIMZ1D_Ku6SiGMKz3McQd3jQD0RnNzq9tDwsb5JSm_ATc7y3VDNU57NtmnijoNyhs5U81QPdwBgWIcF8w0cgDxFLGmsFpP4mNgCXq0PA5NU6BZY_3e-Z76G4baJteLKnBz6u9utjVvpFYlzgzCKp2-tiiUqpjy8OibksqKoj3D827q24f9cmVTyj1ePC-1dqLEgMm7R5ksZe_ZAf924gq9vBcnskUac0x3Dve71M2GbDlmkPONQaD9Um1u2VZh3eQ7NOZYADiynzaES6QRE9jn-Y2zHc28WpCS3YxTdv-kc45RUZ-H1iLaXArI585poLj-Shelth-BOIA2nyH5K93ZiMFQjbv11_k6diaqYAhByzoiJktuHhDH3rNtvsAPppAD2aGkDy84ryGgpWgYPRjtA1hHUpV-4Q-nTzqiSk8YCxKALGW03uE2O4YRQB3erCJycMTsRvL_UYeI94Kz53GRNdjQuZ7z0wkZSW7nO45Ct5xd1iv8W8Oy8Ho-N1dukxjTQpaUyR0z4Py9k_HMa0DCWAe8A-oU4exbeCQicy36sJYUz9MfLpUq9zXQg6jOdFm97G83aHfxGymr3WLMkL3wRvcREIQ1kOd2b7Mpb30rKxPg0WDWoIb7zGKrYwy0NZkqGY5PuaZXlW4wIYeJh2pSzCfGKyyvxo7HCq_Ha2o-yZrqHJeSgDuUhDUU2_dNMz1Z2z-X4zqsDsafTrJbyRDrlcEoS6chNNzP_EbM5NAgKc7sVGzvrYOWwTaGEZ355UeuZywv5UUaX_g6uYE2f5nSEDSsofaexgIiGrDQDeA7TSAMSNf17sbF9qWKj0sjILzf55BFBRt73HZUxRyV85R-7hLdqaEabVZlIQ5d5dgQPOt6KniYnvtefRqAxG8o60wLrc4eZFX9lOp3K1h-A_Y-1DzDcPyshHGthN5nQJUurijUoq8fNlwFVTJFfQbeDACjtJLLNYwYcNKZaGXnyXiPksulGrJSdHNzr7R4MednYgiz5VGc7e8Drj82OGY96S0Z19a4oIQLE8_KHHco5Hof8CcjuQMcQuXk9rs47eyQcryBmoN2olnGOLcMxayL2TUuRL23j1pwA5RIRqKEREtcnnd9WygSFIMhAf8kvP64KGd84NUqaHLTw07UKrEFiGTlBnkSIdbLz6stweEDQUhSBzlC_C2uEY3qLrpNwV4lM1bZH-7h2l47PsuDZfvO9Io8zthmAybSkBmOTGGsIRundsinRNHF1P8hjw3I7jYJ99_pdHw3ZbSGKutJMTfkoSWf--XUfi-M43EyEA0-drpdU3AO_7f5rk2fG_dUM_W8WYvnWl04Ink3n2732G8uhSyKsbu9DTUmDxwd-K8_pu290_jw0WnsW2Bk2rHKx9rXQrw4Mihv9pQKTagHGHdUkaHLovKAf1AuXb2dkT8bq_a-LnHdMYXr8cFMYH7Ze0z11Xo4NGrGit0_PcHAUzCs9AAZ80_uiuHbkCbfMKLpHk4xexiPuIZPZLFKCNIrmz4zQOmCD77TPfFEuucXE7dM50rQSmZ2ImLatA1hCQZnwIOwlBiR2Yp7fvZNDDoZPypo8XGgSddC67oVTypg20zI-789q5vSyWwO_KKMoI_k5QKi8w19uiVtBcX5GBkizpwgSSSYkKvQNFAIyvGo5P1S1eN_7_vhOt0hVv0I28Z20fwQEZswSkrXmbt5hz4t-FjqCV9_ZxzDRQdaVCgXj7A-VkUFI1XxIKqllqywsn22e4Z0sQm-9DqZB10KpLWthyZTMorr59R9kc2GBC8qd0ekHF0Yw86-zPx5VeumyiytVU5D9Sn1hpHM0CvGHa8XaCN0IenzrSbhLkyqpKAnJgPhEa84DHWpjjDBIdsr1spfu-5Nwb3hCrqyv8UdpSNbAWfhxQ8BZsYk8BZ36XelUkU4xw5lg94G7rDBg9K4z0lNeCp9tfCDcPeValWlaAwlwSuDg_lxIT2gvGNpzfiOhJMrhTRi1o_i0Pyvv8eWtSNw7nVv-_ym-R_5yseE_gCbsHizl9218mE6zivZtHwyONjMgRZEtDtNjt_x8cnbNv1xqVjAB-BEI28rBbQurYuEBWWsGY5_Rg03n_FYytRodVyvQeIy2Cc80A_Opgk1RlqjUuCsglEUmrxHLyNdE2YjqBoWbA4i5Wthtmfz5pTFmBKw5B9g60P_3J946glkHpD9bcTSUbzhU1i64dYoA=",
  "id": "rs_0a64081860f960b8016ab2b41afef887d0a0c0f4d876bfe4c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.25,\"left_z\":0.2,\"left_yaw\":0,\"left_roll\":-0.7,\"right_x\":0.28,\"right_y\":0.24,\"right_z\":0.2,\"right_yaw\":0.2,\"right_roll\":0.7},\"note\":\"The loads have returned to normal and both pieces are still held. I’m tilting the wrists outward so the bulky gripper bodies stay away from the insertion path.\"}",
  "call_id": "call_OZAnaI6eDMtrYNDwrjmHDuUg",
  "id": "fc_0a64081860f960b8016ab2b426c0dc87d0951cee658137391c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OZAnaI6eDMtrYNDwrjmHDuUg",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7383, 1.8706, 1.6371, -0.7723, -0.6506, -0.6285, 0.0704, 0.7715, 1.1488, 0.791, -0.2691, 0.1719, 0.8394, 0.0699]\nstate[eef_state]: left_x=0.4168 left_y=-0.2298 left_z=0.1882 left_yaw=0.1263 left_pitch=-0.1721 left_roll=0.1183 left_gripper=0.0704 right_x=0.2768 right_y=0.2321 right_z=0.1802 right_yaw=0.1966 right_pitch=-0.1705 right_roll=0.5756 right_gripper=0.0699\nstate[joint_eff]: [-0.2256, -12.8342, 9.2923, 1.243, -0.4518, 0.0366, 1.0281, -0.759, -5.5453, 7.1726, 2.1563, -0.0562, 0.1392, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56dd4c905eef07c4cb157a41c225977c24ad1cca9a590abd0bb53f86ac6fcf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680b112a5a391a7a71333e6ecab73cf065b4d36a9ab6079303647b932601b61a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb37520db5b24d8ca7d58707883e4eb42cfd114e366ae26608725aec9aab74a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7383, 1.8767, 1.623, -0.746, -0.6506, -0.6289, 0.0704, 0.9314, 1.2449, 0.8623, -0.4843, 0.5999, 0.4232, 0.0699]\nstate[eef_state]: left_x=0.4188 left_y=-0.2316 left_z=0.1833 left_yaw=0.1258 left_pitch=-0.1681 left_roll=0.1133 left_gripper=0.0704 right_x=0.271 right_y=0.2034 right_z=0.1619 right_yaw=0.1992 