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, 0.7918, 0.6014, -0.3809, -0.0219, -0.0246, 0.9995, -0.0185, 0.791, 0.609, -0.3759, -0.0235, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0016 left_z=0.1792 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.0023 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.3744, 10.4957, 1.79, -0.0757, 0.0708, -0.0708, -0.5675, -1.2239, 9.853, 1.7558, -0.0415, -0.0171, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a440a7373954ed4b2fef902d47de1091aca59250390e27e4d6eba055fd6e2f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1209e9f30390a7c07fc4f4c6607b078baf5a0172b80f3d498be3623775376f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f35ae9cf98ba565eac54270192f59ee5de5cea2c619d31222b4ab080d96597",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqssRSlNxqojM5tVi578x4O3cEUli_4R5n4Qp1nlpGKh8Cag-z_7TXoheI4197U31l-XLgmSLRdEN8eVfecaSVj5z9YD8KCpS8Dc5CnUDVtSXX39nJ1TlPBTp5JNBKsuBZJIq0nXYBa2aj84sjhsPxBb7E1M95wee1P9_msI9IyEVNf38nIkLfhE11QYDcPQkADyunpXOK1rvB3TTYFNhq-ncfTB4pG8f7lyDPApbDoDP99542GzYuy8lMVWonguIWJ--ZS2qt-BoczFDm67ggV0oRO9kPd1-GSnZFZclh38n9xLhanr-vcuICBl0tjSyo9-nY01b_lLBa31m6VX-krytLZXbiFAMqB1fSXymA_O1G38OtdCT_kUYWF9RIpoeBbmVM7p4qFehp1zT-Z-zYJ_4jAuQtmENYMX7dnVtud3JKqP_9ULUMBVwZpNmlYLir92LlFETfW3rYIPfIKcMc23BbGjSYA3XVMfHE2oepknHU3sho446Q4wY8N3d_MissjKBvlZRmnupYhHnqaq-GEADUFuL-7ZPR_xytZqdDMexoZqq5iYFlwDiTH0omXoRd86NTv5l_h6SxPs4WQX9grBfdJIJl7wqDnU_tZXD_x2djg0j2tqLjpb_2IiFZZ304oCNvX8ZZ70dAZH9MrThIoGMeZ5cgRG1k22mFc4-0d6cAMIbUdasvxfHMhkkH2nQtelp2yPSADAbknKt6pGY23g3aHvidjWhRghpTpPE93RJsByUhxj2EufyDKYrjggW_m0_gC0shtef2kdOxOylRAg6XWm3tdZDNVu-FOhJLiHeS17VTgrLrZdvVVTxHSZTW9WlkBOW3OtT1zg_Oxg4CTkmuEFkJg_U1XPqfyJIgwEV-AjWzTeaS51ipwYaMNXyHH_AJ_Ca5-GBs0F9BIvXIS-4-txsinLhqltyYpiR7M6f7Vxzd5CVwDtvckNRuLuky6GwXtNTjww5awlLFT9EhVuzYRkNJW01rYPiuwDIS6B6DMUD4UlKN3s4NxO_cCLoAXi-YSZmeKmejuhm8ns1pUhMoY407-1Ft4qYcHzp67DFyGfe60_xmUz0N1OVTWEqnX_xxCV4wIMv7azprUGEr4qJl5PQ7dGx2FFPrFZ5vu43eOfFg7KSU2lg1IYLjIKl62JSLTkWk5tTgs72hFbunvv08SUl2tBCsq5TbqL2PxmhWuYE4tfGXx39r_zyT7vsMq_JHeyF8-UipuAndBeYqtVSAXlMx29QExiKqTwKP4HcnPvFTDv_G52Q2mSR1foqmrb_oUSMRReYPtCf7MbBvtVcnZsXmMALg8DE9w-SOzlp0Pi-wrvlAuHUxRtbCO5A39ywSesjZZBqlDdDARTjVMW1xkFzKNDk6Mn_W9zzNcA503XDPEeL3pgevmAQ97V2NK928jgVI37DxhUwSEtFfzwm73_S6w9KHQhFrGijiz-j8SnpUKCM8U5GWpaTgMC2nMz8pKVEj3oIvpKMQFhAOx6Kp7k7Sk8qcae97S2Qz8mNlnx7QTLZmNOsJAC44SCyVSYkl0xyPz4lCPNY7VK4azcFVszz7zoKH5glnlyOtuN0rrcgyDeAM7xk-cvJsMTtPy09ZnLczM5pybCOCU-KqRYmtH5SBhvZzJ7XTYfSnxSgSCbc-zJ38U5ayGDynFMlRKzFUZH3n8-NTrxHNCKiymVOjWRfQzlTE_DdZuKvfDRtLgMp8Unl-X282QDCrEk0a_aLp5eVeCBXidMEZxPQWCpGdvkxPAn1pAPhz212QcilGa5-BoP2_gDuq76DO1q2EGDDTbWpMn9IxR0ztfan0wG6qYQ==",
  "id": "rs_0735805f61091eac016ab2c44bf9f887d0aad24c1c79aee864",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.19,\"right_z\":0.14,\"right_yaw\":0.6,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.19},\"note\":\"The long pen lies near the middle-right of the table, and the separate cap is to its left. I am bringing the right gripper above the pen, aligned along its length.\"}",
  "call_id": "call_oxPheA28WQ11pgL6PNuCoAWK",
  "id": "fc_0735805f61091eac016ab2c45068d087d0909ad9b00305c007",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oxPheA28WQ11pgL6PNuCoAWK",
  "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]: [-0.0269, 0.7982, 0.6067, -0.4324, -0.0269, -0.028, 0.9995, 0.3542, 1.4693, 0.7841, 0.0422, -0.1848, -0.1219, 0.9994]\nstate[eef_state]: left_x=0.2881 left_y=0.0006 left_z=0.1694 left_yaw=-0.0008 left_pitch=-0.0525 left_roll=0.0012 left_gripper=0.9995 right_x=0.3778 right_y=0.1781 right_z=0.1201 right_yaw=0.566 right_pitch=-0.0727 right_roll=0.0124 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.4017, 10.1812, 1.7558, -0.0415, -0.0659, -0.0171, 0.1983, -6.2974, 8.8274, 2.0488, -0.2173, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49cec9e293b7806ebaf801af15ca1d696f33df73bef139466fd3d7022885dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76bd4264531b36a3387da043735a70e41fbdde6676a61309be4a2f4bc710442b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4063ebab6f548ad7c19fa32a6776b116ccbf9fdffdada05a5d002b772f14078",
      "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, 0.7918, 0.6014, -0.3809, -0.0219, -0.0246, 0.9995, -0.0185, 0.791, 0.609, -0.3759, -0.0235, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0016 left_z=0.1792 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.0023 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.3744, 10.4957, 1.79, -0.0757, 0.0708, -0.0708, -0.5675, -1.2239, 9.853, 1.7558, -0.0415, -0.0171, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRdjQnXLmEiuPxrkGjplema8FxhdwrCpZstb-_PXW-HapJPF7L-NGCRWarFo5kS5LdwIhnggmFakF8JS2EtsKiXgvs40oTDZzN7xSCjgY3h3BLjAPLu-jFjV4Hn1eHW1OhK_VHI8tW6vemvZhbPfaMF_EB4wbEuEC6OHQ2zxyYntyBg4aAzfNSVGfXzyqsvoq5QUpuTAQEcp3eeCkewNuOwJ0lJEmLCQlU0hWXKp8qYHi_4AQLGMd7FPbKR6OW-CqV9SyoxrmK2ZV7b-yyofK-CZ4kDUaOs_AdWeQ-6wh-LsIBvyEYSa2B2zbhqKLI61O5T4FJNM1Jg-aDouSgdjBPke2sM8Tm-In82-Iqj445uYp_lnRvBlgxxhjm5OLJIvjQv-twx3afCLuHw-_QQTAyev858YgNkd7wC0C6l_KKM2TVre2fbWu9flFm02kxpmtPkPEAcdj3kTjWTxo3YLmk0uACV3Jfc_J8jniyOIDOGMgjN8vehwhb94q3d8Axn8WonK3i5b2WUOQxmeoC40NykW_79NRk1be1UtQvpJeM7sHUUWDUdxJ_sPTfRmuaxv8m6r9GVy0gnrU-zpYPTAwxXksy7tT9KXKxAqNh3qnesq7T9L6EBdzljBt7Xc-maX-G4BkklQCklVtsPKxaE3CgEmxVvjEzdHYyJm1IB3WVEi0AEmxAsFbm3ZcNxSTOQFPgs74i54HZYk1IfK2ekiqvwjhbRXmFpnfv3JRFSnkjGbXp_6CmskRcxK-945XZFslwf1jf0V0dhdIyFPf_ZZmplYZadcqqoGTOeKvH4BQtXqE1gSHpK7-KSizvQrqnTe3Bd4KswOnyi2-pByEmqGlZLWDHAztuERIlZdxi9tdlaLoOkRFIzr-0nugZumffrCy2acOdtomZmN60qqmT4oM5OFXpxsMyjk48964TTDMnYdEHWOaFTNyz857lHi2QuWCHPTG8bo5nXWV2gggVRkpSm8a3Ttw3d1ivTpS0FIg1KsTO2dCbUgZ2QYQLq6v5CkF5rf_VcydKP69HZOLYorFmDzrfD0HjoW7avVTK_eU9rjB4jJICCQcu91w83LcCoL3LB6bPjSqhU5GYTAVSALggRDp-XGI43Q5ZbWgkZkzIVvCtS_A_CYeTqzaVY-iMKVQ86KKcRnVlIIeH2ZkspEgLRhvzBVo0jo9UckYyAiCfhysm7efUiTdv_R0tMh4C8pC3lxJr4nvtrl4Jnhll23oJ8aCfSNneL4QNa7fTaLwXIjpZ64Eh8_ujgIwNp3UKd4Z5LHziU1pWexa_B2GLWtbXwKv3UxX6VHP-U2yjf3zatubonsqhyNtGSBua3aOGg_XB1Sra_2WkPo1l-c8vGwXddDuJWBBmo7RSeYVz7Wbl3qlDmXHVXU01g1CZ7L3neAz5H7X7wiJk0zNenHtq2LueB-nelksQmfd1Jdy4HJDdsuPiX2aIZFRr-knlcOV5_T-kvh01bitXWI3hVp9Emy0Fh3hS5kiQjGcR2XMG-ehd_iacTB9KFWHouYefltR5uDGxFx4AQmE39IV5FxndxEaGfL7eIkhifpC4cFCDJWaftYkzrbAfP2VdGWaQtzapMUCTb",
  "id": "rs_0735805f61091eac016ab2c4573f8c87d0adff1d81a7bf4ba0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.178,\"right_z\":0.045},\"note\":\"The pen is visible just to the right of the right gripper's centerline, with its length nearly aligned to the jaws. I am shifting slightly toward it while lowering for a precise grasp.\"}",
  "call_id": "call_YihysEkyYiUwed6j3xuVDSuW",
  "id": "fc_0735805f61091eac016ab2c45af23087d0af7534abf85ff412",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YihysEkyYiUwed6j3xuVDSuW",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8013, 0.6064, -0.4389, -0.0277, -0.028, 0.9994, 0.3286, 1.7401, 0.7238, 0.2783, -0.207, -0.1333, 0.9994]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.1671 left_yaw=-0.0001 left_pitch=-0.0624 left_roll=0.0019 left_gripper=0.9994 right_x=0.3888 right_y=0.1747 right_z=0.0322 right_yaw=0.5677 right_pitch=-0.1619 right_roll=0.0386 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -1.4291, 7.0906, 1.7509, -0.0708, -0.0415, -0.0171, -0.7453, -7.8564, 5.6137, 1.9902, -0.0757, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14497075c5752be39512478c69ce298015c0716e57e2b97a52888ab162cf6028",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74e04c3b154bad5f7b0734323bce88bef8d8e7eea19dd87f66bd85ae33dc3c25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ddece8332777cd812712d0f1272000aa40a28fb86b1532c8c7768b4f106d72",
      "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]: [-0.0269, 0.7982, 0.6067, -0.4324, -0.0269, -0.028, 0.9995, 0.3542, 1.4693, 0.7841, 0.0422, -0.1848, -0.1219, 0.9994]\nstate[eef_state]: left_x=0.2881 left_y=0.0006 left_z=0.1694 left_yaw=-0.0008 left_pitch=-0.0525 left_roll=0.0012 left_gripper=0.9995 right_x=0.3778 right_y=0.1781 right_z=0.1201 right_yaw=0.566 right_pitch=-0.0727 right_roll=0.0124 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.4017, 10.1812, 1.7558, -0.0415, -0.0659, -0.0171, 0.1983, -6.2974, 8.8274, 2.0488, -0.2173, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRj-aQD_K5ElmE-b1s1l5kY4QYiTMXq2A4bj9BC79HrqnCxxsfJAC38uR3TvlUOv1LHe6uwDBTUFcZwYpoTNf23DRnub2GaSy1rzFhz8F0ALyhICvjwYlT2nGjRNikSWF2UyJlsKJ2Pja3RIEVMWVsVGXyFrn6XAAHRq69lhoEdn_5u2soMAd6x2gJ_c4to-0p7usNkgimcOigVaL2Dfs83tn6BIA0qAS7jOUDjYtEfJhWNgn7IlinzWQLTPCn9jlmT4mcV4tHaHZPVw-MRVDXgl4CHW7KGALqzXBCCoL4k7bc0tUWcAnxiqAYmRbE-N8h0Oqr9SYk8kJa_iBWZC_-LZigeYJrX4nhEMvTuy5UoEiZh1BB6Erurk2bcm2ziULg--F5dIyw5XCc1qFml190fOIcDy5ksuErVQOqnrPH-zudHIUh1i0aExJv9EcFZciejYN9T4FnOB5x3VbnaUmELiV5uMEviwBeQy0CmT4WaEyVIa3YrnqdnSdFq7I3u4E5ttqlecz5VIp_e4zyhHnkwLY02nmbXWryhgQNPevhjVfbjW-hHG-yGl-pATVNP_RuPSslC1J4Qbo57c7qWav9h8Jma668F49UjEyrFTvWZu4YdM51f9_d2xLh1zqZFofcF3BVDOnlChWXACF9s4L5VdlwktflNvna-H-Z6iEOu_CykMYDFFO7qCvLRHNjzDZD9FrxaAbxZWV8IGDMJuunmaFJu3dH8fgwM74UnhrUjrJw3Bzh8BGMeO8LJW8f2Z_0RhgQcPXoFLMYE1aloBgr_l_Jub7aaJrCu75ODuw_o7SuMMk1Ek34PhIzUZczhgYgCyKRSuvQReubk6CK-Jj4bs3xJpC9lWy7RSAZML6vevQ43BIgOk8Qft2_RB9WzLr1XJ4uARnkUYtLsjjhy1cxoY9NBX6ma3IvPNIMkkmE-PMXS0rzQ6iNScpvErXbIEg_8vGZ6864dD2T8i9PLGZd-mfivlkf7otyn0EumgPbJIdQdjdnJdvKTq7kKpMUwD32FZVnYNVwVbmuKIbpDyLCkUo57BZHMdVmHEBNEuod0mcMsl7TKFxK-ode5MrA-gYd71yxOFKoYBTg_dAy8vRbx6EiYIc12YGUmRZATEJ467j6HcKk0RWP5TRQ8tY3DEOABpFUDaTotPfjpw1UFo0UTW6tSbyowcxCDSia4DqSFa38DoSk_MZ6mc8eE1Onh76C7KUA6Vwi9X4xl0E4AQ0-SJdhO4gAPfWUA945wYR0yopE2U8BKAwsRNaqsjdpn673jQTPrMR6KwAu4EtH-1H6rM7fiGhqUTfTG7x0U_S77qc33KDQcAgVLX8qjE9xszz9OT_59dxK3J8imo2a6uUnMBpuDuZAue7LfNF1kbYMP6HU=",
  "id": "rs_0735805f61091eac016ab2c45ffd6c87d080f9f10f03654313",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.418,\"right_y\":0.151,\"right_z\":0.003},\"note\":\"The pen is still to the right of the jaw centerline in the close wrist view. I am correcting that lateral offset and bringing the fingertips down to table level.\"}",
  "call_id": "call_3VkMAYVJR0RehGF11Yw7SKoI",
  "id": "fc_0735805f61091eac016ab2c461aa1c87d0a46327b7bc5541f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3VkMAYVJR0RehGF11Yw7SKoI",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8059, 0.6048, -0.4389, -0.0261, -0.028, 0.9994, 0.2478, 1.8755, 0.7555, 0.3676, -0.2577, -0.1913, 0.9993]\nstate[eef_state]: left_x=0.2873 left_y=0.0005 left_z=0.1652 left_yaw=-0.0014 left_pitch=-0.0686 left_roll=0.0011 left_gripper=0.9994 right_x=0.4107 right_y=0.154 right_z=0.005 right_yaw=0.5613 right_pitch=-0.1649 right_roll=0.032 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -1.0462, 7.1179, 1.6825, -0.0757, -0.0806, -0.0073, -0.2256, -7.8974, 7.5419, 0.3639, -0.0611, 0.735, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419d70885841f38f09ae7cf8866a954650ae1e6ca8559aa4f5c0e2b1457067ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8686ee490721f32a7de7d0a280076d6565fe926df375b03741383444b04b345f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d01459ee06dd468cbb84e6431c56ef34b9cc15cec3199af1c780c0ea9fbe5fa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8013, 0.6064, -0.4389, -0.0277, -0.028, 0.9994, 0.3286, 1.7401, 0.7238, 0.2783, -0.207, -0.1333, 0.9994]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.1671 left_yaw=-0.0001 left_pitch=-0.0624 left_roll=0.0019 left_gripper=0.9994 right_x=0.3888 right_y=0.1747 right_z=0.0322 right_yaw=0.5677 right_pitch=-0.1619 right_roll=0.0386 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -1.4291, 7.0906, 1.7509, -0.0708, -0.0415, -0.0171, -0.7453, -7.8564, 5.6137, 1.9902, -0.0757, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen now runs between the open jaws at table height. I am closing the right gripper around its barrel.\"}",
