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, 0.6025, -0.3801, -0.0227, -0.0257, 0.9994, -0.0177, 0.791, 0.6102, -0.3759, -0.0219, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1795 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.2958 right_y=0.0022 right_z=0.1845 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -1.4974, 10.4684, 1.7998, -0.0171, 0.0855, -0.0708, -0.7043, -1.2103, 9.7436, 1.7118, -0.0122, 0.0122, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16541dee9cf3f843b00a1455759319f2916a036169b6b71349a3d8ebbc6c22fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdaba661d7ea83b30d163b1d42d6fd9c85ffe8541a4ab19c1592f9a5f24d1805",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a08d1f0867b53758457706fd83067f599f4ebc7c4d2d2251796097fda8a16e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsr4KSNjlKjuUlZS1VXNVK1Mopbno16BtvtfP70uawtM7E84sA9IV4vbREesfeQQs9Q0tNZj07yMa0GBgmGsaWzMe9kRUztUZyssqRjg_tBi2Hyabkt27k_mS-AOcpvwKhN2hpWKylQ17082K_KA8f7aHNEPidMqQwAmsINZyP6fWu8tTCiiRmyFtspQONYtzSRq4NUY6owS7cSGXhhJeCC0Kj4VR8uXaunBXf0H0o-9yG_xF-lUtGNI6DuYeNsmrKQ0qqvsMOXUB_EKObhnCiKmFKGTCjzx_2mwPro9LW-feJh-ZBrz8FuQzcaFa8oisGjPwUXfAc9UaL7RJrWePBCRa1Nwuvk0D1ig-DFw-6hljeRChCJFeJhy20X6TGmOgQrGPMw3Gr16SeRBZ5teE84AppBtNUYUdr2OoYah72n7DTWpkft1jde31kmHWDQRMiDVaW-6t7OTKuQFXOkc-1QyhT4G-hcNkTjRERMECsIwBpkeMSB1hQ8HaI6WRuTOgYcPyx-WFHRdbQJSZ2XbNdJPZBFmlASztNAP6OhurJcQ6KPCiLuntOzNJNMFuj5lg9Ow2Q3JjdbRZ3bG7EDJX4ny_y-RxkfUi-Bk50au-1A12RX5IzrHStUAcqnJZxEb1BP4h-Vzk5ijMs6DIaCJPnxBB898KOuPNPJL7giWfRQBKgICzgh8LYGhNsRxRu3-HW1Xj3ZgE0Ab8fgrX-eBAOMj0Apm4Wt_E-4-2JpaxirMaE1c6Q3XBBA9thhZdWmA6RuMglPrag5zKraS_ZhsBIrXzos4QUi2cRqdL0GumupIjuNwbWA0mJVf25IlROquBEmAbNH_Q-PH4M5eyZA9Lnps0L1ZaHHf4RPCbXy5Rz-1G3GMFqB7jnIlSsBlNHUsCuB_anfoyfLZ1k9msDMhaHIa3vo48OBMS3FJYYKZ0wFoRtOQ0AWaxquT-M1uCpicPnGLLtj46C7kEHfD_aKzxsM8p_46zbn4j_ykvRA2ywDGo25ZCO_L-A74awQW9OdXQ53ay3aSdHAHXX5kClU_1JSQArvRctl-W57PSvb3hz0yyGOv11Lr645tX_KlaoohggRjHsvDrMtIgRnYG6Eb0s9JvMDbFapwjnStgq5zHlM_BJdjyOj-oooeECBDFopeDkwDeSOltSdXRylyQWwKYAb6Gp1MjJR4pZ5st1AwJah-efWUYJtF0bagRjl9w_GswH0mTErfVuHq8haMNPKoHycgQ40gFenfpvciwY2sFhKbZZC_Rvm8VMOjcLTZauzltum4V98KVmUGwLota4m5iUofG-KTBIUNMSB5-1HsQT5rKE01yvGv4URAJC49w1OKoLm8JsX9zr5qec0hz2KHcOVk2VwKtI8-Uc_efvtaKNuNib-vG7Q7p2yVaiSRlsAGCF9EsUe7NsditgzAFhncGaC_63pB094gayPr6n0UtHABCMDjjh2XaZROpP5dTJg9AGRrjOGKTH3EUve6XfaR6hUwvyHCbpTDnnETFJWjZK87HE-rpvFUdgs3h9fw4wo5EK9kZSHEzrRbLiV8WpWVV77KNZE93shanUbjFxbupeuNIJo7YZseXetDvIiFjOtDXQ9drcAL-aus9RWMoT9y08jkicRFEwXmFHeM3CdRRhEPqX86nQ5BF9nHbHATNpqE-k0lo",
  "id": "rs_0c38b6dc6073c0aa016ab2be03970c87d084aac3555a09528e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.18,\"right_z\":0.10,\"right_gripper\":1},\"note\":\"The pen lies diagonally on the right half of the table, and its cap is separate on the left. I am bringing the right gripper above the pen to align a grasp on its barrel.\"}",
  "call_id": "call_ed04zcnvevW0RQk5ZHd38kw3",
  "id": "fc_0c38b6dc6073c0aa016ab2be07d40887d0a05e286f3b4dc633",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ed04zcnvevW0RQk5ZHd38kw3",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.799, 0.6029, -0.382, -0.0227, -0.0265, 0.9993, 0.6594, 1.5444, 0.7055, 0.1059, 0.5056, 0.3531, 0.9992]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3572 right_y=0.1732 right_z=0.0836 right_yaw=0.0415 right_pitch=-0.0694 right_roll=-0.0468 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -1.6479, 7.0906, 1.7314, -0.0464, -0.0659, -0.0171, 0.294, -6.8034, 8.0205, 1.663, 0.4713, 0.188, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3b50b5a59613c4f3d105130b99ed422bfa5a420e03493d234a1700f18bd7392",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c14cc6db4bd3108732c3cd6b0be965fa69c62295af85a9a99731494e0be8f6b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20fc09d19fb8472ff936447b87b52e70ea758c702794ec46a6b84fdd16fe381b",
      "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, 0.6025, -0.3801, -0.0227, -0.0257, 0.9994, -0.0177, 0.791, 0.6102, -0.3759, -0.0219, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1795 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9994 right_x=0.2958 right_y=0.0022 right_z=0.1845 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -1.4974, 10.4684, 1.7998, -0.0171, 0.0855, -0.0708, -0.7043, -1.2103, 9.7436, 1.7118, -0.0122, 0.0122, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr4VPw67xBPi-s-yeMoaAwKO6uOf2CkQNigRZ5d-EOd6P9A1W0Q7ofdHvIfumT9HEm3aAdq7x5qdYZeh1vW_s6l1CtjndjvDT83FNMusfshaR15NLxV8Wz2x7KPr4hlAdzz_A66kmc9Ul66i1idQRNjZu_eJInSf8ReofIMQdus1GXy1a0m4ITjcVLfM98Pzwuiu_aRhtUgWNp13NEvyXJTtx8vnoI2DMS84x5pfmELx3k6UU5EzMXxT7nWzKRRlu2j2hMbVX-AdLB7Grgc9imEbNprka-sziuzdapYLlQ1ELgBlyw3lPA6tZCAMDYU1UXltoR1UDFwFw0aj2pQABUaUjjk4fOOUkzUk98axGJb4SECz8FxtESoYL8MXpdKG_GKeHYNacS5o0wXEvlvfASMya-QtWHrPIa_DjjOnSfwLnhsWGxvvlFnFWdf0Ny0uoEr8-MejJQB6eOaXTNmPrU4qODsTewYExq2nT_0qVfIHt51i9GJkGwh9tCSL3_2KoEj6t4IRaAoCh8LYPCZpwZKSUqJ7qnYw6zBy50uIwMWPvJXDnU8MNCLHpER-UlI1KEaGMK3ZRF_2gCBDwF0YeYBzWvMjPNZKGSnvg8eLoBpDfLrNQblsK6aGyvf7CdvlcAUaRtdnzptgBl2Rx_nFHX3_ZPVLTUlSkIF2rr8PIKgJhiFqMeGw3yAnyXlsW8g0zR331N9nEU-wKtMgHxI3rkiRmZJEAMY0vRC6HVlcgNDlHvHrdlPk_aoh92dLS1volP4zVYOd9TRO0yEGcRnYKxyTIb4-0EyMtzP5z41NMtgPwTVP0jc_MnAQBumKJMuGpGqSOTQN7OtgHV-zaHNWkQEJsaCk0g4F3V-KzDMCffMSHZSb8l_PJEXV8IApo3re15fkrJFTFUTFdF7Ph56V5yFvLo1cPyAdxT6mnv1ONU2DaIgIcOBZm3I1apzNpAXkLzAslSqbtYEUWvMTDFBGXAKK0ahBG_jmbFVxNKE2UjCFmBfkzh73ncB5NQPSb7hMY_yl_Jk-2mX9rs1Fq4AnMXnWjoyx9Ft6EZwGAkytRkJmQEg1nVktBkH5XzOot3qrP3LgFjZ_APtClUjzW-PzDB9EFzuLvHD1BjWk7iP8-mUXED4LVa0PI6JmgDCaz5z5jau9Skre1pyHdh5wNMZzWWeEwRyRDocWLDuEdqW9F0xmxB-Na_hlSQj_HPST5egFdhoS_DvklJphMvFXvfppZ_kMl4QoZSNcmieBRWCk5xDPw2EFaX7n8EmcYKnQ0baWLFWJFyjEBInfbfpNqaj0Bft9W6-Dvdv1wWcQqC9F5L4inqWrAc7TwayLhKNqFR99RME7L_FcK62TZ946Zlsy9uyAMRq8oa88J03CjWNeXR6uf8oAsBnKrRtqnk5LG8gzuq0e6x1lC2IseUNt94cQmH60Q9ZffxLI98PPazCKq9c0x6ToGS0pbKT0PirjIFhGJaRJQy0fbxriBuOqSh8AC-WqCh-OHQf6Z31R1exlJLsTmEjTgMsBYeZzki7-DzIaN2bAU9YLWPMB-RObhyZiOP9QAiwWIkEatr-dmQVL01rHGlsZV_wvDUJMtyx_NrY9XXUQbCWlhoFDiaHKXe3gY6OyuyJR6q2u_fNGJMlyG5rph7sRZjF1wjraCaePvsutobgXdnJ_N6RkjITEEaVrSHzaec_mry8DyeOQy9bzrSqEodlbCO0Gx_ugZs9kXvhAv4Yj",
  "id": "rs_0c38b6dc6073c0aa016ab2be0e764887d09c8b95e02abb6530",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.178,\"right_z\":0.012,\"right_yaw\":0.55},\"note\":\"The barrel is visible just forward of the right fingertips. I will advance slightly, turn the jaws across the diagonal barrel, and lower for a centered grasp.\"}",
  "call_id": "call_LijZmpGSJEOmmZfOwYpjg61J",
  "id": "fc_0c38b6dc6073c0aa016ab2be12e4d087d0a503cf15a1c0fe44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LijZmpGSJEOmmZfOwYpjg61J",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3817, -0.0231, -0.0261, 0.9994, 0.3794, 1.8194, 0.6197, 0.4931, 0.0181, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1771 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9994 right_x=0.3876 right_y=0.155 right_z=0.0013 right_yaw=0.3734 right_pitch=-0.1505 right_roll=-0.038 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4564, 7.1726, 1.6825, -0.0562, -0.0415, -0.0073, -0.4034, -6.7487, 5.4085, 1.4432, -0.1587, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38fdcaa83ff0e24acdc2ee74e19528faa1da770de66ba8245834ff1f5f44dbdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b162a6674dd5e6a43cd8acbfa522479be510d55f1379f5e3804334e502f4db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c2de52b48af412b82e35324abf6363ef8d6fd848a85dc9a2f2c836c6739e380",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.799, 0.6029, -0.382, -0.0227, -0.0265, 0.9993, 0.6594, 1.5444, 0.7055, 0.1059, 0.5056, 0.3531, 0.9992]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3572 right_y=0.1732 right_z=0.0836 right_yaw=0.0415 right_pitch=-0.0694 right_roll=-0.0468 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -1.6479, 7.0906, 1.7314, -0.0464, -0.0659, -0.0171, 0.294, -6.8034, 8.0205, 1.663, 0.4713, 0.188, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr4bWdk0RqYgT_KOAHI7L_JUZdGaj5Hlg4kVZnDBugnfeCXT8KSqigP5hCK04cgyU0vQOdo1f52QfJMlbPlnLDxTSrO1OSqep2rZXcfcRF8vCS8Yuo1wGxHzeYdxG3Ieu56IGnKMcQ30XDBvqslcDwKlsWuhZNxJQo19ZciT359YmnFInEJnquHRbRM9IAHZ1oRmZIw3npzSJxSB8Qwv4l7n0Ju-US-JskGljFW5ugZ2FFe0dmK9fuDXg9thi5IWqG_xGC6nUE5Es_1Q965ZI6hUAoU5JXKIK3lOeh7SewJXTUaoU96Lr-D_XJPEcBaT2llHzkg2oqSikSMZpaZv84G4k1GxJM4Dx3h5QqmDhp-nATnKgpuE3UZWKZf-0BOMMj-AlLSMNnPKo3n2m4Q2uSeqYJ_wRve9ZdATDsm1smXuzJBBl5SFWlWYjQS_NVsd5f9ZVXhZJOCA0fzugwZUvYC519ew-JjbIBMjSCe2h0jeOJ9SvH6ncIfbrw-G4iSm9V7Dzkfz3vNDKIDWQRRHU9F4MhQ0y0Iw5BXiKIf75yt8TKXtjENp2LFCcMk0ro3cukKvbKHamajWOKTHDiDdFIuzGa7V07hRbkKebpsJsxxpqX1TXZuDD9TgF2fARyply8w52pelCZyctiIMIfUuN-2wafI5tkO17NjhDeVKH9zOVfYQBX2c3eoKYJRqEasYc6vVyKqHaw1MJyy9i8122J35gDe-FblT98MchHTMlMhYon_T5lsvVAQwsnmHHlXW8DXFKZ4Vvl-5JmDHIhFUhGxlGfZyizFKk67Wa3mPRWzY-bkb5N26RjuvL8HM4DREjJesM8u0pNr9OtVg2bUhjDXdN7wc3qf3txWoFOuMyYm99dqUk6cxDPa-Ts1f8gFMDYxMLMpF2kaPOeslDjCWO6ZWrM92RD9f9uuvDT_FgpQFEQjoRJfmBCWcj7liWyB05YDLHtl8v6pPCaCIlASy1gwUGCUjh89-SvHu5pi8tOThnbUGyjtsQd4FvyvN4HPBqZHYxl5xT32GRn783L7BADUqvL0RUOMeM7b4CFzXSw9eYQaEVAtU4BpWeOqGyMhZrwqT7Ct3jKk31YFVyMpUisFtX-Wl5awvqnkXeaN1QllV2zVGgUyKj32TThene5_WH9BQnKqYmuymTvAuet_oqHj7Ou1XnH0ExJdEdwZm7rTyMEqHgPXdR74PP34Nzdq32O4Eyxlq6HfdmjTvzm9WBgQUuoC733ACr2pNXKq5j6AxW3pEmKhOCk6wk2DirYHR0U5EAO46louCM3W3uAmr8NsUMPcGvFg02TiyQeokmB_6XEQlcDyVdslCpTcIubUKPZJE",
  "id": "rs_0c38b6dc6073c0aa016ab2be17f38487d0aa9c1ccee8efd4ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.411,\"right_y\":0.174,\"right_z\":-0.008,\"right_yaw\":0.55},\"note\":\"The pen now runs between the open fingers, but the tool stopped a little short of its alignment target. I am making a small forward and sideways correction at table height before closing.\"}",
  "call_id": "call_TUhbLULVIimXHU75oqnFQ4Li",
  "id": "fc_0c38b6dc6073c0aa016ab2be1968d487d08bb96c3e11bfd8ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TUhbLULVIimXHU75oqnFQ4Li",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8017, 0.6029, -0.3813, -0.0231, -0.0265, 0.9994, 0.3473, 1.8984, 0.6922, 0.5327, -0.1429, -0.1631, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1771 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9994 right_x=0.4039 right_y=0.1768 right_z=0.0018 right_yaw=0.5475 right_pitch=-0.1094 right_roll=-0.0394 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.1282, 7.0359, 1.6679, -0.0562, -0.0757, -0.0171, -1.0462, -7.6786, 5.3538, 0.9109, 0.0806, 0.0415, -0.0073]\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,$blob:495c0b6a5185b9ddf79574615cfcbf8fc3319b0e3301041c4846c657dcb00cfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfcd87b02dc0f9c66678aa2f758f8b01bfc4b8404896de81e07c71484cab9bfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a2caf2fa98b95249beb49e1bd38d9aac4d4c70dadb08a7e18db40000e7a84e4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8013, 0.6029, -0.3817, -0.0231, -0.0261, 0.9994, 0.3794, 1.8194, 0.6197, 0.4931, 0.0181, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1771 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9994 right_x=0.3876 right_y=0.155 right_z=0.0013 right_yaw=0.3734 right_pitch=-0.1505 right_roll=-0.038 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.4564, 7.1726, 1.6825, -0.0562, -0.0415, -0.0073, -0.4034, -6.7487, 5.4085, 1.4432, -0.1587, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The barrel is aligned between the right fingers, with the writing tip extending forward. I will close the gripper around the barrel.\"}",
  "call_id": "call_qn0VcKox70JUPiX6GeopVew3",
  "id": "fc_0c38b6dc6073c0aa016ab2be1f102487d0b1eed44184d05f75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qn0VcKox70JUPiX6GeopVew3",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8066, 0.6029, -0.3813, -0.0231, -0.0265, 0.9994, 0.3351, 1.9263, 0.7387, 0.5133, -0.1616, -0.1848, 0.0514]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1757 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9994 right_x=0.4146 right_y=0.1783 right_z=0.0023 right_yaw=0.5627 right_pitch=-0.108 right_roll=-0.0449 right_gripper=0.0514\nstate[joint_eff]: [-0.1983, -1.7026, 7.1726, 1.6972, -0.0659, -0.0806, -0.0171, -0.5402, -7.6103, 5.2581, 1.3211, 0.0024, 0.0659, 1.37]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91f4c60e7147917f54331d2fd63694f116341069272d5014fabdec3c1a5a292d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de49ddcbaabad82ef9c0d7532df9bb5f878dacfcce57e3c7d2942eec84c1e3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64702cfb096bc168c60739e8b073d6ce140cfede97b786d736658532dec2a5d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8017, 0.6029, -0.3813, -0.0231, -0.0265, 0.9994, 0.3473, 1.8984, 0.6922, 0.5327, -0.1429, -0.1631, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1771 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9994 right_x=0.4039 right_y=0.1768 right_z=0.0018 right_yaw=0.5475 right_pitch=-0.1094 right_roll=-0.0394 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -1.1282, 7.0359, 1.6679, -0.0562, -0.0757, -0.0171, -1.0462, -7.6786, 5.3538, 0.9109, 0.0806, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.07},\"note\":\"The closed opening is about 5 mm, consistent with the slim pen barrel. I will lift a few centimetres to check that the pen is held securely.\"}",
