adhoc

completed
2026-09-23T23:17:59.476292+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
290.9 s
total steps
442
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Pick up the pen and the pen cap, then put the cap on the pen.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
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. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint 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.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
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. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint 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.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe short cap is left of center, and the longer pen lies diagonally to its right. I’m bringing the left gripper above the cap while keeping the right arm parked clear.
move_to
left_x0.4000left_y-0.2200left_z0.1500left_gripper1.0000right_x0.2950right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.02, 0.7937, 0.6018, -0.3805, -0.0219, -0.025, 0.9998, -0.0185, 0.791, 0.609, -0.3767, -0.0223, -0.0147, 0.9992] state[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1789 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1838 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [-0.3897, -1.4564, 10.5915, 1.7753, -0.0611, 0.0464, -0.0366, -0.7316, -1.2103, 9.8667, 1.7802, -0.0464, -0.0415, -0.1001] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.22,"left_z":0.15,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.19},"note":"The short cap is left of center, and the longer pen lies diagonally to its right. I’m bringing the left gripper above the cap while keeping the right arm parked clear."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe cap is near the bottom of the left wrist view, slightly right of the jaw centerline. I’m lowering over it with a small sideways correction and aligning the jaws across its narrow width.
move_to
left_x0.3950left_y-0.2370left_z0.0180left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7238, 1.6501, 1.034, -0.1638, -0.5774, -0.4644, 0.9998, -0.0269, 0.7959, 0.6132, -0.4122, -0.0277, -0.0151, 0.9991] state[eef_state]: left_x=0.3889 left_y=-0.2103 left_z=0.1293 left_yaw=-0.0107 left_pitch=-0.0584 left_roll=0.0332 left_gripper=0.9998 right_x=0.2917 right_y=0.0006 right_z=0.177 right_yaw=-0.0033 right_pitch=-0.0365 right_roll=0.0036 right_gripper=0.9991 state[joint_eff]: [-0.5265, -8.3897, 9.2239, 1.6777, -0.5153, -0.0269, -0.0366, -0.5675, -1.6615, 8.8274, 1.8095, -0.0806, -0.0855, -0.022] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.237,"left_z":0.018,"left_yaw":-0.5},"note":"The cap is near the bottom of the left wrist view, slightly right of the jaw centerline. I’m lowering over it with a small sideways correction and aligning the jaws across its narrow width."})
tool
executing move_to over 8 steps (0.8s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteAt table height the cap is visible to the left of the left gripper’s centerline. I’m making a small lateral correction before closing, rather than grasping off-center.
move_to
left_x0.4040left_y-0.1980left_z0.0080left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5919, 1.8858, 0.7593, 0.3916, -0.1791, -0.1135, 0.9997, -0.0265, 0.7971, 0.6132, -0.4126, -0.0303, -0.0147, 0.9991] state[eef_state]: left_x=0.3866 left_y=-0.2177 left_z=0.0042 left_yaw=-0.3898 left_pitch=-0.1492 left_roll=0.0424 left_gripper=0.9997 right_x=0.2917 right_y=0.0012 right_z=0.1767 right_yaw=-0.0009 right_pitch=-0.038 right_roll=0.0054 right_gripper=0.9991 state[joint_eff]: [0.3761, -8.8137, 5.1761, 1.9756, 0.1245, 0.1636, -0.0171, -0.2256, -1.2786, 7.0222, 1.7705, -0.0073, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.404,"left_y":-0.198,"left_z":0.008,"left_yaw":-0.5},"note":"At table height the cap is visible to the left of the left gripper’s centerline. I’m making a small lateral correction before closing, rather than grasping off-center."})
tool
executing move_to over 2 steps (0.2s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe cap remains just left of the jaw gap, and the arm only partially followed the previous sideways correction. I’m shifting a little farther left and easing upward slightly to avoid dragging the fingertips.
move_to
left_x0.4030left_y-0.1730left_z0.0160left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5247, 1.8988, 0.7555, 0.4294, -0.0616, -0.0246, 0.9994, -0.0265, 0.7971, 0.6132, -0.4129, -0.0307, -0.0147, 0.9991] state[eef_state]: left_x=0.3946 left_y=-0.2117 left_z=0.0027 left_yaw=-0.471 left_pitch=-0.1405 left_roll=0.0294 left_gripper=0.9994 right_x=0.2916 right_y=0.0013 right_z=0.1766 right_yaw=-0.0006 right_pitch=-0.0384 right_roll=0.0056 right_gripper=0.9991 state[joint_eff]: [1.4838, -9.6068, 6.5026, 1.5311, 0.0806, 0.1685, -0.0415, -0.1162, -1.2376, 7.1316, 1.7118, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.403,"left_y":-0.173,"left_z":0.016,"left_yaw":-0.5},"note":"The cap remains just left of the jaw gap, and the arm only partially followed the previous sideways correction. I’m shifting a little farther left and easing upward slightly to avoid dragging the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe cap is now centered between the left jaws at table height. I’m closing the gripper to pick it up.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4614, 1.8973, 0.7574, 0.4129, -0.0177, 0.0135, 0.9994, -0.0265, 0.799, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991] state[eef_state]: left_x=0.4023 left_y=-0.1925 left_z=0.0007 left_yaw=-0.4658 left_pitch=-0.155 left_roll=0.0294 left_gripper=0.9994 right_x=0.2917 right_y=0.0012 right_z=0.176 right_yaw=-0.0009 right_pitch=-0.0407 right_roll=0.0055 right_gripper=0.9991 state[joint_eff]: [-0.3761, -9.4838, 6.5709, 1.3455, 0.0952, 0.2759, -0.0122, -0.3214, -1.2103, 7.2137, 1.6923, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap is now centered between the left jaws at table height. I’m closing the gripper to pick it up."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe gripper closed almost completely, so this was an empty grasp. I’m reopening and advancing about two centimeters along the cap, with a slightly lower grasp height for the retry.
move_to
left_gripper1.0000left_x0.4250left_y-0.2020left_z-0.0060
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4606, 1.8973, 0.7593, 0.4232, -0.0223, 0.0124, 0.0087, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991] state[eef_state]: left_x=0.4049 left_y=-0.1925 left_z=0.0033 left_yaw=-0.4605 left_pitch=-0.1428 left_roll=0.0316 left_gripper=0.0087 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991 state[joint_eff]: [-0.0479, -8.6496, 5.0393, 1.536, 0.0513, 0.1001, 0.6032, -0.1299, -1.3197, 7.0085, 1.6777, -0.0171, -0.0415, -0.0122] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.425,"left_y":-0.202,"left_z":-0.006},"note":"The gripper closed almost completely, so this was an empty grasp. I’m reopening and advancing about two centimeters along the cap, with a slightly lower grasp height for the retry."})
tool
executing move_to over 10 steps (1.0s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe left fingertips now reach farther along the cap’s position at the tabletop. I’m closing for the single adjusted retry.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4606, 1.9659, 0.8272, 0.4503, -0.028, 0.0013, 0.9949, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991] state[eef_state]: left_x=0.4242 left_y=-0.201 left_z=0.0018 left_yaw=-0.4497 left_pitch=-0.1162 left_roll=0.0267 left_gripper=0.9949 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991 state[joint_eff]: [-0.1983, -7.0496, 6.8444, 1.3358, 0.0562, 0.0708, -0.0073, -0.294, -1.1009, 7.0085, 1.7216, -0.0171, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingertips now reach farther along the cap’s position at the tabletop. I’m closing for the single adjusted retry."})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe second cap grasp was also empty, so I’m clearing the left arm to locate it again from above. Meanwhile, I’m positioning the right arm above the pen for a separate pickup.
move_to
left_x0.2950left_y0.0000left_z0.1900left_yaw0.0000left_gripper1.0000right_x0.3900right_y0.2350right_z0.1500right_yaw0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4606, 1.9694, 0.8291, 0.458, -0.038, -0.0002, 0.0078, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991] state[eef_state]: left_x=0.4263 left_y=-0.2 left_z=0.0024 left_yaw=-0.4404 left_pitch=-0.11 left_roll=0.0317 left_gripper=0.0078 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991 state[joint_eff]: [-0.1436, -9.5658, 4.8615, 1.6044, 0.1099, -0.0171, 0.5739, -0.1983, -1.2923, 7.1726, 1.7167, -0.022, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.19,"left_yaw":0,"left_gripper":1,"right_x":0.39,"right_y":0.235,"right_z":0.15,"right_yaw":0.7},"note":"The second cap grasp was also empty, so I’m clearing the left arm to locate it again from above. Meanwhile, I’m positioning the right arm above the pen for a separate pickup."})
tool
executing move_to over 20 steps (2.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe pen runs nearly along the right wrist image’s centerline, with its tip visible ahead of the jaws. I’m descending to grasp the barrel while leaving the tip exposed.
move_to
right_x0.3850right_y0.2250right_z0.0150right_yaw0.7000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0639, 0.9051, 0.7147, -0.4953, -0.0776, -0.0425, 0.9974, 0.4454, 1.5463, 0.9356, -0.0654, -0.1886, -0.1295, 0.9991] state[eef_state]: left_x=0.3 left_y=-0.0019 left_z=0.1764 left_yaw=0.0129 left_pitch=-0.1114 left_roll=0.024 left_gripper=0.9974 right_x=0.3801 right_y=0.2221 right_z=0.1323 right_yaw=0.6669 right_pitch=-0.1041 right_roll=0.0157 right_gripper=0.9991 state[joint_eff]: [0.294, -2.2632, 10.0991, 1.6581, -0.022, 0.1978, -0.0513, 0.2393, -6.7214, 9.0051, 2.0781, -0.1197, -0.022, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.225,"right_z":0.015,"right_yaw":0.7},"note":"The pen runs nearly along the right wrist image’s centerline, with its tip visible ahead of the jaws. I’m descending to grasp the barrel while leaving the tip exposed."})
tool
executing move_to over 8 steps (0.8s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe pen barrel is centered in the right jaw gap. I’m lowering the final centimeter and closing around the thin barrel.
move_to
right_z-0.0050right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.062, 0.9115, 0.7151, -0.5274, -0.0746, -0.0441, 0.998, 0.4381, 1.8408, 0.7483, 0.3573, -0.215, -0.1471, 0.9991] state[eef_state]: left_x=0.2954 left_y=-0.0016 left_z=0.1688 left_yaw=0.0134 left_pitch=-0.1495 left_roll=0.0238 left_gripper=0.998 right_x=0.3778 right_y=0.2226 right_z=0.0139 right_yaw=0.6931 right_pitch=-0.1572 right_roll=0.0329 right_gripper=0.9991 state[joint_eff]: [-0.3214, -2.3726, 6.8718, 1.9121, -0.1001, -0.0464, 0.0464, -0.5128, -7.6786, 4.506, 1.8242, -0.2564, -0.1343, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":-0.005,"right_gripper":0},"note":"The pen barrel is centered in the right jaw gap. I’m lowering the final centimeter and closing around the thin barrel."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe right gripper stopped at roughly a four-millimeter opening, consistent with the pen barrel. I’m lifting a short distance to check that the pen rises with it.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.062, 0.9115, 0.7151, -0.5358, -0.0746, -0.0441, 0.998, 0.4381, 1.8896, 0.7361, 0.4347, -0.2188, -0.1467, 0.0431] state[eef_state]: left_x=0.294 left_y=-0.0015 left_z=0.1672 left_yaw=0.0135 left_pitch=-0.1579 left_roll=0.0244 left_gripper=0.998 right_x=0.3802 right_y=0.2244 right_z=0.0035 right_yaw=0.6955 right_pitch=-0.1407 right_roll=0.0315 right_gripper=0.0431 state[joint_eff]: [-0.1026, -1.9487, 6.8991, 1.6581, -0.0904, -0.0464, -0.0122, -0.1709, -6.612, 4.3966, 1.6728, -0.0171, -0.0073, 1.1844] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The right gripper stopped at roughly a four-millimeter opening, consistent with the pen barrel. I’m lifting a short distance to check that the pen rises with it."})
tool
executing move_to over 4 steps (0.4s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe pen stays fixed relative to the right jaws as the table moves away, confirming the pickup. I’m holding it clear and returning the left arm above the cap using its newly visible overhead position.
move_to
right_x0.3500right_y0.1900right_z0.1800left_x0.3650left_y-0.2350left_z0.1000left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.062, 0.9119, 0.7151, -0.5388, -0.0742, -0.0441, 0.998, 0.4381, 1.7405, 0.7906, 0.2295, -0.2184, -0.1467, 0.0455] state[eef_state]: left_x=0.2935 left_y=-0.0015 left_z=0.1666 left_yaw=0.0133 left_pitch=-0.1613 left_roll=0.0245 left_gripper=0.998 right_x=0.3791 right_y=0.2238 right_z=0.048 right_yaw=0.6952 right_pitch=-0.1422 right_roll=0.0316 right_gripper=0.0455 state[joint_eff]: [-0.1026, -1.6752, 7.1043, 1.6532, -0.0562, -0.0562, -0.0122, -0.2393, -9.265, 7.8154, 1.4676, -0.1441, -0.0464, 1.0281] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.19,"right_z":0.18,"left_x":0.365,"left_y":-0.235,"left_z":0.10,"left_yaw":-0.5},"note":"The pen stays fixed relative to the right jaws as the table moves away, confirming the pickup. I’m holding it clear and returning the left arm above the cap using its newly visible overhead position."})
tool
executing move_to over 21 steps (2.1s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe cap is clearly visible ahead and left of the left jaws. I’m approaching its middle from this lower, unobstructed view and correcting toward the jaw centerline.
move_to
left_x0.3790left_y-0.1890left_z0.0120left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6178, 1.578, 0.8482, -0.1032, -0.1295, -0.1097, 0.998, 0.3779, 1.3987, 0.9672, -0.3473, -0.2527, -0.1917, 0.0496] state[eef_state]: left_x=0.3491 left_y=-0.2157 left_z=0.076 left_yaw=-0.4565 left_pitch=-0.2521 left_roll=0.0281 left_gripper=0.998 right_x=0.3487 right_y=0.1898 right_z=0.1549 right_yaw=0.6908 right_pitch=-0.1906 right_roll=0.0368 right_gripper=0.0496 state[joint_eff]: [-0.4581, -6.9265, 9.812, 1.873, 0.0659, 0.2808, -0.0122, -0.9778, -7.9932, 9.5248, 1.5018, -0.1929, -0.0024, 1.033] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.379,"left_y":-0.189,"left_z":0.012,"left_yaw":-0.5},"note":"The cap is clearly visible ahead and left of the left jaws. I’m approaching its middle from this lower, unobstructed view and correcting toward the jaw centerline."})
tool
executing move_to over 5 steps (0.5s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe cap’s body is now within reach but still slightly left of the jaw center. I’m making a final small lateral correction and restoring both tools upright before grasping.
move_to
left_x0.3690left_y-0.1650left_z0.0000left_pitch0.0000left_roll0.0000right_pitch0.0000right_roll0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4808, 1.7733, 0.7673, 0.1024, -0.0425, -0.0143, 0.998, 0.3744, 1.3945, 0.9707, -0.3737, -0.2634, -0.1921, 0.0496] state[eef_state]: left_x=0.3665 left_y=-0.1787 left_z=0.0022 left_yaw=-0.4475 left_pitch=-0.3308 left_roll=0.031 left_gripper=0.998 right_x=0.3447 right_y=0.1887 right_z=0.1538 right_yaw=0.6977 right_pitch=-0.2059 right_roll=0.0498 right_gripper=0.0496 state[joint_eff]: [0.335, -8.2256, 5.5179, 1.7851, 0.2857, 0.2515, -0.0073, 0.1709, -5.4769, 6.5436, 1.7558, -0.0464, -0.0562, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.369,"left_y":-0.165,"left_z":0,"left_pitch":0,"left_roll":0,"right_pitch":0,"right_roll":0,"right_z":0.18},"note":"The cap’s body is now within reach but still slightly left of the jaw center. I’m making a final small lateral correction and restoring both tools upright before grasping."})
tool
executing move_to over 12 steps (1.2s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe cap’s thicker section extends into the left finger gap at table level. I’m closing around that section while keeping the held pen clear.
move_to
left_gripper0.0000left_z0.0020left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4492, 1.8023, 0.6559, 0.3508, -0.0021, 0.0105, 0.998, 0.3721, 1.2987, 0.8326, -0.1844, -0.2749, -0.1917, 0.0532] state[eef_state]: left_x=0.37 left_y=-0.174 left_z=-0.0057 left_yaw=-0.4655 left_pitch=-0.2235 left_roll=0.0155 left_gripper=0.998 right_x=0.3409 right_y=0.1884 right_z=0.1645 right_yaw=0.6984 right_pitch=-0.0643 right_roll=0.0101 right_gripper=0.0532 state[joint_eff]: [1.388, -3.0701, 4.0821, -1.9658, -0.0757, -0.2515, -0.0171, -0.841, -6.2564, 6.694, 1.9463, -0.2369, 0.0366, 1.033] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_z":0.002,"left_pitch":0},"note":"The cap’s thicker section extends into the left finger gap at table level. I’m closing around that section while keeping the held pen clear."})
tool
executing move_to over 10 steps (1.0s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe left gripper stopped at a small but nonempty opening, and the cap is aligned with the closed jaws. I’m lifting five centimeters to confirm it is securely held.
move_to
left_z0.0650left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4458, 1.8492, 0.4934, 0.7597, -0.0093, 0.0044, 0.0473, 0.3687, 1.2957, 0.8265, -0.1806, -0.2737, -0.1921, 0.0532] state[eef_state]: left_x=0.3702 left_y=-0.1711 left_z=0.0009 left_yaw=-0.4522 left_pitch=-0.024 left_roll=0.0177 left_gripper=0.0473 right_x=0.3409 right_y=0.1867 right_z=0.1637 right_yaw=0.6942 right_pitch=-0.0638 right_roll=0.0089 right_gripper=0.0532 state[joint_eff]: [-0.1026, -6.0239, 3.7402, 1.6777, 0.0415, 0.0952, 1.5116, 0.212, -4.8615, 7.3778, 1.5849, -0.1587, -0.0415, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065,"left_pitch":0,"left_roll":0},"note":"The left gripper stopped at a small but nonempty opening, and the cap is aligned with the closed jaws. I’m lifting five centimeters to confirm it is securely held."})
tool
executing move_to over 5 steps (0.5s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteBoth pieces have lifted with their grippers. I’m bringing the cap toward the pen at a safe height and rotating it so its axis matches the exposed pen tip.
move_to
left_x0.4350left_y-0.3550left_z0.1800left_yaw0.7000left_pitch0.0000left_roll0.0000right_x0.3200right_y0.1900right_z0.1800right_yaw0.7000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4446, 1.61, 0.5186, 0.5198, -0.0101, -0.0032, 0.0532, 0.3679, 1.2961, 0.8261, -0.1833, -0.2737, -0.1921, 0.0538] state[eef_state]: left_x=0.3672 left_y=-0.169 left_z=0.0528 left_yaw=-0.4463 left_pitch=0.0005 left_roll=0.0119 left_gripper=0.0532 right_x=0.3406 right_y=0.1863 right_z=0.1628 right_yaw=0.6935 right_pitch=-0.0671 right_roll=0.01 right_gripper=0.0538 state[joint_eff]: [0.4171, -7.1863, 8.2256, 1.7656, 0.1441, -0.1001, 1.0281, -0.0205, -4.8752, 6.9265, 1.6923, -0.1343, -0.0659, 1.033] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.355,"left_z":0.18,"left_yaw":0.7,"left_pitch":0,"left_roll":0,"right_x":0.32,"right_y":0.19,"right_z":0.18,"right_yaw":0.7,"right_pitch":0,"right_roll":0},"note":"Both pieces have lifted with their grippers. I’m bringing the cap toward the pen at a safe height and rotating it so its axis matches the exposed pen tip."})
tool
executing move_to over 17 steps (1.7s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe right arm was displaced and its joint load rose during the approach, suggesting interference between the arms. I’m separating them and raising the cap before attempting a different alignment.
move_to
left_x0.3800left_y-0.2300left_z0.2300left_yaw0.2000left_pitch0.0000left_roll0.0000right_x0.3000right_y0.0550right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8894, 2.5668, 2.5683, -1.5558, -0.9668, -1.5009, 0.0589, 0.2718, 1.2221, 0.7414, -0.2184, 0.1287, 0.0998, 0.0558] state[eef_state]: left_x=0.4238 left_y=-0.286 left_z=0.1457 left_yaw=0.6311 left_pitch=-0.0327 left_roll=0.0498 left_gripper=0.0589 right_x=0.3544 right_y=0.079 right_z=0.1424 right_yaw=0.1004 right_pitch=-0.1339 right_roll=-0.0063 right_gripper=0.0558 state[joint_eff]: [-1.2103, -11.412, 7.1453, 1.3993, -0.8132, -0.0708, 1.033, 9.853, -7.4598, 8.4444, 2.0879, -2.3126, -1.9316, 0.989] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.23,"left_z":0.23,"left_yaw":0.2,"left_pitch":0,"left_roll":0,"right_x":0.3,"right_y":0.055,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The right arm was displaced and its joint load rose during the approach, suggesting interference between the arms. I’m separating them and raising the cap before attempting a different alignment."})
tool
executing move_to over 6 steps (0.6s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe right arm is clear again, but the left wrist did not follow the retreat and is near an awkward joint configuration. I’m shortening its reach and unwinding the wrist while keeping the cap closed in the jaws.
move_to
left_x0.3400left_y-0.2200left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.9455, 2.5923, 2.6583, -1.5974, -0.9565, -1.4971, 0.0589, 0.3408, 0.9005, 0.7006, -0.3973, 0.3153, 0.223, 0.0581] state[eef_state]: left_x=0.4081 left_y=-0.3125 left_z=0.1543 left_yaw=0.5718 left_pitch=-0.0419 left_roll=0.0295 left_gripper=0.0589 right_x=0.3046 right_y=0.0537 right_z=0.1954 right_yaw=-0.0508 right_pitch=-0.0061 right_roll=0.0136 right_gripper=0.0581 state[joint_eff]: [-0.1573, -12.9162, 6.3248, 0.4127, -0.6618, 0.232, 1.033, -0.3487, -1.4154, 7.1179, 1.5995, 0.1538, -0.1734, 0.9402] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.22,"left_z":0.18,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The right arm is clear again, but the left wrist did not follow the retreat and is near an awkward joint configuration. I’m shortening its reach and unwinding the wrist while keeping the cap closed in the jaws."})
tool
executing move_to over 9 steps (0.9s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe cap remains held, but the earlier diagonal reach was too extended. I’m using a shorter, straight-ahead pose so the pen can approach the cap along the table’s forward direction.
move_to
left_x0.3500left_y-0.2800left_z0.1800left_yaw0.0000left_pitch0.1000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8795, 2.1639, 2.1082, -1.1885, -0.746, -1.0943, 0.0589, 0.3363, 0.9081, 0.6968, -0.4114, 0.2947, 0.2028, 0.0591] state[eef_state]: left_x=0.4009 left_y=-0.2907 left_z=0.1881 left_yaw=0.3375 left_pitch=-0.1972 left_roll=0.0167 left_gripper=0.0589 right_x=0.3028 right_y=0.0553 right_z=0.1881 right_yaw=-0.0277 right_pitch=-0.034 right_roll=-0.0018 right_gripper=0.0591 state[joint_eff]: [0.0615, -15.9521, 8.8, 1.7802, -0.5397, 0.3199, 1.0281, 0.2803, -2.2222, 7.2821, 1.8828, 0.232, 0.188, 0.9206] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.28,"left_z":0.18,"left_yaw":0,"left_pitch":0.1,"left_roll":0},"note":"The cap remains held, but the earlier diagonal reach was too extended. I’m using a shorter, straight-ahead pose so the pen can approach the cap along the table’s forward direction."})
tool
executing move_to over 10 steps (1.0s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe cap is steady near the center-left workspace. I’m moving only the pen arm now, aiming its exposed tip toward the cap while retaining a clear gap between the grippers.
move_to
right_x0.2650right_y0.3500right_z0.1800right_yaw0.2700right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8707, 1.9751, 1.7092, -0.9039, -0.7555, -0.9668, 0.0589, 0.3351, 0.9119, 0.6968, -0.4133, 0.2905, 0.2047, 0.0589] state[eef_state]: left_x=0.3875 left_y=-0.2665 left_z=0.1655 left_yaw=0.2676 left_pitch=-0.1632 left_roll=0.0449 left_gripper=0.0589 right_x=0.3028 right_y=0.0557 right_z=0.1865 right_yaw=-0.0265 right_pitch=-0.0402 right_roll=0.0 right_gripper=0.0589 state[joint_eff]: [-0.1162, -12.9436, 7.5282, 0.9792, -0.652, 0.0269, 1.0281, -0.0068, -2.0581, 7.241, 1.6825, 0.0708, -0.0317, 0.4908] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.35,"right_z":0.18,"right_yaw":0.27,"right_pitch":0,"right_roll":0},"note":"The cap is steady near the center-left workspace. I’m moving only the pen arm now, aiming its exposed tip toward the cap while retaining a clear gap between the grippers."})
tool
executing move_to over 25 steps (2.5s)
step 226
top_cam
camera top_cam step 226
left_cam
camera left_cam step 226
right_cam
camera right_cam step 226
assistant
agent noteThe upright gripper bodies interfere before the pen reaches the cap. I’m backing them apart; I’ll try a side-facing wrist posture to keep the bulky wrist housings away from the assembly.
move_to
right_x0.2900right_y0.0800right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000left_x0.3600left_y-0.2000left_z0.1900left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7658, 1.9625, 1.6901, -1.0519, -0.7555, -0.9668, 0.0589, 1.0298, 1.5734, 1.0847, -0.4965, 0.8967, 0.8215, 0.0612] state[eef_state]: left_x=0.3901 left_y=-0.2021 left_z=0.1554 left_yaw=0.4004 left_pitch=-0.2261 left_roll=0.1887 left_gripper=0.0589 right_x=0.3031 right_y=0.2435 right_z=0.1638 right_yaw=-0.109 right_pitch=0.0109 right_roll=-0.0378 right_gripper=0.0612 state[joint_eff]: [-8.5402, -9.3197, 7.6239, 2.4103, -0.4615, -0.0317, 1.0281, 12.6427, -3.0427, 13.6137, 2.6447, -1.3309, -2.3614, 0.7888] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.08,"right_z":0.19,"right_yaw":0,"right_pitch":0,"right_roll":0,"left_x":0.36,"left_y":-0.2,"left_z":0.19,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The upright gripper bodies interfere before the pen reaches the cap. I’m backing them apart; I’ll try a side-facing wrist posture to keep the bulky wrist housings away from the assembly."})
tool
executing move_to over 14 steps (1.4s)
step 240
top_cam
camera top_cam step 240
left_cam
camera left_cam step 240
right_cam
camera right_cam step 240
assistant
agent noteThe arms are separated and both pieces remain in the jaws. I’m rolling the wrists outward while preserving the pieces’ forward-facing axes, creating room for a side-by-side insertion.
move_to
left_roll-0.8000left_yaw0.0000left_pitch0.0000left_z0.1900right_roll0.8000right_yaw0.0000right_pitch0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7784, 1.4929, 1.066, -0.3973, -0.6521, -0.5491, 0.0589, 0.5179, 0.9066, 0.6762, -0.4126, 0.4656, 0.3325, 0.0629] state[eef_state]: left_x=0.3557 left_y=-0.1952 left_z=0.174 left_yaw=0.0365 left_pitch=-0.0512 left_roll=0.034 left_gripper=0.0589 right_x=0.2912 right_y=0.0788 right_z=0.1858 right_yaw=-0.0549 right_pitch=-0.0073 right_roll=0.0075 right_gripper=0.0629 state[joint_eff]: [0.6632, -7.9658, 6.9538, 1.7802, -0.2515, 0.1099, 1.0232, -0.1846, -2.4957, 6.9812, 1.663, 0.2222, -0.0952, 0.8083] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":-0.8,"left_yaw":0,"left_pitch":0,"left_z":0.19,"right_roll":0.8,"right_yaw":0,"right_pitch":0,"right_z":0.19},"note":"The arms are separated and both pieces remain in the jaws. I’m rolling the wrists outward while preserving the pieces’ forward-facing axes, creating room for a side-by-side insertion."})
tool
executing move_to over 11 steps (1.1s)
step 251
top_cam
camera top_cam step 251
left_cam
camera left_cam step 251
right_cam
camera right_cam step 251
assistant
agent noteThe first wrist roll was clear of interference. I’m turning the jaws nearly horizontal and bringing the pieces toward the center, with the cap ahead of the pen and a substantial gap remaining.
move_to
left_roll-1.5000left_x0.3750left_y-0.2850left_z0.1900left_yaw0.0000left_pitch0.0000right_roll1.5000right_x0.2650right_y0.3000right_z0.1900right_yaw0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5743, 1.2819, 0.7116, 0.0734, -0.1844, -0.8974, 0.0589, 0.0677, 0.7517, 0.4713, -0.202, -0.2604, 0.6693, 0.0651] state[eef_state]: left_x=0.3536 left_y=-0.1859 left_z=0.1673 left_yaw=0.0245 left_pitch=-0.0526 left_roll=-0.6779 left_gripper=0.0589 right_x=0.2887 right_y=0.0688 right_z=0.1706 right_yaw=-0.0378 right_pitch=-0.0566 right_roll=0.7004 right_gripper=0.0651 state[joint_eff]: [0.4034, -6.4889, 6.9949, 2.1856, -0.0269, -0.0855, 1.0232, -0.2667, -1.9761, 7.5009, 2.1807, -0.2955, 0.1099, 0.7009] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":-1.5,"left_x":0.375,"left_y":-0.285,"left_z":0.19,"left_yaw":0,"left_pitch":0,"right_roll":1.5,"right_x":0.265,"right_y":0.3,"right_z":0.19,"right_yaw":0,"right_pitch":0},"note":"The first wrist roll was clear of interference. I’m turning the jaws nearly horizontal and bringing the pieces toward the center, with the cap ahead of the pen and a substantial gap remaining."})
tool
executing move_to over 20 steps (2.0s)
step 271
assistant
agent noteThe side-facing posture has avoided wrist interference. I’m shifting the pen sideways to the cap’s axis and matching their heights before moving the tip forward.
move_to
right_x0.2650right_y0.3740right_z0.2010right_yaw0.0000right_pitch0.0000right_roll1.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7029, 1.6485, 0.6365, 0.8619, -0.1333, -1.4979, 0.0589, 1.0309, 1.4223, 0.3939, 0.8619, 0.4438, 1.4872, 0.068] state[eef_state]: left_x=0.3715 left_y=-0.2792 left_z=0.1629 left_yaw=0.0012 left_pitch=-0.0631 left_roll=-1.4032 left_gripper=0.0589 right_x=0.2601 right_y=0.2935 right_z=0.1564 right_yaw=0.0288 right_pitch=-0.0535 right_roll=1.3605 right_gripper=0.068 state[joint_eff]: [-0.5402, -6.9538, 7.1043, 2.4982, -0.1197, -0.1001, 1.0281, 0.4444, -5.2581, 7.9248, 2.3272, 0.3004, 0.1343, 0.6764] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.374,"right_z":0.201,"right_yaw":0,"right_pitch":0,"right_roll":1.5},"note":"The side-facing posture has avoided wrist interference. I’m shifting the pen sideways to the cap’s axis and matching their heights before moving the tip forward."})
tool
executing move_to over 7 steps (0.7s)
step 278
assistant
agent noteThe pen tip is close, but the cap moved sideways during the approach and the axes are still offset. I’m opening the forward gap slightly and moving the cap onto the pen’s measured axis rather than pushing through the misalignment.
move_to
left_x0.3800left_y-0.3000left_z0.1950left_yaw0.0000left_pitch0.0000left_roll-1.5000right_x0.2500right_y0.3480right_z0.1950right_yaw0.0000right_pitch0.0000right_roll1.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6643, 1.66, 0.6361, 0.8703, -0.1886, -1.5013, 0.0589, 1.1492, 1.6451, 0.6189, 0.8509, 0.6369, 1.515, 0.0697] state[eef_state]: left_x=0.3873 left_y=-0.2567 left_z=0.1599 left_yaw=0.0953 left_pitch=-0.0619 left_roll=-1.3975 left_gripper=0.0589 right_x=0.2673 right_y=0.3481 right_z=0.1601 right_yaw=-0.0472 right_pitch=-0.0427 right_roll=1.3613 right_gripper=0.0697 state[joint_eff]: [-3.3983, -8.1026, 5.6821, 1.7851, 0.6618, 0.0024, 1.0232, 1.265, -6.5299, 11.0427, 2.5275, -0.4713, 0.1099, 0.1832] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.3,"left_z":0.195,"left_yaw":0,"left_pitch":0,"left_roll":-1.5,"right_x":0.25,"right_y":0.348,"right_z":0.195,"right_yaw":0,"right_pitch":0,"right_roll":1.5},"note":"The pen tip is close, but the cap moved sideways during the approach and the axes are still offset. I’m opening the forward gap slightly and moving the cap onto the pen’s measured axis rather than pushing through the misalignment."})
tool
executing move_to over 4 steps (0.4s)
step 282
assistant
agent noteThe pen appears to have shifted in the right jaws as the grip opening crept wider. I’m withdrawing slightly and reapplying the closed-grip command to both pieces before any insertion attempt.
move_to
left_gripper0.0000right_gripper0.0000right_x0.2350right_y0.3200right_z0.1900right_pitch0.0000right_roll1.5000left_pitch0.0000left_roll-1.5000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7193, 1.6798, 0.6743, 0.8814, -0.1822, -1.5272, 0.0633, 1.1618, 1.6089, 0.5674, 0.8749, 0.6411, 1.5158, 0.0692] state[eef_state]: left_x=0.3791 left_y=-0.2847 left_z=0.1697 left_yaw=0.035 left_pitch=-0.0551 left_roll=-1.4401 left_gripper=0.0633 right_x=0.2585 right_y=0.3398 right_z=0.1598 right_yaw=-0.0385 right_pitch=-0.0393 right_roll=1.3698 right_gripper=0.0692 state[joint_eff]: [-1.1009, -6.4752, 8.8547, 2.337, 0.1929, -0.0171, 1.033, 1.388, -8.6222, 6.5573, 2.5665, -0.2759, 0.0952, -0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0,"right_x":0.235,"right_y":0.32,"right_z":0.19,"right_pitch":0,"right_roll":1.5,"left_pitch":0,"left_roll":-1.5},"note":"The pen appears to have shifted in the right jaws as the grip opening crept wider. I’m withdrawing slightly and reapplying the closed-grip command to both pieces before any insertion attempt."})
tool
executing move_to over 2 steps (0.2s)
step 284
assistant
agent noteThe right jaws closed fully, confirming the pen has slipped out; the cap is still held. I’m separating the arms and clearing the overhead view to locate the pen safely.
move_to
left_x0.3400left_y-0.1800left_z0.1800left_yaw0.0000left_pitch0.0000left_roll-0.7000left_gripper0.0000right_x0.2800right_y0.0600right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.7000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7223, 1.7065, 0.6609, 0.9829, -0.1848, -1.5375, 0.0633, 1.1629, 1.5974, 0.5594, 0.8875, 0.651, 1.5223, 0.0087] state[eef_state]: left_x=0.3795 left_y=-0.2863 left_z=0.1767 left_yaw=0.0338 left_pitch=-0.0157 left_roll=-1.4906 left_gripper=0.0633 right_x=0.2583 right_y=0.3368 right_z=0.164 right_yaw=-0.0472 right_pitch=-0.0355 right_roll=1.3897 right_gripper=0.0087 state[joint_eff]: [0.1573, -5.3402, 4.8615, 1.7851, -0.0122, 0.0073, 1.0281, 1.7709, -8.6906, 6.8171, 2.591, -0.2369, 0.0562, 0.7985] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.18,"left_z":0.18,"left_yaw":0,"left_pitch":0,"left_roll":-0.7,"left_gripper":0,"right_x":0.28,"right_y":0.06,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0.7,"right_gripper":1},"note":"The right jaws closed fully, confirming the pen has slipped out; the cap is still held. I’m separating the arms and clearing the overhead view to locate the pen safely."})
tool
executing move_to over 24 steps (2.4s)
step 308
assistant
agent noteThe pen is lying across the center-front of the table, with its tip toward the left. I’m approaching it from the right arm again and rotating the jaws across the barrel.
move_to
right_x0.2200right_y0.3600right_z0.0800right_yaw1.3000right_pitch0.0000right_roll0.0000right_gripper1.0000left_x0.2900left_y-0.1500left_z0.1800left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.577, 1.2079, 0.6159, 0.136, -0.1528, -0.9272, 0.0633, -0.0055, 0.6861, 0.4881, -0.2714, -0.3145, 0.6758, 0.997] state[eef_state]: left_x=0.3376 left_y=-0.1833 left_z=0.1643 left_yaw=0.0045 left_pitch=-0.0371 left_roll=-0.7372 left_gripper=0.0633 right_x=0.2806 right_y=0.0567 right_z=0.1824 right_yaw=-0.0641 right_pitch=-0.048 right_roll=0.7316 right_gripper=0.997 state[joint_eff]: [0.5402, -5.7368, 9.5521, 1.8339, -0.2173, 0.2076, 1.0281, -0.3624, -0.5128, 10.0581, 1.9707, -0.2613, -0.0464, -0.1343] camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.22,"right_y":0.36,"right_z":0.08,"right_yaw":1.3,"right_pitch":0,"right_roll":0,"right_gripper":1,"left_x":0.29,"left_y":-0.15,"left_z":0.18,"left_gripper":0},"note":"The pen is lying across the center-front of the table, with its tip toward the left. I’m approaching it from the right arm again and rotating the jaws across the barrel."})
tool
executing move_to over 26 steps (2.6s)
step 334
assistant
agent noteThe pen barrel is visible slightly right of the right jaw centerline. I’m correcting sideways and descending to table level for a firm regrasp.
move_to
right_x0.2360right_y0.3400right_z-0.0030right_yaw1.3000right_pitch0.0000right_roll0.0000right_gripper1.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5697, 0.9092, 0.5388, -0.0834, -0.149, -0.9257, 0.0633, 0.8471, 1.5921, 0.643, 0.2928, -0.3531, -0.1883, 0.9985] state[eef_state]: left_x=0.2924 left_y=-0.1519 left_z=0.1804 left_yaw=0.0076 left_pitch=-0.0356 left_roll=-0.7386 left_gripper=0.0633 right_x=0.2191 right_y=0.3456 right_z=0.068 right_yaw=1.2364 right_pitch=-0.0531 right_roll=0.0595 right_gripper=0.9985 state[joint_eff]: [0.0889, -2.7966, 6.8034, 1.8144, 0.0171, -0.0366, 1.0232, 0.5402, -6.6667, 7.2, 1.8926, -0.2711, -0.1636, -0.1636] camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.236,"right_y":0.34,"right_z":-0.003,"right_yaw":1.3,"right_pitch":0,"right_roll":0,"right_gripper":1,"left_gripper":0},"note":"The pen barrel is visible slightly right of the right jaw centerline. I’m correcting sideways and descending to table level for a firm regrasp."})
tool
executing move_to over 5 steps (0.5s)
step 339
assistant
agent noteThe pen lies within the open finger gap at table height. I’m closing the right jaws and will keep explicitly commanding both grips closed during transport.
move_to
right_gripper0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5697, 0.9119, 0.5373, -0.0898, -0.1493, -0.9257, 0.0633, 0.778, 1.8835, 0.569, 0.6682, -0.4278, -0.2897, 0.9985] state[eef_state]: left_x=0.2918 left_y=-0.1514 left_z=0.1775 left_yaw=0.0082 left_pitch=-0.0444 left_roll=-0.7326 left_gripper=0.0633 right_x=0.235 right_y=0.3395 right_z=0.0025 right_yaw=1.2819 right_pitch=-0.022 right_roll=0.0121 right_gripper=0.9985 state[joint_eff]: [-0.212, -2.3316, 7.2, 1.8291, -0.1001, -0.0611, 1.033, -0.9094, -6.1197, 3.8359, 0.7399, -0.1587, 0.1587, -0.1636] camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_gripper":0},"note":"The pen lies within the open finger gap at table height. I’m closing the right jaws and will keep explicitly commanding both grips closed during transport."})
tool
executing move_to over 10 steps (1.0s)
step 349
assistant
agent noteThe right gripper again reports a nonempty opening around the barrel. I’m lifting a few centimeters to verify the regrasp before choosing the insertion direction.
move_to
right_z0.0750right_pitch0.0000right_roll0.0000right_gripper0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5697, 0.9127, 0.5373, -0.0898, -0.1493, -0.9257, 0.0633, 0.7727, 1.9163, 0.5625, 0.7403, -0.4488, -0.3046, 0.0471] state[eef_state]: left_x=0.2918 left_y=-0.1514 left_z=0.1772 left_yaw=0.0082 left_pitch=-0.0451 left_roll=-0.7322 left_gripper=0.0633 right_x=0.2364 right_y=0.3425 right_z=0.0022 right_yaw=1.3014 right_pitch=0.0127 right_roll=-0.0059 right_gripper=0.0471 state[joint_eff]: [-0.2803, -2.1538, 7.0906, 1.8046, -0.0952, -0.0366, 1.033, -0.1573, -6.9128, 4.041, 1.6679, -0.1636, -0.0415, 0.9939] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 349): [image omitted: streamed camera frame] camera 'left_cam' (step 349): [image omitted: streamed camera frame] camera 'right_cam' (step 349): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075,"right_pitch":0,"right_roll":0,"right_gripper":0,"left_gripper":0},"note":"The right gripper again reports a nonempty opening around the barrel. I’m lifting a few centimeters to verify the regrasp before choosing the insertion direction."})
tool
executing move_to over 5 steps (0.5s)
step 354
assistant
agent noteThe pen is securely lifted again. I’m aligning the cap with its exposed end using shorter reaches and opposite wrist rolls, while maintaining closed grips on both pieces.
move_to
left_x0.2750left_y-0.1650left_z0.1400left_yaw1.3000left_pitch0.0000left_roll-1.5000left_gripper0.0000right_x0.2350right_y0.3300right_z0.1400right_yaw1.3000right_pitch0.0000right_roll1.5000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5697, 0.9192, 0.5369, -0.0906, -0.1493, -0.9257, 0.0633, 0.7727, 1.655, 0.6346, 0.4274, -0.4461, -0.3046, 0.0496] state[eef_state]: left_x=0.292 left_y=-0.1516 left_z=0.1749 left_yaw=0.0084 left_pitch=-0.0515 left_roll=-0.728 left_gripper=0.0633 right_x=0.2392 right_y=0.3447 right_z=0.0696 right_yaw=1.2994 right_pitch=0.0298 right_roll=-0.0176 right_gripper=0.0496 state[joint_eff]: [-0.335, -2.0718, 7.1453, 1.8291, -0.0855, -0.0659, 1.0232, -0.0342, -7.8701, 7.2, 1.6532, -0.188, -0.0904, 1.033] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.275,"left_y":-0.165,"left_z":0.14,"left_yaw":1.3,"left_pitch":0,"left_roll":-1.5,"left_gripper":0,"right_x":0.235,"right_y":0.33,"right_z":0.14,"right_yaw":1.3,"right_pitch":0,"right_roll":1.5,"right_gripper":0},"note":"The pen is securely lifted again. I’m aligning the cap with its exposed end using shorter reaches and opposite wrist rolls, while maintaining closed grips on both pieces."})
tool
executing move_to over 20 steps (2.0s)
step 374
assistant
agent noteThe right arm reached its pose, but the cap wrist is offset from its target. I’m reducing the cap wrist’s roll and using a nearer pose so it can track the alignment without forcing the joints.
move_to
left_x0.2900left_y-0.1900left_z0.1300left_yaw1.3000left_pitch0.0000left_roll-1.0000left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.8654, 1.7756, 0.6662, 0.4191, -1.4956, -2.0861, 0.0633, 0.5034, 1.8977, 0.7441, 0.7654, -1.29, 1.1114, 0.049] state[eef_state]: left_x=0.3319 left_y=-0.1125 left_z=0.1249 left_yaw=1.2087 left_pitch=0.065 left_roll=-1.3895 left_gripper=0.0633 right_x=0.2399 right_y=0.3299 right_z=0.1175 right_yaw=1.2557 right_pitch=-0.0521 right_roll=1.4439 right_gripper=0.049 state[joint_eff]: [0.1983, -7.5966, 6.9538, 1.5067, -0.7448, -0.1294, 1.033, -0.4308, -7.9658, 4.5333, 1.79, -0.5934, 0.0855, 1.0183] camera 'top_cam' (step 374): [image omitted: streamed camera frame] camera 'left_cam' (step 374): [image omitted: streamed camera frame] camera 'right_cam' (step 374): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.19,"left_z":0.13,"left_yaw":1.3,"left_pitch":0,"left_roll":-1,"left_gripper":0,"right_gripper":0},"note":"The right arm reached its pose, but the cap wrist is offset from its target. I’m reducing the cap wrist’s roll and using a nearer pose so it can track the alignment without forcing the joints."})
tool
executing move_to over 7 steps (0.7s)
step 381
assistant
agent noteThe cap wrist is reaching a joint limit and moving away from the requested alignment. I can’t safely seat the cap in this configuration, so I’m separating the pieces and returning to upright poses for a controlled set-down.
move_to
left_x0.3200left_y-0.1500left_z0.1700left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000right_x0.2400right_y0.1600right_z0.1700right_yaw1.3000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.6544, 1.7775, 0.9119, -0.1165, -1.2793, -2.0941, 0.0633, 0.5034, 1.9156, 0.7315, 0.7612, -1.2911, 1.1244, 0.0452] state[eef_state]: left_x=0.3795 left_y=-0.0734 left_z=0.1223 left_yaw=1.258 left_pitch=0.0329 left_roll=-1.065 left_gripper=0.0633 right_x=0.2368 right_y=0.3283 right_z=0.1076 right_yaw=1.2578 right_pitch=-0.0839 right_roll=1.479 right_gripper=0.0452 state[joint_eff]: [0.1709, -10.2222, 7.6923, 0.9158, -0.5495, -0.0366, 1.0281, -0.3214, -9.7846, 5.5043, 1.3993, -0.2808, -0.1636, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.15,"left_z":0.17,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0,"right_x":0.24,"right_y":0.16,"right_z":0.17,"right_yaw":1.3,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The cap wrist is reaching a joint limit and moving away from the requested alignment. I can’t safely seat the cap in this configuration, so I’m separating the pieces and returning to upright poses for a controlled set-down."})
tool
executing move_to over 19 steps (1.9s)
step 400
assistant
agent noteThe pieces are separated and still held. I’m lowering both toward clear tabletop areas so neither is left suspended or dropped.