  "call_id": "call_FwLAoionB7WRNBecCruDpKUc",
  "id": "fc_0735805f61091eac016ab2c465d49c87d0ac31e28fd7234f40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FwLAoionB7WRNBecCruDpKUc",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.807, 0.6048, -0.4389, -0.0261, -0.028, 0.9994, 0.2428, 1.8874, 0.7609, 0.3752, -0.2649, -0.1947, 0.0423]\nstate[eef_state]: left_x=0.2874 left_y=0.0005 left_z=0.1649 left_yaw=-0.0014 left_pitch=-0.0697 left_roll=0.0012 left_gripper=0.9994 right_x=0.4127 right_y=0.1536 right_z=0.0034 right_yaw=0.5642 right_pitch=-0.1622 right_roll=0.0338 right_gripper=0.0423\nstate[joint_eff]: [-0.2667, -1.3333, 7.1726, 1.6484, -0.0659, -0.0562, -0.0122, 0.4034, -9.4291, 4.5333, 1.5507, -0.0024, 0.0659, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cebe0e92814e2b106a92eac3f8a4374353d1392ba4d9485101cd879d83208a19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca3e7aa96124b8457f819dde1487cc0c16ec8f5be362a8e3ea1b48281935096a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd7ff9308b9d8f7588a46b36eee5fa24b2fd20bae943c234b7af903e147f716",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.8059, 0.6048, -0.4389, -0.0261, -0.028, 0.9994, 0.2478, 1.8755, 0.7555, 0.3676, -0.2577, -0.1913, 0.9993]\nstate[eef_state]: left_x=0.2873 left_y=0.0005 left_z=0.1652 left_yaw=-0.0014 left_pitch=-0.0686 left_roll=0.0011 left_gripper=0.9994 right_x=0.4107 right_y=0.154 right_z=0.005 right_yaw=0.5613 right_pitch=-0.1649 right_roll=0.032 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -1.0462, 7.1179, 1.6825, -0.0757, -0.0806, -0.0073, -0.2256, -7.8974, 7.5419, 0.3639, -0.0611, 0.735, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.072},\"note\":\"The jaws have closed to a small but nonzero gap around the thin pen. I am lifting it a few centimeters to verify that it is securely held.\"}",
  "call_id": "call_KEBbZMf1mWmZV92op4sSJhv0",
  "id": "fc_0735805f61091eac016ab2c46bce7087d08ee0d631f9675a8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KEBbZMf1mWmZV92op4sSJhv0",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.807, 0.6044, -0.4389, -0.0261, -0.028, 0.9994, 0.2424, 1.7279, 0.8352, 0.1322, -0.2668, -0.1959, 0.0446]\nstate[eef_state]: left_x=0.2873 left_y=0.0005 left_z=0.1647 left_yaw=-0.0014 left_pitch=-0.0701 left_roll=0.0012 left_gripper=0.9994 right_x=0.4112 right_y=0.1534 right_z=0.054 right_yaw=0.5665 right_pitch=-0.1705 right_roll=0.0371 right_gripper=0.0446\nstate[joint_eff]: [-0.3897, -1.2786, 7.0085, 1.6581, -0.0513, -0.0269, -0.0122, -0.0615, -9.5795, 7.8154, 1.4921, -0.1148, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b199fa359f797747a891c9e53b469f7c7ad17a3e73a82d1b78a49ad59767e9cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7805d588a09fec605582422a5f8ba42b8366dad55c12de34f09d177d4090ba18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5baf2e71a82a004b96defed5efe111f6bc71b122ecf6e65e0641c2c7e2c58440",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.807, 0.6048, -0.4389, -0.0261, -0.028, 0.9994, 0.2428, 1.8874, 0.7609, 0.3752, -0.2649, -0.1947, 0.0423]\nstate[eef_state]: left_x=0.2874 left_y=0.0005 left_z=0.1649 left_yaw=-0.0014 left_pitch=-0.0697 left_roll=0.0012 left_gripper=0.9994 right_x=0.4127 right_y=0.1536 right_z=0.0034 right_yaw=0.5642 right_pitch=-0.1622 right_roll=0.0338 right_gripper=0.0423\nstate[joint_eff]: [-0.2667, -1.3333, 7.1726, 1.6484, -0.0659, -0.0562, -0.0122, 0.4034, -9.4291, 4.5333, 1.5507, -0.0024, 0.0659, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssR2Ojc2Oa2K6uBklI2W8HWLSgghoz8cDjVdkVrtRdpVgjLCRj46YWzGDCkf_8O2B7uch74TERx_v1tjBHhkf-P71zWZeLPN0ivcmXDHWRFwggL2PN3JgZ7HobEt51LQ9nKn9hDeozESHdLrL_-seZSrfhA1_nD7i7krUH6sYg8nWVBgt4Lv0UJEuOfShskhAoI7uTMuBo_1rZYCRr1eTgNZ3Y5TIqe3fY9tgHmyZXhb7C49cLrjRm0p2KLtFROo7x-38u9921fujTclljELzcmjfLby1OlpzF0bT2e8rnhpaz3G1OgiIlUIcf2EN0Q65v3ZzmsBSaSxMinnpMpwprR6qL7oKkvFBgrr3qu453oGVHs-9Pp1m4Q7oFQsBVIZsmRbJrfR2NlJNvri6WMtevXIEGZbfURhMXjONCl9kfPwUF9t0i6U3nv4CGZdcigxZecaMHJCwUp0tTtQaCooSMp823VrkYlATSN8oXYej9iAd0hHtDzj0_gqdFo2yX2HVUgbnhNY-Puk_nqOxIRXNYEHXw1vsbjQd7gF9cMWPVNBqEGRhQQ4J5qVUPV565bkOPMZn4fgGUMZBhWFAzlw08bpWicoj7RfPUTIcgDg0S44V2tn-OTgZQcbsT1EjqcXXsR_9GRyb6GFvqVrSb4MPj9xtVeTMmqOExZ_ZKuETuitUjRnA45JZfgV1Syos4gv1OMUueNjg4OtlntnkhYPae96H8h04tuul7WOIqxVwnbIzsnfz7Ny3cyV4lkEW9T2pvaI5fBmNBWPrhEnLYMJ_9jrnXBHt91gv76LxcjlvxvrTKEJBrufc5zKsuORDZY6GCISmqjW4a2VZbT-5RHNAs7tLtOmvsPftWgmaPNf2NropfL8e-u8VBU1pQaOllUPM123kM_CYcHwEm9_fSOh_uuVyfFyFckZeLfEHHu2D_kySfCYW-06GUYxgLY_yN2wmSSdOPCwdSZ8sBNurUfC_sBxIBnRhXM6OOEGHPnUdXEFxXfu55nt59iEg8azT13Gh54tpeg3VkN_FJwWIN1QN9eC-bdfe9EXxDzMC3OG3joFuZbJau6aNZMY2HbI0YUOwfTuSSkBq7UA-Zf3mPxBKXXU7hXRYTCRRmkThIVzP1gjhwOMMJ_K1LM1wYJxTA9SC11chWtGwgouDh5iALkxI1NdkiuiZxs-YaZxcGkgaGzzsw-23e_9sPfPubiVWtvxdaRCDDVarJiB5NS3V_isj4dxBNbN9axU5qOaQPOrwIn-OMZlsCrUyqbaqss-ZwPlXMfnsdGOWQpRP2wHxxngjjZRbR-zbKTIGlNrlajVIXYsrIIRl5MtUnk0jOZqgrZxxo1LodlI3SFTi1cXByhKQUbeUMhm8uyt-EKEs3Tap1LV7Sbnqq8Cv7at3MGZc8IrQ1TA22xKZCJBTXJWn3B7vjFCq1SACZaTEO3BEG1u61dmc-ZAG1fHt4kbC2d-fWoQNgyL_7880pNFrUfWJuNz3PAo6IbTiJy9eX-mLwUBX0_wvTbvYFi5t2Vcy0dLLtT5YnzJp_DbiaKOJE9T8tr0izikiDvGdliq0UfDd7Lez-xxHL6oJC9biKrob-yHNHrwNCJsdoVf7YoHDbi8s2GlURAe-A3h0ZERrxFAyzyA2mV7K3J0xEWYj_DRAK71mUnOTzumw0Nc5dobFyVzlzeBi88qyQ==",
  "id": "rs_0735805f61091eac016ab2c46f7aa487d0b4b7a584a90a5c8f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"left_x\":0.435,\"left_y\":-0.225,\"left_z\":0.14,\"left_yaw\":-0.65},\"note\":\"The pen has lifted with the right gripper. I am holding it clear of the table and bringing the left gripper above the separate cap, aligned with the cap's long axis.\"}",
  "call_id": "call_99jKA7buYRekviPHGgVGQFbu",
  "id": "fc_0735805f61091eac016ab2c47473cc87d095aa5b8bd7e66ac6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_99jKA7buYRekviPHGgVGQFbu",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4152, 1.7031, 1.0748, -0.099, 0.1413, 0.0887, 0.9994, 0.2424, 1.5784, 1.1046, -0.35, -0.2668, -0.1989, 0.0488]\nstate[eef_state]: left_x=0.4227 left_y=-0.2096 left_z=0.1155 left_yaw=-0.5956 left_pitch=-0.1474 left_roll=-0.0203 left_gripper=0.9994 right_x=0.4062 right_y=0.1521 right_z=0.1413 right_yaw=0.5723 right_pitch=-0.2303 right_roll=0.0556 right_gripper=0.0488\nstate[joint_eff]: [-0.4855, -8.841, 9.7573, 1.9609, 0.2711, 0.1929, -0.0122, -0.3487, -10.0034, 9.5248, 1.5751, -0.1538, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:659a0e2084266d49ec46d76e8d7c994e69aaa74d7610b2e853230bffcb5f6842",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0418fe2ac9db5ff6cb3440fbd78982927fb7843dbd5a29ea50f4f71e5b59130",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f78cf10da3888499fd2be6cd9ca52043403128358c2b93d43d6c9f236513b55",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0269, 0.807, 0.6044, -0.4389, -0.0261, -0.028, 0.9994, 0.2424, 1.7279, 0.8352, 0.1322, -0.2668, -0.1959, 0.0446]\nstate[eef_state]: left_x=0.2873 left_y=0.0005 left_z=0.1647 left_yaw=-0.0014 left_pitch=-0.0701 left_roll=0.0012 left_gripper=0.9994 right_x=0.4112 right_y=0.1534 right_z=0.054 right_yaw=0.5665 right_pitch=-0.1705 right_roll=0.0371 right_gripper=0.0446\nstate[joint_eff]: [-0.3897, -1.2786, 7.0085, 1.6581, -0.0513, -0.0269, -0.0122, -0.0615, -9.5795, 7.8154, 1.4921, -0.1148, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssR-LXu7urlqjQEiYAHaAf6UxgdvIwvi6FEd8wLbYtqfaK_UKgkRz76kp7uB6Ev4sldFIVSC-WWE6hJPKtlW4RJwOQ6H3hNN1LcgAGSnN-vFNG_hsnCq5VIFB27gPJj89IZAj_VdA41GfS4tAFUW01q9KH6-x9T2R32NrHQClj9l0aCnwBLaBR7Hvo1HnhsYn4c_W8Z_7RuE33GG4fX19T3eopKFO8c-C3mGOUVnfIQ-PYMQEsBXyX1xTqXOte9B_TmHUltw91SuR3Y-LbSl6e56eL0EnY21eb58cTz_qA4439fy3DbOZ49ferF2yKywYy5cSAiRK_REE_ltsw4vcRW6rS_RZRqzTRbREhm4kMyF4aY2Hv6nSHYbM7flz-5U1bAy4MdY-911B75W8ti9-aE_lvQZrakvPBU2TS8PA2yBTazIfsoqBfZl6DoczCg0iHLf3a6r-NiLmzZUiyoeqHSnd7taQxIAy4vh2CDv_jFUr1e2vlE88-x3LATXW2jgiUeB1F0lhtZL4YMc02CwxqrA8Ish3dJqKw5M1g6JskMnwGfr-qris6h7P9cPCbRdv0D8TIojCHX-k9e922hKOrbJNNiyD0v2HyfEUpwtT--zEIZUcOvlxJ8tWpWxBZZoCyAP3FeNnqZTI6ztQSH_Up7DPBSUHV1hRpvhTbd9Zpj1ZXnPnmcXrkCKGMeu2bgdVFLmzdqoidL5qiuqIT_A1kVSqIF6VIBTYm1VmNvaefZ6RlIG97T33T2VhOrSKZB1lf27NW00UQgwoiZALpWMRtSa8ulL0YysEqbX62tDvUT11hxW2Q7FcbGECl4rmcWs5Vc_Gl_t3iy1nirp4uYY-plijRYcrk6NzLGzsDfvC2r-jC8lcVTAOWEQVAojbHj9Io93YvTzwd6Y0FStkv5xOEsk1dJ0bqfuVh7yRmrzONBksJEYCZOjy_2kpv0mnZZiGwb81dyfByLz9Kw_XLNC5WzwR7kPC7uGFpWajYUTTxvsFAczQwQBQl5aRN2j0JzfnMcfjv5owqxL9WjUcgRNbwAo93dDXCPX7MdXqdzc0s4JxGcDSymAVX0KxH0eBTAFbNroGkgcf-CWn-raR6LCnnvB6sKJjq054kbac-NHsjKwGyI-8MQ1MRfbmnpuY0ag-iDagle7XdCSPBqVKCLyaQaNrnob1vS6eYFErwvID04cdU5hA2HawU97Ll7rgUytpMInI5oM25qHeESfiwY_a5RzbIqjAf9KSJmK9qSXDCXIgjMKBx43QYIBDcNJdsxw2aBe9E_Hxlz53hOM3cpYPhv8RS4ni6Y9f1mZ05g3aGxnMiOLuLtokis_tY5CKtt0nUBLW-THt9Pt-ewMzJJ1qgM7y33ZEl5wKaePAypXoNcMYzn3IuEh2TBcdPFqVswuP9Gx2DVgHmSGWmtWovKQ_BpKVw==",
  "id": "rs_0735805f61091eac016ab2c47ab1a887d0a5bd0e5af2ad3d22",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.212,\"left_z\":0.018},\"note\":\"The cap is near the bottom of the left wrist view, slightly left of the jaw center. I am correcting that small offset and lowering around the cap.\"}",
  "call_id": "call_BAHpxP2aS8RJObyOGyR9t5PM",
  "id": "fc_0735805f61091eac016ab2c47d46e487d0b0655f282161059a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BAHpxP2aS8RJObyOGyR9t5PM",
  "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]: [-0.395, 1.9762, 1.0111, 0.1722, 0.1543, 0.0956, 0.9994, 0.2424, 1.5761, 1.1038, -0.3599, -0.2668, -0.1989, 0.0489]\nstate[eef_state]: left_x=0.4383 left_y=-0.2083 left_z=0.0132 left_yaw=-0.5924 left_pitch=-0.2101 left_roll=-0.0367 left_gripper=0.9994 right_x=0.4042 right_y=0.1516 right_z=0.1403 right_yaw=0.5729 right_pitch=-0.2383 right_roll=0.0584 right_gripper=0.0489\nstate[joint_eff]: [0.3624, -9.7436, 5.7094, 1.917, 0.0806, 0.0513, -0.0122, -0.0889, -7.2547, 6.7624, 1.5458, -0.1832, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d354dbf81c8cd053cb2af8dd2614a2e822ec24e10518f010a5914c9d1601b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac79ce6545d559ca0406bf9918e5eafe981ce041e7709d1c61c54d2e609aac32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0e9605e3108bc9549503a03840f18968eba5c0c9caf6c23d8cbc52f3bacfed",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4152, 1.7031, 1.0748, -0.099, 0.1413, 0.0887, 0.9994, 0.2424, 1.5784, 1.1046, -0.35, -0.2668, -0.1989, 0.0488]\nstate[eef_state]: left_x=0.4227 left_y=-0.2096 left_z=0.1155 left_yaw=-0.5956 left_pitch=-0.1474 left_roll=-0.0203 left_gripper=0.9994 right_x=0.4062 right_y=0.1521 right_z=0.1413 right_yaw=0.5723 right_pitch=-0.2303 right_roll=0.0556 right_gripper=0.0488\nstate[joint_eff]: [-0.4855, -8.841, 9.7573, 1.9609, 0.2711, 0.1929, -0.0122, -0.3487, -10.0034, 9.5248, 1.5751, -0.1538, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSGPYaR5G8dFq0Vjur4OFKLA-L_GPd29dNhXYw5kaBFnkSmfc8f43IMcqUmvytOjxKCrfFsjXIAQ7mb3Vr9EojyaU1jmKeAdlgUM16ReJnOBfxwAT_wQEdpxAGy3_QQ--i7L-SbxEYLBLqkGdRF-tKf2W3TKMXQ8sW8vArStg1Np80BE90487uc4fJ_9TzFOvONu9fj5y5k0NKmzdzbJ-PF2YVoFBj5qdTakIIn6oC4yZxyd-074PEkSmdXCQgM_XvDdcurjnHNDRkE-uOLI1k_zNZvXtcaGOQSRobb9-Hw818o-vtDW4X3XRXzmvAxR3oTV1MSD6lLRmfokePLZKvgOTHdge9hUKuqK2IzaNt62_DFlTC59ARU-PqCXSGgNP0ueWZv8JLWhFGoeaX_-Mhu28831yRaGSbyKh2UNYzP-tDTg8AZmI-P4Q8Jw9nVx2c-z0Pva94ov-JLQlxuhOAOrWPQbay0_cG70Hq7f4vSAb2cli-CNGpKEnHfdY56pUiywzPQi5m4dn5dVjNpkZrfip541yZLzM51sCr7ohrMtcnDLvoDmKpYAucb_sNhtFWX-audC9lOxfJaUqQ7NZhwN2ILr3ukW2rCqyU3TLiiz6bSlCPdcF-Z_whVwUeoLHHcgFZWbD7N-sQWenqAzgi5RMJuGYaWIyVofmTdTujPttJu3r4atdDjFLsXZ3iGS6lWK0XRTHABA6PzIoZOHHaCjHBiOiYCRJzwe1_1HcaF2OZrs7lhRRrarROQbSoXs10O4_6Hej8GVXtAdqjvpVR3b5KJTNby-YvgIR6qQq6OLHyIVtDFL_VikkLz5eUW-PaVI7xzJzuVFe2ZmRMpBEdFlT3O3SrNxmWvPg8YTFWIR2QAi_VIjsmuk5iuhxmYBvH05N1C_gP_2yw-XAKfqJFYNStSOd162Wonyb8nMXGIp_FcoFW-13nTIEpO00AYZkr20HYtgm4MC602QR-4U-XQLJQik0CTEmyJoWt-FrB80MB1jHoA-WoQSqo1fUrwoQNu-82-GJXkjimNSaOrKaNxQAQg40fdHG5gcWOzSifdiXEsPNASjhBvBBnHLlXXJVuov0FsfGkaMhqXl8Z-0AxBy0Qio-vOfvsbU1G2k8ejTvBwuCIdY7QT9PGwaVD6qSS5wvoVSgo468IWw5swmLcNc3Nrzc9QWSLfVIDu_mVOSttscdIfETa6y1Zo6MCs0wlccupoHkAWitLr6bxVFBRae2pNjexCVXAD8jJZfKV0gVrOWzxhhBm0GPtzo2wP0SY0KYnai74DZWEztpcatBjkWN16EjjQND2ARIAGNoAEGLs=",