  "call_id": "call_o3mO8vQkFqDFoy9LWkgYqwRF",
  "id": "fc_0c38b6dc6073c0aa016ab2be24b55c87d096b19ebd933591fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o3mO8vQkFqDFoy9LWkgYqwRF",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0231, -0.0261, 0.9993, 0.3351, 1.7527, 0.8005, 0.268, -0.1619, -0.1886, 0.0573]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1756 left_yaw=0.0009 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9993 right_x=0.4128 right_y=0.1777 right_z=0.0525 right_yaw=0.5653 right_pitch=-0.1176 right_roll=-0.0454 right_gripper=0.0573\nstate[joint_eff]: [-0.1846, -1.2239, 7.0632, 1.7167, -0.0855, -0.0415, -0.0171, -0.2393, -9.7846, 7.6513, 1.6777, -0.1148, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31faa0a5860d3c44034a41e21baefa5d1c39897c4aa018e821b46b17843f34ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62af50cb632e4525a2d185f634e58bafa3b910bdf2af9d32b93c6700fd902d68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebcdb54327c1430c1ecc198072444318062beb40aa7cae9f87208460773644a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.8066, 0.6029, -0.3813, -0.0231, -0.0265, 0.9994, 0.3351, 1.9263, 0.7387, 0.5133, -0.1616, -0.1848, 0.0514]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1757 left_yaw=0.0011 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9994 right_x=0.4146 right_y=0.1783 right_z=0.0023 right_yaw=0.5627 right_pitch=-0.108 right_roll=-0.0449 right_gripper=0.0514\nstate[joint_eff]: [-0.1983, -1.7026, 7.1726, 1.6972, -0.0659, -0.0806, -0.0171, -0.5402, -7.6103, 5.2581, 1.3211, 0.0024, 0.0659, 1.37]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr4ukNsridMi3B5fYAvcc0360XwCFcR4PmsWYtFJ8aEONuq_a6BCZlr02zgSh_ZklyjwITRRF0t-evTgS7DwkRWryEjRx1pBhXXs9Dp3taJsPVAWvf17ClioYgtqMCv9HSpANeUQrXBDzDh1z4H138t1rM-x2qVTmbgtxQDChGXaVpje2OboqZyEtsaPsfM7W-w4vHFMz48jmLKYxFGcwzVQCPMP8sSEh4QdbDDMQWo92z-ANCjpcBad-b5SW6Rs29gQYAmebm-B74eBLLFRkWr3qVeGjrO11RZTOyhTzb1saEUuGnEKV1mO9JO_qv0rriR8zneLoqH2de2jVjLpNXRUHj_ptNoPi3xMfVr-WefRmRjJOvDDFruXJiwt_pe9EB26GjY8kGz6hRABChXTRPwUr_ZJw2KRVqBEP3M715U-2chCnZ98bsKRAfVowWC2dRaLUmalKy0XmjBfPaMC-I6WY4lCewIgDvQx0UPwPa26QJBcOPLfwbMP0dTHPKte7W48FKvR6jj72ZfpLjWoFyze70FAWdtxKOLZD3Q7zMnJku9_VexVV5V6Dq_aXHtUNKZrPB-ViYSnBWcNueFmbh0Qn1Ou4k_xeMk7f9LoSU4CA9whvpefewTFRo_-MxU6r9h9UWLdf0vHhmItm4Hoh-LL-WhwNI-6EpFiJIiaFSMVTrTg2LOs3DQZjsPSb_0I53274gqUCUgbpocPbG9cGdTRzKpDwRKkTOb0MafWdXznGU4wdANjE8S1oJ5KzgmiPS6W6ImD59flpkHF7UFralgcbUHsoe3ADDFhrOkZXZmfVwDdkACpcm4fMDHWRrlN0gWibAm924zl_nnVXH-NEUPaACyVrMnZjqIEVY98iSRFjKWD8lNziSFFKCaY80cDzl0CJohXNKD6LV9iWLoJrZ1vHho3bLeaGeMWEtx6dl-8FjWaqYSdq5NBuk70h8AYxc__fe-ZY3wVbEQnpG0G5uncSEc2PG94fbaI2sgj-c-xouosJCfKae0MEhMz-96sVCj7DqHhrOnvAdDhONZiyB_1G-2qZDAyWlJsjMWxflJKseSQ-eKrWkhPxwoE_R505XtBBI83BYABuBoAIlR5LMmtFvzRgr2xVsl9yBd7WksNcX2-4i6mRFcKLQg1tK-sBpMmyA6Xwsb0b7fpHzQraGX_9Id0dlxWP3FA9Ad96dcRyxK0nqfiJ5RKvo0nS1cTwNLzXBJeYsLX5f7vqv68xbCOlaknwfFB-bmy-TlNvveK_b1yfwwvPqm9tFUSJGImfeoabGlzwGXh30cg4yEI1qLfDNnfwLtwgc07XvvIJF9FoFPbEDRWaqhbZax4cYdC4yIfN_G5J5jX0OExtsmsOArj_qcEx_A-EF9ZryCGDhHxnJsHvpabRAjlz2vlseBdFVKnbY5HYblL6FLXu3Z9R1CnfQ==",
  "id": "rs_0c38b6dc6073c0aa016ab2be29b82487d0969dc8a75af92a0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"left_x\":0.425,\"left_y\":-0.215,\"left_z\":0.1,\"left_gripper\":1},\"note\":\"The pen rose with the right gripper and remains aligned in the fingers. I am raising it clear while bringing the left gripper above the separate cap.\"}",
  "call_id": "call_OZS9TXFKzbxe6ORMjmOPxJFc",
  "id": "fc_0c38b6dc6073c0aa016ab2be2c913887d0bd702c6d595375c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OZS9TXFKzbxe6ORMjmOPxJFc",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.664, 1.7866, 0.9871, 0.0273, -0.535, -0.4278, 0.9994, 0.3351, 1.5738, 1.0557, -0.2241, -0.1619, -0.1917, 0.0635]\nstate[eef_state]: left_x=0.4117 left_y=-0.2032 left_z=0.0812 left_yaw=-0.0033 left_pitch=-0.0742 left_roll=0.0351 left_gripper=0.9994 right_x=0.4084 right_y=0.1762 right_z=0.1418 right_yaw=0.5689 right_pitch=-0.1741 right_roll=-0.0343 right_gripper=0.0635\nstate[joint_eff]: [-0.4991, -8.8957, 8.9641, 1.6484, -0.3004, -0.0073, -0.0708, -0.3487, -9.8256, 9.6889, 1.6874, -0.105, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff44cb5e34f6a1cbb0c39d3e07cfe0245258b6f04d815b17b5076d2091e684a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda258f18d99e0260a4723ae71fa531e39ed24c9038b416953b7cd8e240b8a18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af968022d056ab018880e076066ded8bcf556bf2f9822ff247a73130e4e1685",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.807, 0.6029, -0.3813, -0.0231, -0.0261, 0.9993, 0.3351, 1.7527, 0.8005, 0.268, -0.1619, -0.1886, 0.0573]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1756 left_yaw=0.0009 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9993 right_x=0.4128 right_y=0.1777 right_z=0.0525 right_yaw=0.5653 right_pitch=-0.1176 right_roll=-0.0454 right_gripper=0.0573\nstate[joint_eff]: [-0.1846, -1.2239, 7.0632, 1.7167, -0.0855, -0.0415, -0.0171, -0.2393, -9.7846, 7.6513, 1.6777, -0.1148, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr43ZwSTy3HnbM33JCBDRMZnTzxVk0zqUc3c6v8Yg_k4EjnHL7zhBSjoT-SZnmcGGKICBMoTDt4S04iFRF9baMtX1Rbwr4JiLR0oDB3e13E-gDN7R8XFr1xHWLlWuISeI6-odME5qKPpkshztNq-rcrmtS3GiY2wqqisXMG0HrseEHHbco_pjWgKDidWREZgO33Xba_saD2aDSgBc66JIMU-D4R9g3h_nJfgb10vKXDz2XmFVWjq4vJoJjFnW7fbFWheqDgA8kkys_FnHUCvg4vcYeDHPImS_f7TjldUL1MWtO1KQZD5DBkWfKgKYAxdnCJLVK6rmIARPzAFyEZw_J0KnwGZ2t6lU6fMFUwiP1tV-S2O-ubj74sFNjZp_v06ZAfNwE-U5b89SfXt3tqCLbN6A4nx4V36eCZkW_KAWNo0PDmTzVjNbfbTmpFzN9iqC4sWCy-Ed22jvaG2AXEVsNCaKZUZwaVAcNhNfAe5UyRuWW-9Ohi9fVZpYcOsZVrWhjdhsH61QRj6SGw1Bb9YlMWd1K7zh5AeqX6GyZjlGuPiCkhMWYxGAmw3Vd8xo4l-DiyotENuEOzcinyXvqC38cxSEnqh_Eg3_8-c_4na6QZjCYvpYr0JxIm86oH2Onde5ukWZJJ7Z88CvJjVb-XtlGqdriJkNi5JHoeLQXKTDp7E3sXLBHZrGH3a5Eb2xsd2aKkL6nUv7_4fbX1cFTMav5wP9DEgZBkg6hw2iC5H0aPXFZFnZi49r8YOiTmmWmQ3i9dH12hOqSHX87j6dEpn3hjSxuuRbBseReEHT46Mx_f8bAif7D4DLETwqbdqac-8FTlawfiSfc5RLmYxUqbcTcIDdYDm9IF8I2WR9LQ-GhNRnsoTimZRs23ndp3QUza7qpSlhH-L4kygt0NEjqWeOhtU931EgZgQ1d7tzazD89SEzgGOiZrkrTMn_9_nZwmoFv-u6nHb1z91qjqToQ2ZibO9KkcYIK6Egzro_lgSuHL7R8Ncm5v2InoUqTMJGAFP7ZYbS_hTpLOZq3impXeGmzCukpFdns2sbuy2HcGZS4ZT3GQWSmlA5dHoNa-annzD-N2c5k-i1DCRGBbXuVJuk9VO_goGnfsMuW2-i2iP8Zlkc4yRGVNr7PFmJFKas_skYPigW2sTbMsxftdcfkPp7fF5qKkNcKnZnzirONw6GVqbEhsKgtDdpcrvN-DZfbPYErB3HQvtQ4ez7aM2PCaii07hM_-CfHMzN-jR4dvw-hk-g4QRPd7PstepyresilU16NPPHtEJvsSPT9sdJQNTkUXVmxEQhtvV8Ma4R_JVORHgsqKLAMTo4pMt-zanvDb-B05doqZBTxtNJw_tXLCGbGInt-enAkmWTeHsxhaI0CkzKntYEvfeftnqxQFWwoN7DS7AZJaBl8bHOxU3beW86fNY9Q==",
  "id": "rs_0c38b6dc6073c0aa016ab2be33aa9487d0bfd05058189c7855",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.185,\"left_z\":0.01,\"left_yaw\":-0.65},\"note\":\"The cap is slightly left and forward of the left fingertips. I will center over it and rotate the jaws across its diagonal body before grasping.\"}",
  "call_id": "call_Hldn0nwv0xwdije41U23gzZn",
  "id": "fc_0c38b6dc6073c0aa016ab2be35fed887d0913d9fc8d11bbd60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Hldn0nwv0xwdije41U23gzZn",
  "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]: [-0.3374, 1.9507, 0.8406, 0.3901, 0.0319, 0.0498, 0.9991, 0.3351, 1.5742, 1.0565, -0.2379, -0.1616, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4391 left_y=-0.1562 left_z=0.0019 left_yaw=-0.4044 left_pitch=-0.1496 left_roll=0.0241 left_gripper=0.9991 right_x=0.4064 right_y=0.1754 right_z=0.1394 right_yaw=0.5693 right_pitch=-0.1872 right_roll=-0.0317 right_gripper=0.0635\nstate[joint_eff]: [0.1573, -7.5966, 6.7487, 1.3162, 0.2759, 0.1148, -0.0464, -0.294, -7.4872, 6.7214, 1.6386, -0.1294, -0.0659, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d12b04959495c423166efe273b6ce55a8726ec548d1f13be2441331494ad06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ba36f5ed4c9a8f014be4c6bf4c5c256538cafc370da6c5ff01ae12444749ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14db400845acb0f28bcd4833646a842817f30f1db9d51fb2bbb9f155b24fbc0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.664, 1.7866, 0.9871, 0.0273, -0.535, -0.4278, 0.9994, 0.3351, 1.5738, 1.0557, -0.2241, -0.1619, -0.1917, 0.0635]\nstate[eef_state]: left_x=0.4117 left_y=-0.2032 left_z=0.0812 left_yaw=-0.0033 left_pitch=-0.0742 left_roll=0.0351 left_gripper=0.9994 right_x=0.4084 right_y=0.1762 right_z=0.1418 right_yaw=0.5689 right_pitch=-0.1741 right_roll=-0.0343 right_gripper=0.0635\nstate[joint_eff]: [-0.4991, -8.8957, 8.9641, 1.6484, -0.3004, -0.0073, -0.0708, -0.3487, -9.8256, 9.6889, 1.6874, -0.105, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr4_47afyDIfXRkYU1fTwc7raacebbkOnYQS_r7Z3SrlQv2seH9oOD3-V_WZbyVzkiewoKTxdyrU8eewsYA18NP5_8aHEFCi0ztSD_n36rD5zYGyu9KNuhSKfwJUDYI1MnnMe_86qJiJbUuxyRfH7VjxjuZdnz59kwPO5kHOpba6HxzC_0wMzKmg1K3vNMcyVslUddPld64sg4i3SSkYy1c9MxbWwyRUqk1lpsHFXj58s4dR1FG2awACLC8hzB0Tt0FJs10BTJKfMgtms4vk0vFT0nJ5NZE11LVDP_o-v-KK3m5Z7_P6Y4IJCphrE7NdI8ShwqZuAMtRrXgZUxC0BvOKGNTY1y7_4cvqUgvl9Cm1he16hSNWBX4pAOvObJSlByFvKLaMjnDczqKXGsjrny67eWsepYSXgaIfRJeiNNjV-YrsZqokCtP8XGrberXR19ljqTtm47QToonTaOuIy3QdUe6JKISmDg86ednRSO1Y0PFs1Klt37ZSu_mbVJ1ijE4kiUhj-2XNSq2ZxgAoZBJSZ3vtNa0au0jR4ssDIGgZlgijqG9eRlfel-bwK8m2ICfODDTjtsaelPpUg1xAwcrUubaVuSP0mZh7YPT1nUKEf4DPJK2HEYv7-43XfNyhZR51U2-6RDErFvOu0tG3OLDyahJBsf_MZvbgogHIJQBT0ATMyAJunkm8hgJKiusVIJRojRuyjxcHzmpjrLnso4C3iBNYzfIJBToQFjC3wOeFyLMh-aD3KFMqybG2HHQHPDqTToiTc_bN5WRDJdBAIn-Sp-krfLLyNUH7XKoXfOhkmZXRFvphwU3Fsjxio_ReaFNrFmJvjTdGegA6IfDrgjmlIVBtcy80p9de25p-XO0VtB-9ph9OByZTZ-4ZLy78bQWrjG6tVFZlQPLThTQZiJwxKjPp8KTDmDQUsV88Ko_Zqxk03V_ryAG4u0X2D3b073ucwt-cSXy-XCBXxOytDDMy_DIg89Q4UY2zNU5nFESLRQnBbzcb9Xo1YPczjYtA0xqzFGFwSyhsE3tFI5zr2KHstpxFGBxe8Q3-Xn8aT4wCUxtyWRadvYs1N7asvF2nK7oDRNHIotuci37j6oRnlMj0mwxvf7TsuzzO3h4XgMaxJ-hnQjdcxHY8ERKLpemvXJwYqsNRUlwPiZ2G2qQhFaZek6rW-KhfumolHzJp3cjZ3xniZlD9kfXdAH4gmdrgade6_RgL78OYRqolhqXU12_Xqo5zJpwOg4fmlWq7BvZIZksha_dF261nzcq0Ga6INTcVlGwJiXGubsqu2jBHX-f-tBGVwJXCMIEHURhWXUKaJdiuByZcYzbXu8rYKXWs2xyvH_r48xVUXwxBTFTxX3Vj4utoUB8Maz7sSgDfeE9BrGLtfIYWBQ3K4pf6kwX4dpeO4oSZLpOrA9JaalraEpzRF3KnZru_hUi0v-yrl4upTAU_lKKxhNCZlYyH1D7WuBVDMyxgTtBkI4gRMkMF--sv8eBPNnvxa70Ua-0w7Zd6GsA=",
  "id": "rs_0c38b6dc6073c0aa016ab2be3a346c87d08e5287a9115a7562",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.449,\"left_y\":-0.172,\"left_z\":-0.006,\"left_yaw\":-0.65},\"note\":\"The cap is now at the finger opening, slightly to its right. I am making a small centering correction and finishing the jaw rotation.\"}",
  "call_id": "call_oo5dFlqEwfIg0MP0U2p4Pbvn",
  "id": "fc_0c38b6dc6073c0aa016ab2be3d54fc87d0952f6eb59503c083",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oo5dFlqEwfIg0MP0U2p4Pbvn",
  "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]: [-0.2993, 1.9984, 0.886, 0.4076, 0.226, 0.2165, 0.9991, 0.3351, 1.5742, 1.0561, -0.2394, -0.1619, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4445 left_y=-0.1748 left_z=0.0023 left_yaw=-0.6204 left_pitch=-0.1135 left_roll=0.03 left_gripper=0.9991 right_x=0.406 right_y=0.1754 right_z=0.139 right_yaw=0.5697 right_pitch=-0.189 right_roll=-0.031 right_gripper=0.0635\nstate[joint_eff]: [1.1009, -7.8291, 6.735, 1.3358, 0.2564, 0.1294, -0.022, -0.335, -7.4872, 6.7624, 1.5702, -0.105, -0.0708, 1.0281]\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,$blob:4333bc08702f6a77ef2cef764d9aab68994b3aaf37a741a99a4f67507e47e204",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded4da5f5e8aa16a1f076ebc79e04af8e6c9e31646723950df1303a4f96e17cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:202fcdcfbe273eaddd0a35a996a826c5850ad20464f91c440442eb66a331bc6e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3374, 1.9507, 0.8406, 0.3901, 0.0319, 0.0498, 0.9991, 0.3351, 1.5742, 1.0565, -0.2379, -0.1616, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4391 left_y=-0.1562 left_z=0.0019 left_yaw=-0.4044 left_pitch=-0.1496 left_roll=0.0241 left_gripper=0.9991 right_x=0.4064 right_y=0.1754 right_z=0.1394 right_yaw=0.5693 right_pitch=-0.1872 right_roll=-0.0317 right_gripper=0.0635\nstate[joint_eff]: [0.1573, -7.5966, 6.7487, 1.3162, 0.2759, 0.1148, -0.0464, -0.294, -7.4872, 6.7214, 1.6386, -0.1294, -0.0659, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is centered low between the left fingers. I will close around it while keeping the pen steady in the other hand.\"}",
  "call_id": "call_CFp1UA1Nn1pPYiHSeQUb6Ior",
  "id": "fc_0c38b6dc6073c0aa016ab2be4253b487d08cc6ce70a3dfcc68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CFp1UA1Nn1pPYiHSeQUb6Ior",
