adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6029, -0.3794, -0.0196, -0.025, 0.9993, -0.02, 0.7914, 0.6113, -0.3752, -0.0227, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.001 left_z=0.1798 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2961 right_y=0.0017 right_z=0.1851 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.4701, 10.4547, 1.79, -0.0171, 0.0806, -0.0855, -0.6769, -1.1556, 9.6342, 1.7118, -0.0513, 0.0073, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be5eeae60d9e817c16b9afcd0b74537d2a317a8ba83a8248bc157e7192b9bc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19bb8f1ee515eee13390100a72713fd5c98b039f52c351ccd9d8a60adac8feaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbf6c077fddefa3d9a8aedc16ab1c2e3829e38abe7399d24ae7c893cf1bfebff",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsqrWA0iOCDY9Q3m8744y8K-yfKDQDXuybIPCwEY2kkH6UTDqJfU3S23k275wJ6oIWolGf2zpxS4KU8-0eJ8elwABZ8gZfDX5NG_3akAlRSujxGoSHG846Lyfl0dQU4lb8m5XwEJwQ9Nlc0mDGyrbVhCy67zviszyvAKnd5qQPDR1Po1XlO5cooVXIcdQLGSrNfmjIZkyNBeDMbt-PaiIIMw26asKxYFJhqP8jK6YXlRR2jqzioTHDgW_zSpmJn-iNIDZLZM1degA9RplSMLuR6uX5csoqzqqR-vH-mzcbjF5Bq6WpHc6ueM7-9d5kkq1hlWcEzRj3h7X-2A8deQF74NvWAGyPOxwwqY58Y_06uEHK_k_k_nTi2W9ThDUSN_n5KqI6ovM_flBlEJNeQUUblu7ZpgGo_OAUOq0EPVHKZUFv1gZ8rH30hg43AFoo1fgicJme5mrN9dWHDrnHqXakSIwr5WaynPuQUllnXP6J_-KwTXM1JdNCTeqnhGXO_MLOct0RmL83zwZVIOGkUxQlx8LvNiLuYHo1Z3XF-d3yqATsYrUgXfVca49retNqwsdLOsAHMuFUBoJ1MiT-IUIAHcbN3tNkVnZJ3fO1jlSrwlQkk9YW18X8Ugrr9YXSyHvC3KIyQltVt0SBMlwdJsf5oZLdOcusho6oGkddDHnoy7yJb5vAFWMcT7Cm3pCxCY6m9xkrRFtJ7R56hW9P8kuvZvcoKvHIHgRhSWnozwwSEbRXYe3tlTGuEI43kgagUoWwYo46r0-r_zGlq3poFDXIOaKxpwX5HXAhEtoou6MBc1MkPrlETikLMRHrBxfhT6CIS8qc83TyJD4upbT7PqWbDh0SqqwtWKmWjbIT52KVJkPT7Xxiq36vpDntltxN1hrRd0AtOxo1sy_tkNxdI7IXQl6pzsTjiD7dX3UCh-DI3zGthO1fIha7fVD0dRbaU_FPFpP2M87PT0Z-Qbl1C2c6Y2mbJkpEwy5rogui0FKRL8J81PChboEkmGgj0vQZVi5RiWJ47ZRE2GW2-_1flsPzSjN8uW-h5O8lTTpa-wbmi19NYWF0SjMDLfvdGG-jQwzJM28WucTOwv5kNPS_YCqdRya7nxUh0BDj-p4eBsgTheTp8UUq0EEFybur2hViTd32cLE0qNi11Z2ZfNBAtQw8PPpKsywLt15OG56EKHWL75sIX-wlguY2CszsL930sx5TuRtR-lKkhs8z3TsEVoQgQm-ZIbUsv3_ns4lunFhedmB_Hslhxccloev2ciUPGzJKU_F3Obn1gsAphWQ8U_l7Z32afSZg8WS1o-GlucMogWaZDe5aK9_pPvQ5CoEuh7bQ2EGVbLXg2J3f7PucQZq6ghhMcdAiPUIZ08ppSWoEErk332azifhz3PFQGOTW1-7tD1wQKlK5KcqYgY7QdmeS7Cw8FccSXQ8l0c8uYiNcWbt2jbc67ovTJLmSwuLoa4hp8Sj-Dhxzu1PQuQkUQJJKN_etfjiiYTZSQbfZKLcX5BPBr-jEpViSbtDTrMgrU27_JRUY1YG2F4OIL0dAUylJzx-bwg1hiuhs10Nu4xj1tL_dn5RqmFneq1A5YG9aF68nZswQREQ7h9ky6tX0vlm6jAk2pYOnZvFWabMrC37Ube43ZjbckDoLElwEwvqxJ2gsmuiPPnEf9K53aPQTG7wopj_uhqmyxXRsYv3HEU01HbWSCM=",
  "id": "rs_0e77fb6b7915a619016ab2aad0d36887d080a98e43925e2bdb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.17,\"left_z\":0.12,\"left_gripper\":1},\"note\":\"The short cap is left of center, and the longer pen is to its right. I’m bringing the left gripper above the cap for a close alignment check.\"}",
  "call_id": "call_H3csX8u3BGEL0ngShk4pNbsO",
  "id": "fc_0e77fb6b7915a619016ab2aad4acf487d0897b25668e1db64c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H3csX8u3BGEL0ngShk4pNbsO",
  "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]: [-0.6708, 1.4712, 0.7258, -0.02, -0.5304, -0.4126, 0.9993, -0.02, 0.7979, 0.6132, -0.3866, -0.0227, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3515 left_y=-0.1603 left_z=0.0986 left_yaw=-0.019 left_pitch=-0.0716 left_roll=0.0415 left_gripper=0.9993 right_x=0.2953 right_y=0.0017 right_z=0.1818 right_yaw=0.0003 right_pitch=-0.0156 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -6.8171, 8.9778, 1.6972, -0.3932, -0.0562, -0.0855, -0.0889, -1.7436, 7.2274, 1.8681, -0.0513, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b150f92f5c0eb2f10e00d2b4ecf69fed8e53544be0a754d93db4d86251b705b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac230498652cfba0c8b580d9adaadbfab5a25a74b48dc900ac934387181b47e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73c2d72c1b8450acda654b6b2cb863a748770760e202b3b53ed870271f94ca00",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6029, -0.3794, -0.0196, -0.025, 0.9993, -0.02, 0.7914, 0.6113, -0.3752, -0.0227, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.001 left_z=0.1798 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2961 right_y=0.0017 right_z=0.1851 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -1.4701, 10.4547, 1.79, -0.0171, 0.0806, -0.0855, -0.6769, -1.1556, 9.6342, 1.7118, -0.0513, 0.0073, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqrelIzf6VPpyOSQuz7YzLOBOb8XegzpfbZ9gPdWoEmzsWwae4Tz4Jyssscm84OSz6a5JtYJrnq2URsdwHiLzn5IwxxQ9bRNycoPzrq9lCi_uB5LM0PuYxpgJ_Fx_JAdBOZUvze0ba_N7hUkMPC7nxc3VKk5UqSmDE21BghsvjXHsuj6B31qmMHj6Isf_2j-VS3fCPVil71rpg-AiuBXj-o76FfUtDeLdN3jk-b2XJN4NQLjItku_cwEY068x6ZM4IKvUwxq8xnelGSmcn4eeDF81qdaDCZW7_sWv5b_i8zabhDRDhLHsZvKgUX0c4ePs0GEeUqP2GaWWIToBQjGtLBmhWCr8VIq5nAVuCL2DJls-rBaENlXFmqiZmO-mWR58yUw_In0L4FZEdQ7ntfAVUlUvqWnc57QGChOX-AKlyBrQNyEA1fKBuaf8JPh3RQf1qG2JqeAB2bysF7ZO6YL7fo4EFh_VG6NDIO02NAOZ_6afF3bXIBraG7we9waHwSUNGWpeFahpBiCXFFykKC5aB7qTWOelvgPkq21WnjkGyswyio_UgLwhB4nF0tJFy8yQWlIzDJ95lSuAZHS4hZX2StFbOwXI5jlQHNDMeXUCL_7cXfFwuiodYnxTcvKO8mz294qT54mk6UHjgHxv3JrpSFve-7lb9xMX2PtsbczsG5cc0VxaQ6I8XuexrFpQdkuDecXC71MMfzKVmMbVt8HsnTcEVrpDJPFJm8kNyFtlRxNclLR_4X9rkwnleLq5IFKpzwXrRP380cP_IedM9VRhYPNf41gqH6dhGi2OfQ49gu6F7V7BmFaDd-p4XK5eTMFHky3QuQC1It7tZpvCeDcVv9-dDuq_CRXOibSSGZmpWcxHwUukknrvFXsj8nMb9yBi1x2tv76nCFS4uszfu__Fi_wCkGPh5O0E6xnrH0TpiLqBQdPrz2uhaxx9Ci2wsSaeA78L6AT3Dv27kh58gHuI4kcYjdOXtUW1v_dBV_Nb1lw6tdR_fZNENBK0pSDwOcvbHUyFMLhY8UsGYH1AosmwnsNlVSt-MMsyRyJ2yPzfzZOAS7hP7BnMw5PFPEh6O6nBCq4m6vuNnX4p6Jdx-eB3KFNil_N7wUnHxM51muKwmM76HSGaJsX5k868XuAdkH3tW4ZN_AOMTSxKVgTu5Eosxh122eCqUDODpVUO-vyIbg_oprQlt0xP6DuqZsIZ0EO2SJm4bFxCv54H17e8m2FWU9wSjGut1T9twuOpNVT_lMNcod6nYG2ZeotmxkvTRQo_r9uH1zxiIeu4C6RXGY63gQDWU6qqXyXg2y-pyYWPz_AvHK18sGEOwnn4PDV8sL0Wgew0vSqFVBua1yESwVU8dkV1OUlXHOiGD3MqRa4chlRjwU=",
  "id": "rs_0e77fb6b7915a619016ab2aada827c87d08b4e36d9b6b444e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.164,\"left_z\":0.012},\"note\":\"The cap is close to the left jaw centerline but still fully visible ahead of the fingertips. I’m advancing slightly and lowering to grasp its body near the table.\"}",
  "call_id": "call_zTnKLB73AdVjp5NoKfmdbzqk",
  "id": "fc_0e77fb6b7915a619016ab2aadcab9c87d09f2255a46859f190",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zTnKLB73AdVjp5NoKfmdbzqk",
  "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]: [-0.6151, 1.8194, 0.672, 0.3256, -0.4984, -0.3897, 0.9988, -0.02, 0.8005, 0.6132, -0.3904, -0.0223, -0.0143, 0.9994]\nstate[eef_state]: left_x=0.3724 left_y=-0.1553 left_z=0.0043 left_yaw=0.0034 left_pitch=-0.1314 left_roll=0.0747 left_gripper=0.9988 right_x=0.2949 right_y=0.0016 right_z=0.1803 right_yaw=-0.0002 right_pitch=-0.0221 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.4991, -7.8154, 5.5316, 0.9744, -0.0171, 0.4469, -0.0757, -0.253, -1.4974, 7.0359, 1.7558, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c269641cc0c87482ac54e5e5ed1d7f15de9c97f8e71e04716346fb8802739e20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2bb5a8defe819e47d6e8c273059087c35b7506c1ea352dd38951426dbb7e10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b6a5a11bd8dc1a28e4293f8b3c2a616bbd187c38f50653047f07000c5e110bd",
      "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]: [-0.6708, 1.4712, 0.7258, -0.02, -0.5304, -0.4126, 0.9993, -0.02, 0.7979, 0.6132, -0.3866, -0.0227, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.3515 left_y=-0.1603 left_z=0.0986 left_yaw=-0.019 left_pitch=-0.0716 left_roll=0.0415 left_gripper=0.9993 right_x=0.2953 right_y=0.0017 right_z=0.1818 right_yaw=0.0003 right_pitch=-0.0156 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -6.8171, 8.9778, 1.6972, -0.3932, -0.0562, -0.0855, -0.0889, -1.7436, 7.2274, 1.8681, -0.0513, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqrn46EPDUHD8Dd2Ixndvs3yR1YpOhIvcu7wI5EWuULPxvk9yZhpYiwXyZdsmCv1SyLkn7F7-0p7S4yTp2eRRWv0Wp0DHA7CF3fUS8vhR6VNU2GrN6tCuxt_HKFHrGTopzzDXg4EmJgJ4OOgtQJGFr5JZRd6jujglTe3OMS4BXHmNcnxHk64USa-9jQRBNuwLZcco6jH9SM3vRWM6IgIlL8ElAphwrVegKRouDG7cMatdXr63mczN1ZXLGHstDUCwNNLaoE_SMOPHXcjmmYqiYVdbrCsYHSxLKybv1StJCMbX0uBXPsLRaQqO3ogj57Cz0Nwxn2QjuEYuzcqEyOWbyj7fLxvt_FYV2bVQn987dc4yJ1bNMYGZhEVnHH6HIyYRu8HFozP_YPHq3F8P8muTb2D1q3mpci8pDdJ9AyP3wjxQ92E7e4OVskdsOrQRUKYBUrSHLDPrz4yPvXAcVUv-9_xOQXpQiZhh_n_my2h3SHxS3OXmEj6NCl6oM8Ehntl61vjMePpPc3YjeFtsHF-2wsU8BqpFpLcqg2slQx6VyTEuK6wBrj4Dm0NuqSzsqf1snGg9OCzSlwjYXP5zHVj_TMRo9CtHrhIF05Q6UUQtB5vgLNxHzTp9B72M3qZ3u4iiUcdBVrYGizZ4uQoNhMes8pyS1__CV3kPheBNP0pLhGazbXMBPUtJZqzqemU3jY0cL52J3M4vP3OyXYk3sJQRjcWCu682EUqf0iuJSpv1CguVIROX0tgyG0YvpaOSdV8Wa5WMOWCFh1XTzupuRXPyWOpSHrz9a2xjX4ccuXwVO22HDX-4BkhgxMtk-vQ9qRavsBGtnN_j87qZDdW3gSp52SkMI-hc5z11BiyGmLV5mX6Ytu510Oy9RMxcWxH5odQxQCd-NmRQ8UHwBBsATpwgfmMoHlltZ4cYruk0V-_vb_vumKwxXZfgxw7sP230ynZ448lQALIa7cdBNAOAjw5xaLT2F3j31GO6axvHr4znfnDuVqZACEWXxW3b0QubRMqcJU5pcKwxlXORjPMW4YERWVRe-W6gTKBrSjjlA4EQmWqbxexodGEEpoBXIlrumshGy1tilppQ2JpVZXuDT_yU3DxMPaC8usXp5eIYw-irAgWJXSMRU3qwaULmLmDYkweapc3qTGVwXbzv5PMfewMXYmMFfGP5fVUCG9sonklTjYBrwBrsBLElBTLm_zuwyZlnvEUM2Bg8FOPYQmaKlG7QMPjtGHcji8-1pVdVn4uaNiv7iSQa8WSLCi2EeKwrBgVcbM2BvKQVpfXkR35jJDcFNvwxqG2NiORWNZ3JBy-JOjhK9Tk0QvIxoiUjhO3JOFrj1v5Hg167Zn1AuH9qvbSQysdwncba-zFUqogKKrTvT2A3iYNUFoGC8baLf5MUDK9Zr_TsljYuRlFqN3wwdSBnW_SKSXqw1z2h49kwhELYcjKffXbh88QKcetHgfZTq6inG4MOUcvas-YxFYRuxdE1bbMFQMR0pRRIBuP-Qr7hqHx3nKTvUAWV4A-bnoDWBEQbqTOtH0VYUuWVrA6Elm7np_TdL1_0CHblpSyPykTNRx489BDr9Y96mX2-O4E8t0Urx8e8_Ag5ql1cwfUkFCE47VEpaN3pADbrqqcqX0sJOAM7orBnq7P5jNv_n9a_rZmL4nj8gN4jnnV88BtOAqAjjCagGS0gAfAUznSSoc1vO6TBvWqI-QzksVK1z6Xi--Z2a8x7Ld8S_QrWZSno3LBXWM0Nj7AWEihMZuQyBUkHvfv-2w=",