  "id": "rs_0735805f61091eac016ab2c48278e087d08922c9b2abf610c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.2,\"left_z\":0,\"left_gripper\":0.15},\"note\":\"The cap remains slightly left of center between the approaching fingers. I am making a final small sideways correction and gently narrowing the jaws around it.\"}",
  "call_id": "call_5q61IcLrwTml1IQndRAxoJvN",
  "id": "fc_0735805f61091eac016ab2c48437a087d08422724ae54fdb60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5q61IcLrwTml1IQndRAxoJvN",
  "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]: [-0.3557, 2.0388, 1.055, 0.1944, 0.1654, 0.1135, 0.1547, 0.2424, 1.5776, 1.103, -0.3603, -0.2668, -0.1989, 0.0496]\nstate[eef_state]: left_x=0.4569 left_y=-0.1969 left_z=0.0035 left_yaw=-0.5723 left_pitch=-0.2048 left_roll=-0.0308 left_gripper=0.1547 right_x=0.404 right_y=0.1516 right_z=0.1393 right_yaw=0.5731 right_pitch=-0.2408 right_roll=0.0593 right_gripper=0.0496\nstate[joint_eff]: [0.1709, -8.3077, 7.8017, 1.4237, 0.2271, 0.0806, 0.1636, -0.335, -7.5692, 6.9812, 1.4774, -0.1538, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb392f8e7792ebce074516fb59df9b44dc5a9e05e6183f48e24b71f923a00c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a19deb8e17fd08ba4c6bf9a96ddd8c40f710e73c2b4c85c523db5230024662b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231f90085968085de48c39f7532eb6045999d605ef07fee03598587478cf0f21",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.395, 1.9762, 1.0111, 0.1722, 0.1543, 0.0956, 0.9994, 0.2424, 1.5761, 1.1038, -0.3599, -0.2668, -0.1989, 0.0489]\nstate[eef_state]: left_x=0.4383 left_y=-0.2083 left_z=0.0132 left_yaw=-0.5924 left_pitch=-0.2101 left_roll=-0.0367 left_gripper=0.9994 right_x=0.4042 right_y=0.1516 right_z=0.1403 right_yaw=0.5729 right_pitch=-0.2383 right_roll=0.0584 right_gripper=0.0489\nstate[joint_eff]: [0.3624, -9.7436, 5.7094, 1.917, 0.0806, 0.0513, -0.0122, -0.0889, -7.2547, 6.7624, 1.5458, -0.1832, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is now beneath the left fingertips. I am closing the jaws to secure it before the lift check.\"}",
  "call_id": "call_NuSmDtxvyV2ftRiQY7DYeBx1",
  "id": "fc_0735805f61091eac016ab2c48a561087d0a61a617ca55d2924",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NuSmDtxvyV2ftRiQY7DYeBx1",
  "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]: [-0.3534, 2.0434, 1.0584, 0.1986, 0.1619, 0.1104, 0.0106, 0.2424, 1.5776, 1.103, -0.3603, -0.2668, -0.1989, 0.0496]\nstate[eef_state]: left_x=0.4589 left_y=-0.1958 left_z=0.0032 left_yaw=-0.5652 left_pitch=-0.2024 left_roll=-0.0299 left_gripper=0.0106 right_x=0.404 right_y=0.1516 right_z=0.1393 right_yaw=0.5731 right_pitch=-0.2408 right_roll=0.0593 right_gripper=0.0496\nstate[joint_eff]: [-0.1709, -10.7692, 5.2308, 1.4432, 0.0904, 0.0562, 0.5739, -0.1709, -7.4598, 6.7077, 1.4286, -0.1538, -0.0464, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0226d6d4b1b261de98e41701074216f4a50bf6ec59052585c1853f342283665",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18207e45d0babab131c13915c70c26a7a00e98694f7ef1ac143192f79e2d236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17854d924fb15294d341bfc4212777350d4f2b88db92dda38edd379cc51cec30",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3557, 2.0388, 1.055, 0.1944, 0.1654, 0.1135, 0.1547, 0.2424, 1.5776, 1.103, -0.3603, -0.2668, -0.1989, 0.0496]\nstate[eef_state]: left_x=0.4569 left_y=-0.1969 left_z=0.0035 left_yaw=-0.5723 left_pitch=-0.2048 left_roll=-0.0308 left_gripper=0.1547 right_x=0.404 right_y=0.1516 right_z=0.1393 right_yaw=0.5731 right_pitch=-0.2408 right_roll=0.0593 right_gripper=0.0496\nstate[joint_eff]: [0.1709, -8.3077, 7.8017, 1.4237, 0.2271, 0.0806, 0.1636, -0.335, -7.5692, 6.9812, 1.4774, -0.1538, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSQqGCz-3TjnohqbtDZZ9UIdc4EBEKLzEsokTyVPLjEa4DnSC7aShKe3qMl5Hbd2Tx5uhHYjQSVVR7864mz_s6aZrti6as-tuPX4F_x6G3zyXx95yLjHrjg7YSuc2toF3yjx5amSVT7LD-E7cQ0oDZujTqxPFGLcwEoH0R3QmINBIeTqSli86FSmUfSKmdoa5ENNaI-ojasYz4OK4BeCJdqBz8GguCi4UGhLWtdSecCj7fBrCuCdolkK-GCKZeRA3x1q0lnaw7FDn7z7ZJR-amx1mxANj8eYRN26ri0dMk2qJWT5gY4UL-JHGRiX0xOhiUNgbtuJp5e1yeKycKrNGraj_EVrmkyFmuoUH63jy9BNePT2-Ou3RDJe4pavcja7_uTr98Gqn-s_S0Fh_tCc2V13pRBDvxaxUf0zgu5dlxl1C2P6KLH7T5H6EH-xNUixS85I72g_ZM5tril_gAuKsAFF2HpDiUdW0rL_b13MzJtDhD1stxVb1kfMLQoZbGw5M_qFxqR_iVngd449pIW0eq-9RDynkEj8d_ifOyQmEpuFDQRNnkrpjSHpoF9JegBmG8P-Erxq1V1ZlXsp4weAQMmU0rKWGmnj_0xmNYqfPpOXgRKxHPqDZ8_ZmnCL2FY4nq_IIRS4COPCIwHERj1JYeZt_CKpbfP63uYw5qUq51-Z6k1XH-E2jeQPjI331cdVbDk9G1n72TUXJHHLe4TzzFlfj-VZVg6zE97-0zJsbXy-r82DtbNZTuTn9WCtMq-8P0b7D-wnWDdrbpEHRhXhJ4c-g3e9owa47lTMHHAQvPUs6caeyPdc14U2LnqODKYBhu-Gyieeugc0gsQVXR53Pfjiq9Hba-itb7sUKD4w7Gf9xT_VpFZQi7_hbKFKdV2Hj_sKjAKdkMQkoqWmtPNH8oj33lvvveup2x8TW_LSRLi_ZavfQDzR2-1a6SqkFmm3J1YrjKybr9p0Kr7iL4sdFTnj9YdGxX6rKE-OkP8Slen8QsR-FxUdqFEGRaTlGTELevkvIDGuQLozgrKDAwPMjs0npah80lpAC2Nyzwkrg2ggWW2QpKGizOgOSsaiz6yFIAcOTi9ONk5Hbvz-DlBaCbwauaMSJGYPM60-_Z7dduxyjALTxbXXlvyTZL9VCBNGPvdsyGZE4vlJ5PRJh4buWFHK6uSvLlg1BqZAw59Vs7mW-55ynN13Qk-uB1NMrWzpOi34Spdzq-WK7qZEHIMhovTNA==",
  "id": "rs_0735805f61091eac016ab2c48e144c87d0beba7e2a9c9399fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_gripper\":1},\"note\":\"The left gripper closed fully, indicating that it missed the cap. I am reopening and lifting just enough to locate the cap again rather than attempting an unverified pickup.\"}",
  "call_id": "call_AxOQ7NtGXKVSck0y4vgjbgsT",
  "id": "fc_0735805f61091eac016ab2c48e9a4887d080a85084b05b7fc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AxOQ7NtGXKVSck0y4vgjbgsT",
  "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]: [-0.3538, 1.9034, 1.1545, -0.1104, 0.1577, 0.0998, 0.9949, 0.2424, 1.5776, 1.103, -0.3603, -0.2668, -0.1989, 0.0496]\nstate[eef_state]: left_x=0.4477 left_y=-0.1911 left_z=0.0536 left_yaw=-0.5598 left_pitch=-0.2745 left_roll=-0.0499 left_gripper=0.9949 right_x=0.404 right_y=0.1516 right_z=0.1393 right_yaw=0.5731 right_pitch=-0.2408 right_roll=0.0593 right_gripper=0.0496\nstate[joint_eff]: [-0.2803, -12.9026, 9.6342, 1.6386, 0.0513, 0.2076, 0.0562, -0.3077, -7.4598, 6.7077, 1.4481, -0.1441, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47f940701ccfc4c3a3edf940212034f60670e4372e9323e487719e8fcb5e4b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ba62bb6f2ecc570f41dd7f842512df1b8ddfe45d7a5818ac666d73ec023951b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b35fc1d34b4f38eb12ff9ee509c611814f2bb7ae2aa1a045cc8b2d8cf25bf34",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3534, 2.0434, 1.0584, 0.1986, 0.1619, 0.1104, 0.0106, 0.2424, 1.5776, 1.103, -0.3603, -0.2668, -0.1989, 0.0496]\nstate[eef_state]: left_x=0.4589 left_y=-0.1958 left_z=0.0032 left_yaw=-0.5652 left_pitch=-0.2024 left_roll=-0.0299 left_gripper=0.0106 right_x=0.404 right_y=0.1516 right_z=0.1393 right_yaw=0.5731 right_pitch=-0.2408 right_roll=0.0593 right_gripper=0.0496\nstate[joint_eff]: [-0.1709, -10.7692, 5.2308, 1.4432, 0.0904, 0.0562, 0.5739, -0.1709, -7.4598, 6.7077, 1.4286, -0.1538, -0.0464, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSe8be_rpTQenPaVdgG4eD06HNNTQqeL_Z4ETj5imI8R_1BGuNLiZdhCUVdouv86fJ13l9PMdY7AVtOeoGcKEHIp0h7aeb4kzSWyinf_6lZv_WPssNjVMDUfwAXgNjWTnsODd-5mRKhAPrI276ev3mHsQp9pW-KaKoNDJffOHIiPw4DoHDGrDGBp-EPf11_1T2cXyOaft1JHlKiYxD0y_hp21vfEZvihmvR-WYmJ5R180qjwEXTUv1GTAdM4qhUwM9FY4AFEFD4vukCMxykciZHlZHZW8znpsnZF_otK0qN_WBzPjFl4eVKxzUP54WAD6lPk8UwvotmaoYQC34o_B9Hue7JuFMi7ATnEyGKNuQtoZpdgWIqMfnef4s2wNQ86XRX3Wune1JgplKWfJpxPKlMZ7ffzcIzHRWBECFtGBoYUb1owXbOEmaM4UbEwloHeZ5_bJ9ATPD19j_pK2I6qduyz8eLZKQPkTG0OkCsw-iFILUeEMPZlHoVHzNU-fPiVFVxhSRkMiRDqbxwpuy1B0NHpLuiuaVqo9tZr_zflcI0fGym_RvaLn-tcDf-dMSRU7X23R7h-Dr4BgPJdSZ-P668ceG211CWWQkXr1h4WLeGQ7-Rcvmb_OOaGDps5qQ8bvCcUmqjTj5D3XTy52nLK64kyaXb_hPMRk7IJ3hKvhtqELPBERKzadQSqjtAC7jvTwIb_HViXQsmYms4KKd6igiZJK_If-AjAvWWqUMjdq9gxq1-0zNZLAwtsi-yQbO_X_DdKeNxIsyjJcSiMeJCSLO9aOmD1lr0yXNyDNJ20GLiN5LmXtQTGiSS3aM1dQYfnLxKdkwXoOCw-3hYEZs8M47qJQ0NJKfKLjQTCUCZuN8Qq58fMqGntdJaGQcG3NpbWrtqTZFqT0BkzST7vzThX6eAZTg5XjuE-rmB0SrZTDsOjPbDl5OoIrZtiwhSfgXtexI5i55uP0-OGSe0NZB-9YqF1NLIQooUzC8Ukj3GZTavXHjcdvI6c6BqoMqVdKEpM1G74mXgz7leX_h6EycAveu9oxuZ-yPv6VlTUfBfsjjn8Vlk2ScGj0olD3dOMvpBvV5PBI7F_aS9HLDA9wA1aKSHB8Zk8uhYBPxPODAypuJu5bLd-P9Zk2G6VzkmsVwAU526hU3c9g8zvOJJj1c_hUfyaBW1TWy7sunP_U4UsqwMJGAmgLEtAKRTmA5LW-JmbayukbTyyg8wZQAH8DzHmrLcRASUQMvSXy0Lv7lLmvpn3z03v6uO-IU9TTCdr0aMpSIByg5Apl63XNKDZR5J3MBasCKi5PxQd93spp-SdbL0iAFLffT9wmsDUCCUd2kVCqjt2g2VFY1TPkZIon2HWfVhFCc5p4pGiRbKSYOODPt2u3Kk5VB395hJ01wCFpOyTg713_jnGfO7MHIGHSI_Mfw8gjXe0ln2VaQwQI2j3Jkr5E0n53qyhbkw8MvkFZNlXPD-jiU-X_adNLWwEK8CdJ0c6jEgOZ9Ti2HCOF5gI6aek6FSafkpU70E-YznVCJdkg6gSeYP_hwlSAExuFBv0KSaktO6QIsp_a0_h7I1doGWr788IbBdmM_CRiQsiL5rnnN5dQrMlJhaECz90Fd5vngz8ubJCDwdMC7C3E6Z1H3LagyXDRcaZ8V0phVCyYaiZaOjrALi3HupT7r0BMoOwE23n2C7nAmcOaceeImMgnqGlmsMuNKi0npcqxbBoYQitmGilH9Wn3rpJjWV6bU1ufKVBVbNvFUB5A8kzqTJlXiEZQSescZuz1eX5xtqiba1pWXxmaGgX_gtdEd8U1BrOxOB30IaKh_3Az9oowZy_MjM_zRgVd_Nwim3QCgZE-A-0lpPSx0BjJFMfEYjzas_NBqeNg1bfBeaTCkfLWyTmu4DEC6UpZilLTB6icLtSUyi7jgkiTLfYBsdcif2mxy7JkoxFncsQw3jqVKMe82Eu4iWNgK1LdYGPEswsBelaacHFgb1AOik4eGZOplTnTovWwKsvZqCMq11QoNgDRGPG5t_YtUA34WR8C7lgvwwLJNvYv_OvUVELmie8Jb5Fmkbhg3aNvbDJAuP3uyirIeGdN159yNx9AK2uxmpM2CKipvm5wNN6qTqpfQ6A3yDSkf-uUHRtAXjoOHWQfU-w_foP4GE4RsrcDReBd1DgDh3fUzWHm6z5smbIl9yzXFIt4XDRrt2z0i5WYC8YFA9ExYyAj12teiKNU91gHQPAtSDin9-UwAJ",
  "id": "rs_0735805f61091eac016ab2c493ef2887d09ef666ebb440e1c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.18,\"left_z\":0.003},\"note\":\"The cap has reappeared at the bottom of the wrist view, indicating the previous grasp was beyond it. I am moving the grasp point a little back toward the cap and lowering again.\"}",
  "call_id": "call_MRXQfZC2HIeQXdHPaewk7Ogi",
  "id": "fc_0735805f61091eac016ab2c49ba97487d0985c608c9f01c658",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MRXQfZC2HIeQXdHPaewk7Ogi",