  "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]: [-0.2775, 2.0171, 0.923, 0.3801, 0.2436, 0.2451, 0.012, 0.3351, 1.5742, 1.0542, -0.2554, -0.1616, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4532 left_y=-0.1697 left_z=0.002 left_yaw=-0.6291 left_pitch=-0.1191 left_roll=0.0383 left_gripper=0.012 right_x=0.4031 right_y=0.1743 right_z=0.1354 right_yaw=0.5702 right_pitch=-0.2065 right_roll=-0.027 right_gripper=0.0635\nstate[joint_eff]: [-0.3487, -8.6359, 6.1607, 1.2869, 0.2564, 0.1001, 1.0818, -0.1983, -7.4598, 6.8581, 1.663, -0.0904, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0cb41f8f3a0832261814b6cef97983447630a283368ebea78502ec299ab4063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03ec819c476c6e0c725f96f2f74e7eb444eb60a5a33baeac49dfb9168768ea6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ed49cc1aa6361c5e7262759b3b6d6d688bd1850edac696588cbbdc448e8d573",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2993, 1.9984, 0.886, 0.4076, 0.226, 0.2165, 0.9991, 0.3351, 1.5742, 1.0561, -0.2394, -0.1619, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4445 left_y=-0.1748 left_z=0.0023 left_yaw=-0.6204 left_pitch=-0.1135 left_roll=0.03 left_gripper=0.9991 right_x=0.406 right_y=0.1754 right_z=0.139 right_yaw=0.5697 right_pitch=-0.189 right_roll=-0.031 right_gripper=0.0635\nstate[joint_eff]: [1.1009, -7.8291, 6.735, 1.3358, 0.2564, 0.1294, -0.022, -0.335, -7.4872, 6.7624, 1.5702, -0.105, -0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr5JzAPyGl6nDnA3uyvOt5kaswKsBw3e9tkB5i1O-YuU4Yac5ObkOr63q6SKRaq1Y6hi-Sfy3LfSFMoolqsUaXW-1olV8QmPVyZCyDmmEhVSUWOXaFtMTcDeAyDAHcJ2keC_ifxKXRcaCNUNulLaHCa4dWaniUAkfhTFXqkNvxscEUjhSkBf-qxphGc_QqbzF53nJWVt9VaY9a9J8u-KqvRe2YXV3WOvZfMDMJ7pg7PmXPL6Wc4xaj66HMzSnHIFiVGGL91FOMjwXwA75YRcCfWbJfyuzGgKHiEzFfxxOCLiu43VUpSckeM4vJjcrtDl3KtQs5_k81md1uYURWxcwv2px07mi1WAESehNDpWCj8IrDK3DPwCDPjeppvvqOMWJ4YZWYK2ycZbQ_PUm2bt2_7L9M7dmfuqMtMoFaqxuVLXfOJr80j-X2tHhsw3SQRnoiOORBDObU9VzSK4bNUHEWd-cqMbgMWHJuteEfcgRdgEAKzbrRkiRYUi_TAJvL-rCSAu6imZPpC5r8YgNK8cDAQVyB9qD3fzKU3EfnU-0zOCx7ALECf71pCXF_KSirrA-V-OJjafAxSvQeg2tb0_PRpp0gLmRzV2CXctnKT6IUWTeX42_mqJzq0QxvwniS7LyChdSJ3d_pbuTnK5VH0N2QP0emkCZGXMjflJcJCRaRH8ASLxOoW1djzLnXnafYPLRjlx8xSPD6RqUGfWUPOcnEIMgyZvppHvKwF--2pV88u6q6VfnOiNnqVAUrTnWjPXm5VWG_HFbQm-4QEJTvrqyypofmBbhA1nk9q-xSaoGHVE4NIFeFWiGaSIRatx1SbaWtaKh0yS7-i0fgP4j7yiosKMXiBWtjHqRS_XWvy_3Tco10BWt5UH4jJ9afe24-eBTRvxympElGnPYwtwZakDThRiDbh-0__E64U6PzamS60opL1aNhxvKGblsqeff6NbcYSf-gwguyN8bXZzKnXVFYOFn4YRUgniYOJixHKyByQLd2j3KNxn-g-tfPU5A7Z5-aT4nT_mOZFPw1QIi3eKOfbTzOIqEAD0O5iFIFbMfi6ZsX9mvYia4giAZ7HDrDdbf-zEPCAncW4X6ImBD1NrHowCHYoJnPLHxtY_GY0XeGBzGAZJdZKl7RVlSY-Qh3cRGbjChesN374q-4GiKbvtcWaW-d2m01qFBrl5zKNGThbmv4tWVRPVl72FBlBDTIek0FHsq9h62TrGn6wB74X_kSzn6Ysy7ibE5gbhyJoPJ-LzgFU0W8wjdKrLeU-eLMEtGp9bWTVBzW9Up-QUKasBnXXj48EDJgEITobx3NWD5KNGjG0=",
  "id": "rs_0c38b6dc6073c0aa016ab2be46bbe887d0aacdb5aee5adf258",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"left_gripper\":1,\"left_x\":0.43},\"note\":\"The left gripper closed almost completely, so it did not capture the cap. I will open and lift slightly to locate the cap again rather than transport an empty grasp.\"}",
  "call_id": "call_RHPMR8zxxnHC1cQhus3hBmly",
  "id": "fc_0c38b6dc6073c0aa016ab2be47a34887d0aba782b72231cb55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RHPMR8zxxnHC1cQhus3hBmly",
  "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]: [-0.2951, 1.7756, 0.9154, 0.1265, 0.2329, 0.2276, 0.9949, 0.3351, 1.5742, 1.0542, -0.2569, -0.1619, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4281 left_y=-0.169 left_z=0.062 left_yaw=-0.6291 left_pitch=-0.1398 left_roll=0.0248 left_gripper=0.9949 right_x=0.4028 right_y=0.1742 right_z=0.1351 right_yaw=0.5706 right_pitch=-0.2079 right_roll=-0.0264 right_gripper=0.0635\nstate[joint_eff]: [-0.4034, -10.5231, 7.706, 1.5311, 0.0708, 0.1245, 0.0806, -0.335, -7.4735, 6.694, 1.5995, -0.1148, -0.0513, 1.0281]\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,$blob:306d1f9b5bd7a8c81e76c2e3cd38c66cba294fa30db6a6dda206881faa22e247",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a689e74863eef9c7f5aa05dae7e72143a4cfae4ea01967f8019cedf354fbf3f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147cdb8a55eeda0a7856381d6e0adc03f3d3b71913c4c42784c37eb1b87fefdf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2775, 2.0171, 0.923, 0.3801, 0.2436, 0.2451, 0.012, 0.3351, 1.5742, 1.0542, -0.2554, -0.1616, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4532 left_y=-0.1697 left_z=0.002 left_yaw=-0.6291 left_pitch=-0.1191 left_roll=0.0383 left_gripper=0.012 right_x=0.4031 right_y=0.1743 right_z=0.1354 right_yaw=0.5702 right_pitch=-0.2065 right_roll=-0.027 right_gripper=0.0635\nstate[joint_eff]: [-0.3487, -8.6359, 6.1607, 1.2869, 0.2564, 0.1001, 1.0818, -0.1983, -7.4598, 6.8581, 1.663, -0.0904, -0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr5TGxndVy-wVjW_LqeK5i4DjbhZwchhoXnP_GGp7Gb8F3Sxs8e2CO6IFaQ5byeDvOyCXIB0LyOLgJ2n3Sh9MB3wr45KgFkImiYpRVkwCLkUUCtXKPFmfHs9uX0YWS17VYHAM5awNyvMesCkIPxaNv0Qy49VgQvPLrpocvJov1RtnzUCUhIeSTGFpEvLrqBS8PN0Ruo8a3qeujM55fsm9G89Bvkrbe8fW4A5gOeIsYLZfnSdRh37GWICfQzsVh9Lr3QY4Uv9-NgnGaJqmdwmz60x3zXV89192OwkIhzwvTMmxCydP8e4VHmaMV69rCR_I8wJ9ufUReqtIj4tC4FUFHg3m70mn7cm-gatd5t9M7fSsBe36Bw51nyRbRhmQH8s5NfljVc5MDXjBrRnwEJuxnT-0__jl62HGmZWUOl9JJGnrzqVK0PAqWW1NfVXG1gfq-t76AJQo_bmX5mutAdUt3EYp8-JrtB4i6onGUeCWFdxcE8XWiGR_VZ_IHZr8yrQtkVKZUs0cTJi93fAMTLt12bs9cuXSJJwwThMsfnJCkJ03UTOf30traA58QskZVoN-kzs6FEgwX4QW_y2EJwI-zOXXAfOnQudCSurvZer_SoNYFEJhcbH1up3UXjVjUSa2iYxUgm2RxXOUXil9zila-vkz2OR5ud0mJI2neqXtS9Zbn0tnRYJfCVeMBAKvQPSoS-mY5XifyotmuD1e5yPJSNawHBUY8iBtvoR3YqY1y4_ZeDYkU5aIsiiXYFPgjdnkqSQPjW3LmVeA8nyitgb3_Q_-EOGQ8KM_A3mhyfSgGwTjwmpIvtBhY4wlZe30BtZ5T7Cn7z6CbAS7REPHv9MDXrdr9ALRwidv7Nt3wlB6CjxFRVrHlgH9bHitWrSY28DteI2PiTBg-RXnKgadntsYi0iddktMHFa5psTQ-nrLQDQIrrZsMcrGeEJfp36dHQb0tSoR8YCFHGrEkesbN1zfMSLxc6hU_u4XDvmBEosPvgg7ryV33tcknnfTW4SwSxqFmaPRQIcfT1aXBKW0-qYipEPun-jX8MSwoIpSwJDSzlmZ8mAQDmpL1Gpi9EAF5WXUG2wetNCZJ_ziYYJy9-YNBvQWLYyTcWm7nRdYj86o6XtO2KQzNiKhott9-TbgekDDxpeJOfJKLeM282Thm2g82cxDaRa965eGbV9rqVDrI9NIp9uCC1kr-PMn4EK5FbWNEQRd4qQw4nIrMXaddX00lTC-GEcO3eHtc9_8u08G3qnMp7gbsLd9NX1afHbbWb96TgRdsfrHh1XfvI3XPy1cwclLLL7pfZDUUEsWRiqVUjHvLmaKY2y5YXWBtfnF6AfLF1ZEtg8LdZDATtrT5gBDTdJgotz31u_OFzRLwqRjkpszXK5yV64PERfenzAMWtmpzBxyOiB6Ls3GivMbPtxsfwm2rttJatwhU_DhqzRnvJ5eGZ40-R6azImcPI1RWb_rgZMgK_gxc6S-qYoTB5m7avOfCZ8AM-7GQnwKRmOitRhgD3D2QlCS5SYX2EaxIDn9z_gqU_DaVIrBpUUQBpzaLU1vY37wzLUcuK3-YXVmZbyF87VllvKY7C2Vm8SCOXgaKxJpL6_2M1YwttvG-lg3oipr8UqMmqN0fcPTBWRZ7KZat_bSzd6nDln0ETlGKL9uHjQAmkLx9eenj3ox8bi1GfINwyhLv71ycE7bOlud0Ox09sjrW_Qb_vwN6uwaLJNCwa34j57VFIT1vRqt_8--5QVsuEKAVGTBw0KcorL3VtXCLv0yko1bvcpgMNjdqVD3sogGIPVAT1PEAVo1R2p7jDir8nWQI9CdAKtu5Oi08lwTUuVtpX-NuS4BTb1e348LYJS",
  "id": "rs_0c38b6dc6073c0aa016ab2be4bebb487d088a2bcbcdc0f6578",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.406,\"left_y\":-0.173,\"left_z\":-0.01},\"note\":\"The cap is visible at the very bottom of the wrist view, nearer the base than the previous grasp. I will move back about two centimetres and lower for one corrected attempt.\"}",
  "call_id": "call_jkQddDZxZDVcFNg6EKKxWW21",
  "id": "fc_0c38b6dc6073c0aa016ab2be516b6c87d098ab91cbb097afef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jkQddDZxZDVcFNg6EKKxWW21",
  "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]: [-0.3241, 1.9018, 0.754, 0.4114, 0.2104, 0.2192, 0.996, 0.3351, 1.5742, 1.0542, -0.2569, -0.1616, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4075 left_y=-0.172 left_z=-0.0001 left_yaw=-0.6349 left_pitch=-0.1469 left_roll=0.032 left_gripper=0.996 right_x=0.4028 right_y=0.1742 right_z=0.1351 right_yaw=0.5703 right_pitch=-0.2079 right_roll=-0.0267 right_gripper=0.0635\nstate[joint_eff]: [-0.4855, -6.1744, 4.0274, 0.9499, 0.1343, -0.1587, 0.105, -0.2393, -7.4598, 6.694, 1.4969, -0.1343, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1817cdd7392ae95ab2988af3bcce34f0dad6ae88729a8af17c0e7a8d5e35ed82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ebe99764be0adb8b645b23dd33017ac3e79f2a745437056d96253c4cffd065e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a54b8615e1299e22b428f5fa53d4c34c5a6943e53d18095c08588d1ed1ea89",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2951, 1.7756, 0.9154, 0.1265, 0.2329, 0.2276, 0.9949, 0.3351, 1.5742, 1.0542, -0.2569, -0.1619, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4281 left_y=-0.169 left_z=0.062 left_yaw=-0.6291 left_pitch=-0.1398 left_roll=0.0248 left_gripper=0.9949 right_x=0.4028 right_y=0.1742 right_z=0.1351 right_yaw=0.5706 right_pitch=-0.2079 right_roll=-0.0264 right_gripper=0.0635\nstate[joint_eff]: [-0.4034, -10.5231, 7.706, 1.5311, 0.0708, 0.1245, 0.0806, -0.335, -7.4735, 6.694, 1.5995, -0.1148, -0.0513, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr5b-Wgn4YNeV4beUtQ9vDI6i7j_iDrfLuXclTMKTaOoC9kGYCD6z12CwNVmmzAOXqSsKIyCHpM9xpEWifdZshjo8D22bodJi-ircLDvdvsWBUZ_g_AbHrZtk8bw45_J_GkRetx-EBT-oz9sNzVFc12DXBmmzoR2ozMnP3ZejgI5Tsb1dgkMN4-mDQzWNFlh-DzEWXu8u2M0Vgsq7PpIELxQ3Rb30FTImLdrDBf76t6Xor2WbwhzlR9k88fk_mwe7JHYpgAvrfgjWwkJNjddOKJtB3u8knulNlJb5vEFCGb_tagzTUy6rWyQ0JpsuvK20y6RqVdJRLF2ZedPc_CGzQRjeeLlKE9bkcmjaFOFfJXbASJtHDwK2Schk30EpHKLgn0dg-weFicZ11mQ9kpb51_YaBJdlyt6sQ0PnxlGtq80SPd7P4Clmj1ohCYko8M04d-2I4bnMsJOvQCmygm67PQdF9eoVpIgdMUuORnoUddKXBSezRteyRWVfORzeESeWTDUnWAi5-Fq-5IkiS15ePskBokaBFjYNE_MH8nOeEKFTX1Y5hjwG1URvgSLf6c-MLLeQpE5HeEVUhVocPPuhdopXfWb52LaLpUEaAQeldOnf1uFC2P_D9j91vUWjojPMDiFFVPz78daS5k_Z1BzQ38j1yWUigw8Kx8v1JKV57BpfXW0QEP2datuu7BfnEcRiyhXlkxCcFA5HxCJFZsOEmKa0xwOrHYl3x592ho-VU1wUqi7ESpS50vOOMFRxs1-__XchcFIdmLOQTqtcVnxKnCSDnW5RNMadkpWgNxsb4z2-vnctVXA41JnExDejJikumHD5V1iszeEtvAxS8LvUqlcyzi8eM-YNU7BQ-hRzjq0MXcrdwmnyE25WxiKNYh14lnmJc7N1iCpCJxCG7mvA88WeJk2klI3MthhjubePp4MdDzjcCV9fxd_ixea3ntxf9ILdIEkGHV4Uxv2Ll-SySLvk-Awx7lRLSHe4yNTtTp0-xIzQw3E9l5tl6H1W1SSBE0QSu7LOHuD_7I_2zlYtBF5Ajrexw7lJSeLfdIIh5Ds1afC9nX6bZkTG77JDIv4xPW1hQj2QLlcOxKHeIzOvFz4bNAF6la70KwvngxtNDva56RVRvDHKnbar0_SXnlG01k3-pr84B1T__hxNjPuSIqpi6TBX2C_wN6RBGNSY-LAJwieXephNmyvP_0IBuBlp8OTKNTilIxvtAaNcpdXe_QgYfnCY0_1hikuEPFhuO31kOJF5n-sNZUHsCL_TvK6nRuNGavZBmls0pzq_BhgbvwAPBsLs-1_s-zuF5O6LA4ued1a_wnaCbVMSJPwLbR6RbMxyJKv5uXCa4bFAUeNUIqG2qlWlD4l0uL1C-_Fgg4QrUGWrSUPEwPSBce9BY0LtGw5BF1DqkuYjsdrQq19HPeiDXhtCVBgbdJ4uOeBUl-mhbUMFXiFX_yreNCefXwItC5YdrNnj35379A34sHmA08CPQ==",
  "id": "rs_0c38b6dc6073c0aa016ab2be55921487d08062d58f7abfc1d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.423,\"left_y\":-0.15,\"left_z\":-0.008},\"note\":\"The cap body is now clearly visible but sits left of the jaw centerline. I will shift the open fingers sideways onto the body, avoiding the thin clip.\"}",
  "call_id": "call_LVX6LdPlY8SgkvlZFPXStRKZ",
  "id": "fc_0c38b6dc6073c0aa016ab2be592fd887d09074ba4d6a154236",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LVX6LdPlY8SgkvlZFPXStRKZ",
  "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]: [-0.2848, 1.9266, 0.7593, 0.4583, 0.2409, 0.2371, 0.9961, 0.3351, 1.5742, 1.0542, -0.2581, -0.1616, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.418 left_y=-0.1625 left_z=0.0005 left_yaw=-0.6296 left_pitch=-0.1148 left_roll=0.0354 left_gripper=0.9961 right_x=0.4026 right_y=0.1741 right_z=0.1349 right_yaw=0.5704 right_pitch=-0.2091 right_roll=-0.0264 right_gripper=0.0635\nstate[joint_eff]: [1.2786, -6.6256, 6.8034, 1.243, 0.0269, 0.022, -0.0024, -0.294, -7.4325, 6.735, 1.5116, -0.1148, -0.0611, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b04c8197b2c2692eac64f0c4ede5709a5ffa9b140e61b2189d4a62fd17e3a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33d5a4b840eb0309c1f2c7c2b2ce933fe90e566fb6774b8f1634e8cb7b29b6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bc5f2b4564c72329a487d6dfd4507bdb1c03ac9e5d0b4c971ddc7a949bbef4d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.3241, 1.9018, 0.754, 0.4114, 0.2104, 0.2192, 0.996, 0.3351, 1.5742, 1.0542, -0.2569, -0.1616, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4075 left_y=-0.172 left_z=-0.0001 left_yaw=-0.6349 left_pitch=-0.1469 left_roll=0.032 left_gripper=0.996 right_x=0.4028 right_y=0.1742 right_z=0.1351 right_yaw=0.5703 right_pitch=-0.2079 right_roll=-0.0267 right_gripper=0.0635\nstate[joint_eff]: [-0.4855, -6.1744, 4.0274, 0.9499, 0.1343, -0.1587, 0.105, -0.2393, -7.4598, 6.694, 1.4969, -0.1343, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr5gefvmnHx-rI91zU08_bIHoQia8hjlepdKodloyRuSQDIIdJlLKlxE4UTEYX1U21JmMML01GWr6cf-uQwphvjKCaWpLJeC3GTTyN78OlyLW4lyfPQPaFwVlKcJQfVNuVXj63onMg8qKg7PzCh680rS_sUuDsrmj4HQJjJMuX2JEiDmTy8q-p4fUb50PFSdygDo4uUeZ3MApzLn7Fp6AKhb2f4_zZnX2OPT6JG6T-3A6BwWMW81bnbM9UrMYjJLQn68oG64QV5y_IL0Spxgd0xiMpgrqTwH0pykia9SrihGkqaZ1gDbqtubQP0yk4atd7_AlIQJR282L4Taza-AxLWX9jFXk26P_IJZgL1nVhDcUHPyX-8TVH7TE4NTuQxrIpAUp2yJ-Rf-8jUROkw_EbULmuWNRHLOcUa0rwf_eyFCTwSRqXhBTOotP3U9S5DlpuB4km_EcSBYf8PxJk0wmkVkJ74-wy8hRLc8wPMRanKuf2cXojLv-F-aQ8HiZXngeksdFgLlBe0Ncm_mhForMd0it_-t74QHhfAfqdK3jXaCkHB1CmiccOtGWhDSr7dM9x1sZuMB7uv_k22_pvjZnEG2aMj7PSia1FDMdBnDTtqejkbajB5sYQ_kvxcdDdjc6ChGjvYWdyIB5hDvFJJg4v0y_77AbdeT0A7p_wKRUptyVycdLm3PinRqt95ICQqq6d9KQ3tFksMUJr3MgMSMS5VHGGOGoEytpM5gz3PuC5ncuf-7ojvohNw7EtzShmxJIiZejAuFaaLHwdVusNWzNRETmsN66LZL2m3q_hgzPfBCyZ584XTfar40imir0wJenRNrw-TphG3xV3_ncHnYbYZdZfaCM1rvhNSTdWcaAqEWlDaVNheDHhJ7EYhSq1uGpPL_vnDw-VUD4Cdi8RSKC2yGM9lF4nX6f5etevDj7ivWeb2wFtwHDfeFG-AgWmsYli8yJ_9gWzPcUB0iR9ZSfM3ftB6I2VGK7LzGZHozQVdYtIt6Y5UJGUgEurOBzjr2Pvgwu5Jb59PEnloliuwU7GyWr3-vlNUPRkKn_-S1ahGabtnLZzK0iAiIkCWRY0UYiM31GOnChqwDlUmrFOEAfBXUqkSOzi2e8VrrKBefXj-QcNI6LI-t7PRTZ9GmCjpGl6ZizeKR28Ck15nwCcD6r9yW31yiA_mpCNOYlypfkf7_wJSDVBlUm8D-Tl8mAU70ACcEVb1sWal94jrHJv0HLeN5EFqq_o-z2C3dpKCGqMxUdh6_FKzZvA6tdKz5pcEPucsnTTNc7yTWZOwtiTSA9C7vrRh7wk232g_m528diZ9IWOI=",