  "id": "rs_0e77fb6b7915a619016ab2aae0da0887d0ae05f607167190bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.158,\"left_z\":0.005},\"note\":\"At table height the cap remains well beyond the fingertip meeting point in the wrist view. I’m moving the open jaws farther forward to straddle it rather than closing short.\"}",
  "call_id": "call_BNboJCLYdnmxl9km7pW6tzUO",
  "id": "fc_0e77fb6b7915a619016ab2aae534f487d0a4fcbac955415186",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BNboJCLYdnmxl9km7pW6tzUO",
  "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]: [-0.5293, 1.9434, 0.8429, 0.3172, -0.4587, -0.3542, 0.9988, -0.02, 0.804, 0.6132, -0.3916, -0.0227, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4233 left_y=-0.1529 left_z=0.0056 left_yaw=0.0368 left_pitch=-0.1167 left_roll=0.0567 left_gripper=0.9988 right_x=0.295 right_y=0.0017 right_z=0.1791 right_yaw=0.0003 right_pitch=-0.0267 right_roll=0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.4718, -8.1436, 7.0222, 1.2137, -0.0757, 0.2759, -0.0024, -0.3624, -1.5248, 7.0222, 1.707, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6abaa0a5746984f1935d5e5153cb9f5a9aed566fdd9d385ac0535a0a9a684fea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d057265d9a998df275197cbcd73938bbd123f1cdf4df910213654ffff1dc7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d5abc49a4fe8caf226cf0a6f4ba80f0342ef976469ca362d404fa818931c68",
      "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]: [-0.6151, 1.8194, 0.672, 0.3256, -0.4984, -0.3897, 0.9988, -0.02, 0.8005, 0.6132, -0.3904, -0.0223, -0.0143, 0.9994]\nstate[eef_state]: left_x=0.3724 left_y=-0.1553 left_z=0.0043 left_yaw=0.0034 left_pitch=-0.1314 left_roll=0.0747 left_gripper=0.9988 right_x=0.2949 right_y=0.0016 right_z=0.1803 right_yaw=-0.0002 right_pitch=-0.0221 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.4991, -7.8154, 5.5316, 0.9744, -0.0171, 0.4469, -0.0757, -0.253, -1.4974, 7.0359, 1.7558, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqrsYUKeA8tLsum3AkZbbnADPhqTl3HSqKg_S1hzE47mj1hsq9r8jS1SYwpy9DNrb393rUK8CQZC4jkVANF2BbXWsS8avgF_NECKVwhV4Br_WgITIyJIK0agPfow6v75Wi3lp6s6XdmmLaDQ8jgEHnFrpk2b7AASy5PkYkTT6GTBp8TDwH_-JGkclKRJ6QRNKTYWJeLLlNaqdos3spdNFLaDdtY_3gxZhVo_-YxjaTyQtbqHaNyO-F57HoYIebRVZHuVPaBvF5lx_OWCQiDJssxaPtbjRUCLfjqPrmLt8vtxX8u-prV8rvPLKmDAkL7CGEfsv1OtjrUK9zQyig-mIAiB5TvQ1NKfZNmtJSXvYZxCr1j0cyK4VBEiVc0YlYnMYSV2btDqLh0KqXvQByYMkXFXRr5UhIKGg5H9um3S9r3hWNQrdUlL8eveEGGBIejL-STx8FKi6Cmy7z-tcBw2TGFNF49aP5oq6UymvyHTaELb6xnGDLlhHtKqsgeKIvto28RPg_SNxvXmA07dvkrDNdcf7KaFfp1egXvbc4mzdUxzxlMiZjbqvMmVmp6RPVJz26M6-2SCggp5u-JuQ8zpk7h08vy0jeEncPGQGl6pLu7guDW3msHaaciVjcapy4W6RJkyt5Cg8XFCxBhJkmrsaPm9XJHh1ZFlT-4d1EQY2vAlXo6b1rrhrN1Rk1eZaNoBO6TY_PgInDDCfOL-xJ9ctg0TO090cytbaOoC0_rgzVmc9cN8HNbPAT9UnIX2ZZzPfClMMciDcCsVrpl2K0NMsA3EXk1vxWs6-igwkL-jUTyAabU1dUhLunSbD8lKtc9w1WQATPQLE-IF74LD8fHe9_xeh20Cf3Xi_dn4H4FJBmxTIsDRMH0yBlz0WU-nmJwVZp9RoLcG91dmhgj6Foa-1zdXEpoVPNDunaaskrn8JQFUm3K386KtDH0mv7D047WoYuh6xSXnadjyLyjy5c-SiPsG0hLy6YwkzKb3o2iO1vUN2DfHqRDXgJ3CawuXdjnYDvVMs23Z-jadb-0orVerrRPgbR8QcRHPfjWlPQQtyoCS4dsfMcRWz0q3fvEHMy3kteaw1wMU9IqWwxVhZylICjpAtyA7xUcO8XBE6ukUYM2p96tWF3-vJVYP4k_J_CRieF6j4Pzi_yQe55yCzlWGoqAW1Sljf9OFmJr5FRsV_IDMyug_tiUTIigOvNi2NSSpzyQi1_ya5WDAHpZy-Nzv9DX9lg==",
  "id": "rs_0e77fb6b7915a619016ab2aae9de6c87d0b1db958c29c43af8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.446,\"left_y\":-0.153,\"left_z\":0.001},\"note\":\"The cap is now between the open jaws, just ahead of their closing line. I’m making a final small forward adjustment at table height.\"}",
  "call_id": "call_lfyi1XbSEDWhkTe3aQ9RU7hI",
  "id": "fc_0e77fb6b7915a619016ab2aaea7a9887d0812c008c77fdd172",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lfyi1XbSEDWhkTe3aQ9RU7hI",
  "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]: [-0.522, 1.9553, 0.8593, 0.3141, -0.4553, -0.3458, 0.9988, -0.02, 0.804, 0.6132, -0.3908, -0.0223, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4278 left_y=-0.1524 left_z=0.0052 left_yaw=0.0367 left_pitch=-0.117 left_roll=0.0603 left_gripper=0.9988 right_x=0.2951 right_y=0.0016 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0259 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -8.5812, 6.8034, 1.2723, -0.0171, 0.2613, -0.0122, -0.212, -1.3197, 7.0222, 1.7216, -0.0122, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea18e330bbdadf5a1e912ac51a1513f05230688fd7dff2de1fdbfa8481374f8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:264c88ad378cbcecb4b9e0e2c32b68fd35cdd01fa68b579b8ca346ef8f977103",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117a81afb120c879ddd146ac3e03f031e58115a778963b6726e88852bd6f2ec1",
      "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]: [-0.5293, 1.9434, 0.8429, 0.3172, -0.4587, -0.3542, 0.9988, -0.02, 0.804, 0.6132, -0.3916, -0.0227, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4233 left_y=-0.1529 left_z=0.0056 left_yaw=0.0368 left_pitch=-0.1167 left_roll=0.0567 left_gripper=0.9988 right_x=0.295 right_y=0.0017 right_z=0.1791 right_yaw=0.0003 right_pitch=-0.0267 right_roll=0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.4718, -8.1436, 7.0222, 1.2137, -0.0757, 0.2759, -0.0024, -0.3624, -1.5248, 7.0222, 1.707, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqrw5XUKVklom1PBtfGgjRTIhJMvYUxcNBRq9JeC0Fe2wkEYtmQlq6tBEA-NgqvG6TOhbWtfpkMSWyX9Zgqwqqc8JMvskyzZliKQj-NtwuwrjcvwdN3DKBD56ed-ShB8Goo9ZunfvqFMsBD1Iou5pxpNG0kjLKZnFKDCyX9qhvwVi6OZ01TghMiI5RCPIUnrSCeQFkyDueilDa2orRMCnXlqJlBV6_XfXMBDKMVYN_B_JTWymebBgw0yWN2QpxFPGu6LgyBC3W9YPt2OhUwzqugVcLmCaX-fVF2hbvnCWlJa76y8qOSHw7xctBccd_OCz2Hmw1F54PsX1_8REDlb63pU4JVVG-_NJkQHy5lqaF3Gv7de5uz24QnNrbH60RUS_r_HZM0WkXZD2MuGMIYBDyW7_WmF-Nuwy0ZzI8TMAkp32sdCnSmqDPRpDWbXVoZqzk7-5WOAm5157Kfc7xFiCnT7OLu1CsCPn7v55bji6ON_gwcxZ0SEBVvfpNJOJDJYreZiip68VKdKDDPzmflhD1guhkNec_TrlIsxW-q8D7NqEmYJJhc_Ov9h84D-1SIeOxLxm40iitrfSr3r4ZTEOUI8YBJp86qnWvvALxG3Y2JZMbfFwvvVTzgQNI_nUaI-6XgrVUaIxtm53nIc7Lz10FCwlgceDBZnyVuFHT_UEFGKHGPkss7Si0MH0HPFEj-MArUyP6Xep6CGtFb12q4e2jQ3gPDl15g_AHL5tNXSLYsxCTqCnAvi6xp4d2730UKeGCo96xFjNwDVrbZ0QbbJv_Cg6k5u_wGKtBr2uBkrgiHldOasqI4XX7Vx4TzuufvSZs9mGDcffVcFxouVTZvUMnyUqvEFqLWB3zeoB1EzSguZkg1QY3J3aslxf1ikngcWCzCfngJjKt2RRCRP1LJDgP-PIKJeqL7sIQxrE5JVC_9qK4sV-TDv6ZJiP8bEqm-BaaMQtNpYNzl48xiK-lY4ytCNu3ku-VNZQsFxk-xOeOdGEflW83OzBq7KKQKIC1K4r4FWC5pfqJsJkwQQveBuTzTykFz7-WQ_-YSTMMN-lCGAb1tFa94Gey8WiHJCGmkzT9X1Na50XzIyw-HWWpSY99bvObHxVfdvfFKe-BX6dRH5uKGExGWDhyCADDQZsIOKzIEHMVeTM-UGpwjFHAeymyVJK-SVHetLwfqBPysR6o-1wAIt9knFinDv8YqSAoAktQPtYCMzip_l5scfA3LnBHJIFA==",
  "id": "rs_0e77fb6b7915a619016ab2aaef17d487d09cb190f149f85255",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is aligned between the fingertips at the bottom of the wrist view. I’m closing the left gripper to secure it.\"}",
  "call_id": "call_d4W2HGbltFQ0tDuwpX6Tm6ua",
  "id": "fc_0e77fb6b7915a619016ab2aaef9a6487d0a4af2760abefbc43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d4W2HGbltFQ0tDuwpX6Tm6ua",
  "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]: [-0.522, 1.9553, 0.8593, 0.3126, -0.4488, -0.3389, 0.1083, -0.02, 0.8043, 0.6132, -0.3931, -0.0223, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4274 left_y=-0.1533 left_z=0.0046 left_yaw=0.028 left_pitch=-0.121 left_roll=0.0626 left_gripper=0.1083 right_x=0.2948 right_y=0.0016 right_z=0.1787 right_yaw=0.0 right_pitch=-0.0286 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -9.2376, 5.0393, 1.5214, -0.1685, 0.0171, 0.525, -0.2667, -1.3197, 7.2547, 1.7705, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82c455f58761afffffd1d58de86289f374bb51fc823ed14b2c5c8eadfe64944",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01fa77b89dc7d44ace208470f7f3dda81dc9bf4ef0a82aec41c9377801007d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd942fe7e08f765ea0d71426e6fb39eb3a3599ed2481d64da0553571cd42e66f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.522, 1.9553, 0.8593, 0.3141, -0.4553, -0.3458, 0.9988, -0.02, 0.804, 0.6132, -0.3908, -0.0223, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4278 left_y=-0.1524 left_z=0.0052 left_yaw=0.0367 left_pitch=-0.117 left_roll=0.0603 left_gripper=0.9988 right_x=0.2951 right_y=0.0016 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0259 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -8.5812, 6.8034, 1.2723, -0.0171, 0.2613, -0.0122, -0.212, -1.3197, 7.0222, 1.7216, -0.0122, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The left gripper has stopped at about one centimeter of jaw separation, consistent with holding the cap. I’m lifting it a short distance to verify that it is secure.\"}",
  "call_id": "call_CtFb5YPaHTr8LUQp6jQN7vHz",
  "id": "fc_0e77fb6b7915a619016ab2aaf53e6c87d092de346c86d78bff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CtFb5YPaHTr8LUQp6jQN7vHz",