  "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]: [-0.3477, 1.9392, 0.9981, 0.0448, 0.1577, 0.107, 0.9961, 0.2424, 1.5776, 1.103, -0.3607, -0.2668, -0.1989, 0.0496]\nstate[eef_state]: left_x=0.4248 left_y=-0.1797 left_z=0.0048 left_yaw=-0.5601 left_pitch=-0.3105 left_roll=-0.053 left_gripper=0.9961 right_x=0.404 right_y=0.1516 right_z=0.1392 right_yaw=0.5732 right_pitch=-0.2412 right_roll=0.0595 right_gripper=0.0496\nstate[joint_eff]: [0.5538, -8.1709, 4.7932, 1.5116, 0.0122, 0.0073, 0.1099, -0.1162, -7.0906, 6.7214, 1.5116, -0.1392, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d707369826c78c82358074c2be3eb7d387ad8928307ae797fdee7048e62cf45b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cddabe9e1cbe172b00f25a3b1bbf2b81892098d61fc2c90504933cc581f3d7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:343e3c37f1d833c36d9a8a1b02cbcc6e4aa4213bf83ba6f60405d595baa32b25",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3538, 1.9034, 1.1545, -0.1104, 0.1577, 0.0998, 0.9949, 0.2424, 1.5776, 1.103, -0.3603, -0.2668, -0.1989, 0.0496]\nstate[eef_state]: left_x=0.4477 left_y=-0.1911 left_z=0.0536 left_yaw=-0.5598 left_pitch=-0.2745 left_roll=-0.0499 left_gripper=0.9949 right_x=0.404 right_y=0.1516 right_z=0.1393 right_yaw=0.5731 right_pitch=-0.2408 right_roll=0.0593 right_gripper=0.0496\nstate[joint_eff]: [-0.2803, -12.9026, 9.6342, 1.6386, 0.0513, 0.2076, 0.0562, -0.3077, -7.4598, 6.7077, 1.4481, -0.1441, -0.0562, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSkbrJ8npXkiKOKvIagUv6kzdSMpgy6XgITiaVn1NWEZ5ksYmhwX6LT6HXbv3wI6_bUHgANMvK-2t7dWjSFZhYpBAKJJpguXPv5nz-lJdWd7qhtEHAvvNpHYW1ZzFf57e79h0WvTYCFXd5cfT1sGFDBUz86tIQ2O5BTVTG2JaESiFDxNAC7VKZtK6ywpI3QCaBYcd9DEv8r5A8mbtpJ1t9pFeCSBtvi2gseKAD2Ed1uQbpOD-Xk3OTMqrW0iXUt7awUcsLzS4sAOPTFXLkWkF-5tAixkWbWPv3e4BUGrbanw1oa9Acb4RZ6GPHFlG-lz1mFTBjx8DsCD0ej7RBiTO9Qk3k4T1_Ig5ZYooWWEikeOCY7kPCamrHRnCBNH4Y_r4OgE28XOPTwkMN9zqyhsGr2WC_97_ygkaRdwZms0LUDt-BdPPPfV0CvijtjhrQ2JuIIfkTCDRQR4fb-xQOO_jGU8aA33elUVMI5A-SjlopQhQE7R5qHgBxgT_keSiygz0o9KZGwk4eiaVkd7C6tsiBCaS_ieaxhEsJmFnJULFEVyjeG4G_ecAEgLYg8RQZ0D3Jwvfk6XLUYu-SpUdvTeoMJnwVtpgPoKJoPaWvkhWe6iFIF0EgZXAGkbXODM3WimzYhniMJHcsKTjeoaaAle_kO5gswOM1nJxyxveXXqKU56RA8MWncLmx35NnZJSWqyK03OZ3P9JxTKBSWQDuWrQ_nAVmsA9_9tVEqI01rY6wuZmFrIjfmyQbDYCqajxRpkrVK_p5hbDeNPzobO3ePRwWpn8u-IgInaLmwLKVLzv3SBsLP3ldAQ9BlNQrxe6FkXeQUEMXvMs_zCGqtLbIRZiKG2JOsF9rnzXx8XGh0yyWXVqKQUdZ60JKEQII53a947IRJ-cQcXT2zx4tVw9KnJkn_wY7R2QQcdkeTQjx8DpirbxeRrdEqJbYt22Y5LIHvy3Gx_QOmZpdv9NpQq_oBot-FEEMki-uTH9NsSGhpU92j2bjsRV3keO-w__j6jexra0dAi4e-9ug1U1HdaN5Jnb4b7XY-Syp5HOy05p_iSRNXgbIiE5isgu7JU60UrNZdrVyhClnbN21oErxMF77vJlfGdIJmnTXauTzHGKhMJU63p0rXJP_Q5SLTEAg4sYpTXgIyvv6UnP3OJ7KxnB9IH2Nhvv6B8vCGjVziedda6XuKX862mxHGckCk98EvJxim7j_Jx3Q8ZLG8kxYe6K86Rsgtn2YYeDJ-EtLo9Hh_vUzhgw0STuUAmuLTlhH4cq4P7KndQvCqFTazJQhpo2IL8XYFrFfhRR1QhvwnhCMebRscAAc=",
  "id": "rs_0735805f61091eac016ab2c4a18df087d0933265c401c56331",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The thicker cap body is now between the fingertips, with its clip visible ahead of them. I am closing around the body for the second pickup attempt.\"}",
  "call_id": "call_4fizMcy0KgE3fBR1PPv9QM6R",
  "id": "fc_0735805f61091eac016ab2c4a2c5e487d081e11363b1f41ad2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4fizMcy0KgE3fBR1PPv9QM6R",
  "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]: [-0.3473, 1.9438, 0.9863, 0.0719, 0.1581, 0.1043, 0.0484, 0.2424, 1.5776, 1.103, -0.3607, -0.2668, -0.1986, 0.0496]\nstate[eef_state]: left_x=0.4253 left_y=-0.1797 left_z=0.0028 left_yaw=-0.5578 left_pitch=-0.3001 left_roll=-0.0528 left_gripper=0.0484 right_x=0.404 right_y=0.1516 right_z=0.1392 right_yaw=0.573 right_pitch=-0.2412 right_roll=0.0597 right_gripper=0.0496\nstate[joint_eff]: [-0.2393, -9.9214, 6.9538, 1.1062, 0.0513, 0.0708, 1.1502, -0.2667, -7.4872, 6.694, 1.4579, -0.1099, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9de82820abcb25a48056baaf962fd337f72e7bbb429acb04d7e2098a913f3456",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77649db0c718d4ba0adb9a42b3855afd80a565d1024480b59a736b2d30a57621",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59d46c8dc45db1206446a3c8d57c3959080af1146af98c1ab1b6e63d52733c60",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3477, 1.9392, 0.9981, 0.0448, 0.1577, 0.107, 0.9961, 0.2424, 1.5776, 1.103, -0.3607, -0.2668, -0.1989, 0.0496]\nstate[eef_state]: left_x=0.4248 left_y=-0.1797 left_z=0.0048 left_yaw=-0.5601 left_pitch=-0.3105 left_roll=-0.053 left_gripper=0.9961 right_x=0.404 right_y=0.1516 right_z=0.1392 right_yaw=0.5732 right_pitch=-0.2412 right_roll=0.0595 right_gripper=0.0496\nstate[joint_eff]: [0.5538, -8.1709, 4.7932, 1.5116, 0.0122, 0.0073, 0.1099, -0.1162, -7.0906, 6.7214, 1.5116, -0.1392, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSrwJ-ralR0_P0fg3oUh_ieoD53WeQvAykSjCIliSfnEdA0Lw33fDIsxEqqvwVNGqKpKUmSk4knV1wkbEQrSp93aNNcpM1G8VC_tHJ5otOBaX-lSgim50RIqgrp_j_Gu6DU_MD6XAU6UbdP2t6XyJXfKZNw4FnSoK-ZvZY60_C6IsRUtDRYOCSsaUW8Lkjatk0Fk7tqA1upPt9iHEauWIcmuW_uqfl2yL57HsLk173oGgxW8_db7hb6TDToQQMc7t5iKdZTPRqSVcV2cdUBn9OoUov2B9ykJ_r2wNqcpDA_VtjAac3IQ2zAPF6a1fvQARRIWGMhhQFcVnj888gcqYVYcjvEzERRamSJ3GemI6aLPjFyhPnfozB1kJXwSrE9hTIXNai0u2cigCFBTP7iQOJ-Xb6PRieqgvpLUfrQekmpWUOt1HrorO838RNcP9Dy6P1qibGGCfxdmVOgd3iEoINpn3r4gkPSc6yDE9LD2rAhV6XVhb7CTNXD6Kvhl_bq-xpfZFEE11dcRjJ9oOgH7cqOmdpNBlNNTqEvvTMKtClVnm6_xLyibpWUgzxAyfmrAjWng_wZXT2VR5-mSHlqlVXD8sNjd1uI2HiOOwfjubViI-cTNFLDnSsoOohS7VC1cVe7c5iIXY_2cNXtkQ0Vzzjx5H90DMICjrI1FGFYCWalPpD37E54VVe-o8LljneB2p2zTL1sma5OOlXGzjWLwYrQh6I6yJ2rP-euX53ljfWXHNbjcZUXRGG6Mhy_4zdxaLMcefbCYp-2TGE5GdKdRs3VoYoa0vF5cs-DCMaDy7DFkiTf49aup4p_YTozxWKSnpKQDPeNQPG3UxFVO6QmZ-pOj5YMs7n1z5r4BAmpzHCxZ8glcEBXqHhP7PMGvP4nmV0tHOvmSP-0V1yEyv2OCR1g18dmRhiLgbwH-aE0RWTZKSYNoQpDCMHw3MERprWVaMwD4MUPJGaqrcLFWpWBP6-LujlrN5B_xB-FdZKnMUCmTQgg1M0kZr808qK7FQVj6zBDGMWfWK1sdeRxvWP1coM5Uw_WQZuush-bLcZK_RvSY4MWQ7EI7XWonJoAQCEAe7HalHUcJ4i_iTf-gR5AemX-3wG1ei6YlMTnKKNTEqSQr6m00YwN-KNrkUFnyUse4q8jwSD3Fs7pCjPd9l3NZaUHGQaBuZm8Wn6DXT5W7fWy6DQ4DRS2UHCHX-y5RbRWLo839wMP2Py9t2G1hs92PLq6rsTdLSRqhdaAjbRY1220hPjHJAZmSOCufpGUVp3K1TCVKXjk9jKaD4wO4ATaYDiQKm69LWrw6SQ-R5FLn0-f2rHrgDXEzD53Ijbd17Yi30vIoo9mI91kJgXTTUs6GniHne8PG9JsEW9uURKd5hYGF0ZrhAOPQOTFokrY_NyiST9f6lEhqLyAG0ijKCl5N1-pjl2Q2aMDt6mx-mVqUO_AVyw=",
  "id": "rs_0735805f61091eac016ab2c4a8339887d0bf485c3a9428bb7a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The left jaws now retain a small gap consistent with holding the cap. I am lifting it to confirm the pickup before bringing the parts together.\"}",
  "call_id": "call_GlbWrUis9loXSujn9oN9gyXf",
  "id": "fc_0735805f61091eac016ab2c4a9f72c87d0870edc964f781b27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GlbWrUis9loXSujn9oN9gyXf",
  "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]: [-0.347, 1.8118, 1.0954, -0.2043, 0.1574, 0.1024, 0.0543, 0.2424, 1.5776, 1.103, -0.3603, -0.2672, -0.1989, 0.053]\nstate[eef_state]: left_x=0.4199 left_y=-0.1775 left_z=0.0582 left_yaw=-0.5581 left_pitch=-0.3346 left_roll=-0.0611 left_gripper=0.0543 right_x=0.404 right_y=0.1517 right_z=0.1393 right_yaw=0.5735 right_pitch=-0.2407 right_roll=0.0596 right_gripper=0.053\nstate[joint_eff]: [-0.1026, -11.2068, 9.0872, 1.3993, 0.0415, -0.0366, 1.033, -0.1846, -7.4598, 6.7761, 1.4481, -0.1783, -0.0708, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c14201c0f66ed47d1df3f2fe21f59d289e60632773ffa25358aae31b0af910",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12fc8f701015445669b641fb9a4f631fce480546668ad37b212d60696b3b79a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f51fca8a9bb5ccf7cff691961ae587a19a849e0f55413896aaf71fb4bb2f9026",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3473, 1.9438, 0.9863, 0.0719, 0.1581, 0.1043, 0.0484, 0.2424, 1.5776, 1.103, -0.3607, -0.2668, -0.1986, 0.0496]\nstate[eef_state]: left_x=0.4253 left_y=-0.1797 left_z=0.0028 left_yaw=-0.5578 left_pitch=-0.3001 left_roll=-0.0528 left_gripper=0.0484 right_x=0.404 right_y=0.1516 right_z=0.1392 right_yaw=0.573 right_pitch=-0.2412 right_roll=0.0597 right_gripper=0.0496\nstate[joint_eff]: [-0.2393, -9.9214, 6.9538, 1.1062, 0.0513, 0.0708, 1.1502, -0.2667, -7.4872, 6.694, 1.4579, -0.1099, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssTA4_4mlvRS49f205pyFdgPMiyqVkHDpiWGazfclULk8Tbmvx33LJkEl6aPKGm6VFgTsUYTjHSzrx4XKmDfCSAhUKIXLTrs4WsKE8H1awLQMwhA6wIiIMdC8KF1pwBhSngUh0tr9iEwafeJUoC_jR-V5H2p34o8O7f_kLUCx6oOYeBCqy0ysWtQjbpuOav_XVjFncn56jP1p2JTeSMia-USh3EGV1SkZ8bWEGzM8j2d4uiQuzSS_IkJdZFH28TI-y9Hmznm-FzTIfm9Xb3fwirFvocmTUg6b1CyUCfgoIuMKitM5_T-A5BXLppiIJAaED0_KQytnDlU8k-TyygPDjnEYUPU4_IDPeBzgFRycfEKuWsqQvTVxKPNiEUwYVlyBenaN5aCrR5lwmOhmG50wlJnQJA6kqd_Y57OWkDu5S9Q5fmt6bAEaOEifjRZaa0MPTA8srIu_pF_nvwP-PeMfP5hGQBPyWRMxtWRY6-1i7HwSIGUjZAkGUOl92-qzsjFaGgqcDBIHIUhJl8u6chVKt8Hm4RzAcDD84YL-J0E3euBRPsl7gRyiQT3L0JUTXj8-CwdS-JlzqC53WjX7Oni6gGt7Mvjql8uGCxRmbKZxC2Um3GEApu3UsgPirEWAGYyfpng8HjO7axSrBP4LispPep9a2bhq-lPUgKefIYcmARY__zru9JWrx3YOKPiFqcESnPwo4YPQKEtATSbWs49WlHZqA-Fqxl1fP8MbXnLeDY0LsEvBuHVfwdhqAUE0hTYLagw1t_fmXexxoBwmdwYPiuBsTk4TcnH36lsGqVCxc9Cw8jTOmrsJ2nFaxnxM3gz0lHAZ799DIz0l6TuYVjuUbEfG2ua3lfbTruEXuPlKntdteWYZ1GLq0mN4T3l7ImiTvtRXvDUAoamoMsfvuvhQJ4L54e0TyLGBXu42GGUU2YiEz9e9DF-i8F2Z2LM2EzLGqBP7YEQhjehkBj3wX4KPjZxcvLmMGmF9LgJyRL8B5WcMsm9-3mJNZxIwC1Gt-Au1yiGSxrNTtegkmSqpy-2LxT8CovNGzT8omZx3ewO90G94r2xbg0PDEB9OOweZ9snw2Y98BEzhytuXq7nwJsNgiJxKWqXBaw8buwKnWqblVymC-z7HXiMdhpB_VdbTrszwha4IUaGHSq4YIG4TWuw57DTiK1_zftHTMF5TrayPzUrflEDkJnhzFfK5kNpYGQcAz2twOND08kvrL8GPDcnjbv_d7Qgdpx437G0WtsvuaWcj0spNtDaT5iRxqyazwJaDJhIkt5dRkApgSlbS_L8F6snLaKGeF9bcec_ZGJ0HeVn8IH3t9Op8xnEv3c_2o_XgkOnRY-yMQNhtJclDI6q_wjOTV8go9sjL4pR-BztqJPfr-xCXuBHK069Vy4A7O55IdvvtErntfpIthtjAxA_g48a3kRRUPAgS0m9wT5GeR3vyOE-gRlEU5gusKVxE1XSxFeZ_Q_z-ItAdptCgo_In_wetWasttj1q96Z0IaC-xhtaS7uU99OHFYz-ggQVneciyLP-DoN2w6GoGhJAv9kh-c7EiXKDF7qZ7mA3fdpvCv01l0tpvpzoJG31AO7g8BE4-Ok8ouhfPPILVLzk_uPOy25Hj-zgZCjfT3deFbPdmO14_nd-SolOL7_AszYBfDovGKSDhSqg62RQYRpvIrXEEVFAlq2l58JrP3BLgolgsZx43UtKoz3CQkinDFpszWfaV0IQgsYIIABcuE0WWUe4qcDo-RsqdI3TiThHi8HfYTVHAcdzDqENMBURuWDGBiyZ6dmdJYgxV1BMrIpzjNo0OM80UbCDAD_epDNjNGBrsS3jopdQ5RvEp7F_l54C_bxDQWdJNQlu2jaG5Cct6JCSosJDqoPU6xJrszgXLugNgjz8_m2f5313wgX2fWVnkBT5sD7bzT9TeyH2yhZlLpxk0sDAfaKhJ9WMiVqj7wm3IPzyTadHhoQ-1riyEHSIEFyj1dwLz-RRdPEjS2nG8KS1_ICXR81RsehF3xvae8hoIqW_u1llbUbn-4eb2EGvN_kX8AWht_QBj6XbFjSH7nzHgITejim8mEfroZVLPR4yOmOjrJ-sJhz1788W233pQPxMIm0hCqAgZKo9_U5iHlOzAXoioerf-Kk_s11fKrRjuNmNHTyclpi9oF9FazlvdgpNfbvzzxcjru_maA7i0ISROJ3uiRUQgVATBRghYswnSmSDXUHta7d0b7t16VzJCB82hFJRKBZ1AyO59WI5YPZeaPMULF4mi-0AtSvzPX3EJiCL1gMHHG57y-YgIx3lAjISSncDCJwu_tVvx2leCuVj0Izs64rUm0xjOygocXwwGNnSaoh1KWD5joRuX7C0xFa3cr3jLlRSR2YC9uFJsTahWs2B75Fl7bge5VPeW8hr5TXOg_qaAe-90GdMKPkC6MQRU4GTdJzI6xlovMjvhVkiiC3TEDV0tbzKHQDFcfdgZGqGdMluVDLh42Y4H3XwCVP2QwaYPiM_URFFBWPhzuwxY3Gtz4zkB0t_L2jIZAdr-gKjg8K1Kb-WcswjsO0_fB5t1aiD39N-0yVRObMdHQQxBNiKudKHXDpHmSXif3_y4-hc4aKy3_k2-IN5jEM5ECjtsx_S_V9U2ODHC8DVsuKnF3xOVZ8Ttoi7JMTnzXnEGo5UTasM1QwwQ5cEf9tpuoca6ta74tmFxyRFQSN8meIkQ7c71BjSkWq9q3G2zwFueqTjIJHbQux1nvhsYZtU0Ej8vTu0EvMsvk8qjbAXVnnmc-1a1jjucGdaU4T7nEJ5QWPcTbheWaFoMAbdZ7uY3qQOFWmrA_3QgAnG_XpaCJYcRjaUrel6bNhH5LjatQQEET4O9n9I1TyGBU_RxbSKL1KYMYDo7I0wSYoJ8vvd6wFYAMU16vY3st45Zr8sR4ndxpb0YvII2VmIX7YEpmuIgKrFB2S8xfaYBDZJQmFvGyjwe_dVrc2_glug7xlMZgmMGVBE7OBmT066ACe0y-iKTMJS6kVR9tzBcoY3byV5NZcHftUHMly8Wmt9aKnbg7QggL6wfxrAYPHlRpjJkbmnIHAq6mp9dHNwqonPxIk6INBP0XChqt-z6n9Gq0wfG_AuudV5vVWsFelvBz9DmQDYCoHRglVPVjo2aduegxWlhpH1NVUI1AE3gJlmgmA74O-D1UJs5PyWCQbHwhVap7E2zpB8tDId6nSj_fAHFR8gWKJhwOQ_g==",
  "id": "rs_0735805f61091eac016ab2c4ae56ec87d0a6d33abe5ed6c02b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.25,\"left_z\":0.2,\"left_yaw\":0.4,\"right_x\":0.38,\"right_y\":0.2,\"right_z\":0.2,\"right_yaw\":1.3},\"note\":\"Both pieces have lifted with their grippers. I am raising them and turning them toward a common sideways axis, keeping the arms separated while preparing the cap-to-tip alignment.\"}",
  "call_id": "call_GM4ekn5y4IrWwoUdGcWIaGai",
  "id": "fc_0735805f61091eac016ab2c4be012487d09a9c30ed0d3745c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GM4ekn5y4IrWwoUdGcWIaGai",