  "id": "rs_0c38b6dc6073c0aa016ab2be5e0ad887d0bc26ff7932922512",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.04,\"left_x\":0.435,\"left_y\":-0.129},\"note\":\"The low sideways move did not bring the cap onto the jaw centerline, suggesting a finger may be nudging it. I will lift clear and finish the lateral correction above it.\"}",
  "call_id": "call_uOERgTG5yEBqUTtFr8riOeON",
  "id": "fc_0c38b6dc6073c0aa016ab2be5ef61887d0b13a80b218888466",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uOERgTG5yEBqUTtFr8riOeON",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.239, 1.9339, 0.7746, 0.4458, 0.2516, 0.2565, 0.9961, 0.3351, 1.5742, 1.0542, -0.2577, -0.1616, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4269 left_y=-0.1456 left_z=0.0005 left_yaw=-0.6034 left_pitch=-0.1172 left_roll=0.0424 left_gripper=0.9961 right_x=0.4027 right_y=0.1741 right_z=0.135 right_yaw=0.5704 right_pitch=-0.2087 right_roll=-0.0265 right_gripper=0.0635\nstate[joint_eff]: [-0.6632, -7.2821, 6.2564, 1.2918, 0.2418, 0.1392, -0.0073, -0.2256, -7.4598, 6.694, 1.536, -0.1294, -0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac411d67736545d58e4179217da466730f762db8c421e02a2b0108195e45bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1329ec9eb75c62e311cf9d29274d19a670331ab5720e0b7a2e0f2101a4842ac4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b78164405192a83ab5984e74cf817baa02703892a04ef9fd5ad222e2f53f3387",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2848, 1.9266, 0.7593, 0.4583, 0.2409, 0.2371, 0.9961, 0.3351, 1.5742, 1.0542, -0.2581, -0.1616, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.418 left_y=-0.1625 left_z=0.0005 left_yaw=-0.6296 left_pitch=-0.1148 left_roll=0.0354 left_gripper=0.9961 right_x=0.4026 right_y=0.1741 right_z=0.1349 right_yaw=0.5704 right_pitch=-0.2091 right_roll=-0.0264 right_gripper=0.0635\nstate[joint_eff]: [1.2786, -6.6256, 6.8034, 1.243, 0.0269, 0.022, -0.0024, -0.294, -7.4325, 6.735, 1.5116, -0.1148, -0.0611, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr5nLd3CMQUN2s-Q802loZEicq0d7h8AJB6iMtGAaxxy2wcWBnxZICOc8a6YJPVxLgqc7xagglSMpvTb3lI7XSbOGawuuddvBJsW0FxFRS0L9To9TYY-knbJBC2rU_jC5YFeFcvj-04ZliFWl8Mi7tVNm2z4yUmijUnFd_GAx_Hk4mn64DjnmN-FMpKDAzHGBfnw4A-z_c6uyKWqk6Gda_T-tansRAkZOvFCSQ6l9P-kfZi7ZYdbj84GVfYiLLYWrrWVTHplcSgNSSg5etIDKrDPyPri8HODP9FywukMWCJKjHHS6_LYc5tI-oCdbrYeOhvz2YBCAAPQOTSc4pZYB-XYuLeilye4iLXPg8sHs4f6nexSi-UHhl7gU-lNWDt1tRUbSiuk6IiLQKmZrAdXHQ08N4ByUr8ZhDhT36ZRk1J6tzZEJVUErfq16_SlRGeVVjZCWVvOR4iznx2GmZZ9FeuXktFpU3EswdEd9uRhs-Ul6Y3Dmx0tIcTEEjdJvEM9ezEpQO4KqLj17mhZMFFCYGvkqFf4D7aXrLvX-r4pWdit19sMPsxmd-ne9lCulYo4Y6x1agKCwWSh9lrdDr6l_0_dtCmYkANY3jl_4h_Ujw7r0uWf4F0JCp6zZnEI3UDOOXnVP7gd2lckyDBtF923sZoBBN-qYrAQx9bbl4syLLAD9GeXiDbylQgCk-s1nRy68cDTUGkcKOHTM-hDAkufcbPLwcKgSoRQx2Cdylg25P4oUHgEnmXp9HUc-9998Oj97WIctB6mdkbwWQLRgeGnyKDfGAxp_YxOwsk8BFuUX284nqTEfPYydWp6nYtq2JkUC9HftgbzDyLZzfrjau-mMJBCS73Ny-4KefXDnMT8uOaHoo2DzWP-S6yDB5ETFNXj0z9Va9pEPt3kqOIYYQnNcJ3lw_abA3s6mFVhq7Q_4vGsCdRH_97mr6PGO4igF_r10YwpVgMQGpYQj4B11hve_ZxKEtOjjZNXvf7IGmaS87LEmbfVeccQnYaSgpQrivFyB-hdNxYTEKXk0XfOlYrzprCbL7YfAGIFitrVVtfwLbQgi-ECTVYthk0bpTNb-0p8cPYOctBbcw2Z_t77pSrcNlg6vN-2-0lftQYWTQEk_vmVOJ3Hl_9mv3JxbJ5ZcSDgP7Dzc3O_OL-9_jLTjSMkHR3AunMXF6IrtlY9iiYREWGUObnyPESO3Fc4R9ni1pxcZwI4UWofmsIyQPIXsflcYG7pMGuG7_Gt8Ov_GQxQxWMgFaqUgHbZwWOZVVZubX2Pr5TQKXodq64Hi9qulbyF0unHJXjzNgS2SYqxUB1_QOtJfFVgJC97LDt6xIx1FvyZszQFIWmEQ4CgGPNQ_TdOKGLnYXgRN-dAoFxHKaPqwQSBICdJhShXZVXxBX1VfzrLqXPcT5laO_sNId6BoMGY3cSwI1eVvT47_TsMV8zb8MhdLi9hy5RhZoI3my3mQobnnMlFXNFiEItzkkaTLc4QABHLStkGycqUfLwcQCcu1T_1LKbgtbuXGry8vgPwysGGxFyHOizLkvV1NcKLYMFIEbDy1Lc6oYsVne3n9dn0NRwBNtvQoeKdB53cr33xrpQ2nw91",
  "id": "rs_0c38b6dc6073c0aa016ab2be630f3487d0b3486b59602992d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap body now lies inside the finger opening rather than off to one side. I will close on the body and check the resulting opening before lifting.\"}",
  "call_id": "call_qBZTeO61OUfSdxqzRRduaNHz",
  "id": "fc_0c38b6dc6073c0aa016ab2be662a1887d092643854a7c5ad54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qBZTeO61OUfSdxqzRRduaNHz",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2386, 1.9339, 0.7738, 0.4492, 0.2588, 0.26, 0.1097, 0.3351, 1.5742, 1.0542, -0.2577, -0.1616, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4266 left_y=-0.1466 left_z=0.0011 left_yaw=-0.6108 left_pitch=-0.1131 left_roll=0.0416 left_gripper=0.1097 right_x=0.4027 right_y=0.1741 right_z=0.135 right_yaw=0.5704 right_pitch=-0.2087 right_roll=-0.0265 right_gripper=0.0635\nstate[joint_eff]: [-0.335, -8.8274, 4.9026, 1.5409, -0.0024, -0.0562, 0.4371, -0.3624, -7.4325, 6.7624, 1.58, -0.1343, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c99841db48d5121be14f5a53eb2e0022593bf22c7691729916c6d71e6d1837cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260cab3e70883bfa393cbb7dc9fda581958154fde466c0183f983949a740d59f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b76fd96ceb3494071c7adac5bea62b0dcf7e0324e0c5710f35f7bd9493d8dba",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.239, 1.9339, 0.7746, 0.4458, 0.2516, 0.2565, 0.9961, 0.3351, 1.5742, 1.0542, -0.2577, -0.1616, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4269 left_y=-0.1456 left_z=0.0005 left_yaw=-0.6034 left_pitch=-0.1172 left_roll=0.0424 left_gripper=0.9961 right_x=0.4027 right_y=0.1741 right_z=0.135 right_yaw=0.5704 right_pitch=-0.2087 right_roll=-0.0265 right_gripper=0.0635\nstate[joint_eff]: [-0.6632, -7.2821, 6.2564, 1.2918, 0.2418, 0.1392, -0.0073, -0.2256, -7.4598, 6.694, 1.536, -0.1294, -0.0415, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr5sX0Xe3TTOh63vdSXamdOEUNjTGLZoUHo2X0tssV2JoH_MTMmNsvvHq6RNLpi2di4O9_cBYa41Bx3Kw4smah6mpkgsfmX0eG0l_J3JJ5jxcaatdN9Keu_5xAzR2WQxmZg_oCHCcChbdeM21x0dGiLdxCuDTc6yCz2QDa4eq0-U9o0gniBjX3eKaMBl7XxGZt787phyGEoa-G40yLH7xLd0R97wwLrDr774r8dGvgg1Ni-bhjEjA1pStTvUMj0EJN6dTfxKLQJHSzgSzGlnL6sAdyXM_1_cVel3xWyeej7QoJTBk5aAEZt7m-ZAtym3dcF7IDSkUS-hVH035VyHbVieR4Pjr5jl-Pc78GRFIDVdoMKR5NK4uEUuKQXdr4bODoNmT7-IxbxdZbM9cHvzJlIKbxkZybWYczixF2T6SLB0ip0RQ8j6nJySq2SBm0QWFIKWuqoflQb3E-q-HqN5pRwmssuOby4myspHnTQ64fsQABeBcOL4h8JcJE19fPtoz_2C84cPKOFdaK-Zf2h1rLIA9_B7lvYOKiucM6KSPlzfD6mA0jJs8nqgDblkOap8Mb1qjHJd90qIUopmgJpMagccpjbjEEtr4-ZKM9Cikgnij7fCXPEU3Zgb1PjDX5QWIzS-OG9jigouQQkUy2pjdchEQQhssp7uFTz8YoHwiAsM4MJWQg8yCaEXh2gM1s_15CfRDLLtnbFZP1z_l_DG2nM4XUYgPJfrRg3E-D0uXYbEZkF16ERjXwbnknTcoKvGcpmxZ6J76fmQzXJsaJq_Fkp13JXqlhpQSHErOQqcn2TOHTD5l-zrn1wM8zbmBPK-dc4jFle5FFs8sz3l9f7XFLwJutIIyyNMT_VLaEv50HmkRdoTDvVW6ugRSowZmrVBiezPjI_uURYImSFwzobgfw7EQdCHp90c064u7aqyexMcYUCgXaf2D2WfZ7k0bF6BO98waJka-ptjoqIifI5hfMp4A1MtVnQeEmQhig7esp1PPaBOTlZbs_BYUFgbpg2XDpbi8hSO55hoenF6ddMZJUhNCws_8krIbqlaXvg1hQZbfCg3rrK4O5o9mn--gtZpkbn-BFYUHGxOOeU1kWKci2o9vxBjY3VbYjOpMcylg4CIbSgQ5POmin7CrBySbJ7oUdNcQTNKUipZsjp9dMLxCMur2gA-9fa3TqaNy8R8umWKt8Gv377bibjjYvkbyCNPVinr",
  "id": "rs_0c38b6dc6073c0aa016ab2be69de8c87d082675ab9d2a7d29f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085,\"left_x\":0.41,\"right_z\":0.18},\"note\":\"The left opening is about 1 cm, consistent with holding the cap. I will lift it to verify the pickup and restore clearance under the pen.\"}",
  "call_id": "call_wiNkkySkQfGrV0RrQvr2YDFQ",
  "id": "fc_0c38b6dc6073c0aa016ab2be6a388887d081a61d1791c85959",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wiNkkySkQfGrV0RrQvr2YDFQ",
  "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]: [-0.2466, 1.6672, 0.7979, 0.1539, 0.2584, 0.2546, 0.1125, 0.3351, 1.5726, 1.1652, -0.4164, -0.1619, -0.1928, 0.0635]\nstate[eef_state]: left_x=0.4081 left_y=-0.1456 left_z=0.0685 left_yaw=-0.6158 left_pitch=-0.1173 left_roll=0.036 left_gripper=0.1125 right_x=0.4006 right_y=0.1735 right_z=0.1548 right_yaw=0.5736 right_pitch=-0.2535 right_roll=-0.0156 right_gripper=0.0635\nstate[joint_eff]: [-0.4581, -8.7316, 8.7863, 1.5995, -0.022, -0.0611, 0.2906, -0.2667, -9.9897, 9.6615, 1.4676, -0.1197, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf516e60f94c232d18de8cfebeb672eca3e451fde5f8a018ab8d279b1fe00a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec0162aa6c1e7e38ec859cf163478c4040e481622d6b6f26b8f7a9353654f5ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbf4c15314b23dc2c9e7b6aebc872c7dc66083b89cd3564f57e7f324114e4830",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2386, 1.9339, 0.7738, 0.4492, 0.2588, 0.26, 0.1097, 0.3351, 1.5742, 1.0542, -0.2577, -0.1616, -0.1921, 0.0635]\nstate[eef_state]: left_x=0.4266 left_y=-0.1466 left_z=0.0011 left_yaw=-0.6108 left_pitch=-0.1131 left_roll=0.0416 left_gripper=0.1097 right_x=0.4027 right_y=0.1741 right_z=0.135 right_yaw=0.5704 right_pitch=-0.2087 right_roll=-0.0265 right_gripper=0.0635\nstate[joint_eff]: [-0.335, -8.8274, 4.9026, 1.5409, -0.0024, -0.0562, 0.4371, -0.3624, -7.4325, 6.7624, 1.58, -0.1343, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr556J59P5pJRoO5swMQsmGqMk32lopsbaBY4y5YCXMG7OuxJAEfdKx9Fne81d_x9Ysl0tMLflLcLGvQWpJfszQaEbgFL87NoVLpXKASkiWec2sck7F8TbOuWS5ehUKjLreRWlx1zDDPFporISYndB3aMIAdVtmGrhayYR6QRWMdD-sKjvIKWGSh0oDyKzd1XDus3zQUrnhTU7Y_6Z7jqU-YWPXjFu6qRwcopxK5tsj9Cqt_F28tqry_IbQ5ZCQaXfOX6zSkqKoIkxYmpwV3AJ87FbPsKn6rmvgc6XSqFwbi7l4X_b7Debj7vRfJbNk5PyzC7rJM0rGzEzihi5t0lqqFjZO5hRPIbOHeMzfyZ6NVHPEzG8BgmpPb8wfucFnELTA27Rr1sLQ0gHUGG2pXO0zrjA6sBEGKll8Ny9XUOu-ZrzIqi7wellOkxONSnR4_dXtBU70J18ULYS8bjt6KbDh-9wWHJ732p1aAsENMdpY2b6fbFwX2tXYM34ELUwwAa6WKKTYypr5bZGSWYfZNljoC9TjJqe5tFigIFGACgyHCiEodhf20898bS3sjg74yCxUycI0-1Q_hncOt2FnE_K5Jg0Y-VQB9cstSQc6pj7TjUXoXukS010PHncCaJTiO7qmSWAX41uI19yCagfIsE-bUpzH_OcZAMeRr4819FXTBsAyS9ePI1TysXvsMyaId2E9kKDaYcUzsNSuMEIoeZ_GASU6COf8BxGJG8qryhgNNE4PG3DI9tLOJcVzL10r3naT4izvk5ggq29lE__nNI21xzF8rshZn6wPF_HoEDLhap9283XsQ6Z0jbewNUradiHwN9pzvsttyyz1cfFJggVY3B1Mdbof7_0vEDzk5iF_yFnHlXejf0l146X-VpSDu8e8BJ600vCfj8V7r-rxzNBdXkgivaDVZIANVWwnuk6p0QAgNYfCnSvLE1cZLRBjAcGTvSIeQfiZDoN_5eLRxqqcloIhqiElBgBNoFGL4Ti9rO0qzKflLW_6Wi1WuJgQnQg596ZwBJJs-t7iceikssD10HOsm0Oad65OxQ06E0YaCXFoR1gm_rzf0ZK4h8urWZ1JuYRE6zJa9y5jkjkbzTYC7bdUPDWxN6kzyepphVEia9MR8T-7bgpScHsqOBmP-2oqDfRskxWt3pQ4S00jxeNFZdNWWSWUOuCGodglgHwoP9ybMqMVRgz5Mj21tFm274FCQa1-vLOIVPx3hX5FP4Fl8BwBOzTNGtwVrR4i7Bgr5t3Rjzgd1-PIFRbsE0LYFbnwWMlTT_LaeHTJ16pWy5iZ0XVVNn_FXwTGf-cLsmf4d5-ZVGcghWQRVi9T1bSf3HVQb9ruTnlS7CWBN_4p8oYKydlykCkPkjUVbLCbdeW5nO9weVV2KehHXdpvrNi8obTTo5SAH-DMmLkxrDlHge7I4I8hWaMURgZWi0U9Ur_Zlx5Azs3hFJDbP5dhICOJ307tK5PpSgbKduGIJ2JoJ1SPVrC6EwFgJCZrEvF7CHD1dhYtmTXsg8szIz0Og6Gpe7ne8x-zi5XLu0ifMEeh3heTk-mNtWZFbo6wsEUEq0vCQxfja4EAjHZud467aT8gthix3YEm5Whl0u1vxm_c1o3xlGylqVK7N74RsGO_gwFutp3abszWmzPLy3mnpgERh_gY8w-2p8_xCp9aMvEoFnwkOOt-kkcuRA8d_EM_tecdt3F3qGoMb3hgcc_CCRoKRG_hR6d7k3XbNdEwSm_lFBGjolTb9s3TPkAd00UZteW1H8FJy9JeFja6dxgSJfMEiEoP58o661X6afJNiUUYCvtkN85f61RDr_PksR62Sez3PBjk-AXADObtZUlmyrh4wqydA7SPe-fhULJKZeBK-wCvJAbqpMk1ycKnxkm54EvMImUZbET6n1ttIxUV5e0O8qB5UDumx-0b9nYRc5PMSSCq8xTm0UhOcDXCBQvdNgqXvnOeXu_8LgItGMXVroPquglO7Yz7IUTPXY0iGYo9kUnFwB5OEyGodMR1LhJ-J0EVrEsR6tZJSpe4SF1Q0GZe61vWSjj7TY_9As8fxlQw22fjYmYvNRabtDj8Ij1PJ5TxReawQjjFNjB91zJeLTcYhWkAPCnFiR_dH3BJ00c86E7F4M69CgNiLauklcN21zSz9x2NirwrQXuvD-5HR90w4ty4Q1bBd960-Mh-CbH8l4VxbEhyViCoerFr40OwgKNqCCVUK1dtEvICcvTTkYhdYW9AqPzJrRn5zkNc4BdTvIo8rz14I9C8BcuBkAeIz7gZ9w5WRf2kc-U2Vmy0lXPLa7iP0MfoaU4l3v6ZWxXG2nmmXR24ulgEaZCZd8cAnv9cjbCLGOWDCQbiROXi8pkWekvwLa4WLL1c2PxU_6qBFEIz85K_piyDwrf7j9tBj9iwb7tckvXMkZZ38oE7d9mX66aCebIn4pfTnsh1uSFt-f-5Ow4vz8NYU9btxp9CjuXGI53n0Rs1M_Wv0rRbJucnwfHCw7IeniLrBY1wUUYuwgN_RI4KUahuLTEgFsJ5gk5TFSBW7Nxgud03NJIwQwHV5p6nKagBahA4JA3OHARhwBxRUqoM-A03IbmF0_nGpuRk54mo=",
  "id": "rs_0c38b6dc6073c0aa016ab2be6ed90487d09e9c85d9059e762e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.19,\"left_z\":0.18,\"left_yaw\":0.4,\"right_x\":0.36,\"right_y\":0.22,\"right_z\":0.18,\"right_yaw\":1.4},\"note\":\"Both pieces are held off the table. I am bringing them to a common working height and turning the pen sideways toward the cap, while keeping the hands separated.\"}",
  "call_id": "call_iJ9vCY1x9foKpi2jJqmrUsCK",