  "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]: [-0.522, 1.8343, 0.8997, 0.1265, -0.445, -0.342, 0.1095, -0.02, 0.8074, 0.6132, -0.3954, -0.0223, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4222 left_y=-0.151 left_z=0.0397 left_yaw=0.0284 left_pitch=-0.1434 left_roll=0.071 left_gripper=0.1095 right_x=0.2947 right_y=0.0016 right_z=0.1773 right_yaw=0.0 right_pitch=-0.0339 right_roll=0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -10.2906, 8.5402, 1.4579, -0.2711, -0.0171, 0.1099, -0.1983, -1.347, 7.0222, 1.7802, -0.022, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033ceb3acb869e1bfe49cc4d99b4d19b18bb809ead4e421a4f25c7c3a12fc0db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bbe939d7996d8e80d3b8cdc2a74cc567600dd172413c5daa7ab8b894775d7d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d42d0f0badb75cdfc35f83bea84932b8e7b7cfb05956e241b9e84bdcf1e9da7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.522, 1.9553, 0.8593, 0.3126, -0.4488, -0.3389, 0.1083, -0.02, 0.8043, 0.6132, -0.3931, -0.0223, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4274 left_y=-0.1533 left_z=0.0046 left_yaw=0.028 left_pitch=-0.121 left_roll=0.0626 left_gripper=0.1083 right_x=0.2948 right_y=0.0016 right_z=0.1787 right_yaw=0.0 right_pitch=-0.0286 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -9.2376, 5.0393, 1.5214, -0.1685, 0.0171, 0.525, -0.2667, -1.3197, 7.2547, 1.7705, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqr9-SU6GKaWic6K0H8-_FdCI9Sg-mUZVYFbhoqsM7VFpRqt9cEx0ldiaq9vu5tH7VoUtgoYXAw5iwQWZuzpQAuPlrkrbIoK6v648VvR8TOXdrxv6zJRVFYmd0daHd5Xs2b5paubI9eik391xeCFNxdv94W4hI0278KSHfwEfp4LC2bu9S-q2my72L2enX8YeccVJGFBImge_m0ae5uxO4W19cBZIRHkdV-zt2UbRRNTA4zwi1ipC_QH5oiUuo87CS9tjeqyRDEU22xDZtU6RtXePCEOi-lQGe1EzBcvb7PEn_3eOJAHJoSLYWkVFlfqHOZMEN4raKuofeNiDGjFzI5pfXIIPZ8KCeL9tl9OPtgoGgxyBcp-_QOsGL0btuPHM3d0iXdDPFCfc54oj1gmFcJyg-yxgdEJYiJujXnZIM8EbkKWTaRiYMSfVCPbjh6m1lnnJJuvOreirVmm5YLo6HXrHaOMrRINwXa2IMFMPq0lYCA9DW7RiS00usmNYSjhsxH3HEFyWH7Fz6LqZ14TtZqLRGzFgjDg7rLuMKyQfQsoexttRfHyWTOXSYfahZvD723zAF9AcjFsRxQ_e4BtKv3-_fx5VQkqIGfw7o63xXOKQ2rFjLXvCPB7UtNt5dL8zgBVp3nLh9VF5VxTsB7ZyaeBOrkLHXlaaW3843fIXyqunMaZfkyVhabWUfoGXIPd4JghT7yHjQTrpMYmRQsFv6gCLpKlS62iOFREcJusDbPU8-gnlEEukN2FzopUfKfiNHQzD7pJqVMvIsmAr8t3KdFPJhBLa_g95pIOlkBtyWReKROGQHpokCHS30eN3UmhQ5ouPUgNumLSLaqBSMvnD_AdyZB0Ma8r1Esx7veNDST4bBlJn_5luwuQO0HNh8XcuKZPSS0P8DQWksDcNkPRGQUzL7hMwRu0cGQumxyhfGuMA9Y27SCiALHCQ5fERyJFeVSPJI9pBRATdsbBPUMyWIZ2drJLF2x3B6Vj97Av-4hUszK6nhhNlU2EimGd3nIWcBIIPBwg-Ur0d-z9cT04nF6NUJQ-NKYqfxNN01BBwpgTJqX2y9hryYwxe3Ew9e0ZCveKccELgSThG38j2j2nQMaiBfdJr81PLs_kVAnRHmED9Y-LTwSO3tizInzfKfy6A8jZWFCm0DwSgyS6k07W_KhmhaqgvhC-x8Zm_UkBVDXvje2JcaULb5kMNrIVftfgLnbquHgIG8mkFo4TpacG5RtQcpaCFnVLSvFG44b4uqld7-yXfQcsnR0c_9Gv04nI0KyHokao8Q1a5L7fn-303JS5M7CRQVRRyCUNDYvZ0pf8RCk=",
  "id": "rs_0e77fb6b7915a619016ab2aaf9dae087d09a2bef01a600fd50",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17,\"right_x\":0.42,\"right_y\":0.165,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"The cap has lifted off its original spot and the left jaws remain closed around it. I’m raising it clear while bringing the right gripper above the pen.\"}",
  "call_id": "call_VFLvsc2PfbNtBhqL8T0akfSZ",
  "id": "fc_0e77fb6b7915a619016ab2aafb0a2887d0afab1de2b3576e4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VFLvsc2PfbNtBhqL8T0akfSZ",
  "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]: [-0.522, 1.6867, 1.1309, -0.1886, -0.44, -0.3424, 0.1106, 0.5213, 1.6211, 0.8909, 0.0097, 0.3908, 0.279, 0.9994]\nstate[eef_state]: left_x=0.4376 left_y=-0.1608 left_z=0.1403 left_yaw=0.0208 left_pitch=-0.0908 left_roll=0.0343 left_gripper=0.1106 right_x=0.4058 right_y=0.1596 right_z=0.1031 right_yaw=0.0362 right_pitch=-0.1007 right_roll=-0.0347 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -10.2222, 8.1436, 1.3455, -0.2808, -0.0122, 0.1001, 0.4444, -7.665, 8.3077, 1.7265, 0.359, 0.2222, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8da986076c25fc6adefd9ec470095b501de4359e8c78c225a724f9494901d565",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c97317136e59a20c7cf567c596afa05776bf817a910842d5a64984cc38cd8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a72f3806f5d76e18aea2f02793a92884218d217cc9ff979df3420b9742ae1a4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.522, 1.8343, 0.8997, 0.1265, -0.445, -0.342, 0.1095, -0.02, 0.8074, 0.6132, -0.3954, -0.0223, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.4222 left_y=-0.151 left_z=0.0397 left_yaw=0.0284 left_pitch=-0.1434 left_roll=0.071 left_gripper=0.1095 right_x=0.2947 right_y=0.0016 right_z=0.1773 right_yaw=0.0 right_pitch=-0.0339 right_roll=0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -10.2906, 8.5402, 1.4579, -0.2711, -0.0171, 0.1099, -0.1983, -1.347, 7.0222, 1.7802, -0.022, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqsFjTwE5G4XKB9hGxsc6toA2yo7YN1hynXOvdq2sxavKYWIfzsD5LvZJPMfUnhzVE-k0IPrfqmtsHwpNW9QIhXR5rC4P7H5iReeOqEsdcKQ-7GmKze_BGVjE0LhFYnFa3uitg5pNpskPKZSTWzAB0U5Gu_1Upp6jKl7JAUzm20XonNQfHTyCyO42D2TU-EeqeW7mHDqXjI7Cz-p8zwnGwlDUEBPMsGMgtzbEk6rRNlCYU1VOj7PGa0n9AJ7Gss3jbmYWBumvBefKg2i5je9_yccyt08b_lJKaXeuuHhDGU8iq7GwJkqFL4vLeUihtTA-GbEFvFMN9NCC9pUE_cOQTSVH7Nq_4z-O1ndEsJSMQMIj7RkgveS9h9k2W5Xv6z-ie1zetOy89LKIUAUr28XpVhxbf2KA7v9i4GZGOo2rMZL4VT9b4f3xw1O0Puf5eJKClX5fOksH5dJ6PCJMwy2pwTniGNV9MMGQMs1Y-M3IM4-4zU7Mijcpw_2OYwqZ7wnZTLp34bjt7Evkmz1981HSsmrUtVKTN9GRoQTSNv7-fLC388NvT7m2cas6PwotPLRPKaanTH8QH2p6WgDtQjTYGdF_HwxWRChe_7yK2FdouAW_jRgQD80u6K18JE45CcHf40gun_5sjPsgZhlWrDyRK3J10CRKmVOqNrbvbH-4DyzGfjJwyqgvkFoexMX9Rhd9P3pJ4no8IeswYjxscYNKcuiohKESBNXdrx1NhFfLNWy6LNScY2zRsDJNSI-amEv1IJKd_ovd5vihPmcE65wq8tO0w62-1JJZHg9ryBoMxhhe-j42Z6F7YI6UURtZl4gsAkC3uzE5bZtCo_C0XoeJwmXCyVJvi3fGqZEe6Nfm8d9Ioz8cTO0efqKycufPvLOPR4CF1MRMq0Mj-Qe0-2n0eFJAGYAUcdiH1lx16_XYT-uFjSTtUUV1WJibFznSbNt9b7YcXan9LaezI3fzp-rFgKO5QhgwqptYKcnE7bz2InGKRtlUq4867IJ9w4kOGwWg7siwC2Xvago9GemjmYIM7dx3AEJeFaczhHnVxn_0Bf_wcczVE-Yfv1E7YfTKdr-8pzlohBfh6_ByViE09Qs1UFKy4U4eqvB-rbsviD-MU55diPKkiTsxtEFqaOvJtMGyUPtu-PCh_6pXzQlSCYpv13Gek4PgeRX_qeSsEHz1BFgudJcY4C8kczcMEnv0MQpk_P6e2qFUXMtl82PTHGcBwSfwMn0JmPipnn2c4FOXQEwkrFzrBGKDx4O-YyVYP_bCM1e5dqYcCzNa1lQDro989FF4ETbJR4o5fxJhKlRbGE-CLM34as4_-E7eOAhXX2KSwez",
  "id": "rs_0e77fb6b7915a619016ab2ab02d1f887d0a42f11f4d296396c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.16,\"right_z\":0.005},\"note\":\"The pen crosses the right gripper’s centerline diagonally. I’m lowering the open jaws around its middle, leaving both ends accessible for capping.\"}",
  "call_id": "call_ul2V1lAXrY1ftmcbHhkiHw37",
  "id": "fc_0e77fb6b7915a619016ab2ab0400e087d08aa92ddf62c3340d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ul2V1lAXrY1ftmcbHhkiHw37",
  "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]: [-0.522, 1.7027, 1.1187, -0.215, -0.4374, -0.3424, 0.1107, 0.4763, 1.9602, 0.8616, 0.3481, 0.3538, 0.2504, 0.9994]\nstate[eef_state]: left_x=0.4315 left_y=-0.1578 left_z=0.1239 left_yaw=0.022 left_pitch=-0.1384 left_roll=0.0611 left_gripper=0.1107 right_x=0.4331 right_y=0.1586 right_z=0.0047 right_yaw=0.0349 right_pitch=-0.1392 right_roll=-0.0484 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -9.7709, 7.8974, 1.7021, -0.2027, -0.0317, 0.0024, -0.9915, -7.6513, 6.065, 1.2625, 0.0464, -0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5835ba0f9275a1c6016ca0367cba834340f816cd6cc228b04537208bc4209f8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e03c083ff0d3f25c023f4f6190b45088285fa05fd076bf4063384ad1dd25ecb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a828bd9efde7119bc6baf38e125489a8c82f2f7966f3b225c286b34cd3061caf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.522, 1.6867, 1.1309, -0.1886, -0.44, -0.3424, 0.1106, 0.5213, 1.6211, 0.8909, 0.0097, 0.3908, 0.279, 0.9994]\nstate[eef_state]: left_x=0.4376 left_y=-0.1608 left_z=0.1403 left_yaw=0.0208 left_pitch=-0.0908 left_roll=0.0343 left_gripper=0.1106 right_x=0.4058 right_y=0.1596 right_z=0.1031 right_yaw=0.0362 right_pitch=-0.1007 right_roll=-0.0347 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -10.2222, 8.1436, 1.3455, -0.2808, -0.0122, 0.1001, 0.4444, -7.665, 8.3077, 1.7265, 0.359, 0.2222, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqsL2fYagJ1nPaLDMGZkUEn5PtHaoQhyLHa-H3ClC9eZhtouRlO-bZ_HXWxLzgjmuVYxY41mn4LHMAc-RkIyCCMB4m83iWPp0uvt6ULOKBJgpHOTIv7ORZOIAeyjK91L4qxmUwFeVTOaEWOhCt8e39x6n56gg5zZ8mavxDSiyNedEDTC9wwxpwLs0t8OizpholCceeNLTaVM5puQpEOUt7BKk_rhEqqKsI1waPuKbtVZ1l02vP6k7MAWPaY-O1sy1DF0ZpNvluTy9YQ5ohG_bFjWKB4alO6RVSaZP3klk0r7BLCqtNDbhsUYrBnGua1MVd5Bg3X6Fgc1ytaC1rkjR-kiDW6-6aIgMNBJOt3x9NRxgm3YPvR6Dbv2zOcZS30_soYkJavC8Fbuij9HTMcwGasQyTwSQkJoKJistbSq1KtNwGJYxvVjGyr34hLSWlj69E72ekcmR0ZJX1-OQfvIfJQp6lKBo_sqUg8uMW5yI42OJaaiMui1OMrng7xsJrm8aoqkKK3D1x1WRpKAouO4fSqEQ3azxV-p3w70evOV6xXxJVKA2JaIVVCot07UyTgcm75Nm88YknzMZkmUhKrEmDHEbeKk_2p2P8g8FO8spjviqzIrobqsb4KMVdfApWfPjN3t0Y2p9z925GAHSa9HhNmUcBmtu6ZqDtZWvyhyFhZLhxGYqVOconpKYBltPvAMzC7xkOWVTaX2sYcNz4eziL-UOVHVg14G7rDYwTRHRPn-pGO3IVJINnaL7kT8rWrJGl8ayr7pdvzCha-asnNORTSogL0XtSgkyE-uoh4cU7CgH8z4dWcIRYeTAktWgmVinzPr0q4YAbeiBVx5yCEhz5d0bz0_2rR7huHmN0lOfXdQP_bsQibIU4kbbOjJAbqdUZ7drGp9acqKCYHwELhUTgxSBqStZzMSt5NKeAucMEtYlw8DrZzk-X-Bns89zXNHxKFQC0h58y46UXOxUuc4_tiN9_WCMSygfZrjFTtdEYdtUJTXv2X4R2wtq2oZ6fmivbxv-5ZLucjaytr1D2Ojjnkrrz1RKUwGayYCcg_QS7nFyKX4qhVyU6QP8qg3MJKi_nKI9OpcPOVlcPlUUTWEBFM3jZoKDU_tZd0bDsGugNJKAxZjB6bdgNYrfm1kkXd4Wx2T3rmK33FNWd68kPw3POx_V-GzNweHPWzYs8B8ChqRgTJi_m7BGEpBZhiB8W9ZK-4PC3TFPf_7CE2ozMiiw4tLWQ==",
  "id": "rs_0e77fb6b7915a619016ab2ab09170087d09d2151ecc0e131db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen’s body lies between the right fingertips near their closing line. I’m closing the jaws to pick it up.\"}",
  "call_id": "call_NX19NE6ZgFUdFLj2Vmx1JGhj",
  "id": "fc_0e77fb6b7915a619016ab2ab09f71c87d0a5df41d9d6cf44f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NX19NE6ZgFUdFLj2Vmx1JGhj",