move_to
left_x0.3300left_y-0.1500left_z0.0250left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000right_x0.2450right_y0.1600right_z0.0250right_yaw1.3000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7338, 1.2308, 0.7715, -0.2749, -0.6514, -1.161, 0.0632, 0.0715, 1.2095, 0.8291, -0.7261, -0.9382, -0.9169, 0.0439] state[eef_state]: left_x=0.3226 left_y=-0.1419 left_z=0.1651 left_yaw=0.3946 left_pitch=-0.0799 left_roll=-0.5398 left_gripper=0.0632 right_x=0.2435 right_y=0.1639 right_z=0.1678 right_yaw=1.2653 right_pitch=-0.0017 right_roll=0.0842 right_gripper=0.0439 state[joint_eff]: [-0.5402, -5.5453, 7.706, 1.4383, -0.2759, 0.2515, 1.0281, -0.2393, -4.3692, 6.2701, 1.0623, -0.398, -0.1099, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 400): [image omitted: streamed camera frame] camera 'left_cam' (step 400): [image omitted: streamed camera frame] camera 'right_cam' (step 400): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.15,"left_z":0.025,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0,"right_x":0.245,"right_y":0.16,"right_z":0.025,"right_yaw":1.3,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The pieces are separated and still held. I’m lowering both toward clear tabletop areas so neither is left suspended or dropped."})
tool
executing move_to over 10 steps (1.0s)
step 410
assistant
agent noteThe pen is near the table, but the left wrist is still unwinding above it. I’m returning the cap to its original, reachable wrist angle and lowering both pieces the remaining distance.
move_to
left_x0.3250left_y-0.1450left_z0.0050left_yaw-0.4000left_pitch0.0000left_roll0.0000left_gripper0.0000right_z0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.7185, 1.3045, 0.6403, -0.1154, -0.6128, -0.9596, 0.0632, 0.0601, 1.5288, 0.4416, -0.0921, -0.9306, -0.9932, 0.0439] state[eef_state]: left_x=0.32 left_y=-0.1401 left_z=0.1122 left_yaw=0.2849 left_pitch=-0.0791 left_roll=-0.3511 left_gripper=0.0632 right_x=0.2337 right_y=0.1596 right_z=0.0246 right_yaw=1.292 right_pitch=-0.0298 right_roll=0.0859 right_gripper=0.0439 state[joint_eff]: [0.0479, -5.2581, 7.665, 1.619, -0.2613, 0.0611, 1.0281, -0.4718, -5.0393, 4.547, 0.9548, -0.5495, -0.2027, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 410): [image omitted: streamed camera frame] camera 'left_cam' (step 410): [image omitted: streamed camera frame] camera 'right_cam' (step 410): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.145,"left_z":0.005,"left_yaw":-0.4,"left_pitch":0,"left_roll":0,"left_gripper":0,"right_z":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The pen is near the table, but the left wrist is still unwinding above it. I’m returning the cap to its original, reachable wrist angle and lowering both pieces the remaining distance."})
tool
executing move_to over 7 steps (0.7s)
step 417
assistant
agent noteBoth pieces have reached the tabletop, and the left arm shows contact load. I’m releasing them and easing the left fingertips upward to remove that pressure.
move_to
left_z0.0120left_gripper1.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4698, 1.5997, 0.3267, 0.474, -0.3367, -0.5705, 0.063, 0.0586, 1.6188, 0.3534, 0.1551, -0.9413, -0.9993, 0.0211] state[eef_state]: left_x=0.3153 left_y=-0.0906 left_z=-0.0103 left_yaw=0.1164 left_pitch=-0.1805 left_roll=-0.1744 left_gripper=0.063 right_x=0.2319 right_y=0.1602 right_z=0.0043 right_yaw=1.2973 right_pitch=0.0023 right_roll=0.0188 right_gripper=0.0211 state[joint_eff]: [0.1983, 1.2786, 0.8137, -1.2625, 1.4579, 0.0904, 1.0281, 0.0205, -3.3299, 3.3573, 1.0281, -0.2515, 0.0122, 0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 417): [image omitted: streamed camera frame] camera 'left_cam' (step 417): [image omitted: streamed camera frame] camera 'right_cam' (step 417): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.012,"left_gripper":1,"right_gripper":1},"note":"Both pieces have reached the tabletop, and the left arm shows contact load. I’m releasing them and easing the left fingertips upward to remove that pressure."})
tool
executing move_to over 10 steps (1.0s)
step 427
assistant
agent noteThe cap and pen are resting separately on the table with the jaws open. I’m parking both arms clear of them.
move_to
left_x0.2950left_y0.0000left_z0.1900left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2950right_y0.0000right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.4679, 1.4925, 0.3424, 0.3553, -0.337, -0.5713, 0.995, 0.0586, 1.6279, 0.345, 0.165, -0.9424, -1.0016, 0.995] state[eef_state]: left_x=0.3137 left_y=-0.089 left_z=0.0072 left_yaw=0.1186 left_pitch=-0.1769 left_roll=-0.1771 left_gripper=0.995 right_x=0.2292 right_y=0.1602 right_z=0.0014 right_yaw=1.299 right_pitch=0.0009 right_roll=0.0244 right_gripper=0.995 state[joint_eff]: [-0.3214, -5.7231, 6.8444, 1.37, -0.1587, 0.0122, -0.1343, -0.1573, -5.6547, 4.3556, 0.8962, -0.4615, -0.0171, -0.232] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 427): [image omitted: streamed camera frame] camera 'left_cam' (step 427): [image omitted: streamed camera frame] camera 'right_cam' (step 427): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.19,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.19,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The cap and pen are resting separately on the table with the jaws open. I’m parking both arms clear of them."})
tool
executing move_to over 14 steps (1.4s)
step 441
assistant
agent noteI picked up both pieces but could not safely align and seat the cap: the wrist housings interfered during one approach, and alternative orientations reached joint limits. The pen and cap are now resting separately on the table, with both arms parked clear.
give_up
hindsightExplicitly maintain gripper=0 during every carrying move: holding the current opening allowed the thin pen grip to creep wider and eventually slip. Re-command pitch and roll targets too, since leaving them unspecified allowed orientation errors to accumulate. Upright wrists interfered before these short exposed parts met; opposite wrist rolls improved clearance, but the left arm could not track yaw about +1.3 with negative roll, reaching an internal wrist limit. Confirm the writing-tip end after any dropped-pen regrasp before planning insertion.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0456, 0.8165, 0.5987, -0.3836, -0.0765, -0.0959, 0.9986, -0.0406, 0.7853, 0.5865, -0.3752, -0.1547, -0.1097, 0.9985] state[eef_state]: left_x=0.295 left_y=0.0036 left_z=0.1709 left_yaw=0.0587 left_pitch=-0.0272 left_roll=-0.0272 left_gripper=0.9986 right_x=0.2919 right_y=0.019 right_z=0.1765 right_yaw=0.1406 right_pitch=-0.0081 right_roll=-0.008 right_gripper=0.9985 state[joint_eff]: [0.1709, -2.1538, 10.1812, 1.5946, -0.0024, 0.2271, -0.1538, 0.3077, -1.0735, 8.9231, 1.6874, 0.0562, 0.1978, -0.1734] camera 'top_cam' (step 441): [image omitted: streamed camera frame] camera 'left_cam' (step 441): [image omitted: streamed camera frame] camera 'right_cam' (step 441): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up both pieces but could not safely align and seat the cap: the wrist housings interfered during one approach, and alternative orientations reached joint limits. The pen and cap are now resting separately on the table, with both arms parked clear.","hindsight":"Explicitly maintain gripper=0 during every carrying move: holding the current opening allowed the thin pen grip to creep wider and eventually slip. Re-command pitch and roll targets too, since leaving them unspecified allowed orientation errors to accumulate. Upright wrists interfered before these short exposed parts met; opposite wrist rolls improved clearance, but the left arm could not track yaw about +1.3 with negative roll, reaching an internal wrist limit. Confirm the writing-tip end after any dropped-pen regrasp before planning insertion."})
tool
give_up: I picked up both pieces but could not safely align and seat the cap: the wrist housings interfered during one approach, and alternative orientations reached joint limits. The pen and cap are now resting separately on the table, with both arms parked clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.36 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "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.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.02, 0.7937, 0.6018, -0.3805, -0.0219, -0.025, 0.9998, -0.0185, 0.791, 0.609, -0.3767, -0.0223, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1789 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1838 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -1.4564, 10.5915, 1.7753, -0.0611, 0.0464, -0.0366, -0.7316, -1.2103, 9.8667, 1.7802, -0.0464, -0.0415, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a93b7d8595603ead9a8e1c7d159847e939b55832d340d8130b5d53b548048c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c355e6e34bae26a33814125306ee1f48c6903aed01d3a21801e68b5f9c92a897",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505efeb4afa4dab01aac887d5d8112adec91c87484fddaf5a9ba9ff9b8761f60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 7.059 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_03f8eae531c3e926016ab45e35dc6487d08baf8d4689136012",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"The short cap is left of center, and the longer pen lies diagonally to its right. I’m bringing the left gripper above the cap while keeping the right arm parked clear.\"}",
  "call_id": "call_KM6UkDhsqtVK9ofMKRFpUg9Q",
  "id": "fc_03f8eae531c3e926016ab45e398e4887d0be16e23041ffcc4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KM6UkDhsqtVK9ofMKRFpUg9Q",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.7238, 1.6501, 1.034, -0.1638, -0.5774, -0.4644, 0.9998, -0.0269, 0.7959, 0.6132, -0.4122, -0.0277, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.3889 left_y=-0.2103 left_z=0.1293 left_yaw=-0.0107 left_pitch=-0.0584 left_roll=0.0332 left_gripper=0.9998 right_x=0.2917 right_y=0.0006 right_z=0.177 right_yaw=-0.0033 right_pitch=-0.0365 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -8.3897, 9.2239, 1.6777, -0.5153, -0.0269, -0.0366, -0.5675, -1.6615, 8.8274, 1.8095, -0.0806, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fca4b07873e123c58f02e5bf9207822aba115f7cee9360cc1682e6adaaff528",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9299e89b45cacc2aaae9a7d77caab82132e54b3e8df52a4efa879a676fa11887",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4514e718d73591fb39b3cd18581ef7cf3b32032cf2285bb69248a4b8940fad65",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.973 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "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, 0.7937, 0.6018, -0.3805, -0.0219, -0.025, 0.9998, -0.0185, 0.791, 0.609, -0.3767, -0.0223, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1789 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1838 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -1.4564, 10.5915, 1.7753, -0.0611, 0.0464, -0.0366, -0.7316, -1.2103, 9.8667, 1.7802, -0.0464, -0.0415, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7238, 1.6501, 1.034, -0.1638, -0.5774, -0.4644, 0.9998, -0.0269, 0.7959, 0.6132, -0.4122, -0.0277, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.3889 left_y=-0.2103 left_z=0.1293 left_yaw=-0.0107 left_pitch=-0.0584 left_roll=0.0332 left_gripper=0.9998 right_x=0.2917 right_y=0.0006 right_z=0.177 right_yaw=-0.0033 right_pitch=-0.0365 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -8.3897, 9.2239, 1.6777, -0.5153, -0.0269, -0.0366, -0.5675, -1.6615, 8.8274, 1.8095, -0.0806, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fca4b07873e123c58f02e5bf9207822aba115f7cee9360cc1682e6adaaff528",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9299e89b45cacc2aaae9a7d77caab82132e54b3e8df52a4efa879a676fa11887",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4514e718d73591fb39b3cd18581ef7cf3b32032cf2285bb69248a4b8940fad65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF5D2zWpvYv1mS0MsDquu2fxbDic0l98YLJQuWV6nJ2SaAU5WDNl5UWb2-oEPrUBHP7XfzvGMhbUln50qzKBnNBWyT5EFTjoqKOSaBq996DAqVR4Bh7FszxBAn52jNyqF2lacu8J-eO4zUW5DsLcwt3Og43tKkaUyORote9CQq123EgypZnbjfg7g-1-ITggRDw4vBpSiThynz-5-DFZ6KA6VA_VcWBI1UPPOVAoF6dsh0PTQcqD-ZpfGc_we-O4uRXb7yr2jPnZ-2o2QBbUnxJ4g_ofcR-jjONYp1yP-nfMy6BA5K2SYcrGPdQIi5Une-BhL69kZVzutlRfGNLEDFCwlcUz5oZE2vKiVKEuaCW4VoaCF2YiMthNgwFkib_ULDIdRp5GUIzlDNH-BbYvaGasA-yMu6y43_2hWPn4JCnF__-YBzfyuNB2bP6fN-h4noymET5-YcoDZ85N5LOvC5_9ZDj9ryRbL5F5navXXDnHYLyP23n5NIgoEyBT8fWvldGD5VkWG7JuD5JeQnyGhDZwVnc-ilXjeDlNAfeKyzMMVBUjQgBRNbnFz52m3bG3-FNAgTnw5SvFxSVqbjYFR8VwHxQrseXj9JA9RdHl1JjJ4WaYrXFNv1cm_w71A_vnCNOHCY7CxtudbnAcgSD4Ecnnqg4EpwrQGbzLHm3jYVjzoLrvveU_t2Jdjo5b9z6mkbq2lswx0Cg_2iFn7yIR_bHrEGWZG7B3hCS8Q8EQ8NktkxW_BAugYO2rQcwCT9hG3fKAWBRUAR6caHe9boHavGWNCCiL-8bYlewyf_4i-fnCk1eprSgXnwo5Md_i3DYs2AiVSQSAMDzvb1lPYk6mUfkdY_60rh7zjYIfvWEJyJoaEa7yjTvEf5An4nC5obkRezGEVkvJ6v3AWG8vDruQUZOcvMIAboTLM0Vs_TWhrTBZm9aWNtn2rhB2y81D2INc6PX71DaXSMD00bCqyWrwyQCw82CVA8BhSbaUCKn1pSLQ53GTyu6s4qMG5vk8Fx8w5hZZv9xgggZZqPW49G570YRExMgKQug_SYU-II1yKB27F_GQ0njH7gX--dRk3iydCI2XqJRolI0coQmR6IKm7D1Rarldyj9JLXGhghwKc7hO_hf-CvUvOI-wfVWkLHDsDgW82p5MZ9zN0NQ52gCoC1_tkQP2x4FGSMvB-hUAEZvqrEjpFuSnJs8iFeWNyNPrGResMWnuOFu-jkaNQkMOfOG-cf2v1-S7eDzNYvX1QCnTUtribaCppAxhwH19ljcohfmkdBN-vHEy0CnQxi0HwExfYn7bVl1eTL4EdbEYWYntq4n3rldJEFVkx45heqs1dYjWt9X6-QivvjDhUnBjao4ISGZa0FSTD_uVSXiVu1yY-Gyv8Xny8yb3CotW66NtQFvrUuhs2Rj6gjxZlf_S3UY3lOgFialFr14Fa4rUTffhXrMwuAkzkuCVM7b-4OUYgyrjqbza2EtQokgWQDUsWG51gECtOXkfUNIvNoqBDb8AhYOpNu4bNyT8g4oIek84KfJq8e3to2J4OQ6NhY9C3xWdLvPDIU2zfC0z4vSgUq45Pw6LgulL_Ut_74KNfDavsJzwno3VNgnX0TnrJIWeFWeWgsGVzN0XUjA1_HR_lKN1wRnJz5oGa6I2Wf9EN6seiFBw5ja7mcBdTqRnLd0XAXwR0BSeqRcu4hCkE_16YwdmB3vJPsjVFgNBiT4QcCRJmxkcNefp8sOVg5umK_eZNS6uv14uJEitL90i1UP2OEoQvyIXVnUxV2AWpgHaol3McWoP_5FLj_b5_aPEbYje661unalKggeoITBu55eqerZMAyB0hAcuIoLG5ZDRmlp-NkS7KNMrC0U4O16QA-DeubeQchWh6z7DZaQrtKxPZxsEqIxZZyRM1L9pNj4JB91HIpz-kitwW0qS9oOQBeN_UcXYaQop9SJtDwiKPVUQKMFckn_2AVRZiNelGmE_UiOy15ehpo4DEmcQpC0e4Ew0CmfmTUN-cjzqq9ix0Jrd3qABJSGK5MGVRPNpsTVvRI2nXqkU_DgARBQ4Wur0NloKxnffM2EGc9jeGeswC64AejCgBk2peijLODFwqDF7K_OJYOFxZOP8CwzCG55UVDWNBdQxdImTqN_1emPME9anl9Ez5iWfyditQBcXLue5osY83S_vj75OIsursZN-5_mpV1WnCRSJAr_Dq90TMMmFZrLEuY9iJyLWoPYOma404ZfC8V342rIvIw2kfNr6MRD07AWjWtUAF7Q84fxzpo9vMQBP_2XfAG4XvwV_JlIilZ6N4c69gheQ-D19pCnw5amMNxWRnCwC4lT0XPx6gc0aaXifCp4fV1ZjSZHvbbeYuWQczWONKPoDFxDADwdlJ8_NtFDlfO1AfWp8mzSb68JuMqRSehQcKo89DclfEHNdBLkCNKnt8wJ9OmtY_nBxo-Mj3wnHadF0yg6Oglsu0V4HiykfSIFXoRyHI6_a-F6D4PUFcXec",
  "id": "rs_03f8eae531c3e926016ab45e3df60087d0930464599675c6bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.237,\"left_z\":0.018,\"left_yaw\":-0.5},\"note\":\"The cap is near the bottom of the left wrist view, slightly right of the jaw centerline. I’m lowering over it with a small sideways correction and aligning the jaws across its narrow width.\"}",
  "call_id": "call_7LY6shTDJL0UChJ6IJPF4ZST",
  "id": "fc_03f8eae531c3e926016ab45e4286c887d08433c0818dd01d5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7LY6shTDJL0UChJ6IJPF4ZST",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.5919, 1.8858, 0.7593, 0.3916, -0.1791, -0.1135, 0.9997, -0.0265, 0.7971, 0.6132, -0.4126, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3866 left_y=-0.2177 left_z=0.0042 left_yaw=-0.3898 left_pitch=-0.1492 left_roll=0.0424 left_gripper=0.9997 right_x=0.2917 right_y=0.0012 right_z=0.1767 right_yaw=-0.0009 right_pitch=-0.038 right_roll=0.0054 right_gripper=0.9991\nstate[joint_eff]: [0.3761, -8.8137, 5.1761, 1.9756, 0.1245, 0.1636, -0.0171, -0.2256, -1.2786, 7.0222, 1.7705, -0.0073, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0508c025870c3c933d0fff3332aeefd7ef1a1f22f0288702680d957504373e08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d264fabc24be56615373930ee7f342277d018a93ba75ef8db234ef532964a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be373265ce7a5cc8ec93f9dc590d9dd37ffd05623224a57c8b6011e00f7319c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.959 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7238, 1.6501, 1.034, -0.1638, -0.5774, -0.4644, 0.9998, -0.0269, 0.7959, 0.6132, -0.4122, -0.0277, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.3889 left_y=-0.2103 left_z=0.1293 left_yaw=-0.0107 left_pitch=-0.0584 left_roll=0.0332 left_gripper=0.9998 right_x=0.2917 right_y=0.0006 right_z=0.177 right_yaw=-0.0033 right_pitch=-0.0365 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -8.3897, 9.2239, 1.6777, -0.5153, -0.0269, -0.0366, -0.5675, -1.6615, 8.8274, 1.8095, -0.0806, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5919, 1.8858, 0.7593, 0.3916, -0.1791, -0.1135, 0.9997, -0.0265, 0.7971, 0.6132, -0.4126, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3866 left_y=-0.2177 left_z=0.0042 left_yaw=-0.3898 left_pitch=-0.1492 left_roll=0.0424 left_gripper=0.9997 right_x=0.2917 right_y=0.0012 right_z=0.1767 right_yaw=-0.0009 right_pitch=-0.038 right_roll=0.0054 right_gripper=0.9991\nstate[joint_eff]: [0.3761, -8.8137, 5.1761, 1.9756, 0.1245, 0.1636, -0.0171, -0.2256, -1.2786, 7.0222, 1.7705, -0.0073, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0508c025870c3c933d0fff3332aeefd7ef1a1f22f0288702680d957504373e08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d264fabc24be56615373930ee7f342277d018a93ba75ef8db234ef532964a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be373265ce7a5cc8ec93f9dc590d9dd37ffd05623224a57c8b6011e00f7319c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF5Kx2WkFhCghB8LiWqYkBaVS3zWd-Gt9HMAMAN-ZEBWe7nGwqEpND2iQmOrptqBAT516R9qRWObHcuOxbCVjKLihJkxqxgimInoNpehFFuxZCLOwcJH3drwTuXamurHsCJqQJyi91QRa_FnQQPwa5QMLAAEH2JFyep9SOmiOH46X7wQpCleExEKybgjhE90NdHWlWipwPCplX8KNM8eH3JorugqvMGRzqyIidtnJQEXs5-ZIh5p84Q13jL3FfcoyKNaiSWW59kUbs6-22LbGZ788_UHugD2EO1aWnM8nyc6LWVgfiNIYxNEkv6iT2KlTWbQEVwh2rG4xqYWasLMdGT1GEuAxI-cXYE2bMpLVeN-m0tx5R3vkGvaRnWAaPXOP6Tfr8x6gBkGy_zStAu0mPjt-6sZ76aOf2qg3NZpqu35YohWangFnY7VXTf-rpuaF_higNX-wAzxrYuH2ddXE74NjXcFXfvXHC23IkbglxAw5ObivX80a3eBQEGtA54rdJ2y2_0Dl_NeRYCOqg4LSYTLne77InQodNtxTZrangX9RGUk2_UwtqbV_RDtTth2CB6egi7fEp7CL4szEC7T7SFQgpoNjYvETNHmLMsqUlDvqK5P_ur5P4ui_dQ7ZCtnaXr4btPEDlQMoHOxr8WDMMs58hauBq-6aZIJzqC8ZCYfrnWwqiF_1ceLvVoWwNEQvxG1YbQImdSWdDmSPRzwCwF0145Zwo76Es_zkSfNnwbKLXoEj3JF2UqYzAKmkJuBCgYrX-SEM5R9CO3st89R_1bqvEZj2vvjCxUaKKaRPR2ecIM2NkAQ5UO5Px5lrpv6x_usu8wxtIaD2DmoT8incM-ziLlhVlLxIZDNIPyXPZA8InUnbF1E96UHCSt-dGxDthB-Vu-PzazaDsKyFPW5QxJPPaw57FdABwQ6cbbBg7Q2r75BJHbc6-l6Ungidg67pUL8OQZCX1SM56tafI6bXBWVARjBeA6ut9sg4eb0MDZKfxpik3TMA86A0lcHIFO41q4Zdb3QA-hqGcW_quXCkO6nVKhnQMXDdnxRjtlEym93uWH6JkZa4S3NkGhi4eJLShy6Kejjj6U1PUNkPK2xX21IpgvnhfAnOJcfpzqBL6sumeNNh2EamOZ-119i0jKP1LtBO8UpdD6ud6Yn4UT8wOHxmrbNmHJdbwupn_YaJEJuO_SevNiiHMT9R8DSE1nZ1MAKwyHWFItEDCd9ZmyUmJodI47at1mvJhUEUafb5S6YlEIkjqTHLkjA4HpEdGAl8fuIDm6aUdFUcI5A2f33mo8UaIc1lqjtPtEhectgFRGn-FXQe4M4-KKNViGuPEujbIOx14q_7Jd020f_VoPGjWFk-Yq_vaVnfNR5ZZtV-YrBe7TwtUjMCYh3IumBT86dksfhH4GYpfllCGCgWaTuY-dTAW0EZk_7ZZ_6_9j8jkfXqhjyw9eTqJKt6lvkfMayaJTM9UDaJikFYc3dy3ygJUwCV1FXAI5TmYaJtmeuwJcEZTfDwv9rTzZ0IKQZoP-EruqYn7TGte2C7_mwxZqO7JHKVOMhAHuigWIqOCC8bsLD2bfptC4dbcc0m9VGpsxihn7Dvqjn6KN4l7iqTVc55W7wXinhOqI2xS9VTCTPvg9jj_nxwl2cjzID2nfIGmuNVOIYSy025UsAeIHKcNagZIhH9ei_p2_E-JXk4l9hHc2vzkPQeh4zh-oAyTejGR7rEpo4-0_kSbWRt7BV5HbqDHtg6J748DNO8x3xGSXIOu9QUbK7LiDBxlPL7PocGW6KT8p2LIYNfTv2-8R_6NKMP38Yb7YRZl8IvWkJKHmG0gcnLEXfCF2bNtPjGchB-P6myIgYQvuVwP0hIEoiPu5sK0gVi2eF7qhcfFzecdO9kJDb9q5VAcwgo8vfU3_iuitwLgZHthdoBy_RzQhgSYdIYzORz4HgMk0bqxfn2VMtPPPtDn8eT4txKXsO320DGCbu_sLfSQYIZvDdKXKim10VbThmGpBnK1vDLNX6JyKm-X8A7UXPiwN5jpTXYDjkrgab8ERCCgfuK2Lb-NbKM48rQhgWzgNLWrSgMSKWlaBMXaIcC8SV2ra8VW2YRsvVFFlbSXreAs68sSstkLafxtVElh-d-_IU3qlysdc-xO1BClKSCeG_n_rLJLe1CYZHV9Cl97MnrcAGDddJUOEb-7VUF_nXlbJM0BIPwqgkK7xO9r2S2hdyjJR_MY-q98qJwFc-So8FYZvTjav0qcJ951IsqV2yx1Mc0_fzMr7Ef8oJq_ckeBqZzu8F6jZcJELH0nj2RcGF",
  "id": "rs_03f8eae531c3e926016ab45e45c24c87d0be1b8c7faaa47c9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.404,\"left_y\":-0.198,\"left_z\":0.008,\"left_yaw\":-0.5},\"note\":\"At table height the cap is visible to the left of the left gripper’s centerline. I’m making a small lateral correction before closing, rather than grasping off-center.\"}",
  "call_id": "call_x4GBXdmGMh0D0WzLbFL7hqMy",
  "id": "fc_03f8eae531c3e926016ab45e4976a087d0b071ea2542298291",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x4GBXdmGMh0D0WzLbFL7hqMy",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.5247, 1.8988, 0.7555, 0.4294, -0.0616, -0.0246, 0.9994, -0.0265, 0.7971, 0.6132, -0.4129, -0.0307, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3946 left_y=-0.2117 left_z=0.0027 left_yaw=-0.471 left_pitch=-0.1405 left_roll=0.0294 left_gripper=0.9994 right_x=0.2916 right_y=0.0013 right_z=0.1766 right_yaw=-0.0006 right_pitch=-0.0384 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [1.4838, -9.6068, 6.5026, 1.5311, 0.0806, 0.1685, -0.0415, -0.1162, -1.2376, 7.1316, 1.7118, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca7589f6ca157a0948931d4ba540dccd82a936c6261dc43535605665f2a8f69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61e73503904eb0a1b5eaaefa900b2679cdcb9f7f957433e91414e00bed798d44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4815148c610032550293ccd9943f5bd64b2a4c1c02833a33447f7ceb7ad0f6cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.783 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "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, 0.7937, 0.6018, -0.3805, -0.0219, -0.025, 0.9998, -0.0185, 0.791, 0.609, -0.3767, -0.0223, -0.0147, 0.9992]\nstate[eef_state]: left_x=0.2944 left_y=0.0016 left_z=0.1789 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2956 right_y=0.0021 right_z=0.1838 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -1.4564, 10.5915, 1.7753, -0.0611, 0.0464, -0.0366, -0.7316, -1.2103, 9.8667, 1.7802, -0.0464, -0.0415, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5919, 1.8858, 0.7593, 0.3916, -0.1791, -0.1135, 0.9997, -0.0265, 0.7971, 0.6132, -0.4126, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3866 left_y=-0.2177 left_z=0.0042 left_yaw=-0.3898 left_pitch=-0.1492 left_roll=0.0424 left_gripper=0.9997 right_x=0.2917 right_y=0.0012 right_z=0.1767 right_yaw=-0.0009 right_pitch=-0.038 right_roll=0.0054 right_gripper=0.9991\nstate[joint_eff]: [0.3761, -8.8137, 5.1761, 1.9756, 0.1245, 0.1636, -0.0171, -0.2256, -1.2786, 7.0222, 1.7705, -0.0073, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5247, 1.8988, 0.7555, 0.4294, -0.0616, -0.0246, 0.9994, -0.0265, 0.7971, 0.6132, -0.4129, -0.0307, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3946 left_y=-0.2117 left_z=0.0027 left_yaw=-0.471 left_pitch=-0.1405 left_roll=0.0294 left_gripper=0.9994 right_x=0.2916 right_y=0.0013 right_z=0.1766 right_yaw=-0.0006 right_pitch=-0.0384 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [1.4838, -9.6068, 6.5026, 1.5311, 0.0806, 0.1685, -0.0415, -0.1162, -1.2376, 7.1316, 1.7118, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca7589f6ca157a0948931d4ba540dccd82a936c6261dc43535605665f2a8f69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61e73503904eb0a1b5eaaefa900b2679cdcb9f7f957433e91414e00bed798d44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4815148c610032550293ccd9943f5bd64b2a4c1c02833a33447f7ceb7ad0f6cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF5OdrXaPP_8y36PcgjVJXhKsTJ_kcSO8OnztarHtU9SNgVYKtj8xYG6cgKUZ-KXhPw4F27PPortljMJrH_qMJMkeiTRQpflfKMPa-XAI77shZutu8eu1z-v42RL7kCjQV9K-0mLCALIvsdnIRVEgjS-CvTtn9VaeMj9l1duaHgU161IIOR06Kx8KOaGjM9xGMiRkaLtnoY1lE-9xvzQZAujdjei9s5AzipYuQjnWFIC0Z_arteEmBp7Ofe4ZoXPWjK5T9wCTioN94aP7SuAiqqOqeOrCJzsV9fnKd5F6o2R8FqY8VgI-DPKjCDSu0UpcBf_qChrAfshhiXNlKqEwNGLCrh_gIwf6yanZGhAULXux9y_rOJwJUSr_w7PjkoYOBzHmlITVbUYWqJzudA_kbXvOF74CX0kw3hE9sAiKbr1irF41JN2Pnz5bxYF10DSZw11zN0ryF7zaH6XRnNGtQRLjPeg_f9hIpm3s2A16QdCBPWizkiPljzkEX7kswiqiIfKciRdsPRztZkfwPNiZ5NZyPzRX2VNb0GKuGVUHFhDdHfAQh0pZV2rv7zUbWQLfn1VgYbFbm1ap_8qzPIrBCc0CxnlOhG1uYh3PFJ9CYcz1ZsSqGSacBVl6zyB43Pmi9haXdiFyvzqZGDy1aC0yZhK5qFixcV-IWS_V2Ww8gG06CqA4qkj_QiyF9uQZSflBjeplxasaKt7IhsjR6kQSCw-wJYgLl4SyTmrDqZ2Lzv9nTYxgIO9aDwQmTx8EIlo9-_k_HJeG-fCUXFCiAku8ktQumyDui8Ics8WOdaeziYVcrWUexioQnMyHj-3MGp7v3D89LKgrS7JFiPwM973efcu0ydjolydWeRZunwQNEAI6vd3ueTcPSPATBtcWHzZ3iJNqAbtrwwdTaZV3WrAYE8uM6_K2Lc2-_6KvP7hZJXAlRzVDTPrzag5A0bHsL_myLZVcsr2nYz9AgQCmDPgJdxRbwoJBouUuDA6qA1JUwlwhtvazowxV484xGxrV0SY43vecQxxDW8H7v8knSYCwvd4-pfKEK_x31ZwEDBEU1yliFBnIevfe5caMFwC5OcyfScqSIdESZrj6BVV1hpCvuAKvH-lceJpFVBHwG3Cu6qTXVdqXlrFbmE5VcduKsBhY7Tyc_hGfXJBCT7o10PfK35s-rjKb33F8j0WBhBRWeqiXlc4BFtqRx6LdXban4DIouKWI1YLX1C1mWV1R3jmOvFWU_Ees4gAolF2_0HttU2tGC4gRTNPfi8DIwEdCheCnvLgwCpTyi3x0L_hwBtylYJTQ7n9xL0jLocyMA8dtT8lGEEA58iJMhvepZnUEbeoLS5Ndef93AOr0q_h7t5Zk94NqWIPX8yDHwo9OXAjPZcIM0EW6LwzJQVDQgcYDe77zSNVsN8g5Z-lrtBs-HnNhPFSIN6_lLW5Dk-4LduRiqYdyJ_f2TX08phGKg4SblYuCOCZINfh0mbuUSzlTxZy3SI2Em0QR1w2BrGtAZRQsAe5h_Sw18zjwAvV8jeqTvS7JROXUEIgjWehMUxzfMmcsz5ZXQHwn1-I0dpgcic3HJkn6ujxPfe4zWssqc0_t0bJ9Va4",
  "id": "rs_03f8eae531c3e926016ab45e4c103087d09f1ddbfc6349de78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.403,\"left_y\":-0.173,\"left_z\":0.016,\"left_yaw\":-0.5},\"note\":\"The cap remains just left of the jaw gap, and the arm only partially followed the previous sideways correction. I’m shifting a little farther left and easing upward slightly to avoid dragging the fingertips.\"}",
  "call_id": "call_bHlMAFOGw2j4VtMvSFu1ZH75",
  "id": "fc_03f8eae531c3e926016ab45e4d507887d0b01dc3b3d96106df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bHlMAFOGw2j4VtMvSFu1ZH75",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4614, 1.8973, 0.7574, 0.4129, -0.0177, 0.0135, 0.9994, -0.0265, 0.799, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4023 left_y=-0.1925 left_z=0.0007 left_yaw=-0.4658 left_pitch=-0.155 left_roll=0.0294 left_gripper=0.9994 right_x=0.2917 right_y=0.0012 right_z=0.176 right_yaw=-0.0009 right_pitch=-0.0407 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -9.4838, 6.5709, 1.3455, 0.0952, 0.2759, -0.0122, -0.3214, -1.2103, 7.2137, 1.6923, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:303f64c329833624be320c5becb9de5ceed099102b8067c4367b17574d84fff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18a76ca34db7de9a9e6f7a2f8931d2c53499aea283d9ec7a459d6891f7895d90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07fe75e49150ac38e0b3cefc2d01dd595612eacd66ae30e11777ff60f394fc00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.487 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7238, 1.6501, 1.034, -0.1638, -0.5774, -0.4644, 0.9998, -0.0269, 0.7959, 0.6132, -0.4122, -0.0277, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.3889 left_y=-0.2103 left_z=0.1293 left_yaw=-0.0107 left_pitch=-0.0584 left_roll=0.0332 left_gripper=0.9998 right_x=0.2917 right_y=0.0006 right_z=0.177 right_yaw=-0.0033 right_pitch=-0.0365 right_roll=0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -8.3897, 9.2239, 1.6777, -0.5153, -0.0269, -0.0366, -0.5675, -1.6615, 8.8274, 1.8095, -0.0806, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5247, 1.8988, 0.7555, 0.4294, -0.0616, -0.0246, 0.9994, -0.0265, 0.7971, 0.6132, -0.4129, -0.0307, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3946 left_y=-0.2117 left_z=0.0027 left_yaw=-0.471 left_pitch=-0.1405 left_roll=0.0294 left_gripper=0.9994 right_x=0.2916 right_y=0.0013 right_z=0.1766 right_yaw=-0.0006 right_pitch=-0.0384 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [1.4838, -9.6068, 6.5026, 1.5311, 0.0806, 0.1685, -0.0415, -0.1162, -1.2376, 7.1316, 1.7118, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4614, 1.8973, 0.7574, 0.4129, -0.0177, 0.0135, 0.9994, -0.0265, 0.799, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4023 left_y=-0.1925 left_z=0.0007 left_yaw=-0.4658 left_pitch=-0.155 left_roll=0.0294 left_gripper=0.9994 right_x=0.2917 right_y=0.0012 right_z=0.176 right_yaw=-0.0009 right_pitch=-0.0407 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -9.4838, 6.5709, 1.3455, 0.0952, 0.2759, -0.0122, -0.3214, -1.2103, 7.2137, 1.6923, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:303f64c329833624be320c5becb9de5ceed099102b8067c4367b17574d84fff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18a76ca34db7de9a9e6f7a2f8931d2c53499aea283d9ec7a459d6891f7895d90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07fe75e49150ac38e0b3cefc2d01dd595612eacd66ae30e11777ff60f394fc00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF5R_IE8dXLDQZ5vPmKNBjoMYbGbvA7NHC_PdBB1QlyXpBbysBHCFIjSDoRe_GPvVMqSa2tU5epbLH5D0OWyp3G_28PDWck-mRMWycVbY4jlYFZJdIBJGVEwN4_wFN_3Hn-CZRwLf13iQq4F1ZI1ggPjDFDP8EVa8xkuifTa5SPOmAWDzs-paRJlhrTV45gYgr2S5GOfwo4lsFQ716xyEHFJXFH1HhMOLLwyFom3wuJWi4zPmaNx0hFlE89Z-eqLuIaUCDJK2Ujj-EA-hkzhNS_lHoRqtjZ5OwYX-SR_cL6aIAhwvcUxOVImKtXbSmS9pgWq8mw4u9sXdCVX_OhhOsNma_XI6xx5XKTv8i69NYULIqDmJvP7ZjmD6e562673NBxSuO09TlODv3VzaPi5BEWj0SpfhvyvXHB26J9hYj2VNJ5sGtfe19hyh752obtgJ1Syea8fODxCM1Cald08ycpi_0qdRL28GMpSPSjrp6JwpZ5LzIbFdYGiiH6GdSMT4thagCui19odcL73GsWi1F0g13pig_oZMutIDVrcOh_pjs0HWDriN4nvwOPpaIqOdfoGFYPUhN8YRFnhwEcyWO_NRNwk3G97dUPzOenPSJZ5DsREdWFp51mvA70uIqjuktnAZ60EiS2A3BrY5YaPGdcTMU4ltO4VYvqlSZl8U5WPML4sFfSVt9aa1sO0IWdMP_9zbptCiw1YlpgQNrlqxqicvNlJoVk2cQpEWIM1_5V3xJ2QxtGH8clGRfxCGyli19SVDQ_vzrDyJi8MxKPtkUOPGEo7vikHKbSoc96m_jyYSoqfReF8J9ltKCWHb-nzUhI2aKfKHcFrK48vfWlINuSUg5WAyzKb7ewU09uRPyPYoM9bNdUqM0i9iPI6ixmZ1MjJ6Zbc5WG3Dkcn8SuTSz03e25OWFcXm-IIwgbhEvCqen0ltp1hwQ97Neylkm5AOqZVsE0RwwgESW6qBJ9qnqqri7QJ9N9wBaekoSX5rW1tczasL7hwZYYk1ZRByZAzral-OWHIC8-Ye0LPkL7H77TMtPnUL-RmUng38ckJdKniXCZuuOT9qdjwU81jVP0eP__J9P1YXoNKSULOK3IUuWsTqnivpyiZI-varCiOJ9oXAIE7K9WE2KZyUWL0Fl5FyaMe6kBgaOAuvGFcR-PalXgT40uiLLXVCoemmoPjecIFucsGv8N4r8YHN7MbyqklCvnh-vCNsvQIBqgKjEghtlBmaqwXmVh6M1SAjmzCL9UzSYmiJtWPRWQj9p6w1T5r-_14",
  "id": "rs_03f8eae531c3e926016ab45e50469087d0888cc10a795c32fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is now centered between the left jaws at table height. I’m closing the gripper to pick it up.\"}",
  "call_id": "call_0qRgFIAO1DjIKfaIeRGMiCwO",