  "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]: [-0.8005, 1.9839, 1.9095, -1.0634, -0.5259, -1.0119, 0.06, 0.21, 1.7992, 1.623, -0.9375, -0.6331, -0.8257, 0.0531]\nstate[eef_state]: left_x=0.3923 left_y=-0.2718 left_z=0.1933 left_yaw=0.2377 left_pitch=-0.3364 left_roll=-0.1165 left_gripper=0.06 right_x=0.3934 right_y=0.1944 right_z=0.1947 right_yaw=1.2011 right_pitch=-0.2519 right_roll=0.0352 right_gripper=0.0531\nstate[joint_eff]: [-0.212, -10.9197, 7.3368, 0.3883, -0.3834, -0.0024, 1.033, 0.0342, -8.4718, 7.8017, 0.8083, -0.6276, -0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41480d4fe9453f4c78a9ab47d8ac148fe1fd2cce942f46bf818ad5b9824f15f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5763cd0000c50fd0840ba1d645587a208134685c5685d2ce764041338b28cdda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a014ee487b64e59d9da61a5a38f3a242390c74ed0ada60563037274b7211d4dd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.347, 1.8118, 1.0954, -0.2043, 0.1574, 0.1024, 0.0543, 0.2424, 1.5776, 1.103, -0.3603, -0.2672, -0.1989, 0.053]\nstate[eef_state]: left_x=0.4199 left_y=-0.1775 left_z=0.0582 left_yaw=-0.5581 left_pitch=-0.3346 left_roll=-0.0611 left_gripper=0.0543 right_x=0.404 right_y=0.1517 right_z=0.1393 right_yaw=0.5735 right_pitch=-0.2407 right_roll=0.0596 right_gripper=0.053\nstate[joint_eff]: [-0.1026, -11.2068, 9.0872, 1.3993, 0.0415, -0.0366, 1.033, -0.1846, -7.4598, 6.7761, 1.4481, -0.1783, -0.0708, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssTMopKtpLy8ojlX9ixvHwgKHalj5XekfXdtYFXT_IdDXK559c5B3pfON1rbKNjs3N9kmRRk3xZOXpVui7S0eZecZd0pp8V75Kc8y99_7vP68KI50mfkBCItGaGsDvnB0B8Q0crlt3BqeZh3WsQdp8Hoy_Qz3zVlN4VDnFDqAygxKY0cS8vUh45VNrTMuk38VrkKj0OBRIDLE2mC7qEK3s-Zj6feMSi87OdXknWxoS2rVH1hi3VeaE0lCbp979LBDhZ7qzjJxy_jzgjE0rF9r8r5aGnX9Ig5BQ597Knfh5K1jZ8sHksfbcT0e1Z6tzsXAe4HRjtO-qfziJoCspgI49Q3t6XjPRqNcXdoxyvjVqYjLrtuOp45ElpX8HrgfX0DIeAxVxlsCv9N0RisvFEG3FKZzzThyVCRYjYVa3DotKBkmdpNVWdj-7s-mn4b6rrLgQFCWZ3aSTilCT8ECxJuyp9sqjia-bI3kN_Q5vpWmEHPDFb-Xj4yxv_y67qRgpqm8hDeo8L8j7GRzuYA3E2K9KZVZle7Ckq-QowfpGCrGi9AEqzQI582L9lo7O31Acfxx7mY425rLCsva8-bBGbSHfKyt14Qaw9VNqGF7pdbjck926kGKJHHbKE1XAnJyqQvW59iktl_201AlG4eCTVKcpAhXmZLgYs5YZBhPgV2YF4LAnfPUxftNxHNGzt4vSZ7thzvpf4f0pFE18ZX5Pw4lhwqR8OX-yk5YIByh6-cb1F5q4VXkrof8QyIDbzdD5TN0VPrBhHiSrAmKQYmY8UrDlqUiRaV54wLI2Diyz0cs-EqtkfTFeJMzQ61NgivZzHRa1gT-ejlvHLk2mQQapXm8QidHFnjqee2ARj8Z_MklDm_QbIxIPk1o6vTJQk6UKGq3C_oT48fyTlUJmZi-f1ZGNz423M7gt1reHo353ktfi6SWY2GzWkog00hor19UVm2qCwTjg_sr3HAMdi14VNwYX4A8N7PSdG-P8V66b8APtjSEgP8zATD8tIGmj-v_IM68aFZ44Wjjr4CNyRODsdGpQvCrz94H7CEUIzeGC8jWWLuJynKqBw1sxLOuARLny4Y13d-sulfkmlSXXSL4LnMq46GrQskBWUgxnn9y5vkXYjZPAUC0y_AaQnDK6ZPo3PSqjmg9ZlCQ6F9WR7jVGsKdJpIJy1i2M-C1fMznkEUz_QTpZ8ZelPp5bKjhKguRm-LYnR5Ka2NcJjOnJ-PmfqbtizAf_ERfDLiE8jxTsJSyqgdvaybIaTMe8VyNiTAT75_a6u6gQRlyurGdVz0pMkVqBGnC8RKSi1MseDqKlW9Sa_souM8fPqr00MR6neh_XE433VJGTSD-_xYy6KFy6YlZxdB7b7xauHDh2dcuJ82jSHKA3x2jUiYn23Fsu9Vt-dq4R0zIGYcKWHKoBi3giCeHR_B1pv9p3DGBy4bAg5qSTDf6vHq4ZeCgULbwfhfvZTKWp0eN-j0G-niiNTX3DaNMOw3jBA8MuTnKFHJHUifkYbGZTz2t1dUZe0ss42jCgK2UMivW_ywvWTI1JHUS4CfXfmBJr94EzO6UqkNEL6fdRN4_qY-RLhAroA9oiPn-KIWEs1pNKGF0cBNm3LREAPfiY7hoQzVUMOi1C8NlHy_3HOer8VaArvgA8zUBwhkW0YcxwVGJKIpO8lCekIL4TCt91M4FDwe1DUdumnLCf2XQnfr4K7PpyqKMj-bFrCdOTwlEoCi4LF42sqNttgmM4s4ywCReGoEkiC3tKdlbjvvy4_-7tXNkeQHKMISh05mI2L3Fz2h",
  "id": "rs_0735805f61091eac016ab2c4c6af9487d08653fdd623b4fa51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.23,\"left_z\":0.19,\"left_yaw\":1.5,\"left_pitch\":0.2,\"right_x\":0.35,\"right_y\":0.2,\"right_z\":0.19,\"right_yaw\":1.5,\"right_pitch\":0.16},\"note\":\"The pen tip and the cap's narrow closed end are visible ahead of their respective jaws. I am making their axes parallel and reducing the observed tool tilt before attempting insertion.\"}",
  "call_id": "call_f0smSS0skpL5Ew50i5OTyJ22",
  "id": "fc_0735805f61091eac016ab2c4c9baf087d0a78fd9465231a53e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f0smSS0skpL5Ew50i5OTyJ22",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3893, 2.2784, 1.8874, -1.5356, -1.0725, -2.0872, 0.06, 0.0986, 1.7908, 1.3548, -0.8078, -1.0683, -1.1458, 0.0531]\nstate[eef_state]: left_x=0.4182 left_y=0.0001 left_z=0.1302 left_yaw=1.4201 left_pitch=0.1045 left_roll=-0.0943 left_gripper=0.06 right_x=0.3574 right_y=0.1945 right_z=0.1738 right_yaw=1.4553 right_pitch=0.0829 right_roll=0.0516 right_gripper=0.0531\nstate[joint_eff]: [-1.4154, -15.0222, 5.1897, -0.3199, -0.8718, -0.1294, 1.0379, -0.3077, -9.6068, 6.735, 0.6276, -0.8278, -0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d356c8c553810a1b25cdccb8bfe2f67a5ed3c112a70f13ffe1b8e400170cc532",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9400c3289dd18ad97f4a7e7345d72a82e5d2e35a98dedcbed671e634ceb2db0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217d4804ea938a481c52e7bd54e3fcd579f66eae17eb32fcc064f15c9e05fbf8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8005, 1.9839, 1.9095, -1.0634, -0.5259, -1.0119, 0.06, 0.21, 1.7992, 1.623, -0.9375, -0.6331, -0.8257, 0.0531]\nstate[eef_state]: left_x=0.3923 left_y=-0.2718 left_z=0.1933 left_yaw=0.2377 left_pitch=-0.3364 left_roll=-0.1165 left_gripper=0.06 right_x=0.3934 right_y=0.1944 right_z=0.1947 right_yaw=1.2011 right_pitch=-0.2519 right_roll=0.0352 right_gripper=0.0531\nstate[joint_eff]: [-0.212, -10.9197, 7.3368, 0.3883, -0.3834, -0.0024, 1.033, 0.0342, -8.4718, 7.8017, 0.8083, -0.6276, -0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssTZROHLDsB1wWlPwCeqDVHF52NeXF7HUsvIX1kQPsXwO8COMMfvz6Izwft8XGppAY5KAxTOHnq2Tn7aVNTin2cRcW-nDVls4Hi9zTZOsr5sxlcntTcQ_l6EhFhznjlJxKUjtvrgzNylh-bKspt-DAcsc2KmQ23uCpGX0UhtwSlVOi5XPnEefVmBq4uLmfMofL2IDAYbj7xdFFnrlYpVD3yt5MYqZpmgUl4agjrLKXiADF8PTnjzz25tdI8ugOr763n-bywdyrKclUa60CM0CBIojR2ysY0pntDoXK2uk8M1yxwdevu0dNVA0LpwJtF4ZUvkcXjAZGqmWTrQiO227N2wV260VGcORnhtJsCg7oyHsADuSgvb5QjCHzuk-uXOqy0GMjyNtdZAZlWMZ3jTxTYx2ggme_gSwl19xvWSY9RCccNwMolkwrbrRdkc_NJY-keAYDhD-JthLSxxVUBZocZRv4dUR9Yuwi6vDX1tCy8bK9bH_2522_AYwRiaMMMFWjJJA66TY0mqq76j-6w2Kf-geReX9cA7osXJZemv3YKzK8_R2Jtaivuc5V68iU5v_6lK5D2k4Isnn2IRzYOv4l4FDWf2jKJVnn0wucQgymMu5dEPh2IdWiZsgueIrAVD5crJ-Ngt8f9gbvc_lsYMHesbqS2Yijlafmucd2a41o2hJbeqOhEIsOu_nO6c4d6y2U422z2Kf0zJ1VVWMX1IePvPCnTFjtadVBTpdgBakPBjaDbjVtJGXrgH7fHzRpXpbow1Uw-qDCbdvp54is02hjW1BviSFGKimJPwsXysX0fBBIvy2TxvnMUwmkN1zJK48vOF_dZpx1qbsu5_8LIgyrK4rqgumXVRTWbcggc9_nmGNK60-cV4n1TPOUbjB5CNqCv07Ns_Rk93MDNu2QOWkVoCyo6V8Pk_iE0X3oq9JiU0iqa9NZFyaYRRX5Y1Q5zCdaFNO07buxSwh_fBVAEieGf3foM9t8mVZwM1hhd2kaQNcxzHlhkogPoRM_EBOTurlNtNTUM8iRGZuZkj4zdtd5p98HGSVwOviRXfioAM2djJphi-Rgip2lA_KEYbr-u8pHeBOok2OcGozrVHRvVgnd22N2wKim5S4QoOY88MNGqpAi0qsI2zGFSupjLisrrXuQRejqxEfkxWu5XJRVZGKgIW-YXq8MwXp3fbwVY_HUcn5rg081Jq6I1stkj0UIgYuGy09huwfNsPAOaut9nCaoEUrqZdTJ-q2usdWGOIZvPAhC3kENOQHib3CV9zn8bBtNg5ROaY8fnjM2D_8EXMGfIPPq2J56OFlbDICZyGf2FG9NlubcGOprPra0J2RZO2WvFFGa5V-5one8pufqldGtyBE_YT80_zSlej-JeaZR0BlwEBlz0JOTixdfnus6P4ue7ZFBPY99Yq80ytO_D6VRBbz27jURRHzqNLzll8EkDo-aKUsIlRnD_b7izsCgs7QXih62EgEQ5rETOr6HuwqJ494023zxVMMIlLKE2sDzacZoW6-I5rH2uMSWL6j51IBUDx1bPOS3glnGjLTQhAJ64d2BLetwHx2daQue0NITT9yJZfGjO9fUn27mQVih4B8TpdmvPctBfah-tlvgnLLkXmkDZ3eC33XmFuHHXHzkb59EOWFhM2g-bKVfUTWIDgqsTvXYFShaq9GecB3mQNzShnrMUzMKfQZl75CrvRD7SyKk3lCAE63kGxpyy4Jmn2X0njV_pTze0SaEk53YQiQTbEBqu6tNWesDY3kt_uYx9dOcYf1ZSMYVEuesGvUtMakBR-iDqahI-t52srb-5mhhrscsjVKYWkXpHU1DhMyAxeu5mX3yE3kIUHCHhHEGCHCjMgrmR5EyxpBb9iEuqsFvdvvQk9rrni0YBgnx7Ie7wFa_VTK0cP-JBqebdjk66lMDNVV0TpV3O_jjSQzT0vodZI9w==",
  "id": "rs_0735805f61091eac016ab2c4d07e3087d0b94d51129cdf1920",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.23,\"left_z\":0.28,\"left_yaw\":1.3,\"left_pitch\":0,\"right_z\":0.21},\"note\":\"The left arm did not reach the requested position during the large turn, although the cap remains held. I am lifting and shortening its reach to recover a workable pose before moving toward the pen.\"}",
  "call_id": "call_jSslDNUjpfhDt1mQAP61qZul",
  "id": "fc_0735805f61091eac016ab2c4d6b90c87d0a86a5d44f98ba3a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jSslDNUjpfhDt1mQAP61qZul",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6098, 2.0365, 1.6985, -1.5574, -0.9489, -2.0937, 0.06, 0.0986, 1.7908, 1.4456, -0.9337, -1.066, -1.1591, 0.0531]\nstate[eef_state]: left_x=0.3582 left_y=-0.0707 left_z=0.1596 left_yaw=1.2444 left_pitch=-0.0165 left_roll=-0.1 left_gripper=0.06 right_x=0.3557 right_y=0.1942 right_z=0.1944 right_yaw=1.459 right_pitch=0.0739 right_roll=0.0737 right_gripper=0.0531\nstate[joint_eff]: [-0.5265, -13.2171, 4.8342, -0.4225, -0.4029, -0.0513, 1.033, 0.0205, -10.2222, 9.0598, 0.5739, -0.5299, 0.0952, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a079ed436183f4f4988215478012aa7a02179a7e18850d20fd181540b5133192",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:631d7dfdaf246a5e8753c727c18812d940ed7ec0055202d2eef726da36626df6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c02e922813c24db4dc24e97334526e47539872d0908bf69ac1ff2f7e8f8572aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3893, 2.2784, 1.8874, -1.5356, -1.0725, -2.0872, 0.06, 0.0986, 1.7908, 1.3548, -0.8078, -1.0683, -1.1458, 0.0531]\nstate[eef_state]: left_x=0.4182 left_y=0.0001 left_z=0.1302 left_yaw=1.4201 left_pitch=0.1045 left_roll=-0.0943 left_gripper=0.06 right_x=0.3574 right_y=0.1945 right_z=0.1738 right_yaw=1.4553 right_pitch=0.0829 right_roll=0.0516 right_gripper=0.0531\nstate[joint_eff]: [-1.4154, -15.0222, 5.1897, -0.3199, -0.8718, -0.1294, 1.0379, -0.3077, -9.6068, 6.735, 0.6276, -0.8278, -0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssTm5Io4rQMT7gVCgwsTTiKPNON4M6mGx8FTfzW7qYZRG2Vh36-Q-TjHDw2TgsvsE1YPaZi8HH5UeZKzlOI2RhyPK6knTVa_3SnuIyT_wW__m1kjBHMHjkbSilHt6zp3rtWsAx42nVnkS8gd4E-fiaOn61z6TPoywkffI7M6yXwZ0fgV6V_niYavW_FvrZvFB4cH8JuwBFb0rVoJN3ucbxIiy0sLgRDSgqH-0skE0PA4x-fUITlP2PCvrs_2llRPkOV7Abde90kx00wIeR2enT-YjQNQ5IZZmkwopHO57gGmdncIcni3geDeGt-3YjeHKv7hro-1CgjbReojAF_4iqjwecFQFRKwIdmsZQr2emeP1HlAhM7IJjgFy5K8xpoXOyIbbojqMUYO7aB8H_n4WhLHleDz57iTSSj0EejZrZjyp0m7q9dhBkxd_XMr2M7qJsny30OPhtSTvECW8-zdWeOWwvhbMu5T9DZI9IdhOdYJS0hqFB4VPibaM1HTlXFvO29gaLkybXyY59VwtNi1nEWp3JNx8NdSl7eixQtavcEM30y-2uCZgh90qFveQRGWELAP1vzGm8YRpwTAgCCC623P-0XWSXYuqCC38mSx_T_gnjOcUegxplR8X-QE7e5MrypiUcSUDqIEwg6mkWPTozdfwaXFOuKlLZIUaFF1GhsnByuWwsVeyrhi0wVlFZ8v9pKFrE7mgCu5_WRKQz8S7PVsdwEoZ-dGHnuOOBnrJLq5Qk1QbuuUAP2cYjDWa8kPen8KZPQl9-1Atfjo4zjp2ICewDljXQwYPFVsPIVOWBwQ5jyUurBMLabJbUJHp2jPz4D9_dF9TyZnGDPw6ujexk8frdS2YuO9KcvuaE711yFXWXWMSGTUVMZVBGKGFz19OhOr6LHwye9N8wqJnH8wbImgRHLN5bW2G6gnnYI8AO4EwPKAd68SvBw4_5uzOanyA7yAVbwK9V9GmkdiVMSICNYyyWr5zQOVtqLU77ZoOd8QCbvWKLTPKeZXLjoSU2GLjzmLJ7cq7qTB31ISWEBDKCMqY28t7GwzNyLqr0h3xdMjMIj-KvaxULmgF-g_xwiAyEY8vobY187LL7QHdz6x0ZaPhR2EHECDLOmew2_kWFn2cs2Vp0PzTYxBrbC5Xjo2pmiLfWvY3p1TxjA45EZ4sXh5CbXW_awAUgf0wyfNHZe9AWAkgA2RjB8N6Jt56Yw_o2NHq7zKuMfHKrGc6pRU_Fc0bmYBrW6Hg2kspY2OvINdj_Srw9tFM2ylwVn9qXlSgunzVJ5RxchtjszHBuvN-8rxX3SMKj7KTPxXz4GN3A2laamZ-gXXZ60nJ6DdS0BW81XwpaY9LYqBVjdmcdZwo-9L-zE7CtqA74UPv4_PwllckqyPMcUNoFqAuEWUetVklrKyIN7jOrl-9FbP-ncgFZnlGEJxDsm1SoyL8WOriqZ1tRPoZbakQbmt3RrgFhxqIH0ebWK0CJ8QCWHgTP6FWtiN27Q_rFtI42PtJy8kxfhukVy3VLdP1T-ZMsucV5_XjFmmvFw89cnEDR-IOUg2JLExTpjyxtpZtdPr9wMxkpRMzYwk9ljo9UBjvttO7aQQ2badFtwH9SlfvDvG9dm_LJHy16PcRb5UtX1Sm020Eix-1jQt5VdLwPttmneDhRwI2LD7PWQw6Z003RtBk0rWLoNSYHdXRyWHpc1NiDTl3tZWFkGfpBDYJ_7VJmX5CnHtMG_B",