right_pitch=-0.1298 right_roll=-0.1267 right_gripper=0.0699\nstate[joint_eff]: [0.0342, -13.7094, 10.1949, 1.3065, -0.442, 0.0562, 1.0281, -0.3897, -3.8222, 8.0342, 1.707, 0.188, -0.0513, 0.6862]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrQwEVFhclzHmsfQGeYRiUNeR7FMMmUejL8V5KR0s2BWf6lH8vv8xCcOrCaYfGh_zU5bZsGjTQAvrbAmHbHc-1vgFymstbZi6T1AItcBLDCV6ikpH5KZOOnGgYC1YFzjCD8N6_nbcYiF6dVLaWmyvCbz3E4iGoru497bnVioB4I2x62ifgse4vNnaykFPBLJsCJdcentGRhxKWz3FXB21fsdRsKTt5qEr3PH0sm_e0ih7VNU8xM2B7BTBpKd1PMhJ4EITSjoq_WtINGEDcaWi1Hg3Wcm9c-LD3sGwmzdSTYUA2yBVIoEqiYfAXZqfKbCBm78hO_ZLH5pQHUg421Wfmi5SR9XA-mnT_fWU7ECfwxdlAglTn5zcHCwg_1DXgYIx5ADeVLUCoXJGj8uMWeRBPsPtT5n8wK_r6Yu9Aq77wrODiSrFEpFUfw0mFrtqXcKE5--qnD0VvipKR4xcPv7cCJiWlcAM7QJ7xeMrEXJIhz1bBxfUp2u7n7WgiwRs_cV5sF0Tor91XBF-NhjovUw99KuVDkB3eq9N_S5ZPYVFTYEi3j8RZRR4my1FYQB-_kHzfvNWQAJtCEUeDNkwXrCRR7lIimVKCe0lw8XGLJjz5J3wojs_b_0kTadfgbDbVq1F0j_yiYwc6FQt5ZXDgQwYrSwNshuqglSILe_lgaSByhA494Usrcxd4iK9gGFhgU4IoRaxSPMMXi5IL3oFkywx1uXA-VRUdmqBzeMT4RII9ji0rpCbZSZQTEhPOrDnA4O0t7Nk695tJNjbsN5LgbvdQPYamyCoJl7oIRWR3RnEMFYbuO1ubJqeYCE7ZJpFiMM-QVoMydZnKMbBw3CLhtb48jR52PU_W40RUqcsxCNufYyhWnqHSVLAclkAy18-Zdcr2_RgJSZmQtJuExEnud_3K2K9y3fWZNF1kWMMdisxrn2u_IQtz3j_Z30oKTYIzqMV145Lw9NSNJgOp6p-TcpodgykNMn4aeKsGi-cbn4DZn2-RKFCv_rdJNOe_BCyF-bq1m5iMuSDMSYyf1GBRHiQftUx7EvyDlnikUpUjNJtrkK4bw-7g7tAqbe9-69MB0ByEE4obmCpr559c6UG3d6f9fz3UDQr0Vo-TPVn3amB-lLE5Ah17n49I9rVJZxBA7JLxkADCpuLMULTya_AMiAJoioXWVPj1uddKFgFcC0mfy95wX4nsLkzB0AAdwNn-KBvELnpViibZX0egq3fmUfDRUAVqHIztYmllh2YgGCELcIdlEIXEb__-CqRIRcm8JRFj91",
  "id": "rs_0a64081860f960b8016ab2b42dde0887d0b8e2679c55513f15",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.22,\"left_z\":0.22,\"left_yaw\":0,\"left_roll\":-0.6},\"note\":\"The right wrist tilted successfully, but the extended left arm could not follow. I’m retracting the cap slightly to obtain the same outward wrist clearance.\"}",
  "call_id": "call_t9zPzVhWvBFYootO8UDdevms",
  "id": "fc_0a64081860f960b8016ab2b42ed43887d09f022e87b56dde54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t9zPzVhWvBFYootO8UDdevms",
  "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]: [-0.6731, 1.3964, 1.1206, -0.4446, -0.281, -0.9089, 0.0704, 0.77, 1.1503, 0.783, -0.2779, 0.1562, 0.8482, 0.0699]\nstate[eef_state]: left_x=0.3507 left_y=-0.2124 left_z=0.205 left_yaw=0.026 left_pitch=-0.198 left_roll=-0.4956 left_gripper=0.0704 right_x=0.2736 right_y=0.232 right_z=0.1741 right_yaw=0.2033 right_pitch=-0.1935 right_roll=0.5803 right_gripper=0.0699\nstate[joint_eff]: [0.6085, -7.1453, 7.4735, 1.9756, -0.1587, -0.0171, 1.0281, 0.0068, -3.8632, 7.7197, 1.7998, 0.1343, -0.149, 0.696]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7abaa9332e9ee9b41c4f480861ed00a94b69cc01114005d25b6976f0f8fbe102",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:179595a139fc7bbad8da707677d17fd080d14d083207801ad3ebe3f3f5030024",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa5f4b80ec10cbf19675db2cead4cf1ffaf6a3d90c6cbce65d8e68697fbc9b2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7383, 1.8706, 1.6371, -0.7723, -0.6506, -0.6285, 0.0704, 0.7715, 1.1488, 0.791, -0.2691, 0.1719, 0.8394, 0.0699]\nstate[eef_state]: left_x=0.4168 left_y=-0.2298 left_z=0.1882 left_yaw=0.1263 left_pitch=-0.1721 left_roll=0.1183 left_gripper=0.0704 right_x=0.2768 right_y=0.2321 right_z=0.1802 right_yaw=0.1966 right_pitch=-0.1705 right_roll=0.5756 right_gripper=0.0699\nstate[joint_eff]: [-0.2256, -12.8342, 9.2923, 1.243, -0.4518, 0.0366, 1.0281, -0.759, -5.5453, 7.1726, 2.1563, -0.0562, 