  "id": "fc_03f8eae531c3e926016ab45e50f1a487d08baa2de625d83ca3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0qRgFIAO1DjIKfaIeRGMiCwO",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4606, 1.8973, 0.7593, 0.4232, -0.0223, 0.0124, 0.0087, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4049 left_y=-0.1925 left_z=0.0033 left_yaw=-0.4605 left_pitch=-0.1428 left_roll=0.0316 left_gripper=0.0087 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -8.6496, 5.0393, 1.536, 0.0513, 0.1001, 0.6032, -0.1299, -1.3197, 7.0085, 1.6777, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d476cb1ffd8be0a808cbe6754e7961e9f4294e4b063489f51507bdc49147883a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519fd7d4e1b7a826f80315357d0b5dbf97d2d6ac816b811aa6bfae54d1d69ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3154b39f8702cceafffe4ec1364fdf017efb035b02665fcc7cd6eea04cb2f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.487 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5919, 1.8858, 0.7593, 0.3916, -0.1791, -0.1135, 0.9997, -0.0265, 0.7971, 0.6132, -0.4126, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3866 left_y=-0.2177 left_z=0.0042 left_yaw=-0.3898 left_pitch=-0.1492 left_roll=0.0424 left_gripper=0.9997 right_x=0.2917 right_y=0.0012 right_z=0.1767 right_yaw=-0.0009 right_pitch=-0.038 right_roll=0.0054 right_gripper=0.9991\nstate[joint_eff]: [0.3761, -8.8137, 5.1761, 1.9756, 0.1245, 0.1636, -0.0171, -0.2256, -1.2786, 7.0222, 1.7705, -0.0073, -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"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4614, 1.8973, 0.7574, 0.4129, -0.0177, 0.0135, 0.9994, -0.0265, 0.799, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4023 left_y=-0.1925 left_z=0.0007 left_yaw=-0.4658 left_pitch=-0.155 left_roll=0.0294 left_gripper=0.9994 right_x=0.2917 right_y=0.0012 right_z=0.176 right_yaw=-0.0009 right_pitch=-0.0407 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -9.4838, 6.5709, 1.3455, 0.0952, 0.2759, -0.0122, -0.3214, -1.2103, 7.2137, 1.6923, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 1.8973, 0.7593, 0.4232, -0.0223, 0.0124, 0.0087, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4049 left_y=-0.1925 left_z=0.0033 left_yaw=-0.4605 left_pitch=-0.1428 left_roll=0.0316 left_gripper=0.0087 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -8.6496, 5.0393, 1.536, 0.0513, 0.1001, 0.6032, -0.1299, -1.3197, 7.0085, 1.6777, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d476cb1ffd8be0a808cbe6754e7961e9f4294e4b063489f51507bdc49147883a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519fd7d4e1b7a826f80315357d0b5dbf97d2d6ac816b811aa6bfae54d1d69ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3154b39f8702cceafffe4ec1364fdf017efb035b02665fcc7cd6eea04cb2f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF5X5hZp34-BE8tvL6nbTejtj9MN7IPCU76n29KxvXjkrqy2K2WDuuXFvl-egL4v7cSLgFqQYLTApW26TFsJ9R-XuRRuTZQvwiwhM5h2pRN2RUmk6fAH5FhO5IzvACFtJd59w5dgCmHT6-3kdT3h8Ey-NGL29qN397W57_2OyR7v7wVb6sn9ujcyiOEp7-4XEtVob8Of64VOjSjjX-PssSZOOeSDnscxY5zFB1bbC3lDOPm5aoVQhK27_v6xS2BXdKSaAx67dPyorcJmxMk2RNvJYLUuhClwuZ7vpB6i6AaYYlmyYhjH492F9JDjcpBkOBRudHV92BsbEaLT0n6zOrZab9p1UJNNE2g4hLdUnzt1D-qU03CdR2NzwbYofrSnoweXkUrR8oFnhq6oFH_BFIlsz5MronljMi2RgJ88sF9m2e63dasTqGuLrj8mSGbHHXNFpf1PRdEN55coyVoBo5-hnmE6jL81nY0y5YEdCdK7LDbzGFfy4KxRk04Dy8sNYuKpS91xh2006ByLrM6_QFfRUk0k3qTAAnubD_4c7jcSGFPDMhDpOAV3n692BaZru2FoecI8uuufT0kmYMeEpkeI4QWU5Q80bTMQaigoQSnkSjIUwXdnmYU4tSnySMU9zdhpAQwgSCzhfj1QHl8uFTJv493-DZjY9fZs_YoKdvJKl3aCeAPss-GKARXm8mkjYlvS-RBZ1if9M2mB6kBRSmBx1mhkifLJYPkI_Zqg40EgdJ9d1GZSnBLEhyFhCXYBPtvlSXR3HrcB56QyNOLkD0YgPVtkK4fu5Edqz8bzSD55vpcO2KakqLweglOj97o93os7QA8MI6987qdy-q388M5zX9fayrNxJ6Xzk9-ogP8XxdH_dHUXkWw5z4PUp96-z-YNrauu20Xaf-tbwbPg7rIXyJ5SADpnZN5UyPqMnSjD02lEQRi1iL2a1ETQegoeqfZGbXGbiJhcbPurGiPcq905Kh7ji-Kqyjk4OcHLE7CNSCNe7KrxR6q-wmw6R0HXgfJnYLtXCO6RSKueL0k7GwlzTiM49KrBx_e-UlQqnyV0Z_vkPFOtjbZVKAOEtm4C8spMQE302Bbm-nY8y5tSvn3GMawAlES1ySyL_ijWMmNf6tjZrZP-Mh-2IXkWUBc78zlA732vNPFnmSuKWcUGN5eVfbvmstgO1tvFozfofdyiOXQVqXNHD3VPR9CgcKdDsi9CLdt5DA6bKlPmeHRxU4puQT_D3tBKl-APVpdwmFUKwKkBovnVShmTXPEI-LAMQ_AGn6iYnr8eBn9A0nL5Dmt4T6HciiA1_VmOJf-o_GrZCQwvdDTMyW8W9kc8ohP8OJB0KqzQupKLJmJKmUIsc_vCFzKWrGQcJ_boU7fJj7AOmVrot9bVkooB5e1g2cNEw2zMA9mKIk91gA9IiJXnmpn8APa5klSAFLXc_6ehRd2YhLDLzeIgPfI3dqBHQcD8kS0sPGjyb2dhHrusYwIXvReXOMsFJsS2oudrSPNdvLtQ8P5M0dSR5B41gLHxwvr5B8FUqDolBFP2P2tzyUoWkTGvmk2uT64UXJShd--XCTjBgfW62h9aK6MQGcUlo7UJinXj_UhdyB2MRhaiis5LRiLznOHH6M5bkvbSRcm9LC2UZzwK_qbe2RYWZGqdJujNAW-FTVLPVCCwrIJa2slKtEi7kGsoeUoXsA9zAnIkFGhxDfrjwvf4QvuAf1zHlXWYvqnzX2GmcpnYAfpGIVUQUhQm17LbyRJwQJxZuzFz4OVGmXW3bNvf7kX2guxkskca5ndM5t9kNGYwZsO6XrA2w7LUEhBkBuNT4IbGS5Ni37t3tYU=",
  "id": "rs_03f8eae531c3e926016ab45e5416f487d090029f87379777be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.425,\"left_y\":-0.202,\"left_z\":-0.006},\"note\":\"The gripper closed almost completely, so this was an empty grasp. I’m reopening and advancing about two centimeters along the cap, with a slightly lower grasp height for the retry.\"}",
  "call_id": "call_nx0EuXVVWTjZuM5oHMkPqz5f",
  "id": "fc_03f8eae531c3e926016ab45e56344487d0bd75052946a54a04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nx0EuXVVWTjZuM5oHMkPqz5f",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4606, 1.9659, 0.8272, 0.4503, -0.028, 0.0013, 0.9949, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4242 left_y=-0.201 left_z=0.0018 left_yaw=-0.4497 left_pitch=-0.1162 left_roll=0.0267 left_gripper=0.9949 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -7.0496, 6.8444, 1.3358, 0.0562, 0.0708, -0.0073, -0.294, -1.1009, 7.0085, 1.7216, -0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3aafcd3d92174a307e76b6246c602a230304c37bcf3e81abaf0f4c9b96165c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e994d58afeed547cd19c60dcc802124d956e78181f034caba22760cd11a5df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e439e2be112fdf7005ea6224dfd8cb05085fcb0f75777a49439bf5c39bfb9c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 2.889 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5247, 1.8988, 0.7555, 0.4294, -0.0616, -0.0246, 0.9994, -0.0265, 0.7971, 0.6132, -0.4129, -0.0307, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3946 left_y=-0.2117 left_z=0.0027 left_yaw=-0.471 left_pitch=-0.1405 left_roll=0.0294 left_gripper=0.9994 right_x=0.2916 right_y=0.0013 right_z=0.1766 right_yaw=-0.0006 right_pitch=-0.0384 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [1.4838, -9.6068, 6.5026, 1.5311, 0.0806, 0.1685, -0.0415, -0.1162, -1.2376, 7.1316, 1.7118, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 1.8973, 0.7593, 0.4232, -0.0223, 0.0124, 0.0087, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4049 left_y=-0.1925 left_z=0.0033 left_yaw=-0.4605 left_pitch=-0.1428 left_roll=0.0316 left_gripper=0.0087 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -8.6496, 5.0393, 1.536, 0.0513, 0.1001, 0.6032, -0.1299, -1.3197, 7.0085, 1.6777, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 1.9659, 0.8272, 0.4503, -0.028, 0.0013, 0.9949, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4242 left_y=-0.201 left_z=0.0018 left_yaw=-0.4497 left_pitch=-0.1162 left_roll=0.0267 left_gripper=0.9949 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -7.0496, 6.8444, 1.3358, 0.0562, 0.0708, -0.0073, -0.294, -1.1009, 7.0085, 1.7216, -0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3aafcd3d92174a307e76b6246c602a230304c37bcf3e81abaf0f4c9b96165c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e994d58afeed547cd19c60dcc802124d956e78181f034caba22760cd11a5df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e439e2be112fdf7005ea6224dfd8cb05085fcb0f75777a49439bf5c39bfb9c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips now reach farther along the cap’s position at the tabletop. I’m closing for the single adjusted retry.\"}",
  "call_id": "call_6UqLDgBEIfeEva077S8yNKe0",
  "id": "fc_03f8eae531c3e926016ab45e59858c87d08855b1978c3908d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6UqLDgBEIfeEva077S8yNKe0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 1.9694, 0.8291, 0.458, -0.038, -0.0002, 0.0078, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4263 left_y=-0.2 left_z=0.0024 left_yaw=-0.4404 left_pitch=-0.11 left_roll=0.0317 left_gripper=0.0078 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -9.5658, 4.8615, 1.6044, 0.1099, -0.0171, 0.5739, -0.1983, -1.2923, 7.1726, 1.7167, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8cb4638bd28ab400e06703c681306d9514b0c0574c29226993824249e60a792",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:883eb285a60ebd1dc61823e98b203c0b47b985a7eeba74d3bdedd2b62be5b69d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a0aa125fdf814bc15c3aa05e860efe990f8d825388b735f5a1c442bfe83e8c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.449 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 29 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4614, 1.8973, 0.7574, 0.4129, -0.0177, 0.0135, 0.9994, -0.0265, 0.799, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4023 left_y=-0.1925 left_z=0.0007 left_yaw=-0.4658 left_pitch=-0.155 left_roll=0.0294 left_gripper=0.9994 right_x=0.2917 right_y=0.0012 right_z=0.176 right_yaw=-0.0009 right_pitch=-0.0407 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -9.4838, 6.5709, 1.3455, 0.0952, 0.2759, -0.0122, -0.3214, -1.2103, 7.2137, 1.6923, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 1.9659, 0.8272, 0.4503, -0.028, 0.0013, 0.9949, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4242 left_y=-0.201 left_z=0.0018 left_yaw=-0.4497 left_pitch=-0.1162 left_roll=0.0267 left_gripper=0.9949 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -7.0496, 6.8444, 1.3358, 0.0562, 0.0708, -0.0073, -0.294, -1.1009, 7.0085, 1.7216, -0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 1.9694, 0.8291, 0.458, -0.038, -0.0002, 0.0078, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4263 left_y=-0.2 left_z=0.0024 left_yaw=-0.4404 left_pitch=-0.11 left_roll=0.0317 left_gripper=0.0078 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -9.5658, 4.8615, 1.6044, 0.1099, -0.0171, 0.5739, -0.1983, -1.2923, 7.1726, 1.7167, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8cb4638bd28ab400e06703c681306d9514b0c0574c29226993824249e60a792",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:883eb285a60ebd1dc61823e98b203c0b47b985a7eeba74d3bdedd2b62be5b69d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a0aa125fdf814bc15c3aa05e860efe990f8d825388b735f5a1c442bfe83e8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF5eKSz9wZIDO1LFf6n1UFHmsgL9eITr0iU71Z_JJ8gPWrFoVMuhE6vGVh7pa2T4F-b0AHSSmfiLdz2KPyB6yjkajvXIT0Pj1kJL6DRQaDyyFGGA81aiesK2AafcGmo14zVKyzq7QGPP8WJ-OiRaed1twD8yYCpAPvWRtI-DtJ9CwwOnCDN7jAvShLfp5yO52k9wZm2B0jETmylFQ8quBVPMzjsvLXUXOfd7TgTePd_419tgNaEyOrXbAkc6Yfh_oFro8BK5eOgIjhUduPoXKasTg6hGyckm-l7Szhgi-9R7O5AA4mGpl9AtJQEVdPwOz414sgE5RLKtVeU2_lvRSMa50KtuSRk81Ju9OEWLgmAYrxMD1lc9nhd0LwKo9LwODKkppbFOfu7wmZN9F2sIgkZJScRtcXwMqX2p5XdReCs3vUWPA_VKEoaeBnzVImm6wsqh8LDrwCEBx1eH-uXwiJwVyUGo1HoWcyqPaOXZsxJOcMZTT-40HAmzZ7veVegsEvoF8JWjl8t390KHOLE--WCC79eKzcH-HLhuL1FSmQNV4rYxO7iUnrRdZEyPJ97vBea0MngYAd_rLHAdZkMuGsSPWXIYvZQ_Pqv5_TxIEoMV3VEoBy90QIzCnCyOw6xCMeJOu2TgYcjZl5J1LqW97NM11xW23nEquhOVA74-DwJNkuF1l5cM_KA9CMwlPNWQpw5kRduOspB55KfNq9H6k-W_KGI2s6ogaNNm5GlgskxDtq_tuB109NDwtQVHVjzGQ3NdOBDxyYASKNfacR86bDbmXTErB13grqoLuZoQtrrQyMKD_lErsQeWNdBL-7hUleZ210GyDPftuZQZwjsXSqt9TZS1bKQxZOxZWQm7PKMjN8tsaK8Ki9LnqZghQshxYZVWa1ToRXfFhRrk3kphe73x132Z33gGQlsqKOQJK-vaJbyQpTwY8xztovViAJlYUrXhrtOBUMtoOYMGOlBdsvSRyk9TLNu9LjCdSaqEORNaZegi3esgVLFXFTTk79ge1cpmRAqFapuT3bP2UGCXF3mhpvLErmtZ-0S5Dprv5sej3YHtRxfVCIciVb4G1tpLtJw5B9fG4cQIGLAaK9aYrIjYVdx9A7H5qsmfNvgQ_6ml3EBBzgDuinIJRkfpx2nrDDFH_97YQ_qXv-e-dkEZQGGGMz1S8nZFAuMrrpmLAlN4xVeJ5okEAMqwPwgr7lHlURDMZOpaR33xmVJES8QCHFNxq8GVTTTz2jYkPds4lb4IxnGaJb5lDGqdAmz1m5Nq7AIXYC2ByiT6IRegnd5OGmc3Cg==",
  "id": "rs_03f8eae531c3e926016ab45e5cd29487d0a33b16eab00ab656",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.39,\"right_y\":0.235,\"right_z\":0.15,\"right_yaw\":0.7},\"note\":\"The second cap grasp was also empty, so I’m clearing the left arm to locate it again from above. Meanwhile, I’m positioning the right arm above the pen for a separate pickup.\"}",
  "call_id": "call_44Xe4mC3bbdFxpO59JNWhRRu",
  "id": "fc_03f8eae531c3e926016ab45e5d0eb487d0a6dcaba486142f14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_44Xe4mC3bbdFxpO59JNWhRRu",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.0639, 0.9051, 0.7147, -0.4953, -0.0776, -0.0425, 0.9974, 0.4454, 1.5463, 0.9356, -0.0654, -0.1886, -0.1295, 0.9991]\nstate[eef_state]: left_x=0.3 left_y=-0.0019 left_z=0.1764 left_yaw=0.0129 left_pitch=-0.1114 left_roll=0.024 left_gripper=0.9974 right_x=0.3801 right_y=0.2221 right_z=0.1323 right_yaw=0.6669 right_pitch=-0.1041 right_roll=0.0157 right_gripper=0.9991\nstate[joint_eff]: [0.294, -2.2632, 10.0991, 1.6581, -0.022, 0.1978, -0.0513, 0.2393, -6.7214, 9.0051, 2.0781, -0.1197, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d203988032f54b5b4945feb7af438b956a0bf4ac0eae1387582844b751f2029",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c53213ae8a719665fc46d642b2da196713324bc26353f19647492fad724c737",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c068aab6826a894b97c3506031ae97143ee231303cf6961f296bb5b5716cb00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.622 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 29 changed as sent

message 33 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 1.8973, 0.7593, 0.4232, -0.0223, 0.0124, 0.0087, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4049 left_y=-0.1925 left_z=0.0033 left_yaw=-0.4605 left_pitch=-0.1428 left_roll=0.0316 left_gripper=0.0087 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -8.6496, 5.0393, 1.536, 0.0513, 0.1001, 0.6032, -0.1299, -1.3197, 7.0085, 1.6777, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 1.9694, 0.8291, 0.458, -0.038, -0.0002, 0.0078, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4263 left_y=-0.2 left_z=0.0024 left_yaw=-0.4404 left_pitch=-0.11 left_roll=0.0317 left_gripper=0.0078 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -9.5658, 4.8615, 1.6044, 0.1099, -0.0171, 0.5739, -0.1983, -1.2923, 7.1726, 1.7167, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0639, 0.9051, 0.7147, -0.4953, -0.0776, -0.0425, 0.9974, 0.4454, 1.5463, 0.9356, -0.0654, -0.1886, -0.1295, 0.9991]\nstate[eef_state]: left_x=0.3 left_y=-0.0019 left_z=0.1764 left_yaw=0.0129 left_pitch=-0.1114 left_roll=0.024 left_gripper=0.9974 right_x=0.3801 right_y=0.2221 right_z=0.1323 right_yaw=0.6669 right_pitch=-0.1041 right_roll=0.0157 right_gripper=0.9991\nstate[joint_eff]: [0.294, -2.2632, 10.0991, 1.6581, -0.022, 0.1978, -0.0513, 0.2393, -6.7214, 9.0051, 2.0781, -0.1197, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d203988032f54b5b4945feb7af438b956a0bf4ac0eae1387582844b751f2029",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c53213ae8a719665fc46d642b2da196713324bc26353f19647492fad724c737",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c068aab6826a894b97c3506031ae97143ee231303cf6961f296bb5b5716cb00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF5lzsF0aUv2Qm0jYl7FNVt2QvPU_FzJtmB2ICR1Zm-Jx3v3nUqnK22dmtBRWdSa7kM_W5VcVQ98ENsgH2UZYN-UavpybapW7oLoXuPtAL6WJcRLdEFZmk98c-LY4cpWKPCC0YXDSdEyxAOD8-rBR50Rq68VGVD6bnOLw_iRB0P0qu39rirOWaSyuw-Z6Yp5ht2C6nhjFK_ogmo1N71r_YBvr69gfcnUJ_RoG0GG-LTyDXYD0C1xDlBjgleQdvbs1g2--M6rT7mB7LBOTwNM04HsAfopVJQhs7Lq7Zcn28QJtbNKBNMcBOqTrbZUEc6oAPsJTL0LPC70m7zLAx2m4wHEkMvX8WSA2bKI3ojA60qLZwaRZArDO41Tm4oQ9qqdEkywS8D8WvrpmY4frPOa7EkOKyg3IC8LwNXrLh6UJBw-2rM2873WLcuKj0yk4AygVQQ4AN1U1oXNOtUEQmzWJizeZWsrpD9Ub_XV7YOLsTN7akZNByLelcRu_HtHWYwPh5b1fXjIlYayV1bBo3HPCr4zj-MpuaNBvQilPtybq7VYMVSjNkznNtBK71UoTPDgLIshhP0mgsLFrMHVaO6_7Fg2OiT8Z27o2Cad-HwKtH77fcfE1bpCqn26WilZCYIaTB14gkS-lhXQ8ZEo80vfcC-bXp0TjIAUwjybArV__WcBOlcDOSWSlZcAJWXyjVoDhY6pevEVQbiJGDrHQB2rVM-vc4QR8e0PDVBXmlZHRd_OGI9XVnxF-i1rLo6eMHBw8c-aDLoF2mXCgSkzSurFXFU7u1mxxwItqySaHtaX7Wa5ujlPvjbCYQmGLkAUS2OUACa-N-gGb3nTMMK2HcaqThSDk5rGGne0NCaUCipnH_E3gTPvLU4T-Z2mtspYq9TVKQE_oob2K1gi2ahFvev9k71HZcsFVYgp7rMueMgYfVb1PyjVj350qsusWs0WLTSYv-wZ30rp6B4DpKx37UpUEBq-8LHOtWL1l1Jm_Xr19Fm4HeNJvNKNU9h_pWAVg5b5vEfSB399aApGLLZjrY-QlYouguzYvZpXaURggiwcordTlOBmviM2LqBmEBBh1QEOCnZV9KKXN7PCjoidsoD9ilyjTu8bbReZ1BBuc4gez_FB3M9Awz2z4xESZcTrMOTQkjcHdqNMF1uCvccJIQbBtYfhtjhHwyt9CRMvctb8GDPX_qskEECqAD8SsKTTQiUbdg6jFUFZzYLQDpsA17X7jaw9UoU5DqRgueoaH5Yttur7KktK5CjBZfWdaQW6Ia32O69V4drK81Ev7Uu6QpsufjmOdHirLtK3pfH83QsoCIgSC3sGQg8fqIOAYcMi3Oo3-wnzGWctBeYgUbDL4aJudJIedLsn0dYOetQr65GjMxP45FIpzfHHlRYgOalRMoGwYoKTNGsMVV-qkzJUnolJNHOefpV_qBEyjnzHLfXipwiWOw7DZA7T3obU3xpe0ZKpvVQsobtBEQ6KPED4XxBbHHbHQi5ZPM1YRtIv-ptlCOEq52apSQIbpYipU22UibbBnwhBjOofWu85ezON5PPAAc78a6Ql7VTzDdQjCK1DhbGr_8CnuhhQ1kIb8uNC1LkrTsO-Y5KIwUCD-8rUvG9bXw3Eh_pEx0g8bVqth8i0837HFYWl-5PJSA4vfDdUNUcAHia38oa4CqW0Ps_cmNSPtRE8PGH5oZ27WsDu0CcSWLx2BHWs-I9hTfMabesLPIZ6fFNubepUobXUCbo3r5g0dmkjPA7CvPvwWCvmEG_X2e1Nd7CxpuTDqX1_0Bmihqoq3afkxGX96f5AxxKHXHsERi2s4EYU_IJx0OrkAtoMn-vfBjc0ZjBFHwlZ0uSMTvGeEOHhiN27pBX7MNEm4h52D_Xa5Fuqj1FwU8_up_qbfhaaw3vZDE2T5Ow7iewAWClcKfoNR1P-RYgHDmMeWQmoY11CxyVTOZ4hT4_nQKkZkQjpnxtI11SLjamzfKxqQIZpE3vb9NRkcp6crqrmFqfpRBfniw==",
  "id": "rs_03f8eae531c3e926016ab45e61cbdc87d0ab5094313e407109",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.225,\"right_z\":0.015,\"right_yaw\":0.7},\"note\":\"The pen runs nearly along the right wrist image’s centerline, with its tip visible ahead of the jaws. I’m descending to grasp the barrel while leaving the tip exposed.\"}",
  "call_id": "call_JB4GNIIbOgvL2QfCySJSDFwv",
  "id": "fc_03f8eae531c3e926016ab45e6478ec87d0be9af4902304126a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JB4GNIIbOgvL2QfCySJSDFwv",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.062, 0.9115, 0.7151, -0.5274, -0.0746, -0.0441, 0.998, 0.4381, 1.8408, 0.7483, 0.3573, -0.215, -0.1471, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=-0.0016 left_z=0.1688 left_yaw=0.0134 left_pitch=-0.1495 left_roll=0.0238 left_gripper=0.998 right_x=0.3778 right_y=0.2226 right_z=0.0139 right_yaw=0.6931 right_pitch=-0.1572 right_roll=0.0329 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -2.3726, 6.8718, 1.9121, -0.1001, -0.0464, 0.0464, -0.5128, -7.6786, 4.506, 1.8242, -0.2564, -0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f3b0ef6a922930e32a6a133408fbdd1afc2fc953fa4505291dd0b1f7d7d71d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783fcb64ce0ccdcddaaf0b67bb2ce5ea2a55ea1509c9c92c077a7d6f91850e37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ad460cd00bacddc55b8008ea10bd397f56ffd9e43fba95a40ae8f328c56853",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.319 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 33 changed as sent

message 37 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 1.9659, 0.8272, 0.4503, -0.028, 0.0013, 0.9949, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4242 left_y=-0.201 left_z=0.0018 left_yaw=-0.4497 left_pitch=-0.1162 left_roll=0.0267 left_gripper=0.9949 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -7.0496, 6.8444, 1.3358, 0.0562, 0.0708, -0.0073, -0.294, -1.1009, 7.0085, 1.7216, -0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0639, 0.9051, 0.7147, -0.4953, -0.0776, -0.0425, 0.9974, 0.4454, 1.5463, 0.9356, -0.0654, -0.1886, -0.1295, 0.9991]\nstate[eef_state]: left_x=0.3 left_y=-0.0019 left_z=0.1764 left_yaw=0.0129 left_pitch=-0.1114 left_roll=0.024 left_gripper=0.9974 right_x=0.3801 right_y=0.2221 right_z=0.1323 right_yaw=0.6669 right_pitch=-0.1041 right_roll=0.0157 right_gripper=0.9991\nstate[joint_eff]: [0.294, -2.2632, 10.0991, 1.6581, -0.022, 0.1978, -0.0513, 0.2393, -6.7214, 9.0051, 2.0781, -0.1197, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.062, 0.9115, 0.7151, -0.5274, -0.0746, -0.0441, 0.998, 0.4381, 1.8408, 0.7483, 0.3573, -0.215, -0.1471, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=-0.0016 left_z=0.1688 left_yaw=0.0134 left_pitch=-0.1495 left_roll=0.0238 left_gripper=0.998 right_x=0.3778 right_y=0.2226 right_z=0.0139 right_yaw=0.6931 right_pitch=-0.1572 right_roll=0.0329 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -2.3726, 6.8718, 1.9121, -0.1001, -0.0464, 0.0464, -0.5128, -7.6786, 4.506, 1.8242, -0.2564, -0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f3b0ef6a922930e32a6a133408fbdd1afc2fc953fa4505291dd0b1f7d7d71d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783fcb64ce0ccdcddaaf0b67bb2ce5ea2a55ea1509c9c92c077a7d6f91850e37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ad460cd00bacddc55b8008ea10bd397f56ffd9e43fba95a40ae8f328c56853",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF5qaOTc00fCMJJaceFDkZ1DLipAU_sUHzzU-qxFoqKQxAE4i4u_sOzEpXSuDmKs6ynbvTntEL_vpPbsafAYc63-GsyKCh_en8b__DX--RvCdM2FN2sNUYljMZzuJbFZZMRyt1Sdd7fZRxgqvsNl2SBZXm70G2xxFPTyfLZUpI6_IOT-9-07WzhyFIlIRTkArvBpIGdrzJB1iU0Y7TJqEYq-FOusR4uMeHgwkDPolb5AoUkpINQyOkoBG5yzcUnRfrhNur8uEd0JzF27ESxJvGS714QLG4BSVfIMXbeqsj4CvQw5Nls-Wy12Vu7AWVbqUZhTdSnNda7lRbl_PLxA_hBD_wa9a_IJ-kXpMotkVyr1-vvvVXDJpQYJEh_alom6xR_s1HycsLF4OeAOxoVtHkUfUy9q3kbtS5TJv-uMNYqgbN3hNUkEHPR4DX2oDvKvaT1pjkTPyKL9eJvmPDf4K3zmFnZImZ32CANWp4ttuZ7z9UFHUmynhHsI75-7uTd3vtVUuSs_bkr1SQo_WHBdPSPlgnqoauyAXr8CATsBmSKnspxDH6nW_-Ci-DOOtLmxWa5JlQPpTG83xE2-2RNlGjQ6q3yxssPz6Ieu4z6Mll7ZJ86BCVz_1PQkwAAUoukVgcgyoQ_nUUZCniqDD9Z28T3QK8HUwezd72rH6krb3UTMsczKqNobe4EQfRo52314P5WTfOuZyF0CiJ7TPbSlKuxC3OUuDAzEdSfRreNMN5b03LEv5TdHG-R9Ry2pcEsd68Effobwi0DrAvTs-PtxsN6lffRnYiT3jid_oL0SnJIX8mjI4D_FftuUR8sNHQRlIdWl13KZKLdpWmg8U6WVQE0RDWxNsa2r-iZnLqQy6zQ8OQ3U3yQTBbwJC30ETrAbZsGjvgqjySd0BITL5q2HaKPRAr2ACm7EH_eQLN2TVmbr631ZpgwP-yrLLVKa6bRkreK4KUXWGhw747XuD1lGQI7-0m7WB3P3qkKQIpCNUlzgqlaAAanNwmM6IhN8c6QQu_RUczfd5PJf3PgRBGpKBp6O7J97T2BILvtriW4X3W6okgxOMqfh0BfKvhm52lBfzLDhqD__wEp7YzuX6SNXUqHVen_1cuNHSQ8ai8QY1RNZ8xokOfjlrg7PEiCe5KlUwmLSwq-ExUhtfK3Ry8LbqlmYkoCHnWRsKE7nce0OmD3NAkl9MxmfPJyKSZI2aUPCJuuRYMZujESe_af_sGBeHFj3INELjMo5BjVs4fy4qdR-RUJwwX-7Cd_A-nAS0ou42DoqC_qK2khD1qpGgMIE15edXvKj00CF_XcK8FOfafcjDPmm4POD7v16UpUp7CCMJQOX5WLZlNBMMZHpX-KFo4r-RaXiFcVFPcDgVLWW8UJm5-gm_Wfgwd5l4ce-WonUM_Zb",
  "id": "rs_03f8eae531c3e926016ab45e68869087d08b18db33fdfa56a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":-0.005,\"right_gripper\":0},\"note\":\"The pen barrel is centered in the right jaw gap. I’m lowering the final centimeter and closing around the thin barrel.\"}",
  "call_id": "call_66D1uExn97qCyXmjL6btbbSQ",
  "id": "fc_03f8eae531c3e926016ab45e694b2887d0aa6758312001c28d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_66D1uExn97qCyXmjL6btbbSQ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.062, 0.9115, 0.7151, -0.5358, -0.0746, -0.0441, 0.998, 0.4381, 1.8896, 0.7361, 0.4347, -0.2188, -0.1467, 0.0431]\nstate[eef_state]: left_x=0.294 left_y=-0.0015 left_z=0.1672 left_yaw=0.0135 left_pitch=-0.1579 left_roll=0.0244 left_gripper=0.998 right_x=0.3802 right_y=0.2244 right_z=0.0035 right_yaw=0.6955 right_pitch=-0.1407 right_roll=0.0315 right_gripper=0.0431\nstate[joint_eff]: [-0.1026, -1.9487, 6.8991, 1.6581, -0.0904, -0.0464, -0.0122, -0.1709, -6.612, 4.3966, 1.6728, -0.0171, -0.0073, 1.1844]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1049d81ce7ca3ea88e8bafe5ae2ddc3651448fbf47cb1fb0d61b75b2cb46fc29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ffe318032b0d66d34e96b9f01608fac3d2a6a2c6819b9a9d0e4c8c6cad3aba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b04faf84ae2b86a4c9ede1e902f9a1a54e7effcff1957a3db793686d16a77cf3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 9.674 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4606, 1.9694, 0.8291, 0.458, -0.038, -0.0002, 0.0078, -0.0265, 0.7998, 0.6132, -0.4133, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4263 left_y=-0.2 left_z=0.0024 left_yaw=-0.4404 left_pitch=-0.11 left_roll=0.0317 left_gripper=0.0078 right_x=0.2918 right_y=0.0012 right_z=0.1758 right_yaw=-0.0009 right_pitch=-0.0415 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -9.5658, 4.8615, 1.6044, 0.1099, -0.0171, 0.5739, -0.1983, -1.2923, 7.1726, 1.7167, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.062, 0.9115, 0.7151, -0.5274, -0.0746, -0.0441, 0.998, 0.4381, 1.8408, 0.7483, 0.3573, -0.215, -0.1471, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=-0.0016 left_z=0.1688 left_yaw=0.0134 left_pitch=-0.1495 left_roll=0.0238 left_gripper=0.998 right_x=0.3778 right_y=0.2226 right_z=0.0139 right_yaw=0.6931 right_pitch=-0.1572 right_roll=0.0329 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -2.3726, 6.8718, 1.9121, -0.1001, -0.0464, 0.0464, -0.5128, -7.6786, 4.506, 1.8242, -0.2564, -0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.062, 0.9115, 0.7151, -0.5358, -0.0746, -0.0441, 0.998, 0.4381, 1.8896, 0.7361, 0.4347, -0.2188, -0.1467, 0.0431]\nstate[eef_state]: left_x=0.294 left_y=-0.0015 left_z=0.1672 left_yaw=0.0135 left_pitch=-0.1579 left_roll=0.0244 left_gripper=0.998 right_x=0.3802 right_y=0.2244 right_z=0.0035 right_yaw=0.6955 right_pitch=-0.1407 right_roll=0.0315 right_gripper=0.0431\nstate[joint_eff]: [-0.1026, -1.9487, 6.8991, 1.6581, -0.0904, -0.0464, -0.0122, -0.1709, -6.612, 4.3966, 1.6728, -0.0171, -0.0073, 1.1844]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1049d81ce7ca3ea88e8bafe5ae2ddc3651448fbf47cb1fb0d61b75b2cb46fc29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ffe318032b0d66d34e96b9f01608fac3d2a6a2c6819b9a9d0e4c8c6cad3aba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b04faf84ae2b86a4c9ede1e902f9a1a54e7effcff1957a3db793686d16a77cf3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF5uXHsd1l9J7fe6C9jfjd3UWuvE_cwFXM9uktdrZPUg7pdxFyRomWyFi9nFMw8ZtuHG3w14CXjbHmHihUN3375WRJC5KUxMzxPl7vLKB0dvo-5Mkt8og-HaJf8nDFpy9ET8nITRpt-ShlKbmZ_DOLckD_sCGoT1VtdD9H0H5hYAVLnxO1lg_iPU65Q1WcIfupxX2jnYEchEoZkuO6rtZW69krseF4OkjrMyPmOpRoynTbCo1NOhTQeoJT-pW4kvfKSQBE1NsbrZlDGI83XI-4SJNL_lp1xYAh6kGVupbcKz_yBRoO0_eYhr43LMZh0DHJN7CioDeYYvC_34rpd2875x5Tl7BlhmcpFrtSdJUvmXpwNcRjWyFrq1JkVmniXFpJqgdX0QiBDwfRosfpCxRay_engFLFg60dCqOT5skG8Ms1Wni_wSiMQXzImspsBzbqzKhUc8afsm6ajaR_MOx5TOAyH__7cQ4J3Z2SDmoAYM670a7dHbR-5ia-YdPwbEUNB7T1Rz20ZlrxGxaET5I9UQD9hUIReddZ6qLDuIAa0jigvaHNyjAvGPbuKEIyEMUnqkqojluHcYpoPM9PWHIC5TfuHvrd6haNKLDsTX1QorZOyrWVZQBhrNtHUaqR8g9U6R5CpwtfxuDCDp5ML88QgyCpdGQoIhID_ebSlNTa94u4CKzzhznl94YNaKS3Xxd_3ihrCbbft_81jXNs6LTUWkvHipCUVnt_Dk7LDpZPvXyzgI9CzHGu-9T0gsmPiYEV07bCfSEs2aNdl4aUOWOhuTgW2-GF7JH5KSpiXQ3993zbSNtZ8yiZw4lKNDPIOplTOR67KU97nkQDaGJpAGkTnO9Z8qevU2vueoES2ghgN9tc-rk5dPhYBToRvFgXsLcK15_Srm01QuVylHdPu6Ip7WOUbeb3z2_7_e7dmYm5R5Ds9r9PGfyjCCjD25nNu64YAZPljUqTQ5CcSXZhYlAUxSXUlrCZ4-mkH48yQ-UCYtLHCa4juqA0hVEeJj7qLnQ0-Z_pV_wdT94PaldfQZ7OdhUVXZRuTMMHhOe1uFyEOHl2mFkO-3vxm2LYZmSMnf2pFnartAYjCQVqg3xxsJCsCpmm_EswCLJbn8GqECeoL9rrXOpWRHuQzHKW7ui2ATqn_fnEKoD822eB_wlh7XXzXx4URVgsL4JCOClTcKclI0_qKq1XGqIWFoUtf8F9A8krNoh8Lhz3ODwwkKKNFRRED4DfNTZcRgwUpUjaWib_HrHvbDN4LWXeGs3WrdN71UTeKqxzuopa6iHe4Rm9taaDUT5nET0vvgazliINK0-eFxGjo=",
  "id": "rs_03f8eae531c3e926016ab45e6cac8887d0881651c71eaa06d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The right gripper stopped at roughly a four-millimeter opening, consistent with the pen barrel. I’m lifting a short distance to check that the pen rises with it.\"}",
  "call_id": "call_hXvxo9Ib19tspRyTRQSV09qn",
  "id": "fc_03f8eae531c3e926016ab45e6d396c87d0b095708c84fbe193",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hXvxo9Ib19tspRyTRQSV09qn",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.062, 0.9119, 0.7151, -0.5388, -0.0742, -0.0441, 0.998, 0.4381, 1.7405, 0.7906, 0.2295, -0.2184, -0.1467, 0.0455]\nstate[eef_state]: left_x=0.2935 left_y=-0.0015 left_z=0.1666 left_yaw=0.0133 left_pitch=-0.1613 left_roll=0.0245 left_gripper=0.998 right_x=0.3791 right_y=0.2238 right_z=0.048 right_yaw=0.6952 right_pitch=-0.1422 right_roll=0.0316 right_gripper=0.0455\nstate[joint_eff]: [-0.1026, -1.6752, 7.1043, 1.6532, -0.0562, -0.0562, -0.0122, -0.2393, -9.265, 7.8154, 1.4676, -0.1441, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa6926dfe0514142e1fa4790f12cd978f8ad35be4609bf14e8bb064590c3a0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17ba8050dcd59e6383ea660db2ced344deefd15b2e71b3cd49cefc87b668487c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae7393b6f8c60b8db5a975bcdbb010f6a68d988f6ac499947f8cfc01d711b57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 7.128 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0639, 0.9051, 0.7147, -0.4953, -0.0776, -0.0425, 0.9974, 0.4454, 1.5463, 0.9356, -0.0654, -0.1886, -0.1295, 0.9991]\nstate[eef_state]: left_x=0.3 left_y=-0.0019 left_z=0.1764 left_yaw=0.0129 left_pitch=-0.1114 left_roll=0.024 left_gripper=0.9974 right_x=0.3801 right_y=0.2221 right_z=0.1323 right_yaw=0.6669 right_pitch=-0.1041 right_roll=0.0157 right_gripper=0.9991\nstate[joint_eff]: [0.294, -2.2632, 10.0991, 1.6581, -0.022, 0.1978, -0.0513, 0.2393, -6.7214, 9.0051, 2.0781, -0.1197, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.062, 0.9115, 0.7151, -0.5358, -0.0746, -0.0441, 0.998, 0.4381, 1.8896, 0.7361, 0.4347, -0.2188, -0.1467, 0.0431]\nstate[eef_state]: left_x=0.294 left_y=-0.0015 left_z=0.1672 left_yaw=0.0135 left_pitch=-0.1579 left_roll=0.0244 left_gripper=0.998 right_x=0.3802 right_y=0.2244 right_z=0.0035 right_yaw=0.6955 right_pitch=-0.1407 right_roll=0.0315 right_gripper=0.0431\nstate[joint_eff]: [-0.1026, -1.9487, 6.8991, 1.6581, -0.0904, -0.0464, -0.0122, -0.1709, -6.612, 4.3966, 1.6728, -0.0171, -0.0073, 1.1844]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.062, 0.9119, 0.7151, -0.5388, -0.0742, -0.0441, 0.998, 0.4381, 1.7405, 0.7906, 0.2295, -0.2184, -0.1467, 0.0455]\nstate[eef_state]: left_x=0.2935 left_y=-0.0015 left_z=0.1666 left_yaw=0.0133 left_pitch=-0.1613 left_roll=0.0245 left_gripper=0.998 right_x=0.3791 right_y=0.2238 right_z=0.048 right_yaw=0.6952 right_pitch=-0.1422 right_roll=0.0316 right_gripper=0.0455\nstate[joint_eff]: [-0.1026, -1.6752, 7.1043, 1.6532, -0.0562, -0.0562, -0.0122, -0.2393, -9.265, 7.8154, 1.4676, -0.1441, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa6926dfe0514142e1fa4790f12cd978f8ad35be4609bf14e8bb064590c3a0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17ba8050dcd59e6383ea660db2ced344deefd15b2e71b3cd49cefc87b668487c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae7393b6f8c60b8db5a975bcdbb010f6a68d988f6ac499947f8cfc01d711b57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF54sDXGlhC9L6zA22FlmASFqrTPWM15Em2n5hT0PbKdg_CZYK1IEmbrIgOhZAoLZUxEKHquQ9ZHvyEqvns8xhSQw2_kAfNpX0haAoRpbzvPZ_5l1t366UvPmQBvMrlHnB3HI8sMhbvMB5m4AO0C3gZ8cB4MMQClcmrS6VpsUEhKScKtUl42rxVdTP3wuk8Wd-3aobCrf9c1lFUMdJT5-OAqO4ENq6Ld8o1UaPFy-eaTe300_tqVwfwqHX9CaDXlbiwyz4yXLHVSkvh28Gnh8gY5oIXgVxC-Ulip93wTHXdTH7nmSmQK-fb5lLn9DqEvdc892GIUdb1Rw51Dm8wWkx9u-cnIRjjQq6TAQ9LdyY8Dl-pq8R8Y2UbI2xSTQFJNHRNnNNeHVF2GEFlm3c4jFzbhZhkuHjORa_G6hcOEso5yBb61mq-QEoxabblnqXXsDwQV-uhvyoaCz3j2kpuSSB8FctHaGfysDTdkobzr_GdRgdVuMi81IIVE6dCsuSpGRtppcAOfzzzUAKtwuHNy6DTSr21k1JVzZ4Xr5CZ7xBnblZtuYLn8MoKnUq7B34QKgLIpZENpbywiCkrVaf_QipwjOicKwIEWWclFEFYl0t_LvN6ioXaz0MrquEQxvbEoAqo2Rtb4aDTtX3Datf6cXt3NBvJDZgx__lhnUpOVEfW_MMIoKq67d0qFsmE81ksJ-bMCWHrwCoHyejIdtFN98XffiPQLi6thwgwwe4A63fIra9rW-sNfjYpmfr3pOQhn5s1oohaaB13zGd_Lt2CfDIyiIsMJANRJXrMydt-Rj7FQP7VFBZNnTbw83hC-UQavybECy9hDSlGmgBrP9IB_6zUG-sDmZa_qYD6df_U-ucRdkNlqSnIMLLEjsfUFTXTzPXu41ZzhOs2sJy6jMucZdRRnSXtEXPlsYYhvy9Z5sRJAUuhMwVOA182nwihRVfv23iH8qq9hiMMrvNNReD1kP1O1qtDA12QxMK5fxipVoxBtM9XXAZG9fVI-O-IpOQzoHChaOxIV1ZmEoIe8VFoe0oVQKu6RM13BOyysp16TziU2a2Ww-PlX0v3l9BesBW-EMekmNQcRv1Liqavu019VvuvRDhRnpwQPkBpV890ElNv8Kwf4ko4X-hnqgNNPCY7Sl2uzGK2BHCowt3Wqs56KiP5ezr_sJEzKnz2nLgAfiEzNC5X6QCrZyUnux7LYiuhxF_-ZGKpOCQjJwm5eTsTDwhacNf_1QJXOWtoP08qEePUiCuribuPklsAclCXmlbOLyOtvHVv03tnpNN5xADMBF3PV1_VariMOuBWuJ3U957fSouB6xzXvwApvK-rynEd6AgRG4pd8ZqEfs63PYZj5fiYEiWKr0WHdbcz36tl1m6j3HhuM5YsPIeZyRpR-WHIKtJEmFn9peysEgGLI60kzhZXYhKkRQgs0FmywDGdG9tDv8svZA8LZkO_fJ_G2yZM1-guVf9fg5L6ztnGWx8Q5Wp9Lc_XHTTgdHaN5KYPQmyxA_crbLKikj9K7h_g_Dj7-YBWDO-NIIUOA_jiKFfwfCt4zmw-B0yWZXrrLxibXwolCTlGiMYPwqUIuxSqNXHjrg3w2LJq87Ao8H2fuCuOte-Otb4JMxBE4jWuzelDQ6QtTP5has4omN8_gZC3kp6m37XIhN7s5qSSlz-Ror3gIN1CDhHUqy0PrkAWkG0R-QyWsnqGyuzfRe436906fUoJTxuKY1XX0m9odvdHNHJk5YmSr1g5PTKRjXN9SCs2BdeQvYYlqBx5mRQ0blM8ipDEz8u08Ik7KkdSPKTP3fo_MrI57pGRGhlgyHFrowHkbm2z3S8ey0UL5-sLi9PUYQAgZtHuHydZaRXgLfDomrhYHlt--qzjS8971aCtSO4CLlzcn_Id9JDFw0S-bl0HxrR_j4t6M_uPy0AVAy6jN4gv__zNlaNVAcAhHyJWgfN9Fd7X5yHzUMUYNdePj1hbb9WXML5M0AiTSra3ZlX1NIOMrhXwOnksUiasy8PG4Jz9fH6M4tGx7cJ3kg66q-oAkw__kfz_zTVyE7QI1EqvhYB_njFCmD-_172ivmwGPPn6_Kyj6EkyM435JYUul2DLeeWR4Isc0q_NcNHtcjB372oTvHscNQdWtpxN3aziX8fcY-N_jZTSz8jTDXPT9Gl7Bci2f_sykPkNzfbVexEAju0mIwjEKjnDcSq9Mymhst46Ssn9LB0nwzo2DFNcD0NYkpGQ3BoO8gVL0SfJi3-qq1EYJ9vNorQ4nsODKHivZPAJRFpOJks05MiOmFxsedYxwACwN4vD-xyMGLzOd71j_2sJY53V7tT2zpoIlVK8U8xCzyJuvJpvgrqY0eY8s_GzrloAF51-RKrX4278rDsVd0GTaqpAturbFlQFIw3j_uEs3MaMjVeAHHxaTl1IaSSj5xCab642v0l81lmLtytpVr1lsBhpaS3xgOWseqGsKXZZiFyBD-qtFYnYtDNG2mx0kWElNVdY_RNRG48LogANFR49gACDDHkQoN09hel2dZJ8hR5UWYHkj0QQ2L2xKDdT31ueZ8jAkjr7Txc8Fo-5sDFcfFZzXGRAsb3MvSPsESfXLYVracatzrBmUQpXTNwV5GKjC7hiq6iuHt2KB-kQusaGKVQwIZ3F8NgI9VGeoS_X5M7sUukOxq2MHbSxSVz-9BDgWdGOtt_b_FIoQLvhE6rAqXxS8WDL7vbSDi-JF5i8WN3zT9wDEPD1KSCxBs31M_Gn8VpG4163EWbZayo6dBFL1l8B1tBZ43a8EJQoVTeAtyKclgn9I86PFCuMB1NIOpBAjYaH674GiFBcKwp6-H7B7w8DW4pB1cqMG6_m73bc_8OrnoYvbmonjsWFls1wi1TlcXsL5Wrf56-46PxfBql_nDQE_OVkJZ4AmWftAV_Up7zMwmtkD2i89GfaYLlunPDZxPt7ErGLas3wGvwWA_xMu1ED_86iLfgXGhZdz8nXSXK-d7eNKIdZlbpiMMic9XvcXNs_8XV_njZ1qy-NJJ7HWR_CC1g==",