  "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]: [-0.522, 1.7031, 1.1187, -0.2203, -0.4374, -0.342, 0.112, 0.4736, 1.9759, 0.8654, 0.3744, 0.3401, 0.2504, 0.0143]\nstate[eef_state]: left_x=0.4308 left_y=-0.1574 left_z=0.1229 left_yaw=0.0222 left_pitch=-0.1433 left_roll=0.0644 left_gripper=0.112 right_x=0.4365 right_y=0.1615 right_z=0.0031 right_yaw=0.0443 right_pitch=-0.13 right_roll=-0.0337 right_gripper=0.0143\nstate[joint_eff]: [-0.1299, -8.3077, 6.735, 1.4921, -0.232, -0.0464, 0.1294, 0.1162, -10.6325, 4.6838, 1.3651, 0.2369, -0.0562, 1.2625]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed87208ea449da7fd9e1594791717363107cc3348e42fee5610145eda226e5c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:347424969e0eabac96281d27687e41dce1de59ec65f208028b094e53e60edf14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:131537d57ef1c3f343741a3b515d20a8a942043ad5262b5ac5fccbd5718acf4c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.522, 1.7027, 1.1187, -0.215, -0.4374, -0.3424, 0.1107, 0.4763, 1.9602, 0.8616, 0.3481, 0.3538, 0.2504, 0.9994]\nstate[eef_state]: left_x=0.4315 left_y=-0.1578 left_z=0.1239 left_yaw=0.022 left_pitch=-0.1384 left_roll=0.0611 left_gripper=0.1107 right_x=0.4331 right_y=0.1586 right_z=0.0047 right_yaw=0.0349 right_pitch=-0.1392 right_roll=-0.0484 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -9.7709, 7.8974, 1.7021, -0.2027, -0.0317, 0.0024, -0.9915, -7.6513, 6.065, 1.2625, 0.0464, -0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqsRnZDNZGTHm7gIRWYwoNpCp5Ntq5w56Cn1wdHALws5mD-Gj7Fz_opc8Dxh7J-PmdAqKXqFIyYBUeFAgE56S85i8xgMBG68W5-95ooth4eOBSt0ghnf3SqFwPo0mo-VjQCdwGUWM9Ezw1YeaSN3uJLis67W-v6d3DZWOvdA9YbrQh3KQRqNnhoRMCmwXMxM7m5NlQLHXaOuu-WpYQnDhMwM3sk-aRi6JX1N9z1uGBZciXhNUc6MqYSSFpvJvfVmIJNkDfN6J21NUPeLU47wfZVYh7XAApahVSck1gGD2Y2XGLjDh50P-0C6S92o48lcJd0UGh_zv5TsjG01ScFRX76xjBFh5typ3pkomUVQsm4nmMsWv-1Bhx6RGRBlhDrsRTbjOb1XGcnNZ0UTbBGgjZYpnA4JPP1fFpbBrlwbbQXHxQF4agb3lZeGCHByzqbECAcubgSCuNB7F7lRKeLwaY5seX6LatDkDldTXvlInD6n-fH3xFC-61pgm_xCFE5HVa8vqsze4zsR-_igZY7eXWQ5pqoK6QwePRojZLSQFpb2mDfU61jnHR0jvMpTKwMypolA-tM3NS7mH4ueoy0cBjjJV6TOK_QfNwPcNObZHT149d14ihz7lQL00959mnxhU3UPFGJa7xMaBiljESyV67l6tiQ--VaDhxa7godFZsJeObJy8xUaaJWKFLt82bGG68bptzCjvTYqGiqU6lM9L5oBcR9hwVsRh6vczvYAcJFLBK3Ml2s2cvJFrNMHXbks8fbg2FqkqhwQB5L8a_PwBFGaU7F_feFl1zCxPQzyGKhMJ-HkXTjLq6UFQMfNvgrZpdZv1LFf-eXUOyHFtFxtebpZFRYHcbXXYmxT8HKK0c1qPB9cM7YHSheSkQxWN5RB7xs4V56_xzTwGejZhpBqO5pv7UeITvxgGk4DTd8I6wPfYkIuZfTmpKCirD0fi5uWECqt9_2cqWd9SMPQUJ8nmCCpyZs-AgdPNZLPpyWBpOE96VSN13IH2t9flzHWiQPFRIduiT2jkWHjP7HWt-sSgnT_FilFSU_SB4GklMQLhJPX88uAF0Bcn8YotmmTQwMCQKpIVsSgZsGMuMHCf_-xrYSjgYi5xDysqZlxO-fKmZXq-P75w5mit_tSmC7E2UZk1qKv_NBTFqaO8WbL1HdVnzj8Q3Y0OVxfPa9yLEyiEqeoNiN2P1YI4SrQQTxvRLhtoFw2yn_rLcOJLa7bS5JH_88JErXje_AFpwNgAbZ93LuesO5oSc6XCY40fDAwfqGfZQqV",
  "id": "rs_0e77fb6b7915a619016ab2ab0efe8487d0929591be76973f31",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"right_gripper\":1},\"note\":\"The right jaws closed almost completely, so that grasp was empty; the pen slid sideways on the table. I’m reopening and lifting to locate its new position before retrying.\"}",
  "call_id": "call_LLuqVt5XAQ91IcInPkZQPKeq",
  "id": "fc_0e77fb6b7915a619016ab2ab0f9e5087d0b5340239f1e216cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LLuqVt5XAQ91IcInPkZQPKeq",
  "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]: [-0.522, 1.7031, 1.1149, -0.2211, -0.4374, -0.342, 0.1135, 0.4732, 1.7897, 0.9688, 0.0486, 0.3355, 0.2413, 0.9952]\nstate[eef_state]: left_x=0.4298 left_y=-0.1568 left_z=0.1213 left_yaw=0.0225 left_pitch=-0.1473 left_roll=0.0668 left_gripper=0.1135 right_x=0.4325 right_y=0.1601 right_z=0.0662 right_yaw=0.0503 right_pitch=-0.1645 right_roll=-0.0531 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -8.3624, 7.0359, 1.4335, -0.1832, -0.0513, 0.1392, -0.212, -11.4803, 8.1299, 1.4481, 0.105, 0.0611, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:007f18cab5d8681ae4f403db4c9dcb6cf5e2db2bd3e1b68149b90f4056016b46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbcb190c149adc2380e28c40796d29bb7598ce493282b6b206075ab0903e99f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7cc9b17815e78b35d7f7897b3b68beb319244adf45b770c6a78cb0844180b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.522, 1.7031, 1.1187, -0.2203, -0.4374, -0.342, 0.112, 0.4736, 1.9759, 0.8654, 0.3744, 0.3401, 0.2504, 0.0143]\nstate[eef_state]: left_x=0.4308 left_y=-0.1574 left_z=0.1229 left_yaw=0.0222 left_pitch=-0.1433 left_roll=0.0644 left_gripper=0.112 right_x=0.4365 right_y=0.1615 right_z=0.0031 right_yaw=0.0443 right_pitch=-0.13 right_roll=-0.0337 right_gripper=0.0143\nstate[joint_eff]: [-0.1299, -8.3077, 6.735, 1.4921, -0.232, -0.0464, 0.1294, 0.1162, -10.6325, 4.6838, 1.3651, 0.2369, -0.0562, 1.2625]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqsY-eiarO5XB2xutUseUu5kI0Bs036Rrm5iLQFT-VozuqGpsAFR_ViyOgAx5octRYlIzT57xwdqegxKxyZ270rSwNRAzavPAjqUsFV6iENMF5L_CcyI7YDXAtUzSLC9GHAMlVC3E32ozHPnH56l93CU_y6bOb8GgMttHwo8tgw9iDLXk0TQ9Vz5tA5eWbvHwOTO9tuJn4JlMz2HWOKVshPYN8CTMrTScv9d4dELupgH-UsBZVNGLvYHZgYCGo3I0uVJgIoAKxmWWal0qtX_Sdg91s35CbVi_A23Ge8FwShDluAlHoOCj7qGUfFbAvivD1aNRwQBe-lQvoQshNlEHTiHjqBomwJSb7l6ouQQGR-Dro2K9X9a49UtayBXomojyEqhQk6W5TJLgw9mpj6M83znk_3oquJP_V4RxALJ08o90HktFQnyiQTmqH9nWZHuahHYnUHAXW2ZlgDHltTz2MuZxyjE4RITo_imAZ_WVdbBk1beat3JNIPb4jjE6KJEaOdqdUm2cqroeyQP8hejG-sKCUmrO-tkNnZ7tRBIgD2cHBSCXVvL1YMhG1_WZZToz5j6-9JhYmEBc1aZX2bQMIPjkMuItEOjjYxBlSbsE3bCjMYUT-6i6YFaQsUEHXVPQc6x6np-fLw9TEwajPYx8fO0OT9P0Ae0HFcY2lMG4O1BeK3I-hUbH15ilX-VWP1UEZK89OhdlXq46S7bOAb_dg137iOYdmK8M3mr3w7MyoNIDXJgNaRqCXdqboBWo4f1mfaQ6crp7L77SmRhC_G8NkLc3ziHgUEKBKEuSFsn3hqeOYNFXWXi784DSdYjBTagzTHfJ48jmgsOcPgwOyhrkSJvF1MRNcWUw_GoUjEVDiW0LYRjUdiLYzV6NMRi9kb-s9nvlwa68iFW5YIxg9PF3oEs-bNaZgdDLqn8QYtLiI1Dc2OQz1KyR-OWoegYeM1jAC0Gv2P2TK92627FCeeBrBGY4yBngtV69CcicmGiuouctfq47gFR3dnshiuc5bJ0hibvvw95toz_BsiKKFfcPMkE3lV2-LEFZ-5OtpiyslNsXxCPpA9etPq5ql6p5m0Z9UZcUXnsUoo-j5Yj6lmvghg0bRx9qYSiDh0lK8MhboT6o2hC0XOWkX4z-zUjvJHBpX1-fKAcuobctHb_3SSa2n4YMnPLyNI-ZkpXuCcJI0p1UhqfLhaTu7TouWNLuky1OA4j_0R7PBj0dCnYQTGbJJxU_BCtxkAlUlQ2o6n8aqep3PB7r91GXWz58vSV4FIxJQvM-PBwOBz1LmnzJD2pAPni_yLl76UA3AOsCD59OxNj4V9XNr6xlpedjpwEQcQjI-ouOxscC8fzAi0DFLLx71Ibb52oZzj7qTWzMPHN7TtXVeA=",
  "id": "rs_0e77fb6b7915a619016ab2ab14f16887d0ac22c4b6e6c56ca2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.30,\"right_z\":0.085},\"note\":\"The pen has slid toward the middle-front of the table and is fully visible again. I’m repositioning the right gripper above its new location.\"}",
  "call_id": "call_jfC6h8FdWnlBFU8m3WgsvZkT",
  "id": "fc_0e77fb6b7915a619016ab2ab16503487d0a3dab3e686d049b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jfC6h8FdWnlBFU8m3WgsvZkT",
  "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]: [-0.522, 1.7031, 1.1141, -0.2207, -0.4374, -0.342, 0.1141, 1.0222, 1.7706, 1.0779, -0.2905, 0.654, 0.6888, 0.9963]\nstate[eef_state]: left_x=0.4297 left_y=-0.1568 left_z=0.121 left_yaw=0.0226 left_pitch=-0.1476 left_roll=0.067 left_gripper=0.1141 right_x=0.3055 right_y=0.3006 right_z=0.0856 right_yaw=0.0982 right_pitch=-0.1663 right_roll=-0.0396 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -8.2393, 6.8718, 1.4921, -0.2173, -0.0659, 0.0513, 0.4855, -6.7761, 7.6786, 0.8327, 0.5543, 0.1538, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ca42037f66bd2ea75a78e40af63ba868fc59a82104f6085ba487297cd9249d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0190b9798202999033636905a22f3b656c010af29a601a3642c32b721c4a893e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d37b030b1e6f29ddbb8f1a5566f1c00e8dfda65b2a4b44f2670ce4d11ac990a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.522, 1.7031, 1.1149, -0.2211, -0.4374, -0.342, 0.1135, 0.4732, 1.7897, 0.9688, 0.0486, 0.3355, 0.2413, 0.9952]\nstate[eef_state]: left_x=0.4298 left_y=-0.1568 left_z=0.1213 left_yaw=0.0225 left_pitch=-0.1473 left_roll=0.0668 left_gripper=0.1135 right_x=0.4325 right_y=0.1601 right_z=0.0662 right_yaw=0.0503 right_pitch=-0.1645 right_roll=-0.0531 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -8.3624, 7.0359, 1.4335, -0.1832, -0.0513, 0.1392, -0.212, -11.4803, 8.1299, 1.4481, 0.105, 0.0611, -0.149]\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": "gAAAAABqsqsfMC-P7n5GwSfAKK5tfTmYoP9a7C71GWrrWRt4PiNfU1WxTmpfI0oDd1TAUvSh1Q3Wt4hgpkdb318Be-9ZD2SkGcxAubR6XurrMgdZ-Fo5po_hu-bSpVF0TnUWUT6PZQ1uxwzgaCHtAFT8Q5dbVvTos4jaCPmTpt8a5a-zCEIAj5xmc3u_u7pgjoBry9KNW4Roc8jiSExQGavRPyJuCW0mL-guWnKRH1S_2XMvQ4cDTqTRoTvps22Y3w1xX-jkZIzPEtAvfTaK2a_rm8btgR0jdji3W3Nmo7atOwXWGjkZBi22R4NcM-vCJ7AcgSBFB0EJNHhSJjCM3VnoizNubhAhfOYJsTQJak5QGchckXWUpq-QTJelSP0krv2HC2F5TU_EAaRE1HfTEwKh3lZQNIMCFXJJgqLAW6q6q8iXrAa_52YbrOSQJcwLGc6KOYCSEgXxHFpQp1H57E0U4ed2rwZyW__StxnmmjgGdsr0d775EQmHB1KcHQ-xmRQ6ML2O5K6_3FDLw6R-bFYK9BvLcvUgJEHhyZjTZqhMB1ROklq7CtxzB9D4RrcI8ds9B11KDoMT7g5uWJAJx-OyiDgXkbadTxMOybOW42SGVwW2SLxm9Ks0X7am14bJDe4F8gQcOackSWDw6ha_EnAlKWgroiqF3aPA-VEAaskDjMyQKS6TAW9ZKlDylrZ9RvCzOfN3cllP1RhE65UPvOMK-z7fXAhP2jEDBXLe8MfI9GPKaJ4L7QWsqZ4R8cc_NXbFCN8gAbGdy9QaYvLYu3-vRvZxB7f4-Lx_i8g4g-0xg6L58JAR1pjwzMTeCyuzS2QHbd_QIZRxsdB72b530zKNX8poELxkJwxSDYIe7I96uge8ucnCtTEi2JzOdRzVCbjoA_SFQRU7YFoi9XoJf858Vq56k5D-3svCkLIE1RZw93a-P31VX9CvaqPlfLVK7pP1M9TQmPh-D76bE54_rvBYoK6D8yL0mT-sjK5rZGFWMGVOnToQ0uKATSMEIS2rHJoZkVUNfbs9c2LaGpEeDtFxVy6AWMGaUXNiq12djysOhvEVE4tFZVZY4hsDvakVCJ9Jvnou8-dj3F5JZ4XKUyICjPGYkZT4mwFk6CzxSNkojITs-Z8oswGE1iH4WoR-DATYBcmNYeQzcz0FzvYlhaXIz_2WRS4o725k1jI9ADuxFhqqaRHXTljyyJWd4-Aj7fIXYyZ42ow-7BdCc2gMbu2QV6MXLOWk_KtwadULmBBxmj4JNblXyqsVxhuubk6I9eZ963rbiJ6dFEsj_yAvH1cV0CjD8QPePh9WynBxbgnN2uqA8gaHtX8erntIDtVrFpcP_zF4cnwkbn8ckGOvoTFZ017Cg1HPbI4ELbB-Cu8txa1JyV8bMFCkljiwXXkbCezPwrNwen8hlL6zfigEn0_62knYWs5KLw==",
  "id": "rs_0e77fb6b7915a619016ab2ab1be84487d0898eb5ab64939b2a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.32,\"right_z\":0.055,\"right_yaw\":-0.65},\"note\":\"The pen is just behind the right fingertips in the overhead view. I’m moving back slightly and rotating the jaws to close more squarely across its diagonal body.\"}",