  "id": "fc_0c38b6dc6073c0aa016ab2be7733c487d0981028c70bca4695",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iJ9vCY1x9foKpi2jJqmrUsCK",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8009, 1.7073, 1.3533, -0.6369, -0.6914, -0.8047, 0.1145, 0.281, 1.7542, 1.4998, -0.8341, -0.593, -0.8658, 0.0683]\nstate[eef_state]: left_x=0.3754 left_y=-0.2203 left_z=0.1726 left_yaw=0.1903 left_pitch=-0.1299 left_roll=-0.0175 left_gripper=0.1145 right_x=0.3759 right_y=0.215 right_z=0.1762 right_yaw=1.2665 right_pitch=-0.2691 right_roll=-0.0348 right_gripper=0.0683\nstate[joint_eff]: [-0.1846, -8.5675, 7.8154, 0.8132, -0.6227, 0.0122, 0.1929, -0.5949, -8.0479, 8.0205, 0.8718, -0.5885, -0.1148, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e85e23c1044e042a35eca9c28c3def740b463b403b5190c53d0f267f1a04b90c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8307b02334f6c46534985ff3be2e0a802ac9bcfc14ebbbc1d65241bdffe7a47c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e3cb4c68cc791b29a5b7ea25b479e5918de19704daf00db8711b564789fe37",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.2466, 1.6672, 0.7979, 0.1539, 0.2584, 0.2546, 0.1125, 0.3351, 1.5726, 1.1652, -0.4164, -0.1619, -0.1928, 0.0635]\nstate[eef_state]: left_x=0.4081 left_y=-0.1456 left_z=0.0685 left_yaw=-0.6158 left_pitch=-0.1173 left_roll=0.036 left_gripper=0.1125 right_x=0.4006 right_y=0.1735 right_z=0.1548 right_yaw=0.5736 right_pitch=-0.2535 right_roll=-0.0156 right_gripper=0.0635\nstate[joint_eff]: [-0.4581, -8.7316, 8.7863, 1.5995, -0.022, -0.0611, 0.2906, -0.2667, -9.9897, 9.6615, 1.4676, -0.1197, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr5_Gkf9nHESdZ9TmEk0WYfmaMVFjMG7feFPbfLGbPbz3RhqjKWuHPpJ0F8V0D8bAoSgf_f1Ab1l7AijB8tidLyGssxejhdGDVJE0NmRRJDyi_9XRI8HjUfC8-hzmGYQVvYiMA46CqlElOyg-QQhYJbpMlPeIvR7zvs8VH0JhXUI_Pjnmuz0AwE5ojqpMuySVTs_ASbvkg_nhrkqcoFh8zAlBHqgYLOw442EVButIQJfnfEItfk3cGXP4pnSaSRE_nzVYsyLc27H4KpuJ-QvHYMOnJp7oBYM_ahDfmXqQTWG-YuFhKqdq7WKu2XqI5o9L5ODVaNA_uy2ljPetUsmdrUPsIsDOjrUge-FQ2goJrwAZNMFle8uEHqjM8-otr4xy3ePM1vLj-pdnSXn-hxFa4YGf49VsosgkcRWgLLlfVyVwYweih6pjqAetUO-dYj6TVZhHbRWz_uG7f_j6N-nb43mW-iVTONrwey422qDfF8w2Ceg3kAp2a-O_bHS9HcUXcaPREkQuJBuUhCzfFu3GGfAclaau9CezhEdox2-ks08E3OmsvgQzQ2NcbaYqV7xM0vFYcaxjicLcVIXHJkzeJey9W-xaTqyYj_SZ7NgxZfKOQHai4BPjgCEy49lj2M7d3xZLJa6EByb5UR-b26ZSqzSLmKoLgpK6rsiz8LneThw30S5RH8w5RPLsf74Xir7cNPH9STFnNL1E2mIwsR0oApVTCrJwcDgNKjnSXFzAIdo9KvdN8rChSy7OfTyDlv3l0mqSuGmTVbZWT4EZ4aBTxjtzKA4QrE9xB7255k-3KVv0rkiQEeFYX2W_XdFwUeNPofq8CSrgW8RZn8NputcfvvI_cl9hokzQaA2Hy0rKNkODDDqBS0sBIK0VAH0fa_MNQHrH0vCYl_EkHFRVxgormLqHGYqWHmu9PhWfWsUNHNgvknaC2duENuXF0q7yEMKbL4Xt9rQpbL1k3x0s1qvySP6VdNPZZKbrfNcfk2tHCPhJCoo0UBmKLYMm6jaBnT89ibb8v3ZruzII8EGut2W8SkpZDD4wMQafAo7nRdnuzUvxn4uabOUTr3bUT33Ubc9StgeIzZ2rUzt_h48pispc5ozt51ZQgYx1Z97JW2b4ccgTThcoAefnEwyfcUOkiY_LzkcA02PZ3wEc5KSfzIDV1aMvc33BASqzBpxJUdMLiS03oREbFhmhsPQAXVwZ-E1Ctc4Nr2bsLmONZw3BCNiVTjlVU2YzXigIwu8rIFexJ5ZjiCv0j8s-3l6Q9X2Fc-t1rLvPn93Yng3geOVCFnyyImzLuGA32YNozwpvoiJ3rGQE-UZNXNP1nKWFmZ4fLcEpHooFcqUgvmmKRfXwdmle3FY2A==",
  "id": "rs_0c38b6dc6073c0aa016ab2be7bbc3c87d0a6ec112b8a146672",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.19,\"left_z\":0.18,\"left_yaw\":1.35,\"right_yaw\":1.57,\"right_pitch\":0.15,\"left_pitch\":0.12},\"note\":\"The pen tip remains securely exposed, and the cap is held lengthwise. I will finish turning the cap so its opening faces the approaching pen, with both pieces approximately horizontal.\"}",
  "call_id": "call_0aMWk41aPqXCd2pqj4XI7b34",
  "id": "fc_0c38b6dc6073c0aa016ab2be7cd79487d0872466eeeb1c9de9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0aMWk41aPqXCd2pqj4XI7b34",
  "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]: [-0.5613, 2.2341, 1.8145, -1.5558, -1.0031, -2.0708, 0.1162, 0.1368, 1.8946, 1.4437, -0.778, -1.0637, -1.2106, 0.0699]\nstate[eef_state]: left_x=0.3906 left_y=-0.0654 left_z=0.1236 left_yaw=1.2591 left_pitch=0.0534 left_roll=-0.016 left_gripper=0.1162 right_x=0.3775 right_y=0.2115 right_z=0.1628 right_yaw=1.5291 right_pitch=0.0811 right_roll=-0.0218 right_gripper=0.0699\nstate[joint_eff]: [0.2667, -11.0427, 5.3402, -0.5153, -0.7009, -0.1392, 0.1685, -0.8, -8.9915, 9.1145, 0.6129, -0.9255, -0.1001, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb886a9d5b507c8ee61fe8e2457f4a5e488d8355415d969a19eccac619dbe6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66502379d45ecb22f853934178327fd3011802b6823260fd8ff22f9db576088a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6c561866d6a40bf53e1c8429074434adee117cfc7efc4ccf64f1d3196c37f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8009, 1.7073, 1.3533, -0.6369, -0.6914, -0.8047, 0.1145, 0.281, 1.7542, 1.4998, -0.8341, -0.593, -0.8658, 0.0683]\nstate[eef_state]: left_x=0.3754 left_y=-0.2203 left_z=0.1726 left_yaw=0.1903 left_pitch=-0.1299 left_roll=-0.0175 left_gripper=0.1145 right_x=0.3759 right_y=0.215 right_z=0.1762 right_yaw=1.2665 right_pitch=-0.2691 right_roll=-0.0348 right_gripper=0.0683\nstate[joint_eff]: [-0.1846, -8.5675, 7.8154, 0.8132, -0.6227, 0.0122, 0.1929, -0.5949, -8.0479, 8.0205, 0.8718, -0.5885, -0.1148, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr6LqZGtfeSzK-sYH6vF17Ndmipx3sBeC1qoRNn_NESU6xGrfslxjRof31vnlx3uAIlXuMZW61HV0zyR3xIOqiODpOvBIxwJgMkV67V1Ai7jSQgyUMmR67Xd4KpCpBQRV1zAuSZPdbqM8UGEWGsiw3qTSgM2Lzrs4763LIevMDRVwHxwSS1Qmo-ElNL2Lyu_ODTarSvwq3vMikEMIYlu_sLOQxzp5oCsHEU4cG6tKz52sHineN0brYTBWILKIZxhPgYYj2UroMhNVqOY3lhphDsazU3lZFs9h6yCBs47DxXLeNbXKUTxz6eN3OBeiae_uYeqv32yA6Qgsjut4kCcfaLVoPkJHIdkrqahiSarAezgdIh8d3NKlEmks8pLUTJ9IrxPdLne-XigpQWuE1vqpRH2fMqinE4PScVpJkL3RhTk5a9ZlaBu-ZNMP0F6twgsbn7lGfqB6kL_ET76brjMs2mDGUFCpFgH4ZyBEYZ83DplpZQjjxgBHYzsBFslUdOa-kE3mU7gU58gB87bquJMDWt-Xiorh-sbjpONbNGpZzTuY8HQHsSlWnA6isCieFSI1_EqgTbau4NjR43-5lewIsGcpAQ0EM2FI4opB8QMwMp-5hNxOVo0ZlKVgb8SZ9SFuMgrIEoThrh8JnGWwQmFzipsqXc0RoYiqFXfQtSNUK5CvcZoMPeMFU-2XOrIiCOpDx5O4QG9Eyh4P6dJ4NCX3HPoMv1srFPqMj2omo5C-p8M7Ao5cZAWqVeuCF6rGvOYLXzDY2SFPdTtq9IiGFncPWpNym1saLSCfCXFT1UAIRnXbyXBASvxEhiW73GHdEom9SsbGq18H0vkR-iyEFE_S7UIDl3YTlQNqVEFW1qgkB7Hlhn1xP7sXdiMeuseg0aF4VczVJ-6zwWn8jctBp5X3FmcnlpAmRZyx_fMm4cZVyVZ7g6F3kkOiAzjhGPqFmzrEW1GJCdOvusfRsPYP89cC5EW6YUZ8QiJAZgZ8hOHhYTwoBEY5LMYGQ0E85MjP3CfoEIkWAEdCAq3iz2q3G_OCraTzpcTH6HhaLn0vcyg7eZoCCCOx6qGSiJwjyg7QAcjvkcAC1010PYU1RHaFi-BA22V9OBTiMu9YPwyGVJ9yBU13q1DSrsaf0QtRWfjPdloJEh0o-QYHadnjYUxalHQfeLL-0wlFWRy6r8QHP_oM6tB2ZJr7rwCuis0yCUq40Y_tKctTVXQd1-5pD9hqiTd9jIfwf8HVTA6y8C5o4-q4amjG_YxcHzPC1lkvRZA1agoe7HE_LckSYS2n1il4WxNR46SSAWRodD1KUYcWt5JB1vY9Wb7qvcDP7Ptye4ivW1uBIRqWYVWj5O5QD6Yr9prtbADCGuVpY3wA4iLnnqa5yA5XdBW_VVUYlsAaqZL44NR23n1sSWpjp-04sZu8QlLl5osRo5v6iYQjw8eDfC7WL3Ddd_fMjUdvdPBARCzYHNMa6gDp1e4xBPgZTdD6txbsaileOOy3YlaX4Z_9u4DSme7G576vFR6p6mG71a9gJguflBaFXFymGzghAZLAR-JUOUEvWXl3sASbFoh4trMZ4YfzbsY3RNLvDSYQhFhxC49U4S6sFcZCBU7IDzKJ5qbY6ATjSXZUP2GXdBW-VMSHcbpLXJ72z04SoxtWwWIcIbd1ooj_WJla2kzcluy0t-FCFZzA8m3ALDnkKGtANZXCPBOEY-_6L78YhcJKoFEptwsdSFd2S2_STtGG7ZTOKYeqwlmkTdLbQoiALILfUgQCezJBMbKcqFlFPzq4KGB4tE6iGPIphGiqrlMKW7GQvFEJ_3gFLfaSR06mJYVxUK7p_BDmeiZbFLj-uZWF8X__13cCBQhZvY4VpYzA-XcYpaGpRpzvs0s0CCvZI9dmiaKF3xKYrsZ1r98yvqPCX-G41hr5K5u",
  "id": "rs_0c38b6dc6073c0aa016ab2be82ae1087d0905d3716be9d760e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.28,\"left_z\":0.18,\"left_yaw\":0.15,\"left_pitch\":0.1,\"right_x\":0.28,\"right_y\":0.35,\"right_z\":0.18,\"right_yaw\":0.15,\"right_pitch\":0.1},\"note\":\"The large sideways wrist rotation pulled the left hand well off its target, so that alignment is not reliable. I will instead line the pieces up front-to-back, with the cap farther forward and the pen behind it.\"}",
  "call_id": "call_1MARPpIul0qaRckxMAqMzfxG",
  "id": "fc_0c38b6dc6073c0aa016ab2be886a7087d0b4cfd45b3a6924c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1MARPpIul0qaRckxMAqMzfxG",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6918, 2.0026, 1.5543, -0.3828, -0.8467, -0.683, 0.118, 1.1198, 1.6646, 1.0866, -0.2787, 0.9264, 0.6842, 0.0711]\nstate[eef_state]: left_x=0.4744 left_y=-0.2165 left_z=0.1616 left_yaw=0.3265 left_pitch=0.0589 left_roll=0.0139 left_gripper=0.118 right_x=0.2974 right_y=0.2984 right_z=0.1583 right_yaw=0.0302 right_pitch=0.0847 right_roll=-0.0526 right_gripper=0.0711\nstate[joint_eff]: [-7.9111, -11.2479, 7.4462, 1.8974, -0.0611, 0.2955, 0.1734, 5.8735, -5.7915, 13.3675, 2.2344, -1.1551, -2.0391, 1.0085]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233b46907c94de610b7b64c719189920e09f1b22f21974164d1ef8b77a9ec747",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e0b0af9781b4ca8c51a8e4943042e805c9fc3c925ba77dbd3bde6f59c4f739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd7ef9e261c59a10bec2c7bc5bb1a382b5b1d3db0c29445b03e23ce3ec5f3761",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5613, 2.2341, 1.8145, -1.5558, -1.0031, -2.0708, 0.1162, 0.1368, 1.8946, 1.4437, -0.778, -1.0637, -1.2106, 0.0699]\nstate[eef_state]: left_x=0.3906 left_y=-0.0654 left_z=0.1236 left_yaw=1.2591 left_pitch=0.0534 left_roll=-0.016 left_gripper=0.1162 right_x=0.3775 right_y=0.2115 right_z=0.1628 right_yaw=1.5291 right_pitch=0.0811 right_roll=-0.0218 right_gripper=0.0699\nstate[joint_eff]: [0.2667, -11.0427, 5.3402, -0.5153, -0.7009, -0.1392, 0.1685, -0.8, -8.9915, 9.1145, 0.6129, -0.9255, -0.1001, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr6Wb1qxVBexLDwevPTFqy3gImgNwWwjtY5OBJbPwnY-bMnej0m3m5vKdeU7Y2B9DvTD7h8rrLnRd2nynws-T8A2wym5L-I0UMEvDfrFQF1LL_yK28wtbNbHF95GdVgIwykIZvl6-xlM9C-9n1ciyoI4Y6zPkHpJyS0kPRCO0ka1cVfCKKoSQ5f8orqkt6cPKd30ZdOzH2fOTlipVSnbavl6cV6g5nDcOomWsOeezrhRAitBh62aoFLw5-J4EOmlQ8tnnuDexcvdrgPkefhD-pP_CLGs-TgQGvWqP6VjrbcyA1QiqL8Z94UQQ9qbkpmH8-aFdP5JZXiM_j4HaE9eQoVOLRFHxl7je18TnGtDCaize7zv08AZriy5A0Ba5eNO_jlnj8CkEunek90vnNx7TBDqKCG9G3op7DOykoDkW6JDMJEBB4n1nLJ5jX8iTyRCa2bGxn5xcdYjfX6wq67ZRlQRqramJ432UgWjuRugctGfmnNWW1_QV9RAdtC1F1Sr9aupJMXsCoKtAB9odWCRuHq5rpLbfERejZBm_aiWrsp9E8sP8Fq2R1K0I6GfWHmS-rCzN5q-8lrfoaspg7GU0dBqjGT-VhRM8EghkV2wa4gNgVecdWdnqPNStnXD8HYr8TV2oAc4q3HgxwOH1ytg0mylAT4bZ8MEQYxP9wCYTaHP28_5ljZPSlCyquMevFhLTVUU2AFh-uH4DJpR2HyPD7K6H6mW-oJiqGj7PmrcerZgBlhyWwMROSMw1RQoEcwyiNXddzf3yTNQfnUdRxjxqD_5ge5kwDdDyaL20M6SaT4fNMfSoxMv6CWUx_WFWDaxxEilPlZQ2oakyJ03ke6uiT0m_aRJAdNsHknJFSTp41w2MZkdjUD1cqXqk2dsDnhAMiHtTXED4ZRrEa-EGRlUCZtrwCoiv9SEe6-hUrSsEPLUKUOYayicwIdZBiZgGHYqd63vrxZCZA8flpSZFko7aLqpwuzxDQ2papH0eWAWsHJiV5605pInW0v1lo1k2OqgXHFDK8wdQMXagvk-C6phu3RETLiEVdlctFbCi7luEvNLc4f7WFoikbDbKa-zlr49Mdth63o96lcF7KHQp9ZQMIL9-Kw6z2BGV7hcW02CGkg5khQBfNPrumKKxPKyufHUbYCauT4ROZNBK79ml_Y1QzIS1pl8mGDLCoxiS-npwAv4VQF_ZkbnZmMexrw05n60yaBIuMpXYioKlox2-oxAcMnzsVXUIwp4BVH-yFyzY_7A44R_a88EVFdn87iU9fHG1DFPg5_gETrzFQS6svYm_GNPrU8IrGzidcxXoyvr0sWI8mBd59ieD1WeZ07rwlww3BmiWMDL4HJezrM9beTMHJFoIu1qX7vQ1aScBSuPgqjJ199lqrOZRptKTEI2WELywDL33gTedk6R3RM_myYVB5zQ683wfbDTvPpf08RPh0ckLrGm2U-TbQMis43P_e_-22IpUsJ3NOe1LbpG0jCSdq3CtbD9WAHssZBm9ztE_Ex5KFVzIgUVz0yg0krmC7_6AJrlTZvh1ClF_YtPBF2VC9GUeA1RyHB56vfw23YjgYG6qJkk-3Xy92OIumObETeVsC0YlbGzxH_d01mtMxRGTbTxro_BbqIHUW8LhGpBjq2I5TWFdA_jShE72U0zEgGvTSUBtUuKJ_b0fCQH2K-cvkxyiaf39qlgQ1YNGGXEDJax7BWH4S8-FOC7_fTAnvT88A7MVR40S-L1vNHVo0mVfFxOSMQKYWZG0JS7r_kYRdtSVNW9x0Jq46L0L9GyF0M39_uTIRXZoUbiTHM9kIjf79sgpE3kh39gfYmFTVZVRe4s2Oqmz4g6pIyDRLjKniiXsVTC",
  "id": "rs_0c38b6dc6073c0aa016ab2be90303487d083cbc10cae59d258",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.29,\"left_z\":0.18,\"left_yaw\":0,\"right_x\":0.29,\"right_y\":0.35,\"right_z\":0.18,\"right_yaw\":0},\"note\":\"The pieces are oriented front-to-back, but their measured lateral positions are still offset. I will correct that offset while maintaining about 15 cm between the grasp points.\"}",
  "call_id": "call_VOomWguir5x87dMyzrFdZSEf",
  "id": "fc_0c38b6dc6073c0aa016ab2be948f0887d0a441ff7aed10c2e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VOomWguir5x87dMyzrFdZSEf",
  "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]: [-0.6804, 1.9404, 1.4963, -0.292, -0.7185, -0.5282, 0.119, 1.1698, 1.8023, 1.3098, -0.601, 1.055, 0.9859, 0.0732]\nstate[eef_state]: left_x=0.4742 left_y=-0.2295 left_z=0.1709 left_yaw=0.1696 left_pitch=0.0403 left_roll=0.0182 left_gripper=0.119 right_x=0.2931 right_y=0.3069 right_z=0.1665 right_yaw=-0.1288 right_pitch=0.1025 right_roll=-0.0419 right_gripper=0.0732\nstate[joint_eff]: [-9.1282, -11.6855, 5.7504, 1.873, -0.0708, 0.3736, 0.0904, 2.5778, -5.9009, 13.6821, 1.8046, -0.442, -2.1074, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9cb266250e67dc095f59f5ddf259feb8a126226eaa0148160da4455e73c5283",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcaf66b532e4e85a7359a5fe78b4d04e07898729192c5d36b45400d0f49ca3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aee8564d42e3ea662559216c406b565cab1773f02999be97434d6b7bf76f398",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6918, 2.0026, 1.5543, -0.3828, -0.8467, -0.683, 0.118, 1.1198, 1.6646, 1.0866, -0.2787, 0.9264, 0.6842, 0.0711]\nstate[eef_state]: left_x=0.4744 left_y=-0.2165 left_z=0.1616 left_yaw=0.3265 left_pitch=0.0589 left_roll=0.0139 left_gripper=0.118 right_x=0.2974 right_y=0.2984 right_z=0.1583 right_yaw=0.0302 right_pitch=0.0847 right_roll=-0.0526 right_gripper=0.0711\nstate[joint_eff]: [-7.9111, -11.2479, 7.4462, 1.8974, -0.0611, 0.2955, 0.1734, 5.8735, -5.7915, 13.3675, 2.2344, -1.1551, -2.0391, 1.0085]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr6kgD5rtz9BAntBZSgplIZWLBk7Lpk6_dvPRyQ44vrsJXRhFKAeuFoqv0eUArXxauxElrwMKZC4ovmQ88pZF6TRaWyfpUynisE9_cq2m6OfpaUoiUQjFFqgM3JJXDCm8HXMAfVbGQlLUEG45Z0Ny1FfGTNFptd2_QUVJPAXd022wlA5ePxaAWKItsFjy4m9mhj-uYsjHyMmvLmg7uUr49upjgikWqe_2m2TaLiBwgCmW4lXdxrJjcoDV9zgazpHCxTyQEePA66fxBnitFQ0i-TjzmMTWglDOHPlXQY1F1RsbMD0l2zvKOLmqYKfIx78x3xZuYYrh0OlyfQWSLCkonp66LzRwNHsS_6QQEUanD_1FcKFKMUYRqlyzglE9rY_w4vJk_kzm1Q-RnSzsXRitdJNcoj4qQjqgCZWBeoPPx7Adq5kH3eCbGof9Bj6iCsKImNWn03MYs84DajDocvl2oxL6EN8Vde9MXluuamO4vr2dDMy2wqfVQ14nCTfSrOm8wh2G3_WXRLXq5ox6bicrSzL60n-xzECsFUwbJ9YhyALNMBNDYNLnpLN2SIjViwtzbSsb3RlSy7nuTHX-Qu2Li0E_3XuOdT-6XXdE2GNzraqRya4sBIgsEXqC0AaOVOqHIpnVtaUAn1NuyzeWtJiaKaaX9tEFIoypWYppBIrCPLzO2jOueeV3iDvSsFaMxCEnCQ2rwIa-PEMLcv3j5BZrwx3w7sMgtsXgO6_mKFlfGE_iEdhg7kqgWcexlUT9TGlM8w6c9iK3h04rJV8-ttO9dTPYtw1Fe0r61jwamAcEmihUSu8hRd4iykiz3E9FKcmjsw_VSwiel7wcy9ntwONHUX8Q6if6uXn-IUs9NyFrSwxHhVRvfx1eF8TtQSKXnGOalHLK9ZC8lTtuF2t6_6Gy9rmNkSniI_2gagf3lCjzNyIu6lcMtD7IUYpUyqs6WHYiKtaA7XVJfGftmR1iVxWs3wVQ9bq4URgPvlZTfPEF5fV29yKGG86675ridgCAZpR1A6ZJlSi_EA_VqtC2nfgnYgZhqnXOC_Bief3UnUMf3XA29-vyk1p1TY_33qUimlFVw8AfP2DI2PFaKrIRbYNZ7RRxnSzmKsrcZuo_QPhZJQMGVct37_8FLBRvcZEpARdjf8VxvwJ-EibokOr0SsYiGgZZsdgQnFM_HusN8292CSK8m1-Lf-V78CMdfVNbBhq9ryZjQ7oUeT4fxQ7IPRCEh-vJB77lmaDoizUzGnvOsVS1q53rQP2JIi-kih3oGUTW4P-8mfPTI1S__1OkqQeKSqyn01ZgbQw7F_z0m1oG6WXeSPPkU3qWiQzi0GEdufvrtwqI07tjPbuxvbNpMl7LJ_pmp7W6yteLZdxY8QgnkVG7ptiZW6oZCkqrKOFKk3DN4E5pq-qoXRuEPFLR8omceKFoDdAivUE1ygAu8LeeMr-kAF_bOjVkm1FQB0F_S8xmUm0iFtmLfS2efHDXvuwTYL6DjI-1bDFpNCoa4-IxLYedPoPAcH59mZ2SuUpKpqHYACsK9ryLYqbLCKWaChDWWhpBhCzUzKwKYk8TaSdCGBvy6KEEsm-hPmQ6c9ipsckhR0REvPt1t4f7le5UzilTsGeVYCqYk5Ns_y91hI5fwI8KIkqZ1BVUqd0asifcKLtmY0DZLmrZUNmGHMSzdyJxXkGxna3VM3uu4jtQLOJvLvKMqnGzXBKzkbZhdPxv_tNtziTIkq4k1l6iGZbKcT3dR1QMxwaQxVuDc1ofK-jKCAGtY2_0b5TSoM-oBklqd6_coQ_xKv1dDhZw_2uYldh1UIU9tow6zIN1NBjvZTptPnQ4Fk1DJih3B4KzhEQCZ65Is9DIEAPGhRNf8SSkEwRCokW7AH1n4HrhSKdnASFfIMSyL7trxDp600IQ0wuPoiDMN4-h6Pk5az99zazf_Rp3TH6Zw_OcGcdWw8cVGsBf36KYHUgZiehFPgcRZDLXzg2Zbg6Gq9EGMQMSI1VGkaxXNepuhnC9SvI8_tVIdYcfS2QGhDYIZ7cvq6PcPApvpxj-vRP9f0aKqQLV6tjALTfgXItqM6PJyQvi55BIbK7LWQaMWMncd4HzDvSFOygSlIQyvW5Gd3sLWzDoE5lpuHJJ-JjVIsad7Uec4rvqFVatiYwYAC2bVsXku04DHfZfZ56WBXArUKXEhZha5snjmGMv_z8Gl5CEcoqzz_LYB1m-nF453oxFGWmXUkLVFEdf8RgzX5TlA0d6OBKbh7Lg93bKnuZAG5EFnYwXgPNUEztY4ugs_85tNIMYGmfs8H1rLyJtLTEUpi1xUUmxzS_gpWKFjjdIskxRY0hdsDWIp4y33u0xVwbkVfvkug3sp2SH9_xZczAwWAXwph87MdhHTkvLvFO4D8ZBlAoHzX0PHKNhIRIkaZL_q_9zF9r29ISku_IETG9epChksVITfRA69QBCXVR0dZjT6R2KtDICgoWK1P9-KIzRhJCo8I9KTHdK1SfaFhSbS7gf1e9butdLcdJL3Flcg==",