0.1392, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrQ45viEPm9dMXVRLUYNDmbtAp9i86uzkCRmLDDb5VuMlORI7sJYvjvqPLkGSajbkEbbbnhzaS36-LYZctK_tZc4fGVbgXdGLB8-7kvqDoOe3QDyujCNKXPK0W1zSaZ9wQ2b_V8t2ljQOhdScMnwnm0J8IlRzC6UXtzyfYTqFGwDttb9e6piPrOvqgfhIqLqGlgfYfjTAOuY920c5pYqZSn0w0JHAQEvRJirSezVCD_2jCYlDxtsqrt3oYx9LO_Ip58QhDmHNaMImAoIJ6rj5Jwz4jTzD6MaEJw3AM2i5ETBuHX8wZpnbuadeA7oQ3ylgduiMRC7WQkqwQUb5p3LdIA9U8MOCbbwAtWaD7VHK4AyxBXt8-GcK6upgAFwpOSyM_cVXvYsdCwiwSJT8scClvgCdM3zxZ1_g1oDt04K49tvVkIcTJme49vKuk7vxjBqq2enNRxaV6ZU_4CFBYuXfNOMsMh6aVszUCX4iM_VTg-oiurGOxsWb5BlffEtGd8hpZpqXXuHIJE7gU09HQ7pkHCaroF_aDpTRi0af5gqkLB73V-woHS2IiGj9UmqBYH6WThR19s3qK6NeSACa98Ju2bG6Jnqi-Za7ojWp0eN_arC91X225uNmpwCdYBwlgcxQw1S-8tFwj1cq912ZGrA6Q7Y0g_OI9YC0FyEkDIi0MnI2lFU08wsQXUehB1IvrktZkC0Z10zmd4xgooA3NJwpR4WU96oL3UDUysZ5N_37cBu0R_lBJG16zaNN-F1Rmwr5mxFUnxMrJ60Vpl1O2QyeoXEnXqyLIZObGuGCNmDSmZEeQhVdt78xg2iPmoG3wOeX_PrSs687gOJohNsqR10LtTXJMEY3uEakg7Ieq2_Hseaua_3zijwGaatIhaXaLaDXlER1pYUG4Eq0SN0GmwlhRVgL6hC-5mCGuWgO4y5MR51709MFycvXtMbiriGPxB2BrhsdLeTeqGoKXFRSNdXJxMY0z8PylkWdGWQM0JVAxOBS0QPvfkQROCaBqqzou5OtGKfYsf068_Tl0zuJxWg1yFb37bzbZH44k8oE6hWH_Mhw30c9VWVPP537f_hxzSVSg1k5w2w8VI7fus3HVnTzDT87QFU9wX-R5P7BBPoOAu_ysU1Iob_Hp7o6KIr3HiJ1VtUHKi7A_LscSjpATmqoNOfSwtWA8d7FZ2zAkZJBovNT4r0stvg2OyixWlsN0BTUm0qyybsVWbtWAXKamvqYSfLM9Cao1SUTIg9-c9MUuwrbiwU-tn3QQwBo6Z263CVqGQEPf3y_W-T-sGKBXe_GZqsqizNe4HXVQyAvE9rZw6GMaO904mbDUU4xn_j-4FQsauhOmPjGj--_f9Ms87vl7rWoXZx8CZrfFkXSspDUkxe0Zx7mPwRF-qc-l-X903wJeRmba5_vHmfCFEp7RVBgfViZNoqsqEIoYreB6ywVcIXDGRUvsezOEhA-VBurzK2ySgJq91ztceBQdYfCR4YgGs6XCnE4xvDHmp77cf24jShA88=",
  "id": "rs_0a64081860f960b8016ab2b433ee3487d08787437384213e0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.29,\"left_z\":0.2,\"left_roll\":-0.8,\"right_x\":0.27,\"right_y\":0.3,\"right_z\":0.2,\"right_roll\":0.8},\"note\":\"Both wrists now angle outward. I’m narrowing the lateral gap cautiously while keeping the pen tip behind the cap opening.\"}",
  "call_id": "call_OXzNn87jrVrIBCHs5ryhlWSC",
  "id": "fc_0a64081860f960b8016ab2b4365d4487d0b1c192e8e7433f87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OXzNn87jrVrIBCHs5ryhlWSC",
  "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]: [-0.8089, 1.5024, 1.103, -0.2646, -0.2924, -1.1725, 0.0704, 0.9119, 1.285, 0.8684, -0.226, 0.1905, 1.0546, 0.0699]\nstate[eef_state]: left_x=0.3428 left_y=-0.2804 left_z=0.1881 left_yaw=0.0116 left_pitch=-0.2325 left_roll=-0.7266 left_gripper=0.0704 right_x=0.2618 right_y=0.2893 right_z=0.1752 right_yaw=0.2263 right_pitch=-0.2458 right_roll=0.721 right_gripper=0.0699\nstate[joint_eff]: [-0.4308, -6.2427, 7.8291, 1.8877, -0.3248, -0.0073, 1.0281, 0.3487, -4.9709, 9.5932, 2.0342, 0.3199, 0.1685, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f0fd94809d5a202bf4935b44a61ea1cebc08e5f44be283882d9cae453ad400",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fb1d5cb8c5e3f0418647fac6ff6152d7f50f9346c34033bf84755651e21c60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72e1075f0fff86e8d99e143ca9ad2b81d00824cc82145cb9027760401d3e521",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6731, 1.3964, 1.1206, -0.4446, -0.281, -0.9089, 0.0704, 0.77, 1.1503, 0.783, -0.2779, 0.1562, 0.8482, 0.0699]\nstate[eef_state]: left_x=0.3507 left_y=-0.2124 left_z=0.205 left_yaw=0.026 left_pitch=-0.198 left_roll=-0.4956 left_gripper=0.0704 right_x=0.2736 right_y=0.232 right_z=0.1741 right_yaw=0.2033 right_pitch=-0.1935 right_roll=0.5803 right_gripper=0.0699\nstate[joint_eff]: [0.6085, -7.1453, 7.4735, 1.9756, -0.1587, -0.0171, 1.0281, 0.0068, -3.8632, 7.7197, 1.7998, 0.1343, -0.149, 0.696]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrRC6UX_EaWEtrzpZg7W9EuUiJDnVF1Ww4R8aFML10w3dqEjbrCQeXrUhtVdCvrjc6NTQVjwNTthjTXEkPeUbInm71-iUpRgpwegyKzKaKxwVbDHd8_wY8Io1TrlCtLeCCwUedyP45ZUIDlFntymIAP1GNz_V2NQaubQxY2HzwlAXu7FY3dnuHlzTfN9MbOmvClG39l-jMR6JJRvQmbriPVHC-h5k3E6jwR0kmV_i5TpBXIz_NsvKKkoadDV03Jz494e4UVY4aQY4-oa6WxyUmEuGdD723xikqb2WX-TaY9cXz_9wJYvwus5tXTZgd-Q7DFykCvih8DAg_FQ_fDgZF68KiU6HPP0FR5w078H2S1I-J0t8zQqq-3hDjMebbNDUCo8Dvcx8EcowihTnbXO1keS2L_UqREnmdQdEEInuSO7pdeUNswsIsXqQXTLZ0tLN6u7Y54x5F09mzme0yP9EOo_A3P6SpMe83R3MQ8t1poUJIIbsn3IuCyI3J43LrLyYeEuZj1icdDc9HeVK8SfgQeX2WB_GEV7UOd0xfbe_QY0A9e7X74T9q4untddzAIM6gobYIQulQBo4-rf4sD6ngJy0nJztPrXNeC9_b-2hgjcscNduNU6Zymyrry8vYwg3RioLORlsbzh64txjJl5vnqyCQNpFKXp5_iRsKN0vLiLJnKfj_o4UIfRYbcv_jSbowyhXYjR7-K_OhNfIm56yQMEL4GIwEctrz9q4vXBZdTE0S8fRDS6meB6mF13I9XOS8wlB2R5H40GEXKJFY0VwHi2cAhWvczIunhsosKyAr4cXnoGZenOsTHlLkLqfX84MiteBtB5e3PfsguZ3DQlBqsSUsA8cjE93JPfj16OGkrw92f6w-O_NaTkRj5hfjrnRAsAdN3aubSaEBIG9qYI3KEzcqSOOFVvTpNInbQ75dG8OFQTRu4XqhhZ99DTra2COY6jGatnjSymPnmNhTzGNkBeYMfdBR_HI8hi80ulhU2-DAO0PBZq3i0WcEfY7YQnqJulryLKuLRMnCtip28ihf55s5zrIhiIdjra-xThP6FksFemjSVgh0J03pNwckxHMcexo4Ek2wDcXit6deRUq7h_MRnKiUT7pOOxtHLeGas-UFCbRXa4xavvb10ghsDwZ3iUXgGCIVeqfo92W5hD0dIdZCMvMI9kg8tJPT9536DYIbzQjtdW8wur3QkHigDyWF7vQoqz17vQNPsrisib-Jh1EMqU1qSrUwU4iimYEKIESTm9xwBJkujC4sDwa-jfgEvqsH5xwSOobnGXTkrk5dp2-aZpCNnj0jk9z5SbQychgQ5BtlUy3K88uxBgFshu3RdFZZHbcn2NvFB6cWn1Drj2ILnC01MhSKIQ4un83n1G0yf3qlTlVao-V81nMHPP_m022ZH93gX0Z0uG7q1H9bdHyrhHTlY7gBW6Q4UL-pNnespekQcvHJClwuoa1NAq-Z38SAZwVLTvzxNmFWgwHhiggpxcQeshhmyWJjorSMf0YwPjvfADhE_mfcxQIZ3zlXhmMd4MW4db2ggZtGr3zAw32bl14QQ0Y-5nIqKztVdnpr0BjRtynYnAJxoQRsRhJruHOGg0fW-uTB38a-ZUm8mRbfz4yFC3ManSgwErOk5JYtD3F5QlR0711WVMi-MV2X9vmuoghB6yZJHL-7ke_oDeMgPwXqTTn8ZcyBOx7t9JUAbuv9lU8E4CJqyNWQNV783sTG-dThAzM9RjSMa91s7RyxB99Oq1dUzLs0ZV-sUQbmJzgABsAwdwSmDQeFYQ2MTICrt6QeYmHQZs1bVFPTBtJtTVfSxmC86OrfOLNX763C8fEf2hrQDfYD0IKE9toLbKZPs-N5ughVZTP4xln5v2QEJ2DRtpoiW9VQSYaNl95nebjVW2kUmv2OBK2I_N9ATw",
  "id": "rs_0a64081860f960b8016ab2b43c7a2c87d0beb5ba3b07588c96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.34,\"right_z\":0.21,\"right_yaw\":0.05,\"right_roll\":0.9},\"note\":\"The gripper bodies are clear, but the pen tip is still to the side of the cap. I’m correcting its lateral position and angle before attempting any forward insertion.\"}",
  "call_id": "call_bji3VyuksrHRwh2uzedDDPAB",
  "id": "fc_0a64081860f960b8016ab2b4409e4487d09bbe42e045cf2264",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bji3VyuksrHRwh2uzedDDPAB",
  "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]: [-0.7811, 1.5192, 1.1019, -0.2649, -0.313, -1.1847, 0.0716, 0.9958, 1.4582, 1.0359, -0.2893, 0.3363, 1.2762, 0.0699]\nstate[eef_state]: left_x=0.353 left_y=-0.2683 left_z=0.1812 left_yaw=0.066 left_pitch=-0.2396 left_roll=-0.7128 left_gripper=0.0716 right_x=0.2731 right_y=0.3209 right_z=0.1741 right_yaw=0.0756 right_pitch=-0.3079 right_roll=0.7676 right_gripper=0.0699\nstate[joint_eff]: [-2.7829, -8.4308, 6.9812, 1.6728, 0.1783, 0.0904, 0.9988, 1.1829, -5.5043, 11.6718, 2.4884, 0.0513, 0.1197, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24408b6ae1a4c663e9c04bb2f25f1b5fb50a329e3745b9d85db65e6700b15348",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be73c1a6af767c7a29691127c46fe032b1fc0263fe8b11d5a945eb3988a337e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d733131eb3556b93f7c11ba901f3a4e07c4a77ed7e310a8a81ae9510c6eead4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8089, 1.5024, 1.103, -0.2646, -0.2924, -1.1725, 0.0704, 0.9119, 1.285, 0.8684, -0.226, 0.1905, 1.0546, 0.0699]\nstate[eef_state]: left_x=0.3428 left_y=-0.2804 left_z=0.1881 left_yaw=0.0116 left_pitch=-0.2325 left_roll=-0.7266 left_gripper=0.0704 right_x=0.2618 right_y=0.2893 right_z=0.1752 right_yaw=0.2263 right_pitch=-0.2458 right_roll=0.721 right_gripper=0.0699\nstate[joint_eff]: [-0.4308, -6.2427, 7.8291, 1.8877, -0.3248, -0.0073, 1.0281, 0.3487, -4.9709, 9.5932, 2.0342, 0.3199, 0.1685, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrRKC1UPxcnkN_Dmh8UopP14OOGFD6ToXBjDW5H0OWb2yFLz-N8hUM2r9aiL5xZuBbZKsQKy5hwJ1X3weIg4YCg66iZKUrfToClposjdakAyDM9fPHdG3IuU5dnxV4nqQ3Yis8a-wd6Ns9GFzNPNLmRFAiBA-OFjg9gTXXVGecJEpH2EQyYiTKF9BKk5qXZYHoUCMWoYZB1Ta2X2dABKfeBv5bg5D04YfiIvkDYRRn5LrR-yPXRSu4aawnnNwGD1lCWNrHvCyJG-JlCZSYWdLj42HDmtIdJ3jOaQ7b0Tu5nWctIZj5OZTjIYXfKhyydgpBYOGVZpJqewt7P_4bpPhJZMbjJ-y8jeYRzkVFpgm184Riqi0rILx-4XgH67OJKFwE6e5exJGGCdw6kEdmj5ZGJLHQQrI4WbJUBhWIGSYyWxFTHAwTJuVKhdOR9TvROD7CYb_h9wqZYph7A1nDpyYRq1MALw0jBhMRzKI-ur0TCgpUEpsqP3Wu0fvIGdp4uK4TVPegsPrZ5i1BwI4wmvTZkL_KJE6T472JbRwv71QbJmPqE5O_d0IoNjtQIzApIg6UhT1dkzPeCtiWoN9turbUU0WkLprETvCrNYcCxeHHQHVOOEKDaEFv-rVr_mJLFdmdRJ0HSA34ShFvuCmFhdRjVJoXoYvFQdWziYV61E12BnEplEuZEO6K-Wv-D8D-8GDUcWQz8GZUo1gjxhdhBWXO4Lzyb-1hYP080LFBvTulnTo6L2lyTR8yC7RT8efF1o4vOFpJXr340TFINe0ZODuYDll4GtFD18QVatxdf5zdqua7EwOpYCldwcZrGkAeVYIUqb6j6FWq9h-2HzqeQGW-SLYybCKS6VQMZVhtMCyQ6kETUYt5CoOLekb6zOaK-R7b2dLlRsJ6t8qXyrOvqqICV-2XJ3v6vARLVFk2_q8jmiO80uIa1HZ-vlNcxCTshERnO6WehAIXaatN-uQ7OMbmd7rPXcVepVsUGYDoynmCSbnbwYx498B5jrcCrZNqjRaMVCO2YrCfqHBOaJxgiDGpcWFtPh6VJNx-PGducc2FvtClZGa-vmj8NufO37ktiJnNfIhLvyOhSPJ_TKdRJhmqMzNE070z1XzoTtPzquKH1sQBXKdrRcORQcaSF40q5zm6UJmmfsLmhalsSWVh_j8GK8lSONAivXopXgVOcu4rAOIMT4fHofbBMuW7m5dpzDuMnzcy1dltxnOJePQdcufpl8u8Kt2jrex9z1FzMczXS_AnhPMuoYWKLQdTFBluJbLR_mPfvbn5mv4sEieDLzEx89gaU8qxgDvJwiPLVZYF0aM71sLFo_1UZGZlyBvO1Rn0A8-pPyGekcmHfbxzhE6aeiFg==",