  "call_id": "call_bdbv2WA7Nx2MOr4tpCbMfyYc",
  "id": "fc_0e77fb6b7915a619016ab2ab1dcb3c87d0967fc46d3f5b5ebf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bdbv2WA7Nx2MOr4tpCbMfyYc",
  "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]: [-0.5232, 1.7039, 1.111, -0.2234, -0.437, -0.342, 0.1142, 1.1919, 2.3245, 1.8114, -1.0206, 0.7853, 1.4723, 0.9964]\nstate[eef_state]: left_x=0.4285 left_y=-0.1567 left_z=0.119 left_yaw=0.0216 left_pitch=-0.1533 left_roll=0.0702 left_gripper=0.1142 right_x=0.2794 right_y=0.3738 right_z=0.0418 right_yaw=-0.3237 right_pitch=-0.2296 right_roll=-0.0343 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -8.4991, 6.7761, 1.4286, -0.2027, -0.0708, 0.0024, -0.4991, -13.8735, 5.8462, -0.6032, 0.7399, 0.2271, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88a4b90e81ba9c04c1cded71f75e5fd42debc6fb72c811b7f4e96b85ff767544",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63471e69e1d46f44b64cffbbfee5062fc32d039a2d19b7135a7f9856ca7bcd9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7779eebe96a1b349ec333eff2bd472811bedf5edd75bcf2533c27904308281",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.522, 1.7031, 1.1141, -0.2207, -0.4374, -0.342, 0.1141, 1.0222, 1.7706, 1.0779, -0.2905, 0.654, 0.6888, 0.9963]\nstate[eef_state]: left_x=0.4297 left_y=-0.1568 left_z=0.121 left_yaw=0.0226 left_pitch=-0.1476 left_roll=0.067 left_gripper=0.1141 right_x=0.3055 right_y=0.3006 right_z=0.0856 right_yaw=0.0982 right_pitch=-0.1663 right_roll=-0.0396 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -8.2393, 6.8718, 1.4921, -0.2173, -0.0659, 0.0513, 0.4855, -6.7761, 7.6786, 0.8327, 0.5543, 0.1538, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqspIxajUQmefuu60X_11i9eMpydHM_tTmCWiNO-qUXOG0Pc_gGbH392mUXQuWmTmOogyKWL3h-jgUPKMlkHinEGieRI6SdD2Cly-tfIBbjKKXqquVTeflFMdim7Tx9rdQbPuktQieADK6mD0zw8nIzDvSvoAfx49-QTLdbGaYloq3Wmo8zEBrwv9EhYBI6ltgi-RT63lce4IJ3Wu6kDNwjYYIzQZDEVyuUiyuM5aYYWbty4cTHciYQE6tSdHoNosxGUS0osBrfQ-OhmguO0bEic0aa9dKzO8NBz__IdUcCPkYV_ZBa_L7paGlostab32aOLKs7spd7qboaCHehaCXqsQzSYSBJNVQu7LP8DcQ-yFggpAccyvcejT5SrdEz_86SX6VE4SWdhBnbK3XwJS44j98nCcp068qZBhftAjjNvCgjE7T2u3WJL7rzaJ1NnpiUDeMchxsnvvvRCvOgzErGQDx1zBmASjaCKFo-e4h-WHMawLEQwAWZeUf_s3-YpAnfFpTo7tq1FqBGtj2U-gbX8nhYsIa8eLUAL5nSAZIQqvP_ryJ8Yx5imYmaOdOL7f2dMpa_b44JC21sYHuWRsC2Dhh2V9GjlsoGOi6yBHtzqe3Wjw4qwGHzbwrBsXujk3KnkrFOlQLjJxbdElmlUcGOrKiQJpXC2AhhkXT6HI4Q-XuHA2HiF-qcdE3Wu3L-fEP3dg5fWKcOTzQKJMN16LHkH2_m_i0bfmkGckbqe3qfhUlpRsqodrMGHKx7gT8qcGHKjHuQ9mF-ruZTEuHBnSfHhwgBdKUcEOk8t35i7z2DQo1YJMbqwV7NwJ_wmGftfoiuHrVd1yiFqGh_7ZeTQdmuOqHu1w7amozXeLrDpwvQft-mzj2X8yvFAiOJBrSsSQBfMnEFxdjl4nHw7-sp_1A04vJbptogyKLTT00tSB6x399B1ojs1dWblm5ERVIHdDXKpmY6TouwylwWW1dWV2-UKBEVUO4g-sbxcQGimfqWwlLbso2QBj4fTHgqZlahoK7OFGiMJZsYvhCstIHNh1zZWEWfxKuliasb3OTcusJIUNvFmIz4gYqHAsMn1EBp35G_Z3b33PVbMizLEsPsWF_Zq0GC6Hw3sFUd58hOU2i4mLUEVXgotrJfh4ANexGrA4Ny84a1Ls4c9S2tyx9GCr3XcrDCyN7aw2p7_V1esheBQ22fClLR7gPdK0kC_YUPpXqlF-JGkN6yDf9wVtrfE17V05kXridXrhNw56tgJlXJdER757LQv_VQEqTefG-YpSAzVt2MhC8a-ifZoWolbnZtqWB_8mcm3UOIy_uii-3u7LJBuOMiaIZrexQaUG_j4Ozwk4vVTFDAoJ-mk-ghyQzgc7JWLtouOLiRnwo89Bbo2B5TjQeFxkca7tmMWOnns70C65bNpjyxmWiRYJkvCdBC5KItXT6kvR5hPyv74q9sMHjJs09Nw6n4w5J1-SGAC_BVC9JwbWZxw7gtanxKGHO3sZ0lAJOcUBimZDHI38sQceHqwbcsLfGczS8qgqTgVRJDnuE05u5w1QS_QVfcaSrgp4W3sStGwj96i8gg4yq43l89cnMndKeaP-x_4vCx_-yt5kumG9TGPCHjafkkqleqvhw3dO_Fk9GM8HqQtmY_WpWCm62q7Jl3nln4649Ftu-RAQsVkGfQuFv1utbQY1-3Wr9pdqjskrAgxTuzFYXsId_ZV5Vt5N2ePclnVQjruEJ2HQ4CcJwJDGM_H3qbi7HAePtDqyGHo0u4-pyJyT1CG-ycecY1QmQIoh6vtGA-_r8u5",
  "id": "rs_0e77fb6b7915a619016ab2ab224dc887d081f2ef269a01e13b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.315,\"right_z\":0.09,\"right_yaw\":0.65},\"note\":\"The pen is visible again, but the last rotation left the jaws too nearly along its length. I’m lifting slightly and changing the angle so the jaws can grip across the barrel.\"}",
  "call_id": "call_FNWrOGuShsOfepksbatLdJUy",
  "id": "fc_0e77fb6b7915a619016ab2ab273bb487d0b5a81c0659f9a2fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FNWrOGuShsOfepksbatLdJUy",
  "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]: [-0.524, 1.7039, 1.1103, -0.2245, -0.437, -0.342, 0.1149, 0.923, 1.6646, 0.9298, -0.2424, 0.3275, 0.5694, 0.9965]\nstate[eef_state]: left_x=0.428 left_y=-0.1568 left_z=0.1186 left_yaw=0.021 left_pitch=-0.1549 left_roll=0.0712 left_gripper=0.1149 right_x=0.2835 right_y=0.2864 right_z=0.0585 right_yaw=0.3003 right_pitch=-0.3502 right_roll=0.0803 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -8.3077, 6.612, 1.4579, -0.2173, -0.0562, 0.0611, -0.3487, -8.9641, 6.7487, 1.5702, 0.022, -0.1538, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dd2d2948eeed146cc12c93a72872125c128bcf88237444ba79623621902f4d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d0c77b1355ded930ad57123269f6aad2340939ac5c5400f5536277d873982d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c70ef29f140e892182cf4e1b692aa3f7d8257c4fc9ccae9459153b65b5e9e1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5232, 1.7039, 1.111, -0.2234, -0.437, -0.342, 0.1142, 1.1919, 2.3245, 1.8114, -1.0206, 0.7853, 1.4723, 0.9964]\nstate[eef_state]: left_x=0.4285 left_y=-0.1567 left_z=0.119 left_yaw=0.0216 left_pitch=-0.1533 left_roll=0.0702 left_gripper=0.1142 right_x=0.2794 right_y=0.3738 right_z=0.0418 right_yaw=-0.3237 right_pitch=-0.2296 right_roll=-0.0343 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -8.4991, 6.7761, 1.4286, -0.2027, -0.0708, 0.0024, -0.4991, -13.8735, 5.8462, -0.6032, 0.7399, 0.2271, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqswNE7UqcmTYmJqzBqMLeU9zCEgXjBvdMQzCTmIsBKk8oKoCaQ13JI_zyC0rlBSE1TovPOBYtulVK0dLjPjOX0k9DzEkt6nqzA_0qYwdUdXPTZI9LztH4GurnFo-4CsyCRfriINBWVxpvZPXzbyrZaA_JnJ-gCfpAIHiSpd5iBzAwkvbGQzEQ3I5FgBgNCEa8V0uw6FJBljGTzwARnuXDuHXyiJb2-XnGbU1T11RDqb_FQ_xDLAtvdJFMgK4xit9Crk1gfUIWhBc28clT5gxJiVwTKWdiJGfNQZgG9jjjlK02nGR0_QJ00uJoheoHC9iFQs4XUe-g609d1NZdIUXL9jCf_3xkhEKBgNRue-j74-QDRJuRYvDKhFUXPZ6UO5UHyqG6SRPYUORdG4-Gutr5r4ecoFag1DO9NUs6WlcAQacqWYghtvdToVF9GIoBw-Zn95e9vRTMMLEK1g4sNjZARIGmUS9xS4vlMHtrs96Hrh56_j3cxG9tJxQ8EoPNhTL_9DbVmYxF38njP1-HYuScO6VxdJTJv_YenRhkmshenuQMeKYrIkwjftf2mP_aw_GvaZaWIt_EWWCrBe7rrY0CNW-EadX5QlB-CNAjlar9ys-kAcb-BFC4OQdRaZG6Mh-OuNlHU_QoWoszJVcjuWCetmqstGkkugUvLU9EmnRQMoOWPUsfobrARDo3RDM-ZFYCjf13yZvQm81tVdMCPYE_zoCpXMv94WNQC2OdrQS6WxCMw5jtK_rdniaCFWDyXhgTekQawPybG6sCc06sfanY_1zUXZbKWABQHHg3uXPN5NBABLxn_HG8fEqWZgE0lLq7Jd-1sSCPpyKu8bEt7LcAnr3YI6m8BKfLNYqlKXxbCiUx6QO5E7xhqAjER9GW859axxWV_QYOQIep__W4YakDl6gPHdTHblKaXviCaVCNcodEknbDrNvvkEwCoc0OlgvdawCLwxwD0fYEEc9bHYBhF2zYfipWU-DcGWtqJoN3ijaBrE33YqpGLRqgmxJrEaz04Ne65Vxg7YG6sEf1pB3dB3Qmtnt9RsYjXaCBJRW8Fmfh5YPaElzdk4ScT1RMWNHDe6nzxlpRnb_tZxlDn6dk9lQ-6w8PnzMs3bhXJWUuD_87znv0pJcQjc_VQpxiQPAukr8lMSWUKBR1JOAzMF6jj48ajBFLnqWrykXi6YNELKJeARk-Y9TCmA5ov9Grd_Xd63sxdridEyRrAF9sPYb7tCdyvmYOI-kBcJ5nz1qCdwbx3iwFHogGQq7-r1t-wn3FYudHY8yeuUq_lyFa72L8rd3pfeCbie_ZlB7o7GK648J6yel3vtBNN-sN7StdLwuomuqAnrxQSagXLdAJTsxliNQf3FdgGe4QjF395iGF215iY-nDngP6r-J9X6jygw_5r29oeKpMeCVVV8hEftYMzxz-xWu5-fEqVna9cqdudyy9Sj26Lvgv1EprWin9o-nc3K",
  "id": "rs_0e77fb6b7915a619016ab2ab2bbc1c87d0b28346aebf5b9df9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.35,\"right_z\":0.012,\"right_yaw\":0.8},\"note\":\"The pen is to the left of the right jaw centerline. I’m shifting left and lowering, with the grip angle closer to perpendicular to its barrel.\"}",
  "call_id": "call_9bjj5ONFvmr3EIPi9AdREhYW",
  "id": "fc_0e77fb6b7915a619016ab2ab2e574887d0adbbd6533cb4b161",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9bjj5ONFvmr3EIPi9AdREhYW",
  "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]: [-0.524, 1.7039, 1.1095, -0.2253, -0.437, -0.342, 0.1155, 0.8433, 1.9015, 0.9989, -0.0467, 0.0463, 0.1787, 0.9965]\nstate[eef_state]: left_x=0.4277 left_y=-0.1567 left_z=0.1181 left_yaw=0.0212 left_pitch=-0.1562 left_roll=0.072 left_gripper=0.1155 right_x=0.3015 right_y=0.3316 right_z=0.0063 right_yaw=0.6915 right_pitch=-0.395 right_roll=0.07 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -8.4718, 6.7487, 1.3993, -0.1978, -0.0464, 0.0464, -0.5675, -8.3897, 6.7214, 1.243, -0.1685, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0547e6af5bd02a9b955868ef35eb2826e56bf89a5c62fe9e3354c9f29bec1e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71d1ddff2172edfc095d31202ca2fe934febcf66210a674a9a32acf676c31468",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32e835cf041f4c8d8ad2b33be9d4f9649516b64e573ace5b9db8688d0843a53",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.7039, 1.1103, -0.2245, -0.437, -0.342, 0.1149, 0.923, 1.6646, 0.9298, -0.2424, 0.3275, 0.5694, 0.9965]\nstate[eef_state]: left_x=0.428 left_y=-0.1568 left_z=0.1186 left_yaw=0.021 left_pitch=-0.1549 left_roll=0.0712 left_gripper=0.1149 right_x=0.2835 right_y=0.2864 right_z=0.0585 right_yaw=0.3003 right_pitch=-0.3502 right_roll=0.0803 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -8.3077, 6.612, 1.4579, -0.2173, -0.0562, 0.0611, -0.3487, -8.9641, 6.7487, 1.5702, 0.022, -0.1538, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqs3diUQt9bHZoG3SjZLkvHNIINwar106NXiRKTiJz8lnHfbQpfdnBBrKuE_51QdfzI2Y7YFI0QdEB3zErgeeEZuXMcZqZG0504z-rwKsgBvJEpVk6untVwsozn6DVYY9Ateh7k6Lb82MyEoIEDhYoo0N5s-_LASROuqfAfD0UoCajqPCh1gUB1CWq-WinKmSJz97JF-jiSXH_nF8fCWQn3T0wmY76aHkeF03hhLUTs_KYbBRVi0MOYi7tTsuL8ed-yPPEC4CQlPIVfphyGrgf8b3Kub6tS8KZzYfOztgAfFn1QI0iZyuprKlGXMW2lbXkoa6xSuHRY_QD8EVeld7Ig313HnOioECO_2Wz4XwM392WMlRO3AYh0CVjnB0jSGziP1EZCsVBlRl636WFQQ0Y0BjWQ_qkdpe7q1uBLobsgYy1IV0Q0VqCsJj7KnI6gzK33wsJqLdaE029byBtSNLO2uWg_hhXQhuSLltt4sObVD8VZEgM_gjWXgehWRBIfkNu2OyPiRYVrmXRZO6HVdBcGxhxyV9WVx1-Cc16GxH80rpA8uubH51-x5OhwPB0mI11UAqh6R7KZ6_VtDRbQT59Wna-LV1KbTMRA8xvlaR7YK13uqsbXYIWaQXqgDoRFwx4cUT-2gT4c4TsopGcoG8tolXEh57CNVSe1J57SCxwjAklyAmAIGB05YPxHjvZE49mhhKcPiL8LSTsoF-VgWQR8TeIaNStAuyA6WNDR9PzAfCap18-lDW6kdwfYJybhU-T2ofQ_H0vrkHxPnys1NDdSh5NKhLAQZtvA3QD9c8-OhPH7b7pJKFwSkKyPed2VJolx-RW6U5OayqJOfjjtm8_qzAZBSUGfxNjIrvGqKK6E11nOivCmkL-a1LsNMkaOTyKosSGZvFXGx0GXl7HJJDEaoycDcJ7uHXayLddwVGqzIMizbnlhag2WkliRFiBlY_C4u3Jj_YWeAPFyHIuLE-n6YMlY0Smp5pJifxzyoJT3Sk41_PXg0H4d-gX3pgzL3zHy54jBzBY3yHysI8_P2q2WpANwzosUFtfZfKuBDFatJq3uoqW-1cz-TUvMrRbVlRVEQRJpPoS1I4iyvc_CpNyGiNKTjc9uoOpuKatkJLGOh0ML0RHcx8IQA_9SxEG1RWy-wRNOon5Bnh7L2SmODg2jLTbzUcLHZ17om_po11YcASKHDjhvzIVSOYLmtrRvzvhE_JajkPdAS2h6Oa0XVM_wbmVOpRfxgpY6uycW0D2-VSBEYxbEOmysZhTF0rY4rrCpd7r0Em3Rk21A2vb6x0GbhTbYq-LVcanqCT2hVqyuZa7SDpo7noJXcxjOMkQkpm7G1FYTEtvwed8gpL3KJSrLaqA==",