  "id": "rs_0735805f61091eac016ab2c4ded43487d0b1ca3b5a7c188845",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.29,\"left_z\":0.19,\"left_yaw\":0.4,\"left_pitch\":0.1,\"right_x\":0.29,\"right_y\":0.30,\"right_z\":0.19,\"right_yaw\":0.4,\"right_pitch\":0.1},\"note\":\"The sideways orientation is limiting the left wrist's reach. I am switching to a diagonal, front-to-back arrangement so the cap can approach the pen tip without forcing either wrist.\"}",
  "call_id": "call_pCD5XuPfDL4rIa4rPmLwKioH",
  "id": "fc_0735805f61091eac016ab2c4e31cc487d081fead9882ffb9f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pCD5XuPfDL4rIa4rPmLwKioH",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7769, 2.1082, 1.7832, -0.8116, -1.0069, -1.14, 0.06, 0.8959, 1.3098, 0.7921, -0.0074, 0.4934, 0.4179, 0.0531]\nstate[eef_state]: left_x=0.4464 left_y=-0.2244 left_z=0.1683 left_yaw=0.5606 left_pitch=0.0643 left_roll=-0.0527 left_gripper=0.06 right_x=0.3061 right_y=0.2544 right_z=0.185 right_yaw=0.2505 right_pitch=0.0938 right_roll=0.1371 right_gripper=0.0531\nstate[joint_eff]: [-9.1145, -12.1778, 9.2239, 1.1795, -0.4957, 0.2613, 1.0281, 6.1197, 0.3624, 12.4786, 1.746, -1.4383, -1.7802, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1d24491d49d61972740f3be1f85a2e5de1587e26c49626b3a09af39decc416",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc8c4e2f1858c5d448c26e118c0acf36dec958191be20fd9e07333ecb328038",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487eb759fdc4ad4812dcdc5e0c90ec10fb50987075e7550ab60a0d7b4f06bf91",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 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]: [-0.6098, 2.0365, 1.6985, -1.5574, -0.9489, -2.0937, 0.06, 0.0986, 1.7908, 1.4456, -0.9337, -1.066, -1.1591, 0.0531]\nstate[eef_state]: left_x=0.3582 left_y=-0.0707 left_z=0.1596 left_yaw=1.2444 left_pitch=-0.0165 left_roll=-0.1 left_gripper=0.06 right_x=0.3557 right_y=0.1942 right_z=0.1944 right_yaw=1.459 right_pitch=0.0739 right_roll=0.0737 right_gripper=0.0531\nstate[joint_eff]: [-0.5265, -13.2171, 4.8342, -0.4225, -0.4029, -0.0513, 1.033, 0.0205, -10.2222, 9.0598, 0.5739, -0.5299, 0.0952, 1.0281]\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": "gAAAAABqssUEDihguvicXqoGMGF-BUSIv43PoEgBkOr5U23SXsutl2rNYjwLEuMAzYap33vm-RusR6-oTBIwvmLC7qzGW5euv6xlSlAXNkhMgzE6yz_LsH_YLAnDZEf6G80OveetsY6a4fKU_tXqyp9hcg8tH3iATlzcJMeR1rcDfcXE403exZKmS9OxshGfi3qh2Y6WFPT2-4-s7jras1-OL4rAFo6G0V062VcbGLhLnqD88AGhttZkPLHxQtW7f1A4rIngCvW6TIoCC8I1EGczCNwTaQHzDjZJUKdU0Vchk17yTTvimaEP0z8ptbe-yvpXYXxRs2f0BAcdPQbNbWGaDn9gcUySUx5ScjIrma5wlfAbYVRXkEE_eBINDDc4XC2H6QDcnxmColGK9am5575Ar8isjFcGr39rSktSAWHQ2yGcEz6ahp07L41LVB7dLx30WwzwFXDQbJVp56rY9ItcYov6jHOuvGigRSsYxtJj-Gd2VTR_7Tn1IMAsceQXjdIJ4tMtppwVGogl18_ASWOP3xXhmfNhBWiLgwJabApWdAzueoEDB1UTBxBq5Uz8VV4img_6M0PtE2vsm2JQsaReEbFFoEBbpwiuShcnr2y6eKvldGFfGslfQFHsgqtyZpyqBCVYjxGEk5lbujakRyi6o88yH0nZY-l_V71FZc_5DrDrfgojeOSsPM5FHYXld7pIiqk2AnrPipyaUaB03ouHz9zdFlZDq8xZFfg8xbWWdzwQn3KbVimF-CjfqVRSuFn7LTGA2JIyI_e05f4GwSWkPmTo7ef7XWOVsmylXCzYO_del8y4q0CVs_LJIDCIZeVGT1lQIrZZOHX9Vj6_hjZcofVbNbxLW_vETVK8x_q-kGjy4dfNdf91YBTPliJMb87AY5sUtA-dJwcppYh_Tj-gzLPoc3EfYBMqFmd46FfXHM81lDY_WTUqD5F1AqlBpnz-Gsg8P_rbh9TvObe5qux78WOHAicGB3vwHrzzExOjQcQ_tc8ORIvVa43PjAoqTDQumUjggYOCVY_X738sQtIrxX4WMBEx9ihj0vN7IUWeqzsMHYo_Tdqrh8MvEMzcsuVW5VQ86iNCy7RIrvzoA5NgdBlB412im-B8NYcFzVNX_kS_sK4RqCJR3ZuFidLuzI5IBzCnJHA5nD7dJIMjbYLAWlCIH3cN8IG0IImxLoDwiM6OYSwaymSSK7SZM722vooD6mLslkQ1pG1CacKryOqjPCLk5_oFuKgr04PIowuRgXxKZKlHUAXwZCDYnVcnLbwKbe-rd1qxRP6Vc1wzYdD_GYDzhsnVfGP3y_Ju7lRPpfR6jMELT1pwSTdNAh6mzK578OgfF9yLHz8YthWCCDeoVXXLLh05m2Veu2c1hughtcZ2MCdj4kge79Q3XSIO8yKbdSn6HBy3Kyr1C0okc3fJ_V4Ulp3YpeB_B5F-nb_DrtHW_Bh5uwFUQsO4zTZsIyC7APz70qexW4EhLlJDgR5-0lxGdvY8H9pMdpLyhgT7q5OvJgUuw6ZzxESfZxBZSsk5pYJvmS4QhiLIQq5zsaC76VL981Np-wAQn8tZt3UMilcRqlTLxRAZWMXsSkC8jnK4UTRc5IfRC2Wma3Wu8BUHh4WYWpFdEXTmaaH8uf40EadgmnnfUtZuzAd6frZMrturza3fH5IIGWJcQEqJT3gbdLqINUZqQrpTqFIHW-vvAitT2iSDo4Tv0kUIMPdPxnnRA0rsTsQOZKlypw6K6VhGsrFKdT6Z_EOkuRM3i9FkO3Ou0vltHbe55F5pUzh70H9nxNmd_nY1nlGkhmyDlmKb3GcpzVENUJ2Y00lDMbEW6EBVTKc6Hi3D7RKgz_Vwmaypxoivjv5mfITuDmGOYDoKzraqwJU2zxxOHwx7MwYVNpCeK6QUwXGd6AabF8W49FuW37zsk7xVoAdDLonT3bY-18qyKL9k9jyNGT7cjkahgHfFODCaFFJNTuaOeKWWUwEaHUocUAOVDcB9wB7esocrL6nsa1HDfkHOWuQHpihtw0Y13OHpyrX8jWG4uImczMwZ1tf8a23p9M72ub2v0hByZ6a7W8e8Wqn1vM8Wld4YPsRAm6hi0wreYa2kvPIaI64DDwhTcgUoVeLzAS1KU3BvWDQg-UVeKgD9k2EEVF_f6GTeAtr7Aw-zc7P3BQmspjukN5yDOpFYiUcQuyliSep0tX8hhJY7ZgdcOLIiDH9TwLiV7ADJ9Jw6Pdyk4B57AznHwyek1XEYUZKkV36gxteuQ2OeSemSw8LK34f2SfAnhmbSQ9_QatrG9NkYKKt4T5fYWvGr7E21yHW20DGrdKN1pgdQ1i17tkYboC0LFg7STsGQbzkrV8-qHrskVTFEu9VxoXUAxpiKQxFv_dMbk9CZSDl76JyCIpyC-aP3TOBFf492Kw6ZIisZDqB50U96LO1ZspRWFcccDgUPKdI3Qjl-oye6acUDgJQw33uhwQBDdgXZA1IxLlfTQTBbpg3FaKfbsZ4poGE8avJTHyBWeKbF3DQSPHmexLYXojwnEebqIPp-YAnoGSHTo2na0qsxxdftNtX7-hkcyZV4NiH1mAMeq_i0A22LyJGJu5zo4J5tJkevEXky85q8HD43TtHQUIU6wDrCZYlY-Aws5KsKpl6C6wxWeNQjACbFvA-GrL2ab1lq2PtwiXoIXqNX0iBDcgUZGXZKv78hp47g04xgM0IcDYdpm68JE-fY0t8LkxQY3F7Ekjte1JDiVdgFURd7NNLA2jbEiwhoysi8GVsHScIyTH3jySPD3Lwe-U8v-Nv4l-JiDyYDMzy0exSr0Kp8I3m7ynGGfh31582bE50waFD2AuGer4eaCi2h6DPh_8RkdKG5waTNgR5e52f4u9rpzoVw_2O7WjQOvovrSNC4adaPW4y6dOqtOEXYzkHuu592HXVl9FF3DgkGy9nm9891pYMFb_VbB3L9_v6BUGKeFk6HP3wVHlYARTjzDqWAktbRq-IquGiMgzVabY7B1jOsWXvnv0hf78EQAmuZKrRddZfU1HsnLAOoX9IynQMpqqzMKtxD0tNUxSvHaDFWG72BGTSBMFQ-QNoy9L3-ZYfHYWnxJmAGZXCBvSAVbzvQ-TGpBHD_c88uouNESsl1sMw0ocFfAX8BMVbYv9uKSg_KW6Z4ACaq7Himu7IyVIgzg4kO9OBomSb9ymVVSWbwplp7ZMJ9OTrLxEzT_1rjtl6Y-b33tvUEEO4ZfXfyJ-4W34tbHdNMrYN2qmMMzsKEHzLK8ITYad_87JYliR46TeYDCAENP47AROzUNs-u_asnTtsvJSlevzosOVmUCl9esAOJI-4kAA6t1UTiPzeGiLFea-aXqz1d0cfkZ0CP5OpStxHib-1gnNYzIZkunlnGltbs2I5XGldFs4X4M1s0aD5txartlTbCBRi93X4uC7JR-awlnNk9Po8A9iy21KVkHmGFiGVUpHfkC-H6TCQtKEW8MD3Ys9U0ufROw0N5indXU92g94VY9wM-vg4dVxiKR3aXM8Z1-XXwf3mpaU_xqWjxYVeIYFyGyn36nwq5KcI_rn20EJEcnlS4FxVkSA0-FXFjbg_uF7ex-G3BwT4YlnmedRwnt7Gl2K0cp5XgsMtEhPmKCoLGGAnmSsl2vtLYi_vcqQmI4yxYdi8B",
  "id": "rs_0735805f61091eac016ab2c4edaa8c87d0b2a3dcb233b855f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.22,\"left_z\":0.24,\"left_yaw\":0,\"right_x\":0.28,\"right_y\":0.23,\"right_z\":0.12,\"right_yaw\":0},\"note\":\"The arms are crowding each other before the parts are aligned. I am backing them apart vertically and removing the diagonal turn to create more clearance.\"}",
  "call_id": "call_GrAuuPOtERAU4ghRF6crVpem",
  "id": "fc_0735805f61091eac016ab2c501885487d0990d4e58de66ae32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GrAuuPOtERAU4ghRF6crVpem",
  "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]: [-0.6895, 1.684, 1.3808, -0.4278, -0.6773, -0.5926, 0.06, 1.0206, 1.4025, 0.6353, 0.041, 0.7387, 0.6277, 0.0532]\nstate[eef_state]: left_x=0.4248 left_y=-0.2021 left_z=0.2198 left_yaw=0.1663 left_pitch=0.0231 left_roll=-0.0597 left_gripper=0.06 right_x=0.2782 right_y=0.2329 right_z=0.1123 right_yaw=0.0805 right_pitch=0.042 right_roll=0.0789 right_gripper=0.0532\nstate[joint_eff]: [0.0615, -8.335, 6.7897, 1.7363, -0.0659, 0.2613, 1.0281, 0.8821, -5.3812, 6.694, 1.8486, 0.5641, 0.1929, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b158bbb190d5dc12f63007e8b1cc005a1804d58d438aad595e0fbe48c892e5b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c885fb98aacb8d7aa47ed87cad9bad06580760dee4795efd073a658052f066",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0915543c80819ce1d4978915fef992f01e4dcf0325dfe24a02a5aed8b0c0388",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 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]: [-0.7769, 2.1082, 1.7832, -0.8116, -1.0069, -1.14, 0.06, 0.8959, 1.3098, 0.7921, -0.0074, 0.4934, 0.4179, 0.0531]\nstate[eef_state]: left_x=0.4464 left_y=-0.2244 left_z=0.1683 left_yaw=0.5606 left_pitch=0.0643 left_roll=-0.0527 left_gripper=0.06 right_x=0.3061 right_y=0.2544 right_z=0.185 right_yaw=0.2505 right_pitch=0.0938 right_roll=0.1371 right_gripper=0.0531\nstate[joint_eff]: [-9.1145, -12.1778, 9.2239, 1.1795, -0.4957, 0.2613, 1.0281, 6.1197, 0.3624, 12.4786, 1.746, -1.4383, -1.7802, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssUPwYz2zo_h51-hIE3ZODcm9qWummHfeqOXmT8jBWjW39OBizWIawFZWU44yROTDqvjjif2JNyT9DuufleGWmoTOQG71cWavuc5hKBj6Lcor-v1pMrduR0MYA3LZY7ydLRbY-2h7DhrX8uuj3Z5U1sbDOFVPNRDq7XPZuNCykRWkt5Gd5W65xK4fZOAWymFk2780UQaUTa-MQOGBxFUpCLddZOzTEeDmXx7vkvCAl6kgD6GTY9o8cbJ-914yQuiW4zMfIJOeO6KcLijO28XRLtgLt-4j21RMpw9cVxv5_Y6QyumXl6IpYmdckLXDe0CBwJYdXrfqSMsRUPjfXrSAup5gycALamDym6BpbfWsPJSALBvHxIxQtOJ4zL-wf6OkJ4HSgPNk-ieOuOyF9JiklDslnxrXNmnySUsNduxuJmdQJF5Vfl4-ghUveaPrrdlyAbu_FXYpVMw4SSu7fWnTGBWW0BPak--ZSB9pCCYAmpHf0mcEujMdYzS_pK9A5Y_2mMWRIhlj1CZ7Fmg1QJowJf_Ax8MWL2owP53RQgTCFyvDG3T3kIV50oj4_4oxslkJRhH4w6PCZYOTjlDSOI7zyV1UBx_G1wzhJDGfwgipmZvCgmjtcFDkbS5OS2jcBgfYILuivPEIHT2-wqCmrumAO-RCnPtDaWMjfx0s4STMw3XMhJM2Uvx0g97iJY0xfQx84daE_OgJUJ5S84JIAYUAVrpq9CIDqmzo1Zxs-AaXXlDPie-Sw7DDQgpzOp9fvZX-nwt61f2iirLlRx87mtpXZ6_zhu2QSHeqDzilCjbaw8RkVOLDo7gA026OwqnVoox2BszDabiWJ45Gm-kBlWkh-rRPaOzzD_OFtNX-c9z38jzx_vu3JUMGhfghXDClBt9UUEnfjeqlP5UbXCQKglPGxE2X8QIoW3rhM2v-ljinZYb7y-WSiLAKRbBoG9R6yIyan0I22biR7nZg7I34FMTOr81-VoZf3wh7Tqpo9NxOK4WczTWHsDxoNAtsMUToysX-uWdCCx5Ita6pzLp2EPFpsTpS3doxA8KX-MM0IY_F7MqNaUJmTYOhnsWevdRRcwktztKKLZ17A5cKrah5n34gyjsU10u_PuMTRUCMA6SvSf2R4mc_3hyQCrZRyUcsytaXjEX2SRJMpf12CPJ9mNXpfOhCaBJiiXzr8QSAE1EgxVC6Opz6VCFtgVYy0mO0CUjmOQAJ8IBgYiTLEii67V2L19G727lvS0ZZDnqkwvdLEJCjson4EnDAIAuBrCVRnvjPT3oyDBvVDY8mjef8OfbwhMW23dbW59rRyBzM2kpByqtL90kZcH1L_Npg8BFiXLNq55PJBdznwY7UOQ-E9XqCSiBdDiXHs3XiO0X9eXrpqxMymJh4KAIVYBb6upjo3c5zY4qDiU7w1PRMA6b9vT1jr86vcW6THyUL6ucJJ0QnNE1j9NWhrDdIJwXnVG6f7uPVGGVLA3tX6QCthgiqU8lvkQgqHQmfGo0g2aixCLvaGu3d3TcSHUpJgPut-N_U3QmDuf9LHOxJumlU2mCJXi8JRFoBA7N208bhXv71CVY5DBA2iFYLYAFLZZi6-aheQouk-U5NtTwFJ2EOgVWqfXnZYugvaGQUFI_1-V430jAqTZAb7V9oX9HVT8T2dPcsT-eIDTkW2lOI70AKWPBsovGV5iY8BtSvy2kPtHmZTGN89d3icVcOQdqxroA7zCCkvpS0yNT9ScfTI_oG11kcXd19v9lakPpe2CzatXHiFHYthIOc0bbObjbLls3_lbbS8hRuKuv5V4sdMsS-yLPA6FKvXvRVj0nt4ZumFIXBTvuJDNWjqSpIciqUYyac-JCGNHqlausTZiaABCuNqzDcIA4fGiy0lnWhfpBocO8qKISJTJKWy4=",
  "id": "rs_0735805f61091eac016ab2c506c18c87d0847a985a2e081335",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.29,\"left_z\":0.23,\"left_yaw\":0,\"right_x\":0.27,\"right_y\":0.34,\"right_z\":0.12,\"right_yaw\":0},\"note\":\"Both pieces remain secure, and the arms are clear again. I am bringing them onto nearly the same front-to-back line while keeping the cap above the pen to avoid premature contact.\"}",
  "call_id": "call_8ANYhfRh75gQsMA79QusgMd8",
  "id": "fc_0735805f61091eac016ab2c50c997887d084d1485ff42563fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8ANYhfRh75gQsMA79QusgMd8",