  "id": "rs_0c38b6dc6073c0aa016ab2be98f43487d0b481efa103ca2351",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.23,\"right_z\":0.2,\"right_yaw\":0.6,\"left_x\":0.41,\"left_y\":-0.17,\"left_z\":0.2,\"left_yaw\":0.6},\"note\":\"Both arms are resisting the centerline correction, with increased joint loads. I will separate them again and use a diagonal approach rather than force the crowded front-to-back posture.\"}",
  "call_id": "call_bRqtmnWLloHTYlzefp7RkQ0B",
  "id": "fc_0c38b6dc6073c0aa016ab2bea1c37887d089549baf40e1b2e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bRqtmnWLloHTYlzefp7RkQ0B",
  "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]: [-0.7273, 1.9396, 1.5837, -0.6941, -0.9173, -0.9176, 0.1196, 0.7055, 1.2003, 0.7483, -0.0692, 0.2825, 0.1268, 0.0732]\nstate[eef_state]: left_x=0.4348 left_y=-0.1944 left_z=0.1753 left_yaw=0.452 left_pitch=0.0142 left_roll=0.033 left_gripper=0.1196 right_x=0.3182 right_y=0.211 right_z=0.1858 right_yaw=0.3911 right_pitch=0.0576 right_roll=-0.0265 right_gripper=0.0732\nstate[joint_eff]: [-0.6496, -13.5043, 6.2427, 0.9255, -0.6764, -0.0806, 0.0562, 0.0342, -4.8479, 6.9538, 2.0684, 0.0659, -0.1197, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342b37f9c964fa8feb19a654bf1598476dbf3c4821b8069a6061f38416ba3007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b40614eff79b52ba7178f85d4928bc28aa363d5f089b32447c4833bd5b3b1db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a0d0085042bd2cec6d64da60f2eb9fdb38be705bcf1222fb8c1a7cc7f80b98",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6804, 1.9404, 1.4963, -0.292, -0.7185, -0.5282, 0.119, 1.1698, 1.8023, 1.3098, -0.601, 1.055, 0.9859, 0.0732]\nstate[eef_state]: left_x=0.4742 left_y=-0.2295 left_z=0.1709 left_yaw=0.1696 left_pitch=0.0403 left_roll=0.0182 left_gripper=0.119 right_x=0.2931 right_y=0.3069 right_z=0.1665 right_yaw=-0.1288 right_pitch=0.1025 right_roll=-0.0419 right_gripper=0.0732\nstate[joint_eff]: [-9.1282, -11.6855, 5.7504, 1.873, -0.0708, 0.3736, 0.0904, 2.5778, -5.9009, 13.6821, 1.8046, -0.442, -2.1074, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr6xwfYIpyL-We-Lf0cfFTalTXQ1k6BmXMK1S8s0oZBlFHw6x3D4cTEvtUxO41zk_btw_Q9YpZJ3Y5zOUQderDyRb4NvKXOO1cqZ9gr5jJ80KfjOhND7sv631HI44dtINlMrnsOjPgjiRKuyrGMSsbQYewibbVcniyGMl9cKSAHW1wg-jiHm72niAIarjaW3GVzqJdmmEsMSooz5uYrVqe9tQJwej8E8wS3i88OdXzD7YaWx3qX2UXCBXUS90WOt5Os2jTelvlmwbnt4o7aT32tKItYfGP9xvpxrVvlD2NiDSwamiKMmungPYQznjPSwsuSzQ3HmCDbJabwTsF96_q1VN1-Y0sHfz3Pf57OqXWqxcBhXGmrNYJZMDKpm-3LxxMp5E6KDf5zqLP60uIlgI-hT32T2i8OePz5rqWfYDmrjA5Ev3zHk5qky-yXsCsZUcRqU-b6Y3D-XIyJ8Rn6AUKjwWG6uJfHe8vltqFSVIy_zREc0QT1Yc25S9JHv8Ui37fezZfn-gdQvV3XGJTkPJILy6BXgYKjjvVQ4cK4Hks60CEdRc0mRNJzuJcARkhCZ5YqgZVJ-4idh_XXrUvFxDHY4NU2a8me99ipkrZtdIYotpmjmN1-w6ZxpHZFhfhwYXRUuq4MAK0GtwW6rgBJMfvezPSxpSqWbguOjVTZRN3t31BVmB06aklKOtrP8R7WOPC8q3v7hOCMGMWGPaVegdultJbPuF3vkPvtStxVOOcxoVAlXmcCdygrjEwOg9gtMeZqJdPWoPh646VQjv4Iz7b6l-xtTjEbFx90Lh83yHrd5BEnnOVICbRkVVtJhtEz3L2Y1eo4sQWmFiRwnIPuvELrZXpylF0vjMQ3C32uWFbQac6ZhfjwwGvPkKAK97ctEl_2DCYOxl0D6kjJqAD4CtQPfQ4IvHMElWxw4mv5w684jkcTjmRMlRUgPbR_Hna9KYWEhX3K3oxv1tr0Bt7xP-jOZp2gpnTZOEV8HKrdF1lWRfS4HuMljcJ4QGdW38zPjr8o3XAJ9kuisd34HBgyKcC0vVrXX3KaOOn7j1rr1-jli0wF-uT4I4YHVVsQ1OSd_kJZTAiL9cD80OeWnLCWWwa_H0f-Rdm6q1ZChHR9NKQbBMyd6zctGEI4Fwu9myrDe6PwDNZoQgHCE-hBK3bQY37PV0e1wzk0dqbxfUZKsXa5hXlZWBKj-FCCQhwbvQ9o5NZR0ex6ZYW1CglpSxs1MWfWharKIHFHxkzOTH0OcSMIcX7BRKL056LD8nRIDdTIuPxNxuDlPC4t6NH0NES5_YIeZgN18D-xwwF8tLqQQJS_NJKSilzKbMt811XC5lzi3euvr6ZSplZU1F-ddSp89UMyHQJBRcaft708USrpKZZQiHRc2FQdt9l24HHtHXRRumAWWzjfWjfGgGKwC9HpT8OzkoLg-IKmfecJTKEs2MwNI109CvsI7t6qk26syeOK7jGS1e4zi3nXc0vcjHQA4LQyJeY9w-H8jLLiu1P3ZFdTXdJvqsjpui6V-3O3XAPFk21qkfZ_wFE6Dfm_sJgHLbkpWoyr-r7eq00vnH3RzF1qGY3rFrmrO4nAY83kTCdqkOGEqIJ74R7uoeYmKCA4jS1qxGTl0oEHi5vPzwpS3fJoCeLEq0Ju16DLLvLgjhgXqOQkd_7cqQAZe2cB_TARe0pOgfr910gy-5TjNixrfx7-uYKQ_bmgZO8yru2CTaaeRlIl1qEbDRXMb5aiL_J7DPXRdurmFok9QQaxHmsZoiw96r-kIoDm4vULE-o42T9XGITtE_mRNibsK_QDQ-5P7pPt1zFcAEufTUhv2HcoIrrwSSNrLr7L9J9-5hcnXeFvCVcs6ZeNWJtOaF6awqn5QTwv-wqiyvQrXUbY7WcpxDEV-Bpaf8-zqIUi5mmPohJgxlEA2MRcYKMdzn1iVD9b2nQTDMA2e4h5R4n9_jrX-9kUCyl72bYFfIKQdHrJWKHkO5psKqrovAjonhXnwboFH9XKplpJULUXoDB1Ru2-CshkYQsk=",
  "id": "rs_0c38b6dc6073c0aa016ab2bea83f2887d09921c3fe51291914",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.18,\"left_z\":0.19,\"left_yaw\":0.7,\"right_x\":0.32,\"right_y\":0.37,\"right_z\":0.19,\"right_yaw\":0.7},\"note\":\"The joint loads have dropped after separating the arms. I will approach diagonally, keeping the cap about 14 cm ahead of the pen grip so I can inspect the tip-to-opening alignment before insertion.\"}",
  "call_id": "call_sB0ohlgQU2Kh5JMSPXfW2zXm",
  "id": "fc_0c38b6dc6073c0aa016ab2beae55c887d0b4511a57505a7e4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sB0ohlgQU2Kh5JMSPXfW2zXm",
  "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]: [-0.6315, 2.0769, 1.8652, -1.1801, -0.9432, -1.3052, 0.1211, 0.8406, 1.5517, 1.0332, -0.0601, 0.3111, 0.1944, 0.0732]\nstate[eef_state]: left_x=0.4343 left_y=-0.1361 left_z=0.1792 left_yaw=0.7735 left_pitch=-0.0467 left_roll=0.0462 left_gripper=0.1211 right_x=0.3425 right_y=0.3069 right_z=0.1766 right_yaw=0.4672 right_pitch=0.0088 right_roll=-0.0013 right_gripper=0.0732\nstate[joint_eff]: [-9.6205, -8.9231, 9.0735, 0.7302, -1.1355, -0.1538, 0.1343, 6.2564, -2.2906, 12.2188, 2.2882, -1.0085, -1.1306, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0225803af66890e130af6f901c625f48182febb04b38892c07fa27b6156ed806",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32204fc486c602c12aa1d5798286c7d64b65a4bd27fe8194e71cb7fa31dcd115",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb45c318a6f9976608efd166bb210d8d1482868ef88799adc1b67b02dd52c2d2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7273, 1.9396, 1.5837, -0.6941, -0.9173, -0.9176, 0.1196, 0.7055, 1.2003, 0.7483, -0.0692, 0.2825, 0.1268, 0.0732]\nstate[eef_state]: left_x=0.4348 left_y=-0.1944 left_z=0.1753 left_yaw=0.452 left_pitch=0.0142 left_roll=0.033 left_gripper=0.1196 right_x=0.3182 right_y=0.211 right_z=0.1858 right_yaw=0.3911 right_pitch=0.0576 right_roll=-0.0265 right_gripper=0.0732\nstate[joint_eff]: [-0.6496, -13.5043, 6.2427, 0.9255, -0.6764, -0.0806, 0.0562, 0.0342, -4.8479, 6.9538, 2.0684, 0.0659, -0.1197, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr6-dLwrQo_LTj8D4b6DnwnZR_gyWYYOFVosFLSYowXK5uofoYoQHyxmesT3ACaIQJi0TSr-OEqma5Ue80wU5tokid88emVxtKR2CsH7D3MCO3-ekI4icAB37FvlZe-LCHKDRJQfDvG97CCBicSi-OjZI_htwDULpg45tgFOpo1-jEk2fDClQQy6wbm9GkaPOJXtEgb3UHV2w7ilAAmIRZApt8ERbAzgZlAteSXtAJOmnwMLoVArDfSbtlVHMQS1q52vQG9LLUsBVM_SELYQ8t7hCX9vwjK6oosBR_s8-c115t7iQIQcVaLhBW3Oq2wVJB0P79jSVUeKIt-3ih8QsNicydfzz6tGoCUbF9LI_6iJevlyxUqam_K7Jm3B8fd6YOrb6ily72AWWQXmys9LRXWEjejQPn13QUo39TwdTRwqxkqci_OaclGsB0o43cbnzllY6z68J3hxFw4_bXMDZ6HDY_l7Q6V5JXxl5qr7H9nwAxdsIqArln302pbgKEIo0McHue9ho4W2O_34N2fYVV2UfM36sa6yIpz7GB2tEcA0NQ8m2HZcORE09RXi1yA5f114AXaeSOOP0EzTuLFKd9LiakOuTBPd7JoqhdiptthC1phom-EDzaiM6WLUwIW56IxtjJ3gs9WZNp8uF2MFnzgKBEwSD_HoFj9hpvntj8NokgfjRfC7UZ45kpqAkiJPmWjQAcp2-Mq8zfbLiK25Z0vClOAqx9Aa0PXjGuC3W8B3b0S96g0Hf89v0zuqX1j0PTUbTU30tpVJ3vVW4zDBwU25FGvf-ZorLpwshLL6A1KdLf3n1KtFbMWlyoiOf4pkw7TwHu-1pYUmPsgIMyZwbQjlyMWotO9RhuU9QoTU3wnvXowx8Sx2zbesbdXThryIS1LKksW374WFkZc43tW9dFQnqHOb9g9vyVQpaFoyPb9A3Vx425F8KDeU5GpA8et51lO2jeK37sPUlG_znZ--zlPKnQZ3JTiAbMVAseJL9fz-xw-jCfsIkh3bjq7F9GBAvw8arHyLUIzz_K2iUtkRHjM1alcAcNdXosrojOnp9NoCbe_3VNz-BntpXVetqW_gdf-I0vebQX664SzzfWXIqeLcKEOxF-D_0slbX7G4f-yN2S-v1PhRQmY4SXhtfOjiB35kPw7FMwRnbBLoVrLHu4faCVNv5Wto4PLzC7W3ctVnA3zDxsYSamXefSyD2z8SHqPAaR75x7ghduLHPeDgeAe2iube_D6HPc7NE5eYUcqi5PoX8xCrPPePhGwsW5Gt9NGUQWb5F0aLbn4oF-lMoUig680fnLHoLIHMmm0qNgARAMwUKs2DsSJJQtwJTOSfxc3geFO-q_iV7XVOstHGxbtRg8b0KgvyL2rpgwOBbcmkr1zbZHQiE-9LFjUliN46_Ax_T64bSLpS12W4opUq3rfb3zR8mPV23tYnhrlQfX_OvY6K34jnSHUyEoqBjehLehMLPZCck7fQcYkwG0j245qh3Sw9V8TkQb-n_3IDcjfiEeOgYcvP1VjjterDkKCLeLUUdLIiSEaxQBQQ0LDiV-48PkrPOaGT03b9QFzbZYcX7nwrF7KwNEJbnF8YgedFADqzofsyQ6FQG2GaAmUUL_0R86Hw-ANdzH33aDcl0oSC53ntdUsatmn5804T3WI9M1aJjAdbwNeJeFXX1SOwkcNLOOEycCQFOa6pbYuIDt6TVXpclgMNtP4bLdPdhRlT1-hTQ2n5eZ8ag9xI-PcYppzCHeYHO79ZZ6uyRD3YlCpbwf3pC-ziEQRO4jLRm3WzVUjNB1nl9GyvNZfK-aEgh4nuTrP4Ooq0gnfYxuyfJMDunYH7s-gneW43Fjr3v7JXJpkuKhNHBlZ4pzaLdB0IFdeROTdWH1pwQRG3N2sF_sPycFkPrOpMTJShSnEKZrIYtP3njhjYd-mX_TLQSYqqCt-4Lr64FTYtUtYNmlm207CjetfmNTrUNh0GiZ47u_34TUcNrNfCYMlOYD01PuoL9H11cZNRxg4yiHxhAR-TphTzns3R81iTbK6yjNUItfhpDGgRMIbgIlNEeLIMEuTXSMh1SPPz3YsSnX7cLeJXLu-uXvtQvmAjXevlBVA_9LdPo_OmAp7WfB_5sV8YRW-AczZfTj6rn8v_kPB7bnNP4je5eTKSMdxKiSbZ8tB1VNkY_geaCCK0pMPnOXz8bY0RLhO_ISgcfS4CrNoUFFhaMw56TuF66VQQITqkuuBZTE_qdb52Ir-Xey2fMuiuS4t21v5FTm7QRg1YpMDiFw9Km6OBqIFs8_sfqjgTsFaGgER_Eh0ass0d2N7k1dvfbJMxXJ5l8wRBlziKlTAfX6CuK4pUiciSuO4m2yQd4UGbn1LfF4vDAheWjut9ADlq0OcqRwcCKQ==",
  "id": "rs_0c38b6dc6073c0aa016ab2beb5137487d0b78910e2c5a16f9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.14,\"left_z\":0.18,\"left_yaw\":0,\"right_x\":0.34,\"right_y\":0.17,\"right_z\":0.18,\"right_yaw\":0},\"note\":\"The diagonal approach again produced high joint loads before the pen reached the cap, indicating arm interference. I will separate the hands; I cannot safely force an insertion from this posture.\"}",
  "call_id": "call_xvWFWkWQHCZSy90ksB6oGdyD",
  "id": "fc_0c38b6dc6073c0aa016ab2bebbcb0087d0b77c16a53ea160fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xvWFWkWQHCZSy90ksB6oGdyD",
  "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]: [-0.6144, 1.3712, 0.9485, -0.3801, -0.5724, -0.4541, 0.1224, 0.7258, 1.3415, 0.8669, -0.2188, 0.548, 0.3794, 0.0732]\nstate[eef_state]: left_x=0.3576 left_y=-0.1308 left_z=0.1679 left_yaw=0.09 left_pitch=-0.0804 left_roll=0.0539 left_gripper=0.1224 right_x=0.3394 right_y=0.1829 right_z=0.1695 right_yaw=0.062 right_pitch=-0.0208 right_roll=-0.0235 right_gripper=0.0732\nstate[joint_eff]: [0.5538, -6.2564, 7.5009, 1.7021, -0.2906, 0.1783, 0.1294, -0.5265, -7.3778, 7.0359, 1.707, 0.3883, 0.149, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07ba0a5a18f1520fa2d0baf7ba8dab65e1b6f1d6304389452d034cc8c603af43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8b6ad34f481620dd99bbae5115c0ac5abfd8b8af9ffab1efcbe96300c715ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:495173d4c554927837dc8ab8b0932a4fc1fc36b7329ca467ce494bb54888bc2b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6315, 2.0769, 1.8652, -1.1801, -0.9432, -1.3052, 0.1211, 0.8406, 1.5517, 1.0332, -0.0601, 0.3111, 0.1944, 0.0732]\nstate[eef_state]: left_x=0.4343 left_y=-0.1361 left_z=0.1792 left_yaw=0.7735 left_pitch=-0.0467 left_roll=0.0462 left_gripper=0.1211 right_x=0.3425 right_y=0.3069 right_z=0.1766 right_yaw=0.4672 right_pitch=0.0088 right_roll=-0.0013 right_gripper=0.0732\nstate[joint_eff]: [-9.6205, -8.9231, 9.0735, 0.7302, -1.1355, -0.1538, 0.1343, 6.2564, -2.2906, 12.2188, 2.2882, -1.0085, -1.1306, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7InTFcM4OedhNBtznuYG8v1ceXONKu6SMMWRZXPcTVn9t16FTmSg6chtYgUfQhzyjBf8dHI6aZEgckfnXAxdiZjFbF4KzpScforCrhiaeX8MDl40aUQpq0-qeoGesDjPEXTxfjwnIv_ZnvpT0ZFUp-426qIn0-0PznTQVjNOLw7sdYM135boSUZTJ5tUbtWNZZRnc0EXBk0V1h0JVOzykgwnq-fxlK4_ridSX25tc_tetOFA09-jKXrLoJjSYvDx20Y-ZfXV-Bes_yEUrfNLh5HAKjgox3ihEIhYPAv3msP1h9ZDr8J6ZPW6InN_3oSml-IvADfVC_gD5EsLfgj2Of5lapGmKmU26fylVKSyBzIBOyhI7z6WZjt5lSCUKGwWin8h87CiqbQQ3Esxz43zzTfKzNFuWT2vefIPbWMSC0iAyGdZ3akDCM_7alrw-hELJE-17h5gOWVGmZUTemFVZpgsgm9gzhxrKt0kH8bT9e3wgLiYe0u1WM44Rh_Uh6YzxoJrKE2b0Sak_QOASoBn5JH5b58inJwR2hKoV1svCRbW3jQdT6q9gzcP0EyIyfXsFbbReiml4cL4Q8umeZbxagVBmVY-fl_zDkz8kVeP3ES1LZwzDJAtFBMCrD2ekHmty1W0m5al7E4IQDGqOta11zA8r3PMNoQuzzGAvWWmi4Z-bV8xb4f8iWxGaHR8-NvzN_rNiF_dQQQyyJnpgl5u5sgzV8raQTjqFPyId-xYxr_bhDReCLGDZsgM2dyGzGUcCJNFu7vjaNpaP7mdXBMksGWiOMxGx_OHmy-shngAcrmji4niihNbUjbrq8nXF1fAAw_-XAVcLA_NyfMEg_my0ATkPZrSiW5psObanhN3CHfBIZGg6n6AmStjyaOrRtU-JNYRmMaZcuQwAd4oJTAakbyREU2_0LVrFymMBfSzHqdqJReMs-fntjhcXErhcpnuSVAicv_26XIs5PlhxfyzJ5DeBc9I3i-3ZZINrchO0sGk10vXBdeGs3CiqscIYY8GhTNQ7r7kwv8Q0zI50XybbnBMrO5B7qeYXZ27JSJPRh6_8NDvNepgqLW4qbeZsYWQy0Rvv_MBsH0-f2vEjqkkaE4nKS0MyyYeEC3rhkhVRseOvLnIa0FpuI1nqgNPnP7jz83swFSoDJx_amygjhUTT22NQrXZlAYWRuTyNamImXnhBIiWBBXkk-R4XD8b07ALvJ2IgLaLz7OP3GwLMBmqNqMm0xd7EPY4MnlKVF-cKynNxiXz9jDKVcIzE4FIXettlj91W0JSvMpzVNS66c-iIViB0krPWAboeuh_ALOwUuGadXrBky9pDXc9-xPCbHS_Xsqh4LhuM_BveCk2amHiHw0S5k6Lva00fM-jt9TX-1ScbTeLhVLQ5g03WR5-4lZeFJBlb1n2hcaQCJWBB6bb0YR2-u5lC2mxEhIY44u67i-YP-NzrljMD5VkucgG3eiu9Pa_2Lqmdy3AMm01T9gQYUNPbyuQIZh4-5lALeFGEmz4UeBTqaC-VGecJoU_io5QI4if0itRDy0zhvp_FQHJRIflNNrn5mU2FwZ162YvCd7YWE1p8kZcOvyovDPCC5rquRW4wF-SPpMSRJa59ridtK5rOB11Mezg9vFQzvpaGFrs8hZClOGxJjq3lgwwXApCw60XfaRvLODfHB8i-Bev6-Nn77UGTQsMm12lfxUbJB4ypdFosLPX0FlQAzHrtLZgbba9_FOnmUhwD_LE1hD8V8nEJ0904yTQe8ZwFE4Xa4vB6CXiacRPAexIxsRy2fSozXx_Eel7CN5zpTCvdItK4vKwkmEKWOybCC6IBOfaUEuvf2eNWvOzzZb9ZUa17uBFmLmKU837sS5pZZALp4XP8gjdT28-hNAt6UWUiZZOOMYy2cvyBrxIRxWyAu-RfNhUOocfPfp84braJkmNunBpI6kPvzs2rrwC_bvTJN8v07fhAcjhrl32rO1rziFXkORFQD",