  "id": "rs_0e77fb6b7915a619016ab2ab33b9f887d09e6142303f9574ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.292,\"right_y\":0.369,\"right_z\":0.005},\"note\":\"The barrel is now nearly lengthwise in the wrist image, which gives a good crosswise jaw grip, but it is still slightly left of center. I’m making a small lateral correction before closing.\"}",
  "call_id": "call_UOEvKSHDnKgaCwro7vrACH39",
  "id": "fc_0e77fb6b7915a619016ab2ab3594cc87d0be2f1c9e4dc40469",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UOEvKSHDnKgaCwro7vrACH39",
  "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]: [-0.524, 1.7039, 1.1095, -0.2249, -0.437, -0.342, 0.1156, 0.9188, 1.9602, 1.0813, -0.0631, 0.0719, 0.2073, 0.9965]\nstate[eef_state]: left_x=0.4278 left_y=-0.1567 left_z=0.1182 left_yaw=0.0211 left_pitch=-0.1559 left_roll=0.0718 left_gripper=0.1156 right_x=0.291 right_y=0.3661 right_z=0.0068 right_yaw=0.7279 right_pitch=-0.3855 right_roll=0.0673 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -8.4444, 6.612, 1.4042, -0.2125, -0.0611, -0.0073, 0.3077, -8.7453, 7.1726, 1.1697, 0.1245, 0.188, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f4cfbec5a7a50d989bdabb77af462004005a80b748b02bf9b0ae8731a402e67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f0359cdb2079c27c2b8efbfd0a9988a25d15c2bd865071595265790762c886",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e551eed9b8f836a513602954c0b90013bc0f7514dcb55fa508db2b587240c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.7039, 1.1095, -0.2253, -0.437, -0.342, 0.1155, 0.8433, 1.9015, 0.9989, -0.0467, 0.0463, 0.1787, 0.9965]\nstate[eef_state]: left_x=0.4277 left_y=-0.1567 left_z=0.1181 left_yaw=0.0212 left_pitch=-0.1562 left_roll=0.072 left_gripper=0.1155 right_x=0.3015 right_y=0.3316 right_z=0.0063 right_yaw=0.6915 right_pitch=-0.395 right_roll=0.07 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -8.4718, 6.7487, 1.3993, -0.1978, -0.0464, 0.0464, -0.5675, -8.3897, 6.7214, 1.243, -0.1685, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqs91dGE8EuE9w2tjybXbvYK8gFtoE9WffjDVX_LOtRvhRQyOMuepH-eS66tbXOe2lms-LJf2WeRPLgky_8HSsuEndn1ISm8RvoA8JMQ-n5jpM1Qm3-Av_UkU9MtKbPFSqmCqzmSGEOnbpWWRfcMYys7lp_WpnQtr_5jBnHVVc18huhRqIwxiI6jI2ikeXfrNX2VX6hnE2hqve5bHVR-l-mk8dJqY7l6MXHeH3htJqdm8fOBQBJWZYk0hWOxXoENLM1j4vezyyX8Nuv0jWRFHLUqHjhlDSQU60YWZg4FNPamzLY35pGLDKNahHRi0E4saaH36u-2U7lCK4ELsfDQ3XJFFxHozuHg20-ctc8ANBx1O0Sh0eEnrwdRNNorH-7usLtng8pWCcNT4-0Z5C4i2ymBOiOhoylO6B1utwq9ukhUrgis7v-WPS6mmJeASANEQJ5bedA6EQH49CmwV1eS5MaKNu-wszkZesEIpJBZ7a6_q0Oidn9Qh0FAsRQsJq5FvSlNqzRjeA7Jg9SLj5bD7U-WhmMGWx16-iT0Wh0kivLxNZHSNfWeY_damwJ5tlHlDeo2cCaM_jHkZ3zNujPtPVMnzo1v6PX_oH-5QwsFslvUCUI5YQVpCVhJzc4CEpx-2mPnOOgWGfELztqjautiygRnP1dfTRDfUyHOe_3fC0JRsCJgCidlwHzqONwHEVwJK9EcwUHAenz1rgNECfRdI0XuHTQjl5sjPVj5iJ2GuggPhwLwVBK7LfOv2-opNtpdRrhz915LJ4k8ZA3hRPI5cpEqvt2tOzdLZCFybR77tg8tfpt4rxB1I4RtXgR7X5fTU3udPQO6wOXnImfQs0LR1MHxtSkeFpeWjxA3WyYxuStTD5KeX-3O5CKNc8PwG5tB7ngSLHnWQL8OUsgZUQWjdcghPjPdpvYFQ7JeoIpS4PTAA-XVUv_CLRqm-sJWG6O9U5NRoTmNLdADadYi1UGBEqxHdrmui1YUwrzlF3MH2A1-Gok00anG_ZBronDgUNXTJ9FLREoS0Sok1kOjkZWm4LeZ3BFx2O8gur5w2_t8QGOHfdqE_xzvRQtr4H43qou0Xxx4zDGwBdIbLzhhFnhR_Ch73zEj8K7U140N2X1zbFtIAqU6HTM3gn4kX6_hDWdK9rpSi1DGTvxZ1eTDeIhS6d8CEgudjDjh8zAvv6Dp3GnAJmUGsQYAlIIdNrdCPBxHdHkJ",
  "id": "rs_0e77fb6b7915a619016ab2ab3b69bc87d08aca2043b2fdbcc4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen barrel is centered between the right fingertips. I’m closing the gripper for the second grasp attempt.\"}",
  "call_id": "call_crB6Gr9yfjSW0AqjYAnPHyeT",
  "id": "fc_0e77fb6b7915a619016ab2ab3bea8c87d098d70f49f3a93498",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_crB6Gr9yfjSW0AqjYAnPHyeT",
  "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]: [-0.524, 1.7039, 1.1095, -0.226, -0.437, -0.342, 0.1156, 0.931, 1.9583, 1.1088, -0.0517, 0.0937, 0.2428, 0.0171]\nstate[eef_state]: left_x=0.4276 left_y=-0.1566 left_z=0.118 left_yaw=0.0212 left_pitch=-0.1569 left_roll=0.0724 left_gripper=0.1156 right_x=0.2965 right_y=0.3768 right_z=0.0193 right_yaw=0.7037 right_pitch=-0.3435 right_roll=0.0813 right_gripper=0.0171\nstate[joint_eff]: [-0.0752, -8.212, 6.5709, 1.4774, -0.2418, -0.0171, -0.0122, -0.1299, -8.0615, 4.9299, 0.9109, 0.0855, -0.0269, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6bc587e09c045656140e3fd3f7def7898174232ce6db59f3a5988ebb0ff71cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d386e4bb462e7e23cf8dd0173142f4f232fd776f2459089376da5622025ca9d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13000f2dbddb6ab898f74b12253394e1b5ec3b7fdfe67c238f8598170bbfc62f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.7039, 1.1095, -0.2249, -0.437, -0.342, 0.1156, 0.9188, 1.9602, 1.0813, -0.0631, 0.0719, 0.2073, 0.9965]\nstate[eef_state]: left_x=0.4278 left_y=-0.1567 left_z=0.1182 left_yaw=0.0211 left_pitch=-0.1559 left_roll=0.0718 left_gripper=0.1156 right_x=0.291 right_y=0.3661 right_z=0.0068 right_yaw=0.7279 right_pitch=-0.3855 right_roll=0.0673 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -8.4444, 6.612, 1.4042, -0.2125, -0.0611, -0.0073, 0.3077, -8.7453, 7.1726, 1.1697, 0.1245, 0.188, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqtElvjiSkuA4QDfCHVad6CvJ7QqrsGQJHb7cMd4xXTorMWnh4cE8MbciXR55_pIfFW1NCMJhj_e0YvW8zBm3efPGFGhhPxTSCoSXGmuQ6QRjD-YySvypV9z2IgzL6doZutv4RmqOF3Pl3PvLXUjlUbbpzTaosrjNHjInYkSj1TEB0Z9Pujizf5DuRUgsRo29YW4pyX2u7JczkY88ECN5WWCg7lY5cMqi-HoMDXAJXQYmRo_di9JBXfkKKSzmqknNxcvz48xYedkWu2yLZ1A6dfmN4s51Bgyvx9gGic_bUVE0aREdUtdUhRadR8v-NmB3pd54C_O4PwABY8Wrec8nIJ8iNtCe4n6XT4bGx_EBctmJgMJ3VRRVBr7NGnlC0YNvsKf1-6r6I6UXfUS6B65_nJeJpNMPDLbn9sd-H1iY4NFoGazeWxY2E0UDopThuEJewxFZvMnWR0ZPrqq9j445GVBauLF0fLs_x563KfXBmBwpLz06y5kk2QgdVYPbqhyrqn2pjXNV_wfYqBoNKaXpU7W9i6aw9JO6QlHCteykmkaBr0pPpafAMhl_0FnAgLSOvrvtZrSZFJPhB0ozjksioDuGJjv5mxSM3RLyN39GWVC8J3xj4gyRrj2-cBTKnV4oNliJHThokiI-fRyaYzP1EKC2F5n7F1N1OXr9fEMELPYEF0_WeGDfnQlz9I_CnfoCCvtJcbCkYjJmCCH5etjbLRlZRxJ3cXKsULxYZsR-27Q6LLZ5hn75Rh-A6SUPrlWcB1o5_Zpc3OEsUY81kRkUog2tvz816cAFmOBbtxFY6Cp3yxdmqIS4IHOr0ZHw2e6s7UNTqg3i1tdHVasUEa4b6mAVtpBA1Fm6hJgqXDuZA9jnWHgfERFPDEGDlk7s-J9nnXkEr8WnEDc4lzDhjJ5LbkdL1OYSCCdcG7edRPaCnUwAsdpSWT5QENh0Xv8ZUuzc_EA1PgyNTyoByHSjGdKIR2TFdhKqEHD7icfoTE04nhMXa7qkqkeqHD1ioMDHa-dCN-Ft04WJD7lxXNxoIv2o5pfNIUt4Uxm7dkA3jtq0ck-WR8KRsGacmirdF8til_eTllQo_U5yq3HuIXlKGXo4SIlk-uoCYVmeWVjOOdad6IyqtUYDQt3ZD8KUvzopRAoSkv_exWtrUcTj8z55fX7UD8pRXENHTFiw2GPte9rru2R86jBMc_2guuxXVBykhbGyM_TcO9TwUeBiPDsG0GRH5WwNvqoDOxWApqw4zzHXd7kQ8ChZcEEC4iRg-_k2D6d5d1CzTKun0O-sXBV9TTrRHkRNe2pfK_2-3d-k-z2ZjgEkxXlDTcVoPru16lyuz98vXO0rHlDNbR10liB62WstgPOeA==",
  "id": "rs_0e77fb6b7915a619016ab2ab411b7487d0b697c4b6d5195e36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.27,\"right_z\":0.13,\"right_gripper\":1,\"right_pitch\":0.35},\"note\":\"The second close also reads empty, so I won’t repeat the same approach. I’m moving clear to recheck the pen’s position and correcting the wrist’s backward tilt before another approach.\"}",
  "call_id": "call_KHIX5OFQFABVhloJ75CRZyPU",
  "id": "fc_0e77fb6b7915a619016ab2ab422bfc87d0a037fa487294cf7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KHIX5OFQFABVhloJ75CRZyPU",
  "output": "executing move_to over 24 steps (2.4s)",