  "id": "rs_03f8eae531c3e926016ab45e7058c487d08c0a4ebeba60fbd2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.19,\"right_z\":0.18,\"left_x\":0.365,\"left_y\":-0.235,\"left_z\":0.10,\"left_yaw\":-0.5},\"note\":\"The pen stays fixed relative to the right jaws as the table moves away, confirming the pickup. I’m holding it clear and returning the left arm above the cap using its newly visible overhead position.\"}",
  "call_id": "call_kRLtP6rUcttQOGNoXoJtJoPe",
  "id": "fc_03f8eae531c3e926016ab45e7710b487d0b32d2e0f1ed41617",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kRLtP6rUcttQOGNoXoJtJoPe",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.6178, 1.578, 0.8482, -0.1032, -0.1295, -0.1097, 0.998, 0.3779, 1.3987, 0.9672, -0.3473, -0.2527, -0.1917, 0.0496]\nstate[eef_state]: left_x=0.3491 left_y=-0.2157 left_z=0.076 left_yaw=-0.4565 left_pitch=-0.2521 left_roll=0.0281 left_gripper=0.998 right_x=0.3487 right_y=0.1898 right_z=0.1549 right_yaw=0.6908 right_pitch=-0.1906 right_roll=0.0368 right_gripper=0.0496\nstate[joint_eff]: [-0.4581, -6.9265, 9.812, 1.873, 0.0659, 0.2808, -0.0122, -0.9778, -7.9932, 9.5248, 1.5018, -0.1929, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea965a1d7da86a9d7cbe6622aec2baf37d1db1f2379cadb46962741e4bf83f02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42fdaa830c4c9f99b9418815d129f092bc4ba1cd5e1b475ce9a546c14b896dab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d4856945ef0b5ff7de0d222e9a7f9cbd15d55215fa452e6627a032c6d28cdc4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.367 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.062, 0.9115, 0.7151, -0.5274, -0.0746, -0.0441, 0.998, 0.4381, 1.8408, 0.7483, 0.3573, -0.215, -0.1471, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=-0.0016 left_z=0.1688 left_yaw=0.0134 left_pitch=-0.1495 left_roll=0.0238 left_gripper=0.998 right_x=0.3778 right_y=0.2226 right_z=0.0139 right_yaw=0.6931 right_pitch=-0.1572 right_roll=0.0329 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -2.3726, 6.8718, 1.9121, -0.1001, -0.0464, 0.0464, -0.5128, -7.6786, 4.506, 1.8242, -0.2564, -0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.062, 0.9119, 0.7151, -0.5388, -0.0742, -0.0441, 0.998, 0.4381, 1.7405, 0.7906, 0.2295, -0.2184, -0.1467, 0.0455]\nstate[eef_state]: left_x=0.2935 left_y=-0.0015 left_z=0.1666 left_yaw=0.0133 left_pitch=-0.1613 left_roll=0.0245 left_gripper=0.998 right_x=0.3791 right_y=0.2238 right_z=0.048 right_yaw=0.6952 right_pitch=-0.1422 right_roll=0.0316 right_gripper=0.0455\nstate[joint_eff]: [-0.1026, -1.6752, 7.1043, 1.6532, -0.0562, -0.0562, -0.0122, -0.2393, -9.265, 7.8154, 1.4676, -0.1441, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6178, 1.578, 0.8482, -0.1032, -0.1295, -0.1097, 0.998, 0.3779, 1.3987, 0.9672, -0.3473, -0.2527, -0.1917, 0.0496]\nstate[eef_state]: left_x=0.3491 left_y=-0.2157 left_z=0.076 left_yaw=-0.4565 left_pitch=-0.2521 left_roll=0.0281 left_gripper=0.998 right_x=0.3487 right_y=0.1898 right_z=0.1549 right_yaw=0.6908 right_pitch=-0.1906 right_roll=0.0368 right_gripper=0.0496\nstate[joint_eff]: [-0.4581, -6.9265, 9.812, 1.873, 0.0659, 0.2808, -0.0122, -0.9778, -7.9932, 9.5248, 1.5018, -0.1929, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea965a1d7da86a9d7cbe6622aec2baf37d1db1f2379cadb46962741e4bf83f02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42fdaa830c4c9f99b9418815d129f092bc4ba1cd5e1b475ce9a546c14b896dab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d4856945ef0b5ff7de0d222e9a7f9cbd15d55215fa452e6627a032c6d28cdc4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF6BdEESnVk36fo7lUjmpMZ6Zjr4d_c1RJ8cnwkX-5OH9bpL3kSAA8SNDeBpBd_ZzKP49-LAuAWOv0Q1RS1Z_RRwG3JpPLsK11zdjtgiY5pi8fKBgV_W8_4pwivaeWZUICV5YXxRfolx36FNDbMvKzJfaDThjTzf4kMIJQGRtnWEeD4Qa6790hD31D0ZHuz1DmukSwdYnXqRdVs0kTpUUxnxg0uVSTtrTUM6JkBAG9kUkvozzWOsKoBlzpCe1wsw6ftu6Qn3Toqam3PndugigSZzf2xacCyGXCCN87yP-FjgWm1NLw8OuCSRE_iqa6ZIpBPStv3MdI0ztb-czz_Ar9uLrcFBN3wyiTw3uroxVwD2Hr5UdJP-n9CuHhZARRSAD2HqStkbH61yz0rtZ9bnVDIWjQWfHRI9ua0D5xNOqbznRxJ7CzyQT3ajWLS6EW45Irr67uDdpKr7vqOIU9D_RFFN-ZVlHw8YXiTpUbS_tR45BlHJYv9n56Xx3DChh6noQxFDiM5wMKkEVgR1zVM0KCZmmoMZzWdR5PuqSnG8AP_cv2pw6CBlXpw5UO81cn0f9uHXJRy3azK1A2ShraeeNKIis8UYE-3Awlob84_pxngTLaOyQ-Les2aRtQKkUkr9i5fFfNtBxHHkgbtqBG1MDikVXYHxfsuLnsJsNtAC-zN52tjJw3l47x68Ivj-FH7QREYwKX_7jS7S0jiEKYJlgITU2h6314vGiXrSiG_cl9rI9K-CIvcv4magjRimRf5TaznJRgMEZVLbG_OuPsNrMADNIN3gkoxqwkWJ3O8QqcXqf5MC6n4Nko0ogoCbc9zB0Qs-kzkB5ar72w0f01vT9vvZO7zCq8Z4WFxS5NtjpLHZCiTXTNOfDo0gdslJ8xTGxVPTajEL2wbsnJPYUAXL3WT9PbpcAilJNB7D4vxweVK9jaxAWwZ4ZmPv7N4BtCADanIuSzUTIhAnfqQZF2qLZTguLeU-4j8vm4mT_tXdRs6mLJp-Cr4luuHVN7NRaCNhm9YHO17rNa7AB1l6ATlWYIm57C4MG0qhV5S-2VSKQc7iF1FEJDeDXeYF0YnC2YmNrPRwCR4IoV_RzeHm2MpKFdMdtx1T_967G476cMpxk67yBUpmL2JdnE9RZ6XTsuv9u8wlhuQr3fCxI5Et0m2GyQStSIlplvWg0KwXiV5M922wms1CYvjqp62auMwd6rWW4cS8DNQJI93RlLfG31L9hqF0mXcefUjETrur8tV78aAt0dJHRWydPSMlTesFccildi1gip4_LENbvhPrl9v4p7T0XSgnAwHBhYNayQt24CXrFyowl_9jlupRKhYEdys3Dz-X-qjes4Lh4uS0sJesWIumPQZvv4z8iaizN5V7u1gUU9joxreIPlcaGcBfdOE-ZczqS4H-3jJ3kDTHVHVtIjlGMAJmbGQA52-HkOYBzbklaVqFbcHE3qXZd5kAn_Fdb--6kC8MOrz3o4dMMXldImzoCJ0MTycet6Dv-1lKT_7FHeeOL1qIITLT_rKVi1l-RrPDWYvRL4f_RTxCTbRwGUBJGtiFUcaY1F2UFVxBv_Ie9V1fCSp_ayqUIoIrWLjoeKtkCrDfr9q1_-HldzKIRriGjTZZWnUPZQaaFPPzmYkMByV9srvC9z5HL7kBvZ3WhImmOlC9XrdbdCIjmTP_XhAdi6LJlGvss_x1D_dQYojFwQDbbJherreyCzB-AJ92_dvWr33X1SRPUP8Bxvf5jvo3xl4TnL628AW3RaN-Ht5LZc_16X7H0_Az4UfZtsxw8B50aE7HrOo1N89xZlkbx-0r-ZHoSDINAo37FQfH1dWvQHyXG5uhcT4oLz0y6m8vVam1qMRKSQMIZIZHZoWZpQaPB13heGZ3BpDfH7lmA0U2OuQmWRTHc58fjU8ZX22pqUzk2-kzFOA2eY5Pt975qvR2aLfoT280mlOryf2QkgLDcQrbjpl1VtNkYCd2jVMQgCXh4GmoRO0SFWbPg4JuolTqa_K_SPNqSyGeZMr2ENHXM3B76vj6MTxaplUnTxY9HrSmKwY9nlkWF2Swd9fRLFzqsOIfAMwI4BJatkL-2ALbyVSC4DhrrIlma_m7gZMhWGS8ufLu7GBjDU8CnjmtUuxkQ-Ymzphn6Z_wiIsCPgiSOFA5rJCsDHaxauXAVCGQbZx7xAfyer4JOw5WtbFZsjDUbOLCWcVeTczAATZfP9nctforTKlEBfRxJmdQ1c84uW84Am-OLDz2AVs-_pBmKySVgNdlKWJTrYreMcNuco6PBN1fqq4xRZ7oFYIMC7ka6zf6aJM0My5jJLu4cILTJRQEKNPUKAT7zuDkXyIFej6ZR4M4jGEwHVwFEyX8tMVuqSdiGID5P_4wdZXn1wHnhhVXJ39SyBEh5RdhbVMG28nd19I=",
  "id": "rs_03f8eae531c3e926016ab45e7bbdb087d0973a2d23add00037",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.379,\"left_y\":-0.189,\"left_z\":0.012,\"left_yaw\":-0.5},\"note\":\"The cap is clearly visible ahead and left of the left jaws. I’m approaching its middle from this lower, unobstructed view and correcting toward the jaw centerline.\"}",
  "call_id": "call_RE9Ayv9frptV2dE28LjliWdM",
  "id": "fc_03f8eae531c3e926016ab45e8039b087d0a3126e444f44d892",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RE9Ayv9frptV2dE28LjliWdM",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4808, 1.7733, 0.7673, 0.1024, -0.0425, -0.0143, 0.998, 0.3744, 1.3945, 0.9707, -0.3737, -0.2634, -0.1921, 0.0496]\nstate[eef_state]: left_x=0.3665 left_y=-0.1787 left_z=0.0022 left_yaw=-0.4475 left_pitch=-0.3308 left_roll=0.031 left_gripper=0.998 right_x=0.3447 right_y=0.1887 right_z=0.1538 right_yaw=0.6977 right_pitch=-0.2059 right_roll=0.0498 right_gripper=0.0496\nstate[joint_eff]: [0.335, -8.2256, 5.5179, 1.7851, 0.2857, 0.2515, -0.0073, 0.1709, -5.4769, 6.5436, 1.7558, -0.0464, -0.0562, 1.0232]\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:616bd7505b800987c16bb2942badfbc7fd233a5c680b01c9cf8e346fda44dcd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c2e0c441034639ad5c37d314e52157c0ccbffa58d398e92973e1ac49c68d06f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caabdf97b8bed648a17cf62f9021737167285f5e62158e28452bf93b8256802c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 7.542 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.062, 0.9115, 0.7151, -0.5358, -0.0746, -0.0441, 0.998, 0.4381, 1.8896, 0.7361, 0.4347, -0.2188, -0.1467, 0.0431]\nstate[eef_state]: left_x=0.294 left_y=-0.0015 left_z=0.1672 left_yaw=0.0135 left_pitch=-0.1579 left_roll=0.0244 left_gripper=0.998 right_x=0.3802 right_y=0.2244 right_z=0.0035 right_yaw=0.6955 right_pitch=-0.1407 right_roll=0.0315 right_gripper=0.0431\nstate[joint_eff]: [-0.1026, -1.9487, 6.8991, 1.6581, -0.0904, -0.0464, -0.0122, -0.1709, -6.612, 4.3966, 1.6728, -0.0171, -0.0073, 1.1844]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6178, 1.578, 0.8482, -0.1032, -0.1295, -0.1097, 0.998, 0.3779, 1.3987, 0.9672, -0.3473, -0.2527, -0.1917, 0.0496]\nstate[eef_state]: left_x=0.3491 left_y=-0.2157 left_z=0.076 left_yaw=-0.4565 left_pitch=-0.2521 left_roll=0.0281 left_gripper=0.998 right_x=0.3487 right_y=0.1898 right_z=0.1549 right_yaw=0.6908 right_pitch=-0.1906 right_roll=0.0368 right_gripper=0.0496\nstate[joint_eff]: [-0.4581, -6.9265, 9.812, 1.873, 0.0659, 0.2808, -0.0122, -0.9778, -7.9932, 9.5248, 1.5018, -0.1929, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4808, 1.7733, 0.7673, 0.1024, -0.0425, -0.0143, 0.998, 0.3744, 1.3945, 0.9707, -0.3737, -0.2634, -0.1921, 0.0496]\nstate[eef_state]: left_x=0.3665 left_y=-0.1787 left_z=0.0022 left_yaw=-0.4475 left_pitch=-0.3308 left_roll=0.031 left_gripper=0.998 right_x=0.3447 right_y=0.1887 right_z=0.1538 right_yaw=0.6977 right_pitch=-0.2059 right_roll=0.0498 right_gripper=0.0496\nstate[joint_eff]: [0.335, -8.2256, 5.5179, 1.7851, 0.2857, 0.2515, -0.0073, 0.1709, -5.4769, 6.5436, 1.7558, -0.0464, -0.0562, 1.0232]\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,$blob:616bd7505b800987c16bb2942badfbc7fd233a5c680b01c9cf8e346fda44dcd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c2e0c441034639ad5c37d314e52157c0ccbffa58d398e92973e1ac49c68d06f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caabdf97b8bed648a17cf62f9021737167285f5e62158e28452bf93b8256802c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF6Iv4McOS57MapxdPIhzy7G_Za_GLjw3S7p6QMZnHdNuB9E3pho_YYT-MHDrwdIlkyRPK3LNx2lTsR-kp0d6RjoI8ocdXFDT38A1Y4zlXV1HzZyrlhXkpnKjkk245BLZQpGKxvSFATvu4x7fcwAzt3Vd6Su42jZRxgaWenfWfrj-Ztkg7Ss3ELz_YgcI8Xk5N1vdk_8l1e8FO0I0bK6MemHsQMdZVgJvOgEEPo-nS0SiAG-dbkE3wGDpTFGmb_c6mCWaZ7R-D1aCMKm7SAM-M_KR8bpV1YpHUcUI63YIDYN022RIWLCvIGx4dCYmxvDS6syzbdRjwCAseIzmtVKU_8tTYTDfTrw7DyFQz7RoXZfNsK61irNAcjfZoDdo6lO74ytdmHjFky4oPfAoWAau1ZjrVksmbi4aibpNY-NOa_oU5jpsgd-tMYuklMS0A-3obQRX-igsXja1BA_YOr2DK_cbfl4OAscV8DgVkJboynXdscfQ9mjxXCxgy8B9E9BpiyHv6GgBGrQ3R5b30gKxYlSdmCFvaEJbiOqQ7dEZbWbrUIx152Phyc_U2GdyTC8UiCXpM5EMe2Bww5_dUdOP-kB2MUckSo0_BlrUxW7zFlW9wDiyNxdIBFOAo5JKO4gStXM7PXRNUFbna_r-s5NZEvG4p2Gg4WQSAFfASeSYx2bJE9BUPDYeMEjfJGBXIpTVtcPgWD2S1GRgQqxF9Qfl-o1lJJFcco4hbcTHJcRPs3v-cQqBY1a6YRKdI2iyBdToAJt1APS1Tiv0aR1V88dYDvue5t6tvTrEapmEmItove_q0F_qX3zxOwBLWs5jrMD1PPHWmPgeADF43YRKViTwslwSov50nY-JTDeszGIBetqqcJbd0-_yKjka9jWRixNSq78qwPhsdeUOR6qNV-91Epuf2b-zaJwBoQ0-27OPvbo2CP93Wki5u2cQpmn2ivfGF60QO6rgLq6BrB9Qyu4ssfvJh93ci5vlavwriMwyGOo2GHHHK9Cb08HzI5P1dec2qHiiN6VXLOIf5Iu2EatHh4qmUjACwq-i1ITqpJnboKXEOZsvPGZEK4yJ_krC4XV2613Vhu5fJVrEw7CTU8vFwF03JLDc_5M79uPK8uADSlDE343Qlk3jhX6OFfoaO4dphbodtL_ayDf3_EiqC5mscFcPd8MZjzmum2PwhJY9coPuAf1oZFyPy9r_g3ZInuqbTyD-ls1-rgKRuLsCFk9Na7fuU6Q-_bkFaNjxwXqHJEFCu_z1hMwDCOwmj0H5_CZ5Ut0ApOKLp-97ylxN2IBd2T_EYJONCn2MJMWncg0Pis1-fOWTKm5RUg4x7mOxbddZjQysbROsWsL0K1vqI1ewECGXMXlpsB3PtJ4plLk_R_aa7PwM8Sdp9sUW8-Jwfb90j7LeE3K9tkftLNbwrOLrJdQbH7j1G8-vCIgqO6JoH6uPpt2-zq2Jl0_d5Dfq2zEBNpTN0o2PA_rP3BNiagt_XLRz1trGdJdJE6ySmZ2OIQ98jJkWNMjE3ClpsDe1Qg-TBlEj2V-c4DkqNWof8kruWD7nWjIcfzFYuefjcMbYc60EESfdh9FgS5G5PbpNXS6W9QveARrj9I05UMM3UfrsHtgtayqd59A7eSYZ1dgwfsdpeAhEKfcAt7Pj4SIUKCHWtyM0fJIEQyHXje9MsJ5Pp5jYNmIAtSOKX6TwXW8uq1KN905yWF99HZessS8QtBIKcFsYSVZi-AlwlYmmZ-_6qAhOKVsC1LvrrPxbMU-ZA99kbLe18Cy-L15Mlj8U_gmzUqCg5ck3V7V3iD8ODBKNNFZibGLsxzMTDlQEBARwbtSnWThuMg1o-4KEI92B0rl5b8IBWbOCHSEidDaDLqQLEECtEKrpUXrV9S5zeR0FSh6BLCga7eJ79ZkKBfW9ImmEjGOQLMEW1CFKAawxpJlV--d-xQjloKaJuNnMoWG91vjMGmu6-5TrYsbl5JdZQzybRMfmSOp7NczbjQo7CQJonZqBBHXwbi5dLi_7kfTyMQzax77thZ7Tcmj0OBD5_Khk14DOd9DntE-VmDbCLF7gK4npm1Fy2iG_yDI5yJLQxMQh7ittYiFzORx9xG_P121Gnfv0zLcRJuiLYCyUOQDkt_ACyNyUDU77ONVOQ5McChExWgmcslmXiGJ0h9w1HtWLEvDV3p7AVXMaqbIh769_KL3Vt1SHOMnPxVB-4KzkU8ANM5qtvcyjMw4CYY-qMlv3bcVodRscYs2iGn8dkTYewOp34eUOQNqk7KOo7jCdRu7_2xDs3IxNHVdAIplWLe7XV69UJq9zh0DlWEgSYobPFn13IhRpWVKjvlLsN3VeroYraVXA6d2058h2Oo_YdgMgw81eNAb_9uZs1JNLxqqSnwDSnMLU02RasF2-zVZOFJQ4fsio-nwxq2STAxI5IuKir-KvJexv-bCD2ia8aEYzXks297wKsrwunWOh8Tp2kOzs9_FdBGOnsVs_WaBEPR-33C6-RvIrcUHmtId5RkMK1gGBg==",
  "id": "rs_03f8eae531c3e926016ab45e83245087d09c63b5ebad013de9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.369,\"left_y\":-0.165,\"left_z\":0,\"left_pitch\":0,\"left_roll\":0,\"right_pitch\":0,\"right_roll\":0,\"right_z\":0.18},\"note\":\"The cap’s body is now within reach but still slightly left of the jaw center. I’m making a final small lateral correction and restoring both tools upright before grasping.\"}",
  "call_id": "call_h8Afwmsdu2R66lVQBgBl0Hat",
  "id": "fc_03f8eae531c3e926016ab45e86fe0c87d0a29ecbc55935a0d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h8Afwmsdu2R66lVQBgBl0Hat",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4492, 1.8023, 0.6559, 0.3508, -0.0021, 0.0105, 0.998, 0.3721, 1.2987, 0.8326, -0.1844, -0.2749, -0.1917, 0.0532]\nstate[eef_state]: left_x=0.37 left_y=-0.174 left_z=-0.0057 left_yaw=-0.4655 left_pitch=-0.2235 left_roll=0.0155 left_gripper=0.998 right_x=0.3409 right_y=0.1884 right_z=0.1645 right_yaw=0.6984 right_pitch=-0.0643 right_roll=0.0101 right_gripper=0.0532\nstate[joint_eff]: [1.388, -3.0701, 4.0821, -1.9658, -0.0757, -0.2515, -0.0171, -0.841, -6.2564, 6.694, 1.9463, -0.2369, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d84c9a0078a617f0c47249dac18994592da820a3a5058d8befc5145dde7ef7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39b24582b00b7ed9692bee4a51567cac68b751bb2db3b60fa0c9fc02a32efa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9f01f6b316a0c1db803764b584711e79479b5b5130dba01c85e73d54eda664",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 4.718 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.062, 0.9119, 0.7151, -0.5388, -0.0742, -0.0441, 0.998, 0.4381, 1.7405, 0.7906, 0.2295, -0.2184, -0.1467, 0.0455]\nstate[eef_state]: left_x=0.2935 left_y=-0.0015 left_z=0.1666 left_yaw=0.0133 left_pitch=-0.1613 left_roll=0.0245 left_gripper=0.998 right_x=0.3791 right_y=0.2238 right_z=0.048 right_yaw=0.6952 right_pitch=-0.1422 right_roll=0.0316 right_gripper=0.0455\nstate[joint_eff]: [-0.1026, -1.6752, 7.1043, 1.6532, -0.0562, -0.0562, -0.0122, -0.2393, -9.265, 7.8154, 1.4676, -0.1441, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4808, 1.7733, 0.7673, 0.1024, -0.0425, -0.0143, 0.998, 0.3744, 1.3945, 0.9707, -0.3737, -0.2634, -0.1921, 0.0496]\nstate[eef_state]: left_x=0.3665 left_y=-0.1787 left_z=0.0022 left_yaw=-0.4475 left_pitch=-0.3308 left_roll=0.031 left_gripper=0.998 right_x=0.3447 right_y=0.1887 right_z=0.1538 right_yaw=0.6977 right_pitch=-0.2059 right_roll=0.0498 right_gripper=0.0496\nstate[joint_eff]: [0.335, -8.2256, 5.5179, 1.7851, 0.2857, 0.2515, -0.0073, 0.1709, -5.4769, 6.5436, 1.7558, -0.0464, -0.0562, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4492, 1.8023, 0.6559, 0.3508, -0.0021, 0.0105, 0.998, 0.3721, 1.2987, 0.8326, -0.1844, -0.2749, -0.1917, 0.0532]\nstate[eef_state]: left_x=0.37 left_y=-0.174 left_z=-0.0057 left_yaw=-0.4655 left_pitch=-0.2235 left_roll=0.0155 left_gripper=0.998 right_x=0.3409 right_y=0.1884 right_z=0.1645 right_yaw=0.6984 right_pitch=-0.0643 right_roll=0.0101 right_gripper=0.0532\nstate[joint_eff]: [1.388, -3.0701, 4.0821, -1.9658, -0.0757, -0.2515, -0.0171, -0.841, -6.2564, 6.694, 1.9463, -0.2369, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d84c9a0078a617f0c47249dac18994592da820a3a5058d8befc5145dde7ef7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39b24582b00b7ed9692bee4a51567cac68b751bb2db3b60fa0c9fc02a32efa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9f01f6b316a0c1db803764b584711e79479b5b5130dba01c85e73d54eda664",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF6QEyyo5W8DEqMVCvlduNaVOvw_u93zeOE5mYmZxU48vTaysMrLZmtJuFTeEMhkchtbV7YzPLdpt8zeCJg84iRQA-6DDLwIzY6v1uykzeuncTicibnhlB2uXvyXNPb3AFSo0XR08T_prF7c561Ezs1221gzAq5yo9_KJcUwjoV-y__7JLJ5faqVJMERDkQRglzrpSwVGvt-TUkJ-JB8Hz2JFxDxfgkGJXIFNwBUR9tTnFFqE3-PPksYA__xZWSKgBQkPW0Z4p0y0j1PnT6q4ELxlfT_EIHsSJFbJN6hEMlNNdGC10w2CxW4T1CnVr-OXvu4h_OgCGXbNiSSWBSymvZhP7vK9s2KZzu3jZdLjTtTwQ2Cs5D9fSMqSlBG4DO92x5SLV6CtCqy7ZLpW-sMww-pZZ3vkY1tvNsZP6_lDnExqQWGqYbeHvEG9diNTcUJ26jZJTuurDWmL_8aqX45uYeUipzXgbEorPt99RoZhO8uI00gSQh4lkui8eR2mdlexyvb-uzWdYWMZbgCcGs4RArFFCLg4rgiquoGeYu2MDBkjMw9htCN8p3psJq-YopqhRx9M36oy9VpjHg6k5rV5eIgo5zPP6QjGT5rClkwksTm6VISE-ZXoxJUCR-NOITcihjytRML5lZeTr8c8mk0zivtnY8zhEwzZ_2FyvwJIxJN-m7Y2ZOmWY5eGcdvILtZ2jMMbpY5nMbGGggX29dgBT8lle642eSi1N15VAXowShppBWN__orEIhhBm7D2a_AB1Z-kgr-b8QpkISEGDeDBCOeYUjlZZQZrJjkI3FvekptsrxLbwU15B_osYT1fHmKLkf_aHevpnEGsT1voA7TuwRsZMrG4g5ZwwBOwe6slxvbfXO_e0yHMn3FaOSvPnJnUVzDNqVg-V-580BcmhJZJvwQ8hrNBc6tAVU12HcQBKONeMCjIxA7xIV-FdaNWmQMrkaoaAT4DzUesTJPDH_wtgzejTkZyMI_rVnLmVAigio5VC4NeFWYbk36kp9GgvXgOTpoLRMbH4AMSsTBN6S6C9hwvmQKhBdYgtDv9oemzkbA0UGCqiUdXpGqKladM4fSaclTyJ2m7nZegvpuMOzcl1izaSXEvYqKBA2kyJ26E-t6wA3WOrUXTtF0GF6oQC-C8m9unRw35mCSwSkB9cStBH2sVsQvQgkteZtr1wMIPHbjGK3LaW-UheecnX8ie6lJMMaBqwdG_W6JZUitJSCoIzg2kb5ZpYBXy3oIDQn2zoMvdiqCeowYfmPB02MmX2zRir6hqBkYqAPxXogbytGbrFldFrMWRuxKfu3KmeMJ_H3qYeCn8j7mWi2C3fMuLv8FrMCc8uis4WVpYehSc6yCngGIt0WULgfHyupRpWN1XBH-0DQ1SatEFwyERyxGGfWrlrwaEsbHZ5zaAnUObMRkVNTHM-fj3k3tYlpH6juSUPr3NoTKql2SeZMi6QA4J2sfX4V0oyiEjUp1NBUVjWZw2EQoQZAsA2dQ9cQ2L_5khM3eXY6b0nmyBDJ9sbxNT7qpDULmMBNFIXniVcQlNSayGPxi9z58bh8BVYC7Gsc6fG5r2rX7ausRKFCIJDu3IDeq8QLzKLa3IKrbI2VFDOEVXOussAxqpLRG09UtAu26-z4KEwr0I66kd5xfebeVHdv-FFDTRHpT4AkEu5-TrOMLkJ25a5Jj9ISLyjaeoSKlulpxDMgOM8SSPLzNGmoOIoJNoRYYlU_dvVdzwObwWeeV9wFsX0jyVbsEeHn79TCpaKew-BDcOc-xpbBeuxpvtlDPBcAgwEskGZy-2BjR2gzM7Lyk5g==",
  "id": "rs_03f8eae531c3e926016ab45e8d76e887d0acd7d95b30836b9d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.002,\"left_pitch\":0},\"note\":\"The cap’s thicker section extends into the left finger gap at table level. I’m closing around that section while keeping the held pen clear.\"}",
  "call_id": "call_WNW5Ms9KYIk1ZLcD50ttpHL0",
  "id": "fc_03f8eae531c3e926016ab45e8fe25087d08967fa5309c06a96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WNW5Ms9KYIk1ZLcD50ttpHL0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4458, 1.8492, 0.4934, 0.7597, -0.0093, 0.0044, 0.0473, 0.3687, 1.2957, 0.8265, -0.1806, -0.2737, -0.1921, 0.0532]\nstate[eef_state]: left_x=0.3702 left_y=-0.1711 left_z=0.0009 left_yaw=-0.4522 left_pitch=-0.024 left_roll=0.0177 left_gripper=0.0473 right_x=0.3409 right_y=0.1867 right_z=0.1637 right_yaw=0.6942 right_pitch=-0.0638 right_roll=0.0089 right_gripper=0.0532\nstate[joint_eff]: [-0.1026, -6.0239, 3.7402, 1.6777, 0.0415, 0.0952, 1.5116, 0.212, -4.8615, 7.3778, 1.5849, -0.1587, -0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd1078771c1428971c8877ee3630fcd518c008a58684440293567a7e0d6f1e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073916c6181261de399183696533ce55d2d2d7d4849b60c7c798d151e4c1e453",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fb2237191b4626afd8e3d86263a487acd319a29c3b015345db7f4b57b91d561",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 11.99 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6178, 1.578, 0.8482, -0.1032, -0.1295, -0.1097, 0.998, 0.3779, 1.3987, 0.9672, -0.3473, -0.2527, -0.1917, 0.0496]\nstate[eef_state]: left_x=0.3491 left_y=-0.2157 left_z=0.076 left_yaw=-0.4565 left_pitch=-0.2521 left_roll=0.0281 left_gripper=0.998 right_x=0.3487 right_y=0.1898 right_z=0.1549 right_yaw=0.6908 right_pitch=-0.1906 right_roll=0.0368 right_gripper=0.0496\nstate[joint_eff]: [-0.4581, -6.9265, 9.812, 1.873, 0.0659, 0.2808, -0.0122, -0.9778, -7.9932, 9.5248, 1.5018, -0.1929, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4492, 1.8023, 0.6559, 0.3508, -0.0021, 0.0105, 0.998, 0.3721, 1.2987, 0.8326, -0.1844, -0.2749, -0.1917, 0.0532]\nstate[eef_state]: left_x=0.37 left_y=-0.174 left_z=-0.0057 left_yaw=-0.4655 left_pitch=-0.2235 left_roll=0.0155 left_gripper=0.998 right_x=0.3409 right_y=0.1884 right_z=0.1645 right_yaw=0.6984 right_pitch=-0.0643 right_roll=0.0101 right_gripper=0.0532\nstate[joint_eff]: [1.388, -3.0701, 4.0821, -1.9658, -0.0757, -0.2515, -0.0171, -0.841, -6.2564, 6.694, 1.9463, -0.2369, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4458, 1.8492, 0.4934, 0.7597, -0.0093, 0.0044, 0.0473, 0.3687, 1.2957, 0.8265, -0.1806, -0.2737, -0.1921, 0.0532]\nstate[eef_state]: left_x=0.3702 left_y=-0.1711 left_z=0.0009 left_yaw=-0.4522 left_pitch=-0.024 left_roll=0.0177 left_gripper=0.0473 right_x=0.3409 right_y=0.1867 right_z=0.1637 right_yaw=0.6942 right_pitch=-0.0638 right_roll=0.0089 right_gripper=0.0532\nstate[joint_eff]: [-0.1026, -6.0239, 3.7402, 1.6777, 0.0415, 0.0952, 1.5116, 0.212, -4.8615, 7.3778, 1.5849, -0.1587, -0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd1078771c1428971c8877ee3630fcd518c008a58684440293567a7e0d6f1e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073916c6181261de399183696533ce55d2d2d7d4849b60c7c798d151e4c1e453",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fb2237191b4626afd8e3d86263a487acd319a29c3b015345db7f4b57b91d561",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF6WjyX6JQuuLLyVyTtE6QzgK15qIZyfvVYODWlNHWbj_Z7es2QrhK0H3nqIusFESmITzT2IYtxKbTXWMc35VeXpnNGtsI4hhDVhVLOvYbBrD_yaAP4WBxTtVfR6gi0vrFLbrLyatQ8QVPim09yIwDS89AJMdfzmDnasi2veGTsCsHJf8ko6ameHazFn1Yop52dRp1yYQtRjudLcupp4UE7DrPxv9a93Poo65fefPeooHUK5jP3I1ZBwOYbiTn09xXw-ZrvJaD_znGV-YAZwmLA2m0fIl-4nSOEgbvZ6sAuwHbRmRyrkp-S3vlXv8BoswnMFaYM4S4DDf7EDzQ5n30CnlfkY_sahlZxfxjg3DBR0mOQbHKKHHnZTJAU1XCJudexpMu0l3XZsQWXKC0C_Br5YuuJT-YvHQsCFJYuNGvhd10NXBrXXlHaJjm8Lhmem-zfvPgALeBl6F3vcIEcbkVYIv4Fb8T3cRTrhfNaxPdZ0_QbRCYFMQwoFfo0f_mVhLhJam5YPiDAVn7LdwIykEX8KyFNr9RsQp3XLQvyu8YYBT1rfvy-MjL_MD1UudHqgo6o84coCQ7Zm5un5MBg_uIwYBkVgxN9fMCnJgpvdZrNkcmDn8UYdyshDKJWjTJKryB6MpIyVrznrlHN-_WJFtlATZ3CIvGL2WqYnzOP_ExWefNKd_uYYmzIwrv8gpENBMkmGZmgYw67k_vviwPoLWxl5V7milLkrIUepXnaUyvtpdCX5_NVXR9U4iVsTtrGxVDmwpkXqHAEN1QOKODmc5R0QVPb3yL3O5Cnqv7s0nTRU6DzktWsyQztjSYJXwY5YEJ1W-vB9wsmx-ZZyysWACb-hwJSPqReNcoLiycTpjx-tPLYXqnINYcDqFUPspFoLOArk-N-DSayiPTbTg62vFJ_k-V9dlSyNcJvkWKTdpib0SG47iXQ9QzDg3kixOGA0rAMi14via_FbUQa9mAfnnhOYjl75sktvNeb9aCAzfGipq9hZKIUouBhKzFeXv52HktXZ1VLH8KIwSf1F_WOd_-A1lVktIFA-nr5n5_ay9w_8X1Wb7IjrPcE-7Y2xe8BLV1qtWZpqpXfl5X1xXU1Gx3162WUVM8-2ZUDKBuE5IfpK3Igwyd_fcqZn4o4sdI9XU03MrikENCGcdcK8qvj46Xxo-YvMY6QJXFdvDRG7dJ4nkPNGOb6wsc4vdYQg9pu9sZYdmU3jHRHHZK2OvdTvew-uGg4XS9hZyDddUfRwjRx2rJlBdWje9ATr9aVJDrHkSu9G8dIkvdVGyMvs5MnmiVkWNU0fPxyO6NFotyXcSypcyigrodo-_DRzNIEBwCmYdPJomtoZD-IY62VUrgxmmvwbilFH8z5-Q14nuSfR-iAtKDk=",
  "id": "rs_03f8eae531c3e926016ab45e94e54887d08df967dde982e635",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.065,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left gripper stopped at a small but nonempty opening, and the cap is aligned with the closed jaws. I’m lifting five centimeters to confirm it is securely held.\"}",
  "call_id": "call_JXjglbzUNl0bKPU1ymaZfQGN",
  "id": "fc_03f8eae531c3e926016ab45e9598d087d09527aa6f897c00fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JXjglbzUNl0bKPU1ymaZfQGN",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4446, 1.61, 0.5186, 0.5198, -0.0101, -0.0032, 0.0532, 0.3679, 1.2961, 0.8261, -0.1833, -0.2737, -0.1921, 0.0538]\nstate[eef_state]: left_x=0.3672 left_y=-0.169 left_z=0.0528 left_yaw=-0.4463 left_pitch=0.0005 left_roll=0.0119 left_gripper=0.0532 right_x=0.3406 right_y=0.1863 right_z=0.1628 right_yaw=0.6935 right_pitch=-0.0671 right_roll=0.01 right_gripper=0.0538\nstate[joint_eff]: [0.4171, -7.1863, 8.2256, 1.7656, 0.1441, -0.1001, 1.0281, -0.0205, -4.8752, 6.9265, 1.6923, -0.1343, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d9831fc397599670557dca7ab5167492ea981ccb149c44a684816ba443480c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05cca4ee3442270af811b690dec0f0fc3ede0a247cd93334dfabef0f8bf54bab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d099031d45411aa9e01e813462d15708ce45335dabdee25bdb9ecdc63ac9ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 4.847 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4808, 1.7733, 0.7673, 0.1024, -0.0425, -0.0143, 0.998, 0.3744, 1.3945, 0.9707, -0.3737, -0.2634, -0.1921, 0.0496]\nstate[eef_state]: left_x=0.3665 left_y=-0.1787 left_z=0.0022 left_yaw=-0.4475 left_pitch=-0.3308 left_roll=0.031 left_gripper=0.998 right_x=0.3447 right_y=0.1887 right_z=0.1538 right_yaw=0.6977 right_pitch=-0.2059 right_roll=0.0498 right_gripper=0.0496\nstate[joint_eff]: [0.335, -8.2256, 5.5179, 1.7851, 0.2857, 0.2515, -0.0073, 0.1709, -5.4769, 6.5436, 1.7558, -0.0464, -0.0562, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4458, 1.8492, 0.4934, 0.7597, -0.0093, 0.0044, 0.0473, 0.3687, 1.2957, 0.8265, -0.1806, -0.2737, -0.1921, 0.0532]\nstate[eef_state]: left_x=0.3702 left_y=-0.1711 left_z=0.0009 left_yaw=-0.4522 left_pitch=-0.024 left_roll=0.0177 left_gripper=0.0473 right_x=0.3409 right_y=0.1867 right_z=0.1637 right_yaw=0.6942 right_pitch=-0.0638 right_roll=0.0089 right_gripper=0.0532\nstate[joint_eff]: [-0.1026, -6.0239, 3.7402, 1.6777, 0.0415, 0.0952, 1.5116, 0.212, -4.8615, 7.3778, 1.5849, -0.1587, -0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4446, 1.61, 0.5186, 0.5198, -0.0101, -0.0032, 0.0532, 0.3679, 1.2961, 0.8261, -0.1833, -0.2737, -0.1921, 0.0538]\nstate[eef_state]: left_x=0.3672 left_y=-0.169 left_z=0.0528 left_yaw=-0.4463 left_pitch=0.0005 left_roll=0.0119 left_gripper=0.0532 right_x=0.3406 right_y=0.1863 right_z=0.1628 right_yaw=0.6935 right_pitch=-0.0671 right_roll=0.01 right_gripper=0.0538\nstate[joint_eff]: [0.4171, -7.1863, 8.2256, 1.7656, 0.1441, -0.1001, 1.0281, -0.0205, -4.8752, 6.9265, 1.6923, -0.1343, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d9831fc397599670557dca7ab5167492ea981ccb149c44a684816ba443480c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05cca4ee3442270af811b690dec0f0fc3ede0a247cd93334dfabef0f8bf54bab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d099031d45411aa9e01e813462d15708ce45335dabdee25bdb9ecdc63ac9ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF6i-1Oi-DFkEuv4w6Kq1dP5h1nhKlk8SjauufiYgm8XOFYKnb8AB6dKQ0q-t8Kh9TP_gxipZAbbbSuIWVL72nn939_LqA1Mw95oRlYlFCqAGGt68lIiunzGIlU7tSmM1PDLdxpA7YIwZ73sPBxLsGfR_sV3BRO82XW_Uj1pBon4oj0iC0t3S33B7XTUy73rkvt3KRYfXy55TCxVwaE1Ih4rtWW2NSmWCqUHqeL9YJOEW3zt6CW4LoKrChYBCxDmfiPWwM79B-HgqKtiHYggZKLbRwAtNpplU9L8gqI0tR4S0tb0zO-woqQhOnrNZ9IMVIdasavqciKUfm8dfpRHwwEkb0uP3B9XUOKI6V7EsuaHQ2UrW_MG-D-i9TrMh3FBj8NSQYgTXr__4RiKfa3jdi2EI8xnlDY5JTB9BNhARrBy6-a_ZMMC6pwpGq7qHswsmI4eK53J7doxkw3UfHh-AwwKpATUstJtLQZXO5vDvzwl7vvZPFEWPkyxppRArRtp5Iuh-YK3botBkLCYwHofV6sIE90l6nZSxlp9DsodPLxGEFXk8L73wfR9O8xC-ezhzZllk95CJwq1eLVPS_cfgQl3PhWBqz9Q1S7MopG5DKHvxaHqvsl6fg_KYvnqZrMHwuhp55UCmVZf3YF3gKECas7VUffmD5uPPwBk_Rk1VCv6W2QFbSVKhDh7IhW8EMvxl7kmdPWwx8fylCQfNLx4Woe0T5jN-Di52cpp5eyH6XJMC3llorth_jUFJ7QL5D-RIWavQ57oV7VGICufhV8bgycvJtoqfrdcu-J_QApXbjMpil_KyYRtvAKACTj26NS-x3C1zQeqmyY5Rw9yy69t7wYiE_1X81EhHXtWv3msItGG2On8hhjStqHQX8Npzt34V_hbF7MwkTwoyzks3jTLeWMvpt4DU7qCgmgGYfkyWwAlqPU_BkwfwT9G6YrlfhERB_Uj3QxjqR2NCtzVXIllLc82J9lKJUBh77yuUt8SSRdvX-O9iiKDZZYxKVpdXAGgKYEzyK7XzHcKOfLwk5KIe2hcb9WxuouE906Pi5XbgiqQTeBQhJY1nJHAjmDhHOs5D6RSMvHlimeQWFfIpNf7kJz8UgOPDjhRqiTM6oEZQCm-ud_-VMZRw1eg72da294qZmILfIVy5ElnLM2mcbiYujKYGWDShVtJCnBiyCVCLakoAW-6HRmvRoq1Vi1HxJTiDZgCEKYcRCYWc0KpGghYYCP1dWQHD9OFDdVOnGp1fhQWAsVBo8_GpyAuSdMrUNQjiM0kUOSf4w5uNCBnB3N8Mvl-SNXZFcRoVEcCG-46i-AU90KdX4k8-vHvlqHDCfSdGmrWour_j6mw1BHKiGWzbSVkUbGrod7tu6IbPQU28HaGxrDuJ4nKVYbuLUPs2SGR8CP8I0xpu3lTJOrDMpKRB4THSwlruJCuc0IPYWMrioEQm6q0gcyWXY949DCPdUP5xZqmQ7I7eBE-HgntnWvxC9nYOV5f5ZF-zug6zZEgNxfgRUtH9KeKeKy0UJl-fUoNnQBkDTyEOxxhJnReKWUoHADHJ3FsvC83nwQVyg3okLNEgKZvyXc3v1xc7fHuzvOCVc5xhW2eESF-ZHJP4Vl0aiQhU6ubKj-jep8uWSWE_GYIo0ZsV9fg69nGX-zNlKF2h648kx_HGXNv4C2-bnPCgl8SjebubRAfbvyQj79D98LXTUa72dS2F7DWdOHCCw0W3yXsT7nC_xeix2IIs8cGb_mAQWwCq2kG0XbrupIGNumF1W0PwcK2ZpaC7YQ2t6hY95ivD_uUEODAjKR-YmCnNcDq-1FIvxDxWxM4r-baafFbwZk55_wKMVxH2ZKMcU3hv8ZVazm-2TDSgzxPzsesauRUlqxMd7qeLDv19QXqidr8vi7Ga2umYqTKdaMMb0x3D87FlU9TV5UxZPIfiUdJUitD9vPMxYFlExmC04zkbolEMzP6FTw-8JKjSXzLTvcsEhTcd5_onS7rAkXSnl_B7VteYzPb8ZlJAeiXDjU2zlTX4RBAGYK5WC1XYmX0ZCgo_cjj0U3CejHpyA1__R8gE-nz2Zx3A24GGBx6miEuijpM4m-8NrJsPz3mrZ5CcSt3pUPUjlBUJxCJTBcboSGlGYA0dSmvXkuvjmcyv3DXmyphNd-R69GkiSv1UQASk9ROZH5O_S54qUkFQ1WhgAJ84T4Tuytsl7-ACPfphldEA7D09pkCbWQ_wuTg7YAr2EbRbJEuJ3AJ5jzBOYJJwVDPKFNzbCIaH4q1WG6bzlgj1LiAUjaHGzcQGU88Mbzy9vsdoFU6hu6FKOWjnIsq0vCXl6TezFDZTPnbldiewkhBQcAYZAx1DzVtm4m2DfrrOdHI29wHaAq7IjdeacVm7ne0rlZAaSjK-4mMkzyCZpVmAVJ3SsuxS8IM2SFGVP1oEGlIEUV7bCD9KYAmQNgVP9IQgKNvP-QzUUMPT9CYe5ttlcQh_kZisPn1g4kXKWUQ5YueCP9Y9FNBffXvcksdpX-wb0BAcftPgBVEV2gCH755LBb6OkchgLvQFj1LizM7QW98sZ-I-P2n01H_-ru4ck3B0odEvdm4FsiiZCNmJxLK9CzZjXjIs6BfOYa9CxkYTNOXZIzyZEdp08jwk71Xx1ODRpp3IOqiObuYcFMLbx4Y3G7EbMjFLbrD_ZiIaDVynRJbOMW_362RHW1jwU7C_FzgU_HKz-db2P0YWYB0TozMkma9l89R0Yrord94GKXAD_Yiw1crc6Sv-htGrhkuNQof7huaMn4skl22AKYSABrhTfPZCVLWJN9Xii-kusYymeyy_owwrLojrG_b5cZJJ49oAl-3i3Dnk8BFWfdPXrN_NjDyp7f_VOZ7oICDCodjc0zHLpLezlOuvW5xmGMJULrkKCD3KeOPWRjWDSaHm0wIcymDbU26EnoJzU_UJxpPZiMjA_sofrj6k6cFX1CndV1rFNOg7wZI_uw1TiopuLIBjkRxx1Yi_bvaO9MOpmD6sBOeeM5LmWbcFP8rknrFP_3cSi3_HMvj7tZoM7GlJ8BIwVGG1JQxrI8dfHb8ShBcSDtJN7EzQbm_yAZuLBk1agfbzx1kMR_LToYZlgIb53atlgCsmi-ZkGmjT0OZ3KJPugTNvNKJZ7teh1m92OHRFV6M7Zh-YZ1rM1VyyuY0w7uTiTxOY-7qO8P7cN9bCNFR9hvkZAQYkEfJddyuHoBicjcGXX1WXVXKDCo-u7q2InVJeUNMxAEK6m50Dl0GPkiWZHRHJIUegVSQA2kAGTNouVA0pF2Er_UTLEGthp6Ajka-46NKnxJe_CuGlHTvATB66HvZoMaNMU7HeFSE5F_u9dTJMTHXGDW_6gyuHnZyaaao5QPOknEcw8VF-64rDH0U0EF_7zZODsUdFTyQ4gpVFsMEzpe7Y-tDOv_yCxzDYPmqFyl9crM665P9RYXLALQeS_qroD5ODfBAgPQSgIMEYRpbK6fSIYVl2IRpBgozagf7F82nEpDQ3qU4IPtbE9hEy61z4r_zAIhOvB22JnK22T1OarTfWcCF3r8JpjP5ct4Tq32f60gP_Glcq2byuGM1krwAQGqoa-D_3zf2xi_kxLzPF_Lk8UOHy_4BlTSXs9hSe5Korgc8gaNViKjomWtvr8wSWrqBgH4XG2DYWLJDlVNwjmihGrucxL-3CSPA5KclvD1kxhmu2DDCLzK7MJJ0AnmTuLzT34lWGAhSvM70RepB44e_oX448LySMsOTCHzTqsuuapnddrLKebpM2YIQuXd2nhHo",