  "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]: [-0.6746, 1.6508, 1.3674, -0.355, -0.5678, -0.4534, 0.06, 1.2095, 1.7893, 1.0954, -0.2466, 0.8837, 0.889, 0.0532]\nstate[eef_state]: left_x=0.4279 left_y=-0.216 left_z=0.2339 left_yaw=0.0248 left_pitch=0.0441 left_roll=-0.0544 left_gripper=0.06 right_x=0.2698 right_y=0.3377 right_z=0.1122 right_yaw=0.0398 right_pitch=0.0178 right_roll=0.0653 right_gripper=0.0532\nstate[joint_eff]: [-0.3214, -8.4991, 7.2957, 1.873, -0.1148, 0.2222, 1.0281, 0.6769, -8.5128, 7.5145, 1.0965, 0.8132, 0.1587, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94aa8e2ca952ae761901eb605248e39ac2fd33003b301d8ddc879e0d0a1244d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0928d5b056fa1a90158c1d85c209d0c7207ed60727114109bc1ba0cf56fc3153",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd96d0297cc73220d79f570d66d33be08c8838ac955913fcbb91896c6dd4e6c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 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]: [-0.6895, 1.684, 1.3808, -0.4278, -0.6773, -0.5926, 0.06, 1.0206, 1.4025, 0.6353, 0.041, 0.7387, 0.6277, 0.0532]\nstate[eef_state]: left_x=0.4248 left_y=-0.2021 left_z=0.2198 left_yaw=0.1663 left_pitch=0.0231 left_roll=-0.0597 left_gripper=0.06 right_x=0.2782 right_y=0.2329 right_z=0.1123 right_yaw=0.0805 right_pitch=0.042 right_roll=0.0789 right_gripper=0.0532\nstate[joint_eff]: [0.0615, -8.335, 6.7897, 1.7363, -0.0659, 0.2613, 1.0281, 0.8821, -5.3812, 6.694, 1.8486, 0.5641, 0.1929, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssUb3izmsOp5g-D8QJuVYhr298u96n4E56tp0lzacBeZ7Y0Uu-DpGVtqjTr0Ty_kB3ENE2HzLQZzTm_B-koKFGxHqR8oOZ2L_kmxSuLE37dMRXhMrfLsu7SbdmvPVTZIFrcLt-9wvQJ40ogMvuwLphn4F2Hl55gYqHvGKS_LKz6cZPAgr_VcKfxAbv_8990ztwd4E1omUWWuveJr2ACrEdrmu2AGTbhohoe0N8rblu75RCMQ-frFnZr4o9fO3ND7EInmYpNWwWwqf3k1DDdgQNRd6U1HlRhzAweju4L9QNILyBhgleXiVUw9M_95AS4RqdIaE2-OypDsPGqjlgj3jxVTqCSj-GFDmq8L4-kFOihcjILhJ1F01GVn7a2qGTv_ZWuE-C_XQtQHo0ji9j5mXfg9ZZkvRmRNrnMNO0xKZ_dHL5GSWCOv-b5EAdd274K_rYzQSsipYWPrOAKpGTPuWZTUMpuLE09hGCW79xuvy3NubYuruKiFWi6Mj4lqbTTWNm_Ro1YZEU1slIXW4qCNE3pL0mZwFVzKgtihl1J1UIkL_Lo7mGbpiTReN6HmNyVkM_tnhSrl9-r8MsB4sd0eyK7cPxsIJpetylCidP1g0FOm02-iO48jHPGglirAiiD5GuCRn1f8j7pYoHxnclltJ032qHuIag5ANoTINDXoDVDEmC6ndjadDpgOZsS2-izme3MN0QKqNgmiJfQPdtJPumD6RzHg_r5_Jq_eMI95URhOJDjMqpYhl6U_rZZDlMcbH4JpsV0AEZK4FIKl19yukwmnogYwf9KPfTxJmSxhFZewJ1s5cxpnhpSM0cCGnU4jPf3dGviqOtbPSULOFGuGddyiFWPU3jIl_Un1vR_Dyr6NOwkCQFuhHeuVUjxuwQwBOysKhBXrjYZfShjAFtfF9NrM8UkfpCEtUf4lR1cqoItKvNrBWUjZC5_wcSd4WDGy6MLd22Z65M1AvS0mP364aw4GEfsEoXYRwkl1fTpHAMFpxaa5QxMiGWOixW0p_oz6DyBZt4IG0-DZclDOxCllFCkgZr-JIiw-3dWccbzWpm32cjt3e6lrVtFDwnEM48824gAUdVibYY3sPdgn4GziOxA6lkbvcJRIrf38feehoFqB9OHxBqAjSMnQl3LQb5xX4p7xsGziAkgWmMXEkDqEoVmUNfc92clyfAyiMM2TE7ZPDPE8mguY1UhjjlrzD80K6twndagxNd8Lf6HTVzzNkVd0djgDcGBdDPxGng6zOa5EeyG_VVGZUB-BWmIJYeGqKxlXhKthu0HHFQ1ZgJ9j_m7ryY-BqCiBViOHhJpFUxhUIzBbXSDUchc6STriuz58u3otkDZjswLgmDc7f9dhy0aj3ayiygMp9ub5-RieTFTEOGBIvicGSPIW00OjsSBvWOjFfCsbvTYkgrQcW1-UtOxr3TqYroWhTpPSXv61FUeuprGqO_XObMftUGmbW3HZ1qD_17Nz97FhH28aC6NdG_1OrfZU9FTVwo1_t9Vv2SE8B2lMmLeIIWSOJ7u9XqElqAe-Kwizt_gx0dM2C9kMsKUl8hsvyZsAySCdwNlh_QR7FzvTRCHI4xI1qO7wsfwDPP1qRJTOiTk3uWU2gu-YcaAgl6D4oF4vTcvEUcJGtZq02JCl03jmDxTZUNW689e7OI2Hg3DOicBFXwsad8ZjzVo5N3l8O8abCCSci0GlABkfwhgJDpZWlyZXgVm0zj4hq8ZObnU59ZTe9I__uTnfODk53FoKKaCLVFEml6iQtoFRdqeOPz_xoZ2ncalvVwaC6009F9TOOUN_LMMkr2K9tDDnR47QXyQZ4_mLGJNq-zalRGc=",
  "id": "rs_0735805f61091eac016ab2c51330dc87d09295612d8d9af911",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.29,\"left_z\":0.17,\"left_yaw\":-0.2,\"right_x\":0.235,\"right_y\":0.36,\"right_z\":0.15,\"right_yaw\":-0.2},\"note\":\"The left arm is stopping short of the centerline at the higher pose. I am shortening the reach and lowering it, with a slight common turn that should leave the cap directly ahead of the pen.\"}",
  "call_id": "call_w30rjrBjJhtESofMG9DzzUCs",
  "id": "fc_0735805f61091eac016ab2c518d5bc87d09b87cbc8a9a59e32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w30rjrBjJhtESofMG9DzzUCs",
  "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]: [-0.8539, 1.6352, 1.1248, -0.1215, -0.5606, -0.45, 0.06, 1.3373, 2.0197, 1.5475, -0.9077, 0.9394, 1.3849, 0.0532]\nstate[eef_state]: left_x=0.3741 left_y=-0.2808 left_z=0.1785 left_yaw=-0.1619 left_pitch=0.0464 left_roll=-0.0589 left_gripper=0.06 right_x=0.2308 right_y=0.3696 right_z=0.1208 right_yaw=-0.1315 right_pitch=-0.0614 right_roll=0.0404 right_gripper=0.0532\nstate[joint_eff]: [-1.5248, -8.0342, 4.9573, 1.4237, -0.1245, 0.0611, 1.0281, 0.4308, -11.8085, 9.2103, 0.6618, 1.3114, 0.0269, 1.0134]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233370ef6a12408d806ca87c8d652d50d826ab6c2eef77a0551066dd75d1fb5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e47c2b83f6612a6989f65dacf235994e80fa7979fe7b34437d70b2d0facf40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba2209139da057c8d1ae29f963301ddb2aa13ef1509575de5dece0cb8efb546",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 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]: [-0.6746, 1.6508, 1.3674, -0.355, -0.5678, -0.4534, 0.06, 1.2095, 1.7893, 1.0954, -0.2466, 0.8837, 0.889, 0.0532]\nstate[eef_state]: left_x=0.4279 left_y=-0.216 left_z=0.2339 left_yaw=0.0248 left_pitch=0.0441 left_roll=-0.0544 left_gripper=0.06 right_x=0.2698 right_y=0.3377 right_z=0.1122 right_yaw=0.0398 right_pitch=0.0178 right_roll=0.0653 right_gripper=0.0532\nstate[joint_eff]: [-0.3214, -8.4991, 7.2957, 1.873, -0.1148, 0.2222, 1.0281, 0.6769, -8.5128, 7.5145, 1.0965, 0.8132, 0.1587, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssUmU-R3iSIM9mmgv5kdugqdS2IezBoSFghR4OqMQpdOsyxpPuaTuU0Sg3HGPZwk8Hpf2ugwEqFwzskOSAlVU8R128GIT8kQn9V3i04GWqZoVK1Z-5zp3A9RXan6hiJ8gxBITN-H40pf6fHq3Gs9c-CuGTDlWQRtrmCMPk_lXVhyqehuba7v_mLJAy2IspeQ9racEjqapd5sJR_CLRkfwwiOgCDmPhE-q6aB-MlAsA29k84abluTylmx3DFnjKIAJwpAqrxffGcwPmcOIeGOo1icz6CirRxUSMCVnWB8-N-gJj9pTpDtzPeNdhfEqDWoQYe-A1DzVwfbqr9iaJs3GbnWPVxlVcXd9Zsx-K6s2dTZm4ch8KLQ1r8VT0D5cMW0SDbNkCWdYE6LbbBtQaD-GtTndgkIr7hJbnBLILFWhvw3fwQNRtewOZ7B5I70absFDfDgSRs8FzPNQ0zhQx2L7gemnjhKLoEQ9vSpsuiMQbYhIrD8K27LGiVdaVPpEI0SEZGVYq7mHPMJi4Ov5wBzsKNLyDY0ipyqa_8IlbhAVBOTy6at_NiJ0OK5lwB67BNe154M2I_RWZ6l_d-JORfgxd6NTdv7ydjbPo0JCoEKluI-CIVmpvVr1c-g5BEBfaOLmuqHp1h1qIrt3GjrbRjoPK4DnzuApiYBs9N3mRUloMSutKDvy-fsPF-OGnuYisL_q4tc1TIGy_pHC9NReqsCcU4HHJtUDRxY6goZvR2e1NLKbEBYTXmIs7Bns3mLG_0scOsmchsNb4ZQN_9Iw5QJFEcQkthabSAVMSFstet19h6vTRgS8sduBz-Pl3jzTJzbhBntRxnLVMPZdJqcYveRJhX2_BrJQfRYWzv0pDxtjtppNIzaVvNf26OklJqJUQlCkoFswHf87m_mYm3ZPsuVp9rOOFuf7dHHu8aLFBQ8SfqNoinWmMOTv2_mwrr31_pIzkWJ1qRehQC8iPh6WnUyy_mxMdFEH-xvHi_qkhqv4kUn0CWL_Y8Gy3OI-wqm2449LelkXOn5YQpvFPmbpX2oNkUdQK6a0z2RLqa_NMc6hIEzfLkpR__KcQTkrFJuXf4zJQ1Tp0RwsaskhztmyeeZxafOfOXKh1C0JT21ZweHIzWLVWFwM5Ujnq_SfUUHh8eziTAZuH4XESSA0SGVz2KxeRuE94XGI_VWUhf7HwSxQ6iHLyfef2hKCSVZCekpjTBSbSHVEQ9tFRcWbKOAehmsbG6ABZhE93B3P_IbMYCVnKCelMkoPOTdsG0g_OmClDHyb3uzLBJjRyzDR3ZfVprqY8bDUIDVqr5AevAXsWQc_tMfkSg7OhZbga-8pWYPhgHZTVwwgjlX8nf9zgnPiQy91fr1BRlUOt7kRe5pKSNonJpURZTG3RbfqsEoDDS5rhz9QgWR9M8ZfLaz5pr5sEKKRIqfoz4Nb36kprq2iingEpJK1qL_-LUb2QS3iiUEUDYgUMEALCt5J2MVLQOdLdQR4_4enGvKjfi2JoCAwQ0rq5eb87l4UYy5JTcAiePtGLH867U1OOzkPG58Nl5U7hymbLAofvMWRplRUKK7W6qeszD1egZl8W6eFHOjyYLWNVttpaZTXOHY2_279_OLMv-m8Cq30ByPRRXydsVlZ_UaMNiBcaun9D6Ig9cLgef5BDsXoU5QlVBkB0kzKx6n5q8ePatQ6t8x-SBrnsuC56sIHzZPdpex3ULFjN3wM6jw1w3ALYH6jP3FGVQAKF2OQG4wtkvGwKdPVRQH8zbqj8VbJ4DjuFjAd9VHO9PTTpSFJ6g3kQovJ8nWVQgXRvqqq0GvV5fxsmI0ATGcMnXAZDgdvBxvIyIi4K8tULnfD8zvUv5VX-rW54M0WPKbNQghBZ26fQ_qqpKSCNIMFxZD9tr0LX2AXhA=",
  "id": "rs_0735805f61091eac016ab2c51f14b887d092c22de6d268a4f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.305,\"left_z\":0.12},\"note\":\"The cap is now ahead of the pen, but visibly higher. I am lowering the cap toward the pen-tip height and correcting its sideways offset, stopping short of insertion.\"}",
  "call_id": "call_8v3w0gEJ9Z01PIl72nEgVXfr",
  "id": "fc_0735805f61091eac016ab2c5247a6887d0a7a13174c948814b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8v3w0gEJ9Z01PIl72nEgVXfr",
  "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]: [-0.902, 1.7157, 1.0603, 0.0353, -0.5972, -0.4889, 0.06, 1.3437, 2.0415, 1.5219, -0.9226, 0.8589, 1.4235, 0.0568]\nstate[eef_state]: left_x=0.369 left_y=-0.301 left_z=0.146 left_yaw=-0.1597 left_pitch=0.0681 left_roll=-0.0844 left_gripper=0.06 right_x=0.2182 right_y=0.3661 right_z=0.094 right_yaw=-0.1384 right_pitch=-0.1473 right_roll=0.0164 right_gripper=0.0568\nstate[joint_eff]: [-2.1675, -5.7368, 4.1504, 1.6337, -0.4371, -0.0757, 1.0281, -0.4991, -12.0, 8.3077, 0.4762, 1.2283, -0.315, 0.7106]\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,$blob:ae7344ae612587b4f698854545f19b33af64272d14be401e8614c2b3b56cc2d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331a4c8044fc817cb5700e6779bada3c2eab137bb8722b5b9f59b2412dec49f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f15fa81f0379f01b16e4183964ee2dfc5ff91f88b8ce38baadbcfb6f7cb1914",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 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]: [-0.8539, 1.6352, 1.1248, -0.1215, -0.5606, -0.45, 0.06, 1.3373, 2.0197, 1.5475, -0.9077, 0.9394, 1.3849, 0.0532]\nstate[eef_state]: left_x=0.3741 left_y=-0.2808 left_z=0.1785 left_yaw=-0.1619 left_pitch=0.0464 left_roll=-0.0589 left_gripper=0.06 right_x=0.2308 right_y=0.3696 right_z=0.1208 right_yaw=-0.1315 right_pitch=-0.0614 right_roll=0.0404 right_gripper=0.0532\nstate[joint_eff]: [-1.5248, -8.0342, 4.9573, 1.4237, -0.1245, 0.0611, 1.0281, 0.4308, -11.8085, 9.2103, 0.6618, 1.3114, 0.0269, 1.0134]\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": "gAAAAABqssUx1HEyZbO4Lh5J2_WQDES9aiTRmML2XTG51CwsiUw9N5RSLv0GcOXohFULXj7wJMZPmgyRy-IMIxIjZ6HPVlX_ZY-8zQrajn8c2FcVhr4b7fzqAFHDe0jm30P-A_UDHViplkejtY_vN4ZbN27aQU-dpgOfNWPmXNRYOA8hb-0plo7RlbvvkITMhkh7slYmZlGicyAfdiE9XTCtM7biy8fBMgDpKAE2ldFDj4t3xVXw5wqeKaSKWqRP3yQQsIG_cpjD_BwOpbSFctmawfNVFqa75fcdwRdLi3RrjYjVPfqXFXfBFDbKzvVhB5Apco1VA91_XoBGiJuMtC02Btm9jccfpRyu6bLFNzcHG76_DZSLECAOsH8MQtEZbByoXtWjgdCBhJvpPh_nTz5hvQZPS0sBvECOQ_a5nYQd1q2MmCQuNoZzwxTSRLQ_nNi3fpEig2DtqeFph8VwQe1FUwaV6L4phbpMARazfzoIXGXBWI4WFaH2BuOgpUoGOoaa65IMMFrOssOIpUPJa72x_T3W4C1ZQ789ZoXSKgRBlU7kCrw105BUHv2d5S5rG_a96oXVFltldVN8cCIva1PVHqyWkveLX7IPYz6QOETsJHQqFmhtOUErledh0yWaKtTpuwU7_1mCQRFgCL3OlGCNee4V07LngbPqIvWq_3rNSqVe2rnmA0WstIj3L3m2EBoWqLh34uHo81PhzO_Dn7zuooVkMHxAGWarxXlMgVTv29nwiFKXupFWvkZjNMO62SJm2xn5FjtVEKNUFVBuf_GC--ZTzMofLdrF7wfbbw2oViLLgGv9EgJWSw_cwmhp6vUaDa9kehNixjDnChTzPCkjqd14w5eHwluWv-pPYpzCdb6moq2ar7wKFJF-bEHjTAe7Hn7UdtrEaqUgB_-AxqEJWffdgmAivfKVSI-2xHelAQF3lS_3Nta-BVAa5XEePCJY5E-FPJfkNrUY54havuCi5m17fAP9Mr7hjuP_mvTDbQDt_NU0S1VVXjJ4miwIZWg6Kh2sgMViZs8ycu57X6JiI1AYMIzNd7grw4dTLorLI6tGZz96pSOaO1aAiZaix0gkjsqom7qKoI_td_PpUvwf1Oj9Zz3axcEyyOcYOAkHhjKegLNVELrhJzYuTsa8WR5NZMhE_wL6MnosOfMhya8an0GTt_6DqJtOMGf4lJY4XJLma-wwlUuLbSGy0zYMsC-2QykAc-D6oDnYAwetsHWD8bDoZzkla5ZZehxYYGulsRKL1UN4GAyrpg2Kz0lUnNUqEZal7sInz-2Bs0p2GyNYwy7VDZYXK-nelEa9isp1DybghRcOrk-wSKs18RaIRxTRFo7cTcAYXJSw_4aCz3UcYlD5NOBHrOzMyRFNDLa9k-4NyVN7Z7iCIlMVeCek0sYZ5uUv7ptHXt7ZshECyzuqomZ9sx47VAW8rBgAAAluESz9tUqHAeKL2L7idpZzZhC0AEJ8QmxqR-KukIT_1CjiK7TbLcxcIzTc1IqZYH3EUkIa5_EPv74LwPtuwJgC0qFI3k_6QfNgPX47QbxVD3mM7CnucJlbDHApnVljvHhfigsDwLr1zblrLLhBTdw_b0BUxDwVX7U_F7ZBgBR7q-dQ9eb1mjZlfVTqsIKNqUeIffQXkj_nAixIg19uiH6iIJ485k2TEVcqAEboto5emfoMNhT8g65tM4ohCwTHsF4HuviU-lI9mFEJGr-HyI3sszLIisYN1-NVsCl5TCnE-TIf54JQHih9m7T5l1XhE6HzvxsB47fLlCwg_KsWycT-2DrK-k-8mGpxVp06vBk7chzCHqytJ-GEiqnhMjNaQBBh-O_8yucf1UWg5aYusJk_OkTDYZLhGB5OIFLrPRyFlAWzIc0Bbxn5KAjfvLEQhAH7F8t34DIctlE=",
  "id": "rs_0735805f61091eac016ab2c529b05487d0a071528444c1d152",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.2,\"left_z\":0.23,\"right_x\":0.28,\"right_y\":0.2,\"right_z\":0.17},\"note\":\"The right arm has been displaced downward as the left approaches, so the gripper bodies are interfering before the cap reaches the tip. I am separating the arms rather than forcing the insertion.\"}",
  "call_id": "call_NfxpxU1d6QYBLQZMD861p8TG",