  "id": "rs_0a64081860f960b8016ab2b4459fc487d092a27e6500693f82",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.3,\"right_z\":0.2,\"right_roll\":1.3,\"left_x\":0.35,\"left_y\":-0.27,\"left_z\":0.2,\"left_roll\":-1.3},\"note\":\"The wrists are getting close before the parts align. I’m opening the gap again and increasing the outward tilt rather than pressing the arms together.\"}",
  "call_id": "call_9nFIG924xV8FL5yt0kb57K0m",
  "id": "fc_0a64081860f960b8016ab2b44792bc87d09c518fc2e82f4227",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9nFIG924xV8FL5yt0kb57K0m",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7567, 1.4311, 0.8299, 0.1349, -0.2272, -1.5181, 0.0739, 1.0023, 1.2369, 0.7288, -0.0174, 0.3069, 1.5772, 0.0699]\nstate[eef_state]: left_x=0.3466 left_y=-0.2676 left_z=0.1756 left_yaw=0.0789 left_pitch=-0.2747 left_roll=-1.1649 left_gripper=0.0739 right_x=0.2482 right_y=0.2961 right_z=0.1752 right_yaw=0.0654 right_pitch=-0.341 right_roll=1.1623 right_gripper=0.0699\nstate[joint_eff]: [0.253, -8.4308, 6.5299, 2.127, 0.0366, -0.1001, 0.9792, 0.6085, -5.9829, 7.5692, 2.0391, 0.1343, 0.0952, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e85c8093347bcbda50e4779cfcf679280143d93097fc87efd42e73ab33cde97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e9ee2ba576bbeaeb0915452ef42c10d3cae1343dfda935156e7ac27a0a5ded",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae750894f3be31544621eb992f54e0b6c8e87cc35fa41dd2be4727d922d80e6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7811, 1.5192, 1.1019, -0.2649, -0.313, -1.1847, 0.0716, 0.9958, 1.4582, 1.0359, -0.2893, 0.3363, 1.2762, 0.0699]\nstate[eef_state]: left_x=0.353 left_y=-0.2683 left_z=0.1812 left_yaw=0.066 left_pitch=-0.2396 left_roll=-0.7128 left_gripper=0.0716 right_x=0.2731 right_y=0.3209 right_z=0.1741 right_yaw=0.0756 right_pitch=-0.3079 right_roll=0.7676 right_gripper=0.0699\nstate[joint_eff]: [-2.7829, -8.4308, 6.9812, 1.6728, 0.1783, 0.0904, 0.9988, 1.1829, -5.5043, 11.6718, 2.4884, 0.0513, 0.1197, 0.696]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrRR_Uo6lx3j64Z1I2mPMdPrVIoOxBpiJPeh9fYaF9zVbJQQ4aqAG-6DypbO611v26wRwsz4vMxB93JRvYz0KxWo1LbwTMde6fRzVJF-CGq2F2JCdzI1C9408DGuTpxOvInZqNAmy9rMIsK8TZgEVLRYDArFFf-cklA1K06fYm-JHnP72QIRqw_ZdDYcWfgNg_YwTPYbY-tNDRsLiWwvMxBMII17Hm0bf-MEriTwUplXSOEWf5LgAARVq9PGVILHFnjfKujq1yUCfyamXuvrAHK1374Ri8YrlYStbxWZxgnwffK53URlMBAGpbBDvPebRqetqvTM4d5XgROEL0IPQ5d6jPLgMXs9dzdAfbVvix4YlJt774Ckz6CigLlfbJlxsDJi_L5ek_MeIxdU-vUe759v16orpaHZ1Kg6IcqHy6grrQLESxT08zcRQ2_8xQKR5CNzb4CsVnXMORCshmocwiGf7lUc3VfsgIWbZkXUrXR4wwACGCz_62uVxMxqkV8askbSJtx7e7NJWzOIfy2j08SCZVwjr9S7kTGs9G2D8shbJ3woPVUDB3T-EvFC6ePA5ildthSh9oRn4uCXCJm6tlLMkzwxF7AbJpuLskmJrzwnvjazCCm8JGfkqxlKU732FqcgO18vouTikwcZlGTDMjd7MwteHj15QPYVRmWIq-vwTuBZKMIBVW3ADm74yhFPKhsGOQr_lT-beiyhrbyuGkYua7V0w8qsZcPTz2durtSHnrMoJtWPpGBpppfYG1j7l03yQw7wZmVVSwGmRGR8cb-Sbb_fj-A2uMnOqCOjPI0uM9-y4hFI4Awp8KSxYrXYlyNGmWb1L2gpD46UKQlp0Dbbwblva6JBcAkmFaP8ldMx3t-4ND1igB_eYnzaNg9N51TIiRJXNwv0W_6z1CHKyMdAuuwztBwlIc_4M5FYT9A-5dsOoHhaMo_oQihSN1GqviwRi9FwuFeblIQhTj9en_bDvjMEl5Yf7swGnhlTHOyFlf_5syjN7vSDVABv7hZpxXXD8KS7kJk0ScPhxfQ_U5w912zQ3sXJXPzeu0zmOsp-VXMukzEuHxES07-Uqya7EfbRFgFZKaAekjMNV_gGfyPoweGT1e1vywpG3FFM-2uP5gbn27_erhY0LZ-PhyaA_CXG8-HiEvvNlQuqD6GIuE8TTSgRwrky98muILHkoQprim2SgI1X_D-WhyC8SLtmHrQM40kzUUNSqCmKfB4GQZGXU9ohjZKrR0rvcFslZ0_rMCE47KlLypKOYZJ9JGLyC4WM-ykpBnDqo67DX2K_JiaSE-bSrDA8BPb-Nab1rzP_Uyr98rBOzvBdqQscd-RjgJ6KN9eBRLCq865tWJlynqRH0BRd0OF5YwuQp9AlpQK5QFC4fTjh7LaSx_l7sFLr2HzjsneRALbnKGwT_RDpRPy-pS1jYrUFmzhEArm8PC_EBkaxw9076tuXjnrFyU90fppN",
  "id": "rs_0a64081860f960b8016ab2b44d133c87d0bb84f7454023dab2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.31,\"left_z\":0.21,\"right_y\":0.34,\"right_z\":0.21},\"note\":\"The stronger outward tilt has separated the wrist bodies. I’m bringing the two part axes onto the table centerline while keeping a forward gap.\"}",