  "id": "rs_03f8eae531c3e926016ab45e987e4087d0be62af252cae6bed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.355,\"left_z\":0.18,\"left_yaw\":0.7,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.32,\"right_y\":0.19,\"right_z\":0.18,\"right_yaw\":0.7,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both pieces have lifted with their grippers. I’m bringing the cap toward the pen at a safe height and rotating it so its axis matches the exposed pen tip.\"}",
  "call_id": "call_tLLRWCqa8LVuaincNZ1jSpMx",
  "id": "fc_03f8eae531c3e926016ab45ea15f5c87d0b66af95441a49aa3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tLLRWCqa8LVuaincNZ1jSpMx",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.8894, 2.5668, 2.5683, -1.5558, -0.9668, -1.5009, 0.0589, 0.2718, 1.2221, 0.7414, -0.2184, 0.1287, 0.0998, 0.0558]\nstate[eef_state]: left_x=0.4238 left_y=-0.286 left_z=0.1457 left_yaw=0.6311 left_pitch=-0.0327 left_roll=0.0498 left_gripper=0.0589 right_x=0.3544 right_y=0.079 right_z=0.1424 right_yaw=0.1004 right_pitch=-0.1339 right_roll=-0.0063 right_gripper=0.0558\nstate[joint_eff]: [-1.2103, -11.412, 7.1453, 1.3993, -0.8132, -0.0708, 1.033, 9.853, -7.4598, 8.4444, 2.0879, -2.3126, -1.9316, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f888eaafe3ffd41f1befcd2523a9aff93a624e0be2d6716830a536bd1240d865",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c633b02b5476aa5b4e861fcdf21d5bb6e1fef77cda232959ad8d1661283c99d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65feb401351c8fc0e61246cbc4c45751959c31164fca4cb5b37289015d10ccc6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.47 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4492, 1.8023, 0.6559, 0.3508, -0.0021, 0.0105, 0.998, 0.3721, 1.2987, 0.8326, -0.1844, -0.2749, -0.1917, 0.0532]\nstate[eef_state]: left_x=0.37 left_y=-0.174 left_z=-0.0057 left_yaw=-0.4655 left_pitch=-0.2235 left_roll=0.0155 left_gripper=0.998 right_x=0.3409 right_y=0.1884 right_z=0.1645 right_yaw=0.6984 right_pitch=-0.0643 right_roll=0.0101 right_gripper=0.0532\nstate[joint_eff]: [1.388, -3.0701, 4.0821, -1.9658, -0.0757, -0.2515, -0.0171, -0.841, -6.2564, 6.694, 1.9463, -0.2369, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4446, 1.61, 0.5186, 0.5198, -0.0101, -0.0032, 0.0532, 0.3679, 1.2961, 0.8261, -0.1833, -0.2737, -0.1921, 0.0538]\nstate[eef_state]: left_x=0.3672 left_y=-0.169 left_z=0.0528 left_yaw=-0.4463 left_pitch=0.0005 left_roll=0.0119 left_gripper=0.0532 right_x=0.3406 right_y=0.1863 right_z=0.1628 right_yaw=0.6935 right_pitch=-0.0671 right_roll=0.01 right_gripper=0.0538\nstate[joint_eff]: [0.4171, -7.1863, 8.2256, 1.7656, 0.1441, -0.1001, 1.0281, -0.0205, -4.8752, 6.9265, 1.6923, -0.1343, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8894, 2.5668, 2.5683, -1.5558, -0.9668, -1.5009, 0.0589, 0.2718, 1.2221, 0.7414, -0.2184, 0.1287, 0.0998, 0.0558]\nstate[eef_state]: left_x=0.4238 left_y=-0.286 left_z=0.1457 left_yaw=0.6311 left_pitch=-0.0327 left_roll=0.0498 left_gripper=0.0589 right_x=0.3544 right_y=0.079 right_z=0.1424 right_yaw=0.1004 right_pitch=-0.1339 right_roll=-0.0063 right_gripper=0.0558\nstate[joint_eff]: [-1.2103, -11.412, 7.1453, 1.3993, -0.8132, -0.0708, 1.033, 9.853, -7.4598, 8.4444, 2.0879, -2.3126, -1.9316, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f888eaafe3ffd41f1befcd2523a9aff93a624e0be2d6716830a536bd1240d865",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c633b02b5476aa5b4e861fcdf21d5bb6e1fef77cda232959ad8d1661283c99d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65feb401351c8fc0e61246cbc4c45751959c31164fca4cb5b37289015d10ccc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF6psA5qYJbXW_IWgGCLNbC7ZjL1l7Ea0acP1cb8hhORv_a0dvf3hufS1Q9Es1qnd8fw54Y_2q4jQIEt7wi_IB8UuerFtlOptBX3DNnZPsUqKegvont524LJ3_Axf365CHytCkXBf2-vX0UDrSS1NDdBdeYOeHzNqTMQUWGySJvFGPnYy8MJ7C8ByFvoMZh19G6ViPn6vRrCgzGnmn2W3D8K669q5x04luR4VeLfYUorKj08QV5vYOqKZ2hnjksH69RCCKmktujzI3TY-2k8CAEcxZO_S9co4w10UnQAEiQQIUro3tqBVi3hoRbQYVfD4-b8oqmy3rJV8aqt75PSs-8enIj_MdSNM6nshQMHgcNy2fyG9V6Gz7_cL2-c-ZSxf5IueoU8T879pqjfXTxLhSE8sL1GNbPTEqDpWeyDJNJ2iWR9USCeqta7tvbXhQn49UcnMEjxgYQqh0Xr7cIH0E1TmXbVzf1Oh3iALqtJLVuGJ1Wf4iXCixs_rIn0F5gNJT-YM_RqXP5KwcDTT7L5aX8b2HRhCPdRwwo7fo0oQnQI-Rv8BjRNfwSw3IX_qCkJcHmV1kuw5DlpF4ExxgCytp-43HHvVXnSdsqRWGp9VnzOaOszLLmiSwHlymOg7pPB1vOC4pjsv7n0BgnyTmsN3icENCYZsenyh6JnKdDoVzTzlE3NRDDr_xuDb0SO7CTpX5OoIkFbEwAydEdksCaXSDK88w6reJVZ_nrG-Ppx7ksOm-NMdEKcwGwJA1b5Ll_w56V04KKJYHcmBRkQtNZDU0dGXMPzwpsUS-A0vB0u_HSZpmHLRFzp1glkDR3tG9b7TNBSeMG1sEi1N9sJBfXCDULxfS7SAV_uW9hVhnjR07_50uAhL9nrBeCL8s5AzuMMAs0FkBuQvCLWBgr9HKsg-sbBZGxRQPFCnV2J_Mu-Wl9araaED9ujKU0-NM5D6y8jeLetAI5Mq_l_aFyAnY0kY7mK3I-xOisi5uHEO3-c8huH5x1D47F6WZPLVSgKw2eG-2cOP-wv3oVKnnCHYQh3PWihh-CdRmdpGhOdYynnRaxdGNPmbEHzm4otszyzrC0k5r1ZMRcz2vbJ7L0m7OLRFE1lrsCe_u4dg3ZAKTfctilopAtj7fPnZhiNCXkuQxzEC5s08qkjl-USbtQ7vzwaaR_1Bu2znoJuNnifvnZhdckorfQ1PxW2BNHf4FUEi54ofvsTaQHYfrdsXKnbP0rTurjoTn2fmrZy3pn_ZgF8o9E56gVB3wJX2Fygc4YQN0VRmjbNO5-rhj9Os0p2hvnDdyOs184dCg7t4XY6LMqym3DUlP3x1STFB3YIeGwXIc5e_Owp7IqQ1ZRPuUB8EABPj4hvRAEkM8dSRO06YvMGI9Y29wJDLu3kv_Mnb3bfmcfbFDG9hbOnaxN06J5bNQ3Gsm3pkXzglTiuOveBfK2dzNgSDkR62HI1RT8omf19-jQiiGW01SSyebA_xTuMFiaGCw-kiTQhvGMkqqdopxE06z7dk9UBDN7kZ49MA-YUFCeNxWSgYKIk2lp_zZvT7t5CYorvB--EQ2lKmDBgIoWfSb5ArF10EA1ZawLQamFbYag5AkBqFmWvlUg0ki6pUZq7TdNKhEbITNoJ84Ka_KQFqD8XzOBleb8Y0yQsrSU1soW7zor4PUrPO01KDRorb6SFVMqJge78VsbsCJGVcn0uuLYofVMMdx3IJHfmUgOp20MOsjj1Vu4FHayiXhURiW8KRbvtKARaEHJ_p-lK_vCYNa_qyA61G-ibnbp7MlALXWL6wjYG",
  "id": "rs_03f8eae531c3e926016ab45ea613ec87d094671eacb10fdf5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.23,\"left_z\":0.23,\"left_yaw\":0.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.3,\"right_y\":0.055,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right arm was displaced and its joint load rose during the approach, suggesting interference between the arms. I’m separating them and raising the cap before attempting a different alignment.\"}",
  "call_id": "call_6UdhoTy9kBab4iImXotlaexC",
  "id": "fc_03f8eae531c3e926016ab45ea7d44887d0beae9e78c1afa0b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6UdhoTy9kBab4iImXotlaexC",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9455, 2.5923, 2.6583, -1.5974, -0.9565, -1.4971, 0.0589, 0.3408, 0.9005, 0.7006, -0.3973, 0.3153, 0.223, 0.0581]\nstate[eef_state]: left_x=0.4081 left_y=-0.3125 left_z=0.1543 left_yaw=0.5718 left_pitch=-0.0419 left_roll=0.0295 left_gripper=0.0589 right_x=0.3046 right_y=0.0537 right_z=0.1954 right_yaw=-0.0508 right_pitch=-0.0061 right_roll=0.0136 right_gripper=0.0581\nstate[joint_eff]: [-0.1573, -12.9162, 6.3248, 0.4127, -0.6618, 0.232, 1.033, -0.3487, -1.4154, 7.1179, 1.5995, 0.1538, -0.1734, 0.9402]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:281db21991be02e93133553cb039c78986171ba670d178b9ffe905db303f6942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aa69546542371fecc80be6cdcf469ee49719896087368e4bbdcd5934fdaeaf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4bc2bd631542ef467f43aeab4308c3c045de1db8a928f988e2f0877d7a18867",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 11.39 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4458, 1.8492, 0.4934, 0.7597, -0.0093, 0.0044, 0.0473, 0.3687, 1.2957, 0.8265, -0.1806, -0.2737, -0.1921, 0.0532]\nstate[eef_state]: left_x=0.3702 left_y=-0.1711 left_z=0.0009 left_yaw=-0.4522 left_pitch=-0.024 left_roll=0.0177 left_gripper=0.0473 right_x=0.3409 right_y=0.1867 right_z=0.1637 right_yaw=0.6942 right_pitch=-0.0638 right_roll=0.0089 right_gripper=0.0532\nstate[joint_eff]: [-0.1026, -6.0239, 3.7402, 1.6777, 0.0415, 0.0952, 1.5116, 0.212, -4.8615, 7.3778, 1.5849, -0.1587, -0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8894, 2.5668, 2.5683, -1.5558, -0.9668, -1.5009, 0.0589, 0.2718, 1.2221, 0.7414, -0.2184, 0.1287, 0.0998, 0.0558]\nstate[eef_state]: left_x=0.4238 left_y=-0.286 left_z=0.1457 left_yaw=0.6311 left_pitch=-0.0327 left_roll=0.0498 left_gripper=0.0589 right_x=0.3544 right_y=0.079 right_z=0.1424 right_yaw=0.1004 right_pitch=-0.1339 right_roll=-0.0063 right_gripper=0.0558\nstate[joint_eff]: [-1.2103, -11.412, 7.1453, 1.3993, -0.8132, -0.0708, 1.033, 9.853, -7.4598, 8.4444, 2.0879, -2.3126, -1.9316, 0.989]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9455, 2.5923, 2.6583, -1.5974, -0.9565, -1.4971, 0.0589, 0.3408, 0.9005, 0.7006, -0.3973, 0.3153, 0.223, 0.0581]\nstate[eef_state]: left_x=0.4081 left_y=-0.3125 left_z=0.1543 left_yaw=0.5718 left_pitch=-0.0419 left_roll=0.0295 left_gripper=0.0589 right_x=0.3046 right_y=0.0537 right_z=0.1954 right_yaw=-0.0508 right_pitch=-0.0061 right_roll=0.0136 right_gripper=0.0581\nstate[joint_eff]: [-0.1573, -12.9162, 6.3248, 0.4127, -0.6618, 0.232, 1.033, -0.3487, -1.4154, 7.1179, 1.5995, 0.1538, -0.1734, 0.9402]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:281db21991be02e93133553cb039c78986171ba670d178b9ffe905db303f6942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aa69546542371fecc80be6cdcf469ee49719896087368e4bbdcd5934fdaeaf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4bc2bd631542ef467f43aeab4308c3c045de1db8a928f988e2f0877d7a18867",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF6tE4SjIsjB3rtmBNarnJ4OAeAwzkRN9QYbisQ256C1vH6FQhqk_rOoQ_biP_CeXLMh7m-Q9JFBCYNAN_sgjveAFGadaP6QySQ3XDHQN5pgfXkXSfI89jbE_8hwfJO_D1Mdr-z6aX9JJ0vSkOYL7ZicOqxwDjNPArSiDhQXfHsL104r678j9hB8NukyELBi6BB4a9Er-9dbS4GTJVR4nIBvUB_m8ja5g2cXwnRm8b8SGFHvbI4U9uNCGbhjmBJfwXDZtQiPyDgBs6B4eRRDUUlL5V96-8FV-Ld6lAgtIiNeG577qmH-d80KE-DbpTNHvj_T3wBOTt2fn6CHjiSzO6lAXkCWVnRbuvjz_ICZKFLgfs_7FXSEvBuAfyCLHb4ztH7uU2jMXatthbUEL4lyNJdb9N0f5qzvklbYCBK5s_3svHyvLNvJCRv4BuupYy1tioNS5Ge-noe-paTd9NlAou8vzHmLDZOtXNzLKkcuHCxpfDAvVl6ZfO6N8HdoQQCobq0YbP8u6EbzqqM1oSycRvtcBKyXWDoTw2eC-3JQnkAVRWr5AWul0qxogNG3BFRkDu2tY_wbwkILRfWoLG4F4_3BMrXLiICiMqWi58BLfXZ8sNu7p-JqGOTnf_NqNBHESNVUnlGxmikEEomHE9QpPXf0num9e9dUVd3TYWglY_52dljkvc6Whg2ZTrRFJE_DpYhqZryYoBP2SO_B_0gDWjv-xByevAfDdFUUqHeDIIZJuL9S-vVS0VDoPnY1d4dBR2mAYxD9wFWA5auC7Wz2EpXdHCE89qYn9wSsBh1F5RHO3wzHFp4kEvyrs19VpgBAEqmwdbP3oB2ekHL6NsqdAC8UBfACZ2txQu9dy5jv5eihuQjImE_Hf5HC0ivFjKORVrIemIVhMptQefHltapKJrJyFgYcsE-4sFdSlHhumx111MjtdYuq0SQvmRK09FwKNDeWmHhn5VTy3nu49ruodAvYuQ0JH6LwllwGEb28-im9oz4icjqVj35snzkLa5mfxaSzjahoFcRO-r8KZaoEcqEgych7zMltz8skau-1-qxznwllqSein8CrgrOozghW5QTD7YuPnR1vwFHhvkXiIO-bt84Jt8r_b6dcMqd4SyAn1uYweKeagfZ63HNZD3LmQk1ebWa-IJjKJcZWCvisBUr2_o34eREJEaqMPAlQaTqNHyEVJVGr0-TxQaIBu0j3gY-nfa64vpeRxMA41xf58dir7zVlrw_PujCc3W3ShSZFfhnOPlSqZIp25xQzswRxwmXhPMZrwdzFsqkYIW29OYf_4VRbHuZnpwaH9C-XTxHyay1SvFcFUekNQgkLfG_D7u3yRZZ_D5MJxyKBso0p6KxkMrgsXORnsbJWySDHl6KZzqjDFRQi7xeweqovitlGyWCSv6q7Y1p8dlvcXId6pn0AAQ==",
  "id": "rs_03f8eae531c3e926016ab45eab527087d08c82a496e16e75fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.22,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The right arm is clear again, but the left wrist did not follow the retreat and is near an awkward joint configuration. I’m shortening its reach and unwinding the wrist while keeping the cap closed in the jaws.\"}",
  "call_id": "call_L9sCHFkLaJ2LGtxULLCCLWYF",
  "id": "fc_03f8eae531c3e926016ab45eac0da087d09a4c2159c39e1fcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L9sCHFkLaJ2LGtxULLCCLWYF",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.8795, 2.1639, 2.1082, -1.1885, -0.746, -1.0943, 0.0589, 0.3363, 0.9081, 0.6968, -0.4114, 0.2947, 0.2028, 0.0591]\nstate[eef_state]: left_x=0.4009 left_y=-0.2907 left_z=0.1881 left_yaw=0.3375 left_pitch=-0.1972 left_roll=0.0167 left_gripper=0.0589 right_x=0.3028 right_y=0.0553 right_z=0.1881 right_yaw=-0.0277 right_pitch=-0.034 right_roll=-0.0018 right_gripper=0.0591\nstate[joint_eff]: [0.0615, -15.9521, 8.8, 1.7802, -0.5397, 0.3199, 1.0281, 0.2803, -2.2222, 7.2821, 1.8828, 0.232, 0.188, 0.9206]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d87db5b960374ff72b22fa551b2d92109b26443229532884b54c132d8273b2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd1dcbff57b04cc74c00b56c4db6e299ef93831a170be6cedc9b42de416980d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afc0b76b41db1a392c83f6c1156e7708e54770d07ec0286adf1fd790e4982c3e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 7.301 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4446, 1.61, 0.5186, 0.5198, -0.0101, -0.0032, 0.0532, 0.3679, 1.2961, 0.8261, -0.1833, -0.2737, -0.1921, 0.0538]\nstate[eef_state]: left_x=0.3672 left_y=-0.169 left_z=0.0528 left_yaw=-0.4463 left_pitch=0.0005 left_roll=0.0119 left_gripper=0.0532 right_x=0.3406 right_y=0.1863 right_z=0.1628 right_yaw=0.6935 right_pitch=-0.0671 right_roll=0.01 right_gripper=0.0538\nstate[joint_eff]: [0.4171, -7.1863, 8.2256, 1.7656, 0.1441, -0.1001, 1.0281, -0.0205, -4.8752, 6.9265, 1.6923, -0.1343, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9455, 2.5923, 2.6583, -1.5974, -0.9565, -1.4971, 0.0589, 0.3408, 0.9005, 0.7006, -0.3973, 0.3153, 0.223, 0.0581]\nstate[eef_state]: left_x=0.4081 left_y=-0.3125 left_z=0.1543 left_yaw=0.5718 left_pitch=-0.0419 left_roll=0.0295 left_gripper=0.0589 right_x=0.3046 right_y=0.0537 right_z=0.1954 right_yaw=-0.0508 right_pitch=-0.0061 right_roll=0.0136 right_gripper=0.0581\nstate[joint_eff]: [-0.1573, -12.9162, 6.3248, 0.4127, -0.6618, 0.232, 1.033, -0.3487, -1.4154, 7.1179, 1.5995, 0.1538, -0.1734, 0.9402]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8795, 2.1639, 2.1082, -1.1885, -0.746, -1.0943, 0.0589, 0.3363, 0.9081, 0.6968, -0.4114, 0.2947, 0.2028, 0.0591]\nstate[eef_state]: left_x=0.4009 left_y=-0.2907 left_z=0.1881 left_yaw=0.3375 left_pitch=-0.1972 left_roll=0.0167 left_gripper=0.0589 right_x=0.3028 right_y=0.0553 right_z=0.1881 right_yaw=-0.0277 right_pitch=-0.034 right_roll=-0.0018 right_gripper=0.0591\nstate[joint_eff]: [0.0615, -15.9521, 8.8, 1.7802, -0.5397, 0.3199, 1.0281, 0.2803, -2.2222, 7.2821, 1.8828, 0.232, 0.188, 0.9206]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d87db5b960374ff72b22fa551b2d92109b26443229532884b54c132d8273b2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd1dcbff57b04cc74c00b56c4db6e299ef93831a170be6cedc9b42de416980d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
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      "type": "input_text"
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  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_03f8eae531c3e926016ab45eaf994887d0bb62dcc87b35a527",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.28,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0.1,\"left_roll\":0},\"note\":\"The cap remains held, but the earlier diagonal reach was too extended. I’m using a shorter, straight-ahead pose so the pen can approach the cap along the table’s forward direction.\"}",
  "call_id": "call_JGjt6WCQUCguhoTov2gHwtUE",
  "id": "fc_03f8eae531c3e926016ab45eb8335487d0bc780a979b2a4911",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JGjt6WCQUCguhoTov2gHwtUE",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.8707, 1.9751, 1.7092, -0.9039, -0.7555, -0.9668, 0.0589, 0.3351, 0.9119, 0.6968, -0.4133, 0.2905, 0.2047, 0.0589]\nstate[eef_state]: left_x=0.3875 left_y=-0.2665 left_z=0.1655 left_yaw=0.2676 left_pitch=-0.1632 left_roll=0.0449 left_gripper=0.0589 right_x=0.3028 right_y=0.0557 right_z=0.1865 right_yaw=-0.0265 right_pitch=-0.0402 right_roll=0.0 right_gripper=0.0589\nstate[joint_eff]: [-0.1162, -12.9436, 7.5282, 0.9792, -0.652, 0.0269, 1.0281, -0.0068, -2.0581, 7.241, 1.6825, 0.0708, -0.0317, 0.4908]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b648b58cec022a22b6358881b8d930c4dfb5426a301f810852f1c90f3ff7c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:410b7be94764971debb3100ad1956b07fb69dd8afc2625f57e99e61bffe606f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aefdc36d4d86a7f98d6542117f04ffb1679afa17a89b669700c55f2433ad23b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 9.848 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8894, 2.5668, 2.5683, -1.5558, -0.9668, -1.5009, 0.0589, 0.2718, 1.2221, 0.7414, -0.2184, 0.1287, 0.0998, 0.0558]\nstate[eef_state]: left_x=0.4238 left_y=-0.286 left_z=0.1457 left_yaw=0.6311 left_pitch=-0.0327 left_roll=0.0498 left_gripper=0.0589 right_x=0.3544 right_y=0.079 right_z=0.1424 right_yaw=0.1004 right_pitch=-0.1339 right_roll=-0.0063 right_gripper=0.0558\nstate[joint_eff]: [-1.2103, -11.412, 7.1453, 1.3993, -0.8132, -0.0708, 1.033, 9.853, -7.4598, 8.4444, 2.0879, -2.3126, -1.9316, 0.989]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8795, 2.1639, 2.1082, -1.1885, -0.746, -1.0943, 0.0589, 0.3363, 0.9081, 0.6968, -0.4114, 0.2947, 0.2028, 0.0591]\nstate[eef_state]: left_x=0.4009 left_y=-0.2907 left_z=0.1881 left_yaw=0.3375 left_pitch=-0.1972 left_roll=0.0167 left_gripper=0.0589 right_x=0.3028 right_y=0.0553 right_z=0.1881 right_yaw=-0.0277 right_pitch=-0.034 right_roll=-0.0018 right_gripper=0.0591\nstate[joint_eff]: [0.0615, -15.9521, 8.8, 1.7802, -0.5397, 0.3199, 1.0281, 0.2803, -2.2222, 7.2821, 1.8828, 0.232, 0.188, 0.9206]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8707, 1.9751, 1.7092, -0.9039, -0.7555, -0.9668, 0.0589, 0.3351, 0.9119, 0.6968, -0.4133, 0.2905, 0.2047, 0.0589]\nstate[eef_state]: left_x=0.3875 left_y=-0.2665 left_z=0.1655 left_yaw=0.2676 left_pitch=-0.1632 left_roll=0.0449 left_gripper=0.0589 right_x=0.3028 right_y=0.0557 right_z=0.1865 right_yaw=-0.0265 right_pitch=-0.0402 right_roll=0.0 right_gripper=0.0589\nstate[joint_eff]: [-0.1162, -12.9436, 7.5282, 0.9792, -0.652, 0.0269, 1.0281, -0.0068, -2.0581, 7.241, 1.6825, 0.0708, -0.0317, 0.4908]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b648b58cec022a22b6358881b8d930c4dfb5426a301f810852f1c90f3ff7c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:410b7be94764971debb3100ad1956b07fb69dd8afc2625f57e99e61bffe606f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aefdc36d4d86a7f98d6542117f04ffb1679afa17a89b669700c55f2433ad23b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF7BGH0XILo3XZobxmlrPy9i112k_yDfcKD1LTVM9hER_Im2IbchmLwWV_lXT_TLDEIoZdyOCi6KhGZAyw7lEP2Ywl3rMl075U99ejCEnXQf2kUQ8l4dT-nx6Igcmfye7UBE6pB_1DN_L38fTsYre1NGsYXdDY1IBOQh6Y0Uy8rgrpdqG5jZv2LdPOv522_WHdBrNYZPgGSTQVFD0_ZfsTO4OQCOgzhR5-s1BqJJmhKLFujkqgz0qZghxKCZJjr910LK2faoCSBE2mvjSw0YsFYKOS1wFo3GT2bGWejlccaPk7G704vVqEMxIv_LiEhE4f7GXjm9OqCZjtndBRi2fnQHD_wSEQiOcQ-dT36TQWK9L2g90e3C4nKo_A6gZmpFCWfxUjuqzLc1uygcM75VqREcOnP3BZpJuX9AXUFWCmoqyQWV2G6NkC7YgiISaQmVNqYgZN_4MoxjmhJYFRa7QqH8nl1Wm-DWiZlYllYWriutGGX_HEX5zkMNnAWkoSx3jqO2qzrKPp6LhIugBit8uldxAtDsg4oL3eYz-uKlD08PSZQVhkiSzBQMSvX78n2xNAgOz2APfK0zo53VNq_Str8QExyDGR9RZNE6y1nphke_ukEdje8Fr1u4sx2RR_hVd0Hd0Wjjt_NaWa2fvYo95ZjAh2Hgmm7eE_MaUM1ioFeZPsnWAL4lQNbl42R6Z2g3gLNkWsz6zncifyiyWgNl1UI6uUbTIsRKL4BYK3RTSw55gdphALo-ydqSpbiPQ-6tBr_rGCzt_sVvk2iKGd5NDUFmffwWggVL3lvc7uxCY2B58Myf_b0Y3SzG9d9haLgC2Pqsqd9utW30FtudM1ARbtR01vs4_3zMfVHRWloNsQ0VTTpoEoJHk2D_vBEB7jLWqtJrVh0CyKCiluuchkXbaOWGjElffCCw89uPsDl1iQdpMUSYbBs7tO0JRi2-2YXeQkFfN4Mypg_ZhaxXG5ONe4QsCygqImkVqeOUSvZzYHEerWSVKAK6el9lLsebBy7h4Xzavlk9plaYePhKgkyTxCfSDoV4PXoGoBYGtPpmlcjUxTBcNmF5buHbulybWuTGejouVqmYM6GIkv4xJ19_BYqnc7NKQjPuObaxjQjd3jRbO3MjtT93OKS5xEWZA5YCr_kI2iLOGDe7Mpdm-bArm7nXefrA3o_T3VHM1I2YtJ8jf4fjyJNCnsB5KSRnjmShxU4K4p0QSv9wDbYizS_ZOcrC4qjhAhrhgWO0WxSt7Yixus_D6sSs7LtfV4C2TlMS5MmDrLVDQsVI-dHr-6eF6xtokiHxrlwlJd1-sOXoLHOY7T0OJcC6R1FE6niLqvIMSoWL7ckZI2iBbHdtOeXEaLq-LzPqeDJWTaH3jrt6INkgp1ypw--DBP13UUBW1MxLvDoKbYYrnBts6Y4cPOWwR0CiHYrP2p-zkp_tVqkH89dtrZX36hIdwSqOpBPPbQYK40znxTBwgufLlqYKYXx-_-H2EvAhvA1NqHWj4YZCX0BWDbGKEE3HCtdYzznG6Wn84wmTl1INkfPPilw3T3mBp0T-g9uvPA_sJHzx1kQAu_aE82cGuaP410_HH4UsxzQm55mbxRRhYCbzsuv1LJZzF5lfFDqoF9-2bvxUeFBxt3_mBtQG0KA2MuCz5dISeW5CsjkOVl6RcSS-IigOifko_eTHi_P2MylPHiVwI51ls03fC0KH9sonk3Cihjvv56UZmxyJBiNjYaUtXILAPFEpSTIE3SE3unavGLuZvonSNdNXhceHqqQiwtToHp8sPJViVNqohk7bCBDP9Pn0EDgkbxiwIKsD5rfmvHcwUc50UVcAiC-JLNTVTNmpcLH7fHhXuuYHBAfLjgxOnjAuaCMzjUZ3N1Fm0eVL6ct-_aJOCXjJ3TfMK9NU8yi64oGB_dw8FWjdnG-Q9pBWM3mO6I5KFwMec2ZGFWktwoupjizsfxYeaOGpj3we1HhiyM7blLEvI7Qgg3sedvE1BbnhxukGC6uXteaqbHlweaFNN02_kdTDrkjjBqLKv40Ctvk4FnpZw2ritDd9UT4iMe5nWr9_4ldpqicwvhCosxwhkmxWoImq1zsXLra6aQzbQS_trb6t-ygpwH_rwWE9P5Xa0ZqMkNi5N0W3X8yXye2JrA-1bf-6p5H5QmVMg7fq7sr6imcGZW-2ZGuzRU0Ym7FqXoN5O04NnvmHPPBHqGWh4D6XRDYjytvKctg7otdbYN41bez7dNFshrAWg58QEqucbi1m4KTiWMtqnO4E4v0JiP4fOBi68EIVy5NXHa0wUD_zwziYAn4Yp6tBpkc8wt5Q8Yt4WJyfgIDvHTkm55ucFVtOqslLP1pDxGXhWZHror2S8mrfW_uNUZAcTTQIJ7USKKHCqCeNJAd1nEZxV8YwCd8uBIYmq-RE1DNlxCGdO6Fomv2lCPKKQwV64Z2Xx8zNv7vDqY7O_3SoWmZC_f5gdw7RuKaDdvk8uhw08tLZf_djEj9cH_B5ZhMSeFMfCl43F737AEukbRezzfG00SnBBPbhzMV4FQxb6OB8MRwhvV33CwKyWLcX",
  "id": "rs_03f8eae531c3e926016ab45ebbec0087d0a7596c0e272c017d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.35,\"right_z\":0.18,\"right_yaw\":0.27,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cap is steady near the center-left workspace. I’m moving only the pen arm now, aiming its exposed tip toward the cap while retaining a clear gap between the grippers.\"}",
  "call_id": "call_sIR6bU6he8xRF1qrDRNi9spl",
  "id": "fc_03f8eae531c3e926016ab45ec084a487d09fc20c980891bc1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sIR6bU6he8xRF1qrDRNi9spl",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.7658, 1.9625, 1.6901, -1.0519, -0.7555, -0.9668, 0.0589, 1.0298, 1.5734, 1.0847, -0.4965, 0.8967, 0.8215, 0.0612]\nstate[eef_state]: left_x=0.3901 left_y=-0.2021 left_z=0.1554 left_yaw=0.4004 left_pitch=-0.2261 left_roll=0.1887 left_gripper=0.0589 right_x=0.3031 right_y=0.2435 right_z=0.1638 right_yaw=-0.109 right_pitch=0.0109 right_roll=-0.0378 right_gripper=0.0612\nstate[joint_eff]: [-8.5402, -9.3197, 7.6239, 2.4103, -0.4615, -0.0317, 1.0281, 12.6427, -3.0427, 13.6137, 2.6447, -1.3309, -2.3614, 0.7888]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf2d904069090493303e239bb738a3e2d4d8d660c6a07af8e2cfdc6abe9d91e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ad2400fc653d7f3b2805c567610a177667630bea7fba2dcce579943fd681e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97531f55a32614c044f5971c6ff24ae71d64760605d81c62e74ff03d800dded2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 3.389 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.9455, 2.5923, 2.6583, -1.5974, -0.9565, -1.4971, 0.0589, 0.3408, 0.9005, 0.7006, -0.3973, 0.3153, 0.223, 0.0581]\nstate[eef_state]: left_x=0.4081 left_y=-0.3125 left_z=0.1543 left_yaw=0.5718 left_pitch=-0.0419 left_roll=0.0295 left_gripper=0.0589 right_x=0.3046 right_y=0.0537 right_z=0.1954 right_yaw=-0.0508 right_pitch=-0.0061 right_roll=0.0136 right_gripper=0.0581\nstate[joint_eff]: [-0.1573, -12.9162, 6.3248, 0.4127, -0.6618, 0.232, 1.033, -0.3487, -1.4154, 7.1179, 1.5995, 0.1538, -0.1734, 0.9402]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8707, 1.9751, 1.7092, -0.9039, -0.7555, -0.9668, 0.0589, 0.3351, 0.9119, 0.6968, -0.4133, 0.2905, 0.2047, 0.0589]\nstate[eef_state]: left_x=0.3875 left_y=-0.2665 left_z=0.1655 left_yaw=0.2676 left_pitch=-0.1632 left_roll=0.0449 left_gripper=0.0589 right_x=0.3028 right_y=0.0557 right_z=0.1865 right_yaw=-0.0265 right_pitch=-0.0402 right_roll=0.0 right_gripper=0.0589\nstate[joint_eff]: [-0.1162, -12.9436, 7.5282, 0.9792, -0.652, 0.0269, 1.0281, -0.0068, -2.0581, 7.241, 1.6825, 0.0708, -0.0317, 0.4908]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7658, 1.9625, 1.6901, -1.0519, -0.7555, -0.9668, 0.0589, 1.0298, 1.5734, 1.0847, -0.4965, 0.8967, 0.8215, 0.0612]\nstate[eef_state]: left_x=0.3901 left_y=-0.2021 left_z=0.1554 left_yaw=0.4004 left_pitch=-0.2261 left_roll=0.1887 left_gripper=0.0589 right_x=0.3031 right_y=0.2435 right_z=0.1638 right_yaw=-0.109 right_pitch=0.0109 right_roll=-0.0378 right_gripper=0.0612\nstate[joint_eff]: [-8.5402, -9.3197, 7.6239, 2.4103, -0.4615, -0.0317, 1.0281, 12.6427, -3.0427, 13.6137, 2.6447, -1.3309, -2.3614, 0.7888]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf2d904069090493303e239bb738a3e2d4d8d660c6a07af8e2cfdc6abe9d91e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ad2400fc653d7f3b2805c567610a177667630bea7fba2dcce579943fd681e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97531f55a32614c044f5971c6ff24ae71d64760605d81c62e74ff03d800dded2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7OONlMiaDRfByOatVi69GJM8Y0iPc2GE7XHC65Wyle2Wff4kN6pXlfJfxxu-s_2CyAJcGKsvKkUsgcWZBwonbJ6vMwI88hVaeJXkt8-xOuG-UJSsoW48b9n6e_3C_CUAbdTesuuv9D9VrRF_0yaOs5oa-vte0EZ08IchMCXdGZGS25s1DBa_z84VGC6X8Po2c4-JMS28Dewpsb0nK_ib7urpcKy2ptpXKhL_v8BjzyYzTLz09OtoB41VULOqR9U9aHNBYTWMM1hf2qKcnMyB0XBI7DY9188lIkTVaJ9wLMT4lHApV6LGjEZCsnRiSCbQXVPzNQ-wDloV-yCsxOxeOaVNQfwDOXtWac-ruLwxxP8FAq0nEIE1_hK5ZiFKvcb0r2HBGgl0tbmMl54UF5ACAnKuRBizhr0SHFHjz3sVI6m6aW7k1erZEVbHdqMo-xy2xYWGhQ8igzLorz1BXSO8gVw9RIIfKiOLcvUTKaO5Hv1di9qB3bxRp13zb0bA-OI-fvBNBxK342vxbo603pqAyQxwwxSXUhg12XKZK09VMo4jDmao9cQVoRpgPJmqQNqVOSxWnQFqiv_u51MjjyJ1XxdsruubfncJ5F-PWl0NOK9QNudKZtwWfMTCbyqV81ZzPlT1EwzSpqY0gkAeltTdt18sGeplNsFgC8y8alFmeXcq2jTe3d7qcSXiuPGCz9JaUen8Wq-khv1m4duEjN6oGavBoLd9lGWA5ECke6ialCTmYNAILIEInqJKJIAXMat2PJg-RCGc7AIisYX09wR72qC7eKQ2sDbG4C_vP7_2qvo0W-vgWK4CFpZ03XmQPbHDzAX5O2AkhOjOfNhhGaLq6ixEtZBZl3qigQiYHFFGStDRdxiNTWPSnF2LVchcz-1YvMfY8uo5UaclN9ApEIMeg9-_sVLV5PBPBF-7nFK__AHEplkMFs3tHU3aYiEGwghxQhA9LqqcS4D-VkYzjM2vLPAln47585zHIRa2J95_jNu6EDn6Uoep9wEWHsMSHRvBNcu9j0Ph53R1gUUsvu58Nc-d3jgQtOYJ0EKINPrnMEwMqveVaG4VaCb5DnM3qetEecUsIKGBWN5uXYixpBfBEU3-fsyGv_Vxb97_aWCVhg9OZrDuxp0vI1BS96EvzaBUHt7a4REgSfp6wZh4e7kklnxpmo4TWi8E7n4zYcUItjcUJWShWysx3uM0NPLVQLeVtgU66OiEieCClD8HJzxNf8KxRi2wxO0JLe17SL-PshEGfk8sFiMqvkwlbq5xFyTlUnvFiN8Gkz0gbRZd79bX2orUCFOTTLMFfqV1KxZ8JUGZsm4MITJfsCTC7pkgbfXdPJ6NHZ8KcFWTTGhcgT2B2FeEvJa2_eoHgJ0uwciWGl3aGDnPY6-fMZhTL4WscoQgImJn5ffgLxqwgpT3_1T5cHuAtxwGu-eD3VciiG_37ppf1Ilazu4o0WfHML34okBh686iCRCr8Wo_TBxoHSWQvIKosZ8DRLmj_Zxhjpq3JJfRLgEbLOulU_g0ESzbPgxxhBn9T_Lt2TW2_1_L9pmSYSexAdset6dr_3_ULkBFmuegjvNE9tZ72arlL5UATjiBInw5GeFlMCt3mQ6AKVxZYgzsFP2LaEXoHb5k21SOMx_Tx2DYw38voeHY52oGf7PV90FqgaI0zS5MTjTIiga3Ng-CUw1yZLxvHKiIA76l13ucMAHnMQZGxExt9ZgmVRIhMQsts_zHkh2wZL0yusiKDsaul5RFn_Q0drCFy1-x442Rq36c1rFjZD_ePmDxXO0I2gJJ4f6q1ts4x3I5cFy30stU3Cy5CGKqU-IyBm5oszaTQni61qs_Ho4Oeh2v_Dm3gICZyoDHDYnvEonjnK5GlAQ1b2phkuW33ol-yAtkgFj2MZj01vJx0bPqudkncZpZ4-KLjjBqE1WV9f1DBXx5nIsSQKOxvm7HLF5E1SKz1HQ6zSWjtDHlGu98dsO-MGgO0IEQM2Uj8bXLUIJDusxEXhJBP3jGirodTnMTFfBfAuUpd0IuzIJ36RZ-oCoMZMcsrrii9AuNpzMSOWnDbYf-0OpONXmwu2u0_mVLvkWyxBN1iPDTiT-tdmwc7gh_TMbHbsvMu0QChBgkP9J-0jlQVx3q5LuJqewoqLcPV6zH4muO4zGVsYT6Jv7xz78yNry1hcBgNe0xQmBk6irmqhClRm_D4vK4rGIT4qitzqWRT4I_E-RwZH8C0NXPH3HkGkCLf6zf9OF4y-ldW85dQKEjJBHSSZ0-6cVj-SJAS1oXkPfZI3riF7WnIZ0chv7Zu5gi4CUI55Uz0Au-Y5i7sAkefChcuw72abNCky371sA-qguHRBlNkNVvc4h4Ti3Xs0wo7eMuiTaCm43U1-Ge6EXHglNiJ8dYKeSoZcRqwEBfHKSBZT_Dwb_G3NaGx_ds5FwOEZyNn5BzneeJZl6FdBflHMqd4R3lpqc_LcLcD1CLHASO432UhTr5kFTJqPsFWYSvUpLTXq7mUPkOc-fhHug7kJh0lke-p9TnVK4FU-Uw-lyunRbgs9XZn9Vc9dWLGgMM6O7o7lq3uGlfVP0XlkxaLIogJ12YCZBFgM2PPAwlsoYohW17dYuqrUIIzkGP6Ls08lTm3RelruGS3GjAMiMVefArQvX3Sou-zoPkI9RPh0oIadjcXt1KdCp73GaDMAhoxRMaTUOzLFFWjsyuIhc9_0nu_KDM4xaKU_Lgm6Woyl6RuxqOGklvkJe5xxSB0hz1vXDjsLd_K1YWMzDjI-KajZXSAoG54C3vmbFcZVyml-ae40AC-gnEjtQlknVdZpv4pXwgoL2WIoilouiDTskKf62TjxerUFDtrdVSwVYyy1C398i2p3T24iHOQHl0k5-7fgqcQGMWDTB5ydorFr_1h-n8Zt0WPygg8Tx1eTILtZX7Ct9tsQO-NVndy3fZErXXNHtktiPtJnNygTGgIO5RryKsmCEHTnU3yqDp1TDJBV1dMVU02darFuMdHAwFmVYiqdk9q1IgxujVJL6lWomhaylSKx_yN5sm7Xa7TQWvcsKdlW8q9FhrGG49ruItjLsbi2aSpqktlMjK1Dq8kgfabLLs_Z0e-_j3F15G2NDbKV44R7_552OCk0J-6Mm0wH3NTH0kVSo8bDMe6nmv9q2ivCjWaqlWjs_RfD1C0doTOTTUdS1cY5G5BpXXcfreFaOYUYxko3tV1724YZ3c2fXnyi4eSqs8dI16WYHOmT39fARbTvu_IJAwNeWFqpwyIcgB67729jwdmiha69-QwroBKwBiuzMMzCBCMLt2Y1w8F15D3aH-HMNVSs7r48zpQW1jOtezaEuNU_BapwxpMSTf-Bv7MvD9GGeS8m0mIOq8vLOGBSYZ_Zm6SMed53vbynoCXy",
  "id": "rs_03f8eae531c3e926016ab45ec5b81487d094be74608a3438fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.08,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.36,\"left_y\":-0.2,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The upright gripper bodies interfere before the pen reaches the cap. I’m backing them apart; I’ll try a side-facing wrist posture to keep the bulky wrist housings away from the assembly.\"}",
  "call_id": "call_pfyEDsMbNZoSYcXfHKGy5jZQ",
  "id": "fc_03f8eae531c3e926016ab45ecc659c87d0819093445f43b3f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pfyEDsMbNZoSYcXfHKGy5jZQ",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.7784, 1.4929, 1.066, -0.3973, -0.6521, -0.5491, 0.0589, 0.5179, 0.9066, 0.6762, -0.4126, 0.4656, 0.3325, 0.0629]\nstate[eef_state]: left_x=0.3557 left_y=-0.1952 left_z=0.174 left_yaw=0.0365 left_pitch=-0.0512 left_roll=0.034 left_gripper=0.0589 right_x=0.2912 right_y=0.0788 right_z=0.1858 right_yaw=-0.0549 right_pitch=-0.0073 right_roll=0.0075 right_gripper=0.0629\nstate[joint_eff]: [0.6632, -7.9658, 6.9538, 1.7802, -0.2515, 0.1099, 1.0232, -0.1846, -2.4957, 6.9812, 1.663, 0.2222, -0.0952, 0.8083]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f27f3d9f28039f4277b3fa698fb5cabc27e9c2de0e7c38a80ec602843f8567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:038999834c4770b912d4bd9ce91f20b754735c4101dea3013e091bd484f0f6df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e04a2a263c58fbeb217fadddff6adbe48b574c4252e82bfe0c88cb5fa6cce8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.195 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8795, 2.1639, 2.1082, -1.1885, -0.746, -1.0943, 0.0589, 0.3363, 0.9081, 0.6968, -0.4114, 0.2947, 0.2028, 0.0591]\nstate[eef_state]: left_x=0.4009 left_y=-0.2907 left_z=0.1881 left_yaw=0.3375 left_pitch=-0.1972 left_roll=0.0167 left_gripper=0.0589 right_x=0.3028 right_y=0.0553 right_z=0.1881 right_yaw=-0.0277 right_pitch=-0.034 right_roll=-0.0018 right_gripper=0.0591\nstate[joint_eff]: [0.0615, -15.9521, 8.8, 1.7802, -0.5397, 0.3199, 1.0281, 0.2803, -2.2222, 7.2821, 1.8828, 0.232, 0.188, 0.9206]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7658, 1.9625, 1.6901, -1.0519, -0.7555, -0.9668, 0.0589, 1.0298, 1.5734, 1.0847, -0.4965, 0.8967, 0.8215, 0.0612]\nstate[eef_state]: left_x=0.3901 left_y=-0.2021 left_z=0.1554 left_yaw=0.4004 left_pitch=-0.2261 left_roll=0.1887 left_gripper=0.0589 right_x=0.3031 right_y=0.2435 right_z=0.1638 right_yaw=-0.109 right_pitch=0.0109 right_roll=-0.0378 right_gripper=0.0612\nstate[joint_eff]: [-8.5402, -9.3197, 7.6239, 2.4103, -0.4615, -0.0317, 1.0281, 12.6427, -3.0427, 13.6137, 2.6447, -1.3309, -2.3614, 0.7888]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7784, 1.4929, 1.066, -0.3973, -0.6521, -0.5491, 0.0589, 0.5179, 0.9066, 0.6762, -0.4126, 0.4656, 0.3325, 0.0629]\nstate[eef_state]: left_x=0.3557 left_y=-0.1952 left_z=0.174 left_yaw=0.0365 left_pitch=-0.0512 left_roll=0.034 left_gripper=0.0589 right_x=0.2912 right_y=0.0788 right_z=0.1858 right_yaw=-0.0549 right_pitch=-0.0073 right_roll=0.0075 right_gripper=0.0629\nstate[joint_eff]: [0.6632, -7.9658, 6.9538, 1.7802, -0.2515, 0.1099, 1.0232, -0.1846, -2.4957, 6.9812, 1.663, 0.2222, -0.0952, 0.8083]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f27f3d9f28039f4277b3fa698fb5cabc27e9c2de0e7c38a80ec602843f8567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:038999834c4770b912d4bd9ce91f20b754735c4101dea3013e091bd484f0f6df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e04a2a263c58fbeb217fadddff6adbe48b574c4252e82bfe0c88cb5fa6cce8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_roll\":-0.8,\"left_yaw\":0,\"left_pitch\":0,\"left_z\":0.19,\"right_roll\":0.8,\"right_yaw\":0,\"right_pitch\":0,\"right_z\":0.19},\"note\":\"The arms are separated and both pieces remain in the jaws. I’m rolling the wrists outward while preserving the pieces’ forward-facing axes, creating room for a side-by-side insertion.\"}",