  "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]: [-0.524, 1.7039, 1.1095, -0.2287, -0.437, -0.342, 0.1156, 0.6842, 1.5639, 0.411, 0.8524, -0.057, 0.0658, 0.9974]\nstate[eef_state]: left_x=0.4272 left_y=-0.1564 left_z=0.1176 left_yaw=0.0214 left_pitch=-0.1591 left_roll=0.0738 left_gripper=0.1156 right_x=0.3076 right_y=0.2685 right_z=0.1037 right_yaw=0.6916 right_pitch=0.2532 right_roll=0.0848 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -8.4718, 6.7077, 1.4676, -0.2076, -0.0611, -0.0122, -0.5402, -7.7607, 5.3402, 2.337, -0.105, -0.1099, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93fd18cbc3fedfd6bda0bd2e4883533e7911570e03d2297355f6a651676f3bb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5e1ad37aa46083d19bad9454fa22cffe4fd8f986683778e211e8a5309d2191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5cf5de362c1fbff522ab90fe793e23885c133c7f71126e1c6c2ebb6dc9391ed",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.7039, 1.1095, -0.226, -0.437, -0.342, 0.1156, 0.931, 1.9583, 1.1088, -0.0517, 0.0937, 0.2428, 0.0171]\nstate[eef_state]: left_x=0.4276 left_y=-0.1566 left_z=0.118 left_yaw=0.0212 left_pitch=-0.1569 left_roll=0.0724 left_gripper=0.1156 right_x=0.2965 right_y=0.3768 right_z=0.0193 right_yaw=0.7037 right_pitch=-0.3435 right_roll=0.0813 right_gripper=0.0171\nstate[joint_eff]: [-0.0752, -8.212, 6.5709, 1.4774, -0.2418, -0.0171, -0.0122, -0.1299, -8.0615, 4.9299, 0.9109, 0.0855, -0.0269, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqtQkIdTljB0j6wMLhYo-V8WcEnJqjZ5Wx8tzSS8WTQMyjdhvJda9ivroF3fkmLofj0IOsSQVXi08KVh0LRfvz43t4-6ZJ8WPIvavjDZPhdZB3JSYkyCFna4QG-ltEFLo-Pyzc_F0N2wNwUdLrj1u1ujB4u1rOQ69c7zlPMWMUCTKSzsN12Uz6CKK9qLXX2l087bv8AOxEDhdiPYNgD05vOYMzHy-GYUgtb99H2objJbuuZmDS0cHcT5OQTD_URRs04pzRI6C9rZU6cfEN6VpwgyyJhf5X-6iga6aaCVM83jol7RphTZ2F72cNesU1s9XBKGY3EB4J6kU7LNg2w8ZfL7V_3WgxKpGgGka6nShBHc5grioKW-9anxWG4VsUzcjLRJsx-hF0xeE55hzYpsH3MFUbU-nhtNgorzfUJCnaTgXRj2At2zMGiIdNU-oRxJ4DKBvCQizMZvTUJ_vvcbk-GZVw1Zv0aS0-cNQSczFq91AKkc4A4n7u_MsXse1OLN4frJrh62UEdvrPoMBqyQftXB5qGsKSgpjOZAl1UqWzBIxq3sXE9UxvPjksEzaFv_IX3FfC--bss9oHe8RfWxFgUx1XA2i9eYgG_vlRygeGkFMQKLXh4PuhvZvuJ6jzZFH5jo3a6MugoA4XriIgpm1ord5uu-TOxwul-pKUhhU3hymrHNRO1oMq4aO9sTajQlpLqjg4l3Dd7VhOL_Y6zHPc5RH_WDPVtOGDg6INRxgGJWROqEkC0AQl4kSm6H_1fJwOEn6kUf4k8QOcBti-a6MI1I-6sG8D0mPUWq3qmfi36rShsmC5Kx31j2uGhhMsq7JYp5wVl_eDebHhsTnpN-vqENAQrT86MXHcFFkVoYHIEOospVsS34WgvZZic5K57X-LeL578J8_aXTbHdAuhL0HDMCjNS8ScRBhGXUHhG_yLr5QYM6EAy9BCP6yK_7AzgxyNUISfigPu_B_qiU9crykIA-apNTRbwXfELSUqJ6EARck4N2Xrjvm-GsbVpi6CytXRnsZbjJptRdgBa7wdTIl7sTPqeLPMo0O73Mf1-luYrEF3qTd0hoOA1_CMpgPZx8V830XlMioYfx5527xUZtqG3wpTG6vmICr-5h1mdH_hNoQURNnJuoQihQKCwEd53YuyZaPn54fO7MPddVOF3hLbusWQpnIkFWOQjCrqGgeuEKeWkdGbfz1XYqVJVE9BhW-p7R04-zsiO-Gcu2hXftD7_tk0s6soq_AHrtNByP9jubOFKq3IYuvXGm4rjQgCB61tjzxTViE0xc3bv5AuSelNbogN-H5FTcPcCMVd_SozDnWbaAU2ThLaDRrT35l27FWY-JveYyVBlHc7Lk8LI03LGFRdfuFzYyTBUwumPPu4-8j3oxnbW-OYsOG_4KmB-Ds2p1WkA5Kaz5WRNzZviHsluE8l9ZAQYGwRhmQ0tAmHPfJ3x2FloAPyYIhqjqfBSN7OzoOjBMCMOdrxLfrhKaOVsf4eneDh21gRpU6ZmGt78lU2c0MqNMP-qJ405fwaHTebpEziJX58jFfCkth5rbnXqeqDVm3JgjXIHV9Yph3_gGJVVaFwChAELa58z_UNE-T-MQoT7vRBqOEFR2EU3IIvdnkql6h1mSDOPV5xl9GTszRPruYrMGsJugUx7VHECi-ac4fu-xBACMl7Gi398PrQGOYc8j5cUFp46AMRbWj9xW0X62xU5IyuxkMV5OXzQJSW1tfehrNzwvuii7Du1UQ3UanKy5ftnxrdePryhKSCv-ltmPn-LhtV8_ExadLSdA-deKbrk7xjXdP54otTtqOIF6r2MXvLbfqNZG27W_DHcE-dW0rHtEq5X86JQhXCkYRIUDdEu2rQ54sEPxBiiZEE7InToBeuJ5k6PD9abAUw-qaW9KczBcA7Js8QqGiL1rOrq",
  "id": "rs_0e77fb6b7915a619016ab2ab495d1c87d0ada7c5d9f05dc9f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.367,\"right_z\":0.015,\"right_pitch\":0.25},\"note\":\"The overhead view shows the pen still lying diagonally near the table center. I’m approaching its middle again with the wrist tilt corrected so the fingertips can reach the thin barrel.\"}",
  "call_id": "call_ZB7qHUG8aV9Q6nYIdh7CSxF3",
  "id": "fc_0e77fb6b7915a619016ab2ab4e8e6887d0b62be915f2eac96a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZB7qHUG8aV9Q6nYIdh7CSxF3",
  "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]: [-0.524, 1.7039, 1.1076, -0.2291, -0.4374, -0.342, 0.1156, 0.9131, 2.1548, 0.6548, 1.1458, 0.1368, 0.1223, 0.9985]\nstate[eef_state]: left_x=0.4268 left_y=-0.156 left_z=0.1168 left_yaw=0.0219 left_pitch=-0.161 left_roll=0.0752 left_gripper=0.1156 right_x=0.3053 right_y=0.3617 right_z=0.0073 right_yaw=0.7219 right_pitch=0.2029 right_roll=0.071 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -8.4855, 6.8308, 1.4579, -0.2369, -0.0659, -0.0122, 0.4991, -9.0188, 4.0821, 2.337, 0.1441, 0.1294, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff954e96746c821c170c764d4daf36606411eeec4950fc2153457da8f89c1a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65da8db4a07354327d631b3266db8355ad168036ee51db17c091fd18925cf861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51ac1f07a855d532818fe522de3fd99108dbfc030acb3f5b72a58acc301680f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.7039, 1.1095, -0.2287, -0.437, -0.342, 0.1156, 0.6842, 1.5639, 0.411, 0.8524, -0.057, 0.0658, 0.9974]\nstate[eef_state]: left_x=0.4272 left_y=-0.1564 left_z=0.1176 left_yaw=0.0214 left_pitch=-0.1591 left_roll=0.0738 left_gripper=0.1156 right_x=0.3076 right_y=0.2685 right_z=0.1037 right_yaw=0.6916 right_pitch=0.2532 right_roll=0.0848 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -8.4718, 6.7077, 1.4676, -0.2076, -0.0611, -0.0122, -0.5402, -7.7607, 5.3402, 2.337, -0.105, -0.1099, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqtwjOu0aHqI49icYUdOhMQVubpEnJbWJbjuDLJ6Ix49VQWG3DfSCvZ-axy9VrMWi82YBXD4Z6OirePN2VskAdo1Kma5-TSl7Q6_kM0f4JOvQhr-3giAZgOdx8R-84RRCjUbn03_XTH7XN5SCjPMkEFvrRGQ_dtwNN5ZqVJvagKPF4WCRbRL5MbRxziKLpGO_ZeaACDTY0sadGh7dGXE4NkwQReswhJSwbIXLdfbpmRv59aTIbmpxDw-STVAF-HKE2UWVnub_iRK50BHiD3ZImi49pcwIlJiA9PIH4DKs9DGMxL-AjGv7wNHx1a5PXRdXptiNlrPV2HDOeRHFkhyGX8xxOqWsAkS5tzYy_QdBPcrHG55j_2pHRffasWWjOcZ_g2PfLaUI60vyiMLdxbYUEs98gkOZTZptmdCVhT5ZV9wXEAYM7duN7tNfhKPJAvdWewT31Pazwad5214rOYmUvfp9_qS4XeFRzdoOY_mLFpfRFa-uWi3TBRM5m_Mj5bjGsn8pgOnGG57-Oihcd7hwy7VUYTzfGnXdtROi4C5o32hw5EbF61dEOYw6OXmzDnESoB6ukI_cKyeUOoKtNYQ2qy2_OKYgkHhebHwR9BphEhikUFGhrSdDfN7pF2U35IRnjU-sqYMdoiU_k2nd-ZYk959H8A3aqahfGFeUpy7CScNeg2ojVUkw5A47hKjjPuKDL5AkCu8Ioro9mnGEIOGcEPlgRQoaQ62QakyUqxCABQLcLxWit9LSXr4FOYwtinDDteSulZv3Ds2l7LCHkC30adDLh3Ftubzfu3oL9aAq3lOgYu9K85Jpac6lykzXUH8J0SwGALDC2yglV5pvufHrq0AsJXZzcdpOCKrAYsBAdrt8LGIAWAAeBKallC4yGucsZlP6V3VBB4qX8T47A9jGjfHUiPQDQHLxMudHzy_Yz_DWuq-Dg2at53sISHdtGWiC60B076oig1rWA3lUt7ADBkwdaSxfkgG44Ze72sZJBxt1P9TMcJKZ7csFcvRop2uczcnApxjRCMUKkmVpHWSrzHe-qkUfa_bN1wvIjpc8xTzvLmQIL3To4ipv73TXrP2G9kSOaavx04SLqU0Qk42pyy1VD1k9RskgfycMfDimQadZlWVeagru3oTht4rbjixT-SmlVBaZa9N5YL92pSs8XExTd5FCBAubTBt7HC0Degxp8WUFS6V8XSrnz4-KHtq-ECM8xS9MTvgyzUFQtEtvaPycgy_wX_jXebajuN9FDTReE2xmV6bmyq8tPnSNBfOkUOAQszvjz507uAMJLO5DRQtKHWB1B4d4PlvVUNbd7ffpPF_JfXvRmlAmwOoj5D_nQBluzxXfPKk1SwAoZ24meziBl1VEzCZl0zCgKr15lBBU5Rcxn1nx9VPaBbbZxpWw3pxZbqzJ9H1XLPFyTMecfkIOk3ED52Vtvp1h8KTjaVEgC_Q8h-i9cS4gDYExC9sFB62",
  "id": "rs_0e77fb6b7915a619016ab2ab6c4fdc87d085194e8c4df32e92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.282,\"right_y\":0.398,\"right_z\":-0.004},\"note\":\"With the corrected tilt, the barrel is visible just left of the fingertip centerline. I’m shifting the jaws onto it and lowering the final centimeter.\"}",
  "call_id": "call_mjLvhyX7mNIUc3A4EYOtza4U",
  "id": "fc_0e77fb6b7915a619016ab2ab6ea90087d08f4a1b06175dafe7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mjLvhyX7mNIUc3A4EYOtza4U",
  "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]: [-0.524, 1.7039, 1.1076, -0.2291, -0.4374, -0.342, 0.1156, 1.0203, 2.2055, 0.7246, 1.1561, 0.2218, 0.1436, 0.9986]\nstate[eef_state]: left_x=0.4268 left_y=-0.156 left_z=0.1168 left_yaw=0.0219 left_pitch=-0.161 left_roll=0.0752 left_gripper=0.1156 right_x=0.2855 right_y=0.3976 right_z=0.0088 right_yaw=0.742 right_pitch=0.2372 right_roll=0.0704 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -8.4444, 6.5162, 1.4383, -0.2466, -0.0366, -0.0122, 0.4718, -7.9385, 3.9863, 1.58, 0.1587, 0.1783, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd88cb9f852c8f510e3019ef555be5b5d50d1c8ff4cb6659ae1431a7d20da70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf637e1e7cecb8eeeabe95f1b3611fe38e41fd4fb30c815415bb7c9e41d7577",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ee20e041547ac27e2ccd2bd0579fe98d14994bcd0d94c5935842a76b704862",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.7039, 1.1076, -0.2291, -0.4374, -0.342, 0.1156, 0.9131, 2.1548, 0.6548, 1.1458, 0.1368, 0.1223, 0.9985]\nstate[eef_state]: left_x=0.4268 left_y=-0.156 left_z=0.1168 left_yaw=0.0219 left_pitch=-0.161 left_roll=0.0752 left_gripper=0.1156 right_x=0.3053 right_y=0.3617 right_z=0.0073 right_yaw=0.7219 right_pitch=0.2029 right_roll=0.071 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -8.4855, 6.8308, 1.4579, -0.2369, -0.0659, -0.0122, 0.4991, -9.0188, 4.0821, 2.337, 0.1441, 0.1294, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqt5CYNdMr8j--YzCqpI_N6mHNkX4XxOj51ocrJlvyKV6LnmSldtHs_wWDenGL_bPPXLdC410O-12Oh0-I4N-gN5ThNP8tpd_lbKqh0v6S9OsqDwakG8NzNWq_7ff-QQ_B5-LMI7hZMmcwP74WIUdRH-VWrhAvN93iLitj1SnQFSYDr6qm2oAtnbbLfH_PdUw_yJbXH7fMIkuDKMOymEHxI2XhxkN3Z35L4fe8DefFshB9uBuT_r2Az-hc2o8372SdrrPzZ94chOjIYSPZ5Wae3ZhbdtzlHBvgjCOqfFhOrJumzqWnK6665fIFCtuDhIl3y3HdmvwQ6GKLCjMdEC9W7wra2JkAuSPjEGWkd8NpZR4tGjivGLJh1auZuOyFIyjVLiT6J5ETHtYr6cIB6ZIOmdpRXMB68elBQhG2vzry8iCxZo2QrGMC5csAUaE17Hvcyq6bGJpkC2QefpWlvkLCYbRaNKSTSANeE187giWQRe0tGTDMXHD_Xs_4-_2V0rByZtXQ-pY_Pv8oiFgBIZ34A23spNtSPmTN7Uy0mnRH3w__R5GCGWO-SmkfSAN8L599sFEGXZWc2b5Ii35z7PsEFnhfrzn18jinPEmxHY-hQ-fPAMC6pSbGZHeALTdD7nOizquJq-r2G5_rERJpX02byPOZlNGzQ808NrtuLhRq9qcW7H7apl5xxZx-HND5mut2ZP7H7AoyKPr2YXkDkw7-PtuiZ0Y6xgfNwgeKR_eKHFWHf6XiL_Utho4U5pMRG2ByVYYrLInabwWVEk6wBm5EBZ5ccJRn4YKh579HE2IoocYfOeqJI0ilb8RIakEXD7Qz6PO9lxnxPUo9Gm3jNWH8CbDiSVdOYf6U26wXToX801rESCdqKUERTEW50Io5_0HaxpxJnwlioUd7ASGR3oqDqIJb7CtRu1V01PXRYMeG8kZVXxv0beanNISIMgBPqQfhht0AESXLIbczRSfZDdjylLwYVwMNuUQHZTqh7ggLNilViKpyGQFDVh_keYWuirRZlel7OzwvNk2zt6bBqtIkjHPkWfM9IgVwkimuGqxacD3O8EEhlmV-mW2ScctzldfMfOqcMAeIO0KzzH1dcAv-6_Wvlmh4xSuVT04d8ygUw9xDzg3mjJsXY8Eu5SIivICCbXcj7i9yD8WkAfl3MWTEyrwb74dRyfDO0lmN40OJaLzeFnbtwrpOhCoYNqCDJyjVh4",
  "id": "rs_0e77fb6b7915a619016ab2ab77983487d0865de9e01eaa2901",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The barrel is centered in the right jaw opening, and the fingertips have reached table contact. I’m closing to grip the pen.\"}",
  "call_id": "call_CEkW83QohqZ2DNEhj2daDaYH",
  "id": "fc_0e77fb6b7915a619016ab2ab77fbec87d08b52fe4dd4ee7bf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CEkW83QohqZ2DNEhj2daDaYH",