  "call_id": "call_8yTmCPREwzaBVXxvcxlcw6z9",
  "id": "fc_0a64081860f960b8016ab2b44f50fc87d0a08f01c663431ef0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8yTmCPREwzaBVXxvcxlcw6z9",
  "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]: [-0.8139, 1.4986, 0.9829, 0.0116, -0.329, -1.5555, 0.074, 1.0618, 1.3556, 0.8986, -0.1688, 0.3763, 1.6115, 0.0699]\nstate[eef_state]: left_x=0.3542 left_y=-0.2866 left_z=0.1923 left_yaw=0.1374 left_pitch=-0.2797 left_roll=-1.1325 left_gripper=0.074 right_x=0.2485 right_y=0.3194 right_z=0.1785 right_yaw=0.0188 right_pitch=-0.3808 right_roll=1.0767 right_gripper=0.0699\nstate[joint_eff]: [-2.6598, -6.0103, 10.0034, 1.6923, 0.0415, 0.0073, 0.906, 1.306, -5.4769, 10.906, 2.1856, 0.1099, 0.105, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1c857401d9aa87dfaff3bc5c3ec538cdf2fdf20a0752c765f4fa727e6bd04c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd0423cd781448fe3a35700b9fa4864d8651e480cba22474b76c236ae36acc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d28c62bdf3ae53e56dff494f2e88d2aa41bf099edfac1b2d76175824ba453c73",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7567, 1.4311, 0.8299, 0.1349, -0.2272, -1.5181, 0.0739, 1.0023, 1.2369, 0.7288, -0.0174, 0.3069, 1.5772, 0.0699]\nstate[eef_state]: left_x=0.3466 left_y=-0.2676 left_z=0.1756 left_yaw=0.0789 left_pitch=-0.2747 left_roll=-1.1649 left_gripper=0.0739 right_x=0.2482 right_y=0.2961 right_z=0.1752 right_yaw=0.0654 right_pitch=-0.341 right_roll=1.1623 right_gripper=0.0699\nstate[joint_eff]: [0.253, -8.4308, 6.5299, 2.127, 0.0366, -0.1001, 0.9792, 0.6085, -5.9829, 7.5692, 2.0391, 0.1343, 0.0952, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrRXAS7_KMG7ePLlvZ3xXTV7TJQPt4qgJbavpvHgJ9KE_sjUaIM4_ehuaCo9sLaOwjhzLv1oGPJWZ3nqyzKxjU3soSUH55r58kFHZxTWQkq2nxF9596irg1BZzIzE-xnNARC5IEVEcV7c8SdR1NsgcgwGTUPCMn_Mk2KMkWqolr5f8zdJbDAMLVSsJ-MUej1SxBMB4c1kHgv0uTGlDqzWZc6fZrjw-j5zr1Ym3TBEVzh1zanvx3XZY-aKBNH7AC0Iw9OOjvJFPaK2owE3TGYwaqeQrTrCTlIAGAwhvR3zGNcvuJY4oSH5D2BZe0LyH_sEJwy1B9CaRW7jRxIxIzzY3oV3HPYSu7E_w1AkmAAUohVdxHRUpIywQ501b3nyVxSJONZtjfUi4d-9RBezbLBSI5z2TrVwSH92eQloJVliY_zg2akcw1EpmyenJuvu2U4WZOMrHgp1PNxJQ5NjisT6syR-YeRa0InEkrD8t0ZhqgeCCZguGUajRnFEPbXvSDVZJFLZHQXBv_sS--nmCPqrRmnxlkMDexEBw-brZpQqSMisNdb__1gTxSjgzfuk9dO389Fy-cFxySKyXebnEAZc08qL6Yj-1qu6s0HFMXOzAqx-3fhVBM9WdXY8iCzQIE8v2V0-3qG3GaAlzccVmH6TJmq6bsOCLyyL0PgpCRaOizZJPQniB8mhBbaq72Gr3ZaHvVEdF8THbyeDaCpHWa5-HdY-_tKyh6xiVLRvlQvcRsZSjasa2a_LjgDsTDD-KPzeR7WWE4l7HXTJNn1jLrs2twLQGdvg0JBzojtKyAQ-ltn9OAP8UMYId7mdmPxHGpqJB5rfWHVCm6cll8trTaCi__cUJ_1I1y8-Iv7-nwxZ822LVf1sRu5gF4v2cub9NvzcC_AfvVtV-FDeZsc_xNWmIJ1-MJ2WzbjwRI2ejR1-DFHINpn_Eju1T0QfsZ34O0CHwyKD8xPvZT-sfHiCQZFSWfGE0WgJcqocWx-E6ZgaKnt1nCIVqfQ6BF1T5OWQoBGfWEK3UVHJYEYndccWFatiwZNdl_BM4Q5mh-TRGQgplcCuiPXk_p2asVcwCwsX0jgcL5XlrTN8S_lV5d6bRblm6OlnUoAA-gANaSrN8ck663mHTnA7H_mMut52y2de36hvD_0NpPZolShcuIteVLvUDcYUxZa4pCyJloZKO5Su9oYLD-hgg-WTVWWIjESQFpIorqzAfGeyjAhTEaN9O3QtW9TshfQiZlaS45pr9xqQjVdxKrmziK_A5__y_wKCKZwUDtpi4Yf58TJEaykKfMcgG_7Xpv71TpqUTYbCRykOkTISjiqlLRAOvEXKoIdm4IkcRgi7iBnYhgrV_MMy5cl4G0Rxf2nqBcOs7s0DmKp2-f--tU=",
  "id": "rs_0a64081860f960b8016ab2b453e79c87d085588c6e794c9c3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.15,\"left_z\":0.2,\"right_x\":0.28,\"right_y\":0.18,\"right_z\":0.2},\"note\":\"The arms are again contacting before the pen and cap can be reliably aligned. I’m separating them; I won’t force an insertion with the opening obscured.\"}",
  "call_id": "call_kiUr4l418YBTPtDOsMskJoEi",