  "call_id": "call_mK6PqcirThtmFIhCzH0bntYE",
  "id": "fc_03f8eae531c3e926016ab45ed13b6887d099e729f1b963d9b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mK6PqcirThtmFIhCzH0bntYE",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5743, 1.2819, 0.7116, 0.0734, -0.1844, -0.8974, 0.0589, 0.0677, 0.7517, 0.4713, -0.202, -0.2604, 0.6693, 0.0651]\nstate[eef_state]: left_x=0.3536 left_y=-0.1859 left_z=0.1673 left_yaw=0.0245 left_pitch=-0.0526 left_roll=-0.6779 left_gripper=0.0589 right_x=0.2887 right_y=0.0688 right_z=0.1706 right_yaw=-0.0378 right_pitch=-0.0566 right_roll=0.7004 right_gripper=0.0651\nstate[joint_eff]: [0.4034, -6.4889, 6.9949, 2.1856, -0.0269, -0.0855, 1.0232, -0.2667, -1.9761, 7.5009, 2.1807, -0.2955, 0.1099, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0b259e1ff41b39a3babb41205e09ca896711341ee8ea0b7b65dccfc1f7b203",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c53950e642c1c62b8a8323fa99fd07b3a576137ac8af9ae35ae770f60b778d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdaf9210de4a142899e3c7a465b870c95ed3ee7bf18fb5bd51d33552947be913",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 6.382 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 92 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8707, 1.9751, 1.7092, -0.9039, -0.7555, -0.9668, 0.0589, 0.3351, 0.9119, 0.6968, -0.4133, 0.2905, 0.2047, 0.0589]\nstate[eef_state]: left_x=0.3875 left_y=-0.2665 left_z=0.1655 left_yaw=0.2676 left_pitch=-0.1632 left_roll=0.0449 left_gripper=0.0589 right_x=0.3028 right_y=0.0557 right_z=0.1865 right_yaw=-0.0265 right_pitch=-0.0402 right_roll=0.0 right_gripper=0.0589\nstate[joint_eff]: [-0.1162, -12.9436, 7.5282, 0.9792, -0.652, 0.0269, 1.0281, -0.0068, -2.0581, 7.241, 1.6825, 0.0708, -0.0317, 0.4908]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7784, 1.4929, 1.066, -0.3973, -0.6521, -0.5491, 0.0589, 0.5179, 0.9066, 0.6762, -0.4126, 0.4656, 0.3325, 0.0629]\nstate[eef_state]: left_x=0.3557 left_y=-0.1952 left_z=0.174 left_yaw=0.0365 left_pitch=-0.0512 left_roll=0.034 left_gripper=0.0589 right_x=0.2912 right_y=0.0788 right_z=0.1858 right_yaw=-0.0549 right_pitch=-0.0073 right_roll=0.0075 right_gripper=0.0629\nstate[joint_eff]: [0.6632, -7.9658, 6.9538, 1.7802, -0.2515, 0.1099, 1.0232, -0.1846, -2.4957, 6.9812, 1.663, 0.2222, -0.0952, 0.8083]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5743, 1.2819, 0.7116, 0.0734, -0.1844, -0.8974, 0.0589, 0.0677, 0.7517, 0.4713, -0.202, -0.2604, 0.6693, 0.0651]\nstate[eef_state]: left_x=0.3536 left_y=-0.1859 left_z=0.1673 left_yaw=0.0245 left_pitch=-0.0526 left_roll=-0.6779 left_gripper=0.0589 right_x=0.2887 right_y=0.0688 right_z=0.1706 right_yaw=-0.0378 right_pitch=-0.0566 right_roll=0.7004 right_gripper=0.0651\nstate[joint_eff]: [0.4034, -6.4889, 6.9949, 2.1856, -0.0269, -0.0855, 1.0232, -0.2667, -1.9761, 7.5009, 2.1807, -0.2955, 0.1099, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0b259e1ff41b39a3babb41205e09ca896711341ee8ea0b7b65dccfc1f7b203",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c53950e642c1c62b8a8323fa99fd07b3a576137ac8af9ae35ae770f60b778d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdaf9210de4a142899e3c7a465b870c95ed3ee7bf18fb5bd51d33552947be913",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF7YqkHrKsQ-SOY1rb9L0QIrbueN-nnu9FSB5uN5nDGxlwnyU1I86tjgPvhkVXMjYdwcULSH2RSTifmT5iKK-B4S5bvs7eWsJstVwAJZtM-w4clJ60bgnfTxj_rHVeSSeH7mpmMfM9gsijHRskhPRfpRX-mCkFHEKKZ8GUYQtAyCKL5xPQsWbTvNVG3YdGCV8NxRpLhKZJzea0tZq-JaL4UJKCCJjMycC4-FF3F1i24k2kXl9FgZLcZ1WzvFmyOByHpiPX57FKgaXXbyjHtsNdBTIdk3P44Mc_WaLQSHDYVaX1SeXAY7g41gT1NH8ZMfN1aYcKov87jhj4WTj24fiB9Slrt1lymbN-2Go2udgOvWb0UgmULEEEAu5fpfCKrGOZ5Qi8wPSTLE7poqLdYNDj1BniaAkYM4VOobEacapVjT32YzRadPXnjBdXwk1xgWtwA2T3lkfx1qbU-3Cbg-cmFdrSkUc4xhIIJJtrI4ag53VmezMXrD9d9_ATXVJNuBeFwYf8CciQ4Bkkd4jHC40hw9d9CqwhZCpmxGciFkXoOfpgTg6swMeQhqWY_RnwrI9HR3EeBPMWdCw28D7cs57OOMRoBXI8J-ooVaqgQfYUOtnT8VKIvSvmwpT6S6gDxwGV2KEDsxCgbFNJM1tO14fEbRr4P2JhlR8oKdRFp2AZg2VrbAd-CUINFWbqyIYr1jMx1wPV5m0YyFtIB-RwMO4wtUjFAXiIldl7A0YLay5S_XVWB-CoBzUVRl4-DAWHGW5_Znort9IVvoFbbl2lxYziWsy8AVhTJc9-zXX3oSIQVfYHSycVrTI-T7-kV62HKSp42EEqU7t0DvlTe2ALYLofgCatkomn4WDP69qnjBZZqklt4J07xmnv9vgrWbZY5rBve1xqE3QPPYqp-VJfnLNMCgYqG8pl-5XVdwywNGHZeU3_qnUVuGZKH69N_AhBDTr80pVpBWQfVAC6JSVDxOt2AgYD3QPOZJn83U3ZfGIzxBa5qimxavdow_gk5qVWqZ74j13grdCNzcdeX7_WHgGiF0SwzsGk4LHGsD4Fd1eE2K3qii9dN1f0wr_WrGVH3acea8fuIyChPufEHyDOjYJWtSyihE5n71fb1ARjdjWWMOZ_vWcEUtD_E5egrPPF38Ywetvdi0K_VgzQ-DcqyKkx0rzAKXRvEk1CLMz-hnrjiPdGmibXDDlt8BRVrgiKuhVi1jHRlJEDTm84vcafCfcutmF82hb4u2iYtEHHuC3bFpqn0nOLNIOligYA-bkVKwAob5OxZSaX4iw7onobqHwo2AgTe-3fdOw6w-EPfmI7h1xJTEaL1wbjA-jhVGT9Vuae53kgfPteUvnlXEJHfFlAIVXRzvxFYHs9p69o0UPVNMZvvD1XcyC8Hb6AcAlkBSZsHKKO-RC-EKde24GHz_YEf6_zTO99wjsg35mYX_4T9bwuQUq35J1BEOXyaxDL1aUmHe",
  "id": "rs_03f8eae531c3e926016ab45ed56c1087d0b1f598794fec753e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":-1.5,\"left_x\":0.375,\"left_y\":-0.285,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"right_roll\":1.5,\"right_x\":0.265,\"right_y\":0.3,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The first wrist roll was clear of interference. I’m turning the jaws nearly horizontal and bringing the pieces toward the center, with the cap ahead of the pen and a substantial gap remaining.\"}",
  "call_id": "call_xQCEF9wLuaFpyV3moXv17kpN",
  "id": "fc_03f8eae531c3e926016ab45ed6841887d085e2e67e2c2caea0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xQCEF9wLuaFpyV3moXv17kpN",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.7029, 1.6485, 0.6365, 0.8619, -0.1333, -1.4979, 0.0589, 1.0309, 1.4223, 0.3939, 0.8619, 0.4438, 1.4872, 0.068]\nstate[eef_state]: left_x=0.3715 left_y=-0.2792 left_z=0.1629 left_yaw=0.0012 left_pitch=-0.0631 left_roll=-1.4032 left_gripper=0.0589 right_x=0.2601 right_y=0.2935 right_z=0.1564 right_yaw=0.0288 right_pitch=-0.0535 right_roll=1.3605 right_gripper=0.068\nstate[joint_eff]: [-0.5402, -6.9538, 7.1043, 2.4982, -0.1197, -0.1001, 1.0281, 0.4444, -5.2581, 7.9248, 2.3272, 0.3004, 0.1343, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fbd2fedad48798d99dc62d5041b7bfc4e33b94877a7d747b29fefc864ce1043",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93eda122427be65cb04643a84ed8738fca830d6a1c1b2433dc0cc214ccd6e202",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3014d7a3affaa9e34552c0c90990eaded7b55fa91dd02c247e084bedd8a42ec8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 11.56 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 92 changed as sent

message 96 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7658, 1.9625, 1.6901, -1.0519, -0.7555, -0.9668, 0.0589, 1.0298, 1.5734, 1.0847, -0.4965, 0.8967, 0.8215, 0.0612]\nstate[eef_state]: left_x=0.3901 left_y=-0.2021 left_z=0.1554 left_yaw=0.4004 left_pitch=-0.2261 left_roll=0.1887 left_gripper=0.0589 right_x=0.3031 right_y=0.2435 right_z=0.1638 right_yaw=-0.109 right_pitch=0.0109 right_roll=-0.0378 right_gripper=0.0612\nstate[joint_eff]: [-8.5402, -9.3197, 7.6239, 2.4103, -0.4615, -0.0317, 1.0281, 12.6427, -3.0427, 13.6137, 2.6447, -1.3309, -2.3614, 0.7888]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5743, 1.2819, 0.7116, 0.0734, -0.1844, -0.8974, 0.0589, 0.0677, 0.7517, 0.4713, -0.202, -0.2604, 0.6693, 0.0651]\nstate[eef_state]: left_x=0.3536 left_y=-0.1859 left_z=0.1673 left_yaw=0.0245 left_pitch=-0.0526 left_roll=-0.6779 left_gripper=0.0589 right_x=0.2887 right_y=0.0688 right_z=0.1706 right_yaw=-0.0378 right_pitch=-0.0566 right_roll=0.7004 right_gripper=0.0651\nstate[joint_eff]: [0.4034, -6.4889, 6.9949, 2.1856, -0.0269, -0.0855, 1.0232, -0.2667, -1.9761, 7.5009, 2.1807, -0.2955, 0.1099, 0.7009]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7029, 1.6485, 0.6365, 0.8619, -0.1333, -1.4979, 0.0589, 1.0309, 1.4223, 0.3939, 0.8619, 0.4438, 1.4872, 0.068]\nstate[eef_state]: left_x=0.3715 left_y=-0.2792 left_z=0.1629 left_yaw=0.0012 left_pitch=-0.0631 left_roll=-1.4032 left_gripper=0.0589 right_x=0.2601 right_y=0.2935 right_z=0.1564 right_yaw=0.0288 right_pitch=-0.0535 right_roll=1.3605 right_gripper=0.068\nstate[joint_eff]: [-0.5402, -6.9538, 7.1043, 2.4982, -0.1197, -0.1001, 1.0281, 0.4444, -5.2581, 7.9248, 2.3272, 0.3004, 0.1343, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fbd2fedad48798d99dc62d5041b7bfc4e33b94877a7d747b29fefc864ce1043",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93eda122427be65cb04643a84ed8738fca830d6a1c1b2433dc0cc214ccd6e202",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3014d7a3affaa9e34552c0c90990eaded7b55fa91dd02c247e084bedd8a42ec8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF7gf9AqGKtjtTQO23PpH1TSeFz_I1LRADfrKrfkZxKxM5AH1xPVl3ZYAi9-tOwrC32cFbPiOT6Wpjqn97UdMQqwUwDh6h3YDNLAf8la2AKEhoZdAN0rI8FIg1ZJqIZTkc4PjZ7xENbPvfdQv-TYoEJqrrD02RUW-fMAo0Tx_fvuh7vD4rpCl3PwilQ2DLBzMKYSRF6-wrdPnC1hG4WjWAcJZKV0rYeuIS5VdtGj-YoNNyV5_-EWL5sbrI73n5ebvKuuPoAJVo6qvgLQLjOE9nl2Hai7Ib0jc-Q4KAtoZub2on8-SaYAaEyAtVcWoLAmCZkG9mjvrx5eiPe9fHEol_0eW50YSZ6JRhzpF3hrlnOIemT9Br08e8eY79SdHhxVhFnGgW7umdI4d3skXLLY3yzC81o88hoqqi-KtlgCpuIc65CehAEeeY-QRp71RIwcIji9fA6JWD5SmudGHHmJpCanntw2cl12LYwz2N9rCnkWa-0iu1v7cabKzjhprtLggOP8YZtOLNP4oTczfAPOe-rUmZ1WowylFg6qwwZqyS_-W4-1m_uJBc9uxbKARilOXLRkzfQPw7f_USWQjb6KC0V2tDFt_R8vETeOMw8jzUkBU6w85SIn5q70tLJ-7GPgePqFf_eRmVABRk4FMcqIf6sgJ2L5-xfaTqPDJUNivt2icCwgEjxXljHFlPhlZvWfW5vaztf5yTz3zQGr60aLAcV_O5bEj_LP0blnzrX0Sw9NL4yMlrYyHtNX12VWx9wQY0t-Vt3dccLUus0HG7frnGRWlEm-nI9-nbZc6FdKk8fNdUJWXQ7DjmLGnjWPReMx8aze1I1vXa-UGWXI3j1pk3bqZcvOoF093EzKYlfWrOqhl6vgzj1Av1kH7gp3mErFHCDwTIj0xSS_Fziaqa7d5F_YZfKPstSDf0vVaUHGKcGWrkqQsUhTrLzlld0rieoUarCx5-YvlwH6KNHNRj_LV_WwmLi3FIdgRZ0BeQLGFTyxY9kA2trzhzLxMY9yKAoZsFRoYW5OGJgniIyFDmPDSFaio1c8VduKBKc7OQ7dOmCMoLkoolkhM1eof7dv8noytrdGynaEgwueA2wRsBgu1Wo6zvq-UODTWDuuIZf3J2xmyAwjV4Z4dwucfAa6FXLWMqLBuX4fpi8hJjzMtlVKhG8D8OGuSHrt-XpdbcCf8ed9ITuB8mCWLb6lJ7mjZVymsGEIYVyF_-YvNvim5KyDwCM9iGebm_jLA8MNkquiPB30mhR1YAlHMasoe6jsHu73CdvANntryOCLtCLOPoLumxmyRPcWdnuDdDmVNoWKg4l-JkuPALtqvpOpzPZt0ZnKWZZp5GlWv-omOiwtjvS_l9DrE4uyZ1YTS-trVxjiMyHtho-h4p8eQIzsMuIM6jwvfYG9cnYM3YfljUCJRDk1MksDZZGnF7V9PeDcog-fld-ey3pqQhTOiAqL0UQU65Xg7VRJa5ssaYL8u4ZiIQjvkrcK303WTOB1OQnDYX8kqxtKDBgyf4mWYDav9WRIWKkK5L4HJsUzTuksFWSFVWRZgoafSDcbTG5vDU1fDBPoRPoh6YpLnnjhR8AsDx4rEvbhonwDXm-MBPDgjaDIE7sMrg1LhJXzS0B_n2P19_bMY7weFhIWjRebc17Y6PGLu_OJGKIF77K1x8cS084j6y2LDq6TAYQhgXrM_5q_NLQPogCG2zIIJsXPdsxyr6V6bysxoXejVieV9knE_QMw4Hlf9xbZaHJRo3OISyM5Hir2KhUf5j2lzFfr7BesQY4guIqhl1bExh1uAOJ4rWCoZNQFAL24lmKMto8CA6jGyL09-fSPjwYbynPVu9DBSBwGO_0rtRXw5zDRSFjNs5HY9Se-wgI4Jqpe_frHvt6ZL3mImetQJfdA4lE8c7OE7t6oLIiRu8_KX7_dgo0XITeUk1LQxIOzg2jzfoQL-wcs-ligtWqqo930QUrzguTGhf6uImeoP9fgepaAO4QornCegVVXIgapIDIsUSJjXBaHzLnv55E4IJQtAoexxN0hs3R0x0xAlj7stLfwYUO8fnzreuM-eTaBXxtDD-CUrsc0pm7U3rx4A13HOJ2cv1PJm7g003ZNybcGyELLJL7rnSmcgWFOU_7Q6HriVja2D4N-_MkJPa6BbyEVQu43qfZ7Ma_Hvmtobw5SRlBAu5gVRU2W44oy7npz0gvViu4-YVAhVym_SQoJrx4mPr66cF883L_aCxMt7j8VMuHrNteAsPMhzqBBlyMciu93XX4IWbi2QzHx8GOuhiHkcZQ6WzHzoCnzZzdYKVlmSl1cjqQ5n-2txavs9Dgnoa36KEKjyzldnalKF3lOkf4e1PzPbSr9IksLeWDKgTeRgGomFuoEqL4EhIs_nNgefzsj7T-eeFRIRMQJJugYt1w=",
  "id": "rs_03f8eae531c3e926016ab45edb820487d0a7f7c0e0d4eb55a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.374,\"right_z\":0.201,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":1.5},\"note\":\"The side-facing posture has avoided wrist interference. I’m shifting the pen sideways to the cap’s axis and matching their heights before moving the tip forward.\"}",
  "call_id": "call_QqlunJ8D159umyEk8YmwdxdR",
  "id": "fc_03f8eae531c3e926016ab45edf3e0c87d0a855b02b2f557a35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QqlunJ8D159umyEk8YmwdxdR",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.6643, 1.66, 0.6361, 0.8703, -0.1886, -1.5013, 0.0589, 1.1492, 1.6451, 0.6189, 0.8509, 0.6369, 1.515, 0.0697]\nstate[eef_state]: left_x=0.3873 left_y=-0.2567 left_z=0.1599 left_yaw=0.0953 left_pitch=-0.0619 left_roll=-1.3975 left_gripper=0.0589 right_x=0.2673 right_y=0.3481 right_z=0.1601 right_yaw=-0.0472 right_pitch=-0.0427 right_roll=1.3613 right_gripper=0.0697\nstate[joint_eff]: [-3.3983, -8.1026, 5.6821, 1.7851, 0.6618, 0.0024, 1.0232, 1.265, -6.5299, 11.0427, 2.5275, -0.4713, 0.1099, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5f49c179fffdbbbf380b990e8c8decb69018c23e3262ef20ed534759dfa249",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6577d4a743c7c11d30e1203f65897e529acc76133fb420be17bbb4d0296db448",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c76cf513844333f9a4e98dfe312de7e90d7ff88c0d3d92c454244ec1e66e081c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 6.655 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 96 changed as sent

message 100 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7784, 1.4929, 1.066, -0.3973, -0.6521, -0.5491, 0.0589, 0.5179, 0.9066, 0.6762, -0.4126, 0.4656, 0.3325, 0.0629]\nstate[eef_state]: left_x=0.3557 left_y=-0.1952 left_z=0.174 left_yaw=0.0365 left_pitch=-0.0512 left_roll=0.034 left_gripper=0.0589 right_x=0.2912 right_y=0.0788 right_z=0.1858 right_yaw=-0.0549 right_pitch=-0.0073 right_roll=0.0075 right_gripper=0.0629\nstate[joint_eff]: [0.6632, -7.9658, 6.9538, 1.7802, -0.2515, 0.1099, 1.0232, -0.1846, -2.4957, 6.9812, 1.663, 0.2222, -0.0952, 0.8083]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7029, 1.6485, 0.6365, 0.8619, -0.1333, -1.4979, 0.0589, 1.0309, 1.4223, 0.3939, 0.8619, 0.4438, 1.4872, 0.068]\nstate[eef_state]: left_x=0.3715 left_y=-0.2792 left_z=0.1629 left_yaw=0.0012 left_pitch=-0.0631 left_roll=-1.4032 left_gripper=0.0589 right_x=0.2601 right_y=0.2935 right_z=0.1564 right_yaw=0.0288 right_pitch=-0.0535 right_roll=1.3605 right_gripper=0.068\nstate[joint_eff]: [-0.5402, -6.9538, 7.1043, 2.4982, -0.1197, -0.1001, 1.0281, 0.4444, -5.2581, 7.9248, 2.3272, 0.3004, 0.1343, 0.6764]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6643, 1.66, 0.6361, 0.8703, -0.1886, -1.5013, 0.0589, 1.1492, 1.6451, 0.6189, 0.8509, 0.6369, 1.515, 0.0697]\nstate[eef_state]: left_x=0.3873 left_y=-0.2567 left_z=0.1599 left_yaw=0.0953 left_pitch=-0.0619 left_roll=-1.3975 left_gripper=0.0589 right_x=0.2673 right_y=0.3481 right_z=0.1601 right_yaw=-0.0472 right_pitch=-0.0427 right_roll=1.3613 right_gripper=0.0697\nstate[joint_eff]: [-3.3983, -8.1026, 5.6821, 1.7851, 0.6618, 0.0024, 1.0232, 1.265, -6.5299, 11.0427, 2.5275, -0.4713, 0.1099, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5f49c179fffdbbbf380b990e8c8decb69018c23e3262ef20ed534759dfa249",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6577d4a743c7c11d30e1203f65897e529acc76133fb420be17bbb4d0296db448",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c76cf513844333f9a4e98dfe312de7e90d7ff88c0d3d92c454244ec1e66e081c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7sNcC5JLTgphin2C9iP7IpiceGrYUpnm6TqZkt442NQvJGbuHxePJOnOFuvvi6dyGzQ1sHtpAxvvKXn2Q7zLUr2JrfjWETPbgZ30st0ele2KbTXq7ypeb-FbpkZw5AwwjJmWKztvRmJCyJYuTFNBQ6FaZ9bwmu3zxdzhjiZSbMtnjOrl7yiVIDi95mYhpD1k9OY36iZIV-Jfxt2h0CGr4Hvo7UgA1Cx98WzY7BLjM7GoH01VwneU2IoJ1wTwLENegEMDQG-UqIO8hP1522znobl6nrl01by9o_o_vYYbk-yhBRelizdWqxL7iESOu5lJ1G1S95F5rneZGk-9yro7KG2R7s9v-n3vu5XHp9WBe7ydptI3e9mn7eOURBi4ZjC8x1EKUcAgONTkkjUuWioHt5KiMCZBB6F2juUhlU6EdwPbSsZWe_g0DQYBMIdvlUmbVWLpbVfPc1ykRRs-fAZeaIMm7dUEB5kPDFi44lSVRmGj51zg6T4VnkOHUQxJZQ2GHri0QTbv3DYwbTfuX5DmRz_SRunKnn-Yn2YylU5Fiv51Nb4pdrGftLbBxIpJfYjjbKQwCdoXTKb6kwaBif5FsdFjZljUI9gBovYwfJgNOLOMqHTcamN4B6DIa5Nu-j56TNkD0f0ic8A64_Q5E_QNm3gyYGrm1WDbhIPmmmBKq7_fF5YKooZ-hWAuZAMcjbR0qWI8aD9cj8oEuD1fINzo4r8u5SrMCpnjdyNLk94Lr9u4M0luJssyU_Qpf5oQl0MET8VsdtwJ9922xK2ZZXn93u2yYgD3aed8W_Eo-TprMVvso02LI6bXm2Qkz0WtymZDLhnj_szQou2o2gk_ZyrDxDVKMDTRDl36_uJNq--lsyrnbZt6qdgiP5exsuxCp-OR36VbyKmzgTLklZGaCseRjH2p7KkC6jbl5cbrj8oHl9_Oka70jvVewjrsz8lFL_w8FVNIlca8vJ3XHJ9dqRb5FNyVwwtRIpIJwkpFntrnHhVwk38owHrWc2PP5Sm9JyjSr-wnErcGLFadPZHxOKdHHi9QrnhFnWlxaGUssXLkXqGKPtOHBeSkLuTCehgT_fFuUEPuQVKp6KzBLSyvXshN24GwQyQFi2lAZEuk_7aIovZKomxbr5LTvyt-MR_NKHne7yBYuL_JM-TqfN6KVMAoGiRMOC1-eE2qcSFgeiW9ReHaypyxNRq4XTUE3OOnep1ELq4CjweBdl8igvU0b6kqTCp0t9IsrcfM5n1CSUSKWgZx54k7pZsooZXL8Fc964i46Ks1iYoQVzhTM3WvSaq4aSALi7DqNqei5kkrczqc0eyzN_9USBd8uogyHXwgXWTPkg8DozRUGrD-e0HAlvMfzGH6-_A2rNF3pSo_bBqiEXYzdBn9QFmsnnps2Y24mo2acYsUHUS-mc0E_ou_glVFq7pmDrqJWj0IhJe_fxAf2hx-BV21ZRnsMiCRXGWPT7kMPyRmdNCkKipUPALc7ZUn6iO6ENg-WkYrLbL2e1MOQd66YXz_hnLOMBWnpyZ25JVlGh7R5n6y3IgjAGXrpfcIVneW5V9j5_xPCDc48fgXC2yTQjzvSSDo67xcBOoA-h1viSCHgdCPclurVANygSRFX740ql_zTOoXdEvcRMUgRmXjSPUWIfHhrrzzIplSDwhKHKoTRVGO9nSzkTSm6UedgQV7OXMggIaI96eeqvGcC_CyfzfShZIg6X1f3iOjY4wEZ_CzxQwigWwtGQxjjReNlRbMSezRKSq-AclF3Zo4VAIc7Edoli3WdtR-fwhKeiVDy-ab7sPwMlVDiRO528wymqUPreN1GMXrrGNGBm1_fetiXmOI6qIwKL05Gl9dKiEXfoFiA9wQpeT-8iOlNjSKvoUTiyCAXZaEMf7JPzwHAbsSTrXuiuDuhr-gQ03OoGLqvw9EQPZgRCq7uitl8Evkt57w2jQ_Z1C9CPVLZBoTMB1SdLQz-fu2IBIWB6A_vS968qiognjJZ1WSaFptqkYnEEEHJB5JON-E59p9AVdsKut0C7-QFbLilGoNvnL4xaWkNNFv-EJQqtxMORMPCRPRLXmFwQDhzf9kSHSfD_8iOVARst6xMf8BeBq49-uXGpfMyGviD0FZvXACWb9sw_Q4Seqi7jlyf3ekM_Joeufv6y7X59KUVPGysrmcaSiLnnBitOhMvIC9BeHecZGl3LwEv9eKOvFbxl5tB0-exNPdDyLqBUobQtknQTLKXoVFaV-mnj8E2uTCd15XcCfMZ-FAL4Nbugsh7P_gOlR7z1WzuJZczJiSTKlilJ_fnPaLV9uNwJZJBvUlXEnw0XT9wPpcNMukbHAHJONAmCkq7I970lZdiCv1Bbu9FAo2KWwgZanBYFONcLi0NMuctbbGuvF6k7Oq9lQnjzX4ceVjPA0CjDHD2IiZoVGnuPAET1v5v06cYJF9jXwLU0d3vIRO5xphDS5rketVrLq0HPJR46ivsDrM6sTzlt_beCQMzQFLlvIidM1digeph0I25N1RkSOJQaX5n1KWYsdfp5YpbN7R2fJQRutjjXxsewHk9qGpkUHmSwKYJGeJqAY4YUuyP5x4gP55XWOjXePCMCIG9QyCBgxdmNs0kAeHjzwBLMJApSFO0BKCpAVrhCrZ87V3QTxhssC1PCZ2N1GxId9iAy0czFWKMBNvAhH2NaQRxl2wdovfMSEVsJzG64j_5tyxs-RdWNXlANp5dYG9CWfb8HUp8psXoEEqK9ysHAP9kOZhB_4gif_3WJVHvzAiLbJZ9VXSsrhPzM--UotXNgfY9JZZYL2qJZVtPkxLVkZr-WNiPxz0CdYBAto5GB6JzDa3REUwY6UsE5NFuF9bqYi_06ViIs3Dy9jKIQW9VetZwUbLpRp2BN_gJ111TUVkzkTDXQ8010BoOLErEtULHVs-chUX7pEUa-EQN1N0WKbK7V1gkPvVQeIjBD6LxaOkeZbUQPJyKPPv3ex0zQc6Rc7K_iMUC5tsTJoBBJsS94bMvm-GTng_fO_YU40jgg8dcdWJcWh1xgL0LdIkysXfw3SWrvsLCdBvKiGk54lGW19PCj_mT0mSlR7V-wfBT6bPE8wvnRSauVnzQzpDKxNpJA1EmDc6qgUTlS1uL8z2UBdeTCieHAUHA2VQHJD2AOZSlC18ny4yGzevkSDuNuNnzQ8XY3cBgrUbbefz-ljrREOWFoAEhLB6MKmNBCYec9JL-3s17zMulxe06Kt5FepOsu_acdVujUjT5Hvjr04lcpIZYyppjhW2JJnBiFZCSFdx68BeBHTMSJ4DyokzZY3F8wZhZeA9Z9h4UUkfSITc74QJDOhGwAoG0WfGKeiIY4dq0NS9nrBN0F-ytnZio8XbRmXTMheUZh0qiYtseIvk4cER4QBZyZN_DUElftjRQikpaeq3RfdiRxw_FADsT8adbTjUUJr1pwY_KX2YJphx2gMFKBH1OHlCDWmTX0gDIAmuh3IysE09W7xALl0u72EmoBOTHDFWxL9-dOcTrhteNa__moDkaKVSRg2jAUE-_9ngorOvV041jH1g==",
  "id": "rs_03f8eae531c3e926016ab45ee2fff487d08ee55d6fd5ffb568",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.3,\"left_z\":0.195,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":-1.5,\"right_x\":0.25,\"right_y\":0.348,\"right_z\":0.195,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":1.5},\"note\":\"The pen tip is close, but the cap moved sideways during the approach and the axes are still offset. I’m opening the forward gap slightly and moving the cap onto the pen’s measured axis rather than pushing through the misalignment.\"}",
  "call_id": "call_lviVtD5zMdewHNRJ1jhbb2xu",
  "id": "fc_03f8eae531c3e926016ab45eeaf1ec87d0a6972e36f5b2576d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lviVtD5zMdewHNRJ1jhbb2xu",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.7193, 1.6798, 0.6743, 0.8814, -0.1822, -1.5272, 0.0633, 1.1618, 1.6089, 0.5674, 0.8749, 0.6411, 1.5158, 0.0692]\nstate[eef_state]: left_x=0.3791 left_y=-0.2847 left_z=0.1697 left_yaw=0.035 left_pitch=-0.0551 left_roll=-1.4401 left_gripper=0.0633 right_x=0.2585 right_y=0.3398 right_z=0.1598 right_yaw=-0.0385 right_pitch=-0.0393 right_roll=1.3698 right_gripper=0.0692\nstate[joint_eff]: [-1.1009, -6.4752, 8.8547, 2.337, 0.1929, -0.0171, 1.033, 1.388, -8.6222, 6.5573, 2.5665, -0.2759, 0.0952, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b641a0b599f7e8e25f251df7e205beb8be7bc236d6f635db0a6b7198ed4ac6d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284735cc708ce1de73e45af68f3a78ed018084401b6f9cdfc6b651c98af0100b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3574e3297f34a768a12dede1a280c0711e596f64e283650a40ca462363744ee6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 5.972 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5743, 1.2819, 0.7116, 0.0734, -0.1844, -0.8974, 0.0589, 0.0677, 0.7517, 0.4713, -0.202, -0.2604, 0.6693, 0.0651]\nstate[eef_state]: left_x=0.3536 left_y=-0.1859 left_z=0.1673 left_yaw=0.0245 left_pitch=-0.0526 left_roll=-0.6779 left_gripper=0.0589 right_x=0.2887 right_y=0.0688 right_z=0.1706 right_yaw=-0.0378 right_pitch=-0.0566 right_roll=0.7004 right_gripper=0.0651\nstate[joint_eff]: [0.4034, -6.4889, 6.9949, 2.1856, -0.0269, -0.0855, 1.0232, -0.2667, -1.9761, 7.5009, 2.1807, -0.2955, 0.1099, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6643, 1.66, 0.6361, 0.8703, -0.1886, -1.5013, 0.0589, 1.1492, 1.6451, 0.6189, 0.8509, 0.6369, 1.515, 0.0697]\nstate[eef_state]: left_x=0.3873 left_y=-0.2567 left_z=0.1599 left_yaw=0.0953 left_pitch=-0.0619 left_roll=-1.3975 left_gripper=0.0589 right_x=0.2673 right_y=0.3481 right_z=0.1601 right_yaw=-0.0472 right_pitch=-0.0427 right_roll=1.3613 right_gripper=0.0697\nstate[joint_eff]: [-3.3983, -8.1026, 5.6821, 1.7851, 0.6618, 0.0024, 1.0232, 1.265, -6.5299, 11.0427, 2.5275, -0.4713, 0.1099, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7193, 1.6798, 0.6743, 0.8814, -0.1822, -1.5272, 0.0633, 1.1618, 1.6089, 0.5674, 0.8749, 0.6411, 1.5158, 0.0692]\nstate[eef_state]: left_x=0.3791 left_y=-0.2847 left_z=0.1697 left_yaw=0.035 left_pitch=-0.0551 left_roll=-1.4401 left_gripper=0.0633 right_x=0.2585 right_y=0.3398 right_z=0.1598 right_yaw=-0.0385 right_pitch=-0.0393 right_roll=1.3698 right_gripper=0.0692\nstate[joint_eff]: [-1.1009, -6.4752, 8.8547, 2.337, 0.1929, -0.0171, 1.033, 1.388, -8.6222, 6.5573, 2.5665, -0.2759, 0.0952, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b641a0b599f7e8e25f251df7e205beb8be7bc236d6f635db0a6b7198ed4ac6d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284735cc708ce1de73e45af68f3a78ed018084401b6f9cdfc6b651c98af0100b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3574e3297f34a768a12dede1a280c0711e596f64e283650a40ca462363744ee6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF7zqDMfwOTuRuWUwsUud2RZj399u14MQ7B5aGazAn8TXDephuFfbCzguoJjAj78ekAMctpLCiUc9joU8K2qQbP-PmwJQwac8yUTfMrWXWqDqM46nygHCjBJ4YTewUJMhQwGOC3s5-vm7l14Gj8-_HZKXvjws_ia7NFZwFPBnrpy98V4QiVp9OD1iH91yFAHttv--dYOAON2CDP15321oozM0ijEcTXb_EASIB_IdBkSoxvSPRlVpQlPK3IcjyzLaqkxMqYAFUzU_JD7LWDdOapPN0-Nyk0-dbZMyLRnn6x0uubesXR8LihM7xfnBrIcbGPfy-kI01v-mITgwIEyXCM3vplqZ82d_9GA69imlQOMldpwdJaItlT3xz08_mdTlXcZZpDt-lIqG9hleeGATeHIefQjUpkDPHvhcAzsssX2JAhgouqe_NAxGGM3x3v8ab6hjVwtjmy9zQIiEgpW4ti0MafYQby254xcA5edD712O-GbG_iMiqTLRVVaE1lrbaIteXgs02YI7E0lSB0CdhYBmnj9k0W_-dMxmQNnyl6dng_bMNJ66fQggFlUvblOjRdVzvKyz9bY95TeXT8JOVZWfqRcyerFODjAB-upc__vZyg54Pap80XgS739dUhxlG9q0qQpESVs9YkkONzkhWfcOA5lyZXIu_ZDdfRWz3wl1XqjFDK6-2D8Rd8gJXL4A4-5nzFnyVxvSt6coCUUOFnMZ3-iPzOWHy3aCt5GTx_VB_SGLVc6sEvbvzZ35BAgYrmOnGEWRfX6AvyKwuz57TgtiqnbLdLXeKGVevT9fOZvrMja3C_LXtPAlpmelnuC0qbaR5U9SpA6HwZjFmNkVlJQaLC-6JA4hg-jvGZs8oOzFmxvmrW1ZoXzJE-h03XR7woYYHGcUGTgO8fWlgXjYINxjDsEaYBaBvDw_2xavaW3n4h7MUm2IWtK9iKdzPABpKsoGehw_8TrR4xlQ_a-qsFNtev86UTpnJTeI9KrXVqh8s4LIQPRCl9Aia4sOwDonR3wDva1ak7Qneb73tpNM_tRjvPIDAHayiwxvHcc_FYOzJjGJbdAIGYqYLJ6ut2wTerKxYvEV2A3UPlPdouJ676KdFdO2C-cDSDMWcwfFOJnX1-WN1RYZsfTLl-ieBdZjAMzxsoHTBX9vynJnt2suOIycuzxgdXaqEDIh6NonUQG0l-KNGMqDrCW2MqCK2-ZNICKugzxi6nkPgvYgQF9ajKlx8lymuSkrdYGX35HoQE7XkfJq8QD0ai_RHl4Kk-6qNjLJ2DLBIUEuPGhE8enk9hE8cIMtv4Y7_F0uC-JytsaxkhHAy8Tq5ZIL9aZyIC49XdFzyP26j1Ny8ErcCUgMcCRZRfNXyBoAn8m5sPfSIo_FXM83sMuPHvK1zj8FxSS77iqUskRq3UhPfYJk_Bqir-1xO_zTy4tLx0zktic3Ot5wXN5GAj9RRk0KUaRsCHPpoPMDRj1yrLB9rZ0mifMf_XUy94DW68CBPN73lbEpIygjXkq5TlP6EQU1yOC28BqvjI9fVfG_j98Fv9WF-Z5X6WXdU-2llqgzjz6tAtHkux4mwcdrTtXfAL1Kqp-DXowmhckfyeAVPmDUUBq099rRXJ0-_h6cRiPR-FZvff67EvE1LWfL--24LtfUq3CaaasNLmxZXBHW0PVCnRaeIX9DlgZ3NoCu9-totwoLHqx5VcOEULKRzy-EbV_rsQDZsXb1VIEEopMKRsBL2Jb9CYnQs6zABGAE2vXl-njRkTXhyOXXlEm7QCklGt8cHU9Jg-sgjrmdrPNGR6L4vEE4f_G1SMgDCs35xcaX4aAfAAf8SsGy5nF4y9a9PLoXr-0O342ItKocq8eHWqf5vBVVNJVVefFgoMss_N40sohnXuWIp8LQVYynotZxBuos-2hjyyju5k4l2TcyLedTSWot96Lw_lujVp2dyHm5yNTA0Ivs1DOLMRj_fm-_-hlFFgtIooCsg0n0deyIshikdVkQKxE-EZCYdN-cmHU2Y8HbUNtvP457AVf79HmDS_UzpGb67oJZzw1CE3kYDCtfyYDVd--DrfGk5WNnL7zjCKZVzFIe8Sgkp_G7kQNfhBf-pemHTiOpMmelnP-CnnVjM2tzmWz05X3mvb3KtpmuSGSMe_NsUBkF3eV8LGub4WdWgqha6luHAr4IKhcAra8hp913fw7aRb5Lg==",
  "id": "rs_03f8eae531c3e926016ab45eef341487d08bfda250798e9bf5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0,\"right_x\":0.235,\"right_y\":0.32,\"right_z\":0.19,\"right_pitch\":0,\"right_roll\":1.5,\"left_pitch\":0,\"left_roll\":-1.5},\"note\":\"The pen appears to have shifted in the right jaws as the grip opening crept wider. I’m withdrawing slightly and reapplying the closed-grip command to both pieces before any insertion attempt.\"}",
  "call_id": "call_5xg4F3o25ftGKXwG10q4TziD",
  "id": "fc_03f8eae531c3e926016ab45ef1dcf087d0912d660f2df2dc50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5xg4F3o25ftGKXwG10q4TziD",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.7223, 1.7065, 0.6609, 0.9829, -0.1848, -1.5375, 0.0633, 1.1629, 1.5974, 0.5594, 0.8875, 0.651, 1.5223, 0.0087]\nstate[eef_state]: left_x=0.3795 left_y=-0.2863 left_z=0.1767 left_yaw=0.0338 left_pitch=-0.0157 left_roll=-1.4906 left_gripper=0.0633 right_x=0.2583 right_y=0.3368 right_z=0.164 right_yaw=-0.0472 right_pitch=-0.0355 right_roll=1.3897 right_gripper=0.0087\nstate[joint_eff]: [0.1573, -5.3402, 4.8615, 1.7851, -0.0122, 0.0073, 1.0281, 1.7709, -8.6906, 6.8171, 2.591, -0.2369, 0.0562, 0.7985]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:371bb9b19e575ffa4e7e188cff7931fcb936a0fb442de3e4b0101590f855d8ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f856f2fe5729fc952a70e4aa895dd1a7a65fab06521044546b223202193804",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24e07c1b0ae96a6217a4deaa2b68a8466d4b90f71c383a82482002e17f965a26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 9.042 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7029, 1.6485, 0.6365, 0.8619, -0.1333, -1.4979, 0.0589, 1.0309, 1.4223, 0.3939, 0.8619, 0.4438, 1.4872, 0.068]\nstate[eef_state]: left_x=0.3715 left_y=-0.2792 left_z=0.1629 left_yaw=0.0012 left_pitch=-0.0631 left_roll=-1.4032 left_gripper=0.0589 right_x=0.2601 right_y=0.2935 right_z=0.1564 right_yaw=0.0288 right_pitch=-0.0535 right_roll=1.3605 right_gripper=0.068\nstate[joint_eff]: [-0.5402, -6.9538, 7.1043, 2.4982, -0.1197, -0.1001, 1.0281, 0.4444, -5.2581, 7.9248, 2.3272, 0.3004, 0.1343, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7193, 1.6798, 0.6743, 0.8814, -0.1822, -1.5272, 0.0633, 1.1618, 1.6089, 0.5674, 0.8749, 0.6411, 1.5158, 0.0692]\nstate[eef_state]: left_x=0.3791 left_y=-0.2847 left_z=0.1697 left_yaw=0.035 left_pitch=-0.0551 left_roll=-1.4401 left_gripper=0.0633 right_x=0.2585 right_y=0.3398 right_z=0.1598 right_yaw=-0.0385 right_pitch=-0.0393 right_roll=1.3698 right_gripper=0.0692\nstate[joint_eff]: [-1.1009, -6.4752, 8.8547, 2.337, 0.1929, -0.0171, 1.033, 1.388, -8.6222, 6.5573, 2.5665, -0.2759, 0.0952, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7223, 1.7065, 0.6609, 0.9829, -0.1848, -1.5375, 0.0633, 1.1629, 1.5974, 0.5594, 0.8875, 0.651, 1.5223, 0.0087]\nstate[eef_state]: left_x=0.3795 left_y=-0.2863 left_z=0.1767 left_yaw=0.0338 left_pitch=-0.0157 left_roll=-1.4906 left_gripper=0.0633 right_x=0.2583 right_y=0.3368 right_z=0.164 right_yaw=-0.0472 right_pitch=-0.0355 right_roll=1.3897 right_gripper=0.0087\nstate[joint_eff]: [0.1573, -5.3402, 4.8615, 1.7851, -0.0122, 0.0073, 1.0281, 1.7709, -8.6906, 6.8171, 2.591, -0.2369, 0.0562, 0.7985]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:371bb9b19e575ffa4e7e188cff7931fcb936a0fb442de3e4b0101590f855d8ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f856f2fe5729fc952a70e4aa895dd1a7a65fab06521044546b223202193804",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24e07c1b0ae96a6217a4deaa2b68a8466d4b90f71c383a82482002e17f965a26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF75W4KbsQVWyTuWD5EnZa-rXOga5TEBwn0zC2zbc1WduIFz1KgKWr8FvpDB0vnObdTRs0B7VyDbPN0SuFqcyjwDrrZCsLU2KQ-8jvuVD4JhobhR6kzgSOn1MHGvVWLsCmk9a-76xGMSAbLwIz2eLreP3P2VvMOjwud_AXmXUJcicVXqoId6CQ86dKTE-XIoGUXaBlx7_M6_zut4uZClzOBpOYQ-8nF7vTc4PYosTUea6hOdWVecVfBwhcAWcKza9bMdCPCTfw5AZP4K0jYWglsfWMrlS8MgAasmmfyQhV5chf2hoAAY-3v8IurpO5vbT2QG-jwRZdGsrmqMpPMFpiquGYyqAMzAuY_c7P6nENYEZDHNpKu9EZc4rt-rtBujtnN4ocwIL5Fsu_pA7OeJq8OwxqI2qEIwFg6QrRju7rGAp7EprdnFsUlJydnlvOrQcEQ3wRYtDqa9GoYA1BGjT-WlAJJFTZlCSoSMcYUMIKr-JufS4owhSt8GLtnmaxCGtBKbKlxqzBb63XkXJKnEb9ZgrY_V7GqlsSWi_gEjHK1X-lRYQM8L9XY_G9SLBBqMn4lDd5Pm9r1wJPyd7ZokuPNJsiejQ6TvN6FJKIs9MdaDopaGkkBhKpVKpDmDIXRZtrbtFvxl44-VT8bYdSz8VLYniEk7v-Hc9__5nFjorJln6szSf1QSEX1pEx8ynqjToGYblPzPPkXArRWPNl4Xq0E8QdDhhY_b7gg8bf4cuvU-4ollj0u50adQ96VWqZjAthBVZzPHyQpaS86R4gm9H6SZRM0qMHfiNI1jDdRhHHXdun9RPlnzHsuH-8nfsQgY4QqIY3lI5f-npuve1928YByUKYWFSvdlxTWYsGHXDWbnpnJKY8UyISxPH4d6kHiEQ6wS-NQQU5IHq7rMblgnvIuM6lnJL6GBWn-9Js-qa6FaubKxUKMruUhHvgsxcUTQPg5-AMXTO9Z699ruGxRNoUQMmR47fuE62BEXvBh991LaFbYzYisVRF-Mv_W1_n0MkFqyWA0Q6RWE7OaORgtejHr-WmQjkPsLh2mAV2GtginpGasjG_d0ld0KzajkdQyJITNOok6TS4RJ6Zy1Soz09huTM7x6TwG6c-I2NVKAdyQTxe6_VNTQgCS52XhWQUw9ilqidEZtLwlPqd2rbiOkOfhzKrqeZPH1BV5I8uCxVKk1VMG0iUciYotWWXpW8F7iRoPf33KAhE2f5BNByqtmsaRpnUwROwPMa22TvPdyccASPFgl2GJ5NMGlh5opr0xab5H9WLubd1ilEK-xRX96yH21b2KSrunZuoEp61BtLcHtI_eF9Orvte8MsYuofzWJ9iqc0rqBGZtOb1VyaqSO129ryS2dbl-a6W5rXcJ6zTvIeEzsc2VtyM25aE7Ko085D-YuP1L1E8uVWJk24AjV7yKWQ6YGQ3eN9twxW6wEKa72YUbZAp6CMolbZSunDg0CRz_VdZwLQ-0owjasdPE5FQr-38Xj5VjS6ORdA4Z9uRugo7UOmNAwgQ9hx0_QsMJUP9Zl27NNqseS1zG5ULysBgLedwSaPZFV1b8g1gyC5vLt5vRkjZCceXC3DhUdlX0rI5Mype4QSzOW9rHZjsJDazA2Z_7OgHwrdKm3wam0CbCL_64JtaA-5kw6ikzb8qPLE9wdqcVSdABK4Rvon-DEKFGlXQ62V9q1LYtAJZwP8WRXnnhbixrdVaH4CiDa3cf1_EjNPq750YZVOR9xe5bwWlc4Cb-57pQ8-OiZ7uYYeqI-_vOW5XGf2OIxgtJ0KGAoc0mZUImp0SMGxQ0CdXqe45UsJkE74kTAr4ZsIKK9NQP2xoXfD3lUTuqiv-vSHFj5BHjKRWbQyoKa2gLEU8rSm_kogJGkDssAOgLNp-swDK9zvmrwtX_5oJHNGGsJ0668TwMtsfJwAG0VZqH2EyvtgqwNCy1BWudxSYSdzcmkDGs6bi7YcgK5AODtlVsZzSLrRcdR4DJzMWJR4-POgCI-17WUmab65CPGDVqL1JqXE_eZEWPjSiC2CtbInHBpoO0s75zcljc_kkzdf3IU9n23NbDB6Vdt2FtamYEeKtU9GvaNo5lH6fuwtffEryg43FkDUb02IGZZ-9AuirbQZ0UBwga4x02lEa-VTG6p0I-X8MVd6il0EJeU8ARQT8Wanep4xEasiiIxp5ZzQ_k2fujY3Tn_dPqE2g1vtd1r917xKe3wv_k=",