  "id": "rs_0c38b6dc6073c0aa016ab2bec1accc87d0b6558b69e56805ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_roll\":-1.2,\"right_roll\":1.2,\"left_z\":0.2,\"right_z\":0.2},\"note\":\"The arms are clear again and both pieces remain held. I will try one different approach: tilt the gripper bodies outward so the pen and cap can meet without the bulky wrists colliding.\"}",
  "call_id": "call_GiqRx74cvlKLS40I2I5KNhwn",
  "id": "fc_0c38b6dc6073c0aa016ab2bec6ac2887d0811c60c2632c5a4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GiqRx74cvlKLS40I2I5KNhwn",
  "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]: [-0.289, 1.1446, 0.5591, 0.2096, 0.1223, -1.1851, 0.123, 0.4068, 1.1744, 0.5045, 0.347, -0.1532, 1.1316, 0.0732]\nstate[eef_state]: left_x=0.356 left_y=-0.1246 left_z=0.1771 left_yaw=0.1142 left_pitch=-0.1295 left_roll=-1.0831 left_gripper=0.123 right_x=0.3365 right_y=0.1783 right_z=0.173 right_yaw=0.052 right_pitch=-0.084 right_roll=1.0798 right_gripper=0.0732\nstate[joint_eff]: [0.2803, -5.0667, 7.1453, 2.1221, 0.1343, -0.0806, 0.0562, -0.4034, -4.4513, 7.3231, 2.2686, -0.0708, 0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c14736d756bc563be9dadf0473501b0f5d4ce58ed72a49799fa40ff2eecd95b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aafe15edd6494a94caf395a689d97efea2236fae624c6dd2fe9ac11cd0bc0d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98812525ea40aa166606ab40db0ac924a534732349a8cb4a15c290cf1d9510ba",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6144, 1.3712, 0.9485, -0.3801, -0.5724, -0.4541, 0.1224, 0.7258, 1.3415, 0.8669, -0.2188, 0.548, 0.3794, 0.0732]\nstate[eef_state]: left_x=0.3576 left_y=-0.1308 left_z=0.1679 left_yaw=0.09 left_pitch=-0.0804 left_roll=0.0539 left_gripper=0.1224 right_x=0.3394 right_y=0.1829 right_z=0.1695 right_yaw=0.062 right_pitch=-0.0208 right_roll=-0.0235 right_gripper=0.0732\nstate[joint_eff]: [0.5538, -6.2564, 7.5009, 1.7021, -0.2906, 0.1783, 0.1294, -0.5265, -7.3778, 7.0359, 1.707, 0.3883, 0.149, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7PxIgeWSkU7rHs7zL49sfo0VeU_aomQlezYwB62MBB9z3Dl9jwmGOD4i_UBOvGtYw3IZWBIMNGTDiQ7TsXYigSIiS8Uax5WHg2qLvHCXe469NCh4_EiUAApBfAZ17ks9eeUNrjD1IwcboKmdeHx--LRLI1uqe0_A0rn0Y2lE1bcvyYyCKkxVZ_i5G7jlXKQ9Y32X_abpwYsgmqJc53TBoF3gD0f4rnNq8Srrqk-_SNxJbSHDfvWEiLvdPuXurf98G2hVOGh0m7S-OK_emgpB-lIsOunAnM6Qb5rNpYrnsgNjsaPERxvV2wsgMqKUux72XBPtiuCnJQMO0wQwx1ToSCXkpmOzaNRIAIMTVRGzHCcUcVJrmuHdeeyDY2COMPER9oaANyzCCSnFbk06wr7Q5O2oDWwPMT5eSQMpz1SzDEEu7e-k9TSQjitYJvvvHVJtLLAzcDqP8MJGevjLkxF6N9fk0C8ulddMoj7AaXV4hmxHHuBMg1MSsh6s3iN3OtMbw03bA2yqKlZGxJxp9x4U445kmfVr58BCI977rU6Iju8cBvCD-UI3YfC3gPsaHUclb1ETjyW2fqQF5EGHHCOPNtqiZ-VQAVZuN7Qmi9mJxSl6LAwb2bcFnLnq38CO9lRGE8l9gRiW6ugbIBcBkuQfooiY6UFajOc7bM57V7KHzdTYHGf0iRh2C8LNsJtRYKYvlhNWhT-4WVIIhxbJ9uLnoCcOWTHC1gRft7W1K3AEr0lZrhrCYIrSBHDWvkRLQTgcucZbUrz729sfzi-jn-g1QqdB6XeWr3Ory7V-M3LEEDyD1fKi1NnxbhEvE6CoDjivjle9XsKdcNo-L8Dl-vaTioCyjNkgJzTxdCXqC6dwmtqiJ3Cojn_B8iA4vz8FVXzIn2JKh7gTukRtXZWKugBY-uy9nsiZssl1K7R0GfZMDMKeE4XcCrqJj6ZxdCkjcQfUTWq74s6xp6mFz2oE6_PeCh-jkJ4vUTg0A9IDpne8Ubhcawo_qsffuQ6g00ovYSniNakxETRWZTXxUX9wbIfJEOAU5ZwX-L3pbaTXtdO3xyE-9Fb7wNiIqbgznBQGHDrKHii2Dgnm1mdxfTjsq9v8nKwHN3cq09944MqtPWYDm0TjscMwBJjofZEOZEDVyzLu8JTbI8oLqYJZyFZ-xI5tWMpBd4SZ2yu-1E44CW_KAja7tAdUbZnHkwaaC79t-X0_BYfj1fgMYByYtCF4fqFPfInrbfwOkqoWneAq8cFgXEDao=",
  "id": "rs_0c38b6dc6073c0aa016ab2becca48087d0bcf1dbada7591f08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.3,\"left_z\":0.19,\"right_x\":0.29,\"right_y\":0.35,\"right_z\":0.19},\"note\":\"Tilting the wrists has moved the arm bodies away from the assembly line while keeping both pieces secure. I will bring the cap ahead of the pen again, leaving a generous gap for an alignment check.\"}",
  "call_id": "call_Wuq6n2ZbZoRUejlfz7aeLUOU",
  "id": "fc_0c38b6dc6073c0aa016ab2becd13c087d083639a6fb3c14961",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Wuq6n2ZbZoRUejlfz7aeLUOU",
  "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]: [-0.6636, 1.7458, 1.1061, 0.2115, -0.2543, -1.3273, 0.1231, 1.0107, 1.5032, 0.7834, 0.2859, 0.429, 1.33, 0.0731]\nstate[eef_state]: left_x=0.4375 left_y=-0.2811 left_z=0.1739 left_yaw=0.1467 left_pitch=-0.155 left_roll=-1.0461 left_gripper=0.1231 right_x=0.2906 right_y=0.3318 right_z=0.1622 right_yaw=0.035 right_pitch=-0.1281 right_roll=1.0083 right_gripper=0.0731\nstate[joint_eff]: [-1.7436, -8.6359, 9.5111, 1.8828, 0.2662, -0.0806, -0.0073, 1.5932, -6.6667, 10.5231, 2.2491, 0.0024, -0.0024, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eba0cec389de167fa6926758f77b34818d804a174f81c49b698b23b71bee76c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c1619d297327116830c1fef8179b0b5b2a9ae3b3a7d3306da19015d85bed54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6569182053dbd6366cab6fa93b033b8cefd1bad8347e86ee6196b976060b7a7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.289, 1.1446, 0.5591, 0.2096, 0.1223, -1.1851, 0.123, 0.4068, 1.1744, 0.5045, 0.347, -0.1532, 1.1316, 0.0732]\nstate[eef_state]: left_x=0.356 left_y=-0.1246 left_z=0.1771 left_yaw=0.1142 left_pitch=-0.1295 left_roll=-1.0831 left_gripper=0.123 right_x=0.3365 right_y=0.1783 right_z=0.173 right_yaw=0.052 right_pitch=-0.084 right_roll=1.0798 right_gripper=0.0732\nstate[joint_eff]: [0.2803, -5.0667, 7.1453, 2.1221, 0.1343, -0.0806, 0.0562, -0.4034, -4.4513, 7.3231, 2.2686, -0.0708, 0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7e8bcrihENbGBgscTbRTT9YaG4L23PI7KrjhuiE4LEnA8HUMDdravOZHdeJ4KqIKgv-87dboc29ukYHYCimOSslOBE7tVgJF4f-lbMB1tUoJT0e3LKXUgSUUKKPbXSa-vwx-XICcqhctVDqqNbS7PPjntKNWddw-WSo28uhHFtmBfxjb3YvjFBj-2o9Q8067cTpG0DaOca7t4v_6ZzjW1xnuCiBdr-rg1fHcaoDI0DOAdUImXti9VdxtCPwTcawSHW9emrtZRtj9gkRmLfx0StKHfdrZb40k75ai-o541gICqtywmQnc5SOOwxAkVt2Vc-SnEqw_NlCaKIAS_r7cBjirLJVgKWZZrVwPckJ6SOmPI7qqKhHl5IpdyZpsoWOKDNlUouF2HTO9jI_62RvVE8Cajkt8va-q37FtjYgjkd9Jubg3MpmcMS3b-2DI17Kp-SX78H4qMm5yOeOsmTltSJP1rB9ERsmi6kv7GuM6WEBnv9GGMa6agdji4oezLsJPJd7ziL9Gw9SFgVkQBHrF4NCQz1mpKfMt-A3xuU81ABOJcaq3-uUn4cRsaor0qShBmeP_4dH7lDhZG_lpqWNL6rV6h9hBrbNc0ktHPOE1IajG3r4v7wjU8Vvlsa7RnMiylqMpGr0rMYbDJf5oQ8PLtjRDJHbNBV7VblxDpmn9CLJnFMFyeJ4oYMHLI0V7BHOPsfVGq2F0e9JoaVWYk5unHSHRVGfWZhWLeo8qJ-wTHlSCYIcgz80Wid6xF7THHHJCS3Ixt90iCeYSN29CTqxmt7vKw0iWKUB16TZiO5T3FT3SXcSbt1_Atvkxk8V0RskIaLjKBd6XE8C2gHNT2V117qLBaxVZifuZc1MQG1EaMKRVwOftyr1HSwuqX_fleQPw1ypYHL664sI7VPJWWnZ-25e1Tip0W2MBq5DRyOE5xTtv6Iq4-fOTeiFgQNztNy--_E9TugqGaqU221tcvd9LnNgVaYTbd1EyogOTt5RifHkTZ0CCmamgxtrW-6gvzEOeOjpE1w5npJ9Hky-hqLUIuEMaScZPdZypZ8F_xwdxya6HvqXka63pmy88bAr1H_eqddmfcmRQyJGQqcLWSqDRXdXjHpG3VNQgRsGP8pgJj2hbUid4wx604FnzohXdS-9pWgNBLNvCeMkMyRtxwPdwot9QlRxZKuMUOsxNSQg3KFepK9asPZPpxyIhl9FHrsenP4Zc7mlYAi0JeYQp44fHNZAn-qjG92bh65HGAsafMxzKeky_JiWyosXAOQZfQJzVvyQe19Qx3tVWLMIuKyOtjkaflj1squMtoa8koUkzNQLHGweHnVP3cDi84uosGTOa0r_I1Tmj4VHFbXAL1JNZ5Qhc1DbPYLRqkAenmTIL0Z4pOert4S4MGpLK7MshCCspulYEXlgWHLVEL1TwmvAIvY6U8R9LZzx8VH9F2o2chnffB_3JrOCWPgnNFU2d1LkOe193ORglI1vQelsXBImlDN8emaHaKE0o8aKsQeHZxkdUM-qHu8R55e-GwYDNbN68rTsl64xy44VQzwJGDxiFK9IONUIGvZW5wRHBZonQ_gXSsZKxgRoGASIkOTb-W4akJwe57I8OT0qQiaMKmfthekC_1whNWFkWfOf-Y0m1vz8k-A_MJr1bXZtcbBZ-_5vazKkIa3JYy5-SLaqN3JSQz3MuFBSaoxuB-fseWRSO2sZceAHDSnH8kmZblk8YL5ZKmP0udbMoSrU_yoxnNtCbdnPpK30cs7slTjLBVz_5jzyyG7ptPmW4ho8uCIi0TGoDn1Oh-_CDL_GybBTr5LgtASyTB6dBzfnYIEg8ocv4b-Zz43kxkmgBrN-1XIaArLpfH0_p1INmvLItsk6WEoIcT0HegQDmG9YUvkL-YtUDy6YaXNXtwF9XGr8rynodczLawmDLGCuRPPCGh_O-9O90hzaEfPSytm0ryes-WNM18iOF4=",
  "id": "rs_0c38b6dc6073c0aa016ab2bed5c07487d0a7347da2a4d205d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.328,\"right_y\":0.379,\"right_z\":0.2,\"right_pitch\":0.23,\"left_pitch\":0.25,\"left_yaw\":-0.12},\"note\":\"The outward-tilted posture now reaches the assembly area without the earlier load spike. I will bring the pen tip closer and correct the remaining sideways and height offsets, still stopping short of insertion.\"}",
  "call_id": "call_0Zk8g5iNMHpzacMqPD6YyeUv",
  "id": "fc_0c38b6dc6073c0aa016ab2bedc5d2487d0b02b416559e1ec99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0Zk8g5iNMHpzacMqPD6YyeUv",
  "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]: [-0.5533, 1.8347, 0.8486, 0.9012, -0.0471, -1.0477, 0.1231, 1.0187, 1.7649, 0.8192, 0.6483, 0.5434, 1.0649, 0.0748]\nstate[eef_state]: left_x=0.4487 left_y=-0.2632 left_z=0.175 left_yaw=-0.016 left_pitch=0.2117 left_roll=-1.0627 left_gripper=0.1231 right_x=0.3237 right_y=0.3582 right_z=0.1429 right_yaw=0.0183 right_pitch=0.0954 right_roll=0.8756 right_gripper=0.0748\nstate[joint_eff]: [-1.0598, -7.4462, 5.1897, 1.8193, 0.5739, 0.1832, -0.0122, 0.4991, -8.8821, 10.7419, 3.1966, -0.1197, -0.3394, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96cbaf8e2c0ddffbc9b4a421fa802cc63272630b0d7cfa2ec210482ffc647ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a1769f2036985f85f2827398606c58263566d5bfbd7deb27a99cb99abca9b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2268d754225fdd37759c6dbaaa506f4d2f56d9ca3a77dd3ff66656acf55069e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6636, 1.7458, 1.1061, 0.2115, -0.2543, -1.3273, 0.1231, 1.0107, 1.5032, 0.7834, 0.2859, 0.429, 1.33, 0.0731]\nstate[eef_state]: left_x=0.4375 left_y=-0.2811 left_z=0.1739 left_yaw=0.1467 left_pitch=-0.155 left_roll=-1.0461 left_gripper=0.1231 right_x=0.2906 right_y=0.3318 right_z=0.1622 right_yaw=0.035 right_pitch=-0.1281 right_roll=1.0083 right_gripper=0.0731\nstate[joint_eff]: [-1.7436, -8.6359, 9.5111, 1.8828, 0.2662, -0.0806, -0.0073, 1.5932, -6.6667, 10.5231, 2.2491, 0.0024, -0.0024, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7na7vw9V_CPnPP-wf3cpjViswBPdhwlF8CXjG8ZgiuXxLttGYd49LECRASmI8hU4oQ1OKZq2-ZYLUIDm-p8hRsc_367LD2Za8aPzPXrZ1goSdnC2SGlLL_BP8elvkpAW9GvlHrQlta1YBBw7K23fdEZ_pC8uJks7tfgr5k3sgmavS1SSa_wf2c6fyhjS-dadw_McwewIqJprjd-B9bBYgvznaJ4asIDYIpPv_zP-wKQkDbEEwf9dBfQQUjPrMdPkD4k8HIuZJ_xIoEd9ivoQzDl8fTxKd7eNbinQzwd_i6BQsCCPOMBpo3YXcf4oOXWNnOo7fd0emVa9OzjCpE6LfGlfLRp4MWMrPEJSlBoXRPHbDcX2det2eFu1LAJJNB7LyrvN-wdepNSTzDrrf_cDgNE0Xxbzm8lZl9qJxlyjr5wVogfUQcp5tmtnti-6Iw27orrDl0HN8tjAR306Xe3JeLb60XrMzDUMDuA3zGs2Un4zGcRElWsUgncvrYCLzxYVbnmqSjrWUzofw0Mgd6OAjW-Gwv4hpH73ezltd0bA8ik0xdS8Ru2FiiAb_bclxQExnjNnqKCJfI9XYqzdhbmCXVxRrTI0-reaDVYlCouuIvs68uBM7aPljHOL-dX9BLHsQoMAkq2eZnBT1Sjg17sRQFD8DvSbK7Gbd4t62Vi767nM1Bs1O2f1HRDUcaRJekgRK-TOZ6LHABvX4cz5OvbgoZ9H5UHXTKxuspajacVJm2DMM8wWdbvFiRuru89Z9gLzRwQsZzAc0Z_9VVNgCiVlWDhI6SzBkjAn5l-lL9YFNZHFnDU5zQVcPfb2NJcc5GHrrV8v7EwMmbdRjl7fi985r_cB6zAtl_utYJbhKPtN37eB7zUqsFBBbM4PxserKN3qMgrqi6IjfDmgXP-j0k5EGzo595QtXTJID08umaYPhM3guqCUn6fkIhiVqKeexGQITcVCi38Rxbg3RyCYo-GYaZN68CCiBKL3aZQiEU4cxlYuqCUec35IKb6n2s6HMFEnvsk8GIfD76GXCZM_URgwKDVXTc4V2ydJ6GDCSZMMDwpGoTDOOhFo4y6wl7ckosw8wZxBoNyqP_H55sku6EaPYJCoTX_splIfQ2IBg4ej1hjahELIJQAsc8rVPk_CgboFy0hT-EoS01DCYMSWzfA-sLypR6xSOBIzDFscOAPx5OJ8aegLUXehDO4EBEhnwtUUGMs6JcFNt0VpfE_8hiCZ-4WNubvLZ2tWACxSeJ9eSwyb3RyUa3whTpfxiwxtNhtZDxKleM1Q4op910CuSEUnermtxrTmnJ50cV2ASa7-xkOSzLCpVGITYo0bppgRPCa4wr_19mJ2vKhVrdd8BSvLJZIsuF_hz2Zh25o1Sj5nC0y5PS7ZTt_M6xPjRbhGjrsUWmIWC3411dZmkW4WKgABmODfOiX9EoLHGM8TVGv2kKQRKNeALCRDtJ7nfSLqEooilf_4E08t8KC0m4v6IsJidtNgBaq4gPtP-0KrgDogNZdcs-uxt8e_lKGxa41JCJBM430c-iQWvV_FOmITbQBJrvH47e1ySDbBLcxzcMaAIOSrPL2zmQq6h2aGxqhzTr-T9r7in9favp7bJiZ3ltZ4gZBfsisp5BOuO-aFLsUFX3dxI5z5qGBv3ndw9cVCVuQ6Jp",