  "id": "fc_0a64081860f960b8016ab2b454f9d487d085aad3d955a081b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kiUr4l418YBTPtDOsMskJoEi",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5282, 1.2366, 0.7704, -0.0551, -0.1047, -1.4338, 0.0752, 0.7544, 1.084, 0.7418, -0.3199, 0.1394, 1.4334, 0.0715]\nstate[eef_state]: left_x=0.3501 left_y=-0.1788 left_z=0.1827 left_yaw=0.1779 left_pitch=-0.3134 left_roll=-1.1035 left_gripper=0.0752 right_x=0.2627 right_y=0.2181 right_z=0.1692 right_yaw=-0.0226 right_pitch=-0.4337 right_roll=1.0094 right_gripper=0.0715\nstate[joint_eff]: [-4.1231, -4.4239, 9.5658, 2.3077, 0.8913, 0.188, 1.0134, 4.2735, -3.5077, 9.1419, 2.4347, -0.6032, -0.0855, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0b81f05543f6a3925f3858f1671fa04492db15755b79fb287706c2d10e9e75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919aa9eb60ad5ab1aeb93a7b6e835c2bc844b971e070f8776164528a1542aa33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f1a49924296934273fed2c9f3e8ddcf31f391a6fa455da56accb9ecfbbc2b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8139, 1.4986, 0.9829, 0.0116, -0.329, -1.5555, 0.074, 1.0618, 1.3556, 0.8986, -0.1688, 0.3763, 1.6115, 0.0699]\nstate[eef_state]: left_x=0.3542 left_y=-0.2866 left_z=0.1923 left_yaw=0.1374 left_pitch=-0.2797 left_roll=-1.1325 left_gripper=0.074 right_x=0.2485 right_y=0.3194 right_z=0.1785 right_yaw=0.0188 right_pitch=-0.3808 right_roll=1.0767 right_gripper=0.0699\nstate[joint_eff]: [-2.6598, -6.0103, 10.0034, 1.6923, 0.0415, 0.0073, 0.906, 1.306, -5.4769, 10.906, 2.1856, 0.1099, 0.105, 0.696]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.1,\"left_z\":0.15,\"left_yaw\":0,\"left_roll\":0,\"left_pitch\":0,\"right_x\":0.33,\"right_y\":0.15,\"right_z\":0.15,\"right_yaw\":0.2,\"right_roll\":0,\"right_pitch\":0},\"note\":\"The pieces are separated again. I’m returning both wrists to upright positions so I can set the pen and cap down safely.\"}",
  "call_id": "call_bfV8sDT4kRq5FdTcnt0IoatW",
  "id": "fc_0a64081860f960b8016ab2b45b5e7087d09b587336bcaf3e8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bfV8sDT4kRq5FdTcnt0IoatW",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4587, 1.2541, 0.7086, -0.1345, -0.3408, -0.3969, 0.075, 0.5686, 1.1706, 0.6464, -0.123, 0.2626, 0.2867, 0.0719]\nstate[eef_state]: left_x=0.3527 left_y=-0.1043 left_z=0.1384 left_yaw=0.0215 left_pitch=-0.0656 left_roll=-0.0874 left_gripper=0.075 right_x=0.3189 right_y=0.1536 right_z=0.1395 right_yaw=0.1885 right_pitch=-0.0683 right_roll=0.0774 right_gripper=0.0719\nstate[joint_eff]: [-0.253, -4.9026, 7.2137, 2.0195, -0.3004, 0.2271, 0.989, -0.8, -2.8239, 7.1863, 1.9853, 0.2369, -0.1197, 0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95461b0ac3b668b7659438ab881f828d3a3100d49f5991b1b82aba6c699ace80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57f073a4e7b95139858ea15e8328ad1b1d57bb17c9a5582daefc52ea519401d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f93be8f691f2330b9e9ec7264284b3c5c5f87e5619619dda04342feb6cdeea",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5282, 1.2366, 0.7704, -0.0551, -0.1047, -1.4338, 0.0752, 0.7544, 1.084, 0.7418, -0.3199, 0.1394, 1.4334, 0.0715]\nstate[eef_state]: left_x=0.3501 left_y=-0.1788 left_z=0.1827 left_yaw=0.1779 left_pitch=-0.3134 left_roll=-1.1035 left_gripper=0.0752 right_x=0.2627 right_y=0.2181 right_z=0.1692 right_yaw=-0.0226 right_pitch=-0.4337 right_roll=1.0094 right_gripper=0.0715\nstate[joint_eff]: [-4.1231, -4.4239, 9.5658, 2.3077, 0.8913, 0.188, 1.0134, 4.2735, -3.5077, 9.1419, 2.4347, -0.6032, -0.0855, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.015,\"right_z\":0.015},\"note\":\"Both pieces are secure and over clear tabletop areas. I’m lowering them for a controlled release.\"}",
  "call_id": "call_CqnymkW0kHpgzMlWaolOtmzj",
  "id": "fc_0a64081860f960b8016ab2b461a74087d0b19ca6c24d478104",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CqnymkW0kHpgzMlWaolOtmzj",
  "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]: [-0.4587, 1.6291, 0.4255, 0.4358, -0.3508, -0.3946, 0.0766, 0.5652, 1.5787, 0.3473, 0.49, 0.2584, 0.2806, 0.0735]\nstate[eef_state]: left_x=0.3416 left_y=-0.097 left_z=0.0047 left_yaw=0.0326 left_pitch=-0.14 left_roll=-0.0386 left_gripper=0.0766 right_x=0.3077 right_y=0.1459 right_z=0.0024 right_yaw=0.1879 right_pitch=-0.1567 right_roll=0.04 right_gripper=0.0735\nstate[joint_eff]: [-0.1983, -6.2427, 4.7111, 1.8339, -0.0366, -0.0562, 0.7985, -0.0479, -5.8598, 4.5607, 1.9658, 0.0708, 