  "id": "rs_03f8eae531c3e926016ab45ef53e8887d095852d2ed30d0ce8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.18,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":-0.7,\"left_gripper\":0,\"right_x\":0.28,\"right_y\":0.06,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0.7,\"right_gripper\":1},\"note\":\"The right jaws closed fully, confirming the pen has slipped out; the cap is still held. I’m separating the arms and clearing the overhead view to locate the pen safely.\"}",
  "call_id": "call_MhUOiun01sKnsZhgjKQh9IJd",
  "id": "fc_03f8eae531c3e926016ab45ef7f55087d0b82095d0298482a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MhUOiun01sKnsZhgjKQh9IJd",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.577, 1.2079, 0.6159, 0.136, -0.1528, -0.9272, 0.0633, -0.0055, 0.6861, 0.4881, -0.2714, -0.3145, 0.6758, 0.997]\nstate[eef_state]: left_x=0.3376 left_y=-0.1833 left_z=0.1643 left_yaw=0.0045 left_pitch=-0.0371 left_roll=-0.7372 left_gripper=0.0633 right_x=0.2806 right_y=0.0567 right_z=0.1824 right_yaw=-0.0641 right_pitch=-0.048 right_roll=0.7316 right_gripper=0.997\nstate[joint_eff]: [0.5402, -5.7368, 9.5521, 1.8339, -0.2173, 0.2076, 1.0281, -0.3624, -0.5128, 10.0581, 1.9707, -0.2613, -0.0464, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82cce02f0d7be72242d36c3d4ea04027ca9e95f276db2b3c1cd494e98fb57c37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1890c0961af5d1c35b06ef43ed88c65fefc4bbf45297d93822c21ac631b50bf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a515cc49d26de49055b54dc71778038882c118c8e8b0173c92c5c431b7489ae0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 5.953 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6643, 1.66, 0.6361, 0.8703, -0.1886, -1.5013, 0.0589, 1.1492, 1.6451, 0.6189, 0.8509, 0.6369, 1.515, 0.0697]\nstate[eef_state]: left_x=0.3873 left_y=-0.2567 left_z=0.1599 left_yaw=0.0953 left_pitch=-0.0619 left_roll=-1.3975 left_gripper=0.0589 right_x=0.2673 right_y=0.3481 right_z=0.1601 right_yaw=-0.0472 right_pitch=-0.0427 right_roll=1.3613 right_gripper=0.0697\nstate[joint_eff]: [-3.3983, -8.1026, 5.6821, 1.7851, 0.6618, 0.0024, 1.0232, 1.265, -6.5299, 11.0427, 2.5275, -0.4713, 0.1099, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7223, 1.7065, 0.6609, 0.9829, -0.1848, -1.5375, 0.0633, 1.1629, 1.5974, 0.5594, 0.8875, 0.651, 1.5223, 0.0087]\nstate[eef_state]: left_x=0.3795 left_y=-0.2863 left_z=0.1767 left_yaw=0.0338 left_pitch=-0.0157 left_roll=-1.4906 left_gripper=0.0633 right_x=0.2583 right_y=0.3368 right_z=0.164 right_yaw=-0.0472 right_pitch=-0.0355 right_roll=1.3897 right_gripper=0.0087\nstate[joint_eff]: [0.1573, -5.3402, 4.8615, 1.7851, -0.0122, 0.0073, 1.0281, 1.7709, -8.6906, 6.8171, 2.591, -0.2369, 0.0562, 0.7985]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.577, 1.2079, 0.6159, 0.136, -0.1528, -0.9272, 0.0633, -0.0055, 0.6861, 0.4881, -0.2714, -0.3145, 0.6758, 0.997]\nstate[eef_state]: left_x=0.3376 left_y=-0.1833 left_z=0.1643 left_yaw=0.0045 left_pitch=-0.0371 left_roll=-0.7372 left_gripper=0.0633 right_x=0.2806 right_y=0.0567 right_z=0.1824 right_yaw=-0.0641 right_pitch=-0.048 right_roll=0.7316 right_gripper=0.997\nstate[joint_eff]: [0.5402, -5.7368, 9.5521, 1.8339, -0.2173, 0.2076, 1.0281, -0.3624, -0.5128, 10.0581, 1.9707, -0.2613, -0.0464, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82cce02f0d7be72242d36c3d4ea04027ca9e95f276db2b3c1cd494e98fb57c37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1890c0961af5d1c35b06ef43ed88c65fefc4bbf45297d93822c21ac631b50bf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a515cc49d26de49055b54dc71778038882c118c8e8b0173c92c5c431b7489ae0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF8FfWxDOYajlTE9xsqBoGsoJvzVEORC3uze60bbIgP9ope8pkaxaoKhElBVq3ABKyYNKU87R04r0iW9QgRrdtEU0oD5dhh7uh89WUmEv8TKbNDXX8ndIDTxBXp9vjwh1irGNYziIaCSHybyxq17EevP-jA_QuJmysXhGcvhxJVGIXjMv5U98obe_KPXgLvVrLBTqjEq5AtOt4eVAObmClZKlqe0nLsePQYzcvFMQfB37U1U6OvkJqSeDbQue_-5IBEa5qahQ9V_pAbmhacKMKLk3zlgBGO2lilAmxKpqGzpFpZhn5gmwW0yM6qk61-5eJvn0q1Ho2jMaG2Yqg83FGj3hCoymKzdkckBxvPBzQDxjePS14Na3My46SV7kSiwNoFCmJBoOq1A38O2K_Es-mSVkbITLPsR-f8CuMCNh2GpXTQpPkmDDdJJdcYIYhvGz70YwQ_K_pJ0HcXpf7pvaLrQkBDuRCTmBDHfwlKRHUvAad4hlzjWxNFwvk7od-QgVBed8escSO3RanJRflpvNtboN7gS3chshFov1SDp8r59aFe6pDZ5m7ERn_9eiYi6YoeHRKP6e5LwsXzR5sB1MZbkEkW9DpHTAI7w-IaSKffzJjo4285SdskL7gK_g3eQh6naQzOY3Jg9sphBRWqZp4MikqBeN9Y4Q9YuegNSIwRPfiK7qCfnaVzkU-91_mP4NUMg6ttMMwWJ7iGtSSmW7PhhvXuRmNdWTfyI5jvk2_Q8swghTIGP4l-YaSAlljfC48Kd7r7HTEVcJ65VOVPczz0iwgwK_yVydeaCinIoyZBNBEIyd7vrTrFivA0dxx8V3CLmN81_YP8EppW_byC_jYmUXewbq_foPnHzDN1d4_CtXGm2sCav0n41qGDNCn3CHT6roYlP_36vMl01R_itQDExG6C3ki7v74HjKLaHO_FhwtXzjXoCroQ5Q8m69cbcaLusXetCPmEXxxr-8xV3lM6phASJwKTBQH-3krW0BEicqbnmvYHoDgSNOZYo3BttxjWri0I05PokBlMtlVgZO7qyihCW2SZ69lXtMTSj9FK9Qp8399VnUGbXe2KnIRpUrbA_9zXt9FnMIVgq9zTsHGW4urTw5F0y24ZnO4MqzFetCSCrwmNLd5n81-m5OqHuwYrB2ydLNj73_DOPLTo-35TFXNNwdUNyyCH4CfVLGA6HGlzgI3AIiT3GySS7tWzRiE4M76hGuuqBqUkn2OgNhRu-vC5Lu6I6kwTJH8EDDznr1fR43sRx4qjuZCxiioL2h4xh56up0Hrv6ZvdvUFW06lel8m7VGvDrKKdyNS7umjfIVjoVSWoB1L5rNlyXopVhDK8ZlPz22UFa8xIjODip7NW8AuIfucZkhm965czcfkSXkzUlOBzsjbmQoR1GHQM0kN_aSAAH3Fny2e2RfZeny_r8y8cvrB0QrONoBDfS0U9iYTKnQHi-SM5r3nPqhEwuKfGhcp8hYVoih2hNrXBRekb4g6vWCg09jTEvpp1kfZZviYwpsljhZrRoekTyUu9HeB5ZPuV-7OUxw-XGDpKHaUldT1PeieKutSwJ_p4VBDLs3sV55VOhHcJDGT3aMI7juKioQyrZrvF5ZYVG3zdDFHoJKEVEv4xaBiOlf0NwDyor-umtWZo6jlv2vhjPTYDGmaxVaxeehXGJynaQJQY1CdGLj2Fap_ArRTEssKsNmfzEnFEOrQV2qwOH2cy3oG-36J95yjPEJXylRfe2RN5D80WBO39dPEzBKqVRXOKYWDnnEtqiZeo9o3W4uB4PLtHsfDXrL7N08W1O-mBgeOARcSM2dPLmbVxzybZ-HqEg4j0Lw96ahQwFQrcV74p82S53q78_e5zKSyypp476aUmqPvavjULgUoX2zCTNubFh4VOUsi2tHnHXuDyaeMOtBV047H0wb3hsgATD6lK3yli2q4_pjDXgim6W0jTtfIOe20mmPN1DHz7ibz0JAq8vs5Idzssk5YFN_XnQfABJJP67bw3d0tLtmGP5Sudjrlr9xKbuN4SavG0zqJhdFAHB7nLif41RO0w9ndEECdzEiS7a4cJgbgZkg6qT32u_958ITNe0bcv7pI0LykY43d1duwJhnRbZlf09K7SbPMmn1KzEjAL2QJHzEtR7XMJ2uTXkHM5EXpnr3HeALj92BLAhlTGwhL_sEMQV08bC-w1nkcUSDTF6yw5NZV3LKL4KojG23Hn_uSXvn3vh193fe9G8T4guUYDGY8tv0YU7eIxVKGFtaROeWq6tOmeXYw458CAyOv3EcufHnD_08rm178L3-qgImjWjmonctpm3CQJicT-VTnzY_tb28uexqe-Ti6vJGE04CD5NcUFbo7Xqs_7iMxsD-8XCZa307lIkb72vL9Ij2uO7OOVrAgrgAAdBCoKAZ42bm7nDxjomwlpLyq0TIh7yowh4A-cCPO0rdDlhgAEGHslPByVnNOTd1qA6bc_K3P10zessJwGBSyFWoOtCBr5buXByPBwDanKP6vVw5hRyM7cFZNkefbv5FaJPFXROYxwzG5YgDsp9vh_JSf8_0ocUeoBaOUrozJ3vNKBJkRvjiYY4STEeya7YEwJZu4db2LqNucSH-Y5-N4zMGVLYa2XXKl0PZ9meHrQxlmg7dZOH7OIg7vp-_up6PCrM9bF44vILQyhalkkCbsMir25QWSd4g1dhb_GyEHPjyx-ZijJLWDODg==",
  "id": "rs_03f8eae531c3e926016ab45efe1b8887d08e6d5a45b7051b83",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.36,\"right_z\":0.08,\"right_yaw\":1.3,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1,\"left_x\":0.29,\"left_y\":-0.15,\"left_z\":0.18,\"left_gripper\":0},\"note\":\"The pen is lying across the center-front of the table, with its tip toward the left. I’m approaching it from the right arm again and rotating the jaws across the barrel.\"}",
  "call_id": "call_Vzi5GXMWjGBrYurRo3el0wFb",
  "id": "fc_03f8eae531c3e926016ab45f0361c487d08331196d7b98e88f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vzi5GXMWjGBrYurRo3el0wFb",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.5697, 0.9092, 0.5388, -0.0834, -0.149, -0.9257, 0.0633, 0.8471, 1.5921, 0.643, 0.2928, -0.3531, -0.1883, 0.9985]\nstate[eef_state]: left_x=0.2924 left_y=-0.1519 left_z=0.1804 left_yaw=0.0076 left_pitch=-0.0356 left_roll=-0.7386 left_gripper=0.0633 right_x=0.2191 right_y=0.3456 right_z=0.068 right_yaw=1.2364 right_pitch=-0.0531 right_roll=0.0595 right_gripper=0.9985\nstate[joint_eff]: [0.0889, -2.7966, 6.8034, 1.8144, 0.0171, -0.0366, 1.0232, 0.5402, -6.6667, 7.2, 1.8926, -0.2711, -0.1636, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:252ba3f8cbc743dbaa114fb30b61e39874eceaa635afb859d75037225db77838",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24048d49c635f84c3a4a5092da368794b05284f307a0d5e71ec0cdabc86c1754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f0d98257e6316d3fa9a0612034a08c9cf6e5c7bbd5744dcc30eac442f77a520",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.858 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7193, 1.6798, 0.6743, 0.8814, -0.1822, -1.5272, 0.0633, 1.1618, 1.6089, 0.5674, 0.8749, 0.6411, 1.5158, 0.0692]\nstate[eef_state]: left_x=0.3791 left_y=-0.2847 left_z=0.1697 left_yaw=0.035 left_pitch=-0.0551 left_roll=-1.4401 left_gripper=0.0633 right_x=0.2585 right_y=0.3398 right_z=0.1598 right_yaw=-0.0385 right_pitch=-0.0393 right_roll=1.3698 right_gripper=0.0692\nstate[joint_eff]: [-1.1009, -6.4752, 8.8547, 2.337, 0.1929, -0.0171, 1.033, 1.388, -8.6222, 6.5573, 2.5665, -0.2759, 0.0952, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.577, 1.2079, 0.6159, 0.136, -0.1528, -0.9272, 0.0633, -0.0055, 0.6861, 0.4881, -0.2714, -0.3145, 0.6758, 0.997]\nstate[eef_state]: left_x=0.3376 left_y=-0.1833 left_z=0.1643 left_yaw=0.0045 left_pitch=-0.0371 left_roll=-0.7372 left_gripper=0.0633 right_x=0.2806 right_y=0.0567 right_z=0.1824 right_yaw=-0.0641 right_pitch=-0.048 right_roll=0.7316 right_gripper=0.997\nstate[joint_eff]: [0.5402, -5.7368, 9.5521, 1.8339, -0.2173, 0.2076, 1.0281, -0.3624, -0.5128, 10.0581, 1.9707, -0.2613, -0.0464, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9092, 0.5388, -0.0834, -0.149, -0.9257, 0.0633, 0.8471, 1.5921, 0.643, 0.2928, -0.3531, -0.1883, 0.9985]\nstate[eef_state]: left_x=0.2924 left_y=-0.1519 left_z=0.1804 left_yaw=0.0076 left_pitch=-0.0356 left_roll=-0.7386 left_gripper=0.0633 right_x=0.2191 right_y=0.3456 right_z=0.068 right_yaw=1.2364 right_pitch=-0.0531 right_roll=0.0595 right_gripper=0.9985\nstate[joint_eff]: [0.0889, -2.7966, 6.8034, 1.8144, 0.0171, -0.0366, 1.0232, 0.5402, -6.6667, 7.2, 1.8926, -0.2711, -0.1636, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:252ba3f8cbc743dbaa114fb30b61e39874eceaa635afb859d75037225db77838",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24048d49c635f84c3a4a5092da368794b05284f307a0d5e71ec0cdabc86c1754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f0d98257e6316d3fa9a0612034a08c9cf6e5c7bbd5744dcc30eac442f77a520",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF8N98jWi5cI67lOpQnrb_BTSaZoss4N4txDH01w_tkqyF9HQPfqXSTY75JIcO1ID1y7MA08x9jVF-lZjOgwAMA4R9dGWmVdB-ZSUhOXWIpQEl1be0PR9ujJOvGdAu9DXlgnwxKjDOH1htGVcPSAW0pUmpuzBo3Loe7BXLhYqAbOx_NIsMPFzqzqQwW-PRCiFonr7bM4zUkgaQcXZHAMd84j-3P3xPdHbI6E0TNOCBEDgUHNK0PiQK1W97cGFsG3NB7bW7hE63vcu5lVa7abf6vrjMmx85WDUOuHbrC85JbVZB-FMM_dqHxA8Ondh1LMpVrirX79SzU35Ck7Ywsg_dhJbz5tQBxGktgCiRZ_iT0GWyhL2BXVHNgGAZhMpSpo-UsVtHa3RzQ59z7POwX_TGmMQ2eQYZsNR4sZ3scrW7vAJH3g5dlqZuJq1I5bxIPeAUNEGbWCUuZd67gz8FLUqK08HfOAv4GxZNFlG2Ig-fxx4mcxk6oKjEqFUpMo7AwZIW_d-hgIeiYZBKKx8RFc7FeF95ZCptNLRlDHbuVbqbO4_s6TKx-6J5mRRWdCRp_e7wLV36oHgKOz0P2q9g4wse1KWzsTqEmH_W3-lqnc-TEc3vPJbHrPxY88YfNNWdqJdL5WqVmZtoSFQVHQ3VKH6dlhxSqVHH-B8uCh_Mb4vBVphqY47lZ5Gp5luJ1G9ztmSidW4ucx-_27fdg5oOnfhjB23YamORQ9cdc9-T-LjB83bQJKLrja9oYW9XaG1BKHqo1S1CDJQkuh8j9m9FlnVfUCYhujQWhl-uyTJYIm5wM3n2hhzjiOaX1tagKC0v9Qadlmq-_vx6LMNyRYFu3xOpvrtExX0Js08WPo0sYL9cenh_01-oy4_V1cazgJ6g5OW14CPlXzELd5G1MSf9dlCJjVp-xPizz1P89WHVdQkpt6LtBeX_4zvTYHPNUoycG59Ofx5w1vVsmUvez5mlAQv7gB6_iocsCmITOrjtBvSF4JtBzVDzSOCoMubhqltqt2Hcrn4ewMKXlqX-xnGxzvi0WMCGxxjra3gsd0q3pkvkyrsQoTKLoS6ZOKtlj2fXGv3pz9nxdb0NKO7j39KbWGfSyJbrHrkyRXFMHvc0c0dJ8jyeTCYART1xF0DFzJQDymeXPbLlLSEn5ws1TUrC1d0sW2q75d8038Gsmo-6KwTg-vFI4RoXIXwkVPyvEzbMIPZq3Q-5RKPm7E-jMcDH1HO5R-trzZvkCG5vzqmvNfG4YQ4JzS8FmQoVtpZS5n1oYE20jo_bUnunnhikvHLWEGPgYoAALtt2p09Fb_c9VS5HFzh6c5aTJ-B_6RHwkEHgkq0-Qsx5uoPkJrGQ3yDPTXXkbt58MtulN3ee94ouRsgjaI_1caHxPAjh88u0C53BLH5Fy-5k4Lk6936ftmnkUtQrQ9Ue4yzVokpsmEYiBbwhtEOpW_C66mZO3qeUSb12nj3BOg0E97XV3QNH08EN34udtKBwqOwZSjY148tnt9ps_pOrykf_MOf369ks-Mn6bFFTg4MNB9EGvc6jASxn8ujylVNNUDale2jRbhJIe6YU88GeMEpgBpme0dCjhkI_2LTlM230YfYD0yUpklFh6-NAWtWcUHZpJJDTkEU0_q5MqK1y7aZ4YwjtJxr9CHI-PWPAim",
  "id": "rs_03f8eae531c3e926016ab45f097dd087d0b1f33329bc7e1ca6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.236,\"right_y\":0.34,\"right_z\":-0.003,\"right_yaw\":1.3,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1,\"left_gripper\":0},\"note\":\"The pen barrel is visible slightly right of the right jaw centerline. I’m correcting sideways and descending to table level for a firm regrasp.\"}",
  "call_id": "call_CDnKRxYwS30ycL6gDfrqWppB",
  "id": "fc_03f8eae531c3e926016ab45f0ba7e087d092d7e10c61112875",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CDnKRxYwS30ycL6gDfrqWppB",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.5697, 0.9119, 0.5373, -0.0898, -0.1493, -0.9257, 0.0633, 0.778, 1.8835, 0.569, 0.6682, -0.4278, -0.2897, 0.9985]\nstate[eef_state]: left_x=0.2918 left_y=-0.1514 left_z=0.1775 left_yaw=0.0082 left_pitch=-0.0444 left_roll=-0.7326 left_gripper=0.0633 right_x=0.235 right_y=0.3395 right_z=0.0025 right_yaw=1.2819 right_pitch=-0.022 right_roll=0.0121 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -2.3316, 7.2, 1.8291, -0.1001, -0.0611, 1.033, -0.9094, -6.1197, 3.8359, 0.7399, -0.1587, 0.1587, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbf5bc73091a4099d628857245b9bed8acd5dcaa7d6ba13e85611778cd073a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2037f7febd4161c03a912c91ec62af563abca08f0523ace8b04ba4c7c6350bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bccd4319f3c4a8ccb0bfa007e00af303f2bca5c6ab8db7f49f73892b2a22aed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.502 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7223, 1.7065, 0.6609, 0.9829, -0.1848, -1.5375, 0.0633, 1.1629, 1.5974, 0.5594, 0.8875, 0.651, 1.5223, 0.0087]\nstate[eef_state]: left_x=0.3795 left_y=-0.2863 left_z=0.1767 left_yaw=0.0338 left_pitch=-0.0157 left_roll=-1.4906 left_gripper=0.0633 right_x=0.2583 right_y=0.3368 right_z=0.164 right_yaw=-0.0472 right_pitch=-0.0355 right_roll=1.3897 right_gripper=0.0087\nstate[joint_eff]: [0.1573, -5.3402, 4.8615, 1.7851, -0.0122, 0.0073, 1.0281, 1.7709, -8.6906, 6.8171, 2.591, -0.2369, 0.0562, 0.7985]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9092, 0.5388, -0.0834, -0.149, -0.9257, 0.0633, 0.8471, 1.5921, 0.643, 0.2928, -0.3531, -0.1883, 0.9985]\nstate[eef_state]: left_x=0.2924 left_y=-0.1519 left_z=0.1804 left_yaw=0.0076 left_pitch=-0.0356 left_roll=-0.7386 left_gripper=0.0633 right_x=0.2191 right_y=0.3456 right_z=0.068 right_yaw=1.2364 right_pitch=-0.0531 right_roll=0.0595 right_gripper=0.9985\nstate[joint_eff]: [0.0889, -2.7966, 6.8034, 1.8144, 0.0171, -0.0366, 1.0232, 0.5402, -6.6667, 7.2, 1.8926, -0.2711, -0.1636, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9119, 0.5373, -0.0898, -0.1493, -0.9257, 0.0633, 0.778, 1.8835, 0.569, 0.6682, -0.4278, -0.2897, 0.9985]\nstate[eef_state]: left_x=0.2918 left_y=-0.1514 left_z=0.1775 left_yaw=0.0082 left_pitch=-0.0444 left_roll=-0.7326 left_gripper=0.0633 right_x=0.235 right_y=0.3395 right_z=0.0025 right_yaw=1.2819 right_pitch=-0.022 right_roll=0.0121 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -2.3316, 7.2, 1.8291, -0.1001, -0.0611, 1.033, -0.9094, -6.1197, 3.8359, 0.7399, -0.1587, 0.1587, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbf5bc73091a4099d628857245b9bed8acd5dcaa7d6ba13e85611778cd073a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2037f7febd4161c03a912c91ec62af563abca08f0523ace8b04ba4c7c6350bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bccd4319f3c4a8ccb0bfa007e00af303f2bca5c6ab8db7f49f73892b2a22aed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF8Q_5g7knNDEsg_1XwqRGnIKKZ3oY0p5eHQLDm1OY_FHlQKCudGW6FoLnhVT8gEQSdrf3mYriL4y0uyjbuEh5QxnLGAFMwOOdAEElCo70acCh2tRcy0ohM1xH51kkeBj1EHW67ywSOHLT923eFmhKs1tbGpGdAvmWurJg8hnKLJk3mU0nzcur9fOow76632pnp3Z5Eq2k8eEzZo2kwUF1qZeYR0sd78HsJ0kGq4c0JJcoKT0gkw7tw3MCq996Baxgb8fLEqw4UZqcjtcPVIIEjyyKFLrEpDvaDlrAlP8NgY7Jhhfr5wKHGj_F-D2Y-OvkqgCLkNpjZkVsx9oRRmCMpeemdMYSAKVThXXhPQGTQXjuFHuEf51Aq_OnmOWYhp5rUPzCdoEqkXCJ-mzDLukb9epAkaDr00txJmxDqLOScsHAp48Ui7NJuGQZD0jrQZUi-CH9pGNOOiVBMmhxkFxeXSt7vqWHe31OmkgRmgvhE7_-bi0xkVzDSGXLa0IGWuPCajXmIdHJOa9DE4B8Cs8yUu41QgS92brHAkdxXH_d1XjxhzmGnvdv-IudY_jEg3CBiJzprZD6MWheZwgKGe9lkAnybE_InVZMW7ChNKG159wlNnTykGtXJhxRFcwbEi3JjvQChIwuqP0cr4crgrH7cIspG5SoOU1r87baIFsh7Pt8y6yTZ9774oR5rGgO_UWnIgsYlh_kLkB8DtkgJ3Ri_xxdC0KmXwVxqiZXlHX82r-VSde6U6UvKNCOrMVBFthVg52ecIZsqC3Fcyn4webn74qiyB__cgDoiGX5IR4EC2jULorCwi5hg3Xom-mzrwp32vF0A3s5xucORq9zEECGyn0cTsNT-49P1TNWC7fWE9BqDQzFvz7Zs57yEPNzpiRr2WjQyJGRet1ZlptkNd0jng313q14K13UoiQlxmcpaK2y2F0vwkL0AZzKcuCCAZLB0dGTTrqrSc4TVxFpyukV-XH0KjknXEmDGqfFDA3As_6fJttJKHMuXG1PFKaNqb-ZPc1R2I6cckKH_M5qcmE7fV4C3-U6dWwI5oS9UnqicwuPtlV6qbF3Z87oDhcpcm9jbGF8DZPaKB6JMwe3i_j9E69-CHGMxcEBSuHpNbqF1eE81DDVo7cJWDGy_mXEUo7L2KEVLU-WotZ4q_i7PcW7vNuweueI5YZ4xkA2I3Nc0g9SHgK6yqTrz3noLXbwGQj-KbQHqcNgquv97muCJroHOV_XNbxH8els24lK4UjjsPYeemV42kpik01H6jE4hnP_-d",
  "id": "rs_03f8eae531c3e926016ab45f0f79d087d089bc1dd1abeb8400",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_gripper\":0},\"note\":\"The pen lies within the open finger gap at table height. I’m closing the right jaws and will keep explicitly commanding both grips closed during transport.\"}",
  "call_id": "call_pN6C50ZYoWSumra1cZzgvUpq",
  "id": "fc_03f8eae531c3e926016ab45f0ff4cc87d08097673f23b7f56f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pN6C50ZYoWSumra1cZzgvUpq",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.5697, 0.9127, 0.5373, -0.0898, -0.1493, -0.9257, 0.0633, 0.7727, 1.9163, 0.5625, 0.7403, -0.4488, -0.3046, 0.0471]\nstate[eef_state]: left_x=0.2918 left_y=-0.1514 left_z=0.1772 left_yaw=0.0082 left_pitch=-0.0451 left_roll=-0.7322 left_gripper=0.0633 right_x=0.2364 right_y=0.3425 right_z=0.0022 right_yaw=1.3014 right_pitch=0.0127 right_roll=-0.0059 right_gripper=0.0471\nstate[joint_eff]: [-0.2803, -2.1538, 7.0906, 1.8046, -0.0952, -0.0366, 1.033, -0.1573, -6.9128, 4.041, 1.6679, -0.1636, -0.0415, 0.9939]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe7d294d932aee85fa52ed1ec06e429383a6db083ea261f93cca593e53ea4f9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015768f0f25d678ac34c1d0f5b4574dc04d26636f4d82dcff358954b005d2d3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70abfa54ca00c8506a6d433afe832c2d0724c22ebe10431ba5dcbee464b7147c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 8.314 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.577, 1.2079, 0.6159, 0.136, -0.1528, -0.9272, 0.0633, -0.0055, 0.6861, 0.4881, -0.2714, -0.3145, 0.6758, 0.997]\nstate[eef_state]: left_x=0.3376 left_y=-0.1833 left_z=0.1643 left_yaw=0.0045 left_pitch=-0.0371 left_roll=-0.7372 left_gripper=0.0633 right_x=0.2806 right_y=0.0567 right_z=0.1824 right_yaw=-0.0641 right_pitch=-0.048 right_roll=0.7316 right_gripper=0.997\nstate[joint_eff]: [0.5402, -5.7368, 9.5521, 1.8339, -0.2173, 0.2076, 1.0281, -0.3624, -0.5128, 10.0581, 1.9707, -0.2613, -0.0464, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9119, 0.5373, -0.0898, -0.1493, -0.9257, 0.0633, 0.778, 1.8835, 0.569, 0.6682, -0.4278, -0.2897, 0.9985]\nstate[eef_state]: left_x=0.2918 left_y=-0.1514 left_z=0.1775 left_yaw=0.0082 left_pitch=-0.0444 left_roll=-0.7326 left_gripper=0.0633 right_x=0.235 right_y=0.3395 right_z=0.0025 right_yaw=1.2819 right_pitch=-0.022 right_roll=0.0121 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -2.3316, 7.2, 1.8291, -0.1001, -0.0611, 1.033, -0.9094, -6.1197, 3.8359, 0.7399, -0.1587, 0.1587, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9127, 0.5373, -0.0898, -0.1493, -0.9257, 0.0633, 0.7727, 1.9163, 0.5625, 0.7403, -0.4488, -0.3046, 0.0471]\nstate[eef_state]: left_x=0.2918 left_y=-0.1514 left_z=0.1772 left_yaw=0.0082 left_pitch=-0.0451 left_roll=-0.7322 left_gripper=0.0633 right_x=0.2364 right_y=0.3425 right_z=0.0022 right_yaw=1.3014 right_pitch=0.0127 right_roll=-0.0059 right_gripper=0.0471\nstate[joint_eff]: [-0.2803, -2.1538, 7.0906, 1.8046, -0.0952, -0.0366, 1.033, -0.1573, -6.9128, 4.041, 1.6679, -0.1636, -0.0415, 0.9939]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe7d294d932aee85fa52ed1ec06e429383a6db083ea261f93cca593e53ea4f9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015768f0f25d678ac34c1d0f5b4574dc04d26636f4d82dcff358954b005d2d3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70abfa54ca00c8506a6d433afe832c2d0724c22ebe10431ba5dcbee464b7147c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_03f8eae531c3e926016ab45f13559c87d0821200ced82e6afa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.075,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0,\"left_gripper\":0},\"note\":\"The right gripper again reports a nonempty opening around the barrel. I’m lifting a few centimeters to verify the regrasp before choosing the insertion direction.\"}",
  "call_id": "call_P3zEXZEbMNbsvT0ufF0FqOy2",
  "id": "fc_03f8eae531c3e926016ab45f17531887d089cd874c9972dd0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P3zEXZEbMNbsvT0ufF0FqOy2",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9192, 0.5369, -0.0906, -0.1493, -0.9257, 0.0633, 0.7727, 1.655, 0.6346, 0.4274, -0.4461, -0.3046, 0.0496]\nstate[eef_state]: left_x=0.292 left_y=-0.1516 left_z=0.1749 left_yaw=0.0084 left_pitch=-0.0515 left_roll=-0.728 left_gripper=0.0633 right_x=0.2392 right_y=0.3447 right_z=0.0696 right_yaw=1.2994 right_pitch=0.0298 right_roll=-0.0176 right_gripper=0.0496\nstate[joint_eff]: [-0.335, -2.0718, 7.1453, 1.8291, -0.0855, -0.0659, 1.0232, -0.0342, -7.8701, 7.2, 1.6532, -0.188, -0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f29c46e720b32d16108a49cd2369742b3d77fb91bc317cefb53bea830907db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136c27d648187610c0803fb9b71f801cba47ad01de430222006737f774f566bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f60e2fa534c481c7cdcc0c1b6c4003a24180327b6c41c939dc67133a9880957",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 6.621 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9092, 0.5388, -0.0834, -0.149, -0.9257, 0.0633, 0.8471, 1.5921, 0.643, 0.2928, -0.3531, -0.1883, 0.9985]\nstate[eef_state]: left_x=0.2924 left_y=-0.1519 left_z=0.1804 left_yaw=0.0076 left_pitch=-0.0356 left_roll=-0.7386 left_gripper=0.0633 right_x=0.2191 right_y=0.3456 right_z=0.068 right_yaw=1.2364 right_pitch=-0.0531 right_roll=0.0595 right_gripper=0.9985\nstate[joint_eff]: [0.0889, -2.7966, 6.8034, 1.8144, 0.0171, -0.0366, 1.0232, 0.5402, -6.6667, 7.2, 1.8926, -0.2711, -0.1636, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9127, 0.5373, -0.0898, -0.1493, -0.9257, 0.0633, 0.7727, 1.9163, 0.5625, 0.7403, -0.4488, -0.3046, 0.0471]\nstate[eef_state]: left_x=0.2918 left_y=-0.1514 left_z=0.1772 left_yaw=0.0082 left_pitch=-0.0451 left_roll=-0.7322 left_gripper=0.0633 right_x=0.2364 right_y=0.3425 right_z=0.0022 right_yaw=1.3014 right_pitch=0.0127 right_roll=-0.0059 right_gripper=0.0471\nstate[joint_eff]: [-0.2803, -2.1538, 7.0906, 1.8046, -0.0952, -0.0366, 1.033, -0.1573, -6.9128, 4.041, 1.6679, -0.1636, -0.0415, 0.9939]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9192, 0.5369, -0.0906, -0.1493, -0.9257, 0.0633, 0.7727, 1.655, 0.6346, 0.4274, -0.4461, -0.3046, 0.0496]\nstate[eef_state]: left_x=0.292 left_y=-0.1516 left_z=0.1749 left_yaw=0.0084 left_pitch=-0.0515 left_roll=-0.728 left_gripper=0.0633 right_x=0.2392 right_y=0.3447 right_z=0.0696 right_yaw=1.2994 right_pitch=0.0298 right_roll=-0.0176 right_gripper=0.0496\nstate[joint_eff]: [-0.335, -2.0718, 7.1453, 1.8291, -0.0855, -0.0659, 1.0232, -0.0342, -7.8701, 7.2, 1.6532, -0.188, -0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f29c46e720b32d16108a49cd2369742b3d77fb91bc317cefb53bea830907db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136c27d648187610c0803fb9b71f801cba47ad01de430222006737f774f566bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f60e2fa534c481c7cdcc0c1b6c4003a24180327b6c41c939dc67133a9880957",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF8ham6KT3_P7-uy8z_5-ckALkrS-IUsf5rI_O7RdZb7KhLqpmfkySqu-0C7tYbZ4xMmVMzHSSJwJBf3t7VySnCYyqGpiapk2N22x7VrlCivm9Mh1m9ivHLuQwSGJGmN5QxgemUpy1Z_WTc65Sy4zmNVkOiDuQbu48TH2ek5MdxCw7gUmU3KzyB-mUgZcVETzNYg2dS2Qsd-FJu-iMsT7z7P3_eFUrQ5HNY7Jfom_q45KrAAjBF_3pYe6IjJqIvoBHn_JoKbX8T8kBSGXSvTnJ8svr60j9Sjk4NZZw0q6pbDdp_wlyNkclzwso4bMadUKOWGFPMmubhbdU9yQzaXTp7YYw-qmpo91_3n78iZcpCNK0e7cDCEfWM2Uh0EtpiPtZh3l5NIdEWhH1vfJfGh_wCySv-ZqVPIWh3OFIZLOjr1LgEVMg99vEFa5BtlaHJ9ZqEsSWocAsREzmsYwc7mrShzLNsFPEepz960wZBBiwSpn-EVI1ZajLjq7mT_9QK-Zw1fY53nBcXUTU2i3Hp-BzT7tqwB6-86BtyI0Ugw0ykskD1YFWIB8RC8hxhKVCCKV6KP6lZuqdPA5tlRnRcLffCB3ntgVvLAOPMm_4kLJUVkBB5M5q8NvdUVzNlaBRsLmbBmrpZ33Ojje2KX0IwOt4wWTOLYJwgJ1GZLyO05Q3bRf8NKY4T3d--E26wxkCLs7ZGs71MZecVayGvLD7UJT8krXtwCyTpjWlxW4nASFzAesjIExyz9ky0t-tlm-ORL1zmN4DnKsg2tAVEULdCneDtKgReSKdTgxQg1eo_Gr5UTvBQ04l_mxY33D7e7uMXKUpIvY_Qt47pzahJHam4YdwKeOBLGyoH7DfIAIluiOfdf0TlSfLhhdOz7uNg_kFegFLEM5Opd9Uu_yDvmSIwN879IHq5Vp0yrR3Yng83hH-qduIa8DA3RRzsSGjk3VTUr986W6D-9DKCVa0OWXlCJFQVzr1vSyRrSfjraYpOgS8MX1u3xjvi8nb2MxGWHX1LNQ9CbvEFwg1zQ0sxtmfyt7q2ykb1a2sNbMWrjK8i08b1YQ1gY4NE8f4b7_MJbhq33FEcpn5uDEqy8sgSrxMonwhmz2jvQT_qPB5yMNznFRZNmL0zPjqHfOWvHU8DRN_GX467uTzFn7IJ9RBh1mKVEmAZ6nieUbYchmdtIvR5WB49fssx-KzQInkjF3FkZQbJsh2qToRA2a60cCBQTR5IwAluOA5yuvo4WlVlIylUa8VdLyFrI9Rb_-iiTJ6sVf6CLqUF14Cxs-_7Wo8IByLTVazGMZVT3mCnLQrDd16hmiiK2Trq90zFznuWnzzxwh8Ag_LbO6IEOfy0jIGC0ehoy5ngsy5BRrSOw4TK-5H4xAQ3xI4clVuB1RncxPiCVQMVbCjqUcl8c-9RlCZSnDYtMW5jHz8UZ9-Qb8g8reOJGBZ1LZEyXnDupnz-9asGvjCIA_B5RCTEh8hbDJvJK1EK_otKoEUk7uBxBmqAQjQAQ6pmN9sZefhsJeYjOJFvsq2qmO7VxeA3XExZ9CeXLevWlluV02XlxVPlTj_60IqoZm6_XY5LwS7ARjUunBHHBSSm5TaVecJQ2hfVi8SrvUQn2QM5XTj-K_alzBGkFALoEz-SYh1BCBnCt4uQDQhqxXXJoBG4cI1YD4uQVyRQ897UAnP00A4Luy-34eMdCcmISG-K6-KBAUEf007PeqE0zObxhKJ_gERZIJ-dee2h2dLELmy-QVo4nkrLBu9xPuBPbzn4lbiPj5U78_fHIbxomMPmv2Eg5eiSHCKwi1-WmzpYhJ0pJa-iPrFSzKkW9OjhYYAQYRifJtrYpsi4-upyAjTKz2BFLF0RG8aCqycYOanLcVJEa_Q6oAHOOKfKfg78X9iD-zPjPlaZ7F5FvFYeRqVWHWlkz5-tdq0BP-J5A_O-nIxxD-oKMcFhVrNkSwJAAbCZY-VqmrH4_vJZQdsmUer__q0_7Asjsjd6GwO6TgXSznyR-G65-cSfAeawuQUPNCgMooeE8r-T9H-j4G-kLhbjaBQBC24XyiCMob5LF4kpFfMZO9sQ7MGtzghjA4WfaLRQlV16L5OqbxyireQNjCZrFCUa0-yFojoZJaP3IJq3-z_VBiq1pgtS-OtkC1v67etESbtFtt8WOF4Kry6j9D02eOR2jxRWI4LTJFLm1vTLMp3ADjjV4Q7BdocI3Nx1bWzwCvdeBXIouzoO7ygu1EIOPi7ep61VS4UzEIgDzAYprGI-g2BP9A-00wyf3nfDicN8whzB2cvyQjmjOLXX8cwPn1_pqPznczxWeHjW8vkT5bWyZqfFZ7bLfmg5yXdjxWsaBigpmAkMN-ngKoGSPYLRRASPJr-yOqLWirUcGGob_2quGowmeaIetXPvpmJjiZE_Yk0ifyD1Sxx_Q2rsFPkrGAWbyGkbmlZcx8YK6Tnq6BemI2bTiwaL4YkHdKl9QZjHpv8S9_GWtYcEhd2V3kxsX5edz2JPPEWDHkOTUHUKeWbz1XT6lN59chHu31SnsUb7zmf8=",
  "id": "rs_03f8eae531c3e926016ab45f1a621487d08ff45e22b1021b2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.165,\"left_z\":0.14,\"left_yaw\":1.3,\"left_pitch\":0,\"left_roll\":-1.5,\"left_gripper\":0,\"right_x\":0.235,\"right_y\":0.33,\"right_z\":0.14,\"right_yaw\":1.3,\"right_pitch\":0,\"right_roll\":1.5,\"right_gripper\":0},\"note\":\"The pen is securely lifted again. I’m aligning the cap with its exposed end using shorter reaches and opposite wrist rolls, while maintaining closed grips on both pieces.\"}",
  "call_id": "call_1jhXY0eY8eSYYuf3cu3K07ic",
  "id": "fc_03f8eae531c3e926016ab45f1fa64487d0ad59cf2869c4b2a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1jhXY0eY8eSYYuf3cu3K07ic",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.8654, 1.7756, 0.6662, 0.4191, -1.4956, -2.0861, 0.0633, 0.5034, 1.8977, 0.7441, 0.7654, -1.29, 1.1114, 0.049]\nstate[eef_state]: left_x=0.3319 left_y=-0.1125 left_z=0.1249 left_yaw=1.2087 left_pitch=0.065 left_roll=-1.3895 left_gripper=0.0633 right_x=0.2399 right_y=0.3299 right_z=0.1175 right_yaw=1.2557 right_pitch=-0.0521 right_roll=1.4439 right_gripper=0.049\nstate[joint_eff]: [0.1983, -7.5966, 6.9538, 1.5067, -0.7448, -0.1294, 1.033, -0.4308, -7.9658, 4.5333, 1.79, -0.5934, 0.0855, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f0494809ee1a21f1a201cf3e531c02b607630965089fe1c3d31b0d6f721bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce2e48a455eab914bd9f86b5af45641084ee9901a3e1bcd7c4f1d54d9396e49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be822a8b4a2f128b0bde8c99177acac83fb0d1062ef07057de6346622f999e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 10.83 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9119, 0.5373, -0.0898, -0.1493, -0.9257, 0.0633, 0.778, 1.8835, 0.569, 0.6682, -0.4278, -0.2897, 0.9985]\nstate[eef_state]: left_x=0.2918 left_y=-0.1514 left_z=0.1775 left_yaw=0.0082 left_pitch=-0.0444 left_roll=-0.7326 left_gripper=0.0633 right_x=0.235 right_y=0.3395 right_z=0.0025 right_yaw=1.2819 right_pitch=-0.022 right_roll=0.0121 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -2.3316, 7.2, 1.8291, -0.1001, -0.0611, 1.033, -0.9094, -6.1197, 3.8359, 0.7399, -0.1587, 0.1587, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9192, 0.5369, -0.0906, -0.1493, -0.9257, 0.0633, 0.7727, 1.655, 0.6346, 0.4274, -0.4461, -0.3046, 0.0496]\nstate[eef_state]: left_x=0.292 left_y=-0.1516 left_z=0.1749 left_yaw=0.0084 left_pitch=-0.0515 left_roll=-0.728 left_gripper=0.0633 right_x=0.2392 right_y=0.3447 right_z=0.0696 right_yaw=1.2994 right_pitch=0.0298 right_roll=-0.0176 right_gripper=0.0496\nstate[joint_eff]: [-0.335, -2.0718, 7.1453, 1.8291, -0.0855, -0.0659, 1.0232, -0.0342, -7.8701, 7.2, 1.6532, -0.188, -0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8654, 1.7756, 0.6662, 0.4191, -1.4956, -2.0861, 0.0633, 0.5034, 1.8977, 0.7441, 0.7654, -1.29, 1.1114, 0.049]\nstate[eef_state]: left_x=0.3319 left_y=-0.1125 left_z=0.1249 left_yaw=1.2087 left_pitch=0.065 left_roll=-1.3895 left_gripper=0.0633 right_x=0.2399 right_y=0.3299 right_z=0.1175 right_yaw=1.2557 right_pitch=-0.0521 right_roll=1.4439 right_gripper=0.049\nstate[joint_eff]: [0.1983, -7.5966, 6.9538, 1.5067, -0.7448, -0.1294, 1.033, -0.4308, -7.9658, 4.5333, 1.79, -0.5934, 0.0855, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f0494809ee1a21f1a201cf3e531c02b607630965089fe1c3d31b0d6f721bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce2e48a455eab914bd9f86b5af45641084ee9901a3e1bcd7c4f1d54d9396e49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be822a8b4a2f128b0bde8c99177acac83fb0d1062ef07057de6346622f999e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF8pfrtZfPi-AgT3TwOHovLcBpshJ6bYvrJJmA-6H_YkQ7wj_SCJL-a3XCxfD7OhZ6lQgqZaZLiopidcnihY3t1xMT3W7G11sbox4VdnTkOPW4Z1ZjraEBt-0NPXhG_LFBHmSeOXFY9NvgYfasOWy5EH_qXE-XU8MxXkRGh6d8OMAjKXOIUOqzhCf67P2ukCU6gn5Er9CLSnJfpGJ8H5qRjqf4E5x81WtkWzYsSL2qy9tbx3_MC6Bzz7p0YB_-YUC82UpSUXDhGI4stFiVKbvsj2VOgJUblPBSdJmn3PVmD8qKn15veccuYqYrNIh06uZfA-1JVpm7pAuyB7xB4QAFV4T_qfvCpkOwzRrhlFyWN1r3eIIdLTeaqOxIAYRNMhGCabQ3pb8MKaknhOw1bVp1KixvV0AKbs8TXe_I2bvOJTvIbFbw1MqgenCmGAYTFKNRDf9ZR11E734yxf0sYRnxOzByrLmM_8MX1QZgpjS4mTHeOuMbc5u-93Kw45NqAEy-EdVu7nH-CYYDC2_yGajRU8Erbo81-EKzLhopwSO3STbgdtjuU-uIjt6W21Px-JLfZW2djzNBoFfs4HPy24oAMni8y2rq3mU7s5ZIcAn_Z_U1PNzsslT6Lut6Ef5D8_lWv4soDYgFp3qLxtA-cP6Bh9xnCBO3Qzy2RWBTFq4RajciJibWrjOWIY1OGdEKtlKy8kyugRyEzEONNeH1p9qEOc-PHBUuT7Bh3IHE_V4bFYEMn6mMwBvbwocdVe9T6uIkKWxtgF8hpfmnDGYBFX0K5K7SAWbs9FJThaShk2C4QnpMs74vPTqfxVZBbmT1zoVegb_2iUsK0o9k72b6Ko7BhPC2QYYF1TxQEnMvgiC-2AyPrtc48bXuT3gEG4NHm2LMaMOTymWyBhhNCGXwfnv-x0PJypOe75WDnbe3K3zi7xhczUUbyJu5GuVfBZhLy-z5Yry-aXp_E2dXlnzrqr6cFYGTJcr--nzv-6KhadjHu-aAB3vDGNazLKH2s4gwOb9rta112zbQc1_ZA_2ObEziPvRi79m1KobLjos6ndXaiOVH2ZpeatfI1F_vujjYPzx81PiuSaQZLZSEbjPdA4dbN_H564VGohya2dQORn-dPzAKdepgd2kHfIa_37MRgHGtKsga9fUPW0Y6sB6DOBmzW6KJyploza9D1ennqg0BhUP_zed9ueZ6GctoFOSOeRWbcbKL25CRfapz-i0TW83yebIfIAwetidNXFxMc--N8O12DPofOnqjoL_XkMzEVJB4d_ICczEthuRQcmzlcZW2Xu4cZ7M5mWUzpgmT0GiBe_ULAJUvaX8RVX-3vylGQq7atbK9YQL99EKqs0b8kXvBD6lUIV3hkRhG2e86OrV6MwDqdwYsDoKbbpIpq9fdJZZupusBkAo798kjhZSwx5cld3u3bQNzeEikHRoYDzXt4I8M4wB5pzymC7ySOVp_eUP9PE7ZNwv6AH_JmvyATikNwbXX4z-t7iZAY32XDAS8QiWaqB_R7C3UVTyiWLvOukNYtN7LwCrXlZpiwhK-BUdreZslLQPpYaWXre--NzAfPUtng9GGDMbAceJfpM1YwcPTJOC8gdIy_G6t2pBOarIJHj4hiwq5PTsilaZl4F3Ciw5kBCyHhTTU1M8dPUuxBOFNx34T71vYNoWfBTSWp33TjCzAmDyTRjP-r_Ky3XNypJfR5e69tdqOLVRBZsad_JA3Seze1_AoDvJy3WQ32ooEc_2Q==",