  "id": "rs_0c38b6dc6073c0aa016ab2bee267d887d0a53d3cf85049fc3d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.346,\"right_y\":0.399,\"right_z\":0.24,\"left_pitch\":0.12,\"left_z\":0.2},\"note\":\"The pen is still below and slightly beside the cap opening. I will raise and center the pen while reducing the cap’s tilt, then inspect the small remaining gap.\"}",
  "call_id": "call_OM7d2jJfyIzgB2IZfZcneK6S",
  "id": "fc_0c38b6dc6073c0aa016ab2bee5ca0c87d0964cc6166631e055",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OM7d2jJfyIzgB2IZfZcneK6S",
  "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]: [-0.5236, 1.7428, 0.9161, 0.7082, -0.0753, -1.0927, 0.1231, 1.0164, 1.7702, 1.1454, 0.1642, 0.5636, 1.0687, 0.074]\nstate[eef_state]: left_x=0.4588 left_y=-0.2454 left_z=0.2037 left_yaw=0.0501 left_pitch=0.1635 left_roll=-1.0823 left_gripper=0.1231 right_x=0.3419 right_y=0.3797 right_z=0.1788 right_yaw=0.0035 right_pitch=0.0128 right_roll=0.7368 right_gripper=0.074\nstate[joint_eff]: [-2.3043, -9.0598, 7.8154, 1.3846, 0.3053, 0.0269, -0.0171, 0.4718, -11.0838, 12.5333, 2.9621, -0.0562, -0.022, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88041038253e7e8fb7d34be4bc9c337dc8674f383fffbbe87d74d158faa03326",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81bcb947e09327df17e0350bb47f9e0dfcc2b610e2b85e9a6f859d4bb4e2a8c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7281ba5dca5b2f8fc8d15a73f6c465b3cdf59d4749bc3bfcd630d57149f5df41",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 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]: [-0.5533, 1.8347, 0.8486, 0.9012, -0.0471, -1.0477, 0.1231, 1.0187, 1.7649, 0.8192, 0.6483, 0.5434, 1.0649, 0.0748]\nstate[eef_state]: left_x=0.4487 left_y=-0.2632 left_z=0.175 left_yaw=-0.016 left_pitch=0.2117 left_roll=-1.0627 left_gripper=0.1231 right_x=0.3237 right_y=0.3582 right_z=0.1429 right_yaw=0.0183 right_pitch=0.0954 right_roll=0.8756 right_gripper=0.0748\nstate[joint_eff]: [-1.0598, -7.4462, 5.1897, 1.8193, 0.5739, 0.1832, -0.0122, 0.4991, -8.8821, 10.7419, 3.1966, -0.1197, -0.3394, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7y9tFl8FulDW2YDRYlcHIZ_6S3UBZ_-wJaPoeD_j6ctSVqsAI25_wiL9lX6kfCH1PAzy2RKcX9v-_YxwGN7cnnaT1bLdJAk_Dsj1NyjJjTZZeSFk_fIQjzyGU24prU3Lkm1t4Me7WOpcR-XGeKzndR9iD0mA52lcsutgYdWuTwXHdkaJbq3n51P1t-0u7ZIygXYwtQr5BNggg37tnMaRVU6hD_sm-f1VEMnuzAFQcH9jjBRvIuO1UCH-G8W8zc4rfuFJVH96LLNHTL7Pb7AqvUQU3wXOopNIrZpk7DLcC6q5QN5cpklupzvk-xv-dskwwfHLQYBV8bZF_B53f0zkJvWKli1oy8pYt1IfzqkI5Ms9jLaEK4cVDaNermeMyCk70XrwBWYhk46Zv89HvnVhzOVZDYjzwyQ7JZmgg3p5TM9bHThxbnL6D6XKpkCp2gEpAoogRbzEc7h-R3V5QKWtWrsvYSYk8E5X7RG_yDus_6g2yF-JdIibGRfWiQ86mdUDdQVSQYcqlIpgyfkoInMJYpwjW7ziVuNbPNKGGwKdhfvNZm8pqRzs891-6qwmxgeoi-TYCT0LwN50ZjIBbRXb01mRIYvILQ-80eWQqVAgGu0B9r4bR4-UFUSHrXEExpwCkwYdsvhxPrfKIKn1BNMqoUZVlUYYs8ZRAKekjpi28x_8JPOaUhnVevYGVySvjt_NQfNQEozXbiM7IjcRrHjIq29LBo1kmu8QuBh8b32TD2yldUNGv8RBflOsnW0oSH6RxDsPKUh8vmG32ILaXCAxPv2hDWlLYU0bJ-JdBiIhIV18TmpEAc1CVgIbuw1E_07Ejw0MjqtUKeKQCGaRtYdj_yes9NX7L8e7vlWbp84kew_VDHTzisjjRYJf8ilbtxfARj4MevajfTItaTMtExB07RGWk3-SPxsyT8qcwokyG4y_ZRhZh4N8gilKmG25Szekxjimg_RuW0AIPtcteQxPb3pEF7lIPmPZz8TCAnuEpOvtfTzX5xFZGod_v94vU3g_MHYtPWAiVjkseCOFEweEnuk5Gh85TPld_9Au57CTdZ0-4B3Dxk8uhiBZKZDSePaxM5fmDopZ3oiknYrHqocdJ-nKlHscKio_4k1tYLKSZzjg3WcwlycoycIMuMmFQcFHWvzir7cUk0nQmxUASqB1ZjANgX4IpgpAgNiq3mRE77xZMqS4XZa0tw5VC8flj1-Okuxu7DdwQcsCwKTBRePQFr_2iraonBL-E_uikL_PE3olZ7yXT6g7B9hjpwt9cS-pQZ3jHzldZe0R8BvwCRIiYheFofRStiG-LqqSmUb-iUW9EsllsguiV431zYs-ab0tK1cev9gzOS7CFD7L_vBl4pYsVGBD2kMu2jDOXEDHFrZWh6h4q4f_iysqwy7YlxlmASkMYLL8ocSMO1-lJtldpsseoMq8gJWjF4k21KEMxSEnSpLZbmsj2G3rek0vhKvzIObuKx43gyhUSHrn-tygBdXkVZTK2huZa7BnrhYpZKKTE42erd5I8LhvtbHV7daNcTATpJvHzMFdnjhlKzpeWO3U6eYCCyCfjAUVB3au0_MJL-Ixv8fNYEkAp50DqMW1Wc-nMVMkgrZF3osOuSRJGlSl5RPtUQRAlOLOyBv7gYF0c6jx7glx6NIUwonnCNezzBotmxTOkgu95_GH1rKNbRaMgpjE8QZU_tA3PY5Glc6OvB0iybm79Gxl1_byZETZdZ7eZH0f4t3u0vfP620XNEYX1SVWnt5LAzV00DMeZPD-ucvWXoQcqKzdG8ALsYl-YhyQr7j9P266auSSZAFBrJ3HaOP4Y5J95JeuiXw_turro=",
  "id": "rs_0c38b6dc6073c0aa016ab2beea8d8487d08c8c8ddb098f00c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.15,\"right_z\":0.2,\"right_roll\":0,\"right_pitch\":0,\"left_x\":0.37,\"left_y\":-0.15,\"left_z\":0.2,\"left_roll\":0,\"left_pitch\":0,\"left_yaw\":0},\"note\":\"The wrists are again deviating substantially from their targets, and I cannot verify that the tip is centered in the cap opening. I will stop the assembly attempt and move the pieces apart for a safe set-down.\"}",
  "call_id": "call_wCd5COFNM3SbwTzh5hhqE5Sr",
  "id": "fc_0c38b6dc6073c0aa016ab2beef842087d087ed9f4af6962d23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wCd5COFNM3SbwTzh5hhqE5Sr",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.606, 1.3762, 0.955, -0.2581, -0.4671, -0.4328, 0.1231, 0.7761, 1.153, 0.8425, -0.3908, 0.5991, 0.5083, 0.074]\nstate[eef_state]: left_x=0.3715 left_y=-0.1563 left_z=0.1827 left_yaw=0.0019 left_pitch=-0.0259 left_roll=-0.0605 left_gripper=0.1231 right_x=0.3025 right_y=0.1624 right_z=0.1964 right_yaw=0.0047 right_pitch=-0.0071 right_roll=0.055 right_gripper=0.074\nstate[joint_eff]: [-0.5402, -7.4462, 10.0444, 1.5263, -0.3346, 0.2271, -0.0122, -0.5675, -4.9299, 6.7487, 1.5653, 0.3639, -0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e905c28d1a207c41bdb6c2f01b890f4702441d863a190bdefa41d22e2630a438",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad742b1ddf9b73a9941451262fd236e9441abd1c793aa18189c548e492ec450",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce32459394e080b6ab3117c5a3ab4fd90a8b08a474949445ca740c461935f9f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 103 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]: [-0.5236, 1.7428, 0.9161, 0.7082, -0.0753, -1.0927, 0.1231, 1.0164, 1.7702, 1.1454, 0.1642, 0.5636, 1.0687, 0.074]\nstate[eef_state]: left_x=0.4588 left_y=-0.2454 left_z=0.2037 left_yaw=0.0501 left_pitch=0.1635 left_roll=-1.0823 left_gripper=0.1231 right_x=0.3419 right_y=0.3797 right_z=0.1788 right_yaw=0.0035 right_pitch=0.0128 right_roll=0.7368 right_gripper=0.074\nstate[joint_eff]: [-2.3043, -9.0598, 7.8154, 1.3846, 0.3053, 0.0269, -0.0171, 0.4718, -11.0838, 12.5333, 2.9621, -0.0562, -0.022, -0.0855]\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": "gAAAAABqsr78_KPZz2Oc-fKTgeTv11F_QjGrci3n-M0UUqPl4ZjX2yKtSWxmJY2XqzdUE7uARu8SBxcOvDQtwTfdB8imhn8sumXO07bmOo-c3YWh8_gSYwCvz_OXgFYjic5UtRmybdDxNHFkJslvhwHbN_-AAAcBd4bBCO-b0SZ_lbqotIfealbsFI-ra-bMKGNwPGsO4kAG7_gaKlr5f9Kz0931yLSzrLddJwuwhdeEn7ZNI3vQMqnti9JjxPZ11ZoeD0NmOCYf3WC7Si7oI-NAMMHBAi4Cz0PV1GCYbf7d4aL_nd4M6RvEcxsWrxwhAds6lPiREeGnYnTiegkCjPvHfiQ0wDHaA4mFDckuIpmjq4fSPuVayyiZVesrlB7hb8DK274LCxhIAmPOt7yNRf8ceTFsYpYKVVFE4IrfVYPmYwCp-1U66GuAwHgOUfVsnYdkxjr9Kkl6vU_qyP04oEz2oiWxjod50-5XC7B-pqMSS4eX0a12KaWdigiR0OTdg8ZF1KUV61Y3QMrwQrjS7HbXAnXm_uV5RU9Suhgf8jJcNrL3ahIcWiP8X9XKGxDb6zzMHf6RtmF9OUKzoZdFzGGtX8CZUW699ZKjEfesOgWopz-uuL1wFwlbbmI4yfl9TxdMMXc4RYau-AINLjVGuWY-ABq7vLL-suOav8EEN-BA1Nz5mehxvf4dr58z03Gca_FYkU6rEZkZPncnNcqNQMP25IAotTM_uwXh5btIN6xKHV7v4yIWBeL7J2koarwDOfC8KdkqGAl88HpYR01bDy8DCwmRPYD55fZE7UQEknmuVRuik7nC5F2tm8WAvvMH2sLbyg0jVIwxIcoVMGaAiWVg8sBxDkj4T81ArwRVW9sEczixmh7vK6VZy0hnaigAf7waLecQ99fZxfKLbx0a9tLIqKowxm5hBzMn4CaTERMTdaItvdAKVoV1e7aWbubI5RTE49KROWUvQuQKlKrRwaPtTGnzE3nYJDFmVgh92eWVV0NhXJ7ioMXbMfmaRz8ogkKQYKiwjJQxpGNurrgBOWKZwLCzuBctZ-64DkHyG3xF5su5bjY_dN56LW-p7ZBwQS0bwbBYMks4Bs7n33islldct1ri-MukLUP0YYnKQM1VQ2_5HPNIIKRNdaT4XjZMRaIxy6sIPrJThWUdERSezDHfcoNTskQsDS98a01W1ileqrztPiT0oPxEr0vb6HfOQVvVARxQ-NGFP38TLO6jpAPE2go18ZX_9OwM7n8kLswqcW6E-AmVWjD4ziVOjKUpqDZDtDmXWamat3qBHT3OHe1o5YSowgSAZUItxNirsdsvcTStm_SAG4fSiE8vOniURJndpIRDyhRz7rsxoGfuEEgQD_DPiq2ssOo_ytCaGOwo44iiSCsbwz9Ou3m8HuHkGchlv68urJdu-3izG3ILJeQGWsBVVKYXq07GqKRL6jWXNFqxsfVQMyWzxNSWVfjjb8_PmRuK8HxEPkNERBSlcO8tj67Y0bSaRInRnnY1IAiTg8PbK51MeNvoK9ghSP6GnTRnchLqz673ZoNuStJf8j1n3DThxZ622twid0wON0SyemuXGByAeekctntrDbGZPBMw63KOHhI2u6uhRbwNnnxJsievxWky8KEGY5gnbUDUBnlxSvZ3nOhAw2ztnLBWpvYh5HVNGy4r8SdQHHWa8XNX69MAJLFkhg==",
  "id": "rs_0c38b6dc6073c0aa016ab2bef7b2d887d0980a5a290f349b46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.018,\"right_z\":0.018},\"note\":\"The pen appears to have slipped onto the tabletop during separation; it is visible lying near the left side. I will lower the grippers gently to set down anything still held.\"}",
  "call_id": "call_rs2Kz1WI0NWl4ftkukLniRar",
  "id": "fc_0c38b6dc6073c0aa016ab2befb6b3887d0b85cd64bf8e7b0b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rs2Kz1WI0NWl4ftkukLniRar",
  "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]: [-0.6094, 1.763, 0.5755, 0.4351, -0.4652, -0.4278, 0.1231, 0.7727, 1.6096, 0.3664, 0.4522, 0.5907, 0.5014, 0.074]\nstate[eef_state]: left_x=0.3624 left_y=-0.152 left_z=0.0107 left_yaw=-0.0033 left_pitch=-0.0867 left_roll=-0.0157 left_gripper=0.1231 right_x=0.2942 right_y=0.1544 right_z=0.0091 right_yaw=0.0087 right_pitch=-0.0755 right_roll=-0.0088 right_gripper=0.074\nstate[joint_eff]: [0.1162, -7.3368, 4.6154, 1.7363, -0.2662, -0.0855, -0.0122, 0.0752, -6.0103, 4.1368, 1.7314, 0.3834, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5653ca32f25223835ff82ebbade44284a50c9c63e0f2c88a2c643271ea0ef178",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ab53076ec824eb4a24a433f6834acdb589a9acebce795d31e02c66458a05fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a523dc13e9167fbcd068fbbdb96bb6458b6d9d51e9c2a7b45211790abf70cde",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 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]: [-0.606, 1.3762, 0.955, -0.2581, -0.4671, -0.4328, 0.1231, 0.7761, 1.153, 0.8425, -0.3908, 0.5991, 0.5083, 0.074]\nstate[eef_state]: left_x=0.3715 left_y=-0.1563 left_z=0.1827 left_yaw=0.0019 left_pitch=-0.0259 left_roll=-0.0605 left_gripper=0.1231 right_x=0.3025 right_y=0.1624 right_z=0.1964 right_yaw=0.0047 right_pitch=-0.0071 right_roll=0.055 right_gripper=0.074\nstate[joint_eff]: [-0.5402, -7.4462, 10.0444, 1.5263, -0.3346, 0.2271, -0.0122, -0.5675, -4.9299, 6.7487, 1.5653, 0.3639, -0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both grippers are now at table height. I will open them to leave the cap and any remaining held part on the table.\"}",
  "call_id": "call_zBuMzbcYyZGoGzoSPCC3aqeP",
  "id": "fc_0c38b6dc6073c0aa016ab2bf012a7487d0b1fa4e2626080a44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zBuMzbcYyZGoGzoSPCC3aqeP",
  "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]: [-0.6094, 1.7809, 0.5644, 0.4374, -0.4644, -0.4351, 0.9954, 0.7727, 1.6283, 0.3561, 0.4515, 0.5827, 0.5003, 0.9952]\nstate[eef_state]: left_x=0.3578 left_y=-0.1489 left_z=0.0011 left_yaw=0.0015 left_pitch=-0.1089 left_roll=-0.0065 left_gripper=0.9954 right_x=0.2895 right_y=0.1514 right_z=0.0 right_yaw=0.0134 right_pitch=-0.101 right_roll=-0.0262 right_gripper=0.9952\nstate[joint_eff]: [-0.253, -8.5538, 5.3675, 1.5165, -0.2222, 0.0171, -0.149, -0.1026, -6.8171, 5.0256, 1.409, 0.2466, -0.0513, -0.2369]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa61c609ddaf3e66c44c0112c1f98cb78f0fb11481445394544a421723d8fc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60faf31c8f83455be51a264f7512f8fe4868ee242e830d55cfdb4003d9378f3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ca87550cedf56a7f135a91b399443dd7fb2ce772c8857a0bd1fc1212b45f92",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 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]: [-0.6094, 1.763, 0.5755, 0.4351, -0.4652, -0.4278, 0.1231, 0.7727, 1.6096, 0.3664, 0.4522, 0.5907, 0.5014, 0.074]\nstate[eef_state]: left_x=0.3624 left_y=-0.152 left_z=0.0107 left_yaw=-0.0033 left_pitch=-0.0867 left_roll=-0.0157 left_gripper=0.1231 right_x=0.2942 right_y=0.1544 right_z=0.0091 right_yaw=0.0087 right_pitch=-0.0755 right_roll=-0.0088 right_gripper=0.074\nstate[joint_eff]: [0.1162, -7.3368, 4.6154, 1.7363, -0.2662, -0.0855, -0.0122, 0.0752, -6.0103, 4.1368, 1.7314, 0.3834, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The cap is released on the table and the pen lies separately farther forward. I will return both arms to clear, separated parking positions.\"}",
  "call_id": "call_aCgqwBoJiclpssimcPFhalP6",
  "id": "fc_0c38b6dc6073c0aa016ab2bf05c81087d095575ed208ee2f88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aCgqwBoJiclpssimcPFhalP6",
  "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]: [-0.0505, 0.9039, 0.7467, -0.5186, -0.0845, -0.1005, 0.9961, -0.0002, 0.8764, 0.7288, -0.511, 0.0387, 0.0048, 0.9961]\nstate[eef_state]: left_x=0.3007 left_y=0.0033 left_z=0.1866 left_yaw=0.0628 left_pitch=-0.1026 left_roll=-0.0178 left_gripper=0.9961 right_x=0.2974 right_y=-0.0033 right_z=0.1874 right_yaw=-0.0441 right_pitch=-0.1018 right_roll=-0.0198 right_gripper=0.9961\nstate[joint_eff]: [0.1983, -2.5094, 9.7846, 1.5507, 0.0952, 0.2027, 0.0562, -0.4308, -1.853, 9.1419, 1.7167, -0.105, -0.1734, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624709044d32cf9b5d996f1ffb5c1e428c884f6de616ebaf8b9ea7e30342fb99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06be085dddd4ccc677ee2d1007861afad8da8556e80a19b2a4b87140d4620c8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9006d1ffe73e971027692f33807d0ab67f44a5b832fa31bb4e6c0272d9e98b8a",
      "type": "input_image"
    }
  ],
  "role": "user"
}