  "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]: [-0.524, 1.7039, 1.1076, -0.2291, -0.4374, -0.342, 0.1156, 1.0348, 2.212, 0.7357, 1.1603, 0.2424, 0.168, 0.0142]\nstate[eef_state]: left_x=0.4268 left_y=-0.156 left_z=0.1168 left_yaw=0.0219 left_pitch=-0.161 left_roll=0.0752 left_gripper=0.1156 right_x=0.2839 right_y=0.4019 right_z=0.0105 right_yaw=0.7246 right_pitch=0.2463 right_roll=0.0906 right_gripper=0.0142\nstate[joint_eff]: [-0.1299, -8.4034, 6.5162, 1.4676, -0.2173, -0.0659, -0.0073, 0.212, -8.4444, 4.1094, 1.6288, 0.0464, -0.0317, 0.9304]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23ff34df78a6f12eac53e458140650f13019e961b6a5cda9b8665b1275fc1bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a82e8bfa9aeb0dd7717d0e219f75c821c2b401f353a9ef19b1bd74fa546865bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abf19edb12032e9ceabe4dcc5c75209649bc5ab4b2c7367c7baea27652912a91",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.7039, 1.1076, -0.2291, -0.4374, -0.342, 0.1156, 1.0203, 2.2055, 0.7246, 1.1561, 0.2218, 0.1436, 0.9986]\nstate[eef_state]: left_x=0.4268 left_y=-0.156 left_z=0.1168 left_yaw=0.0219 left_pitch=-0.161 left_roll=0.0752 left_gripper=0.1156 right_x=0.2855 right_y=0.3976 right_z=0.0088 right_yaw=0.742 right_pitch=0.2372 right_roll=0.0704 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -8.4444, 6.5162, 1.4383, -0.2466, -0.0366, -0.0122, 0.4718, -7.9385, 3.9863, 1.58, 0.1587, 0.1783, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsquEv2XBCV75h5odx0vr07mmh3CsS4b6d2jcCjeqo1khHcdCU301uTKlMMt5m4eJOYi9caF1SiGd32PU3vG0r5fbWr_iePGzOdpaC1ILrtsD2p4d7nTsG7t792OtfuJG3L6ov_yHd-dW_UFMPzvHN-WbyTongbDZKbQWYQ9bz2MEXXspdaZ82vA7NXibNRtZzqShks60J-gc3Wi0EAB5DehfGbAqn_V2FzgbOS6SzlE78XwFuVjQL1JptZvF1el8JM_4XfJWKLHdaB1TObHMUi-kHJ1LheyPKf_gy4UonuLdbUv4GYetIPiAsT-R6gXVxhUWE0Ftqwhitj7eSiliS0z1WZz8BN7E2gCCXbHOaWPgA-4o3Y9tWrMFph6POU59eXZl2hxy6Xc18OHEjk3AiqJOdeEtFj1EbcBzuPJs6XEJjiikVNuwe8aoEZnukMD3NCV6BBNhHiQQT0vd1_6IOGL9M1s950hbuhu--PEIsWC1tDZj5xcvjF1132f2Vr0sOJqHBMvoNYZwfy_lzLBwKdnx2GsKA6y40Nce8_5BBqkh9coCSATra2JaVRUagxr4A1iWDXFTOtIPUHmzcoZ_qXvmG8bzNBlWTSRGHU8Iz23vh9dnFDydGJmNzxvD2oHdnR0sA3Inx-7B3oxzSEzzdCGfsuDKtTSmrh1wJ8Z6rM6dqNym8GxOmxBcnUy--kiI67C5q5SNzEX0j-U1lZArO_zJAKeUpxwO0A72Euoiz6xrd5Yl0Swz2qwdK2lWP2is_WM_B-aKvM8C9LOJXBdhkdDf9lL4ubEIz1e9KdL-nqCLRglltkGPWBhLJHyowJB3WsyQszbCrsgkha0au_oYE4lWI0YuJZgbVNILppj8jAKMxaHSI2w39kzXX2YG_o_YcvRUzXrc9-2OnfkiJstKbroWC2BVmIDMIERfnteC0znYiJ9Tv-rtstOOtn2bmz3Gxx0WsYFxbsddLFbexLg8pBzaud_UllZ_TgPzjWYu9Cy3hj4RAns5ow1tItKRNwYfyGpBOU9Ie753xdYafdE06yGak7yAw9Efnwr8dNAfuUkt24lIkkJw83yKnVothrpfz_Rg66hEumL4rjNjivsSoc_i1f6lWSqfLK503w2E84ef9uNLHliV98Zcxx4G7nAy4CmOjBOwj7Zn505aZXib3wFlzKmpYVMXJ-fczOEvfOXA5YGKLmfLmB0TRMj-jfLY5VrNH4hg7yIRRu-KntqM77liYntu_H9ABAtvdz5DKFhgn0k8MDWnFGXMtYRTURp_76EKJ1sH3CLunYtNPrMwO2YGbN8ROQEEjbP-363FoGZBk_JTVMQvS414sYwCL9Jceqimm-C7TvMbbFXj7XdrVXpz1cLG10_7Bma_3O180C5QXbLMcwf0EhONZnD85wO815377FY-wHCD9O-NV6ZqpttOXIuylBc3bykyY61pO9SMiEvaGUq_CLvZjtZ4XytoSp8HV3ZhOPDsQm2xO9abq3pBU7NIbjL-wziwmqmdnnVpv43dZ91o9zeDUusR_rBn9TTJ4evSZjprjoCb2ldOGV8CpB7T8MC9LC6yPW5m7a4PdMahCzotK41oCYA0bohkpA6TpzLR4V4HuACDAipY-ZRD88ZyUvoCy6SAJn8QrhqjBKRHbgA7g5dLtLBkmnHx8VkHhPhTpxnr1aUzYLHco93zq5V5zccL_3moo4VgrdVARdtaDFF99cr4wbH7EKthydzExxWD8vDTjh5DyGipaZ_2BG0OungmsmMDsiwARDow-9nJkTJSMMlFJz-BPIpDNmIGQNIt4qzF0lygSHUjmXMnsQ==",
  "id": "rs_0e77fb6b7915a619016ab2ab7d1e0487d0a6bc85030073da2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.3,\"right_y\":0.27,\"right_z\":0.16,\"left_z\":0.018},\"note\":\"The pen grasp is still empty, and the right arm is now at its sideways reach limit. I’m moving that arm clear and lowering the cap back to the table rather than attempting an uncontrolled capping motion.\"}",
  "call_id": "call_1ljgJL4M6nHaJmqwBdbHqhYy",
  "id": "fc_0e77fb6b7915a619016ab2ab81ac9887d0a3e73158f0b9a1c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1ljgJL4M6nHaJmqwBdbHqhYy",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.9015, 0.9203, 0.1158, -0.437, -0.342, 0.1156, 0.7002, 1.3598, 0.5072, 0.5816, -0.0463, 0.0727, 0.9955]\nstate[eef_state]: left_x=0.4211 left_y=-0.1528 left_z=0.0164 left_yaw=0.0254 left_pitch=-0.1953 left_roll=0.0962 left_gripper=0.1156 right_x=0.3051 right_y=0.2725 right_z=0.1594 right_yaw=0.6944 right_pitch=0.2822 right_roll=0.0885 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -8.4991, 5.1487, 1.58, -0.1978, -0.0611, -0.0122, -0.2667, -5.3402, 7.4462, 1.8144, -0.0611, -0.0317, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea8876b38fa6441a4390929cd3f3633a019ba33e1025a70a9109a463d7f1e09b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:350b5c6f3ddf4b9c0dee5c7b118dd985be5b4046f1fbb7d6500e844c9b8b8651",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4590d2456f62edf4aa23094930f8cc264af716f4e058d17d4adae9e0f0c1c5d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.7039, 1.1076, -0.2291, -0.4374, -0.342, 0.1156, 1.0348, 2.212, 0.7357, 1.1603, 0.2424, 0.168, 0.0142]\nstate[eef_state]: left_x=0.4268 left_y=-0.156 left_z=0.1168 left_yaw=0.0219 left_pitch=-0.161 left_roll=0.0752 left_gripper=0.1156 right_x=0.2839 right_y=0.4019 right_z=0.0105 right_yaw=0.7246 right_pitch=0.2463 right_roll=0.0906 right_gripper=0.0142\nstate[joint_eff]: [-0.1299, -8.4034, 6.5162, 1.4676, -0.2173, -0.0659, -0.0073, 0.212, -8.4444, 4.1094, 1.6288, 0.0464, -0.0317, 0.9304]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsquMY8Q4plC9vCEchpWX3HFeQg9hyPw87SWD9xu0GM3DbxxNTE-TAETDTKwckEQTgj8M-T1IMWJRsrcxF7ppCcaIoYMEdAf9w_tO3TxeATtGgY9b39ndM4U8F1eSkc-5H0t3jeb4pNyHx8AHR44v9KIthlA-ZzhJisY805QQYQJLJJ0CREQ05wB_uQdL6Km7NpPGPs24Ywqzlxw5sUAu4ZOhbLZLy9fEReRo5weB09H2r95OxN4zoBhrEzkI_BcgK1sp8_G5gZeStJJ4TWEBB2m0eO9UFx2EZzjCM-xxjNGnzBaSVrs9jkSZb5DTskMP1TSVHCGGYJ3TTr8o6MAFESCmxctIlhR2_ways7faNyvGxXQfbk4HWZAgro4-bZCQ02v1uJ_yh2BJsM9voY9hl7rUw7maPc3UiOKDAZIWvcxYHJk0dRXHQQCun0Z77fqFW1MGKHQ_iQ2G875DJFHVEH-dhTpK0VF3Zr2D9Q3vvglxFtYenm40pBO0i_oQ_2GfqB5f_JpfZCGPsXjMpHzWoyW8ipLpozwlAmNGzlrwB28GbbVWdnqSNYjVn0DkKBG4E6VbCAei09wo1ZV9_HNZnU4oUnTS6-K5nKr0jSU4U75ZNP_SWmrctuwFNkQbeJjeud1OxR38E5iv5sNWvsea_fKcgEha06wBMfK6HjZtPahaFp25UA9DxpAvVtx9WnmDmVa0W_4ZlvZf6rKmXygv5dg5yrlcNBrF8BQEC6nSXYQfij960Cx84H3aEhHtzuYRO-dLGJmm_SHPnKMhzcf_VFxYnNn0lZvYQ3ys2Xo3u-fCzJiH4shcrUk7CoK0mnotHEWHzSSqamJeHRLmph7a3hTsmlq6BMwjsr1eeJ3C1nP61RqLWHrDQd-9-Y9xXDEH6Tfcy8pclGbdDkboHhTmlLaTLHcuqWR-WczKq2khxwcP0y78hChWFnAtN2BTjl1n6v98Mb8y2oILU7zvr1y0NZkFSURIwHfKQTyJklYAajLmPBMvbprrqT7AasAQoESXQsu41lNr4ar-5AEhe10t7E-tVlxKmWD1G8OzeFHXlSddjHFCg1el0GzCXuvS8LQyhuxOPxP1WAEA6Sd6NcivR3k6xQWnmUslsvyOn0SpVoAIZuCPDMkub-xuo-tH7OzFM1-5-vuxEb4C-i463Nb-ivk3U69PBNebls3GGKQtHSC30ccpXbvERqbHDVR8kf74LYBK",
  "id": "rs_0e77fb6b7915a619016ab2ab8adf2887d093c0fa15d5999101",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The cap is back at table height. I’m releasing it so both pieces are left safely on the work surface.\"}",
  "call_id": "call_4k5NMwbh9uIKatJ2S7YHo8lG",
  "id": "fc_0e77fb6b7915a619016ab2ab8b3b4487d0a12ffe15d2efca6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4k5NMwbh9uIKatJ2S7YHo8lG",
  "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]: [-0.524, 1.916, 0.9138, 0.1154, -0.437, -0.3424, 0.9948, 0.6945, 1.3605, 0.5064, 0.5575, -0.057, 0.0662, 0.9964]\nstate[eef_state]: left_x=0.4178 left_y=-0.1509 left_z=0.0081 left_yaw=0.0279 left_pitch=-0.2135 left_roll=0.1073 left_gripper=0.9948 right_x=0.304 right_y=0.271 right_z=0.1531 right_yaw=0.7017 right_pitch=0.257 right_roll=0.0851 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -10.1128, 5.7915, 1.3553, -0.2711, -0.0611, -0.1392, 0.2803, -5.1214, 6.5162, 2.1172, 0.0562, -0.0024, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b3e46f0585f34acc138a156c6cd8649ef425901ba2553ba8af58b6bcd67708",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b04b95f17ee7276db6b3937a49f390741ae0322e16876c168ec923c8ce032e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d56641db361dd99914153a6ce4cbdad275d698927326b0d194cef8f38070ce9c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.524, 1.9015, 0.9203, 0.1158, -0.437, -0.342, 0.1156, 0.7002, 1.3598, 0.5072, 0.5816, -0.0463, 0.0727, 0.9955]\nstate[eef_state]: left_x=0.4211 left_y=-0.1528 left_z=0.0164 left_yaw=0.0254 left_pitch=-0.1953 left_roll=0.0962 left_gripper=0.1156 right_x=0.3051 right_y=0.2725 right_z=0.1594 right_yaw=0.6944 right_pitch=0.2822 right_roll=0.0885 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -8.4991, 5.1487, 1.58, -0.1978, -0.0611, -0.0122, -0.2667, -5.3402, 7.4462, 1.8144, -0.0611, -0.0317, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The cap has been released, and the pen remains separate on the table. I’m returning both open grippers to their clear home positions.\"}",
  "call_id": "call_zHZcfxhAcWrAJkPfd1PxBjbR",
  "id": "fc_0e77fb6b7915a619016ab2ab8fafac87d0978346365e9020f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zHZcfxhAcWrAJkPfd1PxBjbR",
  "output": "executing move_to over 23 steps (2.3s)",
  "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]: [-0.1173, 0.9977, 0.8619, -0.675, -0.1814, -0.0589, 0.9959, -0.0654, 0.7971, 0.6308, -0.4129, -0.1059, 0.0357, 0.9965]\nstate[eef_state]: left_x=0.2979 left_y=0.0006 left_z=0.1835 left_yaw=0.0622 left_pitch=-0.2282 left_roll=0.1004 left_gripper=0.9959 right_x=0.2937 right_y=0.0031 right_z=0.1851 right_yaw=-0.0009 right_pitch=-0.0232 right_roll=0.0883 right_gripper=0.9965\nstate[joint_eff]: [0.253, -3.0427, 10.3043, 1.37, -0.0855, 0.1685, 0.1001, -0.2667, -1.0325, 10.2632, 1.7363, -0.1197, -0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185f140d31725fcad102dfcd54cc3174d1c5873ebcce7a0318d5565052eea142",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7a45a5429722e39686dd8c45429a1f32e071f981857e9a14619309e62287d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:045ad64163958a07a6c9bf27c814ef20c097d0624b3398798d8a7c39316f89cf",
      "type": "input_image"
    }
  ],
  "role": "user"
}