  "id": "rs_03f8eae531c3e926016ab45f25e30887d0b976c3a955185abc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.19,\"left_z\":0.13,\"left_yaw\":1.3,\"left_pitch\":0,\"left_roll\":-1,\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The right arm reached its pose, but the cap wrist is offset from its target. I’m reducing the cap wrist’s roll and using a nearer pose so it can track the alignment without forcing the joints.\"}",
  "call_id": "call_bdlZ2Nm4lTM1jQ7cSRNtgswG",
  "id": "fc_03f8eae531c3e926016ab45f27e73487d092e3400fcbadae1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bdlZ2Nm4lTM1jQ7cSRNtgswG",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.6544, 1.7775, 0.9119, -0.1165, -1.2793, -2.0941, 0.0633, 0.5034, 1.9156, 0.7315, 0.7612, -1.2911, 1.1244, 0.0452]\nstate[eef_state]: left_x=0.3795 left_y=-0.0734 left_z=0.1223 left_yaw=1.258 left_pitch=0.0329 left_roll=-1.065 left_gripper=0.0633 right_x=0.2368 right_y=0.3283 right_z=0.1076 right_yaw=1.2578 right_pitch=-0.0839 right_roll=1.479 right_gripper=0.0452\nstate[joint_eff]: [0.1709, -10.2222, 7.6923, 0.9158, -0.5495, -0.0366, 1.0281, -0.3214, -9.7846, 5.5043, 1.3993, -0.2808, -0.1636, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69b6423e768d456714b28083d5c0a38a42041822cf01ed30f6ab0b93e43e656",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156549e7f847a721fbc1863761e72af181ae3dab6ab49fdfdd894605a7e3ddb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea7985d737d427579b9f741b8c10bf77a83e5968d2c6ec9fba99326aab3bb69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 4.81 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9127, 0.5373, -0.0898, -0.1493, -0.9257, 0.0633, 0.7727, 1.9163, 0.5625, 0.7403, -0.4488, -0.3046, 0.0471]\nstate[eef_state]: left_x=0.2918 left_y=-0.1514 left_z=0.1772 left_yaw=0.0082 left_pitch=-0.0451 left_roll=-0.7322 left_gripper=0.0633 right_x=0.2364 right_y=0.3425 right_z=0.0022 right_yaw=1.3014 right_pitch=0.0127 right_roll=-0.0059 right_gripper=0.0471\nstate[joint_eff]: [-0.2803, -2.1538, 7.0906, 1.8046, -0.0952, -0.0366, 1.033, -0.1573, -6.9128, 4.041, 1.6679, -0.1636, -0.0415, 0.9939]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8654, 1.7756, 0.6662, 0.4191, -1.4956, -2.0861, 0.0633, 0.5034, 1.8977, 0.7441, 0.7654, -1.29, 1.1114, 0.049]\nstate[eef_state]: left_x=0.3319 left_y=-0.1125 left_z=0.1249 left_yaw=1.2087 left_pitch=0.065 left_roll=-1.3895 left_gripper=0.0633 right_x=0.2399 right_y=0.3299 right_z=0.1175 right_yaw=1.2557 right_pitch=-0.0521 right_roll=1.4439 right_gripper=0.049\nstate[joint_eff]: [0.1983, -7.5966, 6.9538, 1.5067, -0.7448, -0.1294, 1.033, -0.4308, -7.9658, 4.5333, 1.79, -0.5934, 0.0855, 1.0183]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6544, 1.7775, 0.9119, -0.1165, -1.2793, -2.0941, 0.0633, 0.5034, 1.9156, 0.7315, 0.7612, -1.2911, 1.1244, 0.0452]\nstate[eef_state]: left_x=0.3795 left_y=-0.0734 left_z=0.1223 left_yaw=1.258 left_pitch=0.0329 left_roll=-1.065 left_gripper=0.0633 right_x=0.2368 right_y=0.3283 right_z=0.1076 right_yaw=1.2578 right_pitch=-0.0839 right_roll=1.479 right_gripper=0.0452\nstate[joint_eff]: [0.1709, -10.2222, 7.6923, 0.9158, -0.5495, -0.0366, 1.0281, -0.3214, -9.7846, 5.5043, 1.3993, -0.2808, -0.1636, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69b6423e768d456714b28083d5c0a38a42041822cf01ed30f6ab0b93e43e656",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156549e7f847a721fbc1863761e72af181ae3dab6ab49fdfdd894605a7e3ddb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea7985d737d427579b9f741b8c10bf77a83e5968d2c6ec9fba99326aab3bb69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF81JclGPSU5YJtTxXo9-raIWDghTKetfztz_3XJXimtmk_GM7lEdwhwJZp93BeFOU1PdVlIGOo_mA1ee9euPg9NuGy5kiOIwd01uqIasijLp7NxubxH0MeU4hM5KhU26pPrOmUVgsVjpcbvwDl5rDLnGz-MeaRNRHHK0foq33FRP93H7q7MgWNVZkLdBVxN9fhvxPbngWZ3goG55FqiDZDUOj-N5gtTVM5ODP57Jl2JTa8TZVEZI4i8YWfjVYFeHFN18qVLNoSr8bDPIFhUbQR_pWpwO2wB2mQjGxjGZdVVhr7CEz5tOS9PRl59Gv06hZdRhcpNUmWGXJIhrGDRQOA3o6Hhe6d2m5BmkO5a4EIQoyvp4LMNNeqy7x0JETR2WqPAZ7wowveUZrhO8qfU5WDQlhlM3eSnRqgg3R-n5lVkR2MxCFXLwryEna_WqIF89ZV7tHhei4WICBpwR_QL2l3L09HuY7k9cEe7QXVJv0iSci1EJwbM0sGew9C3xn1w2_zohlCsHh-Ht7IWG8_jQa-tmwZuVVifZOnf2or20g7NJ4HwdiDhLAcTdXJGIw-tHjq2hMkAgRgaoY0kQQrTEsCHIBJ4PHvQHLuEIxBehiDpQg-lm51jfSRlazZSsg0EBUZKQWrSY86WYPuLSsYa8bAjGNsK24wG-lJQKC2EdLGm-wMsyqX8uNimTBVxts2ZgOlVFfNIAJZ2n5z9DMkDKIh4zciqn1puDLaNfRZYw5iVM7fgXyNbfVdgQl18euOS6f4TLQiwpLw0SpL4QGnJq5LgWteXxZXFG3SF3IMmjvd9-33wqP7q6pGwRpbxBYKekDR4DyKHg2X9a6j_e_zAO1JKoicOIkGyiDFGsJAHJB_tpRJ4gPuX18tN5ybemzpXaiPGDm-YOzuyDel1x8oXVJ4WwuvinE5TzH80ZYFShOdrMUKtRC0S7dyPHhYO7jCWxlO-cjTwih7P7TGOdkUMuqPms_xlV-xb4MX-W3LWFDWZgs2lp4_BOrgG3HVttKnOZYeO9Q9Aum3GCihD2R6GyCZgB89jIFNSVpa4dscBqxB-aA8LxXXlAOm4MIG09vYEIfs2K7xh0RzC1gjoHiFhHYNMIRaG3gUaANuepMAfpNCFnvDngC2tmHxAQKUVX9oeJOpxojzrwQItS3CI58qVgnpMagMz-1SuYvN0JNE2W1MuHafl7gTy-fxBaSnuVVUN3P-pVfSbmwOLwBiZ82Qhehguf-up5wozDWOEqQZevnZuNUiPhjpfk_9MOS-4SRKYMC2RF6rv3tkC70fmeQElOYQDZ6t5GmsOkcip1l8Rnj2Mjei3t1poZwIT18cumljQwRGJoTqyV3dTXk7ZMW8eAOY4MqeZTZc8W9NAm6Ikmn7kpPK_ai2UMptkwGZ_wPCGKzQpgEzQ6zp1BAm8fsu3GtP1fZ0Gag8Re69L3V4ZzYIQcrd67pIDVL9HuACLauMGQ4Y8uVhDHIQ5iIjRvmRtLt4gNQxyzSj1-clDxjrFtErCBagqXqY5xKjMNp6LtX9sIG07ZcXLTjBtjozMhIcX9_jXTBOD8F-w6AcSMmdBGJyuF0StqpXMI69rELiAjbFWFr021KPlJJC2_1eXex3euStPqRX7qSbNhT5_Su5DL0NQBq3IPcD-wW0YTDNWYq7Fx3SyscEd2r12SsphW26pAqvs26g_XD035jcAykq8Yibiw4bD5AIzRz0cpDo1WIWYFKtpx5LgekXBsE5WjPpLKyj8B3jyLTB021Of0cy7M9Iwd0JO5GXhilS_jiemLShHpX-lIHuFmCy6qLmQhN5KoR8BDjtMd6SmpD5BL8YkfDNjQlWOHe9UAx9a9FNyN3ZA2ao3FFcnMqxIKkdz44MnwgDON7qwyliotnipolj7am6_WaqPP6E_h7f_JcJaonq0NM0qUy3K0OJN12cSrKfSILXzng266MzcpVIwbU_NL52PAa-lOnAFMqV3koQX5lTO-MIWfEHC2QbcoIkV_QAHETlch_pPnhZXLBwNMTXSJTuS1IAkt8O3sFhIub0b_4H_0UIVzOIcbxA4_BljrBnERuM3HpX5LYacrcrGFFnxcVIr85Yv4uBnwDv3rY_RGS1Shrj3PF1U0rj9rFnYyO3CyUbm-to4mh0KU1XtxUZxMmGGMEI54-dBMxMDV0W7-XQU2EHcXMkavn8IguzYrie3KFKPfv7UQ_68vHBx6uiNztj5IWTsVOAjYWoDZ5ToFTSxo7q2Q2C0YzNNImB3nb7ymRnfZW2qYQUIrjsUVq__C8BdeVEP0i4C02EqNXZxA3hNMOL5DxnXbGDrO0zF5A9nuoKX7iy7CgV_Vvg4p6SdeZHan1lKnB0o9_k8KkVkdM03b1ug3Xk4nbXeQ4M3B4FNj4Z27RBJdMjU5H9zR-LUdsPKVWeQm0cRmoi18TlaoBXSf2i1AodlEkV1KyaD9rBC9DrUNAaq4miZaWwNCb_mm3Sf7nuOUouv3e5NGIB0Aax6yoDp3wFYGszNgNoUrl2ZHGOUJ7QkTnJlSMaxPOOG2S5B_Mn8Oz0LmcT6bic8nSu4KSNqs8vz1W-mm0QfPQxhUI4HQ_KZOrZ-I0SFmD4Ctp2YLETvdFi0jn_FjHl-rRgI2MMjNlCoHwjZ-acMT2Q8zlo3vrZ4MEVoG9DtF7HpY0QIouf0M843o6ywaOc-F89KANQ0pkbEBU4pW67nwKFsuduon30nzQZxJ9UcOlKjNhrwT4dGj5J9zuaIIhz07A7D1UBoBlGpH0by1UrPZTHbuYopRgIvUpGiYpjj9XIv-4rD2TMCkrXrzhZf7cSFTRPkeHplxlxa5Die15bJ1l_nk09jHl3v_cAUGFehhXtb0G64SNlJfVrAmoP5xtCW4UO1GE0aIFbAqYk4Lr7SS2UkxQShf1i4LZx-d6-c9F7OrUR4sC9MgsLyYlV7-JexpqNxLaUIRg6Pe6VcvSi25TzHN42CWyH3I9TodQbitaADozWHsjQAVTRW03olkKtrsBbdetvVdJcS4x7GbT6vfAYEd0MeSLOmb8Vy7Zxabx7N9FMnuRiUSC5U0uuQN9QE-YDPJnx45WR0WFicJW7NtlDyQcMyq4cBROIcegXDbTqSXHXcsKA6UAlU-mBIh5SET7k7ZLaHyAd3X_sCgh7iDPF5HYpKIwEgrmU5EO9AIeueswJZJDBRzmbGGgxt3gbWcyLL0WtO26YOTasOACXo_gvGqoRxav9KHEiEWj7eJCg4V6kfEwHBZZhrOmASv1OdYIEIlvjpFDU7_rbrfZv2gU23z7tjVKOoxVEFUKWjBknApds-kWVQ-a2oNVuPvDRg4b9W-R3cpeaa1L-db4jy-MNHaoXSJDTvfxir3lF8NHmt3wRSFNAtc8biP7OszwTs_6CNlvRL",
  "id": "rs_03f8eae531c3e926016ab45f2b95a487d0af50f85533ad8b62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.15,\"left_z\":0.17,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0,\"right_x\":0.24,\"right_y\":0.16,\"right_z\":0.17,\"right_yaw\":1.3,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The cap wrist is reaching a joint limit and moving away from the requested alignment. I can’t safely seat the cap in this configuration, so I’m separating the pieces and returning to upright poses for a controlled set-down.\"}",
  "call_id": "call_svqe4qefImpJfOMUA6pvkJpr",
  "id": "fc_03f8eae531c3e926016ab45f32fc0087d0935db26be6f65638",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_svqe4qefImpJfOMUA6pvkJpr",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.7338, 1.2308, 0.7715, -0.2749, -0.6514, -1.161, 0.0632, 0.0715, 1.2095, 0.8291, -0.7261, -0.9382, -0.9169, 0.0439]\nstate[eef_state]: left_x=0.3226 left_y=-0.1419 left_z=0.1651 left_yaw=0.3946 left_pitch=-0.0799 left_roll=-0.5398 left_gripper=0.0632 right_x=0.2435 right_y=0.1639 right_z=0.1678 right_yaw=1.2653 right_pitch=-0.0017 right_roll=0.0842 right_gripper=0.0439\nstate[joint_eff]: [-0.5402, -5.5453, 7.706, 1.4383, -0.2759, 0.2515, 1.0281, -0.2393, -4.3692, 6.2701, 1.0623, -0.398, -0.1099, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d7aced3181bc9b7bad6489d0717ef547e651958239434bb563db2dd05358a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b4ee8dde83b907f6295781a7b86b56548781b56e3c0f0ed4398117d3a881c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e9f121910777757a0ae05a85d9c939be9aa175dbca3da67d6f12f4bd165e03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 3.608 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5697, 0.9192, 0.5369, -0.0906, -0.1493, -0.9257, 0.0633, 0.7727, 1.655, 0.6346, 0.4274, -0.4461, -0.3046, 0.0496]\nstate[eef_state]: left_x=0.292 left_y=-0.1516 left_z=0.1749 left_yaw=0.0084 left_pitch=-0.0515 left_roll=-0.728 left_gripper=0.0633 right_x=0.2392 right_y=0.3447 right_z=0.0696 right_yaw=1.2994 right_pitch=0.0298 right_roll=-0.0176 right_gripper=0.0496\nstate[joint_eff]: [-0.335, -2.0718, 7.1453, 1.8291, -0.0855, -0.0659, 1.0232, -0.0342, -7.8701, 7.2, 1.6532, -0.188, -0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6544, 1.7775, 0.9119, -0.1165, -1.2793, -2.0941, 0.0633, 0.5034, 1.9156, 0.7315, 0.7612, -1.2911, 1.1244, 0.0452]\nstate[eef_state]: left_x=0.3795 left_y=-0.0734 left_z=0.1223 left_yaw=1.258 left_pitch=0.0329 left_roll=-1.065 left_gripper=0.0633 right_x=0.2368 right_y=0.3283 right_z=0.1076 right_yaw=1.2578 right_pitch=-0.0839 right_roll=1.479 right_gripper=0.0452\nstate[joint_eff]: [0.1709, -10.2222, 7.6923, 0.9158, -0.5495, -0.0366, 1.0281, -0.3214, -9.7846, 5.5043, 1.3993, -0.2808, -0.1636, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7338, 1.2308, 0.7715, -0.2749, -0.6514, -1.161, 0.0632, 0.0715, 1.2095, 0.8291, -0.7261, -0.9382, -0.9169, 0.0439]\nstate[eef_state]: left_x=0.3226 left_y=-0.1419 left_z=0.1651 left_yaw=0.3946 left_pitch=-0.0799 left_roll=-0.5398 left_gripper=0.0632 right_x=0.2435 right_y=0.1639 right_z=0.1678 right_yaw=1.2653 right_pitch=-0.0017 right_roll=0.0842 right_gripper=0.0439\nstate[joint_eff]: [-0.5402, -5.5453, 7.706, 1.4383, -0.2759, 0.2515, 1.0281, -0.2393, -4.3692, 6.2701, 1.0623, -0.398, -0.1099, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d7aced3181bc9b7bad6489d0717ef547e651958239434bb563db2dd05358a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b4ee8dde83b907f6295781a7b86b56548781b56e3c0f0ed4398117d3a881c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e9f121910777757a0ae05a85d9c939be9aa175dbca3da67d6f12f4bd165e03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF87EdOMuUZxjc--Zdsh5lLWw_DCWXGcXzddHcWEWWaoqfg9oPHQnmEmsu_bERNbJvH4ja7qyeiv1r3bdw-DA_tWxqRin4tpMJU7fi1AX4Ps_WuX9P3yGuPAd7-Ug6hmGja-pgQskbc6UAzjhMB4exZ7MwxUjjIjWp2CEg6oFGU-yU670AzuIxF4YF7j6cvoRxSWd7byaAgud3SKV7YGOqWmHDJGDZIgQemJ3eDyhXAsQP3vxY0lc7sCV-EGlz0P3rZLiUOQjF57T9cJy3LvwhplZ1YyAvNeYSCsFo2HvwFtCmlk0xnEcMuBnVMewMBHKQnZ-GNEv1T-5SDQfMHlnusBKA3NG2HavusGgsbIRm1163L1bqNyeC8sV_gESE-AE1JemhcYoBdmCxHC0LkaRQJhaCzJOVqURJ3kguy8rc0idfXP98SI84WW5MpeVYGJrJACH6_KEgUnEKOlYcyZU41rP8K6oC1dBAUDpSK1QcAxedJRMQeaytaT8IUywEC07Nk5jRP6IxGnvIwnlvquyGfy2cYtrkGXzHauEH6XfnS-II78qke8fhY2ycnq-xbOe9e7_HbjgfKxqLihvSe-W0TsxLDTGQK12oMfnQLeUNZtZxTqGLxTCzBTLSwJYENjHi5V0lBHjNFOpNw79nJtqL96ZVKzjs0sOQrSj9k2Ta9KwIsYFgLUNykEHEa0MFBNxLaB2zsTzaFLzPaVgdBoUDmF03iFl-6J12UCQS4OkDhfe9bNwgp-liiv-fjFDwcBbi7nDP3Acx8XuKPihe3GTTcGZdmswq-ETH8wLpnmtk6O9Rddd_-P1Jkmqnmu1TogfNwbCn7yM5aYx9_NTZH21WDHX-P_EqHiYFlcISvn1quA-VrSR21obj8tQlkzOnTf7vU7ed0UalhOOXfMFZtAs8zk8vMf5bDCVPoAbqWoBi8-XeX70JEnz5ORZ9W55IysrJEiv-UIQFs62G96oKmbHTV6OCQkSaVtRTqoAeWXBWfgyd3G4Pd4mTrj7Emwij79mgTcn26_zBp3JvqMKP9gXyyIEclVQ5ywnQus-r4fOxY-UmB0J3Uv_9_cP1ySwE1sXX9Uu5IDSbiX29rF9XdS37xRV51t2fbBwf6vXwFVRTxzQdYTwdLV--BpDFhvdju0Uxp4WtU1kpkUvZL8JCW6MrtDG57eJqGUUUIFc9fr66lPGJvBGBMQzxnF_rrByq5Up9vDWI147vnWWGUhJJCrNyjaUga3d8gByUrrI2_j5KYkcoOlEApIl8W6PSTIBedMatPD3Pl40wEEEFAi1m1p5tee4X2dfEk15aNzfOhGiKVEpKv8H-P2h6bS-GRxjELbh5latXgucWwjdQV8GeZSa-BiALlvXLSJKQ7xVKaU4uvd8EisjFMEtsH0T2RyeofOR26hNOntdLCRThJnDnJnVKBR1VExBbJttq2iRhbw0aPhkhTC-k-3ipUG2zPeB3FVwRKwETxQr3E_3dG2-VCkemIXYak6jTF-0qmNWOnyl91SgiIzaQHeeOl4quUP8wz-QNFh1x_NXl2M5IjXp0sB_0t2r8u_gO2pSVkg8mNgXMq-iB92h-XZAQqUbLxvf7XNEWo1NTlbxhWdZSPFttpp2qI0LUgc3Cy6uihPy-0F3UlrJCHVu5FTsgr77Iw6TkqS4GFsapDWzsPvBaxHq1Kvw5hjIw==",
  "id": "rs_03f8eae531c3e926016ab45f385bec87d0910a354383b2b671",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.15,\"left_z\":0.025,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0,\"right_x\":0.245,\"right_y\":0.16,\"right_z\":0.025,\"right_yaw\":1.3,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The pieces are separated and still held. I’m lowering both toward clear tabletop areas so neither is left suspended or dropped.\"}",
  "call_id": "call_PKqupx7I1emDXWvy6ziAGiJG",
  "id": "fc_03f8eae531c3e926016ab45f39a68487d09b03fb795c8d0d8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PKqupx7I1emDXWvy6ziAGiJG",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.7185, 1.3045, 0.6403, -0.1154, -0.6128, -0.9596, 0.0632, 0.0601, 1.5288, 0.4416, -0.0921, -0.9306, -0.9932, 0.0439]\nstate[eef_state]: left_x=0.32 left_y=-0.1401 left_z=0.1122 left_yaw=0.2849 left_pitch=-0.0791 left_roll=-0.3511 left_gripper=0.0632 right_x=0.2337 right_y=0.1596 right_z=0.0246 right_yaw=1.292 right_pitch=-0.0298 right_roll=0.0859 right_gripper=0.0439\nstate[joint_eff]: [0.0479, -5.2581, 7.665, 1.619, -0.2613, 0.0611, 1.0281, -0.4718, -5.0393, 4.547, 0.9548, -0.5495, -0.2027, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cea24e10b7cd26d3bdeb6caa45f7edec0087ad630a395d383cbe3f239e2f140",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43eed06575853a8296f31f3d587a6221f58be82990f875b1fb1100ab11aada33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce7e5e3ca18c55be8bbf48ad956c2bff97ead0cf6615361e96f714276f93d71",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.112 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.8654, 1.7756, 0.6662, 0.4191, -1.4956, -2.0861, 0.0633, 0.5034, 1.8977, 0.7441, 0.7654, -1.29, 1.1114, 0.049]\nstate[eef_state]: left_x=0.3319 left_y=-0.1125 left_z=0.1249 left_yaw=1.2087 left_pitch=0.065 left_roll=-1.3895 left_gripper=0.0633 right_x=0.2399 right_y=0.3299 right_z=0.1175 right_yaw=1.2557 right_pitch=-0.0521 right_roll=1.4439 right_gripper=0.049\nstate[joint_eff]: [0.1983, -7.5966, 6.9538, 1.5067, -0.7448, -0.1294, 1.033, -0.4308, -7.9658, 4.5333, 1.79, -0.5934, 0.0855, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7338, 1.2308, 0.7715, -0.2749, -0.6514, -1.161, 0.0632, 0.0715, 1.2095, 0.8291, -0.7261, -0.9382, -0.9169, 0.0439]\nstate[eef_state]: left_x=0.3226 left_y=-0.1419 left_z=0.1651 left_yaw=0.3946 left_pitch=-0.0799 left_roll=-0.5398 left_gripper=0.0632 right_x=0.2435 right_y=0.1639 right_z=0.1678 right_yaw=1.2653 right_pitch=-0.0017 right_roll=0.0842 right_gripper=0.0439\nstate[joint_eff]: [-0.5402, -5.5453, 7.706, 1.4383, -0.2759, 0.2515, 1.0281, -0.2393, -4.3692, 6.2701, 1.0623, -0.398, -0.1099, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7185, 1.3045, 0.6403, -0.1154, -0.6128, -0.9596, 0.0632, 0.0601, 1.5288, 0.4416, -0.0921, -0.9306, -0.9932, 0.0439]\nstate[eef_state]: left_x=0.32 left_y=-0.1401 left_z=0.1122 left_yaw=0.2849 left_pitch=-0.0791 left_roll=-0.3511 left_gripper=0.0632 right_x=0.2337 right_y=0.1596 right_z=0.0246 right_yaw=1.292 right_pitch=-0.0298 right_roll=0.0859 right_gripper=0.0439\nstate[joint_eff]: [0.0479, -5.2581, 7.665, 1.619, -0.2613, 0.0611, 1.0281, -0.4718, -5.0393, 4.547, 0.9548, -0.5495, -0.2027, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cea24e10b7cd26d3bdeb6caa45f7edec0087ad630a395d383cbe3f239e2f140",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43eed06575853a8296f31f3d587a6221f58be82990f875b1fb1100ab11aada33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce7e5e3ca18c55be8bbf48ad956c2bff97ead0cf6615361e96f714276f93d71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF9AT_6zIR1P3Veo7XPALV_6QZsb-cnstethUxCkuZ33zoEkTnzfnkcFwYGBB03uMn0IqYG5A86GyPskF-cPc8MjL4TPBVnSQq7fUPh815AcRNBwKG6dhHbgYNVh9tTvmjFn8oHuB0Vc4nPp08bBf8FqwUT4-MyimVesARg3peaGJdX7zBFNSvDV_h9KzjOYdkKAj2kwJ3iuTO3gJNt3DW3qe3mdlctPElFMMLzKW9K36cWM4Ao0ksYM475Q7PW4mTdg2I8vUCeLwYhKc-bVNcw5lShD_BvCX7CqOrAwxCgHO0Viamg5Z917vKLdP-AQ1xBzrpQSqC9AViFX0o7yFBmkXqvS8jPq1cRmKrYVbQ2vqrMEJ4jcOHXnSCI5HR7RY05Gl7ObcyvDCgV1pr09F4Tcx9dqcceajzdXdOvwbU67xZTWbsWpinLBexXdKG4vZKxK23ebQuBgI08W1KnNcXSSFybg-ZTeAeD0rLq2MfZPaRM-fk_S9GUX4ny6xFY1qNyq6b_K2vke0uFpR-4SdBgxB_kfYJuZLoC6bjacg-eSf1cXEf11aXOHSUYeTLdAdY9uygdpZQGDcdkf6tof31ZCCs7C6nS4K_7cxOYmDsWHKqhtTzZGq4KyKcm9ma4f_-9gGv8RgVTFfrstzezYbf1d8Ul3lney2V16WvrN8hnjMcF-aMHReHNth2iDict-KQn-LNJs-cSlaz2KgzVMfz1XlA0P2ndoXJUbm-vYO1ArrcICSbpoKXuDAfxTljNfqfF2YC0GlLMvX6GCynOr9AK4weGVuq4qQu-K4EoKmrmCAyVehvwlcNUZ0g_zDvGkTplH6blwS_S9-JsniHwyq2KON3dQl_74pol83m8IeXysRiV0GEUPmU-RgsxUh1qY5VdjPmacvKcWJIxDArwsiFTSh1wBmm3w5KCXDgEo1SMhdtPn25UBU1MvpwG3bcNJ9-vuo5eKB3HW0jt-VdO17mtmbkJ13k69r4OzogGIRbU7qS6tn8kO311fb_QJ1cv9LNQY5QQK7npz4i_LKyaMtigTxCj3N0F37zJVM3xtiPrkGCX-0bgkWuqIL8hVc2mz-4_P9f5Zr8mMbggK0xVspYjpnSNqgu7XQ0BKAmogYexzfmLZkL3cVim-IiWYj1_o8tXOmVBXZNWZo2ZCxBUATR8wfIAhtTu3LfLsyD460UwPVI7I1z09cGUwBVu6JYd5OYOIEcX1C6m_OL2eMReZb10iwG5vPgIQNq-dNI_phoAmQJm9oKOBWt97w6NV856q0oKKMeoJmlEG60XJGFKm09wCWBZvmzN2twMQ6IihkLdI9z-iRiGE3YYHZ0mXPRGs3cNP",
  "id": "rs_03f8eae531c3e926016ab45f3e1a7c87d091da7c1087ca881e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.145,\"left_z\":0.005,\"left_yaw\":-0.4,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0,\"right_z\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The pen is near the table, but the left wrist is still unwinding above it. I’m returning the cap to its original, reachable wrist angle and lowering both pieces the remaining distance.\"}",
  "call_id": "call_1UumjT5EOiKcvCjiA1VM5eGz",
  "id": "fc_03f8eae531c3e926016ab45f3eb1c087d0bdb051a6f95e6225",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1UumjT5EOiKcvCjiA1VM5eGz",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4698, 1.5997, 0.3267, 0.474, -0.3367, -0.5705, 0.063, 0.0586, 1.6188, 0.3534, 0.1551, -0.9413, -0.9993, 0.0211]\nstate[eef_state]: left_x=0.3153 left_y=-0.0906 left_z=-0.0103 left_yaw=0.1164 left_pitch=-0.1805 left_roll=-0.1744 left_gripper=0.063 right_x=0.2319 right_y=0.1602 right_z=0.0043 right_yaw=1.2973 right_pitch=0.0023 right_roll=0.0188 right_gripper=0.0211\nstate[joint_eff]: [0.1983, 1.2786, 0.8137, -1.2625, 1.4579, 0.0904, 1.0281, 0.0205, -3.3299, 3.3573, 1.0281, -0.2515, 0.0122, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0dc94039b4851b3ca198d7c48ef4bdc8e35857b9f390209be83ed18086d3d32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30845a7c4f686e5f4306bbea4e949aab8827016cbb969e98ddae34c2e35d76e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0338a9c342817dd95e27e94a5f34e2c80722adfdfe8345b735207baa556dfc26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.102 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.6544, 1.7775, 0.9119, -0.1165, -1.2793, -2.0941, 0.0633, 0.5034, 1.9156, 0.7315, 0.7612, -1.2911, 1.1244, 0.0452]\nstate[eef_state]: left_x=0.3795 left_y=-0.0734 left_z=0.1223 left_yaw=1.258 left_pitch=0.0329 left_roll=-1.065 left_gripper=0.0633 right_x=0.2368 right_y=0.3283 right_z=0.1076 right_yaw=1.2578 right_pitch=-0.0839 right_roll=1.479 right_gripper=0.0452\nstate[joint_eff]: [0.1709, -10.2222, 7.6923, 0.9158, -0.5495, -0.0366, 1.0281, -0.3214, -9.7846, 5.5043, 1.3993, -0.2808, -0.1636, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7185, 1.3045, 0.6403, -0.1154, -0.6128, -0.9596, 0.0632, 0.0601, 1.5288, 0.4416, -0.0921, -0.9306, -0.9932, 0.0439]\nstate[eef_state]: left_x=0.32 left_y=-0.1401 left_z=0.1122 left_yaw=0.2849 left_pitch=-0.0791 left_roll=-0.3511 left_gripper=0.0632 right_x=0.2337 right_y=0.1596 right_z=0.0246 right_yaw=1.292 right_pitch=-0.0298 right_roll=0.0859 right_gripper=0.0439\nstate[joint_eff]: [0.0479, -5.2581, 7.665, 1.619, -0.2613, 0.0611, 1.0281, -0.4718, -5.0393, 4.547, 0.9548, -0.5495, -0.2027, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4698, 1.5997, 0.3267, 0.474, -0.3367, -0.5705, 0.063, 0.0586, 1.6188, 0.3534, 0.1551, -0.9413, -0.9993, 0.0211]\nstate[eef_state]: left_x=0.3153 left_y=-0.0906 left_z=-0.0103 left_yaw=0.1164 left_pitch=-0.1805 left_roll=-0.1744 left_gripper=0.063 right_x=0.2319 right_y=0.1602 right_z=0.0043 right_yaw=1.2973 right_pitch=0.0023 right_roll=0.0188 right_gripper=0.0211\nstate[joint_eff]: [0.1983, 1.2786, 0.8137, -1.2625, 1.4579, 0.0904, 1.0281, 0.0205, -3.3299, 3.3573, 1.0281, -0.2515, 0.0122, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0dc94039b4851b3ca198d7c48ef4bdc8e35857b9f390209be83ed18086d3d32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30845a7c4f686e5f4306bbea4e949aab8827016cbb969e98ddae34c2e35d76e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0338a9c342817dd95e27e94a5f34e2c80722adfdfe8345b735207baa556dfc26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF9DMeNWePtbLnFn64cBfOgT0lwCCuc5bLhfcQXgojlKPHgZFO-p7APl6Xu4i6rp-HpAJoNZ3MxXXZqaaBuczMeB2Uvo6uXwS8pWNzAF6Q1FAaYGbUq8b3NUAcO80q6V47MXmPrh1przkEqZqtg1QA_mHdMTw-3OOHV-7bYFMCsI3XrPYrPFZ5_fOz8Rr_rer9Wajd-k6q7OZKCsuGgHS4LNSaKENjPBREGT8J2p4i288n5M2IZdQvGkTPLqD9589bWNBiGnLr2MePLzEkPQx9H2LSqqX7um1WtnSvghtrddpTx_Zjkqmen_NOQdzTzWYhtbWY4X19TThRXHQ0BQ-tYEdJ_VpZhX1LD0rOasYplr1Hvjp2YR5ArwafAFIMXD_vNVx00s66e29Fe5b5voLjn-0V0pS0FoGrzrVbsOSF6tA7j5aLJkZUv22RLRYPGaxwbZbkx5_ozfNsbaPrqU2PBFcXnAXPU24NI3bmDzJWmQhBrtWOUzBW76M3Z9GS2lyTctAvt1VScx-jfp9o4RGlBTggZGBYbhOe_ZaZTK9adJhIVElq7GQ4LVHvAw-m4bSg7KzjqFeaDSeR2BAGjNEbZFpAqKXXEoiLY1m-Og0ErGKt01V3k-QbHyeMdwjzdaSdIMSMInJZQ1faKgbGGdNnDWk7BIHDm83wntnNsS09UyCdkTLsupPaHSv8YOcHHI9GDKEi_kQ4UYGBfcl0ZSzudHU2CCe_rl0hkdW8dRXhiFmF2nhvbgVJMOdFBr1jQN7vpLyQXZlQpCHq2MvF9XzYcRSt-uf8yPtKX47oTv-vM9dyfPykZ-revab3aJUGki2Qdcnqql0DD2Gd3Xwdb6i3Uz6JSC_5O38TH9vq8ZmUWBypvgIb9_252aCZCMwloYmg726ji24p8yvourPvyxfYaoNjBjUpfOwA-kewwebejSDtEl3CxGBjKySjGTDHq85IzSmqStVrnzpHZlAlXHjqSvGc0ZqjKgmcGyLW8AGtuDNQOxoDy1hju2qAkXs1nOmoceHWU3LKr3OfWCOdeyQ-bgfFKs6440ENpFCiEO-x7bmGOCzZoGSXXGqA4iHsJLA9_iQCunEfayT7HhSWnq8dhuMrSuS0F629-0LxZgwBLhcpUa40-xbTuROdGGOGIrMWlJbnMLGgPpovQoDnhIA2yzOb0aC7rAfJfOINWb5SU5WMQE65yvsVKcmS6RVm6HotsDglx-JtpDAC3GsxP7vvo14NcDMJTomIP1fj0iQt2crK0SeexKlI2uGDzc6znSQMo58dgu2ynePPpWCmcc68vvA8zcaRuqGtVg_gjWu7g7xPyj92-NGwdoUyk6wH7geHqk",
  "id": "rs_03f8eae531c3e926016ab45f4244dc87d0bf28191a7834a321",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.012,\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both pieces have reached the tabletop, and the left arm shows contact load. I’m releasing them and easing the left fingertips upward to remove that pressure.\"}",
  "call_id": "call_w5jfMxswovAm9i4suq60XvQH",
  "id": "fc_03f8eae531c3e926016ab45f42dc9087d081e3f5bbf1d88926",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w5jfMxswovAm9i4suq60XvQH",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4679, 1.4925, 0.3424, 0.3553, -0.337, -0.5713, 0.995, 0.0586, 1.6279, 0.345, 0.165, -0.9424, -1.0016, 0.995]\nstate[eef_state]: left_x=0.3137 left_y=-0.089 left_z=0.0072 left_yaw=0.1186 left_pitch=-0.1769 left_roll=-0.1771 left_gripper=0.995 right_x=0.2292 right_y=0.1602 right_z=0.0014 right_yaw=1.299 right_pitch=0.0009 right_roll=0.0244 right_gripper=0.995\nstate[joint_eff]: [-0.3214, -5.7231, 6.8444, 1.37, -0.1587, 0.0122, -0.1343, -0.1573, -5.6547, 4.3556, 0.8962, -0.4615, -0.0171, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02ff942c1f5da09915568825f8d255d4226ebaf50b41d38194e938d398fb02e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1fbe5a2d484b8b86168f65b4558f204048449acbe86e9cb14d4da76d52e3991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e7389fbd84a63e404b89feda2b174c0712320832e8348dac972da4be4231e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 4.977 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.7338, 1.2308, 0.7715, -0.2749, -0.6514, -1.161, 0.0632, 0.0715, 1.2095, 0.8291, -0.7261, -0.9382, -0.9169, 0.0439]\nstate[eef_state]: left_x=0.3226 left_y=-0.1419 left_z=0.1651 left_yaw=0.3946 left_pitch=-0.0799 left_roll=-0.5398 left_gripper=0.0632 right_x=0.2435 right_y=0.1639 right_z=0.1678 right_yaw=1.2653 right_pitch=-0.0017 right_roll=0.0842 right_gripper=0.0439\nstate[joint_eff]: [-0.5402, -5.5453, 7.706, 1.4383, -0.2759, 0.2515, 1.0281, -0.2393, -4.3692, 6.2701, 1.0623, -0.398, -0.1099, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4698, 1.5997, 0.3267, 0.474, -0.3367, -0.5705, 0.063, 0.0586, 1.6188, 0.3534, 0.1551, -0.9413, -0.9993, 0.0211]\nstate[eef_state]: left_x=0.3153 left_y=-0.0906 left_z=-0.0103 left_yaw=0.1164 left_pitch=-0.1805 left_roll=-0.1744 left_gripper=0.063 right_x=0.2319 right_y=0.1602 right_z=0.0043 right_yaw=1.2973 right_pitch=0.0023 right_roll=0.0188 right_gripper=0.0211\nstate[joint_eff]: [0.1983, 1.2786, 0.8137, -1.2625, 1.4579, 0.0904, 1.0281, 0.0205, -3.3299, 3.3573, 1.0281, -0.2515, 0.0122, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.4679, 1.4925, 0.3424, 0.3553, -0.337, -0.5713, 0.995, 0.0586, 1.6279, 0.345, 0.165, -0.9424, -1.0016, 0.995]\nstate[eef_state]: left_x=0.3137 left_y=-0.089 left_z=0.0072 left_yaw=0.1186 left_pitch=-0.1769 left_roll=-0.1771 left_gripper=0.995 right_x=0.2292 right_y=0.1602 right_z=0.0014 right_yaw=1.299 right_pitch=0.0009 right_roll=0.0244 right_gripper=0.995\nstate[joint_eff]: [-0.3214, -5.7231, 6.8444, 1.37, -0.1587, 0.0122, -0.1343, -0.1573, -5.6547, 4.3556, 0.8962, -0.4615, -0.0171, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02ff942c1f5da09915568825f8d255d4226ebaf50b41d38194e938d398fb02e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1fbe5a2d484b8b86168f65b4558f204048449acbe86e9cb14d4da76d52e3991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e7389fbd84a63e404b89feda2b174c0712320832e8348dac972da4be4231e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF9IX8fmRb6xZDQPAPVCsf97QIM8Hba_0hiBeAARtflpHkyC9n2q9KjE8wjTbOXJC97JS5QBdRApcAa-b30GxQ5OIZonWiOABi_LuzfKUtG3Qc5TifONfdJhQz2rguzKZ6VCynPchKDMf38-eUXvY3kg68gsbUNqgLTNzXDtZoLxui5z9lvjNmfE6CTzYRor8gBcuz3GGpSUCuEhhiLSgMOq1OLkPc85MbS85zFrNWhclB6yizoMMGYUjS9TYigk1ziPAa3cLM3TcmP7lWayprImR-bgn3iX49XCKiq5a0fPavceuBMd_Eg9YAOSjMXpjt9hjIe4IRO7eBgfCds6vYsV5x5E0aETddPRWpkYn2T1L_mj5k5hbiptq-UQuGzSahErC_CMRx8fSwtNSnEhzmWR2vDcI0BT1p2fWfJZuIz-9qBGLoM0Z1LNkVuMPztFaVQkzXDfSwGKFsTdlsB9iNRB_9oQS3M11CJIJlYvvseN3tMa0QIULX4hpkT2vcpQdTyY-J39hmLLRoDJX_zks0z_2rA_ias5r-lsPlMetHIxNdvkVz3ObqPFEPu2gwjROnGBN6qqEyE2Yi6PlxOF6DI81VLR4OjfbyEsCihQj0krFFL9LJtfBhFeoIZvzMMfZY1nMQD9W3JPB_q-ts2OqHaFotMTehWtWr7s9NB9tzCfrRI_tZssVzdLKl1bNAsYDIXTinyhxYL6zlzYpBD_NGFHneL5LiBZAx26HB9OsJeAKz-ERiTsHh0WZzkYP-tDNNSD1hlRl-_I6tevW90WREpvyoFINxykwpj3jR3DFcvHQoBG6Nd4M0wXGaUr4fW1RyYTLJm7S4tv3xcwn6ZLnu-2KoaznBFpjL489Vg2f_HgT49jIQXGscu16YOiZv39rAl7pARjcMICQQ73exACWXlJAoa3KSpVuG3AmMl3DWgfagR5m3pWPeMl6cKULZbFv3tIDBF9wKoaeSGq3c9Vr1TwoukDsOiZbqNPS8MGvkk_dQEE_vGJnwsg8ZKatAYedtwtjUPaPwAclgfxG4MBJ28reGBT4i1csAf_tDHXSsruGV7JYCRRi4UViKv1LYDz14t-2bZgN-8VyY3kZ6uQN4EdobAxOE9GOSyFTZUO1WfBqyF2t054olqDeL3xVRqAMAJRDECK3yLqbQzFqoluQ0dKLNkfqfS663YJcnB418qHVN3WHHXaTR-MKfcNy8gEMZZVOJWiIr0OygeJJfAgZRI_D3VgrY7vyfFiVQRXRC-maXnrkrzGboEdvgxzIKm5np_L9RUIm7h6NPb3q5Q66tZP_rlO0lOjrpBh8j7VrFsGMmGA19StORbOGfdCH2Xm6yueSWmdBgfvuv_Y9MN7fTw9TBlfMsORs6t_vNXP8q7yoxZAwtySHO_6ZUWvp6qXSysAELGJrOVZrAL4MqhB6AKCTXtLVVeIrpc25543np3zWSThHRGMNgNEGbkfq4KuROrLYTIiGeoeaFkDnskq6s40DQ==",
  "id": "rs_03f8eae531c3e926016ab45f46ad8087d08251c9923ff9ade0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The cap and pen are resting separately on the table with the jaws open. I’m parking both arms clear of them.\"}",
  "call_id": "call_WSGWLT4gf8A49T9pRXYTFqnp",
  "id": "fc_03f8eae531c3e926016ab45f479efc87d0bcf8cc4132a5182e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WSGWLT4gf8A49T9pRXYTFqnp",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.0456, 0.8165, 0.5987, -0.3836, -0.0765, -0.0959, 0.9986, -0.0406, 0.7853, 0.5865, -0.3752, -0.1547, -0.1097, 0.9985]\nstate[eef_state]: left_x=0.295 left_y=0.0036 left_z=0.1709 left_yaw=0.0587 left_pitch=-0.0272 left_roll=-0.0272 left_gripper=0.9986 right_x=0.2919 right_y=0.019 right_z=0.1765 right_yaw=0.1406 right_pitch=-0.0081 right_roll=-0.008 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -2.1538, 10.1812, 1.5946, -0.0024, 0.2271, -0.1538, 0.3077, -1.0735, 8.9231, 1.6874, 0.0562, 0.1978, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8036bd8c5771b035dafdefe1758f8ec9c75f3948574842479e4afa61443c526",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2b2f404808707443acc09b25eaf2efe1882993636c257d937bfd1eb8090e95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:566d0f0b069ec952b7a8eac4917e208eee5fdffc355fa315c4c8193dce4da91a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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