0.0415, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad52209f97916b5c369437ee2e861c68b3dc4c1cea7df66bd0d6b2b37b501823",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0306c419e06c1b7822808b820f725dafd349e5bde6e784cb74b26166450bcd89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae60563955859baf842576b7bd7a9f07b661241fe359fe1a62083f1ce39a5dee",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 119 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]: [-0.4587, 1.2541, 0.7086, -0.1345, -0.3408, -0.3969, 0.075, 0.5686, 1.1706, 0.6464, -0.123, 0.2626, 0.2867, 0.0719]\nstate[eef_state]: left_x=0.3527 left_y=-0.1043 left_z=0.1384 left_yaw=0.0215 left_pitch=-0.0656 left_roll=-0.0874 left_gripper=0.075 right_x=0.3189 right_y=0.1536 right_z=0.1395 right_yaw=0.1885 right_pitch=-0.0683 right_roll=0.0774 right_gripper=0.0719\nstate[joint_eff]: [-0.253, -4.9026, 7.2137, 2.0195, -0.3004, 0.2271, 0.989, -0.8, -2.8239, 7.1863, 1.9853, 0.2369, -0.1197, 0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both parts have reached table level. I’m opening the grippers to leave them resting separately without applying insertion force.\"}",
  "call_id": "call_sY5VhGrzvuIVnyTt4NWu5pHS",
  "id": "fc_0a64081860f960b8016ab2b4662a8887d0a0b5a0c86a44ff4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sY5VhGrzvuIVnyTt4NWu5pHS",
  "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]: [-0.4587, 1.6402, 0.4179, 0.4564, -0.3599, -0.3992, 0.9956, 0.5644, 1.5875, 0.3412, 0.5079, 0.2577, 0.276, 0.9954]\nstate[eef_state]: left_x=0.3413 left_y=-0.0952 left_z=0.0026 left_yaw=0.0423 left_pitch=-0.1354 left_roll=-0.0374 left_gripper=0.9956 right_x=0.3074 right_y=0.1456 right_z=0.0009 right_yaw=0.1904 right_pitch=-0.1539 right_roll=0.0381 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -6.6803, 5.1897, 1.3748, -0.0904, 0.0073, -0.1685, -0.0068, -5.6547, 4.8889, 1.3651, 0.0513, -0.0317, -0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d9d6e15c729a840838adb63e780c51eec3b015d93740038a4aa0b1f8dcb4bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f04ef407b82f087585de78814cc8ce435ea1c1f8fd318250980c949d083ff78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f6072776208929259b8a6fa00acafaa804b7650d9eb0996929ec299b3f4acb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 122 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]: [-0.4587, 1.6291, 0.4255, 0.4358, -0.3508, -0.3946, 0.0766, 0.5652, 1.5787, 0.3473, 0.49, 0.2584, 0.2806, 0.0735]\nstate[eef_state]: left_x=0.3416 left_y=-0.097 left_z=0.0047 left_yaw=0.0326 left_pitch=-0.14 left_roll=-0.0386 left_gripper=0.0766 right_x=0.3077 right_y=0.1459 right_z=0.0024 right_yaw=0.1879 right_pitch=-0.1567 right_roll=0.04 right_gripper=0.0735\nstate[joint_eff]: [-0.1983, -6.2427, 4.7111, 1.8339, -0.0366, -0.0562, 0.7985, -0.0479, -5.8598, 4.5607, 1.9658, 0.0708, 0.0415, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0},\"note\":\"The pen and cap have been released onto the table. I’m lifting and parking both arms clear of them.\"}",
  "call_id": "call_ibgpwJHHv1S2HFE29ebDr7vH",
  "id": "fc_0a64081860f960b8016ab2b46b6c9487d0ae95d8a0ab32b773",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ibgpwJHHv1S2HFE29ebDr7vH",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0582, 0.9161, 0.6926, -0.4812, -0.0921, -0.1646, 0.9964, -0.0254, 0.9157, 0.7021, -0.4911, -0.0238, 0.0261, 0.9961]\nstate[eef_state]: left_x=0.2996 left_y=0.0024 left_z=0.1664 left_yaw=0.0899 left_pitch=-0.131 left_roll=-0.0482 left_gripper=0.9964 right_x=0.2994 right_y=0.0002 right_z=0.1684 right_yaw=-0.0248 right_pitch=-0.1497 right_roll=0.037 right_gripper=0.9961\nstate[joint_eff]: [0.212, -2.6872, 9.6615, 1.6093, 0.1783, 0.188, 0.0806, -0.4034, -2.8513, 8.9504, 1.5604, -0.1734, -0.0806, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d491a159c42258b9d1e10c347e459e3729b0eea216e75eca7d0820dbb6e18d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c39a512487d2d24c84afc6892c8b2c9bf270df6f0cc42d9e8d12d22cbe6449",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba74656daa33181868e4a5498f33a859e67add2bbb5e940617f4684d607004b",
      "type": "input_image"
    }
  ],
  "role": "user"
}