  "id": "fc_0735805f61091eac016ab2c52dc68087d0b40fad1a102723ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NfxpxU1d6QYBLQZMD861p8TG",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5858, 1.5375, 1.19, -0.038, -0.4095, -0.3485, 0.0649, 1.0439, 1.4616, 1.063, -0.6636, 0.6346, 0.8101, 0.0597]\nstate[eef_state]: left_x=0.4386 left_y=-0.2023 left_z=0.2617 left_yaw=-0.0559 left_pitch=0.2118 left_roll=-0.1693 left_gripper=0.0649 right_x=0.2602 right_y=0.2462 right_z=0.1493 right_yaw=0.0508 right_pitch=-0.2224 right_roll=-0.0056 right_gripper=0.0597\nstate[joint_eff]: [-6.1333, -5.8598, 5.7915, 1.4921, 0.6716, 0.232, 1.0134, 1.1692, -5.7231, 6.5026, 1.16, 0.4029, 0.1343, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2299ebced6de620f398b993443967e2f22da3eb7ae600024def12b4b8076b9ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377fb4508a44dbf879ecf5394472ddb6049f0d695ce69dcad095512d2db36b90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be5c8f19baf1aad447f5b67bd2844b88b9636690377c7c47d3211887f92694b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 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]: [-0.902, 1.7157, 1.0603, 0.0353, -0.5972, -0.4889, 0.06, 1.3437, 2.0415, 1.5219, -0.9226, 0.8589, 1.4235, 0.0568]\nstate[eef_state]: left_x=0.369 left_y=-0.301 left_z=0.146 left_yaw=-0.1597 left_pitch=0.0681 left_roll=-0.0844 left_gripper=0.06 right_x=0.2182 right_y=0.3661 right_z=0.094 right_yaw=-0.1384 right_pitch=-0.1473 right_roll=0.0164 right_gripper=0.0568\nstate[joint_eff]: [-2.1675, -5.7368, 4.1504, 1.6337, -0.4371, -0.0757, 1.0281, -0.4991, -12.0, 8.3077, 0.4762, 1.2283, -0.315, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssU6A111N3H-HLuvXkLyjKlRcpPu_DvUjo6EwKQeK9qq9ToH1cWIR9jyChTL0SDluuF_0oFbJ7Zg4dXFg8R5bzbGpJHnnabzg_yamakEWG-41vS-IcfYfavC-PJpqPww2BGd1OJYWIU6XVK4gHHsOGap0FekGMGIgTCGXpwSGWlB8sosmTA7YHJtu5MojmadnBJCLIu27-gieGilmYVwWT2wNN96Y5MEZE1XumrgplRG4Wjg3hH7sClgwK7V5bjMj8QklIJ8IikwrDtGeZbEgUpij2lFLwVipxh4bsREhI4P3Y4qZcdPRRBT0qkeQwMUPYHRHsxP6757wQNlO2akSWf5Jqc4IvOLBYe2vTxMS4TcM3_eeF1I20pVaq7BEutydvrltA0wywgZHHXAs-FH_sQAgTjWgIG6SDbelq4YqBnfYdrA6jY8Ty5PGymKphevMq1gXyLbjYJS8zMtjXHxy0JZu74kOcxo6kYRexyNqpbCRHY30h3CYuyavDGdQ5XS5PHk3eECPsvd7JYd3JrsEnKOC5Pw7tUd0H08zQR3fJa8PCLKsVaDRov9V9Za4JybQ3hS4V3pSK6kZOvApOOr5wkMrg4ufjm1l3Zw_1vUUvjZXN9YIfBgEcmZTnDQd_3kIuSagrVpQuFGRKbFYfsQ56BkEbjRWYbd8ZDdV0Pn33g__IyAlI0GOWfkYrlTge1p5t8cMJt1SjBBfXbtKr1Fw2G3h9zSJJroWcFNHC_bdMcHxkOAmJe06upH15VH3IWW1UnIy0pjMKw4pZxGuFA1Il-4WyexeLFYPzMtTN5RWbYQisC94SYbzCu3Cer4yy9QuvJEV39FlijG18XuNBaXd8dTV7UGSh-KGDl1Lc_mJ7ig9IHDf5w6r7AedBs610V81XIgR0KB-wSvjc8IfHFSkk5sn4Hi4N3Z4XAOus-JE3_kxOSkL9kCi4W3DnKWeFnvvZjQ4uoheHyeJ5mgYcQ5Aq_VGMR1yj4GSghpyfurj6NgzNubjmXaN5aAcZViNtMJ_a3FtYTPkbnFE6CMsnpykRREOcj8OpESwLknMhWoJ9O6D6MWuHZJ6eTA62lYcIrNn6QLi--dIxitALh3xTs1-MdP6bG7vn8YAtjXZWE9Retku9s4P3KYr3tejtb5Qf7Rx0uvVpBEb9F0MghLThf6W6ld9nafWrBBolNOerlNwpdptCqk6jgZfHCjzSzTZ4Q-M6A0L_LC6kIOO51oYyPxWpEI4axnbi_DcoDD2uN30t4atc1stND2ILDdokXL6A33NhUQg-AQxuo98_8EUItFDJ8qkTEihacKx9AUXwveUMtcvu3Y24qgKOGJHxi5Ithebu9ks7CFk1G9796xpiW47ozS11b5XGqu1hib8bKwtYwAorIqXL-6Nr-91GB89eXFIEQqf42f35wNZ3YJZxKpk3mSF0OBYTl_0chw4p-cv4V4RNR_WU0Jluk_Yom2UpPnWpXx",
  "id": "rs_0735805f61091eac016ab2c5365bbc87d0a6bb539be0254a3d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.13,\"left_z\":0.09,\"left_yaw\":-0.2,\"left_pitch\":0,\"right_x\":0.34,\"right_y\":0.12,\"right_z\":0.09,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The pieces remain held after separating the arms. I am returning them to distinct, reachable spots over the table so I can set them down safely.\"}",
  "call_id": "call_zdq9Ext3KbgISKI9rFRchfBK",
  "id": "fc_0735805f61091eac016ab2c538251087d09cbd3e15c9747a6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zdq9Ext3KbgISKI9rFRchfBK",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3702, 1.4616, 0.5888, 0.2592, -0.0933, -0.2718, 0.0684, 0.5644, 1.3415, 0.5045, 0.0986, 0.4732, 0.3481, 0.0616]\nstate[eef_state]: left_x=0.3763 left_y=-0.1246 left_z=0.0838 left_yaw=-0.1568 left_pitch=-0.0469 left_roll=-0.1605 left_gripper=0.0684 right_x=0.3257 right_y=0.1152 right_z=0.0745 right_yaw=-0.027 right_pitch=-0.0847 right_roll=-0.036 right_gripper=0.0616\nstate[joint_eff]: [0.335, -5.2171, 6.5983, 2.1807, 0.1294, 0.1832, 1.033, -0.2667, -3.8085, 6.4205, 1.8242, 0.1636, -0.1099, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e856d878602d0888bdd711e3999ff71bac9c70efed02aca7d2f65dbd303bec97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a60c3b8f4ceedeb14956479dc8832d9c2952f332256440595a273d1df0d289",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c81b5750b2b0e609877ac15397a55a7d3a712d682b3271693a34d922b33ca9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 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]: [-0.5858, 1.5375, 1.19, -0.038, -0.4095, -0.3485, 0.0649, 1.0439, 1.4616, 1.063, -0.6636, 0.6346, 0.8101, 0.0597]\nstate[eef_state]: left_x=0.4386 left_y=-0.2023 left_z=0.2617 left_yaw=-0.0559 left_pitch=0.2118 left_roll=-0.1693 left_gripper=0.0649 right_x=0.2602 right_y=0.2462 right_z=0.1493 right_yaw=0.0508 right_pitch=-0.2224 right_roll=-0.0056 right_gripper=0.0597\nstate[joint_eff]: [-6.1333, -5.8598, 5.7915, 1.4921, 0.6716, 0.232, 1.0134, 1.1692, -5.7231, 6.5026, 1.16, 0.4029, 0.1343, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssVDbu_OEiswIeCBhfjcgWIRX4EvxfRWVZwnalDLw4YBYpTwHGJk_hhi2Awlhe3RwCyjYWNhhrBxptjegIi5eMsDaeFlZTyPdVrGAIRyUK3cpRubSPsigq2AAvx6WTa4q1KnZKvgF_Mbw_qoxk3S0kHI4jlb0mFuGsAMPHnZT1XucPUG-BJFvQdWxCMchnwfybKBWAB7fRIo9lJYALkcRQMsA0Q2BTikuX7wEfKQIHcwXcHivZ9a4D37uUkN1CubHLRz_WjmeGHUuSBy_CEYoMJIA4NVRbiPXs4FfE-7bMdqBCibFPjnm4YEpIpeIhGapnMw5KWm7IRECwbcCSCOkYL3r4EHUrcQlkX4ErRu7E9-ZKV-95gMAaw4GzV5WRozbvK6az_EkREKC-F5X7wfKwuf7lV9U9HCR2l5mS42DmkhuYk06VoL-uj2197rxF95I3g6ZNOPoJg3bYzmmbHIuMb08wxMqnHxhRx5B2_uUBmo4hqhSZVp81dibLSBUHI3RV2qRYiF-F5bOIosYbZk8BF1cTuU65a55R9GlVHVJHwRWYl4Glp94z650XioyQdLO5Zu9kEWw2nPhkp8WShIcvdIiYjnN4ZUFdLl4daOjeO5A9CC_cYUjQ7f8e4COCO4l9s5EEiAdJJm-GwJALL5NtXTDMyKC08plHU-iSxqCg2bL3aIZQOUNKsAq_PLJ1FtmiZBave11tm8uWObt9Y5d5t55zVmiQBEzvt0M1YiUj_B_SgaKBrC5W6VpF2rsH2XeAmUW66mbFrCEdomyZcwIYcjHUu0iT0wGx3yRoS-DgtvBQuCgI9WhnifDyxJeNRLKDPSsBRu8C05d8aaaAfkHjgT2hCPTwXKwRrqRIciDpGnjHQzCD1RR-VsPavfZKpakdwkDgOO8urOFlUnPAF8-EOPx7wrDVq5EAN1p5VAmFiOq5Q_d1JuNe-Hhb8akzXZUGk4o92wy71ghbq6a23mxgXXnuL9NM_H3VKYPWMkcda7nGkh5rvmvJzR2QI1e7fR80chULgcNqeVeWNLll-scrcSTMZtglW-ym3yMlJaI49UxGUasoszJVZVq-WJX2lc1OHSqV5UH100adEBU1_gGgfn9xYCK8EskfkwknnmdHSYLYQdHSFeEu7bkEwU5yScFY5iuugWZjkoePNNOSR1rKFiUZtbYhE3rZ5PB3svivSDiQvApYOkn7lUGKZct1RF72Lkf-LHZJ-HtphZqzFMSbJxTQ==",
  "id": "rs_0735805f61091eac016ab2c540ec0087d090d06324c258d295",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.012,\"right_z\":0.012},\"note\":\"Each gripper is now over a separate clear area of the table. I am lowering the pen and cap gently to the surface before releasing them.\"}",
  "call_id": "call_gJJsDq1FGpzbL8tJWIcYEwfl",
  "id": "fc_0735805f61091eac016ab2c541775c87d0a93feaf4eededea3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gJJsDq1FGpzbL8tJWIcYEwfl",
  "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]: [-0.3672, 1.7264, 0.4728, 0.5632, -0.0818, -0.271, 0.0685, 0.5579, 1.5848, 0.3859, 0.3824, 0.4553, 0.3359, 0.0614]\nstate[eef_state]: left_x=0.3651 left_y=-0.1211 left_z=0.0022 left_yaw=-0.1625 left_pitch=-0.1233 left_roll=-0.1508 left_gripper=0.0685 right_x=0.3152 right_y=0.1094 right_z=0.003 right_yaw=-0.0182 right_pitch=-0.1572 right_roll=-0.0784 right_gripper=0.0614\nstate[joint_eff]: [-0.3077, -5.2991, 4.2188, 1.4481, -0.1392, -0.0464, 1.0281, 0.1573, -5.1214, 4.4376, 1.7656, 0.3297, 0.1001, 0.7546]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b54c864ea679ba075e437e5876671ed36bcaaae93c162a6339538614e038694",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:508aab531432041fc4bce9dae63e87f0d64c458789b9df7ac2d132962404845f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3252359a18019086ee4694c6455e498909aac2b4da6cba2d05abb28a037cfcc1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 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]: [-0.3702, 1.4616, 0.5888, 0.2592, -0.0933, -0.2718, 0.0684, 0.5644, 1.3415, 0.5045, 0.0986, 0.4732, 0.3481, 0.0616]\nstate[eef_state]: left_x=0.3763 left_y=-0.1246 left_z=0.0838 left_yaw=-0.1568 left_pitch=-0.0469 left_roll=-0.1605 left_gripper=0.0684 right_x=0.3257 right_y=0.1152 right_z=0.0745 right_yaw=-0.027 right_pitch=-0.0847 right_roll=-0.036 right_gripper=0.0616\nstate[joint_eff]: [0.335, -5.2171, 6.5983, 2.1807, 0.1294, 0.1832, 1.033, -0.2667, -3.8085, 6.4205, 1.8242, 0.1636, -0.1099, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both pieces are resting at table height. I am releasing them without attempting further insertion under the current arm-clearance constraint.\"}",
  "call_id": "call_o9qufYbVbQfpzqu2dQtCaXK6",
  "id": "fc_0735805f61091eac016ab2c54677a487d0994303f3aad27231",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o9qufYbVbQfpzqu2dQtCaXK6",
  "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]: [-0.3668, 1.7321, 0.4713, 0.6052, -0.0963, -0.2768, 0.995, 0.5575, 1.5944, 0.3832, 0.3954, 0.45, 0.3313, 0.9957]\nstate[eef_state]: left_x=0.3708 left_y=-0.1204 left_z=0.0078 left_yaw=-0.1475 left_pitch=-0.0879 left_roll=-0.1537 left_gripper=0.995 right_x=0.3151 right_y=0.1102 right_z=0.001 right_yaw=-0.0119 right_pitch=-0.1588 right_roll=-0.0782 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -7.0906, 4.547, 1.2723, 0.0611, 0.0171, -0.2173, -0.1846, -6.1607, 4.8752, 1.3065, 0.2027, 0.0122, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b963fb877649c20d94d6c01f7c0116f5b760a3f1a62b27f392f3e871820ac9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c27d8f3dfb88c97be506f18a5513e8f0dcca19d1774fae531d864693ac35b916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf090f76d52cfdfacf6210a53cde0464d1d00c4f1aa7c2f53e15ffcdee7c7640",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3672, 1.7264, 0.4728, 0.5632, -0.0818, -0.271, 0.0685, 0.5579, 1.5848, 0.3859, 0.3824, 0.4553, 0.3359, 0.0614]\nstate[eef_state]: left_x=0.3651 left_y=-0.1211 left_z=0.0022 left_yaw=-0.1625 left_pitch=-0.1233 left_roll=-0.1508 left_gripper=0.0685 right_x=0.3152 right_y=0.1094 right_z=0.003 right_yaw=-0.0182 right_pitch=-0.1572 right_roll=-0.0784 right_gripper=0.0614\nstate[joint_eff]: [-0.3077, -5.2991, 4.2188, 1.4481, -0.1392, -0.0464, 1.0281, 0.1573, -5.1214, 4.4376, 1.7656, 0.3297, 0.1001, 0.7546]\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\":0.294,\"left_y\":0,\"left_z\":0.19,\"left_yaw\":0,\"right_x\":0.294,\"right_y\":0,\"right_z\":0.19,\"right_yaw\":0},\"note\":\"The pen and cap have been released onto the table. I am withdrawing both grippers to their home positions to leave the pieces accessible and verify they are clear.\"}",
  "call_id": "call_TeNnwSFMaypohL3TNsugpaYf",
  "id": "fc_0735805f61091eac016ab2c54bdcc487d095f4af51a32bfe14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TeNnwSFMaypohL3TNsugpaYf",
  "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]: [0.0471, 0.881, 0.6804, -0.4446, 0.0875, -0.1459, 0.9961, 0.0341, 0.923, 0.7479, -0.5407, 0.0906, -0.0196, 0.9963]\nstate[eef_state]: left_x=0.301 left_y=0.0023 left_z=0.1778 left_yaw=0.0403 left_pitch=-0.0791 left_roll=-0.1616 left_gripper=0.9961 right_x=0.2984 right_y=-0.0022 right_z=0.1776 right_yaw=-0.043 right_pitch=-0.1558 right_roll=-0.0757 right_gripper=0.9963\nstate[joint_eff]: [0.2803, -2.2222, 10.0034, 1.5946, 0.232, 0.2906, 0.1001, -0.335, -2.865, 8.9504, 1.6044, -0.1783, -0.1245, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dc5334e63275d67a51df6095eaad719dba86a896fa141ca27e5a49ea5b88239",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adbd8eeab26aeca14e4021c6b1081b700355c75c0391ca818b2ffdad933d710",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4b8355af57ebb208bb03c9b65bf7b44daa20951603a015b20bbb6d6d2da3082",
      "type": "input_image"
    }
  ],
  "role": "user"
}